skill tree training log: levels 1g walk-slope (09z5, gentle hills) and 1h walk-mix (09z6, step + slip + 2x shoves)

README.md

@@ -43,6 +43,8 @@ Sibling dataset: [witcheer/microduck-hermes-runs](https://huggingface.co/dataset
 | 1c | walk with up to +60 g on its back, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Payload-MicroDuck` (our fork: trunk mass randomised over 0.95 to 1.30x instead of the maker's 0.95 to 1.05x, one parameter) | 3,000 on top of level 1b's 7,000 | 57 min (1.16 s/it) | not better than level 1b anywhere, 20 s takes: trunk at 1.30x (+60 g) with shoves 3 of 5 against 3 of 5, 1.30x without shoves 3 of 3 against 3 of 3, normal mass with shoves 3 of 5 against 4 of 5. Level 1b already carries the extra 60 g in sim; small samples | none: no gain over level 1b |
 | 1d | walk on slippery floors, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Slip-MicroDuck` (our fork: foot friction randomised over 0.2 to 1.3 instead of the maker's 0.7 to 1.3, one parameter) | 3,000 on top of level 1b's 7,000 | 58 min (1.15 s/it) | 20 s takes against level 1b: foot friction 0.2 with a shove every 0.5 to 1 s, on its feet in 8 of 15 against 1 of 15 (one-sided Fisher exact p = 0.0071); 0.2 without shoves 12 of 13 against 8 of 13 (p = 0.080, a lean); normal friction with shoves 9 of 15 against 8 of 15, no difference | [microduck-walk-slip](https://huggingface.co/witcheer/microduck-walk-slip) `@v1` (walk-flat stays the default walk: they tie at normal grip) |
 | 1e | walk over a single step, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Step-MicroDuck` (our fork: the maker's flat plane becomes a floor with one 1.5 m platform per 4 m tile, its top 10 to 25 mm above the floor, one change; the policy still has no terrain scan) | 3,000 on top of level 1b's 7,000 | 64 min (1.28 s/it) | 20 s takes against level 1b, walking straight ahead at 0.3 m/s off a 25 mm step: without shoves on its feet in 11 of 15 against at most 5 of 15 (one-sided Fisher exact p = 0.033); with a shove every 0.5 to 1 s 5 of 15 against 2 of 15 (p = 0.19); both pooled 16 of 30 against at most 7 of 30 (p = 0.016). Same layout at 1 mm with shoves 10 of 15 against at most 7 of 15 (two-sided p = 0.46; 'at most': walk-flat v2 takes cut short upright at the tile-grid edge count as held), so part of the gain may be general sturdiness. No take reached the next platform, so the step up is untested | [microduck-walk-step](https://huggingface.co/witcheer/microduck-walk-step) `@v1` (walk-flat stays the default walk) |
+| 1g | walk on gentle hills, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck` (our fork: the maker's flat plane becomes a grid of 4 m tiles with one pyramid hill each, slope 0.05 to 0.15 rise per run, one change; no terrain scan) | 3,000 on top of level 1b's 7,000 | about 128 min (2.55 s/it, over two sittings) | 20 s takes against level 1b, walking straight ahead at 0.3 m/s off a 0.15 hilltop: both hill conditions pooled (the read picked in advance) 23 of 30 against 12 of 30 (one-sided Fisher exact p = 0.0041); without shoves 14 of 15 against 8 of 15, with the maker's play shoves 9 of 15 against 4 of 15 (p = 0.070, a hint alone); flat 1 mm control 10 of 15 each, no loss. Only the 0.15 hill was tested | [microduck-walk-slope](https://huggingface.co/witcheer/microduck-walk-slope) `@v1` (walk-flat stays the default walk) |
+| 1h | one walk for a step, a slippery floor and harder shoves at once, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck` (our fork: 1e's step floor, 1d's foot friction 0.2 to 1.3 and the walk-push fork's doubled training shove together; it imports their task files) | 3,000 on top of level 1e's 10,000 | 64 min (1.29 s/it) | 20 s takes walking straight ahead at 0.3 m/s. All three at once against level 1b (picked in advance): 9 of 15 against 0 of 15 (one-sided p = 0.0003). No measurable loss against each single-condition policy on its own condition: step 10 of 15 against walk-step's 13 of 15 (two-sided p = 0.39), doubled shoves 10 of 15 against walk-push's 9 of 15 (p = 1.0), slippery floor with shoves 11 of 15 against walk-slip's 3 of 15 (p = 0.0092), a low draw for walk-slip (6 to 8 of 15 in three other sets), so no loss, not a win | [microduck-walk-mix](https://huggingface.co/witcheer/microduck-walk-mix) `@v1` (walk-flat stays the default walk) |
 | 8 | beak to the ground without touching it | `Mjlab-GroundPick-Flat-MicroDuck` | 20,000 planned | queued | | none: phase-driven, daemon-side |
 
 All budgets are the maker's `max_iterations` from the task config unless stated. Levels 1b, 2b, 3b and 5b are the maker's backlash variants of levels 1, 2, 3 and 5: a free hinge of ±1° in series with each of the 14 servo joints, with the joint encoder reading through the play as a real servo does. Each started from its level's final checkpoint, and each publishable one is v2 of that level's policy repo (v1 stays installable with `@v1`). Level 4b is the same for level 4 and is v2 of walk-rough. Levels 11, 11c and 11d were trained on the maker's public `soft_carpet` branch of microduck_rl (commit `695f3b7`), not on `53b8971`; 11 and 11c on flat ground, 11d on the ordered terrain ladder with the same local patches as 5c. Level 5c starts from level 5's final checkpoint and trains on the rough version of the same task, on a terrain laid out as an ordered difficulty ladder and with five local patches to the maker's code (in its `patches/` folder; the model card says what each does). Levels 1c and 1d are our own conditions, not the maker's: each is a separate task file in microduck_rl (a copy is in the level's `patches/` folder) that changes one parameter of `Mjlab-Velocity-Flat-Backlash-MicroDuck` and is registered by one import line, and each started from level 1b's final checkpoint (walk-flat v2). 4096 parallel environments, 24 steps per iteration, PPO from rsl_rl, tensorboard logging.
@@ -53,14 +55,14 @@ All budgets are the maker's `max_iterations` from the task config unless stated.
 - `reward-curve.png`: mean reward per iteration, raw and a 50-iteration moving average.
 - `queue-item.sh`: the exact header that trained it. The shared body it sources is `tools/duck-train-body.sh` (resumable, checkpoint every 100 iterations, exports with the maker's `scripts/export.py`).
 - `manifest.json`: the schema-2 manifest `uv run publish` wrote for the policy repo, when there is one.
-- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d and 1e so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). Verdicts are read from these numbers, not from the video.
-- `patches/*.py` (levels 5c, 1c, 1d and 1e): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file.
+- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d, 1e, 1g and 1h so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). In 1g, `z5-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a hilltop: `a` = 0.15 hill with the maker's play shoves, `b` = 0.15 hill without shoves, `c` = the same layout with 1 mm hills (control); `proof-takes/score.txt` is the scorer's output. Level 1b's videos for `a` were lost to a temp-folder clash between two batches running in parallel; its take logs are complete. In 1h, `z6-*` is the new policy against a rival per condition: `a` = 25 mm step + friction 0.2 + doubled shoves every 3 to 6 s against level 1b (`v2-*`), `b` = 25 mm step, friction 1.0, no shoves against walk-step (`z3-*`), `c` = 1 mm, friction 0.2, the maker's shove against walk-slip (`z2-*`), `d` = 1 mm, friction 1.0, doubled shoves every 3 to 6 s against walk-push (`z4-*`); `diag-z2c-*` are the two walk-slip re-runs behind the `c` caveat (`dg1-*` its own plane with the fixed command, `dg2-*` the 1h floor with random commands). Verdicts are read from these numbers, not from the video.
+- `patches/*.py` (levels 5c, 1c, 1d, 1e, 1g and 1h): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file. 1g carries its fork task file and `ground_height_patch.py` (height terms measured from the ground under the feet, not the tile origin, which is what lets them see a slope); 1h carries its fork file, the three single-condition task files it imports, and the same ground patch.
 - `clip-*.mp4`: iteration 0 against the trained policy, same camera, same spawn, for levels 1, 5 and 6; both gear-play v2 walks side by side for level 1b, level 5 against 5b (both running with gear play) for level 5b, level 4b against level 4 on the hardest block-grid row with gear play (level 4 tips over at 7.1 s; the last frame is held 1.5 s), level 1d against level 1b at foot friction 0.2 with shoves for level 1d (a red box marks each fall, where the sim restarts the duck), level 1e against level 1b walking off a 25 mm step without shoves for level 1e (red box where level 1b falls and the sim restarts it, green box where level 1e walks down the step), the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet.
 
 ## Tools
 
 - `tools/headless_play.py`: records any checkpoint of any mjlab task over ssh with no display. Both of mjlab's play viewers fail headless (viser asserts on a degenerate command slider, the native one wants X11); this wrapper swaps them for a plain policy loop, lets play's own recorder write the mp4, forces the spawn state, overrides the episode length, prints every reset and samples trunk height and body-frame gravity at a chosen cadence. Copy it into the microduck_rl project dir and run with `uv run python`.
-- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env.
+- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env. `tools/proof-z5-*.sh`, `tools/z5-score-2026-10-16.py`, `tools/slope-play-check-2026-10-14.sh` and `tools/slope-calib-2026-10-14.sh`: the batches, scorer, slope-override check and control takes behind 1g. `tools/proof-z6-*.sh`, `tools/z6-score-2026-10-17.py`, `tools/upright-reset-check-2026-10-22.py`, `tools/worstcase-2026-10-22.py` and `tools/diag-z2c-*.sh`: the batches, scorer, upright-reset checks and walk-slip re-runs behind 1h.
 - `tools/duck-train-body.sh` and `tools/duck-lane.sh`: the queue item body and the weekday duck/bench alternation. Written for one specific box (paths under `/home/witcheer`); read them for the shape, not to run as-is.
 
 ## Things learnt on the way, in order
@@ -88,6 +90,9 @@ All budgets are the maker's `max_iterations` from the task config unless stated.
 - A take aimed at a floor feature needs a fixed walking command. Play samples random commands, and a level 1b control take on the step floor stayed within 0.73 m of the platform centre (edge at 0.75 m) until a reset, so it never met the step. Every 1e take walks straight ahead at 0.3 m/s.
 - Keep a no-feature control on the same layout. Level 1e also held more takes than level 1b at 1 mm (10 of 15 against at most 7 of 15, two-sided p = 0.46), so some of its lead on the step may be general sturdiness under shoves rather than a step skill. Its training tracking error also rose (0.34 to 0.47 over the 100-iteration windows from the resume to the end).
 - A generated floor turns on a termination a plane never fires. Level 1e's training log shows `out_of_terrain_bounds` at 0.01 per iteration over the last 100 iterations (`fell_over` 0.81), so the fork file's comment that a 20 s episode cannot reach the bounds is not exact; `nan_state` fired in one iteration of 3,000.
+- A rival's low score on its own condition needs a re-run before it means anything. In 1h, walk-slip held 3 of 15 on the slippery-floor check against 8 of 15 in its own takes. Same checkpoint, same friction and shove; the batch differed in the fixed walking command and the generated floor. Re-running each change alone gave 7 of 15 and 6 of 15, so it was a low draw on the harder setup, not a regression, and the line reads as no loss rather than a win.
+- Parallel take batches need their own temp folders. Two batches named their takes the same way and one deleted the other's video folder mid-take; the logs survived because they go to stdout, the clips did not.
+- A verdict watcher can die without a trace. 1g and 1h finished training on a Sunday and sat four days with no proof takes, because the watcher that should have started them logged one line and vanished.
 
 ## Posts
 

level-01g-walk-slope/manifest.json

@@ -0,0 +1,36 @@
+{
+  "schema_version": 2,
+  "model_api": 1,
+  "obs_len": 61,
+  "action_len": 14,
+  "robot": {
+    "model": "microduck",
+    "hw_rev": 1,
+    "servos": "xl330",
+    "control_hz": 50
+  },
+  "name": "walk-slope",
+  "kind": "perpetual",
+  "entry_pose": "standing",
+  "description": "Walk on gentle hills with +-1 deg of gear play in every servo: walk-flat v2 plus 3,000 iterations (7,000 to 10,000) on a floor of pyramid hills, slope 0.05 to 0.15 rise per run (our one-change fork Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck), 4096 envs, about 128 min on one RTX 5090. Trained in simulation only. On a 0.15 hill, walking straight ahead at 0.3 m/s, it stayed on its feet for 20 s in 23 of 30 takes against 12 of 30 for walk-flat v2 (one-sided Fisher p 0.0041): 14 of 15 against 8 of 15 without shoves, 9 of 15 against 4 of 15 with shoves every 0.5-1 s. On the flat control both held 10 of 15. Only the 0.15 hill was tested, every take starting on a hilltop and walking off it. Not yet tested on a real Microduck.",
+  "command": {
+    "encoding": "constant",
+    "idle": [
+      0.0,
+      0.0,
+      0.0
+    ],
+    "twist": "unused (zeros)",
+    "head": "unused (zeros)",
+    "body": "unused (zeros)"
+  },
+  "duration_s": null,
+  "slot": "walk",
+  "training": {
+    "repo": "pollen-robotics/microduck_rl",
+    "commit": "53b8971b6",
+    "branch": "develop",
+    "dirty": true,
+    "source_file": "velslope-2026-10-18-it10000.onnx"
+  }
+}

level-01g-walk-slope/patches/ground_height_patch.py

@@ -0,0 +1,60 @@
+"""ground_height_patch.py (2026-09-29): measure the trunk against the ground UNDER the duck on rough terrain.
+
+bug (found 2026-09-29, log.md): every height read in mdp.py is `root_z - env_origins[:, 2]`. pyramid stairs and
+slopes put the env origin on the TOP platform, so an upright duck ~40 mm down the steps counts as fallen
+(`_fallen_mask`, VelStand gate 0.08 m) and `fallen_too_long` resets it 8 s later (RESET at 8.08 / 16.18 s with
+grav_b z -1.00 in the forced-terrain takes); the height-shaped rewards are skewed the same way.
+
+fix: `_ground_z(env)` = mean hit height of the existing `foot_height_scan` rays (2 feet x 2 rays, straight down,
+terrain geoms only) on generator terrain; env-origin z everywhere else (plane terrain has `terrain_origins is None`,
+and tasks without the sensor), so flat tasks compute exactly what they did before. every
+`root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]` read in a function body is rewritten to use it.
+the SitStand command term's `_alpha_from_height` (self._env_ref form) is left alone: SitStand-Rough has no foot
+sensor in its cfg and holds still on its platform.
+
+idempotent; writes mdp.py.bak-groundz-2026-09-29 on first run.
+"""
+import pathlib
+import shutil
+
+mdp = pathlib.Path("/home/witcheer/Pollen/microduck_rl/src/mjlab_microduck/tasks/mdp.py")
+bak = mdp.with_name("mdp.py.bak-groundz-2026-09-29")
+s = mdp.read_text()
+if "def _ground_z(" in s:
+    print("already patched")
+    raise SystemExit(0)
+if not bak.exists():
+    shutil.copy2(mdp, bak)
+
+OLD = "asset.data.root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]"
+NEW = "asset.data.root_link_pos_w[:, 2] - _ground_z(env)"
+n = s.count(OLD)
+
+helper = '''def _ground_z(env: ManagerBasedRlEnv) -> torch.Tensor:
+    """Ground height under the robot, per env.
+
+    Generator (rough) terrain with the per-foot `foot_height_scan` ray sensor: the mean
+    height of the rays' terrain hits under both feet. Anything else (plane terrain, where
+    `terrain_origins` is None, or a task without the sensor): the env origin's z, which is
+    what every height read used before 2026-09-29, so flat tasks are unchanged. On pyramid
+    stairs/slopes the origin sits on the top platform, and origin-relative heights read an
+    upright duck a few steps down as fallen (see ground_height_patch.py).
+    """
+    terrain = env.scene.terrain
+    origin_z = terrain.env_origins[:, 2]
+    if getattr(terrain, "terrain_origins", None) is None or "foot_height_scan" not in env.scene.sensors:
+        return origin_z
+    d = env.scene.sensors["foot_height_scan"].data
+    hit_z = d.hit_pos_w[..., 2]
+    ok = (d.distances >= 0) & (d.normals_w[..., 2] > 0)
+    cnt = ok.sum(dim=-1)
+    mean = torch.where(ok, hit_z, torch.zeros_like(hit_z)).sum(dim=-1) / cnt.clamp(min=1)
+    return torch.where(cnt > 0, mean, origin_z)
+
+
+'''
+i = s.index("def _fallen_mask(")
+s = s[:i] + helper + s[i:]
+s = s.replace(OLD, NEW)
+mdp.write_text(s)
+print(f"patched: helper added, {n} height reads rewritten")

level-01g-walk-slope/patches/witcheer_velocity_slope_env_cfg.py

@@ -0,0 +1,113 @@
+"""witcheer fork: Microduck walk with gear play over SLOPES.
+
+Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered
+as ``Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck`` by one import line appended
+to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited.
+
+What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck``
+(walk-flat v2 on the Hub): ONE thing, the floor. The maker trains this task on
+an infinite plane (``terrain_type="plane"``). This fork swaps the plane for a
+generated floor of gentle hills: every 4 m tile is one heightfield pyramid
+(mjlab ``HfPyramidSlopedTerrainCfg``, the same generator and the same 1 mm
+vertical resolution the maker's rough grid uses for its ``pyramid_slope``
+patches), flat top in the middle, sloping down to floor level at the tile
+edge, so a duck walking straight from its spawn goes down one hill and up the
+next. Gradient (rise / run) is drawn per tile uniformly from 0.05 to 0.15
+(about 2.9 to 8.5 deg). The maker's rough patches stop at 0.10 ("small robot,
+small slopes"), so the top of this range is 1.5x past their cap, the same
+choice the step fork made for step height (25 mm vs their 15 mm).
+
+Shape of one tile (mjlab's generator, not ours): the height is
+``h_max * x * y`` with x, y the normalised distances from the tile edge, then
+clipped at the platform height, so the flat top is a four-pointed star about
+1.0 m (diagonal) to 1.15 m (axis) from the tile centre, and the slope runs from
+there to the tile edge (2.0 m on the axis). At gradient 0.15 the top sits
+127 mm above the floor, about the duck's own trunk height. Random mode
+(``curriculum=False``, the mjlab default the maker's flat task never touches),
+10 x 10 tiles, no terrain-level curriculum (the maker's flat cfg deletes it and
+so does this fork). NOT inverted: the maker removed inverted pyramids from
+their rough grid because the env origin lands in the pit.
+
+Height reads: the env origin sits on the hill top, so any read of
+``root_z - env_origin_z`` is off by the hill height once the duck walks down.
+Our clone's ``ground_height_patch.py`` makes ``_ground_z`` read the
+``foot_height_scan`` ray hits on generator terrain, and in this task the only
+active term that reads height (``head_pose_bias``) goes through it.
+``body_pose_tracking_6d`` reads the origin directly but has weight 0 in the
+velocity task. ``out_of_terrain_bounds`` becomes live with a generator floor
+(a no-op on a plane); the 40 m grid plus the 20 m outer border means a 20 s
+episode cannot reach it.
+
+Everything else (rewards, terminations, pushes, backlash robot, curricula,
+mass and friction DR, solver settings, observations: the policy still has no
+terrain scan, it meets the slope blind like the real robot would) is the
+maker's. The maker's rough branch also softens terrain contacts and raises
+solver iterations; this fork does not, to keep one variable (the step fork made
+the same call). ``nan_state`` covers contact-force NaNs since the maker's
+2026-08-21 hfield-slope crash; watch it in the probe.
+
+Verdict override: ``MICRODUCK_SLOPE=lo,hi`` (rise / run, read at import, i.e.
+at process start) replaces the gradient range, so play takes can force the
+steepest hill (``0.15,0.15``) or a near-flat floor on the same layout
+(``0.001,0.001`` = a 1 mm top) for both the seed and the fork.
+"""
+
+import os
+from copy import deepcopy
+
+import mjlab.terrains as terrain_gen
+from mjlab.terrains.terrain_generator import TerrainGeneratorCfg
+from mjlab.tasks.registry import register_mjlab_task
+
+from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG
+from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg
+from mjlab_microduck.tasks.backlash import make_backlash_variant
+from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg
+
+TASK_ID = "Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck"
+
+SLOPE_RANGE = (0.05, 0.15)  # rise / run; maker's rough pyramid_slope is (0.03, 0.10)
+TILE = 4.0  # m, one hill per tile (same tile as the step fork)
+PLATFORM = 1.5  # m, platform_width passed to the generator (same as the step fork)
+
+
+def _slope_range():
+    v = os.environ.get("MICRODUCK_SLOPE")
+    if v:
+        lo, hi = (float(x) for x in v.split(","))
+        return lo, hi
+    return SLOPE_RANGE
+
+
+SLOPE_TERRAIN_CFG = TerrainGeneratorCfg(
+    size=(TILE, TILE),
+    border_width=20.0,  # same outer border as the maker's rough grid
+    num_rows=10,
+    num_cols=10,
+    curriculum=False,
+    sub_terrains={
+        "hill": terrain_gen.HfPyramidSlopedTerrainCfg(
+            proportion=1.0,
+            slope_range=_slope_range(),
+            platform_width=PLATFORM,
+            vertical_scale=0.001,  # maker's value: 1 mm steps, smooth gentle slopes
+        ),
+    },
+    add_lights=False,
+)
+
+
+def make_witcheer_velocity_slope_env_cfg(play: bool = False):
+    cfg = make_microduck_velocity_env_cfg(play=play)
+    cfg.scene.terrain.terrain_type = "generator"
+    cfg.scene.terrain.terrain_generator = deepcopy(SLOPE_TERRAIN_CFG)
+    return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG)
+
+
+register_mjlab_task(
+    task_id=TASK_ID,
+    env_cfg=make_witcheer_velocity_slope_env_cfg(),
+    play_env_cfg=make_witcheer_velocity_slope_env_cfg(play=True),
+    rl_cfg=MicroduckRlCfg,
+    runner_cls=MicroduckOnPolicyRunner,
+)

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t1.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 129.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.636,-18.217,+0.256)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.8mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.03,+0.01,-1.00) r=0.43m
+[headless_play] t=  0.20s step=  10 trunk_z= 117.8mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.9mm grav_b=(-0.04,-0.06,-1.00) r=0.40m
+[headless_play] t=  0.40s step=  20 trunk_z= 125.4mm grav_b=(-0.06,-0.06,-1.00) r=0.39m
+[headless_play] t=  0.50s step=  25 trunk_z= 122.0mm grav_b=(-0.04,-0.07,-1.00) r=0.40m
+[headless_play] t=  0.60s step=  30 trunk_z= 120.6mm grav_b=(-0.04,+0.02,-1.00) r=0.42m
+[headless_play] t=  0.70s step=  35 trunk_z= 125.4mm grav_b=(-0.04,+0.01,-1.00) r=0.42m
+[headless_play] t=  0.80s step=  40 trunk_z= 119.1mm grav_b=(-0.08,-0.02,-1.00) r=0.40m
+[headless_play] t=  0.90s step=  45 trunk_z= 125.6mm grav_b=(-0.08,-0.09,-0.99) r=0.38m
+[headless_play] t=  1.00s step=  50 trunk_z= 127.1mm grav_b=(-0.07,-0.13,-0.99) r=0.37m
+[headless_play] t=  1.10s step=  55 trunk_z= 126.0mm grav_b=(-0.04,-0.11,-0.99) r=0.38m
+[headless_play] t=  1.20s step=  60 trunk_z= 120.6mm grav_b=(-0.04,-0.01,-1.00) r=0.40m
+[headless_play] t=  1.30s step=  65 trunk_z= 125.6mm grav_b=(-0.04,-0.01,-1.00) r=0.41m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.0mm grav_b=(-0.07,-0.07,-1.00) r=0.39m
+[headless_play] t=  1.50s step=  75 trunk_z= 125.8mm grav_b=(-0.08,-0.08,-0.99) r=0.38m
+[headless_play] t=  1.60s step=  80 trunk_z= 124.4mm grav_b=(-0.05,-0.09,-0.99) r=0.39m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.80s step=  90 trunk_z= 123.8mm grav_b=(-0.10,+0.01,-0.99) r=0.43m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.2mm grav_b=(-0.12,-0.06,-0.99) r=0.41m
+[headless_play] t=  2.00s step= 100 trunk_z= 123.7mm grav_b=(-0.04,-0.05,-1.00) r=0.39m
+[headless_play] t=  2.10s step= 105 trunk_z= 122.1mm grav_b=(-0.07,-0.09,-0.99) r=0.40m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.42m
+[headless_play] t=  2.30s step= 115 trunk_z= 125.1mm grav_b=(-0.04,-0.01,-1.00) r=0.43m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.2mm grav_b=(-0.06,-0.08,-0.99) r=0.43m
+[headless_play] t=  2.50s step= 125 trunk_z= 126.6mm grav_b=(-0.06,-0.10,-0.99) r=0.44m
+[headless_play] t=  2.60s step= 130 trunk_z= 130.5mm grav_b=(-0.03,-0.25,-0.97) r=0.44m
+[headless_play] t=  2.70s step= 135 trunk_z= 127.1mm grav_b=(+0.06,-0.28,-0.96) r=0.44m
+[headless_play] t=  2.80s step= 140 trunk_z= 110.7mm grav_b=(+0.14,-0.27,-0.95) r=0.47m
+[headless_play] t=  2.90s step= 145 trunk_z=  96.2mm grav_b=(+0.11,-0.29,-0.95) r=0.49m
+[headless_play] t=  3.00s step= 150 trunk_z= 111.5mm grav_b=(-0.13,-0.16,-0.98) r=0.48m
+[headless_play] t=  3.10s step= 155 trunk_z= 109.7mm grav_b=(+0.00,-0.16,-0.99) r=0.47m
+[headless_play] t=  3.20s step= 160 trunk_z= 123.0mm grav_b=(+0.06,-0.12,-0.99) r=0.48m
+[headless_play] t=  3.30s step= 165 trunk_z= 113.7mm grav_b=(+0.06,+0.00,-1.00) r=0.50m
+[headless_play] t=  3.40s step= 170 trunk_z= 131.5mm grav_b=(-0.02,+0.04,-1.00) r=0.51m
+[headless_play] t=  3.50s step= 175 trunk_z= 130.5mm grav_b=(-0.15,-0.02,-0.99) r=0.50m
+[headless_play] t=  3.60s step= 180 trunk_z= 126.3mm grav_b=(-0.15,-0.17,-0.97) r=0.50m
+[headless_play] t=  3.70s step= 185 trunk_z= 127.3mm grav_b=(-0.10,-0.14,-0.99) r=0.50m
+[headless_play] t=  3.80s step= 190 trunk_z= 123.0mm grav_b=(-0.06,-0.09,-0.99) r=0.51m
+[headless_play] t=  3.90s step= 195 trunk_z= 120.3mm grav_b=(-0.07,-0.02,-1.00) r=0.52m
+[headless_play] t=  4.00s step= 200 trunk_z= 118.7mm grav_b=(-0.05,-0.03,-1.00) r=0.52m
+[headless_play] t=  4.10s step= 205 trunk_z= 120.1mm grav_b=(-0.00,-0.07,-1.00) r=0.51m
+[headless_play] t=  4.20s step= 210 trunk_z= 126.9mm grav_b=(+0.07,-0.09,-0.99) r=0.51m
+[headless_play] t=  4.30s step= 215 trunk_z= 118.0mm grav_b=(+0.02,-0.07,-1.00) r=0.54m
+[headless_play] t=  4.40s step= 220 trunk_z= 135.0mm grav_b=(-0.06,-0.06,-1.00) r=0.55m
+[headless_play] t=  4.50s step= 225 trunk_z= 120.2mm grav_b=(-0.13,-0.13,-0.98) r=0.56m
+[headless_play] t=  4.60s step= 230 trunk_z= 126.4mm grav_b=(-0.13,-0.15,-0.98) r=0.57m
+[headless_play] t=  4.70s step= 235 trunk_z= 125.6mm grav_b=(-0.09,-0.12,-0.99) r=0.58m
+[headless_play] t=  4.80s step= 240 trunk_z= 115.6mm grav_b=(-0.10,-0.02,-0.99) r=0.61m
+[headless_play] t=  4.90s step= 245 trunk_z= 123.8mm grav_b=(-0.05,+0.01,-1.00) r=0.63m
+[headless_play] t=  5.00s step= 250 trunk_z= 120.6mm grav_b=(-0.05,-0.02,-1.00) r=0.63m
+[headless_play] t=  5.10s step= 255 trunk_z= 123.6mm grav_b=(-0.09,-0.10,-0.99) r=0.61m
+[headless_play] t=  5.20s step= 260 trunk_z= 127.7mm grav_b=(-0.09,-0.10,-0.99) r=0.61m
+[headless_play] t=  5.30s step= 265 trunk_z= 126.5mm grav_b=(-0.08,-0.08,-0.99) r=0.62m
+[headless_play] t=  5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.08,-0.03,-1.00) r=0.64m
+[headless_play] t=  5.50s step= 275 trunk_z= 122.8mm grav_b=(-0.03,+0.00,-1.00) r=0.65m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.2mm grav_b=(-0.02,-0.06,-1.00) r=0.64m
+[headless_play] t=  5.70s step= 285 trunk_z= 126.1mm grav_b=(-0.02,-0.10,-0.99) r=0.63m
+[headless_play] t=  5.80s step= 290 trunk_z= 125.0mm grav_b=(-0.05,-0.11,-0.99) r=0.64m
+[headless_play] t=  5.90s step= 295 trunk_z= 122.5mm grav_b=(-0.13,-0.11,-0.99) r=0.64m
+[headless_play] t=  6.00s step= 300 trunk_z= 118.4mm grav_b=(-0.03,+0.02,-1.00) r=0.66m
+[headless_play] t=  6.10s step= 305 trunk_z= 123.9mm grav_b=(-0.03,+0.00,-1.00) r=0.67m
+[headless_play] t=  6.20s step= 310 trunk_z= 118.6mm grav_b=(-0.03,-0.06,-1.00) r=0.66m
+[headless_play] t=  6.30s step= 315 trunk_z= 126.0mm grav_b=(-0.03,-0.08,-1.00) r=0.65m
+[headless_play] t=  6.40s step= 320 trunk_z= 121.6mm grav_b=(-0.04,-0.06,-1.00) r=0.67m
+[headless_play] t=  6.50s step= 325 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.71m
+[headless_play] t=  6.60s step= 330 trunk_z= 126.4mm grav_b=(-0.00,+0.01,-1.00) r=0.73m
+[headless_play] t=  6.70s step= 335 trunk_z= 121.2mm grav_b=(-0.00,-0.04,-1.00) r=0.73m
+[headless_play] t=  6.80s step= 340 trunk_z= 126.9mm grav_b=(-0.06,-0.12,-0.99) r=0.74m
+[headless_play] t=  6.90s step= 345 trunk_z= 123.9mm grav_b=(-0.10,-0.09,-0.99) r=0.76m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.5mm grav_b=(-0.09,+0.00,-1.00) r=0.79m
+[headless_play] t=  7.10s step= 355 trunk_z= 124.3mm grav_b=(-0.06,+0.02,-1.00) r=0.80m
+[headless_play] t=  7.20s step= 360 trunk_z= 119.5mm grav_b=(-0.05,-0.02,-1.00) r=0.79m
+[headless_play] t=  7.30s step= 365 trunk_z= 124.5mm grav_b=(-0.05,-0.06,-1.00) r=0.77m
+[headless_play] t=  7.40s step= 370 trunk_z= 123.3mm grav_b=(-0.08,-0.04,-1.00) r=0.78m
+[headless_play] t=  7.50s step= 375 trunk_z= 115.0mm grav_b=(-0.08,-0.00,-1.00) r=0.82m
+[headless_play] t=  7.60s step= 380 trunk_z= 124.4mm grav_b=(-0.06,+0.01,-1.00) r=0.83m
+[headless_play] t=  7.70s step= 385 trunk_z= 119.6mm grav_b=(-0.05,-0.02,-1.00) r=0.82m
+[headless_play] t=  7.80s step= 390 trunk_z= 124.4mm grav_b=(-0.08,-0.08,-0.99) r=0.81m
+[headless_play] t=  7.90s step= 395 trunk_z= 126.5mm grav_b=(-0.09,-0.09,-0.99) r=0.81m
+[headless_play] t=  8.00s step= 400 trunk_z= 121.3mm grav_b=(-0.07,-0.09,-0.99) r=0.83m
+[headless_play] t=  8.10s step= 405 trunk_z= 119.9mm grav_b=(-0.06,-0.03,-1.00) r=0.85m
+[headless_play] t=  8.20s step= 410 trunk_z= 119.1mm grav_b=(-0.06,-0.05,-1.00) r=0.84m
+[headless_play] t=  8.30s step= 415 trunk_z= 122.7mm grav_b=(-0.06,-0.08,-1.00) r=0.83m
+[headless_play] t=  8.40s step= 420 trunk_z= 123.3mm grav_b=(-0.07,-0.06,-1.00) r=0.84m
+[headless_play] t=  8.50s step= 425 trunk_z= 112.6mm grav_b=(-0.06,-0.00,-1.00) r=0.87m
+[headless_play] t=  8.60s step= 430 trunk_z= 122.9mm grav_b=(-0.04,+0.00,-1.00) r=0.89m
+[headless_play] t=  8.70s step= 435 trunk_z= 119.0mm grav_b=(-0.04,-0.01,-1.00) r=0.89m
+[headless_play] t=  8.80s step= 440 trunk_z= 123.3mm grav_b=(-0.07,-0.07,-1.00) r=0.87m
+[headless_play] t=  8.90s step= 445 trunk_z= 125.9mm grav_b=(-0.06,-0.09,-0.99) r=0.87m
+[headless_play] t=  9.00s step= 450 trunk_z= 120.1mm grav_b=(-0.03,-0.09,-1.00) r=0.89m
+[headless_play] t=  9.10s step= 455 trunk_z= 120.9mm grav_b=(+0.05,-0.03,-1.00) r=0.92m
+[headless_play] t=  9.20s step= 460 trunk_z= 128.1mm grav_b=(-0.01,-0.02,-1.00) r=0.94m
+[headless_play] t=  9.30s step= 465 trunk_z= 123.3mm grav_b=(-0.07,-0.11,-0.99) r=0.95m
+[headless_play] t=  9.40s step= 470 trunk_z= 122.5mm grav_b=(-0.16,-0.09,-0.98) r=0.96m
+[headless_play] t=  9.50s step= 475 trunk_z= 117.4mm grav_b=(-0.16,-0.00,-0.99) r=0.98m
+[headless_play] t=  9.60s step= 480 trunk_z= 119.9mm grav_b=(-0.12,-0.07,-0.99) r=0.98m
+[headless_play] t=  9.70s step= 485 trunk_z= 119.5mm grav_b=(-0.05,-0.09,-0.99) r=0.95m
+[headless_play] t=  9.80s step= 490 trunk_z= 122.1mm grav_b=(-0.03,-0.09,-1.00) r=0.95m
+[headless_play] t=  9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.03,-0.09,-1.00) r=0.96m
+[headless_play] t= 10.00s step= 500 trunk_z= 118.7mm grav_b=(-0.04,+0.01,-1.00) r=0.98m
+[headless_play] t= 10.10s step= 505 trunk_z= 120.0mm grav_b=(-0.03,-0.00,-1.00) r=0.97m
+[headless_play] t= 10.20s step= 510 trunk_z= 116.1mm grav_b=(-0.04,-0.07,-1.00) r=0.94m
+[headless_play] t= 10.30s step= 515 trunk_z= 122.1mm grav_b=(-0.05,-0.00,-1.00) r=0.94m
+[headless_play] t= 10.40s step= 520 trunk_z= 111.2mm grav_b=(-0.04,+0.04,-1.00) r=0.96m
+[headless_play] t= 10.50s step= 525 trunk_z= 122.3mm grav_b=(-0.05,+0.00,-1.00) r=0.96m
+[headless_play] t= 10.60s step= 530 trunk_z= 118.2mm grav_b=(-0.06,-0.02,-1.00) r=0.94m
+[headless_play] t= 10.70s step= 535 trunk_z= 122.8mm grav_b=(-0.06,-0.06,-1.00) r=0.91m
+[headless_play] t= 10.80s step= 540 trunk_z= 124.7mm grav_b=(-0.06,-0.08,-1.00) r=0.90m
+[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(-0.06,-0.07,-1.00) r=0.91m
+[headless_play] t= 11.00s step= 550 trunk_z= 122.2mm grav_b=(-0.07,+0.01,-1.00) r=0.93m
+[headless_play] t= 11.10s step= 555 trunk_z= 126.2mm grav_b=(-0.07,+0.06,-1.00) r=0.94m
+[headless_play] t= 11.20s step= 560 trunk_z= 122.7mm grav_b=(-0.07,+0.03,-1.00) r=0.92m
+[headless_play] t= 11.30s step= 565 trunk_z= 124.7mm grav_b=(-0.07,-0.07,-1.00) r=0.90m
+[headless_play] t= 11.40s step= 570 trunk_z= 125.9mm grav_b=(-0.05,-0.10,-0.99) r=0.89m
+[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(-0.05,-0.09,-0.99) r=0.90m
+[headless_play] t= 11.60s step= 580 trunk_z= 119.7mm grav_b=(-0.04,+0.02,-1.00) r=0.92m
+[headless_play] t= 11.70s step= 585 trunk_z= 122.5mm grav_b=(-0.04,+0.01,-1.00) r=0.92m
+[headless_play] t= 11.80s step= 590 trunk_z= 118.4mm grav_b=(-0.04,-0.04,-1.00) r=0.90m
+[headless_play] t= 11.90s step= 595 trunk_z= 125.7mm grav_b=(-0.05,-0.09,-0.99) r=0.88m
+[headless_play] t= 12.00s step= 600 trunk_z= 122.6mm grav_b=(+0.06,-0.14,-0.99) r=0.87m
+[headless_play] t= 12.10s step= 605 trunk_z= 123.7mm grav_b=(+0.03,-0.11,-0.99) r=0.85m
+[headless_play] t= 12.20s step= 610 trunk_z= 120.9mm grav_b=(-0.07,+0.05,-1.00) r=0.84m
+[headless_play] t= 12.30s step= 615 trunk_z= 126.8mm grav_b=(-0.11,+0.06,-0.99) r=0.84m
+[headless_play] t= 12.40s step= 620 trunk_z= 118.3mm grav_b=(-0.11,-0.02,-0.99) r=0.81m
+[headless_play] t= 12.50s step= 625 trunk_z= 122.6mm grav_b=(-0.07,-0.05,-1.00) r=0.80m
+[headless_play] t= 12.60s step= 630 trunk_z= 120.0mm grav_b=(-0.05,-0.05,-1.00) r=0.80m
+[headless_play] t= 12.70s step= 635 trunk_z= 114.8mm grav_b=(-0.03,+0.01,-1.00) r=0.80m
+[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.78m
+[headless_play] t= 12.90s step= 645 trunk_z= 112.2mm grav_b=(+0.03,-0.06,-1.00) r=0.75m
+[headless_play] t= 13.00s step= 650 trunk_z= 124.7mm grav_b=(+0.00,-0.09,-1.00) r=0.72m
+[headless_play] t= 13.10s step= 655 trunk_z= 121.1mm grav_b=(+0.00,-0.09,-1.00) r=0.70m
+[headless_play] t= 13.20s step= 660 trunk_z= 119.0mm grav_b=(-0.02,+0.05,-1.00) r=0.69m
+[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(-0.05,+0.03,-1.00) r=0.68m
+[headless_play] t= 13.40s step= 670 trunk_z= 115.3mm grav_b=(-0.04,-0.01,-1.00) r=0.65m
+[headless_play] t= 13.50s step= 675 trunk_z= 123.2mm grav_b=(-0.06,-0.05,-1.00) r=0.63m
+[headless_play] t= 13.60s step= 680 trunk_z= 122.9mm grav_b=(-0.03,-0.09,-1.00) r=0.61m
+[headless_play] t= 13.70s step= 685 trunk_z= 120.1mm grav_b=(-0.03,-0.09,-1.00) r=0.61m
+[headless_play] t= 13.80s step= 690 trunk_z= 120.7mm grav_b=(-0.03,+0.01,-1.00) r=0.60m
+[headless_play] t= 13.90s step= 695 trunk_z= 121.0mm grav_b=(-0.04,-0.04,-1.00) r=0.60m
+[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.04,-0.06,-1.00) r=0.57m
+[headless_play] t= 14.10s step= 705 trunk_z= 119.6mm grav_b=(-0.01,-0.08,-1.00) r=0.55m
+[headless_play] t= 14.20s step= 710 trunk_z= 117.7mm grav_b=(+0.01,-0.08,-1.00) r=0.54m
+[headless_play] t= 14.30s step= 715 trunk_z= 120.9mm grav_b=(-0.04,+0.11,-0.99) r=0.52m
+[headless_play] t= 14.40s step= 720 trunk_z= 128.1mm grav_b=(-0.04,+0.16,-0.99) r=0.51m
+[headless_play] t= 14.50s step= 725 trunk_z= 126.5mm grav_b=(-0.05,+0.17,-0.98) r=0.50m
+[headless_play] t= 14.60s step= 730 trunk_z= 129.2mm grav_b=(-0.07,+0.10,-0.99) r=0.50m
+[headless_play] t= 14.70s step= 735 trunk_z= 134.6mm grav_b=(-0.11,-0.03,-0.99) r=0.49m
+[headless_play] t= 14.80s step= 740 trunk_z= 131.7mm grav_b=(-0.08,-0.10,-0.99) r=0.47m
+[headless_play] t= 14.90s step= 745 trunk_z= 128.0mm grav_b=(-0.06,-0.09,-0.99) r=0.48m
+[headless_play] t= 15.00s step= 750 trunk_z= 112.4mm grav_b=(-0.00,-0.02,-1.00) r=0.50m
+[headless_play] t= 15.10s step= 755 trunk_z= 120.9mm grav_b=(-0.06,-0.03,-1.00) r=0.51m
+[headless_play] t= 15.20s step= 760 trunk_z= 111.4mm grav_b=(-0.01,-0.02,-1.00) r=0.52m
+[headless_play] t= 15.30s step= 765 trunk_z= 109.9mm grav_b=(+0.05,-0.01,-1.00) r=0.51m
+[headless_play] t= 15.40s step= 770 trunk_z= 109.0mm grav_b=(+0.04,-0.07,-1.00) r=0.52m
+[headless_play] t= 15.50s step= 775 trunk_z= 110.3mm grav_b=(+0.01,-0.00,-1.00) r=0.53m
+[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.52m
+[headless_play] t= 15.70s step= 785 trunk_z= 112.2mm grav_b=(-0.03,-0.08,-1.00) r=0.49m
+[headless_play] t= 15.80s step= 790 trunk_z= 122.6mm grav_b=(-0.02,-0.08,-1.00) r=0.48m
+[headless_play] t= 15.90s step= 795 trunk_z= 119.7mm grav_b=(-0.02,-0.08,-1.00) r=0.47m
+[headless_play] t= 16.00s step= 800 trunk_z= 121.7mm grav_b=(-0.03,-0.11,-0.99) r=0.47m
+[headless_play] t= 16.10s step= 805 trunk_z= 118.9mm grav_b=(+0.01,-0.02,-1.00) r=0.47m
+[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(-0.01,-0.03,-1.00) r=0.45m
+[headless_play] t= 16.30s step= 815 trunk_z= 123.1mm grav_b=(-0.00,-0.06,-1.00) r=0.42m
+[headless_play] t= 16.40s step= 820 trunk_z= 124.4mm grav_b=(+0.00,-0.06,-1.00) r=0.41m
+[headless_play] t= 16.50s step= 825 trunk_z= 116.9mm grav_b=(-0.00,+0.01,-1.00) r=0.40m
+[headless_play] t= 16.60s step= 830 trunk_z= 124.2mm grav_b=(-0.01,-0.01,-1.00) r=0.39m
+[headless_play] t= 16.70s step= 835 trunk_z= 116.7mm grav_b=(-0.04,-0.06,-1.00) r=0.36m
+[headless_play] t= 16.80s step= 840 trunk_z= 126.1mm grav_b=(-0.08,-0.11,-0.99) r=0.33m
+[headless_play] t= 16.90s step= 845 trunk_z= 128.0mm grav_b=(-0.08,-0.15,-0.99) r=0.31m
+[headless_play] t= 17.00s step= 850 trunk_z= 126.0mm grav_b=(-0.05,-0.17,-0.98) r=0.30m
+[headless_play] t= 17.10s step= 855 trunk_z= 127.0mm grav_b=(-0.03,-0.12,-0.99) r=0.29m
+[headless_play] t= 17.20s step= 860 trunk_z= 124.5mm grav_b=(+0.02,-0.01,-1.00) r=0.28m
+[headless_play] t= 17.30s step= 865 trunk_z= 128.3mm grav_b=(+0.01,+0.01,-1.00) r=0.27m
+[headless_play] t= 17.40s step= 870 trunk_z= 119.9mm grav_b=(-0.05,-0.08,-1.00) r=0.24m
+[headless_play] t= 17.50s step= 875 trunk_z= 127.2mm grav_b=(-0.08,-0.10,-0.99) r=0.22m
+[headless_play] t= 17.60s step= 880 trunk_z= 120.1mm grav_b=(-0.11,-0.07,-0.99) r=0.21m
+[headless_play] t= 17.70s step= 885 trunk_z= 119.2mm grav_b=(-0.05,-0.00,-1.00) r=0.21m
+[headless_play] t= 17.80s step= 890 trunk_z= 122.3mm grav_b=(-0.04,-0.00,-1.00) r=0.20m
+[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(-0.04,-0.12,-0.99) r=0.17m
+[headless_play] t= 18.00s step= 900 trunk_z= 129.6mm grav_b=(-0.05,-0.16,-0.99) r=0.14m
+[headless_play] t= 18.10s step= 905 trunk_z= 127.3mm grav_b=(-0.09,-0.26,-0.96) r=0.11m
+[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(+0.08,-0.30,-0.95) r=0.09m
+[headless_play] t= 18.30s step= 915 trunk_z= 114.5mm grav_b=(+0.06,-0.14,-0.99) r=0.05m
+[headless_play] t= 18.40s step= 920 trunk_z= 125.9mm grav_b=(+0.16,-0.18,-0.97) r=0.03m
+[headless_play] t= 18.50s step= 925 trunk_z= 127.7mm grav_b=(+0.09,-0.07,-0.99) r=0.08m
+[headless_play] t= 18.60s step= 930 trunk_z=  95.5mm grav_b=(-0.01,-0.01,-1.00) r=0.13m
+[headless_play] t= 18.70s step= 935 trunk_z= 105.4mm grav_b=(-0.01,-0.09,-1.00) r=0.13m
+[headless_play] t= 18.80s step= 940 trunk_z= 112.3mm grav_b=(-0.12,-0.07,-0.99) r=0.13m
+[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(-0.06,-0.13,-0.99) r=0.14m
+[headless_play] t= 19.00s step= 950 trunk_z= 110.8mm grav_b=(-0.03,-0.13,-0.99) r=0.15m
+[headless_play] t= 19.10s step= 955 trunk_z= 119.8mm grav_b=(+0.00,-0.07,-1.00) r=0.14m
+[headless_play] t= 19.20s step= 960 trunk_z= 114.8mm grav_b=(+0.00,-0.09,-1.00) r=0.11m
+[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(+0.03,+0.01,-1.00) r=0.09m
+[headless_play] t= 19.40s step= 970 trunk_z= 122.7mm grav_b=(-0.04,-0.07,-1.00) r=0.09m
+[headless_play] t= 19.50s step= 975 trunk_z= 124.4mm grav_b=(-0.04,-0.14,-0.99) r=0.11m
+[headless_play] t= 19.60s step= 980 trunk_z= 125.1mm grav_b=(-0.01,-0.13,-0.99) r=0.13m
+[headless_play] t= 19.70s step= 985 trunk_z= 120.4mm grav_b=(-0.04,-0.12,-0.99) r=0.13m
+[headless_play] t= 19.80s step= 990 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00) r=0.13m
+[headless_play] t= 19.90s step= 995 trunk_z= 122.5mm grav_b=(-0.02,+0.00,-1.00) r=0.14m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.53m
+[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.53m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t10.log

@@ -0,0 +1,215 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 120.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.058,-18.052,+0.247)
+[headless_play] t=  0.00s step=   0 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00) r=0.08m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.08m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.3mm grav_b=(+0.09,-0.05,-0.99) r=0.08m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.6mm grav_b=(+0.11,+0.00,-0.99) r=0.10m
+[headless_play] t=  0.40s step=  20 trunk_z= 113.4mm grav_b=(+0.10,+0.07,-0.99) r=0.13m
+[headless_play] t=  0.50s step=  25 trunk_z= 124.3mm grav_b=(+0.10,+0.06,-0.99) r=0.16m
+[headless_play] t=  0.60s step=  30 trunk_z= 119.7mm grav_b=(+0.10,+0.06,-0.99) r=0.17m
+[headless_play] t=  0.70s step=  35 trunk_z= 117.3mm grav_b=(+0.08,+0.00,-1.00) r=0.20m
+[headless_play] t=  0.80s step=  40 trunk_z= 119.9mm grav_b=(+0.08,+0.01,-1.00) r=0.22m
+[headless_play] t=  0.90s step=  45 trunk_z= 112.5mm grav_b=(+0.04,+0.04,-1.00) r=0.24m
+[headless_play] t=  1.00s step=  50 trunk_z= 123.4mm grav_b=(+0.12,+0.04,-0.99) r=0.28m
+[headless_play] t=  1.10s step=  55 trunk_z= 123.2mm grav_b=(+0.10,+0.05,-0.99) r=0.30m
+[headless_play] t=  1.20s step=  60 trunk_z= 115.5mm grav_b=(+0.09,+0.04,-0.99) r=0.34m
+[headless_play] t=  1.30s step=  65 trunk_z= 122.7mm grav_b=(+0.07,+0.04,-1.00) r=0.37m
+[headless_play] t=  1.40s step=  70 trunk_z= 114.3mm grav_b=(+0.03,+0.04,-1.00) r=0.40m
+[headless_play] t=  1.50s step=  75 trunk_z= 123.7mm grav_b=(+0.04,+0.06,-1.00) r=0.43m
+[headless_play] t=  1.60s step=  80 trunk_z= 120.4mm grav_b=(+0.06,+0.05,-1.00) r=0.44m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.2mm grav_b=(+0.06,-0.00,-1.00) r=0.46m
+[headless_play] t=  1.80s step=  90 trunk_z= 122.0mm grav_b=(+0.05,-0.02,-1.00) r=0.47m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.9mm grav_b=(+0.01,+0.01,-1.00) r=0.47m
+[headless_play] t=  2.00s step= 100 trunk_z= 115.5mm grav_b=(+0.09,+0.09,-0.99) r=0.47m
+[headless_play] t=  2.10s step= 105 trunk_z= 120.9mm grav_b=(+0.15,+0.11,-0.98) r=0.48m
+[headless_play] t=  2.20s step= 110 trunk_z= 123.2mm grav_b=(+0.13,+0.11,-0.98) r=0.50m
+[headless_play] t=  2.30s step= 115 trunk_z= 122.0mm grav_b=(+0.15,+0.05,-0.99) r=0.53m
+[headless_play] t=  2.40s step= 120 trunk_z= 126.0mm grav_b=(+0.11,+0.02,-0.99) r=0.56m
+[headless_play] t=  2.50s step= 125 trunk_z= 114.7mm grav_b=(+0.00,+0.06,-1.00) r=0.61m
+[headless_play] t=  2.60s step= 130 trunk_z= 123.1mm grav_b=(+0.01,+0.03,-1.00) r=0.63m
+[headless_play] t=  2.70s step= 135 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.65m
+[headless_play] t=  2.80s step= 140 trunk_z= 121.2mm grav_b=(+0.07,-0.02,-1.00) r=0.66m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.07,+0.03,-1.00) r=0.68m
+[headless_play] t=  3.00s step= 150 trunk_z= 118.6mm grav_b=(+0.07,+0.07,-0.99) r=0.71m
+[headless_play] t=  3.10s step= 155 trunk_z= 122.9mm grav_b=(+0.09,+0.06,-0.99) r=0.73m
+[headless_play] t=  3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.09,+0.06,-0.99) r=0.74m
+[headless_play] t=  3.30s step= 165 trunk_z= 116.8mm grav_b=(+0.06,+0.04,-1.00) r=0.76m
+[headless_play] t=  3.40s step= 170 trunk_z= 115.7mm grav_b=(+0.11,+0.05,-0.99) r=0.77m
+[headless_play] t=  3.50s step= 175 trunk_z= 117.9mm grav_b=(+0.14,+0.08,-0.99) r=0.79m
+[headless_play] t=  3.60s step= 180 trunk_z= 120.8mm grav_b=(+0.12,+0.02,-0.99) r=0.81m
+[headless_play] t=  3.70s step= 185 trunk_z= 119.7mm grav_b=(+0.11,-0.02,-0.99) r=0.85m
+[headless_play] t=  3.80s step= 190 trunk_z= 123.9mm grav_b=(+0.11,+0.00,-0.99) r=0.88m
+[headless_play] t=  3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.12,+0.11,-0.99) r=0.92m
+[headless_play] t=  4.00s step= 200 trunk_z= 133.9mm grav_b=(+0.14,+0.15,-0.98) r=0.96m
+[headless_play] t=  4.10s step= 205 trunk_z= 123.2mm grav_b=(+0.13,+0.14,-0.98) r=1.02m
+[headless_play] t=  4.20s step= 210 trunk_z= 106.3mm grav_b=(+0.15,+0.11,-0.98) r=1.09m
+[headless_play] t=  4.30s step= 215 trunk_z= 112.4mm grav_b=(+0.15,+0.11,-0.98) r=1.13m
+[headless_play] t=  4.40s step= 220 trunk_z=  95.7mm grav_b=(+0.14,-0.02,-0.99) r=1.18m
+[headless_play] t=  4.50s step= 225 trunk_z=  96.6mm grav_b=(+0.19,-0.02,-0.98) r=1.24m
+[headless_play] t=  4.60s step= 230 trunk_z=  52.9mm grav_b=(+0.16,+0.12,-0.98) r=1.31m
+[headless_play] t=  4.70s step= 235 trunk_z=  74.6mm grav_b=(+0.20,+0.14,-0.97) r=1.34m
+[headless_play] t=  4.80s step= 240 trunk_z=  65.6mm grav_b=(+0.20,+0.15,-0.97) r=1.38m
+[headless_play] t=  4.90s step= 245 trunk_z=  80.6mm grav_b=(+0.28,-0.03,-0.96) r=1.42m
+[headless_play] t=  5.00s step= 250 trunk_z=  46.7mm grav_b=(+0.12,-0.06,-0.99) r=1.49m
+[headless_play] t=  5.10s step= 255 trunk_z=  38.7mm grav_b=(+0.15,+0.05,-0.99) r=1.53m
+[headless_play] t=  5.20s step= 260 trunk_z=  44.4mm grav_b=(+0.13,+0.03,-0.99) r=1.55m
+[headless_play] t=  5.30s step= 265 trunk_z=  44.4mm grav_b=(+0.04,+0.06,-1.00) r=1.59m
+[headless_play] t=  5.40s step= 270 trunk_z=  42.8mm grav_b=(+0.04,-0.01,-1.00) r=1.62m
+[headless_play] t=  5.50s step= 275 trunk_z=  27.7mm grav_b=(-0.04,-0.11,-0.99) r=1.66m
+[headless_play] t=  5.60s step= 280 trunk_z=  38.2mm grav_b=(+0.04,-0.08,-1.00) r=1.69m
+[headless_play] t=  5.70s step= 285 trunk_z=  37.7mm grav_b=(+0.04,-0.09,-1.00) r=1.69m
+[headless_play] t=  5.80s step= 290 trunk_z=  36.4mm grav_b=(+0.11,-0.03,-0.99) r=1.70m
+[headless_play] t=  5.90s step= 295 trunk_z=  29.9mm grav_b=(+0.15,-0.10,-0.98) r=1.72m
+[headless_play] t=  6.00s step= 300 trunk_z=  30.2mm grav_b=(+0.20,-0.14,-0.97) r=1.76m
+[headless_play] t=  6.10s step= 305 trunk_z=  39.0mm grav_b=(+0.21,-0.14,-0.97) r=1.79m
+[headless_play] t=  6.20s step= 310 trunk_z=  23.2mm grav_b=(+0.19,-0.16,-0.97) r=1.83m
+[headless_play] t=  6.30s step= 315 trunk_z=  34.7mm grav_b=(+0.48,-0.28,-0.83) r=1.91m
+[headless_play] t=  6.40s step= 320 trunk_z= -31.6mm grav_b=(+0.74,+0.21,-0.64) r=1.98m
+[headless_play] RESET at t=  6.44s step= 322 (env termination, not a recovery)
+[headless_play] t=  6.50s step= 325 trunk_z= 113.2mm grav_b=(+0.00,+0.00,-1.00) r=0.24m
+[headless_play] t=  6.60s step= 330 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.24m
+[headless_play] t=  6.70s step= 335 trunk_z= 114.8mm grav_b=(+0.06,+0.01,-1.00) r=0.24m
+[headless_play] t=  6.80s step= 340 trunk_z= 114.9mm grav_b=(+0.07,+0.01,-1.00) r=0.24m
+[headless_play] t=  6.90s step= 345 trunk_z= 114.8mm grav_b=(+0.06,+0.01,-1.00) r=0.24m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.0mm grav_b=(+0.06,+0.03,-1.00) r=0.24m
+[headless_play] t=  7.10s step= 355 trunk_z= 115.0mm grav_b=(+0.08,+0.03,-1.00) r=0.24m
+[headless_play] t=  7.20s step= 360 trunk_z= 115.0mm grav_b=(+0.06,+0.02,-1.00) r=0.24m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.0mm grav_b=(+0.04,+0.03,-1.00) r=0.24m
+[headless_play] t=  7.40s step= 370 trunk_z= 114.7mm grav_b=(+0.02,+0.02,-1.00) r=0.24m
+[headless_play] t=  7.50s step= 375 trunk_z= 114.6mm grav_b=(+0.03,+0.02,-1.00) r=0.24m
+[headless_play] t=  7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.05,+0.02,-1.00) r=0.24m
+[headless_play] t=  7.70s step= 385 trunk_z= 114.5mm grav_b=(+0.07,+0.02,-1.00) r=0.24m
+[headless_play] t=  7.80s step= 390 trunk_z= 114.6mm grav_b=(+0.07,+0.02,-1.00) r=0.24m
+[headless_play] t=  7.90s step= 395 trunk_z= 114.6mm grav_b=(+0.06,+0.02,-1.00) r=0.24m
+[headless_play] t=  8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.10,-0.02,-0.99) r=0.24m
+[headless_play] t=  8.10s step= 405 trunk_z= 115.8mm grav_b=(+0.11,+0.00,-0.99) r=0.24m
+[headless_play] t=  8.20s step= 410 trunk_z= 114.9mm grav_b=(+0.08,+0.01,-1.00) r=0.24m
+[headless_play] t=  8.30s step= 415 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.24m
+[headless_play] t=  8.40s step= 420 trunk_z= 114.5mm grav_b=(+0.02,+0.02,-1.00) r=0.24m
+[headless_play] t=  8.50s step= 425 trunk_z= 114.0mm grav_b=(+0.05,+0.02,-1.00) r=0.24m
+[headless_play] t=  8.60s step= 430 trunk_z= 113.4mm grav_b=(+0.05,+0.02,-1.00) r=0.24m
+[headless_play] t=  8.70s step= 435 trunk_z= 112.4mm grav_b=(+0.07,+0.00,-1.00) r=0.23m
+[headless_play] t=  8.80s step= 440 trunk_z= 112.6mm grav_b=(+0.09,+0.01,-1.00) r=0.24m
+[headless_play] t=  8.90s step= 445 trunk_z= 113.5mm grav_b=(+0.09,+0.02,-1.00) r=0.24m
+[headless_play] t=  9.00s step= 450 trunk_z= 113.6mm grav_b=(+0.07,+0.01,-1.00) r=0.24m
+[headless_play] t=  9.10s step= 455 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) r=0.24m
+[headless_play] t=  9.20s step= 460 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.23m
+[headless_play] t=  9.30s step= 465 trunk_z= 106.9mm grav_b=(+0.17,-0.08,-0.98) r=0.22m
+[headless_play] t=  9.40s step= 470 trunk_z= 103.0mm grav_b=(+0.08,-0.03,-1.00) r=0.23m
+[headless_play] t=  9.50s step= 475 trunk_z= 100.9mm grav_b=(+0.18,+0.03,-0.98) r=0.25m
+[headless_play] t=  9.60s step= 480 trunk_z= 106.2mm grav_b=(+0.21,+0.05,-0.98) r=0.25m
+[headless_play] t=  9.70s step= 485 trunk_z= 111.1mm grav_b=(+0.15,-0.01,-0.99) r=0.24m
+[headless_play] t=  9.80s step= 490 trunk_z= 113.8mm grav_b=(+0.14,-0.03,-0.99) r=0.24m
+[headless_play] t=  9.90s step= 495 trunk_z= 114.4mm grav_b=(+0.13,-0.03,-0.99) r=0.24m
+[headless_play] t= 10.00s step= 500 trunk_z= 114.9mm grav_b=(+0.10,-0.02,-0.99) r=0.24m
+[headless_play] t= 10.10s step= 505 trunk_z= 114.9mm grav_b=(+0.10,-0.02,-0.99) r=0.24m
+[headless_play] t= 10.20s step= 510 trunk_z= 115.4mm grav_b=(+0.10,-0.02,-0.99) r=0.25m
+[headless_play] t= 10.30s step= 515 trunk_z= 115.3mm grav_b=(+0.09,-0.02,-1.00) r=0.25m
+[headless_play] t= 10.40s step= 520 trunk_z= 115.0mm grav_b=(+0.06,-0.02,-1.00) r=0.25m
+[headless_play] t= 10.50s step= 525 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.25m
+[headless_play] t= 10.60s step= 530 trunk_z= 115.6mm grav_b=(+0.02,+0.00,-1.00) r=0.25m
+[headless_play] t= 10.70s step= 535 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.25m
+[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.04,+0.00,-1.00) r=0.25m
+[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.25m
+[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.05,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.50s step= 575 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.60s step= 580 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m
+[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.25m
+[headless_play] t= 12.00s step= 600 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.25m
+[headless_play] t= 12.10s step= 605 trunk_z= 115.4mm grav_b=(+0.05,+0.00,-1.00) r=0.25m
+[headless_play] t= 12.20s step= 610 trunk_z= 114.9mm grav_b=(+0.07,+0.01,-1.00) r=0.25m
+[headless_play] t= 12.30s step= 615 trunk_z= 114.8mm grav_b=(+0.08,+0.00,-1.00) r=0.25m
+[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.08,+0.01,-1.00) r=0.25m
+[headless_play] t= 12.50s step= 625 trunk_z= 115.3mm grav_b=(+0.07,+0.01,-1.00) r=0.25m
+[headless_play] t= 12.60s step= 630 trunk_z= 115.4mm grav_b=(+0.06,+0.01,-1.00) r=0.25m
+[headless_play] t= 12.70s step= 635 trunk_z= 115.4mm grav_b=(+0.05,+0.01,-1.00) r=0.25m
+[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.24m
+[headless_play] t= 12.90s step= 645 trunk_z= 110.1mm grav_b=(+0.08,+0.06,-1.00) r=0.26m
+[headless_play] t= 13.00s step= 650 trunk_z= 114.1mm grav_b=(+0.06,+0.09,-0.99) r=0.27m
+[headless_play] t= 13.10s step= 655 trunk_z= 110.4mm grav_b=(+0.08,+0.06,-1.00) r=0.26m
+[headless_play] t= 13.20s step= 660 trunk_z= 105.6mm grav_b=(+0.07,-0.04,-1.00) r=0.24m
+[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.11,-0.09,-0.99) r=0.23m
+[headless_play] t= 13.40s step= 670 trunk_z= 111.8mm grav_b=(+0.11,-0.05,-0.99) r=0.24m
+[headless_play] t= 13.50s step= 675 trunk_z= 107.1mm grav_b=(+0.08,+0.05,-1.00) r=0.26m
+[headless_play] t= 13.60s step= 680 trunk_z= 116.6mm grav_b=(+0.09,+0.08,-0.99) r=0.28m
+[headless_play] t= 13.70s step= 685 trunk_z= 118.6mm grav_b=(+0.13,+0.18,-0.98) r=0.30m
+[headless_play] t= 13.80s step= 690 trunk_z= 118.4mm grav_b=(+0.14,+0.16,-0.98) r=0.31m
+[headless_play] t= 13.90s step= 695 trunk_z= 119.6mm grav_b=(+0.11,+0.02,-0.99) r=0.32m
+[headless_play] t= 14.00s step= 700 trunk_z= 124.8mm grav_b=(+0.10,-0.03,-0.99) r=0.34m
+[headless_play] t= 14.10s step= 705 trunk_z= 113.2mm grav_b=(+0.05,-0.00,-1.00) r=0.37m
+[headless_play] t= 14.20s step= 710 trunk_z= 116.1mm grav_b=(+0.08,+0.05,-1.00) r=0.39m
+[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(+0.08,+0.02,-1.00) r=0.39m
+[headless_play] t= 14.40s step= 720 trunk_z= 108.1mm grav_b=(+0.06,-0.05,-1.00) r=0.38m
+[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(+0.07,-0.07,-0.99) r=0.38m
+[headless_play] t= 14.60s step= 730 trunk_z= 111.9mm grav_b=(+0.08,-0.05,-1.00) r=0.40m
+[headless_play] t= 14.70s step= 735 trunk_z= 109.0mm grav_b=(+0.07,+0.04,-1.00) r=0.43m
+[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(+0.08,+0.06,-0.99) r=0.44m
+[headless_play] t= 14.90s step= 745 trunk_z= 113.7mm grav_b=(+0.11,+0.05,-0.99) r=0.45m
+[headless_play] t= 15.00s step= 750 trunk_z= 110.0mm grav_b=(+0.09,-0.07,-0.99) r=0.45m
+[headless_play] t= 15.10s step= 755 trunk_z= 117.5mm grav_b=(+0.09,-0.08,-0.99) r=0.46m
+[headless_play] t= 15.20s step= 760 trunk_z= 106.4mm grav_b=(+0.12,-0.01,-0.99) r=0.50m
+[headless_play] t= 15.30s step= 765 trunk_z= 113.4mm grav_b=(+0.13,+0.07,-0.99) r=0.53m
+[headless_play] t= 15.40s step= 770 trunk_z= 113.5mm grav_b=(+0.13,+0.09,-0.99) r=0.54m
+[headless_play] t= 15.50s step= 775 trunk_z= 110.4mm grav_b=(+0.13,+0.03,-0.99) r=0.55m
+[headless_play] t= 15.60s step= 780 trunk_z= 119.5mm grav_b=(+0.09,-0.08,-0.99) r=0.55m
+[headless_play] t= 15.70s step= 785 trunk_z= 118.5mm grav_b=(+0.09,-0.04,-1.00) r=0.57m
+[headless_play] t= 15.80s step= 790 trunk_z= 109.5mm grav_b=(+0.06,+0.05,-1.00) r=0.60m
+[headless_play] t= 15.90s step= 795 trunk_z= 127.4mm grav_b=(+0.07,+0.19,-0.98) r=0.64m
+[headless_play] t= 16.00s step= 800 trunk_z= 128.6mm grav_b=(+0.05,+0.33,-0.94) r=0.67m
+[headless_play] t= 16.10s step= 805 trunk_z= 124.6mm grav_b=(+0.02,+0.45,-0.90) r=0.70m
+[headless_play] t= 16.20s step= 810 trunk_z= 109.1mm grav_b=(-0.03,+0.63,-0.77) r=0.75m
+[headless_play] RESET at t= 16.30s step= 815 (env termination, not a recovery)
+[headless_play] t= 16.30s step= 815 trunk_z= 128.0mm grav_b=(-0.00,-0.00,-1.00) r=0.25m
+[headless_play] t= 16.40s step= 820 trunk_z= 113.2mm grav_b=(+0.02,+0.03,-1.00) r=0.25m
+[headless_play] t= 16.50s step= 825 trunk_z= 112.6mm grav_b=(+0.07,+0.08,-0.99) r=0.23m
+[headless_play] t= 16.60s step= 830 trunk_z= 115.0mm grav_b=(+0.11,+0.05,-0.99) r=0.23m
+[headless_play] t= 16.70s step= 835 trunk_z= 111.0mm grav_b=(+0.11,+0.01,-0.99) r=0.24m
+[headless_play] t= 16.80s step= 840 trunk_z= 120.5mm grav_b=(+0.13,-0.04,-0.99) r=0.26m
+[headless_play] t= 16.90s step= 845 trunk_z= 123.0mm grav_b=(+0.16,-0.05,-0.99) r=0.27m
+[headless_play] t= 17.00s step= 850 trunk_z= 114.6mm grav_b=(+0.10,-0.04,-0.99) r=0.28m
+[headless_play] t= 17.10s step= 855 trunk_z= 128.5mm grav_b=(+0.04,-0.03,-1.00) r=0.30m
+[headless_play] t= 17.20s step= 860 trunk_z= 114.9mm grav_b=(+0.06,-0.06,-1.00) r=0.34m
+[headless_play] t= 17.30s step= 865 trunk_z= 121.1mm grav_b=(+0.08,-0.04,-1.00) r=0.36m
+[headless_play] t= 17.40s step= 870 trunk_z= 113.8mm grav_b=(+0.06,-0.01,-1.00) r=0.36m
+[headless_play] t= 17.50s step= 875 trunk_z= 118.5mm grav_b=(+0.07,+0.04,-1.00) r=0.37m
+[headless_play] t= 17.60s step= 880 trunk_z= 117.4mm grav_b=(+0.10,+0.04,-0.99) r=0.39m
+[headless_play] t= 17.70s step= 885 trunk_z= 110.8mm grav_b=(+0.09,-0.02,-1.00) r=0.42m
+[headless_play] t= 17.80s step= 890 trunk_z= 121.2mm grav_b=(+0.08,-0.04,-1.00) r=0.44m
+[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(+0.05,-0.01,-1.00) r=0.46m
+[headless_play] t= 18.00s step= 900 trunk_z= 118.6mm grav_b=(+0.06,+0.05,-1.00) r=0.47m
+[headless_play] t= 18.10s step= 905 trunk_z= 118.7mm grav_b=(+0.09,+0.05,-1.00) r=0.49m
+[headless_play] t= 18.20s step= 910 trunk_z= 110.0mm grav_b=(+0.08,-0.00,-1.00) r=0.52m
+[headless_play] t= 18.30s step= 915 trunk_z= 121.0mm grav_b=(+0.09,-0.05,-0.99) r=0.55m
+[headless_play] t= 18.40s step= 920 trunk_z= 112.0mm grav_b=(+0.00,+0.04,-1.00) r=0.54m
+[headless_play] t= 18.50s step= 925 trunk_z= 119.1mm grav_b=(+0.03,+0.08,-1.00) r=0.54m
+[headless_play] t= 18.60s step= 930 trunk_z= 121.7mm grav_b=(+0.08,+0.07,-0.99) r=0.54m
+[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(+0.12,+0.05,-0.99) r=0.56m
+[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(+0.13,-0.02,-0.99) r=0.58m
+[headless_play] t= 18.90s step= 945 trunk_z= 115.5mm grav_b=(+0.12,-0.01,-0.99) r=0.59m
+[headless_play] t= 19.00s step= 950 trunk_z= 112.7mm grav_b=(+0.08,+0.05,-1.00) r=0.60m
+[headless_play] t= 19.10s step= 955 trunk_z= 119.1mm grav_b=(+0.08,+0.05,-1.00) r=0.62m
+[headless_play] t= 19.20s step= 960 trunk_z= 114.0mm grav_b=(+0.10,+0.03,-0.99) r=0.65m
+[headless_play] t= 19.30s step= 965 trunk_z= 119.5mm grav_b=(+0.08,-0.04,-1.00) r=0.69m
+[headless_play] t= 19.40s step= 970 trunk_z= 119.5mm grav_b=(+0.08,-0.03,-1.00) r=0.71m
+[headless_play] t= 19.50s step= 975 trunk_z= 111.5mm grav_b=(+0.04,+0.04,-1.00) r=0.73m
+[headless_play] t= 19.60s step= 980 trunk_z= 120.3mm grav_b=(+0.06,+0.05,-1.00) r=0.74m
+[headless_play] t= 19.70s step= 985 trunk_z= 116.2mm grav_b=(+0.09,+0.04,-1.00) r=0.77m
+[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(+0.05,-0.04,-1.00) r=0.79m
+[headless_play] t= 19.90s step= 995 trunk_z= 121.4mm grav_b=(+0.07,-0.04,-1.00) r=0.81m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t10/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x216fa880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t10/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t10/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t11.log

@@ -0,0 +1,214 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 128.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.935,-18.336,+0.256)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.34m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.4mm grav_b=(+0.02,-0.03,-1.00) r=0.33m
+[headless_play] t=  0.20s step=  10 trunk_z= 113.5mm grav_b=(+0.08,-0.05,-1.00) r=0.32m
+[headless_play] t=  0.30s step=  15 trunk_z= 111.6mm grav_b=(+0.07,+0.05,-1.00) r=0.30m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.9mm grav_b=(+0.05,+0.10,-0.99) r=0.28m
+[headless_play] t=  0.50s step=  25 trunk_z= 118.0mm grav_b=(+0.05,+0.12,-0.99) r=0.26m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.4mm grav_b=(+0.06,+0.10,-0.99) r=0.24m
+[headless_play] t=  0.70s step=  35 trunk_z= 117.0mm grav_b=(+0.06,-0.02,-1.00) r=0.20m
+[headless_play] t=  0.80s step=  40 trunk_z= 117.1mm grav_b=(+0.08,+0.01,-1.00) r=0.19m
+[headless_play] t=  0.90s step=  45 trunk_z= 113.1mm grav_b=(+0.03,+0.08,-1.00) r=0.17m
+[headless_play] t=  1.00s step=  50 trunk_z= 119.2mm grav_b=(+0.03,+0.10,-1.00) r=0.15m
+[headless_play] t=  1.10s step=  55 trunk_z= 108.2mm grav_b=(+0.08,-0.00,-1.00) r=0.11m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.5mm grav_b=(+0.12,-0.06,-0.99) r=0.08m
+[headless_play] t=  1.30s step=  65 trunk_z= 118.1mm grav_b=(+0.08,+0.02,-1.00) r=0.06m
+[headless_play] t=  1.40s step=  70 trunk_z= 120.4mm grav_b=(+0.03,+0.10,-0.99) r=0.04m
+[headless_play] t=  1.50s step=  75 trunk_z= 120.7mm grav_b=(+0.03,+0.13,-0.99) r=0.04m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.0mm grav_b=(+0.04,+0.12,-0.99) r=0.03m
+[headless_play] t=  1.70s step=  85 trunk_z= 114.4mm grav_b=(+0.05,+0.01,-1.00) r=0.04m
+[headless_play] t=  1.80s step=  90 trunk_z= 114.2mm grav_b=(+0.09,+0.01,-1.00) r=0.05m
+[headless_play] t=  1.90s step=  95 trunk_z= 110.0mm grav_b=(+0.06,+0.07,-1.00) r=0.07m
+[headless_play] t=  2.00s step= 100 trunk_z= 115.2mm grav_b=(-0.00,+0.01,-1.00) r=0.08m
+[headless_play] t=  2.10s step= 105 trunk_z= 108.4mm grav_b=(-0.00,-0.04,-1.00) r=0.09m
+[headless_play] t=  2.20s step= 110 trunk_z= 111.1mm grav_b=(+0.05,-0.03,-1.00) r=0.11m
+[headless_play] t=  2.30s step= 115 trunk_z= 106.5mm grav_b=(+0.06,+0.03,-1.00) r=0.13m
+[headless_play] t=  2.40s step= 120 trunk_z= 109.0mm grav_b=(+0.06,+0.10,-0.99) r=0.16m
+[headless_play] t=  2.50s step= 125 trunk_z= 110.8mm grav_b=(+0.09,+0.12,-0.99) r=0.17m
+[headless_play] t=  2.60s step= 130 trunk_z= 107.8mm grav_b=(+0.10,+0.10,-0.99) r=0.19m
+[headless_play] t=  2.70s step= 135 trunk_z= 111.5mm grav_b=(+0.14,+0.01,-0.99) r=0.22m
+[headless_play] t=  2.80s step= 140 trunk_z= 112.5mm grav_b=(+0.07,+0.07,-1.00) r=0.23m
+[headless_play] t=  2.90s step= 145 trunk_z= 115.5mm grav_b=(-0.04,+0.13,-0.99) r=0.25m
+[headless_play] t=  3.00s step= 150 trunk_z= 122.3mm grav_b=(-0.05,+0.14,-0.99) r=0.26m
+[headless_play] t=  3.10s step= 155 trunk_z= 125.5mm grav_b=(-0.02,+0.16,-0.99) r=0.26m
+[headless_play] t=  3.20s step= 160 trunk_z= 120.8mm grav_b=(+0.06,+0.16,-0.99) r=0.24m
+[headless_play] t=  3.30s step= 165 trunk_z= 117.3mm grav_b=(-0.06,+0.12,-0.99) r=0.23m
+[headless_play] t=  3.40s step= 170 trunk_z=  99.1mm grav_b=(+0.07,+0.11,-0.99) r=0.23m
+[headless_play] t=  3.50s step= 175 trunk_z= 109.0mm grav_b=(+0.04,+0.08,-1.00) r=0.21m
+[headless_play] t=  3.60s step= 180 trunk_z= 106.6mm grav_b=(+0.02,+0.01,-1.00) r=0.18m
+[headless_play] t=  3.70s step= 185 trunk_z= 113.3mm grav_b=(+0.02,-0.02,-1.00) r=0.17m
+[headless_play] t=  3.80s step= 190 trunk_z= 109.7mm grav_b=(+0.05,+0.02,-1.00) r=0.17m
+[headless_play] t=  3.90s step= 195 trunk_z= 104.2mm grav_b=(+0.10,+0.09,-0.99) r=0.20m
+[headless_play] t=  4.00s step= 200 trunk_z= 121.0mm grav_b=(+0.05,+0.09,-0.99) r=0.21m
+[headless_play] t=  4.10s step= 205 trunk_z= 121.8mm grav_b=(+0.05,+0.06,-1.00) r=0.20m
+[headless_play] t=  4.20s step= 210 trunk_z= 119.7mm grav_b=(+0.04,-0.08,-1.00) r=0.19m
+[headless_play] t=  4.30s step= 215 trunk_z= 124.5mm grav_b=(+0.06,-0.04,-1.00) r=0.20m
+[headless_play] t=  4.40s step= 220 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00) r=0.22m
+[headless_play] t=  4.50s step= 225 trunk_z= 127.8mm grav_b=(+0.11,+0.07,-0.99) r=0.26m
+[headless_play] t=  4.60s step= 230 trunk_z= 133.5mm grav_b=(+0.06,+0.10,-0.99) r=0.29m
+[headless_play] t=  4.70s step= 235 trunk_z= 107.9mm grav_b=(-0.02,-0.02,-1.00) r=0.33m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.4mm grav_b=(+0.06,+0.04,-1.00) r=0.35m
+[headless_play] t=  4.90s step= 245 trunk_z= 114.3mm grav_b=(-0.02,+0.03,-1.00) r=0.38m
+[headless_play] t=  5.00s step= 250 trunk_z= 123.1mm grav_b=(+0.00,+0.07,-1.00) r=0.40m
+[headless_play] t=  5.10s step= 255 trunk_z= 122.6mm grav_b=(-0.01,+0.06,-1.00) r=0.40m
+[headless_play] t=  5.20s step= 260 trunk_z= 116.1mm grav_b=(-0.02,-0.03,-1.00) r=0.40m
+[headless_play] t=  5.30s step= 265 trunk_z= 124.7mm grav_b=(+0.03,-0.07,-1.00) r=0.41m
+[headless_play] t=  5.40s step= 270 trunk_z= 125.5mm grav_b=(+0.05,-0.03,-1.00) r=0.44m
+[headless_play] t=  5.50s step= 275 trunk_z= 118.5mm grav_b=(+0.04,+0.03,-1.00) r=0.48m
+[headless_play] t=  5.60s step= 280 trunk_z= 128.7mm grav_b=(+0.04,+0.06,-1.00) r=0.50m
+[headless_play] t=  5.70s step= 285 trunk_z= 126.5mm grav_b=(+0.03,+0.06,-1.00) r=0.52m
+[headless_play] t=  5.80s step= 290 trunk_z= 117.2mm grav_b=(+0.00,-0.02,-1.00) r=0.54m
+[headless_play] t=  5.90s step= 295 trunk_z= 125.3mm grav_b=(+0.04,-0.01,-1.00) r=0.57m
+[headless_play] t=  6.00s step= 300 trunk_z= 115.8mm grav_b=(+0.08,+0.01,-1.00) r=0.63m
+[headless_play] t=  6.10s step= 305 trunk_z= 128.8mm grav_b=(+0.14,-0.01,-0.99) r=0.67m
+[headless_play] t=  6.20s step= 310 trunk_z= 134.0mm grav_b=(+0.06,+0.06,-1.00) r=0.71m
+[headless_play] t=  6.30s step= 315 trunk_z= 104.7mm grav_b=(+0.00,+0.03,-1.00) r=0.76m
+[headless_play] t=  6.40s step= 320 trunk_z= 117.7mm grav_b=(+0.01,+0.09,-1.00) r=0.78m
+[headless_play] t=  6.50s step= 325 trunk_z= 116.5mm grav_b=(+0.05,+0.06,-1.00) r=0.81m
+[headless_play] t=  6.60s step= 330 trunk_z= 126.9mm grav_b=(+0.02,+0.14,-0.99) r=0.83m
+[headless_play] t=  6.70s step= 335 trunk_z= 127.3mm grav_b=(+0.02,+0.21,-0.98) r=0.85m
+[headless_play] t=  6.80s step= 340 trunk_z= 129.1mm grav_b=(-0.03,+0.12,-0.99) r=0.89m
+[headless_play] t=  6.90s step= 345 trunk_z= 121.4mm grav_b=(+0.08,+0.10,-0.99) r=0.94m
+[headless_play] t=  7.00s step= 350 trunk_z= 129.9mm grav_b=(+0.05,+0.01,-1.00) r=0.97m
+[headless_play] t=  7.10s step= 355 trunk_z= 111.8mm grav_b=(+0.00,-0.05,-1.00) r=1.01m
+[headless_play] t=  7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.00,-0.08,-1.00) r=1.05m
+[headless_play] t=  7.30s step= 365 trunk_z= 104.9mm grav_b=(-0.13,-0.12,-0.99) r=1.09m
+[headless_play] t=  7.40s step= 370 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=1.11m
+[headless_play] t=  7.50s step= 375 trunk_z= 113.5mm grav_b=(+0.13,-0.08,-0.99) r=1.11m
+[headless_play] t=  7.60s step= 380 trunk_z=  96.5mm grav_b=(+0.08,-0.09,-0.99) r=1.15m
+[headless_play] t=  7.70s step= 385 trunk_z= 103.6mm grav_b=(+0.05,-0.06,-1.00) r=1.18m
+[headless_play] t=  7.80s step= 390 trunk_z=  99.1mm grav_b=(+0.10,-0.01,-0.99) r=1.20m
+[headless_play] t=  7.90s step= 395 trunk_z= 105.6mm grav_b=(+0.13,+0.04,-0.99) r=1.22m
+[headless_play] t=  8.00s step= 400 trunk_z=  97.6mm grav_b=(+0.16,+0.04,-0.99) r=1.25m
+[headless_play] t=  8.10s step= 405 trunk_z=  86.8mm grav_b=(+0.16,-0.10,-0.98) r=1.30m
+[headless_play] t=  8.20s step= 410 trunk_z=  94.4mm grav_b=(+0.14,-0.12,-0.98) r=1.34m
+[headless_play] t=  8.30s step= 415 trunk_z=  86.9mm grav_b=(+0.19,-0.03,-0.98) r=1.38m
+[headless_play] t=  8.40s step= 420 trunk_z=  99.4mm grav_b=(+0.11,+0.00,-0.99) r=1.42m
+[headless_play] t=  8.50s step= 425 trunk_z=  72.8mm grav_b=(-0.02,-0.00,-1.00) r=1.47m
+[headless_play] t=  8.60s step= 430 trunk_z=  73.2mm grav_b=(+0.06,-0.00,-1.00) r=1.50m
+[headless_play] t=  8.70s step= 435 trunk_z=  71.2mm grav_b=(+0.05,-0.01,-1.00) r=1.53m
+[headless_play] t=  8.80s step= 440 trunk_z=  67.6mm grav_b=(+0.03,+0.02,-1.00) r=1.56m
+[headless_play] t=  8.90s step= 445 trunk_z=  62.9mm grav_b=(+0.06,+0.01,-1.00) r=1.60m
+[headless_play] t=  9.00s step= 450 trunk_z=  53.2mm grav_b=(+0.07,-0.13,-0.99) r=1.65m
+[headless_play] t=  9.10s step= 455 trunk_z=  55.5mm grav_b=(+0.09,-0.16,-0.98) r=1.68m
+[headless_play] t=  9.20s step= 460 trunk_z=  50.7mm grav_b=(+0.09,-0.14,-0.99) r=1.71m
+[headless_play] t=  9.30s step= 465 trunk_z=  49.1mm grav_b=(+0.14,-0.03,-0.99) r=1.73m
+[headless_play] t=  9.40s step= 470 trunk_z=  58.5mm grav_b=(-0.04,+0.06,-1.00) r=1.75m
+[headless_play] t=  9.50s step= 475 trunk_z=  37.2mm grav_b=(+0.07,-0.05,-1.00) r=1.79m
+[headless_play] t=  9.60s step= 480 trunk_z=  42.2mm grav_b=(+0.05,+0.01,-1.00) r=1.81m
+[headless_play] t=  9.70s step= 485 trunk_z=  30.3mm grav_b=(+0.02,+0.05,-1.00) r=1.83m
+[headless_play] t=  9.80s step= 490 trunk_z=  33.3mm grav_b=(+0.05,+0.06,-1.00) r=1.84m
+[headless_play] t=  9.90s step= 495 trunk_z=  26.8mm grav_b=(+0.05,-0.01,-1.00) r=1.86m
+[headless_play] t= 10.00s step= 500 trunk_z=  26.0mm grav_b=(+0.11,-0.04,-0.99) r=1.86m
+[headless_play] t= 10.10s step= 505 trunk_z=  26.5mm grav_b=(+0.18,+0.00,-0.98) r=1.87m
+[headless_play] t= 10.20s step= 510 trunk_z=  30.4mm grav_b=(+0.11,-0.01,-0.99) r=1.88m
+[headless_play] t= 10.30s step= 515 trunk_z=  20.8mm grav_b=(+0.01,-0.15,-0.99) r=1.91m
+[headless_play] t= 10.40s step= 520 trunk_z=  29.1mm grav_b=(+0.01,-0.13,-0.99) r=1.93m
+[headless_play] t= 10.50s step= 525 trunk_z=  24.6mm grav_b=(+0.05,-0.09,-1.00) r=1.95m
+[headless_play] t= 10.60s step= 530 trunk_z=  18.8mm grav_b=(+0.09,+0.01,-1.00) r=1.95m
+[headless_play] t= 10.70s step= 535 trunk_z=  17.0mm grav_b=(+0.14,+0.01,-0.99) r=1.97m
+[headless_play] t= 10.80s step= 540 trunk_z=  19.7mm grav_b=(+0.17,-0.05,-0.98) r=1.98m
+[headless_play] t= 10.90s step= 545 trunk_z=  12.5mm grav_b=(+0.04,-0.02,-1.00) r=2.00m
+[headless_play] t= 11.00s step= 550 trunk_z=  15.2mm grav_b=(+0.04,+0.09,-0.99) r=2.02m
+[headless_play] t= 11.10s step= 555 trunk_z=  19.6mm grav_b=(+0.04,+0.12,-0.99) r=2.04m
+[headless_play] t= 11.20s step= 560 trunk_z=  12.0mm grav_b=(+0.07,+0.10,-0.99) r=2.06m
+[headless_play] t= 11.30s step= 565 trunk_z=  11.2mm grav_b=(+0.05,+0.08,-1.00) r=2.08m
+[headless_play] t= 11.40s step= 570 trunk_z=  -6.2mm grav_b=(+0.05,+0.08,-0.99) r=2.10m
+[headless_play] t= 11.50s step= 575 trunk_z=  -2.3mm grav_b=(-0.00,+0.07,-1.00) r=2.11m
+[headless_play] t= 11.60s step= 580 trunk_z=  -8.0mm grav_b=(-0.06,+0.02,-1.00) r=2.12m
+[headless_play] t= 11.70s step= 585 trunk_z=  -8.7mm grav_b=(-0.12,+0.01,-0.99) r=2.11m
+[headless_play] t= 11.80s step= 590 trunk_z= -10.8mm grav_b=(-0.01,-0.01,-1.00) r=2.11m
+[headless_play] t= 11.90s step= 595 trunk_z=  -2.6mm grav_b=(-0.11,+0.04,-0.99) r=2.10m
+[headless_play] t= 12.00s step= 600 trunk_z=  -7.2mm grav_b=(-0.01,+0.06,-1.00) r=2.07m
+[headless_play] t= 12.10s step= 605 trunk_z=  -2.6mm grav_b=(+0.06,+0.01,-1.00) r=2.07m
+[headless_play] t= 12.20s step= 610 trunk_z=   4.8mm grav_b=(+0.07,-0.01,-1.00) r=2.07m
+[headless_play] t= 12.30s step= 615 trunk_z=   4.9mm grav_b=(+0.06,+0.07,-1.00) r=2.08m
+[headless_play] t= 12.40s step= 620 trunk_z=   7.0mm grav_b=(+0.05,+0.04,-1.00) r=2.10m
+[headless_play] t= 12.50s step= 625 trunk_z=   5.9mm grav_b=(+0.12,-0.08,-0.99) r=2.12m
+[headless_play] t= 12.60s step= 630 trunk_z=   6.2mm grav_b=(+0.05,-0.09,-1.00) r=2.16m
+[headless_play] t= 12.70s step= 635 trunk_z=   7.3mm grav_b=(+0.03,-0.02,-1.00) r=2.19m
+[headless_play] t= 12.80s step= 640 trunk_z=  16.5mm grav_b=(-0.04,+0.05,-1.00) r=2.20m
+[headless_play] t= 12.90s step= 645 trunk_z=   0.1mm grav_b=(+0.00,-0.03,-1.00) r=2.21m
+[headless_play] t= 13.00s step= 650 trunk_z=   0.2mm grav_b=(-0.03,-0.03,-1.00) r=2.21m
+[headless_play] t= 13.10s step= 655 trunk_z=  -1.6mm grav_b=(-0.10,-0.01,-1.00) r=2.20m
+[headless_play] t= 13.20s step= 660 trunk_z=  -2.5mm grav_b=(-0.07,-0.03,-1.00) r=2.20m
+[headless_play] t= 13.30s step= 665 trunk_z=  -8.8mm grav_b=(+0.01,-0.07,-1.00) r=2.19m
+[headless_play] t= 13.40s step= 670 trunk_z=  -9.4mm grav_b=(+0.01,+0.02,-1.00) r=2.18m
+[headless_play] t= 13.50s step= 675 trunk_z=  -8.0mm grav_b=(+0.07,+0.02,-1.00) r=2.18m
+[headless_play] t= 13.60s step= 680 trunk_z=  -6.2mm grav_b=(+0.05,+0.02,-1.00) r=2.18m
+[headless_play] t= 13.70s step= 685 trunk_z=  -8.4mm grav_b=(-0.01,+0.02,-1.00) r=2.17m
+[headless_play] t= 13.80s step= 690 trunk_z=  -8.2mm grav_b=(-0.03,+0.01,-1.00) r=2.17m
+[headless_play] t= 13.90s step= 695 trunk_z= -13.3mm grav_b=(+0.03,-0.03,-1.00) r=2.17m
+[headless_play] t= 14.00s step= 700 trunk_z= -10.3mm grav_b=(+0.04,-0.01,-1.00) r=2.17m
+[headless_play] t= 14.10s step= 705 trunk_z=  -9.6mm grav_b=(+0.08,-0.05,-1.00) r=2.18m
+[headless_play] t= 14.20s step= 710 trunk_z=  -7.3mm grav_b=(+0.15,-0.06,-0.99) r=2.18m
+[headless_play] t= 14.30s step= 715 trunk_z=  -4.1mm grav_b=(+0.09,-0.01,-1.00) r=2.18m
+[headless_play] t= 14.40s step= 720 trunk_z=  -6.3mm grav_b=(+0.05,-0.01,-1.00) r=2.19m
+[headless_play] t= 14.50s step= 725 trunk_z=  -7.5mm grav_b=(+0.01,+0.02,-1.00) r=2.18m
+[headless_play] t= 14.60s step= 730 trunk_z=  -7.8mm grav_b=(-0.03,+0.05,-1.00) r=2.18m
+[headless_play] t= 14.70s step= 735 trunk_z=  -9.4mm grav_b=(-0.01,+0.02,-1.00) r=2.18m
+[headless_play] t= 14.80s step= 740 trunk_z= -10.1mm grav_b=(-0.05,+0.06,-1.00) r=2.17m
+[headless_play] t= 14.90s step= 745 trunk_z=  -8.2mm grav_b=(+0.00,+0.04,-1.00) r=2.16m
+[headless_play] t= 15.00s step= 750 trunk_z=  -8.5mm grav_b=(+0.02,-0.01,-1.00) r=2.15m
+[headless_play] t= 15.10s step= 755 trunk_z=  -2.9mm grav_b=(+0.05,-0.05,-1.00) r=2.15m
+[headless_play] t= 15.20s step= 760 trunk_z=  -5.5mm grav_b=(+0.14,-0.02,-0.99) r=2.15m
+[headless_play] t= 15.30s step= 765 trunk_z=  -3.0mm grav_b=(+0.20,-0.02,-0.98) r=2.15m
+[headless_play] t= 15.40s step= 770 trunk_z=   0.2mm grav_b=(+0.12,-0.05,-0.99) r=2.17m
+[headless_play] t= 15.50s step= 775 trunk_z=  -8.3mm grav_b=(+0.05,-0.13,-0.99) r=2.21m
+[headless_play] t= 15.60s step= 780 trunk_z=   3.4mm grav_b=(+0.03,-0.07,-1.00) r=2.22m
+[headless_play] t= 15.70s step= 785 trunk_z=  -5.6mm grav_b=(-0.04,+0.01,-1.00) r=2.22m
+[headless_play] t= 15.80s step= 790 trunk_z=   0.1mm grav_b=(-0.02,+0.11,-0.99) r=2.21m
+[headless_play] t= 15.90s step= 795 trunk_z=   4.6mm grav_b=(-0.04,+0.14,-0.99) r=2.20m
+[headless_play] t= 16.00s step= 800 trunk_z=   4.5mm grav_b=(+0.00,+0.12,-0.99) r=2.20m
+[headless_play] t= 16.10s step= 805 trunk_z=  -5.8mm grav_b=(+0.05,+0.07,-1.00) r=2.19m
+[headless_play] t= 16.20s step= 810 trunk_z=  -4.9mm grav_b=(+0.05,+0.06,-1.00) r=2.19m
+[headless_play] t= 16.30s step= 815 trunk_z= -14.6mm grav_b=(+0.13,+0.13,-0.98) r=2.18m
+[headless_play] t= 16.40s step= 820 trunk_z=  -1.4mm grav_b=(+0.12,+0.18,-0.98) r=2.18m
+[headless_play] t= 16.50s step= 825 trunk_z=   2.0mm grav_b=(+0.09,+0.18,-0.98) r=2.19m
+[headless_play] t= 16.60s step= 830 trunk_z=   2.6mm grav_b=(+0.07,+0.07,-0.99) r=2.20m
+[headless_play] t= 16.70s step= 835 trunk_z=  11.1mm grav_b=(+0.06,+0.11,-0.99) r=2.21m
+[headless_play] t= 16.80s step= 840 trunk_z=   0.1mm grav_b=(+0.01,+0.12,-0.99) r=2.22m
+[headless_play] t= 16.90s step= 845 trunk_z=   8.9mm grav_b=(+0.02,+0.13,-0.99) r=2.22m
+[headless_play] t= 17.00s step= 850 trunk_z=  11.7mm grav_b=(-0.00,+0.17,-0.99) r=2.22m
+[headless_play] t= 17.10s step= 855 trunk_z=  14.8mm grav_b=(+0.05,+0.24,-0.97) r=2.24m
+[headless_play] t= 17.20s step= 860 trunk_z=  21.0mm grav_b=(+0.00,+0.17,-0.99) r=2.25m
+[headless_play] t= 17.30s step= 865 trunk_z=  23.1mm grav_b=(-0.02,+0.10,-0.99) r=2.26m
+[headless_play] t= 17.40s step= 870 trunk_z=  11.3mm grav_b=(-0.03,+0.11,-0.99) r=2.26m
+[headless_play] t= 17.50s step= 875 trunk_z=  17.9mm grav_b=(-0.02,+0.18,-0.98) r=2.25m
+[headless_play] t= 17.60s step= 880 trunk_z=  20.8mm grav_b=(-0.05,+0.19,-0.98) r=2.23m
+[headless_play] t= 17.70s step= 885 trunk_z=  21.5mm grav_b=(+0.00,+0.16,-0.99) r=2.22m
+[headless_play] t= 17.80s step= 890 trunk_z=  15.7mm grav_b=(-0.01,+0.19,-0.98) r=2.19m
+[headless_play] t= 17.90s step= 895 trunk_z=   5.8mm grav_b=(-0.14,+0.14,-0.98) r=2.16m
+[headless_play] t= 18.00s step= 900 trunk_z= -34.1mm grav_b=(-0.06,+0.06,-1.00) r=2.12m
+[headless_play] t= 18.10s step= 905 trunk_z= -21.9mm grav_b=(+0.11,+0.01,-0.99) r=2.10m
+[headless_play] t= 18.20s step= 910 trunk_z= -15.8mm grav_b=(+0.11,-0.07,-0.99) r=2.09m
+[headless_play] t= 18.30s step= 915 trunk_z=  -2.1mm grav_b=(+0.10,-0.12,-0.99) r=2.11m
+[headless_play] t= 18.40s step= 920 trunk_z=   0.7mm grav_b=(+0.19,-0.10,-0.98) r=2.13m
+[headless_play] t= 18.50s step= 925 trunk_z=   4.1mm grav_b=(+0.10,-0.11,-0.99) r=2.14m
+[headless_play] t= 18.60s step= 930 trunk_z=  -0.2mm grav_b=(+0.03,-0.17,-0.99) r=2.16m
+[headless_play] t= 18.70s step= 935 trunk_z=   8.3mm grav_b=(+0.00,-0.27,-0.96) r=2.16m
+[headless_play] t= 18.80s step= 940 trunk_z=   3.2mm grav_b=(+0.16,-0.35,-0.92) r=2.15m
+[headless_play] t= 18.90s step= 945 trunk_z=   1.9mm grav_b=(+0.22,-0.47,-0.86) r=2.14m
+[headless_play] t= 19.00s step= 950 trunk_z=  -6.3mm grav_b=(+0.27,-0.38,-0.88) r=2.15m
+[headless_play] t= 19.10s step= 955 trunk_z= -33.9mm grav_b=(+0.27,-0.60,-0.75) r=2.15m
+[headless_play] RESET at t= 19.18s step= 959 (env termination, not a recovery)
+[headless_play] t= 19.20s step= 960 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.21m
+[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.20m
+[headless_play] t= 19.40s step= 970 trunk_z= 114.1mm grav_b=(+0.06,-0.07,-1.00) r=0.22m
+[headless_play] t= 19.50s step= 975 trunk_z= 120.9mm grav_b=(+0.07,-0.12,-0.99) r=0.24m
+[headless_play] t= 19.60s step= 980 trunk_z= 118.8mm grav_b=(+0.06,-0.11,-0.99) r=0.25m
+[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(+0.06,+0.02,-1.00) r=0.26m
+[headless_play] t= 19.80s step= 990 trunk_z= 121.9mm grav_b=(+0.06,+0.01,-1.00) r=0.28m
+[headless_play] t= 19.90s step= 995 trunk_z= 114.7mm grav_b=(+0.00,-0.06,-1.00) r=0.31m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t11/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x17ab4880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t11/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t11/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t12.log

@@ -0,0 +1,213 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 129.8mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.488,-17.696,+0.257)
+[headless_play] t=  0.00s step=   0 trunk_z= 127.1mm grav_b=(-0.01,+0.00,-1.00) r=0.58m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.04,+0.00,-1.00) r=0.57m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.4mm grav_b=(-0.03,+0.05,-1.00) r=0.56m
+[headless_play] t=  0.30s step=  15 trunk_z= 122.0mm grav_b=(-0.00,+0.01,-1.00) r=0.57m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.2mm grav_b=(+0.01,-0.07,-1.00) r=0.60m
+[headless_play] t=  0.50s step=  25 trunk_z= 129.4mm grav_b=(-0.00,-0.12,-0.99) r=0.63m
+[headless_play] t=  0.60s step=  30 trunk_z= 128.7mm grav_b=(-0.01,-0.17,-0.99) r=0.64m
+[headless_play] t=  0.70s step=  35 trunk_z= 123.2mm grav_b=(-0.02,-0.11,-0.99) r=0.66m
+[headless_play] t=  0.80s step=  40 trunk_z= 128.6mm grav_b=(+0.01,-0.08,-1.00) r=0.68m
+[headless_play] t=  0.90s step=  45 trunk_z= 120.3mm grav_b=(-0.01,-0.08,-1.00) r=0.71m
+[headless_play] t=  1.00s step=  50 trunk_z= 124.6mm grav_b=(-0.12,-0.18,-0.98) r=0.74m
+[headless_play] t=  1.10s step=  55 trunk_z= 130.5mm grav_b=(-0.13,-0.20,-0.97) r=0.76m
+[headless_play] t=  1.20s step=  60 trunk_z= 130.0mm grav_b=(-0.04,-0.20,-0.98) r=0.77m
+[headless_play] t=  1.30s step=  65 trunk_z= 127.6mm grav_b=(-0.01,-0.21,-0.98) r=0.79m
+[headless_play] t=  1.40s step=  70 trunk_z= 125.5mm grav_b=(-0.05,-0.33,-0.94) r=0.80m
+[headless_play] t=  1.50s step=  75 trunk_z= 120.1mm grav_b=(-0.02,-0.25,-0.97) r=0.81m
+[headless_play] t=  1.60s step=  80 trunk_z= 102.5mm grav_b=(+0.00,-0.18,-0.98) r=0.89m
+[headless_play] t=  1.70s step=  85 trunk_z= 130.8mm grav_b=(+0.08,-0.01,-1.00) r=0.93m
+[headless_play] t=  1.80s step=  90 trunk_z= 138.1mm grav_b=(+0.02,+0.10,-0.99) r=0.97m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.4mm grav_b=(-0.08,-0.04,-1.00) r=1.03m
+[headless_play] t=  2.00s step= 100 trunk_z= 127.3mm grav_b=(-0.14,-0.16,-0.98) r=1.06m
+[headless_play] t=  2.10s step= 105 trunk_z= 120.1mm grav_b=(-0.06,-0.14,-0.99) r=1.08m
+[headless_play] t=  2.20s step= 110 trunk_z= 110.8mm grav_b=(+0.03,+0.01,-1.00) r=1.11m
+[headless_play] t=  2.30s step= 115 trunk_z= 120.3mm grav_b=(+0.04,+0.06,-1.00) r=1.14m
+[headless_play] t=  2.40s step= 120 trunk_z=  98.6mm grav_b=(+0.01,-0.11,-0.99) r=1.19m
+[headless_play] t=  2.50s step= 125 trunk_z= 108.1mm grav_b=(+0.01,-0.15,-0.99) r=1.23m
+[headless_play] t=  2.60s step= 130 trunk_z=  91.2mm grav_b=(-0.05,-0.12,-0.99) r=1.29m
+[headless_play] t=  2.70s step= 135 trunk_z=  85.5mm grav_b=(-0.06,-0.02,-1.00) r=1.34m
+[headless_play] t=  2.80s step= 140 trunk_z=  82.4mm grav_b=(-0.01,+0.01,-1.00) r=1.37m
+[headless_play] t=  2.90s step= 145 trunk_z=  77.7mm grav_b=(-0.05,-0.15,-0.99) r=1.40m
+[headless_play] t=  3.00s step= 150 trunk_z=  81.7mm grav_b=(-0.11,-0.16,-0.98) r=1.42m
+[headless_play] t=  3.10s step= 155 trunk_z=  69.1mm grav_b=(-0.04,-0.11,-0.99) r=1.45m
+[headless_play] t=  3.20s step= 160 trunk_z=  60.8mm grav_b=(-0.04,+0.03,-1.00) r=1.48m
+[headless_play] t=  3.30s step= 165 trunk_z=  64.4mm grav_b=(-0.01,+0.08,-1.00) r=1.49m
+[headless_play] t=  3.40s step= 170 trunk_z=  62.4mm grav_b=(+0.03,+0.11,-0.99) r=1.50m
+[headless_play] t=  3.50s step= 175 trunk_z=  68.7mm grav_b=(-0.01,+0.08,-1.00) r=1.51m
+[headless_play] t=  3.60s step= 180 trunk_z=  70.6mm grav_b=(-0.06,-0.14,-0.99) r=1.53m
+[headless_play] t=  3.70s step= 185 trunk_z=  68.6mm grav_b=(-0.09,-0.13,-0.99) r=1.53m
+[headless_play] t=  3.80s step= 190 trunk_z=  53.4mm grav_b=(-0.09,-0.07,-0.99) r=1.55m
+[headless_play] t=  3.90s step= 195 trunk_z=  52.3mm grav_b=(-0.04,-0.02,-1.00) r=1.56m
+[headless_play] t=  4.00s step= 200 trunk_z=  51.5mm grav_b=(-0.00,-0.01,-1.00) r=1.56m
+[headless_play] t=  4.10s step= 205 trunk_z=  51.2mm grav_b=(+0.04,-0.00,-1.00) r=1.55m
+[headless_play] t=  4.20s step= 210 trunk_z=  48.4mm grav_b=(+0.09,+0.11,-0.99) r=1.57m
+[headless_play] t=  4.30s step= 215 trunk_z=  49.2mm grav_b=(+0.13,+0.21,-0.97) r=1.60m
+[headless_play] t=  4.40s step= 220 trunk_z=  55.5mm grav_b=(+0.04,+0.05,-1.00) r=1.63m
+[headless_play] t=  4.50s step= 225 trunk_z=  48.1mm grav_b=(+0.07,-0.12,-0.99) r=1.67m
+[headless_play] t=  4.60s step= 230 trunk_z=  55.7mm grav_b=(-0.03,-0.13,-0.99) r=1.68m
+[headless_play] t=  4.70s step= 235 trunk_z=  49.0mm grav_b=(-0.06,-0.11,-0.99) r=1.72m
+[headless_play] t=  4.80s step= 240 trunk_z=  40.3mm grav_b=(+0.05,+0.04,-1.00) r=1.75m
+[headless_play] t=  4.90s step= 245 trunk_z=  40.5mm grav_b=(+0.00,+0.03,-1.00) r=1.77m
+[headless_play] t=  5.00s step= 250 trunk_z=  40.0mm grav_b=(-0.01,-0.06,-1.00) r=1.78m
+[headless_play] t=  5.10s step= 255 trunk_z=  43.7mm grav_b=(-0.02,-0.08,-1.00) r=1.79m
+[headless_play] t=  5.20s step= 260 trunk_z=  33.5mm grav_b=(-0.02,-0.07,-1.00) r=1.82m
+[headless_play] t=  5.30s step= 265 trunk_z=  26.2mm grav_b=(-0.04,+0.03,-1.00) r=1.85m
+[headless_play] t=  5.40s step= 270 trunk_z=  31.8mm grav_b=(-0.04,+0.05,-1.00) r=1.86m
+[headless_play] t=  5.50s step= 275 trunk_z=  29.7mm grav_b=(-0.01,+0.04,-1.00) r=1.86m
+[headless_play] t=  5.60s step= 280 trunk_z=  24.3mm grav_b=(+0.02,+0.01,-1.00) r=1.85m
+[headless_play] t=  5.70s step= 285 trunk_z=  25.9mm grav_b=(+0.06,-0.00,-1.00) r=1.86m
+[headless_play] t=  5.80s step= 290 trunk_z=  19.2mm grav_b=(+0.05,-0.03,-1.00) r=1.88m
+[headless_play] t=  5.90s step= 295 trunk_z=  19.6mm grav_b=(+0.03,+0.07,-1.00) r=1.92m
+[headless_play] t=  6.00s step= 300 trunk_z=  23.7mm grav_b=(+0.02,+0.07,-1.00) r=1.94m
+[headless_play] t=  6.10s step= 305 trunk_z=  15.9mm grav_b=(+0.10,+0.02,-0.99) r=1.96m
+[headless_play] t=  6.20s step= 310 trunk_z=  28.6mm grav_b=(+0.01,-0.04,-1.00) r=1.98m
+[headless_play] t=  6.30s step= 315 trunk_z=  19.8mm grav_b=(-0.00,-0.03,-1.00) r=2.00m
+[headless_play] t=  6.40s step= 320 trunk_z=  11.5mm grav_b=(-0.01,+0.09,-1.00) r=2.03m
+[headless_play] t=  6.50s step= 325 trunk_z=  17.9mm grav_b=(+0.02,+0.10,-0.99) r=2.05m
+[headless_play] t=  6.60s step= 330 trunk_z=  13.4mm grav_b=(+0.04,+0.07,-1.00) r=2.06m
+[headless_play] t=  6.70s step= 335 trunk_z=  14.0mm grav_b=(+0.00,+0.02,-1.00) r=2.06m
+[headless_play] t=  6.80s step= 340 trunk_z=  17.7mm grav_b=(-0.01,+0.03,-1.00) r=2.07m
+[headless_play] t=  6.90s step= 345 trunk_z=   1.9mm grav_b=(-0.02,+0.04,-1.00) r=2.10m
+[headless_play] t=  7.00s step= 350 trunk_z=   8.4mm grav_b=(-0.00,+0.05,-1.00) r=2.12m
+[headless_play] t=  7.10s step= 355 trunk_z=   7.9mm grav_b=(-0.00,+0.03,-1.00) r=2.12m
+[headless_play] t=  7.20s step= 360 trunk_z=   2.7mm grav_b=(+0.03,+0.00,-1.00) r=2.11m
+[headless_play] t=  7.30s step= 365 trunk_z=  11.7mm grav_b=(+0.03,-0.02,-1.00) r=2.11m
+[headless_play] t=  7.40s step= 370 trunk_z=   5.8mm grav_b=(+0.04,-0.05,-1.00) r=2.12m
+[headless_play] t=  7.50s step= 375 trunk_z=   0.0mm grav_b=(+0.06,+0.07,-1.00) r=2.15m
+[headless_play] t=  7.60s step= 380 trunk_z=   7.3mm grav_b=(+0.05,+0.05,-1.00) r=2.17m
+[headless_play] t=  7.70s step= 385 trunk_z=   1.8mm grav_b=(+0.04,-0.03,-1.00) r=2.16m
+[headless_play] t=  7.80s step= 390 trunk_z=  11.7mm grav_b=(+0.02,-0.04,-1.00) r=2.16m
+[headless_play] t=  7.90s step= 395 trunk_z=   7.7mm grav_b=(-0.00,-0.07,-1.00) r=2.17m
+[headless_play] t=  8.00s step= 400 trunk_z=   0.5mm grav_b=(+0.02,+0.02,-1.00) r=2.20m
+[headless_play] t=  8.10s step= 405 trunk_z=   8.1mm grav_b=(-0.01,+0.07,-1.00) r=2.22m
+[headless_play] t=  8.20s step= 410 trunk_z=   6.5mm grav_b=(+0.03,+0.08,-1.00) r=2.22m
+[headless_play] t=  8.30s step= 415 trunk_z=   5.6mm grav_b=(-0.02,+0.05,-1.00) r=2.21m
+[headless_play] t=  8.40s step= 420 trunk_z=  10.2mm grav_b=(-0.05,-0.01,-1.00) r=2.19m
+[headless_play] t=  8.50s step= 425 trunk_z=   9.7mm grav_b=(-0.01,-0.01,-1.00) r=2.20m
+[headless_play] t=  8.60s step= 430 trunk_z=  -0.2mm grav_b=(+0.03,-0.03,-1.00) r=2.23m
+[headless_play] t=  8.70s step= 435 trunk_z=   2.8mm grav_b=(+0.01,+0.02,-1.00) r=2.25m
+[headless_play] t=  8.80s step= 440 trunk_z=   3.8mm grav_b=(+0.00,-0.02,-1.00) r=2.26m
+[headless_play] t=  8.90s step= 445 trunk_z=   3.3mm grav_b=(+0.04,-0.09,-0.99) r=2.26m
+[headless_play] t=  9.00s step= 450 trunk_z=  13.4mm grav_b=(+0.06,-0.08,-1.00) r=2.27m
+[headless_play] t=  9.10s step= 455 trunk_z=   5.3mm grav_b=(+0.02,-0.06,-1.00) r=2.30m
+[headless_play] t=  9.20s step= 460 trunk_z=   8.0mm grav_b=(+0.01,+0.06,-1.00) r=2.34m
+[headless_play] t=  9.30s step= 465 trunk_z=  11.6mm grav_b=(+0.00,+0.10,-1.00) r=2.38m
+[headless_play] t=  9.40s step= 470 trunk_z=  -1.8mm grav_b=(-0.10,-0.13,-0.99) r=2.42m
+[headless_play] t=  9.50s step= 475 trunk_z=   8.8mm grav_b=(-0.13,-0.27,-0.96) r=2.43m
+[headless_play] t=  9.60s step= 480 trunk_z=   6.6mm grav_b=(-0.07,-0.19,-0.98) r=2.43m
+[headless_play] t=  9.70s step= 485 trunk_z=  -1.9mm grav_b=(+0.02,-0.18,-0.98) r=2.42m
+[headless_play] t=  9.80s step= 490 trunk_z=  -5.2mm grav_b=(-0.01,-0.14,-0.99) r=2.39m
+[headless_play] t=  9.90s step= 495 trunk_z= -25.7mm grav_b=(+0.18,-0.12,-0.98) r=2.35m
+[headless_play] t= 10.00s step= 500 trunk_z=  -9.7mm grav_b=(+0.04,-0.08,-1.00) r=2.35m
+[headless_play] t= 10.10s step= 505 trunk_z=  -3.4mm grav_b=(-0.02,-0.03,-1.00) r=2.37m
+[headless_play] t= 10.20s step= 510 trunk_z=  -5.2mm grav_b=(-0.02,-0.06,-1.00) r=2.40m
+[headless_play] t= 10.30s step= 515 trunk_z=   2.2mm grav_b=(-0.03,-0.10,-0.99) r=2.41m
+[headless_play] t= 10.40s step= 520 trunk_z=  -5.1mm grav_b=(-0.02,-0.05,-1.00) r=2.45m
+[headless_play] t= 10.50s step= 525 trunk_z=  -2.8mm grav_b=(-0.05,+0.01,-1.00) r=2.49m
+[headless_play] t= 10.60s step= 530 trunk_z=   3.1mm grav_b=(-0.04,+0.01,-1.00) r=2.49m
+[headless_play] t= 10.70s step= 535 trunk_z=  -3.8mm grav_b=(-0.06,-0.04,-1.00) r=2.48m
+[headless_play] t= 10.80s step= 540 trunk_z=   6.0mm grav_b=(-0.04,-0.10,-0.99) r=2.47m
+[headless_play] t= 10.90s step= 545 trunk_z=   4.8mm grav_b=(-0.05,-0.14,-0.99) r=2.47m
+[headless_play] t= 11.00s step= 550 trunk_z=   3.8mm grav_b=(-0.04,-0.15,-0.99) r=2.48m
+[headless_play] t= 11.10s step= 555 trunk_z=   2.0mm grav_b=(-0.01,-0.07,-1.00) r=2.50m
+[headless_play] t= 11.20s step= 560 trunk_z=   4.2mm grav_b=(-0.00,-0.05,-1.00) r=2.50m
+[headless_play] t= 11.30s step= 565 trunk_z=   0.2mm grav_b=(-0.02,-0.08,-1.00) r=2.48m
+[headless_play] t= 11.40s step= 570 trunk_z=  10.9mm grav_b=(-0.04,-0.12,-0.99) r=2.46m
+[headless_play] t= 11.50s step= 575 trunk_z=  12.6mm grav_b=(-0.06,-0.19,-0.98) r=2.45m
+[headless_play] t= 11.60s step= 580 trunk_z=  12.7mm grav_b=(-0.06,-0.24,-0.97) r=2.45m
+[headless_play] t= 11.70s step= 585 trunk_z=  10.0mm grav_b=(-0.06,-0.18,-0.98) r=2.44m
+[headless_play] t= 11.80s step= 590 trunk_z=  22.4mm grav_b=(+0.01,-0.12,-0.99) r=2.44m
+[headless_play] t= 11.90s step= 595 trunk_z=   8.6mm grav_b=(-0.04,-0.02,-1.00) r=2.41m
+[headless_play] t= 12.00s step= 600 trunk_z=   7.4mm grav_b=(-0.03,-0.11,-0.99) r=2.39m
+[headless_play] t= 12.10s step= 605 trunk_z=  12.2mm grav_b=(-0.11,-0.12,-0.99) r=2.37m
+[headless_play] t= 12.20s step= 610 trunk_z=   3.0mm grav_b=(-0.14,-0.06,-0.99) r=2.37m
+[headless_play] t= 12.30s step= 615 trunk_z=   6.0mm grav_b=(-0.10,-0.13,-0.99) r=2.36m
+[headless_play] t= 12.40s step= 620 trunk_z=   1.7mm grav_b=(-0.03,-0.15,-0.99) r=2.32m
+[headless_play] t= 12.50s step= 625 trunk_z=  10.4mm grav_b=(-0.02,-0.18,-0.98) r=2.29m
+[headless_play] t= 12.60s step= 630 trunk_z=  10.3mm grav_b=(-0.03,-0.24,-0.97) r=2.26m
+[headless_play] t= 12.70s step= 635 trunk_z=   1.7mm grav_b=(-0.09,-0.20,-0.98) r=2.22m
+[headless_play] t= 12.80s step= 640 trunk_z=   8.7mm grav_b=(+0.05,-0.16,-0.99) r=2.16m
+[headless_play] t= 12.90s step= 645 trunk_z=  -1.0mm grav_b=(-0.07,-0.01,-1.00) r=2.12m
+[headless_play] t= 13.00s step= 650 trunk_z=   1.9mm grav_b=(-0.12,-0.06,-0.99) r=2.10m
+[headless_play] t= 13.10s step= 655 trunk_z=   5.1mm grav_b=(-0.18,-0.01,-0.98) r=2.08m
+[headless_play] t= 13.20s step= 660 trunk_z=   7.6mm grav_b=(-0.12,-0.02,-0.99) r=2.07m
+[headless_play] t= 13.30s step= 665 trunk_z=   0.5mm grav_b=(-0.04,-0.09,-1.00) r=2.09m
+[headless_play] t= 13.40s step= 670 trunk_z=   7.1mm grav_b=(+0.01,-0.10,-1.00) r=2.10m
+[headless_play] t= 13.50s step= 675 trunk_z=   6.2mm grav_b=(-0.03,-0.10,-0.99) r=2.11m
+[headless_play] t= 13.60s step= 680 trunk_z=   1.8mm grav_b=(-0.07,-0.05,-1.00) r=2.11m
+[headless_play] t= 13.70s step= 685 trunk_z=   4.6mm grav_b=(-0.10,-0.09,-0.99) r=2.11m
+[headless_play] t= 13.80s step= 690 trunk_z=   3.9mm grav_b=(-0.06,-0.11,-0.99) r=2.12m
+[headless_play] t= 13.90s step= 695 trunk_z=  10.0mm grav_b=(-0.05,-0.09,-1.00) r=2.11m
+[headless_play] t= 14.00s step= 700 trunk_z=   6.3mm grav_b=(-0.06,-0.08,-0.99) r=2.10m
+[headless_play] t= 14.10s step= 705 trunk_z=   9.5mm grav_b=(-0.04,-0.00,-1.00) r=2.09m
+[headless_play] t= 14.20s step= 710 trunk_z=  11.5mm grav_b=(-0.04,-0.00,-1.00) r=2.08m
+[headless_play] t= 14.30s step= 715 trunk_z=   6.0mm grav_b=(-0.07,-0.05,-1.00) r=2.07m
+[headless_play] t= 14.40s step= 720 trunk_z=  15.2mm grav_b=(-0.07,-0.08,-0.99) r=2.07m
+[headless_play] t= 14.50s step= 725 trunk_z=  12.4mm grav_b=(-0.10,-0.07,-0.99) r=2.07m
+[headless_play] t= 14.60s step= 730 trunk_z=   3.8mm grav_b=(-0.06,-0.05,-1.00) r=2.07m
+[headless_play] t= 14.70s step= 735 trunk_z=   5.4mm grav_b=(-0.02,-0.06,-1.00) r=2.08m
+[headless_play] t= 14.80s step= 740 trunk_z=   7.5mm grav_b=(-0.00,-0.08,-1.00) r=2.08m
+[headless_play] t= 14.90s step= 745 trunk_z=  14.8mm grav_b=(-0.03,-0.06,-1.00) r=2.06m
+[headless_play] t= 15.00s step= 750 trunk_z=   9.9mm grav_b=(-0.04,-0.07,-1.00) r=2.05m
+[headless_play] t= 15.10s step= 755 trunk_z=  14.7mm grav_b=(-0.02,-0.01,-1.00) r=2.03m
+[headless_play] t= 15.20s step= 760 trunk_z=  14.3mm grav_b=(-0.03,-0.04,-1.00) r=2.02m
+[headless_play] t= 15.30s step= 765 trunk_z=  14.0mm grav_b=(-0.08,-0.07,-0.99) r=2.03m
+[headless_play] t= 15.40s step= 770 trunk_z=  18.7mm grav_b=(-0.05,-0.05,-1.00) r=2.01m
+[headless_play] t= 15.50s step= 775 trunk_z=  14.2mm grav_b=(-0.06,-0.01,-1.00) r=1.98m
+[headless_play] t= 15.60s step= 780 trunk_z=  21.1mm grav_b=(-0.04,-0.04,-1.00) r=1.97m
+[headless_play] t= 15.70s step= 785 trunk_z=  16.2mm grav_b=(-0.09,-0.09,-0.99) r=1.97m
+[headless_play] t= 15.80s step= 790 trunk_z=  24.8mm grav_b=(-0.07,-0.12,-0.99) r=1.96m
+[headless_play] t= 15.90s step= 795 trunk_z=  24.9mm grav_b=(-0.06,-0.12,-0.99) r=1.96m
+[headless_play] t= 16.00s step= 800 trunk_z=  19.7mm grav_b=(-0.06,-0.10,-0.99) r=1.94m
+[headless_play] t= 16.10s step= 805 trunk_z=  24.9mm grav_b=(-0.04,-0.02,-1.00) r=1.93m
+[headless_play] t= 16.20s step= 810 trunk_z=  24.5mm grav_b=(-0.05,-0.05,-1.00) r=1.92m
+[headless_play] t= 16.30s step= 815 trunk_z=  25.1mm grav_b=(-0.08,-0.08,-0.99) r=1.92m
+[headless_play] t= 16.40s step= 820 trunk_z=  27.0mm grav_b=(-0.13,-0.06,-0.99) r=1.92m
+[headless_play] t= 16.50s step= 825 trunk_z=  15.4mm grav_b=(-0.06,-0.06,-1.00) r=1.93m
+[headless_play] t= 16.60s step= 830 trunk_z=  22.3mm grav_b=(-0.06,-0.04,-1.00) r=1.93m
+[headless_play] t= 16.70s step= 835 trunk_z=  20.1mm grav_b=(-0.06,-0.10,-0.99) r=1.94m
+[headless_play] t= 16.80s step= 840 trunk_z=  27.8mm grav_b=(-0.07,-0.09,-0.99) r=1.93m
+[headless_play] t= 16.90s step= 845 trunk_z=  26.2mm grav_b=(-0.05,-0.09,-0.99) r=1.91m
+[headless_play] t= 17.00s step= 850 trunk_z=  26.9mm grav_b=(-0.04,-0.04,-1.00) r=1.89m
+[headless_play] t= 17.10s step= 855 trunk_z=  26.3mm grav_b=(-0.07,-0.08,-0.99) r=1.88m
+[headless_play] t= 17.20s step= 860 trunk_z=  26.2mm grav_b=(-0.05,-0.08,-1.00) r=1.87m
+[headless_play] t= 17.30s step= 865 trunk_z=  33.6mm grav_b=(-0.05,-0.09,-1.00) r=1.85m
+[headless_play] t= 17.40s step= 870 trunk_z=  29.8mm grav_b=(-0.09,-0.09,-0.99) r=1.84m
+[headless_play] t= 17.50s step= 875 trunk_z=  32.3mm grav_b=(-0.11,-0.05,-0.99) r=1.82m
+[headless_play] t= 17.60s step= 880 trunk_z=  30.9mm grav_b=(-0.11,-0.11,-0.99) r=1.82m
+[headless_play] t= 17.70s step= 885 trunk_z=  31.8mm grav_b=(-0.06,-0.15,-0.99) r=1.83m
+[headless_play] t= 17.80s step= 890 trunk_z=  39.7mm grav_b=(-0.08,-0.18,-0.98) r=1.83m
+[headless_play] t= 17.90s step= 895 trunk_z=  40.2mm grav_b=(-0.10,-0.18,-0.98) r=1.82m
+[headless_play] t= 18.00s step= 900 trunk_z=  39.6mm grav_b=(-0.10,-0.15,-0.98) r=1.80m
+[headless_play] t= 18.10s step= 905 trunk_z=  39.9mm grav_b=(-0.05,-0.07,-1.00) r=1.78m
+[headless_play] t= 18.20s step= 910 trunk_z=  38.0mm grav_b=(-0.06,-0.10,-0.99) r=1.79m
+[headless_play] t= 18.30s step= 915 trunk_z=  40.9mm grav_b=(-0.07,-0.10,-0.99) r=1.79m
+[headless_play] t= 18.40s step= 920 trunk_z=  42.3mm grav_b=(-0.08,-0.11,-0.99) r=1.77m
+[headless_play] t= 18.50s step= 925 trunk_z=  34.1mm grav_b=(-0.07,-0.08,-0.99) r=1.74m
+[headless_play] t= 18.60s step= 930 trunk_z=  39.5mm grav_b=(-0.03,-0.09,-1.00) r=1.73m
+[headless_play] t= 18.70s step= 935 trunk_z=  31.5mm grav_b=(-0.05,-0.14,-0.99) r=1.74m
+[headless_play] t= 18.80s step= 940 trunk_z=  42.7mm grav_b=(-0.06,-0.15,-0.99) r=1.75m
+[headless_play] t= 18.90s step= 945 trunk_z=  44.3mm grav_b=(-0.05,-0.23,-0.97) r=1.75m
+[headless_play] t= 19.00s step= 950 trunk_z=  41.5mm grav_b=(-0.01,-0.37,-0.93) r=1.75m
+[headless_play] t= 19.10s step= 955 trunk_z=  34.9mm grav_b=(+0.01,-0.24,-0.97) r=1.76m
+[headless_play] t= 19.20s step= 960 trunk_z=  37.0mm grav_b=(-0.02,-0.18,-0.98) r=1.76m
+[headless_play] t= 19.30s step= 965 trunk_z=  54.9mm grav_b=(+0.04,-0.14,-0.99) r=1.76m
+[headless_play] t= 19.40s step= 970 trunk_z=  13.5mm grav_b=(-0.03,-0.09,-1.00) r=1.80m
+[headless_play] t= 19.50s step= 975 trunk_z=  34.9mm grav_b=(-0.05,-0.26,-0.97) r=1.84m
+[headless_play] t= 19.60s step= 980 trunk_z=  41.4mm grav_b=(-0.08,-0.32,-0.94) r=1.87m
+[headless_play] t= 19.70s step= 985 trunk_z=  35.9mm grav_b=(+0.14,-0.40,-0.91) r=1.90m
+[headless_play] t= 19.80s step= 990 trunk_z=  22.0mm grav_b=(+0.27,-0.44,-0.85) r=1.95m
+[headless_play] t= 19.90s step= 995 trunk_z=  14.0mm grav_b=(+0.40,-0.29,-0.87) r=2.04m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t12/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x1ffba880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t12/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t12/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t13.log

@@ -0,0 +1,214 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.444,-17.502,+0.251)
+[headless_play] t=  0.00s step=   0 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.67m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.2mm grav_b=(+0.01,+0.01,-1.00) r=0.67m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00) r=0.67m
+[headless_play] t=  0.30s step=  15 trunk_z= 115.1mm grav_b=(+0.05,+0.01,-1.00) r=0.67m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.1mm grav_b=(+0.04,+0.01,-1.00) r=0.67m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.1mm grav_b=(+0.04,+0.01,-1.00) r=0.67m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.6mm grav_b=(-0.03,+0.04,-1.00) r=0.67m
+[headless_play] t=  0.70s step=  35 trunk_z= 114.5mm grav_b=(-0.02,-0.02,-1.00) r=0.66m
+[headless_play] t=  0.80s step=  40 trunk_z= 115.6mm grav_b=(-0.01,-0.04,-1.00) r=0.64m
+[headless_play] t=  0.90s step=  45 trunk_z= 109.5mm grav_b=(+0.07,+0.01,-1.00) r=0.65m
+[headless_play] t=  1.00s step=  50 trunk_z= 111.3mm grav_b=(+0.08,+0.06,-1.00) r=0.65m
+[headless_play] t=  1.10s step=  55 trunk_z= 112.5mm grav_b=(+0.07,+0.02,-1.00) r=0.65m
+[headless_play] t=  1.20s step=  60 trunk_z= 114.7mm grav_b=(+0.03,-0.00,-1.00) r=0.64m
+[headless_play] t=  1.30s step=  65 trunk_z= 115.8mm grav_b=(-0.04,+0.01,-1.00) r=0.63m
+[headless_play] t=  1.40s step=  70 trunk_z= 113.7mm grav_b=(-0.02,-0.02,-1.00) r=0.62m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.61m
+[headless_play] t=  1.60s step=  80 trunk_z= 112.4mm grav_b=(+0.02,+0.06,-1.00) r=0.61m
+[headless_play] t=  1.70s step=  85 trunk_z= 112.6mm grav_b=(+0.04,+0.04,-1.00) r=0.61m
+[headless_play] t=  1.80s step=  90 trunk_z= 112.2mm grav_b=(+0.07,+0.00,-1.00) r=0.61m
+[headless_play] t=  1.90s step=  95 trunk_z= 112.9mm grav_b=(+0.08,+0.01,-1.00) r=0.61m
+[headless_play] t=  2.00s step= 100 trunk_z= 113.7mm grav_b=(+0.07,+0.01,-1.00) r=0.60m
+[headless_play] t=  2.10s step= 105 trunk_z= 115.2mm grav_b=(+0.15,+0.00,-0.99) r=0.61m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.8mm grav_b=(+0.16,+0.03,-0.99) r=0.62m
+[headless_play] t=  2.30s step= 115 trunk_z= 121.2mm grav_b=(+0.06,-0.00,-1.00) r=0.63m
+[headless_play] t=  2.40s step= 120 trunk_z= 121.8mm grav_b=(-0.04,-0.10,-0.99) r=0.65m
+[headless_play] t=  2.50s step= 125 trunk_z= 121.6mm grav_b=(-0.06,-0.08,-1.00) r=0.65m
+[headless_play] t=  2.60s step= 130 trunk_z= 115.1mm grav_b=(-0.06,+0.00,-1.00) r=0.65m
+[headless_play] t=  2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.04,+0.04,-1.00) r=0.65m
+[headless_play] t=  2.80s step= 140 trunk_z= 111.8mm grav_b=(-0.00,-0.00,-1.00) r=0.63m
+[headless_play] t=  2.90s step= 145 trunk_z= 111.3mm grav_b=(+0.04,+0.03,-1.00) r=0.62m
+[headless_play] t=  3.00s step= 150 trunk_z= 114.9mm grav_b=(+0.02,+0.09,-1.00) r=0.62m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.01,+0.10,-1.00) r=0.62m
+[headless_play] t=  3.20s step= 160 trunk_z= 115.5mm grav_b=(+0.03,+0.06,-1.00) r=0.61m
+[headless_play] t=  3.30s step= 165 trunk_z= 113.9mm grav_b=(+0.06,+0.01,-1.00) r=0.61m
+[headless_play] t=  3.40s step= 170 trunk_z= 112.5mm grav_b=(+0.09,+0.04,-1.00) r=0.61m
+[headless_play] t=  3.50s step= 175 trunk_z= 112.8mm grav_b=(+0.07,+0.04,-1.00) r=0.61m
+[headless_play] t=  3.60s step= 180 trunk_z= 113.4mm grav_b=(+0.06,+0.02,-1.00) r=0.61m
+[headless_play] t=  3.70s step= 185 trunk_z= 114.0mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  3.80s step= 190 trunk_z= 114.2mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  3.90s step= 195 trunk_z= 114.3mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  4.00s step= 200 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.59m
+[headless_play] t=  4.10s step= 205 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.59m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.03,+0.02,-1.00) r=0.59m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.0mm grav_b=(-0.03,+0.02,-1.00) r=0.59m
+[headless_play] t=  4.40s step= 220 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=0.59m
+[headless_play] t=  4.50s step= 225 trunk_z= 115.6mm grav_b=(-0.01,+0.02,-1.00) r=0.59m
+[headless_play] t=  4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.60m
+[headless_play] t=  4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.03,+0.04,-1.00) r=0.60m
+[headless_play] t=  4.80s step= 240 trunk_z= 116.3mm grav_b=(+0.04,+0.03,-1.00) r=0.60m
+[headless_play] t=  4.90s step= 245 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.00s step= 250 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.10s step= 255 trunk_z= 115.7mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.20s step= 260 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.30s step= 265 trunk_z= 115.7mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.40s step= 270 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.60m
+[headless_play] t=  5.50s step= 275 trunk_z= 118.6mm grav_b=(+0.08,-0.03,-1.00) r=0.60m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.2mm grav_b=(+0.10,+0.01,-0.99) r=0.60m
+[headless_play] t=  5.70s step= 285 trunk_z= 116.7mm grav_b=(+0.07,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.80s step= 290 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00) r=0.60m
+[headless_play] t=  5.90s step= 295 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.60m
+[headless_play] t=  6.00s step= 300 trunk_z= 116.0mm grav_b=(+0.03,+0.01,-1.00) r=0.60m
+[headless_play] t=  6.10s step= 305 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.60m
+[headless_play] t=  6.20s step= 310 trunk_z= 115.6mm grav_b=(+0.06,+0.02,-1.00) r=0.60m
+[headless_play] t=  6.30s step= 315 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.60m
+[headless_play] t=  6.40s step= 320 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.58m
+[headless_play] t=  6.50s step= 325 trunk_z= 117.0mm grav_b=(-0.04,-0.03,-1.00) r=0.57m
+[headless_play] t=  6.60s step= 330 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.55m
+[headless_play] t=  6.70s step= 335 trunk_z= 111.0mm grav_b=(+0.03,+0.02,-1.00) r=0.54m
+[headless_play] t=  6.80s step= 340 trunk_z= 109.5mm grav_b=(+0.04,-0.02,-1.00) r=0.53m
+[headless_play] t=  6.90s step= 345 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=0.53m
+[headless_play] t=  7.00s step= 350 trunk_z= 114.2mm grav_b=(+0.06,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.10s step= 355 trunk_z= 114.7mm grav_b=(+0.06,+0.00,-1.00) r=0.53m
+[headless_play] t=  7.20s step= 360 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.1mm grav_b=(+0.02,+0.00,-1.00) r=0.53m
+[headless_play] t=  7.40s step= 370 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=0.52m
+[headless_play] t=  7.50s step= 375 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.60s step= 380 trunk_z= 115.2mm grav_b=(+0.05,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.70s step= 385 trunk_z= 115.1mm grav_b=(+0.05,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.80s step= 390 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.90s step= 395 trunk_z= 115.3mm grav_b=(+0.04,+0.01,-1.00) r=0.53m
+[headless_play] t=  8.00s step= 400 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.51m
+[headless_play] t=  8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.50m
+[headless_play] t=  8.20s step= 410 trunk_z= 118.1mm grav_b=(-0.02,-0.00,-1.00) r=0.49m
+[headless_play] t=  8.30s step= 415 trunk_z= 107.1mm grav_b=(+0.06,+0.05,-1.00) r=0.47m
+[headless_play] t=  8.40s step= 420 trunk_z= 113.9mm grav_b=(+0.03,+0.04,-1.00) r=0.46m
+[headless_play] t=  8.50s step= 425 trunk_z= 113.0mm grav_b=(+0.03,-0.04,-1.00) r=0.46m
+[headless_play] t=  8.60s step= 430 trunk_z= 115.2mm grav_b=(+0.04,-0.00,-1.00) r=0.45m
+[headless_play] t=  8.70s step= 435 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.45m
+[headless_play] t=  8.80s step= 440 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.45m
+[headless_play] t=  8.90s step= 445 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.45m
+[headless_play] t=  9.00s step= 450 trunk_z= 116.8mm grav_b=(+0.13,+0.02,-0.99) r=0.46m
+[headless_play] t=  9.10s step= 455 trunk_z= 122.0mm grav_b=(+0.05,-0.02,-1.00) r=0.46m
+[headless_play] t=  9.20s step= 460 trunk_z= 121.9mm grav_b=(+0.03,-0.08,-1.00) r=0.47m
+[headless_play] t=  9.30s step= 465 trunk_z= 118.2mm grav_b=(-0.02,-0.04,-1.00) r=0.48m
+[headless_play] t=  9.40s step= 470 trunk_z= 117.0mm grav_b=(+0.00,+0.01,-1.00) r=0.49m
+[headless_play] t=  9.50s step= 475 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.48m
+[headless_play] t=  9.60s step= 480 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.48m
+[headless_play] t=  9.70s step= 485 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.47m
+[headless_play] t=  9.80s step= 490 trunk_z= 116.8mm grav_b=(-0.01,-0.05,-1.00) r=0.47m
+[headless_play] t=  9.90s step= 495 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) r=0.48m
+[headless_play] t= 10.00s step= 500 trunk_z= 115.0mm grav_b=(+0.04,+0.02,-1.00) r=0.48m
+[headless_play] t= 10.10s step= 505 trunk_z= 115.6mm grav_b=(+0.05,+0.03,-1.00) r=0.48m
+[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.47m
+[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=0.47m
+[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(+0.07,+0.05,-1.00) r=0.48m
+[headless_play] t= 10.50s step= 525 trunk_z= 118.0mm grav_b=(+0.11,+0.04,-0.99) r=0.48m
+[headless_play] t= 10.60s step= 530 trunk_z= 117.9mm grav_b=(+0.09,+0.01,-1.00) r=0.48m
+[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.48m
+[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.47m
+[headless_play] t= 10.90s step= 545 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.47m
+[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.47m
+[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.47m
+[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(+0.05,+0.02,-1.00) r=0.48m
+[headless_play] t= 11.30s step= 565 trunk_z= 118.8mm grav_b=(+0.19,+0.02,-0.98) r=0.50m
+[headless_play] t= 11.40s step= 570 trunk_z= 114.6mm grav_b=(-0.01,-0.04,-1.00) r=0.52m
+[headless_play] t= 11.50s step= 575 trunk_z= 123.2mm grav_b=(-0.02,-0.07,-1.00) r=0.54m
+[headless_play] t= 11.60s step= 580 trunk_z= 120.5mm grav_b=(-0.05,-0.06,-1.00) r=0.55m
+[headless_play] t= 11.70s step= 585 trunk_z= 119.0mm grav_b=(-0.05,-0.01,-1.00) r=0.57m
+[headless_play] t= 11.80s step= 590 trunk_z= 118.8mm grav_b=(-0.05,+0.00,-1.00) r=0.57m
+[headless_play] t= 11.90s step= 595 trunk_z= 119.7mm grav_b=(-0.00,-0.02,-1.00) r=0.57m
+[headless_play] t= 12.00s step= 600 trunk_z= 117.6mm grav_b=(+0.05,+0.02,-1.00) r=0.58m
+[headless_play] t= 12.10s step= 605 trunk_z= 117.5mm grav_b=(+0.08,+0.02,-1.00) r=0.58m
+[headless_play] t= 12.20s step= 610 trunk_z= 117.4mm grav_b=(+0.05,-0.00,-1.00) r=0.58m
+[headless_play] t= 12.30s step= 615 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.58m
+[headless_play] t= 12.40s step= 620 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.58m
+[headless_play] t= 12.50s step= 625 trunk_z= 117.5mm grav_b=(+0.05,-0.00,-1.00) r=0.58m
+[headless_play] t= 12.60s step= 630 trunk_z= 118.1mm grav_b=(+0.04,-0.02,-1.00) r=0.58m
+[headless_play] t= 12.70s step= 635 trunk_z= 118.7mm grav_b=(-0.01,-0.08,-1.00) r=0.57m
+[headless_play] t= 12.80s step= 640 trunk_z= 124.9mm grav_b=(-0.02,-0.05,-1.00) r=0.58m
+[headless_play] t= 12.90s step= 645 trunk_z= 119.5mm grav_b=(-0.03,-0.03,-1.00) r=0.60m
+[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(-0.05,+0.05,-1.00) r=0.63m
+[headless_play] t= 13.10s step= 655 trunk_z= 117.8mm grav_b=(-0.03,+0.05,-1.00) r=0.64m
+[headless_play] t= 13.20s step= 660 trunk_z= 113.7mm grav_b=(+0.00,+0.03,-1.00) r=0.63m
+[headless_play] t= 13.30s step= 665 trunk_z= 109.8mm grav_b=(+0.05,-0.07,-1.00) r=0.62m
+[headless_play] t= 13.40s step= 670 trunk_z= 106.9mm grav_b=(+0.09,-0.08,-0.99) r=0.63m
+[headless_play] t= 13.50s step= 675 trunk_z= 102.5mm grav_b=(+0.10,-0.00,-1.00) r=0.65m
+[headless_play] t= 13.60s step= 680 trunk_z= 112.4mm grav_b=(+0.07,+0.04,-1.00) r=0.67m
+[headless_play] t= 13.70s step= 685 trunk_z= 110.6mm grav_b=(+0.07,+0.04,-1.00) r=0.68m
+[headless_play] t= 13.80s step= 690 trunk_z= 107.4mm grav_b=(+0.08,-0.03,-1.00) r=0.68m
+[headless_play] t= 13.90s step= 695 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.69m
+[headless_play] t= 14.00s step= 700 trunk_z= 110.7mm grav_b=(+0.03,+0.00,-1.00) r=0.71m
+[headless_play] t= 14.10s step= 705 trunk_z= 102.4mm grav_b=(-0.01,+0.03,-1.00) r=0.73m
+[headless_play] t= 14.20s step= 710 trunk_z= 115.4mm grav_b=(-0.11,-0.03,-0.99) r=0.73m
+[headless_play] t= 14.30s step= 715 trunk_z= 109.7mm grav_b=(-0.04,-0.04,-1.00) r=0.69m
+[headless_play] t= 14.40s step= 720 trunk_z= 112.4mm grav_b=(+0.02,-0.07,-1.00) r=0.67m
+[headless_play] t= 14.50s step= 725 trunk_z= 114.7mm grav_b=(+0.10,-0.07,-0.99) r=0.67m
+[headless_play] t= 14.60s step= 730 trunk_z= 104.8mm grav_b=(+0.12,+0.02,-0.99) r=0.69m
+[headless_play] t= 14.70s step= 735 trunk_z= 113.9mm grav_b=(+0.07,+0.07,-0.99) r=0.70m
+[headless_play] t= 14.80s step= 740 trunk_z= 110.9mm grav_b=(+0.09,+0.04,-1.00) r=0.71m
+[headless_play] t= 14.90s step= 745 trunk_z= 115.7mm grav_b=(+0.03,-0.08,-1.00) r=0.72m
+[headless_play] t= 15.00s step= 750 trunk_z= 122.6mm grav_b=(-0.02,-0.10,-0.99) r=0.72m
+[headless_play] t= 15.10s step= 755 trunk_z= 119.6mm grav_b=(+0.02,-0.07,-1.00) r=0.73m
+[headless_play] t= 15.20s step= 760 trunk_z= 110.0mm grav_b=(+0.01,-0.01,-1.00) r=0.75m
+[headless_play] t= 15.30s step= 765 trunk_z= 115.1mm grav_b=(+0.01,+0.04,-1.00) r=0.76m
+[headless_play] t= 15.40s step= 770 trunk_z= 111.2mm grav_b=(+0.05,+0.04,-1.00) r=0.77m
+[headless_play] t= 15.50s step= 775 trunk_z= 107.5mm grav_b=(+0.09,-0.03,-1.00) r=0.78m
+[headless_play] t= 15.60s step= 780 trunk_z= 113.4mm grav_b=(+0.05,-0.03,-1.00) r=0.79m
+[headless_play] t= 15.70s step= 785 trunk_z= 109.1mm grav_b=(+0.09,-0.05,-0.99) r=0.81m
+[headless_play] t= 15.80s step= 790 trunk_z= 104.6mm grav_b=(+0.09,+0.03,-1.00) r=0.84m
+[headless_play] t= 15.90s step= 795 trunk_z= 113.8mm grav_b=(+0.06,+0.04,-1.00) r=0.86m
+[headless_play] t= 16.00s step= 800 trunk_z= 111.0mm grav_b=(+0.04,+0.02,-1.00) r=0.87m
+[headless_play] t= 16.10s step= 805 trunk_z= 111.4mm grav_b=(+0.03,-0.04,-1.00) r=0.89m
+[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.90m
+[headless_play] t= 16.30s step= 815 trunk_z= 111.4mm grav_b=(+0.00,+0.02,-1.00) r=0.91m
+[headless_play] t= 16.40s step= 820 trunk_z= 107.6mm grav_b=(-0.00,+0.06,-1.00) r=0.93m
+[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(-0.05,+0.07,-1.00) r=0.94m
+[headless_play] t= 16.60s step= 830 trunk_z= 120.7mm grav_b=(-0.06,+0.08,-1.00) r=0.93m
+[headless_play] t= 16.70s step= 835 trunk_z= 114.4mm grav_b=(+0.02,+0.02,-1.00) r=0.92m
+[headless_play] t= 16.80s step= 840 trunk_z= 110.6mm grav_b=(+0.05,-0.03,-1.00) r=0.92m
+[headless_play] t= 16.90s step= 845 trunk_z= 104.9mm grav_b=(+0.09,-0.05,-0.99) r=0.94m
+[headless_play] t= 17.00s step= 850 trunk_z= 105.0mm grav_b=(+0.07,+0.02,-1.00) r=0.96m
+[headless_play] t= 17.10s step= 855 trunk_z= 110.4mm grav_b=(+0.06,-0.02,-1.00) r=0.98m
+[headless_play] t= 17.20s step= 860 trunk_z= 105.1mm grav_b=(+0.07,-0.07,-1.00) r=1.00m
+[headless_play] t= 17.30s step= 865 trunk_z= 111.3mm grav_b=(+0.06,-0.05,-1.00) r=1.02m
+[headless_play] t= 17.40s step= 870 trunk_z= 105.7mm grav_b=(+0.02,-0.01,-1.00) r=1.04m
+[headless_play] t= 17.50s step= 875 trunk_z= 102.7mm grav_b=(+0.02,+0.07,-1.00) r=1.06m
+[headless_play] t= 17.60s step= 880 trunk_z= 105.4mm grav_b=(+0.06,+0.11,-0.99) r=1.08m
+[headless_play] t= 17.70s step= 885 trunk_z= 100.8mm grav_b=(+0.12,+0.09,-0.99) r=1.10m
+[headless_play] t= 17.80s step= 890 trunk_z= 104.4mm grav_b=(+0.14,+0.05,-0.99) r=1.12m
+[headless_play] t= 17.90s step= 895 trunk_z= 102.6mm grav_b=(+0.02,+0.12,-0.99) r=1.16m
+[headless_play] t= 18.00s step= 900 trunk_z=  96.5mm grav_b=(+0.04,+0.16,-0.99) r=1.20m
+[headless_play] t= 18.10s step= 905 trunk_z= 102.3mm grav_b=(-0.04,+0.25,-0.97) r=1.21m
+[headless_play] t= 18.20s step= 910 trunk_z= 102.2mm grav_b=(-0.08,+0.28,-0.96) r=1.23m
+[headless_play] t= 18.30s step= 915 trunk_z=  95.1mm grav_b=(+0.02,+0.38,-0.92) r=1.26m
+[headless_play] t= 18.40s step= 920 trunk_z=  88.4mm grav_b=(+0.01,+0.56,-0.83) r=1.30m
+[headless_play] t= 18.50s step= 925 trunk_z=  43.1mm grav_b=(+0.02,+0.79,-0.61) r=1.36m
+[headless_play] RESET at t= 18.56s step= 928 (env termination, not a recovery)
+[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(-0.02,+0.00,-1.00) r=0.43m
+[headless_play] t= 18.70s step= 935 trunk_z= 115.7mm grav_b=(+0.02,+0.05,-1.00) r=0.43m
+[headless_play] t= 18.80s step= 940 trunk_z= 120.0mm grav_b=(+0.15,-0.01,-0.99) r=0.46m
+[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(+0.12,-0.09,-0.99) r=0.50m
+[headless_play] t= 19.00s step= 950 trunk_z= 131.3mm grav_b=(+0.08,+0.00,-1.00) r=0.54m
+[headless_play] t= 19.10s step= 955 trunk_z= 105.8mm grav_b=(-0.07,+0.01,-1.00) r=0.60m
+[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(-0.03,+0.05,-1.00) r=0.61m
+[headless_play] t= 19.30s step= 965 trunk_z= 123.0mm grav_b=(-0.01,+0.04,-1.00) r=0.63m
+[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(-0.01,-0.05,-1.00) r=0.64m
+[headless_play] t= 19.50s step= 975 trunk_z= 123.9mm grav_b=(+0.00,-0.06,-1.00) r=0.65m
+[headless_play] t= 19.60s step= 980 trunk_z= 121.8mm grav_b=(-0.04,-0.07,-1.00) r=0.66m
+[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.66m
+[headless_play] t= 19.80s step= 990 trunk_z= 121.3mm grav_b=(-0.03,+0.04,-1.00) r=0.66m
+[headless_play] t= 19.90s step= 995 trunk_z= 114.6mm grav_b=(+0.03,-0.03,-1.00) r=0.65m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t13/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x1ea07880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t13/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t13/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t14.log

@@ -0,0 +1,215 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 129.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.984,-18.338,+0.256)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.9mm grav_b=(-0.01,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.04,-0.00,-1.00) r=0.34m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.5mm grav_b=(-0.03,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.70s step=  35 trunk_z= 118.2mm grav_b=(-0.05,+0.03,-1.00) r=0.34m
+[headless_play] t=  0.80s step=  40 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.34m
+[headless_play] t=  0.90s step=  45 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.34m
+[headless_play] t=  1.00s step=  50 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.34m
+[headless_play] t=  1.10s step=  55 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.34m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.8mm grav_b=(-0.04,+0.03,-1.00) r=0.34m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.34m
+[headless_play] t=  1.40s step=  70 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.34m
+[headless_play] t=  1.50s step=  75 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00) r=0.34m
+[headless_play] t=  1.60s step=  80 trunk_z= 119.4mm grav_b=(+0.02,+0.02,-1.00) r=0.33m
+[headless_play] t=  1.70s step=  85 trunk_z= 119.4mm grav_b=(-0.00,+0.07,-1.00) r=0.33m
+[headless_play] t=  1.80s step=  90 trunk_z= 121.5mm grav_b=(-0.04,+0.04,-1.00) r=0.32m
+[headless_play] t=  1.90s step=  95 trunk_z= 120.1mm grav_b=(-0.09,-0.02,-1.00) r=0.31m
+[headless_play] t=  2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.09,+0.01,-1.00) r=0.31m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.31m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=0.31m
+[headless_play] t=  2.30s step= 115 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m
+[headless_play] t=  2.40s step= 120 trunk_z= 119.3mm grav_b=(+0.01,+0.04,-1.00) r=0.30m
+[headless_play] t=  2.50s step= 125 trunk_z= 120.4mm grav_b=(+0.01,+0.02,-1.00) r=0.29m
+[headless_play] t=  2.60s step= 130 trunk_z= 121.1mm grav_b=(-0.02,-0.03,-1.00) r=0.28m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.08,+0.02,-1.00) r=0.28m
+[headless_play] t=  2.80s step= 140 trunk_z= 116.4mm grav_b=(-0.10,+0.01,-1.00) r=0.28m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.3mm grav_b=(-0.07,+0.01,-1.00) r=0.28m
+[headless_play] t=  3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.02,+0.01,-1.00) r=0.27m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.27m
+[headless_play] t=  3.20s step= 160 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.27m
+[headless_play] t=  3.30s step= 165 trunk_z= 120.2mm grav_b=(-0.01,+0.04,-1.00) r=0.27m
+[headless_play] t=  3.40s step= 170 trunk_z= 119.3mm grav_b=(-0.00,+0.04,-1.00) r=0.27m
+[headless_play] t=  3.50s step= 175 trunk_z= 118.9mm grav_b=(-0.01,+0.03,-1.00) r=0.27m
+[headless_play] t=  3.60s step= 180 trunk_z= 118.6mm grav_b=(-0.02,+0.01,-1.00) r=0.27m
+[headless_play] t=  3.70s step= 185 trunk_z= 118.4mm grav_b=(-0.02,+0.02,-1.00) r=0.27m
+[headless_play] t=  3.80s step= 190 trunk_z= 120.5mm grav_b=(+0.00,+0.04,-1.00) r=0.27m
+[headless_play] t=  3.90s step= 195 trunk_z= 120.3mm grav_b=(+0.03,+0.04,-1.00) r=0.27m
+[headless_play] t=  4.00s step= 200 trunk_z= 121.1mm grav_b=(+0.03,-0.02,-1.00) r=0.26m
+[headless_play] t=  4.10s step= 205 trunk_z= 121.1mm grav_b=(-0.03,-0.04,-1.00) r=0.25m
+[headless_play] t=  4.20s step= 210 trunk_z= 118.0mm grav_b=(-0.07,+0.04,-1.00) r=0.25m
+[headless_play] t=  4.30s step= 215 trunk_z= 124.2mm grav_b=(-0.10,+0.03,-0.99) r=0.25m
+[headless_play] t=  4.40s step= 220 trunk_z= 120.2mm grav_b=(-0.10,+0.04,-0.99) r=0.23m
+[headless_play] t=  4.50s step= 225 trunk_z= 122.9mm grav_b=(-0.08,-0.04,-1.00) r=0.21m
+[headless_play] t=  4.60s step= 230 trunk_z= 127.2mm grav_b=(-0.15,-0.08,-0.99) r=0.21m
+[headless_play] t=  4.70s step= 235 trunk_z= 126.0mm grav_b=(-0.11,-0.04,-0.99) r=0.22m
+[headless_play] t=  4.80s step= 240 trunk_z= 121.2mm grav_b=(-0.07,-0.01,-1.00) r=0.22m
+[headless_play] t=  4.90s step= 245 trunk_z= 120.6mm grav_b=(-0.04,-0.03,-1.00) r=0.21m
+[headless_play] t=  5.00s step= 250 trunk_z= 120.8mm grav_b=(+0.02,-0.06,-1.00) r=0.19m
+[headless_play] t=  5.10s step= 255 trunk_z= 129.2mm grav_b=(+0.02,-0.05,-1.00) r=0.17m
+[headless_play] t=  5.20s step= 260 trunk_z= 122.0mm grav_b=(+0.02,-0.03,-1.00) r=0.12m
+[headless_play] t=  5.30s step= 265 trunk_z= 129.7mm grav_b=(+0.00,-0.01,-1.00) r=0.09m
+[headless_play] t=  5.40s step= 270 trunk_z= 124.5mm grav_b=(-0.06,+0.03,-1.00) r=0.04m
+[headless_play] t=  5.50s step= 275 trunk_z= 112.8mm grav_b=(-0.08,-0.08,-0.99) r=0.01m
+[headless_play] t=  5.60s step= 280 trunk_z= 125.5mm grav_b=(-0.10,-0.09,-0.99) r=0.03m
+[headless_play] t=  5.70s step= 285 trunk_z= 125.3mm grav_b=(-0.12,-0.05,-0.99) r=0.05m
+[headless_play] t=  5.80s step= 290 trunk_z= 120.0mm grav_b=(-0.09,+0.00,-1.00) r=0.08m
+[headless_play] t=  5.90s step= 295 trunk_z= 122.0mm grav_b=(-0.02,-0.03,-1.00) r=0.10m
+[headless_play] t=  6.00s step= 300 trunk_z= 112.8mm grav_b=(-0.03,-0.07,-1.00) r=0.13m
+[headless_play] t=  6.10s step= 305 trunk_z= 125.6mm grav_b=(-0.03,-0.06,-1.00) r=0.16m
+[headless_play] t=  6.20s step= 310 trunk_z= 126.8mm grav_b=(-0.07,-0.06,-1.00) r=0.19m
+[headless_play] t=  6.30s step= 315 trunk_z= 119.8mm grav_b=(-0.09,+0.06,-0.99) r=0.23m
+[headless_play] t=  6.40s step= 320 trunk_z= 125.5mm grav_b=(-0.11,+0.07,-0.99) r=0.24m
+[headless_play] t=  6.50s step= 325 trunk_z= 114.6mm grav_b=(-0.04,-0.05,-1.00) r=0.27m
+[headless_play] t=  6.60s step= 330 trunk_z= 126.0mm grav_b=(-0.01,-0.11,-0.99) r=0.29m
+[headless_play] t=  6.70s step= 335 trunk_z= 127.0mm grav_b=(-0.05,-0.16,-0.99) r=0.31m
+[headless_play] t=  6.80s step= 340 trunk_z= 130.1mm grav_b=(-0.10,-0.11,-0.99) r=0.33m
+[headless_play] t=  6.90s step= 345 trunk_z= 127.8mm grav_b=(+0.01,-0.05,-1.00) r=0.36m
+[headless_play] t=  7.00s step= 350 trunk_z= 128.4mm grav_b=(-0.09,+0.02,-1.00) r=0.37m
+[headless_play] t=  7.10s step= 355 trunk_z= 120.1mm grav_b=(-0.06,-0.09,-0.99) r=0.40m
+[headless_play] t=  7.20s step= 360 trunk_z= 126.4mm grav_b=(-0.07,-0.09,-0.99) r=0.42m
+[headless_play] t=  7.30s step= 365 trunk_z= 122.8mm grav_b=(-0.09,-0.07,-0.99) r=0.44m
+[headless_play] t=  7.40s step= 370 trunk_z= 118.9mm grav_b=(-0.08,+0.06,-0.99) r=0.46m
+[headless_play] t=  7.50s step= 375 trunk_z= 126.9mm grav_b=(-0.05,+0.09,-1.00) r=0.47m
+[headless_play] t=  7.60s step= 380 trunk_z= 126.7mm grav_b=(-0.04,+0.10,-0.99) r=0.47m
+[headless_play] t=  7.70s step= 385 trunk_z= 117.4mm grav_b=(-0.01,+0.05,-1.00) r=0.47m
+[headless_play] t=  7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.00,-0.05,-1.00) r=0.48m
+[headless_play] t=  7.90s step= 395 trunk_z= 123.2mm grav_b=(-0.02,-0.01,-1.00) r=0.50m
+[headless_play] t=  8.00s step= 400 trunk_z= 124.1mm grav_b=(+0.02,+0.10,-1.00) r=0.55m
+[headless_play] t=  8.10s step= 405 trunk_z= 130.4mm grav_b=(+0.03,+0.10,-0.99) r=0.58m
+[headless_play] t=  8.20s step= 410 trunk_z= 122.9mm grav_b=(-0.01,+0.05,-1.00) r=0.61m
+[headless_play] t=  8.30s step= 415 trunk_z= 130.0mm grav_b=(-0.02,-0.07,-1.00) r=0.63m
+[headless_play] t=  8.40s step= 420 trunk_z= 130.0mm grav_b=(-0.10,-0.11,-0.99) r=0.65m
+[headless_play] t=  8.50s step= 425 trunk_z= 120.1mm grav_b=(-0.12,+0.00,-0.99) r=0.68m
+[headless_play] t=  8.60s step= 430 trunk_z= 124.4mm grav_b=(-0.11,+0.03,-0.99) r=0.70m
+[headless_play] t=  8.70s step= 435 trunk_z= 119.8mm grav_b=(-0.15,+0.02,-0.99) r=0.69m
+[headless_play] t=  8.80s step= 440 trunk_z= 124.6mm grav_b=(-0.15,-0.05,-0.99) r=0.67m
+[headless_play] t=  8.90s step= 445 trunk_z= 121.2mm grav_b=(-0.07,+0.01,-1.00) r=0.64m
+[headless_play] t=  9.00s step= 450 trunk_z= 119.7mm grav_b=(-0.05,-0.01,-1.00) r=0.62m
+[headless_play] t=  9.10s step= 455 trunk_z= 118.6mm grav_b=(+0.02,-0.02,-1.00) r=0.58m
+[headless_play] t=  9.20s step= 460 trunk_z= 113.6mm grav_b=(+0.02,-0.04,-1.00) r=0.56m
+[headless_play] t=  9.30s step= 465 trunk_z= 116.6mm grav_b=(+0.01,-0.05,-1.00) r=0.56m
+[headless_play] t=  9.40s step= 470 trunk_z= 114.4mm grav_b=(-0.03,-0.03,-1.00) r=0.57m
+[headless_play] t=  9.50s step= 475 trunk_z= 120.9mm grav_b=(-0.05,+0.06,-1.00) r=0.59m
+[headless_play] t=  9.60s step= 480 trunk_z= 121.2mm grav_b=(-0.02,+0.04,-1.00) r=0.61m
+[headless_play] t=  9.70s step= 485 trunk_z= 113.7mm grav_b=(-0.03,-0.03,-1.00) r=0.63m
+[headless_play] t=  9.80s step= 490 trunk_z= 127.0mm grav_b=(-0.02,-0.12,-0.99) r=0.65m
+[headless_play] t=  9.90s step= 495 trunk_z= 126.5mm grav_b=(-0.03,-0.14,-0.99) r=0.67m
+[headless_play] t= 10.00s step= 500 trunk_z= 128.0mm grav_b=(-0.05,-0.12,-0.99) r=0.69m
+[headless_play] t= 10.10s step= 505 trunk_z= 123.9mm grav_b=(+0.02,-0.00,-1.00) r=0.71m
+[headless_play] t= 10.20s step= 510 trunk_z= 123.7mm grav_b=(-0.09,+0.05,-0.99) r=0.71m
+[headless_play] t= 10.30s step= 515 trunk_z= 118.0mm grav_b=(-0.09,-0.08,-0.99) r=0.70m
+[headless_play] t= 10.40s step= 520 trunk_z= 126.1mm grav_b=(-0.08,-0.11,-0.99) r=0.71m
+[headless_play] t= 10.50s step= 525 trunk_z= 127.3mm grav_b=(-0.08,-0.14,-0.99) r=0.72m
+[headless_play] t= 10.60s step= 530 trunk_z= 122.9mm grav_b=(-0.10,-0.15,-0.98) r=0.74m
+[headless_play] t= 10.70s step= 535 trunk_z= 125.1mm grav_b=(-0.12,-0.08,-0.99) r=0.77m
+[headless_play] t= 10.80s step= 540 trunk_z= 128.4mm grav_b=(-0.06,+0.02,-1.00) r=0.80m
+[headless_play] t= 10.90s step= 545 trunk_z= 132.7mm grav_b=(-0.07,+0.03,-1.00) r=0.81m
+[headless_play] t= 11.00s step= 550 trunk_z= 120.8mm grav_b=(-0.07,-0.04,-1.00) r=0.81m
+[headless_play] t= 11.10s step= 555 trunk_z= 122.6mm grav_b=(-0.09,-0.04,-1.00) r=0.81m
+[headless_play] t= 11.20s step= 560 trunk_z= 115.9mm grav_b=(-0.11,+0.04,-0.99) r=0.83m
+[headless_play] t= 11.30s step= 565 trunk_z= 125.8mm grav_b=(-0.05,+0.04,-1.00) r=0.84m
+[headless_play] t= 11.40s step= 570 trunk_z= 122.1mm grav_b=(-0.05,+0.03,-1.00) r=0.83m
+[headless_play] t= 11.50s step= 575 trunk_z= 123.2mm grav_b=(-0.00,-0.07,-1.00) r=0.82m
+[headless_play] t= 11.60s step= 580 trunk_z= 128.1mm grav_b=(-0.02,-0.08,-1.00) r=0.82m
+[headless_play] t= 11.70s step= 585 trunk_z= 119.5mm grav_b=(-0.06,+0.05,-1.00) r=0.87m
+[headless_play] t= 11.80s step= 590 trunk_z= 129.7mm grav_b=(-0.06,+0.10,-0.99) r=0.90m
+[headless_play] t= 11.90s step= 595 trunk_z= 130.8mm grav_b=(-0.04,+0.13,-0.99) r=0.92m
+[headless_play] t= 12.00s step= 600 trunk_z= 126.9mm grav_b=(-0.07,+0.03,-1.00) r=0.93m
+[headless_play] t= 12.10s step= 605 trunk_z= 125.9mm grav_b=(-0.11,-0.07,-0.99) r=0.93m
+[headless_play] t= 12.20s step= 610 trunk_z= 124.5mm grav_b=(-0.11,-0.08,-0.99) r=0.94m
+[headless_play] t= 12.30s step= 615 trunk_z= 118.8mm grav_b=(-0.09,+0.01,-1.00) r=0.97m
+[headless_play] t= 12.40s step= 620 trunk_z= 125.7mm grav_b=(-0.05,+0.04,-1.00) r=0.99m
+[headless_play] t= 12.50s step= 625 trunk_z= 126.8mm grav_b=(-0.02,+0.06,-1.00) r=0.99m
+[headless_play] t= 12.60s step= 630 trunk_z= 119.0mm grav_b=(-0.01,-0.03,-1.00) r=0.99m
+[headless_play] t= 12.70s step= 635 trunk_z= 126.0mm grav_b=(-0.05,-0.06,-1.00) r=0.99m
+[headless_play] t= 12.80s step= 640 trunk_z= 121.4mm grav_b=(-0.08,-0.04,-1.00) r=1.01m
+[headless_play] t= 12.90s step= 645 trunk_z= 123.3mm grav_b=(-0.07,+0.01,-1.00) r=1.03m
+[headless_play] t= 13.00s step= 650 trunk_z= 123.1mm grav_b=(-0.07,+0.01,-1.00) r=1.03m
+[headless_play] t= 13.10s step= 655 trunk_z= 120.1mm grav_b=(-0.04,-0.05,-1.00) r=1.02m
+[headless_play] t= 13.20s step= 660 trunk_z= 125.5mm grav_b=(-0.05,-0.07,-1.00) r=1.03m
+[headless_play] t= 13.30s step= 665 trunk_z= 121.4mm grav_b=(-0.08,-0.05,-1.00) r=1.04m
+[headless_play] t= 13.40s step= 670 trunk_z= 121.6mm grav_b=(-0.06,+0.03,-1.00) r=1.06m
+[headless_play] t= 13.50s step= 675 trunk_z= 124.3mm grav_b=(-0.06,+0.01,-1.00) r=1.07m
+[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.05,-0.06,-1.00) r=1.07m
+[headless_play] t= 13.70s step= 685 trunk_z= 126.4mm grav_b=(-0.02,-0.06,-1.00) r=1.08m
+[headless_play] t= 13.80s step= 690 trunk_z= 126.0mm grav_b=(-0.04,-0.06,-1.00) r=1.10m
+[headless_play] t= 13.90s step= 695 trunk_z= 120.2mm grav_b=(-0.06,+0.06,-1.00) r=1.12m
+[headless_play] t= 14.00s step= 700 trunk_z= 126.8mm grav_b=(-0.10,+0.10,-0.99) r=1.12m
+[headless_play] t= 14.10s step= 705 trunk_z= 124.5mm grav_b=(-0.11,+0.09,-0.99) r=1.12m
+[headless_play] t= 14.20s step= 710 trunk_z= 120.0mm grav_b=(-0.08,-0.02,-1.00) r=1.12m
+[headless_play] t= 14.30s step= 715 trunk_z= 126.4mm grav_b=(-0.04,-0.07,-1.00) r=1.12m
+[headless_play] t= 14.40s step= 720 trunk_z= 126.6mm grav_b=(-0.03,-0.06,-1.00) r=1.14m
+[headless_play] t= 14.50s step= 725 trunk_z= 121.1mm grav_b=(-0.03,+0.07,-1.00) r=1.17m
+[headless_play] t= 14.60s step= 730 trunk_z= 129.5mm grav_b=(-0.00,+0.21,-0.98) r=1.21m
+[headless_play] t= 14.70s step= 735 trunk_z= 130.0mm grav_b=(-0.01,+0.22,-0.97) r=1.26m
+[headless_play] t= 14.80s step= 740 trunk_z= 107.9mm grav_b=(+0.02,+0.17,-0.99) r=1.32m
+[headless_play] t= 14.90s step= 745 trunk_z= 114.2mm grav_b=(+0.05,+0.01,-1.00) r=1.37m
+[headless_play] t= 15.00s step= 750 trunk_z=  93.6mm grav_b=(-0.09,-0.15,-0.98) r=1.41m
+[headless_play] t= 15.10s step= 755 trunk_z=  80.3mm grav_b=(+0.07,-0.22,-0.97) r=1.48m
+[headless_play] t= 15.20s step= 760 trunk_z=  69.6mm grav_b=(+0.22,-0.03,-0.97) r=1.54m
+[headless_play] t= 15.30s step= 765 trunk_z=  79.1mm grav_b=(+0.23,+0.13,-0.97) r=1.59m
+[headless_play] t= 15.40s step= 770 trunk_z=  30.2mm grav_b=(+0.03,+0.25,-0.97) r=1.65m
+[headless_play] t= 15.50s step= 775 trunk_z=  39.6mm grav_b=(-0.09,+0.12,-0.99) r=1.67m
+[headless_play] t= 15.60s step= 780 trunk_z=  47.2mm grav_b=(-0.11,+0.05,-0.99) r=1.67m
+[headless_play] t= 15.70s step= 785 trunk_z=  48.8mm grav_b=(-0.06,+0.12,-0.99) r=1.69m
+[headless_play] t= 15.80s step= 790 trunk_z=  39.8mm grav_b=(-0.06,+0.20,-0.98) r=1.72m
+[headless_play] t= 15.90s step= 795 trunk_z=  49.0mm grav_b=(-0.04,+0.20,-0.98) r=1.74m
+[headless_play] t= 16.00s step= 800 trunk_z=  51.0mm grav_b=(+0.02,+0.18,-0.98) r=1.76m
+[headless_play] t= 16.10s step= 805 trunk_z=  42.8mm grav_b=(-0.04,+0.01,-1.00) r=1.77m
+[headless_play] t= 16.20s step= 810 trunk_z=  50.0mm grav_b=(-0.14,-0.08,-0.99) r=1.78m
+[headless_play] t= 16.30s step= 815 trunk_z=  45.2mm grav_b=(-0.13,-0.05,-0.99) r=1.80m
+[headless_play] t= 16.40s step= 820 trunk_z=  32.8mm grav_b=(-0.08,+0.14,-0.99) r=1.84m
+[headless_play] t= 16.50s step= 825 trunk_z=  39.6mm grav_b=(-0.00,+0.27,-0.96) r=1.87m
+[headless_play] t= 16.60s step= 830 trunk_z=  41.5mm grav_b=(-0.02,+0.29,-0.96) r=1.90m
+[headless_play] t= 16.70s step= 835 trunk_z=  23.7mm grav_b=(-0.15,+0.37,-0.92) r=1.94m
+[headless_play] t= 16.80s step= 840 trunk_z=   8.5mm grav_b=(+0.28,+0.37,-0.89) r=1.99m
+[headless_play] t= 16.90s step= 845 trunk_z=  -7.7mm grav_b=(+0.36,-0.17,-0.92) r=2.07m
+[headless_play] t= 17.00s step= 850 trunk_z= -55.2mm grav_b=(+0.91,-0.07,-0.41) r=2.16m
+[headless_play] RESET at t= 17.02s step= 851 (env termination, not a recovery)
+[headless_play] t= 17.10s step= 855 trunk_z= 115.5mm grav_b=(-0.03,+0.01,-1.00) r=0.35m
+[headless_play] t= 17.20s step= 860 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00) r=0.35m
+[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.10,+0.04,-0.99) r=0.35m
+[headless_play] t= 17.40s step= 870 trunk_z= 120.3mm grav_b=(-0.10,+0.09,-0.99) r=0.34m
+[headless_play] t= 17.50s step= 875 trunk_z= 126.9mm grav_b=(-0.09,+0.10,-0.99) r=0.35m
+[headless_play] t= 17.60s step= 880 trunk_z= 122.5mm grav_b=(-0.07,+0.12,-0.99) r=0.37m
+[headless_play] t= 17.70s step= 885 trunk_z= 121.4mm grav_b=(-0.06,-0.04,-1.00) r=0.39m
+[headless_play] t= 17.80s step= 890 trunk_z= 125.2mm grav_b=(-0.05,-0.03,-1.00) r=0.41m
+[headless_play] t= 17.90s step= 895 trunk_z= 126.5mm grav_b=(-0.04,-0.06,-1.00) r=0.43m
+[headless_play] t= 18.00s step= 900 trunk_z= 119.8mm grav_b=(-0.09,+0.10,-0.99) r=0.46m
+[headless_play] t= 18.10s step= 905 trunk_z= 129.3mm grav_b=(-0.08,+0.16,-0.98) r=0.48m
+[headless_play] t= 18.20s step= 910 trunk_z= 128.0mm grav_b=(-0.10,+0.13,-0.99) r=0.50m
+[headless_play] t= 18.30s step= 915 trunk_z= 118.3mm grav_b=(-0.12,+0.00,-0.99) r=0.53m
+[headless_play] t= 18.40s step= 920 trunk_z= 124.7mm grav_b=(-0.10,-0.03,-0.99) r=0.55m
+[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.09,+0.03,-1.00) r=0.54m
+[headless_play] t= 18.60s step= 930 trunk_z= 124.3mm grav_b=(-0.09,+0.08,-0.99) r=0.54m
+[headless_play] t= 18.70s step= 935 trunk_z= 127.3mm grav_b=(-0.07,+0.11,-0.99) r=0.55m
+[headless_play] t= 18.80s step= 940 trunk_z= 124.9mm grav_b=(-0.06,+0.10,-0.99) r=0.57m
+[headless_play] t= 18.90s step= 945 trunk_z= 121.6mm grav_b=(-0.07,-0.05,-1.00) r=0.60m
+[headless_play] t= 19.00s step= 950 trunk_z= 126.0mm grav_b=(-0.09,-0.03,-1.00) r=0.61m
+[headless_play] t= 19.10s step= 955 trunk_z= 121.1mm grav_b=(-0.11,-0.01,-0.99) r=0.62m
+[headless_play] t= 19.20s step= 960 trunk_z= 126.3mm grav_b=(-0.05,+0.12,-0.99) r=0.61m
+[headless_play] t= 19.30s step= 965 trunk_z= 132.5mm grav_b=(-0.05,+0.23,-0.97) r=0.62m
+[headless_play] t= 19.40s step= 970 trunk_z= 133.9mm grav_b=(-0.08,+0.24,-0.97) r=0.62m
+[headless_play] t= 19.50s step= 975 trunk_z= 128.9mm grav_b=(-0.19,+0.29,-0.94) r=0.65m
+[headless_play] t= 19.60s step= 980 trunk_z= 111.6mm grav_b=(+0.08,+0.57,-0.82) r=0.68m
+[headless_play] RESET at t= 19.70s step= 985 (env termination, not a recovery)
+[headless_play] t= 19.70s step= 985 trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) r=0.49m
+[headless_play] t= 19.80s step= 990 trunk_z= 115.0mm grav_b=(-0.02,+0.00,-1.00) r=0.48m
+[headless_play] t= 19.90s step= 995 trunk_z= 115.3mm grav_b=(-0.01,-0.05,-1.00) r=0.47m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t14/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x2e571880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t14/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t14/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t15.log

@@ -0,0 +1,214 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.149,-18.213,+0.254)
+[headless_play] t=  0.00s step=   0 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.26m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.6mm grav_b=(-0.03,+0.01,-1.00) r=0.26m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.5mm grav_b=(-0.03,+0.05,-1.00) r=0.27m
+[headless_play] t=  0.30s step=  15 trunk_z= 117.4mm grav_b=(-0.03,-0.02,-1.00) r=0.27m
+[headless_play] t=  0.40s step=  20 trunk_z= 119.4mm grav_b=(-0.02,-0.08,-1.00) r=0.26m
+[headless_play] t=  0.50s step=  25 trunk_z= 125.0mm grav_b=(-0.05,-0.08,-1.00) r=0.26m
+[headless_play] t=  0.60s step=  30 trunk_z= 120.5mm grav_b=(-0.05,-0.07,-1.00) r=0.28m
+[headless_play] t=  0.70s step=  35 trunk_z= 120.1mm grav_b=(-0.07,+0.04,-1.00) r=0.31m
+[headless_play] t=  0.80s step=  40 trunk_z= 120.8mm grav_b=(+0.01,-0.01,-1.00) r=0.33m
+[headless_play] t=  0.90s step=  45 trunk_z= 114.9mm grav_b=(-0.02,-0.07,-1.00) r=0.33m
+[headless_play] t=  1.00s step=  50 trunk_z= 125.7mm grav_b=(-0.05,-0.07,-1.00) r=0.35m
+[headless_play] t=  1.10s step=  55 trunk_z= 120.0mm grav_b=(-0.08,-0.05,-1.00) r=0.37m
+[headless_play] t=  1.20s step=  60 trunk_z= 119.5mm grav_b=(-0.09,+0.05,-0.99) r=0.40m
+[headless_play] t=  1.30s step=  65 trunk_z= 125.4mm grav_b=(-0.07,+0.04,-1.00) r=0.40m
+[headless_play] t=  1.40s step=  70 trunk_z= 120.5mm grav_b=(-0.06,+0.02,-1.00) r=0.39m
+[headless_play] t=  1.50s step=  75 trunk_z= 122.2mm grav_b=(-0.09,-0.06,-0.99) r=0.38m
+[headless_play] t=  1.60s step=  80 trunk_z= 125.9mm grav_b=(-0.09,-0.05,-0.99) r=0.37m
+[headless_play] t=  1.70s step=  85 trunk_z= 120.4mm grav_b=(-0.12,-0.05,-0.99) r=0.39m
+[headless_play] t=  1.80s step=  90 trunk_z= 120.4mm grav_b=(-0.07,+0.05,-1.00) r=0.41m
+[headless_play] t=  1.90s step=  95 trunk_z= 123.1mm grav_b=(-0.03,+0.02,-1.00) r=0.42m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.04,-0.02,-1.00) r=0.40m
+[headless_play] t=  2.10s step= 105 trunk_z= 124.3mm grav_b=(-0.06,-0.08,-1.00) r=0.38m
+[headless_play] t=  2.20s step= 110 trunk_z= 124.9mm grav_b=(-0.06,-0.07,-1.00) r=0.39m
+[headless_play] t=  2.30s step= 115 trunk_z= 118.6mm grav_b=(-0.09,-0.06,-0.99) r=0.41m
+[headless_play] t=  2.40s step= 120 trunk_z= 122.7mm grav_b=(-0.14,+0.05,-0.99) r=0.43m
+[headless_play] t=  2.50s step= 125 trunk_z= 123.2mm grav_b=(-0.11,-0.00,-0.99) r=0.43m
+[headless_play] t=  2.60s step= 130 trunk_z= 118.8mm grav_b=(-0.06,-0.02,-1.00) r=0.41m
+[headless_play] t=  2.70s step= 135 trunk_z= 119.5mm grav_b=(-0.00,-0.03,-1.00) r=0.41m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.1mm grav_b=(-0.05,+0.03,-1.00) r=0.43m
+[headless_play] t=  2.90s step= 145 trunk_z= 120.0mm grav_b=(-0.04,+0.02,-1.00) r=0.45m
+[headless_play] t=  3.00s step= 150 trunk_z= 114.3mm grav_b=(-0.05,-0.01,-1.00) r=0.45m
+[headless_play] t=  3.10s step= 155 trunk_z= 120.2mm grav_b=(-0.04,-0.06,-1.00) r=0.45m
+[headless_play] t=  3.20s step= 160 trunk_z= 123.3mm grav_b=(-0.04,-0.07,-1.00) r=0.46m
+[headless_play] t=  3.30s step= 165 trunk_z= 117.6mm grav_b=(-0.06,-0.04,-1.00) r=0.48m
+[headless_play] t=  3.40s step= 170 trunk_z= 124.2mm grav_b=(-0.11,+0.10,-0.99) r=0.51m
+[headless_play] t=  3.50s step= 175 trunk_z= 129.0mm grav_b=(-0.12,+0.15,-0.98) r=0.53m
+[headless_play] t=  3.60s step= 180 trunk_z= 129.9mm grav_b=(-0.11,+0.18,-0.98) r=0.53m
+[headless_play] t=  3.70s step= 185 trunk_z= 131.1mm grav_b=(-0.08,+0.30,-0.95) r=0.52m
+[headless_play] t=  3.80s step= 190 trunk_z= 105.2mm grav_b=(-0.19,+0.37,-0.91) r=0.53m
+[headless_play] t=  3.90s step= 195 trunk_z=  88.0mm grav_b=(-0.40,+0.45,-0.80) r=0.55m
+[headless_play] t=  4.00s step= 200 trunk_z=  69.3mm grav_b=(-0.34,+0.42,-0.84) r=0.58m
+[headless_play] RESET at t=  4.10s step= 205 (env termination, not a recovery)
+[headless_play] t=  4.10s step= 205 trunk_z= 123.2mm grav_b=(-0.00,-0.00,-1.00) r=0.50m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.2mm grav_b=(-0.03,-0.03,-1.00) r=0.49m
+[headless_play] t=  4.30s step= 215 trunk_z= 118.0mm grav_b=(-0.04,-0.07,-1.00) r=0.47m
+[headless_play] t=  4.40s step= 220 trunk_z= 122.1mm grav_b=(-0.08,-0.06,-1.00) r=0.45m
+[headless_play] t=  4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.45m
+[headless_play] t=  4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.05,+0.04,-1.00) r=0.44m
+[headless_play] t=  4.70s step= 235 trunk_z= 114.1mm grav_b=(-0.03,+0.04,-1.00) r=0.43m
+[headless_play] t=  4.80s step= 240 trunk_z= 107.7mm grav_b=(+0.06,-0.02,-1.00) r=0.39m
+[headless_play] t=  4.90s step= 245 trunk_z= 117.8mm grav_b=(+0.03,-0.06,-1.00) r=0.37m
+[headless_play] t=  5.00s step= 250 trunk_z= 116.6mm grav_b=(+0.01,-0.03,-1.00) r=0.35m
+[headless_play] t=  5.10s step= 255 trunk_z= 120.1mm grav_b=(-0.03,+0.08,-1.00) r=0.34m
+[headless_play] t=  5.20s step= 260 trunk_z= 119.3mm grav_b=(-0.02,+0.06,-1.00) r=0.33m
+[headless_play] t=  5.30s step= 265 trunk_z= 112.3mm grav_b=(-0.01,+0.04,-1.00) r=0.30m
+[headless_play] t=  5.40s step= 270 trunk_z= 120.1mm grav_b=(-0.07,-0.06,-1.00) r=0.28m
+[headless_play] t=  5.50s step= 275 trunk_z= 121.4mm grav_b=(-0.06,-0.05,-1.00) r=0.27m
+[headless_play] t=  5.60s step= 280 trunk_z= 115.5mm grav_b=(-0.05,-0.05,-1.00) r=0.25m
+[headless_play] t=  5.70s step= 285 trunk_z= 117.3mm grav_b=(-0.12,+0.01,-0.99) r=0.26m
+[headless_play] t=  5.80s step= 290 trunk_z= 118.1mm grav_b=(-0.09,-0.04,-0.99) r=0.27m
+[headless_play] t=  5.90s step= 295 trunk_z= 104.4mm grav_b=(-0.04,-0.02,-1.00) r=0.29m
+[headless_play] t=  6.00s step= 300 trunk_z= 109.8mm grav_b=(+0.01,-0.05,-1.00) r=0.30m
+[headless_play] t=  6.10s step= 305 trunk_z= 106.7mm grav_b=(+0.03,-0.05,-1.00) r=0.30m
+[headless_play] t=  6.20s step= 310 trunk_z= 108.4mm grav_b=(-0.01,+0.04,-1.00) r=0.30m
+[headless_play] t=  6.30s step= 315 trunk_z= 110.2mm grav_b=(-0.02,+0.04,-1.00) r=0.29m
+[headless_play] t=  6.40s step= 320 trunk_z= 107.0mm grav_b=(-0.01,-0.01,-1.00) r=0.27m
+[headless_play] t=  6.50s step= 325 trunk_z= 118.4mm grav_b=(-0.05,-0.05,-1.00) r=0.25m
+[headless_play] t=  6.60s step= 330 trunk_z= 115.0mm grav_b=(-0.04,-0.06,-1.00) r=0.23m
+[headless_play] t=  6.70s step= 335 trunk_z= 111.6mm grav_b=(+0.00,+0.01,-1.00) r=0.22m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.1mm grav_b=(-0.01,+0.03,-1.00) r=0.20m
+[headless_play] t=  6.90s step= 345 trunk_z= 112.7mm grav_b=(-0.01,+0.01,-1.00) r=0.17m
+[headless_play] t=  7.00s step= 350 trunk_z= 118.9mm grav_b=(-0.05,-0.03,-1.00) r=0.15m
+[headless_play] t=  7.10s step= 355 trunk_z= 120.4mm grav_b=(-0.05,-0.05,-1.00) r=0.14m
+[headless_play] t=  7.20s step= 360 trunk_z= 114.6mm grav_b=(-0.06,-0.04,-1.00) r=0.14m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.0mm grav_b=(-0.04,+0.04,-1.00) r=0.15m
+[headless_play] t=  7.40s step= 370 trunk_z= 111.9mm grav_b=(-0.00,+0.04,-1.00) r=0.13m
+[headless_play] t=  7.50s step= 375 trunk_z= 108.4mm grav_b=(+0.02,-0.04,-1.00) r=0.10m
+[headless_play] t=  7.60s step= 380 trunk_z= 119.1mm grav_b=(-0.01,-0.08,-1.00) r=0.08m
+[headless_play] t=  7.70s step= 385 trunk_z= 116.4mm grav_b=(-0.03,-0.03,-1.00) r=0.08m
+[headless_play] t=  7.80s step= 390 trunk_z= 110.4mm grav_b=(-0.05,+0.02,-1.00) r=0.10m
+[headless_play] t=  7.90s step= 395 trunk_z= 119.3mm grav_b=(-0.05,-0.01,-1.00) r=0.10m
+[headless_play] t=  8.00s step= 400 trunk_z= 116.8mm grav_b=(-0.05,-0.01,-1.00) r=0.08m
+[headless_play] t=  8.10s step= 405 trunk_z= 116.8mm grav_b=(-0.04,-0.03,-1.00) r=0.06m
+[headless_play] t=  8.20s step= 410 trunk_z= 115.3mm grav_b=(-0.05,-0.02,-1.00) r=0.07m
+[headless_play] t=  8.30s step= 415 trunk_z= 108.3mm grav_b=(-0.05,+0.02,-1.00) r=0.09m
+[headless_play] t=  8.40s step= 420 trunk_z= 118.3mm grav_b=(-0.03,+0.05,-1.00) r=0.11m
+[headless_play] t=  8.50s step= 425 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=0.11m
+[headless_play] t=  8.60s step= 430 trunk_z= 117.3mm grav_b=(-0.04,-0.09,-1.00) r=0.10m
+[headless_play] t=  8.70s step= 435 trunk_z= 125.0mm grav_b=(-0.05,-0.12,-0.99) r=0.11m
+[headless_play] t=  8.80s step= 440 trunk_z= 119.3mm grav_b=(-0.05,-0.09,-0.99) r=0.13m
+[headless_play] t=  8.90s step= 445 trunk_z= 114.2mm grav_b=(+0.01,+0.03,-1.00) r=0.18m
+[headless_play] t=  9.00s step= 450 trunk_z= 121.4mm grav_b=(+0.06,+0.09,-0.99) r=0.20m
+[headless_play] t=  9.10s step= 455 trunk_z= 126.1mm grav_b=(+0.01,+0.07,-1.00) r=0.22m
+[headless_play] t=  9.20s step= 460 trunk_z= 127.9mm grav_b=(-0.01,-0.07,-1.00) r=0.25m
+[headless_play] t=  9.30s step= 465 trunk_z= 126.6mm grav_b=(-0.06,-0.11,-0.99) r=0.27m
+[headless_play] t=  9.40s step= 470 trunk_z= 116.3mm grav_b=(-0.11,-0.01,-0.99) r=0.31m
+[headless_play] t=  9.50s step= 475 trunk_z= 123.3mm grav_b=(-0.13,+0.02,-0.99) r=0.32m
+[headless_play] t=  9.60s step= 480 trunk_z= 119.1mm grav_b=(-0.11,+0.01,-0.99) r=0.30m
+[headless_play] t=  9.70s step= 485 trunk_z= 118.5mm grav_b=(-0.07,+0.06,-1.00) r=0.29m
+[headless_play] t=  9.80s step= 490 trunk_z= 107.9mm grav_b=(-0.00,+0.06,-1.00) r=0.31m
+[headless_play] t=  9.90s step= 495 trunk_z= 108.4mm grav_b=(+0.02,+0.07,-1.00) r=0.32m
+[headless_play] t= 10.00s step= 500 trunk_z= 115.0mm grav_b=(+0.01,+0.05,-1.00) r=0.33m
+[headless_play] t= 10.10s step= 505 trunk_z= 117.8mm grav_b=(-0.01,-0.05,-1.00) r=0.33m
+[headless_play] t= 10.20s step= 510 trunk_z= 124.0mm grav_b=(-0.02,-0.09,-1.00) r=0.34m
+[headless_play] t= 10.30s step= 515 trunk_z= 119.6mm grav_b=(-0.04,-0.09,-1.00) r=0.35m
+[headless_play] t= 10.40s step= 520 trunk_z= 115.9mm grav_b=(-0.06,+0.02,-1.00) r=0.38m
+[headless_play] t= 10.50s step= 525 trunk_z= 122.6mm grav_b=(-0.10,+0.02,-0.99) r=0.37m
+[headless_play] t= 10.60s step= 530 trunk_z= 114.3mm grav_b=(-0.07,-0.03,-1.00) r=0.35m
+[headless_play] t= 10.70s step= 535 trunk_z= 119.5mm grav_b=(-0.04,-0.04,-1.00) r=0.34m
+[headless_play] t= 10.80s step= 540 trunk_z= 115.7mm grav_b=(-0.04,-0.06,-1.00) r=0.35m
+[headless_play] t= 10.90s step= 545 trunk_z= 111.7mm grav_b=(-0.01,-0.01,-1.00) r=0.38m
+[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.01,+0.03,-1.00) r=0.39m
+[headless_play] t= 11.10s step= 555 trunk_z= 114.6mm grav_b=(+0.02,+0.01,-1.00) r=0.40m
+[headless_play] t= 11.20s step= 560 trunk_z= 122.2mm grav_b=(-0.01,-0.11,-0.99) r=0.40m
+[headless_play] t= 11.30s step= 565 trunk_z= 127.2mm grav_b=(-0.03,-0.21,-0.98) r=0.40m
+[headless_play] t= 11.40s step= 570 trunk_z= 125.0mm grav_b=(-0.07,-0.27,-0.96) r=0.40m
+[headless_play] t= 11.50s step= 575 trunk_z= 119.8mm grav_b=(-0.07,-0.27,-0.96) r=0.39m
+[headless_play] t= 11.60s step= 580 trunk_z= 122.1mm grav_b=(-0.13,-0.25,-0.96) r=0.40m
+[headless_play] t= 11.70s step= 585 trunk_z= 128.0mm grav_b=(-0.06,-0.15,-0.99) r=0.42m
+[headless_play] t= 11.80s step= 590 trunk_z= 114.9mm grav_b=(-0.08,-0.09,-0.99) r=0.42m
+[headless_play] t= 11.90s step= 595 trunk_z= 124.2mm grav_b=(-0.18,-0.10,-0.98) r=0.40m
+[headless_play] t= 12.00s step= 600 trunk_z= 129.1mm grav_b=(-0.18,-0.10,-0.98) r=0.40m
+[headless_play] t= 12.10s step= 605 trunk_z= 113.5mm grav_b=(-0.07,-0.05,-1.00) r=0.39m
+[headless_play] t= 12.20s step= 610 trunk_z= 120.8mm grav_b=(-0.05,-0.10,-0.99) r=0.37m
+[headless_play] t= 12.30s step= 615 trunk_z=  98.2mm grav_b=(+0.03,-0.09,-1.00) r=0.31m
+[headless_play] t= 12.40s step= 620 trunk_z= 110.1mm grav_b=(-0.01,-0.06,-1.00) r=0.30m
+[headless_play] t= 12.50s step= 625 trunk_z= 108.9mm grav_b=(-0.06,-0.04,-1.00) r=0.32m
+[headless_play] t= 12.60s step= 630 trunk_z= 114.2mm grav_b=(-0.08,+0.01,-1.00) r=0.35m
+[headless_play] t= 12.70s step= 635 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.36m
+[headless_play] t= 12.80s step= 640 trunk_z= 113.7mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 12.90s step= 645 trunk_z= 120.7mm grav_b=(-0.03,-0.08,-1.00) r=0.36m
+[headless_play] t= 13.00s step= 650 trunk_z= 121.4mm grav_b=(-0.02,-0.10,-0.99) r=0.37m
+[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(-0.04,-0.06,-1.00) r=0.39m
+[headless_play] t= 13.20s step= 660 trunk_z= 118.6mm grav_b=(-0.14,-0.04,-0.99) r=0.38m
+[headless_play] t= 13.30s step= 665 trunk_z= 107.7mm grav_b=(-0.06,-0.02,-1.00) r=0.36m
+[headless_play] t= 13.40s step= 670 trunk_z= 112.1mm grav_b=(+0.03,+0.01,-1.00) r=0.34m
+[headless_play] t= 13.50s step= 675 trunk_z= 105.3mm grav_b=(+0.01,+0.01,-1.00) r=0.34m
+[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(-0.01,+0.04,-1.00) r=0.36m
+[headless_play] t= 13.70s step= 685 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) r=0.37m
+[headless_play] t= 13.80s step= 690 trunk_z= 115.0mm grav_b=(+0.01,-0.07,-1.00) r=0.38m
+[headless_play] t= 13.90s step= 695 trunk_z= 124.8mm grav_b=(-0.01,-0.10,-1.00) r=0.39m
+[headless_play] t= 14.00s step= 700 trunk_z= 127.8mm grav_b=(-0.03,-0.22,-0.97) r=0.40m
+[headless_play] t= 14.10s step= 705 trunk_z= 130.6mm grav_b=(-0.12,-0.24,-0.96) r=0.42m
+[headless_play] t= 14.20s step= 710 trunk_z= 123.5mm grav_b=(-0.10,-0.14,-0.99) r=0.45m
+[headless_play] t= 14.30s step= 715 trunk_z= 131.8mm grav_b=(-0.02,-0.13,-0.99) r=0.48m
+[headless_play] t= 14.40s step= 720 trunk_z= 114.7mm grav_b=(-0.08,-0.10,-0.99) r=0.51m
+[headless_play] t= 14.50s step= 725 trunk_z= 123.2mm grav_b=(-0.05,+0.01,-1.00) r=0.53m
+[headless_play] t= 14.60s step= 730 trunk_z= 113.9mm grav_b=(-0.10,-0.01,-1.00) r=0.57m
+[headless_play] t= 14.70s step= 735 trunk_z= 122.0mm grav_b=(-0.08,+0.06,-0.99) r=0.59m
+[headless_play] t= 14.80s step= 740 trunk_z= 123.4mm grav_b=(-0.04,+0.03,-1.00) r=0.60m
+[headless_play] t= 14.90s step= 745 trunk_z= 121.3mm grav_b=(-0.04,+0.04,-1.00) r=0.62m
+[headless_play] t= 15.00s step= 750 trunk_z= 124.4mm grav_b=(+0.01,-0.03,-1.00) r=0.65m
+[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(-0.04,-0.01,-1.00) r=0.68m
+[headless_play] t= 15.20s step= 760 trunk_z= 122.0mm grav_b=(-0.10,+0.06,-0.99) r=0.72m
+[headless_play] t= 15.30s step= 765 trunk_z= 122.6mm grav_b=(-0.09,+0.04,-1.00) r=0.74m
+[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(-0.08,-0.03,-1.00) r=0.75m
+[headless_play] t= 15.50s step= 775 trunk_z= 126.0mm grav_b=(-0.07,-0.06,-1.00) r=0.76m
+[headless_play] t= 15.60s step= 780 trunk_z= 123.8mm grav_b=(-0.08,-0.07,-0.99) r=0.78m
+[headless_play] t= 15.70s step= 785 trunk_z= 114.9mm grav_b=(-0.03,+0.05,-1.00) r=0.81m
+[headless_play] t= 15.80s step= 790 trunk_z= 127.6mm grav_b=(+0.01,+0.12,-0.99) r=0.83m
+[headless_play] t= 15.90s step= 795 trunk_z= 129.7mm grav_b=(-0.00,+0.21,-0.98) r=0.85m
+[headless_play] t= 16.00s step= 800 trunk_z= 132.9mm grav_b=(-0.07,+0.16,-0.98) r=0.89m
+[headless_play] t= 16.10s step= 805 trunk_z= 129.2mm grav_b=(-0.03,+0.03,-1.00) r=0.94m
+[headless_play] t= 16.20s step= 810 trunk_z= 123.2mm grav_b=(-0.05,-0.06,-1.00) r=0.97m
+[headless_play] t= 16.30s step= 815 trunk_z= 113.0mm grav_b=(-0.05,+0.02,-1.00) r=0.99m
+[headless_play] t= 16.40s step= 820 trunk_z= 112.2mm grav_b=(-0.01,+0.02,-1.00) r=1.02m
+[headless_play] t= 16.50s step= 825 trunk_z= 106.3mm grav_b=(-0.02,-0.06,-1.00) r=1.05m
+[headless_play] t= 16.60s step= 830 trunk_z= 112.3mm grav_b=(-0.05,-0.17,-0.98) r=1.09m
+[headless_play] t= 16.70s step= 835 trunk_z= 106.1mm grav_b=(-0.08,-0.10,-0.99) r=1.11m
+[headless_play] t= 16.80s step= 840 trunk_z=  98.1mm grav_b=(-0.06,+0.05,-1.00) r=1.14m
+[headless_play] t= 16.90s step= 845 trunk_z=  99.4mm grav_b=(+0.00,+0.11,-0.99) r=1.16m
+[headless_play] t= 17.00s step= 850 trunk_z=  98.1mm grav_b=(+0.04,+0.07,-1.00) r=1.18m
+[headless_play] t= 17.10s step= 855 trunk_z=  91.2mm grav_b=(+0.00,-0.13,-0.99) r=1.22m
+[headless_play] t= 17.20s step= 860 trunk_z=  95.9mm grav_b=(-0.02,-0.20,-0.98) r=1.26m
+[headless_play] t= 17.30s step= 865 trunk_z=  84.9mm grav_b=(-0.07,-0.15,-0.99) r=1.31m
+[headless_play] t= 17.40s step= 870 trunk_z=  81.9mm grav_b=(-0.02,-0.02,-1.00) r=1.36m
+[headless_play] t= 17.50s step= 875 trunk_z=  86.3mm grav_b=(-0.12,+0.11,-0.99) r=1.40m
+[headless_play] t= 17.60s step= 880 trunk_z=  65.3mm grav_b=(-0.05,+0.05,-1.00) r=1.45m
+[headless_play] t= 17.70s step= 885 trunk_z=  65.5mm grav_b=(-0.08,+0.03,-1.00) r=1.49m
+[headless_play] t= 17.80s step= 890 trunk_z=  51.2mm grav_b=(-0.06,+0.07,-1.00) r=1.52m
+[headless_play] t= 17.90s step= 895 trunk_z=  56.6mm grav_b=(-0.02,+0.08,-1.00) r=1.54m
+[headless_play] t= 18.00s step= 900 trunk_z=  53.4mm grav_b=(-0.02,+0.08,-1.00) r=1.56m
+[headless_play] t= 18.10s step= 905 trunk_z=  53.0mm grav_b=(-0.07,-0.09,-0.99) r=1.58m
+[headless_play] t= 18.20s step= 910 trunk_z=  54.4mm grav_b=(-0.07,-0.12,-0.99) r=1.60m
+[headless_play] t= 18.30s step= 915 trunk_z=  47.7mm grav_b=(-0.07,-0.09,-0.99) r=1.63m
+[headless_play] t= 18.40s step= 920 trunk_z=  41.3mm grav_b=(-0.07,+0.09,-0.99) r=1.67m
+[headless_play] t= 18.50s step= 925 trunk_z=  45.5mm grav_b=(-0.02,+0.13,-0.99) r=1.70m
+[headless_play] t= 18.60s step= 930 trunk_z=  48.7mm grav_b=(-0.05,+0.08,-1.00) r=1.73m
+[headless_play] t= 18.70s step= 935 trunk_z=  34.2mm grav_b=(-0.07,-0.15,-0.99) r=1.78m
+[headless_play] t= 18.80s step= 940 trunk_z=  39.7mm grav_b=(-0.04,-0.15,-0.99) r=1.82m
+[headless_play] t= 18.90s step= 945 trunk_z=  28.4mm grav_b=(-0.05,-0.14,-0.99) r=1.86m
+[headless_play] t= 19.00s step= 950 trunk_z=  24.4mm grav_b=(-0.00,+0.02,-1.00) r=1.90m
+[headless_play] t= 19.10s step= 955 trunk_z=  28.2mm grav_b=(+0.03,+0.04,-1.00) r=1.92m
+[headless_play] t= 19.20s step= 960 trunk_z=  23.0mm grav_b=(-0.05,-0.09,-0.99) r=1.96m
+[headless_play] t= 19.30s step= 965 trunk_z=  26.3mm grav_b=(-0.14,-0.21,-0.97) r=1.98m
+[headless_play] t= 19.40s step= 970 trunk_z=  26.2mm grav_b=(-0.10,-0.21,-0.97) r=1.99m
+[headless_play] t= 19.50s step= 975 trunk_z=  21.1mm grav_b=(-0.10,-0.26,-0.96) r=2.01m
+[headless_play] t= 19.60s step= 980 trunk_z=  19.8mm grav_b=(-0.09,-0.24,-0.97) r=2.01m
+[headless_play] t= 19.70s step= 985 trunk_z=  10.7mm grav_b=(-0.05,+0.08,-1.00) r=2.04m
+[headless_play] t= 19.80s step= 990 trunk_z=  23.4mm grav_b=(-0.02,+0.31,-0.95) r=2.07m
+[headless_play] t= 19.90s step= 995 trunk_z=  17.4mm grav_b=(-0.08,+0.57,-0.82) r=2.10m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t15/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x32f43880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t15/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t15/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t2.log

@@ -0,0 +1,213 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-17.505,-17.582,+0.255)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.1mm grav_b=(-0.01,-0.00,-1.00) r=0.65m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.2mm grav_b=(-0.00,+0.02,-1.00) r=0.64m
+[headless_play] t=  0.20s step=  10 trunk_z= 113.7mm grav_b=(+0.02,+0.07,-1.00) r=0.62m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.8mm grav_b=(+0.06,-0.10,-0.99) r=0.61m
+[headless_play] t=  0.50s step=  25 trunk_z= 124.1mm grav_b=(+0.07,-0.09,-0.99) r=0.60m
+[headless_play] t=  0.60s step=  30 trunk_z= 122.3mm grav_b=(+0.05,-0.05,-1.00) r=0.57m
+[headless_play] t=  0.70s step=  35 trunk_z= 120.3mm grav_b=(+0.01,+0.02,-1.00) r=0.54m
+[headless_play] t=  0.80s step=  40 trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) r=0.52m
+[headless_play] t=  0.90s step=  45 trunk_z= 114.6mm grav_b=(-0.02,-0.06,-1.00) r=0.53m
+[headless_play] t=  1.00s step=  50 trunk_z= 118.4mm grav_b=(-0.06,-0.01,-1.00) r=0.52m
+[headless_play] t=  1.10s step=  55 trunk_z= 115.3mm grav_b=(-0.05,+0.07,-1.00) r=0.50m
+[headless_play] t=  1.20s step=  60 trunk_z= 120.0mm grav_b=(+0.01,+0.03,-1.00) r=0.49m
+[headless_play] t=  1.30s step=  65 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=0.48m
+[headless_play] t=  1.40s step=  70 trunk_z= 123.3mm grav_b=(+0.07,-0.08,-0.99) r=0.48m
+[headless_play] t=  1.50s step=  75 trunk_z= 123.2mm grav_b=(+0.07,-0.05,-1.00) r=0.46m
+[headless_play] t=  1.60s step=  80 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) r=0.43m
+[headless_play] t=  1.70s step=  85 trunk_z= 124.2mm grav_b=(-0.00,+0.03,-1.00) r=0.41m
+[headless_play] t=  1.80s step=  90 trunk_z= 123.0mm grav_b=(-0.07,+0.09,-0.99) r=0.40m
+[headless_play] t=  1.90s step=  95 trunk_z= 118.6mm grav_b=(-0.04,+0.03,-1.00) r=0.40m
+[headless_play] t=  2.00s step= 100 trunk_z= 118.6mm grav_b=(+0.02,-0.08,-1.00) r=0.41m
+[headless_play] t=  2.10s step= 105 trunk_z= 120.7mm grav_b=(+0.05,-0.07,-1.00) r=0.41m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.0mm grav_b=(+0.04,-0.03,-1.00) r=0.39m
+[headless_play] t=  2.30s step= 115 trunk_z= 122.2mm grav_b=(+0.04,+0.01,-1.00) r=0.36m
+[headless_play] t=  2.40s step= 120 trunk_z= 120.6mm grav_b=(+0.06,-0.01,-1.00) r=0.35m
+[headless_play] t=  2.50s step= 125 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=0.36m
+[headless_play] t=  2.60s step= 130 trunk_z= 122.0mm grav_b=(+0.04,-0.09,-1.00) r=0.36m
+[headless_play] t=  2.70s step= 135 trunk_z= 122.6mm grav_b=(-0.01,-0.06,-1.00) r=0.35m
+[headless_play] t=  2.80s step= 140 trunk_z= 118.0mm grav_b=(-0.04,+0.04,-1.00) r=0.32m
+[headless_play] t=  2.90s step= 145 trunk_z= 123.0mm grav_b=(-0.05,+0.04,-1.00) r=0.32m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.35m
+[headless_play] t=  3.10s step= 155 trunk_z= 121.8mm grav_b=(+0.01,-0.07,-1.00) r=0.37m
+[headless_play] t=  3.20s step= 160 trunk_z= 121.3mm grav_b=(+0.04,-0.06,-1.00) r=0.37m
+[headless_play] t=  3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.03,+0.01,-1.00) r=0.36m
+[headless_play] t=  3.40s step= 170 trunk_z= 124.0mm grav_b=(+0.03,+0.00,-1.00) r=0.37m
+[headless_play] t=  3.50s step= 175 trunk_z= 113.6mm grav_b=(-0.00,-0.04,-1.00) r=0.40m
+[headless_play] t=  3.60s step= 180 trunk_z= 121.3mm grav_b=(+0.00,-0.09,-1.00) r=0.43m
+[headless_play] t=  3.70s step= 185 trunk_z= 120.9mm grav_b=(-0.02,-0.08,-1.00) r=0.43m
+[headless_play] t=  3.80s step= 190 trunk_z= 113.8mm grav_b=(-0.03,-0.00,-1.00) r=0.42m
+[headless_play] t=  3.90s step= 195 trunk_z= 122.1mm grav_b=(-0.06,+0.06,-1.00) r=0.41m
+[headless_play] t=  4.00s step= 200 trunk_z= 120.4mm grav_b=(-0.03,+0.02,-1.00) r=0.43m
+[headless_play] t=  4.10s step= 205 trunk_z= 117.8mm grav_b=(-0.02,-0.09,-1.00) r=0.46m
+[headless_play] t=  4.20s step= 210 trunk_z= 124.6mm grav_b=(+0.02,-0.15,-0.99) r=0.48m
+[headless_play] t=  4.30s step= 215 trunk_z= 124.0mm grav_b=(+0.01,-0.17,-0.98) r=0.50m
+[headless_play] t=  4.40s step= 220 trunk_z= 119.2mm grav_b=(-0.00,-0.09,-1.00) r=0.53m
+[headless_play] t=  4.50s step= 225 trunk_z= 128.7mm grav_b=(+0.04,-0.02,-1.00) r=0.56m
+[headless_play] t=  4.60s step= 230 trunk_z= 134.1mm grav_b=(+0.00,+0.02,-1.00) r=0.59m
+[headless_play] t=  4.70s step= 235 trunk_z= 120.4mm grav_b=(+0.03,-0.05,-1.00) r=0.62m
+[headless_play] t=  4.80s step= 240 trunk_z= 124.1mm grav_b=(+0.01,-0.02,-1.00) r=0.64m
+[headless_play] t=  4.90s step= 245 trunk_z= 116.1mm grav_b=(-0.02,+0.04,-1.00) r=0.65m
+[headless_play] t=  5.00s step= 250 trunk_z= 122.2mm grav_b=(-0.04,+0.04,-1.00) r=0.67m
+[headless_play] t=  5.10s step= 255 trunk_z= 118.4mm grav_b=(-0.07,-0.01,-1.00) r=0.67m
+[headless_play] t=  5.20s step= 260 trunk_z= 117.8mm grav_b=(-0.02,-0.09,-1.00) r=0.69m
+[headless_play] t=  5.30s step= 265 trunk_z= 122.2mm grav_b=(+0.02,-0.10,-0.99) r=0.71m
+[headless_play] t=  5.40s step= 270 trunk_z= 119.5mm grav_b=(+0.05,-0.06,-1.00) r=0.73m
+[headless_play] t=  5.50s step= 275 trunk_z= 122.5mm grav_b=(+0.05,-0.02,-1.00) r=0.77m
+[headless_play] t=  5.60s step= 280 trunk_z= 125.8mm grav_b=(+0.02,-0.03,-1.00) r=0.80m
+[headless_play] t=  5.70s step= 285 trunk_z= 116.3mm grav_b=(+0.04,-0.08,-1.00) r=0.85m
+[headless_play] t=  5.80s step= 290 trunk_z= 122.0mm grav_b=(+0.05,-0.03,-1.00) r=0.88m
+[headless_play] t=  5.90s step= 295 trunk_z= 111.6mm grav_b=(-0.03,+0.04,-1.00) r=0.91m
+[headless_play] t=  6.00s step= 300 trunk_z= 123.7mm grav_b=(-0.04,+0.05,-1.00) r=0.93m
+[headless_play] t=  6.10s step= 305 trunk_z= 122.3mm grav_b=(-0.04,+0.03,-1.00) r=0.95m
+[headless_play] t=  6.20s step= 310 trunk_z= 117.1mm grav_b=(-0.05,-0.08,-1.00) r=0.98m
+[headless_play] t=  6.30s step= 315 trunk_z= 123.4mm grav_b=(-0.01,-0.13,-0.99) r=1.00m
+[headless_play] t=  6.40s step= 320 trunk_z= 122.1mm grav_b=(+0.03,-0.16,-0.99) r=1.02m
+[headless_play] t=  6.50s step= 325 trunk_z= 118.0mm grav_b=(+0.03,-0.08,-1.00) r=1.05m
+[headless_play] t=  6.60s step= 330 trunk_z= 119.6mm grav_b=(+0.05,+0.02,-1.00) r=1.08m
+[headless_play] t=  6.70s step= 335 trunk_z= 123.3mm grav_b=(-0.02,+0.06,-1.00) r=1.10m
+[headless_play] t=  6.80s step= 340 trunk_z= 112.6mm grav_b=(-0.05,-0.02,-1.00) r=1.13m
+[headless_play] t=  6.90s step= 345 trunk_z= 109.3mm grav_b=(+0.01,-0.10,-0.99) r=1.15m
+[headless_play] t=  7.00s step= 350 trunk_z= 105.2mm grav_b=(+0.04,-0.10,-0.99) r=1.18m
+[headless_play] t=  7.10s step= 355 trunk_z=  89.6mm grav_b=(+0.06,-0.00,-1.00) r=1.22m
+[headless_play] t=  7.20s step= 360 trunk_z= 100.6mm grav_b=(+0.08,-0.01,-1.00) r=1.25m
+[headless_play] t=  7.30s step= 365 trunk_z=  77.8mm grav_b=(+0.04,-0.03,-1.00) r=1.29m
+[headless_play] t=  7.40s step= 370 trunk_z=  82.2mm grav_b=(+0.01,-0.03,-1.00) r=1.30m
+[headless_play] t=  7.50s step= 375 trunk_z=  77.5mm grav_b=(-0.01,+0.01,-1.00) r=1.31m
+[headless_play] t=  7.60s step= 380 trunk_z=  77.6mm grav_b=(-0.02,+0.03,-1.00) r=1.33m
+[headless_play] t=  7.70s step= 385 trunk_z=  74.0mm grav_b=(-0.01,-0.03,-1.00) r=1.34m
+[headless_play] t=  7.80s step= 390 trunk_z=  74.5mm grav_b=(+0.00,+0.00,-1.00) r=1.35m
+[headless_play] t=  7.90s step= 395 trunk_z=  75.6mm grav_b=(+0.09,+0.02,-1.00) r=1.36m
+[headless_play] t=  8.00s step= 400 trunk_z=  70.1mm grav_b=(+0.04,-0.04,-1.00) r=1.40m
+[headless_play] t=  8.10s step= 405 trunk_z=  75.1mm grav_b=(+0.04,-0.09,-1.00) r=1.43m
+[headless_play] t=  8.20s step= 410 trunk_z=  74.3mm grav_b=(-0.00,-0.05,-1.00) r=1.45m
+[headless_play] t=  8.30s step= 415 trunk_z=  59.4mm grav_b=(-0.01,+0.01,-1.00) r=1.48m
+[headless_play] t=  8.40s step= 420 trunk_z=  67.8mm grav_b=(+0.01,+0.02,-1.00) r=1.50m
+[headless_play] t=  8.50s step= 425 trunk_z=  55.6mm grav_b=(+0.02,-0.02,-1.00) r=1.52m
+[headless_play] t=  8.60s step= 430 trunk_z=  64.5mm grav_b=(+0.06,-0.07,-1.00) r=1.53m
+[headless_play] t=  8.70s step= 435 trunk_z=  63.1mm grav_b=(+0.02,-0.05,-1.00) r=1.56m
+[headless_play] t=  8.80s step= 440 trunk_z=  54.4mm grav_b=(+0.03,+0.01,-1.00) r=1.59m
+[headless_play] t=  8.90s step= 445 trunk_z=  57.3mm grav_b=(+0.01,+0.04,-1.00) r=1.60m
+[headless_play] t=  9.00s step= 450 trunk_z=  46.6mm grav_b=(+0.00,+0.02,-1.00) r=1.61m
+[headless_play] t=  9.10s step= 455 trunk_z=  45.3mm grav_b=(-0.01,+0.07,-1.00) r=1.61m
+[headless_play] t=  9.20s step= 460 trunk_z=  46.2mm grav_b=(-0.00,+0.08,-1.00) r=1.62m
+[headless_play] t=  9.30s step= 465 trunk_z=  45.9mm grav_b=(+0.01,+0.07,-1.00) r=1.62m
+[headless_play] t=  9.40s step= 470 trunk_z=  46.7mm grav_b=(+0.05,+0.07,-1.00) r=1.62m
+[headless_play] t=  9.50s step= 475 trunk_z=  47.1mm grav_b=(+0.07,+0.04,-1.00) r=1.63m
+[headless_play] t=  9.60s step= 480 trunk_z=  45.2mm grav_b=(+0.04,-0.06,-1.00) r=1.64m
+[headless_play] t=  9.70s step= 485 trunk_z=  47.2mm grav_b=(+0.01,-0.04,-1.00) r=1.64m
+[headless_play] t=  9.80s step= 490 trunk_z=  41.6mm grav_b=(-0.03,+0.03,-1.00) r=1.65m
+[headless_play] t=  9.90s step= 495 trunk_z=  42.5mm grav_b=(-0.01,+0.05,-1.00) r=1.65m
+[headless_play] t= 10.00s step= 500 trunk_z=  43.1mm grav_b=(+0.05,+0.05,-1.00) r=1.66m
+[headless_play] t= 10.10s step= 505 trunk_z=  44.3mm grav_b=(+0.08,+0.05,-1.00) r=1.67m
+[headless_play] t= 10.20s step= 510 trunk_z=  43.3mm grav_b=(+0.03,-0.02,-1.00) r=1.69m
+[headless_play] t= 10.30s step= 515 trunk_z=  38.8mm grav_b=(-0.02,-0.10,-0.99) r=1.70m
+[headless_play] t= 10.40s step= 520 trunk_z=  39.4mm grav_b=(-0.02,-0.05,-1.00) r=1.71m
+[headless_play] t= 10.50s step= 525 trunk_z=  34.7mm grav_b=(-0.02,+0.02,-1.00) r=1.72m
+[headless_play] t= 10.60s step= 530 trunk_z=  35.7mm grav_b=(-0.01,-0.01,-1.00) r=1.73m
+[headless_play] t= 10.70s step= 535 trunk_z=  39.1mm grav_b=(+0.07,-0.05,-1.00) r=1.74m
+[headless_play] t= 10.80s step= 540 trunk_z=  36.7mm grav_b=(+0.01,+0.03,-1.00) r=1.77m
+[headless_play] t= 10.90s step= 545 trunk_z=  29.9mm grav_b=(-0.02,+0.11,-0.99) r=1.79m
+[headless_play] t= 11.00s step= 550 trunk_z=  33.5mm grav_b=(-0.04,+0.09,-1.00) r=1.80m
+[headless_play] t= 11.10s step= 555 trunk_z=  29.7mm grav_b=(-0.04,+0.00,-1.00) r=1.80m
+[headless_play] t= 11.20s step= 560 trunk_z=  29.9mm grav_b=(-0.01,+0.04,-1.00) r=1.81m
+[headless_play] t= 11.30s step= 565 trunk_z=  30.8mm grav_b=(+0.08,+0.03,-1.00) r=1.82m
+[headless_play] t= 11.40s step= 570 trunk_z=  27.8mm grav_b=(+0.02,-0.07,-1.00) r=1.84m
+[headless_play] t= 11.50s step= 575 trunk_z=  29.6mm grav_b=(+0.02,-0.10,-1.00) r=1.85m
+[headless_play] t= 11.60s step= 580 trunk_z=  29.1mm grav_b=(-0.01,-0.02,-1.00) r=1.87m
+[headless_play] t= 11.70s step= 585 trunk_z=  23.0mm grav_b=(-0.02,+0.05,-1.00) r=1.89m
+[headless_play] t= 11.80s step= 590 trunk_z=  25.9mm grav_b=(-0.01,+0.07,-1.00) r=1.89m
+[headless_play] t= 11.90s step= 595 trunk_z=  24.9mm grav_b=(+0.02,+0.03,-1.00) r=1.90m
+[headless_play] t= 12.00s step= 600 trunk_z=  24.5mm grav_b=(+0.05,+0.06,-1.00) r=1.90m
+[headless_play] t= 12.10s step= 605 trunk_z=  21.5mm grav_b=(-0.02,-0.01,-1.00) r=1.89m
+[headless_play] t= 12.20s step= 610 trunk_z=  21.9mm grav_b=(-0.03,+0.01,-1.00) r=1.89m
+[headless_play] t= 12.30s step= 615 trunk_z=  22.8mm grav_b=(+0.01,+0.03,-1.00) r=1.90m
+[headless_play] t= 12.40s step= 620 trunk_z=  23.6mm grav_b=(+0.05,+0.03,-1.00) r=1.91m
+[headless_play] t= 12.50s step= 625 trunk_z=  24.7mm grav_b=(+0.10,+0.02,-1.00) r=1.91m
+[headless_play] t= 12.60s step= 630 trunk_z=  21.9mm grav_b=(+0.06,+0.07,-1.00) r=1.93m
+[headless_play] t= 12.70s step= 635 trunk_z=  21.7mm grav_b=(+0.01,+0.12,-0.99) r=1.96m
+[headless_play] t= 12.80s step= 640 trunk_z=  23.4mm grav_b=(-0.01,+0.12,-0.99) r=1.97m
+[headless_play] t= 12.90s step= 645 trunk_z=  19.7mm grav_b=(-0.03,+0.05,-1.00) r=1.97m
+[headless_play] t= 13.00s step= 650 trunk_z=  19.9mm grav_b=(+0.01,+0.02,-1.00) r=1.97m
+[headless_play] t= 13.10s step= 655 trunk_z=  19.7mm grav_b=(+0.04,+0.03,-1.00) r=1.98m
+[headless_play] t= 13.20s step= 660 trunk_z=  16.6mm grav_b=(+0.02,+0.11,-0.99) r=2.01m
+[headless_play] t= 13.30s step= 665 trunk_z=  19.7mm grav_b=(-0.01,+0.08,-1.00) r=2.02m
+[headless_play] t= 13.40s step= 670 trunk_z=  14.2mm grav_b=(-0.05,+0.01,-1.00) r=2.02m
+[headless_play] t= 13.50s step= 675 trunk_z=  14.7mm grav_b=(-0.04,+0.01,-1.00) r=2.03m
+[headless_play] t= 13.60s step= 680 trunk_z=   7.5mm grav_b=(-0.02,+0.08,-1.00) r=2.06m
+[headless_play] t= 13.70s step= 685 trunk_z=  17.1mm grav_b=(+0.04,+0.08,-1.00) r=2.09m
+[headless_play] t= 13.80s step= 690 trunk_z=  15.5mm grav_b=(+0.02,+0.03,-1.00) r=2.12m
+[headless_play] t= 13.90s step= 695 trunk_z=   4.7mm grav_b=(+0.00,-0.05,-1.00) r=2.15m
+[headless_play] t= 14.00s step= 700 trunk_z=   8.6mm grav_b=(-0.03,-0.01,-1.00) r=2.17m
+[headless_play] t= 14.10s step= 705 trunk_z=   0.6mm grav_b=(-0.05,+0.06,-1.00) r=2.19m
+[headless_play] t= 14.20s step= 710 trunk_z=   9.2mm grav_b=(-0.01,+0.06,-1.00) r=2.22m
+[headless_play] t= 14.30s step= 715 trunk_z=   8.3mm grav_b=(+0.00,+0.02,-1.00) r=2.25m
+[headless_play] t= 14.40s step= 720 trunk_z=   4.3mm grav_b=(+0.02,-0.08,-1.00) r=2.28m
+[headless_play] t= 14.50s step= 725 trunk_z=   7.9mm grav_b=(+0.01,-0.05,-1.00) r=2.30m
+[headless_play] t= 14.60s step= 730 trunk_z=   3.1mm grav_b=(-0.03,-0.01,-1.00) r=2.34m
+[headless_play] t= 14.70s step= 735 trunk_z=  -0.6mm grav_b=(-0.04,+0.02,-1.00) r=2.36m
+[headless_play] t= 14.80s step= 740 trunk_z=  -3.8mm grav_b=(-0.01,-0.05,-1.00) r=2.37m
+[headless_play] t= 14.90s step= 745 trunk_z=  -0.9mm grav_b=(+0.07,-0.06,-1.00) r=2.39m
+[headless_play] t= 15.00s step= 750 trunk_z=  -5.0mm grav_b=(+0.04,+0.02,-1.00) r=2.41m
+[headless_play] t= 15.10s step= 755 trunk_z=  -2.5mm grav_b=(+0.01,+0.12,-0.99) r=2.45m
+[headless_play] t= 15.20s step= 760 trunk_z=   1.1mm grav_b=(-0.01,+0.12,-0.99) r=2.47m
+[headless_play] t= 15.30s step= 765 trunk_z=  -0.8mm grav_b=(-0.02,+0.12,-0.99) r=2.48m
+[headless_play] t= 15.40s step= 770 trunk_z=  -5.7mm grav_b=(-0.01,-0.03,-1.00) r=2.49m
+[headless_play] t= 15.50s step= 775 trunk_z=  -0.7mm grav_b=(+0.01,-0.11,-0.99) r=2.51m
+[headless_play] t= 15.60s step= 780 trunk_z=  -4.0mm grav_b=(+0.04,-0.09,-1.00) r=2.52m
+[headless_play] t= 15.70s step= 785 trunk_z=  -9.4mm grav_b=(+0.07,+0.01,-1.00) r=2.55m
+[headless_play] t= 15.80s step= 790 trunk_z=   1.0mm grav_b=(+0.05,+0.15,-0.99) r=2.58m
+[headless_play] t= 15.90s step= 795 trunk_z=   4.4mm grav_b=(+0.03,+0.19,-0.98) r=2.60m
+[headless_play] t= 16.00s step= 800 trunk_z=   4.8mm grav_b=(-0.04,+0.10,-0.99) r=2.63m
+[headless_play] t= 16.10s step= 805 trunk_z=  -4.8mm grav_b=(+0.09,+0.12,-0.99) r=2.67m
+[headless_play] t= 16.20s step= 810 trunk_z=  -6.0mm grav_b=(-0.02,+0.06,-1.00) r=2.67m
+[headless_play] t= 16.30s step= 815 trunk_z=  -2.8mm grav_b=(+0.01,+0.06,-1.00) r=2.68m
+[headless_play] t= 16.40s step= 820 trunk_z=  -8.7mm grav_b=(+0.01,-0.04,-1.00) r=2.72m
+[headless_play] t= 16.50s step= 825 trunk_z=  -5.1mm grav_b=(+0.05,-0.12,-0.99) r=2.75m
+[headless_play] t= 16.60s step= 830 trunk_z=  -2.3mm grav_b=(+0.05,-0.16,-0.99) r=2.77m
+[headless_play] t= 16.70s step= 835 trunk_z=  -3.7mm grav_b=(+0.04,-0.15,-0.99) r=2.79m
+[headless_play] t= 16.80s step= 840 trunk_z=  -7.1mm grav_b=(+0.02,+0.03,-1.00) r=2.82m
+[headless_play] t= 16.90s step= 845 trunk_z=   4.2mm grav_b=(+0.01,+0.05,-1.00) r=2.84m
+[headless_play] t= 17.00s step= 850 trunk_z=  -1.8mm grav_b=(-0.04,+0.01,-1.00) r=2.87m
+[headless_play] t= 17.10s step= 855 trunk_z=  -5.6mm grav_b=(-0.04,-0.08,-1.00) r=2.89m
+[headless_play] t= 17.20s step= 860 trunk_z=  -7.7mm grav_b=(-0.04,-0.07,-1.00) r=2.90m
+[headless_play] t= 17.30s step= 865 trunk_z= -14.0mm grav_b=(-0.01,+0.01,-1.00) r=2.90m
+[headless_play] t= 17.40s step= 870 trunk_z=  -6.7mm grav_b=(-0.00,+0.05,-1.00) r=2.91m
+[headless_play] t= 17.50s step= 875 trunk_z= -10.4mm grav_b=(+0.01,+0.02,-1.00) r=2.93m
+[headless_play] t= 17.60s step= 880 trunk_z=  -9.4mm grav_b=(-0.00,-0.08,-1.00) r=2.95m
+[headless_play] t= 17.70s step= 885 trunk_z=  -4.9mm grav_b=(-0.01,-0.10,-0.99) r=2.97m
+[headless_play] t= 17.80s step= 890 trunk_z=  -8.9mm grav_b=(-0.00,-0.07,-1.00) r=2.98m
+[headless_play] t= 17.90s step= 895 trunk_z= -11.8mm grav_b=(+0.01,+0.04,-1.00) r=2.99m
+[headless_play] t= 18.00s step= 900 trunk_z=  -6.5mm grav_b=(+0.02,+0.05,-1.00) r=3.01m
+[headless_play] t= 18.10s step= 905 trunk_z= -12.4mm grav_b=(+0.02,+0.01,-1.00) r=3.03m
+[headless_play] t= 18.20s step= 910 trunk_z=  -8.2mm grav_b=(+0.05,-0.08,-1.00) r=3.05m
+[headless_play] t= 18.30s step= 915 trunk_z=  -8.2mm grav_b=(+0.04,-0.05,-1.00) r=3.07m
+[headless_play] t= 18.40s step= 920 trunk_z= -13.8mm grav_b=(+0.06,+0.03,-1.00) r=3.10m
+[headless_play] t= 18.50s step= 925 trunk_z=  -9.4mm grav_b=(+0.09,+0.03,-1.00) r=3.12m
+[headless_play] t= 18.60s step= 930 trunk_z= -11.7mm grav_b=(+0.03,-0.03,-1.00) r=3.15m
+[headless_play] t= 18.70s step= 935 trunk_z=  -5.5mm grav_b=(+0.06,-0.10,-0.99) r=3.18m
+[headless_play] t= 18.80s step= 940 trunk_z=  -6.8mm grav_b=(+0.04,-0.08,-1.00) r=3.20m
+[headless_play] t= 18.90s step= 945 trunk_z= -14.2mm grav_b=(+0.02,-0.00,-1.00) r=3.22m
+[headless_play] t= 19.00s step= 950 trunk_z=  -6.4mm grav_b=(+0.04,+0.05,-1.00) r=3.24m
+[headless_play] t= 19.10s step= 955 trunk_z=  -9.7mm grav_b=(+0.04,+0.03,-1.00) r=3.26m
+[headless_play] t= 19.20s step= 960 trunk_z= -12.1mm grav_b=(+0.06,-0.08,-1.00) r=3.28m
+[headless_play] t= 19.30s step= 965 trunk_z=  -3.7mm grav_b=(+0.16,-0.10,-0.98) r=3.32m
+[headless_play] t= 19.40s step= 970 trunk_z= -13.0mm grav_b=(+0.05,-0.01,-1.00) r=3.37m
+[headless_play] t= 19.50s step= 975 trunk_z=   2.4mm grav_b=(+0.07,-0.02,-1.00) r=3.40m
+[headless_play] t= 19.60s step= 980 trunk_z=  -3.9mm grav_b=(-0.00,-0.04,-1.00) r=3.44m
+[headless_play] t= 19.70s step= 985 trunk_z=  -9.5mm grav_b=(+0.04,-0.15,-0.99) r=3.47m
+[headless_play] t= 19.80s step= 990 trunk_z=  -1.1mm grav_b=(+0.01,-0.14,-0.99) r=3.50m
+[headless_play] t= 19.90s step= 995 trunk_z=  -2.3mm grav_b=(-0.01,-0.13,-0.99) r=3.53m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t2/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x42dbe880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t2/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t2/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t3.log

@@ -0,0 +1,216 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-18.275,-17.548,+0.251)
+[headless_play] t=  0.00s step=   0 trunk_z= 121.6mm grav_b=(-0.01,-0.00,-1.00) r=0.53m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.8mm grav_b=(-0.00,+0.00,-1.00) r=0.52m
+[headless_play] t=  0.20s step=  10 trunk_z= 113.0mm grav_b=(+0.03,+0.05,-1.00) r=0.51m
+[headless_play] t=  0.30s step=  15 trunk_z= 114.2mm grav_b=(+0.05,+0.09,-0.99) r=0.49m
+[headless_play] t=  0.40s step=  20 trunk_z= 112.7mm grav_b=(+0.04,+0.02,-1.00) r=0.48m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.3mm grav_b=(+0.01,-0.07,-1.00) r=0.48m
+[headless_play] t=  0.60s step=  30 trunk_z= 119.0mm grav_b=(+0.02,-0.06,-1.00) r=0.47m
+[headless_play] t=  0.70s step=  35 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.45m
+[headless_play] t=  0.80s step=  40 trunk_z= 122.9mm grav_b=(-0.08,+0.13,-0.99) r=0.42m
+[headless_play] t=  0.90s step=  45 trunk_z= 128.1mm grav_b=(-0.11,+0.19,-0.98) r=0.41m
+[headless_play] t=  1.00s step=  50 trunk_z= 128.3mm grav_b=(-0.12,+0.20,-0.97) r=0.40m
+[headless_play] t=  1.10s step=  55 trunk_z= 127.7mm grav_b=(-0.10,+0.19,-0.98) r=0.40m
+[headless_play] t=  1.20s step=  60 trunk_z= 130.4mm grav_b=(-0.13,+0.28,-0.95) r=0.42m
+[headless_play] t=  1.30s step=  65 trunk_z= 118.1mm grav_b=(-0.18,+0.32,-0.93) r=0.43m
+[headless_play] t=  1.40s step=  70 trunk_z=  99.3mm grav_b=(-0.49,+0.28,-0.82) r=0.44m
+[headless_play] t=  1.50s step=  75 trunk_z=  83.2mm grav_b=(-0.51,+0.16,-0.85) r=0.47m
+[headless_play] RESET at t=  1.60s step=  80 (env termination, not a recovery)
+[headless_play] t=  1.60s step=  80 trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) r=0.45m
+[headless_play] t=  1.70s step=  85 trunk_z= 115.6mm grav_b=(+0.00,+0.00,-1.00) r=0.45m
+[headless_play] t=  1.80s step=  90 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.45m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.45m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.45m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.3mm grav_b=(+0.06,+0.01,-1.00) r=0.45m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.3mm grav_b=(+0.09,+0.05,-0.99) r=0.44m
+[headless_play] t=  2.30s step= 115 trunk_z= 119.8mm grav_b=(+0.03,+0.04,-1.00) r=0.44m
+[headless_play] t=  2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.10,-0.08,-0.99) r=0.43m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.6mm grav_b=(-0.11,-0.05,-0.99) r=0.44m
+[headless_play] t=  2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.11,-0.04,-0.99) r=0.44m
+[headless_play] t=  2.70s step= 135 trunk_z= 119.3mm grav_b=(+0.00,-0.09,-1.00) r=0.43m
+[headless_play] t=  2.80s step= 140 trunk_z= 120.1mm grav_b=(+0.06,-0.06,-1.00) r=0.42m
+[headless_play] t=  2.90s step= 145 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.43m
+[headless_play] t=  3.00s step= 150 trunk_z= 113.9mm grav_b=(+0.04,-0.02,-1.00) r=0.44m
+[headless_play] t=  3.10s step= 155 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.45m
+[headless_play] t=  3.20s step= 160 trunk_z= 110.6mm grav_b=(+0.07,-0.01,-1.00) r=0.45m
+[headless_play] t=  3.30s step= 165 trunk_z= 110.4mm grav_b=(+0.12,+0.03,-0.99) r=0.45m
+[headless_play] t=  3.40s step= 170 trunk_z= 111.8mm grav_b=(+0.12,+0.02,-0.99) r=0.45m
+[headless_play] t=  3.50s step= 175 trunk_z= 115.0mm grav_b=(+0.04,-0.04,-1.00) r=0.46m
+[headless_play] t=  3.60s step= 180 trunk_z= 115.3mm grav_b=(+0.01,-0.03,-1.00) r=0.47m
+[headless_play] t=  3.70s step= 185 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.47m
+[headless_play] t=  3.80s step= 190 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.47m
+[headless_play] t=  3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.47m
+[headless_play] t=  4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.47m
+[headless_play] t=  4.10s step= 205 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.47m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.47m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.47m
+[headless_play] t=  4.40s step= 220 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.47m
+[headless_play] t=  4.50s step= 225 trunk_z= 118.0mm grav_b=(+0.08,+0.02,-1.00) r=0.46m
+[headless_play] t=  4.60s step= 230 trunk_z= 119.1mm grav_b=(+0.04,+0.00,-1.00) r=0.46m
+[headless_play] t=  4.70s step= 235 trunk_z= 120.7mm grav_b=(+0.09,-0.00,-1.00) r=0.46m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.6mm grav_b=(+0.03,-0.07,-1.00) r=0.44m
+[headless_play] t=  4.90s step= 245 trunk_z= 116.4mm grav_b=(+0.02,-0.04,-1.00) r=0.41m
+[headless_play] t=  5.00s step= 250 trunk_z= 115.4mm grav_b=(-0.06,+0.01,-1.00) r=0.41m
+[headless_play] t=  5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.11,+0.03,-0.99) r=0.41m
+[headless_play] t=  5.20s step= 260 trunk_z= 115.7mm grav_b=(-0.11,+0.03,-0.99) r=0.41m
+[headless_play] t=  5.30s step= 265 trunk_z= 116.7mm grav_b=(-0.09,+0.02,-1.00) r=0.40m
+[headless_play] t=  5.40s step= 270 trunk_z= 118.5mm grav_b=(-0.03,+0.03,-1.00) r=0.40m
+[headless_play] t=  5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.02,+0.08,-1.00) r=0.39m
+[headless_play] t=  5.60s step= 280 trunk_z= 120.5mm grav_b=(-0.05,+0.12,-0.99) r=0.38m
+[headless_play] t=  5.70s step= 285 trunk_z= 119.3mm grav_b=(-0.11,+0.15,-0.98) r=0.39m
+[headless_play] t=  5.80s step= 290 trunk_z= 113.8mm grav_b=(-0.19,+0.10,-0.98) r=0.40m
+[headless_play] t=  5.90s step= 295 trunk_z= 113.4mm grav_b=(-0.19,+0.09,-0.98) r=0.40m
+[headless_play] t=  6.00s step= 300 trunk_z= 111.7mm grav_b=(-0.19,+0.10,-0.98) r=0.41m
+[headless_play] t=  6.10s step= 305 trunk_z= 110.9mm grav_b=(-0.18,+0.07,-0.98) r=0.42m
+[headless_play] t=  6.20s step= 310 trunk_z= 105.2mm grav_b=(-0.16,+0.07,-0.99) r=0.44m
+[headless_play] t=  6.30s step= 315 trunk_z= 101.7mm grav_b=(-0.21,+0.10,-0.97) r=0.45m
+[headless_play] t=  6.40s step= 320 trunk_z=  99.5mm grav_b=(-0.26,+0.14,-0.95) r=0.46m
+[headless_play] t=  6.50s step= 325 trunk_z=  98.2mm grav_b=(-0.30,+0.24,-0.92) r=0.47m
+[headless_play] t=  6.60s step= 330 trunk_z=  70.8mm grav_b=(-0.76,+0.03,-0.65) r=0.49m
+[headless_play] RESET at t=  6.68s step= 334 (env termination, not a recovery)
+[headless_play] t=  6.70s step= 335 trunk_z= 123.1mm grav_b=(-0.00,-0.00,-1.00) r=0.25m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.25m
+[headless_play] t=  6.90s step= 345 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.24m
+[headless_play] t=  7.00s step= 350 trunk_z= 120.3mm grav_b=(+0.06,+0.05,-1.00) r=0.23m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.1mm grav_b=(-0.03,-0.03,-1.00) r=0.22m
+[headless_play] t=  7.20s step= 360 trunk_z= 116.1mm grav_b=(-0.09,+0.00,-1.00) r=0.23m
+[headless_play] t=  7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.09,+0.01,-1.00) r=0.23m
+[headless_play] t=  7.40s step= 370 trunk_z= 116.5mm grav_b=(-0.12,-0.00,-0.99) r=0.23m
+[headless_play] t=  7.50s step= 375 trunk_z= 116.6mm grav_b=(-0.14,-0.02,-0.99) r=0.24m
+[headless_play] t=  7.60s step= 380 trunk_z= 111.5mm grav_b=(-0.03,-0.02,-1.00) r=0.25m
+[headless_play] t=  7.70s step= 385 trunk_z= 113.8mm grav_b=(-0.01,+0.05,-1.00) r=0.26m
+[headless_play] t=  7.80s step= 390 trunk_z= 116.9mm grav_b=(-0.07,+0.14,-0.99) r=0.27m
+[headless_play] t=  7.90s step= 395 trunk_z= 120.9mm grav_b=(-0.09,+0.14,-0.99) r=0.27m
+[headless_play] t=  8.00s step= 400 trunk_z= 115.5mm grav_b=(-0.07,+0.11,-0.99) r=0.28m
+[headless_play] t=  8.10s step= 405 trunk_z= 115.1mm grav_b=(-0.08,+0.10,-0.99) r=0.30m
+[headless_play] t=  8.20s step= 410 trunk_z= 119.1mm grav_b=(-0.08,+0.08,-0.99) r=0.31m
+[headless_play] t=  8.30s step= 415 trunk_z= 105.7mm grav_b=(-0.04,+0.05,-1.00) r=0.36m
+[headless_play] t=  8.40s step= 420 trunk_z= 110.1mm grav_b=(-0.11,+0.05,-0.99) r=0.39m
+[headless_play] t=  8.50s step= 425 trunk_z=  98.7mm grav_b=(-0.03,+0.09,-1.00) r=0.42m
+[headless_play] t=  8.60s step= 430 trunk_z=  93.9mm grav_b=(+0.04,+0.18,-0.98) r=0.44m
+[headless_play] t=  8.70s step= 435 trunk_z= 104.1mm grav_b=(+0.08,+0.15,-0.99) r=0.44m
+[headless_play] t=  8.80s step= 440 trunk_z= 108.4mm grav_b=(+0.04,+0.04,-1.00) r=0.44m
+[headless_play] t=  8.90s step= 445 trunk_z= 115.4mm grav_b=(-0.02,+0.04,-1.00) r=0.44m
+[headless_play] t=  9.00s step= 450 trunk_z= 118.3mm grav_b=(-0.04,+0.10,-0.99) r=0.44m
+[headless_play] t=  9.10s step= 455 trunk_z= 121.3mm grav_b=(-0.01,+0.16,-0.99) r=0.44m
+[headless_play] t=  9.20s step= 460 trunk_z= 121.3mm grav_b=(+0.02,+0.18,-0.98) r=0.43m
+[headless_play] t=  9.30s step= 465 trunk_z= 119.7mm grav_b=(+0.04,+0.14,-0.99) r=0.42m
+[headless_play] t=  9.40s step= 470 trunk_z= 118.8mm grav_b=(+0.05,+0.09,-0.99) r=0.42m
+[headless_play] t=  9.50s step= 475 trunk_z= 118.9mm grav_b=(+0.04,+0.07,-1.00) r=0.43m
+[headless_play] t=  9.60s step= 480 trunk_z= 118.1mm grav_b=(-0.03,+0.05,-1.00) r=0.44m
+[headless_play] t=  9.70s step= 485 trunk_z= 118.4mm grav_b=(-0.08,+0.02,-1.00) r=0.44m
+[headless_play] t=  9.80s step= 490 trunk_z= 118.5mm grav_b=(-0.11,+0.02,-0.99) r=0.45m
+[headless_play] t=  9.90s step= 495 trunk_z= 117.7mm grav_b=(-0.11,-0.00,-0.99) r=0.46m
+[headless_play] t= 10.00s step= 500 trunk_z= 113.4mm grav_b=(-0.03,+0.07,-1.00) r=0.47m
+[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(-0.03,+0.09,-1.00) r=0.48m
+[headless_play] t= 10.20s step= 510 trunk_z= 112.1mm grav_b=(+0.02,+0.06,-1.00) r=0.50m
+[headless_play] t= 10.30s step= 515 trunk_z= 111.5mm grav_b=(-0.03,+0.05,-1.00) r=0.51m
+[headless_play] t= 10.40s step= 520 trunk_z= 111.3mm grav_b=(-0.04,+0.09,-0.99) r=0.52m
+[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(-0.04,+0.10,-0.99) r=0.52m
+[headless_play] t= 10.60s step= 530 trunk_z= 113.3mm grav_b=(-0.06,+0.08,-1.00) r=0.54m
+[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(-0.12,+0.09,-0.99) r=0.57m
+[headless_play] t= 10.80s step= 540 trunk_z= 115.2mm grav_b=(-0.18,+0.08,-0.98) r=0.60m
+[headless_play] t= 10.90s step= 545 trunk_z=  99.7mm grav_b=(-0.02,-0.00,-1.00) r=0.66m
+[headless_play] t= 11.00s step= 550 trunk_z=  95.3mm grav_b=(-0.11,+0.06,-0.99) r=0.68m
+[headless_play] t= 11.10s step= 555 trunk_z=  95.2mm grav_b=(+0.01,+0.06,-1.00) r=0.69m
+[headless_play] t= 11.20s step= 560 trunk_z= 101.5mm grav_b=(+0.07,+0.18,-0.98) r=0.67m
+[headless_play] t= 11.30s step= 565 trunk_z= 111.6mm grav_b=(+0.03,+0.13,-0.99) r=0.67m
+[headless_play] t= 11.40s step= 570 trunk_z= 113.4mm grav_b=(-0.02,+0.07,-1.00) r=0.69m
+[headless_play] t= 11.50s step= 575 trunk_z= 115.3mm grav_b=(-0.03,+0.07,-1.00) r=0.69m
+[headless_play] t= 11.60s step= 580 trunk_z= 115.2mm grav_b=(+0.00,+0.05,-1.00) r=0.69m
+[headless_play] t= 11.70s step= 585 trunk_z= 114.8mm grav_b=(+0.04,+0.04,-1.00) r=0.69m
+[headless_play] t= 11.80s step= 590 trunk_z= 115.3mm grav_b=(+0.04,+0.04,-1.00) r=0.69m
+[headless_play] t= 11.90s step= 595 trunk_z= 115.6mm grav_b=(+0.03,+0.03,-1.00) r=0.69m
+[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(+0.02,+0.03,-1.00) r=0.70m
+[headless_play] t= 12.10s step= 605 trunk_z= 116.7mm grav_b=(+0.06,+0.03,-1.00) r=0.69m
+[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(+0.04,+0.03,-1.00) r=0.70m
+[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(+0.00,+0.02,-1.00) r=0.70m
+[headless_play] t= 12.40s step= 620 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=0.70m
+[headless_play] t= 12.50s step= 625 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) r=0.70m
+[headless_play] t= 12.60s step= 630 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.70m
+[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.70m
+[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(+0.00,+0.02,-1.00) r=0.70m
+[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.70m
+[headless_play] t= 13.00s step= 650 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.70m
+[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.70m
+[headless_play] t= 13.20s step= 660 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.70m
+[headless_play] t= 13.30s step= 665 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.70m
+[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.70m
+[headless_play] t= 13.50s step= 675 trunk_z= 117.5mm grav_b=(-0.09,+0.00,-1.00) r=0.72m
+[headless_play] t= 13.60s step= 680 trunk_z= 117.6mm grav_b=(-0.12,-0.01,-0.99) r=0.73m
+[headless_play] t= 13.70s step= 685 trunk_z= 115.6mm grav_b=(-0.20,+0.00,-0.98) r=0.75m
+[headless_play] t= 13.80s step= 690 trunk_z= 111.2mm grav_b=(-0.37,+0.02,-0.93) r=0.78m
+[headless_play] t= 13.90s step= 695 trunk_z=  89.8mm grav_b=(-0.52,-0.24,-0.82) r=0.83m
+[headless_play] t= 14.00s step= 700 trunk_z=  39.4mm grav_b=(-0.94,+0.03,-0.33) r=0.88m
+[headless_play] RESET at t= 14.02s step= 701 (env termination, not a recovery)
+[headless_play] t= 14.10s step= 705 trunk_z= 114.6mm grav_b=(-0.04,+0.01,-1.00) r=0.07m
+[headless_play] t= 14.20s step= 710 trunk_z= 114.7mm grav_b=(-0.05,+0.08,-1.00) r=0.06m
+[headless_play] t= 14.30s step= 715 trunk_z= 118.7mm grav_b=(-0.08,+0.06,-1.00) r=0.05m
+[headless_play] t= 14.40s step= 720 trunk_z= 115.3mm grav_b=(-0.10,-0.02,-1.00) r=0.07m
+[headless_play] t= 14.50s step= 725 trunk_z= 118.1mm grav_b=(-0.09,-0.11,-0.99) r=0.08m
+[headless_play] t= 14.60s step= 730 trunk_z= 121.9mm grav_b=(-0.07,-0.09,-0.99) r=0.09m
+[headless_play] t= 14.70s step= 735 trunk_z= 117.3mm grav_b=(-0.05,-0.05,-1.00) r=0.07m
+[headless_play] t= 14.80s step= 740 trunk_z= 117.7mm grav_b=(-0.03,+0.04,-1.00) r=0.05m
+[headless_play] t= 14.90s step= 745 trunk_z= 119.8mm grav_b=(+0.08,+0.09,-0.99) r=0.05m
+[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(+0.01,-0.01,-1.00) r=0.08m
+[headless_play] t= 15.10s step= 755 trunk_z= 126.2mm grav_b=(-0.00,-0.09,-1.00) r=0.11m
+[headless_play] t= 15.20s step= 760 trunk_z= 121.0mm grav_b=(-0.08,-0.03,-1.00) r=0.13m
+[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.14,+0.05,-0.99) r=0.14m
+[headless_play] t= 15.40s step= 770 trunk_z= 121.2mm grav_b=(-0.15,+0.05,-0.99) r=0.13m
+[headless_play] t= 15.50s step= 775 trunk_z= 108.4mm grav_b=(-0.11,+0.01,-0.99) r=0.11m
+[headless_play] t= 15.60s step= 780 trunk_z= 111.0mm grav_b=(+0.03,+0.07,-1.00) r=0.10m
+[headless_play] t= 15.70s step= 785 trunk_z= 113.6mm grav_b=(-0.01,+0.14,-0.99) r=0.11m
+[headless_play] t= 15.80s step= 790 trunk_z= 118.7mm grav_b=(-0.01,+0.09,-1.00) r=0.12m
+[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(-0.02,+0.03,-1.00) r=0.14m
+[headless_play] t= 16.00s step= 800 trunk_z= 118.9mm grav_b=(-0.02,-0.07,-1.00) r=0.16m
+[headless_play] t= 16.10s step= 805 trunk_z= 120.0mm grav_b=(+0.00,-0.06,-1.00) r=0.18m
+[headless_play] t= 16.20s step= 810 trunk_z= 119.7mm grav_b=(+0.01,-0.07,-1.00) r=0.21m
+[headless_play] t= 16.30s step= 815 trunk_z= 121.3mm grav_b=(+0.08,-0.03,-1.00) r=0.23m
+[headless_play] t= 16.40s step= 820 trunk_z= 118.1mm grav_b=(+0.01,-0.04,-1.00) r=0.26m
+[headless_play] t= 16.50s step= 825 trunk_z= 122.9mm grav_b=(-0.01,-0.02,-1.00) r=0.28m
+[headless_play] t= 16.60s step= 830 trunk_z= 115.5mm grav_b=(-0.06,+0.04,-1.00) r=0.30m
+[headless_play] t= 16.70s step= 835 trunk_z= 122.1mm grav_b=(-0.09,+0.08,-0.99) r=0.31m
+[headless_play] t= 16.80s step= 840 trunk_z= 122.0mm grav_b=(-0.11,+0.07,-0.99) r=0.31m
+[headless_play] t= 16.90s step= 845 trunk_z= 110.8mm grav_b=(-0.07,+0.01,-1.00) r=0.30m
+[headless_play] t= 17.00s step= 850 trunk_z= 110.9mm grav_b=(-0.03,+0.05,-1.00) r=0.30m
+[headless_play] t= 17.10s step= 855 trunk_z= 104.4mm grav_b=(-0.01,+0.09,-1.00) r=0.32m
+[headless_play] t= 17.20s step= 860 trunk_z= 107.7mm grav_b=(+0.03,+0.10,-0.99) r=0.33m
+[headless_play] t= 17.30s step= 865 trunk_z= 103.0mm grav_b=(+0.09,+0.05,-0.99) r=0.34m
+[headless_play] t= 17.40s step= 870 trunk_z= 111.4mm grav_b=(+0.05,+0.04,-1.00) r=0.34m
+[headless_play] t= 17.50s step= 875 trunk_z= 109.9mm grav_b=(+0.08,+0.02,-1.00) r=0.34m
+[headless_play] t= 17.60s step= 880 trunk_z= 112.8mm grav_b=(+0.08,+0.01,-1.00) r=0.34m
+[headless_play] t= 17.70s step= 885 trunk_z= 114.3mm grav_b=(+0.07,+0.02,-1.00) r=0.33m
+[headless_play] t= 17.80s step= 890 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.32m
+[headless_play] t= 17.90s step= 895 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.32m
+[headless_play] t= 18.00s step= 900 trunk_z= 115.5mm grav_b=(-0.05,+0.00,-1.00) r=0.32m
+[headless_play] t= 18.10s step= 905 trunk_z= 117.2mm grav_b=(+0.05,+0.04,-1.00) r=0.33m
+[headless_play] t= 18.20s step= 910 trunk_z= 118.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m
+[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(+0.01,-0.06,-1.00) r=0.33m
+[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.34m
+[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.34m
+[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.34m
+[headless_play] t= 18.70s step= 935 trunk_z= 119.0mm grav_b=(+0.05,+0.05,-1.00) r=0.35m
+[headless_play] t= 18.80s step= 940 trunk_z= 120.2mm grav_b=(+0.06,+0.03,-1.00) r=0.36m
+[headless_play] t= 18.90s step= 945 trunk_z= 118.5mm grav_b=(-0.01,-0.06,-1.00) r=0.36m
+[headless_play] t= 19.00s step= 950 trunk_z= 119.7mm grav_b=(-0.07,-0.03,-1.00) r=0.35m
+[headless_play] t= 19.10s step= 955 trunk_z= 118.2mm grav_b=(-0.08,-0.00,-1.00) r=0.35m
+[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(-0.12,+0.01,-0.99) r=0.35m
+[headless_play] t= 19.30s step= 965 trunk_z= 115.8mm grav_b=(-0.06,-0.01,-1.00) r=0.34m
+[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(-0.07,+0.03,-1.00) r=0.32m
+[headless_play] t= 19.50s step= 975 trunk_z= 108.7mm grav_b=(-0.02,+0.08,-1.00) r=0.31m
+[headless_play] t= 19.60s step= 980 trunk_z= 118.8mm grav_b=(-0.10,+0.13,-0.99) r=0.30m
+[headless_play] t= 19.70s step= 985 trunk_z= 124.5mm grav_b=(-0.08,+0.12,-0.99) r=0.28m
+[headless_play] t= 19.80s step= 990 trunk_z= 115.5mm grav_b=(-0.13,+0.10,-0.99) r=0.26m
+[headless_play] t= 19.90s step= 995 trunk_z= 117.2mm grav_b=(-0.09,+0.11,-0.99) r=0.24m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t3/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x7923880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t3/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t3/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t4.log

@@ -0,0 +1,214 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 128.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.072,-18.481,+0.256)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.3mm grav_b=(-0.01,-0.00,-1.00) r=0.49m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.4mm grav_b=(-0.05,+0.02,-1.00) r=0.49m
+[headless_play] t=  0.20s step=  10 trunk_z= 114.1mm grav_b=(-0.06,+0.07,-1.00) r=0.51m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.7mm grav_b=(-0.09,+0.01,-1.00) r=0.51m
+[headless_play] t=  0.40s step=  20 trunk_z= 107.9mm grav_b=(-0.06,-0.02,-1.00) r=0.49m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.9mm grav_b=(-0.12,-0.03,-0.99) r=0.49m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.7mm grav_b=(-0.14,-0.00,-0.99) r=0.50m
+[headless_play] t=  0.70s step=  35 trunk_z= 111.2mm grav_b=(-0.12,+0.07,-0.99) r=0.52m
+[headless_play] t=  0.80s step=  40 trunk_z= 121.4mm grav_b=(-0.13,+0.07,-0.99) r=0.52m
+[headless_play] t=  0.90s step=  45 trunk_z= 120.0mm grav_b=(-0.09,+0.04,-0.99) r=0.51m
+[headless_play] t=  1.00s step=  50 trunk_z= 110.2mm grav_b=(-0.11,-0.01,-0.99) r=0.49m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.6mm grav_b=(-0.12,-0.04,-0.99) r=0.49m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.3mm grav_b=(-0.11,-0.04,-0.99) r=0.50m
+[headless_play] t=  1.30s step=  65 trunk_z= 115.5mm grav_b=(-0.09,+0.04,-1.00) r=0.51m
+[headless_play] t=  1.40s step=  70 trunk_z= 117.2mm grav_b=(-0.08,+0.04,-1.00) r=0.51m
+[headless_play] t=  1.50s step=  75 trunk_z= 112.0mm grav_b=(-0.07,+0.01,-1.00) r=0.49m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.9mm grav_b=(-0.09,-0.05,-0.99) r=0.48m
+[headless_play] t=  1.70s step=  85 trunk_z= 116.1mm grav_b=(-0.09,-0.04,-1.00) r=0.47m
+[headless_play] t=  1.80s step=  90 trunk_z= 110.0mm grav_b=(-0.08,-0.01,-1.00) r=0.48m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.0mm grav_b=(-0.08,+0.04,-1.00) r=0.48m
+[headless_play] t=  2.00s step= 100 trunk_z= 112.4mm grav_b=(+0.01,+0.03,-1.00) r=0.46m
+[headless_play] t=  2.10s step= 105 trunk_z= 111.8mm grav_b=(-0.07,-0.06,-1.00) r=0.43m
+[headless_play] t=  2.20s step= 110 trunk_z= 121.5mm grav_b=(-0.11,-0.08,-0.99) r=0.41m
+[headless_play] t=  2.30s step= 115 trunk_z= 118.3mm grav_b=(-0.13,-0.02,-0.99) r=0.40m
+[headless_play] t=  2.40s step= 120 trunk_z= 116.9mm grav_b=(-0.17,+0.06,-0.98) r=0.41m
+[headless_play] t=  2.50s step= 125 trunk_z= 122.8mm grav_b=(-0.17,+0.05,-0.98) r=0.42m
+[headless_play] t=  2.60s step= 130 trunk_z= 109.9mm grav_b=(-0.07,+0.00,-1.00) r=0.42m
+[headless_play] t=  2.70s step= 135 trunk_z= 112.3mm grav_b=(-0.03,+0.00,-1.00) r=0.43m
+[headless_play] t=  2.80s step= 140 trunk_z= 110.1mm grav_b=(-0.07,-0.01,-1.00) r=0.46m
+[headless_play] t=  2.90s step= 145 trunk_z= 119.0mm grav_b=(-0.13,+0.06,-0.99) r=0.49m
+[headless_play] t=  3.00s step= 150 trunk_z= 127.1mm grav_b=(-0.19,+0.06,-0.98) r=0.51m
+[headless_play] t=  3.10s step= 155 trunk_z= 107.2mm grav_b=(-0.10,-0.04,-0.99) r=0.55m
+[headless_play] t=  3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.57m
+[headless_play] t=  3.30s step= 165 trunk_z= 108.5mm grav_b=(-0.08,+0.02,-1.00) r=0.61m
+[headless_play] t=  3.40s step= 170 trunk_z= 119.0mm grav_b=(-0.10,+0.03,-0.99) r=0.61m
+[headless_play] t=  3.50s step= 175 trunk_z= 122.8mm grav_b=(-0.08,+0.10,-0.99) r=0.62m
+[headless_play] t=  3.60s step= 180 trunk_z= 119.7mm grav_b=(-0.06,+0.07,-1.00) r=0.61m
+[headless_play] t=  3.70s step= 185 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) r=0.60m
+[headless_play] t=  3.80s step= 190 trunk_z= 117.0mm grav_b=(-0.04,-0.04,-1.00) r=0.59m
+[headless_play] t=  3.90s step= 195 trunk_z= 113.7mm grav_b=(-0.05,+0.00,-1.00) r=0.58m
+[headless_play] t=  4.00s step= 200 trunk_z= 114.4mm grav_b=(-0.08,+0.06,-1.00) r=0.59m
+[headless_play] t=  4.10s step= 205 trunk_z= 119.6mm grav_b=(-0.09,+0.04,-1.00) r=0.58m
+[headless_play] t=  4.20s step= 210 trunk_z= 113.5mm grav_b=(-0.08,-0.02,-1.00) r=0.56m
+[headless_play] t=  4.30s step= 215 trunk_z= 119.6mm grav_b=(-0.07,-0.09,-0.99) r=0.54m
+[headless_play] t=  4.40s step= 220 trunk_z= 123.0mm grav_b=(-0.07,-0.11,-0.99) r=0.53m
+[headless_play] t=  4.50s step= 225 trunk_z= 119.4mm grav_b=(-0.06,-0.08,-1.00) r=0.52m
+[headless_play] t=  4.60s step= 230 trunk_z= 114.0mm grav_b=(-0.05,+0.01,-1.00) r=0.51m
+[headless_play] t=  4.70s step= 235 trunk_z= 121.5mm grav_b=(-0.09,+0.05,-1.00) r=0.51m
+[headless_play] t=  4.80s step= 240 trunk_z= 119.1mm grav_b=(-0.09,+0.05,-0.99) r=0.50m
+[headless_play] t=  4.90s step= 245 trunk_z= 113.8mm grav_b=(-0.07,-0.05,-1.00) r=0.49m
+[headless_play] t=  5.00s step= 250 trunk_z= 121.6mm grav_b=(-0.08,-0.07,-0.99) r=0.48m
+[headless_play] t=  5.10s step= 255 trunk_z= 119.1mm grav_b=(-0.12,+0.02,-0.99) r=0.48m
+[headless_play] t=  5.20s step= 260 trunk_z= 114.0mm grav_b=(-0.11,+0.06,-0.99) r=0.50m
+[headless_play] t=  5.30s step= 265 trunk_z= 123.6mm grav_b=(-0.13,+0.09,-0.99) r=0.51m
+[headless_play] t=  5.40s step= 270 trunk_z= 125.9mm grav_b=(-0.13,+0.07,-0.99) r=0.53m
+[headless_play] t=  5.50s step= 275 trunk_z= 110.3mm grav_b=(-0.13,+0.03,-0.99) r=0.57m
+[headless_play] t=  5.60s step= 280 trunk_z= 115.8mm grav_b=(-0.11,+0.02,-0.99) r=0.59m
+[headless_play] t=  5.70s step= 285 trunk_z= 114.9mm grav_b=(-0.10,+0.06,-0.99) r=0.59m
+[headless_play] t=  5.80s step= 290 trunk_z= 124.6mm grav_b=(-0.09,+0.03,-1.00) r=0.58m
+[headless_play] t=  5.90s step= 295 trunk_z= 119.7mm grav_b=(-0.07,-0.00,-1.00) r=0.58m
+[headless_play] t=  6.00s step= 300 trunk_z= 123.2mm grav_b=(-0.08,-0.06,-1.00) r=0.57m
+[headless_play] t=  6.10s step= 305 trunk_z= 122.2mm grav_b=(-0.07,-0.03,-1.00) r=0.56m
+[headless_play] t=  6.20s step= 310 trunk_z= 118.8mm grav_b=(-0.07,+0.01,-1.00) r=0.55m
+[headless_play] t=  6.30s step= 315 trunk_z= 125.3mm grav_b=(-0.06,+0.03,-1.00) r=0.54m
+[headless_play] t=  6.40s step= 320 trunk_z= 122.1mm grav_b=(-0.08,+0.02,-1.00) r=0.53m
+[headless_play] t=  6.50s step= 325 trunk_z= 122.0mm grav_b=(-0.08,-0.06,-0.99) r=0.52m
+[headless_play] t=  6.60s step= 330 trunk_z= 122.3mm grav_b=(-0.08,-0.03,-1.00) r=0.51m
+[headless_play] t=  6.70s step= 335 trunk_z= 117.8mm grav_b=(-0.05,+0.02,-1.00) r=0.49m
+[headless_play] t=  6.80s step= 340 trunk_z= 131.4mm grav_b=(-0.02,+0.03,-1.00) r=0.47m
+[headless_play] t=  6.90s step= 345 trunk_z= 128.4mm grav_b=(-0.04,+0.01,-1.00) r=0.44m
+[headless_play] t=  7.00s step= 350 trunk_z= 120.7mm grav_b=(-0.08,-0.01,-1.00) r=0.41m
+[headless_play] t=  7.10s step= 355 trunk_z= 119.8mm grav_b=(-0.12,+0.01,-0.99) r=0.40m
+[headless_play] t=  7.20s step= 360 trunk_z= 121.2mm grav_b=(-0.12,+0.04,-0.99) r=0.38m
+[headless_play] t=  7.30s step= 365 trunk_z= 125.0mm grav_b=(-0.08,+0.02,-1.00) r=0.37m
+[headless_play] t=  7.40s step= 370 trunk_z= 118.1mm grav_b=(-0.08,-0.03,-1.00) r=0.36m
+[headless_play] t=  7.50s step= 375 trunk_z= 124.5mm grav_b=(-0.08,-0.07,-0.99) r=0.35m
+[headless_play] t=  7.60s step= 380 trunk_z= 124.5mm grav_b=(-0.07,-0.05,-1.00) r=0.34m
+[headless_play] t=  7.70s step= 385 trunk_z= 119.8mm grav_b=(-0.06,+0.06,-1.00) r=0.33m
+[headless_play] t=  7.80s step= 390 trunk_z= 134.1mm grav_b=(-0.02,+0.14,-0.99) r=0.30m
+[headless_play] t=  7.90s step= 395 trunk_z= 136.1mm grav_b=(-0.02,+0.15,-0.99) r=0.28m
+[headless_play] t=  8.00s step= 400 trunk_z= 117.7mm grav_b=(-0.07,+0.10,-0.99) r=0.23m
+[headless_play] t=  8.10s step= 405 trunk_z= 130.5mm grav_b=(-0.03,+0.11,-0.99) r=0.21m
+[headless_play] t=  8.20s step= 410 trunk_z= 117.3mm grav_b=(-0.05,+0.02,-1.00) r=0.20m
+[headless_play] t=  8.30s step= 415 trunk_z= 126.9mm grav_b=(-0.04,-0.08,-1.00) r=0.18m
+[headless_play] t=  8.40s step= 420 trunk_z= 110.1mm grav_b=(-0.12,-0.11,-0.99) r=0.14m
+[headless_play] t=  8.50s step= 425 trunk_z= 120.4mm grav_b=(-0.12,-0.07,-0.99) r=0.13m
+[headless_play] t=  8.60s step= 430 trunk_z= 116.6mm grav_b=(-0.16,-0.01,-0.99) r=0.15m
+[headless_play] t=  8.70s step= 435 trunk_z= 122.3mm grav_b=(-0.17,+0.05,-0.98) r=0.18m
+[headless_play] t=  8.80s step= 440 trunk_z= 125.4mm grav_b=(-0.14,+0.07,-0.99) r=0.17m
+[headless_play] t=  8.90s step= 445 trunk_z= 118.2mm grav_b=(-0.09,-0.02,-1.00) r=0.15m
+[headless_play] t=  9.00s step= 450 trunk_z= 126.7mm grav_b=(-0.02,-0.06,-1.00) r=0.14m
+[headless_play] t=  9.10s step= 455 trunk_z= 128.4mm grav_b=(-0.04,-0.03,-1.00) r=0.15m
+[headless_play] t=  9.20s step= 460 trunk_z= 121.1mm grav_b=(-0.08,+0.05,-1.00) r=0.18m
+[headless_play] t=  9.30s step= 465 trunk_z= 129.3mm grav_b=(-0.08,+0.05,-1.00) r=0.20m
+[headless_play] t=  9.40s step= 470 trunk_z= 124.2mm grav_b=(-0.11,+0.03,-0.99) r=0.19m
+[headless_play] t=  9.50s step= 475 trunk_z= 122.6mm grav_b=(-0.10,-0.06,-0.99) r=0.18m
+[headless_play] t=  9.60s step= 480 trunk_z= 121.4mm grav_b=(-0.12,-0.04,-0.99) r=0.19m
+[headless_play] t=  9.70s step= 485 trunk_z= 120.6mm grav_b=(-0.14,+0.07,-0.99) r=0.21m
+[headless_play] t=  9.80s step= 490 trunk_z= 125.8mm grav_b=(-0.13,+0.06,-0.99) r=0.22m
+[headless_play] t=  9.90s step= 495 trunk_z= 122.5mm grav_b=(-0.12,+0.06,-0.99) r=0.21m
+[headless_play] t= 10.00s step= 500 trunk_z= 121.0mm grav_b=(-0.08,-0.07,-0.99) r=0.21m
+[headless_play] t= 10.10s step= 505 trunk_z= 126.3mm grav_b=(-0.07,-0.06,-1.00) r=0.22m
+[headless_play] t= 10.20s step= 510 trunk_z= 124.8mm grav_b=(-0.08,-0.02,-1.00) r=0.25m
+[headless_play] t= 10.30s step= 515 trunk_z= 124.5mm grav_b=(-0.03,+0.00,-1.00) r=0.28m
+[headless_play] t= 10.40s step= 520 trunk_z= 130.2mm grav_b=(-0.01,+0.02,-1.00) r=0.30m
+[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(-0.08,-0.03,-1.00) r=0.32m
+[headless_play] t= 10.60s step= 530 trunk_z= 122.2mm grav_b=(-0.09,-0.02,-1.00) r=0.34m
+[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(-0.12,+0.03,-0.99) r=0.35m
+[headless_play] t= 10.80s step= 540 trunk_z= 124.8mm grav_b=(-0.12,+0.09,-0.99) r=0.37m
+[headless_play] t= 10.90s step= 545 trunk_z= 129.5mm grav_b=(-0.11,+0.13,-0.98) r=0.38m
+[headless_play] t= 11.00s step= 550 trunk_z= 128.5mm grav_b=(-0.11,+0.13,-0.99) r=0.40m
+[headless_play] t= 11.10s step= 555 trunk_z= 119.4mm grav_b=(-0.09,+0.02,-1.00) r=0.41m
+[headless_play] t= 11.20s step= 560 trunk_z= 124.9mm grav_b=(-0.05,-0.01,-1.00) r=0.42m
+[headless_play] t= 11.30s step= 565 trunk_z= 119.7mm grav_b=(-0.06,+0.01,-1.00) r=0.44m
+[headless_play] t= 11.40s step= 570 trunk_z= 124.3mm grav_b=(-0.08,+0.05,-1.00) r=0.46m
+[headless_play] t= 11.50s step= 575 trunk_z= 123.5mm grav_b=(-0.09,+0.04,-1.00) r=0.47m
+[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.11,-0.04,-0.99) r=0.48m
+[headless_play] t= 11.70s step= 585 trunk_z= 121.8mm grav_b=(-0.09,-0.01,-1.00) r=0.49m
+[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(-0.07,+0.05,-1.00) r=0.50m
+[headless_play] t= 11.90s step= 595 trunk_z= 128.1mm grav_b=(-0.07,+0.06,-1.00) r=0.52m
+[headless_play] t= 12.00s step= 600 trunk_z= 126.5mm grav_b=(-0.06,+0.06,-1.00) r=0.53m
+[headless_play] t= 12.10s step= 605 trunk_z= 118.8mm grav_b=(-0.10,-0.03,-0.99) r=0.55m
+[headless_play] t= 12.20s step= 610 trunk_z= 125.4mm grav_b=(-0.06,-0.03,-1.00) r=0.57m
+[headless_play] t= 12.30s step= 615 trunk_z= 123.0mm grav_b=(-0.08,-0.00,-1.00) r=0.59m
+[headless_play] t= 12.40s step= 620 trunk_z= 127.3mm grav_b=(-0.04,+0.11,-0.99) r=0.62m
+[headless_play] t= 12.50s step= 625 trunk_z= 132.6mm grav_b=(-0.03,+0.22,-0.97) r=0.65m
+[headless_play] t= 12.60s step= 630 trunk_z= 131.8mm grav_b=(-0.05,+0.38,-0.92) r=0.68m
+[headless_play] t= 12.70s step= 635 trunk_z= 103.3mm grav_b=(-0.10,+0.53,-0.84) r=0.75m
+[headless_play] t= 12.80s step= 640 trunk_z=  83.4mm grav_b=(-0.07,+0.83,-0.56) r=0.79m
+[headless_play] RESET at t= 12.86s step= 643 (env termination, not a recovery)
+[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.06m
+[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.01,-0.02,-1.00) r=0.07m
+[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(+0.07,-0.06,-1.00) r=0.09m
+[headless_play] t= 13.20s step= 660 trunk_z= 124.2mm grav_b=(+0.04,-0.01,-1.00) r=0.12m
+[headless_play] t= 13.30s step= 665 trunk_z= 123.6mm grav_b=(-0.04,+0.05,-1.00) r=0.16m
+[headless_play] t= 13.40s step= 670 trunk_z= 125.8mm grav_b=(-0.05,+0.05,-1.00) r=0.19m
+[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.10,-0.05,-0.99) r=0.22m
+[headless_play] t= 13.60s step= 680 trunk_z= 123.7mm grav_b=(-0.10,-0.04,-0.99) r=0.24m
+[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(-0.12,+0.07,-0.99) r=0.24m
+[headless_play] t= 13.80s step= 690 trunk_z= 126.4mm grav_b=(-0.09,+0.09,-0.99) r=0.25m
+[headless_play] t= 13.90s step= 695 trunk_z= 128.1mm grav_b=(-0.07,+0.13,-0.99) r=0.26m
+[headless_play] t= 14.00s step= 700 trunk_z= 125.8mm grav_b=(-0.05,+0.10,-0.99) r=0.28m
+[headless_play] t= 14.10s step= 705 trunk_z= 122.2mm grav_b=(-0.00,-0.06,-1.00) r=0.30m
+[headless_play] t= 14.20s step= 710 trunk_z= 126.8mm grav_b=(-0.02,-0.08,-1.00) r=0.32m
+[headless_play] t= 14.30s step= 715 trunk_z= 124.3mm grav_b=(-0.03,-0.05,-1.00) r=0.33m
+[headless_play] t= 14.40s step= 720 trunk_z= 124.2mm grav_b=(-0.03,+0.05,-1.00) r=0.35m
+[headless_play] t= 14.50s step= 725 trunk_z= 123.5mm grav_b=(-0.08,+0.05,-1.00) r=0.35m
+[headless_play] t= 14.60s step= 730 trunk_z= 117.5mm grav_b=(-0.05,-0.02,-1.00) r=0.36m
+[headless_play] t= 14.70s step= 735 trunk_z= 122.5mm grav_b=(-0.05,-0.02,-1.00) r=0.37m
+[headless_play] t= 14.80s step= 740 trunk_z= 117.8mm grav_b=(-0.03,+0.02,-1.00) r=0.39m
+[headless_play] t= 14.90s step= 745 trunk_z= 123.2mm grav_b=(-0.03,+0.07,-1.00) r=0.41m
+[headless_play] t= 15.00s step= 750 trunk_z= 125.0mm grav_b=(-0.02,+0.07,-1.00) r=0.43m
+[headless_play] t= 15.10s step= 755 trunk_z= 121.5mm grav_b=(-0.03,+0.05,-1.00) r=0.44m
+[headless_play] t= 15.20s step= 760 trunk_z= 123.4mm grav_b=(-0.03,-0.06,-1.00) r=0.47m
+[headless_play] t= 15.30s step= 765 trunk_z= 121.4mm grav_b=(-0.01,-0.01,-1.00) r=0.49m
+[headless_play] t= 15.40s step= 770 trunk_z= 118.7mm grav_b=(-0.04,+0.05,-1.00) r=0.52m
+[headless_play] t= 15.50s step= 775 trunk_z= 126.5mm grav_b=(-0.02,+0.06,-1.00) r=0.54m
+[headless_play] t= 15.60s step= 780 trunk_z= 124.1mm grav_b=(-0.02,+0.07,-1.00) r=0.56m
+[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(-0.03,-0.06,-1.00) r=0.59m
+[headless_play] t= 15.80s step= 790 trunk_z= 125.1mm grav_b=(-0.05,-0.07,-1.00) r=0.60m
+[headless_play] t= 15.90s step= 795 trunk_z= 120.6mm grav_b=(-0.07,-0.03,-1.00) r=0.62m
+[headless_play] t= 16.00s step= 800 trunk_z= 123.4mm grav_b=(-0.05,+0.06,-1.00) r=0.64m
+[headless_play] t= 16.10s step= 805 trunk_z= 124.1mm grav_b=(-0.06,+0.06,-1.00) r=0.65m
+[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(-0.04,+0.03,-1.00) r=0.66m
+[headless_play] t= 16.30s step= 815 trunk_z= 122.4mm grav_b=(-0.02,-0.04,-1.00) r=0.68m
+[headless_play] t= 16.40s step= 820 trunk_z= 119.8mm grav_b=(-0.03,-0.01,-1.00) r=0.69m
+[headless_play] t= 16.50s step= 825 trunk_z= 120.8mm grav_b=(-0.03,+0.06,-1.00) r=0.71m
+[headless_play] t= 16.60s step= 830 trunk_z= 125.2mm grav_b=(-0.04,+0.07,-1.00) r=0.73m
+[headless_play] t= 16.70s step= 835 trunk_z= 123.6mm grav_b=(-0.04,+0.10,-0.99) r=0.74m
+[headless_play] t= 16.80s step= 840 trunk_z= 119.6mm grav_b=(-0.03,-0.04,-1.00) r=0.76m
+[headless_play] t= 16.90s step= 845 trunk_z= 122.7mm grav_b=(-0.04,-0.04,-1.00) r=0.78m
+[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(-0.05,-0.01,-1.00) r=0.79m
+[headless_play] t= 17.10s step= 855 trunk_z= 124.3mm grav_b=(-0.06,+0.06,-1.00) r=0.81m
+[headless_play] t= 17.20s step= 860 trunk_z= 123.6mm grav_b=(-0.05,+0.06,-1.00) r=0.82m
+[headless_play] t= 17.30s step= 865 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.84m
+[headless_play] t= 17.40s step= 870 trunk_z= 123.5mm grav_b=(-0.06,-0.08,-0.99) r=0.87m
+[headless_play] t= 17.50s step= 875 trunk_z= 120.0mm grav_b=(-0.06,-0.06,-1.00) r=0.89m
+[headless_play] t= 17.60s step= 880 trunk_z= 112.2mm grav_b=(-0.04,+0.03,-1.00) r=0.91m
+[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(-0.02,+0.07,-1.00) r=0.93m
+[headless_play] t= 17.80s step= 890 trunk_z= 113.3mm grav_b=(-0.00,+0.06,-1.00) r=0.96m
+[headless_play] t= 17.90s step= 895 trunk_z= 111.1mm grav_b=(-0.01,-0.05,-1.00) r=0.98m
+[headless_play] t= 18.00s step= 900 trunk_z= 112.2mm grav_b=(+0.01,-0.06,-1.00) r=1.00m
+[headless_play] t= 18.10s step= 905 trunk_z= 109.8mm grav_b=(+0.01,-0.02,-1.00) r=1.02m
+[headless_play] t= 18.20s step= 910 trunk_z= 110.2mm grav_b=(-0.02,+0.07,-1.00) r=1.04m
+[headless_play] t= 18.30s step= 915 trunk_z= 105.0mm grav_b=(+0.03,+0.10,-0.99) r=1.07m
+[headless_play] t= 18.40s step= 920 trunk_z=  96.0mm grav_b=(+0.08,-0.00,-1.00) r=1.09m
+[headless_play] t= 18.50s step= 925 trunk_z=  98.5mm grav_b=(+0.07,-0.04,-1.00) r=1.13m
+[headless_play] t= 18.60s step= 930 trunk_z=  92.8mm grav_b=(+0.03,+0.06,-1.00) r=1.16m
+[headless_play] t= 18.70s step= 935 trunk_z=  97.6mm grav_b=(-0.01,+0.18,-0.98) r=1.19m
+[headless_play] t= 18.80s step= 940 trunk_z=  92.6mm grav_b=(-0.02,+0.20,-0.98) r=1.22m
+[headless_play] t= 18.90s step= 945 trunk_z=  91.8mm grav_b=(+0.02,+0.14,-0.99) r=1.25m
+[headless_play] t= 19.00s step= 950 trunk_z=  83.9mm grav_b=(+0.06,-0.02,-1.00) r=1.28m
+[headless_play] t= 19.10s step= 955 trunk_z=  85.8mm grav_b=(+0.09,-0.01,-1.00) r=1.30m
+[headless_play] t= 19.20s step= 960 trunk_z=  71.5mm grav_b=(-0.05,-0.04,-1.00) r=1.33m
+[headless_play] t= 19.30s step= 965 trunk_z=  75.6mm grav_b=(-0.01,-0.08,-1.00) r=1.37m
+[headless_play] t= 19.40s step= 970 trunk_z=  56.3mm grav_b=(-0.08,-0.17,-0.98) r=1.42m
+[headless_play] t= 19.50s step= 975 trunk_z=  67.9mm grav_b=(-0.02,-0.13,-0.99) r=1.46m
+[headless_play] t= 19.60s step= 980 trunk_z=  68.4mm grav_b=(-0.05,-0.10,-0.99) r=1.49m
+[headless_play] t= 19.70s step= 985 trunk_z=  51.9mm grav_b=(-0.04,+0.05,-1.00) r=1.54m
+[headless_play] t= 19.80s step= 990 trunk_z=  64.7mm grav_b=(-0.09,+0.17,-0.98) r=1.55m
+[headless_play] t= 19.90s step= 995 trunk_z=  63.6mm grav_b=(-0.08,+0.14,-0.99) r=1.58m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t4/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x19c8d880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t4/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t4/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t5.log

@@ -0,0 +1,214 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 125.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.705,-18.137,+0.252)
+[headless_play] t=  0.00s step=   0 trunk_z= 122.9mm grav_b=(-0.00,+0.00,-1.00) r=0.33m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=0.33m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.4mm grav_b=(+0.03,+0.00,-1.00) r=0.33m
+[headless_play] t=  0.30s step=  15 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.33m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.4mm grav_b=(+0.01,+0.00,-1.00) r=0.33m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.33m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.7mm grav_b=(+0.06,-0.02,-1.00) r=0.34m
+[headless_play] t=  0.70s step=  35 trunk_z= 117.0mm grav_b=(+0.14,-0.01,-0.99) r=0.35m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.7mm grav_b=(+0.16,-0.02,-0.99) r=0.35m
+[headless_play] t=  0.90s step=  45 trunk_z= 117.4mm grav_b=(+0.14,-0.02,-0.99) r=0.35m
+[headless_play] t=  1.00s step=  50 trunk_z= 117.0mm grav_b=(+0.05,+0.05,-1.00) r=0.37m
+[headless_play] t=  1.10s step=  55 trunk_z= 114.6mm grav_b=(+0.01,-0.02,-1.00) r=0.36m
+[headless_play] t=  1.20s step=  60 trunk_z= 114.7mm grav_b=(+0.03,-0.02,-1.00) r=0.37m
+[headless_play] t=  1.30s step=  65 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=0.37m
+[headless_play] t=  1.40s step=  70 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  1.50s step=  75 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  1.60s step=  80 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  1.70s step=  85 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  1.80s step=  90 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  1.90s step=  95 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  2.00s step= 100 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t=  2.10s step= 105 trunk_z= 115.4mm grav_b=(+0.10,-0.02,-1.00) r=0.38m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.15,-0.02,-0.99) r=0.39m
+[headless_play] t=  2.30s step= 115 trunk_z= 118.2mm grav_b=(+0.16,-0.04,-0.99) r=0.39m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.2mm grav_b=(+0.08,+0.00,-1.00) r=0.40m
+[headless_play] t=  2.50s step= 125 trunk_z= 116.9mm grav_b=(+0.01,+0.02,-1.00) r=0.41m
+[headless_play] t=  2.60s step= 130 trunk_z= 114.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m
+[headless_play] t=  2.70s step= 135 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) r=0.41m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) r=0.41m
+[headless_play] t=  2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.00s step= 150 trunk_z= 114.1mm grav_b=(+0.04,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.10s step= 155 trunk_z= 114.2mm grav_b=(+0.04,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.20s step= 160 trunk_z= 114.2mm grav_b=(+0.03,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.03,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.40s step= 170 trunk_z= 114.4mm grav_b=(+0.03,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.50s step= 175 trunk_z= 114.3mm grav_b=(+0.06,+0.00,-1.00) r=0.42m
+[headless_play] t=  3.60s step= 180 trunk_z= 114.4mm grav_b=(+0.08,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.70s step= 185 trunk_z= 114.5mm grav_b=(+0.07,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.80s step= 190 trunk_z= 114.6mm grav_b=(+0.02,+0.01,-1.00) r=0.42m
+[headless_play] t=  3.90s step= 195 trunk_z= 114.8mm grav_b=(-0.00,+0.01,-1.00) r=0.41m
+[headless_play] t=  4.00s step= 200 trunk_z= 114.8mm grav_b=(+0.00,+0.01,-1.00) r=0.41m
+[headless_play] t=  4.10s step= 205 trunk_z= 114.5mm grav_b=(+0.03,+0.01,-1.00) r=0.42m
+[headless_play] t=  4.20s step= 210 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.42m
+[headless_play] t=  4.30s step= 215 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.42m
+[headless_play] t=  4.40s step= 220 trunk_z= 114.7mm grav_b=(+0.03,+0.01,-1.00) r=0.42m
+[headless_play] t=  4.50s step= 225 trunk_z= 116.7mm grav_b=(+0.00,+0.05,-1.00) r=0.42m
+[headless_play] t=  4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.03,-0.00,-1.00) r=0.41m
+[headless_play] t=  4.70s step= 235 trunk_z= 114.2mm grav_b=(+0.01,-0.05,-1.00) r=0.40m
+[headless_play] t=  4.80s step= 240 trunk_z= 111.1mm grav_b=(+0.05,-0.00,-1.00) r=0.40m
+[headless_play] t=  4.90s step= 245 trunk_z= 112.7mm grav_b=(+0.07,-0.00,-1.00) r=0.40m
+[headless_play] t=  5.00s step= 250 trunk_z= 113.4mm grav_b=(+0.04,-0.03,-1.00) r=0.39m
+[headless_play] t=  5.10s step= 255 trunk_z= 114.0mm grav_b=(-0.01,-0.02,-1.00) r=0.38m
+[headless_play] t=  5.20s step= 260 trunk_z= 114.2mm grav_b=(+0.00,-0.02,-1.00) r=0.38m
+[headless_play] t=  5.30s step= 265 trunk_z= 114.4mm grav_b=(+0.02,-0.01,-1.00) r=0.39m
+[headless_play] t=  5.40s step= 270 trunk_z= 114.9mm grav_b=(+0.05,-0.02,-1.00) r=0.39m
+[headless_play] t=  5.50s step= 275 trunk_z= 114.6mm grav_b=(+0.03,-0.00,-1.00) r=0.39m
+[headless_play] t=  5.60s step= 280 trunk_z= 114.2mm grav_b=(+0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.07,-0.05,-1.00) r=0.39m
+[headless_play] t=  5.80s step= 290 trunk_z= 118.5mm grav_b=(+0.09,-0.11,-0.99) r=0.39m
+[headless_play] t=  5.90s step= 295 trunk_z= 121.4mm grav_b=(+0.05,-0.05,-1.00) r=0.40m
+[headless_play] t=  6.00s step= 300 trunk_z= 112.8mm grav_b=(-0.01,+0.02,-1.00) r=0.44m
+[headless_play] t=  6.10s step= 305 trunk_z= 118.2mm grav_b=(+0.01,-0.02,-1.00) r=0.45m
+[headless_play] t=  6.20s step= 310 trunk_z= 116.8mm grav_b=(+0.13,-0.16,-0.98) r=0.43m
+[headless_play] t=  6.30s step= 315 trunk_z= 120.8mm grav_b=(+0.08,-0.11,-0.99) r=0.43m
+[headless_play] t=  6.40s step= 320 trunk_z= 119.3mm grav_b=(+0.01,-0.05,-1.00) r=0.45m
+[headless_play] t=  6.50s step= 325 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=0.47m
+[headless_play] t=  6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.03,-0.04,-1.00) r=0.46m
+[headless_play] t=  6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.01,-0.10,-1.00) r=0.44m
+[headless_play] t=  6.80s step= 340 trunk_z= 118.6mm grav_b=(+0.04,-0.04,-1.00) r=0.44m
+[headless_play] t=  6.90s step= 345 trunk_z= 110.7mm grav_b=(+0.02,+0.01,-1.00) r=0.47m
+[headless_play] t=  7.00s step= 350 trunk_z= 120.6mm grav_b=(-0.01,+0.02,-1.00) r=0.49m
+[headless_play] t=  7.10s step= 355 trunk_z= 122.2mm grav_b=(-0.06,+0.01,-1.00) r=0.48m
+[headless_play] t=  7.20s step= 360 trunk_z= 114.6mm grav_b=(-0.03,-0.07,-1.00) r=0.46m
+[headless_play] t=  7.30s step= 365 trunk_z= 119.2mm grav_b=(+0.01,-0.07,-1.00) r=0.45m
+[headless_play] t=  7.40s step= 370 trunk_z= 116.4mm grav_b=(+0.03,-0.06,-1.00) r=0.46m
+[headless_play] t=  7.50s step= 375 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.49m
+[headless_play] t=  7.60s step= 380 trunk_z= 118.4mm grav_b=(+0.03,-0.01,-1.00) r=0.49m
+[headless_play] t=  7.70s step= 385 trunk_z= 112.9mm grav_b=(+0.01,-0.07,-1.00) r=0.47m
+[headless_play] t=  7.80s step= 390 trunk_z= 122.5mm grav_b=(-0.05,-0.09,-1.00) r=0.46m
+[headless_play] t=  7.90s step= 395 trunk_z= 122.6mm grav_b=(-0.05,-0.06,-1.00) r=0.46m
+[headless_play] t=  8.00s step= 400 trunk_z= 114.0mm grav_b=(-0.02,-0.01,-1.00) r=0.47m
+[headless_play] t=  8.10s step= 405 trunk_z= 114.2mm grav_b=(+0.02,-0.04,-1.00) r=0.46m
+[headless_play] t=  8.20s step= 410 trunk_z= 112.6mm grav_b=(+0.07,-0.10,-0.99) r=0.44m
+[headless_play] t=  8.30s step= 415 trunk_z= 118.8mm grav_b=(+0.09,-0.06,-0.99) r=0.44m
+[headless_play] t=  8.40s step= 420 trunk_z= 112.5mm grav_b=(+0.06,-0.02,-1.00) r=0.46m
+[headless_play] t=  8.50s step= 425 trunk_z= 117.4mm grav_b=(+0.05,-0.02,-1.00) r=0.48m
+[headless_play] t=  8.60s step= 430 trunk_z= 114.9mm grav_b=(+0.16,-0.11,-0.98) r=0.47m
+[headless_play] t=  8.70s step= 435 trunk_z= 115.0mm grav_b=(+0.10,-0.05,-0.99) r=0.48m
+[headless_play] t=  8.80s step= 440 trunk_z= 114.1mm grav_b=(+0.01,+0.04,-1.00) r=0.50m
+[headless_play] t=  8.90s step= 445 trunk_z= 119.7mm grav_b=(-0.03,+0.01,-1.00) r=0.51m
+[headless_play] t=  9.00s step= 450 trunk_z= 112.8mm grav_b=(-0.04,-0.07,-1.00) r=0.48m
+[headless_play] t=  9.10s step= 455 trunk_z= 122.7mm grav_b=(+0.02,-0.18,-0.98) r=0.45m
+[headless_play] t=  9.20s step= 460 trunk_z= 123.1mm grav_b=(+0.03,-0.31,-0.95) r=0.44m
+[headless_play] t=  9.30s step= 465 trunk_z= 116.4mm grav_b=(+0.12,-0.30,-0.95) r=0.42m
+[headless_play] t=  9.40s step= 470 trunk_z= 112.1mm grav_b=(+0.06,-0.38,-0.92) r=0.41m
+[headless_play] t=  9.50s step= 475 trunk_z= 113.4mm grav_b=(+0.14,-0.49,-0.86) r=0.40m
+[headless_play] t=  9.60s step= 480 trunk_z= 104.8mm grav_b=(+0.60,-0.50,-0.63) r=0.38m
+[headless_play] RESET at t=  9.68s step= 484 (env termination, not a recovery)
+[headless_play] t=  9.70s step= 485 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.48m
+[headless_play] t=  9.80s step= 490 trunk_z= 114.6mm grav_b=(+0.01,+0.02,-1.00) r=0.48m
+[headless_play] t=  9.90s step= 495 trunk_z= 117.3mm grav_b=(+0.06,+0.05,-1.00) r=0.47m
+[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.06,-0.02,-1.00) r=0.46m
+[headless_play] t= 10.10s step= 505 trunk_z= 122.0mm grav_b=(+0.10,-0.07,-0.99) r=0.45m
+[headless_play] t= 10.20s step= 510 trunk_z= 124.5mm grav_b=(+0.09,-0.04,-1.00) r=0.42m
+[headless_play] t= 10.30s step= 515 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) r=0.38m
+[headless_play] t= 10.40s step= 520 trunk_z= 123.5mm grav_b=(+0.06,+0.02,-1.00) r=0.36m
+[headless_play] t= 10.50s step= 525 trunk_z= 119.3mm grav_b=(+0.08,-0.01,-1.00) r=0.35m
+[headless_play] t= 10.60s step= 530 trunk_z= 122.7mm grav_b=(+0.12,-0.04,-0.99) r=0.34m
+[headless_play] t= 10.70s step= 535 trunk_z= 124.7mm grav_b=(+0.10,-0.03,-1.00) r=0.31m
+[headless_play] t= 10.80s step= 540 trunk_z= 113.0mm grav_b=(+0.03,+0.03,-1.00) r=0.28m
+[headless_play] t= 10.90s step= 545 trunk_z= 119.3mm grav_b=(+0.02,-0.00,-1.00) r=0.28m
+[headless_play] t= 11.00s step= 550 trunk_z= 112.0mm grav_b=(-0.01,-0.08,-1.00) r=0.29m
+[headless_play] t= 11.10s step= 555 trunk_z= 123.2mm grav_b=(-0.03,-0.10,-0.99) r=0.30m
+[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(-0.07,-0.02,-1.00) r=0.28m
+[headless_play] t= 11.30s step= 565 trunk_z= 120.4mm grav_b=(-0.01,+0.03,-1.00) r=0.26m
+[headless_play] t= 11.40s step= 570 trunk_z= 120.2mm grav_b=(+0.04,+0.01,-1.00) r=0.27m
+[headless_play] t= 11.50s step= 575 trunk_z= 115.6mm grav_b=(+0.06,-0.06,-1.00) r=0.29m
+[headless_play] t= 11.60s step= 580 trunk_z= 123.8mm grav_b=(+0.09,-0.07,-0.99) r=0.30m
+[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(+0.07,-0.05,-1.00) r=0.29m
+[headless_play] t= 11.80s step= 590 trunk_z= 118.6mm grav_b=(+0.05,+0.01,-1.00) r=0.29m
+[headless_play] t= 11.90s step= 595 trunk_z= 122.0mm grav_b=(+0.04,+0.00,-1.00) r=0.29m
+[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(+0.03,-0.05,-1.00) r=0.32m
+[headless_play] t= 12.10s step= 605 trunk_z= 123.4mm grav_b=(+0.02,-0.08,-1.00) r=0.34m
+[headless_play] t= 12.20s step= 610 trunk_z= 121.7mm grav_b=(+0.01,-0.06,-1.00) r=0.35m
+[headless_play] t= 12.30s step= 615 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) r=0.36m
+[headless_play] t= 12.40s step= 620 trunk_z= 123.0mm grav_b=(+0.05,+0.04,-1.00) r=0.37m
+[headless_play] t= 12.50s step= 625 trunk_z= 121.7mm grav_b=(+0.06,+0.00,-1.00) r=0.39m
+[headless_play] t= 12.60s step= 630 trunk_z= 119.0mm grav_b=(+0.06,-0.07,-1.00) r=0.43m
+[headless_play] t= 12.70s step= 635 trunk_z= 124.0mm grav_b=(+0.07,-0.06,-1.00) r=0.45m
+[headless_play] t= 12.80s step= 640 trunk_z= 121.2mm grav_b=(+0.04,-0.04,-1.00) r=0.47m
+[headless_play] t= 12.90s step= 645 trunk_z= 123.7mm grav_b=(+0.02,+0.07,-1.00) r=0.49m
+[headless_play] t= 13.00s step= 650 trunk_z= 126.4mm grav_b=(+0.05,+0.09,-1.00) r=0.51m
+[headless_play] t= 13.10s step= 655 trunk_z= 122.9mm grav_b=(+0.05,+0.04,-1.00) r=0.53m
+[headless_play] t= 13.20s step= 660 trunk_z= 119.3mm grav_b=(+0.05,-0.04,-1.00) r=0.57m
+[headless_play] t= 13.30s step= 665 trunk_z= 125.3mm grav_b=(+0.04,-0.06,-1.00) r=0.60m
+[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(-0.00,-0.03,-1.00) r=0.62m
+[headless_play] t= 13.50s step= 675 trunk_z= 121.7mm grav_b=(+0.01,+0.03,-1.00) r=0.63m
+[headless_play] t= 13.60s step= 680 trunk_z= 122.5mm grav_b=(+0.02,+0.03,-1.00) r=0.65m
+[headless_play] t= 13.70s step= 685 trunk_z= 116.5mm grav_b=(+0.01,-0.02,-1.00) r=0.68m
+[headless_play] t= 13.80s step= 690 trunk_z= 122.7mm grav_b=(+0.06,-0.03,-1.00) r=0.71m
+[headless_play] t= 13.90s step= 695 trunk_z= 113.6mm grav_b=(+0.08,+0.06,-0.99) r=0.75m
+[headless_play] t= 14.00s step= 700 trunk_z= 124.9mm grav_b=(+0.13,+0.07,-0.99) r=0.77m
+[headless_play] t= 14.10s step= 705 trunk_z= 124.3mm grav_b=(+0.10,+0.04,-0.99) r=0.80m
+[headless_play] t= 14.20s step= 710 trunk_z= 118.9mm grav_b=(+0.08,-0.05,-1.00) r=0.84m
+[headless_play] t= 14.30s step= 715 trunk_z= 125.1mm grav_b=(+0.09,-0.06,-0.99) r=0.87m
+[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(-0.00,-0.00,-1.00) r=0.90m
+[headless_play] t= 14.50s step= 725 trunk_z= 122.9mm grav_b=(-0.01,+0.04,-1.00) r=0.93m
+[headless_play] t= 14.60s step= 730 trunk_z= 125.4mm grav_b=(+0.02,+0.08,-1.00) r=0.95m
+[headless_play] t= 14.70s step= 735 trunk_z= 126.2mm grav_b=(+0.04,+0.08,-1.00) r=0.97m
+[headless_play] t= 14.80s step= 740 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=1.01m
+[headless_play] t= 14.90s step= 745 trunk_z= 126.5mm grav_b=(+0.05,-0.10,-0.99) r=1.03m
+[headless_play] t= 15.00s step= 750 trunk_z= 125.0mm grav_b=(+0.05,-0.11,-0.99) r=1.07m
+[headless_play] t= 15.10s step= 755 trunk_z= 113.7mm grav_b=(+0.04,-0.06,-1.00) r=1.10m
+[headless_play] t= 15.20s step= 760 trunk_z= 115.4mm grav_b=(+0.07,+0.00,-1.00) r=1.14m
+[headless_play] t= 15.30s step= 765 trunk_z= 111.2mm grav_b=(+0.08,-0.01,-1.00) r=1.16m
+[headless_play] t= 15.40s step= 770 trunk_z= 105.6mm grav_b=(+0.03,-0.12,-0.99) r=1.18m
+[headless_play] t= 15.50s step= 775 trunk_z= 108.5mm grav_b=(+0.06,-0.16,-0.99) r=1.20m
+[headless_play] t= 15.60s step= 780 trunk_z= 101.8mm grav_b=(+0.14,-0.12,-0.98) r=1.22m
+[headless_play] t= 15.70s step= 785 trunk_z=  99.7mm grav_b=(+0.21,-0.02,-0.98) r=1.25m
+[headless_play] t= 15.80s step= 790 trunk_z=  93.2mm grav_b=(+0.07,+0.01,-1.00) r=1.28m
+[headless_play] t= 15.90s step= 795 trunk_z=  91.4mm grav_b=(+0.13,+0.02,-0.99) r=1.31m
+[headless_play] t= 16.00s step= 800 trunk_z=  80.7mm grav_b=(-0.02,-0.01,-1.00) r=1.36m
+[headless_play] t= 16.10s step= 805 trunk_z=  70.3mm grav_b=(+0.07,+0.06,-1.00) r=1.41m
+[headless_play] t= 16.20s step= 810 trunk_z=  78.8mm grav_b=(+0.00,+0.08,-1.00) r=1.44m
+[headless_play] t= 16.30s step= 815 trunk_z=  64.0mm grav_b=(+0.02,+0.03,-1.00) r=1.46m
+[headless_play] t= 16.40s step= 820 trunk_z=  71.4mm grav_b=(+0.05,+0.03,-1.00) r=1.48m
+[headless_play] t= 16.50s step= 825 trunk_z=  55.7mm grav_b=(+0.02,+0.09,-1.00) r=1.51m
+[headless_play] t= 16.60s step= 830 trunk_z=  60.2mm grav_b=(+0.14,-0.02,-0.99) r=1.55m
+[headless_play] t= 16.70s step= 835 trunk_z=  36.1mm grav_b=(+0.02,-0.05,-1.00) r=1.59m
+[headless_play] t= 16.80s step= 840 trunk_z=  49.8mm grav_b=(+0.03,-0.05,-1.00) r=1.62m
+[headless_play] t= 16.90s step= 845 trunk_z=  38.2mm grav_b=(-0.03,+0.03,-1.00) r=1.65m
+[headless_play] t= 17.00s step= 850 trunk_z=  36.6mm grav_b=(+0.02,+0.07,-1.00) r=1.67m
+[headless_play] t= 17.10s step= 855 trunk_z=  36.3mm grav_b=(+0.05,+0.07,-1.00) r=1.68m
+[headless_play] t= 17.20s step= 860 trunk_z=  36.3mm grav_b=(+0.09,+0.07,-0.99) r=1.68m
+[headless_play] t= 17.30s step= 865 trunk_z=  36.3mm grav_b=(+0.10,+0.09,-0.99) r=1.68m
+[headless_play] t= 17.40s step= 870 trunk_z=  36.0mm grav_b=(+0.09,+0.08,-0.99) r=1.68m
+[headless_play] t= 17.50s step= 875 trunk_z=  35.5mm grav_b=(+0.08,+0.09,-0.99) r=1.68m
+[headless_play] t= 17.60s step= 880 trunk_z=  35.3mm grav_b=(+0.08,+0.10,-0.99) r=1.68m
+[headless_play] t= 17.70s step= 885 trunk_z=  35.0mm grav_b=(+0.08,+0.10,-0.99) r=1.68m
+[headless_play] t= 17.80s step= 890 trunk_z=  34.8mm grav_b=(+0.10,+0.11,-0.99) r=1.69m
+[headless_play] t= 17.90s step= 895 trunk_z=  34.8mm grav_b=(+0.11,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.00s step= 900 trunk_z=  34.5mm grav_b=(+0.09,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.10s step= 905 trunk_z=  34.5mm grav_b=(+0.08,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.20s step= 910 trunk_z=  34.4mm grav_b=(+0.08,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.30s step= 915 trunk_z=  34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.40s step= 920 trunk_z=  34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.50s step= 925 trunk_z=  34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.60s step= 930 trunk_z=  34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.70s step= 935 trunk_z=  34.2mm grav_b=(+0.09,+0.11,-0.99) r=1.69m
+[headless_play] t= 18.80s step= 940 trunk_z=  34.1mm grav_b=(+0.12,+0.10,-0.99) r=1.69m
+[headless_play] t= 18.90s step= 945 trunk_z=  34.1mm grav_b=(+0.13,+0.10,-0.99) r=1.69m
+[headless_play] t= 19.00s step= 950 trunk_z=  34.1mm grav_b=(+0.11,+0.10,-0.99) r=1.69m
+[headless_play] t= 19.10s step= 955 trunk_z=  33.7mm grav_b=(+0.09,+0.10,-0.99) r=1.69m
+[headless_play] t= 19.20s step= 960 trunk_z=  33.7mm grav_b=(+0.07,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.30s step= 965 trunk_z=  33.7mm grav_b=(+0.07,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.40s step= 970 trunk_z=  33.6mm grav_b=(+0.08,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.50s step= 975 trunk_z=  33.6mm grav_b=(+0.07,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.60s step= 980 trunk_z=  33.6mm grav_b=(+0.08,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.70s step= 985 trunk_z=  33.8mm grav_b=(+0.03,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.80s step= 990 trunk_z=  33.1mm grav_b=(+0.05,+0.11,-0.99) r=1.69m
+[headless_play] t= 19.90s step= 995 trunk_z=  32.8mm grav_b=(+0.10,+0.11,-0.99) r=1.69m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t5/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x3527c880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t5/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t5/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t6.log

@@ -0,0 +1,215 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.589,-17.906,+0.252)
+[headless_play] t=  0.00s step=   0 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.5mm grav_b=(-0.01,+0.04,-1.00) r=0.41m
+[headless_play] t=  0.20s step=  10 trunk_z= 119.4mm grav_b=(-0.00,+0.08,-1.00) r=0.40m
+[headless_play] t=  0.30s step=  15 trunk_z= 119.3mm grav_b=(+0.01,+0.01,-1.00) r=0.40m
+[headless_play] t=  0.40s step=  20 trunk_z= 114.6mm grav_b=(+0.02,-0.07,-1.00) r=0.42m
+[headless_play] t=  0.50s step=  25 trunk_z= 125.2mm grav_b=(+0.02,-0.10,-0.99) r=0.43m
+[headless_play] t=  0.60s step=  30 trunk_z= 121.9mm grav_b=(+0.08,-0.08,-0.99) r=0.42m
+[headless_play] t=  0.70s step=  35 trunk_z= 113.2mm grav_b=(+0.03,-0.05,-1.00) r=0.39m
+[headless_play] t=  0.80s step=  40 trunk_z= 124.1mm grav_b=(+0.01,-0.07,-1.00) r=0.39m
+[headless_play] t=  0.90s step=  45 trunk_z= 115.7mm grav_b=(+0.00,-0.11,-0.99) r=0.41m
+[headless_play] t=  1.00s step=  50 trunk_z= 125.6mm grav_b=(-0.03,-0.09,-1.00) r=0.42m
+[headless_play] t=  1.10s step=  55 trunk_z= 120.3mm grav_b=(-0.03,-0.08,-1.00) r=0.41m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.40m
+[headless_play] t=  1.30s step=  65 trunk_z= 121.4mm grav_b=(+0.07,-0.04,-1.00) r=0.41m
+[headless_play] t=  1.40s step=  70 trunk_z= 111.3mm grav_b=(+0.03,-0.05,-1.00) r=0.44m
+[headless_play] t=  1.50s step=  75 trunk_z= 123.5mm grav_b=(-0.00,-0.04,-1.00) r=0.46m
+[headless_play] t=  1.60s step=  80 trunk_z= 113.9mm grav_b=(-0.05,-0.02,-1.00) r=0.46m
+[headless_play] t=  1.70s step=  85 trunk_z= 119.6mm grav_b=(-0.05,+0.02,-1.00) r=0.46m
+[headless_play] t=  1.80s step=  90 trunk_z= 120.7mm grav_b=(-0.10,-0.04,-0.99) r=0.46m
+[headless_play] t=  1.90s step=  95 trunk_z= 114.7mm grav_b=(-0.03,-0.10,-0.99) r=0.46m
+[headless_play] t=  2.00s step= 100 trunk_z= 121.8mm grav_b=(+0.00,-0.08,-1.00) r=0.45m
+[headless_play] t=  2.10s step= 105 trunk_z= 114.8mm grav_b=(+0.03,-0.08,-1.00) r=0.43m
+[headless_play] t=  2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.06,+0.01,-1.00) r=0.41m
+[headless_play] t=  2.30s step= 115 trunk_z= 117.4mm grav_b=(+0.03,-0.03,-1.00) r=0.42m
+[headless_play] t=  2.40s step= 120 trunk_z= 120.8mm grav_b=(+0.04,-0.09,-1.00) r=0.45m
+[headless_play] t=  2.50s step= 125 trunk_z= 124.4mm grav_b=(+0.03,-0.08,-1.00) r=0.46m
+[headless_play] t=  2.60s step= 130 trunk_z= 118.2mm grav_b=(+0.02,-0.06,-1.00) r=0.46m
+[headless_play] t=  2.70s step= 135 trunk_z= 118.8mm grav_b=(-0.04,-0.01,-1.00) r=0.44m
+[headless_play] t=  2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.00,+0.01,-1.00) r=0.45m
+[headless_play] t=  2.90s step= 145 trunk_z= 121.3mm grav_b=(+0.03,-0.07,-1.00) r=0.47m
+[headless_play] t=  3.00s step= 150 trunk_z= 127.0mm grav_b=(+0.07,-0.05,-1.00) r=0.49m
+[headless_play] t=  3.10s step= 155 trunk_z= 123.2mm grav_b=(+0.02,-0.04,-1.00) r=0.50m
+[headless_play] t=  3.20s step= 160 trunk_z= 123.5mm grav_b=(+0.02,+0.01,-1.00) r=0.52m
+[headless_play] t=  3.30s step= 165 trunk_z= 127.2mm grav_b=(-0.03,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.40s step= 170 trunk_z= 119.4mm grav_b=(-0.04,+0.00,-1.00) r=0.56m
+[headless_play] t=  3.50s step= 175 trunk_z= 124.8mm grav_b=(-0.01,-0.07,-1.00) r=0.58m
+[headless_play] t=  3.60s step= 180 trunk_z= 125.0mm grav_b=(+0.01,-0.06,-1.00) r=0.59m
+[headless_play] t=  3.70s step= 185 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.59m
+[headless_play] t=  3.80s step= 190 trunk_z= 128.0mm grav_b=(+0.02,+0.04,-1.00) r=0.59m
+[headless_play] t=  3.90s step= 195 trunk_z= 129.8mm grav_b=(+0.03,+0.05,-1.00) r=0.60m
+[headless_play] t=  4.00s step= 200 trunk_z= 121.6mm grav_b=(-0.00,-0.00,-1.00) r=0.62m
+[headless_play] t=  4.10s step= 205 trunk_z= 125.4mm grav_b=(+0.06,-0.06,-1.00) r=0.64m
+[headless_play] t=  4.20s step= 210 trunk_z= 126.6mm grav_b=(+0.04,-0.04,-1.00) r=0.65m
+[headless_play] t=  4.30s step= 215 trunk_z= 121.5mm grav_b=(+0.04,+0.03,-1.00) r=0.65m
+[headless_play] t=  4.40s step= 220 trunk_z= 130.5mm grav_b=(+0.04,+0.01,-1.00) r=0.67m
+[headless_play] t=  4.50s step= 225 trunk_z= 123.4mm grav_b=(-0.01,-0.03,-1.00) r=0.70m
+[headless_play] t=  4.60s step= 230 trunk_z= 121.6mm grav_b=(+0.00,-0.01,-1.00) r=0.73m
+[headless_play] t=  4.70s step= 235 trunk_z= 120.5mm grav_b=(-0.02,+0.02,-1.00) r=0.74m
+[headless_play] t=  4.80s step= 240 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.74m
+[headless_play] t=  4.90s step= 245 trunk_z= 123.8mm grav_b=(-0.01,-0.02,-1.00) r=0.76m
+[headless_play] t=  5.00s step= 250 trunk_z= 117.3mm grav_b=(-0.03,-0.07,-1.00) r=0.78m
+[headless_play] t=  5.10s step= 255 trunk_z= 125.8mm grav_b=(-0.03,-0.06,-1.00) r=0.80m
+[headless_play] t=  5.20s step= 260 trunk_z= 122.8mm grav_b=(+0.02,+0.02,-1.00) r=0.81m
+[headless_play] t=  5.30s step= 265 trunk_z= 125.6mm grav_b=(+0.07,+0.03,-1.00) r=0.83m
+[headless_play] t=  5.40s step= 270 trunk_z= 134.3mm grav_b=(+0.03,+0.05,-1.00) r=0.86m
+[headless_play] t=  5.50s step= 275 trunk_z= 118.2mm grav_b=(-0.04,-0.03,-1.00) r=0.91m
+[headless_play] t=  5.60s step= 280 trunk_z= 121.8mm grav_b=(-0.04,-0.09,-0.99) r=0.94m
+[headless_play] t=  5.70s step= 285 trunk_z= 120.5mm grav_b=(-0.04,-0.06,-1.00) r=0.96m
+[headless_play] t=  5.80s step= 290 trunk_z= 116.2mm grav_b=(-0.02,-0.03,-1.00) r=0.98m
+[headless_play] t=  5.90s step= 295 trunk_z= 126.0mm grav_b=(+0.01,-0.01,-1.00) r=1.00m
+[headless_play] t=  6.00s step= 300 trunk_z= 122.9mm grav_b=(+0.09,-0.08,-0.99) r=1.05m
+[headless_play] t=  6.10s step= 305 trunk_z= 109.0mm grav_b=(+0.12,-0.06,-0.99) r=1.09m
+[headless_play] t=  6.20s step= 310 trunk_z= 118.5mm grav_b=(+0.05,-0.03,-1.00) r=1.14m
+[headless_play] t=  6.30s step= 315 trunk_z=  92.9mm grav_b=(-0.03,-0.03,-1.00) r=1.20m
+[headless_play] t=  6.40s step= 320 trunk_z= 103.4mm grav_b=(+0.03,+0.05,-1.00) r=1.25m
+[headless_play] t=  6.50s step= 325 trunk_z= 106.8mm grav_b=(+0.02,+0.17,-0.99) r=1.31m
+[headless_play] t=  6.60s step= 330 trunk_z=  56.0mm grav_b=(-0.00,+0.14,-0.99) r=1.39m
+[headless_play] t=  6.70s step= 335 trunk_z=  82.2mm grav_b=(+0.23,+0.06,-0.97) r=1.46m
+[headless_play] t=  6.80s step= 340 trunk_z=  54.0mm grav_b=(+0.10,-0.14,-0.99) r=1.54m
+[headless_play] t=  6.90s step= 345 trunk_z=  36.3mm grav_b=(+0.12,-0.24,-0.96) r=1.59m
+[headless_play] t=  7.00s step= 350 trunk_z=  45.9mm grav_b=(+0.17,-0.27,-0.95) r=1.62m
+[headless_play] t=  7.10s step= 355 trunk_z=  29.3mm grav_b=(+0.31,-0.19,-0.93) r=1.66m
+[headless_play] t=  7.20s step= 360 trunk_z=  53.6mm grav_b=(+0.21,+0.03,-0.98) r=1.71m
+[headless_play] t=  7.30s step= 365 trunk_z=  19.2mm grav_b=(+0.02,+0.12,-0.99) r=1.78m
+[headless_play] t=  7.40s step= 370 trunk_z=  22.5mm grav_b=(-0.06,+0.07,-1.00) r=1.82m
+[headless_play] t=  7.50s step= 375 trunk_z=  26.8mm grav_b=(-0.03,-0.01,-1.00) r=1.84m
+[headless_play] t=  7.60s step= 380 trunk_z=  22.8mm grav_b=(+0.01,-0.02,-1.00) r=1.88m
+[headless_play] t=  7.70s step= 385 trunk_z=  24.7mm grav_b=(+0.03,+0.02,-1.00) r=1.92m
+[headless_play] t=  7.80s step= 390 trunk_z=   5.8mm grav_b=(-0.01,+0.12,-0.99) r=1.97m
+[headless_play] t=  7.90s step= 395 trunk_z=  15.8mm grav_b=(+0.01,+0.10,-0.99) r=1.99m
+[headless_play] t=  8.00s step= 400 trunk_z=  15.3mm grav_b=(-0.01,+0.09,-1.00) r=2.01m
+[headless_play] t=  8.10s step= 405 trunk_z=  13.6mm grav_b=(-0.07,-0.06,-1.00) r=2.01m
+[headless_play] t=  8.20s step= 410 trunk_z=  21.1mm grav_b=(-0.04,-0.09,-1.00) r=2.01m
+[headless_play] t=  8.30s step= 415 trunk_z=  20.3mm grav_b=(+0.02,-0.10,-1.00) r=2.01m
+[headless_play] t=  8.40s step= 420 trunk_z=  16.7mm grav_b=(+0.04,-0.06,-1.00) r=2.01m
+[headless_play] t=  8.50s step= 425 trunk_z=  11.7mm grav_b=(-0.02,-0.05,-1.00) r=2.00m
+[headless_play] t=  8.60s step= 430 trunk_z=   3.6mm grav_b=(+0.07,-0.06,-1.00) r=1.96m
+[headless_play] t=  8.70s step= 435 trunk_z=   2.1mm grav_b=(+0.10,-0.02,-0.99) r=1.95m
+[headless_play] t=  8.80s step= 440 trunk_z=  -3.3mm grav_b=(+0.09,+0.01,-1.00) r=1.97m
+[headless_play] t=  8.90s step= 445 trunk_z=   2.0mm grav_b=(+0.11,+0.07,-0.99) r=1.99m
+[headless_play] t=  9.00s step= 450 trunk_z=   4.5mm grav_b=(+0.07,+0.09,-0.99) r=2.01m
+[headless_play] t=  9.10s step= 455 trunk_z=   2.3mm grav_b=(+0.07,+0.02,-1.00) r=2.02m
+[headless_play] t=  9.20s step= 460 trunk_z=   8.3mm grav_b=(+0.09,-0.03,-1.00) r=2.04m
+[headless_play] t=  9.30s step= 465 trunk_z=   2.2mm grav_b=(+0.09,-0.00,-1.00) r=2.07m
+[headless_play] t=  9.40s step= 470 trunk_z=   0.7mm grav_b=(+0.02,+0.14,-0.99) r=2.11m
+[headless_play] t=  9.50s step= 475 trunk_z=   4.3mm grav_b=(+0.00,+0.16,-0.99) r=2.14m
+[headless_play] t=  9.60s step= 480 trunk_z=   2.0mm grav_b=(+0.03,+0.13,-0.99) r=2.15m
+[headless_play] t=  9.70s step= 485 trunk_z=  -1.9mm grav_b=(+0.03,+0.01,-1.00) r=2.17m
+[headless_play] t=  9.80s step= 490 trunk_z=  -1.1mm grav_b=(+0.01,+0.05,-1.00) r=2.19m
+[headless_play] t=  9.90s step= 495 trunk_z=  -9.1mm grav_b=(-0.05,+0.13,-0.99) r=2.20m
+[headless_play] t= 10.00s step= 500 trunk_z=   3.6mm grav_b=(-0.04,+0.15,-0.99) r=2.21m
+[headless_play] t= 10.10s step= 505 trunk_z=   4.3mm grav_b=(-0.05,+0.19,-0.98) r=2.22m
+[headless_play] t= 10.20s step= 510 trunk_z=   1.8mm grav_b=(-0.02,+0.15,-0.99) r=2.24m
+[headless_play] t= 10.30s step= 515 trunk_z=  -6.0mm grav_b=(-0.02,-0.05,-1.00) r=2.28m
+[headless_play] t= 10.40s step= 520 trunk_z=   1.6mm grav_b=(+0.04,-0.08,-1.00) r=2.31m
+[headless_play] t= 10.50s step= 525 trunk_z=  -6.3mm grav_b=(+0.12,-0.11,-0.99) r=2.35m
+[headless_play] t= 10.60s step= 530 trunk_z= -16.6mm grav_b=(+0.16,-0.31,-0.94) r=2.41m
+[headless_play] t= 10.70s step= 535 trunk_z= -31.3mm grav_b=(+0.40,-0.26,-0.88) r=2.47m
+[headless_play] RESET at t= 10.80s step= 540 (env termination, not a recovery)
+[headless_play] t= 10.80s step= 540 trunk_z= 129.4mm grav_b=(+0.00,+0.00,-1.00) r=0.61m
+[headless_play] t= 10.90s step= 545 trunk_z= 114.4mm grav_b=(-0.01,+0.01,-1.00) r=0.61m
+[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.05,+0.06,-1.00) r=0.61m
+[headless_play] t= 11.10s step= 555 trunk_z= 117.0mm grav_b=(+0.07,-0.01,-1.00) r=0.59m
+[headless_play] t= 11.20s step= 560 trunk_z= 121.4mm grav_b=(+0.10,-0.05,-0.99) r=0.55m
+[headless_play] t= 11.30s step= 565 trunk_z= 128.9mm grav_b=(+0.11,-0.09,-0.99) r=0.53m
+[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.06,-0.03,-1.00) r=0.52m
+[headless_play] t= 11.50s step= 575 trunk_z= 131.2mm grav_b=(+0.08,-0.01,-1.00) r=0.50m
+[headless_play] t= 11.60s step= 580 trunk_z= 126.3mm grav_b=(+0.02,-0.03,-1.00) r=0.48m
+[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(+0.02,-0.07,-1.00) r=0.45m
+[headless_play] t= 11.80s step= 590 trunk_z= 123.2mm grav_b=(-0.02,-0.04,-1.00) r=0.45m
+[headless_play] t= 11.90s step= 595 trunk_z= 114.0mm grav_b=(-0.03,+0.01,-1.00) r=0.47m
+[headless_play] t= 12.00s step= 600 trunk_z= 123.0mm grav_b=(+0.02,+0.02,-1.00) r=0.48m
+[headless_play] t= 12.10s step= 605 trunk_z= 121.8mm grav_b=(+0.03,+0.01,-1.00) r=0.46m
+[headless_play] t= 12.20s step= 610 trunk_z= 120.6mm grav_b=(+0.02,-0.07,-1.00) r=0.43m
+[headless_play] t= 12.30s step= 615 trunk_z= 124.9mm grav_b=(+0.02,-0.06,-1.00) r=0.42m
+[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(-0.01,-0.04,-1.00) r=0.44m
+[headless_play] t= 12.50s step= 625 trunk_z= 123.3mm grav_b=(+0.03,+0.04,-1.00) r=0.46m
+[headless_play] t= 12.60s step= 630 trunk_z= 123.7mm grav_b=(+0.06,+0.02,-1.00) r=0.45m
+[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(+0.03,-0.04,-1.00) r=0.43m
+[headless_play] t= 12.80s step= 640 trunk_z= 117.9mm grav_b=(-0.02,+0.04,-1.00) r=0.44m
+[headless_play] t= 12.90s step= 645 trunk_z= 119.1mm grav_b=(+0.03,+0.09,-1.00) r=0.46m
+[headless_play] t= 13.00s step= 650 trunk_z= 121.6mm grav_b=(+0.07,+0.03,-1.00) r=0.47m
+[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(+0.04,-0.03,-1.00) r=0.45m
+[headless_play] t= 13.20s step= 660 trunk_z= 124.7mm grav_b=(+0.04,-0.08,-1.00) r=0.45m
+[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(-0.01,-0.05,-1.00) r=0.47m
+[headless_play] t= 13.40s step= 670 trunk_z= 116.0mm grav_b=(-0.04,+0.04,-1.00) r=0.50m
+[headless_play] t= 13.50s step= 675 trunk_z= 126.4mm grav_b=(+0.02,+0.08,-1.00) r=0.52m
+[headless_play] t= 13.60s step= 680 trunk_z= 130.5mm grav_b=(+0.05,+0.13,-0.99) r=0.54m
+[headless_play] t= 13.70s step= 685 trunk_z= 129.7mm grav_b=(+0.02,+0.01,-1.00) r=0.55m
+[headless_play] t= 13.80s step= 690 trunk_z= 128.1mm grav_b=(-0.03,-0.16,-0.99) r=0.57m
+[headless_play] t= 13.90s step= 695 trunk_z= 130.9mm grav_b=(-0.05,-0.18,-0.98) r=0.58m
+[headless_play] t= 14.00s step= 700 trunk_z= 125.7mm grav_b=(-0.01,-0.12,-0.99) r=0.59m
+[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.04,-0.02,-1.00) r=0.62m
+[headless_play] t= 14.20s step= 710 trunk_z= 124.3mm grav_b=(+0.05,+0.04,-1.00) r=0.64m
+[headless_play] t= 14.30s step= 715 trunk_z= 123.5mm grav_b=(+0.06,+0.01,-1.00) r=0.63m
+[headless_play] t= 14.40s step= 720 trunk_z= 122.9mm grav_b=(-0.01,-0.09,-1.00) r=0.61m
+[headless_play] t= 14.50s step= 725 trunk_z= 127.0mm grav_b=(+0.01,-0.12,-0.99) r=0.59m
+[headless_play] t= 14.60s step= 730 trunk_z= 127.5mm grav_b=(+0.04,-0.10,-0.99) r=0.60m
+[headless_play] t= 14.70s step= 735 trunk_z= 119.4mm grav_b=(+0.02,+0.01,-1.00) r=0.63m
+[headless_play] t= 14.80s step= 740 trunk_z= 129.4mm grav_b=(+0.09,+0.04,-0.99) r=0.64m
+[headless_play] t= 14.90s step= 745 trunk_z= 133.7mm grav_b=(+0.02,+0.04,-1.00) r=0.64m
+[headless_play] t= 15.00s step= 750 trunk_z= 115.8mm grav_b=(-0.03,-0.06,-1.00) r=0.63m
+[headless_play] t= 15.10s step= 755 trunk_z= 126.8mm grav_b=(+0.01,-0.04,-1.00) r=0.63m
+[headless_play] t= 15.20s step= 760 trunk_z= 125.7mm grav_b=(+0.01,-0.03,-1.00) r=0.65m
+[headless_play] t= 15.30s step= 765 trunk_z= 120.0mm grav_b=(-0.05,+0.04,-1.00) r=0.67m
+[headless_play] t= 15.40s step= 770 trunk_z= 123.4mm grav_b=(-0.03,+0.03,-1.00) r=0.68m
+[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.02,-0.02,-1.00) r=0.66m
+[headless_play] t= 15.60s step= 780 trunk_z= 123.6mm grav_b=(+0.03,-0.04,-1.00) r=0.65m
+[headless_play] t= 15.70s step= 785 trunk_z= 125.7mm grav_b=(+0.04,-0.01,-1.00) r=0.67m
+[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(+0.04,+0.03,-1.00) r=0.71m
+[headless_play] t= 15.90s step= 795 trunk_z= 126.6mm grav_b=(+0.04,+0.02,-1.00) r=0.72m
+[headless_play] t= 16.00s step= 800 trunk_z= 114.3mm grav_b=(-0.07,-0.12,-0.99) r=0.70m
+[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(-0.03,-0.17,-0.99) r=0.68m
+[headless_play] t= 16.20s step= 810 trunk_z= 126.1mm grav_b=(-0.01,-0.25,-0.97) r=0.67m
+[headless_play] t= 16.30s step= 815 trunk_z= 125.0mm grav_b=(+0.10,-0.36,-0.93) r=0.67m
+[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(+0.20,-0.61,-0.77) r=0.66m
+[headless_play] t= 16.50s step= 825 trunk_z=  82.1mm grav_b=(+0.37,-0.82,-0.44) r=0.64m
+[headless_play] RESET at t= 16.52s step= 826 (env termination, not a recovery)
+[headless_play] t= 16.60s step= 830 trunk_z= 115.0mm grav_b=(+0.01,-0.02,-1.00) r=0.31m
+[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(+0.06,-0.04,-1.00) r=0.30m
+[headless_play] t= 16.80s step= 840 trunk_z= 114.6mm grav_b=(+0.06,-0.03,-1.00) r=0.30m
+[headless_play] t= 16.90s step= 845 trunk_z= 109.8mm grav_b=(+0.03,+0.00,-1.00) r=0.31m
+[headless_play] t= 17.00s step= 850 trunk_z= 115.3mm grav_b=(+0.01,+0.02,-1.00) r=0.32m
+[headless_play] t= 17.10s step= 855 trunk_z= 112.9mm grav_b=(+0.01,-0.04,-1.00) r=0.30m
+[headless_play] t= 17.20s step= 860 trunk_z= 111.4mm grav_b=(+0.05,-0.10,-0.99) r=0.27m
+[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(+0.05,-0.11,-0.99) r=0.27m
+[headless_play] t= 17.40s step= 870 trunk_z= 114.0mm grav_b=(+0.07,-0.11,-0.99) r=0.27m
+[headless_play] t= 17.50s step= 875 trunk_z= 113.0mm grav_b=(+0.12,-0.03,-0.99) r=0.28m
+[headless_play] t= 17.60s step= 880 trunk_z= 111.4mm grav_b=(+0.13,-0.05,-0.99) r=0.27m
+[headless_play] t= 17.70s step= 885 trunk_z= 113.0mm grav_b=(+0.13,-0.11,-0.99) r=0.26m
+[headless_play] t= 17.80s step= 890 trunk_z= 119.1mm grav_b=(+0.08,-0.12,-0.99) r=0.26m
+[headless_play] t= 17.90s step= 895 trunk_z= 115.4mm grav_b=(+0.04,-0.09,-0.99) r=0.27m
+[headless_play] t= 18.00s step= 900 trunk_z= 116.3mm grav_b=(-0.03,+0.02,-1.00) r=0.29m
+[headless_play] t= 18.10s step= 905 trunk_z= 121.5mm grav_b=(-0.05,-0.00,-1.00) r=0.29m
+[headless_play] t= 18.20s step= 910 trunk_z= 110.5mm grav_b=(-0.02,-0.03,-1.00) r=0.26m
+[headless_play] t= 18.30s step= 915 trunk_z= 116.5mm grav_b=(+0.05,-0.07,-1.00) r=0.26m
+[headless_play] t= 18.40s step= 920 trunk_z= 111.6mm grav_b=(+0.10,-0.09,-0.99) r=0.27m
+[headless_play] t= 18.50s step= 925 trunk_z= 110.0mm grav_b=(+0.11,-0.02,-0.99) r=0.29m
+[headless_play] t= 18.60s step= 930 trunk_z= 111.2mm grav_b=(+0.12,-0.04,-0.99) r=0.30m
+[headless_play] t= 18.70s step= 935 trunk_z= 108.2mm grav_b=(+0.18,-0.13,-0.97) r=0.31m
+[headless_play] t= 18.80s step= 940 trunk_z= 122.2mm grav_b=(+0.13,-0.12,-0.98) r=0.32m
+[headless_play] t= 18.90s step= 945 trunk_z= 117.7mm grav_b=(+0.11,-0.09,-0.99) r=0.34m
+[headless_play] t= 19.00s step= 950 trunk_z= 118.9mm grav_b=(+0.11,-0.01,-0.99) r=0.37m
+[headless_play] t= 19.10s step= 955 trunk_z= 114.9mm grav_b=(+0.04,-0.05,-1.00) r=0.38m
+[headless_play] t= 19.20s step= 960 trunk_z= 118.4mm grav_b=(+0.05,-0.09,-1.00) r=0.39m
+[headless_play] t= 19.30s step= 965 trunk_z= 121.1mm grav_b=(+0.02,-0.08,-1.00) r=0.40m
+[headless_play] t= 19.40s step= 970 trunk_z= 112.8mm grav_b=(-0.01,-0.02,-1.00) r=0.42m
+[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.44m
+[headless_play] t= 19.60s step= 980 trunk_z= 114.1mm grav_b=(+0.06,-0.00,-1.00) r=0.45m
+[headless_play] t= 19.70s step= 985 trunk_z= 108.2mm grav_b=(+0.06,-0.07,-1.00) r=0.46m
+[headless_play] t= 19.80s step= 990 trunk_z= 118.3mm grav_b=(+0.08,-0.09,-0.99) r=0.47m
+[headless_play] t= 19.90s step= 995 trunk_z= 115.7mm grav_b=(+0.08,-0.10,-0.99) r=0.48m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t6/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x242c0880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t6/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t6/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t7.log

@@ -0,0 +1,213 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-10.284,-18.261,+0.248)
+[headless_play] t=  0.00s step=   0 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.39m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.04,-0.00,-1.00) r=0.39m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.9mm grav_b=(-0.04,-0.00,-1.00) r=0.39m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.0mm grav_b=(-0.04,-0.00,-1.00) r=0.39m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.7mm grav_b=(-0.05,-0.02,-1.00) r=0.39m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=0.39m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.3mm grav_b=(-0.05,-0.01,-1.00) r=0.39m
+[headless_play] t=  1.30s step=  65 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.4mm grav_b=(-0.05,-0.01,-1.00) r=0.39m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  1.80s step=  90 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.00s step= 100 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.30s step= 115 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.60s step= 130 trunk_z= 118.3mm grav_b=(-0.03,-0.02,-1.00) r=0.39m
+[headless_play] t=  2.70s step= 135 trunk_z= 118.4mm grav_b=(-0.01,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.80s step= 140 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00) r=0.39m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.02,+0.02,-1.00) r=0.39m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.20s step= 160 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.30s step= 165 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.40s step= 170 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.50s step= 175 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.60s step= 180 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.70s step= 185 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.80s step= 190 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  3.90s step= 195 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  4.00s step= 200 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m
+[headless_play] t=  4.10s step= 205 trunk_z= 116.6mm grav_b=(-0.07,-0.00,-1.00) r=0.40m
+[headless_play] t=  4.20s step= 210 trunk_z= 115.9mm grav_b=(-0.16,-0.01,-0.99) r=0.41m
+[headless_play] t=  4.30s step= 215 trunk_z= 115.6mm grav_b=(-0.16,-0.02,-0.99) r=0.42m
+[headless_play] t=  4.40s step= 220 trunk_z= 114.3mm grav_b=(-0.16,-0.05,-0.99) r=0.42m
+[headless_play] t=  4.50s step= 225 trunk_z= 117.0mm grav_b=(-0.10,-0.05,-0.99) r=0.42m
+[headless_play] t=  4.60s step= 230 trunk_z= 115.2mm grav_b=(-0.09,+0.03,-1.00) r=0.40m
+[headless_play] t=  4.70s step= 235 trunk_z= 119.1mm grav_b=(-0.06,+0.05,-1.00) r=0.39m
+[headless_play] t=  4.80s step= 240 trunk_z= 113.6mm grav_b=(-0.06,-0.09,-0.99) r=0.38m
+[headless_play] t=  4.90s step= 245 trunk_z= 121.0mm grav_b=(+0.02,-0.13,-0.99) r=0.36m
+[headless_play] t=  5.00s step= 250 trunk_z= 122.7mm grav_b=(+0.03,-0.15,-0.99) r=0.34m
+[headless_play] t=  5.10s step= 255 trunk_z= 121.8mm grav_b=(+0.01,-0.07,-1.00) r=0.30m
+[headless_play] t=  5.20s step= 260 trunk_z= 128.0mm grav_b=(+0.05,-0.01,-1.00) r=0.27m
+[headless_play] t=  5.30s step= 265 trunk_z= 128.4mm grav_b=(-0.02,-0.03,-1.00) r=0.25m
+[headless_play] t=  5.40s step= 270 trunk_z= 123.7mm grav_b=(-0.04,-0.10,-0.99) r=0.24m
+[headless_play] t=  5.50s step= 275 trunk_z= 124.5mm grav_b=(-0.07,-0.11,-0.99) r=0.24m
+[headless_play] t=  5.60s step= 280 trunk_z= 118.4mm grav_b=(-0.10,-0.06,-0.99) r=0.21m
+[headless_play] t=  5.70s step= 285 trunk_z= 119.5mm grav_b=(-0.06,+0.04,-1.00) r=0.20m
+[headless_play] t=  5.80s step= 290 trunk_z= 119.9mm grav_b=(-0.05,+0.01,-1.00) r=0.20m
+[headless_play] t=  5.90s step= 295 trunk_z= 114.7mm grav_b=(-0.02,-0.07,-1.00) r=0.23m
+[headless_play] t=  6.00s step= 300 trunk_z= 119.9mm grav_b=(+0.00,-0.06,-1.00) r=0.24m
+[headless_play] t=  6.10s step= 305 trunk_z= 115.9mm grav_b=(+0.01,-0.04,-1.00) r=0.23m
+[headless_play] t=  6.20s step= 310 trunk_z= 119.9mm grav_b=(+0.02,+0.02,-1.00) r=0.22m
+[headless_play] t=  6.30s step= 315 trunk_z= 119.1mm grav_b=(+0.02,-0.02,-1.00) r=0.24m
+[headless_play] t=  6.40s step= 320 trunk_z= 123.4mm grav_b=(+0.03,-0.10,-0.99) r=0.28m
+[headless_play] t=  6.50s step= 325 trunk_z= 126.5mm grav_b=(+0.07,-0.10,-0.99) r=0.32m
+[headless_play] t=  6.60s step= 330 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.36m
+[headless_play] t=  6.70s step= 335 trunk_z= 134.3mm grav_b=(-0.03,-0.02,-1.00) r=0.40m
+[headless_play] t=  6.80s step= 340 trunk_z= 114.3mm grav_b=(-0.03,-0.12,-0.99) r=0.44m
+[headless_play] t=  6.90s step= 345 trunk_z= 122.9mm grav_b=(-0.02,-0.12,-0.99) r=0.46m
+[headless_play] t=  7.00s step= 350 trunk_z= 120.8mm grav_b=(-0.03,-0.09,-1.00) r=0.47m
+[headless_play] t=  7.10s step= 355 trunk_z= 119.7mm grav_b=(-0.08,+0.02,-1.00) r=0.48m
+[headless_play] t=  7.20s step= 360 trunk_z= 125.3mm grav_b=(-0.10,+0.05,-0.99) r=0.47m
+[headless_play] t=  7.30s step= 365 trunk_z= 123.6mm grav_b=(-0.09,+0.02,-1.00) r=0.47m
+[headless_play] t=  7.40s step= 370 trunk_z= 121.1mm grav_b=(-0.05,-0.06,-1.00) r=0.46m
+[headless_play] t=  7.50s step= 375 trunk_z= 121.5mm grav_b=(-0.03,-0.06,-1.00) r=0.47m
+[headless_play] t=  7.60s step= 380 trunk_z= 117.5mm grav_b=(+0.00,-0.04,-1.00) r=0.48m
+[headless_play] t=  7.70s step= 385 trunk_z= 122.2mm grav_b=(+0.00,+0.06,-1.00) r=0.50m
+[headless_play] t=  7.80s step= 390 trunk_z= 123.0mm grav_b=(+0.01,+0.03,-1.00) r=0.52m
+[headless_play] t=  7.90s step= 395 trunk_z= 116.2mm grav_b=(-0.06,-0.06,-1.00) r=0.52m
+[headless_play] t=  8.00s step= 400 trunk_z= 123.4mm grav_b=(-0.14,-0.10,-0.99) r=0.52m
+[headless_play] t=  8.10s step= 405 trunk_z= 121.6mm grav_b=(-0.10,-0.04,-0.99) r=0.51m
+[headless_play] t=  8.20s step= 410 trunk_z= 122.7mm grav_b=(-0.11,-0.04,-0.99) r=0.48m
+[headless_play] t=  8.30s step= 415 trunk_z= 108.6mm grav_b=(-0.01,-0.06,-1.00) r=0.45m
+[headless_play] t=  8.40s step= 420 trunk_z= 113.6mm grav_b=(+0.04,-0.04,-1.00) r=0.44m
+[headless_play] t=  8.50s step= 425 trunk_z= 116.6mm grav_b=(-0.00,-0.07,-1.00) r=0.44m
+[headless_play] t=  8.60s step= 430 trunk_z= 116.4mm grav_b=(-0.02,-0.05,-1.00) r=0.43m
+[headless_play] t=  8.70s step= 435 trunk_z= 121.7mm grav_b=(-0.04,+0.02,-1.00) r=0.44m
+[headless_play] t=  8.80s step= 440 trunk_z= 117.9mm grav_b=(-0.05,-0.04,-1.00) r=0.45m
+[headless_play] t=  8.90s step= 445 trunk_z= 120.8mm grav_b=(-0.02,-0.08,-1.00) r=0.47m
+[headless_play] t=  9.00s step= 450 trunk_z= 121.4mm grav_b=(+0.00,-0.06,-1.00) r=0.49m
+[headless_play] t=  9.10s step= 455 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=0.51m
+[headless_play] t=  9.20s step= 460 trunk_z= 124.0mm grav_b=(-0.01,+0.05,-1.00) r=0.53m
+[headless_play] t=  9.30s step= 465 trunk_z= 119.8mm grav_b=(-0.01,-0.02,-1.00) r=0.55m
+[headless_play] t=  9.40s step= 470 trunk_z= 124.1mm grav_b=(-0.00,-0.15,-0.99) r=0.58m
+[headless_play] t=  9.50s step= 475 trunk_z= 128.2mm grav_b=(-0.01,-0.20,-0.98) r=0.59m
+[headless_play] t=  9.60s step= 480 trunk_z= 124.9mm grav_b=(-0.04,-0.24,-0.97) r=0.61m
+[headless_play] t=  9.70s step= 485 trunk_z= 124.0mm grav_b=(-0.06,-0.27,-0.96) r=0.64m
+[headless_play] t=  9.80s step= 490 trunk_z= 122.2mm grav_b=(+0.05,-0.14,-0.99) r=0.68m
+[headless_play] t=  9.90s step= 495 trunk_z= 142.5mm grav_b=(+0.10,-0.03,-0.99) r=0.71m
+[headless_play] t= 10.00s step= 500 trunk_z= 119.0mm grav_b=(+0.01,-0.01,-1.00) r=0.75m
+[headless_play] t= 10.10s step= 505 trunk_z= 121.8mm grav_b=(+0.08,+0.02,-1.00) r=0.78m
+[headless_play] t= 10.20s step= 510 trunk_z= 136.6mm grav_b=(+0.03,-0.10,-0.99) r=0.81m
+[headless_play] t= 10.30s step= 515 trunk_z= 111.1mm grav_b=(-0.17,+0.01,-0.99) r=0.86m
+[headless_play] t= 10.40s step= 520 trunk_z= 116.6mm grav_b=(-0.12,+0.05,-0.99) r=0.88m
+[headless_play] t= 10.50s step= 525 trunk_z= 121.5mm grav_b=(-0.16,+0.02,-0.99) r=0.88m
+[headless_play] t= 10.60s step= 530 trunk_z= 120.3mm grav_b=(-0.08,-0.06,-1.00) r=0.87m
+[headless_play] t= 10.70s step= 535 trunk_z= 123.1mm grav_b=(-0.02,-0.10,-1.00) r=0.87m
+[headless_play] t= 10.80s step= 540 trunk_z= 115.6mm grav_b=(-0.02,-0.00,-1.00) r=0.90m
+[headless_play] t= 10.90s step= 545 trunk_z= 123.1mm grav_b=(-0.03,+0.08,-1.00) r=0.93m
+[headless_play] t= 11.00s step= 550 trunk_z= 125.9mm grav_b=(-0.03,+0.12,-0.99) r=0.94m
+[headless_play] t= 11.10s step= 555 trunk_z= 125.7mm grav_b=(-0.01,+0.08,-1.00) r=0.95m
+[headless_play] t= 11.20s step= 560 trunk_z= 121.6mm grav_b=(-0.05,-0.09,-0.99) r=0.95m
+[headless_play] t= 11.30s step= 565 trunk_z= 126.5mm grav_b=(-0.01,-0.15,-0.99) r=0.94m
+[headless_play] t= 11.40s step= 570 trunk_z= 128.5mm grav_b=(-0.00,-0.15,-0.99) r=0.96m
+[headless_play] t= 11.50s step= 575 trunk_z= 123.9mm grav_b=(-0.03,-0.07,-1.00) r=0.98m
+[headless_play] t= 11.60s step= 580 trunk_z= 127.8mm grav_b=(-0.00,+0.03,-1.00) r=1.00m
+[headless_play] t= 11.70s step= 585 trunk_z= 128.2mm grav_b=(-0.02,+0.01,-1.00) r=1.01m
+[headless_play] t= 11.80s step= 590 trunk_z= 117.0mm grav_b=(-0.05,-0.08,-1.00) r=1.00m
+[headless_play] t= 11.90s step= 595 trunk_z= 123.8mm grav_b=(-0.04,-0.08,-1.00) r=1.01m
+[headless_play] t= 12.00s step= 600 trunk_z= 119.2mm grav_b=(-0.07,-0.05,-1.00) r=1.03m
+[headless_play] t= 12.10s step= 605 trunk_z= 119.9mm grav_b=(-0.06,+0.04,-1.00) r=1.07m
+[headless_play] t= 12.20s step= 610 trunk_z= 124.8mm grav_b=(-0.02,+0.15,-0.99) r=1.09m
+[headless_play] t= 12.30s step= 615 trunk_z= 126.4mm grav_b=(-0.01,+0.08,-1.00) r=1.11m
+[headless_play] t= 12.40s step= 620 trunk_z= 112.5mm grav_b=(-0.06,+0.03,-1.00) r=1.13m
+[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=1.16m
+[headless_play] t= 12.60s step= 630 trunk_z= 109.5mm grav_b=(-0.04,-0.10,-0.99) r=1.19m
+[headless_play] t= 12.70s step= 635 trunk_z=  95.1mm grav_b=(+0.06,-0.08,-0.99) r=1.23m
+[headless_play] t= 12.80s step= 640 trunk_z=  84.4mm grav_b=(+0.11,-0.22,-0.97) r=1.28m
+[headless_play] t= 12.90s step= 645 trunk_z=  82.4mm grav_b=(+0.23,-0.05,-0.97) r=1.32m
+[headless_play] t= 13.00s step= 650 trunk_z=  85.5mm grav_b=(+0.12,+0.08,-0.99) r=1.39m
+[headless_play] t= 13.10s step= 655 trunk_z=  26.2mm grav_b=(-0.02,+0.26,-0.97) r=1.47m
+[headless_play] t= 13.20s step= 660 trunk_z=  48.2mm grav_b=(-0.02,+0.20,-0.98) r=1.50m
+[headless_play] t= 13.30s step= 665 trunk_z=  58.4mm grav_b=(-0.08,+0.17,-0.98) r=1.52m
+[headless_play] t= 13.40s step= 670 trunk_z=  56.1mm grav_b=(-0.07,+0.10,-0.99) r=1.54m
+[headless_play] t= 13.50s step= 675 trunk_z=  48.8mm grav_b=(-0.07,-0.06,-1.00) r=1.56m
+[headless_play] t= 13.60s step= 680 trunk_z=  54.6mm grav_b=(-0.03,-0.10,-0.99) r=1.57m
+[headless_play] t= 13.70s step= 685 trunk_z=  52.1mm grav_b=(-0.02,-0.08,-1.00) r=1.61m
+[headless_play] t= 13.80s step= 690 trunk_z=  41.3mm grav_b=(+0.03,+0.08,-1.00) r=1.65m
+[headless_play] t= 13.90s step= 695 trunk_z=  42.3mm grav_b=(+0.04,+0.10,-0.99) r=1.68m
+[headless_play] t= 14.00s step= 700 trunk_z=  41.9mm grav_b=(+0.01,+0.04,-1.00) r=1.71m
+[headless_play] t= 14.10s step= 705 trunk_z=  36.4mm grav_b=(-0.01,-0.11,-0.99) r=1.74m
+[headless_play] t= 14.20s step= 710 trunk_z=  36.2mm grav_b=(-0.09,-0.14,-0.99) r=1.75m
+[headless_play] t= 14.30s step= 715 trunk_z=  23.8mm grav_b=(-0.07,-0.04,-1.00) r=1.78m
+[headless_play] t= 14.40s step= 720 trunk_z=  23.1mm grav_b=(-0.00,+0.05,-1.00) r=1.80m
+[headless_play] t= 14.50s step= 725 trunk_z=  19.4mm grav_b=(+0.05,+0.05,-1.00) r=1.82m
+[headless_play] t= 14.60s step= 730 trunk_z=  14.1mm grav_b=(+0.07,-0.04,-1.00) r=1.85m
+[headless_play] t= 14.70s step= 735 trunk_z=  22.3mm grav_b=(+0.08,-0.05,-1.00) r=1.88m
+[headless_play] t= 14.80s step= 740 trunk_z=  11.4mm grav_b=(+0.03,+0.00,-1.00) r=1.92m
+[headless_play] t= 14.90s step= 745 trunk_z=  13.8mm grav_b=(-0.01,+0.09,-1.00) r=1.96m
+[headless_play] t= 15.00s step= 750 trunk_z=   8.6mm grav_b=(+0.05,+0.11,-0.99) r=1.98m
+[headless_play] t= 15.10s step= 755 trunk_z=  12.1mm grav_b=(+0.03,+0.14,-0.99) r=2.00m
+[headless_play] t= 15.20s step= 760 trunk_z=  11.2mm grav_b=(-0.00,+0.03,-1.00) r=2.03m
+[headless_play] t= 15.30s step= 765 trunk_z=  13.6mm grav_b=(+0.01,-0.03,-1.00) r=2.05m
+[headless_play] t= 15.40s step= 770 trunk_z=  -2.5mm grav_b=(-0.03,-0.03,-1.00) r=2.08m
+[headless_play] t= 15.50s step= 775 trunk_z=  -4.6mm grav_b=(-0.05,+0.06,-1.00) r=2.11m
+[headless_play] t= 15.60s step= 780 trunk_z=  -2.7mm grav_b=(-0.02,+0.10,-0.99) r=2.13m
+[headless_play] t= 15.70s step= 785 trunk_z=  -6.5mm grav_b=(+0.03,+0.09,-1.00) r=2.14m
+[headless_play] t= 15.80s step= 790 trunk_z=  -6.3mm grav_b=(+0.05,-0.08,-1.00) r=2.14m
+[headless_play] t= 15.90s step= 795 trunk_z=   0.6mm grav_b=(+0.06,-0.10,-0.99) r=2.15m
+[headless_play] t= 16.00s step= 800 trunk_z=  -3.9mm grav_b=(+0.04,-0.10,-0.99) r=2.17m
+[headless_play] t= 16.10s step= 805 trunk_z= -14.5mm grav_b=(+0.01,+0.02,-1.00) r=2.20m
+[headless_play] t= 16.20s step= 810 trunk_z= -11.5mm grav_b=(+0.04,+0.06,-1.00) r=2.22m
+[headless_play] t= 16.30s step= 815 trunk_z= -14.7mm grav_b=(+0.04,+0.02,-1.00) r=2.21m
+[headless_play] t= 16.40s step= 820 trunk_z=  -8.1mm grav_b=(+0.03,-0.03,-1.00) r=2.21m
+[headless_play] t= 16.50s step= 825 trunk_z= -10.5mm grav_b=(-0.00,+0.01,-1.00) r=2.23m
+[headless_play] t= 16.60s step= 830 trunk_z= -18.4mm grav_b=(-0.03,+0.06,-1.00) r=2.25m
+[headless_play] t= 16.70s step= 835 trunk_z= -16.6mm grav_b=(+0.04,-0.00,-1.00) r=2.25m
+[headless_play] t= 16.80s step= 840 trunk_z= -18.2mm grav_b=(+0.18,-0.07,-0.98) r=2.25m
+[headless_play] t= 16.90s step= 845 trunk_z= -10.3mm grav_b=(+0.03,+0.06,-1.00) r=2.26m
+[headless_play] t= 17.00s step= 850 trunk_z= -21.2mm grav_b=(-0.04,+0.16,-0.99) r=2.28m
+[headless_play] t= 17.10s step= 855 trunk_z=  -6.4mm grav_b=(-0.07,+0.15,-0.99) r=2.30m
+[headless_play] t= 17.20s step= 860 trunk_z=  -3.7mm grav_b=(-0.09,+0.14,-0.99) r=2.30m
+[headless_play] t= 17.30s step= 865 trunk_z=  -6.0mm grav_b=(-0.08,+0.08,-0.99) r=2.29m
+[headless_play] t= 17.40s step= 870 trunk_z= -13.7mm grav_b=(-0.03,+0.05,-1.00) r=2.27m
+[headless_play] t= 17.50s step= 875 trunk_z= -10.6mm grav_b=(+0.09,+0.03,-1.00) r=2.27m
+[headless_play] t= 17.60s step= 880 trunk_z= -16.0mm grav_b=(+0.02,+0.07,-1.00) r=2.29m
+[headless_play] t= 17.70s step= 885 trunk_z=  -6.4mm grav_b=(-0.02,+0.09,-1.00) r=2.30m
+[headless_play] t= 17.80s step= 890 trunk_z=  -8.8mm grav_b=(-0.03,+0.06,-1.00) r=2.30m
+[headless_play] t= 17.90s step= 895 trunk_z=  -9.5mm grav_b=(-0.04,+0.02,-1.00) r=2.29m
+[headless_play] t= 18.00s step= 900 trunk_z=  -1.9mm grav_b=(-0.06,-0.03,-1.00) r=2.28m
+[headless_play] t= 18.10s step= 905 trunk_z=  -8.1mm grav_b=(-0.03,+0.08,-1.00) r=2.30m
+[headless_play] t= 18.20s step= 910 trunk_z=  -6.7mm grav_b=(-0.03,+0.10,-0.99) r=2.31m
+[headless_play] t= 18.30s step= 915 trunk_z=  -7.8mm grav_b=(-0.03,+0.07,-1.00) r=2.31m
+[headless_play] t= 18.40s step= 920 trunk_z=  -8.4mm grav_b=(+0.00,+0.06,-1.00) r=2.30m
+[headless_play] t= 18.50s step= 925 trunk_z=  -8.6mm grav_b=(+0.03,+0.07,-1.00) r=2.30m
+[headless_play] t= 18.60s step= 930 trunk_z=  -8.7mm grav_b=(+0.03,+0.08,-1.00) r=2.30m
+[headless_play] t= 18.70s step= 935 trunk_z=  -8.5mm grav_b=(+0.05,+0.09,-0.99) r=2.31m
+[headless_play] t= 18.80s step= 940 trunk_z=  -6.2mm grav_b=(+0.07,+0.07,-1.00) r=2.31m
+[headless_play] t= 18.90s step= 945 trunk_z=  -4.6mm grav_b=(+0.05,+0.03,-1.00) r=2.31m
+[headless_play] t= 19.00s step= 950 trunk_z=  -9.9mm grav_b=(-0.00,+0.10,-0.99) r=2.32m
+[headless_play] t= 19.10s step= 955 trunk_z=  -7.8mm grav_b=(-0.02,+0.07,-1.00) r=2.33m
+[headless_play] t= 19.20s step= 960 trunk_z=  -8.4mm grav_b=(-0.02,+0.05,-1.00) r=2.33m
+[headless_play] t= 19.30s step= 965 trunk_z=  -8.4mm grav_b=(-0.01,+0.05,-1.00) r=2.33m
+[headless_play] t= 19.40s step= 970 trunk_z=  -6.0mm grav_b=(+0.04,+0.12,-0.99) r=2.34m
+[headless_play] t= 19.50s step= 975 trunk_z=  -0.7mm grav_b=(+0.05,+0.14,-0.99) r=2.35m
+[headless_play] t= 19.60s step= 980 trunk_z=  -1.8mm grav_b=(+0.00,+0.07,-1.00) r=2.35m
+[headless_play] t= 19.70s step= 985 trunk_z=  -1.9mm grav_b=(-0.04,+0.05,-1.00) r=2.36m
+[headless_play] t= 19.80s step= 990 trunk_z= -12.9mm grav_b=(-0.07,+0.08,-0.99) r=2.37m
+[headless_play] t= 19.90s step= 995 trunk_z= -11.3mm grav_b=(-0.10,+0.07,-0.99) r=2.39m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t7/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x1d368880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t7/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t7/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t8.log

@@ -0,0 +1,215 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 128.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.797,-17.547,+0.255)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.9mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.5mm grav_b=(+0.04,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.30s step=  15 trunk_z= 115.5mm grav_b=(+0.04,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.5mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.80s step=  40 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t=  0.90s step=  45 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t=  1.00s step=  50 trunk_z= 117.1mm grav_b=(+0.14,+0.01,-0.99) r=0.50m
+[headless_play] t=  1.10s step=  55 trunk_z= 121.2mm grav_b=(+0.06,-0.02,-1.00) r=0.50m
+[headless_play] t=  1.20s step=  60 trunk_z= 120.5mm grav_b=(-0.02,-0.07,-1.00) r=0.50m
+[headless_play] t=  1.30s step=  65 trunk_z= 114.6mm grav_b=(-0.04,+0.00,-1.00) r=0.52m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.6mm grav_b=(+0.01,+0.07,-1.00) r=0.54m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.5mm grav_b=(+0.02,+0.04,-1.00) r=0.53m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.53m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.1mm grav_b=(+0.01,+0.05,-1.00) r=0.53m
+[headless_play] t=  1.80s step=  90 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.53m
+[headless_play] t=  1.90s step=  95 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.05,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.10s step= 105 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.30s step= 115 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.40s step= 120 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.50s step= 125 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.60s step= 130 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.52m
+[headless_play] t=  2.80s step= 140 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.53m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.53m
+[headless_play] t=  3.00s step= 150 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.20s step= 160 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.30s step= 165 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.40s step= 170 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.50s step= 175 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.60s step= 180 trunk_z= 117.2mm grav_b=(-0.00,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.70s step= 185 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.80s step= 190 trunk_z= 116.9mm grav_b=(+0.06,+0.02,-1.00) r=0.53m
+[headless_play] t=  3.90s step= 195 trunk_z= 117.5mm grav_b=(+0.08,+0.02,-1.00) r=0.53m
+[headless_play] t=  4.00s step= 200 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.53m
+[headless_play] t=  4.10s step= 205 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.53m
+[headless_play] t=  4.20s step= 210 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m
+[headless_play] t=  4.30s step= 215 trunk_z= 117.2mm grav_b=(+0.04,+0.02,-1.00) r=0.53m
+[headless_play] t=  4.40s step= 220 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m
+[headless_play] t=  4.50s step= 225 trunk_z= 120.9mm grav_b=(+0.05,+0.07,-1.00) r=0.54m
+[headless_play] t=  4.60s step= 230 trunk_z= 121.0mm grav_b=(+0.07,+0.09,-0.99) r=0.54m
+[headless_play] t=  4.70s step= 235 trunk_z= 118.5mm grav_b=(+0.08,+0.03,-1.00) r=0.53m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.7mm grav_b=(+0.07,+0.01,-1.00) r=0.53m
+[headless_play] t=  4.90s step= 245 trunk_z= 118.1mm grav_b=(+0.06,+0.01,-1.00) r=0.53m
+[headless_play] t=  5.00s step= 250 trunk_z= 117.9mm grav_b=(+0.04,+0.02,-1.00) r=0.53m
+[headless_play] t=  5.10s step= 255 trunk_z= 117.8mm grav_b=(+0.03,+0.02,-1.00) r=0.53m
+[headless_play] t=  5.20s step= 260 trunk_z= 117.8mm grav_b=(+0.03,+0.02,-1.00) r=0.53m
+[headless_play] t=  5.30s step= 265 trunk_z= 117.7mm grav_b=(+0.03,+0.02,-1.00) r=0.53m
+[headless_play] t=  5.40s step= 270 trunk_z= 119.0mm grav_b=(+0.13,+0.01,-0.99) r=0.53m
+[headless_play] t=  5.50s step= 275 trunk_z= 123.1mm grav_b=(+0.19,+0.02,-0.98) r=0.53m
+[headless_play] t=  5.60s step= 280 trunk_z= 107.9mm grav_b=(+0.01,-0.05,-1.00) r=0.53m
+[headless_play] t=  5.70s step= 285 trunk_z= 122.2mm grav_b=(+0.00,-0.10,-0.99) r=0.52m
+[headless_play] t=  5.80s step= 290 trunk_z= 125.3mm grav_b=(-0.01,-0.12,-0.99) r=0.52m
+[headless_play] t=  5.90s step= 295 trunk_z= 121.1mm grav_b=(+0.02,-0.03,-1.00) r=0.53m
+[headless_play] t=  6.00s step= 300 trunk_z= 117.9mm grav_b=(+0.06,-0.01,-1.00) r=0.53m
+[headless_play] t=  6.10s step= 305 trunk_z= 119.6mm grav_b=(+0.05,+0.02,-1.00) r=0.53m
+[headless_play] t=  6.20s step= 310 trunk_z= 117.3mm grav_b=(+0.05,+0.01,-1.00) r=0.53m
+[headless_play] t=  6.30s step= 315 trunk_z= 117.3mm grav_b=(+0.00,+0.01,-1.00) r=0.53m
+[headless_play] t=  6.40s step= 320 trunk_z= 117.6mm grav_b=(-0.08,+0.03,-1.00) r=0.54m
+[headless_play] t=  6.50s step= 325 trunk_z= 112.9mm grav_b=(-0.01,-0.05,-1.00) r=0.52m
+[headless_play] t=  6.60s step= 330 trunk_z= 117.9mm grav_b=(+0.02,-0.03,-1.00) r=0.51m
+[headless_play] t=  6.70s step= 335 trunk_z= 118.1mm grav_b=(+0.02,-0.01,-1.00) r=0.53m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.5mm grav_b=(-0.00,-0.00,-1.00) r=0.53m
+[headless_play] t=  6.90s step= 345 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.53m
+[headless_play] t=  7.20s step= 360 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.52m
+[headless_play] t=  7.30s step= 365 trunk_z= 120.4mm grav_b=(+0.08,+0.03,-1.00) r=0.52m
+[headless_play] t=  7.40s step= 370 trunk_z= 117.4mm grav_b=(+0.06,-0.05,-1.00) r=0.51m
+[headless_play] t=  7.50s step= 375 trunk_z= 125.8mm grav_b=(+0.02,-0.02,-1.00) r=0.51m
+[headless_play] t=  7.60s step= 380 trunk_z= 112.8mm grav_b=(+0.00,-0.02,-1.00) r=0.54m
+[headless_play] t=  7.70s step= 385 trunk_z= 120.9mm grav_b=(+0.01,+0.04,-1.00) r=0.55m
+[headless_play] t=  7.80s step= 390 trunk_z= 120.1mm grav_b=(+0.01,+0.01,-1.00) r=0.55m
+[headless_play] t=  7.90s step= 395 trunk_z= 117.5mm grav_b=(-0.01,-0.03,-1.00) r=0.52m
+[headless_play] t=  8.00s step= 400 trunk_z= 123.2mm grav_b=(-0.02,-0.04,-1.00) r=0.52m
+[headless_play] t=  8.10s step= 405 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) r=0.55m
+[headless_play] t=  8.20s step= 410 trunk_z= 121.9mm grav_b=(+0.06,+0.06,-1.00) r=0.57m
+[headless_play] t=  8.30s step= 415 trunk_z= 122.6mm grav_b=(+0.03,+0.04,-1.00) r=0.57m
+[headless_play] t=  8.40s step= 420 trunk_z= 119.6mm grav_b=(+0.08,-0.07,-0.99) r=0.56m
+[headless_play] t=  8.50s step= 425 trunk_z= 123.7mm grav_b=(+0.08,-0.05,-1.00) r=0.56m
+[headless_play] t=  8.60s step= 430 trunk_z= 115.8mm grav_b=(+0.00,-0.06,-1.00) r=0.58m
+[headless_play] t=  8.70s step= 435 trunk_z= 119.3mm grav_b=(+0.04,+0.05,-1.00) r=0.60m
+[headless_play] t=  8.80s step= 440 trunk_z= 117.3mm grav_b=(+0.04,+0.01,-1.00) r=0.59m
+[headless_play] t=  8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.10,-0.04,-0.99) r=0.58m
+[headless_play] t=  9.00s step= 450 trunk_z= 120.7mm grav_b=(+0.13,+0.00,-0.99) r=0.59m
+[headless_play] t=  9.10s step= 455 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.62m
+[headless_play] t=  9.20s step= 460 trunk_z= 121.1mm grav_b=(+0.01,-0.05,-1.00) r=0.62m
+[headless_play] t=  9.30s step= 465 trunk_z= 118.7mm grav_b=(+0.01,-0.08,-1.00) r=0.62m
+[headless_play] t=  9.40s step= 470 trunk_z= 121.0mm grav_b=(+0.03,-0.05,-1.00) r=0.63m
+[headless_play] t=  9.50s step= 475 trunk_z= 113.0mm grav_b=(+0.02,-0.03,-1.00) r=0.66m
+[headless_play] t=  9.60s step= 480 trunk_z= 119.2mm grav_b=(+0.05,+0.05,-1.00) r=0.68m
+[headless_play] t=  9.70s step= 485 trunk_z= 122.2mm grav_b=(+0.03,+0.06,-1.00) r=0.69m
+[headless_play] t=  9.80s step= 490 trunk_z= 114.9mm grav_b=(+0.03,-0.00,-1.00) r=0.68m
+[headless_play] t=  9.90s step= 495 trunk_z= 122.6mm grav_b=(+0.04,-0.05,-1.00) r=0.67m
+[headless_play] t= 10.00s step= 500 trunk_z= 119.8mm grav_b=(+0.05,-0.07,-1.00) r=0.68m
+[headless_play] t= 10.10s step= 505 trunk_z= 111.8mm grav_b=(+0.04,+0.01,-1.00) r=0.72m
+[headless_play] t= 10.20s step= 510 trunk_z= 120.8mm grav_b=(+0.05,+0.02,-1.00) r=0.74m
+[headless_play] t= 10.30s step= 515 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.74m
+[headless_play] t= 10.40s step= 520 trunk_z= 120.3mm grav_b=(-0.00,-0.03,-1.00) r=0.73m
+[headless_play] t= 10.50s step= 525 trunk_z= 120.3mm grav_b=(+0.01,-0.03,-1.00) r=0.74m
+[headless_play] t= 10.60s step= 530 trunk_z= 110.8mm grav_b=(+0.03,+0.03,-1.00) r=0.76m
+[headless_play] t= 10.70s step= 535 trunk_z= 117.5mm grav_b=(+0.06,+0.04,-1.00) r=0.78m
+[headless_play] t= 10.80s step= 540 trunk_z= 113.1mm grav_b=(+0.07,-0.02,-1.00) r=0.78m
+[headless_play] t= 10.90s step= 545 trunk_z= 120.2mm grav_b=(+0.05,-0.06,-1.00) r=0.78m
+[headless_play] t= 11.00s step= 550 trunk_z= 119.9mm grav_b=(+0.07,-0.07,-0.99) r=0.79m
+[headless_play] t= 11.10s step= 555 trunk_z= 113.7mm grav_b=(+0.07,-0.04,-1.00) r=0.83m
+[headless_play] t= 11.20s step= 560 trunk_z= 123.8mm grav_b=(+0.20,+0.06,-0.98) r=0.88m
+[headless_play] t= 11.30s step= 565 trunk_z= 120.1mm grav_b=(+0.08,+0.02,-1.00) r=0.92m
+[headless_play] t= 11.40s step= 570 trunk_z= 130.4mm grav_b=(+0.02,-0.02,-1.00) r=0.96m
+[headless_play] t= 11.50s step= 575 trunk_z= 117.6mm grav_b=(-0.04,+0.00,-1.00) r=1.00m
+[headless_play] t= 11.60s step= 580 trunk_z= 115.2mm grav_b=(+0.01,+0.02,-1.00) r=1.03m
+[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=1.03m
+[headless_play] t= 11.80s step= 590 trunk_z= 114.3mm grav_b=(+0.03,-0.03,-1.00) r=1.02m
+[headless_play] t= 11.90s step= 595 trunk_z= 119.1mm grav_b=(+0.03,-0.03,-1.00) r=1.02m
+[headless_play] t= 12.00s step= 600 trunk_z= 112.0mm grav_b=(+0.01,+0.00,-1.00) r=1.05m
+[headless_play] t= 12.10s step= 605 trunk_z= 113.6mm grav_b=(+0.06,+0.09,-0.99) r=1.08m
+[headless_play] t= 12.20s step= 610 trunk_z= 115.0mm grav_b=(+0.08,+0.11,-0.99) r=1.09m
+[headless_play] t= 12.30s step= 615 trunk_z= 111.7mm grav_b=(+0.11,+0.06,-0.99) r=1.09m
+[headless_play] t= 12.40s step= 620 trunk_z= 122.0mm grav_b=(+0.10,+0.10,-0.99) r=1.09m
+[headless_play] t= 12.50s step= 625 trunk_z= 118.7mm grav_b=(+0.04,+0.05,-1.00) r=1.12m
+[headless_play] t= 12.60s step= 630 trunk_z= 105.9mm grav_b=(+0.08,+0.06,-1.00) r=1.17m
+[headless_play] t= 12.70s step= 635 trunk_z= 110.4mm grav_b=(+0.05,+0.05,-1.00) r=1.19m
+[headless_play] t= 12.80s step= 640 trunk_z=  87.0mm grav_b=(-0.04,-0.03,-1.00) r=1.22m
+[headless_play] t= 12.90s step= 645 trunk_z=  98.3mm grav_b=(-0.08,+0.01,-1.00) r=1.25m
+[headless_play] t= 13.00s step= 650 trunk_z=  81.4mm grav_b=(-0.01,+0.08,-1.00) r=1.29m
+[headless_play] t= 13.10s step= 655 trunk_z=  90.0mm grav_b=(+0.06,+0.19,-0.98) r=1.32m
+[headless_play] t= 13.20s step= 660 trunk_z=  92.6mm grav_b=(+0.04,+0.20,-0.98) r=1.35m
+[headless_play] t= 13.30s step= 665 trunk_z=  81.1mm grav_b=(-0.03,+0.20,-0.98) r=1.39m
+[headless_play] t= 13.40s step= 670 trunk_z=  82.2mm grav_b=(+0.20,+0.16,-0.97) r=1.44m
+[headless_play] t= 13.50s step= 675 trunk_z=  63.3mm grav_b=(+0.09,-0.13,-0.99) r=1.50m
+[headless_play] t= 13.60s step= 680 trunk_z=  61.0mm grav_b=(+0.19,-0.25,-0.95) r=1.55m
+[headless_play] t= 13.70s step= 685 trunk_z=  45.0mm grav_b=(+0.47,+0.04,-0.88) r=1.62m
+[headless_play] t= 13.80s step= 690 trunk_z=  41.4mm grav_b=(+0.46,+0.28,-0.85) r=1.71m
+[headless_play] t= 13.90s step= 695 trunk_z=  -2.1mm grav_b=(+0.75,+0.04,-0.67) r=1.76m
+[headless_play] t= 14.00s step= 700 trunk_z=   8.0mm grav_b=(+0.86,-0.34,-0.38) r=1.77m
+[headless_play] RESET at t= 14.06s step= 703 (env termination, not a recovery)
+[headless_play] t= 14.10s step= 705 trunk_z= 115.0mm grav_b=(-0.01,+0.00,-1.00) r=0.51m
+[headless_play] t= 14.20s step= 710 trunk_z= 115.4mm grav_b=(+0.03,-0.03,-1.00) r=0.52m
+[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(+0.10,-0.06,-0.99) r=0.52m
+[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.10,-0.01,-0.99) r=0.55m
+[headless_play] t= 14.50s step= 725 trunk_z= 117.2mm grav_b=(+0.08,+0.05,-1.00) r=0.59m
+[headless_play] t= 14.60s step= 730 trunk_z= 123.2mm grav_b=(+0.06,+0.04,-1.00) r=0.62m
+[headless_play] t= 14.70s step= 735 trunk_z= 113.7mm grav_b=(+0.06,-0.02,-1.00) r=0.65m
+[headless_play] t= 14.80s step= 740 trunk_z= 123.6mm grav_b=(+0.07,-0.05,-1.00) r=0.68m
+[headless_play] t= 14.90s step= 745 trunk_z= 121.3mm grav_b=(+0.06,-0.08,-1.00) r=0.70m
+[headless_play] t= 15.00s step= 750 trunk_z= 119.7mm grav_b=(+0.03,-0.05,-1.00) r=0.72m
+[headless_play] t= 15.10s step= 755 trunk_z= 120.6mm grav_b=(+0.06,+0.04,-1.00) r=0.74m
+[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(+0.08,+0.00,-1.00) r=0.76m
+[headless_play] t= 15.30s step= 765 trunk_z= 120.3mm grav_b=(+0.06,-0.04,-1.00) r=0.78m
+[headless_play] t= 15.40s step= 770 trunk_z= 121.2mm grav_b=(+0.05,-0.05,-1.00) r=0.80m
+[headless_play] t= 15.50s step= 775 trunk_z= 112.0mm grav_b=(+0.03,-0.00,-1.00) r=0.83m
+[headless_play] t= 15.60s step= 780 trunk_z= 121.6mm grav_b=(+0.06,+0.04,-1.00) r=0.85m
+[headless_play] t= 15.70s step= 785 trunk_z= 119.4mm grav_b=(+0.06,+0.04,-1.00) r=0.87m
+[headless_play] t= 15.80s step= 790 trunk_z= 115.1mm grav_b=(+0.05,-0.03,-1.00) r=0.89m
+[headless_play] t= 15.90s step= 795 trunk_z= 117.3mm grav_b=(+0.07,+0.03,-1.00) r=0.91m
+[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(+0.11,+0.11,-0.99) r=0.93m
+[headless_play] t= 16.10s step= 805 trunk_z= 120.6mm grav_b=(+0.11,+0.05,-0.99) r=0.97m
+[headless_play] t= 16.20s step= 810 trunk_z= 102.6mm grav_b=(+0.09,-0.09,-0.99) r=1.02m
+[headless_play] t= 16.30s step= 815 trunk_z= 116.6mm grav_b=(+0.10,-0.11,-0.99) r=1.07m
+[headless_play] t= 16.40s step= 820 trunk_z= 105.4mm grav_b=(+0.05,-0.12,-0.99) r=1.12m
+[headless_play] t= 16.50s step= 825 trunk_z=  94.6mm grav_b=(+0.05,+0.05,-1.00) r=1.17m
+[headless_play] t= 16.60s step= 830 trunk_z=  97.8mm grav_b=(+0.07,+0.10,-0.99) r=1.21m
+[headless_play] t= 16.70s step= 835 trunk_z=  86.1mm grav_b=(+0.04,-0.02,-1.00) r=1.26m
+[headless_play] t= 16.80s step= 840 trunk_z=  85.9mm grav_b=(+0.02,-0.14,-0.99) r=1.31m
+[headless_play] t= 16.90s step= 845 trunk_z=  75.9mm grav_b=(+0.02,-0.12,-0.99) r=1.35m
+[headless_play] t= 17.00s step= 850 trunk_z=  65.1mm grav_b=(+0.07,+0.04,-1.00) r=1.39m
+[headless_play] t= 17.10s step= 855 trunk_z=  69.7mm grav_b=(+0.13,+0.12,-0.98) r=1.42m
+[headless_play] t= 17.20s step= 860 trunk_z=  73.3mm grav_b=(+0.08,+0.08,-0.99) r=1.45m
+[headless_play] t= 17.30s step= 865 trunk_z=  62.7mm grav_b=(+0.03,-0.14,-0.99) r=1.51m
+[headless_play] t= 17.40s step= 870 trunk_z=  53.6mm grav_b=(-0.01,-0.12,-0.99) r=1.58m
+[headless_play] t= 17.50s step= 875 trunk_z=  41.0mm grav_b=(+0.06,+0.04,-1.00) r=1.65m
+[headless_play] t= 17.60s step= 880 trunk_z=  48.4mm grav_b=(+0.17,+0.27,-0.95) r=1.72m
+[headless_play] t= 17.70s step= 885 trunk_z=  15.5mm grav_b=(+0.17,+0.39,-0.91) r=1.81m
+[headless_play] t= 17.80s step= 890 trunk_z=   3.4mm grav_b=(+0.21,+0.69,-0.69) r=1.89m
+[headless_play] t= 17.90s step= 895 trunk_z= -62.0mm grav_b=(+0.54,+0.74,-0.39) r=1.99m
+[headless_play] RESET at t= 17.92s step= 896 (env termination, not a recovery)
+[headless_play] t= 18.00s step= 900 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) r=0.35m
+[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.35m
+[headless_play] t= 18.20s step= 910 trunk_z= 116.1mm grav_b=(+0.05,+0.01,-1.00) r=0.35m
+[headless_play] t= 18.30s step= 915 trunk_z= 116.3mm grav_b=(+0.06,+0.01,-1.00) r=0.35m
+[headless_play] t= 18.40s step= 920 trunk_z= 117.9mm grav_b=(+0.11,+0.00,-0.99) r=0.35m
+[headless_play] t= 18.50s step= 925 trunk_z= 119.3mm grav_b=(+0.16,+0.00,-0.99) r=0.35m
+[headless_play] t= 18.60s step= 930 trunk_z= 119.2mm grav_b=(+0.13,-0.03,-0.99) r=0.34m
+[headless_play] t= 18.70s step= 935 trunk_z= 125.3mm grav_b=(+0.08,-0.05,-1.00) r=0.33m
+[headless_play] t= 18.80s step= 940 trunk_z= 114.5mm grav_b=(+0.02,-0.00,-1.00) r=0.35m
+[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(+0.00,-0.03,-1.00) r=0.35m
+[headless_play] t= 19.00s step= 950 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.35m
+[headless_play] t= 19.10s step= 955 trunk_z= 118.1mm grav_b=(+0.07,-0.02,-1.00) r=0.35m
+[headless_play] t= 19.20s step= 960 trunk_z= 120.3mm grav_b=(+0.13,-0.02,-0.99) r=0.34m
+[headless_play] t= 19.30s step= 965 trunk_z= 121.7mm grav_b=(+0.18,-0.02,-0.98) r=0.33m
+[headless_play] t= 19.40s step= 970 trunk_z= 114.1mm grav_b=(+0.04,-0.07,-1.00) r=0.31m
+[headless_play] t= 19.50s step= 975 trunk_z= 123.1mm grav_b=(+0.01,-0.09,-1.00) r=0.30m
+[headless_play] t= 19.60s step= 980 trunk_z= 118.1mm grav_b=(+0.00,-0.06,-1.00) r=0.30m
+[headless_play] t= 19.70s step= 985 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.30m
+[headless_play] t= 19.80s step= 990 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=0.30m
+[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(+0.04,+0.00,-1.00) r=0.30m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t8/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x2c8f0880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t8/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t8/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t9.log

@@ -0,0 +1,215 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.673,-18.107,+0.252)
+[headless_play] t=  0.00s step=   0 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.34m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.7mm grav_b=(-0.05,+0.03,-1.00) r=0.34m
+[headless_play] t=  0.20s step=  10 trunk_z= 120.6mm grav_b=(-0.08,+0.07,-0.99) r=0.33m
+[headless_play] t=  0.30s step=  15 trunk_z= 120.4mm grav_b=(-0.08,+0.01,-1.00) r=0.31m
+[headless_play] t=  0.40s step=  20 trunk_z= 117.1mm grav_b=(-0.06,-0.07,-1.00) r=0.29m
+[headless_play] t=  0.50s step=  25 trunk_z= 124.9mm grav_b=(-0.08,-0.08,-0.99) r=0.28m
+[headless_play] t=  0.60s step=  30 trunk_z= 120.7mm grav_b=(-0.08,-0.05,-1.00) r=0.26m
+[headless_play] t=  0.70s step=  35 trunk_z= 119.8mm grav_b=(-0.09,+0.04,-1.00) r=0.25m
+[headless_play] t=  0.80s step=  40 trunk_z= 125.3mm grav_b=(-0.10,+0.04,-0.99) r=0.24m
+[headless_play] t=  0.90s step=  45 trunk_z= 121.7mm grav_b=(-0.10,+0.06,-0.99) r=0.22m
+[headless_play] t=  1.00s step=  50 trunk_z= 120.8mm grav_b=(-0.10,-0.04,-0.99) r=0.22m
+[headless_play] t=  1.10s step=  55 trunk_z= 122.5mm grav_b=(-0.13,-0.02,-0.99) r=0.22m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.0mm grav_b=(-0.13,+0.01,-0.99) r=0.23m
+[headless_play] t=  1.30s step=  65 trunk_z= 122.7mm grav_b=(-0.10,+0.01,-0.99) r=0.23m
+[headless_play] t=  1.40s step=  70 trunk_z= 119.7mm grav_b=(-0.10,+0.00,-1.00) r=0.22m
+[headless_play] t=  1.50s step=  75 trunk_z= 122.0mm grav_b=(-0.07,-0.07,-1.00) r=0.21m
+[headless_play] t=  1.60s step=  80 trunk_z= 123.5mm grav_b=(-0.09,-0.04,-0.99) r=0.20m
+[headless_play] t=  1.70s step=  85 trunk_z= 114.3mm grav_b=(-0.10,+0.01,-0.99) r=0.19m
+[headless_play] t=  1.80s step=  90 trunk_z= 124.5mm grav_b=(-0.09,+0.06,-0.99) r=0.18m
+[headless_play] t=  1.90s step=  95 trunk_z= 127.8mm grav_b=(-0.09,+0.09,-0.99) r=0.17m
+[headless_play] t=  2.00s step= 100 trunk_z= 124.5mm grav_b=(-0.10,+0.09,-0.99) r=0.16m
+[headless_play] t=  2.10s step= 105 trunk_z= 121.8mm grav_b=(-0.11,-0.04,-0.99) r=0.14m
+[headless_play] t=  2.20s step= 110 trunk_z= 124.8mm grav_b=(-0.11,-0.05,-0.99) r=0.13m
+[headless_play] t=  2.30s step= 115 trunk_z= 118.9mm grav_b=(-0.11,-0.02,-0.99) r=0.14m
+[headless_play] t=  2.40s step= 120 trunk_z= 122.7mm grav_b=(-0.11,+0.02,-0.99) r=0.14m
+[headless_play] t=  2.50s step= 125 trunk_z= 124.0mm grav_b=(-0.09,+0.04,-0.99) r=0.13m
+[headless_play] t=  2.60s step= 130 trunk_z= 121.4mm grav_b=(-0.09,+0.02,-1.00) r=0.12m
+[headless_play] t=  2.70s step= 135 trunk_z= 124.2mm grav_b=(-0.08,-0.07,-0.99) r=0.10m
+[headless_play] t=  2.80s step= 140 trunk_z= 123.1mm grav_b=(-0.09,-0.04,-0.99) r=0.10m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.0mm grav_b=(-0.07,+0.01,-1.00) r=0.12m
+[headless_play] t=  3.00s step= 150 trunk_z= 124.7mm grav_b=(-0.08,+0.04,-1.00) r=0.13m
+[headless_play] t=  3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.08,+0.04,-1.00) r=0.12m
+[headless_play] t=  3.20s step= 160 trunk_z= 119.4mm grav_b=(-0.10,-0.06,-0.99) r=0.11m
+[headless_play] t=  3.30s step= 165 trunk_z= 123.5mm grav_b=(-0.16,-0.02,-0.99) r=0.10m
+[headless_play] t=  3.40s step= 170 trunk_z= 115.2mm grav_b=(-0.14,-0.01,-0.99) r=0.12m
+[headless_play] t=  3.50s step= 175 trunk_z= 122.1mm grav_b=(-0.11,-0.01,-0.99) r=0.12m
+[headless_play] t=  3.60s step= 180 trunk_z= 118.5mm grav_b=(-0.10,-0.01,-1.00) r=0.10m
+[headless_play] t=  3.70s step= 185 trunk_z= 122.0mm grav_b=(-0.09,-0.07,-0.99) r=0.08m
+[headless_play] t=  3.80s step= 190 trunk_z= 118.4mm grav_b=(-0.15,+0.00,-0.99) r=0.10m
+[headless_play] t=  3.90s step= 195 trunk_z= 109.6mm grav_b=(-0.02,+0.08,-1.00) r=0.14m
+[headless_play] t=  4.00s step= 200 trunk_z= 121.4mm grav_b=(-0.08,+0.09,-0.99) r=0.15m
+[headless_play] t=  4.10s step= 205 trunk_z= 119.4mm grav_b=(-0.07,+0.10,-0.99) r=0.16m
+[headless_play] t=  4.20s step= 210 trunk_z= 114.2mm grav_b=(-0.04,+0.04,-1.00) r=0.15m
+[headless_play] t=  4.30s step= 215 trunk_z= 119.5mm grav_b=(-0.04,-0.03,-1.00) r=0.15m
+[headless_play] t=  4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.16m
+[headless_play] t=  4.50s step= 225 trunk_z= 109.9mm grav_b=(-0.04,+0.05,-1.00) r=0.19m
+[headless_play] t=  4.60s step= 230 trunk_z= 120.5mm grav_b=(-0.09,+0.10,-0.99) r=0.20m
+[headless_play] t=  4.70s step= 235 trunk_z= 121.1mm grav_b=(-0.10,+0.11,-0.99) r=0.22m
+[headless_play] t=  4.80s step= 240 trunk_z= 116.1mm grav_b=(-0.08,+0.12,-0.99) r=0.22m
+[headless_play] t=  4.90s step= 245 trunk_z= 114.4mm grav_b=(-0.05,-0.00,-1.00) r=0.22m
+[headless_play] t=  5.00s step= 250 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.22m
+[headless_play] t=  5.10s step= 255 trunk_z= 110.5mm grav_b=(-0.00,+0.01,-1.00) r=0.24m
+[headless_play] t=  5.20s step= 260 trunk_z= 115.2mm grav_b=(-0.02,+0.13,-0.99) r=0.27m
+[headless_play] t=  5.30s step= 265 trunk_z= 119.5mm grav_b=(-0.01,+0.19,-0.98) r=0.29m
+[headless_play] t=  5.40s step= 270 trunk_z= 124.3mm grav_b=(-0.06,+0.21,-0.97) r=0.30m
+[headless_play] t=  5.50s step= 275 trunk_z= 131.8mm grav_b=(-0.10,+0.12,-0.99) r=0.31m
+[headless_play] t=  5.60s step= 280 trunk_z= 126.0mm grav_b=(-0.04,+0.13,-0.99) r=0.33m
+[headless_play] t=  5.70s step= 285 trunk_z= 119.1mm grav_b=(-0.06,+0.14,-0.99) r=0.35m
+[headless_play] t=  5.80s step= 290 trunk_z= 128.8mm grav_b=(-0.01,+0.13,-0.99) r=0.37m
+[headless_play] t=  5.90s step= 295 trunk_z= 126.8mm grav_b=(-0.04,+0.04,-1.00) r=0.41m
+[headless_play] t=  6.00s step= 300 trunk_z= 123.0mm grav_b=(-0.02,-0.09,-1.00) r=0.44m
+[headless_play] t=  6.10s step= 305 trunk_z= 123.6mm grav_b=(-0.09,-0.08,-0.99) r=0.46m
+[headless_play] t=  6.20s step= 310 trunk_z= 115.8mm grav_b=(-0.11,-0.02,-0.99) r=0.47m
+[headless_play] t=  6.30s step= 315 trunk_z= 119.2mm grav_b=(-0.09,-0.01,-1.00) r=0.48m
+[headless_play] t=  6.40s step= 320 trunk_z= 115.0mm grav_b=(-0.09,-0.02,-1.00) r=0.49m
+[headless_play] t=  6.50s step= 325 trunk_z= 119.2mm grav_b=(-0.14,-0.05,-0.99) r=0.50m
+[headless_play] t=  6.60s step= 330 trunk_z= 119.9mm grav_b=(-0.12,-0.02,-0.99) r=0.47m
+[headless_play] t=  6.70s step= 335 trunk_z= 104.5mm grav_b=(-0.11,+0.01,-0.99) r=0.44m
+[headless_play] t=  6.80s step= 340 trunk_z= 114.1mm grav_b=(-0.05,+0.01,-1.00) r=0.43m
+[headless_play] t=  6.90s step= 345 trunk_z= 102.6mm grav_b=(+0.02,-0.05,-1.00) r=0.44m
+[headless_play] t=  7.00s step= 350 trunk_z= 112.5mm grav_b=(-0.02,-0.04,-1.00) r=0.46m
+[headless_play] t=  7.10s step= 355 trunk_z= 112.2mm grav_b=(-0.06,-0.06,-1.00) r=0.45m
+[headless_play] t=  7.20s step= 360 trunk_z= 108.8mm grav_b=(-0.07,+0.01,-1.00) r=0.44m
+[headless_play] t=  7.30s step= 365 trunk_z= 125.5mm grav_b=(-0.20,+0.10,-0.98) r=0.41m
+[headless_play] t=  7.40s step= 370 trunk_z= 127.0mm grav_b=(-0.15,+0.13,-0.98) r=0.37m
+[headless_play] t=  7.50s step= 375 trunk_z= 101.9mm grav_b=(-0.23,+0.17,-0.96) r=0.32m
+[headless_play] t=  7.60s step= 380 trunk_z= 105.9mm grav_b=(-0.21,+0.22,-0.95) r=0.27m
+[headless_play] t=  7.70s step= 385 trunk_z=  69.1mm grav_b=(+0.06,+0.23,-0.97) r=0.20m
+[headless_play] t=  7.80s step= 390 trunk_z= 109.0mm grav_b=(+0.05,+0.27,-0.96) r=0.19m
+[headless_play] t=  7.90s step= 395 trunk_z= 131.4mm grav_b=(-0.17,+0.09,-0.98) r=0.19m
+[headless_play] t=  8.00s step= 400 trunk_z= 127.2mm grav_b=(-0.01,+0.08,-1.00) r=0.22m
+[headless_play] t=  8.10s step= 405 trunk_z= 116.9mm grav_b=(-0.10,+0.04,-0.99) r=0.26m
+[headless_play] t=  8.20s step= 410 trunk_z= 123.4mm grav_b=(-0.12,-0.03,-0.99) r=0.29m
+[headless_play] t=  8.30s step= 415 trunk_z= 110.5mm grav_b=(-0.11,-0.11,-0.99) r=0.35m
+[headless_play] t=  8.40s step= 420 trunk_z= 124.6mm grav_b=(-0.08,-0.12,-0.99) r=0.38m
+[headless_play] t=  8.50s step= 425 trunk_z= 126.2mm grav_b=(-0.12,-0.11,-0.99) r=0.39m
+[headless_play] t=  8.60s step= 430 trunk_z= 122.2mm grav_b=(-0.15,-0.06,-0.99) r=0.38m
+[headless_play] t=  8.70s step= 435 trunk_z= 119.7mm grav_b=(-0.14,-0.01,-0.99) r=0.37m
+[headless_play] t=  8.80s step= 440 trunk_z= 121.6mm grav_b=(-0.11,-0.03,-0.99) r=0.36m
+[headless_play] t=  8.90s step= 445 trunk_z= 101.5mm grav_b=(-0.01,-0.00,-1.00) r=0.35m
+[headless_play] t=  9.00s step= 450 trunk_z= 104.7mm grav_b=(-0.01,+0.06,-1.00) r=0.35m
+[headless_play] t=  9.10s step= 455 trunk_z= 108.5mm grav_b=(-0.12,+0.03,-0.99) r=0.33m
+[headless_play] t=  9.20s step= 460 trunk_z= 119.3mm grav_b=(-0.14,-0.02,-0.99) r=0.32m
+[headless_play] t=  9.30s step= 465 trunk_z= 103.7mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  9.40s step= 470 trunk_z= 102.4mm grav_b=(+0.03,+0.01,-1.00) r=0.31m
+[headless_play] t=  9.50s step= 475 trunk_z= 102.9mm grav_b=(+0.01,+0.02,-1.00) r=0.30m
+[headless_play] t=  9.60s step= 480 trunk_z= 113.6mm grav_b=(-0.05,+0.04,-1.00) r=0.29m
+[headless_play] t=  9.70s step= 485 trunk_z= 114.9mm grav_b=(-0.06,+0.03,-1.00) r=0.31m
+[headless_play] t=  9.80s step= 490 trunk_z= 108.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m
+[headless_play] t=  9.90s step= 495 trunk_z= 119.7mm grav_b=(-0.05,-0.06,-1.00) r=0.35m
+[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(-0.07,-0.02,-1.00) r=0.36m
+[headless_play] t= 10.10s step= 505 trunk_z= 112.3mm grav_b=(-0.08,+0.05,-1.00) r=0.36m
+[headless_play] t= 10.20s step= 510 trunk_z= 121.0mm grav_b=(-0.11,+0.06,-0.99) r=0.36m
+[headless_play] t= 10.30s step= 515 trunk_z= 118.9mm grav_b=(-0.11,+0.04,-0.99) r=0.37m
+[headless_play] t= 10.40s step= 520 trunk_z= 115.1mm grav_b=(-0.10,-0.04,-0.99) r=0.39m
+[headless_play] t= 10.50s step= 525 trunk_z= 120.0mm grav_b=(-0.06,-0.05,-1.00) r=0.41m
+[headless_play] t= 10.60s step= 530 trunk_z= 112.7mm grav_b=(-0.06,-0.03,-1.00) r=0.41m
+[headless_play] t= 10.70s step= 535 trunk_z= 118.8mm grav_b=(-0.16,+0.11,-0.98) r=0.40m
+[headless_play] t= 10.80s step= 540 trunk_z= 129.7mm grav_b=(-0.17,+0.17,-0.97) r=0.38m
+[headless_play] t= 10.90s step= 545 trunk_z= 126.9mm grav_b=(-0.17,+0.22,-0.96) r=0.34m
+[headless_play] t= 11.00s step= 550 trunk_z= 125.6mm grav_b=(-0.26,+0.21,-0.94) r=0.28m
+[headless_play] t= 11.10s step= 555 trunk_z=  72.5mm grav_b=(-0.25,+0.03,-0.97) r=0.19m
+[headless_play] t= 11.20s step= 560 trunk_z=  87.5mm grav_b=(-0.05,+0.02,-1.00) r=0.18m
+[headless_play] t= 11.30s step= 565 trunk_z= 105.6mm grav_b=(-0.04,-0.03,-1.00) r=0.19m
+[headless_play] t= 11.40s step= 570 trunk_z= 118.6mm grav_b=(-0.07,-0.06,-1.00) r=0.20m
+[headless_play] t= 11.50s step= 575 trunk_z= 118.5mm grav_b=(-0.09,+0.06,-0.99) r=0.20m
+[headless_play] t= 11.60s step= 580 trunk_z= 124.9mm grav_b=(-0.10,+0.10,-0.99) r=0.21m
+[headless_play] t= 11.70s step= 585 trunk_z= 126.9mm grav_b=(-0.09,+0.09,-0.99) r=0.22m
+[headless_play] t= 11.80s step= 590 trunk_z= 122.3mm grav_b=(-0.08,+0.07,-0.99) r=0.24m
+[headless_play] t= 11.90s step= 595 trunk_z= 124.6mm grav_b=(-0.07,-0.08,-0.99) r=0.26m
+[headless_play] t= 12.00s step= 600 trunk_z= 125.3mm grav_b=(-0.10,-0.06,-0.99) r=0.27m
+[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(-0.13,+0.00,-0.99) r=0.26m
+[headless_play] t= 12.20s step= 610 trunk_z= 125.6mm grav_b=(-0.08,+0.04,-1.00) r=0.26m
+[headless_play] t= 12.30s step= 615 trunk_z= 125.7mm grav_b=(-0.07,+0.07,-1.00) r=0.28m
+[headless_play] t= 12.40s step= 620 trunk_z= 120.4mm grav_b=(-0.07,+0.02,-1.00) r=0.30m
+[headless_play] t= 12.50s step= 625 trunk_z= 125.4mm grav_b=(-0.08,-0.08,-0.99) r=0.32m
+[headless_play] t= 12.60s step= 630 trunk_z= 124.7mm grav_b=(-0.08,-0.06,-0.99) r=0.34m
+[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.08,-0.00,-1.00) r=0.34m
+[headless_play] t= 12.80s step= 640 trunk_z= 124.6mm grav_b=(-0.10,+0.04,-0.99) r=0.34m
+[headless_play] t= 12.90s step= 645 trunk_z= 122.0mm grav_b=(-0.10,+0.02,-0.99) r=0.36m
+[headless_play] t= 13.00s step= 650 trunk_z= 119.6mm grav_b=(-0.08,-0.04,-1.00) r=0.39m
+[headless_play] t= 13.10s step= 655 trunk_z= 124.0mm grav_b=(-0.04,-0.02,-1.00) r=0.41m
+[headless_play] t= 13.20s step= 660 trunk_z= 120.5mm grav_b=(-0.05,+0.02,-1.00) r=0.42m
+[headless_play] t= 13.30s step= 665 trunk_z= 124.9mm grav_b=(-0.09,+0.08,-0.99) r=0.43m
+[headless_play] t= 13.40s step= 670 trunk_z= 126.1mm grav_b=(-0.10,+0.07,-0.99) r=0.45m
+[headless_play] t= 13.50s step= 675 trunk_z= 120.4mm grav_b=(-0.13,+0.02,-0.99) r=0.48m
+[headless_play] t= 13.60s step= 680 trunk_z= 123.6mm grav_b=(-0.12,-0.05,-0.99) r=0.50m
+[headless_play] t= 13.70s step= 685 trunk_z= 122.1mm grav_b=(-0.14,-0.03,-0.99) r=0.49m
+[headless_play] t= 13.80s step= 690 trunk_z= 120.9mm grav_b=(-0.15,+0.03,-0.99) r=0.47m
+[headless_play] t= 13.90s step= 695 trunk_z= 125.0mm grav_b=(-0.14,+0.04,-0.99) r=0.46m
+[headless_play] t= 14.00s step= 700 trunk_z= 119.1mm grav_b=(-0.15,+0.01,-0.99) r=0.48m
+[headless_play] t= 14.10s step= 705 trunk_z= 122.6mm grav_b=(-0.11,-0.04,-0.99) r=0.50m
+[headless_play] t= 14.20s step= 710 trunk_z= 121.5mm grav_b=(-0.13,-0.00,-0.99) r=0.50m
+[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(-0.13,+0.04,-0.99) r=0.50m
+[headless_play] t= 14.40s step= 720 trunk_z= 124.7mm grav_b=(-0.10,+0.03,-0.99) r=0.50m
+[headless_play] t= 14.50s step= 725 trunk_z= 120.4mm grav_b=(-0.11,+0.02,-0.99) r=0.53m
+[headless_play] t= 14.60s step= 730 trunk_z= 122.4mm grav_b=(-0.07,-0.04,-1.00) r=0.56m
+[headless_play] t= 14.70s step= 735 trunk_z= 127.5mm grav_b=(+0.01,-0.06,-1.00) r=0.59m
+[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(-0.10,+0.03,-0.99) r=0.63m
+[headless_play] t= 14.90s step= 745 trunk_z= 126.2mm grav_b=(-0.12,+0.14,-0.98) r=0.65m
+[headless_play] t= 15.00s step= 750 trunk_z= 130.1mm grav_b=(-0.14,+0.15,-0.98) r=0.66m
+[headless_play] t= 15.10s step= 755 trunk_z= 126.1mm grav_b=(-0.13,+0.08,-0.99) r=0.67m
+[headless_play] t= 15.20s step= 760 trunk_z= 121.0mm grav_b=(-0.11,+0.00,-0.99) r=0.68m
+[headless_play] t= 15.30s step= 765 trunk_z= 122.4mm grav_b=(-0.09,-0.03,-1.00) r=0.69m
+[headless_play] t= 15.40s step= 770 trunk_z= 122.2mm grav_b=(-0.08,-0.06,-0.99) r=0.69m
+[headless_play] t= 15.50s step= 775 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.69m
+[headless_play] t= 15.60s step= 780 trunk_z= 125.4mm grav_b=(-0.10,+0.05,-0.99) r=0.70m
+[headless_play] t= 15.70s step= 785 trunk_z= 119.0mm grav_b=(-0.09,+0.02,-1.00) r=0.72m
+[headless_play] t= 15.80s step= 790 trunk_z= 122.1mm grav_b=(-0.03,-0.03,-1.00) r=0.75m
+[headless_play] t= 15.90s step= 795 trunk_z= 122.1mm grav_b=(-0.05,+0.00,-1.00) r=0.76m
+[headless_play] t= 16.00s step= 800 trunk_z= 117.7mm grav_b=(-0.06,+0.08,-1.00) r=0.78m
+[headless_play] t= 16.10s step= 805 trunk_z= 123.6mm grav_b=(-0.11,+0.03,-0.99) r=0.79m
+[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(-0.10,-0.04,-0.99) r=0.81m
+[headless_play] t= 16.30s step= 815 trunk_z= 121.1mm grav_b=(-0.10,-0.03,-0.99) r=0.82m
+[headless_play] t= 16.40s step= 820 trunk_z= 120.0mm grav_b=(-0.13,-0.02,-0.99) r=0.81m
+[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(-0.12,-0.00,-0.99) r=0.80m
+[headless_play] t= 16.60s step= 830 trunk_z= 120.4mm grav_b=(-0.09,+0.01,-1.00) r=0.79m
+[headless_play] t= 16.70s step= 835 trunk_z= 120.6mm grav_b=(-0.06,+0.02,-1.00) r=0.78m
+[headless_play] t= 16.80s step= 840 trunk_z= 113.3mm grav_b=(-0.06,-0.01,-1.00) r=0.77m
+[headless_play] t= 16.90s step= 845 trunk_z= 116.2mm grav_b=(-0.08,-0.01,-1.00) r=0.77m
+[headless_play] t= 17.00s step= 850 trunk_z= 109.2mm grav_b=(-0.07,+0.00,-1.00) r=0.76m
+[headless_play] t= 17.10s step= 855 trunk_z= 121.4mm grav_b=(-0.09,+0.12,-0.99) r=0.76m
+[headless_play] t= 17.20s step= 860 trunk_z= 122.7mm grav_b=(-0.07,+0.25,-0.97) r=0.76m
+[headless_play] t= 17.30s step= 865 trunk_z= 118.9mm grav_b=(-0.09,+0.41,-0.91) r=0.75m
+[headless_play] t= 17.40s step= 870 trunk_z= 107.1mm grav_b=(-0.08,+0.65,-0.75) r=0.73m
+[headless_play] t= 17.50s step= 875 trunk_z=  49.9mm grav_b=(+0.08,+0.90,-0.42) r=0.71m
+[headless_play] RESET at t= 17.52s step= 876 (env termination, not a recovery)
+[headless_play] t= 17.60s step= 880 trunk_z= 114.9mm grav_b=(-0.02,+0.01,-1.00) r=0.13m
+[headless_play] t= 17.70s step= 885 trunk_z= 113.7mm grav_b=(-0.02,+0.05,-1.00) r=0.14m
+[headless_play] t= 17.80s step= 890 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.14m
+[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(-0.07,-0.07,-1.00) r=0.14m
+[headless_play] t= 18.00s step= 900 trunk_z= 122.3mm grav_b=(-0.06,-0.05,-1.00) r=0.15m
+[headless_play] t= 18.10s step= 905 trunk_z= 112.4mm grav_b=(+0.05,+0.08,-1.00) r=0.20m
+[headless_play] t= 18.20s step= 910 trunk_z= 130.3mm grav_b=(+0.06,+0.10,-0.99) r=0.24m
+[headless_play] t= 18.30s step= 915 trunk_z= 128.7mm grav_b=(-0.05,+0.07,-1.00) r=0.29m
+[headless_play] t= 18.40s step= 920 trunk_z= 124.5mm grav_b=(-0.04,-0.01,-1.00) r=0.32m
+[headless_play] t= 18.50s step= 925 trunk_z= 121.7mm grav_b=(-0.14,+0.01,-0.99) r=0.34m
+[headless_play] t= 18.60s step= 930 trunk_z= 119.3mm grav_b=(-0.13,+0.06,-0.99) r=0.36m
+[headless_play] t= 18.70s step= 935 trunk_z= 119.8mm grav_b=(-0.15,+0.01,-0.99) r=0.36m
+[headless_play] t= 18.80s step= 940 trunk_z= 115.8mm grav_b=(-0.09,-0.04,-0.99) r=0.36m
+[headless_play] t= 18.90s step= 945 trunk_z= 119.1mm grav_b=(-0.05,-0.03,-1.00) r=0.37m
+[headless_play] t= 19.00s step= 950 trunk_z= 112.9mm grav_b=(-0.07,+0.07,-1.00) r=0.37m
+[headless_play] t= 19.10s step= 955 trunk_z= 125.2mm grav_b=(-0.11,+0.16,-0.98) r=0.38m
+[headless_play] t= 19.20s step= 960 trunk_z= 128.2mm grav_b=(-0.16,+0.22,-0.96) r=0.38m
+[headless_play] t= 19.30s step= 965 trunk_z= 126.2mm grav_b=(-0.13,+0.27,-0.95) r=0.39m
+[headless_play] t= 19.40s step= 970 trunk_z= 122.0mm grav_b=(-0.17,+0.44,-0.88) r=0.38m
+[headless_play] t= 19.50s step= 975 trunk_z= 102.1mm grav_b=(-0.25,+0.71,-0.66) r=0.37m
+[headless_play] RESET at t= 19.58s step= 979 (env termination, not a recovery)
+[headless_play] t= 19.60s step= 980 trunk_z= 126.4mm grav_b=(-0.01,+0.00,-1.00) r=0.44m
+[headless_play] t= 19.70s step= 985 trunk_z= 114.7mm grav_b=(-0.00,+0.01,-1.00) r=0.44m
+[headless_play] t= 19.80s step= 990 trunk_z= 117.2mm grav_b=(-0.04,+0.05,-1.00) r=0.44m
+[headless_play] t= 19.90s step= 995 trunk_z= 118.6mm grav_b=(-0.06,-0.02,-1.00) r=0.43m
+BrokenPipeError: [Errno 32] Broken pipe
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in <module>
+  File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run
+    raise RuntimeError(f"Error writing '{self.path}': {s}")
+RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t9/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x44e40880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t9/videos/play/rl-video-step-0.mp4: No such file or directory
+Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t9/videos/play/rl-video-step-0.mp4.
+Error opening output files: No such file or directory

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t1.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.767,-18.280,+0.250)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.36m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=0.36m
+[headless_play] t=  0.20s step=  10 trunk_z= 114.6mm grav_b=(+0.03,+0.07,-1.00) r=0.35m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.0mm grav_b=(+0.02,+0.05,-1.00) r=0.34m
+[headless_play] t=  0.40s step=  20 trunk_z= 109.4mm grav_b=(+0.01,+0.00,-1.00) r=0.31m
+[headless_play] t=  0.50s step=  25 trunk_z= 118.7mm grav_b=(+0.01,-0.04,-1.00) r=0.29m
+[headless_play] t=  0.60s step=  30 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.28m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.7mm grav_b=(-0.02,+0.08,-1.00) r=0.27m
+[headless_play] t=  0.80s step=  40 trunk_z= 115.2mm grav_b=(+0.06,+0.00,-1.00) r=0.25m
+[headless_play] t=  0.90s step=  45 trunk_z= 112.8mm grav_b=(+0.02,-0.04,-1.00) r=0.21m
+[headless_play] t=  1.00s step=  50 trunk_z= 118.0mm grav_b=(+0.02,-0.02,-1.00) r=0.19m
+[headless_play] t=  1.10s step=  55 trunk_z= 114.0mm grav_b=(+0.01,+0.03,-1.00) r=0.18m
+[headless_play] t=  1.20s step=  60 trunk_z= 119.7mm grav_b=(-0.01,+0.05,-1.00) r=0.17m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.6mm grav_b=(-0.00,+0.02,-1.00) r=0.15m
+[headless_play] t=  1.40s step=  70 trunk_z= 113.4mm grav_b=(-0.01,-0.01,-1.00) r=0.13m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.2mm grav_b=(+0.01,+0.05,-1.00) r=0.12m
+[headless_play] t=  1.60s step=  80 trunk_z= 114.0mm grav_b=(+0.03,+0.09,-1.00) r=0.13m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.6mm grav_b=(+0.03,+0.03,-1.00) r=0.12m
+[headless_play] t=  1.80s step=  90 trunk_z= 110.0mm grav_b=(+0.00,+0.00,-1.00) r=0.09m
+[headless_play] t=  1.90s step=  95 trunk_z= 121.2mm grav_b=(-0.05,-0.03,-1.00) r=0.07m
+[headless_play] t=  2.00s step= 100 trunk_z= 121.1mm grav_b=(-0.06,-0.00,-1.00) r=0.08m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.5mm grav_b=(-0.05,+0.06,-1.00) r=0.10m
+[headless_play] t=  2.20s step= 110 trunk_z= 121.8mm grav_b=(-0.02,+0.04,-1.00) r=0.10m
+[headless_play] t=  2.30s step= 115 trunk_z= 116.6mm grav_b=(-0.04,+0.03,-1.00) r=0.08m
+[headless_play] t=  2.40s step= 120 trunk_z= 113.9mm grav_b=(-0.00,-0.01,-1.00) r=0.07m
+[headless_play] t=  2.50s step= 125 trunk_z= 112.8mm grav_b=(+0.01,+0.01,-1.00) r=0.06m
+[headless_play] t=  2.60s step= 130 trunk_z= 110.8mm grav_b=(+0.02,+0.08,-1.00) r=0.07m
+[headless_play] t=  2.70s step= 135 trunk_z= 120.1mm grav_b=(+0.03,+0.06,-1.00) r=0.08m
+[headless_play] t=  2.80s step= 140 trunk_z= 113.5mm grav_b=(+0.03,+0.04,-1.00) r=0.07m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.00,-0.02,-1.00) r=0.07m
+[headless_play] t=  3.00s step= 150 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.08m
+[headless_play] t=  3.10s step= 155 trunk_z= 112.1mm grav_b=(-0.01,+0.09,-1.00) r=0.11m
+[headless_play] t=  3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.01,+0.08,-1.00) r=0.13m
+[headless_play] t=  3.30s step= 165 trunk_z= 119.3mm grav_b=(-0.01,+0.08,-1.00) r=0.14m
+[headless_play] t=  3.40s step= 170 trunk_z= 111.0mm grav_b=(+0.02,-0.00,-1.00) r=0.15m
+[headless_play] t=  3.50s step= 175 trunk_z= 116.9mm grav_b=(+0.04,-0.03,-1.00) r=0.16m
+[headless_play] t=  3.60s step= 180 trunk_z= 112.4mm grav_b=(+0.06,+0.02,-1.00) r=0.17m
+[headless_play] t=  3.70s step= 185 trunk_z= 116.7mm grav_b=(-0.03,+0.06,-1.00) r=0.18m
+[headless_play] t=  3.80s step= 190 trunk_z= 120.8mm grav_b=(-0.04,+0.01,-1.00) r=0.18m
+[headless_play] t=  3.90s step= 195 trunk_z= 114.4mm grav_b=(-0.04,-0.01,-1.00) r=0.17m
+[headless_play] t=  4.00s step= 200 trunk_z= 115.0mm grav_b=(+0.06,+0.03,-1.00) r=0.16m
+[headless_play] t=  4.10s step= 205 trunk_z= 114.8mm grav_b=(+0.06,+0.07,-1.00) r=0.16m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.7mm grav_b=(+0.04,+0.03,-1.00) r=0.16m
+[headless_play] t=  4.30s step= 215 trunk_z= 113.0mm grav_b=(+0.03,-0.03,-1.00) r=0.17m
+[headless_play] t=  4.40s step= 220 trunk_z= 119.4mm grav_b=(+0.01,-0.04,-1.00) r=0.18m
+[headless_play] t=  4.50s step= 225 trunk_z= 114.7mm grav_b=(+0.02,+0.02,-1.00) r=0.20m
+[headless_play] t=  4.60s step= 230 trunk_z= 121.7mm grav_b=(+0.00,+0.06,-1.00) r=0.23m
+[headless_play] t=  4.70s step= 235 trunk_z= 122.6mm grav_b=(+0.00,+0.08,-1.00) r=0.24m
+[headless_play] t=  4.80s step= 240 trunk_z= 116.6mm grav_b=(+0.03,+0.05,-1.00) r=0.25m
+[headless_play] t=  4.90s step= 245 trunk_z= 121.7mm grav_b=(-0.00,-0.08,-1.00) r=0.26m
+[headless_play] t=  5.00s step= 250 trunk_z= 121.4mm grav_b=(+0.00,-0.06,-1.00) r=0.28m
+[headless_play] t=  5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.01,+0.04,-1.00) r=0.30m
+[headless_play] t=  5.20s step= 260 trunk_z= 124.1mm grav_b=(+0.01,+0.05,-1.00) r=0.32m
+[headless_play] t=  5.30s step= 265 trunk_z= 121.3mm grav_b=(+0.07,+0.06,-1.00) r=0.34m
+[headless_play] t=  5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.03,-0.03,-1.00) r=0.36m
+[headless_play] t=  5.50s step= 275 trunk_z= 122.7mm grav_b=(+0.01,-0.05,-1.00) r=0.39m
+[headless_play] t=  5.60s step= 280 trunk_z= 116.1mm grav_b=(-0.03,+0.01,-1.00) r=0.41m
+[headless_play] t=  5.70s step= 285 trunk_z= 123.4mm grav_b=(-0.05,+0.05,-1.00) r=0.43m
+[headless_play] t=  5.80s step= 290 trunk_z= 123.5mm grav_b=(-0.04,+0.03,-1.00) r=0.43m
+[headless_play] t=  5.90s step= 295 trunk_z= 113.4mm grav_b=(-0.03,-0.04,-1.00) r=0.43m
+[headless_play] t=  6.00s step= 300 trunk_z= 118.5mm grav_b=(+0.01,-0.06,-1.00) r=0.44m
+[headless_play] t=  6.10s step= 305 trunk_z= 114.4mm grav_b=(+0.03,+0.00,-1.00) r=0.46m
+[headless_play] t=  6.20s step= 310 trunk_z= 122.8mm grav_b=(+0.02,+0.08,-1.00) r=0.49m
+[headless_play] t=  6.30s step= 315 trunk_z= 124.1mm grav_b=(+0.05,+0.10,-0.99) r=0.51m
+[headless_play] t=  6.40s step= 320 trunk_z= 122.7mm grav_b=(+0.04,+0.08,-1.00) r=0.53m
+[headless_play] t=  6.50s step= 325 trunk_z= 121.9mm grav_b=(+0.03,-0.03,-1.00) r=0.56m
+[headless_play] t=  6.60s step= 330 trunk_z= 121.5mm grav_b=(+0.00,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.04,+0.04,-1.00) r=0.60m
+[headless_play] t=  6.80s step= 340 trunk_z= 123.7mm grav_b=(-0.04,+0.03,-1.00) r=0.61m
+[headless_play] t=  6.90s step= 345 trunk_z= 124.6mm grav_b=(-0.06,+0.06,-1.00) r=0.61m
+[headless_play] t=  7.00s step= 350 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.62m
+[headless_play] t=  7.10s step= 355 trunk_z= 117.8mm grav_b=(+0.01,-0.04,-1.00) r=0.63m
+[headless_play] t=  7.20s step= 360 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=0.64m
+[headless_play] t=  7.30s step= 365 trunk_z= 121.0mm grav_b=(+0.04,+0.08,-1.00) r=0.66m
+[headless_play] t=  7.40s step= 370 trunk_z= 121.5mm grav_b=(-0.00,+0.06,-1.00) r=0.67m
+[headless_play] t=  7.50s step= 375 trunk_z= 112.0mm grav_b=(-0.03,-0.01,-1.00) r=0.68m
+[headless_play] t=  7.60s step= 380 trunk_z= 120.7mm grav_b=(-0.02,-0.05,-1.00) r=0.69m
+[headless_play] t=  7.70s step= 385 trunk_z= 116.5mm grav_b=(+0.00,-0.02,-1.00) r=0.71m
+[headless_play] t=  7.80s step= 390 trunk_z= 119.0mm grav_b=(+0.03,+0.06,-1.00) r=0.73m
+[headless_play] t=  7.90s step= 395 trunk_z= 121.4mm grav_b=(+0.06,+0.05,-1.00) r=0.75m
+[headless_play] t=  8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.76m
+[headless_play] t=  8.10s step= 405 trunk_z= 121.1mm grav_b=(-0.01,-0.05,-1.00) r=0.79m
+[headless_play] t=  8.20s step= 410 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.80m
+[headless_play] t=  8.30s step= 415 trunk_z= 121.2mm grav_b=(+0.01,+0.08,-1.00) r=0.82m
+[headless_play] t=  8.40s step= 420 trunk_z= 124.0mm grav_b=(+0.03,+0.10,-0.99) r=0.83m
+[headless_play] t=  8.50s step= 425 trunk_z= 123.2mm grav_b=(+0.04,+0.10,-0.99) r=0.85m
+[headless_play] t=  8.60s step= 430 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.87m
+[headless_play] t=  8.70s step= 435 trunk_z= 123.1mm grav_b=(+0.03,-0.03,-1.00) r=0.89m
+[headless_play] t=  8.80s step= 440 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=0.90m
+[headless_play] t=  8.90s step= 445 trunk_z= 124.9mm grav_b=(-0.01,+0.05,-1.00) r=0.92m
+[headless_play] t=  9.00s step= 450 trunk_z= 121.4mm grav_b=(-0.02,+0.05,-1.00) r=0.94m
+[headless_play] t=  9.10s step= 455 trunk_z= 117.9mm grav_b=(-0.10,-0.05,-0.99) r=0.94m
+[headless_play] t=  9.20s step= 460 trunk_z= 125.3mm grav_b=(-0.14,-0.05,-0.99) r=0.94m
+[headless_play] t=  9.30s step= 465 trunk_z= 115.8mm grav_b=(-0.08,+0.01,-1.00) r=0.91m
+[headless_play] t=  9.40s step= 470 trunk_z= 124.4mm grav_b=(-0.02,+0.02,-1.00) r=0.90m
+[headless_play] t=  9.50s step= 475 trunk_z= 118.2mm grav_b=(-0.01,+0.04,-1.00) r=0.89m
+[headless_play] t=  9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.89m
+[headless_play] t=  9.70s step= 485 trunk_z= 119.5mm grav_b=(+0.03,+0.03,-1.00) r=0.90m
+[headless_play] t=  9.80s step= 490 trunk_z= 124.7mm grav_b=(-0.04,+0.12,-0.99) r=0.91m
+[headless_play] t=  9.90s step= 495 trunk_z= 127.6mm grav_b=(-0.06,+0.11,-0.99) r=0.92m
+[headless_play] t= 10.00s step= 500 trunk_z= 124.5mm grav_b=(-0.03,+0.08,-1.00) r=0.93m
+[headless_play] t= 10.10s step= 505 trunk_z= 118.9mm grav_b=(-0.03,-0.05,-1.00) r=0.95m
+[headless_play] t= 10.20s step= 510 trunk_z= 124.5mm grav_b=(+0.00,-0.04,-1.00) r=0.96m
+[headless_play] t= 10.30s step= 515 trunk_z= 120.9mm grav_b=(+0.01,+0.00,-1.00) r=0.97m
+[headless_play] t= 10.40s step= 520 trunk_z= 125.5mm grav_b=(+0.01,+0.05,-1.00) r=0.98m
+[headless_play] t= 10.50s step= 525 trunk_z= 124.8mm grav_b=(-0.00,+0.06,-1.00) r=0.99m
+[headless_play] t= 10.60s step= 530 trunk_z= 117.3mm grav_b=(-0.07,+0.03,-1.00) r=1.00m
+[headless_play] t= 10.70s step= 535 trunk_z= 123.6mm grav_b=(-0.07,-0.03,-1.00) r=1.01m
+[headless_play] t= 10.80s step= 540 trunk_z= 120.8mm grav_b=(-0.06,-0.01,-1.00) r=1.01m
+[headless_play] t= 10.90s step= 545 trunk_z= 122.0mm grav_b=(-0.02,+0.05,-1.00) r=1.00m
+[headless_play] t= 11.00s step= 550 trunk_z= 122.9mm grav_b=(+0.01,+0.03,-1.00) r=1.01m
+[headless_play] t= 11.10s step= 555 trunk_z= 115.5mm grav_b=(+0.01,-0.02,-1.00) r=1.04m
+[headless_play] t= 11.20s step= 560 trunk_z= 122.5mm grav_b=(-0.01,-0.09,-1.00) r=1.07m
+[headless_play] t= 11.30s step= 565 trunk_z= 121.9mm grav_b=(+0.01,-0.10,-0.99) r=1.10m
+[headless_play] t= 11.40s step= 570 trunk_z= 119.4mm grav_b=(+0.06,-0.03,-1.00) r=1.14m
+[headless_play] t= 11.50s step= 575 trunk_z= 112.5mm grav_b=(+0.03,+0.07,-1.00) r=1.18m
+[headless_play] t= 11.60s step= 580 trunk_z= 114.0mm grav_b=(-0.00,+0.08,-1.00) r=1.21m
+[headless_play] t= 11.70s step= 585 trunk_z= 102.7mm grav_b=(-0.01,+0.05,-1.00) r=1.25m
+[headless_play] t= 11.80s step= 590 trunk_z=  94.2mm grav_b=(+0.03,-0.05,-1.00) r=1.28m
+[headless_play] t= 11.90s step= 595 trunk_z=  97.3mm grav_b=(-0.01,-0.01,-1.00) r=1.30m
+[headless_play] t= 12.00s step= 600 trunk_z=  86.6mm grav_b=(+0.02,+0.01,-1.00) r=1.33m
+[headless_play] t= 12.10s step= 605 trunk_z=  91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.36m
+[headless_play] t= 12.20s step= 610 trunk_z=  68.5mm grav_b=(-0.04,-0.03,-1.00) r=1.41m
+[headless_play] t= 12.30s step= 615 trunk_z=  67.2mm grav_b=(-0.04,-0.07,-1.00) r=1.44m
+[headless_play] t= 12.40s step= 620 trunk_z=  68.0mm grav_b=(-0.02,-0.04,-1.00) r=1.46m
+[headless_play] t= 12.50s step= 625 trunk_z=  59.5mm grav_b=(-0.00,+0.02,-1.00) r=1.47m
+[headless_play] t= 12.60s step= 630 trunk_z=  67.9mm grav_b=(+0.00,+0.01,-1.00) r=1.49m
+[headless_play] t= 12.70s step= 635 trunk_z=  59.2mm grav_b=(-0.03,-0.01,-1.00) r=1.52m
+[headless_play] t= 12.80s step= 640 trunk_z=  53.3mm grav_b=(-0.02,-0.15,-0.99) r=1.56m
+[headless_play] t= 12.90s step= 645 trunk_z=  56.1mm grav_b=(-0.02,-0.05,-1.00) r=1.59m
+[headless_play] t= 13.00s step= 650 trunk_z=  44.5mm grav_b=(+0.09,-0.04,-1.00) r=1.64m
+[headless_play] t= 13.10s step= 655 trunk_z=  31.0mm grav_b=(+0.10,+0.03,-0.99) r=1.70m
+[headless_play] t= 13.20s step= 660 trunk_z=  48.6mm grav_b=(+0.03,+0.05,-1.00) r=1.74m
+[headless_play] t= 13.30s step= 665 trunk_z=  34.2mm grav_b=(-0.04,+0.04,-1.00) r=1.79m
+[headless_play] t= 13.40s step= 670 trunk_z=  13.4mm grav_b=(-0.02,+0.05,-1.00) r=1.84m
+[headless_play] t= 13.50s step= 675 trunk_z=  15.5mm grav_b=(-0.02,+0.06,-1.00) r=1.85m
+[headless_play] t= 13.60s step= 680 trunk_z=  16.1mm grav_b=(-0.07,+0.10,-0.99) r=1.85m
+[headless_play] t= 13.70s step= 685 trunk_z=  25.0mm grav_b=(-0.09,+0.09,-0.99) r=1.86m
+[headless_play] t= 13.80s step= 690 trunk_z=  23.8mm grav_b=(-0.06,+0.08,-1.00) r=1.88m
+[headless_play] t= 13.90s step= 695 trunk_z=  12.0mm grav_b=(-0.04,+0.03,-1.00) r=1.91m
+[headless_play] t= 14.00s step= 700 trunk_z=  12.1mm grav_b=(-0.01,-0.10,-0.99) r=1.94m
+[headless_play] t= 14.10s step= 705 trunk_z=  11.8mm grav_b=(+0.01,-0.12,-0.99) r=1.96m
+[headless_play] t= 14.20s step= 710 trunk_z=   7.2mm grav_b=(+0.01,-0.10,-0.99) r=1.98m
+[headless_play] t= 14.30s step= 715 trunk_z=   2.5mm grav_b=(-0.04,-0.05,-1.00) r=2.01m
+[headless_play] t= 14.40s step= 720 trunk_z=   5.1mm grav_b=(-0.05,-0.00,-1.00) r=2.02m
+[headless_play] t= 14.50s step= 725 trunk_z=  -3.0mm grav_b=(-0.08,+0.03,-1.00) r=2.02m
+[headless_play] t= 14.60s step= 730 trunk_z=   4.5mm grav_b=(-0.07,+0.08,-0.99) r=2.02m
+[headless_play] t= 14.70s step= 735 trunk_z=   0.0mm grav_b=(-0.02,+0.14,-0.99) r=1.99m
+[headless_play] t= 14.80s step= 740 trunk_z=  10.1mm grav_b=(-0.00,+0.15,-0.99) r=1.98m
+[headless_play] t= 14.90s step= 745 trunk_z=  13.3mm grav_b=(-0.00,+0.23,-0.97) r=1.98m
+[headless_play] t= 15.00s step= 750 trunk_z=   7.7mm grav_b=(+0.07,+0.08,-0.99) r=1.99m
+[headless_play] t= 15.10s step= 755 trunk_z=  -3.2mm grav_b=(-0.01,+0.15,-0.99) r=2.03m
+[headless_play] t= 15.20s step= 760 trunk_z=  -3.7mm grav_b=(-0.02,+0.14,-0.99) r=2.01m
+[headless_play] t= 15.30s step= 765 trunk_z=  -0.1mm grav_b=(-0.09,+0.14,-0.99) r=1.99m
+[headless_play] t= 15.40s step= 770 trunk_z=   9.1mm grav_b=(-0.09,+0.18,-0.98) r=1.98m
+[headless_play] t= 15.50s step= 775 trunk_z=  11.9mm grav_b=(+0.04,+0.12,-0.99) r=1.97m
+[headless_play] t= 15.60s step= 780 trunk_z=  11.3mm grav_b=(+0.05,+0.15,-0.99) r=1.97m
+[headless_play] t= 15.70s step= 785 trunk_z=   9.7mm grav_b=(+0.05,+0.13,-0.99) r=1.97m
+[headless_play] t= 15.80s step= 790 trunk_z=   7.6mm grav_b=(-0.05,+0.11,-0.99) r=1.97m
+[headless_play] t= 15.90s step= 795 trunk_z=   4.1mm grav_b=(-0.04,+0.05,-1.00) r=1.97m
+[headless_play] t= 16.00s step= 800 trunk_z=   6.3mm grav_b=(-0.01,+0.07,-1.00) r=1.97m
+[headless_play] t= 16.10s step= 805 trunk_z=   4.3mm grav_b=(+0.06,+0.06,-1.00) r=1.96m
+[headless_play] t= 16.20s step= 810 trunk_z=  13.6mm grav_b=(+0.05,-0.01,-1.00) r=1.94m
+[headless_play] t= 16.30s step= 815 trunk_z=  -3.1mm grav_b=(-0.08,+0.00,-1.00) r=1.90m
+[headless_play] t= 16.40s step= 820 trunk_z=   6.6mm grav_b=(-0.07,-0.01,-1.00) r=1.90m
+[headless_play] t= 16.50s step= 825 trunk_z=   5.7mm grav_b=(-0.06,+0.06,-1.00) r=1.89m
+[headless_play] t= 16.60s step= 830 trunk_z=  12.8mm grav_b=(-0.03,+0.08,-1.00) r=1.89m
+[headless_play] t= 16.70s step= 835 trunk_z=  16.7mm grav_b=(-0.06,+0.06,-1.00) r=1.87m
+[headless_play] t= 16.80s step= 840 trunk_z=  11.6mm grav_b=(+0.01,-0.03,-1.00) r=1.86m
+[headless_play] t= 16.90s step= 845 trunk_z=  13.4mm grav_b=(-0.02,-0.01,-1.00) r=1.86m
+[headless_play] t= 17.00s step= 850 trunk_z=   7.6mm grav_b=(-0.05,+0.05,-1.00) r=1.85m
+[headless_play] t= 17.10s step= 855 trunk_z=  14.6mm grav_b=(-0.05,+0.05,-1.00) r=1.85m
+[headless_play] t= 17.20s step= 860 trunk_z=  13.1mm grav_b=(-0.05,+0.03,-1.00) r=1.84m
+[headless_play] t= 17.30s step= 865 trunk_z=   1.6mm grav_b=(+0.01,-0.01,-1.00) r=1.84m
+[headless_play] t= 17.40s step= 870 trunk_z=   7.3mm grav_b=(+0.04,-0.04,-1.00) r=1.85m
+[headless_play] t= 17.50s step= 875 trunk_z=   6.2mm grav_b=(+0.03,+0.00,-1.00) r=1.86m
+[headless_play] t= 17.60s step= 880 trunk_z=   7.4mm grav_b=(+0.00,+0.10,-0.99) r=1.87m
+[headless_play] t= 17.70s step= 885 trunk_z=  11.3mm grav_b=(+0.00,+0.13,-0.99) r=1.87m
+[headless_play] t= 17.80s step= 890 trunk_z=  11.1mm grav_b=(+0.02,+0.13,-0.99) r=1.86m
+[headless_play] t= 17.90s step= 895 trunk_z=   9.8mm grav_b=(-0.01,+0.14,-0.99) r=1.86m
+[headless_play] t= 18.00s step= 900 trunk_z=   5.9mm grav_b=(-0.05,+0.11,-0.99) r=1.86m
+[headless_play] t= 18.10s step= 905 trunk_z=   9.6mm grav_b=(-0.06,+0.06,-1.00) r=1.86m
+[headless_play] t= 18.20s step= 910 trunk_z=   2.6mm grav_b=(+0.02,+0.10,-0.99) r=1.88m
+[headless_play] t= 18.30s step= 915 trunk_z=  -0.7mm grav_b=(+0.05,+0.14,-0.99) r=1.90m
+[headless_play] t= 18.40s step= 920 trunk_z=   3.6mm grav_b=(+0.03,+0.13,-0.99) r=1.91m
+[headless_play] t= 18.50s step= 925 trunk_z=   1.1mm grav_b=(+0.01,+0.11,-0.99) r=1.91m
+[headless_play] t= 18.60s step= 930 trunk_z=  -0.5mm grav_b=(+0.02,+0.04,-1.00) r=1.91m
+[headless_play] t= 18.70s step= 935 trunk_z=   6.8mm grav_b=(-0.10,-0.04,-0.99) r=1.92m
+[headless_play] t= 18.80s step= 940 trunk_z=   7.2mm grav_b=(-0.05,+0.01,-1.00) r=1.94m
+[headless_play] t= 18.90s step= 945 trunk_z=  -2.2mm grav_b=(+0.03,+0.07,-1.00) r=1.97m
+[headless_play] t= 19.00s step= 950 trunk_z=  -2.7mm grav_b=(+0.07,+0.01,-1.00) r=1.97m
+[headless_play] t= 19.10s step= 955 trunk_z= -10.5mm grav_b=(+0.09,-0.06,-0.99) r=1.95m
+[headless_play] t= 19.20s step= 960 trunk_z=  -0.6mm grav_b=(+0.05,-0.09,-0.99) r=1.94m
+[headless_play] t= 19.30s step= 965 trunk_z=  -1.8mm grav_b=(-0.01,-0.05,-1.00) r=1.94m
+[headless_play] t= 19.40s step= 970 trunk_z=  -4.3mm grav_b=(-0.05,+0.03,-1.00) r=1.94m
+[headless_play] t= 19.50s step= 975 trunk_z=   1.2mm grav_b=(-0.05,+0.01,-1.00) r=1.95m
+[headless_play] t= 19.60s step= 980 trunk_z= -10.9mm grav_b=(-0.03,+0.04,-1.00) r=1.98m
+[headless_play] t= 19.70s step= 985 trunk_z=  -1.3mm grav_b=(-0.00,+0.13,-0.99) r=2.01m
+[headless_play] t= 19.80s step= 990 trunk_z=   3.8mm grav_b=(+0.02,+0.12,-0.99) r=2.02m
+[headless_play] t= 19.90s step= 995 trunk_z=  15.4mm grav_b=(+0.03,+0.06,-1.00) r=2.02m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.33m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,+0.03,-1.00) r=0.33m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t10.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 128.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(-14.230,-18.167,+0.255)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.9mm grav_b=(-0.01,+0.00,-1.00) r=0.28m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00) r=0.29m
+[headless_play] t=  0.20s step=  10 trunk_z= 119.0mm grav_b=(-0.02,+0.02,-1.00) r=0.30m
+[headless_play] t=  0.30s step=  15 trunk_z= 118.1mm grav_b=(-0.04,-0.09,-1.00) r=0.32m
+[headless_play] t=  0.40s step=  20 trunk_z= 118.0mm grav_b=(-0.05,-0.11,-0.99) r=0.33m
+[headless_play] t=  0.50s step=  25 trunk_z= 122.6mm grav_b=(+0.05,-0.10,-0.99) r=0.32m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.8mm grav_b=(+0.04,-0.09,-0.99) r=0.29m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.2mm grav_b=(+0.01,-0.04,-1.00) r=0.28m
+[headless_play] t=  0.80s step=  40 trunk_z= 113.5mm grav_b=(+0.02,-0.05,-1.00) r=0.28m
+[headless_play] t=  0.90s step=  45 trunk_z= 113.8mm grav_b=(-0.06,-0.10,-0.99) r=0.30m
+[headless_play] t=  1.00s step=  50 trunk_z= 124.9mm grav_b=(-0.05,-0.09,-0.99) r=0.31m
+[headless_play] t=  1.10s step=  55 trunk_z= 109.5mm grav_b=(+0.06,-0.01,-1.00) r=0.29m
+[headless_play] t=  1.20s step=  60 trunk_z= 115.7mm grav_b=(-0.00,-0.03,-1.00) r=0.28m
+[headless_play] t=  1.30s step=  65 trunk_z= 107.6mm grav_b=(-0.01,-0.06,-1.00) r=0.30m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.7mm grav_b=(+0.02,-0.05,-1.00) r=0.31m
+[headless_play] t=  1.50s step=  75 trunk_z= 114.2mm grav_b=(+0.05,-0.04,-1.00) r=0.30m
+[headless_play] t=  1.60s step=  80 trunk_z= 118.8mm grav_b=(-0.01,-0.02,-1.00) r=0.29m
+[headless_play] t=  1.70s step=  85 trunk_z= 120.8mm grav_b=(-0.05,-0.06,-1.00) r=0.29m
+[headless_play] t=  1.80s step=  90 trunk_z= 113.7mm grav_b=(-0.01,-0.10,-1.00) r=0.30m
+[headless_play] t=  1.90s step=  95 trunk_z= 120.7mm grav_b=(+0.02,-0.09,-1.00) r=0.31m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.5mm grav_b=(+0.04,-0.09,-0.99) r=0.30m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.29m
+[headless_play] t=  2.20s step= 110 trunk_z= 116.4mm grav_b=(+0.06,-0.04,-1.00) r=0.30m
+[headless_play] t=  2.30s step= 115 trunk_z= 112.2mm grav_b=(+0.04,-0.09,-1.00) r=0.33m
+[headless_play] t=  2.40s step= 120 trunk_z= 122.4mm grav_b=(+0.01,-0.08,-1.00) r=0.35m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.5mm grav_b=(+0.03,-0.09,-1.00) r=0.35m
+[headless_play] t=  2.60s step= 130 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.35m
+[headless_play] t=  2.70s step= 135 trunk_z= 122.1mm grav_b=(-0.01,-0.05,-1.00) r=0.35m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.1mm grav_b=(-0.03,-0.08,-1.00) r=0.38m
+[headless_play] t=  2.90s step= 145 trunk_z= 122.5mm grav_b=(-0.06,-0.08,-0.99) r=0.39m
+[headless_play] t=  3.00s step= 150 trunk_z= 121.5mm grav_b=(-0.03,-0.06,-1.00) r=0.39m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=0.38m
+[headless_play] t=  3.20s step= 160 trunk_z= 121.9mm grav_b=(+0.09,+0.10,-0.99) r=0.38m
+[headless_play] t=  3.30s step= 165 trunk_z= 118.3mm grav_b=(+0.15,+0.02,-0.99) r=0.38m
+[headless_play] t=  3.40s step= 170 trunk_z= 110.6mm grav_b=(+0.03,-0.08,-1.00) r=0.42m
+[headless_play] t=  3.50s step= 175 trunk_z= 128.0mm grav_b=(+0.04,-0.12,-0.99) r=0.44m
+[headless_play] t=  3.60s step= 180 trunk_z= 120.9mm grav_b=(-0.09,-0.11,-0.99) r=0.45m
+[headless_play] t=  3.70s step= 185 trunk_z= 121.1mm grav_b=(-0.10,-0.08,-0.99) r=0.45m
+[headless_play] t=  3.80s step= 190 trunk_z= 105.4mm grav_b=(-0.02,-0.10,-1.00) r=0.43m
+[headless_play] t=  3.90s step= 195 trunk_z= 117.1mm grav_b=(+0.05,-0.06,-1.00) r=0.41m
+[headless_play] t=  4.00s step= 200 trunk_z= 110.2mm grav_b=(+0.06,-0.12,-0.99) r=0.40m
+[headless_play] t=  4.10s step= 205 trunk_z= 116.4mm grav_b=(-0.00,-0.07,-1.00) r=0.38m
+[headless_play] t=  4.20s step= 210 trunk_z= 113.2mm grav_b=(-0.01,-0.06,-1.00) r=0.39m
+[headless_play] t=  4.30s step= 215 trunk_z= 120.1mm grav_b=(-0.02,-0.05,-1.00) r=0.39m
+[headless_play] t=  4.40s step= 220 trunk_z= 118.4mm grav_b=(-0.02,-0.02,-1.00) r=0.39m
+[headless_play] t=  4.50s step= 225 trunk_z= 123.4mm grav_b=(-0.01,+0.04,-1.00) r=0.40m
+[headless_play] t=  4.60s step= 230 trunk_z= 123.1mm grav_b=(+0.00,+0.01,-1.00) r=0.41m
+[headless_play] t=  4.70s step= 235 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.44m
+[headless_play] t=  4.80s step= 240 trunk_z= 124.5mm grav_b=(-0.03,-0.05,-1.00) r=0.46m
+[headless_play] t=  4.90s step= 245 trunk_z= 123.2mm grav_b=(-0.01,-0.06,-1.00) r=0.47m
+[headless_play] t=  5.00s step= 250 trunk_z= 121.9mm grav_b=(-0.01,+0.05,-1.00) r=0.48m
+[headless_play] t=  5.10s step= 255 trunk_z= 125.9mm grav_b=(+0.00,+0.04,-1.00) r=0.50m
+[headless_play] t=  5.20s step= 260 trunk_z= 123.0mm grav_b=(-0.02,+0.03,-1.00) r=0.51m
+[headless_play] t=  5.30s step= 265 trunk_z= 122.7mm grav_b=(-0.03,-0.04,-1.00) r=0.53m
+[headless_play] t=  5.40s step= 270 trunk_z= 124.1mm grav_b=(-0.01,-0.04,-1.00) r=0.54m
+[headless_play] t=  5.50s step= 275 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.55m
+[headless_play] t=  5.60s step= 280 trunk_z= 124.9mm grav_b=(-0.04,+0.04,-1.00) r=0.55m
+[headless_play] t=  5.70s step= 285 trunk_z= 123.3mm grav_b=(-0.03,+0.03,-1.00) r=0.56m
+[headless_play] t=  5.80s step= 290 trunk_z= 119.1mm grav_b=(-0.09,-0.06,-0.99) r=0.57m
+[headless_play] t=  5.90s step= 295 trunk_z= 126.8mm grav_b=(-0.10,-0.10,-0.99) r=0.57m
+[headless_play] t=  6.00s step= 300 trunk_z= 127.2mm grav_b=(-0.04,-0.07,-1.00) r=0.56m
+[headless_play] t=  6.10s step= 305 trunk_z= 123.7mm grav_b=(-0.00,-0.06,-1.00) r=0.55m
+[headless_play] t=  6.20s step= 310 trunk_z= 117.1mm grav_b=(+0.00,-0.04,-1.00) r=0.55m
+[headless_play] t=  6.30s step= 315 trunk_z= 117.7mm grav_b=(+0.03,-0.03,-1.00) r=0.55m
+[headless_play] t=  6.40s step= 320 trunk_z= 120.7mm grav_b=(+0.00,-0.03,-1.00) r=0.55m
+[headless_play] t=  6.50s step= 325 trunk_z= 122.8mm grav_b=(+0.02,+0.05,-1.00) r=0.56m
+[headless_play] t=  6.60s step= 330 trunk_z= 124.8mm grav_b=(+0.01,+0.06,-1.00) r=0.57m
+[headless_play] t=  6.70s step= 335 trunk_z= 116.7mm grav_b=(-0.05,-0.01,-1.00) r=0.59m
+[headless_play] t=  6.80s step= 340 trunk_z= 123.0mm grav_b=(-0.10,-0.01,-1.00) r=0.60m
+[headless_play] t=  6.90s step= 345 trunk_z= 119.3mm grav_b=(-0.07,-0.00,-1.00) r=0.59m
+[headless_play] t=  7.00s step= 350 trunk_z= 122.8mm grav_b=(-0.03,+0.03,-1.00) r=0.59m
+[headless_play] t=  7.10s step= 355 trunk_z= 120.3mm grav_b=(-0.00,+0.02,-1.00) r=0.60m
+[headless_play] t=  7.20s step= 360 trunk_z= 120.3mm grav_b=(+0.02,-0.05,-1.00) r=0.62m
+[headless_play] t=  7.30s step= 365 trunk_z= 125.7mm grav_b=(+0.01,-0.04,-1.00) r=0.64m
+[headless_play] t=  7.40s step= 370 trunk_z= 119.7mm grav_b=(-0.02,-0.04,-1.00) r=0.64m
+[headless_play] t=  7.50s step= 375 trunk_z= 122.9mm grav_b=(-0.07,+0.01,-1.00) r=0.64m
+[headless_play] t=  7.60s step= 380 trunk_z= 120.6mm grav_b=(-0.05,-0.01,-1.00) r=0.65m
+[headless_play] t=  7.70s step= 385 trunk_z= 120.7mm grav_b=(-0.01,-0.04,-1.00) r=0.67m
+[headless_play] t=  7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.01,-0.04,-1.00) r=0.68m
+[headless_play] t=  7.90s step= 395 trunk_z= 118.7mm grav_b=(-0.00,+0.01,-1.00) r=0.68m
+[headless_play] t=  8.00s step= 400 trunk_z= 126.1mm grav_b=(-0.02,+0.04,-1.00) r=0.69m
+[headless_play] t=  8.10s step= 405 trunk_z= 122.3mm grav_b=(-0.03,+0.04,-1.00) r=0.70m
+[headless_play] t=  8.20s step= 410 trunk_z= 118.4mm grav_b=(-0.07,-0.02,-1.00) r=0.71m
+[headless_play] t=  8.30s step= 415 trunk_z= 122.7mm grav_b=(-0.07,-0.02,-1.00) r=0.71m
+[headless_play] t=  8.40s step= 420 trunk_z= 119.4mm grav_b=(-0.06,-0.01,-1.00) r=0.72m
+[headless_play] t=  8.50s step= 425 trunk_z= 125.2mm grav_b=(-0.03,+0.03,-1.00) r=0.73m
+[headless_play] t=  8.60s step= 430 trunk_z= 124.8mm grav_b=(+0.00,+0.03,-1.00) r=0.74m
+[headless_play] t=  8.70s step= 435 trunk_z= 118.2mm grav_b=(-0.02,-0.05,-1.00) r=0.76m
+[headless_play] t=  8.80s step= 440 trunk_z= 129.0mm grav_b=(-0.01,-0.16,-0.99) r=0.78m
+[headless_play] t=  8.90s step= 445 trunk_z= 129.6mm grav_b=(-0.01,-0.23,-0.97) r=0.80m
+[headless_play] t=  9.00s step= 450 trunk_z= 125.6mm grav_b=(+0.08,-0.25,-0.96) r=0.82m
+[headless_play] t=  9.10s step= 455 trunk_z= 105.5mm grav_b=(+0.15,-0.24,-0.96) r=0.88m
+[headless_play] t=  9.20s step= 460 trunk_z= 114.1mm grav_b=(+0.27,-0.21,-0.94) r=0.93m
+[headless_play] t=  9.30s step= 465 trunk_z= 111.6mm grav_b=(+0.16,-0.09,-0.98) r=0.98m
+[headless_play] t=  9.40s step= 470 trunk_z= 104.9mm grav_b=(-0.04,-0.17,-0.98) r=1.01m
+[headless_play] t=  9.50s step= 475 trunk_z= 117.6mm grav_b=(-0.04,-0.26,-0.96) r=1.03m
+[headless_play] t=  9.60s step= 480 trunk_z= 118.4mm grav_b=(+0.05,-0.23,-0.97) r=1.04m
+[headless_play] t=  9.70s step= 485 trunk_z= 110.7mm grav_b=(+0.11,-0.20,-0.97) r=1.08m
+[headless_play] t=  9.80s step= 490 trunk_z= 109.4mm grav_b=(+0.12,-0.06,-0.99) r=1.14m
+[headless_play] t=  9.90s step= 495 trunk_z= 106.7mm grav_b=(+0.06,+0.00,-1.00) r=1.19m
+[headless_play] t= 10.00s step= 500 trunk_z=  79.6mm grav_b=(+0.02,-0.02,-1.00) r=1.25m
+[headless_play] t= 10.10s step= 505 trunk_z=  71.8mm grav_b=(-0.07,+0.08,-0.99) r=1.31m
+[headless_play] t= 10.20s step= 510 trunk_z=  61.2mm grav_b=(-0.13,+0.05,-0.99) r=1.36m
+[headless_play] t= 10.30s step= 515 trunk_z=  70.2mm grav_b=(-0.05,+0.05,-1.00) r=1.37m
+[headless_play] t= 10.40s step= 520 trunk_z=  65.5mm grav_b=(-0.02,+0.04,-1.00) r=1.37m
+[headless_play] t= 10.50s step= 525 trunk_z=  71.6mm grav_b=(+0.00,+0.03,-1.00) r=1.38m
+[headless_play] t= 10.60s step= 530 trunk_z=  68.8mm grav_b=(-0.01,+0.06,-1.00) r=1.40m
+[headless_play] t= 10.70s step= 535 trunk_z=  59.5mm grav_b=(-0.03,+0.06,-1.00) r=1.44m
+[headless_play] t= 10.80s step= 540 trunk_z=  63.2mm grav_b=(-0.04,+0.06,-1.00) r=1.44m
+[headless_play] t= 10.90s step= 545 trunk_z=  60.0mm grav_b=(-0.02,+0.02,-1.00) r=1.44m
+[headless_play] t= 11.00s step= 550 trunk_z=  66.3mm grav_b=(+0.01,+0.02,-1.00) r=1.45m
+[headless_play] t= 11.10s step= 555 trunk_z=  59.9mm grav_b=(-0.03,+0.04,-1.00) r=1.48m
+[headless_play] t= 11.20s step= 560 trunk_z=  55.0mm grav_b=(-0.02,+0.06,-1.00) r=1.51m
+[headless_play] t= 11.30s step= 565 trunk_z=  57.5mm grav_b=(-0.01,+0.05,-1.00) r=1.52m
+[headless_play] t= 11.40s step= 570 trunk_z=  49.2mm grav_b=(-0.05,+0.01,-1.00) r=1.52m
+[headless_play] t= 11.50s step= 575 trunk_z=  60.8mm grav_b=(-0.03,-0.07,-1.00) r=1.53m
+[headless_play] t= 11.60s step= 580 trunk_z=  64.8mm grav_b=(+0.01,-0.09,-1.00) r=1.54m
+[headless_play] t= 11.70s step= 585 trunk_z=  61.3mm grav_b=(-0.01,-0.06,-1.00) r=1.57m
+[headless_play] t= 11.80s step= 590 trunk_z=  48.5mm grav_b=(+0.01,+0.01,-1.00) r=1.62m
+[headless_play] t= 11.90s step= 595 trunk_z=  55.6mm grav_b=(+0.01,+0.05,-1.00) r=1.64m
+[headless_play] t= 12.00s step= 600 trunk_z=  52.3mm grav_b=(-0.03,+0.05,-1.00) r=1.66m
+[headless_play] t= 12.10s step= 605 trunk_z=  42.2mm grav_b=(-0.03,+0.03,-1.00) r=1.68m
+[headless_play] t= 12.20s step= 610 trunk_z=  42.9mm grav_b=(-0.06,+0.01,-1.00) r=1.70m
+[headless_play] t= 12.30s step= 615 trunk_z=  32.7mm grav_b=(-0.08,+0.06,-0.99) r=1.73m
+[headless_play] t= 12.40s step= 620 trunk_z=  40.2mm grav_b=(-0.04,+0.08,-1.00) r=1.75m
+[headless_play] t= 12.50s step= 625 trunk_z=  44.0mm grav_b=(+0.02,+0.12,-0.99) r=1.77m
+[headless_play] t= 12.60s step= 630 trunk_z=  37.2mm grav_b=(-0.00,+0.07,-1.00) r=1.81m
+[headless_play] t= 12.70s step= 635 trunk_z=  31.3mm grav_b=(-0.03,+0.04,-1.00) r=1.84m
+[headless_play] t= 12.80s step= 640 trunk_z=  27.8mm grav_b=(-0.07,+0.03,-1.00) r=1.87m
+[headless_play] t= 12.90s step= 645 trunk_z=  21.8mm grav_b=(-0.06,+0.04,-1.00) r=1.90m
+[headless_play] t= 13.00s step= 650 trunk_z=  27.3mm grav_b=(-0.06,+0.04,-1.00) r=1.91m
+[headless_play] t= 13.10s step= 655 trunk_z=  20.4mm grav_b=(-0.06,-0.02,-1.00) r=1.92m
+[headless_play] t= 13.20s step= 660 trunk_z=  24.0mm grav_b=(-0.06,-0.03,-1.00) r=1.93m
+[headless_play] t= 13.30s step= 665 trunk_z=  15.5mm grav_b=(-0.03,+0.09,-1.00) r=1.96m
+[headless_play] t= 13.40s step= 670 trunk_z=  23.0mm grav_b=(-0.04,+0.12,-0.99) r=1.96m
+[headless_play] t= 13.50s step= 675 trunk_z=  23.7mm grav_b=(-0.01,+0.08,-1.00) r=1.96m
+[headless_play] t= 13.60s step= 680 trunk_z=  18.4mm grav_b=(+0.02,+0.06,-1.00) r=1.96m
+[headless_play] t= 13.70s step= 685 trunk_z=  17.3mm grav_b=(+0.02,-0.01,-1.00) r=1.96m
+[headless_play] t= 13.80s step= 690 trunk_z=  17.3mm grav_b=(+0.05,-0.01,-1.00) r=1.97m
+[headless_play] t= 13.90s step= 695 trunk_z=  12.9mm grav_b=(-0.02,+0.02,-1.00) r=1.99m
+[headless_play] t= 14.00s step= 700 trunk_z=  16.4mm grav_b=(-0.10,-0.00,-1.00) r=1.99m
+[headless_play] t= 14.10s step= 705 trunk_z=   3.7mm grav_b=(-0.07,-0.08,-0.99) r=1.97m
+[headless_play] t= 14.20s step= 710 trunk_z=  13.5mm grav_b=(+0.01,-0.00,-1.00) r=1.96m
+[headless_play] t= 14.30s step= 715 trunk_z=   1.8mm grav_b=(+0.12,-0.04,-0.99) r=1.96m
+[headless_play] t= 14.40s step= 720 trunk_z=  14.4mm grav_b=(+0.09,-0.03,-1.00) r=1.97m
+[headless_play] t= 14.50s step= 725 trunk_z=  14.1mm grav_b=(+0.06,-0.05,-1.00) r=1.98m
+[headless_play] t= 14.60s step= 730 trunk_z=  18.8mm grav_b=(+0.04,-0.08,-1.00) r=2.00m
+[headless_play] t= 14.70s step= 735 trunk_z=  10.4mm grav_b=(+0.05,-0.01,-1.00) r=2.03m
+[headless_play] t= 14.80s step= 740 trunk_z=  15.1mm grav_b=(-0.01,+0.08,-1.00) r=2.06m
+[headless_play] t= 14.90s step= 745 trunk_z=  15.5mm grav_b=(+0.01,+0.05,-1.00) r=2.08m
+[headless_play] t= 15.00s step= 750 trunk_z=   7.0mm grav_b=(+0.01,+0.02,-1.00) r=2.09m
+[headless_play] t= 15.10s step= 755 trunk_z=  12.9mm grav_b=(-0.02,-0.05,-1.00) r=2.10m
+[headless_play] t= 15.20s step= 760 trunk_z=  11.2mm grav_b=(+0.03,-0.05,-1.00) r=2.12m
+[headless_play] t= 15.30s step= 765 trunk_z=   4.4mm grav_b=(+0.01,+0.03,-1.00) r=2.14m
+[headless_play] t= 15.40s step= 770 trunk_z=  10.9mm grav_b=(-0.01,+0.06,-1.00) r=2.16m
+[headless_play] t= 15.50s step= 775 trunk_z=   8.6mm grav_b=(-0.00,+0.03,-1.00) r=2.17m
+[headless_play] t= 15.60s step= 780 trunk_z=   2.1mm grav_b=(+0.01,-0.04,-1.00) r=2.18m
+[headless_play] t= 15.70s step= 785 trunk_z=   5.4mm grav_b=(+0.03,-0.05,-1.00) r=2.20m
+[headless_play] t= 15.80s step= 790 trunk_z=   0.7mm grav_b=(+0.03,-0.03,-1.00) r=2.22m
+[headless_play] t= 15.90s step= 795 trunk_z=   5.3mm grav_b=(-0.02,+0.05,-1.00) r=2.22m
+[headless_play] t= 16.00s step= 800 trunk_z=   6.7mm grav_b=(-0.01,+0.03,-1.00) r=2.23m
+[headless_play] t= 16.10s step= 805 trunk_z=   0.7mm grav_b=(+0.02,-0.04,-1.00) r=2.23m
+[headless_play] t= 16.20s step= 810 trunk_z=   4.9mm grav_b=(+0.04,+0.01,-1.00) r=2.25m
+[headless_play] t= 16.30s step= 815 trunk_z=  -4.7mm grav_b=(-0.00,+0.06,-1.00) r=2.29m
+[headless_play] t= 16.40s step= 820 trunk_z=   6.1mm grav_b=(-0.03,+0.05,-1.00) r=2.31m
+[headless_play] t= 16.50s step= 825 trunk_z=   2.1mm grav_b=(-0.02,+0.03,-1.00) r=2.32m
+[headless_play] t= 16.60s step= 830 trunk_z=  -1.0mm grav_b=(-0.03,-0.04,-1.00) r=2.33m
+[headless_play] t= 16.70s step= 835 trunk_z=   2.5mm grav_b=(-0.01,-0.06,-1.00) r=2.34m
+[headless_play] t= 16.80s step= 840 trunk_z=  -2.5mm grav_b=(-0.04,-0.04,-1.00) r=2.35m
+[headless_play] t= 16.90s step= 845 trunk_z=   1.0mm grav_b=(-0.09,+0.03,-1.00) r=2.35m
+[headless_play] t= 17.00s step= 850 trunk_z=   3.4mm grav_b=(-0.05,+0.02,-1.00) r=2.35m
+[headless_play] t= 17.10s step= 855 trunk_z=  -6.9mm grav_b=(-0.02,-0.05,-1.00) r=2.34m
+[headless_play] t= 17.20s step= 860 trunk_z=   0.3mm grav_b=(-0.02,-0.05,-1.00) r=2.34m
+[headless_play] t= 17.30s step= 865 trunk_z=  -3.5mm grav_b=(+0.02,-0.04,-1.00) r=2.34m
+[headless_play] t= 17.40s step= 870 trunk_z=   0.9mm grav_b=(+0.04,+0.04,-1.00) r=2.36m
+[headless_play] t= 17.50s step= 875 trunk_z=   1.5mm grav_b=(+0.03,-0.06,-1.00) r=2.39m
+[headless_play] t= 17.60s step= 880 trunk_z=  -4.4mm grav_b=(+0.02,-0.06,-1.00) r=2.41m
+[headless_play] t= 17.70s step= 885 trunk_z=  -2.1mm grav_b=(-0.04,-0.07,-1.00) r=2.42m
+[headless_play] t= 17.80s step= 890 trunk_z=  -5.9mm grav_b=(-0.06,-0.05,-1.00) r=2.43m
+[headless_play] t= 17.90s step= 895 trunk_z=  -0.4mm grav_b=(-0.05,+0.02,-1.00) r=2.44m
+[headless_play] t= 18.00s step= 900 trunk_z=  -0.9mm grav_b=(-0.01,-0.00,-1.00) r=2.45m
+[headless_play] t= 18.10s step= 905 trunk_z=  -4.0mm grav_b=(+0.02,-0.02,-1.00) r=2.47m
+[headless_play] t= 18.20s step= 910 trunk_z=   1.6mm grav_b=(+0.02,+0.01,-1.00) r=2.48m
+[headless_play] t= 18.30s step= 915 trunk_z=  -7.0mm grav_b=(-0.03,+0.04,-1.00) r=2.50m
+[headless_play] t= 18.40s step= 920 trunk_z=   3.0mm grav_b=(-0.01,+0.08,-1.00) r=2.53m
+[headless_play] t= 18.50s step= 925 trunk_z=   5.8mm grav_b=(+0.04,+0.07,-1.00) r=2.56m
+[headless_play] t= 18.60s step= 930 trunk_z=  -4.6mm grav_b=(-0.02,+0.03,-1.00) r=2.60m
+[headless_play] t= 18.70s step= 935 trunk_z=   3.5mm grav_b=(-0.08,+0.02,-1.00) r=2.62m
+[headless_play] t= 18.80s step= 940 trunk_z=  -4.9mm grav_b=(-0.12,+0.04,-0.99) r=2.63m
+[headless_play] t= 18.90s step= 945 trunk_z=   2.9mm grav_b=(-0.11,+0.05,-0.99) r=2.64m
+[headless_play] t= 19.00s step= 950 trunk_z=  -1.8mm grav_b=(-0.04,-0.01,-1.00) r=2.64m
+[headless_play] t= 19.10s step= 955 trunk_z=   2.1mm grav_b=(-0.03,-0.04,-1.00) r=2.64m
+[headless_play] t= 19.20s step= 960 trunk_z=  -2.1mm grav_b=(+0.01,+0.02,-1.00) r=2.65m
+[headless_play] t= 19.30s step= 965 trunk_z=   3.1mm grav_b=(-0.00,+0.09,-1.00) r=2.66m
+[headless_play] t= 19.40s step= 970 trunk_z=   6.0mm grav_b=(-0.07,+0.10,-0.99) r=2.66m
+[headless_play] t= 19.50s step= 975 trunk_z=   6.6mm grav_b=(-0.04,+0.06,-1.00) r=2.65m
+[headless_play] t= 19.60s step= 980 trunk_z=   8.3mm grav_b=(-0.06,+0.09,-0.99) r=2.65m
+[headless_play] t= 19.70s step= 985 trunk_z=   8.3mm grav_b=(+0.03,+0.15,-0.99) r=2.64m
+[headless_play] t= 19.80s step= 990 trunk_z=   3.6mm grav_b=(+0.16,+0.06,-0.99) r=2.60m
+[headless_play] t= 19.90s step= 995 trunk_z= -17.7mm grav_b=(+0.03,+0.07,-1.00) r=2.58m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 121.5mm grav_b=(-0.01,+0.00,-1.00) r=0.41m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=0.41m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t11.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 122.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.052,-18.222,+0.249)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=0.23m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.4mm grav_b=(-0.06,+0.00,-1.00) r=0.23m
+[headless_play] t=  0.20s step=  10 trunk_z= 119.4mm grav_b=(-0.08,+0.04,-1.00) r=0.24m
+[headless_play] t=  0.30s step=  15 trunk_z= 121.2mm grav_b=(-0.13,-0.00,-0.99) r=0.24m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.1mm grav_b=(-0.12,-0.07,-0.99) r=0.22m
+[headless_play] t=  0.50s step=  25 trunk_z= 123.0mm grav_b=(-0.10,-0.07,-0.99) r=0.22m
+[headless_play] t=  0.60s step=  30 trunk_z= 119.4mm grav_b=(-0.09,-0.03,-1.00) r=0.24m
+[headless_play] t=  0.70s step=  35 trunk_z= 122.4mm grav_b=(-0.09,+0.05,-1.00) r=0.26m
+[headless_play] t=  0.80s step=  40 trunk_z= 124.3mm grav_b=(-0.06,+0.06,-1.00) r=0.27m
+[headless_play] t=  0.90s step=  45 trunk_z= 119.5mm grav_b=(-0.06,+0.02,-1.00) r=0.27m
+[headless_play] t=  1.00s step=  50 trunk_z= 124.0mm grav_b=(+0.01,-0.01,-1.00) r=0.29m
+[headless_play] t=  1.10s step=  55 trunk_z= 121.0mm grav_b=(-0.06,+0.05,-1.00) r=0.32m
+[headless_play] t=  1.20s step=  60 trunk_z= 126.8mm grav_b=(-0.08,+0.06,-1.00) r=0.35m
+[headless_play] t=  1.30s step=  65 trunk_z= 123.8mm grav_b=(-0.12,+0.04,-0.99) r=0.37m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.1mm grav_b=(-0.13,-0.02,-0.99) r=0.38m
+[headless_play] t=  1.50s step=  75 trunk_z= 122.8mm grav_b=(-0.14,-0.02,-0.99) r=0.38m
+[headless_play] t=  1.60s step=  80 trunk_z= 117.3mm grav_b=(-0.13,+0.02,-0.99) r=0.38m
+[headless_play] t=  1.70s step=  85 trunk_z= 122.7mm grav_b=(-0.10,+0.00,-1.00) r=0.38m
+[headless_play] t=  1.80s step=  90 trunk_z= 117.8mm grav_b=(-0.09,-0.01,-1.00) r=0.40m
+[headless_play] t=  1.90s step=  95 trunk_z= 120.9mm grav_b=(-0.08,-0.06,-1.00) r=0.42m
+[headless_play] t=  2.00s step= 100 trunk_z= 122.5mm grav_b=(-0.07,-0.04,-1.00) r=0.43m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.6mm grav_b=(-0.07,+0.03,-1.00) r=0.44m
+[headless_play] t=  2.20s step= 110 trunk_z= 125.6mm grav_b=(-0.08,+0.06,-0.99) r=0.44m
+[headless_play] t=  2.30s step= 115 trunk_z= 123.6mm grav_b=(-0.07,+0.06,-1.00) r=0.45m
+[headless_play] t=  2.40s step= 120 trunk_z= 115.9mm grav_b=(-0.07,-0.03,-1.00) r=0.47m
+[headless_play] t=  2.50s step= 125 trunk_z= 123.3mm grav_b=(-0.06,-0.04,-1.00) r=0.48m
+[headless_play] t=  2.60s step= 130 trunk_z= 126.6mm grav_b=(-0.03,-0.08,-1.00) r=0.49m
+[headless_play] t=  2.70s step= 135 trunk_z= 127.1mm grav_b=(-0.04,-0.02,-1.00) r=0.51m
+[headless_play] t=  2.80s step= 140 trunk_z= 125.5mm grav_b=(-0.09,+0.03,-1.00) r=0.53m
+[headless_play] t=  2.90s step= 145 trunk_z= 121.8mm grav_b=(-0.12,+0.03,-0.99) r=0.54m
+[headless_play] t=  3.00s step= 150 trunk_z= 119.1mm grav_b=(-0.11,-0.03,-0.99) r=0.56m
+[headless_play] t=  3.10s step= 155 trunk_z= 122.4mm grav_b=(-0.09,-0.04,-1.00) r=0.56m
+[headless_play] t=  3.20s step= 160 trunk_z= 119.8mm grav_b=(-0.07,-0.02,-1.00) r=0.55m
+[headless_play] t=  3.30s step= 165 trunk_z= 120.6mm grav_b=(-0.05,+0.07,-1.00) r=0.55m
+[headless_play] t=  3.40s step= 170 trunk_z= 126.4mm grav_b=(-0.04,+0.08,-1.00) r=0.56m
+[headless_play] t=  3.50s step= 175 trunk_z= 123.1mm grav_b=(-0.05,+0.06,-1.00) r=0.58m
+[headless_play] t=  3.60s step= 180 trunk_z= 122.4mm grav_b=(-0.07,-0.05,-1.00) r=0.61m
+[headless_play] t=  3.70s step= 185 trunk_z= 124.3mm grav_b=(-0.07,-0.05,-1.00) r=0.62m
+[headless_play] t=  3.80s step= 190 trunk_z= 119.1mm grav_b=(-0.08,-0.02,-1.00) r=0.62m
+[headless_play] t=  3.90s step= 195 trunk_z= 122.1mm grav_b=(-0.12,+0.04,-0.99) r=0.62m
+[headless_play] t=  4.00s step= 200 trunk_z= 119.7mm grav_b=(-0.16,+0.00,-0.99) r=0.62m
+[headless_play] t=  4.10s step= 205 trunk_z= 120.6mm grav_b=(-0.12,-0.05,-0.99) r=0.62m
+[headless_play] t=  4.20s step= 210 trunk_z= 122.6mm grav_b=(-0.10,-0.02,-1.00) r=0.61m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.8mm grav_b=(-0.09,+0.05,-0.99) r=0.60m
+[headless_play] t=  4.40s step= 220 trunk_z= 123.7mm grav_b=(-0.08,+0.05,-1.00) r=0.60m
+[headless_play] t=  4.50s step= 225 trunk_z= 119.8mm grav_b=(-0.09,+0.04,-1.00) r=0.61m
+[headless_play] t=  4.60s step= 230 trunk_z= 120.8mm grav_b=(-0.06,-0.06,-1.00) r=0.63m
+[headless_play] t=  4.70s step= 235 trunk_z= 123.2mm grav_b=(-0.06,-0.06,-1.00) r=0.63m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.3mm grav_b=(-0.11,-0.02,-0.99) r=0.62m
+[headless_play] t=  4.90s step= 245 trunk_z= 123.5mm grav_b=(-0.11,+0.04,-0.99) r=0.62m
+[headless_play] t=  5.00s step= 250 trunk_z= 124.7mm grav_b=(-0.11,+0.04,-0.99) r=0.63m
+[headless_play] t=  5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.10,-0.02,-0.99) r=0.65m
+[headless_play] t=  5.20s step= 260 trunk_z= 124.2mm grav_b=(-0.05,-0.07,-1.00) r=0.67m
+[headless_play] t=  5.30s step= 265 trunk_z= 123.7mm grav_b=(-0.05,-0.04,-1.00) r=0.68m
+[headless_play] t=  5.40s step= 270 trunk_z= 118.9mm grav_b=(-0.07,+0.03,-1.00) r=0.68m
+[headless_play] t=  5.50s step= 275 trunk_z= 125.4mm grav_b=(-0.09,+0.04,-0.99) r=0.69m
+[headless_play] t=  5.60s step= 280 trunk_z= 121.1mm grav_b=(-0.11,+0.03,-0.99) r=0.70m
+[headless_play] t=  5.70s step= 285 trunk_z= 119.8mm grav_b=(-0.04,-0.03,-1.00) r=0.73m
+[headless_play] t=  5.80s step= 290 trunk_z= 121.5mm grav_b=(-0.02,+0.02,-1.00) r=0.74m
+[headless_play] t=  5.90s step= 295 trunk_z= 121.5mm grav_b=(-0.07,+0.08,-0.99) r=0.75m
+[headless_play] t=  6.00s step= 300 trunk_z= 126.4mm grav_b=(-0.12,+0.08,-0.99) r=0.76m
+[headless_play] t=  6.10s step= 305 trunk_z= 118.4mm grav_b=(-0.13,+0.04,-0.99) r=0.79m
+[headless_play] t=  6.20s step= 310 trunk_z= 122.1mm grav_b=(-0.10,-0.04,-0.99) r=0.81m
+[headless_play] t=  6.30s step= 315 trunk_z= 122.4mm grav_b=(-0.06,-0.02,-1.00) r=0.82m
+[headless_play] t=  6.40s step= 320 trunk_z= 118.5mm grav_b=(-0.03,+0.04,-1.00) r=0.83m
+[headless_play] t=  6.50s step= 325 trunk_z= 130.4mm grav_b=(-0.01,+0.04,-1.00) r=0.85m
+[headless_play] t=  6.60s step= 330 trunk_z= 122.1mm grav_b=(-0.06,+0.01,-1.00) r=0.89m
+[headless_play] t=  6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.08,-0.07,-0.99) r=0.92m
+[headless_play] t=  6.80s step= 340 trunk_z= 119.1mm grav_b=(-0.09,-0.05,-0.99) r=0.93m
+[headless_play] t=  6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.10,+0.01,-0.99) r=0.94m
+[headless_play] t=  7.00s step= 350 trunk_z= 119.2mm grav_b=(-0.07,-0.02,-1.00) r=0.97m
+[headless_play] t=  7.10s step= 355 trunk_z= 101.7mm grav_b=(-0.09,-0.07,-0.99) r=1.01m
+[headless_play] t=  7.20s step= 360 trunk_z= 108.0mm grav_b=(-0.09,-0.11,-0.99) r=1.04m
+[headless_play] t=  7.30s step= 365 trunk_z= 109.3mm grav_b=(-0.07,-0.06,-1.00) r=1.06m
+[headless_play] t=  7.40s step= 370 trunk_z= 104.7mm grav_b=(-0.09,+0.03,-1.00) r=1.07m
+[headless_play] t=  7.50s step= 375 trunk_z= 108.8mm grav_b=(-0.12,+0.08,-0.99) r=1.09m
+[headless_play] t=  7.60s step= 380 trunk_z= 107.3mm grav_b=(-0.12,+0.10,-0.99) r=1.11m
+[headless_play] t=  7.70s step= 385 trunk_z=  94.2mm grav_b=(-0.08,+0.01,-1.00) r=1.14m
+[headless_play] t=  7.80s step= 390 trunk_z=  99.5mm grav_b=(-0.05,-0.10,-0.99) r=1.16m
+[headless_play] t=  7.90s step= 395 trunk_z=  94.4mm grav_b=(-0.05,-0.02,-1.00) r=1.18m
+[headless_play] t=  8.00s step= 400 trunk_z=  81.4mm grav_b=(+0.05,+0.01,-1.00) r=1.22m
+[headless_play] t=  8.10s step= 405 trunk_z=  91.8mm grav_b=(-0.00,+0.05,-1.00) r=1.25m
+[headless_play] t=  8.20s step= 410 trunk_z=  92.0mm grav_b=(-0.10,+0.02,-1.00) r=1.28m
+[headless_play] t=  8.30s step= 415 trunk_z=  66.7mm grav_b=(-0.12,-0.08,-0.99) r=1.33m
+[headless_play] t=  8.40s step= 420 trunk_z=  75.1mm grav_b=(-0.11,-0.11,-0.99) r=1.35m
+[headless_play] t=  8.50s step= 425 trunk_z=  76.9mm grav_b=(-0.09,-0.08,-0.99) r=1.35m
+[headless_play] t=  8.60s step= 430 trunk_z=  72.2mm grav_b=(-0.06,-0.00,-1.00) r=1.37m
+[headless_play] t=  8.70s step= 435 trunk_z=  71.6mm grav_b=(-0.08,+0.04,-1.00) r=1.39m
+[headless_play] t=  8.80s step= 440 trunk_z=  65.5mm grav_b=(-0.08,-0.06,-0.99) r=1.41m
+[headless_play] t=  8.90s step= 445 trunk_z=  63.1mm grav_b=(-0.09,-0.11,-0.99) r=1.44m
+[headless_play] t=  9.00s step= 450 trunk_z=  63.0mm grav_b=(-0.02,-0.05,-1.00) r=1.46m
+[headless_play] t=  9.10s step= 455 trunk_z=  57.4mm grav_b=(-0.04,+0.05,-1.00) r=1.46m
+[headless_play] t=  9.20s step= 460 trunk_z=  66.3mm grav_b=(-0.10,+0.07,-0.99) r=1.47m
+[headless_play] t=  9.30s step= 465 trunk_z=  61.8mm grav_b=(-0.12,+0.06,-0.99) r=1.50m
+[headless_play] t=  9.40s step= 470 trunk_z=  50.7mm grav_b=(-0.07,-0.06,-1.00) r=1.53m
+[headless_play] t=  9.50s step= 475 trunk_z=  55.5mm grav_b=(-0.04,-0.09,-1.00) r=1.55m
+[headless_play] t=  9.60s step= 480 trunk_z=  56.8mm grav_b=(-0.02,-0.07,-1.00) r=1.57m
+[headless_play] t=  9.70s step= 485 trunk_z=  54.0mm grav_b=(-0.12,-0.01,-0.99) r=1.58m
+[headless_play] t=  9.80s step= 490 trunk_z=  47.4mm grav_b=(-0.13,-0.00,-0.99) r=1.59m
+[headless_play] t=  9.90s step= 495 trunk_z=  41.1mm grav_b=(-0.08,+0.01,-1.00) r=1.59m
+[headless_play] t= 10.00s step= 500 trunk_z=  44.0mm grav_b=(-0.09,+0.06,-0.99) r=1.60m
+[headless_play] t= 10.10s step= 505 trunk_z=  41.5mm grav_b=(-0.09,+0.07,-0.99) r=1.61m
+[headless_play] t= 10.20s step= 510 trunk_z=  43.1mm grav_b=(-0.07,+0.06,-1.00) r=1.62m
+[headless_play] t= 10.30s step= 515 trunk_z=  39.1mm grav_b=(-0.04,-0.02,-1.00) r=1.63m
+[headless_play] t= 10.40s step= 520 trunk_z=  40.4mm grav_b=(-0.03,-0.07,-1.00) r=1.64m
+[headless_play] t= 10.50s step= 525 trunk_z=  36.4mm grav_b=(+0.00,-0.01,-1.00) r=1.66m
+[headless_play] t= 10.60s step= 530 trunk_z=  37.3mm grav_b=(-0.05,+0.11,-0.99) r=1.67m
+[headless_play] t= 10.70s step= 535 trunk_z=  45.7mm grav_b=(-0.15,+0.09,-0.98) r=1.66m
+[headless_play] t= 10.80s step= 540 trunk_z=  32.1mm grav_b=(-0.15,+0.05,-0.99) r=1.63m
+[headless_play] t= 10.90s step= 545 trunk_z=  40.9mm grav_b=(-0.13,+0.12,-0.99) r=1.62m
+[headless_play] t= 11.00s step= 550 trunk_z=  30.7mm grav_b=(-0.04,+0.11,-0.99) r=1.60m
+[headless_play] t= 11.10s step= 555 trunk_z=  42.2mm grav_b=(-0.03,+0.05,-1.00) r=1.60m
+[headless_play] t= 11.20s step= 560 trunk_z=  38.4mm grav_b=(-0.01,+0.02,-1.00) r=1.59m
+[headless_play] t= 11.30s step= 565 trunk_z=  41.7mm grav_b=(-0.03,-0.01,-1.00) r=1.59m
+[headless_play] t= 11.40s step= 570 trunk_z=  38.0mm grav_b=(+0.01,+0.02,-1.00) r=1.61m
+[headless_play] t= 11.50s step= 575 trunk_z=  36.7mm grav_b=(-0.00,+0.18,-0.98) r=1.65m
+[headless_play] t= 11.60s step= 580 trunk_z=  45.2mm grav_b=(+0.02,+0.22,-0.97) r=1.69m
+[headless_play] t= 11.70s step= 585 trunk_z=  48.6mm grav_b=(+0.02,+0.17,-0.98) r=1.73m
+[headless_play] t= 11.80s step= 590 trunk_z=  29.8mm grav_b=(+0.02,+0.15,-0.99) r=1.78m
+[headless_play] t= 11.90s step= 595 trunk_z=  34.8mm grav_b=(-0.05,+0.08,-1.00) r=1.79m
+[headless_play] t= 12.00s step= 600 trunk_z=  26.9mm grav_b=(-0.05,+0.05,-1.00) r=1.80m
+[headless_play] t= 12.10s step= 605 trunk_z=  31.0mm grav_b=(-0.07,-0.03,-1.00) r=1.84m
+[headless_play] t= 12.20s step= 610 trunk_z=   9.1mm grav_b=(-0.12,-0.11,-0.99) r=1.89m
+[headless_play] t= 12.30s step= 615 trunk_z=  21.8mm grav_b=(-0.14,-0.17,-0.98) r=1.92m
+[headless_play] t= 12.40s step= 620 trunk_z=  22.9mm grav_b=(-0.12,-0.15,-0.98) r=1.94m
+[headless_play] t= 12.50s step= 625 trunk_z=  23.0mm grav_b=(-0.10,-0.13,-0.99) r=1.95m
+[headless_play] t= 12.60s step= 630 trunk_z=  22.4mm grav_b=(-0.09,-0.11,-0.99) r=1.95m
+[headless_play] t= 12.70s step= 635 trunk_z=  20.1mm grav_b=(-0.08,-0.07,-0.99) r=1.96m
+[headless_play] t= 12.80s step= 640 trunk_z=  14.8mm grav_b=(-0.15,+0.02,-0.99) r=1.95m
+[headless_play] t= 12.90s step= 645 trunk_z=  23.2mm grav_b=(-0.25,+0.03,-0.97) r=1.92m
+[headless_play] t= 13.00s step= 650 trunk_z=   8.3mm grav_b=(-0.08,-0.02,-1.00) r=1.88m
+[headless_play] t= 13.10s step= 655 trunk_z=  14.8mm grav_b=(-0.19,+0.08,-0.98) r=1.86m
+[headless_play] t= 13.20s step= 660 trunk_z=   1.5mm grav_b=(-0.05,+0.09,-0.99) r=1.83m
+[headless_play] t= 13.30s step= 665 trunk_z=  17.8mm grav_b=(-0.06,+0.05,-1.00) r=1.83m
+[headless_play] t= 13.40s step= 670 trunk_z=  16.8mm grav_b=(+0.03,+0.07,-1.00) r=1.83m
+[headless_play] t= 13.50s step= 675 trunk_z=  16.1mm grav_b=(+0.01,+0.00,-1.00) r=1.84m
+[headless_play] t= 13.60s step= 680 trunk_z=  18.5mm grav_b=(+0.00,+0.02,-1.00) r=1.86m
+[headless_play] t= 13.70s step= 685 trunk_z=  14.4mm grav_b=(-0.07,+0.24,-0.97) r=1.89m
+[headless_play] t= 13.80s step= 690 trunk_z=  24.5mm grav_b=(-0.08,+0.31,-0.95) r=1.91m
+[headless_play] t= 13.90s step= 695 trunk_z=  17.8mm grav_b=(+0.15,+0.48,-0.87) r=1.90m
+[headless_play] t= 14.00s step= 700 trunk_z=  13.5mm grav_b=(+0.41,+0.54,-0.73) r=1.91m
+[headless_play] t= 14.10s step= 705 trunk_z= -20.1mm grav_b=(+0.52,+0.46,-0.73) r=1.92m
+[headless_play] RESET at t= 14.18s step= 709 (env termination, not a recovery)
+[headless_play] t= 14.20s step= 710 trunk_z= 125.9mm grav_b=(-0.01,+0.00,-1.00) r=0.11m
+[headless_play] t= 14.30s step= 715 trunk_z= 115.3mm grav_b=(-0.05,+0.03,-1.00) r=0.12m
+[headless_play] t= 14.40s step= 720 trunk_z= 115.2mm grav_b=(-0.04,+0.07,-1.00) r=0.13m
+[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.03,-0.03,-1.00) r=0.12m
+[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(-0.03,-0.08,-1.00) r=0.11m
+[headless_play] t= 14.70s step= 735 trunk_z= 119.9mm grav_b=(-0.04,-0.03,-1.00) r=0.12m
+[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(-0.08,+0.05,-1.00) r=0.14m
+[headless_play] t= 14.90s step= 745 trunk_z= 125.5mm grav_b=(-0.11,+0.08,-0.99) r=0.16m
+[headless_play] t= 15.00s step= 750 trunk_z= 126.4mm grav_b=(-0.13,+0.04,-0.99) r=0.15m
+[headless_play] t= 15.10s step= 755 trunk_z= 113.4mm grav_b=(-0.10,+0.02,-0.99) r=0.13m
+[headless_play] t= 15.20s step= 760 trunk_z= 118.5mm grav_b=(-0.05,-0.03,-1.00) r=0.13m
+[headless_play] t= 15.30s step= 765 trunk_z= 117.2mm grav_b=(-0.03,+0.02,-1.00) r=0.14m
+[headless_play] t= 15.40s step= 770 trunk_z= 121.3mm grav_b=(-0.05,+0.12,-0.99) r=0.16m
+[headless_play] t= 15.50s step= 775 trunk_z= 125.7mm grav_b=(-0.06,+0.09,-0.99) r=0.18m
+[headless_play] t= 15.60s step= 780 trunk_z= 118.6mm grav_b=(-0.08,+0.06,-0.99) r=0.19m
+[headless_play] t= 15.70s step= 785 trunk_z= 121.1mm grav_b=(-0.10,-0.05,-0.99) r=0.19m
+[headless_play] t= 15.80s step= 790 trunk_z= 122.9mm grav_b=(-0.11,-0.04,-0.99) r=0.19m
+[headless_play] t= 15.90s step= 795 trunk_z= 118.1mm grav_b=(-0.13,+0.01,-0.99) r=0.18m
+[headless_play] t= 16.00s step= 800 trunk_z= 125.4mm grav_b=(-0.16,+0.03,-0.99) r=0.18m
+[headless_play] t= 16.10s step= 805 trunk_z= 119.9mm grav_b=(-0.10,+0.00,-1.00) r=0.16m
+[headless_play] t= 16.20s step= 810 trunk_z= 111.3mm grav_b=(-0.08,+0.04,-1.00) r=0.14m
+[headless_play] t= 16.30s step= 815 trunk_z= 112.5mm grav_b=(-0.07,+0.07,-1.00) r=0.13m
+[headless_play] t= 16.40s step= 820 trunk_z= 116.5mm grav_b=(-0.04,+0.06,-1.00) r=0.14m
+[headless_play] t= 16.50s step= 825 trunk_z= 113.2mm grav_b=(-0.02,-0.02,-1.00) r=0.15m
+[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(-0.02,-0.08,-1.00) r=0.17m
+[headless_play] t= 16.70s step= 835 trunk_z= 121.2mm grav_b=(-0.02,-0.06,-1.00) r=0.18m
+[headless_play] t= 16.80s step= 840 trunk_z= 119.4mm grav_b=(-0.06,-0.00,-1.00) r=0.19m
+[headless_play] t= 16.90s step= 845 trunk_z= 123.9mm grav_b=(-0.09,+0.08,-0.99) r=0.20m
+[headless_play] t= 17.00s step= 850 trunk_z= 126.0mm grav_b=(-0.11,+0.05,-0.99) r=0.21m
+[headless_play] t= 17.10s step= 855 trunk_z= 114.0mm grav_b=(-0.17,-0.01,-0.98) r=0.18m
+[headless_play] t= 17.20s step= 860 trunk_z= 126.4mm grav_b=(-0.13,-0.01,-0.99) r=0.16m
+[headless_play] t= 17.30s step= 865 trunk_z= 111.1mm grav_b=(-0.02,+0.01,-1.00) r=0.11m
+[headless_play] t= 17.40s step= 870 trunk_z= 110.1mm grav_b=(-0.05,-0.02,-1.00) r=0.09m
+[headless_play] t= 17.50s step= 875 trunk_z= 111.2mm grav_b=(-0.04,+0.10,-0.99) r=0.10m
+[headless_play] t= 17.60s step= 880 trunk_z= 111.1mm grav_b=(-0.01,-0.03,-1.00) r=0.12m
+[headless_play] t= 17.70s step= 885 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.13m
+[headless_play] t= 17.80s step= 890 trunk_z= 116.0mm grav_b=(-0.10,+0.04,-0.99) r=0.12m
+[headless_play] t= 17.90s step= 895 trunk_z= 121.6mm grav_b=(-0.10,+0.09,-0.99) r=0.11m
+[headless_play] t= 18.00s step= 900 trunk_z= 128.5mm grav_b=(-0.10,+0.15,-0.98) r=0.11m
+[headless_play] t= 18.10s step= 905 trunk_z= 128.2mm grav_b=(-0.07,+0.14,-0.99) r=0.11m
+[headless_play] t= 18.20s step= 910 trunk_z= 125.6mm grav_b=(-0.07,+0.12,-0.99) r=0.13m
+[headless_play] t= 18.30s step= 915 trunk_z= 121.9mm grav_b=(-0.04,-0.03,-1.00) r=0.15m
+[headless_play] t= 18.40s step= 920 trunk_z= 124.0mm grav_b=(-0.07,-0.04,-1.00) r=0.16m
+[headless_play] t= 18.50s step= 925 trunk_z= 119.2mm grav_b=(-0.10,+0.00,-0.99) r=0.17m
+[headless_play] t= 18.60s step= 930 trunk_z= 124.5mm grav_b=(-0.11,+0.06,-0.99) r=0.17m
+[headless_play] t= 18.70s step= 935 trunk_z= 124.2mm grav_b=(-0.11,+0.06,-0.99) r=0.18m
+[headless_play] t= 18.80s step= 940 trunk_z= 117.8mm grav_b=(-0.08,-0.03,-1.00) r=0.19m
+[headless_play] t= 18.90s step= 945 trunk_z= 123.5mm grav_b=(-0.04,-0.04,-1.00) r=0.21m
+[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(-0.04,-0.01,-1.00) r=0.21m
+[headless_play] t= 19.10s step= 955 trunk_z= 121.8mm grav_b=(-0.08,+0.05,-1.00) r=0.21m
+[headless_play] t= 19.20s step= 960 trunk_z= 124.5mm grav_b=(-0.10,+0.04,-0.99) r=0.22m
+[headless_play] t= 19.30s step= 965 trunk_z= 116.4mm grav_b=(-0.09,-0.02,-1.00) r=0.24m
+[headless_play] t= 19.40s step= 970 trunk_z= 123.8mm grav_b=(-0.04,-0.05,-1.00) r=0.26m
+[headless_play] t= 19.50s step= 975 trunk_z= 127.1mm grav_b=(+0.06,-0.00,-1.00) r=0.29m
+[headless_play] t= 19.60s step= 980 trunk_z= 105.7mm grav_b=(-0.09,+0.13,-0.99) r=0.34m
+[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(-0.11,+0.15,-0.98) r=0.35m
+[headless_play] t= 19.80s step= 990 trunk_z= 123.6mm grav_b=(-0.19,+0.11,-0.98) r=0.36m
+[headless_play] t= 19.90s step= 995 trunk_z= 118.6mm grav_b=(-0.15,+0.06,-0.99) r=0.38m
+[headless_play] t= 20.00s step=1000 trunk_z= 121.6mm grav_b=(-0.15,+0.01,-0.99) r=0.38m
+[headless_play] t= 20.10s step=1005 trunk_z= 118.7mm grav_b=(-0.12,+0.04,-0.99) r=0.37m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t12.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 120.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.823,-17.562,+0.247)
+[headless_play] t=  0.00s step=   0 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.47m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.48m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.3mm grav_b=(+0.00,+0.02,-1.00) r=0.48m
+[headless_play] t=  0.30s step=  15 trunk_z= 115.6mm grav_b=(-0.02,-0.04,-1.00) r=0.50m
+[headless_play] t=  0.40s step=  20 trunk_z= 113.8mm grav_b=(+0.02,-0.11,-0.99) r=0.52m
+[headless_play] t=  0.50s step=  25 trunk_z= 121.6mm grav_b=(+0.02,-0.10,-1.00) r=0.54m
+[headless_play] t=  0.60s step=  30 trunk_z= 119.0mm grav_b=(+0.01,-0.09,-1.00) r=0.55m
+[headless_play] t=  0.70s step=  35 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.55m
+[headless_play] t=  0.80s step=  40 trunk_z= 123.4mm grav_b=(-0.03,-0.00,-1.00) r=0.55m
+[headless_play] t=  0.90s step=  45 trunk_z= 123.3mm grav_b=(+0.00,+0.02,-1.00) r=0.56m
+[headless_play] t=  1.00s step=  50 trunk_z= 118.4mm grav_b=(+0.04,-0.02,-1.00) r=0.57m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.6mm grav_b=(+0.06,-0.09,-0.99) r=0.59m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.8mm grav_b=(+0.05,-0.09,-0.99) r=0.60m
+[headless_play] t=  1.30s step=  65 trunk_z= 114.7mm grav_b=(+0.02,+0.03,-1.00) r=0.61m
+[headless_play] t=  1.40s step=  70 trunk_z= 121.2mm grav_b=(+0.04,+0.02,-1.00) r=0.63m
+[headless_play] t=  1.50s step=  75 trunk_z= 114.8mm grav_b=(+0.05,-0.03,-1.00) r=0.65m
+[headless_play] t=  1.60s step=  80 trunk_z= 117.9mm grav_b=(+0.14,-0.07,-0.99) r=0.69m
+[headless_play] t=  1.70s step=  85 trunk_z= 122.7mm grav_b=(+0.05,-0.03,-1.00) r=0.73m
+[headless_play] t=  1.80s step=  90 trunk_z= 118.7mm grav_b=(+0.00,-0.02,-1.00) r=0.76m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.9mm grav_b=(-0.02,-0.05,-1.00) r=0.78m
+[headless_play] t=  2.00s step= 100 trunk_z= 119.3mm grav_b=(-0.03,-0.10,-0.99) r=0.81m
+[headless_play] t=  2.10s step= 105 trunk_z= 121.2mm grav_b=(-0.03,-0.09,-1.00) r=0.82m
+[headless_play] t=  2.20s step= 110 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.83m
+[headless_play] t=  2.30s step= 115 trunk_z= 120.7mm grav_b=(+0.02,-0.01,-1.00) r=0.84m
+[headless_play] t=  2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.02,-0.05,-1.00) r=0.86m
+[headless_play] t=  2.50s step= 125 trunk_z= 119.1mm grav_b=(+0.00,-0.12,-0.99) r=0.88m
+[headless_play] t=  2.60s step= 130 trunk_z= 123.0mm grav_b=(+0.01,-0.12,-0.99) r=0.89m
+[headless_play] t=  2.70s step= 135 trunk_z= 119.8mm grav_b=(+0.02,-0.11,-0.99) r=0.91m
+[headless_play] t=  2.80s step= 140 trunk_z= 118.0mm grav_b=(+0.01,+0.04,-1.00) r=0.92m
+[headless_play] t=  2.90s step= 145 trunk_z= 122.5mm grav_b=(+0.04,+0.00,-1.00) r=0.94m
+[headless_play] t=  3.00s step= 150 trunk_z= 115.9mm grav_b=(+0.02,-0.03,-1.00) r=0.95m
+[headless_play] t=  3.10s step= 155 trunk_z= 120.0mm grav_b=(-0.01,-0.11,-0.99) r=0.97m
+[headless_play] t=  3.20s step= 160 trunk_z= 124.5mm grav_b=(-0.01,-0.13,-0.99) r=0.98m
+[headless_play] t=  3.30s step= 165 trunk_z= 125.1mm grav_b=(+0.02,-0.20,-0.98) r=0.99m
+[headless_play] t=  3.40s step= 170 trunk_z= 125.3mm grav_b=(+0.02,-0.19,-0.98) r=0.99m
+[headless_play] t=  3.50s step= 175 trunk_z= 123.3mm grav_b=(-0.01,-0.17,-0.99) r=0.99m
+[headless_play] t=  3.60s step= 180 trunk_z= 119.5mm grav_b=(+0.00,-0.11,-0.99) r=1.00m
+[headless_play] t=  3.70s step= 185 trunk_z= 118.3mm grav_b=(+0.01,-0.02,-1.00) r=1.00m
+[headless_play] t=  3.80s step= 190 trunk_z= 114.6mm grav_b=(+0.05,-0.06,-1.00) r=1.00m
+[headless_play] t=  3.90s step= 195 trunk_z= 114.9mm grav_b=(+0.06,-0.04,-1.00) r=1.00m
+[headless_play] t=  4.00s step= 200 trunk_z= 115.3mm grav_b=(+0.04,-0.02,-1.00) r=1.00m
+[headless_play] t=  4.10s step= 205 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=0.99m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.0mm grav_b=(-0.03,-0.03,-1.00) r=0.99m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.05,-0.03,-1.00) r=0.99m
+[headless_play] t=  4.40s step= 220 trunk_z= 114.9mm grav_b=(-0.00,-0.01,-1.00) r=0.99m
+[headless_play] t=  4.50s step= 225 trunk_z= 112.9mm grav_b=(+0.04,-0.00,-1.00) r=0.99m
+[headless_play] t=  4.60s step= 230 trunk_z= 111.8mm grav_b=(+0.05,-0.08,-1.00) r=0.98m
+[headless_play] t=  4.70s step= 235 trunk_z= 112.0mm grav_b=(+0.05,-0.03,-1.00) r=0.98m
+[headless_play] t=  4.80s step= 240 trunk_z= 113.4mm grav_b=(+0.06,-0.03,-1.00) r=0.98m
+[headless_play] t=  4.90s step= 245 trunk_z= 114.6mm grav_b=(+0.06,-0.03,-1.00) r=0.98m
+[headless_play] t=  5.00s step= 250 trunk_z= 114.9mm grav_b=(+0.05,-0.03,-1.00) r=0.98m
+[headless_play] t=  5.10s step= 255 trunk_z= 115.0mm grav_b=(+0.03,-0.03,-1.00) r=0.98m
+[headless_play] t=  5.20s step= 260 trunk_z= 117.0mm grav_b=(+0.06,+0.01,-1.00) r=0.99m
+[headless_play] t=  5.30s step= 265 trunk_z= 120.2mm grav_b=(+0.07,+0.02,-1.00) r=0.99m
+[headless_play] t=  5.40s step= 270 trunk_z= 117.3mm grav_b=(+0.05,-0.09,-0.99) r=0.99m
+[headless_play] t=  5.50s step= 275 trunk_z= 121.4mm grav_b=(+0.01,-0.10,-1.00) r=0.99m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.8mm grav_b=(-0.06,-0.06,-1.00) r=0.99m
+[headless_play] t=  5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.01,+0.00,-1.00) r=1.01m
+[headless_play] t=  5.80s step= 290 trunk_z= 118.0mm grav_b=(+0.06,-0.00,-1.00) r=1.02m
+[headless_play] t=  5.90s step= 295 trunk_z= 118.8mm grav_b=(+0.03,-0.07,-1.00) r=1.01m
+[headless_play] t=  6.00s step= 300 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=1.01m
+[headless_play] t=  6.10s step= 305 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=1.01m
+[headless_play] t=  6.20s step= 310 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=1.01m
+[headless_play] t=  6.30s step= 315 trunk_z= 115.6mm grav_b=(+0.01,-0.00,-1.00) r=1.02m
+[headless_play] t=  6.40s step= 320 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.02m
+[headless_play] t=  6.50s step= 325 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.02m
+[headless_play] t=  6.60s step= 330 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=1.02m
+[headless_play] t=  6.70s step= 335 trunk_z= 117.0mm grav_b=(+0.06,-0.02,-1.00) r=1.02m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=1.02m
+[headless_play] t=  6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=1.02m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=1.02m
+[headless_play] t=  7.10s step= 355 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=1.02m
+[headless_play] t=  7.20s step= 360 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=1.02m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=1.01m
+[headless_play] t=  7.40s step= 370 trunk_z= 116.2mm grav_b=(-0.08,-0.04,-1.00) r=1.00m
+[headless_play] t=  7.50s step= 375 trunk_z= 116.0mm grav_b=(-0.03,-0.09,-1.00) r=1.00m
+[headless_play] t=  7.60s step= 380 trunk_z= 113.7mm grav_b=(+0.04,-0.04,-1.00) r=0.99m
+[headless_play] t=  7.70s step= 385 trunk_z= 112.6mm grav_b=(+0.05,-0.01,-1.00) r=1.00m
+[headless_play] t=  7.80s step= 390 trunk_z= 111.0mm grav_b=(+0.07,-0.05,-1.00) r=0.99m
+[headless_play] t=  7.90s step= 395 trunk_z= 112.6mm grav_b=(+0.07,-0.00,-1.00) r=0.99m
+[headless_play] t=  8.00s step= 400 trunk_z= 114.2mm grav_b=(+0.06,-0.01,-1.00) r=0.99m
+[headless_play] t=  8.10s step= 405 trunk_z= 114.6mm grav_b=(+0.06,-0.02,-1.00) r=0.99m
+[headless_play] t=  8.20s step= 410 trunk_z= 115.5mm grav_b=(+0.07,-0.03,-1.00) r=0.99m
+[headless_play] t=  8.30s step= 415 trunk_z= 115.3mm grav_b=(+0.06,-0.03,-1.00) r=0.99m
+[headless_play] t=  8.40s step= 420 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.99m
+[headless_play] t=  8.50s step= 425 trunk_z= 115.2mm grav_b=(+0.01,-0.01,-1.00) r=0.99m
+[headless_play] t=  8.60s step= 430 trunk_z= 115.0mm grav_b=(+0.01,-0.01,-1.00) r=0.99m
+[headless_play] t=  8.70s step= 435 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.99m
+[headless_play] t=  8.80s step= 440 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.99m
+[headless_play] t=  8.90s step= 445 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=1.00m
+[headless_play] t=  9.00s step= 450 trunk_z= 113.9mm grav_b=(+0.00,+0.03,-1.00) r=1.01m
+[headless_play] t=  9.10s step= 455 trunk_z= 112.4mm grav_b=(+0.01,-0.07,-1.00) r=1.02m
+[headless_play] t=  9.20s step= 460 trunk_z= 112.2mm grav_b=(+0.07,-0.14,-0.99) r=1.03m
+[headless_play] t=  9.30s step= 465 trunk_z= 117.7mm grav_b=(+0.03,-0.14,-0.99) r=1.03m
+[headless_play] t=  9.40s step= 470 trunk_z= 114.2mm grav_b=(+0.01,-0.10,-0.99) r=1.05m
+[headless_play] t=  9.50s step= 475 trunk_z= 109.2mm grav_b=(+0.03,+0.04,-1.00) r=1.07m
+[headless_play] t=  9.60s step= 480 trunk_z= 116.0mm grav_b=(+0.04,+0.04,-1.00) r=1.08m
+[headless_play] t=  9.70s step= 485 trunk_z= 109.5mm grav_b=(+0.08,-0.04,-1.00) r=1.09m
+[headless_play] t=  9.80s step= 490 trunk_z= 113.3mm grav_b=(+0.08,-0.10,-0.99) r=1.10m
+[headless_play] t=  9.90s step= 495 trunk_z= 113.9mm grav_b=(+0.10,-0.12,-0.99) r=1.12m
+[headless_play] t= 10.00s step= 500 trunk_z= 113.0mm grav_b=(+0.07,-0.03,-1.00) r=1.14m
+[headless_play] t= 10.10s step= 505 trunk_z= 108.0mm grav_b=(+0.01,+0.15,-0.99) r=1.18m
+[headless_play] t= 10.20s step= 510 trunk_z= 107.4mm grav_b=(+0.04,+0.13,-0.99) r=1.20m
+[headless_play] t= 10.30s step= 515 trunk_z= 100.1mm grav_b=(+0.11,+0.08,-0.99) r=1.22m
+[headless_play] t= 10.40s step= 520 trunk_z=  97.3mm grav_b=(+0.05,-0.01,-1.00) r=1.25m
+[headless_play] t= 10.50s step= 525 trunk_z= 105.3mm grav_b=(+0.01,-0.06,-1.00) r=1.27m
+[headless_play] t= 10.60s step= 530 trunk_z=  95.5mm grav_b=(+0.07,-0.07,-1.00) r=1.32m
+[headless_play] t= 10.70s step= 535 trunk_z=  83.4mm grav_b=(+0.04,+0.07,-1.00) r=1.36m
+[headless_play] t= 10.80s step= 540 trunk_z=  86.1mm grav_b=(+0.05,+0.08,-1.00) r=1.39m
+[headless_play] t= 10.90s step= 545 trunk_z=  82.8mm grav_b=(+0.04,+0.03,-1.00) r=1.42m
+[headless_play] t= 11.00s step= 550 trunk_z=  81.5mm grav_b=(-0.01,-0.06,-1.00) r=1.44m
+[headless_play] t= 11.10s step= 555 trunk_z=  78.8mm grav_b=(-0.02,-0.07,-1.00) r=1.46m
+[headless_play] t= 11.20s step= 560 trunk_z=  66.7mm grav_b=(+0.01,+0.02,-1.00) r=1.49m
+[headless_play] t= 11.30s step= 565 trunk_z=  69.5mm grav_b=(+0.02,+0.06,-1.00) r=1.51m
+[headless_play] t= 11.40s step= 570 trunk_z=  64.6mm grav_b=(+0.06,+0.03,-1.00) r=1.53m
+[headless_play] t= 11.50s step= 575 trunk_z=  59.4mm grav_b=(+0.06,-0.04,-1.00) r=1.54m
+[headless_play] t= 11.60s step= 580 trunk_z=  61.9mm grav_b=(+0.08,-0.06,-0.99) r=1.56m
+[headless_play] t= 11.70s step= 585 trunk_z=  55.9mm grav_b=(+0.11,-0.02,-0.99) r=1.59m
+[headless_play] t= 11.80s step= 590 trunk_z=  54.0mm grav_b=(+0.02,+0.13,-0.99) r=1.62m
+[headless_play] t= 11.90s step= 595 trunk_z=  53.6mm grav_b=(+0.07,+0.07,-1.00) r=1.65m
+[headless_play] t= 12.00s step= 600 trunk_z=  49.0mm grav_b=(+0.06,+0.01,-1.00) r=1.67m
+[headless_play] t= 12.10s step= 605 trunk_z=  50.0mm grav_b=(+0.00,-0.07,-1.00) r=1.69m
+[headless_play] t= 12.20s step= 610 trunk_z=  42.9mm grav_b=(+0.08,-0.06,-1.00) r=1.71m
+[headless_play] t= 12.30s step= 615 trunk_z=  33.1mm grav_b=(+0.10,+0.14,-0.98) r=1.75m
+[headless_play] t= 12.40s step= 620 trunk_z=  46.6mm grav_b=(+0.05,+0.12,-0.99) r=1.78m
+[headless_play] t= 12.50s step= 625 trunk_z=  44.9mm grav_b=(+0.08,+0.10,-0.99) r=1.81m
+[headless_play] t= 12.60s step= 630 trunk_z=  28.4mm grav_b=(+0.05,-0.03,-1.00) r=1.84m
+[headless_play] t= 12.70s step= 635 trunk_z=  31.8mm grav_b=(+0.06,-0.08,-0.99) r=1.85m
+[headless_play] t= 12.80s step= 640 trunk_z=  28.1mm grav_b=(+0.06,-0.08,-0.99) r=1.85m
+[headless_play] t= 12.90s step= 645 trunk_z=  25.3mm grav_b=(+0.09,-0.03,-1.00) r=1.85m
+[headless_play] t= 13.00s step= 650 trunk_z=  27.6mm grav_b=(+0.15,-0.12,-0.98) r=1.87m
+[headless_play] t= 13.10s step= 655 trunk_z=  35.0mm grav_b=(+0.01,-0.11,-0.99) r=1.89m
+[headless_play] t= 13.20s step= 660 trunk_z=  21.5mm grav_b=(+0.05,-0.03,-1.00) r=1.91m
+[headless_play] t= 13.30s step= 665 trunk_z=  24.1mm grav_b=(+0.05,-0.05,-1.00) r=1.92m
+[headless_play] t= 13.40s step= 670 trunk_z=  12.0mm grav_b=(-0.01,-0.08,-1.00) r=1.93m
+[headless_play] t= 13.50s step= 675 trunk_z=  16.1mm grav_b=(-0.04,-0.13,-0.99) r=1.94m
+[headless_play] t= 13.60s step= 680 trunk_z=  16.7mm grav_b=(+0.03,-0.14,-0.99) r=1.95m
+[headless_play] t= 13.70s step= 685 trunk_z=  12.9mm grav_b=(+0.01,-0.07,-1.00) r=1.96m
+[headless_play] t= 13.80s step= 690 trunk_z=  13.1mm grav_b=(+0.00,-0.08,-1.00) r=1.96m
+[headless_play] t= 13.90s step= 695 trunk_z=  15.4mm grav_b=(-0.02,-0.10,-0.99) r=1.95m
+[headless_play] t= 14.00s step= 700 trunk_z=  11.4mm grav_b=(+0.04,-0.04,-1.00) r=1.94m
+[headless_play] t= 14.10s step= 705 trunk_z=  12.6mm grav_b=(+0.05,-0.09,-0.99) r=1.94m
+[headless_play] t= 14.20s step= 710 trunk_z=  14.1mm grav_b=(+0.04,-0.11,-0.99) r=1.94m
+[headless_play] t= 14.30s step= 715 trunk_z=  12.8mm grav_b=(+0.06,-0.06,-1.00) r=1.95m
+[headless_play] t= 14.40s step= 720 trunk_z=  14.2mm grav_b=(+0.13,-0.07,-0.99) r=1.95m
+[headless_play] t= 14.50s step= 725 trunk_z=  19.9mm grav_b=(+0.03,-0.08,-1.00) r=1.96m
+[headless_play] t= 14.60s step= 730 trunk_z=  11.2mm grav_b=(+0.02,+0.00,-1.00) r=1.98m
+[headless_play] t= 14.70s step= 735 trunk_z=  12.5mm grav_b=(+0.04,-0.08,-1.00) r=2.01m
+[headless_play] t= 14.80s step= 740 trunk_z=  -1.0mm grav_b=(-0.02,-0.16,-0.99) r=2.04m
+[headless_play] t= 14.90s step= 745 trunk_z=   2.8mm grav_b=(+0.00,-0.18,-0.98) r=2.06m
+[headless_play] t= 15.00s step= 750 trunk_z=   2.5mm grav_b=(+0.04,-0.17,-0.98) r=2.06m
+[headless_play] t= 15.10s step= 755 trunk_z=  -0.9mm grav_b=(+0.12,-0.24,-0.96) r=2.07m
+[headless_play] t= 15.20s step= 760 trunk_z=  14.3mm grav_b=(+0.03,-0.09,-0.99) r=2.08m
+[headless_play] t= 15.30s step= 765 trunk_z=  13.4mm grav_b=(-0.02,-0.17,-0.98) r=2.10m
+[headless_play] t= 15.40s step= 770 trunk_z=   6.5mm grav_b=(+0.04,-0.17,-0.99) r=2.09m
+[headless_play] t= 15.50s step= 775 trunk_z=   2.0mm grav_b=(+0.05,-0.29,-0.95) r=2.07m
+[headless_play] t= 15.60s step= 780 trunk_z=  -5.4mm grav_b=(+0.06,-0.49,-0.87) r=2.05m
+[headless_play] t= 15.70s step= 785 trunk_z= -40.4mm grav_b=(+0.21,-0.48,-0.85) r=2.00m
+[headless_play] t= 15.80s step= 790 trunk_z= -34.0mm grav_b=(-0.18,-0.89,-0.42) r=1.95m
+[headless_play] RESET at t= 15.82s step= 791 (env termination, not a recovery)
+[headless_play] t= 15.90s step= 795 trunk_z= 114.5mm grav_b=(-0.01,-0.00,-1.00) r=0.04m
+[headless_play] t= 16.00s step= 800 trunk_z= 114.1mm grav_b=(+0.02,+0.02,-1.00) r=0.05m
+[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.03,+0.02,-1.00) r=0.06m
+[headless_play] t= 16.20s step= 810 trunk_z= 112.9mm grav_b=(+0.01,-0.02,-1.00) r=0.08m
+[headless_play] t= 16.30s step= 815 trunk_z= 115.1mm grav_b=(-0.00,-0.09,-1.00) r=0.09m
+[headless_play] t= 16.40s step= 820 trunk_z= 120.6mm grav_b=(-0.01,-0.10,-1.00) r=0.10m
+[headless_play] t= 16.50s step= 825 trunk_z= 115.6mm grav_b=(+0.00,-0.06,-1.00) r=0.10m
+[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.03,+0.02,-1.00) r=0.11m
+[headless_play] t= 16.70s step= 835 trunk_z= 113.5mm grav_b=(+0.08,-0.02,-1.00) r=0.12m
+[headless_play] t= 16.80s step= 840 trunk_z= 110.7mm grav_b=(+0.09,-0.08,-0.99) r=0.14m
+[headless_play] t= 16.90s step= 845 trunk_z= 119.3mm grav_b=(+0.05,-0.10,-0.99) r=0.16m
+[headless_play] t= 17.00s step= 850 trunk_z= 119.3mm grav_b=(-0.03,-0.06,-1.00) r=0.15m
+[headless_play] t= 17.10s step= 855 trunk_z= 107.8mm grav_b=(+0.07,+0.05,-1.00) r=0.14m
+[headless_play] t= 17.20s step= 860 trunk_z= 111.2mm grav_b=(+0.07,+0.02,-1.00) r=0.14m
+[headless_play] t= 17.30s step= 865 trunk_z= 106.3mm grav_b=(+0.08,-0.03,-1.00) r=0.15m
+[headless_play] t= 17.40s step= 870 trunk_z= 116.6mm grav_b=(+0.09,-0.09,-0.99) r=0.17m
+[headless_play] t= 17.50s step= 875 trunk_z= 116.5mm grav_b=(+0.09,-0.09,-0.99) r=0.19m
+[headless_play] t= 17.60s step= 880 trunk_z= 114.9mm grav_b=(+0.04,+0.05,-1.00) r=0.21m
+[headless_play] t= 17.70s step= 885 trunk_z= 120.4mm grav_b=(+0.04,+0.04,-1.00) r=0.23m
+[headless_play] t= 17.80s step= 890 trunk_z= 111.9mm grav_b=(+0.02,-0.05,-1.00) r=0.24m
+[headless_play] t= 17.90s step= 895 trunk_z= 118.1mm grav_b=(+0.02,-0.10,-1.00) r=0.25m
+[headless_play] t= 18.00s step= 900 trunk_z= 118.9mm grav_b=(+0.03,-0.10,-0.99) r=0.26m
+[headless_play] t= 18.10s step= 905 trunk_z= 113.4mm grav_b=(+0.05,-0.02,-1.00) r=0.28m
+[headless_play] t= 18.20s step= 910 trunk_z= 120.2mm grav_b=(+0.02,+0.04,-1.00) r=0.29m
+[headless_play] t= 18.30s step= 915 trunk_z= 117.9mm grav_b=(+0.04,+0.01,-1.00) r=0.30m
+[headless_play] t= 18.40s step= 920 trunk_z= 115.7mm grav_b=(+0.05,-0.10,-0.99) r=0.33m
+[headless_play] t= 18.50s step= 925 trunk_z= 122.2mm grav_b=(+0.05,-0.12,-0.99) r=0.34m
+[headless_play] t= 18.60s step= 930 trunk_z= 119.5mm grav_b=(+0.02,-0.10,-0.99) r=0.36m
+[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(+0.01,+0.02,-1.00) r=0.37m
+[headless_play] t= 18.80s step= 940 trunk_z= 119.9mm grav_b=(+0.04,-0.01,-1.00) r=0.38m
+[headless_play] t= 18.90s step= 945 trunk_z= 113.3mm grav_b=(+0.05,-0.08,-1.00) r=0.39m
+[headless_play] t= 19.00s step= 950 trunk_z= 120.6mm grav_b=(+0.06,-0.10,-0.99) r=0.41m
+[headless_play] t= 19.10s step= 955 trunk_z= 118.8mm grav_b=(+0.06,-0.08,-1.00) r=0.42m
+[headless_play] t= 19.20s step= 960 trunk_z= 118.1mm grav_b=(+0.03,+0.03,-1.00) r=0.45m
+[headless_play] t= 19.30s step= 965 trunk_z= 122.5mm grav_b=(+0.07,+0.03,-1.00) r=0.47m
+[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(+0.08,-0.00,-1.00) r=0.49m
+[headless_play] t= 19.50s step= 975 trunk_z= 121.5mm grav_b=(+0.05,-0.08,-1.00) r=0.52m
+[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(+0.03,-0.08,-1.00) r=0.54m
+[headless_play] t= 19.70s step= 985 trunk_z= 113.6mm grav_b=(+0.00,-0.01,-1.00) r=0.55m
+[headless_play] t= 19.80s step= 990 trunk_z= 120.3mm grav_b=(-0.00,-0.01,-1.00) r=0.56m
+[headless_play] t= 19.90s step= 995 trunk_z= 113.7mm grav_b=(+0.04,-0.07,-1.00) r=0.56m
+[headless_play] t= 20.00s step=1000 trunk_z= 119.9mm grav_b=(+0.06,-0.11,-0.99) r=0.57m
+[headless_play] t= 20.10s step=1005 trunk_z= 117.9mm grav_b=(-0.02,-0.06,-1.00) r=0.57m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t13.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.544,-17.567,+0.252)
+[headless_play] t=  0.00s step=   0 trunk_z= 121.9mm grav_b=(-0.01,-0.00,-1.00) r=0.63m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.4mm grav_b=(+0.04,+0.03,-1.00) r=0.64m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.6mm grav_b=(+0.09,+0.05,-0.99) r=0.65m
+[headless_play] t=  0.30s step=  15 trunk_z= 114.1mm grav_b=(+0.12,-0.00,-0.99) r=0.67m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.2mm grav_b=(+0.14,-0.05,-0.99) r=0.71m
+[headless_play] t=  0.50s step=  25 trunk_z= 118.2mm grav_b=(+0.15,-0.02,-0.99) r=0.72m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.6mm grav_b=(+0.11,+0.07,-0.99) r=0.74m
+[headless_play] t=  0.70s step=  35 trunk_z= 122.2mm grav_b=(+0.19,+0.10,-0.98) r=0.77m
+[headless_play] t=  0.80s step=  40 trunk_z= 118.9mm grav_b=(+0.19,+0.08,-0.98) r=0.81m
+[headless_play] t=  0.90s step=  45 trunk_z= 123.1mm grav_b=(+0.15,+0.04,-0.99) r=0.85m
+[headless_play] t=  1.00s step=  50 trunk_z= 119.5mm grav_b=(+0.08,+0.04,-1.00) r=0.89m
+[headless_play] t=  1.10s step=  55 trunk_z= 123.0mm grav_b=(+0.13,+0.03,-0.99) r=0.92m
+[headless_play] t=  1.20s step=  60 trunk_z= 119.3mm grav_b=(+0.11,+0.02,-0.99) r=0.95m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.6mm grav_b=(+0.07,-0.06,-1.00) r=0.98m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.1mm grav_b=(+0.08,-0.04,-1.00) r=1.00m
+[headless_play] t=  1.50s step=  75 trunk_z= 115.2mm grav_b=(+0.09,+0.06,-0.99) r=1.01m
+[headless_play] t=  1.60s step=  80 trunk_z= 117.6mm grav_b=(+0.21,+0.05,-0.98) r=1.04m
+[headless_play] t=  1.70s step=  85 trunk_z= 109.8mm grav_b=(+0.19,+0.01,-0.98) r=1.09m
+[headless_play] t=  1.80s step=  90 trunk_z= 114.7mm grav_b=(+0.16,-0.03,-0.99) r=1.13m
+[headless_play] t=  1.90s step=  95 trunk_z= 111.4mm grav_b=(+0.14,+0.01,-0.99) r=1.17m
+[headless_play] t=  2.00s step= 100 trunk_z= 109.5mm grav_b=(+0.14,+0.05,-0.99) r=1.21m
+[headless_play] t=  2.10s step= 105 trunk_z= 106.2mm grav_b=(+0.12,+0.03,-0.99) r=1.24m
+[headless_play] t=  2.20s step= 110 trunk_z=  88.7mm grav_b=(+0.06,-0.09,-0.99) r=1.29m
+[headless_play] t=  2.30s step= 115 trunk_z=  93.0mm grav_b=(+0.11,-0.10,-0.99) r=1.33m
+[headless_play] t=  2.40s step= 120 trunk_z=  87.6mm grav_b=(+0.10,-0.01,-1.00) r=1.35m
+[headless_play] t=  2.50s step= 125 trunk_z=  90.2mm grav_b=(+0.08,+0.06,-1.00) r=1.37m
+[headless_play] t=  2.60s step= 130 trunk_z=  82.5mm grav_b=(+0.13,+0.06,-0.99) r=1.39m
+[headless_play] t=  2.70s step= 135 trunk_z=  74.5mm grav_b=(+0.13,-0.08,-0.99) r=1.43m
+[headless_play] t=  2.80s step= 140 trunk_z=  77.8mm grav_b=(+0.18,-0.07,-0.98) r=1.45m
+[headless_play] t=  2.90s step= 145 trunk_z=  68.6mm grav_b=(+0.18,+0.03,-0.98) r=1.49m
+[headless_play] t=  3.00s step= 150 trunk_z=  77.7mm grav_b=(+0.20,+0.04,-0.98) r=1.53m
+[headless_play] t=  3.10s step= 155 trunk_z=  58.2mm grav_b=(+0.12,+0.01,-0.99) r=1.58m
+[headless_play] t=  3.20s step= 160 trunk_z=  56.9mm grav_b=(+0.11,-0.01,-0.99) r=1.62m
+[headless_play] t=  3.30s step= 165 trunk_z=  50.3mm grav_b=(+0.07,+0.07,-1.00) r=1.64m
+[headless_play] t=  3.40s step= 170 trunk_z=  58.4mm grav_b=(+0.10,+0.08,-0.99) r=1.65m
+[headless_play] t=  3.50s step= 175 trunk_z=  53.8mm grav_b=(+0.14,+0.09,-0.99) r=1.67m
+[headless_play] t=  3.60s step= 180 trunk_z=  43.7mm grav_b=(+0.13,-0.07,-0.99) r=1.71m
+[headless_play] t=  3.70s step= 185 trunk_z=  49.9mm grav_b=(+0.19,-0.09,-0.98) r=1.74m
+[headless_play] t=  3.80s step= 190 trunk_z=  45.3mm grav_b=(+0.18,-0.01,-0.98) r=1.77m
+[headless_play] t=  3.90s step= 195 trunk_z=  49.6mm grav_b=(+0.20,+0.07,-0.98) r=1.81m
+[headless_play] t=  4.00s step= 200 trunk_z=  52.4mm grav_b=(+0.17,+0.12,-0.98) r=1.86m
+[headless_play] t=  4.10s step= 205 trunk_z=  22.6mm grav_b=(+0.13,-0.01,-0.99) r=1.91m
+[headless_play] t=  4.20s step= 210 trunk_z=  37.2mm grav_b=(+0.18,+0.03,-0.98) r=1.95m
+[headless_play] t=  4.30s step= 215 trunk_z=  18.7mm grav_b=(+0.05,+0.02,-1.00) r=1.99m
+[headless_play] t=  4.40s step= 220 trunk_z=  24.0mm grav_b=(+0.10,+0.02,-0.99) r=2.01m
+[headless_play] t=  4.50s step= 225 trunk_z=  26.3mm grav_b=(+0.09,+0.02,-1.00) r=2.04m
+[headless_play] t=  4.60s step= 230 trunk_z=   9.2mm grav_b=(+0.09,-0.02,-1.00) r=2.08m
+[headless_play] t=  4.70s step= 235 trunk_z=  17.1mm grav_b=(+0.13,-0.01,-0.99) r=2.10m
+[headless_play] t=  4.80s step= 240 trunk_z=  18.1mm grav_b=(+0.12,+0.02,-0.99) r=2.12m
+[headless_play] t=  4.90s step= 245 trunk_z=  14.3mm grav_b=(+0.09,+0.06,-0.99) r=2.12m
+[headless_play] t=  5.00s step= 250 trunk_z=  21.9mm grav_b=(+0.11,+0.09,-0.99) r=2.14m
+[headless_play] t=  5.10s step= 255 trunk_z=  22.2mm grav_b=(+0.06,+0.09,-0.99) r=2.17m
+[headless_play] t=  5.20s step= 260 trunk_z=  -3.5mm grav_b=(+0.03,+0.05,-1.00) r=2.22m
+[headless_play] t=  5.30s step= 265 trunk_z=   7.3mm grav_b=(+0.09,+0.05,-1.00) r=2.25m
+[headless_play] t=  5.40s step= 270 trunk_z=  -1.3mm grav_b=(+0.08,+0.05,-1.00) r=2.26m
+[headless_play] t=  5.50s step= 275 trunk_z=  -7.9mm grav_b=(+0.05,+0.08,-1.00) r=2.26m
+[headless_play] t=  5.60s step= 280 trunk_z=  -4.6mm grav_b=(+0.01,+0.06,-1.00) r=2.27m
+[headless_play] t=  5.70s step= 285 trunk_z=  -6.7mm grav_b=(+0.01,-0.01,-1.00) r=2.30m
+[headless_play] t=  5.80s step= 290 trunk_z=  -0.7mm grav_b=(+0.04,-0.02,-1.00) r=2.30m
+[headless_play] t=  5.90s step= 295 trunk_z=  -5.9mm grav_b=(+0.04,+0.04,-1.00) r=2.29m
+[headless_play] t=  6.00s step= 300 trunk_z=   2.6mm grav_b=(+0.05,+0.09,-0.99) r=2.28m
+[headless_play] t=  6.10s step= 305 trunk_z=   3.1mm grav_b=(+0.06,+0.10,-0.99) r=2.29m
+[headless_play] t=  6.20s step= 310 trunk_z=  -6.2mm grav_b=(+0.02,-0.02,-1.00) r=2.32m
+[headless_play] t=  6.30s step= 315 trunk_z=   2.4mm grav_b=(+0.03,-0.09,-1.00) r=2.33m
+[headless_play] t=  6.40s step= 320 trunk_z=   3.6mm grav_b=(+0.05,-0.05,-1.00) r=2.33m
+[headless_play] t=  6.50s step= 325 trunk_z=  -3.0mm grav_b=(+0.04,+0.04,-1.00) r=2.32m
+[headless_play] t=  6.60s step= 330 trunk_z=   5.2mm grav_b=(+0.05,+0.14,-0.99) r=2.31m
+[headless_play] t=  6.70s step= 335 trunk_z=   7.2mm grav_b=(+0.07,+0.17,-0.98) r=2.31m
+[headless_play] t=  6.80s step= 340 trunk_z=   7.7mm grav_b=(+0.08,+0.14,-0.99) r=2.33m
+[headless_play] t=  6.90s step= 345 trunk_z=   9.1mm grav_b=(+0.13,+0.00,-0.99) r=2.37m
+[headless_play] t=  7.00s step= 350 trunk_z=  21.2mm grav_b=(+0.17,-0.04,-0.99) r=2.40m
+[headless_play] t=  7.10s step= 355 trunk_z=  20.1mm grav_b=(+0.11,-0.01,-0.99) r=2.43m
+[headless_play] t=  7.20s step= 360 trunk_z=  12.6mm grav_b=(+0.14,-0.01,-0.99) r=2.45m
+[headless_play] t=  7.30s step= 365 trunk_z=  19.9mm grav_b=(+0.14,+0.03,-0.99) r=2.46m
+[headless_play] t=  7.40s step= 370 trunk_z=  12.2mm grav_b=(+0.04,+0.01,-1.00) r=2.49m
+[headless_play] t=  7.50s step= 375 trunk_z=  15.9mm grav_b=(+0.06,-0.06,-1.00) r=2.51m
+[headless_play] t=  7.60s step= 380 trunk_z=  22.8mm grav_b=(+0.13,-0.10,-0.99) r=2.53m
+[headless_play] t=  7.70s step= 385 trunk_z=  27.2mm grav_b=(+0.14,-0.08,-0.99) r=2.55m
+[headless_play] t=  7.80s step= 390 trunk_z=  22.0mm grav_b=(+0.07,-0.02,-1.00) r=2.57m
+[headless_play] t=  7.90s step= 395 trunk_z=  30.9mm grav_b=(+0.10,+0.04,-0.99) r=2.58m
+[headless_play] t=  8.00s step= 400 trunk_z=  33.4mm grav_b=(+0.06,+0.09,-0.99) r=2.60m
+[headless_play] t=  8.10s step= 405 trunk_z=  28.2mm grav_b=(+0.01,+0.07,-1.00) r=2.62m
+[headless_play] t=  8.20s step= 410 trunk_z=  26.3mm grav_b=(+0.03,+0.01,-1.00) r=2.63m
+[headless_play] t=  8.30s step= 415 trunk_z=  23.5mm grav_b=(+0.07,+0.05,-1.00) r=2.63m
+[headless_play] t=  8.40s step= 420 trunk_z=  25.7mm grav_b=(+0.09,+0.11,-0.99) r=2.62m
+[headless_play] t=  8.50s step= 425 trunk_z=  29.5mm grav_b=(+0.10,+0.08,-0.99) r=2.64m
+[headless_play] t=  8.60s step= 430 trunk_z=  26.9mm grav_b=(+0.10,+0.04,-0.99) r=2.67m
+[headless_play] t=  8.70s step= 435 trunk_z=  33.0mm grav_b=(+0.10,+0.03,-0.99) r=2.68m
+[headless_play] t=  8.80s step= 440 trunk_z=  27.7mm grav_b=(+0.09,+0.06,-0.99) r=2.67m
+[headless_play] t=  8.90s step= 445 trunk_z=  35.7mm grav_b=(+0.06,+0.10,-0.99) r=2.67m
+[headless_play] t=  9.00s step= 450 trunk_z=  34.5mm grav_b=(+0.05,+0.10,-0.99) r=2.68m
+[headless_play] t=  9.10s step= 455 trunk_z=  28.7mm grav_b=(+0.04,+0.02,-1.00) r=2.70m
+[headless_play] t=  9.20s step= 460 trunk_z=  35.5mm grav_b=(+0.05,-0.02,-1.00) r=2.71m
+[headless_play] t=  9.30s step= 465 trunk_z=  32.2mm grav_b=(+0.07,+0.03,-1.00) r=2.70m
+[headless_play] t=  9.40s step= 470 trunk_z=  30.1mm grav_b=(+0.09,+0.11,-0.99) r=2.69m
+[headless_play] t=  9.50s step= 475 trunk_z=  29.8mm grav_b=(+0.12,+0.11,-0.99) r=2.69m
+[headless_play] t=  9.60s step= 480 trunk_z=  25.3mm grav_b=(+0.15,+0.10,-0.98) r=2.71m
+[headless_play] t=  9.70s step= 485 trunk_z=  30.0mm grav_b=(+0.12,+0.00,-0.99) r=2.73m
+[headless_play] t=  9.80s step= 490 trunk_z=  32.7mm grav_b=(+0.09,+0.01,-1.00) r=2.74m
+[headless_play] t=  9.90s step= 495 trunk_z=  29.2mm grav_b=(+0.10,+0.07,-0.99) r=2.73m
+[headless_play] t= 10.00s step= 500 trunk_z=  37.0mm grav_b=(+0.12,+0.16,-0.98) r=2.72m
+[headless_play] t= 10.10s step= 505 trunk_z=  38.6mm grav_b=(+0.13,+0.19,-0.97) r=2.72m
+[headless_play] t= 10.20s step= 510 trunk_z=  37.3mm grav_b=(+0.14,+0.18,-0.97) r=2.73m
+[headless_play] t= 10.30s step= 515 trunk_z=  31.7mm grav_b=(+0.14,+0.13,-0.98) r=2.75m
+[headless_play] t= 10.40s step= 520 trunk_z=  37.8mm grav_b=(+0.09,-0.02,-1.00) r=2.76m
+[headless_play] t= 10.50s step= 525 trunk_z=  39.7mm grav_b=(+0.09,-0.04,-1.00) r=2.77m
+[headless_play] t= 10.60s step= 530 trunk_z=  36.8mm grav_b=(+0.12,+0.03,-0.99) r=2.77m
+[headless_play] t= 10.70s step= 535 trunk_z=  40.2mm grav_b=(+0.11,+0.09,-0.99) r=2.77m
+[headless_play] t= 10.80s step= 540 trunk_z=  38.3mm grav_b=(+0.11,+0.07,-0.99) r=2.78m
+[headless_play] t= 10.90s step= 545 trunk_z=  35.4mm grav_b=(+0.15,-0.05,-0.99) r=2.81m
+[headless_play] t= 11.00s step= 550 trunk_z=  44.6mm grav_b=(+0.15,-0.09,-0.99) r=2.83m
+[headless_play] t= 11.10s step= 555 trunk_z=  43.9mm grav_b=(+0.16,-0.07,-0.99) r=2.84m
+[headless_play] t= 11.20s step= 560 trunk_z=  41.6mm grav_b=(+0.12,+0.03,-0.99) r=2.83m
+[headless_play] t= 11.30s step= 565 trunk_z=  48.8mm grav_b=(+0.07,+0.08,-0.99) r=2.83m
+[headless_play] t= 11.40s step= 570 trunk_z=  46.2mm grav_b=(+0.08,+0.06,-0.99) r=2.83m
+[headless_play] t= 11.50s step= 575 trunk_z=  37.1mm grav_b=(+0.11,+0.00,-0.99) r=2.85m
+[headless_play] t= 11.60s step= 580 trunk_z=  39.2mm grav_b=(+0.12,-0.02,-0.99) r=2.86m
+[headless_play] t= 11.70s step= 585 trunk_z=  38.3mm grav_b=(+0.14,+0.01,-0.99) r=2.86m
+[headless_play] t= 11.80s step= 590 trunk_z=  40.5mm grav_b=(+0.12,+0.07,-0.99) r=2.85m
+[headless_play] t= 11.90s step= 595 trunk_z=  46.5mm grav_b=(+0.13,+0.04,-0.99) r=2.85m
+[headless_play] t= 12.00s step= 600 trunk_z=  41.2mm grav_b=(+0.15,-0.02,-0.99) r=2.87m
+[headless_play] t= 12.10s step= 605 trunk_z=  49.5mm grav_b=(+0.15,-0.04,-0.99) r=2.88m
+[headless_play] t= 12.20s step= 610 trunk_z=  51.1mm grav_b=(+0.15,+0.01,-0.99) r=2.89m
+[headless_play] t= 12.30s step= 615 trunk_z=  59.4mm grav_b=(+0.14,+0.05,-0.99) r=2.91m
+[headless_play] t= 12.40s step= 620 trunk_z=  57.4mm grav_b=(+0.10,+0.04,-0.99) r=2.93m
+[headless_play] t= 12.50s step= 625 trunk_z=  57.0mm grav_b=(+0.02,-0.06,-1.00) r=2.95m
+[headless_play] t= 12.60s step= 630 trunk_z=  60.2mm grav_b=(+0.05,-0.02,-1.00) r=2.95m
+[headless_play] t= 12.70s step= 635 trunk_z=  50.1mm grav_b=(+0.08,+0.08,-0.99) r=2.93m
+[headless_play] t= 12.80s step= 640 trunk_z=  52.3mm grav_b=(+0.12,+0.12,-0.99) r=2.93m
+[headless_play] t= 12.90s step= 645 trunk_z=  49.1mm grav_b=(+0.14,+0.06,-0.99) r=2.94m
+[headless_play] t= 13.00s step= 650 trunk_z=  53.8mm grav_b=(+0.16,-0.05,-0.99) r=2.96m
+[headless_play] t= 13.10s step= 655 trunk_z=  56.0mm grav_b=(+0.18,-0.01,-0.98) r=2.97m
+[headless_play] t= 13.20s step= 660 trunk_z=  58.2mm grav_b=(+0.12,-0.02,-0.99) r=3.00m
+[headless_play] t= 13.30s step= 665 trunk_z=  64.4mm grav_b=(+0.13,-0.05,-0.99) r=3.02m
+[headless_play] t= 13.40s step= 670 trunk_z=  47.6mm grav_b=(+0.03,-0.05,-1.00) r=3.06m
+[headless_play] t= 13.50s step= 675 trunk_z=  58.2mm grav_b=(+0.07,-0.07,-1.00) r=3.08m
+[headless_play] t= 13.60s step= 680 trunk_z=  63.1mm grav_b=(+0.10,-0.02,-0.99) r=3.09m
+[headless_play] t= 13.70s step= 685 trunk_z=  61.9mm grav_b=(+0.12,+0.09,-0.99) r=3.09m
+[headless_play] t= 13.80s step= 690 trunk_z=  70.7mm grav_b=(+0.13,+0.11,-0.99) r=3.09m
+[headless_play] t= 13.90s step= 695 trunk_z=  68.4mm grav_b=(+0.11,+0.09,-0.99) r=3.11m
+[headless_play] t= 14.00s step= 700 trunk_z=  65.6mm grav_b=(+0.15,-0.05,-0.99) r=3.13m
+[headless_play] t= 14.10s step= 705 trunk_z=  68.5mm grav_b=(+0.14,-0.03,-0.99) r=3.15m
+[headless_play] t= 14.20s step= 710 trunk_z=  70.5mm grav_b=(+0.12,+0.01,-0.99) r=3.15m
+[headless_play] t= 14.30s step= 715 trunk_z=  74.0mm grav_b=(+0.10,+0.01,-1.00) r=3.17m
+[headless_play] t= 14.40s step= 720 trunk_z=  63.6mm grav_b=(+0.07,-0.06,-1.00) r=3.19m
+[headless_play] t= 14.50s step= 725 trunk_z=  71.4mm grav_b=(+0.09,-0.08,-0.99) r=3.20m
+[headless_play] t= 14.60s step= 730 trunk_z=  68.6mm grav_b=(+0.07,-0.00,-1.00) r=3.20m
+[headless_play] t= 14.70s step= 735 trunk_z=  76.3mm grav_b=(+0.12,+0.08,-0.99) r=3.20m
+[headless_play] t= 14.80s step= 740 trunk_z=  78.2mm grav_b=(+0.10,+0.06,-0.99) r=3.21m
+[headless_play] t= 14.90s step= 745 trunk_z=  67.7mm grav_b=(+0.08,-0.02,-1.00) r=3.23m
+[headless_play] t= 15.00s step= 750 trunk_z=  74.2mm grav_b=(+0.09,-0.09,-0.99) r=3.25m
+[headless_play] t= 15.10s step= 755 trunk_z=  71.7mm grav_b=(+0.10,-0.07,-0.99) r=3.26m
+[headless_play] t= 15.20s step= 760 trunk_z=  71.2mm grav_b=(+0.11,+0.01,-0.99) r=3.27m
+[headless_play] t= 15.30s step= 765 trunk_z=  75.0mm grav_b=(+0.11,-0.03,-0.99) r=3.28m
+[headless_play] t= 15.40s step= 770 trunk_z=  66.3mm grav_b=(+0.10,-0.11,-0.99) r=3.30m
+[headless_play] t= 15.50s step= 775 trunk_z=  74.6mm grav_b=(+0.11,-0.14,-0.98) r=3.32m
+[headless_play] t= 15.60s step= 780 trunk_z=  74.3mm grav_b=(+0.13,-0.12,-0.98) r=3.33m
+[headless_play] t= 15.70s step= 785 trunk_z=  71.3mm grav_b=(+0.14,-0.03,-0.99) r=3.33m
+[headless_play] t= 15.80s step= 790 trunk_z=  80.5mm grav_b=(+0.10,-0.02,-0.99) r=3.34m
+[headless_play] t= 15.90s step= 795 trunk_z=  72.3mm grav_b=(+0.07,-0.08,-0.99) r=3.36m
+[headless_play] t= 16.00s step= 800 trunk_z=  75.0mm grav_b=(+0.11,-0.23,-0.97) r=3.38m
+[headless_play] t= 16.10s step= 805 trunk_z=  81.8mm grav_b=(+0.08,-0.16,-0.98) r=3.39m
+[headless_play] t= 16.20s step= 810 trunk_z=  78.3mm grav_b=(+0.17,-0.21,-0.96) r=3.40m
+[headless_play] t= 16.30s step= 815 trunk_z=  72.3mm grav_b=(+0.28,-0.25,-0.93) r=3.43m
+[headless_play] t= 16.40s step= 820 trunk_z=  66.0mm grav_b=(+0.17,-0.13,-0.98) r=3.48m
+[headless_play] t= 16.50s step= 825 trunk_z=  76.5mm grav_b=(+0.11,-0.07,-0.99) r=3.50m
+[headless_play] t= 16.60s step= 830 trunk_z=  43.7mm grav_b=(+0.06,-0.11,-0.99) r=3.53m
+[headless_play] t= 16.70s step= 835 trunk_z=  52.9mm grav_b=(+0.18,-0.13,-0.98) r=3.55m
+[headless_play] t= 16.80s step= 840 trunk_z=  56.0mm grav_b=(+0.20,-0.10,-0.97) r=3.57m
+[headless_play] t= 16.90s step= 845 trunk_z=  56.0mm grav_b=(+0.18,+0.00,-0.98) r=3.60m
+[headless_play] t= 17.00s step= 850 trunk_z=  61.0mm grav_b=(+0.14,-0.01,-0.99) r=3.62m
+[headless_play] t= 17.10s step= 855 trunk_z=  43.5mm grav_b=(+0.08,-0.11,-0.99) r=3.64m
+[headless_play] t= 17.20s step= 860 trunk_z=  50.9mm grav_b=(+0.10,-0.15,-0.98) r=3.65m
+[headless_play] t= 17.30s step= 865 trunk_z=  50.0mm grav_b=(+0.13,-0.13,-0.98) r=3.67m
+[headless_play] t= 17.40s step= 870 trunk_z=  49.6mm grav_b=(+0.16,-0.12,-0.98) r=3.69m
+[headless_play] t= 17.50s step= 875 trunk_z=  49.7mm grav_b=(+0.21,-0.05,-0.98) r=3.73m
+[headless_play] t= 17.60s step= 880 trunk_z=  48.6mm grav_b=(+0.16,-0.03,-0.99) r=3.75m
+[headless_play] t= 17.70s step= 885 trunk_z=  25.5mm grav_b=(+0.14,-0.10,-0.99) r=3.77m
+[headless_play] t= 17.80s step= 890 trunk_z=  30.9mm grav_b=(+0.15,-0.07,-0.99) r=3.79m
+[headless_play] t= 17.90s step= 895 trunk_z=  31.7mm grav_b=(+0.12,+0.01,-0.99) r=3.82m
+[headless_play] t= 18.00s step= 900 trunk_z=  39.3mm grav_b=(+0.10,+0.04,-0.99) r=3.84m
+[headless_play] t= 18.10s step= 905 trunk_z=  32.5mm grav_b=(+0.10,+0.01,-0.99) r=3.84m
+[headless_play] t= 18.20s step= 910 trunk_z=  28.3mm grav_b=(+0.11,-0.12,-0.99) r=3.85m
+[headless_play] t= 18.30s step= 915 trunk_z=  27.2mm grav_b=(+0.19,-0.03,-0.98) r=3.88m
+[headless_play] t= 18.40s step= 920 trunk_z=  30.1mm grav_b=(+0.16,+0.04,-0.99) r=3.91m
+[headless_play] t= 18.50s step= 925 trunk_z=  31.3mm grav_b=(+0.14,+0.04,-0.99) r=3.94m
+[headless_play] t= 18.60s step= 930 trunk_z=  13.8mm grav_b=(+0.10,-0.06,-0.99) r=3.96m
+[headless_play] t= 18.70s step= 935 trunk_z=  21.3mm grav_b=(+0.16,-0.13,-0.98) r=3.98m
+[headless_play] t= 18.80s step= 940 trunk_z=  21.1mm grav_b=(+0.17,-0.13,-0.98) r=4.00m
+[headless_play] t= 18.90s step= 945 trunk_z=  16.4mm grav_b=(+0.15,-0.07,-0.99) r=4.03m
+[headless_play] t= 19.00s step= 950 trunk_z=  20.5mm grav_b=(+0.15,-0.01,-0.99) r=4.06m
+[headless_play] t= 19.10s step= 955 trunk_z=   9.4mm grav_b=(+0.15,-0.01,-0.99) r=4.08m
+[headless_play] t= 19.20s step= 960 trunk_z=  -0.9mm grav_b=(+0.19,-0.06,-0.98) r=4.12m
+[headless_play] t= 19.30s step= 965 trunk_z=   3.4mm grav_b=(+0.15,-0.03,-0.99) r=4.16m
+[headless_play] t= 19.40s step= 970 trunk_z=  -9.4mm grav_b=(+0.16,-0.01,-0.99) r=4.20m
+[headless_play] t= 19.50s step= 975 trunk_z=   1.1mm grav_b=(+0.19,+0.04,-0.98) r=4.21m
+[headless_play] t= 19.60s step= 980 trunk_z=   3.6mm grav_b=(+0.09,+0.02,-1.00) r=4.23m
+[headless_play] t= 19.70s step= 985 trunk_z=  13.0mm grav_b=(+0.01,-0.02,-1.00) r=4.23m
+[headless_play] t= 19.80s step= 990 trunk_z=  14.2mm grav_b=(+0.03,-0.02,-1.00) r=4.24m
+[headless_play] t= 19.90s step= 995 trunk_z=   2.6mm grav_b=(+0.03,+0.08,-1.00) r=4.24m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.53m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.54m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t14.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.711,-17.538,+0.250)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.54m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.55m
+[headless_play] t=  0.20s step=  10 trunk_z= 119.9mm grav_b=(-0.01,+0.03,-1.00) r=0.56m
+[headless_play] t=  0.30s step=  15 trunk_z= 120.2mm grav_b=(-0.04,-0.01,-1.00) r=0.55m
+[headless_play] t=  0.40s step=  20 trunk_z= 114.0mm grav_b=(-0.01,-0.08,-1.00) r=0.52m
+[headless_play] t=  0.50s step=  25 trunk_z= 125.3mm grav_b=(-0.02,-0.07,-1.00) r=0.51m
+[headless_play] t=  0.60s step=  30 trunk_z= 122.7mm grav_b=(-0.02,-0.06,-1.00) r=0.52m
+[headless_play] t=  0.70s step=  35 trunk_z= 121.4mm grav_b=(-0.01,+0.02,-1.00) r=0.55m
+[headless_play] t=  0.80s step=  40 trunk_z= 124.6mm grav_b=(+0.01,+0.02,-1.00) r=0.55m
+[headless_play] t=  0.90s step=  45 trunk_z= 119.2mm grav_b=(+0.00,-0.00,-1.00) r=0.53m
+[headless_play] t=  1.00s step=  50 trunk_z= 126.8mm grav_b=(+0.07,-0.09,-0.99) r=0.52m
+[headless_play] t=  1.10s step=  55 trunk_z= 132.3mm grav_b=(+0.06,-0.09,-0.99) r=0.52m
+[headless_play] t=  1.20s step=  60 trunk_z= 115.2mm grav_b=(+0.02,-0.11,-0.99) r=0.54m
+[headless_play] t=  1.30s step=  65 trunk_z= 121.3mm grav_b=(-0.02,-0.14,-0.99) r=0.53m
+[headless_play] t=  1.40s step=  70 trunk_z= 115.2mm grav_b=(-0.06,-0.10,-0.99) r=0.51m
+[headless_play] t=  1.50s step=  75 trunk_z= 119.7mm grav_b=(-0.05,-0.02,-1.00) r=0.52m
+[headless_play] t=  1.60s step=  80 trunk_z= 118.3mm grav_b=(-0.00,+0.02,-1.00) r=0.55m
+[headless_play] t=  1.70s step=  85 trunk_z= 127.1mm grav_b=(-0.05,+0.06,-1.00) r=0.56m
+[headless_play] t=  1.80s step=  90 trunk_z= 127.7mm grav_b=(-0.01,+0.05,-1.00) r=0.57m
+[headless_play] t=  1.90s step=  95 trunk_z= 122.9mm grav_b=(-0.04,+0.02,-1.00) r=0.56m
+[headless_play] t=  2.00s step= 100 trunk_z= 124.7mm grav_b=(-0.01,-0.07,-1.00) r=0.55m
+[headless_play] t=  2.10s step= 105 trunk_z= 125.8mm grav_b=(-0.01,-0.06,-1.00) r=0.56m
+[headless_play] t=  2.20s step= 110 trunk_z= 120.1mm grav_b=(-0.02,-0.04,-1.00) r=0.58m
+[headless_play] t=  2.30s step= 115 trunk_z= 123.7mm grav_b=(-0.01,+0.01,-1.00) r=0.60m
+[headless_play] t=  2.40s step= 120 trunk_z= 121.8mm grav_b=(+0.00,-0.01,-1.00) r=0.60m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.3mm grav_b=(-0.01,-0.06,-1.00) r=0.59m
+[headless_play] t=  2.60s step= 130 trunk_z= 124.7mm grav_b=(-0.02,-0.05,-1.00) r=0.60m
+[headless_play] t=  2.70s step= 135 trunk_z= 118.2mm grav_b=(+0.02,-0.02,-1.00) r=0.63m
+[headless_play] t=  2.80s step= 140 trunk_z= 125.8mm grav_b=(+0.02,+0.02,-1.00) r=0.66m
+[headless_play] t=  2.90s step= 145 trunk_z= 125.1mm grav_b=(+0.01,+0.01,-1.00) r=0.67m
+[headless_play] t=  3.00s step= 150 trunk_z= 117.5mm grav_b=(-0.02,-0.03,-1.00) r=0.66m
+[headless_play] t=  3.10s step= 155 trunk_z= 124.6mm grav_b=(-0.01,-0.07,-1.00) r=0.67m
+[headless_play] t=  3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.00,-0.07,-1.00) r=0.69m
+[headless_play] t=  3.30s step= 165 trunk_z= 121.7mm grav_b=(-0.02,+0.02,-1.00) r=0.71m
+[headless_play] t=  3.40s step= 170 trunk_z= 123.8mm grav_b=(-0.02,-0.00,-1.00) r=0.72m
+[headless_play] t=  3.50s step= 175 trunk_z= 116.8mm grav_b=(-0.02,-0.03,-1.00) r=0.72m
+[headless_play] t=  3.60s step= 180 trunk_z= 123.8mm grav_b=(-0.03,-0.08,-1.00) r=0.72m
+[headless_play] t=  3.70s step= 185 trunk_z= 120.1mm grav_b=(-0.00,-0.01,-1.00) r=0.74m
+[headless_play] t=  3.80s step= 190 trunk_z= 122.6mm grav_b=(-0.01,+0.01,-1.00) r=0.77m
+[headless_play] t=  3.90s step= 195 trunk_z= 123.9mm grav_b=(-0.01,-0.01,-1.00) r=0.78m
+[headless_play] t=  4.00s step= 200 trunk_z= 117.5mm grav_b=(-0.02,-0.03,-1.00) r=0.78m
+[headless_play] t=  4.10s step= 205 trunk_z= 124.4mm grav_b=(-0.02,-0.07,-1.00) r=0.78m
+[headless_play] t=  4.20s step= 210 trunk_z= 126.7mm grav_b=(-0.00,-0.10,-0.99) r=0.78m
+[headless_play] t=  4.30s step= 215 trunk_z= 124.3mm grav_b=(+0.01,-0.07,-1.00) r=0.81m
+[headless_play] t=  4.40s step= 220 trunk_z= 124.8mm grav_b=(+0.01,+0.02,-1.00) r=0.83m
+[headless_play] t=  4.50s step= 225 trunk_z= 126.2mm grav_b=(-0.00,-0.02,-1.00) r=0.84m
+[headless_play] t=  4.60s step= 230 trunk_z= 115.7mm grav_b=(-0.05,-0.03,-1.00) r=0.84m
+[headless_play] t=  4.70s step= 235 trunk_z= 124.2mm grav_b=(-0.04,-0.05,-1.00) r=0.85m
+[headless_play] t=  4.80s step= 240 trunk_z= 121.8mm grav_b=(-0.05,-0.05,-1.00) r=0.86m
+[headless_play] t=  4.90s step= 245 trunk_z= 121.6mm grav_b=(-0.05,+0.01,-1.00) r=0.88m
+[headless_play] t=  5.00s step= 250 trunk_z= 125.1mm grav_b=(-0.12,+0.02,-0.99) r=0.88m
+[headless_play] t=  5.10s step= 255 trunk_z= 121.0mm grav_b=(-0.06,-0.00,-1.00) r=0.86m
+[headless_play] t=  5.20s step= 260 trunk_z= 120.8mm grav_b=(-0.05,-0.07,-1.00) r=0.84m
+[headless_play] t=  5.30s step= 265 trunk_z= 120.0mm grav_b=(+0.00,-0.05,-1.00) r=0.85m
+[headless_play] t=  5.40s step= 270 trunk_z= 122.7mm grav_b=(+0.02,+0.01,-1.00) r=0.87m
+[headless_play] t=  5.50s step= 275 trunk_z= 126.7mm grav_b=(+0.05,-0.02,-1.00) r=0.88m
+[headless_play] t=  5.60s step= 280 trunk_z= 116.0mm grav_b=(-0.05,-0.07,-1.00) r=0.86m
+[headless_play] t=  5.70s step= 285 trunk_z= 123.4mm grav_b=(-0.08,-0.08,-0.99) r=0.86m
+[headless_play] t=  5.80s step= 290 trunk_z= 122.1mm grav_b=(-0.08,-0.06,-1.00) r=0.88m
+[headless_play] t=  5.90s step= 295 trunk_z= 122.8mm grav_b=(-0.05,+0.02,-1.00) r=0.91m
+[headless_play] t=  6.00s step= 300 trunk_z= 125.9mm grav_b=(-0.00,+0.02,-1.00) r=0.91m
+[headless_play] t=  6.10s step= 305 trunk_z= 125.5mm grav_b=(+0.06,+0.01,-1.00) r=0.92m
+[headless_play] t=  6.20s step= 310 trunk_z= 122.8mm grav_b=(+0.09,-0.03,-1.00) r=0.94m
+[headless_play] t=  6.30s step= 315 trunk_z= 133.1mm grav_b=(+0.07,+0.01,-1.00) r=0.97m
+[headless_play] t=  6.40s step= 320 trunk_z= 110.1mm grav_b=(-0.06,+0.03,-1.00) r=1.02m
+[headless_play] t=  6.50s step= 325 trunk_z= 119.7mm grav_b=(-0.11,-0.00,-0.99) r=1.03m
+[headless_play] t=  6.60s step= 330 trunk_z= 116.9mm grav_b=(-0.02,-0.08,-1.00) r=1.01m
+[headless_play] t=  6.70s step= 335 trunk_z= 126.0mm grav_b=(+0.00,-0.18,-0.98) r=1.00m
+[headless_play] t=  6.80s step= 340 trunk_z= 130.3mm grav_b=(-0.00,-0.20,-0.98) r=0.98m
+[headless_play] t=  6.90s step= 345 trunk_z= 130.7mm grav_b=(+0.00,-0.20,-0.98) r=0.97m
+[headless_play] t=  7.00s step= 350 trunk_z= 129.2mm grav_b=(+0.01,-0.19,-0.98) r=0.98m
+[headless_play] t=  7.10s step= 355 trunk_z= 131.4mm grav_b=(-0.00,-0.09,-1.00) r=1.00m
+[headless_play] t=  7.20s step= 360 trunk_z= 125.9mm grav_b=(+0.03,-0.12,-0.99) r=1.02m
+[headless_play] t=  7.30s step= 365 trunk_z= 118.3mm grav_b=(-0.02,-0.06,-1.00) r=1.02m
+[headless_play] t=  7.40s step= 370 trunk_z= 118.9mm grav_b=(-0.06,-0.00,-1.00) r=1.03m
+[headless_play] t=  7.50s step= 375 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=1.04m
+[headless_play] t=  7.60s step= 380 trunk_z= 123.2mm grav_b=(-0.05,+0.02,-1.00) r=1.05m
+[headless_play] t=  7.70s step= 385 trunk_z= 118.5mm grav_b=(-0.07,-0.05,-1.00) r=1.05m
+[headless_play] t=  7.80s step= 390 trunk_z= 122.6mm grav_b=(-0.01,-0.06,-1.00) r=1.04m
+[headless_play] t=  7.90s step= 395 trunk_z= 123.5mm grav_b=(-0.01,-0.07,-1.00) r=1.05m
+[headless_play] t=  8.00s step= 400 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=1.07m
+[headless_play] t=  8.10s step= 405 trunk_z= 124.3mm grav_b=(+0.03,-0.01,-1.00) r=1.09m
+[headless_play] t=  8.20s step= 410 trunk_z= 114.3mm grav_b=(+0.03,-0.06,-1.00) r=1.10m
+[headless_play] t=  8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.01,-0.06,-1.00) r=1.13m
+[headless_play] t=  8.40s step= 420 trunk_z= 117.9mm grav_b=(+0.00,-0.03,-1.00) r=1.16m
+[headless_play] t=  8.50s step= 425 trunk_z=  98.5mm grav_b=(-0.00,+0.01,-1.00) r=1.20m
+[headless_play] t=  8.60s step= 430 trunk_z= 104.6mm grav_b=(+0.00,+0.01,-1.00) r=1.22m
+[headless_play] t=  8.70s step= 435 trunk_z=  99.4mm grav_b=(+0.00,-0.01,-1.00) r=1.23m
+[headless_play] t=  8.80s step= 440 trunk_z=  98.8mm grav_b=(-0.03,-0.03,-1.00) r=1.24m
+[headless_play] t=  8.90s step= 445 trunk_z=  96.0mm grav_b=(-0.02,-0.01,-1.00) r=1.27m
+[headless_play] t=  9.00s step= 450 trunk_z=  89.7mm grav_b=(-0.01,+0.05,-1.00) r=1.29m
+[headless_play] t=  9.10s step= 455 trunk_z=  96.5mm grav_b=(+0.02,+0.11,-0.99) r=1.33m
+[headless_play] t=  9.20s step= 460 trunk_z=  91.5mm grav_b=(+0.05,+0.03,-1.00) r=1.36m
+[headless_play] t=  9.30s step= 465 trunk_z=  73.1mm grav_b=(+0.04,-0.01,-1.00) r=1.43m
+[headless_play] t=  9.40s step= 470 trunk_z=  88.2mm grav_b=(+0.05,-0.07,-1.00) r=1.47m
+[headless_play] t=  9.50s step= 475 trunk_z=  75.9mm grav_b=(-0.10,-0.08,-0.99) r=1.52m
+[headless_play] t=  9.60s step= 480 trunk_z=  52.2mm grav_b=(-0.13,-0.02,-0.99) r=1.57m
+[headless_play] t=  9.70s step= 485 trunk_z=  58.9mm grav_b=(-0.07,-0.00,-1.00) r=1.57m
+[headless_play] t=  9.80s step= 490 trunk_z=  54.9mm grav_b=(-0.04,+0.02,-1.00) r=1.57m
+[headless_play] t=  9.90s step= 495 trunk_z=  52.1mm grav_b=(-0.03,+0.04,-1.00) r=1.58m
+[headless_play] t= 10.00s step= 500 trunk_z=  55.8mm grav_b=(+0.02,-0.01,-1.00) r=1.60m
+[headless_play] t= 10.10s step= 505 trunk_z=  50.1mm grav_b=(+0.02,-0.07,-1.00) r=1.63m
+[headless_play] t= 10.20s step= 510 trunk_z=  53.6mm grav_b=(+0.01,-0.11,-0.99) r=1.67m
+[headless_play] t= 10.30s step= 515 trunk_z=  52.8mm grav_b=(-0.02,-0.08,-1.00) r=1.70m
+[headless_play] t= 10.40s step= 520 trunk_z=  33.0mm grav_b=(-0.04,+0.03,-1.00) r=1.75m
+[headless_play] t= 10.50s step= 525 trunk_z=  41.7mm grav_b=(+0.02,+0.05,-1.00) r=1.78m
+[headless_play] t= 10.60s step= 530 trunk_z=  38.4mm grav_b=(+0.01,+0.04,-1.00) r=1.78m
+[headless_play] t= 10.70s step= 535 trunk_z=  33.6mm grav_b=(-0.04,+0.05,-1.00) r=1.79m
+[headless_play] t= 10.80s step= 540 trunk_z=  31.7mm grav_b=(-0.06,+0.09,-0.99) r=1.81m
+[headless_play] t= 10.90s step= 545 trunk_z=  35.4mm grav_b=(-0.00,+0.05,-1.00) r=1.82m
+[headless_play] t= 11.00s step= 550 trunk_z=  27.9mm grav_b=(+0.01,-0.03,-1.00) r=1.84m
+[headless_play] t= 11.10s step= 555 trunk_z=  36.5mm grav_b=(+0.01,-0.08,-1.00) r=1.86m
+[headless_play] t= 11.20s step= 560 trunk_z=  34.1mm grav_b=(+0.00,-0.06,-1.00) r=1.89m
+[headless_play] t= 11.30s step= 565 trunk_z=  17.7mm grav_b=(-0.02,+0.07,-1.00) r=1.94m
+[headless_play] t= 11.40s step= 570 trunk_z=  29.0mm grav_b=(-0.03,+0.15,-0.99) r=1.97m
+[headless_play] t= 11.50s step= 575 trunk_z=  23.5mm grav_b=(+0.03,+0.11,-0.99) r=2.00m
+[headless_play] t= 11.60s step= 580 trunk_z=  24.0mm grav_b=(+0.01,+0.03,-1.00) r=2.05m
+[headless_play] t= 11.70s step= 585 trunk_z=  24.7mm grav_b=(+0.04,-0.04,-1.00) r=2.07m
+[headless_play] t= 11.80s step= 590 trunk_z=  23.7mm grav_b=(+0.02,-0.13,-0.99) r=2.09m
+[headless_play] t= 11.90s step= 595 trunk_z=  16.9mm grav_b=(-0.05,-0.11,-0.99) r=2.13m
+[headless_play] t= 12.00s step= 600 trunk_z=  14.7mm grav_b=(+0.01,-0.09,-1.00) r=2.17m
+[headless_play] t= 12.10s step= 605 trunk_z=  -6.0mm grav_b=(-0.03,-0.05,-1.00) r=2.20m
+[headless_play] t= 12.20s step= 610 trunk_z=  -5.3mm grav_b=(-0.13,-0.11,-0.98) r=2.22m
+[headless_play] t= 12.30s step= 615 trunk_z=   3.3mm grav_b=(-0.02,-0.08,-1.00) r=2.23m
+[headless_play] t= 12.40s step= 620 trunk_z=  -1.4mm grav_b=(+0.06,-0.04,-1.00) r=2.22m
+[headless_play] t= 12.50s step= 625 trunk_z=   0.3mm grav_b=(+0.08,-0.02,-1.00) r=2.22m
+[headless_play] t= 12.60s step= 630 trunk_z=  -0.5mm grav_b=(+0.09,-0.06,-0.99) r=2.22m
+[headless_play] t= 12.70s step= 635 trunk_z=  13.7mm grav_b=(+0.08,-0.13,-0.99) r=2.25m
+[headless_play] t= 12.80s step= 640 trunk_z=   3.5mm grav_b=(-0.03,-0.11,-0.99) r=2.30m
+[headless_play] t= 12.90s step= 645 trunk_z=  12.5mm grav_b=(+0.05,-0.11,-0.99) r=2.34m
+[headless_play] t= 13.00s step= 650 trunk_z=   6.1mm grav_b=(-0.00,-0.07,-1.00) r=2.38m
+[headless_play] t= 13.10s step= 655 trunk_z=  -3.8mm grav_b=(-0.03,-0.15,-0.99) r=2.41m
+[headless_play] t= 13.20s step= 660 trunk_z=   7.6mm grav_b=(+0.09,-0.13,-0.99) r=2.44m
+[headless_play] t= 13.30s step= 665 trunk_z=   9.3mm grav_b=(-0.01,-0.12,-0.99) r=2.50m
+[headless_play] t= 13.40s step= 670 trunk_z=  -8.5mm grav_b=(-0.11,-0.02,-0.99) r=2.55m
+[headless_play] t= 13.50s step= 675 trunk_z=   2.0mm grav_b=(-0.15,-0.00,-0.99) r=2.55m
+[headless_play] t= 13.60s step= 680 trunk_z=  -3.9mm grav_b=(-0.10,-0.08,-0.99) r=2.54m
+[headless_play] t= 13.70s step= 685 trunk_z=   2.0mm grav_b=(-0.01,-0.03,-1.00) r=2.53m
+[headless_play] t= 13.80s step= 690 trunk_z=   0.7mm grav_b=(-0.04,+0.01,-1.00) r=2.54m
+[headless_play] t= 13.90s step= 695 trunk_z=   5.7mm grav_b=(-0.06,-0.05,-1.00) r=2.55m
+[headless_play] t= 14.00s step= 700 trunk_z=   1.0mm grav_b=(-0.02,-0.09,-1.00) r=2.56m
+[headless_play] t= 14.10s step= 705 trunk_z=   4.6mm grav_b=(-0.05,-0.08,-1.00) r=2.57m
+[headless_play] t= 14.20s step= 710 trunk_z=   0.9mm grav_b=(-0.07,-0.05,-1.00) r=2.59m
+[headless_play] t= 14.30s step= 715 trunk_z=   8.8mm grav_b=(-0.03,-0.05,-1.00) r=2.60m
+[headless_play] t= 14.40s step= 720 trunk_z=   2.0mm grav_b=(-0.02,-0.08,-1.00) r=2.61m
+[headless_play] t= 14.50s step= 725 trunk_z=   6.4mm grav_b=(-0.05,-0.12,-0.99) r=2.61m
+[headless_play] t= 14.60s step= 730 trunk_z=   8.5mm grav_b=(-0.05,-0.09,-0.99) r=2.63m
+[headless_play] t= 14.70s step= 735 trunk_z=   5.6mm grav_b=(-0.06,-0.05,-1.00) r=2.65m
+[headless_play] t= 14.80s step= 740 trunk_z=  10.8mm grav_b=(-0.05,-0.03,-1.00) r=2.67m
+[headless_play] t= 14.90s step= 745 trunk_z=   4.3mm grav_b=(-0.03,-0.05,-1.00) r=2.67m
+[headless_play] t= 15.00s step= 750 trunk_z=   8.6mm grav_b=(-0.00,-0.12,-0.99) r=2.68m
+[headless_play] t= 15.10s step= 755 trunk_z=  13.0mm grav_b=(+0.00,-0.15,-0.99) r=2.69m
+[headless_play] t= 15.20s step= 760 trunk_z=   2.1mm grav_b=(+0.09,-0.20,-0.98) r=2.71m
+[headless_play] t= 15.30s step= 765 trunk_z= -23.3mm grav_b=(+0.11,-0.08,-0.99) r=2.76m
+[headless_play] t= 15.40s step= 770 trunk_z=   2.0mm grav_b=(+0.20,-0.11,-0.97) r=2.78m
+[headless_play] t= 15.50s step= 775 trunk_z=   5.5mm grav_b=(-0.02,-0.02,-1.00) r=2.78m
+[headless_play] t= 15.60s step= 780 trunk_z=  -9.1mm grav_b=(-0.07,-0.07,-1.00) r=2.78m
+[headless_play] t= 15.70s step= 785 trunk_z=  -2.8mm grav_b=(-0.04,-0.02,-1.00) r=2.79m
+[headless_play] t= 15.80s step= 790 trunk_z=  -5.6mm grav_b=(-0.04,+0.01,-1.00) r=2.82m
+[headless_play] t= 15.90s step= 795 trunk_z=   3.3mm grav_b=(-0.03,-0.02,-1.00) r=2.84m
+[headless_play] t= 16.00s step= 800 trunk_z=  -4.7mm grav_b=(-0.02,-0.06,-1.00) r=2.83m
+[headless_play] t= 16.10s step= 805 trunk_z=   0.2mm grav_b=(-0.04,-0.10,-0.99) r=2.84m
+[headless_play] t= 16.20s step= 810 trunk_z=   2.4mm grav_b=(-0.05,-0.07,-1.00) r=2.85m
+[headless_play] t= 16.30s step= 815 trunk_z=  -3.9mm grav_b=(-0.06,-0.02,-1.00) r=2.88m
+[headless_play] t= 16.40s step= 820 trunk_z=   2.3mm grav_b=(-0.04,+0.00,-1.00) r=2.89m
+[headless_play] t= 16.50s step= 825 trunk_z=  -0.7mm grav_b=(-0.04,-0.04,-1.00) r=2.89m
+[headless_play] t= 16.60s step= 830 trunk_z=  -1.3mm grav_b=(-0.05,-0.08,-1.00) r=2.90m
+[headless_play] t= 16.70s step= 835 trunk_z=  -0.3mm grav_b=(-0.02,-0.05,-1.00) r=2.92m
+[headless_play] t= 16.80s step= 840 trunk_z=  -4.5mm grav_b=(-0.05,+0.02,-1.00) r=2.95m
+[headless_play] t= 16.90s step= 845 trunk_z=  -0.8mm grav_b=(-0.02,-0.01,-1.00) r=2.95m
+[headless_play] t= 17.00s step= 850 trunk_z=  -8.1mm grav_b=(-0.00,-0.03,-1.00) r=2.94m
+[headless_play] t= 17.10s step= 855 trunk_z=  -6.0mm grav_b=(+0.01,-0.09,-1.00) r=2.93m
+[headless_play] t= 17.20s step= 860 trunk_z=  -7.5mm grav_b=(+0.03,-0.10,-0.99) r=2.94m
+[headless_play] t= 17.30s step= 865 trunk_z=  -8.3mm grav_b=(-0.06,+0.00,-1.00) r=2.95m
+[headless_play] t= 17.40s step= 870 trunk_z=  -1.6mm grav_b=(-0.06,-0.03,-1.00) r=2.95m
+[headless_play] t= 17.50s step= 875 trunk_z= -10.6mm grav_b=(+0.02,-0.07,-1.00) r=2.94m
+[headless_play] t= 17.60s step= 880 trunk_z= -11.6mm grav_b=(+0.04,-0.12,-0.99) r=2.93m
+[headless_play] t= 17.70s step= 885 trunk_z= -10.6mm grav_b=(+0.10,-0.10,-0.99) r=2.93m
+[headless_play] t= 17.80s step= 890 trunk_z=  -6.6mm grav_b=(+0.04,+0.03,-1.00) r=2.95m
+[headless_play] t= 17.90s step= 895 trunk_z=  -4.9mm grav_b=(+0.02,-0.01,-1.00) r=2.98m
+[headless_play] t= 18.00s step= 900 trunk_z= -14.7mm grav_b=(+0.01,-0.06,-1.00) r=3.01m
+[headless_play] t= 18.10s step= 905 trunk_z=  -3.0mm grav_b=(-0.05,-0.08,-1.00) r=3.02m
+[headless_play] t= 18.20s step= 910 trunk_z=  -7.9mm grav_b=(-0.02,-0.02,-1.00) r=3.02m
+[headless_play] t= 18.30s step= 915 trunk_z=  -3.6mm grav_b=(-0.02,+0.01,-1.00) r=3.02m
+[headless_play] t= 18.40s step= 920 trunk_z=  -3.8mm grav_b=(+0.00,-0.02,-1.00) r=3.03m
+[headless_play] t= 18.50s step= 925 trunk_z= -13.5mm grav_b=(+0.02,-0.03,-1.00) r=3.05m
+[headless_play] t= 18.60s step= 930 trunk_z=  -5.9mm grav_b=(+0.02,-0.10,-0.99) r=3.07m
+[headless_play] t= 18.70s step= 935 trunk_z=  -8.7mm grav_b=(+0.06,-0.10,-0.99) r=3.09m
+[headless_play] t= 18.80s step= 940 trunk_z= -10.2mm grav_b=(+0.04,+0.03,-1.00) r=3.12m
+[headless_play] t= 18.90s step= 945 trunk_z=  -7.3mm grav_b=(+0.12,+0.00,-0.99) r=3.15m
+[headless_play] t= 19.00s step= 950 trunk_z= -18.3mm grav_b=(+0.01,-0.09,-1.00) r=3.20m
+[headless_play] t= 19.10s step= 955 trunk_z= -11.8mm grav_b=(-0.05,-0.20,-0.98) r=3.23m
+[headless_play] t= 19.20s step= 960 trunk_z=  -5.0mm grav_b=(-0.06,-0.15,-0.99) r=3.24m
+[headless_play] t= 19.30s step= 965 trunk_z=  -8.9mm grav_b=(-0.01,-0.13,-0.99) r=3.25m
+[headless_play] t= 19.40s step= 970 trunk_z= -12.4mm grav_b=(+0.04,-0.04,-1.00) r=3.26m
+[headless_play] t= 19.50s step= 975 trunk_z= -15.8mm grav_b=(+0.10,-0.06,-0.99) r=3.28m
+[headless_play] t= 19.60s step= 980 trunk_z= -15.5mm grav_b=(+0.01,-0.07,-1.00) r=3.29m
+[headless_play] t= 19.70s step= 985 trunk_z= -12.5mm grav_b=(-0.07,-0.03,-1.00) r=3.30m
+[headless_play] t= 19.80s step= 990 trunk_z= -22.6mm grav_b=(-0.00,+0.05,-1.00) r=3.30m
+[headless_play] t= 19.90s step= 995 trunk_z= -14.2mm grav_b=(+0.02,+0.04,-1.00) r=3.30m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 126.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.41m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t15.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 121.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.764,-18.298,+0.249)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.2mm grav_b=(-0.01,+0.00,-1.00) r=0.38m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.38m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.70s step=  35 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m
+[headless_play] t=  1.00s step=  50 trunk_z= 117.7mm grav_b=(-0.00,-0.04,-1.00) r=0.38m
+[headless_play] t=  1.10s step=  55 trunk_z= 121.0mm grav_b=(-0.00,-0.07,-1.00) r=0.39m
+[headless_play] t=  1.20s step=  60 trunk_z= 119.1mm grav_b=(-0.02,-0.03,-1.00) r=0.39m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.2mm grav_b=(-0.04,-0.05,-1.00) r=0.39m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.8mm grav_b=(-0.05,-0.04,-1.00) r=0.39m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.8mm grav_b=(-0.03,-0.03,-1.00) r=0.39m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.9mm grav_b=(-0.02,-0.03,-1.00) r=0.39m
+[headless_play] t=  1.70s step=  85 trunk_z= 116.9mm grav_b=(-0.02,-0.03,-1.00) r=0.39m
+[headless_play] t=  1.80s step=  90 trunk_z= 117.0mm grav_b=(-0.02,-0.03,-1.00) r=0.39m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.39m
+[headless_play] t=  2.00s step= 100 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.40m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.39m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.03,-0.02,-1.00) r=0.39m
+[headless_play] t=  2.30s step= 115 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.60s step= 130 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.80s step= 140 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.39m
+[headless_play] t=  3.00s step= 150 trunk_z= 119.1mm grav_b=(+0.00,-0.03,-1.00) r=0.40m
+[headless_play] t=  3.10s step= 155 trunk_z= 120.5mm grav_b=(-0.01,-0.03,-1.00) r=0.39m
+[headless_play] t=  3.20s step= 160 trunk_z= 114.0mm grav_b=(-0.03,-0.12,-0.99) r=0.39m
+[headless_play] t=  3.30s step= 165 trunk_z= 118.5mm grav_b=(-0.09,-0.07,-0.99) r=0.39m
+[headless_play] t=  3.40s step= 170 trunk_z= 115.4mm grav_b=(-0.10,-0.04,-0.99) r=0.41m
+[headless_play] t=  3.50s step= 175 trunk_z= 117.1mm grav_b=(-0.12,-0.03,-0.99) r=0.41m
+[headless_play] t=  3.60s step= 180 trunk_z= 117.9mm grav_b=(-0.09,-0.01,-1.00) r=0.41m
+[headless_play] t=  3.70s step= 185 trunk_z= 118.7mm grav_b=(-0.04,-0.01,-1.00) r=0.42m
+[headless_play] t=  3.80s step= 190 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00) r=0.42m
+[headless_play] t=  3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.42m
+[headless_play] t=  4.00s step= 200 trunk_z= 117.7mm grav_b=(-0.06,-0.01,-1.00) r=0.42m
+[headless_play] t=  4.10s step= 205 trunk_z= 117.2mm grav_b=(-0.07,-0.01,-1.00) r=0.41m
+[headless_play] t=  4.20s step= 210 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00) r=0.41m
+[headless_play] t=  4.30s step= 215 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.42m
+[headless_play] t=  4.40s step= 220 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.42m
+[headless_play] t=  4.50s step= 225 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.42m
+[headless_play] t=  4.60s step= 230 trunk_z= 118.4mm grav_b=(-0.03,-0.02,-1.00) r=0.42m
+[headless_play] t=  4.70s step= 235 trunk_z= 119.7mm grav_b=(-0.02,-0.03,-1.00) r=0.42m
+[headless_play] t=  4.80s step= 240 trunk_z= 119.2mm grav_b=(-0.02,-0.04,-1.00) r=0.42m
+[headless_play] t=  4.90s step= 245 trunk_z= 114.6mm grav_b=(-0.04,-0.12,-0.99) r=0.42m
+[headless_play] t=  5.00s step= 250 trunk_z= 117.4mm grav_b=(-0.08,-0.06,-0.99) r=0.42m
+[headless_play] t=  5.10s step= 255 trunk_z= 116.0mm grav_b=(-0.07,-0.05,-1.00) r=0.44m
+[headless_play] t=  5.20s step= 260 trunk_z= 116.6mm grav_b=(-0.11,-0.03,-0.99) r=0.43m
+[headless_play] t=  5.30s step= 265 trunk_z= 118.0mm grav_b=(-0.13,-0.04,-0.99) r=0.43m
+[headless_play] t=  5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.14,-0.03,-0.99) r=0.43m
+[headless_play] t=  5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.13,-0.03,-0.99) r=0.43m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.6mm grav_b=(-0.10,-0.02,-1.00) r=0.43m
+[headless_play] t=  5.70s step= 285 trunk_z= 118.2mm grav_b=(-0.05,-0.03,-1.00) r=0.43m
+[headless_play] t=  5.80s step= 290 trunk_z= 118.6mm grav_b=(-0.04,-0.03,-1.00) r=0.43m
+[headless_play] t=  5.90s step= 295 trunk_z= 118.0mm grav_b=(-0.05,-0.03,-1.00) r=0.43m
+[headless_play] t=  6.00s step= 300 trunk_z= 117.4mm grav_b=(-0.06,-0.03,-1.00) r=0.43m
+[headless_play] t=  6.10s step= 305 trunk_z= 117.4mm grav_b=(-0.06,-0.03,-1.00) r=0.43m
+[headless_play] t=  6.20s step= 310 trunk_z= 118.5mm grav_b=(-0.09,-0.05,-0.99) r=0.43m
+[headless_play] t=  6.30s step= 315 trunk_z= 117.6mm grav_b=(-0.08,-0.02,-1.00) r=0.43m
+[headless_play] t=  6.40s step= 320 trunk_z= 116.9mm grav_b=(-0.08,-0.01,-1.00) r=0.43m
+[headless_play] t=  6.50s step= 325 trunk_z= 116.5mm grav_b=(-0.07,-0.01,-1.00) r=0.43m
+[headless_play] t=  6.60s step= 330 trunk_z= 116.3mm grav_b=(-0.09,-0.02,-1.00) r=0.43m
+[headless_play] t=  6.70s step= 335 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.43m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.2mm grav_b=(-0.10,-0.02,-0.99) r=0.43m
+[headless_play] t=  6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.12,-0.03,-0.99) r=0.42m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.5mm grav_b=(-0.12,-0.05,-0.99) r=0.42m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.6mm grav_b=(-0.13,-0.04,-0.99) r=0.41m
+[headless_play] t=  7.20s step= 360 trunk_z=  97.4mm grav_b=(-0.07,+0.03,-1.00) r=0.38m
+[headless_play] t=  7.30s step= 365 trunk_z= 108.9mm grav_b=(-0.00,-0.01,-1.00) r=0.37m
+[headless_play] t=  7.40s step= 370 trunk_z= 104.1mm grav_b=(+0.03,-0.07,-1.00) r=0.34m
+[headless_play] t=  7.50s step= 375 trunk_z= 113.3mm grav_b=(+0.02,-0.10,-0.99) r=0.33m
+[headless_play] t=  7.60s step= 380 trunk_z= 111.4mm grav_b=(+0.03,-0.04,-1.00) r=0.33m
+[headless_play] t=  7.70s step= 385 trunk_z= 113.7mm grav_b=(+0.05,-0.02,-1.00) r=0.33m
+[headless_play] t=  7.80s step= 390 trunk_z= 115.3mm grav_b=(+0.03,-0.03,-1.00) r=0.33m
+[headless_play] t=  7.90s step= 395 trunk_z= 115.2mm grav_b=(+0.01,-0.03,-1.00) r=0.33m
+[headless_play] t=  8.00s step= 400 trunk_z= 114.9mm grav_b=(-0.02,-0.02,-1.00) r=0.32m
+[headless_play] t=  8.10s step= 405 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=0.32m
+[headless_play] t=  8.20s step= 410 trunk_z= 117.3mm grav_b=(-0.10,+0.00,-0.99) r=0.32m
+[headless_play] t=  8.30s step= 415 trunk_z= 116.2mm grav_b=(-0.12,-0.03,-0.99) r=0.31m
+[headless_play] t=  8.40s step= 420 trunk_z= 114.8mm grav_b=(-0.07,-0.01,-1.00) r=0.31m
+[headless_play] t=  8.50s step= 425 trunk_z= 114.3mm grav_b=(-0.04,-0.00,-1.00) r=0.29m
+[headless_play] t=  8.60s step= 430 trunk_z= 108.7mm grav_b=(-0.01,-0.08,-1.00) r=0.27m
+[headless_play] t=  8.70s step= 435 trunk_z= 115.3mm grav_b=(-0.02,-0.08,-1.00) r=0.27m
+[headless_play] t=  8.80s step= 440 trunk_z= 112.9mm grav_b=(-0.02,-0.01,-1.00) r=0.27m
+[headless_play] t=  8.90s step= 445 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.00s step= 450 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) r=0.27m
+[headless_play] t=  9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.27m
+[headless_play] t=  9.20s step= 460 trunk_z= 117.3mm grav_b=(+0.04,-0.03,-1.00) r=0.27m
+[headless_play] t=  9.30s step= 465 trunk_z= 118.3mm grav_b=(+0.01,-0.04,-1.00) r=0.27m
+[headless_play] t=  9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.02,-0.05,-1.00) r=0.27m
+[headless_play] t=  9.50s step= 475 trunk_z= 117.2mm grav_b=(-0.05,-0.03,-1.00) r=0.26m
+[headless_play] t=  9.60s step= 480 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00) r=0.26m
+[headless_play] t=  9.70s step= 485 trunk_z= 117.3mm grav_b=(-0.11,-0.04,-0.99) r=0.26m
+[headless_play] t=  9.80s step= 490 trunk_z= 117.8mm grav_b=(-0.12,-0.02,-0.99) r=0.26m
+[headless_play] t=  9.90s step= 495 trunk_z= 116.7mm grav_b=(-0.12,-0.03,-0.99) r=0.26m
+[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(-0.13,-0.03,-0.99) r=0.25m
+[headless_play] t= 10.10s step= 505 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.24m
+[headless_play] t= 10.20s step= 510 trunk_z= 105.9mm grav_b=(+0.02,-0.01,-1.00) r=0.24m
+[headless_play] t= 10.30s step= 515 trunk_z= 102.6mm grav_b=(+0.06,-0.07,-1.00) r=0.23m
+[headless_play] t= 10.40s step= 520 trunk_z= 113.5mm grav_b=(+0.04,-0.09,-1.00) r=0.23m
+[headless_play] t= 10.50s step= 525 trunk_z= 112.7mm grav_b=(+0.03,-0.03,-1.00) r=0.23m
+[headless_play] t= 10.60s step= 530 trunk_z= 115.4mm grav_b=(+0.01,-0.05,-1.00) r=0.23m
+[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(+0.02,-0.04,-1.00) r=0.23m
+[headless_play] t= 10.80s step= 540 trunk_z= 117.5mm grav_b=(-0.00,-0.03,-1.00) r=0.22m
+[headless_play] t= 10.90s step= 545 trunk_z= 117.5mm grav_b=(-0.01,-0.03,-1.00) r=0.22m
+[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(-0.03,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(-0.07,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.20s step= 560 trunk_z= 117.4mm grav_b=(-0.05,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.30s step= 565 trunk_z= 117.3mm grav_b=(-0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(+0.01,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 11.90s step= 595 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 12.00s step= 600 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(-0.04,-0.02,-1.00) r=0.22m
+[headless_play] t= 12.20s step= 610 trunk_z= 117.5mm grav_b=(-0.01,-0.02,-1.00) r=0.22m
+[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 12.40s step= 620 trunk_z= 117.8mm grav_b=(-0.02,-0.04,-1.00) r=0.22m
+[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.23m
+[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m
+[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m
+[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.23m
+[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=0.23m
+[headless_play] t= 13.00s step= 650 trunk_z= 118.3mm grav_b=(-0.02,+0.02,-1.00) r=0.23m
+[headless_play] t= 13.10s step= 655 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.23m
+[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.23m
+[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.23m
+[headless_play] t= 13.40s step= 670 trunk_z= 116.9mm grav_b=(+0.04,-0.00,-1.00) r=0.23m
+[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) r=0.23m
+[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.01,-0.03,-1.00) r=0.23m
+[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m
+[headless_play] t= 13.80s step= 690 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.23m
+[headless_play] t= 13.90s step= 695 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.23m
+[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(+0.04,-0.01,-1.00) r=0.23m
+[headless_play] t= 14.10s step= 705 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.23m
+[headless_play] t= 14.20s step= 710 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.23m
+[headless_play] t= 14.30s step= 715 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.23m
+[headless_play] t= 14.40s step= 720 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.23m
+[headless_play] t= 14.50s step= 725 trunk_z= 119.1mm grav_b=(-0.07,+0.03,-1.00) r=0.24m
+[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(-0.08,-0.03,-1.00) r=0.23m
+[headless_play] t= 14.70s step= 735 trunk_z= 118.3mm grav_b=(-0.09,-0.01,-1.00) r=0.23m
+[headless_play] t= 14.80s step= 740 trunk_z= 112.5mm grav_b=(-0.10,+0.03,-0.99) r=0.25m
+[headless_play] t= 14.90s step= 745 trunk_z= 120.5mm grav_b=(-0.06,-0.02,-1.00) r=0.25m
+[headless_play] t= 15.00s step= 750 trunk_z= 111.8mm grav_b=(-0.05,-0.07,-1.00) r=0.23m
+[headless_play] t= 15.10s step= 755 trunk_z= 118.2mm grav_b=(-0.05,-0.11,-0.99) r=0.21m
+[headless_play] t= 15.20s step= 760 trunk_z= 117.8mm grav_b=(-0.02,-0.11,-0.99) r=0.21m
+[headless_play] t= 15.30s step= 765 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=0.23m
+[headless_play] t= 15.40s step= 770 trunk_z= 123.0mm grav_b=(-0.00,+0.07,-1.00) r=0.24m
+[headless_play] t= 15.50s step= 775 trunk_z= 120.0mm grav_b=(-0.02,+0.03,-1.00) r=0.24m
+[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(-0.09,-0.10,-0.99) r=0.21m
+[headless_play] t= 15.70s step= 785 trunk_z= 128.6mm grav_b=(-0.20,-0.21,-0.96) r=0.18m
+[headless_play] t= 15.80s step= 790 trunk_z= 124.9mm grav_b=(-0.10,-0.24,-0.96) r=0.15m
+[headless_play] t= 15.90s step= 795 trunk_z= 109.1mm grav_b=(-0.16,-0.40,-0.90) r=0.14m
+[headless_play] t= 16.00s step= 800 trunk_z=  90.8mm grav_b=(-0.31,-0.36,-0.88) r=0.09m
+[headless_play] t= 16.10s step= 805 trunk_z= 105.0mm grav_b=(-0.76,-0.16,-0.63) r=0.09m
+[headless_play] t= 16.20s step= 810 trunk_z=  61.8mm grav_b=(-0.93,+0.09,-0.35) r=0.13m
+[headless_play] RESET at t= 16.22s step= 811 (env termination, not a recovery)
+[headless_play] t= 16.30s step= 815 trunk_z= 114.4mm grav_b=(-0.04,+0.00,-1.00) r=0.21m
+[headless_play] t= 16.40s step= 820 trunk_z= 115.3mm grav_b=(-0.02,+0.03,-1.00) r=0.20m
+[headless_play] t= 16.50s step= 825 trunk_z= 121.1mm grav_b=(-0.02,-0.02,-1.00) r=0.18m
+[headless_play] t= 16.60s step= 830 trunk_z= 116.7mm grav_b=(-0.02,-0.10,-0.99) r=0.17m
+[headless_play] t= 16.70s step= 835 trunk_z= 125.0mm grav_b=(-0.05,-0.12,-0.99) r=0.16m
+[headless_play] t= 16.80s step= 840 trunk_z= 125.5mm grav_b=(-0.07,-0.11,-0.99) r=0.15m
+[headless_play] t= 16.90s step= 845 trunk_z= 118.4mm grav_b=(-0.09,-0.02,-1.00) r=0.12m
+[headless_play] t= 17.00s step= 850 trunk_z= 123.1mm grav_b=(-0.09,+0.00,-1.00) r=0.11m
+[headless_play] t= 17.10s step= 855 trunk_z= 116.2mm grav_b=(-0.10,-0.06,-0.99) r=0.14m
+[headless_play] t= 17.20s step= 860 trunk_z= 124.6mm grav_b=(-0.10,-0.16,-0.98) r=0.16m
+[headless_play] t= 17.30s step= 865 trunk_z= 128.7mm grav_b=(-0.10,-0.24,-0.97) r=0.18m
+[headless_play] t= 17.40s step= 870 trunk_z= 130.1mm grav_b=(-0.01,-0.23,-0.97) r=0.20m
+[headless_play] t= 17.50s step= 875 trunk_z= 122.3mm grav_b=(+0.02,-0.24,-0.97) r=0.22m
+[headless_play] t= 17.60s step= 880 trunk_z= 125.3mm grav_b=(+0.03,-0.19,-0.98) r=0.26m
+[headless_play] t= 17.70s step= 885 trunk_z= 127.2mm grav_b=(+0.05,-0.17,-0.98) r=0.31m
+[headless_play] t= 17.80s step= 890 trunk_z=  99.4mm grav_b=(-0.11,-0.13,-0.99) r=0.36m
+[headless_play] t= 17.90s step= 895 trunk_z= 112.8mm grav_b=(-0.16,-0.08,-0.98) r=0.38m
+[headless_play] t= 18.00s step= 900 trunk_z= 118.1mm grav_b=(-0.13,+0.02,-0.99) r=0.39m
+[headless_play] t= 18.10s step= 905 trunk_z= 124.3mm grav_b=(-0.13,+0.05,-0.99) r=0.39m
+[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(-0.09,-0.00,-1.00) r=0.37m
+[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(-0.07,-0.09,-0.99) r=0.37m
+[headless_play] t= 18.40s step= 920 trunk_z= 123.7mm grav_b=(-0.07,-0.10,-0.99) r=0.38m
+[headless_play] t= 18.50s step= 925 trunk_z= 121.9mm grav_b=(-0.03,-0.06,-1.00) r=0.40m
+[headless_play] t= 18.60s step= 930 trunk_z= 121.4mm grav_b=(-0.04,+0.05,-1.00) r=0.42m
+[headless_play] t= 18.70s step= 935 trunk_z= 123.9mm grav_b=(-0.04,+0.01,-1.00) r=0.43m
+[headless_play] t= 18.80s step= 940 trunk_z= 117.9mm grav_b=(-0.07,-0.03,-1.00) r=0.42m
+[headless_play] t= 18.90s step= 945 trunk_z= 122.1mm grav_b=(-0.09,-0.10,-0.99) r=0.43m
+[headless_play] t= 19.00s step= 950 trunk_z= 124.7mm grav_b=(-0.11,-0.10,-0.99) r=0.44m
+[headless_play] t= 19.10s step= 955 trunk_z= 122.0mm grav_b=(-0.09,-0.08,-0.99) r=0.46m
+[headless_play] t= 19.20s step= 960 trunk_z= 122.3mm grav_b=(-0.04,+0.02,-1.00) r=0.48m
+[headless_play] t= 19.30s step= 965 trunk_z= 125.0mm grav_b=(-0.02,-0.00,-1.00) r=0.49m
+[headless_play] t= 19.40s step= 970 trunk_z= 118.8mm grav_b=(-0.05,-0.04,-1.00) r=0.50m
+[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(-0.11,-0.04,-0.99) r=0.51m
+[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(-0.12,-0.01,-0.99) r=0.53m
+[headless_play] t= 19.70s step= 985 trunk_z= 122.4mm grav_b=(-0.12,-0.00,-0.99) r=0.55m
+[headless_play] t= 19.80s step= 990 trunk_z= 119.6mm grav_b=(-0.09,-0.03,-1.00) r=0.55m
+[headless_play] t= 19.90s step= 995 trunk_z= 120.4mm grav_b=(-0.05,-0.09,-0.99) r=0.55m
+[headless_play] t= 20.00s step=1000 trunk_z= 124.8mm grav_b=(-0.05,-0.09,-0.99) r=0.56m
+[headless_play] t= 20.10s step=1005 trunk_z= 124.3mm grav_b=(-0.03,-0.08,-1.00) r=0.58m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t2.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.431,-18.019,+0.255)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.43m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.70s step=  35 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.30s step=  65 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.70s step=  85 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.43m
+[headless_play] t=  1.80s step=  90 trunk_z= 119.1mm grav_b=(-0.04,-0.05,-1.00) r=0.44m
+[headless_play] t=  1.90s step=  95 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.44m
+[headless_play] t=  2.00s step= 100 trunk_z= 117.5mm grav_b=(-0.02,-0.01,-1.00) r=0.44m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.44m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.44m
+[headless_play] t=  2.30s step= 115 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.44m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.43m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00) r=0.43m
+[headless_play] t=  2.60s step= 130 trunk_z= 117.3mm grav_b=(-0.04,-0.00,-1.00) r=0.43m
+[headless_play] t=  2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.43m
+[headless_play] t=  2.80s step= 140 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.44m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.44m
+[headless_play] t=  3.00s step= 150 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.20s step= 160 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.30s step= 165 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.44m
+[headless_play] t=  3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.50s step= 175 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.60s step= 180 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.70s step= 185 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.44m
+[headless_play] t=  3.80s step= 190 trunk_z= 116.8mm grav_b=(+0.06,-0.00,-1.00) r=0.44m
+[headless_play] t=  3.90s step= 195 trunk_z= 119.2mm grav_b=(+0.05,-0.00,-1.00) r=0.44m
+[headless_play] t=  4.00s step= 200 trunk_z= 116.9mm grav_b=(-0.07,+0.07,-1.00) r=0.43m
+[headless_play] t=  4.10s step= 205 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.44m
+[headless_play] t=  4.20s step= 210 trunk_z= 118.6mm grav_b=(-0.00,-0.06,-1.00) r=0.45m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.2mm grav_b=(-0.04,+0.01,-1.00) r=0.45m
+[headless_play] t=  4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.45m
+[headless_play] t=  4.50s step= 225 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.45m
+[headless_play] t=  4.60s step= 230 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=0.45m
+[headless_play] t=  4.70s step= 235 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.45m
+[headless_play] t=  4.80s step= 240 trunk_z= 116.6mm grav_b=(+0.14,-0.02,-0.99) r=0.46m
+[headless_play] t=  4.90s step= 245 trunk_z= 120.3mm grav_b=(-0.08,+0.01,-1.00) r=0.47m
+[headless_play] t=  5.00s step= 250 trunk_z= 112.8mm grav_b=(-0.04,+0.06,-1.00) r=0.47m
+[headless_play] t=  5.10s step= 255 trunk_z= 119.1mm grav_b=(-0.07,-0.04,-1.00) r=0.49m
+[headless_play] t=  5.20s step= 260 trunk_z= 118.3mm grav_b=(-0.09,-0.09,-0.99) r=0.51m
+[headless_play] t=  5.30s step= 265 trunk_z= 119.4mm grav_b=(-0.10,-0.05,-0.99) r=0.51m
+[headless_play] t=  5.40s step= 270 trunk_z= 119.9mm grav_b=(-0.10,-0.05,-0.99) r=0.50m
+[headless_play] t=  5.50s step= 275 trunk_z= 106.6mm grav_b=(-0.02,-0.06,-1.00) r=0.49m
+[headless_play] t=  5.60s step= 280 trunk_z= 112.6mm grav_b=(-0.01,-0.00,-1.00) r=0.47m
+[headless_play] t=  5.70s step= 285 trunk_z= 119.1mm grav_b=(-0.04,+0.04,-1.00) r=0.47m
+[headless_play] t=  5.80s step= 290 trunk_z= 116.4mm grav_b=(-0.04,-0.05,-1.00) r=0.48m
+[headless_play] t=  5.90s step= 295 trunk_z= 117.3mm grav_b=(-0.01,+0.03,-1.00) r=0.47m
+[headless_play] t=  6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.48m
+[headless_play] t=  6.10s step= 305 trunk_z= 119.6mm grav_b=(-0.01,-0.01,-1.00) r=0.48m
+[headless_play] t=  6.20s step= 310 trunk_z= 118.0mm grav_b=(-0.07,+0.03,-1.00) r=0.47m
+[headless_play] t=  6.30s step= 315 trunk_z= 117.4mm grav_b=(-0.07,-0.02,-1.00) r=0.48m
+[headless_play] t=  6.40s step= 320 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.48m
+[headless_play] t=  6.50s step= 325 trunk_z= 118.4mm grav_b=(-0.02,-0.01,-1.00) r=0.48m
+[headless_play] t=  6.60s step= 330 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m
+[headless_play] t=  6.70s step= 335 trunk_z= 118.1mm grav_b=(-0.12,-0.02,-0.99) r=0.47m
+[headless_play] t=  6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.15,-0.01,-0.99) r=0.46m
+[headless_play] t=  6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.17,-0.03,-0.98) r=0.47m
+[headless_play] t=  7.00s step= 350 trunk_z= 116.8mm grav_b=(-0.07,+0.00,-1.00) r=0.45m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.1mm grav_b=(-0.01,+0.04,-1.00) r=0.43m
+[headless_play] t=  7.20s step= 360 trunk_z= 118.6mm grav_b=(-0.03,+0.00,-1.00) r=0.43m
+[headless_play] t=  7.30s step= 365 trunk_z= 119.0mm grav_b=(-0.09,+0.03,-1.00) r=0.43m
+[headless_play] t=  7.40s step= 370 trunk_z= 123.5mm grav_b=(-0.08,+0.03,-1.00) r=0.42m
+[headless_play] t=  7.50s step= 375 trunk_z= 123.1mm grav_b=(-0.07,-0.02,-1.00) r=0.43m
+[headless_play] t=  7.60s step= 380 trunk_z= 118.5mm grav_b=(-0.04,-0.04,-1.00) r=0.47m
+[headless_play] t=  7.70s step= 385 trunk_z= 129.2mm grav_b=(-0.03,-0.02,-1.00) r=0.49m
+[headless_play] t=  7.80s step= 390 trunk_z= 122.2mm grav_b=(-0.06,-0.01,-1.00) r=0.50m
+[headless_play] t=  7.90s step= 395 trunk_z= 120.9mm grav_b=(-0.02,-0.03,-1.00) r=0.52m
+[headless_play] t=  8.00s step= 400 trunk_z= 119.4mm grav_b=(-0.09,-0.04,-1.00) r=0.56m
+[headless_play] t=  8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.15,-0.07,-0.99) r=0.59m
+[headless_play] t=  8.20s step= 410 trunk_z= 121.2mm grav_b=(-0.10,-0.05,-0.99) r=0.60m
+[headless_play] t=  8.30s step= 415 trunk_z= 119.4mm grav_b=(-0.11,+0.00,-0.99) r=0.60m
+[headless_play] t=  8.40s step= 420 trunk_z= 121.5mm grav_b=(-0.08,-0.07,-0.99) r=0.62m
+[headless_play] t=  8.50s step= 425 trunk_z= 120.5mm grav_b=(-0.03,-0.11,-0.99) r=0.65m
+[headless_play] t=  8.60s step= 430 trunk_z= 128.0mm grav_b=(-0.02,-0.10,-0.99) r=0.68m
+[headless_play] t=  8.70s step= 435 trunk_z= 127.9mm grav_b=(-0.00,-0.07,-1.00) r=0.70m
+[headless_play] t=  8.80s step= 440 trunk_z= 118.5mm grav_b=(-0.05,+0.01,-1.00) r=0.72m
+[headless_play] t=  8.90s step= 445 trunk_z= 124.8mm grav_b=(-0.06,+0.01,-1.00) r=0.73m
+[headless_play] t=  9.00s step= 450 trunk_z= 116.0mm grav_b=(-0.06,-0.05,-1.00) r=0.75m
+[headless_play] t=  9.10s step= 455 trunk_z= 127.2mm grav_b=(+0.03,-0.01,-1.00) r=0.79m
+[headless_play] t=  9.20s step= 460 trunk_z= 114.3mm grav_b=(-0.08,+0.05,-1.00) r=0.84m
+[headless_play] t=  9.30s step= 465 trunk_z= 116.1mm grav_b=(-0.08,-0.00,-1.00) r=0.87m
+[headless_play] t=  9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.11,-0.05,-0.99) r=0.89m
+[headless_play] t=  9.50s step= 475 trunk_z= 120.7mm grav_b=(-0.09,-0.07,-0.99) r=0.91m
+[headless_play] t=  9.60s step= 480 trunk_z= 122.3mm grav_b=(-0.07,-0.03,-1.00) r=0.93m
+[headless_play] t=  9.70s step= 485 trunk_z= 117.3mm grav_b=(-0.07,+0.02,-1.00) r=0.96m
+[headless_play] t=  9.80s step= 490 trunk_z= 123.6mm grav_b=(-0.08,+0.03,-1.00) r=0.97m
+[headless_play] t=  9.90s step= 495 trunk_z= 117.7mm grav_b=(-0.07,+0.01,-1.00) r=0.97m
+[headless_play] t= 10.00s step= 500 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.99m
+[headless_play] t= 10.10s step= 505 trunk_z= 121.4mm grav_b=(-0.02,+0.04,-1.00) r=1.01m
+[headless_play] t= 10.20s step= 510 trunk_z= 101.5mm grav_b=(-0.05,+0.05,-1.00) r=1.05m
+[headless_play] t= 10.30s step= 515 trunk_z= 113.9mm grav_b=(-0.03,+0.04,-1.00) r=1.08m
+[headless_play] t= 10.40s step= 520 trunk_z= 114.2mm grav_b=(-0.09,+0.03,-1.00) r=1.10m
+[headless_play] t= 10.50s step= 525 trunk_z= 105.4mm grav_b=(-0.10,+0.02,-0.99) r=1.13m
+[headless_play] t= 10.60s step= 530 trunk_z= 105.7mm grav_b=(-0.06,-0.01,-1.00) r=1.15m
+[headless_play] t= 10.70s step= 535 trunk_z=  86.3mm grav_b=(-0.07,+0.06,-1.00) r=1.20m
+[headless_play] t= 10.80s step= 540 trunk_z=  96.3mm grav_b=(-0.05,+0.03,-1.00) r=1.23m
+[headless_play] t= 10.90s step= 545 trunk_z=  99.2mm grav_b=(-0.07,+0.02,-1.00) r=1.25m
+[headless_play] t= 11.00s step= 550 trunk_z=  81.0mm grav_b=(-0.11,+0.02,-0.99) r=1.28m
+[headless_play] t= 11.10s step= 555 trunk_z=  81.9mm grav_b=(-0.11,+0.00,-0.99) r=1.30m
+[headless_play] t= 11.20s step= 560 trunk_z=  73.1mm grav_b=(-0.09,+0.05,-0.99) r=1.33m
+[headless_play] t= 11.30s step= 565 trunk_z=  77.9mm grav_b=(-0.05,-0.01,-1.00) r=1.35m
+[headless_play] t= 11.40s step= 570 trunk_z=  66.4mm grav_b=(-0.07,-0.01,-1.00) r=1.37m
+[headless_play] t= 11.50s step= 575 trunk_z=  70.7mm grav_b=(-0.12,-0.03,-0.99) r=1.39m
+[headless_play] t= 11.60s step= 580 trunk_z=  66.5mm grav_b=(-0.13,+0.01,-0.99) r=1.41m
+[headless_play] t= 11.70s step= 585 trunk_z=  65.8mm grav_b=(-0.08,+0.04,-1.00) r=1.44m
+[headless_play] t= 11.80s step= 590 trunk_z=  70.2mm grav_b=(-0.01,+0.03,-1.00) r=1.46m
+[headless_play] t= 11.90s step= 595 trunk_z=  50.7mm grav_b=(-0.07,-0.05,-1.00) r=1.51m
+[headless_play] t= 12.00s step= 600 trunk_z=  57.0mm grav_b=(-0.07,-0.08,-0.99) r=1.53m
+[headless_play] t= 12.10s step= 605 trunk_z=  59.9mm grav_b=(-0.11,-0.08,-0.99) r=1.55m
+[headless_play] t= 12.20s step= 610 trunk_z=  46.1mm grav_b=(-0.10,-0.02,-0.99) r=1.59m
+[headless_play] t= 12.30s step= 615 trunk_z=  48.2mm grav_b=(-0.01,+0.01,-1.00) r=1.62m
+[headless_play] t= 12.40s step= 620 trunk_z=  50.6mm grav_b=(-0.02,+0.01,-1.00) r=1.64m
+[headless_play] t= 12.50s step= 625 trunk_z=  36.6mm grav_b=(-0.07,-0.02,-1.00) r=1.66m
+[headless_play] t= 12.60s step= 630 trunk_z=  43.1mm grav_b=(-0.10,-0.04,-0.99) r=1.68m
+[headless_play] t= 12.70s step= 635 trunk_z=  33.2mm grav_b=(-0.12,-0.02,-0.99) r=1.71m
+[headless_play] t= 12.80s step= 640 trunk_z=  30.1mm grav_b=(-0.07,+0.05,-1.00) r=1.75m
+[headless_play] t= 12.90s step= 645 trunk_z=  33.1mm grav_b=(-0.02,+0.05,-1.00) r=1.77m
+[headless_play] t= 13.00s step= 650 trunk_z=  30.3mm grav_b=(-0.07,+0.02,-1.00) r=1.79m
+[headless_play] t= 13.10s step= 655 trunk_z=  26.2mm grav_b=(-0.14,+0.02,-0.99) r=1.82m
+[headless_play] t= 13.20s step= 660 trunk_z=  13.0mm grav_b=(-0.15,+0.01,-0.99) r=1.85m
+[headless_play] t= 13.30s step= 665 trunk_z=  16.5mm grav_b=(-0.15,+0.09,-0.99) r=1.88m
+[headless_play] t= 13.40s step= 670 trunk_z=  19.4mm grav_b=(-0.10,+0.05,-0.99) r=1.89m
+[headless_play] t= 13.50s step= 675 trunk_z=  14.9mm grav_b=(-0.03,+0.07,-1.00) r=1.87m
+[headless_play] t= 13.60s step= 680 trunk_z=  20.1mm grav_b=(+0.07,+0.07,-1.00) r=1.87m
+[headless_play] t= 13.70s step= 685 trunk_z=   0.7mm grav_b=(+0.04,+0.00,-1.00) r=1.89m
+[headless_play] t= 13.80s step= 690 trunk_z=  11.9mm grav_b=(-0.02,-0.03,-1.00) r=1.92m
+[headless_play] t= 13.90s step= 695 trunk_z=  -1.7mm grav_b=(-0.08,-0.12,-0.99) r=1.96m
+[headless_play] t= 14.00s step= 700 trunk_z=   6.8mm grav_b=(-0.09,-0.13,-0.99) r=1.99m
+[headless_play] t= 14.10s step= 705 trunk_z=   4.6mm grav_b=(-0.08,-0.12,-0.99) r=2.02m
+[headless_play] t= 14.20s step= 710 trunk_z=   0.1mm grav_b=(-0.06,-0.05,-1.00) r=2.05m
+[headless_play] t= 14.30s step= 715 trunk_z=   5.0mm grav_b=(-0.07,-0.05,-1.00) r=2.06m
+[headless_play] t= 14.40s step= 720 trunk_z=   1.2mm grav_b=(-0.11,-0.07,-0.99) r=2.06m
+[headless_play] t= 14.50s step= 725 trunk_z=   5.0mm grav_b=(-0.13,-0.02,-0.99) r=2.05m
+[headless_play] t= 14.60s step= 730 trunk_z=  -5.5mm grav_b=(-0.08,+0.05,-1.00) r=2.05m
+[headless_play] t= 14.70s step= 735 trunk_z=   1.2mm grav_b=(-0.05,+0.02,-1.00) r=2.03m
+[headless_play] t= 14.80s step= 740 trunk_z=  -7.9mm grav_b=(-0.03,-0.04,-1.00) r=2.02m
+[headless_play] t= 14.90s step= 745 trunk_z=  -1.1mm grav_b=(-0.01,-0.05,-1.00) r=2.02m
+[headless_play] t= 15.00s step= 750 trunk_z=  -1.6mm grav_b=(+0.01,-0.01,-1.00) r=2.04m
+[headless_play] t= 15.10s step= 755 trunk_z=   8.5mm grav_b=(-0.01,-0.02,-1.00) r=2.06m
+[headless_play] t= 15.20s step= 760 trunk_z=   4.8mm grav_b=(-0.07,-0.07,-1.00) r=2.07m
+[headless_play] t= 15.30s step= 765 trunk_z=  12.1mm grav_b=(-0.09,-0.14,-0.99) r=2.08m
+[headless_play] t= 15.40s step= 770 trunk_z=  15.9mm grav_b=(-0.07,-0.16,-0.99) r=2.08m
+[headless_play] t= 15.50s step= 775 trunk_z=  17.5mm grav_b=(-0.04,-0.14,-0.99) r=2.09m
+[headless_play] t= 15.60s step= 780 trunk_z=  17.7mm grav_b=(-0.02,-0.11,-0.99) r=2.09m
+[headless_play] t= 15.70s step= 785 trunk_z=  17.0mm grav_b=(-0.01,-0.07,-1.00) r=2.09m
+[headless_play] t= 15.80s step= 790 trunk_z=  13.2mm grav_b=(-0.03,-0.05,-1.00) r=2.09m
+[headless_play] t= 15.90s step= 795 trunk_z=   9.2mm grav_b=(-0.02,-0.00,-1.00) r=2.08m
+[headless_play] t= 16.00s step= 800 trunk_z=   1.0mm grav_b=(-0.02,-0.09,-1.00) r=2.05m
+[headless_play] t= 16.10s step= 805 trunk_z=   4.8mm grav_b=(-0.04,-0.14,-0.99) r=2.02m
+[headless_play] t= 16.20s step= 810 trunk_z=   1.7mm grav_b=(-0.10,-0.12,-0.99) r=2.02m
+[headless_play] t= 16.30s step= 815 trunk_z=  -3.0mm grav_b=(-0.09,-0.12,-0.99) r=2.03m
+[headless_play] t= 16.40s step= 820 trunk_z=  -2.0mm grav_b=(-0.06,-0.17,-0.98) r=2.01m
+[headless_play] t= 16.50s step= 825 trunk_z=   2.2mm grav_b=(-0.04,-0.14,-0.99) r=2.01m
+[headless_play] t= 16.60s step= 830 trunk_z=  -5.1mm grav_b=(-0.04,-0.04,-1.00) r=2.01m
+[headless_play] t= 16.70s step= 835 trunk_z=  -4.1mm grav_b=(-0.09,-0.05,-0.99) r=2.00m
+[headless_play] t= 16.80s step= 840 trunk_z=  -5.8mm grav_b=(-0.07,-0.01,-1.00) r=2.01m
+[headless_play] t= 16.90s step= 845 trunk_z=  -6.3mm grav_b=(-0.07,-0.02,-1.00) r=2.01m
+[headless_play] t= 17.00s step= 850 trunk_z=  -7.6mm grav_b=(-0.05,-0.00,-1.00) r=2.01m
+[headless_play] t= 17.10s step= 855 trunk_z=  -5.6mm grav_b=(-0.04,-0.03,-1.00) r=2.00m
+[headless_play] t= 17.20s step= 860 trunk_z=   1.6mm grav_b=(-0.07,-0.09,-0.99) r=1.98m
+[headless_play] t= 17.30s step= 865 trunk_z=  -4.7mm grav_b=(-0.03,-0.04,-1.00) r=1.97m
+[headless_play] t= 17.40s step= 870 trunk_z=   0.1mm grav_b=(+0.01,-0.06,-1.00) r=1.97m
+[headless_play] t= 17.50s step= 875 trunk_z=  -0.7mm grav_b=(-0.03,-0.08,-1.00) r=1.96m
+[headless_play] t= 17.60s step= 880 trunk_z=  -1.8mm grav_b=(+0.03,-0.02,-1.00) r=1.97m
+[headless_play] t= 17.70s step= 885 trunk_z=   0.8mm grav_b=(+0.01,+0.03,-1.00) r=1.98m
+[headless_play] t= 17.80s step= 890 trunk_z=  -0.0mm grav_b=(-0.01,-0.03,-1.00) r=1.98m
+[headless_play] t= 17.90s step= 895 trunk_z=   1.9mm grav_b=(-0.06,+0.03,-1.00) r=1.99m
+[headless_play] t= 18.00s step= 900 trunk_z=  -3.6mm grav_b=(-0.08,+0.00,-1.00) r=1.99m
+[headless_play] t= 18.10s step= 905 trunk_z=  -4.4mm grav_b=(-0.00,+0.03,-1.00) r=2.00m
+[headless_play] t= 18.20s step= 910 trunk_z=  -3.4mm grav_b=(+0.04,+0.05,-1.00) r=2.01m
+[headless_play] t= 18.30s step= 915 trunk_z=  -5.9mm grav_b=(-0.04,+0.01,-1.00) r=2.00m
+[headless_play] t= 18.40s step= 920 trunk_z=  -4.7mm grav_b=(-0.05,+0.05,-1.00) r=2.00m
+[headless_play] t= 18.50s step= 925 trunk_z=  -5.7mm grav_b=(-0.01,+0.07,-1.00) r=2.00m
+[headless_play] t= 18.60s step= 930 trunk_z=  -5.3mm grav_b=(-0.03,+0.06,-1.00) r=2.00m
+[headless_play] t= 18.70s step= 935 trunk_z=  -4.9mm grav_b=(-0.03,+0.06,-1.00) r=2.01m
+[headless_play] t= 18.80s step= 940 trunk_z=  -5.4mm grav_b=(+0.02,+0.06,-1.00) r=2.01m
+[headless_play] t= 18.90s step= 945 trunk_z=  -4.6mm grav_b=(+0.01,+0.05,-1.00) r=2.01m
+[headless_play] t= 19.00s step= 950 trunk_z=  -5.1mm grav_b=(-0.01,+0.05,-1.00) r=2.01m
+[headless_play] t= 19.10s step= 955 trunk_z=  -4.9mm grav_b=(-0.02,+0.05,-1.00) r=2.01m
+[headless_play] t= 19.20s step= 960 trunk_z=  -5.1mm grav_b=(-0.01,+0.05,-1.00) r=2.01m
+[headless_play] t= 19.30s step= 965 trunk_z=  -4.9mm grav_b=(-0.00,+0.05,-1.00) r=2.01m
+[headless_play] t= 19.40s step= 970 trunk_z=  -4.0mm grav_b=(-0.05,+0.04,-1.00) r=2.00m
+[headless_play] t= 19.50s step= 975 trunk_z=  -4.2mm grav_b=(-0.00,+0.03,-1.00) r=2.01m
+[headless_play] t= 19.60s step= 980 trunk_z=  -5.5mm grav_b=(+0.05,+0.04,-1.00) r=2.01m
+[headless_play] t= 19.70s step= 985 trunk_z=  -4.8mm grav_b=(+0.02,+0.02,-1.00) r=2.01m
+[headless_play] t= 19.80s step= 990 trunk_z=  -5.0mm grav_b=(-0.04,-0.00,-1.00) r=2.01m
+[headless_play] t= 19.90s step= 995 trunk_z=  -4.5mm grav_b=(-0.02,+0.07,-1.00) r=2.02m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.41m
+[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.05,+0.02,-1.00) r=0.41m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t3.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.736,-17.623,+0.256)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.46m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.7mm grav_b=(-0.02,+0.01,-1.00) r=0.46m
+[headless_play] t=  0.20s step=  10 trunk_z= 117.9mm grav_b=(-0.05,+0.03,-1.00) r=0.45m
+[headless_play] t=  0.30s step=  15 trunk_z= 118.3mm grav_b=(-0.07,-0.02,-1.00) r=0.47m
+[headless_play] t=  0.40s step=  20 trunk_z= 111.3mm grav_b=(-0.07,-0.08,-0.99) r=0.50m
+[headless_play] t=  0.50s step=  25 trunk_z= 120.2mm grav_b=(-0.06,-0.05,-1.00) r=0.51m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.7mm grav_b=(-0.04,-0.02,-1.00) r=0.49m
+[headless_play] t=  0.70s step=  35 trunk_z= 117.3mm grav_b=(-0.07,-0.03,-1.00) r=0.49m
+[headless_play] t=  0.80s step=  40 trunk_z= 110.8mm grav_b=(-0.06,-0.07,-1.00) r=0.52m
+[headless_play] t=  0.90s step=  45 trunk_z= 118.3mm grav_b=(-0.06,-0.09,-0.99) r=0.53m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.53m
+[headless_play] t=  1.10s step=  55 trunk_z= 117.8mm grav_b=(-0.02,+0.06,-1.00) r=0.52m
+[headless_play] t=  1.20s step=  60 trunk_z= 122.8mm grav_b=(-0.02,+0.06,-1.00) r=0.51m
+[headless_play] t=  1.30s step=  65 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.53m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.8mm grav_b=(+0.00,-0.11,-0.99) r=0.57m
+[headless_play] t=  1.50s step=  75 trunk_z= 127.4mm grav_b=(-0.00,-0.09,-1.00) r=0.58m
+[headless_play] t=  1.60s step=  80 trunk_z= 119.5mm grav_b=(-0.02,-0.00,-1.00) r=0.59m
+[headless_play] t=  1.70s step=  85 trunk_z= 124.1mm grav_b=(-0.06,+0.04,-1.00) r=0.60m
+[headless_play] t=  1.80s step=  90 trunk_z= 118.0mm grav_b=(-0.08,-0.01,-1.00) r=0.62m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.0mm grav_b=(+0.06,-0.06,-1.00) r=0.65m
+[headless_play] t=  2.00s step= 100 trunk_z= 122.1mm grav_b=(-0.01,+0.03,-1.00) r=0.66m
+[headless_play] t=  2.10s step= 105 trunk_z= 121.3mm grav_b=(-0.06,+0.07,-1.00) r=0.67m
+[headless_play] t=  2.20s step= 110 trunk_z= 122.6mm grav_b=(-0.08,+0.02,-1.00) r=0.69m
+[headless_play] t=  2.30s step= 115 trunk_z= 116.2mm grav_b=(-0.08,-0.04,-1.00) r=0.72m
+[headless_play] t=  2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.07,-0.03,-1.00) r=0.73m
+[headless_play] t=  2.50s step= 125 trunk_z= 115.1mm grav_b=(-0.06,-0.02,-1.00) r=0.73m
+[headless_play] t=  2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.03,-0.05,-1.00) r=0.74m
+[headless_play] t=  2.70s step= 135 trunk_z= 110.8mm grav_b=(-0.02,-0.08,-1.00) r=0.77m
+[headless_play] t=  2.80s step= 140 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00) r=0.79m
+[headless_play] t=  2.90s step= 145 trunk_z= 114.2mm grav_b=(-0.03,-0.00,-1.00) r=0.79m
+[headless_play] t=  3.00s step= 150 trunk_z= 121.5mm grav_b=(-0.05,+0.04,-1.00) r=0.79m
+[headless_play] t=  3.10s step= 155 trunk_z= 125.7mm grav_b=(-0.04,+0.11,-0.99) r=0.79m
+[headless_play] t=  3.20s step= 160 trunk_z= 124.3mm grav_b=(-0.01,+0.12,-0.99) r=0.79m
+[headless_play] t=  3.30s step= 165 trunk_z= 129.1mm grav_b=(-0.03,+0.04,-1.00) r=0.81m
+[headless_play] t=  3.40s step= 170 trunk_z= 128.2mm grav_b=(-0.01,-0.04,-1.00) r=0.83m
+[headless_play] t=  3.50s step= 175 trunk_z= 130.2mm grav_b=(-0.04,-0.05,-1.00) r=0.83m
+[headless_play] t=  3.60s step= 180 trunk_z= 119.9mm grav_b=(-0.07,+0.00,-1.00) r=0.82m
+[headless_play] t=  3.70s step= 185 trunk_z= 123.3mm grav_b=(-0.09,-0.01,-1.00) r=0.83m
+[headless_play] t=  3.80s step= 190 trunk_z= 115.7mm grav_b=(-0.06,-0.03,-1.00) r=0.85m
+[headless_play] t=  3.90s step= 195 trunk_z= 120.3mm grav_b=(+0.01,-0.10,-1.00) r=0.88m
+[headless_play] t=  4.00s step= 200 trunk_z= 123.4mm grav_b=(+0.01,-0.06,-1.00) r=0.89m
+[headless_play] t=  4.10s step= 205 trunk_z= 121.7mm grav_b=(-0.01,+0.05,-1.00) r=0.88m
+[headless_play] t=  4.20s step= 210 trunk_z= 124.0mm grav_b=(-0.04,+0.04,-1.00) r=0.89m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.07,+0.02,-1.00) r=0.91m
+[headless_play] t=  4.40s step= 220 trunk_z= 122.0mm grav_b=(-0.07,-0.08,-0.99) r=0.93m
+[headless_play] t=  4.50s step= 225 trunk_z= 121.8mm grav_b=(-0.08,-0.06,-1.00) r=0.92m
+[headless_play] t=  4.60s step= 230 trunk_z= 116.7mm grav_b=(-0.07,+0.00,-1.00) r=0.90m
+[headless_play] t=  4.70s step= 235 trunk_z= 122.0mm grav_b=(-0.02,+0.02,-1.00) r=0.90m
+[headless_play] t=  4.80s step= 240 trunk_z= 123.8mm grav_b=(+0.06,+0.05,-1.00) r=0.90m
+[headless_play] t=  4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.01,-0.06,-1.00) r=0.92m
+[headless_play] t=  5.00s step= 250 trunk_z= 128.2mm grav_b=(-0.02,-0.11,-0.99) r=0.93m
+[headless_play] t=  5.10s step= 255 trunk_z= 129.1mm grav_b=(-0.08,-0.06,-0.99) r=0.93m
+[headless_play] t=  5.20s step= 260 trunk_z= 120.5mm grav_b=(-0.12,+0.02,-0.99) r=0.93m
+[headless_play] t=  5.30s step= 265 trunk_z= 125.6mm grav_b=(-0.11,+0.04,-0.99) r=0.93m
+[headless_play] t=  5.40s step= 270 trunk_z= 120.9mm grav_b=(-0.09,-0.00,-1.00) r=0.94m
+[headless_play] t=  5.50s step= 275 trunk_z= 122.5mm grav_b=(-0.11,-0.06,-0.99) r=0.94m
+[headless_play] t=  5.60s step= 280 trunk_z= 121.9mm grav_b=(-0.08,-0.03,-1.00) r=0.94m
+[headless_play] t=  5.70s step= 285 trunk_z= 116.7mm grav_b=(-0.06,+0.01,-1.00) r=0.92m
+[headless_play] t=  5.80s step= 290 trunk_z= 122.4mm grav_b=(-0.03,+0.01,-1.00) r=0.92m
+[headless_play] t=  5.90s step= 295 trunk_z= 118.1mm grav_b=(+0.00,+0.00,-1.00) r=0.95m
+[headless_play] t=  6.00s step= 300 trunk_z= 119.5mm grav_b=(+0.02,-0.02,-1.00) r=0.97m
+[headless_play] t=  6.10s step= 305 trunk_z= 120.6mm grav_b=(-0.05,+0.03,-1.00) r=0.97m
+[headless_play] t=  6.20s step= 310 trunk_z= 123.9mm grav_b=(-0.07,+0.07,-0.99) r=0.97m
+[headless_play] t=  6.30s step= 315 trunk_z= 125.8mm grav_b=(-0.07,+0.05,-1.00) r=0.98m
+[headless_play] t=  6.40s step= 320 trunk_z= 118.2mm grav_b=(-0.06,+0.01,-1.00) r=1.01m
+[headless_play] t=  6.50s step= 325 trunk_z= 118.2mm grav_b=(-0.07,-0.13,-0.99) r=1.04m
+[headless_play] t=  6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.05,-0.11,-0.99) r=1.05m
+[headless_play] t=  6.70s step= 335 trunk_z= 114.2mm grav_b=(-0.02,-0.04,-1.00) r=1.04m
+[headless_play] t=  6.80s step= 340 trunk_z= 120.9mm grav_b=(-0.05,-0.02,-1.00) r=1.04m
+[headless_play] t=  6.90s step= 345 trunk_z= 115.5mm grav_b=(-0.05,-0.04,-1.00) r=1.06m
+[headless_play] t=  7.00s step= 350 trunk_z= 107.2mm grav_b=(-0.04,-0.15,-0.99) r=1.10m
+[headless_play] t=  7.10s step= 355 trunk_z= 111.6mm grav_b=(-0.01,-0.18,-0.98) r=1.12m
+[headless_play] t=  7.20s step= 360 trunk_z= 110.7mm grav_b=(-0.01,-0.15,-0.99) r=1.12m
+[headless_play] t=  7.30s step= 365 trunk_z= 110.8mm grav_b=(-0.03,-0.12,-0.99) r=1.13m
+[headless_play] t=  7.40s step= 370 trunk_z= 107.0mm grav_b=(-0.04,-0.01,-1.00) r=1.14m
+[headless_play] t=  7.50s step= 375 trunk_z= 113.1mm grav_b=(-0.10,+0.02,-0.99) r=1.15m
+[headless_play] t=  7.60s step= 380 trunk_z= 104.3mm grav_b=(-0.10,-0.02,-1.00) r=1.17m
+[headless_play] t=  7.70s step= 385 trunk_z=  96.4mm grav_b=(-0.07,-0.10,-0.99) r=1.20m
+[headless_play] t=  7.80s step= 390 trunk_z=  94.9mm grav_b=(-0.01,-0.10,-0.99) r=1.20m
+[headless_play] t=  7.90s step= 395 trunk_z=  92.7mm grav_b=(+0.02,-0.02,-1.00) r=1.20m
+[headless_play] t=  8.00s step= 400 trunk_z= 100.2mm grav_b=(-0.06,+0.04,-1.00) r=1.21m
+[headless_play] t=  8.10s step= 405 trunk_z=  96.8mm grav_b=(-0.09,-0.01,-1.00) r=1.23m
+[headless_play] t=  8.20s step= 410 trunk_z=  87.3mm grav_b=(-0.10,-0.13,-0.99) r=1.25m
+[headless_play] t=  8.30s step= 415 trunk_z=  95.0mm grav_b=(-0.15,-0.16,-0.98) r=1.26m
+[headless_play] t=  8.40s step= 420 trunk_z=  96.0mm grav_b=(-0.14,-0.11,-0.98) r=1.26m
+[headless_play] t=  8.50s step= 425 trunk_z=  90.1mm grav_b=(-0.12,-0.09,-0.99) r=1.23m
+[headless_play] t=  8.60s step= 430 trunk_z=  89.4mm grav_b=(-0.07,-0.10,-0.99) r=1.22m
+[headless_play] t=  8.70s step= 435 trunk_z=  80.1mm grav_b=(-0.05,-0.12,-0.99) r=1.26m
+[headless_play] t=  8.80s step= 440 trunk_z=  76.4mm grav_b=(-0.04,-0.18,-0.98) r=1.31m
+[headless_play] t=  8.90s step= 445 trunk_z=  86.4mm grav_b=(-0.05,-0.24,-0.97) r=1.33m
+[headless_play] t=  9.00s step= 450 trunk_z=  86.1mm grav_b=(+0.01,-0.14,-0.99) r=1.34m
+[headless_play] t=  9.10s step= 455 trunk_z=  75.2mm grav_b=(+0.02,-0.04,-1.00) r=1.33m
+[headless_play] t=  9.20s step= 460 trunk_z=  81.0mm grav_b=(-0.04,-0.08,-1.00) r=1.33m
+[headless_play] t=  9.30s step= 465 trunk_z=  76.7mm grav_b=(-0.08,-0.18,-0.98) r=1.35m
+[headless_play] t=  9.40s step= 470 trunk_z=  80.8mm grav_b=(-0.09,-0.17,-0.98) r=1.36m
+[headless_play] t=  9.50s step= 475 trunk_z=  80.2mm grav_b=(-0.07,-0.15,-0.99) r=1.36m
+[headless_play] t=  9.60s step= 480 trunk_z=  76.1mm grav_b=(-0.05,-0.11,-0.99) r=1.35m
+[headless_play] t=  9.70s step= 485 trunk_z=  80.8mm grav_b=(-0.13,-0.09,-0.99) r=1.34m
+[headless_play] t=  9.80s step= 490 trunk_z=  73.8mm grav_b=(-0.12,-0.14,-0.98) r=1.36m
+[headless_play] t=  9.90s step= 495 trunk_z=  67.2mm grav_b=(-0.15,-0.11,-0.98) r=1.38m
+[headless_play] t= 10.00s step= 500 trunk_z=  73.8mm grav_b=(-0.05,-0.09,-0.99) r=1.38m
+[headless_play] t= 10.10s step= 505 trunk_z=  60.1mm grav_b=(-0.03,-0.02,-1.00) r=1.38m
+[headless_play] t= 10.20s step= 510 trunk_z=  68.7mm grav_b=(-0.05,-0.02,-1.00) r=1.38m
+[headless_play] t= 10.30s step= 515 trunk_z=  68.0mm grav_b=(-0.07,+0.02,-1.00) r=1.37m
+[headless_play] t= 10.40s step= 520 trunk_z=  62.6mm grav_b=(-0.04,-0.12,-0.99) r=1.38m
+[headless_play] t= 10.50s step= 525 trunk_z=  74.4mm grav_b=(-0.07,-0.18,-0.98) r=1.38m
+[headless_play] t= 10.60s step= 530 trunk_z=  75.8mm grav_b=(-0.06,-0.16,-0.99) r=1.39m
+[headless_play] t= 10.70s step= 535 trunk_z=  74.3mm grav_b=(-0.04,-0.11,-0.99) r=1.38m
+[headless_play] t= 10.80s step= 540 trunk_z=  71.1mm grav_b=(-0.05,-0.05,-1.00) r=1.36m
+[headless_play] t= 10.90s step= 545 trunk_z=  78.3mm grav_b=(-0.10,-0.05,-0.99) r=1.36m
+[headless_play] t= 11.00s step= 550 trunk_z=  72.6mm grav_b=(-0.10,-0.09,-0.99) r=1.37m
+[headless_play] t= 11.10s step= 555 trunk_z=  69.5mm grav_b=(-0.06,-0.19,-0.98) r=1.39m
+[headless_play] t= 11.20s step= 560 trunk_z=  75.0mm grav_b=(-0.09,-0.21,-0.97) r=1.40m
+[headless_play] t= 11.30s step= 565 trunk_z=  79.0mm grav_b=(-0.03,-0.24,-0.97) r=1.42m
+[headless_play] t= 11.40s step= 570 trunk_z=  74.7mm grav_b=(+0.09,-0.19,-0.98) r=1.44m
+[headless_play] t= 11.50s step= 575 trunk_z=  75.6mm grav_b=(-0.06,-0.19,-0.98) r=1.44m
+[headless_play] t= 11.60s step= 580 trunk_z=  74.8mm grav_b=(-0.14,-0.16,-0.98) r=1.45m
+[headless_play] t= 11.70s step= 585 trunk_z=  72.8mm grav_b=(-0.14,-0.08,-0.99) r=1.45m
+[headless_play] t= 11.80s step= 590 trunk_z=  67.3mm grav_b=(-0.13,-0.08,-0.99) r=1.45m
+[headless_play] t= 11.90s step= 595 trunk_z=  63.8mm grav_b=(-0.06,-0.11,-0.99) r=1.49m
+[headless_play] t= 12.00s step= 600 trunk_z=  41.7mm grav_b=(-0.03,-0.10,-0.99) r=1.53m
+[headless_play] t= 12.10s step= 605 trunk_z=  52.8mm grav_b=(-0.05,-0.11,-0.99) r=1.54m
+[headless_play] t= 12.20s step= 610 trunk_z=  55.1mm grav_b=(-0.00,-0.06,-1.00) r=1.54m
+[headless_play] t= 12.30s step= 615 trunk_z=  62.1mm grav_b=(-0.00,+0.01,-1.00) r=1.52m
+[headless_play] t= 12.40s step= 620 trunk_z=  60.1mm grav_b=(-0.06,-0.04,-1.00) r=1.51m
+[headless_play] t= 12.50s step= 625 trunk_z=  55.4mm grav_b=(-0.08,-0.11,-0.99) r=1.52m
+[headless_play] t= 12.60s step= 630 trunk_z=  62.9mm grav_b=(-0.05,-0.17,-0.98) r=1.52m
+[headless_play] t= 12.70s step= 635 trunk_z=  64.4mm grav_b=(-0.03,-0.18,-0.98) r=1.52m
+[headless_play] t= 12.80s step= 640 trunk_z=  64.3mm grav_b=(-0.01,-0.15,-0.99) r=1.52m
+[headless_play] t= 12.90s step= 645 trunk_z=  64.3mm grav_b=(-0.03,-0.04,-1.00) r=1.51m
+[headless_play] t= 13.00s step= 650 trunk_z=  70.2mm grav_b=(-0.10,+0.02,-1.00) r=1.50m
+[headless_play] t= 13.10s step= 655 trunk_z=  63.0mm grav_b=(-0.10,-0.03,-0.99) r=1.51m
+[headless_play] t= 13.20s step= 660 trunk_z=  60.6mm grav_b=(-0.20,-0.06,-0.98) r=1.53m
+[headless_play] t= 13.30s step= 665 trunk_z=  59.5mm grav_b=(-0.08,+0.01,-1.00) r=1.54m
+[headless_play] t= 13.40s step= 670 trunk_z=  55.2mm grav_b=(+0.03,-0.00,-1.00) r=1.54m
+[headless_play] t= 13.50s step= 675 trunk_z=  52.6mm grav_b=(+0.05,-0.03,-1.00) r=1.58m
+[headless_play] t= 13.60s step= 680 trunk_z=  52.1mm grav_b=(+0.10,-0.20,-0.97) r=1.62m
+[headless_play] t= 13.70s step= 685 trunk_z=  58.1mm grav_b=(+0.05,-0.22,-0.97) r=1.65m
+[headless_play] t= 13.80s step= 690 trunk_z=  45.6mm grav_b=(+0.18,-0.32,-0.93) r=1.68m
+[headless_play] t= 13.90s step= 695 trunk_z=  -3.9mm grav_b=(+0.08,-0.46,-0.89) r=1.73m
+[headless_play] t= 14.00s step= 700 trunk_z= -32.2mm grav_b=(-0.20,-0.93,-0.32) r=1.80m
+[headless_play] RESET at t= 14.02s step= 701 (env termination, not a recovery)
+[headless_play] t= 14.10s step= 705 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) r=0.52m
+[headless_play] t= 14.20s step= 710 trunk_z= 118.2mm grav_b=(-0.04,+0.00,-1.00) r=0.52m
+[headless_play] t= 14.30s step= 715 trunk_z= 119.0mm grav_b=(-0.07,+0.05,-1.00) r=0.52m
+[headless_play] t= 14.40s step= 720 trunk_z= 121.0mm grav_b=(-0.07,-0.01,-1.00) r=0.50m
+[headless_play] t= 14.50s step= 725 trunk_z= 114.8mm grav_b=(-0.09,-0.08,-0.99) r=0.47m
+[headless_play] t= 14.60s step= 730 trunk_z= 123.7mm grav_b=(-0.07,-0.09,-0.99) r=0.45m
+[headless_play] t= 14.70s step= 735 trunk_z= 125.7mm grav_b=(-0.06,-0.06,-1.00) r=0.44m
+[headless_play] t= 14.80s step= 740 trunk_z= 117.6mm grav_b=(-0.11,+0.01,-0.99) r=0.45m
+[headless_play] t= 14.90s step= 745 trunk_z= 124.4mm grav_b=(-0.09,+0.02,-1.00) r=0.44m
+[headless_play] t= 15.00s step= 750 trunk_z= 120.3mm grav_b=(-0.09,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.10s step= 755 trunk_z= 123.8mm grav_b=(-0.04,-0.11,-0.99) r=0.38m
+[headless_play] t= 15.20s step= 760 trunk_z= 129.0mm grav_b=(-0.06,-0.10,-0.99) r=0.35m
+[headless_play] t= 15.30s step= 765 trunk_z= 127.0mm grav_b=(-0.05,-0.11,-0.99) r=0.32m
+[headless_play] t= 15.40s step= 770 trunk_z= 124.6mm grav_b=(+0.02,-0.05,-1.00) r=0.29m
+[headless_play] t= 15.50s step= 775 trunk_z= 141.2mm grav_b=(-0.03,+0.08,-1.00) r=0.27m
+[headless_play] t= 15.60s step= 780 trunk_z= 125.8mm grav_b=(-0.04,-0.05,-1.00) r=0.24m
+[headless_play] t= 15.70s step= 785 trunk_z= 121.8mm grav_b=(-0.04,-0.05,-1.00) r=0.22m
+[headless_play] t= 15.80s step= 790 trunk_z= 121.6mm grav_b=(-0.07,+0.05,-1.00) r=0.24m
+[headless_play] t= 15.90s step= 795 trunk_z= 116.6mm grav_b=(-0.13,+0.02,-0.99) r=0.26m
+[headless_play] t= 16.00s step= 800 trunk_z= 121.6mm grav_b=(-0.12,-0.01,-0.99) r=0.26m
+[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(-0.10,-0.07,-0.99) r=0.22m
+[headless_play] t= 16.20s step= 810 trunk_z= 124.6mm grav_b=(-0.07,-0.10,-0.99) r=0.21m
+[headless_play] t= 16.30s step= 815 trunk_z= 127.1mm grav_b=(-0.05,-0.05,-1.00) r=0.21m
+[headless_play] t= 16.40s step= 820 trunk_z= 116.6mm grav_b=(-0.12,+0.02,-0.99) r=0.24m
+[headless_play] t= 16.50s step= 825 trunk_z= 124.2mm grav_b=(-0.10,+0.04,-0.99) r=0.25m
+[headless_play] t= 16.60s step= 830 trunk_z= 125.4mm grav_b=(-0.17,+0.09,-0.98) r=0.25m
+[headless_play] t= 16.70s step= 835 trunk_z= 116.4mm grav_b=(-0.11,-0.03,-0.99) r=0.23m
+[headless_play] t= 16.80s step= 840 trunk_z= 124.6mm grav_b=(-0.07,-0.08,-0.99) r=0.22m
+[headless_play] t= 16.90s step= 845 trunk_z= 125.3mm grav_b=(-0.02,-0.02,-1.00) r=0.22m
+[headless_play] t= 17.00s step= 850 trunk_z= 117.8mm grav_b=(-0.06,+0.05,-1.00) r=0.25m
+[headless_play] t= 17.10s step= 855 trunk_z= 125.2mm grav_b=(-0.07,+0.04,-1.00) r=0.26m
+[headless_play] t= 17.20s step= 860 trunk_z= 119.6mm grav_b=(-0.12,+0.02,-0.99) r=0.25m
+[headless_play] t= 17.30s step= 865 trunk_z= 120.4mm grav_b=(-0.10,-0.07,-0.99) r=0.23m
+[headless_play] t= 17.40s step= 870 trunk_z= 123.5mm grav_b=(-0.07,-0.04,-1.00) r=0.24m
+[headless_play] t= 17.50s step= 875 trunk_z= 119.9mm grav_b=(-0.05,+0.03,-1.00) r=0.28m
+[headless_play] t= 17.60s step= 880 trunk_z= 130.9mm grav_b=(-0.05,+0.11,-0.99) r=0.32m
+[headless_play] t= 17.70s step= 885 trunk_z= 139.3mm grav_b=(-0.06,+0.14,-0.99) r=0.35m
+[headless_play] t= 17.80s step= 890 trunk_z= 136.7mm grav_b=(-0.04,+0.17,-0.98) r=0.40m
+[headless_play] t= 17.90s step= 895 trunk_z= 115.7mm grav_b=(-0.04,+0.11,-0.99) r=0.44m
+[headless_play] t= 18.00s step= 900 trunk_z= 124.2mm grav_b=(-0.08,-0.04,-1.00) r=0.46m
+[headless_play] t= 18.10s step= 905 trunk_z= 119.8mm grav_b=(-0.04,+0.05,-1.00) r=0.48m
+[headless_play] t= 18.20s step= 910 trunk_z= 127.8mm grav_b=(-0.03,+0.03,-1.00) r=0.51m
+[headless_play] t= 18.30s step= 915 trunk_z= 126.4mm grav_b=(-0.09,-0.01,-1.00) r=0.55m
+[headless_play] t= 18.40s step= 920 trunk_z= 124.8mm grav_b=(-0.08,-0.11,-0.99) r=0.58m
+[headless_play] t= 18.50s step= 925 trunk_z= 126.1mm grav_b=(-0.10,-0.10,-0.99) r=0.60m
+[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(-0.12,-0.02,-0.99) r=0.61m
+[headless_play] t= 18.70s step= 935 trunk_z= 126.3mm grav_b=(-0.18,+0.03,-0.98) r=0.59m
+[headless_play] t= 18.80s step= 940 trunk_z= 122.9mm grav_b=(-0.15,-0.02,-0.99) r=0.56m
+[headless_play] t= 18.90s step= 945 trunk_z= 109.6mm grav_b=(-0.19,+0.01,-0.98) r=0.53m
+[headless_play] t= 19.00s step= 950 trunk_z= 111.0mm grav_b=(-0.12,+0.06,-0.99) r=0.51m
+[headless_play] t= 19.10s step= 955 trunk_z= 111.2mm grav_b=(-0.07,+0.01,-1.00) r=0.50m
+[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.48m
+[headless_play] t= 19.30s step= 965 trunk_z= 104.1mm grav_b=(-0.01,-0.06,-1.00) r=0.45m
+[headless_play] t= 19.40s step= 970 trunk_z= 107.3mm grav_b=(-0.03,-0.08,-1.00) r=0.46m
+[headless_play] t= 19.50s step= 975 trunk_z= 108.0mm grav_b=(+0.00,+0.01,-1.00) r=0.48m
+[headless_play] t= 19.60s step= 980 trunk_z= 123.3mm grav_b=(-0.04,+0.15,-0.99) r=0.50m
+[headless_play] t= 19.70s step= 985 trunk_z= 127.4mm grav_b=(-0.04,+0.18,-0.98) r=0.52m
+[headless_play] t= 19.80s step= 990 trunk_z= 123.6mm grav_b=(+0.06,+0.18,-0.98) r=0.54m
+[headless_play] t= 19.90s step= 995 trunk_z= 126.0mm grav_b=(+0.04,+0.13,-0.99) r=0.58m
+[headless_play] t= 20.00s step=1000 trunk_z= 119.0mm grav_b=(+0.05,+0.07,-1.00) r=0.62m
+[headless_play] t= 20.10s step=1005 trunk_z= 132.3mm grav_b=(-0.03,-0.01,-1.00) r=0.63m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t4.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 121.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.491,-17.627,+0.248)
+[headless_play] t=  0.00s step=   0 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.62m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.7mm grav_b=(+0.07,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.30s step=  15 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.80s step=  40 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  0.90s step=  45 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=0.62m
+[headless_play] t=  1.00s step=  50 trunk_z= 118.2mm grav_b=(+0.04,+0.02,-1.00) r=0.61m
+[headless_play] t=  1.10s step=  55 trunk_z= 117.8mm grav_b=(+0.04,+0.01,-1.00) r=0.61m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.7mm grav_b=(+0.05,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.40s step=  70 trunk_z= 117.5mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.50s step=  75 trunk_z= 117.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.60s step=  80 trunk_z= 117.1mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.0mm grav_b=(+0.06,-0.00,-1.00) r=0.61m
+[headless_play] t=  1.80s step=  90 trunk_z= 116.7mm grav_b=(+0.06,-0.00,-1.00) r=0.61m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.7mm grav_b=(+0.07,-0.00,-1.00) r=0.61m
+[headless_play] t=  2.00s step= 100 trunk_z= 117.1mm grav_b=(+0.10,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.10s step= 105 trunk_z= 116.7mm grav_b=(+0.08,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.20s step= 110 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.30s step= 115 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.40s step= 120 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.50s step= 125 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.80s step= 140 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.61m
+[headless_play] t=  2.90s step= 145 trunk_z= 116.2mm grav_b=(-0.04,-0.04,-1.00) r=0.61m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.00,-0.03,-1.00) r=0.61m
+[headless_play] t=  3.10s step= 155 trunk_z= 112.9mm grav_b=(+0.07,+0.02,-1.00) r=0.59m
+[headless_play] t=  3.20s step= 160 trunk_z= 109.8mm grav_b=(+0.12,-0.03,-0.99) r=0.60m
+[headless_play] t=  3.30s step= 165 trunk_z= 111.1mm grav_b=(+0.11,-0.03,-0.99) r=0.60m
+[headless_play] t=  3.40s step= 170 trunk_z= 112.4mm grav_b=(+0.11,-0.00,-0.99) r=0.60m
+[headless_play] t=  3.50s step= 175 trunk_z= 113.4mm grav_b=(+0.10,-0.01,-1.00) r=0.60m
+[headless_play] t=  3.60s step= 180 trunk_z= 113.6mm grav_b=(+0.08,-0.02,-1.00) r=0.60m
+[headless_play] t=  3.70s step= 185 trunk_z= 113.8mm grav_b=(+0.06,-0.02,-1.00) r=0.60m
+[headless_play] t=  3.80s step= 190 trunk_z= 113.9mm grav_b=(+0.05,-0.01,-1.00) r=0.59m
+[headless_play] t=  3.90s step= 195 trunk_z= 113.9mm grav_b=(+0.05,-0.01,-1.00) r=0.59m
+[headless_play] t=  4.00s step= 200 trunk_z= 114.0mm grav_b=(+0.07,-0.01,-1.00) r=0.60m
+[headless_play] t=  4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.07,-0.01,-1.00) r=0.60m
+[headless_play] t=  4.20s step= 210 trunk_z= 114.0mm grav_b=(+0.06,-0.01,-1.00) r=0.60m
+[headless_play] t=  4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.05,+0.01,-1.00) r=0.59m
+[headless_play] t=  4.40s step= 220 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.50s step= 225 trunk_z= 114.5mm grav_b=(+0.05,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.60s step= 230 trunk_z= 114.6mm grav_b=(+0.08,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.70s step= 235 trunk_z= 114.6mm grav_b=(+0.07,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.80s step= 240 trunk_z= 114.6mm grav_b=(+0.07,-0.01,-1.00) r=0.59m
+[headless_play] t=  4.90s step= 245 trunk_z= 114.6mm grav_b=(+0.07,-0.00,-1.00) r=0.59m
+[headless_play] t=  5.00s step= 250 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.59m
+[headless_play] t=  5.10s step= 255 trunk_z= 115.1mm grav_b=(-0.03,-0.03,-1.00) r=0.59m
+[headless_play] t=  5.20s step= 260 trunk_z= 114.3mm grav_b=(-0.01,-0.01,-1.00) r=0.59m
+[headless_play] t=  5.30s step= 265 trunk_z= 114.5mm grav_b=(+0.01,-0.03,-1.00) r=0.60m
+[headless_play] t=  5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.06,-0.09,-0.99) r=0.62m
+[headless_play] t=  5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.08,-0.04,-1.00) r=0.62m
+[headless_play] t=  5.60s step= 280 trunk_z= 115.1mm grav_b=(+0.06,+0.06,-1.00) r=0.61m
+[headless_play] t=  5.70s step= 285 trunk_z= 120.8mm grav_b=(+0.09,+0.05,-0.99) r=0.62m
+[headless_play] t=  5.80s step= 290 trunk_z= 116.2mm grav_b=(+0.06,-0.02,-1.00) r=0.65m
+[headless_play] t=  5.90s step= 295 trunk_z= 121.2mm grav_b=(+0.07,-0.07,-1.00) r=0.67m
+[headless_play] t=  6.00s step= 300 trunk_z= 114.9mm grav_b=(+0.04,+0.02,-1.00) r=0.66m
+[headless_play] t=  6.10s step= 305 trunk_z= 121.2mm grav_b=(+0.02,+0.05,-1.00) r=0.65m
+[headless_play] t=  6.20s step= 310 trunk_z= 120.6mm grav_b=(+0.05,+0.04,-1.00) r=0.67m
+[headless_play] t=  6.30s step= 315 trunk_z= 113.0mm grav_b=(+0.06,-0.02,-1.00) r=0.70m
+[headless_play] t=  6.40s step= 320 trunk_z= 120.5mm grav_b=(+0.09,-0.06,-0.99) r=0.73m
+[headless_play] t=  6.50s step= 325 trunk_z= 119.6mm grav_b=(+0.07,-0.04,-1.00) r=0.74m
+[headless_play] t=  6.60s step= 330 trunk_z= 118.4mm grav_b=(+0.03,+0.03,-1.00) r=0.74m
+[headless_play] t=  6.70s step= 335 trunk_z= 117.9mm grav_b=(+0.07,+0.02,-1.00) r=0.76m
+[headless_play] t=  6.80s step= 340 trunk_z= 112.9mm grav_b=(+0.05,-0.09,-0.99) r=0.79m
+[headless_play] t=  6.90s step= 345 trunk_z= 122.2mm grav_b=(+0.03,-0.10,-0.99) r=0.81m
+[headless_play] t=  7.00s step= 350 trunk_z= 120.5mm grav_b=(+0.03,-0.08,-1.00) r=0.82m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.4mm grav_b=(+0.03,+0.04,-1.00) r=0.83m
+[headless_play] t=  7.20s step= 360 trunk_z= 120.8mm grav_b=(+0.09,+0.04,-1.00) r=0.84m
+[headless_play] t=  7.30s step= 365 trunk_z= 114.7mm grav_b=(+0.11,+0.01,-0.99) r=0.86m
+[headless_play] t=  7.40s step= 370 trunk_z= 118.4mm grav_b=(+0.09,-0.07,-0.99) r=0.90m
+[headless_play] t=  7.50s step= 375 trunk_z= 121.4mm grav_b=(+0.03,-0.10,-0.99) r=0.91m
+[headless_play] t=  7.60s step= 380 trunk_z= 115.3mm grav_b=(+0.04,-0.04,-1.00) r=0.92m
+[headless_play] t=  7.70s step= 385 trunk_z= 117.7mm grav_b=(+0.06,+0.06,-1.00) r=0.92m
+[headless_play] t=  7.80s step= 390 trunk_z= 116.8mm grav_b=(+0.12,+0.01,-0.99) r=0.94m
+[headless_play] t=  7.90s step= 395 trunk_z= 111.7mm grav_b=(+0.13,-0.05,-0.99) r=0.97m
+[headless_play] t=  8.00s step= 400 trunk_z= 122.0mm grav_b=(+0.08,-0.05,-1.00) r=1.00m
+[headless_play] t=  8.10s step= 405 trunk_z= 117.9mm grav_b=(+0.01,+0.01,-1.00) r=1.03m
+[headless_play] t=  8.20s step= 410 trunk_z= 119.6mm grav_b=(+0.06,+0.02,-1.00) r=1.05m
+[headless_play] t=  8.30s step= 415 trunk_z= 115.0mm grav_b=(+0.07,-0.03,-1.00) r=1.08m
+[headless_play] t=  8.40s step= 420 trunk_z= 115.5mm grav_b=(+0.04,-0.14,-0.99) r=1.12m
+[headless_play] t=  8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.19,-0.17,-0.97) r=1.17m
+[headless_play] t=  8.60s step= 430 trunk_z=  97.4mm grav_b=(+0.10,-0.06,-0.99) r=1.23m
+[headless_play] t=  8.70s step= 435 trunk_z=  84.2mm grav_b=(+0.14,+0.06,-0.99) r=1.27m
+[headless_play] t=  8.80s step= 440 trunk_z=  96.9mm grav_b=(+0.03,+0.22,-0.97) r=1.29m
+[headless_play] t=  8.90s step= 445 trunk_z=  96.1mm grav_b=(-0.02,+0.19,-0.98) r=1.32m
+[headless_play] t=  9.00s step= 450 trunk_z= 101.0mm grav_b=(+0.02,+0.23,-0.97) r=1.36m
+[headless_play] t=  9.10s step= 455 trunk_z=  82.5mm grav_b=(+0.06,+0.32,-0.95) r=1.40m
+[headless_play] t=  9.20s step= 460 trunk_z=  56.6mm grav_b=(+0.51,+0.30,-0.80) r=1.43m
+[headless_play] RESET at t=  9.30s step= 465 (env termination, not a recovery)
+[headless_play] t=  9.30s step= 465 trunk_z= 128.2mm grav_b=(+0.00,-0.00,-1.00) r=0.34m
+[headless_play] t=  9.40s step= 470 trunk_z= 114.9mm grav_b=(+0.01,+0.01,-1.00) r=0.34m
+[headless_play] t=  9.50s step= 475 trunk_z= 115.9mm grav_b=(+0.06,+0.00,-1.00) r=0.34m
+[headless_play] t=  9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.08,-0.00,-1.00) r=0.34m
+[headless_play] t=  9.70s step= 485 trunk_z= 116.6mm grav_b=(+0.07,-0.00,-1.00) r=0.34m
+[headless_play] t=  9.80s step= 490 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m
+[headless_play] t=  9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.34m
+[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.34m
+[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.34m
+[headless_play] t= 10.20s step= 510 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.34m
+[headless_play] t= 10.30s step= 515 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.35m
+[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(-0.06,-0.04,-1.00) r=0.35m
+[headless_play] t= 10.50s step= 525 trunk_z= 115.5mm grav_b=(+0.06,+0.04,-1.00) r=0.35m
+[headless_play] t= 10.60s step= 530 trunk_z= 112.9mm grav_b=(+0.09,+0.09,-0.99) r=0.35m
+[headless_play] t= 10.70s step= 535 trunk_z= 115.6mm grav_b=(+0.07,+0.02,-1.00) r=0.35m
+[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.09,+0.01,-1.00) r=0.36m
+[headless_play] t= 10.90s step= 545 trunk_z= 116.5mm grav_b=(+0.09,+0.02,-1.00) r=0.36m
+[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(+0.08,+0.02,-1.00) r=0.36m
+[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(+0.06,+0.01,-1.00) r=0.36m
+[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(+0.02,-0.00,-1.00) r=0.37m
+[headless_play] t= 11.30s step= 565 trunk_z= 118.6mm grav_b=(+0.02,-0.05,-1.00) r=0.38m
+[headless_play] t= 11.40s step= 570 trunk_z= 117.9mm grav_b=(+0.03,-0.02,-1.00) r=0.37m
+[headless_play] t= 11.50s step= 575 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.37m
+[headless_play] t= 11.60s step= 580 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.37m
+[headless_play] t= 11.70s step= 585 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m
+[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.38m
+[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(+0.03,-0.00,-1.00) r=0.37m
+[headless_play] t= 12.00s step= 600 trunk_z= 118.2mm grav_b=(+0.09,-0.00,-1.00) r=0.37m
+[headless_play] t= 12.10s step= 605 trunk_z= 118.5mm grav_b=(+0.10,+0.04,-0.99) r=0.36m
+[headless_play] t= 12.20s step= 610 trunk_z= 117.7mm grav_b=(+0.08,+0.02,-1.00) r=0.37m
+[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.07,+0.02,-1.00) r=0.37m
+[headless_play] t= 12.40s step= 620 trunk_z= 120.5mm grav_b=(+0.04,+0.10,-0.99) r=0.36m
+[headless_play] t= 12.50s step= 625 trunk_z= 119.4mm grav_b=(+0.03,+0.07,-1.00) r=0.36m
+[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.36m
+[headless_play] t= 12.70s step= 635 trunk_z= 116.9mm grav_b=(-0.06,+0.00,-1.00) r=0.36m
+[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(-0.03,+0.00,-1.00) r=0.36m
+[headless_play] t= 12.90s step= 645 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00) r=0.35m
+[headless_play] t= 13.00s step= 650 trunk_z= 119.7mm grav_b=(+0.05,+0.01,-1.00) r=0.35m
+[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(+0.05,+0.01,-1.00) r=0.35m
+[headless_play] t= 13.20s step= 660 trunk_z= 119.2mm grav_b=(+0.04,+0.01,-1.00) r=0.35m
+[headless_play] t= 13.30s step= 665 trunk_z= 117.4mm grav_b=(-0.00,+0.01,-1.00) r=0.36m
+[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.36m
+[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 13.60s step= 680 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 13.70s step= 685 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 13.80s step= 690 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 14.00s step= 700 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 14.10s step= 705 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 14.30s step= 715 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m
+[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(-0.02,+0.05,-1.00) r=0.35m
+[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.01,+0.04,-1.00) r=0.35m
+[headless_play] t= 14.70s step= 735 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.35m
+[headless_play] t= 14.80s step= 740 trunk_z= 116.8mm grav_b=(+0.00,+0.00,-1.00) r=0.35m
+[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(-0.00,+0.00,-1.00) r=0.35m
+[headless_play] t= 15.00s step= 750 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.35m
+[headless_play] t= 15.10s step= 755 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.35m
+[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(-0.00,+0.01,-1.00) r=0.35m
+[headless_play] t= 15.30s step= 765 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.35m
+[headless_play] t= 15.40s step= 770 trunk_z= 116.4mm grav_b=(-0.00,-0.00,-1.00) r=0.35m
+[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.35m
+[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m
+[headless_play] t= 15.70s step= 785 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.35m
+[headless_play] t= 15.80s step= 790 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.35m
+[headless_play] t= 15.90s step= 795 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.35m
+[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.35m
+[headless_play] t= 16.10s step= 805 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m
+[headless_play] t= 16.20s step= 810 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m
+[headless_play] t= 16.30s step= 815 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00) r=0.36m
+[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(-0.05,-0.01,-1.00) r=0.36m
+[headless_play] t= 16.50s step= 825 trunk_z= 115.1mm grav_b=(-0.05,-0.00,-1.00) r=0.36m
+[headless_play] t= 16.60s step= 830 trunk_z= 114.9mm grav_b=(-0.02,-0.00,-1.00) r=0.36m
+[headless_play] t= 16.70s step= 835 trunk_z= 115.5mm grav_b=(+0.03,+0.00,-1.00) r=0.35m
+[headless_play] t= 16.80s step= 840 trunk_z= 115.5mm grav_b=(+0.03,+0.00,-1.00) r=0.35m
+[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(+0.08,-0.01,-1.00) r=0.35m
+[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(+0.09,+0.00,-1.00) r=0.34m
+[headless_play] t= 17.10s step= 855 trunk_z= 117.1mm grav_b=(+0.09,+0.00,-1.00) r=0.34m
+[headless_play] t= 17.20s step= 860 trunk_z= 117.0mm grav_b=(+0.09,-0.00,-1.00) r=0.34m
+[headless_play] t= 17.30s step= 865 trunk_z= 116.5mm grav_b=(+0.06,-0.00,-1.00) r=0.35m
+[headless_play] t= 17.40s step= 870 trunk_z= 115.0mm grav_b=(+0.02,+0.00,-1.00) r=0.35m
+[headless_play] t= 17.50s step= 875 trunk_z= 115.1mm grav_b=(-0.01,+0.00,-1.00) r=0.35m
+[headless_play] t= 17.60s step= 880 trunk_z= 115.2mm grav_b=(+0.00,+0.00,-1.00) r=0.35m
+[headless_play] t= 17.70s step= 885 trunk_z= 115.3mm grav_b=(+0.00,+0.00,-1.00) r=0.35m
+[headless_play] t= 17.80s step= 890 trunk_z= 115.0mm grav_b=(-0.06,+0.01,-1.00) r=0.36m
+[headless_play] t= 17.90s step= 895 trunk_z= 114.8mm grav_b=(-0.09,-0.03,-1.00) r=0.37m
+[headless_play] t= 18.00s step= 900 trunk_z= 116.0mm grav_b=(-0.03,-0.02,-1.00) r=0.38m
+[headless_play] t= 18.10s step= 905 trunk_z= 110.4mm grav_b=(+0.06,+0.07,-1.00) r=0.39m
+[headless_play] t= 18.20s step= 910 trunk_z= 113.4mm grav_b=(+0.09,+0.04,-1.00) r=0.40m
+[headless_play] t= 18.30s step= 915 trunk_z= 115.9mm grav_b=(+0.09,-0.00,-1.00) r=0.40m
+[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(+0.06,+0.07,-1.00) r=0.38m
+[headless_play] t= 18.50s step= 925 trunk_z= 120.7mm grav_b=(+0.02,+0.11,-0.99) r=0.37m
+[headless_play] t= 18.60s step= 930 trunk_z= 120.9mm grav_b=(-0.04,+0.06,-1.00) r=0.37m
+[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.02,-0.06,-1.00) r=0.36m
+[headless_play] t= 18.80s step= 940 trunk_z= 125.8mm grav_b=(+0.01,-0.16,-0.99) r=0.36m
+[headless_play] t= 18.90s step= 945 trunk_z= 126.2mm grav_b=(+0.04,-0.15,-0.99) r=0.35m
+[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(+0.09,-0.07,-0.99) r=0.32m
+[headless_play] t= 19.10s step= 955 trunk_z= 111.8mm grav_b=(+0.10,+0.07,-0.99) r=0.28m
+[headless_play] t= 19.20s step= 960 trunk_z= 122.7mm grav_b=(+0.07,+0.08,-0.99) r=0.26m
+[headless_play] t= 19.30s step= 965 trunk_z= 122.6mm grav_b=(+0.00,+0.04,-1.00) r=0.26m
+[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(-0.03,-0.02,-1.00) r=0.29m
+[headless_play] t= 19.50s step= 975 trunk_z= 122.2mm grav_b=(+0.01,-0.03,-1.00) r=0.29m
+[headless_play] t= 19.60s step= 980 trunk_z= 119.3mm grav_b=(+0.00,-0.01,-1.00) r=0.27m
+[headless_play] t= 19.70s step= 985 trunk_z= 120.1mm grav_b=(-0.09,+0.04,-1.00) r=0.25m
+[headless_play] t= 19.80s step= 990 trunk_z= 120.7mm grav_b=(-0.06,+0.01,-1.00) r=0.25m
+[headless_play] t= 19.90s step= 995 trunk_z= 118.8mm grav_b=(-0.02,-0.04,-1.00) r=0.27m
+[headless_play] t= 20.00s step=1000 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.25m
+[headless_play] t= 20.10s step=1005 trunk_z= 119.0mm grav_b=(+0.06,+0.07,-1.00) r=0.23m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t5.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 125.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.432,-18.331,+0.252)
+[headless_play] t=  0.00s step=   0 trunk_z= 122.5mm grav_b=(-0.01,+0.00,-1.00) r=0.54m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.2mm grav_b=(+0.03,+0.03,-1.00) r=0.54m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.3mm grav_b=(+0.08,+0.08,-0.99) r=0.55m
+[headless_play] t=  0.30s step=  15 trunk_z= 114.8mm grav_b=(+0.09,+0.01,-1.00) r=0.53m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.4mm grav_b=(+0.08,-0.03,-1.00) r=0.50m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.6mm grav_b=(+0.10,+0.00,-1.00) r=0.49m
+[headless_play] t=  0.60s step=  30 trunk_z= 113.4mm grav_b=(+0.09,+0.08,-0.99) r=0.51m
+[headless_play] t=  0.70s step=  35 trunk_z= 120.1mm grav_b=(+0.10,+0.05,-0.99) r=0.51m
+[headless_play] t=  0.80s step=  40 trunk_z= 113.6mm grav_b=(+0.09,+0.04,-1.00) r=0.49m
+[headless_play] t=  0.90s step=  45 trunk_z= 117.7mm grav_b=(+0.07,-0.05,-1.00) r=0.47m
+[headless_play] t=  1.00s step=  50 trunk_z= 122.5mm grav_b=(+0.05,-0.08,-1.00) r=0.46m
+[headless_play] t=  1.10s step=  55 trunk_z= 119.0mm grav_b=(+0.06,-0.03,-1.00) r=0.47m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.0mm grav_b=(+0.10,+0.08,-0.99) r=0.48m
+[headless_play] t=  1.30s step=  65 trunk_z= 118.1mm grav_b=(+0.15,+0.04,-0.99) r=0.49m
+[headless_play] t=  1.40s step=  70 trunk_z= 110.8mm grav_b=(+0.14,+0.01,-0.99) r=0.47m
+[headless_play] t=  1.50s step=  75 trunk_z= 117.0mm grav_b=(+0.12,-0.02,-0.99) r=0.46m
+[headless_play] t=  1.60s step=  80 trunk_z= 115.0mm grav_b=(+0.14,+0.02,-0.99) r=0.48m
+[headless_play] t=  1.70s step=  85 trunk_z= 121.8mm grav_b=(+0.17,+0.05,-0.98) r=0.49m
+[headless_play] t=  1.80s step=  90 trunk_z= 120.8mm grav_b=(+0.10,+0.02,-1.00) r=0.49m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.48m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00) r=0.49m
+[headless_play] t=  2.10s step= 105 trunk_z= 115.7mm grav_b=(+0.06,+0.07,-1.00) r=0.51m
+[headless_play] t=  2.20s step= 110 trunk_z= 120.9mm grav_b=(+0.11,+0.07,-0.99) r=0.53m
+[headless_play] t=  2.30s step= 115 trunk_z= 118.9mm grav_b=(+0.18,+0.07,-0.98) r=0.54m
+[headless_play] t=  2.40s step= 120 trunk_z= 119.9mm grav_b=(+0.12,+0.00,-0.99) r=0.54m
+[headless_play] t=  2.50s step= 125 trunk_z= 123.8mm grav_b=(+0.06,+0.04,-1.00) r=0.56m
+[headless_play] t=  2.60s step= 130 trunk_z= 120.3mm grav_b=(+0.06,+0.04,-1.00) r=0.58m
+[headless_play] t=  2.70s step= 135 trunk_z= 122.8mm grav_b=(+0.04,+0.04,-1.00) r=0.58m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.5mm grav_b=(+0.04,-0.01,-1.00) r=0.58m
+[headless_play] t=  2.90s step= 145 trunk_z= 116.4mm grav_b=(+0.06,+0.03,-1.00) r=0.59m
+[headless_play] t=  3.00s step= 150 trunk_z= 114.6mm grav_b=(+0.08,+0.08,-0.99) r=0.61m
+[headless_play] t=  3.10s step= 155 trunk_z= 119.3mm grav_b=(+0.09,+0.05,-0.99) r=0.63m
+[headless_play] t=  3.20s step= 160 trunk_z= 112.9mm grav_b=(+0.10,+0.01,-1.00) r=0.63m
+[headless_play] t=  3.30s step= 165 trunk_z= 116.7mm grav_b=(+0.10,-0.05,-0.99) r=0.63m
+[headless_play] t=  3.40s step= 170 trunk_z= 115.9mm grav_b=(+0.10,+0.01,-1.00) r=0.64m
+[headless_play] t=  3.50s step= 175 trunk_z= 118.8mm grav_b=(+0.09,+0.08,-0.99) r=0.67m
+[headless_play] t=  3.60s step= 180 trunk_z= 125.0mm grav_b=(+0.07,+0.07,-0.99) r=0.69m
+[headless_play] t=  3.70s step= 185 trunk_z= 115.1mm grav_b=(+0.06,+0.01,-1.00) r=0.69m
+[headless_play] t=  3.80s step= 190 trunk_z= 124.0mm grav_b=(+0.13,-0.06,-0.99) r=0.70m
+[headless_play] t=  3.90s step= 195 trunk_z= 128.2mm grav_b=(+0.13,-0.08,-0.99) r=0.72m
+[headless_play] t=  4.00s step= 200 trunk_z= 115.7mm grav_b=(+0.12,-0.04,-0.99) r=0.76m
+[headless_play] t=  4.10s step= 205 trunk_z= 120.2mm grav_b=(+0.17,-0.00,-0.99) r=0.78m
+[headless_play] t=  4.20s step= 210 trunk_z= 124.6mm grav_b=(+0.06,+0.07,-1.00) r=0.79m
+[headless_play] t=  4.30s step= 215 trunk_z= 114.4mm grav_b=(+0.04,-0.07,-1.00) r=0.79m
+[headless_play] t=  4.40s step= 220 trunk_z= 119.6mm grav_b=(+0.08,-0.04,-1.00) r=0.80m
+[headless_play] t=  4.50s step= 225 trunk_z= 116.6mm grav_b=(+0.06,+0.03,-1.00) r=0.83m
+[headless_play] t=  4.60s step= 230 trunk_z= 124.2mm grav_b=(+0.06,+0.05,-1.00) r=0.84m
+[headless_play] t=  4.70s step= 235 trunk_z= 119.4mm grav_b=(+0.04,+0.05,-1.00) r=0.84m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.3mm grav_b=(+0.07,-0.04,-1.00) r=0.84m
+[headless_play] t=  4.90s step= 245 trunk_z= 120.1mm grav_b=(+0.09,-0.02,-1.00) r=0.86m
+[headless_play] t=  5.00s step= 250 trunk_z= 116.3mm grav_b=(+0.07,+0.06,-1.00) r=0.89m
+[headless_play] t=  5.10s step= 255 trunk_z= 125.4mm grav_b=(+0.07,+0.05,-1.00) r=0.91m
+[headless_play] t=  5.20s step= 260 trunk_z= 120.2mm grav_b=(+0.07,+0.06,-1.00) r=0.92m
+[headless_play] t=  5.30s step= 265 trunk_z= 120.3mm grav_b=(+0.06,-0.05,-1.00) r=0.92m
+[headless_play] t=  5.40s step= 270 trunk_z= 123.0mm grav_b=(+0.08,-0.02,-1.00) r=0.94m
+[headless_play] t=  5.50s step= 275 trunk_z= 118.9mm grav_b=(-0.01,+0.09,-1.00) r=0.95m
+[headless_play] t=  5.60s step= 280 trunk_z= 126.0mm grav_b=(-0.01,+0.12,-0.99) r=0.96m
+[headless_play] t=  5.70s step= 285 trunk_z= 124.0mm grav_b=(+0.06,+0.08,-0.99) r=0.96m
+[headless_play] t=  5.80s step= 290 trunk_z= 117.5mm grav_b=(-0.05,+0.06,-1.00) r=0.95m
+[headless_play] t=  5.90s step= 295 trunk_z= 116.7mm grav_b=(+0.07,+0.11,-0.99) r=0.95m
+[headless_play] t=  6.00s step= 300 trunk_z= 114.9mm grav_b=(+0.18,+0.09,-0.98) r=0.94m
+[headless_play] t=  6.10s step= 305 trunk_z= 123.1mm grav_b=(+0.06,+0.05,-1.00) r=0.94m
+[headless_play] t=  6.20s step= 310 trunk_z= 124.7mm grav_b=(+0.08,+0.15,-0.99) r=0.97m
+[headless_play] t=  6.30s step= 315 trunk_z= 127.7mm grav_b=(+0.05,+0.12,-0.99) r=0.98m
+[headless_play] t=  6.40s step= 320 trunk_z= 123.0mm grav_b=(+0.03,+0.11,-0.99) r=0.98m
+[headless_play] t=  6.50s step= 325 trunk_z= 117.5mm grav_b=(+0.05,+0.03,-1.00) r=0.98m
+[headless_play] t=  6.60s step= 330 trunk_z= 117.1mm grav_b=(+0.03,+0.00,-1.00) r=0.98m
+[headless_play] t=  6.70s step= 335 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.97m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.97m
+[headless_play] t=  6.90s step= 345 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.97m
+[headless_play] t=  7.00s step= 350 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.97m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.5mm grav_b=(-0.06,-0.00,-1.00) r=0.97m
+[headless_play] t=  7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.05,-0.02,-1.00) r=0.96m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.97m
+[headless_play] t=  7.40s step= 370 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.97m
+[headless_play] t=  7.50s step= 375 trunk_z= 117.6mm grav_b=(+0.06,+0.01,-1.00) r=0.97m
+[headless_play] t=  7.60s step= 380 trunk_z= 118.4mm grav_b=(+0.08,+0.02,-1.00) r=0.97m
+[headless_play] t=  7.70s step= 385 trunk_z= 119.4mm grav_b=(+0.08,+0.03,-1.00) r=0.98m
+[headless_play] t=  7.80s step= 390 trunk_z= 121.5mm grav_b=(+0.09,+0.05,-0.99) r=0.98m
+[headless_play] t=  7.90s step= 395 trunk_z= 120.4mm grav_b=(+0.07,+0.09,-0.99) r=1.00m
+[headless_play] t=  8.00s step= 400 trunk_z= 132.0mm grav_b=(+0.07,+0.06,-1.00) r=1.03m
+[headless_play] t=  8.10s step= 405 trunk_z= 107.6mm grav_b=(-0.01,+0.02,-1.00) r=1.07m
+[headless_play] t=  8.20s step= 410 trunk_z= 120.1mm grav_b=(+0.03,+0.04,-1.00) r=1.09m
+[headless_play] t=  8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.03,+0.05,-1.00) r=1.11m
+[headless_play] t=  8.40s step= 420 trunk_z= 110.1mm grav_b=(+0.04,+0.04,-1.00) r=1.13m
+[headless_play] t=  8.50s step= 425 trunk_z= 106.5mm grav_b=(-0.01,-0.01,-1.00) r=1.15m
+[headless_play] t=  8.60s step= 430 trunk_z= 101.7mm grav_b=(-0.03,-0.10,-0.99) r=1.17m
+[headless_play] t=  8.70s step= 435 trunk_z= 108.1mm grav_b=(+0.01,-0.07,-1.00) r=1.18m
+[headless_play] t=  8.80s step= 440 trunk_z= 104.1mm grav_b=(+0.10,+0.02,-1.00) r=1.20m
+[headless_play] t=  8.90s step= 445 trunk_z=  96.2mm grav_b=(+0.14,+0.12,-0.98) r=1.24m
+[headless_play] t=  9.00s step= 450 trunk_z= 106.7mm grav_b=(+0.14,+0.14,-0.98) r=1.26m
+[headless_play] t=  9.10s step= 455 trunk_z= 101.9mm grav_b=(+0.01,+0.17,-0.98) r=1.27m
+[headless_play] t=  9.20s step= 460 trunk_z=  91.4mm grav_b=(+0.04,+0.16,-0.99) r=1.28m
+[headless_play] t=  9.30s step= 465 trunk_z=  93.4mm grav_b=(+0.06,+0.15,-0.99) r=1.29m
+[headless_play] t=  9.40s step= 470 trunk_z=  93.4mm grav_b=(+0.07,+0.06,-1.00) r=1.30m
+[headless_play] t=  9.50s step= 475 trunk_z=  90.4mm grav_b=(+0.00,+0.02,-1.00) r=1.33m
+[headless_play] t=  9.60s step= 480 trunk_z=  77.2mm grav_b=(-0.03,-0.05,-1.00) r=1.36m
+[headless_play] t=  9.70s step= 485 trunk_z=  83.2mm grav_b=(+0.01,-0.05,-1.00) r=1.37m
+[headless_play] t=  9.80s step= 490 trunk_z=  80.7mm grav_b=(+0.10,+0.02,-1.00) r=1.39m
+[headless_play] t=  9.90s step= 495 trunk_z=  68.5mm grav_b=(+0.09,+0.16,-0.98) r=1.44m
+[headless_play] t= 10.00s step= 500 trunk_z=  80.4mm grav_b=(+0.11,+0.17,-0.98) r=1.46m
+[headless_play] t= 10.10s step= 505 trunk_z=  81.8mm grav_b=(+0.09,+0.18,-0.98) r=1.50m
+[headless_play] t= 10.20s step= 510 trunk_z=  62.8mm grav_b=(+0.06,+0.13,-0.99) r=1.54m
+[headless_play] t= 10.30s step= 515 trunk_z=  69.5mm grav_b=(+0.09,+0.13,-0.99) r=1.59m
+[headless_play] t= 10.40s step= 520 trunk_z=  38.2mm grav_b=(+0.07,+0.07,-1.00) r=1.64m
+[headless_play] t= 10.50s step= 525 trunk_z=  44.6mm grav_b=(+0.09,+0.00,-1.00) r=1.67m
+[headless_play] t= 10.60s step= 530 trunk_z=  35.6mm grav_b=(+0.01,-0.03,-1.00) r=1.70m
+[headless_play] t= 10.70s step= 535 trunk_z=  41.5mm grav_b=(+0.11,+0.03,-0.99) r=1.73m
+[headless_play] t= 10.80s step= 540 trunk_z=  40.8mm grav_b=(+0.12,+0.08,-0.99) r=1.76m
+[headless_play] t= 10.90s step= 545 trunk_z=  34.4mm grav_b=(+0.05,+0.12,-0.99) r=1.79m
+[headless_play] t= 11.00s step= 550 trunk_z=  42.7mm grav_b=(+0.01,+0.11,-0.99) r=1.80m
+[headless_play] t= 11.10s step= 555 trunk_z=  36.1mm grav_b=(+0.00,+0.08,-1.00) r=1.82m
+[headless_play] t= 11.20s step= 560 trunk_z=  32.2mm grav_b=(+0.05,-0.01,-1.00) r=1.83m
+[headless_play] t= 11.30s step= 565 trunk_z=  33.7mm grav_b=(+0.04,-0.05,-1.00) r=1.82m
+[headless_play] t= 11.40s step= 570 trunk_z=  30.8mm grav_b=(+0.04,-0.02,-1.00) r=1.82m
+[headless_play] t= 11.50s step= 575 trunk_z=  30.4mm grav_b=(+0.09,-0.02,-1.00) r=1.83m
+[headless_play] t= 11.60s step= 580 trunk_z=  31.0mm grav_b=(+0.15,-0.01,-0.99) r=1.84m
+[headless_play] t= 11.70s step= 585 trunk_z=  32.9mm grav_b=(+0.16,-0.02,-0.99) r=1.84m
+[headless_play] t= 11.80s step= 590 trunk_z=  31.2mm grav_b=(+0.09,+0.04,-0.99) r=1.85m
+[headless_play] t= 11.90s step= 595 trunk_z=  38.4mm grav_b=(+0.04,+0.04,-1.00) r=1.87m
+[headless_play] t= 12.00s step= 600 trunk_z=  22.3mm grav_b=(+0.01,+0.02,-1.00) r=1.90m
+[headless_play] t= 12.10s step= 605 trunk_z=  25.5mm grav_b=(+0.05,+0.06,-1.00) r=1.92m
+[headless_play] t= 12.20s step= 610 trunk_z=  25.0mm grav_b=(+0.07,+0.05,-1.00) r=1.93m
+[headless_play] t= 12.30s step= 615 trunk_z=  25.1mm grav_b=(+0.03,-0.01,-1.00) r=1.95m
+[headless_play] t= 12.40s step= 620 trunk_z=  18.0mm grav_b=(+0.02,-0.04,-1.00) r=1.97m
+[headless_play] t= 12.50s step= 625 trunk_z=  18.4mm grav_b=(+0.06,-0.04,-1.00) r=1.98m
+[headless_play] t= 12.60s step= 630 trunk_z=  18.6mm grav_b=(+0.07,-0.04,-1.00) r=1.97m
+[headless_play] t= 12.70s step= 635 trunk_z=  19.1mm grav_b=(+0.08,-0.07,-0.99) r=1.98m
+[headless_play] t= 12.80s step= 640 trunk_z=  18.5mm grav_b=(+0.07,-0.07,-1.00) r=1.97m
+[headless_play] t= 12.90s step= 645 trunk_z=  18.3mm grav_b=(+0.06,-0.08,-1.00) r=1.98m
+[headless_play] t= 13.00s step= 650 trunk_z=  18.2mm grav_b=(+0.06,-0.08,-1.00) r=1.98m
+[headless_play] t= 13.10s step= 655 trunk_z=  18.2mm grav_b=(+0.06,-0.07,-1.00) r=1.98m
+[headless_play] t= 13.20s step= 660 trunk_z=  18.1mm grav_b=(+0.07,-0.07,-1.00) r=1.98m
+[headless_play] t= 13.30s step= 665 trunk_z=  18.1mm grav_b=(+0.07,-0.07,-0.99) r=1.98m
+[headless_play] t= 13.40s step= 670 trunk_z=  18.2mm grav_b=(+0.07,-0.07,-0.99) r=1.98m
+[headless_play] t= 13.50s step= 675 trunk_z=  18.2mm grav_b=(+0.07,-0.07,-0.99) r=1.98m
+[headless_play] t= 13.60s step= 680 trunk_z=  18.2mm grav_b=(+0.07,-0.07,-1.00) r=1.98m
+[headless_play] t= 13.70s step= 685 trunk_z=  19.9mm grav_b=(+0.08,-0.11,-0.99) r=1.99m
+[headless_play] t= 13.80s step= 690 trunk_z=  19.6mm grav_b=(+0.09,-0.08,-0.99) r=1.98m
+[headless_play] t= 13.90s step= 695 trunk_z=  19.0mm grav_b=(+0.09,-0.06,-0.99) r=1.98m
+[headless_play] t= 14.00s step= 700 trunk_z=  18.9mm grav_b=(+0.09,-0.07,-0.99) r=1.98m
+[headless_play] t= 14.10s step= 705 trunk_z=  19.7mm grav_b=(+0.10,-0.06,-0.99) r=1.98m
+[headless_play] t= 14.20s step= 710 trunk_z=  20.5mm grav_b=(+0.11,-0.05,-0.99) r=1.98m
+[headless_play] t= 14.30s step= 715 trunk_z=  21.6mm grav_b=(+0.09,-0.01,-1.00) r=1.98m
+[headless_play] t= 14.40s step= 720 trunk_z=  17.7mm grav_b=(+0.10,-0.05,-0.99) r=1.99m
+[headless_play] t= 14.50s step= 725 trunk_z=  19.6mm grav_b=(+0.12,-0.08,-0.99) r=2.00m
+[headless_play] t= 14.60s step= 730 trunk_z=  18.8mm grav_b=(+0.11,-0.02,-0.99) r=2.00m
+[headless_play] t= 14.70s step= 735 trunk_z=  20.6mm grav_b=(+0.05,-0.03,-1.00) r=2.00m
+[headless_play] t= 14.80s step= 740 trunk_z=  15.4mm grav_b=(+0.03,-0.07,-1.00) r=2.02m
+[headless_play] t= 14.90s step= 745 trunk_z=  18.5mm grav_b=(+0.12,-0.11,-0.99) r=2.03m
+[headless_play] t= 15.00s step= 750 trunk_z=  16.7mm grav_b=(+0.08,-0.00,-1.00) r=2.04m
+[headless_play] t= 15.10s step= 755 trunk_z=  13.5mm grav_b=(+0.06,-0.05,-1.00) r=2.05m
+[headless_play] t= 15.20s step= 760 trunk_z=  19.0mm grav_b=(+0.09,+0.03,-1.00) r=2.07m
+[headless_play] t= 15.30s step= 765 trunk_z=  21.9mm grav_b=(+0.06,+0.08,-1.00) r=2.09m
+[headless_play] t= 15.40s step= 770 trunk_z=   5.6mm grav_b=(+0.02,-0.04,-1.00) r=2.12m
+[headless_play] t= 15.50s step= 775 trunk_z=  11.0mm grav_b=(+0.08,-0.08,-0.99) r=2.14m
+[headless_play] t= 15.60s step= 780 trunk_z=   9.7mm grav_b=(+0.08,-0.01,-1.00) r=2.14m
+[headless_play] t= 15.70s step= 785 trunk_z=   8.0mm grav_b=(-0.02,-0.08,-1.00) r=2.14m
+[headless_play] t= 15.80s step= 790 trunk_z=   9.2mm grav_b=(-0.01,-0.06,-1.00) r=2.14m
+[headless_play] t= 15.90s step= 795 trunk_z=   7.7mm grav_b=(+0.01,-0.07,-1.00) r=2.14m
+[headless_play] t= 16.00s step= 800 trunk_z=   7.0mm grav_b=(+0.07,-0.05,-1.00) r=2.14m
+[headless_play] t= 16.10s step= 805 trunk_z=   8.6mm grav_b=(+0.10,-0.04,-0.99) r=2.15m
+[headless_play] t= 16.20s step= 810 trunk_z=  10.7mm grav_b=(+0.11,-0.05,-0.99) r=2.15m
+[headless_play] t= 16.30s step= 815 trunk_z=  14.0mm grav_b=(+0.12,-0.03,-0.99) r=2.15m
+[headless_play] t= 16.40s step= 820 trunk_z=   6.5mm grav_b=(+0.05,+0.04,-1.00) r=2.15m
+[headless_play] t= 16.50s step= 825 trunk_z=  13.1mm grav_b=(+0.02,+0.08,-1.00) r=2.14m
+[headless_play] t= 16.60s step= 830 trunk_z=  11.8mm grav_b=(-0.01,+0.06,-1.00) r=2.15m
+[headless_play] t= 16.70s step= 835 trunk_z=   6.7mm grav_b=(+0.01,-0.04,-1.00) r=2.17m
+[headless_play] t= 16.80s step= 840 trunk_z=   9.3mm grav_b=(+0.05,-0.06,-1.00) r=2.18m
+[headless_play] t= 16.90s step= 845 trunk_z=   7.7mm grav_b=(+0.06,-0.04,-1.00) r=2.17m
+[headless_play] t= 17.00s step= 850 trunk_z=   7.9mm grav_b=(+0.06,-0.05,-1.00) r=2.17m
+[headless_play] t= 17.10s step= 855 trunk_z=   7.5mm grav_b=(+0.05,-0.05,-1.00) r=2.17m
+[headless_play] t= 17.20s step= 860 trunk_z=   7.0mm grav_b=(+0.03,-0.06,-1.00) r=2.17m
+[headless_play] t= 17.30s step= 865 trunk_z=   6.7mm grav_b=(+0.02,-0.06,-1.00) r=2.17m
+[headless_play] t= 17.40s step= 870 trunk_z=   6.8mm grav_b=(+0.03,-0.06,-1.00) r=2.17m
+[headless_play] t= 17.50s step= 875 trunk_z=   9.2mm grav_b=(+0.07,-0.10,-0.99) r=2.19m
+[headless_play] t= 17.60s step= 880 trunk_z=   8.9mm grav_b=(+0.07,-0.08,-0.99) r=2.19m
+[headless_play] t= 17.70s step= 885 trunk_z=   7.2mm grav_b=(+0.06,-0.04,-1.00) r=2.18m
+[headless_play] t= 17.80s step= 890 trunk_z=   7.4mm grav_b=(+0.06,-0.05,-1.00) r=2.18m
+[headless_play] t= 17.90s step= 895 trunk_z=   7.0mm grav_b=(+0.05,-0.06,-1.00) r=2.18m
+[headless_play] t= 18.00s step= 900 trunk_z=   6.4mm grav_b=(+0.03,-0.06,-1.00) r=2.18m
+[headless_play] t= 18.10s step= 905 trunk_z=   6.3mm grav_b=(+0.03,-0.06,-1.00) r=2.18m
+[headless_play] t= 18.20s step= 910 trunk_z=   6.1mm grav_b=(-0.01,-0.08,-1.00) r=2.18m
+[headless_play] t= 18.30s step= 915 trunk_z=   6.7mm grav_b=(-0.02,-0.06,-1.00) r=2.18m
+[headless_play] t= 18.40s step= 920 trunk_z=   4.9mm grav_b=(+0.00,-0.10,-1.00) r=2.19m
+[headless_play] t= 18.50s step= 925 trunk_z=   6.8mm grav_b=(+0.04,-0.09,-0.99) r=2.20m
+[headless_play] t= 18.60s step= 930 trunk_z=   5.5mm grav_b=(+0.09,-0.02,-1.00) r=2.19m
+[headless_play] t= 18.70s step= 935 trunk_z=   7.2mm grav_b=(+0.08,-0.03,-1.00) r=2.19m
+[headless_play] t= 18.80s step= 940 trunk_z=   8.4mm grav_b=(+0.12,-0.03,-0.99) r=2.19m
+[headless_play] t= 18.90s step= 945 trunk_z=  10.2mm grav_b=(+0.13,-0.01,-0.99) r=2.19m
+[headless_play] t= 19.00s step= 950 trunk_z=  -0.2mm grav_b=(+0.07,-0.04,-1.00) r=2.21m
+[headless_play] t= 19.10s step= 955 trunk_z=  -0.1mm grav_b=(+0.06,+0.01,-1.00) r=2.22m
+[headless_play] t= 19.20s step= 960 trunk_z=   1.2mm grav_b=(+0.06,+0.00,-1.00) r=2.22m
+[headless_play] t= 19.30s step= 965 trunk_z=   2.2mm grav_b=(+0.01,-0.04,-1.00) r=2.23m
+[headless_play] t= 19.40s step= 970 trunk_z=   1.6mm grav_b=(+0.00,-0.04,-1.00) r=2.23m
+[headless_play] t= 19.50s step= 975 trunk_z=   2.0mm grav_b=(+0.03,-0.04,-1.00) r=2.23m
+[headless_play] t= 19.60s step= 980 trunk_z=   2.5mm grav_b=(+0.05,-0.04,-1.00) r=2.23m
+[headless_play] t= 19.70s step= 985 trunk_z=   2.5mm grav_b=(+0.04,-0.04,-1.00) r=2.23m
+[headless_play] t= 19.80s step= 990 trunk_z=   2.0mm grav_b=(+0.02,-0.05,-1.00) r=2.23m
+[headless_play] t= 19.90s step= 995 trunk_z=   2.0mm grav_b=(+0.02,-0.05,-1.00) r=2.23m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 124.8mm grav_b=(-0.01,+0.00,-1.00) r=0.59m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.01,+0.00,-1.00) r=0.59m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t6.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 122.5mm grav_b=(-0.00,-0.00,-1.00) root_w=(-2.008,-18.425,+0.249)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.6mm grav_b=(+0.03,-0.00,-1.00) r=0.42m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=0.42m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.42m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m
+[headless_play] t=  0.60s step=  30 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.4mm grav_b=(+0.03,-0.02,-1.00) r=0.42m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.42m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.30s step=  65 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.7mm grav_b=(-0.06,-0.01,-1.00) r=0.42m
+[headless_play] t=  1.70s step=  85 trunk_z= 114.4mm grav_b=(+0.02,-0.08,-1.00) r=0.41m
+[headless_play] t=  1.80s step=  90 trunk_z= 115.6mm grav_b=(+0.04,-0.08,-1.00) r=0.40m
+[headless_play] t=  1.90s step=  95 trunk_z= 114.7mm grav_b=(+0.07,-0.04,-1.00) r=0.41m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.1mm grav_b=(+0.09,-0.03,-1.00) r=0.41m
+[headless_play] t=  2.10s step= 105 trunk_z= 118.0mm grav_b=(+0.10,-0.02,-0.99) r=0.41m
+[headless_play] t=  2.20s step= 110 trunk_z= 119.1mm grav_b=(+0.12,-0.02,-0.99) r=0.41m
+[headless_play] t=  2.30s step= 115 trunk_z= 121.1mm grav_b=(+0.02,-0.02,-1.00) r=0.41m
+[headless_play] t=  2.40s step= 120 trunk_z= 118.8mm grav_b=(+0.00,+0.07,-1.00) r=0.42m
+[headless_play] t=  2.50s step= 125 trunk_z= 115.4mm grav_b=(-0.00,-0.03,-1.00) r=0.41m
+[headless_play] t=  2.60s step= 130 trunk_z= 117.6mm grav_b=(+0.05,-0.03,-1.00) r=0.41m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.8mm grav_b=(+0.05,-0.02,-1.00) r=0.41m
+[headless_play] t=  2.80s step= 140 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=0.41m
+[headless_play] t=  2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.41m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.41m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.3mm grav_b=(-0.07,-0.02,-1.00) r=0.40m
+[headless_play] t=  3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.02,-0.05,-1.00) r=0.39m
+[headless_play] t=  3.30s step= 165 trunk_z= 112.1mm grav_b=(+0.05,-0.10,-0.99) r=0.38m
+[headless_play] t=  3.40s step= 170 trunk_z= 113.1mm grav_b=(+0.05,-0.01,-1.00) r=0.39m
+[headless_play] t=  3.50s step= 175 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=0.39m
+[headless_play] t=  3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.05,+0.01,-1.00) r=0.40m
+[headless_play] t=  3.70s step= 185 trunk_z= 117.9mm grav_b=(+0.16,+0.08,-0.98) r=0.41m
+[headless_play] t=  3.80s step= 190 trunk_z= 128.3mm grav_b=(+0.09,+0.03,-1.00) r=0.42m
+[headless_play] t=  3.90s step= 195 trunk_z= 117.0mm grav_b=(+0.03,-0.03,-1.00) r=0.44m
+[headless_play] t=  4.00s step= 200 trunk_z= 126.5mm grav_b=(+0.01,-0.02,-1.00) r=0.46m
+[headless_play] t=  4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m
+[headless_play] t=  4.20s step= 210 trunk_z= 120.8mm grav_b=(-0.01,-0.00,-1.00) r=0.51m
+[headless_play] t=  4.30s step= 215 trunk_z= 112.4mm grav_b=(+0.01,-0.04,-1.00) r=0.49m
+[headless_play] t=  4.40s step= 220 trunk_z= 119.5mm grav_b=(+0.03,-0.04,-1.00) r=0.49m
+[headless_play] t=  4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m
+[headless_play] t=  4.60s step= 230 trunk_z= 122.3mm grav_b=(+0.04,+0.04,-1.00) r=0.54m
+[headless_play] t=  4.70s step= 235 trunk_z= 123.8mm grav_b=(+0.02,+0.05,-1.00) r=0.55m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.2mm grav_b=(-0.02,+0.04,-1.00) r=0.54m
+[headless_play] t=  4.90s step= 245 trunk_z= 120.8mm grav_b=(+0.00,-0.03,-1.00) r=0.53m
+[headless_play] t=  5.00s step= 250 trunk_z= 119.8mm grav_b=(+0.03,-0.01,-1.00) r=0.54m
+[headless_play] t=  5.10s step= 255 trunk_z= 118.8mm grav_b=(+0.04,+0.06,-1.00) r=0.57m
+[headless_play] t=  5.20s step= 260 trunk_z= 124.5mm grav_b=(+0.05,+0.04,-1.00) r=0.59m
+[headless_play] t=  5.30s step= 265 trunk_z= 121.4mm grav_b=(+0.04,+0.05,-1.00) r=0.59m
+[headless_play] t=  5.40s step= 270 trunk_z= 121.4mm grav_b=(+0.02,-0.05,-1.00) r=0.59m
+[headless_play] t=  5.50s step= 275 trunk_z= 120.7mm grav_b=(+0.04,-0.04,-1.00) r=0.61m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.5mm grav_b=(+0.01,+0.03,-1.00) r=0.64m
+[headless_play] t=  5.70s step= 285 trunk_z= 119.1mm grav_b=(+0.08,-0.03,-1.00) r=0.65m
+[headless_play] t=  5.80s step= 290 trunk_z= 110.8mm grav_b=(+0.03,-0.03,-1.00) r=0.65m
+[headless_play] t=  5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.00,-0.02,-1.00) r=0.66m
+[headless_play] t=  6.00s step= 300 trunk_z= 114.0mm grav_b=(+0.03,+0.02,-1.00) r=0.69m
+[headless_play] t=  6.10s step= 305 trunk_z= 122.4mm grav_b=(+0.03,+0.03,-1.00) r=0.71m
+[headless_play] t=  6.20s step= 310 trunk_z= 119.2mm grav_b=(+0.05,+0.02,-1.00) r=0.72m
+[headless_play] t=  6.30s step= 315 trunk_z= 123.5mm grav_b=(+0.08,-0.06,-1.00) r=0.73m
+[headless_play] t=  6.40s step= 320 trunk_z= 130.6mm grav_b=(+0.07,-0.08,-0.99) r=0.75m
+[headless_play] t=  6.50s step= 325 trunk_z= 125.0mm grav_b=(+0.00,-0.05,-1.00) r=0.78m
+[headless_play] t=  6.60s step= 330 trunk_z= 122.2mm grav_b=(+0.01,-0.01,-1.00) r=0.81m
+[headless_play] t=  6.70s step= 335 trunk_z= 119.5mm grav_b=(-0.01,-0.01,-1.00) r=0.82m
+[headless_play] t=  6.80s step= 340 trunk_z= 119.9mm grav_b=(-0.01,-0.05,-1.00) r=0.82m
+[headless_play] t=  6.90s step= 345 trunk_z= 121.2mm grav_b=(-0.00,-0.05,-1.00) r=0.84m
+[headless_play] t=  7.00s step= 350 trunk_z= 118.5mm grav_b=(-0.03,-0.00,-1.00) r=0.84m
+[headless_play] t=  7.10s step= 355 trunk_z= 123.3mm grav_b=(-0.03,+0.01,-1.00) r=0.85m
+[headless_play] t=  7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.86m
+[headless_play] t=  7.30s step= 365 trunk_z= 123.4mm grav_b=(+0.06,-0.06,-1.00) r=0.87m
+[headless_play] t=  7.40s step= 370 trunk_z= 124.6mm grav_b=(+0.07,-0.04,-1.00) r=0.88m
+[headless_play] t=  7.50s step= 375 trunk_z= 115.6mm grav_b=(+0.05,+0.04,-1.00) r=0.91m
+[headless_play] t=  7.60s step= 380 trunk_z= 123.7mm grav_b=(+0.06,+0.06,-1.00) r=0.94m
+[headless_play] t=  7.70s step= 385 trunk_z= 123.2mm grav_b=(+0.02,+0.06,-1.00) r=0.95m
+[headless_play] t=  7.80s step= 390 trunk_z= 114.5mm grav_b=(-0.00,-0.04,-1.00) r=0.98m
+[headless_play] t=  7.90s step= 395 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.99m
+[headless_play] t=  8.00s step= 400 trunk_z= 110.4mm grav_b=(+0.02,+0.01,-1.00) r=1.01m
+[headless_play] t=  8.10s step= 405 trunk_z= 114.7mm grav_b=(+0.05,+0.04,-1.00) r=1.03m
+[headless_play] t=  8.20s step= 410 trunk_z= 112.9mm grav_b=(+0.08,+0.01,-1.00) r=1.06m
+[headless_play] t=  8.30s step= 415 trunk_z= 101.7mm grav_b=(+0.04,-0.06,-1.00) r=1.10m
+[headless_play] t=  8.40s step= 420 trunk_z= 103.5mm grav_b=(+0.01,-0.04,-1.00) r=1.13m
+[headless_play] t=  8.50s step= 425 trunk_z=  88.8mm grav_b=(-0.01,+0.01,-1.00) r=1.16m
+[headless_play] t=  8.60s step= 430 trunk_z=  94.5mm grav_b=(+0.03,+0.08,-1.00) r=1.20m
+[headless_play] t=  8.70s step= 435 trunk_z=  95.9mm grav_b=(+0.04,+0.07,-1.00) r=1.22m
+[headless_play] t=  8.80s step= 440 trunk_z=  89.4mm grav_b=(+0.00,+0.04,-1.00) r=1.25m
+[headless_play] t=  8.90s step= 445 trunk_z=  82.2mm grav_b=(-0.02,+0.03,-1.00) r=1.28m
+[headless_play] t=  9.00s step= 450 trunk_z=  77.8mm grav_b=(-0.01,+0.02,-1.00) r=1.30m
+[headless_play] t=  9.10s step= 455 trunk_z=  74.5mm grav_b=(-0.01,+0.03,-1.00) r=1.33m
+[headless_play] t=  9.20s step= 460 trunk_z=  78.3mm grav_b=(+0.02,+0.04,-1.00) r=1.35m
+[headless_play] t=  9.30s step= 465 trunk_z=  71.8mm grav_b=(-0.00,+0.02,-1.00) r=1.36m
+[headless_play] t=  9.40s step= 470 trunk_z=  71.6mm grav_b=(+0.01,-0.03,-1.00) r=1.38m
+[headless_play] t=  9.50s step= 475 trunk_z=  71.6mm grav_b=(+0.03,-0.00,-1.00) r=1.40m
+[headless_play] t=  9.60s step= 480 trunk_z=  59.5mm grav_b=(+0.02,+0.04,-1.00) r=1.43m
+[headless_play] t=  9.70s step= 485 trunk_z=  68.3mm grav_b=(+0.05,+0.03,-1.00) r=1.46m
+[headless_play] t=  9.80s step= 490 trunk_z=  64.7mm grav_b=(-0.01,+0.02,-1.00) r=1.47m
+[headless_play] t=  9.90s step= 495 trunk_z=  56.8mm grav_b=(-0.01,-0.03,-1.00) r=1.49m
+[headless_play] t= 10.00s step= 500 trunk_z=  59.3mm grav_b=(+0.02,-0.03,-1.00) r=1.51m
+[headless_play] t= 10.10s step= 505 trunk_z=  51.8mm grav_b=(+0.00,+0.00,-1.00) r=1.54m
+[headless_play] t= 10.20s step= 510 trunk_z=  55.8mm grav_b=(+0.04,+0.04,-1.00) r=1.56m
+[headless_play] t= 10.30s step= 515 trunk_z=  58.1mm grav_b=(+0.04,+0.06,-1.00) r=1.59m
+[headless_play] t= 10.40s step= 520 trunk_z=  42.4mm grav_b=(-0.03,+0.01,-1.00) r=1.63m
+[headless_play] t= 10.50s step= 525 trunk_z=  41.2mm grav_b=(-0.01,-0.01,-1.00) r=1.65m
+[headless_play] t= 10.60s step= 530 trunk_z=  38.9mm grav_b=(-0.03,+0.00,-1.00) r=1.67m
+[headless_play] t= 10.70s step= 535 trunk_z=  40.4mm grav_b=(-0.01,+0.01,-1.00) r=1.69m
+[headless_play] t= 10.80s step= 540 trunk_z=  42.5mm grav_b=(+0.03,+0.01,-1.00) r=1.71m
+[headless_play] t= 10.90s step= 545 trunk_z=  27.6mm grav_b=(-0.02,-0.03,-1.00) r=1.75m
+[headless_play] t= 11.00s step= 550 trunk_z=  35.4mm grav_b=(+0.01,-0.06,-1.00) r=1.78m
+[headless_play] t= 11.10s step= 555 trunk_z=  31.9mm grav_b=(-0.02,+0.03,-1.00) r=1.81m
+[headless_play] t= 11.20s step= 560 trunk_z=  27.8mm grav_b=(+0.01,+0.01,-1.00) r=1.84m
+[headless_play] t= 11.30s step= 565 trunk_z=  34.2mm grav_b=(+0.02,+0.02,-1.00) r=1.87m
+[headless_play] t= 11.40s step= 570 trunk_z=  24.0mm grav_b=(-0.01,-0.03,-1.00) r=1.90m
+[headless_play] t= 11.50s step= 575 trunk_z=  23.3mm grav_b=(-0.01,-0.07,-1.00) r=1.93m
+[headless_play] t= 11.60s step= 580 trunk_z=  20.8mm grav_b=(-0.03,-0.03,-1.00) r=1.96m
+[headless_play] t= 11.70s step= 585 trunk_z=  17.1mm grav_b=(-0.02,+0.05,-1.00) r=2.00m
+[headless_play] t= 11.80s step= 590 trunk_z=  19.7mm grav_b=(+0.03,+0.07,-1.00) r=2.01m
+[headless_play] t= 11.90s step= 595 trunk_z=  18.6mm grav_b=(+0.14,+0.10,-0.98) r=2.05m
+[headless_play] t= 12.00s step= 600 trunk_z=  -0.0mm grav_b=(+0.02,-0.03,-1.00) r=2.11m
+[headless_play] t= 12.10s step= 605 trunk_z=  10.7mm grav_b=(+0.03,-0.06,-1.00) r=2.14m
+[headless_play] t= 12.20s step= 610 trunk_z=   4.9mm grav_b=(-0.03,-0.05,-1.00) r=2.18m
+[headless_play] t= 12.30s step= 615 trunk_z=   3.1mm grav_b=(-0.02,+0.01,-1.00) r=2.21m
+[headless_play] t= 12.40s step= 620 trunk_z=   5.5mm grav_b=(-0.00,+0.05,-1.00) r=2.22m
+[headless_play] t= 12.50s step= 625 trunk_z=   2.7mm grav_b=(-0.02,+0.05,-1.00) r=2.23m
+[headless_play] t= 12.60s step= 630 trunk_z=  -4.5mm grav_b=(+0.04,-0.07,-1.00) r=2.23m
+[headless_play] t= 12.70s step= 635 trunk_z=   4.0mm grav_b=(+0.07,-0.02,-1.00) r=2.24m
+[headless_play] t= 12.80s step= 640 trunk_z=  -3.8mm grav_b=(+0.05,+0.02,-1.00) r=2.28m
+[headless_play] t= 12.90s step= 645 trunk_z=   1.2mm grav_b=(+0.03,+0.05,-1.00) r=2.30m
+[headless_play] t= 13.00s step= 650 trunk_z=  -1.8mm grav_b=(-0.03,+0.01,-1.00) r=2.30m
+[headless_play] t= 13.10s step= 655 trunk_z=  -0.3mm grav_b=(-0.04,-0.03,-1.00) r=2.30m
+[headless_play] t= 13.20s step= 660 trunk_z=   1.5mm grav_b=(-0.03,-0.02,-1.00) r=2.31m
+[headless_play] t= 13.30s step= 665 trunk_z=  -3.2mm grav_b=(-0.00,+0.04,-1.00) r=2.33m
+[headless_play] t= 13.40s step= 670 trunk_z=   0.6mm grav_b=(-0.02,-0.02,-1.00) r=2.33m
+[headless_play] t= 13.50s step= 675 trunk_z=  -6.3mm grav_b=(-0.00,-0.03,-1.00) r=2.32m
+[headless_play] t= 13.60s step= 680 trunk_z=   1.3mm grav_b=(+0.03,-0.01,-1.00) r=2.33m
+[headless_play] t= 13.70s step= 685 trunk_z=  -2.4mm grav_b=(+0.02,+0.04,-1.00) r=2.35m
+[headless_play] t= 13.80s step= 690 trunk_z=   5.8mm grav_b=(+0.01,+0.04,-1.00) r=2.37m
+[headless_play] t= 13.90s step= 695 trunk_z=   4.8mm grav_b=(+0.01,+0.03,-1.00) r=2.38m
+[headless_play] t= 14.00s step= 700 trunk_z=   0.3mm grav_b=(-0.01,-0.03,-1.00) r=2.39m
+[headless_play] t= 14.10s step= 705 trunk_z=   8.5mm grav_b=(-0.07,-0.01,-1.00) r=2.40m
+[headless_play] t= 14.20s step= 710 trunk_z=   6.1mm grav_b=(-0.06,+0.10,-0.99) r=2.41m
+[headless_play] t= 14.30s step= 715 trunk_z=  12.1mm grav_b=(+0.02,+0.07,-1.00) r=2.42m
+[headless_play] t= 14.40s step= 720 trunk_z=  11.8mm grav_b=(+0.02,+0.08,-1.00) r=2.43m
+[headless_play] t= 14.50s step= 725 trunk_z=   8.4mm grav_b=(+0.05,+0.07,-1.00) r=2.44m
+[headless_play] t= 14.60s step= 730 trunk_z=   2.3mm grav_b=(+0.03,+0.00,-1.00) r=2.45m
+[headless_play] t= 14.70s step= 735 trunk_z=  14.6mm grav_b=(-0.01,-0.01,-1.00) r=2.46m
+[headless_play] t= 14.80s step= 740 trunk_z=   9.7mm grav_b=(-0.03,+0.01,-1.00) r=2.48m
+[headless_play] t= 14.90s step= 745 trunk_z=  11.5mm grav_b=(-0.14,+0.03,-0.99) r=2.48m
+[headless_play] t= 15.00s step= 750 trunk_z=   9.8mm grav_b=(+0.01,-0.06,-1.00) r=2.47m
+[headless_play] t= 15.10s step= 755 trunk_z=  -5.3mm grav_b=(+0.03,-0.08,-1.00) r=2.43m
+[headless_play] t= 15.20s step= 760 trunk_z=  -1.3mm grav_b=(+0.00,-0.01,-1.00) r=2.43m
+[headless_play] t= 15.30s step= 765 trunk_z=   2.1mm grav_b=(+0.07,+0.07,-1.00) r=2.43m
+[headless_play] t= 15.40s step= 770 trunk_z=   6.7mm grav_b=(+0.07,+0.06,-1.00) r=2.45m
+[headless_play] t= 15.50s step= 775 trunk_z=   7.6mm grav_b=(+0.04,+0.05,-1.00) r=2.47m
+[headless_play] t= 15.60s step= 780 trunk_z=  13.0mm grav_b=(+0.01,-0.01,-1.00) r=2.50m
+[headless_play] t= 15.70s step= 785 trunk_z=   7.7mm grav_b=(-0.02,+0.00,-1.00) r=2.52m
+[headless_play] t= 15.80s step= 790 trunk_z=  11.5mm grav_b=(-0.02,+0.04,-1.00) r=2.53m
+[headless_play] t= 15.90s step= 795 trunk_z=  14.3mm grav_b=(+0.00,+0.04,-1.00) r=2.54m
+[headless_play] t= 16.00s step= 800 trunk_z=   9.3mm grav_b=(+0.01,+0.02,-1.00) r=2.53m
+[headless_play] t= 16.10s step= 805 trunk_z=  14.9mm grav_b=(+0.04,-0.04,-1.00) r=2.54m
+[headless_play] t= 16.20s step= 810 trunk_z=  15.8mm grav_b=(+0.01,+0.01,-1.00) r=2.55m
+[headless_play] t= 16.30s step= 815 trunk_z=  13.0mm grav_b=(-0.02,+0.04,-1.00) r=2.58m
+[headless_play] t= 16.40s step= 820 trunk_z=  18.6mm grav_b=(-0.07,+0.09,-0.99) r=2.58m
+[headless_play] t= 16.50s step= 825 trunk_z=  19.9mm grav_b=(-0.05,+0.06,-1.00) r=2.58m
+[headless_play] t= 16.60s step= 830 trunk_z=  14.7mm grav_b=(+0.05,-0.02,-1.00) r=2.57m
+[headless_play] t= 16.70s step= 835 trunk_z=  11.4mm grav_b=(+0.03,-0.06,-1.00) r=2.56m
+[headless_play] t= 16.80s step= 840 trunk_z=   9.8mm grav_b=(+0.03,-0.01,-1.00) r=2.57m
+[headless_play] t= 16.90s step= 845 trunk_z=  14.9mm grav_b=(+0.06,+0.05,-1.00) r=2.59m
+[headless_play] t= 17.00s step= 850 trunk_z=  16.4mm grav_b=(+0.07,+0.05,-1.00) r=2.60m
+[headless_play] t= 17.10s step= 855 trunk_z=   9.5mm grav_b=(+0.02,+0.02,-1.00) r=2.60m
+[headless_play] t= 17.20s step= 860 trunk_z=  17.8mm grav_b=(-0.01,+0.01,-1.00) r=2.61m
+[headless_play] t= 17.30s step= 865 trunk_z=  11.9mm grav_b=(-0.04,+0.03,-1.00) r=2.64m
+[headless_play] t= 17.40s step= 870 trunk_z=  22.2mm grav_b=(+0.02,+0.08,-1.00) r=2.67m
+[headless_play] t= 17.50s step= 875 trunk_z=  25.8mm grav_b=(+0.06,+0.10,-0.99) r=2.69m
+[headless_play] t= 17.60s step= 880 trunk_z=  28.5mm grav_b=(+0.06,+0.10,-0.99) r=2.70m
+[headless_play] t= 17.70s step= 885 trunk_z=  17.3mm grav_b=(+0.01,+0.06,-1.00) r=2.72m
+[headless_play] t= 17.80s step= 890 trunk_z=  26.0mm grav_b=(+0.01,+0.05,-1.00) r=2.74m
+[headless_play] t= 17.90s step= 895 trunk_z=  16.5mm grav_b=(-0.02,+0.03,-1.00) r=2.77m
+[headless_play] t= 18.00s step= 900 trunk_z=  24.4mm grav_b=(-0.03,+0.02,-1.00) r=2.78m
+[headless_play] t= 18.10s step= 905 trunk_z=  22.2mm grav_b=(-0.03,+0.01,-1.00) r=2.78m
+[headless_play] t= 18.20s step= 910 trunk_z=  21.9mm grav_b=(-0.05,+0.01,-1.00) r=2.78m
+[headless_play] t= 18.30s step= 915 trunk_z=  22.6mm grav_b=(-0.00,+0.09,-1.00) r=2.80m
+[headless_play] t= 18.40s step= 920 trunk_z=  29.5mm grav_b=(+0.01,+0.05,-1.00) r=2.80m
+[headless_play] t= 18.50s step= 925 trunk_z=  23.9mm grav_b=(+0.00,+0.00,-1.00) r=2.80m
+[headless_play] t= 18.60s step= 930 trunk_z=  31.0mm grav_b=(+0.02,-0.01,-1.00) r=2.81m
+[headless_play] t= 18.70s step= 935 trunk_z=  25.2mm grav_b=(-0.01,+0.02,-1.00) r=2.83m
+[headless_play] t= 18.80s step= 940 trunk_z=  30.4mm grav_b=(-0.03,+0.04,-1.00) r=2.85m
+[headless_play] t= 18.90s step= 945 trunk_z=  31.8mm grav_b=(+0.02,+0.02,-1.00) r=2.86m
+[headless_play] t= 19.00s step= 950 trunk_z=  27.0mm grav_b=(+0.01,-0.02,-1.00) r=2.87m
+[headless_play] t= 19.10s step= 955 trunk_z=  36.6mm grav_b=(-0.01,-0.02,-1.00) r=2.88m
+[headless_play] t= 19.20s step= 960 trunk_z=  28.8mm grav_b=(-0.07,+0.01,-1.00) r=2.91m
+[headless_play] t= 19.30s step= 965 trunk_z=  36.1mm grav_b=(-0.04,+0.07,-1.00) r=2.93m
+[headless_play] t= 19.40s step= 970 trunk_z=  38.0mm grav_b=(+0.00,+0.07,-1.00) r=2.94m
+[headless_play] t= 19.50s step= 975 trunk_z=  37.6mm grav_b=(+0.02,+0.04,-1.00) r=2.95m
+[headless_play] t= 19.60s step= 980 trunk_z=  39.4mm grav_b=(+0.02,+0.02,-1.00) r=2.96m
+[headless_play] t= 19.70s step= 985 trunk_z=  39.1mm grav_b=(-0.01,+0.03,-1.00) r=2.98m
+[headless_play] t= 19.80s step= 990 trunk_z=  36.2mm grav_b=(-0.07,+0.06,-1.00) r=3.01m
+[headless_play] t= 19.90s step= 995 trunk_z=  40.6mm grav_b=(-0.05,+0.06,-1.00) r=3.02m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00) r=0.13m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.01,-0.00,-1.00) r=0.13m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t7.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.511,-17.634,+0.250)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.6mm grav_b=(-0.01,-0.00,-1.00) r=0.61m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.4mm grav_b=(+0.07,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.30s step=  15 trunk_z= 115.8mm grav_b=(+0.08,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.0mm grav_b=(+0.09,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.9mm grav_b=(+0.07,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.61m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.9mm grav_b=(+0.01,-0.00,-1.00) r=0.61m
+[headless_play] t=  0.80s step=  40 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.1mm grav_b=(+0.08,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.1mm grav_b=(+0.07,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.10s step=  55 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.20s step=  60 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.30s step=  65 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.61m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.61m
+[headless_play] t=  1.60s step=  80 trunk_z= 118.5mm grav_b=(+0.08,-0.04,-1.00) r=0.60m
+[headless_play] t=  1.70s step=  85 trunk_z= 117.6mm grav_b=(+0.08,-0.02,-1.00) r=0.60m
+[headless_play] t=  1.80s step=  90 trunk_z= 117.2mm grav_b=(+0.06,-0.02,-1.00) r=0.61m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.61m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.61m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.4mm grav_b=(+0.03,-0.02,-1.00) r=0.61m
+[headless_play] t=  2.20s step= 110 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=0.61m
+[headless_play] t=  2.30s step= 115 trunk_z= 117.0mm grav_b=(-0.01,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.40s step= 120 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.61m
+[headless_play] t=  2.50s step= 125 trunk_z= 116.7mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.60s step= 130 trunk_z= 117.0mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.70s step= 135 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=0.61m
+[headless_play] t=  2.80s step= 140 trunk_z= 118.8mm grav_b=(+0.11,-0.01,-0.99) r=0.60m
+[headless_play] t=  2.90s step= 145 trunk_z= 119.4mm grav_b=(+0.13,-0.01,-0.99) r=0.60m
+[headless_play] t=  3.00s step= 150 trunk_z= 120.9mm grav_b=(+0.13,+0.00,-0.99) r=0.60m
+[headless_play] t=  3.10s step= 155 trunk_z= 114.6mm grav_b=(+0.03,+0.04,-1.00) r=0.61m
+[headless_play] t=  3.20s step= 160 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.61m
+[headless_play] t=  3.30s step= 165 trunk_z= 117.0mm grav_b=(+0.03,-0.03,-1.00) r=0.59m
+[headless_play] t=  3.40s step= 170 trunk_z= 118.4mm grav_b=(+0.04,-0.01,-1.00) r=0.59m
+[headless_play] t=  3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.59m
+[headless_play] t=  3.60s step= 180 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.59m
+[headless_play] t=  3.70s step= 185 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.59m
+[headless_play] t=  3.80s step= 190 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m
+[headless_play] t=  3.90s step= 195 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.10s step= 205 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.20s step= 210 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.30s step= 215 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m
+[headless_play] t=  4.40s step= 220 trunk_z= 117.7mm grav_b=(-0.00,-0.02,-1.00) r=0.59m
+[headless_play] t=  4.50s step= 225 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.59m
+[headless_play] t=  4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.03,-0.01,-1.00) r=0.59m
+[headless_play] t=  4.70s step= 235 trunk_z= 117.8mm grav_b=(+0.00,-0.01,-1.00) r=0.58m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.3mm grav_b=(+0.05,-0.02,-1.00) r=0.58m
+[headless_play] t=  4.90s step= 245 trunk_z= 117.7mm grav_b=(+0.05,-0.02,-1.00) r=0.58m
+[headless_play] t=  5.00s step= 250 trunk_z= 117.7mm grav_b=(+0.05,-0.02,-1.00) r=0.58m
+[headless_play] t=  5.10s step= 255 trunk_z= 117.6mm grav_b=(+0.04,-0.01,-1.00) r=0.58m
+[headless_play] t=  5.20s step= 260 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.58m
+[headless_play] t=  5.30s step= 265 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.58m
+[headless_play] t=  5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.03,-0.02,-1.00) r=0.58m
+[headless_play] t=  5.50s step= 275 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=0.58m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.3mm grav_b=(+0.00,-0.02,-1.00) r=0.58m
+[headless_play] t=  5.70s step= 285 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.58m
+[headless_play] t=  5.80s step= 290 trunk_z= 117.4mm grav_b=(+0.05,-0.02,-1.00) r=0.58m
+[headless_play] t=  5.90s step= 295 trunk_z= 117.4mm grav_b=(+0.06,-0.02,-1.00) r=0.58m
+[headless_play] t=  6.00s step= 300 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.10s step= 305 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.20s step= 310 trunk_z= 117.2mm grav_b=(+0.03,-0.02,-1.00) r=0.58m
+[headless_play] t=  6.30s step= 315 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.40s step= 320 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.50s step= 325 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.60s step= 330 trunk_z= 115.5mm grav_b=(+0.06,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.70s step= 335 trunk_z= 115.7mm grav_b=(+0.09,-0.01,-1.00) r=0.58m
+[headless_play] t=  6.80s step= 340 trunk_z= 118.1mm grav_b=(+0.15,+0.01,-0.99) r=0.58m
+[headless_play] t=  6.90s step= 345 trunk_z= 123.9mm grav_b=(+0.13,-0.01,-0.99) r=0.57m
+[headless_play] t=  7.00s step= 350 trunk_z= 123.2mm grav_b=(+0.10,-0.06,-0.99) r=0.54m
+[headless_play] t=  7.10s step= 355 trunk_z= 128.9mm grav_b=(+0.09,-0.05,-1.00) r=0.54m
+[headless_play] t=  7.20s step= 360 trunk_z= 117.6mm grav_b=(+0.04,-0.03,-1.00) r=0.55m
+[headless_play] t=  7.30s step= 365 trunk_z= 117.5mm grav_b=(+0.04,-0.02,-1.00) r=0.56m
+[headless_play] t=  7.40s step= 370 trunk_z= 115.3mm grav_b=(-0.03,-0.09,-1.00) r=0.55m
+[headless_play] t=  7.50s step= 375 trunk_z= 124.2mm grav_b=(+0.00,-0.05,-1.00) r=0.54m
+[headless_play] t=  7.60s step= 380 trunk_z= 119.7mm grav_b=(+0.06,+0.06,-1.00) r=0.55m
+[headless_play] t=  7.70s step= 385 trunk_z= 120.7mm grav_b=(+0.05,+0.09,-0.99) r=0.56m
+[headless_play] t=  7.80s step= 390 trunk_z= 118.9mm grav_b=(+0.09,+0.05,-0.99) r=0.55m
+[headless_play] t=  7.90s step= 395 trunk_z= 115.7mm grav_b=(+0.14,-0.06,-0.99) r=0.54m
+[headless_play] t=  8.00s step= 400 trunk_z= 123.3mm grav_b=(+0.14,-0.06,-0.99) r=0.53m
+[headless_play] t=  8.10s step= 405 trunk_z= 122.2mm grav_b=(+0.09,-0.03,-1.00) r=0.51m
+[headless_play] t=  8.20s step= 410 trunk_z= 119.1mm grav_b=(+0.05,-0.07,-1.00) r=0.50m
+[headless_play] t=  8.30s step= 415 trunk_z= 119.1mm grav_b=(+0.13,-0.11,-0.98) r=0.49m
+[headless_play] t=  8.40s step= 420 trunk_z= 119.3mm grav_b=(+0.10,-0.06,-0.99) r=0.47m
+[headless_play] t=  8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) r=0.46m
+[headless_play] t=  8.60s step= 430 trunk_z= 124.0mm grav_b=(+0.02,+0.04,-1.00) r=0.46m
+[headless_play] t=  8.70s step= 435 trunk_z= 116.1mm grav_b=(+0.04,-0.05,-1.00) r=0.45m
+[headless_play] t=  8.80s step= 440 trunk_z= 126.4mm grav_b=(+0.09,-0.16,-0.98) r=0.45m
+[headless_play] t=  8.90s step= 445 trunk_z= 127.6mm grav_b=(+0.13,-0.17,-0.98) r=0.44m
+[headless_play] t=  9.00s step= 450 trunk_z= 119.9mm grav_b=(+0.11,-0.10,-0.99) r=0.42m
+[headless_play] t=  9.10s step= 455 trunk_z= 106.6mm grav_b=(+0.20,+0.03,-0.98) r=0.37m
+[headless_play] t=  9.20s step= 460 trunk_z= 130.8mm grav_b=(+0.26,+0.02,-0.97) r=0.35m
+[headless_play] t=  9.30s step= 465 trunk_z= 132.9mm grav_b=(+0.16,-0.01,-0.99) r=0.34m
+[headless_play] t=  9.40s step= 470 trunk_z= 108.6mm grav_b=(+0.04,-0.02,-1.00) r=0.33m
+[headless_play] t=  9.50s step= 475 trunk_z= 118.9mm grav_b=(-0.01,-0.07,-1.00) r=0.34m
+[headless_play] t=  9.60s step= 480 trunk_z= 121.3mm grav_b=(+0.02,-0.04,-1.00) r=0.33m
+[headless_play] t=  9.70s step= 485 trunk_z= 119.8mm grav_b=(+0.06,-0.00,-1.00) r=0.31m
+[headless_play] t=  9.80s step= 490 trunk_z= 121.8mm grav_b=(+0.10,+0.03,-0.99) r=0.30m
+[headless_play] t=  9.90s step= 495 trunk_z= 117.7mm grav_b=(+0.07,-0.04,-1.00) r=0.32m
+[headless_play] t= 10.00s step= 500 trunk_z= 125.6mm grav_b=(+0.10,-0.06,-0.99) r=0.32m
+[headless_play] t= 10.10s step= 505 trunk_z= 125.4mm grav_b=(+0.08,-0.05,-1.00) r=0.30m
+[headless_play] t= 10.20s step= 510 trunk_z= 119.3mm grav_b=(+0.07,-0.02,-1.00) r=0.29m
+[headless_play] t= 10.30s step= 515 trunk_z= 114.1mm grav_b=(+0.08,-0.07,-0.99) r=0.31m
+[headless_play] t= 10.40s step= 520 trunk_z= 118.3mm grav_b=(+0.11,-0.09,-0.99) r=0.31m
+[headless_play] t= 10.50s step= 525 trunk_z= 115.3mm grav_b=(+0.08,-0.07,-0.99) r=0.30m
+[headless_play] t= 10.60s step= 530 trunk_z= 115.4mm grav_b=(+0.05,+0.04,-1.00) r=0.29m
+[headless_play] t= 10.70s step= 535 trunk_z= 116.0mm grav_b=(+0.08,-0.02,-1.00) r=0.29m
+[headless_play] t= 10.80s step= 540 trunk_z= 112.0mm grav_b=(+0.14,-0.10,-0.98) r=0.32m
+[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.15,-0.12,-0.98) r=0.33m
+[headless_play] t= 11.00s step= 550 trunk_z= 115.6mm grav_b=(+0.12,-0.06,-0.99) r=0.32m
+[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(+0.08,+0.04,-1.00) r=0.32m
+[headless_play] t= 11.20s step= 560 trunk_z= 115.5mm grav_b=(+0.08,+0.01,-1.00) r=0.33m
+[headless_play] t= 11.30s step= 565 trunk_z= 112.1mm grav_b=(+0.09,-0.08,-0.99) r=0.36m
+[headless_play] t= 11.40s step= 570 trunk_z= 121.6mm grav_b=(+0.03,-0.11,-0.99) r=0.37m
+[headless_play] t= 11.50s step= 575 trunk_z= 122.8mm grav_b=(+0.03,-0.09,-1.00) r=0.36m
+[headless_play] t= 11.60s step= 580 trunk_z= 112.6mm grav_b=(+0.07,+0.01,-1.00) r=0.34m
+[headless_play] t= 11.70s step= 585 trunk_z= 115.6mm grav_b=(+0.10,+0.02,-0.99) r=0.34m
+[headless_play] t= 11.80s step= 590 trunk_z= 108.3mm grav_b=(+0.16,-0.02,-0.99) r=0.36m
+[headless_play] t= 11.90s step= 595 trunk_z= 113.0mm grav_b=(+0.16,-0.08,-0.98) r=0.38m
+[headless_play] t= 12.00s step= 600 trunk_z= 113.1mm grav_b=(+0.12,-0.06,-0.99) r=0.38m
+[headless_play] t= 12.10s step= 605 trunk_z= 113.0mm grav_b=(+0.09,+0.10,-0.99) r=0.37m
+[headless_play] t= 12.20s step= 610 trunk_z= 120.5mm grav_b=(+0.11,+0.11,-0.99) r=0.37m
+[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.10,+0.06,-0.99) r=0.38m
+[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.06,-0.05,-1.00) r=0.41m
+[headless_play] t= 12.50s step= 625 trunk_z= 121.7mm grav_b=(+0.07,-0.09,-0.99) r=0.43m
+[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(+0.09,-0.08,-0.99) r=0.43m
+[headless_play] t= 12.70s step= 635 trunk_z= 114.6mm grav_b=(+0.11,+0.05,-0.99) r=0.43m
+[headless_play] t= 12.80s step= 640 trunk_z= 119.4mm grav_b=(+0.17,+0.01,-0.98) r=0.45m
+[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.15,-0.06,-0.99) r=0.49m
+[headless_play] t= 13.00s step= 650 trunk_z= 119.0mm grav_b=(+0.08,-0.05,-1.00) r=0.51m
+[headless_play] t= 13.10s step= 655 trunk_z= 111.1mm grav_b=(+0.07,+0.01,-1.00) r=0.51m
+[headless_play] t= 13.20s step= 660 trunk_z= 118.0mm grav_b=(+0.05,+0.01,-1.00) r=0.52m
+[headless_play] t= 13.30s step= 665 trunk_z= 113.6mm grav_b=(+0.06,-0.05,-1.00) r=0.54m
+[headless_play] t= 13.40s step= 670 trunk_z= 115.6mm grav_b=(+0.10,-0.10,-0.99) r=0.55m
+[headless_play] t= 13.50s step= 675 trunk_z= 112.5mm grav_b=(+0.13,-0.09,-0.99) r=0.56m
+[headless_play] t= 13.60s step= 680 trunk_z= 110.1mm grav_b=(+0.10,+0.06,-0.99) r=0.57m
+[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(+0.10,+0.04,-0.99) r=0.58m
+[headless_play] t= 13.80s step= 690 trunk_z= 110.8mm grav_b=(+0.11,-0.02,-0.99) r=0.61m
+[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(+0.10,-0.09,-0.99) r=0.63m
+[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(+0.12,-0.08,-0.99) r=0.64m
+[headless_play] t= 14.10s step= 705 trunk_z= 112.1mm grav_b=(+0.07,+0.04,-1.00) r=0.65m
+[headless_play] t= 14.20s step= 710 trunk_z= 119.8mm grav_b=(+0.06,+0.04,-1.00) r=0.66m
+[headless_play] t= 14.30s step= 715 trunk_z= 114.3mm grav_b=(+0.09,-0.01,-1.00) r=0.68m
+[headless_play] t= 14.40s step= 720 trunk_z= 119.6mm grav_b=(+0.01,-0.11,-0.99) r=0.70m
+[headless_play] t= 14.50s step= 725 trunk_z= 126.0mm grav_b=(+0.01,-0.12,-0.99) r=0.71m
+[headless_play] t= 14.60s step= 730 trunk_z= 124.0mm grav_b=(+0.09,-0.05,-0.99) r=0.70m
+[headless_play] t= 14.70s step= 735 trunk_z= 119.3mm grav_b=(+0.08,-0.03,-1.00) r=0.69m
+[headless_play] t= 14.80s step= 740 trunk_z= 116.0mm grav_b=(+0.07,-0.04,-1.00) r=0.69m
+[headless_play] t= 14.90s step= 745 trunk_z= 109.7mm grav_b=(+0.11,-0.06,-0.99) r=0.70m
+[headless_play] t= 15.00s step= 750 trunk_z= 107.9mm grav_b=(+0.10,-0.05,-0.99) r=0.70m
+[headless_play] t= 15.10s step= 755 trunk_z= 103.8mm grav_b=(+0.10,+0.02,-0.99) r=0.70m
+[headless_play] t= 15.20s step= 760 trunk_z= 111.9mm grav_b=(+0.11,+0.04,-0.99) r=0.71m
+[headless_play] t= 15.30s step= 765 trunk_z= 111.2mm grav_b=(+0.13,+0.02,-0.99) r=0.73m
+[headless_play] t= 15.40s step= 770 trunk_z= 111.5mm grav_b=(+0.08,-0.02,-1.00) r=0.74m
+[headless_play] t= 15.50s step= 775 trunk_z= 115.0mm grav_b=(+0.06,-0.01,-1.00) r=0.75m
+[headless_play] t= 15.60s step= 780 trunk_z= 110.5mm grav_b=(+0.08,-0.01,-1.00) r=0.76m
+[headless_play] t= 15.70s step= 785 trunk_z= 111.8mm grav_b=(+0.10,+0.04,-0.99) r=0.76m
+[headless_play] t= 15.80s step= 790 trunk_z= 111.7mm grav_b=(+0.11,+0.00,-0.99) r=0.78m
+[headless_play] t= 15.90s step= 795 trunk_z= 109.4mm grav_b=(+0.08,-0.05,-0.99) r=0.80m
+[headless_play] t= 16.00s step= 800 trunk_z= 117.1mm grav_b=(+0.04,-0.05,-1.00) r=0.81m
+[headless_play] t= 16.10s step= 805 trunk_z= 113.9mm grav_b=(+0.07,-0.01,-1.00) r=0.82m
+[headless_play] t= 16.20s step= 810 trunk_z= 111.6mm grav_b=(+0.09,+0.07,-0.99) r=0.82m
+[headless_play] t= 16.30s step= 815 trunk_z= 110.7mm grav_b=(+0.19,-0.01,-0.98) r=0.85m
+[headless_play] t= 16.40s step= 820 trunk_z= 115.4mm grav_b=(+0.17,-0.08,-0.98) r=0.88m
+[headless_play] t= 16.50s step= 825 trunk_z= 118.4mm grav_b=(+0.14,-0.04,-0.99) r=0.91m
+[headless_play] t= 16.60s step= 830 trunk_z= 114.5mm grav_b=(+0.06,+0.04,-1.00) r=0.93m
+[headless_play] t= 16.70s step= 835 trunk_z= 118.7mm grav_b=(+0.06,+0.01,-1.00) r=0.94m
+[headless_play] t= 16.80s step= 840 trunk_z= 112.1mm grav_b=(+0.07,-0.05,-1.00) r=0.96m
+[headless_play] t= 16.90s step= 845 trunk_z= 113.1mm grav_b=(+0.09,-0.03,-1.00) r=0.97m
+[headless_play] t= 17.00s step= 850 trunk_z= 109.4mm grav_b=(+0.08,+0.01,-1.00) r=0.99m
+[headless_play] t= 17.10s step= 855 trunk_z= 114.0mm grav_b=(+0.08,+0.04,-1.00) r=1.01m
+[headless_play] t= 17.20s step= 860 trunk_z= 110.4mm grav_b=(+0.15,-0.05,-0.99) r=1.04m
+[headless_play] t= 17.30s step= 865 trunk_z= 111.1mm grav_b=(+0.17,-0.10,-0.98) r=1.06m
+[headless_play] t= 17.40s step= 870 trunk_z= 109.3mm grav_b=(+0.13,-0.05,-0.99) r=1.08m
+[headless_play] t= 17.50s step= 875 trunk_z= 104.7mm grav_b=(+0.05,+0.10,-0.99) r=1.10m
+[headless_play] t= 17.60s step= 880 trunk_z= 112.2mm grav_b=(+0.05,+0.09,-1.00) r=1.12m
+[headless_play] t= 17.70s step= 885 trunk_z= 108.2mm grav_b=(+0.06,+0.03,-1.00) r=1.14m
+[headless_play] t= 17.80s step= 890 trunk_z= 100.8mm grav_b=(+0.07,-0.06,-1.00) r=1.17m
+[headless_play] t= 17.90s step= 895 trunk_z= 105.9mm grav_b=(+0.09,-0.06,-0.99) r=1.19m
+[headless_play] t= 18.00s step= 900 trunk_z= 104.5mm grav_b=(+0.04,-0.07,-1.00) r=1.21m
+[headless_play] t= 18.10s step= 905 trunk_z=  90.5mm grav_b=(+0.04,+0.00,-1.00) r=1.24m
+[headless_play] t= 18.20s step= 910 trunk_z=  94.3mm grav_b=(+0.09,-0.00,-1.00) r=1.26m
+[headless_play] t= 18.30s step= 915 trunk_z=  84.7mm grav_b=(+0.07,-0.03,-1.00) r=1.27m
+[headless_play] t= 18.40s step= 920 trunk_z=  90.2mm grav_b=(+0.07,-0.05,-1.00) r=1.30m
+[headless_play] t= 18.50s step= 925 trunk_z=  89.6mm grav_b=(+0.05,-0.00,-1.00) r=1.33m
+[headless_play] t= 18.60s step= 930 trunk_z=  67.1mm grav_b=(+0.03,+0.02,-1.00) r=1.37m
+[headless_play] t= 18.70s step= 935 trunk_z=  76.2mm grav_b=(+0.09,-0.00,-1.00) r=1.39m
+[headless_play] t= 18.80s step= 940 trunk_z=  67.7mm grav_b=(-0.02,-0.05,-1.00) r=1.38m
+[headless_play] t= 18.90s step= 945 trunk_z=  73.6mm grav_b=(+0.00,-0.11,-0.99) r=1.37m
+[headless_play] t= 19.00s step= 950 trunk_z=  73.6mm grav_b=(+0.02,-0.00,-1.00) r=1.38m
+[headless_play] t= 19.10s step= 955 trunk_z=  73.5mm grav_b=(+0.02,+0.06,-1.00) r=1.39m
+[headless_play] t= 19.20s step= 960 trunk_z=  72.0mm grav_b=(+0.09,+0.01,-1.00) r=1.40m
+[headless_play] t= 19.30s step= 965 trunk_z=  70.2mm grav_b=(+0.11,-0.09,-0.99) r=1.43m
+[headless_play] t= 19.40s step= 970 trunk_z=  74.2mm grav_b=(+0.04,-0.11,-0.99) r=1.44m
+[headless_play] t= 19.50s step= 975 trunk_z=  70.0mm grav_b=(+0.02,-0.06,-1.00) r=1.45m
+[headless_play] t= 19.60s step= 980 trunk_z=  65.1mm grav_b=(+0.05,+0.05,-1.00) r=1.48m
+[headless_play] t= 19.70s step= 985 trunk_z=  72.2mm grav_b=(+0.13,+0.09,-0.99) r=1.51m
+[headless_play] t= 19.80s step= 990 trunk_z=  66.5mm grav_b=(+0.16,+0.03,-0.99) r=1.55m
+[headless_play] t= 19.90s step= 995 trunk_z=  60.1mm grav_b=(+0.13,-0.02,-0.99) r=1.60m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 123.2mm grav_b=(-0.01,+0.00,-1.00) r=0.50m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(+0.02,-0.02,-1.00) r=0.50m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t8.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 122.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.989,-17.693,+0.249)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.4mm grav_b=(-0.01,-0.00,-1.00) r=0.31m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.5mm grav_b=(-0.03,+0.03,-1.00) r=0.32m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.4mm grav_b=(-0.02,+0.07,-1.00) r=0.33m
+[headless_play] t=  0.30s step=  15 trunk_z= 118.9mm grav_b=(-0.01,+0.03,-1.00) r=0.35m
+[headless_play] t=  0.40s step=  20 trunk_z= 113.0mm grav_b=(-0.03,-0.06,-1.00) r=0.38m
+[headless_play] t=  0.50s step=  25 trunk_z= 122.7mm grav_b=(-0.05,-0.10,-0.99) r=0.40m
+[headless_play] t=  0.60s step=  30 trunk_z= 119.8mm grav_b=(-0.03,-0.04,-1.00) r=0.43m
+[headless_play] t=  0.70s step=  35 trunk_z= 121.0mm grav_b=(-0.06,+0.05,-1.00) r=0.45m
+[headless_play] t=  0.80s step=  40 trunk_z= 124.5mm grav_b=(-0.03,+0.03,-1.00) r=0.46m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.5mm grav_b=(-0.05,+0.03,-1.00) r=0.48m
+[headless_play] t=  1.00s step=  50 trunk_z= 123.7mm grav_b=(-0.05,-0.12,-0.99) r=0.51m
+[headless_play] t=  1.10s step=  55 trunk_z= 127.7mm grav_b=(-0.01,-0.18,-0.98) r=0.52m
+[headless_play] t=  1.20s step=  60 trunk_z= 127.5mm grav_b=(-0.02,-0.07,-1.00) r=0.53m
+[headless_play] t=  1.30s step=  65 trunk_z= 112.7mm grav_b=(+0.15,-0.01,-0.99) r=0.58m
+[headless_play] t=  1.40s step=  70 trunk_z= 132.6mm grav_b=(+0.08,-0.01,-1.00) r=0.63m
+[headless_play] t=  1.50s step=  75 trunk_z= 122.3mm grav_b=(-0.05,-0.06,-1.00) r=0.69m
+[headless_play] t=  1.60s step=  80 trunk_z= 114.0mm grav_b=(-0.12,-0.07,-0.99) r=0.72m
+[headless_play] t=  1.70s step=  85 trunk_z= 120.4mm grav_b=(-0.10,-0.03,-0.99) r=0.74m
+[headless_play] t=  1.80s step=  90 trunk_z= 120.3mm grav_b=(-0.04,+0.02,-1.00) r=0.75m
+[headless_play] t=  1.90s step=  95 trunk_z= 122.9mm grav_b=(-0.04,+0.03,-1.00) r=0.76m
+[headless_play] t=  2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.04,+0.06,-1.00) r=0.77m
+[headless_play] t=  2.10s step= 105 trunk_z= 119.6mm grav_b=(-0.05,-0.12,-0.99) r=0.78m
+[headless_play] t=  2.20s step= 110 trunk_z= 124.7mm grav_b=(-0.02,-0.10,-0.99) r=0.79m
+[headless_play] t=  2.30s step= 115 trunk_z= 123.4mm grav_b=(-0.03,-0.07,-1.00) r=0.81m
+[headless_play] t=  2.40s step= 120 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.83m
+[headless_play] t=  2.50s step= 125 trunk_z= 124.3mm grav_b=(-0.03,+0.05,-1.00) r=0.85m
+[headless_play] t=  2.60s step= 130 trunk_z= 118.6mm grav_b=(-0.02,+0.05,-1.00) r=0.86m
+[headless_play] t=  2.70s step= 135 trunk_z= 120.4mm grav_b=(-0.06,-0.08,-1.00) r=0.89m
+[headless_play] t=  2.80s step= 140 trunk_z= 123.7mm grav_b=(-0.05,-0.10,-0.99) r=0.90m
+[headless_play] t=  2.90s step= 145 trunk_z= 121.6mm grav_b=(-0.02,-0.05,-1.00) r=0.92m
+[headless_play] t=  3.00s step= 150 trunk_z= 120.7mm grav_b=(-0.04,+0.06,-1.00) r=0.94m
+[headless_play] t=  3.10s step= 155 trunk_z= 125.8mm grav_b=(-0.05,+0.08,-1.00) r=0.97m
+[headless_play] t=  3.20s step= 160 trunk_z= 117.7mm grav_b=(-0.03,+0.05,-1.00) r=1.00m
+[headless_play] t=  3.30s step= 165 trunk_z= 121.6mm grav_b=(-0.06,-0.05,-1.00) r=1.02m
+[headless_play] t=  3.40s step= 170 trunk_z= 122.1mm grav_b=(-0.03,-0.03,-1.00) r=1.03m
+[headless_play] t=  3.50s step= 175 trunk_z= 116.3mm grav_b=(-0.07,+0.03,-1.00) r=1.05m
+[headless_play] t=  3.60s step= 180 trunk_z= 127.0mm grav_b=(-0.11,+0.09,-0.99) r=1.05m
+[headless_play] t=  3.70s step= 185 trunk_z= 128.1mm grav_b=(-0.11,+0.09,-0.99) r=1.04m
+[headless_play] t=  3.80s step= 190 trunk_z= 118.4mm grav_b=(-0.03,+0.03,-1.00) r=1.01m
+[headless_play] t=  3.90s step= 195 trunk_z= 110.4mm grav_b=(-0.03,+0.04,-1.00) r=1.00m
+[headless_play] t=  4.00s step= 200 trunk_z= 109.9mm grav_b=(-0.01,+0.07,-1.00) r=1.01m
+[headless_play] t=  4.10s step= 205 trunk_z= 122.9mm grav_b=(-0.02,+0.07,-1.00) r=1.03m
+[headless_play] t=  4.20s step= 210 trunk_z= 119.1mm grav_b=(-0.04,+0.05,-1.00) r=1.05m
+[headless_play] t=  4.30s step= 215 trunk_z= 117.0mm grav_b=(-0.03,-0.04,-1.00) r=1.07m
+[headless_play] t=  4.40s step= 220 trunk_z= 121.1mm grav_b=(+0.01,-0.06,-1.00) r=1.09m
+[headless_play] t=  4.50s step= 225 trunk_z= 122.3mm grav_b=(+0.03,-0.03,-1.00) r=1.12m
+[headless_play] t=  4.60s step= 230 trunk_z= 122.0mm grav_b=(-0.03,+0.06,-1.00) r=1.15m
+[headless_play] t=  4.70s step= 235 trunk_z= 119.2mm grav_b=(-0.04,+0.04,-1.00) r=1.18m
+[headless_play] t=  4.80s step= 240 trunk_z= 111.2mm grav_b=(-0.09,-0.03,-1.00) r=1.20m
+[headless_play] t=  4.90s step= 245 trunk_z= 115.8mm grav_b=(-0.10,-0.03,-1.00) r=1.20m
+[headless_play] t=  5.00s step= 250 trunk_z= 110.3mm grav_b=(-0.08,+0.00,-1.00) r=1.21m
+[headless_play] t=  5.10s step= 255 trunk_z= 115.5mm grav_b=(-0.04,-0.03,-1.00) r=1.22m
+[headless_play] t=  5.20s step= 260 trunk_z= 104.6mm grav_b=(-0.01,-0.05,-1.00) r=1.24m
+[headless_play] t=  5.30s step= 265 trunk_z= 105.9mm grav_b=(-0.01,-0.08,-1.00) r=1.27m
+[headless_play] t=  5.40s step= 270 trunk_z= 105.0mm grav_b=(+0.03,-0.06,-1.00) r=1.30m
+[headless_play] t=  5.50s step= 275 trunk_z= 101.5mm grav_b=(-0.01,+0.02,-1.00) r=1.34m
+[headless_play] t=  5.60s step= 280 trunk_z=  92.1mm grav_b=(+0.01,+0.11,-0.99) r=1.38m
+[headless_play] t=  5.70s step= 285 trunk_z=  97.0mm grav_b=(-0.08,+0.12,-0.99) r=1.41m
+[headless_play] t=  5.80s step= 290 trunk_z=  92.4mm grav_b=(-0.00,+0.05,-1.00) r=1.43m
+[headless_play] t=  5.90s step= 295 trunk_z=  83.8mm grav_b=(+0.07,+0.03,-1.00) r=1.45m
+[headless_play] t=  6.00s step= 300 trunk_z=  79.2mm grav_b=(+0.01,+0.05,-1.00) r=1.47m
+[headless_play] t=  6.10s step= 305 trunk_z=  76.8mm grav_b=(-0.01,+0.06,-1.00) r=1.50m
+[headless_play] t=  6.20s step= 310 trunk_z=  70.9mm grav_b=(-0.02,+0.03,-1.00) r=1.52m
+[headless_play] t=  6.30s step= 315 trunk_z=  67.6mm grav_b=(-0.06,-0.02,-1.00) r=1.54m
+[headless_play] t=  6.40s step= 320 trunk_z=  66.6mm grav_b=(-0.04,+0.01,-1.00) r=1.56m
+[headless_play] t=  6.50s step= 325 trunk_z=  57.3mm grav_b=(-0.07,+0.08,-0.99) r=1.59m
+[headless_play] t=  6.60s step= 330 trunk_z=  62.9mm grav_b=(-0.05,+0.11,-0.99) r=1.62m
+[headless_play] t=  6.70s step= 335 trunk_z=  58.9mm grav_b=(+0.01,+0.10,-1.00) r=1.64m
+[headless_play] t=  6.80s step= 340 trunk_z=  50.8mm grav_b=(+0.00,-0.02,-1.00) r=1.67m
+[headless_play] t=  6.90s step= 345 trunk_z=  52.8mm grav_b=(-0.04,-0.07,-1.00) r=1.70m
+[headless_play] t=  7.00s step= 350 trunk_z=  46.9mm grav_b=(+0.04,+0.02,-1.00) r=1.74m
+[headless_play] t=  7.10s step= 355 trunk_z=  40.0mm grav_b=(-0.07,+0.16,-0.98) r=1.79m
+[headless_play] t=  7.20s step= 360 trunk_z=  42.1mm grav_b=(-0.09,+0.13,-0.99) r=1.82m
+[headless_play] t=  7.30s step= 365 trunk_z=  34.4mm grav_b=(-0.03,+0.11,-0.99) r=1.84m
+[headless_play] t=  7.40s step= 370 trunk_z=  34.5mm grav_b=(-0.05,-0.03,-1.00) r=1.86m
+[headless_play] t=  7.50s step= 375 trunk_z=  34.4mm grav_b=(-0.00,-0.04,-1.00) r=1.88m
+[headless_play] t=  7.60s step= 380 trunk_z=  25.8mm grav_b=(-0.01,-0.02,-1.00) r=1.90m
+[headless_play] t=  7.70s step= 385 trunk_z=  27.2mm grav_b=(-0.06,+0.05,-1.00) r=1.92m
+[headless_play] t=  7.80s step= 390 trunk_z=  26.8mm grav_b=(-0.05,+0.01,-1.00) r=1.93m
+[headless_play] t=  7.90s step= 395 trunk_z=  16.6mm grav_b=(-0.04,-0.00,-1.00) r=1.95m
+[headless_play] t=  8.00s step= 400 trunk_z=  19.4mm grav_b=(-0.02,-0.00,-1.00) r=1.97m
+[headless_play] t=  8.10s step= 405 trunk_z=  12.2mm grav_b=(+0.02,+0.02,-1.00) r=1.99m
+[headless_play] t=  8.20s step= 410 trunk_z=  16.2mm grav_b=(-0.00,+0.10,-1.00) r=2.02m
+[headless_play] t=  8.30s step= 415 trunk_z=  16.0mm grav_b=(+0.01,+0.10,-0.99) r=2.05m
+[headless_play] t=  8.40s step= 420 trunk_z=  14.8mm grav_b=(+0.02,+0.05,-1.00) r=2.08m
+[headless_play] t=  8.50s step= 425 trunk_z=  14.1mm grav_b=(-0.01,-0.07,-1.00) r=2.13m
+[headless_play] t=  8.60s step= 430 trunk_z=  12.5mm grav_b=(-0.03,-0.08,-1.00) r=2.16m
+[headless_play] t=  8.70s step= 435 trunk_z=  -1.4mm grav_b=(-0.03,-0.01,-1.00) r=2.19m
+[headless_play] t=  8.80s step= 440 trunk_z=   3.2mm grav_b=(-0.08,+0.02,-1.00) r=2.20m
+[headless_play] t=  8.90s step= 445 trunk_z=  -6.7mm grav_b=(-0.09,-0.05,-0.99) r=2.22m
+[headless_play] t=  9.00s step= 450 trunk_z=  -1.4mm grav_b=(-0.07,-0.08,-0.99) r=2.23m
+[headless_play] t=  9.10s step= 455 trunk_z=  -3.2mm grav_b=(-0.04,-0.05,-1.00) r=2.24m
+[headless_play] t=  9.20s step= 460 trunk_z=  -1.7mm grav_b=(-0.08,-0.01,-1.00) r=2.24m
+[headless_play] t=  9.30s step= 465 trunk_z=   0.4mm grav_b=(-0.06,-0.04,-1.00) r=2.23m
+[headless_play] t=  9.40s step= 470 trunk_z= -17.5mm grav_b=(-0.03,-0.03,-1.00) r=2.21m
+[headless_play] t=  9.50s step= 475 trunk_z= -15.9mm grav_b=(+0.04,-0.02,-1.00) r=2.22m
+[headless_play] t=  9.60s step= 480 trunk_z= -15.2mm grav_b=(+0.11,+0.03,-0.99) r=2.24m
+[headless_play] t=  9.70s step= 485 trunk_z=   1.2mm grav_b=(+0.04,+0.03,-1.00) r=2.25m
+[headless_play] t=  9.80s step= 490 trunk_z=  -1.6mm grav_b=(-0.03,-0.02,-1.00) r=2.27m
+[headless_play] t=  9.90s step= 495 trunk_z=   4.0mm grav_b=(-0.07,-0.09,-0.99) r=2.29m
+[headless_play] t= 10.00s step= 500 trunk_z=   4.4mm grav_b=(-0.05,-0.09,-0.99) r=2.31m
+[headless_play] t= 10.10s step= 505 trunk_z=  -0.1mm grav_b=(-0.05,+0.01,-1.00) r=2.31m
+[headless_play] t= 10.20s step= 510 trunk_z=  11.8mm grav_b=(-0.08,+0.08,-0.99) r=2.31m
+[headless_play] t= 10.30s step= 515 trunk_z=  14.5mm grav_b=(-0.07,+0.07,-0.99) r=2.31m
+[headless_play] t= 10.40s step= 520 trunk_z=  13.6mm grav_b=(-0.04,+0.05,-1.00) r=2.29m
+[headless_play] t= 10.50s step= 525 trunk_z=  -5.3mm grav_b=(+0.05,+0.07,-1.00) r=2.26m
+[headless_play] t= 10.60s step= 530 trunk_z=  -2.3mm grav_b=(+0.07,+0.05,-1.00) r=2.23m
+[headless_play] t= 10.70s step= 535 trunk_z= -13.7mm grav_b=(+0.03,-0.01,-1.00) r=2.22m
+[headless_play] t= 10.80s step= 540 trunk_z=  -9.4mm grav_b=(-0.06,-0.02,-1.00) r=2.20m
+[headless_play] t= 10.90s step= 545 trunk_z=  -9.6mm grav_b=(-0.01,-0.04,-1.00) r=2.18m
+[headless_play] t= 11.00s step= 550 trunk_z=  -3.2mm grav_b=(+0.05,-0.02,-1.00) r=2.18m
+[headless_play] t= 11.10s step= 555 trunk_z= -14.4mm grav_b=(+0.05,+0.04,-1.00) r=2.19m
+[headless_play] t= 11.20s step= 560 trunk_z=  -3.9mm grav_b=(+0.06,+0.03,-1.00) r=2.21m
+[headless_play] t= 11.30s step= 565 trunk_z=  -5.1mm grav_b=(-0.02,-0.03,-1.00) r=2.21m
+[headless_play] t= 11.40s step= 570 trunk_z=   2.1mm grav_b=(-0.08,-0.13,-0.99) r=2.22m
+[headless_play] t= 11.50s step= 575 trunk_z=   3.4mm grav_b=(-0.05,-0.13,-0.99) r=2.22m
+[headless_play] t= 11.60s step= 580 trunk_z=   3.4mm grav_b=(-0.06,-0.13,-0.99) r=2.21m
+[headless_play] t= 11.70s step= 585 trunk_z=   2.8mm grav_b=(+0.00,-0.06,-1.00) r=2.19m
+[headless_play] t= 11.80s step= 590 trunk_z=  -6.7mm grav_b=(+0.09,-0.00,-1.00) r=2.18m
+[headless_play] t= 11.90s step= 595 trunk_z=  -3.0mm grav_b=(+0.04,-0.00,-1.00) r=2.17m
+[headless_play] t= 12.00s step= 600 trunk_z=  -3.2mm grav_b=(-0.05,-0.01,-1.00) r=2.17m
+[headless_play] t= 12.10s step= 605 trunk_z=  -5.7mm grav_b=(-0.03,+0.05,-1.00) r=2.19m
+[headless_play] t= 12.20s step= 610 trunk_z=   0.9mm grav_b=(-0.01,+0.07,-1.00) r=2.21m
+[headless_play] t= 12.30s step= 615 trunk_z=   5.8mm grav_b=(-0.01,+0.06,-1.00) r=2.22m
+[headless_play] t= 12.40s step= 620 trunk_z=   3.1mm grav_b=(-0.03,+0.05,-1.00) r=2.24m
+[headless_play] t= 12.50s step= 625 trunk_z=   0.9mm grav_b=(-0.02,-0.09,-1.00) r=2.25m
+[headless_play] t= 12.60s step= 630 trunk_z=   1.7mm grav_b=(-0.03,-0.12,-0.99) r=2.26m
+[headless_play] t= 12.70s step= 635 trunk_z=  -0.7mm grav_b=(-0.04,-0.07,-1.00) r=2.27m
+[headless_play] t= 12.80s step= 640 trunk_z=   4.6mm grav_b=(-0.05,-0.01,-1.00) r=2.28m
+[headless_play] t= 12.90s step= 645 trunk_z=   2.8mm grav_b=(-0.04,-0.02,-1.00) r=2.29m
+[headless_play] t= 13.00s step= 650 trunk_z=  -0.8mm grav_b=(+0.02,-0.11,-0.99) r=2.30m
+[headless_play] t= 13.10s step= 655 trunk_z=   8.7mm grav_b=(+0.02,-0.13,-0.99) r=2.31m
+[headless_play] t= 13.20s step= 660 trunk_z=  10.6mm grav_b=(-0.01,-0.09,-1.00) r=2.32m
+[headless_play] t= 13.30s step= 665 trunk_z=   3.8mm grav_b=(-0.05,-0.05,-1.00) r=2.35m
+[headless_play] t= 13.40s step= 670 trunk_z=   7.6mm grav_b=(-0.08,-0.01,-1.00) r=2.35m
+[headless_play] t= 13.50s step= 675 trunk_z=  -5.1mm grav_b=(-0.08,-0.07,-0.99) r=2.35m
+[headless_play] t= 13.60s step= 680 trunk_z=  -0.5mm grav_b=(-0.07,-0.06,-1.00) r=2.35m
+[headless_play] t= 13.70s step= 685 trunk_z=  -2.5mm grav_b=(-0.06,-0.04,-1.00) r=2.36m
+[headless_play] t= 13.80s step= 690 trunk_z=   1.2mm grav_b=(-0.03,-0.01,-1.00) r=2.37m
+[headless_play] t= 13.90s step= 695 trunk_z=  -0.5mm grav_b=(-0.01,-0.04,-1.00) r=2.37m
+[headless_play] t= 14.00s step= 700 trunk_z=  -7.0mm grav_b=(-0.02,-0.12,-0.99) r=2.36m
+[headless_play] t= 14.10s step= 705 trunk_z=  -0.2mm grav_b=(-0.03,-0.13,-0.99) r=2.36m
+[headless_play] t= 14.20s step= 710 trunk_z=  -1.1mm grav_b=(-0.02,-0.12,-0.99) r=2.36m
+[headless_play] t= 14.30s step= 715 trunk_z=  -3.5mm grav_b=(-0.03,-0.04,-1.00) r=2.38m
+[headless_play] t= 14.40s step= 720 trunk_z=   3.1mm grav_b=(-0.05,-0.01,-1.00) r=2.39m
+[headless_play] t= 14.50s step= 725 trunk_z=  -3.4mm grav_b=(-0.05,-0.02,-1.00) r=2.39m
+[headless_play] t= 14.60s step= 730 trunk_z=  -4.9mm grav_b=(-0.04,-0.13,-0.99) r=2.38m
+[headless_play] t= 14.70s step= 735 trunk_z=  -1.7mm grav_b=(+0.03,-0.14,-0.99) r=2.39m
+[headless_play] t= 14.80s step= 740 trunk_z=   1.2mm grav_b=(-0.01,-0.07,-1.00) r=2.40m
+[headless_play] t= 14.90s step= 745 trunk_z=   1.2mm grav_b=(-0.04,+0.02,-1.00) r=2.42m
+[headless_play] t= 15.00s step= 750 trunk_z=   0.3mm grav_b=(-0.06,+0.01,-1.00) r=2.43m
+[headless_play] t= 15.10s step= 755 trunk_z=  -7.2mm grav_b=(-0.06,-0.01,-1.00) r=2.42m
+[headless_play] t= 15.20s step= 760 trunk_z=  -6.6mm grav_b=(-0.07,+0.02,-1.00) r=2.43m
+[headless_play] t= 15.30s step= 765 trunk_z=  -4.8mm grav_b=(-0.08,+0.02,-1.00) r=2.45m
+[headless_play] t= 15.40s step= 770 trunk_z=  -2.4mm grav_b=(-0.08,-0.02,-1.00) r=2.44m
+[headless_play] t= 15.50s step= 775 trunk_z=  -5.5mm grav_b=(-0.05,-0.07,-1.00) r=2.43m
+[headless_play] t= 15.60s step= 780 trunk_z=  -0.6mm grav_b=(-0.04,-0.04,-1.00) r=2.43m
+[headless_play] t= 15.70s step= 785 trunk_z=  -8.0mm grav_b=(-0.02,-0.00,-1.00) r=2.45m
+[headless_play] t= 15.80s step= 790 trunk_z=   0.0mm grav_b=(-0.02,+0.08,-1.00) r=2.47m
+[headless_play] t= 15.90s step= 795 trunk_z=   0.8mm grav_b=(-0.01,+0.07,-1.00) r=2.49m
+[headless_play] t= 16.00s step= 800 trunk_z=  -7.7mm grav_b=(+0.02,-0.02,-1.00) r=2.50m
+[headless_play] t= 16.10s step= 805 trunk_z=   6.6mm grav_b=(-0.04,-0.09,-1.00) r=2.52m
+[headless_play] t= 16.20s step= 810 trunk_z=   3.1mm grav_b=(-0.05,-0.06,-1.00) r=2.54m
+[headless_play] t= 16.30s step= 815 trunk_z=  -3.2mm grav_b=(-0.06,+0.07,-1.00) r=2.57m
+[headless_play] t= 16.40s step= 820 trunk_z=   1.1mm grav_b=(-0.04,+0.06,-1.00) r=2.57m
+[headless_play] t= 16.50s step= 825 trunk_z=  -9.4mm grav_b=(-0.07,-0.04,-1.00) r=2.55m
+[headless_play] t= 16.60s step= 830 trunk_z=   4.8mm grav_b=(-0.08,-0.10,-0.99) r=2.53m
+[headless_play] t= 16.70s step= 835 trunk_z=   5.4mm grav_b=(-0.06,-0.12,-0.99) r=2.52m
+[headless_play] t= 16.80s step= 840 trunk_z=   1.9mm grav_b=(-0.00,-0.08,-1.00) r=2.53m
+[headless_play] t= 16.90s step= 845 trunk_z=  -3.2mm grav_b=(-0.03,+0.07,-1.00) r=2.55m
+[headless_play] t= 17.00s step= 850 trunk_z=   6.1mm grav_b=(-0.03,+0.13,-0.99) r=2.58m
+[headless_play] t= 17.10s step= 855 trunk_z=   4.1mm grav_b=(-0.03,+0.12,-0.99) r=2.59m
+[headless_play] t= 17.20s step= 860 trunk_z=   5.6mm grav_b=(-0.05,+0.02,-1.00) r=2.59m
+[headless_play] t= 17.30s step= 865 trunk_z=   4.4mm grav_b=(-0.07,-0.05,-1.00) r=2.59m
+[headless_play] t= 17.40s step= 870 trunk_z=   4.0mm grav_b=(-0.09,-0.06,-0.99) r=2.59m
+[headless_play] t= 17.50s step= 875 trunk_z=  -3.7mm grav_b=(-0.06,-0.02,-1.00) r=2.62m
+[headless_play] t= 17.60s step= 880 trunk_z=  -0.3mm grav_b=(-0.01,+0.03,-1.00) r=2.64m
+[headless_play] t= 17.70s step= 885 trunk_z=   1.1mm grav_b=(-0.00,+0.06,-1.00) r=2.65m
+[headless_play] t= 17.80s step= 890 trunk_z=  -0.8mm grav_b=(-0.01,+0.05,-1.00) r=2.67m
+[headless_play] t= 17.90s step= 895 trunk_z=   1.6mm grav_b=(-0.03,-0.03,-1.00) r=2.70m
+[headless_play] t= 18.00s step= 900 trunk_z=  -4.2mm grav_b=(-0.09,+0.01,-1.00) r=2.73m
+[headless_play] t= 18.10s step= 905 trunk_z=  -3.2mm grav_b=(-0.09,+0.07,-0.99) r=2.76m
+[headless_play] t= 18.20s step= 910 trunk_z=  -1.1mm grav_b=(-0.07,+0.05,-1.00) r=2.77m
+[headless_play] t= 18.30s step= 915 trunk_z=  -6.5mm grav_b=(-0.07,+0.00,-1.00) r=2.76m
+[headless_play] t= 18.40s step= 920 trunk_z=  -2.8mm grav_b=(-0.04,-0.01,-1.00) r=2.76m
+[headless_play] t= 18.50s step= 925 trunk_z=  -8.4mm grav_b=(-0.03,+0.03,-1.00) r=2.79m
+[headless_play] t= 18.60s step= 930 trunk_z=   0.4mm grav_b=(-0.09,+0.13,-0.99) r=2.82m
+[headless_play] t= 18.70s step= 935 trunk_z=   2.9mm grav_b=(-0.07,+0.20,-0.98) r=2.84m
+[headless_play] t= 18.80s step= 940 trunk_z=  -0.9mm grav_b=(+0.02,+0.41,-0.91) r=2.86m
+[headless_play] t= 18.90s step= 945 trunk_z= -12.4mm grav_b=(-0.11,+0.61,-0.78) r=2.90m
+[headless_play] RESET at t= 18.98s step= 949 (env termination, not a recovery)
+[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(-0.01,-0.00,-1.00) r=0.44m
+[headless_play] t= 19.10s step= 955 trunk_z= 114.8mm grav_b=(-0.04,+0.02,-1.00) r=0.43m
+[headless_play] t= 19.20s step= 960 trunk_z= 116.0mm grav_b=(-0.07,+0.07,-1.00) r=0.42m
+[headless_play] t= 19.30s step= 965 trunk_z= 121.4mm grav_b=(-0.07,-0.00,-1.00) r=0.41m
+[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(-0.09,+0.01,-1.00) r=0.40m
+[headless_play] t= 19.50s step= 975 trunk_z= 119.2mm grav_b=(-0.08,-0.05,-1.00) r=0.39m
+[headless_play] t= 19.60s step= 980 trunk_z= 121.4mm grav_b=(-0.05,-0.06,-1.00) r=0.38m
+[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(-0.01,-0.03,-1.00) r=0.37m
+[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(-0.06,+0.08,-0.99) r=0.35m
+[headless_play] t= 19.90s step= 995 trunk_z= 122.4mm grav_b=(-0.03,+0.05,-1.00) r=0.34m
+[headless_play] t= 20.00s step=1000 trunk_z= 115.8mm grav_b=(-0.06,+0.05,-1.00) r=0.32m
+[headless_play] t= 20.10s step=1005 trunk_z= 120.5mm grav_b=(-0.07,-0.07,-0.99) r=0.31m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t9.log

@@ -0,0 +1,210 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(-13.859,-18.460,+0.254)
+[headless_play] t=  0.00s step=   0 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00) r=0.48m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.9mm grav_b=(-0.01,+0.02,-1.00) r=0.48m
+[headless_play] t=  0.20s step=  10 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.48m
+[headless_play] t=  0.30s step=  15 trunk_z= 114.7mm grav_b=(-0.01,-0.07,-1.00) r=0.47m
+[headless_play] t=  0.40s step=  20 trunk_z= 122.6mm grav_b=(+0.01,-0.09,-1.00) r=0.46m
+[headless_play] t=  0.50s step=  25 trunk_z= 123.4mm grav_b=(+0.03,-0.06,-1.00) r=0.45m
+[headless_play] t=  0.60s step=  30 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.44m
+[headless_play] t=  0.70s step=  35 trunk_z= 123.4mm grav_b=(+0.00,+0.03,-1.00) r=0.44m
+[headless_play] t=  0.80s step=  40 trunk_z= 122.7mm grav_b=(+0.01,+0.04,-1.00) r=0.43m
+[headless_play] t=  0.90s step=  45 trunk_z= 120.3mm grav_b=(-0.01,-0.06,-1.00) r=0.42m
+[headless_play] t=  1.00s step=  50 trunk_z= 124.1mm grav_b=(-0.02,-0.08,-1.00) r=0.41m
+[headless_play] t=  1.10s step=  55 trunk_z= 121.6mm grav_b=(-0.02,-0.06,-1.00) r=0.40m
+[headless_play] t=  1.20s step=  60 trunk_z= 121.5mm grav_b=(-0.03,+0.02,-1.00) r=0.39m
+[headless_play] t=  1.30s step=  65 trunk_z= 123.7mm grav_b=(-0.00,+0.02,-1.00) r=0.38m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.2mm grav_b=(-0.00,-0.04,-1.00) r=0.38m
+[headless_play] t=  1.50s step=  75 trunk_z= 123.2mm grav_b=(-0.01,-0.08,-1.00) r=0.37m
+[headless_play] t=  1.60s step=  80 trunk_z= 123.4mm grav_b=(-0.04,-0.10,-0.99) r=0.37m
+[headless_play] t=  1.70s step=  85 trunk_z= 120.0mm grav_b=(-0.08,-0.07,-0.99) r=0.36m
+[headless_play] t=  1.80s step=  90 trunk_z= 123.2mm grav_b=(-0.01,+0.04,-1.00) r=0.36m
+[headless_play] t=  1.90s step=  95 trunk_z= 123.7mm grav_b=(+0.03,+0.00,-1.00) r=0.35m
+[headless_play] t=  2.00s step= 100 trunk_z= 117.9mm grav_b=(+0.03,-0.06,-1.00) r=0.34m
+[headless_play] t=  2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.01,-0.07,-1.00) r=0.33m
+[headless_play] t=  2.20s step= 110 trunk_z= 128.2mm grav_b=(+0.06,-0.07,-1.00) r=0.30m
+[headless_play] t=  2.30s step= 115 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=0.25m
+[headless_play] t=  2.40s step= 120 trunk_z= 124.0mm grav_b=(-0.00,-0.01,-1.00) r=0.24m
+[headless_play] t=  2.50s step= 125 trunk_z= 119.9mm grav_b=(-0.07,-0.05,-1.00) r=0.24m
+[headless_play] t=  2.60s step= 130 trunk_z= 121.1mm grav_b=(-0.08,-0.09,-0.99) r=0.24m
+[headless_play] t=  2.70s step= 135 trunk_z= 123.4mm grav_b=(-0.04,-0.08,-1.00) r=0.23m
+[headless_play] t=  2.80s step= 140 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.19m
+[headless_play] t=  2.90s step= 145 trunk_z= 124.9mm grav_b=(+0.09,+0.06,-0.99) r=0.17m
+[headless_play] t=  3.00s step= 150 trunk_z= 125.4mm grav_b=(+0.07,+0.04,-1.00) r=0.15m
+[headless_play] t=  3.10s step= 155 trunk_z= 120.3mm grav_b=(+0.01,-0.04,-1.00) r=0.15m
+[headless_play] t=  3.20s step= 160 trunk_z= 122.9mm grav_b=(+0.01,-0.05,-1.00) r=0.13m
+[headless_play] t=  3.30s step= 165 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.10m
+[headless_play] t=  3.40s step= 170 trunk_z= 120.9mm grav_b=(-0.03,+0.02,-1.00) r=0.09m
+[headless_play] t=  3.50s step= 175 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.10m
+[headless_play] t=  3.60s step= 180 trunk_z= 114.3mm grav_b=(+0.01,-0.09,-1.00) r=0.12m
+[headless_play] t=  3.70s step= 185 trunk_z= 113.1mm grav_b=(+0.06,-0.03,-1.00) r=0.11m
+[headless_play] t=  3.80s step= 190 trunk_z= 115.7mm grav_b=(+0.09,+0.09,-0.99) r=0.09m
+[headless_play] t=  3.90s step= 195 trunk_z= 120.1mm grav_b=(+0.09,+0.08,-0.99) r=0.09m
+[headless_play] t=  4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.08,+0.03,-1.00) r=0.12m
+[headless_play] t=  4.10s step= 205 trunk_z= 121.5mm grav_b=(+0.04,-0.07,-1.00) r=0.15m
+[headless_play] t=  4.20s step= 210 trunk_z= 119.8mm grav_b=(+0.06,-0.07,-1.00) r=0.16m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.1mm grav_b=(+0.01,+0.03,-1.00) r=0.17m
+[headless_play] t=  4.40s step= 220 trunk_z= 118.5mm grav_b=(+0.00,+0.03,-1.00) r=0.19m
+[headless_play] t=  4.50s step= 225 trunk_z= 112.2mm grav_b=(+0.05,-0.02,-1.00) r=0.21m
+[headless_play] t=  4.60s step= 230 trunk_z= 123.5mm grav_b=(+0.14,-0.13,-0.98) r=0.24m
+[headless_play] t=  4.70s step= 235 trunk_z= 132.2mm grav_b=(+0.08,-0.10,-0.99) r=0.26m
+[headless_play] t=  4.80s step= 240 trunk_z= 121.6mm grav_b=(+0.03,-0.06,-1.00) r=0.29m
+[headless_play] t=  4.90s step= 245 trunk_z= 126.7mm grav_b=(+0.00,-0.09,-1.00) r=0.30m
+[headless_play] t=  5.00s step= 250 trunk_z= 118.1mm grav_b=(-0.01,-0.11,-0.99) r=0.32m
+[headless_play] t=  5.10s step= 255 trunk_z= 120.7mm grav_b=(-0.01,-0.10,-0.99) r=0.33m
+[headless_play] t=  5.20s step= 260 trunk_z= 115.6mm grav_b=(+0.00,-0.00,-1.00) r=0.32m
+[headless_play] t=  5.30s step= 265 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.32m
+[headless_play] t=  5.40s step= 270 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.33m
+[headless_play] t=  5.50s step= 275 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.32m
+[headless_play] t=  5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.05,+0.00,-1.00) r=0.32m
+[headless_play] t=  5.70s step= 285 trunk_z= 115.2mm grav_b=(-0.07,-0.03,-1.00) r=0.31m
+[headless_play] t=  5.80s step= 290 trunk_z= 117.0mm grav_b=(-0.07,-0.07,-1.00) r=0.31m
+[headless_play] t=  5.90s step= 295 trunk_z= 112.8mm grav_b=(-0.01,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.00s step= 300 trunk_z= 113.7mm grav_b=(-0.01,-0.02,-1.00) r=0.30m
+[headless_play] t=  6.10s step= 305 trunk_z= 114.7mm grav_b=(+0.00,-0.01,-1.00) r=0.30m
+[headless_play] t=  6.20s step= 310 trunk_z= 114.6mm grav_b=(-0.00,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.30s step= 315 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.40s step= 320 trunk_z= 114.7mm grav_b=(-0.03,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.50s step= 325 trunk_z= 115.0mm grav_b=(-0.06,+0.00,-1.00) r=0.29m
+[headless_play] t=  6.60s step= 330 trunk_z= 115.3mm grav_b=(-0.05,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.70s step= 335 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.80s step= 340 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m
+[headless_play] t=  6.90s step= 345 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) r=0.30m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.8mm grav_b=(-0.03,-0.00,-1.00) r=0.30m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.7mm grav_b=(-0.08,-0.04,-1.00) r=0.30m
+[headless_play] t=  7.20s step= 360 trunk_z= 116.2mm grav_b=(-0.11,-0.02,-0.99) r=0.29m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.12,-0.03,-0.99) r=0.29m
+[headless_play] t=  7.40s step= 370 trunk_z= 114.3mm grav_b=(-0.07,+0.02,-1.00) r=0.28m
+[headless_play] t=  7.50s step= 375 trunk_z= 113.6mm grav_b=(-0.04,-0.04,-1.00) r=0.28m
+[headless_play] t=  7.60s step= 380 trunk_z= 113.8mm grav_b=(-0.00,-0.02,-1.00) r=0.28m
+[headless_play] t=  7.70s step= 385 trunk_z= 114.6mm grav_b=(-0.01,-0.01,-1.00) r=0.28m
+[headless_play] t=  7.80s step= 390 trunk_z= 116.3mm grav_b=(-0.10,-0.07,-0.99) r=0.28m
+[headless_play] t=  7.90s step= 395 trunk_z= 116.0mm grav_b=(-0.12,-0.03,-0.99) r=0.27m
+[headless_play] t=  8.00s step= 400 trunk_z= 116.9mm grav_b=(-0.17,-0.09,-0.98) r=0.28m
+[headless_play] t=  8.10s step= 405 trunk_z= 116.7mm grav_b=(+0.00,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.20s step= 410 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=0.26m
+[headless_play] t=  8.30s step= 415 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.27m
+[headless_play] t=  8.40s step= 420 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.27m
+[headless_play] t=  8.50s step= 425 trunk_z= 114.9mm grav_b=(-0.07,-0.01,-1.00) r=0.27m
+[headless_play] t=  8.60s step= 430 trunk_z= 115.5mm grav_b=(-0.15,-0.07,-0.99) r=0.29m
+[headless_play] t=  8.70s step= 435 trunk_z= 120.5mm grav_b=(-0.13,-0.11,-0.99) r=0.30m
+[headless_play] t=  8.80s step= 440 trunk_z= 112.3mm grav_b=(+0.00,+0.02,-1.00) r=0.32m
+[headless_play] t=  8.90s step= 445 trunk_z= 114.8mm grav_b=(-0.00,-0.02,-1.00) r=0.33m
+[headless_play] t=  9.00s step= 450 trunk_z= 115.9mm grav_b=(+0.01,-0.06,-1.00) r=0.32m
+[headless_play] t=  9.10s step= 455 trunk_z= 115.4mm grav_b=(+0.03,-0.04,-1.00) r=0.33m
+[headless_play] t=  9.20s step= 460 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.34m
+[headless_play] t=  9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.08,-0.01,-1.00) r=0.34m
+[headless_play] t=  9.40s step= 470 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.34m
+[headless_play] t=  9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.34m
+[headless_play] t=  9.60s step= 480 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.33m
+[headless_play] t=  9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.34m
+[headless_play] t=  9.80s step= 490 trunk_z= 119.3mm grav_b=(-0.01,-0.03,-1.00) r=0.33m
+[headless_play] t=  9.90s step= 495 trunk_z= 122.0mm grav_b=(+0.03,-0.06,-1.00) r=0.32m
+[headless_play] t= 10.00s step= 500 trunk_z= 120.3mm grav_b=(+0.03,-0.03,-1.00) r=0.33m
+[headless_play] t= 10.10s step= 505 trunk_z= 119.7mm grav_b=(+0.01,-0.03,-1.00) r=0.33m
+[headless_play] t= 10.20s step= 510 trunk_z= 117.3mm grav_b=(-0.03,-0.03,-1.00) r=0.33m
+[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(-0.06,-0.02,-1.00) r=0.34m
+[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(-0.06,+0.00,-1.00) r=0.33m
+[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.33m
+[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.00,-0.01,-1.00) r=0.33m
+[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.33m
+[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.33m
+[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.33m
+[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.33m
+[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.33m
+[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.32m
+[headless_play] t= 11.30s step= 565 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.32m
+[headless_play] t= 11.40s step= 570 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.33m
+[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.33m
+[headless_play] t= 11.60s step= 580 trunk_z= 115.9mm grav_b=(-0.02,+0.03,-1.00) r=0.32m
+[headless_play] t= 11.70s step= 585 trunk_z= 119.1mm grav_b=(+0.01,+0.02,-1.00) r=0.31m
+[headless_play] t= 11.80s step= 590 trunk_z= 119.9mm grav_b=(+0.02,+0.01,-1.00) r=0.30m
+[headless_play] t= 11.90s step= 595 trunk_z= 117.7mm grav_b=(-0.02,-0.07,-1.00) r=0.29m
+[headless_play] t= 12.00s step= 600 trunk_z= 120.9mm grav_b=(-0.02,-0.07,-1.00) r=0.29m
+[headless_play] t= 12.10s step= 605 trunk_z= 118.6mm grav_b=(-0.03,-0.03,-1.00) r=0.27m
+[headless_play] t= 12.20s step= 610 trunk_z= 121.0mm grav_b=(-0.03,+0.06,-1.00) r=0.26m
+[headless_play] t= 12.30s step= 615 trunk_z= 121.9mm grav_b=(+0.01,+0.01,-1.00) r=0.25m
+[headless_play] t= 12.40s step= 620 trunk_z= 114.5mm grav_b=(-0.03,-0.00,-1.00) r=0.24m
+[headless_play] t= 12.50s step= 625 trunk_z= 118.2mm grav_b=(-0.05,-0.04,-1.00) r=0.24m
+[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(-0.04,+0.02,-1.00) r=0.23m
+[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.02,+0.05,-1.00) r=0.23m
+[headless_play] t= 12.80s step= 640 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.22m
+[headless_play] t= 12.90s step= 645 trunk_z= 121.2mm grav_b=(+0.05,-0.10,-0.99) r=0.21m
+[headless_play] t= 13.00s step= 650 trunk_z= 125.2mm grav_b=(+0.06,-0.12,-0.99) r=0.19m
+[headless_play] t= 13.10s step= 655 trunk_z= 124.6mm grav_b=(+0.03,-0.08,-1.00) r=0.18m
+[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(+0.02,+0.04,-1.00) r=0.16m
+[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(+0.00,+0.03,-1.00) r=0.14m
+[headless_play] t= 13.40s step= 670 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=0.14m
+[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(-0.01,-0.08,-1.00) r=0.14m
+[headless_play] t= 13.60s step= 680 trunk_z= 121.5mm grav_b=(-0.01,-0.08,-1.00) r=0.12m
+[headless_play] t= 13.70s step= 685 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=0.10m
+[headless_play] t= 13.80s step= 690 trunk_z= 124.7mm grav_b=(+0.01,+0.03,-1.00) r=0.09m
+[headless_play] t= 13.90s step= 695 trunk_z= 119.2mm grav_b=(+0.06,-0.03,-1.00) r=0.09m
+[headless_play] t= 14.00s step= 700 trunk_z= 124.3mm grav_b=(+0.14,-0.10,-0.98) r=0.08m
+[headless_play] t= 14.10s step= 705 trunk_z= 132.5mm grav_b=(+0.14,-0.13,-0.98) r=0.09m
+[headless_play] t= 14.20s step= 710 trunk_z= 113.9mm grav_b=(+0.08,-0.07,-0.99) r=0.11m
+[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(+0.09,-0.04,-0.99) r=0.13m
+[headless_play] t= 14.40s step= 720 trunk_z= 119.8mm grav_b=(-0.03,-0.03,-1.00) r=0.15m
+[headless_play] t= 14.50s step= 725 trunk_z= 119.5mm grav_b=(-0.06,-0.11,-0.99) r=0.18m
+[headless_play] t= 14.60s step= 730 trunk_z= 123.7mm grav_b=(-0.04,-0.12,-0.99) r=0.19m
+[headless_play] t= 14.70s step= 735 trunk_z= 119.5mm grav_b=(-0.00,-0.08,-1.00) r=0.20m
+[headless_play] t= 14.80s step= 740 trunk_z= 120.3mm grav_b=(+0.05,+0.03,-1.00) r=0.20m
+[headless_play] t= 14.90s step= 745 trunk_z= 119.1mm grav_b=(+0.07,-0.02,-1.00) r=0.23m
+[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(+0.07,-0.07,-1.00) r=0.26m
+[headless_play] t= 15.10s step= 755 trunk_z= 123.1mm grav_b=(+0.05,-0.09,-0.99) r=0.27m
+[headless_play] t= 15.20s step= 760 trunk_z= 117.5mm grav_b=(+0.00,-0.04,-1.00) r=0.28m
+[headless_play] t= 15.30s step= 765 trunk_z= 122.4mm grav_b=(-0.02,+0.03,-1.00) r=0.29m
+[headless_play] t= 15.40s step= 770 trunk_z= 121.5mm grav_b=(-0.06,-0.01,-1.00) r=0.28m
+[headless_play] t= 15.50s step= 775 trunk_z= 115.7mm grav_b=(-0.04,-0.08,-1.00) r=0.28m
+[headless_play] t= 15.60s step= 780 trunk_z= 123.1mm grav_b=(+0.01,-0.13,-0.99) r=0.28m
+[headless_play] t= 15.70s step= 785 trunk_z= 123.4mm grav_b=(+0.02,-0.09,-1.00) r=0.28m
+[headless_play] t= 15.80s step= 790 trunk_z= 118.2mm grav_b=(+0.03,-0.06,-1.00) r=0.29m
+[headless_play] t= 15.90s step= 795 trunk_z= 123.5mm grav_b=(+0.05,+0.07,-1.00) r=0.30m
+[headless_play] t= 16.00s step= 800 trunk_z= 125.3mm grav_b=(+0.08,+0.04,-1.00) r=0.31m
+[headless_play] t= 16.10s step= 805 trunk_z= 119.0mm grav_b=(+0.06,+0.00,-1.00) r=0.34m
+[headless_play] t= 16.20s step= 810 trunk_z= 124.1mm grav_b=(+0.07,-0.04,-1.00) r=0.37m
+[headless_play] t= 16.30s step= 815 trunk_z= 124.0mm grav_b=(+0.02,-0.02,-1.00) r=0.40m
+[headless_play] t= 16.40s step= 820 trunk_z= 119.0mm grav_b=(-0.03,+0.04,-1.00) r=0.43m
+[headless_play] t= 16.50s step= 825 trunk_z= 123.7mm grav_b=(-0.02,+0.02,-1.00) r=0.44m
+[headless_play] t= 16.60s step= 830 trunk_z= 116.7mm grav_b=(-0.02,-0.03,-1.00) r=0.46m
+[headless_play] t= 16.70s step= 835 trunk_z= 121.5mm grav_b=(-0.00,-0.09,-1.00) r=0.47m
+[headless_play] t= 16.80s step= 840 trunk_z= 123.0mm grav_b=(+0.02,-0.07,-1.00) r=0.49m
+[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(+0.00,-0.01,-1.00) r=0.50m
+[headless_play] t= 17.00s step= 850 trunk_z= 127.0mm grav_b=(-0.01,+0.12,-0.99) r=0.52m
+[headless_play] t= 17.10s step= 855 trunk_z= 128.1mm grav_b=(+0.05,+0.16,-0.99) r=0.53m
+[headless_play] t= 17.20s step= 860 trunk_z= 129.8mm grav_b=(+0.16,+0.13,-0.98) r=0.56m
+[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(+0.06,-0.01,-1.00) r=0.63m
+[headless_play] t= 17.40s step= 870 trunk_z= 129.2mm grav_b=(+0.08,-0.03,-1.00) r=0.66m
+[headless_play] t= 17.50s step= 875 trunk_z= 128.2mm grav_b=(+0.01,-0.04,-1.00) r=0.67m
+[headless_play] t= 17.60s step= 880 trunk_z= 119.6mm grav_b=(-0.07,+0.08,-0.99) r=0.67m
+[headless_play] t= 17.70s step= 885 trunk_z= 124.2mm grav_b=(-0.08,+0.04,-1.00) r=0.68m
+[headless_play] t= 17.80s step= 890 trunk_z= 118.8mm grav_b=(-0.08,-0.02,-1.00) r=0.69m
+[headless_play] t= 17.90s step= 895 trunk_z= 123.4mm grav_b=(-0.05,-0.08,-1.00) r=0.70m
+[headless_play] t= 18.00s step= 900 trunk_z= 122.3mm grav_b=(-0.00,-0.08,-1.00) r=0.71m
+[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(+0.02,+0.05,-1.00) r=0.70m
+[headless_play] t= 18.20s step= 910 trunk_z= 128.5mm grav_b=(-0.00,+0.16,-0.99) r=0.69m
+[headless_play] t= 18.30s step= 915 trunk_z= 126.4mm grav_b=(+0.05,+0.16,-0.99) r=0.69m
+[headless_play] t= 18.40s step= 920 trunk_z= 133.0mm grav_b=(+0.02,+0.05,-1.00) r=0.71m
+[headless_play] t= 18.50s step= 925 trunk_z= 128.8mm grav_b=(+0.10,+0.02,-0.99) r=0.73m
+[headless_play] t= 18.60s step= 930 trunk_z= 130.4mm grav_b=(+0.07,-0.03,-1.00) r=0.73m
+[headless_play] t= 18.70s step= 935 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.73m
+[headless_play] t= 18.80s step= 940 trunk_z= 121.4mm grav_b=(+0.02,-0.05,-1.00) r=0.74m
+[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.00,-0.10,-1.00) r=0.77m
+[headless_play] t= 19.00s step= 950 trunk_z= 124.7mm grav_b=(+0.04,-0.07,-1.00) r=0.79m
+[headless_play] t= 19.10s step= 955 trunk_z= 118.5mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 19.20s step= 960 trunk_z= 124.3mm grav_b=(+0.03,+0.01,-1.00) r=0.80m
+[headless_play] t= 19.30s step= 965 trunk_z= 127.9mm grav_b=(+0.01,+0.02,-1.00) r=0.82m
+[headless_play] t= 19.40s step= 970 trunk_z= 121.9mm grav_b=(-0.05,-0.01,-1.00) r=0.85m
+[headless_play] t= 19.50s step= 975 trunk_z= 123.4mm grav_b=(-0.04,-0.08,-1.00) r=0.87m
+[headless_play] t= 19.60s step= 980 trunk_z= 124.9mm grav_b=(-0.02,-0.08,-1.00) r=0.88m
+[headless_play] t= 19.70s step= 985 trunk_z= 119.6mm grav_b=(-0.01,-0.04,-1.00) r=0.88m
+[headless_play] t= 19.80s step= 990 trunk_z= 124.5mm grav_b=(+0.03,+0.07,-1.00) r=0.88m
+[headless_play] t= 19.90s step= 995 trunk_z= 125.1mm grav_b=(+0.05,+0.10,-0.99) r=0.89m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.27m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.27m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t1.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.871,-18.483,+0.257)
+[headless_play] t=  0.00s step=   0 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.50m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.1mm grav_b=(+0.04,-0.02,-1.00) r=0.49m
+[headless_play] t=  0.20s step=  10 trunk_z= 110.6mm grav_b=(+0.10,-0.06,-0.99) r=0.46m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.8mm grav_b=(+0.16,-0.06,-0.98) r=0.45m
+[headless_play] t=  0.40s step=  20 trunk_z= 115.7mm grav_b=(+0.10,-0.04,-0.99) r=0.45m
+[headless_play] t=  0.50s step=  25 trunk_z= 119.0mm grav_b=(+0.08,+0.01,-1.00) r=0.44m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.1mm grav_b=(+0.07,+0.03,-1.00) r=0.43m
+[headless_play] t=  0.70s step=  35 trunk_z= 112.8mm grav_b=(+0.07,-0.05,-1.00) r=0.40m
+[headless_play] t=  0.80s step=  40 trunk_z= 120.6mm grav_b=(+0.08,-0.06,-1.00) r=0.38m
+[headless_play] t=  0.90s step=  45 trunk_z= 114.6mm grav_b=(+0.07,-0.05,-1.00) r=0.39m
+[headless_play] t=  1.00s step=  50 trunk_z= 115.5mm grav_b=(+0.06,+0.02,-1.00) r=0.40m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.0mm grav_b=(+0.08,+0.03,-1.00) r=0.40m
+[headless_play] t=  1.20s step=  60 trunk_z= 110.8mm grav_b=(+0.08,-0.04,-1.00) r=0.38m
+[headless_play] t=  1.30s step=  65 trunk_z= 122.4mm grav_b=(+0.09,-0.08,-0.99) r=0.36m
+[headless_play] t=  1.40s step=  70 trunk_z= 117.5mm grav_b=(+0.08,-0.09,-0.99) r=0.37m
+[headless_play] t=  1.50s step=  75 trunk_z= 112.6mm grav_b=(+0.08,-0.00,-1.00) r=0.39m
+[headless_play] t=  1.60s step=  80 trunk_z= 117.2mm grav_b=(+0.09,+0.03,-1.00) r=0.40m
+[headless_play] t=  1.70s step=  85 trunk_z= 113.7mm grav_b=(+0.09,+0.01,-1.00) r=0.39m
+[headless_play] t=  1.80s step=  90 trunk_z= 120.5mm grav_b=(+0.09,-0.05,-0.99) r=0.38m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.4mm grav_b=(+0.09,-0.06,-0.99) r=0.39m
+[headless_play] t=  2.00s step= 100 trunk_z= 109.3mm grav_b=(+0.07,+0.00,-1.00) r=0.42m
+[headless_play] t=  2.10s step= 105 trunk_z= 116.6mm grav_b=(+0.08,+0.00,-1.00) r=0.43m
+[headless_play] t=  2.20s step= 110 trunk_z= 112.7mm grav_b=(+0.08,-0.02,-1.00) r=0.43m
+[headless_play] t=  2.30s step= 115 trunk_z= 120.3mm grav_b=(+0.07,-0.06,-1.00) r=0.42m
+[headless_play] t=  2.40s step= 120 trunk_z= 119.1mm grav_b=(+0.07,-0.07,-1.00) r=0.43m
+[headless_play] t=  2.50s step= 125 trunk_z= 108.8mm grav_b=(+0.04,-0.01,-1.00) r=0.47m
+[headless_play] t=  2.60s step= 130 trunk_z= 118.5mm grav_b=(+0.08,+0.02,-1.00) r=0.49m
+[headless_play] t=  2.70s step= 135 trunk_z= 115.2mm grav_b=(+0.10,+0.02,-0.99) r=0.49m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.10,-0.04,-0.99) r=0.49m
+[headless_play] t=  2.90s step= 145 trunk_z= 120.0mm grav_b=(+0.10,-0.07,-0.99) r=0.50m
+[headless_play] t=  3.00s step= 150 trunk_z= 114.8mm grav_b=(+0.09,-0.06,-0.99) r=0.52m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.8mm grav_b=(+0.09,-0.00,-1.00) r=0.56m
+[headless_play] t=  3.20s step= 160 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=0.57m
+[headless_play] t=  3.30s step= 165 trunk_z= 114.7mm grav_b=(+0.06,-0.08,-1.00) r=0.57m
+[headless_play] t=  3.40s step= 170 trunk_z= 120.5mm grav_b=(+0.08,-0.06,-0.99) r=0.59m
+[headless_play] t=  3.50s step= 175 trunk_z= 112.9mm grav_b=(+0.05,-0.04,-1.00) r=0.62m
+[headless_play] t=  3.60s step= 180 trunk_z= 116.8mm grav_b=(+0.06,+0.03,-1.00) r=0.65m
+[headless_play] t=  3.70s step= 185 trunk_z= 114.0mm grav_b=(+0.08,-0.00,-1.00) r=0.67m
+[headless_play] t=  3.80s step= 190 trunk_z= 110.8mm grav_b=(+0.06,-0.08,-1.00) r=0.67m
+[headless_play] t=  3.90s step= 195 trunk_z= 120.7mm grav_b=(+0.06,-0.08,-0.99) r=0.68m
+[headless_play] t=  4.00s step= 200 trunk_z= 114.3mm grav_b=(+0.08,-0.06,-1.00) r=0.71m
+[headless_play] t=  4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.07,+0.03,-1.00) r=0.75m
+[headless_play] t=  4.20s step= 210 trunk_z= 114.3mm grav_b=(+0.10,-0.00,-1.00) r=0.77m
+[headless_play] t=  4.30s step= 215 trunk_z= 109.2mm grav_b=(+0.08,-0.06,-0.99) r=0.78m
+[headless_play] t=  4.40s step= 220 trunk_z= 119.6mm grav_b=(+0.08,-0.06,-1.00) r=0.80m
+[headless_play] t=  4.50s step= 225 trunk_z= 112.4mm grav_b=(+0.06,-0.03,-1.00) r=0.83m
+[headless_play] t=  4.60s step= 230 trunk_z= 116.0mm grav_b=(+0.05,+0.04,-1.00) r=0.86m
+[headless_play] t=  4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.08,+0.02,-1.00) r=0.88m
+[headless_play] t=  4.80s step= 240 trunk_z= 109.2mm grav_b=(+0.10,-0.04,-0.99) r=0.89m
+[headless_play] t=  4.90s step= 245 trunk_z= 120.7mm grav_b=(+0.10,-0.08,-0.99) r=0.90m
+[headless_play] t=  5.00s step= 250 trunk_z= 115.9mm grav_b=(+0.07,-0.06,-1.00) r=0.93m
+[headless_play] t=  5.10s step= 255 trunk_z= 112.5mm grav_b=(+0.05,+0.03,-1.00) r=0.96m
+[headless_play] t=  5.20s step= 260 trunk_z= 117.1mm grav_b=(+0.07,+0.03,-1.00) r=0.99m
+[headless_play] t=  5.30s step= 265 trunk_z= 111.2mm grav_b=(+0.10,-0.01,-1.00) r=0.99m
+[headless_play] t=  5.40s step= 270 trunk_z= 118.4mm grav_b=(+0.09,-0.06,-0.99) r=1.00m
+[headless_play] t=  5.50s step= 275 trunk_z= 115.7mm grav_b=(+0.09,-0.04,-1.00) r=1.02m
+[headless_play] t=  5.60s step= 280 trunk_z= 102.8mm grav_b=(+0.06,+0.06,-1.00) r=1.06m
+[headless_play] t=  5.70s step= 285 trunk_z= 110.3mm grav_b=(+0.08,+0.13,-0.99) r=1.09m
+[headless_play] t=  5.80s step= 290 trunk_z= 106.1mm grav_b=(+0.12,+0.12,-0.99) r=1.12m
+[headless_play] t=  5.90s step= 295 trunk_z= 102.4mm grav_b=(+0.15,+0.03,-0.99) r=1.14m
+[headless_play] t=  6.00s step= 300 trunk_z= 115.0mm grav_b=(+0.13,+0.02,-0.99) r=1.17m
+[headless_play] t=  6.10s step= 305 trunk_z=  86.9mm grav_b=(+0.03,+0.02,-1.00) r=1.23m
+[headless_play] t=  6.20s step= 310 trunk_z=  91.8mm grav_b=(+0.09,+0.02,-1.00) r=1.26m
+[headless_play] t=  6.30s step= 315 trunk_z=  87.2mm grav_b=(+0.07,-0.01,-1.00) r=1.30m
+[headless_play] t=  6.40s step= 320 trunk_z=  82.2mm grav_b=(+0.02,-0.07,-1.00) r=1.34m
+[headless_play] t=  6.50s step= 325 trunk_z=  84.2mm grav_b=(+0.01,-0.06,-1.00) r=1.37m
+[headless_play] t=  6.60s step= 330 trunk_z=  70.2mm grav_b=(+0.04,+0.01,-1.00) r=1.41m
+[headless_play] t=  6.70s step= 335 trunk_z=  76.1mm grav_b=(+0.12,+0.11,-0.99) r=1.45m
+[headless_play] t=  6.80s step= 340 trunk_z=  78.1mm grav_b=(+0.12,+0.16,-0.98) r=1.48m
+[headless_play] t=  6.90s step= 345 trunk_z=  58.0mm grav_b=(+0.06,-0.02,-1.00) r=1.55m
+[headless_play] t=  7.00s step= 350 trunk_z=  71.2mm grav_b=(+0.11,-0.03,-0.99) r=1.60m
+[headless_play] t=  7.10s step= 355 trunk_z=  48.2mm grav_b=(+0.05,-0.04,-1.00) r=1.65m
+[headless_play] t=  7.20s step= 360 trunk_z=  48.2mm grav_b=(+0.09,+0.04,-1.00) r=1.69m
+[headless_play] t=  7.30s step= 365 trunk_z=  48.6mm grav_b=(+0.10,+0.06,-0.99) r=1.72m
+[headless_play] t=  7.40s step= 370 trunk_z=  35.0mm grav_b=(+0.03,-0.05,-1.00) r=1.76m
+[headless_play] t=  7.50s step= 375 trunk_z=  44.3mm grav_b=(+0.02,-0.10,-1.00) r=1.79m
+[headless_play] t=  7.60s step= 380 trunk_z=  39.6mm grav_b=(+0.01,-0.09,-1.00) r=1.83m
+[headless_play] t=  7.70s step= 385 trunk_z=  27.1mm grav_b=(+0.08,+0.04,-1.00) r=1.87m
+[headless_play] t=  7.80s step= 390 trunk_z=  34.9mm grav_b=(+0.14,+0.11,-0.98) r=1.90m
+[headless_play] t=  7.90s step= 395 trunk_z=  39.2mm grav_b=(+0.06,+0.12,-0.99) r=1.94m
+[headless_play] t=  8.00s step= 400 trunk_z=  23.0mm grav_b=(+0.02,-0.07,-1.00) r=1.99m
+[headless_play] t=  8.10s step= 405 trunk_z=  28.3mm grav_b=(+0.08,-0.05,-1.00) r=2.03m
+[headless_play] t=  8.20s step= 410 trunk_z=   8.7mm grav_b=(+0.06,-0.04,-1.00) r=2.07m
+[headless_play] t=  8.30s step= 415 trunk_z=  12.2mm grav_b=(+0.11,+0.05,-0.99) r=2.10m
+[headless_play] t=  8.40s step= 420 trunk_z=  14.3mm grav_b=(+0.11,+0.08,-0.99) r=2.11m
+[headless_play] t=  8.50s step= 425 trunk_z=   7.9mm grav_b=(+0.07,+0.00,-1.00) r=2.12m
+[headless_play] t=  8.60s step= 430 trunk_z=  16.1mm grav_b=(+0.05,-0.03,-1.00) r=2.14m
+[headless_play] t=  8.70s step= 435 trunk_z=   8.9mm grav_b=(+0.02,-0.05,-1.00) r=2.17m
+[headless_play] t=  8.80s step= 440 trunk_z=  -3.7mm grav_b=(+0.08,+0.06,-0.99) r=2.20m
+[headless_play] t=  8.90s step= 445 trunk_z=  -2.2mm grav_b=(+0.10,+0.06,-0.99) r=2.21m
+[headless_play] t=  9.00s step= 450 trunk_z=  -6.6mm grav_b=(+0.06,-0.00,-1.00) r=2.20m
+[headless_play] t=  9.10s step= 455 trunk_z=   2.2mm grav_b=(+0.05,-0.02,-1.00) r=2.20m
+[headless_play] t=  9.20s step= 460 trunk_z=  -9.6mm grav_b=(+0.07,-0.02,-1.00) r=2.23m
+[headless_play] t=  9.30s step= 465 trunk_z=  -2.0mm grav_b=(+0.13,-0.03,-0.99) r=2.25m
+[headless_play] t=  9.40s step= 470 trunk_z=  -5.5mm grav_b=(+0.10,-0.07,-0.99) r=2.24m
+[headless_play] t=  9.50s step= 475 trunk_z=   1.7mm grav_b=(+0.09,-0.09,-0.99) r=2.23m
+[headless_play] t=  9.60s step= 480 trunk_z=   3.6mm grav_b=(+0.05,-0.09,-0.99) r=2.23m
+[headless_play] t=  9.70s step= 485 trunk_z=  -0.6mm grav_b=(+0.04,-0.06,-1.00) r=2.25m
+[headless_play] t=  9.80s step= 490 trunk_z=   4.6mm grav_b=(+0.06,-0.06,-1.00) r=2.26m
+[headless_play] t=  9.90s step= 495 trunk_z=   1.3mm grav_b=(+0.07,-0.09,-0.99) r=2.25m
+[headless_play] t= 10.00s step= 500 trunk_z=   1.1mm grav_b=(+0.11,-0.13,-0.98) r=2.22m
+[headless_play] t= 10.10s step= 505 trunk_z=   6.7mm grav_b=(+0.09,-0.16,-0.98) r=2.21m
+[headless_play] t= 10.20s step= 510 trunk_z=   6.5mm grav_b=(+0.08,-0.17,-0.98) r=2.21m
+[headless_play] t= 10.30s step= 515 trunk_z=   3.1mm grav_b=(+0.15,-0.11,-0.98) r=2.21m
+[headless_play] t= 10.40s step= 520 trunk_z=   6.4mm grav_b=(+0.09,-0.16,-0.98) r=2.20m
+[headless_play] t= 10.50s step= 525 trunk_z=   2.5mm grav_b=(+0.08,-0.15,-0.99) r=2.17m
+[headless_play] t= 10.60s step= 530 trunk_z=   6.9mm grav_b=(+0.09,-0.18,-0.98) r=2.16m
+[headless_play] t= 10.70s step= 535 trunk_z=   5.0mm grav_b=(+0.08,-0.18,-0.98) r=2.15m
+[headless_play] t= 10.80s step= 540 trunk_z=   2.7mm grav_b=(+0.10,-0.11,-0.99) r=2.15m
+[headless_play] t= 10.90s step= 545 trunk_z=   6.4mm grav_b=(+0.10,-0.16,-0.98) r=2.15m
+[headless_play] t= 11.00s step= 550 trunk_z=  -3.9mm grav_b=(+0.03,-0.16,-0.99) r=2.11m
+[headless_play] t= 11.10s step= 555 trunk_z=   2.4mm grav_b=(+0.11,-0.21,-0.97) r=2.08m
+[headless_play] t= 11.20s step= 560 trunk_z=  -0.3mm grav_b=(+0.09,-0.25,-0.96) r=2.06m
+[headless_play] t= 11.30s step= 565 trunk_z=  -6.5mm grav_b=(+0.10,-0.24,-0.97) r=2.05m
+[headless_play] t= 11.40s step= 570 trunk_z=  -2.9mm grav_b=(+0.10,-0.16,-0.98) r=2.03m
+[headless_play] t= 11.50s step= 575 trunk_z=   3.2mm grav_b=(+0.16,-0.10,-0.98) r=2.04m
+[headless_play] t= 11.60s step= 580 trunk_z=   0.5mm grav_b=(-0.01,-0.05,-1.00) r=2.04m
+[headless_play] t= 11.70s step= 585 trunk_z=  -5.4mm grav_b=(-0.04,-0.03,-1.00) r=2.04m
+[headless_play] t= 11.80s step= 590 trunk_z=  -8.2mm grav_b=(+0.12,-0.07,-0.99) r=2.05m
+[headless_play] t= 11.90s step= 595 trunk_z=  -2.5mm grav_b=(+0.17,-0.01,-0.98) r=2.05m
+[headless_play] t= 12.00s step= 600 trunk_z=  -0.1mm grav_b=(+0.11,-0.01,-0.99) r=2.02m
+[headless_play] t= 12.10s step= 605 trunk_z=   8.7mm grav_b=(-0.00,+0.07,-1.00) r=2.01m
+[headless_play] t= 12.20s step= 610 trunk_z=   0.6mm grav_b=(+0.03,+0.06,-1.00) r=2.01m
+[headless_play] t= 12.30s step= 615 trunk_z=   0.3mm grav_b=(-0.01,+0.00,-1.00) r=2.02m
+[headless_play] t= 12.40s step= 620 trunk_z=  -6.8mm grav_b=(+0.00,-0.07,-1.00) r=2.04m
+[headless_play] t= 12.50s step= 625 trunk_z=  -3.5mm grav_b=(+0.10,-0.04,-0.99) r=2.05m
+[headless_play] t= 12.60s step= 630 trunk_z= -10.7mm grav_b=(+0.17,-0.02,-0.99) r=2.06m
+[headless_play] t= 12.70s step= 635 trunk_z=  -6.5mm grav_b=(+0.16,-0.09,-0.98) r=2.05m
+[headless_play] t= 12.80s step= 640 trunk_z=   3.5mm grav_b=(+0.11,-0.07,-0.99) r=2.02m
+[headless_play] t= 12.90s step= 645 trunk_z=   4.9mm grav_b=(+0.12,-0.14,-0.98) r=2.01m
+[headless_play] t= 13.00s step= 650 trunk_z=   4.3mm grav_b=(+0.07,-0.18,-0.98) r=1.99m
+[headless_play] t= 13.10s step= 655 trunk_z=  19.2mm grav_b=(+0.01,-0.16,-0.99) r=1.97m
+[headless_play] t= 13.20s step= 660 trunk_z=  12.3mm grav_b=(+0.04,-0.17,-0.99) r=1.96m
+[headless_play] t= 13.30s step= 665 trunk_z=  10.8mm grav_b=(+0.06,-0.16,-0.99) r=1.95m
+[headless_play] t= 13.40s step= 670 trunk_z=  10.1mm grav_b=(+0.02,-0.11,-0.99) r=1.95m
+[headless_play] t= 13.50s step= 675 trunk_z=   8.6mm grav_b=(-0.01,-0.13,-0.99) r=1.96m
+[headless_play] t= 13.60s step= 680 trunk_z=  -0.0mm grav_b=(+0.10,-0.22,-0.97) r=1.98m
+[headless_play] t= 13.70s step= 685 trunk_z=  10.1mm grav_b=(+0.10,-0.19,-0.98) r=1.99m
+[headless_play] t= 13.80s step= 690 trunk_z=   7.3mm grav_b=(+0.07,-0.21,-0.98) r=2.00m
+[headless_play] t= 13.90s step= 695 trunk_z=   5.7mm grav_b=(+0.11,-0.13,-0.99) r=2.00m
+[headless_play] t= 14.00s step= 700 trunk_z=  10.5mm grav_b=(+0.13,-0.09,-0.99) r=2.00m
+[headless_play] t= 14.10s step= 705 trunk_z=  10.1mm grav_b=(+0.08,-0.07,-0.99) r=2.00m
+[headless_play] t= 14.20s step= 710 trunk_z=   6.5mm grav_b=(+0.03,-0.04,-1.00) r=1.99m
+[headless_play] t= 14.30s step= 715 trunk_z=   3.9mm grav_b=(-0.05,-0.07,-1.00) r=2.00m
+[headless_play] t= 14.40s step= 720 trunk_z=  -1.3mm grav_b=(-0.03,-0.14,-0.99) r=2.02m
+[headless_play] t= 14.50s step= 725 trunk_z=   0.3mm grav_b=(+0.08,-0.17,-0.98) r=2.03m
+[headless_play] t= 14.60s step= 730 trunk_z=   3.0mm grav_b=(+0.08,-0.15,-0.98) r=2.04m
+[headless_play] t= 14.70s step= 735 trunk_z=   1.5mm grav_b=(+0.08,-0.13,-0.99) r=2.02m
+[headless_play] t= 14.80s step= 740 trunk_z=   5.1mm grav_b=(+0.08,-0.17,-0.98) r=2.02m
+[headless_play] t= 14.90s step= 745 trunk_z=   6.5mm grav_b=(+0.23,-0.19,-0.96) r=2.02m
+[headless_play] t= 15.00s step= 750 trunk_z=   2.4mm grav_b=(+0.13,-0.06,-0.99) r=2.03m
+[headless_play] t= 15.10s step= 755 trunk_z=  12.4mm grav_b=(+0.15,-0.11,-0.98) r=2.05m
+[headless_play] t= 15.20s step= 760 trunk_z=  13.9mm grav_b=(-0.02,-0.08,-1.00) r=2.09m
+[headless_play] t= 15.30s step= 765 trunk_z=   9.3mm grav_b=(+0.08,-0.03,-1.00) r=2.12m
+[headless_play] t= 15.40s step= 770 trunk_z=   2.8mm grav_b=(+0.04,+0.04,-1.00) r=2.14m
+[headless_play] t= 15.50s step= 775 trunk_z=   5.5mm grav_b=(+0.10,+0.08,-0.99) r=2.15m
+[headless_play] t= 15.60s step= 780 trunk_z=  10.7mm grav_b=(+0.15,+0.14,-0.98) r=2.17m
+[headless_play] t= 15.70s step= 785 trunk_z=   6.1mm grav_b=(+0.10,+0.06,-0.99) r=2.20m
+[headless_play] t= 15.80s step= 790 trunk_z=  15.1mm grav_b=(+0.02,+0.05,-1.00) r=2.22m
+[headless_play] t= 15.90s step= 795 trunk_z=  -2.3mm grav_b=(+0.05,+0.06,-1.00) r=2.22m
+[headless_play] t= 16.00s step= 800 trunk_z=   0.8mm grav_b=(+0.05,+0.03,-1.00) r=2.22m
+[headless_play] t= 16.10s step= 805 trunk_z=  -1.3mm grav_b=(-0.00,+0.00,-1.00) r=2.21m
+[headless_play] t= 16.20s step= 810 trunk_z=  -1.8mm grav_b=(-0.06,+0.00,-1.00) r=2.21m
+[headless_play] t= 16.30s step= 815 trunk_z=  -2.4mm grav_b=(-0.01,-0.02,-1.00) r=2.20m
+[headless_play] t= 16.40s step= 820 trunk_z=  -6.0mm grav_b=(+0.09,+0.05,-0.99) r=2.19m
+[headless_play] t= 16.50s step= 825 trunk_z=  -2.9mm grav_b=(+0.07,+0.02,-1.00) r=2.18m
+[headless_play] t= 16.60s step= 830 trunk_z=  -4.0mm grav_b=(+0.00,+0.01,-1.00) r=2.17m
+[headless_play] t= 16.70s step= 835 trunk_z=  -5.6mm grav_b=(-0.04,+0.02,-1.00) r=2.17m
+[headless_play] t= 16.80s step= 840 trunk_z=  -5.7mm grav_b=(-0.03,-0.00,-1.00) r=2.17m
+[headless_play] t= 16.90s step= 845 trunk_z=  -8.0mm grav_b=(+0.06,+0.07,-1.00) r=2.17m
+[headless_play] t= 17.00s step= 850 trunk_z=  -5.8mm grav_b=(+0.03,+0.08,-1.00) r=2.16m
+[headless_play] t= 17.10s step= 855 trunk_z=  -6.3mm grav_b=(-0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 17.20s step= 860 trunk_z=  -7.9mm grav_b=(-0.02,+0.08,-1.00) r=2.15m
+[headless_play] t= 17.30s step= 865 trunk_z=  -8.3mm grav_b=(-0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 17.40s step= 870 trunk_z=  -7.8mm grav_b=(+0.01,+0.08,-1.00) r=2.15m
+[headless_play] t= 17.50s step= 875 trunk_z=  -7.1mm grav_b=(+0.01,+0.07,-1.00) r=2.15m
+[headless_play] t= 17.60s step= 880 trunk_z=  -7.2mm grav_b=(-0.02,+0.07,-1.00) r=2.15m
+[headless_play] t= 17.70s step= 885 trunk_z=  -7.9mm grav_b=(-0.01,+0.08,-1.00) r=2.15m
+[headless_play] t= 17.80s step= 890 trunk_z=  -7.8mm grav_b=(+0.01,+0.08,-1.00) r=2.15m
+[headless_play] t= 17.90s step= 895 trunk_z=  -7.6mm grav_b=(-0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.00s step= 900 trunk_z=  -7.7mm grav_b=(-0.01,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.10s step= 905 trunk_z=  -7.9mm grav_b=(-0.01,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.20s step= 910 trunk_z=  -7.6mm grav_b=(+0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.30s step= 915 trunk_z=  -7.5mm grav_b=(+0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.40s step= 920 trunk_z=  -7.7mm grav_b=(-0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.50s step= 925 trunk_z=  -7.8mm grav_b=(-0.01,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.60s step= 930 trunk_z=  -7.8mm grav_b=(+0.00,+0.08,-1.00) r=2.15m
+[headless_play] t= 18.70s step= 935 trunk_z=  -8.0mm grav_b=(+0.03,+0.07,-1.00) r=2.15m
+[headless_play] t= 18.80s step= 940 trunk_z=  -7.3mm grav_b=(+0.09,-0.01,-1.00) r=2.17m
+[headless_play] t= 18.90s step= 945 trunk_z=   1.3mm grav_b=(+0.13,+0.02,-0.99) r=2.18m
+[headless_play] t= 19.00s step= 950 trunk_z=  -3.6mm grav_b=(+0.01,+0.07,-1.00) r=2.21m
+[headless_play] t= 19.10s step= 955 trunk_z=   4.0mm grav_b=(+0.02,+0.09,-1.00) r=2.23m
+[headless_play] t= 19.20s step= 960 trunk_z=   8.5mm grav_b=(+0.03,+0.11,-0.99) r=2.24m
+[headless_play] t= 19.30s step= 965 trunk_z=   8.1mm grav_b=(+0.03,+0.07,-1.00) r=2.27m
+[headless_play] t= 19.40s step= 970 trunk_z=   8.6mm grav_b=(+0.01,+0.02,-1.00) r=2.30m
+[headless_play] t= 19.50s step= 975 trunk_z=  14.5mm grav_b=(-0.02,-0.01,-1.00) r=2.33m
+[headless_play] t= 19.60s step= 980 trunk_z=   4.0mm grav_b=(-0.02,+0.03,-1.00) r=2.35m
+[headless_play] t= 19.70s step= 985 trunk_z=  12.2mm grav_b=(+0.10,+0.05,-0.99) r=2.37m
+[headless_play] t= 19.80s step= 990 trunk_z=  13.1mm grav_b=(+0.07,+0.00,-1.00) r=2.38m
+[headless_play] t= 19.90s step= 995 trunk_z=  17.2mm grav_b=(+0.05,-0.01,-1.00) r=2.41m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 118.3mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.01,-0.03,-1.00) r=0.41m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t10.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 121.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(+1.685,-17.924,+0.249)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.32m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) r=0.32m
+[headless_play] t=  0.20s step=  10 trunk_z= 111.6mm grav_b=(+0.07,+0.05,-1.00) r=0.31m
+[headless_play] t=  0.30s step=  15 trunk_z= 112.3mm grav_b=(+0.07,-0.01,-1.00) r=0.29m
+[headless_play] t=  0.40s step=  20 trunk_z= 112.1mm grav_b=(+0.09,-0.07,-0.99) r=0.26m
+[headless_play] t=  0.50s step=  25 trunk_z= 118.8mm grav_b=(+0.11,-0.07,-0.99) r=0.24m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.0mm grav_b=(+0.09,-0.03,-1.00) r=0.24m
+[headless_play] t=  0.70s step=  35 trunk_z= 119.2mm grav_b=(+0.07,+0.05,-1.00) r=0.24m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.0mm grav_b=(+0.07,+0.05,-1.00) r=0.22m
+[headless_play] t=  0.90s step=  45 trunk_z= 114.7mm grav_b=(+0.05,-0.05,-1.00) r=0.20m
+[headless_play] t=  1.00s step=  50 trunk_z= 120.8mm grav_b=(+0.06,-0.08,-1.00) r=0.19m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.8mm grav_b=(+0.03,-0.05,-1.00) r=0.20m
+[headless_play] t=  1.20s step=  60 trunk_z= 117.4mm grav_b=(+0.02,+0.05,-1.00) r=0.22m
+[headless_play] t=  1.30s step=  65 trunk_z= 116.7mm grav_b=(+0.07,+0.05,-1.00) r=0.22m
+[headless_play] t=  1.40s step=  70 trunk_z= 113.5mm grav_b=(+0.11,+0.02,-0.99) r=0.20m
+[headless_play] t=  1.50s step=  75 trunk_z= 120.4mm grav_b=(+0.11,-0.04,-0.99) r=0.19m
+[headless_play] t=  1.60s step=  80 trunk_z= 119.2mm grav_b=(+0.09,-0.02,-1.00) r=0.20m
+[headless_play] t=  1.70s step=  85 trunk_z= 118.1mm grav_b=(+0.08,+0.06,-1.00) r=0.23m
+[headless_play] t=  1.80s step=  90 trunk_z= 119.6mm grav_b=(+0.07,+0.05,-1.00) r=0.24m
+[headless_play] t=  1.90s step=  95 trunk_z= 114.4mm grav_b=(+0.06,+0.02,-1.00) r=0.23m
+[headless_play] t=  2.00s step= 100 trunk_z= 120.7mm grav_b=(+0.02,-0.07,-1.00) r=0.23m
+[headless_play] t=  2.10s step= 105 trunk_z= 120.1mm grav_b=(+0.03,-0.06,-1.00) r=0.24m
+[headless_play] t=  2.20s step= 110 trunk_z= 112.9mm grav_b=(+0.02,-0.01,-1.00) r=0.27m
+[headless_play] t=  2.30s step= 115 trunk_z= 118.6mm grav_b=(+0.02,+0.06,-1.00) r=0.30m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.5mm grav_b=(+0.07,+0.05,-1.00) r=0.31m
+[headless_play] t=  2.50s step= 125 trunk_z= 111.1mm grav_b=(+0.09,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.60s step= 130 trunk_z= 120.0mm grav_b=(+0.09,-0.07,-0.99) r=0.33m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.5mm grav_b=(+0.08,-0.05,-1.00) r=0.35m
+[headless_play] t=  2.80s step= 140 trunk_z= 116.1mm grav_b=(+0.02,+0.05,-1.00) r=0.38m
+[headless_play] t=  2.90s step= 145 trunk_z= 119.8mm grav_b=(+0.02,+0.06,-1.00) r=0.40m
+[headless_play] t=  3.00s step= 150 trunk_z= 115.2mm grav_b=(+0.06,+0.04,-1.00) r=0.41m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.5mm grav_b=(+0.07,-0.07,-0.99) r=0.41m
+[headless_play] t=  3.20s step= 160 trunk_z= 121.6mm grav_b=(+0.06,-0.09,-0.99) r=0.42m
+[headless_play] t=  3.30s step= 165 trunk_z= 116.8mm grav_b=(+0.05,-0.04,-1.00) r=0.45m
+[headless_play] t=  3.40s step= 170 trunk_z= 124.5mm grav_b=(+0.07,+0.01,-1.00) r=0.49m
+[headless_play] t=  3.50s step= 175 trunk_z= 122.0mm grav_b=(+0.06,-0.01,-1.00) r=0.51m
+[headless_play] t=  3.60s step= 180 trunk_z= 123.5mm grav_b=(+0.04,-0.09,-1.00) r=0.54m
+[headless_play] t=  3.70s step= 185 trunk_z= 122.5mm grav_b=(+0.02,-0.05,-1.00) r=0.57m
+[headless_play] t=  3.80s step= 190 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.60m
+[headless_play] t=  3.90s step= 195 trunk_z= 123.2mm grav_b=(+0.00,+0.04,-1.00) r=0.62m
+[headless_play] t=  4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.63m
+[headless_play] t=  4.10s step= 205 trunk_z= 122.5mm grav_b=(+0.03,-0.07,-1.00) r=0.65m
+[headless_play] t=  4.20s step= 210 trunk_z= 121.3mm grav_b=(+0.03,-0.05,-1.00) r=0.67m
+[headless_play] t=  4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) r=0.70m
+[headless_play] t=  4.40s step= 220 trunk_z= 122.9mm grav_b=(+0.04,+0.04,-1.00) r=0.72m
+[headless_play] t=  4.50s step= 225 trunk_z= 118.3mm grav_b=(+0.03,-0.01,-1.00) r=0.74m
+[headless_play] t=  4.60s step= 230 trunk_z= 122.1mm grav_b=(+0.01,-0.09,-1.00) r=0.76m
+[headless_play] t=  4.70s step= 235 trunk_z= 122.7mm grav_b=(+0.00,-0.07,-1.00) r=0.78m
+[headless_play] t=  4.80s step= 240 trunk_z= 117.0mm grav_b=(+0.01,-0.04,-1.00) r=0.80m
+[headless_play] t=  4.90s step= 245 trunk_z= 122.4mm grav_b=(+0.03,+0.04,-1.00) r=0.83m
+[headless_play] t=  5.00s step= 250 trunk_z= 120.0mm grav_b=(+0.04,+0.00,-1.00) r=0.85m
+[headless_play] t=  5.10s step= 255 trunk_z= 118.9mm grav_b=(+0.04,-0.06,-1.00) r=0.87m
+[headless_play] t=  5.20s step= 260 trunk_z= 123.3mm grav_b=(+0.03,-0.07,-1.00) r=0.89m
+[headless_play] t=  5.30s step= 265 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=0.91m
+[headless_play] t=  5.40s step= 270 trunk_z= 121.2mm grav_b=(+0.02,+0.04,-1.00) r=0.94m
+[headless_play] t=  5.50s step= 275 trunk_z= 120.2mm grav_b=(+0.05,+0.01,-1.00) r=0.96m
+[headless_play] t=  5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.05,-0.06,-1.00) r=0.98m
+[headless_play] t=  5.70s step= 285 trunk_z= 123.6mm grav_b=(+0.03,-0.06,-1.00) r=1.00m
+[headless_play] t=  5.80s step= 290 trunk_z= 119.9mm grav_b=(+0.02,-0.04,-1.00) r=1.02m
+[headless_play] t=  5.90s step= 295 trunk_z= 119.8mm grav_b=(+0.02,+0.04,-1.00) r=1.05m
+[headless_play] t=  6.00s step= 300 trunk_z= 122.1mm grav_b=(+0.04,+0.04,-1.00) r=1.07m
+[headless_play] t=  6.10s step= 305 trunk_z= 118.2mm grav_b=(+0.05,-0.01,-1.00) r=1.09m
+[headless_play] t=  6.20s step= 310 trunk_z= 124.2mm grav_b=(+0.02,-0.07,-1.00) r=1.11m
+[headless_play] t=  6.30s step= 315 trunk_z= 119.7mm grav_b=(+0.03,-0.04,-1.00) r=1.14m
+[headless_play] t=  6.40s step= 320 trunk_z= 111.2mm grav_b=(+0.04,+0.04,-1.00) r=1.17m
+[headless_play] t=  6.50s step= 325 trunk_z= 117.0mm grav_b=(+0.07,+0.07,-1.00) r=1.21m
+[headless_play] t=  6.60s step= 330 trunk_z= 113.0mm grav_b=(+0.08,+0.03,-1.00) r=1.24m
+[headless_play] t=  6.70s step= 335 trunk_z= 109.5mm grav_b=(+0.08,-0.08,-0.99) r=1.28m
+[headless_play] t=  6.80s step= 340 trunk_z= 109.0mm grav_b=(+0.04,-0.08,-1.00) r=1.33m
+[headless_play] t=  6.90s step= 345 trunk_z=  85.2mm grav_b=(+0.02,+0.02,-1.00) r=1.38m
+[headless_play] t=  7.00s step= 350 trunk_z=  97.5mm grav_b=(+0.07,+0.08,-0.99) r=1.41m
+[headless_play] t=  7.10s step= 355 trunk_z=  86.2mm grav_b=(+0.03,+0.06,-1.00) r=1.45m
+[headless_play] t=  7.20s step= 360 trunk_z=  88.7mm grav_b=(+0.07,+0.05,-1.00) r=1.48m
+[headless_play] t=  7.30s step= 365 trunk_z=  61.1mm grav_b=(-0.03,+0.05,-1.00) r=1.53m
+[headless_play] t=  7.40s step= 370 trunk_z=  62.2mm grav_b=(-0.02,+0.02,-1.00) r=1.55m
+[headless_play] t=  7.50s step= 375 trunk_z=  62.5mm grav_b=(+0.03,-0.01,-1.00) r=1.56m
+[headless_play] t=  7.60s step= 380 trunk_z=  62.8mm grav_b=(+0.01,-0.04,-1.00) r=1.58m
+[headless_play] t=  7.70s step= 385 trunk_z=  58.6mm grav_b=(+0.00,+0.02,-1.00) r=1.60m
+[headless_play] t=  7.80s step= 390 trunk_z=  58.9mm grav_b=(+0.07,+0.08,-0.99) r=1.61m
+[headless_play] t=  7.90s step= 395 trunk_z=  58.2mm grav_b=(+0.12,+0.04,-0.99) r=1.62m
+[headless_play] t=  8.00s step= 400 trunk_z=  55.8mm grav_b=(+0.08,-0.04,-1.00) r=1.63m
+[headless_play] t=  8.10s step= 405 trunk_z=  58.1mm grav_b=(+0.06,-0.02,-1.00) r=1.65m
+[headless_play] t=  8.20s step= 410 trunk_z=  47.2mm grav_b=(+0.00,+0.09,-1.00) r=1.67m
+[headless_play] t=  8.30s step= 415 trunk_z=  52.2mm grav_b=(+0.03,+0.12,-0.99) r=1.69m
+[headless_play] t=  8.40s step= 420 trunk_z=  49.8mm grav_b=(+0.06,+0.08,-1.00) r=1.70m
+[headless_play] t=  8.50s step= 425 trunk_z=  48.1mm grav_b=(+0.11,+0.06,-0.99) r=1.71m
+[headless_play] t=  8.60s step= 430 trunk_z=  39.0mm grav_b=(+0.05,+0.14,-0.99) r=1.73m
+[headless_play] t=  8.70s step= 435 trunk_z=  47.2mm grav_b=(+0.06,+0.14,-0.99) r=1.76m
+[headless_play] t=  8.80s step= 440 trunk_z=  47.0mm grav_b=(+0.07,+0.15,-0.99) r=1.78m
+[headless_play] t=  8.90s step= 445 trunk_z=  38.0mm grav_b=(+0.04,+0.02,-1.00) r=1.80m
+[headless_play] t=  9.00s step= 450 trunk_z=  41.8mm grav_b=(+0.04,-0.02,-1.00) r=1.82m
+[headless_play] t=  9.10s step= 455 trunk_z=  32.8mm grav_b=(+0.02,+0.02,-1.00) r=1.83m
+[headless_play] t=  9.20s step= 460 trunk_z=  32.9mm grav_b=(+0.05,+0.02,-1.00) r=1.84m
+[headless_play] t=  9.30s step= 465 trunk_z=  25.3mm grav_b=(+0.02,-0.05,-1.00) r=1.86m
+[headless_play] t=  9.40s step= 470 trunk_z=  28.5mm grav_b=(+0.04,-0.07,-1.00) r=1.87m
+[headless_play] t=  9.50s step= 475 trunk_z=  24.2mm grav_b=(+0.03,-0.00,-1.00) r=1.88m
+[headless_play] t=  9.60s step= 480 trunk_z=  23.6mm grav_b=(+0.08,+0.00,-1.00) r=1.89m
+[headless_play] t=  9.70s step= 485 trunk_z=  24.4mm grav_b=(+0.15,-0.02,-0.99) r=1.91m
+[headless_play] t=  9.80s step= 490 trunk_z=  10.6mm grav_b=(+0.02,+0.04,-1.00) r=1.94m
+[headless_play] t=  9.90s step= 495 trunk_z=  20.1mm grav_b=(+0.07,+0.08,-0.99) r=1.96m
+[headless_play] t= 10.00s step= 500 trunk_z=  18.7mm grav_b=(+0.02,+0.05,-1.00) r=1.98m
+[headless_play] t= 10.10s step= 505 trunk_z=  12.7mm grav_b=(+0.03,-0.02,-1.00) r=1.99m
+[headless_play] t= 10.20s step= 510 trunk_z=  11.4mm grav_b=(+0.00,-0.00,-1.00) r=2.00m
+[headless_play] t= 10.30s step= 515 trunk_z=  10.9mm grav_b=(+0.02,+0.04,-1.00) r=2.02m
+[headless_play] t= 10.40s step= 520 trunk_z=   8.9mm grav_b=(+0.03,-0.02,-1.00) r=2.04m
+[headless_play] t= 10.50s step= 525 trunk_z=  -4.4mm grav_b=(+0.07,-0.11,-0.99) r=2.07m
+[headless_play] t= 10.60s step= 530 trunk_z=   7.1mm grav_b=(+0.11,-0.16,-0.98) r=2.09m
+[headless_play] t= 10.70s step= 535 trunk_z=  11.8mm grav_b=(+0.05,-0.16,-0.99) r=2.11m
+[headless_play] t= 10.80s step= 540 trunk_z=   7.7mm grav_b=(+0.05,-0.08,-1.00) r=2.14m
+[headless_play] t= 10.90s step= 545 trunk_z=  11.1mm grav_b=(+0.10,-0.05,-0.99) r=2.15m
+[headless_play] t= 11.00s step= 550 trunk_z=  11.4mm grav_b=(+0.02,+0.01,-1.00) r=2.17m
+[headless_play] t= 11.10s step= 555 trunk_z=   8.6mm grav_b=(+0.03,-0.01,-1.00) r=2.18m
+[headless_play] t= 11.20s step= 560 trunk_z=   5.4mm grav_b=(-0.02,+0.05,-1.00) r=2.20m
+[headless_play] t= 11.30s step= 565 trunk_z=  10.3mm grav_b=(-0.01,+0.07,-1.00) r=2.20m
+[headless_play] t= 11.40s step= 570 trunk_z=  13.2mm grav_b=(+0.01,+0.06,-1.00) r=2.21m
+[headless_play] t= 11.50s step= 575 trunk_z=   8.7mm grav_b=(+0.00,-0.00,-1.00) r=2.22m
+[headless_play] t= 11.60s step= 580 trunk_z=  17.7mm grav_b=(+0.01,-0.03,-1.00) r=2.23m
+[headless_play] t= 11.70s step= 585 trunk_z=  15.4mm grav_b=(-0.02,-0.01,-1.00) r=2.25m
+[headless_play] t= 11.80s step= 590 trunk_z=  14.6mm grav_b=(-0.01,+0.01,-1.00) r=2.26m
+[headless_play] t= 11.90s step= 595 trunk_z=  17.4mm grav_b=(-0.01,-0.01,-1.00) r=2.27m
+[headless_play] t= 12.00s step= 600 trunk_z=  14.0mm grav_b=(+0.01,-0.05,-1.00) r=2.27m
+[headless_play] t= 12.10s step= 605 trunk_z=  24.1mm grav_b=(+0.02,-0.05,-1.00) r=2.29m
+[headless_play] t= 12.20s step= 610 trunk_z=  22.5mm grav_b=(-0.01,-0.04,-1.00) r=2.30m
+[headless_play] t= 12.30s step= 615 trunk_z=  23.6mm grav_b=(-0.01,+0.00,-1.00) r=2.32m
+[headless_play] t= 12.40s step= 620 trunk_z=  26.5mm grav_b=(-0.01,+0.01,-1.00) r=2.33m
+[headless_play] t= 12.50s step= 625 trunk_z=  21.6mm grav_b=(-0.03,-0.03,-1.00) r=2.33m
+[headless_play] t= 12.60s step= 630 trunk_z=  30.7mm grav_b=(-0.02,-0.06,-1.00) r=2.33m
+[headless_play] t= 12.70s step= 635 trunk_z=  30.6mm grav_b=(-0.02,-0.06,-1.00) r=2.34m
+[headless_play] t= 12.80s step= 640 trunk_z=  24.6mm grav_b=(-0.02,-0.02,-1.00) r=2.36m
+[headless_play] t= 12.90s step= 645 trunk_z=  32.9mm grav_b=(+0.01,+0.02,-1.00) r=2.38m
+[headless_play] t= 13.00s step= 650 trunk_z=  31.4mm grav_b=(+0.02,+0.01,-1.00) r=2.38m
+[headless_play] t= 13.10s step= 655 trunk_z=  32.6mm grav_b=(+0.01,-0.05,-1.00) r=2.37m
+[headless_play] t= 13.20s step= 660 trunk_z=  35.5mm grav_b=(-0.02,-0.06,-1.00) r=2.38m
+[headless_play] t= 13.30s step= 665 trunk_z=  29.0mm grav_b=(-0.04,-0.02,-1.00) r=2.40m
+[headless_play] t= 13.40s step= 670 trunk_z=  37.4mm grav_b=(-0.02,+0.00,-1.00) r=2.41m
+[headless_play] t= 13.50s step= 675 trunk_z=  35.8mm grav_b=(+0.00,-0.02,-1.00) r=2.42m
+[headless_play] t= 13.60s step= 680 trunk_z=  40.4mm grav_b=(+0.00,-0.07,-1.00) r=2.42m
+[headless_play] t= 13.70s step= 685 trunk_z=  44.4mm grav_b=(-0.01,-0.08,-1.00) r=2.43m
+[headless_play] t= 13.80s step= 690 trunk_z=  40.3mm grav_b=(-0.07,-0.06,-1.00) r=2.46m
+[headless_play] t= 13.90s step= 695 trunk_z=  41.8mm grav_b=(-0.07,-0.00,-1.00) r=2.47m
+[headless_play] t= 14.00s step= 700 trunk_z=  39.4mm grav_b=(-0.05,-0.02,-1.00) r=2.46m
+[headless_play] t= 14.10s step= 705 trunk_z=  33.5mm grav_b=(-0.01,-0.05,-1.00) r=2.44m
+[headless_play] t= 14.20s step= 710 trunk_z=  34.0mm grav_b=(+0.02,-0.04,-1.00) r=2.44m
+[headless_play] t= 14.30s step= 715 trunk_z=  32.5mm grav_b=(+0.04,+0.05,-1.00) r=2.45m
+[headless_play] t= 14.40s step= 720 trunk_z=  37.7mm grav_b=(+0.04,+0.02,-1.00) r=2.46m
+[headless_play] t= 14.50s step= 725 trunk_z=  33.5mm grav_b=(+0.03,-0.04,-1.00) r=2.45m
+[headless_play] t= 14.60s step= 730 trunk_z=  44.8mm grav_b=(+0.01,-0.04,-1.00) r=2.46m
+[headless_play] t= 14.70s step= 735 trunk_z=  40.7mm grav_b=(-0.01,-0.02,-1.00) r=2.47m
+[headless_play] t= 14.80s step= 740 trunk_z=  42.8mm grav_b=(-0.01,+0.03,-1.00) r=2.49m
+[headless_play] t= 14.90s step= 745 trunk_z=  45.9mm grav_b=(-0.02,+0.02,-1.00) r=2.50m
+[headless_play] t= 15.00s step= 750 trunk_z=  39.5mm grav_b=(-0.02,-0.05,-1.00) r=2.49m
+[headless_play] t= 15.10s step= 755 trunk_z=  50.1mm grav_b=(-0.01,-0.07,-1.00) r=2.50m
+[headless_play] t= 15.20s step= 760 trunk_z=  48.4mm grav_b=(-0.02,-0.04,-1.00) r=2.51m
+[headless_play] t= 15.30s step= 765 trunk_z=  45.8mm grav_b=(-0.03,+0.01,-1.00) r=2.53m
+[headless_play] t= 15.40s step= 770 trunk_z=  51.9mm grav_b=(-0.04,+0.01,-1.00) r=2.53m
+[headless_play] t= 15.50s step= 775 trunk_z=  46.9mm grav_b=(-0.05,-0.04,-1.00) r=2.53m
+[headless_play] t= 15.60s step= 780 trunk_z=  51.6mm grav_b=(-0.01,-0.09,-1.00) r=2.52m
+[headless_play] t= 15.70s step= 785 trunk_z=  52.2mm grav_b=(-0.00,-0.08,-1.00) r=2.53m
+[headless_play] t= 15.80s step= 790 trunk_z=  46.2mm grav_b=(+0.00,-0.03,-1.00) r=2.55m
+[headless_play] t= 15.90s step= 795 trunk_z=  55.3mm grav_b=(+0.01,+0.01,-1.00) r=2.56m
+[headless_play] t= 16.00s step= 800 trunk_z=  53.5mm grav_b=(-0.01,-0.01,-1.00) r=2.57m
+[headless_play] t= 16.10s step= 805 trunk_z=  57.5mm grav_b=(-0.03,-0.05,-1.00) r=2.57m
+[headless_play] t= 16.20s step= 810 trunk_z=  60.6mm grav_b=(-0.02,-0.05,-1.00) r=2.56m
+[headless_play] t= 16.30s step= 815 trunk_z=  53.9mm grav_b=(-0.01,-0.01,-1.00) r=2.57m
+[headless_play] t= 16.40s step= 820 trunk_z=  57.8mm grav_b=(-0.00,+0.10,-0.99) r=2.58m
+[headless_play] t= 16.50s step= 825 trunk_z=  61.7mm grav_b=(-0.00,+0.13,-0.99) r=2.59m
+[headless_play] t= 16.60s step= 830 trunk_z=  60.5mm grav_b=(+0.00,+0.11,-0.99) r=2.59m
+[headless_play] t= 16.70s step= 835 trunk_z=  61.1mm grav_b=(+0.00,+0.02,-1.00) r=2.60m
+[headless_play] t= 16.80s step= 840 trunk_z=  60.1mm grav_b=(+0.01,+0.02,-1.00) r=2.60m
+[headless_play] t= 16.90s step= 845 trunk_z=  53.4mm grav_b=(-0.01,+0.08,-1.00) r=2.60m
+[headless_play] t= 17.00s step= 850 trunk_z=  62.5mm grav_b=(-0.02,+0.10,-0.99) r=2.61m
+[headless_play] t= 17.10s step= 855 trunk_z=  61.5mm grav_b=(-0.02,+0.11,-0.99) r=2.62m
+[headless_play] t= 17.20s step= 860 trunk_z=  61.1mm grav_b=(-0.02,+0.03,-1.00) r=2.63m
+[headless_play] t= 17.30s step= 865 trunk_z=  64.9mm grav_b=(-0.03,+0.03,-1.00) r=2.64m
+[headless_play] t= 17.40s step= 870 trunk_z=  57.7mm grav_b=(-0.03,+0.08,-1.00) r=2.65m
+[headless_play] t= 17.50s step= 875 trunk_z=  65.9mm grav_b=(-0.00,+0.14,-0.99) r=2.66m
+[headless_play] t= 17.60s step= 880 trunk_z=  69.0mm grav_b=(+0.01,+0.16,-0.99) r=2.67m
+[headless_play] t= 17.70s step= 885 trunk_z=  68.7mm grav_b=(+0.02,+0.13,-0.99) r=2.68m
+[headless_play] t= 17.80s step= 890 trunk_z=  70.2mm grav_b=(+0.00,+0.04,-1.00) r=2.70m
+[headless_play] t= 17.90s step= 895 trunk_z=  68.1mm grav_b=(-0.01,+0.05,-1.00) r=2.70m
+[headless_play] t= 18.00s step= 900 trunk_z=  62.3mm grav_b=(-0.05,+0.09,-0.99) r=2.70m
+[headless_play] t= 18.10s step= 905 trunk_z=  68.9mm grav_b=(-0.04,+0.13,-0.99) r=2.71m
+[headless_play] t= 18.20s step= 910 trunk_z=  69.0mm grav_b=(-0.02,+0.12,-0.99) r=2.72m
+[headless_play] t= 18.30s step= 915 trunk_z=  65.8mm grav_b=(+0.01,+0.06,-1.00) r=2.73m
+[headless_play] t= 18.40s step= 920 trunk_z=  74.1mm grav_b=(+0.03,+0.03,-1.00) r=2.75m
+[headless_play] t= 18.50s step= 925 trunk_z=  66.7mm grav_b=(-0.00,+0.06,-1.00) r=2.76m
+[headless_play] t= 18.60s step= 930 trunk_z=  69.1mm grav_b=(-0.03,+0.11,-0.99) r=2.78m
+[headless_play] t= 18.70s step= 935 trunk_z=  73.3mm grav_b=(-0.06,+0.13,-0.99) r=2.78m
+[headless_play] t= 18.80s step= 940 trunk_z=  72.5mm grav_b=(-0.05,+0.08,-1.00) r=2.78m
+[headless_play] t= 18.90s step= 945 trunk_z=  67.1mm grav_b=(+0.01,+0.03,-1.00) r=2.78m
+[headless_play] t= 19.00s step= 950 trunk_z=  65.1mm grav_b=(+0.06,+0.03,-1.00) r=2.78m
+[headless_play] t= 19.10s step= 955 trunk_z=  53.4mm grav_b=(+0.07,+0.09,-0.99) r=2.78m
+[headless_play] t= 19.20s step= 960 trunk_z=  64.9mm grav_b=(+0.09,+0.16,-0.98) r=2.78m
+[headless_play] t= 19.30s step= 965 trunk_z=  67.3mm grav_b=(+0.06,+0.17,-0.98) r=2.79m
+[headless_play] t= 19.40s step= 970 trunk_z=  71.7mm grav_b=(+0.05,+0.11,-0.99) r=2.81m
+[headless_play] t= 19.50s step= 975 trunk_z=  76.6mm grav_b=(+0.04,+0.03,-1.00) r=2.83m
+[headless_play] t= 19.60s step= 980 trunk_z=  69.7mm grav_b=(+0.01,+0.05,-1.00) r=2.83m
+[headless_play] t= 19.70s step= 985 trunk_z=  61.5mm grav_b=(-0.03,+0.12,-0.99) r=2.84m
+[headless_play] t= 19.80s step= 990 trunk_z=  67.8mm grav_b=(-0.02,+0.18,-0.98) r=2.85m
+[headless_play] t= 19.90s step= 995 trunk_z=  69.0mm grav_b=(-0.02,+0.17,-0.99) r=2.85m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 123.4mm grav_b=(-0.01,+0.00,-1.00) r=0.16m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.00,+0.04,-1.00) r=0.16m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t11.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 122.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.977,-18.383,+0.250)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.3mm grav_b=(-0.01,-0.00,-1.00) r=0.38m
+[headless_play] t=  0.10s step=   5 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.38m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.6mm grav_b=(-0.03,-0.05,-1.00) r=0.37m
+[headless_play] t=  0.30s step=  15 trunk_z= 122.9mm grav_b=(-0.04,-0.04,-1.00) r=0.38m
+[headless_play] t=  0.40s step=  20 trunk_z= 118.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m
+[headless_play] t=  0.50s step=  25 trunk_z= 123.5mm grav_b=(-0.01,+0.05,-1.00) r=0.43m
+[headless_play] t=  0.60s step=  30 trunk_z= 127.5mm grav_b=(+0.01,+0.08,-1.00) r=0.45m
+[headless_play] t=  0.70s step=  35 trunk_z= 121.9mm grav_b=(-0.01,+0.07,-1.00) r=0.46m
+[headless_play] t=  0.80s step=  40 trunk_z= 122.2mm grav_b=(-0.01,-0.02,-1.00) r=0.47m
+[headless_play] t=  0.90s step=  45 trunk_z= 123.8mm grav_b=(-0.01,-0.03,-1.00) r=0.48m
+[headless_play] t=  1.00s step=  50 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.50m
+[headless_play] t=  1.10s step=  55 trunk_z= 125.1mm grav_b=(-0.02,+0.06,-1.00) r=0.51m
+[headless_play] t=  1.20s step=  60 trunk_z= 125.7mm grav_b=(+0.01,+0.09,-1.00) r=0.52m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.0mm grav_b=(+0.00,+0.02,-1.00) r=0.53m
+[headless_play] t=  1.40s step=  70 trunk_z= 122.9mm grav_b=(+0.02,+0.00,-1.00) r=0.54m
+[headless_play] t=  1.50s step=  75 trunk_z= 119.3mm grav_b=(-0.03,+0.03,-1.00) r=0.56m
+[headless_play] t=  1.60s step=  80 trunk_z= 123.2mm grav_b=(-0.05,+0.07,-1.00) r=0.58m
+[headless_play] t=  1.70s step=  85 trunk_z= 126.0mm grav_b=(-0.02,+0.08,-1.00) r=0.59m
+[headless_play] t=  1.80s step=  90 trunk_z= 121.5mm grav_b=(-0.02,+0.06,-1.00) r=0.59m
+[headless_play] t=  1.90s step=  95 trunk_z= 121.9mm grav_b=(-0.01,-0.06,-1.00) r=0.60m
+[headless_play] t=  2.00s step= 100 trunk_z= 126.7mm grav_b=(+0.00,-0.06,-1.00) r=0.61m
+[headless_play] t=  2.10s step= 105 trunk_z= 125.1mm grav_b=(-0.01,-0.04,-1.00) r=0.62m
+[headless_play] t=  2.20s step= 110 trunk_z= 124.8mm grav_b=(+0.04,+0.08,-1.00) r=0.64m
+[headless_play] t=  2.30s step= 115 trunk_z= 129.0mm grav_b=(+0.05,+0.08,-1.00) r=0.66m
+[headless_play] t=  2.40s step= 120 trunk_z= 123.5mm grav_b=(-0.02,+0.04,-1.00) r=0.68m
+[headless_play] t=  2.50s step= 125 trunk_z= 121.4mm grav_b=(-0.03,-0.02,-1.00) r=0.71m
+[headless_play] t=  2.60s step= 130 trunk_z= 125.3mm grav_b=(-0.06,-0.02,-1.00) r=0.73m
+[headless_play] t=  2.70s step= 135 trunk_z= 118.0mm grav_b=(-0.07,+0.04,-1.00) r=0.75m
+[headless_play] t=  2.80s step= 140 trunk_z= 122.9mm grav_b=(-0.03,+0.07,-1.00) r=0.77m
+[headless_play] t=  2.90s step= 145 trunk_z= 117.7mm grav_b=(-0.00,+0.08,-1.00) r=0.79m
+[headless_play] t=  3.00s step= 150 trunk_z= 115.4mm grav_b=(-0.02,-0.02,-1.00) r=0.81m
+[headless_play] t=  3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.01,-0.05,-1.00) r=0.82m
+[headless_play] t=  3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.84m
+[headless_play] t=  3.30s step= 165 trunk_z= 112.5mm grav_b=(+0.00,+0.08,-1.00) r=0.86m
+[headless_play] t=  3.40s step= 170 trunk_z= 117.6mm grav_b=(+0.02,+0.11,-0.99) r=0.87m
+[headless_play] t=  3.50s step= 175 trunk_z= 113.3mm grav_b=(+0.04,+0.09,-1.00) r=0.89m
+[headless_play] t=  3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.01,-0.04,-1.00) r=0.91m
+[headless_play] t=  3.70s step= 185 trunk_z= 119.5mm grav_b=(-0.01,-0.06,-1.00) r=0.92m
+[headless_play] t=  3.80s step= 190 trunk_z= 115.0mm grav_b=(+0.00,-0.02,-1.00) r=0.94m
+[headless_play] t=  3.90s step= 195 trunk_z= 112.0mm grav_b=(+0.02,+0.07,-1.00) r=0.95m
+[headless_play] t=  4.00s step= 200 trunk_z= 116.2mm grav_b=(+0.04,+0.07,-1.00) r=0.97m
+[headless_play] t=  4.10s step= 205 trunk_z= 111.4mm grav_b=(+0.04,+0.05,-1.00) r=0.99m
+[headless_play] t=  4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.00,-0.05,-1.00) r=1.01m
+[headless_play] t=  4.30s step= 215 trunk_z= 118.7mm grav_b=(-0.01,-0.03,-1.00) r=1.02m
+[headless_play] t=  4.40s step= 220 trunk_z= 112.6mm grav_b=(+0.02,+0.01,-1.00) r=1.04m
+[headless_play] t=  4.50s step= 225 trunk_z= 108.3mm grav_b=(+0.04,+0.09,-1.00) r=1.07m
+[headless_play] t=  4.60s step= 230 trunk_z= 107.2mm grav_b=(+0.10,+0.09,-0.99) r=1.09m
+[headless_play] t=  4.70s step= 235 trunk_z=  99.9mm grav_b=(+0.08,-0.01,-1.00) r=1.11m
+[headless_play] t=  4.80s step= 240 trunk_z= 105.1mm grav_b=(+0.02,-0.08,-1.00) r=1.14m
+[headless_play] t=  4.90s step= 245 trunk_z=  97.4mm grav_b=(+0.08,-0.04,-1.00) r=1.17m
+[headless_play] t=  5.00s step= 250 trunk_z=  88.6mm grav_b=(+0.06,+0.09,-0.99) r=1.21m
+[headless_play] t=  5.10s step= 255 trunk_z=  91.8mm grav_b=(+0.12,+0.12,-0.99) r=1.23m
+[headless_play] t=  5.20s step= 260 trunk_z=  89.6mm grav_b=(+0.08,+0.08,-0.99) r=1.26m
+[headless_play] t=  5.30s step= 265 trunk_z=  82.7mm grav_b=(+0.05,-0.08,-1.00) r=1.30m
+[headless_play] t=  5.40s step= 270 trunk_z=  88.5mm grav_b=(+0.06,-0.06,-1.00) r=1.33m
+[headless_play] t=  5.50s step= 275 trunk_z=  66.2mm grav_b=(-0.03,+0.00,-1.00) r=1.39m
+[headless_play] t=  5.60s step= 280 trunk_z=  69.5mm grav_b=(+0.02,+0.14,-0.99) r=1.42m
+[headless_play] t=  5.70s step= 285 trunk_z=  71.3mm grav_b=(-0.02,+0.17,-0.98) r=1.46m
+[headless_play] t=  5.80s step= 290 trunk_z=  68.7mm grav_b=(-0.02,+0.11,-0.99) r=1.49m
+[headless_play] t=  5.90s step= 295 trunk_z=  56.2mm grav_b=(+0.01,-0.12,-0.99) r=1.54m
+[headless_play] t=  6.00s step= 300 trunk_z=  58.4mm grav_b=(+0.00,-0.11,-0.99) r=1.56m
+[headless_play] t=  6.10s step= 305 trunk_z=  51.4mm grav_b=(+0.02,-0.12,-0.99) r=1.60m
+[headless_play] t=  6.20s step= 310 trunk_z=  36.1mm grav_b=(+0.05,+0.01,-1.00) r=1.65m
+[headless_play] t=  6.30s step= 315 trunk_z=  49.2mm grav_b=(+0.06,+0.13,-0.99) r=1.69m
+[headless_play] t=  6.40s step= 320 trunk_z=  44.4mm grav_b=(+0.00,+0.12,-0.99) r=1.74m
+[headless_play] t=  6.50s step= 325 trunk_z=  21.8mm grav_b=(+0.06,-0.10,-0.99) r=1.79m
+[headless_play] t=  6.60s step= 330 trunk_z=  28.9mm grav_b=(+0.02,-0.14,-0.99) r=1.82m
+[headless_play] t=  6.70s step= 335 trunk_z=  24.0mm grav_b=(-0.01,-0.11,-0.99) r=1.84m
+[headless_play] t=  6.80s step= 340 trunk_z=  13.0mm grav_b=(+0.02,+0.02,-1.00) r=1.87m
+[headless_play] t=  6.90s step= 345 trunk_z=  18.5mm grav_b=(+0.08,+0.10,-0.99) r=1.90m
+[headless_play] t=  7.00s step= 350 trunk_z=  11.5mm grav_b=(+0.06,+0.04,-1.00) r=1.95m
+[headless_play] t=  7.10s step= 355 trunk_z=   8.9mm grav_b=(+0.06,-0.05,-1.00) r=1.99m
+[headless_play] t=  7.20s step= 360 trunk_z=   4.3mm grav_b=(-0.01,-0.03,-1.00) r=2.03m
+[headless_play] t=  7.30s step= 365 trunk_z= -17.8mm grav_b=(-0.05,+0.14,-0.99) r=2.07m
+[headless_play] t=  7.40s step= 370 trunk_z=  -5.6mm grav_b=(-0.04,+0.23,-0.97) r=2.08m
+[headless_play] t=  7.50s step= 375 trunk_z=  -3.5mm grav_b=(-0.05,+0.24,-0.97) r=2.10m
+[headless_play] t=  7.60s step= 380 trunk_z=  -6.6mm grav_b=(-0.03,+0.22,-0.98) r=2.12m
+[headless_play] t=  7.70s step= 385 trunk_z=  -2.2mm grav_b=(+0.00,+0.09,-1.00) r=2.14m
+[headless_play] t=  7.80s step= 390 trunk_z=   0.4mm grav_b=(-0.03,-0.04,-1.00) r=2.17m
+[headless_play] t=  7.90s step= 395 trunk_z= -14.7mm grav_b=(-0.08,-0.03,-1.00) r=2.19m
+[headless_play] t=  8.00s step= 400 trunk_z= -14.0mm grav_b=(-0.04,+0.09,-0.99) r=2.20m
+[headless_play] t=  8.10s step= 405 trunk_z=  -8.9mm grav_b=(+0.01,+0.14,-0.99) r=2.21m
+[headless_play] t=  8.20s step= 410 trunk_z= -15.9mm grav_b=(+0.04,+0.11,-0.99) r=2.22m
+[headless_play] t=  8.30s step= 415 trunk_z=  -8.5mm grav_b=(+0.06,-0.03,-1.00) r=2.24m
+[headless_play] t=  8.40s step= 420 trunk_z=  -7.1mm grav_b=(+0.05,-0.02,-1.00) r=2.26m
+[headless_play] t=  8.50s step= 425 trunk_z= -16.1mm grav_b=(-0.01,+0.02,-1.00) r=2.29m
+[headless_play] t=  8.60s step= 430 trunk_z= -14.8mm grav_b=(+0.04,+0.05,-1.00) r=2.30m
+[headless_play] t=  8.70s step= 435 trunk_z= -10.9mm grav_b=(+0.00,+0.02,-1.00) r=2.30m
+[headless_play] t=  8.80s step= 440 trunk_z= -17.2mm grav_b=(+0.05,-0.10,-0.99) r=2.30m
+[headless_play] t=  8.90s step= 445 trunk_z= -10.9mm grav_b=(-0.02,-0.03,-1.00) r=2.31m
+[headless_play] t=  9.00s step= 450 trunk_z= -14.5mm grav_b=(-0.05,+0.10,-0.99) r=2.33m
+[headless_play] t=  9.10s step= 455 trunk_z=  -6.3mm grav_b=(-0.07,+0.12,-0.99) r=2.33m
+[headless_play] t=  9.20s step= 460 trunk_z=  -6.5mm grav_b=(-0.01,+0.10,-0.99) r=2.32m
+[headless_play] t=  9.30s step= 465 trunk_z= -14.8mm grav_b=(+0.02,+0.07,-1.00) r=2.31m
+[headless_play] t=  9.40s step= 470 trunk_z= -16.8mm grav_b=(-0.05,+0.11,-0.99) r=2.31m
+[headless_play] t=  9.50s step= 475 trunk_z= -28.9mm grav_b=(+0.07,+0.12,-0.99) r=2.31m
+[headless_play] t=  9.60s step= 480 trunk_z= -17.8mm grav_b=(+0.06,+0.13,-0.99) r=2.31m
+[headless_play] t=  9.70s step= 485 trunk_z=  -8.7mm grav_b=(-0.02,+0.03,-1.00) r=2.31m
+[headless_play] t=  9.80s step= 490 trunk_z=  -9.8mm grav_b=(+0.21,-0.10,-0.97) r=2.32m
+[headless_play] t=  9.90s step= 495 trunk_z= -10.5mm grav_b=(+0.14,-0.09,-0.99) r=2.33m
+[headless_play] t= 10.00s step= 500 trunk_z= -20.4mm grav_b=(+0.04,-0.10,-0.99) r=2.34m
+[headless_play] t= 10.10s step= 505 trunk_z=   1.2mm grav_b=(-0.05,+0.01,-1.00) r=2.34m
+[headless_play] t= 10.20s step= 510 trunk_z= -23.2mm grav_b=(-0.06,-0.14,-0.99) r=2.34m
+[headless_play] t= 10.30s step= 515 trunk_z= -14.0mm grav_b=(+0.06,-0.22,-0.97) r=2.34m
+[headless_play] t= 10.40s step= 520 trunk_z=  -3.9mm grav_b=(-0.05,-0.21,-0.98) r=2.35m
+[headless_play] t= 10.50s step= 525 trunk_z= -10.7mm grav_b=(-0.01,-0.19,-0.98) r=2.36m
+[headless_play] t= 10.60s step= 530 trunk_z= -16.2mm grav_b=(+0.04,-0.07,-1.00) r=2.37m
+[headless_play] t= 10.70s step= 535 trunk_z= -16.2mm grav_b=(+0.12,+0.07,-0.99) r=2.40m
+[headless_play] t= 10.80s step= 540 trunk_z=  -1.6mm grav_b=(-0.01,+0.10,-1.00) r=2.42m
+[headless_play] t= 10.90s step= 545 trunk_z= -17.9mm grav_b=(+0.08,-0.06,-0.99) r=2.46m
+[headless_play] t= 11.00s step= 550 trunk_z=  -4.0mm grav_b=(+0.10,-0.03,-0.99) r=2.49m
+[headless_play] t= 11.10s step= 555 trunk_z= -34.6mm grav_b=(-0.05,-0.16,-0.99) r=2.53m
+[headless_play] t= 11.20s step= 560 trunk_z= -13.7mm grav_b=(+0.12,-0.05,-0.99) r=2.54m
+[headless_play] t= 11.30s step= 565 trunk_z= -25.3mm grav_b=(-0.01,-0.03,-1.00) r=2.56m
+[headless_play] t= 11.40s step= 570 trunk_z= -20.3mm grav_b=(+0.18,+0.08,-0.98) r=2.59m
+[headless_play] t= 11.50s step= 575 trunk_z= -28.8mm grav_b=(-0.02,+0.06,-1.00) r=2.62m
+[headless_play] t= 11.60s step= 580 trunk_z= -23.4mm grav_b=(-0.09,+0.10,-0.99) r=2.63m
+[headless_play] t= 11.70s step= 585 trunk_z= -19.3mm grav_b=(-0.07,-0.01,-1.00) r=2.63m
+[headless_play] t= 11.80s step= 590 trunk_z= -12.6mm grav_b=(-0.03,-0.02,-1.00) r=2.63m
+[headless_play] t= 11.90s step= 595 trunk_z= -12.8mm grav_b=(-0.05,+0.03,-1.00) r=2.64m
+[headless_play] t= 12.00s step= 600 trunk_z= -15.8mm grav_b=(-0.04,+0.07,-1.00) r=2.67m
+[headless_play] t= 12.10s step= 605 trunk_z= -17.1mm grav_b=(-0.00,+0.09,-1.00) r=2.68m
+[headless_play] t= 12.20s step= 610 trunk_z= -18.7mm grav_b=(+0.03,+0.07,-1.00) r=2.68m
+[headless_play] t= 12.30s step= 615 trunk_z= -19.3mm grav_b=(+0.02,-0.02,-1.00) r=2.68m
+[headless_play] t= 12.40s step= 620 trunk_z= -14.2mm grav_b=(+0.06,-0.01,-1.00) r=2.69m
+[headless_play] t= 12.50s step= 625 trunk_z= -19.9mm grav_b=(+0.03,+0.03,-1.00) r=2.71m
+[headless_play] t= 12.60s step= 630 trunk_z= -15.1mm grav_b=(+0.06,+0.10,-0.99) r=2.73m
+[headless_play] t= 12.70s step= 635 trunk_z= -16.5mm grav_b=(+0.05,+0.06,-1.00) r=2.75m
+[headless_play] t= 12.80s step= 640 trunk_z= -19.8mm grav_b=(+0.02,-0.04,-1.00) r=2.76m
+[headless_play] t= 12.90s step= 645 trunk_z= -12.3mm grav_b=(+0.05,-0.06,-1.00) r=2.77m
+[headless_play] t= 13.00s step= 650 trunk_z= -19.4mm grav_b=(+0.03,+0.00,-1.00) r=2.79m
+[headless_play] t= 13.10s step= 655 trunk_z= -13.6mm grav_b=(+0.01,+0.06,-1.00) r=2.81m
+[headless_play] t= 13.20s step= 660 trunk_z= -13.8mm grav_b=(+0.02,+0.08,-1.00) r=2.83m
+[headless_play] t= 13.30s step= 665 trunk_z= -18.9mm grav_b=(+0.04,+0.02,-1.00) r=2.84m
+[headless_play] t= 13.40s step= 670 trunk_z= -16.5mm grav_b=(+0.07,-0.07,-1.00) r=2.85m
+[headless_play] t= 13.50s step= 675 trunk_z= -16.0mm grav_b=(+0.06,-0.02,-1.00) r=2.86m
+[headless_play] t= 13.60s step= 680 trunk_z= -19.4mm grav_b=(+0.02,+0.08,-1.00) r=2.89m
+[headless_play] t= 13.70s step= 685 trunk_z= -10.9mm grav_b=(+0.03,+0.13,-0.99) r=2.91m
+[headless_play] t= 13.80s step= 690 trunk_z= -16.2mm grav_b=(+0.05,+0.12,-0.99) r=2.92m
+[headless_play] t= 13.90s step= 695 trunk_z= -20.0mm grav_b=(+0.02,+0.07,-1.00) r=2.94m
+[headless_play] t= 14.00s step= 700 trunk_z= -12.5mm grav_b=(+0.04,+0.01,-1.00) r=2.95m
+[headless_play] t= 14.10s step= 705 trunk_z= -19.9mm grav_b=(-0.00,+0.08,-1.00) r=2.96m
+[headless_play] t= 14.20s step= 710 trunk_z= -18.1mm grav_b=(+0.02,+0.08,-1.00) r=2.98m
+[headless_play] t= 14.30s step= 715 trunk_z= -19.8mm grav_b=(+0.03,+0.06,-1.00) r=2.99m
+[headless_play] t= 14.40s step= 720 trunk_z= -24.3mm grav_b=(+0.06,-0.02,-1.00) r=3.00m
+[headless_play] t= 14.50s step= 725 trunk_z= -15.3mm grav_b=(+0.06,-0.05,-1.00) r=3.01m
+[headless_play] t= 14.60s step= 730 trunk_z= -21.6mm grav_b=(+0.08,+0.03,-1.00) r=3.04m
+[headless_play] t= 14.70s step= 735 trunk_z= -14.8mm grav_b=(+0.08,+0.13,-0.99) r=3.06m
+[headless_play] t= 14.80s step= 740 trunk_z=  -9.7mm grav_b=(+0.02,+0.13,-0.99) r=3.08m
+[headless_play] t= 14.90s step= 745 trunk_z= -18.9mm grav_b=(+0.00,+0.07,-1.00) r=3.09m
+[headless_play] t= 15.00s step= 750 trunk_z= -11.4mm grav_b=(+0.00,-0.04,-1.00) r=3.11m
+[headless_play] t= 15.10s step= 755 trunk_z= -12.6mm grav_b=(+0.02,-0.04,-1.00) r=3.11m
+[headless_play] t= 15.20s step= 760 trunk_z= -20.2mm grav_b=(+0.04,+0.02,-1.00) r=3.13m
+[headless_play] t= 15.30s step= 765 trunk_z= -17.5mm grav_b=(+0.05,+0.11,-0.99) r=3.15m
+[headless_play] t= 15.40s step= 770 trunk_z= -21.1mm grav_b=(+0.07,+0.08,-0.99) r=3.17m
+[headless_play] t= 15.50s step= 775 trunk_z= -15.0mm grav_b=(+0.04,-0.04,-1.00) r=3.20m
+[headless_play] t= 15.60s step= 780 trunk_z=  -9.3mm grav_b=(+0.00,-0.08,-1.00) r=3.22m
+[headless_play] t= 15.70s step= 785 trunk_z= -22.5mm grav_b=(-0.03,+0.02,-1.00) r=3.24m
+[headless_play] t= 15.80s step= 790 trunk_z= -16.4mm grav_b=(+0.01,+0.12,-0.99) r=3.26m
+[headless_play] t= 15.90s step= 795 trunk_z= -12.6mm grav_b=(+0.03,+0.15,-0.99) r=3.27m
+[headless_play] t= 16.00s step= 800 trunk_z= -23.4mm grav_b=(+0.03,+0.15,-0.99) r=3.28m
+[headless_play] t= 16.10s step= 805 trunk_z= -20.9mm grav_b=(+0.08,+0.05,-1.00) r=3.29m
+[headless_play] t= 16.20s step= 810 trunk_z= -11.5mm grav_b=(+0.12,-0.02,-0.99) r=3.31m
+[headless_play] t= 16.30s step= 815 trunk_z= -17.8mm grav_b=(+0.03,+0.00,-1.00) r=3.33m
+[headless_play] t= 16.40s step= 820 trunk_z= -14.7mm grav_b=(+0.02,+0.07,-1.00) r=3.35m
+[headless_play] t= 16.50s step= 825 trunk_z= -18.1mm grav_b=(-0.02,+0.06,-1.00) r=3.37m
+[headless_play] t= 16.60s step= 830 trunk_z= -18.1mm grav_b=(-0.03,+0.00,-1.00) r=3.39m
+[headless_play] t= 16.70s step= 835 trunk_z= -12.4mm grav_b=(-0.04,-0.02,-1.00) r=3.40m
+[headless_play] t= 16.80s step= 840 trunk_z= -18.7mm grav_b=(-0.02,+0.04,-1.00) r=3.40m
+[headless_play] t= 16.90s step= 845 trunk_z= -23.4mm grav_b=(-0.02,+0.10,-0.99) r=3.41m
+[headless_play] t= 17.00s step= 850 trunk_z= -15.6mm grav_b=(+0.01,+0.10,-0.99) r=3.43m
+[headless_play] t= 17.10s step= 855 trunk_z= -21.7mm grav_b=(+0.05,+0.08,-1.00) r=3.44m
+[headless_play] t= 17.20s step= 860 trunk_z= -18.9mm grav_b=(+0.09,-0.00,-1.00) r=3.46m
+[headless_play] t= 17.30s step= 865 trunk_z= -16.6mm grav_b=(+0.11,-0.03,-0.99) r=3.47m
+[headless_play] t= 17.40s step= 870 trunk_z= -19.8mm grav_b=(+0.05,-0.01,-1.00) r=3.48m
+[headless_play] t= 17.50s step= 875 trunk_z= -14.2mm grav_b=(+0.08,+0.11,-0.99) r=3.50m
+[headless_play] t= 17.60s step= 880 trunk_z= -15.7mm grav_b=(+0.04,+0.11,-0.99) r=3.52m
+[headless_play] t= 17.70s step= 885 trunk_z= -19.2mm grav_b=(+0.04,+0.00,-1.00) r=3.55m
+[headless_play] t= 17.80s step= 890 trunk_z= -10.1mm grav_b=(+0.08,-0.09,-0.99) r=3.57m
+[headless_play] t= 17.90s step= 895 trunk_z= -16.3mm grav_b=(+0.03,-0.07,-1.00) r=3.58m
+[headless_play] t= 18.00s step= 900 trunk_z= -12.7mm grav_b=(+0.02,+0.06,-1.00) r=3.59m
+[headless_play] t= 18.10s step= 905 trunk_z= -13.5mm grav_b=(+0.03,+0.14,-0.99) r=3.61m
+[headless_play] t= 18.20s step= 910 trunk_z= -16.8mm grav_b=(+0.04,+0.15,-0.99) r=3.62m
+[headless_play] t= 18.30s step= 915 trunk_z= -19.1mm grav_b=(+0.02,-0.02,-1.00) r=3.65m
+[headless_play] t= 18.40s step= 920 trunk_z=  -8.0mm grav_b=(+0.04,-0.11,-0.99) r=3.67m
+[headless_play] t= 18.50s step= 925 trunk_z= -22.5mm grav_b=(+0.03,-0.09,-1.00) r=3.68m
+[headless_play] t= 18.60s step= 930 trunk_z= -16.3mm grav_b=(+0.01,+0.05,-1.00) r=3.68m
+[headless_play] t= 18.70s step= 935 trunk_z= -15.1mm grav_b=(+0.02,+0.15,-0.99) r=3.69m
+[headless_play] t= 18.80s step= 940 trunk_z= -12.4mm grav_b=(+0.03,+0.16,-0.99) r=3.71m
+[headless_play] t= 18.90s step= 945 trunk_z= -16.0mm grav_b=(+0.04,+0.07,-1.00) r=3.73m
+[headless_play] t= 19.00s step= 950 trunk_z= -10.0mm grav_b=(+0.04,-0.06,-1.00) r=3.75m
+[headless_play] t= 19.10s step= 955 trunk_z= -22.9mm grav_b=(+0.03,-0.06,-1.00) r=3.77m
+[headless_play] t= 19.20s step= 960 trunk_z= -14.4mm grav_b=(+0.02,+0.06,-1.00) r=3.78m
+[headless_play] t= 19.30s step= 965 trunk_z= -19.2mm grav_b=(+0.01,+0.12,-0.99) r=3.80m
+[headless_play] t= 19.40s step= 970 trunk_z= -17.3mm grav_b=(+0.02,+0.05,-1.00) r=3.81m
+[headless_play] t= 19.50s step= 975 trunk_z= -18.1mm grav_b=(+0.09,-0.08,-0.99) r=3.83m
+[headless_play] t= 19.60s step= 980 trunk_z= -12.4mm grav_b=(+0.14,-0.06,-0.99) r=3.85m
+[headless_play] t= 19.70s step= 985 trunk_z= -18.4mm grav_b=(+0.08,+0.02,-1.00) r=3.88m
+[headless_play] t= 19.80s step= 990 trunk_z=  -5.3mm grav_b=(+0.13,+0.09,-0.99) r=3.89m
+[headless_play] t= 19.90s step= 995 trunk_z= -16.7mm grav_b=(-0.09,+0.02,-1.00) r=3.93m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.29m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.03,+0.03,-1.00) r=0.29m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t12.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.955,-18.307,+0.255)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.31m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.4mm grav_b=(+0.04,-0.00,-1.00) r=0.31m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.60s step=  30 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.70s step=  35 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.80s step=  40 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.10s step=  55 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.30s step=  65 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.60s step=  80 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.70s step=  85 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.80s step=  90 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.10s step= 105 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.20s step= 110 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.40s step= 120 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.50s step= 125 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.60s step= 130 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.80s step= 140 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  2.90s step= 145 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.30s step= 165 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.40s step= 170 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.50s step= 175 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.60s step= 180 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.70s step= 185 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.80s step= 190 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  3.90s step= 195 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.00s step= 200 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.10s step= 205 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.30s step= 215 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.40s step= 220 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.60s step= 230 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.80s step= 240 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  4.90s step= 245 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.00s step= 250 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.10s step= 255 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.20s step= 260 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.30s step= 265 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.40s step= 270 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.50s step= 275 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.80s step= 290 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  5.90s step= 295 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  6.00s step= 300 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  6.10s step= 305 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  6.20s step= 310 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  6.30s step= 315 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m
+[headless_play] t=  6.40s step= 320 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.31m
+[headless_play] t=  6.50s step= 325 trunk_z= 116.2mm grav_b=(-0.00,+0.04,-1.00) r=0.32m
+[headless_play] t=  6.60s step= 330 trunk_z= 123.9mm grav_b=(+0.02,-0.03,-1.00) r=0.30m
+[headless_play] t=  6.70s step= 335 trunk_z= 110.2mm grav_b=(-0.06,-0.09,-0.99) r=0.26m
+[headless_play] t=  6.80s step= 340 trunk_z= 124.1mm grav_b=(-0.02,-0.08,-1.00) r=0.24m
+[headless_play] t=  6.90s step= 345 trunk_z= 127.4mm grav_b=(-0.01,-0.09,-1.00) r=0.24m
+[headless_play] t=  7.00s step= 350 trunk_z= 124.1mm grav_b=(-0.04,-0.04,-1.00) r=0.25m
+[headless_play] t=  7.10s step= 355 trunk_z= 127.6mm grav_b=(+0.00,+0.02,-1.00) r=0.27m
+[headless_play] t=  7.20s step= 360 trunk_z= 131.8mm grav_b=(-0.01,+0.07,-1.00) r=0.27m
+[headless_play] t=  7.30s step= 365 trunk_z= 120.3mm grav_b=(-0.04,+0.03,-1.00) r=0.25m
+[headless_play] t=  7.40s step= 370 trunk_z= 124.2mm grav_b=(+0.01,-0.02,-1.00) r=0.24m
+[headless_play] t=  7.50s step= 375 trunk_z= 122.3mm grav_b=(-0.01,-0.01,-1.00) r=0.25m
+[headless_play] t=  7.60s step= 380 trunk_z= 123.2mm grav_b=(-0.01,+0.03,-1.00) r=0.27m
+[headless_play] t=  7.70s step= 385 trunk_z= 127.3mm grav_b=(-0.00,+0.02,-1.00) r=0.27m
+[headless_play] t=  7.80s step= 390 trunk_z= 118.1mm grav_b=(-0.02,-0.03,-1.00) r=0.26m
+[headless_play] t=  7.90s step= 395 trunk_z= 125.6mm grav_b=(+0.00,-0.06,-1.00) r=0.25m
+[headless_play] t=  8.00s step= 400 trunk_z= 123.0mm grav_b=(-0.02,-0.03,-1.00) r=0.27m
+[headless_play] t=  8.10s step= 405 trunk_z= 119.9mm grav_b=(-0.01,+0.03,-1.00) r=0.30m
+[headless_play] t=  8.20s step= 410 trunk_z= 124.0mm grav_b=(+0.02,+0.03,-1.00) r=0.30m
+[headless_play] t=  8.30s step= 415 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.28m
+[headless_play] t=  8.40s step= 420 trunk_z= 123.8mm grav_b=(+0.00,-0.05,-1.00) r=0.28m
+[headless_play] t=  8.50s step= 425 trunk_z= 120.6mm grav_b=(-0.00,-0.05,-1.00) r=0.30m
+[headless_play] t=  8.60s step= 430 trunk_z= 121.7mm grav_b=(+0.01,+0.04,-1.00) r=0.33m
+[headless_play] t=  8.70s step= 435 trunk_z= 127.6mm grav_b=(+0.03,+0.04,-1.00) r=0.34m
+[headless_play] t=  8.80s step= 440 trunk_z= 119.9mm grav_b=(+0.02,+0.01,-1.00) r=0.34m
+[headless_play] t=  8.90s step= 445 trunk_z= 123.6mm grav_b=(+0.02,-0.04,-1.00) r=0.35m
+[headless_play] t=  9.00s step= 450 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00) r=0.37m
+[headless_play] t=  9.10s step= 455 trunk_z= 121.7mm grav_b=(-0.03,+0.03,-1.00) r=0.40m
+[headless_play] t=  9.20s step= 460 trunk_z= 121.6mm grav_b=(-0.01,+0.01,-1.00) r=0.41m
+[headless_play] t=  9.30s step= 465 trunk_z= 118.7mm grav_b=(-0.02,-0.06,-1.00) r=0.40m
+[headless_play] t=  9.40s step= 470 trunk_z= 125.2mm grav_b=(-0.03,-0.07,-1.00) r=0.40m
+[headless_play] t=  9.50s step= 475 trunk_z= 121.2mm grav_b=(-0.02,-0.05,-1.00) r=0.43m
+[headless_play] t=  9.60s step= 480 trunk_z= 120.3mm grav_b=(-0.00,+0.02,-1.00) r=0.46m
+[headless_play] t=  9.70s step= 485 trunk_z= 126.0mm grav_b=(+0.04,+0.02,-1.00) r=0.48m
+[headless_play] t=  9.80s step= 490 trunk_z= 118.1mm grav_b=(-0.00,-0.02,-1.00) r=0.49m
+[headless_play] t=  9.90s step= 495 trunk_z= 123.4mm grav_b=(-0.01,-0.08,-1.00) r=0.50m
+[headless_play] t= 10.00s step= 500 trunk_z= 120.8mm grav_b=(-0.04,-0.04,-1.00) r=0.53m
+[headless_play] t= 10.10s step= 505 trunk_z= 118.5mm grav_b=(-0.04,+0.04,-1.00) r=0.56m
+[headless_play] t= 10.20s step= 510 trunk_z= 125.2mm grav_b=(-0.00,+0.04,-1.00) r=0.58m
+[headless_play] t= 10.30s step= 515 trunk_z= 121.1mm grav_b=(-0.01,+0.02,-1.00) r=0.58m
+[headless_play] t= 10.40s step= 520 trunk_z= 124.0mm grav_b=(-0.04,-0.09,-0.99) r=0.58m
+[headless_play] t= 10.50s step= 525 trunk_z= 125.3mm grav_b=(-0.03,-0.10,-0.99) r=0.60m
+[headless_play] t= 10.60s step= 530 trunk_z= 122.8mm grav_b=(-0.03,-0.07,-1.00) r=0.63m
+[headless_play] t= 10.70s step= 535 trunk_z= 123.6mm grav_b=(-0.01,+0.05,-1.00) r=0.66m
+[headless_play] t= 10.80s step= 540 trunk_z= 128.4mm grav_b=(-0.01,+0.06,-1.00) r=0.68m
+[headless_play] t= 10.90s step= 545 trunk_z= 121.9mm grav_b=(-0.05,+0.00,-1.00) r=0.69m
+[headless_play] t= 11.00s step= 550 trunk_z= 125.7mm grav_b=(-0.05,-0.11,-0.99) r=0.70m
+[headless_play] t= 11.10s step= 555 trunk_z= 124.8mm grav_b=(-0.03,-0.10,-0.99) r=0.72m
+[headless_play] t= 11.20s step= 560 trunk_z= 121.3mm grav_b=(-0.01,-0.06,-1.00) r=0.75m
+[headless_play] t= 11.30s step= 565 trunk_z= 125.8mm grav_b=(+0.04,+0.00,-1.00) r=0.77m
+[headless_play] t= 11.40s step= 570 trunk_z= 122.0mm grav_b=(-0.01,-0.01,-1.00) r=0.78m
+[headless_play] t= 11.50s step= 575 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.78m
+[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.79m
+[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.79m
+[headless_play] t= 11.80s step= 590 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 11.90s step= 595 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.10s step= 605 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.70s step= 635 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.80s step= 640 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 12.90s step= 645 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.00s step= 650 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.10s step= 655 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.20s step= 660 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.40s step= 670 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.60s step= 680 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.80s step= 690 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 13.90s step= 695 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m
+[headless_play] t= 15.50s step= 775 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 15.70s step= 785 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 15.80s step= 790 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.20s step= 810 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.40s step= 820 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.70s step= 835 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 16.90s step= 845 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.00s step= 850 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.50s step= 875 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.60s step= 880 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.50s step= 925 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 19.30s step= 965 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m
+[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.80m
+[headless_play] t= 19.50s step= 975 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.79m
+[headless_play] t= 19.60s step= 980 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.79m
+[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.79m
+[headless_play] t= 19.80s step= 990 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.79m
+[headless_play] t= 19.90s step= 995 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.79m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.50m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.49m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t13.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.497,-18.027,+0.252)
+[headless_play] t=  0.00s step=   0 trunk_z= 122.2mm grav_b=(-0.01,-0.00,-1.00) r=0.50m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.49m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.48m
+[headless_play] t=  0.30s step=  15 trunk_z= 114.5mm grav_b=(+0.08,-0.06,-1.00) r=0.46m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.45m
+[headless_play] t=  0.50s step=  25 trunk_z= 115.7mm grav_b=(+0.01,+0.09,-1.00) r=0.46m
+[headless_play] t=  0.60s step=  30 trunk_z= 120.3mm grav_b=(+0.01,+0.10,-1.00) r=0.45m
+[headless_play] t=  0.70s step=  35 trunk_z= 116.4mm grav_b=(+0.03,+0.11,-0.99) r=0.43m
+[headless_play] t=  0.80s step=  40 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=0.40m
+[headless_play] t=  0.90s step=  45 trunk_z= 118.6mm grav_b=(+0.02,-0.03,-1.00) r=0.38m
+[headless_play] t=  1.00s step=  50 trunk_z= 114.4mm grav_b=(+0.03,+0.02,-1.00) r=0.39m
+[headless_play] t=  1.10s step=  55 trunk_z= 117.9mm grav_b=(+0.01,+0.09,-1.00) r=0.40m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.3mm grav_b=(+0.02,+0.12,-0.99) r=0.39m
+[headless_play] t=  1.30s step=  65 trunk_z= 111.8mm grav_b=(+0.03,+0.06,-1.00) r=0.37m
+[headless_play] t=  1.40s step=  70 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00) r=0.35m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.35m
+[headless_play] t=  1.60s step=  80 trunk_z= 109.3mm grav_b=(+0.03,+0.06,-1.00) r=0.36m
+[headless_play] t=  1.70s step=  85 trunk_z= 115.3mm grav_b=(+0.05,+0.09,-0.99) r=0.37m
+[headless_play] t=  1.80s step=  90 trunk_z= 111.3mm grav_b=(+0.06,+0.08,-0.99) r=0.36m
+[headless_play] t=  1.90s step=  95 trunk_z= 109.7mm grav_b=(+0.06,-0.01,-1.00) r=0.34m
+[headless_play] t=  2.00s step= 100 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.34m
+[headless_play] t=  2.10s step= 105 trunk_z= 109.1mm grav_b=(+0.02,+0.05,-1.00) r=0.36m
+[headless_play] t=  2.20s step= 110 trunk_z= 113.7mm grav_b=(+0.03,+0.10,-0.99) r=0.38m
+[headless_play] t=  2.30s step= 115 trunk_z= 112.0mm grav_b=(+0.04,+0.11,-0.99) r=0.38m
+[headless_play] t=  2.40s step= 120 trunk_z= 108.0mm grav_b=(+0.03,+0.07,-1.00) r=0.37m
+[headless_play] t=  2.50s step= 125 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.36m
+[headless_play] t=  2.60s step= 130 trunk_z= 114.3mm grav_b=(+0.04,+0.02,-1.00) r=0.37m
+[headless_play] t=  2.70s step= 135 trunk_z= 108.4mm grav_b=(+0.03,+0.10,-0.99) r=0.40m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.4mm grav_b=(+0.07,+0.11,-0.99) r=0.41m
+[headless_play] t=  2.90s step= 145 trunk_z= 111.7mm grav_b=(+0.06,+0.08,-0.99) r=0.41m
+[headless_play] t=  3.00s step= 150 trunk_z= 111.2mm grav_b=(+0.05,-0.04,-1.00) r=0.40m
+[headless_play] t=  3.10s step= 155 trunk_z= 115.5mm grav_b=(+0.04,-0.02,-1.00) r=0.40m
+[headless_play] t=  3.20s step= 160 trunk_z= 110.6mm grav_b=(+0.03,+0.05,-1.00) r=0.42m
+[headless_play] t=  3.30s step= 165 trunk_z= 113.6mm grav_b=(+0.02,+0.10,-0.99) r=0.45m
+[headless_play] t=  3.40s step= 170 trunk_z= 111.4mm grav_b=(+0.04,+0.09,-1.00) r=0.46m
+[headless_play] t=  3.50s step= 175 trunk_z= 105.4mm grav_b=(+0.03,+0.01,-1.00) r=0.45m
+[headless_play] t=  3.60s step= 180 trunk_z= 115.2mm grav_b=(+0.03,-0.03,-1.00) r=0.45m
+[headless_play] t=  3.70s step= 185 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.47m
+[headless_play] t=  3.80s step= 190 trunk_z= 106.7mm grav_b=(+0.05,+0.05,-1.00) r=0.49m
+[headless_play] t=  3.90s step= 195 trunk_z= 113.2mm grav_b=(+0.06,+0.10,-0.99) r=0.51m
+[headless_play] t=  4.00s step= 200 trunk_z= 110.5mm grav_b=(+0.06,+0.08,-0.99) r=0.52m
+[headless_play] t=  4.10s step= 205 trunk_z= 109.6mm grav_b=(+0.04,-0.02,-1.00) r=0.53m
+[headless_play] t=  4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.53m
+[headless_play] t=  4.30s step= 215 trunk_z= 110.6mm grav_b=(+0.02,+0.04,-1.00) r=0.56m
+[headless_play] t=  4.40s step= 220 trunk_z= 109.7mm grav_b=(+0.05,+0.09,-0.99) r=0.58m
+[headless_play] t=  4.50s step= 225 trunk_z= 110.1mm grav_b=(+0.06,+0.09,-0.99) r=0.59m
+[headless_play] t=  4.60s step= 230 trunk_z= 105.1mm grav_b=(+0.05,+0.05,-1.00) r=0.60m
+[headless_play] t=  4.70s step= 235 trunk_z= 112.5mm grav_b=(+0.05,+0.00,-1.00) r=0.61m
+[headless_play] t=  4.80s step= 240 trunk_z= 111.9mm grav_b=(+0.04,+0.03,-1.00) r=0.63m
+[headless_play] t=  4.90s step= 245 trunk_z= 103.6mm grav_b=(+0.03,+0.08,-1.00) r=0.66m
+[headless_play] t=  5.00s step= 250 trunk_z= 111.6mm grav_b=(+0.04,+0.09,-0.99) r=0.67m
+[headless_play] t=  5.10s step= 255 trunk_z= 107.6mm grav_b=(+0.03,+0.07,-1.00) r=0.68m
+[headless_play] t=  5.20s step= 260 trunk_z= 107.2mm grav_b=(+0.03,-0.02,-1.00) r=0.69m
+[headless_play] t=  5.30s step= 265 trunk_z= 113.9mm grav_b=(+0.03,-0.01,-1.00) r=0.70m
+[headless_play] t=  5.40s step= 270 trunk_z= 109.1mm grav_b=(+0.03,+0.03,-1.00) r=0.72m
+[headless_play] t=  5.50s step= 275 trunk_z= 108.2mm grav_b=(+0.06,+0.10,-0.99) r=0.75m
+[headless_play] t=  5.60s step= 280 trunk_z= 111.2mm grav_b=(+0.07,+0.10,-0.99) r=0.76m
+[headless_play] t=  5.70s step= 285 trunk_z= 108.3mm grav_b=(+0.04,+0.08,-1.00) r=0.78m
+[headless_play] t=  5.80s step= 290 trunk_z= 112.2mm grav_b=(+0.04,-0.01,-1.00) r=0.79m
+[headless_play] t=  5.90s step= 295 trunk_z= 113.1mm grav_b=(+0.03,+0.01,-1.00) r=0.81m
+[headless_play] t=  6.00s step= 300 trunk_z= 104.5mm grav_b=(+0.03,+0.06,-1.00) r=0.83m
+[headless_play] t=  6.10s step= 305 trunk_z= 111.6mm grav_b=(+0.04,+0.09,-0.99) r=0.85m
+[headless_play] t=  6.20s step= 310 trunk_z= 107.2mm grav_b=(+0.06,+0.08,-1.00) r=0.86m
+[headless_play] t=  6.30s step= 315 trunk_z= 103.9mm grav_b=(+0.06,-0.01,-1.00) r=0.88m
+[headless_play] t=  6.40s step= 320 trunk_z= 112.6mm grav_b=(+0.06,+0.01,-1.00) r=0.89m
+[headless_play] t=  6.50s step= 325 trunk_z= 107.4mm grav_b=(+0.03,+0.06,-1.00) r=0.92m
+[headless_play] t=  6.60s step= 330 trunk_z= 107.6mm grav_b=(+0.05,+0.10,-0.99) r=0.94m
+[headless_play] t=  6.70s step= 335 trunk_z= 108.6mm grav_b=(+0.07,+0.09,-0.99) r=0.96m
+[headless_play] t=  6.80s step= 340 trunk_z= 103.7mm grav_b=(+0.05,+0.05,-1.00) r=0.97m
+[headless_play] t=  6.90s step= 345 trunk_z= 111.9mm grav_b=(+0.05,+0.00,-1.00) r=0.98m
+[headless_play] t=  7.00s step= 350 trunk_z= 111.2mm grav_b=(+0.04,+0.03,-1.00) r=1.00m
+[headless_play] t=  7.10s step= 355 trunk_z= 101.1mm grav_b=(+0.06,+0.08,-1.00) r=1.02m
+[headless_play] t=  7.20s step= 360 trunk_z= 109.5mm grav_b=(+0.08,+0.10,-0.99) r=1.04m
+[headless_play] t=  7.30s step= 365 trunk_z= 110.1mm grav_b=(+0.04,+0.05,-1.00) r=1.04m
+[headless_play] t=  7.40s step= 370 trunk_z= 112.5mm grav_b=(+0.03,-0.06,-1.00) r=1.04m
+[headless_play] t=  7.50s step= 375 trunk_z= 121.9mm grav_b=(+0.05,-0.05,-1.00) r=1.05m
+[headless_play] t=  7.60s step= 380 trunk_z= 118.6mm grav_b=(+0.04,-0.00,-1.00) r=1.08m
+[headless_play] t=  7.70s step= 385 trunk_z= 125.7mm grav_b=(+0.05,+0.04,-1.00) r=1.11m
+[headless_play] t=  7.80s step= 390 trunk_z= 123.3mm grav_b=(-0.02,+0.03,-1.00) r=1.15m
+[headless_play] t=  7.90s step= 395 trunk_z=  98.0mm grav_b=(-0.03,-0.09,-1.00) r=1.19m
+[headless_play] t=  8.00s step= 400 trunk_z= 109.6mm grav_b=(+0.01,-0.06,-1.00) r=1.22m
+[headless_play] t=  8.10s step= 405 trunk_z= 108.5mm grav_b=(+0.01,-0.04,-1.00) r=1.25m
+[headless_play] t=  8.20s step= 410 trunk_z=  91.2mm grav_b=(-0.00,+0.06,-1.00) r=1.29m
+[headless_play] t=  8.30s step= 415 trunk_z= 106.3mm grav_b=(+0.04,+0.10,-0.99) r=1.32m
+[headless_play] t=  8.40s step= 420 trunk_z= 103.1mm grav_b=(-0.03,+0.10,-1.00) r=1.35m
+[headless_play] t=  8.50s step= 425 trunk_z=  85.0mm grav_b=(-0.01,+0.03,-1.00) r=1.40m
+[headless_play] t=  8.60s step= 430 trunk_z=  89.4mm grav_b=(+0.03,+0.03,-1.00) r=1.43m
+[headless_play] t=  8.70s step= 435 trunk_z=  63.3mm grav_b=(-0.00,+0.05,-1.00) r=1.48m
+[headless_play] t=  8.80s step= 440 trunk_z=  79.3mm grav_b=(-0.01,+0.00,-1.00) r=1.51m
+[headless_play] t=  8.90s step= 445 trunk_z=  66.1mm grav_b=(-0.09,-0.06,-0.99) r=1.55m
+[headless_play] t=  9.00s step= 450 trunk_z=  63.1mm grav_b=(-0.07,-0.13,-0.99) r=1.59m
+[headless_play] t=  9.10s step= 455 trunk_z=  64.9mm grav_b=(-0.02,-0.10,-1.00) r=1.61m
+[headless_play] t=  9.20s step= 460 trunk_z=  58.5mm grav_b=(+0.01,-0.00,-1.00) r=1.65m
+[headless_play] t=  9.30s step= 465 trunk_z=  62.4mm grav_b=(+0.06,+0.08,-0.99) r=1.69m
+[headless_play] t=  9.40s step= 470 trunk_z=  66.2mm grav_b=(+0.02,+0.12,-0.99) r=1.73m
+[headless_play] t=  9.50s step= 475 trunk_z=  36.7mm grav_b=(-0.03,+0.01,-1.00) r=1.78m
+[headless_play] t=  9.60s step= 480 trunk_z=  50.7mm grav_b=(+0.04,+0.07,-1.00) r=1.82m
+[headless_play] t=  9.70s step= 485 trunk_z=  32.7mm grav_b=(-0.03,+0.05,-1.00) r=1.87m
+[headless_play] t=  9.80s step= 490 trunk_z=  34.4mm grav_b=(-0.04,+0.05,-1.00) r=1.90m
+[headless_play] t=  9.90s step= 495 trunk_z=  33.1mm grav_b=(-0.08,-0.00,-1.00) r=1.93m
+[headless_play] t= 10.00s step= 500 trunk_z=  26.6mm grav_b=(-0.11,-0.10,-0.99) r=1.97m
+[headless_play] t= 10.10s step= 505 trunk_z=  31.7mm grav_b=(-0.08,-0.11,-0.99) r=1.99m
+[headless_play] t= 10.20s step= 510 trunk_z=  26.6mm grav_b=(-0.05,-0.07,-1.00) r=2.01m
+[headless_play] t= 10.30s step= 515 trunk_z=  17.3mm grav_b=(-0.01,+0.04,-1.00) r=2.03m
+[headless_play] t= 10.40s step= 520 trunk_z=  25.2mm grav_b=(+0.02,+0.10,-0.99) r=2.06m
+[headless_play] t= 10.50s step= 525 trunk_z=  22.4mm grav_b=(+0.06,+0.08,-0.99) r=2.08m
+[headless_play] t= 10.60s step= 530 trunk_z=  14.3mm grav_b=(+0.06,-0.03,-1.00) r=2.13m
+[headless_play] t= 10.70s step= 535 trunk_z=  21.0mm grav_b=(+0.02,-0.03,-1.00) r=2.16m
+[headless_play] t= 10.80s step= 540 trunk_z=   4.4mm grav_b=(-0.05,+0.08,-1.00) r=2.20m
+[headless_play] t= 10.90s step= 545 trunk_z=  16.3mm grav_b=(-0.04,+0.16,-0.99) r=2.22m
+[headless_play] t= 11.00s step= 550 trunk_z=  14.2mm grav_b=(-0.02,+0.16,-0.99) r=2.25m
+[headless_play] t= 11.10s step= 555 trunk_z=  12.3mm grav_b=(+0.00,+0.11,-0.99) r=2.27m
+[headless_play] t= 11.20s step= 560 trunk_z=   6.9mm grav_b=(+0.01,-0.04,-1.00) r=2.30m
+[headless_play] t= 11.30s step= 565 trunk_z=  11.1mm grav_b=(-0.00,-0.05,-1.00) r=2.33m
+[headless_play] t= 11.40s step= 570 trunk_z=  -2.9mm grav_b=(-0.03,+0.04,-1.00) r=2.35m
+[headless_play] t= 11.50s step= 575 trunk_z=   1.9mm grav_b=(-0.00,+0.09,-1.00) r=2.35m
+[headless_play] t= 11.60s step= 580 trunk_z=  -6.7mm grav_b=(-0.05,+0.05,-1.00) r=2.35m
+[headless_play] t= 11.70s step= 585 trunk_z=  -6.8mm grav_b=(-0.08,+0.05,-1.00) r=2.35m
+[headless_play] t= 11.80s step= 590 trunk_z=  -7.0mm grav_b=(-0.07,+0.07,-1.00) r=2.35m
+[headless_play] t= 11.90s step= 595 trunk_z=  -7.3mm grav_b=(-0.03,+0.06,-1.00) r=2.36m
+[headless_play] t= 12.00s step= 600 trunk_z=  -7.8mm grav_b=(+0.03,+0.04,-1.00) r=2.37m
+[headless_play] t= 12.10s step= 605 trunk_z=  -7.3mm grav_b=(+0.05,+0.01,-1.00) r=2.37m
+[headless_play] t= 12.20s step= 610 trunk_z=  -7.2mm grav_b=(+0.08,-0.04,-1.00) r=2.37m
+[headless_play] t= 12.30s step= 615 trunk_z=  -5.8mm grav_b=(+0.00,+0.01,-1.00) r=2.38m
+[headless_play] t= 12.40s step= 620 trunk_z=  -3.4mm grav_b=(-0.08,+0.10,-0.99) r=2.40m
+[headless_play] t= 12.50s step= 625 trunk_z=  -5.8mm grav_b=(-0.09,+0.04,-0.99) r=2.40m
+[headless_play] t= 12.60s step= 630 trunk_z=  -6.5mm grav_b=(-0.14,+0.02,-0.99) r=2.40m
+[headless_play] t= 12.70s step= 635 trunk_z=  -7.1mm grav_b=(-0.18,+0.02,-0.98) r=2.39m
+[headless_play] t= 12.80s step= 640 trunk_z=  -6.7mm grav_b=(-0.17,-0.00,-0.99) r=2.38m
+[headless_play] t= 12.90s step= 645 trunk_z=  -7.9mm grav_b=(-0.15,+0.07,-0.99) r=2.37m
+[headless_play] t= 13.00s step= 650 trunk_z=  -6.8mm grav_b=(-0.15,-0.03,-0.99) r=2.36m
+[headless_play] t= 13.10s step= 655 trunk_z=  -4.3mm grav_b=(-0.12,+0.04,-0.99) r=2.35m
+[headless_play] t= 13.20s step= 660 trunk_z=  -0.1mm grav_b=(-0.12,+0.06,-0.99) r=2.34m
+[headless_play] t= 13.30s step= 665 trunk_z=  -5.1mm grav_b=(-0.01,-0.01,-1.00) r=2.33m
+[headless_play] t= 13.40s step= 670 trunk_z=  -2.0mm grav_b=(-0.06,-0.00,-1.00) r=2.32m
+[headless_play] t= 13.50s step= 675 trunk_z=  -1.1mm grav_b=(-0.04,+0.05,-1.00) r=2.33m
+[headless_play] t= 13.60s step= 680 trunk_z=  -0.8mm grav_b=(+0.04,+0.02,-1.00) r=2.33m
+[headless_play] t= 13.70s step= 685 trunk_z=  -2.4mm grav_b=(-0.01,+0.06,-1.00) r=2.34m
+[headless_play] t= 13.80s step= 690 trunk_z=  -4.3mm grav_b=(+0.00,+0.12,-0.99) r=2.35m
+[headless_play] t= 13.90s step= 695 trunk_z=  -5.5mm grav_b=(-0.03,+0.08,-1.00) r=2.36m
+[headless_play] t= 14.00s step= 700 trunk_z= -10.6mm grav_b=(-0.11,-0.03,-0.99) r=2.36m
+[headless_play] t= 14.10s step= 705 trunk_z= -11.6mm grav_b=(-0.17,-0.03,-0.99) r=2.36m
+[headless_play] t= 14.20s step= 710 trunk_z= -11.2mm grav_b=(-0.19,-0.03,-0.98) r=2.35m
+[headless_play] t= 14.30s step= 715 trunk_z=  -8.5mm grav_b=(-0.22,-0.02,-0.98) r=2.36m
+[headless_play] t= 14.40s step= 720 trunk_z= -11.0mm grav_b=(-0.36,-0.16,-0.92) r=2.36m
+[headless_play] t= 14.50s step= 725 trunk_z= -37.9mm grav_b=(-0.56,-0.55,-0.62) r=2.37m
+[headless_play] RESET at t= 14.58s step= 729 (env termination, not a recovery)
+[headless_play] t= 14.60s step= 730 trunk_z= 125.2mm grav_b=(-0.01,+0.00,-1.00) r=0.37m
+[headless_play] t= 14.70s step= 735 trunk_z= 114.2mm grav_b=(-0.02,+0.02,-1.00) r=0.37m
+[headless_play] t= 14.80s step= 740 trunk_z= 112.7mm grav_b=(+0.01,+0.06,-1.00) r=0.38m
+[headless_play] t= 14.90s step= 745 trunk_z= 112.0mm grav_b=(-0.01,-0.02,-1.00) r=0.40m
+[headless_play] t= 15.00s step= 750 trunk_z= 112.8mm grav_b=(-0.01,-0.08,-1.00) r=0.43m
+[headless_play] t= 15.10s step= 755 trunk_z= 115.8mm grav_b=(-0.01,-0.04,-1.00) r=0.44m
+[headless_play] t= 15.20s step= 760 trunk_z= 108.9mm grav_b=(+0.01,+0.04,-1.00) r=0.45m
+[headless_play] t= 15.30s step= 765 trunk_z= 114.7mm grav_b=(+0.02,+0.08,-1.00) r=0.46m
+[headless_play] t= 15.40s step= 770 trunk_z= 111.5mm grav_b=(+0.03,+0.03,-1.00) r=0.48m
+[headless_play] t= 15.50s step= 775 trunk_z= 111.3mm grav_b=(+0.01,-0.06,-1.00) r=0.51m
+[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(+0.01,-0.06,-1.00) r=0.53m
+[headless_play] t= 15.70s step= 785 trunk_z= 113.1mm grav_b=(+0.02,-0.00,-1.00) r=0.54m
+[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.55m
+[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(+0.02,+0.06,-1.00) r=0.56m
+[headless_play] t= 16.00s step= 800 trunk_z= 107.1mm grav_b=(+0.01,-0.00,-1.00) r=0.59m
+[headless_play] t= 16.10s step= 805 trunk_z= 118.0mm grav_b=(-0.01,-0.06,-1.00) r=0.62m
+[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(-0.00,-0.03,-1.00) r=0.63m
+[headless_play] t= 16.30s step= 815 trunk_z= 111.0mm grav_b=(-0.01,+0.05,-1.00) r=0.63m
+[headless_play] t= 16.40s step= 820 trunk_z= 117.1mm grav_b=(+0.01,+0.06,-1.00) r=0.65m
+[headless_play] t= 16.50s step= 825 trunk_z= 111.9mm grav_b=(+0.02,+0.02,-1.00) r=0.67m
+[headless_play] t= 16.60s step= 830 trunk_z= 114.3mm grav_b=(+0.01,-0.06,-1.00) r=0.70m
+[headless_play] t= 16.70s step= 835 trunk_z= 116.2mm grav_b=(+0.02,-0.05,-1.00) r=0.72m
+[headless_play] t= 16.80s step= 840 trunk_z= 111.4mm grav_b=(+0.02,+0.03,-1.00) r=0.73m
+[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(+0.02,+0.08,-1.00) r=0.74m
+[headless_play] t= 17.00s step= 850 trunk_z= 113.6mm grav_b=(+0.03,+0.05,-1.00) r=0.76m
+[headless_play] t= 17.10s step= 855 trunk_z= 111.6mm grav_b=(+0.00,-0.04,-1.00) r=0.79m
+[headless_play] t= 17.20s step= 860 trunk_z= 118.7mm grav_b=(-0.01,-0.04,-1.00) r=0.81m
+[headless_play] t= 17.30s step= 865 trunk_z= 115.0mm grav_b=(-0.03,+0.01,-1.00) r=0.80m
+[headless_play] t= 17.40s step= 870 trunk_z= 118.1mm grav_b=(-0.04,+0.09,-1.00) r=0.79m
+[headless_play] t= 17.50s step= 875 trunk_z= 124.8mm grav_b=(-0.02,+0.08,-1.00) r=0.80m
+[headless_play] t= 17.60s step= 880 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.83m
+[headless_play] t= 17.70s step= 885 trunk_z= 123.1mm grav_b=(+0.00,-0.05,-1.00) r=0.85m
+[headless_play] t= 17.80s step= 890 trunk_z= 123.8mm grav_b=(+0.00,-0.02,-1.00) r=0.85m
+[headless_play] t= 17.90s step= 895 trunk_z= 118.9mm grav_b=(-0.01,+0.06,-1.00) r=0.85m
+[headless_play] t= 18.00s step= 900 trunk_z= 127.8mm grav_b=(-0.03,+0.09,-1.00) r=0.86m
+[headless_play] t= 18.10s step= 905 trunk_z= 127.8mm grav_b=(-0.01,+0.07,-1.00) r=0.87m
+[headless_play] t= 18.20s step= 910 trunk_z= 113.3mm grav_b=(-0.04,-0.03,-1.00) r=0.91m
+[headless_play] t= 18.30s step= 915 trunk_z= 122.0mm grav_b=(-0.01,-0.05,-1.00) r=0.93m
+[headless_play] t= 18.40s step= 920 trunk_z= 122.9mm grav_b=(-0.02,-0.06,-1.00) r=0.95m
+[headless_play] t= 18.50s step= 925 trunk_z= 119.6mm grav_b=(-0.03,+0.02,-1.00) r=0.96m
+[headless_play] t= 18.60s step= 930 trunk_z= 122.2mm grav_b=(-0.03,+0.09,-1.00) r=0.98m
+[headless_play] t= 18.70s step= 935 trunk_z= 125.1mm grav_b=(-0.01,+0.10,-0.99) r=0.99m
+[headless_play] t= 18.80s step= 940 trunk_z= 117.7mm grav_b=(-0.02,+0.05,-1.00) r=1.02m
+[headless_play] t= 18.90s step= 945 trunk_z= 109.4mm grav_b=(+0.04,-0.07,-1.00) r=1.04m
+[headless_play] t= 19.00s step= 950 trunk_z= 114.0mm grav_b=(+0.01,-0.01,-1.00) r=1.06m
+[headless_play] t= 19.10s step= 955 trunk_z= 111.4mm grav_b=(-0.02,-0.00,-1.00) r=1.09m
+[headless_play] t= 19.20s step= 960 trunk_z= 107.5mm grav_b=(+0.00,+0.04,-1.00) r=1.12m
+[headless_play] t= 19.30s step= 965 trunk_z= 114.0mm grav_b=(-0.01,+0.07,-1.00) r=1.15m
+[headless_play] t= 19.40s step= 970 trunk_z=  83.7mm grav_b=(-0.04,-0.04,-1.00) r=1.20m
+[headless_play] t= 19.50s step= 975 trunk_z=  92.5mm grav_b=(-0.00,-0.06,-1.00) r=1.23m
+[headless_play] t= 19.60s step= 980 trunk_z=  92.0mm grav_b=(-0.01,-0.05,-1.00) r=1.25m
+[headless_play] t= 19.70s step= 985 trunk_z=  84.8mm grav_b=(-0.05,-0.00,-1.00) r=1.28m
+[headless_play] t= 19.80s step= 990 trunk_z=  84.8mm grav_b=(-0.01,+0.05,-1.00) r=1.31m
+[headless_play] t= 19.90s step= 995 trunk_z=  89.2mm grav_b=(-0.02,+0.07,-1.00) r=1.34m
+[headless_play] t= 20.00s step=1000 trunk_z=  61.6mm grav_b=(-0.02,-0.02,-1.00) r=1.39m
+[headless_play] t= 20.10s step=1005 trunk_z=  72.2mm grav_b=(+0.00,-0.02,-1.00) r=1.41m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t14.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(+1.605,-17.866,+0.250)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.6mm grav_b=(-0.01,-0.00,-1.00) r=0.42m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.2mm grav_b=(-0.02,+0.02,-1.00) r=0.43m
+[headless_play] t=  0.20s step=  10 trunk_z= 114.2mm grav_b=(+0.00,+0.07,-1.00) r=0.45m
+[headless_play] t=  0.30s step=  15 trunk_z= 116.2mm grav_b=(+0.02,+0.03,-1.00) r=0.47m
+[headless_play] t=  0.40s step=  20 trunk_z= 112.9mm grav_b=(+0.00,-0.03,-1.00) r=0.49m
+[headless_play] t=  0.50s step=  25 trunk_z= 122.2mm grav_b=(-0.02,-0.10,-1.00) r=0.52m
+[headless_play] t=  0.60s step=  30 trunk_z= 118.1mm grav_b=(-0.01,-0.07,-1.00) r=0.54m
+[headless_play] t=  0.70s step=  35 trunk_z= 109.2mm grav_b=(-0.03,+0.01,-1.00) r=0.57m
+[headless_play] t=  0.80s step=  40 trunk_z= 121.1mm grav_b=(-0.03,+0.06,-1.00) r=0.58m
+[headless_play] t=  0.90s step=  45 trunk_z= 119.4mm grav_b=(+0.00,+0.06,-1.00) r=0.60m
+[headless_play] t=  1.00s step=  50 trunk_z= 115.5mm grav_b=(+0.00,-0.03,-1.00) r=0.62m
+[headless_play] t=  1.10s step=  55 trunk_z= 122.9mm grav_b=(-0.01,-0.09,-1.00) r=0.64m
+[headless_play] t=  1.20s step=  60 trunk_z= 115.9mm grav_b=(+0.00,-0.07,-1.00) r=0.66m
+[headless_play] t=  1.30s step=  65 trunk_z= 110.7mm grav_b=(-0.02,+0.04,-1.00) r=0.69m
+[headless_play] t=  1.40s step=  70 trunk_z= 120.2mm grav_b=(-0.01,+0.08,-1.00) r=0.71m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.1mm grav_b=(+0.04,+0.06,-1.00) r=0.73m
+[headless_play] t=  1.60s step=  80 trunk_z= 115.1mm grav_b=(+0.01,-0.06,-1.00) r=0.75m
+[headless_play] t=  1.70s step=  85 trunk_z= 119.3mm grav_b=(+0.03,-0.07,-1.00) r=0.77m
+[headless_play] t=  1.80s step=  90 trunk_z= 111.5mm grav_b=(+0.02,-0.03,-1.00) r=0.80m
+[headless_play] t=  1.90s step=  95 trunk_z= 118.0mm grav_b=(-0.01,+0.04,-1.00) r=0.82m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.02,+0.05,-1.00) r=0.84m
+[headless_play] t=  2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.01,-0.05,-1.00) r=0.86m
+[headless_play] t=  2.20s step= 110 trunk_z= 121.4mm grav_b=(+0.01,-0.08,-1.00) r=0.89m
+[headless_play] t=  2.30s step= 115 trunk_z= 114.0mm grav_b=(+0.02,-0.06,-1.00) r=0.91m
+[headless_play] t=  2.40s step= 120 trunk_z= 115.1mm grav_b=(-0.02,+0.03,-1.00) r=0.93m
+[headless_play] t=  2.50s step= 125 trunk_z= 119.1mm grav_b=(+0.01,+0.06,-1.00) r=0.95m
+[headless_play] t=  2.60s step= 130 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00) r=0.97m
+[headless_play] t=  2.70s step= 135 trunk_z= 121.6mm grav_b=(-0.02,-0.10,-0.99) r=1.00m
+[headless_play] t=  2.80s step= 140 trunk_z= 118.7mm grav_b=(-0.01,-0.07,-1.00) r=1.02m
+[headless_play] t=  2.90s step= 145 trunk_z= 108.0mm grav_b=(-0.02,+0.01,-1.00) r=1.04m
+[headless_play] t=  3.00s step= 150 trunk_z= 118.6mm grav_b=(-0.02,+0.06,-1.00) r=1.06m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.0mm grav_b=(+0.00,+0.06,-1.00) r=1.07m
+[headless_play] t=  3.20s step= 160 trunk_z= 111.7mm grav_b=(+0.03,-0.03,-1.00) r=1.09m
+[headless_play] t=  3.30s step= 165 trunk_z= 114.7mm grav_b=(+0.01,-0.13,-0.99) r=1.12m
+[headless_play] t=  3.40s step= 170 trunk_z= 106.3mm grav_b=(+0.08,-0.11,-0.99) r=1.15m
+[headless_play] t=  3.50s step= 175 trunk_z=  94.7mm grav_b=(+0.04,-0.01,-1.00) r=1.19m
+[headless_play] t=  3.60s step= 180 trunk_z=  99.8mm grav_b=(+0.01,-0.01,-1.00) r=1.23m
+[headless_play] t=  3.70s step= 185 trunk_z=  86.6mm grav_b=(+0.02,-0.11,-0.99) r=1.28m
+[headless_play] t=  3.80s step= 190 trunk_z=  90.9mm grav_b=(+0.02,-0.15,-0.99) r=1.31m
+[headless_play] t=  3.90s step= 195 trunk_z=  85.7mm grav_b=(+0.05,-0.08,-1.00) r=1.35m
+[headless_play] t=  4.00s step= 200 trunk_z=  85.1mm grav_b=(+0.02,+0.06,-1.00) r=1.39m
+[headless_play] t=  4.10s step= 205 trunk_z=  83.2mm grav_b=(-0.02,+0.10,-1.00) r=1.43m
+[headless_play] t=  4.20s step= 210 trunk_z=  67.9mm grav_b=(+0.03,-0.06,-1.00) r=1.47m
+[headless_play] t=  4.30s step= 215 trunk_z=  70.4mm grav_b=(+0.01,-0.10,-0.99) r=1.50m
+[headless_play] t=  4.40s step= 220 trunk_z=  60.9mm grav_b=(-0.04,-0.09,-1.00) r=1.55m
+[headless_play] t=  4.50s step= 225 trunk_z=  54.3mm grav_b=(+0.03,+0.02,-1.00) r=1.59m
+[headless_play] t=  4.60s step= 230 trunk_z=  56.9mm grav_b=(+0.00,+0.07,-1.00) r=1.62m
+[headless_play] t=  4.70s step= 235 trunk_z=  45.1mm grav_b=(+0.05,-0.07,-1.00) r=1.66m
+[headless_play] t=  4.80s step= 240 trunk_z=  49.9mm grav_b=(+0.03,-0.13,-0.99) r=1.69m
+[headless_play] t=  4.90s step= 245 trunk_z=  43.3mm grav_b=(-0.01,-0.10,-0.99) r=1.73m
+[headless_play] t=  5.00s step= 250 trunk_z=  38.1mm grav_b=(+0.09,+0.06,-0.99) r=1.77m
+[headless_play] t=  5.10s step= 255 trunk_z=  45.2mm grav_b=(-0.04,+0.16,-0.99) r=1.81m
+[headless_play] t=  5.20s step= 260 trunk_z=  11.2mm grav_b=(-0.01,-0.01,-1.00) r=1.88m
+[headless_play] t=  5.30s step= 265 trunk_z=  25.6mm grav_b=(-0.00,-0.05,-1.00) r=1.91m
+[headless_play] t=  5.40s step= 270 trunk_z=  16.2mm grav_b=(-0.07,-0.08,-0.99) r=1.95m
+[headless_play] t=  5.50s step= 275 trunk_z=   2.2mm grav_b=(+0.00,+0.04,-1.00) r=1.99m
+[headless_play] t=  5.60s step= 280 trunk_z=   8.3mm grav_b=(-0.01,+0.05,-1.00) r=2.02m
+[headless_play] t=  5.70s step= 285 trunk_z=  -0.9mm grav_b=(-0.06,-0.02,-1.00) r=2.07m
+[headless_play] t=  5.80s step= 290 trunk_z=  10.0mm grav_b=(-0.07,-0.04,-1.00) r=2.09m
+[headless_play] t=  5.90s step= 295 trunk_z=   8.0mm grav_b=(-0.12,-0.02,-0.99) r=2.11m
+[headless_play] t=  6.00s step= 300 trunk_z=   8.2mm grav_b=(-0.05,+0.03,-1.00) r=2.12m
+[headless_play] t=  6.10s step= 305 trunk_z=   9.1mm grav_b=(-0.07,-0.00,-1.00) r=2.12m
+[headless_play] t=  6.20s step= 310 trunk_z=   0.2mm grav_b=(-0.05,-0.05,-1.00) r=2.13m
+[headless_play] t=  6.30s step= 315 trunk_z=   7.3mm grav_b=(-0.06,-0.09,-0.99) r=2.13m
+[headless_play] t=  6.40s step= 320 trunk_z=   7.5mm grav_b=(-0.06,-0.09,-0.99) r=2.14m
+[headless_play] t=  6.50s step= 325 trunk_z=   1.8mm grav_b=(-0.02,-0.08,-1.00) r=2.15m
+[headless_play] t=  6.60s step= 330 trunk_z=   7.5mm grav_b=(-0.00,-0.01,-1.00) r=2.16m
+[headless_play] t=  6.70s step= 335 trunk_z=  11.0mm grav_b=(-0.03,-0.02,-1.00) r=2.16m
+[headless_play] t=  6.80s step= 340 trunk_z=   7.1mm grav_b=(-0.02,-0.07,-1.00) r=2.16m
+[headless_play] t=  6.90s step= 345 trunk_z=  14.7mm grav_b=(-0.05,-0.11,-0.99) r=2.16m
+[headless_play] t=  7.00s step= 350 trunk_z=  15.5mm grav_b=(-0.08,-0.07,-0.99) r=2.17m
+[headless_play] t=  7.10s step= 355 trunk_z=   9.9mm grav_b=(-0.09,+0.01,-1.00) r=2.19m
+[headless_play] t=  7.20s step= 360 trunk_z=  21.0mm grav_b=(-0.11,+0.02,-0.99) r=2.19m
+[headless_play] t=  7.30s step= 365 trunk_z=  17.5mm grav_b=(-0.11,-0.03,-0.99) r=2.20m
+[headless_play] t=  7.40s step= 370 trunk_z=  15.4mm grav_b=(-0.08,-0.09,-0.99) r=2.20m
+[headless_play] t=  7.50s step= 375 trunk_z=  19.6mm grav_b=(-0.08,-0.10,-0.99) r=2.20m
+[headless_play] t=  7.60s step= 380 trunk_z=  16.6mm grav_b=(-0.07,-0.05,-1.00) r=2.21m
+[headless_play] t=  7.70s step= 385 trunk_z=  19.1mm grav_b=(-0.06,+0.00,-1.00) r=2.22m
+[headless_play] t=  7.80s step= 390 trunk_z=  22.2mm grav_b=(-0.07,+0.00,-1.00) r=2.23m
+[headless_play] t=  7.90s step= 395 trunk_z=  15.6mm grav_b=(-0.09,-0.06,-0.99) r=2.24m
+[headless_play] t=  8.00s step= 400 trunk_z=  24.3mm grav_b=(-0.08,-0.06,-1.00) r=2.25m
+[headless_play] t=  8.10s step= 405 trunk_z=  23.2mm grav_b=(-0.09,-0.03,-1.00) r=2.25m
+[headless_play] t=  8.20s step= 410 trunk_z=  21.2mm grav_b=(-0.08,+0.02,-1.00) r=2.26m
+[headless_play] t=  8.30s step= 415 trunk_z=  26.3mm grav_b=(-0.06,+0.01,-1.00) r=2.27m
+[headless_play] t=  8.40s step= 420 trunk_z=  20.9mm grav_b=(-0.07,-0.03,-1.00) r=2.29m
+[headless_play] t=  8.50s step= 425 trunk_z=  28.5mm grav_b=(-0.09,-0.06,-0.99) r=2.30m
+[headless_play] t=  8.60s step= 430 trunk_z=  28.5mm grav_b=(-0.09,-0.03,-1.00) r=2.30m
+[headless_play] t=  8.70s step= 435 trunk_z=  24.6mm grav_b=(-0.09,+0.03,-1.00) r=2.30m
+[headless_play] t=  8.80s step= 440 trunk_z=  30.4mm grav_b=(-0.05,+0.04,-1.00) r=2.30m
+[headless_play] t=  8.90s step= 445 trunk_z=  25.3mm grav_b=(-0.06,+0.00,-1.00) r=2.32m
+[headless_play] t=  9.00s step= 450 trunk_z=  30.2mm grav_b=(-0.06,-0.08,-1.00) r=2.33m
+[headless_play] t=  9.10s step= 455 trunk_z=  31.9mm grav_b=(-0.07,-0.06,-1.00) r=2.34m
+[headless_play] t=  9.20s step= 460 trunk_z=  24.6mm grav_b=(-0.08,-0.01,-1.00) r=2.34m
+[headless_play] t=  9.30s step= 465 trunk_z=  34.6mm grav_b=(-0.08,+0.01,-1.00) r=2.35m
+[headless_play] t=  9.40s step= 470 trunk_z=  32.6mm grav_b=(-0.09,-0.01,-1.00) r=2.37m
+[headless_play] t=  9.50s step= 475 trunk_z=  33.0mm grav_b=(-0.07,-0.07,-1.00) r=2.38m
+[headless_play] t=  9.60s step= 480 trunk_z=  36.9mm grav_b=(-0.07,-0.06,-1.00) r=2.39m
+[headless_play] t=  9.70s step= 485 trunk_z=  30.4mm grav_b=(-0.09,-0.02,-1.00) r=2.40m
+[headless_play] t=  9.80s step= 490 trunk_z=  40.0mm grav_b=(-0.08,+0.03,-1.00) r=2.40m
+[headless_play] t=  9.90s step= 495 trunk_z=  40.3mm grav_b=(-0.09,+0.02,-1.00) r=2.41m
+[headless_play] t= 10.00s step= 500 trunk_z=  33.0mm grav_b=(-0.09,-0.05,-0.99) r=2.43m
+[headless_play] t= 10.10s step= 505 trunk_z=  41.7mm grav_b=(-0.08,-0.06,-0.99) r=2.44m
+[headless_play] t= 10.20s step= 510 trunk_z=  38.4mm grav_b=(-0.08,-0.03,-1.00) r=2.44m
+[headless_play] t= 10.30s step= 515 trunk_z=  41.6mm grav_b=(-0.08,+0.02,-1.00) r=2.44m
+[headless_play] t= 10.40s step= 520 trunk_z=  45.4mm grav_b=(-0.09,+0.01,-1.00) r=2.45m
+[headless_play] t= 10.50s step= 525 trunk_z=  39.8mm grav_b=(-0.09,-0.02,-1.00) r=2.47m
+[headless_play] t= 10.60s step= 530 trunk_z=  46.2mm grav_b=(-0.06,-0.06,-1.00) r=2.49m
+[headless_play] t= 10.70s step= 535 trunk_z=  45.7mm grav_b=(-0.07,-0.03,-1.00) r=2.49m
+[headless_play] t= 10.80s step= 540 trunk_z=  43.4mm grav_b=(-0.06,+0.04,-1.00) r=2.49m
+[headless_play] t= 10.90s step= 545 trunk_z=  51.9mm grav_b=(-0.07,+0.05,-1.00) r=2.49m
+[headless_play] t= 11.00s step= 550 trunk_z=  49.4mm grav_b=(-0.08,+0.04,-1.00) r=2.51m
+[headless_play] t= 11.10s step= 555 trunk_z=  47.6mm grav_b=(-0.08,-0.05,-1.00) r=2.53m
+[headless_play] t= 11.20s step= 560 trunk_z=  53.6mm grav_b=(-0.08,-0.05,-1.00) r=2.54m
+[headless_play] t= 11.30s step= 565 trunk_z=  48.3mm grav_b=(-0.11,-0.01,-0.99) r=2.53m
+[headless_play] t= 11.40s step= 570 trunk_z=  54.2mm grav_b=(-0.03,+0.05,-1.00) r=2.53m
+[headless_play] t= 11.50s step= 575 trunk_z=  55.6mm grav_b=(-0.02,+0.05,-1.00) r=2.54m
+[headless_play] t= 11.60s step= 580 trunk_z=  52.5mm grav_b=(-0.06,+0.04,-1.00) r=2.56m
+[headless_play] t= 11.70s step= 585 trunk_z=  59.3mm grav_b=(-0.09,-0.06,-0.99) r=2.58m
+[headless_play] t= 11.80s step= 590 trunk_z=  54.4mm grav_b=(-0.08,-0.04,-1.00) r=2.57m
+[headless_play] t= 11.90s step= 595 trunk_z=  53.7mm grav_b=(+0.01,-0.03,-1.00) r=2.57m
+[headless_play] t= 12.00s step= 600 trunk_z=  49.6mm grav_b=(+0.00,+0.01,-1.00) r=2.56m
+[headless_play] t= 12.10s step= 605 trunk_z=  48.9mm grav_b=(-0.09,+0.03,-1.00) r=2.55m
+[headless_play] t= 12.20s step= 610 trunk_z=  48.4mm grav_b=(-0.13,+0.02,-0.99) r=2.54m
+[headless_play] t= 12.30s step= 615 trunk_z=  47.4mm grav_b=(-0.14,+0.05,-0.99) r=2.54m
+[headless_play] t= 12.40s step= 620 trunk_z=  42.1mm grav_b=(-0.04,-0.07,-1.00) r=2.52m
+[headless_play] t= 12.50s step= 625 trunk_z=  40.5mm grav_b=(+0.03,-0.10,-0.99) r=2.50m
+[headless_play] t= 12.60s step= 630 trunk_z=  43.9mm grav_b=(-0.03,-0.06,-1.00) r=2.49m
+[headless_play] t= 12.70s step= 635 trunk_z=  41.3mm grav_b=(-0.02,-0.03,-1.00) r=2.48m
+[headless_play] t= 12.80s step= 640 trunk_z=  40.0mm grav_b=(-0.08,-0.05,-1.00) r=2.48m
+[headless_play] t= 12.90s step= 645 trunk_z=  39.8mm grav_b=(-0.10,-0.04,-0.99) r=2.47m
+[headless_play] t= 13.00s step= 650 trunk_z=  39.5mm grav_b=(-0.12,-0.05,-0.99) r=2.47m
+[headless_play] t= 13.10s step= 655 trunk_z=  37.3mm grav_b=(-0.06,-0.08,-1.00) r=2.46m
+[headless_play] t= 13.20s step= 660 trunk_z=  38.2mm grav_b=(-0.02,-0.10,-0.99) r=2.45m
+[headless_play] t= 13.30s step= 665 trunk_z=  35.2mm grav_b=(-0.02,-0.07,-1.00) r=2.45m
+[headless_play] t= 13.40s step= 670 trunk_z=  35.7mm grav_b=(-0.04,-0.05,-1.00) r=2.44m
+[headless_play] t= 13.50s step= 675 trunk_z=  35.3mm grav_b=(-0.07,-0.06,-1.00) r=2.44m
+[headless_play] t= 13.60s step= 680 trunk_z=  35.0mm grav_b=(-0.09,-0.06,-0.99) r=2.43m
+[headless_play] t= 13.70s step= 685 trunk_z=  34.9mm grav_b=(-0.10,-0.06,-0.99) r=2.43m
+[headless_play] t= 13.80s step= 690 trunk_z=  34.8mm grav_b=(-0.11,-0.06,-0.99) r=2.43m
+[headless_play] t= 13.90s step= 695 trunk_z=  34.7mm grav_b=(-0.11,-0.06,-0.99) r=2.43m
+[headless_play] t= 14.00s step= 700 trunk_z=  34.6mm grav_b=(-0.11,-0.07,-0.99) r=2.43m
+[headless_play] t= 14.10s step= 705 trunk_z=  34.4mm grav_b=(-0.10,-0.08,-0.99) r=2.42m
+[headless_play] t= 14.20s step= 710 trunk_z=  33.3mm grav_b=(-0.09,-0.09,-0.99) r=2.42m
+[headless_play] t= 14.30s step= 715 trunk_z=  33.1mm grav_b=(-0.04,-0.06,-1.00) r=2.42m
+[headless_play] t= 14.40s step= 720 trunk_z=  29.9mm grav_b=(-0.02,-0.02,-1.00) r=2.41m
+[headless_play] t= 14.50s step= 725 trunk_z=  27.4mm grav_b=(+0.01,-0.11,-0.99) r=2.39m
+[headless_play] t= 14.60s step= 730 trunk_z=  31.7mm grav_b=(-0.02,-0.08,-1.00) r=2.38m
+[headless_play] t= 14.70s step= 735 trunk_z=  29.1mm grav_b=(-0.06,-0.08,-1.00) r=2.37m
+[headless_play] t= 14.80s step= 740 trunk_z=  29.3mm grav_b=(-0.06,-0.04,-1.00) r=2.36m
+[headless_play] t= 14.90s step= 745 trunk_z=  26.9mm grav_b=(-0.03,-0.06,-1.00) r=2.36m
+[headless_play] t= 15.00s step= 750 trunk_z=  25.3mm grav_b=(-0.03,-0.12,-0.99) r=2.35m
+[headless_play] t= 15.10s step= 755 trunk_z=  25.8mm grav_b=(-0.02,-0.10,-0.99) r=2.35m
+[headless_play] t= 15.20s step= 760 trunk_z=  24.5mm grav_b=(-0.01,-0.07,-1.00) r=2.34m
+[headless_play] t= 15.30s step= 765 trunk_z=  24.7mm grav_b=(-0.01,-0.07,-1.00) r=2.34m
+[headless_play] t= 15.40s step= 770 trunk_z=  24.6mm grav_b=(-0.02,-0.07,-1.00) r=2.34m
+[headless_play] t= 15.50s step= 775 trunk_z=  24.6mm grav_b=(-0.02,-0.07,-1.00) r=2.34m
+[headless_play] t= 15.60s step= 780 trunk_z=  24.4mm grav_b=(-0.03,-0.06,-1.00) r=2.34m
+[headless_play] t= 15.70s step= 785 trunk_z=  24.4mm grav_b=(-0.02,-0.06,-1.00) r=2.34m
+[headless_play] t= 15.80s step= 790 trunk_z=  24.3mm grav_b=(-0.02,-0.06,-1.00) r=2.34m
+[headless_play] t= 15.90s step= 795 trunk_z=  24.3mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.00s step= 800 trunk_z=  24.3mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.10s step= 805 trunk_z=  24.3mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.20s step= 810 trunk_z=  24.3mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.30s step= 815 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.40s step= 820 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.50s step= 825 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.60s step= 830 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.70s step= 835 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.80s step= 840 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 16.90s step= 845 trunk_z=  24.2mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.00s step= 850 trunk_z=  24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.10s step= 855 trunk_z=  24.2mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.20s step= 860 trunk_z=  24.2mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.30s step= 865 trunk_z=  24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.40s step= 870 trunk_z=  24.1mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.50s step= 875 trunk_z=  24.1mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.60s step= 880 trunk_z=  24.1mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.70s step= 885 trunk_z=  24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.80s step= 890 trunk_z=  24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 17.90s step= 895 trunk_z=  24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.00s step= 900 trunk_z=  24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.10s step= 905 trunk_z=  23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.20s step= 910 trunk_z=  24.0mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.30s step= 915 trunk_z=  24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.40s step= 920 trunk_z=  24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.50s step= 925 trunk_z=  24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.60s step= 930 trunk_z=  24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.70s step= 935 trunk_z=  23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.80s step= 940 trunk_z=  23.9mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 18.90s step= 945 trunk_z=  23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 19.00s step= 950 trunk_z=  23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m
+[headless_play] t= 19.10s step= 955 trunk_z=  23.9mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 19.20s step= 960 trunk_z=  23.8mm grav_b=(-0.03,-0.07,-1.00) r=2.33m
+[headless_play] t= 19.30s step= 965 trunk_z=  23.9mm grav_b=(-0.06,-0.07,-1.00) r=2.32m
+[headless_play] t= 19.40s step= 970 trunk_z=  23.5mm grav_b=(-0.09,-0.07,-0.99) r=2.32m
+[headless_play] t= 19.50s step= 975 trunk_z=  22.7mm grav_b=(-0.09,-0.03,-1.00) r=2.31m
+[headless_play] t= 19.60s step= 980 trunk_z=  26.8mm grav_b=(-0.07,-0.02,-1.00) r=2.31m
+[headless_play] t= 19.70s step= 985 trunk_z=  22.6mm grav_b=(-0.06,-0.07,-1.00) r=2.31m
+[headless_play] t= 19.80s step= 990 trunk_z=  28.3mm grav_b=(-0.01,-0.13,-0.99) r=2.32m
+[headless_play] t= 19.90s step= 995 trunk_z=  31.5mm grav_b=(-0.02,-0.14,-0.99) r=2.33m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 122.9mm grav_b=(-0.01,-0.00,-1.00) r=0.06m
+[headless_play] t= 20.10s step=1005 trunk_z= 114.7mm grav_b=(-0.04,+0.03,-1.00) r=0.07m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t15.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.657,-18.171,+0.254)
+[headless_play] t=  0.00s step=   0 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.38m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.6mm grav_b=(-0.01,+0.03,-1.00) r=0.38m
+[headless_play] t=  0.20s step=  10 trunk_z= 118.1mm grav_b=(-0.00,+0.05,-1.00) r=0.38m
+[headless_play] t=  0.30s step=  15 trunk_z= 121.3mm grav_b=(+0.03,-0.00,-1.00) r=0.39m
+[headless_play] t=  0.40s step=  20 trunk_z= 114.5mm grav_b=(+0.06,-0.06,-1.00) r=0.42m
+[headless_play] t=  0.50s step=  25 trunk_z= 124.5mm grav_b=(+0.08,-0.11,-0.99) r=0.43m
+[headless_play] t=  0.60s step=  30 trunk_z= 124.7mm grav_b=(+0.07,-0.11,-0.99) r=0.45m
+[headless_play] t=  0.70s step=  35 trunk_z= 117.9mm grav_b=(+0.05,-0.03,-1.00) r=0.48m
+[headless_play] t=  0.80s step=  40 trunk_z= 125.6mm grav_b=(+0.05,-0.04,-1.00) r=0.50m
+[headless_play] t=  0.90s step=  45 trunk_z= 114.5mm grav_b=(+0.00,-0.04,-1.00) r=0.53m
+[headless_play] t=  1.00s step=  50 trunk_z= 122.9mm grav_b=(+0.01,-0.08,-1.00) r=0.56m
+[headless_play] t=  1.10s step=  55 trunk_z= 123.0mm grav_b=(+0.02,-0.08,-1.00) r=0.57m
+[headless_play] t=  1.20s step=  60 trunk_z= 116.3mm grav_b=(+0.03,-0.03,-1.00) r=0.57m
+[headless_play] t=  1.30s step=  65 trunk_z= 122.4mm grav_b=(+0.06,-0.01,-1.00) r=0.58m
+[headless_play] t=  1.40s step=  70 trunk_z= 120.9mm grav_b=(+0.07,-0.00,-1.00) r=0.59m
+[headless_play] t=  1.50s step=  75 trunk_z= 119.1mm grav_b=(+0.03,-0.07,-1.00) r=0.62m
+[headless_play] t=  1.60s step=  80 trunk_z= 124.7mm grav_b=(+0.03,-0.09,-1.00) r=0.64m
+[headless_play] t=  1.70s step=  85 trunk_z= 121.7mm grav_b=(+0.03,-0.07,-1.00) r=0.66m
+[headless_play] t=  1.80s step=  90 trunk_z= 120.1mm grav_b=(+0.03,-0.00,-1.00) r=0.67m
+[headless_play] t=  1.90s step=  95 trunk_z= 122.5mm grav_b=(+0.04,-0.02,-1.00) r=0.68m
+[headless_play] t=  2.00s step= 100 trunk_z= 114.7mm grav_b=(+0.03,-0.04,-1.00) r=0.71m
+[headless_play] t=  2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.03,-0.10,-1.00) r=0.73m
+[headless_play] t=  2.20s step= 110 trunk_z= 124.0mm grav_b=(+0.03,-0.11,-0.99) r=0.74m
+[headless_play] t=  2.30s step= 115 trunk_z= 120.8mm grav_b=(+0.04,-0.06,-1.00) r=0.75m
+[headless_play] t=  2.40s step= 120 trunk_z= 123.9mm grav_b=(+0.06,-0.02,-1.00) r=0.76m
+[headless_play] t=  2.50s step= 125 trunk_z= 122.5mm grav_b=(+0.07,-0.02,-1.00) r=0.78m
+[headless_play] t=  2.60s step= 130 trunk_z= 120.7mm grav_b=(+0.05,-0.08,-1.00) r=0.81m
+[headless_play] t=  2.70s step= 135 trunk_z= 124.1mm grav_b=(+0.05,-0.09,-0.99) r=0.83m
+[headless_play] t=  2.80s step= 140 trunk_z= 121.9mm grav_b=(+0.04,-0.07,-1.00) r=0.85m
+[headless_play] t=  2.90s step= 145 trunk_z= 121.5mm grav_b=(+0.04,-0.02,-1.00) r=0.86m
+[headless_play] t=  3.00s step= 150 trunk_z= 125.0mm grav_b=(+0.03,-0.01,-1.00) r=0.88m
+[headless_play] t=  3.10s step= 155 trunk_z= 115.7mm grav_b=(+0.03,-0.06,-1.00) r=0.91m
+[headless_play] t=  3.20s step= 160 trunk_z= 123.1mm grav_b=(+0.05,-0.08,-1.00) r=0.93m
+[headless_play] t=  3.30s step= 165 trunk_z= 120.8mm grav_b=(+0.04,-0.06,-1.00) r=0.94m
+[headless_play] t=  3.40s step= 170 trunk_z= 117.8mm grav_b=(+0.05,+0.00,-1.00) r=0.96m
+[headless_play] t=  3.50s step= 175 trunk_z= 123.7mm grav_b=(+0.04,-0.00,-1.00) r=0.98m
+[headless_play] t=  3.60s step= 180 trunk_z= 108.1mm grav_b=(+0.04,-0.04,-1.00) r=1.02m
+[headless_play] t=  3.70s step= 185 trunk_z= 112.2mm grav_b=(+0.08,-0.17,-0.98) r=1.05m
+[headless_play] t=  3.80s step= 190 trunk_z= 109.3mm grav_b=(+0.08,-0.18,-0.98) r=1.08m
+[headless_play] t=  3.90s step= 195 trunk_z= 103.3mm grav_b=(+0.06,-0.21,-0.98) r=1.12m
+[headless_play] t=  4.00s step= 200 trunk_z=  95.4mm grav_b=(+0.11,-0.15,-0.98) r=1.19m
+[headless_play] t=  4.10s step= 205 trunk_z= 103.9mm grav_b=(+0.23,+0.06,-0.97) r=1.26m
+[headless_play] t=  4.20s step= 210 trunk_z=  45.7mm grav_b=(+0.09,+0.12,-0.99) r=1.34m
+[headless_play] t=  4.30s step= 215 trunk_z=  64.9mm grav_b=(+0.22,+0.12,-0.97) r=1.37m
+[headless_play] t=  4.40s step= 220 trunk_z=  56.8mm grav_b=(+0.14,+0.13,-0.98) r=1.42m
+[headless_play] t=  4.50s step= 225 trunk_z=  76.2mm grav_b=(+0.13,+0.10,-0.99) r=1.45m
+[headless_play] t=  4.60s step= 230 trunk_z=  70.4mm grav_b=(+0.07,+0.12,-0.99) r=1.49m
+[headless_play] t=  4.70s step= 235 trunk_z=  46.7mm grav_b=(+0.07,+0.03,-1.00) r=1.54m
+[headless_play] t=  4.80s step= 240 trunk_z=  52.4mm grav_b=(+0.06,+0.04,-1.00) r=1.57m
+[headless_play] t=  4.90s step= 245 trunk_z=  43.1mm grav_b=(+0.02,+0.05,-1.00) r=1.60m
+[headless_play] t=  5.00s step= 250 trunk_z=  48.6mm grav_b=(+0.03,+0.03,-1.00) r=1.62m
+[headless_play] t=  5.10s step= 255 trunk_z=  40.6mm grav_b=(+0.03,-0.01,-1.00) r=1.63m
+[headless_play] t=  5.20s step= 260 trunk_z=  46.5mm grav_b=(+0.04,-0.07,-1.00) r=1.65m
+[headless_play] t=  5.30s step= 265 trunk_z=  45.8mm grav_b=(+0.06,-0.07,-1.00) r=1.68m
+[headless_play] t=  5.40s step= 270 trunk_z=  37.4mm grav_b=(+0.05,-0.01,-1.00) r=1.71m
+[headless_play] t=  5.50s step= 275 trunk_z=  43.5mm grav_b=(+0.06,+0.04,-1.00) r=1.75m
+[headless_play] t=  5.60s step= 280 trunk_z=  39.3mm grav_b=(+0.07,+0.06,-1.00) r=1.78m
+[headless_play] t=  5.70s step= 285 trunk_z=  27.7mm grav_b=(+0.08,-0.02,-1.00) r=1.81m
+[headless_play] t=  5.80s step= 290 trunk_z=  31.8mm grav_b=(+0.08,-0.03,-1.00) r=1.84m
+[headless_play] t=  5.90s step= 295 trunk_z=  25.2mm grav_b=(+0.03,-0.01,-1.00) r=1.87m
+[headless_play] t=  6.00s step= 300 trunk_z=  27.6mm grav_b=(+0.02,+0.01,-1.00) r=1.91m
+[headless_play] t=  6.10s step= 305 trunk_z=  22.6mm grav_b=(+0.04,+0.01,-1.00) r=1.93m
+[headless_play] t=  6.20s step= 310 trunk_z=  17.3mm grav_b=(+0.05,-0.09,-1.00) r=1.95m
+[headless_play] t=  6.30s step= 315 trunk_z=  21.2mm grav_b=(+0.08,-0.11,-0.99) r=1.97m
+[headless_play] t=  6.40s step= 320 trunk_z=  19.8mm grav_b=(+0.07,-0.11,-0.99) r=2.00m
+[headless_play] t=  6.50s step= 325 trunk_z=  13.7mm grav_b=(+0.05,-0.01,-1.00) r=2.05m
+[headless_play] t=  6.60s step= 330 trunk_z=  24.2mm grav_b=(+0.05,+0.02,-1.00) r=2.08m
+[headless_play] t=  6.70s step= 335 trunk_z=   0.1mm grav_b=(+0.06,-0.02,-1.00) r=2.12m
+[headless_play] t=  6.80s step= 340 trunk_z=   6.1mm grav_b=(+0.09,-0.05,-0.99) r=2.15m
+[headless_play] t=  6.90s step= 345 trunk_z=   0.9mm grav_b=(+0.06,-0.02,-1.00) r=2.19m
+[headless_play] t=  7.00s step= 350 trunk_z=   3.4mm grav_b=(-0.00,+0.01,-1.00) r=2.23m
+[headless_play] t=  7.10s step= 355 trunk_z=   0.4mm grav_b=(-0.01,-0.01,-1.00) r=2.25m
+[headless_play] t=  7.20s step= 360 trunk_z=  -2.0mm grav_b=(-0.03,-0.11,-0.99) r=2.27m
+[headless_play] t=  7.30s step= 365 trunk_z=   1.0mm grav_b=(-0.02,-0.12,-0.99) r=2.27m
+[headless_play] t=  7.40s step= 370 trunk_z=  -0.5mm grav_b=(+0.01,-0.09,-1.00) r=2.27m
+[headless_play] t=  7.50s step= 375 trunk_z=  -7.2mm grav_b=(+0.04,-0.03,-1.00) r=2.27m
+[headless_play] t=  7.60s step= 380 trunk_z=  -8.8mm grav_b=(+0.08,-0.01,-1.00) r=2.27m
+[headless_play] t=  7.70s step= 385 trunk_z= -13.6mm grav_b=(+0.12,-0.09,-0.99) r=2.28m
+[headless_play] t=  7.80s step= 390 trunk_z=  -3.3mm grav_b=(+0.11,-0.10,-0.99) r=2.29m
+[headless_play] t=  7.90s step= 395 trunk_z=  -5.4mm grav_b=(+0.06,-0.05,-1.00) r=2.30m
+[headless_play] t=  8.00s step= 400 trunk_z=  -5.7mm grav_b=(+0.03,+0.08,-1.00) r=2.32m
+[headless_play] t=  8.10s step= 405 trunk_z=   0.1mm grav_b=(+0.02,+0.10,-0.99) r=2.33m
+[headless_play] t=  8.20s step= 410 trunk_z=  -2.3mm grav_b=(+0.03,+0.08,-1.00) r=2.33m
+[headless_play] t=  8.30s step= 415 trunk_z=  -3.9mm grav_b=(+0.04,-0.01,-1.00) r=2.33m
+[headless_play] t=  8.40s step= 420 trunk_z=  -2.7mm grav_b=(+0.04,-0.01,-1.00) r=2.34m
+[headless_play] t=  8.50s step= 425 trunk_z= -11.3mm grav_b=(+0.05,+0.05,-1.00) r=2.35m
+[headless_play] t=  8.60s step= 430 trunk_z=  -3.0mm grav_b=(+0.05,+0.11,-0.99) r=2.35m
+[headless_play] t=  8.70s step= 435 trunk_z=  -1.9mm grav_b=(+0.03,+0.11,-0.99) r=2.36m
+[headless_play] t=  8.80s step= 440 trunk_z=  -3.5mm grav_b=(+0.01,+0.05,-1.00) r=2.37m
+[headless_play] t=  8.90s step= 445 trunk_z=   2.9mm grav_b=(-0.01,-0.01,-1.00) r=2.38m
+[headless_play] t=  9.00s step= 450 trunk_z=   0.3mm grav_b=(+0.01,+0.00,-1.00) r=2.37m
+[headless_play] t=  9.10s step= 455 trunk_z=  -7.7mm grav_b=(+0.02,+0.08,-1.00) r=2.37m
+[headless_play] t=  9.20s step= 460 trunk_z=  -2.1mm grav_b=(+0.03,+0.12,-0.99) r=2.37m
+[headless_play] t=  9.30s step= 465 trunk_z=  -2.0mm grav_b=(+0.05,+0.13,-0.99) r=2.38m
+[headless_play] t=  9.40s step= 470 trunk_z=  -1.9mm grav_b=(+0.04,+0.10,-0.99) r=2.39m
+[headless_play] t=  9.50s step= 475 trunk_z=   0.4mm grav_b=(+0.03,+0.02,-1.00) r=2.40m
+[headless_play] t=  9.60s step= 480 trunk_z=  -3.5mm grav_b=(+0.05,+0.03,-1.00) r=2.40m
+[headless_play] t=  9.70s step= 485 trunk_z=  -9.7mm grav_b=(+0.04,+0.09,-1.00) r=2.39m
+[headless_play] t=  9.80s step= 490 trunk_z=  -4.8mm grav_b=(+0.07,+0.07,-1.00) r=2.40m
+[headless_play] t=  9.90s step= 495 trunk_z=  -9.8mm grav_b=(+0.06,+0.04,-1.00) r=2.43m
+[headless_play] t= 10.00s step= 500 trunk_z=  -0.6mm grav_b=(+0.05,-0.00,-1.00) r=2.45m
+[headless_play] t= 10.10s step= 505 trunk_z=  -4.7mm grav_b=(+0.06,+0.01,-1.00) r=2.46m
+[headless_play] t= 10.20s step= 510 trunk_z=  -8.9mm grav_b=(+0.03,+0.09,-1.00) r=2.46m
+[headless_play] t= 10.30s step= 515 trunk_z=  -1.1mm grav_b=(+0.02,+0.10,-0.99) r=2.46m
+[headless_play] t= 10.40s step= 520 trunk_z=  -0.9mm grav_b=(+0.03,+0.10,-0.99) r=2.47m
+[headless_play] t= 10.50s step= 525 trunk_z=  -3.6mm grav_b=(+0.01,+0.08,-1.00) r=2.49m
+[headless_play] t= 10.60s step= 530 trunk_z=   0.3mm grav_b=(-0.00,+0.02,-1.00) r=2.50m
+[headless_play] t= 10.70s step= 535 trunk_z=  -3.5mm grav_b=(+0.04,+0.07,-1.00) r=2.50m
+[headless_play] t= 10.80s step= 540 trunk_z= -13.8mm grav_b=(+0.08,+0.11,-0.99) r=2.48m
+[headless_play] t= 10.90s step= 545 trunk_z=  -8.2mm grav_b=(+0.05,+0.13,-0.99) r=2.48m
+[headless_play] t= 11.00s step= 550 trunk_z=  -7.7mm grav_b=(+0.09,+0.11,-0.99) r=2.48m
+[headless_play] t= 11.10s step= 555 trunk_z= -11.3mm grav_b=(+0.11,+0.09,-0.99) r=2.49m
+[headless_play] t= 11.20s step= 560 trunk_z=  -8.6mm grav_b=(+0.09,+0.02,-1.00) r=2.51m
+[headless_play] t= 11.30s step= 565 trunk_z= -14.8mm grav_b=(+0.13,+0.03,-0.99) r=2.51m
+[headless_play] t= 11.40s step= 570 trunk_z= -12.3mm grav_b=(+0.12,+0.09,-0.99) r=2.52m
+[headless_play] t= 11.50s step= 575 trunk_z=  -9.5mm grav_b=(+0.07,+0.06,-1.00) r=2.53m
+[headless_play] t= 11.60s step= 580 trunk_z= -13.7mm grav_b=(+0.05,+0.08,-1.00) r=2.55m
+[headless_play] t= 11.70s step= 585 trunk_z=  -7.4mm grav_b=(+0.06,-0.01,-1.00) r=2.57m
+[headless_play] t= 11.80s step= 590 trunk_z=  -5.4mm grav_b=(+0.06,-0.01,-1.00) r=2.58m
+[headless_play] t= 11.90s step= 595 trunk_z= -11.6mm grav_b=(+0.09,+0.02,-1.00) r=2.58m
+[headless_play] t= 12.00s step= 600 trunk_z=  -9.2mm grav_b=(+0.07,+0.05,-1.00) r=2.57m
+[headless_play] t= 12.10s step= 605 trunk_z=  -7.4mm grav_b=(+0.05,+0.08,-1.00) r=2.58m
+[headless_play] t= 12.20s step= 610 trunk_z= -11.8mm grav_b=(+0.08,+0.08,-0.99) r=2.60m
+[headless_play] t= 12.30s step= 615 trunk_z=  -7.5mm grav_b=(+0.07,+0.01,-1.00) r=2.62m
+[headless_play] t= 12.40s step= 620 trunk_z=  -8.0mm grav_b=(+0.09,+0.01,-1.00) r=2.64m
+[headless_play] t= 12.50s step= 625 trunk_z= -15.0mm grav_b=(+0.10,+0.02,-0.99) r=2.64m
+[headless_play] t= 12.60s step= 630 trunk_z=  -8.0mm grav_b=(+0.07,+0.08,-0.99) r=2.64m
+[headless_play] t= 12.70s step= 635 trunk_z= -10.0mm grav_b=(+0.08,+0.09,-0.99) r=2.65m
+[headless_play] t= 12.80s step= 640 trunk_z= -15.3mm grav_b=(+0.10,+0.05,-0.99) r=2.68m
+[headless_play] t= 12.90s step= 645 trunk_z=  -7.6mm grav_b=(+0.09,+0.00,-1.00) r=2.70m
+[headless_play] t= 13.00s step= 650 trunk_z=  -9.5mm grav_b=(+0.11,+0.01,-0.99) r=2.71m
+[headless_play] t= 13.10s step= 655 trunk_z= -17.2mm grav_b=(+0.10,+0.05,-0.99) r=2.71m
+[headless_play] t= 13.20s step= 660 trunk_z=  -9.2mm grav_b=(+0.07,+0.06,-1.00) r=2.71m
+[headless_play] t= 13.30s step= 665 trunk_z= -13.1mm grav_b=(+0.08,+0.07,-0.99) r=2.73m
+[headless_play] t= 13.40s step= 670 trunk_z= -15.2mm grav_b=(+0.09,-0.01,-1.00) r=2.75m
+[headless_play] t= 13.50s step= 675 trunk_z=  -8.3mm grav_b=(+0.08,-0.03,-1.00) r=2.77m
+[headless_play] t= 13.60s step= 680 trunk_z= -11.7mm grav_b=(+0.10,-0.02,-0.99) r=2.78m
+[headless_play] t= 13.70s step= 685 trunk_z= -13.1mm grav_b=(+0.07,+0.04,-1.00) r=2.77m
+[headless_play] t= 13.80s step= 690 trunk_z= -10.1mm grav_b=(+0.07,+0.04,-1.00) r=2.78m
+[headless_play] t= 13.90s step= 695 trunk_z= -15.5mm grav_b=(+0.08,+0.06,-0.99) r=2.80m
+[headless_play] t= 14.00s step= 700 trunk_z= -13.8mm grav_b=(+0.09,-0.02,-1.00) r=2.82m
+[headless_play] t= 14.10s step= 705 trunk_z= -10.6mm grav_b=(+0.08,-0.04,-1.00) r=2.83m
+[headless_play] t= 14.20s step= 710 trunk_z= -14.8mm grav_b=(+0.10,-0.02,-0.99) r=2.83m
+[headless_play] t= 14.30s step= 715 trunk_z= -12.0mm grav_b=(+0.06,+0.02,-1.00) r=2.83m
+[headless_play] t= 14.40s step= 720 trunk_z= -10.4mm grav_b=(+0.07,+0.03,-1.00) r=2.83m
+[headless_play] t= 14.50s step= 725 trunk_z= -16.5mm grav_b=(+0.06,+0.04,-1.00) r=2.86m
+[headless_play] t= 14.60s step= 730 trunk_z= -12.9mm grav_b=(+0.08,-0.04,-1.00) r=2.88m
+[headless_play] t= 14.70s step= 735 trunk_z= -13.4mm grav_b=(+0.10,-0.04,-0.99) r=2.89m
+[headless_play] t= 14.80s step= 740 trunk_z= -18.8mm grav_b=(+0.13,+0.00,-0.99) r=2.88m
+[headless_play] t= 14.90s step= 745 trunk_z= -13.7mm grav_b=(+0.09,+0.03,-1.00) r=2.88m
+[headless_play] t= 15.00s step= 750 trunk_z= -15.3mm grav_b=(+0.07,+0.03,-1.00) r=2.89m
+[headless_play] t= 15.10s step= 755 trunk_z= -29.4mm grav_b=(+0.10,-0.10,-0.99) r=2.91m
+[headless_play] t= 15.20s step= 760 trunk_z= -12.5mm grav_b=(+0.07,-0.20,-0.98) r=2.93m
+[headless_play] t= 15.30s step= 765 trunk_z=  -7.2mm grav_b=(+0.03,-0.17,-0.99) r=2.94m
+[headless_play] t= 15.40s step= 770 trunk_z= -15.2mm grav_b=(+0.07,-0.15,-0.99) r=2.94m
+[headless_play] t= 15.50s step= 775 trunk_z= -12.7mm grav_b=(+0.10,-0.11,-0.99) r=2.94m
+[headless_play] t= 15.60s step= 780 trunk_z= -15.3mm grav_b=(+0.10,-0.00,-1.00) r=2.93m
+[headless_play] t= 15.70s step= 785 trunk_z= -11.7mm grav_b=(+0.12,+0.02,-0.99) r=2.93m
+[headless_play] t= 15.80s step= 790 trunk_z= -16.6mm grav_b=(+0.05,-0.01,-1.00) r=2.95m
+[headless_play] t= 15.90s step= 795 trunk_z= -15.7mm grav_b=(+0.05,-0.01,-1.00) r=2.96m
+[headless_play] t= 16.00s step= 800 trunk_z= -17.5mm grav_b=(+0.07,+0.04,-1.00) r=2.96m
+[headless_play] t= 16.10s step= 805 trunk_z= -20.5mm grav_b=(+0.08,+0.07,-0.99) r=2.94m
+[headless_play] t= 16.20s step= 810 trunk_z= -22.9mm grav_b=(+0.12,+0.04,-0.99) r=2.95m
+[headless_play] t= 16.30s step= 815 trunk_z= -24.4mm grav_b=(+0.18,-0.03,-0.98) r=2.97m
+[headless_play] t= 16.40s step= 820 trunk_z= -19.9mm grav_b=(+0.17,-0.06,-0.98) r=2.98m
+[headless_play] t= 16.50s step= 825 trunk_z= -16.9mm grav_b=(+0.09,+0.01,-1.00) r=2.98m
+[headless_play] t= 16.60s step= 830 trunk_z= -14.4mm grav_b=(+0.04,+0.04,-1.00) r=2.98m
+[headless_play] t= 16.70s step= 835 trunk_z= -24.8mm grav_b=(+0.05,+0.02,-1.00) r=3.00m
+[headless_play] t= 16.80s step= 840 trunk_z= -18.3mm grav_b=(+0.12,-0.04,-0.99) r=3.03m
+[headless_play] t= 16.90s step= 845 trunk_z= -26.6mm grav_b=(+0.12,-0.02,-0.99) r=3.04m
+[headless_play] t= 17.00s step= 850 trunk_z= -25.6mm grav_b=(+0.16,+0.05,-0.99) r=3.05m
+[headless_play] t= 17.10s step= 855 trunk_z= -17.6mm grav_b=(+0.17,+0.07,-0.98) r=3.06m
+[headless_play] t= 17.20s step= 860 trunk_z= -16.2mm grav_b=(+0.05,-0.05,-1.00) r=3.09m
+[headless_play] t= 17.30s step= 865 trunk_z=  -9.6mm grav_b=(+0.04,-0.05,-1.00) r=3.12m
+[headless_play] t= 17.40s step= 870 trunk_z= -15.6mm grav_b=(+0.03,+0.01,-1.00) r=3.13m
+[headless_play] t= 17.50s step= 875 trunk_z= -17.9mm grav_b=(+0.05,+0.05,-1.00) r=3.13m
+[headless_play] t= 17.60s step= 880 trunk_z= -22.0mm grav_b=(+0.08,+0.01,-1.00) r=3.15m
+[headless_play] t= 17.70s step= 885 trunk_z= -28.9mm grav_b=(+0.15,+0.01,-0.99) r=3.17m
+[headless_play] t= 17.80s step= 890 trunk_z= -14.4mm grav_b=(+0.16,-0.04,-0.99) r=3.19m
+[headless_play] t= 17.90s step= 895 trunk_z= -16.2mm grav_b=(+0.11,+0.02,-0.99) r=3.21m
+[headless_play] t= 18.00s step= 900 trunk_z= -13.3mm grav_b=(+0.10,+0.08,-0.99) r=3.23m
+[headless_play] t= 18.10s step= 905 trunk_z= -16.1mm grav_b=(+0.06,+0.01,-1.00) r=3.25m
+[headless_play] t= 18.20s step= 910 trunk_z= -23.4mm grav_b=(+0.05,-0.11,-0.99) r=3.26m
+[headless_play] t= 18.30s step= 915 trunk_z=  -3.4mm grav_b=(+0.03,-0.14,-0.99) r=3.27m
+[headless_play] t= 18.40s step= 920 trunk_z=  -3.6mm grav_b=(+0.11,-0.11,-0.99) r=3.27m
+[headless_play] t= 18.50s step= 925 trunk_z= -17.4mm grav_b=(+0.20,-0.19,-0.96) r=3.25m
+[headless_play] t= 18.60s step= 930 trunk_z= -13.6mm grav_b=(+0.14,-0.23,-0.96) r=3.27m
+[headless_play] t= 18.70s step= 935 trunk_z=  -6.8mm grav_b=(+0.03,-0.28,-0.96) r=3.29m
+[headless_play] t= 18.80s step= 940 trunk_z= -10.7mm grav_b=(+0.03,-0.43,-0.90) r=3.29m
+[headless_play] t= 18.90s step= 945 trunk_z= -22.6mm grav_b=(+0.20,-0.59,-0.78) r=3.29m
+[headless_play] t= 19.00s step= 950 trunk_z= -63.3mm grav_b=(+0.01,-0.91,-0.42) r=3.29m
+[headless_play] RESET at t= 19.02s step= 951 (env termination, not a recovery)
+[headless_play] t= 19.10s step= 955 trunk_z= 114.5mm grav_b=(-0.01,+0.02,-1.00) r=0.58m
+[headless_play] t= 19.20s step= 960 trunk_z= 114.2mm grav_b=(+0.03,+0.10,-0.99) r=0.60m
+[headless_play] t= 19.30s step= 965 trunk_z= 119.2mm grav_b=(+0.03,+0.07,-1.00) r=0.62m
+[headless_play] t= 19.40s step= 970 trunk_z= 112.4mm grav_b=(+0.06,+0.03,-1.00) r=0.65m
+[headless_play] t= 19.50s step= 975 trunk_z= 117.9mm grav_b=(+0.06,-0.04,-1.00) r=0.67m
+[headless_play] t= 19.60s step= 980 trunk_z= 116.6mm grav_b=(+0.06,+0.02,-1.00) r=0.68m
+[headless_play] t= 19.70s step= 985 trunk_z= 114.8mm grav_b=(+0.04,+0.10,-0.99) r=0.69m
+[headless_play] t= 19.80s step= 990 trunk_z= 122.3mm grav_b=(+0.05,+0.10,-0.99) r=0.70m
+[headless_play] t= 19.90s step= 995 trunk_z= 119.5mm grav_b=(+0.06,+0.14,-0.99) r=0.73m
+[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.76m
+[headless_play] t= 20.10s step=1005 trunk_z= 122.8mm grav_b=(+0.04,-0.04,-1.00) r=0.78m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t2.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.031,-18.306,+0.251)
+[headless_play] t=  0.00s step=   0 trunk_z= 121.9mm grav_b=(-0.01,-0.00,-1.00) r=0.31m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.4mm grav_b=(+0.01,-0.05,-1.00) r=0.31m
+[headless_play] t=  0.20s step=  10 trunk_z= 117.0mm grav_b=(+0.00,-0.05,-1.00) r=0.31m
+[headless_play] t=  0.30s step=  15 trunk_z= 113.1mm grav_b=(-0.03,+0.03,-1.00) r=0.29m
+[headless_play] t=  0.40s step=  20 trunk_z= 110.4mm grav_b=(-0.03,+0.06,-1.00) r=0.27m
+[headless_play] t=  0.50s step=  25 trunk_z= 113.3mm grav_b=(-0.03,+0.03,-1.00) r=0.27m
+[headless_play] t=  0.60s step=  30 trunk_z= 106.6mm grav_b=(-0.01,+0.01,-1.00) r=0.28m
+[headless_play] t=  0.70s step=  35 trunk_z= 110.1mm grav_b=(-0.01,-0.04,-1.00) r=0.30m
+[headless_play] t=  0.80s step=  40 trunk_z= 107.0mm grav_b=(+0.01,-0.04,-1.00) r=0.29m
+[headless_play] t=  0.90s step=  45 trunk_z= 100.5mm grav_b=(+0.03,-0.00,-1.00) r=0.27m
+[headless_play] t=  1.00s step=  50 trunk_z= 109.6mm grav_b=(+0.01,+0.04,-1.00) r=0.26m
+[headless_play] t=  1.10s step=  55 trunk_z= 109.2mm grav_b=(+0.01,+0.04,-1.00) r=0.27m
+[headless_play] t=  1.20s step=  60 trunk_z= 103.6mm grav_b=(+0.05,-0.00,-1.00) r=0.28m
+[headless_play] t=  1.30s step=  65 trunk_z= 112.2mm grav_b=(+0.01,-0.01,-1.00) r=0.29m
+[headless_play] t=  1.40s step=  70 trunk_z= 110.4mm grav_b=(+0.00,-0.01,-1.00) r=0.29m
+[headless_play] t=  1.50s step=  75 trunk_z= 103.0mm grav_b=(+0.03,-0.00,-1.00) r=0.28m
+[headless_play] t=  1.60s step=  80 trunk_z= 109.3mm grav_b=(+0.00,+0.05,-1.00) r=0.27m
+[headless_play] t=  1.70s step=  85 trunk_z= 108.3mm grav_b=(+0.01,+0.04,-1.00) r=0.28m
+[headless_play] t=  1.80s step=  90 trunk_z= 102.6mm grav_b=(+0.04,-0.01,-1.00) r=0.30m
+[headless_play] t=  1.90s step=  95 trunk_z= 112.2mm grav_b=(+0.01,-0.03,-1.00) r=0.31m
+[headless_play] t=  2.00s step= 100 trunk_z= 109.8mm grav_b=(+0.00,-0.03,-1.00) r=0.32m
+[headless_play] t=  2.10s step= 105 trunk_z= 102.5mm grav_b=(+0.03,+0.01,-1.00) r=0.31m
+[headless_play] t=  2.20s step= 110 trunk_z= 111.6mm grav_b=(-0.00,+0.04,-1.00) r=0.31m
+[headless_play] t=  2.30s step= 115 trunk_z= 109.4mm grav_b=(+0.00,+0.04,-1.00) r=0.33m
+[headless_play] t=  2.40s step= 120 trunk_z= 106.1mm grav_b=(+0.04,-0.03,-1.00) r=0.35m
+[headless_play] t=  2.50s step= 125 trunk_z= 112.0mm grav_b=(+0.00,-0.04,-1.00) r=0.36m
+[headless_play] t=  2.60s step= 130 trunk_z= 108.0mm grav_b=(+0.01,-0.04,-1.00) r=0.36m
+[headless_play] t=  2.70s step= 135 trunk_z= 100.4mm grav_b=(+0.04,+0.04,-1.00) r=0.36m
+[headless_play] t=  2.80s step= 140 trunk_z= 110.2mm grav_b=(+0.01,+0.04,-1.00) r=0.37m
+[headless_play] t=  2.90s step= 145 trunk_z= 107.4mm grav_b=(+0.01,+0.04,-1.00) r=0.38m
+[headless_play] t=  3.00s step= 150 trunk_z= 105.4mm grav_b=(+0.05,-0.01,-1.00) r=0.40m
+[headless_play] t=  3.10s step= 155 trunk_z= 112.6mm grav_b=(-0.00,-0.01,-1.00) r=0.41m
+[headless_play] t=  3.20s step= 160 trunk_z= 109.5mm grav_b=(-0.00,-0.02,-1.00) r=0.41m
+[headless_play] t=  3.30s step= 165 trunk_z= 100.3mm grav_b=(+0.04,+0.03,-1.00) r=0.41m
+[headless_play] t=  3.40s step= 170 trunk_z= 109.1mm grav_b=(+0.03,+0.05,-1.00) r=0.42m
+[headless_play] t=  3.50s step= 175 trunk_z= 105.4mm grav_b=(+0.03,+0.04,-1.00) r=0.44m
+[headless_play] t=  3.60s step= 180 trunk_z= 104.6mm grav_b=(+0.05,-0.02,-1.00) r=0.46m
+[headless_play] t=  3.70s step= 185 trunk_z= 112.5mm grav_b=(-0.00,-0.01,-1.00) r=0.47m
+[headless_play] t=  3.80s step= 190 trunk_z= 107.9mm grav_b=(-0.02,+0.00,-1.00) r=0.48m
+[headless_play] t=  3.90s step= 195 trunk_z= 104.3mm grav_b=(-0.00,+0.06,-1.00) r=0.49m
+[headless_play] t=  4.00s step= 200 trunk_z= 111.3mm grav_b=(-0.02,+0.05,-1.00) r=0.50m
+[headless_play] t=  4.10s step= 205 trunk_z= 107.1mm grav_b=(-0.01,+0.02,-1.00) r=0.51m
+[headless_play] t=  4.20s step= 210 trunk_z= 109.3mm grav_b=(+0.01,-0.03,-1.00) r=0.53m
+[headless_play] t=  4.30s step= 215 trunk_z= 109.3mm grav_b=(+0.02,-0.03,-1.00) r=0.54m
+[headless_play] t=  4.40s step= 220 trunk_z= 103.3mm grav_b=(+0.03,-0.03,-1.00) r=0.55m
+[headless_play] t=  4.50s step= 225 trunk_z= 107.9mm grav_b=(+0.03,+0.03,-1.00) r=0.56m
+[headless_play] t=  4.60s step= 230 trunk_z= 109.3mm grav_b=(+0.02,+0.02,-1.00) r=0.57m
+[headless_play] t=  4.70s step= 235 trunk_z= 102.5mm grav_b=(+0.06,+0.01,-1.00) r=0.59m
+[headless_play] t=  4.80s step= 240 trunk_z= 109.4mm grav_b=(+0.04,-0.02,-1.00) r=0.60m
+[headless_play] t=  4.90s step= 245 trunk_z= 111.5mm grav_b=(-0.01,-0.00,-1.00) r=0.62m
+[headless_play] t=  5.00s step= 250 trunk_z= 104.2mm grav_b=(+0.01,+0.00,-1.00) r=0.63m
+[headless_play] t=  5.10s step= 255 trunk_z= 109.6mm grav_b=(+0.05,+0.06,-1.00) r=0.64m
+[headless_play] t=  5.20s step= 260 trunk_z= 110.3mm grav_b=(+0.04,+0.02,-1.00) r=0.66m
+[headless_play] t=  5.30s step= 265 trunk_z= 101.7mm grav_b=(+0.07,-0.02,-1.00) r=0.68m
+[headless_play] t=  5.40s step= 270 trunk_z= 112.7mm grav_b=(+0.04,-0.02,-1.00) r=0.69m
+[headless_play] t=  5.50s step= 275 trunk_z= 111.4mm grav_b=(-0.01,+0.01,-1.00) r=0.71m
+[headless_play] t=  5.60s step= 280 trunk_z= 104.9mm grav_b=(-0.02,+0.06,-1.00) r=0.72m
+[headless_play] t=  5.70s step= 285 trunk_z= 113.3mm grav_b=(-0.00,+0.05,-1.00) r=0.73m
+[headless_play] t=  5.80s step= 290 trunk_z= 108.8mm grav_b=(+0.01,+0.01,-1.00) r=0.74m
+[headless_play] t=  5.90s step= 295 trunk_z= 107.3mm grav_b=(+0.05,-0.03,-1.00) r=0.76m
+[headless_play] t=  6.00s step= 300 trunk_z= 113.4mm grav_b=(+0.00,-0.00,-1.00) r=0.77m
+[headless_play] t=  6.10s step= 305 trunk_z= 108.8mm grav_b=(-0.01,+0.02,-1.00) r=0.78m
+[headless_play] t=  6.20s step= 310 trunk_z= 106.7mm grav_b=(+0.02,+0.06,-1.00) r=0.80m
+[headless_play] t=  6.30s step= 315 trunk_z= 111.4mm grav_b=(+0.05,+0.05,-1.00) r=0.81m
+[headless_play] t=  6.40s step= 320 trunk_z= 106.4mm grav_b=(+0.05,+0.02,-1.00) r=0.81m
+[headless_play] t=  6.50s step= 325 trunk_z= 111.3mm grav_b=(+0.04,-0.03,-1.00) r=0.82m
+[headless_play] t=  6.60s step= 330 trunk_z= 114.1mm grav_b=(-0.01,-0.02,-1.00) r=0.83m
+[headless_play] t=  6.70s step= 335 trunk_z= 109.2mm grav_b=(-0.01,-0.00,-1.00) r=0.84m
+[headless_play] t=  6.80s step= 340 trunk_z= 108.9mm grav_b=(+0.02,+0.05,-1.00) r=0.86m
+[headless_play] t=  6.90s step= 345 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) r=0.87m
+[headless_play] t=  7.00s step= 350 trunk_z= 105.8mm grav_b=(+0.02,+0.00,-1.00) r=0.88m
+[headless_play] t=  7.10s step= 355 trunk_z= 112.4mm grav_b=(+0.01,-0.03,-1.00) r=0.88m
+[headless_play] t=  7.20s step= 360 trunk_z= 114.1mm grav_b=(-0.02,-0.00,-1.00) r=0.89m
+[headless_play] t=  7.30s step= 365 trunk_z= 106.5mm grav_b=(-0.01,+0.02,-1.00) r=0.91m
+[headless_play] t=  7.40s step= 370 trunk_z= 110.6mm grav_b=(+0.00,+0.05,-1.00) r=0.93m
+[headless_play] t=  7.50s step= 375 trunk_z= 111.8mm grav_b=(-0.00,+0.03,-1.00) r=0.94m
+[headless_play] t=  7.60s step= 380 trunk_z= 104.8mm grav_b=(+0.03,-0.01,-1.00) r=0.95m
+[headless_play] t=  7.70s step= 385 trunk_z= 113.3mm grav_b=(+0.01,-0.03,-1.00) r=0.95m
+[headless_play] t=  7.80s step= 390 trunk_z= 112.0mm grav_b=(-0.01,-0.00,-1.00) r=0.97m
+[headless_play] t=  7.90s step= 395 trunk_z= 103.0mm grav_b=(+0.01,+0.03,-1.00) r=0.99m
+[headless_play] t=  8.00s step= 400 trunk_z= 113.9mm grav_b=(+0.00,+0.05,-1.00) r=1.00m
+[headless_play] t=  8.10s step= 405 trunk_z= 112.1mm grav_b=(-0.00,+0.02,-1.00) r=1.01m
+[headless_play] t=  8.20s step= 410 trunk_z= 108.1mm grav_b=(+0.01,-0.02,-1.00) r=1.01m
+[headless_play] t=  8.30s step= 415 trunk_z= 114.6mm grav_b=(-0.03,+0.01,-1.00) r=1.02m
+[headless_play] t=  8.40s step= 420 trunk_z= 109.4mm grav_b=(-0.02,+0.04,-1.00) r=1.04m
+[headless_play] t=  8.50s step= 425 trunk_z= 107.9mm grav_b=(-0.01,+0.06,-1.00) r=1.06m
+[headless_play] t=  8.60s step= 430 trunk_z= 111.2mm grav_b=(-0.01,-0.01,-1.00) r=1.07m
+[headless_play] t=  8.70s step= 435 trunk_z= 104.9mm grav_b=(+0.02,-0.03,-1.00) r=1.08m
+[headless_play] t=  8.80s step= 440 trunk_z= 111.6mm grav_b=(-0.01,-0.02,-1.00) r=1.09m
+[headless_play] t=  8.90s step= 445 trunk_z= 109.0mm grav_b=(-0.01,-0.00,-1.00) r=1.10m
+[headless_play] t=  9.00s step= 450 trunk_z= 105.5mm grav_b=(+0.04,+0.05,-1.00) r=1.12m
+[headless_play] t=  9.10s step= 455 trunk_z= 106.5mm grav_b=(+0.08,+0.04,-1.00) r=1.14m
+[headless_play] t=  9.20s step= 460 trunk_z= 103.0mm grav_b=(+0.09,-0.02,-1.00) r=1.16m
+[headless_play] t=  9.30s step= 465 trunk_z= 111.2mm grav_b=(+0.04,-0.07,-1.00) r=1.19m
+[headless_play] t=  9.40s step= 470 trunk_z= 102.1mm grav_b=(+0.02,-0.01,-1.00) r=1.22m
+[headless_play] t=  9.50s step= 475 trunk_z=  94.6mm grav_b=(-0.03,+0.11,-0.99) r=1.27m
+[headless_play] t=  9.60s step= 480 trunk_z=  93.2mm grav_b=(+0.02,+0.14,-0.99) r=1.29m
+[headless_play] t=  9.70s step= 485 trunk_z=  92.0mm grav_b=(+0.06,+0.10,-0.99) r=1.30m
+[headless_play] t=  9.80s step= 490 trunk_z=  90.8mm grav_b=(+0.03,-0.07,-1.00) r=1.33m
+[headless_play] t=  9.90s step= 495 trunk_z=  91.3mm grav_b=(-0.02,-0.10,-0.99) r=1.35m
+[headless_play] t= 10.00s step= 500 trunk_z=  80.0mm grav_b=(-0.02,-0.04,-1.00) r=1.38m
+[headless_play] t= 10.10s step= 505 trunk_z=  78.2mm grav_b=(-0.03,+0.10,-0.99) r=1.41m
+[headless_play] t= 10.20s step= 510 trunk_z=  76.5mm grav_b=(+0.01,+0.13,-0.99) r=1.43m
+[headless_play] t= 10.30s step= 515 trunk_z=  74.1mm grav_b=(+0.06,+0.10,-0.99) r=1.45m
+[headless_play] t= 10.40s step= 520 trunk_z=  73.6mm grav_b=(+0.03,-0.04,-1.00) r=1.46m
+[headless_play] t= 10.50s step= 525 trunk_z=  74.1mm grav_b=(-0.01,-0.08,-1.00) r=1.48m
+[headless_play] t= 10.60s step= 530 trunk_z=  62.5mm grav_b=(+0.00,-0.03,-1.00) r=1.51m
+[headless_play] t= 10.70s step= 535 trunk_z=  61.1mm grav_b=(-0.01,+0.08,-1.00) r=1.55m
+[headless_play] t= 10.80s step= 540 trunk_z=  59.2mm grav_b=(+0.02,+0.10,-0.99) r=1.57m
+[headless_play] t= 10.90s step= 545 trunk_z=  58.4mm grav_b=(+0.04,+0.04,-1.00) r=1.58m
+[headless_play] t= 11.00s step= 550 trunk_z=  62.2mm grav_b=(-0.01,-0.09,-1.00) r=1.60m
+[headless_play] t= 11.10s step= 555 trunk_z=  58.1mm grav_b=(-0.03,-0.08,-1.00) r=1.62m
+[headless_play] t= 11.20s step= 560 trunk_z=  44.3mm grav_b=(-0.02,+0.00,-1.00) r=1.65m
+[headless_play] t= 11.30s step= 565 trunk_z=  49.3mm grav_b=(-0.01,+0.12,-0.99) r=1.68m
+[headless_play] t= 11.40s step= 570 trunk_z=  48.4mm grav_b=(+0.03,+0.14,-0.99) r=1.70m
+[headless_play] t= 11.50s step= 575 trunk_z=  48.8mm grav_b=(+0.04,+0.10,-0.99) r=1.71m
+[headless_play] t= 11.60s step= 580 trunk_z=  47.6mm grav_b=(+0.01,-0.05,-1.00) r=1.72m
+[headless_play] t= 11.70s step= 585 trunk_z=  50.5mm grav_b=(-0.01,-0.09,-1.00) r=1.74m
+[headless_play] t= 11.80s step= 590 trunk_z=  39.2mm grav_b=(-0.00,-0.03,-1.00) r=1.77m
+[headless_play] t= 11.90s step= 595 trunk_z=  35.4mm grav_b=(+0.01,+0.08,-1.00) r=1.80m
+[headless_play] t= 12.00s step= 600 trunk_z=  36.8mm grav_b=(+0.04,+0.10,-0.99) r=1.82m
+[headless_play] t= 12.10s step= 605 trunk_z=  37.6mm grav_b=(+0.04,+0.07,-1.00) r=1.82m
+[headless_play] t= 12.20s step= 610 trunk_z=  39.6mm grav_b=(+0.02,-0.06,-1.00) r=1.83m
+[headless_play] t= 12.30s step= 615 trunk_z=  39.6mm grav_b=(-0.03,-0.08,-1.00) r=1.85m
+[headless_play] t= 12.40s step= 620 trunk_z=  27.5mm grav_b=(-0.03,-0.04,-1.00) r=1.88m
+[headless_play] t= 12.50s step= 625 trunk_z=  29.4mm grav_b=(-0.02,+0.07,-1.00) r=1.90m
+[headless_play] t= 12.60s step= 630 trunk_z=  30.9mm grav_b=(+0.00,+0.09,-1.00) r=1.91m
+[headless_play] t= 12.70s step= 635 trunk_z=  26.2mm grav_b=(+0.03,+0.08,-1.00) r=1.91m
+[headless_play] t= 12.80s step= 640 trunk_z=  29.0mm grav_b=(+0.01,-0.02,-1.00) r=1.90m
+[headless_play] t= 12.90s step= 645 trunk_z=  29.2mm grav_b=(-0.00,-0.01,-1.00) r=1.91m
+[headless_play] t= 13.00s step= 650 trunk_z=  17.9mm grav_b=(-0.02,+0.04,-1.00) r=1.94m
+[headless_play] t= 13.10s step= 655 trunk_z=  23.6mm grav_b=(-0.01,+0.12,-0.99) r=1.97m
+[headless_play] t= 13.20s step= 660 trunk_z=  23.5mm grav_b=(+0.01,+0.11,-0.99) r=1.97m
+[headless_play] t= 13.30s step= 665 trunk_z=  18.3mm grav_b=(+0.04,+0.06,-1.00) r=1.97m
+[headless_play] t= 13.40s step= 670 trunk_z=  24.0mm grav_b=(+0.01,-0.03,-1.00) r=1.97m
+[headless_play] t= 13.50s step= 675 trunk_z=  20.2mm grav_b=(+0.03,-0.01,-1.00) r=1.99m
+[headless_play] t= 13.60s step= 680 trunk_z=  11.8mm grav_b=(-0.01,+0.08,-1.00) r=2.02m
+[headless_play] t= 13.70s step= 685 trunk_z=  20.9mm grav_b=(+0.01,+0.12,-0.99) r=2.04m
+[headless_play] t= 13.80s step= 690 trunk_z=  19.1mm grav_b=(+0.02,+0.11,-0.99) r=2.05m
+[headless_play] t= 13.90s step= 695 trunk_z=  14.5mm grav_b=(+0.04,+0.05,-1.00) r=2.05m
+[headless_play] t= 14.00s step= 700 trunk_z=  19.1mm grav_b=(+0.02,-0.05,-1.00) r=2.05m
+[headless_play] t= 14.10s step= 705 trunk_z=  14.7mm grav_b=(+0.03,-0.03,-1.00) r=2.07m
+[headless_play] t= 14.20s step= 710 trunk_z=   6.2mm grav_b=(+0.00,+0.07,-1.00) r=2.10m
+[headless_play] t= 14.30s step= 715 trunk_z=  15.5mm grav_b=(-0.00,+0.09,-1.00) r=2.12m
+[headless_play] t= 14.40s step= 720 trunk_z=  12.2mm grav_b=(+0.02,+0.08,-1.00) r=2.13m
+[headless_play] t= 14.50s step= 725 trunk_z=   6.4mm grav_b=(+0.03,-0.01,-1.00) r=2.13m
+[headless_play] t= 14.60s step= 730 trunk_z=  12.1mm grav_b=(+0.03,-0.05,-1.00) r=2.13m
+[headless_play] t= 14.70s step= 735 trunk_z=   7.1mm grav_b=(+0.05,-0.02,-1.00) r=2.16m
+[headless_play] t= 14.80s step= 740 trunk_z=   4.5mm grav_b=(-0.00,+0.06,-1.00) r=2.19m
+[headless_play] t= 14.90s step= 745 trunk_z=   8.1mm grav_b=(+0.01,+0.08,-1.00) r=2.20m
+[headless_play] t= 15.00s step= 750 trunk_z=   2.0mm grav_b=(+0.04,+0.05,-1.00) r=2.21m
+[headless_play] t= 15.10s step= 755 trunk_z=   4.2mm grav_b=(+0.03,-0.04,-1.00) r=2.22m
+[headless_play] t= 15.20s step= 760 trunk_z=   2.7mm grav_b=(+0.05,-0.04,-1.00) r=2.24m
+[headless_play] t= 15.30s step= 765 trunk_z=  -5.5mm grav_b=(+0.02,+0.05,-1.00) r=2.27m
+[headless_play] t= 15.40s step= 770 trunk_z=   3.3mm grav_b=(-0.00,+0.08,-1.00) r=2.29m
+[headless_play] t= 15.50s step= 775 trunk_z=  -0.5mm grav_b=(+0.02,+0.07,-1.00) r=2.30m
+[headless_play] t= 15.60s step= 780 trunk_z=  -7.3mm grav_b=(+0.05,-0.01,-1.00) r=2.31m
+[headless_play] t= 15.70s step= 785 trunk_z=  -0.4mm grav_b=(+0.02,-0.05,-1.00) r=2.32m
+[headless_play] t= 15.80s step= 790 trunk_z=  -4.5mm grav_b=(+0.03,-0.03,-1.00) r=2.34m
+[headless_play] t= 15.90s step= 795 trunk_z=  -3.6mm grav_b=(+0.02,+0.07,-1.00) r=2.36m
+[headless_play] t= 16.00s step= 800 trunk_z=  -0.2mm grav_b=(+0.04,+0.06,-1.00) r=2.38m
+[headless_play] t= 16.10s step= 805 trunk_z=  -2.8mm grav_b=(+0.06,+0.01,-1.00) r=2.39m
+[headless_play] t= 16.20s step= 810 trunk_z=  -3.9mm grav_b=(+0.04,-0.09,-0.99) r=2.41m
+[headless_play] t= 16.30s step= 815 trunk_z=  -1.1mm grav_b=(+0.05,-0.10,-0.99) r=2.43m
+[headless_play] t= 16.40s step= 820 trunk_z= -19.1mm grav_b=(-0.05,-0.04,-1.00) r=2.47m
+[headless_play] t= 16.50s step= 825 trunk_z= -10.6mm grav_b=(+0.00,-0.03,-1.00) r=2.48m
+[headless_play] t= 16.60s step= 830 trunk_z= -12.7mm grav_b=(-0.04,-0.06,-1.00) r=2.47m
+[headless_play] t= 16.70s step= 835 trunk_z= -10.2mm grav_b=(-0.03,-0.11,-0.99) r=2.47m
+[headless_play] t= 16.80s step= 840 trunk_z=  -7.1mm grav_b=(-0.05,-0.09,-0.99) r=2.47m
+[headless_play] t= 16.90s step= 845 trunk_z= -13.3mm grav_b=(-0.04,-0.03,-1.00) r=2.50m
+[headless_play] t= 17.00s step= 850 trunk_z= -12.2mm grav_b=(+0.03,-0.01,-1.00) r=2.51m
+[headless_play] t= 17.10s step= 855 trunk_z= -15.2mm grav_b=(+0.06,-0.04,-1.00) r=2.51m
+[headless_play] t= 17.20s step= 860 trunk_z=  -9.0mm grav_b=(+0.02,-0.09,-1.00) r=2.50m
+[headless_play] t= 17.30s step= 865 trunk_z= -15.4mm grav_b=(+0.04,-0.05,-1.00) r=2.51m
+[headless_play] t= 17.40s step= 870 trunk_z= -12.4mm grav_b=(+0.05,-0.14,-0.99) r=2.51m
+[headless_play] t= 17.50s step= 875 trunk_z= -13.6mm grav_b=(+0.03,-0.16,-0.99) r=2.51m
+[headless_play] t= 17.60s step= 880 trunk_z= -18.7mm grav_b=(-0.03,-0.18,-0.98) r=2.50m
+[headless_play] t= 17.70s step= 885 trunk_z= -11.6mm grav_b=(-0.06,-0.11,-0.99) r=2.51m
+[headless_play] t= 17.80s step= 890 trunk_z= -15.1mm grav_b=(-0.16,-0.02,-0.99) r=2.54m
+[headless_play] t= 17.90s step= 895 trunk_z= -12.3mm grav_b=(-0.11,-0.02,-0.99) r=2.55m
+[headless_play] t= 18.00s step= 900 trunk_z= -16.6mm grav_b=(-0.09,-0.08,-0.99) r=2.55m
+[headless_play] t= 18.10s step= 905 trunk_z= -12.8mm grav_b=(+0.01,-0.03,-1.00) r=2.55m
+[headless_play] t= 18.20s step= 910 trunk_z= -33.8mm grav_b=(+0.02,+0.02,-1.00) r=2.57m
+[headless_play] t= 18.30s step= 915 trunk_z= -22.1mm grav_b=(+0.02,-0.03,-1.00) r=2.57m
+[headless_play] t= 18.40s step= 920 trunk_z= -18.9mm grav_b=(+0.01,-0.12,-0.99) r=2.56m
+[headless_play] t= 18.50s step= 925 trunk_z=  -6.5mm grav_b=(+0.04,-0.11,-0.99) r=2.55m
+[headless_play] t= 18.60s step= 930 trunk_z= -16.5mm grav_b=(+0.03,-0.05,-1.00) r=2.56m
+[headless_play] t= 18.70s step= 935 trunk_z=  -8.4mm grav_b=(+0.03,-0.03,-1.00) r=2.57m
+[headless_play] t= 18.80s step= 940 trunk_z= -13.1mm grav_b=(+0.04,-0.08,-1.00) r=2.56m
+[headless_play] t= 18.90s step= 945 trunk_z= -12.5mm grav_b=(+0.08,-0.08,-0.99) r=2.56m
+[headless_play] t= 19.00s step= 950 trunk_z= -10.2mm grav_b=(+0.03,-0.05,-1.00) r=2.57m
+[headless_play] t= 19.10s step= 955 trunk_z= -13.9mm grav_b=(-0.04,+0.04,-1.00) r=2.59m
+[headless_play] t= 19.20s step= 960 trunk_z=  -7.4mm grav_b=(-0.02,+0.05,-1.00) r=2.60m
+[headless_play] t= 19.30s step= 965 trunk_z= -13.7mm grav_b=(-0.07,-0.03,-1.00) r=2.59m
+[headless_play] t= 19.40s step= 970 trunk_z= -10.5mm grav_b=(-0.06,-0.05,-1.00) r=2.58m
+[headless_play] t= 19.50s step= 975 trunk_z= -15.5mm grav_b=(-0.05,+0.00,-1.00) r=2.58m
+[headless_play] t= 19.60s step= 980 trunk_z= -14.6mm grav_b=(-0.04,+0.01,-1.00) r=2.59m
+[headless_play] t= 19.70s step= 985 trunk_z= -16.6mm grav_b=(-0.01,-0.05,-1.00) r=2.58m
+[headless_play] t= 19.80s step= 990 trunk_z= -17.7mm grav_b=(+0.06,-0.10,-0.99) r=2.57m
+[headless_play] t= 19.90s step= 995 trunk_z= -11.7mm grav_b=(+0.06,-0.05,-1.00) r=2.58m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 123.6mm grav_b=(-0.01,+0.00,-1.00) r=0.21m
+[headless_play] t= 20.10s step=1005 trunk_z= 114.5mm grav_b=(+0.01,-0.06,-1.00) r=0.20m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t3.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 120.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-10.296,-18.364,+0.247)
+[headless_play] t=  0.00s step=   0 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.47m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.1mm grav_b=(-0.00,+0.02,-1.00) r=0.47m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.6mm grav_b=(-0.00,-0.01,-1.00) r=0.48m
+[headless_play] t=  0.30s step=  15 trunk_z= 117.3mm grav_b=(+0.02,-0.07,-1.00) r=0.48m
+[headless_play] t=  0.40s step=  20 trunk_z= 120.9mm grav_b=(-0.01,-0.03,-1.00) r=0.49m
+[headless_play] t=  0.50s step=  25 trunk_z= 112.6mm grav_b=(-0.04,+0.04,-1.00) r=0.52m
+[headless_play] t=  0.60s step=  30 trunk_z= 123.2mm grav_b=(-0.04,+0.06,-1.00) r=0.54m
+[headless_play] t=  0.70s step=  35 trunk_z= 120.1mm grav_b=(-0.03,+0.03,-1.00) r=0.55m
+[headless_play] t=  0.80s step=  40 trunk_z= 118.5mm grav_b=(-0.03,-0.05,-1.00) r=0.55m
+[headless_play] t=  0.90s step=  45 trunk_z= 122.9mm grav_b=(-0.04,-0.05,-1.00) r=0.56m
+[headless_play] t=  1.00s step=  50 trunk_z= 115.3mm grav_b=(-0.05,-0.02,-1.00) r=0.59m
+[headless_play] t=  1.10s step=  55 trunk_z= 121.6mm grav_b=(-0.04,+0.04,-1.00) r=0.61m
+[headless_play] t=  1.20s step=  60 trunk_z= 120.7mm grav_b=(-0.04,+0.02,-1.00) r=0.62m
+[headless_play] t=  1.30s step=  65 trunk_z= 116.8mm grav_b=(-0.04,-0.05,-1.00) r=0.63m
+[headless_play] t=  1.40s step=  70 trunk_z= 123.1mm grav_b=(-0.05,-0.03,-1.00) r=0.64m
+[headless_play] t=  1.50s step=  75 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.66m
+[headless_play] t=  1.60s step=  80 trunk_z= 119.9mm grav_b=(-0.02,+0.07,-1.00) r=0.69m
+[headless_play] t=  1.70s step=  85 trunk_z= 121.2mm grav_b=(-0.01,+0.03,-1.00) r=0.70m
+[headless_play] t=  1.80s step=  90 trunk_z= 116.8mm grav_b=(-0.02,-0.05,-1.00) r=0.71m
+[headless_play] t=  1.90s step=  95 trunk_z= 124.0mm grav_b=(-0.05,-0.05,-1.00) r=0.73m
+[headless_play] t=  2.00s step= 100 trunk_z= 116.2mm grav_b=(-0.04,-0.02,-1.00) r=0.75m
+[headless_play] t=  2.10s step= 105 trunk_z= 120.4mm grav_b=(-0.02,+0.06,-1.00) r=0.78m
+[headless_play] t=  2.20s step= 110 trunk_z= 120.8mm grav_b=(-0.01,+0.02,-1.00) r=0.79m
+[headless_play] t=  2.30s step= 115 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.80m
+[headless_play] t=  2.40s step= 120 trunk_z= 123.2mm grav_b=(-0.04,-0.03,-1.00) r=0.81m
+[headless_play] t=  2.50s step= 125 trunk_z= 114.7mm grav_b=(-0.07,-0.00,-1.00) r=0.83m
+[headless_play] t=  2.60s step= 130 trunk_z= 119.5mm grav_b=(-0.03,+0.05,-1.00) r=0.86m
+[headless_play] t=  2.70s step= 135 trunk_z= 120.8mm grav_b=(-0.04,+0.02,-1.00) r=0.87m
+[headless_play] t=  2.80s step= 140 trunk_z= 114.8mm grav_b=(-0.03,-0.05,-1.00) r=0.87m
+[headless_play] t=  2.90s step= 145 trunk_z= 122.8mm grav_b=(-0.04,-0.03,-1.00) r=0.87m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.06,-0.01,-1.00) r=0.90m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.6mm grav_b=(-0.03,+0.07,-1.00) r=0.93m
+[headless_play] t=  3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.01,+0.06,-1.00) r=0.95m
+[headless_play] t=  3.30s step= 165 trunk_z= 115.9mm grav_b=(+0.02,-0.03,-1.00) r=0.96m
+[headless_play] t=  3.40s step= 170 trunk_z= 123.3mm grav_b=(-0.00,-0.06,-1.00) r=0.98m
+[headless_play] t=  3.50s step= 175 trunk_z= 114.6mm grav_b=(-0.07,+0.01,-1.00) r=1.02m
+[headless_play] t=  3.60s step= 180 trunk_z= 107.2mm grav_b=(-0.04,+0.12,-0.99) r=1.06m
+[headless_play] t=  3.70s step= 185 trunk_z= 113.2mm grav_b=(+0.00,+0.22,-0.98) r=1.08m
+[headless_play] t=  3.80s step= 190 trunk_z= 112.0mm grav_b=(+0.01,+0.23,-0.97) r=1.10m
+[headless_play] t=  3.90s step= 195 trunk_z= 110.9mm grav_b=(-0.06,+0.14,-0.99) r=1.14m
+[headless_play] t=  4.00s step= 200 trunk_z= 103.8mm grav_b=(+0.10,+0.13,-0.99) r=1.18m
+[headless_play] t=  4.10s step= 205 trunk_z=  85.5mm grav_b=(+0.09,+0.05,-0.99) r=1.23m
+[headless_play] t=  4.20s step= 210 trunk_z=  93.3mm grav_b=(+0.05,+0.04,-1.00) r=1.28m
+[headless_play] t=  4.30s step= 215 trunk_z=  62.7mm grav_b=(+0.09,-0.05,-1.00) r=1.35m
+[headless_play] t=  4.40s step= 220 trunk_z=  83.1mm grav_b=(+0.04,-0.06,-1.00) r=1.41m
+[headless_play] t=  4.50s step= 225 trunk_z=  39.8mm grav_b=(-0.08,+0.01,-1.00) r=1.47m
+[headless_play] t=  4.60s step= 230 trunk_z=  51.4mm grav_b=(-0.05,-0.08,-1.00) r=1.49m
+[headless_play] t=  4.70s step= 235 trunk_z=  48.9mm grav_b=(-0.01,-0.12,-0.99) r=1.52m
+[headless_play] t=  4.80s step= 240 trunk_z=  54.3mm grav_b=(-0.01,-0.07,-1.00) r=1.56m
+[headless_play] t=  4.90s step= 245 trunk_z=  43.4mm grav_b=(-0.02,-0.01,-1.00) r=1.59m
+[headless_play] t=  5.00s step= 250 trunk_z=  47.4mm grav_b=(-0.01,+0.13,-0.99) r=1.62m
+[headless_play] t=  5.10s step= 255 trunk_z=  50.0mm grav_b=(+0.02,+0.17,-0.99) r=1.64m
+[headless_play] t=  5.20s step= 260 trunk_z=  50.9mm grav_b=(+0.02,+0.11,-0.99) r=1.66m
+[headless_play] t=  5.30s step= 265 trunk_z=  40.1mm grav_b=(-0.00,-0.03,-1.00) r=1.70m
+[headless_play] t=  5.40s step= 270 trunk_z=  45.5mm grav_b=(-0.01,-0.01,-1.00) r=1.73m
+[headless_play] t=  5.50s step= 275 trunk_z=  25.9mm grav_b=(-0.02,-0.00,-1.00) r=1.76m
+[headless_play] t=  5.60s step= 280 trunk_z=  32.8mm grav_b=(+0.01,-0.00,-1.00) r=1.79m
+[headless_play] t=  5.70s step= 285 trunk_z=  28.3mm grav_b=(+0.02,-0.04,-1.00) r=1.81m
+[headless_play] t=  5.80s step= 290 trunk_z=  28.6mm grav_b=(-0.04,-0.11,-0.99) r=1.84m
+[headless_play] t=  5.90s step= 295 trunk_z=  26.9mm grav_b=(-0.06,-0.05,-1.00) r=1.86m
+[headless_play] t=  6.00s step= 300 trunk_z=  15.0mm grav_b=(-0.02,-0.01,-1.00) r=1.90m
+[headless_play] t=  6.10s step= 305 trunk_z=  20.7mm grav_b=(+0.04,+0.08,-1.00) r=1.93m
+[headless_play] t=  6.20s step= 310 trunk_z=  20.8mm grav_b=(+0.05,+0.03,-1.00) r=1.95m
+[headless_play] t=  6.30s step= 315 trunk_z=  12.0mm grav_b=(+0.00,-0.10,-0.99) r=1.97m
+[headless_play] t=  6.40s step= 320 trunk_z=  18.5mm grav_b=(-0.05,-0.11,-0.99) r=2.00m
+[headless_play] t=  6.50s step= 325 trunk_z=  12.4mm grav_b=(-0.06,-0.09,-0.99) r=2.03m
+[headless_play] t=  6.60s step= 330 trunk_z=   3.0mm grav_b=(+0.01,+0.04,-1.00) r=2.07m
+[headless_play] t=  6.70s step= 335 trunk_z=   9.0mm grav_b=(+0.03,+0.10,-0.99) r=2.10m
+[headless_play] t=  6.80s step= 340 trunk_z=  10.8mm grav_b=(+0.02,+0.06,-1.00) r=2.11m
+[headless_play] t=  6.90s step= 345 trunk_z=   2.5mm grav_b=(-0.01,-0.05,-1.00) r=2.13m
+[headless_play] t=  7.00s step= 350 trunk_z=   3.0mm grav_b=(-0.02,-0.04,-1.00) r=2.15m
+[headless_play] t=  7.10s step= 355 trunk_z=  -8.3mm grav_b=(-0.04,-0.01,-1.00) r=2.18m
+[headless_play] t=  7.20s step= 360 trunk_z=  -5.5mm grav_b=(-0.04,-0.06,-1.00) r=2.18m
+[headless_play] t=  7.30s step= 365 trunk_z= -10.9mm grav_b=(-0.06,-0.11,-0.99) r=2.17m
+[headless_play] t=  7.40s step= 370 trunk_z=  -2.5mm grav_b=(-0.08,-0.09,-0.99) r=2.16m
+[headless_play] t=  7.50s step= 375 trunk_z=  -9.3mm grav_b=(-0.07,-0.04,-1.00) r=2.15m
+[headless_play] t=  7.60s step= 380 trunk_z=  -6.5mm grav_b=(-0.05,-0.03,-1.00) r=2.14m
+[headless_play] t=  7.70s step= 385 trunk_z=  -8.5mm grav_b=(-0.01,-0.08,-1.00) r=2.13m
+[headless_play] t=  7.80s step= 390 trunk_z=  -2.9mm grav_b=(+0.01,-0.08,-1.00) r=2.13m
+[headless_play] t=  7.90s step= 395 trunk_z=  -4.2mm grav_b=(+0.03,-0.05,-1.00) r=2.15m
+[headless_play] t=  8.00s step= 400 trunk_z=  -9.1mm grav_b=(+0.06,+0.02,-1.00) r=2.18m
+[headless_play] t=  8.10s step= 405 trunk_z=   1.0mm grav_b=(+0.03,+0.01,-1.00) r=2.19m
+[headless_play] t=  8.20s step= 410 trunk_z=  -2.0mm grav_b=(-0.03,-0.06,-1.00) r=2.21m
+[headless_play] t=  8.30s step= 415 trunk_z=   7.4mm grav_b=(-0.07,-0.05,-1.00) r=2.22m
+[headless_play] t=  8.40s step= 420 trunk_z=   1.7mm grav_b=(-0.09,-0.01,-1.00) r=2.23m
+[headless_play] t=  8.50s step= 425 trunk_z=   2.6mm grav_b=(-0.09,+0.06,-0.99) r=2.25m
+[headless_play] t=  8.60s step= 430 trunk_z=   7.1mm grav_b=(-0.06,+0.06,-1.00) r=2.25m
+[headless_play] t=  8.70s step= 435 trunk_z=   3.0mm grav_b=(-0.06,+0.02,-1.00) r=2.25m
+[headless_play] t=  8.80s step= 440 trunk_z=   5.7mm grav_b=(-0.05,-0.05,-1.00) r=2.25m
+[headless_play] t=  8.90s step= 445 trunk_z=   8.1mm grav_b=(-0.04,-0.04,-1.00) r=2.25m
+[headless_play] t=  9.00s step= 450 trunk_z=  -0.1mm grav_b=(-0.05,+0.01,-1.00) r=2.28m
+[headless_play] t=  9.10s step= 455 trunk_z=   8.9mm grav_b=(-0.04,+0.04,-1.00) r=2.29m
+[headless_play] t=  9.20s step= 460 trunk_z=   7.8mm grav_b=(-0.06,+0.02,-1.00) r=2.30m
+[headless_play] t=  9.30s step= 465 trunk_z=   5.9mm grav_b=(-0.05,-0.05,-1.00) r=2.30m
+[headless_play] t=  9.40s step= 470 trunk_z=  13.2mm grav_b=(-0.05,-0.02,-1.00) r=2.30m
+[headless_play] t=  9.50s step= 475 trunk_z=   7.6mm grav_b=(-0.08,+0.00,-1.00) r=2.32m
+[headless_play] t=  9.60s step= 480 trunk_z=  10.9mm grav_b=(-0.05,+0.06,-1.00) r=2.34m
+[headless_play] t=  9.70s step= 485 trunk_z=  12.6mm grav_b=(-0.03,+0.03,-1.00) r=2.35m
+[headless_play] t=  9.80s step= 490 trunk_z=   8.7mm grav_b=(-0.04,-0.04,-1.00) r=2.35m
+[headless_play] t=  9.90s step= 495 trunk_z=  16.7mm grav_b=(-0.08,-0.01,-1.00) r=2.35m
+[headless_play] t= 10.00s step= 500 trunk_z=  11.0mm grav_b=(-0.08,+0.03,-1.00) r=2.36m
+[headless_play] t= 10.10s step= 505 trunk_z=  16.1mm grav_b=(-0.06,+0.08,-1.00) r=2.37m
+[headless_play] t= 10.20s step= 510 trunk_z=  16.5mm grav_b=(-0.06,+0.03,-1.00) r=2.37m
+[headless_play] t= 10.30s step= 515 trunk_z=  10.9mm grav_b=(-0.04,-0.03,-1.00) r=2.37m
+[headless_play] t= 10.40s step= 520 trunk_z=  17.7mm grav_b=(-0.03,-0.02,-1.00) r=2.37m
+[headless_play] t= 10.50s step= 525 trunk_z=  14.3mm grav_b=(-0.03,+0.02,-1.00) r=2.39m
+[headless_play] t= 10.60s step= 530 trunk_z=  16.1mm grav_b=(-0.04,+0.06,-1.00) r=2.41m
+[headless_play] t= 10.70s step= 535 trunk_z=  19.6mm grav_b=(-0.04,+0.05,-1.00) r=2.42m
+[headless_play] t= 10.80s step= 540 trunk_z=  13.9mm grav_b=(-0.05,+0.01,-1.00) r=2.42m
+[headless_play] t= 10.90s step= 545 trunk_z=  22.0mm grav_b=(-0.07,-0.01,-1.00) r=2.42m
+[headless_play] t= 11.00s step= 550 trunk_z=  20.0mm grav_b=(-0.07,+0.03,-1.00) r=2.43m
+[headless_play] t= 11.10s step= 555 trunk_z=  19.9mm grav_b=(-0.07,+0.07,-0.99) r=2.44m
+[headless_play] t= 11.20s step= 560 trunk_z=  23.4mm grav_b=(-0.07,+0.05,-1.00) r=2.46m
+[headless_play] t= 11.30s step= 565 trunk_z=  17.5mm grav_b=(-0.07,+0.03,-1.00) r=2.46m
+[headless_play] t= 11.40s step= 570 trunk_z=  22.0mm grav_b=(-0.06,+0.01,-1.00) r=2.46m
+[headless_play] t= 11.50s step= 575 trunk_z=  20.4mm grav_b=(-0.06,+0.04,-1.00) r=2.47m
+[headless_play] t= 11.60s step= 580 trunk_z=  12.6mm grav_b=(-0.05,+0.09,-0.99) r=2.49m
+[headless_play] t= 11.70s step= 585 trunk_z=  20.3mm grav_b=(-0.06,+0.09,-0.99) r=2.50m
+[headless_play] t= 11.80s step= 590 trunk_z=  22.0mm grav_b=(-0.02,+0.06,-1.00) r=2.50m
+[headless_play] t= 11.90s step= 595 trunk_z=  16.7mm grav_b=(-0.01,+0.04,-1.00) r=2.49m
+[headless_play] t= 12.00s step= 600 trunk_z=  17.9mm grav_b=(-0.00,-0.02,-1.00) r=2.49m
+[headless_play] t= 12.10s step= 605 trunk_z=  15.8mm grav_b=(+0.00,-0.01,-1.00) r=2.50m
+[headless_play] t= 12.20s step= 610 trunk_z=   6.7mm grav_b=(-0.02,+0.04,-1.00) r=2.53m
+[headless_play] t= 12.30s step= 615 trunk_z=  19.5mm grav_b=(-0.04,+0.04,-1.00) r=2.54m
+[headless_play] t= 12.40s step= 620 trunk_z=  20.1mm grav_b=(-0.04,+0.02,-1.00) r=2.54m
+[headless_play] t= 12.50s step= 625 trunk_z=  16.1mm grav_b=(+0.01,-0.03,-1.00) r=2.54m
+[headless_play] t= 12.60s step= 630 trunk_z=  20.7mm grav_b=(+0.02,-0.01,-1.00) r=2.54m
+[headless_play] t= 12.70s step= 635 trunk_z=  16.6mm grav_b=(-0.01,+0.00,-1.00) r=2.57m
+[headless_play] t= 12.80s step= 640 trunk_z=  19.8mm grav_b=(-0.02,+0.06,-1.00) r=2.59m
+[headless_play] t= 12.90s step= 645 trunk_z=  27.6mm grav_b=(-0.03,+0.04,-1.00) r=2.60m
+[headless_play] t= 13.00s step= 650 trunk_z=  25.4mm grav_b=(-0.03,+0.01,-1.00) r=2.59m
+[headless_play] t= 13.10s step= 655 trunk_z=  22.4mm grav_b=(-0.00,-0.04,-1.00) r=2.58m
+[headless_play] t= 13.20s step= 660 trunk_z=  24.0mm grav_b=(+0.00,-0.02,-1.00) r=2.59m
+[headless_play] t= 13.30s step= 665 trunk_z=  16.0mm grav_b=(-0.01,+0.00,-1.00) r=2.62m
+[headless_play] t= 13.40s step= 670 trunk_z=  26.3mm grav_b=(-0.02,+0.02,-1.00) r=2.64m
+[headless_play] t= 13.50s step= 675 trunk_z=  28.7mm grav_b=(-0.02,-0.00,-1.00) r=2.64m
+[headless_play] t= 13.60s step= 680 trunk_z=  22.9mm grav_b=(+0.00,-0.04,-1.00) r=2.63m
+[headless_play] t= 13.70s step= 685 trunk_z=  30.0mm grav_b=(-0.01,-0.02,-1.00) r=2.63m
+[headless_play] t= 13.80s step= 690 trunk_z=  28.2mm grav_b=(-0.01,+0.00,-1.00) r=2.65m
+[headless_play] t= 13.90s step= 695 trunk_z=  24.6mm grav_b=(-0.01,+0.06,-1.00) r=2.68m
+[headless_play] t= 14.00s step= 700 trunk_z=  34.1mm grav_b=(-0.01,+0.06,-1.00) r=2.69m
+[headless_play] t= 14.10s step= 705 trunk_z=  31.9mm grav_b=(-0.02,+0.03,-1.00) r=2.69m
+[headless_play] t= 14.20s step= 710 trunk_z=  32.3mm grav_b=(+0.03,-0.02,-1.00) r=2.69m
+[headless_play] t= 14.30s step= 715 trunk_z=  38.4mm grav_b=(+0.00,+0.01,-1.00) r=2.69m
+[headless_play] t= 14.40s step= 720 trunk_z=  36.0mm grav_b=(-0.01,+0.03,-1.00) r=2.70m
+[headless_play] t= 14.50s step= 725 trunk_z=  38.7mm grav_b=(-0.01,+0.10,-0.99) r=2.71m
+[headless_play] t= 14.60s step= 730 trunk_z=  45.5mm grav_b=(-0.05,+0.08,-1.00) r=2.72m
+[headless_play] t= 14.70s step= 735 trunk_z=  42.8mm grav_b=(-0.06,+0.07,-1.00) r=2.71m
+[headless_play] t= 14.80s step= 740 trunk_z=  42.4mm grav_b=(-0.05,-0.03,-1.00) r=2.69m
+[headless_play] t= 14.90s step= 745 trunk_z=  46.4mm grav_b=(-0.07,-0.01,-1.00) r=2.69m
+[headless_play] t= 15.00s step= 750 trunk_z=  40.4mm grav_b=(-0.07,+0.03,-1.00) r=2.72m
+[headless_play] t= 15.10s step= 755 trunk_z=  49.5mm grav_b=(-0.05,+0.08,-1.00) r=2.74m
+[headless_play] t= 15.20s step= 760 trunk_z=  50.6mm grav_b=(-0.06,+0.08,-1.00) r=2.74m
+[headless_play] t= 15.30s step= 765 trunk_z=  44.7mm grav_b=(-0.07,+0.03,-1.00) r=2.73m
+[headless_play] t= 15.40s step= 770 trunk_z=  49.9mm grav_b=(-0.09,-0.02,-1.00) r=2.73m
+[headless_play] t= 15.50s step= 775 trunk_z=  48.1mm grav_b=(-0.09,+0.02,-1.00) r=2.73m
+[headless_play] t= 15.60s step= 780 trunk_z=  46.2mm grav_b=(-0.09,+0.11,-0.99) r=2.75m
+[headless_play] t= 15.70s step= 785 trunk_z=  52.9mm grav_b=(-0.06,+0.13,-0.99) r=2.75m
+[headless_play] t= 15.80s step= 790 trunk_z=  52.7mm grav_b=(-0.06,+0.11,-0.99) r=2.75m
+[headless_play] t= 15.90s step= 795 trunk_z=  46.2mm grav_b=(-0.06,+0.01,-1.00) r=2.74m
+[headless_play] t= 16.00s step= 800 trunk_z=  51.6mm grav_b=(-0.06,-0.02,-1.00) r=2.73m
+[headless_play] t= 16.10s step= 805 trunk_z=  49.2mm grav_b=(-0.08,+0.02,-1.00) r=2.75m
+[headless_play] t= 16.20s step= 810 trunk_z=  50.0mm grav_b=(-0.07,+0.08,-0.99) r=2.77m
+[headless_play] t= 16.30s step= 815 trunk_z=  54.9mm grav_b=(-0.07,+0.08,-0.99) r=2.78m
+[headless_play] t= 16.40s step= 820 trunk_z=  54.6mm grav_b=(-0.09,+0.08,-0.99) r=2.78m
+[headless_play] t= 16.50s step= 825 trunk_z=  54.0mm grav_b=(-0.07,-0.02,-1.00) r=2.77m
+[headless_play] t= 16.60s step= 830 trunk_z=  54.3mm grav_b=(-0.07,+0.03,-1.00) r=2.77m
+[headless_play] t= 16.70s step= 835 trunk_z=  36.4mm grav_b=(-0.04,+0.07,-1.00) r=2.78m
+[headless_play] t= 16.80s step= 840 trunk_z=  44.4mm grav_b=(-0.06,+0.10,-0.99) r=2.80m
+[headless_play] t= 16.90s step= 845 trunk_z=  46.1mm grav_b=(-0.03,+0.08,-1.00) r=2.80m
+[headless_play] t= 17.00s step= 850 trunk_z=  43.6mm grav_b=(-0.01,+0.02,-1.00) r=2.80m
+[headless_play] t= 17.10s step= 855 trunk_z=  51.6mm grav_b=(-0.02,+0.01,-1.00) r=2.81m
+[headless_play] t= 17.20s step= 860 trunk_z=  49.8mm grav_b=(-0.04,+0.05,-1.00) r=2.82m
+[headless_play] t= 17.30s step= 865 trunk_z=  40.3mm grav_b=(-0.03,+0.10,-0.99) r=2.84m
+[headless_play] t= 17.40s step= 870 trunk_z=  50.2mm grav_b=(-0.02,+0.11,-0.99) r=2.86m
+[headless_play] t= 17.50s step= 875 trunk_z=  51.7mm grav_b=(-0.03,+0.13,-0.99) r=2.87m
+[headless_play] t= 17.60s step= 880 trunk_z=  52.5mm grav_b=(-0.02,+0.09,-1.00) r=2.87m
+[headless_play] t= 17.70s step= 885 trunk_z=  56.8mm grav_b=(-0.02,-0.00,-1.00) r=2.88m
+[headless_play] t= 17.80s step= 890 trunk_z=  60.5mm grav_b=(-0.04,+0.04,-1.00) r=2.89m
+[headless_play] t= 17.90s step= 895 trunk_z=  48.0mm grav_b=(-0.06,+0.09,-0.99) r=2.90m
+[headless_play] t= 18.00s step= 900 trunk_z=  53.9mm grav_b=(-0.06,+0.14,-0.99) r=2.92m
+[headless_play] t= 18.10s step= 905 trunk_z=  56.5mm grav_b=(-0.06,+0.19,-0.98) r=2.93m
+[headless_play] t= 18.20s step= 910 trunk_z=  55.7mm grav_b=(-0.06,+0.24,-0.97) r=2.93m
+[headless_play] t= 18.30s step= 915 trunk_z=  55.8mm grav_b=(-0.06,+0.38,-0.92) r=2.93m
+[headless_play] t= 18.40s step= 920 trunk_z=  46.5mm grav_b=(-0.11,+0.60,-0.79) r=2.93m
+[headless_play] t= 18.50s step= 925 trunk_z=   8.9mm grav_b=(-0.30,+0.86,-0.41) r=2.93m
+[headless_play] RESET at t= 18.52s step= 926 (env termination, not a recovery)
+[headless_play] t= 18.60s step= 930 trunk_z= 114.9mm grav_b=(-0.02,-0.00,-1.00) r=0.61m
+[headless_play] t= 18.70s step= 935 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) r=0.61m
+[headless_play] t= 18.80s step= 940 trunk_z= 115.2mm grav_b=(-0.01,-0.06,-1.00) r=0.62m
+[headless_play] t= 18.90s step= 945 trunk_z= 121.1mm grav_b=(+0.01,-0.11,-0.99) r=0.63m
+[headless_play] t= 19.00s step= 950 trunk_z= 122.9mm grav_b=(+0.01,-0.09,-1.00) r=0.64m
+[headless_play] t= 19.10s step= 955 trunk_z= 116.3mm grav_b=(-0.02,-0.03,-1.00) r=0.62m
+[headless_play] t= 19.20s step= 960 trunk_z= 121.9mm grav_b=(-0.03,+0.02,-1.00) r=0.61m
+[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(-0.04,-0.04,-1.00) r=0.63m
+[headless_play] t= 19.40s step= 970 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.65m
+[headless_play] t= 19.50s step= 975 trunk_z= 122.1mm grav_b=(-0.01,-0.05,-1.00) r=0.66m
+[headless_play] t= 19.60s step= 980 trunk_z= 114.3mm grav_b=(-0.03,-0.02,-1.00) r=0.65m
+[headless_play] t= 19.70s step= 985 trunk_z= 122.0mm grav_b=(-0.01,+0.02,-1.00) r=0.65m
+[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(-0.02,-0.03,-1.00) r=0.67m
+[headless_play] t= 19.90s step= 995 trunk_z= 120.5mm grav_b=(+0.00,-0.11,-0.99) r=0.69m
+[headless_play] t= 20.00s step=1000 trunk_z= 124.5mm grav_b=(-0.03,-0.08,-1.00) r=0.71m
+[headless_play] t= 20.10s step=1005 trunk_z= 118.0mm grav_b=(-0.05,-0.08,-1.00) r=0.71m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t4.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 121.1mm grav_b=(-0.00,-0.00,-1.00) root_w=(-1.821,-17.806,+0.248)
+[headless_play] t=  0.00s step=   0 trunk_z= 118.6mm grav_b=(-0.01,+0.00,-1.00) r=0.26m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.4mm grav_b=(-0.05,+0.03,-1.00) r=0.26m
+[headless_play] t=  0.20s step=  10 trunk_z= 117.5mm grav_b=(-0.05,+0.07,-1.00) r=0.25m
+[headless_play] t=  0.30s step=  15 trunk_z= 118.6mm grav_b=(-0.05,-0.03,-1.00) r=0.26m
+[headless_play] t=  0.40s step=  20 trunk_z= 113.4mm grav_b=(-0.02,-0.09,-1.00) r=0.29m
+[headless_play] t=  0.50s step=  25 trunk_z= 121.4mm grav_b=(-0.01,-0.13,-0.99) r=0.30m
+[headless_play] t=  0.60s step=  30 trunk_z= 120.1mm grav_b=(-0.01,-0.14,-0.99) r=0.31m
+[headless_play] t=  0.70s step=  35 trunk_z= 116.9mm grav_b=(-0.02,-0.06,-1.00) r=0.30m
+[headless_play] t=  0.80s step=  40 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.30m
+[headless_play] t=  0.90s step=  45 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.32m
+[headless_play] t=  1.00s step=  50 trunk_z= 118.5mm grav_b=(-0.06,-0.09,-0.99) r=0.35m
+[headless_play] t=  1.10s step=  55 trunk_z= 125.9mm grav_b=(-0.05,-0.09,-0.99) r=0.36m
+[headless_play] t=  1.20s step=  60 trunk_z= 124.7mm grav_b=(-0.04,-0.07,-1.00) r=0.36m
+[headless_play] t=  1.30s step=  65 trunk_z= 115.5mm grav_b=(-0.03,-0.04,-1.00) r=0.34m
+[headless_play] t=  1.40s step=  70 trunk_z= 119.0mm grav_b=(-0.02,-0.01,-1.00) r=0.34m
+[headless_play] t=  1.50s step=  75 trunk_z= 114.6mm grav_b=(+0.01,-0.03,-1.00) r=0.36m
+[headless_play] t=  1.60s step=  80 trunk_z= 119.3mm grav_b=(+0.01,-0.09,-1.00) r=0.39m
+[headless_play] t=  1.70s step=  85 trunk_z= 122.1mm grav_b=(+0.00,-0.11,-0.99) r=0.40m
+[headless_play] t=  1.80s step=  90 trunk_z= 118.2mm grav_b=(+0.00,-0.07,-1.00) r=0.41m
+[headless_play] t=  1.90s step=  95 trunk_z= 120.2mm grav_b=(-0.01,+0.02,-1.00) r=0.42m
+[headless_play] t=  2.00s step= 100 trunk_z= 119.9mm grav_b=(-0.02,+0.00,-1.00) r=0.43m
+[headless_play] t=  2.10s step= 105 trunk_z= 113.8mm grav_b=(-0.04,-0.07,-1.00) r=0.46m
+[headless_play] t=  2.20s step= 110 trunk_z= 125.1mm grav_b=(-0.05,-0.08,-1.00) r=0.48m
+[headless_play] t=  2.30s step= 115 trunk_z= 124.5mm grav_b=(-0.04,-0.09,-1.00) r=0.49m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.6mm grav_b=(-0.03,-0.08,-1.00) r=0.49m
+[headless_play] t=  2.50s step= 125 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.49m
+[headless_play] t=  2.60s step= 130 trunk_z= 118.4mm grav_b=(+0.01,-0.00,-1.00) r=0.50m
+[headless_play] t=  2.70s step= 135 trunk_z= 112.3mm grav_b=(-0.01,-0.06,-1.00) r=0.53m
+[headless_play] t=  2.80s step= 140 trunk_z= 124.4mm grav_b=(-0.02,-0.10,-0.99) r=0.55m
+[headless_play] t=  2.90s step= 145 trunk_z= 122.2mm grav_b=(-0.03,-0.11,-0.99) r=0.57m
+[headless_play] t=  3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.03,-0.06,-1.00) r=0.58m
+[headless_play] t=  3.10s step= 155 trunk_z= 120.7mm grav_b=(-0.02,+0.01,-1.00) r=0.58m
+[headless_play] t=  3.20s step= 160 trunk_z= 118.7mm grav_b=(-0.03,-0.01,-1.00) r=0.60m
+[headless_play] t=  3.30s step= 165 trunk_z= 117.0mm grav_b=(-0.04,-0.08,-1.00) r=0.63m
+[headless_play] t=  3.40s step= 170 trunk_z= 125.0mm grav_b=(-0.05,-0.09,-1.00) r=0.65m
+[headless_play] t=  3.50s step= 175 trunk_z= 121.0mm grav_b=(-0.04,-0.08,-1.00) r=0.67m
+[headless_play] t=  3.60s step= 180 trunk_z= 113.4mm grav_b=(-0.03,-0.02,-1.00) r=0.67m
+[headless_play] t=  3.70s step= 185 trunk_z= 120.7mm grav_b=(-0.03,+0.01,-1.00) r=0.68m
+[headless_play] t=  3.80s step= 190 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.71m
+[headless_play] t=  3.90s step= 195 trunk_z= 119.7mm grav_b=(-0.02,-0.09,-1.00) r=0.74m
+[headless_play] t=  4.00s step= 200 trunk_z= 123.9mm grav_b=(-0.04,-0.11,-0.99) r=0.76m
+[headless_play] t=  4.10s step= 205 trunk_z= 118.9mm grav_b=(-0.02,-0.09,-1.00) r=0.77m
+[headless_play] t=  4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.79m
+[headless_play] t=  4.30s step= 215 trunk_z= 121.3mm grav_b=(-0.02,-0.00,-1.00) r=0.81m
+[headless_play] t=  4.40s step= 220 trunk_z= 114.2mm grav_b=(-0.05,-0.05,-1.00) r=0.83m
+[headless_play] t=  4.50s step= 225 trunk_z= 124.2mm grav_b=(-0.08,-0.10,-0.99) r=0.85m
+[headless_play] t=  4.60s step= 230 trunk_z= 126.0mm grav_b=(-0.05,-0.10,-0.99) r=0.86m
+[headless_play] t=  4.70s step= 235 trunk_z= 121.0mm grav_b=(-0.06,-0.07,-1.00) r=0.86m
+[headless_play] t=  4.80s step= 240 trunk_z= 118.0mm grav_b=(-0.05,+0.03,-1.00) r=0.87m
+[headless_play] t=  4.90s step= 245 trunk_z= 120.4mm grav_b=(-0.01,+0.00,-1.00) r=0.88m
+[headless_play] t=  5.00s step= 250 trunk_z= 114.9mm grav_b=(-0.03,-0.05,-1.00) r=0.91m
+[headless_play] t=  5.10s step= 255 trunk_z= 123.9mm grav_b=(-0.04,-0.11,-0.99) r=0.93m
+[headless_play] t=  5.20s step= 260 trunk_z= 124.7mm grav_b=(-0.05,-0.14,-0.99) r=0.95m
+[headless_play] t=  5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.03,-0.12,-0.99) r=0.96m
+[headless_play] t=  5.40s step= 270 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.98m
+[headless_play] t=  5.50s step= 275 trunk_z= 123.6mm grav_b=(-0.03,+0.01,-1.00) r=1.00m
+[headless_play] t=  5.60s step= 280 trunk_z= 116.5mm grav_b=(-0.06,-0.02,-1.00) r=1.02m
+[headless_play] t=  5.70s step= 285 trunk_z= 122.9mm grav_b=(-0.10,-0.08,-0.99) r=1.04m
+[headless_play] t=  5.80s step= 290 trunk_z= 124.7mm grav_b=(-0.07,-0.07,-1.00) r=1.04m
+[headless_play] t=  5.90s step= 295 trunk_z= 117.5mm grav_b=(-0.06,-0.04,-1.00) r=1.03m
+[headless_play] t=  6.00s step= 300 trunk_z= 118.9mm grav_b=(-0.05,-0.00,-1.00) r=1.03m
+[headless_play] t=  6.10s step= 305 trunk_z= 115.7mm grav_b=(-0.03,-0.03,-1.00) r=1.04m
+[headless_play] t=  6.20s step= 310 trunk_z= 116.8mm grav_b=(+0.00,-0.09,-1.00) r=1.07m
+[headless_play] t=  6.30s step= 315 trunk_z= 120.9mm grav_b=(+0.00,-0.07,-1.00) r=1.09m
+[headless_play] t=  6.40s step= 320 trunk_z= 116.1mm grav_b=(-0.00,-0.03,-1.00) r=1.11m
+[headless_play] t=  6.50s step= 325 trunk_z= 120.0mm grav_b=(+0.00,+0.04,-1.00) r=1.13m
+[headless_play] t=  6.60s step= 330 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=1.16m
+[headless_play] t=  6.70s step= 335 trunk_z= 112.8mm grav_b=(-0.01,-0.09,-1.00) r=1.19m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.6mm grav_b=(-0.01,-0.11,-0.99) r=1.23m
+[headless_play] t=  6.90s step= 345 trunk_z= 111.1mm grav_b=(+0.01,-0.07,-1.00) r=1.26m
+[headless_play] t=  7.00s step= 350 trunk_z= 105.5mm grav_b=(+0.05,+0.03,-1.00) r=1.30m
+[headless_play] t=  7.10s step= 355 trunk_z= 107.1mm grav_b=(+0.03,+0.07,-1.00) r=1.33m
+[headless_play] t=  7.20s step= 360 trunk_z=  85.6mm grav_b=(+0.01,-0.06,-1.00) r=1.38m
+[headless_play] t=  7.30s step= 365 trunk_z=  89.4mm grav_b=(-0.04,-0.05,-1.00) r=1.41m
+[headless_play] t=  7.40s step= 370 trunk_z=  71.8mm grav_b=(-0.04,+0.04,-1.00) r=1.44m
+[headless_play] t=  7.50s step= 375 trunk_z=  78.5mm grav_b=(-0.03,+0.10,-0.99) r=1.47m
+[headless_play] t=  7.60s step= 380 trunk_z=  75.4mm grav_b=(+0.00,+0.10,-0.99) r=1.49m
+[headless_play] t=  7.70s step= 385 trunk_z=  70.5mm grav_b=(+0.02,+0.02,-1.00) r=1.51m
+[headless_play] t=  7.80s step= 390 trunk_z=  72.6mm grav_b=(+0.01,-0.05,-1.00) r=1.54m
+[headless_play] t=  7.90s step= 395 trunk_z=  62.6mm grav_b=(+0.05,+0.00,-1.00) r=1.57m
+[headless_play] t=  8.00s step= 400 trunk_z=  58.6mm grav_b=(-0.00,+0.11,-0.99) r=1.61m
+[headless_play] t=  8.10s step= 405 trunk_z=  58.7mm grav_b=(+0.05,+0.13,-0.99) r=1.64m
+[headless_play] t=  8.20s step= 410 trunk_z=  56.6mm grav_b=(+0.04,+0.07,-1.00) r=1.67m
+[headless_play] t=  8.30s step= 415 trunk_z=  52.5mm grav_b=(+0.01,-0.13,-0.99) r=1.71m
+[headless_play] t=  8.40s step= 420 trunk_z=  48.9mm grav_b=(-0.04,-0.11,-0.99) r=1.74m
+[headless_play] t=  8.50s step= 425 trunk_z=  33.6mm grav_b=(-0.00,-0.03,-1.00) r=1.78m
+[headless_play] t=  8.60s step= 430 trunk_z=  33.3mm grav_b=(+0.02,+0.06,-1.00) r=1.82m
+[headless_play] t=  8.70s step= 435 trunk_z=  31.1mm grav_b=(+0.03,+0.05,-1.00) r=1.84m
+[headless_play] t=  8.80s step= 440 trunk_z=  27.4mm grav_b=(+0.01,-0.07,-1.00) r=1.86m
+[headless_play] t=  8.90s step= 445 trunk_z=  29.9mm grav_b=(-0.01,-0.06,-1.00) r=1.89m
+[headless_play] t=  9.00s step= 450 trunk_z=  16.2mm grav_b=(-0.00,+0.00,-1.00) r=1.92m
+[headless_play] t=  9.10s step= 455 trunk_z=  17.8mm grav_b=(-0.00,+0.10,-1.00) r=1.96m
+[headless_play] t=  9.20s step= 460 trunk_z=  15.9mm grav_b=(+0.03,+0.12,-0.99) r=1.98m
+[headless_play] t=  9.30s step= 465 trunk_z=  14.6mm grav_b=(+0.03,+0.03,-1.00) r=2.00m
+[headless_play] t=  9.40s step= 470 trunk_z=  15.3mm grav_b=(+0.02,-0.06,-1.00) r=2.02m
+[headless_play] t=  9.50s step= 475 trunk_z=   4.0mm grav_b=(+0.01,-0.02,-1.00) r=2.06m
+[headless_play] t=  9.60s step= 480 trunk_z=   3.4mm grav_b=(+0.03,-0.03,-1.00) r=2.08m
+[headless_play] t=  9.70s step= 485 trunk_z=  -0.7mm grav_b=(-0.04,-0.08,-1.00) r=2.08m
+[headless_play] t=  9.80s step= 490 trunk_z=   6.6mm grav_b=(-0.10,-0.14,-0.99) r=2.08m
+[headless_play] t=  9.90s step= 495 trunk_z=   9.7mm grav_b=(-0.12,-0.17,-0.98) r=2.07m
+[headless_play] t= 10.00s step= 500 trunk_z=   8.4mm grav_b=(-0.10,-0.15,-0.98) r=2.06m
+[headless_play] t= 10.10s step= 505 trunk_z=   5.0mm grav_b=(-0.02,-0.24,-0.97) r=2.03m
+[headless_play] t= 10.20s step= 510 trunk_z=  -5.3mm grav_b=(+0.13,-0.14,-0.98) r=1.99m
+[headless_play] t= 10.30s step= 515 trunk_z=   4.6mm grav_b=(+0.04,-0.12,-0.99) r=2.00m
+[headless_play] t= 10.40s step= 520 trunk_z=  10.6mm grav_b=(+0.00,-0.11,-0.99) r=2.01m
+[headless_play] t= 10.50s step= 525 trunk_z=   8.3mm grav_b=(+0.03,+0.01,-1.00) r=2.03m
+[headless_play] t= 10.60s step= 530 trunk_z=   7.2mm grav_b=(+0.08,+0.06,-0.99) r=2.05m
+[headless_play] t= 10.70s step= 535 trunk_z=   9.8mm grav_b=(-0.01,+0.06,-1.00) r=2.07m
+[headless_play] t= 10.80s step= 540 trunk_z=   3.0mm grav_b=(-0.02,-0.07,-1.00) r=2.07m
+[headless_play] t= 10.90s step= 545 trunk_z=   8.6mm grav_b=(-0.08,-0.10,-0.99) r=2.07m
+[headless_play] t= 11.00s step= 550 trunk_z=   6.9mm grav_b=(-0.06,-0.08,-1.00) r=2.07m
+[headless_play] t= 11.10s step= 555 trunk_z=  -2.5mm grav_b=(-0.04,-0.02,-1.00) r=2.06m
+[headless_play] t= 11.20s step= 560 trunk_z=   1.7mm grav_b=(-0.04,-0.03,-1.00) r=2.05m
+[headless_play] t= 11.30s step= 565 trunk_z=   2.0mm grav_b=(-0.02,-0.06,-1.00) r=2.03m
+[headless_play] t= 11.40s step= 570 trunk_z=   5.2mm grav_b=(-0.00,-0.02,-1.00) r=2.03m
+[headless_play] t= 11.50s step= 575 trunk_z=  -4.8mm grav_b=(+0.02,+0.02,-1.00) r=2.05m
+[headless_play] t= 11.60s step= 580 trunk_z=   0.9mm grav_b=(+0.08,+0.02,-1.00) r=2.07m
+[headless_play] t= 11.70s step= 585 trunk_z=   3.7mm grav_b=(+0.03,-0.02,-1.00) r=2.09m
+[headless_play] t= 11.80s step= 590 trunk_z=   9.2mm grav_b=(+0.00,-0.07,-1.00) r=2.10m
+[headless_play] t= 11.90s step= 595 trunk_z=  12.9mm grav_b=(-0.04,-0.09,-0.99) r=2.11m
+[headless_play] t= 12.00s step= 600 trunk_z=  10.7mm grav_b=(-0.07,-0.07,-1.00) r=2.12m
+[headless_play] t= 12.10s step= 605 trunk_z=  11.0mm grav_b=(-0.08,-0.03,-1.00) r=2.13m
+[headless_play] t= 12.20s step= 610 trunk_z=  12.2mm grav_b=(-0.07,-0.06,-1.00) r=2.12m
+[headless_play] t= 12.30s step= 615 trunk_z=   1.6mm grav_b=(-0.02,-0.13,-0.99) r=2.10m
+[headless_play] t= 12.40s step= 620 trunk_z=   8.6mm grav_b=(-0.01,-0.16,-0.99) r=2.09m
+[headless_play] t= 12.50s step= 625 trunk_z=  10.2mm grav_b=(-0.04,-0.18,-0.98) r=2.08m
+[headless_play] t= 12.60s step= 630 trunk_z=  10.4mm grav_b=(-0.04,-0.21,-0.98) r=2.08m
+[headless_play] t= 12.70s step= 635 trunk_z=   9.8mm grav_b=(-0.03,-0.25,-0.97) r=2.07m
+[headless_play] t= 12.80s step= 640 trunk_z=   7.0mm grav_b=(+0.01,-0.27,-0.96) r=2.06m
+[headless_play] t= 12.90s step= 645 trunk_z=   7.1mm grav_b=(+0.02,-0.39,-0.92) r=2.05m
+[headless_play] t= 13.00s step= 650 trunk_z=   0.1mm grav_b=(+0.08,-0.57,-0.82) r=2.03m
+[headless_play] t= 13.10s step= 655 trunk_z= -33.0mm grav_b=(+0.12,-0.86,-0.49) r=2.00m
+[headless_play] RESET at t= 13.14s step= 657 (env termination, not a recovery)
+[headless_play] t= 13.20s step= 660 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) r=0.43m
+[headless_play] t= 13.30s step= 665 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00) r=0.43m
+[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.43m
+[headless_play] t= 13.50s step= 675 trunk_z= 116.1mm grav_b=(+0.02,+0.00,-1.00) r=0.43m
+[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=0.43m
+[headless_play] t= 13.70s step= 685 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.43m
+[headless_play] t= 13.80s step= 690 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.43m
+[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.30s step= 715 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.60s step= 730 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.70s step= 735 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 14.90s step= 745 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.10s step= 755 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.20s step= 760 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.70s step= 785 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m
+[headless_play] t= 15.90s step= 795 trunk_z= 115.9mm grav_b=(-0.04,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(-0.03,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(-0.04,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.20s step= 810 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.30s step= 815 trunk_z= 116.0mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.60s step= 830 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m
+[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(-0.04,+0.00,-1.00) r=0.42m
+[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(-0.04,+0.00,-1.00) r=0.42m
+[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 17.50s step= 875 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 17.60s step= 880 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 17.90s step= 895 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.20s step= 910 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.60s step= 930 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.80s step= 940 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.00s step= 950 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.20s step= 960 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.30s step= 965 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.40s step= 970 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.50s step= 975 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.60s step= 980 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.70s step= 985 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 19.90s step= 995 trunk_z= 116.3mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 20.00s step=1000 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m
+[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.04,+0.00,-1.00) r=0.42m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t5.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-1.861,-18.277,+0.255)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.31m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.7mm grav_b=(-0.01,+0.03,-1.00) r=0.31m
+[headless_play] t=  0.20s step=  10 trunk_z= 117.7mm grav_b=(+0.01,+0.04,-1.00) r=0.30m
+[headless_play] t=  0.30s step=  15 trunk_z= 114.5mm grav_b=(-0.00,-0.05,-1.00) r=0.27m
+[headless_play] t=  0.40s step=  20 trunk_z= 119.3mm grav_b=(+0.02,-0.09,-1.00) r=0.24m
+[headless_play] t=  0.50s step=  25 trunk_z= 121.3mm grav_b=(+0.02,-0.06,-1.00) r=0.23m
+[headless_play] t=  0.60s step=  30 trunk_z= 112.8mm grav_b=(-0.01,-0.02,-1.00) r=0.24m
+[headless_play] t=  0.70s step=  35 trunk_z= 121.6mm grav_b=(-0.01,-0.01,-1.00) r=0.24m
+[headless_play] t=  0.80s step=  40 trunk_z= 119.5mm grav_b=(-0.00,-0.03,-1.00) r=0.23m
+[headless_play] t=  0.90s step=  45 trunk_z= 117.3mm grav_b=(+0.00,-0.09,-1.00) r=0.19m
+[headless_play] t=  1.00s step=  50 trunk_z= 124.6mm grav_b=(+0.01,-0.06,-1.00) r=0.18m
+[headless_play] t=  1.10s step=  55 trunk_z= 117.3mm grav_b=(-0.00,-0.05,-1.00) r=0.19m
+[headless_play] t=  1.20s step=  60 trunk_z= 119.7mm grav_b=(-0.03,-0.01,-1.00) r=0.20m
+[headless_play] t=  1.30s step=  65 trunk_z= 121.3mm grav_b=(-0.01,-0.03,-1.00) r=0.20m
+[headless_play] t=  1.40s step=  70 trunk_z= 112.8mm grav_b=(-0.01,-0.08,-1.00) r=0.17m
+[headless_play] t=  1.50s step=  75 trunk_z= 124.6mm grav_b=(+0.00,-0.08,-1.00) r=0.15m
+[headless_play] t=  1.60s step=  80 trunk_z= 121.3mm grav_b=(+0.01,-0.06,-1.00) r=0.16m
+[headless_play] t=  1.70s step=  85 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) r=0.18m
+[headless_play] t=  1.80s step=  90 trunk_z= 122.8mm grav_b=(-0.01,-0.01,-1.00) r=0.19m
+[headless_play] t=  1.90s step=  95 trunk_z= 118.6mm grav_b=(-0.01,-0.03,-1.00) r=0.18m
+[headless_play] t=  2.00s step= 100 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.16m
+[headless_play] t=  2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.01,-0.06,-1.00) r=0.16m
+[headless_play] t=  2.20s step= 110 trunk_z= 116.1mm grav_b=(-0.01,-0.05,-1.00) r=0.19m
+[headless_play] t=  2.30s step= 115 trunk_z= 120.6mm grav_b=(-0.03,+0.00,-1.00) r=0.21m
+[headless_play] t=  2.40s step= 120 trunk_z= 120.7mm grav_b=(-0.00,-0.03,-1.00) r=0.21m
+[headless_play] t=  2.50s step= 125 trunk_z= 113.4mm grav_b=(-0.01,-0.07,-1.00) r=0.20m
+[headless_play] t=  2.60s step= 130 trunk_z= 124.1mm grav_b=(-0.01,-0.07,-1.00) r=0.20m
+[headless_play] t=  2.70s step= 135 trunk_z= 118.5mm grav_b=(-0.01,-0.05,-1.00) r=0.22m
+[headless_play] t=  2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.25m
+[headless_play] t=  2.90s step= 145 trunk_z= 121.2mm grav_b=(+0.02,-0.01,-1.00) r=0.26m
+[headless_play] t=  3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.03,-0.04,-1.00) r=0.25m
+[headless_play] t=  3.10s step= 155 trunk_z= 122.0mm grav_b=(+0.01,-0.09,-1.00) r=0.25m
+[headless_play] t=  3.20s step= 160 trunk_z= 121.5mm grav_b=(-0.00,-0.07,-1.00) r=0.26m
+[headless_play] t=  3.30s step= 165 trunk_z= 113.4mm grav_b=(-0.01,-0.01,-1.00) r=0.30m
+[headless_play] t=  3.40s step= 170 trunk_z= 123.8mm grav_b=(-0.01,+0.01,-1.00) r=0.32m
+[headless_play] t=  3.50s step= 175 trunk_z= 120.0mm grav_b=(-0.01,+0.00,-1.00) r=0.32m
+[headless_play] t=  3.60s step= 180 trunk_z= 121.4mm grav_b=(-0.04,-0.08,-1.00) r=0.32m
+[headless_play] t=  3.70s step= 185 trunk_z= 125.6mm grav_b=(-0.05,-0.09,-1.00) r=0.32m
+[headless_play] t=  3.80s step= 190 trunk_z= 119.9mm grav_b=(-0.06,-0.08,-0.99) r=0.34m
+[headless_play] t=  3.90s step= 195 trunk_z= 121.4mm grav_b=(-0.02,+0.01,-1.00) r=0.37m
+[headless_play] t=  4.00s step= 200 trunk_z= 123.8mm grav_b=(+0.01,+0.02,-1.00) r=0.38m
+[headless_play] t=  4.10s step= 205 trunk_z= 117.6mm grav_b=(+0.01,-0.02,-1.00) r=0.38m
+[headless_play] t=  4.20s step= 210 trunk_z= 124.9mm grav_b=(-0.01,-0.07,-1.00) r=0.39m
+[headless_play] t=  4.30s step= 215 trunk_z= 122.9mm grav_b=(-0.01,-0.06,-1.00) r=0.40m
+[headless_play] t=  4.40s step= 220 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.43m
+[headless_play] t=  4.50s step= 225 trunk_z= 124.0mm grav_b=(-0.00,+0.01,-1.00) r=0.45m
+[headless_play] t=  4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.00,-0.01,-1.00) r=0.45m
+[headless_play] t=  4.70s step= 235 trunk_z= 123.4mm grav_b=(-0.03,-0.07,-1.00) r=0.46m
+[headless_play] t=  4.80s step= 240 trunk_z= 124.5mm grav_b=(-0.02,-0.07,-1.00) r=0.47m
+[headless_play] t=  4.90s step= 245 trunk_z= 118.4mm grav_b=(-0.02,-0.06,-1.00) r=0.49m
+[headless_play] t=  5.00s step= 250 trunk_z= 123.9mm grav_b=(-0.00,-0.00,-1.00) r=0.51m
+[headless_play] t=  5.10s step= 255 trunk_z= 120.3mm grav_b=(+0.01,-0.00,-1.00) r=0.52m
+[headless_play] t=  5.20s step= 260 trunk_z= 119.4mm grav_b=(-0.02,-0.07,-1.00) r=0.52m
+[headless_play] t=  5.30s step= 265 trunk_z= 125.4mm grav_b=(-0.02,-0.08,-1.00) r=0.54m
+[headless_play] t=  5.40s step= 270 trunk_z= 121.4mm grav_b=(-0.02,-0.06,-1.00) r=0.55m
+[headless_play] t=  5.50s step= 275 trunk_z= 121.3mm grav_b=(+0.00,+0.01,-1.00) r=0.58m
+[headless_play] t=  5.60s step= 280 trunk_z= 122.9mm grav_b=(+0.01,-0.01,-1.00) r=0.59m
+[headless_play] t=  5.70s step= 285 trunk_z= 115.2mm grav_b=(-0.02,-0.05,-1.00) r=0.60m
+[headless_play] t=  5.80s step= 290 trunk_z= 125.1mm grav_b=(-0.02,-0.08,-1.00) r=0.62m
+[headless_play] t=  5.90s step= 295 trunk_z= 124.0mm grav_b=(-0.02,-0.09,-1.00) r=0.63m
+[headless_play] t=  6.00s step= 300 trunk_z= 117.9mm grav_b=(-0.03,-0.04,-1.00) r=0.65m
+[headless_play] t=  6.10s step= 305 trunk_z= 124.5mm grav_b=(-0.00,+0.01,-1.00) r=0.67m
+[headless_play] t=  6.20s step= 310 trunk_z= 122.5mm grav_b=(-0.00,+0.01,-1.00) r=0.68m
+[headless_play] t=  6.30s step= 315 trunk_z= 120.6mm grav_b=(-0.01,-0.07,-1.00) r=0.69m
+[headless_play] t=  6.40s step= 320 trunk_z= 124.7mm grav_b=(-0.01,-0.07,-1.00) r=0.71m
+[headless_play] t=  6.50s step= 325 trunk_z= 120.6mm grav_b=(-0.02,-0.06,-1.00) r=0.73m
+[headless_play] t=  6.60s step= 330 trunk_z= 122.6mm grav_b=(-0.02,+0.02,-1.00) r=0.76m
+[headless_play] t=  6.70s step= 335 trunk_z= 123.8mm grav_b=(-0.01,+0.01,-1.00) r=0.77m
+[headless_play] t=  6.80s step= 340 trunk_z= 116.6mm grav_b=(-0.01,-0.05,-1.00) r=0.78m
+[headless_play] t=  6.90s step= 345 trunk_z= 125.6mm grav_b=(-0.02,-0.08,-1.00) r=0.80m
+[headless_play] t=  7.00s step= 350 trunk_z= 123.7mm grav_b=(-0.02,-0.09,-1.00) r=0.81m
+[headless_play] t=  7.10s step= 355 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.84m
+[headless_play] t=  7.20s step= 360 trunk_z= 124.0mm grav_b=(+0.01,+0.01,-1.00) r=0.85m
+[headless_play] t=  7.30s step= 365 trunk_z= 120.1mm grav_b=(-0.02,-0.01,-1.00) r=0.87m
+[headless_play] t=  7.40s step= 370 trunk_z= 121.7mm grav_b=(-0.04,-0.04,-1.00) r=0.89m
+[headless_play] t=  7.50s step= 375 trunk_z= 123.6mm grav_b=(-0.03,-0.02,-1.00) r=0.90m
+[headless_play] t=  7.60s step= 380 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.91m
+[headless_play] t=  7.70s step= 385 trunk_z= 120.8mm grav_b=(-0.02,+0.05,-1.00) r=0.93m
+[headless_play] t=  7.80s step= 390 trunk_z= 121.0mm grav_b=(-0.00,+0.01,-1.00) r=0.95m
+[headless_play] t=  7.90s step= 395 trunk_z= 116.3mm grav_b=(-0.01,-0.06,-1.00) r=0.97m
+[headless_play] t=  8.00s step= 400 trunk_z= 123.3mm grav_b=(+0.00,-0.06,-1.00) r=0.99m
+[headless_play] t=  8.10s step= 405 trunk_z= 118.9mm grav_b=(+0.03,-0.05,-1.00) r=1.00m
+[headless_play] t=  8.20s step= 410 trunk_z= 115.8mm grav_b=(+0.01,+0.05,-1.00) r=1.03m
+[headless_play] t=  8.30s step= 415 trunk_z= 120.8mm grav_b=(-0.00,+0.07,-1.00) r=1.06m
+[headless_play] t=  8.40s step= 420 trunk_z= 112.5mm grav_b=(+0.05,+0.03,-1.00) r=1.09m
+[headless_play] t=  8.50s step= 425 trunk_z= 111.4mm grav_b=(+0.02,-0.15,-0.99) r=1.13m
+[headless_play] t=  8.60s step= 430 trunk_z= 110.3mm grav_b=(+0.10,-0.19,-0.98) r=1.16m
+[headless_play] t=  8.70s step= 435 trunk_z= 106.6mm grav_b=(+0.08,-0.23,-0.97) r=1.19m
+[headless_play] t=  8.80s step= 440 trunk_z=  82.2mm grav_b=(+0.08,-0.18,-0.98) r=1.25m
+[headless_play] t=  8.90s step= 445 trunk_z= 104.3mm grav_b=(+0.22,-0.04,-0.98) r=1.32m
+[headless_play] t=  9.00s step= 450 trunk_z=  46.9mm grav_b=(+0.02,+0.20,-0.98) r=1.40m
+[headless_play] t=  9.10s step= 455 trunk_z=  43.3mm grav_b=(+0.03,+0.24,-0.97) r=1.45m
+[headless_play] t=  9.20s step= 460 trunk_z=  53.2mm grav_b=(+0.31,+0.17,-0.93) r=1.49m
+[headless_play] t=  9.30s step= 465 trunk_z=  50.8mm grav_b=(+0.51,-0.24,-0.82) r=1.56m
+[headless_play] RESET at t=  9.38s step= 469 (env termination, not a recovery)
+[headless_play] t=  9.40s step= 470 trunk_z= 123.0mm grav_b=(-0.01,-0.00,-1.00) r=0.26m
+[headless_play] t=  9.50s step= 475 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.25m
+[headless_play] t=  9.60s step= 480 trunk_z= 115.1mm grav_b=(+0.00,-0.06,-1.00) r=0.25m
+[headless_play] t=  9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.23m
+[headless_play] t=  9.80s step= 490 trunk_z= 109.7mm grav_b=(-0.05,+0.07,-1.00) r=0.20m
+[headless_play] t=  9.90s step= 495 trunk_z= 118.8mm grav_b=(-0.00,+0.10,-1.00) r=0.20m
+[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(-0.01,+0.09,-1.00) r=0.20m
+[headless_play] t= 10.10s step= 505 trunk_z= 112.2mm grav_b=(+0.01,-0.01,-1.00) r=0.21m
+[headless_play] t= 10.20s step= 510 trunk_z= 117.8mm grav_b=(+0.01,-0.02,-1.00) r=0.21m
+[headless_play] t= 10.30s step= 515 trunk_z= 113.2mm grav_b=(+0.02,+0.01,-1.00) r=0.18m
+[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(-0.00,+0.07,-1.00) r=0.16m
+[headless_play] t= 10.50s step= 525 trunk_z= 120.2mm grav_b=(-0.01,+0.09,-1.00) r=0.15m
+[headless_play] t= 10.60s step= 530 trunk_z= 114.3mm grav_b=(+0.04,+0.08,-1.00) r=0.16m
+[headless_play] t= 10.70s step= 535 trunk_z= 118.5mm grav_b=(+0.01,-0.02,-1.00) r=0.17m
+[headless_play] t= 10.80s step= 540 trunk_z= 119.0mm grav_b=(-0.01,+0.01,-1.00) r=0.17m
+[headless_play] t= 10.90s step= 545 trunk_z= 109.2mm grav_b=(+0.00,+0.03,-1.00) r=0.15m
+[headless_play] t= 11.00s step= 550 trunk_z= 118.2mm grav_b=(-0.02,+0.04,-1.00) r=0.14m
+[headless_play] t= 11.10s step= 555 trunk_z= 115.5mm grav_b=(-0.03,+0.02,-1.00) r=0.16m
+[headless_play] t= 11.20s step= 560 trunk_z= 112.3mm grav_b=(+0.01,-0.02,-1.00) r=0.18m
+[headless_play] t= 11.30s step= 565 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.19m
+[headless_play] t= 11.40s step= 570 trunk_z= 110.9mm grav_b=(+0.02,+0.03,-1.00) r=0.18m
+[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(-0.01,+0.06,-1.00) r=0.17m
+[headless_play] t= 11.60s step= 580 trunk_z= 118.3mm grav_b=(-0.03,+0.05,-1.00) r=0.18m
+[headless_play] t= 11.70s step= 585 trunk_z= 110.5mm grav_b=(+0.01,+0.01,-1.00) r=0.20m
+[headless_play] t= 11.80s step= 590 trunk_z= 118.2mm grav_b=(-0.01,-0.01,-1.00) r=0.22m
+[headless_play] t= 11.90s step= 595 trunk_z= 115.4mm grav_b=(-0.00,+0.01,-1.00) r=0.22m
+[headless_play] t= 12.00s step= 600 trunk_z= 110.9mm grav_b=(-0.01,+0.07,-1.00) r=0.21m
+[headless_play] t= 12.10s step= 605 trunk_z= 119.9mm grav_b=(-0.02,+0.07,-1.00) r=0.21m
+[headless_play] t= 12.20s step= 610 trunk_z= 115.5mm grav_b=(-0.01,+0.06,-1.00) r=0.23m
+[headless_play] t= 12.30s step= 615 trunk_z= 115.3mm grav_b=(+0.01,-0.03,-1.00) r=0.25m
+[headless_play] t= 12.40s step= 620 trunk_z= 118.2mm grav_b=(+0.00,-0.01,-1.00) r=0.27m
+[headless_play] t= 12.50s step= 625 trunk_z= 111.3mm grav_b=(+0.03,+0.01,-1.00) r=0.26m
+[headless_play] t= 12.60s step= 630 trunk_z= 118.2mm grav_b=(-0.01,+0.07,-1.00) r=0.26m
+[headless_play] t= 12.70s step= 635 trunk_z= 118.7mm grav_b=(-0.01,+0.06,-1.00) r=0.28m
+[headless_play] t= 12.80s step= 640 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) r=0.30m
+[headless_play] t= 12.90s step= 645 trunk_z= 121.3mm grav_b=(+0.01,-0.05,-1.00) r=0.32m
+[headless_play] t= 13.00s step= 650 trunk_z= 115.8mm grav_b=(+0.01,-0.03,-1.00) r=0.33m
+[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.02,+0.04,-1.00) r=0.34m
+[headless_play] t= 13.20s step= 660 trunk_z= 118.4mm grav_b=(+0.01,+0.04,-1.00) r=0.35m
+[headless_play] t= 13.30s step= 665 trunk_z= 114.0mm grav_b=(+0.02,-0.01,-1.00) r=0.38m
+[headless_play] t= 13.40s step= 670 trunk_z= 120.1mm grav_b=(-0.02,-0.06,-1.00) r=0.40m
+[headless_play] t= 13.50s step= 675 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m
+[headless_play] t= 13.60s step= 680 trunk_z= 108.8mm grav_b=(-0.03,+0.02,-1.00) r=0.40m
+[headless_play] t= 13.70s step= 685 trunk_z= 119.4mm grav_b=(-0.04,+0.04,-1.00) r=0.41m
+[headless_play] t= 13.80s step= 690 trunk_z= 118.1mm grav_b=(-0.03,+0.01,-1.00) r=0.43m
+[headless_play] t= 13.90s step= 695 trunk_z= 114.9mm grav_b=(-0.03,-0.06,-1.00) r=0.45m
+[headless_play] t= 14.00s step= 700 trunk_z= 120.3mm grav_b=(-0.02,-0.02,-1.00) r=0.46m
+[headless_play] t= 14.10s step= 705 trunk_z= 112.9mm grav_b=(-0.02,+0.01,-1.00) r=0.45m
+[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(-0.02,+0.04,-1.00) r=0.45m
+[headless_play] t= 14.30s step= 715 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.47m
+[headless_play] t= 14.40s step= 720 trunk_z= 110.1mm grav_b=(+0.02,-0.01,-1.00) r=0.49m
+[headless_play] t= 14.50s step= 725 trunk_z= 119.1mm grav_b=(-0.00,-0.05,-1.00) r=0.51m
+[headless_play] t= 14.60s step= 730 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.52m
+[headless_play] t= 14.70s step= 735 trunk_z= 111.0mm grav_b=(-0.02,+0.05,-1.00) r=0.52m
+[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(+0.01,+0.05,-1.00) r=0.52m
+[headless_play] t= 14.90s step= 745 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=0.55m
+[headless_play] t= 15.00s step= 750 trunk_z= 116.4mm grav_b=(+0.01,-0.06,-1.00) r=0.57m
+[headless_play] t= 15.10s step= 755 trunk_z= 119.7mm grav_b=(+0.02,-0.02,-1.00) r=0.57m
+[headless_play] t= 15.20s step= 760 trunk_z= 109.6mm grav_b=(+0.02,-0.01,-1.00) r=0.56m
+[headless_play] t= 15.30s step= 765 trunk_z= 117.4mm grav_b=(-0.00,+0.03,-1.00) r=0.55m
+[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.57m
+[headless_play] t= 15.50s step= 775 trunk_z= 110.0mm grav_b=(+0.03,-0.06,-1.00) r=0.59m
+[headless_play] t= 15.60s step= 780 trunk_z= 118.9mm grav_b=(+0.01,-0.05,-1.00) r=0.60m
+[headless_play] t= 15.70s step= 785 trunk_z= 113.3mm grav_b=(-0.00,-0.00,-1.00) r=0.60m
+[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(-0.03,+0.04,-1.00) r=0.58m
+[headless_play] t= 15.90s step= 795 trunk_z= 120.0mm grav_b=(-0.02,+0.01,-1.00) r=0.59m
+[headless_play] t= 16.00s step= 800 trunk_z= 114.7mm grav_b=(-0.02,+0.01,-1.00) r=0.61m
+[headless_play] t= 16.10s step= 805 trunk_z= 119.5mm grav_b=(-0.02,-0.03,-1.00) r=0.63m
+[headless_play] t= 16.20s step= 810 trunk_z= 116.9mm grav_b=(+0.00,+0.01,-1.00) r=0.62m
+[headless_play] t= 16.30s step= 815 trunk_z= 112.4mm grav_b=(-0.03,+0.04,-1.00) r=0.60m
+[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=0.60m
+[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(-0.02,-0.01,-1.00) r=0.63m
+[headless_play] t= 16.60s step= 830 trunk_z= 115.6mm grav_b=(+0.01,-0.04,-1.00) r=0.65m
+[headless_play] t= 16.70s step= 835 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=0.64m
+[headless_play] t= 16.80s step= 840 trunk_z= 107.7mm grav_b=(+0.02,+0.04,-1.00) r=0.62m
+[headless_play] t= 16.90s step= 845 trunk_z= 118.7mm grav_b=(+0.01,+0.06,-1.00) r=0.61m
+[headless_play] t= 17.00s step= 850 trunk_z= 114.9mm grav_b=(+0.03,+0.04,-1.00) r=0.61m
+[headless_play] t= 17.10s step= 855 trunk_z= 116.9mm grav_b=(-0.02,-0.09,-1.00) r=0.63m
+[headless_play] t= 17.20s step= 860 trunk_z= 124.5mm grav_b=(-0.06,-0.07,-1.00) r=0.64m
+[headless_play] t= 17.30s step= 865 trunk_z= 119.1mm grav_b=(-0.06,-0.05,-1.00) r=0.63m
+[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) r=0.61m
+[headless_play] t= 17.50s step= 875 trunk_z= 117.9mm grav_b=(-0.00,+0.05,-1.00) r=0.62m
+[headless_play] t= 17.60s step= 880 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.64m
+[headless_play] t= 17.70s step= 885 trunk_z= 124.0mm grav_b=(+0.04,-0.08,-1.00) r=0.66m
+[headless_play] t= 17.80s step= 890 trunk_z= 125.1mm grav_b=(+0.01,-0.04,-1.00) r=0.68m
+[headless_play] t= 17.90s step= 895 trunk_z= 119.1mm grav_b=(-0.00,+0.03,-1.00) r=0.69m
+[headless_play] t= 18.00s step= 900 trunk_z= 121.5mm grav_b=(-0.01,+0.01,-1.00) r=0.70m
+[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(-0.02,-0.03,-1.00) r=0.73m
+[headless_play] t= 18.20s step= 910 trunk_z= 123.3mm grav_b=(-0.03,-0.04,-1.00) r=0.75m
+[headless_play] t= 18.30s step= 915 trunk_z= 120.2mm grav_b=(-0.04,-0.02,-1.00) r=0.76m
+[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(-0.03,+0.02,-1.00) r=0.76m
+[headless_play] t= 18.50s step= 925 trunk_z= 122.3mm grav_b=(+0.00,+0.02,-1.00) r=0.77m
+[headless_play] t= 18.60s step= 930 trunk_z= 117.6mm grav_b=(+0.01,+0.01,-1.00) r=0.79m
+[headless_play] t= 18.70s step= 935 trunk_z= 123.6mm grav_b=(-0.01,-0.07,-1.00) r=0.82m
+[headless_play] t= 18.80s step= 940 trunk_z= 121.9mm grav_b=(-0.03,-0.07,-1.00) r=0.84m
+[headless_play] t= 18.90s step= 945 trunk_z= 114.6mm grav_b=(-0.03,+0.01,-1.00) r=0.85m
+[headless_play] t= 19.00s step= 950 trunk_z= 124.1mm grav_b=(-0.04,+0.05,-1.00) r=0.86m
+[headless_play] t= 19.10s step= 955 trunk_z= 121.3mm grav_b=(-0.02,+0.04,-1.00) r=0.87m
+[headless_play] t= 19.20s step= 960 trunk_z= 116.4mm grav_b=(-0.02,-0.06,-1.00) r=0.89m
+[headless_play] t= 19.30s step= 965 trunk_z= 125.1mm grav_b=(-0.03,-0.08,-1.00) r=0.91m
+[headless_play] t= 19.40s step= 970 trunk_z= 119.2mm grav_b=(-0.03,-0.07,-1.00) r=0.92m
+[headless_play] t= 19.50s step= 975 trunk_z= 118.8mm grav_b=(-0.02,+0.01,-1.00) r=0.93m
+[headless_play] t= 19.60s step= 980 trunk_z= 122.0mm grav_b=(+0.00,+0.02,-1.00) r=0.94m
+[headless_play] t= 19.70s step= 985 trunk_z= 118.2mm grav_b=(+0.02,+0.02,-1.00) r=0.97m
+[headless_play] t= 19.80s step= 990 trunk_z= 123.2mm grav_b=(+0.01,-0.07,-1.00) r=1.00m
+[headless_play] t= 19.90s step= 995 trunk_z= 121.3mm grav_b=(-0.01,-0.05,-1.00) r=1.02m
+[headless_play] t= 20.00s step=1000 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) r=1.03m
+[headless_play] t= 20.10s step=1005 trunk_z= 123.2mm grav_b=(-0.01,+0.04,-1.00) r=1.04m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t6.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.918,-17.575,+0.254)
+[headless_play] t=  0.00s step=   0 trunk_z= 124.6mm grav_b=(-0.01,+0.00,-1.00) r=0.43m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.6mm grav_b=(-0.03,+0.02,-1.00) r=0.43m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.9mm grav_b=(-0.05,+0.06,-1.00) r=0.43m
+[headless_play] t=  0.30s step=  15 trunk_z= 118.4mm grav_b=(-0.11,+0.02,-0.99) r=0.41m
+[headless_play] t=  0.40s step=  20 trunk_z= 111.4mm grav_b=(-0.10,-0.04,-0.99) r=0.39m
+[headless_play] t=  0.50s step=  25 trunk_z= 117.9mm grav_b=(-0.14,-0.03,-0.99) r=0.39m
+[headless_play] t=  0.60s step=  30 trunk_z= 111.4mm grav_b=(-0.11,+0.00,-0.99) r=0.41m
+[headless_play] t=  0.70s step=  35 trunk_z= 106.5mm grav_b=(-0.11,+0.06,-0.99) r=0.43m
+[headless_play] t=  0.80s step=  40 trunk_z= 113.9mm grav_b=(-0.04,+0.04,-1.00) r=0.44m
+[headless_play] t=  0.90s step=  45 trunk_z= 113.0mm grav_b=(-0.06,+0.01,-1.00) r=0.42m
+[headless_play] t=  1.00s step=  50 trunk_z= 116.2mm grav_b=(-0.06,-0.06,-1.00) r=0.40m
+[headless_play] t=  1.10s step=  55 trunk_z= 115.5mm grav_b=(-0.09,-0.03,-1.00) r=0.41m
+[headless_play] t=  1.20s step=  60 trunk_z= 108.8mm grav_b=(-0.10,+0.03,-0.99) r=0.43m
+[headless_play] t=  1.30s step=  65 trunk_z= 117.0mm grav_b=(-0.15,+0.06,-0.99) r=0.43m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.4mm grav_b=(-0.10,+0.05,-0.99) r=0.43m
+[headless_play] t=  1.50s step=  75 trunk_z= 112.8mm grav_b=(-0.09,-0.01,-1.00) r=0.41m
+[headless_play] t=  1.60s step=  80 trunk_z= 118.1mm grav_b=(-0.10,-0.02,-0.99) r=0.41m
+[headless_play] t=  1.70s step=  85 trunk_z= 112.1mm grav_b=(-0.10,+0.03,-0.99) r=0.43m
+[headless_play] t=  1.80s step=  90 trunk_z= 114.6mm grav_b=(-0.16,+0.08,-0.98) r=0.45m
+[headless_play] t=  1.90s step=  95 trunk_z= 120.0mm grav_b=(-0.09,+0.07,-0.99) r=0.46m
+[headless_play] t=  2.00s step= 100 trunk_z= 117.1mm grav_b=(-0.07,+0.05,-1.00) r=0.44m
+[headless_play] t=  2.10s step= 105 trunk_z= 117.1mm grav_b=(-0.09,-0.00,-1.00) r=0.43m
+[headless_play] t=  2.20s step= 110 trunk_z= 115.9mm grav_b=(-0.11,+0.03,-0.99) r=0.45m
+[headless_play] t=  2.30s step= 115 trunk_z= 110.1mm grav_b=(-0.10,+0.06,-0.99) r=0.47m
+[headless_play] t=  2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.10,+0.06,-0.99) r=0.47m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.0mm grav_b=(-0.06,+0.01,-1.00) r=0.46m
+[headless_play] t=  2.60s step= 130 trunk_z= 114.6mm grav_b=(-0.10,-0.06,-0.99) r=0.44m
+[headless_play] t=  2.70s step= 135 trunk_z= 117.2mm grav_b=(-0.13,-0.06,-0.99) r=0.44m
+[headless_play] t=  2.80s step= 140 trunk_z= 112.6mm grav_b=(-0.13,-0.01,-0.99) r=0.45m
+[headless_play] t=  2.90s step= 145 trunk_z= 116.6mm grav_b=(-0.14,+0.07,-0.99) r=0.47m
+[headless_play] t=  3.00s step= 150 trunk_z= 121.4mm grav_b=(-0.11,+0.07,-0.99) r=0.48m
+[headless_play] t=  3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.07,+0.05,-1.00) r=0.47m
+[headless_play] t=  3.20s step= 160 trunk_z= 112.0mm grav_b=(-0.07,-0.01,-1.00) r=0.46m
+[headless_play] t=  3.30s step= 165 trunk_z= 115.6mm grav_b=(-0.10,-0.02,-0.99) r=0.47m
+[headless_play] t=  3.40s step= 170 trunk_z= 108.0mm grav_b=(-0.08,+0.03,-1.00) r=0.49m
+[headless_play] t=  3.50s step= 175 trunk_z= 115.8mm grav_b=(-0.11,+0.08,-0.99) r=0.49m
+[headless_play] t=  3.60s step= 180 trunk_z= 115.5mm grav_b=(-0.07,+0.08,-0.99) r=0.49m
+[headless_play] t=  3.70s step= 185 trunk_z= 110.4mm grav_b=(-0.03,+0.05,-1.00) r=0.47m
+[headless_play] t=  3.80s step= 190 trunk_z= 115.8mm grav_b=(-0.04,-0.02,-1.00) r=0.46m
+[headless_play] t=  3.90s step= 195 trunk_z= 116.9mm grav_b=(-0.07,-0.02,-1.00) r=0.46m
+[headless_play] t=  4.00s step= 200 trunk_z= 108.4mm grav_b=(-0.07,+0.01,-1.00) r=0.48m
+[headless_play] t=  4.10s step= 205 trunk_z= 117.0mm grav_b=(-0.13,+0.07,-0.99) r=0.49m
+[headless_play] t=  4.20s step= 210 trunk_z= 120.2mm grav_b=(-0.11,+0.09,-0.99) r=0.49m
+[headless_play] t=  4.30s step= 215 trunk_z= 119.0mm grav_b=(-0.08,+0.06,-1.00) r=0.48m
+[headless_play] t=  4.40s step= 220 trunk_z= 115.1mm grav_b=(-0.08,-0.01,-1.00) r=0.46m
+[headless_play] t=  4.50s step= 225 trunk_z= 117.6mm grav_b=(-0.11,-0.02,-0.99) r=0.46m
+[headless_play] t=  4.60s step= 230 trunk_z= 113.2mm grav_b=(-0.11,+0.02,-0.99) r=0.48m
+[headless_play] t=  4.70s step= 235 trunk_z= 114.2mm grav_b=(-0.13,+0.06,-0.99) r=0.50m
+[headless_play] t=  4.80s step= 240 trunk_z= 121.9mm grav_b=(-0.13,+0.07,-0.99) r=0.51m
+[headless_play] t=  4.90s step= 245 trunk_z= 122.5mm grav_b=(-0.14,+0.04,-0.99) r=0.51m
+[headless_play] t=  5.00s step= 250 trunk_z= 115.3mm grav_b=(-0.11,-0.03,-0.99) r=0.49m
+[headless_play] t=  5.10s step= 255 trunk_z= 121.4mm grav_b=(-0.08,-0.08,-0.99) r=0.48m
+[headless_play] t=  5.20s step= 260 trunk_z= 120.0mm grav_b=(-0.09,-0.05,-0.99) r=0.47m
+[headless_play] t=  5.30s step= 265 trunk_z= 116.5mm grav_b=(-0.07,+0.06,-1.00) r=0.48m
+[headless_play] t=  5.40s step= 270 trunk_z= 125.4mm grav_b=(-0.10,+0.09,-0.99) r=0.47m
+[headless_play] t=  5.50s step= 275 trunk_z= 124.1mm grav_b=(-0.09,+0.07,-0.99) r=0.46m
+[headless_play] t=  5.60s step= 280 trunk_z= 117.2mm grav_b=(-0.06,-0.01,-1.00) r=0.43m
+[headless_play] t=  5.70s step= 285 trunk_z= 125.0mm grav_b=(-0.07,-0.08,-0.99) r=0.41m
+[headless_play] t=  5.80s step= 290 trunk_z= 122.9mm grav_b=(-0.08,-0.06,-0.99) r=0.40m
+[headless_play] t=  5.90s step= 295 trunk_z= 117.3mm grav_b=(-0.10,+0.03,-0.99) r=0.41m
+[headless_play] t=  6.00s step= 300 trunk_z= 124.4mm grav_b=(-0.13,+0.07,-0.99) r=0.40m
+[headless_play] t=  6.10s step= 305 trunk_z= 122.5mm grav_b=(-0.12,+0.05,-0.99) r=0.39m
+[headless_play] t=  6.20s step= 310 trunk_z= 116.8mm grav_b=(-0.09,-0.04,-1.00) r=0.36m
+[headless_play] t=  6.30s step= 315 trunk_z= 123.9mm grav_b=(-0.08,-0.06,-0.99) r=0.35m
+[headless_play] t=  6.40s step= 320 trunk_z= 119.9mm grav_b=(-0.09,-0.03,-1.00) r=0.34m
+[headless_play] t=  6.50s step= 325 trunk_z= 120.9mm grav_b=(-0.10,+0.06,-0.99) r=0.35m
+[headless_play] t=  6.60s step= 330 trunk_z= 125.3mm grav_b=(-0.11,+0.07,-0.99) r=0.35m
+[headless_play] t=  6.70s step= 335 trunk_z= 120.8mm grav_b=(-0.10,+0.05,-0.99) r=0.33m
+[headless_play] t=  6.80s step= 340 trunk_z= 121.0mm grav_b=(-0.07,-0.05,-1.00) r=0.30m
+[headless_play] t=  6.90s step= 345 trunk_z= 123.1mm grav_b=(-0.08,-0.05,-1.00) r=0.29m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.6mm grav_b=(-0.08,+0.02,-1.00) r=0.30m
+[headless_play] t=  7.10s step= 355 trunk_z= 124.0mm grav_b=(-0.10,+0.05,-0.99) r=0.30m
+[headless_play] t=  7.20s step= 360 trunk_z= 122.5mm grav_b=(-0.12,+0.04,-0.99) r=0.29m
+[headless_play] t=  7.30s step= 365 trunk_z= 116.4mm grav_b=(-0.10,-0.04,-0.99) r=0.26m
+[headless_play] t=  7.40s step= 370 trunk_z= 124.2mm grav_b=(-0.09,-0.06,-0.99) r=0.25m
+[headless_play] t=  7.50s step= 375 trunk_z= 120.2mm grav_b=(-0.09,-0.03,-1.00) r=0.25m
+[headless_play] t=  7.60s step= 380 trunk_z= 121.1mm grav_b=(-0.09,+0.04,-0.99) r=0.27m
+[headless_play] t=  7.70s step= 385 trunk_z= 123.1mm grav_b=(-0.10,+0.03,-0.99) r=0.27m
+[headless_play] t=  7.80s step= 390 trunk_z= 117.8mm grav_b=(-0.09,-0.01,-1.00) r=0.25m
+[headless_play] t=  7.90s step= 395 trunk_z= 123.6mm grav_b=(-0.09,-0.08,-0.99) r=0.23m
+[headless_play] t=  8.00s step= 400 trunk_z= 122.8mm grav_b=(-0.09,-0.06,-0.99) r=0.24m
+[headless_play] t=  8.10s step= 405 trunk_z= 115.9mm grav_b=(-0.08,+0.01,-1.00) r=0.26m
+[headless_play] t=  8.20s step= 410 trunk_z= 124.1mm grav_b=(-0.10,+0.04,-0.99) r=0.28m
+[headless_play] t=  8.30s step= 415 trunk_z= 118.3mm grav_b=(-0.10,+0.00,-1.00) r=0.27m
+[headless_play] t=  8.40s step= 420 trunk_z= 123.2mm grav_b=(-0.13,-0.07,-0.99) r=0.26m
+[headless_play] t=  8.50s step= 425 trunk_z= 124.8mm grav_b=(-0.14,-0.05,-0.99) r=0.26m
+[headless_play] t=  8.60s step= 430 trunk_z= 119.3mm grav_b=(-0.17,-0.01,-0.99) r=0.28m
+[headless_play] t=  8.70s step= 435 trunk_z= 121.4mm grav_b=(-0.14,+0.06,-0.99) r=0.30m
+[headless_play] t=  8.80s step= 440 trunk_z= 123.4mm grav_b=(-0.14,+0.02,-0.99) r=0.30m
+[headless_play] t=  8.90s step= 445 trunk_z= 116.0mm grav_b=(-0.15,-0.04,-0.99) r=0.27m
+[headless_play] t=  9.00s step= 450 trunk_z= 125.0mm grav_b=(-0.16,-0.10,-0.98) r=0.26m
+[headless_play] t=  9.10s step= 455 trunk_z= 126.8mm grav_b=(-0.18,-0.09,-0.98) r=0.25m
+[headless_play] t=  9.20s step= 460 trunk_z= 125.0mm grav_b=(-0.15,-0.05,-0.99) r=0.26m
+[headless_play] t=  9.30s step= 465 trunk_z= 121.1mm grav_b=(-0.13,+0.00,-0.99) r=0.26m
+[headless_play] t=  9.40s step= 470 trunk_z= 122.0mm grav_b=(-0.13,-0.00,-0.99) r=0.25m
+[headless_play] t=  9.50s step= 475 trunk_z= 115.4mm grav_b=(-0.10,-0.06,-0.99) r=0.22m
+[headless_play] t=  9.60s step= 480 trunk_z= 121.9mm grav_b=(-0.10,-0.07,-0.99) r=0.21m
+[headless_play] t=  9.70s step= 485 trunk_z= 120.4mm grav_b=(-0.12,-0.06,-0.99) r=0.22m
+[headless_play] t=  9.80s step= 490 trunk_z= 114.4mm grav_b=(-0.09,+0.02,-1.00) r=0.24m
+[headless_play] t=  9.90s step= 495 trunk_z= 123.2mm grav_b=(-0.09,+0.04,-0.99) r=0.26m
+[headless_play] t= 10.00s step= 500 trunk_z= 119.1mm grav_b=(-0.09,+0.01,-1.00) r=0.26m
+[headless_play] t= 10.10s step= 505 trunk_z= 121.4mm grav_b=(-0.10,-0.07,-0.99) r=0.25m
+[headless_play] t= 10.20s step= 510 trunk_z= 124.6mm grav_b=(-0.11,-0.07,-0.99) r=0.25m
+[headless_play] t= 10.30s step= 515 trunk_z= 119.4mm grav_b=(-0.09,-0.04,-1.00) r=0.27m
+[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(-0.09,+0.04,-1.00) r=0.29m
+[headless_play] t= 10.50s step= 525 trunk_z= 123.7mm grav_b=(-0.10,+0.03,-0.99) r=0.30m
+[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(-0.09,-0.01,-1.00) r=0.29m
+[headless_play] t= 10.70s step= 535 trunk_z= 123.0mm grav_b=(-0.05,-0.05,-1.00) r=0.29m
+[headless_play] t= 10.80s step= 540 trunk_z= 120.7mm grav_b=(-0.04,-0.02,-1.00) r=0.30m
+[headless_play] t= 10.90s step= 545 trunk_z= 121.2mm grav_b=(-0.08,+0.06,-1.00) r=0.33m
+[headless_play] t= 11.00s step= 550 trunk_z= 125.7mm grav_b=(-0.13,+0.04,-0.99) r=0.34m
+[headless_play] t= 11.10s step= 555 trunk_z= 120.7mm grav_b=(-0.16,+0.03,-0.99) r=0.33m
+[headless_play] t= 11.20s step= 560 trunk_z= 122.4mm grav_b=(-0.13,-0.05,-0.99) r=0.33m
+[headless_play] t= 11.30s step= 565 trunk_z= 124.2mm grav_b=(-0.13,-0.04,-0.99) r=0.33m
+[headless_play] t= 11.40s step= 570 trunk_z= 119.5mm grav_b=(-0.11,-0.02,-0.99) r=0.35m
+[headless_play] t= 11.50s step= 575 trunk_z= 122.9mm grav_b=(-0.06,+0.04,-1.00) r=0.37m
+[headless_play] t= 11.60s step= 580 trunk_z= 123.8mm grav_b=(-0.04,+0.01,-1.00) r=0.39m
+[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(-0.04,-0.05,-1.00) r=0.39m
+[headless_play] t= 11.80s step= 590 trunk_z= 125.4mm grav_b=(-0.05,-0.09,-0.99) r=0.39m
+[headless_play] t= 11.90s step= 595 trunk_z= 124.9mm grav_b=(-0.08,-0.07,-0.99) r=0.41m
+[headless_play] t= 12.00s step= 600 trunk_z= 119.6mm grav_b=(-0.10,-0.00,-1.00) r=0.43m
+[headless_play] t= 12.10s step= 605 trunk_z= 126.1mm grav_b=(-0.11,+0.06,-0.99) r=0.44m
+[headless_play] t= 12.20s step= 610 trunk_z= 125.5mm grav_b=(-0.12,+0.06,-0.99) r=0.44m
+[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(-0.13,-0.01,-0.99) r=0.43m
+[headless_play] t= 12.40s step= 620 trunk_z= 124.9mm grav_b=(-0.09,-0.08,-0.99) r=0.43m
+[headless_play] t= 12.50s step= 625 trunk_z= 124.7mm grav_b=(-0.11,-0.07,-0.99) r=0.44m
+[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(-0.10,-0.01,-0.99) r=0.47m
+[headless_play] t= 12.70s step= 635 trunk_z= 122.4mm grav_b=(-0.11,+0.03,-0.99) r=0.49m
+[headless_play] t= 12.80s step= 640 trunk_z= 119.5mm grav_b=(-0.11,+0.01,-0.99) r=0.49m
+[headless_play] t= 12.90s step= 645 trunk_z= 117.8mm grav_b=(-0.15,-0.05,-0.99) r=0.49m
+[headless_play] t= 13.00s step= 650 trunk_z= 121.6mm grav_b=(-0.20,-0.02,-0.98) r=0.49m
+[headless_play] t= 13.10s step= 655 trunk_z= 118.4mm grav_b=(-0.17,+0.02,-0.99) r=0.50m
+[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(-0.14,+0.06,-0.99) r=0.50m
+[headless_play] t= 13.30s step= 665 trunk_z= 121.4mm grav_b=(-0.14,+0.02,-0.99) r=0.48m
+[headless_play] t= 13.40s step= 670 trunk_z= 106.7mm grav_b=(-0.10,-0.02,-1.00) r=0.45m
+[headless_play] t= 13.50s step= 675 trunk_z= 112.5mm grav_b=(-0.12,-0.06,-0.99) r=0.44m
+[headless_play] t= 13.60s step= 680 trunk_z= 109.1mm grav_b=(-0.08,-0.05,-1.00) r=0.44m
+[headless_play] t= 13.70s step= 685 trunk_z= 106.8mm grav_b=(-0.08,+0.03,-1.00) r=0.47m
+[headless_play] t= 13.80s step= 690 trunk_z= 116.0mm grav_b=(-0.10,+0.02,-0.99) r=0.47m
+[headless_play] t= 13.90s step= 695 trunk_z= 110.6mm grav_b=(-0.09,-0.03,-1.00) r=0.46m
+[headless_play] t= 14.00s step= 700 trunk_z= 114.7mm grav_b=(-0.08,-0.08,-0.99) r=0.45m
+[headless_play] t= 14.10s step= 705 trunk_z= 113.4mm grav_b=(-0.08,-0.06,-1.00) r=0.45m
+[headless_play] t= 14.20s step= 710 trunk_z= 110.0mm grav_b=(-0.07,+0.01,-1.00) r=0.48m
+[headless_play] t= 14.30s step= 715 trunk_z= 118.6mm grav_b=(-0.07,+0.06,-1.00) r=0.49m
+[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(-0.08,+0.01,-1.00) r=0.48m
+[headless_play] t= 14.50s step= 725 trunk_z= 114.0mm grav_b=(-0.10,-0.05,-0.99) r=0.46m
+[headless_play] t= 14.60s step= 730 trunk_z= 118.9mm grav_b=(-0.12,-0.06,-0.99) r=0.46m
+[headless_play] t= 14.70s step= 735 trunk_z= 114.2mm grav_b=(-0.09,-0.04,-1.00) r=0.47m
+[headless_play] t= 14.80s step= 740 trunk_z= 112.2mm grav_b=(-0.06,+0.05,-1.00) r=0.49m
+[headless_play] t= 14.90s step= 745 trunk_z= 118.6mm grav_b=(-0.07,+0.04,-1.00) r=0.50m
+[headless_play] t= 15.00s step= 750 trunk_z= 112.7mm grav_b=(-0.08,+0.01,-1.00) r=0.48m
+[headless_play] t= 15.10s step= 755 trunk_z= 117.8mm grav_b=(-0.11,-0.06,-0.99) r=0.47m
+[headless_play] t= 15.20s step= 760 trunk_z= 119.5mm grav_b=(-0.12,-0.06,-0.99) r=0.47m
+[headless_play] t= 15.30s step= 765 trunk_z= 114.3mm grav_b=(-0.08,-0.04,-1.00) r=0.49m
+[headless_play] t= 15.40s step= 770 trunk_z= 115.6mm grav_b=(-0.05,+0.05,-1.00) r=0.50m
+[headless_play] t= 15.50s step= 775 trunk_z= 116.9mm grav_b=(-0.06,+0.02,-1.00) r=0.51m
+[headless_play] t= 15.60s step= 780 trunk_z= 110.1mm grav_b=(-0.06,-0.04,-1.00) r=0.49m
+[headless_play] t= 15.70s step= 785 trunk_z= 118.2mm grav_b=(-0.08,-0.08,-0.99) r=0.49m
+[headless_play] t= 15.80s step= 790 trunk_z= 114.9mm grav_b=(-0.07,-0.05,-1.00) r=0.50m
+[headless_play] t= 15.90s step= 795 trunk_z= 110.8mm grav_b=(-0.05,+0.03,-1.00) r=0.52m
+[headless_play] t= 16.00s step= 800 trunk_z= 119.3mm grav_b=(-0.06,+0.06,-1.00) r=0.53m
+[headless_play] t= 16.10s step= 805 trunk_z= 114.7mm grav_b=(-0.06,+0.03,-1.00) r=0.53m
+[headless_play] t= 16.20s step= 810 trunk_z= 115.7mm grav_b=(-0.09,-0.06,-0.99) r=0.52m
+[headless_play] t= 16.30s step= 815 trunk_z= 118.7mm grav_b=(-0.10,-0.07,-0.99) r=0.52m
+[headless_play] t= 16.40s step= 820 trunk_z= 114.6mm grav_b=(-0.08,-0.04,-1.00) r=0.54m
+[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(-0.07,+0.06,-1.00) r=0.56m
+[headless_play] t= 16.60s step= 830 trunk_z= 120.0mm grav_b=(-0.08,+0.04,-1.00) r=0.56m
+[headless_play] t= 16.70s step= 835 trunk_z= 112.3mm grav_b=(-0.08,-0.00,-1.00) r=0.55m
+[headless_play] t= 16.80s step= 840 trunk_z= 119.1mm grav_b=(-0.11,-0.07,-0.99) r=0.54m
+[headless_play] t= 16.90s step= 845 trunk_z= 118.1mm grav_b=(-0.11,-0.06,-0.99) r=0.55m
+[headless_play] t= 17.00s step= 850 trunk_z= 112.5mm grav_b=(-0.06,-0.01,-1.00) r=0.57m
+[headless_play] t= 17.10s step= 855 trunk_z= 118.2mm grav_b=(-0.07,+0.06,-1.00) r=0.59m
+[headless_play] t= 17.20s step= 860 trunk_z= 115.6mm grav_b=(-0.07,+0.03,-1.00) r=0.59m
+[headless_play] t= 17.30s step= 865 trunk_z= 113.7mm grav_b=(-0.10,-0.04,-0.99) r=0.57m
+[headless_play] t= 17.40s step= 870 trunk_z= 119.8mm grav_b=(-0.12,-0.06,-0.99) r=0.57m
+[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.08,-0.02,-1.00) r=0.58m
+[headless_play] t= 17.60s step= 880 trunk_z= 114.0mm grav_b=(-0.07,+0.04,-1.00) r=0.59m
+[headless_play] t= 17.70s step= 885 trunk_z= 121.7mm grav_b=(-0.07,+0.04,-1.00) r=0.60m
+[headless_play] t= 17.80s step= 890 trunk_z= 118.3mm grav_b=(-0.08,+0.01,-1.00) r=0.58m
+[headless_play] t= 17.90s step= 895 trunk_z= 121.4mm grav_b=(-0.09,-0.08,-0.99) r=0.56m
+[headless_play] t= 18.00s step= 900 trunk_z= 123.8mm grav_b=(-0.10,-0.07,-0.99) r=0.56m
+[headless_play] t= 18.10s step= 905 trunk_z= 118.0mm grav_b=(-0.08,-0.02,-1.00) r=0.58m
+[headless_play] t= 18.20s step= 910 trunk_z= 124.6mm grav_b=(-0.08,+0.04,-1.00) r=0.60m
+[headless_play] t= 18.30s step= 915 trunk_z= 123.0mm grav_b=(-0.07,+0.03,-1.00) r=0.61m
+[headless_play] t= 18.40s step= 920 trunk_z= 117.6mm grav_b=(-0.10,-0.06,-0.99) r=0.59m
+[headless_play] t= 18.50s step= 925 trunk_z= 125.2mm grav_b=(-0.12,-0.10,-0.99) r=0.58m
+[headless_play] t= 18.60s step= 930 trunk_z= 124.3mm grav_b=(-0.12,-0.07,-0.99) r=0.59m
+[headless_play] t= 18.70s step= 935 trunk_z= 117.6mm grav_b=(-0.12,+0.00,-0.99) r=0.62m
+[headless_play] t= 18.80s step= 940 trunk_z= 124.9mm grav_b=(-0.09,+0.05,-0.99) r=0.64m
+[headless_play] t= 18.90s step= 945 trunk_z= 122.2mm grav_b=(-0.08,+0.03,-1.00) r=0.64m
+[headless_play] t= 19.00s step= 950 trunk_z= 120.2mm grav_b=(-0.09,-0.07,-0.99) r=0.62m
+[headless_play] t= 19.10s step= 955 trunk_z= 125.3mm grav_b=(-0.10,-0.08,-0.99) r=0.62m
+[headless_play] t= 19.20s step= 960 trunk_z= 121.7mm grav_b=(-0.10,-0.04,-0.99) r=0.64m
+[headless_play] t= 19.30s step= 965 trunk_z= 122.8mm grav_b=(-0.09,+0.04,-0.99) r=0.67m
+[headless_play] t= 19.40s step= 970 trunk_z= 125.4mm grav_b=(-0.09,+0.05,-1.00) r=0.68m
+[headless_play] t= 19.50s step= 975 trunk_z= 119.8mm grav_b=(-0.09,+0.00,-1.00) r=0.67m
+[headless_play] t= 19.60s step= 980 trunk_z= 124.0mm grav_b=(-0.09,-0.07,-0.99) r=0.66m
+[headless_play] t= 19.70s step= 985 trunk_z= 123.4mm grav_b=(-0.09,-0.06,-0.99) r=0.67m
+[headless_play] t= 19.80s step= 990 trunk_z= 118.2mm grav_b=(-0.08,+0.02,-1.00) r=0.70m
+[headless_play] t= 19.90s step= 995 trunk_z= 126.1mm grav_b=(-0.10,+0.04,-0.99) r=0.72m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 120.8mm grav_b=(-0.01,+0.00,-1.00) r=0.61m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.05,+0.02,-1.00) r=0.61m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t7.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.499,-17.997,+0.253)
+[headless_play] t=  0.00s step=   0 trunk_z= 123.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.49m
+[headless_play] t=  0.20s step=  10 trunk_z= 114.3mm grav_b=(-0.01,+0.07,-1.00) r=0.47m
+[headless_play] t=  0.30s step=  15 trunk_z= 122.5mm grav_b=(-0.01,+0.04,-1.00) r=0.46m
+[headless_play] t=  0.40s step=  20 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.47m
+[headless_play] t=  0.50s step=  25 trunk_z= 124.2mm grav_b=(+0.01,-0.08,-1.00) r=0.47m
+[headless_play] t=  0.60s step=  30 trunk_z= 124.5mm grav_b=(-0.00,-0.07,-1.00) r=0.47m
+[headless_play] t=  0.70s step=  35 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.44m
+[headless_play] t=  0.80s step=  40 trunk_z= 126.3mm grav_b=(-0.01,+0.05,-1.00) r=0.43m
+[headless_play] t=  0.90s step=  45 trunk_z= 123.4mm grav_b=(-0.03,+0.01,-1.00) r=0.44m
+[headless_play] t=  1.00s step=  50 trunk_z= 121.8mm grav_b=(-0.02,-0.06,-1.00) r=0.46m
+[headless_play] t=  1.10s step=  55 trunk_z= 124.0mm grav_b=(-0.01,-0.06,-1.00) r=0.46m
+[headless_play] t=  1.20s step=  60 trunk_z= 120.1mm grav_b=(-0.01,-0.02,-1.00) r=0.44m
+[headless_play] t=  1.30s step=  65 trunk_z= 123.7mm grav_b=(+0.02,+0.02,-1.00) r=0.42m
+[headless_play] t=  1.40s step=  70 trunk_z= 125.9mm grav_b=(-0.01,+0.04,-1.00) r=0.42m
+[headless_play] t=  1.50s step=  75 trunk_z= 115.2mm grav_b=(-0.03,-0.04,-1.00) r=0.44m
+[headless_play] t=  1.60s step=  80 trunk_z= 124.4mm grav_b=(-0.01,-0.07,-1.00) r=0.45m
+[headless_play] t=  1.70s step=  85 trunk_z= 123.2mm grav_b=(-0.04,-0.05,-1.00) r=0.45m
+[headless_play] t=  1.80s step=  90 trunk_z= 117.2mm grav_b=(-0.05,+0.04,-1.00) r=0.43m
+[headless_play] t=  1.90s step=  95 trunk_z= 124.3mm grav_b=(-0.02,+0.06,-1.00) r=0.43m
+[headless_play] t=  2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.02,+0.04,-1.00) r=0.46m
+[headless_play] t=  2.10s step= 105 trunk_z= 122.7mm grav_b=(-0.02,-0.07,-1.00) r=0.49m
+[headless_play] t=  2.20s step= 110 trunk_z= 124.2mm grav_b=(-0.01,-0.09,-1.00) r=0.50m
+[headless_play] t=  2.30s step= 115 trunk_z= 122.5mm grav_b=(-0.01,-0.06,-1.00) r=0.50m
+[headless_play] t=  2.40s step= 120 trunk_z= 124.2mm grav_b=(-0.00,+0.02,-1.00) r=0.50m
+[headless_play] t=  2.50s step= 125 trunk_z= 126.3mm grav_b=(+0.01,+0.04,-1.00) r=0.52m
+[headless_play] t=  2.60s step= 130 trunk_z= 116.7mm grav_b=(-0.01,-0.04,-1.00) r=0.55m
+[headless_play] t=  2.70s step= 135 trunk_z= 124.0mm grav_b=(+0.01,-0.06,-1.00) r=0.58m
+[headless_play] t=  2.80s step= 140 trunk_z= 121.6mm grav_b=(-0.01,-0.03,-1.00) r=0.59m
+[headless_play] t=  2.90s step= 145 trunk_z= 122.0mm grav_b=(-0.01,+0.02,-1.00) r=0.59m
+[headless_play] t=  3.00s step= 150 trunk_z= 123.8mm grav_b=(-0.01,+0.02,-1.00) r=0.61m
+[headless_play] t=  3.10s step= 155 trunk_z= 116.3mm grav_b=(-0.02,-0.06,-1.00) r=0.65m
+[headless_play] t=  3.20s step= 160 trunk_z= 125.2mm grav_b=(+0.00,-0.08,-1.00) r=0.67m
+[headless_play] t=  3.30s step= 165 trunk_z= 123.2mm grav_b=(-0.01,-0.05,-1.00) r=0.69m
+[headless_play] t=  3.40s step= 170 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.70m
+[headless_play] t=  3.50s step= 175 trunk_z= 125.6mm grav_b=(+0.01,+0.04,-1.00) r=0.72m
+[headless_play] t=  3.60s step= 180 trunk_z= 120.9mm grav_b=(-0.03,+0.03,-1.00) r=0.75m
+[headless_play] t=  3.70s step= 185 trunk_z= 123.7mm grav_b=(-0.01,-0.08,-1.00) r=0.78m
+[headless_play] t=  3.80s step= 190 trunk_z= 124.2mm grav_b=(-0.01,-0.07,-1.00) r=0.80m
+[headless_play] t=  3.90s step= 195 trunk_z= 118.7mm grav_b=(-0.00,-0.01,-1.00) r=0.81m
+[headless_play] t=  4.00s step= 200 trunk_z= 125.8mm grav_b=(+0.02,+0.03,-1.00) r=0.83m
+[headless_play] t=  4.10s step= 205 trunk_z= 125.3mm grav_b=(+0.01,+0.03,-1.00) r=0.85m
+[headless_play] t=  4.20s step= 210 trunk_z= 119.4mm grav_b=(-0.01,-0.05,-1.00) r=0.89m
+[headless_play] t=  4.30s step= 215 trunk_z= 124.1mm grav_b=(+0.02,-0.02,-1.00) r=0.92m
+[headless_play] t=  4.40s step= 220 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.94m
+[headless_play] t=  4.50s step= 225 trunk_z= 122.8mm grav_b=(-0.02,+0.03,-1.00) r=0.96m
+[headless_play] t=  4.60s step= 230 trunk_z= 120.3mm grav_b=(-0.02,+0.02,-1.00) r=0.98m
+[headless_play] t=  4.70s step= 235 trunk_z= 119.6mm grav_b=(-0.03,-0.05,-1.00) r=1.01m
+[headless_play] t=  4.80s step= 240 trunk_z= 124.5mm grav_b=(-0.01,-0.08,-1.00) r=1.03m
+[headless_play] t=  4.90s step= 245 trunk_z= 122.2mm grav_b=(-0.01,-0.06,-1.00) r=1.05m
+[headless_play] t=  5.00s step= 250 trunk_z= 121.5mm grav_b=(-0.01,+0.03,-1.00) r=1.06m
+[headless_play] t=  5.10s step= 255 trunk_z= 126.2mm grav_b=(+0.00,+0.04,-1.00) r=1.09m
+[headless_play] t=  5.20s step= 260 trunk_z= 112.7mm grav_b=(-0.02,+0.02,-1.00) r=1.14m
+[headless_play] t=  5.30s step= 265 trunk_z= 112.4mm grav_b=(+0.04,-0.13,-0.99) r=1.18m
+[headless_play] t=  5.40s step= 270 trunk_z= 112.4mm grav_b=(+0.02,-0.14,-0.99) r=1.22m
+[headless_play] t=  5.50s step= 275 trunk_z=  99.8mm grav_b=(-0.04,-0.08,-1.00) r=1.28m
+[headless_play] t=  5.60s step= 280 trunk_z=  98.3mm grav_b=(+0.09,+0.06,-0.99) r=1.33m
+[headless_play] t=  5.70s step= 285 trunk_z= 108.8mm grav_b=(+0.02,+0.23,-0.97) r=1.38m
+[headless_play] t=  5.80s step= 290 trunk_z=  61.6mm grav_b=(+0.00,+0.20,-0.98) r=1.46m
+[headless_play] t=  5.90s step= 295 trunk_z=  75.4mm grav_b=(+0.29,+0.19,-0.94) r=1.51m
+[headless_play] t=  6.00s step= 300 trunk_z=  32.3mm grav_b=(+0.14,-0.03,-0.99) r=1.59m
+[headless_play] t=  6.10s step= 305 trunk_z=  32.1mm grav_b=(+0.35,-0.41,-0.84) r=1.65m
+[headless_play] t=  6.20s step= 310 trunk_z=  25.7mm grav_b=(+0.85,-0.21,-0.48) r=1.72m
+[headless_play] RESET at t=  6.26s step= 313 (env termination, not a recovery)
+[headless_play] t=  6.30s step= 315 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=0.27m
+[headless_play] t=  6.40s step= 320 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.27m
+[headless_play] t=  6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.27m
+[headless_play] t=  6.60s step= 330 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.27m
+[headless_play] t=  6.70s step= 335 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=0.27m
+[headless_play] t=  6.80s step= 340 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.27m
+[headless_play] t=  6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.00s step= 350 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.10s step= 355 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.20s step= 360 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.30s step= 365 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.40s step= 370 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.50s step= 375 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.60s step= 380 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.70s step= 385 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.80s step= 390 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  7.90s step= 395 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.10s step= 405 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.20s step= 410 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.40s step= 420 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.60s step= 430 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.70s step= 435 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.80s step= 440 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.00s step= 450 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.10s step= 455 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.20s step= 460 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.40s step= 470 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.50s step= 475 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.60s step= 480 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.80s step= 490 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t=  9.90s step= 495 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.00s step= 500 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.10s step= 505 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.40s step= 520 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.50s step= 525 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.60s step= 530 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.70s step= 535 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m
+[headless_play] t= 11.00s step= 550 trunk_z= 115.5mm grav_b=(-0.00,+0.02,-1.00) r=0.27m
+[headless_play] t= 11.10s step= 555 trunk_z= 112.5mm grav_b=(+0.02,+0.06,-1.00) r=0.27m
+[headless_play] t= 11.20s step= 560 trunk_z= 114.3mm grav_b=(+0.03,+0.02,-1.00) r=0.28m
+[headless_play] t= 11.30s step= 565 trunk_z= 107.8mm grav_b=(+0.01,-0.05,-1.00) r=0.32m
+[headless_play] t= 11.40s step= 570 trunk_z= 120.1mm grav_b=(+0.05,-0.10,-0.99) r=0.35m
+[headless_play] t= 11.50s step= 575 trunk_z= 119.8mm grav_b=(+0.03,-0.07,-1.00) r=0.37m
+[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.38m
+[headless_play] t= 11.70s step= 585 trunk_z= 122.2mm grav_b=(+0.03,+0.02,-1.00) r=0.40m
+[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.43m
+[headless_play] t= 11.90s step= 595 trunk_z= 122.8mm grav_b=(-0.00,-0.12,-0.99) r=0.46m
+[headless_play] t= 12.00s step= 600 trunk_z= 119.9mm grav_b=(+0.02,-0.11,-0.99) r=0.48m
+[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(+0.02,-0.05,-1.00) r=0.49m
+[headless_play] t= 12.20s step= 610 trunk_z= 123.0mm grav_b=(+0.04,+0.04,-1.00) r=0.51m
+[headless_play] t= 12.30s step= 615 trunk_z= 120.7mm grav_b=(+0.00,+0.03,-1.00) r=0.54m
+[headless_play] t= 12.40s step= 620 trunk_z= 119.4mm grav_b=(-0.01,-0.08,-1.00) r=0.57m
+[headless_play] t= 12.50s step= 625 trunk_z= 122.4mm grav_b=(+0.01,-0.13,-0.99) r=0.60m
+[headless_play] t= 12.60s step= 630 trunk_z= 118.4mm grav_b=(+0.01,-0.09,-1.00) r=0.61m
+[headless_play] t= 12.70s step= 635 trunk_z= 119.4mm grav_b=(+0.05,+0.02,-1.00) r=0.63m
+[headless_play] t= 12.80s step= 640 trunk_z= 123.4mm grav_b=(+0.02,+0.02,-1.00) r=0.65m
+[headless_play] t= 12.90s step= 645 trunk_z= 117.5mm grav_b=(-0.00,-0.01,-1.00) r=0.68m
+[headless_play] t= 13.00s step= 650 trunk_z= 122.0mm grav_b=(+0.01,-0.10,-0.99) r=0.71m
+[headless_play] t= 13.10s step= 655 trunk_z= 118.1mm grav_b=(+0.03,-0.07,-1.00) r=0.73m
+[headless_play] t= 13.20s step= 660 trunk_z= 114.0mm grav_b=(+0.05,+0.01,-1.00) r=0.74m
+[headless_play] t= 13.30s step= 665 trunk_z= 120.3mm grav_b=(+0.04,+0.02,-1.00) r=0.76m
+[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.80m
+[headless_play] t= 13.50s step= 675 trunk_z= 123.3mm grav_b=(-0.01,-0.13,-0.99) r=0.83m
+[headless_play] t= 13.60s step= 680 trunk_z= 119.8mm grav_b=(+0.02,-0.11,-0.99) r=0.85m
+[headless_play] t= 13.70s step= 685 trunk_z= 115.9mm grav_b=(+0.03,-0.05,-1.00) r=0.86m
+[headless_play] t= 13.80s step= 690 trunk_z= 121.6mm grav_b=(+0.04,+0.07,-1.00) r=0.87m
+[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(+0.04,+0.03,-1.00) r=0.90m
+[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(-0.03,-0.12,-0.99) r=0.93m
+[headless_play] t= 14.10s step= 705 trunk_z= 124.9mm grav_b=(-0.00,-0.16,-0.99) r=0.95m
+[headless_play] t= 14.20s step= 710 trunk_z= 120.6mm grav_b=(+0.03,-0.18,-0.98) r=0.98m
+[headless_play] t= 14.30s step= 715 trunk_z= 115.6mm grav_b=(-0.03,-0.09,-1.00) r=0.99m
+[headless_play] t= 14.40s step= 720 trunk_z= 117.5mm grav_b=(-0.04,+0.00,-1.00) r=1.03m
+[headless_play] t= 14.50s step= 725 trunk_z= 127.8mm grav_b=(-0.01,+0.06,-1.00) r=1.07m
+[headless_play] t= 14.60s step= 730 trunk_z= 107.5mm grav_b=(+0.00,-0.03,-1.00) r=1.12m
+[headless_play] t= 14.70s step= 735 trunk_z= 110.1mm grav_b=(-0.01,-0.13,-0.99) r=1.15m
+[headless_play] t= 14.80s step= 740 trunk_z= 103.5mm grav_b=(-0.00,-0.13,-0.99) r=1.18m
+[headless_play] t= 14.90s step= 745 trunk_z= 103.2mm grav_b=(+0.08,-0.07,-0.99) r=1.21m
+[headless_play] t= 15.00s step= 750 trunk_z=  97.0mm grav_b=(+0.00,-0.04,-1.00) r=1.25m
+[headless_play] t= 15.10s step= 755 trunk_z=  89.4mm grav_b=(-0.05,-0.06,-1.00) r=1.27m
+[headless_play] t= 15.20s step= 760 trunk_z=  84.5mm grav_b=(-0.04,-0.01,-1.00) r=1.29m
+[headless_play] t= 15.30s step= 765 trunk_z=  81.1mm grav_b=(+0.03,+0.03,-1.00) r=1.30m
+[headless_play] t= 15.40s step= 770 trunk_z=  80.0mm grav_b=(+0.10,+0.04,-0.99) r=1.31m
+[headless_play] t= 15.50s step= 775 trunk_z=  80.4mm grav_b=(+0.13,+0.03,-0.99) r=1.31m
+[headless_play] t= 15.60s step= 780 trunk_z=  82.5mm grav_b=(+0.13,-0.00,-0.99) r=1.32m
+[headless_play] t= 15.70s step= 785 trunk_z=  76.3mm grav_b=(+0.07,+0.06,-1.00) r=1.34m
+[headless_play] t= 15.80s step= 790 trunk_z=  82.0mm grav_b=(+0.00,+0.06,-1.00) r=1.35m
+[headless_play] t= 15.90s step= 795 trunk_z=  74.5mm grav_b=(-0.04,+0.01,-1.00) r=1.35m
+[headless_play] t= 16.00s step= 800 trunk_z=  73.4mm grav_b=(+0.02,+0.03,-1.00) r=1.36m
+[headless_play] t= 16.10s step= 805 trunk_z=  72.2mm grav_b=(+0.11,+0.04,-0.99) r=1.36m
+[headless_play] t= 16.20s step= 810 trunk_z=  73.3mm grav_b=(+0.14,+0.03,-0.99) r=1.37m
+[headless_play] t= 16.30s step= 815 trunk_z=  75.8mm grav_b=(+0.11,+0.01,-0.99) r=1.38m
+[headless_play] t= 16.40s step= 820 trunk_z=  71.1mm grav_b=(-0.03,-0.13,-0.99) r=1.40m
+[headless_play] t= 16.50s step= 825 trunk_z=  75.0mm grav_b=(-0.06,-0.15,-0.99) r=1.42m
+[headless_play] t= 16.60s step= 830 trunk_z=  70.6mm grav_b=(-0.00,-0.11,-0.99) r=1.43m
+[headless_play] t= 16.70s step= 835 trunk_z=  63.8mm grav_b=(+0.05,-0.02,-1.00) r=1.46m
+[headless_play] t= 16.80s step= 840 trunk_z=  65.5mm grav_b=(+0.07,+0.03,-1.00) r=1.47m
+[headless_play] t= 16.90s step= 845 trunk_z=  63.0mm grav_b=(+0.06,-0.02,-1.00) r=1.47m
+[headless_play] t= 17.00s step= 850 trunk_z=  59.5mm grav_b=(+0.06,+0.03,-1.00) r=1.48m
+[headless_play] t= 17.10s step= 855 trunk_z=  59.5mm grav_b=(+0.09,+0.04,-0.99) r=1.48m
+[headless_play] t= 17.20s step= 860 trunk_z=  59.6mm grav_b=(+0.10,+0.05,-0.99) r=1.48m
+[headless_play] t= 17.30s step= 865 trunk_z=  59.6mm grav_b=(+0.10,+0.05,-0.99) r=1.48m
+[headless_play] t= 17.40s step= 870 trunk_z=  59.5mm grav_b=(+0.10,+0.05,-0.99) r=1.48m
+[headless_play] t= 17.50s step= 875 trunk_z=  59.5mm grav_b=(+0.09,+0.05,-0.99) r=1.48m
+[headless_play] t= 17.60s step= 880 trunk_z=  59.4mm grav_b=(+0.08,+0.05,-1.00) r=1.48m
+[headless_play] t= 17.70s step= 885 trunk_z=  59.3mm grav_b=(+0.07,+0.04,-1.00) r=1.48m
+[headless_play] t= 17.80s step= 890 trunk_z=  59.4mm grav_b=(+0.06,+0.04,-1.00) r=1.48m
+[headless_play] t= 17.90s step= 895 trunk_z=  60.3mm grav_b=(+0.09,+0.06,-0.99) r=1.48m
+[headless_play] t= 18.00s step= 900 trunk_z=  60.2mm grav_b=(+0.05,+0.02,-1.00) r=1.49m
+[headless_play] t= 18.10s step= 905 trunk_z=  63.6mm grav_b=(+0.03,-0.02,-1.00) r=1.51m
+[headless_play] t= 18.20s step= 910 trunk_z=  53.2mm grav_b=(-0.00,+0.06,-1.00) r=1.53m
+[headless_play] t= 18.30s step= 915 trunk_z=  55.8mm grav_b=(-0.01,+0.06,-1.00) r=1.54m
+[headless_play] t= 18.40s step= 920 trunk_z=  54.7mm grav_b=(+0.02,+0.04,-1.00) r=1.54m
+[headless_play] t= 18.50s step= 925 trunk_z=  54.9mm grav_b=(+0.07,+0.06,-1.00) r=1.55m
+[headless_play] t= 18.60s step= 930 trunk_z=  54.4mm grav_b=(+0.04,+0.04,-1.00) r=1.56m
+[headless_play] t= 18.70s step= 935 trunk_z=  55.4mm grav_b=(-0.02,-0.02,-1.00) r=1.56m
+[headless_play] t= 18.80s step= 940 trunk_z=  50.2mm grav_b=(-0.00,+0.03,-1.00) r=1.57m
+[headless_play] t= 18.90s step= 945 trunk_z=  50.1mm grav_b=(+0.01,+0.06,-1.00) r=1.59m
+[headless_play] t= 19.00s step= 950 trunk_z=  50.0mm grav_b=(+0.08,+0.02,-1.00) r=1.60m
+[headless_play] t= 19.10s step= 955 trunk_z=  45.0mm grav_b=(+0.04,+0.08,-1.00) r=1.62m
+[headless_play] t= 19.20s step= 960 trunk_z=  51.9mm grav_b=(+0.02,+0.08,-1.00) r=1.64m
+[headless_play] t= 19.30s step= 965 trunk_z=  43.4mm grav_b=(-0.01,+0.02,-1.00) r=1.65m
+[headless_play] t= 19.40s step= 970 trunk_z=  42.8mm grav_b=(-0.01,-0.01,-1.00) r=1.66m
+[headless_play] t= 19.50s step= 975 trunk_z=  41.1mm grav_b=(+0.01,+0.04,-1.00) r=1.67m
+[headless_play] t= 19.60s step= 980 trunk_z=  41.1mm grav_b=(+0.08,+0.02,-1.00) r=1.68m
+[headless_play] t= 19.70s step= 985 trunk_z=  39.4mm grav_b=(+0.09,+0.01,-1.00) r=1.69m
+[headless_play] t= 19.80s step= 990 trunk_z=  42.2mm grav_b=(+0.04,+0.00,-1.00) r=1.71m
+[headless_play] t= 19.90s step= 995 trunk_z=  33.3mm grav_b=(-0.08,-0.14,-0.99) r=1.74m
+[headless_play] t= 20.00s step=1000 trunk_z=  37.8mm grav_b=(-0.04,-0.14,-0.99) r=1.75m
+[headless_play] t= 20.10s step=1005 trunk_z=  37.4mm grav_b=(-0.02,-0.13,-0.99) r=1.75m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t8.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.662,-17.662,+0.250)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.4mm grav_b=(-0.01,-0.00,-1.00) r=0.48m
+[headless_play] t=  0.10s step=   5 trunk_z= 116.1mm grav_b=(-0.02,-0.03,-1.00) r=0.47m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.5mm grav_b=(+0.02,-0.09,-1.00) r=0.47m
+[headless_play] t=  0.30s step=  15 trunk_z= 121.8mm grav_b=(+0.04,-0.08,-1.00) r=0.48m
+[headless_play] t=  0.40s step=  20 trunk_z= 119.1mm grav_b=(+0.06,-0.05,-1.00) r=0.50m
+[headless_play] t=  0.50s step=  25 trunk_z= 127.6mm grav_b=(+0.09,-0.02,-1.00) r=0.54m
+[headless_play] t=  0.60s step=  30 trunk_z= 130.4mm grav_b=(+0.06,+0.01,-1.00) r=0.57m
+[headless_play] t=  0.70s step=  35 trunk_z= 115.7mm grav_b=(+0.04,+0.03,-1.00) r=0.61m
+[headless_play] t=  0.80s step=  40 trunk_z= 126.4mm grav_b=(+0.05,+0.01,-1.00) r=0.63m
+[headless_play] t=  0.90s step=  45 trunk_z= 122.2mm grav_b=(+0.04,+0.00,-1.00) r=0.66m
+[headless_play] t=  1.00s step=  50 trunk_z= 126.2mm grav_b=(+0.05,-0.01,-1.00) r=0.69m
+[headless_play] t=  1.10s step=  55 trunk_z= 128.5mm grav_b=(+0.01,+0.01,-1.00) r=0.72m
+[headless_play] t=  1.20s step=  60 trunk_z= 118.4mm grav_b=(+0.03,-0.02,-1.00) r=0.76m
+[headless_play] t=  1.30s step=  65 trunk_z= 127.9mm grav_b=(+0.05,-0.04,-1.00) r=0.79m
+[headless_play] t=  1.40s step=  70 trunk_z= 123.9mm grav_b=(+0.05,-0.02,-1.00) r=0.81m
+[headless_play] t=  1.50s step=  75 trunk_z= 127.2mm grav_b=(+0.08,-0.01,-1.00) r=0.85m
+[headless_play] t=  1.60s step=  80 trunk_z= 133.2mm grav_b=(+0.06,+0.03,-1.00) r=0.88m
+[headless_play] t=  1.70s step=  85 trunk_z= 109.3mm grav_b=(+0.03,-0.00,-1.00) r=0.93m
+[headless_play] t=  1.80s step=  90 trunk_z= 125.8mm grav_b=(+0.05,-0.04,-1.00) r=0.95m
+[headless_play] t=  1.90s step=  95 trunk_z= 118.8mm grav_b=(+0.01,+0.01,-1.00) r=0.97m
+[headless_play] t=  2.00s step= 100 trunk_z= 122.0mm grav_b=(+0.06,-0.01,-1.00) r=1.00m
+[headless_play] t=  2.10s step= 105 trunk_z= 124.0mm grav_b=(+0.04,-0.01,-1.00) r=1.02m
+[headless_play] t=  2.20s step= 110 trunk_z= 116.9mm grav_b=(+0.02,-0.05,-1.00) r=1.05m
+[headless_play] t=  2.30s step= 115 trunk_z= 122.8mm grav_b=(+0.06,-0.01,-1.00) r=1.08m
+[headless_play] t=  2.40s step= 120 trunk_z= 108.7mm grav_b=(+0.04,-0.01,-1.00) r=1.12m
+[headless_play] t=  2.50s step= 125 trunk_z= 114.9mm grav_b=(+0.04,-0.07,-1.00) r=1.16m
+[headless_play] t=  2.60s step= 130 trunk_z= 102.2mm grav_b=(+0.04,-0.10,-0.99) r=1.20m
+[headless_play] t=  2.70s step= 135 trunk_z= 102.9mm grav_b=(+0.05,-0.15,-0.99) r=1.25m
+[headless_play] t=  2.80s step= 140 trunk_z= 104.8mm grav_b=(+0.08,-0.16,-0.98) r=1.29m
+[headless_play] t=  2.90s step= 145 trunk_z=  97.2mm grav_b=(+0.04,-0.11,-0.99) r=1.34m
+[headless_play] t=  3.00s step= 150 trunk_z=  92.1mm grav_b=(+0.10,+0.01,-1.00) r=1.39m
+[headless_play] t=  3.10s step= 155 trunk_z=  98.9mm grav_b=(+0.09,+0.09,-0.99) r=1.43m
+[headless_play] t=  3.20s step= 160 trunk_z=  69.8mm grav_b=(+0.04,-0.01,-1.00) r=1.50m
+[headless_play] t=  3.30s step= 165 trunk_z=  72.5mm grav_b=(+0.13,-0.08,-0.99) r=1.53m
+[headless_play] t=  3.40s step= 170 trunk_z=  77.8mm grav_b=(+0.08,-0.14,-0.99) r=1.56m
+[headless_play] t=  3.50s step= 175 trunk_z=  67.6mm grav_b=(+0.01,-0.09,-1.00) r=1.61m
+[headless_play] t=  3.60s step= 180 trunk_z=  63.7mm grav_b=(+0.13,-0.01,-0.99) r=1.64m
+[headless_play] t=  3.70s step= 185 trunk_z=  66.5mm grav_b=(+0.08,+0.01,-1.00) r=1.68m
+[headless_play] t=  3.80s step= 190 trunk_z=  44.6mm grav_b=(+0.09,-0.03,-1.00) r=1.73m
+[headless_play] t=  3.90s step= 195 trunk_z=  58.1mm grav_b=(+0.09,-0.07,-0.99) r=1.76m
+[headless_play] t=  4.00s step= 200 trunk_z=  48.1mm grav_b=(+0.02,-0.07,-1.00) r=1.81m
+[headless_play] t=  4.10s step= 205 trunk_z=  39.0mm grav_b=(+0.08,-0.02,-1.00) r=1.86m
+[headless_play] t=  4.20s step= 210 trunk_z=  49.2mm grav_b=(+0.04,+0.02,-1.00) r=1.89m
+[headless_play] t=  4.30s step= 215 trunk_z=  30.4mm grav_b=(+0.07,-0.01,-1.00) r=1.94m
+[headless_play] t=  4.40s step= 220 trunk_z=  39.0mm grav_b=(+0.06,-0.06,-1.00) r=1.96m
+[headless_play] t=  4.50s step= 225 trunk_z=  35.3mm grav_b=(+0.06,-0.07,-1.00) r=2.00m
+[headless_play] t=  4.60s step= 230 trunk_z=  21.4mm grav_b=(+0.06,-0.04,-1.00) r=2.05m
+[headless_play] t=  4.70s step= 235 trunk_z=  32.2mm grav_b=(+0.08,-0.04,-1.00) r=2.09m
+[headless_play] t=  4.80s step= 240 trunk_z=   6.4mm grav_b=(+0.06,-0.03,-1.00) r=2.14m
+[headless_play] t=  4.90s step= 245 trunk_z=  15.5mm grav_b=(+0.08,-0.02,-1.00) r=2.16m
+[headless_play] t=  5.00s step= 250 trunk_z=  14.3mm grav_b=(+0.03,-0.02,-1.00) r=2.20m
+[headless_play] t=  5.10s step= 255 trunk_z=  10.5mm grav_b=(+0.01,+0.02,-1.00) r=2.24m
+[headless_play] t=  5.20s step= 260 trunk_z=  13.9mm grav_b=(+0.02,-0.00,-1.00) r=2.25m
+[headless_play] t=  5.30s step= 265 trunk_z=   5.8mm grav_b=(+0.03,-0.05,-1.00) r=2.28m
+[headless_play] t=  5.40s step= 270 trunk_z=  13.7mm grav_b=(+0.05,-0.06,-1.00) r=2.30m
+[headless_play] t=  5.50s step= 275 trunk_z=  12.7mm grav_b=(+0.05,-0.06,-1.00) r=2.33m
+[headless_play] t=  5.60s step= 280 trunk_z=   4.5mm grav_b=(+0.06,-0.02,-1.00) r=2.37m
+[headless_play] t=  5.70s step= 285 trunk_z=  11.3mm grav_b=(+0.07,-0.03,-1.00) r=2.40m
+[headless_play] t=  5.80s step= 290 trunk_z=  -5.4mm grav_b=(+0.05,-0.07,-1.00) r=2.44m
+[headless_play] t=  5.90s step= 295 trunk_z=   5.5mm grav_b=(+0.06,-0.04,-1.00) r=2.46m
+[headless_play] t=  6.00s step= 300 trunk_z=   2.6mm grav_b=(+0.03,-0.05,-1.00) r=2.49m
+[headless_play] t=  6.10s step= 305 trunk_z=  -0.3mm grav_b=(+0.01,+0.03,-1.00) r=2.53m
+[headless_play] t=  6.20s step= 310 trunk_z=   4.7mm grav_b=(+0.04,+0.03,-1.00) r=2.56m
+[headless_play] t=  6.30s step= 315 trunk_z=  -2.2mm grav_b=(+0.04,+0.00,-1.00) r=2.58m
+[headless_play] t=  6.40s step= 320 trunk_z=  -0.5mm grav_b=(+0.06,-0.05,-1.00) r=2.61m
+[headless_play] t=  6.50s step= 325 trunk_z=  -0.0mm grav_b=(+0.05,-0.06,-1.00) r=2.63m
+[headless_play] t=  6.60s step= 330 trunk_z= -10.4mm grav_b=(+0.03,-0.01,-1.00) r=2.67m
+[headless_play] t=  6.70s step= 335 trunk_z=  -1.9mm grav_b=(+0.04,-0.02,-1.00) r=2.69m
+[headless_play] t=  6.80s step= 340 trunk_z=  -6.5mm grav_b=(+0.04,-0.02,-1.00) r=2.71m
+[headless_play] t=  6.90s step= 345 trunk_z=  -2.4mm grav_b=(+0.03,-0.04,-1.00) r=2.72m
+[headless_play] t=  7.00s step= 350 trunk_z=  -1.2mm grav_b=(+0.00,-0.05,-1.00) r=2.74m
+[headless_play] t=  7.10s step= 355 trunk_z=  -8.0mm grav_b=(+0.00,-0.01,-1.00) r=2.76m
+[headless_play] t=  7.20s step= 360 trunk_z=   1.2mm grav_b=(+0.04,+0.03,-1.00) r=2.79m
+[headless_play] t=  7.30s step= 365 trunk_z=   1.3mm grav_b=(+0.05,+0.03,-1.00) r=2.81m
+[headless_play] t=  7.40s step= 370 trunk_z=  -3.8mm grav_b=(+0.05,-0.03,-1.00) r=2.84m
+[headless_play] t=  7.50s step= 375 trunk_z=   2.9mm grav_b=(+0.05,-0.03,-1.00) r=2.86m
+[headless_play] t=  7.60s step= 380 trunk_z=  -2.4mm grav_b=(+0.04,-0.03,-1.00) r=2.89m
+[headless_play] t=  7.70s step= 385 trunk_z=   1.3mm grav_b=(+0.07,+0.04,-1.00) r=2.92m
+[headless_play] t=  7.80s step= 390 trunk_z=   4.9mm grav_b=(+0.06,+0.03,-1.00) r=2.95m
+[headless_play] t=  7.90s step= 395 trunk_z=  -8.6mm grav_b=(+0.05,-0.01,-1.00) r=2.99m
+[headless_play] t=  8.00s step= 400 trunk_z=   3.0mm grav_b=(+0.04,-0.02,-1.00) r=3.02m
+[headless_play] t=  8.10s step= 405 trunk_z=  -2.2mm grav_b=(+0.02,-0.01,-1.00) r=3.04m
+[headless_play] t=  8.20s step= 410 trunk_z=  -1.3mm grav_b=(+0.05,+0.05,-1.00) r=3.08m
+[headless_play] t=  8.30s step= 415 trunk_z=   2.3mm grav_b=(+0.07,+0.06,-1.00) r=3.10m
+[headless_play] t=  8.40s step= 420 trunk_z=  -7.2mm grav_b=(+0.06,+0.03,-1.00) r=3.14m
+[headless_play] t=  8.50s step= 425 trunk_z=   1.8mm grav_b=(+0.05,+0.01,-1.00) r=3.16m
+[headless_play] t=  8.60s step= 430 trunk_z=  -3.7mm grav_b=(+0.03,+0.01,-1.00) r=3.20m
+[headless_play] t=  8.70s step= 435 trunk_z=  -0.8mm grav_b=(+0.04,+0.03,-1.00) r=3.23m
+[headless_play] t=  8.80s step= 440 trunk_z=   4.7mm grav_b=(+0.04,+0.04,-1.00) r=3.26m
+[headless_play] t=  8.90s step= 445 trunk_z=  -8.8mm grav_b=(+0.03,-0.03,-1.00) r=3.29m
+[headless_play] t=  9.00s step= 450 trunk_z=   0.7mm grav_b=(+0.03,-0.09,-1.00) r=3.31m
+[headless_play] t=  9.10s step= 455 trunk_z=   2.7mm grav_b=(+0.01,-0.12,-0.99) r=3.33m
+[headless_play] t=  9.20s step= 460 trunk_z=  -0.2mm grav_b=(+0.02,-0.06,-1.00) r=3.35m
+[headless_play] t=  9.30s step= 465 trunk_z=   3.4mm grav_b=(+0.05,-0.03,-1.00) r=3.38m
+[headless_play] t=  9.40s step= 470 trunk_z=   2.5mm grav_b=(+0.04,-0.03,-1.00) r=3.40m
+[headless_play] t=  9.50s step= 475 trunk_z=  -2.2mm grav_b=(+0.06,-0.10,-0.99) r=3.42m
+[headless_play] t=  9.60s step= 480 trunk_z=   2.6mm grav_b=(+0.05,-0.11,-0.99) r=3.43m
+[headless_play] t=  9.70s step= 485 trunk_z=   2.6mm grav_b=(+0.05,-0.11,-0.99) r=3.46m
+[headless_play] t=  9.80s step= 490 trunk_z=   4.2mm grav_b=(+0.07,-0.04,-1.00) r=3.50m
+[headless_play] t=  9.90s step= 495 trunk_z=  10.9mm grav_b=(+0.05,-0.04,-1.00) r=3.52m
+[headless_play] t= 10.00s step= 500 trunk_z=  -2.4mm grav_b=(+0.04,-0.11,-0.99) r=3.56m
+[headless_play] t= 10.10s step= 505 trunk_z=   5.1mm grav_b=(+0.02,-0.12,-0.99) r=3.58m
+[headless_play] t= 10.20s step= 510 trunk_z=   1.3mm grav_b=(+0.02,-0.12,-0.99) r=3.60m
+[headless_play] t= 10.30s step= 515 trunk_z=  -0.8mm grav_b=(+0.05,-0.04,-1.00) r=3.62m
+[headless_play] t= 10.40s step= 520 trunk_z=   5.2mm grav_b=(+0.07,-0.06,-1.00) r=3.64m
+[headless_play] t= 10.50s step= 525 trunk_z=  -2.6mm grav_b=(+0.03,-0.09,-1.00) r=3.64m
+[headless_play] t= 10.60s step= 530 trunk_z=   5.3mm grav_b=(+0.03,-0.11,-0.99) r=3.65m
+[headless_play] t= 10.70s step= 535 trunk_z=   4.7mm grav_b=(+0.03,-0.15,-0.99) r=3.67m
+[headless_play] t= 10.80s step= 540 trunk_z=   2.9mm grav_b=(+0.03,-0.15,-0.99) r=3.68m
+[headless_play] t= 10.90s step= 545 trunk_z=   1.2mm grav_b=(+0.07,-0.08,-0.99) r=3.71m
+[headless_play] t= 11.00s step= 550 trunk_z=   4.6mm grav_b=(+0.06,-0.11,-0.99) r=3.72m
+[headless_play] t= 11.10s step= 555 trunk_z=  -4.0mm grav_b=(+0.05,-0.12,-0.99) r=3.73m
+[headless_play] t= 11.20s step= 560 trunk_z=   4.5mm grav_b=(+0.07,-0.14,-0.99) r=3.74m
+[headless_play] t= 11.30s step= 565 trunk_z=   2.6mm grav_b=(+0.03,-0.19,-0.98) r=3.75m
+[headless_play] t= 11.40s step= 570 trunk_z=   2.3mm grav_b=(-0.00,-0.22,-0.97) r=3.76m
+[headless_play] t= 11.50s step= 575 trunk_z=   5.6mm grav_b=(-0.01,-0.16,-0.99) r=3.77m
+[headless_play] t= 11.60s step= 580 trunk_z=  11.1mm grav_b=(+0.02,-0.08,-1.00) r=3.79m
+[headless_play] t= 11.70s step= 585 trunk_z=   6.2mm grav_b=(+0.04,-0.07,-1.00) r=3.80m
+[headless_play] t= 11.80s step= 590 trunk_z=  -4.7mm grav_b=(+0.05,-0.13,-0.99) r=3.81m
+[headless_play] t= 11.90s step= 595 trunk_z=  -1.1mm grav_b=(+0.02,-0.18,-0.98) r=3.81m
+[headless_play] t= 12.00s step= 600 trunk_z=  -4.0mm grav_b=(-0.02,-0.22,-0.98) r=3.82m
+[headless_play] t= 12.10s step= 605 trunk_z=  -1.9mm grav_b=(-0.02,-0.13,-0.99) r=3.83m
+[headless_play] t= 12.20s step= 610 trunk_z=  -0.2mm grav_b=(+0.02,-0.05,-1.00) r=3.85m
+[headless_play] t= 12.30s step= 615 trunk_z=  -3.1mm grav_b=(+0.10,-0.15,-0.98) r=3.84m
+[headless_play] t= 12.40s step= 620 trunk_z=  -5.5mm grav_b=(+0.14,-0.16,-0.98) r=3.84m
+[headless_play] t= 12.50s step= 625 trunk_z= -11.1mm grav_b=(+0.04,-0.06,-1.00) r=3.87m
+[headless_play] t= 12.60s step= 630 trunk_z=   1.8mm grav_b=(-0.02,-0.03,-1.00) r=3.89m
+[headless_play] t= 12.70s step= 635 trunk_z=  -1.6mm grav_b=(-0.03,-0.05,-1.00) r=3.88m
+[headless_play] t= 12.80s step= 640 trunk_z=   0.4mm grav_b=(+0.04,-0.05,-1.00) r=3.86m
+[headless_play] t= 12.90s step= 645 trunk_z=   0.7mm grav_b=(+0.07,-0.01,-1.00) r=3.86m
+[headless_play] t= 13.00s step= 650 trunk_z=  -5.0mm grav_b=(+0.09,+0.02,-1.00) r=3.89m
+[headless_play] t= 13.10s step= 655 trunk_z=  -2.6mm grav_b=(+0.12,-0.01,-0.99) r=3.89m
+[headless_play] t= 13.20s step= 660 trunk_z=  -3.0mm grav_b=(+0.15,-0.05,-0.99) r=3.88m
+[headless_play] t= 13.30s step= 665 trunk_z=   5.2mm grav_b=(+0.11,+0.02,-0.99) r=3.89m
+[headless_play] t= 13.40s step= 670 trunk_z=  -4.9mm grav_b=(+0.06,+0.09,-0.99) r=3.93m
+[headless_play] t= 13.50s step= 675 trunk_z=   3.3mm grav_b=(+0.06,+0.15,-0.99) r=3.96m
+[headless_play] t= 13.60s step= 680 trunk_z=   2.3mm grav_b=(+0.03,+0.24,-0.97) r=3.97m
+[headless_play] t= 13.70s step= 685 trunk_z=   1.8mm grav_b=(+0.04,+0.26,-0.96) r=4.00m
+[headless_play] t= 13.80s step= 690 trunk_z=   2.9mm grav_b=(+0.02,+0.36,-0.93) r=4.03m
+[headless_play] t= 13.90s step= 695 trunk_z= -18.8mm grav_b=(+0.08,+0.56,-0.82) r=4.07m
+[headless_play] t= 14.00s step= 700 trunk_z= -64.6mm grav_b=(+0.06,+0.91,-0.41) r=4.12m
+[headless_play] RESET at t= 14.02s step= 701 (env termination, not a recovery)
+[headless_play] t= 14.10s step= 705 trunk_z= 114.5mm grav_b=(-0.00,+0.00,-1.00) r=0.45m
+[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=0.43m
+[headless_play] t= 14.30s step= 715 trunk_z= 120.0mm grav_b=(+0.05,-0.06,-1.00) r=0.42m
+[headless_play] t= 14.40s step= 720 trunk_z= 119.0mm grav_b=(+0.08,-0.03,-1.00) r=0.41m
+[headless_play] t= 14.50s step= 725 trunk_z= 113.9mm grav_b=(+0.07,+0.04,-1.00) r=0.43m
+[headless_play] t= 14.60s step= 730 trunk_z= 125.5mm grav_b=(+0.06,+0.04,-1.00) r=0.42m
+[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(+0.06,+0.05,-1.00) r=0.41m
+[headless_play] t= 14.80s step= 740 trunk_z= 118.8mm grav_b=(+0.04,-0.05,-1.00) r=0.38m
+[headless_play] t= 14.90s step= 745 trunk_z= 123.2mm grav_b=(+0.04,-0.05,-1.00) r=0.37m
+[headless_play] t= 15.00s step= 750 trunk_z= 119.1mm grav_b=(+0.02,-0.04,-1.00) r=0.39m
+[headless_play] t= 15.10s step= 755 trunk_z= 122.5mm grav_b=(+0.02,+0.05,-1.00) r=0.41m
+[headless_play] t= 15.20s step= 760 trunk_z= 124.1mm grav_b=(+0.04,+0.06,-1.00) r=0.41m
+[headless_play] t= 15.30s step= 765 trunk_z= 118.9mm grav_b=(+0.06,+0.05,-1.00) r=0.39m
+[headless_play] t= 15.40s step= 770 trunk_z= 122.7mm grav_b=(+0.04,-0.05,-1.00) r=0.37m
+[headless_play] t= 15.50s step= 775 trunk_z= 121.8mm grav_b=(+0.05,-0.05,-1.00) r=0.38m
+[headless_play] t= 15.60s step= 780 trunk_z= 115.1mm grav_b=(+0.02,-0.00,-1.00) r=0.40m
+[headless_play] t= 15.70s step= 785 trunk_z= 124.0mm grav_b=(+0.02,+0.05,-1.00) r=0.42m
+[headless_play] t= 15.80s step= 790 trunk_z= 120.9mm grav_b=(+0.03,+0.04,-1.00) r=0.41m
+[headless_play] t= 15.90s step= 795 trunk_z= 117.9mm grav_b=(+0.01,-0.04,-1.00) r=0.40m
+[headless_play] t= 16.00s step= 800 trunk_z= 124.0mm grav_b=(+0.03,-0.06,-1.00) r=0.40m
+[headless_play] t= 16.10s step= 805 trunk_z= 119.3mm grav_b=(+0.03,-0.05,-1.00) r=0.42m
+[headless_play] t= 16.20s step= 810 trunk_z= 121.9mm grav_b=(+0.01,+0.03,-1.00) r=0.45m
+[headless_play] t= 16.30s step= 815 trunk_z= 123.8mm grav_b=(+0.02,+0.06,-1.00) r=0.46m
+[headless_play] t= 16.40s step= 820 trunk_z= 116.9mm grav_b=(+0.03,+0.04,-1.00) r=0.45m
+[headless_play] t= 16.50s step= 825 trunk_z= 122.9mm grav_b=(+0.02,-0.04,-1.00) r=0.45m
+[headless_play] t= 16.60s step= 830 trunk_z= 122.0mm grav_b=(+0.04,-0.04,-1.00) r=0.46m
+[headless_play] t= 16.70s step= 835 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.50m
+[headless_play] t= 16.80s step= 840 trunk_z= 125.0mm grav_b=(+0.03,+0.05,-1.00) r=0.52m
+[headless_play] t= 16.90s step= 845 trunk_z= 122.0mm grav_b=(+0.05,+0.07,-1.00) r=0.52m
+[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(+0.04,-0.02,-1.00) r=0.52m
+[headless_play] t= 17.10s step= 855 trunk_z= 123.3mm grav_b=(+0.05,-0.05,-1.00) r=0.52m
+[headless_play] t= 17.20s step= 860 trunk_z= 119.9mm grav_b=(+0.04,-0.05,-1.00) r=0.55m
+[headless_play] t= 17.30s step= 865 trunk_z= 121.5mm grav_b=(+0.01,+0.03,-1.00) r=0.58m
+[headless_play] t= 17.40s step= 870 trunk_z= 124.6mm grav_b=(+0.02,+0.05,-1.00) r=0.59m
+[headless_play] t= 17.50s step= 875 trunk_z= 118.0mm grav_b=(+0.03,+0.04,-1.00) r=0.59m
+[headless_play] t= 17.60s step= 880 trunk_z= 122.7mm grav_b=(+0.03,-0.04,-1.00) r=0.60m
+[headless_play] t= 17.70s step= 885 trunk_z= 121.3mm grav_b=(+0.05,-0.04,-1.00) r=0.61m
+[headless_play] t= 17.80s step= 890 trunk_z= 115.3mm grav_b=(+0.02,+0.01,-1.00) r=0.65m
+[headless_play] t= 17.90s step= 895 trunk_z= 125.0mm grav_b=(+0.01,+0.04,-1.00) r=0.67m
+[headless_play] t= 18.00s step= 900 trunk_z= 121.4mm grav_b=(+0.03,+0.06,-1.00) r=0.68m
+[headless_play] t= 18.10s step= 905 trunk_z= 117.7mm grav_b=(+0.02,-0.04,-1.00) r=0.68m
+[headless_play] t= 18.20s step= 910 trunk_z= 123.6mm grav_b=(+0.00,-0.06,-1.00) r=0.69m
+[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(+0.02,-0.04,-1.00) r=0.71m
+[headless_play] t= 18.40s step= 920 trunk_z= 123.0mm grav_b=(+0.05,+0.03,-1.00) r=0.75m
+[headless_play] t= 18.50s step= 925 trunk_z= 126.7mm grav_b=(+0.07,+0.04,-1.00) r=0.78m
+[headless_play] t= 18.60s step= 930 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.80m
+[headless_play] t= 18.70s step= 935 trunk_z= 123.8mm grav_b=(+0.03,-0.02,-1.00) r=0.82m
+[headless_play] t= 18.80s step= 940 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00) r=0.85m
+[headless_play] t= 18.90s step= 945 trunk_z= 121.1mm grav_b=(-0.01,+0.04,-1.00) r=0.88m
+[headless_play] t= 19.00s step= 950 trunk_z= 123.3mm grav_b=(+0.01,+0.03,-1.00) r=0.89m
+[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(-0.00,-0.03,-1.00) r=0.89m
+[headless_play] t= 19.20s step= 960 trunk_z= 123.7mm grav_b=(+0.01,-0.05,-1.00) r=0.90m
+[headless_play] t= 19.30s step= 965 trunk_z= 119.4mm grav_b=(+0.02,-0.03,-1.00) r=0.93m
+[headless_play] t= 19.40s step= 970 trunk_z= 119.8mm grav_b=(+0.03,+0.04,-1.00) r=0.96m
+[headless_play] t= 19.50s step= 975 trunk_z= 125.2mm grav_b=(+0.06,+0.06,-1.00) r=0.99m
+[headless_play] t= 19.60s step= 980 trunk_z= 120.5mm grav_b=(+0.06,+0.04,-1.00) r=1.01m
+[headless_play] t= 19.70s step= 985 trunk_z= 121.9mm grav_b=(+0.05,-0.02,-1.00) r=1.04m
+[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(+0.06,-0.01,-1.00) r=1.07m
+[headless_play] t= 19.90s step= 995 trunk_z= 103.4mm grav_b=(+0.07,+0.10,-0.99) r=1.12m
+[headless_play] t= 20.00s step=1000 trunk_z= 112.0mm grav_b=(+0.07,+0.13,-0.99) r=1.16m
+[headless_play] t= 20.10s step=1005 trunk_z= 104.3mm grav_b=(+0.06,+0.08,-1.00) r=1.20m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t9.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.609,-18.092,+0.256)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.6mm grav_b=(-0.01,-0.00,-1.00) r=0.40m
+[headless_play] t=  0.10s step=   5 trunk_z= 114.6mm grav_b=(-0.01,+0.02,-1.00) r=0.39m
+[headless_play] t=  0.20s step=  10 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.38m
+[headless_play] t=  0.30s step=  15 trunk_z= 112.0mm grav_b=(+0.01,-0.03,-1.00) r=0.37m
+[headless_play] t=  0.40s step=  20 trunk_z= 112.4mm grav_b=(+0.01,-0.06,-1.00) r=0.35m
+[headless_play] t=  0.50s step=  25 trunk_z= 116.5mm grav_b=(-0.02,-0.03,-1.00) r=0.33m
+[headless_play] t=  0.60s step=  30 trunk_z= 109.3mm grav_b=(-0.01,-0.02,-1.00) r=0.32m
+[headless_play] t=  0.70s step=  35 trunk_z= 113.8mm grav_b=(-0.01,+0.03,-1.00) r=0.30m
+[headless_play] t=  0.80s step=  40 trunk_z= 114.4mm grav_b=(+0.01,+0.04,-1.00) r=0.29m
+[headless_play] t=  0.90s step=  45 trunk_z= 108.8mm grav_b=(+0.04,-0.00,-1.00) r=0.28m
+[headless_play] t=  1.00s step=  50 trunk_z= 114.8mm grav_b=(+0.03,-0.05,-1.00) r=0.28m
+[headless_play] t=  1.10s step=  55 trunk_z= 112.9mm grav_b=(+0.04,-0.05,-1.00) r=0.26m
+[headless_play] t=  1.20s step=  60 trunk_z= 102.9mm grav_b=(+0.06,-0.03,-1.00) r=0.24m
+[headless_play] t=  1.30s step=  65 trunk_z= 113.7mm grav_b=(+0.04,+0.04,-1.00) r=0.22m
+[headless_play] t=  1.40s step=  70 trunk_z= 113.8mm grav_b=(+0.03,+0.04,-1.00) r=0.21m
+[headless_play] t=  1.50s step=  75 trunk_z= 110.1mm grav_b=(+0.07,+0.01,-1.00) r=0.19m
+[headless_play] t=  1.60s step=  80 trunk_z= 118.5mm grav_b=(+0.02,-0.08,-1.00) r=0.18m
+[headless_play] t=  1.70s step=  85 trunk_z= 119.6mm grav_b=(+0.00,-0.06,-1.00) r=0.17m
+[headless_play] t=  1.80s step=  90 trunk_z= 111.1mm grav_b=(+0.01,-0.04,-1.00) r=0.16m
+[headless_play] t=  1.90s step=  95 trunk_z= 116.2mm grav_b=(-0.01,+0.04,-1.00) r=0.15m
+[headless_play] t=  2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.01,+0.03,-1.00) r=0.14m
+[headless_play] t=  2.10s step= 105 trunk_z= 110.3mm grav_b=(+0.04,+0.00,-1.00) r=0.12m
+[headless_play] t=  2.20s step= 110 trunk_z= 116.3mm grav_b=(+0.03,-0.06,-1.00) r=0.11m
+[headless_play] t=  2.30s step= 115 trunk_z= 112.4mm grav_b=(+0.07,-0.06,-1.00) r=0.10m
+[headless_play] t=  2.40s step= 120 trunk_z= 102.5mm grav_b=(+0.09,-0.02,-1.00) r=0.10m
+[headless_play] t=  2.50s step= 125 trunk_z= 113.1mm grav_b=(+0.05,+0.03,-1.00) r=0.11m
+[headless_play] t=  2.60s step= 130 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) r=0.10m
+[headless_play] t=  2.70s step= 135 trunk_z= 110.0mm grav_b=(+0.07,-0.01,-1.00) r=0.09m
+[headless_play] t=  2.80s step= 140 trunk_z= 119.7mm grav_b=(+0.02,-0.08,-1.00) r=0.08m
+[headless_play] t=  2.90s step= 145 trunk_z= 118.0mm grav_b=(+0.02,-0.07,-1.00) r=0.09m
+[headless_play] t=  3.00s step= 150 trunk_z= 107.2mm grav_b=(+0.01,+0.00,-1.00) r=0.11m
+[headless_play] t=  3.10s step= 155 trunk_z= 115.9mm grav_b=(+0.00,+0.04,-1.00) r=0.13m
+[headless_play] t=  3.20s step= 160 trunk_z= 115.1mm grav_b=(+0.00,+0.02,-1.00) r=0.14m
+[headless_play] t=  3.30s step= 165 trunk_z= 113.8mm grav_b=(+0.05,-0.05,-1.00) r=0.14m
+[headless_play] t=  3.40s step= 170 trunk_z= 116.5mm grav_b=(+0.05,-0.05,-1.00) r=0.15m
+[headless_play] t=  3.50s step= 175 trunk_z= 112.5mm grav_b=(+0.04,-0.03,-1.00) r=0.18m
+[headless_play] t=  3.60s step= 180 trunk_z= 118.9mm grav_b=(-0.00,+0.07,-1.00) r=0.21m
+[headless_play] t=  3.70s step= 185 trunk_z= 120.8mm grav_b=(-0.01,+0.05,-1.00) r=0.23m
+[headless_play] t=  3.80s step= 190 trunk_z= 113.3mm grav_b=(+0.00,-0.02,-1.00) r=0.23m
+[headless_play] t=  3.90s step= 195 trunk_z= 122.5mm grav_b=(-0.02,-0.07,-1.00) r=0.24m
+[headless_play] t=  4.00s step= 200 trunk_z= 121.4mm grav_b=(+0.01,-0.05,-1.00) r=0.25m
+[headless_play] t=  4.10s step= 205 trunk_z= 113.3mm grav_b=(-0.01,-0.02,-1.00) r=0.28m
+[headless_play] t=  4.20s step= 210 trunk_z= 122.1mm grav_b=(-0.03,+0.07,-1.00) r=0.30m
+[headless_play] t=  4.30s step= 215 trunk_z= 121.7mm grav_b=(-0.01,+0.04,-1.00) r=0.31m
+[headless_play] t=  4.40s step= 220 trunk_z= 115.2mm grav_b=(-0.01,-0.04,-1.00) r=0.31m
+[headless_play] t=  4.50s step= 225 trunk_z= 120.2mm grav_b=(+0.01,-0.04,-1.00) r=0.32m
+[headless_play] t=  4.60s step= 230 trunk_z= 115.5mm grav_b=(+0.03,-0.03,-1.00) r=0.34m
+[headless_play] t=  4.70s step= 235 trunk_z= 117.4mm grav_b=(-0.01,+0.04,-1.00) r=0.37m
+[headless_play] t=  4.80s step= 240 trunk_z= 121.0mm grav_b=(-0.02,+0.03,-1.00) r=0.39m
+[headless_play] t=  4.90s step= 245 trunk_z= 113.0mm grav_b=(-0.01,-0.03,-1.00) r=0.40m
+[headless_play] t=  5.00s step= 250 trunk_z= 122.2mm grav_b=(-0.02,-0.04,-1.00) r=0.41m
+[headless_play] t=  5.10s step= 255 trunk_z= 119.5mm grav_b=(+0.00,-0.04,-1.00) r=0.42m
+[headless_play] t=  5.20s step= 260 trunk_z= 111.2mm grav_b=(+0.00,+0.03,-1.00) r=0.44m
+[headless_play] t=  5.30s step= 265 trunk_z= 121.7mm grav_b=(+0.00,+0.05,-1.00) r=0.46m
+[headless_play] t=  5.40s step= 270 trunk_z= 117.2mm grav_b=(+0.01,+0.03,-1.00) r=0.48m
+[headless_play] t=  5.50s step= 275 trunk_z= 119.0mm grav_b=(-0.02,-0.05,-1.00) r=0.49m
+[headless_play] t=  5.60s step= 280 trunk_z= 122.7mm grav_b=(-0.00,-0.06,-1.00) r=0.50m
+[headless_play] t=  5.70s step= 285 trunk_z= 115.3mm grav_b=(+0.02,-0.06,-1.00) r=0.52m
+[headless_play] t=  5.80s step= 290 trunk_z= 118.2mm grav_b=(-0.00,+0.04,-1.00) r=0.54m
+[headless_play] t=  5.90s step= 295 trunk_z= 120.6mm grav_b=(+0.00,+0.02,-1.00) r=0.56m
+[headless_play] t=  6.00s step= 300 trunk_z= 113.6mm grav_b=(+0.00,-0.03,-1.00) r=0.58m
+[headless_play] t=  6.10s step= 305 trunk_z= 122.2mm grav_b=(+0.01,-0.05,-1.00) r=0.59m
+[headless_play] t=  6.20s step= 310 trunk_z= 119.6mm grav_b=(+0.01,-0.05,-1.00) r=0.61m
+[headless_play] t=  6.30s step= 315 trunk_z= 112.2mm grav_b=(+0.01,+0.03,-1.00) r=0.63m
+[headless_play] t=  6.40s step= 320 trunk_z= 122.6mm grav_b=(+0.01,+0.06,-1.00) r=0.64m
+[headless_play] t=  6.50s step= 325 trunk_z= 118.6mm grav_b=(+0.01,+0.04,-1.00) r=0.66m
+[headless_play] t=  6.60s step= 330 trunk_z= 117.4mm grav_b=(-0.03,-0.06,-1.00) r=0.67m
+[headless_play] t=  6.70s step= 335 trunk_z= 123.5mm grav_b=(+0.00,-0.05,-1.00) r=0.68m
+[headless_play] t=  6.80s step= 340 trunk_z= 118.7mm grav_b=(+0.01,-0.06,-1.00) r=0.69m
+[headless_play] t=  6.90s step= 345 trunk_z= 113.9mm grav_b=(+0.02,+0.05,-1.00) r=0.71m
+[headless_play] t=  7.00s step= 350 trunk_z= 120.8mm grav_b=(+0.03,+0.04,-1.00) r=0.73m
+[headless_play] t=  7.10s step= 355 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.75m
+[headless_play] t=  7.20s step= 360 trunk_z= 121.4mm grav_b=(-0.02,-0.06,-1.00) r=0.77m
+[headless_play] t=  7.30s step= 365 trunk_z= 121.3mm grav_b=(+0.02,-0.06,-1.00) r=0.79m
+[headless_play] t=  7.40s step= 370 trunk_z= 115.1mm grav_b=(+0.01,-0.04,-1.00) r=0.81m
+[headless_play] t=  7.50s step= 375 trunk_z= 120.9mm grav_b=(-0.02,+0.06,-1.00) r=0.83m
+[headless_play] t=  7.60s step= 380 trunk_z= 120.4mm grav_b=(-0.01,+0.03,-1.00) r=0.84m
+[headless_play] t=  7.70s step= 385 trunk_z= 115.8mm grav_b=(-0.01,-0.05,-1.00) r=0.86m
+[headless_play] t=  7.80s step= 390 trunk_z= 121.6mm grav_b=(+0.01,-0.05,-1.00) r=0.88m
+[headless_play] t=  7.90s step= 395 trunk_z= 116.6mm grav_b=(+0.04,-0.04,-1.00) r=0.90m
+[headless_play] t=  8.00s step= 400 trunk_z= 116.0mm grav_b=(-0.02,+0.07,-1.00) r=0.92m
+[headless_play] t=  8.10s step= 405 trunk_z= 121.7mm grav_b=(+0.00,+0.10,-0.99) r=0.94m
+[headless_play] t=  8.20s step= 410 trunk_z= 119.0mm grav_b=(+0.04,+0.10,-0.99) r=0.96m
+[headless_play] t=  8.30s step= 415 trunk_z= 116.1mm grav_b=(+0.01,-0.03,-1.00) r=0.98m
+[headless_play] t=  8.40s step= 420 trunk_z= 120.3mm grav_b=(+0.01,-0.14,-0.99) r=1.01m
+[headless_play] t=  8.50s step= 425 trunk_z= 115.3mm grav_b=(+0.03,-0.12,-0.99) r=1.03m
+[headless_play] t=  8.60s step= 430 trunk_z= 108.3mm grav_b=(+0.03,-0.09,-1.00) r=1.07m
+[headless_play] t=  8.70s step= 435 trunk_z= 105.4mm grav_b=(+0.05,+0.07,-1.00) r=1.10m
+[headless_play] t=  8.80s step= 440 trunk_z= 103.0mm grav_b=(+0.07,+0.10,-0.99) r=1.12m
+[headless_play] t=  8.90s step= 445 trunk_z= 102.3mm grav_b=(+0.04,+0.02,-1.00) r=1.15m
+[headless_play] t=  9.00s step= 450 trunk_z= 101.0mm grav_b=(+0.03,-0.12,-0.99) r=1.19m
+[headless_play] t=  9.10s step= 455 trunk_z=  94.2mm grav_b=(+0.03,-0.10,-0.99) r=1.23m
+[headless_play] t=  9.20s step= 460 trunk_z=  78.6mm grav_b=(+0.05,-0.05,-1.00) r=1.28m
+[headless_play] t=  9.30s step= 465 trunk_z=  81.5mm grav_b=(+0.05,+0.06,-1.00) r=1.31m
+[headless_play] t=  9.40s step= 470 trunk_z=  79.4mm grav_b=(+0.05,+0.06,-1.00) r=1.34m
+[headless_play] t=  9.50s step= 475 trunk_z=  74.7mm grav_b=(+0.01,-0.04,-1.00) r=1.37m
+[headless_play] t=  9.60s step= 480 trunk_z=  77.8mm grav_b=(-0.01,-0.14,-0.99) r=1.41m
+[headless_play] t=  9.70s step= 485 trunk_z=  68.9mm grav_b=(+0.01,-0.11,-0.99) r=1.44m
+[headless_play] t=  9.80s step= 490 trunk_z=  56.8mm grav_b=(+0.02,-0.03,-1.00) r=1.48m
+[headless_play] t=  9.90s step= 495 trunk_z=  58.6mm grav_b=(+0.03,+0.12,-0.99) r=1.52m
+[headless_play] t= 10.00s step= 500 trunk_z=  58.2mm grav_b=(+0.06,+0.14,-0.99) r=1.54m
+[headless_play] t= 10.10s step= 505 trunk_z=  61.6mm grav_b=(-0.01,+0.05,-1.00) r=1.57m
+[headless_play] t= 10.20s step= 510 trunk_z=  54.8mm grav_b=(-0.02,-0.15,-0.99) r=1.61m
+[headless_play] t= 10.30s step= 515 trunk_z=  55.3mm grav_b=(-0.03,-0.14,-0.99) r=1.64m
+[headless_play] t= 10.40s step= 520 trunk_z=  43.9mm grav_b=(+0.02,-0.13,-0.99) r=1.67m
+[headless_play] t= 10.50s step= 525 trunk_z=  37.5mm grav_b=(+0.07,+0.00,-1.00) r=1.69m
+[headless_play] t= 10.60s step= 530 trunk_z=  40.9mm grav_b=(+0.07,+0.05,-1.00) r=1.71m
+[headless_play] t= 10.70s step= 535 trunk_z=  43.4mm grav_b=(+0.01,+0.02,-1.00) r=1.72m
+[headless_play] t= 10.80s step= 540 trunk_z=  43.1mm grav_b=(+0.00,-0.11,-0.99) r=1.75m
+[headless_play] t= 10.90s step= 545 trunk_z=  39.7mm grav_b=(-0.01,-0.10,-0.99) r=1.77m
+[headless_play] t= 11.00s step= 550 trunk_z=  30.1mm grav_b=(+0.01,-0.06,-1.00) r=1.81m
+[headless_play] t= 11.10s step= 555 trunk_z=  28.1mm grav_b=(+0.02,+0.07,-1.00) r=1.84m
+[headless_play] t= 11.20s step= 560 trunk_z=  27.3mm grav_b=(+0.03,+0.11,-0.99) r=1.86m
+[headless_play] t= 11.30s step= 565 trunk_z=  24.2mm grav_b=(+0.03,+0.05,-1.00) r=1.86m
+[headless_play] t= 11.40s step= 570 trunk_z=  29.1mm grav_b=(-0.00,-0.06,-1.00) r=1.87m
+[headless_play] t= 11.50s step= 575 trunk_z=  28.9mm grav_b=(+0.04,-0.06,-1.00) r=1.89m
+[headless_play] t= 11.60s step= 580 trunk_z=  20.6mm grav_b=(+0.04,-0.01,-1.00) r=1.92m
+[headless_play] t= 11.70s step= 585 trunk_z=  28.2mm grav_b=(+0.05,+0.11,-0.99) r=1.96m
+[headless_play] t= 11.80s step= 590 trunk_z=  31.1mm grav_b=(+0.03,+0.13,-0.99) r=1.99m
+[headless_play] t= 11.90s step= 595 trunk_z=  18.7mm grav_b=(-0.04,+0.02,-1.00) r=2.03m
+[headless_play] t= 12.00s step= 600 trunk_z=  24.7mm grav_b=(-0.05,-0.06,-1.00) r=2.08m
+[headless_play] t= 12.10s step= 605 trunk_z=  12.6mm grav_b=(+0.01,-0.07,-1.00) r=2.10m
+[headless_play] t= 12.20s step= 610 trunk_z=  12.0mm grav_b=(+0.04,+0.00,-1.00) r=2.13m
+[headless_play] t= 12.30s step= 615 trunk_z=  16.3mm grav_b=(+0.04,-0.01,-1.00) r=2.16m
+[headless_play] t= 12.40s step= 620 trunk_z=   1.4mm grav_b=(-0.04,-0.06,-1.00) r=2.19m
+[headless_play] t= 12.50s step= 625 trunk_z=   9.8mm grav_b=(-0.08,-0.09,-0.99) r=2.22m
+[headless_play] t= 12.60s step= 630 trunk_z=   7.0mm grav_b=(-0.07,-0.06,-1.00) r=2.24m
+[headless_play] t= 12.70s step= 635 trunk_z=  -0.7mm grav_b=(-0.05,+0.04,-1.00) r=2.28m
+[headless_play] t= 12.80s step= 640 trunk_z=   9.2mm grav_b=(+0.02,+0.11,-0.99) r=2.30m
+[headless_play] t= 12.90s step= 645 trunk_z=  13.8mm grav_b=(+0.01,+0.13,-0.99) r=2.32m
+[headless_play] t= 13.00s step= 650 trunk_z=   9.7mm grav_b=(-0.04,+0.01,-1.00) r=2.35m
+[headless_play] t= 13.10s step= 655 trunk_z=   9.8mm grav_b=(-0.08,-0.03,-1.00) r=2.38m
+[headless_play] t= 13.20s step= 660 trunk_z=  -2.7mm grav_b=(-0.01,-0.06,-1.00) r=2.41m
+[headless_play] t= 13.30s step= 665 trunk_z=  -0.1mm grav_b=(+0.01,+0.04,-1.00) r=2.44m
+[headless_play] t= 13.40s step= 670 trunk_z=   5.2mm grav_b=(+0.03,+0.06,-1.00) r=2.46m
+[headless_play] t= 13.50s step= 675 trunk_z=   0.7mm grav_b=(-0.04,+0.01,-1.00) r=2.48m
+[headless_play] t= 13.60s step= 680 trunk_z=  -1.0mm grav_b=(-0.12,-0.12,-0.99) r=2.50m
+[headless_play] t= 13.70s step= 685 trunk_z=   2.6mm grav_b=(-0.06,-0.08,-1.00) r=2.51m
+[headless_play] t= 13.80s step= 690 trunk_z=  -5.9mm grav_b=(-0.06,-0.08,-1.00) r=2.54m
+[headless_play] t= 13.90s step= 695 trunk_z=  -1.0mm grav_b=(-0.00,+0.07,-1.00) r=2.57m
+[headless_play] t= 14.00s step= 700 trunk_z=   2.7mm grav_b=(+0.02,+0.09,-1.00) r=2.59m
+[headless_play] t= 14.10s step= 705 trunk_z=   0.9mm grav_b=(+0.01,+0.04,-1.00) r=2.60m
+[headless_play] t= 14.20s step= 710 trunk_z=  -1.6mm grav_b=(-0.05,-0.07,-1.00) r=2.60m
+[headless_play] t= 14.30s step= 715 trunk_z=   0.3mm grav_b=(-0.03,-0.06,-1.00) r=2.62m
+[headless_play] t= 14.40s step= 720 trunk_z=  -7.5mm grav_b=(-0.04,-0.06,-1.00) r=2.65m
+[headless_play] t= 14.50s step= 725 trunk_z=  -0.5mm grav_b=(-0.02,+0.03,-1.00) r=2.68m
+[headless_play] t= 14.60s step= 730 trunk_z=   3.1mm grav_b=(+0.02,+0.05,-1.00) r=2.69m
+[headless_play] t= 14.70s step= 735 trunk_z=  -0.4mm grav_b=(+0.04,-0.01,-1.00) r=2.69m
+[headless_play] t= 14.80s step= 740 trunk_z=  -1.9mm grav_b=(+0.01,+0.00,-1.00) r=2.70m
+[headless_play] t= 14.90s step= 745 trunk_z=  -8.3mm grav_b=(-0.02,+0.03,-1.00) r=2.71m
+[headless_play] t= 15.00s step= 750 trunk_z=  -8.0mm grav_b=(-0.07,+0.03,-1.00) r=2.71m
+[headless_play] t= 15.10s step= 755 trunk_z=  -8.5mm grav_b=(-0.09,+0.05,-0.99) r=2.72m
+[headless_play] t= 15.20s step= 760 trunk_z=  -9.5mm grav_b=(+0.00,-0.00,-1.00) r=2.71m
+[headless_play] t= 15.30s step= 765 trunk_z= -11.3mm grav_b=(+0.09,+0.02,-1.00) r=2.71m
+[headless_play] t= 15.40s step= 770 trunk_z= -11.7mm grav_b=(+0.06,+0.05,-1.00) r=2.72m
+[headless_play] t= 15.50s step= 775 trunk_z=  -8.2mm grav_b=(+0.03,+0.04,-1.00) r=2.73m
+[headless_play] t= 15.60s step= 780 trunk_z=  -8.2mm grav_b=(-0.01,+0.03,-1.00) r=2.73m
+[headless_play] t= 15.70s step= 785 trunk_z=  -9.3mm grav_b=(-0.06,+0.02,-1.00) r=2.73m
+[headless_play] t= 15.80s step= 790 trunk_z= -10.0mm grav_b=(-0.08,+0.04,-1.00) r=2.73m
+[headless_play] t= 15.90s step= 795 trunk_z=  -9.4mm grav_b=(-0.05,+0.04,-1.00) r=2.73m
+[headless_play] t= 16.00s step= 800 trunk_z= -15.7mm grav_b=(-0.03,+0.07,-1.00) r=2.75m
+[headless_play] t= 16.10s step= 805 trunk_z= -14.9mm grav_b=(-0.05,+0.06,-1.00) r=2.75m
+[headless_play] t= 16.20s step= 810 trunk_z= -11.2mm grav_b=(-0.01,+0.02,-1.00) r=2.74m
+[headless_play] t= 16.30s step= 815 trunk_z= -11.6mm grav_b=(-0.04,+0.06,-1.00) r=2.75m
+[headless_play] t= 16.40s step= 820 trunk_z= -12.8mm grav_b=(-0.05,+0.05,-1.00) r=2.75m
+[headless_play] t= 16.50s step= 825 trunk_z= -10.8mm grav_b=(-0.05,+0.04,-1.00) r=2.75m
+[headless_play] t= 16.60s step= 830 trunk_z= -11.1mm grav_b=(-0.05,+0.06,-1.00) r=2.75m
+[headless_play] t= 16.70s step= 835 trunk_z= -11.0mm grav_b=(-0.05,+0.05,-1.00) r=2.75m
+[headless_play] t= 16.80s step= 840 trunk_z= -11.3mm grav_b=(-0.05,+0.05,-1.00) r=2.75m
+[headless_play] t= 16.90s step= 845 trunk_z= -10.3mm grav_b=(-0.04,+0.05,-1.00) r=2.75m
+[headless_play] t= 17.00s step= 850 trunk_z= -10.9mm grav_b=(-0.03,+0.05,-1.00) r=2.75m
+[headless_play] t= 17.10s step= 855 trunk_z= -10.2mm grav_b=(-0.03,+0.04,-1.00) r=2.75m
+[headless_play] t= 17.20s step= 860 trunk_z= -10.0mm grav_b=(-0.03,+0.04,-1.00) r=2.74m
+[headless_play] t= 17.30s step= 865 trunk_z= -10.2mm grav_b=(-0.03,+0.05,-1.00) r=2.74m
+[headless_play] t= 17.40s step= 870 trunk_z=  -9.5mm grav_b=(-0.03,+0.03,-1.00) r=2.74m
+[headless_play] t= 17.50s step= 875 trunk_z=  -9.6mm grav_b=(-0.04,+0.05,-1.00) r=2.74m
+[headless_play] t= 17.60s step= 880 trunk_z= -11.3mm grav_b=(-0.04,+0.05,-1.00) r=2.74m
+[headless_play] t= 17.70s step= 885 trunk_z= -13.0mm grav_b=(-0.04,+0.10,-0.99) r=2.75m
+[headless_play] t= 17.80s step= 890 trunk_z=  -9.6mm grav_b=(-0.03,+0.05,-1.00) r=2.74m
+[headless_play] t= 17.90s step= 895 trunk_z=  -9.5mm grav_b=(-0.04,+0.04,-1.00) r=2.74m
+[headless_play] t= 18.00s step= 900 trunk_z= -11.9mm grav_b=(-0.05,+0.04,-1.00) r=2.75m
+[headless_play] t= 18.10s step= 905 trunk_z= -10.5mm grav_b=(-0.07,+0.06,-1.00) r=2.75m
+[headless_play] t= 18.20s step= 910 trunk_z= -11.6mm grav_b=(-0.03,-0.00,-1.00) r=2.74m
+[headless_play] t= 18.30s step= 915 trunk_z= -12.8mm grav_b=(-0.06,+0.01,-1.00) r=2.74m
+[headless_play] t= 18.40s step= 920 trunk_z= -13.6mm grav_b=(-0.03,+0.01,-1.00) r=2.74m
+[headless_play] t= 18.50s step= 925 trunk_z= -13.2mm grav_b=(-0.01,-0.01,-1.00) r=2.74m
+[headless_play] t= 18.60s step= 930 trunk_z= -15.2mm grav_b=(+0.01,+0.03,-1.00) r=2.74m
+[headless_play] t= 18.70s step= 935 trunk_z= -23.2mm grav_b=(+0.04,-0.02,-1.00) r=2.73m
+[headless_play] t= 18.80s step= 940 trunk_z= -15.3mm grav_b=(+0.05,-0.04,-1.00) r=2.73m
+[headless_play] t= 18.90s step= 945 trunk_z= -14.5mm grav_b=(+0.04,+0.01,-1.00) r=2.74m
+[headless_play] t= 19.00s step= 950 trunk_z= -13.6mm grav_b=(+0.03,+0.04,-1.00) r=2.75m
+[headless_play] t= 19.10s step= 955 trunk_z= -10.8mm grav_b=(-0.00,+0.02,-1.00) r=2.75m
+[headless_play] t= 19.20s step= 960 trunk_z= -12.4mm grav_b=(-0.00,+0.03,-1.00) r=2.75m
+[headless_play] t= 19.30s step= 965 trunk_z= -13.4mm grav_b=(-0.01,+0.02,-1.00) r=2.75m
+[headless_play] t= 19.40s step= 970 trunk_z= -12.6mm grav_b=(+0.00,+0.05,-1.00) r=2.75m
+[headless_play] t= 19.50s step= 975 trunk_z= -14.7mm grav_b=(+0.03,+0.03,-1.00) r=2.74m
+[headless_play] t= 19.60s step= 980 trunk_z= -11.8mm grav_b=(+0.03,-0.00,-1.00) r=2.74m
+[headless_play] t= 19.70s step= 985 trunk_z= -12.3mm grav_b=(+0.02,+0.00,-1.00) r=2.74m
+[headless_play] t= 19.80s step= 990 trunk_z= -12.5mm grav_b=(-0.02,+0.01,-1.00) r=2.75m
+[headless_play] t= 19.90s step= 995 trunk_z= -11.3mm grav_b=(-0.02,-0.00,-1.00) r=2.75m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.33m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.33m
+[headless_play] done

level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t1.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_10000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0
+[headless_play] no-push: push_robot dropped
+[headless_play] no-bounds: out_of_terrain_bounds dropped
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 122.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.463,-18.386,+0.249)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.8mm grav_b=(-0.01,-0.00,-1.00) r=0.60m
+[headless_play] t=  0.10s step=   5 trunk_z= 115.0mm grav_b=(-0.00,-0.01,-1.00) r=0.61m
+[headless_play] t=  0.20s step=  10 trunk_z= 115.0mm grav_b=(-0.00,+0.05,-1.00) r=0.62m
+[headless_play] t=  0.30s step=  15 trunk_z= 113.0mm grav_b=(-0.03,+0.10,-0.99) r=0.64m
+[headless_play] t=  0.40s step=  20 trunk_z= 118.4mm grav_b=(-0.05,+0.05,-1.00) r=0.64m
+[headless_play] t=  0.50s step=  25 trunk_z= 114.2mm grav_b=(-0.03,+0.02,-1.00) r=0.63m
+[headless_play] t=  0.60s step=  30 trunk_z= 112.7mm grav_b=(-0.01,-0.02,-1.00) r=0.63m
+[headless_play] t=  0.70s step=  35 trunk_z= 110.5mm grav_b=(+0.04,+0.00,-1.00) r=0.64m
+[headless_play] t=  0.80s step=  40 trunk_z= 107.4mm grav_b=(+0.03,+0.08,-1.00) r=0.67m
+[headless_play] t=  0.90s step=  45 trunk_z= 116.6mm grav_b=(+0.03,+0.06,-1.00) r=0.69m
+[headless_play] t=  1.00s step=  50 trunk_z= 110.6mm grav_b=(+0.04,+0.03,-1.00) r=0.70m
+[headless_play] t=  1.10s step=  55 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=0.71m
+[headless_play] t=  1.20s step=  60 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.72m
+[headless_play] t=  1.30s step=  65 trunk_z= 108.4mm grav_b=(+0.01,+0.07,-1.00) r=0.74m
+[headless_play] t=  1.40s step=  70 trunk_z= 118.2mm grav_b=(-0.01,+0.07,-1.00) r=0.76m
+[headless_play] t=  1.50s step=  75 trunk_z= 115.3mm grav_b=(+0.00,+0.04,-1.00) r=0.76m
+[headless_play] t=  1.60s step=  80 trunk_z= 111.5mm grav_b=(+0.04,-0.01,-1.00) r=0.77m
+[headless_play] t=  1.70s step=  85 trunk_z= 114.4mm grav_b=(+0.05,+0.00,-1.00) r=0.78m
+[headless_play] t=  1.80s step=  90 trunk_z= 110.4mm grav_b=(+0.03,+0.05,-1.00) r=0.80m
+[headless_play] t=  1.90s step=  95 trunk_z= 117.9mm grav_b=(-0.02,+0.08,-1.00) r=0.82m
+[headless_play] t=  2.00s step= 100 trunk_z= 118.1mm grav_b=(-0.03,+0.04,-1.00) r=0.83m
+[headless_play] t=  2.10s step= 105 trunk_z= 110.1mm grav_b=(+0.00,-0.00,-1.00) r=0.83m
+[headless_play] t=  2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.03,+0.00,-1.00) r=0.84m
+[headless_play] t=  2.30s step= 115 trunk_z= 109.6mm grav_b=(+0.03,+0.04,-1.00) r=0.86m
+[headless_play] t=  2.40s step= 120 trunk_z= 115.4mm grav_b=(+0.00,+0.09,-1.00) r=0.88m
+[headless_play] t=  2.50s step= 125 trunk_z= 117.7mm grav_b=(-0.01,+0.05,-1.00) r=0.89m
+[headless_play] t=  2.60s step= 130 trunk_z= 109.1mm grav_b=(+0.03,+0.00,-1.00) r=0.90m
+[headless_play] t=  2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.02,-0.04,-1.00) r=0.90m
+[headless_play] t=  2.80s step= 140 trunk_z= 115.6mm grav_b=(-0.02,+0.00,-1.00) r=0.91m
+[headless_play] t=  2.90s step= 145 trunk_z= 119.1mm grav_b=(-0.03,+0.07,-1.00) r=0.93m
+[headless_play] t=  3.00s step= 150 trunk_z= 121.4mm grav_b=(-0.01,+0.07,-1.00) r=0.94m
+[headless_play] t=  3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.01,+0.04,-1.00) r=0.96m
+[headless_play] t=  3.20s step= 160 trunk_z= 115.4mm grav_b=(+0.00,-0.08,-1.00) r=0.98m
+[headless_play] t=  3.30s step= 165 trunk_z= 118.0mm grav_b=(+0.02,-0.07,-1.00) r=1.00m
+[headless_play] t=  3.40s step= 170 trunk_z= 114.5mm grav_b=(+0.00,-0.05,-1.00) r=1.01m
+[headless_play] t=  3.50s step= 175 trunk_z= 111.2mm grav_b=(-0.02,+0.08,-1.00) r=1.03m
+[headless_play] t=  3.60s step= 180 trunk_z= 111.0mm grav_b=(+0.02,+0.05,-1.00) r=1.06m
+[headless_play] t=  3.70s step= 185 trunk_z= 106.1mm grav_b=(+0.04,+0.02,-1.00) r=1.09m
+[headless_play] t=  3.80s step= 190 trunk_z= 100.3mm grav_b=(-0.00,-0.07,-1.00) r=1.12m
+[headless_play] t=  3.90s step= 195 trunk_z= 100.5mm grav_b=(-0.03,-0.06,-1.00) r=1.15m
+[headless_play] t=  4.00s step= 200 trunk_z=  92.3mm grav_b=(-0.06,+0.01,-1.00) r=1.17m
+[headless_play] t=  4.10s step= 205 trunk_z=  95.3mm grav_b=(-0.03,+0.11,-0.99) r=1.19m
+[headless_play] t=  4.20s step= 210 trunk_z=  95.4mm grav_b=(-0.00,+0.08,-1.00) r=1.20m
+[headless_play] t=  4.30s step= 215 trunk_z=  90.4mm grav_b=(+0.00,+0.05,-1.00) r=1.22m
+[headless_play] t=  4.40s step= 220 trunk_z=  81.6mm grav_b=(+0.00,-0.07,-1.00) r=1.25m
+[headless_play] t=  4.50s step= 225 trunk_z=  87.5mm grav_b=(-0.00,-0.08,-1.00) r=1.28m
+[headless_play] t=  4.60s step= 230 trunk_z=  84.0mm grav_b=(-0.01,-0.06,-1.00) r=1.30m
+[headless_play] t=  4.70s step= 235 trunk_z=  74.0mm grav_b=(+0.01,+0.06,-1.00) r=1.33m
+[headless_play] t=  4.80s step= 240 trunk_z=  76.4mm grav_b=(+0.02,+0.06,-1.00) r=1.35m
+[headless_play] t=  4.90s step= 245 trunk_z=  71.2mm grav_b=(+0.04,+0.03,-1.00) r=1.37m
+[headless_play] t=  5.00s step= 250 trunk_z=  65.0mm grav_b=(-0.00,-0.07,-1.00) r=1.40m
+[headless_play] t=  5.10s step= 255 trunk_z=  68.2mm grav_b=(-0.02,-0.05,-1.00) r=1.43m
+[headless_play] t=  5.20s step= 260 trunk_z=  60.4mm grav_b=(-0.03,+0.00,-1.00) r=1.46m
+[headless_play] t=  5.30s step= 265 trunk_z=  61.2mm grav_b=(-0.03,+0.12,-0.99) r=1.49m
+[headless_play] t=  5.40s step= 270 trunk_z=  61.7mm grav_b=(+0.01,+0.06,-1.00) r=1.51m
+[headless_play] t=  5.50s step= 275 trunk_z=  56.5mm grav_b=(+0.00,+0.04,-1.00) r=1.53m
+[headless_play] t=  5.60s step= 280 trunk_z=  52.7mm grav_b=(+0.01,-0.07,-1.00) r=1.57m
+[headless_play] t=  5.70s step= 285 trunk_z=  55.4mm grav_b=(-0.02,-0.05,-1.00) r=1.59m
+[headless_play] t=  5.80s step= 290 trunk_z=  46.1mm grav_b=(-0.05,-0.00,-1.00) r=1.62m
+[headless_play] t=  5.90s step= 295 trunk_z=  45.5mm grav_b=(-0.03,+0.08,-1.00) r=1.65m
+[headless_play] t=  6.00s step= 300 trunk_z=  43.8mm grav_b=(+0.01,+0.06,-1.00) r=1.67m
+[headless_play] t=  6.10s step= 305 trunk_z=  35.2mm grav_b=(+0.02,-0.01,-1.00) r=1.68m
+[headless_play] t=  6.20s step= 310 trunk_z=  41.1mm grav_b=(+0.01,-0.05,-1.00) r=1.70m
+[headless_play] t=  6.30s step= 315 trunk_z=  37.5mm grav_b=(+0.01,-0.02,-1.00) r=1.72m
+[headless_play] t=  6.40s step= 320 trunk_z=  33.2mm grav_b=(+0.00,+0.08,-1.00) r=1.75m
+[headless_play] t=  6.50s step= 325 trunk_z=  35.2mm grav_b=(+0.02,+0.08,-1.00) r=1.77m
+[headless_play] t=  6.60s step= 330 trunk_z=  29.4mm grav_b=(+0.04,+0.04,-1.00) r=1.78m
+[headless_play] t=  6.70s step= 335 trunk_z=  30.5mm grav_b=(+0.02,-0.06,-1.00) r=1.80m
+[headless_play] t=  6.80s step= 340 trunk_z=  32.2mm grav_b=(-0.00,-0.05,-1.00) r=1.83m
+[headless_play] t=  6.90s step= 345 trunk_z=  21.6mm grav_b=(-0.03,+0.05,-1.00) r=1.86m
+[headless_play] t=  7.00s step= 350 trunk_z=  26.5mm grav_b=(-0.02,+0.09,-1.00) r=1.89m
+[headless_play] t=  7.10s step= 355 trunk_z=  21.6mm grav_b=(+0.01,+0.06,-1.00) r=1.90m
+[headless_play] t=  7.20s step= 360 trunk_z=  13.7mm grav_b=(+0.00,-0.01,-1.00) r=1.91m
+[headless_play] t=  7.30s step= 365 trunk_z=  16.4mm grav_b=(+0.02,-0.02,-1.00) r=1.93m
+[headless_play] t=  7.40s step= 370 trunk_z=   8.1mm grav_b=(+0.07,+0.03,-1.00) r=1.95m
+[headless_play] t=  7.50s step= 375 trunk_z=  11.0mm grav_b=(+0.02,+0.10,-0.99) r=1.98m
+[headless_play] t=  7.60s step= 380 trunk_z=   9.5mm grav_b=(+0.06,+0.06,-1.00) r=2.00m
+[headless_play] t=  7.70s step= 385 trunk_z=   3.7mm grav_b=(+0.05,+0.01,-1.00) r=2.01m
+[headless_play] t=  7.80s step= 390 trunk_z=  10.0mm grav_b=(-0.01,-0.07,-1.00) r=2.03m
+[headless_play] t=  7.90s step= 395 trunk_z=   7.8mm grav_b=(+0.01,-0.04,-1.00) r=2.05m
+[headless_play] t=  8.00s step= 400 trunk_z=  -0.9mm grav_b=(+0.01,+0.05,-1.00) r=2.07m
+[headless_play] t=  8.10s step= 405 trunk_z=   2.4mm grav_b=(+0.06,+0.07,-1.00) r=2.09m
+[headless_play] t=  8.20s step= 410 trunk_z=  -2.0mm grav_b=(+0.10,+0.01,-1.00) r=2.09m
+[headless_play] t=  8.30s step= 415 trunk_z=  -0.8mm grav_b=(+0.08,-0.00,-1.00) r=2.09m
+[headless_play] t=  8.40s step= 420 trunk_z=  -0.7mm grav_b=(+0.08,+0.02,-1.00) r=2.09m
+[headless_play] t=  8.50s step= 425 trunk_z=   0.3mm grav_b=(+0.08,+0.02,-1.00) r=2.09m
+[headless_play] t=  8.60s step= 430 trunk_z=   1.1mm grav_b=(+0.06,+0.01,-1.00) r=2.08m
+[headless_play] t=  8.70s step= 435 trunk_z=   1.4mm grav_b=(+0.05,+0.01,-1.00) r=2.08m
+[headless_play] t=  8.80s step= 440 trunk_z=   1.2mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  8.90s step= 445 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.00s step= 450 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.10s step= 455 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.20s step= 460 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.30s step= 465 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.40s step= 470 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.50s step= 475 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.60s step= 480 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.70s step= 485 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.80s step= 490 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t=  9.90s step= 495 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.00s step= 500 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.10s step= 505 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.20s step= 510 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.30s step= 515 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.40s step= 520 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.50s step= 525 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.60s step= 530 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.70s step= 535 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.80s step= 540 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 10.90s step= 545 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.00s step= 550 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.10s step= 555 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.20s step= 560 trunk_z=   1.2mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.30s step= 565 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.40s step= 570 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.50s step= 575 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.60s step= 580 trunk_z=   1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.70s step= 585 trunk_z=   1.4mm grav_b=(+0.04,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.80s step= 590 trunk_z=   1.5mm grav_b=(+0.04,+0.01,-1.00) r=2.08m
+[headless_play] t= 11.90s step= 595 trunk_z=   1.5mm grav_b=(+0.04,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.00s step= 600 trunk_z=   1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.10s step= 605 trunk_z=   1.3mm grav_b=(+0.03,+0.00,-1.00) r=2.08m
+[headless_play] t= 12.20s step= 610 trunk_z=   1.3mm grav_b=(+0.03,+0.00,-1.00) r=2.08m
+[headless_play] t= 12.30s step= 615 trunk_z=   1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.40s step= 620 trunk_z=   1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.50s step= 625 trunk_z=   1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.60s step= 630 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.70s step= 635 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.80s step= 640 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 12.90s step= 645 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 13.00s step= 650 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 13.10s step= 655 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 13.20s step= 660 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 13.30s step= 665 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 13.40s step= 670 trunk_z=   1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m
+[headless_play] t= 13.50s step= 675 trunk_z=   1.1mm grav_b=(+0.03,+0.01,-1.00) r=2.09m
+[headless_play] t= 13.60s step= 680 trunk_z=   2.6mm grav_b=(+0.04,+0.05,-1.00) r=2.09m
+[headless_play] t= 13.70s step= 685 trunk_z=   4.5mm grav_b=(+0.04,+0.01,-1.00) r=2.11m
+[headless_play] t= 13.80s step= 690 trunk_z=  -1.7mm grav_b=(+0.02,-0.08,-1.00) r=2.13m
+[headless_play] t= 13.90s step= 695 trunk_z=   5.5mm grav_b=(+0.03,-0.09,-1.00) r=2.15m
+[headless_play] t= 14.00s step= 700 trunk_z=   6.0mm grav_b=(+0.03,-0.07,-1.00) r=2.17m
+[headless_play] t= 14.10s step= 705 trunk_z=  -4.3mm grav_b=(-0.00,-0.01,-1.00) r=2.20m
+[headless_play] t= 14.20s step= 710 trunk_z=  -1.0mm grav_b=(-0.01,-0.00,-1.00) r=2.21m
+[headless_play] t= 14.30s step= 715 trunk_z=  -4.5mm grav_b=(-0.05,-0.01,-1.00) r=2.21m
+[headless_play] t= 14.40s step= 720 trunk_z=  -2.4mm grav_b=(-0.07,-0.02,-1.00) r=2.21m
+[headless_play] t= 14.50s step= 725 trunk_z=  -3.8mm grav_b=(-0.08,+0.03,-1.00) r=2.22m
+[headless_play] t= 14.60s step= 730 trunk_z=  -1.2mm grav_b=(-0.06,+0.08,-0.99) r=2.22m
+[headless_play] t= 14.70s step= 735 trunk_z=  -1.5mm grav_b=(-0.06,+0.06,-1.00) r=2.22m
+[headless_play] t= 14.80s step= 740 trunk_z=  -9.5mm grav_b=(-0.03,-0.03,-1.00) r=2.20m
+[headless_play] t= 14.90s step= 745 trunk_z=  -1.5mm grav_b=(-0.02,-0.04,-1.00) r=2.20m
+[headless_play] t= 15.00s step= 750 trunk_z=  -5.5mm grav_b=(-0.03,-0.00,-1.00) r=2.21m
+[headless_play] t= 15.10s step= 755 trunk_z=  -1.3mm grav_b=(+0.02,+0.07,-1.00) r=2.22m
+[headless_play] t= 15.20s step= 760 trunk_z=  -0.6mm grav_b=(+0.01,+0.04,-1.00) r=2.22m
+[headless_play] t= 15.30s step= 765 trunk_z=  -6.2mm grav_b=(-0.04,+0.02,-1.00) r=2.22m
+[headless_play] t= 15.40s step= 770 trunk_z=   0.6mm grav_b=(-0.10,-0.00,-1.00) r=2.22m
+[headless_play] t= 15.50s step= 775 trunk_z=  -4.6mm grav_b=(-0.09,+0.05,-0.99) r=2.22m
+[headless_play] t= 15.60s step= 780 trunk_z=   0.9mm grav_b=(-0.07,+0.08,-0.99) r=2.22m
+[headless_play] t= 15.70s step= 785 trunk_z=   1.7mm grav_b=(-0.02,+0.06,-1.00) r=2.21m
+[headless_play] t= 15.80s step= 790 trunk_z=  -5.3mm grav_b=(-0.02,-0.05,-1.00) r=2.21m
+[headless_play] t= 15.90s step= 795 trunk_z=   1.1mm grav_b=(-0.02,-0.03,-1.00) r=2.20m
+[headless_play] t= 16.00s step= 800 trunk_z=  -3.6mm grav_b=(-0.04,-0.01,-1.00) r=2.22m
+[headless_play] t= 16.10s step= 805 trunk_z=   2.5mm grav_b=(-0.07,+0.05,-1.00) r=2.23m
+[headless_play] t= 16.20s step= 810 trunk_z=   3.3mm grav_b=(-0.06,+0.03,-1.00) r=2.23m
+[headless_play] t= 16.30s step= 815 trunk_z=  -3.9mm grav_b=(-0.04,-0.03,-1.00) r=2.21m
+[headless_play] t= 16.40s step= 820 trunk_z=   3.3mm grav_b=(-0.04,-0.05,-1.00) r=2.21m
+[headless_play] t= 16.50s step= 825 trunk_z=   0.4mm grav_b=(-0.05,-0.04,-1.00) r=2.22m
+[headless_play] t= 16.60s step= 830 trunk_z=   2.6mm grav_b=(-0.07,+0.03,-1.00) r=2.24m
+[headless_play] t= 16.70s step= 835 trunk_z=   4.9mm grav_b=(-0.07,+0.01,-1.00) r=2.25m
+[headless_play] t= 16.80s step= 840 trunk_z=  -0.7mm grav_b=(-0.05,-0.03,-1.00) r=2.24m
+[headless_play] t= 16.90s step= 845 trunk_z=   4.0mm grav_b=(-0.04,-0.08,-1.00) r=2.23m
+[headless_play] t= 17.00s step= 850 trunk_z=  -0.0mm grav_b=(-0.09,-0.06,-0.99) r=2.23m
+[headless_play] t= 17.10s step= 855 trunk_z=  -1.5mm grav_b=(-0.13,-0.03,-0.99) r=2.23m
+[headless_play] t= 17.20s step= 860 trunk_z=  -2.0mm grav_b=(-0.14,-0.02,-0.99) r=2.23m
+[headless_play] t= 17.30s step= 865 trunk_z=  -2.0mm grav_b=(-0.14,-0.03,-0.99) r=2.23m
+[headless_play] t= 17.40s step= 870 trunk_z=  -1.2mm grav_b=(-0.10,-0.03,-0.99) r=2.23m
+[headless_play] t= 17.50s step= 875 trunk_z=  -8.8mm grav_b=(+0.01,+0.07,-1.00) r=2.22m
+[headless_play] t= 17.60s step= 880 trunk_z=  -4.8mm grav_b=(-0.03,+0.07,-1.00) r=2.22m
+[headless_play] t= 17.70s step= 885 trunk_z=  -5.2mm grav_b=(-0.02,+0.05,-1.00) r=2.21m
+[headless_play] t= 17.80s step= 890 trunk_z=  -6.4mm grav_b=(-0.05,+0.03,-1.00) r=2.20m
+[headless_play] t= 17.90s step= 895 trunk_z=  -6.1mm grav_b=(-0.07,+0.03,-1.00) r=2.20m
+[headless_play] t= 18.00s step= 900 trunk_z=  -5.7mm grav_b=(-0.05,+0.03,-1.00) r=2.21m
+[headless_play] t= 18.10s step= 905 trunk_z=  -5.8mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 18.20s step= 910 trunk_z=  -5.9mm grav_b=(-0.08,+0.03,-1.00) r=2.21m
+[headless_play] t= 18.30s step= 915 trunk_z=  -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 18.40s step= 920 trunk_z=  -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 18.50s step= 925 trunk_z=  -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 18.60s step= 930 trunk_z=  -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 18.70s step= 935 trunk_z=  -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 18.80s step= 940 trunk_z=  -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 18.90s step= 945 trunk_z=  -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 19.00s step= 950 trunk_z=  -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 19.10s step= 955 trunk_z=  -6.2mm grav_b=(-0.07,+0.04,-1.00) r=2.21m
+[headless_play] t= 19.20s step= 960 trunk_z=  -6.2mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.30s step= 965 trunk_z=  -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.40s step= 970 trunk_z=  -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.50s step= 975 trunk_z=  -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.60s step= 980 trunk_z=  -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.70s step= 985 trunk_z=  -6.4mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.80s step= 990 trunk_z=  -6.4mm grav_b=(-0.07,+0.03,-1.00) r=2.21m
+[headless_play] t= 19.90s step= 995 trunk_z=  -6.5mm grav_b=(-0.07,+0.03,-1.00) r=2.20m
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 126.0mm grav_b=(-0.01,+0.00,-1.00) r=0.49m
+[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.01,+0.03,-1.00) r=0.48m
+[headless_play] done