diff --git a/README.md b/README.md index 6e925bab62652bcbb903cbb2773965a63337afcf..66c8d95117dc0c0f78d0393c0c4b4a67421ead7e 100644 --- a/README.md +++ b/README.md @@ -43,6 +43,8 @@ Sibling dataset: [witcheer/microduck-hermes-runs](https://huggingface.co/dataset | 1c | walk with up to +60 g on its back, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Payload-MicroDuck` (our fork: trunk mass randomised over 0.95 to 1.30x instead of the maker's 0.95 to 1.05x, one parameter) | 3,000 on top of level 1b's 7,000 | 57 min (1.16 s/it) | not better than level 1b anywhere, 20 s takes: trunk at 1.30x (+60 g) with shoves 3 of 5 against 3 of 5, 1.30x without shoves 3 of 3 against 3 of 3, normal mass with shoves 3 of 5 against 4 of 5. Level 1b already carries the extra 60 g in sim; small samples | none: no gain over level 1b | | 1d | walk on slippery floors, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Slip-MicroDuck` (our fork: foot friction randomised over 0.2 to 1.3 instead of the maker's 0.7 to 1.3, one parameter) | 3,000 on top of level 1b's 7,000 | 58 min (1.15 s/it) | 20 s takes against level 1b: foot friction 0.2 with a shove every 0.5 to 1 s, on its feet in 8 of 15 against 1 of 15 (one-sided Fisher exact p = 0.0071); 0.2 without shoves 12 of 13 against 8 of 13 (p = 0.080, a lean); normal friction with shoves 9 of 15 against 8 of 15, no difference | [microduck-walk-slip](https://huggingface.co/witcheer/microduck-walk-slip) `@v1` (walk-flat stays the default walk: they tie at normal grip) | | 1e | walk over a single step, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Step-MicroDuck` (our fork: the maker's flat plane becomes a floor with one 1.5 m platform per 4 m tile, its top 10 to 25 mm above the floor, one change; the policy still has no terrain scan) | 3,000 on top of level 1b's 7,000 | 64 min (1.28 s/it) | 20 s takes against level 1b, walking straight ahead at 0.3 m/s off a 25 mm step: without shoves on its feet in 11 of 15 against at most 5 of 15 (one-sided Fisher exact p = 0.033); with a shove every 0.5 to 1 s 5 of 15 against 2 of 15 (p = 0.19); both pooled 16 of 30 against at most 7 of 30 (p = 0.016). Same layout at 1 mm with shoves 10 of 15 against at most 7 of 15 (two-sided p = 0.46; 'at most': walk-flat v2 takes cut short upright at the tile-grid edge count as held), so part of the gain may be general sturdiness. No take reached the next platform, so the step up is untested | [microduck-walk-step](https://huggingface.co/witcheer/microduck-walk-step) `@v1` (walk-flat stays the default walk) | +| 1g | walk on gentle hills, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck` (our fork: the maker's flat plane becomes a grid of 4 m tiles with one pyramid hill each, slope 0.05 to 0.15 rise per run, one change; no terrain scan) | 3,000 on top of level 1b's 7,000 | about 128 min (2.55 s/it, over two sittings) | 20 s takes against level 1b, walking straight ahead at 0.3 m/s off a 0.15 hilltop: both hill conditions pooled (the read picked in advance) 23 of 30 against 12 of 30 (one-sided Fisher exact p = 0.0041); without shoves 14 of 15 against 8 of 15, with the maker's play shoves 9 of 15 against 4 of 15 (p = 0.070, a hint alone); flat 1 mm control 10 of 15 each, no loss. Only the 0.15 hill was tested | [microduck-walk-slope](https://huggingface.co/witcheer/microduck-walk-slope) `@v1` (walk-flat stays the default walk) | +| 1h | one walk for a step, a slippery floor and harder shoves at once, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck` (our fork: 1e's step floor, 1d's foot friction 0.2 to 1.3 and the walk-push fork's doubled training shove together; it imports their task files) | 3,000 on top of level 1e's 10,000 | 64 min (1.29 s/it) | 20 s takes walking straight ahead at 0.3 m/s. All three at once against level 1b (picked in advance): 9 of 15 against 0 of 15 (one-sided p = 0.0003). No measurable loss against each single-condition policy on its own condition: step 10 of 15 against walk-step's 13 of 15 (two-sided p = 0.39), doubled shoves 10 of 15 against walk-push's 9 of 15 (p = 1.0), slippery floor with shoves 11 of 15 against walk-slip's 3 of 15 (p = 0.0092), a low draw for walk-slip (6 to 8 of 15 in three other sets), so no loss, not a win | [microduck-walk-mix](https://huggingface.co/witcheer/microduck-walk-mix) `@v1` (walk-flat stays the default walk) | | 8 | beak to the ground without touching it | `Mjlab-GroundPick-Flat-MicroDuck` | 20,000 planned | queued | | none: phase-driven, daemon-side | All budgets are the maker's `max_iterations` from the task config unless stated. Levels 1b, 2b, 3b and 5b are the maker's backlash variants of levels 1, 2, 3 and 5: a free hinge of ±1° in series with each of the 14 servo joints, with the joint encoder reading through the play as a real servo does. Each started from its level's final checkpoint, and each publishable one is v2 of that level's policy repo (v1 stays installable with `@v1`). Level 4b is the same for level 4 and is v2 of walk-rough. Levels 11, 11c and 11d were trained on the maker's public `soft_carpet` branch of microduck_rl (commit `695f3b7`), not on `53b8971`; 11 and 11c on flat ground, 11d on the ordered terrain ladder with the same local patches as 5c. Level 5c starts from level 5's final checkpoint and trains on the rough version of the same task, on a terrain laid out as an ordered difficulty ladder and with five local patches to the maker's code (in its `patches/` folder; the model card says what each does). Levels 1c and 1d are our own conditions, not the maker's: each is a separate task file in microduck_rl (a copy is in the level's `patches/` folder) that changes one parameter of `Mjlab-Velocity-Flat-Backlash-MicroDuck` and is registered by one import line, and each started from level 1b's final checkpoint (walk-flat v2). 4096 parallel environments, 24 steps per iteration, PPO from rsl_rl, tensorboard logging. @@ -53,14 +55,14 @@ All budgets are the maker's `max_iterations` from the task config unless stated. - `reward-curve.png`: mean reward per iteration, raw and a 50-iteration moving average. - `queue-item.sh`: the exact header that trained it. The shared body it sources is `tools/duck-train-body.sh` (resumable, checkpoint every 100 iterations, exports with the maker's `scripts/export.py`). - `manifest.json`: the schema-2 manifest `uv run publish` wrote for the policy repo, when there is one. -- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d and 1e so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). Verdicts are read from these numbers, not from the video. -- `patches/*.py` (levels 5c, 1c, 1d and 1e): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file. +- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d, 1e, 1g and 1h so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). In 1g, `z5-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a hilltop: `a` = 0.15 hill with the maker's play shoves, `b` = 0.15 hill without shoves, `c` = the same layout with 1 mm hills (control); `proof-takes/score.txt` is the scorer's output. Level 1b's videos for `a` were lost to a temp-folder clash between two batches running in parallel; its take logs are complete. In 1h, `z6-*` is the new policy against a rival per condition: `a` = 25 mm step + friction 0.2 + doubled shoves every 3 to 6 s against level 1b (`v2-*`), `b` = 25 mm step, friction 1.0, no shoves against walk-step (`z3-*`), `c` = 1 mm, friction 0.2, the maker's shove against walk-slip (`z2-*`), `d` = 1 mm, friction 1.0, doubled shoves every 3 to 6 s against walk-push (`z4-*`); `diag-z2c-*` are the two walk-slip re-runs behind the `c` caveat (`dg1-*` its own plane with the fixed command, `dg2-*` the 1h floor with random commands). Verdicts are read from these numbers, not from the video. +- `patches/*.py` (levels 5c, 1c, 1d, 1e, 1g and 1h): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file. 1g carries its fork task file and `ground_height_patch.py` (height terms measured from the ground under the feet, not the tile origin, which is what lets them see a slope); 1h carries its fork file, the three single-condition task files it imports, and the same ground patch. - `clip-*.mp4`: iteration 0 against the trained policy, same camera, same spawn, for levels 1, 5 and 6; both gear-play v2 walks side by side for level 1b, level 5 against 5b (both running with gear play) for level 5b, level 4b against level 4 on the hardest block-grid row with gear play (level 4 tips over at 7.1 s; the last frame is held 1.5 s), level 1d against level 1b at foot friction 0.2 with shoves for level 1d (a red box marks each fall, where the sim restarts the duck), level 1e against level 1b walking off a 25 mm step without shoves for level 1e (red box where level 1b falls and the sim restarts it, green box where level 1e walks down the step), the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet. ## Tools - `tools/headless_play.py`: records any checkpoint of any mjlab task over ssh with no display. Both of mjlab's play viewers fail headless (viser asserts on a degenerate command slider, the native one wants X11); this wrapper swaps them for a plain policy loop, lets play's own recorder write the mp4, forces the spawn state, overrides the episode length, prints every reset and samples trunk height and body-frame gravity at a chosen cadence. Copy it into the microduck_rl project dir and run with `uv run python`. -- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env. +- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env. `tools/proof-z5-*.sh`, `tools/z5-score-2026-10-16.py`, `tools/slope-play-check-2026-10-14.sh` and `tools/slope-calib-2026-10-14.sh`: the batches, scorer, slope-override check and control takes behind 1g. `tools/proof-z6-*.sh`, `tools/z6-score-2026-10-17.py`, `tools/upright-reset-check-2026-10-22.py`, `tools/worstcase-2026-10-22.py` and `tools/diag-z2c-*.sh`: the batches, scorer, upright-reset checks and walk-slip re-runs behind 1h. - `tools/duck-train-body.sh` and `tools/duck-lane.sh`: the queue item body and the weekday duck/bench alternation. Written for one specific box (paths under `/home/witcheer`); read them for the shape, not to run as-is. ## Things learnt on the way, in order @@ -88,6 +90,9 @@ All budgets are the maker's `max_iterations` from the task config unless stated. - A take aimed at a floor feature needs a fixed walking command. Play samples random commands, and a level 1b control take on the step floor stayed within 0.73 m of the platform centre (edge at 0.75 m) until a reset, so it never met the step. Every 1e take walks straight ahead at 0.3 m/s. - Keep a no-feature control on the same layout. Level 1e also held more takes than level 1b at 1 mm (10 of 15 against at most 7 of 15, two-sided p = 0.46), so some of its lead on the step may be general sturdiness under shoves rather than a step skill. Its training tracking error also rose (0.34 to 0.47 over the 100-iteration windows from the resume to the end). - A generated floor turns on a termination a plane never fires. Level 1e's training log shows `out_of_terrain_bounds` at 0.01 per iteration over the last 100 iterations (`fell_over` 0.81), so the fork file's comment that a 20 s episode cannot reach the bounds is not exact; `nan_state` fired in one iteration of 3,000. +- A rival's low score on its own condition needs a re-run before it means anything. In 1h, walk-slip held 3 of 15 on the slippery-floor check against 8 of 15 in its own takes. Same checkpoint, same friction and shove; the batch differed in the fixed walking command and the generated floor. Re-running each change alone gave 7 of 15 and 6 of 15, so it was a low draw on the harder setup, not a regression, and the line reads as no loss rather than a win. +- Parallel take batches need their own temp folders. Two batches named their takes the same way and one deleted the other's video folder mid-take; the logs survived because they go to stdout, the clips did not. +- A verdict watcher can die without a trace. 1g and 1h finished training on a Sunday and sat four days with no proof takes, because the watcher that should have started them logged one line and vanished. ## Posts diff --git a/level-01g-walk-slope/manifest.json b/level-01g-walk-slope/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbdfaedfeab609b74f265854f77353b1a3d5b24 --- /dev/null +++ b/level-01g-walk-slope/manifest.json @@ -0,0 +1,36 @@ +{ + "schema_version": 2, + "model_api": 1, + "obs_len": 61, + "action_len": 14, + "robot": { + "model": "microduck", + "hw_rev": 1, + "servos": "xl330", + "control_hz": 50 + }, + "name": "walk-slope", + "kind": "perpetual", + "entry_pose": "standing", + "description": "Walk on gentle hills with +-1 deg of gear play in every servo: walk-flat v2 plus 3,000 iterations (7,000 to 10,000) on a floor of pyramid hills, slope 0.05 to 0.15 rise per run (our one-change fork Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck), 4096 envs, about 128 min on one RTX 5090. Trained in simulation only. On a 0.15 hill, walking straight ahead at 0.3 m/s, it stayed on its feet for 20 s in 23 of 30 takes against 12 of 30 for walk-flat v2 (one-sided Fisher p 0.0041): 14 of 15 against 8 of 15 without shoves, 9 of 15 against 4 of 15 with shoves every 0.5-1 s. On the flat control both held 10 of 15. Only the 0.15 hill was tested, every take starting on a hilltop and walking off it. Not yet tested on a real Microduck.", + "command": { + "encoding": "constant", + "idle": [ + 0.0, + 0.0, + 0.0 + ], + "twist": "unused (zeros)", + "head": "unused (zeros)", + "body": "unused (zeros)" + }, + "duration_s": null, + "slot": "walk", + "training": { + "repo": "pollen-robotics/microduck_rl", + "commit": "53b8971b6", + "branch": "develop", + "dirty": true, + "source_file": "velslope-2026-10-18-it10000.onnx" + } +} diff --git a/level-01g-walk-slope/patches/ground_height_patch.py b/level-01g-walk-slope/patches/ground_height_patch.py new file mode 100644 index 0000000000000000000000000000000000000000..3a6631033e78595d99e4abd9b628e59ee1f27bd1 --- /dev/null +++ b/level-01g-walk-slope/patches/ground_height_patch.py @@ -0,0 +1,60 @@ +"""ground_height_patch.py (2026-09-29): measure the trunk against the ground UNDER the duck on rough terrain. + +bug (found 2026-09-29, log.md): every height read in mdp.py is `root_z - env_origins[:, 2]`. pyramid stairs and +slopes put the env origin on the TOP platform, so an upright duck ~40 mm down the steps counts as fallen +(`_fallen_mask`, VelStand gate 0.08 m) and `fallen_too_long` resets it 8 s later (RESET at 8.08 / 16.18 s with +grav_b z -1.00 in the forced-terrain takes); the height-shaped rewards are skewed the same way. + +fix: `_ground_z(env)` = mean hit height of the existing `foot_height_scan` rays (2 feet x 2 rays, straight down, +terrain geoms only) on generator terrain; env-origin z everywhere else (plane terrain has `terrain_origins is None`, +and tasks without the sensor), so flat tasks compute exactly what they did before. every +`root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]` read in a function body is rewritten to use it. +the SitStand command term's `_alpha_from_height` (self._env_ref form) is left alone: SitStand-Rough has no foot +sensor in its cfg and holds still on its platform. + +idempotent; writes mdp.py.bak-groundz-2026-09-29 on first run. +""" +import pathlib +import shutil + +mdp = pathlib.Path("/home/witcheer/Pollen/microduck_rl/src/mjlab_microduck/tasks/mdp.py") +bak = mdp.with_name("mdp.py.bak-groundz-2026-09-29") +s = mdp.read_text() +if "def _ground_z(" in s: + print("already patched") + raise SystemExit(0) +if not bak.exists(): + shutil.copy2(mdp, bak) + +OLD = "asset.data.root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]" +NEW = "asset.data.root_link_pos_w[:, 2] - _ground_z(env)" +n = s.count(OLD) + +helper = '''def _ground_z(env: ManagerBasedRlEnv) -> torch.Tensor: + """Ground height under the robot, per env. + + Generator (rough) terrain with the per-foot `foot_height_scan` ray sensor: the mean + height of the rays' terrain hits under both feet. Anything else (plane terrain, where + `terrain_origins` is None, or a task without the sensor): the env origin's z, which is + what every height read used before 2026-09-29, so flat tasks are unchanged. On pyramid + stairs/slopes the origin sits on the top platform, and origin-relative heights read an + upright duck a few steps down as fallen (see ground_height_patch.py). + """ + terrain = env.scene.terrain + origin_z = terrain.env_origins[:, 2] + if getattr(terrain, "terrain_origins", None) is None or "foot_height_scan" not in env.scene.sensors: + return origin_z + d = env.scene.sensors["foot_height_scan"].data + hit_z = d.hit_pos_w[..., 2] + ok = (d.distances >= 0) & (d.normals_w[..., 2] > 0) + cnt = ok.sum(dim=-1) + mean = torch.where(ok, hit_z, torch.zeros_like(hit_z)).sum(dim=-1) / cnt.clamp(min=1) + return torch.where(cnt > 0, mean, origin_z) + + +''' +i = s.index("def _fallen_mask(") +s = s[:i] + helper + s[i:] +s = s.replace(OLD, NEW) +mdp.write_text(s) +print(f"patched: helper added, {n} height reads rewritten") diff --git a/level-01g-walk-slope/patches/witcheer_velocity_slope_env_cfg.py b/level-01g-walk-slope/patches/witcheer_velocity_slope_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..51c2a514e8cd9cf7783b1cabdd3a8d8feca203d5 --- /dev/null +++ b/level-01g-walk-slope/patches/witcheer_velocity_slope_env_cfg.py @@ -0,0 +1,113 @@ +"""witcheer fork: Microduck walk with gear play over SLOPES. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck`` +(walk-flat v2 on the Hub): ONE thing, the floor. The maker trains this task on +an infinite plane (``terrain_type="plane"``). This fork swaps the plane for a +generated floor of gentle hills: every 4 m tile is one heightfield pyramid +(mjlab ``HfPyramidSlopedTerrainCfg``, the same generator and the same 1 mm +vertical resolution the maker's rough grid uses for its ``pyramid_slope`` +patches), flat top in the middle, sloping down to floor level at the tile +edge, so a duck walking straight from its spawn goes down one hill and up the +next. Gradient (rise / run) is drawn per tile uniformly from 0.05 to 0.15 +(about 2.9 to 8.5 deg). The maker's rough patches stop at 0.10 ("small robot, +small slopes"), so the top of this range is 1.5x past their cap, the same +choice the step fork made for step height (25 mm vs their 15 mm). + +Shape of one tile (mjlab's generator, not ours): the height is +``h_max * x * y`` with x, y the normalised distances from the tile edge, then +clipped at the platform height, so the flat top is a four-pointed star about +1.0 m (diagonal) to 1.15 m (axis) from the tile centre, and the slope runs from +there to the tile edge (2.0 m on the axis). At gradient 0.15 the top sits +127 mm above the floor, about the duck's own trunk height. Random mode +(``curriculum=False``, the mjlab default the maker's flat task never touches), +10 x 10 tiles, no terrain-level curriculum (the maker's flat cfg deletes it and +so does this fork). NOT inverted: the maker removed inverted pyramids from +their rough grid because the env origin lands in the pit. + +Height reads: the env origin sits on the hill top, so any read of +``root_z - env_origin_z`` is off by the hill height once the duck walks down. +Our clone's ``ground_height_patch.py`` makes ``_ground_z`` read the +``foot_height_scan`` ray hits on generator terrain, and in this task the only +active term that reads height (``head_pose_bias``) goes through it. +``body_pose_tracking_6d`` reads the origin directly but has weight 0 in the +velocity task. ``out_of_terrain_bounds`` becomes live with a generator floor +(a no-op on a plane); the 40 m grid plus the 20 m outer border means a 20 s +episode cannot reach it. + +Everything else (rewards, terminations, pushes, backlash robot, curricula, +mass and friction DR, solver settings, observations: the policy still has no +terrain scan, it meets the slope blind like the real robot would) is the +maker's. The maker's rough branch also softens terrain contacts and raises +solver iterations; this fork does not, to keep one variable (the step fork made +the same call). ``nan_state`` covers contact-force NaNs since the maker's +2026-08-21 hfield-slope crash; watch it in the probe. + +Verdict override: ``MICRODUCK_SLOPE=lo,hi`` (rise / run, read at import, i.e. +at process start) replaces the gradient range, so play takes can force the +steepest hill (``0.15,0.15``) or a near-flat floor on the same layout +(``0.001,0.001`` = a 1 mm top) for both the seed and the fork. +""" + +import os +from copy import deepcopy + +import mjlab.terrains as terrain_gen +from mjlab.terrains.terrain_generator import TerrainGeneratorCfg +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck" + +SLOPE_RANGE = (0.05, 0.15) # rise / run; maker's rough pyramid_slope is (0.03, 0.10) +TILE = 4.0 # m, one hill per tile (same tile as the step fork) +PLATFORM = 1.5 # m, platform_width passed to the generator (same as the step fork) + + +def _slope_range(): + v = os.environ.get("MICRODUCK_SLOPE") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return SLOPE_RANGE + + +SLOPE_TERRAIN_CFG = TerrainGeneratorCfg( + size=(TILE, TILE), + border_width=20.0, # same outer border as the maker's rough grid + num_rows=10, + num_cols=10, + curriculum=False, + sub_terrains={ + "hill": terrain_gen.HfPyramidSlopedTerrainCfg( + proportion=1.0, + slope_range=_slope_range(), + platform_width=PLATFORM, + vertical_scale=0.001, # maker's value: 1 mm steps, smooth gentle slopes + ), + }, + add_lights=False, +) + + +def make_witcheer_velocity_slope_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.scene.terrain.terrain_type = "generator" + cfg.scene.terrain.terrain_generator = deepcopy(SLOPE_TERRAIN_CFG) + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_slope_env_cfg(), + play_env_cfg=make_witcheer_velocity_slope_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t1.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..a8dfbca0935ebe8440233718b4a5ca3dab028aca --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.636,-18.217,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.8mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.9mm grav_b=(-0.04,-0.06,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 125.4mm grav_b=(-0.06,-0.06,-1.00) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 122.0mm grav_b=(-0.04,-0.07,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 120.6mm grav_b=(-0.04,+0.02,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 125.4mm grav_b=(-0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 119.1mm grav_b=(-0.08,-0.02,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 125.6mm grav_b=(-0.08,-0.09,-0.99) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 127.1mm grav_b=(-0.07,-0.13,-0.99) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 126.0mm grav_b=(-0.04,-0.11,-0.99) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 120.6mm grav_b=(-0.04,-0.01,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 125.6mm grav_b=(-0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 118.0mm grav_b=(-0.07,-0.07,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 125.8mm grav_b=(-0.08,-0.08,-0.99) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 124.4mm grav_b=(-0.05,-0.09,-0.99) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 123.8mm grav_b=(-0.10,+0.01,-0.99) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(-0.12,-0.06,-0.99) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 123.7mm grav_b=(-0.04,-0.05,-1.00) r=0.39m +[headless_play] t= 2.10s step= 105 trunk_z= 122.1mm grav_b=(-0.07,-0.09,-0.99) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 125.1mm grav_b=(-0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(-0.06,-0.08,-0.99) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 126.6mm grav_b=(-0.06,-0.10,-0.99) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 130.5mm grav_b=(-0.03,-0.25,-0.97) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 127.1mm grav_b=(+0.06,-0.28,-0.96) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 110.7mm grav_b=(+0.14,-0.27,-0.95) r=0.47m +[headless_play] t= 2.90s step= 145 trunk_z= 96.2mm grav_b=(+0.11,-0.29,-0.95) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 111.5mm grav_b=(-0.13,-0.16,-0.98) r=0.48m +[headless_play] t= 3.10s step= 155 trunk_z= 109.7mm grav_b=(+0.00,-0.16,-0.99) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 123.0mm grav_b=(+0.06,-0.12,-0.99) r=0.48m +[headless_play] t= 3.30s step= 165 trunk_z= 113.7mm grav_b=(+0.06,+0.00,-1.00) r=0.50m +[headless_play] t= 3.40s step= 170 trunk_z= 131.5mm grav_b=(-0.02,+0.04,-1.00) r=0.51m +[headless_play] t= 3.50s step= 175 trunk_z= 130.5mm grav_b=(-0.15,-0.02,-0.99) r=0.50m +[headless_play] t= 3.60s step= 180 trunk_z= 126.3mm grav_b=(-0.15,-0.17,-0.97) r=0.50m +[headless_play] t= 3.70s step= 185 trunk_z= 127.3mm grav_b=(-0.10,-0.14,-0.99) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 123.0mm grav_b=(-0.06,-0.09,-0.99) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 120.3mm grav_b=(-0.07,-0.02,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 118.7mm grav_b=(-0.05,-0.03,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 120.1mm grav_b=(-0.00,-0.07,-1.00) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 126.9mm grav_b=(+0.07,-0.09,-0.99) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 118.0mm grav_b=(+0.02,-0.07,-1.00) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 135.0mm grav_b=(-0.06,-0.06,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 120.2mm grav_b=(-0.13,-0.13,-0.98) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 126.4mm grav_b=(-0.13,-0.15,-0.98) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 125.6mm grav_b=(-0.09,-0.12,-0.99) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 115.6mm grav_b=(-0.10,-0.02,-0.99) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 123.8mm grav_b=(-0.05,+0.01,-1.00) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 120.6mm grav_b=(-0.05,-0.02,-1.00) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 123.6mm grav_b=(-0.09,-0.10,-0.99) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 127.7mm grav_b=(-0.09,-0.10,-0.99) r=0.61m +[headless_play] t= 5.30s step= 265 trunk_z= 126.5mm grav_b=(-0.08,-0.08,-0.99) r=0.62m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.08,-0.03,-1.00) r=0.64m +[headless_play] t= 5.50s step= 275 trunk_z= 122.8mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 5.60s step= 280 trunk_z= 117.2mm grav_b=(-0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 5.70s step= 285 trunk_z= 126.1mm grav_b=(-0.02,-0.10,-0.99) r=0.63m +[headless_play] t= 5.80s step= 290 trunk_z= 125.0mm grav_b=(-0.05,-0.11,-0.99) r=0.64m +[headless_play] t= 5.90s step= 295 trunk_z= 122.5mm grav_b=(-0.13,-0.11,-0.99) r=0.64m +[headless_play] t= 6.00s step= 300 trunk_z= 118.4mm grav_b=(-0.03,+0.02,-1.00) r=0.66m +[headless_play] t= 6.10s step= 305 trunk_z= 123.9mm grav_b=(-0.03,+0.00,-1.00) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 118.6mm grav_b=(-0.03,-0.06,-1.00) r=0.66m +[headless_play] t= 6.30s step= 315 trunk_z= 126.0mm grav_b=(-0.03,-0.08,-1.00) r=0.65m +[headless_play] t= 6.40s step= 320 trunk_z= 121.6mm grav_b=(-0.04,-0.06,-1.00) r=0.67m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.71m +[headless_play] t= 6.60s step= 330 trunk_z= 126.4mm grav_b=(-0.00,+0.01,-1.00) r=0.73m +[headless_play] t= 6.70s step= 335 trunk_z= 121.2mm grav_b=(-0.00,-0.04,-1.00) r=0.73m +[headless_play] t= 6.80s step= 340 trunk_z= 126.9mm grav_b=(-0.06,-0.12,-0.99) r=0.74m +[headless_play] t= 6.90s step= 345 trunk_z= 123.9mm grav_b=(-0.10,-0.09,-0.99) r=0.76m +[headless_play] t= 7.00s step= 350 trunk_z= 115.5mm grav_b=(-0.09,+0.00,-1.00) r=0.79m +[headless_play] t= 7.10s step= 355 trunk_z= 124.3mm grav_b=(-0.06,+0.02,-1.00) r=0.80m +[headless_play] t= 7.20s step= 360 trunk_z= 119.5mm grav_b=(-0.05,-0.02,-1.00) r=0.79m +[headless_play] t= 7.30s step= 365 trunk_z= 124.5mm grav_b=(-0.05,-0.06,-1.00) r=0.77m +[headless_play] t= 7.40s step= 370 trunk_z= 123.3mm grav_b=(-0.08,-0.04,-1.00) r=0.78m +[headless_play] t= 7.50s step= 375 trunk_z= 115.0mm grav_b=(-0.08,-0.00,-1.00) r=0.82m +[headless_play] t= 7.60s step= 380 trunk_z= 124.4mm grav_b=(-0.06,+0.01,-1.00) r=0.83m +[headless_play] t= 7.70s step= 385 trunk_z= 119.6mm grav_b=(-0.05,-0.02,-1.00) r=0.82m +[headless_play] t= 7.80s step= 390 trunk_z= 124.4mm grav_b=(-0.08,-0.08,-0.99) r=0.81m +[headless_play] t= 7.90s step= 395 trunk_z= 126.5mm grav_b=(-0.09,-0.09,-0.99) r=0.81m +[headless_play] t= 8.00s step= 400 trunk_z= 121.3mm grav_b=(-0.07,-0.09,-0.99) r=0.83m +[headless_play] t= 8.10s step= 405 trunk_z= 119.9mm grav_b=(-0.06,-0.03,-1.00) r=0.85m +[headless_play] t= 8.20s step= 410 trunk_z= 119.1mm grav_b=(-0.06,-0.05,-1.00) r=0.84m +[headless_play] t= 8.30s step= 415 trunk_z= 122.7mm grav_b=(-0.06,-0.08,-1.00) r=0.83m +[headless_play] t= 8.40s step= 420 trunk_z= 123.3mm grav_b=(-0.07,-0.06,-1.00) r=0.84m +[headless_play] t= 8.50s step= 425 trunk_z= 112.6mm grav_b=(-0.06,-0.00,-1.00) r=0.87m +[headless_play] t= 8.60s step= 430 trunk_z= 122.9mm grav_b=(-0.04,+0.00,-1.00) r=0.89m +[headless_play] t= 8.70s step= 435 trunk_z= 119.0mm grav_b=(-0.04,-0.01,-1.00) r=0.89m +[headless_play] t= 8.80s step= 440 trunk_z= 123.3mm grav_b=(-0.07,-0.07,-1.00) r=0.87m +[headless_play] t= 8.90s step= 445 trunk_z= 125.9mm grav_b=(-0.06,-0.09,-0.99) r=0.87m +[headless_play] t= 9.00s step= 450 trunk_z= 120.1mm grav_b=(-0.03,-0.09,-1.00) r=0.89m +[headless_play] t= 9.10s step= 455 trunk_z= 120.9mm grav_b=(+0.05,-0.03,-1.00) r=0.92m +[headless_play] t= 9.20s step= 460 trunk_z= 128.1mm grav_b=(-0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 9.30s step= 465 trunk_z= 123.3mm grav_b=(-0.07,-0.11,-0.99) r=0.95m +[headless_play] t= 9.40s step= 470 trunk_z= 122.5mm grav_b=(-0.16,-0.09,-0.98) r=0.96m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(-0.16,-0.00,-0.99) r=0.98m +[headless_play] t= 9.60s step= 480 trunk_z= 119.9mm grav_b=(-0.12,-0.07,-0.99) r=0.98m +[headless_play] t= 9.70s step= 485 trunk_z= 119.5mm grav_b=(-0.05,-0.09,-0.99) r=0.95m +[headless_play] t= 9.80s step= 490 trunk_z= 122.1mm grav_b=(-0.03,-0.09,-1.00) r=0.95m +[headless_play] t= 9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.03,-0.09,-1.00) r=0.96m +[headless_play] t= 10.00s step= 500 trunk_z= 118.7mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 10.10s step= 505 trunk_z= 120.0mm grav_b=(-0.03,-0.00,-1.00) r=0.97m +[headless_play] t= 10.20s step= 510 trunk_z= 116.1mm grav_b=(-0.04,-0.07,-1.00) r=0.94m +[headless_play] t= 10.30s step= 515 trunk_z= 122.1mm grav_b=(-0.05,-0.00,-1.00) r=0.94m +[headless_play] t= 10.40s step= 520 trunk_z= 111.2mm grav_b=(-0.04,+0.04,-1.00) r=0.96m +[headless_play] t= 10.50s step= 525 trunk_z= 122.3mm grav_b=(-0.05,+0.00,-1.00) r=0.96m +[headless_play] t= 10.60s step= 530 trunk_z= 118.2mm grav_b=(-0.06,-0.02,-1.00) r=0.94m +[headless_play] t= 10.70s step= 535 trunk_z= 122.8mm grav_b=(-0.06,-0.06,-1.00) r=0.91m +[headless_play] t= 10.80s step= 540 trunk_z= 124.7mm grav_b=(-0.06,-0.08,-1.00) r=0.90m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(-0.06,-0.07,-1.00) r=0.91m +[headless_play] t= 11.00s step= 550 trunk_z= 122.2mm grav_b=(-0.07,+0.01,-1.00) r=0.93m +[headless_play] t= 11.10s step= 555 trunk_z= 126.2mm grav_b=(-0.07,+0.06,-1.00) r=0.94m +[headless_play] t= 11.20s step= 560 trunk_z= 122.7mm grav_b=(-0.07,+0.03,-1.00) r=0.92m +[headless_play] t= 11.30s step= 565 trunk_z= 124.7mm grav_b=(-0.07,-0.07,-1.00) r=0.90m +[headless_play] t= 11.40s step= 570 trunk_z= 125.9mm grav_b=(-0.05,-0.10,-0.99) r=0.89m +[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(-0.05,-0.09,-0.99) r=0.90m +[headless_play] t= 11.60s step= 580 trunk_z= 119.7mm grav_b=(-0.04,+0.02,-1.00) r=0.92m +[headless_play] t= 11.70s step= 585 trunk_z= 122.5mm grav_b=(-0.04,+0.01,-1.00) r=0.92m +[headless_play] t= 11.80s step= 590 trunk_z= 118.4mm grav_b=(-0.04,-0.04,-1.00) r=0.90m +[headless_play] t= 11.90s step= 595 trunk_z= 125.7mm grav_b=(-0.05,-0.09,-0.99) r=0.88m +[headless_play] t= 12.00s step= 600 trunk_z= 122.6mm grav_b=(+0.06,-0.14,-0.99) r=0.87m +[headless_play] t= 12.10s step= 605 trunk_z= 123.7mm grav_b=(+0.03,-0.11,-0.99) r=0.85m +[headless_play] t= 12.20s step= 610 trunk_z= 120.9mm grav_b=(-0.07,+0.05,-1.00) r=0.84m +[headless_play] t= 12.30s step= 615 trunk_z= 126.8mm grav_b=(-0.11,+0.06,-0.99) r=0.84m +[headless_play] t= 12.40s step= 620 trunk_z= 118.3mm grav_b=(-0.11,-0.02,-0.99) r=0.81m +[headless_play] t= 12.50s step= 625 trunk_z= 122.6mm grav_b=(-0.07,-0.05,-1.00) r=0.80m +[headless_play] t= 12.60s step= 630 trunk_z= 120.0mm grav_b=(-0.05,-0.05,-1.00) r=0.80m +[headless_play] t= 12.70s step= 635 trunk_z= 114.8mm grav_b=(-0.03,+0.01,-1.00) r=0.80m +[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.78m +[headless_play] t= 12.90s step= 645 trunk_z= 112.2mm grav_b=(+0.03,-0.06,-1.00) r=0.75m +[headless_play] t= 13.00s step= 650 trunk_z= 124.7mm grav_b=(+0.00,-0.09,-1.00) r=0.72m +[headless_play] t= 13.10s step= 655 trunk_z= 121.1mm grav_b=(+0.00,-0.09,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 119.0mm grav_b=(-0.02,+0.05,-1.00) r=0.69m +[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(-0.05,+0.03,-1.00) r=0.68m +[headless_play] t= 13.40s step= 670 trunk_z= 115.3mm grav_b=(-0.04,-0.01,-1.00) r=0.65m +[headless_play] t= 13.50s step= 675 trunk_z= 123.2mm grav_b=(-0.06,-0.05,-1.00) r=0.63m +[headless_play] t= 13.60s step= 680 trunk_z= 122.9mm grav_b=(-0.03,-0.09,-1.00) r=0.61m +[headless_play] t= 13.70s step= 685 trunk_z= 120.1mm grav_b=(-0.03,-0.09,-1.00) r=0.61m +[headless_play] t= 13.80s step= 690 trunk_z= 120.7mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 13.90s step= 695 trunk_z= 121.0mm grav_b=(-0.04,-0.04,-1.00) r=0.60m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.04,-0.06,-1.00) r=0.57m +[headless_play] t= 14.10s step= 705 trunk_z= 119.6mm grav_b=(-0.01,-0.08,-1.00) r=0.55m +[headless_play] t= 14.20s step= 710 trunk_z= 117.7mm grav_b=(+0.01,-0.08,-1.00) r=0.54m +[headless_play] t= 14.30s step= 715 trunk_z= 120.9mm grav_b=(-0.04,+0.11,-0.99) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 128.1mm grav_b=(-0.04,+0.16,-0.99) r=0.51m +[headless_play] t= 14.50s step= 725 trunk_z= 126.5mm grav_b=(-0.05,+0.17,-0.98) r=0.50m +[headless_play] t= 14.60s step= 730 trunk_z= 129.2mm grav_b=(-0.07,+0.10,-0.99) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 134.6mm grav_b=(-0.11,-0.03,-0.99) r=0.49m +[headless_play] t= 14.80s step= 740 trunk_z= 131.7mm grav_b=(-0.08,-0.10,-0.99) r=0.47m +[headless_play] t= 14.90s step= 745 trunk_z= 128.0mm grav_b=(-0.06,-0.09,-0.99) r=0.48m +[headless_play] t= 15.00s step= 750 trunk_z= 112.4mm grav_b=(-0.00,-0.02,-1.00) r=0.50m +[headless_play] t= 15.10s step= 755 trunk_z= 120.9mm grav_b=(-0.06,-0.03,-1.00) r=0.51m +[headless_play] t= 15.20s step= 760 trunk_z= 111.4mm grav_b=(-0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 109.9mm grav_b=(+0.05,-0.01,-1.00) r=0.51m +[headless_play] t= 15.40s step= 770 trunk_z= 109.0mm grav_b=(+0.04,-0.07,-1.00) r=0.52m +[headless_play] t= 15.50s step= 775 trunk_z= 110.3mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 15.70s step= 785 trunk_z= 112.2mm grav_b=(-0.03,-0.08,-1.00) r=0.49m +[headless_play] t= 15.80s step= 790 trunk_z= 122.6mm grav_b=(-0.02,-0.08,-1.00) r=0.48m +[headless_play] t= 15.90s step= 795 trunk_z= 119.7mm grav_b=(-0.02,-0.08,-1.00) r=0.47m +[headless_play] t= 16.00s step= 800 trunk_z= 121.7mm grav_b=(-0.03,-0.11,-0.99) r=0.47m +[headless_play] t= 16.10s step= 805 trunk_z= 118.9mm grav_b=(+0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(-0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 16.30s step= 815 trunk_z= 123.1mm grav_b=(-0.00,-0.06,-1.00) r=0.42m +[headless_play] t= 16.40s step= 820 trunk_z= 124.4mm grav_b=(+0.00,-0.06,-1.00) r=0.41m +[headless_play] t= 16.50s step= 825 trunk_z= 116.9mm grav_b=(-0.00,+0.01,-1.00) r=0.40m +[headless_play] t= 16.60s step= 830 trunk_z= 124.2mm grav_b=(-0.01,-0.01,-1.00) r=0.39m +[headless_play] t= 16.70s step= 835 trunk_z= 116.7mm grav_b=(-0.04,-0.06,-1.00) r=0.36m +[headless_play] t= 16.80s step= 840 trunk_z= 126.1mm grav_b=(-0.08,-0.11,-0.99) r=0.33m +[headless_play] t= 16.90s step= 845 trunk_z= 128.0mm grav_b=(-0.08,-0.15,-0.99) r=0.31m +[headless_play] t= 17.00s step= 850 trunk_z= 126.0mm grav_b=(-0.05,-0.17,-0.98) r=0.30m +[headless_play] t= 17.10s step= 855 trunk_z= 127.0mm grav_b=(-0.03,-0.12,-0.99) r=0.29m +[headless_play] t= 17.20s step= 860 trunk_z= 124.5mm grav_b=(+0.02,-0.01,-1.00) r=0.28m +[headless_play] t= 17.30s step= 865 trunk_z= 128.3mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 17.40s step= 870 trunk_z= 119.9mm grav_b=(-0.05,-0.08,-1.00) r=0.24m +[headless_play] t= 17.50s step= 875 trunk_z= 127.2mm grav_b=(-0.08,-0.10,-0.99) r=0.22m +[headless_play] t= 17.60s step= 880 trunk_z= 120.1mm grav_b=(-0.11,-0.07,-0.99) r=0.21m +[headless_play] t= 17.70s step= 885 trunk_z= 119.2mm grav_b=(-0.05,-0.00,-1.00) r=0.21m +[headless_play] t= 17.80s step= 890 trunk_z= 122.3mm grav_b=(-0.04,-0.00,-1.00) r=0.20m +[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(-0.04,-0.12,-0.99) r=0.17m +[headless_play] t= 18.00s step= 900 trunk_z= 129.6mm grav_b=(-0.05,-0.16,-0.99) r=0.14m +[headless_play] t= 18.10s step= 905 trunk_z= 127.3mm grav_b=(-0.09,-0.26,-0.96) r=0.11m +[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(+0.08,-0.30,-0.95) r=0.09m +[headless_play] t= 18.30s step= 915 trunk_z= 114.5mm grav_b=(+0.06,-0.14,-0.99) r=0.05m +[headless_play] t= 18.40s step= 920 trunk_z= 125.9mm grav_b=(+0.16,-0.18,-0.97) r=0.03m +[headless_play] t= 18.50s step= 925 trunk_z= 127.7mm grav_b=(+0.09,-0.07,-0.99) r=0.08m +[headless_play] t= 18.60s step= 930 trunk_z= 95.5mm grav_b=(-0.01,-0.01,-1.00) r=0.13m +[headless_play] t= 18.70s step= 935 trunk_z= 105.4mm grav_b=(-0.01,-0.09,-1.00) r=0.13m +[headless_play] t= 18.80s step= 940 trunk_z= 112.3mm grav_b=(-0.12,-0.07,-0.99) r=0.13m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(-0.06,-0.13,-0.99) r=0.14m +[headless_play] t= 19.00s step= 950 trunk_z= 110.8mm grav_b=(-0.03,-0.13,-0.99) r=0.15m +[headless_play] t= 19.10s step= 955 trunk_z= 119.8mm grav_b=(+0.00,-0.07,-1.00) r=0.14m +[headless_play] t= 19.20s step= 960 trunk_z= 114.8mm grav_b=(+0.00,-0.09,-1.00) r=0.11m +[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(+0.03,+0.01,-1.00) r=0.09m +[headless_play] t= 19.40s step= 970 trunk_z= 122.7mm grav_b=(-0.04,-0.07,-1.00) r=0.09m +[headless_play] t= 19.50s step= 975 trunk_z= 124.4mm grav_b=(-0.04,-0.14,-0.99) r=0.11m +[headless_play] t= 19.60s step= 980 trunk_z= 125.1mm grav_b=(-0.01,-0.13,-0.99) r=0.13m +[headless_play] t= 19.70s step= 985 trunk_z= 120.4mm grav_b=(-0.04,-0.12,-0.99) r=0.13m +[headless_play] t= 19.80s step= 990 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00) r=0.13m +[headless_play] t= 19.90s step= 995 trunk_z= 122.5mm grav_b=(-0.02,+0.00,-1.00) r=0.14m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t10.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..4837f0a843e06d0502b97702916fe2657ba90043 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t10.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.058,-18.052,+0.247) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00) r=0.08m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.08m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.09,-0.05,-0.99) r=0.08m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(+0.11,+0.00,-0.99) r=0.10m +[headless_play] t= 0.40s step= 20 trunk_z= 113.4mm grav_b=(+0.10,+0.07,-0.99) r=0.13m +[headless_play] t= 0.50s step= 25 trunk_z= 124.3mm grav_b=(+0.10,+0.06,-0.99) r=0.16m +[headless_play] t= 0.60s step= 30 trunk_z= 119.7mm grav_b=(+0.10,+0.06,-0.99) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 117.3mm grav_b=(+0.08,+0.00,-1.00) r=0.20m +[headless_play] t= 0.80s step= 40 trunk_z= 119.9mm grav_b=(+0.08,+0.01,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 112.5mm grav_b=(+0.04,+0.04,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 123.4mm grav_b=(+0.12,+0.04,-0.99) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 123.2mm grav_b=(+0.10,+0.05,-0.99) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 115.5mm grav_b=(+0.09,+0.04,-0.99) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 122.7mm grav_b=(+0.07,+0.04,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 114.3mm grav_b=(+0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 123.7mm grav_b=(+0.04,+0.06,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 120.4mm grav_b=(+0.06,+0.05,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.06,-0.00,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 122.0mm grav_b=(+0.05,-0.02,-1.00) r=0.47m +[headless_play] t= 1.90s step= 95 trunk_z= 117.9mm grav_b=(+0.01,+0.01,-1.00) r=0.47m +[headless_play] t= 2.00s step= 100 trunk_z= 115.5mm grav_b=(+0.09,+0.09,-0.99) r=0.47m +[headless_play] t= 2.10s step= 105 trunk_z= 120.9mm grav_b=(+0.15,+0.11,-0.98) r=0.48m +[headless_play] t= 2.20s step= 110 trunk_z= 123.2mm grav_b=(+0.13,+0.11,-0.98) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 122.0mm grav_b=(+0.15,+0.05,-0.99) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 126.0mm grav_b=(+0.11,+0.02,-0.99) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 114.7mm grav_b=(+0.00,+0.06,-1.00) r=0.61m +[headless_play] t= 2.60s step= 130 trunk_z= 123.1mm grav_b=(+0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 2.70s step= 135 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 121.2mm grav_b=(+0.07,-0.02,-1.00) r=0.66m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.07,+0.03,-1.00) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 118.6mm grav_b=(+0.07,+0.07,-0.99) r=0.71m +[headless_play] t= 3.10s step= 155 trunk_z= 122.9mm grav_b=(+0.09,+0.06,-0.99) r=0.73m +[headless_play] t= 3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.09,+0.06,-0.99) r=0.74m +[headless_play] t= 3.30s step= 165 trunk_z= 116.8mm grav_b=(+0.06,+0.04,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 115.7mm grav_b=(+0.11,+0.05,-0.99) r=0.77m +[headless_play] t= 3.50s step= 175 trunk_z= 117.9mm grav_b=(+0.14,+0.08,-0.99) r=0.79m +[headless_play] t= 3.60s step= 180 trunk_z= 120.8mm grav_b=(+0.12,+0.02,-0.99) r=0.81m +[headless_play] t= 3.70s step= 185 trunk_z= 119.7mm grav_b=(+0.11,-0.02,-0.99) r=0.85m +[headless_play] t= 3.80s step= 190 trunk_z= 123.9mm grav_b=(+0.11,+0.00,-0.99) r=0.88m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.12,+0.11,-0.99) r=0.92m +[headless_play] t= 4.00s step= 200 trunk_z= 133.9mm grav_b=(+0.14,+0.15,-0.98) r=0.96m +[headless_play] t= 4.10s step= 205 trunk_z= 123.2mm grav_b=(+0.13,+0.14,-0.98) r=1.02m +[headless_play] t= 4.20s step= 210 trunk_z= 106.3mm grav_b=(+0.15,+0.11,-0.98) r=1.09m +[headless_play] t= 4.30s step= 215 trunk_z= 112.4mm grav_b=(+0.15,+0.11,-0.98) r=1.13m +[headless_play] t= 4.40s step= 220 trunk_z= 95.7mm grav_b=(+0.14,-0.02,-0.99) r=1.18m +[headless_play] t= 4.50s step= 225 trunk_z= 96.6mm grav_b=(+0.19,-0.02,-0.98) r=1.24m +[headless_play] t= 4.60s step= 230 trunk_z= 52.9mm grav_b=(+0.16,+0.12,-0.98) r=1.31m +[headless_play] t= 4.70s step= 235 trunk_z= 74.6mm grav_b=(+0.20,+0.14,-0.97) r=1.34m +[headless_play] t= 4.80s step= 240 trunk_z= 65.6mm grav_b=(+0.20,+0.15,-0.97) r=1.38m +[headless_play] t= 4.90s step= 245 trunk_z= 80.6mm grav_b=(+0.28,-0.03,-0.96) r=1.42m +[headless_play] t= 5.00s step= 250 trunk_z= 46.7mm grav_b=(+0.12,-0.06,-0.99) r=1.49m +[headless_play] t= 5.10s step= 255 trunk_z= 38.7mm grav_b=(+0.15,+0.05,-0.99) r=1.53m +[headless_play] t= 5.20s step= 260 trunk_z= 44.4mm grav_b=(+0.13,+0.03,-0.99) r=1.55m +[headless_play] t= 5.30s step= 265 trunk_z= 44.4mm grav_b=(+0.04,+0.06,-1.00) r=1.59m +[headless_play] t= 5.40s step= 270 trunk_z= 42.8mm grav_b=(+0.04,-0.01,-1.00) r=1.62m +[headless_play] t= 5.50s step= 275 trunk_z= 27.7mm grav_b=(-0.04,-0.11,-0.99) r=1.66m +[headless_play] t= 5.60s step= 280 trunk_z= 38.2mm grav_b=(+0.04,-0.08,-1.00) r=1.69m +[headless_play] t= 5.70s step= 285 trunk_z= 37.7mm grav_b=(+0.04,-0.09,-1.00) r=1.69m +[headless_play] t= 5.80s step= 290 trunk_z= 36.4mm grav_b=(+0.11,-0.03,-0.99) r=1.70m +[headless_play] t= 5.90s step= 295 trunk_z= 29.9mm grav_b=(+0.15,-0.10,-0.98) r=1.72m +[headless_play] t= 6.00s step= 300 trunk_z= 30.2mm grav_b=(+0.20,-0.14,-0.97) r=1.76m +[headless_play] t= 6.10s step= 305 trunk_z= 39.0mm grav_b=(+0.21,-0.14,-0.97) r=1.79m +[headless_play] t= 6.20s step= 310 trunk_z= 23.2mm grav_b=(+0.19,-0.16,-0.97) r=1.83m +[headless_play] t= 6.30s step= 315 trunk_z= 34.7mm grav_b=(+0.48,-0.28,-0.83) r=1.91m +[headless_play] t= 6.40s step= 320 trunk_z= -31.6mm grav_b=(+0.74,+0.21,-0.64) r=1.98m +[headless_play] RESET at t= 6.44s step= 322 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 113.2mm grav_b=(+0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 6.60s step= 330 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.24m +[headless_play] t= 6.70s step= 335 trunk_z= 114.8mm grav_b=(+0.06,+0.01,-1.00) r=0.24m +[headless_play] t= 6.80s step= 340 trunk_z= 114.9mm grav_b=(+0.07,+0.01,-1.00) r=0.24m +[headless_play] t= 6.90s step= 345 trunk_z= 114.8mm grav_b=(+0.06,+0.01,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 115.0mm grav_b=(+0.06,+0.03,-1.00) r=0.24m +[headless_play] t= 7.10s step= 355 trunk_z= 115.0mm grav_b=(+0.08,+0.03,-1.00) r=0.24m +[headless_play] t= 7.20s step= 360 trunk_z= 115.0mm grav_b=(+0.06,+0.02,-1.00) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 115.0mm grav_b=(+0.04,+0.03,-1.00) r=0.24m +[headless_play] t= 7.40s step= 370 trunk_z= 114.7mm grav_b=(+0.02,+0.02,-1.00) r=0.24m +[headless_play] t= 7.50s step= 375 trunk_z= 114.6mm grav_b=(+0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.05,+0.02,-1.00) r=0.24m +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(+0.07,+0.02,-1.00) r=0.24m +[headless_play] t= 7.80s step= 390 trunk_z= 114.6mm grav_b=(+0.07,+0.02,-1.00) r=0.24m +[headless_play] t= 7.90s step= 395 trunk_z= 114.6mm grav_b=(+0.06,+0.02,-1.00) r=0.24m +[headless_play] t= 8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.10,-0.02,-0.99) r=0.24m +[headless_play] t= 8.10s step= 405 trunk_z= 115.8mm grav_b=(+0.11,+0.00,-0.99) r=0.24m +[headless_play] t= 8.20s step= 410 trunk_z= 114.9mm grav_b=(+0.08,+0.01,-1.00) r=0.24m +[headless_play] t= 8.30s step= 415 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.24m +[headless_play] t= 8.40s step= 420 trunk_z= 114.5mm grav_b=(+0.02,+0.02,-1.00) r=0.24m +[headless_play] t= 8.50s step= 425 trunk_z= 114.0mm grav_b=(+0.05,+0.02,-1.00) r=0.24m +[headless_play] t= 8.60s step= 430 trunk_z= 113.4mm grav_b=(+0.05,+0.02,-1.00) r=0.24m +[headless_play] t= 8.70s step= 435 trunk_z= 112.4mm grav_b=(+0.07,+0.00,-1.00) r=0.23m +[headless_play] t= 8.80s step= 440 trunk_z= 112.6mm grav_b=(+0.09,+0.01,-1.00) r=0.24m +[headless_play] t= 8.90s step= 445 trunk_z= 113.5mm grav_b=(+0.09,+0.02,-1.00) r=0.24m +[headless_play] t= 9.00s step= 450 trunk_z= 113.6mm grav_b=(+0.07,+0.01,-1.00) r=0.24m +[headless_play] t= 9.10s step= 455 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) r=0.24m +[headless_play] t= 9.20s step= 460 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.23m +[headless_play] t= 9.30s step= 465 trunk_z= 106.9mm grav_b=(+0.17,-0.08,-0.98) r=0.22m +[headless_play] t= 9.40s step= 470 trunk_z= 103.0mm grav_b=(+0.08,-0.03,-1.00) r=0.23m +[headless_play] t= 9.50s step= 475 trunk_z= 100.9mm grav_b=(+0.18,+0.03,-0.98) r=0.25m +[headless_play] t= 9.60s step= 480 trunk_z= 106.2mm grav_b=(+0.21,+0.05,-0.98) r=0.25m +[headless_play] t= 9.70s step= 485 trunk_z= 111.1mm grav_b=(+0.15,-0.01,-0.99) r=0.24m +[headless_play] t= 9.80s step= 490 trunk_z= 113.8mm grav_b=(+0.14,-0.03,-0.99) r=0.24m +[headless_play] t= 9.90s step= 495 trunk_z= 114.4mm grav_b=(+0.13,-0.03,-0.99) r=0.24m +[headless_play] t= 10.00s step= 500 trunk_z= 114.9mm grav_b=(+0.10,-0.02,-0.99) r=0.24m +[headless_play] t= 10.10s step= 505 trunk_z= 114.9mm grav_b=(+0.10,-0.02,-0.99) r=0.24m +[headless_play] t= 10.20s step= 510 trunk_z= 115.4mm grav_b=(+0.10,-0.02,-0.99) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 115.3mm grav_b=(+0.09,-0.02,-1.00) r=0.25m +[headless_play] t= 10.40s step= 520 trunk_z= 115.0mm grav_b=(+0.06,-0.02,-1.00) r=0.25m +[headless_play] t= 10.50s step= 525 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.25m +[headless_play] t= 10.60s step= 530 trunk_z= 115.6mm grav_b=(+0.02,+0.00,-1.00) r=0.25m +[headless_play] t= 10.70s step= 535 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 11.50s step= 575 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 11.60s step= 580 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.25m +[headless_play] t= 12.00s step= 600 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.25m +[headless_play] t= 12.10s step= 605 trunk_z= 115.4mm grav_b=(+0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 12.20s step= 610 trunk_z= 114.9mm grav_b=(+0.07,+0.01,-1.00) r=0.25m +[headless_play] t= 12.30s step= 615 trunk_z= 114.8mm grav_b=(+0.08,+0.00,-1.00) r=0.25m +[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.08,+0.01,-1.00) r=0.25m +[headless_play] t= 12.50s step= 625 trunk_z= 115.3mm grav_b=(+0.07,+0.01,-1.00) r=0.25m +[headless_play] t= 12.60s step= 630 trunk_z= 115.4mm grav_b=(+0.06,+0.01,-1.00) r=0.25m +[headless_play] t= 12.70s step= 635 trunk_z= 115.4mm grav_b=(+0.05,+0.01,-1.00) r=0.25m +[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.24m +[headless_play] t= 12.90s step= 645 trunk_z= 110.1mm grav_b=(+0.08,+0.06,-1.00) r=0.26m +[headless_play] t= 13.00s step= 650 trunk_z= 114.1mm grav_b=(+0.06,+0.09,-0.99) r=0.27m +[headless_play] t= 13.10s step= 655 trunk_z= 110.4mm grav_b=(+0.08,+0.06,-1.00) r=0.26m +[headless_play] t= 13.20s step= 660 trunk_z= 105.6mm grav_b=(+0.07,-0.04,-1.00) r=0.24m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.11,-0.09,-0.99) r=0.23m +[headless_play] t= 13.40s step= 670 trunk_z= 111.8mm grav_b=(+0.11,-0.05,-0.99) r=0.24m +[headless_play] t= 13.50s step= 675 trunk_z= 107.1mm grav_b=(+0.08,+0.05,-1.00) r=0.26m +[headless_play] t= 13.60s step= 680 trunk_z= 116.6mm grav_b=(+0.09,+0.08,-0.99) r=0.28m +[headless_play] t= 13.70s step= 685 trunk_z= 118.6mm grav_b=(+0.13,+0.18,-0.98) r=0.30m +[headless_play] t= 13.80s step= 690 trunk_z= 118.4mm grav_b=(+0.14,+0.16,-0.98) r=0.31m +[headless_play] t= 13.90s step= 695 trunk_z= 119.6mm grav_b=(+0.11,+0.02,-0.99) r=0.32m +[headless_play] t= 14.00s step= 700 trunk_z= 124.8mm grav_b=(+0.10,-0.03,-0.99) r=0.34m +[headless_play] t= 14.10s step= 705 trunk_z= 113.2mm grav_b=(+0.05,-0.00,-1.00) r=0.37m +[headless_play] t= 14.20s step= 710 trunk_z= 116.1mm grav_b=(+0.08,+0.05,-1.00) r=0.39m +[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(+0.08,+0.02,-1.00) r=0.39m +[headless_play] t= 14.40s step= 720 trunk_z= 108.1mm grav_b=(+0.06,-0.05,-1.00) r=0.38m +[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(+0.07,-0.07,-0.99) r=0.38m +[headless_play] t= 14.60s step= 730 trunk_z= 111.9mm grav_b=(+0.08,-0.05,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 109.0mm grav_b=(+0.07,+0.04,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(+0.08,+0.06,-0.99) r=0.44m +[headless_play] t= 14.90s step= 745 trunk_z= 113.7mm grav_b=(+0.11,+0.05,-0.99) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 110.0mm grav_b=(+0.09,-0.07,-0.99) r=0.45m +[headless_play] t= 15.10s step= 755 trunk_z= 117.5mm grav_b=(+0.09,-0.08,-0.99) r=0.46m +[headless_play] t= 15.20s step= 760 trunk_z= 106.4mm grav_b=(+0.12,-0.01,-0.99) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 113.4mm grav_b=(+0.13,+0.07,-0.99) r=0.53m +[headless_play] t= 15.40s step= 770 trunk_z= 113.5mm grav_b=(+0.13,+0.09,-0.99) r=0.54m +[headless_play] t= 15.50s step= 775 trunk_z= 110.4mm grav_b=(+0.13,+0.03,-0.99) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 119.5mm grav_b=(+0.09,-0.08,-0.99) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 118.5mm grav_b=(+0.09,-0.04,-1.00) r=0.57m +[headless_play] t= 15.80s step= 790 trunk_z= 109.5mm grav_b=(+0.06,+0.05,-1.00) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 127.4mm grav_b=(+0.07,+0.19,-0.98) r=0.64m +[headless_play] t= 16.00s step= 800 trunk_z= 128.6mm grav_b=(+0.05,+0.33,-0.94) r=0.67m +[headless_play] t= 16.10s step= 805 trunk_z= 124.6mm grav_b=(+0.02,+0.45,-0.90) r=0.70m +[headless_play] t= 16.20s step= 810 trunk_z= 109.1mm grav_b=(-0.03,+0.63,-0.77) r=0.75m +[headless_play] RESET at t= 16.30s step= 815 (env termination, not a recovery) +[headless_play] t= 16.30s step= 815 trunk_z= 128.0mm grav_b=(-0.00,-0.00,-1.00) r=0.25m +[headless_play] t= 16.40s step= 820 trunk_z= 113.2mm grav_b=(+0.02,+0.03,-1.00) r=0.25m +[headless_play] t= 16.50s step= 825 trunk_z= 112.6mm grav_b=(+0.07,+0.08,-0.99) r=0.23m +[headless_play] t= 16.60s step= 830 trunk_z= 115.0mm grav_b=(+0.11,+0.05,-0.99) r=0.23m +[headless_play] t= 16.70s step= 835 trunk_z= 111.0mm grav_b=(+0.11,+0.01,-0.99) r=0.24m +[headless_play] t= 16.80s step= 840 trunk_z= 120.5mm grav_b=(+0.13,-0.04,-0.99) r=0.26m +[headless_play] t= 16.90s step= 845 trunk_z= 123.0mm grav_b=(+0.16,-0.05,-0.99) r=0.27m +[headless_play] t= 17.00s step= 850 trunk_z= 114.6mm grav_b=(+0.10,-0.04,-0.99) r=0.28m +[headless_play] t= 17.10s step= 855 trunk_z= 128.5mm grav_b=(+0.04,-0.03,-1.00) r=0.30m +[headless_play] t= 17.20s step= 860 trunk_z= 114.9mm grav_b=(+0.06,-0.06,-1.00) r=0.34m +[headless_play] t= 17.30s step= 865 trunk_z= 121.1mm grav_b=(+0.08,-0.04,-1.00) r=0.36m +[headless_play] t= 17.40s step= 870 trunk_z= 113.8mm grav_b=(+0.06,-0.01,-1.00) r=0.36m +[headless_play] t= 17.50s step= 875 trunk_z= 118.5mm grav_b=(+0.07,+0.04,-1.00) r=0.37m +[headless_play] t= 17.60s step= 880 trunk_z= 117.4mm grav_b=(+0.10,+0.04,-0.99) r=0.39m +[headless_play] t= 17.70s step= 885 trunk_z= 110.8mm grav_b=(+0.09,-0.02,-1.00) r=0.42m +[headless_play] t= 17.80s step= 890 trunk_z= 121.2mm grav_b=(+0.08,-0.04,-1.00) r=0.44m +[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 18.00s step= 900 trunk_z= 118.6mm grav_b=(+0.06,+0.05,-1.00) r=0.47m +[headless_play] t= 18.10s step= 905 trunk_z= 118.7mm grav_b=(+0.09,+0.05,-1.00) r=0.49m +[headless_play] t= 18.20s step= 910 trunk_z= 110.0mm grav_b=(+0.08,-0.00,-1.00) r=0.52m +[headless_play] t= 18.30s step= 915 trunk_z= 121.0mm grav_b=(+0.09,-0.05,-0.99) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 112.0mm grav_b=(+0.00,+0.04,-1.00) r=0.54m +[headless_play] t= 18.50s step= 925 trunk_z= 119.1mm grav_b=(+0.03,+0.08,-1.00) r=0.54m +[headless_play] t= 18.60s step= 930 trunk_z= 121.7mm grav_b=(+0.08,+0.07,-0.99) r=0.54m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(+0.12,+0.05,-0.99) r=0.56m +[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(+0.13,-0.02,-0.99) r=0.58m +[headless_play] t= 18.90s step= 945 trunk_z= 115.5mm grav_b=(+0.12,-0.01,-0.99) r=0.59m +[headless_play] t= 19.00s step= 950 trunk_z= 112.7mm grav_b=(+0.08,+0.05,-1.00) r=0.60m +[headless_play] t= 19.10s step= 955 trunk_z= 119.1mm grav_b=(+0.08,+0.05,-1.00) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 114.0mm grav_b=(+0.10,+0.03,-0.99) r=0.65m +[headless_play] t= 19.30s step= 965 trunk_z= 119.5mm grav_b=(+0.08,-0.04,-1.00) r=0.69m +[headless_play] t= 19.40s step= 970 trunk_z= 119.5mm grav_b=(+0.08,-0.03,-1.00) r=0.71m +[headless_play] t= 19.50s step= 975 trunk_z= 111.5mm grav_b=(+0.04,+0.04,-1.00) r=0.73m +[headless_play] t= 19.60s step= 980 trunk_z= 120.3mm grav_b=(+0.06,+0.05,-1.00) r=0.74m +[headless_play] t= 19.70s step= 985 trunk_z= 116.2mm grav_b=(+0.09,+0.04,-1.00) r=0.77m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(+0.05,-0.04,-1.00) r=0.79m +[headless_play] t= 19.90s step= 995 trunk_z= 121.4mm grav_b=(+0.07,-0.04,-1.00) r=0.81m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t10/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x216fa880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t10/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t10/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t11.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..8ed01a8bbb2add14bd583d7917810f69f12f9ee6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t11.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.935,-18.336,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.02,-0.03,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 113.5mm grav_b=(+0.08,-0.05,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 111.6mm grav_b=(+0.07,+0.05,-1.00) r=0.30m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(+0.05,+0.10,-0.99) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 118.0mm grav_b=(+0.05,+0.12,-0.99) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(+0.06,+0.10,-0.99) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(+0.06,-0.02,-1.00) r=0.20m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(+0.08,+0.01,-1.00) r=0.19m +[headless_play] t= 0.90s step= 45 trunk_z= 113.1mm grav_b=(+0.03,+0.08,-1.00) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 119.2mm grav_b=(+0.03,+0.10,-1.00) r=0.15m +[headless_play] t= 1.10s step= 55 trunk_z= 108.2mm grav_b=(+0.08,-0.00,-1.00) r=0.11m +[headless_play] t= 1.20s step= 60 trunk_z= 117.5mm grav_b=(+0.12,-0.06,-0.99) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 118.1mm grav_b=(+0.08,+0.02,-1.00) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 120.4mm grav_b=(+0.03,+0.10,-0.99) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 120.7mm grav_b=(+0.03,+0.13,-0.99) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 116.0mm grav_b=(+0.04,+0.12,-0.99) r=0.03m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(+0.05,+0.01,-1.00) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(+0.09,+0.01,-1.00) r=0.05m +[headless_play] t= 1.90s step= 95 trunk_z= 110.0mm grav_b=(+0.06,+0.07,-1.00) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 115.2mm grav_b=(-0.00,+0.01,-1.00) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 108.4mm grav_b=(-0.00,-0.04,-1.00) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 111.1mm grav_b=(+0.05,-0.03,-1.00) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 106.5mm grav_b=(+0.06,+0.03,-1.00) r=0.13m +[headless_play] t= 2.40s step= 120 trunk_z= 109.0mm grav_b=(+0.06,+0.10,-0.99) r=0.16m +[headless_play] t= 2.50s step= 125 trunk_z= 110.8mm grav_b=(+0.09,+0.12,-0.99) r=0.17m +[headless_play] t= 2.60s step= 130 trunk_z= 107.8mm grav_b=(+0.10,+0.10,-0.99) r=0.19m +[headless_play] t= 2.70s step= 135 trunk_z= 111.5mm grav_b=(+0.14,+0.01,-0.99) r=0.22m +[headless_play] t= 2.80s step= 140 trunk_z= 112.5mm grav_b=(+0.07,+0.07,-1.00) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 115.5mm grav_b=(-0.04,+0.13,-0.99) r=0.25m +[headless_play] t= 3.00s step= 150 trunk_z= 122.3mm grav_b=(-0.05,+0.14,-0.99) r=0.26m +[headless_play] t= 3.10s step= 155 trunk_z= 125.5mm grav_b=(-0.02,+0.16,-0.99) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 120.8mm grav_b=(+0.06,+0.16,-0.99) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(-0.06,+0.12,-0.99) r=0.23m +[headless_play] t= 3.40s step= 170 trunk_z= 99.1mm grav_b=(+0.07,+0.11,-0.99) r=0.23m +[headless_play] t= 3.50s step= 175 trunk_z= 109.0mm grav_b=(+0.04,+0.08,-1.00) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 106.6mm grav_b=(+0.02,+0.01,-1.00) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 113.3mm grav_b=(+0.02,-0.02,-1.00) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 109.7mm grav_b=(+0.05,+0.02,-1.00) r=0.17m +[headless_play] t= 3.90s step= 195 trunk_z= 104.2mm grav_b=(+0.10,+0.09,-0.99) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 121.0mm grav_b=(+0.05,+0.09,-0.99) r=0.21m +[headless_play] t= 4.10s step= 205 trunk_z= 121.8mm grav_b=(+0.05,+0.06,-1.00) r=0.20m +[headless_play] t= 4.20s step= 210 trunk_z= 119.7mm grav_b=(+0.04,-0.08,-1.00) r=0.19m +[headless_play] t= 4.30s step= 215 trunk_z= 124.5mm grav_b=(+0.06,-0.04,-1.00) r=0.20m +[headless_play] t= 4.40s step= 220 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 4.50s step= 225 trunk_z= 127.8mm grav_b=(+0.11,+0.07,-0.99) r=0.26m +[headless_play] t= 4.60s step= 230 trunk_z= 133.5mm grav_b=(+0.06,+0.10,-0.99) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 107.9mm grav_b=(-0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 118.4mm grav_b=(+0.06,+0.04,-1.00) r=0.35m +[headless_play] t= 4.90s step= 245 trunk_z= 114.3mm grav_b=(-0.02,+0.03,-1.00) r=0.38m +[headless_play] t= 5.00s step= 250 trunk_z= 123.1mm grav_b=(+0.00,+0.07,-1.00) r=0.40m +[headless_play] t= 5.10s step= 255 trunk_z= 122.6mm grav_b=(-0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 5.20s step= 260 trunk_z= 116.1mm grav_b=(-0.02,-0.03,-1.00) r=0.40m +[headless_play] t= 5.30s step= 265 trunk_z= 124.7mm grav_b=(+0.03,-0.07,-1.00) r=0.41m +[headless_play] t= 5.40s step= 270 trunk_z= 125.5mm grav_b=(+0.05,-0.03,-1.00) r=0.44m +[headless_play] t= 5.50s step= 275 trunk_z= 118.5mm grav_b=(+0.04,+0.03,-1.00) r=0.48m +[headless_play] t= 5.60s step= 280 trunk_z= 128.7mm grav_b=(+0.04,+0.06,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 126.5mm grav_b=(+0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 117.2mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 125.3mm grav_b=(+0.04,-0.01,-1.00) r=0.57m +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(+0.08,+0.01,-1.00) r=0.63m +[headless_play] t= 6.10s step= 305 trunk_z= 128.8mm grav_b=(+0.14,-0.01,-0.99) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 134.0mm grav_b=(+0.06,+0.06,-1.00) r=0.71m +[headless_play] t= 6.30s step= 315 trunk_z= 104.7mm grav_b=(+0.00,+0.03,-1.00) r=0.76m +[headless_play] t= 6.40s step= 320 trunk_z= 117.7mm grav_b=(+0.01,+0.09,-1.00) r=0.78m +[headless_play] t= 6.50s step= 325 trunk_z= 116.5mm grav_b=(+0.05,+0.06,-1.00) r=0.81m +[headless_play] t= 6.60s step= 330 trunk_z= 126.9mm grav_b=(+0.02,+0.14,-0.99) r=0.83m +[headless_play] t= 6.70s step= 335 trunk_z= 127.3mm grav_b=(+0.02,+0.21,-0.98) r=0.85m +[headless_play] t= 6.80s step= 340 trunk_z= 129.1mm grav_b=(-0.03,+0.12,-0.99) r=0.89m +[headless_play] t= 6.90s step= 345 trunk_z= 121.4mm grav_b=(+0.08,+0.10,-0.99) r=0.94m +[headless_play] t= 7.00s step= 350 trunk_z= 129.9mm grav_b=(+0.05,+0.01,-1.00) r=0.97m +[headless_play] t= 7.10s step= 355 trunk_z= 111.8mm grav_b=(+0.00,-0.05,-1.00) r=1.01m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.00,-0.08,-1.00) r=1.05m +[headless_play] t= 7.30s step= 365 trunk_z= 104.9mm grav_b=(-0.13,-0.12,-0.99) r=1.09m +[headless_play] t= 7.40s step= 370 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=1.11m +[headless_play] t= 7.50s step= 375 trunk_z= 113.5mm grav_b=(+0.13,-0.08,-0.99) r=1.11m +[headless_play] t= 7.60s step= 380 trunk_z= 96.5mm grav_b=(+0.08,-0.09,-0.99) r=1.15m +[headless_play] t= 7.70s step= 385 trunk_z= 103.6mm grav_b=(+0.05,-0.06,-1.00) r=1.18m +[headless_play] t= 7.80s step= 390 trunk_z= 99.1mm grav_b=(+0.10,-0.01,-0.99) r=1.20m +[headless_play] t= 7.90s step= 395 trunk_z= 105.6mm grav_b=(+0.13,+0.04,-0.99) r=1.22m +[headless_play] t= 8.00s step= 400 trunk_z= 97.6mm grav_b=(+0.16,+0.04,-0.99) r=1.25m +[headless_play] t= 8.10s step= 405 trunk_z= 86.8mm grav_b=(+0.16,-0.10,-0.98) r=1.30m +[headless_play] t= 8.20s step= 410 trunk_z= 94.4mm grav_b=(+0.14,-0.12,-0.98) r=1.34m +[headless_play] t= 8.30s step= 415 trunk_z= 86.9mm grav_b=(+0.19,-0.03,-0.98) r=1.38m +[headless_play] t= 8.40s step= 420 trunk_z= 99.4mm grav_b=(+0.11,+0.00,-0.99) r=1.42m +[headless_play] t= 8.50s step= 425 trunk_z= 72.8mm grav_b=(-0.02,-0.00,-1.00) r=1.47m +[headless_play] t= 8.60s step= 430 trunk_z= 73.2mm grav_b=(+0.06,-0.00,-1.00) r=1.50m +[headless_play] t= 8.70s step= 435 trunk_z= 71.2mm grav_b=(+0.05,-0.01,-1.00) r=1.53m +[headless_play] t= 8.80s step= 440 trunk_z= 67.6mm grav_b=(+0.03,+0.02,-1.00) r=1.56m +[headless_play] t= 8.90s step= 445 trunk_z= 62.9mm grav_b=(+0.06,+0.01,-1.00) r=1.60m +[headless_play] t= 9.00s step= 450 trunk_z= 53.2mm grav_b=(+0.07,-0.13,-0.99) r=1.65m +[headless_play] t= 9.10s step= 455 trunk_z= 55.5mm grav_b=(+0.09,-0.16,-0.98) r=1.68m +[headless_play] t= 9.20s step= 460 trunk_z= 50.7mm grav_b=(+0.09,-0.14,-0.99) r=1.71m +[headless_play] t= 9.30s step= 465 trunk_z= 49.1mm grav_b=(+0.14,-0.03,-0.99) r=1.73m +[headless_play] t= 9.40s step= 470 trunk_z= 58.5mm grav_b=(-0.04,+0.06,-1.00) r=1.75m +[headless_play] t= 9.50s step= 475 trunk_z= 37.2mm grav_b=(+0.07,-0.05,-1.00) r=1.79m +[headless_play] t= 9.60s step= 480 trunk_z= 42.2mm grav_b=(+0.05,+0.01,-1.00) r=1.81m +[headless_play] t= 9.70s step= 485 trunk_z= 30.3mm grav_b=(+0.02,+0.05,-1.00) r=1.83m +[headless_play] t= 9.80s step= 490 trunk_z= 33.3mm grav_b=(+0.05,+0.06,-1.00) r=1.84m +[headless_play] t= 9.90s step= 495 trunk_z= 26.8mm grav_b=(+0.05,-0.01,-1.00) r=1.86m +[headless_play] t= 10.00s step= 500 trunk_z= 26.0mm grav_b=(+0.11,-0.04,-0.99) r=1.86m +[headless_play] t= 10.10s step= 505 trunk_z= 26.5mm grav_b=(+0.18,+0.00,-0.98) r=1.87m +[headless_play] t= 10.20s step= 510 trunk_z= 30.4mm grav_b=(+0.11,-0.01,-0.99) r=1.88m +[headless_play] t= 10.30s step= 515 trunk_z= 20.8mm grav_b=(+0.01,-0.15,-0.99) r=1.91m +[headless_play] t= 10.40s step= 520 trunk_z= 29.1mm grav_b=(+0.01,-0.13,-0.99) r=1.93m +[headless_play] t= 10.50s step= 525 trunk_z= 24.6mm grav_b=(+0.05,-0.09,-1.00) r=1.95m +[headless_play] t= 10.60s step= 530 trunk_z= 18.8mm grav_b=(+0.09,+0.01,-1.00) r=1.95m +[headless_play] t= 10.70s step= 535 trunk_z= 17.0mm grav_b=(+0.14,+0.01,-0.99) r=1.97m +[headless_play] t= 10.80s step= 540 trunk_z= 19.7mm grav_b=(+0.17,-0.05,-0.98) r=1.98m +[headless_play] t= 10.90s step= 545 trunk_z= 12.5mm grav_b=(+0.04,-0.02,-1.00) r=2.00m +[headless_play] t= 11.00s step= 550 trunk_z= 15.2mm grav_b=(+0.04,+0.09,-0.99) r=2.02m +[headless_play] t= 11.10s step= 555 trunk_z= 19.6mm grav_b=(+0.04,+0.12,-0.99) r=2.04m +[headless_play] t= 11.20s step= 560 trunk_z= 12.0mm grav_b=(+0.07,+0.10,-0.99) r=2.06m +[headless_play] t= 11.30s step= 565 trunk_z= 11.2mm grav_b=(+0.05,+0.08,-1.00) r=2.08m +[headless_play] t= 11.40s step= 570 trunk_z= -6.2mm grav_b=(+0.05,+0.08,-0.99) r=2.10m +[headless_play] t= 11.50s step= 575 trunk_z= -2.3mm grav_b=(-0.00,+0.07,-1.00) r=2.11m +[headless_play] t= 11.60s step= 580 trunk_z= -8.0mm grav_b=(-0.06,+0.02,-1.00) r=2.12m +[headless_play] t= 11.70s step= 585 trunk_z= -8.7mm grav_b=(-0.12,+0.01,-0.99) r=2.11m +[headless_play] t= 11.80s step= 590 trunk_z= -10.8mm grav_b=(-0.01,-0.01,-1.00) r=2.11m +[headless_play] t= 11.90s step= 595 trunk_z= -2.6mm grav_b=(-0.11,+0.04,-0.99) r=2.10m +[headless_play] t= 12.00s step= 600 trunk_z= -7.2mm grav_b=(-0.01,+0.06,-1.00) r=2.07m +[headless_play] t= 12.10s step= 605 trunk_z= -2.6mm grav_b=(+0.06,+0.01,-1.00) r=2.07m +[headless_play] t= 12.20s step= 610 trunk_z= 4.8mm grav_b=(+0.07,-0.01,-1.00) r=2.07m +[headless_play] t= 12.30s step= 615 trunk_z= 4.9mm grav_b=(+0.06,+0.07,-1.00) r=2.08m +[headless_play] t= 12.40s step= 620 trunk_z= 7.0mm grav_b=(+0.05,+0.04,-1.00) r=2.10m +[headless_play] t= 12.50s step= 625 trunk_z= 5.9mm grav_b=(+0.12,-0.08,-0.99) r=2.12m +[headless_play] t= 12.60s step= 630 trunk_z= 6.2mm grav_b=(+0.05,-0.09,-1.00) r=2.16m +[headless_play] t= 12.70s step= 635 trunk_z= 7.3mm grav_b=(+0.03,-0.02,-1.00) r=2.19m +[headless_play] t= 12.80s step= 640 trunk_z= 16.5mm grav_b=(-0.04,+0.05,-1.00) r=2.20m +[headless_play] t= 12.90s step= 645 trunk_z= 0.1mm grav_b=(+0.00,-0.03,-1.00) r=2.21m +[headless_play] t= 13.00s step= 650 trunk_z= 0.2mm grav_b=(-0.03,-0.03,-1.00) r=2.21m +[headless_play] t= 13.10s step= 655 trunk_z= -1.6mm grav_b=(-0.10,-0.01,-1.00) r=2.20m +[headless_play] t= 13.20s step= 660 trunk_z= -2.5mm grav_b=(-0.07,-0.03,-1.00) r=2.20m +[headless_play] t= 13.30s step= 665 trunk_z= -8.8mm grav_b=(+0.01,-0.07,-1.00) r=2.19m +[headless_play] t= 13.40s step= 670 trunk_z= -9.4mm grav_b=(+0.01,+0.02,-1.00) r=2.18m +[headless_play] t= 13.50s step= 675 trunk_z= -8.0mm grav_b=(+0.07,+0.02,-1.00) r=2.18m +[headless_play] t= 13.60s step= 680 trunk_z= -6.2mm grav_b=(+0.05,+0.02,-1.00) r=2.18m +[headless_play] t= 13.70s step= 685 trunk_z= -8.4mm grav_b=(-0.01,+0.02,-1.00) r=2.17m +[headless_play] t= 13.80s step= 690 trunk_z= -8.2mm grav_b=(-0.03,+0.01,-1.00) r=2.17m +[headless_play] t= 13.90s step= 695 trunk_z= -13.3mm grav_b=(+0.03,-0.03,-1.00) r=2.17m +[headless_play] t= 14.00s step= 700 trunk_z= -10.3mm grav_b=(+0.04,-0.01,-1.00) r=2.17m +[headless_play] t= 14.10s step= 705 trunk_z= -9.6mm grav_b=(+0.08,-0.05,-1.00) r=2.18m +[headless_play] t= 14.20s step= 710 trunk_z= -7.3mm grav_b=(+0.15,-0.06,-0.99) r=2.18m +[headless_play] t= 14.30s step= 715 trunk_z= -4.1mm grav_b=(+0.09,-0.01,-1.00) r=2.18m +[headless_play] t= 14.40s step= 720 trunk_z= -6.3mm grav_b=(+0.05,-0.01,-1.00) r=2.19m +[headless_play] t= 14.50s step= 725 trunk_z= -7.5mm grav_b=(+0.01,+0.02,-1.00) r=2.18m +[headless_play] t= 14.60s step= 730 trunk_z= -7.8mm grav_b=(-0.03,+0.05,-1.00) r=2.18m +[headless_play] t= 14.70s step= 735 trunk_z= -9.4mm grav_b=(-0.01,+0.02,-1.00) r=2.18m +[headless_play] t= 14.80s step= 740 trunk_z= -10.1mm grav_b=(-0.05,+0.06,-1.00) r=2.17m +[headless_play] t= 14.90s step= 745 trunk_z= -8.2mm grav_b=(+0.00,+0.04,-1.00) r=2.16m +[headless_play] t= 15.00s step= 750 trunk_z= -8.5mm grav_b=(+0.02,-0.01,-1.00) r=2.15m +[headless_play] t= 15.10s step= 755 trunk_z= -2.9mm grav_b=(+0.05,-0.05,-1.00) r=2.15m +[headless_play] t= 15.20s step= 760 trunk_z= -5.5mm grav_b=(+0.14,-0.02,-0.99) r=2.15m +[headless_play] t= 15.30s step= 765 trunk_z= -3.0mm grav_b=(+0.20,-0.02,-0.98) r=2.15m +[headless_play] t= 15.40s step= 770 trunk_z= 0.2mm grav_b=(+0.12,-0.05,-0.99) r=2.17m +[headless_play] t= 15.50s step= 775 trunk_z= -8.3mm grav_b=(+0.05,-0.13,-0.99) r=2.21m +[headless_play] t= 15.60s step= 780 trunk_z= 3.4mm grav_b=(+0.03,-0.07,-1.00) r=2.22m +[headless_play] t= 15.70s step= 785 trunk_z= -5.6mm grav_b=(-0.04,+0.01,-1.00) r=2.22m +[headless_play] t= 15.80s step= 790 trunk_z= 0.1mm grav_b=(-0.02,+0.11,-0.99) r=2.21m +[headless_play] t= 15.90s step= 795 trunk_z= 4.6mm grav_b=(-0.04,+0.14,-0.99) r=2.20m +[headless_play] t= 16.00s step= 800 trunk_z= 4.5mm grav_b=(+0.00,+0.12,-0.99) r=2.20m +[headless_play] t= 16.10s step= 805 trunk_z= -5.8mm grav_b=(+0.05,+0.07,-1.00) r=2.19m +[headless_play] t= 16.20s step= 810 trunk_z= -4.9mm grav_b=(+0.05,+0.06,-1.00) r=2.19m +[headless_play] t= 16.30s step= 815 trunk_z= -14.6mm grav_b=(+0.13,+0.13,-0.98) r=2.18m +[headless_play] t= 16.40s step= 820 trunk_z= -1.4mm grav_b=(+0.12,+0.18,-0.98) r=2.18m +[headless_play] t= 16.50s step= 825 trunk_z= 2.0mm grav_b=(+0.09,+0.18,-0.98) r=2.19m +[headless_play] t= 16.60s step= 830 trunk_z= 2.6mm grav_b=(+0.07,+0.07,-0.99) r=2.20m +[headless_play] t= 16.70s step= 835 trunk_z= 11.1mm grav_b=(+0.06,+0.11,-0.99) r=2.21m +[headless_play] t= 16.80s step= 840 trunk_z= 0.1mm grav_b=(+0.01,+0.12,-0.99) r=2.22m +[headless_play] t= 16.90s step= 845 trunk_z= 8.9mm grav_b=(+0.02,+0.13,-0.99) r=2.22m +[headless_play] t= 17.00s step= 850 trunk_z= 11.7mm grav_b=(-0.00,+0.17,-0.99) r=2.22m +[headless_play] t= 17.10s step= 855 trunk_z= 14.8mm grav_b=(+0.05,+0.24,-0.97) r=2.24m +[headless_play] t= 17.20s step= 860 trunk_z= 21.0mm grav_b=(+0.00,+0.17,-0.99) r=2.25m +[headless_play] t= 17.30s step= 865 trunk_z= 23.1mm grav_b=(-0.02,+0.10,-0.99) r=2.26m +[headless_play] t= 17.40s step= 870 trunk_z= 11.3mm grav_b=(-0.03,+0.11,-0.99) r=2.26m +[headless_play] t= 17.50s step= 875 trunk_z= 17.9mm grav_b=(-0.02,+0.18,-0.98) r=2.25m +[headless_play] t= 17.60s step= 880 trunk_z= 20.8mm grav_b=(-0.05,+0.19,-0.98) r=2.23m +[headless_play] t= 17.70s step= 885 trunk_z= 21.5mm grav_b=(+0.00,+0.16,-0.99) r=2.22m +[headless_play] t= 17.80s step= 890 trunk_z= 15.7mm grav_b=(-0.01,+0.19,-0.98) r=2.19m +[headless_play] t= 17.90s step= 895 trunk_z= 5.8mm grav_b=(-0.14,+0.14,-0.98) r=2.16m +[headless_play] t= 18.00s step= 900 trunk_z= -34.1mm grav_b=(-0.06,+0.06,-1.00) r=2.12m +[headless_play] t= 18.10s step= 905 trunk_z= -21.9mm grav_b=(+0.11,+0.01,-0.99) r=2.10m +[headless_play] t= 18.20s step= 910 trunk_z= -15.8mm grav_b=(+0.11,-0.07,-0.99) r=2.09m +[headless_play] t= 18.30s step= 915 trunk_z= -2.1mm grav_b=(+0.10,-0.12,-0.99) r=2.11m +[headless_play] t= 18.40s step= 920 trunk_z= 0.7mm grav_b=(+0.19,-0.10,-0.98) r=2.13m +[headless_play] t= 18.50s step= 925 trunk_z= 4.1mm grav_b=(+0.10,-0.11,-0.99) r=2.14m +[headless_play] t= 18.60s step= 930 trunk_z= -0.2mm grav_b=(+0.03,-0.17,-0.99) r=2.16m +[headless_play] t= 18.70s step= 935 trunk_z= 8.3mm grav_b=(+0.00,-0.27,-0.96) r=2.16m +[headless_play] t= 18.80s step= 940 trunk_z= 3.2mm grav_b=(+0.16,-0.35,-0.92) r=2.15m +[headless_play] t= 18.90s step= 945 trunk_z= 1.9mm grav_b=(+0.22,-0.47,-0.86) r=2.14m +[headless_play] t= 19.00s step= 950 trunk_z= -6.3mm grav_b=(+0.27,-0.38,-0.88) r=2.15m +[headless_play] t= 19.10s step= 955 trunk_z= -33.9mm grav_b=(+0.27,-0.60,-0.75) r=2.15m +[headless_play] RESET at t= 19.18s step= 959 (env termination, not a recovery) +[headless_play] t= 19.20s step= 960 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.20m +[headless_play] t= 19.40s step= 970 trunk_z= 114.1mm grav_b=(+0.06,-0.07,-1.00) r=0.22m +[headless_play] t= 19.50s step= 975 trunk_z= 120.9mm grav_b=(+0.07,-0.12,-0.99) r=0.24m +[headless_play] t= 19.60s step= 980 trunk_z= 118.8mm grav_b=(+0.06,-0.11,-0.99) r=0.25m +[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(+0.06,+0.02,-1.00) r=0.26m +[headless_play] t= 19.80s step= 990 trunk_z= 121.9mm grav_b=(+0.06,+0.01,-1.00) r=0.28m +[headless_play] t= 19.90s step= 995 trunk_z= 114.7mm grav_b=(+0.00,-0.06,-1.00) r=0.31m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t11/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x17ab4880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t11/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t11/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t12.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..d2959282e75f44dfe46154c68019f04cc3af5c36 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t12.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.488,-17.696,+0.257) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(-0.03,+0.05,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 122.0mm grav_b=(-0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 0.40s step= 20 trunk_z= 116.2mm grav_b=(+0.01,-0.07,-1.00) r=0.60m +[headless_play] t= 0.50s step= 25 trunk_z= 129.4mm grav_b=(-0.00,-0.12,-0.99) r=0.63m +[headless_play] t= 0.60s step= 30 trunk_z= 128.7mm grav_b=(-0.01,-0.17,-0.99) r=0.64m +[headless_play] t= 0.70s step= 35 trunk_z= 123.2mm grav_b=(-0.02,-0.11,-0.99) r=0.66m +[headless_play] t= 0.80s step= 40 trunk_z= 128.6mm grav_b=(+0.01,-0.08,-1.00) r=0.68m +[headless_play] t= 0.90s step= 45 trunk_z= 120.3mm grav_b=(-0.01,-0.08,-1.00) r=0.71m +[headless_play] t= 1.00s step= 50 trunk_z= 124.6mm grav_b=(-0.12,-0.18,-0.98) r=0.74m +[headless_play] t= 1.10s step= 55 trunk_z= 130.5mm grav_b=(-0.13,-0.20,-0.97) r=0.76m +[headless_play] t= 1.20s step= 60 trunk_z= 130.0mm grav_b=(-0.04,-0.20,-0.98) r=0.77m +[headless_play] t= 1.30s step= 65 trunk_z= 127.6mm grav_b=(-0.01,-0.21,-0.98) r=0.79m +[headless_play] t= 1.40s step= 70 trunk_z= 125.5mm grav_b=(-0.05,-0.33,-0.94) r=0.80m +[headless_play] t= 1.50s step= 75 trunk_z= 120.1mm grav_b=(-0.02,-0.25,-0.97) r=0.81m +[headless_play] t= 1.60s step= 80 trunk_z= 102.5mm grav_b=(+0.00,-0.18,-0.98) r=0.89m +[headless_play] t= 1.70s step= 85 trunk_z= 130.8mm grav_b=(+0.08,-0.01,-1.00) r=0.93m +[headless_play] t= 1.80s step= 90 trunk_z= 138.1mm grav_b=(+0.02,+0.10,-0.99) r=0.97m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(-0.08,-0.04,-1.00) r=1.03m +[headless_play] t= 2.00s step= 100 trunk_z= 127.3mm grav_b=(-0.14,-0.16,-0.98) r=1.06m +[headless_play] t= 2.10s step= 105 trunk_z= 120.1mm grav_b=(-0.06,-0.14,-0.99) r=1.08m +[headless_play] t= 2.20s step= 110 trunk_z= 110.8mm grav_b=(+0.03,+0.01,-1.00) r=1.11m +[headless_play] t= 2.30s step= 115 trunk_z= 120.3mm grav_b=(+0.04,+0.06,-1.00) r=1.14m +[headless_play] t= 2.40s step= 120 trunk_z= 98.6mm grav_b=(+0.01,-0.11,-0.99) r=1.19m +[headless_play] t= 2.50s step= 125 trunk_z= 108.1mm grav_b=(+0.01,-0.15,-0.99) r=1.23m +[headless_play] t= 2.60s step= 130 trunk_z= 91.2mm grav_b=(-0.05,-0.12,-0.99) r=1.29m +[headless_play] t= 2.70s step= 135 trunk_z= 85.5mm grav_b=(-0.06,-0.02,-1.00) r=1.34m +[headless_play] t= 2.80s step= 140 trunk_z= 82.4mm grav_b=(-0.01,+0.01,-1.00) r=1.37m +[headless_play] t= 2.90s step= 145 trunk_z= 77.7mm grav_b=(-0.05,-0.15,-0.99) r=1.40m +[headless_play] t= 3.00s step= 150 trunk_z= 81.7mm grav_b=(-0.11,-0.16,-0.98) r=1.42m +[headless_play] t= 3.10s step= 155 trunk_z= 69.1mm grav_b=(-0.04,-0.11,-0.99) r=1.45m +[headless_play] t= 3.20s step= 160 trunk_z= 60.8mm grav_b=(-0.04,+0.03,-1.00) r=1.48m +[headless_play] t= 3.30s step= 165 trunk_z= 64.4mm grav_b=(-0.01,+0.08,-1.00) r=1.49m +[headless_play] t= 3.40s step= 170 trunk_z= 62.4mm grav_b=(+0.03,+0.11,-0.99) r=1.50m +[headless_play] t= 3.50s step= 175 trunk_z= 68.7mm grav_b=(-0.01,+0.08,-1.00) r=1.51m +[headless_play] t= 3.60s step= 180 trunk_z= 70.6mm grav_b=(-0.06,-0.14,-0.99) r=1.53m +[headless_play] t= 3.70s step= 185 trunk_z= 68.6mm grav_b=(-0.09,-0.13,-0.99) r=1.53m +[headless_play] t= 3.80s step= 190 trunk_z= 53.4mm grav_b=(-0.09,-0.07,-0.99) r=1.55m +[headless_play] t= 3.90s step= 195 trunk_z= 52.3mm grav_b=(-0.04,-0.02,-1.00) r=1.56m +[headless_play] t= 4.00s step= 200 trunk_z= 51.5mm grav_b=(-0.00,-0.01,-1.00) r=1.56m +[headless_play] t= 4.10s step= 205 trunk_z= 51.2mm grav_b=(+0.04,-0.00,-1.00) r=1.55m +[headless_play] t= 4.20s step= 210 trunk_z= 48.4mm grav_b=(+0.09,+0.11,-0.99) r=1.57m +[headless_play] t= 4.30s step= 215 trunk_z= 49.2mm grav_b=(+0.13,+0.21,-0.97) r=1.60m +[headless_play] t= 4.40s step= 220 trunk_z= 55.5mm grav_b=(+0.04,+0.05,-1.00) r=1.63m +[headless_play] t= 4.50s step= 225 trunk_z= 48.1mm grav_b=(+0.07,-0.12,-0.99) r=1.67m +[headless_play] t= 4.60s step= 230 trunk_z= 55.7mm grav_b=(-0.03,-0.13,-0.99) r=1.68m +[headless_play] t= 4.70s step= 235 trunk_z= 49.0mm grav_b=(-0.06,-0.11,-0.99) r=1.72m +[headless_play] t= 4.80s step= 240 trunk_z= 40.3mm grav_b=(+0.05,+0.04,-1.00) r=1.75m +[headless_play] t= 4.90s step= 245 trunk_z= 40.5mm grav_b=(+0.00,+0.03,-1.00) r=1.77m +[headless_play] t= 5.00s step= 250 trunk_z= 40.0mm grav_b=(-0.01,-0.06,-1.00) r=1.78m +[headless_play] t= 5.10s step= 255 trunk_z= 43.7mm grav_b=(-0.02,-0.08,-1.00) r=1.79m +[headless_play] t= 5.20s step= 260 trunk_z= 33.5mm grav_b=(-0.02,-0.07,-1.00) r=1.82m +[headless_play] t= 5.30s step= 265 trunk_z= 26.2mm grav_b=(-0.04,+0.03,-1.00) r=1.85m +[headless_play] t= 5.40s step= 270 trunk_z= 31.8mm grav_b=(-0.04,+0.05,-1.00) r=1.86m +[headless_play] t= 5.50s step= 275 trunk_z= 29.7mm grav_b=(-0.01,+0.04,-1.00) r=1.86m +[headless_play] t= 5.60s step= 280 trunk_z= 24.3mm grav_b=(+0.02,+0.01,-1.00) r=1.85m +[headless_play] t= 5.70s step= 285 trunk_z= 25.9mm grav_b=(+0.06,-0.00,-1.00) r=1.86m +[headless_play] t= 5.80s step= 290 trunk_z= 19.2mm grav_b=(+0.05,-0.03,-1.00) r=1.88m +[headless_play] t= 5.90s step= 295 trunk_z= 19.6mm grav_b=(+0.03,+0.07,-1.00) r=1.92m +[headless_play] t= 6.00s step= 300 trunk_z= 23.7mm grav_b=(+0.02,+0.07,-1.00) r=1.94m +[headless_play] t= 6.10s step= 305 trunk_z= 15.9mm grav_b=(+0.10,+0.02,-0.99) r=1.96m +[headless_play] t= 6.20s step= 310 trunk_z= 28.6mm grav_b=(+0.01,-0.04,-1.00) r=1.98m +[headless_play] t= 6.30s step= 315 trunk_z= 19.8mm grav_b=(-0.00,-0.03,-1.00) r=2.00m +[headless_play] t= 6.40s step= 320 trunk_z= 11.5mm grav_b=(-0.01,+0.09,-1.00) r=2.03m +[headless_play] t= 6.50s step= 325 trunk_z= 17.9mm grav_b=(+0.02,+0.10,-0.99) r=2.05m +[headless_play] t= 6.60s step= 330 trunk_z= 13.4mm grav_b=(+0.04,+0.07,-1.00) r=2.06m +[headless_play] t= 6.70s step= 335 trunk_z= 14.0mm grav_b=(+0.00,+0.02,-1.00) r=2.06m +[headless_play] t= 6.80s step= 340 trunk_z= 17.7mm grav_b=(-0.01,+0.03,-1.00) r=2.07m +[headless_play] t= 6.90s step= 345 trunk_z= 1.9mm grav_b=(-0.02,+0.04,-1.00) r=2.10m +[headless_play] t= 7.00s step= 350 trunk_z= 8.4mm grav_b=(-0.00,+0.05,-1.00) r=2.12m +[headless_play] t= 7.10s step= 355 trunk_z= 7.9mm grav_b=(-0.00,+0.03,-1.00) r=2.12m +[headless_play] t= 7.20s step= 360 trunk_z= 2.7mm grav_b=(+0.03,+0.00,-1.00) r=2.11m +[headless_play] t= 7.30s step= 365 trunk_z= 11.7mm grav_b=(+0.03,-0.02,-1.00) r=2.11m +[headless_play] t= 7.40s step= 370 trunk_z= 5.8mm grav_b=(+0.04,-0.05,-1.00) r=2.12m +[headless_play] t= 7.50s step= 375 trunk_z= 0.0mm grav_b=(+0.06,+0.07,-1.00) r=2.15m +[headless_play] t= 7.60s step= 380 trunk_z= 7.3mm grav_b=(+0.05,+0.05,-1.00) r=2.17m +[headless_play] t= 7.70s step= 385 trunk_z= 1.8mm grav_b=(+0.04,-0.03,-1.00) r=2.16m +[headless_play] t= 7.80s step= 390 trunk_z= 11.7mm grav_b=(+0.02,-0.04,-1.00) r=2.16m +[headless_play] t= 7.90s step= 395 trunk_z= 7.7mm grav_b=(-0.00,-0.07,-1.00) r=2.17m +[headless_play] t= 8.00s step= 400 trunk_z= 0.5mm grav_b=(+0.02,+0.02,-1.00) r=2.20m +[headless_play] t= 8.10s step= 405 trunk_z= 8.1mm grav_b=(-0.01,+0.07,-1.00) r=2.22m +[headless_play] t= 8.20s step= 410 trunk_z= 6.5mm grav_b=(+0.03,+0.08,-1.00) r=2.22m +[headless_play] t= 8.30s step= 415 trunk_z= 5.6mm grav_b=(-0.02,+0.05,-1.00) r=2.21m +[headless_play] t= 8.40s step= 420 trunk_z= 10.2mm grav_b=(-0.05,-0.01,-1.00) r=2.19m +[headless_play] t= 8.50s step= 425 trunk_z= 9.7mm grav_b=(-0.01,-0.01,-1.00) r=2.20m +[headless_play] t= 8.60s step= 430 trunk_z= -0.2mm grav_b=(+0.03,-0.03,-1.00) r=2.23m +[headless_play] t= 8.70s step= 435 trunk_z= 2.8mm grav_b=(+0.01,+0.02,-1.00) r=2.25m +[headless_play] t= 8.80s step= 440 trunk_z= 3.8mm grav_b=(+0.00,-0.02,-1.00) r=2.26m +[headless_play] t= 8.90s step= 445 trunk_z= 3.3mm grav_b=(+0.04,-0.09,-0.99) r=2.26m +[headless_play] t= 9.00s step= 450 trunk_z= 13.4mm grav_b=(+0.06,-0.08,-1.00) r=2.27m +[headless_play] t= 9.10s step= 455 trunk_z= 5.3mm grav_b=(+0.02,-0.06,-1.00) r=2.30m +[headless_play] t= 9.20s step= 460 trunk_z= 8.0mm grav_b=(+0.01,+0.06,-1.00) r=2.34m +[headless_play] t= 9.30s step= 465 trunk_z= 11.6mm grav_b=(+0.00,+0.10,-1.00) r=2.38m +[headless_play] t= 9.40s step= 470 trunk_z= -1.8mm grav_b=(-0.10,-0.13,-0.99) r=2.42m +[headless_play] t= 9.50s step= 475 trunk_z= 8.8mm grav_b=(-0.13,-0.27,-0.96) r=2.43m +[headless_play] t= 9.60s step= 480 trunk_z= 6.6mm grav_b=(-0.07,-0.19,-0.98) r=2.43m +[headless_play] t= 9.70s step= 485 trunk_z= -1.9mm grav_b=(+0.02,-0.18,-0.98) r=2.42m +[headless_play] t= 9.80s step= 490 trunk_z= -5.2mm grav_b=(-0.01,-0.14,-0.99) r=2.39m +[headless_play] t= 9.90s step= 495 trunk_z= -25.7mm grav_b=(+0.18,-0.12,-0.98) r=2.35m +[headless_play] t= 10.00s step= 500 trunk_z= -9.7mm grav_b=(+0.04,-0.08,-1.00) r=2.35m +[headless_play] t= 10.10s step= 505 trunk_z= -3.4mm grav_b=(-0.02,-0.03,-1.00) r=2.37m +[headless_play] t= 10.20s step= 510 trunk_z= -5.2mm grav_b=(-0.02,-0.06,-1.00) r=2.40m +[headless_play] t= 10.30s step= 515 trunk_z= 2.2mm grav_b=(-0.03,-0.10,-0.99) r=2.41m +[headless_play] t= 10.40s step= 520 trunk_z= -5.1mm grav_b=(-0.02,-0.05,-1.00) r=2.45m +[headless_play] t= 10.50s step= 525 trunk_z= -2.8mm grav_b=(-0.05,+0.01,-1.00) r=2.49m +[headless_play] t= 10.60s step= 530 trunk_z= 3.1mm grav_b=(-0.04,+0.01,-1.00) r=2.49m +[headless_play] t= 10.70s step= 535 trunk_z= -3.8mm grav_b=(-0.06,-0.04,-1.00) r=2.48m +[headless_play] t= 10.80s step= 540 trunk_z= 6.0mm grav_b=(-0.04,-0.10,-0.99) r=2.47m +[headless_play] t= 10.90s step= 545 trunk_z= 4.8mm grav_b=(-0.05,-0.14,-0.99) r=2.47m +[headless_play] t= 11.00s step= 550 trunk_z= 3.8mm grav_b=(-0.04,-0.15,-0.99) r=2.48m +[headless_play] t= 11.10s step= 555 trunk_z= 2.0mm grav_b=(-0.01,-0.07,-1.00) r=2.50m +[headless_play] t= 11.20s step= 560 trunk_z= 4.2mm grav_b=(-0.00,-0.05,-1.00) r=2.50m +[headless_play] t= 11.30s step= 565 trunk_z= 0.2mm grav_b=(-0.02,-0.08,-1.00) r=2.48m +[headless_play] t= 11.40s step= 570 trunk_z= 10.9mm grav_b=(-0.04,-0.12,-0.99) r=2.46m +[headless_play] t= 11.50s step= 575 trunk_z= 12.6mm grav_b=(-0.06,-0.19,-0.98) r=2.45m +[headless_play] t= 11.60s step= 580 trunk_z= 12.7mm grav_b=(-0.06,-0.24,-0.97) r=2.45m +[headless_play] t= 11.70s step= 585 trunk_z= 10.0mm grav_b=(-0.06,-0.18,-0.98) r=2.44m +[headless_play] t= 11.80s step= 590 trunk_z= 22.4mm grav_b=(+0.01,-0.12,-0.99) r=2.44m +[headless_play] t= 11.90s step= 595 trunk_z= 8.6mm grav_b=(-0.04,-0.02,-1.00) r=2.41m +[headless_play] t= 12.00s step= 600 trunk_z= 7.4mm grav_b=(-0.03,-0.11,-0.99) r=2.39m +[headless_play] t= 12.10s step= 605 trunk_z= 12.2mm grav_b=(-0.11,-0.12,-0.99) r=2.37m +[headless_play] t= 12.20s step= 610 trunk_z= 3.0mm grav_b=(-0.14,-0.06,-0.99) r=2.37m +[headless_play] t= 12.30s step= 615 trunk_z= 6.0mm grav_b=(-0.10,-0.13,-0.99) r=2.36m +[headless_play] t= 12.40s step= 620 trunk_z= 1.7mm grav_b=(-0.03,-0.15,-0.99) r=2.32m +[headless_play] t= 12.50s step= 625 trunk_z= 10.4mm grav_b=(-0.02,-0.18,-0.98) r=2.29m +[headless_play] t= 12.60s step= 630 trunk_z= 10.3mm grav_b=(-0.03,-0.24,-0.97) r=2.26m +[headless_play] t= 12.70s step= 635 trunk_z= 1.7mm grav_b=(-0.09,-0.20,-0.98) r=2.22m +[headless_play] t= 12.80s step= 640 trunk_z= 8.7mm grav_b=(+0.05,-0.16,-0.99) r=2.16m +[headless_play] t= 12.90s step= 645 trunk_z= -1.0mm grav_b=(-0.07,-0.01,-1.00) r=2.12m +[headless_play] t= 13.00s step= 650 trunk_z= 1.9mm grav_b=(-0.12,-0.06,-0.99) r=2.10m +[headless_play] t= 13.10s step= 655 trunk_z= 5.1mm grav_b=(-0.18,-0.01,-0.98) r=2.08m +[headless_play] t= 13.20s step= 660 trunk_z= 7.6mm grav_b=(-0.12,-0.02,-0.99) r=2.07m +[headless_play] t= 13.30s step= 665 trunk_z= 0.5mm grav_b=(-0.04,-0.09,-1.00) r=2.09m +[headless_play] t= 13.40s step= 670 trunk_z= 7.1mm grav_b=(+0.01,-0.10,-1.00) r=2.10m +[headless_play] t= 13.50s step= 675 trunk_z= 6.2mm grav_b=(-0.03,-0.10,-0.99) r=2.11m +[headless_play] t= 13.60s step= 680 trunk_z= 1.8mm grav_b=(-0.07,-0.05,-1.00) r=2.11m +[headless_play] t= 13.70s step= 685 trunk_z= 4.6mm grav_b=(-0.10,-0.09,-0.99) r=2.11m +[headless_play] t= 13.80s step= 690 trunk_z= 3.9mm grav_b=(-0.06,-0.11,-0.99) r=2.12m +[headless_play] t= 13.90s step= 695 trunk_z= 10.0mm grav_b=(-0.05,-0.09,-1.00) r=2.11m +[headless_play] t= 14.00s step= 700 trunk_z= 6.3mm grav_b=(-0.06,-0.08,-0.99) r=2.10m +[headless_play] t= 14.10s step= 705 trunk_z= 9.5mm grav_b=(-0.04,-0.00,-1.00) r=2.09m +[headless_play] t= 14.20s step= 710 trunk_z= 11.5mm grav_b=(-0.04,-0.00,-1.00) r=2.08m +[headless_play] t= 14.30s step= 715 trunk_z= 6.0mm grav_b=(-0.07,-0.05,-1.00) r=2.07m +[headless_play] t= 14.40s step= 720 trunk_z= 15.2mm grav_b=(-0.07,-0.08,-0.99) r=2.07m +[headless_play] t= 14.50s step= 725 trunk_z= 12.4mm grav_b=(-0.10,-0.07,-0.99) r=2.07m +[headless_play] t= 14.60s step= 730 trunk_z= 3.8mm grav_b=(-0.06,-0.05,-1.00) r=2.07m +[headless_play] t= 14.70s step= 735 trunk_z= 5.4mm grav_b=(-0.02,-0.06,-1.00) r=2.08m +[headless_play] t= 14.80s step= 740 trunk_z= 7.5mm grav_b=(-0.00,-0.08,-1.00) r=2.08m +[headless_play] t= 14.90s step= 745 trunk_z= 14.8mm grav_b=(-0.03,-0.06,-1.00) r=2.06m +[headless_play] t= 15.00s step= 750 trunk_z= 9.9mm grav_b=(-0.04,-0.07,-1.00) r=2.05m +[headless_play] t= 15.10s step= 755 trunk_z= 14.7mm grav_b=(-0.02,-0.01,-1.00) r=2.03m +[headless_play] t= 15.20s step= 760 trunk_z= 14.3mm grav_b=(-0.03,-0.04,-1.00) r=2.02m +[headless_play] t= 15.30s step= 765 trunk_z= 14.0mm grav_b=(-0.08,-0.07,-0.99) r=2.03m +[headless_play] t= 15.40s step= 770 trunk_z= 18.7mm grav_b=(-0.05,-0.05,-1.00) r=2.01m +[headless_play] t= 15.50s step= 775 trunk_z= 14.2mm grav_b=(-0.06,-0.01,-1.00) r=1.98m +[headless_play] t= 15.60s step= 780 trunk_z= 21.1mm grav_b=(-0.04,-0.04,-1.00) r=1.97m +[headless_play] t= 15.70s step= 785 trunk_z= 16.2mm grav_b=(-0.09,-0.09,-0.99) r=1.97m +[headless_play] t= 15.80s step= 790 trunk_z= 24.8mm grav_b=(-0.07,-0.12,-0.99) r=1.96m +[headless_play] t= 15.90s step= 795 trunk_z= 24.9mm grav_b=(-0.06,-0.12,-0.99) r=1.96m +[headless_play] t= 16.00s step= 800 trunk_z= 19.7mm grav_b=(-0.06,-0.10,-0.99) r=1.94m +[headless_play] t= 16.10s step= 805 trunk_z= 24.9mm grav_b=(-0.04,-0.02,-1.00) r=1.93m +[headless_play] t= 16.20s step= 810 trunk_z= 24.5mm grav_b=(-0.05,-0.05,-1.00) r=1.92m +[headless_play] t= 16.30s step= 815 trunk_z= 25.1mm grav_b=(-0.08,-0.08,-0.99) r=1.92m +[headless_play] t= 16.40s step= 820 trunk_z= 27.0mm grav_b=(-0.13,-0.06,-0.99) r=1.92m +[headless_play] t= 16.50s step= 825 trunk_z= 15.4mm grav_b=(-0.06,-0.06,-1.00) r=1.93m +[headless_play] t= 16.60s step= 830 trunk_z= 22.3mm grav_b=(-0.06,-0.04,-1.00) r=1.93m +[headless_play] t= 16.70s step= 835 trunk_z= 20.1mm grav_b=(-0.06,-0.10,-0.99) r=1.94m +[headless_play] t= 16.80s step= 840 trunk_z= 27.8mm grav_b=(-0.07,-0.09,-0.99) r=1.93m +[headless_play] t= 16.90s step= 845 trunk_z= 26.2mm grav_b=(-0.05,-0.09,-0.99) r=1.91m +[headless_play] t= 17.00s step= 850 trunk_z= 26.9mm grav_b=(-0.04,-0.04,-1.00) r=1.89m +[headless_play] t= 17.10s step= 855 trunk_z= 26.3mm grav_b=(-0.07,-0.08,-0.99) r=1.88m +[headless_play] t= 17.20s step= 860 trunk_z= 26.2mm grav_b=(-0.05,-0.08,-1.00) r=1.87m +[headless_play] t= 17.30s step= 865 trunk_z= 33.6mm grav_b=(-0.05,-0.09,-1.00) r=1.85m +[headless_play] t= 17.40s step= 870 trunk_z= 29.8mm grav_b=(-0.09,-0.09,-0.99) r=1.84m +[headless_play] t= 17.50s step= 875 trunk_z= 32.3mm grav_b=(-0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 17.60s step= 880 trunk_z= 30.9mm grav_b=(-0.11,-0.11,-0.99) r=1.82m +[headless_play] t= 17.70s step= 885 trunk_z= 31.8mm grav_b=(-0.06,-0.15,-0.99) r=1.83m +[headless_play] t= 17.80s step= 890 trunk_z= 39.7mm grav_b=(-0.08,-0.18,-0.98) r=1.83m +[headless_play] t= 17.90s step= 895 trunk_z= 40.2mm grav_b=(-0.10,-0.18,-0.98) r=1.82m +[headless_play] t= 18.00s step= 900 trunk_z= 39.6mm grav_b=(-0.10,-0.15,-0.98) r=1.80m +[headless_play] t= 18.10s step= 905 trunk_z= 39.9mm grav_b=(-0.05,-0.07,-1.00) r=1.78m +[headless_play] t= 18.20s step= 910 trunk_z= 38.0mm grav_b=(-0.06,-0.10,-0.99) r=1.79m +[headless_play] t= 18.30s step= 915 trunk_z= 40.9mm grav_b=(-0.07,-0.10,-0.99) r=1.79m +[headless_play] t= 18.40s step= 920 trunk_z= 42.3mm grav_b=(-0.08,-0.11,-0.99) r=1.77m +[headless_play] t= 18.50s step= 925 trunk_z= 34.1mm grav_b=(-0.07,-0.08,-0.99) r=1.74m +[headless_play] t= 18.60s step= 930 trunk_z= 39.5mm grav_b=(-0.03,-0.09,-1.00) r=1.73m +[headless_play] t= 18.70s step= 935 trunk_z= 31.5mm grav_b=(-0.05,-0.14,-0.99) r=1.74m +[headless_play] t= 18.80s step= 940 trunk_z= 42.7mm grav_b=(-0.06,-0.15,-0.99) r=1.75m +[headless_play] t= 18.90s step= 945 trunk_z= 44.3mm grav_b=(-0.05,-0.23,-0.97) r=1.75m +[headless_play] t= 19.00s step= 950 trunk_z= 41.5mm grav_b=(-0.01,-0.37,-0.93) r=1.75m +[headless_play] t= 19.10s step= 955 trunk_z= 34.9mm grav_b=(+0.01,-0.24,-0.97) r=1.76m +[headless_play] t= 19.20s step= 960 trunk_z= 37.0mm grav_b=(-0.02,-0.18,-0.98) r=1.76m +[headless_play] t= 19.30s step= 965 trunk_z= 54.9mm grav_b=(+0.04,-0.14,-0.99) r=1.76m +[headless_play] t= 19.40s step= 970 trunk_z= 13.5mm grav_b=(-0.03,-0.09,-1.00) r=1.80m +[headless_play] t= 19.50s step= 975 trunk_z= 34.9mm grav_b=(-0.05,-0.26,-0.97) r=1.84m +[headless_play] t= 19.60s step= 980 trunk_z= 41.4mm grav_b=(-0.08,-0.32,-0.94) r=1.87m +[headless_play] t= 19.70s step= 985 trunk_z= 35.9mm grav_b=(+0.14,-0.40,-0.91) r=1.90m +[headless_play] t= 19.80s step= 990 trunk_z= 22.0mm grav_b=(+0.27,-0.44,-0.85) r=1.95m +[headless_play] t= 19.90s step= 995 trunk_z= 14.0mm grav_b=(+0.40,-0.29,-0.87) r=2.04m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t12/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x1ffba880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t12/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t12/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t13.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..cedee5c0e3c85fe162dbda099248bb549ec31d2d --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t13.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.444,-17.502,+0.251) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(+0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 0.30s step= 15 trunk_z= 115.1mm grav_b=(+0.05,+0.01,-1.00) r=0.67m +[headless_play] t= 0.40s step= 20 trunk_z= 115.1mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 0.50s step= 25 trunk_z= 115.1mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(-0.03,+0.04,-1.00) r=0.67m +[headless_play] t= 0.70s step= 35 trunk_z= 114.5mm grav_b=(-0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 0.80s step= 40 trunk_z= 115.6mm grav_b=(-0.01,-0.04,-1.00) r=0.64m +[headless_play] t= 0.90s step= 45 trunk_z= 109.5mm grav_b=(+0.07,+0.01,-1.00) r=0.65m +[headless_play] t= 1.00s step= 50 trunk_z= 111.3mm grav_b=(+0.08,+0.06,-1.00) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 112.5mm grav_b=(+0.07,+0.02,-1.00) r=0.65m +[headless_play] t= 1.20s step= 60 trunk_z= 114.7mm grav_b=(+0.03,-0.00,-1.00) r=0.64m +[headless_play] t= 1.30s step= 65 trunk_z= 115.8mm grav_b=(-0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 1.40s step= 70 trunk_z= 113.7mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.61m +[headless_play] t= 1.60s step= 80 trunk_z= 112.4mm grav_b=(+0.02,+0.06,-1.00) r=0.61m +[headless_play] t= 1.70s step= 85 trunk_z= 112.6mm grav_b=(+0.04,+0.04,-1.00) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 112.2mm grav_b=(+0.07,+0.00,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 112.9mm grav_b=(+0.08,+0.01,-1.00) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 113.7mm grav_b=(+0.07,+0.01,-1.00) r=0.60m +[headless_play] t= 2.10s step= 105 trunk_z= 115.2mm grav_b=(+0.15,+0.00,-0.99) r=0.61m +[headless_play] t= 2.20s step= 110 trunk_z= 117.8mm grav_b=(+0.16,+0.03,-0.99) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 121.2mm grav_b=(+0.06,-0.00,-1.00) r=0.63m +[headless_play] t= 2.40s step= 120 trunk_z= 121.8mm grav_b=(-0.04,-0.10,-0.99) r=0.65m +[headless_play] t= 2.50s step= 125 trunk_z= 121.6mm grav_b=(-0.06,-0.08,-1.00) r=0.65m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(-0.06,+0.00,-1.00) r=0.65m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.04,+0.04,-1.00) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 111.8mm grav_b=(-0.00,-0.00,-1.00) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 111.3mm grav_b=(+0.04,+0.03,-1.00) r=0.62m +[headless_play] t= 3.00s step= 150 trunk_z= 114.9mm grav_b=(+0.02,+0.09,-1.00) r=0.62m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.01,+0.10,-1.00) r=0.62m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(+0.03,+0.06,-1.00) r=0.61m +[headless_play] t= 3.30s step= 165 trunk_z= 113.9mm grav_b=(+0.06,+0.01,-1.00) r=0.61m +[headless_play] t= 3.40s step= 170 trunk_z= 112.5mm grav_b=(+0.09,+0.04,-1.00) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 112.8mm grav_b=(+0.07,+0.04,-1.00) r=0.61m +[headless_play] t= 3.60s step= 180 trunk_z= 113.4mm grav_b=(+0.06,+0.02,-1.00) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 114.0mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 4.00s step= 200 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 116.0mm grav_b=(-0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 115.6mm grav_b=(-0.01,+0.02,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(+0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.60m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 5.40s step= 270 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.60m +[headless_play] t= 5.50s step= 275 trunk_z= 118.6mm grav_b=(+0.08,-0.03,-1.00) r=0.60m +[headless_play] t= 5.60s step= 280 trunk_z= 117.2mm grav_b=(+0.10,+0.01,-0.99) r=0.60m +[headless_play] t= 5.70s step= 285 trunk_z= 116.7mm grav_b=(+0.07,+0.02,-1.00) r=0.60m +[headless_play] t= 5.80s step= 290 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00) r=0.60m +[headless_play] t= 5.90s step= 295 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(+0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 115.6mm grav_b=(+0.06,+0.02,-1.00) r=0.60m +[headless_play] t= 6.30s step= 315 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(-0.04,-0.03,-1.00) r=0.57m +[headless_play] t= 6.60s step= 330 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 6.70s step= 335 trunk_z= 111.0mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 109.5mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 7.00s step= 350 trunk_z= 114.2mm grav_b=(+0.06,+0.01,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 114.7mm grav_b=(+0.06,+0.00,-1.00) r=0.53m +[headless_play] t= 7.20s step= 360 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 7.30s step= 365 trunk_z= 115.1mm grav_b=(+0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 7.40s step= 370 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 7.50s step= 375 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 115.2mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 7.70s step= 385 trunk_z= 115.1mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 7.80s step= 390 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 7.90s step= 395 trunk_z= 115.3mm grav_b=(+0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.51m +[headless_play] t= 8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 8.20s step= 410 trunk_z= 118.1mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 107.1mm grav_b=(+0.06,+0.05,-1.00) r=0.47m +[headless_play] t= 8.40s step= 420 trunk_z= 113.9mm grav_b=(+0.03,+0.04,-1.00) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 113.0mm grav_b=(+0.03,-0.04,-1.00) r=0.46m +[headless_play] t= 8.60s step= 430 trunk_z= 115.2mm grav_b=(+0.04,-0.00,-1.00) r=0.45m +[headless_play] t= 8.70s step= 435 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.45m +[headless_play] t= 8.90s step= 445 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(+0.13,+0.02,-0.99) r=0.46m +[headless_play] t= 9.10s step= 455 trunk_z= 122.0mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 9.20s step= 460 trunk_z= 121.9mm grav_b=(+0.03,-0.08,-1.00) r=0.47m +[headless_play] t= 9.30s step= 465 trunk_z= 118.2mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 9.50s step= 475 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 9.70s step= 485 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(-0.01,-0.05,-1.00) r=0.47m +[headless_play] t= 9.90s step= 495 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 115.0mm grav_b=(+0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 10.10s step= 505 trunk_z= 115.6mm grav_b=(+0.05,+0.03,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.47m +[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=0.47m +[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(+0.07,+0.05,-1.00) r=0.48m +[headless_play] t= 10.50s step= 525 trunk_z= 118.0mm grav_b=(+0.11,+0.04,-0.99) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 117.9mm grav_b=(+0.09,+0.01,-1.00) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 10.90s step= 545 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.47m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(+0.05,+0.02,-1.00) r=0.48m +[headless_play] t= 11.30s step= 565 trunk_z= 118.8mm grav_b=(+0.19,+0.02,-0.98) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 114.6mm grav_b=(-0.01,-0.04,-1.00) r=0.52m +[headless_play] t= 11.50s step= 575 trunk_z= 123.2mm grav_b=(-0.02,-0.07,-1.00) r=0.54m +[headless_play] t= 11.60s step= 580 trunk_z= 120.5mm grav_b=(-0.05,-0.06,-1.00) r=0.55m +[headless_play] t= 11.70s step= 585 trunk_z= 119.0mm grav_b=(-0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 11.80s step= 590 trunk_z= 118.8mm grav_b=(-0.05,+0.00,-1.00) r=0.57m +[headless_play] t= 11.90s step= 595 trunk_z= 119.7mm grav_b=(-0.00,-0.02,-1.00) r=0.57m +[headless_play] t= 12.00s step= 600 trunk_z= 117.6mm grav_b=(+0.05,+0.02,-1.00) r=0.58m +[headless_play] t= 12.10s step= 605 trunk_z= 117.5mm grav_b=(+0.08,+0.02,-1.00) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 117.4mm grav_b=(+0.05,-0.00,-1.00) r=0.58m +[headless_play] t= 12.30s step= 615 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 12.40s step= 620 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 12.50s step= 625 trunk_z= 117.5mm grav_b=(+0.05,-0.00,-1.00) r=0.58m +[headless_play] t= 12.60s step= 630 trunk_z= 118.1mm grav_b=(+0.04,-0.02,-1.00) r=0.58m +[headless_play] t= 12.70s step= 635 trunk_z= 118.7mm grav_b=(-0.01,-0.08,-1.00) r=0.57m +[headless_play] t= 12.80s step= 640 trunk_z= 124.9mm grav_b=(-0.02,-0.05,-1.00) r=0.58m +[headless_play] t= 12.90s step= 645 trunk_z= 119.5mm grav_b=(-0.03,-0.03,-1.00) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(-0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 13.10s step= 655 trunk_z= 117.8mm grav_b=(-0.03,+0.05,-1.00) r=0.64m +[headless_play] t= 13.20s step= 660 trunk_z= 113.7mm grav_b=(+0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 13.30s step= 665 trunk_z= 109.8mm grav_b=(+0.05,-0.07,-1.00) r=0.62m +[headless_play] t= 13.40s step= 670 trunk_z= 106.9mm grav_b=(+0.09,-0.08,-0.99) r=0.63m +[headless_play] t= 13.50s step= 675 trunk_z= 102.5mm grav_b=(+0.10,-0.00,-1.00) r=0.65m +[headless_play] t= 13.60s step= 680 trunk_z= 112.4mm grav_b=(+0.07,+0.04,-1.00) r=0.67m +[headless_play] t= 13.70s step= 685 trunk_z= 110.6mm grav_b=(+0.07,+0.04,-1.00) r=0.68m +[headless_play] t= 13.80s step= 690 trunk_z= 107.4mm grav_b=(+0.08,-0.03,-1.00) r=0.68m +[headless_play] t= 13.90s step= 695 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.69m +[headless_play] t= 14.00s step= 700 trunk_z= 110.7mm grav_b=(+0.03,+0.00,-1.00) r=0.71m +[headless_play] t= 14.10s step= 705 trunk_z= 102.4mm grav_b=(-0.01,+0.03,-1.00) r=0.73m +[headless_play] t= 14.20s step= 710 trunk_z= 115.4mm grav_b=(-0.11,-0.03,-0.99) r=0.73m +[headless_play] t= 14.30s step= 715 trunk_z= 109.7mm grav_b=(-0.04,-0.04,-1.00) r=0.69m +[headless_play] t= 14.40s step= 720 trunk_z= 112.4mm grav_b=(+0.02,-0.07,-1.00) r=0.67m +[headless_play] t= 14.50s step= 725 trunk_z= 114.7mm grav_b=(+0.10,-0.07,-0.99) r=0.67m +[headless_play] t= 14.60s step= 730 trunk_z= 104.8mm grav_b=(+0.12,+0.02,-0.99) r=0.69m +[headless_play] t= 14.70s step= 735 trunk_z= 113.9mm grav_b=(+0.07,+0.07,-0.99) r=0.70m +[headless_play] t= 14.80s step= 740 trunk_z= 110.9mm grav_b=(+0.09,+0.04,-1.00) r=0.71m +[headless_play] t= 14.90s step= 745 trunk_z= 115.7mm grav_b=(+0.03,-0.08,-1.00) r=0.72m +[headless_play] t= 15.00s step= 750 trunk_z= 122.6mm grav_b=(-0.02,-0.10,-0.99) r=0.72m +[headless_play] t= 15.10s step= 755 trunk_z= 119.6mm grav_b=(+0.02,-0.07,-1.00) r=0.73m +[headless_play] t= 15.20s step= 760 trunk_z= 110.0mm grav_b=(+0.01,-0.01,-1.00) r=0.75m +[headless_play] t= 15.30s step= 765 trunk_z= 115.1mm grav_b=(+0.01,+0.04,-1.00) r=0.76m +[headless_play] t= 15.40s step= 770 trunk_z= 111.2mm grav_b=(+0.05,+0.04,-1.00) r=0.77m +[headless_play] t= 15.50s step= 775 trunk_z= 107.5mm grav_b=(+0.09,-0.03,-1.00) r=0.78m +[headless_play] t= 15.60s step= 780 trunk_z= 113.4mm grav_b=(+0.05,-0.03,-1.00) r=0.79m +[headless_play] t= 15.70s step= 785 trunk_z= 109.1mm grav_b=(+0.09,-0.05,-0.99) r=0.81m +[headless_play] t= 15.80s step= 790 trunk_z= 104.6mm grav_b=(+0.09,+0.03,-1.00) r=0.84m +[headless_play] t= 15.90s step= 795 trunk_z= 113.8mm grav_b=(+0.06,+0.04,-1.00) r=0.86m +[headless_play] t= 16.00s step= 800 trunk_z= 111.0mm grav_b=(+0.04,+0.02,-1.00) r=0.87m +[headless_play] t= 16.10s step= 805 trunk_z= 111.4mm grav_b=(+0.03,-0.04,-1.00) r=0.89m +[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.90m +[headless_play] t= 16.30s step= 815 trunk_z= 111.4mm grav_b=(+0.00,+0.02,-1.00) r=0.91m +[headless_play] t= 16.40s step= 820 trunk_z= 107.6mm grav_b=(-0.00,+0.06,-1.00) r=0.93m +[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(-0.05,+0.07,-1.00) r=0.94m +[headless_play] t= 16.60s step= 830 trunk_z= 120.7mm grav_b=(-0.06,+0.08,-1.00) r=0.93m +[headless_play] t= 16.70s step= 835 trunk_z= 114.4mm grav_b=(+0.02,+0.02,-1.00) r=0.92m +[headless_play] t= 16.80s step= 840 trunk_z= 110.6mm grav_b=(+0.05,-0.03,-1.00) r=0.92m +[headless_play] t= 16.90s step= 845 trunk_z= 104.9mm grav_b=(+0.09,-0.05,-0.99) r=0.94m +[headless_play] t= 17.00s step= 850 trunk_z= 105.0mm grav_b=(+0.07,+0.02,-1.00) r=0.96m +[headless_play] t= 17.10s step= 855 trunk_z= 110.4mm grav_b=(+0.06,-0.02,-1.00) r=0.98m +[headless_play] t= 17.20s step= 860 trunk_z= 105.1mm grav_b=(+0.07,-0.07,-1.00) r=1.00m +[headless_play] t= 17.30s step= 865 trunk_z= 111.3mm grav_b=(+0.06,-0.05,-1.00) r=1.02m +[headless_play] t= 17.40s step= 870 trunk_z= 105.7mm grav_b=(+0.02,-0.01,-1.00) r=1.04m +[headless_play] t= 17.50s step= 875 trunk_z= 102.7mm grav_b=(+0.02,+0.07,-1.00) r=1.06m +[headless_play] t= 17.60s step= 880 trunk_z= 105.4mm grav_b=(+0.06,+0.11,-0.99) r=1.08m +[headless_play] t= 17.70s step= 885 trunk_z= 100.8mm grav_b=(+0.12,+0.09,-0.99) r=1.10m +[headless_play] t= 17.80s step= 890 trunk_z= 104.4mm grav_b=(+0.14,+0.05,-0.99) r=1.12m +[headless_play] t= 17.90s step= 895 trunk_z= 102.6mm grav_b=(+0.02,+0.12,-0.99) r=1.16m +[headless_play] t= 18.00s step= 900 trunk_z= 96.5mm grav_b=(+0.04,+0.16,-0.99) r=1.20m +[headless_play] t= 18.10s step= 905 trunk_z= 102.3mm grav_b=(-0.04,+0.25,-0.97) r=1.21m +[headless_play] t= 18.20s step= 910 trunk_z= 102.2mm grav_b=(-0.08,+0.28,-0.96) r=1.23m +[headless_play] t= 18.30s step= 915 trunk_z= 95.1mm grav_b=(+0.02,+0.38,-0.92) r=1.26m +[headless_play] t= 18.40s step= 920 trunk_z= 88.4mm grav_b=(+0.01,+0.56,-0.83) r=1.30m +[headless_play] t= 18.50s step= 925 trunk_z= 43.1mm grav_b=(+0.02,+0.79,-0.61) r=1.36m +[headless_play] RESET at t= 18.56s step= 928 (env termination, not a recovery) +[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(-0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 18.70s step= 935 trunk_z= 115.7mm grav_b=(+0.02,+0.05,-1.00) r=0.43m +[headless_play] t= 18.80s step= 940 trunk_z= 120.0mm grav_b=(+0.15,-0.01,-0.99) r=0.46m +[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(+0.12,-0.09,-0.99) r=0.50m +[headless_play] t= 19.00s step= 950 trunk_z= 131.3mm grav_b=(+0.08,+0.00,-1.00) r=0.54m +[headless_play] t= 19.10s step= 955 trunk_z= 105.8mm grav_b=(-0.07,+0.01,-1.00) r=0.60m +[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(-0.03,+0.05,-1.00) r=0.61m +[headless_play] t= 19.30s step= 965 trunk_z= 123.0mm grav_b=(-0.01,+0.04,-1.00) r=0.63m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(-0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 19.50s step= 975 trunk_z= 123.9mm grav_b=(+0.00,-0.06,-1.00) r=0.65m +[headless_play] t= 19.60s step= 980 trunk_z= 121.8mm grav_b=(-0.04,-0.07,-1.00) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.80s step= 990 trunk_z= 121.3mm grav_b=(-0.03,+0.04,-1.00) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 114.6mm grav_b=(+0.03,-0.03,-1.00) r=0.65m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t13/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x1ea07880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t13/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t13/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t14.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..74270d34e670ad2e101179a1bb79806f3ac6a935 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t14.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.984,-18.338,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.9mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.04,-0.00,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(-0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 118.2mm grav_b=(-0.05,+0.03,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 117.8mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 119.4mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 119.4mm grav_b=(-0.00,+0.07,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 121.5mm grav_b=(-0.04,+0.04,-1.00) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 120.1mm grav_b=(-0.09,-0.02,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.09,+0.01,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 119.3mm grav_b=(+0.01,+0.04,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 120.4mm grav_b=(+0.01,+0.02,-1.00) r=0.29m +[headless_play] t= 2.60s step= 130 trunk_z= 121.1mm grav_b=(-0.02,-0.03,-1.00) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.08,+0.02,-1.00) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 116.4mm grav_b=(-0.10,+0.01,-1.00) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(-0.07,+0.01,-1.00) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 120.2mm grav_b=(-0.01,+0.04,-1.00) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 119.3mm grav_b=(-0.00,+0.04,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 118.9mm grav_b=(-0.01,+0.03,-1.00) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 118.6mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 3.70s step= 185 trunk_z= 118.4mm grav_b=(-0.02,+0.02,-1.00) r=0.27m +[headless_play] t= 3.80s step= 190 trunk_z= 120.5mm grav_b=(+0.00,+0.04,-1.00) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 120.3mm grav_b=(+0.03,+0.04,-1.00) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 121.1mm grav_b=(+0.03,-0.02,-1.00) r=0.26m +[headless_play] t= 4.10s step= 205 trunk_z= 121.1mm grav_b=(-0.03,-0.04,-1.00) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 118.0mm grav_b=(-0.07,+0.04,-1.00) r=0.25m +[headless_play] t= 4.30s step= 215 trunk_z= 124.2mm grav_b=(-0.10,+0.03,-0.99) r=0.25m +[headless_play] t= 4.40s step= 220 trunk_z= 120.2mm grav_b=(-0.10,+0.04,-0.99) r=0.23m +[headless_play] t= 4.50s step= 225 trunk_z= 122.9mm grav_b=(-0.08,-0.04,-1.00) r=0.21m +[headless_play] t= 4.60s step= 230 trunk_z= 127.2mm grav_b=(-0.15,-0.08,-0.99) r=0.21m +[headless_play] t= 4.70s step= 235 trunk_z= 126.0mm grav_b=(-0.11,-0.04,-0.99) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 121.2mm grav_b=(-0.07,-0.01,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 120.6mm grav_b=(-0.04,-0.03,-1.00) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 120.8mm grav_b=(+0.02,-0.06,-1.00) r=0.19m +[headless_play] t= 5.10s step= 255 trunk_z= 129.2mm grav_b=(+0.02,-0.05,-1.00) r=0.17m +[headless_play] t= 5.20s step= 260 trunk_z= 122.0mm grav_b=(+0.02,-0.03,-1.00) r=0.12m +[headless_play] t= 5.30s step= 265 trunk_z= 129.7mm grav_b=(+0.00,-0.01,-1.00) r=0.09m +[headless_play] t= 5.40s step= 270 trunk_z= 124.5mm grav_b=(-0.06,+0.03,-1.00) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 112.8mm grav_b=(-0.08,-0.08,-0.99) r=0.01m +[headless_play] t= 5.60s step= 280 trunk_z= 125.5mm grav_b=(-0.10,-0.09,-0.99) r=0.03m +[headless_play] t= 5.70s step= 285 trunk_z= 125.3mm grav_b=(-0.12,-0.05,-0.99) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 120.0mm grav_b=(-0.09,+0.00,-1.00) r=0.08m +[headless_play] t= 5.90s step= 295 trunk_z= 122.0mm grav_b=(-0.02,-0.03,-1.00) r=0.10m +[headless_play] t= 6.00s step= 300 trunk_z= 112.8mm grav_b=(-0.03,-0.07,-1.00) r=0.13m +[headless_play] t= 6.10s step= 305 trunk_z= 125.6mm grav_b=(-0.03,-0.06,-1.00) r=0.16m +[headless_play] t= 6.20s step= 310 trunk_z= 126.8mm grav_b=(-0.07,-0.06,-1.00) r=0.19m +[headless_play] t= 6.30s step= 315 trunk_z= 119.8mm grav_b=(-0.09,+0.06,-0.99) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 125.5mm grav_b=(-0.11,+0.07,-0.99) r=0.24m +[headless_play] t= 6.50s step= 325 trunk_z= 114.6mm grav_b=(-0.04,-0.05,-1.00) r=0.27m +[headless_play] t= 6.60s step= 330 trunk_z= 126.0mm grav_b=(-0.01,-0.11,-0.99) r=0.29m +[headless_play] t= 6.70s step= 335 trunk_z= 127.0mm grav_b=(-0.05,-0.16,-0.99) r=0.31m +[headless_play] t= 6.80s step= 340 trunk_z= 130.1mm grav_b=(-0.10,-0.11,-0.99) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 127.8mm grav_b=(+0.01,-0.05,-1.00) r=0.36m +[headless_play] t= 7.00s step= 350 trunk_z= 128.4mm grav_b=(-0.09,+0.02,-1.00) r=0.37m +[headless_play] t= 7.10s step= 355 trunk_z= 120.1mm grav_b=(-0.06,-0.09,-0.99) r=0.40m +[headless_play] t= 7.20s step= 360 trunk_z= 126.4mm grav_b=(-0.07,-0.09,-0.99) r=0.42m +[headless_play] t= 7.30s step= 365 trunk_z= 122.8mm grav_b=(-0.09,-0.07,-0.99) r=0.44m +[headless_play] t= 7.40s step= 370 trunk_z= 118.9mm grav_b=(-0.08,+0.06,-0.99) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 126.9mm grav_b=(-0.05,+0.09,-1.00) r=0.47m +[headless_play] t= 7.60s step= 380 trunk_z= 126.7mm grav_b=(-0.04,+0.10,-0.99) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 117.4mm grav_b=(-0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.00,-0.05,-1.00) r=0.48m +[headless_play] t= 7.90s step= 395 trunk_z= 123.2mm grav_b=(-0.02,-0.01,-1.00) r=0.50m +[headless_play] t= 8.00s step= 400 trunk_z= 124.1mm grav_b=(+0.02,+0.10,-1.00) r=0.55m +[headless_play] t= 8.10s step= 405 trunk_z= 130.4mm grav_b=(+0.03,+0.10,-0.99) r=0.58m +[headless_play] t= 8.20s step= 410 trunk_z= 122.9mm grav_b=(-0.01,+0.05,-1.00) r=0.61m +[headless_play] t= 8.30s step= 415 trunk_z= 130.0mm grav_b=(-0.02,-0.07,-1.00) r=0.63m +[headless_play] t= 8.40s step= 420 trunk_z= 130.0mm grav_b=(-0.10,-0.11,-0.99) r=0.65m +[headless_play] t= 8.50s step= 425 trunk_z= 120.1mm grav_b=(-0.12,+0.00,-0.99) r=0.68m +[headless_play] t= 8.60s step= 430 trunk_z= 124.4mm grav_b=(-0.11,+0.03,-0.99) r=0.70m +[headless_play] t= 8.70s step= 435 trunk_z= 119.8mm grav_b=(-0.15,+0.02,-0.99) r=0.69m +[headless_play] t= 8.80s step= 440 trunk_z= 124.6mm grav_b=(-0.15,-0.05,-0.99) r=0.67m +[headless_play] t= 8.90s step= 445 trunk_z= 121.2mm grav_b=(-0.07,+0.01,-1.00) r=0.64m +[headless_play] t= 9.00s step= 450 trunk_z= 119.7mm grav_b=(-0.05,-0.01,-1.00) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 118.6mm grav_b=(+0.02,-0.02,-1.00) r=0.58m +[headless_play] t= 9.20s step= 460 trunk_z= 113.6mm grav_b=(+0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(+0.01,-0.05,-1.00) r=0.56m +[headless_play] t= 9.40s step= 470 trunk_z= 114.4mm grav_b=(-0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 9.50s step= 475 trunk_z= 120.9mm grav_b=(-0.05,+0.06,-1.00) r=0.59m +[headless_play] t= 9.60s step= 480 trunk_z= 121.2mm grav_b=(-0.02,+0.04,-1.00) r=0.61m +[headless_play] t= 9.70s step= 485 trunk_z= 113.7mm grav_b=(-0.03,-0.03,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 127.0mm grav_b=(-0.02,-0.12,-0.99) r=0.65m +[headless_play] t= 9.90s step= 495 trunk_z= 126.5mm grav_b=(-0.03,-0.14,-0.99) r=0.67m +[headless_play] t= 10.00s step= 500 trunk_z= 128.0mm grav_b=(-0.05,-0.12,-0.99) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 123.9mm grav_b=(+0.02,-0.00,-1.00) r=0.71m +[headless_play] t= 10.20s step= 510 trunk_z= 123.7mm grav_b=(-0.09,+0.05,-0.99) r=0.71m +[headless_play] t= 10.30s step= 515 trunk_z= 118.0mm grav_b=(-0.09,-0.08,-0.99) r=0.70m +[headless_play] t= 10.40s step= 520 trunk_z= 126.1mm grav_b=(-0.08,-0.11,-0.99) r=0.71m +[headless_play] t= 10.50s step= 525 trunk_z= 127.3mm grav_b=(-0.08,-0.14,-0.99) r=0.72m +[headless_play] t= 10.60s step= 530 trunk_z= 122.9mm grav_b=(-0.10,-0.15,-0.98) r=0.74m +[headless_play] t= 10.70s step= 535 trunk_z= 125.1mm grav_b=(-0.12,-0.08,-0.99) r=0.77m +[headless_play] t= 10.80s step= 540 trunk_z= 128.4mm grav_b=(-0.06,+0.02,-1.00) r=0.80m +[headless_play] t= 10.90s step= 545 trunk_z= 132.7mm grav_b=(-0.07,+0.03,-1.00) r=0.81m +[headless_play] t= 11.00s step= 550 trunk_z= 120.8mm grav_b=(-0.07,-0.04,-1.00) r=0.81m +[headless_play] t= 11.10s step= 555 trunk_z= 122.6mm grav_b=(-0.09,-0.04,-1.00) r=0.81m +[headless_play] t= 11.20s step= 560 trunk_z= 115.9mm grav_b=(-0.11,+0.04,-0.99) r=0.83m +[headless_play] t= 11.30s step= 565 trunk_z= 125.8mm grav_b=(-0.05,+0.04,-1.00) r=0.84m +[headless_play] t= 11.40s step= 570 trunk_z= 122.1mm grav_b=(-0.05,+0.03,-1.00) r=0.83m +[headless_play] t= 11.50s step= 575 trunk_z= 123.2mm grav_b=(-0.00,-0.07,-1.00) r=0.82m +[headless_play] t= 11.60s step= 580 trunk_z= 128.1mm grav_b=(-0.02,-0.08,-1.00) r=0.82m +[headless_play] t= 11.70s step= 585 trunk_z= 119.5mm grav_b=(-0.06,+0.05,-1.00) r=0.87m +[headless_play] t= 11.80s step= 590 trunk_z= 129.7mm grav_b=(-0.06,+0.10,-0.99) r=0.90m +[headless_play] t= 11.90s step= 595 trunk_z= 130.8mm grav_b=(-0.04,+0.13,-0.99) r=0.92m +[headless_play] t= 12.00s step= 600 trunk_z= 126.9mm grav_b=(-0.07,+0.03,-1.00) r=0.93m +[headless_play] t= 12.10s step= 605 trunk_z= 125.9mm grav_b=(-0.11,-0.07,-0.99) r=0.93m +[headless_play] t= 12.20s step= 610 trunk_z= 124.5mm grav_b=(-0.11,-0.08,-0.99) r=0.94m +[headless_play] t= 12.30s step= 615 trunk_z= 118.8mm grav_b=(-0.09,+0.01,-1.00) r=0.97m +[headless_play] t= 12.40s step= 620 trunk_z= 125.7mm grav_b=(-0.05,+0.04,-1.00) r=0.99m +[headless_play] t= 12.50s step= 625 trunk_z= 126.8mm grav_b=(-0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 12.60s step= 630 trunk_z= 119.0mm grav_b=(-0.01,-0.03,-1.00) r=0.99m +[headless_play] t= 12.70s step= 635 trunk_z= 126.0mm grav_b=(-0.05,-0.06,-1.00) r=0.99m +[headless_play] t= 12.80s step= 640 trunk_z= 121.4mm grav_b=(-0.08,-0.04,-1.00) r=1.01m +[headless_play] t= 12.90s step= 645 trunk_z= 123.3mm grav_b=(-0.07,+0.01,-1.00) r=1.03m +[headless_play] t= 13.00s step= 650 trunk_z= 123.1mm grav_b=(-0.07,+0.01,-1.00) r=1.03m +[headless_play] t= 13.10s step= 655 trunk_z= 120.1mm grav_b=(-0.04,-0.05,-1.00) r=1.02m +[headless_play] t= 13.20s step= 660 trunk_z= 125.5mm grav_b=(-0.05,-0.07,-1.00) r=1.03m +[headless_play] t= 13.30s step= 665 trunk_z= 121.4mm grav_b=(-0.08,-0.05,-1.00) r=1.04m +[headless_play] t= 13.40s step= 670 trunk_z= 121.6mm grav_b=(-0.06,+0.03,-1.00) r=1.06m +[headless_play] t= 13.50s step= 675 trunk_z= 124.3mm grav_b=(-0.06,+0.01,-1.00) r=1.07m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.05,-0.06,-1.00) r=1.07m +[headless_play] t= 13.70s step= 685 trunk_z= 126.4mm grav_b=(-0.02,-0.06,-1.00) r=1.08m +[headless_play] t= 13.80s step= 690 trunk_z= 126.0mm grav_b=(-0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 13.90s step= 695 trunk_z= 120.2mm grav_b=(-0.06,+0.06,-1.00) r=1.12m +[headless_play] t= 14.00s step= 700 trunk_z= 126.8mm grav_b=(-0.10,+0.10,-0.99) r=1.12m +[headless_play] t= 14.10s step= 705 trunk_z= 124.5mm grav_b=(-0.11,+0.09,-0.99) r=1.12m +[headless_play] t= 14.20s step= 710 trunk_z= 120.0mm grav_b=(-0.08,-0.02,-1.00) r=1.12m +[headless_play] t= 14.30s step= 715 trunk_z= 126.4mm grav_b=(-0.04,-0.07,-1.00) r=1.12m +[headless_play] t= 14.40s step= 720 trunk_z= 126.6mm grav_b=(-0.03,-0.06,-1.00) r=1.14m +[headless_play] t= 14.50s step= 725 trunk_z= 121.1mm grav_b=(-0.03,+0.07,-1.00) r=1.17m +[headless_play] t= 14.60s step= 730 trunk_z= 129.5mm grav_b=(-0.00,+0.21,-0.98) r=1.21m +[headless_play] t= 14.70s step= 735 trunk_z= 130.0mm grav_b=(-0.01,+0.22,-0.97) r=1.26m +[headless_play] t= 14.80s step= 740 trunk_z= 107.9mm grav_b=(+0.02,+0.17,-0.99) r=1.32m +[headless_play] t= 14.90s step= 745 trunk_z= 114.2mm grav_b=(+0.05,+0.01,-1.00) r=1.37m +[headless_play] t= 15.00s step= 750 trunk_z= 93.6mm grav_b=(-0.09,-0.15,-0.98) r=1.41m +[headless_play] t= 15.10s step= 755 trunk_z= 80.3mm grav_b=(+0.07,-0.22,-0.97) r=1.48m +[headless_play] t= 15.20s step= 760 trunk_z= 69.6mm grav_b=(+0.22,-0.03,-0.97) r=1.54m +[headless_play] t= 15.30s step= 765 trunk_z= 79.1mm grav_b=(+0.23,+0.13,-0.97) r=1.59m +[headless_play] t= 15.40s step= 770 trunk_z= 30.2mm grav_b=(+0.03,+0.25,-0.97) r=1.65m +[headless_play] t= 15.50s step= 775 trunk_z= 39.6mm grav_b=(-0.09,+0.12,-0.99) r=1.67m +[headless_play] t= 15.60s step= 780 trunk_z= 47.2mm grav_b=(-0.11,+0.05,-0.99) r=1.67m +[headless_play] t= 15.70s step= 785 trunk_z= 48.8mm grav_b=(-0.06,+0.12,-0.99) r=1.69m +[headless_play] t= 15.80s step= 790 trunk_z= 39.8mm grav_b=(-0.06,+0.20,-0.98) r=1.72m +[headless_play] t= 15.90s step= 795 trunk_z= 49.0mm grav_b=(-0.04,+0.20,-0.98) r=1.74m +[headless_play] t= 16.00s step= 800 trunk_z= 51.0mm grav_b=(+0.02,+0.18,-0.98) r=1.76m +[headless_play] t= 16.10s step= 805 trunk_z= 42.8mm grav_b=(-0.04,+0.01,-1.00) r=1.77m +[headless_play] t= 16.20s step= 810 trunk_z= 50.0mm grav_b=(-0.14,-0.08,-0.99) r=1.78m +[headless_play] t= 16.30s step= 815 trunk_z= 45.2mm grav_b=(-0.13,-0.05,-0.99) r=1.80m +[headless_play] t= 16.40s step= 820 trunk_z= 32.8mm grav_b=(-0.08,+0.14,-0.99) r=1.84m +[headless_play] t= 16.50s step= 825 trunk_z= 39.6mm grav_b=(-0.00,+0.27,-0.96) r=1.87m +[headless_play] t= 16.60s step= 830 trunk_z= 41.5mm grav_b=(-0.02,+0.29,-0.96) r=1.90m +[headless_play] t= 16.70s step= 835 trunk_z= 23.7mm grav_b=(-0.15,+0.37,-0.92) r=1.94m +[headless_play] t= 16.80s step= 840 trunk_z= 8.5mm grav_b=(+0.28,+0.37,-0.89) r=1.99m +[headless_play] t= 16.90s step= 845 trunk_z= -7.7mm grav_b=(+0.36,-0.17,-0.92) r=2.07m +[headless_play] t= 17.00s step= 850 trunk_z= -55.2mm grav_b=(+0.91,-0.07,-0.41) r=2.16m +[headless_play] RESET at t= 17.02s step= 851 (env termination, not a recovery) +[headless_play] t= 17.10s step= 855 trunk_z= 115.5mm grav_b=(-0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 17.20s step= 860 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00) r=0.35m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.10,+0.04,-0.99) r=0.35m +[headless_play] t= 17.40s step= 870 trunk_z= 120.3mm grav_b=(-0.10,+0.09,-0.99) r=0.34m +[headless_play] t= 17.50s step= 875 trunk_z= 126.9mm grav_b=(-0.09,+0.10,-0.99) r=0.35m +[headless_play] t= 17.60s step= 880 trunk_z= 122.5mm grav_b=(-0.07,+0.12,-0.99) r=0.37m +[headless_play] t= 17.70s step= 885 trunk_z= 121.4mm grav_b=(-0.06,-0.04,-1.00) r=0.39m +[headless_play] t= 17.80s step= 890 trunk_z= 125.2mm grav_b=(-0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 17.90s step= 895 trunk_z= 126.5mm grav_b=(-0.04,-0.06,-1.00) r=0.43m +[headless_play] t= 18.00s step= 900 trunk_z= 119.8mm grav_b=(-0.09,+0.10,-0.99) r=0.46m +[headless_play] t= 18.10s step= 905 trunk_z= 129.3mm grav_b=(-0.08,+0.16,-0.98) r=0.48m +[headless_play] t= 18.20s step= 910 trunk_z= 128.0mm grav_b=(-0.10,+0.13,-0.99) r=0.50m +[headless_play] t= 18.30s step= 915 trunk_z= 118.3mm grav_b=(-0.12,+0.00,-0.99) r=0.53m +[headless_play] t= 18.40s step= 920 trunk_z= 124.7mm grav_b=(-0.10,-0.03,-0.99) r=0.55m +[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.09,+0.03,-1.00) r=0.54m +[headless_play] t= 18.60s step= 930 trunk_z= 124.3mm grav_b=(-0.09,+0.08,-0.99) r=0.54m +[headless_play] t= 18.70s step= 935 trunk_z= 127.3mm grav_b=(-0.07,+0.11,-0.99) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 124.9mm grav_b=(-0.06,+0.10,-0.99) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 121.6mm grav_b=(-0.07,-0.05,-1.00) r=0.60m +[headless_play] t= 19.00s step= 950 trunk_z= 126.0mm grav_b=(-0.09,-0.03,-1.00) r=0.61m +[headless_play] t= 19.10s step= 955 trunk_z= 121.1mm grav_b=(-0.11,-0.01,-0.99) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 126.3mm grav_b=(-0.05,+0.12,-0.99) r=0.61m +[headless_play] t= 19.30s step= 965 trunk_z= 132.5mm grav_b=(-0.05,+0.23,-0.97) r=0.62m +[headless_play] t= 19.40s step= 970 trunk_z= 133.9mm grav_b=(-0.08,+0.24,-0.97) r=0.62m +[headless_play] t= 19.50s step= 975 trunk_z= 128.9mm grav_b=(-0.19,+0.29,-0.94) r=0.65m +[headless_play] t= 19.60s step= 980 trunk_z= 111.6mm grav_b=(+0.08,+0.57,-0.82) r=0.68m +[headless_play] RESET at t= 19.70s step= 985 (env termination, not a recovery) +[headless_play] t= 19.70s step= 985 trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) r=0.49m +[headless_play] t= 19.80s step= 990 trunk_z= 115.0mm grav_b=(-0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 19.90s step= 995 trunk_z= 115.3mm grav_b=(-0.01,-0.05,-1.00) r=0.47m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t14/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x2e571880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t14/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t14/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t15.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..42b2eb6a7a653b28f006ea5fdaa7559d4b802358 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t15.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.149,-18.213,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.03,+0.01,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(-0.03,+0.05,-1.00) r=0.27m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(-0.03,-0.02,-1.00) r=0.27m +[headless_play] t= 0.40s step= 20 trunk_z= 119.4mm grav_b=(-0.02,-0.08,-1.00) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 125.0mm grav_b=(-0.05,-0.08,-1.00) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 120.5mm grav_b=(-0.05,-0.07,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 120.1mm grav_b=(-0.07,+0.04,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 120.8mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 114.9mm grav_b=(-0.02,-0.07,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 125.7mm grav_b=(-0.05,-0.07,-1.00) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 120.0mm grav_b=(-0.08,-0.05,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 119.5mm grav_b=(-0.09,+0.05,-0.99) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 125.4mm grav_b=(-0.07,+0.04,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 120.5mm grav_b=(-0.06,+0.02,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 122.2mm grav_b=(-0.09,-0.06,-0.99) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 125.9mm grav_b=(-0.09,-0.05,-0.99) r=0.37m +[headless_play] t= 1.70s step= 85 trunk_z= 120.4mm grav_b=(-0.12,-0.05,-0.99) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 120.4mm grav_b=(-0.07,+0.05,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 123.1mm grav_b=(-0.03,+0.02,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 124.3mm grav_b=(-0.06,-0.08,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 124.9mm grav_b=(-0.06,-0.07,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 118.6mm grav_b=(-0.09,-0.06,-0.99) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 122.7mm grav_b=(-0.14,+0.05,-0.99) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 123.2mm grav_b=(-0.11,-0.00,-0.99) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 118.8mm grav_b=(-0.06,-0.02,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 119.5mm grav_b=(-0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 114.1mm grav_b=(-0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 120.0mm grav_b=(-0.04,+0.02,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 114.3mm grav_b=(-0.05,-0.01,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 120.2mm grav_b=(-0.04,-0.06,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 123.3mm grav_b=(-0.04,-0.07,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 117.6mm grav_b=(-0.06,-0.04,-1.00) r=0.48m +[headless_play] t= 3.40s step= 170 trunk_z= 124.2mm grav_b=(-0.11,+0.10,-0.99) r=0.51m +[headless_play] t= 3.50s step= 175 trunk_z= 129.0mm grav_b=(-0.12,+0.15,-0.98) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 129.9mm grav_b=(-0.11,+0.18,-0.98) r=0.53m +[headless_play] t= 3.70s step= 185 trunk_z= 131.1mm grav_b=(-0.08,+0.30,-0.95) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 105.2mm grav_b=(-0.19,+0.37,-0.91) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 88.0mm grav_b=(-0.40,+0.45,-0.80) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 69.3mm grav_b=(-0.34,+0.42,-0.84) r=0.58m +[headless_play] RESET at t= 4.10s step= 205 (env termination, not a recovery) +[headless_play] t= 4.10s step= 205 trunk_z= 123.2mm grav_b=(-0.00,-0.00,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(-0.03,-0.03,-1.00) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 118.0mm grav_b=(-0.04,-0.07,-1.00) r=0.47m +[headless_play] t= 4.40s step= 220 trunk_z= 122.1mm grav_b=(-0.08,-0.06,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.05,+0.04,-1.00) r=0.44m +[headless_play] t= 4.70s step= 235 trunk_z= 114.1mm grav_b=(-0.03,+0.04,-1.00) r=0.43m +[headless_play] t= 4.80s step= 240 trunk_z= 107.7mm grav_b=(+0.06,-0.02,-1.00) r=0.39m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(+0.03,-0.06,-1.00) r=0.37m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(+0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 5.10s step= 255 trunk_z= 120.1mm grav_b=(-0.03,+0.08,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 119.3mm grav_b=(-0.02,+0.06,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 112.3mm grav_b=(-0.01,+0.04,-1.00) r=0.30m +[headless_play] t= 5.40s step= 270 trunk_z= 120.1mm grav_b=(-0.07,-0.06,-1.00) r=0.28m +[headless_play] t= 5.50s step= 275 trunk_z= 121.4mm grav_b=(-0.06,-0.05,-1.00) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 115.5mm grav_b=(-0.05,-0.05,-1.00) r=0.25m +[headless_play] t= 5.70s step= 285 trunk_z= 117.3mm grav_b=(-0.12,+0.01,-0.99) r=0.26m +[headless_play] t= 5.80s step= 290 trunk_z= 118.1mm grav_b=(-0.09,-0.04,-0.99) r=0.27m +[headless_play] t= 5.90s step= 295 trunk_z= 104.4mm grav_b=(-0.04,-0.02,-1.00) r=0.29m +[headless_play] t= 6.00s step= 300 trunk_z= 109.8mm grav_b=(+0.01,-0.05,-1.00) r=0.30m +[headless_play] t= 6.10s step= 305 trunk_z= 106.7mm grav_b=(+0.03,-0.05,-1.00) r=0.30m +[headless_play] t= 6.20s step= 310 trunk_z= 108.4mm grav_b=(-0.01,+0.04,-1.00) r=0.30m +[headless_play] t= 6.30s step= 315 trunk_z= 110.2mm grav_b=(-0.02,+0.04,-1.00) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 107.0mm grav_b=(-0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 6.50s step= 325 trunk_z= 118.4mm grav_b=(-0.05,-0.05,-1.00) r=0.25m +[headless_play] t= 6.60s step= 330 trunk_z= 115.0mm grav_b=(-0.04,-0.06,-1.00) r=0.23m +[headless_play] t= 6.70s step= 335 trunk_z= 111.6mm grav_b=(+0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(-0.01,+0.03,-1.00) r=0.20m +[headless_play] t= 6.90s step= 345 trunk_z= 112.7mm grav_b=(-0.01,+0.01,-1.00) r=0.17m +[headless_play] t= 7.00s step= 350 trunk_z= 118.9mm grav_b=(-0.05,-0.03,-1.00) r=0.15m +[headless_play] t= 7.10s step= 355 trunk_z= 120.4mm grav_b=(-0.05,-0.05,-1.00) r=0.14m +[headless_play] t= 7.20s step= 360 trunk_z= 114.6mm grav_b=(-0.06,-0.04,-1.00) r=0.14m +[headless_play] t= 7.30s step= 365 trunk_z= 115.0mm grav_b=(-0.04,+0.04,-1.00) r=0.15m +[headless_play] t= 7.40s step= 370 trunk_z= 111.9mm grav_b=(-0.00,+0.04,-1.00) r=0.13m +[headless_play] t= 7.50s step= 375 trunk_z= 108.4mm grav_b=(+0.02,-0.04,-1.00) r=0.10m +[headless_play] t= 7.60s step= 380 trunk_z= 119.1mm grav_b=(-0.01,-0.08,-1.00) r=0.08m +[headless_play] t= 7.70s step= 385 trunk_z= 116.4mm grav_b=(-0.03,-0.03,-1.00) r=0.08m +[headless_play] t= 7.80s step= 390 trunk_z= 110.4mm grav_b=(-0.05,+0.02,-1.00) r=0.10m +[headless_play] t= 7.90s step= 395 trunk_z= 119.3mm grav_b=(-0.05,-0.01,-1.00) r=0.10m +[headless_play] t= 8.00s step= 400 trunk_z= 116.8mm grav_b=(-0.05,-0.01,-1.00) r=0.08m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(-0.04,-0.03,-1.00) r=0.06m +[headless_play] t= 8.20s step= 410 trunk_z= 115.3mm grav_b=(-0.05,-0.02,-1.00) r=0.07m +[headless_play] t= 8.30s step= 415 trunk_z= 108.3mm grav_b=(-0.05,+0.02,-1.00) r=0.09m +[headless_play] t= 8.40s step= 420 trunk_z= 118.3mm grav_b=(-0.03,+0.05,-1.00) r=0.11m +[headless_play] t= 8.50s step= 425 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=0.11m +[headless_play] t= 8.60s step= 430 trunk_z= 117.3mm grav_b=(-0.04,-0.09,-1.00) r=0.10m +[headless_play] t= 8.70s step= 435 trunk_z= 125.0mm grav_b=(-0.05,-0.12,-0.99) r=0.11m +[headless_play] t= 8.80s step= 440 trunk_z= 119.3mm grav_b=(-0.05,-0.09,-0.99) r=0.13m +[headless_play] t= 8.90s step= 445 trunk_z= 114.2mm grav_b=(+0.01,+0.03,-1.00) r=0.18m +[headless_play] t= 9.00s step= 450 trunk_z= 121.4mm grav_b=(+0.06,+0.09,-0.99) r=0.20m +[headless_play] t= 9.10s step= 455 trunk_z= 126.1mm grav_b=(+0.01,+0.07,-1.00) r=0.22m +[headless_play] t= 9.20s step= 460 trunk_z= 127.9mm grav_b=(-0.01,-0.07,-1.00) r=0.25m +[headless_play] t= 9.30s step= 465 trunk_z= 126.6mm grav_b=(-0.06,-0.11,-0.99) r=0.27m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(-0.11,-0.01,-0.99) r=0.31m +[headless_play] t= 9.50s step= 475 trunk_z= 123.3mm grav_b=(-0.13,+0.02,-0.99) r=0.32m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(-0.11,+0.01,-0.99) r=0.30m +[headless_play] t= 9.70s step= 485 trunk_z= 118.5mm grav_b=(-0.07,+0.06,-1.00) r=0.29m +[headless_play] t= 9.80s step= 490 trunk_z= 107.9mm grav_b=(-0.00,+0.06,-1.00) r=0.31m +[headless_play] t= 9.90s step= 495 trunk_z= 108.4mm grav_b=(+0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 10.00s step= 500 trunk_z= 115.0mm grav_b=(+0.01,+0.05,-1.00) r=0.33m +[headless_play] t= 10.10s step= 505 trunk_z= 117.8mm grav_b=(-0.01,-0.05,-1.00) r=0.33m +[headless_play] t= 10.20s step= 510 trunk_z= 124.0mm grav_b=(-0.02,-0.09,-1.00) r=0.34m +[headless_play] t= 10.30s step= 515 trunk_z= 119.6mm grav_b=(-0.04,-0.09,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 115.9mm grav_b=(-0.06,+0.02,-1.00) r=0.38m +[headless_play] t= 10.50s step= 525 trunk_z= 122.6mm grav_b=(-0.10,+0.02,-0.99) r=0.37m +[headless_play] t= 10.60s step= 530 trunk_z= 114.3mm grav_b=(-0.07,-0.03,-1.00) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 119.5mm grav_b=(-0.04,-0.04,-1.00) r=0.34m +[headless_play] t= 10.80s step= 540 trunk_z= 115.7mm grav_b=(-0.04,-0.06,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 111.7mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.01,+0.03,-1.00) r=0.39m +[headless_play] t= 11.10s step= 555 trunk_z= 114.6mm grav_b=(+0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 11.20s step= 560 trunk_z= 122.2mm grav_b=(-0.01,-0.11,-0.99) r=0.40m +[headless_play] t= 11.30s step= 565 trunk_z= 127.2mm grav_b=(-0.03,-0.21,-0.98) r=0.40m +[headless_play] t= 11.40s step= 570 trunk_z= 125.0mm grav_b=(-0.07,-0.27,-0.96) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 119.8mm grav_b=(-0.07,-0.27,-0.96) r=0.39m +[headless_play] t= 11.60s step= 580 trunk_z= 122.1mm grav_b=(-0.13,-0.25,-0.96) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 128.0mm grav_b=(-0.06,-0.15,-0.99) r=0.42m +[headless_play] t= 11.80s step= 590 trunk_z= 114.9mm grav_b=(-0.08,-0.09,-0.99) r=0.42m +[headless_play] t= 11.90s step= 595 trunk_z= 124.2mm grav_b=(-0.18,-0.10,-0.98) r=0.40m +[headless_play] t= 12.00s step= 600 trunk_z= 129.1mm grav_b=(-0.18,-0.10,-0.98) r=0.40m +[headless_play] t= 12.10s step= 605 trunk_z= 113.5mm grav_b=(-0.07,-0.05,-1.00) r=0.39m +[headless_play] t= 12.20s step= 610 trunk_z= 120.8mm grav_b=(-0.05,-0.10,-0.99) r=0.37m +[headless_play] t= 12.30s step= 615 trunk_z= 98.2mm grav_b=(+0.03,-0.09,-1.00) r=0.31m +[headless_play] t= 12.40s step= 620 trunk_z= 110.1mm grav_b=(-0.01,-0.06,-1.00) r=0.30m +[headless_play] t= 12.50s step= 625 trunk_z= 108.9mm grav_b=(-0.06,-0.04,-1.00) r=0.32m +[headless_play] t= 12.60s step= 630 trunk_z= 114.2mm grav_b=(-0.08,+0.01,-1.00) r=0.35m +[headless_play] t= 12.70s step= 635 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.36m +[headless_play] t= 12.80s step= 640 trunk_z= 113.7mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 120.7mm grav_b=(-0.03,-0.08,-1.00) r=0.36m +[headless_play] t= 13.00s step= 650 trunk_z= 121.4mm grav_b=(-0.02,-0.10,-0.99) r=0.37m +[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(-0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 13.20s step= 660 trunk_z= 118.6mm grav_b=(-0.14,-0.04,-0.99) r=0.38m +[headless_play] t= 13.30s step= 665 trunk_z= 107.7mm grav_b=(-0.06,-0.02,-1.00) r=0.36m +[headless_play] t= 13.40s step= 670 trunk_z= 112.1mm grav_b=(+0.03,+0.01,-1.00) r=0.34m +[headless_play] t= 13.50s step= 675 trunk_z= 105.3mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(-0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 13.70s step= 685 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 13.80s step= 690 trunk_z= 115.0mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 124.8mm grav_b=(-0.01,-0.10,-1.00) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 127.8mm grav_b=(-0.03,-0.22,-0.97) r=0.40m +[headless_play] t= 14.10s step= 705 trunk_z= 130.6mm grav_b=(-0.12,-0.24,-0.96) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 123.5mm grav_b=(-0.10,-0.14,-0.99) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 131.8mm grav_b=(-0.02,-0.13,-0.99) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 114.7mm grav_b=(-0.08,-0.10,-0.99) r=0.51m +[headless_play] t= 14.50s step= 725 trunk_z= 123.2mm grav_b=(-0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 14.60s step= 730 trunk_z= 113.9mm grav_b=(-0.10,-0.01,-1.00) r=0.57m +[headless_play] t= 14.70s step= 735 trunk_z= 122.0mm grav_b=(-0.08,+0.06,-0.99) r=0.59m +[headless_play] t= 14.80s step= 740 trunk_z= 123.4mm grav_b=(-0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 14.90s step= 745 trunk_z= 121.3mm grav_b=(-0.04,+0.04,-1.00) r=0.62m +[headless_play] t= 15.00s step= 750 trunk_z= 124.4mm grav_b=(+0.01,-0.03,-1.00) r=0.65m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(-0.04,-0.01,-1.00) r=0.68m +[headless_play] t= 15.20s step= 760 trunk_z= 122.0mm grav_b=(-0.10,+0.06,-0.99) r=0.72m +[headless_play] t= 15.30s step= 765 trunk_z= 122.6mm grav_b=(-0.09,+0.04,-1.00) r=0.74m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(-0.08,-0.03,-1.00) r=0.75m +[headless_play] t= 15.50s step= 775 trunk_z= 126.0mm grav_b=(-0.07,-0.06,-1.00) r=0.76m +[headless_play] t= 15.60s step= 780 trunk_z= 123.8mm grav_b=(-0.08,-0.07,-0.99) r=0.78m +[headless_play] t= 15.70s step= 785 trunk_z= 114.9mm grav_b=(-0.03,+0.05,-1.00) r=0.81m +[headless_play] t= 15.80s step= 790 trunk_z= 127.6mm grav_b=(+0.01,+0.12,-0.99) r=0.83m +[headless_play] t= 15.90s step= 795 trunk_z= 129.7mm grav_b=(-0.00,+0.21,-0.98) r=0.85m +[headless_play] t= 16.00s step= 800 trunk_z= 132.9mm grav_b=(-0.07,+0.16,-0.98) r=0.89m +[headless_play] t= 16.10s step= 805 trunk_z= 129.2mm grav_b=(-0.03,+0.03,-1.00) r=0.94m +[headless_play] t= 16.20s step= 810 trunk_z= 123.2mm grav_b=(-0.05,-0.06,-1.00) r=0.97m +[headless_play] t= 16.30s step= 815 trunk_z= 113.0mm grav_b=(-0.05,+0.02,-1.00) r=0.99m +[headless_play] t= 16.40s step= 820 trunk_z= 112.2mm grav_b=(-0.01,+0.02,-1.00) r=1.02m +[headless_play] t= 16.50s step= 825 trunk_z= 106.3mm grav_b=(-0.02,-0.06,-1.00) r=1.05m +[headless_play] t= 16.60s step= 830 trunk_z= 112.3mm grav_b=(-0.05,-0.17,-0.98) r=1.09m +[headless_play] t= 16.70s step= 835 trunk_z= 106.1mm grav_b=(-0.08,-0.10,-0.99) r=1.11m +[headless_play] t= 16.80s step= 840 trunk_z= 98.1mm grav_b=(-0.06,+0.05,-1.00) r=1.14m +[headless_play] t= 16.90s step= 845 trunk_z= 99.4mm grav_b=(+0.00,+0.11,-0.99) r=1.16m +[headless_play] t= 17.00s step= 850 trunk_z= 98.1mm grav_b=(+0.04,+0.07,-1.00) r=1.18m +[headless_play] t= 17.10s step= 855 trunk_z= 91.2mm grav_b=(+0.00,-0.13,-0.99) r=1.22m +[headless_play] t= 17.20s step= 860 trunk_z= 95.9mm grav_b=(-0.02,-0.20,-0.98) r=1.26m +[headless_play] t= 17.30s step= 865 trunk_z= 84.9mm grav_b=(-0.07,-0.15,-0.99) r=1.31m +[headless_play] t= 17.40s step= 870 trunk_z= 81.9mm grav_b=(-0.02,-0.02,-1.00) r=1.36m +[headless_play] t= 17.50s step= 875 trunk_z= 86.3mm grav_b=(-0.12,+0.11,-0.99) r=1.40m +[headless_play] t= 17.60s step= 880 trunk_z= 65.3mm grav_b=(-0.05,+0.05,-1.00) r=1.45m +[headless_play] t= 17.70s step= 885 trunk_z= 65.5mm grav_b=(-0.08,+0.03,-1.00) r=1.49m +[headless_play] t= 17.80s step= 890 trunk_z= 51.2mm grav_b=(-0.06,+0.07,-1.00) r=1.52m +[headless_play] t= 17.90s step= 895 trunk_z= 56.6mm grav_b=(-0.02,+0.08,-1.00) r=1.54m +[headless_play] t= 18.00s step= 900 trunk_z= 53.4mm grav_b=(-0.02,+0.08,-1.00) r=1.56m +[headless_play] t= 18.10s step= 905 trunk_z= 53.0mm grav_b=(-0.07,-0.09,-0.99) r=1.58m +[headless_play] t= 18.20s step= 910 trunk_z= 54.4mm grav_b=(-0.07,-0.12,-0.99) r=1.60m +[headless_play] t= 18.30s step= 915 trunk_z= 47.7mm grav_b=(-0.07,-0.09,-0.99) r=1.63m +[headless_play] t= 18.40s step= 920 trunk_z= 41.3mm grav_b=(-0.07,+0.09,-0.99) r=1.67m +[headless_play] t= 18.50s step= 925 trunk_z= 45.5mm grav_b=(-0.02,+0.13,-0.99) r=1.70m +[headless_play] t= 18.60s step= 930 trunk_z= 48.7mm grav_b=(-0.05,+0.08,-1.00) r=1.73m +[headless_play] t= 18.70s step= 935 trunk_z= 34.2mm grav_b=(-0.07,-0.15,-0.99) r=1.78m +[headless_play] t= 18.80s step= 940 trunk_z= 39.7mm grav_b=(-0.04,-0.15,-0.99) r=1.82m +[headless_play] t= 18.90s step= 945 trunk_z= 28.4mm grav_b=(-0.05,-0.14,-0.99) r=1.86m +[headless_play] t= 19.00s step= 950 trunk_z= 24.4mm grav_b=(-0.00,+0.02,-1.00) r=1.90m +[headless_play] t= 19.10s step= 955 trunk_z= 28.2mm grav_b=(+0.03,+0.04,-1.00) r=1.92m +[headless_play] t= 19.20s step= 960 trunk_z= 23.0mm grav_b=(-0.05,-0.09,-0.99) r=1.96m +[headless_play] t= 19.30s step= 965 trunk_z= 26.3mm grav_b=(-0.14,-0.21,-0.97) r=1.98m +[headless_play] t= 19.40s step= 970 trunk_z= 26.2mm grav_b=(-0.10,-0.21,-0.97) r=1.99m +[headless_play] t= 19.50s step= 975 trunk_z= 21.1mm grav_b=(-0.10,-0.26,-0.96) r=2.01m +[headless_play] t= 19.60s step= 980 trunk_z= 19.8mm grav_b=(-0.09,-0.24,-0.97) r=2.01m +[headless_play] t= 19.70s step= 985 trunk_z= 10.7mm grav_b=(-0.05,+0.08,-1.00) r=2.04m +[headless_play] t= 19.80s step= 990 trunk_z= 23.4mm grav_b=(-0.02,+0.31,-0.95) r=2.07m +[headless_play] t= 19.90s step= 995 trunk_z= 17.4mm grav_b=(-0.08,+0.57,-0.82) r=2.10m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t15/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x32f43880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t15/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t15/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t2.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..1f2222c545fdd48f07cd717e963bdb8630b77799 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t2.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-17.505,-17.582,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,-0.00,-1.00) r=0.65m +[headless_play] t= 0.10s step= 5 trunk_z= 114.2mm grav_b=(-0.00,+0.02,-1.00) r=0.64m +[headless_play] t= 0.20s step= 10 trunk_z= 113.7mm grav_b=(+0.02,+0.07,-1.00) r=0.62m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.06,-0.10,-0.99) r=0.61m +[headless_play] t= 0.50s step= 25 trunk_z= 124.1mm grav_b=(+0.07,-0.09,-0.99) r=0.60m +[headless_play] t= 0.60s step= 30 trunk_z= 122.3mm grav_b=(+0.05,-0.05,-1.00) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 120.3mm grav_b=(+0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 0.80s step= 40 trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(-0.02,-0.06,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(-0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 115.3mm grav_b=(-0.05,+0.07,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 120.0mm grav_b=(+0.01,+0.03,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 1.40s step= 70 trunk_z= 123.3mm grav_b=(+0.07,-0.08,-0.99) r=0.48m +[headless_play] t= 1.50s step= 75 trunk_z= 123.2mm grav_b=(+0.07,-0.05,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 124.2mm grav_b=(-0.00,+0.03,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 123.0mm grav_b=(-0.07,+0.09,-0.99) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 118.6mm grav_b=(-0.04,+0.03,-1.00) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 118.6mm grav_b=(+0.02,-0.08,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 120.7mm grav_b=(+0.05,-0.07,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(+0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 122.2mm grav_b=(+0.04,+0.01,-1.00) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 120.6mm grav_b=(+0.06,-0.01,-1.00) r=0.35m +[headless_play] t= 2.50s step= 125 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 122.0mm grav_b=(+0.04,-0.09,-1.00) r=0.36m +[headless_play] t= 2.70s step= 135 trunk_z= 122.6mm grav_b=(-0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 118.0mm grav_b=(-0.04,+0.04,-1.00) r=0.32m +[headless_play] t= 2.90s step= 145 trunk_z= 123.0mm grav_b=(-0.05,+0.04,-1.00) r=0.32m +[headless_play] t= 3.00s step= 150 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.35m +[headless_play] t= 3.10s step= 155 trunk_z= 121.8mm grav_b=(+0.01,-0.07,-1.00) r=0.37m +[headless_play] t= 3.20s step= 160 trunk_z= 121.3mm grav_b=(+0.04,-0.06,-1.00) r=0.37m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.03,+0.01,-1.00) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 124.0mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 3.50s step= 175 trunk_z= 113.6mm grav_b=(-0.00,-0.04,-1.00) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 121.3mm grav_b=(+0.00,-0.09,-1.00) r=0.43m +[headless_play] t= 3.70s step= 185 trunk_z= 120.9mm grav_b=(-0.02,-0.08,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 113.8mm grav_b=(-0.03,-0.00,-1.00) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 122.1mm grav_b=(-0.06,+0.06,-1.00) r=0.41m +[headless_play] t= 4.00s step= 200 trunk_z= 120.4mm grav_b=(-0.03,+0.02,-1.00) r=0.43m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(-0.02,-0.09,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 124.6mm grav_b=(+0.02,-0.15,-0.99) r=0.48m +[headless_play] t= 4.30s step= 215 trunk_z= 124.0mm grav_b=(+0.01,-0.17,-0.98) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 119.2mm grav_b=(-0.00,-0.09,-1.00) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 128.7mm grav_b=(+0.04,-0.02,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 134.1mm grav_b=(+0.00,+0.02,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 120.4mm grav_b=(+0.03,-0.05,-1.00) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 124.1mm grav_b=(+0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 4.90s step= 245 trunk_z= 116.1mm grav_b=(-0.02,+0.04,-1.00) r=0.65m +[headless_play] t= 5.00s step= 250 trunk_z= 122.2mm grav_b=(-0.04,+0.04,-1.00) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 118.4mm grav_b=(-0.07,-0.01,-1.00) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(-0.02,-0.09,-1.00) r=0.69m +[headless_play] t= 5.30s step= 265 trunk_z= 122.2mm grav_b=(+0.02,-0.10,-0.99) r=0.71m +[headless_play] t= 5.40s step= 270 trunk_z= 119.5mm grav_b=(+0.05,-0.06,-1.00) r=0.73m +[headless_play] t= 5.50s step= 275 trunk_z= 122.5mm grav_b=(+0.05,-0.02,-1.00) r=0.77m +[headless_play] t= 5.60s step= 280 trunk_z= 125.8mm grav_b=(+0.02,-0.03,-1.00) r=0.80m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(+0.04,-0.08,-1.00) r=0.85m +[headless_play] t= 5.80s step= 290 trunk_z= 122.0mm grav_b=(+0.05,-0.03,-1.00) r=0.88m +[headless_play] t= 5.90s step= 295 trunk_z= 111.6mm grav_b=(-0.03,+0.04,-1.00) r=0.91m +[headless_play] t= 6.00s step= 300 trunk_z= 123.7mm grav_b=(-0.04,+0.05,-1.00) r=0.93m +[headless_play] t= 6.10s step= 305 trunk_z= 122.3mm grav_b=(-0.04,+0.03,-1.00) r=0.95m +[headless_play] t= 6.20s step= 310 trunk_z= 117.1mm grav_b=(-0.05,-0.08,-1.00) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 123.4mm grav_b=(-0.01,-0.13,-0.99) r=1.00m +[headless_play] t= 6.40s step= 320 trunk_z= 122.1mm grav_b=(+0.03,-0.16,-0.99) r=1.02m +[headless_play] t= 6.50s step= 325 trunk_z= 118.0mm grav_b=(+0.03,-0.08,-1.00) r=1.05m +[headless_play] t= 6.60s step= 330 trunk_z= 119.6mm grav_b=(+0.05,+0.02,-1.00) r=1.08m +[headless_play] t= 6.70s step= 335 trunk_z= 123.3mm grav_b=(-0.02,+0.06,-1.00) r=1.10m +[headless_play] t= 6.80s step= 340 trunk_z= 112.6mm grav_b=(-0.05,-0.02,-1.00) r=1.13m +[headless_play] t= 6.90s step= 345 trunk_z= 109.3mm grav_b=(+0.01,-0.10,-0.99) r=1.15m +[headless_play] t= 7.00s step= 350 trunk_z= 105.2mm grav_b=(+0.04,-0.10,-0.99) r=1.18m +[headless_play] t= 7.10s step= 355 trunk_z= 89.6mm grav_b=(+0.06,-0.00,-1.00) r=1.22m +[headless_play] t= 7.20s step= 360 trunk_z= 100.6mm grav_b=(+0.08,-0.01,-1.00) r=1.25m +[headless_play] t= 7.30s step= 365 trunk_z= 77.8mm grav_b=(+0.04,-0.03,-1.00) r=1.29m +[headless_play] t= 7.40s step= 370 trunk_z= 82.2mm grav_b=(+0.01,-0.03,-1.00) r=1.30m +[headless_play] t= 7.50s step= 375 trunk_z= 77.5mm grav_b=(-0.01,+0.01,-1.00) r=1.31m +[headless_play] t= 7.60s step= 380 trunk_z= 77.6mm grav_b=(-0.02,+0.03,-1.00) r=1.33m +[headless_play] t= 7.70s step= 385 trunk_z= 74.0mm grav_b=(-0.01,-0.03,-1.00) r=1.34m +[headless_play] t= 7.80s step= 390 trunk_z= 74.5mm grav_b=(+0.00,+0.00,-1.00) r=1.35m +[headless_play] t= 7.90s step= 395 trunk_z= 75.6mm grav_b=(+0.09,+0.02,-1.00) r=1.36m +[headless_play] t= 8.00s step= 400 trunk_z= 70.1mm grav_b=(+0.04,-0.04,-1.00) r=1.40m +[headless_play] t= 8.10s step= 405 trunk_z= 75.1mm grav_b=(+0.04,-0.09,-1.00) r=1.43m +[headless_play] t= 8.20s step= 410 trunk_z= 74.3mm grav_b=(-0.00,-0.05,-1.00) r=1.45m +[headless_play] t= 8.30s step= 415 trunk_z= 59.4mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 8.40s step= 420 trunk_z= 67.8mm grav_b=(+0.01,+0.02,-1.00) r=1.50m +[headless_play] t= 8.50s step= 425 trunk_z= 55.6mm grav_b=(+0.02,-0.02,-1.00) r=1.52m +[headless_play] t= 8.60s step= 430 trunk_z= 64.5mm grav_b=(+0.06,-0.07,-1.00) r=1.53m +[headless_play] t= 8.70s step= 435 trunk_z= 63.1mm grav_b=(+0.02,-0.05,-1.00) r=1.56m +[headless_play] t= 8.80s step= 440 trunk_z= 54.4mm grav_b=(+0.03,+0.01,-1.00) r=1.59m +[headless_play] t= 8.90s step= 445 trunk_z= 57.3mm grav_b=(+0.01,+0.04,-1.00) r=1.60m +[headless_play] t= 9.00s step= 450 trunk_z= 46.6mm grav_b=(+0.00,+0.02,-1.00) r=1.61m +[headless_play] t= 9.10s step= 455 trunk_z= 45.3mm grav_b=(-0.01,+0.07,-1.00) r=1.61m +[headless_play] t= 9.20s step= 460 trunk_z= 46.2mm grav_b=(-0.00,+0.08,-1.00) r=1.62m +[headless_play] t= 9.30s step= 465 trunk_z= 45.9mm grav_b=(+0.01,+0.07,-1.00) r=1.62m +[headless_play] t= 9.40s step= 470 trunk_z= 46.7mm grav_b=(+0.05,+0.07,-1.00) r=1.62m +[headless_play] t= 9.50s step= 475 trunk_z= 47.1mm grav_b=(+0.07,+0.04,-1.00) r=1.63m +[headless_play] t= 9.60s step= 480 trunk_z= 45.2mm grav_b=(+0.04,-0.06,-1.00) r=1.64m +[headless_play] t= 9.70s step= 485 trunk_z= 47.2mm grav_b=(+0.01,-0.04,-1.00) r=1.64m +[headless_play] t= 9.80s step= 490 trunk_z= 41.6mm grav_b=(-0.03,+0.03,-1.00) r=1.65m +[headless_play] t= 9.90s step= 495 trunk_z= 42.5mm grav_b=(-0.01,+0.05,-1.00) r=1.65m +[headless_play] t= 10.00s step= 500 trunk_z= 43.1mm grav_b=(+0.05,+0.05,-1.00) r=1.66m +[headless_play] t= 10.10s step= 505 trunk_z= 44.3mm grav_b=(+0.08,+0.05,-1.00) r=1.67m +[headless_play] t= 10.20s step= 510 trunk_z= 43.3mm grav_b=(+0.03,-0.02,-1.00) r=1.69m +[headless_play] t= 10.30s step= 515 trunk_z= 38.8mm grav_b=(-0.02,-0.10,-0.99) r=1.70m +[headless_play] t= 10.40s step= 520 trunk_z= 39.4mm grav_b=(-0.02,-0.05,-1.00) r=1.71m +[headless_play] t= 10.50s step= 525 trunk_z= 34.7mm grav_b=(-0.02,+0.02,-1.00) r=1.72m +[headless_play] t= 10.60s step= 530 trunk_z= 35.7mm grav_b=(-0.01,-0.01,-1.00) r=1.73m +[headless_play] t= 10.70s step= 535 trunk_z= 39.1mm grav_b=(+0.07,-0.05,-1.00) r=1.74m +[headless_play] t= 10.80s step= 540 trunk_z= 36.7mm grav_b=(+0.01,+0.03,-1.00) r=1.77m +[headless_play] t= 10.90s step= 545 trunk_z= 29.9mm grav_b=(-0.02,+0.11,-0.99) r=1.79m +[headless_play] t= 11.00s step= 550 trunk_z= 33.5mm grav_b=(-0.04,+0.09,-1.00) r=1.80m +[headless_play] t= 11.10s step= 555 trunk_z= 29.7mm grav_b=(-0.04,+0.00,-1.00) r=1.80m +[headless_play] t= 11.20s step= 560 trunk_z= 29.9mm grav_b=(-0.01,+0.04,-1.00) r=1.81m +[headless_play] t= 11.30s step= 565 trunk_z= 30.8mm grav_b=(+0.08,+0.03,-1.00) r=1.82m +[headless_play] t= 11.40s step= 570 trunk_z= 27.8mm grav_b=(+0.02,-0.07,-1.00) r=1.84m +[headless_play] t= 11.50s step= 575 trunk_z= 29.6mm grav_b=(+0.02,-0.10,-1.00) r=1.85m +[headless_play] t= 11.60s step= 580 trunk_z= 29.1mm grav_b=(-0.01,-0.02,-1.00) r=1.87m +[headless_play] t= 11.70s step= 585 trunk_z= 23.0mm grav_b=(-0.02,+0.05,-1.00) r=1.89m +[headless_play] t= 11.80s step= 590 trunk_z= 25.9mm grav_b=(-0.01,+0.07,-1.00) r=1.89m +[headless_play] t= 11.90s step= 595 trunk_z= 24.9mm grav_b=(+0.02,+0.03,-1.00) r=1.90m +[headless_play] t= 12.00s step= 600 trunk_z= 24.5mm grav_b=(+0.05,+0.06,-1.00) r=1.90m +[headless_play] t= 12.10s step= 605 trunk_z= 21.5mm grav_b=(-0.02,-0.01,-1.00) r=1.89m +[headless_play] t= 12.20s step= 610 trunk_z= 21.9mm grav_b=(-0.03,+0.01,-1.00) r=1.89m +[headless_play] t= 12.30s step= 615 trunk_z= 22.8mm grav_b=(+0.01,+0.03,-1.00) r=1.90m +[headless_play] t= 12.40s step= 620 trunk_z= 23.6mm grav_b=(+0.05,+0.03,-1.00) r=1.91m +[headless_play] t= 12.50s step= 625 trunk_z= 24.7mm grav_b=(+0.10,+0.02,-1.00) r=1.91m +[headless_play] t= 12.60s step= 630 trunk_z= 21.9mm grav_b=(+0.06,+0.07,-1.00) r=1.93m +[headless_play] t= 12.70s step= 635 trunk_z= 21.7mm grav_b=(+0.01,+0.12,-0.99) r=1.96m +[headless_play] t= 12.80s step= 640 trunk_z= 23.4mm grav_b=(-0.01,+0.12,-0.99) r=1.97m +[headless_play] t= 12.90s step= 645 trunk_z= 19.7mm grav_b=(-0.03,+0.05,-1.00) r=1.97m +[headless_play] t= 13.00s step= 650 trunk_z= 19.9mm grav_b=(+0.01,+0.02,-1.00) r=1.97m +[headless_play] t= 13.10s step= 655 trunk_z= 19.7mm grav_b=(+0.04,+0.03,-1.00) r=1.98m +[headless_play] t= 13.20s step= 660 trunk_z= 16.6mm grav_b=(+0.02,+0.11,-0.99) r=2.01m +[headless_play] t= 13.30s step= 665 trunk_z= 19.7mm grav_b=(-0.01,+0.08,-1.00) r=2.02m +[headless_play] t= 13.40s step= 670 trunk_z= 14.2mm grav_b=(-0.05,+0.01,-1.00) r=2.02m +[headless_play] t= 13.50s step= 675 trunk_z= 14.7mm grav_b=(-0.04,+0.01,-1.00) r=2.03m +[headless_play] t= 13.60s step= 680 trunk_z= 7.5mm grav_b=(-0.02,+0.08,-1.00) r=2.06m +[headless_play] t= 13.70s step= 685 trunk_z= 17.1mm grav_b=(+0.04,+0.08,-1.00) r=2.09m +[headless_play] t= 13.80s step= 690 trunk_z= 15.5mm grav_b=(+0.02,+0.03,-1.00) r=2.12m +[headless_play] t= 13.90s step= 695 trunk_z= 4.7mm grav_b=(+0.00,-0.05,-1.00) r=2.15m +[headless_play] t= 14.00s step= 700 trunk_z= 8.6mm grav_b=(-0.03,-0.01,-1.00) r=2.17m +[headless_play] t= 14.10s step= 705 trunk_z= 0.6mm grav_b=(-0.05,+0.06,-1.00) r=2.19m +[headless_play] t= 14.20s step= 710 trunk_z= 9.2mm grav_b=(-0.01,+0.06,-1.00) r=2.22m +[headless_play] t= 14.30s step= 715 trunk_z= 8.3mm grav_b=(+0.00,+0.02,-1.00) r=2.25m +[headless_play] t= 14.40s step= 720 trunk_z= 4.3mm grav_b=(+0.02,-0.08,-1.00) r=2.28m +[headless_play] t= 14.50s step= 725 trunk_z= 7.9mm grav_b=(+0.01,-0.05,-1.00) r=2.30m +[headless_play] t= 14.60s step= 730 trunk_z= 3.1mm grav_b=(-0.03,-0.01,-1.00) r=2.34m +[headless_play] t= 14.70s step= 735 trunk_z= -0.6mm grav_b=(-0.04,+0.02,-1.00) r=2.36m +[headless_play] t= 14.80s step= 740 trunk_z= -3.8mm grav_b=(-0.01,-0.05,-1.00) r=2.37m +[headless_play] t= 14.90s step= 745 trunk_z= -0.9mm grav_b=(+0.07,-0.06,-1.00) r=2.39m +[headless_play] t= 15.00s step= 750 trunk_z= -5.0mm grav_b=(+0.04,+0.02,-1.00) r=2.41m +[headless_play] t= 15.10s step= 755 trunk_z= -2.5mm grav_b=(+0.01,+0.12,-0.99) r=2.45m +[headless_play] t= 15.20s step= 760 trunk_z= 1.1mm grav_b=(-0.01,+0.12,-0.99) r=2.47m +[headless_play] t= 15.30s step= 765 trunk_z= -0.8mm grav_b=(-0.02,+0.12,-0.99) r=2.48m +[headless_play] t= 15.40s step= 770 trunk_z= -5.7mm grav_b=(-0.01,-0.03,-1.00) r=2.49m +[headless_play] t= 15.50s step= 775 trunk_z= -0.7mm grav_b=(+0.01,-0.11,-0.99) r=2.51m +[headless_play] t= 15.60s step= 780 trunk_z= -4.0mm grav_b=(+0.04,-0.09,-1.00) r=2.52m +[headless_play] t= 15.70s step= 785 trunk_z= -9.4mm grav_b=(+0.07,+0.01,-1.00) r=2.55m +[headless_play] t= 15.80s step= 790 trunk_z= 1.0mm grav_b=(+0.05,+0.15,-0.99) r=2.58m +[headless_play] t= 15.90s step= 795 trunk_z= 4.4mm grav_b=(+0.03,+0.19,-0.98) r=2.60m +[headless_play] t= 16.00s step= 800 trunk_z= 4.8mm grav_b=(-0.04,+0.10,-0.99) r=2.63m +[headless_play] t= 16.10s step= 805 trunk_z= -4.8mm grav_b=(+0.09,+0.12,-0.99) r=2.67m +[headless_play] t= 16.20s step= 810 trunk_z= -6.0mm grav_b=(-0.02,+0.06,-1.00) r=2.67m +[headless_play] t= 16.30s step= 815 trunk_z= -2.8mm grav_b=(+0.01,+0.06,-1.00) r=2.68m +[headless_play] t= 16.40s step= 820 trunk_z= -8.7mm grav_b=(+0.01,-0.04,-1.00) r=2.72m +[headless_play] t= 16.50s step= 825 trunk_z= -5.1mm grav_b=(+0.05,-0.12,-0.99) r=2.75m +[headless_play] t= 16.60s step= 830 trunk_z= -2.3mm grav_b=(+0.05,-0.16,-0.99) r=2.77m +[headless_play] t= 16.70s step= 835 trunk_z= -3.7mm grav_b=(+0.04,-0.15,-0.99) r=2.79m +[headless_play] t= 16.80s step= 840 trunk_z= -7.1mm grav_b=(+0.02,+0.03,-1.00) r=2.82m +[headless_play] t= 16.90s step= 845 trunk_z= 4.2mm grav_b=(+0.01,+0.05,-1.00) r=2.84m +[headless_play] t= 17.00s step= 850 trunk_z= -1.8mm grav_b=(-0.04,+0.01,-1.00) r=2.87m +[headless_play] t= 17.10s step= 855 trunk_z= -5.6mm grav_b=(-0.04,-0.08,-1.00) r=2.89m +[headless_play] t= 17.20s step= 860 trunk_z= -7.7mm grav_b=(-0.04,-0.07,-1.00) r=2.90m +[headless_play] t= 17.30s step= 865 trunk_z= -14.0mm grav_b=(-0.01,+0.01,-1.00) r=2.90m +[headless_play] t= 17.40s step= 870 trunk_z= -6.7mm grav_b=(-0.00,+0.05,-1.00) r=2.91m +[headless_play] t= 17.50s step= 875 trunk_z= -10.4mm grav_b=(+0.01,+0.02,-1.00) r=2.93m +[headless_play] t= 17.60s step= 880 trunk_z= -9.4mm grav_b=(-0.00,-0.08,-1.00) r=2.95m +[headless_play] t= 17.70s step= 885 trunk_z= -4.9mm grav_b=(-0.01,-0.10,-0.99) r=2.97m +[headless_play] t= 17.80s step= 890 trunk_z= -8.9mm grav_b=(-0.00,-0.07,-1.00) r=2.98m +[headless_play] t= 17.90s step= 895 trunk_z= -11.8mm grav_b=(+0.01,+0.04,-1.00) r=2.99m +[headless_play] t= 18.00s step= 900 trunk_z= -6.5mm grav_b=(+0.02,+0.05,-1.00) r=3.01m +[headless_play] t= 18.10s step= 905 trunk_z= -12.4mm grav_b=(+0.02,+0.01,-1.00) r=3.03m +[headless_play] t= 18.20s step= 910 trunk_z= -8.2mm grav_b=(+0.05,-0.08,-1.00) r=3.05m +[headless_play] t= 18.30s step= 915 trunk_z= -8.2mm grav_b=(+0.04,-0.05,-1.00) r=3.07m +[headless_play] t= 18.40s step= 920 trunk_z= -13.8mm grav_b=(+0.06,+0.03,-1.00) r=3.10m +[headless_play] t= 18.50s step= 925 trunk_z= -9.4mm grav_b=(+0.09,+0.03,-1.00) r=3.12m +[headless_play] t= 18.60s step= 930 trunk_z= -11.7mm grav_b=(+0.03,-0.03,-1.00) r=3.15m +[headless_play] t= 18.70s step= 935 trunk_z= -5.5mm grav_b=(+0.06,-0.10,-0.99) r=3.18m +[headless_play] t= 18.80s step= 940 trunk_z= -6.8mm grav_b=(+0.04,-0.08,-1.00) r=3.20m +[headless_play] t= 18.90s step= 945 trunk_z= -14.2mm grav_b=(+0.02,-0.00,-1.00) r=3.22m +[headless_play] t= 19.00s step= 950 trunk_z= -6.4mm grav_b=(+0.04,+0.05,-1.00) r=3.24m +[headless_play] t= 19.10s step= 955 trunk_z= -9.7mm grav_b=(+0.04,+0.03,-1.00) r=3.26m +[headless_play] t= 19.20s step= 960 trunk_z= -12.1mm grav_b=(+0.06,-0.08,-1.00) r=3.28m +[headless_play] t= 19.30s step= 965 trunk_z= -3.7mm grav_b=(+0.16,-0.10,-0.98) r=3.32m +[headless_play] t= 19.40s step= 970 trunk_z= -13.0mm grav_b=(+0.05,-0.01,-1.00) r=3.37m +[headless_play] t= 19.50s step= 975 trunk_z= 2.4mm grav_b=(+0.07,-0.02,-1.00) r=3.40m +[headless_play] t= 19.60s step= 980 trunk_z= -3.9mm grav_b=(-0.00,-0.04,-1.00) r=3.44m +[headless_play] t= 19.70s step= 985 trunk_z= -9.5mm grav_b=(+0.04,-0.15,-0.99) r=3.47m +[headless_play] t= 19.80s step= 990 trunk_z= -1.1mm grav_b=(+0.01,-0.14,-0.99) r=3.50m +[headless_play] t= 19.90s step= 995 trunk_z= -2.3mm grav_b=(-0.01,-0.13,-0.99) r=3.53m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t2/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x42dbe880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t2/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t2/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t3.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..04561069642ada36f6cc059ca903e40ecad34a0d --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t3.log @@ -0,0 +1,216 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-18.275,-17.548,+0.251) +[headless_play] t= 0.00s step= 0 trunk_z= 121.6mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 114.8mm grav_b=(-0.00,+0.00,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 113.0mm grav_b=(+0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 114.2mm grav_b=(+0.05,+0.09,-0.99) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 112.7mm grav_b=(+0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.01,-0.07,-1.00) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 119.0mm grav_b=(+0.02,-0.06,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 122.9mm grav_b=(-0.08,+0.13,-0.99) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 128.1mm grav_b=(-0.11,+0.19,-0.98) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 128.3mm grav_b=(-0.12,+0.20,-0.97) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 127.7mm grav_b=(-0.10,+0.19,-0.98) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 130.4mm grav_b=(-0.13,+0.28,-0.95) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 118.1mm grav_b=(-0.18,+0.32,-0.93) r=0.43m +[headless_play] t= 1.40s step= 70 trunk_z= 99.3mm grav_b=(-0.49,+0.28,-0.82) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 83.2mm grav_b=(-0.51,+0.16,-0.85) r=0.47m +[headless_play] RESET at t= 1.60s step= 80 (env termination, not a recovery) +[headless_play] t= 1.60s step= 80 trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 115.6mm grav_b=(+0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 117.3mm grav_b=(+0.06,+0.01,-1.00) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(+0.09,+0.05,-0.99) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 119.8mm grav_b=(+0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.10,-0.08,-0.99) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(-0.11,-0.05,-0.99) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.11,-0.04,-0.99) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 119.3mm grav_b=(+0.00,-0.09,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 120.1mm grav_b=(+0.06,-0.06,-1.00) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(+0.04,-0.02,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 110.6mm grav_b=(+0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 110.4mm grav_b=(+0.12,+0.03,-0.99) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 111.8mm grav_b=(+0.12,+0.02,-0.99) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 115.0mm grav_b=(+0.04,-0.04,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 115.3mm grav_b=(+0.01,-0.03,-1.00) r=0.47m +[headless_play] t= 3.70s step= 185 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 4.50s step= 225 trunk_z= 118.0mm grav_b=(+0.08,+0.02,-1.00) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 119.1mm grav_b=(+0.04,+0.00,-1.00) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 120.7mm grav_b=(+0.09,-0.00,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 118.6mm grav_b=(+0.03,-0.07,-1.00) r=0.44m +[headless_play] t= 4.90s step= 245 trunk_z= 116.4mm grav_b=(+0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 5.00s step= 250 trunk_z= 115.4mm grav_b=(-0.06,+0.01,-1.00) r=0.41m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.11,+0.03,-0.99) r=0.41m +[headless_play] t= 5.20s step= 260 trunk_z= 115.7mm grav_b=(-0.11,+0.03,-0.99) r=0.41m +[headless_play] t= 5.30s step= 265 trunk_z= 116.7mm grav_b=(-0.09,+0.02,-1.00) r=0.40m +[headless_play] t= 5.40s step= 270 trunk_z= 118.5mm grav_b=(-0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.02,+0.08,-1.00) r=0.39m +[headless_play] t= 5.60s step= 280 trunk_z= 120.5mm grav_b=(-0.05,+0.12,-0.99) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 119.3mm grav_b=(-0.11,+0.15,-0.98) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 113.8mm grav_b=(-0.19,+0.10,-0.98) r=0.40m +[headless_play] t= 5.90s step= 295 trunk_z= 113.4mm grav_b=(-0.19,+0.09,-0.98) r=0.40m +[headless_play] t= 6.00s step= 300 trunk_z= 111.7mm grav_b=(-0.19,+0.10,-0.98) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 110.9mm grav_b=(-0.18,+0.07,-0.98) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 105.2mm grav_b=(-0.16,+0.07,-0.99) r=0.44m +[headless_play] t= 6.30s step= 315 trunk_z= 101.7mm grav_b=(-0.21,+0.10,-0.97) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 99.5mm grav_b=(-0.26,+0.14,-0.95) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 98.2mm grav_b=(-0.30,+0.24,-0.92) r=0.47m +[headless_play] t= 6.60s step= 330 trunk_z= 70.8mm grav_b=(-0.76,+0.03,-0.65) r=0.49m +[headless_play] RESET at t= 6.68s step= 334 (env termination, not a recovery) +[headless_play] t= 6.70s step= 335 trunk_z= 123.1mm grav_b=(-0.00,-0.00,-1.00) r=0.25m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 120.3mm grav_b=(+0.06,+0.05,-1.00) r=0.23m +[headless_play] t= 7.10s step= 355 trunk_z= 116.1mm grav_b=(-0.03,-0.03,-1.00) r=0.22m +[headless_play] t= 7.20s step= 360 trunk_z= 116.1mm grav_b=(-0.09,+0.00,-1.00) r=0.23m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.09,+0.01,-1.00) r=0.23m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(-0.12,-0.00,-0.99) r=0.23m +[headless_play] t= 7.50s step= 375 trunk_z= 116.6mm grav_b=(-0.14,-0.02,-0.99) r=0.24m +[headless_play] t= 7.60s step= 380 trunk_z= 111.5mm grav_b=(-0.03,-0.02,-1.00) r=0.25m +[headless_play] t= 7.70s step= 385 trunk_z= 113.8mm grav_b=(-0.01,+0.05,-1.00) r=0.26m +[headless_play] t= 7.80s step= 390 trunk_z= 116.9mm grav_b=(-0.07,+0.14,-0.99) r=0.27m +[headless_play] t= 7.90s step= 395 trunk_z= 120.9mm grav_b=(-0.09,+0.14,-0.99) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 115.5mm grav_b=(-0.07,+0.11,-0.99) r=0.28m +[headless_play] t= 8.10s step= 405 trunk_z= 115.1mm grav_b=(-0.08,+0.10,-0.99) r=0.30m +[headless_play] t= 8.20s step= 410 trunk_z= 119.1mm grav_b=(-0.08,+0.08,-0.99) r=0.31m +[headless_play] t= 8.30s step= 415 trunk_z= 105.7mm grav_b=(-0.04,+0.05,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 110.1mm grav_b=(-0.11,+0.05,-0.99) r=0.39m +[headless_play] t= 8.50s step= 425 trunk_z= 98.7mm grav_b=(-0.03,+0.09,-1.00) r=0.42m +[headless_play] t= 8.60s step= 430 trunk_z= 93.9mm grav_b=(+0.04,+0.18,-0.98) r=0.44m +[headless_play] t= 8.70s step= 435 trunk_z= 104.1mm grav_b=(+0.08,+0.15,-0.99) r=0.44m +[headless_play] t= 8.80s step= 440 trunk_z= 108.4mm grav_b=(+0.04,+0.04,-1.00) r=0.44m +[headless_play] t= 8.90s step= 445 trunk_z= 115.4mm grav_b=(-0.02,+0.04,-1.00) r=0.44m +[headless_play] t= 9.00s step= 450 trunk_z= 118.3mm grav_b=(-0.04,+0.10,-0.99) r=0.44m +[headless_play] t= 9.10s step= 455 trunk_z= 121.3mm grav_b=(-0.01,+0.16,-0.99) r=0.44m +[headless_play] t= 9.20s step= 460 trunk_z= 121.3mm grav_b=(+0.02,+0.18,-0.98) r=0.43m +[headless_play] t= 9.30s step= 465 trunk_z= 119.7mm grav_b=(+0.04,+0.14,-0.99) r=0.42m +[headless_play] t= 9.40s step= 470 trunk_z= 118.8mm grav_b=(+0.05,+0.09,-0.99) r=0.42m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(+0.04,+0.07,-1.00) r=0.43m +[headless_play] t= 9.60s step= 480 trunk_z= 118.1mm grav_b=(-0.03,+0.05,-1.00) r=0.44m +[headless_play] t= 9.70s step= 485 trunk_z= 118.4mm grav_b=(-0.08,+0.02,-1.00) r=0.44m +[headless_play] t= 9.80s step= 490 trunk_z= 118.5mm grav_b=(-0.11,+0.02,-0.99) r=0.45m +[headless_play] t= 9.90s step= 495 trunk_z= 117.7mm grav_b=(-0.11,-0.00,-0.99) r=0.46m +[headless_play] t= 10.00s step= 500 trunk_z= 113.4mm grav_b=(-0.03,+0.07,-1.00) r=0.47m +[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(-0.03,+0.09,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 112.1mm grav_b=(+0.02,+0.06,-1.00) r=0.50m +[headless_play] t= 10.30s step= 515 trunk_z= 111.5mm grav_b=(-0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 111.3mm grav_b=(-0.04,+0.09,-0.99) r=0.52m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(-0.04,+0.10,-0.99) r=0.52m +[headless_play] t= 10.60s step= 530 trunk_z= 113.3mm grav_b=(-0.06,+0.08,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(-0.12,+0.09,-0.99) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 115.2mm grav_b=(-0.18,+0.08,-0.98) r=0.60m +[headless_play] t= 10.90s step= 545 trunk_z= 99.7mm grav_b=(-0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 95.3mm grav_b=(-0.11,+0.06,-0.99) r=0.68m +[headless_play] t= 11.10s step= 555 trunk_z= 95.2mm grav_b=(+0.01,+0.06,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 101.5mm grav_b=(+0.07,+0.18,-0.98) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 111.6mm grav_b=(+0.03,+0.13,-0.99) r=0.67m +[headless_play] t= 11.40s step= 570 trunk_z= 113.4mm grav_b=(-0.02,+0.07,-1.00) r=0.69m +[headless_play] t= 11.50s step= 575 trunk_z= 115.3mm grav_b=(-0.03,+0.07,-1.00) r=0.69m +[headless_play] t= 11.60s step= 580 trunk_z= 115.2mm grav_b=(+0.00,+0.05,-1.00) r=0.69m +[headless_play] t= 11.70s step= 585 trunk_z= 114.8mm grav_b=(+0.04,+0.04,-1.00) r=0.69m +[headless_play] t= 11.80s step= 590 trunk_z= 115.3mm grav_b=(+0.04,+0.04,-1.00) r=0.69m +[headless_play] t= 11.90s step= 595 trunk_z= 115.6mm grav_b=(+0.03,+0.03,-1.00) r=0.69m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(+0.02,+0.03,-1.00) r=0.70m +[headless_play] t= 12.10s step= 605 trunk_z= 116.7mm grav_b=(+0.06,+0.03,-1.00) r=0.69m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(+0.04,+0.03,-1.00) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(+0.00,+0.02,-1.00) r=0.70m +[headless_play] t= 12.40s step= 620 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=0.70m +[headless_play] t= 12.50s step= 625 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) r=0.70m +[headless_play] t= 12.60s step= 630 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.70m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.70m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(+0.00,+0.02,-1.00) r=0.70m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.70m +[headless_play] t= 13.30s step= 665 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 13.50s step= 675 trunk_z= 117.5mm grav_b=(-0.09,+0.00,-1.00) r=0.72m +[headless_play] t= 13.60s step= 680 trunk_z= 117.6mm grav_b=(-0.12,-0.01,-0.99) r=0.73m +[headless_play] t= 13.70s step= 685 trunk_z= 115.6mm grav_b=(-0.20,+0.00,-0.98) r=0.75m +[headless_play] t= 13.80s step= 690 trunk_z= 111.2mm grav_b=(-0.37,+0.02,-0.93) r=0.78m +[headless_play] t= 13.90s step= 695 trunk_z= 89.8mm grav_b=(-0.52,-0.24,-0.82) r=0.83m +[headless_play] t= 14.00s step= 700 trunk_z= 39.4mm grav_b=(-0.94,+0.03,-0.33) r=0.88m +[headless_play] RESET at t= 14.02s step= 701 (env termination, not a recovery) +[headless_play] t= 14.10s step= 705 trunk_z= 114.6mm grav_b=(-0.04,+0.01,-1.00) r=0.07m +[headless_play] t= 14.20s step= 710 trunk_z= 114.7mm grav_b=(-0.05,+0.08,-1.00) r=0.06m +[headless_play] t= 14.30s step= 715 trunk_z= 118.7mm grav_b=(-0.08,+0.06,-1.00) r=0.05m +[headless_play] t= 14.40s step= 720 trunk_z= 115.3mm grav_b=(-0.10,-0.02,-1.00) r=0.07m +[headless_play] t= 14.50s step= 725 trunk_z= 118.1mm grav_b=(-0.09,-0.11,-0.99) r=0.08m +[headless_play] t= 14.60s step= 730 trunk_z= 121.9mm grav_b=(-0.07,-0.09,-0.99) r=0.09m +[headless_play] t= 14.70s step= 735 trunk_z= 117.3mm grav_b=(-0.05,-0.05,-1.00) r=0.07m +[headless_play] t= 14.80s step= 740 trunk_z= 117.7mm grav_b=(-0.03,+0.04,-1.00) r=0.05m +[headless_play] t= 14.90s step= 745 trunk_z= 119.8mm grav_b=(+0.08,+0.09,-0.99) r=0.05m +[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(+0.01,-0.01,-1.00) r=0.08m +[headless_play] t= 15.10s step= 755 trunk_z= 126.2mm grav_b=(-0.00,-0.09,-1.00) r=0.11m +[headless_play] t= 15.20s step= 760 trunk_z= 121.0mm grav_b=(-0.08,-0.03,-1.00) r=0.13m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.14,+0.05,-0.99) r=0.14m +[headless_play] t= 15.40s step= 770 trunk_z= 121.2mm grav_b=(-0.15,+0.05,-0.99) r=0.13m +[headless_play] t= 15.50s step= 775 trunk_z= 108.4mm grav_b=(-0.11,+0.01,-0.99) r=0.11m +[headless_play] t= 15.60s step= 780 trunk_z= 111.0mm grav_b=(+0.03,+0.07,-1.00) r=0.10m +[headless_play] t= 15.70s step= 785 trunk_z= 113.6mm grav_b=(-0.01,+0.14,-0.99) r=0.11m +[headless_play] t= 15.80s step= 790 trunk_z= 118.7mm grav_b=(-0.01,+0.09,-1.00) r=0.12m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(-0.02,+0.03,-1.00) r=0.14m +[headless_play] t= 16.00s step= 800 trunk_z= 118.9mm grav_b=(-0.02,-0.07,-1.00) r=0.16m +[headless_play] t= 16.10s step= 805 trunk_z= 120.0mm grav_b=(+0.00,-0.06,-1.00) r=0.18m +[headless_play] t= 16.20s step= 810 trunk_z= 119.7mm grav_b=(+0.01,-0.07,-1.00) r=0.21m +[headless_play] t= 16.30s step= 815 trunk_z= 121.3mm grav_b=(+0.08,-0.03,-1.00) r=0.23m +[headless_play] t= 16.40s step= 820 trunk_z= 118.1mm grav_b=(+0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 16.50s step= 825 trunk_z= 122.9mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 16.60s step= 830 trunk_z= 115.5mm grav_b=(-0.06,+0.04,-1.00) r=0.30m +[headless_play] t= 16.70s step= 835 trunk_z= 122.1mm grav_b=(-0.09,+0.08,-0.99) r=0.31m +[headless_play] t= 16.80s step= 840 trunk_z= 122.0mm grav_b=(-0.11,+0.07,-0.99) r=0.31m +[headless_play] t= 16.90s step= 845 trunk_z= 110.8mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 17.00s step= 850 trunk_z= 110.9mm grav_b=(-0.03,+0.05,-1.00) r=0.30m +[headless_play] t= 17.10s step= 855 trunk_z= 104.4mm grav_b=(-0.01,+0.09,-1.00) r=0.32m +[headless_play] t= 17.20s step= 860 trunk_z= 107.7mm grav_b=(+0.03,+0.10,-0.99) r=0.33m +[headless_play] t= 17.30s step= 865 trunk_z= 103.0mm grav_b=(+0.09,+0.05,-0.99) r=0.34m +[headless_play] t= 17.40s step= 870 trunk_z= 111.4mm grav_b=(+0.05,+0.04,-1.00) r=0.34m +[headless_play] t= 17.50s step= 875 trunk_z= 109.9mm grav_b=(+0.08,+0.02,-1.00) r=0.34m +[headless_play] t= 17.60s step= 880 trunk_z= 112.8mm grav_b=(+0.08,+0.01,-1.00) r=0.34m +[headless_play] t= 17.70s step= 885 trunk_z= 114.3mm grav_b=(+0.07,+0.02,-1.00) r=0.33m +[headless_play] t= 17.80s step= 890 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 17.90s step= 895 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 18.00s step= 900 trunk_z= 115.5mm grav_b=(-0.05,+0.00,-1.00) r=0.32m +[headless_play] t= 18.10s step= 905 trunk_z= 117.2mm grav_b=(+0.05,+0.04,-1.00) r=0.33m +[headless_play] t= 18.20s step= 910 trunk_z= 118.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.34m +[headless_play] t= 18.70s step= 935 trunk_z= 119.0mm grav_b=(+0.05,+0.05,-1.00) r=0.35m +[headless_play] t= 18.80s step= 940 trunk_z= 120.2mm grav_b=(+0.06,+0.03,-1.00) r=0.36m +[headless_play] t= 18.90s step= 945 trunk_z= 118.5mm grav_b=(-0.01,-0.06,-1.00) r=0.36m +[headless_play] t= 19.00s step= 950 trunk_z= 119.7mm grav_b=(-0.07,-0.03,-1.00) r=0.35m +[headless_play] t= 19.10s step= 955 trunk_z= 118.2mm grav_b=(-0.08,-0.00,-1.00) r=0.35m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(-0.12,+0.01,-0.99) r=0.35m +[headless_play] t= 19.30s step= 965 trunk_z= 115.8mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(-0.07,+0.03,-1.00) r=0.32m +[headless_play] t= 19.50s step= 975 trunk_z= 108.7mm grav_b=(-0.02,+0.08,-1.00) r=0.31m +[headless_play] t= 19.60s step= 980 trunk_z= 118.8mm grav_b=(-0.10,+0.13,-0.99) r=0.30m +[headless_play] t= 19.70s step= 985 trunk_z= 124.5mm grav_b=(-0.08,+0.12,-0.99) r=0.28m +[headless_play] t= 19.80s step= 990 trunk_z= 115.5mm grav_b=(-0.13,+0.10,-0.99) r=0.26m +[headless_play] t= 19.90s step= 995 trunk_z= 117.2mm grav_b=(-0.09,+0.11,-0.99) r=0.24m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t3/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x7923880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t3/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t3/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t4.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..6d6bea391b3aab6cecf5a797efc94bf5ac0a8cf6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t4.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.072,-18.481,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(-0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 114.1mm grav_b=(-0.06,+0.07,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(-0.09,+0.01,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 107.9mm grav_b=(-0.06,-0.02,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 116.9mm grav_b=(-0.12,-0.03,-0.99) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 116.7mm grav_b=(-0.14,-0.00,-0.99) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 111.2mm grav_b=(-0.12,+0.07,-0.99) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 121.4mm grav_b=(-0.13,+0.07,-0.99) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 120.0mm grav_b=(-0.09,+0.04,-0.99) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 110.2mm grav_b=(-0.11,-0.01,-0.99) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(-0.12,-0.04,-0.99) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(-0.11,-0.04,-0.99) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 115.5mm grav_b=(-0.09,+0.04,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 117.2mm grav_b=(-0.08,+0.04,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 112.0mm grav_b=(-0.07,+0.01,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(-0.09,-0.05,-0.99) r=0.48m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(-0.09,-0.04,-1.00) r=0.47m +[headless_play] t= 1.80s step= 90 trunk_z= 110.0mm grav_b=(-0.08,-0.01,-1.00) r=0.48m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(-0.08,+0.04,-1.00) r=0.48m +[headless_play] t= 2.00s step= 100 trunk_z= 112.4mm grav_b=(+0.01,+0.03,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 111.8mm grav_b=(-0.07,-0.06,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 121.5mm grav_b=(-0.11,-0.08,-0.99) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 118.3mm grav_b=(-0.13,-0.02,-0.99) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(-0.17,+0.06,-0.98) r=0.41m +[headless_play] t= 2.50s step= 125 trunk_z= 122.8mm grav_b=(-0.17,+0.05,-0.98) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 109.9mm grav_b=(-0.07,+0.00,-1.00) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 112.3mm grav_b=(-0.03,+0.00,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 110.1mm grav_b=(-0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 119.0mm grav_b=(-0.13,+0.06,-0.99) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 127.1mm grav_b=(-0.19,+0.06,-0.98) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 107.2mm grav_b=(-0.10,-0.04,-0.99) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 108.5mm grav_b=(-0.08,+0.02,-1.00) r=0.61m +[headless_play] t= 3.40s step= 170 trunk_z= 119.0mm grav_b=(-0.10,+0.03,-0.99) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 122.8mm grav_b=(-0.08,+0.10,-0.99) r=0.62m +[headless_play] t= 3.60s step= 180 trunk_z= 119.7mm grav_b=(-0.06,+0.07,-1.00) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 117.0mm grav_b=(-0.04,-0.04,-1.00) r=0.59m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(-0.05,+0.00,-1.00) r=0.58m +[headless_play] t= 4.00s step= 200 trunk_z= 114.4mm grav_b=(-0.08,+0.06,-1.00) r=0.59m +[headless_play] t= 4.10s step= 205 trunk_z= 119.6mm grav_b=(-0.09,+0.04,-1.00) r=0.58m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(-0.08,-0.02,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 119.6mm grav_b=(-0.07,-0.09,-0.99) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 123.0mm grav_b=(-0.07,-0.11,-0.99) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 119.4mm grav_b=(-0.06,-0.08,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(-0.05,+0.01,-1.00) r=0.51m +[headless_play] t= 4.70s step= 235 trunk_z= 121.5mm grav_b=(-0.09,+0.05,-1.00) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 119.1mm grav_b=(-0.09,+0.05,-0.99) r=0.50m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(-0.07,-0.05,-1.00) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 121.6mm grav_b=(-0.08,-0.07,-0.99) r=0.48m +[headless_play] t= 5.10s step= 255 trunk_z= 119.1mm grav_b=(-0.12,+0.02,-0.99) r=0.48m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(-0.11,+0.06,-0.99) r=0.50m +[headless_play] t= 5.30s step= 265 trunk_z= 123.6mm grav_b=(-0.13,+0.09,-0.99) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 125.9mm grav_b=(-0.13,+0.07,-0.99) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 110.3mm grav_b=(-0.13,+0.03,-0.99) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(-0.11,+0.02,-0.99) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(-0.10,+0.06,-0.99) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 124.6mm grav_b=(-0.09,+0.03,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 119.7mm grav_b=(-0.07,-0.00,-1.00) r=0.58m +[headless_play] t= 6.00s step= 300 trunk_z= 123.2mm grav_b=(-0.08,-0.06,-1.00) r=0.57m +[headless_play] t= 6.10s step= 305 trunk_z= 122.2mm grav_b=(-0.07,-0.03,-1.00) r=0.56m +[headless_play] t= 6.20s step= 310 trunk_z= 118.8mm grav_b=(-0.07,+0.01,-1.00) r=0.55m +[headless_play] t= 6.30s step= 315 trunk_z= 125.3mm grav_b=(-0.06,+0.03,-1.00) r=0.54m +[headless_play] t= 6.40s step= 320 trunk_z= 122.1mm grav_b=(-0.08,+0.02,-1.00) r=0.53m +[headless_play] t= 6.50s step= 325 trunk_z= 122.0mm grav_b=(-0.08,-0.06,-0.99) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 122.3mm grav_b=(-0.08,-0.03,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 117.8mm grav_b=(-0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 6.80s step= 340 trunk_z= 131.4mm grav_b=(-0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 6.90s step= 345 trunk_z= 128.4mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 7.00s step= 350 trunk_z= 120.7mm grav_b=(-0.08,-0.01,-1.00) r=0.41m +[headless_play] t= 7.10s step= 355 trunk_z= 119.8mm grav_b=(-0.12,+0.01,-0.99) r=0.40m +[headless_play] t= 7.20s step= 360 trunk_z= 121.2mm grav_b=(-0.12,+0.04,-0.99) r=0.38m +[headless_play] t= 7.30s step= 365 trunk_z= 125.0mm grav_b=(-0.08,+0.02,-1.00) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 118.1mm grav_b=(-0.08,-0.03,-1.00) r=0.36m +[headless_play] t= 7.50s step= 375 trunk_z= 124.5mm grav_b=(-0.08,-0.07,-0.99) r=0.35m +[headless_play] t= 7.60s step= 380 trunk_z= 124.5mm grav_b=(-0.07,-0.05,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 119.8mm grav_b=(-0.06,+0.06,-1.00) r=0.33m +[headless_play] t= 7.80s step= 390 trunk_z= 134.1mm grav_b=(-0.02,+0.14,-0.99) r=0.30m +[headless_play] t= 7.90s step= 395 trunk_z= 136.1mm grav_b=(-0.02,+0.15,-0.99) r=0.28m +[headless_play] t= 8.00s step= 400 trunk_z= 117.7mm grav_b=(-0.07,+0.10,-0.99) r=0.23m +[headless_play] t= 8.10s step= 405 trunk_z= 130.5mm grav_b=(-0.03,+0.11,-0.99) r=0.21m +[headless_play] t= 8.20s step= 410 trunk_z= 117.3mm grav_b=(-0.05,+0.02,-1.00) r=0.20m +[headless_play] t= 8.30s step= 415 trunk_z= 126.9mm grav_b=(-0.04,-0.08,-1.00) r=0.18m +[headless_play] t= 8.40s step= 420 trunk_z= 110.1mm grav_b=(-0.12,-0.11,-0.99) r=0.14m +[headless_play] t= 8.50s step= 425 trunk_z= 120.4mm grav_b=(-0.12,-0.07,-0.99) r=0.13m +[headless_play] t= 8.60s step= 430 trunk_z= 116.6mm grav_b=(-0.16,-0.01,-0.99) r=0.15m +[headless_play] t= 8.70s step= 435 trunk_z= 122.3mm grav_b=(-0.17,+0.05,-0.98) r=0.18m +[headless_play] t= 8.80s step= 440 trunk_z= 125.4mm grav_b=(-0.14,+0.07,-0.99) r=0.17m +[headless_play] t= 8.90s step= 445 trunk_z= 118.2mm grav_b=(-0.09,-0.02,-1.00) r=0.15m +[headless_play] t= 9.00s step= 450 trunk_z= 126.7mm grav_b=(-0.02,-0.06,-1.00) r=0.14m +[headless_play] t= 9.10s step= 455 trunk_z= 128.4mm grav_b=(-0.04,-0.03,-1.00) r=0.15m +[headless_play] t= 9.20s step= 460 trunk_z= 121.1mm grav_b=(-0.08,+0.05,-1.00) r=0.18m +[headless_play] t= 9.30s step= 465 trunk_z= 129.3mm grav_b=(-0.08,+0.05,-1.00) r=0.20m +[headless_play] t= 9.40s step= 470 trunk_z= 124.2mm grav_b=(-0.11,+0.03,-0.99) r=0.19m +[headless_play] t= 9.50s step= 475 trunk_z= 122.6mm grav_b=(-0.10,-0.06,-0.99) r=0.18m +[headless_play] t= 9.60s step= 480 trunk_z= 121.4mm grav_b=(-0.12,-0.04,-0.99) r=0.19m +[headless_play] t= 9.70s step= 485 trunk_z= 120.6mm grav_b=(-0.14,+0.07,-0.99) r=0.21m +[headless_play] t= 9.80s step= 490 trunk_z= 125.8mm grav_b=(-0.13,+0.06,-0.99) r=0.22m +[headless_play] t= 9.90s step= 495 trunk_z= 122.5mm grav_b=(-0.12,+0.06,-0.99) r=0.21m +[headless_play] t= 10.00s step= 500 trunk_z= 121.0mm grav_b=(-0.08,-0.07,-0.99) r=0.21m +[headless_play] t= 10.10s step= 505 trunk_z= 126.3mm grav_b=(-0.07,-0.06,-1.00) r=0.22m +[headless_play] t= 10.20s step= 510 trunk_z= 124.8mm grav_b=(-0.08,-0.02,-1.00) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 124.5mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 10.40s step= 520 trunk_z= 130.2mm grav_b=(-0.01,+0.02,-1.00) r=0.30m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(-0.08,-0.03,-1.00) r=0.32m +[headless_play] t= 10.60s step= 530 trunk_z= 122.2mm grav_b=(-0.09,-0.02,-1.00) r=0.34m +[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(-0.12,+0.03,-0.99) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 124.8mm grav_b=(-0.12,+0.09,-0.99) r=0.37m +[headless_play] t= 10.90s step= 545 trunk_z= 129.5mm grav_b=(-0.11,+0.13,-0.98) r=0.38m +[headless_play] t= 11.00s step= 550 trunk_z= 128.5mm grav_b=(-0.11,+0.13,-0.99) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 119.4mm grav_b=(-0.09,+0.02,-1.00) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 124.9mm grav_b=(-0.05,-0.01,-1.00) r=0.42m +[headless_play] t= 11.30s step= 565 trunk_z= 119.7mm grav_b=(-0.06,+0.01,-1.00) r=0.44m +[headless_play] t= 11.40s step= 570 trunk_z= 124.3mm grav_b=(-0.08,+0.05,-1.00) r=0.46m +[headless_play] t= 11.50s step= 575 trunk_z= 123.5mm grav_b=(-0.09,+0.04,-1.00) r=0.47m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.11,-0.04,-0.99) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 121.8mm grav_b=(-0.09,-0.01,-1.00) r=0.49m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(-0.07,+0.05,-1.00) r=0.50m +[headless_play] t= 11.90s step= 595 trunk_z= 128.1mm grav_b=(-0.07,+0.06,-1.00) r=0.52m +[headless_play] t= 12.00s step= 600 trunk_z= 126.5mm grav_b=(-0.06,+0.06,-1.00) r=0.53m +[headless_play] t= 12.10s step= 605 trunk_z= 118.8mm grav_b=(-0.10,-0.03,-0.99) r=0.55m +[headless_play] t= 12.20s step= 610 trunk_z= 125.4mm grav_b=(-0.06,-0.03,-1.00) r=0.57m +[headless_play] t= 12.30s step= 615 trunk_z= 123.0mm grav_b=(-0.08,-0.00,-1.00) r=0.59m +[headless_play] t= 12.40s step= 620 trunk_z= 127.3mm grav_b=(-0.04,+0.11,-0.99) r=0.62m +[headless_play] t= 12.50s step= 625 trunk_z= 132.6mm grav_b=(-0.03,+0.22,-0.97) r=0.65m +[headless_play] t= 12.60s step= 630 trunk_z= 131.8mm grav_b=(-0.05,+0.38,-0.92) r=0.68m +[headless_play] t= 12.70s step= 635 trunk_z= 103.3mm grav_b=(-0.10,+0.53,-0.84) r=0.75m +[headless_play] t= 12.80s step= 640 trunk_z= 83.4mm grav_b=(-0.07,+0.83,-0.56) r=0.79m +[headless_play] RESET at t= 12.86s step= 643 (env termination, not a recovery) +[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.06m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.01,-0.02,-1.00) r=0.07m +[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(+0.07,-0.06,-1.00) r=0.09m +[headless_play] t= 13.20s step= 660 trunk_z= 124.2mm grav_b=(+0.04,-0.01,-1.00) r=0.12m +[headless_play] t= 13.30s step= 665 trunk_z= 123.6mm grav_b=(-0.04,+0.05,-1.00) r=0.16m +[headless_play] t= 13.40s step= 670 trunk_z= 125.8mm grav_b=(-0.05,+0.05,-1.00) r=0.19m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.10,-0.05,-0.99) r=0.22m +[headless_play] t= 13.60s step= 680 trunk_z= 123.7mm grav_b=(-0.10,-0.04,-0.99) r=0.24m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(-0.12,+0.07,-0.99) r=0.24m +[headless_play] t= 13.80s step= 690 trunk_z= 126.4mm grav_b=(-0.09,+0.09,-0.99) r=0.25m +[headless_play] t= 13.90s step= 695 trunk_z= 128.1mm grav_b=(-0.07,+0.13,-0.99) r=0.26m +[headless_play] t= 14.00s step= 700 trunk_z= 125.8mm grav_b=(-0.05,+0.10,-0.99) r=0.28m +[headless_play] t= 14.10s step= 705 trunk_z= 122.2mm grav_b=(-0.00,-0.06,-1.00) r=0.30m +[headless_play] t= 14.20s step= 710 trunk_z= 126.8mm grav_b=(-0.02,-0.08,-1.00) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 124.3mm grav_b=(-0.03,-0.05,-1.00) r=0.33m +[headless_play] t= 14.40s step= 720 trunk_z= 124.2mm grav_b=(-0.03,+0.05,-1.00) r=0.35m +[headless_play] t= 14.50s step= 725 trunk_z= 123.5mm grav_b=(-0.08,+0.05,-1.00) r=0.35m +[headless_play] t= 14.60s step= 730 trunk_z= 117.5mm grav_b=(-0.05,-0.02,-1.00) r=0.36m +[headless_play] t= 14.70s step= 735 trunk_z= 122.5mm grav_b=(-0.05,-0.02,-1.00) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 117.8mm grav_b=(-0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 14.90s step= 745 trunk_z= 123.2mm grav_b=(-0.03,+0.07,-1.00) r=0.41m +[headless_play] t= 15.00s step= 750 trunk_z= 125.0mm grav_b=(-0.02,+0.07,-1.00) r=0.43m +[headless_play] t= 15.10s step= 755 trunk_z= 121.5mm grav_b=(-0.03,+0.05,-1.00) r=0.44m +[headless_play] t= 15.20s step= 760 trunk_z= 123.4mm grav_b=(-0.03,-0.06,-1.00) r=0.47m +[headless_play] t= 15.30s step= 765 trunk_z= 121.4mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 15.40s step= 770 trunk_z= 118.7mm grav_b=(-0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 15.50s step= 775 trunk_z= 126.5mm grav_b=(-0.02,+0.06,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 124.1mm grav_b=(-0.02,+0.07,-1.00) r=0.56m +[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(-0.03,-0.06,-1.00) r=0.59m +[headless_play] t= 15.80s step= 790 trunk_z= 125.1mm grav_b=(-0.05,-0.07,-1.00) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 120.6mm grav_b=(-0.07,-0.03,-1.00) r=0.62m +[headless_play] t= 16.00s step= 800 trunk_z= 123.4mm grav_b=(-0.05,+0.06,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 124.1mm grav_b=(-0.06,+0.06,-1.00) r=0.65m +[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(-0.04,+0.03,-1.00) r=0.66m +[headless_play] t= 16.30s step= 815 trunk_z= 122.4mm grav_b=(-0.02,-0.04,-1.00) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 119.8mm grav_b=(-0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 16.50s step= 825 trunk_z= 120.8mm grav_b=(-0.03,+0.06,-1.00) r=0.71m +[headless_play] t= 16.60s step= 830 trunk_z= 125.2mm grav_b=(-0.04,+0.07,-1.00) r=0.73m +[headless_play] t= 16.70s step= 835 trunk_z= 123.6mm grav_b=(-0.04,+0.10,-0.99) r=0.74m +[headless_play] t= 16.80s step= 840 trunk_z= 119.6mm grav_b=(-0.03,-0.04,-1.00) r=0.76m +[headless_play] t= 16.90s step= 845 trunk_z= 122.7mm grav_b=(-0.04,-0.04,-1.00) r=0.78m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(-0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 17.10s step= 855 trunk_z= 124.3mm grav_b=(-0.06,+0.06,-1.00) r=0.81m +[headless_play] t= 17.20s step= 860 trunk_z= 123.6mm grav_b=(-0.05,+0.06,-1.00) r=0.82m +[headless_play] t= 17.30s step= 865 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.84m +[headless_play] t= 17.40s step= 870 trunk_z= 123.5mm grav_b=(-0.06,-0.08,-0.99) r=0.87m +[headless_play] t= 17.50s step= 875 trunk_z= 120.0mm grav_b=(-0.06,-0.06,-1.00) r=0.89m +[headless_play] t= 17.60s step= 880 trunk_z= 112.2mm grav_b=(-0.04,+0.03,-1.00) r=0.91m +[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(-0.02,+0.07,-1.00) r=0.93m +[headless_play] t= 17.80s step= 890 trunk_z= 113.3mm grav_b=(-0.00,+0.06,-1.00) r=0.96m +[headless_play] t= 17.90s step= 895 trunk_z= 111.1mm grav_b=(-0.01,-0.05,-1.00) r=0.98m +[headless_play] t= 18.00s step= 900 trunk_z= 112.2mm grav_b=(+0.01,-0.06,-1.00) r=1.00m +[headless_play] t= 18.10s step= 905 trunk_z= 109.8mm grav_b=(+0.01,-0.02,-1.00) r=1.02m +[headless_play] t= 18.20s step= 910 trunk_z= 110.2mm grav_b=(-0.02,+0.07,-1.00) r=1.04m +[headless_play] t= 18.30s step= 915 trunk_z= 105.0mm grav_b=(+0.03,+0.10,-0.99) r=1.07m +[headless_play] t= 18.40s step= 920 trunk_z= 96.0mm grav_b=(+0.08,-0.00,-1.00) r=1.09m +[headless_play] t= 18.50s step= 925 trunk_z= 98.5mm grav_b=(+0.07,-0.04,-1.00) r=1.13m +[headless_play] t= 18.60s step= 930 trunk_z= 92.8mm grav_b=(+0.03,+0.06,-1.00) r=1.16m +[headless_play] t= 18.70s step= 935 trunk_z= 97.6mm grav_b=(-0.01,+0.18,-0.98) r=1.19m +[headless_play] t= 18.80s step= 940 trunk_z= 92.6mm grav_b=(-0.02,+0.20,-0.98) r=1.22m +[headless_play] t= 18.90s step= 945 trunk_z= 91.8mm grav_b=(+0.02,+0.14,-0.99) r=1.25m +[headless_play] t= 19.00s step= 950 trunk_z= 83.9mm grav_b=(+0.06,-0.02,-1.00) r=1.28m +[headless_play] t= 19.10s step= 955 trunk_z= 85.8mm grav_b=(+0.09,-0.01,-1.00) r=1.30m +[headless_play] t= 19.20s step= 960 trunk_z= 71.5mm grav_b=(-0.05,-0.04,-1.00) r=1.33m +[headless_play] t= 19.30s step= 965 trunk_z= 75.6mm grav_b=(-0.01,-0.08,-1.00) r=1.37m +[headless_play] t= 19.40s step= 970 trunk_z= 56.3mm grav_b=(-0.08,-0.17,-0.98) r=1.42m +[headless_play] t= 19.50s step= 975 trunk_z= 67.9mm grav_b=(-0.02,-0.13,-0.99) r=1.46m +[headless_play] t= 19.60s step= 980 trunk_z= 68.4mm grav_b=(-0.05,-0.10,-0.99) r=1.49m +[headless_play] t= 19.70s step= 985 trunk_z= 51.9mm grav_b=(-0.04,+0.05,-1.00) r=1.54m +[headless_play] t= 19.80s step= 990 trunk_z= 64.7mm grav_b=(-0.09,+0.17,-0.98) r=1.55m +[headless_play] t= 19.90s step= 995 trunk_z= 63.6mm grav_b=(-0.08,+0.14,-0.99) r=1.58m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t4/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x19c8d880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t4/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t4/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t5.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..f664956d498764537baa34e8c2d60a5fbc1ca325 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t5.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.705,-18.137,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.9mm grav_b=(-0.00,+0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.03,+0.00,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(+0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(+0.14,-0.01,-0.99) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.16,-0.02,-0.99) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(+0.14,-0.02,-0.99) r=0.35m +[headless_play] t= 1.00s step= 50 trunk_z= 117.0mm grav_b=(+0.05,+0.05,-1.00) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 114.6mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 114.7mm grav_b=(+0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 2.00s step= 100 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 115.4mm grav_b=(+0.10,-0.02,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.15,-0.02,-0.99) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 118.2mm grav_b=(+0.16,-0.04,-0.99) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(+0.08,+0.00,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 116.9mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 114.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 114.1mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 3.20s step= 160 trunk_z= 114.2mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 3.40s step= 170 trunk_z= 114.4mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 114.3mm grav_b=(+0.06,+0.00,-1.00) r=0.42m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(+0.08,+0.01,-1.00) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 114.5mm grav_b=(+0.07,+0.01,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 114.6mm grav_b=(+0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 114.8mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 4.00s step= 200 trunk_z= 114.8mm grav_b=(+0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 4.10s step= 205 trunk_z= 114.5mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 4.20s step= 210 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 4.30s step= 215 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 114.7mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 4.50s step= 225 trunk_z= 116.7mm grav_b=(+0.00,+0.05,-1.00) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.03,-0.00,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(+0.01,-0.05,-1.00) r=0.40m +[headless_play] t= 4.80s step= 240 trunk_z= 111.1mm grav_b=(+0.05,-0.00,-1.00) r=0.40m +[headless_play] t= 4.90s step= 245 trunk_z= 112.7mm grav_b=(+0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 5.00s step= 250 trunk_z= 113.4mm grav_b=(+0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 5.10s step= 255 trunk_z= 114.0mm grav_b=(-0.01,-0.02,-1.00) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(+0.00,-0.02,-1.00) r=0.38m +[headless_play] t= 5.30s step= 265 trunk_z= 114.4mm grav_b=(+0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 5.40s step= 270 trunk_z= 114.9mm grav_b=(+0.05,-0.02,-1.00) r=0.39m +[headless_play] t= 5.50s step= 275 trunk_z= 114.6mm grav_b=(+0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 5.60s step= 280 trunk_z= 114.2mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.07,-0.05,-1.00) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 118.5mm grav_b=(+0.09,-0.11,-0.99) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 121.4mm grav_b=(+0.05,-0.05,-1.00) r=0.40m +[headless_play] t= 6.00s step= 300 trunk_z= 112.8mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 6.10s step= 305 trunk_z= 118.2mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 116.8mm grav_b=(+0.13,-0.16,-0.98) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 120.8mm grav_b=(+0.08,-0.11,-0.99) r=0.43m +[headless_play] t= 6.40s step= 320 trunk_z= 119.3mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.03,-0.04,-1.00) r=0.46m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.01,-0.10,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 118.6mm grav_b=(+0.04,-0.04,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 110.7mm grav_b=(+0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 120.6mm grav_b=(-0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 7.10s step= 355 trunk_z= 122.2mm grav_b=(-0.06,+0.01,-1.00) r=0.48m +[headless_play] t= 7.20s step= 360 trunk_z= 114.6mm grav_b=(-0.03,-0.07,-1.00) r=0.46m +[headless_play] t= 7.30s step= 365 trunk_z= 119.2mm grav_b=(+0.01,-0.07,-1.00) r=0.45m +[headless_play] t= 7.40s step= 370 trunk_z= 116.4mm grav_b=(+0.03,-0.06,-1.00) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 7.60s step= 380 trunk_z= 118.4mm grav_b=(+0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 7.70s step= 385 trunk_z= 112.9mm grav_b=(+0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 7.80s step= 390 trunk_z= 122.5mm grav_b=(-0.05,-0.09,-1.00) r=0.46m +[headless_play] t= 7.90s step= 395 trunk_z= 122.6mm grav_b=(-0.05,-0.06,-1.00) r=0.46m +[headless_play] t= 8.00s step= 400 trunk_z= 114.0mm grav_b=(-0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 8.10s step= 405 trunk_z= 114.2mm grav_b=(+0.02,-0.04,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 112.6mm grav_b=(+0.07,-0.10,-0.99) r=0.44m +[headless_play] t= 8.30s step= 415 trunk_z= 118.8mm grav_b=(+0.09,-0.06,-0.99) r=0.44m +[headless_play] t= 8.40s step= 420 trunk_z= 112.5mm grav_b=(+0.06,-0.02,-1.00) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 117.4mm grav_b=(+0.05,-0.02,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 114.9mm grav_b=(+0.16,-0.11,-0.98) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 115.0mm grav_b=(+0.10,-0.05,-0.99) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 114.1mm grav_b=(+0.01,+0.04,-1.00) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 119.7mm grav_b=(-0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 9.00s step= 450 trunk_z= 112.8mm grav_b=(-0.04,-0.07,-1.00) r=0.48m +[headless_play] t= 9.10s step= 455 trunk_z= 122.7mm grav_b=(+0.02,-0.18,-0.98) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 123.1mm grav_b=(+0.03,-0.31,-0.95) r=0.44m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(+0.12,-0.30,-0.95) r=0.42m +[headless_play] t= 9.40s step= 470 trunk_z= 112.1mm grav_b=(+0.06,-0.38,-0.92) r=0.41m +[headless_play] t= 9.50s step= 475 trunk_z= 113.4mm grav_b=(+0.14,-0.49,-0.86) r=0.40m +[headless_play] t= 9.60s step= 480 trunk_z= 104.8mm grav_b=(+0.60,-0.50,-0.63) r=0.38m +[headless_play] RESET at t= 9.68s step= 484 (env termination, not a recovery) +[headless_play] t= 9.70s step= 485 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 114.6mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(+0.06,+0.05,-1.00) r=0.47m +[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.06,-0.02,-1.00) r=0.46m +[headless_play] t= 10.10s step= 505 trunk_z= 122.0mm grav_b=(+0.10,-0.07,-0.99) r=0.45m +[headless_play] t= 10.20s step= 510 trunk_z= 124.5mm grav_b=(+0.09,-0.04,-1.00) r=0.42m +[headless_play] t= 10.30s step= 515 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 123.5mm grav_b=(+0.06,+0.02,-1.00) r=0.36m +[headless_play] t= 10.50s step= 525 trunk_z= 119.3mm grav_b=(+0.08,-0.01,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 122.7mm grav_b=(+0.12,-0.04,-0.99) r=0.34m +[headless_play] t= 10.70s step= 535 trunk_z= 124.7mm grav_b=(+0.10,-0.03,-1.00) r=0.31m +[headless_play] t= 10.80s step= 540 trunk_z= 113.0mm grav_b=(+0.03,+0.03,-1.00) r=0.28m +[headless_play] t= 10.90s step= 545 trunk_z= 119.3mm grav_b=(+0.02,-0.00,-1.00) r=0.28m +[headless_play] t= 11.00s step= 550 trunk_z= 112.0mm grav_b=(-0.01,-0.08,-1.00) r=0.29m +[headless_play] t= 11.10s step= 555 trunk_z= 123.2mm grav_b=(-0.03,-0.10,-0.99) r=0.30m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(-0.07,-0.02,-1.00) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 120.4mm grav_b=(-0.01,+0.03,-1.00) r=0.26m +[headless_play] t= 11.40s step= 570 trunk_z= 120.2mm grav_b=(+0.04,+0.01,-1.00) r=0.27m +[headless_play] t= 11.50s step= 575 trunk_z= 115.6mm grav_b=(+0.06,-0.06,-1.00) r=0.29m +[headless_play] t= 11.60s step= 580 trunk_z= 123.8mm grav_b=(+0.09,-0.07,-0.99) r=0.30m +[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(+0.07,-0.05,-1.00) r=0.29m +[headless_play] t= 11.80s step= 590 trunk_z= 118.6mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 11.90s step= 595 trunk_z= 122.0mm grav_b=(+0.04,+0.00,-1.00) r=0.29m +[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(+0.03,-0.05,-1.00) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 123.4mm grav_b=(+0.02,-0.08,-1.00) r=0.34m +[headless_play] t= 12.20s step= 610 trunk_z= 121.7mm grav_b=(+0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 12.30s step= 615 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) r=0.36m +[headless_play] t= 12.40s step= 620 trunk_z= 123.0mm grav_b=(+0.05,+0.04,-1.00) r=0.37m +[headless_play] t= 12.50s step= 625 trunk_z= 121.7mm grav_b=(+0.06,+0.00,-1.00) r=0.39m +[headless_play] t= 12.60s step= 630 trunk_z= 119.0mm grav_b=(+0.06,-0.07,-1.00) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 124.0mm grav_b=(+0.07,-0.06,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 121.2mm grav_b=(+0.04,-0.04,-1.00) r=0.47m +[headless_play] t= 12.90s step= 645 trunk_z= 123.7mm grav_b=(+0.02,+0.07,-1.00) r=0.49m +[headless_play] t= 13.00s step= 650 trunk_z= 126.4mm grav_b=(+0.05,+0.09,-1.00) r=0.51m +[headless_play] t= 13.10s step= 655 trunk_z= 122.9mm grav_b=(+0.05,+0.04,-1.00) r=0.53m +[headless_play] t= 13.20s step= 660 trunk_z= 119.3mm grav_b=(+0.05,-0.04,-1.00) r=0.57m +[headless_play] t= 13.30s step= 665 trunk_z= 125.3mm grav_b=(+0.04,-0.06,-1.00) r=0.60m +[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(-0.00,-0.03,-1.00) r=0.62m +[headless_play] t= 13.50s step= 675 trunk_z= 121.7mm grav_b=(+0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 13.60s step= 680 trunk_z= 122.5mm grav_b=(+0.02,+0.03,-1.00) r=0.65m +[headless_play] t= 13.70s step= 685 trunk_z= 116.5mm grav_b=(+0.01,-0.02,-1.00) r=0.68m +[headless_play] t= 13.80s step= 690 trunk_z= 122.7mm grav_b=(+0.06,-0.03,-1.00) r=0.71m +[headless_play] t= 13.90s step= 695 trunk_z= 113.6mm grav_b=(+0.08,+0.06,-0.99) r=0.75m +[headless_play] t= 14.00s step= 700 trunk_z= 124.9mm grav_b=(+0.13,+0.07,-0.99) r=0.77m +[headless_play] t= 14.10s step= 705 trunk_z= 124.3mm grav_b=(+0.10,+0.04,-0.99) r=0.80m +[headless_play] t= 14.20s step= 710 trunk_z= 118.9mm grav_b=(+0.08,-0.05,-1.00) r=0.84m +[headless_play] t= 14.30s step= 715 trunk_z= 125.1mm grav_b=(+0.09,-0.06,-0.99) r=0.87m +[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(-0.00,-0.00,-1.00) r=0.90m +[headless_play] t= 14.50s step= 725 trunk_z= 122.9mm grav_b=(-0.01,+0.04,-1.00) r=0.93m +[headless_play] t= 14.60s step= 730 trunk_z= 125.4mm grav_b=(+0.02,+0.08,-1.00) r=0.95m +[headless_play] t= 14.70s step= 735 trunk_z= 126.2mm grav_b=(+0.04,+0.08,-1.00) r=0.97m +[headless_play] t= 14.80s step= 740 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=1.01m +[headless_play] t= 14.90s step= 745 trunk_z= 126.5mm grav_b=(+0.05,-0.10,-0.99) r=1.03m +[headless_play] t= 15.00s step= 750 trunk_z= 125.0mm grav_b=(+0.05,-0.11,-0.99) r=1.07m +[headless_play] t= 15.10s step= 755 trunk_z= 113.7mm grav_b=(+0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 15.20s step= 760 trunk_z= 115.4mm grav_b=(+0.07,+0.00,-1.00) r=1.14m +[headless_play] t= 15.30s step= 765 trunk_z= 111.2mm grav_b=(+0.08,-0.01,-1.00) r=1.16m +[headless_play] t= 15.40s step= 770 trunk_z= 105.6mm grav_b=(+0.03,-0.12,-0.99) r=1.18m +[headless_play] t= 15.50s step= 775 trunk_z= 108.5mm grav_b=(+0.06,-0.16,-0.99) r=1.20m +[headless_play] t= 15.60s step= 780 trunk_z= 101.8mm grav_b=(+0.14,-0.12,-0.98) r=1.22m +[headless_play] t= 15.70s step= 785 trunk_z= 99.7mm grav_b=(+0.21,-0.02,-0.98) r=1.25m +[headless_play] t= 15.80s step= 790 trunk_z= 93.2mm grav_b=(+0.07,+0.01,-1.00) r=1.28m +[headless_play] t= 15.90s step= 795 trunk_z= 91.4mm grav_b=(+0.13,+0.02,-0.99) r=1.31m +[headless_play] t= 16.00s step= 800 trunk_z= 80.7mm grav_b=(-0.02,-0.01,-1.00) r=1.36m +[headless_play] t= 16.10s step= 805 trunk_z= 70.3mm grav_b=(+0.07,+0.06,-1.00) r=1.41m +[headless_play] t= 16.20s step= 810 trunk_z= 78.8mm grav_b=(+0.00,+0.08,-1.00) r=1.44m +[headless_play] t= 16.30s step= 815 trunk_z= 64.0mm grav_b=(+0.02,+0.03,-1.00) r=1.46m +[headless_play] t= 16.40s step= 820 trunk_z= 71.4mm grav_b=(+0.05,+0.03,-1.00) r=1.48m +[headless_play] t= 16.50s step= 825 trunk_z= 55.7mm grav_b=(+0.02,+0.09,-1.00) r=1.51m +[headless_play] t= 16.60s step= 830 trunk_z= 60.2mm grav_b=(+0.14,-0.02,-0.99) r=1.55m +[headless_play] t= 16.70s step= 835 trunk_z= 36.1mm grav_b=(+0.02,-0.05,-1.00) r=1.59m +[headless_play] t= 16.80s step= 840 trunk_z= 49.8mm grav_b=(+0.03,-0.05,-1.00) r=1.62m +[headless_play] t= 16.90s step= 845 trunk_z= 38.2mm grav_b=(-0.03,+0.03,-1.00) r=1.65m +[headless_play] t= 17.00s step= 850 trunk_z= 36.6mm grav_b=(+0.02,+0.07,-1.00) r=1.67m +[headless_play] t= 17.10s step= 855 trunk_z= 36.3mm grav_b=(+0.05,+0.07,-1.00) r=1.68m +[headless_play] t= 17.20s step= 860 trunk_z= 36.3mm grav_b=(+0.09,+0.07,-0.99) r=1.68m +[headless_play] t= 17.30s step= 865 trunk_z= 36.3mm grav_b=(+0.10,+0.09,-0.99) r=1.68m +[headless_play] t= 17.40s step= 870 trunk_z= 36.0mm grav_b=(+0.09,+0.08,-0.99) r=1.68m +[headless_play] t= 17.50s step= 875 trunk_z= 35.5mm grav_b=(+0.08,+0.09,-0.99) r=1.68m +[headless_play] t= 17.60s step= 880 trunk_z= 35.3mm grav_b=(+0.08,+0.10,-0.99) r=1.68m +[headless_play] t= 17.70s step= 885 trunk_z= 35.0mm grav_b=(+0.08,+0.10,-0.99) r=1.68m +[headless_play] t= 17.80s step= 890 trunk_z= 34.8mm grav_b=(+0.10,+0.11,-0.99) r=1.69m +[headless_play] t= 17.90s step= 895 trunk_z= 34.8mm grav_b=(+0.11,+0.10,-0.99) r=1.69m +[headless_play] t= 18.00s step= 900 trunk_z= 34.5mm grav_b=(+0.09,+0.10,-0.99) r=1.69m +[headless_play] t= 18.10s step= 905 trunk_z= 34.5mm grav_b=(+0.08,+0.10,-0.99) r=1.69m +[headless_play] t= 18.20s step= 910 trunk_z= 34.4mm grav_b=(+0.08,+0.10,-0.99) r=1.69m +[headless_play] t= 18.30s step= 915 trunk_z= 34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m +[headless_play] t= 18.40s step= 920 trunk_z= 34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m +[headless_play] t= 18.50s step= 925 trunk_z= 34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m +[headless_play] t= 18.60s step= 930 trunk_z= 34.3mm grav_b=(+0.08,+0.10,-0.99) r=1.69m +[headless_play] t= 18.70s step= 935 trunk_z= 34.2mm grav_b=(+0.09,+0.11,-0.99) r=1.69m +[headless_play] t= 18.80s step= 940 trunk_z= 34.1mm grav_b=(+0.12,+0.10,-0.99) r=1.69m +[headless_play] t= 18.90s step= 945 trunk_z= 34.1mm grav_b=(+0.13,+0.10,-0.99) r=1.69m +[headless_play] t= 19.00s step= 950 trunk_z= 34.1mm grav_b=(+0.11,+0.10,-0.99) r=1.69m +[headless_play] t= 19.10s step= 955 trunk_z= 33.7mm grav_b=(+0.09,+0.10,-0.99) r=1.69m +[headless_play] t= 19.20s step= 960 trunk_z= 33.7mm grav_b=(+0.07,+0.11,-0.99) r=1.69m +[headless_play] t= 19.30s step= 965 trunk_z= 33.7mm grav_b=(+0.07,+0.11,-0.99) r=1.69m +[headless_play] t= 19.40s step= 970 trunk_z= 33.6mm grav_b=(+0.08,+0.11,-0.99) r=1.69m +[headless_play] t= 19.50s step= 975 trunk_z= 33.6mm grav_b=(+0.07,+0.11,-0.99) r=1.69m +[headless_play] t= 19.60s step= 980 trunk_z= 33.6mm grav_b=(+0.08,+0.11,-0.99) r=1.69m +[headless_play] t= 19.70s step= 985 trunk_z= 33.8mm grav_b=(+0.03,+0.11,-0.99) r=1.69m +[headless_play] t= 19.80s step= 990 trunk_z= 33.1mm grav_b=(+0.05,+0.11,-0.99) r=1.69m +[headless_play] t= 19.90s step= 995 trunk_z= 32.8mm grav_b=(+0.10,+0.11,-0.99) r=1.69m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t5/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x3527c880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t5/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t5/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t6.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..693fcc3f5ddbcc6b7caf14a5abc0143a72108afe --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t6.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.589,-17.906,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(-0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(-0.00,+0.08,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(+0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 114.6mm grav_b=(+0.02,-0.07,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 125.2mm grav_b=(+0.02,-0.10,-0.99) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 121.9mm grav_b=(+0.08,-0.08,-0.99) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 113.2mm grav_b=(+0.03,-0.05,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(+0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 0.90s step= 45 trunk_z= 115.7mm grav_b=(+0.00,-0.11,-0.99) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 125.6mm grav_b=(-0.03,-0.09,-1.00) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 120.3mm grav_b=(-0.03,-0.08,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 121.4mm grav_b=(+0.07,-0.04,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 111.3mm grav_b=(+0.03,-0.05,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 123.5mm grav_b=(-0.00,-0.04,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 113.9mm grav_b=(-0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 119.6mm grav_b=(-0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(-0.10,-0.04,-0.99) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(-0.03,-0.10,-0.99) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 121.8mm grav_b=(+0.00,-0.08,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 114.8mm grav_b=(+0.03,-0.08,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.06,+0.01,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 117.4mm grav_b=(+0.03,-0.03,-1.00) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 120.8mm grav_b=(+0.04,-0.09,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 124.4mm grav_b=(+0.03,-0.08,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 118.2mm grav_b=(+0.02,-0.06,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 118.8mm grav_b=(-0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 121.3mm grav_b=(+0.03,-0.07,-1.00) r=0.47m +[headless_play] t= 3.00s step= 150 trunk_z= 127.0mm grav_b=(+0.07,-0.05,-1.00) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 123.2mm grav_b=(+0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 123.5mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 127.2mm grav_b=(-0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 119.4mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 3.50s step= 175 trunk_z= 124.8mm grav_b=(-0.01,-0.07,-1.00) r=0.58m +[headless_play] t= 3.60s step= 180 trunk_z= 125.0mm grav_b=(+0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 3.70s step= 185 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 3.80s step= 190 trunk_z= 128.0mm grav_b=(+0.02,+0.04,-1.00) r=0.59m +[headless_play] t= 3.90s step= 195 trunk_z= 129.8mm grav_b=(+0.03,+0.05,-1.00) r=0.60m +[headless_play] t= 4.00s step= 200 trunk_z= 121.6mm grav_b=(-0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 4.10s step= 205 trunk_z= 125.4mm grav_b=(+0.06,-0.06,-1.00) r=0.64m +[headless_play] t= 4.20s step= 210 trunk_z= 126.6mm grav_b=(+0.04,-0.04,-1.00) r=0.65m +[headless_play] t= 4.30s step= 215 trunk_z= 121.5mm grav_b=(+0.04,+0.03,-1.00) r=0.65m +[headless_play] t= 4.40s step= 220 trunk_z= 130.5mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 4.50s step= 225 trunk_z= 123.4mm grav_b=(-0.01,-0.03,-1.00) r=0.70m +[headless_play] t= 4.60s step= 230 trunk_z= 121.6mm grav_b=(+0.00,-0.01,-1.00) r=0.73m +[headless_play] t= 4.70s step= 235 trunk_z= 120.5mm grav_b=(-0.02,+0.02,-1.00) r=0.74m +[headless_play] t= 4.80s step= 240 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.74m +[headless_play] t= 4.90s step= 245 trunk_z= 123.8mm grav_b=(-0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 5.00s step= 250 trunk_z= 117.3mm grav_b=(-0.03,-0.07,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 125.8mm grav_b=(-0.03,-0.06,-1.00) r=0.80m +[headless_play] t= 5.20s step= 260 trunk_z= 122.8mm grav_b=(+0.02,+0.02,-1.00) r=0.81m +[headless_play] t= 5.30s step= 265 trunk_z= 125.6mm grav_b=(+0.07,+0.03,-1.00) r=0.83m +[headless_play] t= 5.40s step= 270 trunk_z= 134.3mm grav_b=(+0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 5.50s step= 275 trunk_z= 118.2mm grav_b=(-0.04,-0.03,-1.00) r=0.91m +[headless_play] t= 5.60s step= 280 trunk_z= 121.8mm grav_b=(-0.04,-0.09,-0.99) r=0.94m +[headless_play] t= 5.70s step= 285 trunk_z= 120.5mm grav_b=(-0.04,-0.06,-1.00) r=0.96m +[headless_play] t= 5.80s step= 290 trunk_z= 116.2mm grav_b=(-0.02,-0.03,-1.00) r=0.98m +[headless_play] t= 5.90s step= 295 trunk_z= 126.0mm grav_b=(+0.01,-0.01,-1.00) r=1.00m +[headless_play] t= 6.00s step= 300 trunk_z= 122.9mm grav_b=(+0.09,-0.08,-0.99) r=1.05m +[headless_play] t= 6.10s step= 305 trunk_z= 109.0mm grav_b=(+0.12,-0.06,-0.99) r=1.09m +[headless_play] t= 6.20s step= 310 trunk_z= 118.5mm grav_b=(+0.05,-0.03,-1.00) r=1.14m +[headless_play] t= 6.30s step= 315 trunk_z= 92.9mm grav_b=(-0.03,-0.03,-1.00) r=1.20m +[headless_play] t= 6.40s step= 320 trunk_z= 103.4mm grav_b=(+0.03,+0.05,-1.00) r=1.25m +[headless_play] t= 6.50s step= 325 trunk_z= 106.8mm grav_b=(+0.02,+0.17,-0.99) r=1.31m +[headless_play] t= 6.60s step= 330 trunk_z= 56.0mm grav_b=(-0.00,+0.14,-0.99) r=1.39m +[headless_play] t= 6.70s step= 335 trunk_z= 82.2mm grav_b=(+0.23,+0.06,-0.97) r=1.46m +[headless_play] t= 6.80s step= 340 trunk_z= 54.0mm grav_b=(+0.10,-0.14,-0.99) r=1.54m +[headless_play] t= 6.90s step= 345 trunk_z= 36.3mm grav_b=(+0.12,-0.24,-0.96) r=1.59m +[headless_play] t= 7.00s step= 350 trunk_z= 45.9mm grav_b=(+0.17,-0.27,-0.95) r=1.62m +[headless_play] t= 7.10s step= 355 trunk_z= 29.3mm grav_b=(+0.31,-0.19,-0.93) r=1.66m +[headless_play] t= 7.20s step= 360 trunk_z= 53.6mm grav_b=(+0.21,+0.03,-0.98) r=1.71m +[headless_play] t= 7.30s step= 365 trunk_z= 19.2mm grav_b=(+0.02,+0.12,-0.99) r=1.78m +[headless_play] t= 7.40s step= 370 trunk_z= 22.5mm grav_b=(-0.06,+0.07,-1.00) r=1.82m +[headless_play] t= 7.50s step= 375 trunk_z= 26.8mm grav_b=(-0.03,-0.01,-1.00) r=1.84m +[headless_play] t= 7.60s step= 380 trunk_z= 22.8mm grav_b=(+0.01,-0.02,-1.00) r=1.88m +[headless_play] t= 7.70s step= 385 trunk_z= 24.7mm grav_b=(+0.03,+0.02,-1.00) r=1.92m +[headless_play] t= 7.80s step= 390 trunk_z= 5.8mm grav_b=(-0.01,+0.12,-0.99) r=1.97m +[headless_play] t= 7.90s step= 395 trunk_z= 15.8mm grav_b=(+0.01,+0.10,-0.99) r=1.99m +[headless_play] t= 8.00s step= 400 trunk_z= 15.3mm grav_b=(-0.01,+0.09,-1.00) r=2.01m +[headless_play] t= 8.10s step= 405 trunk_z= 13.6mm grav_b=(-0.07,-0.06,-1.00) r=2.01m +[headless_play] t= 8.20s step= 410 trunk_z= 21.1mm grav_b=(-0.04,-0.09,-1.00) r=2.01m +[headless_play] t= 8.30s step= 415 trunk_z= 20.3mm grav_b=(+0.02,-0.10,-1.00) r=2.01m +[headless_play] t= 8.40s step= 420 trunk_z= 16.7mm grav_b=(+0.04,-0.06,-1.00) r=2.01m +[headless_play] t= 8.50s step= 425 trunk_z= 11.7mm grav_b=(-0.02,-0.05,-1.00) r=2.00m +[headless_play] t= 8.60s step= 430 trunk_z= 3.6mm grav_b=(+0.07,-0.06,-1.00) r=1.96m +[headless_play] t= 8.70s step= 435 trunk_z= 2.1mm grav_b=(+0.10,-0.02,-0.99) r=1.95m +[headless_play] t= 8.80s step= 440 trunk_z= -3.3mm grav_b=(+0.09,+0.01,-1.00) r=1.97m +[headless_play] t= 8.90s step= 445 trunk_z= 2.0mm grav_b=(+0.11,+0.07,-0.99) r=1.99m +[headless_play] t= 9.00s step= 450 trunk_z= 4.5mm grav_b=(+0.07,+0.09,-0.99) r=2.01m +[headless_play] t= 9.10s step= 455 trunk_z= 2.3mm grav_b=(+0.07,+0.02,-1.00) r=2.02m +[headless_play] t= 9.20s step= 460 trunk_z= 8.3mm grav_b=(+0.09,-0.03,-1.00) r=2.04m +[headless_play] t= 9.30s step= 465 trunk_z= 2.2mm grav_b=(+0.09,-0.00,-1.00) r=2.07m +[headless_play] t= 9.40s step= 470 trunk_z= 0.7mm grav_b=(+0.02,+0.14,-0.99) r=2.11m +[headless_play] t= 9.50s step= 475 trunk_z= 4.3mm grav_b=(+0.00,+0.16,-0.99) r=2.14m +[headless_play] t= 9.60s step= 480 trunk_z= 2.0mm grav_b=(+0.03,+0.13,-0.99) r=2.15m +[headless_play] t= 9.70s step= 485 trunk_z= -1.9mm grav_b=(+0.03,+0.01,-1.00) r=2.17m +[headless_play] t= 9.80s step= 490 trunk_z= -1.1mm grav_b=(+0.01,+0.05,-1.00) r=2.19m +[headless_play] t= 9.90s step= 495 trunk_z= -9.1mm grav_b=(-0.05,+0.13,-0.99) r=2.20m +[headless_play] t= 10.00s step= 500 trunk_z= 3.6mm grav_b=(-0.04,+0.15,-0.99) r=2.21m +[headless_play] t= 10.10s step= 505 trunk_z= 4.3mm grav_b=(-0.05,+0.19,-0.98) r=2.22m +[headless_play] t= 10.20s step= 510 trunk_z= 1.8mm grav_b=(-0.02,+0.15,-0.99) r=2.24m +[headless_play] t= 10.30s step= 515 trunk_z= -6.0mm grav_b=(-0.02,-0.05,-1.00) r=2.28m +[headless_play] t= 10.40s step= 520 trunk_z= 1.6mm grav_b=(+0.04,-0.08,-1.00) r=2.31m +[headless_play] t= 10.50s step= 525 trunk_z= -6.3mm grav_b=(+0.12,-0.11,-0.99) r=2.35m +[headless_play] t= 10.60s step= 530 trunk_z= -16.6mm grav_b=(+0.16,-0.31,-0.94) r=2.41m +[headless_play] t= 10.70s step= 535 trunk_z= -31.3mm grav_b=(+0.40,-0.26,-0.88) r=2.47m +[headless_play] RESET at t= 10.80s step= 540 (env termination, not a recovery) +[headless_play] t= 10.80s step= 540 trunk_z= 129.4mm grav_b=(+0.00,+0.00,-1.00) r=0.61m +[headless_play] t= 10.90s step= 545 trunk_z= 114.4mm grav_b=(-0.01,+0.01,-1.00) r=0.61m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.05,+0.06,-1.00) r=0.61m +[headless_play] t= 11.10s step= 555 trunk_z= 117.0mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 11.20s step= 560 trunk_z= 121.4mm grav_b=(+0.10,-0.05,-0.99) r=0.55m +[headless_play] t= 11.30s step= 565 trunk_z= 128.9mm grav_b=(+0.11,-0.09,-0.99) r=0.53m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.06,-0.03,-1.00) r=0.52m +[headless_play] t= 11.50s step= 575 trunk_z= 131.2mm grav_b=(+0.08,-0.01,-1.00) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 126.3mm grav_b=(+0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(+0.02,-0.07,-1.00) r=0.45m +[headless_play] t= 11.80s step= 590 trunk_z= 123.2mm grav_b=(-0.02,-0.04,-1.00) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 114.0mm grav_b=(-0.03,+0.01,-1.00) r=0.47m +[headless_play] t= 12.00s step= 600 trunk_z= 123.0mm grav_b=(+0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 12.10s step= 605 trunk_z= 121.8mm grav_b=(+0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 12.20s step= 610 trunk_z= 120.6mm grav_b=(+0.02,-0.07,-1.00) r=0.43m +[headless_play] t= 12.30s step= 615 trunk_z= 124.9mm grav_b=(+0.02,-0.06,-1.00) r=0.42m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 12.50s step= 625 trunk_z= 123.3mm grav_b=(+0.03,+0.04,-1.00) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 123.7mm grav_b=(+0.06,+0.02,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(+0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 12.80s step= 640 trunk_z= 117.9mm grav_b=(-0.02,+0.04,-1.00) r=0.44m +[headless_play] t= 12.90s step= 645 trunk_z= 119.1mm grav_b=(+0.03,+0.09,-1.00) r=0.46m +[headless_play] t= 13.00s step= 650 trunk_z= 121.6mm grav_b=(+0.07,+0.03,-1.00) r=0.47m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(+0.04,-0.03,-1.00) r=0.45m +[headless_play] t= 13.20s step= 660 trunk_z= 124.7mm grav_b=(+0.04,-0.08,-1.00) r=0.45m +[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(-0.01,-0.05,-1.00) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 116.0mm grav_b=(-0.04,+0.04,-1.00) r=0.50m +[headless_play] t= 13.50s step= 675 trunk_z= 126.4mm grav_b=(+0.02,+0.08,-1.00) r=0.52m +[headless_play] t= 13.60s step= 680 trunk_z= 130.5mm grav_b=(+0.05,+0.13,-0.99) r=0.54m +[headless_play] t= 13.70s step= 685 trunk_z= 129.7mm grav_b=(+0.02,+0.01,-1.00) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 128.1mm grav_b=(-0.03,-0.16,-0.99) r=0.57m +[headless_play] t= 13.90s step= 695 trunk_z= 130.9mm grav_b=(-0.05,-0.18,-0.98) r=0.58m +[headless_play] t= 14.00s step= 700 trunk_z= 125.7mm grav_b=(-0.01,-0.12,-0.99) r=0.59m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.04,-0.02,-1.00) r=0.62m +[headless_play] t= 14.20s step= 710 trunk_z= 124.3mm grav_b=(+0.05,+0.04,-1.00) r=0.64m +[headless_play] t= 14.30s step= 715 trunk_z= 123.5mm grav_b=(+0.06,+0.01,-1.00) r=0.63m +[headless_play] t= 14.40s step= 720 trunk_z= 122.9mm grav_b=(-0.01,-0.09,-1.00) r=0.61m +[headless_play] t= 14.50s step= 725 trunk_z= 127.0mm grav_b=(+0.01,-0.12,-0.99) r=0.59m +[headless_play] t= 14.60s step= 730 trunk_z= 127.5mm grav_b=(+0.04,-0.10,-0.99) r=0.60m +[headless_play] t= 14.70s step= 735 trunk_z= 119.4mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 14.80s step= 740 trunk_z= 129.4mm grav_b=(+0.09,+0.04,-0.99) r=0.64m +[headless_play] t= 14.90s step= 745 trunk_z= 133.7mm grav_b=(+0.02,+0.04,-1.00) r=0.64m +[headless_play] t= 15.00s step= 750 trunk_z= 115.8mm grav_b=(-0.03,-0.06,-1.00) r=0.63m +[headless_play] t= 15.10s step= 755 trunk_z= 126.8mm grav_b=(+0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 15.20s step= 760 trunk_z= 125.7mm grav_b=(+0.01,-0.03,-1.00) r=0.65m +[headless_play] t= 15.30s step= 765 trunk_z= 120.0mm grav_b=(-0.05,+0.04,-1.00) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 123.4mm grav_b=(-0.03,+0.03,-1.00) r=0.68m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 15.60s step= 780 trunk_z= 123.6mm grav_b=(+0.03,-0.04,-1.00) r=0.65m +[headless_play] t= 15.70s step= 785 trunk_z= 125.7mm grav_b=(+0.04,-0.01,-1.00) r=0.67m +[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(+0.04,+0.03,-1.00) r=0.71m +[headless_play] t= 15.90s step= 795 trunk_z= 126.6mm grav_b=(+0.04,+0.02,-1.00) r=0.72m +[headless_play] t= 16.00s step= 800 trunk_z= 114.3mm grav_b=(-0.07,-0.12,-0.99) r=0.70m +[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(-0.03,-0.17,-0.99) r=0.68m +[headless_play] t= 16.20s step= 810 trunk_z= 126.1mm grav_b=(-0.01,-0.25,-0.97) r=0.67m +[headless_play] t= 16.30s step= 815 trunk_z= 125.0mm grav_b=(+0.10,-0.36,-0.93) r=0.67m +[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(+0.20,-0.61,-0.77) r=0.66m +[headless_play] t= 16.50s step= 825 trunk_z= 82.1mm grav_b=(+0.37,-0.82,-0.44) r=0.64m +[headless_play] RESET at t= 16.52s step= 826 (env termination, not a recovery) +[headless_play] t= 16.60s step= 830 trunk_z= 115.0mm grav_b=(+0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(+0.06,-0.04,-1.00) r=0.30m +[headless_play] t= 16.80s step= 840 trunk_z= 114.6mm grav_b=(+0.06,-0.03,-1.00) r=0.30m +[headless_play] t= 16.90s step= 845 trunk_z= 109.8mm grav_b=(+0.03,+0.00,-1.00) r=0.31m +[headless_play] t= 17.00s step= 850 trunk_z= 115.3mm grav_b=(+0.01,+0.02,-1.00) r=0.32m +[headless_play] t= 17.10s step= 855 trunk_z= 112.9mm grav_b=(+0.01,-0.04,-1.00) r=0.30m +[headless_play] t= 17.20s step= 860 trunk_z= 111.4mm grav_b=(+0.05,-0.10,-0.99) r=0.27m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(+0.05,-0.11,-0.99) r=0.27m +[headless_play] t= 17.40s step= 870 trunk_z= 114.0mm grav_b=(+0.07,-0.11,-0.99) r=0.27m +[headless_play] t= 17.50s step= 875 trunk_z= 113.0mm grav_b=(+0.12,-0.03,-0.99) r=0.28m +[headless_play] t= 17.60s step= 880 trunk_z= 111.4mm grav_b=(+0.13,-0.05,-0.99) r=0.27m +[headless_play] t= 17.70s step= 885 trunk_z= 113.0mm grav_b=(+0.13,-0.11,-0.99) r=0.26m +[headless_play] t= 17.80s step= 890 trunk_z= 119.1mm grav_b=(+0.08,-0.12,-0.99) r=0.26m +[headless_play] t= 17.90s step= 895 trunk_z= 115.4mm grav_b=(+0.04,-0.09,-0.99) r=0.27m +[headless_play] t= 18.00s step= 900 trunk_z= 116.3mm grav_b=(-0.03,+0.02,-1.00) r=0.29m +[headless_play] t= 18.10s step= 905 trunk_z= 121.5mm grav_b=(-0.05,-0.00,-1.00) r=0.29m +[headless_play] t= 18.20s step= 910 trunk_z= 110.5mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 18.30s step= 915 trunk_z= 116.5mm grav_b=(+0.05,-0.07,-1.00) r=0.26m +[headless_play] t= 18.40s step= 920 trunk_z= 111.6mm grav_b=(+0.10,-0.09,-0.99) r=0.27m +[headless_play] t= 18.50s step= 925 trunk_z= 110.0mm grav_b=(+0.11,-0.02,-0.99) r=0.29m +[headless_play] t= 18.60s step= 930 trunk_z= 111.2mm grav_b=(+0.12,-0.04,-0.99) r=0.30m +[headless_play] t= 18.70s step= 935 trunk_z= 108.2mm grav_b=(+0.18,-0.13,-0.97) r=0.31m +[headless_play] t= 18.80s step= 940 trunk_z= 122.2mm grav_b=(+0.13,-0.12,-0.98) r=0.32m +[headless_play] t= 18.90s step= 945 trunk_z= 117.7mm grav_b=(+0.11,-0.09,-0.99) r=0.34m +[headless_play] t= 19.00s step= 950 trunk_z= 118.9mm grav_b=(+0.11,-0.01,-0.99) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 114.9mm grav_b=(+0.04,-0.05,-1.00) r=0.38m +[headless_play] t= 19.20s step= 960 trunk_z= 118.4mm grav_b=(+0.05,-0.09,-1.00) r=0.39m +[headless_play] t= 19.30s step= 965 trunk_z= 121.1mm grav_b=(+0.02,-0.08,-1.00) r=0.40m +[headless_play] t= 19.40s step= 970 trunk_z= 112.8mm grav_b=(-0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.44m +[headless_play] t= 19.60s step= 980 trunk_z= 114.1mm grav_b=(+0.06,-0.00,-1.00) r=0.45m +[headless_play] t= 19.70s step= 985 trunk_z= 108.2mm grav_b=(+0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 118.3mm grav_b=(+0.08,-0.09,-0.99) r=0.47m +[headless_play] t= 19.90s step= 995 trunk_z= 115.7mm grav_b=(+0.08,-0.10,-0.99) r=0.48m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t6/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x242c0880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t6/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t6/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t7.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..f0088241b44104c619c0d09f77b948aec8af109f --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t7.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-10.284,-18.261,+0.248) +[headless_play] t= 0.00s step= 0 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.04,-0.00,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(-0.04,-0.00,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(-0.04,-0.00,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(-0.05,-0.02,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(-0.05,-0.01,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 116.4mm grav_b=(-0.05,-0.01,-1.00) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 2.60s step= 130 trunk_z= 118.3mm grav_b=(-0.03,-0.02,-1.00) r=0.39m +[headless_play] t= 2.70s step= 135 trunk_z= 118.4mm grav_b=(-0.01,-0.01,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 3.20s step= 160 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 3.30s step= 165 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 3.50s step= 175 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 3.70s step= 185 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 3.90s step= 195 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 4.00s step= 200 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 116.6mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 115.9mm grav_b=(-0.16,-0.01,-0.99) r=0.41m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(-0.16,-0.02,-0.99) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 114.3mm grav_b=(-0.16,-0.05,-0.99) r=0.42m +[headless_play] t= 4.50s step= 225 trunk_z= 117.0mm grav_b=(-0.10,-0.05,-0.99) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 115.2mm grav_b=(-0.09,+0.03,-1.00) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 119.1mm grav_b=(-0.06,+0.05,-1.00) r=0.39m +[headless_play] t= 4.80s step= 240 trunk_z= 113.6mm grav_b=(-0.06,-0.09,-0.99) r=0.38m +[headless_play] t= 4.90s step= 245 trunk_z= 121.0mm grav_b=(+0.02,-0.13,-0.99) r=0.36m +[headless_play] t= 5.00s step= 250 trunk_z= 122.7mm grav_b=(+0.03,-0.15,-0.99) r=0.34m +[headless_play] t= 5.10s step= 255 trunk_z= 121.8mm grav_b=(+0.01,-0.07,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 128.0mm grav_b=(+0.05,-0.01,-1.00) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 128.4mm grav_b=(-0.02,-0.03,-1.00) r=0.25m +[headless_play] t= 5.40s step= 270 trunk_z= 123.7mm grav_b=(-0.04,-0.10,-0.99) r=0.24m +[headless_play] t= 5.50s step= 275 trunk_z= 124.5mm grav_b=(-0.07,-0.11,-0.99) r=0.24m +[headless_play] t= 5.60s step= 280 trunk_z= 118.4mm grav_b=(-0.10,-0.06,-0.99) r=0.21m +[headless_play] t= 5.70s step= 285 trunk_z= 119.5mm grav_b=(-0.06,+0.04,-1.00) r=0.20m +[headless_play] t= 5.80s step= 290 trunk_z= 119.9mm grav_b=(-0.05,+0.01,-1.00) r=0.20m +[headless_play] t= 5.90s step= 295 trunk_z= 114.7mm grav_b=(-0.02,-0.07,-1.00) r=0.23m +[headless_play] t= 6.00s step= 300 trunk_z= 119.9mm grav_b=(+0.00,-0.06,-1.00) r=0.24m +[headless_play] t= 6.10s step= 305 trunk_z= 115.9mm grav_b=(+0.01,-0.04,-1.00) r=0.23m +[headless_play] t= 6.20s step= 310 trunk_z= 119.9mm grav_b=(+0.02,+0.02,-1.00) r=0.22m +[headless_play] t= 6.30s step= 315 trunk_z= 119.1mm grav_b=(+0.02,-0.02,-1.00) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 123.4mm grav_b=(+0.03,-0.10,-0.99) r=0.28m +[headless_play] t= 6.50s step= 325 trunk_z= 126.5mm grav_b=(+0.07,-0.10,-0.99) r=0.32m +[headless_play] t= 6.60s step= 330 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 6.70s step= 335 trunk_z= 134.3mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 6.80s step= 340 trunk_z= 114.3mm grav_b=(-0.03,-0.12,-0.99) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 122.9mm grav_b=(-0.02,-0.12,-0.99) r=0.46m +[headless_play] t= 7.00s step= 350 trunk_z= 120.8mm grav_b=(-0.03,-0.09,-1.00) r=0.47m +[headless_play] t= 7.10s step= 355 trunk_z= 119.7mm grav_b=(-0.08,+0.02,-1.00) r=0.48m +[headless_play] t= 7.20s step= 360 trunk_z= 125.3mm grav_b=(-0.10,+0.05,-0.99) r=0.47m +[headless_play] t= 7.30s step= 365 trunk_z= 123.6mm grav_b=(-0.09,+0.02,-1.00) r=0.47m +[headless_play] t= 7.40s step= 370 trunk_z= 121.1mm grav_b=(-0.05,-0.06,-1.00) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 121.5mm grav_b=(-0.03,-0.06,-1.00) r=0.47m +[headless_play] t= 7.60s step= 380 trunk_z= 117.5mm grav_b=(+0.00,-0.04,-1.00) r=0.48m +[headless_play] t= 7.70s step= 385 trunk_z= 122.2mm grav_b=(+0.00,+0.06,-1.00) r=0.50m +[headless_play] t= 7.80s step= 390 trunk_z= 123.0mm grav_b=(+0.01,+0.03,-1.00) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(-0.06,-0.06,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 123.4mm grav_b=(-0.14,-0.10,-0.99) r=0.52m +[headless_play] t= 8.10s step= 405 trunk_z= 121.6mm grav_b=(-0.10,-0.04,-0.99) r=0.51m +[headless_play] t= 8.20s step= 410 trunk_z= 122.7mm grav_b=(-0.11,-0.04,-0.99) r=0.48m +[headless_play] t= 8.30s step= 415 trunk_z= 108.6mm grav_b=(-0.01,-0.06,-1.00) r=0.45m +[headless_play] t= 8.40s step= 420 trunk_z= 113.6mm grav_b=(+0.04,-0.04,-1.00) r=0.44m +[headless_play] t= 8.50s step= 425 trunk_z= 116.6mm grav_b=(-0.00,-0.07,-1.00) r=0.44m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 8.70s step= 435 trunk_z= 121.7mm grav_b=(-0.04,+0.02,-1.00) r=0.44m +[headless_play] t= 8.80s step= 440 trunk_z= 117.9mm grav_b=(-0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 8.90s step= 445 trunk_z= 120.8mm grav_b=(-0.02,-0.08,-1.00) r=0.47m +[headless_play] t= 9.00s step= 450 trunk_z= 121.4mm grav_b=(+0.00,-0.06,-1.00) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 9.20s step= 460 trunk_z= 124.0mm grav_b=(-0.01,+0.05,-1.00) r=0.53m +[headless_play] t= 9.30s step= 465 trunk_z= 119.8mm grav_b=(-0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 9.40s step= 470 trunk_z= 124.1mm grav_b=(-0.00,-0.15,-0.99) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 128.2mm grav_b=(-0.01,-0.20,-0.98) r=0.59m +[headless_play] t= 9.60s step= 480 trunk_z= 124.9mm grav_b=(-0.04,-0.24,-0.97) r=0.61m +[headless_play] t= 9.70s step= 485 trunk_z= 124.0mm grav_b=(-0.06,-0.27,-0.96) r=0.64m +[headless_play] t= 9.80s step= 490 trunk_z= 122.2mm grav_b=(+0.05,-0.14,-0.99) r=0.68m +[headless_play] t= 9.90s step= 495 trunk_z= 142.5mm grav_b=(+0.10,-0.03,-0.99) r=0.71m +[headless_play] t= 10.00s step= 500 trunk_z= 119.0mm grav_b=(+0.01,-0.01,-1.00) r=0.75m +[headless_play] t= 10.10s step= 505 trunk_z= 121.8mm grav_b=(+0.08,+0.02,-1.00) r=0.78m +[headless_play] t= 10.20s step= 510 trunk_z= 136.6mm grav_b=(+0.03,-0.10,-0.99) r=0.81m +[headless_play] t= 10.30s step= 515 trunk_z= 111.1mm grav_b=(-0.17,+0.01,-0.99) r=0.86m +[headless_play] t= 10.40s step= 520 trunk_z= 116.6mm grav_b=(-0.12,+0.05,-0.99) r=0.88m +[headless_play] t= 10.50s step= 525 trunk_z= 121.5mm grav_b=(-0.16,+0.02,-0.99) r=0.88m +[headless_play] t= 10.60s step= 530 trunk_z= 120.3mm grav_b=(-0.08,-0.06,-1.00) r=0.87m +[headless_play] t= 10.70s step= 535 trunk_z= 123.1mm grav_b=(-0.02,-0.10,-1.00) r=0.87m +[headless_play] t= 10.80s step= 540 trunk_z= 115.6mm grav_b=(-0.02,-0.00,-1.00) r=0.90m +[headless_play] t= 10.90s step= 545 trunk_z= 123.1mm grav_b=(-0.03,+0.08,-1.00) r=0.93m +[headless_play] t= 11.00s step= 550 trunk_z= 125.9mm grav_b=(-0.03,+0.12,-0.99) r=0.94m +[headless_play] t= 11.10s step= 555 trunk_z= 125.7mm grav_b=(-0.01,+0.08,-1.00) r=0.95m +[headless_play] t= 11.20s step= 560 trunk_z= 121.6mm grav_b=(-0.05,-0.09,-0.99) r=0.95m +[headless_play] t= 11.30s step= 565 trunk_z= 126.5mm grav_b=(-0.01,-0.15,-0.99) r=0.94m +[headless_play] t= 11.40s step= 570 trunk_z= 128.5mm grav_b=(-0.00,-0.15,-0.99) r=0.96m +[headless_play] t= 11.50s step= 575 trunk_z= 123.9mm grav_b=(-0.03,-0.07,-1.00) r=0.98m +[headless_play] t= 11.60s step= 580 trunk_z= 127.8mm grav_b=(-0.00,+0.03,-1.00) r=1.00m +[headless_play] t= 11.70s step= 585 trunk_z= 128.2mm grav_b=(-0.02,+0.01,-1.00) r=1.01m +[headless_play] t= 11.80s step= 590 trunk_z= 117.0mm grav_b=(-0.05,-0.08,-1.00) r=1.00m +[headless_play] t= 11.90s step= 595 trunk_z= 123.8mm grav_b=(-0.04,-0.08,-1.00) r=1.01m +[headless_play] t= 12.00s step= 600 trunk_z= 119.2mm grav_b=(-0.07,-0.05,-1.00) r=1.03m +[headless_play] t= 12.10s step= 605 trunk_z= 119.9mm grav_b=(-0.06,+0.04,-1.00) r=1.07m +[headless_play] t= 12.20s step= 610 trunk_z= 124.8mm grav_b=(-0.02,+0.15,-0.99) r=1.09m +[headless_play] t= 12.30s step= 615 trunk_z= 126.4mm grav_b=(-0.01,+0.08,-1.00) r=1.11m +[headless_play] t= 12.40s step= 620 trunk_z= 112.5mm grav_b=(-0.06,+0.03,-1.00) r=1.13m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=1.16m +[headless_play] t= 12.60s step= 630 trunk_z= 109.5mm grav_b=(-0.04,-0.10,-0.99) r=1.19m +[headless_play] t= 12.70s step= 635 trunk_z= 95.1mm grav_b=(+0.06,-0.08,-0.99) r=1.23m +[headless_play] t= 12.80s step= 640 trunk_z= 84.4mm grav_b=(+0.11,-0.22,-0.97) r=1.28m +[headless_play] t= 12.90s step= 645 trunk_z= 82.4mm grav_b=(+0.23,-0.05,-0.97) r=1.32m +[headless_play] t= 13.00s step= 650 trunk_z= 85.5mm grav_b=(+0.12,+0.08,-0.99) r=1.39m +[headless_play] t= 13.10s step= 655 trunk_z= 26.2mm grav_b=(-0.02,+0.26,-0.97) r=1.47m +[headless_play] t= 13.20s step= 660 trunk_z= 48.2mm grav_b=(-0.02,+0.20,-0.98) r=1.50m +[headless_play] t= 13.30s step= 665 trunk_z= 58.4mm grav_b=(-0.08,+0.17,-0.98) r=1.52m +[headless_play] t= 13.40s step= 670 trunk_z= 56.1mm grav_b=(-0.07,+0.10,-0.99) r=1.54m +[headless_play] t= 13.50s step= 675 trunk_z= 48.8mm grav_b=(-0.07,-0.06,-1.00) r=1.56m +[headless_play] t= 13.60s step= 680 trunk_z= 54.6mm grav_b=(-0.03,-0.10,-0.99) r=1.57m +[headless_play] t= 13.70s step= 685 trunk_z= 52.1mm grav_b=(-0.02,-0.08,-1.00) r=1.61m +[headless_play] t= 13.80s step= 690 trunk_z= 41.3mm grav_b=(+0.03,+0.08,-1.00) r=1.65m +[headless_play] t= 13.90s step= 695 trunk_z= 42.3mm grav_b=(+0.04,+0.10,-0.99) r=1.68m +[headless_play] t= 14.00s step= 700 trunk_z= 41.9mm grav_b=(+0.01,+0.04,-1.00) r=1.71m +[headless_play] t= 14.10s step= 705 trunk_z= 36.4mm grav_b=(-0.01,-0.11,-0.99) r=1.74m +[headless_play] t= 14.20s step= 710 trunk_z= 36.2mm grav_b=(-0.09,-0.14,-0.99) r=1.75m +[headless_play] t= 14.30s step= 715 trunk_z= 23.8mm grav_b=(-0.07,-0.04,-1.00) r=1.78m +[headless_play] t= 14.40s step= 720 trunk_z= 23.1mm grav_b=(-0.00,+0.05,-1.00) r=1.80m +[headless_play] t= 14.50s step= 725 trunk_z= 19.4mm grav_b=(+0.05,+0.05,-1.00) r=1.82m +[headless_play] t= 14.60s step= 730 trunk_z= 14.1mm grav_b=(+0.07,-0.04,-1.00) r=1.85m +[headless_play] t= 14.70s step= 735 trunk_z= 22.3mm grav_b=(+0.08,-0.05,-1.00) r=1.88m +[headless_play] t= 14.80s step= 740 trunk_z= 11.4mm grav_b=(+0.03,+0.00,-1.00) r=1.92m +[headless_play] t= 14.90s step= 745 trunk_z= 13.8mm grav_b=(-0.01,+0.09,-1.00) r=1.96m +[headless_play] t= 15.00s step= 750 trunk_z= 8.6mm grav_b=(+0.05,+0.11,-0.99) r=1.98m +[headless_play] t= 15.10s step= 755 trunk_z= 12.1mm grav_b=(+0.03,+0.14,-0.99) r=2.00m +[headless_play] t= 15.20s step= 760 trunk_z= 11.2mm grav_b=(-0.00,+0.03,-1.00) r=2.03m +[headless_play] t= 15.30s step= 765 trunk_z= 13.6mm grav_b=(+0.01,-0.03,-1.00) r=2.05m +[headless_play] t= 15.40s step= 770 trunk_z= -2.5mm grav_b=(-0.03,-0.03,-1.00) r=2.08m +[headless_play] t= 15.50s step= 775 trunk_z= -4.6mm grav_b=(-0.05,+0.06,-1.00) r=2.11m +[headless_play] t= 15.60s step= 780 trunk_z= -2.7mm grav_b=(-0.02,+0.10,-0.99) r=2.13m +[headless_play] t= 15.70s step= 785 trunk_z= -6.5mm grav_b=(+0.03,+0.09,-1.00) r=2.14m +[headless_play] t= 15.80s step= 790 trunk_z= -6.3mm grav_b=(+0.05,-0.08,-1.00) r=2.14m +[headless_play] t= 15.90s step= 795 trunk_z= 0.6mm grav_b=(+0.06,-0.10,-0.99) r=2.15m +[headless_play] t= 16.00s step= 800 trunk_z= -3.9mm grav_b=(+0.04,-0.10,-0.99) r=2.17m +[headless_play] t= 16.10s step= 805 trunk_z= -14.5mm grav_b=(+0.01,+0.02,-1.00) r=2.20m +[headless_play] t= 16.20s step= 810 trunk_z= -11.5mm grav_b=(+0.04,+0.06,-1.00) r=2.22m +[headless_play] t= 16.30s step= 815 trunk_z= -14.7mm grav_b=(+0.04,+0.02,-1.00) r=2.21m +[headless_play] t= 16.40s step= 820 trunk_z= -8.1mm grav_b=(+0.03,-0.03,-1.00) r=2.21m +[headless_play] t= 16.50s step= 825 trunk_z= -10.5mm grav_b=(-0.00,+0.01,-1.00) r=2.23m +[headless_play] t= 16.60s step= 830 trunk_z= -18.4mm grav_b=(-0.03,+0.06,-1.00) r=2.25m +[headless_play] t= 16.70s step= 835 trunk_z= -16.6mm grav_b=(+0.04,-0.00,-1.00) r=2.25m +[headless_play] t= 16.80s step= 840 trunk_z= -18.2mm grav_b=(+0.18,-0.07,-0.98) r=2.25m +[headless_play] t= 16.90s step= 845 trunk_z= -10.3mm grav_b=(+0.03,+0.06,-1.00) r=2.26m +[headless_play] t= 17.00s step= 850 trunk_z= -21.2mm grav_b=(-0.04,+0.16,-0.99) r=2.28m +[headless_play] t= 17.10s step= 855 trunk_z= -6.4mm grav_b=(-0.07,+0.15,-0.99) r=2.30m +[headless_play] t= 17.20s step= 860 trunk_z= -3.7mm grav_b=(-0.09,+0.14,-0.99) r=2.30m +[headless_play] t= 17.30s step= 865 trunk_z= -6.0mm grav_b=(-0.08,+0.08,-0.99) r=2.29m +[headless_play] t= 17.40s step= 870 trunk_z= -13.7mm grav_b=(-0.03,+0.05,-1.00) r=2.27m +[headless_play] t= 17.50s step= 875 trunk_z= -10.6mm grav_b=(+0.09,+0.03,-1.00) r=2.27m +[headless_play] t= 17.60s step= 880 trunk_z= -16.0mm grav_b=(+0.02,+0.07,-1.00) r=2.29m +[headless_play] t= 17.70s step= 885 trunk_z= -6.4mm grav_b=(-0.02,+0.09,-1.00) r=2.30m +[headless_play] t= 17.80s step= 890 trunk_z= -8.8mm grav_b=(-0.03,+0.06,-1.00) r=2.30m +[headless_play] t= 17.90s step= 895 trunk_z= -9.5mm grav_b=(-0.04,+0.02,-1.00) r=2.29m +[headless_play] t= 18.00s step= 900 trunk_z= -1.9mm grav_b=(-0.06,-0.03,-1.00) r=2.28m +[headless_play] t= 18.10s step= 905 trunk_z= -8.1mm grav_b=(-0.03,+0.08,-1.00) r=2.30m +[headless_play] t= 18.20s step= 910 trunk_z= -6.7mm grav_b=(-0.03,+0.10,-0.99) r=2.31m +[headless_play] t= 18.30s step= 915 trunk_z= -7.8mm grav_b=(-0.03,+0.07,-1.00) r=2.31m +[headless_play] t= 18.40s step= 920 trunk_z= -8.4mm grav_b=(+0.00,+0.06,-1.00) r=2.30m +[headless_play] t= 18.50s step= 925 trunk_z= -8.6mm grav_b=(+0.03,+0.07,-1.00) r=2.30m +[headless_play] t= 18.60s step= 930 trunk_z= -8.7mm grav_b=(+0.03,+0.08,-1.00) r=2.30m +[headless_play] t= 18.70s step= 935 trunk_z= -8.5mm grav_b=(+0.05,+0.09,-0.99) r=2.31m +[headless_play] t= 18.80s step= 940 trunk_z= -6.2mm grav_b=(+0.07,+0.07,-1.00) r=2.31m +[headless_play] t= 18.90s step= 945 trunk_z= -4.6mm grav_b=(+0.05,+0.03,-1.00) r=2.31m +[headless_play] t= 19.00s step= 950 trunk_z= -9.9mm grav_b=(-0.00,+0.10,-0.99) r=2.32m +[headless_play] t= 19.10s step= 955 trunk_z= -7.8mm grav_b=(-0.02,+0.07,-1.00) r=2.33m +[headless_play] t= 19.20s step= 960 trunk_z= -8.4mm grav_b=(-0.02,+0.05,-1.00) r=2.33m +[headless_play] t= 19.30s step= 965 trunk_z= -8.4mm grav_b=(-0.01,+0.05,-1.00) r=2.33m +[headless_play] t= 19.40s step= 970 trunk_z= -6.0mm grav_b=(+0.04,+0.12,-0.99) r=2.34m +[headless_play] t= 19.50s step= 975 trunk_z= -0.7mm grav_b=(+0.05,+0.14,-0.99) r=2.35m +[headless_play] t= 19.60s step= 980 trunk_z= -1.8mm grav_b=(+0.00,+0.07,-1.00) r=2.35m +[headless_play] t= 19.70s step= 985 trunk_z= -1.9mm grav_b=(-0.04,+0.05,-1.00) r=2.36m +[headless_play] t= 19.80s step= 990 trunk_z= -12.9mm grav_b=(-0.07,+0.08,-0.99) r=2.37m +[headless_play] t= 19.90s step= 995 trunk_z= -11.3mm grav_b=(-0.10,+0.07,-0.99) r=2.39m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t7/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x1d368880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t7/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t7/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t8.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..3bcd0f20c400706c6d38cc24f2da6077ce4970ab --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t8.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.797,-17.547,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 115.5mm grav_b=(+0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 115.5mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 117.1mm grav_b=(+0.14,+0.01,-0.99) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 121.2mm grav_b=(+0.06,-0.02,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 120.5mm grav_b=(-0.02,-0.07,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 114.6mm grav_b=(-0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 118.6mm grav_b=(+0.01,+0.07,-1.00) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.02,+0.04,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(+0.01,+0.05,-1.00) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 1.90s step= 95 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 2.10s step= 105 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 2.50s step= 125 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 2.60s step= 130 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 3.20s step= 160 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 3.70s step= 185 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 116.9mm grav_b=(+0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 117.5mm grav_b=(+0.08,+0.02,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 117.2mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 120.9mm grav_b=(+0.05,+0.07,-1.00) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 121.0mm grav_b=(+0.07,+0.09,-0.99) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 118.5mm grav_b=(+0.08,+0.03,-1.00) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 118.7mm grav_b=(+0.07,+0.01,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 118.1mm grav_b=(+0.06,+0.01,-1.00) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 117.9mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 5.10s step= 255 trunk_z= 117.8mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 5.40s step= 270 trunk_z= 119.0mm grav_b=(+0.13,+0.01,-0.99) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 123.1mm grav_b=(+0.19,+0.02,-0.98) r=0.53m +[headless_play] t= 5.60s step= 280 trunk_z= 107.9mm grav_b=(+0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 5.70s step= 285 trunk_z= 122.2mm grav_b=(+0.00,-0.10,-0.99) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 125.3mm grav_b=(-0.01,-0.12,-0.99) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 121.1mm grav_b=(+0.02,-0.03,-1.00) r=0.53m +[headless_play] t= 6.00s step= 300 trunk_z= 117.9mm grav_b=(+0.06,-0.01,-1.00) r=0.53m +[headless_play] t= 6.10s step= 305 trunk_z= 119.6mm grav_b=(+0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 117.3mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 6.30s step= 315 trunk_z= 117.3mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 6.40s step= 320 trunk_z= 117.6mm grav_b=(-0.08,+0.03,-1.00) r=0.54m +[headless_play] t= 6.50s step= 325 trunk_z= 112.9mm grav_b=(-0.01,-0.05,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 117.9mm grav_b=(+0.02,-0.03,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(+0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 6.80s step= 340 trunk_z= 116.5mm grav_b=(-0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 7.20s step= 360 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 7.30s step= 365 trunk_z= 120.4mm grav_b=(+0.08,+0.03,-1.00) r=0.52m +[headless_play] t= 7.40s step= 370 trunk_z= 117.4mm grav_b=(+0.06,-0.05,-1.00) r=0.51m +[headless_play] t= 7.50s step= 375 trunk_z= 125.8mm grav_b=(+0.02,-0.02,-1.00) r=0.51m +[headless_play] t= 7.60s step= 380 trunk_z= 112.8mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 120.9mm grav_b=(+0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 7.80s step= 390 trunk_z= 120.1mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(-0.01,-0.03,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 123.2mm grav_b=(-0.02,-0.04,-1.00) r=0.52m +[headless_play] t= 8.10s step= 405 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 121.9mm grav_b=(+0.06,+0.06,-1.00) r=0.57m +[headless_play] t= 8.30s step= 415 trunk_z= 122.6mm grav_b=(+0.03,+0.04,-1.00) r=0.57m +[headless_play] t= 8.40s step= 420 trunk_z= 119.6mm grav_b=(+0.08,-0.07,-0.99) r=0.56m +[headless_play] t= 8.50s step= 425 trunk_z= 123.7mm grav_b=(+0.08,-0.05,-1.00) r=0.56m +[headless_play] t= 8.60s step= 430 trunk_z= 115.8mm grav_b=(+0.00,-0.06,-1.00) r=0.58m +[headless_play] t= 8.70s step= 435 trunk_z= 119.3mm grav_b=(+0.04,+0.05,-1.00) r=0.60m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(+0.04,+0.01,-1.00) r=0.59m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.10,-0.04,-0.99) r=0.58m +[headless_play] t= 9.00s step= 450 trunk_z= 120.7mm grav_b=(+0.13,+0.00,-0.99) r=0.59m +[headless_play] t= 9.10s step= 455 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 9.20s step= 460 trunk_z= 121.1mm grav_b=(+0.01,-0.05,-1.00) r=0.62m +[headless_play] t= 9.30s step= 465 trunk_z= 118.7mm grav_b=(+0.01,-0.08,-1.00) r=0.62m +[headless_play] t= 9.40s step= 470 trunk_z= 121.0mm grav_b=(+0.03,-0.05,-1.00) r=0.63m +[headless_play] t= 9.50s step= 475 trunk_z= 113.0mm grav_b=(+0.02,-0.03,-1.00) r=0.66m +[headless_play] t= 9.60s step= 480 trunk_z= 119.2mm grav_b=(+0.05,+0.05,-1.00) r=0.68m +[headless_play] t= 9.70s step= 485 trunk_z= 122.2mm grav_b=(+0.03,+0.06,-1.00) r=0.69m +[headless_play] t= 9.80s step= 490 trunk_z= 114.9mm grav_b=(+0.03,-0.00,-1.00) r=0.68m +[headless_play] t= 9.90s step= 495 trunk_z= 122.6mm grav_b=(+0.04,-0.05,-1.00) r=0.67m +[headless_play] t= 10.00s step= 500 trunk_z= 119.8mm grav_b=(+0.05,-0.07,-1.00) r=0.68m +[headless_play] t= 10.10s step= 505 trunk_z= 111.8mm grav_b=(+0.04,+0.01,-1.00) r=0.72m +[headless_play] t= 10.20s step= 510 trunk_z= 120.8mm grav_b=(+0.05,+0.02,-1.00) r=0.74m +[headless_play] t= 10.30s step= 515 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.74m +[headless_play] t= 10.40s step= 520 trunk_z= 120.3mm grav_b=(-0.00,-0.03,-1.00) r=0.73m +[headless_play] t= 10.50s step= 525 trunk_z= 120.3mm grav_b=(+0.01,-0.03,-1.00) r=0.74m +[headless_play] t= 10.60s step= 530 trunk_z= 110.8mm grav_b=(+0.03,+0.03,-1.00) r=0.76m +[headless_play] t= 10.70s step= 535 trunk_z= 117.5mm grav_b=(+0.06,+0.04,-1.00) r=0.78m +[headless_play] t= 10.80s step= 540 trunk_z= 113.1mm grav_b=(+0.07,-0.02,-1.00) r=0.78m +[headless_play] t= 10.90s step= 545 trunk_z= 120.2mm grav_b=(+0.05,-0.06,-1.00) r=0.78m +[headless_play] t= 11.00s step= 550 trunk_z= 119.9mm grav_b=(+0.07,-0.07,-0.99) r=0.79m +[headless_play] t= 11.10s step= 555 trunk_z= 113.7mm grav_b=(+0.07,-0.04,-1.00) r=0.83m +[headless_play] t= 11.20s step= 560 trunk_z= 123.8mm grav_b=(+0.20,+0.06,-0.98) r=0.88m +[headless_play] t= 11.30s step= 565 trunk_z= 120.1mm grav_b=(+0.08,+0.02,-1.00) r=0.92m +[headless_play] t= 11.40s step= 570 trunk_z= 130.4mm grav_b=(+0.02,-0.02,-1.00) r=0.96m +[headless_play] t= 11.50s step= 575 trunk_z= 117.6mm grav_b=(-0.04,+0.00,-1.00) r=1.00m +[headless_play] t= 11.60s step= 580 trunk_z= 115.2mm grav_b=(+0.01,+0.02,-1.00) r=1.03m +[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=1.03m +[headless_play] t= 11.80s step= 590 trunk_z= 114.3mm grav_b=(+0.03,-0.03,-1.00) r=1.02m +[headless_play] t= 11.90s step= 595 trunk_z= 119.1mm grav_b=(+0.03,-0.03,-1.00) r=1.02m +[headless_play] t= 12.00s step= 600 trunk_z= 112.0mm grav_b=(+0.01,+0.00,-1.00) r=1.05m +[headless_play] t= 12.10s step= 605 trunk_z= 113.6mm grav_b=(+0.06,+0.09,-0.99) r=1.08m +[headless_play] t= 12.20s step= 610 trunk_z= 115.0mm grav_b=(+0.08,+0.11,-0.99) r=1.09m +[headless_play] t= 12.30s step= 615 trunk_z= 111.7mm grav_b=(+0.11,+0.06,-0.99) r=1.09m +[headless_play] t= 12.40s step= 620 trunk_z= 122.0mm grav_b=(+0.10,+0.10,-0.99) r=1.09m +[headless_play] t= 12.50s step= 625 trunk_z= 118.7mm grav_b=(+0.04,+0.05,-1.00) r=1.12m +[headless_play] t= 12.60s step= 630 trunk_z= 105.9mm grav_b=(+0.08,+0.06,-1.00) r=1.17m +[headless_play] t= 12.70s step= 635 trunk_z= 110.4mm grav_b=(+0.05,+0.05,-1.00) r=1.19m +[headless_play] t= 12.80s step= 640 trunk_z= 87.0mm grav_b=(-0.04,-0.03,-1.00) r=1.22m +[headless_play] t= 12.90s step= 645 trunk_z= 98.3mm grav_b=(-0.08,+0.01,-1.00) r=1.25m +[headless_play] t= 13.00s step= 650 trunk_z= 81.4mm grav_b=(-0.01,+0.08,-1.00) r=1.29m +[headless_play] t= 13.10s step= 655 trunk_z= 90.0mm grav_b=(+0.06,+0.19,-0.98) r=1.32m +[headless_play] t= 13.20s step= 660 trunk_z= 92.6mm grav_b=(+0.04,+0.20,-0.98) r=1.35m +[headless_play] t= 13.30s step= 665 trunk_z= 81.1mm grav_b=(-0.03,+0.20,-0.98) r=1.39m +[headless_play] t= 13.40s step= 670 trunk_z= 82.2mm grav_b=(+0.20,+0.16,-0.97) r=1.44m +[headless_play] t= 13.50s step= 675 trunk_z= 63.3mm grav_b=(+0.09,-0.13,-0.99) r=1.50m +[headless_play] t= 13.60s step= 680 trunk_z= 61.0mm grav_b=(+0.19,-0.25,-0.95) r=1.55m +[headless_play] t= 13.70s step= 685 trunk_z= 45.0mm grav_b=(+0.47,+0.04,-0.88) r=1.62m +[headless_play] t= 13.80s step= 690 trunk_z= 41.4mm grav_b=(+0.46,+0.28,-0.85) r=1.71m +[headless_play] t= 13.90s step= 695 trunk_z= -2.1mm grav_b=(+0.75,+0.04,-0.67) r=1.76m +[headless_play] t= 14.00s step= 700 trunk_z= 8.0mm grav_b=(+0.86,-0.34,-0.38) r=1.77m +[headless_play] RESET at t= 14.06s step= 703 (env termination, not a recovery) +[headless_play] t= 14.10s step= 705 trunk_z= 115.0mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 14.20s step= 710 trunk_z= 115.4mm grav_b=(+0.03,-0.03,-1.00) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(+0.10,-0.06,-0.99) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.10,-0.01,-0.99) r=0.55m +[headless_play] t= 14.50s step= 725 trunk_z= 117.2mm grav_b=(+0.08,+0.05,-1.00) r=0.59m +[headless_play] t= 14.60s step= 730 trunk_z= 123.2mm grav_b=(+0.06,+0.04,-1.00) r=0.62m +[headless_play] t= 14.70s step= 735 trunk_z= 113.7mm grav_b=(+0.06,-0.02,-1.00) r=0.65m +[headless_play] t= 14.80s step= 740 trunk_z= 123.6mm grav_b=(+0.07,-0.05,-1.00) r=0.68m +[headless_play] t= 14.90s step= 745 trunk_z= 121.3mm grav_b=(+0.06,-0.08,-1.00) r=0.70m +[headless_play] t= 15.00s step= 750 trunk_z= 119.7mm grav_b=(+0.03,-0.05,-1.00) r=0.72m +[headless_play] t= 15.10s step= 755 trunk_z= 120.6mm grav_b=(+0.06,+0.04,-1.00) r=0.74m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(+0.08,+0.00,-1.00) r=0.76m +[headless_play] t= 15.30s step= 765 trunk_z= 120.3mm grav_b=(+0.06,-0.04,-1.00) r=0.78m +[headless_play] t= 15.40s step= 770 trunk_z= 121.2mm grav_b=(+0.05,-0.05,-1.00) r=0.80m +[headless_play] t= 15.50s step= 775 trunk_z= 112.0mm grav_b=(+0.03,-0.00,-1.00) r=0.83m +[headless_play] t= 15.60s step= 780 trunk_z= 121.6mm grav_b=(+0.06,+0.04,-1.00) r=0.85m +[headless_play] t= 15.70s step= 785 trunk_z= 119.4mm grav_b=(+0.06,+0.04,-1.00) r=0.87m +[headless_play] t= 15.80s step= 790 trunk_z= 115.1mm grav_b=(+0.05,-0.03,-1.00) r=0.89m +[headless_play] t= 15.90s step= 795 trunk_z= 117.3mm grav_b=(+0.07,+0.03,-1.00) r=0.91m +[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(+0.11,+0.11,-0.99) r=0.93m +[headless_play] t= 16.10s step= 805 trunk_z= 120.6mm grav_b=(+0.11,+0.05,-0.99) r=0.97m +[headless_play] t= 16.20s step= 810 trunk_z= 102.6mm grav_b=(+0.09,-0.09,-0.99) r=1.02m +[headless_play] t= 16.30s step= 815 trunk_z= 116.6mm grav_b=(+0.10,-0.11,-0.99) r=1.07m +[headless_play] t= 16.40s step= 820 trunk_z= 105.4mm grav_b=(+0.05,-0.12,-0.99) r=1.12m +[headless_play] t= 16.50s step= 825 trunk_z= 94.6mm grav_b=(+0.05,+0.05,-1.00) r=1.17m +[headless_play] t= 16.60s step= 830 trunk_z= 97.8mm grav_b=(+0.07,+0.10,-0.99) r=1.21m +[headless_play] t= 16.70s step= 835 trunk_z= 86.1mm grav_b=(+0.04,-0.02,-1.00) r=1.26m +[headless_play] t= 16.80s step= 840 trunk_z= 85.9mm grav_b=(+0.02,-0.14,-0.99) r=1.31m +[headless_play] t= 16.90s step= 845 trunk_z= 75.9mm grav_b=(+0.02,-0.12,-0.99) r=1.35m +[headless_play] t= 17.00s step= 850 trunk_z= 65.1mm grav_b=(+0.07,+0.04,-1.00) r=1.39m +[headless_play] t= 17.10s step= 855 trunk_z= 69.7mm grav_b=(+0.13,+0.12,-0.98) r=1.42m +[headless_play] t= 17.20s step= 860 trunk_z= 73.3mm grav_b=(+0.08,+0.08,-0.99) r=1.45m +[headless_play] t= 17.30s step= 865 trunk_z= 62.7mm grav_b=(+0.03,-0.14,-0.99) r=1.51m +[headless_play] t= 17.40s step= 870 trunk_z= 53.6mm grav_b=(-0.01,-0.12,-0.99) r=1.58m +[headless_play] t= 17.50s step= 875 trunk_z= 41.0mm grav_b=(+0.06,+0.04,-1.00) r=1.65m +[headless_play] t= 17.60s step= 880 trunk_z= 48.4mm grav_b=(+0.17,+0.27,-0.95) r=1.72m +[headless_play] t= 17.70s step= 885 trunk_z= 15.5mm grav_b=(+0.17,+0.39,-0.91) r=1.81m +[headless_play] t= 17.80s step= 890 trunk_z= 3.4mm grav_b=(+0.21,+0.69,-0.69) r=1.89m +[headless_play] t= 17.90s step= 895 trunk_z= -62.0mm grav_b=(+0.54,+0.74,-0.39) r=1.99m +[headless_play] RESET at t= 17.92s step= 896 (env termination, not a recovery) +[headless_play] t= 18.00s step= 900 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) r=0.35m +[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 18.20s step= 910 trunk_z= 116.1mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 18.30s step= 915 trunk_z= 116.3mm grav_b=(+0.06,+0.01,-1.00) r=0.35m +[headless_play] t= 18.40s step= 920 trunk_z= 117.9mm grav_b=(+0.11,+0.00,-0.99) r=0.35m +[headless_play] t= 18.50s step= 925 trunk_z= 119.3mm grav_b=(+0.16,+0.00,-0.99) r=0.35m +[headless_play] t= 18.60s step= 930 trunk_z= 119.2mm grav_b=(+0.13,-0.03,-0.99) r=0.34m +[headless_play] t= 18.70s step= 935 trunk_z= 125.3mm grav_b=(+0.08,-0.05,-1.00) r=0.33m +[headless_play] t= 18.80s step= 940 trunk_z= 114.5mm grav_b=(+0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(+0.00,-0.03,-1.00) r=0.35m +[headless_play] t= 19.00s step= 950 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.35m +[headless_play] t= 19.10s step= 955 trunk_z= 118.1mm grav_b=(+0.07,-0.02,-1.00) r=0.35m +[headless_play] t= 19.20s step= 960 trunk_z= 120.3mm grav_b=(+0.13,-0.02,-0.99) r=0.34m +[headless_play] t= 19.30s step= 965 trunk_z= 121.7mm grav_b=(+0.18,-0.02,-0.98) r=0.33m +[headless_play] t= 19.40s step= 970 trunk_z= 114.1mm grav_b=(+0.04,-0.07,-1.00) r=0.31m +[headless_play] t= 19.50s step= 975 trunk_z= 123.1mm grav_b=(+0.01,-0.09,-1.00) r=0.30m +[headless_play] t= 19.60s step= 980 trunk_z= 118.1mm grav_b=(+0.00,-0.06,-1.00) r=0.30m +[headless_play] t= 19.70s step= 985 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.30m +[headless_play] t= 19.80s step= 990 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=0.30m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(+0.04,+0.00,-1.00) r=0.30m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t8/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x2c8f0880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t8/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t8/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t9.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..62fc575441f55cb7bc036621f7008cbc04324161 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/v2-a-t9.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.673,-18.107,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.05,+0.03,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 120.6mm grav_b=(-0.08,+0.07,-0.99) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 120.4mm grav_b=(-0.08,+0.01,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 117.1mm grav_b=(-0.06,-0.07,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 124.9mm grav_b=(-0.08,-0.08,-0.99) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 120.7mm grav_b=(-0.08,-0.05,-1.00) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 119.8mm grav_b=(-0.09,+0.04,-1.00) r=0.25m +[headless_play] t= 0.80s step= 40 trunk_z= 125.3mm grav_b=(-0.10,+0.04,-0.99) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 121.7mm grav_b=(-0.10,+0.06,-0.99) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(-0.10,-0.04,-0.99) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 122.5mm grav_b=(-0.13,-0.02,-0.99) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(-0.13,+0.01,-0.99) r=0.23m +[headless_play] t= 1.30s step= 65 trunk_z= 122.7mm grav_b=(-0.10,+0.01,-0.99) r=0.23m +[headless_play] t= 1.40s step= 70 trunk_z= 119.7mm grav_b=(-0.10,+0.00,-1.00) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 122.0mm grav_b=(-0.07,-0.07,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 123.5mm grav_b=(-0.09,-0.04,-0.99) r=0.20m +[headless_play] t= 1.70s step= 85 trunk_z= 114.3mm grav_b=(-0.10,+0.01,-0.99) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 124.5mm grav_b=(-0.09,+0.06,-0.99) r=0.18m +[headless_play] t= 1.90s step= 95 trunk_z= 127.8mm grav_b=(-0.09,+0.09,-0.99) r=0.17m +[headless_play] t= 2.00s step= 100 trunk_z= 124.5mm grav_b=(-0.10,+0.09,-0.99) r=0.16m +[headless_play] t= 2.10s step= 105 trunk_z= 121.8mm grav_b=(-0.11,-0.04,-0.99) r=0.14m +[headless_play] t= 2.20s step= 110 trunk_z= 124.8mm grav_b=(-0.11,-0.05,-0.99) r=0.13m +[headless_play] t= 2.30s step= 115 trunk_z= 118.9mm grav_b=(-0.11,-0.02,-0.99) r=0.14m +[headless_play] t= 2.40s step= 120 trunk_z= 122.7mm grav_b=(-0.11,+0.02,-0.99) r=0.14m +[headless_play] t= 2.50s step= 125 trunk_z= 124.0mm grav_b=(-0.09,+0.04,-0.99) r=0.13m +[headless_play] t= 2.60s step= 130 trunk_z= 121.4mm grav_b=(-0.09,+0.02,-1.00) r=0.12m +[headless_play] t= 2.70s step= 135 trunk_z= 124.2mm grav_b=(-0.08,-0.07,-0.99) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 123.1mm grav_b=(-0.09,-0.04,-0.99) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(-0.07,+0.01,-1.00) r=0.12m +[headless_play] t= 3.00s step= 150 trunk_z= 124.7mm grav_b=(-0.08,+0.04,-1.00) r=0.13m +[headless_play] t= 3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.08,+0.04,-1.00) r=0.12m +[headless_play] t= 3.20s step= 160 trunk_z= 119.4mm grav_b=(-0.10,-0.06,-0.99) r=0.11m +[headless_play] t= 3.30s step= 165 trunk_z= 123.5mm grav_b=(-0.16,-0.02,-0.99) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(-0.14,-0.01,-0.99) r=0.12m +[headless_play] t= 3.50s step= 175 trunk_z= 122.1mm grav_b=(-0.11,-0.01,-0.99) r=0.12m +[headless_play] t= 3.60s step= 180 trunk_z= 118.5mm grav_b=(-0.10,-0.01,-1.00) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 122.0mm grav_b=(-0.09,-0.07,-0.99) r=0.08m +[headless_play] t= 3.80s step= 190 trunk_z= 118.4mm grav_b=(-0.15,+0.00,-0.99) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 109.6mm grav_b=(-0.02,+0.08,-1.00) r=0.14m +[headless_play] t= 4.00s step= 200 trunk_z= 121.4mm grav_b=(-0.08,+0.09,-0.99) r=0.15m +[headless_play] t= 4.10s step= 205 trunk_z= 119.4mm grav_b=(-0.07,+0.10,-0.99) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 114.2mm grav_b=(-0.04,+0.04,-1.00) r=0.15m +[headless_play] t= 4.30s step= 215 trunk_z= 119.5mm grav_b=(-0.04,-0.03,-1.00) r=0.15m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.16m +[headless_play] t= 4.50s step= 225 trunk_z= 109.9mm grav_b=(-0.04,+0.05,-1.00) r=0.19m +[headless_play] t= 4.60s step= 230 trunk_z= 120.5mm grav_b=(-0.09,+0.10,-0.99) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 121.1mm grav_b=(-0.10,+0.11,-0.99) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(-0.08,+0.12,-0.99) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(-0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 110.5mm grav_b=(-0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(-0.02,+0.13,-0.99) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 119.5mm grav_b=(-0.01,+0.19,-0.98) r=0.29m +[headless_play] t= 5.40s step= 270 trunk_z= 124.3mm grav_b=(-0.06,+0.21,-0.97) r=0.30m +[headless_play] t= 5.50s step= 275 trunk_z= 131.8mm grav_b=(-0.10,+0.12,-0.99) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 126.0mm grav_b=(-0.04,+0.13,-0.99) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 119.1mm grav_b=(-0.06,+0.14,-0.99) r=0.35m +[headless_play] t= 5.80s step= 290 trunk_z= 128.8mm grav_b=(-0.01,+0.13,-0.99) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 126.8mm grav_b=(-0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 6.00s step= 300 trunk_z= 123.0mm grav_b=(-0.02,-0.09,-1.00) r=0.44m +[headless_play] t= 6.10s step= 305 trunk_z= 123.6mm grav_b=(-0.09,-0.08,-0.99) r=0.46m +[headless_play] t= 6.20s step= 310 trunk_z= 115.8mm grav_b=(-0.11,-0.02,-0.99) r=0.47m +[headless_play] t= 6.30s step= 315 trunk_z= 119.2mm grav_b=(-0.09,-0.01,-1.00) r=0.48m +[headless_play] t= 6.40s step= 320 trunk_z= 115.0mm grav_b=(-0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 6.50s step= 325 trunk_z= 119.2mm grav_b=(-0.14,-0.05,-0.99) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 119.9mm grav_b=(-0.12,-0.02,-0.99) r=0.47m +[headless_play] t= 6.70s step= 335 trunk_z= 104.5mm grav_b=(-0.11,+0.01,-0.99) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 114.1mm grav_b=(-0.05,+0.01,-1.00) r=0.43m +[headless_play] t= 6.90s step= 345 trunk_z= 102.6mm grav_b=(+0.02,-0.05,-1.00) r=0.44m +[headless_play] t= 7.00s step= 350 trunk_z= 112.5mm grav_b=(-0.02,-0.04,-1.00) r=0.46m +[headless_play] t= 7.10s step= 355 trunk_z= 112.2mm grav_b=(-0.06,-0.06,-1.00) r=0.45m +[headless_play] t= 7.20s step= 360 trunk_z= 108.8mm grav_b=(-0.07,+0.01,-1.00) r=0.44m +[headless_play] t= 7.30s step= 365 trunk_z= 125.5mm grav_b=(-0.20,+0.10,-0.98) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 127.0mm grav_b=(-0.15,+0.13,-0.98) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 101.9mm grav_b=(-0.23,+0.17,-0.96) r=0.32m +[headless_play] t= 7.60s step= 380 trunk_z= 105.9mm grav_b=(-0.21,+0.22,-0.95) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 69.1mm grav_b=(+0.06,+0.23,-0.97) r=0.20m +[headless_play] t= 7.80s step= 390 trunk_z= 109.0mm grav_b=(+0.05,+0.27,-0.96) r=0.19m +[headless_play] t= 7.90s step= 395 trunk_z= 131.4mm grav_b=(-0.17,+0.09,-0.98) r=0.19m +[headless_play] t= 8.00s step= 400 trunk_z= 127.2mm grav_b=(-0.01,+0.08,-1.00) r=0.22m +[headless_play] t= 8.10s step= 405 trunk_z= 116.9mm grav_b=(-0.10,+0.04,-0.99) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 123.4mm grav_b=(-0.12,-0.03,-0.99) r=0.29m +[headless_play] t= 8.30s step= 415 trunk_z= 110.5mm grav_b=(-0.11,-0.11,-0.99) r=0.35m +[headless_play] t= 8.40s step= 420 trunk_z= 124.6mm grav_b=(-0.08,-0.12,-0.99) r=0.38m +[headless_play] t= 8.50s step= 425 trunk_z= 126.2mm grav_b=(-0.12,-0.11,-0.99) r=0.39m +[headless_play] t= 8.60s step= 430 trunk_z= 122.2mm grav_b=(-0.15,-0.06,-0.99) r=0.38m +[headless_play] t= 8.70s step= 435 trunk_z= 119.7mm grav_b=(-0.14,-0.01,-0.99) r=0.37m +[headless_play] t= 8.80s step= 440 trunk_z= 121.6mm grav_b=(-0.11,-0.03,-0.99) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 101.5mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 9.00s step= 450 trunk_z= 104.7mm grav_b=(-0.01,+0.06,-1.00) r=0.35m +[headless_play] t= 9.10s step= 455 trunk_z= 108.5mm grav_b=(-0.12,+0.03,-0.99) r=0.33m +[headless_play] t= 9.20s step= 460 trunk_z= 119.3mm grav_b=(-0.14,-0.02,-0.99) r=0.32m +[headless_play] t= 9.30s step= 465 trunk_z= 103.7mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 9.40s step= 470 trunk_z= 102.4mm grav_b=(+0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 9.50s step= 475 trunk_z= 102.9mm grav_b=(+0.01,+0.02,-1.00) r=0.30m +[headless_play] t= 9.60s step= 480 trunk_z= 113.6mm grav_b=(-0.05,+0.04,-1.00) r=0.29m +[headless_play] t= 9.70s step= 485 trunk_z= 114.9mm grav_b=(-0.06,+0.03,-1.00) r=0.31m +[headless_play] t= 9.80s step= 490 trunk_z= 108.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 9.90s step= 495 trunk_z= 119.7mm grav_b=(-0.05,-0.06,-1.00) r=0.35m +[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(-0.07,-0.02,-1.00) r=0.36m +[headless_play] t= 10.10s step= 505 trunk_z= 112.3mm grav_b=(-0.08,+0.05,-1.00) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 121.0mm grav_b=(-0.11,+0.06,-0.99) r=0.36m +[headless_play] t= 10.30s step= 515 trunk_z= 118.9mm grav_b=(-0.11,+0.04,-0.99) r=0.37m +[headless_play] t= 10.40s step= 520 trunk_z= 115.1mm grav_b=(-0.10,-0.04,-0.99) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 120.0mm grav_b=(-0.06,-0.05,-1.00) r=0.41m +[headless_play] t= 10.60s step= 530 trunk_z= 112.7mm grav_b=(-0.06,-0.03,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 118.8mm grav_b=(-0.16,+0.11,-0.98) r=0.40m +[headless_play] t= 10.80s step= 540 trunk_z= 129.7mm grav_b=(-0.17,+0.17,-0.97) r=0.38m +[headless_play] t= 10.90s step= 545 trunk_z= 126.9mm grav_b=(-0.17,+0.22,-0.96) r=0.34m +[headless_play] t= 11.00s step= 550 trunk_z= 125.6mm grav_b=(-0.26,+0.21,-0.94) r=0.28m +[headless_play] t= 11.10s step= 555 trunk_z= 72.5mm grav_b=(-0.25,+0.03,-0.97) r=0.19m +[headless_play] t= 11.20s step= 560 trunk_z= 87.5mm grav_b=(-0.05,+0.02,-1.00) r=0.18m +[headless_play] t= 11.30s step= 565 trunk_z= 105.6mm grav_b=(-0.04,-0.03,-1.00) r=0.19m +[headless_play] t= 11.40s step= 570 trunk_z= 118.6mm grav_b=(-0.07,-0.06,-1.00) r=0.20m +[headless_play] t= 11.50s step= 575 trunk_z= 118.5mm grav_b=(-0.09,+0.06,-0.99) r=0.20m +[headless_play] t= 11.60s step= 580 trunk_z= 124.9mm grav_b=(-0.10,+0.10,-0.99) r=0.21m +[headless_play] t= 11.70s step= 585 trunk_z= 126.9mm grav_b=(-0.09,+0.09,-0.99) r=0.22m +[headless_play] t= 11.80s step= 590 trunk_z= 122.3mm grav_b=(-0.08,+0.07,-0.99) r=0.24m +[headless_play] t= 11.90s step= 595 trunk_z= 124.6mm grav_b=(-0.07,-0.08,-0.99) r=0.26m +[headless_play] t= 12.00s step= 600 trunk_z= 125.3mm grav_b=(-0.10,-0.06,-0.99) r=0.27m +[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(-0.13,+0.00,-0.99) r=0.26m +[headless_play] t= 12.20s step= 610 trunk_z= 125.6mm grav_b=(-0.08,+0.04,-1.00) r=0.26m +[headless_play] t= 12.30s step= 615 trunk_z= 125.7mm grav_b=(-0.07,+0.07,-1.00) r=0.28m +[headless_play] t= 12.40s step= 620 trunk_z= 120.4mm grav_b=(-0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 12.50s step= 625 trunk_z= 125.4mm grav_b=(-0.08,-0.08,-0.99) r=0.32m +[headless_play] t= 12.60s step= 630 trunk_z= 124.7mm grav_b=(-0.08,-0.06,-0.99) r=0.34m +[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.08,-0.00,-1.00) r=0.34m +[headless_play] t= 12.80s step= 640 trunk_z= 124.6mm grav_b=(-0.10,+0.04,-0.99) r=0.34m +[headless_play] t= 12.90s step= 645 trunk_z= 122.0mm grav_b=(-0.10,+0.02,-0.99) r=0.36m +[headless_play] t= 13.00s step= 650 trunk_z= 119.6mm grav_b=(-0.08,-0.04,-1.00) r=0.39m +[headless_play] t= 13.10s step= 655 trunk_z= 124.0mm grav_b=(-0.04,-0.02,-1.00) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 120.5mm grav_b=(-0.05,+0.02,-1.00) r=0.42m +[headless_play] t= 13.30s step= 665 trunk_z= 124.9mm grav_b=(-0.09,+0.08,-0.99) r=0.43m +[headless_play] t= 13.40s step= 670 trunk_z= 126.1mm grav_b=(-0.10,+0.07,-0.99) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 120.4mm grav_b=(-0.13,+0.02,-0.99) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 123.6mm grav_b=(-0.12,-0.05,-0.99) r=0.50m +[headless_play] t= 13.70s step= 685 trunk_z= 122.1mm grav_b=(-0.14,-0.03,-0.99) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 120.9mm grav_b=(-0.15,+0.03,-0.99) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 125.0mm grav_b=(-0.14,+0.04,-0.99) r=0.46m +[headless_play] t= 14.00s step= 700 trunk_z= 119.1mm grav_b=(-0.15,+0.01,-0.99) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 122.6mm grav_b=(-0.11,-0.04,-0.99) r=0.50m +[headless_play] t= 14.20s step= 710 trunk_z= 121.5mm grav_b=(-0.13,-0.00,-0.99) r=0.50m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(-0.13,+0.04,-0.99) r=0.50m +[headless_play] t= 14.40s step= 720 trunk_z= 124.7mm grav_b=(-0.10,+0.03,-0.99) r=0.50m +[headless_play] t= 14.50s step= 725 trunk_z= 120.4mm grav_b=(-0.11,+0.02,-0.99) r=0.53m +[headless_play] t= 14.60s step= 730 trunk_z= 122.4mm grav_b=(-0.07,-0.04,-1.00) r=0.56m +[headless_play] t= 14.70s step= 735 trunk_z= 127.5mm grav_b=(+0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(-0.10,+0.03,-0.99) r=0.63m +[headless_play] t= 14.90s step= 745 trunk_z= 126.2mm grav_b=(-0.12,+0.14,-0.98) r=0.65m +[headless_play] t= 15.00s step= 750 trunk_z= 130.1mm grav_b=(-0.14,+0.15,-0.98) r=0.66m +[headless_play] t= 15.10s step= 755 trunk_z= 126.1mm grav_b=(-0.13,+0.08,-0.99) r=0.67m +[headless_play] t= 15.20s step= 760 trunk_z= 121.0mm grav_b=(-0.11,+0.00,-0.99) r=0.68m +[headless_play] t= 15.30s step= 765 trunk_z= 122.4mm grav_b=(-0.09,-0.03,-1.00) r=0.69m +[headless_play] t= 15.40s step= 770 trunk_z= 122.2mm grav_b=(-0.08,-0.06,-0.99) r=0.69m +[headless_play] t= 15.50s step= 775 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.69m +[headless_play] t= 15.60s step= 780 trunk_z= 125.4mm grav_b=(-0.10,+0.05,-0.99) r=0.70m +[headless_play] t= 15.70s step= 785 trunk_z= 119.0mm grav_b=(-0.09,+0.02,-1.00) r=0.72m +[headless_play] t= 15.80s step= 790 trunk_z= 122.1mm grav_b=(-0.03,-0.03,-1.00) r=0.75m +[headless_play] t= 15.90s step= 795 trunk_z= 122.1mm grav_b=(-0.05,+0.00,-1.00) r=0.76m +[headless_play] t= 16.00s step= 800 trunk_z= 117.7mm grav_b=(-0.06,+0.08,-1.00) r=0.78m +[headless_play] t= 16.10s step= 805 trunk_z= 123.6mm grav_b=(-0.11,+0.03,-0.99) r=0.79m +[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(-0.10,-0.04,-0.99) r=0.81m +[headless_play] t= 16.30s step= 815 trunk_z= 121.1mm grav_b=(-0.10,-0.03,-0.99) r=0.82m +[headless_play] t= 16.40s step= 820 trunk_z= 120.0mm grav_b=(-0.13,-0.02,-0.99) r=0.81m +[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(-0.12,-0.00,-0.99) r=0.80m +[headless_play] t= 16.60s step= 830 trunk_z= 120.4mm grav_b=(-0.09,+0.01,-1.00) r=0.79m +[headless_play] t= 16.70s step= 835 trunk_z= 120.6mm grav_b=(-0.06,+0.02,-1.00) r=0.78m +[headless_play] t= 16.80s step= 840 trunk_z= 113.3mm grav_b=(-0.06,-0.01,-1.00) r=0.77m +[headless_play] t= 16.90s step= 845 trunk_z= 116.2mm grav_b=(-0.08,-0.01,-1.00) r=0.77m +[headless_play] t= 17.00s step= 850 trunk_z= 109.2mm grav_b=(-0.07,+0.00,-1.00) r=0.76m +[headless_play] t= 17.10s step= 855 trunk_z= 121.4mm grav_b=(-0.09,+0.12,-0.99) r=0.76m +[headless_play] t= 17.20s step= 860 trunk_z= 122.7mm grav_b=(-0.07,+0.25,-0.97) r=0.76m +[headless_play] t= 17.30s step= 865 trunk_z= 118.9mm grav_b=(-0.09,+0.41,-0.91) r=0.75m +[headless_play] t= 17.40s step= 870 trunk_z= 107.1mm grav_b=(-0.08,+0.65,-0.75) r=0.73m +[headless_play] t= 17.50s step= 875 trunk_z= 49.9mm grav_b=(+0.08,+0.90,-0.42) r=0.71m +[headless_play] RESET at t= 17.52s step= 876 (env termination, not a recovery) +[headless_play] t= 17.60s step= 880 trunk_z= 114.9mm grav_b=(-0.02,+0.01,-1.00) r=0.13m +[headless_play] t= 17.70s step= 885 trunk_z= 113.7mm grav_b=(-0.02,+0.05,-1.00) r=0.14m +[headless_play] t= 17.80s step= 890 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.14m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(-0.07,-0.07,-1.00) r=0.14m +[headless_play] t= 18.00s step= 900 trunk_z= 122.3mm grav_b=(-0.06,-0.05,-1.00) r=0.15m +[headless_play] t= 18.10s step= 905 trunk_z= 112.4mm grav_b=(+0.05,+0.08,-1.00) r=0.20m +[headless_play] t= 18.20s step= 910 trunk_z= 130.3mm grav_b=(+0.06,+0.10,-0.99) r=0.24m +[headless_play] t= 18.30s step= 915 trunk_z= 128.7mm grav_b=(-0.05,+0.07,-1.00) r=0.29m +[headless_play] t= 18.40s step= 920 trunk_z= 124.5mm grav_b=(-0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 18.50s step= 925 trunk_z= 121.7mm grav_b=(-0.14,+0.01,-0.99) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 119.3mm grav_b=(-0.13,+0.06,-0.99) r=0.36m +[headless_play] t= 18.70s step= 935 trunk_z= 119.8mm grav_b=(-0.15,+0.01,-0.99) r=0.36m +[headless_play] t= 18.80s step= 940 trunk_z= 115.8mm grav_b=(-0.09,-0.04,-0.99) r=0.36m +[headless_play] t= 18.90s step= 945 trunk_z= 119.1mm grav_b=(-0.05,-0.03,-1.00) r=0.37m +[headless_play] t= 19.00s step= 950 trunk_z= 112.9mm grav_b=(-0.07,+0.07,-1.00) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 125.2mm grav_b=(-0.11,+0.16,-0.98) r=0.38m +[headless_play] t= 19.20s step= 960 trunk_z= 128.2mm grav_b=(-0.16,+0.22,-0.96) r=0.38m +[headless_play] t= 19.30s step= 965 trunk_z= 126.2mm grav_b=(-0.13,+0.27,-0.95) r=0.39m +[headless_play] t= 19.40s step= 970 trunk_z= 122.0mm grav_b=(-0.17,+0.44,-0.88) r=0.38m +[headless_play] t= 19.50s step= 975 trunk_z= 102.1mm grav_b=(-0.25,+0.71,-0.66) r=0.37m +[headless_play] RESET at t= 19.58s step= 979 (env termination, not a recovery) +[headless_play] t= 19.60s step= 980 trunk_z= 126.4mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 19.70s step= 985 trunk_z= 114.7mm grav_b=(-0.00,+0.01,-1.00) r=0.44m +[headless_play] t= 19.80s step= 990 trunk_z= 117.2mm grav_b=(-0.04,+0.05,-1.00) r=0.44m +[headless_play] t= 19.90s step= 995 trunk_z= 118.6mm grav_b=(-0.06,-0.02,-1.00) r=0.43m +BrokenPipeError: [Errno 32] Broken pipe + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 270, in + File "/home/witcheer/Pollen/microduck_rl/headless_play.py", line 142, in run + raise RuntimeError(f"Error writing '{self.path}': {s}") +RuntimeError: Error writing '/home/witcheer/Pollen/clips/tmp-play-v2-a-t9/videos/play/rl-video-step-0.mp4': [out#0/mp4 @ 0x44e40880] Error opening output /home/witcheer/Pollen/clips/tmp-play-v2-a-t9/videos/play/rl-video-step-0.mp4: No such file or directory +Error opening output file /home/witcheer/Pollen/clips/tmp-play-v2-a-t9/videos/play/rl-video-step-0.mp4. +Error opening output files: No such file or directory diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t1.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..03a6b923659ccaa184212a7a9ad49ddc25cb505d --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.767,-18.280,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 114.6mm grav_b=(+0.03,+0.07,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.02,+0.05,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 109.4mm grav_b=(+0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 118.7mm grav_b=(+0.01,-0.04,-1.00) r=0.29m +[headless_play] t= 0.60s step= 30 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(-0.02,+0.08,-1.00) r=0.27m +[headless_play] t= 0.80s step= 40 trunk_z= 115.2mm grav_b=(+0.06,+0.00,-1.00) r=0.25m +[headless_play] t= 0.90s step= 45 trunk_z= 112.8mm grav_b=(+0.02,-0.04,-1.00) r=0.21m +[headless_play] t= 1.00s step= 50 trunk_z= 118.0mm grav_b=(+0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 1.10s step= 55 trunk_z= 114.0mm grav_b=(+0.01,+0.03,-1.00) r=0.18m +[headless_play] t= 1.20s step= 60 trunk_z= 119.7mm grav_b=(-0.01,+0.05,-1.00) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 117.6mm grav_b=(-0.00,+0.02,-1.00) r=0.15m +[headless_play] t= 1.40s step= 70 trunk_z= 113.4mm grav_b=(-0.01,-0.01,-1.00) r=0.13m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.01,+0.05,-1.00) r=0.12m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(+0.03,+0.09,-1.00) r=0.13m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.03,+0.03,-1.00) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 110.0mm grav_b=(+0.00,+0.00,-1.00) r=0.09m +[headless_play] t= 1.90s step= 95 trunk_z= 121.2mm grav_b=(-0.05,-0.03,-1.00) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 121.1mm grav_b=(-0.06,-0.00,-1.00) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 117.5mm grav_b=(-0.05,+0.06,-1.00) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 121.8mm grav_b=(-0.02,+0.04,-1.00) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 116.6mm grav_b=(-0.04,+0.03,-1.00) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 113.9mm grav_b=(-0.00,-0.01,-1.00) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 112.8mm grav_b=(+0.01,+0.01,-1.00) r=0.06m +[headless_play] t= 2.60s step= 130 trunk_z= 110.8mm grav_b=(+0.02,+0.08,-1.00) r=0.07m +[headless_play] t= 2.70s step= 135 trunk_z= 120.1mm grav_b=(+0.03,+0.06,-1.00) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 113.5mm grav_b=(+0.03,+0.04,-1.00) r=0.07m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.00,-0.02,-1.00) r=0.07m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 112.1mm grav_b=(-0.01,+0.09,-1.00) r=0.11m +[headless_play] t= 3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.01,+0.08,-1.00) r=0.13m +[headless_play] t= 3.30s step= 165 trunk_z= 119.3mm grav_b=(-0.01,+0.08,-1.00) r=0.14m +[headless_play] t= 3.40s step= 170 trunk_z= 111.0mm grav_b=(+0.02,-0.00,-1.00) r=0.15m +[headless_play] t= 3.50s step= 175 trunk_z= 116.9mm grav_b=(+0.04,-0.03,-1.00) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 112.4mm grav_b=(+0.06,+0.02,-1.00) r=0.17m +[headless_play] t= 3.70s step= 185 trunk_z= 116.7mm grav_b=(-0.03,+0.06,-1.00) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 120.8mm grav_b=(-0.04,+0.01,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 114.4mm grav_b=(-0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 115.0mm grav_b=(+0.06,+0.03,-1.00) r=0.16m +[headless_play] t= 4.10s step= 205 trunk_z= 114.8mm grav_b=(+0.06,+0.07,-1.00) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 116.7mm grav_b=(+0.04,+0.03,-1.00) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 113.0mm grav_b=(+0.03,-0.03,-1.00) r=0.17m +[headless_play] t= 4.40s step= 220 trunk_z= 119.4mm grav_b=(+0.01,-0.04,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 114.7mm grav_b=(+0.02,+0.02,-1.00) r=0.20m +[headless_play] t= 4.60s step= 230 trunk_z= 121.7mm grav_b=(+0.00,+0.06,-1.00) r=0.23m +[headless_play] t= 4.70s step= 235 trunk_z= 122.6mm grav_b=(+0.00,+0.08,-1.00) r=0.24m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(+0.03,+0.05,-1.00) r=0.25m +[headless_play] t= 4.90s step= 245 trunk_z= 121.7mm grav_b=(-0.00,-0.08,-1.00) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 121.4mm grav_b=(+0.00,-0.06,-1.00) r=0.28m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.01,+0.04,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 124.1mm grav_b=(+0.01,+0.05,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 121.3mm grav_b=(+0.07,+0.06,-1.00) r=0.34m +[headless_play] t= 5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.03,-0.03,-1.00) r=0.36m +[headless_play] t= 5.50s step= 275 trunk_z= 122.7mm grav_b=(+0.01,-0.05,-1.00) r=0.39m +[headless_play] t= 5.60s step= 280 trunk_z= 116.1mm grav_b=(-0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 5.70s step= 285 trunk_z= 123.4mm grav_b=(-0.05,+0.05,-1.00) r=0.43m +[headless_play] t= 5.80s step= 290 trunk_z= 123.5mm grav_b=(-0.04,+0.03,-1.00) r=0.43m +[headless_play] t= 5.90s step= 295 trunk_z= 113.4mm grav_b=(-0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 6.00s step= 300 trunk_z= 118.5mm grav_b=(+0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 6.10s step= 305 trunk_z= 114.4mm grav_b=(+0.03,+0.00,-1.00) r=0.46m +[headless_play] t= 6.20s step= 310 trunk_z= 122.8mm grav_b=(+0.02,+0.08,-1.00) r=0.49m +[headless_play] t= 6.30s step= 315 trunk_z= 124.1mm grav_b=(+0.05,+0.10,-0.99) r=0.51m +[headless_play] t= 6.40s step= 320 trunk_z= 122.7mm grav_b=(+0.04,+0.08,-1.00) r=0.53m +[headless_play] t= 6.50s step= 325 trunk_z= 121.9mm grav_b=(+0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 6.60s step= 330 trunk_z= 121.5mm grav_b=(+0.00,-0.01,-1.00) r=0.58m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.04,+0.04,-1.00) r=0.60m +[headless_play] t= 6.80s step= 340 trunk_z= 123.7mm grav_b=(-0.04,+0.03,-1.00) r=0.61m +[headless_play] t= 6.90s step= 345 trunk_z= 124.6mm grav_b=(-0.06,+0.06,-1.00) r=0.61m +[headless_play] t= 7.00s step= 350 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 7.10s step= 355 trunk_z= 117.8mm grav_b=(+0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=0.64m +[headless_play] t= 7.30s step= 365 trunk_z= 121.0mm grav_b=(+0.04,+0.08,-1.00) r=0.66m +[headless_play] t= 7.40s step= 370 trunk_z= 121.5mm grav_b=(-0.00,+0.06,-1.00) r=0.67m +[headless_play] t= 7.50s step= 375 trunk_z= 112.0mm grav_b=(-0.03,-0.01,-1.00) r=0.68m +[headless_play] t= 7.60s step= 380 trunk_z= 120.7mm grav_b=(-0.02,-0.05,-1.00) r=0.69m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(+0.00,-0.02,-1.00) r=0.71m +[headless_play] t= 7.80s step= 390 trunk_z= 119.0mm grav_b=(+0.03,+0.06,-1.00) r=0.73m +[headless_play] t= 7.90s step= 395 trunk_z= 121.4mm grav_b=(+0.06,+0.05,-1.00) r=0.75m +[headless_play] t= 8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.76m +[headless_play] t= 8.10s step= 405 trunk_z= 121.1mm grav_b=(-0.01,-0.05,-1.00) r=0.79m +[headless_play] t= 8.20s step= 410 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.80m +[headless_play] t= 8.30s step= 415 trunk_z= 121.2mm grav_b=(+0.01,+0.08,-1.00) r=0.82m +[headless_play] t= 8.40s step= 420 trunk_z= 124.0mm grav_b=(+0.03,+0.10,-0.99) r=0.83m +[headless_play] t= 8.50s step= 425 trunk_z= 123.2mm grav_b=(+0.04,+0.10,-0.99) r=0.85m +[headless_play] t= 8.60s step= 430 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.87m +[headless_play] t= 8.70s step= 435 trunk_z= 123.1mm grav_b=(+0.03,-0.03,-1.00) r=0.89m +[headless_play] t= 8.80s step= 440 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=0.90m +[headless_play] t= 8.90s step= 445 trunk_z= 124.9mm grav_b=(-0.01,+0.05,-1.00) r=0.92m +[headless_play] t= 9.00s step= 450 trunk_z= 121.4mm grav_b=(-0.02,+0.05,-1.00) r=0.94m +[headless_play] t= 9.10s step= 455 trunk_z= 117.9mm grav_b=(-0.10,-0.05,-0.99) r=0.94m +[headless_play] t= 9.20s step= 460 trunk_z= 125.3mm grav_b=(-0.14,-0.05,-0.99) r=0.94m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(-0.08,+0.01,-1.00) r=0.91m +[headless_play] t= 9.40s step= 470 trunk_z= 124.4mm grav_b=(-0.02,+0.02,-1.00) r=0.90m +[headless_play] t= 9.50s step= 475 trunk_z= 118.2mm grav_b=(-0.01,+0.04,-1.00) r=0.89m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.89m +[headless_play] t= 9.70s step= 485 trunk_z= 119.5mm grav_b=(+0.03,+0.03,-1.00) r=0.90m +[headless_play] t= 9.80s step= 490 trunk_z= 124.7mm grav_b=(-0.04,+0.12,-0.99) r=0.91m +[headless_play] t= 9.90s step= 495 trunk_z= 127.6mm grav_b=(-0.06,+0.11,-0.99) r=0.92m +[headless_play] t= 10.00s step= 500 trunk_z= 124.5mm grav_b=(-0.03,+0.08,-1.00) r=0.93m +[headless_play] t= 10.10s step= 505 trunk_z= 118.9mm grav_b=(-0.03,-0.05,-1.00) r=0.95m +[headless_play] t= 10.20s step= 510 trunk_z= 124.5mm grav_b=(+0.00,-0.04,-1.00) r=0.96m +[headless_play] t= 10.30s step= 515 trunk_z= 120.9mm grav_b=(+0.01,+0.00,-1.00) r=0.97m +[headless_play] t= 10.40s step= 520 trunk_z= 125.5mm grav_b=(+0.01,+0.05,-1.00) r=0.98m +[headless_play] t= 10.50s step= 525 trunk_z= 124.8mm grav_b=(-0.00,+0.06,-1.00) r=0.99m +[headless_play] t= 10.60s step= 530 trunk_z= 117.3mm grav_b=(-0.07,+0.03,-1.00) r=1.00m +[headless_play] t= 10.70s step= 535 trunk_z= 123.6mm grav_b=(-0.07,-0.03,-1.00) r=1.01m +[headless_play] t= 10.80s step= 540 trunk_z= 120.8mm grav_b=(-0.06,-0.01,-1.00) r=1.01m +[headless_play] t= 10.90s step= 545 trunk_z= 122.0mm grav_b=(-0.02,+0.05,-1.00) r=1.00m +[headless_play] t= 11.00s step= 550 trunk_z= 122.9mm grav_b=(+0.01,+0.03,-1.00) r=1.01m +[headless_play] t= 11.10s step= 555 trunk_z= 115.5mm grav_b=(+0.01,-0.02,-1.00) r=1.04m +[headless_play] t= 11.20s step= 560 trunk_z= 122.5mm grav_b=(-0.01,-0.09,-1.00) r=1.07m +[headless_play] t= 11.30s step= 565 trunk_z= 121.9mm grav_b=(+0.01,-0.10,-0.99) r=1.10m +[headless_play] t= 11.40s step= 570 trunk_z= 119.4mm grav_b=(+0.06,-0.03,-1.00) r=1.14m +[headless_play] t= 11.50s step= 575 trunk_z= 112.5mm grav_b=(+0.03,+0.07,-1.00) r=1.18m +[headless_play] t= 11.60s step= 580 trunk_z= 114.0mm grav_b=(-0.00,+0.08,-1.00) r=1.21m +[headless_play] t= 11.70s step= 585 trunk_z= 102.7mm grav_b=(-0.01,+0.05,-1.00) r=1.25m +[headless_play] t= 11.80s step= 590 trunk_z= 94.2mm grav_b=(+0.03,-0.05,-1.00) r=1.28m +[headless_play] t= 11.90s step= 595 trunk_z= 97.3mm grav_b=(-0.01,-0.01,-1.00) r=1.30m +[headless_play] t= 12.00s step= 600 trunk_z= 86.6mm grav_b=(+0.02,+0.01,-1.00) r=1.33m +[headless_play] t= 12.10s step= 605 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.36m +[headless_play] t= 12.20s step= 610 trunk_z= 68.5mm grav_b=(-0.04,-0.03,-1.00) r=1.41m +[headless_play] t= 12.30s step= 615 trunk_z= 67.2mm grav_b=(-0.04,-0.07,-1.00) r=1.44m +[headless_play] t= 12.40s step= 620 trunk_z= 68.0mm grav_b=(-0.02,-0.04,-1.00) r=1.46m +[headless_play] t= 12.50s step= 625 trunk_z= 59.5mm grav_b=(-0.00,+0.02,-1.00) r=1.47m +[headless_play] t= 12.60s step= 630 trunk_z= 67.9mm grav_b=(+0.00,+0.01,-1.00) r=1.49m +[headless_play] t= 12.70s step= 635 trunk_z= 59.2mm grav_b=(-0.03,-0.01,-1.00) r=1.52m +[headless_play] t= 12.80s step= 640 trunk_z= 53.3mm grav_b=(-0.02,-0.15,-0.99) r=1.56m +[headless_play] t= 12.90s step= 645 trunk_z= 56.1mm grav_b=(-0.02,-0.05,-1.00) r=1.59m +[headless_play] t= 13.00s step= 650 trunk_z= 44.5mm grav_b=(+0.09,-0.04,-1.00) r=1.64m +[headless_play] t= 13.10s step= 655 trunk_z= 31.0mm grav_b=(+0.10,+0.03,-0.99) r=1.70m +[headless_play] t= 13.20s step= 660 trunk_z= 48.6mm grav_b=(+0.03,+0.05,-1.00) r=1.74m +[headless_play] t= 13.30s step= 665 trunk_z= 34.2mm grav_b=(-0.04,+0.04,-1.00) r=1.79m +[headless_play] t= 13.40s step= 670 trunk_z= 13.4mm grav_b=(-0.02,+0.05,-1.00) r=1.84m +[headless_play] t= 13.50s step= 675 trunk_z= 15.5mm grav_b=(-0.02,+0.06,-1.00) r=1.85m +[headless_play] t= 13.60s step= 680 trunk_z= 16.1mm grav_b=(-0.07,+0.10,-0.99) r=1.85m +[headless_play] t= 13.70s step= 685 trunk_z= 25.0mm grav_b=(-0.09,+0.09,-0.99) r=1.86m +[headless_play] t= 13.80s step= 690 trunk_z= 23.8mm grav_b=(-0.06,+0.08,-1.00) r=1.88m +[headless_play] t= 13.90s step= 695 trunk_z= 12.0mm grav_b=(-0.04,+0.03,-1.00) r=1.91m +[headless_play] t= 14.00s step= 700 trunk_z= 12.1mm grav_b=(-0.01,-0.10,-0.99) r=1.94m +[headless_play] t= 14.10s step= 705 trunk_z= 11.8mm grav_b=(+0.01,-0.12,-0.99) r=1.96m +[headless_play] t= 14.20s step= 710 trunk_z= 7.2mm grav_b=(+0.01,-0.10,-0.99) r=1.98m +[headless_play] t= 14.30s step= 715 trunk_z= 2.5mm grav_b=(-0.04,-0.05,-1.00) r=2.01m +[headless_play] t= 14.40s step= 720 trunk_z= 5.1mm grav_b=(-0.05,-0.00,-1.00) r=2.02m +[headless_play] t= 14.50s step= 725 trunk_z= -3.0mm grav_b=(-0.08,+0.03,-1.00) r=2.02m +[headless_play] t= 14.60s step= 730 trunk_z= 4.5mm grav_b=(-0.07,+0.08,-0.99) r=2.02m +[headless_play] t= 14.70s step= 735 trunk_z= 0.0mm grav_b=(-0.02,+0.14,-0.99) r=1.99m +[headless_play] t= 14.80s step= 740 trunk_z= 10.1mm grav_b=(-0.00,+0.15,-0.99) r=1.98m +[headless_play] t= 14.90s step= 745 trunk_z= 13.3mm grav_b=(-0.00,+0.23,-0.97) r=1.98m +[headless_play] t= 15.00s step= 750 trunk_z= 7.7mm grav_b=(+0.07,+0.08,-0.99) r=1.99m +[headless_play] t= 15.10s step= 755 trunk_z= -3.2mm grav_b=(-0.01,+0.15,-0.99) r=2.03m +[headless_play] t= 15.20s step= 760 trunk_z= -3.7mm grav_b=(-0.02,+0.14,-0.99) r=2.01m +[headless_play] t= 15.30s step= 765 trunk_z= -0.1mm grav_b=(-0.09,+0.14,-0.99) r=1.99m +[headless_play] t= 15.40s step= 770 trunk_z= 9.1mm grav_b=(-0.09,+0.18,-0.98) r=1.98m +[headless_play] t= 15.50s step= 775 trunk_z= 11.9mm grav_b=(+0.04,+0.12,-0.99) r=1.97m +[headless_play] t= 15.60s step= 780 trunk_z= 11.3mm grav_b=(+0.05,+0.15,-0.99) r=1.97m +[headless_play] t= 15.70s step= 785 trunk_z= 9.7mm grav_b=(+0.05,+0.13,-0.99) r=1.97m +[headless_play] t= 15.80s step= 790 trunk_z= 7.6mm grav_b=(-0.05,+0.11,-0.99) r=1.97m +[headless_play] t= 15.90s step= 795 trunk_z= 4.1mm grav_b=(-0.04,+0.05,-1.00) r=1.97m +[headless_play] t= 16.00s step= 800 trunk_z= 6.3mm grav_b=(-0.01,+0.07,-1.00) r=1.97m +[headless_play] t= 16.10s step= 805 trunk_z= 4.3mm grav_b=(+0.06,+0.06,-1.00) r=1.96m +[headless_play] t= 16.20s step= 810 trunk_z= 13.6mm grav_b=(+0.05,-0.01,-1.00) r=1.94m +[headless_play] t= 16.30s step= 815 trunk_z= -3.1mm grav_b=(-0.08,+0.00,-1.00) r=1.90m +[headless_play] t= 16.40s step= 820 trunk_z= 6.6mm grav_b=(-0.07,-0.01,-1.00) r=1.90m +[headless_play] t= 16.50s step= 825 trunk_z= 5.7mm grav_b=(-0.06,+0.06,-1.00) r=1.89m +[headless_play] t= 16.60s step= 830 trunk_z= 12.8mm grav_b=(-0.03,+0.08,-1.00) r=1.89m +[headless_play] t= 16.70s step= 835 trunk_z= 16.7mm grav_b=(-0.06,+0.06,-1.00) r=1.87m +[headless_play] t= 16.80s step= 840 trunk_z= 11.6mm grav_b=(+0.01,-0.03,-1.00) r=1.86m +[headless_play] t= 16.90s step= 845 trunk_z= 13.4mm grav_b=(-0.02,-0.01,-1.00) r=1.86m +[headless_play] t= 17.00s step= 850 trunk_z= 7.6mm grav_b=(-0.05,+0.05,-1.00) r=1.85m +[headless_play] t= 17.10s step= 855 trunk_z= 14.6mm grav_b=(-0.05,+0.05,-1.00) r=1.85m +[headless_play] t= 17.20s step= 860 trunk_z= 13.1mm grav_b=(-0.05,+0.03,-1.00) r=1.84m +[headless_play] t= 17.30s step= 865 trunk_z= 1.6mm grav_b=(+0.01,-0.01,-1.00) r=1.84m +[headless_play] t= 17.40s step= 870 trunk_z= 7.3mm grav_b=(+0.04,-0.04,-1.00) r=1.85m +[headless_play] t= 17.50s step= 875 trunk_z= 6.2mm grav_b=(+0.03,+0.00,-1.00) r=1.86m +[headless_play] t= 17.60s step= 880 trunk_z= 7.4mm grav_b=(+0.00,+0.10,-0.99) r=1.87m +[headless_play] t= 17.70s step= 885 trunk_z= 11.3mm grav_b=(+0.00,+0.13,-0.99) r=1.87m +[headless_play] t= 17.80s step= 890 trunk_z= 11.1mm grav_b=(+0.02,+0.13,-0.99) r=1.86m +[headless_play] t= 17.90s step= 895 trunk_z= 9.8mm grav_b=(-0.01,+0.14,-0.99) r=1.86m +[headless_play] t= 18.00s step= 900 trunk_z= 5.9mm grav_b=(-0.05,+0.11,-0.99) r=1.86m +[headless_play] t= 18.10s step= 905 trunk_z= 9.6mm grav_b=(-0.06,+0.06,-1.00) r=1.86m +[headless_play] t= 18.20s step= 910 trunk_z= 2.6mm grav_b=(+0.02,+0.10,-0.99) r=1.88m +[headless_play] t= 18.30s step= 915 trunk_z= -0.7mm grav_b=(+0.05,+0.14,-0.99) r=1.90m +[headless_play] t= 18.40s step= 920 trunk_z= 3.6mm grav_b=(+0.03,+0.13,-0.99) r=1.91m +[headless_play] t= 18.50s step= 925 trunk_z= 1.1mm grav_b=(+0.01,+0.11,-0.99) r=1.91m +[headless_play] t= 18.60s step= 930 trunk_z= -0.5mm grav_b=(+0.02,+0.04,-1.00) r=1.91m +[headless_play] t= 18.70s step= 935 trunk_z= 6.8mm grav_b=(-0.10,-0.04,-0.99) r=1.92m +[headless_play] t= 18.80s step= 940 trunk_z= 7.2mm grav_b=(-0.05,+0.01,-1.00) r=1.94m +[headless_play] t= 18.90s step= 945 trunk_z= -2.2mm grav_b=(+0.03,+0.07,-1.00) r=1.97m +[headless_play] t= 19.00s step= 950 trunk_z= -2.7mm grav_b=(+0.07,+0.01,-1.00) r=1.97m +[headless_play] t= 19.10s step= 955 trunk_z= -10.5mm grav_b=(+0.09,-0.06,-0.99) r=1.95m +[headless_play] t= 19.20s step= 960 trunk_z= -0.6mm grav_b=(+0.05,-0.09,-0.99) r=1.94m +[headless_play] t= 19.30s step= 965 trunk_z= -1.8mm grav_b=(-0.01,-0.05,-1.00) r=1.94m +[headless_play] t= 19.40s step= 970 trunk_z= -4.3mm grav_b=(-0.05,+0.03,-1.00) r=1.94m +[headless_play] t= 19.50s step= 975 trunk_z= 1.2mm grav_b=(-0.05,+0.01,-1.00) r=1.95m +[headless_play] t= 19.60s step= 980 trunk_z= -10.9mm grav_b=(-0.03,+0.04,-1.00) r=1.98m +[headless_play] t= 19.70s step= 985 trunk_z= -1.3mm grav_b=(-0.00,+0.13,-0.99) r=2.01m +[headless_play] t= 19.80s step= 990 trunk_z= 3.8mm grav_b=(+0.02,+0.12,-0.99) r=2.02m +[headless_play] t= 19.90s step= 995 trunk_z= 15.4mm grav_b=(+0.03,+0.06,-1.00) r=2.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,+0.03,-1.00) r=0.33m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t10.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..741a7ecf07c338558e905d6a5cd193106b6040d9 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(-14.230,-18.167,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 119.0mm grav_b=(-0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 118.1mm grav_b=(-0.04,-0.09,-1.00) r=0.32m +[headless_play] t= 0.40s step= 20 trunk_z= 118.0mm grav_b=(-0.05,-0.11,-0.99) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 122.6mm grav_b=(+0.05,-0.10,-0.99) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 115.8mm grav_b=(+0.04,-0.09,-0.99) r=0.29m +[headless_play] t= 0.70s step= 35 trunk_z= 115.2mm grav_b=(+0.01,-0.04,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 113.5mm grav_b=(+0.02,-0.05,-1.00) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 113.8mm grav_b=(-0.06,-0.10,-0.99) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 124.9mm grav_b=(-0.05,-0.09,-0.99) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 109.5mm grav_b=(+0.06,-0.01,-1.00) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 115.7mm grav_b=(-0.00,-0.03,-1.00) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 107.6mm grav_b=(-0.01,-0.06,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(+0.02,-0.05,-1.00) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 114.2mm grav_b=(+0.05,-0.04,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 118.8mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 120.8mm grav_b=(-0.05,-0.06,-1.00) r=0.29m +[headless_play] t= 1.80s step= 90 trunk_z= 113.7mm grav_b=(-0.01,-0.10,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 120.7mm grav_b=(+0.02,-0.09,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(+0.04,-0.09,-0.99) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.29m +[headless_play] t= 2.20s step= 110 trunk_z= 116.4mm grav_b=(+0.06,-0.04,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 112.2mm grav_b=(+0.04,-0.09,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 122.4mm grav_b=(+0.01,-0.08,-1.00) r=0.35m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(+0.03,-0.09,-1.00) r=0.35m +[headless_play] t= 2.60s step= 130 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 122.1mm grav_b=(-0.01,-0.05,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 114.1mm grav_b=(-0.03,-0.08,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 122.5mm grav_b=(-0.06,-0.08,-0.99) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 121.5mm grav_b=(-0.03,-0.06,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=0.38m +[headless_play] t= 3.20s step= 160 trunk_z= 121.9mm grav_b=(+0.09,+0.10,-0.99) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 118.3mm grav_b=(+0.15,+0.02,-0.99) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 110.6mm grav_b=(+0.03,-0.08,-1.00) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 128.0mm grav_b=(+0.04,-0.12,-0.99) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 120.9mm grav_b=(-0.09,-0.11,-0.99) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 121.1mm grav_b=(-0.10,-0.08,-0.99) r=0.45m +[headless_play] t= 3.80s step= 190 trunk_z= 105.4mm grav_b=(-0.02,-0.10,-1.00) r=0.43m +[headless_play] t= 3.90s step= 195 trunk_z= 117.1mm grav_b=(+0.05,-0.06,-1.00) r=0.41m +[headless_play] t= 4.00s step= 200 trunk_z= 110.2mm grav_b=(+0.06,-0.12,-0.99) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 116.4mm grav_b=(-0.00,-0.07,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 113.2mm grav_b=(-0.01,-0.06,-1.00) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 120.1mm grav_b=(-0.02,-0.05,-1.00) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 118.4mm grav_b=(-0.02,-0.02,-1.00) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 123.4mm grav_b=(-0.01,+0.04,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 123.1mm grav_b=(+0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.44m +[headless_play] t= 4.80s step= 240 trunk_z= 124.5mm grav_b=(-0.03,-0.05,-1.00) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 123.2mm grav_b=(-0.01,-0.06,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 121.9mm grav_b=(-0.01,+0.05,-1.00) r=0.48m +[headless_play] t= 5.10s step= 255 trunk_z= 125.9mm grav_b=(+0.00,+0.04,-1.00) r=0.50m +[headless_play] t= 5.20s step= 260 trunk_z= 123.0mm grav_b=(-0.02,+0.03,-1.00) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 122.7mm grav_b=(-0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 5.40s step= 270 trunk_z= 124.1mm grav_b=(-0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 5.60s step= 280 trunk_z= 124.9mm grav_b=(-0.04,+0.04,-1.00) r=0.55m +[headless_play] t= 5.70s step= 285 trunk_z= 123.3mm grav_b=(-0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 5.80s step= 290 trunk_z= 119.1mm grav_b=(-0.09,-0.06,-0.99) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 126.8mm grav_b=(-0.10,-0.10,-0.99) r=0.57m +[headless_play] t= 6.00s step= 300 trunk_z= 127.2mm grav_b=(-0.04,-0.07,-1.00) r=0.56m +[headless_play] t= 6.10s step= 305 trunk_z= 123.7mm grav_b=(-0.00,-0.06,-1.00) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 117.1mm grav_b=(+0.00,-0.04,-1.00) r=0.55m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 120.7mm grav_b=(+0.00,-0.03,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 122.8mm grav_b=(+0.02,+0.05,-1.00) r=0.56m +[headless_play] t= 6.60s step= 330 trunk_z= 124.8mm grav_b=(+0.01,+0.06,-1.00) r=0.57m +[headless_play] t= 6.70s step= 335 trunk_z= 116.7mm grav_b=(-0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 123.0mm grav_b=(-0.10,-0.01,-1.00) r=0.60m +[headless_play] t= 6.90s step= 345 trunk_z= 119.3mm grav_b=(-0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 7.00s step= 350 trunk_z= 122.8mm grav_b=(-0.03,+0.03,-1.00) r=0.59m +[headless_play] t= 7.10s step= 355 trunk_z= 120.3mm grav_b=(-0.00,+0.02,-1.00) r=0.60m +[headless_play] t= 7.20s step= 360 trunk_z= 120.3mm grav_b=(+0.02,-0.05,-1.00) r=0.62m +[headless_play] t= 7.30s step= 365 trunk_z= 125.7mm grav_b=(+0.01,-0.04,-1.00) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 119.7mm grav_b=(-0.02,-0.04,-1.00) r=0.64m +[headless_play] t= 7.50s step= 375 trunk_z= 122.9mm grav_b=(-0.07,+0.01,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 120.6mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 7.70s step= 385 trunk_z= 120.7mm grav_b=(-0.01,-0.04,-1.00) r=0.67m +[headless_play] t= 7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 7.90s step= 395 trunk_z= 118.7mm grav_b=(-0.00,+0.01,-1.00) r=0.68m +[headless_play] t= 8.00s step= 400 trunk_z= 126.1mm grav_b=(-0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 8.10s step= 405 trunk_z= 122.3mm grav_b=(-0.03,+0.04,-1.00) r=0.70m +[headless_play] t= 8.20s step= 410 trunk_z= 118.4mm grav_b=(-0.07,-0.02,-1.00) r=0.71m +[headless_play] t= 8.30s step= 415 trunk_z= 122.7mm grav_b=(-0.07,-0.02,-1.00) r=0.71m +[headless_play] t= 8.40s step= 420 trunk_z= 119.4mm grav_b=(-0.06,-0.01,-1.00) r=0.72m +[headless_play] t= 8.50s step= 425 trunk_z= 125.2mm grav_b=(-0.03,+0.03,-1.00) r=0.73m +[headless_play] t= 8.60s step= 430 trunk_z= 124.8mm grav_b=(+0.00,+0.03,-1.00) r=0.74m +[headless_play] t= 8.70s step= 435 trunk_z= 118.2mm grav_b=(-0.02,-0.05,-1.00) r=0.76m +[headless_play] t= 8.80s step= 440 trunk_z= 129.0mm grav_b=(-0.01,-0.16,-0.99) r=0.78m +[headless_play] t= 8.90s step= 445 trunk_z= 129.6mm grav_b=(-0.01,-0.23,-0.97) r=0.80m +[headless_play] t= 9.00s step= 450 trunk_z= 125.6mm grav_b=(+0.08,-0.25,-0.96) r=0.82m +[headless_play] t= 9.10s step= 455 trunk_z= 105.5mm grav_b=(+0.15,-0.24,-0.96) r=0.88m +[headless_play] t= 9.20s step= 460 trunk_z= 114.1mm grav_b=(+0.27,-0.21,-0.94) r=0.93m +[headless_play] t= 9.30s step= 465 trunk_z= 111.6mm grav_b=(+0.16,-0.09,-0.98) r=0.98m +[headless_play] t= 9.40s step= 470 trunk_z= 104.9mm grav_b=(-0.04,-0.17,-0.98) r=1.01m +[headless_play] t= 9.50s step= 475 trunk_z= 117.6mm grav_b=(-0.04,-0.26,-0.96) r=1.03m +[headless_play] t= 9.60s step= 480 trunk_z= 118.4mm grav_b=(+0.05,-0.23,-0.97) r=1.04m +[headless_play] t= 9.70s step= 485 trunk_z= 110.7mm grav_b=(+0.11,-0.20,-0.97) r=1.08m +[headless_play] t= 9.80s step= 490 trunk_z= 109.4mm grav_b=(+0.12,-0.06,-0.99) r=1.14m +[headless_play] t= 9.90s step= 495 trunk_z= 106.7mm grav_b=(+0.06,+0.00,-1.00) r=1.19m +[headless_play] t= 10.00s step= 500 trunk_z= 79.6mm grav_b=(+0.02,-0.02,-1.00) r=1.25m +[headless_play] t= 10.10s step= 505 trunk_z= 71.8mm grav_b=(-0.07,+0.08,-0.99) r=1.31m +[headless_play] t= 10.20s step= 510 trunk_z= 61.2mm grav_b=(-0.13,+0.05,-0.99) r=1.36m +[headless_play] t= 10.30s step= 515 trunk_z= 70.2mm grav_b=(-0.05,+0.05,-1.00) r=1.37m +[headless_play] t= 10.40s step= 520 trunk_z= 65.5mm grav_b=(-0.02,+0.04,-1.00) r=1.37m +[headless_play] t= 10.50s step= 525 trunk_z= 71.6mm grav_b=(+0.00,+0.03,-1.00) r=1.38m +[headless_play] t= 10.60s step= 530 trunk_z= 68.8mm grav_b=(-0.01,+0.06,-1.00) r=1.40m +[headless_play] t= 10.70s step= 535 trunk_z= 59.5mm grav_b=(-0.03,+0.06,-1.00) r=1.44m +[headless_play] t= 10.80s step= 540 trunk_z= 63.2mm grav_b=(-0.04,+0.06,-1.00) r=1.44m +[headless_play] t= 10.90s step= 545 trunk_z= 60.0mm grav_b=(-0.02,+0.02,-1.00) r=1.44m +[headless_play] t= 11.00s step= 550 trunk_z= 66.3mm grav_b=(+0.01,+0.02,-1.00) r=1.45m +[headless_play] t= 11.10s step= 555 trunk_z= 59.9mm grav_b=(-0.03,+0.04,-1.00) r=1.48m +[headless_play] t= 11.20s step= 560 trunk_z= 55.0mm grav_b=(-0.02,+0.06,-1.00) r=1.51m +[headless_play] t= 11.30s step= 565 trunk_z= 57.5mm grav_b=(-0.01,+0.05,-1.00) r=1.52m +[headless_play] t= 11.40s step= 570 trunk_z= 49.2mm grav_b=(-0.05,+0.01,-1.00) r=1.52m +[headless_play] t= 11.50s step= 575 trunk_z= 60.8mm grav_b=(-0.03,-0.07,-1.00) r=1.53m +[headless_play] t= 11.60s step= 580 trunk_z= 64.8mm grav_b=(+0.01,-0.09,-1.00) r=1.54m +[headless_play] t= 11.70s step= 585 trunk_z= 61.3mm grav_b=(-0.01,-0.06,-1.00) r=1.57m +[headless_play] t= 11.80s step= 590 trunk_z= 48.5mm grav_b=(+0.01,+0.01,-1.00) r=1.62m +[headless_play] t= 11.90s step= 595 trunk_z= 55.6mm grav_b=(+0.01,+0.05,-1.00) r=1.64m +[headless_play] t= 12.00s step= 600 trunk_z= 52.3mm grav_b=(-0.03,+0.05,-1.00) r=1.66m +[headless_play] t= 12.10s step= 605 trunk_z= 42.2mm grav_b=(-0.03,+0.03,-1.00) r=1.68m +[headless_play] t= 12.20s step= 610 trunk_z= 42.9mm grav_b=(-0.06,+0.01,-1.00) r=1.70m +[headless_play] t= 12.30s step= 615 trunk_z= 32.7mm grav_b=(-0.08,+0.06,-0.99) r=1.73m +[headless_play] t= 12.40s step= 620 trunk_z= 40.2mm grav_b=(-0.04,+0.08,-1.00) r=1.75m +[headless_play] t= 12.50s step= 625 trunk_z= 44.0mm grav_b=(+0.02,+0.12,-0.99) r=1.77m +[headless_play] t= 12.60s step= 630 trunk_z= 37.2mm grav_b=(-0.00,+0.07,-1.00) r=1.81m +[headless_play] t= 12.70s step= 635 trunk_z= 31.3mm grav_b=(-0.03,+0.04,-1.00) r=1.84m +[headless_play] t= 12.80s step= 640 trunk_z= 27.8mm grav_b=(-0.07,+0.03,-1.00) r=1.87m +[headless_play] t= 12.90s step= 645 trunk_z= 21.8mm grav_b=(-0.06,+0.04,-1.00) r=1.90m +[headless_play] t= 13.00s step= 650 trunk_z= 27.3mm grav_b=(-0.06,+0.04,-1.00) r=1.91m +[headless_play] t= 13.10s step= 655 trunk_z= 20.4mm grav_b=(-0.06,-0.02,-1.00) r=1.92m +[headless_play] t= 13.20s step= 660 trunk_z= 24.0mm grav_b=(-0.06,-0.03,-1.00) r=1.93m +[headless_play] t= 13.30s step= 665 trunk_z= 15.5mm grav_b=(-0.03,+0.09,-1.00) r=1.96m +[headless_play] t= 13.40s step= 670 trunk_z= 23.0mm grav_b=(-0.04,+0.12,-0.99) r=1.96m +[headless_play] t= 13.50s step= 675 trunk_z= 23.7mm grav_b=(-0.01,+0.08,-1.00) r=1.96m +[headless_play] t= 13.60s step= 680 trunk_z= 18.4mm grav_b=(+0.02,+0.06,-1.00) r=1.96m +[headless_play] t= 13.70s step= 685 trunk_z= 17.3mm grav_b=(+0.02,-0.01,-1.00) r=1.96m +[headless_play] t= 13.80s step= 690 trunk_z= 17.3mm grav_b=(+0.05,-0.01,-1.00) r=1.97m +[headless_play] t= 13.90s step= 695 trunk_z= 12.9mm grav_b=(-0.02,+0.02,-1.00) r=1.99m +[headless_play] t= 14.00s step= 700 trunk_z= 16.4mm grav_b=(-0.10,-0.00,-1.00) r=1.99m +[headless_play] t= 14.10s step= 705 trunk_z= 3.7mm grav_b=(-0.07,-0.08,-0.99) r=1.97m +[headless_play] t= 14.20s step= 710 trunk_z= 13.5mm grav_b=(+0.01,-0.00,-1.00) r=1.96m +[headless_play] t= 14.30s step= 715 trunk_z= 1.8mm grav_b=(+0.12,-0.04,-0.99) r=1.96m +[headless_play] t= 14.40s step= 720 trunk_z= 14.4mm grav_b=(+0.09,-0.03,-1.00) r=1.97m +[headless_play] t= 14.50s step= 725 trunk_z= 14.1mm grav_b=(+0.06,-0.05,-1.00) r=1.98m +[headless_play] t= 14.60s step= 730 trunk_z= 18.8mm grav_b=(+0.04,-0.08,-1.00) r=2.00m +[headless_play] t= 14.70s step= 735 trunk_z= 10.4mm grav_b=(+0.05,-0.01,-1.00) r=2.03m +[headless_play] t= 14.80s step= 740 trunk_z= 15.1mm grav_b=(-0.01,+0.08,-1.00) r=2.06m +[headless_play] t= 14.90s step= 745 trunk_z= 15.5mm grav_b=(+0.01,+0.05,-1.00) r=2.08m +[headless_play] t= 15.00s step= 750 trunk_z= 7.0mm grav_b=(+0.01,+0.02,-1.00) r=2.09m +[headless_play] t= 15.10s step= 755 trunk_z= 12.9mm grav_b=(-0.02,-0.05,-1.00) r=2.10m +[headless_play] t= 15.20s step= 760 trunk_z= 11.2mm grav_b=(+0.03,-0.05,-1.00) r=2.12m +[headless_play] t= 15.30s step= 765 trunk_z= 4.4mm grav_b=(+0.01,+0.03,-1.00) r=2.14m +[headless_play] t= 15.40s step= 770 trunk_z= 10.9mm grav_b=(-0.01,+0.06,-1.00) r=2.16m +[headless_play] t= 15.50s step= 775 trunk_z= 8.6mm grav_b=(-0.00,+0.03,-1.00) r=2.17m +[headless_play] t= 15.60s step= 780 trunk_z= 2.1mm grav_b=(+0.01,-0.04,-1.00) r=2.18m +[headless_play] t= 15.70s step= 785 trunk_z= 5.4mm grav_b=(+0.03,-0.05,-1.00) r=2.20m +[headless_play] t= 15.80s step= 790 trunk_z= 0.7mm grav_b=(+0.03,-0.03,-1.00) r=2.22m +[headless_play] t= 15.90s step= 795 trunk_z= 5.3mm grav_b=(-0.02,+0.05,-1.00) r=2.22m +[headless_play] t= 16.00s step= 800 trunk_z= 6.7mm grav_b=(-0.01,+0.03,-1.00) r=2.23m +[headless_play] t= 16.10s step= 805 trunk_z= 0.7mm grav_b=(+0.02,-0.04,-1.00) r=2.23m +[headless_play] t= 16.20s step= 810 trunk_z= 4.9mm grav_b=(+0.04,+0.01,-1.00) r=2.25m +[headless_play] t= 16.30s step= 815 trunk_z= -4.7mm grav_b=(-0.00,+0.06,-1.00) r=2.29m +[headless_play] t= 16.40s step= 820 trunk_z= 6.1mm grav_b=(-0.03,+0.05,-1.00) r=2.31m +[headless_play] t= 16.50s step= 825 trunk_z= 2.1mm grav_b=(-0.02,+0.03,-1.00) r=2.32m +[headless_play] t= 16.60s step= 830 trunk_z= -1.0mm grav_b=(-0.03,-0.04,-1.00) r=2.33m +[headless_play] t= 16.70s step= 835 trunk_z= 2.5mm grav_b=(-0.01,-0.06,-1.00) r=2.34m +[headless_play] t= 16.80s step= 840 trunk_z= -2.5mm grav_b=(-0.04,-0.04,-1.00) r=2.35m +[headless_play] t= 16.90s step= 845 trunk_z= 1.0mm grav_b=(-0.09,+0.03,-1.00) r=2.35m +[headless_play] t= 17.00s step= 850 trunk_z= 3.4mm grav_b=(-0.05,+0.02,-1.00) r=2.35m +[headless_play] t= 17.10s step= 855 trunk_z= -6.9mm grav_b=(-0.02,-0.05,-1.00) r=2.34m +[headless_play] t= 17.20s step= 860 trunk_z= 0.3mm grav_b=(-0.02,-0.05,-1.00) r=2.34m +[headless_play] t= 17.30s step= 865 trunk_z= -3.5mm grav_b=(+0.02,-0.04,-1.00) r=2.34m +[headless_play] t= 17.40s step= 870 trunk_z= 0.9mm grav_b=(+0.04,+0.04,-1.00) r=2.36m +[headless_play] t= 17.50s step= 875 trunk_z= 1.5mm grav_b=(+0.03,-0.06,-1.00) r=2.39m +[headless_play] t= 17.60s step= 880 trunk_z= -4.4mm grav_b=(+0.02,-0.06,-1.00) r=2.41m +[headless_play] t= 17.70s step= 885 trunk_z= -2.1mm grav_b=(-0.04,-0.07,-1.00) r=2.42m +[headless_play] t= 17.80s step= 890 trunk_z= -5.9mm grav_b=(-0.06,-0.05,-1.00) r=2.43m +[headless_play] t= 17.90s step= 895 trunk_z= -0.4mm grav_b=(-0.05,+0.02,-1.00) r=2.44m +[headless_play] t= 18.00s step= 900 trunk_z= -0.9mm grav_b=(-0.01,-0.00,-1.00) r=2.45m +[headless_play] t= 18.10s step= 905 trunk_z= -4.0mm grav_b=(+0.02,-0.02,-1.00) r=2.47m +[headless_play] t= 18.20s step= 910 trunk_z= 1.6mm grav_b=(+0.02,+0.01,-1.00) r=2.48m +[headless_play] t= 18.30s step= 915 trunk_z= -7.0mm grav_b=(-0.03,+0.04,-1.00) r=2.50m +[headless_play] t= 18.40s step= 920 trunk_z= 3.0mm grav_b=(-0.01,+0.08,-1.00) r=2.53m +[headless_play] t= 18.50s step= 925 trunk_z= 5.8mm grav_b=(+0.04,+0.07,-1.00) r=2.56m +[headless_play] t= 18.60s step= 930 trunk_z= -4.6mm grav_b=(-0.02,+0.03,-1.00) r=2.60m +[headless_play] t= 18.70s step= 935 trunk_z= 3.5mm grav_b=(-0.08,+0.02,-1.00) r=2.62m +[headless_play] t= 18.80s step= 940 trunk_z= -4.9mm grav_b=(-0.12,+0.04,-0.99) r=2.63m +[headless_play] t= 18.90s step= 945 trunk_z= 2.9mm grav_b=(-0.11,+0.05,-0.99) r=2.64m +[headless_play] t= 19.00s step= 950 trunk_z= -1.8mm grav_b=(-0.04,-0.01,-1.00) r=2.64m +[headless_play] t= 19.10s step= 955 trunk_z= 2.1mm grav_b=(-0.03,-0.04,-1.00) r=2.64m +[headless_play] t= 19.20s step= 960 trunk_z= -2.1mm grav_b=(+0.01,+0.02,-1.00) r=2.65m +[headless_play] t= 19.30s step= 965 trunk_z= 3.1mm grav_b=(-0.00,+0.09,-1.00) r=2.66m +[headless_play] t= 19.40s step= 970 trunk_z= 6.0mm grav_b=(-0.07,+0.10,-0.99) r=2.66m +[headless_play] t= 19.50s step= 975 trunk_z= 6.6mm grav_b=(-0.04,+0.06,-1.00) r=2.65m +[headless_play] t= 19.60s step= 980 trunk_z= 8.3mm grav_b=(-0.06,+0.09,-0.99) r=2.65m +[headless_play] t= 19.70s step= 985 trunk_z= 8.3mm grav_b=(+0.03,+0.15,-0.99) r=2.64m +[headless_play] t= 19.80s step= 990 trunk_z= 3.6mm grav_b=(+0.16,+0.06,-0.99) r=2.60m +[headless_play] t= 19.90s step= 995 trunk_z= -17.7mm grav_b=(+0.03,+0.07,-1.00) r=2.58m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.5mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t11.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..cb39d6218fdbeb6d144feac642f57f0019b3a268 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.052,-18.222,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=0.23m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(-0.08,+0.04,-1.00) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 121.2mm grav_b=(-0.13,-0.00,-0.99) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.12,-0.07,-0.99) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 123.0mm grav_b=(-0.10,-0.07,-0.99) r=0.22m +[headless_play] t= 0.60s step= 30 trunk_z= 119.4mm grav_b=(-0.09,-0.03,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 122.4mm grav_b=(-0.09,+0.05,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 124.3mm grav_b=(-0.06,+0.06,-1.00) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 119.5mm grav_b=(-0.06,+0.02,-1.00) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 124.0mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 121.0mm grav_b=(-0.06,+0.05,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 126.8mm grav_b=(-0.08,+0.06,-1.00) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 123.8mm grav_b=(-0.12,+0.04,-0.99) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 118.1mm grav_b=(-0.13,-0.02,-0.99) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 122.8mm grav_b=(-0.14,-0.02,-0.99) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 117.3mm grav_b=(-0.13,+0.02,-0.99) r=0.38m +[headless_play] t= 1.70s step= 85 trunk_z= 122.7mm grav_b=(-0.10,+0.00,-1.00) r=0.38m +[headless_play] t= 1.80s step= 90 trunk_z= 117.8mm grav_b=(-0.09,-0.01,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 120.9mm grav_b=(-0.08,-0.06,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 122.5mm grav_b=(-0.07,-0.04,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(-0.07,+0.03,-1.00) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 125.6mm grav_b=(-0.08,+0.06,-0.99) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 123.6mm grav_b=(-0.07,+0.06,-1.00) r=0.45m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(-0.07,-0.03,-1.00) r=0.47m +[headless_play] t= 2.50s step= 125 trunk_z= 123.3mm grav_b=(-0.06,-0.04,-1.00) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 126.6mm grav_b=(-0.03,-0.08,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 127.1mm grav_b=(-0.04,-0.02,-1.00) r=0.51m +[headless_play] t= 2.80s step= 140 trunk_z= 125.5mm grav_b=(-0.09,+0.03,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 121.8mm grav_b=(-0.12,+0.03,-0.99) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 119.1mm grav_b=(-0.11,-0.03,-0.99) r=0.56m +[headless_play] t= 3.10s step= 155 trunk_z= 122.4mm grav_b=(-0.09,-0.04,-1.00) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 119.8mm grav_b=(-0.07,-0.02,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 120.6mm grav_b=(-0.05,+0.07,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 126.4mm grav_b=(-0.04,+0.08,-1.00) r=0.56m +[headless_play] t= 3.50s step= 175 trunk_z= 123.1mm grav_b=(-0.05,+0.06,-1.00) r=0.58m +[headless_play] t= 3.60s step= 180 trunk_z= 122.4mm grav_b=(-0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 124.3mm grav_b=(-0.07,-0.05,-1.00) r=0.62m +[headless_play] t= 3.80s step= 190 trunk_z= 119.1mm grav_b=(-0.08,-0.02,-1.00) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 122.1mm grav_b=(-0.12,+0.04,-0.99) r=0.62m +[headless_play] t= 4.00s step= 200 trunk_z= 119.7mm grav_b=(-0.16,+0.00,-0.99) r=0.62m +[headless_play] t= 4.10s step= 205 trunk_z= 120.6mm grav_b=(-0.12,-0.05,-0.99) r=0.62m +[headless_play] t= 4.20s step= 210 trunk_z= 122.6mm grav_b=(-0.10,-0.02,-1.00) r=0.61m +[headless_play] t= 4.30s step= 215 trunk_z= 116.8mm grav_b=(-0.09,+0.05,-0.99) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 123.7mm grav_b=(-0.08,+0.05,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 119.8mm grav_b=(-0.09,+0.04,-1.00) r=0.61m +[headless_play] t= 4.60s step= 230 trunk_z= 120.8mm grav_b=(-0.06,-0.06,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 123.2mm grav_b=(-0.06,-0.06,-1.00) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 118.3mm grav_b=(-0.11,-0.02,-0.99) r=0.62m +[headless_play] t= 4.90s step= 245 trunk_z= 123.5mm grav_b=(-0.11,+0.04,-0.99) r=0.62m +[headless_play] t= 5.00s step= 250 trunk_z= 124.7mm grav_b=(-0.11,+0.04,-0.99) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.10,-0.02,-0.99) r=0.65m +[headless_play] t= 5.20s step= 260 trunk_z= 124.2mm grav_b=(-0.05,-0.07,-1.00) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 123.7mm grav_b=(-0.05,-0.04,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 118.9mm grav_b=(-0.07,+0.03,-1.00) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 125.4mm grav_b=(-0.09,+0.04,-0.99) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 121.1mm grav_b=(-0.11,+0.03,-0.99) r=0.70m +[headless_play] t= 5.70s step= 285 trunk_z= 119.8mm grav_b=(-0.04,-0.03,-1.00) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 121.5mm grav_b=(-0.02,+0.02,-1.00) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 121.5mm grav_b=(-0.07,+0.08,-0.99) r=0.75m +[headless_play] t= 6.00s step= 300 trunk_z= 126.4mm grav_b=(-0.12,+0.08,-0.99) r=0.76m +[headless_play] t= 6.10s step= 305 trunk_z= 118.4mm grav_b=(-0.13,+0.04,-0.99) r=0.79m +[headless_play] t= 6.20s step= 310 trunk_z= 122.1mm grav_b=(-0.10,-0.04,-0.99) r=0.81m +[headless_play] t= 6.30s step= 315 trunk_z= 122.4mm grav_b=(-0.06,-0.02,-1.00) r=0.82m +[headless_play] t= 6.40s step= 320 trunk_z= 118.5mm grav_b=(-0.03,+0.04,-1.00) r=0.83m +[headless_play] t= 6.50s step= 325 trunk_z= 130.4mm grav_b=(-0.01,+0.04,-1.00) r=0.85m +[headless_play] t= 6.60s step= 330 trunk_z= 122.1mm grav_b=(-0.06,+0.01,-1.00) r=0.89m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.08,-0.07,-0.99) r=0.92m +[headless_play] t= 6.80s step= 340 trunk_z= 119.1mm grav_b=(-0.09,-0.05,-0.99) r=0.93m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.10,+0.01,-0.99) r=0.94m +[headless_play] t= 7.00s step= 350 trunk_z= 119.2mm grav_b=(-0.07,-0.02,-1.00) r=0.97m +[headless_play] t= 7.10s step= 355 trunk_z= 101.7mm grav_b=(-0.09,-0.07,-0.99) r=1.01m +[headless_play] t= 7.20s step= 360 trunk_z= 108.0mm grav_b=(-0.09,-0.11,-0.99) r=1.04m +[headless_play] t= 7.30s step= 365 trunk_z= 109.3mm grav_b=(-0.07,-0.06,-1.00) r=1.06m +[headless_play] t= 7.40s step= 370 trunk_z= 104.7mm grav_b=(-0.09,+0.03,-1.00) r=1.07m +[headless_play] t= 7.50s step= 375 trunk_z= 108.8mm grav_b=(-0.12,+0.08,-0.99) r=1.09m +[headless_play] t= 7.60s step= 380 trunk_z= 107.3mm grav_b=(-0.12,+0.10,-0.99) r=1.11m +[headless_play] t= 7.70s step= 385 trunk_z= 94.2mm grav_b=(-0.08,+0.01,-1.00) r=1.14m +[headless_play] t= 7.80s step= 390 trunk_z= 99.5mm grav_b=(-0.05,-0.10,-0.99) r=1.16m +[headless_play] t= 7.90s step= 395 trunk_z= 94.4mm grav_b=(-0.05,-0.02,-1.00) r=1.18m +[headless_play] t= 8.00s step= 400 trunk_z= 81.4mm grav_b=(+0.05,+0.01,-1.00) r=1.22m +[headless_play] t= 8.10s step= 405 trunk_z= 91.8mm grav_b=(-0.00,+0.05,-1.00) r=1.25m +[headless_play] t= 8.20s step= 410 trunk_z= 92.0mm grav_b=(-0.10,+0.02,-1.00) r=1.28m +[headless_play] t= 8.30s step= 415 trunk_z= 66.7mm grav_b=(-0.12,-0.08,-0.99) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 75.1mm grav_b=(-0.11,-0.11,-0.99) r=1.35m +[headless_play] t= 8.50s step= 425 trunk_z= 76.9mm grav_b=(-0.09,-0.08,-0.99) r=1.35m +[headless_play] t= 8.60s step= 430 trunk_z= 72.2mm grav_b=(-0.06,-0.00,-1.00) r=1.37m +[headless_play] t= 8.70s step= 435 trunk_z= 71.6mm grav_b=(-0.08,+0.04,-1.00) r=1.39m +[headless_play] t= 8.80s step= 440 trunk_z= 65.5mm grav_b=(-0.08,-0.06,-0.99) r=1.41m +[headless_play] t= 8.90s step= 445 trunk_z= 63.1mm grav_b=(-0.09,-0.11,-0.99) r=1.44m +[headless_play] t= 9.00s step= 450 trunk_z= 63.0mm grav_b=(-0.02,-0.05,-1.00) r=1.46m +[headless_play] t= 9.10s step= 455 trunk_z= 57.4mm grav_b=(-0.04,+0.05,-1.00) r=1.46m +[headless_play] t= 9.20s step= 460 trunk_z= 66.3mm grav_b=(-0.10,+0.07,-0.99) r=1.47m +[headless_play] t= 9.30s step= 465 trunk_z= 61.8mm grav_b=(-0.12,+0.06,-0.99) r=1.50m +[headless_play] t= 9.40s step= 470 trunk_z= 50.7mm grav_b=(-0.07,-0.06,-1.00) r=1.53m +[headless_play] t= 9.50s step= 475 trunk_z= 55.5mm grav_b=(-0.04,-0.09,-1.00) r=1.55m +[headless_play] t= 9.60s step= 480 trunk_z= 56.8mm grav_b=(-0.02,-0.07,-1.00) r=1.57m +[headless_play] t= 9.70s step= 485 trunk_z= 54.0mm grav_b=(-0.12,-0.01,-0.99) r=1.58m +[headless_play] t= 9.80s step= 490 trunk_z= 47.4mm grav_b=(-0.13,-0.00,-0.99) r=1.59m +[headless_play] t= 9.90s step= 495 trunk_z= 41.1mm grav_b=(-0.08,+0.01,-1.00) r=1.59m +[headless_play] t= 10.00s step= 500 trunk_z= 44.0mm grav_b=(-0.09,+0.06,-0.99) r=1.60m +[headless_play] t= 10.10s step= 505 trunk_z= 41.5mm grav_b=(-0.09,+0.07,-0.99) r=1.61m +[headless_play] t= 10.20s step= 510 trunk_z= 43.1mm grav_b=(-0.07,+0.06,-1.00) r=1.62m +[headless_play] t= 10.30s step= 515 trunk_z= 39.1mm grav_b=(-0.04,-0.02,-1.00) r=1.63m +[headless_play] t= 10.40s step= 520 trunk_z= 40.4mm grav_b=(-0.03,-0.07,-1.00) r=1.64m +[headless_play] t= 10.50s step= 525 trunk_z= 36.4mm grav_b=(+0.00,-0.01,-1.00) r=1.66m +[headless_play] t= 10.60s step= 530 trunk_z= 37.3mm grav_b=(-0.05,+0.11,-0.99) r=1.67m +[headless_play] t= 10.70s step= 535 trunk_z= 45.7mm grav_b=(-0.15,+0.09,-0.98) r=1.66m +[headless_play] t= 10.80s step= 540 trunk_z= 32.1mm grav_b=(-0.15,+0.05,-0.99) r=1.63m +[headless_play] t= 10.90s step= 545 trunk_z= 40.9mm grav_b=(-0.13,+0.12,-0.99) r=1.62m +[headless_play] t= 11.00s step= 550 trunk_z= 30.7mm grav_b=(-0.04,+0.11,-0.99) r=1.60m +[headless_play] t= 11.10s step= 555 trunk_z= 42.2mm grav_b=(-0.03,+0.05,-1.00) r=1.60m +[headless_play] t= 11.20s step= 560 trunk_z= 38.4mm grav_b=(-0.01,+0.02,-1.00) r=1.59m +[headless_play] t= 11.30s step= 565 trunk_z= 41.7mm grav_b=(-0.03,-0.01,-1.00) r=1.59m +[headless_play] t= 11.40s step= 570 trunk_z= 38.0mm grav_b=(+0.01,+0.02,-1.00) r=1.61m +[headless_play] t= 11.50s step= 575 trunk_z= 36.7mm grav_b=(-0.00,+0.18,-0.98) r=1.65m +[headless_play] t= 11.60s step= 580 trunk_z= 45.2mm grav_b=(+0.02,+0.22,-0.97) r=1.69m +[headless_play] t= 11.70s step= 585 trunk_z= 48.6mm grav_b=(+0.02,+0.17,-0.98) r=1.73m +[headless_play] t= 11.80s step= 590 trunk_z= 29.8mm grav_b=(+0.02,+0.15,-0.99) r=1.78m +[headless_play] t= 11.90s step= 595 trunk_z= 34.8mm grav_b=(-0.05,+0.08,-1.00) r=1.79m +[headless_play] t= 12.00s step= 600 trunk_z= 26.9mm grav_b=(-0.05,+0.05,-1.00) r=1.80m +[headless_play] t= 12.10s step= 605 trunk_z= 31.0mm grav_b=(-0.07,-0.03,-1.00) r=1.84m +[headless_play] t= 12.20s step= 610 trunk_z= 9.1mm grav_b=(-0.12,-0.11,-0.99) r=1.89m +[headless_play] t= 12.30s step= 615 trunk_z= 21.8mm grav_b=(-0.14,-0.17,-0.98) r=1.92m +[headless_play] t= 12.40s step= 620 trunk_z= 22.9mm grav_b=(-0.12,-0.15,-0.98) r=1.94m +[headless_play] t= 12.50s step= 625 trunk_z= 23.0mm grav_b=(-0.10,-0.13,-0.99) r=1.95m +[headless_play] t= 12.60s step= 630 trunk_z= 22.4mm grav_b=(-0.09,-0.11,-0.99) r=1.95m +[headless_play] t= 12.70s step= 635 trunk_z= 20.1mm grav_b=(-0.08,-0.07,-0.99) r=1.96m +[headless_play] t= 12.80s step= 640 trunk_z= 14.8mm grav_b=(-0.15,+0.02,-0.99) r=1.95m +[headless_play] t= 12.90s step= 645 trunk_z= 23.2mm grav_b=(-0.25,+0.03,-0.97) r=1.92m +[headless_play] t= 13.00s step= 650 trunk_z= 8.3mm grav_b=(-0.08,-0.02,-1.00) r=1.88m +[headless_play] t= 13.10s step= 655 trunk_z= 14.8mm grav_b=(-0.19,+0.08,-0.98) r=1.86m +[headless_play] t= 13.20s step= 660 trunk_z= 1.5mm grav_b=(-0.05,+0.09,-0.99) r=1.83m +[headless_play] t= 13.30s step= 665 trunk_z= 17.8mm grav_b=(-0.06,+0.05,-1.00) r=1.83m +[headless_play] t= 13.40s step= 670 trunk_z= 16.8mm grav_b=(+0.03,+0.07,-1.00) r=1.83m +[headless_play] t= 13.50s step= 675 trunk_z= 16.1mm grav_b=(+0.01,+0.00,-1.00) r=1.84m +[headless_play] t= 13.60s step= 680 trunk_z= 18.5mm grav_b=(+0.00,+0.02,-1.00) r=1.86m +[headless_play] t= 13.70s step= 685 trunk_z= 14.4mm grav_b=(-0.07,+0.24,-0.97) r=1.89m +[headless_play] t= 13.80s step= 690 trunk_z= 24.5mm grav_b=(-0.08,+0.31,-0.95) r=1.91m +[headless_play] t= 13.90s step= 695 trunk_z= 17.8mm grav_b=(+0.15,+0.48,-0.87) r=1.90m +[headless_play] t= 14.00s step= 700 trunk_z= 13.5mm grav_b=(+0.41,+0.54,-0.73) r=1.91m +[headless_play] t= 14.10s step= 705 trunk_z= -20.1mm grav_b=(+0.52,+0.46,-0.73) r=1.92m +[headless_play] RESET at t= 14.18s step= 709 (env termination, not a recovery) +[headless_play] t= 14.20s step= 710 trunk_z= 125.9mm grav_b=(-0.01,+0.00,-1.00) r=0.11m +[headless_play] t= 14.30s step= 715 trunk_z= 115.3mm grav_b=(-0.05,+0.03,-1.00) r=0.12m +[headless_play] t= 14.40s step= 720 trunk_z= 115.2mm grav_b=(-0.04,+0.07,-1.00) r=0.13m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.03,-0.03,-1.00) r=0.12m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(-0.03,-0.08,-1.00) r=0.11m +[headless_play] t= 14.70s step= 735 trunk_z= 119.9mm grav_b=(-0.04,-0.03,-1.00) r=0.12m +[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(-0.08,+0.05,-1.00) r=0.14m +[headless_play] t= 14.90s step= 745 trunk_z= 125.5mm grav_b=(-0.11,+0.08,-0.99) r=0.16m +[headless_play] t= 15.00s step= 750 trunk_z= 126.4mm grav_b=(-0.13,+0.04,-0.99) r=0.15m +[headless_play] t= 15.10s step= 755 trunk_z= 113.4mm grav_b=(-0.10,+0.02,-0.99) r=0.13m +[headless_play] t= 15.20s step= 760 trunk_z= 118.5mm grav_b=(-0.05,-0.03,-1.00) r=0.13m +[headless_play] t= 15.30s step= 765 trunk_z= 117.2mm grav_b=(-0.03,+0.02,-1.00) r=0.14m +[headless_play] t= 15.40s step= 770 trunk_z= 121.3mm grav_b=(-0.05,+0.12,-0.99) r=0.16m +[headless_play] t= 15.50s step= 775 trunk_z= 125.7mm grav_b=(-0.06,+0.09,-0.99) r=0.18m +[headless_play] t= 15.60s step= 780 trunk_z= 118.6mm grav_b=(-0.08,+0.06,-0.99) r=0.19m +[headless_play] t= 15.70s step= 785 trunk_z= 121.1mm grav_b=(-0.10,-0.05,-0.99) r=0.19m +[headless_play] t= 15.80s step= 790 trunk_z= 122.9mm grav_b=(-0.11,-0.04,-0.99) r=0.19m +[headless_play] t= 15.90s step= 795 trunk_z= 118.1mm grav_b=(-0.13,+0.01,-0.99) r=0.18m +[headless_play] t= 16.00s step= 800 trunk_z= 125.4mm grav_b=(-0.16,+0.03,-0.99) r=0.18m +[headless_play] t= 16.10s step= 805 trunk_z= 119.9mm grav_b=(-0.10,+0.00,-1.00) r=0.16m +[headless_play] t= 16.20s step= 810 trunk_z= 111.3mm grav_b=(-0.08,+0.04,-1.00) r=0.14m +[headless_play] t= 16.30s step= 815 trunk_z= 112.5mm grav_b=(-0.07,+0.07,-1.00) r=0.13m +[headless_play] t= 16.40s step= 820 trunk_z= 116.5mm grav_b=(-0.04,+0.06,-1.00) r=0.14m +[headless_play] t= 16.50s step= 825 trunk_z= 113.2mm grav_b=(-0.02,-0.02,-1.00) r=0.15m +[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(-0.02,-0.08,-1.00) r=0.17m +[headless_play] t= 16.70s step= 835 trunk_z= 121.2mm grav_b=(-0.02,-0.06,-1.00) r=0.18m +[headless_play] t= 16.80s step= 840 trunk_z= 119.4mm grav_b=(-0.06,-0.00,-1.00) r=0.19m +[headless_play] t= 16.90s step= 845 trunk_z= 123.9mm grav_b=(-0.09,+0.08,-0.99) r=0.20m +[headless_play] t= 17.00s step= 850 trunk_z= 126.0mm grav_b=(-0.11,+0.05,-0.99) r=0.21m +[headless_play] t= 17.10s step= 855 trunk_z= 114.0mm grav_b=(-0.17,-0.01,-0.98) r=0.18m +[headless_play] t= 17.20s step= 860 trunk_z= 126.4mm grav_b=(-0.13,-0.01,-0.99) r=0.16m +[headless_play] t= 17.30s step= 865 trunk_z= 111.1mm grav_b=(-0.02,+0.01,-1.00) r=0.11m +[headless_play] t= 17.40s step= 870 trunk_z= 110.1mm grav_b=(-0.05,-0.02,-1.00) r=0.09m +[headless_play] t= 17.50s step= 875 trunk_z= 111.2mm grav_b=(-0.04,+0.10,-0.99) r=0.10m +[headless_play] t= 17.60s step= 880 trunk_z= 111.1mm grav_b=(-0.01,-0.03,-1.00) r=0.12m +[headless_play] t= 17.70s step= 885 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.13m +[headless_play] t= 17.80s step= 890 trunk_z= 116.0mm grav_b=(-0.10,+0.04,-0.99) r=0.12m +[headless_play] t= 17.90s step= 895 trunk_z= 121.6mm grav_b=(-0.10,+0.09,-0.99) r=0.11m +[headless_play] t= 18.00s step= 900 trunk_z= 128.5mm grav_b=(-0.10,+0.15,-0.98) r=0.11m +[headless_play] t= 18.10s step= 905 trunk_z= 128.2mm grav_b=(-0.07,+0.14,-0.99) r=0.11m +[headless_play] t= 18.20s step= 910 trunk_z= 125.6mm grav_b=(-0.07,+0.12,-0.99) r=0.13m +[headless_play] t= 18.30s step= 915 trunk_z= 121.9mm grav_b=(-0.04,-0.03,-1.00) r=0.15m +[headless_play] t= 18.40s step= 920 trunk_z= 124.0mm grav_b=(-0.07,-0.04,-1.00) r=0.16m +[headless_play] t= 18.50s step= 925 trunk_z= 119.2mm grav_b=(-0.10,+0.00,-0.99) r=0.17m +[headless_play] t= 18.60s step= 930 trunk_z= 124.5mm grav_b=(-0.11,+0.06,-0.99) r=0.17m +[headless_play] t= 18.70s step= 935 trunk_z= 124.2mm grav_b=(-0.11,+0.06,-0.99) r=0.18m +[headless_play] t= 18.80s step= 940 trunk_z= 117.8mm grav_b=(-0.08,-0.03,-1.00) r=0.19m +[headless_play] t= 18.90s step= 945 trunk_z= 123.5mm grav_b=(-0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(-0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 19.10s step= 955 trunk_z= 121.8mm grav_b=(-0.08,+0.05,-1.00) r=0.21m +[headless_play] t= 19.20s step= 960 trunk_z= 124.5mm grav_b=(-0.10,+0.04,-0.99) r=0.22m +[headless_play] t= 19.30s step= 965 trunk_z= 116.4mm grav_b=(-0.09,-0.02,-1.00) r=0.24m +[headless_play] t= 19.40s step= 970 trunk_z= 123.8mm grav_b=(-0.04,-0.05,-1.00) r=0.26m +[headless_play] t= 19.50s step= 975 trunk_z= 127.1mm grav_b=(+0.06,-0.00,-1.00) r=0.29m +[headless_play] t= 19.60s step= 980 trunk_z= 105.7mm grav_b=(-0.09,+0.13,-0.99) r=0.34m +[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(-0.11,+0.15,-0.98) r=0.35m +[headless_play] t= 19.80s step= 990 trunk_z= 123.6mm grav_b=(-0.19,+0.11,-0.98) r=0.36m +[headless_play] t= 19.90s step= 995 trunk_z= 118.6mm grav_b=(-0.15,+0.06,-0.99) r=0.38m +[headless_play] t= 20.00s step=1000 trunk_z= 121.6mm grav_b=(-0.15,+0.01,-0.99) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 118.7mm grav_b=(-0.12,+0.04,-0.99) r=0.37m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t12.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..f8aeb9af5076fd88539fa7087e4d6c7ed2ff2483 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.823,-17.562,+0.247) +[headless_play] t= 0.00s step= 0 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 115.3mm grav_b=(+0.00,+0.02,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 115.6mm grav_b=(-0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 113.8mm grav_b=(+0.02,-0.11,-0.99) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 121.6mm grav_b=(+0.02,-0.10,-1.00) r=0.54m +[headless_play] t= 0.60s step= 30 trunk_z= 119.0mm grav_b=(+0.01,-0.09,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 123.4mm grav_b=(-0.03,-0.00,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 123.3mm grav_b=(+0.00,+0.02,-1.00) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(+0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(+0.06,-0.09,-0.99) r=0.59m +[headless_play] t= 1.20s step= 60 trunk_z= 117.8mm grav_b=(+0.05,-0.09,-0.99) r=0.60m +[headless_play] t= 1.30s step= 65 trunk_z= 114.7mm grav_b=(+0.02,+0.03,-1.00) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 121.2mm grav_b=(+0.04,+0.02,-1.00) r=0.63m +[headless_play] t= 1.50s step= 75 trunk_z= 114.8mm grav_b=(+0.05,-0.03,-1.00) r=0.65m +[headless_play] t= 1.60s step= 80 trunk_z= 117.9mm grav_b=(+0.14,-0.07,-0.99) r=0.69m +[headless_play] t= 1.70s step= 85 trunk_z= 122.7mm grav_b=(+0.05,-0.03,-1.00) r=0.73m +[headless_play] t= 1.80s step= 90 trunk_z= 118.7mm grav_b=(+0.00,-0.02,-1.00) r=0.76m +[headless_play] t= 1.90s step= 95 trunk_z= 117.9mm grav_b=(-0.02,-0.05,-1.00) r=0.78m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(-0.03,-0.10,-0.99) r=0.81m +[headless_play] t= 2.10s step= 105 trunk_z= 121.2mm grav_b=(-0.03,-0.09,-1.00) r=0.82m +[headless_play] t= 2.20s step= 110 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 2.30s step= 115 trunk_z= 120.7mm grav_b=(+0.02,-0.01,-1.00) r=0.84m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.02,-0.05,-1.00) r=0.86m +[headless_play] t= 2.50s step= 125 trunk_z= 119.1mm grav_b=(+0.00,-0.12,-0.99) r=0.88m +[headless_play] t= 2.60s step= 130 trunk_z= 123.0mm grav_b=(+0.01,-0.12,-0.99) r=0.89m +[headless_play] t= 2.70s step= 135 trunk_z= 119.8mm grav_b=(+0.02,-0.11,-0.99) r=0.91m +[headless_play] t= 2.80s step= 140 trunk_z= 118.0mm grav_b=(+0.01,+0.04,-1.00) r=0.92m +[headless_play] t= 2.90s step= 145 trunk_z= 122.5mm grav_b=(+0.04,+0.00,-1.00) r=0.94m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(+0.02,-0.03,-1.00) r=0.95m +[headless_play] t= 3.10s step= 155 trunk_z= 120.0mm grav_b=(-0.01,-0.11,-0.99) r=0.97m +[headless_play] t= 3.20s step= 160 trunk_z= 124.5mm grav_b=(-0.01,-0.13,-0.99) r=0.98m +[headless_play] t= 3.30s step= 165 trunk_z= 125.1mm grav_b=(+0.02,-0.20,-0.98) r=0.99m +[headless_play] t= 3.40s step= 170 trunk_z= 125.3mm grav_b=(+0.02,-0.19,-0.98) r=0.99m +[headless_play] t= 3.50s step= 175 trunk_z= 123.3mm grav_b=(-0.01,-0.17,-0.99) r=0.99m +[headless_play] t= 3.60s step= 180 trunk_z= 119.5mm grav_b=(+0.00,-0.11,-0.99) r=1.00m +[headless_play] t= 3.70s step= 185 trunk_z= 118.3mm grav_b=(+0.01,-0.02,-1.00) r=1.00m +[headless_play] t= 3.80s step= 190 trunk_z= 114.6mm grav_b=(+0.05,-0.06,-1.00) r=1.00m +[headless_play] t= 3.90s step= 195 trunk_z= 114.9mm grav_b=(+0.06,-0.04,-1.00) r=1.00m +[headless_play] t= 4.00s step= 200 trunk_z= 115.3mm grav_b=(+0.04,-0.02,-1.00) r=1.00m +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=0.99m +[headless_play] t= 4.20s step= 210 trunk_z= 116.0mm grav_b=(-0.03,-0.03,-1.00) r=0.99m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.05,-0.03,-1.00) r=0.99m +[headless_play] t= 4.40s step= 220 trunk_z= 114.9mm grav_b=(-0.00,-0.01,-1.00) r=0.99m +[headless_play] t= 4.50s step= 225 trunk_z= 112.9mm grav_b=(+0.04,-0.00,-1.00) r=0.99m +[headless_play] t= 4.60s step= 230 trunk_z= 111.8mm grav_b=(+0.05,-0.08,-1.00) r=0.98m +[headless_play] t= 4.70s step= 235 trunk_z= 112.0mm grav_b=(+0.05,-0.03,-1.00) r=0.98m +[headless_play] t= 4.80s step= 240 trunk_z= 113.4mm grav_b=(+0.06,-0.03,-1.00) r=0.98m +[headless_play] t= 4.90s step= 245 trunk_z= 114.6mm grav_b=(+0.06,-0.03,-1.00) r=0.98m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(+0.05,-0.03,-1.00) r=0.98m +[headless_play] t= 5.10s step= 255 trunk_z= 115.0mm grav_b=(+0.03,-0.03,-1.00) r=0.98m +[headless_play] t= 5.20s step= 260 trunk_z= 117.0mm grav_b=(+0.06,+0.01,-1.00) r=0.99m +[headless_play] t= 5.30s step= 265 trunk_z= 120.2mm grav_b=(+0.07,+0.02,-1.00) r=0.99m +[headless_play] t= 5.40s step= 270 trunk_z= 117.3mm grav_b=(+0.05,-0.09,-0.99) r=0.99m +[headless_play] t= 5.50s step= 275 trunk_z= 121.4mm grav_b=(+0.01,-0.10,-1.00) r=0.99m +[headless_play] t= 5.60s step= 280 trunk_z= 117.8mm grav_b=(-0.06,-0.06,-1.00) r=0.99m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.01,+0.00,-1.00) r=1.01m +[headless_play] t= 5.80s step= 290 trunk_z= 118.0mm grav_b=(+0.06,-0.00,-1.00) r=1.02m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(+0.03,-0.07,-1.00) r=1.01m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=1.01m +[headless_play] t= 6.10s step= 305 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=1.01m +[headless_play] t= 6.20s step= 310 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=1.01m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(+0.01,-0.00,-1.00) r=1.02m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.02m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.02m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=1.02m +[headless_play] t= 6.70s step= 335 trunk_z= 117.0mm grav_b=(+0.06,-0.02,-1.00) r=1.02m +[headless_play] t= 6.80s step= 340 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=1.02m +[headless_play] t= 6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=1.02m +[headless_play] t= 7.00s step= 350 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=1.02m +[headless_play] t= 7.10s step= 355 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=1.02m +[headless_play] t= 7.20s step= 360 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=1.02m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=1.01m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(-0.08,-0.04,-1.00) r=1.00m +[headless_play] t= 7.50s step= 375 trunk_z= 116.0mm grav_b=(-0.03,-0.09,-1.00) r=1.00m +[headless_play] t= 7.60s step= 380 trunk_z= 113.7mm grav_b=(+0.04,-0.04,-1.00) r=0.99m +[headless_play] t= 7.70s step= 385 trunk_z= 112.6mm grav_b=(+0.05,-0.01,-1.00) r=1.00m +[headless_play] t= 7.80s step= 390 trunk_z= 111.0mm grav_b=(+0.07,-0.05,-1.00) r=0.99m +[headless_play] t= 7.90s step= 395 trunk_z= 112.6mm grav_b=(+0.07,-0.00,-1.00) r=0.99m +[headless_play] t= 8.00s step= 400 trunk_z= 114.2mm grav_b=(+0.06,-0.01,-1.00) r=0.99m +[headless_play] t= 8.10s step= 405 trunk_z= 114.6mm grav_b=(+0.06,-0.02,-1.00) r=0.99m +[headless_play] t= 8.20s step= 410 trunk_z= 115.5mm grav_b=(+0.07,-0.03,-1.00) r=0.99m +[headless_play] t= 8.30s step= 415 trunk_z= 115.3mm grav_b=(+0.06,-0.03,-1.00) r=0.99m +[headless_play] t= 8.40s step= 420 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.99m +[headless_play] t= 8.50s step= 425 trunk_z= 115.2mm grav_b=(+0.01,-0.01,-1.00) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 115.0mm grav_b=(+0.01,-0.01,-1.00) r=0.99m +[headless_play] t= 8.70s step= 435 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.99m +[headless_play] t= 8.80s step= 440 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.99m +[headless_play] t= 8.90s step= 445 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=1.00m +[headless_play] t= 9.00s step= 450 trunk_z= 113.9mm grav_b=(+0.00,+0.03,-1.00) r=1.01m +[headless_play] t= 9.10s step= 455 trunk_z= 112.4mm grav_b=(+0.01,-0.07,-1.00) r=1.02m +[headless_play] t= 9.20s step= 460 trunk_z= 112.2mm grav_b=(+0.07,-0.14,-0.99) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 117.7mm grav_b=(+0.03,-0.14,-0.99) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 114.2mm grav_b=(+0.01,-0.10,-0.99) r=1.05m +[headless_play] t= 9.50s step= 475 trunk_z= 109.2mm grav_b=(+0.03,+0.04,-1.00) r=1.07m +[headless_play] t= 9.60s step= 480 trunk_z= 116.0mm grav_b=(+0.04,+0.04,-1.00) r=1.08m +[headless_play] t= 9.70s step= 485 trunk_z= 109.5mm grav_b=(+0.08,-0.04,-1.00) r=1.09m +[headless_play] t= 9.80s step= 490 trunk_z= 113.3mm grav_b=(+0.08,-0.10,-0.99) r=1.10m +[headless_play] t= 9.90s step= 495 trunk_z= 113.9mm grav_b=(+0.10,-0.12,-0.99) r=1.12m +[headless_play] t= 10.00s step= 500 trunk_z= 113.0mm grav_b=(+0.07,-0.03,-1.00) r=1.14m +[headless_play] t= 10.10s step= 505 trunk_z= 108.0mm grav_b=(+0.01,+0.15,-0.99) r=1.18m +[headless_play] t= 10.20s step= 510 trunk_z= 107.4mm grav_b=(+0.04,+0.13,-0.99) r=1.20m +[headless_play] t= 10.30s step= 515 trunk_z= 100.1mm grav_b=(+0.11,+0.08,-0.99) r=1.22m +[headless_play] t= 10.40s step= 520 trunk_z= 97.3mm grav_b=(+0.05,-0.01,-1.00) r=1.25m +[headless_play] t= 10.50s step= 525 trunk_z= 105.3mm grav_b=(+0.01,-0.06,-1.00) r=1.27m +[headless_play] t= 10.60s step= 530 trunk_z= 95.5mm grav_b=(+0.07,-0.07,-1.00) r=1.32m +[headless_play] t= 10.70s step= 535 trunk_z= 83.4mm grav_b=(+0.04,+0.07,-1.00) r=1.36m +[headless_play] t= 10.80s step= 540 trunk_z= 86.1mm grav_b=(+0.05,+0.08,-1.00) r=1.39m +[headless_play] t= 10.90s step= 545 trunk_z= 82.8mm grav_b=(+0.04,+0.03,-1.00) r=1.42m +[headless_play] t= 11.00s step= 550 trunk_z= 81.5mm grav_b=(-0.01,-0.06,-1.00) r=1.44m +[headless_play] t= 11.10s step= 555 trunk_z= 78.8mm grav_b=(-0.02,-0.07,-1.00) r=1.46m +[headless_play] t= 11.20s step= 560 trunk_z= 66.7mm grav_b=(+0.01,+0.02,-1.00) r=1.49m +[headless_play] t= 11.30s step= 565 trunk_z= 69.5mm grav_b=(+0.02,+0.06,-1.00) r=1.51m +[headless_play] t= 11.40s step= 570 trunk_z= 64.6mm grav_b=(+0.06,+0.03,-1.00) r=1.53m +[headless_play] t= 11.50s step= 575 trunk_z= 59.4mm grav_b=(+0.06,-0.04,-1.00) r=1.54m +[headless_play] t= 11.60s step= 580 trunk_z= 61.9mm grav_b=(+0.08,-0.06,-0.99) r=1.56m +[headless_play] t= 11.70s step= 585 trunk_z= 55.9mm grav_b=(+0.11,-0.02,-0.99) r=1.59m +[headless_play] t= 11.80s step= 590 trunk_z= 54.0mm grav_b=(+0.02,+0.13,-0.99) r=1.62m +[headless_play] t= 11.90s step= 595 trunk_z= 53.6mm grav_b=(+0.07,+0.07,-1.00) r=1.65m +[headless_play] t= 12.00s step= 600 trunk_z= 49.0mm grav_b=(+0.06,+0.01,-1.00) r=1.67m +[headless_play] t= 12.10s step= 605 trunk_z= 50.0mm grav_b=(+0.00,-0.07,-1.00) r=1.69m +[headless_play] t= 12.20s step= 610 trunk_z= 42.9mm grav_b=(+0.08,-0.06,-1.00) r=1.71m +[headless_play] t= 12.30s step= 615 trunk_z= 33.1mm grav_b=(+0.10,+0.14,-0.98) r=1.75m +[headless_play] t= 12.40s step= 620 trunk_z= 46.6mm grav_b=(+0.05,+0.12,-0.99) r=1.78m +[headless_play] t= 12.50s step= 625 trunk_z= 44.9mm grav_b=(+0.08,+0.10,-0.99) r=1.81m +[headless_play] t= 12.60s step= 630 trunk_z= 28.4mm grav_b=(+0.05,-0.03,-1.00) r=1.84m +[headless_play] t= 12.70s step= 635 trunk_z= 31.8mm grav_b=(+0.06,-0.08,-0.99) r=1.85m +[headless_play] t= 12.80s step= 640 trunk_z= 28.1mm grav_b=(+0.06,-0.08,-0.99) r=1.85m +[headless_play] t= 12.90s step= 645 trunk_z= 25.3mm grav_b=(+0.09,-0.03,-1.00) r=1.85m +[headless_play] t= 13.00s step= 650 trunk_z= 27.6mm grav_b=(+0.15,-0.12,-0.98) r=1.87m +[headless_play] t= 13.10s step= 655 trunk_z= 35.0mm grav_b=(+0.01,-0.11,-0.99) r=1.89m +[headless_play] t= 13.20s step= 660 trunk_z= 21.5mm grav_b=(+0.05,-0.03,-1.00) r=1.91m +[headless_play] t= 13.30s step= 665 trunk_z= 24.1mm grav_b=(+0.05,-0.05,-1.00) r=1.92m +[headless_play] t= 13.40s step= 670 trunk_z= 12.0mm grav_b=(-0.01,-0.08,-1.00) r=1.93m +[headless_play] t= 13.50s step= 675 trunk_z= 16.1mm grav_b=(-0.04,-0.13,-0.99) r=1.94m +[headless_play] t= 13.60s step= 680 trunk_z= 16.7mm grav_b=(+0.03,-0.14,-0.99) r=1.95m +[headless_play] t= 13.70s step= 685 trunk_z= 12.9mm grav_b=(+0.01,-0.07,-1.00) r=1.96m +[headless_play] t= 13.80s step= 690 trunk_z= 13.1mm grav_b=(+0.00,-0.08,-1.00) r=1.96m +[headless_play] t= 13.90s step= 695 trunk_z= 15.4mm grav_b=(-0.02,-0.10,-0.99) r=1.95m +[headless_play] t= 14.00s step= 700 trunk_z= 11.4mm grav_b=(+0.04,-0.04,-1.00) r=1.94m +[headless_play] t= 14.10s step= 705 trunk_z= 12.6mm grav_b=(+0.05,-0.09,-0.99) r=1.94m +[headless_play] t= 14.20s step= 710 trunk_z= 14.1mm grav_b=(+0.04,-0.11,-0.99) r=1.94m +[headless_play] t= 14.30s step= 715 trunk_z= 12.8mm grav_b=(+0.06,-0.06,-1.00) r=1.95m +[headless_play] t= 14.40s step= 720 trunk_z= 14.2mm grav_b=(+0.13,-0.07,-0.99) r=1.95m +[headless_play] t= 14.50s step= 725 trunk_z= 19.9mm grav_b=(+0.03,-0.08,-1.00) r=1.96m +[headless_play] t= 14.60s step= 730 trunk_z= 11.2mm grav_b=(+0.02,+0.00,-1.00) r=1.98m +[headless_play] t= 14.70s step= 735 trunk_z= 12.5mm grav_b=(+0.04,-0.08,-1.00) r=2.01m +[headless_play] t= 14.80s step= 740 trunk_z= -1.0mm grav_b=(-0.02,-0.16,-0.99) r=2.04m +[headless_play] t= 14.90s step= 745 trunk_z= 2.8mm grav_b=(+0.00,-0.18,-0.98) r=2.06m +[headless_play] t= 15.00s step= 750 trunk_z= 2.5mm grav_b=(+0.04,-0.17,-0.98) r=2.06m +[headless_play] t= 15.10s step= 755 trunk_z= -0.9mm grav_b=(+0.12,-0.24,-0.96) r=2.07m +[headless_play] t= 15.20s step= 760 trunk_z= 14.3mm grav_b=(+0.03,-0.09,-0.99) r=2.08m +[headless_play] t= 15.30s step= 765 trunk_z= 13.4mm grav_b=(-0.02,-0.17,-0.98) r=2.10m +[headless_play] t= 15.40s step= 770 trunk_z= 6.5mm grav_b=(+0.04,-0.17,-0.99) r=2.09m +[headless_play] t= 15.50s step= 775 trunk_z= 2.0mm grav_b=(+0.05,-0.29,-0.95) r=2.07m +[headless_play] t= 15.60s step= 780 trunk_z= -5.4mm grav_b=(+0.06,-0.49,-0.87) r=2.05m +[headless_play] t= 15.70s step= 785 trunk_z= -40.4mm grav_b=(+0.21,-0.48,-0.85) r=2.00m +[headless_play] t= 15.80s step= 790 trunk_z= -34.0mm grav_b=(-0.18,-0.89,-0.42) r=1.95m +[headless_play] RESET at t= 15.82s step= 791 (env termination, not a recovery) +[headless_play] t= 15.90s step= 795 trunk_z= 114.5mm grav_b=(-0.01,-0.00,-1.00) r=0.04m +[headless_play] t= 16.00s step= 800 trunk_z= 114.1mm grav_b=(+0.02,+0.02,-1.00) r=0.05m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.03,+0.02,-1.00) r=0.06m +[headless_play] t= 16.20s step= 810 trunk_z= 112.9mm grav_b=(+0.01,-0.02,-1.00) r=0.08m +[headless_play] t= 16.30s step= 815 trunk_z= 115.1mm grav_b=(-0.00,-0.09,-1.00) r=0.09m +[headless_play] t= 16.40s step= 820 trunk_z= 120.6mm grav_b=(-0.01,-0.10,-1.00) r=0.10m +[headless_play] t= 16.50s step= 825 trunk_z= 115.6mm grav_b=(+0.00,-0.06,-1.00) r=0.10m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.03,+0.02,-1.00) r=0.11m +[headless_play] t= 16.70s step= 835 trunk_z= 113.5mm grav_b=(+0.08,-0.02,-1.00) r=0.12m +[headless_play] t= 16.80s step= 840 trunk_z= 110.7mm grav_b=(+0.09,-0.08,-0.99) r=0.14m +[headless_play] t= 16.90s step= 845 trunk_z= 119.3mm grav_b=(+0.05,-0.10,-0.99) r=0.16m +[headless_play] t= 17.00s step= 850 trunk_z= 119.3mm grav_b=(-0.03,-0.06,-1.00) r=0.15m +[headless_play] t= 17.10s step= 855 trunk_z= 107.8mm grav_b=(+0.07,+0.05,-1.00) r=0.14m +[headless_play] t= 17.20s step= 860 trunk_z= 111.2mm grav_b=(+0.07,+0.02,-1.00) r=0.14m +[headless_play] t= 17.30s step= 865 trunk_z= 106.3mm grav_b=(+0.08,-0.03,-1.00) r=0.15m +[headless_play] t= 17.40s step= 870 trunk_z= 116.6mm grav_b=(+0.09,-0.09,-0.99) r=0.17m +[headless_play] t= 17.50s step= 875 trunk_z= 116.5mm grav_b=(+0.09,-0.09,-0.99) r=0.19m +[headless_play] t= 17.60s step= 880 trunk_z= 114.9mm grav_b=(+0.04,+0.05,-1.00) r=0.21m +[headless_play] t= 17.70s step= 885 trunk_z= 120.4mm grav_b=(+0.04,+0.04,-1.00) r=0.23m +[headless_play] t= 17.80s step= 890 trunk_z= 111.9mm grav_b=(+0.02,-0.05,-1.00) r=0.24m +[headless_play] t= 17.90s step= 895 trunk_z= 118.1mm grav_b=(+0.02,-0.10,-1.00) r=0.25m +[headless_play] t= 18.00s step= 900 trunk_z= 118.9mm grav_b=(+0.03,-0.10,-0.99) r=0.26m +[headless_play] t= 18.10s step= 905 trunk_z= 113.4mm grav_b=(+0.05,-0.02,-1.00) r=0.28m +[headless_play] t= 18.20s step= 910 trunk_z= 120.2mm grav_b=(+0.02,+0.04,-1.00) r=0.29m +[headless_play] t= 18.30s step= 915 trunk_z= 117.9mm grav_b=(+0.04,+0.01,-1.00) r=0.30m +[headless_play] t= 18.40s step= 920 trunk_z= 115.7mm grav_b=(+0.05,-0.10,-0.99) r=0.33m +[headless_play] t= 18.50s step= 925 trunk_z= 122.2mm grav_b=(+0.05,-0.12,-0.99) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 119.5mm grav_b=(+0.02,-0.10,-0.99) r=0.36m +[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(+0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 18.80s step= 940 trunk_z= 119.9mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 18.90s step= 945 trunk_z= 113.3mm grav_b=(+0.05,-0.08,-1.00) r=0.39m +[headless_play] t= 19.00s step= 950 trunk_z= 120.6mm grav_b=(+0.06,-0.10,-0.99) r=0.41m +[headless_play] t= 19.10s step= 955 trunk_z= 118.8mm grav_b=(+0.06,-0.08,-1.00) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 118.1mm grav_b=(+0.03,+0.03,-1.00) r=0.45m +[headless_play] t= 19.30s step= 965 trunk_z= 122.5mm grav_b=(+0.07,+0.03,-1.00) r=0.47m +[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(+0.08,-0.00,-1.00) r=0.49m +[headless_play] t= 19.50s step= 975 trunk_z= 121.5mm grav_b=(+0.05,-0.08,-1.00) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(+0.03,-0.08,-1.00) r=0.54m +[headless_play] t= 19.70s step= 985 trunk_z= 113.6mm grav_b=(+0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 120.3mm grav_b=(-0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 19.90s step= 995 trunk_z= 113.7mm grav_b=(+0.04,-0.07,-1.00) r=0.56m +[headless_play] t= 20.00s step=1000 trunk_z= 119.9mm grav_b=(+0.06,-0.11,-0.99) r=0.57m +[headless_play] t= 20.10s step=1005 trunk_z= 117.9mm grav_b=(-0.02,-0.06,-1.00) r=0.57m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t13.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..77ab64b59ec518432097bb3f7e9dbbb7ad414114 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.544,-17.567,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 121.9mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.04,+0.03,-1.00) r=0.64m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.09,+0.05,-0.99) r=0.65m +[headless_play] t= 0.30s step= 15 trunk_z= 114.1mm grav_b=(+0.12,-0.00,-0.99) r=0.67m +[headless_play] t= 0.40s step= 20 trunk_z= 115.2mm grav_b=(+0.14,-0.05,-0.99) r=0.71m +[headless_play] t= 0.50s step= 25 trunk_z= 118.2mm grav_b=(+0.15,-0.02,-0.99) r=0.72m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.11,+0.07,-0.99) r=0.74m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(+0.19,+0.10,-0.98) r=0.77m +[headless_play] t= 0.80s step= 40 trunk_z= 118.9mm grav_b=(+0.19,+0.08,-0.98) r=0.81m +[headless_play] t= 0.90s step= 45 trunk_z= 123.1mm grav_b=(+0.15,+0.04,-0.99) r=0.85m +[headless_play] t= 1.00s step= 50 trunk_z= 119.5mm grav_b=(+0.08,+0.04,-1.00) r=0.89m +[headless_play] t= 1.10s step= 55 trunk_z= 123.0mm grav_b=(+0.13,+0.03,-0.99) r=0.92m +[headless_play] t= 1.20s step= 60 trunk_z= 119.3mm grav_b=(+0.11,+0.02,-0.99) r=0.95m +[headless_play] t= 1.30s step= 65 trunk_z= 117.6mm grav_b=(+0.07,-0.06,-1.00) r=0.98m +[headless_play] t= 1.40s step= 70 trunk_z= 118.1mm grav_b=(+0.08,-0.04,-1.00) r=1.00m +[headless_play] t= 1.50s step= 75 trunk_z= 115.2mm grav_b=(+0.09,+0.06,-0.99) r=1.01m +[headless_play] t= 1.60s step= 80 trunk_z= 117.6mm grav_b=(+0.21,+0.05,-0.98) r=1.04m +[headless_play] t= 1.70s step= 85 trunk_z= 109.8mm grav_b=(+0.19,+0.01,-0.98) r=1.09m +[headless_play] t= 1.80s step= 90 trunk_z= 114.7mm grav_b=(+0.16,-0.03,-0.99) r=1.13m +[headless_play] t= 1.90s step= 95 trunk_z= 111.4mm grav_b=(+0.14,+0.01,-0.99) r=1.17m +[headless_play] t= 2.00s step= 100 trunk_z= 109.5mm grav_b=(+0.14,+0.05,-0.99) r=1.21m +[headless_play] t= 2.10s step= 105 trunk_z= 106.2mm grav_b=(+0.12,+0.03,-0.99) r=1.24m +[headless_play] t= 2.20s step= 110 trunk_z= 88.7mm grav_b=(+0.06,-0.09,-0.99) r=1.29m +[headless_play] t= 2.30s step= 115 trunk_z= 93.0mm grav_b=(+0.11,-0.10,-0.99) r=1.33m +[headless_play] t= 2.40s step= 120 trunk_z= 87.6mm grav_b=(+0.10,-0.01,-1.00) r=1.35m +[headless_play] t= 2.50s step= 125 trunk_z= 90.2mm grav_b=(+0.08,+0.06,-1.00) r=1.37m +[headless_play] t= 2.60s step= 130 trunk_z= 82.5mm grav_b=(+0.13,+0.06,-0.99) r=1.39m +[headless_play] t= 2.70s step= 135 trunk_z= 74.5mm grav_b=(+0.13,-0.08,-0.99) r=1.43m +[headless_play] t= 2.80s step= 140 trunk_z= 77.8mm grav_b=(+0.18,-0.07,-0.98) r=1.45m +[headless_play] t= 2.90s step= 145 trunk_z= 68.6mm grav_b=(+0.18,+0.03,-0.98) r=1.49m +[headless_play] t= 3.00s step= 150 trunk_z= 77.7mm grav_b=(+0.20,+0.04,-0.98) r=1.53m +[headless_play] t= 3.10s step= 155 trunk_z= 58.2mm grav_b=(+0.12,+0.01,-0.99) r=1.58m +[headless_play] t= 3.20s step= 160 trunk_z= 56.9mm grav_b=(+0.11,-0.01,-0.99) r=1.62m +[headless_play] t= 3.30s step= 165 trunk_z= 50.3mm grav_b=(+0.07,+0.07,-1.00) r=1.64m +[headless_play] t= 3.40s step= 170 trunk_z= 58.4mm grav_b=(+0.10,+0.08,-0.99) r=1.65m +[headless_play] t= 3.50s step= 175 trunk_z= 53.8mm grav_b=(+0.14,+0.09,-0.99) r=1.67m +[headless_play] t= 3.60s step= 180 trunk_z= 43.7mm grav_b=(+0.13,-0.07,-0.99) r=1.71m +[headless_play] t= 3.70s step= 185 trunk_z= 49.9mm grav_b=(+0.19,-0.09,-0.98) r=1.74m +[headless_play] t= 3.80s step= 190 trunk_z= 45.3mm grav_b=(+0.18,-0.01,-0.98) r=1.77m +[headless_play] t= 3.90s step= 195 trunk_z= 49.6mm grav_b=(+0.20,+0.07,-0.98) r=1.81m +[headless_play] t= 4.00s step= 200 trunk_z= 52.4mm grav_b=(+0.17,+0.12,-0.98) r=1.86m +[headless_play] t= 4.10s step= 205 trunk_z= 22.6mm grav_b=(+0.13,-0.01,-0.99) r=1.91m +[headless_play] t= 4.20s step= 210 trunk_z= 37.2mm grav_b=(+0.18,+0.03,-0.98) r=1.95m +[headless_play] t= 4.30s step= 215 trunk_z= 18.7mm grav_b=(+0.05,+0.02,-1.00) r=1.99m +[headless_play] t= 4.40s step= 220 trunk_z= 24.0mm grav_b=(+0.10,+0.02,-0.99) r=2.01m +[headless_play] t= 4.50s step= 225 trunk_z= 26.3mm grav_b=(+0.09,+0.02,-1.00) r=2.04m +[headless_play] t= 4.60s step= 230 trunk_z= 9.2mm grav_b=(+0.09,-0.02,-1.00) r=2.08m +[headless_play] t= 4.70s step= 235 trunk_z= 17.1mm grav_b=(+0.13,-0.01,-0.99) r=2.10m +[headless_play] t= 4.80s step= 240 trunk_z= 18.1mm grav_b=(+0.12,+0.02,-0.99) r=2.12m +[headless_play] t= 4.90s step= 245 trunk_z= 14.3mm grav_b=(+0.09,+0.06,-0.99) r=2.12m +[headless_play] t= 5.00s step= 250 trunk_z= 21.9mm grav_b=(+0.11,+0.09,-0.99) r=2.14m +[headless_play] t= 5.10s step= 255 trunk_z= 22.2mm grav_b=(+0.06,+0.09,-0.99) r=2.17m +[headless_play] t= 5.20s step= 260 trunk_z= -3.5mm grav_b=(+0.03,+0.05,-1.00) r=2.22m +[headless_play] t= 5.30s step= 265 trunk_z= 7.3mm grav_b=(+0.09,+0.05,-1.00) r=2.25m +[headless_play] t= 5.40s step= 270 trunk_z= -1.3mm grav_b=(+0.08,+0.05,-1.00) r=2.26m +[headless_play] t= 5.50s step= 275 trunk_z= -7.9mm grav_b=(+0.05,+0.08,-1.00) r=2.26m +[headless_play] t= 5.60s step= 280 trunk_z= -4.6mm grav_b=(+0.01,+0.06,-1.00) r=2.27m +[headless_play] t= 5.70s step= 285 trunk_z= -6.7mm grav_b=(+0.01,-0.01,-1.00) r=2.30m +[headless_play] t= 5.80s step= 290 trunk_z= -0.7mm grav_b=(+0.04,-0.02,-1.00) r=2.30m +[headless_play] t= 5.90s step= 295 trunk_z= -5.9mm grav_b=(+0.04,+0.04,-1.00) r=2.29m +[headless_play] t= 6.00s step= 300 trunk_z= 2.6mm grav_b=(+0.05,+0.09,-0.99) r=2.28m +[headless_play] t= 6.10s step= 305 trunk_z= 3.1mm grav_b=(+0.06,+0.10,-0.99) r=2.29m +[headless_play] t= 6.20s step= 310 trunk_z= -6.2mm grav_b=(+0.02,-0.02,-1.00) r=2.32m +[headless_play] t= 6.30s step= 315 trunk_z= 2.4mm grav_b=(+0.03,-0.09,-1.00) r=2.33m +[headless_play] t= 6.40s step= 320 trunk_z= 3.6mm grav_b=(+0.05,-0.05,-1.00) r=2.33m +[headless_play] t= 6.50s step= 325 trunk_z= -3.0mm grav_b=(+0.04,+0.04,-1.00) r=2.32m +[headless_play] t= 6.60s step= 330 trunk_z= 5.2mm grav_b=(+0.05,+0.14,-0.99) r=2.31m +[headless_play] t= 6.70s step= 335 trunk_z= 7.2mm grav_b=(+0.07,+0.17,-0.98) r=2.31m +[headless_play] t= 6.80s step= 340 trunk_z= 7.7mm grav_b=(+0.08,+0.14,-0.99) r=2.33m +[headless_play] t= 6.90s step= 345 trunk_z= 9.1mm grav_b=(+0.13,+0.00,-0.99) r=2.37m +[headless_play] t= 7.00s step= 350 trunk_z= 21.2mm grav_b=(+0.17,-0.04,-0.99) r=2.40m +[headless_play] t= 7.10s step= 355 trunk_z= 20.1mm grav_b=(+0.11,-0.01,-0.99) r=2.43m +[headless_play] t= 7.20s step= 360 trunk_z= 12.6mm grav_b=(+0.14,-0.01,-0.99) r=2.45m +[headless_play] t= 7.30s step= 365 trunk_z= 19.9mm grav_b=(+0.14,+0.03,-0.99) r=2.46m +[headless_play] t= 7.40s step= 370 trunk_z= 12.2mm grav_b=(+0.04,+0.01,-1.00) r=2.49m +[headless_play] t= 7.50s step= 375 trunk_z= 15.9mm grav_b=(+0.06,-0.06,-1.00) r=2.51m +[headless_play] t= 7.60s step= 380 trunk_z= 22.8mm grav_b=(+0.13,-0.10,-0.99) r=2.53m +[headless_play] t= 7.70s step= 385 trunk_z= 27.2mm grav_b=(+0.14,-0.08,-0.99) r=2.55m +[headless_play] t= 7.80s step= 390 trunk_z= 22.0mm grav_b=(+0.07,-0.02,-1.00) r=2.57m +[headless_play] t= 7.90s step= 395 trunk_z= 30.9mm grav_b=(+0.10,+0.04,-0.99) r=2.58m +[headless_play] t= 8.00s step= 400 trunk_z= 33.4mm grav_b=(+0.06,+0.09,-0.99) r=2.60m +[headless_play] t= 8.10s step= 405 trunk_z= 28.2mm grav_b=(+0.01,+0.07,-1.00) r=2.62m +[headless_play] t= 8.20s step= 410 trunk_z= 26.3mm grav_b=(+0.03,+0.01,-1.00) r=2.63m +[headless_play] t= 8.30s step= 415 trunk_z= 23.5mm grav_b=(+0.07,+0.05,-1.00) r=2.63m +[headless_play] t= 8.40s step= 420 trunk_z= 25.7mm grav_b=(+0.09,+0.11,-0.99) r=2.62m +[headless_play] t= 8.50s step= 425 trunk_z= 29.5mm grav_b=(+0.10,+0.08,-0.99) r=2.64m +[headless_play] t= 8.60s step= 430 trunk_z= 26.9mm grav_b=(+0.10,+0.04,-0.99) r=2.67m +[headless_play] t= 8.70s step= 435 trunk_z= 33.0mm grav_b=(+0.10,+0.03,-0.99) r=2.68m +[headless_play] t= 8.80s step= 440 trunk_z= 27.7mm grav_b=(+0.09,+0.06,-0.99) r=2.67m +[headless_play] t= 8.90s step= 445 trunk_z= 35.7mm grav_b=(+0.06,+0.10,-0.99) r=2.67m +[headless_play] t= 9.00s step= 450 trunk_z= 34.5mm grav_b=(+0.05,+0.10,-0.99) r=2.68m +[headless_play] t= 9.10s step= 455 trunk_z= 28.7mm grav_b=(+0.04,+0.02,-1.00) r=2.70m +[headless_play] t= 9.20s step= 460 trunk_z= 35.5mm grav_b=(+0.05,-0.02,-1.00) r=2.71m +[headless_play] t= 9.30s step= 465 trunk_z= 32.2mm grav_b=(+0.07,+0.03,-1.00) r=2.70m +[headless_play] t= 9.40s step= 470 trunk_z= 30.1mm grav_b=(+0.09,+0.11,-0.99) r=2.69m +[headless_play] t= 9.50s step= 475 trunk_z= 29.8mm grav_b=(+0.12,+0.11,-0.99) r=2.69m +[headless_play] t= 9.60s step= 480 trunk_z= 25.3mm grav_b=(+0.15,+0.10,-0.98) r=2.71m +[headless_play] t= 9.70s step= 485 trunk_z= 30.0mm grav_b=(+0.12,+0.00,-0.99) r=2.73m +[headless_play] t= 9.80s step= 490 trunk_z= 32.7mm grav_b=(+0.09,+0.01,-1.00) r=2.74m +[headless_play] t= 9.90s step= 495 trunk_z= 29.2mm grav_b=(+0.10,+0.07,-0.99) r=2.73m +[headless_play] t= 10.00s step= 500 trunk_z= 37.0mm grav_b=(+0.12,+0.16,-0.98) r=2.72m +[headless_play] t= 10.10s step= 505 trunk_z= 38.6mm grav_b=(+0.13,+0.19,-0.97) r=2.72m +[headless_play] t= 10.20s step= 510 trunk_z= 37.3mm grav_b=(+0.14,+0.18,-0.97) r=2.73m +[headless_play] t= 10.30s step= 515 trunk_z= 31.7mm grav_b=(+0.14,+0.13,-0.98) r=2.75m +[headless_play] t= 10.40s step= 520 trunk_z= 37.8mm grav_b=(+0.09,-0.02,-1.00) r=2.76m +[headless_play] t= 10.50s step= 525 trunk_z= 39.7mm grav_b=(+0.09,-0.04,-1.00) r=2.77m +[headless_play] t= 10.60s step= 530 trunk_z= 36.8mm grav_b=(+0.12,+0.03,-0.99) r=2.77m +[headless_play] t= 10.70s step= 535 trunk_z= 40.2mm grav_b=(+0.11,+0.09,-0.99) r=2.77m +[headless_play] t= 10.80s step= 540 trunk_z= 38.3mm grav_b=(+0.11,+0.07,-0.99) r=2.78m +[headless_play] t= 10.90s step= 545 trunk_z= 35.4mm grav_b=(+0.15,-0.05,-0.99) r=2.81m +[headless_play] t= 11.00s step= 550 trunk_z= 44.6mm grav_b=(+0.15,-0.09,-0.99) r=2.83m +[headless_play] t= 11.10s step= 555 trunk_z= 43.9mm grav_b=(+0.16,-0.07,-0.99) r=2.84m +[headless_play] t= 11.20s step= 560 trunk_z= 41.6mm grav_b=(+0.12,+0.03,-0.99) r=2.83m +[headless_play] t= 11.30s step= 565 trunk_z= 48.8mm grav_b=(+0.07,+0.08,-0.99) r=2.83m +[headless_play] t= 11.40s step= 570 trunk_z= 46.2mm grav_b=(+0.08,+0.06,-0.99) r=2.83m +[headless_play] t= 11.50s step= 575 trunk_z= 37.1mm grav_b=(+0.11,+0.00,-0.99) r=2.85m +[headless_play] t= 11.60s step= 580 trunk_z= 39.2mm grav_b=(+0.12,-0.02,-0.99) r=2.86m +[headless_play] t= 11.70s step= 585 trunk_z= 38.3mm grav_b=(+0.14,+0.01,-0.99) r=2.86m +[headless_play] t= 11.80s step= 590 trunk_z= 40.5mm grav_b=(+0.12,+0.07,-0.99) r=2.85m +[headless_play] t= 11.90s step= 595 trunk_z= 46.5mm grav_b=(+0.13,+0.04,-0.99) r=2.85m +[headless_play] t= 12.00s step= 600 trunk_z= 41.2mm grav_b=(+0.15,-0.02,-0.99) r=2.87m +[headless_play] t= 12.10s step= 605 trunk_z= 49.5mm grav_b=(+0.15,-0.04,-0.99) r=2.88m +[headless_play] t= 12.20s step= 610 trunk_z= 51.1mm grav_b=(+0.15,+0.01,-0.99) r=2.89m +[headless_play] t= 12.30s step= 615 trunk_z= 59.4mm grav_b=(+0.14,+0.05,-0.99) r=2.91m +[headless_play] t= 12.40s step= 620 trunk_z= 57.4mm grav_b=(+0.10,+0.04,-0.99) r=2.93m +[headless_play] t= 12.50s step= 625 trunk_z= 57.0mm grav_b=(+0.02,-0.06,-1.00) r=2.95m +[headless_play] t= 12.60s step= 630 trunk_z= 60.2mm grav_b=(+0.05,-0.02,-1.00) r=2.95m +[headless_play] t= 12.70s step= 635 trunk_z= 50.1mm grav_b=(+0.08,+0.08,-0.99) r=2.93m +[headless_play] t= 12.80s step= 640 trunk_z= 52.3mm grav_b=(+0.12,+0.12,-0.99) r=2.93m +[headless_play] t= 12.90s step= 645 trunk_z= 49.1mm grav_b=(+0.14,+0.06,-0.99) r=2.94m +[headless_play] t= 13.00s step= 650 trunk_z= 53.8mm grav_b=(+0.16,-0.05,-0.99) r=2.96m +[headless_play] t= 13.10s step= 655 trunk_z= 56.0mm grav_b=(+0.18,-0.01,-0.98) r=2.97m +[headless_play] t= 13.20s step= 660 trunk_z= 58.2mm grav_b=(+0.12,-0.02,-0.99) r=3.00m +[headless_play] t= 13.30s step= 665 trunk_z= 64.4mm grav_b=(+0.13,-0.05,-0.99) r=3.02m +[headless_play] t= 13.40s step= 670 trunk_z= 47.6mm grav_b=(+0.03,-0.05,-1.00) r=3.06m +[headless_play] t= 13.50s step= 675 trunk_z= 58.2mm grav_b=(+0.07,-0.07,-1.00) r=3.08m +[headless_play] t= 13.60s step= 680 trunk_z= 63.1mm grav_b=(+0.10,-0.02,-0.99) r=3.09m +[headless_play] t= 13.70s step= 685 trunk_z= 61.9mm grav_b=(+0.12,+0.09,-0.99) r=3.09m +[headless_play] t= 13.80s step= 690 trunk_z= 70.7mm grav_b=(+0.13,+0.11,-0.99) r=3.09m +[headless_play] t= 13.90s step= 695 trunk_z= 68.4mm grav_b=(+0.11,+0.09,-0.99) r=3.11m +[headless_play] t= 14.00s step= 700 trunk_z= 65.6mm grav_b=(+0.15,-0.05,-0.99) r=3.13m +[headless_play] t= 14.10s step= 705 trunk_z= 68.5mm grav_b=(+0.14,-0.03,-0.99) r=3.15m +[headless_play] t= 14.20s step= 710 trunk_z= 70.5mm grav_b=(+0.12,+0.01,-0.99) r=3.15m +[headless_play] t= 14.30s step= 715 trunk_z= 74.0mm grav_b=(+0.10,+0.01,-1.00) r=3.17m +[headless_play] t= 14.40s step= 720 trunk_z= 63.6mm grav_b=(+0.07,-0.06,-1.00) r=3.19m +[headless_play] t= 14.50s step= 725 trunk_z= 71.4mm grav_b=(+0.09,-0.08,-0.99) r=3.20m +[headless_play] t= 14.60s step= 730 trunk_z= 68.6mm grav_b=(+0.07,-0.00,-1.00) r=3.20m +[headless_play] t= 14.70s step= 735 trunk_z= 76.3mm grav_b=(+0.12,+0.08,-0.99) r=3.20m +[headless_play] t= 14.80s step= 740 trunk_z= 78.2mm grav_b=(+0.10,+0.06,-0.99) r=3.21m +[headless_play] t= 14.90s step= 745 trunk_z= 67.7mm grav_b=(+0.08,-0.02,-1.00) r=3.23m +[headless_play] t= 15.00s step= 750 trunk_z= 74.2mm grav_b=(+0.09,-0.09,-0.99) r=3.25m +[headless_play] t= 15.10s step= 755 trunk_z= 71.7mm grav_b=(+0.10,-0.07,-0.99) r=3.26m +[headless_play] t= 15.20s step= 760 trunk_z= 71.2mm grav_b=(+0.11,+0.01,-0.99) r=3.27m +[headless_play] t= 15.30s step= 765 trunk_z= 75.0mm grav_b=(+0.11,-0.03,-0.99) r=3.28m +[headless_play] t= 15.40s step= 770 trunk_z= 66.3mm grav_b=(+0.10,-0.11,-0.99) r=3.30m +[headless_play] t= 15.50s step= 775 trunk_z= 74.6mm grav_b=(+0.11,-0.14,-0.98) r=3.32m +[headless_play] t= 15.60s step= 780 trunk_z= 74.3mm grav_b=(+0.13,-0.12,-0.98) r=3.33m +[headless_play] t= 15.70s step= 785 trunk_z= 71.3mm grav_b=(+0.14,-0.03,-0.99) r=3.33m +[headless_play] t= 15.80s step= 790 trunk_z= 80.5mm grav_b=(+0.10,-0.02,-0.99) r=3.34m +[headless_play] t= 15.90s step= 795 trunk_z= 72.3mm grav_b=(+0.07,-0.08,-0.99) r=3.36m +[headless_play] t= 16.00s step= 800 trunk_z= 75.0mm grav_b=(+0.11,-0.23,-0.97) r=3.38m +[headless_play] t= 16.10s step= 805 trunk_z= 81.8mm grav_b=(+0.08,-0.16,-0.98) r=3.39m +[headless_play] t= 16.20s step= 810 trunk_z= 78.3mm grav_b=(+0.17,-0.21,-0.96) r=3.40m +[headless_play] t= 16.30s step= 815 trunk_z= 72.3mm grav_b=(+0.28,-0.25,-0.93) r=3.43m +[headless_play] t= 16.40s step= 820 trunk_z= 66.0mm grav_b=(+0.17,-0.13,-0.98) r=3.48m +[headless_play] t= 16.50s step= 825 trunk_z= 76.5mm grav_b=(+0.11,-0.07,-0.99) r=3.50m +[headless_play] t= 16.60s step= 830 trunk_z= 43.7mm grav_b=(+0.06,-0.11,-0.99) r=3.53m +[headless_play] t= 16.70s step= 835 trunk_z= 52.9mm grav_b=(+0.18,-0.13,-0.98) r=3.55m +[headless_play] t= 16.80s step= 840 trunk_z= 56.0mm grav_b=(+0.20,-0.10,-0.97) r=3.57m +[headless_play] t= 16.90s step= 845 trunk_z= 56.0mm grav_b=(+0.18,+0.00,-0.98) r=3.60m +[headless_play] t= 17.00s step= 850 trunk_z= 61.0mm grav_b=(+0.14,-0.01,-0.99) r=3.62m +[headless_play] t= 17.10s step= 855 trunk_z= 43.5mm grav_b=(+0.08,-0.11,-0.99) r=3.64m +[headless_play] t= 17.20s step= 860 trunk_z= 50.9mm grav_b=(+0.10,-0.15,-0.98) r=3.65m +[headless_play] t= 17.30s step= 865 trunk_z= 50.0mm grav_b=(+0.13,-0.13,-0.98) r=3.67m +[headless_play] t= 17.40s step= 870 trunk_z= 49.6mm grav_b=(+0.16,-0.12,-0.98) r=3.69m +[headless_play] t= 17.50s step= 875 trunk_z= 49.7mm grav_b=(+0.21,-0.05,-0.98) r=3.73m +[headless_play] t= 17.60s step= 880 trunk_z= 48.6mm grav_b=(+0.16,-0.03,-0.99) r=3.75m +[headless_play] t= 17.70s step= 885 trunk_z= 25.5mm grav_b=(+0.14,-0.10,-0.99) r=3.77m +[headless_play] t= 17.80s step= 890 trunk_z= 30.9mm grav_b=(+0.15,-0.07,-0.99) r=3.79m +[headless_play] t= 17.90s step= 895 trunk_z= 31.7mm grav_b=(+0.12,+0.01,-0.99) r=3.82m +[headless_play] t= 18.00s step= 900 trunk_z= 39.3mm grav_b=(+0.10,+0.04,-0.99) r=3.84m +[headless_play] t= 18.10s step= 905 trunk_z= 32.5mm grav_b=(+0.10,+0.01,-0.99) r=3.84m +[headless_play] t= 18.20s step= 910 trunk_z= 28.3mm grav_b=(+0.11,-0.12,-0.99) r=3.85m +[headless_play] t= 18.30s step= 915 trunk_z= 27.2mm grav_b=(+0.19,-0.03,-0.98) r=3.88m +[headless_play] t= 18.40s step= 920 trunk_z= 30.1mm grav_b=(+0.16,+0.04,-0.99) r=3.91m +[headless_play] t= 18.50s step= 925 trunk_z= 31.3mm grav_b=(+0.14,+0.04,-0.99) r=3.94m +[headless_play] t= 18.60s step= 930 trunk_z= 13.8mm grav_b=(+0.10,-0.06,-0.99) r=3.96m +[headless_play] t= 18.70s step= 935 trunk_z= 21.3mm grav_b=(+0.16,-0.13,-0.98) r=3.98m +[headless_play] t= 18.80s step= 940 trunk_z= 21.1mm grav_b=(+0.17,-0.13,-0.98) r=4.00m +[headless_play] t= 18.90s step= 945 trunk_z= 16.4mm grav_b=(+0.15,-0.07,-0.99) r=4.03m +[headless_play] t= 19.00s step= 950 trunk_z= 20.5mm grav_b=(+0.15,-0.01,-0.99) r=4.06m +[headless_play] t= 19.10s step= 955 trunk_z= 9.4mm grav_b=(+0.15,-0.01,-0.99) r=4.08m +[headless_play] t= 19.20s step= 960 trunk_z= -0.9mm grav_b=(+0.19,-0.06,-0.98) r=4.12m +[headless_play] t= 19.30s step= 965 trunk_z= 3.4mm grav_b=(+0.15,-0.03,-0.99) r=4.16m +[headless_play] t= 19.40s step= 970 trunk_z= -9.4mm grav_b=(+0.16,-0.01,-0.99) r=4.20m +[headless_play] t= 19.50s step= 975 trunk_z= 1.1mm grav_b=(+0.19,+0.04,-0.98) r=4.21m +[headless_play] t= 19.60s step= 980 trunk_z= 3.6mm grav_b=(+0.09,+0.02,-1.00) r=4.23m +[headless_play] t= 19.70s step= 985 trunk_z= 13.0mm grav_b=(+0.01,-0.02,-1.00) r=4.23m +[headless_play] t= 19.80s step= 990 trunk_z= 14.2mm grav_b=(+0.03,-0.02,-1.00) r=4.24m +[headless_play] t= 19.90s step= 995 trunk_z= 2.6mm grav_b=(+0.03,+0.08,-1.00) r=4.24m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.54m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t14.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..db9820136f895f50104cd83f29f99fdc0d8ccdc6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.711,-17.538,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 119.9mm grav_b=(-0.01,+0.03,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 120.2mm grav_b=(-0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 114.0mm grav_b=(-0.01,-0.08,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 125.3mm grav_b=(-0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 122.7mm grav_b=(-0.02,-0.06,-1.00) r=0.52m +[headless_play] t= 0.70s step= 35 trunk_z= 121.4mm grav_b=(-0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 124.6mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 119.2mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 126.8mm grav_b=(+0.07,-0.09,-0.99) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 132.3mm grav_b=(+0.06,-0.09,-0.99) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 115.2mm grav_b=(+0.02,-0.11,-0.99) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 121.3mm grav_b=(-0.02,-0.14,-0.99) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 115.2mm grav_b=(-0.06,-0.10,-0.99) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 119.7mm grav_b=(-0.05,-0.02,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 118.3mm grav_b=(-0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 127.1mm grav_b=(-0.05,+0.06,-1.00) r=0.56m +[headless_play] t= 1.80s step= 90 trunk_z= 127.7mm grav_b=(-0.01,+0.05,-1.00) r=0.57m +[headless_play] t= 1.90s step= 95 trunk_z= 122.9mm grav_b=(-0.04,+0.02,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 124.7mm grav_b=(-0.01,-0.07,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 125.8mm grav_b=(-0.01,-0.06,-1.00) r=0.56m +[headless_play] t= 2.20s step= 110 trunk_z= 120.1mm grav_b=(-0.02,-0.04,-1.00) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 123.7mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 121.8mm grav_b=(+0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 2.50s step= 125 trunk_z= 117.3mm grav_b=(-0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 124.7mm grav_b=(-0.02,-0.05,-1.00) r=0.60m +[headless_play] t= 2.70s step= 135 trunk_z= 118.2mm grav_b=(+0.02,-0.02,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 125.8mm grav_b=(+0.02,+0.02,-1.00) r=0.66m +[headless_play] t= 2.90s step= 145 trunk_z= 125.1mm grav_b=(+0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 3.00s step= 150 trunk_z= 117.5mm grav_b=(-0.02,-0.03,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 124.6mm grav_b=(-0.01,-0.07,-1.00) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.00,-0.07,-1.00) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 121.7mm grav_b=(-0.02,+0.02,-1.00) r=0.71m +[headless_play] t= 3.40s step= 170 trunk_z= 123.8mm grav_b=(-0.02,-0.00,-1.00) r=0.72m +[headless_play] t= 3.50s step= 175 trunk_z= 116.8mm grav_b=(-0.02,-0.03,-1.00) r=0.72m +[headless_play] t= 3.60s step= 180 trunk_z= 123.8mm grav_b=(-0.03,-0.08,-1.00) r=0.72m +[headless_play] t= 3.70s step= 185 trunk_z= 120.1mm grav_b=(-0.00,-0.01,-1.00) r=0.74m +[headless_play] t= 3.80s step= 190 trunk_z= 122.6mm grav_b=(-0.01,+0.01,-1.00) r=0.77m +[headless_play] t= 3.90s step= 195 trunk_z= 123.9mm grav_b=(-0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(-0.02,-0.03,-1.00) r=0.78m +[headless_play] t= 4.10s step= 205 trunk_z= 124.4mm grav_b=(-0.02,-0.07,-1.00) r=0.78m +[headless_play] t= 4.20s step= 210 trunk_z= 126.7mm grav_b=(-0.00,-0.10,-0.99) r=0.78m +[headless_play] t= 4.30s step= 215 trunk_z= 124.3mm grav_b=(+0.01,-0.07,-1.00) r=0.81m +[headless_play] t= 4.40s step= 220 trunk_z= 124.8mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 4.50s step= 225 trunk_z= 126.2mm grav_b=(-0.00,-0.02,-1.00) r=0.84m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(-0.05,-0.03,-1.00) r=0.84m +[headless_play] t= 4.70s step= 235 trunk_z= 124.2mm grav_b=(-0.04,-0.05,-1.00) r=0.85m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(-0.05,-0.05,-1.00) r=0.86m +[headless_play] t= 4.90s step= 245 trunk_z= 121.6mm grav_b=(-0.05,+0.01,-1.00) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 125.1mm grav_b=(-0.12,+0.02,-0.99) r=0.88m +[headless_play] t= 5.10s step= 255 trunk_z= 121.0mm grav_b=(-0.06,-0.00,-1.00) r=0.86m +[headless_play] t= 5.20s step= 260 trunk_z= 120.8mm grav_b=(-0.05,-0.07,-1.00) r=0.84m +[headless_play] t= 5.30s step= 265 trunk_z= 120.0mm grav_b=(+0.00,-0.05,-1.00) r=0.85m +[headless_play] t= 5.40s step= 270 trunk_z= 122.7mm grav_b=(+0.02,+0.01,-1.00) r=0.87m +[headless_play] t= 5.50s step= 275 trunk_z= 126.7mm grav_b=(+0.05,-0.02,-1.00) r=0.88m +[headless_play] t= 5.60s step= 280 trunk_z= 116.0mm grav_b=(-0.05,-0.07,-1.00) r=0.86m +[headless_play] t= 5.70s step= 285 trunk_z= 123.4mm grav_b=(-0.08,-0.08,-0.99) r=0.86m +[headless_play] t= 5.80s step= 290 trunk_z= 122.1mm grav_b=(-0.08,-0.06,-1.00) r=0.88m +[headless_play] t= 5.90s step= 295 trunk_z= 122.8mm grav_b=(-0.05,+0.02,-1.00) r=0.91m +[headless_play] t= 6.00s step= 300 trunk_z= 125.9mm grav_b=(-0.00,+0.02,-1.00) r=0.91m +[headless_play] t= 6.10s step= 305 trunk_z= 125.5mm grav_b=(+0.06,+0.01,-1.00) r=0.92m +[headless_play] t= 6.20s step= 310 trunk_z= 122.8mm grav_b=(+0.09,-0.03,-1.00) r=0.94m +[headless_play] t= 6.30s step= 315 trunk_z= 133.1mm grav_b=(+0.07,+0.01,-1.00) r=0.97m +[headless_play] t= 6.40s step= 320 trunk_z= 110.1mm grav_b=(-0.06,+0.03,-1.00) r=1.02m +[headless_play] t= 6.50s step= 325 trunk_z= 119.7mm grav_b=(-0.11,-0.00,-0.99) r=1.03m +[headless_play] t= 6.60s step= 330 trunk_z= 116.9mm grav_b=(-0.02,-0.08,-1.00) r=1.01m +[headless_play] t= 6.70s step= 335 trunk_z= 126.0mm grav_b=(+0.00,-0.18,-0.98) r=1.00m +[headless_play] t= 6.80s step= 340 trunk_z= 130.3mm grav_b=(-0.00,-0.20,-0.98) r=0.98m +[headless_play] t= 6.90s step= 345 trunk_z= 130.7mm grav_b=(+0.00,-0.20,-0.98) r=0.97m +[headless_play] t= 7.00s step= 350 trunk_z= 129.2mm grav_b=(+0.01,-0.19,-0.98) r=0.98m +[headless_play] t= 7.10s step= 355 trunk_z= 131.4mm grav_b=(-0.00,-0.09,-1.00) r=1.00m +[headless_play] t= 7.20s step= 360 trunk_z= 125.9mm grav_b=(+0.03,-0.12,-0.99) r=1.02m +[headless_play] t= 7.30s step= 365 trunk_z= 118.3mm grav_b=(-0.02,-0.06,-1.00) r=1.02m +[headless_play] t= 7.40s step= 370 trunk_z= 118.9mm grav_b=(-0.06,-0.00,-1.00) r=1.03m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=1.04m +[headless_play] t= 7.60s step= 380 trunk_z= 123.2mm grav_b=(-0.05,+0.02,-1.00) r=1.05m +[headless_play] t= 7.70s step= 385 trunk_z= 118.5mm grav_b=(-0.07,-0.05,-1.00) r=1.05m +[headless_play] t= 7.80s step= 390 trunk_z= 122.6mm grav_b=(-0.01,-0.06,-1.00) r=1.04m +[headless_play] t= 7.90s step= 395 trunk_z= 123.5mm grav_b=(-0.01,-0.07,-1.00) r=1.05m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 8.10s step= 405 trunk_z= 124.3mm grav_b=(+0.03,-0.01,-1.00) r=1.09m +[headless_play] t= 8.20s step= 410 trunk_z= 114.3mm grav_b=(+0.03,-0.06,-1.00) r=1.10m +[headless_play] t= 8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.01,-0.06,-1.00) r=1.13m +[headless_play] t= 8.40s step= 420 trunk_z= 117.9mm grav_b=(+0.00,-0.03,-1.00) r=1.16m +[headless_play] t= 8.50s step= 425 trunk_z= 98.5mm grav_b=(-0.00,+0.01,-1.00) r=1.20m +[headless_play] t= 8.60s step= 430 trunk_z= 104.6mm grav_b=(+0.00,+0.01,-1.00) r=1.22m +[headless_play] t= 8.70s step= 435 trunk_z= 99.4mm grav_b=(+0.00,-0.01,-1.00) r=1.23m +[headless_play] t= 8.80s step= 440 trunk_z= 98.8mm grav_b=(-0.03,-0.03,-1.00) r=1.24m +[headless_play] t= 8.90s step= 445 trunk_z= 96.0mm grav_b=(-0.02,-0.01,-1.00) r=1.27m +[headless_play] t= 9.00s step= 450 trunk_z= 89.7mm grav_b=(-0.01,+0.05,-1.00) r=1.29m +[headless_play] t= 9.10s step= 455 trunk_z= 96.5mm grav_b=(+0.02,+0.11,-0.99) r=1.33m +[headless_play] t= 9.20s step= 460 trunk_z= 91.5mm grav_b=(+0.05,+0.03,-1.00) r=1.36m +[headless_play] t= 9.30s step= 465 trunk_z= 73.1mm grav_b=(+0.04,-0.01,-1.00) r=1.43m +[headless_play] t= 9.40s step= 470 trunk_z= 88.2mm grav_b=(+0.05,-0.07,-1.00) r=1.47m +[headless_play] t= 9.50s step= 475 trunk_z= 75.9mm grav_b=(-0.10,-0.08,-0.99) r=1.52m +[headless_play] t= 9.60s step= 480 trunk_z= 52.2mm grav_b=(-0.13,-0.02,-0.99) r=1.57m +[headless_play] t= 9.70s step= 485 trunk_z= 58.9mm grav_b=(-0.07,-0.00,-1.00) r=1.57m +[headless_play] t= 9.80s step= 490 trunk_z= 54.9mm grav_b=(-0.04,+0.02,-1.00) r=1.57m +[headless_play] t= 9.90s step= 495 trunk_z= 52.1mm grav_b=(-0.03,+0.04,-1.00) r=1.58m +[headless_play] t= 10.00s step= 500 trunk_z= 55.8mm grav_b=(+0.02,-0.01,-1.00) r=1.60m +[headless_play] t= 10.10s step= 505 trunk_z= 50.1mm grav_b=(+0.02,-0.07,-1.00) r=1.63m +[headless_play] t= 10.20s step= 510 trunk_z= 53.6mm grav_b=(+0.01,-0.11,-0.99) r=1.67m +[headless_play] t= 10.30s step= 515 trunk_z= 52.8mm grav_b=(-0.02,-0.08,-1.00) r=1.70m +[headless_play] t= 10.40s step= 520 trunk_z= 33.0mm grav_b=(-0.04,+0.03,-1.00) r=1.75m +[headless_play] t= 10.50s step= 525 trunk_z= 41.7mm grav_b=(+0.02,+0.05,-1.00) r=1.78m +[headless_play] t= 10.60s step= 530 trunk_z= 38.4mm grav_b=(+0.01,+0.04,-1.00) r=1.78m +[headless_play] t= 10.70s step= 535 trunk_z= 33.6mm grav_b=(-0.04,+0.05,-1.00) r=1.79m +[headless_play] t= 10.80s step= 540 trunk_z= 31.7mm grav_b=(-0.06,+0.09,-0.99) r=1.81m +[headless_play] t= 10.90s step= 545 trunk_z= 35.4mm grav_b=(-0.00,+0.05,-1.00) r=1.82m +[headless_play] t= 11.00s step= 550 trunk_z= 27.9mm grav_b=(+0.01,-0.03,-1.00) r=1.84m +[headless_play] t= 11.10s step= 555 trunk_z= 36.5mm grav_b=(+0.01,-0.08,-1.00) r=1.86m +[headless_play] t= 11.20s step= 560 trunk_z= 34.1mm grav_b=(+0.00,-0.06,-1.00) r=1.89m +[headless_play] t= 11.30s step= 565 trunk_z= 17.7mm grav_b=(-0.02,+0.07,-1.00) r=1.94m +[headless_play] t= 11.40s step= 570 trunk_z= 29.0mm grav_b=(-0.03,+0.15,-0.99) r=1.97m +[headless_play] t= 11.50s step= 575 trunk_z= 23.5mm grav_b=(+0.03,+0.11,-0.99) r=2.00m +[headless_play] t= 11.60s step= 580 trunk_z= 24.0mm grav_b=(+0.01,+0.03,-1.00) r=2.05m +[headless_play] t= 11.70s step= 585 trunk_z= 24.7mm grav_b=(+0.04,-0.04,-1.00) r=2.07m +[headless_play] t= 11.80s step= 590 trunk_z= 23.7mm grav_b=(+0.02,-0.13,-0.99) r=2.09m +[headless_play] t= 11.90s step= 595 trunk_z= 16.9mm grav_b=(-0.05,-0.11,-0.99) r=2.13m +[headless_play] t= 12.00s step= 600 trunk_z= 14.7mm grav_b=(+0.01,-0.09,-1.00) r=2.17m +[headless_play] t= 12.10s step= 605 trunk_z= -6.0mm grav_b=(-0.03,-0.05,-1.00) r=2.20m +[headless_play] t= 12.20s step= 610 trunk_z= -5.3mm grav_b=(-0.13,-0.11,-0.98) r=2.22m +[headless_play] t= 12.30s step= 615 trunk_z= 3.3mm grav_b=(-0.02,-0.08,-1.00) r=2.23m +[headless_play] t= 12.40s step= 620 trunk_z= -1.4mm grav_b=(+0.06,-0.04,-1.00) r=2.22m +[headless_play] t= 12.50s step= 625 trunk_z= 0.3mm grav_b=(+0.08,-0.02,-1.00) r=2.22m +[headless_play] t= 12.60s step= 630 trunk_z= -0.5mm grav_b=(+0.09,-0.06,-0.99) r=2.22m +[headless_play] t= 12.70s step= 635 trunk_z= 13.7mm grav_b=(+0.08,-0.13,-0.99) r=2.25m +[headless_play] t= 12.80s step= 640 trunk_z= 3.5mm grav_b=(-0.03,-0.11,-0.99) r=2.30m +[headless_play] t= 12.90s step= 645 trunk_z= 12.5mm grav_b=(+0.05,-0.11,-0.99) r=2.34m +[headless_play] t= 13.00s step= 650 trunk_z= 6.1mm grav_b=(-0.00,-0.07,-1.00) r=2.38m +[headless_play] t= 13.10s step= 655 trunk_z= -3.8mm grav_b=(-0.03,-0.15,-0.99) r=2.41m +[headless_play] t= 13.20s step= 660 trunk_z= 7.6mm grav_b=(+0.09,-0.13,-0.99) r=2.44m +[headless_play] t= 13.30s step= 665 trunk_z= 9.3mm grav_b=(-0.01,-0.12,-0.99) r=2.50m +[headless_play] t= 13.40s step= 670 trunk_z= -8.5mm grav_b=(-0.11,-0.02,-0.99) r=2.55m +[headless_play] t= 13.50s step= 675 trunk_z= 2.0mm grav_b=(-0.15,-0.00,-0.99) r=2.55m +[headless_play] t= 13.60s step= 680 trunk_z= -3.9mm grav_b=(-0.10,-0.08,-0.99) r=2.54m +[headless_play] t= 13.70s step= 685 trunk_z= 2.0mm grav_b=(-0.01,-0.03,-1.00) r=2.53m +[headless_play] t= 13.80s step= 690 trunk_z= 0.7mm grav_b=(-0.04,+0.01,-1.00) r=2.54m +[headless_play] t= 13.90s step= 695 trunk_z= 5.7mm grav_b=(-0.06,-0.05,-1.00) r=2.55m +[headless_play] t= 14.00s step= 700 trunk_z= 1.0mm grav_b=(-0.02,-0.09,-1.00) r=2.56m +[headless_play] t= 14.10s step= 705 trunk_z= 4.6mm grav_b=(-0.05,-0.08,-1.00) r=2.57m +[headless_play] t= 14.20s step= 710 trunk_z= 0.9mm grav_b=(-0.07,-0.05,-1.00) r=2.59m +[headless_play] t= 14.30s step= 715 trunk_z= 8.8mm grav_b=(-0.03,-0.05,-1.00) r=2.60m +[headless_play] t= 14.40s step= 720 trunk_z= 2.0mm grav_b=(-0.02,-0.08,-1.00) r=2.61m +[headless_play] t= 14.50s step= 725 trunk_z= 6.4mm grav_b=(-0.05,-0.12,-0.99) r=2.61m +[headless_play] t= 14.60s step= 730 trunk_z= 8.5mm grav_b=(-0.05,-0.09,-0.99) r=2.63m +[headless_play] t= 14.70s step= 735 trunk_z= 5.6mm grav_b=(-0.06,-0.05,-1.00) r=2.65m +[headless_play] t= 14.80s step= 740 trunk_z= 10.8mm grav_b=(-0.05,-0.03,-1.00) r=2.67m +[headless_play] t= 14.90s step= 745 trunk_z= 4.3mm grav_b=(-0.03,-0.05,-1.00) r=2.67m +[headless_play] t= 15.00s step= 750 trunk_z= 8.6mm grav_b=(-0.00,-0.12,-0.99) r=2.68m +[headless_play] t= 15.10s step= 755 trunk_z= 13.0mm grav_b=(+0.00,-0.15,-0.99) r=2.69m +[headless_play] t= 15.20s step= 760 trunk_z= 2.1mm grav_b=(+0.09,-0.20,-0.98) r=2.71m +[headless_play] t= 15.30s step= 765 trunk_z= -23.3mm grav_b=(+0.11,-0.08,-0.99) r=2.76m +[headless_play] t= 15.40s step= 770 trunk_z= 2.0mm grav_b=(+0.20,-0.11,-0.97) r=2.78m +[headless_play] t= 15.50s step= 775 trunk_z= 5.5mm grav_b=(-0.02,-0.02,-1.00) r=2.78m +[headless_play] t= 15.60s step= 780 trunk_z= -9.1mm grav_b=(-0.07,-0.07,-1.00) r=2.78m +[headless_play] t= 15.70s step= 785 trunk_z= -2.8mm grav_b=(-0.04,-0.02,-1.00) r=2.79m +[headless_play] t= 15.80s step= 790 trunk_z= -5.6mm grav_b=(-0.04,+0.01,-1.00) r=2.82m +[headless_play] t= 15.90s step= 795 trunk_z= 3.3mm grav_b=(-0.03,-0.02,-1.00) r=2.84m +[headless_play] t= 16.00s step= 800 trunk_z= -4.7mm grav_b=(-0.02,-0.06,-1.00) r=2.83m +[headless_play] t= 16.10s step= 805 trunk_z= 0.2mm grav_b=(-0.04,-0.10,-0.99) r=2.84m +[headless_play] t= 16.20s step= 810 trunk_z= 2.4mm grav_b=(-0.05,-0.07,-1.00) r=2.85m +[headless_play] t= 16.30s step= 815 trunk_z= -3.9mm grav_b=(-0.06,-0.02,-1.00) r=2.88m +[headless_play] t= 16.40s step= 820 trunk_z= 2.3mm grav_b=(-0.04,+0.00,-1.00) r=2.89m +[headless_play] t= 16.50s step= 825 trunk_z= -0.7mm grav_b=(-0.04,-0.04,-1.00) r=2.89m +[headless_play] t= 16.60s step= 830 trunk_z= -1.3mm grav_b=(-0.05,-0.08,-1.00) r=2.90m +[headless_play] t= 16.70s step= 835 trunk_z= -0.3mm grav_b=(-0.02,-0.05,-1.00) r=2.92m +[headless_play] t= 16.80s step= 840 trunk_z= -4.5mm grav_b=(-0.05,+0.02,-1.00) r=2.95m +[headless_play] t= 16.90s step= 845 trunk_z= -0.8mm grav_b=(-0.02,-0.01,-1.00) r=2.95m +[headless_play] t= 17.00s step= 850 trunk_z= -8.1mm grav_b=(-0.00,-0.03,-1.00) r=2.94m +[headless_play] t= 17.10s step= 855 trunk_z= -6.0mm grav_b=(+0.01,-0.09,-1.00) r=2.93m +[headless_play] t= 17.20s step= 860 trunk_z= -7.5mm grav_b=(+0.03,-0.10,-0.99) r=2.94m +[headless_play] t= 17.30s step= 865 trunk_z= -8.3mm grav_b=(-0.06,+0.00,-1.00) r=2.95m +[headless_play] t= 17.40s step= 870 trunk_z= -1.6mm grav_b=(-0.06,-0.03,-1.00) r=2.95m +[headless_play] t= 17.50s step= 875 trunk_z= -10.6mm grav_b=(+0.02,-0.07,-1.00) r=2.94m +[headless_play] t= 17.60s step= 880 trunk_z= -11.6mm grav_b=(+0.04,-0.12,-0.99) r=2.93m +[headless_play] t= 17.70s step= 885 trunk_z= -10.6mm grav_b=(+0.10,-0.10,-0.99) r=2.93m +[headless_play] t= 17.80s step= 890 trunk_z= -6.6mm grav_b=(+0.04,+0.03,-1.00) r=2.95m +[headless_play] t= 17.90s step= 895 trunk_z= -4.9mm grav_b=(+0.02,-0.01,-1.00) r=2.98m +[headless_play] t= 18.00s step= 900 trunk_z= -14.7mm grav_b=(+0.01,-0.06,-1.00) r=3.01m +[headless_play] t= 18.10s step= 905 trunk_z= -3.0mm grav_b=(-0.05,-0.08,-1.00) r=3.02m +[headless_play] t= 18.20s step= 910 trunk_z= -7.9mm grav_b=(-0.02,-0.02,-1.00) r=3.02m +[headless_play] t= 18.30s step= 915 trunk_z= -3.6mm grav_b=(-0.02,+0.01,-1.00) r=3.02m +[headless_play] t= 18.40s step= 920 trunk_z= -3.8mm grav_b=(+0.00,-0.02,-1.00) r=3.03m +[headless_play] t= 18.50s step= 925 trunk_z= -13.5mm grav_b=(+0.02,-0.03,-1.00) r=3.05m +[headless_play] t= 18.60s step= 930 trunk_z= -5.9mm grav_b=(+0.02,-0.10,-0.99) r=3.07m +[headless_play] t= 18.70s step= 935 trunk_z= -8.7mm grav_b=(+0.06,-0.10,-0.99) r=3.09m +[headless_play] t= 18.80s step= 940 trunk_z= -10.2mm grav_b=(+0.04,+0.03,-1.00) r=3.12m +[headless_play] t= 18.90s step= 945 trunk_z= -7.3mm grav_b=(+0.12,+0.00,-0.99) r=3.15m +[headless_play] t= 19.00s step= 950 trunk_z= -18.3mm grav_b=(+0.01,-0.09,-1.00) r=3.20m +[headless_play] t= 19.10s step= 955 trunk_z= -11.8mm grav_b=(-0.05,-0.20,-0.98) r=3.23m +[headless_play] t= 19.20s step= 960 trunk_z= -5.0mm grav_b=(-0.06,-0.15,-0.99) r=3.24m +[headless_play] t= 19.30s step= 965 trunk_z= -8.9mm grav_b=(-0.01,-0.13,-0.99) r=3.25m +[headless_play] t= 19.40s step= 970 trunk_z= -12.4mm grav_b=(+0.04,-0.04,-1.00) r=3.26m +[headless_play] t= 19.50s step= 975 trunk_z= -15.8mm grav_b=(+0.10,-0.06,-0.99) r=3.28m +[headless_play] t= 19.60s step= 980 trunk_z= -15.5mm grav_b=(+0.01,-0.07,-1.00) r=3.29m +[headless_play] t= 19.70s step= 985 trunk_z= -12.5mm grav_b=(-0.07,-0.03,-1.00) r=3.30m +[headless_play] t= 19.80s step= 990 trunk_z= -22.6mm grav_b=(-0.00,+0.05,-1.00) r=3.30m +[headless_play] t= 19.90s step= 995 trunk_z= -14.2mm grav_b=(+0.02,+0.04,-1.00) r=3.30m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t15.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..2ff6b2e3fc6fe789121652be9d33d82b44c0103a --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.764,-18.298,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.2mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 0.40s step= 20 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 117.7mm grav_b=(-0.00,-0.04,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 121.0mm grav_b=(-0.00,-0.07,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 119.1mm grav_b=(-0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(-0.04,-0.05,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(-0.05,-0.04,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 116.8mm grav_b=(-0.03,-0.03,-1.00) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(-0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(-0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(-0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.03,-0.02,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 119.1mm grav_b=(+0.00,-0.03,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 120.5mm grav_b=(-0.01,-0.03,-1.00) r=0.39m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(-0.03,-0.12,-0.99) r=0.39m +[headless_play] t= 3.30s step= 165 trunk_z= 118.5mm grav_b=(-0.09,-0.07,-0.99) r=0.39m +[headless_play] t= 3.40s step= 170 trunk_z= 115.4mm grav_b=(-0.10,-0.04,-0.99) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(-0.12,-0.03,-0.99) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 117.9mm grav_b=(-0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 118.7mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 117.7mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 4.10s step= 205 trunk_z= 117.2mm grav_b=(-0.07,-0.01,-1.00) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00) r=0.41m +[headless_play] t= 4.30s step= 215 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 4.50s step= 225 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 118.4mm grav_b=(-0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 4.70s step= 235 trunk_z= 119.7mm grav_b=(-0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 4.80s step= 240 trunk_z= 119.2mm grav_b=(-0.02,-0.04,-1.00) r=0.42m +[headless_play] t= 4.90s step= 245 trunk_z= 114.6mm grav_b=(-0.04,-0.12,-0.99) r=0.42m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(-0.08,-0.06,-0.99) r=0.42m +[headless_play] t= 5.10s step= 255 trunk_z= 116.0mm grav_b=(-0.07,-0.05,-1.00) r=0.44m +[headless_play] t= 5.20s step= 260 trunk_z= 116.6mm grav_b=(-0.11,-0.03,-0.99) r=0.43m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(-0.13,-0.04,-0.99) r=0.43m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.14,-0.03,-0.99) r=0.43m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.13,-0.03,-0.99) r=0.43m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(-0.10,-0.02,-1.00) r=0.43m +[headless_play] t= 5.70s step= 285 trunk_z= 118.2mm grav_b=(-0.05,-0.03,-1.00) r=0.43m +[headless_play] t= 5.80s step= 290 trunk_z= 118.6mm grav_b=(-0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 5.90s step= 295 trunk_z= 118.0mm grav_b=(-0.05,-0.03,-1.00) r=0.43m +[headless_play] t= 6.00s step= 300 trunk_z= 117.4mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 6.20s step= 310 trunk_z= 118.5mm grav_b=(-0.09,-0.05,-0.99) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(-0.08,-0.02,-1.00) r=0.43m +[headless_play] t= 6.40s step= 320 trunk_z= 116.9mm grav_b=(-0.08,-0.01,-1.00) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 116.5mm grav_b=(-0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(-0.09,-0.02,-1.00) r=0.43m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.43m +[headless_play] t= 6.80s step= 340 trunk_z= 116.2mm grav_b=(-0.10,-0.02,-0.99) r=0.43m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.12,-0.03,-0.99) r=0.42m +[headless_play] t= 7.00s step= 350 trunk_z= 115.5mm grav_b=(-0.12,-0.05,-0.99) r=0.42m +[headless_play] t= 7.10s step= 355 trunk_z= 116.6mm grav_b=(-0.13,-0.04,-0.99) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 97.4mm grav_b=(-0.07,+0.03,-1.00) r=0.38m +[headless_play] t= 7.30s step= 365 trunk_z= 108.9mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 104.1mm grav_b=(+0.03,-0.07,-1.00) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 113.3mm grav_b=(+0.02,-0.10,-0.99) r=0.33m +[headless_play] t= 7.60s step= 380 trunk_z= 111.4mm grav_b=(+0.03,-0.04,-1.00) r=0.33m +[headless_play] t= 7.70s step= 385 trunk_z= 113.7mm grav_b=(+0.05,-0.02,-1.00) r=0.33m +[headless_play] t= 7.80s step= 390 trunk_z= 115.3mm grav_b=(+0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 7.90s step= 395 trunk_z= 115.2mm grav_b=(+0.01,-0.03,-1.00) r=0.33m +[headless_play] t= 8.00s step= 400 trunk_z= 114.9mm grav_b=(-0.02,-0.02,-1.00) r=0.32m +[headless_play] t= 8.10s step= 405 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 8.20s step= 410 trunk_z= 117.3mm grav_b=(-0.10,+0.00,-0.99) r=0.32m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(-0.12,-0.03,-0.99) r=0.31m +[headless_play] t= 8.40s step= 420 trunk_z= 114.8mm grav_b=(-0.07,-0.01,-1.00) r=0.31m +[headless_play] t= 8.50s step= 425 trunk_z= 114.3mm grav_b=(-0.04,-0.00,-1.00) r=0.29m +[headless_play] t= 8.60s step= 430 trunk_z= 108.7mm grav_b=(-0.01,-0.08,-1.00) r=0.27m +[headless_play] t= 8.70s step= 435 trunk_z= 115.3mm grav_b=(-0.02,-0.08,-1.00) r=0.27m +[headless_play] t= 8.80s step= 440 trunk_z= 112.9mm grav_b=(-0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 8.90s step= 445 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.00s step= 450 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) r=0.27m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 9.20s step= 460 trunk_z= 117.3mm grav_b=(+0.04,-0.03,-1.00) r=0.27m +[headless_play] t= 9.30s step= 465 trunk_z= 118.3mm grav_b=(+0.01,-0.04,-1.00) r=0.27m +[headless_play] t= 9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.02,-0.05,-1.00) r=0.27m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(-0.05,-0.03,-1.00) r=0.26m +[headless_play] t= 9.60s step= 480 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00) r=0.26m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(-0.11,-0.04,-0.99) r=0.26m +[headless_play] t= 9.80s step= 490 trunk_z= 117.8mm grav_b=(-0.12,-0.02,-0.99) r=0.26m +[headless_play] t= 9.90s step= 495 trunk_z= 116.7mm grav_b=(-0.12,-0.03,-0.99) r=0.26m +[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(-0.13,-0.03,-0.99) r=0.25m +[headless_play] t= 10.10s step= 505 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 10.20s step= 510 trunk_z= 105.9mm grav_b=(+0.02,-0.01,-1.00) r=0.24m +[headless_play] t= 10.30s step= 515 trunk_z= 102.6mm grav_b=(+0.06,-0.07,-1.00) r=0.23m +[headless_play] t= 10.40s step= 520 trunk_z= 113.5mm grav_b=(+0.04,-0.09,-1.00) r=0.23m +[headless_play] t= 10.50s step= 525 trunk_z= 112.7mm grav_b=(+0.03,-0.03,-1.00) r=0.23m +[headless_play] t= 10.60s step= 530 trunk_z= 115.4mm grav_b=(+0.01,-0.05,-1.00) r=0.23m +[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(+0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 10.80s step= 540 trunk_z= 117.5mm grav_b=(-0.00,-0.03,-1.00) r=0.22m +[headless_play] t= 10.90s step= 545 trunk_z= 117.5mm grav_b=(-0.01,-0.03,-1.00) r=0.22m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(-0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(-0.07,-0.02,-1.00) r=0.22m +[headless_play] t= 11.20s step= 560 trunk_z= 117.4mm grav_b=(-0.05,-0.02,-1.00) r=0.22m +[headless_play] t= 11.30s step= 565 trunk_z= 117.3mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(+0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 11.90s step= 595 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 12.00s step= 600 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 12.20s step= 610 trunk_z= 117.5mm grav_b=(-0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 12.40s step= 620 trunk_z= 117.8mm grav_b=(-0.02,-0.04,-1.00) r=0.22m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=0.23m +[headless_play] t= 13.00s step= 650 trunk_z= 118.3mm grav_b=(-0.02,+0.02,-1.00) r=0.23m +[headless_play] t= 13.10s step= 655 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.23m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.23m +[headless_play] t= 13.40s step= 670 trunk_z= 116.9mm grav_b=(+0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.01,-0.03,-1.00) r=0.23m +[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 13.80s step= 690 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 13.90s step= 695 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(+0.04,-0.01,-1.00) r=0.23m +[headless_play] t= 14.10s step= 705 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 14.20s step= 710 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 14.30s step= 715 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 14.40s step= 720 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.23m +[headless_play] t= 14.50s step= 725 trunk_z= 119.1mm grav_b=(-0.07,+0.03,-1.00) r=0.24m +[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(-0.08,-0.03,-1.00) r=0.23m +[headless_play] t= 14.70s step= 735 trunk_z= 118.3mm grav_b=(-0.09,-0.01,-1.00) r=0.23m +[headless_play] t= 14.80s step= 740 trunk_z= 112.5mm grav_b=(-0.10,+0.03,-0.99) r=0.25m +[headless_play] t= 14.90s step= 745 trunk_z= 120.5mm grav_b=(-0.06,-0.02,-1.00) r=0.25m +[headless_play] t= 15.00s step= 750 trunk_z= 111.8mm grav_b=(-0.05,-0.07,-1.00) r=0.23m +[headless_play] t= 15.10s step= 755 trunk_z= 118.2mm grav_b=(-0.05,-0.11,-0.99) r=0.21m +[headless_play] t= 15.20s step= 760 trunk_z= 117.8mm grav_b=(-0.02,-0.11,-0.99) r=0.21m +[headless_play] t= 15.30s step= 765 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.40s step= 770 trunk_z= 123.0mm grav_b=(-0.00,+0.07,-1.00) r=0.24m +[headless_play] t= 15.50s step= 775 trunk_z= 120.0mm grav_b=(-0.02,+0.03,-1.00) r=0.24m +[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(-0.09,-0.10,-0.99) r=0.21m +[headless_play] t= 15.70s step= 785 trunk_z= 128.6mm grav_b=(-0.20,-0.21,-0.96) r=0.18m +[headless_play] t= 15.80s step= 790 trunk_z= 124.9mm grav_b=(-0.10,-0.24,-0.96) r=0.15m +[headless_play] t= 15.90s step= 795 trunk_z= 109.1mm grav_b=(-0.16,-0.40,-0.90) r=0.14m +[headless_play] t= 16.00s step= 800 trunk_z= 90.8mm grav_b=(-0.31,-0.36,-0.88) r=0.09m +[headless_play] t= 16.10s step= 805 trunk_z= 105.0mm grav_b=(-0.76,-0.16,-0.63) r=0.09m +[headless_play] t= 16.20s step= 810 trunk_z= 61.8mm grav_b=(-0.93,+0.09,-0.35) r=0.13m +[headless_play] RESET at t= 16.22s step= 811 (env termination, not a recovery) +[headless_play] t= 16.30s step= 815 trunk_z= 114.4mm grav_b=(-0.04,+0.00,-1.00) r=0.21m +[headless_play] t= 16.40s step= 820 trunk_z= 115.3mm grav_b=(-0.02,+0.03,-1.00) r=0.20m +[headless_play] t= 16.50s step= 825 trunk_z= 121.1mm grav_b=(-0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 16.60s step= 830 trunk_z= 116.7mm grav_b=(-0.02,-0.10,-0.99) r=0.17m +[headless_play] t= 16.70s step= 835 trunk_z= 125.0mm grav_b=(-0.05,-0.12,-0.99) r=0.16m +[headless_play] t= 16.80s step= 840 trunk_z= 125.5mm grav_b=(-0.07,-0.11,-0.99) r=0.15m +[headless_play] t= 16.90s step= 845 trunk_z= 118.4mm grav_b=(-0.09,-0.02,-1.00) r=0.12m +[headless_play] t= 17.00s step= 850 trunk_z= 123.1mm grav_b=(-0.09,+0.00,-1.00) r=0.11m +[headless_play] t= 17.10s step= 855 trunk_z= 116.2mm grav_b=(-0.10,-0.06,-0.99) r=0.14m +[headless_play] t= 17.20s step= 860 trunk_z= 124.6mm grav_b=(-0.10,-0.16,-0.98) r=0.16m +[headless_play] t= 17.30s step= 865 trunk_z= 128.7mm grav_b=(-0.10,-0.24,-0.97) r=0.18m +[headless_play] t= 17.40s step= 870 trunk_z= 130.1mm grav_b=(-0.01,-0.23,-0.97) r=0.20m +[headless_play] t= 17.50s step= 875 trunk_z= 122.3mm grav_b=(+0.02,-0.24,-0.97) r=0.22m +[headless_play] t= 17.60s step= 880 trunk_z= 125.3mm grav_b=(+0.03,-0.19,-0.98) r=0.26m +[headless_play] t= 17.70s step= 885 trunk_z= 127.2mm grav_b=(+0.05,-0.17,-0.98) r=0.31m +[headless_play] t= 17.80s step= 890 trunk_z= 99.4mm grav_b=(-0.11,-0.13,-0.99) r=0.36m +[headless_play] t= 17.90s step= 895 trunk_z= 112.8mm grav_b=(-0.16,-0.08,-0.98) r=0.38m +[headless_play] t= 18.00s step= 900 trunk_z= 118.1mm grav_b=(-0.13,+0.02,-0.99) r=0.39m +[headless_play] t= 18.10s step= 905 trunk_z= 124.3mm grav_b=(-0.13,+0.05,-0.99) r=0.39m +[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(-0.09,-0.00,-1.00) r=0.37m +[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(-0.07,-0.09,-0.99) r=0.37m +[headless_play] t= 18.40s step= 920 trunk_z= 123.7mm grav_b=(-0.07,-0.10,-0.99) r=0.38m +[headless_play] t= 18.50s step= 925 trunk_z= 121.9mm grav_b=(-0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 18.60s step= 930 trunk_z= 121.4mm grav_b=(-0.04,+0.05,-1.00) r=0.42m +[headless_play] t= 18.70s step= 935 trunk_z= 123.9mm grav_b=(-0.04,+0.01,-1.00) r=0.43m +[headless_play] t= 18.80s step= 940 trunk_z= 117.9mm grav_b=(-0.07,-0.03,-1.00) r=0.42m +[headless_play] t= 18.90s step= 945 trunk_z= 122.1mm grav_b=(-0.09,-0.10,-0.99) r=0.43m +[headless_play] t= 19.00s step= 950 trunk_z= 124.7mm grav_b=(-0.11,-0.10,-0.99) r=0.44m +[headless_play] t= 19.10s step= 955 trunk_z= 122.0mm grav_b=(-0.09,-0.08,-0.99) r=0.46m +[headless_play] t= 19.20s step= 960 trunk_z= 122.3mm grav_b=(-0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 19.30s step= 965 trunk_z= 125.0mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 19.40s step= 970 trunk_z= 118.8mm grav_b=(-0.05,-0.04,-1.00) r=0.50m +[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(-0.11,-0.04,-0.99) r=0.51m +[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(-0.12,-0.01,-0.99) r=0.53m +[headless_play] t= 19.70s step= 985 trunk_z= 122.4mm grav_b=(-0.12,-0.00,-0.99) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 119.6mm grav_b=(-0.09,-0.03,-1.00) r=0.55m +[headless_play] t= 19.90s step= 995 trunk_z= 120.4mm grav_b=(-0.05,-0.09,-0.99) r=0.55m +[headless_play] t= 20.00s step=1000 trunk_z= 124.8mm grav_b=(-0.05,-0.09,-0.99) r=0.56m +[headless_play] t= 20.10s step=1005 trunk_z= 124.3mm grav_b=(-0.03,-0.08,-1.00) r=0.58m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t2.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..1ea2b0e8359d1966929cad33e7ab900e8db69016 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.431,-18.019,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.50s step= 75 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 1.80s step= 90 trunk_z= 119.1mm grav_b=(-0.04,-0.05,-1.00) r=0.44m +[headless_play] t= 1.90s step= 95 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(-0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 117.3mm grav_b=(-0.04,-0.00,-1.00) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 3.00s step= 150 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 3.50s step= 175 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.44m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(+0.06,-0.00,-1.00) r=0.44m +[headless_play] t= 3.90s step= 195 trunk_z= 119.2mm grav_b=(+0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 4.00s step= 200 trunk_z= 116.9mm grav_b=(-0.07,+0.07,-1.00) r=0.43m +[headless_play] t= 4.10s step= 205 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 4.20s step= 210 trunk_z= 118.6mm grav_b=(-0.00,-0.06,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 116.2mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(+0.14,-0.02,-0.99) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 120.3mm grav_b=(-0.08,+0.01,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 112.8mm grav_b=(-0.04,+0.06,-1.00) r=0.47m +[headless_play] t= 5.10s step= 255 trunk_z= 119.1mm grav_b=(-0.07,-0.04,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 118.3mm grav_b=(-0.09,-0.09,-0.99) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 119.4mm grav_b=(-0.10,-0.05,-0.99) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 119.9mm grav_b=(-0.10,-0.05,-0.99) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 106.6mm grav_b=(-0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 112.6mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 5.70s step= 285 trunk_z= 119.1mm grav_b=(-0.04,+0.04,-1.00) r=0.47m +[headless_play] t= 5.80s step= 290 trunk_z= 116.4mm grav_b=(-0.04,-0.05,-1.00) r=0.48m +[headless_play] t= 5.90s step= 295 trunk_z= 117.3mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 119.6mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 6.20s step= 310 trunk_z= 118.0mm grav_b=(-0.07,+0.03,-1.00) r=0.47m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(-0.07,-0.02,-1.00) r=0.48m +[headless_play] t= 6.40s step= 320 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.48m +[headless_play] t= 6.50s step= 325 trunk_z= 118.4mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 6.60s step= 330 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(-0.12,-0.02,-0.99) r=0.47m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.15,-0.01,-0.99) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.17,-0.03,-0.98) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 116.8mm grav_b=(-0.07,+0.00,-1.00) r=0.45m +[headless_play] t= 7.10s step= 355 trunk_z= 116.1mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 7.20s step= 360 trunk_z= 118.6mm grav_b=(-0.03,+0.00,-1.00) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 119.0mm grav_b=(-0.09,+0.03,-1.00) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 123.5mm grav_b=(-0.08,+0.03,-1.00) r=0.42m +[headless_play] t= 7.50s step= 375 trunk_z= 123.1mm grav_b=(-0.07,-0.02,-1.00) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 118.5mm grav_b=(-0.04,-0.04,-1.00) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 129.2mm grav_b=(-0.03,-0.02,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 122.2mm grav_b=(-0.06,-0.01,-1.00) r=0.50m +[headless_play] t= 7.90s step= 395 trunk_z= 120.9mm grav_b=(-0.02,-0.03,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 119.4mm grav_b=(-0.09,-0.04,-1.00) r=0.56m +[headless_play] t= 8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.15,-0.07,-0.99) r=0.59m +[headless_play] t= 8.20s step= 410 trunk_z= 121.2mm grav_b=(-0.10,-0.05,-0.99) r=0.60m +[headless_play] t= 8.30s step= 415 trunk_z= 119.4mm grav_b=(-0.11,+0.00,-0.99) r=0.60m +[headless_play] t= 8.40s step= 420 trunk_z= 121.5mm grav_b=(-0.08,-0.07,-0.99) r=0.62m +[headless_play] t= 8.50s step= 425 trunk_z= 120.5mm grav_b=(-0.03,-0.11,-0.99) r=0.65m +[headless_play] t= 8.60s step= 430 trunk_z= 128.0mm grav_b=(-0.02,-0.10,-0.99) r=0.68m +[headless_play] t= 8.70s step= 435 trunk_z= 127.9mm grav_b=(-0.00,-0.07,-1.00) r=0.70m +[headless_play] t= 8.80s step= 440 trunk_z= 118.5mm grav_b=(-0.05,+0.01,-1.00) r=0.72m +[headless_play] t= 8.90s step= 445 trunk_z= 124.8mm grav_b=(-0.06,+0.01,-1.00) r=0.73m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(-0.06,-0.05,-1.00) r=0.75m +[headless_play] t= 9.10s step= 455 trunk_z= 127.2mm grav_b=(+0.03,-0.01,-1.00) r=0.79m +[headless_play] t= 9.20s step= 460 trunk_z= 114.3mm grav_b=(-0.08,+0.05,-1.00) r=0.84m +[headless_play] t= 9.30s step= 465 trunk_z= 116.1mm grav_b=(-0.08,-0.00,-1.00) r=0.87m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.11,-0.05,-0.99) r=0.89m +[headless_play] t= 9.50s step= 475 trunk_z= 120.7mm grav_b=(-0.09,-0.07,-0.99) r=0.91m +[headless_play] t= 9.60s step= 480 trunk_z= 122.3mm grav_b=(-0.07,-0.03,-1.00) r=0.93m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(-0.07,+0.02,-1.00) r=0.96m +[headless_play] t= 9.80s step= 490 trunk_z= 123.6mm grav_b=(-0.08,+0.03,-1.00) r=0.97m +[headless_play] t= 9.90s step= 495 trunk_z= 117.7mm grav_b=(-0.07,+0.01,-1.00) r=0.97m +[headless_play] t= 10.00s step= 500 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.99m +[headless_play] t= 10.10s step= 505 trunk_z= 121.4mm grav_b=(-0.02,+0.04,-1.00) r=1.01m +[headless_play] t= 10.20s step= 510 trunk_z= 101.5mm grav_b=(-0.05,+0.05,-1.00) r=1.05m +[headless_play] t= 10.30s step= 515 trunk_z= 113.9mm grav_b=(-0.03,+0.04,-1.00) r=1.08m +[headless_play] t= 10.40s step= 520 trunk_z= 114.2mm grav_b=(-0.09,+0.03,-1.00) r=1.10m +[headless_play] t= 10.50s step= 525 trunk_z= 105.4mm grav_b=(-0.10,+0.02,-0.99) r=1.13m +[headless_play] t= 10.60s step= 530 trunk_z= 105.7mm grav_b=(-0.06,-0.01,-1.00) r=1.15m +[headless_play] t= 10.70s step= 535 trunk_z= 86.3mm grav_b=(-0.07,+0.06,-1.00) r=1.20m +[headless_play] t= 10.80s step= 540 trunk_z= 96.3mm grav_b=(-0.05,+0.03,-1.00) r=1.23m +[headless_play] t= 10.90s step= 545 trunk_z= 99.2mm grav_b=(-0.07,+0.02,-1.00) r=1.25m +[headless_play] t= 11.00s step= 550 trunk_z= 81.0mm grav_b=(-0.11,+0.02,-0.99) r=1.28m +[headless_play] t= 11.10s step= 555 trunk_z= 81.9mm grav_b=(-0.11,+0.00,-0.99) r=1.30m +[headless_play] t= 11.20s step= 560 trunk_z= 73.1mm grav_b=(-0.09,+0.05,-0.99) r=1.33m +[headless_play] t= 11.30s step= 565 trunk_z= 77.9mm grav_b=(-0.05,-0.01,-1.00) r=1.35m +[headless_play] t= 11.40s step= 570 trunk_z= 66.4mm grav_b=(-0.07,-0.01,-1.00) r=1.37m +[headless_play] t= 11.50s step= 575 trunk_z= 70.7mm grav_b=(-0.12,-0.03,-0.99) r=1.39m +[headless_play] t= 11.60s step= 580 trunk_z= 66.5mm grav_b=(-0.13,+0.01,-0.99) r=1.41m +[headless_play] t= 11.70s step= 585 trunk_z= 65.8mm grav_b=(-0.08,+0.04,-1.00) r=1.44m +[headless_play] t= 11.80s step= 590 trunk_z= 70.2mm grav_b=(-0.01,+0.03,-1.00) r=1.46m +[headless_play] t= 11.90s step= 595 trunk_z= 50.7mm grav_b=(-0.07,-0.05,-1.00) r=1.51m +[headless_play] t= 12.00s step= 600 trunk_z= 57.0mm grav_b=(-0.07,-0.08,-0.99) r=1.53m +[headless_play] t= 12.10s step= 605 trunk_z= 59.9mm grav_b=(-0.11,-0.08,-0.99) r=1.55m +[headless_play] t= 12.20s step= 610 trunk_z= 46.1mm grav_b=(-0.10,-0.02,-0.99) r=1.59m +[headless_play] t= 12.30s step= 615 trunk_z= 48.2mm grav_b=(-0.01,+0.01,-1.00) r=1.62m +[headless_play] t= 12.40s step= 620 trunk_z= 50.6mm grav_b=(-0.02,+0.01,-1.00) r=1.64m +[headless_play] t= 12.50s step= 625 trunk_z= 36.6mm grav_b=(-0.07,-0.02,-1.00) r=1.66m +[headless_play] t= 12.60s step= 630 trunk_z= 43.1mm grav_b=(-0.10,-0.04,-0.99) r=1.68m +[headless_play] t= 12.70s step= 635 trunk_z= 33.2mm grav_b=(-0.12,-0.02,-0.99) r=1.71m +[headless_play] t= 12.80s step= 640 trunk_z= 30.1mm grav_b=(-0.07,+0.05,-1.00) r=1.75m +[headless_play] t= 12.90s step= 645 trunk_z= 33.1mm grav_b=(-0.02,+0.05,-1.00) r=1.77m +[headless_play] t= 13.00s step= 650 trunk_z= 30.3mm grav_b=(-0.07,+0.02,-1.00) r=1.79m +[headless_play] t= 13.10s step= 655 trunk_z= 26.2mm grav_b=(-0.14,+0.02,-0.99) r=1.82m +[headless_play] t= 13.20s step= 660 trunk_z= 13.0mm grav_b=(-0.15,+0.01,-0.99) r=1.85m +[headless_play] t= 13.30s step= 665 trunk_z= 16.5mm grav_b=(-0.15,+0.09,-0.99) r=1.88m +[headless_play] t= 13.40s step= 670 trunk_z= 19.4mm grav_b=(-0.10,+0.05,-0.99) r=1.89m +[headless_play] t= 13.50s step= 675 trunk_z= 14.9mm grav_b=(-0.03,+0.07,-1.00) r=1.87m +[headless_play] t= 13.60s step= 680 trunk_z= 20.1mm grav_b=(+0.07,+0.07,-1.00) r=1.87m +[headless_play] t= 13.70s step= 685 trunk_z= 0.7mm grav_b=(+0.04,+0.00,-1.00) r=1.89m +[headless_play] t= 13.80s step= 690 trunk_z= 11.9mm grav_b=(-0.02,-0.03,-1.00) r=1.92m +[headless_play] t= 13.90s step= 695 trunk_z= -1.7mm grav_b=(-0.08,-0.12,-0.99) r=1.96m +[headless_play] t= 14.00s step= 700 trunk_z= 6.8mm grav_b=(-0.09,-0.13,-0.99) r=1.99m +[headless_play] t= 14.10s step= 705 trunk_z= 4.6mm grav_b=(-0.08,-0.12,-0.99) r=2.02m +[headless_play] t= 14.20s step= 710 trunk_z= 0.1mm grav_b=(-0.06,-0.05,-1.00) r=2.05m +[headless_play] t= 14.30s step= 715 trunk_z= 5.0mm grav_b=(-0.07,-0.05,-1.00) r=2.06m +[headless_play] t= 14.40s step= 720 trunk_z= 1.2mm grav_b=(-0.11,-0.07,-0.99) r=2.06m +[headless_play] t= 14.50s step= 725 trunk_z= 5.0mm grav_b=(-0.13,-0.02,-0.99) r=2.05m +[headless_play] t= 14.60s step= 730 trunk_z= -5.5mm grav_b=(-0.08,+0.05,-1.00) r=2.05m +[headless_play] t= 14.70s step= 735 trunk_z= 1.2mm grav_b=(-0.05,+0.02,-1.00) r=2.03m +[headless_play] t= 14.80s step= 740 trunk_z= -7.9mm grav_b=(-0.03,-0.04,-1.00) r=2.02m +[headless_play] t= 14.90s step= 745 trunk_z= -1.1mm grav_b=(-0.01,-0.05,-1.00) r=2.02m +[headless_play] t= 15.00s step= 750 trunk_z= -1.6mm grav_b=(+0.01,-0.01,-1.00) r=2.04m +[headless_play] t= 15.10s step= 755 trunk_z= 8.5mm grav_b=(-0.01,-0.02,-1.00) r=2.06m +[headless_play] t= 15.20s step= 760 trunk_z= 4.8mm grav_b=(-0.07,-0.07,-1.00) r=2.07m +[headless_play] t= 15.30s step= 765 trunk_z= 12.1mm grav_b=(-0.09,-0.14,-0.99) r=2.08m +[headless_play] t= 15.40s step= 770 trunk_z= 15.9mm grav_b=(-0.07,-0.16,-0.99) r=2.08m +[headless_play] t= 15.50s step= 775 trunk_z= 17.5mm grav_b=(-0.04,-0.14,-0.99) r=2.09m +[headless_play] t= 15.60s step= 780 trunk_z= 17.7mm grav_b=(-0.02,-0.11,-0.99) r=2.09m +[headless_play] t= 15.70s step= 785 trunk_z= 17.0mm grav_b=(-0.01,-0.07,-1.00) r=2.09m +[headless_play] t= 15.80s step= 790 trunk_z= 13.2mm grav_b=(-0.03,-0.05,-1.00) r=2.09m +[headless_play] t= 15.90s step= 795 trunk_z= 9.2mm grav_b=(-0.02,-0.00,-1.00) r=2.08m +[headless_play] t= 16.00s step= 800 trunk_z= 1.0mm grav_b=(-0.02,-0.09,-1.00) r=2.05m +[headless_play] t= 16.10s step= 805 trunk_z= 4.8mm grav_b=(-0.04,-0.14,-0.99) r=2.02m +[headless_play] t= 16.20s step= 810 trunk_z= 1.7mm grav_b=(-0.10,-0.12,-0.99) r=2.02m +[headless_play] t= 16.30s step= 815 trunk_z= -3.0mm grav_b=(-0.09,-0.12,-0.99) r=2.03m +[headless_play] t= 16.40s step= 820 trunk_z= -2.0mm grav_b=(-0.06,-0.17,-0.98) r=2.01m +[headless_play] t= 16.50s step= 825 trunk_z= 2.2mm grav_b=(-0.04,-0.14,-0.99) r=2.01m +[headless_play] t= 16.60s step= 830 trunk_z= -5.1mm grav_b=(-0.04,-0.04,-1.00) r=2.01m +[headless_play] t= 16.70s step= 835 trunk_z= -4.1mm grav_b=(-0.09,-0.05,-0.99) r=2.00m +[headless_play] t= 16.80s step= 840 trunk_z= -5.8mm grav_b=(-0.07,-0.01,-1.00) r=2.01m +[headless_play] t= 16.90s step= 845 trunk_z= -6.3mm grav_b=(-0.07,-0.02,-1.00) r=2.01m +[headless_play] t= 17.00s step= 850 trunk_z= -7.6mm grav_b=(-0.05,-0.00,-1.00) r=2.01m +[headless_play] t= 17.10s step= 855 trunk_z= -5.6mm grav_b=(-0.04,-0.03,-1.00) r=2.00m +[headless_play] t= 17.20s step= 860 trunk_z= 1.6mm grav_b=(-0.07,-0.09,-0.99) r=1.98m +[headless_play] t= 17.30s step= 865 trunk_z= -4.7mm grav_b=(-0.03,-0.04,-1.00) r=1.97m +[headless_play] t= 17.40s step= 870 trunk_z= 0.1mm grav_b=(+0.01,-0.06,-1.00) r=1.97m +[headless_play] t= 17.50s step= 875 trunk_z= -0.7mm grav_b=(-0.03,-0.08,-1.00) r=1.96m +[headless_play] t= 17.60s step= 880 trunk_z= -1.8mm grav_b=(+0.03,-0.02,-1.00) r=1.97m +[headless_play] t= 17.70s step= 885 trunk_z= 0.8mm grav_b=(+0.01,+0.03,-1.00) r=1.98m +[headless_play] t= 17.80s step= 890 trunk_z= -0.0mm grav_b=(-0.01,-0.03,-1.00) r=1.98m +[headless_play] t= 17.90s step= 895 trunk_z= 1.9mm grav_b=(-0.06,+0.03,-1.00) r=1.99m +[headless_play] t= 18.00s step= 900 trunk_z= -3.6mm grav_b=(-0.08,+0.00,-1.00) r=1.99m +[headless_play] t= 18.10s step= 905 trunk_z= -4.4mm grav_b=(-0.00,+0.03,-1.00) r=2.00m +[headless_play] t= 18.20s step= 910 trunk_z= -3.4mm grav_b=(+0.04,+0.05,-1.00) r=2.01m +[headless_play] t= 18.30s step= 915 trunk_z= -5.9mm grav_b=(-0.04,+0.01,-1.00) r=2.00m +[headless_play] t= 18.40s step= 920 trunk_z= -4.7mm grav_b=(-0.05,+0.05,-1.00) r=2.00m +[headless_play] t= 18.50s step= 925 trunk_z= -5.7mm grav_b=(-0.01,+0.07,-1.00) r=2.00m +[headless_play] t= 18.60s step= 930 trunk_z= -5.3mm grav_b=(-0.03,+0.06,-1.00) r=2.00m +[headless_play] t= 18.70s step= 935 trunk_z= -4.9mm grav_b=(-0.03,+0.06,-1.00) r=2.01m +[headless_play] t= 18.80s step= 940 trunk_z= -5.4mm grav_b=(+0.02,+0.06,-1.00) r=2.01m +[headless_play] t= 18.90s step= 945 trunk_z= -4.6mm grav_b=(+0.01,+0.05,-1.00) r=2.01m +[headless_play] t= 19.00s step= 950 trunk_z= -5.1mm grav_b=(-0.01,+0.05,-1.00) r=2.01m +[headless_play] t= 19.10s step= 955 trunk_z= -4.9mm grav_b=(-0.02,+0.05,-1.00) r=2.01m +[headless_play] t= 19.20s step= 960 trunk_z= -5.1mm grav_b=(-0.01,+0.05,-1.00) r=2.01m +[headless_play] t= 19.30s step= 965 trunk_z= -4.9mm grav_b=(-0.00,+0.05,-1.00) r=2.01m +[headless_play] t= 19.40s step= 970 trunk_z= -4.0mm grav_b=(-0.05,+0.04,-1.00) r=2.00m +[headless_play] t= 19.50s step= 975 trunk_z= -4.2mm grav_b=(-0.00,+0.03,-1.00) r=2.01m +[headless_play] t= 19.60s step= 980 trunk_z= -5.5mm grav_b=(+0.05,+0.04,-1.00) r=2.01m +[headless_play] t= 19.70s step= 985 trunk_z= -4.8mm grav_b=(+0.02,+0.02,-1.00) r=2.01m +[headless_play] t= 19.80s step= 990 trunk_z= -5.0mm grav_b=(-0.04,-0.00,-1.00) r=2.01m +[headless_play] t= 19.90s step= 995 trunk_z= -4.5mm grav_b=(-0.02,+0.07,-1.00) r=2.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.05,+0.02,-1.00) r=0.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t3.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..717a95d8263241e00dd303f3bbff62e2e6972418 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.736,-17.623,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 117.9mm grav_b=(-0.05,+0.03,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 118.3mm grav_b=(-0.07,-0.02,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 111.3mm grav_b=(-0.07,-0.08,-0.99) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 120.2mm grav_b=(-0.06,-0.05,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(-0.04,-0.02,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 117.3mm grav_b=(-0.07,-0.03,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 110.8mm grav_b=(-0.06,-0.07,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 118.3mm grav_b=(-0.06,-0.09,-0.99) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 117.8mm grav_b=(-0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 122.8mm grav_b=(-0.02,+0.06,-1.00) r=0.51m +[headless_play] t= 1.30s step= 65 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 118.8mm grav_b=(+0.00,-0.11,-0.99) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 127.4mm grav_b=(-0.00,-0.09,-1.00) r=0.58m +[headless_play] t= 1.60s step= 80 trunk_z= 119.5mm grav_b=(-0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 124.1mm grav_b=(-0.06,+0.04,-1.00) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 118.0mm grav_b=(-0.08,-0.01,-1.00) r=0.62m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(+0.06,-0.06,-1.00) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 122.1mm grav_b=(-0.01,+0.03,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 121.3mm grav_b=(-0.06,+0.07,-1.00) r=0.67m +[headless_play] t= 2.20s step= 110 trunk_z= 122.6mm grav_b=(-0.08,+0.02,-1.00) r=0.69m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(-0.08,-0.04,-1.00) r=0.72m +[headless_play] t= 2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.07,-0.03,-1.00) r=0.73m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(-0.06,-0.02,-1.00) r=0.73m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.03,-0.05,-1.00) r=0.74m +[headless_play] t= 2.70s step= 135 trunk_z= 110.8mm grav_b=(-0.02,-0.08,-1.00) r=0.77m +[headless_play] t= 2.80s step= 140 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00) r=0.79m +[headless_play] t= 2.90s step= 145 trunk_z= 114.2mm grav_b=(-0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 3.00s step= 150 trunk_z= 121.5mm grav_b=(-0.05,+0.04,-1.00) r=0.79m +[headless_play] t= 3.10s step= 155 trunk_z= 125.7mm grav_b=(-0.04,+0.11,-0.99) r=0.79m +[headless_play] t= 3.20s step= 160 trunk_z= 124.3mm grav_b=(-0.01,+0.12,-0.99) r=0.79m +[headless_play] t= 3.30s step= 165 trunk_z= 129.1mm grav_b=(-0.03,+0.04,-1.00) r=0.81m +[headless_play] t= 3.40s step= 170 trunk_z= 128.2mm grav_b=(-0.01,-0.04,-1.00) r=0.83m +[headless_play] t= 3.50s step= 175 trunk_z= 130.2mm grav_b=(-0.04,-0.05,-1.00) r=0.83m +[headless_play] t= 3.60s step= 180 trunk_z= 119.9mm grav_b=(-0.07,+0.00,-1.00) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 123.3mm grav_b=(-0.09,-0.01,-1.00) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 115.7mm grav_b=(-0.06,-0.03,-1.00) r=0.85m +[headless_play] t= 3.90s step= 195 trunk_z= 120.3mm grav_b=(+0.01,-0.10,-1.00) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 123.4mm grav_b=(+0.01,-0.06,-1.00) r=0.89m +[headless_play] t= 4.10s step= 205 trunk_z= 121.7mm grav_b=(-0.01,+0.05,-1.00) r=0.88m +[headless_play] t= 4.20s step= 210 trunk_z= 124.0mm grav_b=(-0.04,+0.04,-1.00) r=0.89m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.07,+0.02,-1.00) r=0.91m +[headless_play] t= 4.40s step= 220 trunk_z= 122.0mm grav_b=(-0.07,-0.08,-0.99) r=0.93m +[headless_play] t= 4.50s step= 225 trunk_z= 121.8mm grav_b=(-0.08,-0.06,-1.00) r=0.92m +[headless_play] t= 4.60s step= 230 trunk_z= 116.7mm grav_b=(-0.07,+0.00,-1.00) r=0.90m +[headless_play] t= 4.70s step= 235 trunk_z= 122.0mm grav_b=(-0.02,+0.02,-1.00) r=0.90m +[headless_play] t= 4.80s step= 240 trunk_z= 123.8mm grav_b=(+0.06,+0.05,-1.00) r=0.90m +[headless_play] t= 4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.01,-0.06,-1.00) r=0.92m +[headless_play] t= 5.00s step= 250 trunk_z= 128.2mm grav_b=(-0.02,-0.11,-0.99) r=0.93m +[headless_play] t= 5.10s step= 255 trunk_z= 129.1mm grav_b=(-0.08,-0.06,-0.99) r=0.93m +[headless_play] t= 5.20s step= 260 trunk_z= 120.5mm grav_b=(-0.12,+0.02,-0.99) r=0.93m +[headless_play] t= 5.30s step= 265 trunk_z= 125.6mm grav_b=(-0.11,+0.04,-0.99) r=0.93m +[headless_play] t= 5.40s step= 270 trunk_z= 120.9mm grav_b=(-0.09,-0.00,-1.00) r=0.94m +[headless_play] t= 5.50s step= 275 trunk_z= 122.5mm grav_b=(-0.11,-0.06,-0.99) r=0.94m +[headless_play] t= 5.60s step= 280 trunk_z= 121.9mm grav_b=(-0.08,-0.03,-1.00) r=0.94m +[headless_play] t= 5.70s step= 285 trunk_z= 116.7mm grav_b=(-0.06,+0.01,-1.00) r=0.92m +[headless_play] t= 5.80s step= 290 trunk_z= 122.4mm grav_b=(-0.03,+0.01,-1.00) r=0.92m +[headless_play] t= 5.90s step= 295 trunk_z= 118.1mm grav_b=(+0.00,+0.00,-1.00) r=0.95m +[headless_play] t= 6.00s step= 300 trunk_z= 119.5mm grav_b=(+0.02,-0.02,-1.00) r=0.97m +[headless_play] t= 6.10s step= 305 trunk_z= 120.6mm grav_b=(-0.05,+0.03,-1.00) r=0.97m +[headless_play] t= 6.20s step= 310 trunk_z= 123.9mm grav_b=(-0.07,+0.07,-0.99) r=0.97m +[headless_play] t= 6.30s step= 315 trunk_z= 125.8mm grav_b=(-0.07,+0.05,-1.00) r=0.98m +[headless_play] t= 6.40s step= 320 trunk_z= 118.2mm grav_b=(-0.06,+0.01,-1.00) r=1.01m +[headless_play] t= 6.50s step= 325 trunk_z= 118.2mm grav_b=(-0.07,-0.13,-0.99) r=1.04m +[headless_play] t= 6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.05,-0.11,-0.99) r=1.05m +[headless_play] t= 6.70s step= 335 trunk_z= 114.2mm grav_b=(-0.02,-0.04,-1.00) r=1.04m +[headless_play] t= 6.80s step= 340 trunk_z= 120.9mm grav_b=(-0.05,-0.02,-1.00) r=1.04m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(-0.05,-0.04,-1.00) r=1.06m +[headless_play] t= 7.00s step= 350 trunk_z= 107.2mm grav_b=(-0.04,-0.15,-0.99) r=1.10m +[headless_play] t= 7.10s step= 355 trunk_z= 111.6mm grav_b=(-0.01,-0.18,-0.98) r=1.12m +[headless_play] t= 7.20s step= 360 trunk_z= 110.7mm grav_b=(-0.01,-0.15,-0.99) r=1.12m +[headless_play] t= 7.30s step= 365 trunk_z= 110.8mm grav_b=(-0.03,-0.12,-0.99) r=1.13m +[headless_play] t= 7.40s step= 370 trunk_z= 107.0mm grav_b=(-0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 7.50s step= 375 trunk_z= 113.1mm grav_b=(-0.10,+0.02,-0.99) r=1.15m +[headless_play] t= 7.60s step= 380 trunk_z= 104.3mm grav_b=(-0.10,-0.02,-1.00) r=1.17m +[headless_play] t= 7.70s step= 385 trunk_z= 96.4mm grav_b=(-0.07,-0.10,-0.99) r=1.20m +[headless_play] t= 7.80s step= 390 trunk_z= 94.9mm grav_b=(-0.01,-0.10,-0.99) r=1.20m +[headless_play] t= 7.90s step= 395 trunk_z= 92.7mm grav_b=(+0.02,-0.02,-1.00) r=1.20m +[headless_play] t= 8.00s step= 400 trunk_z= 100.2mm grav_b=(-0.06,+0.04,-1.00) r=1.21m +[headless_play] t= 8.10s step= 405 trunk_z= 96.8mm grav_b=(-0.09,-0.01,-1.00) r=1.23m +[headless_play] t= 8.20s step= 410 trunk_z= 87.3mm grav_b=(-0.10,-0.13,-0.99) r=1.25m +[headless_play] t= 8.30s step= 415 trunk_z= 95.0mm grav_b=(-0.15,-0.16,-0.98) r=1.26m +[headless_play] t= 8.40s step= 420 trunk_z= 96.0mm grav_b=(-0.14,-0.11,-0.98) r=1.26m +[headless_play] t= 8.50s step= 425 trunk_z= 90.1mm grav_b=(-0.12,-0.09,-0.99) r=1.23m +[headless_play] t= 8.60s step= 430 trunk_z= 89.4mm grav_b=(-0.07,-0.10,-0.99) r=1.22m +[headless_play] t= 8.70s step= 435 trunk_z= 80.1mm grav_b=(-0.05,-0.12,-0.99) r=1.26m +[headless_play] t= 8.80s step= 440 trunk_z= 76.4mm grav_b=(-0.04,-0.18,-0.98) r=1.31m +[headless_play] t= 8.90s step= 445 trunk_z= 86.4mm grav_b=(-0.05,-0.24,-0.97) r=1.33m +[headless_play] t= 9.00s step= 450 trunk_z= 86.1mm grav_b=(+0.01,-0.14,-0.99) r=1.34m +[headless_play] t= 9.10s step= 455 trunk_z= 75.2mm grav_b=(+0.02,-0.04,-1.00) r=1.33m +[headless_play] t= 9.20s step= 460 trunk_z= 81.0mm grav_b=(-0.04,-0.08,-1.00) r=1.33m +[headless_play] t= 9.30s step= 465 trunk_z= 76.7mm grav_b=(-0.08,-0.18,-0.98) r=1.35m +[headless_play] t= 9.40s step= 470 trunk_z= 80.8mm grav_b=(-0.09,-0.17,-0.98) r=1.36m +[headless_play] t= 9.50s step= 475 trunk_z= 80.2mm grav_b=(-0.07,-0.15,-0.99) r=1.36m +[headless_play] t= 9.60s step= 480 trunk_z= 76.1mm grav_b=(-0.05,-0.11,-0.99) r=1.35m +[headless_play] t= 9.70s step= 485 trunk_z= 80.8mm grav_b=(-0.13,-0.09,-0.99) r=1.34m +[headless_play] t= 9.80s step= 490 trunk_z= 73.8mm grav_b=(-0.12,-0.14,-0.98) r=1.36m +[headless_play] t= 9.90s step= 495 trunk_z= 67.2mm grav_b=(-0.15,-0.11,-0.98) r=1.38m +[headless_play] t= 10.00s step= 500 trunk_z= 73.8mm grav_b=(-0.05,-0.09,-0.99) r=1.38m +[headless_play] t= 10.10s step= 505 trunk_z= 60.1mm grav_b=(-0.03,-0.02,-1.00) r=1.38m +[headless_play] t= 10.20s step= 510 trunk_z= 68.7mm grav_b=(-0.05,-0.02,-1.00) r=1.38m +[headless_play] t= 10.30s step= 515 trunk_z= 68.0mm grav_b=(-0.07,+0.02,-1.00) r=1.37m +[headless_play] t= 10.40s step= 520 trunk_z= 62.6mm grav_b=(-0.04,-0.12,-0.99) r=1.38m +[headless_play] t= 10.50s step= 525 trunk_z= 74.4mm grav_b=(-0.07,-0.18,-0.98) r=1.38m +[headless_play] t= 10.60s step= 530 trunk_z= 75.8mm grav_b=(-0.06,-0.16,-0.99) r=1.39m +[headless_play] t= 10.70s step= 535 trunk_z= 74.3mm grav_b=(-0.04,-0.11,-0.99) r=1.38m +[headless_play] t= 10.80s step= 540 trunk_z= 71.1mm grav_b=(-0.05,-0.05,-1.00) r=1.36m +[headless_play] t= 10.90s step= 545 trunk_z= 78.3mm grav_b=(-0.10,-0.05,-0.99) r=1.36m +[headless_play] t= 11.00s step= 550 trunk_z= 72.6mm grav_b=(-0.10,-0.09,-0.99) r=1.37m +[headless_play] t= 11.10s step= 555 trunk_z= 69.5mm grav_b=(-0.06,-0.19,-0.98) r=1.39m +[headless_play] t= 11.20s step= 560 trunk_z= 75.0mm grav_b=(-0.09,-0.21,-0.97) r=1.40m +[headless_play] t= 11.30s step= 565 trunk_z= 79.0mm grav_b=(-0.03,-0.24,-0.97) r=1.42m +[headless_play] t= 11.40s step= 570 trunk_z= 74.7mm grav_b=(+0.09,-0.19,-0.98) r=1.44m +[headless_play] t= 11.50s step= 575 trunk_z= 75.6mm grav_b=(-0.06,-0.19,-0.98) r=1.44m +[headless_play] t= 11.60s step= 580 trunk_z= 74.8mm grav_b=(-0.14,-0.16,-0.98) r=1.45m +[headless_play] t= 11.70s step= 585 trunk_z= 72.8mm grav_b=(-0.14,-0.08,-0.99) r=1.45m +[headless_play] t= 11.80s step= 590 trunk_z= 67.3mm grav_b=(-0.13,-0.08,-0.99) r=1.45m +[headless_play] t= 11.90s step= 595 trunk_z= 63.8mm grav_b=(-0.06,-0.11,-0.99) r=1.49m +[headless_play] t= 12.00s step= 600 trunk_z= 41.7mm grav_b=(-0.03,-0.10,-0.99) r=1.53m +[headless_play] t= 12.10s step= 605 trunk_z= 52.8mm grav_b=(-0.05,-0.11,-0.99) r=1.54m +[headless_play] t= 12.20s step= 610 trunk_z= 55.1mm grav_b=(-0.00,-0.06,-1.00) r=1.54m +[headless_play] t= 12.30s step= 615 trunk_z= 62.1mm grav_b=(-0.00,+0.01,-1.00) r=1.52m +[headless_play] t= 12.40s step= 620 trunk_z= 60.1mm grav_b=(-0.06,-0.04,-1.00) r=1.51m +[headless_play] t= 12.50s step= 625 trunk_z= 55.4mm grav_b=(-0.08,-0.11,-0.99) r=1.52m +[headless_play] t= 12.60s step= 630 trunk_z= 62.9mm grav_b=(-0.05,-0.17,-0.98) r=1.52m +[headless_play] t= 12.70s step= 635 trunk_z= 64.4mm grav_b=(-0.03,-0.18,-0.98) r=1.52m +[headless_play] t= 12.80s step= 640 trunk_z= 64.3mm grav_b=(-0.01,-0.15,-0.99) r=1.52m +[headless_play] t= 12.90s step= 645 trunk_z= 64.3mm grav_b=(-0.03,-0.04,-1.00) r=1.51m +[headless_play] t= 13.00s step= 650 trunk_z= 70.2mm grav_b=(-0.10,+0.02,-1.00) r=1.50m +[headless_play] t= 13.10s step= 655 trunk_z= 63.0mm grav_b=(-0.10,-0.03,-0.99) r=1.51m +[headless_play] t= 13.20s step= 660 trunk_z= 60.6mm grav_b=(-0.20,-0.06,-0.98) r=1.53m +[headless_play] t= 13.30s step= 665 trunk_z= 59.5mm grav_b=(-0.08,+0.01,-1.00) r=1.54m +[headless_play] t= 13.40s step= 670 trunk_z= 55.2mm grav_b=(+0.03,-0.00,-1.00) r=1.54m +[headless_play] t= 13.50s step= 675 trunk_z= 52.6mm grav_b=(+0.05,-0.03,-1.00) r=1.58m +[headless_play] t= 13.60s step= 680 trunk_z= 52.1mm grav_b=(+0.10,-0.20,-0.97) r=1.62m +[headless_play] t= 13.70s step= 685 trunk_z= 58.1mm grav_b=(+0.05,-0.22,-0.97) r=1.65m +[headless_play] t= 13.80s step= 690 trunk_z= 45.6mm grav_b=(+0.18,-0.32,-0.93) r=1.68m +[headless_play] t= 13.90s step= 695 trunk_z= -3.9mm grav_b=(+0.08,-0.46,-0.89) r=1.73m +[headless_play] t= 14.00s step= 700 trunk_z= -32.2mm grav_b=(-0.20,-0.93,-0.32) r=1.80m +[headless_play] RESET at t= 14.02s step= 701 (env termination, not a recovery) +[headless_play] t= 14.10s step= 705 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 14.20s step= 710 trunk_z= 118.2mm grav_b=(-0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 119.0mm grav_b=(-0.07,+0.05,-1.00) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 121.0mm grav_b=(-0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 14.50s step= 725 trunk_z= 114.8mm grav_b=(-0.09,-0.08,-0.99) r=0.47m +[headless_play] t= 14.60s step= 730 trunk_z= 123.7mm grav_b=(-0.07,-0.09,-0.99) r=0.45m +[headless_play] t= 14.70s step= 735 trunk_z= 125.7mm grav_b=(-0.06,-0.06,-1.00) r=0.44m +[headless_play] t= 14.80s step= 740 trunk_z= 117.6mm grav_b=(-0.11,+0.01,-0.99) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 124.4mm grav_b=(-0.09,+0.02,-1.00) r=0.44m +[headless_play] t= 15.00s step= 750 trunk_z= 120.3mm grav_b=(-0.09,+0.00,-1.00) r=0.42m +[headless_play] t= 15.10s step= 755 trunk_z= 123.8mm grav_b=(-0.04,-0.11,-0.99) r=0.38m +[headless_play] t= 15.20s step= 760 trunk_z= 129.0mm grav_b=(-0.06,-0.10,-0.99) r=0.35m +[headless_play] t= 15.30s step= 765 trunk_z= 127.0mm grav_b=(-0.05,-0.11,-0.99) r=0.32m +[headless_play] t= 15.40s step= 770 trunk_z= 124.6mm grav_b=(+0.02,-0.05,-1.00) r=0.29m +[headless_play] t= 15.50s step= 775 trunk_z= 141.2mm grav_b=(-0.03,+0.08,-1.00) r=0.27m +[headless_play] t= 15.60s step= 780 trunk_z= 125.8mm grav_b=(-0.04,-0.05,-1.00) r=0.24m +[headless_play] t= 15.70s step= 785 trunk_z= 121.8mm grav_b=(-0.04,-0.05,-1.00) r=0.22m +[headless_play] t= 15.80s step= 790 trunk_z= 121.6mm grav_b=(-0.07,+0.05,-1.00) r=0.24m +[headless_play] t= 15.90s step= 795 trunk_z= 116.6mm grav_b=(-0.13,+0.02,-0.99) r=0.26m +[headless_play] t= 16.00s step= 800 trunk_z= 121.6mm grav_b=(-0.12,-0.01,-0.99) r=0.26m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(-0.10,-0.07,-0.99) r=0.22m +[headless_play] t= 16.20s step= 810 trunk_z= 124.6mm grav_b=(-0.07,-0.10,-0.99) r=0.21m +[headless_play] t= 16.30s step= 815 trunk_z= 127.1mm grav_b=(-0.05,-0.05,-1.00) r=0.21m +[headless_play] t= 16.40s step= 820 trunk_z= 116.6mm grav_b=(-0.12,+0.02,-0.99) r=0.24m +[headless_play] t= 16.50s step= 825 trunk_z= 124.2mm grav_b=(-0.10,+0.04,-0.99) r=0.25m +[headless_play] t= 16.60s step= 830 trunk_z= 125.4mm grav_b=(-0.17,+0.09,-0.98) r=0.25m +[headless_play] t= 16.70s step= 835 trunk_z= 116.4mm grav_b=(-0.11,-0.03,-0.99) r=0.23m +[headless_play] t= 16.80s step= 840 trunk_z= 124.6mm grav_b=(-0.07,-0.08,-0.99) r=0.22m +[headless_play] t= 16.90s step= 845 trunk_z= 125.3mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 17.00s step= 850 trunk_z= 117.8mm grav_b=(-0.06,+0.05,-1.00) r=0.25m +[headless_play] t= 17.10s step= 855 trunk_z= 125.2mm grav_b=(-0.07,+0.04,-1.00) r=0.26m +[headless_play] t= 17.20s step= 860 trunk_z= 119.6mm grav_b=(-0.12,+0.02,-0.99) r=0.25m +[headless_play] t= 17.30s step= 865 trunk_z= 120.4mm grav_b=(-0.10,-0.07,-0.99) r=0.23m +[headless_play] t= 17.40s step= 870 trunk_z= 123.5mm grav_b=(-0.07,-0.04,-1.00) r=0.24m +[headless_play] t= 17.50s step= 875 trunk_z= 119.9mm grav_b=(-0.05,+0.03,-1.00) r=0.28m +[headless_play] t= 17.60s step= 880 trunk_z= 130.9mm grav_b=(-0.05,+0.11,-0.99) r=0.32m +[headless_play] t= 17.70s step= 885 trunk_z= 139.3mm grav_b=(-0.06,+0.14,-0.99) r=0.35m +[headless_play] t= 17.80s step= 890 trunk_z= 136.7mm grav_b=(-0.04,+0.17,-0.98) r=0.40m +[headless_play] t= 17.90s step= 895 trunk_z= 115.7mm grav_b=(-0.04,+0.11,-0.99) r=0.44m +[headless_play] t= 18.00s step= 900 trunk_z= 124.2mm grav_b=(-0.08,-0.04,-1.00) r=0.46m +[headless_play] t= 18.10s step= 905 trunk_z= 119.8mm grav_b=(-0.04,+0.05,-1.00) r=0.48m +[headless_play] t= 18.20s step= 910 trunk_z= 127.8mm grav_b=(-0.03,+0.03,-1.00) r=0.51m +[headless_play] t= 18.30s step= 915 trunk_z= 126.4mm grav_b=(-0.09,-0.01,-1.00) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 124.8mm grav_b=(-0.08,-0.11,-0.99) r=0.58m +[headless_play] t= 18.50s step= 925 trunk_z= 126.1mm grav_b=(-0.10,-0.10,-0.99) r=0.60m +[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(-0.12,-0.02,-0.99) r=0.61m +[headless_play] t= 18.70s step= 935 trunk_z= 126.3mm grav_b=(-0.18,+0.03,-0.98) r=0.59m +[headless_play] t= 18.80s step= 940 trunk_z= 122.9mm grav_b=(-0.15,-0.02,-0.99) r=0.56m +[headless_play] t= 18.90s step= 945 trunk_z= 109.6mm grav_b=(-0.19,+0.01,-0.98) r=0.53m +[headless_play] t= 19.00s step= 950 trunk_z= 111.0mm grav_b=(-0.12,+0.06,-0.99) r=0.51m +[headless_play] t= 19.10s step= 955 trunk_z= 111.2mm grav_b=(-0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 19.30s step= 965 trunk_z= 104.1mm grav_b=(-0.01,-0.06,-1.00) r=0.45m +[headless_play] t= 19.40s step= 970 trunk_z= 107.3mm grav_b=(-0.03,-0.08,-1.00) r=0.46m +[headless_play] t= 19.50s step= 975 trunk_z= 108.0mm grav_b=(+0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 19.60s step= 980 trunk_z= 123.3mm grav_b=(-0.04,+0.15,-0.99) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 127.4mm grav_b=(-0.04,+0.18,-0.98) r=0.52m +[headless_play] t= 19.80s step= 990 trunk_z= 123.6mm grav_b=(+0.06,+0.18,-0.98) r=0.54m +[headless_play] t= 19.90s step= 995 trunk_z= 126.0mm grav_b=(+0.04,+0.13,-0.99) r=0.58m +[headless_play] t= 20.00s step=1000 trunk_z= 119.0mm grav_b=(+0.05,+0.07,-1.00) r=0.62m +[headless_play] t= 20.10s step=1005 trunk_z= 132.3mm grav_b=(-0.03,-0.01,-1.00) r=0.63m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t4.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..857678634b5cb1c135da49764aa14d0a99f4fffe --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.491,-17.627,+0.248) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.62m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.07,-0.01,-1.00) r=0.62m +[headless_play] t= 0.30s step= 15 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 0.40s step= 20 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 1.00s step= 50 trunk_z= 118.2mm grav_b=(+0.04,+0.02,-1.00) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 117.8mm grav_b=(+0.04,+0.01,-1.00) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 117.7mm grav_b=(+0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 1.30s step= 65 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 117.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(+0.06,-0.00,-1.00) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 116.7mm grav_b=(+0.06,-0.00,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 116.7mm grav_b=(+0.07,-0.00,-1.00) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(+0.10,-0.01,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 116.7mm grav_b=(+0.08,-0.01,-1.00) r=0.61m +[headless_play] t= 2.20s step= 110 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.30s step= 115 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.61m +[headless_play] t= 2.50s step= 125 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.61m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(-0.04,-0.04,-1.00) r=0.61m +[headless_play] t= 3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.00,-0.03,-1.00) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 112.9mm grav_b=(+0.07,+0.02,-1.00) r=0.59m +[headless_play] t= 3.20s step= 160 trunk_z= 109.8mm grav_b=(+0.12,-0.03,-0.99) r=0.60m +[headless_play] t= 3.30s step= 165 trunk_z= 111.1mm grav_b=(+0.11,-0.03,-0.99) r=0.60m +[headless_play] t= 3.40s step= 170 trunk_z= 112.4mm grav_b=(+0.11,-0.00,-0.99) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 113.4mm grav_b=(+0.10,-0.01,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 113.6mm grav_b=(+0.08,-0.02,-1.00) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 113.8mm grav_b=(+0.06,-0.02,-1.00) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 113.9mm grav_b=(+0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 3.90s step= 195 trunk_z= 113.9mm grav_b=(+0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(+0.07,-0.01,-1.00) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.07,-0.01,-1.00) r=0.60m +[headless_play] t= 4.20s step= 210 trunk_z= 114.0mm grav_b=(+0.06,-0.01,-1.00) r=0.60m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(+0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 114.6mm grav_b=(+0.08,-0.00,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 114.6mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 114.6mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 114.6mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 5.10s step= 255 trunk_z= 115.1mm grav_b=(-0.03,-0.03,-1.00) r=0.59m +[headless_play] t= 5.20s step= 260 trunk_z= 114.3mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 114.5mm grav_b=(+0.01,-0.03,-1.00) r=0.60m +[headless_play] t= 5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.06,-0.09,-0.99) r=0.62m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.08,-0.04,-1.00) r=0.62m +[headless_play] t= 5.60s step= 280 trunk_z= 115.1mm grav_b=(+0.06,+0.06,-1.00) r=0.61m +[headless_play] t= 5.70s step= 285 trunk_z= 120.8mm grav_b=(+0.09,+0.05,-0.99) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 116.2mm grav_b=(+0.06,-0.02,-1.00) r=0.65m +[headless_play] t= 5.90s step= 295 trunk_z= 121.2mm grav_b=(+0.07,-0.07,-1.00) r=0.67m +[headless_play] t= 6.00s step= 300 trunk_z= 114.9mm grav_b=(+0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 6.10s step= 305 trunk_z= 121.2mm grav_b=(+0.02,+0.05,-1.00) r=0.65m +[headless_play] t= 6.20s step= 310 trunk_z= 120.6mm grav_b=(+0.05,+0.04,-1.00) r=0.67m +[headless_play] t= 6.30s step= 315 trunk_z= 113.0mm grav_b=(+0.06,-0.02,-1.00) r=0.70m +[headless_play] t= 6.40s step= 320 trunk_z= 120.5mm grav_b=(+0.09,-0.06,-0.99) r=0.73m +[headless_play] t= 6.50s step= 325 trunk_z= 119.6mm grav_b=(+0.07,-0.04,-1.00) r=0.74m +[headless_play] t= 6.60s step= 330 trunk_z= 118.4mm grav_b=(+0.03,+0.03,-1.00) r=0.74m +[headless_play] t= 6.70s step= 335 trunk_z= 117.9mm grav_b=(+0.07,+0.02,-1.00) r=0.76m +[headless_play] t= 6.80s step= 340 trunk_z= 112.9mm grav_b=(+0.05,-0.09,-0.99) r=0.79m +[headless_play] t= 6.90s step= 345 trunk_z= 122.2mm grav_b=(+0.03,-0.10,-0.99) r=0.81m +[headless_play] t= 7.00s step= 350 trunk_z= 120.5mm grav_b=(+0.03,-0.08,-1.00) r=0.82m +[headless_play] t= 7.10s step= 355 trunk_z= 116.4mm grav_b=(+0.03,+0.04,-1.00) r=0.83m +[headless_play] t= 7.20s step= 360 trunk_z= 120.8mm grav_b=(+0.09,+0.04,-1.00) r=0.84m +[headless_play] t= 7.30s step= 365 trunk_z= 114.7mm grav_b=(+0.11,+0.01,-0.99) r=0.86m +[headless_play] t= 7.40s step= 370 trunk_z= 118.4mm grav_b=(+0.09,-0.07,-0.99) r=0.90m +[headless_play] t= 7.50s step= 375 trunk_z= 121.4mm grav_b=(+0.03,-0.10,-0.99) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 115.3mm grav_b=(+0.04,-0.04,-1.00) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 117.7mm grav_b=(+0.06,+0.06,-1.00) r=0.92m +[headless_play] t= 7.80s step= 390 trunk_z= 116.8mm grav_b=(+0.12,+0.01,-0.99) r=0.94m +[headless_play] t= 7.90s step= 395 trunk_z= 111.7mm grav_b=(+0.13,-0.05,-0.99) r=0.97m +[headless_play] t= 8.00s step= 400 trunk_z= 122.0mm grav_b=(+0.08,-0.05,-1.00) r=1.00m +[headless_play] t= 8.10s step= 405 trunk_z= 117.9mm grav_b=(+0.01,+0.01,-1.00) r=1.03m +[headless_play] t= 8.20s step= 410 trunk_z= 119.6mm grav_b=(+0.06,+0.02,-1.00) r=1.05m +[headless_play] t= 8.30s step= 415 trunk_z= 115.0mm grav_b=(+0.07,-0.03,-1.00) r=1.08m +[headless_play] t= 8.40s step= 420 trunk_z= 115.5mm grav_b=(+0.04,-0.14,-0.99) r=1.12m +[headless_play] t= 8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.19,-0.17,-0.97) r=1.17m +[headless_play] t= 8.60s step= 430 trunk_z= 97.4mm grav_b=(+0.10,-0.06,-0.99) r=1.23m +[headless_play] t= 8.70s step= 435 trunk_z= 84.2mm grav_b=(+0.14,+0.06,-0.99) r=1.27m +[headless_play] t= 8.80s step= 440 trunk_z= 96.9mm grav_b=(+0.03,+0.22,-0.97) r=1.29m +[headless_play] t= 8.90s step= 445 trunk_z= 96.1mm grav_b=(-0.02,+0.19,-0.98) r=1.32m +[headless_play] t= 9.00s step= 450 trunk_z= 101.0mm grav_b=(+0.02,+0.23,-0.97) r=1.36m +[headless_play] t= 9.10s step= 455 trunk_z= 82.5mm grav_b=(+0.06,+0.32,-0.95) r=1.40m +[headless_play] t= 9.20s step= 460 trunk_z= 56.6mm grav_b=(+0.51,+0.30,-0.80) r=1.43m +[headless_play] RESET at t= 9.30s step= 465 (env termination, not a recovery) +[headless_play] t= 9.30s step= 465 trunk_z= 128.2mm grav_b=(+0.00,-0.00,-1.00) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 114.9mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 9.50s step= 475 trunk_z= 115.9mm grav_b=(+0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.08,-0.00,-1.00) r=0.34m +[headless_play] t= 9.70s step= 485 trunk_z= 116.6mm grav_b=(+0.07,-0.00,-1.00) r=0.34m +[headless_play] t= 9.80s step= 490 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.34m +[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 10.20s step= 510 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 10.30s step= 515 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(-0.06,-0.04,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 115.5mm grav_b=(+0.06,+0.04,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 112.9mm grav_b=(+0.09,+0.09,-0.99) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 115.6mm grav_b=(+0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.09,+0.01,-1.00) r=0.36m +[headless_play] t= 10.90s step= 545 trunk_z= 116.5mm grav_b=(+0.09,+0.02,-1.00) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(+0.08,+0.02,-1.00) r=0.36m +[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 11.30s step= 565 trunk_z= 118.6mm grav_b=(+0.02,-0.05,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 117.9mm grav_b=(+0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 11.50s step= 575 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.37m +[headless_play] t= 11.60s step= 580 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.37m +[headless_play] t= 11.70s step= 585 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 12.00s step= 600 trunk_z= 118.2mm grav_b=(+0.09,-0.00,-1.00) r=0.37m +[headless_play] t= 12.10s step= 605 trunk_z= 118.5mm grav_b=(+0.10,+0.04,-0.99) r=0.36m +[headless_play] t= 12.20s step= 610 trunk_z= 117.7mm grav_b=(+0.08,+0.02,-1.00) r=0.37m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.07,+0.02,-1.00) r=0.37m +[headless_play] t= 12.40s step= 620 trunk_z= 120.5mm grav_b=(+0.04,+0.10,-0.99) r=0.36m +[headless_play] t= 12.50s step= 625 trunk_z= 119.4mm grav_b=(+0.03,+0.07,-1.00) r=0.36m +[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.70s step= 635 trunk_z= 116.9mm grav_b=(-0.06,+0.00,-1.00) r=0.36m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(-0.03,+0.00,-1.00) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 13.00s step= 650 trunk_z= 119.7mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 13.20s step= 660 trunk_z= 119.2mm grav_b=(+0.04,+0.01,-1.00) r=0.35m +[headless_play] t= 13.30s step= 665 trunk_z= 117.4mm grav_b=(-0.00,+0.01,-1.00) r=0.36m +[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 13.60s step= 680 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 13.70s step= 685 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 13.80s step= 690 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 14.00s step= 700 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 14.10s step= 705 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 14.30s step= 715 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(-0.02,+0.05,-1.00) r=0.35m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 14.70s step= 735 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 14.80s step= 740 trunk_z= 116.8mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(-0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 15.00s step= 750 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 15.10s step= 755 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 15.30s step= 765 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 15.40s step= 770 trunk_z= 116.4mm grav_b=(-0.00,-0.00,-1.00) r=0.35m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 15.70s step= 785 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 15.80s step= 790 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 15.90s step= 795 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 16.10s step= 805 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 16.20s step= 810 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 16.30s step= 815 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00) r=0.36m +[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(-0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 16.50s step= 825 trunk_z= 115.1mm grav_b=(-0.05,-0.00,-1.00) r=0.36m +[headless_play] t= 16.60s step= 830 trunk_z= 114.9mm grav_b=(-0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 16.70s step= 835 trunk_z= 115.5mm grav_b=(+0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 16.80s step= 840 trunk_z= 115.5mm grav_b=(+0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(+0.08,-0.01,-1.00) r=0.35m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(+0.09,+0.00,-1.00) r=0.34m +[headless_play] t= 17.10s step= 855 trunk_z= 117.1mm grav_b=(+0.09,+0.00,-1.00) r=0.34m +[headless_play] t= 17.20s step= 860 trunk_z= 117.0mm grav_b=(+0.09,-0.00,-1.00) r=0.34m +[headless_play] t= 17.30s step= 865 trunk_z= 116.5mm grav_b=(+0.06,-0.00,-1.00) r=0.35m +[headless_play] t= 17.40s step= 870 trunk_z= 115.0mm grav_b=(+0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 17.50s step= 875 trunk_z= 115.1mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 17.60s step= 880 trunk_z= 115.2mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 17.70s step= 885 trunk_z= 115.3mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 17.80s step= 890 trunk_z= 115.0mm grav_b=(-0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 17.90s step= 895 trunk_z= 114.8mm grav_b=(-0.09,-0.03,-1.00) r=0.37m +[headless_play] t= 18.00s step= 900 trunk_z= 116.0mm grav_b=(-0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 18.10s step= 905 trunk_z= 110.4mm grav_b=(+0.06,+0.07,-1.00) r=0.39m +[headless_play] t= 18.20s step= 910 trunk_z= 113.4mm grav_b=(+0.09,+0.04,-1.00) r=0.40m +[headless_play] t= 18.30s step= 915 trunk_z= 115.9mm grav_b=(+0.09,-0.00,-1.00) r=0.40m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(+0.06,+0.07,-1.00) r=0.38m +[headless_play] t= 18.50s step= 925 trunk_z= 120.7mm grav_b=(+0.02,+0.11,-0.99) r=0.37m +[headless_play] t= 18.60s step= 930 trunk_z= 120.9mm grav_b=(-0.04,+0.06,-1.00) r=0.37m +[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.02,-0.06,-1.00) r=0.36m +[headless_play] t= 18.80s step= 940 trunk_z= 125.8mm grav_b=(+0.01,-0.16,-0.99) r=0.36m +[headless_play] t= 18.90s step= 945 trunk_z= 126.2mm grav_b=(+0.04,-0.15,-0.99) r=0.35m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(+0.09,-0.07,-0.99) r=0.32m +[headless_play] t= 19.10s step= 955 trunk_z= 111.8mm grav_b=(+0.10,+0.07,-0.99) r=0.28m +[headless_play] t= 19.20s step= 960 trunk_z= 122.7mm grav_b=(+0.07,+0.08,-0.99) r=0.26m +[headless_play] t= 19.30s step= 965 trunk_z= 122.6mm grav_b=(+0.00,+0.04,-1.00) r=0.26m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(-0.03,-0.02,-1.00) r=0.29m +[headless_play] t= 19.50s step= 975 trunk_z= 122.2mm grav_b=(+0.01,-0.03,-1.00) r=0.29m +[headless_play] t= 19.60s step= 980 trunk_z= 119.3mm grav_b=(+0.00,-0.01,-1.00) r=0.27m +[headless_play] t= 19.70s step= 985 trunk_z= 120.1mm grav_b=(-0.09,+0.04,-1.00) r=0.25m +[headless_play] t= 19.80s step= 990 trunk_z= 120.7mm grav_b=(-0.06,+0.01,-1.00) r=0.25m +[headless_play] t= 19.90s step= 995 trunk_z= 118.8mm grav_b=(-0.02,-0.04,-1.00) r=0.27m +[headless_play] t= 20.00s step=1000 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 119.0mm grav_b=(+0.06,+0.07,-1.00) r=0.23m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t5.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..3d09fb4e4184859ad595efed45130155a0030058 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.432,-18.331,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.5mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 0.10s step= 5 trunk_z= 114.2mm grav_b=(+0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 0.20s step= 10 trunk_z= 115.3mm grav_b=(+0.08,+0.08,-0.99) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 114.8mm grav_b=(+0.09,+0.01,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.08,-0.03,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(+0.10,+0.00,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 113.4mm grav_b=(+0.09,+0.08,-0.99) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 120.1mm grav_b=(+0.10,+0.05,-0.99) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 113.6mm grav_b=(+0.09,+0.04,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 117.7mm grav_b=(+0.07,-0.05,-1.00) r=0.47m +[headless_play] t= 1.00s step= 50 trunk_z= 122.5mm grav_b=(+0.05,-0.08,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 119.0mm grav_b=(+0.06,-0.03,-1.00) r=0.47m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(+0.10,+0.08,-0.99) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 118.1mm grav_b=(+0.15,+0.04,-0.99) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 110.8mm grav_b=(+0.14,+0.01,-0.99) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.12,-0.02,-0.99) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 115.0mm grav_b=(+0.14,+0.02,-0.99) r=0.48m +[headless_play] t= 1.70s step= 85 trunk_z= 121.8mm grav_b=(+0.17,+0.05,-0.98) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 120.8mm grav_b=(+0.10,+0.02,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 115.7mm grav_b=(+0.06,+0.07,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 120.9mm grav_b=(+0.11,+0.07,-0.99) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 118.9mm grav_b=(+0.18,+0.07,-0.98) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 119.9mm grav_b=(+0.12,+0.00,-0.99) r=0.54m +[headless_play] t= 2.50s step= 125 trunk_z= 123.8mm grav_b=(+0.06,+0.04,-1.00) r=0.56m +[headless_play] t= 2.60s step= 130 trunk_z= 120.3mm grav_b=(+0.06,+0.04,-1.00) r=0.58m +[headless_play] t= 2.70s step= 135 trunk_z= 122.8mm grav_b=(+0.04,+0.04,-1.00) r=0.58m +[headless_play] t= 2.80s step= 140 trunk_z= 114.5mm grav_b=(+0.04,-0.01,-1.00) r=0.58m +[headless_play] t= 2.90s step= 145 trunk_z= 116.4mm grav_b=(+0.06,+0.03,-1.00) r=0.59m +[headless_play] t= 3.00s step= 150 trunk_z= 114.6mm grav_b=(+0.08,+0.08,-0.99) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 119.3mm grav_b=(+0.09,+0.05,-0.99) r=0.63m +[headless_play] t= 3.20s step= 160 trunk_z= 112.9mm grav_b=(+0.10,+0.01,-1.00) r=0.63m +[headless_play] t= 3.30s step= 165 trunk_z= 116.7mm grav_b=(+0.10,-0.05,-0.99) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(+0.10,+0.01,-1.00) r=0.64m +[headless_play] t= 3.50s step= 175 trunk_z= 118.8mm grav_b=(+0.09,+0.08,-0.99) r=0.67m +[headless_play] t= 3.60s step= 180 trunk_z= 125.0mm grav_b=(+0.07,+0.07,-0.99) r=0.69m +[headless_play] t= 3.70s step= 185 trunk_z= 115.1mm grav_b=(+0.06,+0.01,-1.00) r=0.69m +[headless_play] t= 3.80s step= 190 trunk_z= 124.0mm grav_b=(+0.13,-0.06,-0.99) r=0.70m +[headless_play] t= 3.90s step= 195 trunk_z= 128.2mm grav_b=(+0.13,-0.08,-0.99) r=0.72m +[headless_play] t= 4.00s step= 200 trunk_z= 115.7mm grav_b=(+0.12,-0.04,-0.99) r=0.76m +[headless_play] t= 4.10s step= 205 trunk_z= 120.2mm grav_b=(+0.17,-0.00,-0.99) r=0.78m +[headless_play] t= 4.20s step= 210 trunk_z= 124.6mm grav_b=(+0.06,+0.07,-1.00) r=0.79m +[headless_play] t= 4.30s step= 215 trunk_z= 114.4mm grav_b=(+0.04,-0.07,-1.00) r=0.79m +[headless_play] t= 4.40s step= 220 trunk_z= 119.6mm grav_b=(+0.08,-0.04,-1.00) r=0.80m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(+0.06,+0.03,-1.00) r=0.83m +[headless_play] t= 4.60s step= 230 trunk_z= 124.2mm grav_b=(+0.06,+0.05,-1.00) r=0.84m +[headless_play] t= 4.70s step= 235 trunk_z= 119.4mm grav_b=(+0.04,+0.05,-1.00) r=0.84m +[headless_play] t= 4.80s step= 240 trunk_z= 118.3mm grav_b=(+0.07,-0.04,-1.00) r=0.84m +[headless_play] t= 4.90s step= 245 trunk_z= 120.1mm grav_b=(+0.09,-0.02,-1.00) r=0.86m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(+0.07,+0.06,-1.00) r=0.89m +[headless_play] t= 5.10s step= 255 trunk_z= 125.4mm grav_b=(+0.07,+0.05,-1.00) r=0.91m +[headless_play] t= 5.20s step= 260 trunk_z= 120.2mm grav_b=(+0.07,+0.06,-1.00) r=0.92m +[headless_play] t= 5.30s step= 265 trunk_z= 120.3mm grav_b=(+0.06,-0.05,-1.00) r=0.92m +[headless_play] t= 5.40s step= 270 trunk_z= 123.0mm grav_b=(+0.08,-0.02,-1.00) r=0.94m +[headless_play] t= 5.50s step= 275 trunk_z= 118.9mm grav_b=(-0.01,+0.09,-1.00) r=0.95m +[headless_play] t= 5.60s step= 280 trunk_z= 126.0mm grav_b=(-0.01,+0.12,-0.99) r=0.96m +[headless_play] t= 5.70s step= 285 trunk_z= 124.0mm grav_b=(+0.06,+0.08,-0.99) r=0.96m +[headless_play] t= 5.80s step= 290 trunk_z= 117.5mm grav_b=(-0.05,+0.06,-1.00) r=0.95m +[headless_play] t= 5.90s step= 295 trunk_z= 116.7mm grav_b=(+0.07,+0.11,-0.99) r=0.95m +[headless_play] t= 6.00s step= 300 trunk_z= 114.9mm grav_b=(+0.18,+0.09,-0.98) r=0.94m +[headless_play] t= 6.10s step= 305 trunk_z= 123.1mm grav_b=(+0.06,+0.05,-1.00) r=0.94m +[headless_play] t= 6.20s step= 310 trunk_z= 124.7mm grav_b=(+0.08,+0.15,-0.99) r=0.97m +[headless_play] t= 6.30s step= 315 trunk_z= 127.7mm grav_b=(+0.05,+0.12,-0.99) r=0.98m +[headless_play] t= 6.40s step= 320 trunk_z= 123.0mm grav_b=(+0.03,+0.11,-0.99) r=0.98m +[headless_play] t= 6.50s step= 325 trunk_z= 117.5mm grav_b=(+0.05,+0.03,-1.00) r=0.98m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(+0.03,+0.00,-1.00) r=0.98m +[headless_play] t= 6.70s step= 335 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.97m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.97m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.97m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.97m +[headless_play] t= 7.10s step= 355 trunk_z= 116.5mm grav_b=(-0.06,-0.00,-1.00) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.05,-0.02,-1.00) r=0.96m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.97m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.97m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(+0.06,+0.01,-1.00) r=0.97m +[headless_play] t= 7.60s step= 380 trunk_z= 118.4mm grav_b=(+0.08,+0.02,-1.00) r=0.97m +[headless_play] t= 7.70s step= 385 trunk_z= 119.4mm grav_b=(+0.08,+0.03,-1.00) r=0.98m +[headless_play] t= 7.80s step= 390 trunk_z= 121.5mm grav_b=(+0.09,+0.05,-0.99) r=0.98m +[headless_play] t= 7.90s step= 395 trunk_z= 120.4mm grav_b=(+0.07,+0.09,-0.99) r=1.00m +[headless_play] t= 8.00s step= 400 trunk_z= 132.0mm grav_b=(+0.07,+0.06,-1.00) r=1.03m +[headless_play] t= 8.10s step= 405 trunk_z= 107.6mm grav_b=(-0.01,+0.02,-1.00) r=1.07m +[headless_play] t= 8.20s step= 410 trunk_z= 120.1mm grav_b=(+0.03,+0.04,-1.00) r=1.09m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.03,+0.05,-1.00) r=1.11m +[headless_play] t= 8.40s step= 420 trunk_z= 110.1mm grav_b=(+0.04,+0.04,-1.00) r=1.13m +[headless_play] t= 8.50s step= 425 trunk_z= 106.5mm grav_b=(-0.01,-0.01,-1.00) r=1.15m +[headless_play] t= 8.60s step= 430 trunk_z= 101.7mm grav_b=(-0.03,-0.10,-0.99) r=1.17m +[headless_play] t= 8.70s step= 435 trunk_z= 108.1mm grav_b=(+0.01,-0.07,-1.00) r=1.18m +[headless_play] t= 8.80s step= 440 trunk_z= 104.1mm grav_b=(+0.10,+0.02,-1.00) r=1.20m +[headless_play] t= 8.90s step= 445 trunk_z= 96.2mm grav_b=(+0.14,+0.12,-0.98) r=1.24m +[headless_play] t= 9.00s step= 450 trunk_z= 106.7mm grav_b=(+0.14,+0.14,-0.98) r=1.26m +[headless_play] t= 9.10s step= 455 trunk_z= 101.9mm grav_b=(+0.01,+0.17,-0.98) r=1.27m +[headless_play] t= 9.20s step= 460 trunk_z= 91.4mm grav_b=(+0.04,+0.16,-0.99) r=1.28m +[headless_play] t= 9.30s step= 465 trunk_z= 93.4mm grav_b=(+0.06,+0.15,-0.99) r=1.29m +[headless_play] t= 9.40s step= 470 trunk_z= 93.4mm grav_b=(+0.07,+0.06,-1.00) r=1.30m +[headless_play] t= 9.50s step= 475 trunk_z= 90.4mm grav_b=(+0.00,+0.02,-1.00) r=1.33m +[headless_play] t= 9.60s step= 480 trunk_z= 77.2mm grav_b=(-0.03,-0.05,-1.00) r=1.36m +[headless_play] t= 9.70s step= 485 trunk_z= 83.2mm grav_b=(+0.01,-0.05,-1.00) r=1.37m +[headless_play] t= 9.80s step= 490 trunk_z= 80.7mm grav_b=(+0.10,+0.02,-1.00) r=1.39m +[headless_play] t= 9.90s step= 495 trunk_z= 68.5mm grav_b=(+0.09,+0.16,-0.98) r=1.44m +[headless_play] t= 10.00s step= 500 trunk_z= 80.4mm grav_b=(+0.11,+0.17,-0.98) r=1.46m +[headless_play] t= 10.10s step= 505 trunk_z= 81.8mm grav_b=(+0.09,+0.18,-0.98) r=1.50m +[headless_play] t= 10.20s step= 510 trunk_z= 62.8mm grav_b=(+0.06,+0.13,-0.99) r=1.54m +[headless_play] t= 10.30s step= 515 trunk_z= 69.5mm grav_b=(+0.09,+0.13,-0.99) r=1.59m +[headless_play] t= 10.40s step= 520 trunk_z= 38.2mm grav_b=(+0.07,+0.07,-1.00) r=1.64m +[headless_play] t= 10.50s step= 525 trunk_z= 44.6mm grav_b=(+0.09,+0.00,-1.00) r=1.67m +[headless_play] t= 10.60s step= 530 trunk_z= 35.6mm grav_b=(+0.01,-0.03,-1.00) r=1.70m +[headless_play] t= 10.70s step= 535 trunk_z= 41.5mm grav_b=(+0.11,+0.03,-0.99) r=1.73m +[headless_play] t= 10.80s step= 540 trunk_z= 40.8mm grav_b=(+0.12,+0.08,-0.99) r=1.76m +[headless_play] t= 10.90s step= 545 trunk_z= 34.4mm grav_b=(+0.05,+0.12,-0.99) r=1.79m +[headless_play] t= 11.00s step= 550 trunk_z= 42.7mm grav_b=(+0.01,+0.11,-0.99) r=1.80m +[headless_play] t= 11.10s step= 555 trunk_z= 36.1mm grav_b=(+0.00,+0.08,-1.00) r=1.82m +[headless_play] t= 11.20s step= 560 trunk_z= 32.2mm grav_b=(+0.05,-0.01,-1.00) r=1.83m +[headless_play] t= 11.30s step= 565 trunk_z= 33.7mm grav_b=(+0.04,-0.05,-1.00) r=1.82m +[headless_play] t= 11.40s step= 570 trunk_z= 30.8mm grav_b=(+0.04,-0.02,-1.00) r=1.82m +[headless_play] t= 11.50s step= 575 trunk_z= 30.4mm grav_b=(+0.09,-0.02,-1.00) r=1.83m +[headless_play] t= 11.60s step= 580 trunk_z= 31.0mm grav_b=(+0.15,-0.01,-0.99) r=1.84m +[headless_play] t= 11.70s step= 585 trunk_z= 32.9mm grav_b=(+0.16,-0.02,-0.99) r=1.84m +[headless_play] t= 11.80s step= 590 trunk_z= 31.2mm grav_b=(+0.09,+0.04,-0.99) r=1.85m +[headless_play] t= 11.90s step= 595 trunk_z= 38.4mm grav_b=(+0.04,+0.04,-1.00) r=1.87m +[headless_play] t= 12.00s step= 600 trunk_z= 22.3mm grav_b=(+0.01,+0.02,-1.00) r=1.90m +[headless_play] t= 12.10s step= 605 trunk_z= 25.5mm grav_b=(+0.05,+0.06,-1.00) r=1.92m +[headless_play] t= 12.20s step= 610 trunk_z= 25.0mm grav_b=(+0.07,+0.05,-1.00) r=1.93m +[headless_play] t= 12.30s step= 615 trunk_z= 25.1mm grav_b=(+0.03,-0.01,-1.00) r=1.95m +[headless_play] t= 12.40s step= 620 trunk_z= 18.0mm grav_b=(+0.02,-0.04,-1.00) r=1.97m +[headless_play] t= 12.50s step= 625 trunk_z= 18.4mm grav_b=(+0.06,-0.04,-1.00) r=1.98m +[headless_play] t= 12.60s step= 630 trunk_z= 18.6mm grav_b=(+0.07,-0.04,-1.00) r=1.97m +[headless_play] t= 12.70s step= 635 trunk_z= 19.1mm grav_b=(+0.08,-0.07,-0.99) r=1.98m +[headless_play] t= 12.80s step= 640 trunk_z= 18.5mm grav_b=(+0.07,-0.07,-1.00) r=1.97m +[headless_play] t= 12.90s step= 645 trunk_z= 18.3mm grav_b=(+0.06,-0.08,-1.00) r=1.98m +[headless_play] t= 13.00s step= 650 trunk_z= 18.2mm grav_b=(+0.06,-0.08,-1.00) r=1.98m +[headless_play] t= 13.10s step= 655 trunk_z= 18.2mm grav_b=(+0.06,-0.07,-1.00) r=1.98m +[headless_play] t= 13.20s step= 660 trunk_z= 18.1mm grav_b=(+0.07,-0.07,-1.00) r=1.98m +[headless_play] t= 13.30s step= 665 trunk_z= 18.1mm grav_b=(+0.07,-0.07,-0.99) r=1.98m +[headless_play] t= 13.40s step= 670 trunk_z= 18.2mm grav_b=(+0.07,-0.07,-0.99) r=1.98m +[headless_play] t= 13.50s step= 675 trunk_z= 18.2mm grav_b=(+0.07,-0.07,-0.99) r=1.98m +[headless_play] t= 13.60s step= 680 trunk_z= 18.2mm grav_b=(+0.07,-0.07,-1.00) r=1.98m +[headless_play] t= 13.70s step= 685 trunk_z= 19.9mm grav_b=(+0.08,-0.11,-0.99) r=1.99m +[headless_play] t= 13.80s step= 690 trunk_z= 19.6mm grav_b=(+0.09,-0.08,-0.99) r=1.98m +[headless_play] t= 13.90s step= 695 trunk_z= 19.0mm grav_b=(+0.09,-0.06,-0.99) r=1.98m +[headless_play] t= 14.00s step= 700 trunk_z= 18.9mm grav_b=(+0.09,-0.07,-0.99) r=1.98m +[headless_play] t= 14.10s step= 705 trunk_z= 19.7mm grav_b=(+0.10,-0.06,-0.99) r=1.98m +[headless_play] t= 14.20s step= 710 trunk_z= 20.5mm grav_b=(+0.11,-0.05,-0.99) r=1.98m +[headless_play] t= 14.30s step= 715 trunk_z= 21.6mm grav_b=(+0.09,-0.01,-1.00) r=1.98m +[headless_play] t= 14.40s step= 720 trunk_z= 17.7mm grav_b=(+0.10,-0.05,-0.99) r=1.99m +[headless_play] t= 14.50s step= 725 trunk_z= 19.6mm grav_b=(+0.12,-0.08,-0.99) r=2.00m +[headless_play] t= 14.60s step= 730 trunk_z= 18.8mm grav_b=(+0.11,-0.02,-0.99) r=2.00m +[headless_play] t= 14.70s step= 735 trunk_z= 20.6mm grav_b=(+0.05,-0.03,-1.00) r=2.00m +[headless_play] t= 14.80s step= 740 trunk_z= 15.4mm grav_b=(+0.03,-0.07,-1.00) r=2.02m +[headless_play] t= 14.90s step= 745 trunk_z= 18.5mm grav_b=(+0.12,-0.11,-0.99) r=2.03m +[headless_play] t= 15.00s step= 750 trunk_z= 16.7mm grav_b=(+0.08,-0.00,-1.00) r=2.04m +[headless_play] t= 15.10s step= 755 trunk_z= 13.5mm grav_b=(+0.06,-0.05,-1.00) r=2.05m +[headless_play] t= 15.20s step= 760 trunk_z= 19.0mm grav_b=(+0.09,+0.03,-1.00) r=2.07m +[headless_play] t= 15.30s step= 765 trunk_z= 21.9mm grav_b=(+0.06,+0.08,-1.00) r=2.09m +[headless_play] t= 15.40s step= 770 trunk_z= 5.6mm grav_b=(+0.02,-0.04,-1.00) r=2.12m +[headless_play] t= 15.50s step= 775 trunk_z= 11.0mm grav_b=(+0.08,-0.08,-0.99) r=2.14m +[headless_play] t= 15.60s step= 780 trunk_z= 9.7mm grav_b=(+0.08,-0.01,-1.00) r=2.14m +[headless_play] t= 15.70s step= 785 trunk_z= 8.0mm grav_b=(-0.02,-0.08,-1.00) r=2.14m +[headless_play] t= 15.80s step= 790 trunk_z= 9.2mm grav_b=(-0.01,-0.06,-1.00) r=2.14m +[headless_play] t= 15.90s step= 795 trunk_z= 7.7mm grav_b=(+0.01,-0.07,-1.00) r=2.14m +[headless_play] t= 16.00s step= 800 trunk_z= 7.0mm grav_b=(+0.07,-0.05,-1.00) r=2.14m +[headless_play] t= 16.10s step= 805 trunk_z= 8.6mm grav_b=(+0.10,-0.04,-0.99) r=2.15m +[headless_play] t= 16.20s step= 810 trunk_z= 10.7mm grav_b=(+0.11,-0.05,-0.99) r=2.15m +[headless_play] t= 16.30s step= 815 trunk_z= 14.0mm grav_b=(+0.12,-0.03,-0.99) r=2.15m +[headless_play] t= 16.40s step= 820 trunk_z= 6.5mm grav_b=(+0.05,+0.04,-1.00) r=2.15m +[headless_play] t= 16.50s step= 825 trunk_z= 13.1mm grav_b=(+0.02,+0.08,-1.00) r=2.14m +[headless_play] t= 16.60s step= 830 trunk_z= 11.8mm grav_b=(-0.01,+0.06,-1.00) r=2.15m +[headless_play] t= 16.70s step= 835 trunk_z= 6.7mm grav_b=(+0.01,-0.04,-1.00) r=2.17m +[headless_play] t= 16.80s step= 840 trunk_z= 9.3mm grav_b=(+0.05,-0.06,-1.00) r=2.18m +[headless_play] t= 16.90s step= 845 trunk_z= 7.7mm grav_b=(+0.06,-0.04,-1.00) r=2.17m +[headless_play] t= 17.00s step= 850 trunk_z= 7.9mm grav_b=(+0.06,-0.05,-1.00) r=2.17m +[headless_play] t= 17.10s step= 855 trunk_z= 7.5mm grav_b=(+0.05,-0.05,-1.00) r=2.17m +[headless_play] t= 17.20s step= 860 trunk_z= 7.0mm grav_b=(+0.03,-0.06,-1.00) r=2.17m +[headless_play] t= 17.30s step= 865 trunk_z= 6.7mm grav_b=(+0.02,-0.06,-1.00) r=2.17m +[headless_play] t= 17.40s step= 870 trunk_z= 6.8mm grav_b=(+0.03,-0.06,-1.00) r=2.17m +[headless_play] t= 17.50s step= 875 trunk_z= 9.2mm grav_b=(+0.07,-0.10,-0.99) r=2.19m +[headless_play] t= 17.60s step= 880 trunk_z= 8.9mm grav_b=(+0.07,-0.08,-0.99) r=2.19m +[headless_play] t= 17.70s step= 885 trunk_z= 7.2mm grav_b=(+0.06,-0.04,-1.00) r=2.18m +[headless_play] t= 17.80s step= 890 trunk_z= 7.4mm grav_b=(+0.06,-0.05,-1.00) r=2.18m +[headless_play] t= 17.90s step= 895 trunk_z= 7.0mm grav_b=(+0.05,-0.06,-1.00) r=2.18m +[headless_play] t= 18.00s step= 900 trunk_z= 6.4mm grav_b=(+0.03,-0.06,-1.00) r=2.18m +[headless_play] t= 18.10s step= 905 trunk_z= 6.3mm grav_b=(+0.03,-0.06,-1.00) r=2.18m +[headless_play] t= 18.20s step= 910 trunk_z= 6.1mm grav_b=(-0.01,-0.08,-1.00) r=2.18m +[headless_play] t= 18.30s step= 915 trunk_z= 6.7mm grav_b=(-0.02,-0.06,-1.00) r=2.18m +[headless_play] t= 18.40s step= 920 trunk_z= 4.9mm grav_b=(+0.00,-0.10,-1.00) r=2.19m +[headless_play] t= 18.50s step= 925 trunk_z= 6.8mm grav_b=(+0.04,-0.09,-0.99) r=2.20m +[headless_play] t= 18.60s step= 930 trunk_z= 5.5mm grav_b=(+0.09,-0.02,-1.00) r=2.19m +[headless_play] t= 18.70s step= 935 trunk_z= 7.2mm grav_b=(+0.08,-0.03,-1.00) r=2.19m +[headless_play] t= 18.80s step= 940 trunk_z= 8.4mm grav_b=(+0.12,-0.03,-0.99) r=2.19m +[headless_play] t= 18.90s step= 945 trunk_z= 10.2mm grav_b=(+0.13,-0.01,-0.99) r=2.19m +[headless_play] t= 19.00s step= 950 trunk_z= -0.2mm grav_b=(+0.07,-0.04,-1.00) r=2.21m +[headless_play] t= 19.10s step= 955 trunk_z= -0.1mm grav_b=(+0.06,+0.01,-1.00) r=2.22m +[headless_play] t= 19.20s step= 960 trunk_z= 1.2mm grav_b=(+0.06,+0.00,-1.00) r=2.22m +[headless_play] t= 19.30s step= 965 trunk_z= 2.2mm grav_b=(+0.01,-0.04,-1.00) r=2.23m +[headless_play] t= 19.40s step= 970 trunk_z= 1.6mm grav_b=(+0.00,-0.04,-1.00) r=2.23m +[headless_play] t= 19.50s step= 975 trunk_z= 2.0mm grav_b=(+0.03,-0.04,-1.00) r=2.23m +[headless_play] t= 19.60s step= 980 trunk_z= 2.5mm grav_b=(+0.05,-0.04,-1.00) r=2.23m +[headless_play] t= 19.70s step= 985 trunk_z= 2.5mm grav_b=(+0.04,-0.04,-1.00) r=2.23m +[headless_play] t= 19.80s step= 990 trunk_z= 2.0mm grav_b=(+0.02,-0.05,-1.00) r=2.23m +[headless_play] t= 19.90s step= 995 trunk_z= 2.0mm grav_b=(+0.02,-0.05,-1.00) r=2.23m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.8mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t6.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..1313bec0a97812401321c25e049ef64295f646f6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(-0.00,-0.00,-1.00) root_w=(-2.008,-18.425,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.03,-0.00,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(+0.02,-0.08,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 115.6mm grav_b=(+0.04,-0.08,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(+0.07,-0.04,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(+0.09,-0.03,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 118.0mm grav_b=(+0.10,-0.02,-0.99) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 119.1mm grav_b=(+0.12,-0.02,-0.99) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 121.1mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 118.8mm grav_b=(+0.00,+0.07,-1.00) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 115.4mm grav_b=(-0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 117.6mm grav_b=(+0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(+0.05,-0.02,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(-0.07,-0.02,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.02,-0.05,-1.00) r=0.39m +[headless_play] t= 3.30s step= 165 trunk_z= 112.1mm grav_b=(+0.05,-0.10,-0.99) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 113.1mm grav_b=(+0.05,-0.01,-1.00) r=0.39m +[headless_play] t= 3.50s step= 175 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 117.9mm grav_b=(+0.16,+0.08,-0.98) r=0.41m +[headless_play] t= 3.80s step= 190 trunk_z= 128.3mm grav_b=(+0.09,+0.03,-1.00) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(+0.03,-0.03,-1.00) r=0.44m +[headless_play] t= 4.00s step= 200 trunk_z= 126.5mm grav_b=(+0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 120.8mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 112.4mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 119.5mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 122.3mm grav_b=(+0.04,+0.04,-1.00) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 123.8mm grav_b=(+0.02,+0.05,-1.00) r=0.55m +[headless_play] t= 4.80s step= 240 trunk_z= 118.2mm grav_b=(-0.02,+0.04,-1.00) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 120.8mm grav_b=(+0.00,-0.03,-1.00) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 119.8mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 118.8mm grav_b=(+0.04,+0.06,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 124.5mm grav_b=(+0.05,+0.04,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 121.4mm grav_b=(+0.04,+0.05,-1.00) r=0.59m +[headless_play] t= 5.40s step= 270 trunk_z= 121.4mm grav_b=(+0.02,-0.05,-1.00) r=0.59m +[headless_play] t= 5.50s step= 275 trunk_z= 120.7mm grav_b=(+0.04,-0.04,-1.00) r=0.61m +[headless_play] t= 5.60s step= 280 trunk_z= 117.5mm grav_b=(+0.01,+0.03,-1.00) r=0.64m +[headless_play] t= 5.70s step= 285 trunk_z= 119.1mm grav_b=(+0.08,-0.03,-1.00) r=0.65m +[headless_play] t= 5.80s step= 290 trunk_z= 110.8mm grav_b=(+0.03,-0.03,-1.00) r=0.65m +[headless_play] t= 5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 6.00s step= 300 trunk_z= 114.0mm grav_b=(+0.03,+0.02,-1.00) r=0.69m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(+0.03,+0.03,-1.00) r=0.71m +[headless_play] t= 6.20s step= 310 trunk_z= 119.2mm grav_b=(+0.05,+0.02,-1.00) r=0.72m +[headless_play] t= 6.30s step= 315 trunk_z= 123.5mm grav_b=(+0.08,-0.06,-1.00) r=0.73m +[headless_play] t= 6.40s step= 320 trunk_z= 130.6mm grav_b=(+0.07,-0.08,-0.99) r=0.75m +[headless_play] t= 6.50s step= 325 trunk_z= 125.0mm grav_b=(+0.00,-0.05,-1.00) r=0.78m +[headless_play] t= 6.60s step= 330 trunk_z= 122.2mm grav_b=(+0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 6.70s step= 335 trunk_z= 119.5mm grav_b=(-0.01,-0.01,-1.00) r=0.82m +[headless_play] t= 6.80s step= 340 trunk_z= 119.9mm grav_b=(-0.01,-0.05,-1.00) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 121.2mm grav_b=(-0.00,-0.05,-1.00) r=0.84m +[headless_play] t= 7.00s step= 350 trunk_z= 118.5mm grav_b=(-0.03,-0.00,-1.00) r=0.84m +[headless_play] t= 7.10s step= 355 trunk_z= 123.3mm grav_b=(-0.03,+0.01,-1.00) r=0.85m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 7.30s step= 365 trunk_z= 123.4mm grav_b=(+0.06,-0.06,-1.00) r=0.87m +[headless_play] t= 7.40s step= 370 trunk_z= 124.6mm grav_b=(+0.07,-0.04,-1.00) r=0.88m +[headless_play] t= 7.50s step= 375 trunk_z= 115.6mm grav_b=(+0.05,+0.04,-1.00) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 123.7mm grav_b=(+0.06,+0.06,-1.00) r=0.94m +[headless_play] t= 7.70s step= 385 trunk_z= 123.2mm grav_b=(+0.02,+0.06,-1.00) r=0.95m +[headless_play] t= 7.80s step= 390 trunk_z= 114.5mm grav_b=(-0.00,-0.04,-1.00) r=0.98m +[headless_play] t= 7.90s step= 395 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.99m +[headless_play] t= 8.00s step= 400 trunk_z= 110.4mm grav_b=(+0.02,+0.01,-1.00) r=1.01m +[headless_play] t= 8.10s step= 405 trunk_z= 114.7mm grav_b=(+0.05,+0.04,-1.00) r=1.03m +[headless_play] t= 8.20s step= 410 trunk_z= 112.9mm grav_b=(+0.08,+0.01,-1.00) r=1.06m +[headless_play] t= 8.30s step= 415 trunk_z= 101.7mm grav_b=(+0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 8.40s step= 420 trunk_z= 103.5mm grav_b=(+0.01,-0.04,-1.00) r=1.13m +[headless_play] t= 8.50s step= 425 trunk_z= 88.8mm grav_b=(-0.01,+0.01,-1.00) r=1.16m +[headless_play] t= 8.60s step= 430 trunk_z= 94.5mm grav_b=(+0.03,+0.08,-1.00) r=1.20m +[headless_play] t= 8.70s step= 435 trunk_z= 95.9mm grav_b=(+0.04,+0.07,-1.00) r=1.22m +[headless_play] t= 8.80s step= 440 trunk_z= 89.4mm grav_b=(+0.00,+0.04,-1.00) r=1.25m +[headless_play] t= 8.90s step= 445 trunk_z= 82.2mm grav_b=(-0.02,+0.03,-1.00) r=1.28m +[headless_play] t= 9.00s step= 450 trunk_z= 77.8mm grav_b=(-0.01,+0.02,-1.00) r=1.30m +[headless_play] t= 9.10s step= 455 trunk_z= 74.5mm grav_b=(-0.01,+0.03,-1.00) r=1.33m +[headless_play] t= 9.20s step= 460 trunk_z= 78.3mm grav_b=(+0.02,+0.04,-1.00) r=1.35m +[headless_play] t= 9.30s step= 465 trunk_z= 71.8mm grav_b=(-0.00,+0.02,-1.00) r=1.36m +[headless_play] t= 9.40s step= 470 trunk_z= 71.6mm grav_b=(+0.01,-0.03,-1.00) r=1.38m +[headless_play] t= 9.50s step= 475 trunk_z= 71.6mm grav_b=(+0.03,-0.00,-1.00) r=1.40m +[headless_play] t= 9.60s step= 480 trunk_z= 59.5mm grav_b=(+0.02,+0.04,-1.00) r=1.43m +[headless_play] t= 9.70s step= 485 trunk_z= 68.3mm grav_b=(+0.05,+0.03,-1.00) r=1.46m +[headless_play] t= 9.80s step= 490 trunk_z= 64.7mm grav_b=(-0.01,+0.02,-1.00) r=1.47m +[headless_play] t= 9.90s step= 495 trunk_z= 56.8mm grav_b=(-0.01,-0.03,-1.00) r=1.49m +[headless_play] t= 10.00s step= 500 trunk_z= 59.3mm grav_b=(+0.02,-0.03,-1.00) r=1.51m +[headless_play] t= 10.10s step= 505 trunk_z= 51.8mm grav_b=(+0.00,+0.00,-1.00) r=1.54m +[headless_play] t= 10.20s step= 510 trunk_z= 55.8mm grav_b=(+0.04,+0.04,-1.00) r=1.56m +[headless_play] t= 10.30s step= 515 trunk_z= 58.1mm grav_b=(+0.04,+0.06,-1.00) r=1.59m +[headless_play] t= 10.40s step= 520 trunk_z= 42.4mm grav_b=(-0.03,+0.01,-1.00) r=1.63m +[headless_play] t= 10.50s step= 525 trunk_z= 41.2mm grav_b=(-0.01,-0.01,-1.00) r=1.65m +[headless_play] t= 10.60s step= 530 trunk_z= 38.9mm grav_b=(-0.03,+0.00,-1.00) r=1.67m +[headless_play] t= 10.70s step= 535 trunk_z= 40.4mm grav_b=(-0.01,+0.01,-1.00) r=1.69m +[headless_play] t= 10.80s step= 540 trunk_z= 42.5mm grav_b=(+0.03,+0.01,-1.00) r=1.71m +[headless_play] t= 10.90s step= 545 trunk_z= 27.6mm grav_b=(-0.02,-0.03,-1.00) r=1.75m +[headless_play] t= 11.00s step= 550 trunk_z= 35.4mm grav_b=(+0.01,-0.06,-1.00) r=1.78m +[headless_play] t= 11.10s step= 555 trunk_z= 31.9mm grav_b=(-0.02,+0.03,-1.00) r=1.81m +[headless_play] t= 11.20s step= 560 trunk_z= 27.8mm grav_b=(+0.01,+0.01,-1.00) r=1.84m +[headless_play] t= 11.30s step= 565 trunk_z= 34.2mm grav_b=(+0.02,+0.02,-1.00) r=1.87m +[headless_play] t= 11.40s step= 570 trunk_z= 24.0mm grav_b=(-0.01,-0.03,-1.00) r=1.90m +[headless_play] t= 11.50s step= 575 trunk_z= 23.3mm grav_b=(-0.01,-0.07,-1.00) r=1.93m +[headless_play] t= 11.60s step= 580 trunk_z= 20.8mm grav_b=(-0.03,-0.03,-1.00) r=1.96m +[headless_play] t= 11.70s step= 585 trunk_z= 17.1mm grav_b=(-0.02,+0.05,-1.00) r=2.00m +[headless_play] t= 11.80s step= 590 trunk_z= 19.7mm grav_b=(+0.03,+0.07,-1.00) r=2.01m +[headless_play] t= 11.90s step= 595 trunk_z= 18.6mm grav_b=(+0.14,+0.10,-0.98) r=2.05m +[headless_play] t= 12.00s step= 600 trunk_z= -0.0mm grav_b=(+0.02,-0.03,-1.00) r=2.11m +[headless_play] t= 12.10s step= 605 trunk_z= 10.7mm grav_b=(+0.03,-0.06,-1.00) r=2.14m +[headless_play] t= 12.20s step= 610 trunk_z= 4.9mm grav_b=(-0.03,-0.05,-1.00) r=2.18m +[headless_play] t= 12.30s step= 615 trunk_z= 3.1mm grav_b=(-0.02,+0.01,-1.00) r=2.21m +[headless_play] t= 12.40s step= 620 trunk_z= 5.5mm grav_b=(-0.00,+0.05,-1.00) r=2.22m +[headless_play] t= 12.50s step= 625 trunk_z= 2.7mm grav_b=(-0.02,+0.05,-1.00) r=2.23m +[headless_play] t= 12.60s step= 630 trunk_z= -4.5mm grav_b=(+0.04,-0.07,-1.00) r=2.23m +[headless_play] t= 12.70s step= 635 trunk_z= 4.0mm grav_b=(+0.07,-0.02,-1.00) r=2.24m +[headless_play] t= 12.80s step= 640 trunk_z= -3.8mm grav_b=(+0.05,+0.02,-1.00) r=2.28m +[headless_play] t= 12.90s step= 645 trunk_z= 1.2mm grav_b=(+0.03,+0.05,-1.00) r=2.30m +[headless_play] t= 13.00s step= 650 trunk_z= -1.8mm grav_b=(-0.03,+0.01,-1.00) r=2.30m +[headless_play] t= 13.10s step= 655 trunk_z= -0.3mm grav_b=(-0.04,-0.03,-1.00) r=2.30m +[headless_play] t= 13.20s step= 660 trunk_z= 1.5mm grav_b=(-0.03,-0.02,-1.00) r=2.31m +[headless_play] t= 13.30s step= 665 trunk_z= -3.2mm grav_b=(-0.00,+0.04,-1.00) r=2.33m +[headless_play] t= 13.40s step= 670 trunk_z= 0.6mm grav_b=(-0.02,-0.02,-1.00) r=2.33m +[headless_play] t= 13.50s step= 675 trunk_z= -6.3mm grav_b=(-0.00,-0.03,-1.00) r=2.32m +[headless_play] t= 13.60s step= 680 trunk_z= 1.3mm grav_b=(+0.03,-0.01,-1.00) r=2.33m +[headless_play] t= 13.70s step= 685 trunk_z= -2.4mm grav_b=(+0.02,+0.04,-1.00) r=2.35m +[headless_play] t= 13.80s step= 690 trunk_z= 5.8mm grav_b=(+0.01,+0.04,-1.00) r=2.37m +[headless_play] t= 13.90s step= 695 trunk_z= 4.8mm grav_b=(+0.01,+0.03,-1.00) r=2.38m +[headless_play] t= 14.00s step= 700 trunk_z= 0.3mm grav_b=(-0.01,-0.03,-1.00) r=2.39m +[headless_play] t= 14.10s step= 705 trunk_z= 8.5mm grav_b=(-0.07,-0.01,-1.00) r=2.40m +[headless_play] t= 14.20s step= 710 trunk_z= 6.1mm grav_b=(-0.06,+0.10,-0.99) r=2.41m +[headless_play] t= 14.30s step= 715 trunk_z= 12.1mm grav_b=(+0.02,+0.07,-1.00) r=2.42m +[headless_play] t= 14.40s step= 720 trunk_z= 11.8mm grav_b=(+0.02,+0.08,-1.00) r=2.43m +[headless_play] t= 14.50s step= 725 trunk_z= 8.4mm grav_b=(+0.05,+0.07,-1.00) r=2.44m +[headless_play] t= 14.60s step= 730 trunk_z= 2.3mm grav_b=(+0.03,+0.00,-1.00) r=2.45m +[headless_play] t= 14.70s step= 735 trunk_z= 14.6mm grav_b=(-0.01,-0.01,-1.00) r=2.46m +[headless_play] t= 14.80s step= 740 trunk_z= 9.7mm grav_b=(-0.03,+0.01,-1.00) r=2.48m +[headless_play] t= 14.90s step= 745 trunk_z= 11.5mm grav_b=(-0.14,+0.03,-0.99) r=2.48m +[headless_play] t= 15.00s step= 750 trunk_z= 9.8mm grav_b=(+0.01,-0.06,-1.00) r=2.47m +[headless_play] t= 15.10s step= 755 trunk_z= -5.3mm grav_b=(+0.03,-0.08,-1.00) r=2.43m +[headless_play] t= 15.20s step= 760 trunk_z= -1.3mm grav_b=(+0.00,-0.01,-1.00) r=2.43m +[headless_play] t= 15.30s step= 765 trunk_z= 2.1mm grav_b=(+0.07,+0.07,-1.00) r=2.43m +[headless_play] t= 15.40s step= 770 trunk_z= 6.7mm grav_b=(+0.07,+0.06,-1.00) r=2.45m +[headless_play] t= 15.50s step= 775 trunk_z= 7.6mm grav_b=(+0.04,+0.05,-1.00) r=2.47m +[headless_play] t= 15.60s step= 780 trunk_z= 13.0mm grav_b=(+0.01,-0.01,-1.00) r=2.50m +[headless_play] t= 15.70s step= 785 trunk_z= 7.7mm grav_b=(-0.02,+0.00,-1.00) r=2.52m +[headless_play] t= 15.80s step= 790 trunk_z= 11.5mm grav_b=(-0.02,+0.04,-1.00) r=2.53m +[headless_play] t= 15.90s step= 795 trunk_z= 14.3mm grav_b=(+0.00,+0.04,-1.00) r=2.54m +[headless_play] t= 16.00s step= 800 trunk_z= 9.3mm grav_b=(+0.01,+0.02,-1.00) r=2.53m +[headless_play] t= 16.10s step= 805 trunk_z= 14.9mm grav_b=(+0.04,-0.04,-1.00) r=2.54m +[headless_play] t= 16.20s step= 810 trunk_z= 15.8mm grav_b=(+0.01,+0.01,-1.00) r=2.55m +[headless_play] t= 16.30s step= 815 trunk_z= 13.0mm grav_b=(-0.02,+0.04,-1.00) r=2.58m +[headless_play] t= 16.40s step= 820 trunk_z= 18.6mm grav_b=(-0.07,+0.09,-0.99) r=2.58m +[headless_play] t= 16.50s step= 825 trunk_z= 19.9mm grav_b=(-0.05,+0.06,-1.00) r=2.58m +[headless_play] t= 16.60s step= 830 trunk_z= 14.7mm grav_b=(+0.05,-0.02,-1.00) r=2.57m +[headless_play] t= 16.70s step= 835 trunk_z= 11.4mm grav_b=(+0.03,-0.06,-1.00) r=2.56m +[headless_play] t= 16.80s step= 840 trunk_z= 9.8mm grav_b=(+0.03,-0.01,-1.00) r=2.57m +[headless_play] t= 16.90s step= 845 trunk_z= 14.9mm grav_b=(+0.06,+0.05,-1.00) r=2.59m +[headless_play] t= 17.00s step= 850 trunk_z= 16.4mm grav_b=(+0.07,+0.05,-1.00) r=2.60m +[headless_play] t= 17.10s step= 855 trunk_z= 9.5mm grav_b=(+0.02,+0.02,-1.00) r=2.60m +[headless_play] t= 17.20s step= 860 trunk_z= 17.8mm grav_b=(-0.01,+0.01,-1.00) r=2.61m +[headless_play] t= 17.30s step= 865 trunk_z= 11.9mm grav_b=(-0.04,+0.03,-1.00) r=2.64m +[headless_play] t= 17.40s step= 870 trunk_z= 22.2mm grav_b=(+0.02,+0.08,-1.00) r=2.67m +[headless_play] t= 17.50s step= 875 trunk_z= 25.8mm grav_b=(+0.06,+0.10,-0.99) r=2.69m +[headless_play] t= 17.60s step= 880 trunk_z= 28.5mm grav_b=(+0.06,+0.10,-0.99) r=2.70m +[headless_play] t= 17.70s step= 885 trunk_z= 17.3mm grav_b=(+0.01,+0.06,-1.00) r=2.72m +[headless_play] t= 17.80s step= 890 trunk_z= 26.0mm grav_b=(+0.01,+0.05,-1.00) r=2.74m +[headless_play] t= 17.90s step= 895 trunk_z= 16.5mm grav_b=(-0.02,+0.03,-1.00) r=2.77m +[headless_play] t= 18.00s step= 900 trunk_z= 24.4mm grav_b=(-0.03,+0.02,-1.00) r=2.78m +[headless_play] t= 18.10s step= 905 trunk_z= 22.2mm grav_b=(-0.03,+0.01,-1.00) r=2.78m +[headless_play] t= 18.20s step= 910 trunk_z= 21.9mm grav_b=(-0.05,+0.01,-1.00) r=2.78m +[headless_play] t= 18.30s step= 915 trunk_z= 22.6mm grav_b=(-0.00,+0.09,-1.00) r=2.80m +[headless_play] t= 18.40s step= 920 trunk_z= 29.5mm grav_b=(+0.01,+0.05,-1.00) r=2.80m +[headless_play] t= 18.50s step= 925 trunk_z= 23.9mm grav_b=(+0.00,+0.00,-1.00) r=2.80m +[headless_play] t= 18.60s step= 930 trunk_z= 31.0mm grav_b=(+0.02,-0.01,-1.00) r=2.81m +[headless_play] t= 18.70s step= 935 trunk_z= 25.2mm grav_b=(-0.01,+0.02,-1.00) r=2.83m +[headless_play] t= 18.80s step= 940 trunk_z= 30.4mm grav_b=(-0.03,+0.04,-1.00) r=2.85m +[headless_play] t= 18.90s step= 945 trunk_z= 31.8mm grav_b=(+0.02,+0.02,-1.00) r=2.86m +[headless_play] t= 19.00s step= 950 trunk_z= 27.0mm grav_b=(+0.01,-0.02,-1.00) r=2.87m +[headless_play] t= 19.10s step= 955 trunk_z= 36.6mm grav_b=(-0.01,-0.02,-1.00) r=2.88m +[headless_play] t= 19.20s step= 960 trunk_z= 28.8mm grav_b=(-0.07,+0.01,-1.00) r=2.91m +[headless_play] t= 19.30s step= 965 trunk_z= 36.1mm grav_b=(-0.04,+0.07,-1.00) r=2.93m +[headless_play] t= 19.40s step= 970 trunk_z= 38.0mm grav_b=(+0.00,+0.07,-1.00) r=2.94m +[headless_play] t= 19.50s step= 975 trunk_z= 37.6mm grav_b=(+0.02,+0.04,-1.00) r=2.95m +[headless_play] t= 19.60s step= 980 trunk_z= 39.4mm grav_b=(+0.02,+0.02,-1.00) r=2.96m +[headless_play] t= 19.70s step= 985 trunk_z= 39.1mm grav_b=(-0.01,+0.03,-1.00) r=2.98m +[headless_play] t= 19.80s step= 990 trunk_z= 36.2mm grav_b=(-0.07,+0.06,-1.00) r=3.01m +[headless_play] t= 19.90s step= 995 trunk_z= 40.6mm grav_b=(-0.05,+0.06,-1.00) r=3.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00) r=0.13m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.01,-0.00,-1.00) r=0.13m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t7.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..fb481b037efb1db9634ee1e4450d9704fb3305ed --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.511,-17.634,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.07,-0.01,-1.00) r=0.61m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.08,-0.01,-1.00) r=0.61m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(+0.09,-0.01,-1.00) r=0.61m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.07,-0.01,-1.00) r=0.61m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(+0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(+0.08,-0.01,-1.00) r=0.61m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(+0.07,-0.01,-1.00) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.61m +[headless_play] t= 1.60s step= 80 trunk_z= 118.5mm grav_b=(+0.08,-0.04,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.08,-0.02,-1.00) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 117.2mm grav_b=(+0.06,-0.02,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(+0.03,-0.02,-1.00) r=0.61m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=0.61m +[headless_play] t= 2.30s step= 115 trunk_z= 117.0mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 2.50s step= 125 trunk_z= 116.7mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 118.8mm grav_b=(+0.11,-0.01,-0.99) r=0.60m +[headless_play] t= 2.90s step= 145 trunk_z= 119.4mm grav_b=(+0.13,-0.01,-0.99) r=0.60m +[headless_play] t= 3.00s step= 150 trunk_z= 120.9mm grav_b=(+0.13,+0.00,-0.99) r=0.60m +[headless_play] t= 3.10s step= 155 trunk_z= 114.6mm grav_b=(+0.03,+0.04,-1.00) r=0.61m +[headless_play] t= 3.20s step= 160 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 3.30s step= 165 trunk_z= 117.0mm grav_b=(+0.03,-0.03,-1.00) r=0.59m +[headless_play] t= 3.40s step= 170 trunk_z= 118.4mm grav_b=(+0.04,-0.01,-1.00) r=0.59m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.59m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 3.70s step= 185 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.59m +[headless_play] t= 4.20s step= 210 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 117.7mm grav_b=(-0.00,-0.02,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.03,-0.01,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(+0.00,-0.01,-1.00) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 118.3mm grav_b=(+0.05,-0.02,-1.00) r=0.58m +[headless_play] t= 4.90s step= 245 trunk_z= 117.7mm grav_b=(+0.05,-0.02,-1.00) r=0.58m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(+0.05,-0.02,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 117.6mm grav_b=(+0.04,-0.01,-1.00) r=0.58m +[headless_play] t= 5.20s step= 260 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 5.30s step= 265 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 5.50s step= 275 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 117.3mm grav_b=(+0.00,-0.02,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(+0.05,-0.02,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 117.4mm grav_b=(+0.06,-0.02,-1.00) r=0.58m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=0.58m +[headless_play] t= 6.10s step= 305 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(+0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 6.30s step= 315 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 6.40s step= 320 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 6.60s step= 330 trunk_z= 115.5mm grav_b=(+0.06,-0.01,-1.00) r=0.58m +[headless_play] t= 6.70s step= 335 trunk_z= 115.7mm grav_b=(+0.09,-0.01,-1.00) r=0.58m +[headless_play] t= 6.80s step= 340 trunk_z= 118.1mm grav_b=(+0.15,+0.01,-0.99) r=0.58m +[headless_play] t= 6.90s step= 345 trunk_z= 123.9mm grav_b=(+0.13,-0.01,-0.99) r=0.57m +[headless_play] t= 7.00s step= 350 trunk_z= 123.2mm grav_b=(+0.10,-0.06,-0.99) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 128.9mm grav_b=(+0.09,-0.05,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 117.6mm grav_b=(+0.04,-0.03,-1.00) r=0.55m +[headless_play] t= 7.30s step= 365 trunk_z= 117.5mm grav_b=(+0.04,-0.02,-1.00) r=0.56m +[headless_play] t= 7.40s step= 370 trunk_z= 115.3mm grav_b=(-0.03,-0.09,-1.00) r=0.55m +[headless_play] t= 7.50s step= 375 trunk_z= 124.2mm grav_b=(+0.00,-0.05,-1.00) r=0.54m +[headless_play] t= 7.60s step= 380 trunk_z= 119.7mm grav_b=(+0.06,+0.06,-1.00) r=0.55m +[headless_play] t= 7.70s step= 385 trunk_z= 120.7mm grav_b=(+0.05,+0.09,-0.99) r=0.56m +[headless_play] t= 7.80s step= 390 trunk_z= 118.9mm grav_b=(+0.09,+0.05,-0.99) r=0.55m +[headless_play] t= 7.90s step= 395 trunk_z= 115.7mm grav_b=(+0.14,-0.06,-0.99) r=0.54m +[headless_play] t= 8.00s step= 400 trunk_z= 123.3mm grav_b=(+0.14,-0.06,-0.99) r=0.53m +[headless_play] t= 8.10s step= 405 trunk_z= 122.2mm grav_b=(+0.09,-0.03,-1.00) r=0.51m +[headless_play] t= 8.20s step= 410 trunk_z= 119.1mm grav_b=(+0.05,-0.07,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 119.1mm grav_b=(+0.13,-0.11,-0.98) r=0.49m +[headless_play] t= 8.40s step= 420 trunk_z= 119.3mm grav_b=(+0.10,-0.06,-0.99) r=0.47m +[headless_play] t= 8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) r=0.46m +[headless_play] t= 8.60s step= 430 trunk_z= 124.0mm grav_b=(+0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 116.1mm grav_b=(+0.04,-0.05,-1.00) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 126.4mm grav_b=(+0.09,-0.16,-0.98) r=0.45m +[headless_play] t= 8.90s step= 445 trunk_z= 127.6mm grav_b=(+0.13,-0.17,-0.98) r=0.44m +[headless_play] t= 9.00s step= 450 trunk_z= 119.9mm grav_b=(+0.11,-0.10,-0.99) r=0.42m +[headless_play] t= 9.10s step= 455 trunk_z= 106.6mm grav_b=(+0.20,+0.03,-0.98) r=0.37m +[headless_play] t= 9.20s step= 460 trunk_z= 130.8mm grav_b=(+0.26,+0.02,-0.97) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 132.9mm grav_b=(+0.16,-0.01,-0.99) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 108.6mm grav_b=(+0.04,-0.02,-1.00) r=0.33m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(-0.01,-0.07,-1.00) r=0.34m +[headless_play] t= 9.60s step= 480 trunk_z= 121.3mm grav_b=(+0.02,-0.04,-1.00) r=0.33m +[headless_play] t= 9.70s step= 485 trunk_z= 119.8mm grav_b=(+0.06,-0.00,-1.00) r=0.31m +[headless_play] t= 9.80s step= 490 trunk_z= 121.8mm grav_b=(+0.10,+0.03,-0.99) r=0.30m +[headless_play] t= 9.90s step= 495 trunk_z= 117.7mm grav_b=(+0.07,-0.04,-1.00) r=0.32m +[headless_play] t= 10.00s step= 500 trunk_z= 125.6mm grav_b=(+0.10,-0.06,-0.99) r=0.32m +[headless_play] t= 10.10s step= 505 trunk_z= 125.4mm grav_b=(+0.08,-0.05,-1.00) r=0.30m +[headless_play] t= 10.20s step= 510 trunk_z= 119.3mm grav_b=(+0.07,-0.02,-1.00) r=0.29m +[headless_play] t= 10.30s step= 515 trunk_z= 114.1mm grav_b=(+0.08,-0.07,-0.99) r=0.31m +[headless_play] t= 10.40s step= 520 trunk_z= 118.3mm grav_b=(+0.11,-0.09,-0.99) r=0.31m +[headless_play] t= 10.50s step= 525 trunk_z= 115.3mm grav_b=(+0.08,-0.07,-0.99) r=0.30m +[headless_play] t= 10.60s step= 530 trunk_z= 115.4mm grav_b=(+0.05,+0.04,-1.00) r=0.29m +[headless_play] t= 10.70s step= 535 trunk_z= 116.0mm grav_b=(+0.08,-0.02,-1.00) r=0.29m +[headless_play] t= 10.80s step= 540 trunk_z= 112.0mm grav_b=(+0.14,-0.10,-0.98) r=0.32m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.15,-0.12,-0.98) r=0.33m +[headless_play] t= 11.00s step= 550 trunk_z= 115.6mm grav_b=(+0.12,-0.06,-0.99) r=0.32m +[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(+0.08,+0.04,-1.00) r=0.32m +[headless_play] t= 11.20s step= 560 trunk_z= 115.5mm grav_b=(+0.08,+0.01,-1.00) r=0.33m +[headless_play] t= 11.30s step= 565 trunk_z= 112.1mm grav_b=(+0.09,-0.08,-0.99) r=0.36m +[headless_play] t= 11.40s step= 570 trunk_z= 121.6mm grav_b=(+0.03,-0.11,-0.99) r=0.37m +[headless_play] t= 11.50s step= 575 trunk_z= 122.8mm grav_b=(+0.03,-0.09,-1.00) r=0.36m +[headless_play] t= 11.60s step= 580 trunk_z= 112.6mm grav_b=(+0.07,+0.01,-1.00) r=0.34m +[headless_play] t= 11.70s step= 585 trunk_z= 115.6mm grav_b=(+0.10,+0.02,-0.99) r=0.34m +[headless_play] t= 11.80s step= 590 trunk_z= 108.3mm grav_b=(+0.16,-0.02,-0.99) r=0.36m +[headless_play] t= 11.90s step= 595 trunk_z= 113.0mm grav_b=(+0.16,-0.08,-0.98) r=0.38m +[headless_play] t= 12.00s step= 600 trunk_z= 113.1mm grav_b=(+0.12,-0.06,-0.99) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 113.0mm grav_b=(+0.09,+0.10,-0.99) r=0.37m +[headless_play] t= 12.20s step= 610 trunk_z= 120.5mm grav_b=(+0.11,+0.11,-0.99) r=0.37m +[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.10,+0.06,-0.99) r=0.38m +[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.06,-0.05,-1.00) r=0.41m +[headless_play] t= 12.50s step= 625 trunk_z= 121.7mm grav_b=(+0.07,-0.09,-0.99) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(+0.09,-0.08,-0.99) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 114.6mm grav_b=(+0.11,+0.05,-0.99) r=0.43m +[headless_play] t= 12.80s step= 640 trunk_z= 119.4mm grav_b=(+0.17,+0.01,-0.98) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.15,-0.06,-0.99) r=0.49m +[headless_play] t= 13.00s step= 650 trunk_z= 119.0mm grav_b=(+0.08,-0.05,-1.00) r=0.51m +[headless_play] t= 13.10s step= 655 trunk_z= 111.1mm grav_b=(+0.07,+0.01,-1.00) r=0.51m +[headless_play] t= 13.20s step= 660 trunk_z= 118.0mm grav_b=(+0.05,+0.01,-1.00) r=0.52m +[headless_play] t= 13.30s step= 665 trunk_z= 113.6mm grav_b=(+0.06,-0.05,-1.00) r=0.54m +[headless_play] t= 13.40s step= 670 trunk_z= 115.6mm grav_b=(+0.10,-0.10,-0.99) r=0.55m +[headless_play] t= 13.50s step= 675 trunk_z= 112.5mm grav_b=(+0.13,-0.09,-0.99) r=0.56m +[headless_play] t= 13.60s step= 680 trunk_z= 110.1mm grav_b=(+0.10,+0.06,-0.99) r=0.57m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(+0.10,+0.04,-0.99) r=0.58m +[headless_play] t= 13.80s step= 690 trunk_z= 110.8mm grav_b=(+0.11,-0.02,-0.99) r=0.61m +[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(+0.10,-0.09,-0.99) r=0.63m +[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(+0.12,-0.08,-0.99) r=0.64m +[headless_play] t= 14.10s step= 705 trunk_z= 112.1mm grav_b=(+0.07,+0.04,-1.00) r=0.65m +[headless_play] t= 14.20s step= 710 trunk_z= 119.8mm grav_b=(+0.06,+0.04,-1.00) r=0.66m +[headless_play] t= 14.30s step= 715 trunk_z= 114.3mm grav_b=(+0.09,-0.01,-1.00) r=0.68m +[headless_play] t= 14.40s step= 720 trunk_z= 119.6mm grav_b=(+0.01,-0.11,-0.99) r=0.70m +[headless_play] t= 14.50s step= 725 trunk_z= 126.0mm grav_b=(+0.01,-0.12,-0.99) r=0.71m +[headless_play] t= 14.60s step= 730 trunk_z= 124.0mm grav_b=(+0.09,-0.05,-0.99) r=0.70m +[headless_play] t= 14.70s step= 735 trunk_z= 119.3mm grav_b=(+0.08,-0.03,-1.00) r=0.69m +[headless_play] t= 14.80s step= 740 trunk_z= 116.0mm grav_b=(+0.07,-0.04,-1.00) r=0.69m +[headless_play] t= 14.90s step= 745 trunk_z= 109.7mm grav_b=(+0.11,-0.06,-0.99) r=0.70m +[headless_play] t= 15.00s step= 750 trunk_z= 107.9mm grav_b=(+0.10,-0.05,-0.99) r=0.70m +[headless_play] t= 15.10s step= 755 trunk_z= 103.8mm grav_b=(+0.10,+0.02,-0.99) r=0.70m +[headless_play] t= 15.20s step= 760 trunk_z= 111.9mm grav_b=(+0.11,+0.04,-0.99) r=0.71m +[headless_play] t= 15.30s step= 765 trunk_z= 111.2mm grav_b=(+0.13,+0.02,-0.99) r=0.73m +[headless_play] t= 15.40s step= 770 trunk_z= 111.5mm grav_b=(+0.08,-0.02,-1.00) r=0.74m +[headless_play] t= 15.50s step= 775 trunk_z= 115.0mm grav_b=(+0.06,-0.01,-1.00) r=0.75m +[headless_play] t= 15.60s step= 780 trunk_z= 110.5mm grav_b=(+0.08,-0.01,-1.00) r=0.76m +[headless_play] t= 15.70s step= 785 trunk_z= 111.8mm grav_b=(+0.10,+0.04,-0.99) r=0.76m +[headless_play] t= 15.80s step= 790 trunk_z= 111.7mm grav_b=(+0.11,+0.00,-0.99) r=0.78m +[headless_play] t= 15.90s step= 795 trunk_z= 109.4mm grav_b=(+0.08,-0.05,-0.99) r=0.80m +[headless_play] t= 16.00s step= 800 trunk_z= 117.1mm grav_b=(+0.04,-0.05,-1.00) r=0.81m +[headless_play] t= 16.10s step= 805 trunk_z= 113.9mm grav_b=(+0.07,-0.01,-1.00) r=0.82m +[headless_play] t= 16.20s step= 810 trunk_z= 111.6mm grav_b=(+0.09,+0.07,-0.99) r=0.82m +[headless_play] t= 16.30s step= 815 trunk_z= 110.7mm grav_b=(+0.19,-0.01,-0.98) r=0.85m +[headless_play] t= 16.40s step= 820 trunk_z= 115.4mm grav_b=(+0.17,-0.08,-0.98) r=0.88m +[headless_play] t= 16.50s step= 825 trunk_z= 118.4mm grav_b=(+0.14,-0.04,-0.99) r=0.91m +[headless_play] t= 16.60s step= 830 trunk_z= 114.5mm grav_b=(+0.06,+0.04,-1.00) r=0.93m +[headless_play] t= 16.70s step= 835 trunk_z= 118.7mm grav_b=(+0.06,+0.01,-1.00) r=0.94m +[headless_play] t= 16.80s step= 840 trunk_z= 112.1mm grav_b=(+0.07,-0.05,-1.00) r=0.96m +[headless_play] t= 16.90s step= 845 trunk_z= 113.1mm grav_b=(+0.09,-0.03,-1.00) r=0.97m +[headless_play] t= 17.00s step= 850 trunk_z= 109.4mm grav_b=(+0.08,+0.01,-1.00) r=0.99m +[headless_play] t= 17.10s step= 855 trunk_z= 114.0mm grav_b=(+0.08,+0.04,-1.00) r=1.01m +[headless_play] t= 17.20s step= 860 trunk_z= 110.4mm grav_b=(+0.15,-0.05,-0.99) r=1.04m +[headless_play] t= 17.30s step= 865 trunk_z= 111.1mm grav_b=(+0.17,-0.10,-0.98) r=1.06m +[headless_play] t= 17.40s step= 870 trunk_z= 109.3mm grav_b=(+0.13,-0.05,-0.99) r=1.08m +[headless_play] t= 17.50s step= 875 trunk_z= 104.7mm grav_b=(+0.05,+0.10,-0.99) r=1.10m +[headless_play] t= 17.60s step= 880 trunk_z= 112.2mm grav_b=(+0.05,+0.09,-1.00) r=1.12m +[headless_play] t= 17.70s step= 885 trunk_z= 108.2mm grav_b=(+0.06,+0.03,-1.00) r=1.14m +[headless_play] t= 17.80s step= 890 trunk_z= 100.8mm grav_b=(+0.07,-0.06,-1.00) r=1.17m +[headless_play] t= 17.90s step= 895 trunk_z= 105.9mm grav_b=(+0.09,-0.06,-0.99) r=1.19m +[headless_play] t= 18.00s step= 900 trunk_z= 104.5mm grav_b=(+0.04,-0.07,-1.00) r=1.21m +[headless_play] t= 18.10s step= 905 trunk_z= 90.5mm grav_b=(+0.04,+0.00,-1.00) r=1.24m +[headless_play] t= 18.20s step= 910 trunk_z= 94.3mm grav_b=(+0.09,-0.00,-1.00) r=1.26m +[headless_play] t= 18.30s step= 915 trunk_z= 84.7mm grav_b=(+0.07,-0.03,-1.00) r=1.27m +[headless_play] t= 18.40s step= 920 trunk_z= 90.2mm grav_b=(+0.07,-0.05,-1.00) r=1.30m +[headless_play] t= 18.50s step= 925 trunk_z= 89.6mm grav_b=(+0.05,-0.00,-1.00) r=1.33m +[headless_play] t= 18.60s step= 930 trunk_z= 67.1mm grav_b=(+0.03,+0.02,-1.00) r=1.37m +[headless_play] t= 18.70s step= 935 trunk_z= 76.2mm grav_b=(+0.09,-0.00,-1.00) r=1.39m +[headless_play] t= 18.80s step= 940 trunk_z= 67.7mm grav_b=(-0.02,-0.05,-1.00) r=1.38m +[headless_play] t= 18.90s step= 945 trunk_z= 73.6mm grav_b=(+0.00,-0.11,-0.99) r=1.37m +[headless_play] t= 19.00s step= 950 trunk_z= 73.6mm grav_b=(+0.02,-0.00,-1.00) r=1.38m +[headless_play] t= 19.10s step= 955 trunk_z= 73.5mm grav_b=(+0.02,+0.06,-1.00) r=1.39m +[headless_play] t= 19.20s step= 960 trunk_z= 72.0mm grav_b=(+0.09,+0.01,-1.00) r=1.40m +[headless_play] t= 19.30s step= 965 trunk_z= 70.2mm grav_b=(+0.11,-0.09,-0.99) r=1.43m +[headless_play] t= 19.40s step= 970 trunk_z= 74.2mm grav_b=(+0.04,-0.11,-0.99) r=1.44m +[headless_play] t= 19.50s step= 975 trunk_z= 70.0mm grav_b=(+0.02,-0.06,-1.00) r=1.45m +[headless_play] t= 19.60s step= 980 trunk_z= 65.1mm grav_b=(+0.05,+0.05,-1.00) r=1.48m +[headless_play] t= 19.70s step= 985 trunk_z= 72.2mm grav_b=(+0.13,+0.09,-0.99) r=1.51m +[headless_play] t= 19.80s step= 990 trunk_z= 66.5mm grav_b=(+0.16,+0.03,-0.99) r=1.55m +[headless_play] t= 19.90s step= 995 trunk_z= 60.1mm grav_b=(+0.13,-0.02,-0.99) r=1.60m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.2mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(+0.02,-0.02,-1.00) r=0.50m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t8.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..072f124fafe13cf35f0ffcf0c7c4380630a61467 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.989,-17.693,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.4mm grav_b=(-0.01,-0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 114.5mm grav_b=(-0.03,+0.03,-1.00) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(-0.02,+0.07,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 118.9mm grav_b=(-0.01,+0.03,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 113.0mm grav_b=(-0.03,-0.06,-1.00) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 122.7mm grav_b=(-0.05,-0.10,-0.99) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 119.8mm grav_b=(-0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 121.0mm grav_b=(-0.06,+0.05,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 124.5mm grav_b=(-0.03,+0.03,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(-0.05,+0.03,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 123.7mm grav_b=(-0.05,-0.12,-0.99) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 127.7mm grav_b=(-0.01,-0.18,-0.98) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 127.5mm grav_b=(-0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 112.7mm grav_b=(+0.15,-0.01,-0.99) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 132.6mm grav_b=(+0.08,-0.01,-1.00) r=0.63m +[headless_play] t= 1.50s step= 75 trunk_z= 122.3mm grav_b=(-0.05,-0.06,-1.00) r=0.69m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(-0.12,-0.07,-0.99) r=0.72m +[headless_play] t= 1.70s step= 85 trunk_z= 120.4mm grav_b=(-0.10,-0.03,-0.99) r=0.74m +[headless_play] t= 1.80s step= 90 trunk_z= 120.3mm grav_b=(-0.04,+0.02,-1.00) r=0.75m +[headless_play] t= 1.90s step= 95 trunk_z= 122.9mm grav_b=(-0.04,+0.03,-1.00) r=0.76m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.04,+0.06,-1.00) r=0.77m +[headless_play] t= 2.10s step= 105 trunk_z= 119.6mm grav_b=(-0.05,-0.12,-0.99) r=0.78m +[headless_play] t= 2.20s step= 110 trunk_z= 124.7mm grav_b=(-0.02,-0.10,-0.99) r=0.79m +[headless_play] t= 2.30s step= 115 trunk_z= 123.4mm grav_b=(-0.03,-0.07,-1.00) r=0.81m +[headless_play] t= 2.40s step= 120 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.83m +[headless_play] t= 2.50s step= 125 trunk_z= 124.3mm grav_b=(-0.03,+0.05,-1.00) r=0.85m +[headless_play] t= 2.60s step= 130 trunk_z= 118.6mm grav_b=(-0.02,+0.05,-1.00) r=0.86m +[headless_play] t= 2.70s step= 135 trunk_z= 120.4mm grav_b=(-0.06,-0.08,-1.00) r=0.89m +[headless_play] t= 2.80s step= 140 trunk_z= 123.7mm grav_b=(-0.05,-0.10,-0.99) r=0.90m +[headless_play] t= 2.90s step= 145 trunk_z= 121.6mm grav_b=(-0.02,-0.05,-1.00) r=0.92m +[headless_play] t= 3.00s step= 150 trunk_z= 120.7mm grav_b=(-0.04,+0.06,-1.00) r=0.94m +[headless_play] t= 3.10s step= 155 trunk_z= 125.8mm grav_b=(-0.05,+0.08,-1.00) r=0.97m +[headless_play] t= 3.20s step= 160 trunk_z= 117.7mm grav_b=(-0.03,+0.05,-1.00) r=1.00m +[headless_play] t= 3.30s step= 165 trunk_z= 121.6mm grav_b=(-0.06,-0.05,-1.00) r=1.02m +[headless_play] t= 3.40s step= 170 trunk_z= 122.1mm grav_b=(-0.03,-0.03,-1.00) r=1.03m +[headless_play] t= 3.50s step= 175 trunk_z= 116.3mm grav_b=(-0.07,+0.03,-1.00) r=1.05m +[headless_play] t= 3.60s step= 180 trunk_z= 127.0mm grav_b=(-0.11,+0.09,-0.99) r=1.05m +[headless_play] t= 3.70s step= 185 trunk_z= 128.1mm grav_b=(-0.11,+0.09,-0.99) r=1.04m +[headless_play] t= 3.80s step= 190 trunk_z= 118.4mm grav_b=(-0.03,+0.03,-1.00) r=1.01m +[headless_play] t= 3.90s step= 195 trunk_z= 110.4mm grav_b=(-0.03,+0.04,-1.00) r=1.00m +[headless_play] t= 4.00s step= 200 trunk_z= 109.9mm grav_b=(-0.01,+0.07,-1.00) r=1.01m +[headless_play] t= 4.10s step= 205 trunk_z= 122.9mm grav_b=(-0.02,+0.07,-1.00) r=1.03m +[headless_play] t= 4.20s step= 210 trunk_z= 119.1mm grav_b=(-0.04,+0.05,-1.00) r=1.05m +[headless_play] t= 4.30s step= 215 trunk_z= 117.0mm grav_b=(-0.03,-0.04,-1.00) r=1.07m +[headless_play] t= 4.40s step= 220 trunk_z= 121.1mm grav_b=(+0.01,-0.06,-1.00) r=1.09m +[headless_play] t= 4.50s step= 225 trunk_z= 122.3mm grav_b=(+0.03,-0.03,-1.00) r=1.12m +[headless_play] t= 4.60s step= 230 trunk_z= 122.0mm grav_b=(-0.03,+0.06,-1.00) r=1.15m +[headless_play] t= 4.70s step= 235 trunk_z= 119.2mm grav_b=(-0.04,+0.04,-1.00) r=1.18m +[headless_play] t= 4.80s step= 240 trunk_z= 111.2mm grav_b=(-0.09,-0.03,-1.00) r=1.20m +[headless_play] t= 4.90s step= 245 trunk_z= 115.8mm grav_b=(-0.10,-0.03,-1.00) r=1.20m +[headless_play] t= 5.00s step= 250 trunk_z= 110.3mm grav_b=(-0.08,+0.00,-1.00) r=1.21m +[headless_play] t= 5.10s step= 255 trunk_z= 115.5mm grav_b=(-0.04,-0.03,-1.00) r=1.22m +[headless_play] t= 5.20s step= 260 trunk_z= 104.6mm grav_b=(-0.01,-0.05,-1.00) r=1.24m +[headless_play] t= 5.30s step= 265 trunk_z= 105.9mm grav_b=(-0.01,-0.08,-1.00) r=1.27m +[headless_play] t= 5.40s step= 270 trunk_z= 105.0mm grav_b=(+0.03,-0.06,-1.00) r=1.30m +[headless_play] t= 5.50s step= 275 trunk_z= 101.5mm grav_b=(-0.01,+0.02,-1.00) r=1.34m +[headless_play] t= 5.60s step= 280 trunk_z= 92.1mm grav_b=(+0.01,+0.11,-0.99) r=1.38m +[headless_play] t= 5.70s step= 285 trunk_z= 97.0mm grav_b=(-0.08,+0.12,-0.99) r=1.41m +[headless_play] t= 5.80s step= 290 trunk_z= 92.4mm grav_b=(-0.00,+0.05,-1.00) r=1.43m +[headless_play] t= 5.90s step= 295 trunk_z= 83.8mm grav_b=(+0.07,+0.03,-1.00) r=1.45m +[headless_play] t= 6.00s step= 300 trunk_z= 79.2mm grav_b=(+0.01,+0.05,-1.00) r=1.47m +[headless_play] t= 6.10s step= 305 trunk_z= 76.8mm grav_b=(-0.01,+0.06,-1.00) r=1.50m +[headless_play] t= 6.20s step= 310 trunk_z= 70.9mm grav_b=(-0.02,+0.03,-1.00) r=1.52m +[headless_play] t= 6.30s step= 315 trunk_z= 67.6mm grav_b=(-0.06,-0.02,-1.00) r=1.54m +[headless_play] t= 6.40s step= 320 trunk_z= 66.6mm grav_b=(-0.04,+0.01,-1.00) r=1.56m +[headless_play] t= 6.50s step= 325 trunk_z= 57.3mm grav_b=(-0.07,+0.08,-0.99) r=1.59m +[headless_play] t= 6.60s step= 330 trunk_z= 62.9mm grav_b=(-0.05,+0.11,-0.99) r=1.62m +[headless_play] t= 6.70s step= 335 trunk_z= 58.9mm grav_b=(+0.01,+0.10,-1.00) r=1.64m +[headless_play] t= 6.80s step= 340 trunk_z= 50.8mm grav_b=(+0.00,-0.02,-1.00) r=1.67m +[headless_play] t= 6.90s step= 345 trunk_z= 52.8mm grav_b=(-0.04,-0.07,-1.00) r=1.70m +[headless_play] t= 7.00s step= 350 trunk_z= 46.9mm grav_b=(+0.04,+0.02,-1.00) r=1.74m +[headless_play] t= 7.10s step= 355 trunk_z= 40.0mm grav_b=(-0.07,+0.16,-0.98) r=1.79m +[headless_play] t= 7.20s step= 360 trunk_z= 42.1mm grav_b=(-0.09,+0.13,-0.99) r=1.82m +[headless_play] t= 7.30s step= 365 trunk_z= 34.4mm grav_b=(-0.03,+0.11,-0.99) r=1.84m +[headless_play] t= 7.40s step= 370 trunk_z= 34.5mm grav_b=(-0.05,-0.03,-1.00) r=1.86m +[headless_play] t= 7.50s step= 375 trunk_z= 34.4mm grav_b=(-0.00,-0.04,-1.00) r=1.88m +[headless_play] t= 7.60s step= 380 trunk_z= 25.8mm grav_b=(-0.01,-0.02,-1.00) r=1.90m +[headless_play] t= 7.70s step= 385 trunk_z= 27.2mm grav_b=(-0.06,+0.05,-1.00) r=1.92m +[headless_play] t= 7.80s step= 390 trunk_z= 26.8mm grav_b=(-0.05,+0.01,-1.00) r=1.93m +[headless_play] t= 7.90s step= 395 trunk_z= 16.6mm grav_b=(-0.04,-0.00,-1.00) r=1.95m +[headless_play] t= 8.00s step= 400 trunk_z= 19.4mm grav_b=(-0.02,-0.00,-1.00) r=1.97m +[headless_play] t= 8.10s step= 405 trunk_z= 12.2mm grav_b=(+0.02,+0.02,-1.00) r=1.99m +[headless_play] t= 8.20s step= 410 trunk_z= 16.2mm grav_b=(-0.00,+0.10,-1.00) r=2.02m +[headless_play] t= 8.30s step= 415 trunk_z= 16.0mm grav_b=(+0.01,+0.10,-0.99) r=2.05m +[headless_play] t= 8.40s step= 420 trunk_z= 14.8mm grav_b=(+0.02,+0.05,-1.00) r=2.08m +[headless_play] t= 8.50s step= 425 trunk_z= 14.1mm grav_b=(-0.01,-0.07,-1.00) r=2.13m +[headless_play] t= 8.60s step= 430 trunk_z= 12.5mm grav_b=(-0.03,-0.08,-1.00) r=2.16m +[headless_play] t= 8.70s step= 435 trunk_z= -1.4mm grav_b=(-0.03,-0.01,-1.00) r=2.19m +[headless_play] t= 8.80s step= 440 trunk_z= 3.2mm grav_b=(-0.08,+0.02,-1.00) r=2.20m +[headless_play] t= 8.90s step= 445 trunk_z= -6.7mm grav_b=(-0.09,-0.05,-0.99) r=2.22m +[headless_play] t= 9.00s step= 450 trunk_z= -1.4mm grav_b=(-0.07,-0.08,-0.99) r=2.23m +[headless_play] t= 9.10s step= 455 trunk_z= -3.2mm grav_b=(-0.04,-0.05,-1.00) r=2.24m +[headless_play] t= 9.20s step= 460 trunk_z= -1.7mm grav_b=(-0.08,-0.01,-1.00) r=2.24m +[headless_play] t= 9.30s step= 465 trunk_z= 0.4mm grav_b=(-0.06,-0.04,-1.00) r=2.23m +[headless_play] t= 9.40s step= 470 trunk_z= -17.5mm grav_b=(-0.03,-0.03,-1.00) r=2.21m +[headless_play] t= 9.50s step= 475 trunk_z= -15.9mm grav_b=(+0.04,-0.02,-1.00) r=2.22m +[headless_play] t= 9.60s step= 480 trunk_z= -15.2mm grav_b=(+0.11,+0.03,-0.99) r=2.24m +[headless_play] t= 9.70s step= 485 trunk_z= 1.2mm grav_b=(+0.04,+0.03,-1.00) r=2.25m +[headless_play] t= 9.80s step= 490 trunk_z= -1.6mm grav_b=(-0.03,-0.02,-1.00) r=2.27m +[headless_play] t= 9.90s step= 495 trunk_z= 4.0mm grav_b=(-0.07,-0.09,-0.99) r=2.29m +[headless_play] t= 10.00s step= 500 trunk_z= 4.4mm grav_b=(-0.05,-0.09,-0.99) r=2.31m +[headless_play] t= 10.10s step= 505 trunk_z= -0.1mm grav_b=(-0.05,+0.01,-1.00) r=2.31m +[headless_play] t= 10.20s step= 510 trunk_z= 11.8mm grav_b=(-0.08,+0.08,-0.99) r=2.31m +[headless_play] t= 10.30s step= 515 trunk_z= 14.5mm grav_b=(-0.07,+0.07,-0.99) r=2.31m +[headless_play] t= 10.40s step= 520 trunk_z= 13.6mm grav_b=(-0.04,+0.05,-1.00) r=2.29m +[headless_play] t= 10.50s step= 525 trunk_z= -5.3mm grav_b=(+0.05,+0.07,-1.00) r=2.26m +[headless_play] t= 10.60s step= 530 trunk_z= -2.3mm grav_b=(+0.07,+0.05,-1.00) r=2.23m +[headless_play] t= 10.70s step= 535 trunk_z= -13.7mm grav_b=(+0.03,-0.01,-1.00) r=2.22m +[headless_play] t= 10.80s step= 540 trunk_z= -9.4mm grav_b=(-0.06,-0.02,-1.00) r=2.20m +[headless_play] t= 10.90s step= 545 trunk_z= -9.6mm grav_b=(-0.01,-0.04,-1.00) r=2.18m +[headless_play] t= 11.00s step= 550 trunk_z= -3.2mm grav_b=(+0.05,-0.02,-1.00) r=2.18m +[headless_play] t= 11.10s step= 555 trunk_z= -14.4mm grav_b=(+0.05,+0.04,-1.00) r=2.19m +[headless_play] t= 11.20s step= 560 trunk_z= -3.9mm grav_b=(+0.06,+0.03,-1.00) r=2.21m +[headless_play] t= 11.30s step= 565 trunk_z= -5.1mm grav_b=(-0.02,-0.03,-1.00) r=2.21m +[headless_play] t= 11.40s step= 570 trunk_z= 2.1mm grav_b=(-0.08,-0.13,-0.99) r=2.22m +[headless_play] t= 11.50s step= 575 trunk_z= 3.4mm grav_b=(-0.05,-0.13,-0.99) r=2.22m +[headless_play] t= 11.60s step= 580 trunk_z= 3.4mm grav_b=(-0.06,-0.13,-0.99) r=2.21m +[headless_play] t= 11.70s step= 585 trunk_z= 2.8mm grav_b=(+0.00,-0.06,-1.00) r=2.19m +[headless_play] t= 11.80s step= 590 trunk_z= -6.7mm grav_b=(+0.09,-0.00,-1.00) r=2.18m +[headless_play] t= 11.90s step= 595 trunk_z= -3.0mm grav_b=(+0.04,-0.00,-1.00) r=2.17m +[headless_play] t= 12.00s step= 600 trunk_z= -3.2mm grav_b=(-0.05,-0.01,-1.00) r=2.17m +[headless_play] t= 12.10s step= 605 trunk_z= -5.7mm grav_b=(-0.03,+0.05,-1.00) r=2.19m +[headless_play] t= 12.20s step= 610 trunk_z= 0.9mm grav_b=(-0.01,+0.07,-1.00) r=2.21m +[headless_play] t= 12.30s step= 615 trunk_z= 5.8mm grav_b=(-0.01,+0.06,-1.00) r=2.22m +[headless_play] t= 12.40s step= 620 trunk_z= 3.1mm grav_b=(-0.03,+0.05,-1.00) r=2.24m +[headless_play] t= 12.50s step= 625 trunk_z= 0.9mm grav_b=(-0.02,-0.09,-1.00) r=2.25m +[headless_play] t= 12.60s step= 630 trunk_z= 1.7mm grav_b=(-0.03,-0.12,-0.99) r=2.26m +[headless_play] t= 12.70s step= 635 trunk_z= -0.7mm grav_b=(-0.04,-0.07,-1.00) r=2.27m +[headless_play] t= 12.80s step= 640 trunk_z= 4.6mm grav_b=(-0.05,-0.01,-1.00) r=2.28m +[headless_play] t= 12.90s step= 645 trunk_z= 2.8mm grav_b=(-0.04,-0.02,-1.00) r=2.29m +[headless_play] t= 13.00s step= 650 trunk_z= -0.8mm grav_b=(+0.02,-0.11,-0.99) r=2.30m +[headless_play] t= 13.10s step= 655 trunk_z= 8.7mm grav_b=(+0.02,-0.13,-0.99) r=2.31m +[headless_play] t= 13.20s step= 660 trunk_z= 10.6mm grav_b=(-0.01,-0.09,-1.00) r=2.32m +[headless_play] t= 13.30s step= 665 trunk_z= 3.8mm grav_b=(-0.05,-0.05,-1.00) r=2.35m +[headless_play] t= 13.40s step= 670 trunk_z= 7.6mm grav_b=(-0.08,-0.01,-1.00) r=2.35m +[headless_play] t= 13.50s step= 675 trunk_z= -5.1mm grav_b=(-0.08,-0.07,-0.99) r=2.35m +[headless_play] t= 13.60s step= 680 trunk_z= -0.5mm grav_b=(-0.07,-0.06,-1.00) r=2.35m +[headless_play] t= 13.70s step= 685 trunk_z= -2.5mm grav_b=(-0.06,-0.04,-1.00) r=2.36m +[headless_play] t= 13.80s step= 690 trunk_z= 1.2mm grav_b=(-0.03,-0.01,-1.00) r=2.37m +[headless_play] t= 13.90s step= 695 trunk_z= -0.5mm grav_b=(-0.01,-0.04,-1.00) r=2.37m +[headless_play] t= 14.00s step= 700 trunk_z= -7.0mm grav_b=(-0.02,-0.12,-0.99) r=2.36m +[headless_play] t= 14.10s step= 705 trunk_z= -0.2mm grav_b=(-0.03,-0.13,-0.99) r=2.36m +[headless_play] t= 14.20s step= 710 trunk_z= -1.1mm grav_b=(-0.02,-0.12,-0.99) r=2.36m +[headless_play] t= 14.30s step= 715 trunk_z= -3.5mm grav_b=(-0.03,-0.04,-1.00) r=2.38m +[headless_play] t= 14.40s step= 720 trunk_z= 3.1mm grav_b=(-0.05,-0.01,-1.00) r=2.39m +[headless_play] t= 14.50s step= 725 trunk_z= -3.4mm grav_b=(-0.05,-0.02,-1.00) r=2.39m +[headless_play] t= 14.60s step= 730 trunk_z= -4.9mm grav_b=(-0.04,-0.13,-0.99) r=2.38m +[headless_play] t= 14.70s step= 735 trunk_z= -1.7mm grav_b=(+0.03,-0.14,-0.99) r=2.39m +[headless_play] t= 14.80s step= 740 trunk_z= 1.2mm grav_b=(-0.01,-0.07,-1.00) r=2.40m +[headless_play] t= 14.90s step= 745 trunk_z= 1.2mm grav_b=(-0.04,+0.02,-1.00) r=2.42m +[headless_play] t= 15.00s step= 750 trunk_z= 0.3mm grav_b=(-0.06,+0.01,-1.00) r=2.43m +[headless_play] t= 15.10s step= 755 trunk_z= -7.2mm grav_b=(-0.06,-0.01,-1.00) r=2.42m +[headless_play] t= 15.20s step= 760 trunk_z= -6.6mm grav_b=(-0.07,+0.02,-1.00) r=2.43m +[headless_play] t= 15.30s step= 765 trunk_z= -4.8mm grav_b=(-0.08,+0.02,-1.00) r=2.45m +[headless_play] t= 15.40s step= 770 trunk_z= -2.4mm grav_b=(-0.08,-0.02,-1.00) r=2.44m +[headless_play] t= 15.50s step= 775 trunk_z= -5.5mm grav_b=(-0.05,-0.07,-1.00) r=2.43m +[headless_play] t= 15.60s step= 780 trunk_z= -0.6mm grav_b=(-0.04,-0.04,-1.00) r=2.43m +[headless_play] t= 15.70s step= 785 trunk_z= -8.0mm grav_b=(-0.02,-0.00,-1.00) r=2.45m +[headless_play] t= 15.80s step= 790 trunk_z= 0.0mm grav_b=(-0.02,+0.08,-1.00) r=2.47m +[headless_play] t= 15.90s step= 795 trunk_z= 0.8mm grav_b=(-0.01,+0.07,-1.00) r=2.49m +[headless_play] t= 16.00s step= 800 trunk_z= -7.7mm grav_b=(+0.02,-0.02,-1.00) r=2.50m +[headless_play] t= 16.10s step= 805 trunk_z= 6.6mm grav_b=(-0.04,-0.09,-1.00) r=2.52m +[headless_play] t= 16.20s step= 810 trunk_z= 3.1mm grav_b=(-0.05,-0.06,-1.00) r=2.54m +[headless_play] t= 16.30s step= 815 trunk_z= -3.2mm grav_b=(-0.06,+0.07,-1.00) r=2.57m +[headless_play] t= 16.40s step= 820 trunk_z= 1.1mm grav_b=(-0.04,+0.06,-1.00) r=2.57m +[headless_play] t= 16.50s step= 825 trunk_z= -9.4mm grav_b=(-0.07,-0.04,-1.00) r=2.55m +[headless_play] t= 16.60s step= 830 trunk_z= 4.8mm grav_b=(-0.08,-0.10,-0.99) r=2.53m +[headless_play] t= 16.70s step= 835 trunk_z= 5.4mm grav_b=(-0.06,-0.12,-0.99) r=2.52m +[headless_play] t= 16.80s step= 840 trunk_z= 1.9mm grav_b=(-0.00,-0.08,-1.00) r=2.53m +[headless_play] t= 16.90s step= 845 trunk_z= -3.2mm grav_b=(-0.03,+0.07,-1.00) r=2.55m +[headless_play] t= 17.00s step= 850 trunk_z= 6.1mm grav_b=(-0.03,+0.13,-0.99) r=2.58m +[headless_play] t= 17.10s step= 855 trunk_z= 4.1mm grav_b=(-0.03,+0.12,-0.99) r=2.59m +[headless_play] t= 17.20s step= 860 trunk_z= 5.6mm grav_b=(-0.05,+0.02,-1.00) r=2.59m +[headless_play] t= 17.30s step= 865 trunk_z= 4.4mm grav_b=(-0.07,-0.05,-1.00) r=2.59m +[headless_play] t= 17.40s step= 870 trunk_z= 4.0mm grav_b=(-0.09,-0.06,-0.99) r=2.59m +[headless_play] t= 17.50s step= 875 trunk_z= -3.7mm grav_b=(-0.06,-0.02,-1.00) r=2.62m +[headless_play] t= 17.60s step= 880 trunk_z= -0.3mm grav_b=(-0.01,+0.03,-1.00) r=2.64m +[headless_play] t= 17.70s step= 885 trunk_z= 1.1mm grav_b=(-0.00,+0.06,-1.00) r=2.65m +[headless_play] t= 17.80s step= 890 trunk_z= -0.8mm grav_b=(-0.01,+0.05,-1.00) r=2.67m +[headless_play] t= 17.90s step= 895 trunk_z= 1.6mm grav_b=(-0.03,-0.03,-1.00) r=2.70m +[headless_play] t= 18.00s step= 900 trunk_z= -4.2mm grav_b=(-0.09,+0.01,-1.00) r=2.73m +[headless_play] t= 18.10s step= 905 trunk_z= -3.2mm grav_b=(-0.09,+0.07,-0.99) r=2.76m +[headless_play] t= 18.20s step= 910 trunk_z= -1.1mm grav_b=(-0.07,+0.05,-1.00) r=2.77m +[headless_play] t= 18.30s step= 915 trunk_z= -6.5mm grav_b=(-0.07,+0.00,-1.00) r=2.76m +[headless_play] t= 18.40s step= 920 trunk_z= -2.8mm grav_b=(-0.04,-0.01,-1.00) r=2.76m +[headless_play] t= 18.50s step= 925 trunk_z= -8.4mm grav_b=(-0.03,+0.03,-1.00) r=2.79m +[headless_play] t= 18.60s step= 930 trunk_z= 0.4mm grav_b=(-0.09,+0.13,-0.99) r=2.82m +[headless_play] t= 18.70s step= 935 trunk_z= 2.9mm grav_b=(-0.07,+0.20,-0.98) r=2.84m +[headless_play] t= 18.80s step= 940 trunk_z= -0.9mm grav_b=(+0.02,+0.41,-0.91) r=2.86m +[headless_play] t= 18.90s step= 945 trunk_z= -12.4mm grav_b=(-0.11,+0.61,-0.78) r=2.90m +[headless_play] RESET at t= 18.98s step= 949 (env termination, not a recovery) +[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 19.10s step= 955 trunk_z= 114.8mm grav_b=(-0.04,+0.02,-1.00) r=0.43m +[headless_play] t= 19.20s step= 960 trunk_z= 116.0mm grav_b=(-0.07,+0.07,-1.00) r=0.42m +[headless_play] t= 19.30s step= 965 trunk_z= 121.4mm grav_b=(-0.07,-0.00,-1.00) r=0.41m +[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(-0.09,+0.01,-1.00) r=0.40m +[headless_play] t= 19.50s step= 975 trunk_z= 119.2mm grav_b=(-0.08,-0.05,-1.00) r=0.39m +[headless_play] t= 19.60s step= 980 trunk_z= 121.4mm grav_b=(-0.05,-0.06,-1.00) r=0.38m +[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(-0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(-0.06,+0.08,-0.99) r=0.35m +[headless_play] t= 19.90s step= 995 trunk_z= 122.4mm grav_b=(-0.03,+0.05,-1.00) r=0.34m +[headless_play] t= 20.00s step=1000 trunk_z= 115.8mm grav_b=(-0.06,+0.05,-1.00) r=0.32m +[headless_play] t= 20.10s step=1005 trunk_z= 120.5mm grav_b=(-0.07,-0.07,-0.99) r=0.31m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t9.log b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..22ab3e9d0886d9155d2354370c720bf0a060812a --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-a-2026-10-16/z5-a-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(-13.859,-18.460,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 114.7mm grav_b=(-0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 122.6mm grav_b=(+0.01,-0.09,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 123.4mm grav_b=(+0.03,-0.06,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 123.4mm grav_b=(+0.00,+0.03,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 122.7mm grav_b=(+0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 120.3mm grav_b=(-0.01,-0.06,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 124.1mm grav_b=(-0.02,-0.08,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 121.6mm grav_b=(-0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 121.5mm grav_b=(-0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 123.7mm grav_b=(-0.00,+0.02,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(-0.00,-0.04,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 123.2mm grav_b=(-0.01,-0.08,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 123.4mm grav_b=(-0.04,-0.10,-0.99) r=0.37m +[headless_play] t= 1.70s step= 85 trunk_z= 120.0mm grav_b=(-0.08,-0.07,-0.99) r=0.36m +[headless_play] t= 1.80s step= 90 trunk_z= 123.2mm grav_b=(-0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 123.7mm grav_b=(+0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 117.9mm grav_b=(+0.03,-0.06,-1.00) r=0.34m +[headless_play] t= 2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 128.2mm grav_b=(+0.06,-0.07,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=0.25m +[headless_play] t= 2.40s step= 120 trunk_z= 124.0mm grav_b=(-0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 2.50s step= 125 trunk_z= 119.9mm grav_b=(-0.07,-0.05,-1.00) r=0.24m +[headless_play] t= 2.60s step= 130 trunk_z= 121.1mm grav_b=(-0.08,-0.09,-0.99) r=0.24m +[headless_play] t= 2.70s step= 135 trunk_z= 123.4mm grav_b=(-0.04,-0.08,-1.00) r=0.23m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.19m +[headless_play] t= 2.90s step= 145 trunk_z= 124.9mm grav_b=(+0.09,+0.06,-0.99) r=0.17m +[headless_play] t= 3.00s step= 150 trunk_z= 125.4mm grav_b=(+0.07,+0.04,-1.00) r=0.15m +[headless_play] t= 3.10s step= 155 trunk_z= 120.3mm grav_b=(+0.01,-0.04,-1.00) r=0.15m +[headless_play] t= 3.20s step= 160 trunk_z= 122.9mm grav_b=(+0.01,-0.05,-1.00) r=0.13m +[headless_play] t= 3.30s step= 165 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 120.9mm grav_b=(-0.03,+0.02,-1.00) r=0.09m +[headless_play] t= 3.50s step= 175 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 114.3mm grav_b=(+0.01,-0.09,-1.00) r=0.12m +[headless_play] t= 3.70s step= 185 trunk_z= 113.1mm grav_b=(+0.06,-0.03,-1.00) r=0.11m +[headless_play] t= 3.80s step= 190 trunk_z= 115.7mm grav_b=(+0.09,+0.09,-0.99) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 120.1mm grav_b=(+0.09,+0.08,-0.99) r=0.09m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.08,+0.03,-1.00) r=0.12m +[headless_play] t= 4.10s step= 205 trunk_z= 121.5mm grav_b=(+0.04,-0.07,-1.00) r=0.15m +[headless_play] t= 4.20s step= 210 trunk_z= 119.8mm grav_b=(+0.06,-0.07,-1.00) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(+0.01,+0.03,-1.00) r=0.17m +[headless_play] t= 4.40s step= 220 trunk_z= 118.5mm grav_b=(+0.00,+0.03,-1.00) r=0.19m +[headless_play] t= 4.50s step= 225 trunk_z= 112.2mm grav_b=(+0.05,-0.02,-1.00) r=0.21m +[headless_play] t= 4.60s step= 230 trunk_z= 123.5mm grav_b=(+0.14,-0.13,-0.98) r=0.24m +[headless_play] t= 4.70s step= 235 trunk_z= 132.2mm grav_b=(+0.08,-0.10,-0.99) r=0.26m +[headless_play] t= 4.80s step= 240 trunk_z= 121.6mm grav_b=(+0.03,-0.06,-1.00) r=0.29m +[headless_play] t= 4.90s step= 245 trunk_z= 126.7mm grav_b=(+0.00,-0.09,-1.00) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 118.1mm grav_b=(-0.01,-0.11,-0.99) r=0.32m +[headless_play] t= 5.10s step= 255 trunk_z= 120.7mm grav_b=(-0.01,-0.10,-0.99) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(+0.00,-0.00,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.32m +[headless_play] t= 5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.05,+0.00,-1.00) r=0.32m +[headless_play] t= 5.70s step= 285 trunk_z= 115.2mm grav_b=(-0.07,-0.03,-1.00) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 117.0mm grav_b=(-0.07,-0.07,-1.00) r=0.31m +[headless_play] t= 5.90s step= 295 trunk_z= 112.8mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 6.00s step= 300 trunk_z= 113.7mm grav_b=(-0.01,-0.02,-1.00) r=0.30m +[headless_play] t= 6.10s step= 305 trunk_z= 114.7mm grav_b=(+0.00,-0.01,-1.00) r=0.30m +[headless_play] t= 6.20s step= 310 trunk_z= 114.6mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 6.30s step= 315 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 6.40s step= 320 trunk_z= 114.7mm grav_b=(-0.03,-0.00,-1.00) r=0.30m +[headless_play] t= 6.50s step= 325 trunk_z= 115.0mm grav_b=(-0.06,+0.00,-1.00) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 115.3mm grav_b=(-0.05,-0.00,-1.00) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 6.90s step= 345 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) r=0.30m +[headless_play] t= 7.00s step= 350 trunk_z= 115.8mm grav_b=(-0.03,-0.00,-1.00) r=0.30m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(-0.08,-0.04,-1.00) r=0.30m +[headless_play] t= 7.20s step= 360 trunk_z= 116.2mm grav_b=(-0.11,-0.02,-0.99) r=0.29m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.12,-0.03,-0.99) r=0.29m +[headless_play] t= 7.40s step= 370 trunk_z= 114.3mm grav_b=(-0.07,+0.02,-1.00) r=0.28m +[headless_play] t= 7.50s step= 375 trunk_z= 113.6mm grav_b=(-0.04,-0.04,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 113.8mm grav_b=(-0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 7.70s step= 385 trunk_z= 114.6mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 7.80s step= 390 trunk_z= 116.3mm grav_b=(-0.10,-0.07,-0.99) r=0.28m +[headless_play] t= 7.90s step= 395 trunk_z= 116.0mm grav_b=(-0.12,-0.03,-0.99) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 116.9mm grav_b=(-0.17,-0.09,-0.98) r=0.28m +[headless_play] t= 8.10s step= 405 trunk_z= 116.7mm grav_b=(+0.00,-0.00,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 8.30s step= 415 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 114.9mm grav_b=(-0.07,-0.01,-1.00) r=0.27m +[headless_play] t= 8.60s step= 430 trunk_z= 115.5mm grav_b=(-0.15,-0.07,-0.99) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 120.5mm grav_b=(-0.13,-0.11,-0.99) r=0.30m +[headless_play] t= 8.80s step= 440 trunk_z= 112.3mm grav_b=(+0.00,+0.02,-1.00) r=0.32m +[headless_play] t= 8.90s step= 445 trunk_z= 114.8mm grav_b=(-0.00,-0.02,-1.00) r=0.33m +[headless_play] t= 9.00s step= 450 trunk_z= 115.9mm grav_b=(+0.01,-0.06,-1.00) r=0.32m +[headless_play] t= 9.10s step= 455 trunk_z= 115.4mm grav_b=(+0.03,-0.04,-1.00) r=0.33m +[headless_play] t= 9.20s step= 460 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.34m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.08,-0.01,-1.00) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.34m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.34m +[headless_play] t= 9.60s step= 480 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 9.80s step= 490 trunk_z= 119.3mm grav_b=(-0.01,-0.03,-1.00) r=0.33m +[headless_play] t= 9.90s step= 495 trunk_z= 122.0mm grav_b=(+0.03,-0.06,-1.00) r=0.32m +[headless_play] t= 10.00s step= 500 trunk_z= 120.3mm grav_b=(+0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 10.10s step= 505 trunk_z= 119.7mm grav_b=(+0.01,-0.03,-1.00) r=0.33m +[headless_play] t= 10.20s step= 510 trunk_z= 117.3mm grav_b=(-0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(-0.06,+0.00,-1.00) r=0.33m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 11.30s step= 565 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.32m +[headless_play] t= 11.40s step= 570 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.33m +[headless_play] t= 11.60s step= 580 trunk_z= 115.9mm grav_b=(-0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 11.70s step= 585 trunk_z= 119.1mm grav_b=(+0.01,+0.02,-1.00) r=0.31m +[headless_play] t= 11.80s step= 590 trunk_z= 119.9mm grav_b=(+0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 11.90s step= 595 trunk_z= 117.7mm grav_b=(-0.02,-0.07,-1.00) r=0.29m +[headless_play] t= 12.00s step= 600 trunk_z= 120.9mm grav_b=(-0.02,-0.07,-1.00) r=0.29m +[headless_play] t= 12.10s step= 605 trunk_z= 118.6mm grav_b=(-0.03,-0.03,-1.00) r=0.27m +[headless_play] t= 12.20s step= 610 trunk_z= 121.0mm grav_b=(-0.03,+0.06,-1.00) r=0.26m +[headless_play] t= 12.30s step= 615 trunk_z= 121.9mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 12.40s step= 620 trunk_z= 114.5mm grav_b=(-0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 12.50s step= 625 trunk_z= 118.2mm grav_b=(-0.05,-0.04,-1.00) r=0.24m +[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(-0.04,+0.02,-1.00) r=0.23m +[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.02,+0.05,-1.00) r=0.23m +[headless_play] t= 12.80s step= 640 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 12.90s step= 645 trunk_z= 121.2mm grav_b=(+0.05,-0.10,-0.99) r=0.21m +[headless_play] t= 13.00s step= 650 trunk_z= 125.2mm grav_b=(+0.06,-0.12,-0.99) r=0.19m +[headless_play] t= 13.10s step= 655 trunk_z= 124.6mm grav_b=(+0.03,-0.08,-1.00) r=0.18m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(+0.02,+0.04,-1.00) r=0.16m +[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(+0.00,+0.03,-1.00) r=0.14m +[headless_play] t= 13.40s step= 670 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=0.14m +[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(-0.01,-0.08,-1.00) r=0.14m +[headless_play] t= 13.60s step= 680 trunk_z= 121.5mm grav_b=(-0.01,-0.08,-1.00) r=0.12m +[headless_play] t= 13.70s step= 685 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=0.10m +[headless_play] t= 13.80s step= 690 trunk_z= 124.7mm grav_b=(+0.01,+0.03,-1.00) r=0.09m +[headless_play] t= 13.90s step= 695 trunk_z= 119.2mm grav_b=(+0.06,-0.03,-1.00) r=0.09m +[headless_play] t= 14.00s step= 700 trunk_z= 124.3mm grav_b=(+0.14,-0.10,-0.98) r=0.08m +[headless_play] t= 14.10s step= 705 trunk_z= 132.5mm grav_b=(+0.14,-0.13,-0.98) r=0.09m +[headless_play] t= 14.20s step= 710 trunk_z= 113.9mm grav_b=(+0.08,-0.07,-0.99) r=0.11m +[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(+0.09,-0.04,-0.99) r=0.13m +[headless_play] t= 14.40s step= 720 trunk_z= 119.8mm grav_b=(-0.03,-0.03,-1.00) r=0.15m +[headless_play] t= 14.50s step= 725 trunk_z= 119.5mm grav_b=(-0.06,-0.11,-0.99) r=0.18m +[headless_play] t= 14.60s step= 730 trunk_z= 123.7mm grav_b=(-0.04,-0.12,-0.99) r=0.19m +[headless_play] t= 14.70s step= 735 trunk_z= 119.5mm grav_b=(-0.00,-0.08,-1.00) r=0.20m +[headless_play] t= 14.80s step= 740 trunk_z= 120.3mm grav_b=(+0.05,+0.03,-1.00) r=0.20m +[headless_play] t= 14.90s step= 745 trunk_z= 119.1mm grav_b=(+0.07,-0.02,-1.00) r=0.23m +[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(+0.07,-0.07,-1.00) r=0.26m +[headless_play] t= 15.10s step= 755 trunk_z= 123.1mm grav_b=(+0.05,-0.09,-0.99) r=0.27m +[headless_play] t= 15.20s step= 760 trunk_z= 117.5mm grav_b=(+0.00,-0.04,-1.00) r=0.28m +[headless_play] t= 15.30s step= 765 trunk_z= 122.4mm grav_b=(-0.02,+0.03,-1.00) r=0.29m +[headless_play] t= 15.40s step= 770 trunk_z= 121.5mm grav_b=(-0.06,-0.01,-1.00) r=0.28m +[headless_play] t= 15.50s step= 775 trunk_z= 115.7mm grav_b=(-0.04,-0.08,-1.00) r=0.28m +[headless_play] t= 15.60s step= 780 trunk_z= 123.1mm grav_b=(+0.01,-0.13,-0.99) r=0.28m +[headless_play] t= 15.70s step= 785 trunk_z= 123.4mm grav_b=(+0.02,-0.09,-1.00) r=0.28m +[headless_play] t= 15.80s step= 790 trunk_z= 118.2mm grav_b=(+0.03,-0.06,-1.00) r=0.29m +[headless_play] t= 15.90s step= 795 trunk_z= 123.5mm grav_b=(+0.05,+0.07,-1.00) r=0.30m +[headless_play] t= 16.00s step= 800 trunk_z= 125.3mm grav_b=(+0.08,+0.04,-1.00) r=0.31m +[headless_play] t= 16.10s step= 805 trunk_z= 119.0mm grav_b=(+0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 16.20s step= 810 trunk_z= 124.1mm grav_b=(+0.07,-0.04,-1.00) r=0.37m +[headless_play] t= 16.30s step= 815 trunk_z= 124.0mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 16.40s step= 820 trunk_z= 119.0mm grav_b=(-0.03,+0.04,-1.00) r=0.43m +[headless_play] t= 16.50s step= 825 trunk_z= 123.7mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 16.60s step= 830 trunk_z= 116.7mm grav_b=(-0.02,-0.03,-1.00) r=0.46m +[headless_play] t= 16.70s step= 835 trunk_z= 121.5mm grav_b=(-0.00,-0.09,-1.00) r=0.47m +[headless_play] t= 16.80s step= 840 trunk_z= 123.0mm grav_b=(+0.02,-0.07,-1.00) r=0.49m +[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(+0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 17.00s step= 850 trunk_z= 127.0mm grav_b=(-0.01,+0.12,-0.99) r=0.52m +[headless_play] t= 17.10s step= 855 trunk_z= 128.1mm grav_b=(+0.05,+0.16,-0.99) r=0.53m +[headless_play] t= 17.20s step= 860 trunk_z= 129.8mm grav_b=(+0.16,+0.13,-0.98) r=0.56m +[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(+0.06,-0.01,-1.00) r=0.63m +[headless_play] t= 17.40s step= 870 trunk_z= 129.2mm grav_b=(+0.08,-0.03,-1.00) r=0.66m +[headless_play] t= 17.50s step= 875 trunk_z= 128.2mm grav_b=(+0.01,-0.04,-1.00) r=0.67m +[headless_play] t= 17.60s step= 880 trunk_z= 119.6mm grav_b=(-0.07,+0.08,-0.99) r=0.67m +[headless_play] t= 17.70s step= 885 trunk_z= 124.2mm grav_b=(-0.08,+0.04,-1.00) r=0.68m +[headless_play] t= 17.80s step= 890 trunk_z= 118.8mm grav_b=(-0.08,-0.02,-1.00) r=0.69m +[headless_play] t= 17.90s step= 895 trunk_z= 123.4mm grav_b=(-0.05,-0.08,-1.00) r=0.70m +[headless_play] t= 18.00s step= 900 trunk_z= 122.3mm grav_b=(-0.00,-0.08,-1.00) r=0.71m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(+0.02,+0.05,-1.00) r=0.70m +[headless_play] t= 18.20s step= 910 trunk_z= 128.5mm grav_b=(-0.00,+0.16,-0.99) r=0.69m +[headless_play] t= 18.30s step= 915 trunk_z= 126.4mm grav_b=(+0.05,+0.16,-0.99) r=0.69m +[headless_play] t= 18.40s step= 920 trunk_z= 133.0mm grav_b=(+0.02,+0.05,-1.00) r=0.71m +[headless_play] t= 18.50s step= 925 trunk_z= 128.8mm grav_b=(+0.10,+0.02,-0.99) r=0.73m +[headless_play] t= 18.60s step= 930 trunk_z= 130.4mm grav_b=(+0.07,-0.03,-1.00) r=0.73m +[headless_play] t= 18.70s step= 935 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.73m +[headless_play] t= 18.80s step= 940 trunk_z= 121.4mm grav_b=(+0.02,-0.05,-1.00) r=0.74m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.00,-0.10,-1.00) r=0.77m +[headless_play] t= 19.00s step= 950 trunk_z= 124.7mm grav_b=(+0.04,-0.07,-1.00) r=0.79m +[headless_play] t= 19.10s step= 955 trunk_z= 118.5mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 19.20s step= 960 trunk_z= 124.3mm grav_b=(+0.03,+0.01,-1.00) r=0.80m +[headless_play] t= 19.30s step= 965 trunk_z= 127.9mm grav_b=(+0.01,+0.02,-1.00) r=0.82m +[headless_play] t= 19.40s step= 970 trunk_z= 121.9mm grav_b=(-0.05,-0.01,-1.00) r=0.85m +[headless_play] t= 19.50s step= 975 trunk_z= 123.4mm grav_b=(-0.04,-0.08,-1.00) r=0.87m +[headless_play] t= 19.60s step= 980 trunk_z= 124.9mm grav_b=(-0.02,-0.08,-1.00) r=0.88m +[headless_play] t= 19.70s step= 985 trunk_z= 119.6mm grav_b=(-0.01,-0.04,-1.00) r=0.88m +[headless_play] t= 19.80s step= 990 trunk_z= 124.5mm grav_b=(+0.03,+0.07,-1.00) r=0.88m +[headless_play] t= 19.90s step= 995 trunk_z= 125.1mm grav_b=(+0.05,+0.10,-0.99) r=0.89m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.27m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t1.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..f3d286bac4a060d9ca95ef0860e052ddab8f560f --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t1.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.871,-18.483,+0.257) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 114.1mm grav_b=(+0.04,-0.02,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 110.6mm grav_b=(+0.10,-0.06,-0.99) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.16,-0.06,-0.98) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(+0.10,-0.04,-0.99) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 119.0mm grav_b=(+0.08,+0.01,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.07,+0.03,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 112.8mm grav_b=(+0.07,-0.05,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 120.6mm grav_b=(+0.08,-0.06,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(+0.07,-0.05,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 115.5mm grav_b=(+0.06,+0.02,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 116.0mm grav_b=(+0.08,+0.03,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 110.8mm grav_b=(+0.08,-0.04,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 122.4mm grav_b=(+0.09,-0.08,-0.99) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(+0.08,-0.09,-0.99) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 112.6mm grav_b=(+0.08,-0.00,-1.00) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(+0.09,+0.03,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 113.7mm grav_b=(+0.09,+0.01,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 120.5mm grav_b=(+0.09,-0.05,-0.99) r=0.38m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(+0.09,-0.06,-0.99) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 109.3mm grav_b=(+0.07,+0.00,-1.00) r=0.42m +[headless_play] t= 2.10s step= 105 trunk_z= 116.6mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 112.7mm grav_b=(+0.08,-0.02,-1.00) r=0.43m +[headless_play] t= 2.30s step= 115 trunk_z= 120.3mm grav_b=(+0.07,-0.06,-1.00) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 119.1mm grav_b=(+0.07,-0.07,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 108.8mm grav_b=(+0.04,-0.01,-1.00) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(+0.08,+0.02,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 115.2mm grav_b=(+0.10,+0.02,-0.99) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.10,-0.04,-0.99) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 120.0mm grav_b=(+0.10,-0.07,-0.99) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 114.8mm grav_b=(+0.09,-0.06,-0.99) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(+0.09,-0.00,-1.00) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 114.7mm grav_b=(+0.06,-0.08,-1.00) r=0.57m +[headless_play] t= 3.40s step= 170 trunk_z= 120.5mm grav_b=(+0.08,-0.06,-0.99) r=0.59m +[headless_play] t= 3.50s step= 175 trunk_z= 112.9mm grav_b=(+0.05,-0.04,-1.00) r=0.62m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(+0.06,+0.03,-1.00) r=0.65m +[headless_play] t= 3.70s step= 185 trunk_z= 114.0mm grav_b=(+0.08,-0.00,-1.00) r=0.67m +[headless_play] t= 3.80s step= 190 trunk_z= 110.8mm grav_b=(+0.06,-0.08,-1.00) r=0.67m +[headless_play] t= 3.90s step= 195 trunk_z= 120.7mm grav_b=(+0.06,-0.08,-0.99) r=0.68m +[headless_play] t= 4.00s step= 200 trunk_z= 114.3mm grav_b=(+0.08,-0.06,-1.00) r=0.71m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.07,+0.03,-1.00) r=0.75m +[headless_play] t= 4.20s step= 210 trunk_z= 114.3mm grav_b=(+0.10,-0.00,-1.00) r=0.77m +[headless_play] t= 4.30s step= 215 trunk_z= 109.2mm grav_b=(+0.08,-0.06,-0.99) r=0.78m +[headless_play] t= 4.40s step= 220 trunk_z= 119.6mm grav_b=(+0.08,-0.06,-1.00) r=0.80m +[headless_play] t= 4.50s step= 225 trunk_z= 112.4mm grav_b=(+0.06,-0.03,-1.00) r=0.83m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(+0.05,+0.04,-1.00) r=0.86m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.08,+0.02,-1.00) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 109.2mm grav_b=(+0.10,-0.04,-0.99) r=0.89m +[headless_play] t= 4.90s step= 245 trunk_z= 120.7mm grav_b=(+0.10,-0.08,-0.99) r=0.90m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(+0.07,-0.06,-1.00) r=0.93m +[headless_play] t= 5.10s step= 255 trunk_z= 112.5mm grav_b=(+0.05,+0.03,-1.00) r=0.96m +[headless_play] t= 5.20s step= 260 trunk_z= 117.1mm grav_b=(+0.07,+0.03,-1.00) r=0.99m +[headless_play] t= 5.30s step= 265 trunk_z= 111.2mm grav_b=(+0.10,-0.01,-1.00) r=0.99m +[headless_play] t= 5.40s step= 270 trunk_z= 118.4mm grav_b=(+0.09,-0.06,-0.99) r=1.00m +[headless_play] t= 5.50s step= 275 trunk_z= 115.7mm grav_b=(+0.09,-0.04,-1.00) r=1.02m +[headless_play] t= 5.60s step= 280 trunk_z= 102.8mm grav_b=(+0.06,+0.06,-1.00) r=1.06m +[headless_play] t= 5.70s step= 285 trunk_z= 110.3mm grav_b=(+0.08,+0.13,-0.99) r=1.09m +[headless_play] t= 5.80s step= 290 trunk_z= 106.1mm grav_b=(+0.12,+0.12,-0.99) r=1.12m +[headless_play] t= 5.90s step= 295 trunk_z= 102.4mm grav_b=(+0.15,+0.03,-0.99) r=1.14m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(+0.13,+0.02,-0.99) r=1.17m +[headless_play] t= 6.10s step= 305 trunk_z= 86.9mm grav_b=(+0.03,+0.02,-1.00) r=1.23m +[headless_play] t= 6.20s step= 310 trunk_z= 91.8mm grav_b=(+0.09,+0.02,-1.00) r=1.26m +[headless_play] t= 6.30s step= 315 trunk_z= 87.2mm grav_b=(+0.07,-0.01,-1.00) r=1.30m +[headless_play] t= 6.40s step= 320 trunk_z= 82.2mm grav_b=(+0.02,-0.07,-1.00) r=1.34m +[headless_play] t= 6.50s step= 325 trunk_z= 84.2mm grav_b=(+0.01,-0.06,-1.00) r=1.37m +[headless_play] t= 6.60s step= 330 trunk_z= 70.2mm grav_b=(+0.04,+0.01,-1.00) r=1.41m +[headless_play] t= 6.70s step= 335 trunk_z= 76.1mm grav_b=(+0.12,+0.11,-0.99) r=1.45m +[headless_play] t= 6.80s step= 340 trunk_z= 78.1mm grav_b=(+0.12,+0.16,-0.98) r=1.48m +[headless_play] t= 6.90s step= 345 trunk_z= 58.0mm grav_b=(+0.06,-0.02,-1.00) r=1.55m +[headless_play] t= 7.00s step= 350 trunk_z= 71.2mm grav_b=(+0.11,-0.03,-0.99) r=1.60m +[headless_play] t= 7.10s step= 355 trunk_z= 48.2mm grav_b=(+0.05,-0.04,-1.00) r=1.65m +[headless_play] t= 7.20s step= 360 trunk_z= 48.2mm grav_b=(+0.09,+0.04,-1.00) r=1.69m +[headless_play] t= 7.30s step= 365 trunk_z= 48.6mm grav_b=(+0.10,+0.06,-0.99) r=1.72m +[headless_play] t= 7.40s step= 370 trunk_z= 35.0mm grav_b=(+0.03,-0.05,-1.00) r=1.76m +[headless_play] t= 7.50s step= 375 trunk_z= 44.3mm grav_b=(+0.02,-0.10,-1.00) r=1.79m +[headless_play] t= 7.60s step= 380 trunk_z= 39.6mm grav_b=(+0.01,-0.09,-1.00) r=1.83m +[headless_play] t= 7.70s step= 385 trunk_z= 27.1mm grav_b=(+0.08,+0.04,-1.00) r=1.87m +[headless_play] t= 7.80s step= 390 trunk_z= 34.9mm grav_b=(+0.14,+0.11,-0.98) r=1.90m +[headless_play] t= 7.90s step= 395 trunk_z= 39.2mm grav_b=(+0.06,+0.12,-0.99) r=1.94m +[headless_play] t= 8.00s step= 400 trunk_z= 23.0mm grav_b=(+0.02,-0.07,-1.00) r=1.99m +[headless_play] t= 8.10s step= 405 trunk_z= 28.3mm grav_b=(+0.08,-0.05,-1.00) r=2.03m +[headless_play] t= 8.20s step= 410 trunk_z= 8.7mm grav_b=(+0.06,-0.04,-1.00) r=2.07m +[headless_play] t= 8.30s step= 415 trunk_z= 12.2mm grav_b=(+0.11,+0.05,-0.99) r=2.10m +[headless_play] t= 8.40s step= 420 trunk_z= 14.3mm grav_b=(+0.11,+0.08,-0.99) r=2.11m +[headless_play] t= 8.50s step= 425 trunk_z= 7.9mm grav_b=(+0.07,+0.00,-1.00) r=2.12m +[headless_play] t= 8.60s step= 430 trunk_z= 16.1mm grav_b=(+0.05,-0.03,-1.00) r=2.14m +[headless_play] t= 8.70s step= 435 trunk_z= 8.9mm grav_b=(+0.02,-0.05,-1.00) r=2.17m +[headless_play] t= 8.80s step= 440 trunk_z= -3.7mm grav_b=(+0.08,+0.06,-0.99) r=2.20m +[headless_play] t= 8.90s step= 445 trunk_z= -2.2mm grav_b=(+0.10,+0.06,-0.99) r=2.21m +[headless_play] t= 9.00s step= 450 trunk_z= -6.6mm grav_b=(+0.06,-0.00,-1.00) r=2.20m +[headless_play] t= 9.10s step= 455 trunk_z= 2.2mm grav_b=(+0.05,-0.02,-1.00) r=2.20m +[headless_play] t= 9.20s step= 460 trunk_z= -9.6mm grav_b=(+0.07,-0.02,-1.00) r=2.23m +[headless_play] t= 9.30s step= 465 trunk_z= -2.0mm grav_b=(+0.13,-0.03,-0.99) r=2.25m +[headless_play] t= 9.40s step= 470 trunk_z= -5.5mm grav_b=(+0.10,-0.07,-0.99) r=2.24m +[headless_play] t= 9.50s step= 475 trunk_z= 1.7mm grav_b=(+0.09,-0.09,-0.99) r=2.23m +[headless_play] t= 9.60s step= 480 trunk_z= 3.6mm grav_b=(+0.05,-0.09,-0.99) r=2.23m +[headless_play] t= 9.70s step= 485 trunk_z= -0.6mm grav_b=(+0.04,-0.06,-1.00) r=2.25m +[headless_play] t= 9.80s step= 490 trunk_z= 4.6mm grav_b=(+0.06,-0.06,-1.00) r=2.26m +[headless_play] t= 9.90s step= 495 trunk_z= 1.3mm grav_b=(+0.07,-0.09,-0.99) r=2.25m +[headless_play] t= 10.00s step= 500 trunk_z= 1.1mm grav_b=(+0.11,-0.13,-0.98) r=2.22m +[headless_play] t= 10.10s step= 505 trunk_z= 6.7mm grav_b=(+0.09,-0.16,-0.98) r=2.21m +[headless_play] t= 10.20s step= 510 trunk_z= 6.5mm grav_b=(+0.08,-0.17,-0.98) r=2.21m +[headless_play] t= 10.30s step= 515 trunk_z= 3.1mm grav_b=(+0.15,-0.11,-0.98) r=2.21m +[headless_play] t= 10.40s step= 520 trunk_z= 6.4mm grav_b=(+0.09,-0.16,-0.98) r=2.20m +[headless_play] t= 10.50s step= 525 trunk_z= 2.5mm grav_b=(+0.08,-0.15,-0.99) r=2.17m +[headless_play] t= 10.60s step= 530 trunk_z= 6.9mm grav_b=(+0.09,-0.18,-0.98) r=2.16m +[headless_play] t= 10.70s step= 535 trunk_z= 5.0mm grav_b=(+0.08,-0.18,-0.98) r=2.15m +[headless_play] t= 10.80s step= 540 trunk_z= 2.7mm grav_b=(+0.10,-0.11,-0.99) r=2.15m +[headless_play] t= 10.90s step= 545 trunk_z= 6.4mm grav_b=(+0.10,-0.16,-0.98) r=2.15m +[headless_play] t= 11.00s step= 550 trunk_z= -3.9mm grav_b=(+0.03,-0.16,-0.99) r=2.11m +[headless_play] t= 11.10s step= 555 trunk_z= 2.4mm grav_b=(+0.11,-0.21,-0.97) r=2.08m +[headless_play] t= 11.20s step= 560 trunk_z= -0.3mm grav_b=(+0.09,-0.25,-0.96) r=2.06m +[headless_play] t= 11.30s step= 565 trunk_z= -6.5mm grav_b=(+0.10,-0.24,-0.97) r=2.05m +[headless_play] t= 11.40s step= 570 trunk_z= -2.9mm grav_b=(+0.10,-0.16,-0.98) r=2.03m +[headless_play] t= 11.50s step= 575 trunk_z= 3.2mm grav_b=(+0.16,-0.10,-0.98) r=2.04m +[headless_play] t= 11.60s step= 580 trunk_z= 0.5mm grav_b=(-0.01,-0.05,-1.00) r=2.04m +[headless_play] t= 11.70s step= 585 trunk_z= -5.4mm grav_b=(-0.04,-0.03,-1.00) r=2.04m +[headless_play] t= 11.80s step= 590 trunk_z= -8.2mm grav_b=(+0.12,-0.07,-0.99) r=2.05m +[headless_play] t= 11.90s step= 595 trunk_z= -2.5mm grav_b=(+0.17,-0.01,-0.98) r=2.05m +[headless_play] t= 12.00s step= 600 trunk_z= -0.1mm grav_b=(+0.11,-0.01,-0.99) r=2.02m +[headless_play] t= 12.10s step= 605 trunk_z= 8.7mm grav_b=(-0.00,+0.07,-1.00) r=2.01m +[headless_play] t= 12.20s step= 610 trunk_z= 0.6mm grav_b=(+0.03,+0.06,-1.00) r=2.01m +[headless_play] t= 12.30s step= 615 trunk_z= 0.3mm grav_b=(-0.01,+0.00,-1.00) r=2.02m +[headless_play] t= 12.40s step= 620 trunk_z= -6.8mm grav_b=(+0.00,-0.07,-1.00) r=2.04m +[headless_play] t= 12.50s step= 625 trunk_z= -3.5mm grav_b=(+0.10,-0.04,-0.99) r=2.05m +[headless_play] t= 12.60s step= 630 trunk_z= -10.7mm grav_b=(+0.17,-0.02,-0.99) r=2.06m +[headless_play] t= 12.70s step= 635 trunk_z= -6.5mm grav_b=(+0.16,-0.09,-0.98) r=2.05m +[headless_play] t= 12.80s step= 640 trunk_z= 3.5mm grav_b=(+0.11,-0.07,-0.99) r=2.02m +[headless_play] t= 12.90s step= 645 trunk_z= 4.9mm grav_b=(+0.12,-0.14,-0.98) r=2.01m +[headless_play] t= 13.00s step= 650 trunk_z= 4.3mm grav_b=(+0.07,-0.18,-0.98) r=1.99m +[headless_play] t= 13.10s step= 655 trunk_z= 19.2mm grav_b=(+0.01,-0.16,-0.99) r=1.97m +[headless_play] t= 13.20s step= 660 trunk_z= 12.3mm grav_b=(+0.04,-0.17,-0.99) r=1.96m +[headless_play] t= 13.30s step= 665 trunk_z= 10.8mm grav_b=(+0.06,-0.16,-0.99) r=1.95m +[headless_play] t= 13.40s step= 670 trunk_z= 10.1mm grav_b=(+0.02,-0.11,-0.99) r=1.95m +[headless_play] t= 13.50s step= 675 trunk_z= 8.6mm grav_b=(-0.01,-0.13,-0.99) r=1.96m +[headless_play] t= 13.60s step= 680 trunk_z= -0.0mm grav_b=(+0.10,-0.22,-0.97) r=1.98m +[headless_play] t= 13.70s step= 685 trunk_z= 10.1mm grav_b=(+0.10,-0.19,-0.98) r=1.99m +[headless_play] t= 13.80s step= 690 trunk_z= 7.3mm grav_b=(+0.07,-0.21,-0.98) r=2.00m +[headless_play] t= 13.90s step= 695 trunk_z= 5.7mm grav_b=(+0.11,-0.13,-0.99) r=2.00m +[headless_play] t= 14.00s step= 700 trunk_z= 10.5mm grav_b=(+0.13,-0.09,-0.99) r=2.00m +[headless_play] t= 14.10s step= 705 trunk_z= 10.1mm grav_b=(+0.08,-0.07,-0.99) r=2.00m +[headless_play] t= 14.20s step= 710 trunk_z= 6.5mm grav_b=(+0.03,-0.04,-1.00) r=1.99m +[headless_play] t= 14.30s step= 715 trunk_z= 3.9mm grav_b=(-0.05,-0.07,-1.00) r=2.00m +[headless_play] t= 14.40s step= 720 trunk_z= -1.3mm grav_b=(-0.03,-0.14,-0.99) r=2.02m +[headless_play] t= 14.50s step= 725 trunk_z= 0.3mm grav_b=(+0.08,-0.17,-0.98) r=2.03m +[headless_play] t= 14.60s step= 730 trunk_z= 3.0mm grav_b=(+0.08,-0.15,-0.98) r=2.04m +[headless_play] t= 14.70s step= 735 trunk_z= 1.5mm grav_b=(+0.08,-0.13,-0.99) r=2.02m +[headless_play] t= 14.80s step= 740 trunk_z= 5.1mm grav_b=(+0.08,-0.17,-0.98) r=2.02m +[headless_play] t= 14.90s step= 745 trunk_z= 6.5mm grav_b=(+0.23,-0.19,-0.96) r=2.02m +[headless_play] t= 15.00s step= 750 trunk_z= 2.4mm grav_b=(+0.13,-0.06,-0.99) r=2.03m +[headless_play] t= 15.10s step= 755 trunk_z= 12.4mm grav_b=(+0.15,-0.11,-0.98) r=2.05m +[headless_play] t= 15.20s step= 760 trunk_z= 13.9mm grav_b=(-0.02,-0.08,-1.00) r=2.09m +[headless_play] t= 15.30s step= 765 trunk_z= 9.3mm grav_b=(+0.08,-0.03,-1.00) r=2.12m +[headless_play] t= 15.40s step= 770 trunk_z= 2.8mm grav_b=(+0.04,+0.04,-1.00) r=2.14m +[headless_play] t= 15.50s step= 775 trunk_z= 5.5mm grav_b=(+0.10,+0.08,-0.99) r=2.15m +[headless_play] t= 15.60s step= 780 trunk_z= 10.7mm grav_b=(+0.15,+0.14,-0.98) r=2.17m +[headless_play] t= 15.70s step= 785 trunk_z= 6.1mm grav_b=(+0.10,+0.06,-0.99) r=2.20m +[headless_play] t= 15.80s step= 790 trunk_z= 15.1mm grav_b=(+0.02,+0.05,-1.00) r=2.22m +[headless_play] t= 15.90s step= 795 trunk_z= -2.3mm grav_b=(+0.05,+0.06,-1.00) r=2.22m +[headless_play] t= 16.00s step= 800 trunk_z= 0.8mm grav_b=(+0.05,+0.03,-1.00) r=2.22m +[headless_play] t= 16.10s step= 805 trunk_z= -1.3mm grav_b=(-0.00,+0.00,-1.00) r=2.21m +[headless_play] t= 16.20s step= 810 trunk_z= -1.8mm grav_b=(-0.06,+0.00,-1.00) r=2.21m +[headless_play] t= 16.30s step= 815 trunk_z= -2.4mm grav_b=(-0.01,-0.02,-1.00) r=2.20m +[headless_play] t= 16.40s step= 820 trunk_z= -6.0mm grav_b=(+0.09,+0.05,-0.99) r=2.19m +[headless_play] t= 16.50s step= 825 trunk_z= -2.9mm grav_b=(+0.07,+0.02,-1.00) r=2.18m +[headless_play] t= 16.60s step= 830 trunk_z= -4.0mm grav_b=(+0.00,+0.01,-1.00) r=2.17m +[headless_play] t= 16.70s step= 835 trunk_z= -5.6mm grav_b=(-0.04,+0.02,-1.00) r=2.17m +[headless_play] t= 16.80s step= 840 trunk_z= -5.7mm grav_b=(-0.03,-0.00,-1.00) r=2.17m +[headless_play] t= 16.90s step= 845 trunk_z= -8.0mm grav_b=(+0.06,+0.07,-1.00) r=2.17m +[headless_play] t= 17.00s step= 850 trunk_z= -5.8mm grav_b=(+0.03,+0.08,-1.00) r=2.16m +[headless_play] t= 17.10s step= 855 trunk_z= -6.3mm grav_b=(-0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 17.20s step= 860 trunk_z= -7.9mm grav_b=(-0.02,+0.08,-1.00) r=2.15m +[headless_play] t= 17.30s step= 865 trunk_z= -8.3mm grav_b=(-0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 17.40s step= 870 trunk_z= -7.8mm grav_b=(+0.01,+0.08,-1.00) r=2.15m +[headless_play] t= 17.50s step= 875 trunk_z= -7.1mm grav_b=(+0.01,+0.07,-1.00) r=2.15m +[headless_play] t= 17.60s step= 880 trunk_z= -7.2mm grav_b=(-0.02,+0.07,-1.00) r=2.15m +[headless_play] t= 17.70s step= 885 trunk_z= -7.9mm grav_b=(-0.01,+0.08,-1.00) r=2.15m +[headless_play] t= 17.80s step= 890 trunk_z= -7.8mm grav_b=(+0.01,+0.08,-1.00) r=2.15m +[headless_play] t= 17.90s step= 895 trunk_z= -7.6mm grav_b=(-0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 18.00s step= 900 trunk_z= -7.7mm grav_b=(-0.01,+0.08,-1.00) r=2.15m +[headless_play] t= 18.10s step= 905 trunk_z= -7.9mm grav_b=(-0.01,+0.08,-1.00) r=2.15m +[headless_play] t= 18.20s step= 910 trunk_z= -7.6mm grav_b=(+0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 18.30s step= 915 trunk_z= -7.5mm grav_b=(+0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 18.40s step= 920 trunk_z= -7.7mm grav_b=(-0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 18.50s step= 925 trunk_z= -7.8mm grav_b=(-0.01,+0.08,-1.00) r=2.15m +[headless_play] t= 18.60s step= 930 trunk_z= -7.8mm grav_b=(+0.00,+0.08,-1.00) r=2.15m +[headless_play] t= 18.70s step= 935 trunk_z= -8.0mm grav_b=(+0.03,+0.07,-1.00) r=2.15m +[headless_play] t= 18.80s step= 940 trunk_z= -7.3mm grav_b=(+0.09,-0.01,-1.00) r=2.17m +[headless_play] t= 18.90s step= 945 trunk_z= 1.3mm grav_b=(+0.13,+0.02,-0.99) r=2.18m +[headless_play] t= 19.00s step= 950 trunk_z= -3.6mm grav_b=(+0.01,+0.07,-1.00) r=2.21m +[headless_play] t= 19.10s step= 955 trunk_z= 4.0mm grav_b=(+0.02,+0.09,-1.00) r=2.23m +[headless_play] t= 19.20s step= 960 trunk_z= 8.5mm grav_b=(+0.03,+0.11,-0.99) r=2.24m +[headless_play] t= 19.30s step= 965 trunk_z= 8.1mm grav_b=(+0.03,+0.07,-1.00) r=2.27m +[headless_play] t= 19.40s step= 970 trunk_z= 8.6mm grav_b=(+0.01,+0.02,-1.00) r=2.30m +[headless_play] t= 19.50s step= 975 trunk_z= 14.5mm grav_b=(-0.02,-0.01,-1.00) r=2.33m +[headless_play] t= 19.60s step= 980 trunk_z= 4.0mm grav_b=(-0.02,+0.03,-1.00) r=2.35m +[headless_play] t= 19.70s step= 985 trunk_z= 12.2mm grav_b=(+0.10,+0.05,-0.99) r=2.37m +[headless_play] t= 19.80s step= 990 trunk_z= 13.1mm grav_b=(+0.07,+0.00,-1.00) r=2.38m +[headless_play] t= 19.90s step= 995 trunk_z= 17.2mm grav_b=(+0.05,-0.01,-1.00) r=2.41m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.3mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t10.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..ea9c63936eda057f0543d20594c04012d78520d3 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(+1.685,-17.924,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 111.6mm grav_b=(+0.07,+0.05,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 112.3mm grav_b=(+0.07,-0.01,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(+0.09,-0.07,-0.99) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 118.8mm grav_b=(+0.11,-0.07,-0.99) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.09,-0.03,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 119.2mm grav_b=(+0.07,+0.05,-1.00) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(+0.07,+0.05,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 114.7mm grav_b=(+0.05,-0.05,-1.00) r=0.20m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(+0.06,-0.08,-1.00) r=0.19m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(+0.03,-0.05,-1.00) r=0.20m +[headless_play] t= 1.20s step= 60 trunk_z= 117.4mm grav_b=(+0.02,+0.05,-1.00) r=0.22m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(+0.07,+0.05,-1.00) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 113.5mm grav_b=(+0.11,+0.02,-0.99) r=0.20m +[headless_play] t= 1.50s step= 75 trunk_z= 120.4mm grav_b=(+0.11,-0.04,-0.99) r=0.19m +[headless_play] t= 1.60s step= 80 trunk_z= 119.2mm grav_b=(+0.09,-0.02,-1.00) r=0.20m +[headless_play] t= 1.70s step= 85 trunk_z= 118.1mm grav_b=(+0.08,+0.06,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 119.6mm grav_b=(+0.07,+0.05,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 114.4mm grav_b=(+0.06,+0.02,-1.00) r=0.23m +[headless_play] t= 2.00s step= 100 trunk_z= 120.7mm grav_b=(+0.02,-0.07,-1.00) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 120.1mm grav_b=(+0.03,-0.06,-1.00) r=0.24m +[headless_play] t= 2.20s step= 110 trunk_z= 112.9mm grav_b=(+0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 118.6mm grav_b=(+0.02,+0.06,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 117.5mm grav_b=(+0.07,+0.05,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 111.1mm grav_b=(+0.09,-0.01,-1.00) r=0.31m +[headless_play] t= 2.60s step= 130 trunk_z= 120.0mm grav_b=(+0.09,-0.07,-0.99) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(+0.08,-0.05,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(+0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 119.8mm grav_b=(+0.02,+0.06,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 115.2mm grav_b=(+0.06,+0.04,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(+0.07,-0.07,-0.99) r=0.41m +[headless_play] t= 3.20s step= 160 trunk_z= 121.6mm grav_b=(+0.06,-0.09,-0.99) r=0.42m +[headless_play] t= 3.30s step= 165 trunk_z= 116.8mm grav_b=(+0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 124.5mm grav_b=(+0.07,+0.01,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 122.0mm grav_b=(+0.06,-0.01,-1.00) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 123.5mm grav_b=(+0.04,-0.09,-1.00) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 122.5mm grav_b=(+0.02,-0.05,-1.00) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 123.2mm grav_b=(+0.00,+0.04,-1.00) r=0.62m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 4.10s step= 205 trunk_z= 122.5mm grav_b=(+0.03,-0.07,-1.00) r=0.65m +[headless_play] t= 4.20s step= 210 trunk_z= 121.3mm grav_b=(+0.03,-0.05,-1.00) r=0.67m +[headless_play] t= 4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) r=0.70m +[headless_play] t= 4.40s step= 220 trunk_z= 122.9mm grav_b=(+0.04,+0.04,-1.00) r=0.72m +[headless_play] t= 4.50s step= 225 trunk_z= 118.3mm grav_b=(+0.03,-0.01,-1.00) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 122.1mm grav_b=(+0.01,-0.09,-1.00) r=0.76m +[headless_play] t= 4.70s step= 235 trunk_z= 122.7mm grav_b=(+0.00,-0.07,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 117.0mm grav_b=(+0.01,-0.04,-1.00) r=0.80m +[headless_play] t= 4.90s step= 245 trunk_z= 122.4mm grav_b=(+0.03,+0.04,-1.00) r=0.83m +[headless_play] t= 5.00s step= 250 trunk_z= 120.0mm grav_b=(+0.04,+0.00,-1.00) r=0.85m +[headless_play] t= 5.10s step= 255 trunk_z= 118.9mm grav_b=(+0.04,-0.06,-1.00) r=0.87m +[headless_play] t= 5.20s step= 260 trunk_z= 123.3mm grav_b=(+0.03,-0.07,-1.00) r=0.89m +[headless_play] t= 5.30s step= 265 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=0.91m +[headless_play] t= 5.40s step= 270 trunk_z= 121.2mm grav_b=(+0.02,+0.04,-1.00) r=0.94m +[headless_play] t= 5.50s step= 275 trunk_z= 120.2mm grav_b=(+0.05,+0.01,-1.00) r=0.96m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.05,-0.06,-1.00) r=0.98m +[headless_play] t= 5.70s step= 285 trunk_z= 123.6mm grav_b=(+0.03,-0.06,-1.00) r=1.00m +[headless_play] t= 5.80s step= 290 trunk_z= 119.9mm grav_b=(+0.02,-0.04,-1.00) r=1.02m +[headless_play] t= 5.90s step= 295 trunk_z= 119.8mm grav_b=(+0.02,+0.04,-1.00) r=1.05m +[headless_play] t= 6.00s step= 300 trunk_z= 122.1mm grav_b=(+0.04,+0.04,-1.00) r=1.07m +[headless_play] t= 6.10s step= 305 trunk_z= 118.2mm grav_b=(+0.05,-0.01,-1.00) r=1.09m +[headless_play] t= 6.20s step= 310 trunk_z= 124.2mm grav_b=(+0.02,-0.07,-1.00) r=1.11m +[headless_play] t= 6.30s step= 315 trunk_z= 119.7mm grav_b=(+0.03,-0.04,-1.00) r=1.14m +[headless_play] t= 6.40s step= 320 trunk_z= 111.2mm grav_b=(+0.04,+0.04,-1.00) r=1.17m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(+0.07,+0.07,-1.00) r=1.21m +[headless_play] t= 6.60s step= 330 trunk_z= 113.0mm grav_b=(+0.08,+0.03,-1.00) r=1.24m +[headless_play] t= 6.70s step= 335 trunk_z= 109.5mm grav_b=(+0.08,-0.08,-0.99) r=1.28m +[headless_play] t= 6.80s step= 340 trunk_z= 109.0mm grav_b=(+0.04,-0.08,-1.00) r=1.33m +[headless_play] t= 6.90s step= 345 trunk_z= 85.2mm grav_b=(+0.02,+0.02,-1.00) r=1.38m +[headless_play] t= 7.00s step= 350 trunk_z= 97.5mm grav_b=(+0.07,+0.08,-0.99) r=1.41m +[headless_play] t= 7.10s step= 355 trunk_z= 86.2mm grav_b=(+0.03,+0.06,-1.00) r=1.45m +[headless_play] t= 7.20s step= 360 trunk_z= 88.7mm grav_b=(+0.07,+0.05,-1.00) r=1.48m +[headless_play] t= 7.30s step= 365 trunk_z= 61.1mm grav_b=(-0.03,+0.05,-1.00) r=1.53m +[headless_play] t= 7.40s step= 370 trunk_z= 62.2mm grav_b=(-0.02,+0.02,-1.00) r=1.55m +[headless_play] t= 7.50s step= 375 trunk_z= 62.5mm grav_b=(+0.03,-0.01,-1.00) r=1.56m +[headless_play] t= 7.60s step= 380 trunk_z= 62.8mm grav_b=(+0.01,-0.04,-1.00) r=1.58m +[headless_play] t= 7.70s step= 385 trunk_z= 58.6mm grav_b=(+0.00,+0.02,-1.00) r=1.60m +[headless_play] t= 7.80s step= 390 trunk_z= 58.9mm grav_b=(+0.07,+0.08,-0.99) r=1.61m +[headless_play] t= 7.90s step= 395 trunk_z= 58.2mm grav_b=(+0.12,+0.04,-0.99) r=1.62m +[headless_play] t= 8.00s step= 400 trunk_z= 55.8mm grav_b=(+0.08,-0.04,-1.00) r=1.63m +[headless_play] t= 8.10s step= 405 trunk_z= 58.1mm grav_b=(+0.06,-0.02,-1.00) r=1.65m +[headless_play] t= 8.20s step= 410 trunk_z= 47.2mm grav_b=(+0.00,+0.09,-1.00) r=1.67m +[headless_play] t= 8.30s step= 415 trunk_z= 52.2mm grav_b=(+0.03,+0.12,-0.99) r=1.69m +[headless_play] t= 8.40s step= 420 trunk_z= 49.8mm grav_b=(+0.06,+0.08,-1.00) r=1.70m +[headless_play] t= 8.50s step= 425 trunk_z= 48.1mm grav_b=(+0.11,+0.06,-0.99) r=1.71m +[headless_play] t= 8.60s step= 430 trunk_z= 39.0mm grav_b=(+0.05,+0.14,-0.99) r=1.73m +[headless_play] t= 8.70s step= 435 trunk_z= 47.2mm grav_b=(+0.06,+0.14,-0.99) r=1.76m +[headless_play] t= 8.80s step= 440 trunk_z= 47.0mm grav_b=(+0.07,+0.15,-0.99) r=1.78m +[headless_play] t= 8.90s step= 445 trunk_z= 38.0mm grav_b=(+0.04,+0.02,-1.00) r=1.80m +[headless_play] t= 9.00s step= 450 trunk_z= 41.8mm grav_b=(+0.04,-0.02,-1.00) r=1.82m +[headless_play] t= 9.10s step= 455 trunk_z= 32.8mm grav_b=(+0.02,+0.02,-1.00) r=1.83m +[headless_play] t= 9.20s step= 460 trunk_z= 32.9mm grav_b=(+0.05,+0.02,-1.00) r=1.84m +[headless_play] t= 9.30s step= 465 trunk_z= 25.3mm grav_b=(+0.02,-0.05,-1.00) r=1.86m +[headless_play] t= 9.40s step= 470 trunk_z= 28.5mm grav_b=(+0.04,-0.07,-1.00) r=1.87m +[headless_play] t= 9.50s step= 475 trunk_z= 24.2mm grav_b=(+0.03,-0.00,-1.00) r=1.88m +[headless_play] t= 9.60s step= 480 trunk_z= 23.6mm grav_b=(+0.08,+0.00,-1.00) r=1.89m +[headless_play] t= 9.70s step= 485 trunk_z= 24.4mm grav_b=(+0.15,-0.02,-0.99) r=1.91m +[headless_play] t= 9.80s step= 490 trunk_z= 10.6mm grav_b=(+0.02,+0.04,-1.00) r=1.94m +[headless_play] t= 9.90s step= 495 trunk_z= 20.1mm grav_b=(+0.07,+0.08,-0.99) r=1.96m +[headless_play] t= 10.00s step= 500 trunk_z= 18.7mm grav_b=(+0.02,+0.05,-1.00) r=1.98m +[headless_play] t= 10.10s step= 505 trunk_z= 12.7mm grav_b=(+0.03,-0.02,-1.00) r=1.99m +[headless_play] t= 10.20s step= 510 trunk_z= 11.4mm grav_b=(+0.00,-0.00,-1.00) r=2.00m +[headless_play] t= 10.30s step= 515 trunk_z= 10.9mm grav_b=(+0.02,+0.04,-1.00) r=2.02m +[headless_play] t= 10.40s step= 520 trunk_z= 8.9mm grav_b=(+0.03,-0.02,-1.00) r=2.04m +[headless_play] t= 10.50s step= 525 trunk_z= -4.4mm grav_b=(+0.07,-0.11,-0.99) r=2.07m +[headless_play] t= 10.60s step= 530 trunk_z= 7.1mm grav_b=(+0.11,-0.16,-0.98) r=2.09m +[headless_play] t= 10.70s step= 535 trunk_z= 11.8mm grav_b=(+0.05,-0.16,-0.99) r=2.11m +[headless_play] t= 10.80s step= 540 trunk_z= 7.7mm grav_b=(+0.05,-0.08,-1.00) r=2.14m +[headless_play] t= 10.90s step= 545 trunk_z= 11.1mm grav_b=(+0.10,-0.05,-0.99) r=2.15m +[headless_play] t= 11.00s step= 550 trunk_z= 11.4mm grav_b=(+0.02,+0.01,-1.00) r=2.17m +[headless_play] t= 11.10s step= 555 trunk_z= 8.6mm grav_b=(+0.03,-0.01,-1.00) r=2.18m +[headless_play] t= 11.20s step= 560 trunk_z= 5.4mm grav_b=(-0.02,+0.05,-1.00) r=2.20m +[headless_play] t= 11.30s step= 565 trunk_z= 10.3mm grav_b=(-0.01,+0.07,-1.00) r=2.20m +[headless_play] t= 11.40s step= 570 trunk_z= 13.2mm grav_b=(+0.01,+0.06,-1.00) r=2.21m +[headless_play] t= 11.50s step= 575 trunk_z= 8.7mm grav_b=(+0.00,-0.00,-1.00) r=2.22m +[headless_play] t= 11.60s step= 580 trunk_z= 17.7mm grav_b=(+0.01,-0.03,-1.00) r=2.23m +[headless_play] t= 11.70s step= 585 trunk_z= 15.4mm grav_b=(-0.02,-0.01,-1.00) r=2.25m +[headless_play] t= 11.80s step= 590 trunk_z= 14.6mm grav_b=(-0.01,+0.01,-1.00) r=2.26m +[headless_play] t= 11.90s step= 595 trunk_z= 17.4mm grav_b=(-0.01,-0.01,-1.00) r=2.27m +[headless_play] t= 12.00s step= 600 trunk_z= 14.0mm grav_b=(+0.01,-0.05,-1.00) r=2.27m +[headless_play] t= 12.10s step= 605 trunk_z= 24.1mm grav_b=(+0.02,-0.05,-1.00) r=2.29m +[headless_play] t= 12.20s step= 610 trunk_z= 22.5mm grav_b=(-0.01,-0.04,-1.00) r=2.30m +[headless_play] t= 12.30s step= 615 trunk_z= 23.6mm grav_b=(-0.01,+0.00,-1.00) r=2.32m +[headless_play] t= 12.40s step= 620 trunk_z= 26.5mm grav_b=(-0.01,+0.01,-1.00) r=2.33m +[headless_play] t= 12.50s step= 625 trunk_z= 21.6mm grav_b=(-0.03,-0.03,-1.00) r=2.33m +[headless_play] t= 12.60s step= 630 trunk_z= 30.7mm grav_b=(-0.02,-0.06,-1.00) r=2.33m +[headless_play] t= 12.70s step= 635 trunk_z= 30.6mm grav_b=(-0.02,-0.06,-1.00) r=2.34m +[headless_play] t= 12.80s step= 640 trunk_z= 24.6mm grav_b=(-0.02,-0.02,-1.00) r=2.36m +[headless_play] t= 12.90s step= 645 trunk_z= 32.9mm grav_b=(+0.01,+0.02,-1.00) r=2.38m +[headless_play] t= 13.00s step= 650 trunk_z= 31.4mm grav_b=(+0.02,+0.01,-1.00) r=2.38m +[headless_play] t= 13.10s step= 655 trunk_z= 32.6mm grav_b=(+0.01,-0.05,-1.00) r=2.37m +[headless_play] t= 13.20s step= 660 trunk_z= 35.5mm grav_b=(-0.02,-0.06,-1.00) r=2.38m +[headless_play] t= 13.30s step= 665 trunk_z= 29.0mm grav_b=(-0.04,-0.02,-1.00) r=2.40m +[headless_play] t= 13.40s step= 670 trunk_z= 37.4mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 13.50s step= 675 trunk_z= 35.8mm grav_b=(+0.00,-0.02,-1.00) r=2.42m +[headless_play] t= 13.60s step= 680 trunk_z= 40.4mm grav_b=(+0.00,-0.07,-1.00) r=2.42m +[headless_play] t= 13.70s step= 685 trunk_z= 44.4mm grav_b=(-0.01,-0.08,-1.00) r=2.43m +[headless_play] t= 13.80s step= 690 trunk_z= 40.3mm grav_b=(-0.07,-0.06,-1.00) r=2.46m +[headless_play] t= 13.90s step= 695 trunk_z= 41.8mm grav_b=(-0.07,-0.00,-1.00) r=2.47m +[headless_play] t= 14.00s step= 700 trunk_z= 39.4mm grav_b=(-0.05,-0.02,-1.00) r=2.46m +[headless_play] t= 14.10s step= 705 trunk_z= 33.5mm grav_b=(-0.01,-0.05,-1.00) r=2.44m +[headless_play] t= 14.20s step= 710 trunk_z= 34.0mm grav_b=(+0.02,-0.04,-1.00) r=2.44m +[headless_play] t= 14.30s step= 715 trunk_z= 32.5mm grav_b=(+0.04,+0.05,-1.00) r=2.45m +[headless_play] t= 14.40s step= 720 trunk_z= 37.7mm grav_b=(+0.04,+0.02,-1.00) r=2.46m +[headless_play] t= 14.50s step= 725 trunk_z= 33.5mm grav_b=(+0.03,-0.04,-1.00) r=2.45m +[headless_play] t= 14.60s step= 730 trunk_z= 44.8mm grav_b=(+0.01,-0.04,-1.00) r=2.46m +[headless_play] t= 14.70s step= 735 trunk_z= 40.7mm grav_b=(-0.01,-0.02,-1.00) r=2.47m +[headless_play] t= 14.80s step= 740 trunk_z= 42.8mm grav_b=(-0.01,+0.03,-1.00) r=2.49m +[headless_play] t= 14.90s step= 745 trunk_z= 45.9mm grav_b=(-0.02,+0.02,-1.00) r=2.50m +[headless_play] t= 15.00s step= 750 trunk_z= 39.5mm grav_b=(-0.02,-0.05,-1.00) r=2.49m +[headless_play] t= 15.10s step= 755 trunk_z= 50.1mm grav_b=(-0.01,-0.07,-1.00) r=2.50m +[headless_play] t= 15.20s step= 760 trunk_z= 48.4mm grav_b=(-0.02,-0.04,-1.00) r=2.51m +[headless_play] t= 15.30s step= 765 trunk_z= 45.8mm grav_b=(-0.03,+0.01,-1.00) r=2.53m +[headless_play] t= 15.40s step= 770 trunk_z= 51.9mm grav_b=(-0.04,+0.01,-1.00) r=2.53m +[headless_play] t= 15.50s step= 775 trunk_z= 46.9mm grav_b=(-0.05,-0.04,-1.00) r=2.53m +[headless_play] t= 15.60s step= 780 trunk_z= 51.6mm grav_b=(-0.01,-0.09,-1.00) r=2.52m +[headless_play] t= 15.70s step= 785 trunk_z= 52.2mm grav_b=(-0.00,-0.08,-1.00) r=2.53m +[headless_play] t= 15.80s step= 790 trunk_z= 46.2mm grav_b=(+0.00,-0.03,-1.00) r=2.55m +[headless_play] t= 15.90s step= 795 trunk_z= 55.3mm grav_b=(+0.01,+0.01,-1.00) r=2.56m +[headless_play] t= 16.00s step= 800 trunk_z= 53.5mm grav_b=(-0.01,-0.01,-1.00) r=2.57m +[headless_play] t= 16.10s step= 805 trunk_z= 57.5mm grav_b=(-0.03,-0.05,-1.00) r=2.57m +[headless_play] t= 16.20s step= 810 trunk_z= 60.6mm grav_b=(-0.02,-0.05,-1.00) r=2.56m +[headless_play] t= 16.30s step= 815 trunk_z= 53.9mm grav_b=(-0.01,-0.01,-1.00) r=2.57m +[headless_play] t= 16.40s step= 820 trunk_z= 57.8mm grav_b=(-0.00,+0.10,-0.99) r=2.58m +[headless_play] t= 16.50s step= 825 trunk_z= 61.7mm grav_b=(-0.00,+0.13,-0.99) r=2.59m +[headless_play] t= 16.60s step= 830 trunk_z= 60.5mm grav_b=(+0.00,+0.11,-0.99) r=2.59m +[headless_play] t= 16.70s step= 835 trunk_z= 61.1mm grav_b=(+0.00,+0.02,-1.00) r=2.60m +[headless_play] t= 16.80s step= 840 trunk_z= 60.1mm grav_b=(+0.01,+0.02,-1.00) r=2.60m +[headless_play] t= 16.90s step= 845 trunk_z= 53.4mm grav_b=(-0.01,+0.08,-1.00) r=2.60m +[headless_play] t= 17.00s step= 850 trunk_z= 62.5mm grav_b=(-0.02,+0.10,-0.99) r=2.61m +[headless_play] t= 17.10s step= 855 trunk_z= 61.5mm grav_b=(-0.02,+0.11,-0.99) r=2.62m +[headless_play] t= 17.20s step= 860 trunk_z= 61.1mm grav_b=(-0.02,+0.03,-1.00) r=2.63m +[headless_play] t= 17.30s step= 865 trunk_z= 64.9mm grav_b=(-0.03,+0.03,-1.00) r=2.64m +[headless_play] t= 17.40s step= 870 trunk_z= 57.7mm grav_b=(-0.03,+0.08,-1.00) r=2.65m +[headless_play] t= 17.50s step= 875 trunk_z= 65.9mm grav_b=(-0.00,+0.14,-0.99) r=2.66m +[headless_play] t= 17.60s step= 880 trunk_z= 69.0mm grav_b=(+0.01,+0.16,-0.99) r=2.67m +[headless_play] t= 17.70s step= 885 trunk_z= 68.7mm grav_b=(+0.02,+0.13,-0.99) r=2.68m +[headless_play] t= 17.80s step= 890 trunk_z= 70.2mm grav_b=(+0.00,+0.04,-1.00) r=2.70m +[headless_play] t= 17.90s step= 895 trunk_z= 68.1mm grav_b=(-0.01,+0.05,-1.00) r=2.70m +[headless_play] t= 18.00s step= 900 trunk_z= 62.3mm grav_b=(-0.05,+0.09,-0.99) r=2.70m +[headless_play] t= 18.10s step= 905 trunk_z= 68.9mm grav_b=(-0.04,+0.13,-0.99) r=2.71m +[headless_play] t= 18.20s step= 910 trunk_z= 69.0mm grav_b=(-0.02,+0.12,-0.99) r=2.72m +[headless_play] t= 18.30s step= 915 trunk_z= 65.8mm grav_b=(+0.01,+0.06,-1.00) r=2.73m +[headless_play] t= 18.40s step= 920 trunk_z= 74.1mm grav_b=(+0.03,+0.03,-1.00) r=2.75m +[headless_play] t= 18.50s step= 925 trunk_z= 66.7mm grav_b=(-0.00,+0.06,-1.00) r=2.76m +[headless_play] t= 18.60s step= 930 trunk_z= 69.1mm grav_b=(-0.03,+0.11,-0.99) r=2.78m +[headless_play] t= 18.70s step= 935 trunk_z= 73.3mm grav_b=(-0.06,+0.13,-0.99) r=2.78m +[headless_play] t= 18.80s step= 940 trunk_z= 72.5mm grav_b=(-0.05,+0.08,-1.00) r=2.78m +[headless_play] t= 18.90s step= 945 trunk_z= 67.1mm grav_b=(+0.01,+0.03,-1.00) r=2.78m +[headless_play] t= 19.00s step= 950 trunk_z= 65.1mm grav_b=(+0.06,+0.03,-1.00) r=2.78m +[headless_play] t= 19.10s step= 955 trunk_z= 53.4mm grav_b=(+0.07,+0.09,-0.99) r=2.78m +[headless_play] t= 19.20s step= 960 trunk_z= 64.9mm grav_b=(+0.09,+0.16,-0.98) r=2.78m +[headless_play] t= 19.30s step= 965 trunk_z= 67.3mm grav_b=(+0.06,+0.17,-0.98) r=2.79m +[headless_play] t= 19.40s step= 970 trunk_z= 71.7mm grav_b=(+0.05,+0.11,-0.99) r=2.81m +[headless_play] t= 19.50s step= 975 trunk_z= 76.6mm grav_b=(+0.04,+0.03,-1.00) r=2.83m +[headless_play] t= 19.60s step= 980 trunk_z= 69.7mm grav_b=(+0.01,+0.05,-1.00) r=2.83m +[headless_play] t= 19.70s step= 985 trunk_z= 61.5mm grav_b=(-0.03,+0.12,-0.99) r=2.84m +[headless_play] t= 19.80s step= 990 trunk_z= 67.8mm grav_b=(-0.02,+0.18,-0.98) r=2.85m +[headless_play] t= 19.90s step= 995 trunk_z= 69.0mm grav_b=(-0.02,+0.17,-0.99) r=2.85m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.4mm grav_b=(-0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.00,+0.04,-1.00) r=0.16m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t11.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..46e9a8f5839e72193bc3478c327c99109af1829b --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.977,-18.383,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.3mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(-0.03,-0.05,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 122.9mm grav_b=(-0.04,-0.04,-1.00) r=0.38m +[headless_play] t= 0.40s step= 20 trunk_z= 118.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 123.5mm grav_b=(-0.01,+0.05,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 127.5mm grav_b=(+0.01,+0.08,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 121.9mm grav_b=(-0.01,+0.07,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 122.2mm grav_b=(-0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 123.8mm grav_b=(-0.01,-0.03,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 125.1mm grav_b=(-0.02,+0.06,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 125.7mm grav_b=(+0.01,+0.09,-1.00) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 122.9mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 119.3mm grav_b=(-0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 123.2mm grav_b=(-0.05,+0.07,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 126.0mm grav_b=(-0.02,+0.08,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 121.5mm grav_b=(-0.02,+0.06,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 121.9mm grav_b=(-0.01,-0.06,-1.00) r=0.60m +[headless_play] t= 2.00s step= 100 trunk_z= 126.7mm grav_b=(+0.00,-0.06,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 125.1mm grav_b=(-0.01,-0.04,-1.00) r=0.62m +[headless_play] t= 2.20s step= 110 trunk_z= 124.8mm grav_b=(+0.04,+0.08,-1.00) r=0.64m +[headless_play] t= 2.30s step= 115 trunk_z= 129.0mm grav_b=(+0.05,+0.08,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 123.5mm grav_b=(-0.02,+0.04,-1.00) r=0.68m +[headless_play] t= 2.50s step= 125 trunk_z= 121.4mm grav_b=(-0.03,-0.02,-1.00) r=0.71m +[headless_play] t= 2.60s step= 130 trunk_z= 125.3mm grav_b=(-0.06,-0.02,-1.00) r=0.73m +[headless_play] t= 2.70s step= 135 trunk_z= 118.0mm grav_b=(-0.07,+0.04,-1.00) r=0.75m +[headless_play] t= 2.80s step= 140 trunk_z= 122.9mm grav_b=(-0.03,+0.07,-1.00) r=0.77m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(-0.00,+0.08,-1.00) r=0.79m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(-0.02,-0.02,-1.00) r=0.81m +[headless_play] t= 3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.01,-0.05,-1.00) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.84m +[headless_play] t= 3.30s step= 165 trunk_z= 112.5mm grav_b=(+0.00,+0.08,-1.00) r=0.86m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(+0.02,+0.11,-0.99) r=0.87m +[headless_play] t= 3.50s step= 175 trunk_z= 113.3mm grav_b=(+0.04,+0.09,-1.00) r=0.89m +[headless_play] t= 3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.01,-0.04,-1.00) r=0.91m +[headless_play] t= 3.70s step= 185 trunk_z= 119.5mm grav_b=(-0.01,-0.06,-1.00) r=0.92m +[headless_play] t= 3.80s step= 190 trunk_z= 115.0mm grav_b=(+0.00,-0.02,-1.00) r=0.94m +[headless_play] t= 3.90s step= 195 trunk_z= 112.0mm grav_b=(+0.02,+0.07,-1.00) r=0.95m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(+0.04,+0.07,-1.00) r=0.97m +[headless_play] t= 4.10s step= 205 trunk_z= 111.4mm grav_b=(+0.04,+0.05,-1.00) r=0.99m +[headless_play] t= 4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.00,-0.05,-1.00) r=1.01m +[headless_play] t= 4.30s step= 215 trunk_z= 118.7mm grav_b=(-0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 4.40s step= 220 trunk_z= 112.6mm grav_b=(+0.02,+0.01,-1.00) r=1.04m +[headless_play] t= 4.50s step= 225 trunk_z= 108.3mm grav_b=(+0.04,+0.09,-1.00) r=1.07m +[headless_play] t= 4.60s step= 230 trunk_z= 107.2mm grav_b=(+0.10,+0.09,-0.99) r=1.09m +[headless_play] t= 4.70s step= 235 trunk_z= 99.9mm grav_b=(+0.08,-0.01,-1.00) r=1.11m +[headless_play] t= 4.80s step= 240 trunk_z= 105.1mm grav_b=(+0.02,-0.08,-1.00) r=1.14m +[headless_play] t= 4.90s step= 245 trunk_z= 97.4mm grav_b=(+0.08,-0.04,-1.00) r=1.17m +[headless_play] t= 5.00s step= 250 trunk_z= 88.6mm grav_b=(+0.06,+0.09,-0.99) r=1.21m +[headless_play] t= 5.10s step= 255 trunk_z= 91.8mm grav_b=(+0.12,+0.12,-0.99) r=1.23m +[headless_play] t= 5.20s step= 260 trunk_z= 89.6mm grav_b=(+0.08,+0.08,-0.99) r=1.26m +[headless_play] t= 5.30s step= 265 trunk_z= 82.7mm grav_b=(+0.05,-0.08,-1.00) r=1.30m +[headless_play] t= 5.40s step= 270 trunk_z= 88.5mm grav_b=(+0.06,-0.06,-1.00) r=1.33m +[headless_play] t= 5.50s step= 275 trunk_z= 66.2mm grav_b=(-0.03,+0.00,-1.00) r=1.39m +[headless_play] t= 5.60s step= 280 trunk_z= 69.5mm grav_b=(+0.02,+0.14,-0.99) r=1.42m +[headless_play] t= 5.70s step= 285 trunk_z= 71.3mm grav_b=(-0.02,+0.17,-0.98) r=1.46m +[headless_play] t= 5.80s step= 290 trunk_z= 68.7mm grav_b=(-0.02,+0.11,-0.99) r=1.49m +[headless_play] t= 5.90s step= 295 trunk_z= 56.2mm grav_b=(+0.01,-0.12,-0.99) r=1.54m +[headless_play] t= 6.00s step= 300 trunk_z= 58.4mm grav_b=(+0.00,-0.11,-0.99) r=1.56m +[headless_play] t= 6.10s step= 305 trunk_z= 51.4mm grav_b=(+0.02,-0.12,-0.99) r=1.60m +[headless_play] t= 6.20s step= 310 trunk_z= 36.1mm grav_b=(+0.05,+0.01,-1.00) r=1.65m +[headless_play] t= 6.30s step= 315 trunk_z= 49.2mm grav_b=(+0.06,+0.13,-0.99) r=1.69m +[headless_play] t= 6.40s step= 320 trunk_z= 44.4mm grav_b=(+0.00,+0.12,-0.99) r=1.74m +[headless_play] t= 6.50s step= 325 trunk_z= 21.8mm grav_b=(+0.06,-0.10,-0.99) r=1.79m +[headless_play] t= 6.60s step= 330 trunk_z= 28.9mm grav_b=(+0.02,-0.14,-0.99) r=1.82m +[headless_play] t= 6.70s step= 335 trunk_z= 24.0mm grav_b=(-0.01,-0.11,-0.99) r=1.84m +[headless_play] t= 6.80s step= 340 trunk_z= 13.0mm grav_b=(+0.02,+0.02,-1.00) r=1.87m +[headless_play] t= 6.90s step= 345 trunk_z= 18.5mm grav_b=(+0.08,+0.10,-0.99) r=1.90m +[headless_play] t= 7.00s step= 350 trunk_z= 11.5mm grav_b=(+0.06,+0.04,-1.00) r=1.95m +[headless_play] t= 7.10s step= 355 trunk_z= 8.9mm grav_b=(+0.06,-0.05,-1.00) r=1.99m +[headless_play] t= 7.20s step= 360 trunk_z= 4.3mm grav_b=(-0.01,-0.03,-1.00) r=2.03m +[headless_play] t= 7.30s step= 365 trunk_z= -17.8mm grav_b=(-0.05,+0.14,-0.99) r=2.07m +[headless_play] t= 7.40s step= 370 trunk_z= -5.6mm grav_b=(-0.04,+0.23,-0.97) r=2.08m +[headless_play] t= 7.50s step= 375 trunk_z= -3.5mm grav_b=(-0.05,+0.24,-0.97) r=2.10m +[headless_play] t= 7.60s step= 380 trunk_z= -6.6mm grav_b=(-0.03,+0.22,-0.98) r=2.12m +[headless_play] t= 7.70s step= 385 trunk_z= -2.2mm grav_b=(+0.00,+0.09,-1.00) r=2.14m +[headless_play] t= 7.80s step= 390 trunk_z= 0.4mm grav_b=(-0.03,-0.04,-1.00) r=2.17m +[headless_play] t= 7.90s step= 395 trunk_z= -14.7mm grav_b=(-0.08,-0.03,-1.00) r=2.19m +[headless_play] t= 8.00s step= 400 trunk_z= -14.0mm grav_b=(-0.04,+0.09,-0.99) r=2.20m +[headless_play] t= 8.10s step= 405 trunk_z= -8.9mm grav_b=(+0.01,+0.14,-0.99) r=2.21m +[headless_play] t= 8.20s step= 410 trunk_z= -15.9mm grav_b=(+0.04,+0.11,-0.99) r=2.22m +[headless_play] t= 8.30s step= 415 trunk_z= -8.5mm grav_b=(+0.06,-0.03,-1.00) r=2.24m +[headless_play] t= 8.40s step= 420 trunk_z= -7.1mm grav_b=(+0.05,-0.02,-1.00) r=2.26m +[headless_play] t= 8.50s step= 425 trunk_z= -16.1mm grav_b=(-0.01,+0.02,-1.00) r=2.29m +[headless_play] t= 8.60s step= 430 trunk_z= -14.8mm grav_b=(+0.04,+0.05,-1.00) r=2.30m +[headless_play] t= 8.70s step= 435 trunk_z= -10.9mm grav_b=(+0.00,+0.02,-1.00) r=2.30m +[headless_play] t= 8.80s step= 440 trunk_z= -17.2mm grav_b=(+0.05,-0.10,-0.99) r=2.30m +[headless_play] t= 8.90s step= 445 trunk_z= -10.9mm grav_b=(-0.02,-0.03,-1.00) r=2.31m +[headless_play] t= 9.00s step= 450 trunk_z= -14.5mm grav_b=(-0.05,+0.10,-0.99) r=2.33m +[headless_play] t= 9.10s step= 455 trunk_z= -6.3mm grav_b=(-0.07,+0.12,-0.99) r=2.33m +[headless_play] t= 9.20s step= 460 trunk_z= -6.5mm grav_b=(-0.01,+0.10,-0.99) r=2.32m +[headless_play] t= 9.30s step= 465 trunk_z= -14.8mm grav_b=(+0.02,+0.07,-1.00) r=2.31m +[headless_play] t= 9.40s step= 470 trunk_z= -16.8mm grav_b=(-0.05,+0.11,-0.99) r=2.31m +[headless_play] t= 9.50s step= 475 trunk_z= -28.9mm grav_b=(+0.07,+0.12,-0.99) r=2.31m +[headless_play] t= 9.60s step= 480 trunk_z= -17.8mm grav_b=(+0.06,+0.13,-0.99) r=2.31m +[headless_play] t= 9.70s step= 485 trunk_z= -8.7mm grav_b=(-0.02,+0.03,-1.00) r=2.31m +[headless_play] t= 9.80s step= 490 trunk_z= -9.8mm grav_b=(+0.21,-0.10,-0.97) r=2.32m +[headless_play] t= 9.90s step= 495 trunk_z= -10.5mm grav_b=(+0.14,-0.09,-0.99) r=2.33m +[headless_play] t= 10.00s step= 500 trunk_z= -20.4mm grav_b=(+0.04,-0.10,-0.99) r=2.34m +[headless_play] t= 10.10s step= 505 trunk_z= 1.2mm grav_b=(-0.05,+0.01,-1.00) r=2.34m +[headless_play] t= 10.20s step= 510 trunk_z= -23.2mm grav_b=(-0.06,-0.14,-0.99) r=2.34m +[headless_play] t= 10.30s step= 515 trunk_z= -14.0mm grav_b=(+0.06,-0.22,-0.97) r=2.34m +[headless_play] t= 10.40s step= 520 trunk_z= -3.9mm grav_b=(-0.05,-0.21,-0.98) r=2.35m +[headless_play] t= 10.50s step= 525 trunk_z= -10.7mm grav_b=(-0.01,-0.19,-0.98) r=2.36m +[headless_play] t= 10.60s step= 530 trunk_z= -16.2mm grav_b=(+0.04,-0.07,-1.00) r=2.37m +[headless_play] t= 10.70s step= 535 trunk_z= -16.2mm grav_b=(+0.12,+0.07,-0.99) r=2.40m +[headless_play] t= 10.80s step= 540 trunk_z= -1.6mm grav_b=(-0.01,+0.10,-1.00) r=2.42m +[headless_play] t= 10.90s step= 545 trunk_z= -17.9mm grav_b=(+0.08,-0.06,-0.99) r=2.46m +[headless_play] t= 11.00s step= 550 trunk_z= -4.0mm grav_b=(+0.10,-0.03,-0.99) r=2.49m +[headless_play] t= 11.10s step= 555 trunk_z= -34.6mm grav_b=(-0.05,-0.16,-0.99) r=2.53m +[headless_play] t= 11.20s step= 560 trunk_z= -13.7mm grav_b=(+0.12,-0.05,-0.99) r=2.54m +[headless_play] t= 11.30s step= 565 trunk_z= -25.3mm grav_b=(-0.01,-0.03,-1.00) r=2.56m +[headless_play] t= 11.40s step= 570 trunk_z= -20.3mm grav_b=(+0.18,+0.08,-0.98) r=2.59m +[headless_play] t= 11.50s step= 575 trunk_z= -28.8mm grav_b=(-0.02,+0.06,-1.00) r=2.62m +[headless_play] t= 11.60s step= 580 trunk_z= -23.4mm grav_b=(-0.09,+0.10,-0.99) r=2.63m +[headless_play] t= 11.70s step= 585 trunk_z= -19.3mm grav_b=(-0.07,-0.01,-1.00) r=2.63m +[headless_play] t= 11.80s step= 590 trunk_z= -12.6mm grav_b=(-0.03,-0.02,-1.00) r=2.63m +[headless_play] t= 11.90s step= 595 trunk_z= -12.8mm grav_b=(-0.05,+0.03,-1.00) r=2.64m +[headless_play] t= 12.00s step= 600 trunk_z= -15.8mm grav_b=(-0.04,+0.07,-1.00) r=2.67m +[headless_play] t= 12.10s step= 605 trunk_z= -17.1mm grav_b=(-0.00,+0.09,-1.00) r=2.68m +[headless_play] t= 12.20s step= 610 trunk_z= -18.7mm grav_b=(+0.03,+0.07,-1.00) r=2.68m +[headless_play] t= 12.30s step= 615 trunk_z= -19.3mm grav_b=(+0.02,-0.02,-1.00) r=2.68m +[headless_play] t= 12.40s step= 620 trunk_z= -14.2mm grav_b=(+0.06,-0.01,-1.00) r=2.69m +[headless_play] t= 12.50s step= 625 trunk_z= -19.9mm grav_b=(+0.03,+0.03,-1.00) r=2.71m +[headless_play] t= 12.60s step= 630 trunk_z= -15.1mm grav_b=(+0.06,+0.10,-0.99) r=2.73m +[headless_play] t= 12.70s step= 635 trunk_z= -16.5mm grav_b=(+0.05,+0.06,-1.00) r=2.75m +[headless_play] t= 12.80s step= 640 trunk_z= -19.8mm grav_b=(+0.02,-0.04,-1.00) r=2.76m +[headless_play] t= 12.90s step= 645 trunk_z= -12.3mm grav_b=(+0.05,-0.06,-1.00) r=2.77m +[headless_play] t= 13.00s step= 650 trunk_z= -19.4mm grav_b=(+0.03,+0.00,-1.00) r=2.79m +[headless_play] t= 13.10s step= 655 trunk_z= -13.6mm grav_b=(+0.01,+0.06,-1.00) r=2.81m +[headless_play] t= 13.20s step= 660 trunk_z= -13.8mm grav_b=(+0.02,+0.08,-1.00) r=2.83m +[headless_play] t= 13.30s step= 665 trunk_z= -18.9mm grav_b=(+0.04,+0.02,-1.00) r=2.84m +[headless_play] t= 13.40s step= 670 trunk_z= -16.5mm grav_b=(+0.07,-0.07,-1.00) r=2.85m +[headless_play] t= 13.50s step= 675 trunk_z= -16.0mm grav_b=(+0.06,-0.02,-1.00) r=2.86m +[headless_play] t= 13.60s step= 680 trunk_z= -19.4mm grav_b=(+0.02,+0.08,-1.00) r=2.89m +[headless_play] t= 13.70s step= 685 trunk_z= -10.9mm grav_b=(+0.03,+0.13,-0.99) r=2.91m +[headless_play] t= 13.80s step= 690 trunk_z= -16.2mm grav_b=(+0.05,+0.12,-0.99) r=2.92m +[headless_play] t= 13.90s step= 695 trunk_z= -20.0mm grav_b=(+0.02,+0.07,-1.00) r=2.94m +[headless_play] t= 14.00s step= 700 trunk_z= -12.5mm grav_b=(+0.04,+0.01,-1.00) r=2.95m +[headless_play] t= 14.10s step= 705 trunk_z= -19.9mm grav_b=(-0.00,+0.08,-1.00) r=2.96m +[headless_play] t= 14.20s step= 710 trunk_z= -18.1mm grav_b=(+0.02,+0.08,-1.00) r=2.98m +[headless_play] t= 14.30s step= 715 trunk_z= -19.8mm grav_b=(+0.03,+0.06,-1.00) r=2.99m +[headless_play] t= 14.40s step= 720 trunk_z= -24.3mm grav_b=(+0.06,-0.02,-1.00) r=3.00m +[headless_play] t= 14.50s step= 725 trunk_z= -15.3mm grav_b=(+0.06,-0.05,-1.00) r=3.01m +[headless_play] t= 14.60s step= 730 trunk_z= -21.6mm grav_b=(+0.08,+0.03,-1.00) r=3.04m +[headless_play] t= 14.70s step= 735 trunk_z= -14.8mm grav_b=(+0.08,+0.13,-0.99) r=3.06m +[headless_play] t= 14.80s step= 740 trunk_z= -9.7mm grav_b=(+0.02,+0.13,-0.99) r=3.08m +[headless_play] t= 14.90s step= 745 trunk_z= -18.9mm grav_b=(+0.00,+0.07,-1.00) r=3.09m +[headless_play] t= 15.00s step= 750 trunk_z= -11.4mm grav_b=(+0.00,-0.04,-1.00) r=3.11m +[headless_play] t= 15.10s step= 755 trunk_z= -12.6mm grav_b=(+0.02,-0.04,-1.00) r=3.11m +[headless_play] t= 15.20s step= 760 trunk_z= -20.2mm grav_b=(+0.04,+0.02,-1.00) r=3.13m +[headless_play] t= 15.30s step= 765 trunk_z= -17.5mm grav_b=(+0.05,+0.11,-0.99) r=3.15m +[headless_play] t= 15.40s step= 770 trunk_z= -21.1mm grav_b=(+0.07,+0.08,-0.99) r=3.17m +[headless_play] t= 15.50s step= 775 trunk_z= -15.0mm grav_b=(+0.04,-0.04,-1.00) r=3.20m +[headless_play] t= 15.60s step= 780 trunk_z= -9.3mm grav_b=(+0.00,-0.08,-1.00) r=3.22m +[headless_play] t= 15.70s step= 785 trunk_z= -22.5mm grav_b=(-0.03,+0.02,-1.00) r=3.24m +[headless_play] t= 15.80s step= 790 trunk_z= -16.4mm grav_b=(+0.01,+0.12,-0.99) r=3.26m +[headless_play] t= 15.90s step= 795 trunk_z= -12.6mm grav_b=(+0.03,+0.15,-0.99) r=3.27m +[headless_play] t= 16.00s step= 800 trunk_z= -23.4mm grav_b=(+0.03,+0.15,-0.99) r=3.28m +[headless_play] t= 16.10s step= 805 trunk_z= -20.9mm grav_b=(+0.08,+0.05,-1.00) r=3.29m +[headless_play] t= 16.20s step= 810 trunk_z= -11.5mm grav_b=(+0.12,-0.02,-0.99) r=3.31m +[headless_play] t= 16.30s step= 815 trunk_z= -17.8mm grav_b=(+0.03,+0.00,-1.00) r=3.33m +[headless_play] t= 16.40s step= 820 trunk_z= -14.7mm grav_b=(+0.02,+0.07,-1.00) r=3.35m +[headless_play] t= 16.50s step= 825 trunk_z= -18.1mm grav_b=(-0.02,+0.06,-1.00) r=3.37m +[headless_play] t= 16.60s step= 830 trunk_z= -18.1mm grav_b=(-0.03,+0.00,-1.00) r=3.39m +[headless_play] t= 16.70s step= 835 trunk_z= -12.4mm grav_b=(-0.04,-0.02,-1.00) r=3.40m +[headless_play] t= 16.80s step= 840 trunk_z= -18.7mm grav_b=(-0.02,+0.04,-1.00) r=3.40m +[headless_play] t= 16.90s step= 845 trunk_z= -23.4mm grav_b=(-0.02,+0.10,-0.99) r=3.41m +[headless_play] t= 17.00s step= 850 trunk_z= -15.6mm grav_b=(+0.01,+0.10,-0.99) r=3.43m +[headless_play] t= 17.10s step= 855 trunk_z= -21.7mm grav_b=(+0.05,+0.08,-1.00) r=3.44m +[headless_play] t= 17.20s step= 860 trunk_z= -18.9mm grav_b=(+0.09,-0.00,-1.00) r=3.46m +[headless_play] t= 17.30s step= 865 trunk_z= -16.6mm grav_b=(+0.11,-0.03,-0.99) r=3.47m +[headless_play] t= 17.40s step= 870 trunk_z= -19.8mm grav_b=(+0.05,-0.01,-1.00) r=3.48m +[headless_play] t= 17.50s step= 875 trunk_z= -14.2mm grav_b=(+0.08,+0.11,-0.99) r=3.50m +[headless_play] t= 17.60s step= 880 trunk_z= -15.7mm grav_b=(+0.04,+0.11,-0.99) r=3.52m +[headless_play] t= 17.70s step= 885 trunk_z= -19.2mm grav_b=(+0.04,+0.00,-1.00) r=3.55m +[headless_play] t= 17.80s step= 890 trunk_z= -10.1mm grav_b=(+0.08,-0.09,-0.99) r=3.57m +[headless_play] t= 17.90s step= 895 trunk_z= -16.3mm grav_b=(+0.03,-0.07,-1.00) r=3.58m +[headless_play] t= 18.00s step= 900 trunk_z= -12.7mm grav_b=(+0.02,+0.06,-1.00) r=3.59m +[headless_play] t= 18.10s step= 905 trunk_z= -13.5mm grav_b=(+0.03,+0.14,-0.99) r=3.61m +[headless_play] t= 18.20s step= 910 trunk_z= -16.8mm grav_b=(+0.04,+0.15,-0.99) r=3.62m +[headless_play] t= 18.30s step= 915 trunk_z= -19.1mm grav_b=(+0.02,-0.02,-1.00) r=3.65m +[headless_play] t= 18.40s step= 920 trunk_z= -8.0mm grav_b=(+0.04,-0.11,-0.99) r=3.67m +[headless_play] t= 18.50s step= 925 trunk_z= -22.5mm grav_b=(+0.03,-0.09,-1.00) r=3.68m +[headless_play] t= 18.60s step= 930 trunk_z= -16.3mm grav_b=(+0.01,+0.05,-1.00) r=3.68m +[headless_play] t= 18.70s step= 935 trunk_z= -15.1mm grav_b=(+0.02,+0.15,-0.99) r=3.69m +[headless_play] t= 18.80s step= 940 trunk_z= -12.4mm grav_b=(+0.03,+0.16,-0.99) r=3.71m +[headless_play] t= 18.90s step= 945 trunk_z= -16.0mm grav_b=(+0.04,+0.07,-1.00) r=3.73m +[headless_play] t= 19.00s step= 950 trunk_z= -10.0mm grav_b=(+0.04,-0.06,-1.00) r=3.75m +[headless_play] t= 19.10s step= 955 trunk_z= -22.9mm grav_b=(+0.03,-0.06,-1.00) r=3.77m +[headless_play] t= 19.20s step= 960 trunk_z= -14.4mm grav_b=(+0.02,+0.06,-1.00) r=3.78m +[headless_play] t= 19.30s step= 965 trunk_z= -19.2mm grav_b=(+0.01,+0.12,-0.99) r=3.80m +[headless_play] t= 19.40s step= 970 trunk_z= -17.3mm grav_b=(+0.02,+0.05,-1.00) r=3.81m +[headless_play] t= 19.50s step= 975 trunk_z= -18.1mm grav_b=(+0.09,-0.08,-0.99) r=3.83m +[headless_play] t= 19.60s step= 980 trunk_z= -12.4mm grav_b=(+0.14,-0.06,-0.99) r=3.85m +[headless_play] t= 19.70s step= 985 trunk_z= -18.4mm grav_b=(+0.08,+0.02,-1.00) r=3.88m +[headless_play] t= 19.80s step= 990 trunk_z= -5.3mm grav_b=(+0.13,+0.09,-0.99) r=3.89m +[headless_play] t= 19.90s step= 995 trunk_z= -16.7mm grav_b=(-0.09,+0.02,-1.00) r=3.93m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.03,+0.03,-1.00) r=0.29m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t12.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..e6fcdc413db4179d79f2cc62940bcc5f20cf7fb5 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t12.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.955,-18.307,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.04,-0.00,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.20s step= 60 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.40s step= 120 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.60s step= 130 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.10s step= 155 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.40s step= 170 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.50s step= 175 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.60s step= 180 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.90s step= 195 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.00s step= 200 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.10s step= 205 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 4.60s step= 230 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 5.90s step= 295 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 6.00s step= 300 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 6.20s step= 310 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 6.30s step= 315 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 6.40s step= 320 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(-0.00,+0.04,-1.00) r=0.32m +[headless_play] t= 6.60s step= 330 trunk_z= 123.9mm grav_b=(+0.02,-0.03,-1.00) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 110.2mm grav_b=(-0.06,-0.09,-0.99) r=0.26m +[headless_play] t= 6.80s step= 340 trunk_z= 124.1mm grav_b=(-0.02,-0.08,-1.00) r=0.24m +[headless_play] t= 6.90s step= 345 trunk_z= 127.4mm grav_b=(-0.01,-0.09,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 124.1mm grav_b=(-0.04,-0.04,-1.00) r=0.25m +[headless_play] t= 7.10s step= 355 trunk_z= 127.6mm grav_b=(+0.00,+0.02,-1.00) r=0.27m +[headless_play] t= 7.20s step= 360 trunk_z= 131.8mm grav_b=(-0.01,+0.07,-1.00) r=0.27m +[headless_play] t= 7.30s step= 365 trunk_z= 120.3mm grav_b=(-0.04,+0.03,-1.00) r=0.25m +[headless_play] t= 7.40s step= 370 trunk_z= 124.2mm grav_b=(+0.01,-0.02,-1.00) r=0.24m +[headless_play] t= 7.50s step= 375 trunk_z= 122.3mm grav_b=(-0.01,-0.01,-1.00) r=0.25m +[headless_play] t= 7.60s step= 380 trunk_z= 123.2mm grav_b=(-0.01,+0.03,-1.00) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 127.3mm grav_b=(-0.00,+0.02,-1.00) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 118.1mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 7.90s step= 395 trunk_z= 125.6mm grav_b=(+0.00,-0.06,-1.00) r=0.25m +[headless_play] t= 8.00s step= 400 trunk_z= 123.0mm grav_b=(-0.02,-0.03,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 119.9mm grav_b=(-0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 8.20s step= 410 trunk_z= 124.0mm grav_b=(+0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 8.30s step= 415 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 8.40s step= 420 trunk_z= 123.8mm grav_b=(+0.00,-0.05,-1.00) r=0.28m +[headless_play] t= 8.50s step= 425 trunk_z= 120.6mm grav_b=(-0.00,-0.05,-1.00) r=0.30m +[headless_play] t= 8.60s step= 430 trunk_z= 121.7mm grav_b=(+0.01,+0.04,-1.00) r=0.33m +[headless_play] t= 8.70s step= 435 trunk_z= 127.6mm grav_b=(+0.03,+0.04,-1.00) r=0.34m +[headless_play] t= 8.80s step= 440 trunk_z= 119.9mm grav_b=(+0.02,+0.01,-1.00) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 123.6mm grav_b=(+0.02,-0.04,-1.00) r=0.35m +[headless_play] t= 9.00s step= 450 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 121.7mm grav_b=(-0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 9.20s step= 460 trunk_z= 121.6mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 118.7mm grav_b=(-0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 9.40s step= 470 trunk_z= 125.2mm grav_b=(-0.03,-0.07,-1.00) r=0.40m +[headless_play] t= 9.50s step= 475 trunk_z= 121.2mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 9.60s step= 480 trunk_z= 120.3mm grav_b=(-0.00,+0.02,-1.00) r=0.46m +[headless_play] t= 9.70s step= 485 trunk_z= 126.0mm grav_b=(+0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(-0.00,-0.02,-1.00) r=0.49m +[headless_play] t= 9.90s step= 495 trunk_z= 123.4mm grav_b=(-0.01,-0.08,-1.00) r=0.50m +[headless_play] t= 10.00s step= 500 trunk_z= 120.8mm grav_b=(-0.04,-0.04,-1.00) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 118.5mm grav_b=(-0.04,+0.04,-1.00) r=0.56m +[headless_play] t= 10.20s step= 510 trunk_z= 125.2mm grav_b=(-0.00,+0.04,-1.00) r=0.58m +[headless_play] t= 10.30s step= 515 trunk_z= 121.1mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 10.40s step= 520 trunk_z= 124.0mm grav_b=(-0.04,-0.09,-0.99) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 125.3mm grav_b=(-0.03,-0.10,-0.99) r=0.60m +[headless_play] t= 10.60s step= 530 trunk_z= 122.8mm grav_b=(-0.03,-0.07,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 123.6mm grav_b=(-0.01,+0.05,-1.00) r=0.66m +[headless_play] t= 10.80s step= 540 trunk_z= 128.4mm grav_b=(-0.01,+0.06,-1.00) r=0.68m +[headless_play] t= 10.90s step= 545 trunk_z= 121.9mm grav_b=(-0.05,+0.00,-1.00) r=0.69m +[headless_play] t= 11.00s step= 550 trunk_z= 125.7mm grav_b=(-0.05,-0.11,-0.99) r=0.70m +[headless_play] t= 11.10s step= 555 trunk_z= 124.8mm grav_b=(-0.03,-0.10,-0.99) r=0.72m +[headless_play] t= 11.20s step= 560 trunk_z= 121.3mm grav_b=(-0.01,-0.06,-1.00) r=0.75m +[headless_play] t= 11.30s step= 565 trunk_z= 125.8mm grav_b=(+0.04,+0.00,-1.00) r=0.77m +[headless_play] t= 11.40s step= 570 trunk_z= 122.0mm grav_b=(-0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 11.50s step= 575 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.78m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.79m +[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 11.80s step= 590 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 11.90s step= 595 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.80m +[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.80m +[headless_play] t= 12.10s step= 605 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.70s step= 635 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.80s step= 640 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 12.90s step= 645 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.00s step= 650 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.10s step= 655 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.20s step= 660 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.40s step= 670 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.60s step= 680 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.80s step= 690 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 13.90s step= 695 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.80m +[headless_play] t= 15.50s step= 775 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 15.70s step= 785 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 15.80s step= 790 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.20s step= 810 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.40s step= 820 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 16.70s step= 835 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 16.90s step= 845 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 17.00s step= 850 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.50s step= 875 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.60s step= 880 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.50s step= 925 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 19.30s step= 965 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.80m +[headless_play] t= 19.50s step= 975 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.79m +[headless_play] t= 19.60s step= 980 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.79m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.79m +[headless_play] t= 19.80s step= 990 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.79m +[headless_play] t= 19.90s step= 995 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.79m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.49m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t13.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..d03c15194db2cd340c28ca03761f81aa21758a52 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.497,-18.027,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.2mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 114.5mm grav_b=(+0.08,-0.06,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(+0.01,+0.09,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 120.3mm grav_b=(+0.01,+0.10,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.03,+0.11,-0.99) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 118.6mm grav_b=(+0.02,-0.03,-1.00) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 114.4mm grav_b=(+0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(+0.01,+0.09,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.02,+0.12,-0.99) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 111.8mm grav_b=(+0.03,+0.06,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 109.3mm grav_b=(+0.03,+0.06,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 115.3mm grav_b=(+0.05,+0.09,-0.99) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 111.3mm grav_b=(+0.06,+0.08,-0.99) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 109.7mm grav_b=(+0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 2.00s step= 100 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.34m +[headless_play] t= 2.10s step= 105 trunk_z= 109.1mm grav_b=(+0.02,+0.05,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 113.7mm grav_b=(+0.03,+0.10,-0.99) r=0.38m +[headless_play] t= 2.30s step= 115 trunk_z= 112.0mm grav_b=(+0.04,+0.11,-0.99) r=0.38m +[headless_play] t= 2.40s step= 120 trunk_z= 108.0mm grav_b=(+0.03,+0.07,-1.00) r=0.37m +[headless_play] t= 2.50s step= 125 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 114.3mm grav_b=(+0.04,+0.02,-1.00) r=0.37m +[headless_play] t= 2.70s step= 135 trunk_z= 108.4mm grav_b=(+0.03,+0.10,-0.99) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 114.4mm grav_b=(+0.07,+0.11,-0.99) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 111.7mm grav_b=(+0.06,+0.08,-0.99) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 111.2mm grav_b=(+0.05,-0.04,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 115.5mm grav_b=(+0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 110.6mm grav_b=(+0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 3.30s step= 165 trunk_z= 113.6mm grav_b=(+0.02,+0.10,-0.99) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 111.4mm grav_b=(+0.04,+0.09,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 105.4mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 115.2mm grav_b=(+0.03,-0.03,-1.00) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 106.7mm grav_b=(+0.05,+0.05,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 113.2mm grav_b=(+0.06,+0.10,-0.99) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 110.5mm grav_b=(+0.06,+0.08,-0.99) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 109.6mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 110.6mm grav_b=(+0.02,+0.04,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 109.7mm grav_b=(+0.05,+0.09,-0.99) r=0.58m +[headless_play] t= 4.50s step= 225 trunk_z= 110.1mm grav_b=(+0.06,+0.09,-0.99) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 105.1mm grav_b=(+0.05,+0.05,-1.00) r=0.60m +[headless_play] t= 4.70s step= 235 trunk_z= 112.5mm grav_b=(+0.05,+0.00,-1.00) r=0.61m +[headless_play] t= 4.80s step= 240 trunk_z= 111.9mm grav_b=(+0.04,+0.03,-1.00) r=0.63m +[headless_play] t= 4.90s step= 245 trunk_z= 103.6mm grav_b=(+0.03,+0.08,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 111.6mm grav_b=(+0.04,+0.09,-0.99) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 107.6mm grav_b=(+0.03,+0.07,-1.00) r=0.68m +[headless_play] t= 5.20s step= 260 trunk_z= 107.2mm grav_b=(+0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 5.30s step= 265 trunk_z= 113.9mm grav_b=(+0.03,-0.01,-1.00) r=0.70m +[headless_play] t= 5.40s step= 270 trunk_z= 109.1mm grav_b=(+0.03,+0.03,-1.00) r=0.72m +[headless_play] t= 5.50s step= 275 trunk_z= 108.2mm grav_b=(+0.06,+0.10,-0.99) r=0.75m +[headless_play] t= 5.60s step= 280 trunk_z= 111.2mm grav_b=(+0.07,+0.10,-0.99) r=0.76m +[headless_play] t= 5.70s step= 285 trunk_z= 108.3mm grav_b=(+0.04,+0.08,-1.00) r=0.78m +[headless_play] t= 5.80s step= 290 trunk_z= 112.2mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 5.90s step= 295 trunk_z= 113.1mm grav_b=(+0.03,+0.01,-1.00) r=0.81m +[headless_play] t= 6.00s step= 300 trunk_z= 104.5mm grav_b=(+0.03,+0.06,-1.00) r=0.83m +[headless_play] t= 6.10s step= 305 trunk_z= 111.6mm grav_b=(+0.04,+0.09,-0.99) r=0.85m +[headless_play] t= 6.20s step= 310 trunk_z= 107.2mm grav_b=(+0.06,+0.08,-1.00) r=0.86m +[headless_play] t= 6.30s step= 315 trunk_z= 103.9mm grav_b=(+0.06,-0.01,-1.00) r=0.88m +[headless_play] t= 6.40s step= 320 trunk_z= 112.6mm grav_b=(+0.06,+0.01,-1.00) r=0.89m +[headless_play] t= 6.50s step= 325 trunk_z= 107.4mm grav_b=(+0.03,+0.06,-1.00) r=0.92m +[headless_play] t= 6.60s step= 330 trunk_z= 107.6mm grav_b=(+0.05,+0.10,-0.99) r=0.94m +[headless_play] t= 6.70s step= 335 trunk_z= 108.6mm grav_b=(+0.07,+0.09,-0.99) r=0.96m +[headless_play] t= 6.80s step= 340 trunk_z= 103.7mm grav_b=(+0.05,+0.05,-1.00) r=0.97m +[headless_play] t= 6.90s step= 345 trunk_z= 111.9mm grav_b=(+0.05,+0.00,-1.00) r=0.98m +[headless_play] t= 7.00s step= 350 trunk_z= 111.2mm grav_b=(+0.04,+0.03,-1.00) r=1.00m +[headless_play] t= 7.10s step= 355 trunk_z= 101.1mm grav_b=(+0.06,+0.08,-1.00) r=1.02m +[headless_play] t= 7.20s step= 360 trunk_z= 109.5mm grav_b=(+0.08,+0.10,-0.99) r=1.04m +[headless_play] t= 7.30s step= 365 trunk_z= 110.1mm grav_b=(+0.04,+0.05,-1.00) r=1.04m +[headless_play] t= 7.40s step= 370 trunk_z= 112.5mm grav_b=(+0.03,-0.06,-1.00) r=1.04m +[headless_play] t= 7.50s step= 375 trunk_z= 121.9mm grav_b=(+0.05,-0.05,-1.00) r=1.05m +[headless_play] t= 7.60s step= 380 trunk_z= 118.6mm grav_b=(+0.04,-0.00,-1.00) r=1.08m +[headless_play] t= 7.70s step= 385 trunk_z= 125.7mm grav_b=(+0.05,+0.04,-1.00) r=1.11m +[headless_play] t= 7.80s step= 390 trunk_z= 123.3mm grav_b=(-0.02,+0.03,-1.00) r=1.15m +[headless_play] t= 7.90s step= 395 trunk_z= 98.0mm grav_b=(-0.03,-0.09,-1.00) r=1.19m +[headless_play] t= 8.00s step= 400 trunk_z= 109.6mm grav_b=(+0.01,-0.06,-1.00) r=1.22m +[headless_play] t= 8.10s step= 405 trunk_z= 108.5mm grav_b=(+0.01,-0.04,-1.00) r=1.25m +[headless_play] t= 8.20s step= 410 trunk_z= 91.2mm grav_b=(-0.00,+0.06,-1.00) r=1.29m +[headless_play] t= 8.30s step= 415 trunk_z= 106.3mm grav_b=(+0.04,+0.10,-0.99) r=1.32m +[headless_play] t= 8.40s step= 420 trunk_z= 103.1mm grav_b=(-0.03,+0.10,-1.00) r=1.35m +[headless_play] t= 8.50s step= 425 trunk_z= 85.0mm grav_b=(-0.01,+0.03,-1.00) r=1.40m +[headless_play] t= 8.60s step= 430 trunk_z= 89.4mm grav_b=(+0.03,+0.03,-1.00) r=1.43m +[headless_play] t= 8.70s step= 435 trunk_z= 63.3mm grav_b=(-0.00,+0.05,-1.00) r=1.48m +[headless_play] t= 8.80s step= 440 trunk_z= 79.3mm grav_b=(-0.01,+0.00,-1.00) r=1.51m +[headless_play] t= 8.90s step= 445 trunk_z= 66.1mm grav_b=(-0.09,-0.06,-0.99) r=1.55m +[headless_play] t= 9.00s step= 450 trunk_z= 63.1mm grav_b=(-0.07,-0.13,-0.99) r=1.59m +[headless_play] t= 9.10s step= 455 trunk_z= 64.9mm grav_b=(-0.02,-0.10,-1.00) r=1.61m +[headless_play] t= 9.20s step= 460 trunk_z= 58.5mm grav_b=(+0.01,-0.00,-1.00) r=1.65m +[headless_play] t= 9.30s step= 465 trunk_z= 62.4mm grav_b=(+0.06,+0.08,-0.99) r=1.69m +[headless_play] t= 9.40s step= 470 trunk_z= 66.2mm grav_b=(+0.02,+0.12,-0.99) r=1.73m +[headless_play] t= 9.50s step= 475 trunk_z= 36.7mm grav_b=(-0.03,+0.01,-1.00) r=1.78m +[headless_play] t= 9.60s step= 480 trunk_z= 50.7mm grav_b=(+0.04,+0.07,-1.00) r=1.82m +[headless_play] t= 9.70s step= 485 trunk_z= 32.7mm grav_b=(-0.03,+0.05,-1.00) r=1.87m +[headless_play] t= 9.80s step= 490 trunk_z= 34.4mm grav_b=(-0.04,+0.05,-1.00) r=1.90m +[headless_play] t= 9.90s step= 495 trunk_z= 33.1mm grav_b=(-0.08,-0.00,-1.00) r=1.93m +[headless_play] t= 10.00s step= 500 trunk_z= 26.6mm grav_b=(-0.11,-0.10,-0.99) r=1.97m +[headless_play] t= 10.10s step= 505 trunk_z= 31.7mm grav_b=(-0.08,-0.11,-0.99) r=1.99m +[headless_play] t= 10.20s step= 510 trunk_z= 26.6mm grav_b=(-0.05,-0.07,-1.00) r=2.01m +[headless_play] t= 10.30s step= 515 trunk_z= 17.3mm grav_b=(-0.01,+0.04,-1.00) r=2.03m +[headless_play] t= 10.40s step= 520 trunk_z= 25.2mm grav_b=(+0.02,+0.10,-0.99) r=2.06m +[headless_play] t= 10.50s step= 525 trunk_z= 22.4mm grav_b=(+0.06,+0.08,-0.99) r=2.08m +[headless_play] t= 10.60s step= 530 trunk_z= 14.3mm grav_b=(+0.06,-0.03,-1.00) r=2.13m +[headless_play] t= 10.70s step= 535 trunk_z= 21.0mm grav_b=(+0.02,-0.03,-1.00) r=2.16m +[headless_play] t= 10.80s step= 540 trunk_z= 4.4mm grav_b=(-0.05,+0.08,-1.00) r=2.20m +[headless_play] t= 10.90s step= 545 trunk_z= 16.3mm grav_b=(-0.04,+0.16,-0.99) r=2.22m +[headless_play] t= 11.00s step= 550 trunk_z= 14.2mm grav_b=(-0.02,+0.16,-0.99) r=2.25m +[headless_play] t= 11.10s step= 555 trunk_z= 12.3mm grav_b=(+0.00,+0.11,-0.99) r=2.27m +[headless_play] t= 11.20s step= 560 trunk_z= 6.9mm grav_b=(+0.01,-0.04,-1.00) r=2.30m +[headless_play] t= 11.30s step= 565 trunk_z= 11.1mm grav_b=(-0.00,-0.05,-1.00) r=2.33m +[headless_play] t= 11.40s step= 570 trunk_z= -2.9mm grav_b=(-0.03,+0.04,-1.00) r=2.35m +[headless_play] t= 11.50s step= 575 trunk_z= 1.9mm grav_b=(-0.00,+0.09,-1.00) r=2.35m +[headless_play] t= 11.60s step= 580 trunk_z= -6.7mm grav_b=(-0.05,+0.05,-1.00) r=2.35m +[headless_play] t= 11.70s step= 585 trunk_z= -6.8mm grav_b=(-0.08,+0.05,-1.00) r=2.35m +[headless_play] t= 11.80s step= 590 trunk_z= -7.0mm grav_b=(-0.07,+0.07,-1.00) r=2.35m +[headless_play] t= 11.90s step= 595 trunk_z= -7.3mm grav_b=(-0.03,+0.06,-1.00) r=2.36m +[headless_play] t= 12.00s step= 600 trunk_z= -7.8mm grav_b=(+0.03,+0.04,-1.00) r=2.37m +[headless_play] t= 12.10s step= 605 trunk_z= -7.3mm grav_b=(+0.05,+0.01,-1.00) r=2.37m +[headless_play] t= 12.20s step= 610 trunk_z= -7.2mm grav_b=(+0.08,-0.04,-1.00) r=2.37m +[headless_play] t= 12.30s step= 615 trunk_z= -5.8mm grav_b=(+0.00,+0.01,-1.00) r=2.38m +[headless_play] t= 12.40s step= 620 trunk_z= -3.4mm grav_b=(-0.08,+0.10,-0.99) r=2.40m +[headless_play] t= 12.50s step= 625 trunk_z= -5.8mm grav_b=(-0.09,+0.04,-0.99) r=2.40m +[headless_play] t= 12.60s step= 630 trunk_z= -6.5mm grav_b=(-0.14,+0.02,-0.99) r=2.40m +[headless_play] t= 12.70s step= 635 trunk_z= -7.1mm grav_b=(-0.18,+0.02,-0.98) r=2.39m +[headless_play] t= 12.80s step= 640 trunk_z= -6.7mm grav_b=(-0.17,-0.00,-0.99) r=2.38m +[headless_play] t= 12.90s step= 645 trunk_z= -7.9mm grav_b=(-0.15,+0.07,-0.99) r=2.37m +[headless_play] t= 13.00s step= 650 trunk_z= -6.8mm grav_b=(-0.15,-0.03,-0.99) r=2.36m +[headless_play] t= 13.10s step= 655 trunk_z= -4.3mm grav_b=(-0.12,+0.04,-0.99) r=2.35m +[headless_play] t= 13.20s step= 660 trunk_z= -0.1mm grav_b=(-0.12,+0.06,-0.99) r=2.34m +[headless_play] t= 13.30s step= 665 trunk_z= -5.1mm grav_b=(-0.01,-0.01,-1.00) r=2.33m +[headless_play] t= 13.40s step= 670 trunk_z= -2.0mm grav_b=(-0.06,-0.00,-1.00) r=2.32m +[headless_play] t= 13.50s step= 675 trunk_z= -1.1mm grav_b=(-0.04,+0.05,-1.00) r=2.33m +[headless_play] t= 13.60s step= 680 trunk_z= -0.8mm grav_b=(+0.04,+0.02,-1.00) r=2.33m +[headless_play] t= 13.70s step= 685 trunk_z= -2.4mm grav_b=(-0.01,+0.06,-1.00) r=2.34m +[headless_play] t= 13.80s step= 690 trunk_z= -4.3mm grav_b=(+0.00,+0.12,-0.99) r=2.35m +[headless_play] t= 13.90s step= 695 trunk_z= -5.5mm grav_b=(-0.03,+0.08,-1.00) r=2.36m +[headless_play] t= 14.00s step= 700 trunk_z= -10.6mm grav_b=(-0.11,-0.03,-0.99) r=2.36m +[headless_play] t= 14.10s step= 705 trunk_z= -11.6mm grav_b=(-0.17,-0.03,-0.99) r=2.36m +[headless_play] t= 14.20s step= 710 trunk_z= -11.2mm grav_b=(-0.19,-0.03,-0.98) r=2.35m +[headless_play] t= 14.30s step= 715 trunk_z= -8.5mm grav_b=(-0.22,-0.02,-0.98) r=2.36m +[headless_play] t= 14.40s step= 720 trunk_z= -11.0mm grav_b=(-0.36,-0.16,-0.92) r=2.36m +[headless_play] t= 14.50s step= 725 trunk_z= -37.9mm grav_b=(-0.56,-0.55,-0.62) r=2.37m +[headless_play] RESET at t= 14.58s step= 729 (env termination, not a recovery) +[headless_play] t= 14.60s step= 730 trunk_z= 125.2mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 14.70s step= 735 trunk_z= 114.2mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 112.7mm grav_b=(+0.01,+0.06,-1.00) r=0.38m +[headless_play] t= 14.90s step= 745 trunk_z= 112.0mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 15.00s step= 750 trunk_z= 112.8mm grav_b=(-0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 15.10s step= 755 trunk_z= 115.8mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 15.20s step= 760 trunk_z= 108.9mm grav_b=(+0.01,+0.04,-1.00) r=0.45m +[headless_play] t= 15.30s step= 765 trunk_z= 114.7mm grav_b=(+0.02,+0.08,-1.00) r=0.46m +[headless_play] t= 15.40s step= 770 trunk_z= 111.5mm grav_b=(+0.03,+0.03,-1.00) r=0.48m +[headless_play] t= 15.50s step= 775 trunk_z= 111.3mm grav_b=(+0.01,-0.06,-1.00) r=0.51m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(+0.01,-0.06,-1.00) r=0.53m +[headless_play] t= 15.70s step= 785 trunk_z= 113.1mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(+0.02,+0.06,-1.00) r=0.56m +[headless_play] t= 16.00s step= 800 trunk_z= 107.1mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 16.10s step= 805 trunk_z= 118.0mm grav_b=(-0.01,-0.06,-1.00) r=0.62m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(-0.00,-0.03,-1.00) r=0.63m +[headless_play] t= 16.30s step= 815 trunk_z= 111.0mm grav_b=(-0.01,+0.05,-1.00) r=0.63m +[headless_play] t= 16.40s step= 820 trunk_z= 117.1mm grav_b=(+0.01,+0.06,-1.00) r=0.65m +[headless_play] t= 16.50s step= 825 trunk_z= 111.9mm grav_b=(+0.02,+0.02,-1.00) r=0.67m +[headless_play] t= 16.60s step= 830 trunk_z= 114.3mm grav_b=(+0.01,-0.06,-1.00) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 116.2mm grav_b=(+0.02,-0.05,-1.00) r=0.72m +[headless_play] t= 16.80s step= 840 trunk_z= 111.4mm grav_b=(+0.02,+0.03,-1.00) r=0.73m +[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(+0.02,+0.08,-1.00) r=0.74m +[headless_play] t= 17.00s step= 850 trunk_z= 113.6mm grav_b=(+0.03,+0.05,-1.00) r=0.76m +[headless_play] t= 17.10s step= 855 trunk_z= 111.6mm grav_b=(+0.00,-0.04,-1.00) r=0.79m +[headless_play] t= 17.20s step= 860 trunk_z= 118.7mm grav_b=(-0.01,-0.04,-1.00) r=0.81m +[headless_play] t= 17.30s step= 865 trunk_z= 115.0mm grav_b=(-0.03,+0.01,-1.00) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 118.1mm grav_b=(-0.04,+0.09,-1.00) r=0.79m +[headless_play] t= 17.50s step= 875 trunk_z= 124.8mm grav_b=(-0.02,+0.08,-1.00) r=0.80m +[headless_play] t= 17.60s step= 880 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.83m +[headless_play] t= 17.70s step= 885 trunk_z= 123.1mm grav_b=(+0.00,-0.05,-1.00) r=0.85m +[headless_play] t= 17.80s step= 890 trunk_z= 123.8mm grav_b=(+0.00,-0.02,-1.00) r=0.85m +[headless_play] t= 17.90s step= 895 trunk_z= 118.9mm grav_b=(-0.01,+0.06,-1.00) r=0.85m +[headless_play] t= 18.00s step= 900 trunk_z= 127.8mm grav_b=(-0.03,+0.09,-1.00) r=0.86m +[headless_play] t= 18.10s step= 905 trunk_z= 127.8mm grav_b=(-0.01,+0.07,-1.00) r=0.87m +[headless_play] t= 18.20s step= 910 trunk_z= 113.3mm grav_b=(-0.04,-0.03,-1.00) r=0.91m +[headless_play] t= 18.30s step= 915 trunk_z= 122.0mm grav_b=(-0.01,-0.05,-1.00) r=0.93m +[headless_play] t= 18.40s step= 920 trunk_z= 122.9mm grav_b=(-0.02,-0.06,-1.00) r=0.95m +[headless_play] t= 18.50s step= 925 trunk_z= 119.6mm grav_b=(-0.03,+0.02,-1.00) r=0.96m +[headless_play] t= 18.60s step= 930 trunk_z= 122.2mm grav_b=(-0.03,+0.09,-1.00) r=0.98m +[headless_play] t= 18.70s step= 935 trunk_z= 125.1mm grav_b=(-0.01,+0.10,-0.99) r=0.99m +[headless_play] t= 18.80s step= 940 trunk_z= 117.7mm grav_b=(-0.02,+0.05,-1.00) r=1.02m +[headless_play] t= 18.90s step= 945 trunk_z= 109.4mm grav_b=(+0.04,-0.07,-1.00) r=1.04m +[headless_play] t= 19.00s step= 950 trunk_z= 114.0mm grav_b=(+0.01,-0.01,-1.00) r=1.06m +[headless_play] t= 19.10s step= 955 trunk_z= 111.4mm grav_b=(-0.02,-0.00,-1.00) r=1.09m +[headless_play] t= 19.20s step= 960 trunk_z= 107.5mm grav_b=(+0.00,+0.04,-1.00) r=1.12m +[headless_play] t= 19.30s step= 965 trunk_z= 114.0mm grav_b=(-0.01,+0.07,-1.00) r=1.15m +[headless_play] t= 19.40s step= 970 trunk_z= 83.7mm grav_b=(-0.04,-0.04,-1.00) r=1.20m +[headless_play] t= 19.50s step= 975 trunk_z= 92.5mm grav_b=(-0.00,-0.06,-1.00) r=1.23m +[headless_play] t= 19.60s step= 980 trunk_z= 92.0mm grav_b=(-0.01,-0.05,-1.00) r=1.25m +[headless_play] t= 19.70s step= 985 trunk_z= 84.8mm grav_b=(-0.05,-0.00,-1.00) r=1.28m +[headless_play] t= 19.80s step= 990 trunk_z= 84.8mm grav_b=(-0.01,+0.05,-1.00) r=1.31m +[headless_play] t= 19.90s step= 995 trunk_z= 89.2mm grav_b=(-0.02,+0.07,-1.00) r=1.34m +[headless_play] t= 20.00s step=1000 trunk_z= 61.6mm grav_b=(-0.02,-0.02,-1.00) r=1.39m +[headless_play] t= 20.10s step=1005 trunk_z= 72.2mm grav_b=(+0.00,-0.02,-1.00) r=1.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t14.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..20719cd42ca08bca579d0911ed59041eb8a23b4e --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t14.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(+1.605,-17.866,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 114.2mm grav_b=(+0.00,+0.07,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 112.9mm grav_b=(+0.00,-0.03,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 122.2mm grav_b=(-0.02,-0.10,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 118.1mm grav_b=(-0.01,-0.07,-1.00) r=0.54m +[headless_play] t= 0.70s step= 35 trunk_z= 109.2mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 0.80s step= 40 trunk_z= 121.1mm grav_b=(-0.03,+0.06,-1.00) r=0.58m +[headless_play] t= 0.90s step= 45 trunk_z= 119.4mm grav_b=(+0.00,+0.06,-1.00) r=0.60m +[headless_play] t= 1.00s step= 50 trunk_z= 115.5mm grav_b=(+0.00,-0.03,-1.00) r=0.62m +[headless_play] t= 1.10s step= 55 trunk_z= 122.9mm grav_b=(-0.01,-0.09,-1.00) r=0.64m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.00,-0.07,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 110.7mm grav_b=(-0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 120.2mm grav_b=(-0.01,+0.08,-1.00) r=0.71m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(+0.04,+0.06,-1.00) r=0.73m +[headless_play] t= 1.60s step= 80 trunk_z= 115.1mm grav_b=(+0.01,-0.06,-1.00) r=0.75m +[headless_play] t= 1.70s step= 85 trunk_z= 119.3mm grav_b=(+0.03,-0.07,-1.00) r=0.77m +[headless_play] t= 1.80s step= 90 trunk_z= 111.5mm grav_b=(+0.02,-0.03,-1.00) r=0.80m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(-0.01,+0.04,-1.00) r=0.82m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.02,+0.05,-1.00) r=0.84m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.01,-0.05,-1.00) r=0.86m +[headless_play] t= 2.20s step= 110 trunk_z= 121.4mm grav_b=(+0.01,-0.08,-1.00) r=0.89m +[headless_play] t= 2.30s step= 115 trunk_z= 114.0mm grav_b=(+0.02,-0.06,-1.00) r=0.91m +[headless_play] t= 2.40s step= 120 trunk_z= 115.1mm grav_b=(-0.02,+0.03,-1.00) r=0.93m +[headless_play] t= 2.50s step= 125 trunk_z= 119.1mm grav_b=(+0.01,+0.06,-1.00) r=0.95m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00) r=0.97m +[headless_play] t= 2.70s step= 135 trunk_z= 121.6mm grav_b=(-0.02,-0.10,-0.99) r=1.00m +[headless_play] t= 2.80s step= 140 trunk_z= 118.7mm grav_b=(-0.01,-0.07,-1.00) r=1.02m +[headless_play] t= 2.90s step= 145 trunk_z= 108.0mm grav_b=(-0.02,+0.01,-1.00) r=1.04m +[headless_play] t= 3.00s step= 150 trunk_z= 118.6mm grav_b=(-0.02,+0.06,-1.00) r=1.06m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(+0.00,+0.06,-1.00) r=1.07m +[headless_play] t= 3.20s step= 160 trunk_z= 111.7mm grav_b=(+0.03,-0.03,-1.00) r=1.09m +[headless_play] t= 3.30s step= 165 trunk_z= 114.7mm grav_b=(+0.01,-0.13,-0.99) r=1.12m +[headless_play] t= 3.40s step= 170 trunk_z= 106.3mm grav_b=(+0.08,-0.11,-0.99) r=1.15m +[headless_play] t= 3.50s step= 175 trunk_z= 94.7mm grav_b=(+0.04,-0.01,-1.00) r=1.19m +[headless_play] t= 3.60s step= 180 trunk_z= 99.8mm grav_b=(+0.01,-0.01,-1.00) r=1.23m +[headless_play] t= 3.70s step= 185 trunk_z= 86.6mm grav_b=(+0.02,-0.11,-0.99) r=1.28m +[headless_play] t= 3.80s step= 190 trunk_z= 90.9mm grav_b=(+0.02,-0.15,-0.99) r=1.31m +[headless_play] t= 3.90s step= 195 trunk_z= 85.7mm grav_b=(+0.05,-0.08,-1.00) r=1.35m +[headless_play] t= 4.00s step= 200 trunk_z= 85.1mm grav_b=(+0.02,+0.06,-1.00) r=1.39m +[headless_play] t= 4.10s step= 205 trunk_z= 83.2mm grav_b=(-0.02,+0.10,-1.00) r=1.43m +[headless_play] t= 4.20s step= 210 trunk_z= 67.9mm grav_b=(+0.03,-0.06,-1.00) r=1.47m +[headless_play] t= 4.30s step= 215 trunk_z= 70.4mm grav_b=(+0.01,-0.10,-0.99) r=1.50m +[headless_play] t= 4.40s step= 220 trunk_z= 60.9mm grav_b=(-0.04,-0.09,-1.00) r=1.55m +[headless_play] t= 4.50s step= 225 trunk_z= 54.3mm grav_b=(+0.03,+0.02,-1.00) r=1.59m +[headless_play] t= 4.60s step= 230 trunk_z= 56.9mm grav_b=(+0.00,+0.07,-1.00) r=1.62m +[headless_play] t= 4.70s step= 235 trunk_z= 45.1mm grav_b=(+0.05,-0.07,-1.00) r=1.66m +[headless_play] t= 4.80s step= 240 trunk_z= 49.9mm grav_b=(+0.03,-0.13,-0.99) r=1.69m +[headless_play] t= 4.90s step= 245 trunk_z= 43.3mm grav_b=(-0.01,-0.10,-0.99) r=1.73m +[headless_play] t= 5.00s step= 250 trunk_z= 38.1mm grav_b=(+0.09,+0.06,-0.99) r=1.77m +[headless_play] t= 5.10s step= 255 trunk_z= 45.2mm grav_b=(-0.04,+0.16,-0.99) r=1.81m +[headless_play] t= 5.20s step= 260 trunk_z= 11.2mm grav_b=(-0.01,-0.01,-1.00) r=1.88m +[headless_play] t= 5.30s step= 265 trunk_z= 25.6mm grav_b=(-0.00,-0.05,-1.00) r=1.91m +[headless_play] t= 5.40s step= 270 trunk_z= 16.2mm grav_b=(-0.07,-0.08,-0.99) r=1.95m +[headless_play] t= 5.50s step= 275 trunk_z= 2.2mm grav_b=(+0.00,+0.04,-1.00) r=1.99m +[headless_play] t= 5.60s step= 280 trunk_z= 8.3mm grav_b=(-0.01,+0.05,-1.00) r=2.02m +[headless_play] t= 5.70s step= 285 trunk_z= -0.9mm grav_b=(-0.06,-0.02,-1.00) r=2.07m +[headless_play] t= 5.80s step= 290 trunk_z= 10.0mm grav_b=(-0.07,-0.04,-1.00) r=2.09m +[headless_play] t= 5.90s step= 295 trunk_z= 8.0mm grav_b=(-0.12,-0.02,-0.99) r=2.11m +[headless_play] t= 6.00s step= 300 trunk_z= 8.2mm grav_b=(-0.05,+0.03,-1.00) r=2.12m +[headless_play] t= 6.10s step= 305 trunk_z= 9.1mm grav_b=(-0.07,-0.00,-1.00) r=2.12m +[headless_play] t= 6.20s step= 310 trunk_z= 0.2mm grav_b=(-0.05,-0.05,-1.00) r=2.13m +[headless_play] t= 6.30s step= 315 trunk_z= 7.3mm grav_b=(-0.06,-0.09,-0.99) r=2.13m +[headless_play] t= 6.40s step= 320 trunk_z= 7.5mm grav_b=(-0.06,-0.09,-0.99) r=2.14m +[headless_play] t= 6.50s step= 325 trunk_z= 1.8mm grav_b=(-0.02,-0.08,-1.00) r=2.15m +[headless_play] t= 6.60s step= 330 trunk_z= 7.5mm grav_b=(-0.00,-0.01,-1.00) r=2.16m +[headless_play] t= 6.70s step= 335 trunk_z= 11.0mm grav_b=(-0.03,-0.02,-1.00) r=2.16m +[headless_play] t= 6.80s step= 340 trunk_z= 7.1mm grav_b=(-0.02,-0.07,-1.00) r=2.16m +[headless_play] t= 6.90s step= 345 trunk_z= 14.7mm grav_b=(-0.05,-0.11,-0.99) r=2.16m +[headless_play] t= 7.00s step= 350 trunk_z= 15.5mm grav_b=(-0.08,-0.07,-0.99) r=2.17m +[headless_play] t= 7.10s step= 355 trunk_z= 9.9mm grav_b=(-0.09,+0.01,-1.00) r=2.19m +[headless_play] t= 7.20s step= 360 trunk_z= 21.0mm grav_b=(-0.11,+0.02,-0.99) r=2.19m +[headless_play] t= 7.30s step= 365 trunk_z= 17.5mm grav_b=(-0.11,-0.03,-0.99) r=2.20m +[headless_play] t= 7.40s step= 370 trunk_z= 15.4mm grav_b=(-0.08,-0.09,-0.99) r=2.20m +[headless_play] t= 7.50s step= 375 trunk_z= 19.6mm grav_b=(-0.08,-0.10,-0.99) r=2.20m +[headless_play] t= 7.60s step= 380 trunk_z= 16.6mm grav_b=(-0.07,-0.05,-1.00) r=2.21m +[headless_play] t= 7.70s step= 385 trunk_z= 19.1mm grav_b=(-0.06,+0.00,-1.00) r=2.22m +[headless_play] t= 7.80s step= 390 trunk_z= 22.2mm grav_b=(-0.07,+0.00,-1.00) r=2.23m +[headless_play] t= 7.90s step= 395 trunk_z= 15.6mm grav_b=(-0.09,-0.06,-0.99) r=2.24m +[headless_play] t= 8.00s step= 400 trunk_z= 24.3mm grav_b=(-0.08,-0.06,-1.00) r=2.25m +[headless_play] t= 8.10s step= 405 trunk_z= 23.2mm grav_b=(-0.09,-0.03,-1.00) r=2.25m +[headless_play] t= 8.20s step= 410 trunk_z= 21.2mm grav_b=(-0.08,+0.02,-1.00) r=2.26m +[headless_play] t= 8.30s step= 415 trunk_z= 26.3mm grav_b=(-0.06,+0.01,-1.00) r=2.27m +[headless_play] t= 8.40s step= 420 trunk_z= 20.9mm grav_b=(-0.07,-0.03,-1.00) r=2.29m +[headless_play] t= 8.50s step= 425 trunk_z= 28.5mm grav_b=(-0.09,-0.06,-0.99) r=2.30m +[headless_play] t= 8.60s step= 430 trunk_z= 28.5mm grav_b=(-0.09,-0.03,-1.00) r=2.30m +[headless_play] t= 8.70s step= 435 trunk_z= 24.6mm grav_b=(-0.09,+0.03,-1.00) r=2.30m +[headless_play] t= 8.80s step= 440 trunk_z= 30.4mm grav_b=(-0.05,+0.04,-1.00) r=2.30m +[headless_play] t= 8.90s step= 445 trunk_z= 25.3mm grav_b=(-0.06,+0.00,-1.00) r=2.32m +[headless_play] t= 9.00s step= 450 trunk_z= 30.2mm grav_b=(-0.06,-0.08,-1.00) r=2.33m +[headless_play] t= 9.10s step= 455 trunk_z= 31.9mm grav_b=(-0.07,-0.06,-1.00) r=2.34m +[headless_play] t= 9.20s step= 460 trunk_z= 24.6mm grav_b=(-0.08,-0.01,-1.00) r=2.34m +[headless_play] t= 9.30s step= 465 trunk_z= 34.6mm grav_b=(-0.08,+0.01,-1.00) r=2.35m +[headless_play] t= 9.40s step= 470 trunk_z= 32.6mm grav_b=(-0.09,-0.01,-1.00) r=2.37m +[headless_play] t= 9.50s step= 475 trunk_z= 33.0mm grav_b=(-0.07,-0.07,-1.00) r=2.38m +[headless_play] t= 9.60s step= 480 trunk_z= 36.9mm grav_b=(-0.07,-0.06,-1.00) r=2.39m +[headless_play] t= 9.70s step= 485 trunk_z= 30.4mm grav_b=(-0.09,-0.02,-1.00) r=2.40m +[headless_play] t= 9.80s step= 490 trunk_z= 40.0mm grav_b=(-0.08,+0.03,-1.00) r=2.40m +[headless_play] t= 9.90s step= 495 trunk_z= 40.3mm grav_b=(-0.09,+0.02,-1.00) r=2.41m +[headless_play] t= 10.00s step= 500 trunk_z= 33.0mm grav_b=(-0.09,-0.05,-0.99) r=2.43m +[headless_play] t= 10.10s step= 505 trunk_z= 41.7mm grav_b=(-0.08,-0.06,-0.99) r=2.44m +[headless_play] t= 10.20s step= 510 trunk_z= 38.4mm grav_b=(-0.08,-0.03,-1.00) r=2.44m +[headless_play] t= 10.30s step= 515 trunk_z= 41.6mm grav_b=(-0.08,+0.02,-1.00) r=2.44m +[headless_play] t= 10.40s step= 520 trunk_z= 45.4mm grav_b=(-0.09,+0.01,-1.00) r=2.45m +[headless_play] t= 10.50s step= 525 trunk_z= 39.8mm grav_b=(-0.09,-0.02,-1.00) r=2.47m +[headless_play] t= 10.60s step= 530 trunk_z= 46.2mm grav_b=(-0.06,-0.06,-1.00) r=2.49m +[headless_play] t= 10.70s step= 535 trunk_z= 45.7mm grav_b=(-0.07,-0.03,-1.00) r=2.49m +[headless_play] t= 10.80s step= 540 trunk_z= 43.4mm grav_b=(-0.06,+0.04,-1.00) r=2.49m +[headless_play] t= 10.90s step= 545 trunk_z= 51.9mm grav_b=(-0.07,+0.05,-1.00) r=2.49m +[headless_play] t= 11.00s step= 550 trunk_z= 49.4mm grav_b=(-0.08,+0.04,-1.00) r=2.51m +[headless_play] t= 11.10s step= 555 trunk_z= 47.6mm grav_b=(-0.08,-0.05,-1.00) r=2.53m +[headless_play] t= 11.20s step= 560 trunk_z= 53.6mm grav_b=(-0.08,-0.05,-1.00) r=2.54m +[headless_play] t= 11.30s step= 565 trunk_z= 48.3mm grav_b=(-0.11,-0.01,-0.99) r=2.53m +[headless_play] t= 11.40s step= 570 trunk_z= 54.2mm grav_b=(-0.03,+0.05,-1.00) r=2.53m +[headless_play] t= 11.50s step= 575 trunk_z= 55.6mm grav_b=(-0.02,+0.05,-1.00) r=2.54m +[headless_play] t= 11.60s step= 580 trunk_z= 52.5mm grav_b=(-0.06,+0.04,-1.00) r=2.56m +[headless_play] t= 11.70s step= 585 trunk_z= 59.3mm grav_b=(-0.09,-0.06,-0.99) r=2.58m +[headless_play] t= 11.80s step= 590 trunk_z= 54.4mm grav_b=(-0.08,-0.04,-1.00) r=2.57m +[headless_play] t= 11.90s step= 595 trunk_z= 53.7mm grav_b=(+0.01,-0.03,-1.00) r=2.57m +[headless_play] t= 12.00s step= 600 trunk_z= 49.6mm grav_b=(+0.00,+0.01,-1.00) r=2.56m +[headless_play] t= 12.10s step= 605 trunk_z= 48.9mm grav_b=(-0.09,+0.03,-1.00) r=2.55m +[headless_play] t= 12.20s step= 610 trunk_z= 48.4mm grav_b=(-0.13,+0.02,-0.99) r=2.54m +[headless_play] t= 12.30s step= 615 trunk_z= 47.4mm grav_b=(-0.14,+0.05,-0.99) r=2.54m +[headless_play] t= 12.40s step= 620 trunk_z= 42.1mm grav_b=(-0.04,-0.07,-1.00) r=2.52m +[headless_play] t= 12.50s step= 625 trunk_z= 40.5mm grav_b=(+0.03,-0.10,-0.99) r=2.50m +[headless_play] t= 12.60s step= 630 trunk_z= 43.9mm grav_b=(-0.03,-0.06,-1.00) r=2.49m +[headless_play] t= 12.70s step= 635 trunk_z= 41.3mm grav_b=(-0.02,-0.03,-1.00) r=2.48m +[headless_play] t= 12.80s step= 640 trunk_z= 40.0mm grav_b=(-0.08,-0.05,-1.00) r=2.48m +[headless_play] t= 12.90s step= 645 trunk_z= 39.8mm grav_b=(-0.10,-0.04,-0.99) r=2.47m +[headless_play] t= 13.00s step= 650 trunk_z= 39.5mm grav_b=(-0.12,-0.05,-0.99) r=2.47m +[headless_play] t= 13.10s step= 655 trunk_z= 37.3mm grav_b=(-0.06,-0.08,-1.00) r=2.46m +[headless_play] t= 13.20s step= 660 trunk_z= 38.2mm grav_b=(-0.02,-0.10,-0.99) r=2.45m +[headless_play] t= 13.30s step= 665 trunk_z= 35.2mm grav_b=(-0.02,-0.07,-1.00) r=2.45m +[headless_play] t= 13.40s step= 670 trunk_z= 35.7mm grav_b=(-0.04,-0.05,-1.00) r=2.44m +[headless_play] t= 13.50s step= 675 trunk_z= 35.3mm grav_b=(-0.07,-0.06,-1.00) r=2.44m +[headless_play] t= 13.60s step= 680 trunk_z= 35.0mm grav_b=(-0.09,-0.06,-0.99) r=2.43m +[headless_play] t= 13.70s step= 685 trunk_z= 34.9mm grav_b=(-0.10,-0.06,-0.99) r=2.43m +[headless_play] t= 13.80s step= 690 trunk_z= 34.8mm grav_b=(-0.11,-0.06,-0.99) r=2.43m +[headless_play] t= 13.90s step= 695 trunk_z= 34.7mm grav_b=(-0.11,-0.06,-0.99) r=2.43m +[headless_play] t= 14.00s step= 700 trunk_z= 34.6mm grav_b=(-0.11,-0.07,-0.99) r=2.43m +[headless_play] t= 14.10s step= 705 trunk_z= 34.4mm grav_b=(-0.10,-0.08,-0.99) r=2.42m +[headless_play] t= 14.20s step= 710 trunk_z= 33.3mm grav_b=(-0.09,-0.09,-0.99) r=2.42m +[headless_play] t= 14.30s step= 715 trunk_z= 33.1mm grav_b=(-0.04,-0.06,-1.00) r=2.42m +[headless_play] t= 14.40s step= 720 trunk_z= 29.9mm grav_b=(-0.02,-0.02,-1.00) r=2.41m +[headless_play] t= 14.50s step= 725 trunk_z= 27.4mm grav_b=(+0.01,-0.11,-0.99) r=2.39m +[headless_play] t= 14.60s step= 730 trunk_z= 31.7mm grav_b=(-0.02,-0.08,-1.00) r=2.38m +[headless_play] t= 14.70s step= 735 trunk_z= 29.1mm grav_b=(-0.06,-0.08,-1.00) r=2.37m +[headless_play] t= 14.80s step= 740 trunk_z= 29.3mm grav_b=(-0.06,-0.04,-1.00) r=2.36m +[headless_play] t= 14.90s step= 745 trunk_z= 26.9mm grav_b=(-0.03,-0.06,-1.00) r=2.36m +[headless_play] t= 15.00s step= 750 trunk_z= 25.3mm grav_b=(-0.03,-0.12,-0.99) r=2.35m +[headless_play] t= 15.10s step= 755 trunk_z= 25.8mm grav_b=(-0.02,-0.10,-0.99) r=2.35m +[headless_play] t= 15.20s step= 760 trunk_z= 24.5mm grav_b=(-0.01,-0.07,-1.00) r=2.34m +[headless_play] t= 15.30s step= 765 trunk_z= 24.7mm grav_b=(-0.01,-0.07,-1.00) r=2.34m +[headless_play] t= 15.40s step= 770 trunk_z= 24.6mm grav_b=(-0.02,-0.07,-1.00) r=2.34m +[headless_play] t= 15.50s step= 775 trunk_z= 24.6mm grav_b=(-0.02,-0.07,-1.00) r=2.34m +[headless_play] t= 15.60s step= 780 trunk_z= 24.4mm grav_b=(-0.03,-0.06,-1.00) r=2.34m +[headless_play] t= 15.70s step= 785 trunk_z= 24.4mm grav_b=(-0.02,-0.06,-1.00) r=2.34m +[headless_play] t= 15.80s step= 790 trunk_z= 24.3mm grav_b=(-0.02,-0.06,-1.00) r=2.34m +[headless_play] t= 15.90s step= 795 trunk_z= 24.3mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 16.00s step= 800 trunk_z= 24.3mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 16.10s step= 805 trunk_z= 24.3mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 16.20s step= 810 trunk_z= 24.3mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.30s step= 815 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.40s step= 820 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.50s step= 825 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.60s step= 830 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.70s step= 835 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.80s step= 840 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 16.90s step= 845 trunk_z= 24.2mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 17.00s step= 850 trunk_z= 24.2mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 17.10s step= 855 trunk_z= 24.2mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 17.20s step= 860 trunk_z= 24.2mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 17.30s step= 865 trunk_z= 24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 17.40s step= 870 trunk_z= 24.1mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 17.50s step= 875 trunk_z= 24.1mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 17.60s step= 880 trunk_z= 24.1mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 17.70s step= 885 trunk_z= 24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 17.80s step= 890 trunk_z= 24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 17.90s step= 895 trunk_z= 24.1mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.00s step= 900 trunk_z= 24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.10s step= 905 trunk_z= 23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.20s step= 910 trunk_z= 24.0mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 18.30s step= 915 trunk_z= 24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.40s step= 920 trunk_z= 24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.50s step= 925 trunk_z= 24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.60s step= 930 trunk_z= 24.0mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.70s step= 935 trunk_z= 23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 18.80s step= 940 trunk_z= 23.9mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 18.90s step= 945 trunk_z= 23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 19.00s step= 950 trunk_z= 23.9mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 19.10s step= 955 trunk_z= 23.9mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 19.20s step= 960 trunk_z= 23.8mm grav_b=(-0.03,-0.07,-1.00) r=2.33m +[headless_play] t= 19.30s step= 965 trunk_z= 23.9mm grav_b=(-0.06,-0.07,-1.00) r=2.32m +[headless_play] t= 19.40s step= 970 trunk_z= 23.5mm grav_b=(-0.09,-0.07,-0.99) r=2.32m +[headless_play] t= 19.50s step= 975 trunk_z= 22.7mm grav_b=(-0.09,-0.03,-1.00) r=2.31m +[headless_play] t= 19.60s step= 980 trunk_z= 26.8mm grav_b=(-0.07,-0.02,-1.00) r=2.31m +[headless_play] t= 19.70s step= 985 trunk_z= 22.6mm grav_b=(-0.06,-0.07,-1.00) r=2.31m +[headless_play] t= 19.80s step= 990 trunk_z= 28.3mm grav_b=(-0.01,-0.13,-0.99) r=2.32m +[headless_play] t= 19.90s step= 995 trunk_z= 31.5mm grav_b=(-0.02,-0.14,-0.99) r=2.33m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.9mm grav_b=(-0.01,-0.00,-1.00) r=0.06m +[headless_play] t= 20.10s step=1005 trunk_z= 114.7mm grav_b=(-0.04,+0.03,-1.00) r=0.07m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t15.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..d62bcc5bd5f4404edbdf66487625b8ac991e1843 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.657,-18.171,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.01,+0.03,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 118.1mm grav_b=(-0.00,+0.05,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 121.3mm grav_b=(+0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 114.5mm grav_b=(+0.06,-0.06,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 124.5mm grav_b=(+0.08,-0.11,-0.99) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 124.7mm grav_b=(+0.07,-0.11,-0.99) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 117.9mm grav_b=(+0.05,-0.03,-1.00) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 125.6mm grav_b=(+0.05,-0.04,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 114.5mm grav_b=(+0.00,-0.04,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 122.9mm grav_b=(+0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 1.10s step= 55 trunk_z= 123.0mm grav_b=(+0.02,-0.08,-1.00) r=0.57m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 122.4mm grav_b=(+0.06,-0.01,-1.00) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 120.9mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(+0.03,-0.07,-1.00) r=0.62m +[headless_play] t= 1.60s step= 80 trunk_z= 124.7mm grav_b=(+0.03,-0.09,-1.00) r=0.64m +[headless_play] t= 1.70s step= 85 trunk_z= 121.7mm grav_b=(+0.03,-0.07,-1.00) r=0.66m +[headless_play] t= 1.80s step= 90 trunk_z= 120.1mm grav_b=(+0.03,-0.00,-1.00) r=0.67m +[headless_play] t= 1.90s step= 95 trunk_z= 122.5mm grav_b=(+0.04,-0.02,-1.00) r=0.68m +[headless_play] t= 2.00s step= 100 trunk_z= 114.7mm grav_b=(+0.03,-0.04,-1.00) r=0.71m +[headless_play] t= 2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.03,-0.10,-1.00) r=0.73m +[headless_play] t= 2.20s step= 110 trunk_z= 124.0mm grav_b=(+0.03,-0.11,-0.99) r=0.74m +[headless_play] t= 2.30s step= 115 trunk_z= 120.8mm grav_b=(+0.04,-0.06,-1.00) r=0.75m +[headless_play] t= 2.40s step= 120 trunk_z= 123.9mm grav_b=(+0.06,-0.02,-1.00) r=0.76m +[headless_play] t= 2.50s step= 125 trunk_z= 122.5mm grav_b=(+0.07,-0.02,-1.00) r=0.78m +[headless_play] t= 2.60s step= 130 trunk_z= 120.7mm grav_b=(+0.05,-0.08,-1.00) r=0.81m +[headless_play] t= 2.70s step= 135 trunk_z= 124.1mm grav_b=(+0.05,-0.09,-0.99) r=0.83m +[headless_play] t= 2.80s step= 140 trunk_z= 121.9mm grav_b=(+0.04,-0.07,-1.00) r=0.85m +[headless_play] t= 2.90s step= 145 trunk_z= 121.5mm grav_b=(+0.04,-0.02,-1.00) r=0.86m +[headless_play] t= 3.00s step= 150 trunk_z= 125.0mm grav_b=(+0.03,-0.01,-1.00) r=0.88m +[headless_play] t= 3.10s step= 155 trunk_z= 115.7mm grav_b=(+0.03,-0.06,-1.00) r=0.91m +[headless_play] t= 3.20s step= 160 trunk_z= 123.1mm grav_b=(+0.05,-0.08,-1.00) r=0.93m +[headless_play] t= 3.30s step= 165 trunk_z= 120.8mm grav_b=(+0.04,-0.06,-1.00) r=0.94m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(+0.05,+0.00,-1.00) r=0.96m +[headless_play] t= 3.50s step= 175 trunk_z= 123.7mm grav_b=(+0.04,-0.00,-1.00) r=0.98m +[headless_play] t= 3.60s step= 180 trunk_z= 108.1mm grav_b=(+0.04,-0.04,-1.00) r=1.02m +[headless_play] t= 3.70s step= 185 trunk_z= 112.2mm grav_b=(+0.08,-0.17,-0.98) r=1.05m +[headless_play] t= 3.80s step= 190 trunk_z= 109.3mm grav_b=(+0.08,-0.18,-0.98) r=1.08m +[headless_play] t= 3.90s step= 195 trunk_z= 103.3mm grav_b=(+0.06,-0.21,-0.98) r=1.12m +[headless_play] t= 4.00s step= 200 trunk_z= 95.4mm grav_b=(+0.11,-0.15,-0.98) r=1.19m +[headless_play] t= 4.10s step= 205 trunk_z= 103.9mm grav_b=(+0.23,+0.06,-0.97) r=1.26m +[headless_play] t= 4.20s step= 210 trunk_z= 45.7mm grav_b=(+0.09,+0.12,-0.99) r=1.34m +[headless_play] t= 4.30s step= 215 trunk_z= 64.9mm grav_b=(+0.22,+0.12,-0.97) r=1.37m +[headless_play] t= 4.40s step= 220 trunk_z= 56.8mm grav_b=(+0.14,+0.13,-0.98) r=1.42m +[headless_play] t= 4.50s step= 225 trunk_z= 76.2mm grav_b=(+0.13,+0.10,-0.99) r=1.45m +[headless_play] t= 4.60s step= 230 trunk_z= 70.4mm grav_b=(+0.07,+0.12,-0.99) r=1.49m +[headless_play] t= 4.70s step= 235 trunk_z= 46.7mm grav_b=(+0.07,+0.03,-1.00) r=1.54m +[headless_play] t= 4.80s step= 240 trunk_z= 52.4mm grav_b=(+0.06,+0.04,-1.00) r=1.57m +[headless_play] t= 4.90s step= 245 trunk_z= 43.1mm grav_b=(+0.02,+0.05,-1.00) r=1.60m +[headless_play] t= 5.00s step= 250 trunk_z= 48.6mm grav_b=(+0.03,+0.03,-1.00) r=1.62m +[headless_play] t= 5.10s step= 255 trunk_z= 40.6mm grav_b=(+0.03,-0.01,-1.00) r=1.63m +[headless_play] t= 5.20s step= 260 trunk_z= 46.5mm grav_b=(+0.04,-0.07,-1.00) r=1.65m +[headless_play] t= 5.30s step= 265 trunk_z= 45.8mm grav_b=(+0.06,-0.07,-1.00) r=1.68m +[headless_play] t= 5.40s step= 270 trunk_z= 37.4mm grav_b=(+0.05,-0.01,-1.00) r=1.71m +[headless_play] t= 5.50s step= 275 trunk_z= 43.5mm grav_b=(+0.06,+0.04,-1.00) r=1.75m +[headless_play] t= 5.60s step= 280 trunk_z= 39.3mm grav_b=(+0.07,+0.06,-1.00) r=1.78m +[headless_play] t= 5.70s step= 285 trunk_z= 27.7mm grav_b=(+0.08,-0.02,-1.00) r=1.81m +[headless_play] t= 5.80s step= 290 trunk_z= 31.8mm grav_b=(+0.08,-0.03,-1.00) r=1.84m +[headless_play] t= 5.90s step= 295 trunk_z= 25.2mm grav_b=(+0.03,-0.01,-1.00) r=1.87m +[headless_play] t= 6.00s step= 300 trunk_z= 27.6mm grav_b=(+0.02,+0.01,-1.00) r=1.91m +[headless_play] t= 6.10s step= 305 trunk_z= 22.6mm grav_b=(+0.04,+0.01,-1.00) r=1.93m +[headless_play] t= 6.20s step= 310 trunk_z= 17.3mm grav_b=(+0.05,-0.09,-1.00) r=1.95m +[headless_play] t= 6.30s step= 315 trunk_z= 21.2mm grav_b=(+0.08,-0.11,-0.99) r=1.97m +[headless_play] t= 6.40s step= 320 trunk_z= 19.8mm grav_b=(+0.07,-0.11,-0.99) r=2.00m +[headless_play] t= 6.50s step= 325 trunk_z= 13.7mm grav_b=(+0.05,-0.01,-1.00) r=2.05m +[headless_play] t= 6.60s step= 330 trunk_z= 24.2mm grav_b=(+0.05,+0.02,-1.00) r=2.08m +[headless_play] t= 6.70s step= 335 trunk_z= 0.1mm grav_b=(+0.06,-0.02,-1.00) r=2.12m +[headless_play] t= 6.80s step= 340 trunk_z= 6.1mm grav_b=(+0.09,-0.05,-0.99) r=2.15m +[headless_play] t= 6.90s step= 345 trunk_z= 0.9mm grav_b=(+0.06,-0.02,-1.00) r=2.19m +[headless_play] t= 7.00s step= 350 trunk_z= 3.4mm grav_b=(-0.00,+0.01,-1.00) r=2.23m +[headless_play] t= 7.10s step= 355 trunk_z= 0.4mm grav_b=(-0.01,-0.01,-1.00) r=2.25m +[headless_play] t= 7.20s step= 360 trunk_z= -2.0mm grav_b=(-0.03,-0.11,-0.99) r=2.27m +[headless_play] t= 7.30s step= 365 trunk_z= 1.0mm grav_b=(-0.02,-0.12,-0.99) r=2.27m +[headless_play] t= 7.40s step= 370 trunk_z= -0.5mm grav_b=(+0.01,-0.09,-1.00) r=2.27m +[headless_play] t= 7.50s step= 375 trunk_z= -7.2mm grav_b=(+0.04,-0.03,-1.00) r=2.27m +[headless_play] t= 7.60s step= 380 trunk_z= -8.8mm grav_b=(+0.08,-0.01,-1.00) r=2.27m +[headless_play] t= 7.70s step= 385 trunk_z= -13.6mm grav_b=(+0.12,-0.09,-0.99) r=2.28m +[headless_play] t= 7.80s step= 390 trunk_z= -3.3mm grav_b=(+0.11,-0.10,-0.99) r=2.29m +[headless_play] t= 7.90s step= 395 trunk_z= -5.4mm grav_b=(+0.06,-0.05,-1.00) r=2.30m +[headless_play] t= 8.00s step= 400 trunk_z= -5.7mm grav_b=(+0.03,+0.08,-1.00) r=2.32m +[headless_play] t= 8.10s step= 405 trunk_z= 0.1mm grav_b=(+0.02,+0.10,-0.99) r=2.33m +[headless_play] t= 8.20s step= 410 trunk_z= -2.3mm grav_b=(+0.03,+0.08,-1.00) r=2.33m +[headless_play] t= 8.30s step= 415 trunk_z= -3.9mm grav_b=(+0.04,-0.01,-1.00) r=2.33m +[headless_play] t= 8.40s step= 420 trunk_z= -2.7mm grav_b=(+0.04,-0.01,-1.00) r=2.34m +[headless_play] t= 8.50s step= 425 trunk_z= -11.3mm grav_b=(+0.05,+0.05,-1.00) r=2.35m +[headless_play] t= 8.60s step= 430 trunk_z= -3.0mm grav_b=(+0.05,+0.11,-0.99) r=2.35m +[headless_play] t= 8.70s step= 435 trunk_z= -1.9mm grav_b=(+0.03,+0.11,-0.99) r=2.36m +[headless_play] t= 8.80s step= 440 trunk_z= -3.5mm grav_b=(+0.01,+0.05,-1.00) r=2.37m +[headless_play] t= 8.90s step= 445 trunk_z= 2.9mm grav_b=(-0.01,-0.01,-1.00) r=2.38m +[headless_play] t= 9.00s step= 450 trunk_z= 0.3mm grav_b=(+0.01,+0.00,-1.00) r=2.37m +[headless_play] t= 9.10s step= 455 trunk_z= -7.7mm grav_b=(+0.02,+0.08,-1.00) r=2.37m +[headless_play] t= 9.20s step= 460 trunk_z= -2.1mm grav_b=(+0.03,+0.12,-0.99) r=2.37m +[headless_play] t= 9.30s step= 465 trunk_z= -2.0mm grav_b=(+0.05,+0.13,-0.99) r=2.38m +[headless_play] t= 9.40s step= 470 trunk_z= -1.9mm grav_b=(+0.04,+0.10,-0.99) r=2.39m +[headless_play] t= 9.50s step= 475 trunk_z= 0.4mm grav_b=(+0.03,+0.02,-1.00) r=2.40m +[headless_play] t= 9.60s step= 480 trunk_z= -3.5mm grav_b=(+0.05,+0.03,-1.00) r=2.40m +[headless_play] t= 9.70s step= 485 trunk_z= -9.7mm grav_b=(+0.04,+0.09,-1.00) r=2.39m +[headless_play] t= 9.80s step= 490 trunk_z= -4.8mm grav_b=(+0.07,+0.07,-1.00) r=2.40m +[headless_play] t= 9.90s step= 495 trunk_z= -9.8mm grav_b=(+0.06,+0.04,-1.00) r=2.43m +[headless_play] t= 10.00s step= 500 trunk_z= -0.6mm grav_b=(+0.05,-0.00,-1.00) r=2.45m +[headless_play] t= 10.10s step= 505 trunk_z= -4.7mm grav_b=(+0.06,+0.01,-1.00) r=2.46m +[headless_play] t= 10.20s step= 510 trunk_z= -8.9mm grav_b=(+0.03,+0.09,-1.00) r=2.46m +[headless_play] t= 10.30s step= 515 trunk_z= -1.1mm grav_b=(+0.02,+0.10,-0.99) r=2.46m +[headless_play] t= 10.40s step= 520 trunk_z= -0.9mm grav_b=(+0.03,+0.10,-0.99) r=2.47m +[headless_play] t= 10.50s step= 525 trunk_z= -3.6mm grav_b=(+0.01,+0.08,-1.00) r=2.49m +[headless_play] t= 10.60s step= 530 trunk_z= 0.3mm grav_b=(-0.00,+0.02,-1.00) r=2.50m +[headless_play] t= 10.70s step= 535 trunk_z= -3.5mm grav_b=(+0.04,+0.07,-1.00) r=2.50m +[headless_play] t= 10.80s step= 540 trunk_z= -13.8mm grav_b=(+0.08,+0.11,-0.99) r=2.48m +[headless_play] t= 10.90s step= 545 trunk_z= -8.2mm grav_b=(+0.05,+0.13,-0.99) r=2.48m +[headless_play] t= 11.00s step= 550 trunk_z= -7.7mm grav_b=(+0.09,+0.11,-0.99) r=2.48m +[headless_play] t= 11.10s step= 555 trunk_z= -11.3mm grav_b=(+0.11,+0.09,-0.99) r=2.49m +[headless_play] t= 11.20s step= 560 trunk_z= -8.6mm grav_b=(+0.09,+0.02,-1.00) r=2.51m +[headless_play] t= 11.30s step= 565 trunk_z= -14.8mm grav_b=(+0.13,+0.03,-0.99) r=2.51m +[headless_play] t= 11.40s step= 570 trunk_z= -12.3mm grav_b=(+0.12,+0.09,-0.99) r=2.52m +[headless_play] t= 11.50s step= 575 trunk_z= -9.5mm grav_b=(+0.07,+0.06,-1.00) r=2.53m +[headless_play] t= 11.60s step= 580 trunk_z= -13.7mm grav_b=(+0.05,+0.08,-1.00) r=2.55m +[headless_play] t= 11.70s step= 585 trunk_z= -7.4mm grav_b=(+0.06,-0.01,-1.00) r=2.57m +[headless_play] t= 11.80s step= 590 trunk_z= -5.4mm grav_b=(+0.06,-0.01,-1.00) r=2.58m +[headless_play] t= 11.90s step= 595 trunk_z= -11.6mm grav_b=(+0.09,+0.02,-1.00) r=2.58m +[headless_play] t= 12.00s step= 600 trunk_z= -9.2mm grav_b=(+0.07,+0.05,-1.00) r=2.57m +[headless_play] t= 12.10s step= 605 trunk_z= -7.4mm grav_b=(+0.05,+0.08,-1.00) r=2.58m +[headless_play] t= 12.20s step= 610 trunk_z= -11.8mm grav_b=(+0.08,+0.08,-0.99) r=2.60m +[headless_play] t= 12.30s step= 615 trunk_z= -7.5mm grav_b=(+0.07,+0.01,-1.00) r=2.62m +[headless_play] t= 12.40s step= 620 trunk_z= -8.0mm grav_b=(+0.09,+0.01,-1.00) r=2.64m +[headless_play] t= 12.50s step= 625 trunk_z= -15.0mm grav_b=(+0.10,+0.02,-0.99) r=2.64m +[headless_play] t= 12.60s step= 630 trunk_z= -8.0mm grav_b=(+0.07,+0.08,-0.99) r=2.64m +[headless_play] t= 12.70s step= 635 trunk_z= -10.0mm grav_b=(+0.08,+0.09,-0.99) r=2.65m +[headless_play] t= 12.80s step= 640 trunk_z= -15.3mm grav_b=(+0.10,+0.05,-0.99) r=2.68m +[headless_play] t= 12.90s step= 645 trunk_z= -7.6mm grav_b=(+0.09,+0.00,-1.00) r=2.70m +[headless_play] t= 13.00s step= 650 trunk_z= -9.5mm grav_b=(+0.11,+0.01,-0.99) r=2.71m +[headless_play] t= 13.10s step= 655 trunk_z= -17.2mm grav_b=(+0.10,+0.05,-0.99) r=2.71m +[headless_play] t= 13.20s step= 660 trunk_z= -9.2mm grav_b=(+0.07,+0.06,-1.00) r=2.71m +[headless_play] t= 13.30s step= 665 trunk_z= -13.1mm grav_b=(+0.08,+0.07,-0.99) r=2.73m +[headless_play] t= 13.40s step= 670 trunk_z= -15.2mm grav_b=(+0.09,-0.01,-1.00) r=2.75m +[headless_play] t= 13.50s step= 675 trunk_z= -8.3mm grav_b=(+0.08,-0.03,-1.00) r=2.77m +[headless_play] t= 13.60s step= 680 trunk_z= -11.7mm grav_b=(+0.10,-0.02,-0.99) r=2.78m +[headless_play] t= 13.70s step= 685 trunk_z= -13.1mm grav_b=(+0.07,+0.04,-1.00) r=2.77m +[headless_play] t= 13.80s step= 690 trunk_z= -10.1mm grav_b=(+0.07,+0.04,-1.00) r=2.78m +[headless_play] t= 13.90s step= 695 trunk_z= -15.5mm grav_b=(+0.08,+0.06,-0.99) r=2.80m +[headless_play] t= 14.00s step= 700 trunk_z= -13.8mm grav_b=(+0.09,-0.02,-1.00) r=2.82m +[headless_play] t= 14.10s step= 705 trunk_z= -10.6mm grav_b=(+0.08,-0.04,-1.00) r=2.83m +[headless_play] t= 14.20s step= 710 trunk_z= -14.8mm grav_b=(+0.10,-0.02,-0.99) r=2.83m +[headless_play] t= 14.30s step= 715 trunk_z= -12.0mm grav_b=(+0.06,+0.02,-1.00) r=2.83m +[headless_play] t= 14.40s step= 720 trunk_z= -10.4mm grav_b=(+0.07,+0.03,-1.00) r=2.83m +[headless_play] t= 14.50s step= 725 trunk_z= -16.5mm grav_b=(+0.06,+0.04,-1.00) r=2.86m +[headless_play] t= 14.60s step= 730 trunk_z= -12.9mm grav_b=(+0.08,-0.04,-1.00) r=2.88m +[headless_play] t= 14.70s step= 735 trunk_z= -13.4mm grav_b=(+0.10,-0.04,-0.99) r=2.89m +[headless_play] t= 14.80s step= 740 trunk_z= -18.8mm grav_b=(+0.13,+0.00,-0.99) r=2.88m +[headless_play] t= 14.90s step= 745 trunk_z= -13.7mm grav_b=(+0.09,+0.03,-1.00) r=2.88m +[headless_play] t= 15.00s step= 750 trunk_z= -15.3mm grav_b=(+0.07,+0.03,-1.00) r=2.89m +[headless_play] t= 15.10s step= 755 trunk_z= -29.4mm grav_b=(+0.10,-0.10,-0.99) r=2.91m +[headless_play] t= 15.20s step= 760 trunk_z= -12.5mm grav_b=(+0.07,-0.20,-0.98) r=2.93m +[headless_play] t= 15.30s step= 765 trunk_z= -7.2mm grav_b=(+0.03,-0.17,-0.99) r=2.94m +[headless_play] t= 15.40s step= 770 trunk_z= -15.2mm grav_b=(+0.07,-0.15,-0.99) r=2.94m +[headless_play] t= 15.50s step= 775 trunk_z= -12.7mm grav_b=(+0.10,-0.11,-0.99) r=2.94m +[headless_play] t= 15.60s step= 780 trunk_z= -15.3mm grav_b=(+0.10,-0.00,-1.00) r=2.93m +[headless_play] t= 15.70s step= 785 trunk_z= -11.7mm grav_b=(+0.12,+0.02,-0.99) r=2.93m +[headless_play] t= 15.80s step= 790 trunk_z= -16.6mm grav_b=(+0.05,-0.01,-1.00) r=2.95m +[headless_play] t= 15.90s step= 795 trunk_z= -15.7mm grav_b=(+0.05,-0.01,-1.00) r=2.96m +[headless_play] t= 16.00s step= 800 trunk_z= -17.5mm grav_b=(+0.07,+0.04,-1.00) r=2.96m +[headless_play] t= 16.10s step= 805 trunk_z= -20.5mm grav_b=(+0.08,+0.07,-0.99) r=2.94m +[headless_play] t= 16.20s step= 810 trunk_z= -22.9mm grav_b=(+0.12,+0.04,-0.99) r=2.95m +[headless_play] t= 16.30s step= 815 trunk_z= -24.4mm grav_b=(+0.18,-0.03,-0.98) r=2.97m +[headless_play] t= 16.40s step= 820 trunk_z= -19.9mm grav_b=(+0.17,-0.06,-0.98) r=2.98m +[headless_play] t= 16.50s step= 825 trunk_z= -16.9mm grav_b=(+0.09,+0.01,-1.00) r=2.98m +[headless_play] t= 16.60s step= 830 trunk_z= -14.4mm grav_b=(+0.04,+0.04,-1.00) r=2.98m +[headless_play] t= 16.70s step= 835 trunk_z= -24.8mm grav_b=(+0.05,+0.02,-1.00) r=3.00m +[headless_play] t= 16.80s step= 840 trunk_z= -18.3mm grav_b=(+0.12,-0.04,-0.99) r=3.03m +[headless_play] t= 16.90s step= 845 trunk_z= -26.6mm grav_b=(+0.12,-0.02,-0.99) r=3.04m +[headless_play] t= 17.00s step= 850 trunk_z= -25.6mm grav_b=(+0.16,+0.05,-0.99) r=3.05m +[headless_play] t= 17.10s step= 855 trunk_z= -17.6mm grav_b=(+0.17,+0.07,-0.98) r=3.06m +[headless_play] t= 17.20s step= 860 trunk_z= -16.2mm grav_b=(+0.05,-0.05,-1.00) r=3.09m +[headless_play] t= 17.30s step= 865 trunk_z= -9.6mm grav_b=(+0.04,-0.05,-1.00) r=3.12m +[headless_play] t= 17.40s step= 870 trunk_z= -15.6mm grav_b=(+0.03,+0.01,-1.00) r=3.13m +[headless_play] t= 17.50s step= 875 trunk_z= -17.9mm grav_b=(+0.05,+0.05,-1.00) r=3.13m +[headless_play] t= 17.60s step= 880 trunk_z= -22.0mm grav_b=(+0.08,+0.01,-1.00) r=3.15m +[headless_play] t= 17.70s step= 885 trunk_z= -28.9mm grav_b=(+0.15,+0.01,-0.99) r=3.17m +[headless_play] t= 17.80s step= 890 trunk_z= -14.4mm grav_b=(+0.16,-0.04,-0.99) r=3.19m +[headless_play] t= 17.90s step= 895 trunk_z= -16.2mm grav_b=(+0.11,+0.02,-0.99) r=3.21m +[headless_play] t= 18.00s step= 900 trunk_z= -13.3mm grav_b=(+0.10,+0.08,-0.99) r=3.23m +[headless_play] t= 18.10s step= 905 trunk_z= -16.1mm grav_b=(+0.06,+0.01,-1.00) r=3.25m +[headless_play] t= 18.20s step= 910 trunk_z= -23.4mm grav_b=(+0.05,-0.11,-0.99) r=3.26m +[headless_play] t= 18.30s step= 915 trunk_z= -3.4mm grav_b=(+0.03,-0.14,-0.99) r=3.27m +[headless_play] t= 18.40s step= 920 trunk_z= -3.6mm grav_b=(+0.11,-0.11,-0.99) r=3.27m +[headless_play] t= 18.50s step= 925 trunk_z= -17.4mm grav_b=(+0.20,-0.19,-0.96) r=3.25m +[headless_play] t= 18.60s step= 930 trunk_z= -13.6mm grav_b=(+0.14,-0.23,-0.96) r=3.27m +[headless_play] t= 18.70s step= 935 trunk_z= -6.8mm grav_b=(+0.03,-0.28,-0.96) r=3.29m +[headless_play] t= 18.80s step= 940 trunk_z= -10.7mm grav_b=(+0.03,-0.43,-0.90) r=3.29m +[headless_play] t= 18.90s step= 945 trunk_z= -22.6mm grav_b=(+0.20,-0.59,-0.78) r=3.29m +[headless_play] t= 19.00s step= 950 trunk_z= -63.3mm grav_b=(+0.01,-0.91,-0.42) r=3.29m +[headless_play] RESET at t= 19.02s step= 951 (env termination, not a recovery) +[headless_play] t= 19.10s step= 955 trunk_z= 114.5mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 19.20s step= 960 trunk_z= 114.2mm grav_b=(+0.03,+0.10,-0.99) r=0.60m +[headless_play] t= 19.30s step= 965 trunk_z= 119.2mm grav_b=(+0.03,+0.07,-1.00) r=0.62m +[headless_play] t= 19.40s step= 970 trunk_z= 112.4mm grav_b=(+0.06,+0.03,-1.00) r=0.65m +[headless_play] t= 19.50s step= 975 trunk_z= 117.9mm grav_b=(+0.06,-0.04,-1.00) r=0.67m +[headless_play] t= 19.60s step= 980 trunk_z= 116.6mm grav_b=(+0.06,+0.02,-1.00) r=0.68m +[headless_play] t= 19.70s step= 985 trunk_z= 114.8mm grav_b=(+0.04,+0.10,-0.99) r=0.69m +[headless_play] t= 19.80s step= 990 trunk_z= 122.3mm grav_b=(+0.05,+0.10,-0.99) r=0.70m +[headless_play] t= 19.90s step= 995 trunk_z= 119.5mm grav_b=(+0.06,+0.14,-0.99) r=0.73m +[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.76m +[headless_play] t= 20.10s step=1005 trunk_z= 122.8mm grav_b=(+0.04,-0.04,-1.00) r=0.78m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t2.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..3b5e196790dba63ab76a4d3f0c608c4825a72e4d --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t2.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.031,-18.306,+0.251) +[headless_play] t= 0.00s step= 0 trunk_z= 121.9mm grav_b=(-0.01,-0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.01,-0.05,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.00,-0.05,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 113.1mm grav_b=(-0.03,+0.03,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 110.4mm grav_b=(-0.03,+0.06,-1.00) r=0.27m +[headless_play] t= 0.50s step= 25 trunk_z= 113.3mm grav_b=(-0.03,+0.03,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 106.6mm grav_b=(-0.01,+0.01,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 110.1mm grav_b=(-0.01,-0.04,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 107.0mm grav_b=(+0.01,-0.04,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 100.5mm grav_b=(+0.03,-0.00,-1.00) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 109.6mm grav_b=(+0.01,+0.04,-1.00) r=0.26m +[headless_play] t= 1.10s step= 55 trunk_z= 109.2mm grav_b=(+0.01,+0.04,-1.00) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 103.6mm grav_b=(+0.05,-0.00,-1.00) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 112.2mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 1.40s step= 70 trunk_z= 110.4mm grav_b=(+0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 103.0mm grav_b=(+0.03,-0.00,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 109.3mm grav_b=(+0.00,+0.05,-1.00) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 108.3mm grav_b=(+0.01,+0.04,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 102.6mm grav_b=(+0.04,-0.01,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 112.2mm grav_b=(+0.01,-0.03,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 109.8mm grav_b=(+0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 102.5mm grav_b=(+0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 111.6mm grav_b=(-0.00,+0.04,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 109.4mm grav_b=(+0.00,+0.04,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 106.1mm grav_b=(+0.04,-0.03,-1.00) r=0.35m +[headless_play] t= 2.50s step= 125 trunk_z= 112.0mm grav_b=(+0.00,-0.04,-1.00) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 108.0mm grav_b=(+0.01,-0.04,-1.00) r=0.36m +[headless_play] t= 2.70s step= 135 trunk_z= 100.4mm grav_b=(+0.04,+0.04,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 110.2mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 2.90s step= 145 trunk_z= 107.4mm grav_b=(+0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 3.00s step= 150 trunk_z= 105.4mm grav_b=(+0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 112.6mm grav_b=(-0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 3.20s step= 160 trunk_z= 109.5mm grav_b=(-0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 100.3mm grav_b=(+0.04,+0.03,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 109.1mm grav_b=(+0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 105.4mm grav_b=(+0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 104.6mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 112.5mm grav_b=(-0.00,-0.01,-1.00) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 107.9mm grav_b=(-0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 104.3mm grav_b=(-0.00,+0.06,-1.00) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 111.3mm grav_b=(-0.02,+0.05,-1.00) r=0.50m +[headless_play] t= 4.10s step= 205 trunk_z= 107.1mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 109.3mm grav_b=(+0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 109.3mm grav_b=(+0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 103.3mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 107.9mm grav_b=(+0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 109.3mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 102.5mm grav_b=(+0.06,+0.01,-1.00) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 109.4mm grav_b=(+0.04,-0.02,-1.00) r=0.60m +[headless_play] t= 4.90s step= 245 trunk_z= 111.5mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 5.00s step= 250 trunk_z= 104.2mm grav_b=(+0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 109.6mm grav_b=(+0.05,+0.06,-1.00) r=0.64m +[headless_play] t= 5.20s step= 260 trunk_z= 110.3mm grav_b=(+0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 101.7mm grav_b=(+0.07,-0.02,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 112.7mm grav_b=(+0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 111.4mm grav_b=(-0.01,+0.01,-1.00) r=0.71m +[headless_play] t= 5.60s step= 280 trunk_z= 104.9mm grav_b=(-0.02,+0.06,-1.00) r=0.72m +[headless_play] t= 5.70s step= 285 trunk_z= 113.3mm grav_b=(-0.00,+0.05,-1.00) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 108.8mm grav_b=(+0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 107.3mm grav_b=(+0.05,-0.03,-1.00) r=0.76m +[headless_play] t= 6.00s step= 300 trunk_z= 113.4mm grav_b=(+0.00,-0.00,-1.00) r=0.77m +[headless_play] t= 6.10s step= 305 trunk_z= 108.8mm grav_b=(-0.01,+0.02,-1.00) r=0.78m +[headless_play] t= 6.20s step= 310 trunk_z= 106.7mm grav_b=(+0.02,+0.06,-1.00) r=0.80m +[headless_play] t= 6.30s step= 315 trunk_z= 111.4mm grav_b=(+0.05,+0.05,-1.00) r=0.81m +[headless_play] t= 6.40s step= 320 trunk_z= 106.4mm grav_b=(+0.05,+0.02,-1.00) r=0.81m +[headless_play] t= 6.50s step= 325 trunk_z= 111.3mm grav_b=(+0.04,-0.03,-1.00) r=0.82m +[headless_play] t= 6.60s step= 330 trunk_z= 114.1mm grav_b=(-0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 6.70s step= 335 trunk_z= 109.2mm grav_b=(-0.01,-0.00,-1.00) r=0.84m +[headless_play] t= 6.80s step= 340 trunk_z= 108.9mm grav_b=(+0.02,+0.05,-1.00) r=0.86m +[headless_play] t= 6.90s step= 345 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) r=0.87m +[headless_play] t= 7.00s step= 350 trunk_z= 105.8mm grav_b=(+0.02,+0.00,-1.00) r=0.88m +[headless_play] t= 7.10s step= 355 trunk_z= 112.4mm grav_b=(+0.01,-0.03,-1.00) r=0.88m +[headless_play] t= 7.20s step= 360 trunk_z= 114.1mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 7.30s step= 365 trunk_z= 106.5mm grav_b=(-0.01,+0.02,-1.00) r=0.91m +[headless_play] t= 7.40s step= 370 trunk_z= 110.6mm grav_b=(+0.00,+0.05,-1.00) r=0.93m +[headless_play] t= 7.50s step= 375 trunk_z= 111.8mm grav_b=(-0.00,+0.03,-1.00) r=0.94m +[headless_play] t= 7.60s step= 380 trunk_z= 104.8mm grav_b=(+0.03,-0.01,-1.00) r=0.95m +[headless_play] t= 7.70s step= 385 trunk_z= 113.3mm grav_b=(+0.01,-0.03,-1.00) r=0.95m +[headless_play] t= 7.80s step= 390 trunk_z= 112.0mm grav_b=(-0.01,-0.00,-1.00) r=0.97m +[headless_play] t= 7.90s step= 395 trunk_z= 103.0mm grav_b=(+0.01,+0.03,-1.00) r=0.99m +[headless_play] t= 8.00s step= 400 trunk_z= 113.9mm grav_b=(+0.00,+0.05,-1.00) r=1.00m +[headless_play] t= 8.10s step= 405 trunk_z= 112.1mm grav_b=(-0.00,+0.02,-1.00) r=1.01m +[headless_play] t= 8.20s step= 410 trunk_z= 108.1mm grav_b=(+0.01,-0.02,-1.00) r=1.01m +[headless_play] t= 8.30s step= 415 trunk_z= 114.6mm grav_b=(-0.03,+0.01,-1.00) r=1.02m +[headless_play] t= 8.40s step= 420 trunk_z= 109.4mm grav_b=(-0.02,+0.04,-1.00) r=1.04m +[headless_play] t= 8.50s step= 425 trunk_z= 107.9mm grav_b=(-0.01,+0.06,-1.00) r=1.06m +[headless_play] t= 8.60s step= 430 trunk_z= 111.2mm grav_b=(-0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 8.70s step= 435 trunk_z= 104.9mm grav_b=(+0.02,-0.03,-1.00) r=1.08m +[headless_play] t= 8.80s step= 440 trunk_z= 111.6mm grav_b=(-0.01,-0.02,-1.00) r=1.09m +[headless_play] t= 8.90s step= 445 trunk_z= 109.0mm grav_b=(-0.01,-0.00,-1.00) r=1.10m +[headless_play] t= 9.00s step= 450 trunk_z= 105.5mm grav_b=(+0.04,+0.05,-1.00) r=1.12m +[headless_play] t= 9.10s step= 455 trunk_z= 106.5mm grav_b=(+0.08,+0.04,-1.00) r=1.14m +[headless_play] t= 9.20s step= 460 trunk_z= 103.0mm grav_b=(+0.09,-0.02,-1.00) r=1.16m +[headless_play] t= 9.30s step= 465 trunk_z= 111.2mm grav_b=(+0.04,-0.07,-1.00) r=1.19m +[headless_play] t= 9.40s step= 470 trunk_z= 102.1mm grav_b=(+0.02,-0.01,-1.00) r=1.22m +[headless_play] t= 9.50s step= 475 trunk_z= 94.6mm grav_b=(-0.03,+0.11,-0.99) r=1.27m +[headless_play] t= 9.60s step= 480 trunk_z= 93.2mm grav_b=(+0.02,+0.14,-0.99) r=1.29m +[headless_play] t= 9.70s step= 485 trunk_z= 92.0mm grav_b=(+0.06,+0.10,-0.99) r=1.30m +[headless_play] t= 9.80s step= 490 trunk_z= 90.8mm grav_b=(+0.03,-0.07,-1.00) r=1.33m +[headless_play] t= 9.90s step= 495 trunk_z= 91.3mm grav_b=(-0.02,-0.10,-0.99) r=1.35m +[headless_play] t= 10.00s step= 500 trunk_z= 80.0mm grav_b=(-0.02,-0.04,-1.00) r=1.38m +[headless_play] t= 10.10s step= 505 trunk_z= 78.2mm grav_b=(-0.03,+0.10,-0.99) r=1.41m +[headless_play] t= 10.20s step= 510 trunk_z= 76.5mm grav_b=(+0.01,+0.13,-0.99) r=1.43m +[headless_play] t= 10.30s step= 515 trunk_z= 74.1mm grav_b=(+0.06,+0.10,-0.99) r=1.45m +[headless_play] t= 10.40s step= 520 trunk_z= 73.6mm grav_b=(+0.03,-0.04,-1.00) r=1.46m +[headless_play] t= 10.50s step= 525 trunk_z= 74.1mm grav_b=(-0.01,-0.08,-1.00) r=1.48m +[headless_play] t= 10.60s step= 530 trunk_z= 62.5mm grav_b=(+0.00,-0.03,-1.00) r=1.51m +[headless_play] t= 10.70s step= 535 trunk_z= 61.1mm grav_b=(-0.01,+0.08,-1.00) r=1.55m +[headless_play] t= 10.80s step= 540 trunk_z= 59.2mm grav_b=(+0.02,+0.10,-0.99) r=1.57m +[headless_play] t= 10.90s step= 545 trunk_z= 58.4mm grav_b=(+0.04,+0.04,-1.00) r=1.58m +[headless_play] t= 11.00s step= 550 trunk_z= 62.2mm grav_b=(-0.01,-0.09,-1.00) r=1.60m +[headless_play] t= 11.10s step= 555 trunk_z= 58.1mm grav_b=(-0.03,-0.08,-1.00) r=1.62m +[headless_play] t= 11.20s step= 560 trunk_z= 44.3mm grav_b=(-0.02,+0.00,-1.00) r=1.65m +[headless_play] t= 11.30s step= 565 trunk_z= 49.3mm grav_b=(-0.01,+0.12,-0.99) r=1.68m +[headless_play] t= 11.40s step= 570 trunk_z= 48.4mm grav_b=(+0.03,+0.14,-0.99) r=1.70m +[headless_play] t= 11.50s step= 575 trunk_z= 48.8mm grav_b=(+0.04,+0.10,-0.99) r=1.71m +[headless_play] t= 11.60s step= 580 trunk_z= 47.6mm grav_b=(+0.01,-0.05,-1.00) r=1.72m +[headless_play] t= 11.70s step= 585 trunk_z= 50.5mm grav_b=(-0.01,-0.09,-1.00) r=1.74m +[headless_play] t= 11.80s step= 590 trunk_z= 39.2mm grav_b=(-0.00,-0.03,-1.00) r=1.77m +[headless_play] t= 11.90s step= 595 trunk_z= 35.4mm grav_b=(+0.01,+0.08,-1.00) r=1.80m +[headless_play] t= 12.00s step= 600 trunk_z= 36.8mm grav_b=(+0.04,+0.10,-0.99) r=1.82m +[headless_play] t= 12.10s step= 605 trunk_z= 37.6mm grav_b=(+0.04,+0.07,-1.00) r=1.82m +[headless_play] t= 12.20s step= 610 trunk_z= 39.6mm grav_b=(+0.02,-0.06,-1.00) r=1.83m +[headless_play] t= 12.30s step= 615 trunk_z= 39.6mm grav_b=(-0.03,-0.08,-1.00) r=1.85m +[headless_play] t= 12.40s step= 620 trunk_z= 27.5mm grav_b=(-0.03,-0.04,-1.00) r=1.88m +[headless_play] t= 12.50s step= 625 trunk_z= 29.4mm grav_b=(-0.02,+0.07,-1.00) r=1.90m +[headless_play] t= 12.60s step= 630 trunk_z= 30.9mm grav_b=(+0.00,+0.09,-1.00) r=1.91m +[headless_play] t= 12.70s step= 635 trunk_z= 26.2mm grav_b=(+0.03,+0.08,-1.00) r=1.91m +[headless_play] t= 12.80s step= 640 trunk_z= 29.0mm grav_b=(+0.01,-0.02,-1.00) r=1.90m +[headless_play] t= 12.90s step= 645 trunk_z= 29.2mm grav_b=(-0.00,-0.01,-1.00) r=1.91m +[headless_play] t= 13.00s step= 650 trunk_z= 17.9mm grav_b=(-0.02,+0.04,-1.00) r=1.94m +[headless_play] t= 13.10s step= 655 trunk_z= 23.6mm grav_b=(-0.01,+0.12,-0.99) r=1.97m +[headless_play] t= 13.20s step= 660 trunk_z= 23.5mm grav_b=(+0.01,+0.11,-0.99) r=1.97m +[headless_play] t= 13.30s step= 665 trunk_z= 18.3mm grav_b=(+0.04,+0.06,-1.00) r=1.97m +[headless_play] t= 13.40s step= 670 trunk_z= 24.0mm grav_b=(+0.01,-0.03,-1.00) r=1.97m +[headless_play] t= 13.50s step= 675 trunk_z= 20.2mm grav_b=(+0.03,-0.01,-1.00) r=1.99m +[headless_play] t= 13.60s step= 680 trunk_z= 11.8mm grav_b=(-0.01,+0.08,-1.00) r=2.02m +[headless_play] t= 13.70s step= 685 trunk_z= 20.9mm grav_b=(+0.01,+0.12,-0.99) r=2.04m +[headless_play] t= 13.80s step= 690 trunk_z= 19.1mm grav_b=(+0.02,+0.11,-0.99) r=2.05m +[headless_play] t= 13.90s step= 695 trunk_z= 14.5mm grav_b=(+0.04,+0.05,-1.00) r=2.05m +[headless_play] t= 14.00s step= 700 trunk_z= 19.1mm grav_b=(+0.02,-0.05,-1.00) r=2.05m +[headless_play] t= 14.10s step= 705 trunk_z= 14.7mm grav_b=(+0.03,-0.03,-1.00) r=2.07m +[headless_play] t= 14.20s step= 710 trunk_z= 6.2mm grav_b=(+0.00,+0.07,-1.00) r=2.10m +[headless_play] t= 14.30s step= 715 trunk_z= 15.5mm grav_b=(-0.00,+0.09,-1.00) r=2.12m +[headless_play] t= 14.40s step= 720 trunk_z= 12.2mm grav_b=(+0.02,+0.08,-1.00) r=2.13m +[headless_play] t= 14.50s step= 725 trunk_z= 6.4mm grav_b=(+0.03,-0.01,-1.00) r=2.13m +[headless_play] t= 14.60s step= 730 trunk_z= 12.1mm grav_b=(+0.03,-0.05,-1.00) r=2.13m +[headless_play] t= 14.70s step= 735 trunk_z= 7.1mm grav_b=(+0.05,-0.02,-1.00) r=2.16m +[headless_play] t= 14.80s step= 740 trunk_z= 4.5mm grav_b=(-0.00,+0.06,-1.00) r=2.19m +[headless_play] t= 14.90s step= 745 trunk_z= 8.1mm grav_b=(+0.01,+0.08,-1.00) r=2.20m +[headless_play] t= 15.00s step= 750 trunk_z= 2.0mm grav_b=(+0.04,+0.05,-1.00) r=2.21m +[headless_play] t= 15.10s step= 755 trunk_z= 4.2mm grav_b=(+0.03,-0.04,-1.00) r=2.22m +[headless_play] t= 15.20s step= 760 trunk_z= 2.7mm grav_b=(+0.05,-0.04,-1.00) r=2.24m +[headless_play] t= 15.30s step= 765 trunk_z= -5.5mm grav_b=(+0.02,+0.05,-1.00) r=2.27m +[headless_play] t= 15.40s step= 770 trunk_z= 3.3mm grav_b=(-0.00,+0.08,-1.00) r=2.29m +[headless_play] t= 15.50s step= 775 trunk_z= -0.5mm grav_b=(+0.02,+0.07,-1.00) r=2.30m +[headless_play] t= 15.60s step= 780 trunk_z= -7.3mm grav_b=(+0.05,-0.01,-1.00) r=2.31m +[headless_play] t= 15.70s step= 785 trunk_z= -0.4mm grav_b=(+0.02,-0.05,-1.00) r=2.32m +[headless_play] t= 15.80s step= 790 trunk_z= -4.5mm grav_b=(+0.03,-0.03,-1.00) r=2.34m +[headless_play] t= 15.90s step= 795 trunk_z= -3.6mm grav_b=(+0.02,+0.07,-1.00) r=2.36m +[headless_play] t= 16.00s step= 800 trunk_z= -0.2mm grav_b=(+0.04,+0.06,-1.00) r=2.38m +[headless_play] t= 16.10s step= 805 trunk_z= -2.8mm grav_b=(+0.06,+0.01,-1.00) r=2.39m +[headless_play] t= 16.20s step= 810 trunk_z= -3.9mm grav_b=(+0.04,-0.09,-0.99) r=2.41m +[headless_play] t= 16.30s step= 815 trunk_z= -1.1mm grav_b=(+0.05,-0.10,-0.99) r=2.43m +[headless_play] t= 16.40s step= 820 trunk_z= -19.1mm grav_b=(-0.05,-0.04,-1.00) r=2.47m +[headless_play] t= 16.50s step= 825 trunk_z= -10.6mm grav_b=(+0.00,-0.03,-1.00) r=2.48m +[headless_play] t= 16.60s step= 830 trunk_z= -12.7mm grav_b=(-0.04,-0.06,-1.00) r=2.47m +[headless_play] t= 16.70s step= 835 trunk_z= -10.2mm grav_b=(-0.03,-0.11,-0.99) r=2.47m +[headless_play] t= 16.80s step= 840 trunk_z= -7.1mm grav_b=(-0.05,-0.09,-0.99) r=2.47m +[headless_play] t= 16.90s step= 845 trunk_z= -13.3mm grav_b=(-0.04,-0.03,-1.00) r=2.50m +[headless_play] t= 17.00s step= 850 trunk_z= -12.2mm grav_b=(+0.03,-0.01,-1.00) r=2.51m +[headless_play] t= 17.10s step= 855 trunk_z= -15.2mm grav_b=(+0.06,-0.04,-1.00) r=2.51m +[headless_play] t= 17.20s step= 860 trunk_z= -9.0mm grav_b=(+0.02,-0.09,-1.00) r=2.50m +[headless_play] t= 17.30s step= 865 trunk_z= -15.4mm grav_b=(+0.04,-0.05,-1.00) r=2.51m +[headless_play] t= 17.40s step= 870 trunk_z= -12.4mm grav_b=(+0.05,-0.14,-0.99) r=2.51m +[headless_play] t= 17.50s step= 875 trunk_z= -13.6mm grav_b=(+0.03,-0.16,-0.99) r=2.51m +[headless_play] t= 17.60s step= 880 trunk_z= -18.7mm grav_b=(-0.03,-0.18,-0.98) r=2.50m +[headless_play] t= 17.70s step= 885 trunk_z= -11.6mm grav_b=(-0.06,-0.11,-0.99) r=2.51m +[headless_play] t= 17.80s step= 890 trunk_z= -15.1mm grav_b=(-0.16,-0.02,-0.99) r=2.54m +[headless_play] t= 17.90s step= 895 trunk_z= -12.3mm grav_b=(-0.11,-0.02,-0.99) r=2.55m +[headless_play] t= 18.00s step= 900 trunk_z= -16.6mm grav_b=(-0.09,-0.08,-0.99) r=2.55m +[headless_play] t= 18.10s step= 905 trunk_z= -12.8mm grav_b=(+0.01,-0.03,-1.00) r=2.55m +[headless_play] t= 18.20s step= 910 trunk_z= -33.8mm grav_b=(+0.02,+0.02,-1.00) r=2.57m +[headless_play] t= 18.30s step= 915 trunk_z= -22.1mm grav_b=(+0.02,-0.03,-1.00) r=2.57m +[headless_play] t= 18.40s step= 920 trunk_z= -18.9mm grav_b=(+0.01,-0.12,-0.99) r=2.56m +[headless_play] t= 18.50s step= 925 trunk_z= -6.5mm grav_b=(+0.04,-0.11,-0.99) r=2.55m +[headless_play] t= 18.60s step= 930 trunk_z= -16.5mm grav_b=(+0.03,-0.05,-1.00) r=2.56m +[headless_play] t= 18.70s step= 935 trunk_z= -8.4mm grav_b=(+0.03,-0.03,-1.00) r=2.57m +[headless_play] t= 18.80s step= 940 trunk_z= -13.1mm grav_b=(+0.04,-0.08,-1.00) r=2.56m +[headless_play] t= 18.90s step= 945 trunk_z= -12.5mm grav_b=(+0.08,-0.08,-0.99) r=2.56m +[headless_play] t= 19.00s step= 950 trunk_z= -10.2mm grav_b=(+0.03,-0.05,-1.00) r=2.57m +[headless_play] t= 19.10s step= 955 trunk_z= -13.9mm grav_b=(-0.04,+0.04,-1.00) r=2.59m +[headless_play] t= 19.20s step= 960 trunk_z= -7.4mm grav_b=(-0.02,+0.05,-1.00) r=2.60m +[headless_play] t= 19.30s step= 965 trunk_z= -13.7mm grav_b=(-0.07,-0.03,-1.00) r=2.59m +[headless_play] t= 19.40s step= 970 trunk_z= -10.5mm grav_b=(-0.06,-0.05,-1.00) r=2.58m +[headless_play] t= 19.50s step= 975 trunk_z= -15.5mm grav_b=(-0.05,+0.00,-1.00) r=2.58m +[headless_play] t= 19.60s step= 980 trunk_z= -14.6mm grav_b=(-0.04,+0.01,-1.00) r=2.59m +[headless_play] t= 19.70s step= 985 trunk_z= -16.6mm grav_b=(-0.01,-0.05,-1.00) r=2.58m +[headless_play] t= 19.80s step= 990 trunk_z= -17.7mm grav_b=(+0.06,-0.10,-0.99) r=2.57m +[headless_play] t= 19.90s step= 995 trunk_z= -11.7mm grav_b=(+0.06,-0.05,-1.00) r=2.58m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.6mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 20.10s step=1005 trunk_z= 114.5mm grav_b=(+0.01,-0.06,-1.00) r=0.20m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t3.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..f2cdd7478ef5f085ce9a888ac1a752832b80d96e --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-10.296,-18.364,+0.247) +[headless_play] t= 0.00s step= 0 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(-0.00,+0.02,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(-0.00,-0.01,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 117.3mm grav_b=(+0.02,-0.07,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 120.9mm grav_b=(-0.01,-0.03,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 112.6mm grav_b=(-0.04,+0.04,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 123.2mm grav_b=(-0.04,+0.06,-1.00) r=0.54m +[headless_play] t= 0.70s step= 35 trunk_z= 120.1mm grav_b=(-0.03,+0.03,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 118.5mm grav_b=(-0.03,-0.05,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 122.9mm grav_b=(-0.04,-0.05,-1.00) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 115.3mm grav_b=(-0.05,-0.02,-1.00) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 121.6mm grav_b=(-0.04,+0.04,-1.00) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 120.7mm grav_b=(-0.04,+0.02,-1.00) r=0.62m +[headless_play] t= 1.30s step= 65 trunk_z= 116.8mm grav_b=(-0.04,-0.05,-1.00) r=0.63m +[headless_play] t= 1.40s step= 70 trunk_z= 123.1mm grav_b=(-0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.66m +[headless_play] t= 1.60s step= 80 trunk_z= 119.9mm grav_b=(-0.02,+0.07,-1.00) r=0.69m +[headless_play] t= 1.70s step= 85 trunk_z= 121.2mm grav_b=(-0.01,+0.03,-1.00) r=0.70m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(-0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 1.90s step= 95 trunk_z= 124.0mm grav_b=(-0.05,-0.05,-1.00) r=0.73m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(-0.04,-0.02,-1.00) r=0.75m +[headless_play] t= 2.10s step= 105 trunk_z= 120.4mm grav_b=(-0.02,+0.06,-1.00) r=0.78m +[headless_play] t= 2.20s step= 110 trunk_z= 120.8mm grav_b=(-0.01,+0.02,-1.00) r=0.79m +[headless_play] t= 2.30s step= 115 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.80m +[headless_play] t= 2.40s step= 120 trunk_z= 123.2mm grav_b=(-0.04,-0.03,-1.00) r=0.81m +[headless_play] t= 2.50s step= 125 trunk_z= 114.7mm grav_b=(-0.07,-0.00,-1.00) r=0.83m +[headless_play] t= 2.60s step= 130 trunk_z= 119.5mm grav_b=(-0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 2.70s step= 135 trunk_z= 120.8mm grav_b=(-0.04,+0.02,-1.00) r=0.87m +[headless_play] t= 2.80s step= 140 trunk_z= 114.8mm grav_b=(-0.03,-0.05,-1.00) r=0.87m +[headless_play] t= 2.90s step= 145 trunk_z= 122.8mm grav_b=(-0.04,-0.03,-1.00) r=0.87m +[headless_play] t= 3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.06,-0.01,-1.00) r=0.90m +[headless_play] t= 3.10s step= 155 trunk_z= 116.6mm grav_b=(-0.03,+0.07,-1.00) r=0.93m +[headless_play] t= 3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.01,+0.06,-1.00) r=0.95m +[headless_play] t= 3.30s step= 165 trunk_z= 115.9mm grav_b=(+0.02,-0.03,-1.00) r=0.96m +[headless_play] t= 3.40s step= 170 trunk_z= 123.3mm grav_b=(-0.00,-0.06,-1.00) r=0.98m +[headless_play] t= 3.50s step= 175 trunk_z= 114.6mm grav_b=(-0.07,+0.01,-1.00) r=1.02m +[headless_play] t= 3.60s step= 180 trunk_z= 107.2mm grav_b=(-0.04,+0.12,-0.99) r=1.06m +[headless_play] t= 3.70s step= 185 trunk_z= 113.2mm grav_b=(+0.00,+0.22,-0.98) r=1.08m +[headless_play] t= 3.80s step= 190 trunk_z= 112.0mm grav_b=(+0.01,+0.23,-0.97) r=1.10m +[headless_play] t= 3.90s step= 195 trunk_z= 110.9mm grav_b=(-0.06,+0.14,-0.99) r=1.14m +[headless_play] t= 4.00s step= 200 trunk_z= 103.8mm grav_b=(+0.10,+0.13,-0.99) r=1.18m +[headless_play] t= 4.10s step= 205 trunk_z= 85.5mm grav_b=(+0.09,+0.05,-0.99) r=1.23m +[headless_play] t= 4.20s step= 210 trunk_z= 93.3mm grav_b=(+0.05,+0.04,-1.00) r=1.28m +[headless_play] t= 4.30s step= 215 trunk_z= 62.7mm grav_b=(+0.09,-0.05,-1.00) r=1.35m +[headless_play] t= 4.40s step= 220 trunk_z= 83.1mm grav_b=(+0.04,-0.06,-1.00) r=1.41m +[headless_play] t= 4.50s step= 225 trunk_z= 39.8mm grav_b=(-0.08,+0.01,-1.00) r=1.47m +[headless_play] t= 4.60s step= 230 trunk_z= 51.4mm grav_b=(-0.05,-0.08,-1.00) r=1.49m +[headless_play] t= 4.70s step= 235 trunk_z= 48.9mm grav_b=(-0.01,-0.12,-0.99) r=1.52m +[headless_play] t= 4.80s step= 240 trunk_z= 54.3mm grav_b=(-0.01,-0.07,-1.00) r=1.56m +[headless_play] t= 4.90s step= 245 trunk_z= 43.4mm grav_b=(-0.02,-0.01,-1.00) r=1.59m +[headless_play] t= 5.00s step= 250 trunk_z= 47.4mm grav_b=(-0.01,+0.13,-0.99) r=1.62m +[headless_play] t= 5.10s step= 255 trunk_z= 50.0mm grav_b=(+0.02,+0.17,-0.99) r=1.64m +[headless_play] t= 5.20s step= 260 trunk_z= 50.9mm grav_b=(+0.02,+0.11,-0.99) r=1.66m +[headless_play] t= 5.30s step= 265 trunk_z= 40.1mm grav_b=(-0.00,-0.03,-1.00) r=1.70m +[headless_play] t= 5.40s step= 270 trunk_z= 45.5mm grav_b=(-0.01,-0.01,-1.00) r=1.73m +[headless_play] t= 5.50s step= 275 trunk_z= 25.9mm grav_b=(-0.02,-0.00,-1.00) r=1.76m +[headless_play] t= 5.60s step= 280 trunk_z= 32.8mm grav_b=(+0.01,-0.00,-1.00) r=1.79m +[headless_play] t= 5.70s step= 285 trunk_z= 28.3mm grav_b=(+0.02,-0.04,-1.00) r=1.81m +[headless_play] t= 5.80s step= 290 trunk_z= 28.6mm grav_b=(-0.04,-0.11,-0.99) r=1.84m +[headless_play] t= 5.90s step= 295 trunk_z= 26.9mm grav_b=(-0.06,-0.05,-1.00) r=1.86m +[headless_play] t= 6.00s step= 300 trunk_z= 15.0mm grav_b=(-0.02,-0.01,-1.00) r=1.90m +[headless_play] t= 6.10s step= 305 trunk_z= 20.7mm grav_b=(+0.04,+0.08,-1.00) r=1.93m +[headless_play] t= 6.20s step= 310 trunk_z= 20.8mm grav_b=(+0.05,+0.03,-1.00) r=1.95m +[headless_play] t= 6.30s step= 315 trunk_z= 12.0mm grav_b=(+0.00,-0.10,-0.99) r=1.97m +[headless_play] t= 6.40s step= 320 trunk_z= 18.5mm grav_b=(-0.05,-0.11,-0.99) r=2.00m +[headless_play] t= 6.50s step= 325 trunk_z= 12.4mm grav_b=(-0.06,-0.09,-0.99) r=2.03m +[headless_play] t= 6.60s step= 330 trunk_z= 3.0mm grav_b=(+0.01,+0.04,-1.00) r=2.07m +[headless_play] t= 6.70s step= 335 trunk_z= 9.0mm grav_b=(+0.03,+0.10,-0.99) r=2.10m +[headless_play] t= 6.80s step= 340 trunk_z= 10.8mm grav_b=(+0.02,+0.06,-1.00) r=2.11m +[headless_play] t= 6.90s step= 345 trunk_z= 2.5mm grav_b=(-0.01,-0.05,-1.00) r=2.13m +[headless_play] t= 7.00s step= 350 trunk_z= 3.0mm grav_b=(-0.02,-0.04,-1.00) r=2.15m +[headless_play] t= 7.10s step= 355 trunk_z= -8.3mm grav_b=(-0.04,-0.01,-1.00) r=2.18m +[headless_play] t= 7.20s step= 360 trunk_z= -5.5mm grav_b=(-0.04,-0.06,-1.00) r=2.18m +[headless_play] t= 7.30s step= 365 trunk_z= -10.9mm grav_b=(-0.06,-0.11,-0.99) r=2.17m +[headless_play] t= 7.40s step= 370 trunk_z= -2.5mm grav_b=(-0.08,-0.09,-0.99) r=2.16m +[headless_play] t= 7.50s step= 375 trunk_z= -9.3mm grav_b=(-0.07,-0.04,-1.00) r=2.15m +[headless_play] t= 7.60s step= 380 trunk_z= -6.5mm grav_b=(-0.05,-0.03,-1.00) r=2.14m +[headless_play] t= 7.70s step= 385 trunk_z= -8.5mm grav_b=(-0.01,-0.08,-1.00) r=2.13m +[headless_play] t= 7.80s step= 390 trunk_z= -2.9mm grav_b=(+0.01,-0.08,-1.00) r=2.13m +[headless_play] t= 7.90s step= 395 trunk_z= -4.2mm grav_b=(+0.03,-0.05,-1.00) r=2.15m +[headless_play] t= 8.00s step= 400 trunk_z= -9.1mm grav_b=(+0.06,+0.02,-1.00) r=2.18m +[headless_play] t= 8.10s step= 405 trunk_z= 1.0mm grav_b=(+0.03,+0.01,-1.00) r=2.19m +[headless_play] t= 8.20s step= 410 trunk_z= -2.0mm grav_b=(-0.03,-0.06,-1.00) r=2.21m +[headless_play] t= 8.30s step= 415 trunk_z= 7.4mm grav_b=(-0.07,-0.05,-1.00) r=2.22m +[headless_play] t= 8.40s step= 420 trunk_z= 1.7mm grav_b=(-0.09,-0.01,-1.00) r=2.23m +[headless_play] t= 8.50s step= 425 trunk_z= 2.6mm grav_b=(-0.09,+0.06,-0.99) r=2.25m +[headless_play] t= 8.60s step= 430 trunk_z= 7.1mm grav_b=(-0.06,+0.06,-1.00) r=2.25m +[headless_play] t= 8.70s step= 435 trunk_z= 3.0mm grav_b=(-0.06,+0.02,-1.00) r=2.25m +[headless_play] t= 8.80s step= 440 trunk_z= 5.7mm grav_b=(-0.05,-0.05,-1.00) r=2.25m +[headless_play] t= 8.90s step= 445 trunk_z= 8.1mm grav_b=(-0.04,-0.04,-1.00) r=2.25m +[headless_play] t= 9.00s step= 450 trunk_z= -0.1mm grav_b=(-0.05,+0.01,-1.00) r=2.28m +[headless_play] t= 9.10s step= 455 trunk_z= 8.9mm grav_b=(-0.04,+0.04,-1.00) r=2.29m +[headless_play] t= 9.20s step= 460 trunk_z= 7.8mm grav_b=(-0.06,+0.02,-1.00) r=2.30m +[headless_play] t= 9.30s step= 465 trunk_z= 5.9mm grav_b=(-0.05,-0.05,-1.00) r=2.30m +[headless_play] t= 9.40s step= 470 trunk_z= 13.2mm grav_b=(-0.05,-0.02,-1.00) r=2.30m +[headless_play] t= 9.50s step= 475 trunk_z= 7.6mm grav_b=(-0.08,+0.00,-1.00) r=2.32m +[headless_play] t= 9.60s step= 480 trunk_z= 10.9mm grav_b=(-0.05,+0.06,-1.00) r=2.34m +[headless_play] t= 9.70s step= 485 trunk_z= 12.6mm grav_b=(-0.03,+0.03,-1.00) r=2.35m +[headless_play] t= 9.80s step= 490 trunk_z= 8.7mm grav_b=(-0.04,-0.04,-1.00) r=2.35m +[headless_play] t= 9.90s step= 495 trunk_z= 16.7mm grav_b=(-0.08,-0.01,-1.00) r=2.35m +[headless_play] t= 10.00s step= 500 trunk_z= 11.0mm grav_b=(-0.08,+0.03,-1.00) r=2.36m +[headless_play] t= 10.10s step= 505 trunk_z= 16.1mm grav_b=(-0.06,+0.08,-1.00) r=2.37m +[headless_play] t= 10.20s step= 510 trunk_z= 16.5mm grav_b=(-0.06,+0.03,-1.00) r=2.37m +[headless_play] t= 10.30s step= 515 trunk_z= 10.9mm grav_b=(-0.04,-0.03,-1.00) r=2.37m +[headless_play] t= 10.40s step= 520 trunk_z= 17.7mm grav_b=(-0.03,-0.02,-1.00) r=2.37m +[headless_play] t= 10.50s step= 525 trunk_z= 14.3mm grav_b=(-0.03,+0.02,-1.00) r=2.39m +[headless_play] t= 10.60s step= 530 trunk_z= 16.1mm grav_b=(-0.04,+0.06,-1.00) r=2.41m +[headless_play] t= 10.70s step= 535 trunk_z= 19.6mm grav_b=(-0.04,+0.05,-1.00) r=2.42m +[headless_play] t= 10.80s step= 540 trunk_z= 13.9mm grav_b=(-0.05,+0.01,-1.00) r=2.42m +[headless_play] t= 10.90s step= 545 trunk_z= 22.0mm grav_b=(-0.07,-0.01,-1.00) r=2.42m +[headless_play] t= 11.00s step= 550 trunk_z= 20.0mm grav_b=(-0.07,+0.03,-1.00) r=2.43m +[headless_play] t= 11.10s step= 555 trunk_z= 19.9mm grav_b=(-0.07,+0.07,-0.99) r=2.44m +[headless_play] t= 11.20s step= 560 trunk_z= 23.4mm grav_b=(-0.07,+0.05,-1.00) r=2.46m +[headless_play] t= 11.30s step= 565 trunk_z= 17.5mm grav_b=(-0.07,+0.03,-1.00) r=2.46m +[headless_play] t= 11.40s step= 570 trunk_z= 22.0mm grav_b=(-0.06,+0.01,-1.00) r=2.46m +[headless_play] t= 11.50s step= 575 trunk_z= 20.4mm grav_b=(-0.06,+0.04,-1.00) r=2.47m +[headless_play] t= 11.60s step= 580 trunk_z= 12.6mm grav_b=(-0.05,+0.09,-0.99) r=2.49m +[headless_play] t= 11.70s step= 585 trunk_z= 20.3mm grav_b=(-0.06,+0.09,-0.99) r=2.50m +[headless_play] t= 11.80s step= 590 trunk_z= 22.0mm grav_b=(-0.02,+0.06,-1.00) r=2.50m +[headless_play] t= 11.90s step= 595 trunk_z= 16.7mm grav_b=(-0.01,+0.04,-1.00) r=2.49m +[headless_play] t= 12.00s step= 600 trunk_z= 17.9mm grav_b=(-0.00,-0.02,-1.00) r=2.49m +[headless_play] t= 12.10s step= 605 trunk_z= 15.8mm grav_b=(+0.00,-0.01,-1.00) r=2.50m +[headless_play] t= 12.20s step= 610 trunk_z= 6.7mm grav_b=(-0.02,+0.04,-1.00) r=2.53m +[headless_play] t= 12.30s step= 615 trunk_z= 19.5mm grav_b=(-0.04,+0.04,-1.00) r=2.54m +[headless_play] t= 12.40s step= 620 trunk_z= 20.1mm grav_b=(-0.04,+0.02,-1.00) r=2.54m +[headless_play] t= 12.50s step= 625 trunk_z= 16.1mm grav_b=(+0.01,-0.03,-1.00) r=2.54m +[headless_play] t= 12.60s step= 630 trunk_z= 20.7mm grav_b=(+0.02,-0.01,-1.00) r=2.54m +[headless_play] t= 12.70s step= 635 trunk_z= 16.6mm grav_b=(-0.01,+0.00,-1.00) r=2.57m +[headless_play] t= 12.80s step= 640 trunk_z= 19.8mm grav_b=(-0.02,+0.06,-1.00) r=2.59m +[headless_play] t= 12.90s step= 645 trunk_z= 27.6mm grav_b=(-0.03,+0.04,-1.00) r=2.60m +[headless_play] t= 13.00s step= 650 trunk_z= 25.4mm grav_b=(-0.03,+0.01,-1.00) r=2.59m +[headless_play] t= 13.10s step= 655 trunk_z= 22.4mm grav_b=(-0.00,-0.04,-1.00) r=2.58m +[headless_play] t= 13.20s step= 660 trunk_z= 24.0mm grav_b=(+0.00,-0.02,-1.00) r=2.59m +[headless_play] t= 13.30s step= 665 trunk_z= 16.0mm grav_b=(-0.01,+0.00,-1.00) r=2.62m +[headless_play] t= 13.40s step= 670 trunk_z= 26.3mm grav_b=(-0.02,+0.02,-1.00) r=2.64m +[headless_play] t= 13.50s step= 675 trunk_z= 28.7mm grav_b=(-0.02,-0.00,-1.00) r=2.64m +[headless_play] t= 13.60s step= 680 trunk_z= 22.9mm grav_b=(+0.00,-0.04,-1.00) r=2.63m +[headless_play] t= 13.70s step= 685 trunk_z= 30.0mm grav_b=(-0.01,-0.02,-1.00) r=2.63m +[headless_play] t= 13.80s step= 690 trunk_z= 28.2mm grav_b=(-0.01,+0.00,-1.00) r=2.65m +[headless_play] t= 13.90s step= 695 trunk_z= 24.6mm grav_b=(-0.01,+0.06,-1.00) r=2.68m +[headless_play] t= 14.00s step= 700 trunk_z= 34.1mm grav_b=(-0.01,+0.06,-1.00) r=2.69m +[headless_play] t= 14.10s step= 705 trunk_z= 31.9mm grav_b=(-0.02,+0.03,-1.00) r=2.69m +[headless_play] t= 14.20s step= 710 trunk_z= 32.3mm grav_b=(+0.03,-0.02,-1.00) r=2.69m +[headless_play] t= 14.30s step= 715 trunk_z= 38.4mm grav_b=(+0.00,+0.01,-1.00) r=2.69m +[headless_play] t= 14.40s step= 720 trunk_z= 36.0mm grav_b=(-0.01,+0.03,-1.00) r=2.70m +[headless_play] t= 14.50s step= 725 trunk_z= 38.7mm grav_b=(-0.01,+0.10,-0.99) r=2.71m +[headless_play] t= 14.60s step= 730 trunk_z= 45.5mm grav_b=(-0.05,+0.08,-1.00) r=2.72m +[headless_play] t= 14.70s step= 735 trunk_z= 42.8mm grav_b=(-0.06,+0.07,-1.00) r=2.71m +[headless_play] t= 14.80s step= 740 trunk_z= 42.4mm grav_b=(-0.05,-0.03,-1.00) r=2.69m +[headless_play] t= 14.90s step= 745 trunk_z= 46.4mm grav_b=(-0.07,-0.01,-1.00) r=2.69m +[headless_play] t= 15.00s step= 750 trunk_z= 40.4mm grav_b=(-0.07,+0.03,-1.00) r=2.72m +[headless_play] t= 15.10s step= 755 trunk_z= 49.5mm grav_b=(-0.05,+0.08,-1.00) r=2.74m +[headless_play] t= 15.20s step= 760 trunk_z= 50.6mm grav_b=(-0.06,+0.08,-1.00) r=2.74m +[headless_play] t= 15.30s step= 765 trunk_z= 44.7mm grav_b=(-0.07,+0.03,-1.00) r=2.73m +[headless_play] t= 15.40s step= 770 trunk_z= 49.9mm grav_b=(-0.09,-0.02,-1.00) r=2.73m +[headless_play] t= 15.50s step= 775 trunk_z= 48.1mm grav_b=(-0.09,+0.02,-1.00) r=2.73m +[headless_play] t= 15.60s step= 780 trunk_z= 46.2mm grav_b=(-0.09,+0.11,-0.99) r=2.75m +[headless_play] t= 15.70s step= 785 trunk_z= 52.9mm grav_b=(-0.06,+0.13,-0.99) r=2.75m +[headless_play] t= 15.80s step= 790 trunk_z= 52.7mm grav_b=(-0.06,+0.11,-0.99) r=2.75m +[headless_play] t= 15.90s step= 795 trunk_z= 46.2mm grav_b=(-0.06,+0.01,-1.00) r=2.74m +[headless_play] t= 16.00s step= 800 trunk_z= 51.6mm grav_b=(-0.06,-0.02,-1.00) r=2.73m +[headless_play] t= 16.10s step= 805 trunk_z= 49.2mm grav_b=(-0.08,+0.02,-1.00) r=2.75m +[headless_play] t= 16.20s step= 810 trunk_z= 50.0mm grav_b=(-0.07,+0.08,-0.99) r=2.77m +[headless_play] t= 16.30s step= 815 trunk_z= 54.9mm grav_b=(-0.07,+0.08,-0.99) r=2.78m +[headless_play] t= 16.40s step= 820 trunk_z= 54.6mm grav_b=(-0.09,+0.08,-0.99) r=2.78m +[headless_play] t= 16.50s step= 825 trunk_z= 54.0mm grav_b=(-0.07,-0.02,-1.00) r=2.77m +[headless_play] t= 16.60s step= 830 trunk_z= 54.3mm grav_b=(-0.07,+0.03,-1.00) r=2.77m +[headless_play] t= 16.70s step= 835 trunk_z= 36.4mm grav_b=(-0.04,+0.07,-1.00) r=2.78m +[headless_play] t= 16.80s step= 840 trunk_z= 44.4mm grav_b=(-0.06,+0.10,-0.99) r=2.80m +[headless_play] t= 16.90s step= 845 trunk_z= 46.1mm grav_b=(-0.03,+0.08,-1.00) r=2.80m +[headless_play] t= 17.00s step= 850 trunk_z= 43.6mm grav_b=(-0.01,+0.02,-1.00) r=2.80m +[headless_play] t= 17.10s step= 855 trunk_z= 51.6mm grav_b=(-0.02,+0.01,-1.00) r=2.81m +[headless_play] t= 17.20s step= 860 trunk_z= 49.8mm grav_b=(-0.04,+0.05,-1.00) r=2.82m +[headless_play] t= 17.30s step= 865 trunk_z= 40.3mm grav_b=(-0.03,+0.10,-0.99) r=2.84m +[headless_play] t= 17.40s step= 870 trunk_z= 50.2mm grav_b=(-0.02,+0.11,-0.99) r=2.86m +[headless_play] t= 17.50s step= 875 trunk_z= 51.7mm grav_b=(-0.03,+0.13,-0.99) r=2.87m +[headless_play] t= 17.60s step= 880 trunk_z= 52.5mm grav_b=(-0.02,+0.09,-1.00) r=2.87m +[headless_play] t= 17.70s step= 885 trunk_z= 56.8mm grav_b=(-0.02,-0.00,-1.00) r=2.88m +[headless_play] t= 17.80s step= 890 trunk_z= 60.5mm grav_b=(-0.04,+0.04,-1.00) r=2.89m +[headless_play] t= 17.90s step= 895 trunk_z= 48.0mm grav_b=(-0.06,+0.09,-0.99) r=2.90m +[headless_play] t= 18.00s step= 900 trunk_z= 53.9mm grav_b=(-0.06,+0.14,-0.99) r=2.92m +[headless_play] t= 18.10s step= 905 trunk_z= 56.5mm grav_b=(-0.06,+0.19,-0.98) r=2.93m +[headless_play] t= 18.20s step= 910 trunk_z= 55.7mm grav_b=(-0.06,+0.24,-0.97) r=2.93m +[headless_play] t= 18.30s step= 915 trunk_z= 55.8mm grav_b=(-0.06,+0.38,-0.92) r=2.93m +[headless_play] t= 18.40s step= 920 trunk_z= 46.5mm grav_b=(-0.11,+0.60,-0.79) r=2.93m +[headless_play] t= 18.50s step= 925 trunk_z= 8.9mm grav_b=(-0.30,+0.86,-0.41) r=2.93m +[headless_play] RESET at t= 18.52s step= 926 (env termination, not a recovery) +[headless_play] t= 18.60s step= 930 trunk_z= 114.9mm grav_b=(-0.02,-0.00,-1.00) r=0.61m +[headless_play] t= 18.70s step= 935 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 18.80s step= 940 trunk_z= 115.2mm grav_b=(-0.01,-0.06,-1.00) r=0.62m +[headless_play] t= 18.90s step= 945 trunk_z= 121.1mm grav_b=(+0.01,-0.11,-0.99) r=0.63m +[headless_play] t= 19.00s step= 950 trunk_z= 122.9mm grav_b=(+0.01,-0.09,-1.00) r=0.64m +[headless_play] t= 19.10s step= 955 trunk_z= 116.3mm grav_b=(-0.02,-0.03,-1.00) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 121.9mm grav_b=(-0.03,+0.02,-1.00) r=0.61m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(-0.04,-0.04,-1.00) r=0.63m +[headless_play] t= 19.40s step= 970 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.65m +[headless_play] t= 19.50s step= 975 trunk_z= 122.1mm grav_b=(-0.01,-0.05,-1.00) r=0.66m +[headless_play] t= 19.60s step= 980 trunk_z= 114.3mm grav_b=(-0.03,-0.02,-1.00) r=0.65m +[headless_play] t= 19.70s step= 985 trunk_z= 122.0mm grav_b=(-0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(-0.02,-0.03,-1.00) r=0.67m +[headless_play] t= 19.90s step= 995 trunk_z= 120.5mm grav_b=(+0.00,-0.11,-0.99) r=0.69m +[headless_play] t= 20.00s step=1000 trunk_z= 124.5mm grav_b=(-0.03,-0.08,-1.00) r=0.71m +[headless_play] t= 20.10s step=1005 trunk_z= 118.0mm grav_b=(-0.05,-0.08,-1.00) r=0.71m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t4.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..73427ca4b247a261794a3d2139f01b0bd73033c6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t4.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.1mm grav_b=(-0.00,-0.00,-1.00) root_w=(-1.821,-17.806,+0.248) +[headless_play] t= 0.00s step= 0 trunk_z= 118.6mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.05,+0.03,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(-0.05,+0.07,-1.00) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(-0.05,-0.03,-1.00) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 113.4mm grav_b=(-0.02,-0.09,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 121.4mm grav_b=(-0.01,-0.13,-0.99) r=0.30m +[headless_play] t= 0.60s step= 30 trunk_z= 120.1mm grav_b=(-0.01,-0.14,-0.99) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(-0.02,-0.06,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 118.5mm grav_b=(-0.06,-0.09,-0.99) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 125.9mm grav_b=(-0.05,-0.09,-0.99) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 124.7mm grav_b=(-0.04,-0.07,-1.00) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 115.5mm grav_b=(-0.03,-0.04,-1.00) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 119.0mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 114.6mm grav_b=(+0.01,-0.03,-1.00) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 119.3mm grav_b=(+0.01,-0.09,-1.00) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 122.1mm grav_b=(+0.00,-0.11,-0.99) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 118.2mm grav_b=(+0.00,-0.07,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 120.2mm grav_b=(-0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 119.9mm grav_b=(-0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 113.8mm grav_b=(-0.04,-0.07,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 125.1mm grav_b=(-0.05,-0.08,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 124.5mm grav_b=(-0.04,-0.09,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 117.6mm grav_b=(-0.03,-0.08,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 118.4mm grav_b=(+0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 112.3mm grav_b=(-0.01,-0.06,-1.00) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 124.4mm grav_b=(-0.02,-0.10,-0.99) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 122.2mm grav_b=(-0.03,-0.11,-0.99) r=0.57m +[headless_play] t= 3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 3.10s step= 155 trunk_z= 120.7mm grav_b=(-0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(-0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 3.30s step= 165 trunk_z= 117.0mm grav_b=(-0.04,-0.08,-1.00) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 125.0mm grav_b=(-0.05,-0.09,-1.00) r=0.65m +[headless_play] t= 3.50s step= 175 trunk_z= 121.0mm grav_b=(-0.04,-0.08,-1.00) r=0.67m +[headless_play] t= 3.60s step= 180 trunk_z= 113.4mm grav_b=(-0.03,-0.02,-1.00) r=0.67m +[headless_play] t= 3.70s step= 185 trunk_z= 120.7mm grav_b=(-0.03,+0.01,-1.00) r=0.68m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 3.90s step= 195 trunk_z= 119.7mm grav_b=(-0.02,-0.09,-1.00) r=0.74m +[headless_play] t= 4.00s step= 200 trunk_z= 123.9mm grav_b=(-0.04,-0.11,-0.99) r=0.76m +[headless_play] t= 4.10s step= 205 trunk_z= 118.9mm grav_b=(-0.02,-0.09,-1.00) r=0.77m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.79m +[headless_play] t= 4.30s step= 215 trunk_z= 121.3mm grav_b=(-0.02,-0.00,-1.00) r=0.81m +[headless_play] t= 4.40s step= 220 trunk_z= 114.2mm grav_b=(-0.05,-0.05,-1.00) r=0.83m +[headless_play] t= 4.50s step= 225 trunk_z= 124.2mm grav_b=(-0.08,-0.10,-0.99) r=0.85m +[headless_play] t= 4.60s step= 230 trunk_z= 126.0mm grav_b=(-0.05,-0.10,-0.99) r=0.86m +[headless_play] t= 4.70s step= 235 trunk_z= 121.0mm grav_b=(-0.06,-0.07,-1.00) r=0.86m +[headless_play] t= 4.80s step= 240 trunk_z= 118.0mm grav_b=(-0.05,+0.03,-1.00) r=0.87m +[headless_play] t= 4.90s step= 245 trunk_z= 120.4mm grav_b=(-0.01,+0.00,-1.00) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(-0.03,-0.05,-1.00) r=0.91m +[headless_play] t= 5.10s step= 255 trunk_z= 123.9mm grav_b=(-0.04,-0.11,-0.99) r=0.93m +[headless_play] t= 5.20s step= 260 trunk_z= 124.7mm grav_b=(-0.05,-0.14,-0.99) r=0.95m +[headless_play] t= 5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.03,-0.12,-0.99) r=0.96m +[headless_play] t= 5.40s step= 270 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.98m +[headless_play] t= 5.50s step= 275 trunk_z= 123.6mm grav_b=(-0.03,+0.01,-1.00) r=1.00m +[headless_play] t= 5.60s step= 280 trunk_z= 116.5mm grav_b=(-0.06,-0.02,-1.00) r=1.02m +[headless_play] t= 5.70s step= 285 trunk_z= 122.9mm grav_b=(-0.10,-0.08,-0.99) r=1.04m +[headless_play] t= 5.80s step= 290 trunk_z= 124.7mm grav_b=(-0.07,-0.07,-1.00) r=1.04m +[headless_play] t= 5.90s step= 295 trunk_z= 117.5mm grav_b=(-0.06,-0.04,-1.00) r=1.03m +[headless_play] t= 6.00s step= 300 trunk_z= 118.9mm grav_b=(-0.05,-0.00,-1.00) r=1.03m +[headless_play] t= 6.10s step= 305 trunk_z= 115.7mm grav_b=(-0.03,-0.03,-1.00) r=1.04m +[headless_play] t= 6.20s step= 310 trunk_z= 116.8mm grav_b=(+0.00,-0.09,-1.00) r=1.07m +[headless_play] t= 6.30s step= 315 trunk_z= 120.9mm grav_b=(+0.00,-0.07,-1.00) r=1.09m +[headless_play] t= 6.40s step= 320 trunk_z= 116.1mm grav_b=(-0.00,-0.03,-1.00) r=1.11m +[headless_play] t= 6.50s step= 325 trunk_z= 120.0mm grav_b=(+0.00,+0.04,-1.00) r=1.13m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 112.8mm grav_b=(-0.01,-0.09,-1.00) r=1.19m +[headless_play] t= 6.80s step= 340 trunk_z= 116.6mm grav_b=(-0.01,-0.11,-0.99) r=1.23m +[headless_play] t= 6.90s step= 345 trunk_z= 111.1mm grav_b=(+0.01,-0.07,-1.00) r=1.26m +[headless_play] t= 7.00s step= 350 trunk_z= 105.5mm grav_b=(+0.05,+0.03,-1.00) r=1.30m +[headless_play] t= 7.10s step= 355 trunk_z= 107.1mm grav_b=(+0.03,+0.07,-1.00) r=1.33m +[headless_play] t= 7.20s step= 360 trunk_z= 85.6mm grav_b=(+0.01,-0.06,-1.00) r=1.38m +[headless_play] t= 7.30s step= 365 trunk_z= 89.4mm grav_b=(-0.04,-0.05,-1.00) r=1.41m +[headless_play] t= 7.40s step= 370 trunk_z= 71.8mm grav_b=(-0.04,+0.04,-1.00) r=1.44m +[headless_play] t= 7.50s step= 375 trunk_z= 78.5mm grav_b=(-0.03,+0.10,-0.99) r=1.47m +[headless_play] t= 7.60s step= 380 trunk_z= 75.4mm grav_b=(+0.00,+0.10,-0.99) r=1.49m +[headless_play] t= 7.70s step= 385 trunk_z= 70.5mm grav_b=(+0.02,+0.02,-1.00) r=1.51m +[headless_play] t= 7.80s step= 390 trunk_z= 72.6mm grav_b=(+0.01,-0.05,-1.00) r=1.54m +[headless_play] t= 7.90s step= 395 trunk_z= 62.6mm grav_b=(+0.05,+0.00,-1.00) r=1.57m +[headless_play] t= 8.00s step= 400 trunk_z= 58.6mm grav_b=(-0.00,+0.11,-0.99) r=1.61m +[headless_play] t= 8.10s step= 405 trunk_z= 58.7mm grav_b=(+0.05,+0.13,-0.99) r=1.64m +[headless_play] t= 8.20s step= 410 trunk_z= 56.6mm grav_b=(+0.04,+0.07,-1.00) r=1.67m +[headless_play] t= 8.30s step= 415 trunk_z= 52.5mm grav_b=(+0.01,-0.13,-0.99) r=1.71m +[headless_play] t= 8.40s step= 420 trunk_z= 48.9mm grav_b=(-0.04,-0.11,-0.99) r=1.74m +[headless_play] t= 8.50s step= 425 trunk_z= 33.6mm grav_b=(-0.00,-0.03,-1.00) r=1.78m +[headless_play] t= 8.60s step= 430 trunk_z= 33.3mm grav_b=(+0.02,+0.06,-1.00) r=1.82m +[headless_play] t= 8.70s step= 435 trunk_z= 31.1mm grav_b=(+0.03,+0.05,-1.00) r=1.84m +[headless_play] t= 8.80s step= 440 trunk_z= 27.4mm grav_b=(+0.01,-0.07,-1.00) r=1.86m +[headless_play] t= 8.90s step= 445 trunk_z= 29.9mm grav_b=(-0.01,-0.06,-1.00) r=1.89m +[headless_play] t= 9.00s step= 450 trunk_z= 16.2mm grav_b=(-0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 9.10s step= 455 trunk_z= 17.8mm grav_b=(-0.00,+0.10,-1.00) r=1.96m +[headless_play] t= 9.20s step= 460 trunk_z= 15.9mm grav_b=(+0.03,+0.12,-0.99) r=1.98m +[headless_play] t= 9.30s step= 465 trunk_z= 14.6mm grav_b=(+0.03,+0.03,-1.00) r=2.00m +[headless_play] t= 9.40s step= 470 trunk_z= 15.3mm grav_b=(+0.02,-0.06,-1.00) r=2.02m +[headless_play] t= 9.50s step= 475 trunk_z= 4.0mm grav_b=(+0.01,-0.02,-1.00) r=2.06m +[headless_play] t= 9.60s step= 480 trunk_z= 3.4mm grav_b=(+0.03,-0.03,-1.00) r=2.08m +[headless_play] t= 9.70s step= 485 trunk_z= -0.7mm grav_b=(-0.04,-0.08,-1.00) r=2.08m +[headless_play] t= 9.80s step= 490 trunk_z= 6.6mm grav_b=(-0.10,-0.14,-0.99) r=2.08m +[headless_play] t= 9.90s step= 495 trunk_z= 9.7mm grav_b=(-0.12,-0.17,-0.98) r=2.07m +[headless_play] t= 10.00s step= 500 trunk_z= 8.4mm grav_b=(-0.10,-0.15,-0.98) r=2.06m +[headless_play] t= 10.10s step= 505 trunk_z= 5.0mm grav_b=(-0.02,-0.24,-0.97) r=2.03m +[headless_play] t= 10.20s step= 510 trunk_z= -5.3mm grav_b=(+0.13,-0.14,-0.98) r=1.99m +[headless_play] t= 10.30s step= 515 trunk_z= 4.6mm grav_b=(+0.04,-0.12,-0.99) r=2.00m +[headless_play] t= 10.40s step= 520 trunk_z= 10.6mm grav_b=(+0.00,-0.11,-0.99) r=2.01m +[headless_play] t= 10.50s step= 525 trunk_z= 8.3mm grav_b=(+0.03,+0.01,-1.00) r=2.03m +[headless_play] t= 10.60s step= 530 trunk_z= 7.2mm grav_b=(+0.08,+0.06,-0.99) r=2.05m +[headless_play] t= 10.70s step= 535 trunk_z= 9.8mm grav_b=(-0.01,+0.06,-1.00) r=2.07m +[headless_play] t= 10.80s step= 540 trunk_z= 3.0mm grav_b=(-0.02,-0.07,-1.00) r=2.07m +[headless_play] t= 10.90s step= 545 trunk_z= 8.6mm grav_b=(-0.08,-0.10,-0.99) r=2.07m +[headless_play] t= 11.00s step= 550 trunk_z= 6.9mm grav_b=(-0.06,-0.08,-1.00) r=2.07m +[headless_play] t= 11.10s step= 555 trunk_z= -2.5mm grav_b=(-0.04,-0.02,-1.00) r=2.06m +[headless_play] t= 11.20s step= 560 trunk_z= 1.7mm grav_b=(-0.04,-0.03,-1.00) r=2.05m +[headless_play] t= 11.30s step= 565 trunk_z= 2.0mm grav_b=(-0.02,-0.06,-1.00) r=2.03m +[headless_play] t= 11.40s step= 570 trunk_z= 5.2mm grav_b=(-0.00,-0.02,-1.00) r=2.03m +[headless_play] t= 11.50s step= 575 trunk_z= -4.8mm grav_b=(+0.02,+0.02,-1.00) r=2.05m +[headless_play] t= 11.60s step= 580 trunk_z= 0.9mm grav_b=(+0.08,+0.02,-1.00) r=2.07m +[headless_play] t= 11.70s step= 585 trunk_z= 3.7mm grav_b=(+0.03,-0.02,-1.00) r=2.09m +[headless_play] t= 11.80s step= 590 trunk_z= 9.2mm grav_b=(+0.00,-0.07,-1.00) r=2.10m +[headless_play] t= 11.90s step= 595 trunk_z= 12.9mm grav_b=(-0.04,-0.09,-0.99) r=2.11m +[headless_play] t= 12.00s step= 600 trunk_z= 10.7mm grav_b=(-0.07,-0.07,-1.00) r=2.12m +[headless_play] t= 12.10s step= 605 trunk_z= 11.0mm grav_b=(-0.08,-0.03,-1.00) r=2.13m +[headless_play] t= 12.20s step= 610 trunk_z= 12.2mm grav_b=(-0.07,-0.06,-1.00) r=2.12m +[headless_play] t= 12.30s step= 615 trunk_z= 1.6mm grav_b=(-0.02,-0.13,-0.99) r=2.10m +[headless_play] t= 12.40s step= 620 trunk_z= 8.6mm grav_b=(-0.01,-0.16,-0.99) r=2.09m +[headless_play] t= 12.50s step= 625 trunk_z= 10.2mm grav_b=(-0.04,-0.18,-0.98) r=2.08m +[headless_play] t= 12.60s step= 630 trunk_z= 10.4mm grav_b=(-0.04,-0.21,-0.98) r=2.08m +[headless_play] t= 12.70s step= 635 trunk_z= 9.8mm grav_b=(-0.03,-0.25,-0.97) r=2.07m +[headless_play] t= 12.80s step= 640 trunk_z= 7.0mm grav_b=(+0.01,-0.27,-0.96) r=2.06m +[headless_play] t= 12.90s step= 645 trunk_z= 7.1mm grav_b=(+0.02,-0.39,-0.92) r=2.05m +[headless_play] t= 13.00s step= 650 trunk_z= 0.1mm grav_b=(+0.08,-0.57,-0.82) r=2.03m +[headless_play] t= 13.10s step= 655 trunk_z= -33.0mm grav_b=(+0.12,-0.86,-0.49) r=2.00m +[headless_play] RESET at t= 13.14s step= 657 (env termination, not a recovery) +[headless_play] t= 13.20s step= 660 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 13.30s step= 665 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 13.50s step= 675 trunk_z= 116.1mm grav_b=(+0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=0.43m +[headless_play] t= 13.70s step= 685 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 13.80s step= 690 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.60s step= 730 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.70s step= 735 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 14.90s step= 745 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.10s step= 755 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.20s step= 760 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.70s step= 785 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.90s step= 795 trunk_z= 115.9mm grav_b=(-0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(-0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 116.0mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(-0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(-0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 17.50s step= 875 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 17.60s step= 880 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 17.90s step= 895 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 18.20s step= 910 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.60s step= 930 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.80s step= 940 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 19.00s step= 950 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 19.30s step= 965 trunk_z= 116.2mm grav_b=(-0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 19.40s step= 970 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 19.50s step= 975 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 19.60s step= 980 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 19.70s step= 985 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 19.90s step= 995 trunk_z= 116.3mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 20.00s step=1000 trunk_z= 116.2mm grav_b=(-0.05,-0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.04,+0.00,-1.00) r=0.42m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t5.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..57fca7a7e6c7f0c4786372ce9e00b60448ef52a6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t5.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-1.861,-18.277,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.01,+0.04,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 114.5mm grav_b=(-0.00,-0.05,-1.00) r=0.27m +[headless_play] t= 0.40s step= 20 trunk_z= 119.3mm grav_b=(+0.02,-0.09,-1.00) r=0.24m +[headless_play] t= 0.50s step= 25 trunk_z= 121.3mm grav_b=(+0.02,-0.06,-1.00) r=0.23m +[headless_play] t= 0.60s step= 30 trunk_z= 112.8mm grav_b=(-0.01,-0.02,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 121.6mm grav_b=(-0.01,-0.01,-1.00) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 119.5mm grav_b=(-0.00,-0.03,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(+0.00,-0.09,-1.00) r=0.19m +[headless_play] t= 1.00s step= 50 trunk_z= 124.6mm grav_b=(+0.01,-0.06,-1.00) r=0.18m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(-0.00,-0.05,-1.00) r=0.19m +[headless_play] t= 1.20s step= 60 trunk_z= 119.7mm grav_b=(-0.03,-0.01,-1.00) r=0.20m +[headless_play] t= 1.30s step= 65 trunk_z= 121.3mm grav_b=(-0.01,-0.03,-1.00) r=0.20m +[headless_play] t= 1.40s step= 70 trunk_z= 112.8mm grav_b=(-0.01,-0.08,-1.00) r=0.17m +[headless_play] t= 1.50s step= 75 trunk_z= 124.6mm grav_b=(+0.00,-0.08,-1.00) r=0.15m +[headless_play] t= 1.60s step= 80 trunk_z= 121.3mm grav_b=(+0.01,-0.06,-1.00) r=0.16m +[headless_play] t= 1.70s step= 85 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) r=0.18m +[headless_play] t= 1.80s step= 90 trunk_z= 122.8mm grav_b=(-0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 1.90s step= 95 trunk_z= 118.6mm grav_b=(-0.01,-0.03,-1.00) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.16m +[headless_play] t= 2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.01,-0.06,-1.00) r=0.16m +[headless_play] t= 2.20s step= 110 trunk_z= 116.1mm grav_b=(-0.01,-0.05,-1.00) r=0.19m +[headless_play] t= 2.30s step= 115 trunk_z= 120.6mm grav_b=(-0.03,+0.00,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 120.7mm grav_b=(-0.00,-0.03,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 113.4mm grav_b=(-0.01,-0.07,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 124.1mm grav_b=(-0.01,-0.07,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 118.5mm grav_b=(-0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 121.2mm grav_b=(+0.02,-0.01,-1.00) r=0.26m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.03,-0.04,-1.00) r=0.25m +[headless_play] t= 3.10s step= 155 trunk_z= 122.0mm grav_b=(+0.01,-0.09,-1.00) r=0.25m +[headless_play] t= 3.20s step= 160 trunk_z= 121.5mm grav_b=(-0.00,-0.07,-1.00) r=0.26m +[headless_play] t= 3.30s step= 165 trunk_z= 113.4mm grav_b=(-0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 3.40s step= 170 trunk_z= 123.8mm grav_b=(-0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 3.50s step= 175 trunk_z= 120.0mm grav_b=(-0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 3.60s step= 180 trunk_z= 121.4mm grav_b=(-0.04,-0.08,-1.00) r=0.32m +[headless_play] t= 3.70s step= 185 trunk_z= 125.6mm grav_b=(-0.05,-0.09,-1.00) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 119.9mm grav_b=(-0.06,-0.08,-0.99) r=0.34m +[headless_play] t= 3.90s step= 195 trunk_z= 121.4mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 4.00s step= 200 trunk_z= 123.8mm grav_b=(+0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 4.10s step= 205 trunk_z= 117.6mm grav_b=(+0.01,-0.02,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 124.9mm grav_b=(-0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 122.9mm grav_b=(-0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 4.40s step= 220 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 124.0mm grav_b=(-0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.00,-0.01,-1.00) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 123.4mm grav_b=(-0.03,-0.07,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 124.5mm grav_b=(-0.02,-0.07,-1.00) r=0.47m +[headless_play] t= 4.90s step= 245 trunk_z= 118.4mm grav_b=(-0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 123.9mm grav_b=(-0.00,-0.00,-1.00) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 120.3mm grav_b=(+0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 119.4mm grav_b=(-0.02,-0.07,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 125.4mm grav_b=(-0.02,-0.08,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 121.4mm grav_b=(-0.02,-0.06,-1.00) r=0.55m +[headless_play] t= 5.50s step= 275 trunk_z= 121.3mm grav_b=(+0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 122.9mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 115.2mm grav_b=(-0.02,-0.05,-1.00) r=0.60m +[headless_play] t= 5.80s step= 290 trunk_z= 125.1mm grav_b=(-0.02,-0.08,-1.00) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 124.0mm grav_b=(-0.02,-0.09,-1.00) r=0.63m +[headless_play] t= 6.00s step= 300 trunk_z= 117.9mm grav_b=(-0.03,-0.04,-1.00) r=0.65m +[headless_play] t= 6.10s step= 305 trunk_z= 124.5mm grav_b=(-0.00,+0.01,-1.00) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 122.5mm grav_b=(-0.00,+0.01,-1.00) r=0.68m +[headless_play] t= 6.30s step= 315 trunk_z= 120.6mm grav_b=(-0.01,-0.07,-1.00) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 124.7mm grav_b=(-0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 6.50s step= 325 trunk_z= 120.6mm grav_b=(-0.02,-0.06,-1.00) r=0.73m +[headless_play] t= 6.60s step= 330 trunk_z= 122.6mm grav_b=(-0.02,+0.02,-1.00) r=0.76m +[headless_play] t= 6.70s step= 335 trunk_z= 123.8mm grav_b=(-0.01,+0.01,-1.00) r=0.77m +[headless_play] t= 6.80s step= 340 trunk_z= 116.6mm grav_b=(-0.01,-0.05,-1.00) r=0.78m +[headless_play] t= 6.90s step= 345 trunk_z= 125.6mm grav_b=(-0.02,-0.08,-1.00) r=0.80m +[headless_play] t= 7.00s step= 350 trunk_z= 123.7mm grav_b=(-0.02,-0.09,-1.00) r=0.81m +[headless_play] t= 7.10s step= 355 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.84m +[headless_play] t= 7.20s step= 360 trunk_z= 124.0mm grav_b=(+0.01,+0.01,-1.00) r=0.85m +[headless_play] t= 7.30s step= 365 trunk_z= 120.1mm grav_b=(-0.02,-0.01,-1.00) r=0.87m +[headless_play] t= 7.40s step= 370 trunk_z= 121.7mm grav_b=(-0.04,-0.04,-1.00) r=0.89m +[headless_play] t= 7.50s step= 375 trunk_z= 123.6mm grav_b=(-0.03,-0.02,-1.00) r=0.90m +[headless_play] t= 7.60s step= 380 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.91m +[headless_play] t= 7.70s step= 385 trunk_z= 120.8mm grav_b=(-0.02,+0.05,-1.00) r=0.93m +[headless_play] t= 7.80s step= 390 trunk_z= 121.0mm grav_b=(-0.00,+0.01,-1.00) r=0.95m +[headless_play] t= 7.90s step= 395 trunk_z= 116.3mm grav_b=(-0.01,-0.06,-1.00) r=0.97m +[headless_play] t= 8.00s step= 400 trunk_z= 123.3mm grav_b=(+0.00,-0.06,-1.00) r=0.99m +[headless_play] t= 8.10s step= 405 trunk_z= 118.9mm grav_b=(+0.03,-0.05,-1.00) r=1.00m +[headless_play] t= 8.20s step= 410 trunk_z= 115.8mm grav_b=(+0.01,+0.05,-1.00) r=1.03m +[headless_play] t= 8.30s step= 415 trunk_z= 120.8mm grav_b=(-0.00,+0.07,-1.00) r=1.06m +[headless_play] t= 8.40s step= 420 trunk_z= 112.5mm grav_b=(+0.05,+0.03,-1.00) r=1.09m +[headless_play] t= 8.50s step= 425 trunk_z= 111.4mm grav_b=(+0.02,-0.15,-0.99) r=1.13m +[headless_play] t= 8.60s step= 430 trunk_z= 110.3mm grav_b=(+0.10,-0.19,-0.98) r=1.16m +[headless_play] t= 8.70s step= 435 trunk_z= 106.6mm grav_b=(+0.08,-0.23,-0.97) r=1.19m +[headless_play] t= 8.80s step= 440 trunk_z= 82.2mm grav_b=(+0.08,-0.18,-0.98) r=1.25m +[headless_play] t= 8.90s step= 445 trunk_z= 104.3mm grav_b=(+0.22,-0.04,-0.98) r=1.32m +[headless_play] t= 9.00s step= 450 trunk_z= 46.9mm grav_b=(+0.02,+0.20,-0.98) r=1.40m +[headless_play] t= 9.10s step= 455 trunk_z= 43.3mm grav_b=(+0.03,+0.24,-0.97) r=1.45m +[headless_play] t= 9.20s step= 460 trunk_z= 53.2mm grav_b=(+0.31,+0.17,-0.93) r=1.49m +[headless_play] t= 9.30s step= 465 trunk_z= 50.8mm grav_b=(+0.51,-0.24,-0.82) r=1.56m +[headless_play] RESET at t= 9.38s step= 469 (env termination, not a recovery) +[headless_play] t= 9.40s step= 470 trunk_z= 123.0mm grav_b=(-0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.25m +[headless_play] t= 9.60s step= 480 trunk_z= 115.1mm grav_b=(+0.00,-0.06,-1.00) r=0.25m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.23m +[headless_play] t= 9.80s step= 490 trunk_z= 109.7mm grav_b=(-0.05,+0.07,-1.00) r=0.20m +[headless_play] t= 9.90s step= 495 trunk_z= 118.8mm grav_b=(-0.00,+0.10,-1.00) r=0.20m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(-0.01,+0.09,-1.00) r=0.20m +[headless_play] t= 10.10s step= 505 trunk_z= 112.2mm grav_b=(+0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 10.20s step= 510 trunk_z= 117.8mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 10.30s step= 515 trunk_z= 113.2mm grav_b=(+0.02,+0.01,-1.00) r=0.18m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(-0.00,+0.07,-1.00) r=0.16m +[headless_play] t= 10.50s step= 525 trunk_z= 120.2mm grav_b=(-0.01,+0.09,-1.00) r=0.15m +[headless_play] t= 10.60s step= 530 trunk_z= 114.3mm grav_b=(+0.04,+0.08,-1.00) r=0.16m +[headless_play] t= 10.70s step= 535 trunk_z= 118.5mm grav_b=(+0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 10.80s step= 540 trunk_z= 119.0mm grav_b=(-0.01,+0.01,-1.00) r=0.17m +[headless_play] t= 10.90s step= 545 trunk_z= 109.2mm grav_b=(+0.00,+0.03,-1.00) r=0.15m +[headless_play] t= 11.00s step= 550 trunk_z= 118.2mm grav_b=(-0.02,+0.04,-1.00) r=0.14m +[headless_play] t= 11.10s step= 555 trunk_z= 115.5mm grav_b=(-0.03,+0.02,-1.00) r=0.16m +[headless_play] t= 11.20s step= 560 trunk_z= 112.3mm grav_b=(+0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 11.30s step= 565 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.19m +[headless_play] t= 11.40s step= 570 trunk_z= 110.9mm grav_b=(+0.02,+0.03,-1.00) r=0.18m +[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(-0.01,+0.06,-1.00) r=0.17m +[headless_play] t= 11.60s step= 580 trunk_z= 118.3mm grav_b=(-0.03,+0.05,-1.00) r=0.18m +[headless_play] t= 11.70s step= 585 trunk_z= 110.5mm grav_b=(+0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 11.80s step= 590 trunk_z= 118.2mm grav_b=(-0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 11.90s step= 595 trunk_z= 115.4mm grav_b=(-0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 12.00s step= 600 trunk_z= 110.9mm grav_b=(-0.01,+0.07,-1.00) r=0.21m +[headless_play] t= 12.10s step= 605 trunk_z= 119.9mm grav_b=(-0.02,+0.07,-1.00) r=0.21m +[headless_play] t= 12.20s step= 610 trunk_z= 115.5mm grav_b=(-0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 12.30s step= 615 trunk_z= 115.3mm grav_b=(+0.01,-0.03,-1.00) r=0.25m +[headless_play] t= 12.40s step= 620 trunk_z= 118.2mm grav_b=(+0.00,-0.01,-1.00) r=0.27m +[headless_play] t= 12.50s step= 625 trunk_z= 111.3mm grav_b=(+0.03,+0.01,-1.00) r=0.26m +[headless_play] t= 12.60s step= 630 trunk_z= 118.2mm grav_b=(-0.01,+0.07,-1.00) r=0.26m +[headless_play] t= 12.70s step= 635 trunk_z= 118.7mm grav_b=(-0.01,+0.06,-1.00) r=0.28m +[headless_play] t= 12.80s step= 640 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 121.3mm grav_b=(+0.01,-0.05,-1.00) r=0.32m +[headless_play] t= 13.00s step= 650 trunk_z= 115.8mm grav_b=(+0.01,-0.03,-1.00) r=0.33m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.02,+0.04,-1.00) r=0.34m +[headless_play] t= 13.20s step= 660 trunk_z= 118.4mm grav_b=(+0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 13.30s step= 665 trunk_z= 114.0mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 13.40s step= 670 trunk_z= 120.1mm grav_b=(-0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 13.50s step= 675 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 108.8mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 13.70s step= 685 trunk_z= 119.4mm grav_b=(-0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 118.1mm grav_b=(-0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 13.90s step= 695 trunk_z= 114.9mm grav_b=(-0.03,-0.06,-1.00) r=0.45m +[headless_play] t= 14.00s step= 700 trunk_z= 120.3mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 14.10s step= 705 trunk_z= 112.9mm grav_b=(-0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(-0.02,+0.04,-1.00) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 14.40s step= 720 trunk_z= 110.1mm grav_b=(+0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 119.1mm grav_b=(-0.00,-0.05,-1.00) r=0.51m +[headless_play] t= 14.60s step= 730 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 111.0mm grav_b=(-0.02,+0.05,-1.00) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(+0.01,+0.05,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 15.00s step= 750 trunk_z= 116.4mm grav_b=(+0.01,-0.06,-1.00) r=0.57m +[headless_play] t= 15.10s step= 755 trunk_z= 119.7mm grav_b=(+0.02,-0.02,-1.00) r=0.57m +[headless_play] t= 15.20s step= 760 trunk_z= 109.6mm grav_b=(+0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 15.30s step= 765 trunk_z= 117.4mm grav_b=(-0.00,+0.03,-1.00) r=0.55m +[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 15.50s step= 775 trunk_z= 110.0mm grav_b=(+0.03,-0.06,-1.00) r=0.59m +[headless_play] t= 15.60s step= 780 trunk_z= 118.9mm grav_b=(+0.01,-0.05,-1.00) r=0.60m +[headless_play] t= 15.70s step= 785 trunk_z= 113.3mm grav_b=(-0.00,-0.00,-1.00) r=0.60m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(-0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 15.90s step= 795 trunk_z= 120.0mm grav_b=(-0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 16.00s step= 800 trunk_z= 114.7mm grav_b=(-0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 16.10s step= 805 trunk_z= 119.5mm grav_b=(-0.02,-0.03,-1.00) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 116.9mm grav_b=(+0.00,+0.01,-1.00) r=0.62m +[headless_play] t= 16.30s step= 815 trunk_z= 112.4mm grav_b=(-0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(-0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 16.60s step= 830 trunk_z= 115.6mm grav_b=(+0.01,-0.04,-1.00) r=0.65m +[headless_play] t= 16.70s step= 835 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 16.80s step= 840 trunk_z= 107.7mm grav_b=(+0.02,+0.04,-1.00) r=0.62m +[headless_play] t= 16.90s step= 845 trunk_z= 118.7mm grav_b=(+0.01,+0.06,-1.00) r=0.61m +[headless_play] t= 17.00s step= 850 trunk_z= 114.9mm grav_b=(+0.03,+0.04,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 116.9mm grav_b=(-0.02,-0.09,-1.00) r=0.63m +[headless_play] t= 17.20s step= 860 trunk_z= 124.5mm grav_b=(-0.06,-0.07,-1.00) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 119.1mm grav_b=(-0.06,-0.05,-1.00) r=0.63m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 17.50s step= 875 trunk_z= 117.9mm grav_b=(-0.00,+0.05,-1.00) r=0.62m +[headless_play] t= 17.60s step= 880 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 17.70s step= 885 trunk_z= 124.0mm grav_b=(+0.04,-0.08,-1.00) r=0.66m +[headless_play] t= 17.80s step= 890 trunk_z= 125.1mm grav_b=(+0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 17.90s step= 895 trunk_z= 119.1mm grav_b=(-0.00,+0.03,-1.00) r=0.69m +[headless_play] t= 18.00s step= 900 trunk_z= 121.5mm grav_b=(-0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(-0.02,-0.03,-1.00) r=0.73m +[headless_play] t= 18.20s step= 910 trunk_z= 123.3mm grav_b=(-0.03,-0.04,-1.00) r=0.75m +[headless_play] t= 18.30s step= 915 trunk_z= 120.2mm grav_b=(-0.04,-0.02,-1.00) r=0.76m +[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(-0.03,+0.02,-1.00) r=0.76m +[headless_play] t= 18.50s step= 925 trunk_z= 122.3mm grav_b=(+0.00,+0.02,-1.00) r=0.77m +[headless_play] t= 18.60s step= 930 trunk_z= 117.6mm grav_b=(+0.01,+0.01,-1.00) r=0.79m +[headless_play] t= 18.70s step= 935 trunk_z= 123.6mm grav_b=(-0.01,-0.07,-1.00) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 121.9mm grav_b=(-0.03,-0.07,-1.00) r=0.84m +[headless_play] t= 18.90s step= 945 trunk_z= 114.6mm grav_b=(-0.03,+0.01,-1.00) r=0.85m +[headless_play] t= 19.00s step= 950 trunk_z= 124.1mm grav_b=(-0.04,+0.05,-1.00) r=0.86m +[headless_play] t= 19.10s step= 955 trunk_z= 121.3mm grav_b=(-0.02,+0.04,-1.00) r=0.87m +[headless_play] t= 19.20s step= 960 trunk_z= 116.4mm grav_b=(-0.02,-0.06,-1.00) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 125.1mm grav_b=(-0.03,-0.08,-1.00) r=0.91m +[headless_play] t= 19.40s step= 970 trunk_z= 119.2mm grav_b=(-0.03,-0.07,-1.00) r=0.92m +[headless_play] t= 19.50s step= 975 trunk_z= 118.8mm grav_b=(-0.02,+0.01,-1.00) r=0.93m +[headless_play] t= 19.60s step= 980 trunk_z= 122.0mm grav_b=(+0.00,+0.02,-1.00) r=0.94m +[headless_play] t= 19.70s step= 985 trunk_z= 118.2mm grav_b=(+0.02,+0.02,-1.00) r=0.97m +[headless_play] t= 19.80s step= 990 trunk_z= 123.2mm grav_b=(+0.01,-0.07,-1.00) r=1.00m +[headless_play] t= 19.90s step= 995 trunk_z= 121.3mm grav_b=(-0.01,-0.05,-1.00) r=1.02m +[headless_play] t= 20.00s step=1000 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) r=1.03m +[headless_play] t= 20.10s step=1005 trunk_z= 123.2mm grav_b=(-0.01,+0.04,-1.00) r=1.04m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t6.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..eedaef72eb5fca8eb4bc5e7c2acfac043bed5fe5 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t6.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.918,-17.575,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.6mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.03,+0.02,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(-0.05,+0.06,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 118.4mm grav_b=(-0.11,+0.02,-0.99) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 111.4mm grav_b=(-0.10,-0.04,-0.99) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 117.9mm grav_b=(-0.14,-0.03,-0.99) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 111.4mm grav_b=(-0.11,+0.00,-0.99) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 106.5mm grav_b=(-0.11,+0.06,-0.99) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 113.9mm grav_b=(-0.04,+0.04,-1.00) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 113.0mm grav_b=(-0.06,+0.01,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(-0.06,-0.06,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 115.5mm grav_b=(-0.09,-0.03,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 108.8mm grav_b=(-0.10,+0.03,-0.99) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.15,+0.06,-0.99) r=0.43m +[headless_play] t= 1.40s step= 70 trunk_z= 118.4mm grav_b=(-0.10,+0.05,-0.99) r=0.43m +[headless_play] t= 1.50s step= 75 trunk_z= 112.8mm grav_b=(-0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 118.1mm grav_b=(-0.10,-0.02,-0.99) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 112.1mm grav_b=(-0.10,+0.03,-0.99) r=0.43m +[headless_play] t= 1.80s step= 90 trunk_z= 114.6mm grav_b=(-0.16,+0.08,-0.98) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 120.0mm grav_b=(-0.09,+0.07,-0.99) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(-0.07,+0.05,-1.00) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(-0.09,-0.00,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(-0.11,+0.03,-0.99) r=0.45m +[headless_play] t= 2.30s step= 115 trunk_z= 110.1mm grav_b=(-0.10,+0.06,-0.99) r=0.47m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.10,+0.06,-0.99) r=0.47m +[headless_play] t= 2.50s step= 125 trunk_z= 117.0mm grav_b=(-0.06,+0.01,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 114.6mm grav_b=(-0.10,-0.06,-0.99) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(-0.13,-0.06,-0.99) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 112.6mm grav_b=(-0.13,-0.01,-0.99) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 116.6mm grav_b=(-0.14,+0.07,-0.99) r=0.47m +[headless_play] t= 3.00s step= 150 trunk_z= 121.4mm grav_b=(-0.11,+0.07,-0.99) r=0.48m +[headless_play] t= 3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.07,+0.05,-1.00) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 112.0mm grav_b=(-0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 115.6mm grav_b=(-0.10,-0.02,-0.99) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 108.0mm grav_b=(-0.08,+0.03,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 115.8mm grav_b=(-0.11,+0.08,-0.99) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 115.5mm grav_b=(-0.07,+0.08,-0.99) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 110.4mm grav_b=(-0.03,+0.05,-1.00) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 115.8mm grav_b=(-0.04,-0.02,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 116.9mm grav_b=(-0.07,-0.02,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 108.4mm grav_b=(-0.07,+0.01,-1.00) r=0.48m +[headless_play] t= 4.10s step= 205 trunk_z= 117.0mm grav_b=(-0.13,+0.07,-0.99) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 120.2mm grav_b=(-0.11,+0.09,-0.99) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 119.0mm grav_b=(-0.08,+0.06,-1.00) r=0.48m +[headless_play] t= 4.40s step= 220 trunk_z= 115.1mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 117.6mm grav_b=(-0.11,-0.02,-0.99) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 113.2mm grav_b=(-0.11,+0.02,-0.99) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(-0.13,+0.06,-0.99) r=0.50m +[headless_play] t= 4.80s step= 240 trunk_z= 121.9mm grav_b=(-0.13,+0.07,-0.99) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(-0.14,+0.04,-0.99) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 115.3mm grav_b=(-0.11,-0.03,-0.99) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 121.4mm grav_b=(-0.08,-0.08,-0.99) r=0.48m +[headless_play] t= 5.20s step= 260 trunk_z= 120.0mm grav_b=(-0.09,-0.05,-0.99) r=0.47m +[headless_play] t= 5.30s step= 265 trunk_z= 116.5mm grav_b=(-0.07,+0.06,-1.00) r=0.48m +[headless_play] t= 5.40s step= 270 trunk_z= 125.4mm grav_b=(-0.10,+0.09,-0.99) r=0.47m +[headless_play] t= 5.50s step= 275 trunk_z= 124.1mm grav_b=(-0.09,+0.07,-0.99) r=0.46m +[headless_play] t= 5.60s step= 280 trunk_z= 117.2mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 5.70s step= 285 trunk_z= 125.0mm grav_b=(-0.07,-0.08,-0.99) r=0.41m +[headless_play] t= 5.80s step= 290 trunk_z= 122.9mm grav_b=(-0.08,-0.06,-0.99) r=0.40m +[headless_play] t= 5.90s step= 295 trunk_z= 117.3mm grav_b=(-0.10,+0.03,-0.99) r=0.41m +[headless_play] t= 6.00s step= 300 trunk_z= 124.4mm grav_b=(-0.13,+0.07,-0.99) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(-0.12,+0.05,-0.99) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 116.8mm grav_b=(-0.09,-0.04,-1.00) r=0.36m +[headless_play] t= 6.30s step= 315 trunk_z= 123.9mm grav_b=(-0.08,-0.06,-0.99) r=0.35m +[headless_play] t= 6.40s step= 320 trunk_z= 119.9mm grav_b=(-0.09,-0.03,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 120.9mm grav_b=(-0.10,+0.06,-0.99) r=0.35m +[headless_play] t= 6.60s step= 330 trunk_z= 125.3mm grav_b=(-0.11,+0.07,-0.99) r=0.35m +[headless_play] t= 6.70s step= 335 trunk_z= 120.8mm grav_b=(-0.10,+0.05,-0.99) r=0.33m +[headless_play] t= 6.80s step= 340 trunk_z= 121.0mm grav_b=(-0.07,-0.05,-1.00) r=0.30m +[headless_play] t= 6.90s step= 345 trunk_z= 123.1mm grav_b=(-0.08,-0.05,-1.00) r=0.29m +[headless_play] t= 7.00s step= 350 trunk_z= 115.6mm grav_b=(-0.08,+0.02,-1.00) r=0.30m +[headless_play] t= 7.10s step= 355 trunk_z= 124.0mm grav_b=(-0.10,+0.05,-0.99) r=0.30m +[headless_play] t= 7.20s step= 360 trunk_z= 122.5mm grav_b=(-0.12,+0.04,-0.99) r=0.29m +[headless_play] t= 7.30s step= 365 trunk_z= 116.4mm grav_b=(-0.10,-0.04,-0.99) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 124.2mm grav_b=(-0.09,-0.06,-0.99) r=0.25m +[headless_play] t= 7.50s step= 375 trunk_z= 120.2mm grav_b=(-0.09,-0.03,-1.00) r=0.25m +[headless_play] t= 7.60s step= 380 trunk_z= 121.1mm grav_b=(-0.09,+0.04,-0.99) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 123.1mm grav_b=(-0.10,+0.03,-0.99) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 117.8mm grav_b=(-0.09,-0.01,-1.00) r=0.25m +[headless_play] t= 7.90s step= 395 trunk_z= 123.6mm grav_b=(-0.09,-0.08,-0.99) r=0.23m +[headless_play] t= 8.00s step= 400 trunk_z= 122.8mm grav_b=(-0.09,-0.06,-0.99) r=0.24m +[headless_play] t= 8.10s step= 405 trunk_z= 115.9mm grav_b=(-0.08,+0.01,-1.00) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 124.1mm grav_b=(-0.10,+0.04,-0.99) r=0.28m +[headless_play] t= 8.30s step= 415 trunk_z= 118.3mm grav_b=(-0.10,+0.00,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 123.2mm grav_b=(-0.13,-0.07,-0.99) r=0.26m +[headless_play] t= 8.50s step= 425 trunk_z= 124.8mm grav_b=(-0.14,-0.05,-0.99) r=0.26m +[headless_play] t= 8.60s step= 430 trunk_z= 119.3mm grav_b=(-0.17,-0.01,-0.99) r=0.28m +[headless_play] t= 8.70s step= 435 trunk_z= 121.4mm grav_b=(-0.14,+0.06,-0.99) r=0.30m +[headless_play] t= 8.80s step= 440 trunk_z= 123.4mm grav_b=(-0.14,+0.02,-0.99) r=0.30m +[headless_play] t= 8.90s step= 445 trunk_z= 116.0mm grav_b=(-0.15,-0.04,-0.99) r=0.27m +[headless_play] t= 9.00s step= 450 trunk_z= 125.0mm grav_b=(-0.16,-0.10,-0.98) r=0.26m +[headless_play] t= 9.10s step= 455 trunk_z= 126.8mm grav_b=(-0.18,-0.09,-0.98) r=0.25m +[headless_play] t= 9.20s step= 460 trunk_z= 125.0mm grav_b=(-0.15,-0.05,-0.99) r=0.26m +[headless_play] t= 9.30s step= 465 trunk_z= 121.1mm grav_b=(-0.13,+0.00,-0.99) r=0.26m +[headless_play] t= 9.40s step= 470 trunk_z= 122.0mm grav_b=(-0.13,-0.00,-0.99) r=0.25m +[headless_play] t= 9.50s step= 475 trunk_z= 115.4mm grav_b=(-0.10,-0.06,-0.99) r=0.22m +[headless_play] t= 9.60s step= 480 trunk_z= 121.9mm grav_b=(-0.10,-0.07,-0.99) r=0.21m +[headless_play] t= 9.70s step= 485 trunk_z= 120.4mm grav_b=(-0.12,-0.06,-0.99) r=0.22m +[headless_play] t= 9.80s step= 490 trunk_z= 114.4mm grav_b=(-0.09,+0.02,-1.00) r=0.24m +[headless_play] t= 9.90s step= 495 trunk_z= 123.2mm grav_b=(-0.09,+0.04,-0.99) r=0.26m +[headless_play] t= 10.00s step= 500 trunk_z= 119.1mm grav_b=(-0.09,+0.01,-1.00) r=0.26m +[headless_play] t= 10.10s step= 505 trunk_z= 121.4mm grav_b=(-0.10,-0.07,-0.99) r=0.25m +[headless_play] t= 10.20s step= 510 trunk_z= 124.6mm grav_b=(-0.11,-0.07,-0.99) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 119.4mm grav_b=(-0.09,-0.04,-1.00) r=0.27m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(-0.09,+0.04,-1.00) r=0.29m +[headless_play] t= 10.50s step= 525 trunk_z= 123.7mm grav_b=(-0.10,+0.03,-0.99) r=0.30m +[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(-0.09,-0.01,-1.00) r=0.29m +[headless_play] t= 10.70s step= 535 trunk_z= 123.0mm grav_b=(-0.05,-0.05,-1.00) r=0.29m +[headless_play] t= 10.80s step= 540 trunk_z= 120.7mm grav_b=(-0.04,-0.02,-1.00) r=0.30m +[headless_play] t= 10.90s step= 545 trunk_z= 121.2mm grav_b=(-0.08,+0.06,-1.00) r=0.33m +[headless_play] t= 11.00s step= 550 trunk_z= 125.7mm grav_b=(-0.13,+0.04,-0.99) r=0.34m +[headless_play] t= 11.10s step= 555 trunk_z= 120.7mm grav_b=(-0.16,+0.03,-0.99) r=0.33m +[headless_play] t= 11.20s step= 560 trunk_z= 122.4mm grav_b=(-0.13,-0.05,-0.99) r=0.33m +[headless_play] t= 11.30s step= 565 trunk_z= 124.2mm grav_b=(-0.13,-0.04,-0.99) r=0.33m +[headless_play] t= 11.40s step= 570 trunk_z= 119.5mm grav_b=(-0.11,-0.02,-0.99) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 122.9mm grav_b=(-0.06,+0.04,-1.00) r=0.37m +[headless_play] t= 11.60s step= 580 trunk_z= 123.8mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(-0.04,-0.05,-1.00) r=0.39m +[headless_play] t= 11.80s step= 590 trunk_z= 125.4mm grav_b=(-0.05,-0.09,-0.99) r=0.39m +[headless_play] t= 11.90s step= 595 trunk_z= 124.9mm grav_b=(-0.08,-0.07,-0.99) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 119.6mm grav_b=(-0.10,-0.00,-1.00) r=0.43m +[headless_play] t= 12.10s step= 605 trunk_z= 126.1mm grav_b=(-0.11,+0.06,-0.99) r=0.44m +[headless_play] t= 12.20s step= 610 trunk_z= 125.5mm grav_b=(-0.12,+0.06,-0.99) r=0.44m +[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(-0.13,-0.01,-0.99) r=0.43m +[headless_play] t= 12.40s step= 620 trunk_z= 124.9mm grav_b=(-0.09,-0.08,-0.99) r=0.43m +[headless_play] t= 12.50s step= 625 trunk_z= 124.7mm grav_b=(-0.11,-0.07,-0.99) r=0.44m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(-0.10,-0.01,-0.99) r=0.47m +[headless_play] t= 12.70s step= 635 trunk_z= 122.4mm grav_b=(-0.11,+0.03,-0.99) r=0.49m +[headless_play] t= 12.80s step= 640 trunk_z= 119.5mm grav_b=(-0.11,+0.01,-0.99) r=0.49m +[headless_play] t= 12.90s step= 645 trunk_z= 117.8mm grav_b=(-0.15,-0.05,-0.99) r=0.49m +[headless_play] t= 13.00s step= 650 trunk_z= 121.6mm grav_b=(-0.20,-0.02,-0.98) r=0.49m +[headless_play] t= 13.10s step= 655 trunk_z= 118.4mm grav_b=(-0.17,+0.02,-0.99) r=0.50m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(-0.14,+0.06,-0.99) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 121.4mm grav_b=(-0.14,+0.02,-0.99) r=0.48m +[headless_play] t= 13.40s step= 670 trunk_z= 106.7mm grav_b=(-0.10,-0.02,-1.00) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 112.5mm grav_b=(-0.12,-0.06,-0.99) r=0.44m +[headless_play] t= 13.60s step= 680 trunk_z= 109.1mm grav_b=(-0.08,-0.05,-1.00) r=0.44m +[headless_play] t= 13.70s step= 685 trunk_z= 106.8mm grav_b=(-0.08,+0.03,-1.00) r=0.47m +[headless_play] t= 13.80s step= 690 trunk_z= 116.0mm grav_b=(-0.10,+0.02,-0.99) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 110.6mm grav_b=(-0.09,-0.03,-1.00) r=0.46m +[headless_play] t= 14.00s step= 700 trunk_z= 114.7mm grav_b=(-0.08,-0.08,-0.99) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 113.4mm grav_b=(-0.08,-0.06,-1.00) r=0.45m +[headless_play] t= 14.20s step= 710 trunk_z= 110.0mm grav_b=(-0.07,+0.01,-1.00) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 118.6mm grav_b=(-0.07,+0.06,-1.00) r=0.49m +[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(-0.08,+0.01,-1.00) r=0.48m +[headless_play] t= 14.50s step= 725 trunk_z= 114.0mm grav_b=(-0.10,-0.05,-0.99) r=0.46m +[headless_play] t= 14.60s step= 730 trunk_z= 118.9mm grav_b=(-0.12,-0.06,-0.99) r=0.46m +[headless_play] t= 14.70s step= 735 trunk_z= 114.2mm grav_b=(-0.09,-0.04,-1.00) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 112.2mm grav_b=(-0.06,+0.05,-1.00) r=0.49m +[headless_play] t= 14.90s step= 745 trunk_z= 118.6mm grav_b=(-0.07,+0.04,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 112.7mm grav_b=(-0.08,+0.01,-1.00) r=0.48m +[headless_play] t= 15.10s step= 755 trunk_z= 117.8mm grav_b=(-0.11,-0.06,-0.99) r=0.47m +[headless_play] t= 15.20s step= 760 trunk_z= 119.5mm grav_b=(-0.12,-0.06,-0.99) r=0.47m +[headless_play] t= 15.30s step= 765 trunk_z= 114.3mm grav_b=(-0.08,-0.04,-1.00) r=0.49m +[headless_play] t= 15.40s step= 770 trunk_z= 115.6mm grav_b=(-0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 15.50s step= 775 trunk_z= 116.9mm grav_b=(-0.06,+0.02,-1.00) r=0.51m +[headless_play] t= 15.60s step= 780 trunk_z= 110.1mm grav_b=(-0.06,-0.04,-1.00) r=0.49m +[headless_play] t= 15.70s step= 785 trunk_z= 118.2mm grav_b=(-0.08,-0.08,-0.99) r=0.49m +[headless_play] t= 15.80s step= 790 trunk_z= 114.9mm grav_b=(-0.07,-0.05,-1.00) r=0.50m +[headless_play] t= 15.90s step= 795 trunk_z= 110.8mm grav_b=(-0.05,+0.03,-1.00) r=0.52m +[headless_play] t= 16.00s step= 800 trunk_z= 119.3mm grav_b=(-0.06,+0.06,-1.00) r=0.53m +[headless_play] t= 16.10s step= 805 trunk_z= 114.7mm grav_b=(-0.06,+0.03,-1.00) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 115.7mm grav_b=(-0.09,-0.06,-0.99) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 118.7mm grav_b=(-0.10,-0.07,-0.99) r=0.52m +[headless_play] t= 16.40s step= 820 trunk_z= 114.6mm grav_b=(-0.08,-0.04,-1.00) r=0.54m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(-0.07,+0.06,-1.00) r=0.56m +[headless_play] t= 16.60s step= 830 trunk_z= 120.0mm grav_b=(-0.08,+0.04,-1.00) r=0.56m +[headless_play] t= 16.70s step= 835 trunk_z= 112.3mm grav_b=(-0.08,-0.00,-1.00) r=0.55m +[headless_play] t= 16.80s step= 840 trunk_z= 119.1mm grav_b=(-0.11,-0.07,-0.99) r=0.54m +[headless_play] t= 16.90s step= 845 trunk_z= 118.1mm grav_b=(-0.11,-0.06,-0.99) r=0.55m +[headless_play] t= 17.00s step= 850 trunk_z= 112.5mm grav_b=(-0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 17.10s step= 855 trunk_z= 118.2mm grav_b=(-0.07,+0.06,-1.00) r=0.59m +[headless_play] t= 17.20s step= 860 trunk_z= 115.6mm grav_b=(-0.07,+0.03,-1.00) r=0.59m +[headless_play] t= 17.30s step= 865 trunk_z= 113.7mm grav_b=(-0.10,-0.04,-0.99) r=0.57m +[headless_play] t= 17.40s step= 870 trunk_z= 119.8mm grav_b=(-0.12,-0.06,-0.99) r=0.57m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.08,-0.02,-1.00) r=0.58m +[headless_play] t= 17.60s step= 880 trunk_z= 114.0mm grav_b=(-0.07,+0.04,-1.00) r=0.59m +[headless_play] t= 17.70s step= 885 trunk_z= 121.7mm grav_b=(-0.07,+0.04,-1.00) r=0.60m +[headless_play] t= 17.80s step= 890 trunk_z= 118.3mm grav_b=(-0.08,+0.01,-1.00) r=0.58m +[headless_play] t= 17.90s step= 895 trunk_z= 121.4mm grav_b=(-0.09,-0.08,-0.99) r=0.56m +[headless_play] t= 18.00s step= 900 trunk_z= 123.8mm grav_b=(-0.10,-0.07,-0.99) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 118.0mm grav_b=(-0.08,-0.02,-1.00) r=0.58m +[headless_play] t= 18.20s step= 910 trunk_z= 124.6mm grav_b=(-0.08,+0.04,-1.00) r=0.60m +[headless_play] t= 18.30s step= 915 trunk_z= 123.0mm grav_b=(-0.07,+0.03,-1.00) r=0.61m +[headless_play] t= 18.40s step= 920 trunk_z= 117.6mm grav_b=(-0.10,-0.06,-0.99) r=0.59m +[headless_play] t= 18.50s step= 925 trunk_z= 125.2mm grav_b=(-0.12,-0.10,-0.99) r=0.58m +[headless_play] t= 18.60s step= 930 trunk_z= 124.3mm grav_b=(-0.12,-0.07,-0.99) r=0.59m +[headless_play] t= 18.70s step= 935 trunk_z= 117.6mm grav_b=(-0.12,+0.00,-0.99) r=0.62m +[headless_play] t= 18.80s step= 940 trunk_z= 124.9mm grav_b=(-0.09,+0.05,-0.99) r=0.64m +[headless_play] t= 18.90s step= 945 trunk_z= 122.2mm grav_b=(-0.08,+0.03,-1.00) r=0.64m +[headless_play] t= 19.00s step= 950 trunk_z= 120.2mm grav_b=(-0.09,-0.07,-0.99) r=0.62m +[headless_play] t= 19.10s step= 955 trunk_z= 125.3mm grav_b=(-0.10,-0.08,-0.99) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 121.7mm grav_b=(-0.10,-0.04,-0.99) r=0.64m +[headless_play] t= 19.30s step= 965 trunk_z= 122.8mm grav_b=(-0.09,+0.04,-0.99) r=0.67m +[headless_play] t= 19.40s step= 970 trunk_z= 125.4mm grav_b=(-0.09,+0.05,-1.00) r=0.68m +[headless_play] t= 19.50s step= 975 trunk_z= 119.8mm grav_b=(-0.09,+0.00,-1.00) r=0.67m +[headless_play] t= 19.60s step= 980 trunk_z= 124.0mm grav_b=(-0.09,-0.07,-0.99) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 123.4mm grav_b=(-0.09,-0.06,-0.99) r=0.67m +[headless_play] t= 19.80s step= 990 trunk_z= 118.2mm grav_b=(-0.08,+0.02,-1.00) r=0.70m +[headless_play] t= 19.90s step= 995 trunk_z= 126.1mm grav_b=(-0.10,+0.04,-0.99) r=0.72m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.8mm grav_b=(-0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.05,+0.02,-1.00) r=0.61m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t7.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..e2f947312256f88e25eace0c859c9bc3f76c361e --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t7.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.499,-17.997,+0.253) +[headless_play] t= 0.00s step= 0 trunk_z= 123.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 114.3mm grav_b=(-0.01,+0.07,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 122.5mm grav_b=(-0.01,+0.04,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 124.2mm grav_b=(+0.01,-0.08,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 124.5mm grav_b=(-0.00,-0.07,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 126.3mm grav_b=(-0.01,+0.05,-1.00) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 123.4mm grav_b=(-0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 121.8mm grav_b=(-0.02,-0.06,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 124.0mm grav_b=(-0.01,-0.06,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 120.1mm grav_b=(-0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 123.7mm grav_b=(+0.02,+0.02,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 125.9mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 115.2mm grav_b=(-0.03,-0.04,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 124.4mm grav_b=(-0.01,-0.07,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 123.2mm grav_b=(-0.04,-0.05,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 117.2mm grav_b=(-0.05,+0.04,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 124.3mm grav_b=(-0.02,+0.06,-1.00) r=0.43m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 122.7mm grav_b=(-0.02,-0.07,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 124.2mm grav_b=(-0.01,-0.09,-1.00) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 122.5mm grav_b=(-0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 2.40s step= 120 trunk_z= 124.2mm grav_b=(-0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 2.50s step= 125 trunk_z= 126.3mm grav_b=(+0.01,+0.04,-1.00) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 116.7mm grav_b=(-0.01,-0.04,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 124.0mm grav_b=(+0.01,-0.06,-1.00) r=0.58m +[headless_play] t= 2.80s step= 140 trunk_z= 121.6mm grav_b=(-0.01,-0.03,-1.00) r=0.59m +[headless_play] t= 2.90s step= 145 trunk_z= 122.0mm grav_b=(-0.01,+0.02,-1.00) r=0.59m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(-0.01,+0.02,-1.00) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 116.3mm grav_b=(-0.02,-0.06,-1.00) r=0.65m +[headless_play] t= 3.20s step= 160 trunk_z= 125.2mm grav_b=(+0.00,-0.08,-1.00) r=0.67m +[headless_play] t= 3.30s step= 165 trunk_z= 123.2mm grav_b=(-0.01,-0.05,-1.00) r=0.69m +[headless_play] t= 3.40s step= 170 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 125.6mm grav_b=(+0.01,+0.04,-1.00) r=0.72m +[headless_play] t= 3.60s step= 180 trunk_z= 120.9mm grav_b=(-0.03,+0.03,-1.00) r=0.75m +[headless_play] t= 3.70s step= 185 trunk_z= 123.7mm grav_b=(-0.01,-0.08,-1.00) r=0.78m +[headless_play] t= 3.80s step= 190 trunk_z= 124.2mm grav_b=(-0.01,-0.07,-1.00) r=0.80m +[headless_play] t= 3.90s step= 195 trunk_z= 118.7mm grav_b=(-0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 125.8mm grav_b=(+0.02,+0.03,-1.00) r=0.83m +[headless_play] t= 4.10s step= 205 trunk_z= 125.3mm grav_b=(+0.01,+0.03,-1.00) r=0.85m +[headless_play] t= 4.20s step= 210 trunk_z= 119.4mm grav_b=(-0.01,-0.05,-1.00) r=0.89m +[headless_play] t= 4.30s step= 215 trunk_z= 124.1mm grav_b=(+0.02,-0.02,-1.00) r=0.92m +[headless_play] t= 4.40s step= 220 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.94m +[headless_play] t= 4.50s step= 225 trunk_z= 122.8mm grav_b=(-0.02,+0.03,-1.00) r=0.96m +[headless_play] t= 4.60s step= 230 trunk_z= 120.3mm grav_b=(-0.02,+0.02,-1.00) r=0.98m +[headless_play] t= 4.70s step= 235 trunk_z= 119.6mm grav_b=(-0.03,-0.05,-1.00) r=1.01m +[headless_play] t= 4.80s step= 240 trunk_z= 124.5mm grav_b=(-0.01,-0.08,-1.00) r=1.03m +[headless_play] t= 4.90s step= 245 trunk_z= 122.2mm grav_b=(-0.01,-0.06,-1.00) r=1.05m +[headless_play] t= 5.00s step= 250 trunk_z= 121.5mm grav_b=(-0.01,+0.03,-1.00) r=1.06m +[headless_play] t= 5.10s step= 255 trunk_z= 126.2mm grav_b=(+0.00,+0.04,-1.00) r=1.09m +[headless_play] t= 5.20s step= 260 trunk_z= 112.7mm grav_b=(-0.02,+0.02,-1.00) r=1.14m +[headless_play] t= 5.30s step= 265 trunk_z= 112.4mm grav_b=(+0.04,-0.13,-0.99) r=1.18m +[headless_play] t= 5.40s step= 270 trunk_z= 112.4mm grav_b=(+0.02,-0.14,-0.99) r=1.22m +[headless_play] t= 5.50s step= 275 trunk_z= 99.8mm grav_b=(-0.04,-0.08,-1.00) r=1.28m +[headless_play] t= 5.60s step= 280 trunk_z= 98.3mm grav_b=(+0.09,+0.06,-0.99) r=1.33m +[headless_play] t= 5.70s step= 285 trunk_z= 108.8mm grav_b=(+0.02,+0.23,-0.97) r=1.38m +[headless_play] t= 5.80s step= 290 trunk_z= 61.6mm grav_b=(+0.00,+0.20,-0.98) r=1.46m +[headless_play] t= 5.90s step= 295 trunk_z= 75.4mm grav_b=(+0.29,+0.19,-0.94) r=1.51m +[headless_play] t= 6.00s step= 300 trunk_z= 32.3mm grav_b=(+0.14,-0.03,-0.99) r=1.59m +[headless_play] t= 6.10s step= 305 trunk_z= 32.1mm grav_b=(+0.35,-0.41,-0.84) r=1.65m +[headless_play] t= 6.20s step= 310 trunk_z= 25.7mm grav_b=(+0.85,-0.21,-0.48) r=1.72m +[headless_play] RESET at t= 6.26s step= 313 (env termination, not a recovery) +[headless_play] t= 6.30s step= 315 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 6.40s step= 320 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.27m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 6.60s step= 330 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 6.70s step= 335 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=0.27m +[headless_play] t= 6.80s step= 340 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.00s step= 350 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.10s step= 355 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.20s step= 360 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.50s step= 375 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.60s step= 380 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 7.90s step= 395 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.60s step= 430 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.70s step= 435 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.80s step= 440 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.00s step= 450 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.10s step= 455 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.20s step= 460 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.40s step= 470 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.50s step= 475 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.80s step= 490 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 9.90s step= 495 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 10.00s step= 500 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 10.10s step= 505 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.40s step= 520 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.50s step= 525 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.60s step= 530 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.70s step= 535 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 11.00s step= 550 trunk_z= 115.5mm grav_b=(-0.00,+0.02,-1.00) r=0.27m +[headless_play] t= 11.10s step= 555 trunk_z= 112.5mm grav_b=(+0.02,+0.06,-1.00) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 114.3mm grav_b=(+0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 107.8mm grav_b=(+0.01,-0.05,-1.00) r=0.32m +[headless_play] t= 11.40s step= 570 trunk_z= 120.1mm grav_b=(+0.05,-0.10,-0.99) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 119.8mm grav_b=(+0.03,-0.07,-1.00) r=0.37m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.38m +[headless_play] t= 11.70s step= 585 trunk_z= 122.2mm grav_b=(+0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 122.8mm grav_b=(-0.00,-0.12,-0.99) r=0.46m +[headless_play] t= 12.00s step= 600 trunk_z= 119.9mm grav_b=(+0.02,-0.11,-0.99) r=0.48m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(+0.02,-0.05,-1.00) r=0.49m +[headless_play] t= 12.20s step= 610 trunk_z= 123.0mm grav_b=(+0.04,+0.04,-1.00) r=0.51m +[headless_play] t= 12.30s step= 615 trunk_z= 120.7mm grav_b=(+0.00,+0.03,-1.00) r=0.54m +[headless_play] t= 12.40s step= 620 trunk_z= 119.4mm grav_b=(-0.01,-0.08,-1.00) r=0.57m +[headless_play] t= 12.50s step= 625 trunk_z= 122.4mm grav_b=(+0.01,-0.13,-0.99) r=0.60m +[headless_play] t= 12.60s step= 630 trunk_z= 118.4mm grav_b=(+0.01,-0.09,-1.00) r=0.61m +[headless_play] t= 12.70s step= 635 trunk_z= 119.4mm grav_b=(+0.05,+0.02,-1.00) r=0.63m +[headless_play] t= 12.80s step= 640 trunk_z= 123.4mm grav_b=(+0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 12.90s step= 645 trunk_z= 117.5mm grav_b=(-0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 13.00s step= 650 trunk_z= 122.0mm grav_b=(+0.01,-0.10,-0.99) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 118.1mm grav_b=(+0.03,-0.07,-1.00) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 114.0mm grav_b=(+0.05,+0.01,-1.00) r=0.74m +[headless_play] t= 13.30s step= 665 trunk_z= 120.3mm grav_b=(+0.04,+0.02,-1.00) r=0.76m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.80m +[headless_play] t= 13.50s step= 675 trunk_z= 123.3mm grav_b=(-0.01,-0.13,-0.99) r=0.83m +[headless_play] t= 13.60s step= 680 trunk_z= 119.8mm grav_b=(+0.02,-0.11,-0.99) r=0.85m +[headless_play] t= 13.70s step= 685 trunk_z= 115.9mm grav_b=(+0.03,-0.05,-1.00) r=0.86m +[headless_play] t= 13.80s step= 690 trunk_z= 121.6mm grav_b=(+0.04,+0.07,-1.00) r=0.87m +[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(+0.04,+0.03,-1.00) r=0.90m +[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(-0.03,-0.12,-0.99) r=0.93m +[headless_play] t= 14.10s step= 705 trunk_z= 124.9mm grav_b=(-0.00,-0.16,-0.99) r=0.95m +[headless_play] t= 14.20s step= 710 trunk_z= 120.6mm grav_b=(+0.03,-0.18,-0.98) r=0.98m +[headless_play] t= 14.30s step= 715 trunk_z= 115.6mm grav_b=(-0.03,-0.09,-1.00) r=0.99m +[headless_play] t= 14.40s step= 720 trunk_z= 117.5mm grav_b=(-0.04,+0.00,-1.00) r=1.03m +[headless_play] t= 14.50s step= 725 trunk_z= 127.8mm grav_b=(-0.01,+0.06,-1.00) r=1.07m +[headless_play] t= 14.60s step= 730 trunk_z= 107.5mm grav_b=(+0.00,-0.03,-1.00) r=1.12m +[headless_play] t= 14.70s step= 735 trunk_z= 110.1mm grav_b=(-0.01,-0.13,-0.99) r=1.15m +[headless_play] t= 14.80s step= 740 trunk_z= 103.5mm grav_b=(-0.00,-0.13,-0.99) r=1.18m +[headless_play] t= 14.90s step= 745 trunk_z= 103.2mm grav_b=(+0.08,-0.07,-0.99) r=1.21m +[headless_play] t= 15.00s step= 750 trunk_z= 97.0mm grav_b=(+0.00,-0.04,-1.00) r=1.25m +[headless_play] t= 15.10s step= 755 trunk_z= 89.4mm grav_b=(-0.05,-0.06,-1.00) r=1.27m +[headless_play] t= 15.20s step= 760 trunk_z= 84.5mm grav_b=(-0.04,-0.01,-1.00) r=1.29m +[headless_play] t= 15.30s step= 765 trunk_z= 81.1mm grav_b=(+0.03,+0.03,-1.00) r=1.30m +[headless_play] t= 15.40s step= 770 trunk_z= 80.0mm grav_b=(+0.10,+0.04,-0.99) r=1.31m +[headless_play] t= 15.50s step= 775 trunk_z= 80.4mm grav_b=(+0.13,+0.03,-0.99) r=1.31m +[headless_play] t= 15.60s step= 780 trunk_z= 82.5mm grav_b=(+0.13,-0.00,-0.99) r=1.32m +[headless_play] t= 15.70s step= 785 trunk_z= 76.3mm grav_b=(+0.07,+0.06,-1.00) r=1.34m +[headless_play] t= 15.80s step= 790 trunk_z= 82.0mm grav_b=(+0.00,+0.06,-1.00) r=1.35m +[headless_play] t= 15.90s step= 795 trunk_z= 74.5mm grav_b=(-0.04,+0.01,-1.00) r=1.35m +[headless_play] t= 16.00s step= 800 trunk_z= 73.4mm grav_b=(+0.02,+0.03,-1.00) r=1.36m +[headless_play] t= 16.10s step= 805 trunk_z= 72.2mm grav_b=(+0.11,+0.04,-0.99) r=1.36m +[headless_play] t= 16.20s step= 810 trunk_z= 73.3mm grav_b=(+0.14,+0.03,-0.99) r=1.37m +[headless_play] t= 16.30s step= 815 trunk_z= 75.8mm grav_b=(+0.11,+0.01,-0.99) r=1.38m +[headless_play] t= 16.40s step= 820 trunk_z= 71.1mm grav_b=(-0.03,-0.13,-0.99) r=1.40m +[headless_play] t= 16.50s step= 825 trunk_z= 75.0mm grav_b=(-0.06,-0.15,-0.99) r=1.42m +[headless_play] t= 16.60s step= 830 trunk_z= 70.6mm grav_b=(-0.00,-0.11,-0.99) r=1.43m +[headless_play] t= 16.70s step= 835 trunk_z= 63.8mm grav_b=(+0.05,-0.02,-1.00) r=1.46m +[headless_play] t= 16.80s step= 840 trunk_z= 65.5mm grav_b=(+0.07,+0.03,-1.00) r=1.47m +[headless_play] t= 16.90s step= 845 trunk_z= 63.0mm grav_b=(+0.06,-0.02,-1.00) r=1.47m +[headless_play] t= 17.00s step= 850 trunk_z= 59.5mm grav_b=(+0.06,+0.03,-1.00) r=1.48m +[headless_play] t= 17.10s step= 855 trunk_z= 59.5mm grav_b=(+0.09,+0.04,-0.99) r=1.48m +[headless_play] t= 17.20s step= 860 trunk_z= 59.6mm grav_b=(+0.10,+0.05,-0.99) r=1.48m +[headless_play] t= 17.30s step= 865 trunk_z= 59.6mm grav_b=(+0.10,+0.05,-0.99) r=1.48m +[headless_play] t= 17.40s step= 870 trunk_z= 59.5mm grav_b=(+0.10,+0.05,-0.99) r=1.48m +[headless_play] t= 17.50s step= 875 trunk_z= 59.5mm grav_b=(+0.09,+0.05,-0.99) r=1.48m +[headless_play] t= 17.60s step= 880 trunk_z= 59.4mm grav_b=(+0.08,+0.05,-1.00) r=1.48m +[headless_play] t= 17.70s step= 885 trunk_z= 59.3mm grav_b=(+0.07,+0.04,-1.00) r=1.48m +[headless_play] t= 17.80s step= 890 trunk_z= 59.4mm grav_b=(+0.06,+0.04,-1.00) r=1.48m +[headless_play] t= 17.90s step= 895 trunk_z= 60.3mm grav_b=(+0.09,+0.06,-0.99) r=1.48m +[headless_play] t= 18.00s step= 900 trunk_z= 60.2mm grav_b=(+0.05,+0.02,-1.00) r=1.49m +[headless_play] t= 18.10s step= 905 trunk_z= 63.6mm grav_b=(+0.03,-0.02,-1.00) r=1.51m +[headless_play] t= 18.20s step= 910 trunk_z= 53.2mm grav_b=(-0.00,+0.06,-1.00) r=1.53m +[headless_play] t= 18.30s step= 915 trunk_z= 55.8mm grav_b=(-0.01,+0.06,-1.00) r=1.54m +[headless_play] t= 18.40s step= 920 trunk_z= 54.7mm grav_b=(+0.02,+0.04,-1.00) r=1.54m +[headless_play] t= 18.50s step= 925 trunk_z= 54.9mm grav_b=(+0.07,+0.06,-1.00) r=1.55m +[headless_play] t= 18.60s step= 930 trunk_z= 54.4mm grav_b=(+0.04,+0.04,-1.00) r=1.56m +[headless_play] t= 18.70s step= 935 trunk_z= 55.4mm grav_b=(-0.02,-0.02,-1.00) r=1.56m +[headless_play] t= 18.80s step= 940 trunk_z= 50.2mm grav_b=(-0.00,+0.03,-1.00) r=1.57m +[headless_play] t= 18.90s step= 945 trunk_z= 50.1mm grav_b=(+0.01,+0.06,-1.00) r=1.59m +[headless_play] t= 19.00s step= 950 trunk_z= 50.0mm grav_b=(+0.08,+0.02,-1.00) r=1.60m +[headless_play] t= 19.10s step= 955 trunk_z= 45.0mm grav_b=(+0.04,+0.08,-1.00) r=1.62m +[headless_play] t= 19.20s step= 960 trunk_z= 51.9mm grav_b=(+0.02,+0.08,-1.00) r=1.64m +[headless_play] t= 19.30s step= 965 trunk_z= 43.4mm grav_b=(-0.01,+0.02,-1.00) r=1.65m +[headless_play] t= 19.40s step= 970 trunk_z= 42.8mm grav_b=(-0.01,-0.01,-1.00) r=1.66m +[headless_play] t= 19.50s step= 975 trunk_z= 41.1mm grav_b=(+0.01,+0.04,-1.00) r=1.67m +[headless_play] t= 19.60s step= 980 trunk_z= 41.1mm grav_b=(+0.08,+0.02,-1.00) r=1.68m +[headless_play] t= 19.70s step= 985 trunk_z= 39.4mm grav_b=(+0.09,+0.01,-1.00) r=1.69m +[headless_play] t= 19.80s step= 990 trunk_z= 42.2mm grav_b=(+0.04,+0.00,-1.00) r=1.71m +[headless_play] t= 19.90s step= 995 trunk_z= 33.3mm grav_b=(-0.08,-0.14,-0.99) r=1.74m +[headless_play] t= 20.00s step=1000 trunk_z= 37.8mm grav_b=(-0.04,-0.14,-0.99) r=1.75m +[headless_play] t= 20.10s step=1005 trunk_z= 37.4mm grav_b=(-0.02,-0.13,-0.99) r=1.75m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t8.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..61c572ecd47499b7dd40ddb6cada23db09dc815d --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.662,-17.662,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.4mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.02,-0.09,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 121.8mm grav_b=(+0.04,-0.08,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 119.1mm grav_b=(+0.06,-0.05,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 127.6mm grav_b=(+0.09,-0.02,-1.00) r=0.54m +[headless_play] t= 0.60s step= 30 trunk_z= 130.4mm grav_b=(+0.06,+0.01,-1.00) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.04,+0.03,-1.00) r=0.61m +[headless_play] t= 0.80s step= 40 trunk_z= 126.4mm grav_b=(+0.05,+0.01,-1.00) r=0.63m +[headless_play] t= 0.90s step= 45 trunk_z= 122.2mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 1.00s step= 50 trunk_z= 126.2mm grav_b=(+0.05,-0.01,-1.00) r=0.69m +[headless_play] t= 1.10s step= 55 trunk_z= 128.5mm grav_b=(+0.01,+0.01,-1.00) r=0.72m +[headless_play] t= 1.20s step= 60 trunk_z= 118.4mm grav_b=(+0.03,-0.02,-1.00) r=0.76m +[headless_play] t= 1.30s step= 65 trunk_z= 127.9mm grav_b=(+0.05,-0.04,-1.00) r=0.79m +[headless_play] t= 1.40s step= 70 trunk_z= 123.9mm grav_b=(+0.05,-0.02,-1.00) r=0.81m +[headless_play] t= 1.50s step= 75 trunk_z= 127.2mm grav_b=(+0.08,-0.01,-1.00) r=0.85m +[headless_play] t= 1.60s step= 80 trunk_z= 133.2mm grav_b=(+0.06,+0.03,-1.00) r=0.88m +[headless_play] t= 1.70s step= 85 trunk_z= 109.3mm grav_b=(+0.03,-0.00,-1.00) r=0.93m +[headless_play] t= 1.80s step= 90 trunk_z= 125.8mm grav_b=(+0.05,-0.04,-1.00) r=0.95m +[headless_play] t= 1.90s step= 95 trunk_z= 118.8mm grav_b=(+0.01,+0.01,-1.00) r=0.97m +[headless_play] t= 2.00s step= 100 trunk_z= 122.0mm grav_b=(+0.06,-0.01,-1.00) r=1.00m +[headless_play] t= 2.10s step= 105 trunk_z= 124.0mm grav_b=(+0.04,-0.01,-1.00) r=1.02m +[headless_play] t= 2.20s step= 110 trunk_z= 116.9mm grav_b=(+0.02,-0.05,-1.00) r=1.05m +[headless_play] t= 2.30s step= 115 trunk_z= 122.8mm grav_b=(+0.06,-0.01,-1.00) r=1.08m +[headless_play] t= 2.40s step= 120 trunk_z= 108.7mm grav_b=(+0.04,-0.01,-1.00) r=1.12m +[headless_play] t= 2.50s step= 125 trunk_z= 114.9mm grav_b=(+0.04,-0.07,-1.00) r=1.16m +[headless_play] t= 2.60s step= 130 trunk_z= 102.2mm grav_b=(+0.04,-0.10,-0.99) r=1.20m +[headless_play] t= 2.70s step= 135 trunk_z= 102.9mm grav_b=(+0.05,-0.15,-0.99) r=1.25m +[headless_play] t= 2.80s step= 140 trunk_z= 104.8mm grav_b=(+0.08,-0.16,-0.98) r=1.29m +[headless_play] t= 2.90s step= 145 trunk_z= 97.2mm grav_b=(+0.04,-0.11,-0.99) r=1.34m +[headless_play] t= 3.00s step= 150 trunk_z= 92.1mm grav_b=(+0.10,+0.01,-1.00) r=1.39m +[headless_play] t= 3.10s step= 155 trunk_z= 98.9mm grav_b=(+0.09,+0.09,-0.99) r=1.43m +[headless_play] t= 3.20s step= 160 trunk_z= 69.8mm grav_b=(+0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 3.30s step= 165 trunk_z= 72.5mm grav_b=(+0.13,-0.08,-0.99) r=1.53m +[headless_play] t= 3.40s step= 170 trunk_z= 77.8mm grav_b=(+0.08,-0.14,-0.99) r=1.56m +[headless_play] t= 3.50s step= 175 trunk_z= 67.6mm grav_b=(+0.01,-0.09,-1.00) r=1.61m +[headless_play] t= 3.60s step= 180 trunk_z= 63.7mm grav_b=(+0.13,-0.01,-0.99) r=1.64m +[headless_play] t= 3.70s step= 185 trunk_z= 66.5mm grav_b=(+0.08,+0.01,-1.00) r=1.68m +[headless_play] t= 3.80s step= 190 trunk_z= 44.6mm grav_b=(+0.09,-0.03,-1.00) r=1.73m +[headless_play] t= 3.90s step= 195 trunk_z= 58.1mm grav_b=(+0.09,-0.07,-0.99) r=1.76m +[headless_play] t= 4.00s step= 200 trunk_z= 48.1mm grav_b=(+0.02,-0.07,-1.00) r=1.81m +[headless_play] t= 4.10s step= 205 trunk_z= 39.0mm grav_b=(+0.08,-0.02,-1.00) r=1.86m +[headless_play] t= 4.20s step= 210 trunk_z= 49.2mm grav_b=(+0.04,+0.02,-1.00) r=1.89m +[headless_play] t= 4.30s step= 215 trunk_z= 30.4mm grav_b=(+0.07,-0.01,-1.00) r=1.94m +[headless_play] t= 4.40s step= 220 trunk_z= 39.0mm grav_b=(+0.06,-0.06,-1.00) r=1.96m +[headless_play] t= 4.50s step= 225 trunk_z= 35.3mm grav_b=(+0.06,-0.07,-1.00) r=2.00m +[headless_play] t= 4.60s step= 230 trunk_z= 21.4mm grav_b=(+0.06,-0.04,-1.00) r=2.05m +[headless_play] t= 4.70s step= 235 trunk_z= 32.2mm grav_b=(+0.08,-0.04,-1.00) r=2.09m +[headless_play] t= 4.80s step= 240 trunk_z= 6.4mm grav_b=(+0.06,-0.03,-1.00) r=2.14m +[headless_play] t= 4.90s step= 245 trunk_z= 15.5mm grav_b=(+0.08,-0.02,-1.00) r=2.16m +[headless_play] t= 5.00s step= 250 trunk_z= 14.3mm grav_b=(+0.03,-0.02,-1.00) r=2.20m +[headless_play] t= 5.10s step= 255 trunk_z= 10.5mm grav_b=(+0.01,+0.02,-1.00) r=2.24m +[headless_play] t= 5.20s step= 260 trunk_z= 13.9mm grav_b=(+0.02,-0.00,-1.00) r=2.25m +[headless_play] t= 5.30s step= 265 trunk_z= 5.8mm grav_b=(+0.03,-0.05,-1.00) r=2.28m +[headless_play] t= 5.40s step= 270 trunk_z= 13.7mm grav_b=(+0.05,-0.06,-1.00) r=2.30m +[headless_play] t= 5.50s step= 275 trunk_z= 12.7mm grav_b=(+0.05,-0.06,-1.00) r=2.33m +[headless_play] t= 5.60s step= 280 trunk_z= 4.5mm grav_b=(+0.06,-0.02,-1.00) r=2.37m +[headless_play] t= 5.70s step= 285 trunk_z= 11.3mm grav_b=(+0.07,-0.03,-1.00) r=2.40m +[headless_play] t= 5.80s step= 290 trunk_z= -5.4mm grav_b=(+0.05,-0.07,-1.00) r=2.44m +[headless_play] t= 5.90s step= 295 trunk_z= 5.5mm grav_b=(+0.06,-0.04,-1.00) r=2.46m +[headless_play] t= 6.00s step= 300 trunk_z= 2.6mm grav_b=(+0.03,-0.05,-1.00) r=2.49m +[headless_play] t= 6.10s step= 305 trunk_z= -0.3mm grav_b=(+0.01,+0.03,-1.00) r=2.53m +[headless_play] t= 6.20s step= 310 trunk_z= 4.7mm grav_b=(+0.04,+0.03,-1.00) r=2.56m +[headless_play] t= 6.30s step= 315 trunk_z= -2.2mm grav_b=(+0.04,+0.00,-1.00) r=2.58m +[headless_play] t= 6.40s step= 320 trunk_z= -0.5mm grav_b=(+0.06,-0.05,-1.00) r=2.61m +[headless_play] t= 6.50s step= 325 trunk_z= -0.0mm grav_b=(+0.05,-0.06,-1.00) r=2.63m +[headless_play] t= 6.60s step= 330 trunk_z= -10.4mm grav_b=(+0.03,-0.01,-1.00) r=2.67m +[headless_play] t= 6.70s step= 335 trunk_z= -1.9mm grav_b=(+0.04,-0.02,-1.00) r=2.69m +[headless_play] t= 6.80s step= 340 trunk_z= -6.5mm grav_b=(+0.04,-0.02,-1.00) r=2.71m +[headless_play] t= 6.90s step= 345 trunk_z= -2.4mm grav_b=(+0.03,-0.04,-1.00) r=2.72m +[headless_play] t= 7.00s step= 350 trunk_z= -1.2mm grav_b=(+0.00,-0.05,-1.00) r=2.74m +[headless_play] t= 7.10s step= 355 trunk_z= -8.0mm grav_b=(+0.00,-0.01,-1.00) r=2.76m +[headless_play] t= 7.20s step= 360 trunk_z= 1.2mm grav_b=(+0.04,+0.03,-1.00) r=2.79m +[headless_play] t= 7.30s step= 365 trunk_z= 1.3mm grav_b=(+0.05,+0.03,-1.00) r=2.81m +[headless_play] t= 7.40s step= 370 trunk_z= -3.8mm grav_b=(+0.05,-0.03,-1.00) r=2.84m +[headless_play] t= 7.50s step= 375 trunk_z= 2.9mm grav_b=(+0.05,-0.03,-1.00) r=2.86m +[headless_play] t= 7.60s step= 380 trunk_z= -2.4mm grav_b=(+0.04,-0.03,-1.00) r=2.89m +[headless_play] t= 7.70s step= 385 trunk_z= 1.3mm grav_b=(+0.07,+0.04,-1.00) r=2.92m +[headless_play] t= 7.80s step= 390 trunk_z= 4.9mm grav_b=(+0.06,+0.03,-1.00) r=2.95m +[headless_play] t= 7.90s step= 395 trunk_z= -8.6mm grav_b=(+0.05,-0.01,-1.00) r=2.99m +[headless_play] t= 8.00s step= 400 trunk_z= 3.0mm grav_b=(+0.04,-0.02,-1.00) r=3.02m +[headless_play] t= 8.10s step= 405 trunk_z= -2.2mm grav_b=(+0.02,-0.01,-1.00) r=3.04m +[headless_play] t= 8.20s step= 410 trunk_z= -1.3mm grav_b=(+0.05,+0.05,-1.00) r=3.08m +[headless_play] t= 8.30s step= 415 trunk_z= 2.3mm grav_b=(+0.07,+0.06,-1.00) r=3.10m +[headless_play] t= 8.40s step= 420 trunk_z= -7.2mm grav_b=(+0.06,+0.03,-1.00) r=3.14m +[headless_play] t= 8.50s step= 425 trunk_z= 1.8mm grav_b=(+0.05,+0.01,-1.00) r=3.16m +[headless_play] t= 8.60s step= 430 trunk_z= -3.7mm grav_b=(+0.03,+0.01,-1.00) r=3.20m +[headless_play] t= 8.70s step= 435 trunk_z= -0.8mm grav_b=(+0.04,+0.03,-1.00) r=3.23m +[headless_play] t= 8.80s step= 440 trunk_z= 4.7mm grav_b=(+0.04,+0.04,-1.00) r=3.26m +[headless_play] t= 8.90s step= 445 trunk_z= -8.8mm grav_b=(+0.03,-0.03,-1.00) r=3.29m +[headless_play] t= 9.00s step= 450 trunk_z= 0.7mm grav_b=(+0.03,-0.09,-1.00) r=3.31m +[headless_play] t= 9.10s step= 455 trunk_z= 2.7mm grav_b=(+0.01,-0.12,-0.99) r=3.33m +[headless_play] t= 9.20s step= 460 trunk_z= -0.2mm grav_b=(+0.02,-0.06,-1.00) r=3.35m +[headless_play] t= 9.30s step= 465 trunk_z= 3.4mm grav_b=(+0.05,-0.03,-1.00) r=3.38m +[headless_play] t= 9.40s step= 470 trunk_z= 2.5mm grav_b=(+0.04,-0.03,-1.00) r=3.40m +[headless_play] t= 9.50s step= 475 trunk_z= -2.2mm grav_b=(+0.06,-0.10,-0.99) r=3.42m +[headless_play] t= 9.60s step= 480 trunk_z= 2.6mm grav_b=(+0.05,-0.11,-0.99) r=3.43m +[headless_play] t= 9.70s step= 485 trunk_z= 2.6mm grav_b=(+0.05,-0.11,-0.99) r=3.46m +[headless_play] t= 9.80s step= 490 trunk_z= 4.2mm grav_b=(+0.07,-0.04,-1.00) r=3.50m +[headless_play] t= 9.90s step= 495 trunk_z= 10.9mm grav_b=(+0.05,-0.04,-1.00) r=3.52m +[headless_play] t= 10.00s step= 500 trunk_z= -2.4mm grav_b=(+0.04,-0.11,-0.99) r=3.56m +[headless_play] t= 10.10s step= 505 trunk_z= 5.1mm grav_b=(+0.02,-0.12,-0.99) r=3.58m +[headless_play] t= 10.20s step= 510 trunk_z= 1.3mm grav_b=(+0.02,-0.12,-0.99) r=3.60m +[headless_play] t= 10.30s step= 515 trunk_z= -0.8mm grav_b=(+0.05,-0.04,-1.00) r=3.62m +[headless_play] t= 10.40s step= 520 trunk_z= 5.2mm grav_b=(+0.07,-0.06,-1.00) r=3.64m +[headless_play] t= 10.50s step= 525 trunk_z= -2.6mm grav_b=(+0.03,-0.09,-1.00) r=3.64m +[headless_play] t= 10.60s step= 530 trunk_z= 5.3mm grav_b=(+0.03,-0.11,-0.99) r=3.65m +[headless_play] t= 10.70s step= 535 trunk_z= 4.7mm grav_b=(+0.03,-0.15,-0.99) r=3.67m +[headless_play] t= 10.80s step= 540 trunk_z= 2.9mm grav_b=(+0.03,-0.15,-0.99) r=3.68m +[headless_play] t= 10.90s step= 545 trunk_z= 1.2mm grav_b=(+0.07,-0.08,-0.99) r=3.71m +[headless_play] t= 11.00s step= 550 trunk_z= 4.6mm grav_b=(+0.06,-0.11,-0.99) r=3.72m +[headless_play] t= 11.10s step= 555 trunk_z= -4.0mm grav_b=(+0.05,-0.12,-0.99) r=3.73m +[headless_play] t= 11.20s step= 560 trunk_z= 4.5mm grav_b=(+0.07,-0.14,-0.99) r=3.74m +[headless_play] t= 11.30s step= 565 trunk_z= 2.6mm grav_b=(+0.03,-0.19,-0.98) r=3.75m +[headless_play] t= 11.40s step= 570 trunk_z= 2.3mm grav_b=(-0.00,-0.22,-0.97) r=3.76m +[headless_play] t= 11.50s step= 575 trunk_z= 5.6mm grav_b=(-0.01,-0.16,-0.99) r=3.77m +[headless_play] t= 11.60s step= 580 trunk_z= 11.1mm grav_b=(+0.02,-0.08,-1.00) r=3.79m +[headless_play] t= 11.70s step= 585 trunk_z= 6.2mm grav_b=(+0.04,-0.07,-1.00) r=3.80m +[headless_play] t= 11.80s step= 590 trunk_z= -4.7mm grav_b=(+0.05,-0.13,-0.99) r=3.81m +[headless_play] t= 11.90s step= 595 trunk_z= -1.1mm grav_b=(+0.02,-0.18,-0.98) r=3.81m +[headless_play] t= 12.00s step= 600 trunk_z= -4.0mm grav_b=(-0.02,-0.22,-0.98) r=3.82m +[headless_play] t= 12.10s step= 605 trunk_z= -1.9mm grav_b=(-0.02,-0.13,-0.99) r=3.83m +[headless_play] t= 12.20s step= 610 trunk_z= -0.2mm grav_b=(+0.02,-0.05,-1.00) r=3.85m +[headless_play] t= 12.30s step= 615 trunk_z= -3.1mm grav_b=(+0.10,-0.15,-0.98) r=3.84m +[headless_play] t= 12.40s step= 620 trunk_z= -5.5mm grav_b=(+0.14,-0.16,-0.98) r=3.84m +[headless_play] t= 12.50s step= 625 trunk_z= -11.1mm grav_b=(+0.04,-0.06,-1.00) r=3.87m +[headless_play] t= 12.60s step= 630 trunk_z= 1.8mm grav_b=(-0.02,-0.03,-1.00) r=3.89m +[headless_play] t= 12.70s step= 635 trunk_z= -1.6mm grav_b=(-0.03,-0.05,-1.00) r=3.88m +[headless_play] t= 12.80s step= 640 trunk_z= 0.4mm grav_b=(+0.04,-0.05,-1.00) r=3.86m +[headless_play] t= 12.90s step= 645 trunk_z= 0.7mm grav_b=(+0.07,-0.01,-1.00) r=3.86m +[headless_play] t= 13.00s step= 650 trunk_z= -5.0mm grav_b=(+0.09,+0.02,-1.00) r=3.89m +[headless_play] t= 13.10s step= 655 trunk_z= -2.6mm grav_b=(+0.12,-0.01,-0.99) r=3.89m +[headless_play] t= 13.20s step= 660 trunk_z= -3.0mm grav_b=(+0.15,-0.05,-0.99) r=3.88m +[headless_play] t= 13.30s step= 665 trunk_z= 5.2mm grav_b=(+0.11,+0.02,-0.99) r=3.89m +[headless_play] t= 13.40s step= 670 trunk_z= -4.9mm grav_b=(+0.06,+0.09,-0.99) r=3.93m +[headless_play] t= 13.50s step= 675 trunk_z= 3.3mm grav_b=(+0.06,+0.15,-0.99) r=3.96m +[headless_play] t= 13.60s step= 680 trunk_z= 2.3mm grav_b=(+0.03,+0.24,-0.97) r=3.97m +[headless_play] t= 13.70s step= 685 trunk_z= 1.8mm grav_b=(+0.04,+0.26,-0.96) r=4.00m +[headless_play] t= 13.80s step= 690 trunk_z= 2.9mm grav_b=(+0.02,+0.36,-0.93) r=4.03m +[headless_play] t= 13.90s step= 695 trunk_z= -18.8mm grav_b=(+0.08,+0.56,-0.82) r=4.07m +[headless_play] t= 14.00s step= 700 trunk_z= -64.6mm grav_b=(+0.06,+0.91,-0.41) r=4.12m +[headless_play] RESET at t= 14.02s step= 701 (env termination, not a recovery) +[headless_play] t= 14.10s step= 705 trunk_z= 114.5mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 14.30s step= 715 trunk_z= 120.0mm grav_b=(+0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 14.40s step= 720 trunk_z= 119.0mm grav_b=(+0.08,-0.03,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 113.9mm grav_b=(+0.07,+0.04,-1.00) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 125.5mm grav_b=(+0.06,+0.04,-1.00) r=0.42m +[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(+0.06,+0.05,-1.00) r=0.41m +[headless_play] t= 14.80s step= 740 trunk_z= 118.8mm grav_b=(+0.04,-0.05,-1.00) r=0.38m +[headless_play] t= 14.90s step= 745 trunk_z= 123.2mm grav_b=(+0.04,-0.05,-1.00) r=0.37m +[headless_play] t= 15.00s step= 750 trunk_z= 119.1mm grav_b=(+0.02,-0.04,-1.00) r=0.39m +[headless_play] t= 15.10s step= 755 trunk_z= 122.5mm grav_b=(+0.02,+0.05,-1.00) r=0.41m +[headless_play] t= 15.20s step= 760 trunk_z= 124.1mm grav_b=(+0.04,+0.06,-1.00) r=0.41m +[headless_play] t= 15.30s step= 765 trunk_z= 118.9mm grav_b=(+0.06,+0.05,-1.00) r=0.39m +[headless_play] t= 15.40s step= 770 trunk_z= 122.7mm grav_b=(+0.04,-0.05,-1.00) r=0.37m +[headless_play] t= 15.50s step= 775 trunk_z= 121.8mm grav_b=(+0.05,-0.05,-1.00) r=0.38m +[headless_play] t= 15.60s step= 780 trunk_z= 115.1mm grav_b=(+0.02,-0.00,-1.00) r=0.40m +[headless_play] t= 15.70s step= 785 trunk_z= 124.0mm grav_b=(+0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 15.80s step= 790 trunk_z= 120.9mm grav_b=(+0.03,+0.04,-1.00) r=0.41m +[headless_play] t= 15.90s step= 795 trunk_z= 117.9mm grav_b=(+0.01,-0.04,-1.00) r=0.40m +[headless_play] t= 16.00s step= 800 trunk_z= 124.0mm grav_b=(+0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 16.10s step= 805 trunk_z= 119.3mm grav_b=(+0.03,-0.05,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 121.9mm grav_b=(+0.01,+0.03,-1.00) r=0.45m +[headless_play] t= 16.30s step= 815 trunk_z= 123.8mm grav_b=(+0.02,+0.06,-1.00) r=0.46m +[headless_play] t= 16.40s step= 820 trunk_z= 116.9mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 16.50s step= 825 trunk_z= 122.9mm grav_b=(+0.02,-0.04,-1.00) r=0.45m +[headless_play] t= 16.60s step= 830 trunk_z= 122.0mm grav_b=(+0.04,-0.04,-1.00) r=0.46m +[headless_play] t= 16.70s step= 835 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 16.80s step= 840 trunk_z= 125.0mm grav_b=(+0.03,+0.05,-1.00) r=0.52m +[headless_play] t= 16.90s step= 845 trunk_z= 122.0mm grav_b=(+0.05,+0.07,-1.00) r=0.52m +[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(+0.04,-0.02,-1.00) r=0.52m +[headless_play] t= 17.10s step= 855 trunk_z= 123.3mm grav_b=(+0.05,-0.05,-1.00) r=0.52m +[headless_play] t= 17.20s step= 860 trunk_z= 119.9mm grav_b=(+0.04,-0.05,-1.00) r=0.55m +[headless_play] t= 17.30s step= 865 trunk_z= 121.5mm grav_b=(+0.01,+0.03,-1.00) r=0.58m +[headless_play] t= 17.40s step= 870 trunk_z= 124.6mm grav_b=(+0.02,+0.05,-1.00) r=0.59m +[headless_play] t= 17.50s step= 875 trunk_z= 118.0mm grav_b=(+0.03,+0.04,-1.00) r=0.59m +[headless_play] t= 17.60s step= 880 trunk_z= 122.7mm grav_b=(+0.03,-0.04,-1.00) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 121.3mm grav_b=(+0.05,-0.04,-1.00) r=0.61m +[headless_play] t= 17.80s step= 890 trunk_z= 115.3mm grav_b=(+0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 17.90s step= 895 trunk_z= 125.0mm grav_b=(+0.01,+0.04,-1.00) r=0.67m +[headless_play] t= 18.00s step= 900 trunk_z= 121.4mm grav_b=(+0.03,+0.06,-1.00) r=0.68m +[headless_play] t= 18.10s step= 905 trunk_z= 117.7mm grav_b=(+0.02,-0.04,-1.00) r=0.68m +[headless_play] t= 18.20s step= 910 trunk_z= 123.6mm grav_b=(+0.00,-0.06,-1.00) r=0.69m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(+0.02,-0.04,-1.00) r=0.71m +[headless_play] t= 18.40s step= 920 trunk_z= 123.0mm grav_b=(+0.05,+0.03,-1.00) r=0.75m +[headless_play] t= 18.50s step= 925 trunk_z= 126.7mm grav_b=(+0.07,+0.04,-1.00) r=0.78m +[headless_play] t= 18.60s step= 930 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 18.70s step= 935 trunk_z= 123.8mm grav_b=(+0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00) r=0.85m +[headless_play] t= 18.90s step= 945 trunk_z= 121.1mm grav_b=(-0.01,+0.04,-1.00) r=0.88m +[headless_play] t= 19.00s step= 950 trunk_z= 123.3mm grav_b=(+0.01,+0.03,-1.00) r=0.89m +[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(-0.00,-0.03,-1.00) r=0.89m +[headless_play] t= 19.20s step= 960 trunk_z= 123.7mm grav_b=(+0.01,-0.05,-1.00) r=0.90m +[headless_play] t= 19.30s step= 965 trunk_z= 119.4mm grav_b=(+0.02,-0.03,-1.00) r=0.93m +[headless_play] t= 19.40s step= 970 trunk_z= 119.8mm grav_b=(+0.03,+0.04,-1.00) r=0.96m +[headless_play] t= 19.50s step= 975 trunk_z= 125.2mm grav_b=(+0.06,+0.06,-1.00) r=0.99m +[headless_play] t= 19.60s step= 980 trunk_z= 120.5mm grav_b=(+0.06,+0.04,-1.00) r=1.01m +[headless_play] t= 19.70s step= 985 trunk_z= 121.9mm grav_b=(+0.05,-0.02,-1.00) r=1.04m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(+0.06,-0.01,-1.00) r=1.07m +[headless_play] t= 19.90s step= 995 trunk_z= 103.4mm grav_b=(+0.07,+0.10,-0.99) r=1.12m +[headless_play] t= 20.00s step=1000 trunk_z= 112.0mm grav_b=(+0.07,+0.13,-0.99) r=1.16m +[headless_play] t= 20.10s step=1005 trunk_z= 104.3mm grav_b=(+0.06,+0.08,-1.00) r=1.20m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t9.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..7e5823e37ef39ce2f26bc5e1ec6a7c0b09a7efd0 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/v2-b-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.609,-18.092,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(-0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 112.0mm grav_b=(+0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 112.4mm grav_b=(+0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(-0.02,-0.03,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 109.3mm grav_b=(-0.01,-0.02,-1.00) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 113.8mm grav_b=(-0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 114.4mm grav_b=(+0.01,+0.04,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 108.8mm grav_b=(+0.04,-0.00,-1.00) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.03,-0.05,-1.00) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 112.9mm grav_b=(+0.04,-0.05,-1.00) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 102.9mm grav_b=(+0.06,-0.03,-1.00) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 113.7mm grav_b=(+0.04,+0.04,-1.00) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(+0.03,+0.04,-1.00) r=0.21m +[headless_play] t= 1.50s step= 75 trunk_z= 110.1mm grav_b=(+0.07,+0.01,-1.00) r=0.19m +[headless_play] t= 1.60s step= 80 trunk_z= 118.5mm grav_b=(+0.02,-0.08,-1.00) r=0.18m +[headless_play] t= 1.70s step= 85 trunk_z= 119.6mm grav_b=(+0.00,-0.06,-1.00) r=0.17m +[headless_play] t= 1.80s step= 90 trunk_z= 111.1mm grav_b=(+0.01,-0.04,-1.00) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(-0.01,+0.04,-1.00) r=0.15m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.01,+0.03,-1.00) r=0.14m +[headless_play] t= 2.10s step= 105 trunk_z= 110.3mm grav_b=(+0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 2.20s step= 110 trunk_z= 116.3mm grav_b=(+0.03,-0.06,-1.00) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 112.4mm grav_b=(+0.07,-0.06,-1.00) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 102.5mm grav_b=(+0.09,-0.02,-1.00) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 113.1mm grav_b=(+0.05,+0.03,-1.00) r=0.11m +[headless_play] t= 2.60s step= 130 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 110.0mm grav_b=(+0.07,-0.01,-1.00) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 119.7mm grav_b=(+0.02,-0.08,-1.00) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 118.0mm grav_b=(+0.02,-0.07,-1.00) r=0.09m +[headless_play] t= 3.00s step= 150 trunk_z= 107.2mm grav_b=(+0.01,+0.00,-1.00) r=0.11m +[headless_play] t= 3.10s step= 155 trunk_z= 115.9mm grav_b=(+0.00,+0.04,-1.00) r=0.13m +[headless_play] t= 3.20s step= 160 trunk_z= 115.1mm grav_b=(+0.00,+0.02,-1.00) r=0.14m +[headless_play] t= 3.30s step= 165 trunk_z= 113.8mm grav_b=(+0.05,-0.05,-1.00) r=0.14m +[headless_play] t= 3.40s step= 170 trunk_z= 116.5mm grav_b=(+0.05,-0.05,-1.00) r=0.15m +[headless_play] t= 3.50s step= 175 trunk_z= 112.5mm grav_b=(+0.04,-0.03,-1.00) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 118.9mm grav_b=(-0.00,+0.07,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 120.8mm grav_b=(-0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 3.80s step= 190 trunk_z= 113.3mm grav_b=(+0.00,-0.02,-1.00) r=0.23m +[headless_play] t= 3.90s step= 195 trunk_z= 122.5mm grav_b=(-0.02,-0.07,-1.00) r=0.24m +[headless_play] t= 4.00s step= 200 trunk_z= 121.4mm grav_b=(+0.01,-0.05,-1.00) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 113.3mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 122.1mm grav_b=(-0.03,+0.07,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 121.7mm grav_b=(-0.01,+0.04,-1.00) r=0.31m +[headless_play] t= 4.40s step= 220 trunk_z= 115.2mm grav_b=(-0.01,-0.04,-1.00) r=0.31m +[headless_play] t= 4.50s step= 225 trunk_z= 120.2mm grav_b=(+0.01,-0.04,-1.00) r=0.32m +[headless_play] t= 4.60s step= 230 trunk_z= 115.5mm grav_b=(+0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 117.4mm grav_b=(-0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 4.80s step= 240 trunk_z= 121.0mm grav_b=(-0.02,+0.03,-1.00) r=0.39m +[headless_play] t= 4.90s step= 245 trunk_z= 113.0mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 5.00s step= 250 trunk_z= 122.2mm grav_b=(-0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 5.10s step= 255 trunk_z= 119.5mm grav_b=(+0.00,-0.04,-1.00) r=0.42m +[headless_play] t= 5.20s step= 260 trunk_z= 111.2mm grav_b=(+0.00,+0.03,-1.00) r=0.44m +[headless_play] t= 5.30s step= 265 trunk_z= 121.7mm grav_b=(+0.00,+0.05,-1.00) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(+0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 5.50s step= 275 trunk_z= 119.0mm grav_b=(-0.02,-0.05,-1.00) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 122.7mm grav_b=(-0.00,-0.06,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 115.3mm grav_b=(+0.02,-0.06,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 118.2mm grav_b=(-0.00,+0.04,-1.00) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 120.6mm grav_b=(+0.00,+0.02,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 113.6mm grav_b=(+0.00,-0.03,-1.00) r=0.58m +[headless_play] t= 6.10s step= 305 trunk_z= 122.2mm grav_b=(+0.01,-0.05,-1.00) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 119.6mm grav_b=(+0.01,-0.05,-1.00) r=0.61m +[headless_play] t= 6.30s step= 315 trunk_z= 112.2mm grav_b=(+0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 6.40s step= 320 trunk_z= 122.6mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 6.50s step= 325 trunk_z= 118.6mm grav_b=(+0.01,+0.04,-1.00) r=0.66m +[headless_play] t= 6.60s step= 330 trunk_z= 117.4mm grav_b=(-0.03,-0.06,-1.00) r=0.67m +[headless_play] t= 6.70s step= 335 trunk_z= 123.5mm grav_b=(+0.00,-0.05,-1.00) r=0.68m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(+0.01,-0.06,-1.00) r=0.69m +[headless_play] t= 6.90s step= 345 trunk_z= 113.9mm grav_b=(+0.02,+0.05,-1.00) r=0.71m +[headless_play] t= 7.00s step= 350 trunk_z= 120.8mm grav_b=(+0.03,+0.04,-1.00) r=0.73m +[headless_play] t= 7.10s step= 355 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 7.20s step= 360 trunk_z= 121.4mm grav_b=(-0.02,-0.06,-1.00) r=0.77m +[headless_play] t= 7.30s step= 365 trunk_z= 121.3mm grav_b=(+0.02,-0.06,-1.00) r=0.79m +[headless_play] t= 7.40s step= 370 trunk_z= 115.1mm grav_b=(+0.01,-0.04,-1.00) r=0.81m +[headless_play] t= 7.50s step= 375 trunk_z= 120.9mm grav_b=(-0.02,+0.06,-1.00) r=0.83m +[headless_play] t= 7.60s step= 380 trunk_z= 120.4mm grav_b=(-0.01,+0.03,-1.00) r=0.84m +[headless_play] t= 7.70s step= 385 trunk_z= 115.8mm grav_b=(-0.01,-0.05,-1.00) r=0.86m +[headless_play] t= 7.80s step= 390 trunk_z= 121.6mm grav_b=(+0.01,-0.05,-1.00) r=0.88m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(+0.04,-0.04,-1.00) r=0.90m +[headless_play] t= 8.00s step= 400 trunk_z= 116.0mm grav_b=(-0.02,+0.07,-1.00) r=0.92m +[headless_play] t= 8.10s step= 405 trunk_z= 121.7mm grav_b=(+0.00,+0.10,-0.99) r=0.94m +[headless_play] t= 8.20s step= 410 trunk_z= 119.0mm grav_b=(+0.04,+0.10,-0.99) r=0.96m +[headless_play] t= 8.30s step= 415 trunk_z= 116.1mm grav_b=(+0.01,-0.03,-1.00) r=0.98m +[headless_play] t= 8.40s step= 420 trunk_z= 120.3mm grav_b=(+0.01,-0.14,-0.99) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 115.3mm grav_b=(+0.03,-0.12,-0.99) r=1.03m +[headless_play] t= 8.60s step= 430 trunk_z= 108.3mm grav_b=(+0.03,-0.09,-1.00) r=1.07m +[headless_play] t= 8.70s step= 435 trunk_z= 105.4mm grav_b=(+0.05,+0.07,-1.00) r=1.10m +[headless_play] t= 8.80s step= 440 trunk_z= 103.0mm grav_b=(+0.07,+0.10,-0.99) r=1.12m +[headless_play] t= 8.90s step= 445 trunk_z= 102.3mm grav_b=(+0.04,+0.02,-1.00) r=1.15m +[headless_play] t= 9.00s step= 450 trunk_z= 101.0mm grav_b=(+0.03,-0.12,-0.99) r=1.19m +[headless_play] t= 9.10s step= 455 trunk_z= 94.2mm grav_b=(+0.03,-0.10,-0.99) r=1.23m +[headless_play] t= 9.20s step= 460 trunk_z= 78.6mm grav_b=(+0.05,-0.05,-1.00) r=1.28m +[headless_play] t= 9.30s step= 465 trunk_z= 81.5mm grav_b=(+0.05,+0.06,-1.00) r=1.31m +[headless_play] t= 9.40s step= 470 trunk_z= 79.4mm grav_b=(+0.05,+0.06,-1.00) r=1.34m +[headless_play] t= 9.50s step= 475 trunk_z= 74.7mm grav_b=(+0.01,-0.04,-1.00) r=1.37m +[headless_play] t= 9.60s step= 480 trunk_z= 77.8mm grav_b=(-0.01,-0.14,-0.99) r=1.41m +[headless_play] t= 9.70s step= 485 trunk_z= 68.9mm grav_b=(+0.01,-0.11,-0.99) r=1.44m +[headless_play] t= 9.80s step= 490 trunk_z= 56.8mm grav_b=(+0.02,-0.03,-1.00) r=1.48m +[headless_play] t= 9.90s step= 495 trunk_z= 58.6mm grav_b=(+0.03,+0.12,-0.99) r=1.52m +[headless_play] t= 10.00s step= 500 trunk_z= 58.2mm grav_b=(+0.06,+0.14,-0.99) r=1.54m +[headless_play] t= 10.10s step= 505 trunk_z= 61.6mm grav_b=(-0.01,+0.05,-1.00) r=1.57m +[headless_play] t= 10.20s step= 510 trunk_z= 54.8mm grav_b=(-0.02,-0.15,-0.99) r=1.61m +[headless_play] t= 10.30s step= 515 trunk_z= 55.3mm grav_b=(-0.03,-0.14,-0.99) r=1.64m +[headless_play] t= 10.40s step= 520 trunk_z= 43.9mm grav_b=(+0.02,-0.13,-0.99) r=1.67m +[headless_play] t= 10.50s step= 525 trunk_z= 37.5mm grav_b=(+0.07,+0.00,-1.00) r=1.69m +[headless_play] t= 10.60s step= 530 trunk_z= 40.9mm grav_b=(+0.07,+0.05,-1.00) r=1.71m +[headless_play] t= 10.70s step= 535 trunk_z= 43.4mm grav_b=(+0.01,+0.02,-1.00) r=1.72m +[headless_play] t= 10.80s step= 540 trunk_z= 43.1mm grav_b=(+0.00,-0.11,-0.99) r=1.75m +[headless_play] t= 10.90s step= 545 trunk_z= 39.7mm grav_b=(-0.01,-0.10,-0.99) r=1.77m +[headless_play] t= 11.00s step= 550 trunk_z= 30.1mm grav_b=(+0.01,-0.06,-1.00) r=1.81m +[headless_play] t= 11.10s step= 555 trunk_z= 28.1mm grav_b=(+0.02,+0.07,-1.00) r=1.84m +[headless_play] t= 11.20s step= 560 trunk_z= 27.3mm grav_b=(+0.03,+0.11,-0.99) r=1.86m +[headless_play] t= 11.30s step= 565 trunk_z= 24.2mm grav_b=(+0.03,+0.05,-1.00) r=1.86m +[headless_play] t= 11.40s step= 570 trunk_z= 29.1mm grav_b=(-0.00,-0.06,-1.00) r=1.87m +[headless_play] t= 11.50s step= 575 trunk_z= 28.9mm grav_b=(+0.04,-0.06,-1.00) r=1.89m +[headless_play] t= 11.60s step= 580 trunk_z= 20.6mm grav_b=(+0.04,-0.01,-1.00) r=1.92m +[headless_play] t= 11.70s step= 585 trunk_z= 28.2mm grav_b=(+0.05,+0.11,-0.99) r=1.96m +[headless_play] t= 11.80s step= 590 trunk_z= 31.1mm grav_b=(+0.03,+0.13,-0.99) r=1.99m +[headless_play] t= 11.90s step= 595 trunk_z= 18.7mm grav_b=(-0.04,+0.02,-1.00) r=2.03m +[headless_play] t= 12.00s step= 600 trunk_z= 24.7mm grav_b=(-0.05,-0.06,-1.00) r=2.08m +[headless_play] t= 12.10s step= 605 trunk_z= 12.6mm grav_b=(+0.01,-0.07,-1.00) r=2.10m +[headless_play] t= 12.20s step= 610 trunk_z= 12.0mm grav_b=(+0.04,+0.00,-1.00) r=2.13m +[headless_play] t= 12.30s step= 615 trunk_z= 16.3mm grav_b=(+0.04,-0.01,-1.00) r=2.16m +[headless_play] t= 12.40s step= 620 trunk_z= 1.4mm grav_b=(-0.04,-0.06,-1.00) r=2.19m +[headless_play] t= 12.50s step= 625 trunk_z= 9.8mm grav_b=(-0.08,-0.09,-0.99) r=2.22m +[headless_play] t= 12.60s step= 630 trunk_z= 7.0mm grav_b=(-0.07,-0.06,-1.00) r=2.24m +[headless_play] t= 12.70s step= 635 trunk_z= -0.7mm grav_b=(-0.05,+0.04,-1.00) r=2.28m +[headless_play] t= 12.80s step= 640 trunk_z= 9.2mm grav_b=(+0.02,+0.11,-0.99) r=2.30m +[headless_play] t= 12.90s step= 645 trunk_z= 13.8mm grav_b=(+0.01,+0.13,-0.99) r=2.32m +[headless_play] t= 13.00s step= 650 trunk_z= 9.7mm grav_b=(-0.04,+0.01,-1.00) r=2.35m +[headless_play] t= 13.10s step= 655 trunk_z= 9.8mm grav_b=(-0.08,-0.03,-1.00) r=2.38m +[headless_play] t= 13.20s step= 660 trunk_z= -2.7mm grav_b=(-0.01,-0.06,-1.00) r=2.41m +[headless_play] t= 13.30s step= 665 trunk_z= -0.1mm grav_b=(+0.01,+0.04,-1.00) r=2.44m +[headless_play] t= 13.40s step= 670 trunk_z= 5.2mm grav_b=(+0.03,+0.06,-1.00) r=2.46m +[headless_play] t= 13.50s step= 675 trunk_z= 0.7mm grav_b=(-0.04,+0.01,-1.00) r=2.48m +[headless_play] t= 13.60s step= 680 trunk_z= -1.0mm grav_b=(-0.12,-0.12,-0.99) r=2.50m +[headless_play] t= 13.70s step= 685 trunk_z= 2.6mm grav_b=(-0.06,-0.08,-1.00) r=2.51m +[headless_play] t= 13.80s step= 690 trunk_z= -5.9mm grav_b=(-0.06,-0.08,-1.00) r=2.54m +[headless_play] t= 13.90s step= 695 trunk_z= -1.0mm grav_b=(-0.00,+0.07,-1.00) r=2.57m +[headless_play] t= 14.00s step= 700 trunk_z= 2.7mm grav_b=(+0.02,+0.09,-1.00) r=2.59m +[headless_play] t= 14.10s step= 705 trunk_z= 0.9mm grav_b=(+0.01,+0.04,-1.00) r=2.60m +[headless_play] t= 14.20s step= 710 trunk_z= -1.6mm grav_b=(-0.05,-0.07,-1.00) r=2.60m +[headless_play] t= 14.30s step= 715 trunk_z= 0.3mm grav_b=(-0.03,-0.06,-1.00) r=2.62m +[headless_play] t= 14.40s step= 720 trunk_z= -7.5mm grav_b=(-0.04,-0.06,-1.00) r=2.65m +[headless_play] t= 14.50s step= 725 trunk_z= -0.5mm grav_b=(-0.02,+0.03,-1.00) r=2.68m +[headless_play] t= 14.60s step= 730 trunk_z= 3.1mm grav_b=(+0.02,+0.05,-1.00) r=2.69m +[headless_play] t= 14.70s step= 735 trunk_z= -0.4mm grav_b=(+0.04,-0.01,-1.00) r=2.69m +[headless_play] t= 14.80s step= 740 trunk_z= -1.9mm grav_b=(+0.01,+0.00,-1.00) r=2.70m +[headless_play] t= 14.90s step= 745 trunk_z= -8.3mm grav_b=(-0.02,+0.03,-1.00) r=2.71m +[headless_play] t= 15.00s step= 750 trunk_z= -8.0mm grav_b=(-0.07,+0.03,-1.00) r=2.71m +[headless_play] t= 15.10s step= 755 trunk_z= -8.5mm grav_b=(-0.09,+0.05,-0.99) r=2.72m +[headless_play] t= 15.20s step= 760 trunk_z= -9.5mm grav_b=(+0.00,-0.00,-1.00) r=2.71m +[headless_play] t= 15.30s step= 765 trunk_z= -11.3mm grav_b=(+0.09,+0.02,-1.00) r=2.71m +[headless_play] t= 15.40s step= 770 trunk_z= -11.7mm grav_b=(+0.06,+0.05,-1.00) r=2.72m +[headless_play] t= 15.50s step= 775 trunk_z= -8.2mm grav_b=(+0.03,+0.04,-1.00) r=2.73m +[headless_play] t= 15.60s step= 780 trunk_z= -8.2mm grav_b=(-0.01,+0.03,-1.00) r=2.73m +[headless_play] t= 15.70s step= 785 trunk_z= -9.3mm grav_b=(-0.06,+0.02,-1.00) r=2.73m +[headless_play] t= 15.80s step= 790 trunk_z= -10.0mm grav_b=(-0.08,+0.04,-1.00) r=2.73m +[headless_play] t= 15.90s step= 795 trunk_z= -9.4mm grav_b=(-0.05,+0.04,-1.00) r=2.73m +[headless_play] t= 16.00s step= 800 trunk_z= -15.7mm grav_b=(-0.03,+0.07,-1.00) r=2.75m +[headless_play] t= 16.10s step= 805 trunk_z= -14.9mm grav_b=(-0.05,+0.06,-1.00) r=2.75m +[headless_play] t= 16.20s step= 810 trunk_z= -11.2mm grav_b=(-0.01,+0.02,-1.00) r=2.74m +[headless_play] t= 16.30s step= 815 trunk_z= -11.6mm grav_b=(-0.04,+0.06,-1.00) r=2.75m +[headless_play] t= 16.40s step= 820 trunk_z= -12.8mm grav_b=(-0.05,+0.05,-1.00) r=2.75m +[headless_play] t= 16.50s step= 825 trunk_z= -10.8mm grav_b=(-0.05,+0.04,-1.00) r=2.75m +[headless_play] t= 16.60s step= 830 trunk_z= -11.1mm grav_b=(-0.05,+0.06,-1.00) r=2.75m +[headless_play] t= 16.70s step= 835 trunk_z= -11.0mm grav_b=(-0.05,+0.05,-1.00) r=2.75m +[headless_play] t= 16.80s step= 840 trunk_z= -11.3mm grav_b=(-0.05,+0.05,-1.00) r=2.75m +[headless_play] t= 16.90s step= 845 trunk_z= -10.3mm grav_b=(-0.04,+0.05,-1.00) r=2.75m +[headless_play] t= 17.00s step= 850 trunk_z= -10.9mm grav_b=(-0.03,+0.05,-1.00) r=2.75m +[headless_play] t= 17.10s step= 855 trunk_z= -10.2mm grav_b=(-0.03,+0.04,-1.00) r=2.75m +[headless_play] t= 17.20s step= 860 trunk_z= -10.0mm grav_b=(-0.03,+0.04,-1.00) r=2.74m +[headless_play] t= 17.30s step= 865 trunk_z= -10.2mm grav_b=(-0.03,+0.05,-1.00) r=2.74m +[headless_play] t= 17.40s step= 870 trunk_z= -9.5mm grav_b=(-0.03,+0.03,-1.00) r=2.74m +[headless_play] t= 17.50s step= 875 trunk_z= -9.6mm grav_b=(-0.04,+0.05,-1.00) r=2.74m +[headless_play] t= 17.60s step= 880 trunk_z= -11.3mm grav_b=(-0.04,+0.05,-1.00) r=2.74m +[headless_play] t= 17.70s step= 885 trunk_z= -13.0mm grav_b=(-0.04,+0.10,-0.99) r=2.75m +[headless_play] t= 17.80s step= 890 trunk_z= -9.6mm grav_b=(-0.03,+0.05,-1.00) r=2.74m +[headless_play] t= 17.90s step= 895 trunk_z= -9.5mm grav_b=(-0.04,+0.04,-1.00) r=2.74m +[headless_play] t= 18.00s step= 900 trunk_z= -11.9mm grav_b=(-0.05,+0.04,-1.00) r=2.75m +[headless_play] t= 18.10s step= 905 trunk_z= -10.5mm grav_b=(-0.07,+0.06,-1.00) r=2.75m +[headless_play] t= 18.20s step= 910 trunk_z= -11.6mm grav_b=(-0.03,-0.00,-1.00) r=2.74m +[headless_play] t= 18.30s step= 915 trunk_z= -12.8mm grav_b=(-0.06,+0.01,-1.00) r=2.74m +[headless_play] t= 18.40s step= 920 trunk_z= -13.6mm grav_b=(-0.03,+0.01,-1.00) r=2.74m +[headless_play] t= 18.50s step= 925 trunk_z= -13.2mm grav_b=(-0.01,-0.01,-1.00) r=2.74m +[headless_play] t= 18.60s step= 930 trunk_z= -15.2mm grav_b=(+0.01,+0.03,-1.00) r=2.74m +[headless_play] t= 18.70s step= 935 trunk_z= -23.2mm grav_b=(+0.04,-0.02,-1.00) r=2.73m +[headless_play] t= 18.80s step= 940 trunk_z= -15.3mm grav_b=(+0.05,-0.04,-1.00) r=2.73m +[headless_play] t= 18.90s step= 945 trunk_z= -14.5mm grav_b=(+0.04,+0.01,-1.00) r=2.74m +[headless_play] t= 19.00s step= 950 trunk_z= -13.6mm grav_b=(+0.03,+0.04,-1.00) r=2.75m +[headless_play] t= 19.10s step= 955 trunk_z= -10.8mm grav_b=(-0.00,+0.02,-1.00) r=2.75m +[headless_play] t= 19.20s step= 960 trunk_z= -12.4mm grav_b=(-0.00,+0.03,-1.00) r=2.75m +[headless_play] t= 19.30s step= 965 trunk_z= -13.4mm grav_b=(-0.01,+0.02,-1.00) r=2.75m +[headless_play] t= 19.40s step= 970 trunk_z= -12.6mm grav_b=(+0.00,+0.05,-1.00) r=2.75m +[headless_play] t= 19.50s step= 975 trunk_z= -14.7mm grav_b=(+0.03,+0.03,-1.00) r=2.74m +[headless_play] t= 19.60s step= 980 trunk_z= -11.8mm grav_b=(+0.03,-0.00,-1.00) r=2.74m +[headless_play] t= 19.70s step= 985 trunk_z= -12.3mm grav_b=(+0.02,+0.00,-1.00) r=2.74m +[headless_play] t= 19.80s step= 990 trunk_z= -12.5mm grav_b=(-0.02,+0.01,-1.00) r=2.75m +[headless_play] t= 19.90s step= 995 trunk_z= -11.3mm grav_b=(-0.02,-0.00,-1.00) r=2.75m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t1.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..b462acc1fadad8347943773544d779f000fed68b --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t1.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.463,-18.386,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.8mm grav_b=(-0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(-0.00,+0.05,-1.00) r=0.62m +[headless_play] t= 0.30s step= 15 trunk_z= 113.0mm grav_b=(-0.03,+0.10,-0.99) r=0.64m +[headless_play] t= 0.40s step= 20 trunk_z= 118.4mm grav_b=(-0.05,+0.05,-1.00) r=0.64m +[headless_play] t= 0.50s step= 25 trunk_z= 114.2mm grav_b=(-0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 0.60s step= 30 trunk_z= 112.7mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 0.70s step= 35 trunk_z= 110.5mm grav_b=(+0.04,+0.00,-1.00) r=0.64m +[headless_play] t= 0.80s step= 40 trunk_z= 107.4mm grav_b=(+0.03,+0.08,-1.00) r=0.67m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(+0.03,+0.06,-1.00) r=0.69m +[headless_play] t= 1.00s step= 50 trunk_z= 110.6mm grav_b=(+0.04,+0.03,-1.00) r=0.70m +[headless_play] t= 1.10s step= 55 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 1.20s step= 60 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.72m +[headless_play] t= 1.30s step= 65 trunk_z= 108.4mm grav_b=(+0.01,+0.07,-1.00) r=0.74m +[headless_play] t= 1.40s step= 70 trunk_z= 118.2mm grav_b=(-0.01,+0.07,-1.00) r=0.76m +[headless_play] t= 1.50s step= 75 trunk_z= 115.3mm grav_b=(+0.00,+0.04,-1.00) r=0.76m +[headless_play] t= 1.60s step= 80 trunk_z= 111.5mm grav_b=(+0.04,-0.01,-1.00) r=0.77m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(+0.05,+0.00,-1.00) r=0.78m +[headless_play] t= 1.80s step= 90 trunk_z= 110.4mm grav_b=(+0.03,+0.05,-1.00) r=0.80m +[headless_play] t= 1.90s step= 95 trunk_z= 117.9mm grav_b=(-0.02,+0.08,-1.00) r=0.82m +[headless_play] t= 2.00s step= 100 trunk_z= 118.1mm grav_b=(-0.03,+0.04,-1.00) r=0.83m +[headless_play] t= 2.10s step= 105 trunk_z= 110.1mm grav_b=(+0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.03,+0.00,-1.00) r=0.84m +[headless_play] t= 2.30s step= 115 trunk_z= 109.6mm grav_b=(+0.03,+0.04,-1.00) r=0.86m +[headless_play] t= 2.40s step= 120 trunk_z= 115.4mm grav_b=(+0.00,+0.09,-1.00) r=0.88m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(-0.01,+0.05,-1.00) r=0.89m +[headless_play] t= 2.60s step= 130 trunk_z= 109.1mm grav_b=(+0.03,+0.00,-1.00) r=0.90m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.02,-0.04,-1.00) r=0.90m +[headless_play] t= 2.80s step= 140 trunk_z= 115.6mm grav_b=(-0.02,+0.00,-1.00) r=0.91m +[headless_play] t= 2.90s step= 145 trunk_z= 119.1mm grav_b=(-0.03,+0.07,-1.00) r=0.93m +[headless_play] t= 3.00s step= 150 trunk_z= 121.4mm grav_b=(-0.01,+0.07,-1.00) r=0.94m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.01,+0.04,-1.00) r=0.96m +[headless_play] t= 3.20s step= 160 trunk_z= 115.4mm grav_b=(+0.00,-0.08,-1.00) r=0.98m +[headless_play] t= 3.30s step= 165 trunk_z= 118.0mm grav_b=(+0.02,-0.07,-1.00) r=1.00m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(+0.00,-0.05,-1.00) r=1.01m +[headless_play] t= 3.50s step= 175 trunk_z= 111.2mm grav_b=(-0.02,+0.08,-1.00) r=1.03m +[headless_play] t= 3.60s step= 180 trunk_z= 111.0mm grav_b=(+0.02,+0.05,-1.00) r=1.06m +[headless_play] t= 3.70s step= 185 trunk_z= 106.1mm grav_b=(+0.04,+0.02,-1.00) r=1.09m +[headless_play] t= 3.80s step= 190 trunk_z= 100.3mm grav_b=(-0.00,-0.07,-1.00) r=1.12m +[headless_play] t= 3.90s step= 195 trunk_z= 100.5mm grav_b=(-0.03,-0.06,-1.00) r=1.15m +[headless_play] t= 4.00s step= 200 trunk_z= 92.3mm grav_b=(-0.06,+0.01,-1.00) r=1.17m +[headless_play] t= 4.10s step= 205 trunk_z= 95.3mm grav_b=(-0.03,+0.11,-0.99) r=1.19m +[headless_play] t= 4.20s step= 210 trunk_z= 95.4mm grav_b=(-0.00,+0.08,-1.00) r=1.20m +[headless_play] t= 4.30s step= 215 trunk_z= 90.4mm grav_b=(+0.00,+0.05,-1.00) r=1.22m +[headless_play] t= 4.40s step= 220 trunk_z= 81.6mm grav_b=(+0.00,-0.07,-1.00) r=1.25m +[headless_play] t= 4.50s step= 225 trunk_z= 87.5mm grav_b=(-0.00,-0.08,-1.00) r=1.28m +[headless_play] t= 4.60s step= 230 trunk_z= 84.0mm grav_b=(-0.01,-0.06,-1.00) r=1.30m +[headless_play] t= 4.70s step= 235 trunk_z= 74.0mm grav_b=(+0.01,+0.06,-1.00) r=1.33m +[headless_play] t= 4.80s step= 240 trunk_z= 76.4mm grav_b=(+0.02,+0.06,-1.00) r=1.35m +[headless_play] t= 4.90s step= 245 trunk_z= 71.2mm grav_b=(+0.04,+0.03,-1.00) r=1.37m +[headless_play] t= 5.00s step= 250 trunk_z= 65.0mm grav_b=(-0.00,-0.07,-1.00) r=1.40m +[headless_play] t= 5.10s step= 255 trunk_z= 68.2mm grav_b=(-0.02,-0.05,-1.00) r=1.43m +[headless_play] t= 5.20s step= 260 trunk_z= 60.4mm grav_b=(-0.03,+0.00,-1.00) r=1.46m +[headless_play] t= 5.30s step= 265 trunk_z= 61.2mm grav_b=(-0.03,+0.12,-0.99) r=1.49m +[headless_play] t= 5.40s step= 270 trunk_z= 61.7mm grav_b=(+0.01,+0.06,-1.00) r=1.51m +[headless_play] t= 5.50s step= 275 trunk_z= 56.5mm grav_b=(+0.00,+0.04,-1.00) r=1.53m +[headless_play] t= 5.60s step= 280 trunk_z= 52.7mm grav_b=(+0.01,-0.07,-1.00) r=1.57m +[headless_play] t= 5.70s step= 285 trunk_z= 55.4mm grav_b=(-0.02,-0.05,-1.00) r=1.59m +[headless_play] t= 5.80s step= 290 trunk_z= 46.1mm grav_b=(-0.05,-0.00,-1.00) r=1.62m +[headless_play] t= 5.90s step= 295 trunk_z= 45.5mm grav_b=(-0.03,+0.08,-1.00) r=1.65m +[headless_play] t= 6.00s step= 300 trunk_z= 43.8mm grav_b=(+0.01,+0.06,-1.00) r=1.67m +[headless_play] t= 6.10s step= 305 trunk_z= 35.2mm grav_b=(+0.02,-0.01,-1.00) r=1.68m +[headless_play] t= 6.20s step= 310 trunk_z= 41.1mm grav_b=(+0.01,-0.05,-1.00) r=1.70m +[headless_play] t= 6.30s step= 315 trunk_z= 37.5mm grav_b=(+0.01,-0.02,-1.00) r=1.72m +[headless_play] t= 6.40s step= 320 trunk_z= 33.2mm grav_b=(+0.00,+0.08,-1.00) r=1.75m +[headless_play] t= 6.50s step= 325 trunk_z= 35.2mm grav_b=(+0.02,+0.08,-1.00) r=1.77m +[headless_play] t= 6.60s step= 330 trunk_z= 29.4mm grav_b=(+0.04,+0.04,-1.00) r=1.78m +[headless_play] t= 6.70s step= 335 trunk_z= 30.5mm grav_b=(+0.02,-0.06,-1.00) r=1.80m +[headless_play] t= 6.80s step= 340 trunk_z= 32.2mm grav_b=(-0.00,-0.05,-1.00) r=1.83m +[headless_play] t= 6.90s step= 345 trunk_z= 21.6mm grav_b=(-0.03,+0.05,-1.00) r=1.86m +[headless_play] t= 7.00s step= 350 trunk_z= 26.5mm grav_b=(-0.02,+0.09,-1.00) r=1.89m +[headless_play] t= 7.10s step= 355 trunk_z= 21.6mm grav_b=(+0.01,+0.06,-1.00) r=1.90m +[headless_play] t= 7.20s step= 360 trunk_z= 13.7mm grav_b=(+0.00,-0.01,-1.00) r=1.91m +[headless_play] t= 7.30s step= 365 trunk_z= 16.4mm grav_b=(+0.02,-0.02,-1.00) r=1.93m +[headless_play] t= 7.40s step= 370 trunk_z= 8.1mm grav_b=(+0.07,+0.03,-1.00) r=1.95m +[headless_play] t= 7.50s step= 375 trunk_z= 11.0mm grav_b=(+0.02,+0.10,-0.99) r=1.98m +[headless_play] t= 7.60s step= 380 trunk_z= 9.5mm grav_b=(+0.06,+0.06,-1.00) r=2.00m +[headless_play] t= 7.70s step= 385 trunk_z= 3.7mm grav_b=(+0.05,+0.01,-1.00) r=2.01m +[headless_play] t= 7.80s step= 390 trunk_z= 10.0mm grav_b=(-0.01,-0.07,-1.00) r=2.03m +[headless_play] t= 7.90s step= 395 trunk_z= 7.8mm grav_b=(+0.01,-0.04,-1.00) r=2.05m +[headless_play] t= 8.00s step= 400 trunk_z= -0.9mm grav_b=(+0.01,+0.05,-1.00) r=2.07m +[headless_play] t= 8.10s step= 405 trunk_z= 2.4mm grav_b=(+0.06,+0.07,-1.00) r=2.09m +[headless_play] t= 8.20s step= 410 trunk_z= -2.0mm grav_b=(+0.10,+0.01,-1.00) r=2.09m +[headless_play] t= 8.30s step= 415 trunk_z= -0.8mm grav_b=(+0.08,-0.00,-1.00) r=2.09m +[headless_play] t= 8.40s step= 420 trunk_z= -0.7mm grav_b=(+0.08,+0.02,-1.00) r=2.09m +[headless_play] t= 8.50s step= 425 trunk_z= 0.3mm grav_b=(+0.08,+0.02,-1.00) r=2.09m +[headless_play] t= 8.60s step= 430 trunk_z= 1.1mm grav_b=(+0.06,+0.01,-1.00) r=2.08m +[headless_play] t= 8.70s step= 435 trunk_z= 1.4mm grav_b=(+0.05,+0.01,-1.00) r=2.08m +[headless_play] t= 8.80s step= 440 trunk_z= 1.2mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 8.90s step= 445 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.00s step= 450 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.10s step= 455 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.20s step= 460 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.30s step= 465 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.40s step= 470 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.50s step= 475 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.60s step= 480 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.70s step= 485 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.80s step= 490 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 9.90s step= 495 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.00s step= 500 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.10s step= 505 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.20s step= 510 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.30s step= 515 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.40s step= 520 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.50s step= 525 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.60s step= 530 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.70s step= 535 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.80s step= 540 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 10.90s step= 545 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.00s step= 550 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.10s step= 555 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.20s step= 560 trunk_z= 1.2mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.30s step= 565 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.40s step= 570 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.50s step= 575 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.60s step= 580 trunk_z= 1.3mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 11.70s step= 585 trunk_z= 1.4mm grav_b=(+0.04,+0.01,-1.00) r=2.08m +[headless_play] t= 11.80s step= 590 trunk_z= 1.5mm grav_b=(+0.04,+0.01,-1.00) r=2.08m +[headless_play] t= 11.90s step= 595 trunk_z= 1.5mm grav_b=(+0.04,+0.01,-1.00) r=2.08m +[headless_play] t= 12.00s step= 600 trunk_z= 1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.10s step= 605 trunk_z= 1.3mm grav_b=(+0.03,+0.00,-1.00) r=2.08m +[headless_play] t= 12.20s step= 610 trunk_z= 1.3mm grav_b=(+0.03,+0.00,-1.00) r=2.08m +[headless_play] t= 12.30s step= 615 trunk_z= 1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.40s step= 620 trunk_z= 1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.50s step= 625 trunk_z= 1.5mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.60s step= 630 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.70s step= 635 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.80s step= 640 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 12.90s step= 645 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 13.00s step= 650 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 13.10s step= 655 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 13.20s step= 660 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 13.30s step= 665 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 13.40s step= 670 trunk_z= 1.4mm grav_b=(+0.03,+0.01,-1.00) r=2.08m +[headless_play] t= 13.50s step= 675 trunk_z= 1.1mm grav_b=(+0.03,+0.01,-1.00) r=2.09m +[headless_play] t= 13.60s step= 680 trunk_z= 2.6mm grav_b=(+0.04,+0.05,-1.00) r=2.09m +[headless_play] t= 13.70s step= 685 trunk_z= 4.5mm grav_b=(+0.04,+0.01,-1.00) r=2.11m +[headless_play] t= 13.80s step= 690 trunk_z= -1.7mm grav_b=(+0.02,-0.08,-1.00) r=2.13m +[headless_play] t= 13.90s step= 695 trunk_z= 5.5mm grav_b=(+0.03,-0.09,-1.00) r=2.15m +[headless_play] t= 14.00s step= 700 trunk_z= 6.0mm grav_b=(+0.03,-0.07,-1.00) r=2.17m +[headless_play] t= 14.10s step= 705 trunk_z= -4.3mm grav_b=(-0.00,-0.01,-1.00) r=2.20m +[headless_play] t= 14.20s step= 710 trunk_z= -1.0mm grav_b=(-0.01,-0.00,-1.00) r=2.21m +[headless_play] t= 14.30s step= 715 trunk_z= -4.5mm grav_b=(-0.05,-0.01,-1.00) r=2.21m +[headless_play] t= 14.40s step= 720 trunk_z= -2.4mm grav_b=(-0.07,-0.02,-1.00) r=2.21m +[headless_play] t= 14.50s step= 725 trunk_z= -3.8mm grav_b=(-0.08,+0.03,-1.00) r=2.22m +[headless_play] t= 14.60s step= 730 trunk_z= -1.2mm grav_b=(-0.06,+0.08,-0.99) r=2.22m +[headless_play] t= 14.70s step= 735 trunk_z= -1.5mm grav_b=(-0.06,+0.06,-1.00) r=2.22m +[headless_play] t= 14.80s step= 740 trunk_z= -9.5mm grav_b=(-0.03,-0.03,-1.00) r=2.20m +[headless_play] t= 14.90s step= 745 trunk_z= -1.5mm grav_b=(-0.02,-0.04,-1.00) r=2.20m +[headless_play] t= 15.00s step= 750 trunk_z= -5.5mm grav_b=(-0.03,-0.00,-1.00) r=2.21m +[headless_play] t= 15.10s step= 755 trunk_z= -1.3mm grav_b=(+0.02,+0.07,-1.00) r=2.22m +[headless_play] t= 15.20s step= 760 trunk_z= -0.6mm grav_b=(+0.01,+0.04,-1.00) r=2.22m +[headless_play] t= 15.30s step= 765 trunk_z= -6.2mm grav_b=(-0.04,+0.02,-1.00) r=2.22m +[headless_play] t= 15.40s step= 770 trunk_z= 0.6mm grav_b=(-0.10,-0.00,-1.00) r=2.22m +[headless_play] t= 15.50s step= 775 trunk_z= -4.6mm grav_b=(-0.09,+0.05,-0.99) r=2.22m +[headless_play] t= 15.60s step= 780 trunk_z= 0.9mm grav_b=(-0.07,+0.08,-0.99) r=2.22m +[headless_play] t= 15.70s step= 785 trunk_z= 1.7mm grav_b=(-0.02,+0.06,-1.00) r=2.21m +[headless_play] t= 15.80s step= 790 trunk_z= -5.3mm grav_b=(-0.02,-0.05,-1.00) r=2.21m +[headless_play] t= 15.90s step= 795 trunk_z= 1.1mm grav_b=(-0.02,-0.03,-1.00) r=2.20m +[headless_play] t= 16.00s step= 800 trunk_z= -3.6mm grav_b=(-0.04,-0.01,-1.00) r=2.22m +[headless_play] t= 16.10s step= 805 trunk_z= 2.5mm grav_b=(-0.07,+0.05,-1.00) r=2.23m +[headless_play] t= 16.20s step= 810 trunk_z= 3.3mm grav_b=(-0.06,+0.03,-1.00) r=2.23m +[headless_play] t= 16.30s step= 815 trunk_z= -3.9mm grav_b=(-0.04,-0.03,-1.00) r=2.21m +[headless_play] t= 16.40s step= 820 trunk_z= 3.3mm grav_b=(-0.04,-0.05,-1.00) r=2.21m +[headless_play] t= 16.50s step= 825 trunk_z= 0.4mm grav_b=(-0.05,-0.04,-1.00) r=2.22m +[headless_play] t= 16.60s step= 830 trunk_z= 2.6mm grav_b=(-0.07,+0.03,-1.00) r=2.24m +[headless_play] t= 16.70s step= 835 trunk_z= 4.9mm grav_b=(-0.07,+0.01,-1.00) r=2.25m +[headless_play] t= 16.80s step= 840 trunk_z= -0.7mm grav_b=(-0.05,-0.03,-1.00) r=2.24m +[headless_play] t= 16.90s step= 845 trunk_z= 4.0mm grav_b=(-0.04,-0.08,-1.00) r=2.23m +[headless_play] t= 17.00s step= 850 trunk_z= -0.0mm grav_b=(-0.09,-0.06,-0.99) r=2.23m +[headless_play] t= 17.10s step= 855 trunk_z= -1.5mm grav_b=(-0.13,-0.03,-0.99) r=2.23m +[headless_play] t= 17.20s step= 860 trunk_z= -2.0mm grav_b=(-0.14,-0.02,-0.99) r=2.23m +[headless_play] t= 17.30s step= 865 trunk_z= -2.0mm grav_b=(-0.14,-0.03,-0.99) r=2.23m +[headless_play] t= 17.40s step= 870 trunk_z= -1.2mm grav_b=(-0.10,-0.03,-0.99) r=2.23m +[headless_play] t= 17.50s step= 875 trunk_z= -8.8mm grav_b=(+0.01,+0.07,-1.00) r=2.22m +[headless_play] t= 17.60s step= 880 trunk_z= -4.8mm grav_b=(-0.03,+0.07,-1.00) r=2.22m +[headless_play] t= 17.70s step= 885 trunk_z= -5.2mm grav_b=(-0.02,+0.05,-1.00) r=2.21m +[headless_play] t= 17.80s step= 890 trunk_z= -6.4mm grav_b=(-0.05,+0.03,-1.00) r=2.20m +[headless_play] t= 17.90s step= 895 trunk_z= -6.1mm grav_b=(-0.07,+0.03,-1.00) r=2.20m +[headless_play] t= 18.00s step= 900 trunk_z= -5.7mm grav_b=(-0.05,+0.03,-1.00) r=2.21m +[headless_play] t= 18.10s step= 905 trunk_z= -5.8mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 18.20s step= 910 trunk_z= -5.9mm grav_b=(-0.08,+0.03,-1.00) r=2.21m +[headless_play] t= 18.30s step= 915 trunk_z= -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 18.40s step= 920 trunk_z= -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 18.50s step= 925 trunk_z= -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 18.60s step= 930 trunk_z= -6.0mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 18.70s step= 935 trunk_z= -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 18.80s step= 940 trunk_z= -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 18.90s step= 945 trunk_z= -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 19.00s step= 950 trunk_z= -6.1mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 19.10s step= 955 trunk_z= -6.2mm grav_b=(-0.07,+0.04,-1.00) r=2.21m +[headless_play] t= 19.20s step= 960 trunk_z= -6.2mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.30s step= 965 trunk_z= -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.40s step= 970 trunk_z= -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.50s step= 975 trunk_z= -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.60s step= 980 trunk_z= -6.3mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.70s step= 985 trunk_z= -6.4mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.80s step= 990 trunk_z= -6.4mm grav_b=(-0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 19.90s step= 995 trunk_z= -6.5mm grav_b=(-0.07,+0.03,-1.00) r=2.20m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.0mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t10.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..68c6357d44d75e7074083b36a67bb492758e19c4 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.4mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.596,-17.796,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.8mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.04,-0.03,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(+0.10,-0.08,-0.99) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 120.2mm grav_b=(+0.11,-0.06,-0.99) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 115.0mm grav_b=(+0.12,+0.03,-0.99) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 126.1mm grav_b=(+0.16,+0.06,-0.99) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 127.4mm grav_b=(+0.14,+0.06,-0.99) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 114.9mm grav_b=(+0.10,+0.02,-0.99) r=0.57m +[headless_play] t= 0.80s step= 40 trunk_z= 125.7mm grav_b=(+0.10,-0.02,-0.99) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 125.3mm grav_b=(+0.08,-0.04,-1.00) r=0.61m +[headless_play] t= 1.00s step= 50 trunk_z= 121.1mm grav_b=(+0.10,+0.03,-0.99) r=0.63m +[headless_play] t= 1.10s step= 55 trunk_z= 125.8mm grav_b=(+0.12,+0.02,-0.99) r=0.64m +[headless_play] t= 1.20s step= 60 trunk_z= 119.5mm grav_b=(+0.08,+0.01,-1.00) r=0.67m +[headless_play] t= 1.30s step= 65 trunk_z= 121.2mm grav_b=(+0.12,-0.03,-0.99) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 124.1mm grav_b=(+0.13,-0.05,-0.99) r=0.70m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.09,+0.03,-1.00) r=0.71m +[headless_play] t= 1.60s step= 80 trunk_z= 126.0mm grav_b=(+0.13,+0.06,-0.99) r=0.72m +[headless_play] t= 1.70s step= 85 trunk_z= 126.8mm grav_b=(+0.10,+0.05,-0.99) r=0.75m +[headless_play] t= 1.80s step= 90 trunk_z= 119.0mm grav_b=(+0.09,-0.02,-1.00) r=0.78m +[headless_play] t= 1.90s step= 95 trunk_z= 125.9mm grav_b=(+0.11,-0.05,-0.99) r=0.79m +[headless_play] t= 2.00s step= 100 trunk_z= 124.3mm grav_b=(+0.10,-0.07,-0.99) r=0.80m +[headless_play] t= 2.10s step= 105 trunk_z= 120.8mm grav_b=(+0.10,+0.05,-0.99) r=0.81m +[headless_play] t= 2.20s step= 110 trunk_z= 128.3mm grav_b=(+0.12,+0.07,-0.99) r=0.82m +[headless_play] t= 2.30s step= 115 trunk_z= 128.4mm grav_b=(+0.10,+0.07,-0.99) r=0.84m +[headless_play] t= 2.40s step= 120 trunk_z= 120.0mm grav_b=(+0.10,+0.01,-0.99) r=0.87m +[headless_play] t= 2.50s step= 125 trunk_z= 127.4mm grav_b=(+0.13,-0.04,-0.99) r=0.89m +[headless_play] t= 2.60s step= 130 trunk_z= 127.5mm grav_b=(+0.11,-0.05,-0.99) r=0.90m +[headless_play] t= 2.70s step= 135 trunk_z= 121.7mm grav_b=(+0.12,+0.02,-0.99) r=0.91m +[headless_play] t= 2.80s step= 140 trunk_z= 128.3mm grav_b=(+0.13,+0.02,-0.99) r=0.93m +[headless_play] t= 2.90s step= 145 trunk_z= 123.3mm grav_b=(+0.09,+0.02,-1.00) r=0.96m +[headless_play] t= 3.00s step= 150 trunk_z= 121.4mm grav_b=(+0.12,-0.02,-0.99) r=0.99m +[headless_play] t= 3.10s step= 155 trunk_z= 125.7mm grav_b=(+0.11,-0.03,-0.99) r=1.01m +[headless_play] t= 3.20s step= 160 trunk_z= 117.1mm grav_b=(+0.08,+0.01,-1.00) r=1.02m +[headless_play] t= 3.30s step= 165 trunk_z= 125.3mm grav_b=(+0.12,+0.05,-0.99) r=1.03m +[headless_play] t= 3.40s step= 170 trunk_z= 129.1mm grav_b=(+0.11,+0.04,-0.99) r=1.05m +[headless_play] t= 3.50s step= 175 trunk_z= 112.0mm grav_b=(+0.05,-0.01,-1.00) r=1.09m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(+0.11,-0.06,-0.99) r=1.11m +[headless_play] t= 3.70s step= 185 trunk_z= 121.3mm grav_b=(+0.11,-0.07,-0.99) r=1.13m +[headless_play] t= 3.80s step= 190 trunk_z= 118.5mm grav_b=(+0.11,-0.05,-0.99) r=1.14m +[headless_play] t= 3.90s step= 195 trunk_z= 115.3mm grav_b=(+0.16,-0.02,-0.99) r=1.17m +[headless_play] t= 4.00s step= 200 trunk_z= 116.8mm grav_b=(+0.14,-0.01,-0.99) r=1.21m +[headless_play] t= 4.10s step= 205 trunk_z= 84.6mm grav_b=(+0.04,-0.08,-1.00) r=1.27m +[headless_play] t= 4.20s step= 210 trunk_z= 98.1mm grav_b=(+0.12,-0.08,-0.99) r=1.30m +[headless_play] t= 4.30s step= 215 trunk_z= 102.5mm grav_b=(+0.12,-0.12,-0.99) r=1.33m +[headless_play] t= 4.40s step= 220 trunk_z= 83.4mm grav_b=(+0.03,-0.04,-1.00) r=1.38m +[headless_play] t= 4.50s step= 225 trunk_z= 93.2mm grav_b=(+0.20,+0.02,-0.98) r=1.40m +[headless_play] t= 4.60s step= 230 trunk_z= 98.4mm grav_b=(+0.11,+0.10,-0.99) r=1.43m +[headless_play] t= 4.70s step= 235 trunk_z= 77.3mm grav_b=(+0.14,-0.03,-0.99) r=1.48m +[headless_play] t= 4.80s step= 240 trunk_z= 87.3mm grav_b=(+0.15,-0.03,-0.99) r=1.51m +[headless_play] t= 4.90s step= 245 trunk_z= 67.7mm grav_b=(+0.08,-0.01,-1.00) r=1.56m +[headless_play] t= 5.00s step= 250 trunk_z= 64.9mm grav_b=(+0.15,-0.00,-0.99) r=1.59m +[headless_play] t= 5.10s step= 255 trunk_z= 71.0mm grav_b=(+0.14,+0.03,-0.99) r=1.61m +[headless_play] t= 5.20s step= 260 trunk_z= 58.7mm grav_b=(+0.06,+0.03,-1.00) r=1.63m +[headless_play] t= 5.30s step= 265 trunk_z= 63.1mm grav_b=(+0.09,+0.01,-1.00) r=1.65m +[headless_play] t= 5.40s step= 270 trunk_z= 56.2mm grav_b=(+0.05,+0.02,-1.00) r=1.67m +[headless_play] t= 5.50s step= 275 trunk_z= 56.4mm grav_b=(+0.10,+0.06,-0.99) r=1.69m +[headless_play] t= 5.60s step= 280 trunk_z= 57.8mm grav_b=(+0.10,+0.08,-0.99) r=1.70m +[headless_play] t= 5.70s step= 285 trunk_z= 51.1mm grav_b=(+0.09,+0.05,-0.99) r=1.70m +[headless_play] t= 5.80s step= 290 trunk_z= 53.6mm grav_b=(+0.08,+0.04,-1.00) r=1.71m +[headless_play] t= 5.90s step= 295 trunk_z= 52.5mm grav_b=(+0.10,+0.08,-0.99) r=1.72m +[headless_play] t= 6.00s step= 300 trunk_z= 53.3mm grav_b=(+0.14,+0.07,-0.99) r=1.73m +[headless_play] t= 6.10s step= 305 trunk_z= 50.0mm grav_b=(+0.13,+0.02,-0.99) r=1.73m +[headless_play] t= 6.20s step= 310 trunk_z= 52.9mm grav_b=(+0.10,+0.02,-0.99) r=1.75m +[headless_play] t= 6.30s step= 315 trunk_z= 50.6mm grav_b=(+0.09,+0.05,-0.99) r=1.77m +[headless_play] t= 6.40s step= 320 trunk_z= 52.6mm grav_b=(+0.11,+0.04,-0.99) r=1.78m +[headless_play] t= 6.50s step= 325 trunk_z= 40.3mm grav_b=(+0.10,+0.02,-0.99) r=1.79m +[headless_play] t= 6.60s step= 330 trunk_z= 46.8mm grav_b=(+0.10,+0.02,-1.00) r=1.81m +[headless_play] t= 6.70s step= 335 trunk_z= 42.3mm grav_b=(+0.08,+0.04,-1.00) r=1.83m +[headless_play] t= 6.80s step= 340 trunk_z= 48.6mm grav_b=(+0.11,+0.04,-0.99) r=1.84m +[headless_play] t= 6.90s step= 345 trunk_z= 34.6mm grav_b=(+0.08,+0.01,-1.00) r=1.86m +[headless_play] t= 7.00s step= 350 trunk_z= 41.5mm grav_b=(+0.08,+0.03,-1.00) r=1.87m +[headless_play] t= 7.10s step= 355 trunk_z= 33.9mm grav_b=(+0.08,+0.05,-1.00) r=1.90m +[headless_play] t= 7.20s step= 360 trunk_z= 43.5mm grav_b=(+0.12,+0.04,-0.99) r=1.92m +[headless_play] t= 7.30s step= 365 trunk_z= 34.0mm grav_b=(+0.08,+0.03,-1.00) r=1.94m +[headless_play] t= 7.40s step= 370 trunk_z= 35.5mm grav_b=(+0.09,+0.03,-1.00) r=1.95m +[headless_play] t= 7.50s step= 375 trunk_z= 32.7mm grav_b=(+0.06,+0.02,-1.00) r=1.98m +[headless_play] t= 7.60s step= 380 trunk_z= 32.6mm grav_b=(+0.11,+0.03,-0.99) r=2.00m +[headless_play] t= 7.70s step= 385 trunk_z= 34.9mm grav_b=(+0.08,+0.03,-1.00) r=2.02m +[headless_play] t= 7.80s step= 390 trunk_z= 19.3mm grav_b=(+0.06,-0.02,-1.00) r=2.03m +[headless_play] t= 7.90s step= 395 trunk_z= 24.3mm grav_b=(+0.07,-0.01,-1.00) r=2.04m +[headless_play] t= 8.00s step= 400 trunk_z= 24.4mm grav_b=(+0.06,+0.03,-1.00) r=2.05m +[headless_play] t= 8.10s step= 405 trunk_z= 24.2mm grav_b=(+0.10,+0.04,-0.99) r=2.06m +[headless_play] t= 8.20s step= 410 trunk_z= 24.5mm grav_b=(+0.13,+0.03,-0.99) r=2.06m +[headless_play] t= 8.30s step= 415 trunk_z= 25.7mm grav_b=(+0.16,+0.03,-0.99) r=2.06m +[headless_play] t= 8.40s step= 420 trunk_z= 29.4mm grav_b=(+0.17,+0.03,-0.98) r=2.07m +[headless_play] t= 8.50s step= 425 trunk_z= 7.6mm grav_b=(+0.11,-0.09,-0.99) r=2.10m +[headless_play] t= 8.60s step= 430 trunk_z= 17.9mm grav_b=(+0.09,-0.06,-0.99) r=2.12m +[headless_play] t= 8.70s step= 435 trunk_z= 18.1mm grav_b=(+0.10,-0.07,-0.99) r=2.14m +[headless_play] t= 8.80s step= 440 trunk_z= 14.7mm grav_b=(+0.06,+0.01,-1.00) r=2.17m +[headless_play] t= 8.90s step= 445 trunk_z= 12.7mm grav_b=(+0.10,+0.04,-0.99) r=2.17m +[headless_play] t= 9.00s step= 450 trunk_z= 12.4mm grav_b=(+0.10,+0.03,-0.99) r=2.17m +[headless_play] t= 9.10s step= 455 trunk_z= 12.3mm grav_b=(+0.09,+0.03,-1.00) r=2.17m +[headless_play] t= 9.20s step= 460 trunk_z= 12.2mm grav_b=(+0.09,+0.03,-1.00) r=2.17m +[headless_play] t= 9.30s step= 465 trunk_z= 12.2mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 9.40s step= 470 trunk_z= 12.1mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 9.50s step= 475 trunk_z= 12.1mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 9.60s step= 480 trunk_z= 12.1mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 9.70s step= 485 trunk_z= 12.1mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 9.80s step= 490 trunk_z= 12.1mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 9.90s step= 495 trunk_z= 12.0mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 10.00s step= 500 trunk_z= 12.0mm grav_b=(+0.07,+0.03,-1.00) r=2.17m +[headless_play] t= 10.10s step= 505 trunk_z= 12.0mm grav_b=(+0.07,+0.03,-1.00) r=2.17m +[headless_play] t= 10.20s step= 510 trunk_z= 12.0mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 10.30s step= 515 trunk_z= 12.0mm grav_b=(+0.08,+0.03,-1.00) r=2.17m +[headless_play] t= 10.40s step= 520 trunk_z= 13.0mm grav_b=(+0.10,+0.01,-1.00) r=2.17m +[headless_play] t= 10.50s step= 525 trunk_z= 12.3mm grav_b=(+0.14,+0.00,-0.99) r=2.17m +[headless_play] t= 10.60s step= 530 trunk_z= 14.6mm grav_b=(+0.14,+0.01,-0.99) r=2.20m +[headless_play] t= 10.70s step= 535 trunk_z= 5.2mm grav_b=(+0.09,+0.09,-0.99) r=2.24m +[headless_play] t= 10.80s step= 540 trunk_z= 14.6mm grav_b=(+0.13,+0.09,-0.99) r=2.26m +[headless_play] t= 10.90s step= 545 trunk_z= 18.5mm grav_b=(+0.15,+0.12,-0.98) r=2.27m +[headless_play] t= 11.00s step= 550 trunk_z= 10.2mm grav_b=(+0.11,+0.07,-0.99) r=2.29m +[headless_play] t= 11.10s step= 555 trunk_z= 8.3mm grav_b=(+0.08,+0.05,-1.00) r=2.31m +[headless_play] t= 11.20s step= 560 trunk_z= 5.8mm grav_b=(+0.08,-0.01,-1.00) r=2.33m +[headless_play] t= 11.30s step= 565 trunk_z= -4.8mm grav_b=(+0.11,+0.03,-0.99) r=2.36m +[headless_play] t= 11.40s step= 570 trunk_z= -1.4mm grav_b=(+0.15,+0.02,-0.99) r=2.37m +[headless_play] t= 11.50s step= 575 trunk_z= -7.9mm grav_b=(+0.10,-0.01,-1.00) r=2.36m +[headless_play] t= 11.60s step= 580 trunk_z= -3.0mm grav_b=(+0.12,-0.08,-0.99) r=2.35m +[headless_play] t= 11.70s step= 585 trunk_z= -1.3mm grav_b=(+0.11,-0.10,-0.99) r=2.35m +[headless_play] t= 11.80s step= 590 trunk_z= -5.3mm grav_b=(+0.09,-0.07,-0.99) r=2.37m +[headless_play] t= 11.90s step= 595 trunk_z= -0.0mm grav_b=(+0.08,+0.01,-1.00) r=2.39m +[headless_play] t= 12.00s step= 600 trunk_z= -2.5mm grav_b=(+0.08,+0.02,-1.00) r=2.38m +[headless_play] t= 12.10s step= 605 trunk_z= -4.2mm grav_b=(+0.07,-0.05,-1.00) r=2.37m +[headless_play] t= 12.20s step= 610 trunk_z= 1.6mm grav_b=(+0.10,-0.06,-0.99) r=2.37m +[headless_play] t= 12.30s step= 615 trunk_z= 0.1mm grav_b=(+0.11,-0.06,-0.99) r=2.38m +[headless_play] t= 12.40s step= 620 trunk_z= 1.1mm grav_b=(+0.11,+0.03,-0.99) r=2.41m +[headless_play] t= 12.50s step= 625 trunk_z= 6.7mm grav_b=(+0.12,+0.05,-0.99) r=2.42m +[headless_play] t= 12.60s step= 630 trunk_z= 4.9mm grav_b=(+0.10,+0.05,-0.99) r=2.42m +[headless_play] t= 12.70s step= 635 trunk_z= 5.8mm grav_b=(+0.11,-0.04,-0.99) r=2.43m +[headless_play] t= 12.80s step= 640 trunk_z= 10.9mm grav_b=(+0.13,-0.05,-0.99) r=2.44m +[headless_play] t= 12.90s step= 645 trunk_z= 8.4mm grav_b=(+0.08,-0.06,-1.00) r=2.46m +[headless_play] t= 13.00s step= 650 trunk_z= 10.1mm grav_b=(+0.12,+0.03,-0.99) r=2.49m +[headless_play] t= 13.10s step= 655 trunk_z= 13.7mm grav_b=(+0.14,+0.04,-0.99) r=2.50m +[headless_play] t= 13.20s step= 660 trunk_z= 8.6mm grav_b=(+0.06,+0.02,-1.00) r=2.51m +[headless_play] t= 13.30s step= 665 trunk_z= 13.7mm grav_b=(+0.08,-0.01,-1.00) r=2.53m +[headless_play] t= 13.40s step= 670 trunk_z= 13.6mm grav_b=(+0.08,-0.03,-1.00) r=2.55m +[headless_play] t= 13.50s step= 675 trunk_z= 10.6mm grav_b=(+0.07,+0.06,-1.00) r=2.57m +[headless_play] t= 13.60s step= 680 trunk_z= 14.5mm grav_b=(+0.08,+0.08,-0.99) r=2.58m +[headless_play] t= 13.70s step= 685 trunk_z= 10.9mm grav_b=(+0.10,+0.02,-0.99) r=2.58m +[headless_play] t= 13.80s step= 690 trunk_z= 6.8mm grav_b=(+0.12,-0.06,-0.99) r=2.57m +[headless_play] t= 13.90s step= 695 trunk_z= 9.8mm grav_b=(+0.13,-0.07,-0.99) r=2.57m +[headless_play] t= 14.00s step= 700 trunk_z= 6.6mm grav_b=(+0.16,-0.02,-0.99) r=2.58m +[headless_play] t= 14.10s step= 705 trunk_z= 12.3mm grav_b=(+0.12,+0.06,-0.99) r=2.60m +[headless_play] t= 14.20s step= 710 trunk_z= 12.5mm grav_b=(+0.14,+0.04,-0.99) r=2.61m +[headless_play] t= 14.30s step= 715 trunk_z= 10.8mm grav_b=(+0.16,-0.03,-0.99) r=2.60m +[headless_play] t= 14.40s step= 720 trunk_z= 10.8mm grav_b=(+0.10,-0.02,-0.99) r=2.59m +[headless_play] t= 14.50s step= 725 trunk_z= 10.4mm grav_b=(+0.09,-0.00,-1.00) r=2.59m +[headless_play] t= 14.60s step= 730 trunk_z= 10.6mm grav_b=(+0.09,-0.00,-1.00) r=2.59m +[headless_play] t= 14.70s step= 735 trunk_z= 10.7mm grav_b=(+0.09,-0.00,-1.00) r=2.59m +[headless_play] t= 14.80s step= 740 trunk_z= 10.8mm grav_b=(+0.09,-0.00,-1.00) r=2.59m +[headless_play] t= 14.90s step= 745 trunk_z= 10.8mm grav_b=(+0.08,-0.00,-1.00) r=2.59m +[headless_play] t= 15.00s step= 750 trunk_z= 10.8mm grav_b=(+0.08,-0.00,-1.00) r=2.59m +[headless_play] t= 15.10s step= 755 trunk_z= 10.8mm grav_b=(+0.08,-0.00,-1.00) r=2.59m +[headless_play] t= 15.20s step= 760 trunk_z= 10.8mm grav_b=(+0.07,-0.00,-1.00) r=2.59m +[headless_play] t= 15.30s step= 765 trunk_z= 10.8mm grav_b=(+0.07,-0.00,-1.00) r=2.59m +[headless_play] t= 15.40s step= 770 trunk_z= 10.8mm grav_b=(+0.08,-0.00,-1.00) r=2.59m +[headless_play] t= 15.50s step= 775 trunk_z= 10.8mm grav_b=(+0.08,-0.01,-1.00) r=2.59m +[headless_play] t= 15.60s step= 780 trunk_z= 10.8mm grav_b=(+0.08,-0.01,-1.00) r=2.59m +[headless_play] t= 15.70s step= 785 trunk_z= 10.7mm grav_b=(+0.07,-0.01,-1.00) r=2.59m +[headless_play] t= 15.80s step= 790 trunk_z= 10.7mm grav_b=(+0.08,-0.01,-1.00) r=2.59m +[headless_play] t= 15.90s step= 795 trunk_z= 10.7mm grav_b=(+0.07,-0.01,-1.00) r=2.59m +[headless_play] t= 16.00s step= 800 trunk_z= 10.7mm grav_b=(+0.08,-0.01,-1.00) r=2.59m +[headless_play] t= 16.10s step= 805 trunk_z= 10.7mm grav_b=(+0.08,-0.01,-1.00) r=2.59m +[headless_play] t= 16.20s step= 810 trunk_z= 10.7mm grav_b=(+0.08,-0.01,-1.00) r=2.59m +[headless_play] t= 16.30s step= 815 trunk_z= 10.7mm grav_b=(+0.07,-0.01,-1.00) r=2.59m +[headless_play] t= 16.40s step= 820 trunk_z= 9.9mm grav_b=(+0.07,-0.04,-1.00) r=2.58m +[headless_play] t= 16.50s step= 825 trunk_z= 8.6mm grav_b=(+0.08,-0.03,-1.00) r=2.58m +[headless_play] t= 16.60s step= 830 trunk_z= 8.7mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 16.70s step= 835 trunk_z= 8.7mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 16.80s step= 840 trunk_z= 8.9mm grav_b=(+0.06,-0.02,-1.00) r=2.58m +[headless_play] t= 16.90s step= 845 trunk_z= 8.9mm grav_b=(+0.06,-0.02,-1.00) r=2.58m +[headless_play] t= 17.00s step= 850 trunk_z= 9.0mm grav_b=(+0.07,-0.02,-1.00) r=2.58m +[headless_play] t= 17.10s step= 855 trunk_z= 9.0mm grav_b=(+0.06,-0.02,-1.00) r=2.58m +[headless_play] t= 17.20s step= 860 trunk_z= 9.1mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 17.30s step= 865 trunk_z= 9.1mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 17.40s step= 870 trunk_z= 9.1mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 17.50s step= 875 trunk_z= 9.1mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 17.60s step= 880 trunk_z= 9.2mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 17.70s step= 885 trunk_z= 9.2mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 17.80s step= 890 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 17.90s step= 895 trunk_z= 9.1mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.00s step= 900 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.10s step= 905 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.20s step= 910 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.30s step= 915 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.40s step= 920 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.50s step= 925 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.60s step= 930 trunk_z= 9.2mm grav_b=(+0.05,-0.01,-1.00) r=2.58m +[headless_play] t= 18.70s step= 935 trunk_z= 9.1mm grav_b=(+0.05,-0.02,-1.00) r=2.58m +[headless_play] t= 18.80s step= 940 trunk_z= 9.5mm grav_b=(+0.08,+0.01,-1.00) r=2.58m +[headless_play] t= 18.90s step= 945 trunk_z= 12.8mm grav_b=(+0.12,+0.06,-0.99) r=2.59m +[headless_play] t= 19.00s step= 950 trunk_z= 16.6mm grav_b=(+0.11,+0.05,-0.99) r=2.59m +[headless_play] t= 19.10s step= 955 trunk_z= 17.1mm grav_b=(+0.15,-0.02,-0.99) r=2.60m +[headless_play] t= 19.20s step= 960 trunk_z= 22.8mm grav_b=(+0.15,-0.03,-0.99) r=2.61m +[headless_play] t= 19.30s step= 965 trunk_z= 21.1mm grav_b=(+0.10,-0.03,-0.99) r=2.64m +[headless_play] t= 19.40s step= 970 trunk_z= 24.7mm grav_b=(+0.12,+0.08,-0.99) r=2.66m +[headless_play] t= 19.50s step= 975 trunk_z= 28.2mm grav_b=(+0.12,+0.08,-0.99) r=2.67m +[headless_play] t= 19.60s step= 980 trunk_z= 24.1mm grav_b=(+0.06,+0.04,-1.00) r=2.68m +[headless_play] t= 19.70s step= 985 trunk_z= 28.3mm grav_b=(+0.10,-0.05,-0.99) r=2.68m +[headless_play] t= 19.80s step= 990 trunk_z= 29.7mm grav_b=(+0.12,-0.03,-0.99) r=2.69m +[headless_play] t= 19.90s step= 995 trunk_z= 24.4mm grav_b=(+0.11,-0.01,-0.99) r=2.71m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.0mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.45m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t11.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..8670ca0336187f423ddf450b2354545431ea78a7 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.927,-17.665,+0.253) +[headless_play] t= 0.00s step= 0 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.02,-0.04,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 117.9mm grav_b=(+0.08,-0.10,-0.99) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 119.0mm grav_b=(+0.07,-0.05,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 117.8mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 123.6mm grav_b=(+0.05,+0.03,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(+0.06,+0.00,-1.00) r=0.30m +[headless_play] t= 0.70s step= 35 trunk_z= 121.8mm grav_b=(+0.08,-0.03,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 122.3mm grav_b=(+0.09,-0.02,-1.00) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(+0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 125.1mm grav_b=(+0.06,+0.03,-1.00) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 118.7mm grav_b=(+0.04,+0.01,-1.00) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 122.1mm grav_b=(+0.05,-0.07,-1.00) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 124.6mm grav_b=(+0.07,-0.04,-1.00) r=0.24m +[headless_play] t= 1.40s step= 70 trunk_z= 120.4mm grav_b=(+0.06,-0.03,-1.00) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 123.1mm grav_b=(+0.06,+0.02,-1.00) r=0.27m +[headless_play] t= 1.60s step= 80 trunk_z= 122.7mm grav_b=(+0.06,+0.01,-1.00) r=0.26m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.05,-0.04,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 124.3mm grav_b=(+0.07,-0.05,-1.00) r=0.22m +[headless_play] t= 1.90s step= 95 trunk_z= 123.7mm grav_b=(+0.07,-0.03,-1.00) r=0.24m +[headless_play] t= 2.00s step= 100 trunk_z= 120.8mm grav_b=(+0.05,+0.02,-1.00) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 123.9mm grav_b=(+0.07,+0.01,-1.00) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 114.5mm grav_b=(+0.03,-0.04,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 122.4mm grav_b=(+0.06,-0.06,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 121.9mm grav_b=(+0.07,-0.02,-1.00) r=0.24m +[headless_play] t= 2.50s step= 125 trunk_z= 118.1mm grav_b=(+0.04,+0.02,-1.00) r=0.27m +[headless_play] t= 2.60s step= 130 trunk_z= 124.1mm grav_b=(+0.04,+0.03,-1.00) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(+0.03,-0.02,-1.00) r=0.25m +[headless_play] t= 2.80s step= 140 trunk_z= 122.9mm grav_b=(+0.06,-0.08,-0.99) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 125.9mm grav_b=(+0.08,-0.05,-1.00) r=0.25m +[headless_play] t= 3.00s step= 150 trunk_z= 122.4mm grav_b=(+0.06,-0.04,-1.00) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 123.6mm grav_b=(+0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 3.20s step= 160 trunk_z= 125.7mm grav_b=(+0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 3.30s step= 165 trunk_z= 115.1mm grav_b=(+0.03,-0.04,-1.00) r=0.29m +[headless_play] t= 3.40s step= 170 trunk_z= 122.9mm grav_b=(+0.07,-0.07,-1.00) r=0.29m +[headless_play] t= 3.50s step= 175 trunk_z= 122.9mm grav_b=(+0.08,-0.02,-1.00) r=0.30m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(+0.05,+0.00,-1.00) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 123.9mm grav_b=(+0.05,+0.03,-1.00) r=0.34m +[headless_play] t= 3.80s step= 190 trunk_z= 117.9mm grav_b=(+0.03,-0.00,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 123.3mm grav_b=(+0.06,-0.06,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 125.2mm grav_b=(+0.07,-0.04,-1.00) r=0.34m +[headless_play] t= 4.10s step= 205 trunk_z= 119.0mm grav_b=(+0.06,-0.02,-1.00) r=0.37m +[headless_play] t= 4.20s step= 210 trunk_z= 123.8mm grav_b=(+0.07,+0.02,-1.00) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 123.2mm grav_b=(+0.07,+0.01,-1.00) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 118.4mm grav_b=(+0.07,-0.04,-1.00) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 122.6mm grav_b=(+0.09,-0.04,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 119.3mm grav_b=(+0.07,-0.01,-1.00) r=0.42m +[headless_play] t= 4.70s step= 235 trunk_z= 124.3mm grav_b=(+0.07,+0.01,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 123.7mm grav_b=(+0.09,-0.00,-1.00) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 117.6mm grav_b=(+0.08,-0.05,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 123.1mm grav_b=(+0.09,-0.05,-0.99) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 117.7mm grav_b=(+0.07,-0.04,-1.00) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 120.0mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 5.30s step= 265 trunk_z= 119.9mm grav_b=(+0.07,+0.01,-1.00) r=0.55m +[headless_play] t= 5.40s step= 270 trunk_z= 112.7mm grav_b=(+0.08,-0.04,-1.00) r=0.56m +[headless_play] t= 5.50s step= 275 trunk_z= 119.9mm grav_b=(+0.09,-0.05,-0.99) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 115.6mm grav_b=(+0.10,-0.02,-1.00) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 118.7mm grav_b=(+0.07,+0.04,-1.00) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 120.5mm grav_b=(+0.09,+0.02,-1.00) r=0.63m +[headless_play] t= 5.90s step= 295 trunk_z= 112.6mm grav_b=(+0.09,-0.03,-1.00) r=0.63m +[headless_play] t= 6.00s step= 300 trunk_z= 121.2mm grav_b=(+0.08,-0.06,-0.99) r=0.64m +[headless_play] t= 6.10s step= 305 trunk_z= 117.2mm grav_b=(+0.09,-0.04,-0.99) r=0.66m +[headless_play] t= 6.20s step= 310 trunk_z= 117.9mm grav_b=(+0.06,+0.03,-1.00) r=0.69m +[headless_play] t= 6.30s step= 315 trunk_z= 121.2mm grav_b=(+0.08,+0.03,-1.00) r=0.70m +[headless_play] t= 6.40s step= 320 trunk_z= 114.4mm grav_b=(+0.10,-0.01,-1.00) r=0.70m +[headless_play] t= 6.50s step= 325 trunk_z= 120.1mm grav_b=(+0.09,-0.06,-0.99) r=0.71m +[headless_play] t= 6.60s step= 330 trunk_z= 117.4mm grav_b=(+0.10,-0.04,-0.99) r=0.73m +[headless_play] t= 6.70s step= 335 trunk_z= 117.0mm grav_b=(+0.07,+0.04,-1.00) r=0.76m +[headless_play] t= 6.80s step= 340 trunk_z= 121.0mm grav_b=(+0.10,+0.02,-0.99) r=0.77m +[headless_play] t= 6.90s step= 345 trunk_z= 114.1mm grav_b=(+0.09,-0.02,-1.00) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 120.5mm grav_b=(+0.08,-0.06,-1.00) r=0.78m +[headless_play] t= 7.10s step= 355 trunk_z= 117.7mm grav_b=(+0.09,-0.04,-0.99) r=0.80m +[headless_play] t= 7.20s step= 360 trunk_z= 116.4mm grav_b=(+0.06,+0.04,-1.00) r=0.83m +[headless_play] t= 7.30s step= 365 trunk_z= 121.1mm grav_b=(+0.09,+0.03,-1.00) r=0.84m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(+0.11,+0.00,-0.99) r=0.85m +[headless_play] t= 7.50s step= 375 trunk_z= 120.2mm grav_b=(+0.10,-0.07,-0.99) r=0.86m +[headless_play] t= 7.60s step= 380 trunk_z= 119.7mm grav_b=(+0.12,-0.05,-0.99) r=0.87m +[headless_play] t= 7.70s step= 385 trunk_z= 114.6mm grav_b=(+0.07,+0.03,-1.00) r=0.90m +[headless_play] t= 7.80s step= 390 trunk_z= 122.2mm grav_b=(+0.07,+0.04,-1.00) r=0.92m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(+0.09,+0.00,-1.00) r=0.93m +[headless_play] t= 8.00s step= 400 trunk_z= 117.9mm grav_b=(+0.10,-0.06,-0.99) r=0.94m +[headless_play] t= 8.10s step= 405 trunk_z= 119.8mm grav_b=(+0.11,-0.03,-0.99) r=0.96m +[headless_play] t= 8.20s step= 410 trunk_z= 113.3mm grav_b=(+0.08,+0.02,-1.00) r=0.98m +[headless_play] t= 8.30s step= 415 trunk_z= 120.6mm grav_b=(+0.07,+0.03,-1.00) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 117.1mm grav_b=(+0.11,+0.00,-0.99) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 116.9mm grav_b=(+0.10,-0.07,-0.99) r=1.02m +[headless_play] t= 8.60s step= 430 trunk_z= 119.4mm grav_b=(+0.12,-0.04,-0.99) r=1.04m +[headless_play] t= 8.70s step= 435 trunk_z= 110.7mm grav_b=(+0.06,+0.02,-1.00) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 113.2mm grav_b=(+0.04,+0.11,-0.99) r=1.10m +[headless_play] t= 8.90s step= 445 trunk_z= 111.7mm grav_b=(+0.09,+0.11,-0.99) r=1.12m +[headless_play] t= 9.00s step= 450 trunk_z= 108.2mm grav_b=(+0.14,+0.07,-0.99) r=1.15m +[headless_play] t= 9.10s step= 455 trunk_z= 100.7mm grav_b=(+0.13,-0.01,-0.99) r=1.18m +[headless_play] t= 9.20s step= 460 trunk_z= 108.9mm grav_b=(+0.11,-0.04,-0.99) r=1.22m +[headless_play] t= 9.30s step= 465 trunk_z= 81.5mm grav_b=(+0.06,-0.01,-1.00) r=1.27m +[headless_play] t= 9.40s step= 470 trunk_z= 85.8mm grav_b=(+0.11,-0.01,-0.99) r=1.30m +[headless_play] t= 9.50s step= 475 trunk_z= 81.4mm grav_b=(+0.08,-0.01,-1.00) r=1.32m +[headless_play] t= 9.60s step= 480 trunk_z= 79.7mm grav_b=(+0.08,-0.05,-1.00) r=1.35m +[headless_play] t= 9.70s step= 485 trunk_z= 79.0mm grav_b=(+0.11,-0.03,-0.99) r=1.37m +[headless_play] t= 9.80s step= 490 trunk_z= 67.8mm grav_b=(+0.09,+0.03,-1.00) r=1.40m +[headless_play] t= 9.90s step= 495 trunk_z= 77.5mm grav_b=(+0.12,+0.04,-0.99) r=1.43m +[headless_play] t= 10.00s step= 500 trunk_z= 73.3mm grav_b=(+0.12,-0.00,-0.99) r=1.46m +[headless_play] t= 10.10s step= 505 trunk_z= 66.4mm grav_b=(+0.11,-0.06,-0.99) r=1.49m +[headless_play] t= 10.20s step= 510 trunk_z= 67.1mm grav_b=(+0.10,-0.03,-0.99) r=1.52m +[headless_play] t= 10.30s step= 515 trunk_z= 50.7mm grav_b=(+0.06,+0.02,-1.00) r=1.56m +[headless_play] t= 10.40s step= 520 trunk_z= 57.2mm grav_b=(+0.11,+0.01,-0.99) r=1.59m +[headless_play] t= 10.50s step= 525 trunk_z= 53.0mm grav_b=(+0.09,-0.01,-1.00) r=1.61m +[headless_play] t= 10.60s step= 530 trunk_z= 51.1mm grav_b=(+0.08,-0.07,-0.99) r=1.64m +[headless_play] t= 10.70s step= 535 trunk_z= 50.4mm grav_b=(+0.11,-0.04,-0.99) r=1.66m +[headless_play] t= 10.80s step= 540 trunk_z= 40.8mm grav_b=(+0.08,+0.01,-1.00) r=1.69m +[headless_play] t= 10.90s step= 545 trunk_z= 45.8mm grav_b=(+0.10,+0.04,-0.99) r=1.72m +[headless_play] t= 11.00s step= 550 trunk_z= 42.4mm grav_b=(+0.10,+0.02,-0.99) r=1.74m +[headless_play] t= 11.10s step= 555 trunk_z= 39.3mm grav_b=(+0.08,-0.07,-0.99) r=1.76m +[headless_play] t= 11.20s step= 560 trunk_z= 41.2mm grav_b=(+0.12,-0.05,-0.99) r=1.78m +[headless_play] t= 11.30s step= 565 trunk_z= 36.3mm grav_b=(+0.12,-0.03,-0.99) r=1.81m +[headless_play] t= 11.40s step= 570 trunk_z= 36.2mm grav_b=(+0.11,+0.02,-0.99) r=1.84m +[headless_play] t= 11.50s step= 575 trunk_z= 34.8mm grav_b=(+0.11,-0.02,-0.99) r=1.87m +[headless_play] t= 11.60s step= 580 trunk_z= 26.9mm grav_b=(+0.08,-0.08,-0.99) r=1.91m +[headless_play] t= 11.70s step= 585 trunk_z= 30.9mm grav_b=(+0.11,-0.06,-0.99) r=1.93m +[headless_play] t= 11.80s step= 590 trunk_z= 23.6mm grav_b=(+0.10,-0.02,-0.99) r=1.96m +[headless_play] t= 11.90s step= 595 trunk_z= 24.3mm grav_b=(+0.10,+0.02,-1.00) r=1.99m +[headless_play] t= 12.00s step= 600 trunk_z= 22.7mm grav_b=(+0.11,-0.00,-0.99) r=2.01m +[headless_play] t= 12.10s step= 605 trunk_z= 17.8mm grav_b=(+0.09,-0.06,-0.99) r=2.04m +[headless_play] t= 12.20s step= 610 trunk_z= 19.6mm grav_b=(+0.11,-0.06,-0.99) r=2.06m +[headless_play] t= 12.30s step= 615 trunk_z= 14.9mm grav_b=(+0.10,-0.02,-0.99) r=2.08m +[headless_play] t= 12.40s step= 620 trunk_z= 17.9mm grav_b=(+0.10,+0.03,-1.00) r=2.11m +[headless_play] t= 12.50s step= 625 trunk_z= 16.7mm grav_b=(+0.11,+0.01,-0.99) r=2.13m +[headless_play] t= 12.60s step= 630 trunk_z= 10.8mm grav_b=(+0.10,-0.07,-0.99) r=2.16m +[headless_play] t= 12.70s step= 635 trunk_z= 14.9mm grav_b=(+0.12,-0.06,-0.99) r=2.18m +[headless_play] t= 12.80s step= 640 trunk_z= 11.4mm grav_b=(+0.12,-0.04,-0.99) r=2.20m +[headless_play] t= 12.90s step= 645 trunk_z= 9.8mm grav_b=(+0.10,+0.05,-0.99) r=2.23m +[headless_play] t= 13.00s step= 650 trunk_z= 13.8mm grav_b=(+0.12,+0.06,-0.99) r=2.24m +[headless_play] t= 13.10s step= 655 trunk_z= 10.9mm grav_b=(+0.09,+0.04,-1.00) r=2.24m +[headless_play] t= 13.20s step= 660 trunk_z= 6.8mm grav_b=(+0.06,-0.05,-1.00) r=2.25m +[headless_play] t= 13.30s step= 665 trunk_z= 10.6mm grav_b=(+0.09,-0.07,-0.99) r=2.27m +[headless_play] t= 13.40s step= 670 trunk_z= 6.9mm grav_b=(+0.09,-0.05,-1.00) r=2.29m +[headless_play] t= 13.50s step= 675 trunk_z= 7.7mm grav_b=(+0.11,+0.02,-0.99) r=2.32m +[headless_play] t= 13.60s step= 680 trunk_z= 9.2mm grav_b=(+0.12,+0.02,-0.99) r=2.33m +[headless_play] t= 13.70s step= 685 trunk_z= 2.4mm grav_b=(+0.08,-0.01,-1.00) r=2.35m +[headless_play] t= 13.80s step= 690 trunk_z= 4.8mm grav_b=(+0.09,-0.04,-1.00) r=2.37m +[headless_play] t= 13.90s step= 695 trunk_z= 3.7mm grav_b=(+0.10,-0.02,-0.99) r=2.40m +[headless_play] t= 14.00s step= 700 trunk_z= -1.8mm grav_b=(+0.10,+0.01,-0.99) r=2.44m +[headless_play] t= 14.10s step= 705 trunk_z= 1.7mm grav_b=(+0.11,+0.00,-0.99) r=2.45m +[headless_play] t= 14.20s step= 710 trunk_z= -7.0mm grav_b=(+0.06,-0.05,-1.00) r=2.47m +[headless_play] t= 14.30s step= 715 trunk_z= -2.6mm grav_b=(+0.08,-0.06,-1.00) r=2.48m +[headless_play] t= 14.40s step= 720 trunk_z= -3.7mm grav_b=(+0.08,-0.03,-1.00) r=2.50m +[headless_play] t= 14.50s step= 725 trunk_z= -3.7mm grav_b=(+0.08,+0.02,-1.00) r=2.53m +[headless_play] t= 14.60s step= 730 trunk_z= -2.9mm grav_b=(+0.11,-0.01,-0.99) r=2.54m +[headless_play] t= 14.70s step= 735 trunk_z= -10.8mm grav_b=(+0.07,-0.03,-1.00) r=2.55m +[headless_play] t= 14.80s step= 740 trunk_z= -6.2mm grav_b=(+0.11,-0.07,-0.99) r=2.56m +[headless_play] t= 14.90s step= 745 trunk_z= -4.1mm grav_b=(+0.12,-0.01,-0.99) r=2.59m +[headless_play] t= 15.00s step= 750 trunk_z= -16.4mm grav_b=(+0.08,-0.03,-1.00) r=2.62m +[headless_play] t= 15.10s step= 755 trunk_z= -18.8mm grav_b=(+0.08,-0.05,-1.00) r=2.62m +[headless_play] t= 15.20s step= 760 trunk_z= -16.8mm grav_b=(+0.13,-0.03,-0.99) r=2.62m +[headless_play] t= 15.30s step= 765 trunk_z= -16.1mm grav_b=(+0.05,+0.06,-1.00) r=2.64m +[headless_play] t= 15.40s step= 770 trunk_z= -16.1mm grav_b=(+0.12,+0.07,-0.99) r=2.65m +[headless_play] t= 15.50s step= 775 trunk_z= -13.9mm grav_b=(+0.11,-0.02,-0.99) r=2.64m +[headless_play] t= 15.60s step= 780 trunk_z= -15.0mm grav_b=(+0.09,-0.03,-1.00) r=2.63m +[headless_play] t= 15.70s step= 785 trunk_z= -17.5mm grav_b=(+0.08,+0.03,-1.00) r=2.64m +[headless_play] t= 15.80s step= 790 trunk_z= -15.5mm grav_b=(+0.09,+0.06,-0.99) r=2.67m +[headless_play] t= 15.90s step= 795 trunk_z= -11.8mm grav_b=(+0.08,+0.00,-1.00) r=2.67m +[headless_play] t= 16.00s step= 800 trunk_z= -19.8mm grav_b=(+0.10,-0.04,-0.99) r=2.66m +[headless_play] t= 16.10s step= 805 trunk_z= -17.1mm grav_b=(+0.15,-0.03,-0.99) r=2.67m +[headless_play] t= 16.20s step= 810 trunk_z= -15.7mm grav_b=(+0.11,+0.05,-0.99) r=2.69m +[headless_play] t= 16.30s step= 815 trunk_z= -5.4mm grav_b=(+0.09,+0.02,-1.00) r=2.71m +[headless_play] t= 16.40s step= 820 trunk_z= -17.2mm grav_b=(+0.12,+0.00,-0.99) r=2.70m +[headless_play] t= 16.50s step= 825 trunk_z= -16.4mm grav_b=(+0.14,-0.05,-0.99) r=2.71m +[headless_play] t= 16.60s step= 830 trunk_z= -12.8mm grav_b=(+0.13,-0.00,-0.99) r=2.72m +[headless_play] t= 16.70s step= 835 trunk_z= -16.3mm grav_b=(+0.08,+0.08,-0.99) r=2.75m +[headless_play] t= 16.80s step= 840 trunk_z= -10.5mm grav_b=(+0.08,+0.06,-1.00) r=2.76m +[headless_play] t= 16.90s step= 845 trunk_z= -19.6mm grav_b=(+0.07,+0.00,-1.00) r=2.75m +[headless_play] t= 17.00s step= 850 trunk_z= -11.1mm grav_b=(+0.07,-0.06,-1.00) r=2.76m +[headless_play] t= 17.10s step= 855 trunk_z= -14.8mm grav_b=(+0.10,-0.03,-0.99) r=2.77m +[headless_play] t= 17.20s step= 860 trunk_z= -10.6mm grav_b=(+0.06,+0.04,-1.00) r=2.79m +[headless_play] t= 17.30s step= 865 trunk_z= -10.2mm grav_b=(+0.09,+0.02,-1.00) r=2.80m +[headless_play] t= 17.40s step= 870 trunk_z= -21.7mm grav_b=(+0.09,-0.03,-1.00) r=2.79m +[headless_play] t= 17.50s step= 875 trunk_z= -9.5mm grav_b=(+0.09,-0.09,-0.99) r=2.80m +[headless_play] t= 17.60s step= 880 trunk_z= -13.0mm grav_b=(+0.10,-0.05,-0.99) r=2.81m +[headless_play] t= 17.70s step= 885 trunk_z= -11.1mm grav_b=(+0.08,+0.05,-1.00) r=2.84m +[headless_play] t= 17.80s step= 890 trunk_z= -8.5mm grav_b=(+0.09,+0.04,-1.00) r=2.84m +[headless_play] t= 17.90s step= 895 trunk_z= -17.5mm grav_b=(+0.06,-0.00,-1.00) r=2.84m +[headless_play] t= 18.00s step= 900 trunk_z= -6.5mm grav_b=(+0.06,-0.10,-0.99) r=2.84m +[headless_play] t= 18.10s step= 905 trunk_z= -11.3mm grav_b=(+0.10,-0.08,-0.99) r=2.85m +[headless_play] t= 18.20s step= 910 trunk_z= -14.7mm grav_b=(+0.10,-0.00,-1.00) r=2.88m +[headless_play] t= 18.30s step= 915 trunk_z= -9.5mm grav_b=(+0.11,+0.01,-0.99) r=2.89m +[headless_play] t= 18.40s step= 920 trunk_z= -16.9mm grav_b=(+0.13,-0.04,-0.99) r=2.90m +[headless_play] t= 18.50s step= 925 trunk_z= -10.8mm grav_b=(+0.15,-0.06,-0.99) r=2.91m +[headless_play] t= 18.60s step= 930 trunk_z= -11.6mm grav_b=(+0.10,-0.03,-0.99) r=2.93m +[headless_play] t= 18.70s step= 935 trunk_z= -13.4mm grav_b=(+0.05,+0.07,-1.00) r=2.96m +[headless_play] t= 18.80s step= 940 trunk_z= -8.6mm grav_b=(+0.06,+0.04,-1.00) r=2.97m +[headless_play] t= 18.90s step= 945 trunk_z= -17.2mm grav_b=(+0.08,-0.02,-1.00) r=2.97m +[headless_play] t= 19.00s step= 950 trunk_z= -14.7mm grav_b=(+0.16,-0.06,-0.98) r=2.97m +[headless_play] t= 19.10s step= 955 trunk_z= -12.6mm grav_b=(+0.14,-0.01,-0.99) r=3.00m +[headless_play] t= 19.20s step= 960 trunk_z= -11.1mm grav_b=(+0.12,+0.01,-0.99) r=3.02m +[headless_play] t= 19.30s step= 965 trunk_z= -13.9mm grav_b=(+0.12,-0.02,-0.99) r=3.03m +[headless_play] t= 19.40s step= 970 trunk_z= -18.4mm grav_b=(+0.10,-0.06,-0.99) r=3.04m +[headless_play] t= 19.50s step= 975 trunk_z= -12.1mm grav_b=(+0.07,-0.03,-1.00) r=3.06m +[headless_play] t= 19.60s step= 980 trunk_z= -15.5mm grav_b=(+0.04,+0.03,-1.00) r=3.09m +[headless_play] t= 19.70s step= 985 trunk_z= -11.9mm grav_b=(+0.07,+0.02,-1.00) r=3.09m +[headless_play] t= 19.80s step= 990 trunk_z= -20.5mm grav_b=(+0.10,-0.06,-0.99) r=3.09m +[headless_play] t= 19.90s step= 995 trunk_z= -10.8mm grav_b=(+0.16,-0.09,-0.98) r=3.09m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.9mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) r=0.48m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t12.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..49ea46a5b5f7d0c4b5422e77a8e9a88c38796776 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t12.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.921,-18.192,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.1mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=0.22m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.03,+0.07,-1.00) r=0.23m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 118.3mm grav_b=(-0.01,+0.07,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 121.8mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 0.80s step= 40 trunk_z= 114.1mm grav_b=(+0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(+0.05,-0.02,-1.00) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 113.8mm grav_b=(+0.03,+0.08,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 122.5mm grav_b=(-0.01,+0.04,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 119.2mm grav_b=(+0.03,-0.05,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 118.4mm grav_b=(+0.04,+0.01,-1.00) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 117.7mm grav_b=(+0.01,+0.08,-1.00) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 123.9mm grav_b=(-0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(+0.02,+0.04,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 118.8mm grav_b=(+0.02,-0.04,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 118.7mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 116.3mm grav_b=(-0.01,+0.08,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 124.2mm grav_b=(-0.04,+0.04,-1.00) r=0.47m +[headless_play] t= 2.20s step= 110 trunk_z= 118.9mm grav_b=(-0.00,+0.02,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 120.0mm grav_b=(+0.02,-0.05,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(+0.04,+0.02,-1.00) r=0.50m +[headless_play] t= 2.50s step= 125 trunk_z= 118.8mm grav_b=(+0.01,+0.08,-1.00) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 122.7mm grav_b=(+0.01,+0.04,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 113.3mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 119.6mm grav_b=(+0.04,-0.04,-1.00) r=0.57m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(+0.03,+0.03,-1.00) r=0.58m +[headless_play] t= 3.00s step= 150 trunk_z= 120.7mm grav_b=(-0.01,+0.07,-1.00) r=0.60m +[headless_play] t= 3.10s step= 155 trunk_z= 123.2mm grav_b=(-0.00,+0.03,-1.00) r=0.61m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(+0.02,-0.02,-1.00) r=0.63m +[headless_play] t= 3.30s step= 165 trunk_z= 118.6mm grav_b=(+0.03,-0.04,-1.00) r=0.65m +[headless_play] t= 3.40s step= 170 trunk_z= 114.7mm grav_b=(+0.02,+0.05,-1.00) r=0.66m +[headless_play] t= 3.50s step= 175 trunk_z= 122.6mm grav_b=(-0.01,+0.08,-1.00) r=0.68m +[headless_play] t= 3.60s step= 180 trunk_z= 122.2mm grav_b=(+0.01,+0.04,-1.00) r=0.69m +[headless_play] t= 3.70s step= 185 trunk_z= 115.3mm grav_b=(+0.02,-0.03,-1.00) r=0.71m +[headless_play] t= 3.80s step= 190 trunk_z= 118.2mm grav_b=(+0.05,-0.01,-1.00) r=0.73m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(+0.03,+0.07,-1.00) r=0.74m +[headless_play] t= 4.00s step= 200 trunk_z= 122.6mm grav_b=(-0.00,+0.07,-1.00) r=0.75m +[headless_play] t= 4.10s step= 205 trunk_z= 119.7mm grav_b=(+0.02,+0.04,-1.00) r=0.77m +[headless_play] t= 4.20s step= 210 trunk_z= 116.7mm grav_b=(+0.02,-0.04,-1.00) r=0.79m +[headless_play] t= 4.30s step= 215 trunk_z= 120.3mm grav_b=(+0.01,-0.03,-1.00) r=0.81m +[headless_play] t= 4.40s step= 220 trunk_z= 114.4mm grav_b=(+0.00,+0.03,-1.00) r=0.82m +[headless_play] t= 4.50s step= 225 trunk_z= 122.0mm grav_b=(-0.02,+0.06,-1.00) r=0.82m +[headless_play] t= 4.60s step= 230 trunk_z= 122.5mm grav_b=(-0.01,+0.03,-1.00) r=0.83m +[headless_play] t= 4.70s step= 235 trunk_z= 114.0mm grav_b=(+0.02,-0.03,-1.00) r=0.85m +[headless_play] t= 4.80s step= 240 trunk_z= 118.9mm grav_b=(+0.04,-0.03,-1.00) r=0.87m +[headless_play] t= 4.90s step= 245 trunk_z= 117.6mm grav_b=(+0.04,+0.06,-1.00) r=0.89m +[headless_play] t= 5.00s step= 250 trunk_z= 124.4mm grav_b=(-0.02,+0.08,-1.00) r=0.91m +[headless_play] t= 5.10s step= 255 trunk_z= 119.0mm grav_b=(-0.02,+0.05,-1.00) r=0.92m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 5.30s step= 265 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00) r=0.95m +[headless_play] t= 5.40s step= 270 trunk_z= 111.3mm grav_b=(+0.03,+0.09,-1.00) r=0.95m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(+0.05,+0.05,-1.00) r=0.97m +[headless_play] t= 5.60s step= 280 trunk_z= 110.1mm grav_b=(+0.06,-0.01,-1.00) r=0.99m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(+0.07,-0.02,-1.00) r=1.00m +[headless_play] t= 5.80s step= 290 trunk_z= 113.4mm grav_b=(+0.08,+0.04,-1.00) r=1.01m +[headless_play] t= 5.90s step= 295 trunk_z= 117.0mm grav_b=(+0.03,+0.09,-1.00) r=1.02m +[headless_play] t= 6.00s step= 300 trunk_z= 118.3mm grav_b=(+0.03,+0.05,-1.00) r=1.03m +[headless_play] t= 6.10s step= 305 trunk_z= 109.4mm grav_b=(+0.06,+0.00,-1.00) r=1.06m +[headless_play] t= 6.20s step= 310 trunk_z= 114.4mm grav_b=(+0.08,+0.01,-1.00) r=1.07m +[headless_play] t= 6.30s step= 315 trunk_z= 111.7mm grav_b=(+0.07,+0.06,-1.00) r=1.08m +[headless_play] t= 6.40s step= 320 trunk_z= 116.4mm grav_b=(+0.05,+0.09,-0.99) r=1.08m +[headless_play] t= 6.50s step= 325 trunk_z= 114.2mm grav_b=(+0.07,+0.04,-1.00) r=1.09m +[headless_play] t= 6.60s step= 330 trunk_z= 112.9mm grav_b=(+0.09,-0.04,-0.99) r=1.10m +[headless_play] t= 6.70s step= 335 trunk_z= 113.8mm grav_b=(+0.13,-0.05,-0.99) r=1.10m +[headless_play] t= 6.80s step= 340 trunk_z= 115.7mm grav_b=(+0.12,-0.06,-0.99) r=1.10m +[headless_play] t= 6.90s step= 345 trunk_z= 115.9mm grav_b=(+0.10,-0.07,-0.99) r=1.10m +[headless_play] t= 7.00s step= 350 trunk_z= 116.2mm grav_b=(+0.09,-0.06,-0.99) r=1.10m +[headless_play] t= 7.10s step= 355 trunk_z= 115.9mm grav_b=(+0.07,-0.07,-1.00) r=1.10m +[headless_play] t= 7.20s step= 360 trunk_z= 114.8mm grav_b=(+0.06,-0.07,-1.00) r=1.09m +[headless_play] t= 7.30s step= 365 trunk_z= 114.9mm grav_b=(+0.06,-0.07,-1.00) r=1.10m +[headless_play] t= 7.40s step= 370 trunk_z= 114.9mm grav_b=(+0.07,-0.07,-1.00) r=1.10m +[headless_play] t= 7.50s step= 375 trunk_z= 114.9mm grav_b=(+0.07,-0.07,-1.00) r=1.10m +[headless_play] t= 7.60s step= 380 trunk_z= 114.9mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 7.70s step= 385 trunk_z= 114.9mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 7.80s step= 390 trunk_z= 115.0mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 7.90s step= 395 trunk_z= 115.0mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.00s step= 400 trunk_z= 115.0mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.10s step= 405 trunk_z= 115.0mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.20s step= 410 trunk_z= 114.9mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.30s step= 415 trunk_z= 114.8mm grav_b=(+0.07,-0.07,-0.99) r=1.10m +[headless_play] t= 8.40s step= 420 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.50s step= 425 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.60s step= 430 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.70s step= 435 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.80s step= 440 trunk_z= 114.7mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 8.90s step= 445 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 9.00s step= 450 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 9.10s step= 455 trunk_z= 114.7mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 9.20s step= 460 trunk_z= 114.6mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 9.30s step= 465 trunk_z= 114.7mm grav_b=(+0.08,-0.07,-0.99) r=1.10m +[headless_play] t= 9.40s step= 470 trunk_z= 114.0mm grav_b=(+0.08,-0.06,-0.99) r=1.10m +[headless_play] t= 9.50s step= 475 trunk_z= 114.7mm grav_b=(+0.05,-0.07,-1.00) r=1.10m +[headless_play] t= 9.60s step= 480 trunk_z= 114.8mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 9.70s step= 485 trunk_z= 114.7mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 9.80s step= 490 trunk_z= 114.7mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 9.90s step= 495 trunk_z= 114.6mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 10.00s step= 500 trunk_z= 114.6mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 10.10s step= 505 trunk_z= 114.6mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 10.20s step= 510 trunk_z= 114.6mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.30s step= 515 trunk_z= 114.6mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.40s step= 520 trunk_z= 114.6mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.50s step= 525 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.60s step= 530 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.70s step= 535 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.80s step= 540 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 10.90s step= 545 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.00s step= 550 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.10s step= 555 trunk_z= 114.5mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.20s step= 560 trunk_z= 114.4mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.30s step= 565 trunk_z= 114.4mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.40s step= 570 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.50s step= 575 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.60s step= 580 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.70s step= 585 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.80s step= 590 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 11.90s step= 595 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.00s step= 600 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.10s step= 605 trunk_z= 114.3mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.20s step= 610 trunk_z= 114.2mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.30s step= 615 trunk_z= 114.2mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.40s step= 620 trunk_z= 114.2mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.50s step= 625 trunk_z= 114.2mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.60s step= 630 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.70s step= 635 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.80s step= 640 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 12.90s step= 645 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 13.00s step= 650 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 13.10s step= 655 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 13.20s step= 660 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 13.30s step= 665 trunk_z= 114.3mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 13.40s step= 670 trunk_z= 114.5mm grav_b=(+0.06,-0.08,-1.00) r=1.11m +[headless_play] t= 13.50s step= 675 trunk_z= 113.8mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 13.60s step= 680 trunk_z= 113.2mm grav_b=(+0.04,-0.08,-1.00) r=1.11m +[headless_play] t= 13.70s step= 685 trunk_z= 112.6mm grav_b=(+0.07,-0.07,-0.99) r=1.11m +[headless_play] t= 13.80s step= 690 trunk_z= 112.0mm grav_b=(+0.06,-0.02,-1.00) r=1.11m +[headless_play] t= 13.90s step= 695 trunk_z= 112.8mm grav_b=(+0.05,+0.03,-1.00) r=1.12m +[headless_play] t= 14.00s step= 700 trunk_z= 111.0mm grav_b=(+0.04,-0.07,-1.00) r=1.14m +[headless_play] t= 14.10s step= 705 trunk_z= 108.8mm grav_b=(+0.10,-0.13,-0.99) r=1.16m +[headless_play] t= 14.20s step= 710 trunk_z= 111.8mm grav_b=(+0.07,-0.06,-1.00) r=1.18m +[headless_play] t= 14.30s step= 715 trunk_z= 110.6mm grav_b=(+0.06,+0.01,-1.00) r=1.19m +[headless_play] t= 14.40s step= 720 trunk_z= 111.5mm grav_b=(+0.03,+0.01,-1.00) r=1.20m +[headless_play] t= 14.50s step= 725 trunk_z= 99.2mm grav_b=(+0.04,-0.02,-1.00) r=1.23m +[headless_play] t= 14.60s step= 730 trunk_z= 98.1mm grav_b=(+0.05,-0.07,-1.00) r=1.26m +[headless_play] t= 14.70s step= 735 trunk_z= 98.9mm grav_b=(+0.07,-0.01,-1.00) r=1.28m +[headless_play] t= 14.80s step= 740 trunk_z= 95.8mm grav_b=(+0.05,+0.06,-1.00) r=1.29m +[headless_play] t= 14.90s step= 745 trunk_z= 95.5mm grav_b=(+0.04,+0.04,-1.00) r=1.31m +[headless_play] t= 15.00s step= 750 trunk_z= 78.7mm grav_b=(+0.04,-0.05,-1.00) r=1.35m +[headless_play] t= 15.10s step= 755 trunk_z= 82.1mm grav_b=(+0.08,-0.07,-0.99) r=1.37m +[headless_play] t= 15.20s step= 760 trunk_z= 80.9mm grav_b=(+0.08,+0.01,-1.00) r=1.39m +[headless_play] t= 15.30s step= 765 trunk_z= 80.5mm grav_b=(+0.04,+0.05,-1.00) r=1.40m +[headless_play] t= 15.40s step= 770 trunk_z= 74.2mm grav_b=(+0.04,+0.03,-1.00) r=1.43m +[headless_play] t= 15.50s step= 775 trunk_z= 65.1mm grav_b=(+0.01,-0.09,-1.00) r=1.46m +[headless_play] t= 15.60s step= 780 trunk_z= 67.9mm grav_b=(+0.04,-0.08,-1.00) r=1.48m +[headless_play] t= 15.70s step= 785 trunk_z= 64.5mm grav_b=(+0.06,-0.03,-1.00) r=1.50m +[headless_play] t= 15.80s step= 790 trunk_z= 64.5mm grav_b=(+0.05,+0.04,-1.00) r=1.50m +[headless_play] t= 15.90s step= 795 trunk_z= 60.9mm grav_b=(+0.05,+0.01,-1.00) r=1.53m +[headless_play] t= 16.00s step= 800 trunk_z= 46.6mm grav_b=(+0.04,-0.09,-1.00) r=1.57m +[headless_play] t= 16.10s step= 805 trunk_z= 50.7mm grav_b=(+0.07,-0.09,-0.99) r=1.59m +[headless_play] t= 16.20s step= 810 trunk_z= 49.3mm grav_b=(+0.08,-0.03,-1.00) r=1.60m +[headless_play] t= 16.30s step= 815 trunk_z= 49.8mm grav_b=(+0.04,+0.03,-1.00) r=1.62m +[headless_play] t= 16.40s step= 820 trunk_z= 42.4mm grav_b=(+0.03,+0.00,-1.00) r=1.64m +[headless_play] t= 16.50s step= 825 trunk_z= 33.2mm grav_b=(+0.03,-0.10,-0.99) r=1.68m +[headless_play] t= 16.60s step= 830 trunk_z= 36.4mm grav_b=(+0.07,-0.10,-0.99) r=1.70m +[headless_play] t= 16.70s step= 835 trunk_z= 35.0mm grav_b=(+0.08,-0.04,-1.00) r=1.72m +[headless_play] t= 16.80s step= 840 trunk_z= 34.8mm grav_b=(+0.05,+0.01,-1.00) r=1.73m +[headless_play] t= 16.90s step= 845 trunk_z= 26.5mm grav_b=(+0.03,-0.01,-1.00) r=1.76m +[headless_play] t= 17.00s step= 850 trunk_z= 19.7mm grav_b=(+0.03,-0.09,-1.00) r=1.79m +[headless_play] t= 17.10s step= 855 trunk_z= 20.9mm grav_b=(+0.08,-0.05,-1.00) r=1.81m +[headless_play] t= 17.20s step= 860 trunk_z= 17.7mm grav_b=(+0.06,+0.03,-1.00) r=1.81m +[headless_play] t= 17.30s step= 865 trunk_z= 22.9mm grav_b=(+0.03,-0.01,-1.00) r=1.83m +[headless_play] t= 17.40s step= 870 trunk_z= 6.0mm grav_b=(+0.04,-0.06,-1.00) r=1.87m +[headless_play] t= 17.50s step= 875 trunk_z= 11.2mm grav_b=(+0.07,-0.11,-0.99) r=1.90m +[headless_play] t= 17.60s step= 880 trunk_z= 10.5mm grav_b=(+0.10,-0.11,-0.99) r=1.92m +[headless_play] t= 17.70s step= 885 trunk_z= 5.8mm grav_b=(+0.09,-0.01,-1.00) r=1.94m +[headless_play] t= 17.80s step= 890 trunk_z= 7.6mm grav_b=(+0.07,+0.02,-1.00) r=1.96m +[headless_play] t= 17.90s step= 895 trunk_z= -4.7mm grav_b=(+0.07,-0.02,-1.00) r=1.99m +[headless_play] t= 18.00s step= 900 trunk_z= -5.7mm grav_b=(+0.05,-0.11,-0.99) r=2.02m +[headless_play] t= 18.10s step= 905 trunk_z= -6.3mm grav_b=(+0.08,-0.08,-0.99) r=2.04m +[headless_play] t= 18.20s step= 910 trunk_z= -11.0mm grav_b=(+0.09,+0.02,-1.00) r=2.06m +[headless_play] t= 18.30s step= 915 trunk_z= -6.8mm grav_b=(+0.09,+0.03,-1.00) r=2.08m +[headless_play] t= 18.40s step= 920 trunk_z= -17.2mm grav_b=(+0.11,+0.01,-0.99) r=2.11m +[headless_play] t= 18.50s step= 925 trunk_z= -18.4mm grav_b=(+0.09,-0.08,-0.99) r=2.13m +[headless_play] t= 18.60s step= 930 trunk_z= -23.8mm grav_b=(+0.09,-0.03,-1.00) r=2.15m +[headless_play] t= 18.70s step= 935 trunk_z= -19.1mm grav_b=(+0.08,+0.06,-1.00) r=2.16m +[headless_play] t= 18.80s step= 940 trunk_z= -16.2mm grav_b=(+0.06,+0.00,-1.00) r=2.17m +[headless_play] t= 18.90s step= 945 trunk_z= -25.8mm grav_b=(+0.05,-0.05,-1.00) r=2.20m +[headless_play] t= 19.00s step= 950 trunk_z= -16.9mm grav_b=(+0.05,-0.04,-1.00) r=2.22m +[headless_play] t= 19.10s step= 955 trunk_z= -19.3mm grav_b=(+0.04,+0.05,-1.00) r=2.23m +[headless_play] t= 19.20s step= 960 trunk_z= -21.1mm grav_b=(+0.04,+0.08,-1.00) r=2.24m +[headless_play] t= 19.30s step= 965 trunk_z= -16.7mm grav_b=(+0.10,+0.03,-0.99) r=2.25m +[headless_play] t= 19.40s step= 970 trunk_z= -26.8mm grav_b=(+0.11,-0.07,-0.99) r=2.28m +[headless_play] t= 19.50s step= 975 trunk_z= -12.4mm grav_b=(+0.09,-0.11,-0.99) r=2.29m +[headless_play] t= 19.60s step= 980 trunk_z= -17.4mm grav_b=(+0.05,-0.05,-1.00) r=2.30m +[headless_play] t= 19.70s step= 985 trunk_z= -18.0mm grav_b=(-0.00,+0.08,-1.00) r=2.30m +[headless_play] t= 19.80s step= 990 trunk_z= -9.9mm grav_b=(-0.00,+0.08,-1.00) r=2.30m +[headless_play] t= 19.90s step= 995 trunk_z= -20.2mm grav_b=(+0.03,+0.03,-1.00) r=2.31m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t13.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..80f6efbd376980d42a650afc07aea2dc37822b36 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.882,-18.452,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.6mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 119.6mm grav_b=(-0.02,-0.07,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(-0.02,-0.03,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 117.5mm grav_b=(-0.03,+0.05,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 125.3mm grav_b=(-0.05,+0.08,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 122.7mm grav_b=(-0.03,+0.08,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(-0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 122.4mm grav_b=(-0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 1.00s step= 50 trunk_z= 119.2mm grav_b=(-0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 122.5mm grav_b=(-0.05,+0.07,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 123.3mm grav_b=(-0.03,+0.05,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 115.8mm grav_b=(-0.05,+0.03,-1.00) r=0.31m +[headless_play] t= 1.40s step= 70 trunk_z= 121.2mm grav_b=(-0.05,-0.04,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 120.3mm grav_b=(-0.05,-0.01,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(-0.04,+0.05,-1.00) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 124.7mm grav_b=(-0.04,+0.05,-1.00) r=0.26m +[headless_play] t= 1.80s step= 90 trunk_z= 120.4mm grav_b=(-0.03,+0.05,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 117.7mm grav_b=(-0.05,-0.07,-1.00) r=0.22m +[headless_play] t= 2.00s step= 100 trunk_z= 121.9mm grav_b=(-0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 118.7mm grav_b=(-0.06,-0.01,-1.00) r=0.21m +[headless_play] t= 2.20s step= 110 trunk_z= 123.0mm grav_b=(-0.07,+0.06,-1.00) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 125.1mm grav_b=(-0.05,+0.06,-1.00) r=0.20m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(-0.04,+0.00,-1.00) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 122.1mm grav_b=(-0.02,-0.05,-1.00) r=0.15m +[headless_play] t= 2.60s step= 130 trunk_z= 120.1mm grav_b=(-0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 2.70s step= 135 trunk_z= 118.9mm grav_b=(-0.04,+0.04,-1.00) r=0.14m +[headless_play] t= 2.80s step= 140 trunk_z= 124.9mm grav_b=(-0.05,+0.05,-1.00) r=0.14m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.04,+0.03,-1.00) r=0.11m +[headless_play] t= 3.00s step= 150 trunk_z= 119.7mm grav_b=(-0.05,-0.04,-1.00) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 120.9mm grav_b=(-0.04,-0.00,-1.00) r=0.08m +[headless_play] t= 3.20s step= 160 trunk_z= 116.3mm grav_b=(-0.03,+0.04,-1.00) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 124.3mm grav_b=(-0.04,+0.05,-1.00) r=0.11m +[headless_play] t= 3.40s step= 170 trunk_z= 120.4mm grav_b=(-0.03,+0.05,-1.00) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(-0.04,-0.05,-1.00) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 122.1mm grav_b=(-0.04,-0.03,-1.00) r=0.08m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(-0.03,-0.00,-1.00) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 123.6mm grav_b=(-0.06,+0.07,-1.00) r=0.13m +[headless_play] t= 3.90s step= 195 trunk_z= 124.6mm grav_b=(-0.03,+0.07,-1.00) r=0.14m +[headless_play] t= 4.00s step= 200 trunk_z= 116.7mm grav_b=(-0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 4.10s step= 205 trunk_z= 121.7mm grav_b=(-0.03,-0.04,-1.00) r=0.14m +[headless_play] t= 4.20s step= 210 trunk_z= 123.4mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 121.2mm grav_b=(-0.03,+0.05,-1.00) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 124.0mm grav_b=(-0.02,+0.05,-1.00) r=0.20m +[headless_play] t= 4.50s step= 225 trunk_z= 117.1mm grav_b=(-0.01,+0.03,-1.00) r=0.20m +[headless_play] t= 4.60s step= 230 trunk_z= 119.7mm grav_b=(-0.02,-0.04,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 119.0mm grav_b=(-0.00,-0.01,-1.00) r=0.23m +[headless_play] t= 4.80s step= 240 trunk_z= 117.2mm grav_b=(-0.02,+0.06,-1.00) r=0.26m +[headless_play] t= 4.90s step= 245 trunk_z= 122.6mm grav_b=(-0.00,+0.05,-1.00) r=0.27m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(+0.03,+0.05,-1.00) r=0.29m +[headless_play] t= 5.10s step= 255 trunk_z= 119.7mm grav_b=(-0.02,-0.04,-1.00) r=0.31m +[headless_play] t= 5.20s step= 260 trunk_z= 122.1mm grav_b=(-0.03,-0.03,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 114.9mm grav_b=(-0.04,+0.05,-1.00) r=0.34m +[headless_play] t= 5.40s step= 270 trunk_z= 122.8mm grav_b=(-0.03,+0.05,-1.00) r=0.36m +[headless_play] t= 5.50s step= 275 trunk_z= 119.8mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(+0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 121.3mm grav_b=(-0.01,-0.04,-1.00) r=0.40m +[headless_play] t= 5.80s step= 290 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 5.90s step= 295 trunk_z= 120.2mm grav_b=(-0.03,+0.06,-1.00) r=0.43m +[headless_play] t= 6.00s step= 300 trunk_z= 121.8mm grav_b=(+0.00,+0.06,-1.00) r=0.45m +[headless_play] t= 6.10s step= 305 trunk_z= 114.9mm grav_b=(+0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 6.20s step= 310 trunk_z= 120.9mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 6.30s step= 315 trunk_z= 118.7mm grav_b=(-0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 118.6mm grav_b=(-0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 121.1mm grav_b=(-0.00,+0.05,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 113.3mm grav_b=(+0.02,+0.02,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 119.9mm grav_b=(-0.01,-0.05,-1.00) r=0.56m +[headless_play] t= 6.80s step= 340 trunk_z= 119.4mm grav_b=(-0.01,-0.03,-1.00) r=0.58m +[headless_play] t= 6.90s step= 345 trunk_z= 116.6mm grav_b=(-0.02,+0.05,-1.00) r=0.59m +[headless_play] t= 7.00s step= 350 trunk_z= 121.9mm grav_b=(-0.01,+0.04,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 114.9mm grav_b=(+0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 7.20s step= 360 trunk_z= 119.5mm grav_b=(+0.01,-0.05,-1.00) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 115.9mm grav_b=(+0.02,+0.02,-1.00) r=0.63m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 7.50s step= 375 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 115.7mm grav_b=(+0.05,-0.00,-1.00) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 7.80s step= 390 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.64m +[headless_play] t= 8.30s step= 415 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.64m +[headless_play] t= 8.50s step= 425 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.64m +[headless_play] t= 8.60s step= 430 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.64m +[headless_play] t= 8.70s step= 435 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 8.90s step= 445 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 9.40s step= 470 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 9.50s step= 475 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.50s step= 525 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 10.80s step= 540 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.20s step= 560 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 11.30s step= 565 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.40s step= 570 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 116.1mm grav_b=(-0.06,+0.00,-1.00) r=0.62m +[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 12.00s step= 600 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 12.10s step= 605 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 12.20s step= 610 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 12.40s step= 620 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 12.60s step= 630 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 12.70s step= 635 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 12.80s step= 640 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 13.00s step= 650 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 13.10s step= 655 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 13.20s step= 660 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 13.30s step= 665 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 13.40s step= 670 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 13.50s step= 675 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 13.60s step= 680 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.62m +[headless_play] t= 13.70s step= 685 trunk_z= 116.9mm grav_b=(-0.04,+0.05,-1.00) r=0.63m +[headless_play] t= 13.80s step= 690 trunk_z= 123.2mm grav_b=(+0.01,+0.07,-1.00) r=0.64m +[headless_play] t= 13.90s step= 695 trunk_z= 124.3mm grav_b=(+0.01,+0.05,-1.00) r=0.66m +[headless_play] t= 14.00s step= 700 trunk_z= 117.2mm grav_b=(-0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 14.10s step= 705 trunk_z= 121.1mm grav_b=(-0.06,+0.03,-1.00) r=0.71m +[headless_play] t= 14.20s step= 710 trunk_z= 114.8mm grav_b=(-0.07,+0.03,-1.00) r=0.71m +[headless_play] t= 14.30s step= 715 trunk_z= 124.6mm grav_b=(-0.08,+0.05,-1.00) r=0.72m +[headless_play] t= 14.40s step= 720 trunk_z= 123.0mm grav_b=(-0.03,+0.05,-1.00) r=0.73m +[headless_play] t= 14.50s step= 725 trunk_z= 116.6mm grav_b=(-0.04,-0.03,-1.00) r=0.74m +[headless_play] t= 14.60s step= 730 trunk_z= 122.6mm grav_b=(-0.04,-0.01,-1.00) r=0.76m +[headless_play] t= 14.70s step= 735 trunk_z= 119.1mm grav_b=(-0.03,+0.00,-1.00) r=0.77m +[headless_play] t= 14.80s step= 740 trunk_z= 124.3mm grav_b=(-0.06,+0.07,-1.00) r=0.78m +[headless_play] t= 14.90s step= 745 trunk_z= 124.0mm grav_b=(-0.06,+0.05,-1.00) r=0.80m +[headless_play] t= 15.00s step= 750 trunk_z= 114.4mm grav_b=(-0.06,-0.00,-1.00) r=0.82m +[headless_play] t= 15.10s step= 755 trunk_z= 121.6mm grav_b=(-0.04,-0.00,-1.00) r=0.83m +[headless_play] t= 15.20s step= 760 trunk_z= 119.6mm grav_b=(-0.02,+0.03,-1.00) r=0.84m +[headless_play] t= 15.30s step= 765 trunk_z= 122.3mm grav_b=(-0.06,+0.06,-1.00) r=0.85m +[headless_play] t= 15.40s step= 770 trunk_z= 123.3mm grav_b=(-0.04,+0.04,-1.00) r=0.86m +[headless_play] t= 15.50s step= 775 trunk_z= 113.0mm grav_b=(-0.05,+0.01,-1.00) r=0.88m +[headless_play] t= 15.60s step= 780 trunk_z= 121.9mm grav_b=(-0.06,-0.00,-1.00) r=0.90m +[headless_play] t= 15.70s step= 785 trunk_z= 118.8mm grav_b=(-0.07,-0.00,-1.00) r=0.91m +[headless_play] t= 15.80s step= 790 trunk_z= 124.4mm grav_b=(-0.08,+0.06,-0.99) r=0.91m +[headless_play] t= 15.90s step= 795 trunk_z= 127.7mm grav_b=(-0.03,+0.07,-1.00) r=0.92m +[headless_play] t= 16.00s step= 800 trunk_z= 128.0mm grav_b=(-0.04,+0.06,-1.00) r=0.94m +[headless_play] t= 16.10s step= 805 trunk_z= 120.6mm grav_b=(-0.04,-0.03,-1.00) r=0.97m +[headless_play] t= 16.20s step= 810 trunk_z= 126.1mm grav_b=(-0.01,-0.05,-1.00) r=0.98m +[headless_play] t= 16.30s step= 815 trunk_z= 121.5mm grav_b=(-0.06,-0.04,-1.00) r=0.98m +[headless_play] t= 16.40s step= 820 trunk_z= 123.4mm grav_b=(-0.08,+0.04,-1.00) r=0.98m +[headless_play] t= 16.50s step= 825 trunk_z= 125.6mm grav_b=(-0.06,+0.04,-1.00) r=0.98m +[headless_play] t= 16.60s step= 830 trunk_z= 120.9mm grav_b=(-0.03,+0.03,-1.00) r=0.99m +[headless_play] t= 16.70s step= 835 trunk_z= 125.1mm grav_b=(-0.03,-0.12,-0.99) r=1.01m +[headless_play] t= 16.80s step= 840 trunk_z= 127.3mm grav_b=(-0.01,-0.07,-1.00) r=1.03m +[headless_play] t= 16.90s step= 845 trunk_z= 119.8mm grav_b=(-0.02,-0.03,-1.00) r=1.04m +[headless_play] t= 17.00s step= 850 trunk_z= 125.0mm grav_b=(-0.02,+0.04,-1.00) r=1.05m +[headless_play] t= 17.10s step= 855 trunk_z= 124.1mm grav_b=(-0.03,+0.01,-1.00) r=1.07m +[headless_play] t= 17.20s step= 860 trunk_z= 109.7mm grav_b=(-0.06,-0.06,-1.00) r=1.09m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.05,-0.08,-1.00) r=1.11m +[headless_play] t= 17.40s step= 870 trunk_z= 117.5mm grav_b=(-0.02,-0.05,-1.00) r=1.12m +[headless_play] t= 17.50s step= 875 trunk_z= 107.7mm grav_b=(-0.03,-0.01,-1.00) r=1.14m +[headless_play] t= 17.60s step= 880 trunk_z= 113.7mm grav_b=(-0.01,-0.02,-1.00) r=1.16m +[headless_play] t= 17.70s step= 885 trunk_z= 105.4mm grav_b=(-0.03,-0.05,-1.00) r=1.18m +[headless_play] t= 17.80s step= 890 trunk_z= 99.3mm grav_b=(-0.04,-0.07,-1.00) r=1.21m +[headless_play] t= 17.90s step= 895 trunk_z= 100.9mm grav_b=(-0.03,-0.03,-1.00) r=1.23m +[headless_play] t= 18.00s step= 900 trunk_z= 89.8mm grav_b=(-0.04,+0.02,-1.00) r=1.25m +[headless_play] t= 18.10s step= 905 trunk_z= 98.4mm grav_b=(-0.02,+0.03,-1.00) r=1.27m +[headless_play] t= 18.20s step= 910 trunk_z= 97.8mm grav_b=(-0.03,+0.01,-1.00) r=1.29m +[headless_play] t= 18.30s step= 915 trunk_z= 78.8mm grav_b=(-0.05,-0.05,-1.00) r=1.32m +[headless_play] t= 18.40s step= 920 trunk_z= 87.1mm grav_b=(-0.03,-0.04,-1.00) r=1.35m +[headless_play] t= 18.50s step= 925 trunk_z= 80.6mm grav_b=(-0.05,-0.02,-1.00) r=1.37m +[headless_play] t= 18.60s step= 930 trunk_z= 77.5mm grav_b=(-0.05,+0.03,-1.00) r=1.39m +[headless_play] t= 18.70s step= 935 trunk_z= 79.5mm grav_b=(-0.01,+0.01,-1.00) r=1.41m +[headless_play] t= 18.80s step= 940 trunk_z= 71.2mm grav_b=(-0.04,-0.01,-1.00) r=1.43m +[headless_play] t= 18.90s step= 945 trunk_z= 68.2mm grav_b=(-0.04,-0.05,-1.00) r=1.46m +[headless_play] t= 19.00s step= 950 trunk_z= 69.2mm grav_b=(-0.03,-0.02,-1.00) r=1.48m +[headless_play] t= 19.10s step= 955 trunk_z= 59.9mm grav_b=(-0.03,+0.03,-1.00) r=1.49m +[headless_play] t= 19.20s step= 960 trunk_z= 66.6mm grav_b=(+0.00,+0.01,-1.00) r=1.51m +[headless_play] t= 19.30s step= 965 trunk_z= 62.5mm grav_b=(-0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 19.40s step= 970 trunk_z= 44.0mm grav_b=(-0.03,-0.09,-0.99) r=1.58m +[headless_play] t= 19.50s step= 975 trunk_z= 52.0mm grav_b=(-0.06,-0.04,-1.00) r=1.61m +[headless_play] t= 19.60s step= 980 trunk_z= 42.9mm grav_b=(-0.07,-0.02,-1.00) r=1.62m +[headless_play] t= 19.70s step= 985 trunk_z= 48.4mm grav_b=(-0.03,+0.05,-1.00) r=1.63m +[headless_play] t= 19.80s step= 990 trunk_z= 47.8mm grav_b=(+0.02,+0.03,-1.00) r=1.65m +[headless_play] t= 19.90s step= 995 trunk_z= 38.5mm grav_b=(-0.02,-0.02,-1.00) r=1.69m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.7mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.00,+0.03,-1.00) r=0.40m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t14.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..d93b635149d5197a77e2fc364ece227b2489be2c --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t14.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.294,-18.092,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.4mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 3.00s step= 150 trunk_z= 116.1mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.40s step= 170 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.60s step= 180 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.80s step= 190 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 3.90s step= 195 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.10s step= 205 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.30s step= 215 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.40s step= 220 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.50s step= 225 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 5.00s step= 250 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 5.10s step= 255 trunk_z= 115.9mm grav_b=(-0.04,+0.00,-1.00) r=0.31m +[headless_play] t= 5.20s step= 260 trunk_z= 115.9mm grav_b=(-0.03,+0.03,-1.00) r=0.30m +[headless_play] t= 5.30s step= 265 trunk_z= 120.7mm grav_b=(-0.01,+0.06,-1.00) r=0.30m +[headless_play] t= 5.40s step= 270 trunk_z= 119.8mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 120.5mm grav_b=(-0.05,-0.07,-1.00) r=0.35m +[headless_play] t= 5.60s step= 280 trunk_z= 122.1mm grav_b=(-0.06,-0.05,-1.00) r=0.36m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(-0.07,-0.02,-1.00) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 122.4mm grav_b=(-0.06,+0.02,-1.00) r=0.34m +[headless_play] t= 5.90s step= 295 trunk_z= 121.3mm grav_b=(-0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(-0.06,-0.06,-1.00) r=0.38m +[headless_play] t= 6.10s step= 305 trunk_z= 121.9mm grav_b=(-0.06,-0.04,-1.00) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 118.9mm grav_b=(-0.07,-0.03,-1.00) r=0.38m +[headless_play] t= 6.30s step= 315 trunk_z= 121.9mm grav_b=(-0.06,+0.03,-1.00) r=0.38m +[headless_play] t= 6.40s step= 320 trunk_z= 123.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 6.50s step= 325 trunk_z= 115.1mm grav_b=(-0.05,-0.04,-1.00) r=0.41m +[headless_play] t= 6.60s step= 330 trunk_z= 122.7mm grav_b=(-0.05,-0.06,-1.00) r=0.43m +[headless_play] t= 6.70s step= 335 trunk_z= 120.7mm grav_b=(-0.05,-0.04,-1.00) r=0.43m +[headless_play] t= 6.80s step= 340 trunk_z= 119.2mm grav_b=(-0.07,+0.02,-1.00) r=0.42m +[headless_play] t= 6.90s step= 345 trunk_z= 123.7mm grav_b=(-0.07,+0.01,-1.00) r=0.43m +[headless_play] t= 7.00s step= 350 trunk_z= 116.8mm grav_b=(-0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 7.10s step= 355 trunk_z= 120.8mm grav_b=(-0.06,-0.07,-1.00) r=0.48m +[headless_play] t= 7.20s step= 360 trunk_z= 121.0mm grav_b=(-0.05,-0.03,-1.00) r=0.48m +[headless_play] t= 7.30s step= 365 trunk_z= 114.5mm grav_b=(-0.07,-0.00,-1.00) r=0.48m +[headless_play] t= 7.40s step= 370 trunk_z= 122.9mm grav_b=(-0.08,+0.02,-1.00) r=0.49m +[headless_play] t= 7.50s step= 375 trunk_z= 118.7mm grav_b=(-0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 7.60s step= 380 trunk_z= 118.9mm grav_b=(-0.05,-0.07,-1.00) r=0.53m +[headless_play] t= 7.70s step= 385 trunk_z= 124.1mm grav_b=(-0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 7.80s step= 390 trunk_z= 117.3mm grav_b=(-0.05,+0.02,-1.00) r=0.56m +[headless_play] t= 7.90s step= 395 trunk_z= 121.4mm grav_b=(-0.07,+0.03,-1.00) r=0.56m +[headless_play] t= 8.00s step= 400 trunk_z= 120.6mm grav_b=(-0.10,+0.00,-1.00) r=0.58m +[headless_play] t= 8.10s step= 405 trunk_z= 117.2mm grav_b=(-0.08,-0.04,-1.00) r=0.61m +[headless_play] t= 8.20s step= 410 trunk_z= 123.1mm grav_b=(-0.05,-0.02,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 120.5mm grav_b=(-0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 8.40s step= 420 trunk_z= 121.7mm grav_b=(-0.07,+0.04,-1.00) r=0.64m +[headless_play] t= 8.50s step= 425 trunk_z= 122.4mm grav_b=(-0.09,+0.02,-1.00) r=0.65m +[headless_play] t= 8.60s step= 430 trunk_z= 115.2mm grav_b=(-0.09,-0.04,-1.00) r=0.67m +[headless_play] t= 8.70s step= 435 trunk_z= 123.3mm grav_b=(-0.07,-0.05,-1.00) r=0.70m +[headless_play] t= 8.80s step= 440 trunk_z= 123.6mm grav_b=(-0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 8.90s step= 445 trunk_z= 120.0mm grav_b=(-0.06,+0.04,-1.00) r=0.71m +[headless_play] t= 9.00s step= 450 trunk_z= 124.1mm grav_b=(-0.07,+0.00,-1.00) r=0.72m +[headless_play] t= 9.10s step= 455 trunk_z= 117.2mm grav_b=(-0.08,+0.01,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 120.6mm grav_b=(-0.09,-0.04,-1.00) r=0.77m +[headless_play] t= 9.30s step= 465 trunk_z= 120.2mm grav_b=(-0.08,+0.01,-1.00) r=0.78m +[headless_play] t= 9.40s step= 470 trunk_z= 119.4mm grav_b=(-0.07,+0.02,-1.00) r=0.79m +[headless_play] t= 9.50s step= 475 trunk_z= 120.5mm grav_b=(-0.07,-0.01,-1.00) r=0.80m +[headless_play] t= 9.60s step= 480 trunk_z= 112.7mm grav_b=(-0.08,-0.03,-1.00) r=0.82m +[headless_play] t= 9.70s step= 485 trunk_z= 121.1mm grav_b=(-0.11,-0.04,-0.99) r=0.84m +[headless_play] t= 9.80s step= 490 trunk_z= 119.1mm grav_b=(-0.07,+0.00,-1.00) r=0.85m +[headless_play] t= 9.90s step= 495 trunk_z= 123.2mm grav_b=(-0.04,+0.02,-1.00) r=0.86m +[headless_play] t= 10.00s step= 500 trunk_z= 124.6mm grav_b=(-0.01,+0.00,-1.00) r=0.88m +[headless_play] t= 10.10s step= 505 trunk_z= 112.2mm grav_b=(-0.09,-0.05,-1.00) r=0.91m +[headless_play] t= 10.20s step= 510 trunk_z= 121.1mm grav_b=(-0.08,-0.06,-0.99) r=0.93m +[headless_play] t= 10.30s step= 515 trunk_z= 121.1mm grav_b=(-0.09,-0.04,-1.00) r=0.95m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(-0.04,+0.06,-1.00) r=0.97m +[headless_play] t= 10.50s step= 525 trunk_z= 122.3mm grav_b=(-0.07,+0.02,-1.00) r=0.99m +[headless_play] t= 10.60s step= 530 trunk_z= 113.9mm grav_b=(-0.09,-0.00,-1.00) r=1.02m +[headless_play] t= 10.70s step= 535 trunk_z= 113.6mm grav_b=(-0.08,-0.13,-0.99) r=1.04m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(-0.06,-0.15,-0.99) r=1.06m +[headless_play] t= 10.90s step= 545 trunk_z= 115.1mm grav_b=(-0.04,-0.14,-0.99) r=1.07m +[headless_play] t= 11.00s step= 550 trunk_z= 111.4mm grav_b=(-0.04,-0.13,-0.99) r=1.08m +[headless_play] t= 11.10s step= 555 trunk_z= 104.7mm grav_b=(-0.00,-0.04,-1.00) r=1.10m +[headless_play] t= 11.20s step= 560 trunk_z= 105.9mm grav_b=(+0.01,+0.02,-1.00) r=1.12m +[headless_play] t= 11.30s step= 565 trunk_z= 97.8mm grav_b=(+0.03,-0.01,-1.00) r=1.14m +[headless_play] t= 11.40s step= 570 trunk_z= 93.6mm grav_b=(-0.01,-0.10,-0.99) r=1.18m +[headless_play] t= 11.50s step= 575 trunk_z= 94.0mm grav_b=(+0.01,-0.11,-0.99) r=1.20m +[headless_play] t= 11.60s step= 580 trunk_z= 91.0mm grav_b=(+0.01,-0.02,-1.00) r=1.22m +[headless_play] t= 11.70s step= 585 trunk_z= 90.0mm grav_b=(-0.02,+0.07,-1.00) r=1.25m +[headless_play] t= 11.80s step= 590 trunk_z= 85.2mm grav_b=(-0.01,+0.04,-1.00) r=1.28m +[headless_play] t= 11.90s step= 595 trunk_z= 74.5mm grav_b=(-0.02,-0.05,-1.00) r=1.30m +[headless_play] t= 12.00s step= 600 trunk_z= 78.0mm grav_b=(-0.01,-0.10,-1.00) r=1.32m +[headless_play] t= 12.10s step= 605 trunk_z= 73.3mm grav_b=(+0.05,-0.06,-1.00) r=1.35m +[headless_play] t= 12.20s step= 610 trunk_z= 70.2mm grav_b=(-0.01,+0.08,-1.00) r=1.37m +[headless_play] t= 12.30s step= 615 trunk_z= 71.8mm grav_b=(+0.01,+0.06,-1.00) r=1.41m +[headless_play] t= 12.40s step= 620 trunk_z= 63.8mm grav_b=(-0.01,-0.01,-1.00) r=1.44m +[headless_play] t= 12.50s step= 625 trunk_z= 60.0mm grav_b=(-0.06,-0.12,-0.99) r=1.48m +[headless_play] t= 12.60s step= 630 trunk_z= 58.5mm grav_b=(-0.02,-0.11,-0.99) r=1.50m +[headless_play] t= 12.70s step= 635 trunk_z= 56.1mm grav_b=(-0.01,-0.04,-1.00) r=1.53m +[headless_play] t= 12.80s step= 640 trunk_z= 54.2mm grav_b=(-0.03,+0.09,-0.99) r=1.55m +[headless_play] t= 12.90s step= 645 trunk_z= 52.2mm grav_b=(-0.01,+0.05,-1.00) r=1.57m +[headless_play] t= 13.00s step= 650 trunk_z= 40.8mm grav_b=(+0.01,+0.02,-1.00) r=1.59m +[headless_play] t= 13.10s step= 655 trunk_z= 44.0mm grav_b=(-0.03,-0.06,-1.00) r=1.62m +[headless_play] t= 13.20s step= 660 trunk_z= 38.8mm grav_b=(+0.05,-0.05,-1.00) r=1.64m +[headless_play] t= 13.30s step= 665 trunk_z= 34.1mm grav_b=(+0.02,+0.09,-1.00) r=1.67m +[headless_play] t= 13.40s step= 670 trunk_z= 39.3mm grav_b=(-0.04,+0.13,-0.99) r=1.70m +[headless_play] t= 13.50s step= 675 trunk_z= 34.5mm grav_b=(-0.02,+0.06,-1.00) r=1.73m +[headless_play] t= 13.60s step= 680 trunk_z= 24.4mm grav_b=(-0.05,-0.05,-1.00) r=1.76m +[headless_play] t= 13.70s step= 685 trunk_z= 30.3mm grav_b=(-0.07,-0.10,-0.99) r=1.79m +[headless_play] t= 13.80s step= 690 trunk_z= 25.5mm grav_b=(-0.00,-0.08,-1.00) r=1.81m +[headless_play] t= 13.90s step= 695 trunk_z= 20.7mm grav_b=(-0.02,+0.05,-1.00) r=1.83m +[headless_play] t= 14.00s step= 700 trunk_z= 25.2mm grav_b=(-0.02,+0.06,-1.00) r=1.84m +[headless_play] t= 14.10s step= 705 trunk_z= 20.9mm grav_b=(-0.03,+0.01,-1.00) r=1.85m +[headless_play] t= 14.20s step= 710 trunk_z= 14.3mm grav_b=(-0.02,-0.07,-1.00) r=1.88m +[headless_play] t= 14.30s step= 715 trunk_z= 21.1mm grav_b=(-0.02,-0.06,-1.00) r=1.90m +[headless_play] t= 14.40s step= 720 trunk_z= 15.8mm grav_b=(-0.02,-0.02,-1.00) r=1.92m +[headless_play] t= 14.50s step= 725 trunk_z= 10.5mm grav_b=(-0.02,+0.07,-1.00) r=1.94m +[headless_play] t= 14.60s step= 730 trunk_z= 16.1mm grav_b=(-0.04,+0.06,-1.00) r=1.96m +[headless_play] t= 14.70s step= 735 trunk_z= 12.1mm grav_b=(-0.05,+0.02,-1.00) r=1.98m +[headless_play] t= 14.80s step= 740 trunk_z= 5.9mm grav_b=(-0.06,-0.05,-1.00) r=2.01m +[headless_play] t= 14.90s step= 745 trunk_z= 10.8mm grav_b=(-0.06,-0.07,-1.00) r=2.03m +[headless_play] t= 15.00s step= 750 trunk_z= 5.9mm grav_b=(-0.07,-0.04,-1.00) r=2.05m +[headless_play] t= 15.10s step= 755 trunk_z= 3.3mm grav_b=(-0.06,+0.06,-1.00) r=2.07m +[headless_play] t= 15.20s step= 760 trunk_z= 5.0mm grav_b=(-0.04,+0.06,-1.00) r=2.08m +[headless_play] t= 15.30s step= 765 trunk_z= 3.2mm grav_b=(-0.02,+0.04,-1.00) r=2.10m +[headless_play] t= 15.40s step= 770 trunk_z= -5.3mm grav_b=(-0.01,-0.02,-1.00) r=2.13m +[headless_play] t= 15.50s step= 775 trunk_z= 3.1mm grav_b=(-0.04,-0.02,-1.00) r=2.16m +[headless_play] t= 15.60s step= 780 trunk_z= -10.6mm grav_b=(-0.08,+0.01,-1.00) r=2.19m +[headless_play] t= 15.70s step= 785 trunk_z= -16.3mm grav_b=(-0.04,+0.09,-1.00) r=2.21m +[headless_play] t= 15.80s step= 790 trunk_z= -10.1mm grav_b=(-0.04,+0.05,-1.00) r=2.21m +[headless_play] t= 15.90s step= 795 trunk_z= -17.1mm grav_b=(-0.09,+0.01,-1.00) r=2.21m +[headless_play] t= 16.00s step= 800 trunk_z= -14.9mm grav_b=(-0.12,-0.05,-0.99) r=2.20m +[headless_play] t= 16.10s step= 805 trunk_z= -16.2mm grav_b=(-0.13,+0.01,-0.99) r=2.20m +[headless_play] t= 16.20s step= 810 trunk_z= -10.1mm grav_b=(-0.09,+0.05,-0.99) r=2.20m +[headless_play] t= 16.30s step= 815 trunk_z= -14.1mm grav_b=(-0.08,-0.01,-1.00) r=2.20m +[headless_play] t= 16.40s step= 820 trunk_z= -9.1mm grav_b=(-0.05,-0.01,-1.00) r=2.20m +[headless_play] t= 16.50s step= 825 trunk_z= -11.5mm grav_b=(-0.05,+0.04,-1.00) r=2.22m +[headless_play] t= 16.60s step= 830 trunk_z= -11.3mm grav_b=(+0.00,+0.09,-1.00) r=2.24m +[headless_play] t= 16.70s step= 835 trunk_z= 1.1mm grav_b=(+0.05,+0.02,-1.00) r=2.26m +[headless_play] t= 16.80s step= 840 trunk_z= -20.8mm grav_b=(-0.05,-0.03,-1.00) r=2.31m +[headless_play] t= 16.90s step= 845 trunk_z= -21.9mm grav_b=(+0.04,-0.05,-1.00) r=2.32m +[headless_play] t= 17.00s step= 850 trunk_z= -6.7mm grav_b=(-0.02,-0.03,-1.00) r=2.31m +[headless_play] t= 17.10s step= 855 trunk_z= -19.5mm grav_b=(-0.04,+0.05,-1.00) r=2.31m +[headless_play] t= 17.20s step= 860 trunk_z= -13.8mm grav_b=(-0.07,-0.03,-1.00) r=2.32m +[headless_play] t= 17.30s step= 865 trunk_z= -16.3mm grav_b=(-0.05,-0.04,-1.00) r=2.34m +[headless_play] t= 17.40s step= 870 trunk_z= -24.6mm grav_b=(-0.09,-0.01,-1.00) r=2.34m +[headless_play] t= 17.50s step= 875 trunk_z= -14.6mm grav_b=(-0.07,+0.08,-0.99) r=2.34m +[headless_play] t= 17.60s step= 880 trunk_z= -9.5mm grav_b=(-0.06,+0.04,-1.00) r=2.34m +[headless_play] t= 17.70s step= 885 trunk_z= -14.7mm grav_b=(-0.04,+0.00,-1.00) r=2.35m +[headless_play] t= 17.80s step= 890 trunk_z= -14.2mm grav_b=(+0.03,-0.11,-0.99) r=2.37m +[headless_play] t= 17.90s step= 895 trunk_z= -13.8mm grav_b=(+0.08,-0.11,-0.99) r=2.38m +[headless_play] t= 18.00s step= 900 trunk_z= -7.2mm grav_b=(-0.04,-0.00,-1.00) r=2.39m +[headless_play] t= 18.10s step= 905 trunk_z= -13.0mm grav_b=(+0.01,+0.17,-0.99) r=2.41m +[headless_play] t= 18.20s step= 910 trunk_z= -2.0mm grav_b=(+0.01,+0.18,-0.98) r=2.41m +[headless_play] t= 18.30s step= 915 trunk_z= -14.4mm grav_b=(+0.02,+0.13,-0.99) r=2.44m +[headless_play] t= 18.40s step= 920 trunk_z= -24.7mm grav_b=(+0.11,+0.17,-0.98) r=2.47m +[headless_play] t= 18.50s step= 925 trunk_z= 1.7mm grav_b=(+0.21,+0.06,-0.98) r=2.46m +[headless_play] t= 18.60s step= 930 trunk_z= -15.5mm grav_b=(+0.14,-0.27,-0.95) r=2.47m +[headless_play] t= 18.70s step= 935 trunk_z= -11.1mm grav_b=(+0.33,-0.44,-0.84) r=2.48m +[headless_play] t= 18.80s step= 940 trunk_z= 4.2mm grav_b=(+0.38,-0.21,-0.90) r=2.50m +[headless_play] t= 18.90s step= 945 trunk_z= -63.9mm grav_b=(+0.11,-0.22,-0.97) r=2.52m +[headless_play] RESET at t= 18.98s step= 949 (env termination, not a recovery) +[headless_play] t= 19.00s step= 950 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 19.10s step= 955 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 19.20s step= 960 trunk_z= 117.5mm grav_b=(-0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 19.30s step= 965 trunk_z= 118.7mm grav_b=(-0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 19.40s step= 970 trunk_z= 119.2mm grav_b=(-0.06,+0.05,-1.00) r=0.37m +[headless_play] t= 19.50s step= 975 trunk_z= 124.0mm grav_b=(-0.05,+0.03,-1.00) r=0.36m +[headless_play] t= 19.60s step= 980 trunk_z= 114.7mm grav_b=(-0.06,-0.01,-1.00) r=0.36m +[headless_play] t= 19.70s step= 985 trunk_z= 122.3mm grav_b=(-0.05,-0.06,-1.00) r=0.36m +[headless_play] t= 19.80s step= 990 trunk_z= 123.1mm grav_b=(-0.04,-0.06,-1.00) r=0.35m +[headless_play] t= 19.90s step= 995 trunk_z= 117.3mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 20.00s step=1000 trunk_z= 123.8mm grav_b=(-0.05,+0.04,-1.00) r=0.31m +[headless_play] t= 20.10s step=1005 trunk_z= 120.8mm grav_b=(-0.05,+0.02,-1.00) r=0.31m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t15.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..ba2cc84e5aaa900ada80b09cf8ad11fe66991807 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(-17.726,-17.857,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(-0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(-0.03,+0.05,-1.00) r=0.28m +[headless_play] t= 0.30s step= 15 trunk_z= 115.6mm grav_b=(-0.04,-0.01,-1.00) r=0.28m +[headless_play] t= 0.40s step= 20 trunk_z= 115.6mm grav_b=(-0.06,-0.07,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 120.7mm grav_b=(-0.06,-0.03,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 114.7mm grav_b=(-0.05,+0.04,-1.00) r=0.25m +[headless_play] t= 0.70s step= 35 trunk_z= 121.9mm grav_b=(-0.04,+0.05,-1.00) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 119.0mm grav_b=(-0.02,+0.04,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 112.7mm grav_b=(-0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 122.6mm grav_b=(-0.03,-0.07,-1.00) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(-0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 121.5mm grav_b=(-0.07,+0.07,-1.00) r=0.20m +[headless_play] t= 1.30s step= 65 trunk_z= 125.1mm grav_b=(-0.04,+0.06,-1.00) r=0.19m +[headless_play] t= 1.40s step= 70 trunk_z= 120.6mm grav_b=(-0.04,+0.04,-1.00) r=0.19m +[headless_play] t= 1.50s step= 75 trunk_z= 116.3mm grav_b=(-0.03,-0.06,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 122.1mm grav_b=(-0.02,-0.03,-1.00) r=0.21m +[headless_play] t= 1.70s step= 85 trunk_z= 115.3mm grav_b=(-0.02,+0.03,-1.00) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 123.2mm grav_b=(-0.04,+0.05,-1.00) r=0.17m +[headless_play] t= 1.90s step= 95 trunk_z= 123.0mm grav_b=(-0.03,+0.04,-1.00) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 2.10s step= 105 trunk_z= 122.8mm grav_b=(-0.04,-0.08,-1.00) r=0.21m +[headless_play] t= 2.20s step= 110 trunk_z= 120.3mm grav_b=(-0.02,-0.02,-1.00) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 118.6mm grav_b=(-0.04,+0.05,-1.00) r=0.19m +[headless_play] t= 2.40s step= 120 trunk_z= 122.6mm grav_b=(-0.01,+0.04,-1.00) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 118.2mm grav_b=(-0.00,+0.03,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 120.4mm grav_b=(-0.05,-0.09,-0.99) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 123.3mm grav_b=(-0.06,-0.04,-1.00) r=0.23m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(-0.08,+0.03,-1.00) r=0.22m +[headless_play] t= 2.90s step= 145 trunk_z= 122.8mm grav_b=(-0.05,+0.04,-1.00) r=0.22m +[headless_play] t= 3.00s step= 150 trunk_z= 119.5mm grav_b=(-0.03,+0.03,-1.00) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 114.6mm grav_b=(-0.02,-0.07,-1.00) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 123.2mm grav_b=(-0.02,-0.06,-1.00) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 118.0mm grav_b=(-0.03,-0.01,-1.00) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 122.7mm grav_b=(-0.08,+0.05,-1.00) r=0.26m +[headless_play] t= 3.50s step= 175 trunk_z= 125.4mm grav_b=(-0.09,+0.04,-0.99) r=0.26m +[headless_play] t= 3.60s step= 180 trunk_z= 120.2mm grav_b=(-0.09,+0.01,-1.00) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 121.7mm grav_b=(-0.06,-0.08,-0.99) r=0.30m +[headless_play] t= 3.80s step= 190 trunk_z= 122.4mm grav_b=(-0.07,-0.05,-1.00) r=0.30m +[headless_play] t= 3.90s step= 195 trunk_z= 116.0mm grav_b=(-0.04,+0.04,-1.00) r=0.28m +[headless_play] t= 4.00s step= 200 trunk_z= 125.9mm grav_b=(-0.03,+0.07,-1.00) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 126.4mm grav_b=(-0.02,+0.07,-1.00) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 118.8mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 4.30s step= 215 trunk_z= 124.2mm grav_b=(-0.04,-0.04,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 123.1mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 119.7mm grav_b=(-0.07,+0.04,-1.00) r=0.31m +[headless_play] t= 4.60s step= 230 trunk_z= 125.7mm grav_b=(-0.09,+0.05,-0.99) r=0.31m +[headless_play] t= 4.70s step= 235 trunk_z= 121.5mm grav_b=(-0.07,+0.04,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 120.0mm grav_b=(-0.05,-0.04,-1.00) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 123.7mm grav_b=(-0.04,-0.03,-1.00) r=0.37m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(-0.07,+0.04,-1.00) r=0.36m +[headless_play] t= 5.10s step= 255 trunk_z= 125.2mm grav_b=(-0.09,+0.07,-0.99) r=0.35m +[headless_play] t= 5.20s step= 260 trunk_z= 125.6mm grav_b=(-0.08,+0.07,-0.99) r=0.36m +[headless_play] t= 5.30s step= 265 trunk_z= 117.4mm grav_b=(-0.06,+0.02,-1.00) r=0.38m +[headless_play] t= 5.40s step= 270 trunk_z= 124.0mm grav_b=(-0.04,-0.03,-1.00) r=0.41m +[headless_play] t= 5.50s step= 275 trunk_z= 122.9mm grav_b=(-0.04,+0.00,-1.00) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 122.0mm grav_b=(-0.07,+0.06,-1.00) r=0.40m +[headless_play] t= 5.70s step= 285 trunk_z= 126.2mm grav_b=(-0.08,+0.07,-0.99) r=0.40m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(-0.06,+0.05,-1.00) r=0.42m +[headless_play] t= 5.90s step= 295 trunk_z= 120.9mm grav_b=(-0.06,-0.03,-1.00) r=0.45m +[headless_play] t= 6.00s step= 300 trunk_z= 122.6mm grav_b=(-0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 6.10s step= 305 trunk_z= 116.4mm grav_b=(-0.07,+0.05,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 125.2mm grav_b=(-0.09,+0.07,-0.99) r=0.45m +[headless_play] t= 6.30s step= 315 trunk_z= 123.5mm grav_b=(-0.06,+0.06,-1.00) r=0.47m +[headless_play] t= 6.40s step= 320 trunk_z= 117.0mm grav_b=(-0.06,-0.04,-1.00) r=0.49m +[headless_play] t= 6.50s step= 325 trunk_z= 123.4mm grav_b=(-0.05,-0.02,-1.00) r=0.51m +[headless_play] t= 6.60s step= 330 trunk_z= 120.1mm grav_b=(-0.06,+0.01,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 122.8mm grav_b=(-0.09,+0.06,-0.99) r=0.51m +[headless_play] t= 6.80s step= 340 trunk_z= 125.7mm grav_b=(-0.08,+0.05,-1.00) r=0.52m +[headless_play] t= 6.90s step= 345 trunk_z= 119.6mm grav_b=(-0.07,+0.04,-1.00) r=0.54m +[headless_play] t= 7.00s step= 350 trunk_z= 122.2mm grav_b=(-0.06,-0.04,-1.00) r=0.56m +[headless_play] t= 7.10s step= 355 trunk_z= 123.2mm grav_b=(-0.05,-0.00,-1.00) r=0.57m +[headless_play] t= 7.20s step= 360 trunk_z= 117.7mm grav_b=(-0.07,+0.06,-1.00) r=0.57m +[headless_play] t= 7.30s step= 365 trunk_z= 126.0mm grav_b=(-0.09,+0.08,-0.99) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 124.2mm grav_b=(-0.06,+0.05,-1.00) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 115.6mm grav_b=(-0.05,-0.03,-1.00) r=0.61m +[headless_play] t= 7.60s step= 380 trunk_z= 123.3mm grav_b=(-0.05,-0.02,-1.00) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 120.9mm grav_b=(-0.05,+0.01,-1.00) r=0.63m +[headless_play] t= 7.80s step= 390 trunk_z= 125.3mm grav_b=(-0.05,+0.09,-1.00) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 126.0mm grav_b=(-0.06,+0.07,-1.00) r=0.66m +[headless_play] t= 8.00s step= 400 trunk_z= 119.4mm grav_b=(-0.05,+0.07,-1.00) r=0.67m +[headless_play] t= 8.10s step= 405 trunk_z= 119.6mm grav_b=(-0.08,-0.05,-1.00) r=0.69m +[headless_play] t= 8.20s step= 410 trunk_z= 122.4mm grav_b=(-0.09,-0.01,-1.00) r=0.70m +[headless_play] t= 8.30s step= 415 trunk_z= 115.8mm grav_b=(-0.07,+0.05,-1.00) r=0.69m +[headless_play] t= 8.40s step= 420 trunk_z= 123.4mm grav_b=(-0.07,+0.07,-0.99) r=0.69m +[headless_play] t= 8.50s step= 425 trunk_z= 123.2mm grav_b=(-0.05,+0.06,-1.00) r=0.69m +[headless_play] t= 8.60s step= 430 trunk_z= 115.7mm grav_b=(-0.04,+0.06,-1.00) r=0.71m +[headless_play] t= 8.70s step= 435 trunk_z= 118.4mm grav_b=(-0.04,-0.05,-1.00) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 119.0mm grav_b=(-0.02,-0.01,-1.00) r=0.75m +[headless_play] t= 8.90s step= 445 trunk_z= 114.4mm grav_b=(-0.03,+0.07,-1.00) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 122.6mm grav_b=(-0.05,+0.08,-1.00) r=0.76m +[headless_play] t= 9.10s step= 455 trunk_z= 119.4mm grav_b=(-0.04,+0.07,-1.00) r=0.78m +[headless_play] t= 9.20s step= 460 trunk_z= 114.8mm grav_b=(-0.04,-0.04,-1.00) r=0.80m +[headless_play] t= 9.30s step= 465 trunk_z= 122.2mm grav_b=(-0.06,-0.04,-1.00) r=0.82m +[headless_play] t= 9.40s step= 470 trunk_z= 118.4mm grav_b=(-0.07,+0.01,-1.00) r=0.82m +[headless_play] t= 9.50s step= 475 trunk_z= 121.6mm grav_b=(-0.07,+0.06,-1.00) r=0.83m +[headless_play] t= 9.60s step= 480 trunk_z= 122.8mm grav_b=(-0.06,+0.06,-1.00) r=0.83m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(-0.05,+0.03,-1.00) r=0.86m +[headless_play] t= 9.80s step= 490 trunk_z= 118.9mm grav_b=(-0.04,-0.05,-1.00) r=0.88m +[headless_play] t= 9.90s step= 495 trunk_z= 120.9mm grav_b=(-0.03,-0.02,-1.00) r=0.89m +[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(-0.07,+0.06,-1.00) r=0.89m +[headless_play] t= 10.10s step= 505 trunk_z= 124.8mm grav_b=(-0.07,+0.07,-1.00) r=0.90m +[headless_play] t= 10.20s step= 510 trunk_z= 122.8mm grav_b=(-0.05,+0.04,-1.00) r=0.92m +[headless_play] t= 10.30s step= 515 trunk_z= 115.6mm grav_b=(-0.05,-0.07,-1.00) r=0.94m +[headless_play] t= 10.40s step= 520 trunk_z= 123.2mm grav_b=(-0.04,-0.06,-1.00) r=0.95m +[headless_play] t= 10.50s step= 525 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.96m +[headless_play] t= 10.60s step= 530 trunk_z= 122.6mm grav_b=(-0.05,+0.08,-1.00) r=0.97m +[headless_play] t= 10.70s step= 535 trunk_z= 125.8mm grav_b=(-0.01,+0.08,-1.00) r=0.97m +[headless_play] t= 10.80s step= 540 trunk_z= 121.3mm grav_b=(-0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 10.90s step= 545 trunk_z= 118.3mm grav_b=(-0.06,-0.08,-0.99) r=1.01m +[headless_play] t= 11.00s step= 550 trunk_z= 125.1mm grav_b=(-0.10,-0.07,-0.99) r=1.02m +[headless_play] t= 11.10s step= 555 trunk_z= 121.1mm grav_b=(-0.10,-0.03,-0.99) r=1.03m +[headless_play] t= 11.20s step= 560 trunk_z= 121.7mm grav_b=(-0.09,+0.05,-0.99) r=1.03m +[headless_play] t= 11.30s step= 565 trunk_z= 124.0mm grav_b=(-0.06,+0.04,-1.00) r=1.04m +[headless_play] t= 11.40s step= 570 trunk_z= 118.1mm grav_b=(-0.04,+0.04,-1.00) r=1.06m +[headless_play] t= 11.50s step= 575 trunk_z= 115.7mm grav_b=(-0.03,-0.06,-1.00) r=1.08m +[headless_play] t= 11.60s step= 580 trunk_z= 118.8mm grav_b=(-0.02,-0.04,-1.00) r=1.10m +[headless_play] t= 11.70s step= 585 trunk_z= 110.9mm grav_b=(-0.02,+0.03,-1.00) r=1.12m +[headless_play] t= 11.80s step= 590 trunk_z= 115.0mm grav_b=(-0.04,+0.08,-1.00) r=1.13m +[headless_play] t= 11.90s step= 595 trunk_z= 112.2mm grav_b=(+0.01,+0.08,-1.00) r=1.16m +[headless_play] t= 12.00s step= 600 trunk_z= 102.8mm grav_b=(+0.01,+0.01,-1.00) r=1.19m +[headless_play] t= 12.10s step= 605 trunk_z= 102.8mm grav_b=(-0.00,-0.11,-0.99) r=1.23m +[headless_play] t= 12.20s step= 610 trunk_z= 102.7mm grav_b=(-0.03,-0.06,-1.00) r=1.25m +[headless_play] t= 12.30s step= 615 trunk_z= 86.4mm grav_b=(-0.02,+0.01,-1.00) r=1.28m +[headless_play] t= 12.40s step= 620 trunk_z= 89.7mm grav_b=(-0.02,+0.02,-1.00) r=1.30m +[headless_play] t= 12.50s step= 625 trunk_z= 76.2mm grav_b=(-0.06,-0.01,-1.00) r=1.32m +[headless_play] t= 12.60s step= 630 trunk_z= 78.3mm grav_b=(-0.07,-0.00,-1.00) r=1.34m +[headless_play] t= 12.70s step= 635 trunk_z= 72.9mm grav_b=(-0.04,+0.06,-1.00) r=1.36m +[headless_play] t= 12.80s step= 640 trunk_z= 79.4mm grav_b=(-0.03,+0.04,-1.00) r=1.38m +[headless_play] t= 12.90s step= 645 trunk_z= 72.3mm grav_b=(+0.03,+0.08,-1.00) r=1.40m +[headless_play] t= 13.00s step= 650 trunk_z= 66.9mm grav_b=(-0.00,-0.07,-1.00) r=1.43m +[headless_play] t= 13.10s step= 655 trunk_z= 69.1mm grav_b=(-0.01,-0.09,-1.00) r=1.45m +[headless_play] t= 13.20s step= 660 trunk_z= 65.3mm grav_b=(-0.02,-0.01,-1.00) r=1.46m +[headless_play] t= 13.30s step= 665 trunk_z= 66.4mm grav_b=(-0.06,+0.14,-0.99) r=1.47m +[headless_play] t= 13.40s step= 670 trunk_z= 70.0mm grav_b=(-0.04,+0.13,-0.99) r=1.48m +[headless_play] t= 13.50s step= 675 trunk_z= 64.4mm grav_b=(-0.02,+0.10,-0.99) r=1.50m +[headless_play] t= 13.60s step= 680 trunk_z= 53.1mm grav_b=(-0.04,-0.01,-1.00) r=1.53m +[headless_play] t= 13.70s step= 685 trunk_z= 53.7mm grav_b=(-0.00,-0.05,-1.00) r=1.55m +[headless_play] t= 13.80s step= 690 trunk_z= 48.4mm grav_b=(+0.10,-0.01,-1.00) r=1.56m +[headless_play] t= 13.90s step= 695 trunk_z= 48.6mm grav_b=(-0.00,+0.11,-0.99) r=1.57m +[headless_play] t= 14.00s step= 700 trunk_z= 52.4mm grav_b=(-0.06,+0.11,-0.99) r=1.59m +[headless_play] t= 14.10s step= 705 trunk_z= 39.4mm grav_b=(-0.02,+0.03,-1.00) r=1.62m +[headless_play] t= 14.20s step= 710 trunk_z= 39.6mm grav_b=(-0.03,-0.10,-0.99) r=1.65m +[headless_play] t= 14.30s step= 715 trunk_z= 39.2mm grav_b=(+0.03,-0.10,-0.99) r=1.66m +[headless_play] t= 14.40s step= 720 trunk_z= 36.4mm grav_b=(+0.04,-0.04,-1.00) r=1.66m +[headless_play] t= 14.50s step= 725 trunk_z= 40.7mm grav_b=(-0.03,+0.04,-1.00) r=1.67m +[headless_play] t= 14.60s step= 730 trunk_z= 36.8mm grav_b=(-0.05,+0.02,-1.00) r=1.68m +[headless_play] t= 14.70s step= 735 trunk_z= 28.8mm grav_b=(-0.05,-0.08,-1.00) r=1.71m +[headless_play] t= 14.80s step= 740 trunk_z= 31.5mm grav_b=(-0.03,-0.08,-1.00) r=1.73m +[headless_play] t= 14.90s step= 745 trunk_z= 26.6mm grav_b=(+0.02,-0.03,-1.00) r=1.74m +[headless_play] t= 15.00s step= 750 trunk_z= 27.6mm grav_b=(+0.02,+0.05,-1.00) r=1.75m +[headless_play] t= 15.10s step= 755 trunk_z= 24.7mm grav_b=(+0.03,+0.03,-1.00) r=1.77m +[headless_play] t= 15.20s step= 760 trunk_z= 14.0mm grav_b=(+0.04,-0.05,-1.00) r=1.80m +[headless_play] t= 15.30s step= 765 trunk_z= 18.6mm grav_b=(+0.00,-0.10,-0.99) r=1.82m +[headless_play] t= 15.40s step= 770 trunk_z= 16.7mm grav_b=(+0.04,-0.06,-1.00) r=1.83m +[headless_play] t= 15.50s step= 775 trunk_z= 13.6mm grav_b=(+0.03,+0.05,-1.00) r=1.82m +[headless_play] t= 15.60s step= 780 trunk_z= 21.1mm grav_b=(-0.04,+0.05,-1.00) r=1.83m +[headless_play] t= 15.70s step= 785 trunk_z= 14.0mm grav_b=(-0.02,+0.04,-1.00) r=1.85m +[headless_play] t= 15.80s step= 790 trunk_z= 9.1mm grav_b=(-0.00,-0.08,-1.00) r=1.88m +[headless_play] t= 15.90s step= 795 trunk_z= 8.2mm grav_b=(+0.06,-0.07,-1.00) r=1.90m +[headless_play] t= 16.00s step= 800 trunk_z= 8.0mm grav_b=(+0.06,+0.03,-1.00) r=1.90m +[headless_play] t= 16.10s step= 805 trunk_z= 13.9mm grav_b=(-0.06,+0.08,-0.99) r=1.91m +[headless_play] t= 16.20s step= 810 trunk_z= 9.7mm grav_b=(-0.03,+0.07,-1.00) r=1.93m +[headless_play] t= 16.30s step= 815 trunk_z= 0.1mm grav_b=(-0.03,-0.05,-1.00) r=1.96m +[headless_play] t= 16.40s step= 820 trunk_z= 0.3mm grav_b=(+0.04,-0.06,-1.00) r=1.98m +[headless_play] t= 16.50s step= 825 trunk_z= -0.9mm grav_b=(+0.09,-0.01,-1.00) r=1.99m +[headless_play] t= 16.60s step= 830 trunk_z= 3.8mm grav_b=(-0.03,+0.10,-0.99) r=1.99m +[headless_play] t= 16.70s step= 835 trunk_z= 7.3mm grav_b=(-0.08,+0.07,-0.99) r=2.00m +[headless_play] t= 16.80s step= 840 trunk_z= -6.3mm grav_b=(-0.05,-0.03,-1.00) r=2.02m +[headless_play] t= 16.90s step= 845 trunk_z= -1.3mm grav_b=(-0.06,-0.11,-0.99) r=2.03m +[headless_play] t= 17.00s step= 850 trunk_z= -0.9mm grav_b=(+0.02,-0.10,-0.99) r=2.04m +[headless_play] t= 17.10s step= 855 trunk_z= -3.6mm grav_b=(+0.05,-0.02,-1.00) r=2.03m +[headless_play] t= 17.20s step= 860 trunk_z= -5.0mm grav_b=(-0.02,+0.02,-1.00) r=2.02m +[headless_play] t= 17.30s step= 865 trunk_z= 6.1mm grav_b=(-0.04,+0.01,-1.00) r=2.01m +[headless_play] t= 17.40s step= 870 trunk_z= 1.0mm grav_b=(-0.09,-0.00,-1.00) r=2.03m +[headless_play] t= 17.50s step= 875 trunk_z= -2.5mm grav_b=(-0.08,-0.17,-0.98) r=2.04m +[headless_play] t= 17.60s step= 880 trunk_z= 2.1mm grav_b=(-0.08,-0.17,-0.98) r=2.06m +[headless_play] t= 17.70s step= 885 trunk_z= 1.3mm grav_b=(-0.05,-0.10,-0.99) r=2.06m +[headless_play] t= 17.80s step= 890 trunk_z= -4.0mm grav_b=(-0.02,-0.01,-1.00) r=2.09m +[headless_play] t= 17.90s step= 895 trunk_z= -0.6mm grav_b=(+0.02,+0.03,-1.00) r=2.10m +[headless_play] t= 18.00s step= 900 trunk_z= 2.9mm grav_b=(+0.01,+0.02,-1.00) r=2.11m +[headless_play] t= 18.10s step= 905 trunk_z= -3.3mm grav_b=(-0.06,+0.03,-1.00) r=2.14m +[headless_play] t= 18.20s step= 910 trunk_z= -6.4mm grav_b=(-0.06,-0.01,-1.00) r=2.15m +[headless_play] t= 18.30s step= 915 trunk_z= -9.8mm grav_b=(-0.08,+0.02,-1.00) r=2.15m +[headless_play] t= 18.40s step= 920 trunk_z= -3.1mm grav_b=(-0.09,+0.07,-0.99) r=2.15m +[headless_play] t= 18.50s step= 925 trunk_z= -1.0mm grav_b=(-0.06,+0.05,-1.00) r=2.16m +[headless_play] t= 18.60s step= 930 trunk_z= -7.3mm grav_b=(-0.04,+0.01,-1.00) r=2.18m +[headless_play] t= 18.70s step= 935 trunk_z= -2.2mm grav_b=(-0.04,-0.05,-1.00) r=2.19m +[headless_play] t= 18.80s step= 940 trunk_z= -1.8mm grav_b=(-0.05,-0.03,-1.00) r=2.20m +[headless_play] t= 18.90s step= 945 trunk_z= -9.4mm grav_b=(-0.07,+0.01,-1.00) r=2.19m +[headless_play] t= 19.00s step= 950 trunk_z= -0.1mm grav_b=(-0.08,+0.07,-0.99) r=2.19m +[headless_play] t= 19.10s step= 955 trunk_z= 0.7mm grav_b=(-0.04,+0.07,-1.00) r=2.20m +[headless_play] t= 19.20s step= 960 trunk_z= -3.9mm grav_b=(-0.04,+0.03,-1.00) r=2.22m +[headless_play] t= 19.30s step= 965 trunk_z= -3.6mm grav_b=(-0.07,-0.06,-1.00) r=2.24m +[headless_play] t= 19.40s step= 970 trunk_z= -3.0mm grav_b=(-0.07,-0.03,-1.00) r=2.25m +[headless_play] t= 19.50s step= 975 trunk_z= -9.4mm grav_b=(-0.08,+0.04,-1.00) r=2.25m +[headless_play] t= 19.60s step= 980 trunk_z= -1.1mm grav_b=(-0.07,+0.07,-0.99) r=2.25m +[headless_play] t= 19.70s step= 985 trunk_z= -3.8mm grav_b=(-0.05,+0.07,-1.00) r=2.27m +[headless_play] t= 19.80s step= 990 trunk_z= -9.5mm grav_b=(-0.02,-0.03,-1.00) r=2.29m +[headless_play] t= 19.90s step= 995 trunk_z= -2.9mm grav_b=(-0.02,-0.04,-1.00) r=2.31m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.8mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(-0.04,+0.03,-1.00) r=0.58m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t2.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..2dd9f261d83352d293e8fdc0f6e71dcfa8d5b830 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t2.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.1mm grav_b=(-0.00,+0.00,-1.00) root_w=(-9.931,-18.190,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.5mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.02,+0.03,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(-0.02,+0.06,-1.00) r=0.22m +[headless_play] t= 0.30s step= 15 trunk_z= 121.0mm grav_b=(+0.03,+0.06,-1.00) r=0.21m +[headless_play] t= 0.40s step= 20 trunk_z= 120.7mm grav_b=(-0.01,+0.04,-1.00) r=0.19m +[headless_play] t= 0.50s step= 25 trunk_z= 118.7mm grav_b=(+0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 0.60s step= 30 trunk_z= 120.8mm grav_b=(+0.02,+0.03,-1.00) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 117.4mm grav_b=(-0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 0.80s step= 40 trunk_z= 125.9mm grav_b=(-0.01,+0.08,-1.00) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 124.6mm grav_b=(-0.02,+0.08,-1.00) r=0.23m +[headless_play] t= 1.00s step= 50 trunk_z= 117.7mm grav_b=(-0.03,-0.03,-1.00) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 123.3mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 122.2mm grav_b=(+0.01,+0.01,-1.00) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 124.2mm grav_b=(+0.00,+0.07,-1.00) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 127.2mm grav_b=(-0.00,+0.07,-1.00) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 122.9mm grav_b=(-0.02,+0.09,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 120.9mm grav_b=(+0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 123.2mm grav_b=(+0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(+0.01,+0.04,-1.00) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 125.2mm grav_b=(-0.02,+0.05,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 123.7mm grav_b=(-0.02,+0.05,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 2.20s step= 110 trunk_z= 123.7mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 121.7mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 2.40s step= 120 trunk_z= 124.4mm grav_b=(-0.00,+0.08,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 127.3mm grav_b=(-0.01,+0.10,-1.00) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 124.3mm grav_b=(-0.03,+0.10,-0.99) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 122.1mm grav_b=(+0.01,+0.03,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 118.0mm grav_b=(+0.02,+0.06,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 125.3mm grav_b=(-0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 3.10s step= 155 trunk_z= 119.9mm grav_b=(-0.02,+0.05,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 120.6mm grav_b=(-0.03,-0.04,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 120.7mm grav_b=(+0.00,+0.03,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 118.8mm grav_b=(-0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 125.8mm grav_b=(-0.04,+0.07,-1.00) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 122.0mm grav_b=(-0.02,+0.07,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 120.7mm grav_b=(+0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 3.80s step= 190 trunk_z= 122.5mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 118.6mm grav_b=(+0.00,+0.05,-1.00) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 126.6mm grav_b=(-0.02,+0.08,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 125.7mm grav_b=(-0.01,+0.08,-1.00) r=0.57m +[headless_play] t= 4.20s step= 210 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 123.2mm grav_b=(-0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 120.2mm grav_b=(+0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 122.8mm grav_b=(-0.01,+0.05,-1.00) r=0.60m +[headless_play] t= 4.60s step= 230 trunk_z= 126.7mm grav_b=(-0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 4.70s step= 235 trunk_z= 120.6mm grav_b=(-0.02,+0.06,-1.00) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 122.1mm grav_b=(+0.00,-0.03,-1.00) r=0.65m +[headless_play] t= 4.90s step= 245 trunk_z= 123.4mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 117.6mm grav_b=(+0.02,+0.05,-1.00) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 126.7mm grav_b=(-0.00,+0.09,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 126.6mm grav_b=(+0.00,+0.10,-0.99) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 120.2mm grav_b=(-0.02,+0.06,-1.00) r=0.70m +[headless_play] t= 5.40s step= 270 trunk_z= 123.7mm grav_b=(-0.00,-0.02,-1.00) r=0.71m +[headless_play] t= 5.50s step= 275 trunk_z= 122.4mm grav_b=(-0.00,+0.00,-1.00) r=0.72m +[headless_play] t= 5.60s step= 280 trunk_z= 119.5mm grav_b=(+0.01,+0.05,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 128.3mm grav_b=(+0.03,+0.08,-1.00) r=0.72m +[headless_play] t= 5.80s step= 290 trunk_z= 129.5mm grav_b=(+0.03,+0.10,-0.99) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 116.6mm grav_b=(+0.00,+0.03,-1.00) r=0.78m +[headless_play] t= 6.00s step= 300 trunk_z= 122.5mm grav_b=(+0.01,+0.04,-1.00) r=0.79m +[headless_play] t= 6.10s step= 305 trunk_z= 116.5mm grav_b=(-0.03,+0.05,-1.00) r=0.78m +[headless_play] t= 6.20s step= 310 trunk_z= 125.1mm grav_b=(-0.04,+0.07,-1.00) r=0.79m +[headless_play] t= 6.30s step= 315 trunk_z= 124.3mm grav_b=(-0.03,+0.07,-1.00) r=0.80m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(-0.01,-0.00,-1.00) r=0.83m +[headless_play] t= 6.50s step= 325 trunk_z= 123.6mm grav_b=(+0.04,+0.00,-1.00) r=0.85m +[headless_play] t= 6.60s step= 330 trunk_z= 121.3mm grav_b=(+0.02,+0.03,-1.00) r=0.85m +[headless_play] t= 6.70s step= 335 trunk_z= 125.4mm grav_b=(-0.01,+0.09,-1.00) r=0.85m +[headless_play] t= 6.80s step= 340 trunk_z= 127.8mm grav_b=(-0.02,+0.10,-1.00) r=0.85m +[headless_play] t= 6.90s step= 345 trunk_z= 124.9mm grav_b=(-0.02,+0.10,-0.99) r=0.87m +[headless_play] t= 7.00s step= 350 trunk_z= 121.2mm grav_b=(+0.00,-0.01,-1.00) r=0.90m +[headless_play] t= 7.10s step= 355 trunk_z= 122.8mm grav_b=(+0.02,+0.01,-1.00) r=0.90m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.00,+0.05,-1.00) r=0.89m +[headless_play] t= 7.30s step= 365 trunk_z= 126.9mm grav_b=(-0.03,+0.09,-1.00) r=0.89m +[headless_play] t= 7.40s step= 370 trunk_z= 126.2mm grav_b=(-0.02,+0.10,-0.99) r=0.90m +[headless_play] t= 7.50s step= 375 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.93m +[headless_play] t= 7.60s step= 380 trunk_z= 123.7mm grav_b=(+0.02,-0.01,-1.00) r=0.95m +[headless_play] t= 7.70s step= 385 trunk_z= 122.4mm grav_b=(+0.02,+0.02,-1.00) r=0.95m +[headless_play] t= 7.80s step= 390 trunk_z= 122.7mm grav_b=(+0.00,+0.07,-1.00) r=0.93m +[headless_play] t= 7.90s step= 395 trunk_z= 126.7mm grav_b=(-0.01,+0.08,-1.00) r=0.94m +[headless_play] t= 8.00s step= 400 trunk_z= 125.3mm grav_b=(-0.03,+0.10,-0.99) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(-0.01,-0.04,-1.00) r=0.98m +[headless_play] t= 8.20s step= 410 trunk_z= 124.1mm grav_b=(+0.03,-0.04,-1.00) r=1.00m +[headless_play] t= 8.30s step= 415 trunk_z= 124.9mm grav_b=(+0.02,-0.02,-1.00) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 123.3mm grav_b=(+0.02,+0.07,-1.00) r=0.99m +[headless_play] t= 8.50s step= 425 trunk_z= 125.8mm grav_b=(-0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 118.8mm grav_b=(+0.03,+0.08,-1.00) r=1.01m +[headless_play] t= 8.70s step= 435 trunk_z= 118.3mm grav_b=(-0.02,-0.05,-1.00) r=1.03m +[headless_play] t= 8.80s step= 440 trunk_z= 120.7mm grav_b=(+0.01,-0.01,-1.00) r=1.03m +[headless_play] t= 8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.01,+0.08,-1.00) r=1.02m +[headless_play] t= 9.00s step= 450 trunk_z= 123.5mm grav_b=(+0.03,+0.06,-1.00) r=1.01m +[headless_play] t= 9.10s step= 455 trunk_z= 121.5mm grav_b=(+0.04,+0.11,-0.99) r=1.02m +[headless_play] t= 9.20s step= 460 trunk_z= 114.1mm grav_b=(+0.02,-0.04,-1.00) r=1.05m +[headless_play] t= 9.30s step= 465 trunk_z= 123.9mm grav_b=(-0.01,-0.08,-1.00) r=1.07m +[headless_play] t= 9.40s step= 470 trunk_z= 122.3mm grav_b=(-0.02,-0.05,-1.00) r=1.08m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=1.07m +[headless_play] t= 9.60s step= 480 trunk_z= 122.7mm grav_b=(+0.04,+0.05,-1.00) r=1.07m +[headless_play] t= 9.70s step= 485 trunk_z= 118.1mm grav_b=(+0.04,+0.07,-1.00) r=1.09m +[headless_play] t= 9.80s step= 490 trunk_z= 111.8mm grav_b=(-0.00,-0.13,-0.99) r=1.12m +[headless_play] t= 9.90s step= 495 trunk_z= 118.9mm grav_b=(+0.00,-0.12,-0.99) r=1.15m +[headless_play] t= 10.00s step= 500 trunk_z= 114.9mm grav_b=(-0.00,-0.10,-1.00) r=1.16m +[headless_play] t= 10.10s step= 505 trunk_z= 109.0mm grav_b=(+0.03,-0.00,-1.00) r=1.16m +[headless_play] t= 10.20s step= 510 trunk_z= 113.2mm grav_b=(+0.07,+0.00,-1.00) r=1.16m +[headless_play] t= 10.30s step= 515 trunk_z= 104.6mm grav_b=(+0.09,+0.03,-1.00) r=1.19m +[headless_play] t= 10.40s step= 520 trunk_z= 97.5mm grav_b=(+0.07,-0.15,-0.99) r=1.22m +[headless_play] t= 10.50s step= 525 trunk_z= 104.1mm grav_b=(+0.04,-0.15,-0.99) r=1.25m +[headless_play] t= 10.60s step= 530 trunk_z= 103.5mm grav_b=(+0.02,-0.10,-1.00) r=1.28m +[headless_play] t= 10.70s step= 535 trunk_z= 93.6mm grav_b=(+0.03,-0.01,-1.00) r=1.31m +[headless_play] t= 10.80s step= 540 trunk_z= 101.2mm grav_b=(+0.05,+0.10,-0.99) r=1.33m +[headless_play] t= 10.90s step= 545 trunk_z= 93.4mm grav_b=(+0.05,+0.13,-0.99) r=1.34m +[headless_play] t= 11.00s step= 550 trunk_z= 75.6mm grav_b=(+0.01,+0.06,-1.00) r=1.38m +[headless_play] t= 11.10s step= 555 trunk_z= 81.8mm grav_b=(+0.00,+0.05,-1.00) r=1.42m +[headless_play] t= 11.20s step= 560 trunk_z= 52.2mm grav_b=(+0.00,+0.04,-1.00) r=1.45m +[headless_play] t= 11.30s step= 565 trunk_z= 67.6mm grav_b=(-0.04,+0.08,-1.00) r=1.46m +[headless_play] t= 11.40s step= 570 trunk_z= 65.0mm grav_b=(-0.11,+0.02,-0.99) r=1.48m +[headless_play] t= 11.50s step= 575 trunk_z= 59.2mm grav_b=(-0.07,-0.10,-0.99) r=1.52m +[headless_play] t= 11.60s step= 580 trunk_z= 61.9mm grav_b=(-0.02,-0.10,-0.99) r=1.53m +[headless_play] t= 11.70s step= 585 trunk_z= 60.1mm grav_b=(+0.02,-0.05,-1.00) r=1.52m +[headless_play] t= 11.80s step= 590 trunk_z= 65.2mm grav_b=(+0.04,+0.01,-1.00) r=1.51m +[headless_play] t= 11.90s step= 595 trunk_z= 66.7mm grav_b=(-0.00,+0.02,-1.00) r=1.53m +[headless_play] t= 12.00s step= 600 trunk_z= 45.8mm grav_b=(-0.04,-0.10,-0.99) r=1.57m +[headless_play] t= 12.10s step= 605 trunk_z= 54.2mm grav_b=(-0.01,-0.11,-0.99) r=1.59m +[headless_play] t= 12.20s step= 610 trunk_z= 51.8mm grav_b=(+0.00,-0.06,-1.00) r=1.60m +[headless_play] t= 12.30s step= 615 trunk_z= 48.2mm grav_b=(+0.03,+0.03,-1.00) r=1.60m +[headless_play] t= 12.40s step= 620 trunk_z= 61.9mm grav_b=(+0.03,+0.04,-1.00) r=1.60m +[headless_play] t= 12.50s step= 625 trunk_z= 58.1mm grav_b=(-0.02,+0.03,-1.00) r=1.61m +[headless_play] t= 12.60s step= 630 trunk_z= 39.2mm grav_b=(-0.03,-0.06,-1.00) r=1.65m +[headless_play] t= 12.70s step= 635 trunk_z= 45.1mm grav_b=(+0.00,-0.08,-1.00) r=1.66m +[headless_play] t= 12.80s step= 640 trunk_z= 43.9mm grav_b=(-0.00,-0.05,-1.00) r=1.65m +[headless_play] t= 12.90s step= 645 trunk_z= 48.3mm grav_b=(-0.05,-0.01,-1.00) r=1.64m +[headless_play] t= 13.00s step= 650 trunk_z= 45.9mm grav_b=(-0.09,-0.06,-0.99) r=1.65m +[headless_play] t= 13.10s step= 655 trunk_z= 44.1mm grav_b=(-0.01,-0.11,-0.99) r=1.68m +[headless_play] t= 13.20s step= 660 trunk_z= 47.2mm grav_b=(+0.00,-0.08,-1.00) r=1.68m +[headless_play] t= 13.30s step= 665 trunk_z= 45.8mm grav_b=(+0.01,-0.05,-1.00) r=1.67m +[headless_play] t= 13.40s step= 670 trunk_z= 50.4mm grav_b=(+0.01,+0.03,-1.00) r=1.65m +[headless_play] t= 13.50s step= 675 trunk_z= 54.3mm grav_b=(-0.07,+0.05,-1.00) r=1.65m +[headless_play] t= 13.60s step= 680 trunk_z= 43.8mm grav_b=(-0.06,-0.00,-1.00) r=1.67m +[headless_play] t= 13.70s step= 685 trunk_z= 42.9mm grav_b=(+0.00,-0.07,-1.00) r=1.69m +[headless_play] t= 13.80s step= 690 trunk_z= 43.7mm grav_b=(-0.00,-0.04,-1.00) r=1.69m +[headless_play] t= 13.90s step= 695 trunk_z= 43.8mm grav_b=(-0.00,+0.01,-1.00) r=1.67m +[headless_play] t= 14.00s step= 700 trunk_z= 49.4mm grav_b=(-0.06,-0.00,-1.00) r=1.67m +[headless_play] t= 14.10s step= 705 trunk_z= 37.9mm grav_b=(-0.04,-0.06,-1.00) r=1.69m +[headless_play] t= 14.20s step= 710 trunk_z= 43.3mm grav_b=(+0.00,-0.08,-1.00) r=1.70m +[headless_play] t= 14.30s step= 715 trunk_z= 43.6mm grav_b=(+0.00,-0.03,-1.00) r=1.70m +[headless_play] t= 14.40s step= 720 trunk_z= 44.6mm grav_b=(-0.02,+0.00,-1.00) r=1.67m +[headless_play] t= 14.50s step= 725 trunk_z= 48.5mm grav_b=(-0.06,-0.03,-1.00) r=1.67m +[headless_play] t= 14.60s step= 730 trunk_z= 37.1mm grav_b=(-0.03,-0.04,-1.00) r=1.70m +[headless_play] t= 14.70s step= 735 trunk_z= 40.9mm grav_b=(+0.00,-0.06,-1.00) r=1.71m +[headless_play] t= 14.80s step= 740 trunk_z= 42.0mm grav_b=(+0.01,-0.01,-1.00) r=1.70m +[headless_play] t= 14.90s step= 745 trunk_z= 49.6mm grav_b=(+0.00,+0.04,-1.00) r=1.68m +[headless_play] t= 15.00s step= 750 trunk_z= 51.4mm grav_b=(-0.04,+0.04,-1.00) r=1.67m +[headless_play] t= 15.10s step= 755 trunk_z= 40.2mm grav_b=(-0.05,-0.03,-1.00) r=1.68m +[headless_play] t= 15.20s step= 760 trunk_z= 44.8mm grav_b=(-0.02,-0.09,-1.00) r=1.69m +[headless_play] t= 15.30s step= 765 trunk_z= 43.2mm grav_b=(-0.02,-0.02,-1.00) r=1.69m +[headless_play] t= 15.40s step= 770 trunk_z= 38.5mm grav_b=(+0.04,+0.06,-1.00) r=1.68m +[headless_play] t= 15.50s step= 775 trunk_z= 38.6mm grav_b=(+0.04,+0.05,-1.00) r=1.70m +[headless_play] t= 15.60s step= 780 trunk_z= 28.9mm grav_b=(+0.04,-0.03,-1.00) r=1.72m +[headless_play] t= 15.70s step= 785 trunk_z= 39.1mm grav_b=(+0.03,-0.12,-0.99) r=1.73m +[headless_play] t= 15.80s step= 790 trunk_z= 38.9mm grav_b=(+0.04,-0.12,-0.99) r=1.74m +[headless_play] t= 15.90s step= 795 trunk_z= 36.3mm grav_b=(+0.05,-0.07,-1.00) r=1.73m +[headless_play] t= 16.00s step= 800 trunk_z= 36.1mm grav_b=(+0.03,+0.00,-1.00) r=1.72m +[headless_play] t= 16.10s step= 805 trunk_z= 41.9mm grav_b=(+0.01,-0.03,-1.00) r=1.71m +[headless_play] t= 16.20s step= 810 trunk_z= 32.7mm grav_b=(+0.01,-0.03,-1.00) r=1.73m +[headless_play] t= 16.30s step= 815 trunk_z= 36.1mm grav_b=(+0.02,-0.11,-0.99) r=1.74m +[headless_play] t= 16.40s step= 820 trunk_z= 35.9mm grav_b=(+0.03,-0.07,-1.00) r=1.74m +[headless_play] t= 16.50s step= 825 trunk_z= 34.7mm grav_b=(+0.04,+0.02,-1.00) r=1.72m +[headless_play] t= 16.60s step= 830 trunk_z= 41.9mm grav_b=(+0.02,+0.00,-1.00) r=1.72m +[headless_play] t= 16.70s step= 835 trunk_z= 35.4mm grav_b=(+0.01,-0.00,-1.00) r=1.73m +[headless_play] t= 16.80s step= 840 trunk_z= 36.8mm grav_b=(+0.02,-0.11,-0.99) r=1.74m +[headless_play] t= 16.90s step= 845 trunk_z= 38.9mm grav_b=(+0.03,-0.09,-1.00) r=1.75m +[headless_play] t= 17.00s step= 850 trunk_z= 34.8mm grav_b=(+0.05,-0.04,-1.00) r=1.74m +[headless_play] t= 17.10s step= 855 trunk_z= 40.7mm grav_b=(+0.04,+0.02,-1.00) r=1.72m +[headless_play] t= 17.20s step= 860 trunk_z= 41.4mm grav_b=(+0.02,-0.01,-1.00) r=1.72m +[headless_play] t= 17.30s step= 865 trunk_z= 30.4mm grav_b=(+0.02,-0.06,-1.00) r=1.73m +[headless_play] t= 17.40s step= 870 trunk_z= 39.4mm grav_b=(+0.02,-0.12,-0.99) r=1.74m +[headless_play] t= 17.50s step= 875 trunk_z= 39.1mm grav_b=(+0.04,-0.09,-1.00) r=1.74m +[headless_play] t= 17.60s step= 880 trunk_z= 34.1mm grav_b=(+0.05,-0.01,-1.00) r=1.72m +[headless_play] t= 17.70s step= 885 trunk_z= 45.1mm grav_b=(-0.00,+0.03,-1.00) r=1.71m +[headless_play] t= 17.80s step= 890 trunk_z= 45.3mm grav_b=(-0.00,+0.03,-1.00) r=1.70m +[headless_play] t= 17.90s step= 895 trunk_z= 35.5mm grav_b=(+0.03,-0.04,-1.00) r=1.70m +[headless_play] t= 18.00s step= 900 trunk_z= 39.6mm grav_b=(+0.05,-0.05,-1.00) r=1.71m +[headless_play] t= 18.10s step= 905 trunk_z= 38.9mm grav_b=(+0.06,+0.00,-1.00) r=1.70m +[headless_play] t= 18.20s step= 910 trunk_z= 46.6mm grav_b=(+0.01,+0.05,-1.00) r=1.68m +[headless_play] t= 18.30s step= 915 trunk_z= 47.4mm grav_b=(-0.01,+0.04,-1.00) r=1.67m +[headless_play] t= 18.40s step= 920 trunk_z= 40.8mm grav_b=(+0.01,-0.03,-1.00) r=1.67m +[headless_play] t= 18.50s step= 925 trunk_z= 46.4mm grav_b=(+0.03,-0.03,-1.00) r=1.67m +[headless_play] t= 18.60s step= 930 trunk_z= 43.8mm grav_b=(+0.04,-0.00,-1.00) r=1.66m +[headless_play] t= 18.70s step= 935 trunk_z= 49.1mm grav_b=(+0.01,+0.05,-1.00) r=1.64m +[headless_play] t= 18.80s step= 940 trunk_z= 52.3mm grav_b=(-0.01,+0.02,-1.00) r=1.64m +[headless_play] t= 18.90s step= 945 trunk_z= 43.6mm grav_b=(+0.00,-0.02,-1.00) r=1.64m +[headless_play] t= 19.00s step= 950 trunk_z= 49.3mm grav_b=(+0.03,-0.02,-1.00) r=1.63m +[headless_play] t= 19.10s step= 955 trunk_z= 46.8mm grav_b=(+0.04,+0.01,-1.00) r=1.62m +[headless_play] t= 19.20s step= 960 trunk_z= 52.0mm grav_b=(+0.02,+0.06,-1.00) r=1.61m +[headless_play] t= 19.30s step= 965 trunk_z= 55.6mm grav_b=(+0.01,+0.04,-1.00) r=1.61m +[headless_play] t= 19.40s step= 970 trunk_z= 46.0mm grav_b=(+0.02,-0.01,-1.00) r=1.61m +[headless_play] t= 19.50s step= 975 trunk_z= 51.2mm grav_b=(+0.04,-0.05,-1.00) r=1.61m +[headless_play] t= 19.60s step= 980 trunk_z= 50.0mm grav_b=(+0.05,-0.02,-1.00) r=1.60m +[headless_play] t= 19.70s step= 985 trunk_z= 52.7mm grav_b=(+0.01,+0.06,-1.00) r=1.58m +[headless_play] t= 19.80s step= 990 trunk_z= 59.9mm grav_b=(-0.00,+0.04,-1.00) r=1.58m +[headless_play] t= 19.90s step= 995 trunk_z= 51.7mm grav_b=(+0.03,+0.01,-1.00) r=1.58m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.9mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 115.0mm grav_b=(+0.02,+0.05,-1.00) r=0.51m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t3.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..89ef987d8ded83e321c0f6ccb2b62d15c327016b --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.4mm grav_b=(-0.00,+0.00,-1.00) root_w=(-10.169,-18.123,+0.247) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 118.6mm grav_b=(+0.01,+0.04,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 118.2mm grav_b=(+0.01,+0.03,-1.00) r=0.18m +[headless_play] t= 0.40s step= 20 trunk_z= 113.8mm grav_b=(+0.01,-0.03,-1.00) r=0.15m +[headless_play] t= 0.50s step= 25 trunk_z= 120.3mm grav_b=(-0.00,-0.00,-1.00) r=0.13m +[headless_play] t= 0.60s step= 30 trunk_z= 115.6mm grav_b=(-0.01,+0.06,-1.00) r=0.14m +[headless_play] t= 0.70s step= 35 trunk_z= 124.6mm grav_b=(-0.01,+0.05,-1.00) r=0.14m +[headless_play] t= 0.80s step= 40 trunk_z= 119.3mm grav_b=(-0.00,+0.06,-1.00) r=0.12m +[headless_play] t= 0.90s step= 45 trunk_z= 119.9mm grav_b=(-0.00,-0.04,-1.00) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 121.1mm grav_b=(+0.01,-0.02,-1.00) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 118.2mm grav_b=(+0.00,+0.07,-1.00) r=0.12m +[headless_play] t= 1.20s step= 60 trunk_z= 124.8mm grav_b=(-0.01,+0.04,-1.00) r=0.13m +[headless_play] t= 1.30s step= 65 trunk_z= 117.9mm grav_b=(+0.02,+0.08,-1.00) r=0.12m +[headless_play] t= 1.40s step= 70 trunk_z= 120.6mm grav_b=(-0.02,-0.06,-1.00) r=0.13m +[headless_play] t= 1.50s step= 75 trunk_z= 121.0mm grav_b=(+0.00,-0.01,-1.00) r=0.14m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(-0.01,+0.07,-1.00) r=0.17m +[headless_play] t= 1.70s step= 85 trunk_z= 125.9mm grav_b=(-0.01,+0.06,-1.00) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 120.0mm grav_b=(-0.01,+0.08,-1.00) r=0.19m +[headless_play] t= 1.90s step= 95 trunk_z= 119.7mm grav_b=(-0.02,-0.06,-1.00) r=0.20m +[headless_play] t= 2.00s step= 100 trunk_z= 124.0mm grav_b=(-0.01,-0.04,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 117.9mm grav_b=(-0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 125.3mm grav_b=(-0.04,+0.06,-1.00) r=0.25m +[headless_play] t= 2.30s step= 115 trunk_z= 125.3mm grav_b=(-0.00,+0.07,-1.00) r=0.26m +[headless_play] t= 2.40s step= 120 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 122.2mm grav_b=(+0.00,-0.05,-1.00) r=0.29m +[headless_play] t= 2.60s step= 130 trunk_z= 120.5mm grav_b=(-0.00,+0.01,-1.00) r=0.31m +[headless_play] t= 2.70s step= 135 trunk_z= 122.7mm grav_b=(-0.02,+0.06,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 124.2mm grav_b=(+0.01,+0.07,-1.00) r=0.34m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(-0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 122.9mm grav_b=(-0.00,-0.07,-1.00) r=0.38m +[headless_play] t= 3.10s step= 155 trunk_z= 121.8mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 119.4mm grav_b=(-0.02,+0.06,-1.00) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 125.2mm grav_b=(-0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 3.40s step= 170 trunk_z= 119.0mm grav_b=(-0.02,+0.08,-1.00) r=0.44m +[headless_play] t= 3.50s step= 175 trunk_z= 120.8mm grav_b=(-0.01,-0.07,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 122.1mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 3.70s step= 185 trunk_z= 116.8mm grav_b=(-0.02,+0.05,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 125.1mm grav_b=(-0.02,+0.05,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 119.8mm grav_b=(-0.01,+0.05,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 119.0mm grav_b=(+0.00,-0.04,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 120.6mm grav_b=(+0.00,-0.02,-1.00) r=0.57m +[headless_play] t= 4.20s step= 210 trunk_z= 118.2mm grav_b=(-0.02,+0.06,-1.00) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 124.5mm grav_b=(-0.01,+0.07,-1.00) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(+0.00,+0.05,-1.00) r=0.63m +[headless_play] t= 4.50s step= 225 trunk_z= 119.7mm grav_b=(+0.00,-0.03,-1.00) r=0.65m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(+0.02,+0.00,-1.00) r=0.67m +[headless_play] t= 4.70s step= 235 trunk_z= 119.4mm grav_b=(-0.01,+0.07,-1.00) r=0.68m +[headless_play] t= 4.80s step= 240 trunk_z= 124.0mm grav_b=(-0.02,+0.06,-1.00) r=0.69m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) r=0.72m +[headless_play] t= 5.00s step= 250 trunk_z= 120.3mm grav_b=(-0.01,-0.03,-1.00) r=0.74m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(+0.03,+0.02,-1.00) r=0.75m +[headless_play] t= 5.20s step= 260 trunk_z= 122.8mm grav_b=(-0.01,+0.09,-1.00) r=0.77m +[headless_play] t= 5.30s step= 265 trunk_z= 124.3mm grav_b=(-0.03,+0.08,-1.00) r=0.78m +[headless_play] t= 5.40s step= 270 trunk_z= 115.7mm grav_b=(-0.00,+0.02,-1.00) r=0.80m +[headless_play] t= 5.50s step= 275 trunk_z= 121.9mm grav_b=(-0.01,-0.06,-1.00) r=0.83m +[headless_play] t= 5.60s step= 280 trunk_z= 118.2mm grav_b=(+0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 5.70s step= 285 trunk_z= 120.5mm grav_b=(-0.02,+0.09,-1.00) r=0.86m +[headless_play] t= 5.80s step= 290 trunk_z= 125.4mm grav_b=(-0.01,+0.07,-1.00) r=0.87m +[headless_play] t= 5.90s step= 295 trunk_z= 117.2mm grav_b=(+0.00,+0.04,-1.00) r=0.90m +[headless_play] t= 6.00s step= 300 trunk_z= 120.9mm grav_b=(-0.01,-0.04,-1.00) r=0.92m +[headless_play] t= 6.10s step= 305 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.93m +[headless_play] t= 6.20s step= 310 trunk_z= 120.7mm grav_b=(+0.02,+0.08,-1.00) r=0.94m +[headless_play] t= 6.30s step= 315 trunk_z= 123.5mm grav_b=(+0.01,+0.08,-1.00) r=0.95m +[headless_play] t= 6.40s step= 320 trunk_z= 114.7mm grav_b=(-0.00,+0.04,-1.00) r=0.98m +[headless_play] t= 6.50s step= 325 trunk_z= 122.6mm grav_b=(-0.01,-0.05,-1.00) r=1.01m +[headless_play] t= 6.60s step= 330 trunk_z= 120.1mm grav_b=(+0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.01,+0.06,-1.00) r=1.02m +[headless_play] t= 6.80s step= 340 trunk_z= 125.2mm grav_b=(-0.01,+0.07,-1.00) r=1.03m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(+0.01,+0.05,-1.00) r=1.05m +[headless_play] t= 7.00s step= 350 trunk_z= 120.6mm grav_b=(+0.00,-0.04,-1.00) r=1.08m +[headless_play] t= 7.10s step= 355 trunk_z= 118.9mm grav_b=(+0.01,-0.01,-1.00) r=1.09m +[headless_play] t= 7.20s step= 360 trunk_z= 119.6mm grav_b=(-0.01,+0.08,-1.00) r=1.10m +[headless_play] t= 7.30s step= 365 trunk_z= 122.5mm grav_b=(+0.01,+0.07,-1.00) r=1.11m +[headless_play] t= 7.40s step= 370 trunk_z= 110.7mm grav_b=(+0.03,+0.04,-1.00) r=1.14m +[headless_play] t= 7.50s step= 375 trunk_z= 111.3mm grav_b=(+0.03,-0.09,-1.00) r=1.18m +[headless_play] t= 7.60s step= 380 trunk_z= 114.5mm grav_b=(+0.04,-0.07,-1.00) r=1.20m +[headless_play] t= 7.70s step= 385 trunk_z= 111.6mm grav_b=(+0.01,-0.02,-1.00) r=1.21m +[headless_play] t= 7.80s step= 390 trunk_z= 102.2mm grav_b=(-0.02,+0.02,-1.00) r=1.23m +[headless_play] t= 7.90s step= 395 trunk_z= 106.1mm grav_b=(-0.06,+0.05,-1.00) r=1.25m +[headless_play] t= 8.00s step= 400 trunk_z= 90.1mm grav_b=(-0.02,+0.03,-1.00) r=1.27m +[headless_play] t= 8.10s step= 405 trunk_z= 90.1mm grav_b=(+0.06,+0.03,-1.00) r=1.29m +[headless_play] t= 8.20s step= 410 trunk_z= 91.0mm grav_b=(+0.08,+0.11,-0.99) r=1.30m +[headless_play] t= 8.30s step= 415 trunk_z= 99.3mm grav_b=(+0.02,+0.10,-1.00) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 84.3mm grav_b=(-0.02,+0.06,-1.00) r=1.36m +[headless_play] t= 8.50s step= 425 trunk_z= 80.1mm grav_b=(+0.01,-0.09,-1.00) r=1.40m +[headless_play] t= 8.60s step= 430 trunk_z= 82.2mm grav_b=(+0.07,-0.07,-0.99) r=1.43m +[headless_play] t= 8.70s step= 435 trunk_z= 76.4mm grav_b=(+0.01,+0.02,-1.00) r=1.45m +[headless_play] t= 8.80s step= 440 trunk_z= 78.5mm grav_b=(-0.00,+0.00,-1.00) r=1.47m +[headless_play] t= 8.90s step= 445 trunk_z= 54.5mm grav_b=(-0.02,-0.01,-1.00) r=1.51m +[headless_play] t= 9.00s step= 450 trunk_z= 60.6mm grav_b=(+0.01,-0.02,-1.00) r=1.53m +[headless_play] t= 9.10s step= 455 trunk_z= 59.0mm grav_b=(+0.08,+0.03,-1.00) r=1.54m +[headless_play] t= 9.20s step= 460 trunk_z= 68.2mm grav_b=(+0.06,+0.05,-1.00) r=1.55m +[headless_play] t= 9.30s step= 465 trunk_z= 59.7mm grav_b=(-0.02,+0.01,-1.00) r=1.58m +[headless_play] t= 9.40s step= 470 trunk_z= 48.5mm grav_b=(+0.04,-0.07,-1.00) r=1.61m +[headless_play] t= 9.50s step= 475 trunk_z= 52.6mm grav_b=(+0.04,-0.03,-1.00) r=1.62m +[headless_play] t= 9.60s step= 480 trunk_z= 55.5mm grav_b=(+0.03,+0.06,-1.00) r=1.61m +[headless_play] t= 9.70s step= 485 trunk_z= 59.7mm grav_b=(-0.03,+0.01,-1.00) r=1.62m +[headless_play] t= 9.80s step= 490 trunk_z= 42.1mm grav_b=(-0.03,-0.01,-1.00) r=1.66m +[headless_play] t= 9.90s step= 495 trunk_z= 48.8mm grav_b=(-0.01,-0.11,-0.99) r=1.68m +[headless_play] t= 10.00s step= 500 trunk_z= 49.9mm grav_b=(-0.02,-0.11,-0.99) r=1.69m +[headless_play] t= 10.10s step= 505 trunk_z= 48.2mm grav_b=(+0.02,-0.10,-0.99) r=1.69m +[headless_play] t= 10.20s step= 510 trunk_z= 45.7mm grav_b=(+0.02,-0.03,-1.00) r=1.68m +[headless_play] t= 10.30s step= 515 trunk_z= 51.4mm grav_b=(-0.00,-0.04,-1.00) r=1.67m +[headless_play] t= 10.40s step= 520 trunk_z= 37.6mm grav_b=(-0.02,-0.05,-1.00) r=1.70m +[headless_play] t= 10.50s step= 525 trunk_z= 43.6mm grav_b=(-0.03,-0.09,-1.00) r=1.72m +[headless_play] t= 10.60s step= 530 trunk_z= 44.5mm grav_b=(-0.01,-0.08,-1.00) r=1.73m +[headless_play] t= 10.70s step= 535 trunk_z= 39.4mm grav_b=(+0.02,-0.02,-1.00) r=1.72m +[headless_play] t= 10.80s step= 540 trunk_z= 45.6mm grav_b=(+0.02,-0.04,-1.00) r=1.72m +[headless_play] t= 10.90s step= 545 trunk_z= 41.4mm grav_b=(+0.11,-0.10,-0.99) r=1.73m +[headless_play] t= 11.00s step= 550 trunk_z= 41.2mm grav_b=(+0.07,+0.02,-1.00) r=1.73m +[headless_play] t= 11.10s step= 555 trunk_z= 53.4mm grav_b=(+0.03,+0.03,-1.00) r=1.74m +[headless_play] t= 11.20s step= 560 trunk_z= 37.6mm grav_b=(-0.03,+0.05,-1.00) r=1.76m +[headless_play] t= 11.30s step= 565 trunk_z= 35.0mm grav_b=(-0.03,-0.04,-1.00) r=1.79m +[headless_play] t= 11.40s step= 570 trunk_z= 38.4mm grav_b=(-0.01,-0.05,-1.00) r=1.79m +[headless_play] t= 11.50s step= 575 trunk_z= 34.4mm grav_b=(+0.02,-0.01,-1.00) r=1.78m +[headless_play] t= 11.60s step= 580 trunk_z= 40.5mm grav_b=(+0.00,-0.03,-1.00) r=1.77m +[headless_play] t= 11.70s step= 585 trunk_z= 32.2mm grav_b=(-0.00,-0.10,-0.99) r=1.78m +[headless_play] t= 11.80s step= 590 trunk_z= 37.9mm grav_b=(+0.01,-0.10,-0.99) r=1.79m +[headless_play] t= 11.90s step= 595 trunk_z= 37.8mm grav_b=(+0.00,-0.06,-1.00) r=1.78m +[headless_play] t= 12.00s step= 600 trunk_z= 40.6mm grav_b=(-0.01,+0.01,-1.00) r=1.76m +[headless_play] t= 12.10s step= 605 trunk_z= 39.6mm grav_b=(-0.01,-0.01,-1.00) r=1.77m +[headless_play] t= 12.20s step= 610 trunk_z= 32.6mm grav_b=(+0.00,-0.09,-1.00) r=1.79m +[headless_play] t= 12.30s step= 615 trunk_z= 37.1mm grav_b=(+0.03,-0.07,-1.00) r=1.79m +[headless_play] t= 12.40s step= 620 trunk_z= 36.2mm grav_b=(+0.03,-0.01,-1.00) r=1.77m +[headless_play] t= 12.50s step= 625 trunk_z= 43.4mm grav_b=(-0.01,+0.00,-1.00) r=1.76m +[headless_play] t= 12.60s step= 630 trunk_z= 36.4mm grav_b=(-0.03,-0.01,-1.00) r=1.78m +[headless_play] t= 12.70s step= 635 trunk_z= 37.4mm grav_b=(-0.03,-0.08,-1.00) r=1.79m +[headless_play] t= 12.80s step= 640 trunk_z= 39.6mm grav_b=(-0.02,-0.07,-1.00) r=1.79m +[headless_play] t= 12.90s step= 645 trunk_z= 34.7mm grav_b=(-0.01,-0.02,-1.00) r=1.77m +[headless_play] t= 13.00s step= 650 trunk_z= 41.0mm grav_b=(-0.02,-0.03,-1.00) r=1.76m +[headless_play] t= 13.10s step= 655 trunk_z= 35.5mm grav_b=(+0.03,-0.08,-1.00) r=1.77m +[headless_play] t= 13.20s step= 660 trunk_z= 35.5mm grav_b=(+0.04,-0.02,-1.00) r=1.75m +[headless_play] t= 13.30s step= 665 trunk_z= 46.9mm grav_b=(-0.01,+0.00,-1.00) r=1.73m +[headless_play] t= 13.40s step= 670 trunk_z= 40.0mm grav_b=(-0.06,-0.01,-1.00) r=1.73m +[headless_play] t= 13.50s step= 675 trunk_z= 40.0mm grav_b=(-0.01,-0.10,-1.00) r=1.74m +[headless_play] t= 13.60s step= 680 trunk_z= 42.4mm grav_b=(+0.01,-0.09,-1.00) r=1.74m +[headless_play] t= 13.70s step= 685 trunk_z= 40.7mm grav_b=(+0.04,-0.04,-1.00) r=1.74m +[headless_play] t= 13.80s step= 690 trunk_z= 36.5mm grav_b=(+0.02,+0.04,-1.00) r=1.71m +[headless_play] t= 13.90s step= 695 trunk_z= 46.5mm grav_b=(+0.03,-0.02,-1.00) r=1.70m +[headless_play] t= 14.00s step= 700 trunk_z= 33.2mm grav_b=(+0.02,-0.06,-1.00) r=1.72m +[headless_play] t= 14.10s step= 705 trunk_z= 42.8mm grav_b=(-0.00,-0.10,-0.99) r=1.73m +[headless_play] t= 14.20s step= 710 trunk_z= 43.5mm grav_b=(+0.02,-0.08,-1.00) r=1.73m +[headless_play] t= 14.30s step= 715 trunk_z= 38.0mm grav_b=(+0.01,-0.04,-1.00) r=1.72m +[headless_play] t= 14.40s step= 720 trunk_z= 43.8mm grav_b=(+0.01,-0.01,-1.00) r=1.71m +[headless_play] t= 14.50s step= 725 trunk_z= 40.8mm grav_b=(+0.10,-0.06,-0.99) r=1.70m +[headless_play] t= 14.60s step= 730 trunk_z= 40.2mm grav_b=(+0.09,-0.01,-1.00) r=1.69m +[headless_play] t= 14.70s step= 735 trunk_z= 47.9mm grav_b=(+0.03,+0.01,-1.00) r=1.67m +[headless_play] t= 14.80s step= 740 trunk_z= 47.5mm grav_b=(-0.04,-0.00,-1.00) r=1.68m +[headless_play] t= 14.90s step= 745 trunk_z= 38.1mm grav_b=(-0.04,-0.09,-1.00) r=1.69m +[headless_play] t= 15.00s step= 750 trunk_z= 46.1mm grav_b=(-0.02,-0.11,-0.99) r=1.71m +[headless_play] t= 15.10s step= 755 trunk_z= 47.6mm grav_b=(+0.03,-0.09,-1.00) r=1.71m +[headless_play] t= 15.20s step= 760 trunk_z= 42.4mm grav_b=(-0.01,+0.04,-1.00) r=1.71m +[headless_play] t= 15.30s step= 765 trunk_z= 45.5mm grav_b=(+0.03,+0.09,-1.00) r=1.70m +[headless_play] t= 15.40s step= 770 trunk_z= 43.7mm grav_b=(+0.05,-0.01,-1.00) r=1.70m +[headless_play] t= 15.50s step= 775 trunk_z= 36.0mm grav_b=(-0.03,-0.07,-1.00) r=1.72m +[headless_play] t= 15.60s step= 780 trunk_z= 40.6mm grav_b=(+0.03,-0.08,-1.00) r=1.74m +[headless_play] t= 15.70s step= 785 trunk_z= 38.9mm grav_b=(+0.05,-0.03,-1.00) r=1.74m +[headless_play] t= 15.80s step= 790 trunk_z= 38.3mm grav_b=(+0.05,+0.03,-1.00) r=1.72m +[headless_play] t= 15.90s step= 795 trunk_z= 45.7mm grav_b=(-0.02,-0.03,-1.00) r=1.73m +[headless_play] t= 16.00s step= 800 trunk_z= 29.1mm grav_b=(-0.02,-0.04,-1.00) r=1.76m +[headless_play] t= 16.10s step= 805 trunk_z= 35.5mm grav_b=(+0.01,-0.05,-1.00) r=1.78m +[headless_play] t= 16.20s step= 810 trunk_z= 32.4mm grav_b=(+0.01,+0.01,-1.00) r=1.78m +[headless_play] t= 16.30s step= 815 trunk_z= 36.8mm grav_b=(+0.02,+0.03,-1.00) r=1.78m +[headless_play] t= 16.40s step= 820 trunk_z= 30.4mm grav_b=(+0.06,-0.06,-1.00) r=1.80m +[headless_play] t= 16.50s step= 825 trunk_z= 30.4mm grav_b=(+0.13,-0.07,-0.99) r=1.82m +[headless_play] t= 16.60s step= 830 trunk_z= 24.3mm grav_b=(+0.03,+0.06,-1.00) r=1.82m +[headless_play] t= 16.70s step= 835 trunk_z= 17.7mm grav_b=(+0.08,+0.06,-1.00) r=1.83m +[headless_play] t= 16.80s step= 840 trunk_z= 32.9mm grav_b=(-0.01,-0.01,-1.00) r=1.85m +[headless_play] t= 16.90s step= 845 trunk_z= 17.3mm grav_b=(+0.04,-0.03,-1.00) r=1.89m +[headless_play] t= 17.00s step= 850 trunk_z= 24.2mm grav_b=(+0.02,+0.01,-1.00) r=1.91m +[headless_play] t= 17.10s step= 855 trunk_z= 21.6mm grav_b=(-0.01,+0.07,-1.00) r=1.92m +[headless_play] t= 17.20s step= 860 trunk_z= 28.3mm grav_b=(-0.04,+0.06,-1.00) r=1.94m +[headless_play] t= 17.30s step= 865 trunk_z= 16.5mm grav_b=(-0.01,+0.07,-1.00) r=1.97m +[headless_play] t= 17.40s step= 870 trunk_z= 14.4mm grav_b=(+0.02,-0.02,-1.00) r=1.99m +[headless_play] t= 17.50s step= 875 trunk_z= 12.9mm grav_b=(+0.08,+0.01,-1.00) r=2.02m +[headless_play] t= 17.60s step= 880 trunk_z= 15.2mm grav_b=(-0.01,+0.12,-0.99) r=2.04m +[headless_play] t= 17.70s step= 885 trunk_z= 16.4mm grav_b=(+0.01,+0.11,-0.99) r=2.06m +[headless_play] t= 17.80s step= 890 trunk_z= 7.5mm grav_b=(+0.02,+0.09,-1.00) r=2.09m +[headless_play] t= 17.90s step= 895 trunk_z= 8.3mm grav_b=(-0.00,-0.05,-1.00) r=2.12m +[headless_play] t= 18.00s step= 900 trunk_z= 7.9mm grav_b=(+0.03,-0.06,-1.00) r=2.14m +[headless_play] t= 18.10s step= 905 trunk_z= 2.9mm grav_b=(+0.01,+0.04,-1.00) r=2.15m +[headless_play] t= 18.20s step= 910 trunk_z= 7.3mm grav_b=(-0.01,+0.05,-1.00) r=2.16m +[headless_play] t= 18.30s step= 915 trunk_z= 0.3mm grav_b=(+0.01,+0.06,-1.00) r=2.18m +[headless_play] t= 18.40s step= 920 trunk_z= -3.5mm grav_b=(+0.02,-0.02,-1.00) r=2.21m +[headless_play] t= 18.50s step= 925 trunk_z= -3.8mm grav_b=(+0.08,-0.04,-1.00) r=2.23m +[headless_play] t= 18.60s step= 930 trunk_z= -5.3mm grav_b=(+0.02,+0.05,-1.00) r=2.23m +[headless_play] t= 18.70s step= 935 trunk_z= -1.9mm grav_b=(+0.00,+0.03,-1.00) r=2.25m +[headless_play] t= 18.80s step= 940 trunk_z= -12.8mm grav_b=(+0.01,+0.01,-1.00) r=2.28m +[headless_play] t= 18.90s step= 945 trunk_z= -3.9mm grav_b=(+0.01,+0.04,-1.00) r=2.29m +[headless_play] t= 19.00s step= 950 trunk_z= -6.9mm grav_b=(-0.01,+0.07,-1.00) r=2.30m +[headless_play] t= 19.10s step= 955 trunk_z= 1.2mm grav_b=(-0.01,+0.05,-1.00) r=2.29m +[headless_play] t= 19.20s step= 960 trunk_z= 0.4mm grav_b=(-0.01,+0.03,-1.00) r=2.30m +[headless_play] t= 19.30s step= 965 trunk_z= -7.7mm grav_b=(+0.03,-0.02,-1.00) r=2.31m +[headless_play] t= 19.40s step= 970 trunk_z= -3.8mm grav_b=(+0.01,+0.00,-1.00) r=2.32m +[headless_play] t= 19.50s step= 975 trunk_z= -6.9mm grav_b=(+0.01,+0.06,-1.00) r=2.31m +[headless_play] t= 19.60s step= 980 trunk_z= 2.2mm grav_b=(-0.02,+0.05,-1.00) r=2.30m +[headless_play] t= 19.70s step= 985 trunk_z= 2.2mm grav_b=(-0.02,+0.04,-1.00) r=2.31m +[headless_play] t= 19.80s step= 990 trunk_z= -9.1mm grav_b=(+0.03,+0.02,-1.00) r=2.32m +[headless_play] t= 19.90s step= 995 trunk_z= -5.5mm grav_b=(+0.03,+0.01,-1.00) r=2.33m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(-0.04,+0.03,-1.00) r=0.42m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t4.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..b6148a52464fb417a63e9ed6bd7531d91a33c3d9 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t4.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.443,-17.538,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.4mm grav_b=(-0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.02,+0.03,-1.00) r=0.64m +[headless_play] t= 0.20s step= 10 trunk_z= 119.5mm grav_b=(+0.05,+0.06,-1.00) r=0.65m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(+0.03,+0.04,-1.00) r=0.67m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.02,-0.04,-1.00) r=0.71m +[headless_play] t= 0.50s step= 25 trunk_z= 123.4mm grav_b=(+0.03,-0.06,-1.00) r=0.73m +[headless_play] t= 0.60s step= 30 trunk_z= 121.0mm grav_b=(+0.02,-0.03,-1.00) r=0.74m +[headless_play] t= 0.70s step= 35 trunk_z= 124.2mm grav_b=(+0.02,+0.06,-1.00) r=0.75m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(+0.02,+0.06,-1.00) r=0.77m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) r=0.79m +[headless_play] t= 1.00s step= 50 trunk_z= 122.2mm grav_b=(+0.04,-0.04,-1.00) r=0.81m +[headless_play] t= 1.10s step= 55 trunk_z= 120.4mm grav_b=(+0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 1.20s step= 60 trunk_z= 122.8mm grav_b=(+0.03,+0.05,-1.00) r=0.83m +[headless_play] t= 1.30s step= 65 trunk_z= 123.8mm grav_b=(+0.03,+0.06,-1.00) r=0.84m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(+0.00,+0.02,-1.00) r=0.87m +[headless_play] t= 1.50s step= 75 trunk_z= 122.4mm grav_b=(+0.02,-0.06,-1.00) r=0.89m +[headless_play] t= 1.60s step= 80 trunk_z= 118.9mm grav_b=(+0.02,-0.01,-1.00) r=0.90m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(-0.00,+0.06,-1.00) r=0.91m +[headless_play] t= 1.80s step= 90 trunk_z= 125.1mm grav_b=(+0.02,+0.05,-1.00) r=0.92m +[headless_play] t= 1.90s step= 95 trunk_z= 117.7mm grav_b=(+0.01,+0.04,-1.00) r=0.95m +[headless_play] t= 2.00s step= 100 trunk_z= 120.4mm grav_b=(+0.01,-0.06,-1.00) r=0.98m +[headless_play] t= 2.10s step= 105 trunk_z= 120.3mm grav_b=(+0.02,-0.03,-1.00) r=0.99m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(+0.02,+0.03,-1.00) r=1.00m +[headless_play] t= 2.30s step= 115 trunk_z= 123.9mm grav_b=(+0.03,+0.04,-1.00) r=1.02m +[headless_play] t= 2.40s step= 120 trunk_z= 114.6mm grav_b=(+0.02,+0.04,-1.00) r=1.04m +[headless_play] t= 2.50s step= 125 trunk_z= 112.3mm grav_b=(+0.02,-0.09,-1.00) r=1.08m +[headless_play] t= 2.60s step= 130 trunk_z= 113.8mm grav_b=(+0.04,-0.09,-0.99) r=1.10m +[headless_play] t= 2.70s step= 135 trunk_z= 112.0mm grav_b=(+0.04,-0.05,-1.00) r=1.12m +[headless_play] t= 2.80s step= 140 trunk_z= 107.7mm grav_b=(+0.03,+0.02,-1.00) r=1.15m +[headless_play] t= 2.90s step= 145 trunk_z= 108.5mm grav_b=(+0.02,+0.05,-1.00) r=1.17m +[headless_play] t= 3.00s step= 150 trunk_z= 88.2mm grav_b=(-0.01,-0.00,-1.00) r=1.21m +[headless_play] t= 3.10s step= 155 trunk_z= 92.4mm grav_b=(+0.01,-0.08,-1.00) r=1.25m +[headless_play] t= 3.20s step= 160 trunk_z= 92.9mm grav_b=(+0.06,-0.09,-0.99) r=1.26m +[headless_play] t= 3.30s step= 165 trunk_z= 92.2mm grav_b=(+0.07,-0.06,-1.00) r=1.28m +[headless_play] t= 3.40s step= 170 trunk_z= 83.5mm grav_b=(+0.04,+0.03,-1.00) r=1.31m +[headless_play] t= 3.50s step= 175 trunk_z= 92.1mm grav_b=(-0.01,+0.09,-1.00) r=1.33m +[headless_play] t= 3.60s step= 180 trunk_z= 79.3mm grav_b=(+0.01,+0.04,-1.00) r=1.37m +[headless_play] t= 3.70s step= 185 trunk_z= 71.5mm grav_b=(+0.05,-0.06,-1.00) r=1.41m +[headless_play] t= 3.80s step= 190 trunk_z= 73.2mm grav_b=(+0.05,-0.08,-1.00) r=1.42m +[headless_play] t= 3.90s step= 195 trunk_z= 71.6mm grav_b=(+0.04,-0.08,-1.00) r=1.43m +[headless_play] t= 4.00s step= 200 trunk_z= 65.8mm grav_b=(+0.04,-0.00,-1.00) r=1.45m +[headless_play] t= 4.10s step= 205 trunk_z= 76.2mm grav_b=(-0.01,+0.10,-1.00) r=1.47m +[headless_play] t= 4.20s step= 210 trunk_z= 69.7mm grav_b=(-0.02,+0.05,-1.00) r=1.49m +[headless_play] t= 4.30s step= 215 trunk_z= 52.5mm grav_b=(+0.01,-0.05,-1.00) r=1.53m +[headless_play] t= 4.40s step= 220 trunk_z= 57.1mm grav_b=(+0.04,-0.09,-1.00) r=1.54m +[headless_play] t= 4.50s step= 225 trunk_z= 55.5mm grav_b=(+0.03,-0.09,-1.00) r=1.54m +[headless_play] t= 4.60s step= 230 trunk_z= 52.6mm grav_b=(+0.07,+0.00,-1.00) r=1.54m +[headless_play] t= 4.70s step= 235 trunk_z= 65.6mm grav_b=(+0.06,+0.06,-1.00) r=1.55m +[headless_play] t= 4.80s step= 240 trunk_z= 57.1mm grav_b=(-0.00,+0.03,-1.00) r=1.57m +[headless_play] t= 4.90s step= 245 trunk_z= 47.4mm grav_b=(-0.03,-0.07,-1.00) r=1.59m +[headless_play] t= 5.00s step= 250 trunk_z= 50.9mm grav_b=(-0.00,-0.10,-0.99) r=1.61m +[headless_play] t= 5.10s step= 255 trunk_z= 49.2mm grav_b=(+0.02,-0.09,-1.00) r=1.61m +[headless_play] t= 5.20s step= 260 trunk_z= 43.8mm grav_b=(+0.04,-0.02,-1.00) r=1.60m +[headless_play] t= 5.30s step= 265 trunk_z= 55.9mm grav_b=(+0.04,-0.04,-1.00) r=1.61m +[headless_play] t= 5.40s step= 270 trunk_z= 35.4mm grav_b=(+0.01,-0.10,-0.99) r=1.63m +[headless_play] t= 5.50s step= 275 trunk_z= 42.9mm grav_b=(+0.03,-0.15,-0.99) r=1.66m +[headless_play] t= 5.60s step= 280 trunk_z= 42.2mm grav_b=(+0.07,-0.10,-0.99) r=1.67m +[headless_play] t= 5.70s step= 285 trunk_z= 32.6mm grav_b=(+0.09,-0.04,-0.99) r=1.68m +[headless_play] t= 5.80s step= 290 trunk_z= 40.2mm grav_b=(+0.08,+0.04,-1.00) r=1.70m +[headless_play] t= 5.90s step= 295 trunk_z= 42.1mm grav_b=(+0.00,+0.03,-1.00) r=1.73m +[headless_play] t= 6.00s step= 300 trunk_z= 17.1mm grav_b=(-0.05,-0.09,-0.99) r=1.77m +[headless_play] t= 6.10s step= 305 trunk_z= 24.6mm grav_b=(-0.01,-0.11,-0.99) r=1.79m +[headless_play] t= 6.20s step= 310 trunk_z= 24.2mm grav_b=(+0.02,-0.11,-0.99) r=1.80m +[headless_play] t= 6.30s step= 315 trunk_z= 17.8mm grav_b=(+0.05,-0.06,-1.00) r=1.81m +[headless_play] t= 6.40s step= 320 trunk_z= 23.6mm grav_b=(+0.07,+0.01,-1.00) r=1.83m +[headless_play] t= 6.50s step= 325 trunk_z= 23.1mm grav_b=(+0.04,+0.01,-1.00) r=1.85m +[headless_play] t= 6.60s step= 330 trunk_z= 0.4mm grav_b=(-0.01,-0.09,-1.00) r=1.89m +[headless_play] t= 6.70s step= 335 trunk_z= 6.8mm grav_b=(+0.02,-0.10,-0.99) r=1.92m +[headless_play] t= 6.80s step= 340 trunk_z= 2.5mm grav_b=(+0.07,-0.06,-1.00) r=1.94m +[headless_play] t= 6.90s step= 345 trunk_z= -11.5mm grav_b=(+0.12,+0.01,-0.99) r=1.98m +[headless_play] t= 7.00s step= 350 trunk_z= 11.2mm grav_b=(+0.09,+0.03,-1.00) r=1.99m +[headless_play] t= 7.10s step= 355 trunk_z= 12.0mm grav_b=(+0.01,+0.01,-1.00) r=2.02m +[headless_play] t= 7.20s step= 360 trunk_z= 15.7mm grav_b=(-0.05,+0.04,-1.00) r=2.04m +[headless_play] t= 7.30s step= 365 trunk_z= 8.8mm grav_b=(-0.06,+0.08,-0.99) r=2.04m +[headless_play] t= 7.40s step= 370 trunk_z= 13.1mm grav_b=(-0.03,+0.12,-0.99) r=2.03m +[headless_play] t= 7.50s step= 375 trunk_z= 15.9mm grav_b=(-0.00,+0.16,-0.99) r=2.03m +[headless_play] t= 7.60s step= 380 trunk_z= 15.0mm grav_b=(+0.03,+0.14,-0.99) r=2.04m +[headless_play] t= 7.70s step= 385 trunk_z= 13.2mm grav_b=(+0.01,+0.09,-1.00) r=2.07m +[headless_play] t= 7.80s step= 390 trunk_z= 19.8mm grav_b=(+0.02,+0.06,-1.00) r=2.08m +[headless_play] t= 7.90s step= 395 trunk_z= 10.2mm grav_b=(-0.02,+0.09,-1.00) r=2.07m +[headless_play] t= 8.00s step= 400 trunk_z= 18.7mm grav_b=(-0.03,+0.12,-0.99) r=2.07m +[headless_play] t= 8.10s step= 405 trunk_z= 19.8mm grav_b=(-0.02,+0.13,-0.99) r=2.08m +[headless_play] t= 8.20s step= 410 trunk_z= 17.0mm grav_b=(-0.02,+0.11,-0.99) r=2.09m +[headless_play] t= 8.30s step= 415 trunk_z= 23.4mm grav_b=(-0.02,+0.05,-1.00) r=2.11m +[headless_play] t= 8.40s step= 420 trunk_z= 19.2mm grav_b=(+0.00,+0.08,-1.00) r=2.11m +[headless_play] t= 8.50s step= 425 trunk_z= 17.7mm grav_b=(-0.03,+0.12,-0.99) r=2.10m +[headless_play] t= 8.60s step= 430 trunk_z= 20.6mm grav_b=(-0.01,+0.16,-0.99) r=2.10m +[headless_play] t= 8.70s step= 435 trunk_z= 18.1mm grav_b=(+0.02,+0.15,-0.99) r=2.10m +[headless_play] t= 8.80s step= 440 trunk_z= 20.5mm grav_b=(+0.05,+0.12,-0.99) r=2.12m +[headless_play] t= 8.90s step= 445 trunk_z= 26.5mm grav_b=(+0.02,+0.06,-1.00) r=2.14m +[headless_play] t= 9.00s step= 450 trunk_z= 25.7mm grav_b=(+0.02,+0.03,-1.00) r=2.14m +[headless_play] t= 9.10s step= 455 trunk_z= 14.9mm grav_b=(-0.03,+0.11,-0.99) r=2.13m +[headless_play] t= 9.20s step= 460 trunk_z= 20.6mm grav_b=(-0.01,+0.16,-0.99) r=2.12m +[headless_play] t= 9.30s step= 465 trunk_z= 17.9mm grav_b=(+0.02,+0.17,-0.99) r=2.12m +[headless_play] t= 9.40s step= 470 trunk_z= 16.3mm grav_b=(+0.05,+0.16,-0.99) r=2.13m +[headless_play] t= 9.50s step= 475 trunk_z= 16.2mm grav_b=(+0.04,+0.07,-1.00) r=2.14m +[headless_play] t= 9.60s step= 480 trunk_z= 26.2mm grav_b=(+0.02,+0.03,-1.00) r=2.14m +[headless_play] t= 9.70s step= 485 trunk_z= 13.6mm grav_b=(+0.02,+0.01,-1.00) r=2.12m +[headless_play] t= 9.80s step= 490 trunk_z= 9.8mm grav_b=(+0.00,+0.08,-1.00) r=2.10m +[headless_play] t= 9.90s step= 495 trunk_z= 8.6mm grav_b=(+0.01,+0.13,-0.99) r=2.09m +[headless_play] t= 10.00s step= 500 trunk_z= 7.7mm grav_b=(+0.05,+0.13,-0.99) r=2.09m +[headless_play] t= 10.10s step= 505 trunk_z= 2.5mm grav_b=(+0.02,+0.08,-1.00) r=2.08m +[headless_play] t= 10.20s step= 510 trunk_z= 7.0mm grav_b=(+0.00,+0.07,-1.00) r=2.05m +[headless_play] t= 10.30s step= 515 trunk_z= 1.3mm grav_b=(+0.10,+0.00,-0.99) r=2.04m +[headless_play] t= 10.40s step= 520 trunk_z= 4.3mm grav_b=(+0.02,-0.05,-1.00) r=2.05m +[headless_play] t= 10.50s step= 525 trunk_z= -6.3mm grav_b=(-0.01,-0.02,-1.00) r=2.06m +[headless_play] t= 10.60s step= 530 trunk_z= 1.4mm grav_b=(+0.02,-0.03,-1.00) r=2.05m +[headless_play] t= 10.70s step= 535 trunk_z= 1.8mm grav_b=(+0.02,+0.01,-1.00) r=2.03m +[headless_play] t= 10.80s step= 540 trunk_z= 8.4mm grav_b=(+0.02,-0.00,-1.00) r=2.02m +[headless_play] t= 10.90s step= 545 trunk_z= 0.1mm grav_b=(+0.01,-0.01,-1.00) r=2.03m +[headless_play] t= 11.00s step= 550 trunk_z= 2.3mm grav_b=(+0.02,-0.07,-1.00) r=2.04m +[headless_play] t= 11.10s step= 555 trunk_z= 3.4mm grav_b=(+0.02,-0.04,-1.00) r=2.04m +[headless_play] t= 11.20s step= 560 trunk_z= 0.3mm grav_b=(+0.04,+0.01,-1.00) r=2.02m +[headless_play] t= 11.30s step= 565 trunk_z= 9.6mm grav_b=(+0.03,-0.04,-1.00) r=2.02m +[headless_play] t= 11.40s step= 570 trunk_z= -1.3mm grav_b=(+0.01,-0.04,-1.00) r=2.04m +[headless_play] t= 11.50s step= 575 trunk_z= 4.3mm grav_b=(+0.03,-0.08,-1.00) r=2.06m +[headless_play] t= 11.60s step= 580 trunk_z= 5.0mm grav_b=(+0.05,-0.05,-1.00) r=2.06m +[headless_play] t= 11.70s step= 585 trunk_z= 7.8mm grav_b=(+0.03,+0.02,-1.00) r=2.04m +[headless_play] t= 11.80s step= 590 trunk_z= 11.6mm grav_b=(+0.02,-0.03,-1.00) r=2.04m +[headless_play] t= 11.90s step= 595 trunk_z= -2.9mm grav_b=(+0.00,-0.05,-1.00) r=2.07m +[headless_play] t= 12.00s step= 600 trunk_z= 7.2mm grav_b=(+0.03,-0.10,-0.99) r=2.09m +[headless_play] t= 12.10s step= 605 trunk_z= 7.9mm grav_b=(+0.04,-0.07,-1.00) r=2.09m +[headless_play] t= 12.20s step= 610 trunk_z= 7.7mm grav_b=(+0.05,+0.01,-1.00) r=2.07m +[headless_play] t= 12.30s step= 615 trunk_z= 12.9mm grav_b=(+0.04,+0.00,-1.00) r=2.07m +[headless_play] t= 12.40s step= 620 trunk_z= 2.2mm grav_b=(+0.01,-0.00,-1.00) r=2.09m +[headless_play] t= 12.50s step= 625 trunk_z= 7.7mm grav_b=(+0.02,-0.08,-1.00) r=2.11m +[headless_play] t= 12.60s step= 630 trunk_z= 8.2mm grav_b=(+0.03,-0.07,-1.00) r=2.12m +[headless_play] t= 12.70s step= 635 trunk_z= 5.1mm grav_b=(+0.03,-0.00,-1.00) r=2.10m +[headless_play] t= 12.80s step= 640 trunk_z= 11.7mm grav_b=(+0.05,+0.00,-1.00) r=2.10m +[headless_play] t= 12.90s step= 645 trunk_z= 3.4mm grav_b=(+0.04,-0.01,-1.00) r=2.13m +[headless_play] t= 13.00s step= 650 trunk_z= 5.2mm grav_b=(+0.03,-0.07,-1.00) r=2.15m +[headless_play] t= 13.10s step= 655 trunk_z= 6.2mm grav_b=(+0.04,-0.06,-1.00) r=2.16m +[headless_play] t= 13.20s step= 660 trunk_z= 4.7mm grav_b=(+0.03,+0.01,-1.00) r=2.15m +[headless_play] t= 13.30s step= 665 trunk_z= 9.9mm grav_b=(+0.04,+0.01,-1.00) r=2.16m +[headless_play] t= 13.40s step= 670 trunk_z= -1.7mm grav_b=(+0.02,-0.02,-1.00) r=2.19m +[headless_play] t= 13.50s step= 675 trunk_z= 5.3mm grav_b=(+0.02,-0.07,-1.00) r=2.21m +[headless_play] t= 13.60s step= 680 trunk_z= 3.6mm grav_b=(+0.04,-0.05,-1.00) r=2.22m +[headless_play] t= 13.70s step= 685 trunk_z= 5.5mm grav_b=(+0.02,+0.04,-1.00) r=2.21m +[headless_play] t= 13.80s step= 690 trunk_z= 9.2mm grav_b=(+0.04,+0.02,-1.00) r=2.22m +[headless_play] t= 13.90s step= 695 trunk_z= -3.2mm grav_b=(+0.02,-0.01,-1.00) r=2.25m +[headless_play] t= 14.00s step= 700 trunk_z= 3.7mm grav_b=(+0.01,-0.07,-1.00) r=2.28m +[headless_play] t= 14.10s step= 705 trunk_z= 2.7mm grav_b=(+0.05,-0.03,-1.00) r=2.28m +[headless_play] t= 14.20s step= 710 trunk_z= 4.1mm grav_b=(+0.04,+0.05,-1.00) r=2.29m +[headless_play] t= 14.30s step= 715 trunk_z= 9.1mm grav_b=(+0.02,+0.04,-1.00) r=2.30m +[headless_play] t= 14.40s step= 720 trunk_z= -1.6mm grav_b=(-0.02,+0.02,-1.00) r=2.33m +[headless_play] t= 14.50s step= 725 trunk_z= 2.3mm grav_b=(+0.02,-0.07,-1.00) r=2.36m +[headless_play] t= 14.60s step= 730 trunk_z= 3.1mm grav_b=(+0.02,-0.06,-1.00) r=2.37m +[headless_play] t= 14.70s step= 735 trunk_z= -0.9mm grav_b=(+0.02,+0.02,-1.00) r=2.37m +[headless_play] t= 14.80s step= 740 trunk_z= 7.0mm grav_b=(+0.02,+0.04,-1.00) r=2.37m +[headless_play] t= 14.90s step= 745 trunk_z= 0.8mm grav_b=(+0.01,+0.04,-1.00) r=2.39m +[headless_play] t= 15.00s step= 750 trunk_z= -3.3mm grav_b=(+0.01,-0.06,-1.00) r=2.43m +[headless_play] t= 15.10s step= 755 trunk_z= 1.5mm grav_b=(+0.03,-0.04,-1.00) r=2.45m +[headless_play] t= 15.20s step= 760 trunk_z= -1.6mm grav_b=(+0.03,-0.01,-1.00) r=2.44m +[headless_play] t= 15.30s step= 765 trunk_z= 4.5mm grav_b=(+0.02,+0.03,-1.00) r=2.45m +[headless_play] t= 15.40s step= 770 trunk_z= 0.8mm grav_b=(+0.02,+0.03,-1.00) r=2.46m +[headless_play] t= 15.50s step= 775 trunk_z= -7.9mm grav_b=(+0.00,-0.04,-1.00) r=2.50m +[headless_play] t= 15.60s step= 780 trunk_z= -1.0mm grav_b=(+0.03,-0.04,-1.00) r=2.52m +[headless_play] t= 15.70s step= 785 trunk_z= -2.6mm grav_b=(+0.03,-0.01,-1.00) r=2.52m +[headless_play] t= 15.80s step= 790 trunk_z= 0.9mm grav_b=(+0.02,+0.06,-1.00) r=2.52m +[headless_play] t= 15.90s step= 795 trunk_z= 1.5mm grav_b=(+0.02,+0.04,-1.00) r=2.53m +[headless_play] t= 16.00s step= 800 trunk_z= -6.5mm grav_b=(-0.01,+0.04,-1.00) r=2.56m +[headless_play] t= 16.10s step= 805 trunk_z= -3.0mm grav_b=(+0.03,-0.05,-1.00) r=2.59m +[headless_play] t= 16.20s step= 810 trunk_z= -3.4mm grav_b=(+0.04,-0.02,-1.00) r=2.59m +[headless_play] t= 16.30s step= 815 trunk_z= -4.3mm grav_b=(+0.02,+0.06,-1.00) r=2.59m +[headless_play] t= 16.40s step= 820 trunk_z= 0.2mm grav_b=(+0.03,+0.05,-1.00) r=2.60m +[headless_play] t= 16.50s step= 825 trunk_z= -4.9mm grav_b=(+0.00,+0.05,-1.00) r=2.62m +[headless_play] t= 16.60s step= 830 trunk_z= -16.5mm grav_b=(+0.09,-0.15,-0.99) r=2.65m +[headless_play] t= 16.70s step= 835 trunk_z= -0.3mm grav_b=(+0.05,-0.09,-1.00) r=2.67m +[headless_play] t= 16.80s step= 840 trunk_z= -6.2mm grav_b=(+0.11,-0.14,-0.98) r=2.69m +[headless_play] t= 16.90s step= 845 trunk_z= -29.8mm grav_b=(+0.09,+0.03,-1.00) r=2.72m +[headless_play] t= 17.00s step= 850 trunk_z= -1.4mm grav_b=(+0.09,+0.09,-0.99) r=2.73m +[headless_play] t= 17.10s step= 855 trunk_z= -5.9mm grav_b=(-0.00,+0.16,-0.99) r=2.74m +[headless_play] t= 17.20s step= 860 trunk_z= -11.6mm grav_b=(+0.01,+0.07,-1.00) r=2.76m +[headless_play] t= 17.30s step= 865 trunk_z= -12.4mm grav_b=(+0.03,+0.05,-1.00) r=2.76m +[headless_play] t= 17.40s step= 870 trunk_z= -11.5mm grav_b=(+0.05,+0.04,-1.00) r=2.77m +[headless_play] t= 17.50s step= 875 trunk_z= -9.6mm grav_b=(+0.04,+0.01,-1.00) r=2.78m +[headless_play] t= 17.60s step= 880 trunk_z= -16.1mm grav_b=(+0.01,-0.01,-1.00) r=2.81m +[headless_play] t= 17.70s step= 885 trunk_z= -11.6mm grav_b=(-0.01,+0.01,-1.00) r=2.82m +[headless_play] t= 17.80s step= 890 trunk_z= -13.7mm grav_b=(+0.02,+0.06,-1.00) r=2.82m +[headless_play] t= 17.90s step= 895 trunk_z= -7.5mm grav_b=(+0.03,+0.03,-1.00) r=2.83m +[headless_play] t= 18.00s step= 900 trunk_z= -17.5mm grav_b=(+0.02,+0.01,-1.00) r=2.86m +[headless_play] t= 18.10s step= 905 trunk_z= -8.1mm grav_b=(-0.02,-0.04,-1.00) r=2.88m +[headless_play] t= 18.20s step= 910 trunk_z= -12.1mm grav_b=(-0.01,+0.01,-1.00) r=2.89m +[headless_play] t= 18.30s step= 915 trunk_z= -8.9mm grav_b=(+0.03,+0.06,-1.00) r=2.89m +[headless_play] t= 18.40s step= 920 trunk_z= -7.8mm grav_b=(+0.06,+0.05,-1.00) r=2.91m +[headless_play] t= 18.50s step= 925 trunk_z= -15.4mm grav_b=(+0.03,+0.00,-1.00) r=2.94m +[headless_play] t= 18.60s step= 930 trunk_z= -5.7mm grav_b=(+0.04,-0.02,-1.00) r=2.96m +[headless_play] t= 18.70s step= 935 trunk_z= -8.8mm grav_b=(+0.00,+0.01,-1.00) r=2.98m +[headless_play] t= 18.80s step= 940 trunk_z= -5.6mm grav_b=(-0.00,+0.08,-1.00) r=3.00m +[headless_play] t= 18.90s step= 945 trunk_z= -6.0mm grav_b=(-0.00,+0.03,-1.00) r=3.01m +[headless_play] t= 19.00s step= 950 trunk_z= -14.4mm grav_b=(-0.02,-0.00,-1.00) r=3.03m +[headless_play] t= 19.10s step= 955 trunk_z= -13.1mm grav_b=(+0.04,+0.02,-1.00) r=3.04m +[headless_play] t= 19.20s step= 960 trunk_z= -17.5mm grav_b=(+0.08,+0.06,-1.00) r=3.04m +[headless_play] t= 19.30s step= 965 trunk_z= -7.1mm grav_b=(+0.10,+0.04,-0.99) r=3.05m +[headless_play] t= 19.40s step= 970 trunk_z= -17.3mm grav_b=(+0.04,+0.01,-1.00) r=3.09m +[headless_play] t= 19.50s step= 975 trunk_z= -10.8mm grav_b=(+0.02,+0.02,-1.00) r=3.12m +[headless_play] t= 19.60s step= 980 trunk_z= -17.0mm grav_b=(-0.00,+0.05,-1.00) r=3.13m +[headless_play] t= 19.70s step= 985 trunk_z= -12.2mm grav_b=(-0.00,+0.02,-1.00) r=3.14m +[headless_play] t= 19.80s step= 990 trunk_z= -16.1mm grav_b=(+0.00,-0.04,-1.00) r=3.17m +[headless_play] t= 19.90s step= 995 trunk_z= -10.9mm grav_b=(+0.02,-0.04,-1.00) r=3.18m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.1mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.38m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t5.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..6886e1c748f8c55cda0105ee13cb74829fb60cbe --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t5.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.422,-18.174,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(-0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 119.0mm grav_b=(-0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(-0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 125.8mm grav_b=(+0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 121.2mm grav_b=(-0.00,+0.06,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 122.0mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 123.7mm grav_b=(+0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(-0.02,+0.03,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 125.3mm grav_b=(-0.02,+0.05,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 124.0mm grav_b=(-0.01,+0.07,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(-0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 122.7mm grav_b=(+0.02,-0.00,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 119.6mm grav_b=(+0.00,+0.00,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 123.5mm grav_b=(-0.02,+0.06,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 124.9mm grav_b=(-0.02,+0.06,-1.00) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 114.6mm grav_b=(-0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 121.8mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 1.90s step= 95 trunk_z= 124.1mm grav_b=(+0.03,+0.00,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(-0.01,+0.05,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 125.5mm grav_b=(-0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 2.20s step= 110 trunk_z= 122.7mm grav_b=(-0.04,+0.08,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 123.0mm grav_b=(+0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 118.7mm grav_b=(+0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 124.0mm grav_b=(-0.01,+0.06,-1.00) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 123.7mm grav_b=(-0.01,+0.06,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 122.2mm grav_b=(+0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 122.1mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 122.2mm grav_b=(-0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 125.0mm grav_b=(-0.02,+0.06,-1.00) r=0.47m +[headless_play] t= 3.30s step= 165 trunk_z= 116.2mm grav_b=(-0.04,+0.03,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 122.0mm grav_b=(+0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 123.3mm grav_b=(+0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(-0.01,+0.05,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 124.3mm grav_b=(-0.02,+0.05,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 118.7mm grav_b=(-0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 122.7mm grav_b=(+0.00,+0.00,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 124.9mm grav_b=(-0.03,+0.06,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 124.6mm grav_b=(-0.01,+0.07,-1.00) r=0.57m +[headless_play] t= 4.40s step= 220 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.57m +[headless_play] t= 4.50s step= 225 trunk_z= 122.9mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 120.7mm grav_b=(+0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 4.70s step= 235 trunk_z= 123.1mm grav_b=(-0.02,+0.05,-1.00) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 126.0mm grav_b=(-0.01,+0.07,-1.00) r=0.64m +[headless_play] t= 4.90s step= 245 trunk_z= 119.5mm grav_b=(-0.03,+0.04,-1.00) r=0.65m +[headless_play] t= 5.00s step= 250 trunk_z= 122.2mm grav_b=(-0.02,-0.03,-1.00) r=0.65m +[headless_play] t= 5.10s step= 255 trunk_z= 122.9mm grav_b=(+0.00,-0.01,-1.00) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 117.4mm grav_b=(-0.02,+0.04,-1.00) r=0.70m +[headless_play] t= 5.30s step= 265 trunk_z= 125.0mm grav_b=(-0.01,+0.05,-1.00) r=0.72m +[headless_play] t= 5.40s step= 270 trunk_z= 124.1mm grav_b=(-0.01,+0.08,-1.00) r=0.73m +[headless_play] t= 5.50s step= 275 trunk_z= 117.9mm grav_b=(-0.03,-0.04,-1.00) r=0.74m +[headless_play] t= 5.60s step= 280 trunk_z= 124.4mm grav_b=(-0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 5.70s step= 285 trunk_z= 122.0mm grav_b=(-0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 5.80s step= 290 trunk_z= 121.8mm grav_b=(+0.00,+0.06,-1.00) r=0.80m +[headless_play] t= 5.90s step= 295 trunk_z= 124.3mm grav_b=(+0.00,+0.06,-1.00) r=0.81m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(-0.02,+0.05,-1.00) r=0.81m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(-0.00,-0.03,-1.00) r=0.82m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(+0.01,+0.02,-1.00) r=0.84m +[headless_play] t= 6.30s step= 315 trunk_z= 121.6mm grav_b=(-0.01,+0.06,-1.00) r=0.86m +[headless_play] t= 6.40s step= 320 trunk_z= 124.8mm grav_b=(-0.00,+0.06,-1.00) r=0.88m +[headless_play] t= 6.50s step= 325 trunk_z= 122.8mm grav_b=(-0.01,+0.06,-1.00) r=0.89m +[headless_play] t= 6.60s step= 330 trunk_z= 122.2mm grav_b=(+0.01,-0.01,-1.00) r=0.91m +[headless_play] t= 6.70s step= 335 trunk_z= 122.5mm grav_b=(+0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 6.80s step= 340 trunk_z= 117.0mm grav_b=(-0.01,+0.04,-1.00) r=0.95m +[headless_play] t= 6.90s step= 345 trunk_z= 124.9mm grav_b=(-0.00,+0.04,-1.00) r=0.96m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(-0.00,+0.06,-1.00) r=0.97m +[headless_play] t= 7.10s step= 355 trunk_z= 118.8mm grav_b=(-0.02,-0.02,-1.00) r=0.98m +[headless_play] t= 7.20s step= 360 trunk_z= 121.4mm grav_b=(+0.00,-0.00,-1.00) r=1.00m +[headless_play] t= 7.30s step= 365 trunk_z= 114.1mm grav_b=(-0.00,+0.03,-1.00) r=1.02m +[headless_play] t= 7.40s step= 370 trunk_z= 122.1mm grav_b=(-0.02,+0.08,-1.00) r=1.04m +[headless_play] t= 7.50s step= 375 trunk_z= 122.5mm grav_b=(+0.02,+0.10,-0.99) r=1.06m +[headless_play] t= 7.60s step= 380 trunk_z= 117.1mm grav_b=(-0.00,+0.05,-1.00) r=1.09m +[headless_play] t= 7.70s step= 385 trunk_z= 114.7mm grav_b=(-0.00,+0.02,-1.00) r=1.12m +[headless_play] t= 7.80s step= 390 trunk_z= 109.6mm grav_b=(-0.01,+0.04,-1.00) r=1.16m +[headless_play] t= 7.90s step= 395 trunk_z= 94.7mm grav_b=(-0.03,+0.08,-1.00) r=1.20m +[headless_play] t= 8.00s step= 400 trunk_z= 102.4mm grav_b=(-0.04,+0.11,-0.99) r=1.22m +[headless_play] t= 8.10s step= 405 trunk_z= 101.4mm grav_b=(-0.01,+0.09,-1.00) r=1.26m +[headless_play] t= 8.20s step= 410 trunk_z= 87.5mm grav_b=(-0.02,+0.02,-1.00) r=1.30m +[headless_play] t= 8.30s step= 415 trunk_z= 87.1mm grav_b=(-0.01,-0.01,-1.00) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 78.4mm grav_b=(-0.01,+0.00,-1.00) r=1.36m +[headless_play] t= 8.50s step= 425 trunk_z= 79.0mm grav_b=(-0.02,+0.06,-1.00) r=1.39m +[headless_play] t= 8.60s step= 430 trunk_z= 73.7mm grav_b=(+0.03,+0.07,-1.00) r=1.41m +[headless_play] t= 8.70s step= 435 trunk_z= 65.7mm grav_b=(+0.06,-0.05,-1.00) r=1.44m +[headless_play] t= 8.80s step= 440 trunk_z= 69.4mm grav_b=(+0.06,-0.05,-1.00) r=1.48m +[headless_play] t= 8.90s step= 445 trunk_z= 63.4mm grav_b=(+0.04,+0.01,-1.00) r=1.51m +[headless_play] t= 9.00s step= 450 trunk_z= 64.1mm grav_b=(+0.03,+0.08,-1.00) r=1.54m +[headless_play] t= 9.10s step= 455 trunk_z= 59.6mm grav_b=(+0.01,+0.05,-1.00) r=1.57m +[headless_play] t= 9.20s step= 460 trunk_z= 50.6mm grav_b=(+0.01,-0.05,-1.00) r=1.60m +[headless_play] t= 9.30s step= 465 trunk_z= 52.9mm grav_b=(+0.04,-0.04,-1.00) r=1.63m +[headless_play] t= 9.40s step= 470 trunk_z= 46.0mm grav_b=(+0.03,+0.03,-1.00) r=1.65m +[headless_play] t= 9.50s step= 475 trunk_z= 50.7mm grav_b=(+0.02,+0.08,-1.00) r=1.68m +[headless_play] t= 9.60s step= 480 trunk_z= 46.1mm grav_b=(+0.05,+0.07,-1.00) r=1.71m +[headless_play] t= 9.70s step= 485 trunk_z= 36.3mm grav_b=(+0.03,-0.04,-1.00) r=1.74m +[headless_play] t= 9.80s step= 490 trunk_z= 39.9mm grav_b=(+0.05,-0.06,-1.00) r=1.77m +[headless_play] t= 9.90s step= 495 trunk_z= 35.2mm grav_b=(+0.04,+0.00,-1.00) r=1.80m +[headless_play] t= 10.00s step= 500 trunk_z= 36.8mm grav_b=(+0.02,+0.08,-1.00) r=1.83m +[headless_play] t= 10.10s step= 505 trunk_z= 33.5mm grav_b=(+0.03,+0.05,-1.00) r=1.86m +[headless_play] t= 10.20s step= 510 trunk_z= 23.1mm grav_b=(+0.02,-0.04,-1.00) r=1.89m +[headless_play] t= 10.30s step= 515 trunk_z= 30.1mm grav_b=(+0.03,-0.08,-1.00) r=1.92m +[headless_play] t= 10.40s step= 520 trunk_z= 26.5mm grav_b=(+0.06,-0.02,-1.00) r=1.94m +[headless_play] t= 10.50s step= 525 trunk_z= 27.8mm grav_b=(+0.05,+0.07,-1.00) r=1.95m +[headless_play] t= 10.60s step= 530 trunk_z= 25.1mm grav_b=(+0.03,+0.06,-1.00) r=1.95m +[headless_play] t= 10.70s step= 535 trunk_z= 20.8mm grav_b=(+0.05,-0.01,-1.00) r=1.96m +[headless_play] t= 10.80s step= 540 trunk_z= 20.4mm grav_b=(+0.11,-0.01,-0.99) r=1.96m +[headless_play] t= 10.90s step= 545 trunk_z= 20.8mm grav_b=(+0.12,-0.01,-0.99) r=1.96m +[headless_play] t= 11.00s step= 550 trunk_z= 21.1mm grav_b=(+0.12,-0.01,-0.99) r=1.97m +[headless_play] t= 11.10s step= 555 trunk_z= 21.2mm grav_b=(+0.12,-0.01,-0.99) r=1.97m +[headless_play] t= 11.20s step= 560 trunk_z= 21.2mm grav_b=(+0.12,-0.01,-0.99) r=1.97m +[headless_play] t= 11.30s step= 565 trunk_z= 21.4mm grav_b=(+0.11,-0.02,-0.99) r=1.97m +[headless_play] t= 11.40s step= 570 trunk_z= 21.6mm grav_b=(+0.11,-0.02,-0.99) r=1.97m +[headless_play] t= 11.50s step= 575 trunk_z= 22.0mm grav_b=(+0.11,-0.01,-0.99) r=1.97m +[headless_play] t= 11.60s step= 580 trunk_z= 22.9mm grav_b=(+0.11,-0.01,-0.99) r=1.97m +[headless_play] t= 11.70s step= 585 trunk_z= 25.8mm grav_b=(+0.05,-0.01,-1.00) r=1.98m +[headless_play] t= 11.80s step= 590 trunk_z= 15.8mm grav_b=(-0.01,-0.07,-1.00) r=1.99m +[headless_play] t= 11.90s step= 595 trunk_z= 18.3mm grav_b=(+0.00,-0.02,-1.00) r=2.01m +[headless_play] t= 12.00s step= 600 trunk_z= 17.5mm grav_b=(+0.03,+0.01,-1.00) r=2.01m +[headless_play] t= 12.10s step= 605 trunk_z= 16.7mm grav_b=(+0.08,-0.03,-1.00) r=2.02m +[headless_play] t= 12.20s step= 610 trunk_z= 16.5mm grav_b=(+0.07,-0.01,-1.00) r=2.02m +[headless_play] t= 12.30s step= 615 trunk_z= 16.2mm grav_b=(+0.07,-0.01,-1.00) r=2.02m +[headless_play] t= 12.40s step= 620 trunk_z= 16.1mm grav_b=(+0.08,-0.01,-1.00) r=2.02m +[headless_play] t= 12.50s step= 625 trunk_z= 16.1mm grav_b=(+0.08,-0.01,-1.00) r=2.02m +[headless_play] t= 12.60s step= 630 trunk_z= 16.0mm grav_b=(+0.08,-0.01,-1.00) r=2.02m +[headless_play] t= 12.70s step= 635 trunk_z= 16.0mm grav_b=(+0.07,-0.01,-1.00) r=2.02m +[headless_play] t= 12.80s step= 640 trunk_z= 16.0mm grav_b=(+0.07,-0.01,-1.00) r=2.02m +[headless_play] t= 12.90s step= 645 trunk_z= 16.0mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 13.00s step= 650 trunk_z= 15.9mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 13.10s step= 655 trunk_z= 16.0mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 13.20s step= 660 trunk_z= 15.9mm grav_b=(+0.06,-0.01,-1.00) r=2.02m +[headless_play] t= 13.30s step= 665 trunk_z= 15.9mm grav_b=(+0.06,-0.01,-1.00) r=2.02m +[headless_play] t= 13.40s step= 670 trunk_z= 15.9mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 13.50s step= 675 trunk_z= 15.9mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 13.60s step= 680 trunk_z= 15.9mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 13.70s step= 685 trunk_z= 15.9mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 13.80s step= 690 trunk_z= 15.9mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 13.90s step= 695 trunk_z= 15.8mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 14.00s step= 700 trunk_z= 15.8mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 14.10s step= 705 trunk_z= 15.8mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 14.20s step= 710 trunk_z= 15.7mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 14.30s step= 715 trunk_z= 15.7mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 14.40s step= 720 trunk_z= 15.7mm grav_b=(+0.07,-0.02,-1.00) r=2.02m +[headless_play] t= 14.50s step= 725 trunk_z= 15.7mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 14.60s step= 730 trunk_z= 15.7mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 14.70s step= 735 trunk_z= 15.7mm grav_b=(+0.06,-0.02,-1.00) r=2.02m +[headless_play] t= 14.80s step= 740 trunk_z= 15.3mm grav_b=(+0.05,+0.01,-1.00) r=2.03m +[headless_play] t= 14.90s step= 745 trunk_z= 12.1mm grav_b=(+0.05,+0.07,-1.00) r=2.04m +[headless_play] t= 15.00s step= 750 trunk_z= 18.8mm grav_b=(+0.05,+0.05,-1.00) r=2.06m +[headless_play] t= 15.10s step= 755 trunk_z= 13.2mm grav_b=(+0.04,+0.05,-1.00) r=2.09m +[headless_play] t= 15.20s step= 760 trunk_z= 14.9mm grav_b=(+0.03,-0.09,-1.00) r=2.12m +[headless_play] t= 15.30s step= 765 trunk_z= 14.4mm grav_b=(+0.05,-0.08,-1.00) r=2.14m +[headless_play] t= 15.40s step= 770 trunk_z= 10.0mm grav_b=(+0.05,-0.01,-1.00) r=2.16m +[headless_play] t= 15.50s step= 775 trunk_z= 13.2mm grav_b=(+0.04,+0.06,-1.00) r=2.19m +[headless_play] t= 15.60s step= 780 trunk_z= 9.6mm grav_b=(+0.04,+0.06,-1.00) r=2.21m +[headless_play] t= 15.70s step= 785 trunk_z= 2.5mm grav_b=(+0.02,-0.04,-1.00) r=2.23m +[headless_play] t= 15.80s step= 790 trunk_z= 6.6mm grav_b=(+0.04,-0.05,-1.00) r=2.26m +[headless_play] t= 15.90s step= 795 trunk_z= 2.5mm grav_b=(+0.04,-0.02,-1.00) r=2.27m +[headless_play] t= 16.00s step= 800 trunk_z= 7.0mm grav_b=(+0.03,+0.04,-1.00) r=2.29m +[headless_play] t= 16.10s step= 805 trunk_z= 3.9mm grav_b=(+0.05,+0.04,-1.00) r=2.31m +[headless_play] t= 16.20s step= 810 trunk_z= -3.7mm grav_b=(+0.04,-0.05,-1.00) r=2.34m +[headless_play] t= 16.30s step= 815 trunk_z= 2.5mm grav_b=(+0.05,-0.06,-1.00) r=2.37m +[headless_play] t= 16.40s step= 820 trunk_z= 0.7mm grav_b=(+0.05,-0.03,-1.00) r=2.38m +[headless_play] t= 16.50s step= 825 trunk_z= 0.4mm grav_b=(+0.02,+0.06,-1.00) r=2.39m +[headless_play] t= 16.60s step= 830 trunk_z= 3.7mm grav_b=(+0.00,+0.04,-1.00) r=2.39m +[headless_play] t= 16.70s step= 835 trunk_z= -6.2mm grav_b=(-0.01,-0.01,-1.00) r=2.41m +[headless_play] t= 16.80s step= 840 trunk_z= 1.5mm grav_b=(+0.02,-0.04,-1.00) r=2.43m +[headless_play] t= 16.90s step= 845 trunk_z= 1.5mm grav_b=(+0.01,-0.01,-1.00) r=2.44m +[headless_play] t= 17.00s step= 850 trunk_z= -2.3mm grav_b=(-0.02,+0.03,-1.00) r=2.47m +[headless_play] t= 17.10s step= 855 trunk_z= 1.7mm grav_b=(-0.02,+0.04,-1.00) r=2.48m +[headless_play] t= 17.20s step= 860 trunk_z= -10.7mm grav_b=(-0.02,-0.00,-1.00) r=2.50m +[headless_play] t= 17.30s step= 865 trunk_z= -4.9mm grav_b=(-0.01,-0.01,-1.00) r=2.52m +[headless_play] t= 17.40s step= 870 trunk_z= -7.1mm grav_b=(-0.04,+0.00,-1.00) r=2.52m +[headless_play] t= 17.50s step= 875 trunk_z= -2.6mm grav_b=(-0.08,+0.04,-1.00) r=2.53m +[headless_play] t= 17.60s step= 880 trunk_z= -3.3mm grav_b=(-0.04,+0.03,-1.00) r=2.55m +[headless_play] t= 17.70s step= 885 trunk_z= -7.1mm grav_b=(-0.01,+0.01,-1.00) r=2.57m +[headless_play] t= 17.80s step= 890 trunk_z= -2.9mm grav_b=(+0.00,+0.04,-1.00) r=2.59m +[headless_play] t= 17.90s step= 895 trunk_z= -10.6mm grav_b=(-0.03,+0.05,-1.00) r=2.60m +[headless_play] t= 18.00s step= 900 trunk_z= -1.5mm grav_b=(-0.04,+0.07,-1.00) r=2.61m +[headless_play] t= 18.10s step= 905 trunk_z= -6.0mm grav_b=(-0.03,+0.06,-1.00) r=2.63m +[headless_play] t= 18.20s step= 910 trunk_z= -3.7mm grav_b=(-0.03,+0.01,-1.00) r=2.65m +[headless_play] t= 18.30s step= 915 trunk_z= -2.6mm grav_b=(-0.01,+0.03,-1.00) r=2.66m +[headless_play] t= 18.40s step= 920 trunk_z= -8.1mm grav_b=(-0.05,+0.05,-1.00) r=2.66m +[headless_play] t= 18.50s step= 925 trunk_z= -0.4mm grav_b=(-0.05,+0.07,-1.00) r=2.67m +[headless_play] t= 18.60s step= 930 trunk_z= -4.1mm grav_b=(-0.02,+0.07,-1.00) r=2.69m +[headless_play] t= 18.70s step= 935 trunk_z= -2.9mm grav_b=(+0.01,+0.01,-1.00) r=2.71m +[headless_play] t= 18.80s step= 940 trunk_z= -0.7mm grav_b=(+0.01,+0.03,-1.00) r=2.72m +[headless_play] t= 18.90s step= 945 trunk_z= -4.2mm grav_b=(+0.01,+0.08,-1.00) r=2.74m +[headless_play] t= 19.00s step= 950 trunk_z= 2.6mm grav_b=(-0.01,+0.09,-1.00) r=2.76m +[headless_play] t= 19.10s step= 955 trunk_z= -0.1mm grav_b=(-0.02,+0.08,-1.00) r=2.78m +[headless_play] t= 19.20s step= 960 trunk_z= -4.7mm grav_b=(-0.02,+0.01,-1.00) r=2.81m +[headless_play] t= 19.30s step= 965 trunk_z= -3.2mm grav_b=(+0.01,+0.02,-1.00) r=2.82m +[headless_play] t= 19.40s step= 970 trunk_z= -11.7mm grav_b=(+0.03,+0.06,-1.00) r=2.83m +[headless_play] t= 19.50s step= 975 trunk_z= -5.2mm grav_b=(+0.01,+0.07,-1.00) r=2.84m +[headless_play] t= 19.60s step= 980 trunk_z= -8.5mm grav_b=(+0.03,+0.05,-1.00) r=2.85m +[headless_play] t= 19.70s step= 985 trunk_z= -7.5mm grav_b=(+0.01,-0.01,-1.00) r=2.88m +[headless_play] t= 19.80s step= 990 trunk_z= -7.3mm grav_b=(+0.03,+0.01,-1.00) r=2.89m +[headless_play] t= 19.90s step= 995 trunk_z= -13.2mm grav_b=(+0.04,+0.06,-1.00) r=2.89m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.0mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 114.2mm grav_b=(+0.00,+0.03,-1.00) r=0.46m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t6.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..4adaba92223a00bc4d7333fb9c7ffbf0ffda1891 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t6.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.214,-17.802,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.1mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.00,+0.04,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 109.9mm grav_b=(+0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 113.7mm grav_b=(+0.05,-0.01,-1.00) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 109.2mm grav_b=(+0.03,+0.05,-1.00) r=0.34m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(+0.07,+0.06,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 114.4mm grav_b=(+0.07,+0.04,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 109.0mm grav_b=(+0.05,-0.03,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 118.8mm grav_b=(+0.03,-0.04,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.04,+0.00,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 115.0mm grav_b=(+0.08,+0.05,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 115.6mm grav_b=(+0.12,+0.03,-0.99) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 111.3mm grav_b=(+0.09,-0.02,-1.00) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 118.0mm grav_b=(+0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.03,+0.06,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(+0.07,+0.05,-1.00) r=0.50m +[headless_play] t= 1.80s step= 90 trunk_z= 112.5mm grav_b=(+0.10,+0.01,-1.00) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 115.8mm grav_b=(+0.07,-0.05,-1.00) r=0.54m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.08,-0.02,-1.00) r=0.56m +[headless_play] t= 2.10s step= 105 trunk_z= 112.6mm grav_b=(+0.07,+0.07,-1.00) r=0.57m +[headless_play] t= 2.20s step= 110 trunk_z= 118.4mm grav_b=(+0.06,+0.05,-1.00) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 114.3mm grav_b=(+0.07,+0.03,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 114.3mm grav_b=(+0.04,-0.05,-1.00) r=0.62m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(+0.04,-0.03,-1.00) r=0.64m +[headless_play] t= 2.60s step= 130 trunk_z= 111.6mm grav_b=(+0.04,+0.05,-1.00) r=0.65m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(+0.07,+0.05,-1.00) r=0.67m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(+0.09,+0.02,-1.00) r=0.68m +[headless_play] t= 2.90s step= 145 trunk_z= 112.7mm grav_b=(+0.07,-0.05,-1.00) r=0.71m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.07,-0.02,-1.00) r=0.72m +[headless_play] t= 3.10s step= 155 trunk_z= 110.0mm grav_b=(+0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 3.20s step= 160 trunk_z= 117.5mm grav_b=(+0.07,+0.05,-1.00) r=0.75m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(+0.09,+0.02,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 111.0mm grav_b=(+0.06,-0.06,-1.00) r=0.79m +[headless_play] t= 3.50s step= 175 trunk_z= 118.2mm grav_b=(+0.06,-0.04,-1.00) r=0.80m +[headless_play] t= 3.60s step= 180 trunk_z= 111.9mm grav_b=(+0.06,+0.01,-1.00) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 117.0mm grav_b=(+0.07,+0.05,-1.00) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 114.9mm grav_b=(+0.10,+0.03,-1.00) r=0.85m +[headless_play] t= 3.90s step= 195 trunk_z= 110.6mm grav_b=(+0.07,-0.04,-1.00) r=0.87m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.04,-0.02,-1.00) r=0.88m +[headless_play] t= 4.10s step= 205 trunk_z= 112.4mm grav_b=(+0.04,+0.03,-1.00) r=0.90m +[headless_play] t= 4.20s step= 210 trunk_z= 115.5mm grav_b=(+0.04,+0.07,-1.00) r=0.91m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.05,+0.05,-1.00) r=0.92m +[headless_play] t= 4.40s step= 220 trunk_z= 110.2mm grav_b=(+0.06,-0.01,-1.00) r=0.94m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(+0.07,-0.00,-1.00) r=0.95m +[headless_play] t= 4.60s step= 230 trunk_z= 110.4mm grav_b=(+0.07,+0.04,-1.00) r=0.97m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(+0.06,+0.07,-1.00) r=0.99m +[headless_play] t= 4.80s step= 240 trunk_z= 113.0mm grav_b=(+0.08,+0.05,-1.00) r=1.00m +[headless_play] t= 4.90s step= 245 trunk_z= 110.1mm grav_b=(+0.08,-0.02,-1.00) r=1.02m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(+0.08,-0.02,-1.00) r=1.03m +[headless_play] t= 5.10s step= 255 trunk_z= 109.0mm grav_b=(+0.08,+0.03,-1.00) r=1.05m +[headless_play] t= 5.20s step= 260 trunk_z= 114.9mm grav_b=(+0.07,+0.07,-0.99) r=1.07m +[headless_play] t= 5.30s step= 265 trunk_z= 113.4mm grav_b=(+0.08,+0.06,-1.00) r=1.08m +[headless_play] t= 5.40s step= 270 trunk_z= 108.6mm grav_b=(+0.07,-0.03,-1.00) r=1.10m +[headless_play] t= 5.50s step= 275 trunk_z= 115.3mm grav_b=(+0.07,-0.03,-1.00) r=1.11m +[headless_play] t= 5.60s step= 280 trunk_z= 112.1mm grav_b=(+0.09,+0.00,-1.00) r=1.13m +[headless_play] t= 5.70s step= 285 trunk_z= 110.8mm grav_b=(+0.06,+0.07,-1.00) r=1.15m +[headless_play] t= 5.80s step= 290 trunk_z= 111.3mm grav_b=(+0.10,+0.07,-0.99) r=1.17m +[headless_play] t= 5.90s step= 295 trunk_z= 105.8mm grav_b=(+0.09,+0.00,-1.00) r=1.19m +[headless_play] t= 6.00s step= 300 trunk_z= 107.2mm grav_b=(+0.07,-0.10,-0.99) r=1.22m +[headless_play] t= 6.10s step= 305 trunk_z= 102.5mm grav_b=(+0.12,-0.07,-0.99) r=1.24m +[headless_play] t= 6.20s step= 310 trunk_z= 97.9mm grav_b=(+0.08,+0.04,-1.00) r=1.26m +[headless_play] t= 6.30s step= 315 trunk_z= 98.2mm grav_b=(+0.11,+0.05,-0.99) r=1.28m +[headless_play] t= 6.40s step= 320 trunk_z= 89.4mm grav_b=(+0.12,-0.03,-0.99) r=1.31m +[headless_play] t= 6.50s step= 325 trunk_z= 90.8mm grav_b=(+0.11,-0.07,-0.99) r=1.33m +[headless_play] t= 6.60s step= 330 trunk_z= 87.6mm grav_b=(+0.13,-0.03,-0.99) r=1.35m +[headless_play] t= 6.70s step= 335 trunk_z= 85.1mm grav_b=(+0.07,+0.06,-1.00) r=1.38m +[headless_play] t= 6.80s step= 340 trunk_z= 84.1mm grav_b=(+0.09,+0.07,-0.99) r=1.40m +[headless_play] t= 6.90s step= 345 trunk_z= 74.6mm grav_b=(+0.13,-0.01,-0.99) r=1.42m +[headless_play] t= 7.00s step= 350 trunk_z= 81.4mm grav_b=(+0.10,-0.10,-0.99) r=1.44m +[headless_play] t= 7.10s step= 355 trunk_z= 82.5mm grav_b=(+0.10,-0.07,-0.99) r=1.46m +[headless_play] t= 7.20s step= 360 trunk_z= 68.1mm grav_b=(+0.05,+0.04,-1.00) r=1.50m +[headless_play] t= 7.30s step= 365 trunk_z= 75.4mm grav_b=(+0.04,+0.03,-1.00) r=1.52m +[headless_play] t= 7.40s step= 370 trunk_z= 64.3mm grav_b=(+0.02,+0.01,-1.00) r=1.55m +[headless_play] t= 7.50s step= 375 trunk_z= 64.8mm grav_b=(-0.00,-0.04,-1.00) r=1.57m +[headless_play] t= 7.60s step= 380 trunk_z= 63.5mm grav_b=(+0.03,-0.03,-1.00) r=1.59m +[headless_play] t= 7.70s step= 385 trunk_z= 60.0mm grav_b=(+0.04,+0.04,-1.00) r=1.60m +[headless_play] t= 7.80s step= 390 trunk_z= 63.9mm grav_b=(+0.04,+0.05,-1.00) r=1.62m +[headless_play] t= 7.90s step= 395 trunk_z= 58.2mm grav_b=(+0.06,+0.03,-1.00) r=1.64m +[headless_play] t= 8.00s step= 400 trunk_z= 53.8mm grav_b=(+0.05,-0.09,-1.00) r=1.68m +[headless_play] t= 8.10s step= 405 trunk_z= 55.1mm grav_b=(+0.08,-0.10,-0.99) r=1.70m +[headless_play] t= 8.20s step= 410 trunk_z= 52.1mm grav_b=(+0.08,-0.05,-1.00) r=1.72m +[headless_play] t= 8.30s step= 415 trunk_z= 44.3mm grav_b=(+0.05,+0.02,-1.00) r=1.75m +[headless_play] t= 8.40s step= 420 trunk_z= 44.9mm grav_b=(+0.04,+0.02,-1.00) r=1.77m +[headless_play] t= 8.50s step= 425 trunk_z= 32.3mm grav_b=(-0.00,-0.05,-1.00) r=1.80m +[headless_play] t= 8.60s step= 430 trunk_z= 37.9mm grav_b=(-0.01,-0.06,-1.00) r=1.82m +[headless_play] t= 8.70s step= 435 trunk_z= 34.1mm grav_b=(+0.03,-0.01,-1.00) r=1.82m +[headless_play] t= 8.80s step= 440 trunk_z= 37.4mm grav_b=(+0.06,+0.05,-1.00) r=1.83m +[headless_play] t= 8.90s step= 445 trunk_z= 38.1mm grav_b=(+0.08,+0.05,-1.00) r=1.85m +[headless_play] t= 9.00s step= 450 trunk_z= 25.7mm grav_b=(+0.08,-0.01,-1.00) r=1.89m +[headless_play] t= 9.10s step= 455 trunk_z= 28.6mm grav_b=(+0.06,-0.07,-1.00) r=1.92m +[headless_play] t= 9.20s step= 460 trunk_z= 26.9mm grav_b=(+0.05,-0.03,-1.00) r=1.94m +[headless_play] t= 9.30s step= 465 trunk_z= 20.9mm grav_b=(+0.02,+0.05,-1.00) r=1.95m +[headless_play] t= 9.40s step= 470 trunk_z= 24.7mm grav_b=(-0.00,+0.06,-1.00) r=1.97m +[headless_play] t= 9.50s step= 475 trunk_z= 16.3mm grav_b=(+0.03,+0.03,-1.00) r=1.99m +[headless_play] t= 9.60s step= 480 trunk_z= 16.4mm grav_b=(+0.07,-0.05,-1.00) r=2.02m +[headless_play] t= 9.70s step= 485 trunk_z= 16.5mm grav_b=(+0.08,-0.02,-1.00) r=2.04m +[headless_play] t= 9.80s step= 490 trunk_z= 6.1mm grav_b=(+0.05,+0.07,-1.00) r=2.06m +[headless_play] t= 9.90s step= 495 trunk_z= 13.7mm grav_b=(+0.04,+0.09,-1.00) r=2.08m +[headless_play] t= 10.00s step= 500 trunk_z= 10.6mm grav_b=(+0.04,+0.07,-1.00) r=2.10m +[headless_play] t= 10.10s step= 505 trunk_z= -3.7mm grav_b=(-0.00,-0.03,-1.00) r=2.14m +[headless_play] t= 10.20s step= 510 trunk_z= 2.3mm grav_b=(+0.03,-0.05,-1.00) r=2.15m +[headless_play] t= 10.30s step= 515 trunk_z= -1.7mm grav_b=(+0.02,-0.03,-1.00) r=2.15m +[headless_play] t= 10.40s step= 520 trunk_z= -1.0mm grav_b=(-0.03,+0.08,-1.00) r=2.13m +[headless_play] t= 10.50s step= 525 trunk_z= 2.7mm grav_b=(-0.05,+0.10,-0.99) r=2.13m +[headless_play] t= 10.60s step= 530 trunk_z= 1.3mm grav_b=(-0.03,+0.06,-1.00) r=2.13m +[headless_play] t= 10.70s step= 535 trunk_z= -6.6mm grav_b=(-0.01,-0.02,-1.00) r=2.14m +[headless_play] t= 10.80s step= 540 trunk_z= -2.2mm grav_b=(+0.02,-0.03,-1.00) r=2.15m +[headless_play] t= 10.90s step= 545 trunk_z= -6.5mm grav_b=(+0.02,+0.01,-1.00) r=2.14m +[headless_play] t= 11.00s step= 550 trunk_z= -1.4mm grav_b=(+0.00,+0.09,-1.00) r=2.13m +[headless_play] t= 11.10s step= 555 trunk_z= 1.2mm grav_b=(+0.02,+0.10,-1.00) r=2.14m +[headless_play] t= 11.20s step= 560 trunk_z= -3.3mm grav_b=(+0.01,+0.07,-1.00) r=2.15m +[headless_play] t= 11.30s step= 565 trunk_z= -0.6mm grav_b=(-0.03,+0.00,-1.00) r=2.16m +[headless_play] t= 11.40s step= 570 trunk_z= -0.9mm grav_b=(-0.03,+0.04,-1.00) r=2.16m +[headless_play] t= 11.50s step= 575 trunk_z= -1.4mm grav_b=(-0.03,+0.14,-0.99) r=2.14m +[headless_play] t= 11.60s step= 580 trunk_z= 2.8mm grav_b=(-0.03,+0.15,-0.99) r=2.13m +[headless_play] t= 11.70s step= 585 trunk_z= 0.6mm grav_b=(-0.02,+0.07,-1.00) r=2.14m +[headless_play] t= 11.80s step= 590 trunk_z= -2.9mm grav_b=(-0.01,-0.04,-1.00) r=2.16m +[headless_play] t= 11.90s step= 595 trunk_z= 3.2mm grav_b=(+0.01,-0.05,-1.00) r=2.16m +[headless_play] t= 12.00s step= 600 trunk_z= -2.3mm grav_b=(+0.01,-0.01,-1.00) r=2.16m +[headless_play] t= 12.10s step= 605 trunk_z= 1.8mm grav_b=(-0.02,+0.06,-1.00) r=2.14m +[headless_play] t= 12.20s step= 610 trunk_z= 3.3mm grav_b=(-0.02,+0.04,-1.00) r=2.14m +[headless_play] t= 12.30s step= 615 trunk_z= -0.5mm grav_b=(-0.01,+0.02,-1.00) r=2.16m +[headless_play] t= 12.40s step= 620 trunk_z= 3.4mm grav_b=(-0.02,-0.04,-1.00) r=2.17m +[headless_play] t= 12.50s step= 625 trunk_z= 3.4mm grav_b=(-0.02,-0.03,-1.00) r=2.17m +[headless_play] t= 12.60s step= 630 trunk_z= 0.3mm grav_b=(-0.03,+0.06,-1.00) r=2.16m +[headless_play] t= 12.70s step= 635 trunk_z= 6.2mm grav_b=(-0.03,+0.05,-1.00) r=2.16m +[headless_play] t= 12.80s step= 640 trunk_z= 4.7mm grav_b=(-0.01,+0.03,-1.00) r=2.17m +[headless_play] t= 12.90s step= 645 trunk_z= 1.2mm grav_b=(-0.01,-0.04,-1.00) r=2.18m +[headless_play] t= 13.00s step= 650 trunk_z= 6.4mm grav_b=(-0.05,-0.02,-1.00) r=2.19m +[headless_play] t= 13.10s step= 655 trunk_z= -0.6mm grav_b=(-0.06,+0.01,-1.00) r=2.18m +[headless_play] t= 13.20s step= 660 trunk_z= 6.0mm grav_b=(-0.06,+0.08,-1.00) r=2.17m +[headless_play] t= 13.30s step= 665 trunk_z= 6.8mm grav_b=(-0.03,+0.04,-1.00) r=2.17m +[headless_play] t= 13.40s step= 670 trunk_z= 1.9mm grav_b=(-0.01,-0.01,-1.00) r=2.18m +[headless_play] t= 13.50s step= 675 trunk_z= 6.5mm grav_b=(+0.02,-0.07,-1.00) r=2.20m +[headless_play] t= 13.60s step= 680 trunk_z= 6.8mm grav_b=(+0.02,-0.05,-1.00) r=2.20m +[headless_play] t= 13.70s step= 685 trunk_z= 1.5mm grav_b=(-0.03,+0.02,-1.00) r=2.19m +[headless_play] t= 13.80s step= 690 trunk_z= 8.4mm grav_b=(-0.07,+0.02,-1.00) r=2.18m +[headless_play] t= 13.90s step= 695 trunk_z= 7.0mm grav_b=(-0.03,-0.01,-1.00) r=2.18m +[headless_play] t= 14.00s step= 700 trunk_z= 0.7mm grav_b=(-0.00,-0.10,-0.99) r=2.19m +[headless_play] t= 14.10s step= 705 trunk_z= 6.1mm grav_b=(+0.03,-0.11,-0.99) r=2.19m +[headless_play] t= 14.20s step= 710 trunk_z= 0.1mm grav_b=(+0.04,-0.02,-1.00) r=2.18m +[headless_play] t= 14.30s step= 715 trunk_z= 7.8mm grav_b=(+0.01,+0.06,-1.00) r=2.18m +[headless_play] t= 14.40s step= 720 trunk_z= 8.4mm grav_b=(-0.00,+0.02,-1.00) r=2.18m +[headless_play] t= 14.50s step= 725 trunk_z= 2.4mm grav_b=(-0.01,-0.02,-1.00) r=2.20m +[headless_play] t= 14.60s step= 730 trunk_z= 8.6mm grav_b=(-0.03,-0.05,-1.00) r=2.21m +[headless_play] t= 14.70s step= 735 trunk_z= 6.4mm grav_b=(-0.04,-0.03,-1.00) r=2.21m +[headless_play] t= 14.80s step= 740 trunk_z= 7.6mm grav_b=(-0.05,+0.07,-1.00) r=2.20m +[headless_play] t= 14.90s step= 745 trunk_z= 11.0mm grav_b=(-0.05,+0.05,-1.00) r=2.19m +[headless_play] t= 15.00s step= 750 trunk_z= 8.3mm grav_b=(-0.04,+0.02,-1.00) r=2.20m +[headless_play] t= 15.10s step= 755 trunk_z= 6.7mm grav_b=(+0.00,-0.07,-1.00) r=2.22m +[headless_play] t= 15.20s step= 760 trunk_z= 10.9mm grav_b=(+0.03,-0.07,-1.00) r=2.23m +[headless_play] t= 15.30s step= 765 trunk_z= 5.9mm grav_b=(+0.00,-0.01,-1.00) r=2.22m +[headless_play] t= 15.40s step= 770 trunk_z= 12.0mm grav_b=(-0.05,+0.03,-1.00) r=2.22m +[headless_play] t= 15.50s step= 775 trunk_z= 11.1mm grav_b=(-0.05,-0.01,-1.00) r=2.22m +[headless_play] t= 15.60s step= 780 trunk_z= 5.2mm grav_b=(-0.01,-0.07,-1.00) r=2.23m +[headless_play] t= 15.70s step= 785 trunk_z= 10.2mm grav_b=(+0.01,-0.08,-1.00) r=2.23m +[headless_play] t= 15.80s step= 790 trunk_z= 5.1mm grav_b=(+0.01,-0.04,-1.00) r=2.22m +[headless_play] t= 15.90s step= 795 trunk_z= 10.7mm grav_b=(-0.00,+0.02,-1.00) r=2.22m +[headless_play] t= 16.00s step= 800 trunk_z= 8.5mm grav_b=(-0.02,-0.00,-1.00) r=2.22m +[headless_play] t= 16.10s step= 805 trunk_z= 7.0mm grav_b=(+0.00,-0.08,-1.00) r=2.24m +[headless_play] t= 16.20s step= 810 trunk_z= 12.5mm grav_b=(+0.03,-0.08,-1.00) r=2.24m +[headless_play] t= 16.30s step= 815 trunk_z= 5.5mm grav_b=(+0.02,-0.03,-1.00) r=2.23m +[headless_play] t= 16.40s step= 820 trunk_z= 10.8mm grav_b=(-0.02,+0.05,-1.00) r=2.22m +[headless_play] t= 16.50s step= 825 trunk_z= 12.3mm grav_b=(-0.04,+0.04,-1.00) r=2.22m +[headless_play] t= 16.60s step= 830 trunk_z= 6.9mm grav_b=(-0.03,-0.01,-1.00) r=2.24m +[headless_play] t= 16.70s step= 835 trunk_z= 9.6mm grav_b=(+0.00,-0.04,-1.00) r=2.25m +[headless_play] t= 16.80s step= 840 trunk_z= 8.6mm grav_b=(+0.01,+0.01,-1.00) r=2.24m +[headless_play] t= 16.90s step= 845 trunk_z= 6.1mm grav_b=(-0.05,+0.01,-1.00) r=2.23m +[headless_play] t= 17.00s step= 850 trunk_z= 4.1mm grav_b=(-0.08,-0.02,-1.00) r=2.23m +[headless_play] t= 17.10s step= 855 trunk_z= -4.3mm grav_b=(+0.03,-0.08,-1.00) r=2.23m +[headless_play] t= 17.20s step= 860 trunk_z= -3.3mm grav_b=(+0.03,-0.01,-1.00) r=2.21m +[headless_play] t= 17.30s step= 865 trunk_z= -1.9mm grav_b=(-0.01,+0.03,-1.00) r=2.20m +[headless_play] t= 17.40s step= 870 trunk_z= -2.8mm grav_b=(-0.04,+0.02,-1.00) r=2.19m +[headless_play] t= 17.50s step= 875 trunk_z= -2.0mm grav_b=(-0.05,+0.02,-1.00) r=2.19m +[headless_play] t= 17.60s step= 880 trunk_z= -6.3mm grav_b=(+0.02,-0.06,-1.00) r=2.19m +[headless_play] t= 17.70s step= 885 trunk_z= -7.2mm grav_b=(+0.03,+0.03,-1.00) r=2.18m +[headless_play] t= 17.80s step= 890 trunk_z= -4.7mm grav_b=(-0.01,+0.06,-1.00) r=2.17m +[headless_play] t= 17.90s step= 895 trunk_z= -6.1mm grav_b=(-0.04,+0.04,-1.00) r=2.17m +[headless_play] t= 18.00s step= 900 trunk_z= -6.0mm grav_b=(-0.06,+0.04,-1.00) r=2.17m +[headless_play] t= 18.10s step= 905 trunk_z= -6.5mm grav_b=(-0.05,+0.02,-1.00) r=2.17m +[headless_play] t= 18.20s step= 910 trunk_z= -7.2mm grav_b=(-0.06,+0.05,-1.00) r=2.16m +[headless_play] t= 18.30s step= 915 trunk_z= -10.4mm grav_b=(+0.03,+0.00,-1.00) r=2.16m +[headless_play] t= 18.40s step= 920 trunk_z= -11.5mm grav_b=(+0.04,+0.02,-1.00) r=2.15m +[headless_play] t= 18.50s step= 925 trunk_z= -11.0mm grav_b=(+0.04,+0.02,-1.00) r=2.14m +[headless_play] t= 18.60s step= 930 trunk_z= -11.2mm grav_b=(-0.00,-0.02,-1.00) r=2.14m +[headless_play] t= 18.70s step= 935 trunk_z= -11.0mm grav_b=(-0.02,-0.01,-1.00) r=2.14m +[headless_play] t= 18.80s step= 940 trunk_z= -11.1mm grav_b=(-0.04,-0.01,-1.00) r=2.14m +[headless_play] t= 18.90s step= 945 trunk_z= -11.0mm grav_b=(-0.05,-0.02,-1.00) r=2.13m +[headless_play] t= 19.00s step= 950 trunk_z= -11.0mm grav_b=(-0.04,-0.02,-1.00) r=2.14m +[headless_play] t= 19.10s step= 955 trunk_z= -10.9mm grav_b=(-0.03,-0.02,-1.00) r=2.14m +[headless_play] t= 19.20s step= 960 trunk_z= -10.9mm grav_b=(-0.02,-0.02,-1.00) r=2.14m +[headless_play] t= 19.30s step= 965 trunk_z= -10.6mm grav_b=(-0.02,-0.02,-1.00) r=2.14m +[headless_play] t= 19.40s step= 970 trunk_z= -10.3mm grav_b=(-0.01,-0.01,-1.00) r=2.14m +[headless_play] t= 19.50s step= 975 trunk_z= -10.2mm grav_b=(-0.02,-0.02,-1.00) r=2.14m +[headless_play] t= 19.60s step= 980 trunk_z= -10.1mm grav_b=(-0.01,-0.02,-1.00) r=2.14m +[headless_play] t= 19.70s step= 985 trunk_z= -10.4mm grav_b=(+0.01,-0.02,-1.00) r=2.14m +[headless_play] t= 19.80s step= 990 trunk_z= -10.4mm grav_b=(+0.01,-0.02,-1.00) r=2.14m +[headless_play] t= 19.90s step= 995 trunk_z= -10.3mm grav_b=(+0.01,-0.02,-1.00) r=2.14m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.39m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t7.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..704f13df93206177f1295406e377bc42ffba9d45 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t7.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.660,-18.312,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 124.9mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(-0.01,+0.03,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(+0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 120.4mm grav_b=(+0.03,+0.00,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 122.7mm grav_b=(+0.02,-0.07,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 121.4mm grav_b=(+0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 122.5mm grav_b=(+0.00,+0.03,-1.00) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 124.6mm grav_b=(+0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 116.3mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 122.2mm grav_b=(-0.01,-0.05,-1.00) r=0.58m +[headless_play] t= 1.10s step= 55 trunk_z= 121.2mm grav_b=(+0.00,-0.04,-1.00) r=0.59m +[headless_play] t= 1.20s step= 60 trunk_z= 120.0mm grav_b=(-0.00,+0.03,-1.00) r=0.58m +[headless_play] t= 1.30s step= 65 trunk_z= 124.3mm grav_b=(+0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 119.1mm grav_b=(-0.01,+0.01,-1.00) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 122.3mm grav_b=(-0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 1.60s step= 80 trunk_z= 122.1mm grav_b=(+0.01,-0.04,-1.00) r=0.65m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.00,+0.02,-1.00) r=0.65m +[headless_play] t= 1.80s step= 90 trunk_z= 124.2mm grav_b=(+0.01,+0.04,-1.00) r=0.66m +[headless_play] t= 1.90s step= 95 trunk_z= 120.9mm grav_b=(+0.00,+0.03,-1.00) r=0.68m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.01,-0.05,-1.00) r=0.71m +[headless_play] t= 2.10s step= 105 trunk_z= 122.6mm grav_b=(+0.02,-0.05,-1.00) r=0.72m +[headless_play] t= 2.20s step= 110 trunk_z= 118.6mm grav_b=(+0.01,-0.02,-1.00) r=0.73m +[headless_play] t= 2.30s step= 115 trunk_z= 123.7mm grav_b=(+0.02,+0.03,-1.00) r=0.74m +[headless_play] t= 2.40s step= 120 trunk_z= 121.3mm grav_b=(+0.01,+0.03,-1.00) r=0.76m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(-0.01,-0.04,-1.00) r=0.78m +[headless_play] t= 2.60s step= 130 trunk_z= 122.9mm grav_b=(+0.00,-0.04,-1.00) r=0.80m +[headless_play] t= 2.70s step= 135 trunk_z= 119.1mm grav_b=(+0.01,-0.03,-1.00) r=0.81m +[headless_play] t= 2.80s step= 140 trunk_z= 122.9mm grav_b=(-0.01,+0.04,-1.00) r=0.82m +[headless_play] t= 2.90s step= 145 trunk_z= 124.2mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 3.00s step= 150 trunk_z= 116.0mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 3.10s step= 155 trunk_z= 123.2mm grav_b=(+0.00,-0.07,-1.00) r=0.88m +[headless_play] t= 3.20s step= 160 trunk_z= 121.6mm grav_b=(+0.02,-0.05,-1.00) r=0.89m +[headless_play] t= 3.30s step= 165 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.90m +[headless_play] t= 3.40s step= 170 trunk_z= 125.4mm grav_b=(+0.00,+0.03,-1.00) r=0.92m +[headless_play] t= 3.50s step= 175 trunk_z= 121.0mm grav_b=(+0.00,+0.02,-1.00) r=0.94m +[headless_play] t= 3.60s step= 180 trunk_z= 118.7mm grav_b=(-0.03,-0.08,-1.00) r=0.96m +[headless_play] t= 3.70s step= 185 trunk_z= 120.4mm grav_b=(+0.01,-0.09,-1.00) r=0.99m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(+0.04,-0.05,-1.00) r=1.00m +[headless_play] t= 3.90s step= 195 trunk_z= 120.6mm grav_b=(+0.02,-0.01,-1.00) r=1.02m +[headless_play] t= 4.00s step= 200 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=1.05m +[headless_play] t= 4.10s step= 205 trunk_z= 100.5mm grav_b=(-0.03,-0.12,-0.99) r=1.09m +[headless_play] t= 4.20s step= 210 trunk_z= 107.6mm grav_b=(-0.01,-0.15,-0.99) r=1.13m +[headless_play] t= 4.30s step= 215 trunk_z= 106.4mm grav_b=(+0.06,-0.13,-0.99) r=1.14m +[headless_play] t= 4.40s step= 220 trunk_z= 105.5mm grav_b=(+0.04,-0.04,-1.00) r=1.17m +[headless_play] t= 4.50s step= 225 trunk_z= 91.0mm grav_b=(+0.02,+0.04,-1.00) r=1.20m +[headless_play] t= 4.60s step= 230 trunk_z= 101.6mm grav_b=(+0.02,+0.06,-1.00) r=1.23m +[headless_play] t= 4.70s step= 235 trunk_z= 95.2mm grav_b=(-0.03,+0.05,-1.00) r=1.26m +[headless_play] t= 4.80s step= 240 trunk_z= 89.8mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 4.90s step= 245 trunk_z= 90.5mm grav_b=(-0.03,+0.02,-1.00) r=1.32m +[headless_play] t= 5.00s step= 250 trunk_z= 74.2mm grav_b=(-0.03,+0.02,-1.00) r=1.34m +[headless_play] t= 5.10s step= 255 trunk_z= 78.4mm grav_b=(-0.01,+0.01,-1.00) r=1.36m +[headless_play] t= 5.20s step= 260 trunk_z= 64.5mm grav_b=(-0.04,-0.02,-1.00) r=1.36m +[headless_play] t= 5.30s step= 265 trunk_z= 69.9mm grav_b=(-0.02,-0.02,-1.00) r=1.37m +[headless_play] t= 5.40s step= 270 trunk_z= 70.2mm grav_b=(-0.01,+0.02,-1.00) r=1.38m +[headless_play] t= 5.50s step= 275 trunk_z= 68.9mm grav_b=(-0.01,-0.01,-1.00) r=1.39m +[headless_play] t= 5.60s step= 280 trunk_z= 69.5mm grav_b=(-0.02,-0.03,-1.00) r=1.39m +[headless_play] t= 5.70s step= 285 trunk_z= 66.1mm grav_b=(-0.03,+0.02,-1.00) r=1.39m +[headless_play] t= 5.80s step= 290 trunk_z= 67.7mm grav_b=(+0.00,+0.00,-1.00) r=1.40m +[headless_play] t= 5.90s step= 295 trunk_z= 68.5mm grav_b=(+0.00,+0.02,-1.00) r=1.40m +[headless_play] t= 6.00s step= 300 trunk_z= 67.0mm grav_b=(-0.01,+0.05,-1.00) r=1.41m +[headless_play] t= 6.10s step= 305 trunk_z= 62.4mm grav_b=(-0.04,-0.01,-1.00) r=1.41m +[headless_play] t= 6.20s step= 310 trunk_z= 63.8mm grav_b=(-0.03,+0.01,-1.00) r=1.42m +[headless_play] t= 6.30s step= 315 trunk_z= 64.7mm grav_b=(+0.01,+0.02,-1.00) r=1.43m +[headless_play] t= 6.40s step= 320 trunk_z= 56.7mm grav_b=(-0.04,-0.06,-1.00) r=1.43m +[headless_play] t= 6.50s step= 325 trunk_z= 61.6mm grav_b=(-0.02,-0.04,-1.00) r=1.44m +[headless_play] t= 6.60s step= 330 trunk_z= 59.6mm grav_b=(-0.02,-0.01,-1.00) r=1.45m +[headless_play] t= 6.70s step= 335 trunk_z= 61.1mm grav_b=(-0.02,+0.02,-1.00) r=1.45m +[headless_play] t= 6.80s step= 340 trunk_z= 60.6mm grav_b=(+0.01,+0.01,-1.00) r=1.46m +[headless_play] t= 6.90s step= 345 trunk_z= 58.0mm grav_b=(+0.02,+0.04,-1.00) r=1.46m +[headless_play] t= 7.00s step= 350 trunk_z= 58.1mm grav_b=(+0.02,+0.03,-1.00) r=1.46m +[headless_play] t= 7.10s step= 355 trunk_z= 57.8mm grav_b=(+0.01,+0.04,-1.00) r=1.47m +[headless_play] t= 7.20s step= 360 trunk_z= 59.2mm grav_b=(+0.01,+0.04,-1.00) r=1.47m +[headless_play] t= 7.30s step= 365 trunk_z= 58.1mm grav_b=(-0.01,-0.04,-1.00) r=1.47m +[headless_play] t= 7.40s step= 370 trunk_z= 56.5mm grav_b=(-0.02,-0.02,-1.00) r=1.47m +[headless_play] t= 7.50s step= 375 trunk_z= 57.7mm grav_b=(-0.02,+0.01,-1.00) r=1.48m +[headless_play] t= 7.60s step= 380 trunk_z= 56.4mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 7.70s step= 385 trunk_z= 56.4mm grav_b=(+0.00,+0.00,-1.00) r=1.48m +[headless_play] t= 7.80s step= 390 trunk_z= 57.0mm grav_b=(+0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 7.90s step= 395 trunk_z= 56.1mm grav_b=(+0.01,+0.00,-1.00) r=1.49m +[headless_play] t= 8.00s step= 400 trunk_z= 57.4mm grav_b=(-0.03,-0.05,-1.00) r=1.49m +[headless_play] t= 8.10s step= 405 trunk_z= 53.9mm grav_b=(-0.02,-0.01,-1.00) r=1.50m +[headless_play] t= 8.20s step= 410 trunk_z= 54.1mm grav_b=(-0.05,-0.00,-1.00) r=1.51m +[headless_play] t= 8.30s step= 415 trunk_z= 51.5mm grav_b=(-0.03,+0.01,-1.00) r=1.51m +[headless_play] t= 8.40s step= 420 trunk_z= 50.7mm grav_b=(+0.06,+0.02,-1.00) r=1.53m +[headless_play] t= 8.50s step= 425 trunk_z= 51.2mm grav_b=(+0.09,+0.01,-1.00) r=1.53m +[headless_play] t= 8.60s step= 430 trunk_z= 53.1mm grav_b=(+0.07,-0.01,-1.00) r=1.53m +[headless_play] t= 8.70s step= 435 trunk_z= 51.9mm grav_b=(+0.04,-0.05,-1.00) r=1.54m +[headless_play] t= 8.80s step= 440 trunk_z= 54.4mm grav_b=(+0.03,-0.07,-1.00) r=1.55m +[headless_play] t= 8.90s step= 445 trunk_z= 52.3mm grav_b=(-0.01,-0.03,-1.00) r=1.56m +[headless_play] t= 9.00s step= 450 trunk_z= 49.7mm grav_b=(-0.03,+0.03,-1.00) r=1.57m +[headless_play] t= 9.10s step= 455 trunk_z= 47.4mm grav_b=(-0.04,+0.03,-1.00) r=1.58m +[headless_play] t= 9.20s step= 460 trunk_z= 45.2mm grav_b=(+0.01,-0.01,-1.00) r=1.59m +[headless_play] t= 9.30s step= 465 trunk_z= 41.8mm grav_b=(+0.04,+0.03,-1.00) r=1.61m +[headless_play] t= 9.40s step= 470 trunk_z= 37.6mm grav_b=(+0.03,+0.09,-1.00) r=1.64m +[headless_play] t= 9.50s step= 475 trunk_z= 41.8mm grav_b=(+0.05,+0.09,-0.99) r=1.67m +[headless_play] t= 9.60s step= 480 trunk_z= 38.8mm grav_b=(+0.06,+0.06,-1.00) r=1.70m +[headless_play] t= 9.70s step= 485 trunk_z= 34.4mm grav_b=(-0.01,-0.05,-1.00) r=1.73m +[headless_play] t= 9.80s step= 490 trunk_z= 31.6mm grav_b=(+0.01,-0.05,-1.00) r=1.75m +[headless_play] t= 9.90s step= 495 trunk_z= 22.4mm grav_b=(+0.02,+0.05,-1.00) r=1.78m +[headless_play] t= 10.00s step= 500 trunk_z= 27.7mm grav_b=(+0.02,+0.11,-0.99) r=1.81m +[headless_play] t= 10.10s step= 505 trunk_z= 24.9mm grav_b=(+0.06,+0.07,-1.00) r=1.83m +[headless_play] t= 10.20s step= 510 trunk_z= 16.5mm grav_b=(+0.03,-0.03,-1.00) r=1.86m +[headless_play] t= 10.30s step= 515 trunk_z= 21.3mm grav_b=(+0.02,-0.07,-1.00) r=1.89m +[headless_play] t= 10.40s step= 520 trunk_z= 15.6mm grav_b=(+0.04,-0.02,-1.00) r=1.92m +[headless_play] t= 10.50s step= 525 trunk_z= 13.3mm grav_b=(-0.01,+0.10,-0.99) r=1.96m +[headless_play] t= 10.60s step= 530 trunk_z= 12.5mm grav_b=(+0.02,+0.08,-1.00) r=1.98m +[headless_play] t= 10.70s step= 535 trunk_z= 5.4mm grav_b=(+0.01,+0.04,-1.00) r=2.00m +[headless_play] t= 10.80s step= 540 trunk_z= 6.4mm grav_b=(-0.03,-0.04,-1.00) r=2.03m +[headless_play] t= 10.90s step= 545 trunk_z= -0.3mm grav_b=(+0.05,-0.01,-1.00) r=2.06m +[headless_play] t= 11.00s step= 550 trunk_z= -2.4mm grav_b=(+0.02,+0.09,-1.00) r=2.09m +[headless_play] t= 11.10s step= 555 trunk_z= -0.3mm grav_b=(+0.05,+0.08,-1.00) r=2.11m +[headless_play] t= 11.20s step= 560 trunk_z= -4.4mm grav_b=(+0.04,+0.04,-1.00) r=2.14m +[headless_play] t= 11.30s step= 565 trunk_z= -3.5mm grav_b=(-0.03,-0.06,-1.00) r=2.17m +[headless_play] t= 11.40s step= 570 trunk_z= -9.5mm grav_b=(+0.02,-0.02,-1.00) r=2.19m +[headless_play] t= 11.50s step= 575 trunk_z= -13.8mm grav_b=(+0.01,+0.10,-0.99) r=2.22m +[headless_play] t= 11.60s step= 580 trunk_z= -7.7mm grav_b=(+0.04,+0.07,-1.00) r=2.24m +[headless_play] t= 11.70s step= 585 trunk_z= -14.4mm grav_b=(+0.00,+0.02,-1.00) r=2.26m +[headless_play] t= 11.80s step= 590 trunk_z= -13.6mm grav_b=(-0.03,-0.07,-1.00) r=2.28m +[headless_play] t= 11.90s step= 595 trunk_z= -15.5mm grav_b=(+0.00,-0.01,-1.00) r=2.30m +[headless_play] t= 12.00s step= 600 trunk_z= -16.5mm grav_b=(+0.01,+0.07,-1.00) r=2.32m +[headless_play] t= 12.10s step= 605 trunk_z= -4.0mm grav_b=(+0.06,+0.04,-1.00) r=2.33m +[headless_play] t= 12.20s step= 610 trunk_z= -9.5mm grav_b=(+0.05,-0.00,-1.00) r=2.34m +[headless_play] t= 12.30s step= 615 trunk_z= -7.7mm grav_b=(+0.02,-0.04,-1.00) r=2.37m +[headless_play] t= 12.40s step= 620 trunk_z= -11.9mm grav_b=(-0.00,+0.02,-1.00) r=2.39m +[headless_play] t= 12.50s step= 625 trunk_z= -7.6mm grav_b=(-0.01,+0.05,-1.00) r=2.41m +[headless_play] t= 12.60s step= 630 trunk_z= -17.2mm grav_b=(+0.00,-0.02,-1.00) r=2.42m +[headless_play] t= 12.70s step= 635 trunk_z= -12.4mm grav_b=(+0.05,-0.02,-1.00) r=2.43m +[headless_play] t= 12.80s step= 640 trunk_z= -15.4mm grav_b=(+0.07,+0.07,-1.00) r=2.44m +[headless_play] t= 12.90s step= 645 trunk_z= -4.6mm grav_b=(+0.03,+0.04,-1.00) r=2.46m +[headless_play] t= 13.00s step= 650 trunk_z= -9.7mm grav_b=(-0.01,-0.00,-1.00) r=2.48m +[headless_play] t= 13.10s step= 655 trunk_z= -11.5mm grav_b=(-0.04,-0.04,-1.00) r=2.50m +[headless_play] t= 13.20s step= 660 trunk_z= -15.1mm grav_b=(-0.04,+0.00,-1.00) r=2.50m +[headless_play] t= 13.30s step= 665 trunk_z= -16.1mm grav_b=(-0.01,+0.02,-1.00) r=2.51m +[headless_play] t= 13.40s step= 670 trunk_z= -17.9mm grav_b=(+0.06,-0.04,-1.00) r=2.53m +[headless_play] t= 13.50s step= 675 trunk_z= -12.2mm grav_b=(+0.10,-0.06,-0.99) r=2.54m +[headless_play] t= 13.60s step= 680 trunk_z= -9.2mm grav_b=(+0.03,+0.03,-1.00) r=2.56m +[headless_play] t= 13.70s step= 685 trunk_z= -11.3mm grav_b=(-0.00,+0.05,-1.00) r=2.58m +[headless_play] t= 13.80s step= 690 trunk_z= -15.4mm grav_b=(-0.02,+0.01,-1.00) r=2.61m +[headless_play] t= 13.90s step= 695 trunk_z= -17.9mm grav_b=(-0.07,-0.11,-0.99) r=2.63m +[headless_play] t= 14.00s step= 700 trunk_z= -11.0mm grav_b=(-0.04,-0.10,-0.99) r=2.64m +[headless_play] t= 14.10s step= 705 trunk_z= -14.5mm grav_b=(-0.00,-0.02,-1.00) r=2.66m +[headless_play] t= 14.20s step= 710 trunk_z= -9.8mm grav_b=(+0.05,+0.07,-1.00) r=2.67m +[headless_play] t= 14.30s step= 715 trunk_z= -6.6mm grav_b=(+0.07,+0.05,-1.00) r=2.68m +[headless_play] t= 14.40s step= 720 trunk_z= -14.7mm grav_b=(+0.09,-0.06,-0.99) r=2.70m +[headless_play] t= 14.50s step= 725 trunk_z= -1.4mm grav_b=(+0.06,-0.07,-1.00) r=2.72m +[headless_play] t= 14.60s step= 730 trunk_z= -14.5mm grav_b=(-0.04,-0.01,-1.00) r=2.75m +[headless_play] t= 14.70s step= 735 trunk_z= -11.5mm grav_b=(-0.04,+0.02,-1.00) r=2.77m +[headless_play] t= 14.80s step= 740 trunk_z= -16.7mm grav_b=(-0.08,-0.02,-1.00) r=2.79m +[headless_play] t= 14.90s step= 745 trunk_z= -12.3mm grav_b=(-0.02,-0.03,-1.00) r=2.80m +[headless_play] t= 15.00s step= 750 trunk_z= -15.7mm grav_b=(+0.03,-0.00,-1.00) r=2.81m +[headless_play] t= 15.10s step= 755 trunk_z= -11.2mm grav_b=(+0.06,+0.01,-1.00) r=2.81m +[headless_play] t= 15.20s step= 760 trunk_z= -10.9mm grav_b=(+0.06,-0.02,-1.00) r=2.80m +[headless_play] t= 15.30s step= 765 trunk_z= -11.4mm grav_b=(+0.06,-0.03,-1.00) r=2.80m +[headless_play] t= 15.40s step= 770 trunk_z= -12.8mm grav_b=(+0.04,-0.03,-1.00) r=2.79m +[headless_play] t= 15.50s step= 775 trunk_z= -12.7mm grav_b=(-0.01,-0.05,-1.00) r=2.78m +[headless_play] t= 15.60s step= 780 trunk_z= -13.9mm grav_b=(-0.04,-0.04,-1.00) r=2.78m +[headless_play] t= 15.70s step= 785 trunk_z= -13.4mm grav_b=(-0.02,-0.03,-1.00) r=2.78m +[headless_play] t= 15.80s step= 790 trunk_z= -14.1mm grav_b=(+0.01,-0.01,-1.00) r=2.78m +[headless_play] t= 15.90s step= 795 trunk_z= -11.7mm grav_b=(+0.04,-0.01,-1.00) r=2.78m +[headless_play] t= 16.00s step= 800 trunk_z= -14.7mm grav_b=(+0.04,-0.00,-1.00) r=2.77m +[headless_play] t= 16.10s step= 805 trunk_z= -12.1mm grav_b=(-0.01,-0.01,-1.00) r=2.77m +[headless_play] t= 16.20s step= 810 trunk_z= -12.1mm grav_b=(-0.03,+0.00,-1.00) r=2.76m +[headless_play] t= 16.30s step= 815 trunk_z= -13.6mm grav_b=(-0.03,-0.04,-1.00) r=2.77m +[headless_play] t= 16.40s step= 820 trunk_z= -12.7mm grav_b=(+0.02,-0.05,-1.00) r=2.77m +[headless_play] t= 16.50s step= 825 trunk_z= -16.5mm grav_b=(+0.05,-0.03,-1.00) r=2.77m +[headless_play] t= 16.60s step= 830 trunk_z= -12.4mm grav_b=(+0.02,-0.02,-1.00) r=2.76m +[headless_play] t= 16.70s step= 835 trunk_z= -15.4mm grav_b=(+0.01,-0.02,-1.00) r=2.75m +[headless_play] t= 16.80s step= 840 trunk_z= -13.6mm grav_b=(+0.00,-0.01,-1.00) r=2.75m +[headless_play] t= 16.90s step= 845 trunk_z= -14.1mm grav_b=(-0.01,-0.04,-1.00) r=2.75m +[headless_play] t= 17.00s step= 850 trunk_z= -15.2mm grav_b=(+0.02,-0.02,-1.00) r=2.75m +[headless_play] t= 17.10s step= 855 trunk_z= -10.9mm grav_b=(+0.03,+0.04,-1.00) r=2.75m +[headless_play] t= 17.20s step= 860 trunk_z= -14.0mm grav_b=(+0.01,+0.01,-1.00) r=2.74m +[headless_play] t= 17.30s step= 865 trunk_z= -13.2mm grav_b=(+0.00,-0.03,-1.00) r=2.74m +[headless_play] t= 17.40s step= 870 trunk_z= -12.6mm grav_b=(-0.00,-0.04,-1.00) r=2.74m +[headless_play] t= 17.50s step= 875 trunk_z= -13.9mm grav_b=(-0.00,-0.01,-1.00) r=2.74m +[headless_play] t= 17.60s step= 880 trunk_z= -13.2mm grav_b=(+0.02,-0.04,-1.00) r=2.74m +[headless_play] t= 17.70s step= 885 trunk_z= -13.8mm grav_b=(+0.04,-0.01,-1.00) r=2.74m +[headless_play] t= 17.80s step= 890 trunk_z= -13.6mm grav_b=(+0.03,-0.03,-1.00) r=2.73m +[headless_play] t= 17.90s step= 895 trunk_z= -13.4mm grav_b=(+0.01,-0.01,-1.00) r=2.72m +[headless_play] t= 18.00s step= 900 trunk_z= -13.8mm grav_b=(-0.01,-0.01,-1.00) r=2.72m +[headless_play] t= 18.10s step= 905 trunk_z= -14.7mm grav_b=(+0.00,-0.04,-1.00) r=2.73m +[headless_play] t= 18.20s step= 910 trunk_z= -16.0mm grav_b=(+0.02,+0.03,-1.00) r=2.73m +[headless_play] t= 18.30s step= 915 trunk_z= -10.4mm grav_b=(+0.03,+0.04,-1.00) r=2.75m +[headless_play] t= 18.40s step= 920 trunk_z= -12.5mm grav_b=(+0.03,-0.03,-1.00) r=2.76m +[headless_play] t= 18.50s step= 925 trunk_z= -15.8mm grav_b=(+0.01,-0.05,-1.00) r=2.79m +[headless_play] t= 18.60s step= 930 trunk_z= -16.7mm grav_b=(-0.03,+0.02,-1.00) r=2.80m +[headless_play] t= 18.70s step= 935 trunk_z= -11.9mm grav_b=(+0.03,+0.06,-1.00) r=2.81m +[headless_play] t= 18.80s step= 940 trunk_z= -8.1mm grav_b=(+0.05,+0.01,-1.00) r=2.83m +[headless_play] t= 18.90s step= 945 trunk_z= -14.4mm grav_b=(+0.03,-0.03,-1.00) r=2.85m +[headless_play] t= 19.00s step= 950 trunk_z= -8.3mm grav_b=(-0.00,-0.06,-1.00) r=2.87m +[headless_play] t= 19.10s step= 955 trunk_z= -11.6mm grav_b=(-0.02,-0.02,-1.00) r=2.89m +[headless_play] t= 19.20s step= 960 trunk_z= -9.8mm grav_b=(-0.01,+0.06,-1.00) r=2.91m +[headless_play] t= 19.30s step= 965 trunk_z= -12.4mm grav_b=(+0.02,+0.01,-1.00) r=2.91m +[headless_play] t= 19.40s step= 970 trunk_z= -18.9mm grav_b=(+0.03,-0.07,-1.00) r=2.93m +[headless_play] t= 19.50s step= 975 trunk_z= -9.0mm grav_b=(+0.08,-0.10,-0.99) r=2.95m +[headless_play] t= 19.60s step= 980 trunk_z= -12.7mm grav_b=(+0.03,-0.02,-1.00) r=2.97m +[headless_play] t= 19.70s step= 985 trunk_z= -10.5mm grav_b=(+0.04,+0.03,-1.00) r=3.00m +[headless_play] t= 19.80s step= 990 trunk_z= -6.6mm grav_b=(-0.02,+0.04,-1.00) r=3.01m +[headless_play] t= 19.90s step= 995 trunk_z= -15.5mm grav_b=(-0.11,-0.01,-0.99) r=3.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.0mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.18m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t8.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..2f8be745a338ef194a0b069bb83272c22691174c --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.222,-17.895,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.25m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.03,+0.02,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 0.30s step= 15 trunk_z= 110.9mm grav_b=(+0.05,-0.02,-1.00) r=0.25m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.06,-0.01,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 112.3mm grav_b=(+0.06,+0.04,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(+0.08,+0.10,-0.99) r=0.30m +[headless_play] t= 0.70s step= 35 trunk_z= 120.3mm grav_b=(+0.09,+0.11,-0.99) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.09,+0.08,-0.99) r=0.32m +[headless_play] t= 0.90s step= 45 trunk_z= 119.7mm grav_b=(+0.07,-0.02,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 116.3mm grav_b=(+0.08,+0.01,-1.00) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 117.4mm grav_b=(+0.05,+0.08,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 120.9mm grav_b=(+0.05,+0.08,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 115.7mm grav_b=(+0.10,+0.06,-0.99) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 118.2mm grav_b=(+0.06,-0.03,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 118.2mm grav_b=(+0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 115.3mm grav_b=(+0.05,+0.08,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 121.8mm grav_b=(+0.06,+0.09,-0.99) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(+0.09,+0.08,-0.99) r=0.47m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(+0.07,-0.03,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 119.2mm grav_b=(+0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 112.6mm grav_b=(+0.06,+0.05,-1.00) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 121.5mm grav_b=(+0.06,+0.08,-0.99) r=0.54m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(+0.10,+0.08,-0.99) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 112.5mm grav_b=(+0.09,-0.02,-1.00) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 119.9mm grav_b=(+0.05,-0.02,-1.00) r=0.57m +[headless_play] t= 2.60s step= 130 trunk_z= 114.6mm grav_b=(+0.05,+0.03,-1.00) r=0.59m +[headless_play] t= 2.70s step= 135 trunk_z= 120.5mm grav_b=(+0.06,+0.08,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 118.5mm grav_b=(+0.10,+0.09,-0.99) r=0.62m +[headless_play] t= 2.90s step= 145 trunk_z= 113.1mm grav_b=(+0.10,+0.02,-0.99) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 120.2mm grav_b=(+0.06,-0.03,-1.00) r=0.65m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(+0.06,+0.01,-1.00) r=0.66m +[headless_play] t= 3.20s step= 160 trunk_z= 118.4mm grav_b=(+0.05,+0.06,-1.00) r=0.68m +[headless_play] t= 3.30s step= 165 trunk_z= 119.3mm grav_b=(+0.07,+0.07,-1.00) r=0.69m +[headless_play] t= 3.40s step= 170 trunk_z= 113.6mm grav_b=(+0.11,+0.03,-0.99) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 118.6mm grav_b=(+0.06,-0.03,-1.00) r=0.71m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(+0.08,+0.00,-1.00) r=0.73m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.05,+0.06,-1.00) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 120.7mm grav_b=(+0.08,+0.08,-0.99) r=0.77m +[headless_play] t= 3.90s step= 195 trunk_z= 116.6mm grav_b=(+0.09,+0.06,-0.99) r=0.78m +[headless_play] t= 4.00s step= 200 trunk_z= 117.4mm grav_b=(+0.04,-0.02,-1.00) r=0.79m +[headless_play] t= 4.10s step= 205 trunk_z= 118.7mm grav_b=(+0.06,+0.01,-1.00) r=0.80m +[headless_play] t= 4.20s step= 210 trunk_z= 114.4mm grav_b=(+0.05,+0.07,-1.00) r=0.82m +[headless_play] t= 4.30s step= 215 trunk_z= 119.2mm grav_b=(+0.07,+0.08,-0.99) r=0.84m +[headless_play] t= 4.40s step= 220 trunk_z= 114.6mm grav_b=(+0.11,+0.06,-0.99) r=0.85m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(+0.06,-0.04,-1.00) r=0.86m +[headless_play] t= 4.60s step= 230 trunk_z= 120.2mm grav_b=(+0.05,-0.02,-1.00) r=0.87m +[headless_play] t= 4.70s step= 235 trunk_z= 113.2mm grav_b=(+0.05,+0.04,-1.00) r=0.90m +[headless_play] t= 4.80s step= 240 trunk_z= 121.4mm grav_b=(+0.06,+0.07,-1.00) r=0.91m +[headless_play] t= 4.90s step= 245 trunk_z= 117.9mm grav_b=(+0.09,+0.06,-0.99) r=0.92m +[headless_play] t= 5.00s step= 250 trunk_z= 113.1mm grav_b=(+0.08,-0.02,-1.00) r=0.93m +[headless_play] t= 5.10s step= 255 trunk_z= 120.0mm grav_b=(+0.06,-0.02,-1.00) r=0.95m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(+0.06,+0.03,-1.00) r=0.97m +[headless_play] t= 5.30s step= 265 trunk_z= 121.2mm grav_b=(+0.06,+0.06,-1.00) r=0.99m +[headless_play] t= 5.40s step= 270 trunk_z= 119.6mm grav_b=(+0.09,+0.06,-0.99) r=1.00m +[headless_play] t= 5.50s step= 275 trunk_z= 112.5mm grav_b=(+0.07,+0.01,-1.00) r=1.01m +[headless_play] t= 5.60s step= 280 trunk_z= 120.6mm grav_b=(+0.03,-0.03,-1.00) r=1.02m +[headless_play] t= 5.70s step= 285 trunk_z= 116.7mm grav_b=(+0.06,+0.02,-1.00) r=1.05m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(+0.06,+0.07,-1.00) r=1.07m +[headless_play] t= 5.90s step= 295 trunk_z= 116.6mm grav_b=(+0.11,+0.09,-0.99) r=1.09m +[headless_play] t= 6.00s step= 300 trunk_z= 113.8mm grav_b=(+0.14,+0.09,-0.99) r=1.10m +[headless_play] t= 6.10s step= 305 trunk_z= 112.4mm grav_b=(+0.09,+0.03,-1.00) r=1.12m +[headless_play] t= 6.20s step= 310 trunk_z= 109.8mm grav_b=(+0.09,+0.06,-0.99) r=1.16m +[headless_play] t= 6.30s step= 315 trunk_z= 99.3mm grav_b=(+0.08,+0.14,-0.99) r=1.20m +[headless_play] t= 6.40s step= 320 trunk_z= 102.9mm grav_b=(+0.09,+0.16,-0.98) r=1.23m +[headless_play] t= 6.50s step= 325 trunk_z= 95.0mm grav_b=(+0.15,+0.13,-0.98) r=1.26m +[headless_play] t= 6.60s step= 330 trunk_z= 90.1mm grav_b=(+0.08,+0.08,-0.99) r=1.31m +[headless_play] t= 6.70s step= 335 trunk_z= 91.8mm grav_b=(+0.14,+0.07,-0.99) r=1.35m +[headless_play] t= 6.80s step= 340 trunk_z= 77.3mm grav_b=(+0.04,-0.01,-1.00) r=1.41m +[headless_play] t= 6.90s step= 345 trunk_z= 68.8mm grav_b=(+0.12,+0.03,-0.99) r=1.45m +[headless_play] t= 7.00s step= 350 trunk_z= 75.7mm grav_b=(+0.04,+0.04,-1.00) r=1.49m +[headless_play] t= 7.10s step= 355 trunk_z= 60.0mm grav_b=(+0.01,-0.01,-1.00) r=1.54m +[headless_play] t= 7.20s step= 360 trunk_z= 59.7mm grav_b=(+0.08,-0.01,-1.00) r=1.58m +[headless_play] t= 7.30s step= 365 trunk_z= 54.1mm grav_b=(+0.10,+0.03,-0.99) r=1.59m +[headless_play] t= 7.40s step= 370 trunk_z= 56.4mm grav_b=(+0.09,+0.02,-1.00) r=1.59m +[headless_play] t= 7.50s step= 375 trunk_z= 52.0mm grav_b=(+0.08,-0.05,-1.00) r=1.60m +[headless_play] t= 7.60s step= 380 trunk_z= 50.9mm grav_b=(+0.11,-0.03,-0.99) r=1.60m +[headless_play] t= 7.70s step= 385 trunk_z= 50.7mm grav_b=(+0.13,-0.02,-0.99) r=1.61m +[headless_play] t= 7.80s step= 390 trunk_z= 50.7mm grav_b=(+0.13,-0.02,-0.99) r=1.61m +[headless_play] t= 7.90s step= 395 trunk_z= 50.6mm grav_b=(+0.13,-0.02,-0.99) r=1.61m +[headless_play] t= 8.00s step= 400 trunk_z= 50.6mm grav_b=(+0.12,-0.02,-0.99) r=1.61m +[headless_play] t= 8.10s step= 405 trunk_z= 50.6mm grav_b=(+0.12,-0.02,-0.99) r=1.61m +[headless_play] t= 8.20s step= 410 trunk_z= 50.6mm grav_b=(+0.12,-0.02,-0.99) r=1.61m +[headless_play] t= 8.30s step= 415 trunk_z= 50.5mm grav_b=(+0.12,-0.02,-0.99) r=1.61m +[headless_play] t= 8.40s step= 420 trunk_z= 50.5mm grav_b=(+0.11,-0.01,-0.99) r=1.61m +[headless_play] t= 8.50s step= 425 trunk_z= 51.0mm grav_b=(+0.11,-0.01,-0.99) r=1.60m +[headless_play] t= 8.60s step= 430 trunk_z= 51.2mm grav_b=(+0.12,-0.02,-0.99) r=1.60m +[headless_play] t= 8.70s step= 435 trunk_z= 51.4mm grav_b=(+0.14,-0.02,-0.99) r=1.61m +[headless_play] t= 8.80s step= 440 trunk_z= 51.6mm grav_b=(+0.16,-0.03,-0.99) r=1.61m +[headless_play] t= 8.90s step= 445 trunk_z= 52.2mm grav_b=(+0.18,-0.03,-0.98) r=1.61m +[headless_play] t= 9.00s step= 450 trunk_z= 54.1mm grav_b=(+0.16,-0.03,-0.99) r=1.62m +[headless_play] t= 9.10s step= 455 trunk_z= 57.4mm grav_b=(+0.15,-0.03,-0.99) r=1.64m +[headless_play] t= 9.20s step= 460 trunk_z= 34.9mm grav_b=(+0.02,-0.16,-0.99) r=1.68m +[headless_play] t= 9.30s step= 465 trunk_z= 45.3mm grav_b=(+0.05,-0.13,-0.99) r=1.70m +[headless_play] t= 9.40s step= 470 trunk_z= 41.4mm grav_b=(+0.05,-0.08,-1.00) r=1.72m +[headless_play] t= 9.50s step= 475 trunk_z= 41.3mm grav_b=(+0.09,-0.04,-0.99) r=1.72m +[headless_play] t= 9.60s step= 480 trunk_z= 40.9mm grav_b=(+0.11,-0.06,-0.99) r=1.72m +[headless_play] t= 9.70s step= 485 trunk_z= 41.1mm grav_b=(+0.13,-0.07,-0.99) r=1.72m +[headless_play] t= 9.80s step= 490 trunk_z= 41.3mm grav_b=(+0.15,-0.06,-0.99) r=1.73m +[headless_play] t= 9.90s step= 495 trunk_z= 41.6mm grav_b=(+0.16,-0.06,-0.98) r=1.73m +[headless_play] t= 10.00s step= 500 trunk_z= 42.2mm grav_b=(+0.17,-0.05,-0.98) r=1.73m +[headless_play] t= 10.10s step= 505 trunk_z= 45.6mm grav_b=(+0.14,-0.04,-0.99) r=1.75m +[headless_play] t= 10.20s step= 510 trunk_z= 28.9mm grav_b=(+0.04,-0.12,-0.99) r=1.78m +[headless_play] t= 10.30s step= 515 trunk_z= 35.9mm grav_b=(+0.05,-0.12,-0.99) r=1.80m +[headless_play] t= 10.40s step= 520 trunk_z= 32.6mm grav_b=(+0.09,-0.07,-0.99) r=1.82m +[headless_play] t= 10.50s step= 525 trunk_z= 32.2mm grav_b=(+0.09,-0.05,-1.00) r=1.82m +[headless_play] t= 10.60s step= 530 trunk_z= 31.6mm grav_b=(+0.10,-0.06,-0.99) r=1.82m +[headless_play] t= 10.70s step= 535 trunk_z= 31.7mm grav_b=(+0.12,-0.06,-0.99) r=1.82m +[headless_play] t= 10.80s step= 540 trunk_z= 31.7mm grav_b=(+0.12,-0.07,-0.99) r=1.82m +[headless_play] t= 10.90s step= 545 trunk_z= 31.4mm grav_b=(+0.12,-0.06,-0.99) r=1.82m +[headless_play] t= 11.00s step= 550 trunk_z= 31.3mm grav_b=(+0.11,-0.06,-0.99) r=1.82m +[headless_play] t= 11.10s step= 555 trunk_z= 31.0mm grav_b=(+0.10,-0.06,-0.99) r=1.82m +[headless_play] t= 11.20s step= 560 trunk_z= 30.9mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.30s step= 565 trunk_z= 30.9mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.40s step= 570 trunk_z= 30.8mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.50s step= 575 trunk_z= 30.8mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.60s step= 580 trunk_z= 30.7mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.70s step= 585 trunk_z= 30.7mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.80s step= 590 trunk_z= 30.7mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 11.90s step= 595 trunk_z= 30.7mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.00s step= 600 trunk_z= 30.7mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.10s step= 605 trunk_z= 30.7mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.20s step= 610 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.30s step= 615 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.40s step= 620 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.50s step= 625 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.60s step= 630 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.70s step= 635 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.80s step= 640 trunk_z= 30.6mm grav_b=(+0.10,-0.05,-0.99) r=1.82m +[headless_play] t= 12.90s step= 645 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.00s step= 650 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.10s step= 655 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.20s step= 660 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.30s step= 665 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.40s step= 670 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.50s step= 675 trunk_z= 30.5mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.60s step= 680 trunk_z= 30.4mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.70s step= 685 trunk_z= 30.4mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.80s step= 690 trunk_z= 30.4mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 13.90s step= 695 trunk_z= 30.4mm grav_b=(+0.11,-0.05,-0.99) r=1.82m +[headless_play] t= 14.00s step= 700 trunk_z= 30.4mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.10s step= 705 trunk_z= 30.4mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.20s step= 710 trunk_z= 30.3mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.30s step= 715 trunk_z= 30.3mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.40s step= 720 trunk_z= 30.3mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.50s step= 725 trunk_z= 30.3mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.60s step= 730 trunk_z= 30.2mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.70s step= 735 trunk_z= 30.3mm grav_b=(+0.11,-0.05,-0.99) r=1.83m +[headless_play] t= 14.80s step= 740 trunk_z= 30.3mm grav_b=(+0.10,-0.04,-0.99) r=1.83m +[headless_play] t= 14.90s step= 745 trunk_z= 30.1mm grav_b=(+0.10,+0.01,-0.99) r=1.84m +[headless_play] t= 15.00s step= 750 trunk_z= 29.0mm grav_b=(+0.09,-0.01,-1.00) r=1.86m +[headless_play] t= 15.10s step= 755 trunk_z= 16.7mm grav_b=(+0.10,-0.06,-0.99) r=1.89m +[headless_play] t= 15.20s step= 760 trunk_z= 26.1mm grav_b=(+0.10,-0.09,-0.99) r=1.92m +[headless_play] t= 15.30s step= 765 trunk_z= 22.6mm grav_b=(+0.10,-0.08,-0.99) r=1.94m +[headless_play] t= 15.40s step= 770 trunk_z= 18.3mm grav_b=(+0.09,+0.00,-1.00) r=1.96m +[headless_play] t= 15.50s step= 775 trunk_z= 17.7mm grav_b=(+0.14,+0.02,-0.99) r=1.97m +[headless_play] t= 15.60s step= 780 trunk_z= 12.5mm grav_b=(+0.17,-0.01,-0.99) r=1.99m +[headless_play] t= 15.70s step= 785 trunk_z= 15.0mm grav_b=(+0.11,-0.05,-0.99) r=2.02m +[headless_play] t= 15.80s step= 790 trunk_z= 10.1mm grav_b=(+0.15,-0.05,-0.99) r=2.05m +[headless_play] t= 15.90s step= 795 trunk_z= 10.6mm grav_b=(+0.09,+0.05,-0.99) r=2.07m +[headless_play] t= 16.00s step= 800 trunk_z= 8.2mm grav_b=(+0.13,+0.00,-0.99) r=2.09m +[headless_play] t= 16.10s step= 805 trunk_z= 0.7mm grav_b=(+0.11,-0.02,-0.99) r=2.12m +[headless_play] t= 16.20s step= 810 trunk_z= 7.5mm grav_b=(+0.03,-0.04,-1.00) r=2.15m +[headless_play] t= 16.30s step= 815 trunk_z= 3.5mm grav_b=(+0.11,-0.03,-0.99) r=2.16m +[headless_play] t= 16.40s step= 820 trunk_z= 2.0mm grav_b=(+0.12,+0.01,-0.99) r=2.18m +[headless_play] t= 16.50s step= 825 trunk_z= -0.2mm grav_b=(+0.17,-0.02,-0.99) r=2.20m +[headless_play] t= 16.60s step= 830 trunk_z= -8.5mm grav_b=(+0.11,-0.05,-0.99) r=2.22m +[headless_play] t= 16.70s step= 835 trunk_z= 0.9mm grav_b=(+0.05,-0.04,-1.00) r=2.24m +[headless_play] t= 16.80s step= 840 trunk_z= -3.9mm grav_b=(+0.12,-0.03,-0.99) r=2.25m +[headless_play] t= 16.90s step= 845 trunk_z= -5.4mm grav_b=(+0.12,-0.01,-0.99) r=2.27m +[headless_play] t= 17.00s step= 850 trunk_z= -8.0mm grav_b=(+0.17,-0.03,-0.98) r=2.29m +[headless_play] t= 17.10s step= 855 trunk_z= -15.9mm grav_b=(+0.12,-0.01,-0.99) r=2.31m +[headless_play] t= 17.20s step= 860 trunk_z= -7.4mm grav_b=(+0.10,+0.06,-0.99) r=2.32m +[headless_play] t= 17.30s step= 865 trunk_z= -12.7mm grav_b=(+0.04,+0.13,-0.99) r=2.31m +[headless_play] t= 17.40s step= 870 trunk_z= -1.2mm grav_b=(+0.04,+0.18,-0.98) r=2.30m +[headless_play] t= 17.50s step= 875 trunk_z= 2.6mm grav_b=(+0.05,+0.16,-0.99) r=2.29m +[headless_play] t= 17.60s step= 880 trunk_z= -0.5mm grav_b=(+0.05,+0.12,-0.99) r=2.29m +[headless_play] t= 17.70s step= 885 trunk_z= -4.5mm grav_b=(+0.07,+0.02,-1.00) r=2.28m +[headless_play] t= 17.80s step= 890 trunk_z= -1.5mm grav_b=(+0.09,+0.05,-0.99) r=2.30m +[headless_play] t= 17.90s step= 895 trunk_z= -1.2mm grav_b=(+0.08,+0.08,-0.99) r=2.32m +[headless_play] t= 18.00s step= 900 trunk_z= 5.6mm grav_b=(+0.06,+0.12,-0.99) r=2.33m +[headless_play] t= 18.10s step= 905 trunk_z= 5.0mm grav_b=(+0.05,+0.14,-0.99) r=2.34m +[headless_play] t= 18.20s step= 910 trunk_z= -1.0mm grav_b=(+0.01,+0.07,-1.00) r=2.33m +[headless_play] t= 18.30s step= 915 trunk_z= 5.1mm grav_b=(+0.02,+0.01,-1.00) r=2.34m +[headless_play] t= 18.40s step= 920 trunk_z= 0.7mm grav_b=(+0.03,+0.01,-1.00) r=2.34m +[headless_play] t= 18.50s step= 925 trunk_z= 3.7mm grav_b=(+0.02,+0.08,-1.00) r=2.35m +[headless_play] t= 18.60s step= 930 trunk_z= 8.8mm grav_b=(+0.04,+0.15,-0.99) r=2.36m +[headless_play] t= 18.70s step= 935 trunk_z= 10.5mm grav_b=(+0.06,+0.16,-0.98) r=2.38m +[headless_play] t= 18.80s step= 940 trunk_z= 10.0mm grav_b=(+0.05,+0.14,-0.99) r=2.39m +[headless_play] t= 18.90s step= 945 trunk_z= 8.5mm grav_b=(+0.07,+0.07,-1.00) r=2.42m +[headless_play] t= 19.00s step= 950 trunk_z= 11.5mm grav_b=(+0.07,+0.06,-1.00) r=2.43m +[headless_play] t= 19.10s step= 955 trunk_z= 3.5mm grav_b=(+0.04,+0.06,-1.00) r=2.45m +[headless_play] t= 19.20s step= 960 trunk_z= 9.9mm grav_b=(+0.04,+0.12,-0.99) r=2.46m +[headless_play] t= 19.30s step= 965 trunk_z= 9.8mm grav_b=(+0.04,+0.13,-0.99) r=2.47m +[headless_play] t= 19.40s step= 970 trunk_z= 4.6mm grav_b=(+0.01,+0.04,-1.00) r=2.48m +[headless_play] t= 19.50s step= 975 trunk_z= 11.4mm grav_b=(+0.02,+0.03,-1.00) r=2.48m +[headless_play] t= 19.60s step= 980 trunk_z= 5.7mm grav_b=(+0.04,+0.04,-1.00) r=2.49m +[headless_play] t= 19.70s step= 985 trunk_z= 11.3mm grav_b=(+0.03,+0.12,-0.99) r=2.49m +[headless_play] t= 19.80s step= 990 trunk_z= 14.0mm grav_b=(+0.04,+0.16,-0.99) r=2.50m +[headless_play] t= 19.90s step= 995 trunk_z= 14.8mm grav_b=(+0.05,+0.16,-0.99) r=2.51m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.3mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.01,-0.00,-1.00) r=0.52m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t9.log b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..24d62ee59369096e3ebe0b7e6c2390ae2ffa91d0 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-b-2026-10-16/z5-b-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.0mm grav_b=(-0.00,-0.00,-1.00) root_w=(-18.100,-17.906,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.4mm grav_b=(-0.01,-0.00,-1.00) r=0.14m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(-0.01,-0.00,-1.00) r=0.14m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.14m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.30s step= 65 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.10s step= 105 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.20s step= 110 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.50s step= 125 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.00s step= 150 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.20s step= 160 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.70s step= 185 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.13m +[headless_play] t= 4.90s step= 245 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 5.00s step= 250 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.13m +[headless_play] t= 5.10s step= 255 trunk_z= 116.0mm grav_b=(-0.04,-0.00,-1.00) r=0.13m +[headless_play] t= 5.20s step= 260 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 5.40s step= 270 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 5.50s step= 275 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 5.60s step= 280 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 5.70s step= 285 trunk_z= 116.6mm grav_b=(-0.03,+0.05,-1.00) r=0.14m +[headless_play] t= 5.80s step= 290 trunk_z= 118.9mm grav_b=(-0.01,+0.10,-1.00) r=0.16m +[headless_play] t= 5.90s step= 295 trunk_z= 125.7mm grav_b=(+0.01,+0.05,-1.00) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(-0.02,-0.03,-1.00) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 123.2mm grav_b=(-0.06,-0.05,-1.00) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 120.7mm grav_b=(-0.10,-0.02,-1.00) r=0.20m +[headless_play] t= 6.30s step= 315 trunk_z= 121.6mm grav_b=(-0.08,+0.03,-1.00) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 126.0mm grav_b=(-0.02,+0.06,-1.00) r=0.24m +[headless_play] t= 6.50s step= 325 trunk_z= 122.6mm grav_b=(-0.02,+0.02,-1.00) r=0.24m +[headless_play] t= 6.60s step= 330 trunk_z= 121.8mm grav_b=(-0.04,-0.04,-1.00) r=0.25m +[headless_play] t= 6.70s step= 335 trunk_z= 122.3mm grav_b=(-0.06,-0.00,-1.00) r=0.26m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(-0.07,+0.03,-1.00) r=0.29m +[headless_play] t= 6.90s step= 345 trunk_z= 125.5mm grav_b=(-0.08,+0.07,-0.99) r=0.31m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(-0.03,+0.04,-1.00) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 120.3mm grav_b=(-0.05,-0.03,-1.00) r=0.30m +[headless_play] t= 7.20s step= 360 trunk_z= 123.7mm grav_b=(-0.05,-0.03,-1.00) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 7.40s step= 370 trunk_z= 124.5mm grav_b=(-0.00,+0.05,-1.00) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 124.6mm grav_b=(+0.00,+0.03,-1.00) r=0.38m +[headless_play] t= 7.60s step= 380 trunk_z= 121.2mm grav_b=(-0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 127.7mm grav_b=(-0.10,-0.08,-0.99) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 121.6mm grav_b=(-0.09,-0.07,-0.99) r=0.43m +[headless_play] t= 7.90s step= 395 trunk_z= 118.8mm grav_b=(-0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 8.00s step= 400 trunk_z= 118.8mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 113.9mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 118.7mm grav_b=(-0.02,-0.08,-1.00) r=0.47m +[headless_play] t= 8.30s step= 415 trunk_z= 118.0mm grav_b=(-0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 8.40s step= 420 trunk_z= 111.6mm grav_b=(+0.02,+0.03,-1.00) r=0.52m +[headless_play] t= 8.50s step= 425 trunk_z= 120.1mm grav_b=(-0.00,+0.05,-1.00) r=0.54m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 8.70s step= 435 trunk_z= 111.7mm grav_b=(-0.00,-0.10,-1.00) r=0.55m +[headless_play] t= 8.80s step= 440 trunk_z= 123.6mm grav_b=(-0.06,-0.10,-0.99) r=0.55m +[headless_play] t= 8.90s step= 445 trunk_z= 119.0mm grav_b=(-0.02,-0.08,-1.00) r=0.57m +[headless_play] t= 9.00s step= 450 trunk_z= 117.2mm grav_b=(-0.01,+0.05,-1.00) r=0.60m +[headless_play] t= 9.10s step= 455 trunk_z= 120.1mm grav_b=(+0.05,+0.06,-1.00) r=0.61m +[headless_play] t= 9.20s step= 460 trunk_z= 118.4mm grav_b=(+0.08,+0.01,-1.00) r=0.61m +[headless_play] t= 9.30s step= 465 trunk_z= 121.1mm grav_b=(-0.00,-0.10,-0.99) r=0.60m +[headless_play] t= 9.40s step= 470 trunk_z= 122.7mm grav_b=(+0.00,-0.09,-1.00) r=0.61m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(-0.00,+0.00,-1.00) r=0.62m +[headless_play] t= 9.60s step= 480 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 9.70s step= 485 trunk_z= 116.0mm grav_b=(+0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 9.90s step= 495 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.61m +[headless_play] t= 10.00s step= 500 trunk_z= 116.8mm grav_b=(-0.02,-0.00,-1.00) r=0.61m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 10.60s step= 530 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 10.70s step= 535 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.10s step= 555 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.30s step= 565 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.40s step= 570 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.50s step= 575 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.60s step= 580 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.70s step= 585 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.80s step= 590 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 11.90s step= 595 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.00s step= 600 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.10s step= 605 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.20s step= 610 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.30s step= 615 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.50s step= 625 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 12.70s step= 635 trunk_z= 117.5mm grav_b=(+0.00,+0.07,-1.00) r=0.63m +[headless_play] t= 12.80s step= 640 trunk_z= 122.2mm grav_b=(+0.00,+0.04,-1.00) r=0.64m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(-0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 124.1mm grav_b=(-0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 13.10s step= 655 trunk_z= 121.1mm grav_b=(-0.04,-0.04,-1.00) r=0.66m +[headless_play] t= 13.20s step= 660 trunk_z= 120.2mm grav_b=(-0.05,+0.03,-1.00) r=0.68m +[headless_play] t= 13.30s step= 665 trunk_z= 126.1mm grav_b=(-0.07,+0.04,-1.00) r=0.69m +[headless_play] t= 13.40s step= 670 trunk_z= 122.5mm grav_b=(-0.06,-0.00,-1.00) r=0.69m +[headless_play] t= 13.50s step= 675 trunk_z= 123.6mm grav_b=(-0.06,-0.07,-1.00) r=0.68m +[headless_play] t= 13.60s step= 680 trunk_z= 123.7mm grav_b=(-0.04,-0.04,-1.00) r=0.69m +[headless_play] t= 13.70s step= 685 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.72m +[headless_play] t= 13.80s step= 690 trunk_z= 121.2mm grav_b=(-0.03,+0.06,-1.00) r=0.74m +[headless_play] t= 13.90s step= 695 trunk_z= 118.8mm grav_b=(+0.00,+0.02,-1.00) r=0.75m +[headless_play] t= 14.00s step= 700 trunk_z= 113.3mm grav_b=(-0.01,-0.02,-1.00) r=0.75m +[headless_play] t= 14.10s step= 705 trunk_z= 119.1mm grav_b=(-0.02,-0.04,-1.00) r=0.76m +[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(+0.01,+0.00,-1.00) r=0.78m +[headless_play] t= 14.30s step= 715 trunk_z= 118.6mm grav_b=(-0.02,+0.08,-1.00) r=0.80m +[headless_play] t= 14.40s step= 720 trunk_z= 121.3mm grav_b=(+0.00,+0.06,-1.00) r=0.82m +[headless_play] t= 14.50s step= 725 trunk_z= 116.1mm grav_b=(+0.01,+0.03,-1.00) r=0.82m +[headless_play] t= 14.60s step= 730 trunk_z= 119.9mm grav_b=(-0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 14.70s step= 735 trunk_z= 119.1mm grav_b=(-0.02,-0.01,-1.00) r=0.84m +[headless_play] t= 14.80s step= 740 trunk_z= 113.3mm grav_b=(-0.04,+0.06,-1.00) r=0.86m +[headless_play] t= 14.90s step= 745 trunk_z= 118.8mm grav_b=(-0.00,+0.03,-1.00) r=0.88m +[headless_play] t= 15.00s step= 750 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 15.10s step= 755 trunk_z= 118.3mm grav_b=(-0.00,-0.03,-1.00) r=0.87m +[headless_play] t= 15.20s step= 760 trunk_z= 116.9mm grav_b=(-0.00,-0.01,-1.00) r=0.89m +[headless_play] t= 15.30s step= 765 trunk_z= 111.6mm grav_b=(+0.01,+0.05,-1.00) r=0.91m +[headless_play] t= 15.40s step= 770 trunk_z= 119.5mm grav_b=(+0.01,+0.06,-1.00) r=0.93m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(+0.03,+0.03,-1.00) r=0.93m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.03,-0.04,-1.00) r=0.93m +[headless_play] t= 15.70s step= 785 trunk_z= 121.5mm grav_b=(-0.05,-0.02,-1.00) r=0.93m +[headless_play] t= 15.80s step= 790 trunk_z= 117.5mm grav_b=(-0.05,+0.02,-1.00) r=0.95m +[headless_play] t= 15.90s step= 795 trunk_z= 120.2mm grav_b=(-0.04,+0.06,-1.00) r=0.96m +[headless_play] t= 16.00s step= 800 trunk_z= 117.8mm grav_b=(+0.00,+0.03,-1.00) r=0.97m +[headless_play] t= 16.10s step= 805 trunk_z= 111.6mm grav_b=(+0.04,+0.01,-1.00) r=0.95m +[headless_play] t= 16.20s step= 810 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.96m +[headless_play] t= 16.30s step= 815 trunk_z= 113.9mm grav_b=(+0.04,-0.00,-1.00) r=0.97m +[headless_play] t= 16.40s step= 820 trunk_z= 115.0mm grav_b=(+0.01,+0.10,-1.00) r=1.00m +[headless_play] t= 16.50s step= 825 trunk_z= 119.8mm grav_b=(+0.01,+0.08,-1.00) r=1.01m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(+0.03,+0.06,-1.00) r=1.00m +[headless_play] t= 16.70s step= 835 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.99m +[headless_play] t= 16.80s step= 840 trunk_z= 119.4mm grav_b=(-0.03,-0.01,-1.00) r=1.00m +[headless_play] t= 16.90s step= 845 trunk_z= 112.7mm grav_b=(-0.02,+0.04,-1.00) r=1.02m +[headless_play] t= 17.00s step= 850 trunk_z= 118.6mm grav_b=(-0.02,+0.06,-1.00) r=1.04m +[headless_play] t= 17.10s step= 855 trunk_z= 113.8mm grav_b=(+0.06,+0.04,-1.00) r=1.04m +[headless_play] t= 17.20s step= 860 trunk_z= 110.9mm grav_b=(+0.08,-0.04,-1.00) r=1.02m +[headless_play] t= 17.30s step= 865 trunk_z= 124.7mm grav_b=(-0.04,-0.04,-1.00) r=1.02m +[headless_play] t= 17.40s step= 870 trunk_z= 120.3mm grav_b=(-0.02,+0.01,-1.00) r=1.03m +[headless_play] t= 17.50s step= 875 trunk_z= 122.0mm grav_b=(-0.03,+0.08,-1.00) r=1.05m +[headless_play] t= 17.60s step= 880 trunk_z= 123.7mm grav_b=(-0.02,+0.07,-1.00) r=1.06m +[headless_play] t= 17.70s step= 885 trunk_z= 122.1mm grav_b=(-0.05,+0.06,-1.00) r=1.05m +[headless_play] t= 17.80s step= 890 trunk_z= 123.0mm grav_b=(-0.11,-0.06,-0.99) r=1.04m +[headless_play] t= 17.90s step= 895 trunk_z= 125.6mm grav_b=(-0.10,-0.05,-0.99) r=1.04m +[headless_play] t= 18.00s step= 900 trunk_z= 119.4mm grav_b=(-0.10,-0.02,-0.99) r=1.06m +[headless_play] t= 18.10s step= 905 trunk_z= 122.9mm grav_b=(-0.08,+0.08,-0.99) r=1.09m +[headless_play] t= 18.20s step= 910 trunk_z= 123.3mm grav_b=(-0.01,+0.11,-0.99) r=1.11m +[headless_play] t= 18.30s step= 915 trunk_z= 124.5mm grav_b=(-0.00,+0.02,-1.00) r=1.13m +[headless_play] t= 18.40s step= 920 trunk_z= 116.0mm grav_b=(-0.02,-0.03,-1.00) r=1.15m +[headless_play] t= 18.50s step= 925 trunk_z= 121.0mm grav_b=(-0.06,+0.00,-1.00) r=1.18m +[headless_play] t= 18.60s step= 930 trunk_z= 96.4mm grav_b=(-0.09,+0.03,-1.00) r=1.22m +[headless_play] t= 18.70s step= 935 trunk_z= 104.9mm grav_b=(-0.04,+0.11,-0.99) r=1.25m +[headless_play] t= 18.80s step= 940 trunk_z= 102.6mm grav_b=(-0.00,+0.05,-1.00) r=1.28m +[headless_play] t= 18.90s step= 945 trunk_z= 103.3mm grav_b=(-0.06,-0.06,-1.00) r=1.32m +[headless_play] t= 19.00s step= 950 trunk_z= 96.9mm grav_b=(+0.04,-0.09,-0.99) r=1.35m +[headless_play] t= 19.10s step= 955 trunk_z= 101.7mm grav_b=(-0.01,-0.09,-1.00) r=1.37m +[headless_play] t= 19.20s step= 960 trunk_z= 91.2mm grav_b=(-0.07,-0.09,-0.99) r=1.41m +[headless_play] t= 19.30s step= 965 trunk_z= 84.0mm grav_b=(+0.06,-0.05,-1.00) r=1.44m +[headless_play] t= 19.40s step= 970 trunk_z= 85.9mm grav_b=(-0.01,-0.04,-1.00) r=1.48m +[headless_play] t= 19.50s step= 975 trunk_z= 64.2mm grav_b=(-0.10,-0.11,-0.99) r=1.51m +[headless_play] t= 19.60s step= 980 trunk_z= 73.4mm grav_b=(-0.08,-0.07,-0.99) r=1.53m +[headless_play] t= 19.70s step= 985 trunk_z= 67.0mm grav_b=(-0.04,-0.06,-1.00) r=1.56m +[headless_play] t= 19.80s step= 990 trunk_z= 66.2mm grav_b=(-0.01,+0.09,-1.00) r=1.59m +[headless_play] t= 19.90s step= 995 trunk_z= 66.4mm grav_b=(+0.01,+0.06,-1.00) r=1.62m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.1mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(-0.02,+0.00,-1.00) r=0.40m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t1.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..ba4a6762fb6fd2719fd6b403d77b263e8fb97d14 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.317,-18.106,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(-0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(-0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(-0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(-0.05,+0.02,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(-0.09,-0.02,-1.00) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 117.6mm grav_b=(-0.02,-0.06,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 114.9mm grav_b=(+0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 1.20s step= 60 trunk_z= 119.8mm grav_b=(-0.01,+0.04,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(-0.03,-0.00,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 117.7mm grav_b=(-0.12,+0.00,-0.99) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(-0.07,-0.04,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.03,-0.05,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 115.1mm grav_b=(-0.00,+0.03,-1.00) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 118.0mm grav_b=(+0.01,+0.01,-1.00) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 117.9mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 2.30s step= 115 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 2.40s step= 120 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 2.60s step= 130 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(-0.02,+0.02,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 119.3mm grav_b=(-0.12,+0.02,-0.99) r=0.25m +[headless_play] t= 3.00s step= 150 trunk_z= 111.0mm grav_b=(-0.03,-0.03,-1.00) r=0.22m +[headless_play] t= 3.10s step= 155 trunk_z= 114.8mm grav_b=(+0.07,+0.02,-1.00) r=0.21m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(+0.04,+0.07,-1.00) r=0.22m +[headless_play] t= 3.30s step= 165 trunk_z= 119.0mm grav_b=(+0.01,+0.02,-1.00) r=0.22m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(-0.02,+0.02,-1.00) r=0.21m +[headless_play] t= 3.50s step= 175 trunk_z= 118.5mm grav_b=(+0.05,+0.02,-1.00) r=0.22m +[headless_play] t= 3.60s step= 180 trunk_z= 121.8mm grav_b=(+0.08,+0.02,-1.00) r=0.22m +[headless_play] t= 3.70s step= 185 trunk_z= 118.9mm grav_b=(+0.07,-0.05,-1.00) r=0.22m +[headless_play] t= 3.80s step= 190 trunk_z= 121.3mm grav_b=(-0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 117.4mm grav_b=(-0.05,+0.02,-1.00) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(-0.06,-0.01,-1.00) r=0.21m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(-0.07,-0.00,-1.00) r=0.21m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=0.22m +[headless_play] t= 4.30s step= 215 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=0.22m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(+0.04,+0.01,-1.00) r=0.22m +[headless_play] t= 4.50s step= 225 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 5.60s step= 280 trunk_z= 118.4mm grav_b=(-0.10,+0.01,-1.00) r=0.20m +[headless_play] t= 5.70s step= 285 trunk_z= 120.5mm grav_b=(-0.06,+0.02,-1.00) r=0.19m +[headless_play] t= 5.80s step= 290 trunk_z= 111.1mm grav_b=(-0.00,-0.04,-1.00) r=0.16m +[headless_play] t= 5.90s step= 295 trunk_z= 111.9mm grav_b=(+0.04,+0.02,-1.00) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 115.4mm grav_b=(+0.05,+0.02,-1.00) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(+0.06,-0.00,-1.00) r=0.17m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(+0.07,+0.01,-1.00) r=0.17m +[headless_play] t= 6.30s step= 315 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00) r=0.16m +[headless_play] t= 6.50s step= 325 trunk_z= 115.8mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 6.60s step= 330 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) r=0.16m +[headless_play] t= 6.70s step= 335 trunk_z= 115.6mm grav_b=(-0.04,+0.00,-1.00) r=0.16m +[headless_play] t= 6.80s step= 340 trunk_z= 115.4mm grav_b=(-0.03,+0.00,-1.00) r=0.16m +[headless_play] t= 6.90s step= 345 trunk_z= 115.0mm grav_b=(-0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 7.00s step= 350 trunk_z= 115.1mm grav_b=(+0.03,+0.02,-1.00) r=0.17m +[headless_play] t= 7.10s step= 355 trunk_z= 114.9mm grav_b=(+0.05,+0.02,-1.00) r=0.17m +[headless_play] t= 7.20s step= 360 trunk_z= 114.9mm grav_b=(+0.06,+0.02,-1.00) r=0.17m +[headless_play] t= 7.30s step= 365 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 7.40s step= 370 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=0.17m +[headless_play] t= 7.50s step= 375 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=0.17m +[headless_play] t= 7.60s step= 380 trunk_z= 114.9mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 7.70s step= 385 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 7.80s step= 390 trunk_z= 114.9mm grav_b=(+0.09,+0.02,-1.00) r=0.17m +[headless_play] t= 7.90s step= 395 trunk_z= 115.0mm grav_b=(+0.06,+0.02,-1.00) r=0.17m +[headless_play] t= 8.00s step= 400 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 8.10s step= 405 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.16m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 8.30s step= 415 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=0.17m +[headless_play] t= 8.40s step= 420 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 8.50s step= 425 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 8.60s step= 430 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.16m +[headless_play] t= 8.70s step= 435 trunk_z= 116.1mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(-0.05,+0.01,-1.00) r=0.16m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(-0.05,+0.01,-1.00) r=0.16m +[headless_play] t= 9.00s step= 450 trunk_z= 116.1mm grav_b=(-0.05,+0.01,-1.00) r=0.16m +[headless_play] t= 9.10s step= 455 trunk_z= 116.0mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 9.20s step= 460 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.16m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(+0.05,+0.03,-1.00) r=0.17m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(-0.00,+0.06,-1.00) r=0.17m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 9.80s step= 490 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=0.16m +[headless_play] t= 10.00s step= 500 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=0.17m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.06,+0.01,-1.00) r=0.17m +[headless_play] t= 10.30s step= 515 trunk_z= 117.0mm grav_b=(+0.05,+0.01,-1.00) r=0.17m +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(+0.03,-0.00,-1.00) r=0.16m +[headless_play] t= 10.60s step= 530 trunk_z= 118.9mm grav_b=(+0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 10.70s step= 535 trunk_z= 118.5mm grav_b=(+0.02,+0.00,-1.00) r=0.16m +[headless_play] t= 10.80s step= 540 trunk_z= 118.2mm grav_b=(+0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 10.90s step= 545 trunk_z= 118.0mm grav_b=(+0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 11.00s step= 550 trunk_z= 117.9mm grav_b=(+0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(+0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(+0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(+0.04,+0.00,-1.00) r=0.16m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(+0.04,+0.00,-1.00) r=0.16m +[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.16m +[headless_play] t= 11.60s step= 580 trunk_z= 118.0mm grav_b=(+0.10,+0.01,-1.00) r=0.16m +[headless_play] t= 11.70s step= 585 trunk_z= 118.0mm grav_b=(+0.10,+0.02,-0.99) r=0.16m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.07,+0.01,-1.00) r=0.16m +[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(+0.03,+0.04,-1.00) r=0.17m +[headless_play] t= 12.00s step= 600 trunk_z= 115.8mm grav_b=(+0.03,+0.05,-1.00) r=0.18m +[headless_play] t= 12.10s step= 605 trunk_z= 112.8mm grav_b=(-0.01,-0.05,-1.00) r=0.16m +[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(+0.01,-0.10,-0.99) r=0.15m +[headless_play] t= 12.30s step= 615 trunk_z= 120.2mm grav_b=(-0.03,-0.08,-1.00) r=0.15m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(-0.01,-0.04,-1.00) r=0.16m +[headless_play] t= 12.50s step= 625 trunk_z= 114.0mm grav_b=(-0.01,+0.01,-1.00) r=0.18m +[headless_play] t= 12.60s step= 630 trunk_z= 110.6mm grav_b=(+0.06,+0.03,-1.00) r=0.19m +[headless_play] t= 12.70s step= 635 trunk_z= 103.3mm grav_b=(+0.11,-0.02,-0.99) r=0.20m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(+0.08,-0.03,-1.00) r=0.22m +[headless_play] t= 12.90s step= 645 trunk_z= 113.3mm grav_b=(+0.06,+0.01,-1.00) r=0.24m +[headless_play] t= 13.00s step= 650 trunk_z= 113.1mm grav_b=(-0.01,+0.10,-0.99) r=0.27m +[headless_play] t= 13.10s step= 655 trunk_z= 121.3mm grav_b=(-0.00,+0.10,-1.00) r=0.29m +[headless_play] t= 13.20s step= 660 trunk_z= 118.4mm grav_b=(-0.02,+0.08,-1.00) r=0.30m +[headless_play] t= 13.30s step= 665 trunk_z= 111.7mm grav_b=(+0.06,-0.02,-1.00) r=0.31m +[headless_play] t= 13.40s step= 670 trunk_z= 115.0mm grav_b=(+0.16,-0.03,-0.99) r=0.33m +[headless_play] t= 13.50s step= 675 trunk_z= 109.7mm grav_b=(+0.08,-0.01,-1.00) r=0.36m +[headless_play] t= 13.60s step= 680 trunk_z= 117.3mm grav_b=(+0.06,+0.00,-1.00) r=0.38m +[headless_play] t= 13.70s step= 685 trunk_z= 113.2mm grav_b=(+0.03,-0.08,-1.00) r=0.40m +[headless_play] t= 13.80s step= 690 trunk_z= 122.6mm grav_b=(-0.02,-0.06,-1.00) r=0.42m +[headless_play] t= 13.90s step= 695 trunk_z= 120.5mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 14.00s step= 700 trunk_z= 121.6mm grav_b=(+0.01,+0.03,-1.00) r=0.44m +[headless_play] t= 14.10s step= 705 trunk_z= 121.7mm grav_b=(+0.09,-0.06,-0.99) r=0.48m +[headless_play] t= 14.20s step= 710 trunk_z= 115.3mm grav_b=(+0.02,-0.09,-1.00) r=0.53m +[headless_play] t= 14.30s step= 715 trunk_z= 121.8mm grav_b=(-0.00,-0.02,-1.00) r=0.56m +[headless_play] t= 14.40s step= 720 trunk_z= 112.0mm grav_b=(-0.08,+0.03,-1.00) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 121.8mm grav_b=(-0.07,+0.03,-1.00) r=0.58m +[headless_play] t= 14.60s step= 730 trunk_z= 121.3mm grav_b=(-0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 14.70s step= 735 trunk_z= 119.9mm grav_b=(-0.04,-0.05,-1.00) r=0.58m +[headless_play] t= 14.80s step= 740 trunk_z= 122.6mm grav_b=(-0.05,-0.03,-1.00) r=0.58m +[headless_play] t= 14.90s step= 745 trunk_z= 115.7mm grav_b=(-0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 15.00s step= 750 trunk_z= 118.8mm grav_b=(+0.01,-0.08,-1.00) r=0.62m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(+0.07,-0.11,-0.99) r=0.63m +[headless_play] t= 15.20s step= 760 trunk_z= 127.2mm grav_b=(+0.05,-0.04,-1.00) r=0.65m +[headless_play] t= 15.30s step= 765 trunk_z= 118.4mm grav_b=(-0.01,+0.02,-1.00) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 119.4mm grav_b=(-0.04,+0.04,-1.00) r=0.67m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(-0.06,-0.01,-1.00) r=0.66m +[headless_play] t= 15.60s step= 780 trunk_z= 116.9mm grav_b=(-0.09,+0.01,-1.00) r=0.66m +[headless_play] t= 15.70s step= 785 trunk_z= 116.5mm grav_b=(-0.09,-0.01,-1.00) r=0.66m +[headless_play] t= 15.80s step= 790 trunk_z= 116.0mm grav_b=(-0.08,+0.02,-1.00) r=0.67m +[headless_play] t= 15.90s step= 795 trunk_z= 117.1mm grav_b=(-0.17,-0.01,-0.99) r=0.65m +[headless_play] t= 16.00s step= 800 trunk_z= 108.3mm grav_b=(-0.03,+0.04,-1.00) r=0.63m +[headless_play] t= 16.10s step= 805 trunk_z= 109.9mm grav_b=(-0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 16.20s step= 810 trunk_z= 114.9mm grav_b=(+0.00,-0.06,-1.00) r=0.59m +[headless_play] t= 16.30s step= 815 trunk_z= 121.3mm grav_b=(-0.03,-0.04,-1.00) r=0.59m +[headless_play] t= 16.40s step= 820 trunk_z= 117.6mm grav_b=(-0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 16.50s step= 825 trunk_z= 117.9mm grav_b=(-0.00,-0.00,-1.00) r=0.60m +[headless_play] t= 16.60s step= 830 trunk_z= 117.8mm grav_b=(-0.00,-0.00,-1.00) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 120.0mm grav_b=(-0.07,-0.02,-1.00) r=0.58m +[headless_play] t= 16.80s step= 840 trunk_z= 118.9mm grav_b=(-0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 16.90s step= 845 trunk_z= 117.7mm grav_b=(-0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 17.00s step= 850 trunk_z= 117.1mm grav_b=(-0.07,+0.02,-1.00) r=0.58m +[headless_play] t= 17.10s step= 855 trunk_z= 116.2mm grav_b=(-0.05,-0.02,-1.00) r=0.57m +[headless_play] t= 17.20s step= 860 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 17.30s step= 865 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 17.40s step= 870 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.58m +[headless_play] t= 17.50s step= 875 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(+0.03,-0.00,-1.00) r=0.58m +[headless_play] t= 17.80s step= 890 trunk_z= 119.3mm grav_b=(+0.09,+0.02,-1.00) r=0.59m +[headless_play] t= 17.90s step= 895 trunk_z= 120.4mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 18.00s step= 900 trunk_z= 121.3mm grav_b=(+0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 18.10s step= 905 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 18.20s step= 910 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.59m +[headless_play] t= 18.30s step= 915 trunk_z= 116.9mm grav_b=(-0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 18.40s step= 920 trunk_z= 117.1mm grav_b=(-0.08,-0.00,-1.00) r=0.58m +[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(-0.10,+0.00,-1.00) r=0.58m +[headless_play] t= 18.60s step= 930 trunk_z= 116.8mm grav_b=(-0.09,-0.00,-1.00) r=0.58m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(-0.06,+0.01,-1.00) r=0.59m +[headless_play] t= 18.80s step= 940 trunk_z= 115.7mm grav_b=(+0.00,+0.03,-1.00) r=0.59m +[headless_play] t= 18.90s step= 945 trunk_z= 111.4mm grav_b=(+0.04,-0.01,-1.00) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 110.0mm grav_b=(+0.07,-0.06,-1.00) r=0.56m +[headless_play] t= 19.10s step= 955 trunk_z= 111.7mm grav_b=(+0.06,-0.01,-1.00) r=0.56m +[headless_play] t= 19.20s step= 960 trunk_z= 115.7mm grav_b=(+0.04,-0.03,-1.00) r=0.55m +[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(+0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 19.40s step= 970 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 19.50s step= 975 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 19.60s step= 980 trunk_z= 117.3mm grav_b=(+0.05,+0.01,-1.00) r=0.55m +[headless_play] t= 19.70s step= 985 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 117.9mm grav_b=(+0.05,+0.02,-1.00) r=0.55m +[headless_play] t= 19.90s step= 995 trunk_z= 119.2mm grav_b=(+0.12,+0.03,-0.99) r=0.56m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(-0.00,+0.03,-1.00) r=0.47m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t10.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..8b0c93394f42366bbbd915e2b2eb3ed0af67982f --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.671,-18.074,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 122.4mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.03,-0.04,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.06,-0.05,-1.00) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 113.6mm grav_b=(+0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 116.2mm grav_b=(+0.04,+0.08,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 118.8mm grav_b=(+0.03,+0.07,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 110.4mm grav_b=(+0.06,+0.03,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 117.4mm grav_b=(+0.08,-0.03,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(+0.08,-0.02,-1.00) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(+0.02,+0.08,-1.00) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 120.2mm grav_b=(+0.02,+0.07,-1.00) r=0.54m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.03,+0.04,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 118.3mm grav_b=(+0.03,-0.04,-1.00) r=0.56m +[headless_play] t= 1.30s step= 65 trunk_z= 117.8mm grav_b=(+0.06,-0.04,-1.00) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(+0.04,+0.00,-1.00) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 118.8mm grav_b=(+0.04,+0.06,-1.00) r=0.64m +[headless_play] t= 1.60s step= 80 trunk_z= 114.9mm grav_b=(+0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 1.70s step= 85 trunk_z= 112.8mm grav_b=(+0.03,-0.04,-1.00) r=0.65m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(+0.07,-0.05,-1.00) r=0.66m +[headless_play] t= 1.90s step= 95 trunk_z= 115.6mm grav_b=(+0.08,-0.03,-1.00) r=0.69m +[headless_play] t= 2.00s step= 100 trunk_z= 117.7mm grav_b=(+0.08,+0.07,-0.99) r=0.72m +[headless_play] t= 2.10s step= 105 trunk_z= 115.6mm grav_b=(+0.08,+0.04,-1.00) r=0.74m +[headless_play] t= 2.20s step= 110 trunk_z= 113.6mm grav_b=(+0.07,-0.03,-1.00) r=0.76m +[headless_play] t= 2.30s step= 115 trunk_z= 118.5mm grav_b=(+0.07,-0.04,-1.00) r=0.77m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.06,-0.01,-1.00) r=0.80m +[headless_play] t= 2.50s step= 125 trunk_z= 119.5mm grav_b=(+0.11,+0.12,-0.99) r=0.84m +[headless_play] t= 2.60s step= 130 trunk_z= 123.3mm grav_b=(+0.11,+0.13,-0.98) r=0.88m +[headless_play] t= 2.70s step= 135 trunk_z= 122.0mm grav_b=(+0.08,+0.03,-1.00) r=0.91m +[headless_play] t= 2.80s step= 140 trunk_z= 129.3mm grav_b=(+0.06,-0.02,-1.00) r=0.94m +[headless_play] t= 2.90s step= 145 trunk_z= 123.9mm grav_b=(-0.01,-0.01,-1.00) r=0.97m +[headless_play] t= 3.00s step= 150 trunk_z= 122.2mm grav_b=(-0.02,+0.05,-1.00) r=1.01m +[headless_play] t= 3.10s step= 155 trunk_z= 119.8mm grav_b=(+0.01,+0.04,-1.00) r=1.03m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(-0.00,-0.08,-1.00) r=1.04m +[headless_play] t= 3.30s step= 165 trunk_z= 125.8mm grav_b=(+0.01,-0.14,-0.99) r=1.05m +[headless_play] t= 3.40s step= 170 trunk_z= 122.9mm grav_b=(+0.05,-0.17,-0.98) r=1.06m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(+0.07,-0.13,-0.99) r=1.07m +[headless_play] t= 3.60s step= 180 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=1.10m +[headless_play] t= 3.70s step= 185 trunk_z= 133.9mm grav_b=(+0.10,+0.12,-0.99) r=1.13m +[headless_play] t= 3.80s step= 190 trunk_z= 139.9mm grav_b=(+0.01,+0.25,-0.97) r=1.18m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(-0.05,+0.24,-0.97) r=1.23m +[headless_play] t= 4.00s step= 200 trunk_z= 104.8mm grav_b=(+0.22,+0.29,-0.93) r=1.28m +[headless_play] t= 4.10s step= 205 trunk_z= 83.0mm grav_b=(+0.54,-0.32,-0.78) r=1.33m +[headless_play] RESET at t= 4.16s step= 208 (env termination, not a recovery) +[headless_play] t= 4.20s step= 210 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.15m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(+0.01,-0.03,-1.00) r=0.15m +[headless_play] t= 4.40s step= 220 trunk_z= 118.1mm grav_b=(+0.04,-0.05,-1.00) r=0.15m +[headless_play] t= 4.50s step= 225 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 118.8mm grav_b=(-0.04,+0.06,-1.00) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 123.7mm grav_b=(-0.04,+0.04,-1.00) r=0.21m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(-0.02,-0.05,-1.00) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 120.3mm grav_b=(-0.01,-0.04,-1.00) r=0.23m +[headless_play] t= 5.10s step= 255 trunk_z= 113.7mm grav_b=(+0.02,+0.03,-1.00) r=0.26m +[headless_play] t= 5.20s step= 260 trunk_z= 120.5mm grav_b=(+0.07,+0.02,-1.00) r=0.28m +[headless_play] t= 5.30s step= 265 trunk_z= 114.3mm grav_b=(+0.11,-0.08,-0.99) r=0.30m +[headless_play] t= 5.40s step= 270 trunk_z= 130.3mm grav_b=(+0.08,-0.11,-0.99) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 128.1mm grav_b=(+0.02,-0.08,-1.00) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 122.0mm grav_b=(-0.01,-0.02,-1.00) r=0.39m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.00,-0.00,-1.00) r=0.40m +[headless_play] t= 5.80s step= 290 trunk_z= 119.0mm grav_b=(-0.04,-0.04,-1.00) r=0.41m +[headless_play] t= 5.90s step= 295 trunk_z= 124.2mm grav_b=(-0.05,-0.05,-1.00) r=0.42m +[headless_play] t= 6.00s step= 300 trunk_z= 120.8mm grav_b=(-0.05,-0.04,-1.00) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 118.0mm grav_b=(-0.02,+0.05,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 120.8mm grav_b=(+0.09,+0.05,-0.99) r=0.48m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(+0.09,-0.01,-1.00) r=0.51m +[headless_play] t= 6.40s step= 320 trunk_z= 127.7mm grav_b=(+0.07,-0.05,-1.00) r=0.54m +[headless_play] t= 6.50s step= 325 trunk_z= 124.8mm grav_b=(+0.00,-0.05,-1.00) r=0.57m +[headless_play] t= 6.60s step= 330 trunk_z= 119.9mm grav_b=(-0.06,+0.04,-1.00) r=0.61m +[headless_play] t= 6.70s step= 335 trunk_z= 121.4mm grav_b=(-0.08,+0.02,-1.00) r=0.63m +[headless_play] t= 6.80s step= 340 trunk_z= 118.5mm grav_b=(-0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 6.90s step= 345 trunk_z= 122.5mm grav_b=(-0.05,-0.03,-1.00) r=0.65m +[headless_play] t= 7.00s step= 350 trunk_z= 118.8mm grav_b=(-0.04,-0.02,-1.00) r=0.67m +[headless_play] t= 7.10s step= 355 trunk_z= 117.5mm grav_b=(+0.00,+0.08,-1.00) r=0.70m +[headless_play] t= 7.20s step= 360 trunk_z= 123.5mm grav_b=(+0.04,+0.09,-1.00) r=0.72m +[headless_play] t= 7.30s step= 365 trunk_z= 120.6mm grav_b=(+0.03,+0.06,-1.00) r=0.73m +[headless_play] t= 7.40s step= 370 trunk_z= 123.0mm grav_b=(+0.02,-0.05,-1.00) r=0.75m +[headless_play] t= 7.50s step= 375 trunk_z= 123.8mm grav_b=(+0.01,-0.08,-1.00) r=0.76m +[headless_play] t= 7.60s step= 380 trunk_z= 119.6mm grav_b=(-0.01,-0.07,-1.00) r=0.78m +[headless_play] t= 7.70s step= 385 trunk_z= 121.5mm grav_b=(-0.00,+0.06,-1.00) r=0.81m +[headless_play] t= 7.80s step= 390 trunk_z= 121.7mm grav_b=(-0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 7.90s step= 395 trunk_z= 115.5mm grav_b=(-0.06,-0.01,-1.00) r=0.80m +[headless_play] t= 8.00s step= 400 trunk_z= 123.9mm grav_b=(-0.05,-0.07,-1.00) r=0.79m +[headless_play] t= 8.10s step= 405 trunk_z= 126.2mm grav_b=(-0.01,-0.04,-1.00) r=0.79m +[headless_play] t= 8.20s step= 410 trunk_z= 121.3mm grav_b=(+0.02,-0.03,-1.00) r=0.79m +[headless_play] t= 8.30s step= 415 trunk_z= 119.4mm grav_b=(-0.02,-0.00,-1.00) r=0.79m +[headless_play] t= 8.40s step= 420 trunk_z= 117.4mm grav_b=(+0.04,-0.02,-1.00) r=0.77m +[headless_play] t= 8.50s step= 425 trunk_z= 112.6mm grav_b=(+0.05,-0.06,-1.00) r=0.76m +[headless_play] t= 8.60s step= 430 trunk_z= 111.6mm grav_b=(+0.06,-0.05,-1.00) r=0.78m +[headless_play] t= 8.70s step= 435 trunk_z= 108.3mm grav_b=(+0.06,+0.05,-1.00) r=0.81m +[headless_play] t= 8.80s step= 440 trunk_z= 118.6mm grav_b=(+0.09,+0.01,-1.00) r=0.84m +[headless_play] t= 8.90s step= 445 trunk_z= 111.3mm grav_b=(+0.02,-0.07,-1.00) r=0.86m +[headless_play] t= 9.00s step= 450 trunk_z= 123.3mm grav_b=(+0.03,-0.08,-1.00) r=0.87m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(-0.01,-0.05,-1.00) r=0.90m +[headless_play] t= 9.20s step= 460 trunk_z= 117.1mm grav_b=(+0.01,+0.06,-1.00) r=0.93m +[headless_play] t= 9.30s step= 465 trunk_z= 121.4mm grav_b=(+0.01,+0.06,-1.00) r=0.95m +[headless_play] t= 9.40s step= 470 trunk_z= 115.3mm grav_b=(+0.01,+0.02,-1.00) r=0.94m +[headless_play] t= 9.50s step= 475 trunk_z= 121.9mm grav_b=(-0.03,-0.07,-1.00) r=0.93m +[headless_play] t= 9.60s step= 480 trunk_z= 122.2mm grav_b=(-0.01,-0.07,-1.00) r=0.94m +[headless_play] t= 9.70s step= 485 trunk_z= 116.4mm grav_b=(-0.01,-0.07,-1.00) r=0.96m +[headless_play] t= 9.80s step= 490 trunk_z= 119.6mm grav_b=(+0.00,+0.06,-1.00) r=0.99m +[headless_play] t= 9.90s step= 495 trunk_z= 120.0mm grav_b=(+0.01,+0.04,-1.00) r=0.99m +[headless_play] t= 10.00s step= 500 trunk_z= 113.7mm grav_b=(-0.01,-0.02,-1.00) r=0.98m +[headless_play] t= 10.10s step= 505 trunk_z= 121.9mm grav_b=(-0.01,-0.08,-1.00) r=0.98m +[headless_play] t= 10.20s step= 510 trunk_z= 118.5mm grav_b=(+0.01,-0.07,-1.00) r=1.00m +[headless_play] t= 10.30s step= 515 trunk_z= 111.6mm grav_b=(+0.01,+0.02,-1.00) r=1.03m +[headless_play] t= 10.40s step= 520 trunk_z= 120.0mm grav_b=(+0.01,+0.04,-1.00) r=1.05m +[headless_play] t= 10.50s step= 525 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=1.05m +[headless_play] t= 10.60s step= 530 trunk_z= 119.4mm grav_b=(-0.00,-0.07,-1.00) r=1.04m +[headless_play] t= 10.70s step= 535 trunk_z= 121.3mm grav_b=(+0.02,-0.08,-1.00) r=1.05m +[headless_play] t= 10.80s step= 540 trunk_z= 116.0mm grav_b=(+0.02,-0.06,-1.00) r=1.08m +[headless_play] t= 10.90s step= 545 trunk_z= 119.9mm grav_b=(-0.09,+0.04,-1.00) r=1.09m +[headless_play] t= 11.00s step= 550 trunk_z= 119.1mm grav_b=(-0.08,+0.01,-1.00) r=1.08m +[headless_play] t= 11.10s step= 555 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=1.07m +[headless_play] t= 11.20s step= 560 trunk_z= 114.8mm grav_b=(+0.03,-0.01,-1.00) r=1.07m +[headless_play] t= 11.30s step= 565 trunk_z= 109.8mm grav_b=(+0.07,+0.02,-1.00) r=1.08m +[headless_play] t= 11.40s step= 570 trunk_z= 118.1mm grav_b=(+0.07,+0.00,-1.00) r=1.10m +[headless_play] t= 11.50s step= 575 trunk_z= 112.7mm grav_b=(+0.04,-0.07,-1.00) r=1.13m +[headless_play] t= 11.60s step= 580 trunk_z= 126.8mm grav_b=(+0.01,-0.17,-0.98) r=1.15m +[headless_play] t= 11.70s step= 585 trunk_z= 124.6mm grav_b=(+0.01,-0.27,-0.96) r=1.16m +[headless_play] t= 11.80s step= 590 trunk_z= 120.8mm grav_b=(+0.17,-0.20,-0.97) r=1.16m +[headless_play] t= 11.90s step= 595 trunk_z= 103.1mm grav_b=(+0.14,-0.23,-0.96) r=1.19m +[headless_play] t= 12.00s step= 600 trunk_z= 110.4mm grav_b=(+0.15,-0.14,-0.98) r=1.23m +[headless_play] t= 12.10s step= 605 trunk_z= 120.6mm grav_b=(-0.05,-0.08,-1.00) r=1.23m +[headless_play] t= 12.20s step= 610 trunk_z= 116.8mm grav_b=(-0.17,-0.14,-0.97) r=1.25m +[headless_play] t= 12.30s step= 615 trunk_z= 128.7mm grav_b=(-0.07,-0.08,-0.99) r=1.25m +[headless_play] t= 12.40s step= 620 trunk_z= 121.5mm grav_b=(-0.04,-0.10,-0.99) r=1.23m +[headless_play] t= 12.50s step= 625 trunk_z= 110.7mm grav_b=(+0.02,-0.04,-1.00) r=1.20m +[headless_play] t= 12.60s step= 630 trunk_z= 109.4mm grav_b=(-0.01,-0.10,-0.99) r=1.19m +[headless_play] t= 12.70s step= 635 trunk_z= 120.9mm grav_b=(-0.04,-0.20,-0.98) r=1.18m +[headless_play] t= 12.80s step= 640 trunk_z= 123.3mm grav_b=(+0.01,-0.14,-0.99) r=1.16m +[headless_play] t= 12.90s step= 645 trunk_z= 111.3mm grav_b=(+0.10,-0.05,-0.99) r=1.14m +[headless_play] t= 13.00s step= 650 trunk_z= 114.4mm grav_b=(+0.09,-0.04,-1.00) r=1.13m +[headless_play] t= 13.10s step= 655 trunk_z= 120.5mm grav_b=(+0.02,-0.13,-0.99) r=1.14m +[headless_play] t= 13.20s step= 660 trunk_z= 129.6mm grav_b=(+0.01,-0.22,-0.97) r=1.17m +[headless_play] t= 13.30s step= 665 trunk_z= 124.0mm grav_b=(+0.18,-0.23,-0.96) r=1.21m +[headless_play] t= 13.40s step= 670 trunk_z= 109.2mm grav_b=(+0.12,-0.18,-0.98) r=1.23m +[headless_play] t= 13.50s step= 675 trunk_z= 114.8mm grav_b=(+0.17,+0.03,-0.99) r=1.27m +[headless_play] t= 13.60s step= 680 trunk_z= 144.7mm grav_b=(+0.26,+0.05,-0.96) r=1.31m +[headless_play] t= 13.70s step= 685 trunk_z= 121.9mm grav_b=(+0.23,+0.02,-0.97) r=1.37m +[headless_play] t= 13.80s step= 690 trunk_z= 123.2mm grav_b=(+0.16,+0.08,-0.98) r=1.40m +[headless_play] t= 13.90s step= 695 trunk_z= 131.3mm grav_b=(+0.08,+0.03,-1.00) r=1.43m +[headless_play] t= 14.00s step= 700 trunk_z= 105.8mm grav_b=(-0.05,+0.06,-1.00) r=1.48m +[headless_play] t= 14.10s step= 705 trunk_z= 110.7mm grav_b=(-0.10,-0.02,-1.00) r=1.49m +[headless_play] t= 14.20s step= 710 trunk_z= 121.4mm grav_b=(-0.02,-0.04,-1.00) r=1.50m +[headless_play] t= 14.30s step= 715 trunk_z= 119.4mm grav_b=(+0.02,-0.01,-1.00) r=1.51m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=1.51m +[headless_play] t= 14.50s step= 725 trunk_z= 116.1mm grav_b=(+0.00,-0.01,-1.00) r=1.51m +[headless_play] t= 14.60s step= 730 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=1.51m +[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=1.51m +[headless_play] t= 14.80s step= 740 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=1.51m +[headless_play] t= 14.90s step= 745 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=1.51m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(+0.04,+0.00,-1.00) r=1.51m +[headless_play] t= 15.10s step= 755 trunk_z= 116.0mm grav_b=(+0.06,+0.00,-1.00) r=1.51m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=1.51m +[headless_play] t= 15.30s step= 765 trunk_z= 117.0mm grav_b=(-0.06,-0.00,-1.00) r=1.49m +[headless_play] t= 15.40s step= 770 trunk_z= 111.5mm grav_b=(-0.02,-0.03,-1.00) r=1.47m +[headless_play] t= 15.50s step= 775 trunk_z= 117.5mm grav_b=(+0.03,-0.03,-1.00) r=1.46m +[headless_play] t= 15.60s step= 780 trunk_z= 107.8mm grav_b=(+0.06,+0.03,-1.00) r=1.44m +[headless_play] t= 15.70s step= 785 trunk_z= 110.3mm grav_b=(+0.09,+0.01,-1.00) r=1.43m +[headless_play] t= 15.80s step= 790 trunk_z= 114.7mm grav_b=(+0.09,-0.10,-0.99) r=1.45m +[headless_play] t= 15.90s step= 795 trunk_z= 117.7mm grav_b=(+0.09,-0.15,-0.99) r=1.45m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(+0.06,-0.12,-0.99) r=1.45m +[headless_play] t= 16.10s step= 805 trunk_z= 115.6mm grav_b=(+0.06,-0.03,-1.00) r=1.44m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=1.44m +[headless_play] t= 16.30s step= 815 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=1.44m +[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(+0.04,-0.00,-1.00) r=1.44m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=1.44m +[headless_play] t= 16.60s step= 830 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=1.44m +[headless_play] t= 16.70s step= 835 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=1.43m +[headless_play] t= 16.80s step= 840 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=1.43m +[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=1.43m +[headless_play] t= 17.00s step= 850 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=1.43m +[headless_play] t= 17.10s step= 855 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=1.43m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=1.43m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=1.43m +[headless_play] t= 17.40s step= 870 trunk_z= 121.1mm grav_b=(+0.06,+0.03,-1.00) r=1.44m +[headless_play] t= 17.50s step= 875 trunk_z= 118.6mm grav_b=(+0.04,+0.07,-1.00) r=1.46m +[headless_play] t= 17.60s step= 880 trunk_z= 122.4mm grav_b=(+0.03,+0.04,-1.00) r=1.47m +[headless_play] t= 17.70s step= 885 trunk_z= 119.3mm grav_b=(-0.03,-0.02,-1.00) r=1.47m +[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(-0.07,+0.01,-1.00) r=1.47m +[headless_play] t= 17.90s step= 895 trunk_z= 116.3mm grav_b=(-0.07,-0.00,-1.00) r=1.47m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=1.47m +[headless_play] t= 18.10s step= 905 trunk_z= 118.3mm grav_b=(-0.04,+0.02,-1.00) r=1.47m +[headless_play] t= 18.20s step= 910 trunk_z= 118.3mm grav_b=(-0.04,+0.03,-1.00) r=1.47m +[headless_play] t= 18.30s step= 915 trunk_z= 118.2mm grav_b=(-0.03,+0.03,-1.00) r=1.48m +[headless_play] t= 18.40s step= 920 trunk_z= 117.9mm grav_b=(-0.03,+0.02,-1.00) r=1.48m +[headless_play] t= 18.50s step= 925 trunk_z= 117.8mm grav_b=(-0.02,+0.02,-1.00) r=1.48m +[headless_play] t= 18.60s step= 930 trunk_z= 117.8mm grav_b=(-0.02,+0.02,-1.00) r=1.48m +[headless_play] t= 18.70s step= 935 trunk_z= 118.6mm grav_b=(+0.00,+0.03,-1.00) r=1.48m +[headless_play] t= 18.80s step= 940 trunk_z= 124.3mm grav_b=(+0.05,+0.03,-1.00) r=1.51m +[headless_play] t= 18.90s step= 945 trunk_z= 118.8mm grav_b=(+0.02,-0.01,-1.00) r=1.53m +[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(-0.03,-0.07,-1.00) r=1.55m +[headless_play] t= 19.10s step= 955 trunk_z= 119.3mm grav_b=(-0.08,-0.09,-0.99) r=1.57m +[headless_play] t= 19.20s step= 960 trunk_z= 118.8mm grav_b=(-0.10,-0.08,-0.99) r=1.57m +[headless_play] t= 19.30s step= 965 trunk_z= 115.4mm grav_b=(-0.09,-0.01,-1.00) r=1.56m +[headless_play] t= 19.40s step= 970 trunk_z= 116.6mm grav_b=(-0.06,-0.00,-1.00) r=1.56m +[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=1.56m +[headless_play] t= 19.60s step= 980 trunk_z= 116.7mm grav_b=(-0.04,+0.01,-1.00) r=1.56m +[headless_play] t= 19.70s step= 985 trunk_z= 119.0mm grav_b=(-0.02,+0.03,-1.00) r=1.56m +[headless_play] t= 19.80s step= 990 trunk_z= 120.2mm grav_b=(+0.01,+0.05,-1.00) r=1.57m +[headless_play] t= 19.90s step= 995 trunk_z= 120.0mm grav_b=(+0.03,+0.05,-1.00) r=1.57m +[headless_play] t= 20.00s step=1000 trunk_z= 119.6mm grav_b=(+0.03,+0.04,-1.00) r=1.57m +[headless_play] t= 20.10s step=1005 trunk_z= 118.4mm grav_b=(+0.00,+0.03,-1.00) r=1.57m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t11.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..dfda531732dd80fd43d2d51d7d79bc7111d249e3 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.242,-17.793,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.0mm grav_b=(-0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.01,+0.03,-1.00) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 114.1mm grav_b=(+0.03,+0.06,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 114.2mm grav_b=(+0.05,-0.01,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 111.8mm grav_b=(+0.04,-0.10,-0.99) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 123.5mm grav_b=(+0.06,-0.11,-0.99) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 121.8mm grav_b=(+0.04,-0.11,-0.99) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 126.5mm grav_b=(+0.10,+0.14,-0.98) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 128.4mm grav_b=(+0.08,+0.16,-0.98) r=0.47m +[headless_play] t= 1.00s step= 50 trunk_z= 127.5mm grav_b=(+0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 132.3mm grav_b=(-0.03,-0.12,-0.99) r=0.54m +[headless_play] t= 1.20s step= 60 trunk_z= 122.9mm grav_b=(-0.06,-0.11,-0.99) r=0.56m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 119.2mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(+0.03,-0.05,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 122.0mm grav_b=(+0.04,-0.08,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 119.8mm grav_b=(+0.03,-0.07,-1.00) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 113.4mm grav_b=(+0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 119.6mm grav_b=(+0.06,+0.00,-1.00) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 115.8mm grav_b=(+0.02,-0.03,-1.00) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 122.1mm grav_b=(-0.00,-0.08,-1.00) r=0.65m +[headless_play] t= 2.20s step= 110 trunk_z= 121.9mm grav_b=(+0.00,-0.08,-1.00) r=0.66m +[headless_play] t= 2.30s step= 115 trunk_z= 113.3mm grav_b=(+0.01,-0.04,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 120.4mm grav_b=(+0.02,+0.03,-1.00) r=0.72m +[headless_play] t= 2.50s step= 125 trunk_z= 118.0mm grav_b=(+0.04,+0.02,-1.00) r=0.72m +[headless_play] t= 2.60s step= 130 trunk_z= 115.0mm grav_b=(+0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 124.3mm grav_b=(-0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 2.80s step= 140 trunk_z= 122.7mm grav_b=(+0.02,-0.05,-1.00) r=0.72m +[headless_play] t= 2.90s step= 145 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.75m +[headless_play] t= 3.00s step= 150 trunk_z= 118.7mm grav_b=(+0.06,-0.00,-1.00) r=0.76m +[headless_play] t= 3.10s step= 155 trunk_z= 113.0mm grav_b=(+0.03,-0.09,-1.00) r=0.76m +[headless_play] t= 3.20s step= 160 trunk_z= 125.8mm grav_b=(+0.04,-0.12,-0.99) r=0.77m +[headless_play] t= 3.30s step= 165 trunk_z= 122.9mm grav_b=(+0.00,-0.09,-1.00) r=0.79m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(-0.04,-0.01,-1.00) r=0.83m +[headless_play] t= 3.50s step= 175 trunk_z= 119.0mm grav_b=(-0.03,-0.05,-1.00) r=0.83m +[headless_play] t= 3.60s step= 180 trunk_z= 117.4mm grav_b=(+0.03,-0.12,-0.99) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 122.9mm grav_b=(+0.05,-0.08,-1.00) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 118.2mm grav_b=(+0.03,-0.05,-1.00) r=0.85m +[headless_play] t= 3.90s step= 195 trunk_z= 123.9mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 122.4mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 4.10s step= 205 trunk_z= 118.9mm grav_b=(-0.01,-0.06,-1.00) r=0.88m +[headless_play] t= 4.20s step= 210 trunk_z= 123.3mm grav_b=(-0.03,-0.05,-1.00) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 114.2mm grav_b=(-0.03,-0.02,-1.00) r=0.91m +[headless_play] t= 4.40s step= 220 trunk_z= 120.3mm grav_b=(+0.02,+0.03,-1.00) r=0.93m +[headless_play] t= 4.50s step= 225 trunk_z= 120.3mm grav_b=(+0.03,+0.01,-1.00) r=0.94m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(+0.03,-0.06,-1.00) r=0.92m +[headless_play] t= 4.70s step= 235 trunk_z= 124.6mm grav_b=(+0.02,-0.07,-1.00) r=0.93m +[headless_play] t= 4.80s step= 240 trunk_z= 119.5mm grav_b=(-0.01,-0.05,-1.00) r=0.95m +[headless_play] t= 4.90s step= 245 trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) r=0.98m +[headless_play] t= 5.00s step= 250 trunk_z= 120.4mm grav_b=(+0.02,-0.00,-1.00) r=0.98m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.01,-0.06,-1.00) r=0.97m +[headless_play] t= 5.20s step= 260 trunk_z= 124.8mm grav_b=(-0.02,-0.08,-1.00) r=0.97m +[headless_play] t= 5.30s step= 265 trunk_z= 120.9mm grav_b=(-0.02,-0.08,-1.00) r=0.98m +[headless_play] t= 5.40s step= 270 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=1.02m +[headless_play] t= 5.50s step= 275 trunk_z= 123.2mm grav_b=(+0.04,+0.03,-1.00) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 125.7mm grav_b=(+0.08,+0.06,-1.00) r=1.05m +[headless_play] t= 5.70s step= 285 trunk_z= 118.7mm grav_b=(+0.03,-0.02,-1.00) r=1.05m +[headless_play] t= 5.80s step= 290 trunk_z= 128.3mm grav_b=(+0.01,-0.06,-1.00) r=1.06m +[headless_play] t= 5.90s step= 295 trunk_z= 119.4mm grav_b=(-0.02,-0.05,-1.00) r=1.09m +[headless_play] t= 6.00s step= 300 trunk_z= 119.5mm grav_b=(-0.05,+0.01,-1.00) r=1.12m +[headless_play] t= 6.10s step= 305 trunk_z= 120.9mm grav_b=(-0.05,-0.00,-1.00) r=1.12m +[headless_play] t= 6.20s step= 310 trunk_z= 114.6mm grav_b=(-0.03,-0.08,-1.00) r=1.10m +[headless_play] t= 6.30s step= 315 trunk_z= 124.5mm grav_b=(-0.01,-0.07,-1.00) r=1.09m +[headless_play] t= 6.40s step= 320 trunk_z= 121.2mm grav_b=(+0.09,-0.06,-0.99) r=1.11m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(+0.07,-0.07,-1.00) r=1.14m +[headless_play] t= 6.60s step= 330 trunk_z= 128.4mm grav_b=(+0.02,-0.07,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 112.6mm grav_b=(+0.01,-0.10,-1.00) r=1.16m +[headless_play] t= 6.80s step= 340 trunk_z= 123.1mm grav_b=(-0.03,-0.08,-1.00) r=1.17m +[headless_play] t= 6.90s step= 345 trunk_z= 113.5mm grav_b=(-0.09,-0.00,-1.00) r=1.20m +[headless_play] t= 7.00s step= 350 trunk_z= 120.2mm grav_b=(-0.03,+0.03,-1.00) r=1.22m +[headless_play] t= 7.10s step= 355 trunk_z= 121.4mm grav_b=(-0.03,-0.00,-1.00) r=1.22m +[headless_play] t= 7.20s step= 360 trunk_z= 115.1mm grav_b=(-0.01,-0.06,-1.00) r=1.19m +[headless_play] t= 7.30s step= 365 trunk_z= 123.8mm grav_b=(+0.01,-0.10,-0.99) r=1.18m +[headless_play] t= 7.40s step= 370 trunk_z= 124.6mm grav_b=(+0.03,-0.18,-0.98) r=1.18m +[headless_play] t= 7.50s step= 375 trunk_z= 122.4mm grav_b=(-0.03,-0.14,-0.99) r=1.18m +[headless_play] t= 7.60s step= 380 trunk_z= 130.7mm grav_b=(+0.03,-0.07,-1.00) r=1.18m +[headless_play] t= 7.70s step= 385 trunk_z= 128.5mm grav_b=(+0.03,-0.04,-1.00) r=1.17m +[headless_play] t= 7.80s step= 390 trunk_z= 121.7mm grav_b=(+0.08,-0.06,-1.00) r=1.16m +[headless_play] t= 7.90s step= 395 trunk_z= 125.2mm grav_b=(+0.08,-0.06,-1.00) r=1.16m +[headless_play] t= 8.00s step= 400 trunk_z= 112.1mm grav_b=(+0.00,+0.01,-1.00) r=1.18m +[headless_play] t= 8.10s step= 405 trunk_z= 117.7mm grav_b=(-0.05,-0.03,-1.00) r=1.18m +[headless_play] t= 8.20s step= 410 trunk_z= 116.4mm grav_b=(-0.06,-0.09,-0.99) r=1.16m +[headless_play] t= 8.30s step= 415 trunk_z= 124.8mm grav_b=(-0.06,-0.10,-0.99) r=1.14m +[headless_play] t= 8.40s step= 420 trunk_z= 125.3mm grav_b=(-0.03,-0.10,-0.99) r=1.15m +[headless_play] t= 8.50s step= 425 trunk_z= 118.6mm grav_b=(-0.02,-0.06,-1.00) r=1.17m +[headless_play] t= 8.60s step= 430 trunk_z= 122.6mm grav_b=(+0.05,-0.00,-1.00) r=1.19m +[headless_play] t= 8.70s step= 435 trunk_z= 120.9mm grav_b=(+0.05,+0.00,-1.00) r=1.19m +[headless_play] t= 8.80s step= 440 trunk_z= 120.2mm grav_b=(+0.04,-0.06,-1.00) r=1.17m +[headless_play] t= 8.90s step= 445 trunk_z= 124.7mm grav_b=(+0.03,-0.06,-1.00) r=1.18m +[headless_play] t= 9.00s step= 450 trunk_z= 121.7mm grav_b=(+0.01,-0.06,-1.00) r=1.20m +[headless_play] t= 9.10s step= 455 trunk_z= 123.1mm grav_b=(-0.02,+0.03,-1.00) r=1.22m +[headless_play] t= 9.20s step= 460 trunk_z= 125.1mm grav_b=(+0.00,+0.04,-1.00) r=1.23m +[headless_play] t= 9.30s step= 465 trunk_z= 121.0mm grav_b=(+0.05,+0.03,-1.00) r=1.22m +[headless_play] t= 9.40s step= 470 trunk_z= 126.1mm grav_b=(+0.08,-0.05,-1.00) r=1.21m +[headless_play] t= 9.50s step= 475 trunk_z= 130.9mm grav_b=(+0.06,-0.10,-0.99) r=1.22m +[headless_play] t= 9.60s step= 480 trunk_z= 114.1mm grav_b=(-0.01,-0.03,-1.00) r=1.24m +[headless_play] t= 9.70s step= 485 trunk_z= 126.1mm grav_b=(-0.00,+0.00,-1.00) r=1.25m +[headless_play] t= 9.80s step= 490 trunk_z= 121.3mm grav_b=(+0.00,-0.02,-1.00) r=1.25m +[headless_play] t= 9.90s step= 495 trunk_z= 121.5mm grav_b=(-0.06,-0.06,-1.00) r=1.23m +[headless_play] t= 10.00s step= 500 trunk_z= 123.4mm grav_b=(-0.08,-0.04,-1.00) r=1.23m +[headless_play] t= 10.10s step= 505 trunk_z= 116.4mm grav_b=(-0.05,+0.00,-1.00) r=1.26m +[headless_play] t= 10.20s step= 510 trunk_z= 120.9mm grav_b=(+0.02,+0.01,-1.00) r=1.26m +[headless_play] t= 10.30s step= 515 trunk_z= 117.0mm grav_b=(+0.05,-0.02,-1.00) r=1.24m +[headless_play] t= 10.40s step= 520 trunk_z= 124.6mm grav_b=(+0.07,-0.04,-1.00) r=1.23m +[headless_play] t= 10.50s step= 525 trunk_z= 127.0mm grav_b=(+0.07,-0.05,-1.00) r=1.24m +[headless_play] t= 10.60s step= 530 trunk_z= 116.0mm grav_b=(+0.00,+0.06,-1.00) r=1.28m +[headless_play] t= 10.70s step= 535 trunk_z= 128.7mm grav_b=(+0.00,+0.10,-1.00) r=1.30m +[headless_play] t= 10.80s step= 540 trunk_z= 127.7mm grav_b=(+0.02,+0.12,-0.99) r=1.31m +[headless_play] t= 10.90s step= 545 trunk_z= 122.2mm grav_b=(-0.00,+0.06,-1.00) r=1.32m +[headless_play] t= 11.00s step= 550 trunk_z= 125.7mm grav_b=(-0.01,-0.03,-1.00) r=1.32m +[headless_play] t= 11.10s step= 555 trunk_z= 123.7mm grav_b=(-0.00,-0.05,-1.00) r=1.34m +[headless_play] t= 11.20s step= 560 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00) r=1.36m +[headless_play] t= 11.30s step= 565 trunk_z= 124.0mm grav_b=(-0.00,+0.01,-1.00) r=1.38m +[headless_play] t= 11.40s step= 570 trunk_z= 123.3mm grav_b=(+0.08,+0.02,-1.00) r=1.38m +[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(+0.12,-0.03,-0.99) r=1.38m +[headless_play] t= 11.60s step= 580 trunk_z= 131.0mm grav_b=(+0.09,-0.05,-0.99) r=1.40m +[headless_play] t= 11.70s step= 585 trunk_z= 107.5mm grav_b=(-0.03,-0.01,-1.00) r=1.44m +[headless_play] t= 11.80s step= 590 trunk_z= 120.9mm grav_b=(-0.01,+0.01,-1.00) r=1.46m +[headless_play] t= 11.90s step= 595 trunk_z= 121.7mm grav_b=(-0.04,+0.00,-1.00) r=1.46m +[headless_play] t= 12.00s step= 600 trunk_z= 121.8mm grav_b=(-0.02,-0.05,-1.00) r=1.45m +[headless_play] t= 12.10s step= 605 trunk_z= 121.3mm grav_b=(+0.01,-0.01,-1.00) r=1.47m +[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(-0.00,+0.04,-1.00) r=1.51m +[headless_play] t= 12.30s step= 615 trunk_z= 125.7mm grav_b=(+0.01,+0.04,-1.00) r=1.53m +[headless_play] t= 12.40s step= 620 trunk_z= 124.2mm grav_b=(+0.02,+0.05,-1.00) r=1.53m +[headless_play] t= 12.50s step= 625 trunk_z= 117.3mm grav_b=(+0.00,-0.01,-1.00) r=1.52m +[headless_play] t= 12.60s step= 630 trunk_z= 127.8mm grav_b=(-0.02,-0.12,-0.99) r=1.50m +[headless_play] t= 12.70s step= 635 trunk_z= 128.6mm grav_b=(-0.05,-0.23,-0.97) r=1.49m +[headless_play] t= 12.80s step= 640 trunk_z= 122.9mm grav_b=(+0.01,-0.27,-0.96) r=1.50m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(+0.02,-0.28,-0.96) r=1.50m +[headless_play] t= 13.00s step= 650 trunk_z= 119.8mm grav_b=(+0.09,-0.33,-0.94) r=1.51m +[headless_play] t= 13.10s step= 655 trunk_z= 119.8mm grav_b=(+0.47,-0.45,-0.76) r=1.52m +[headless_play] t= 13.20s step= 660 trunk_z= 106.6mm grav_b=(+0.65,-0.61,-0.46) r=1.53m +[headless_play] RESET at t= 13.24s step= 662 (env termination, not a recovery) +[headless_play] t= 13.30s step= 665 trunk_z= 114.2mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 13.40s step= 670 trunk_z= 113.9mm grav_b=(+0.02,+0.07,-1.00) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(+0.02,+0.06,-1.00) r=0.46m +[headless_play] t= 13.60s step= 680 trunk_z= 112.2mm grav_b=(+0.04,-0.02,-1.00) r=0.44m +[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(+0.04,-0.07,-1.00) r=0.42m +[headless_play] t= 13.80s step= 690 trunk_z= 118.4mm grav_b=(+0.05,-0.03,-1.00) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 109.2mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.00s step= 700 trunk_z= 118.3mm grav_b=(+0.04,+0.06,-1.00) r=0.36m +[headless_play] t= 14.10s step= 705 trunk_z= 115.3mm grav_b=(+0.07,+0.02,-1.00) r=0.34m +[headless_play] t= 14.20s step= 710 trunk_z= 115.5mm grav_b=(+0.04,-0.09,-1.00) r=0.31m +[headless_play] t= 14.30s step= 715 trunk_z= 122.4mm grav_b=(+0.09,-0.11,-0.99) r=0.27m +[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(+0.09,-0.07,-0.99) r=0.23m +[headless_play] t= 14.50s step= 725 trunk_z= 123.6mm grav_b=(+0.07,-0.03,-1.00) r=0.20m +[headless_play] t= 14.60s step= 730 trunk_z= 116.9mm grav_b=(+0.01,-0.06,-1.00) r=0.17m +[headless_play] t= 14.70s step= 735 trunk_z= 120.1mm grav_b=(+0.01,-0.04,-1.00) r=0.14m +[headless_play] t= 14.80s step= 740 trunk_z= 113.0mm grav_b=(+0.02,+0.01,-1.00) r=0.12m +[headless_play] t= 14.90s step= 745 trunk_z= 116.3mm grav_b=(+0.02,+0.06,-1.00) r=0.10m +[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(+0.04,+0.05,-1.00) r=0.09m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.02,+0.04,-1.00) r=0.08m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(+0.03,-0.07,-1.00) r=0.07m +[headless_play] t= 15.30s step= 765 trunk_z= 120.0mm grav_b=(+0.05,-0.05,-1.00) r=0.06m +[headless_play] t= 15.40s step= 770 trunk_z= 110.2mm grav_b=(+0.06,-0.02,-1.00) r=0.04m +[headless_play] t= 15.50s step= 775 trunk_z= 116.7mm grav_b=(+0.04,+0.04,-1.00) r=0.03m +[headless_play] t= 15.60s step= 780 trunk_z= 114.6mm grav_b=(+0.07,+0.01,-1.00) r=0.03m +[headless_play] t= 15.70s step= 785 trunk_z= 113.3mm grav_b=(+0.05,-0.08,-1.00) r=0.04m +[headless_play] t= 15.80s step= 790 trunk_z= 120.7mm grav_b=(+0.07,-0.06,-1.00) r=0.07m +[headless_play] t= 15.90s step= 795 trunk_z= 112.7mm grav_b=(+0.08,-0.02,-1.00) r=0.10m +[headless_play] t= 16.00s step= 800 trunk_z= 119.6mm grav_b=(+0.05,+0.05,-1.00) r=0.14m +[headless_play] t= 16.10s step= 805 trunk_z= 114.0mm grav_b=(+0.08,+0.00,-1.00) r=0.16m +[headless_play] t= 16.20s step= 810 trunk_z= 115.0mm grav_b=(+0.02,-0.10,-1.00) r=0.19m +[headless_play] t= 16.30s step= 815 trunk_z= 122.7mm grav_b=(-0.00,-0.05,-1.00) r=0.21m +[headless_play] t= 16.40s step= 820 trunk_z= 112.9mm grav_b=(+0.01,-0.02,-1.00) r=0.23m +[headless_play] t= 16.50s step= 825 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.25m +[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(+0.03,+0.03,-1.00) r=0.26m +[headless_play] t= 16.70s step= 835 trunk_z= 113.7mm grav_b=(+0.02,-0.03,-1.00) r=0.27m +[headless_play] t= 16.80s step= 840 trunk_z= 122.7mm grav_b=(+0.08,-0.05,-1.00) r=0.30m +[headless_play] t= 16.90s step= 845 trunk_z= 120.7mm grav_b=(+0.07,-0.02,-1.00) r=0.32m +[headless_play] t= 17.00s step= 850 trunk_z= 121.1mm grav_b=(+0.07,+0.03,-1.00) r=0.35m +[headless_play] t= 17.10s step= 855 trunk_z= 120.0mm grav_b=(+0.06,+0.00,-1.00) r=0.38m +[headless_play] t= 17.20s step= 860 trunk_z= 117.8mm grav_b=(+0.01,-0.08,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 126.0mm grav_b=(-0.03,-0.07,-1.00) r=0.44m +[headless_play] t= 17.40s step= 870 trunk_z= 118.8mm grav_b=(-0.03,-0.03,-1.00) r=0.46m +[headless_play] t= 17.50s step= 875 trunk_z= 121.4mm grav_b=(+0.00,+0.05,-1.00) r=0.47m +[headless_play] t= 17.60s step= 880 trunk_z= 123.5mm grav_b=(+0.03,+0.06,-1.00) r=0.49m +[headless_play] t= 17.70s step= 885 trunk_z= 118.7mm grav_b=(+0.09,+0.02,-1.00) r=0.52m +[headless_play] t= 17.80s step= 890 trunk_z= 127.5mm grav_b=(+0.10,-0.05,-0.99) r=0.55m +[headless_play] t= 17.90s step= 895 trunk_z= 128.4mm grav_b=(+0.07,-0.02,-1.00) r=0.60m +[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(-0.00,+0.03,-1.00) r=0.64m +[headless_play] t= 18.10s step= 905 trunk_z= 121.2mm grav_b=(-0.02,+0.03,-1.00) r=0.65m +[headless_play] t= 18.20s step= 910 trunk_z= 117.1mm grav_b=(-0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 18.30s step= 915 trunk_z= 123.7mm grav_b=(+0.00,-0.03,-1.00) r=0.69m +[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(+0.03,-0.00,-1.00) r=0.71m +[headless_play] t= 18.50s step= 925 trunk_z= 120.3mm grav_b=(-0.05,+0.05,-1.00) r=0.72m +[headless_play] t= 18.60s step= 930 trunk_z= 124.6mm grav_b=(-0.04,+0.02,-1.00) r=0.73m +[headless_play] t= 18.70s step= 935 trunk_z= 118.1mm grav_b=(+0.01,-0.03,-1.00) r=0.73m +[headless_play] t= 18.80s step= 940 trunk_z= 122.0mm grav_b=(+0.04,-0.06,-1.00) r=0.73m +[headless_play] t= 18.90s step= 945 trunk_z= 117.1mm grav_b=(+0.04,-0.03,-1.00) r=0.74m +[headless_play] t= 19.00s step= 950 trunk_z= 119.8mm grav_b=(+0.08,+0.07,-0.99) r=0.75m +[headless_play] t= 19.10s step= 955 trunk_z= 122.4mm grav_b=(+0.10,+0.07,-0.99) r=0.77m +[headless_play] t= 19.20s step= 960 trunk_z= 120.1mm grav_b=(+0.07,+0.00,-1.00) r=0.80m +[headless_play] t= 19.30s step= 965 trunk_z= 128.3mm grav_b=(+0.05,-0.07,-1.00) r=0.83m +[headless_play] t= 19.40s step= 970 trunk_z= 124.5mm grav_b=(-0.00,-0.02,-1.00) r=0.86m +[headless_play] t= 19.50s step= 975 trunk_z= 119.4mm grav_b=(-0.11,+0.15,-0.98) r=0.89m +[headless_play] t= 19.60s step= 980 trunk_z= 129.1mm grav_b=(-0.07,+0.17,-0.98) r=0.90m +[headless_play] t= 19.70s step= 985 trunk_z= 118.4mm grav_b=(-0.12,+0.21,-0.97) r=0.89m +[headless_play] t= 19.80s step= 990 trunk_z= 95.7mm grav_b=(-0.20,+0.10,-0.97) r=0.90m +[headless_play] t= 19.90s step= 995 trunk_z= 82.9mm grav_b=(-0.09,+0.03,-1.00) r=0.90m +[headless_play] t= 20.00s step=1000 trunk_z= 78.6mm grav_b=(+0.08,+0.01,-1.00) r=0.86m +[headless_play] t= 20.10s step=1005 trunk_z= 85.3mm grav_b=(+0.06,-0.01,-1.00) r=0.86m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t12.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..cd8c79d39ae16a6394e13c938432fd141012eb02 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.701,-18.104,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.02,-0.05,-1.00) r=0.29m +[headless_play] t= 0.30s step= 15 trunk_z= 114.1mm grav_b=(-0.00,+0.02,-1.00) r=0.28m +[headless_play] t= 0.40s step= 20 trunk_z= 114.5mm grav_b=(-0.03,+0.07,-1.00) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(-0.04,+0.07,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 110.4mm grav_b=(-0.03,+0.05,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 113.9mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 115.6mm grav_b=(-0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 112.5mm grav_b=(-0.04,+0.01,-1.00) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 110.6mm grav_b=(-0.03,+0.07,-1.00) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 110.9mm grav_b=(-0.00,+0.05,-1.00) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 104.2mm grav_b=(-0.01,+0.03,-1.00) r=0.19m +[headless_play] t= 1.30s step= 65 trunk_z= 112.9mm grav_b=(-0.01,-0.03,-1.00) r=0.16m +[headless_play] t= 1.40s step= 70 trunk_z= 114.1mm grav_b=(-0.03,+0.02,-1.00) r=0.16m +[headless_play] t= 1.50s step= 75 trunk_z= 106.2mm grav_b=(-0.01,+0.04,-1.00) r=0.17m +[headless_play] t= 1.60s step= 80 trunk_z= 115.2mm grav_b=(-0.07,+0.08,-0.99) r=0.18m +[headless_play] t= 1.70s step= 85 trunk_z= 116.3mm grav_b=(-0.07,+0.06,-1.00) r=0.17m +[headless_play] t= 1.80s step= 90 trunk_z= 110.0mm grav_b=(-0.05,-0.00,-1.00) r=0.15m +[headless_play] t= 1.90s step= 95 trunk_z= 113.0mm grav_b=(-0.03,-0.00,-1.00) r=0.15m +[headless_play] t= 2.00s step= 100 trunk_z= 107.0mm grav_b=(-0.01,+0.04,-1.00) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 110.0mm grav_b=(-0.01,+0.06,-1.00) r=0.19m +[headless_play] t= 2.20s step= 110 trunk_z= 111.5mm grav_b=(-0.01,+0.04,-1.00) r=0.19m +[headless_play] t= 2.30s step= 115 trunk_z= 103.5mm grav_b=(-0.00,+0.02,-1.00) r=0.18m +[headless_play] t= 2.40s step= 120 trunk_z= 107.4mm grav_b=(+0.07,+0.09,-0.99) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 102.6mm grav_b=(+0.08,+0.13,-0.99) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 117.8mm grav_b=(-0.03,+0.07,-1.00) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 109.7mm grav_b=(-0.00,-0.02,-1.00) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 113.0mm grav_b=(-0.03,-0.04,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 111.8mm grav_b=(-0.04,+0.03,-1.00) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 104.4mm grav_b=(-0.04,+0.07,-1.00) r=0.30m +[headless_play] t= 3.10s step= 155 trunk_z= 110.0mm grav_b=(+0.01,+0.05,-1.00) r=0.31m +[headless_play] t= 3.20s step= 160 trunk_z= 106.7mm grav_b=(-0.02,+0.00,-1.00) r=0.31m +[headless_play] t= 3.30s step= 165 trunk_z= 116.4mm grav_b=(-0.02,-0.08,-1.00) r=0.31m +[headless_play] t= 3.40s step= 170 trunk_z= 119.6mm grav_b=(-0.03,-0.03,-1.00) r=0.32m +[headless_play] t= 3.50s step= 175 trunk_z= 113.7mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(-0.00,+0.08,-1.00) r=0.37m +[headless_play] t= 3.70s step= 185 trunk_z= 119.7mm grav_b=(-0.01,+0.06,-1.00) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 112.0mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 3.90s step= 195 trunk_z= 121.7mm grav_b=(-0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 125.2mm grav_b=(+0.01,-0.16,-0.99) r=0.41m +[headless_play] t= 4.10s step= 205 trunk_z= 119.4mm grav_b=(+0.05,-0.12,-0.99) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(-0.04,-0.06,-1.00) r=0.44m +[headless_play] t= 4.30s step= 215 trunk_z= 125.3mm grav_b=(-0.06,-0.03,-1.00) r=0.47m +[headless_play] t= 4.40s step= 220 trunk_z= 123.0mm grav_b=(-0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 121.5mm grav_b=(-0.14,-0.03,-0.99) r=0.50m +[headless_play] t= 4.60s step= 230 trunk_z= 120.9mm grav_b=(-0.09,+0.02,-1.00) r=0.51m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(-0.09,+0.07,-0.99) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(-0.09,+0.06,-0.99) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 118.1mm grav_b=(-0.07,+0.03,-1.00) r=0.55m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 112.9mm grav_b=(-0.01,+0.04,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 122.0mm grav_b=(-0.07,+0.07,-1.00) r=0.61m +[headless_play] t= 5.40s step= 270 trunk_z= 120.0mm grav_b=(-0.07,+0.02,-1.00) r=0.62m +[headless_play] t= 5.50s step= 275 trunk_z= 117.3mm grav_b=(-0.08,-0.03,-1.00) r=0.64m +[headless_play] t= 5.60s step= 280 trunk_z= 120.1mm grav_b=(-0.05,-0.00,-1.00) r=0.65m +[headless_play] t= 5.70s step= 285 trunk_z= 114.2mm grav_b=(-0.03,+0.03,-1.00) r=0.66m +[headless_play] t= 5.80s step= 290 trunk_z= 119.7mm grav_b=(-0.06,+0.06,-1.00) r=0.68m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(-0.05,-0.01,-1.00) r=0.69m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(-0.04,-0.10,-0.99) r=0.71m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(-0.01,-0.12,-0.99) r=0.72m +[headless_play] t= 6.20s step= 310 trunk_z= 121.7mm grav_b=(-0.00,-0.12,-0.99) r=0.74m +[headless_play] t= 6.30s step= 315 trunk_z= 121.6mm grav_b=(-0.04,-0.03,-1.00) r=0.75m +[headless_play] t= 6.40s step= 320 trunk_z= 125.6mm grav_b=(-0.10,+0.05,-0.99) r=0.77m +[headless_play] t= 6.50s step= 325 trunk_z= 120.2mm grav_b=(-0.12,+0.03,-0.99) r=0.78m +[headless_play] t= 6.60s step= 330 trunk_z= 119.9mm grav_b=(-0.10,+0.01,-1.00) r=0.78m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(-0.08,+0.05,-1.00) r=0.79m +[headless_play] t= 6.80s step= 340 trunk_z= 113.2mm grav_b=(-0.08,+0.09,-0.99) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 119.5mm grav_b=(-0.05,+0.06,-1.00) r=0.83m +[headless_play] t= 7.00s step= 350 trunk_z= 113.3mm grav_b=(-0.03,+0.02,-1.00) r=0.84m +[headless_play] t= 7.10s step= 355 trunk_z= 118.7mm grav_b=(-0.03,-0.03,-1.00) r=0.85m +[headless_play] t= 7.20s step= 360 trunk_z= 119.3mm grav_b=(-0.00,-0.02,-1.00) r=0.86m +[headless_play] t= 7.30s step= 365 trunk_z= 113.3mm grav_b=(-0.01,+0.05,-1.00) r=0.88m +[headless_play] t= 7.40s step= 370 trunk_z= 121.2mm grav_b=(-0.07,+0.06,-1.00) r=0.90m +[headless_play] t= 7.50s step= 375 trunk_z= 114.7mm grav_b=(-0.07,-0.04,-1.00) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 120.8mm grav_b=(-0.03,-0.07,-1.00) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 120.9mm grav_b=(-0.02,-0.07,-1.00) r=0.92m +[headless_play] t= 7.80s step= 390 trunk_z= 115.3mm grav_b=(-0.01,-0.01,-1.00) r=0.93m +[headless_play] t= 7.90s step= 395 trunk_z= 121.6mm grav_b=(-0.07,+0.05,-1.00) r=0.94m +[headless_play] t= 8.00s step= 400 trunk_z= 123.7mm grav_b=(-0.06,+0.05,-1.00) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.05,-0.03,-1.00) r=0.96m +[headless_play] t= 8.20s step= 410 trunk_z= 124.0mm grav_b=(-0.03,-0.05,-1.00) r=0.98m +[headless_play] t= 8.30s step= 415 trunk_z= 123.2mm grav_b=(-0.02,-0.04,-1.00) r=0.99m +[headless_play] t= 8.40s step= 420 trunk_z= 118.2mm grav_b=(-0.01,+0.05,-1.00) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 127.2mm grav_b=(-0.04,+0.06,-1.00) r=1.03m +[headless_play] t= 8.60s step= 430 trunk_z= 122.1mm grav_b=(-0.07,+0.04,-1.00) r=1.04m +[headless_play] t= 8.70s step= 435 trunk_z= 121.9mm grav_b=(-0.10,-0.07,-0.99) r=1.06m +[headless_play] t= 8.80s step= 440 trunk_z= 120.7mm grav_b=(-0.08,+0.00,-1.00) r=1.06m +[headless_play] t= 8.90s step= 445 trunk_z= 120.7mm grav_b=(-0.04,+0.12,-0.99) r=1.07m +[headless_play] t= 9.00s step= 450 trunk_z= 126.2mm grav_b=(-0.03,+0.08,-1.00) r=1.08m +[headless_play] t= 9.10s step= 455 trunk_z= 122.8mm grav_b=(-0.06,+0.03,-1.00) r=1.11m +[headless_play] t= 9.20s step= 460 trunk_z= 123.9mm grav_b=(-0.08,-0.09,-0.99) r=1.14m +[headless_play] t= 9.30s step= 465 trunk_z= 125.5mm grav_b=(-0.06,-0.07,-1.00) r=1.15m +[headless_play] t= 9.40s step= 470 trunk_z= 120.0mm grav_b=(-0.06,-0.03,-1.00) r=1.15m +[headless_play] t= 9.50s step= 475 trunk_z= 122.9mm grav_b=(-0.05,+0.07,-1.00) r=1.15m +[headless_play] t= 9.60s step= 480 trunk_z= 124.9mm grav_b=(-0.05,+0.05,-1.00) r=1.17m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(-0.07,-0.02,-1.00) r=1.20m +[headless_play] t= 9.80s step= 490 trunk_z= 124.2mm grav_b=(-0.06,-0.07,-1.00) r=1.22m +[headless_play] t= 9.90s step= 495 trunk_z= 121.7mm grav_b=(-0.04,-0.04,-1.00) r=1.22m +[headless_play] t= 10.00s step= 500 trunk_z= 115.3mm grav_b=(-0.05,+0.04,-1.00) r=1.22m +[headless_play] t= 10.10s step= 505 trunk_z= 123.8mm grav_b=(-0.09,+0.04,-0.99) r=1.23m +[headless_play] t= 10.20s step= 510 trunk_z= 117.6mm grav_b=(-0.11,-0.01,-0.99) r=1.25m +[headless_play] t= 10.30s step= 515 trunk_z= 122.2mm grav_b=(-0.06,-0.05,-1.00) r=1.27m +[headless_play] t= 10.40s step= 520 trunk_z= 121.2mm grav_b=(-0.05,-0.03,-1.00) r=1.28m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(-0.02,+0.04,-1.00) r=1.27m +[headless_play] t= 10.60s step= 530 trunk_z= 125.1mm grav_b=(-0.05,+0.05,-1.00) r=1.28m +[headless_play] t= 10.70s step= 535 trunk_z= 120.6mm grav_b=(-0.06,+0.04,-1.00) r=1.30m +[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(-0.07,-0.07,-1.00) r=1.32m +[headless_play] t= 10.90s step= 545 trunk_z= 123.5mm grav_b=(-0.07,-0.06,-1.00) r=1.34m +[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(-0.11,+0.02,-0.99) r=1.32m +[headless_play] t= 11.10s step= 555 trunk_z= 122.7mm grav_b=(-0.11,+0.13,-0.99) r=1.30m +[headless_play] t= 11.20s step= 560 trunk_z= 127.2mm grav_b=(-0.11,+0.17,-0.98) r=1.29m +[headless_play] t= 11.30s step= 565 trunk_z= 126.2mm grav_b=(-0.07,+0.14,-0.99) r=1.29m +[headless_play] t= 11.40s step= 570 trunk_z= 116.7mm grav_b=(-0.05,+0.08,-1.00) r=1.29m +[headless_play] t= 11.50s step= 575 trunk_z= 118.5mm grav_b=(-0.04,+0.07,-1.00) r=1.29m +[headless_play] t= 11.60s step= 580 trunk_z= 116.6mm grav_b=(-0.04,+0.09,-1.00) r=1.27m +[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(-0.03,-0.03,-1.00) r=1.29m +[headless_play] t= 11.80s step= 590 trunk_z= 120.6mm grav_b=(-0.01,-0.08,-1.00) r=1.32m +[headless_play] t= 11.90s step= 595 trunk_z= 124.8mm grav_b=(+0.01,-0.10,-0.99) r=1.34m +[headless_play] t= 12.00s step= 600 trunk_z= 123.1mm grav_b=(-0.00,-0.06,-1.00) r=1.34m +[headless_play] t= 12.10s step= 605 trunk_z= 123.5mm grav_b=(-0.02,+0.03,-1.00) r=1.34m +[headless_play] t= 12.20s step= 610 trunk_z= 123.9mm grav_b=(-0.04,+0.04,-1.00) r=1.35m +[headless_play] t= 12.30s step= 615 trunk_z= 119.5mm grav_b=(-0.11,+0.02,-0.99) r=1.36m +[headless_play] t= 12.40s step= 620 trunk_z= 120.4mm grav_b=(-0.11,-0.04,-0.99) r=1.37m +[headless_play] t= 12.50s step= 625 trunk_z= 114.4mm grav_b=(-0.11,+0.01,-0.99) r=1.35m +[headless_play] t= 12.60s step= 630 trunk_z= 120.9mm grav_b=(-0.09,+0.04,-1.00) r=1.34m +[headless_play] t= 12.70s step= 635 trunk_z= 120.1mm grav_b=(-0.06,+0.01,-1.00) r=1.36m +[headless_play] t= 12.80s step= 640 trunk_z= 119.0mm grav_b=(-0.01,-0.07,-1.00) r=1.38m +[headless_play] t= 12.90s step= 645 trunk_z= 121.6mm grav_b=(-0.00,-0.04,-1.00) r=1.39m +[headless_play] t= 13.00s step= 650 trunk_z= 115.8mm grav_b=(-0.07,+0.07,-1.00) r=1.37m +[headless_play] t= 13.10s step= 655 trunk_z= 125.8mm grav_b=(-0.11,+0.10,-0.99) r=1.36m +[headless_play] t= 13.20s step= 660 trunk_z= 126.1mm grav_b=(-0.09,+0.08,-0.99) r=1.36m +[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(-0.08,+0.00,-1.00) r=1.38m +[headless_play] t= 13.40s step= 670 trunk_z= 120.3mm grav_b=(-0.07,-0.01,-1.00) r=1.38m +[headless_play] t= 13.50s step= 675 trunk_z= 114.8mm grav_b=(-0.06,+0.03,-1.00) r=1.36m +[headless_play] t= 13.60s step= 680 trunk_z= 122.9mm grav_b=(-0.03,+0.04,-1.00) r=1.36m +[headless_play] t= 13.70s step= 685 trunk_z= 121.2mm grav_b=(-0.02,-0.01,-1.00) r=1.39m +[headless_play] t= 13.80s step= 690 trunk_z= 125.0mm grav_b=(-0.03,-0.11,-0.99) r=1.43m +[headless_play] t= 13.90s step= 695 trunk_z= 123.6mm grav_b=(-0.05,-0.12,-0.99) r=1.45m +[headless_play] t= 14.00s step= 700 trunk_z= 120.7mm grav_b=(-0.07,-0.12,-0.99) r=1.46m +[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(-0.09,-0.03,-1.00) r=1.45m +[headless_play] t= 14.20s step= 710 trunk_z= 119.5mm grav_b=(-0.14,-0.02,-0.99) r=1.44m +[headless_play] t= 14.30s step= 715 trunk_z= 110.5mm grav_b=(-0.08,-0.09,-0.99) r=1.42m +[headless_play] t= 14.40s step= 720 trunk_z= 114.9mm grav_b=(-0.08,-0.02,-1.00) r=1.42m +[headless_play] t= 14.50s step= 725 trunk_z= 108.9mm grav_b=(-0.01,-0.00,-1.00) r=1.40m +[headless_play] t= 14.60s step= 730 trunk_z= 113.5mm grav_b=(-0.02,+0.04,-1.00) r=1.40m +[headless_play] t= 14.70s step= 735 trunk_z= 114.3mm grav_b=(-0.04,+0.05,-1.00) r=1.40m +[headless_play] t= 14.80s step= 740 trunk_z= 111.5mm grav_b=(-0.03,-0.00,-1.00) r=1.42m +[headless_play] t= 14.90s step= 745 trunk_z= 118.3mm grav_b=(-0.06,-0.08,-1.00) r=1.43m +[headless_play] t= 15.00s step= 750 trunk_z= 119.6mm grav_b=(-0.07,-0.01,-1.00) r=1.44m +[headless_play] t= 15.10s step= 755 trunk_z= 109.9mm grav_b=(-0.06,+0.03,-1.00) r=1.43m +[headless_play] t= 15.20s step= 760 trunk_z= 117.0mm grav_b=(-0.06,+0.05,-1.00) r=1.44m +[headless_play] t= 15.30s step= 765 trunk_z= 114.2mm grav_b=(-0.05,+0.02,-1.00) r=1.46m +[headless_play] t= 15.40s step= 770 trunk_z= 110.3mm grav_b=(-0.05,-0.05,-1.00) r=1.49m +[headless_play] t= 15.50s step= 775 trunk_z= 118.9mm grav_b=(-0.10,+0.00,-1.00) r=1.49m +[headless_play] t= 15.60s step= 780 trunk_z= 112.6mm grav_b=(-0.07,+0.06,-1.00) r=1.48m +[headless_play] t= 15.70s step= 785 trunk_z= 118.0mm grav_b=(-0.08,+0.08,-0.99) r=1.47m +[headless_play] t= 15.80s step= 790 trunk_z= 117.3mm grav_b=(-0.04,+0.07,-1.00) r=1.48m +[headless_play] t= 15.90s step= 795 trunk_z= 112.4mm grav_b=(-0.04,+0.02,-1.00) r=1.50m +[headless_play] t= 16.00s step= 800 trunk_z= 120.7mm grav_b=(-0.05,-0.08,-1.00) r=1.52m +[headless_play] t= 16.10s step= 805 trunk_z= 117.8mm grav_b=(-0.03,-0.00,-1.00) r=1.53m +[headless_play] t= 16.20s step= 810 trunk_z= 112.1mm grav_b=(-0.03,+0.08,-1.00) r=1.51m +[headless_play] t= 16.30s step= 815 trunk_z= 117.9mm grav_b=(-0.03,+0.07,-1.00) r=1.52m +[headless_play] t= 16.40s step= 820 trunk_z= 113.8mm grav_b=(-0.04,+0.03,-1.00) r=1.54m +[headless_play] t= 16.50s step= 825 trunk_z= 117.7mm grav_b=(-0.04,-0.06,-1.00) r=1.57m +[headless_play] t= 16.60s step= 830 trunk_z= 119.5mm grav_b=(-0.03,-0.04,-1.00) r=1.57m +[headless_play] t= 16.70s step= 835 trunk_z= 109.2mm grav_b=(-0.02,+0.01,-1.00) r=1.55m +[headless_play] t= 16.80s step= 840 trunk_z= 118.7mm grav_b=(-0.07,+0.06,-1.00) r=1.54m +[headless_play] t= 16.90s step= 845 trunk_z= 119.2mm grav_b=(-0.08,+0.05,-1.00) r=1.55m +[headless_play] t= 17.00s step= 850 trunk_z= 111.4mm grav_b=(-0.04,-0.04,-1.00) r=1.57m +[headless_play] t= 17.10s step= 855 trunk_z= 120.4mm grav_b=(-0.02,-0.10,-1.00) r=1.60m +[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(-0.02,-0.09,-1.00) r=1.60m +[headless_play] t= 17.30s step= 865 trunk_z= 112.4mm grav_b=(-0.03,-0.02,-1.00) r=1.58m +[headless_play] t= 17.40s step= 870 trunk_z= 120.3mm grav_b=(-0.07,+0.04,-1.00) r=1.58m +[headless_play] t= 17.50s step= 875 trunk_z= 118.0mm grav_b=(-0.08,+0.02,-1.00) r=1.59m +[headless_play] t= 17.60s step= 880 trunk_z= 116.2mm grav_b=(-0.07,-0.06,-1.00) r=1.61m +[headless_play] t= 17.70s step= 885 trunk_z= 120.2mm grav_b=(-0.06,-0.04,-1.00) r=1.62m +[headless_play] t= 17.80s step= 890 trunk_z= 118.1mm grav_b=(-0.06,-0.09,-0.99) r=1.62m +[headless_play] t= 17.90s step= 895 trunk_z= 109.4mm grav_b=(-0.01,+0.02,-1.00) r=1.60m +[headless_play] t= 18.00s step= 900 trunk_z= 118.2mm grav_b=(-0.05,+0.08,-1.00) r=1.59m +[headless_play] t= 18.10s step= 905 trunk_z= 115.9mm grav_b=(-0.05,+0.05,-1.00) r=1.60m +[headless_play] t= 18.20s step= 910 trunk_z= 111.4mm grav_b=(-0.05,-0.04,-1.00) r=1.62m +[headless_play] t= 18.30s step= 915 trunk_z= 120.2mm grav_b=(-0.06,-0.03,-1.00) r=1.62m +[headless_play] t= 18.40s step= 920 trunk_z= 111.7mm grav_b=(-0.04,+0.14,-0.99) r=1.59m +[headless_play] t= 18.50s step= 925 trunk_z= 122.3mm grav_b=(-0.04,+0.17,-0.98) r=1.56m +[headless_play] t= 18.60s step= 930 trunk_z= 123.3mm grav_b=(-0.04,+0.19,-0.98) r=1.55m +[headless_play] t= 18.70s step= 935 trunk_z= 127.9mm grav_b=(-0.06,+0.18,-0.98) r=1.53m +[headless_play] t= 18.80s step= 940 trunk_z= 125.6mm grav_b=(-0.06,+0.04,-1.00) r=1.50m +[headless_play] t= 18.90s step= 945 trunk_z= 125.2mm grav_b=(-0.01,+0.03,-1.00) r=1.49m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(-0.03,+0.04,-1.00) r=1.47m +[headless_play] t= 19.10s step= 955 trunk_z= 119.7mm grav_b=(-0.03,+0.03,-1.00) r=1.46m +[headless_play] t= 19.20s step= 960 trunk_z= 115.3mm grav_b=(-0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.30s step= 965 trunk_z= 123.2mm grav_b=(-0.03,-0.15,-0.99) r=1.44m +[headless_play] t= 19.40s step= 970 trunk_z= 127.1mm grav_b=(-0.03,-0.21,-0.98) r=1.44m +[headless_play] t= 19.50s step= 975 trunk_z= 125.7mm grav_b=(+0.03,-0.29,-0.96) r=1.44m +[headless_play] t= 19.60s step= 980 trunk_z= 117.8mm grav_b=(-0.02,-0.22,-0.98) r=1.43m +[headless_play] t= 19.70s step= 985 trunk_z= 117.2mm grav_b=(-0.02,-0.11,-0.99) r=1.39m +[headless_play] t= 19.80s step= 990 trunk_z= 136.7mm grav_b=(-0.02,-0.01,-1.00) r=1.37m +[headless_play] t= 19.90s step= 995 trunk_z= 118.8mm grav_b=(-0.05,-0.02,-1.00) r=1.36m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.1mm grav_b=(-0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(-0.03,+0.03,-1.00) r=0.23m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t13.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..2e4a8c9776e6d317ff7b083584345def03f0cf62 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(+1.941,-17.806,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(+0.00,-0.05,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(+0.02,-0.04,-1.00) r=0.21m +[headless_play] t= 0.30s step= 15 trunk_z= 111.1mm grav_b=(-0.00,+0.05,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 109.8mm grav_b=(-0.02,+0.10,-1.00) r=0.18m +[headless_play] t= 0.50s step= 25 trunk_z= 113.5mm grav_b=(-0.03,+0.05,-1.00) r=0.19m +[headless_play] t= 0.60s step= 30 trunk_z= 105.0mm grav_b=(-0.01,+0.03,-1.00) r=0.22m +[headless_play] t= 0.70s step= 35 trunk_z= 109.1mm grav_b=(+0.04,-0.02,-1.00) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 108.7mm grav_b=(+0.02,+0.00,-1.00) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 100.9mm grav_b=(+0.01,+0.05,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 110.7mm grav_b=(+0.03,+0.11,-0.99) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 108.3mm grav_b=(+0.02,+0.09,-1.00) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 102.4mm grav_b=(+0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 113.5mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 112.8mm grav_b=(-0.05,+0.01,-1.00) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 104.9mm grav_b=(+0.04,-0.00,-1.00) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 107.1mm grav_b=(+0.18,+0.01,-0.98) r=0.34m +[headless_play] t= 1.70s step= 85 trunk_z= 101.1mm grav_b=(+0.16,-0.08,-0.98) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 116.4mm grav_b=(+0.17,-0.08,-0.98) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 117.3mm grav_b=(+0.06,+0.03,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 128.7mm grav_b=(-0.02,+0.07,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 123.9mm grav_b=(-0.04,+0.04,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 118.6mm grav_b=(-0.07,-0.04,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 119.9mm grav_b=(-0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 113.6mm grav_b=(-0.05,+0.05,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 120.1mm grav_b=(-0.14,+0.07,-0.99) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 122.7mm grav_b=(-0.06,+0.05,-1.00) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 113.0mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 120.6mm grav_b=(+0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 113.5mm grav_b=(+0.02,-0.00,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(+0.00,+0.06,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 109.0mm grav_b=(+0.01,+0.04,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 108.5mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(-0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 3.40s step= 170 trunk_z= 115.8mm grav_b=(-0.04,-0.09,-0.99) r=0.43m +[headless_play] t= 3.50s step= 175 trunk_z= 109.7mm grav_b=(+0.02,-0.05,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 108.9mm grav_b=(+0.06,+0.08,-1.00) r=0.44m +[headless_play] t= 3.70s step= 185 trunk_z= 118.9mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 3.90s step= 195 trunk_z= 120.1mm grav_b=(+0.01,-0.09,-1.00) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 122.5mm grav_b=(+0.01,-0.11,-0.99) r=0.47m +[headless_play] t= 4.10s step= 205 trunk_z= 118.4mm grav_b=(+0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 122.4mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 128.9mm grav_b=(+0.03,+0.04,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 117.9mm grav_b=(+0.01,-0.03,-1.00) r=0.61m +[headless_play] t= 4.50s step= 225 trunk_z= 120.3mm grav_b=(-0.09,+0.02,-1.00) r=0.63m +[headless_play] t= 4.60s step= 230 trunk_z= 116.3mm grav_b=(-0.10,+0.05,-0.99) r=0.65m +[headless_play] t= 4.70s step= 235 trunk_z= 118.2mm grav_b=(-0.09,-0.00,-1.00) r=0.65m +[headless_play] t= 4.80s step= 240 trunk_z= 112.3mm grav_b=(-0.06,-0.08,-1.00) r=0.66m +[headless_play] t= 4.90s step= 245 trunk_z= 121.2mm grav_b=(-0.03,-0.09,-1.00) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 120.5mm grav_b=(-0.01,-0.08,-1.00) r=0.68m +[headless_play] t= 5.10s step= 255 trunk_z= 115.2mm grav_b=(-0.00,-0.01,-1.00) r=0.71m +[headless_play] t= 5.20s step= 260 trunk_z= 120.3mm grav_b=(-0.08,-0.02,-1.00) r=0.72m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(-0.11,-0.09,-0.99) r=0.71m +[headless_play] t= 5.40s step= 270 trunk_z= 120.0mm grav_b=(-0.06,-0.09,-0.99) r=0.70m +[headless_play] t= 5.50s step= 275 trunk_z= 119.5mm grav_b=(-0.05,-0.06,-1.00) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 115.1mm grav_b=(-0.07,-0.00,-1.00) r=0.70m +[headless_play] t= 5.70s step= 285 trunk_z= 116.6mm grav_b=(-0.05,-0.02,-1.00) r=0.71m +[headless_play] t= 5.80s step= 290 trunk_z= 112.7mm grav_b=(+0.00,-0.08,-1.00) r=0.72m +[headless_play] t= 5.90s step= 295 trunk_z= 121.6mm grav_b=(+0.03,-0.07,-1.00) r=0.74m +[headless_play] t= 6.00s step= 300 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=0.76m +[headless_play] t= 6.10s step= 305 trunk_z= 120.0mm grav_b=(-0.06,+0.03,-1.00) r=0.78m +[headless_play] t= 6.20s step= 310 trunk_z= 118.0mm grav_b=(-0.10,-0.03,-0.99) r=0.80m +[headless_play] t= 6.30s step= 315 trunk_z= 116.3mm grav_b=(-0.04,-0.07,-1.00) r=0.82m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(-0.01,-0.05,-1.00) r=0.84m +[headless_play] t= 6.50s step= 325 trunk_z= 111.8mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 6.60s step= 330 trunk_z= 112.6mm grav_b=(-0.04,+0.02,-1.00) r=0.87m +[headless_play] t= 6.70s step= 335 trunk_z= 112.6mm grav_b=(-0.08,-0.07,-0.99) r=0.87m +[headless_play] t= 6.80s step= 340 trunk_z= 111.3mm grav_b=(-0.06,-0.12,-0.99) r=0.87m +[headless_play] t= 6.90s step= 345 trunk_z= 114.3mm grav_b=(-0.03,-0.16,-0.99) r=0.87m +[headless_play] t= 7.00s step= 350 trunk_z= 113.7mm grav_b=(-0.00,-0.15,-0.99) r=0.88m +[headless_play] t= 7.10s step= 355 trunk_z= 111.6mm grav_b=(+0.00,-0.12,-0.99) r=0.89m +[headless_play] t= 7.20s step= 360 trunk_z= 113.0mm grav_b=(+0.01,+0.01,-1.00) r=0.91m +[headless_play] t= 7.30s step= 365 trunk_z= 112.8mm grav_b=(-0.02,-0.05,-1.00) r=0.92m +[headless_play] t= 7.40s step= 370 trunk_z= 113.1mm grav_b=(-0.05,-0.21,-0.98) r=0.92m +[headless_play] t= 7.50s step= 375 trunk_z= 119.1mm grav_b=(-0.02,-0.28,-0.96) r=0.92m +[headless_play] t= 7.60s step= 380 trunk_z= 119.0mm grav_b=(+0.15,-0.46,-0.88) r=0.93m +[headless_play] t= 7.70s step= 385 trunk_z= 109.2mm grav_b=(+0.39,-0.21,-0.89) r=0.92m +[headless_play] t= 7.80s step= 390 trunk_z= 91.5mm grav_b=(+0.39,+0.11,-0.91) r=0.94m +[headless_play] t= 7.90s step= 395 trunk_z= 134.3mm grav_b=(+0.66,+0.06,-0.75) r=0.96m +[headless_play] t= 8.00s step= 400 trunk_z= 129.2mm grav_b=(+0.66,+0.18,-0.73) r=0.99m +[headless_play] t= 8.10s step= 405 trunk_z= 49.9mm grav_b=(+0.36,+0.65,-0.67) r=1.02m +[headless_play] RESET at t= 8.14s step= 407 (env termination, not a recovery) +[headless_play] t= 8.20s step= 410 trunk_z= 113.2mm grav_b=(-0.03,+0.00,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 116.1mm grav_b=(-0.12,-0.07,-0.99) r=0.52m +[headless_play] t= 8.40s step= 420 trunk_z= 119.4mm grav_b=(-0.05,-0.05,-1.00) r=0.54m +[headless_play] t= 8.50s step= 425 trunk_z= 108.4mm grav_b=(-0.02,+0.04,-1.00) r=0.55m +[headless_play] t= 8.60s step= 430 trunk_z= 114.1mm grav_b=(+0.02,+0.04,-1.00) r=0.56m +[headless_play] t= 8.70s step= 435 trunk_z= 112.3mm grav_b=(+0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 8.80s step= 440 trunk_z= 120.5mm grav_b=(+0.06,-0.03,-1.00) r=0.56m +[headless_play] t= 8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.07,+0.06,-1.00) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 128.9mm grav_b=(+0.07,+0.11,-0.99) r=0.48m +[headless_play] t= 9.10s step= 455 trunk_z= 129.9mm grav_b=(+0.03,+0.08,-1.00) r=0.44m +[headless_play] t= 9.20s step= 460 trunk_z= 111.8mm grav_b=(-0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 120.4mm grav_b=(-0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 9.40s step= 470 trunk_z= 119.1mm grav_b=(-0.06,-0.02,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 117.5mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 9.60s step= 480 trunk_z= 118.5mm grav_b=(+0.09,-0.06,-0.99) r=0.35m +[headless_play] t= 9.70s step= 485 trunk_z= 120.1mm grav_b=(+0.12,-0.02,-0.99) r=0.32m +[headless_play] t= 9.80s step= 490 trunk_z= 114.9mm grav_b=(+0.04,+0.08,-1.00) r=0.28m +[headless_play] t= 9.90s step= 495 trunk_z= 130.4mm grav_b=(-0.02,+0.11,-0.99) r=0.26m +[headless_play] t= 10.00s step= 500 trunk_z= 126.1mm grav_b=(-0.03,+0.08,-1.00) r=0.25m +[headless_play] t= 10.10s step= 505 trunk_z= 117.9mm grav_b=(-0.07,-0.05,-1.00) r=0.26m +[headless_play] t= 10.20s step= 510 trunk_z= 124.0mm grav_b=(-0.05,-0.08,-1.00) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 119.2mm grav_b=(-0.03,-0.03,-1.00) r=0.23m +[headless_play] t= 10.40s step= 520 trunk_z= 121.4mm grav_b=(+0.01,+0.08,-1.00) r=0.20m +[headless_play] t= 10.50s step= 525 trunk_z= 128.6mm grav_b=(+0.06,+0.13,-0.99) r=0.18m +[headless_play] t= 10.60s step= 530 trunk_z= 129.2mm grav_b=(+0.03,+0.04,-1.00) r=0.17m +[headless_play] t= 10.70s step= 535 trunk_z= 124.3mm grav_b=(-0.02,-0.08,-1.00) r=0.17m +[headless_play] t= 10.80s step= 540 trunk_z= 124.1mm grav_b=(-0.04,-0.07,-1.00) r=0.17m +[headless_play] t= 10.90s step= 545 trunk_z= 117.0mm grav_b=(-0.05,-0.01,-1.00) r=0.15m +[headless_play] t= 11.00s step= 550 trunk_z= 123.3mm grav_b=(-0.02,+0.06,-1.00) r=0.15m +[headless_play] t= 11.10s step= 555 trunk_z= 122.1mm grav_b=(-0.02,+0.03,-1.00) r=0.16m +[headless_play] t= 11.20s step= 560 trunk_z= 119.4mm grav_b=(-0.02,-0.06,-1.00) r=0.19m +[headless_play] t= 11.30s step= 565 trunk_z= 123.4mm grav_b=(-0.07,-0.05,-1.00) r=0.20m +[headless_play] t= 11.40s step= 570 trunk_z= 118.3mm grav_b=(-0.08,-0.01,-1.00) r=0.19m +[headless_play] t= 11.50s step= 575 trunk_z= 119.5mm grav_b=(-0.06,+0.07,-1.00) r=0.19m +[headless_play] t= 11.60s step= 580 trunk_z= 123.7mm grav_b=(-0.02,+0.07,-1.00) r=0.20m +[headless_play] t= 11.70s step= 585 trunk_z= 120.0mm grav_b=(+0.01,+0.04,-1.00) r=0.23m +[headless_play] t= 11.80s step= 590 trunk_z= 121.4mm grav_b=(+0.03,-0.05,-1.00) r=0.26m +[headless_play] t= 11.90s step= 595 trunk_z= 122.6mm grav_b=(+0.03,-0.02,-1.00) r=0.28m +[headless_play] t= 12.00s step= 600 trunk_z= 117.4mm grav_b=(-0.02,+0.03,-1.00) r=0.29m +[headless_play] t= 12.10s step= 605 trunk_z= 125.0mm grav_b=(-0.02,+0.10,-0.99) r=0.30m +[headless_play] t= 12.20s step= 610 trunk_z= 123.9mm grav_b=(-0.04,+0.10,-0.99) r=0.31m +[headless_play] t= 12.30s step= 615 trunk_z= 117.4mm grav_b=(-0.10,+0.05,-0.99) r=0.32m +[headless_play] t= 12.40s step= 620 trunk_z= 120.5mm grav_b=(-0.05,-0.03,-1.00) r=0.32m +[headless_play] t= 12.50s step= 625 trunk_z= 120.3mm grav_b=(-0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 12.60s step= 630 trunk_z= 114.7mm grav_b=(-0.03,+0.06,-1.00) r=0.33m +[headless_play] t= 12.70s step= 635 trunk_z= 122.6mm grav_b=(+0.02,+0.05,-1.00) r=0.34m +[headless_play] t= 12.80s step= 640 trunk_z= 120.8mm grav_b=(+0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 120.0mm grav_b=(+0.00,-0.03,-1.00) r=0.38m +[headless_play] t= 13.00s step= 650 trunk_z= 118.9mm grav_b=(+0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 120.0mm grav_b=(+0.02,+0.11,-0.99) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 122.6mm grav_b=(-0.00,+0.13,-0.99) r=0.43m +[headless_play] t= 13.30s step= 665 trunk_z= 121.0mm grav_b=(+0.02,+0.11,-0.99) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 119.6mm grav_b=(-0.01,-0.04,-1.00) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 123.7mm grav_b=(+0.01,-0.07,-1.00) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 115.5mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(+0.09,+0.08,-0.99) r=0.53m +[headless_play] t= 13.80s step= 690 trunk_z= 114.0mm grav_b=(+0.06,+0.03,-1.00) r=0.54m +[headless_play] t= 13.90s step= 695 trunk_z= 113.7mm grav_b=(+0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 14.00s step= 700 trunk_z= 113.8mm grav_b=(+0.05,+0.02,-1.00) r=0.54m +[headless_play] t= 14.10s step= 705 trunk_z= 113.7mm grav_b=(+0.08,+0.02,-1.00) r=0.54m +[headless_play] t= 14.20s step= 710 trunk_z= 114.0mm grav_b=(+0.09,+0.02,-1.00) r=0.54m +[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(+0.07,+0.02,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(+0.07,+0.04,-1.00) r=0.54m +[headless_play] t= 14.50s step= 725 trunk_z= 115.1mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 115.2mm grav_b=(+0.03,+0.03,-1.00) r=0.53m +[headless_play] t= 14.70s step= 735 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 14.80s step= 740 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 14.90s step= 745 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 15.00s step= 750 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 15.10s step= 755 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 15.20s step= 760 trunk_z= 115.3mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 15.30s step= 765 trunk_z= 116.0mm grav_b=(+0.08,+0.04,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.09,+0.03,-1.00) r=0.54m +[headless_play] t= 15.50s step= 775 trunk_z= 116.3mm grav_b=(+0.08,+0.03,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.70s step= 785 trunk_z= 115.4mm grav_b=(+0.03,+0.03,-1.00) r=0.53m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(+0.02,+0.03,-1.00) r=0.53m +[headless_play] t= 16.00s step= 800 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 16.10s step= 805 trunk_z= 116.2mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 116.2mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 16.30s step= 815 trunk_z= 116.5mm grav_b=(+0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 16.40s step= 820 trunk_z= 116.3mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(+0.03,+0.04,-1.00) r=0.53m +[headless_play] t= 16.60s step= 830 trunk_z= 117.2mm grav_b=(+0.03,+0.04,-1.00) r=0.53m +[headless_play] t= 16.70s step= 835 trunk_z= 117.2mm grav_b=(+0.03,+0.03,-1.00) r=0.53m +[headless_play] t= 16.80s step= 840 trunk_z= 117.2mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(+0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 17.10s step= 855 trunk_z= 117.2mm grav_b=(-0.04,+0.03,-1.00) r=0.52m +[headless_play] t= 17.20s step= 860 trunk_z= 117.3mm grav_b=(-0.06,+0.01,-1.00) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 115.8mm grav_b=(-0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 17.40s step= 870 trunk_z= 113.9mm grav_b=(-0.04,+0.04,-1.00) r=0.50m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(-0.02,+0.07,-1.00) r=0.49m +[headless_play] t= 17.60s step= 880 trunk_z= 113.8mm grav_b=(-0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 17.70s step= 885 trunk_z= 113.6mm grav_b=(+0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.80s step= 890 trunk_z= 114.8mm grav_b=(+0.08,+0.04,-1.00) r=0.50m +[headless_play] t= 17.90s step= 895 trunk_z= 119.8mm grav_b=(+0.09,+0.03,-1.00) r=0.51m +[headless_play] t= 18.00s step= 900 trunk_z= 119.9mm grav_b=(+0.03,-0.05,-1.00) r=0.53m +[headless_play] t= 18.10s step= 905 trunk_z= 119.3mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 18.20s step= 910 trunk_z= 115.9mm grav_b=(-0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 18.30s step= 915 trunk_z= 115.8mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 18.40s step= 920 trunk_z= 115.7mm grav_b=(-0.05,+0.00,-1.00) r=0.54m +[headless_play] t= 18.50s step= 925 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 18.70s step= 935 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 18.90s step= 945 trunk_z= 116.9mm grav_b=(+0.08,+0.01,-1.00) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 116.6mm grav_b=(+0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 19.20s step= 960 trunk_z= 115.0mm grav_b=(-0.00,-0.02,-1.00) r=0.56m +[headless_play] t= 19.30s step= 965 trunk_z= 114.7mm grav_b=(+0.04,-0.03,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 111.4mm grav_b=(+0.05,+0.06,-1.00) r=0.58m +[headless_play] t= 19.50s step= 975 trunk_z= 120.0mm grav_b=(+0.08,+0.10,-0.99) r=0.60m +[headless_play] t= 19.60s step= 980 trunk_z= 119.0mm grav_b=(+0.10,+0.04,-0.99) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(+0.06,+0.05,-1.00) r=0.70m +[headless_play] t= 19.80s step= 990 trunk_z= 125.0mm grav_b=(+0.03,+0.09,-1.00) r=0.74m +[headless_play] t= 19.90s step= 995 trunk_z= 103.5mm grav_b=(-0.05,+0.13,-0.99) r=0.79m +[headless_play] t= 20.00s step=1000 trunk_z= 116.9mm grav_b=(-0.05,+0.13,-0.99) r=0.80m +[headless_play] t= 20.10s step=1005 trunk_z= 118.4mm grav_b=(-0.10,+0.05,-0.99) r=0.83m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t14.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..364c90230c2517aca3888c1bb4d6547ea1f8a7e6 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.2mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.564,-17.833,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.6mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 118.5mm grav_b=(-0.06,+0.00,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 114.8mm grav_b=(-0.08,-0.04,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 121.1mm grav_b=(-0.06,-0.03,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.08,+0.03,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 122.2mm grav_b=(-0.05,+0.05,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 119.8mm grav_b=(-0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 119.4mm grav_b=(-0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 122.5mm grav_b=(-0.05,-0.01,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(-0.05,+0.03,-1.00) r=0.36m +[headless_play] t= 1.10s step= 55 trunk_z= 125.4mm grav_b=(-0.07,+0.07,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 127.0mm grav_b=(-0.10,+0.12,-0.99) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 126.4mm grav_b=(-0.14,+0.11,-0.98) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 117.8mm grav_b=(-0.07,+0.03,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 122.0mm grav_b=(-0.00,-0.03,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 119.4mm grav_b=(-0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 122.5mm grav_b=(-0.06,+0.08,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 126.3mm grav_b=(-0.07,+0.06,-1.00) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 119.6mm grav_b=(-0.07,+0.05,-1.00) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 124.0mm grav_b=(+0.04,-0.02,-1.00) r=0.25m +[headless_play] t= 2.10s step= 105 trunk_z= 124.1mm grav_b=(+0.02,+0.02,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.08,+0.05,-1.00) r=0.19m +[headless_play] t= 2.30s step= 115 trunk_z= 119.9mm grav_b=(-0.10,+0.01,-1.00) r=0.19m +[headless_play] t= 2.40s step= 120 trunk_z= 117.6mm grav_b=(-0.11,-0.04,-0.99) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 120.6mm grav_b=(-0.04,+0.04,-1.00) r=0.18m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(-0.05,+0.10,-0.99) r=0.16m +[headless_play] t= 2.70s step= 135 trunk_z= 126.9mm grav_b=(-0.05,+0.08,-1.00) r=0.15m +[headless_play] t= 2.80s step= 140 trunk_z= 122.6mm grav_b=(-0.06,+0.05,-1.00) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 118.3mm grav_b=(-0.10,-0.04,-0.99) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 124.1mm grav_b=(-0.08,-0.04,-1.00) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 119.5mm grav_b=(-0.08,-0.01,-1.00) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 119.8mm grav_b=(-0.09,+0.01,-1.00) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 119.6mm grav_b=(-0.09,-0.02,-1.00) r=0.20m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(-0.06,-0.05,-1.00) r=0.23m +[headless_play] t= 3.50s step= 175 trunk_z= 122.7mm grav_b=(-0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 3.60s step= 180 trunk_z= 116.7mm grav_b=(-0.03,+0.03,-1.00) r=0.23m +[headless_play] t= 3.70s step= 185 trunk_z= 125.3mm grav_b=(-0.05,+0.06,-1.00) r=0.22m +[headless_play] t= 3.80s step= 190 trunk_z= 126.4mm grav_b=(-0.06,+0.08,-0.99) r=0.23m +[headless_play] t= 3.90s step= 195 trunk_z= 124.4mm grav_b=(-0.08,+0.07,-0.99) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 122.2mm grav_b=(-0.02,+0.02,-1.00) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 116.6mm grav_b=(-0.03,+0.06,-1.00) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 111.5mm grav_b=(-0.04,-0.06,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 121.3mm grav_b=(-0.09,-0.06,-0.99) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 118.8mm grav_b=(-0.11,-0.04,-0.99) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 109.9mm grav_b=(-0.09,-0.04,-0.99) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 114.3mm grav_b=(-0.05,-0.06,-1.00) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 107.7mm grav_b=(-0.02,-0.07,-1.00) r=0.32m +[headless_play] t= 4.90s step= 245 trunk_z= 110.3mm grav_b=(+0.01,-0.08,-1.00) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 109.6mm grav_b=(+0.00,-0.01,-1.00) r=0.35m +[headless_play] t= 5.10s step= 255 trunk_z= 119.5mm grav_b=(-0.05,+0.02,-1.00) r=0.37m +[headless_play] t= 5.20s step= 260 trunk_z= 113.3mm grav_b=(-0.05,-0.05,-1.00) r=0.39m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(-0.07,-0.05,-1.00) r=0.42m +[headless_play] t= 5.40s step= 270 trunk_z= 118.2mm grav_b=(-0.07,-0.02,-1.00) r=0.42m +[headless_play] t= 5.50s step= 275 trunk_z= 108.4mm grav_b=(-0.08,+0.00,-1.00) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 116.2mm grav_b=(-0.08,+0.03,-1.00) r=0.41m +[headless_play] t= 5.70s step= 285 trunk_z= 114.3mm grav_b=(-0.08,-0.04,-1.00) r=0.43m +[headless_play] t= 5.80s step= 290 trunk_z= 112.0mm grav_b=(-0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 110.3mm grav_b=(+0.07,+0.01,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 112.3mm grav_b=(+0.01,+0.12,-0.99) r=0.49m +[headless_play] t= 6.10s step= 305 trunk_z= 121.5mm grav_b=(-0.06,+0.04,-1.00) r=0.51m +[headless_play] t= 6.20s step= 310 trunk_z= 112.5mm grav_b=(-0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 121.1mm grav_b=(-0.10,-0.05,-0.99) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 119.5mm grav_b=(-0.10,-0.02,-0.99) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 107.0mm grav_b=(-0.07,-0.00,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 112.2mm grav_b=(-0.06,-0.02,-1.00) r=0.53m +[headless_play] t= 6.70s step= 335 trunk_z= 105.2mm grav_b=(+0.01,-0.09,-1.00) r=0.56m +[headless_play] t= 6.80s step= 340 trunk_z= 112.6mm grav_b=(+0.10,-0.11,-0.99) r=0.59m +[headless_play] t= 6.90s step= 345 trunk_z= 117.4mm grav_b=(+0.00,-0.04,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 128.3mm grav_b=(-0.05,-0.03,-1.00) r=0.63m +[headless_play] t= 7.10s step= 355 trunk_z= 116.2mm grav_b=(-0.03,-0.02,-1.00) r=0.67m +[headless_play] t= 7.20s step= 360 trunk_z= 117.5mm grav_b=(-0.09,+0.02,-1.00) r=0.70m +[headless_play] t= 7.30s step= 365 trunk_z= 113.2mm grav_b=(-0.06,+0.03,-1.00) r=0.69m +[headless_play] t= 7.40s step= 370 trunk_z= 112.2mm grav_b=(-0.04,+0.15,-0.99) r=0.67m +[headless_play] t= 7.50s step= 375 trunk_z= 118.6mm grav_b=(-0.04,+0.16,-0.99) r=0.66m +[headless_play] t= 7.60s step= 380 trunk_z= 117.9mm grav_b=(-0.06,+0.17,-0.98) r=0.66m +[headless_play] t= 7.70s step= 385 trunk_z= 117.0mm grav_b=(-0.03,+0.14,-0.99) r=0.67m +[headless_play] t= 7.80s step= 390 trunk_z= 119.2mm grav_b=(-0.02,+0.02,-1.00) r=0.69m +[headless_play] t= 7.90s step= 395 trunk_z= 122.6mm grav_b=(-0.00,-0.05,-1.00) r=0.70m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.70m +[headless_play] t= 8.10s step= 405 trunk_z= 110.3mm grav_b=(-0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 8.20s step= 410 trunk_z= 111.4mm grav_b=(-0.00,+0.00,-1.00) r=0.69m +[headless_play] t= 8.30s step= 415 trunk_z= 102.6mm grav_b=(-0.01,-0.01,-1.00) r=0.71m +[headless_play] t= 8.40s step= 420 trunk_z= 112.5mm grav_b=(-0.01,-0.02,-1.00) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 113.4mm grav_b=(-0.06,+0.01,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 104.7mm grav_b=(-0.06,+0.05,-1.00) r=0.72m +[headless_play] t= 8.70s step= 435 trunk_z= 114.7mm grav_b=(-0.07,+0.04,-1.00) r=0.72m +[headless_play] t= 8.80s step= 440 trunk_z= 113.6mm grav_b=(-0.06,+0.04,-1.00) r=0.73m +[headless_play] t= 8.90s step= 445 trunk_z= 108.5mm grav_b=(-0.03,-0.04,-1.00) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(-0.03,-0.04,-1.00) r=0.76m +[headless_play] t= 9.10s step= 455 trunk_z= 111.7mm grav_b=(-0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 121.9mm grav_b=(-0.10,+0.11,-0.99) r=0.70m +[headless_play] t= 9.30s step= 465 trunk_z= 127.7mm grav_b=(-0.10,+0.14,-0.99) r=0.68m +[headless_play] t= 9.40s step= 470 trunk_z= 126.8mm grav_b=(-0.11,+0.18,-0.98) r=0.66m +[headless_play] t= 9.50s step= 475 trunk_z= 122.5mm grav_b=(-0.15,+0.22,-0.96) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 106.4mm grav_b=(-0.08,+0.09,-0.99) r=0.56m +[headless_play] t= 9.70s step= 485 trunk_z= 87.9mm grav_b=(-0.03,+0.07,-1.00) r=0.53m +[headless_play] t= 9.80s step= 490 trunk_z= 107.8mm grav_b=(+0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 9.90s step= 495 trunk_z= 112.2mm grav_b=(+0.05,-0.06,-1.00) r=0.56m +[headless_play] t= 10.00s step= 500 trunk_z= 126.9mm grav_b=(+0.03,-0.11,-0.99) r=0.59m +[headless_play] t= 10.10s step= 505 trunk_z= 125.4mm grav_b=(+0.01,-0.10,-0.99) r=0.61m +[headless_play] t= 10.20s step= 510 trunk_z= 119.4mm grav_b=(-0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 10.30s step= 515 trunk_z= 122.4mm grav_b=(-0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 10.40s step= 520 trunk_z= 115.3mm grav_b=(-0.07,-0.03,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 121.2mm grav_b=(-0.13,-0.00,-0.99) r=0.67m +[headless_play] t= 10.60s step= 530 trunk_z= 108.3mm grav_b=(-0.14,+0.02,-0.99) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(-0.13,-0.01,-0.99) r=0.61m +[headless_play] t= 10.80s step= 540 trunk_z= 106.8mm grav_b=(-0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 10.90s step= 545 trunk_z= 108.8mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 11.00s step= 550 trunk_z= 109.2mm grav_b=(-0.04,+0.03,-1.00) r=0.58m +[headless_play] t= 11.10s step= 555 trunk_z= 115.3mm grav_b=(-0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 11.30s step= 565 trunk_z= 108.1mm grav_b=(+0.01,-0.04,-1.00) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 119.2mm grav_b=(+0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 116.0mm grav_b=(-0.09,-0.01,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 116.9mm grav_b=(-0.07,+0.03,-1.00) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 120.4mm grav_b=(-0.08,+0.04,-1.00) r=0.62m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(-0.08,+0.01,-1.00) r=0.63m +[headless_play] t= 11.90s step= 595 trunk_z= 117.6mm grav_b=(-0.02,-0.07,-1.00) r=0.65m +[headless_play] t= 12.00s step= 600 trunk_z= 120.5mm grav_b=(-0.02,-0.06,-1.00) r=0.66m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(+0.00,-0.09,-1.00) r=0.68m +[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 120.9mm grav_b=(-0.02,-0.03,-1.00) r=0.72m +[headless_play] t= 12.40s step= 620 trunk_z= 112.8mm grav_b=(-0.03,-0.05,-1.00) r=0.75m +[headless_play] t= 12.50s step= 625 trunk_z= 120.1mm grav_b=(-0.06,-0.02,-1.00) r=0.77m +[headless_play] t= 12.60s step= 630 trunk_z= 113.3mm grav_b=(-0.07,+0.03,-1.00) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 118.3mm grav_b=(-0.12,+0.03,-0.99) r=0.75m +[headless_play] t= 12.80s step= 640 trunk_z= 121.5mm grav_b=(-0.09,+0.02,-1.00) r=0.73m +[headless_play] t= 12.90s step= 645 trunk_z= 101.9mm grav_b=(+0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 13.00s step= 650 trunk_z= 103.4mm grav_b=(+0.13,+0.01,-0.99) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 106.2mm grav_b=(+0.08,+0.05,-1.00) r=0.72m +[headless_play] t= 13.20s step= 660 trunk_z= 114.2mm grav_b=(-0.04,-0.01,-1.00) r=0.73m +[headless_play] t= 13.30s step= 665 trunk_z= 105.5mm grav_b=(-0.03,-0.04,-1.00) r=0.76m +[headless_play] t= 13.40s step= 670 trunk_z= 111.8mm grav_b=(-0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 13.50s step= 675 trunk_z= 106.9mm grav_b=(-0.05,+0.05,-1.00) r=0.77m +[headless_play] t= 13.60s step= 680 trunk_z= 108.8mm grav_b=(-0.08,+0.01,-1.00) r=0.77m +[headless_play] t= 13.70s step= 685 trunk_z= 108.6mm grav_b=(+0.00,-0.01,-1.00) r=0.77m +[headless_play] t= 13.80s step= 690 trunk_z= 111.3mm grav_b=(+0.03,-0.06,-1.00) r=0.77m +[headless_play] t= 13.90s step= 695 trunk_z= 107.5mm grav_b=(+0.04,-0.03,-1.00) r=0.77m +[headless_play] t= 14.00s step= 700 trunk_z= 112.1mm grav_b=(+0.02,+0.03,-1.00) r=0.76m +[headless_play] t= 14.10s step= 705 trunk_z= 111.8mm grav_b=(+0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 14.20s step= 710 trunk_z= 113.2mm grav_b=(+0.02,-0.00,-1.00) r=0.76m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(-0.04,+0.02,-1.00) r=0.75m +[headless_play] t= 14.40s step= 720 trunk_z= 116.1mm grav_b=(-0.10,-0.01,-0.99) r=0.74m +[headless_play] t= 14.50s step= 725 trunk_z= 117.4mm grav_b=(-0.07,+0.00,-1.00) r=0.72m +[headless_play] t= 14.60s step= 730 trunk_z= 97.3mm grav_b=(-0.05,+0.05,-1.00) r=0.68m +[headless_play] t= 14.70s step= 735 trunk_z= 107.0mm grav_b=(-0.00,+0.04,-1.00) r=0.68m +[headless_play] t= 14.80s step= 740 trunk_z= 104.1mm grav_b=(+0.03,-0.02,-1.00) r=0.68m +[headless_play] t= 14.90s step= 745 trunk_z= 106.9mm grav_b=(+0.03,+0.05,-1.00) r=0.68m +[headless_play] t= 15.00s step= 750 trunk_z= 110.1mm grav_b=(+0.02,+0.02,-1.00) r=0.67m +[headless_play] t= 15.10s step= 755 trunk_z= 111.4mm grav_b=(+0.03,-0.01,-1.00) r=0.68m +[headless_play] t= 15.20s step= 760 trunk_z= 113.2mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 15.30s step= 765 trunk_z= 114.1mm grav_b=(+0.04,+0.02,-1.00) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 114.4mm grav_b=(+0.03,+0.02,-1.00) r=0.67m +[headless_play] t= 15.50s step= 775 trunk_z= 114.6mm grav_b=(+0.03,+0.02,-1.00) r=0.67m +[headless_play] t= 15.60s step= 780 trunk_z= 116.2mm grav_b=(-0.03,+0.04,-1.00) r=0.66m +[headless_play] t= 15.70s step= 785 trunk_z= 117.2mm grav_b=(-0.09,+0.02,-1.00) r=0.65m +[headless_play] t= 15.80s step= 790 trunk_z= 117.3mm grav_b=(-0.12,+0.01,-0.99) r=0.65m +[headless_play] t= 15.90s step= 795 trunk_z= 113.8mm grav_b=(-0.05,+0.01,-1.00) r=0.64m +[headless_play] t= 16.00s step= 800 trunk_z= 113.6mm grav_b=(-0.01,+0.04,-1.00) r=0.62m +[headless_play] t= 16.10s step= 805 trunk_z= 110.2mm grav_b=(-0.00,+0.09,-1.00) r=0.60m +[headless_play] t= 16.20s step= 810 trunk_z= 112.2mm grav_b=(-0.02,+0.06,-1.00) r=0.60m +[headless_play] t= 16.30s step= 815 trunk_z= 111.3mm grav_b=(-0.00,+0.00,-1.00) r=0.60m +[headless_play] t= 16.40s step= 820 trunk_z= 109.9mm grav_b=(+0.03,+0.05,-1.00) r=0.60m +[headless_play] t= 16.50s step= 825 trunk_z= 111.1mm grav_b=(+0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 16.60s step= 830 trunk_z= 113.4mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 114.3mm grav_b=(+0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 16.80s step= 840 trunk_z= 114.9mm grav_b=(-0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 16.90s step= 845 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 17.00s step= 850 trunk_z= 115.3mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 17.10s step= 855 trunk_z= 115.7mm grav_b=(+0.07,+0.03,-1.00) r=0.59m +[headless_play] t= 17.20s step= 860 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 17.30s step= 865 trunk_z= 117.8mm grav_b=(-0.02,-0.06,-1.00) r=0.61m +[headless_play] t= 17.40s step= 870 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.61m +[headless_play] t= 17.50s step= 875 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 17.60s step= 880 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.61m +[headless_play] t= 17.80s step= 890 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.60m +[headless_play] t= 17.90s step= 895 trunk_z= 117.8mm grav_b=(-0.11,-0.00,-0.99) r=0.60m +[headless_play] t= 18.00s step= 900 trunk_z= 103.1mm grav_b=(+0.03,-0.05,-1.00) r=0.59m +[headless_play] t= 18.10s step= 905 trunk_z= 106.0mm grav_b=(+0.03,-0.01,-1.00) r=0.59m +[headless_play] t= 18.20s step= 910 trunk_z= 107.5mm grav_b=(+0.06,+0.00,-1.00) r=0.58m +[headless_play] t= 18.30s step= 915 trunk_z= 109.0mm grav_b=(+0.07,-0.00,-1.00) r=0.58m +[headless_play] t= 18.40s step= 920 trunk_z= 113.9mm grav_b=(+0.08,-0.05,-1.00) r=0.58m +[headless_play] t= 18.50s step= 925 trunk_z= 119.5mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 18.60s step= 930 trunk_z= 121.7mm grav_b=(-0.10,+0.06,-0.99) r=0.58m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(-0.10,+0.01,-0.99) r=0.58m +[headless_play] t= 18.80s step= 940 trunk_z= 117.9mm grav_b=(-0.09,+0.00,-1.00) r=0.58m +[headless_play] t= 18.90s step= 945 trunk_z= 115.4mm grav_b=(-0.04,+0.03,-1.00) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 111.8mm grav_b=(-0.03,+0.06,-1.00) r=0.55m +[headless_play] t= 19.10s step= 955 trunk_z= 110.6mm grav_b=(-0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 19.20s step= 960 trunk_z= 107.7mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 19.30s step= 965 trunk_z= 112.1mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 19.40s step= 970 trunk_z= 111.7mm grav_b=(+0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 19.50s step= 975 trunk_z= 112.2mm grav_b=(+0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 19.60s step= 980 trunk_z= 113.2mm grav_b=(+0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 19.70s step= 985 trunk_z= 114.4mm grav_b=(+0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 19.80s step= 990 trunk_z= 116.0mm grav_b=(+0.06,+0.02,-1.00) r=0.54m +[headless_play] t= 19.90s step= 995 trunk_z= 115.6mm grav_b=(+0.01,+0.02,-1.00) r=0.54m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 20.10s step=1005 trunk_z= 114.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t15.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..d3a1ee8c71d4f0cfaa826e7bf469451af82052d8 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.618,-18.207,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 114.5mm grav_b=(+0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 114.0mm grav_b=(+0.05,-0.04,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 110.6mm grav_b=(+0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 115.2mm grav_b=(-0.00,+0.06,-1.00) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(-0.02,+0.10,-0.99) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 111.5mm grav_b=(+0.02,+0.10,-0.99) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 117.7mm grav_b=(+0.01,-0.03,-1.00) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 114.1mm grav_b=(+0.00,-0.01,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 116.0mm grav_b=(-0.02,+0.05,-1.00) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 117.6mm grav_b=(-0.04,+0.07,-1.00) r=0.30m +[headless_play] t= 1.30s step= 65 trunk_z= 113.9mm grav_b=(-0.02,+0.04,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 113.1mm grav_b=(+0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 110.0mm grav_b=(+0.04,+0.00,-1.00) r=0.29m +[headless_play] t= 1.60s step= 80 trunk_z= 103.6mm grav_b=(+0.06,+0.02,-1.00) r=0.26m +[headless_play] t= 1.70s step= 85 trunk_z= 113.0mm grav_b=(+0.03,+0.05,-1.00) r=0.25m +[headless_play] t= 1.80s step= 90 trunk_z= 110.2mm grav_b=(+0.03,+0.09,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 105.8mm grav_b=(+0.07,-0.00,-1.00) r=0.24m +[headless_play] t= 2.00s step= 100 trunk_z= 114.8mm grav_b=(+0.07,-0.07,-1.00) r=0.24m +[headless_play] t= 2.10s step= 105 trunk_z= 112.6mm grav_b=(+0.06,-0.07,-1.00) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 108.4mm grav_b=(+0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(+0.01,+0.07,-1.00) r=0.19m +[headless_play] t= 2.40s step= 120 trunk_z= 114.4mm grav_b=(+0.02,+0.11,-0.99) r=0.19m +[headless_play] t= 2.50s step= 125 trunk_z= 110.0mm grav_b=(+0.07,+0.05,-1.00) r=0.19m +[headless_play] t= 2.60s step= 130 trunk_z= 115.7mm grav_b=(+0.03,-0.02,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 114.8mm grav_b=(+0.03,-0.03,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 109.3mm grav_b=(+0.04,-0.02,-1.00) r=0.18m +[headless_play] t= 2.90s step= 145 trunk_z= 115.0mm grav_b=(+0.01,+0.05,-1.00) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(+0.01,+0.08,-1.00) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 110.0mm grav_b=(+0.06,+0.07,-1.00) r=0.17m +[headless_play] t= 3.20s step= 160 trunk_z= 113.9mm grav_b=(+0.05,-0.00,-1.00) r=0.18m +[headless_play] t= 3.30s step= 165 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 3.40s step= 170 trunk_z= 107.6mm grav_b=(+0.07,-0.01,-1.00) r=0.16m +[headless_play] t= 3.50s step= 175 trunk_z= 111.7mm grav_b=(+0.06,+0.09,-0.99) r=0.14m +[headless_play] t= 3.60s step= 180 trunk_z= 115.9mm grav_b=(+0.01,+0.10,-0.99) r=0.13m +[headless_play] t= 3.70s step= 185 trunk_z= 116.6mm grav_b=(-0.03,+0.07,-1.00) r=0.14m +[headless_play] t= 3.80s step= 190 trunk_z= 113.0mm grav_b=(+0.03,+0.02,-1.00) r=0.15m +[headless_play] t= 3.90s step= 195 trunk_z= 113.1mm grav_b=(+0.05,-0.02,-1.00) r=0.15m +[headless_play] t= 4.00s step= 200 trunk_z= 107.7mm grav_b=(+0.08,-0.01,-1.00) r=0.14m +[headless_play] t= 4.10s step= 205 trunk_z= 109.4mm grav_b=(+0.03,+0.04,-1.00) r=0.12m +[headless_play] t= 4.20s step= 210 trunk_z= 116.9mm grav_b=(-0.02,+0.08,-1.00) r=0.11m +[headless_play] t= 4.30s step= 215 trunk_z= 115.4mm grav_b=(-0.01,+0.08,-1.00) r=0.11m +[headless_play] t= 4.40s step= 220 trunk_z= 110.8mm grav_b=(+0.05,+0.05,-1.00) r=0.12m +[headless_play] t= 4.50s step= 225 trunk_z= 116.7mm grav_b=(+0.04,-0.04,-1.00) r=0.14m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.05,-0.04,-1.00) r=0.14m +[headless_play] t= 4.70s step= 235 trunk_z= 105.2mm grav_b=(+0.03,+0.00,-1.00) r=0.13m +[headless_play] t= 4.80s step= 240 trunk_z= 116.5mm grav_b=(-0.02,+0.05,-1.00) r=0.12m +[headless_play] t= 4.90s step= 245 trunk_z= 117.6mm grav_b=(-0.00,+0.05,-1.00) r=0.12m +[headless_play] t= 5.00s step= 250 trunk_z= 112.7mm grav_b=(+0.03,+0.03,-1.00) r=0.14m +[headless_play] t= 5.10s step= 255 trunk_z= 112.9mm grav_b=(+0.08,-0.03,-1.00) r=0.15m +[headless_play] t= 5.20s step= 260 trunk_z= 108.6mm grav_b=(+0.07,-0.02,-1.00) r=0.15m +[headless_play] t= 5.30s step= 265 trunk_z= 108.5mm grav_b=(-0.00,+0.04,-1.00) r=0.14m +[headless_play] t= 5.40s step= 270 trunk_z= 118.5mm grav_b=(-0.04,+0.06,-1.00) r=0.14m +[headless_play] t= 5.50s step= 275 trunk_z= 118.9mm grav_b=(-0.01,+0.04,-1.00) r=0.14m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(+0.00,-0.01,-1.00) r=0.15m +[headless_play] t= 5.70s step= 285 trunk_z= 111.7mm grav_b=(+0.04,+0.00,-1.00) r=0.15m +[headless_play] t= 5.80s step= 290 trunk_z= 107.8mm grav_b=(-0.00,+0.02,-1.00) r=0.14m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.13m +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.13m +[headless_play] t= 6.10s step= 305 trunk_z= 113.1mm grav_b=(+0.05,+0.00,-1.00) r=0.13m +[headless_play] t= 6.20s step= 310 trunk_z= 107.2mm grav_b=(+0.09,-0.01,-1.00) r=0.10m +[headless_play] t= 6.30s step= 315 trunk_z= 109.4mm grav_b=(+0.11,+0.06,-0.99) r=0.08m +[headless_play] t= 6.40s step= 320 trunk_z= 113.4mm grav_b=(+0.07,+0.08,-0.99) r=0.07m +[headless_play] t= 6.50s step= 325 trunk_z= 111.9mm grav_b=(+0.04,+0.06,-1.00) r=0.08m +[headless_play] t= 6.60s step= 330 trunk_z= 116.7mm grav_b=(+0.02,-0.04,-1.00) r=0.09m +[headless_play] t= 6.70s step= 335 trunk_z= 117.2mm grav_b=(+0.01,-0.04,-1.00) r=0.09m +[headless_play] t= 6.80s step= 340 trunk_z= 105.3mm grav_b=(+0.07,+0.02,-1.00) r=0.05m +[headless_play] t= 6.90s step= 345 trunk_z= 116.2mm grav_b=(+0.09,+0.12,-0.99) r=0.02m +[headless_play] t= 7.00s step= 350 trunk_z= 123.1mm grav_b=(-0.02,+0.15,-0.99) r=0.01m +[headless_play] t= 7.10s step= 355 trunk_z= 123.7mm grav_b=(-0.06,+0.09,-0.99) r=0.01m +[headless_play] t= 7.20s step= 360 trunk_z= 121.1mm grav_b=(-0.00,-0.00,-1.00) r=0.04m +[headless_play] t= 7.30s step= 365 trunk_z= 124.2mm grav_b=(+0.01,-0.00,-1.00) r=0.04m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(-0.01,+0.06,-1.00) r=0.06m +[headless_play] t= 7.50s step= 375 trunk_z= 124.4mm grav_b=(-0.04,+0.06,-1.00) r=0.08m +[headless_play] t= 7.60s step= 380 trunk_z= 120.3mm grav_b=(-0.06,+0.04,-1.00) r=0.09m +[headless_play] t= 7.70s step= 385 trunk_z= 119.1mm grav_b=(-0.07,-0.01,-1.00) r=0.11m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(-0.06,+0.05,-1.00) r=0.11m +[headless_play] t= 7.90s step= 395 trunk_z= 121.9mm grav_b=(-0.03,+0.10,-0.99) r=0.12m +[headless_play] t= 8.00s step= 400 trunk_z= 125.8mm grav_b=(-0.03,+0.08,-1.00) r=0.14m +[headless_play] t= 8.10s step= 405 trunk_z= 118.8mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 8.20s step= 410 trunk_z= 124.4mm grav_b=(-0.02,-0.03,-1.00) r=0.18m +[headless_play] t= 8.30s step= 415 trunk_z= 124.2mm grav_b=(-0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 8.40s step= 420 trunk_z= 119.4mm grav_b=(-0.02,+0.04,-1.00) r=0.20m +[headless_play] t= 8.50s step= 425 trunk_z= 128.1mm grav_b=(-0.01,+0.07,-1.00) r=0.21m +[headless_play] t= 8.60s step= 430 trunk_z= 127.2mm grav_b=(-0.01,+0.08,-1.00) r=0.23m +[headless_play] t= 8.70s step= 435 trunk_z= 119.5mm grav_b=(-0.04,-0.03,-1.00) r=0.26m +[headless_play] t= 8.80s step= 440 trunk_z= 127.9mm grav_b=(-0.01,-0.05,-1.00) r=0.28m +[headless_play] t= 8.90s step= 445 trunk_z= 126.0mm grav_b=(-0.01,-0.03,-1.00) r=0.29m +[headless_play] t= 9.00s step= 450 trunk_z= 123.1mm grav_b=(-0.00,+0.04,-1.00) r=0.31m +[headless_play] t= 9.10s step= 455 trunk_z= 130.3mm grav_b=(+0.00,+0.07,-1.00) r=0.33m +[headless_play] t= 9.20s step= 460 trunk_z= 126.7mm grav_b=(-0.03,+0.07,-1.00) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 119.3mm grav_b=(-0.06,+0.00,-1.00) r=0.36m +[headless_play] t= 9.40s step= 470 trunk_z= 121.0mm grav_b=(-0.05,+0.02,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(-0.03,+0.06,-1.00) r=0.38m +[headless_play] t= 9.60s step= 480 trunk_z= 124.3mm grav_b=(-0.03,+0.06,-1.00) r=0.39m +[headless_play] t= 9.70s step= 485 trunk_z= 122.3mm grav_b=(-0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 9.80s step= 490 trunk_z= 121.7mm grav_b=(-0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 9.90s step= 495 trunk_z= 124.1mm grav_b=(-0.04,-0.02,-1.00) r=0.44m +[headless_play] t= 10.00s step= 500 trunk_z= 122.1mm grav_b=(-0.06,-0.03,-1.00) r=0.45m +[headless_play] t= 10.10s step= 505 trunk_z= 121.1mm grav_b=(-0.05,+0.04,-1.00) r=0.45m +[headless_play] t= 10.20s step= 510 trunk_z= 125.1mm grav_b=(-0.04,+0.07,-1.00) r=0.46m +[headless_play] t= 10.30s step= 515 trunk_z= 121.4mm grav_b=(-0.03,+0.03,-1.00) r=0.48m +[headless_play] t= 10.40s step= 520 trunk_z= 123.0mm grav_b=(-0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 10.50s step= 525 trunk_z= 123.8mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(-0.05,+0.04,-1.00) r=0.52m +[headless_play] t= 10.70s step= 535 trunk_z= 123.9mm grav_b=(-0.07,+0.05,-1.00) r=0.52m +[headless_play] t= 10.80s step= 540 trunk_z= 120.1mm grav_b=(-0.07,+0.03,-1.00) r=0.53m +[headless_play] t= 10.90s step= 545 trunk_z= 120.8mm grav_b=(-0.05,-0.04,-1.00) r=0.56m +[headless_play] t= 11.00s step= 550 trunk_z= 124.3mm grav_b=(-0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 118.6mm grav_b=(-0.03,-0.00,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 122.0mm grav_b=(-0.06,+0.02,-1.00) r=0.59m +[headless_play] t= 11.30s step= 565 trunk_z= 120.0mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 11.40s step= 570 trunk_z= 120.7mm grav_b=(-0.03,-0.04,-1.00) r=0.62m +[headless_play] t= 11.50s step= 575 trunk_z= 123.3mm grav_b=(-0.02,-0.02,-1.00) r=0.64m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(-0.02,+0.04,-1.00) r=0.65m +[headless_play] t= 11.70s step= 585 trunk_z= 126.5mm grav_b=(-0.03,+0.06,-1.00) r=0.67m +[headless_play] t= 11.80s step= 590 trunk_z= 126.7mm grav_b=(-0.05,+0.08,-1.00) r=0.68m +[headless_play] t= 11.90s step= 595 trunk_z= 117.6mm grav_b=(-0.06,-0.02,-1.00) r=0.71m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(-0.05,+0.03,-1.00) r=0.72m +[headless_play] t= 12.10s step= 605 trunk_z= 120.0mm grav_b=(-0.03,+0.08,-1.00) r=0.73m +[headless_play] t= 12.20s step= 610 trunk_z= 125.4mm grav_b=(-0.02,+0.07,-1.00) r=0.75m +[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(-0.02,+0.06,-1.00) r=0.77m +[headless_play] t= 12.40s step= 620 trunk_z= 122.6mm grav_b=(-0.03,-0.03,-1.00) r=0.80m +[headless_play] t= 12.50s step= 625 trunk_z= 123.9mm grav_b=(-0.01,-0.02,-1.00) r=0.81m +[headless_play] t= 12.60s step= 630 trunk_z= 120.1mm grav_b=(+0.01,+0.03,-1.00) r=0.82m +[headless_play] t= 12.70s step= 635 trunk_z= 120.0mm grav_b=(+0.01,+0.01,-1.00) r=0.82m +[headless_play] t= 12.80s step= 640 trunk_z= 118.3mm grav_b=(-0.02,+0.01,-1.00) r=0.82m +[headless_play] t= 12.90s step= 645 trunk_z= 117.5mm grav_b=(-0.05,-0.00,-1.00) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 121.3mm grav_b=(-0.04,+0.05,-1.00) r=0.81m +[headless_play] t= 13.10s step= 655 trunk_z= 119.8mm grav_b=(-0.01,+0.04,-1.00) r=0.82m +[headless_play] t= 13.20s step= 660 trunk_z= 119.4mm grav_b=(+0.00,+0.03,-1.00) r=0.82m +[headless_play] t= 13.30s step= 665 trunk_z= 119.0mm grav_b=(-0.01,+0.02,-1.00) r=0.82m +[headless_play] t= 13.40s step= 670 trunk_z= 118.5mm grav_b=(-0.03,+0.01,-1.00) r=0.81m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(-0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 13.60s step= 680 trunk_z= 118.4mm grav_b=(-0.03,+0.01,-1.00) r=0.82m +[headless_play] t= 13.70s step= 685 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.82m +[headless_play] t= 13.80s step= 690 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 13.90s step= 695 trunk_z= 117.9mm grav_b=(-0.06,+0.01,-1.00) r=0.81m +[headless_play] t= 14.00s step= 700 trunk_z= 117.9mm grav_b=(-0.06,+0.00,-1.00) r=0.81m +[headless_play] t= 14.10s step= 705 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 14.20s step= 710 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(-0.05,+0.02,-1.00) r=0.81m +[headless_play] t= 14.40s step= 720 trunk_z= 119.7mm grav_b=(-0.04,+0.03,-1.00) r=0.81m +[headless_play] t= 14.50s step= 725 trunk_z= 119.2mm grav_b=(-0.03,+0.02,-1.00) r=0.82m +[headless_play] t= 14.60s step= 730 trunk_z= 118.8mm grav_b=(-0.04,+0.01,-1.00) r=0.81m +[headless_play] t= 14.70s step= 735 trunk_z= 118.2mm grav_b=(-0.06,+0.01,-1.00) r=0.81m +[headless_play] t= 14.80s step= 740 trunk_z= 118.1mm grav_b=(-0.06,+0.00,-1.00) r=0.81m +[headless_play] t= 14.90s step= 745 trunk_z= 118.2mm grav_b=(-0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 15.00s step= 750 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.81m +[headless_play] t= 15.10s step= 755 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.81m +[headless_play] t= 15.20s step= 760 trunk_z= 118.2mm grav_b=(-0.04,+0.01,-1.00) r=0.81m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(-0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 15.40s step= 770 trunk_z= 118.0mm grav_b=(-0.05,+0.00,-1.00) r=0.81m +[headless_play] t= 15.50s step= 775 trunk_z= 118.0mm grav_b=(-0.06,+0.00,-1.00) r=0.81m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(-0.05,+0.00,-1.00) r=0.81m +[headless_play] t= 15.70s step= 785 trunk_z= 118.0mm grav_b=(-0.05,+0.00,-1.00) r=0.81m +[headless_play] t= 15.80s step= 790 trunk_z= 118.0mm grav_b=(-0.05,+0.00,-1.00) r=0.81m +[headless_play] t= 15.90s step= 795 trunk_z= 117.8mm grav_b=(-0.07,+0.00,-1.00) r=0.81m +[headless_play] t= 16.00s step= 800 trunk_z= 117.5mm grav_b=(-0.13,-0.02,-0.99) r=0.79m +[headless_play] t= 16.10s step= 805 trunk_z= 111.6mm grav_b=(-0.08,-0.04,-1.00) r=0.78m +[headless_play] t= 16.20s step= 810 trunk_z= 114.1mm grav_b=(+0.01,+0.02,-1.00) r=0.77m +[headless_play] t= 16.30s step= 815 trunk_z= 119.5mm grav_b=(-0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(-0.01,-0.04,-1.00) r=0.77m +[headless_play] t= 16.50s step= 825 trunk_z= 119.2mm grav_b=(-0.02,+0.02,-1.00) r=0.78m +[headless_play] t= 16.60s step= 830 trunk_z= 119.1mm grav_b=(+0.01,+0.09,-1.00) r=0.78m +[headless_play] t= 16.70s step= 835 trunk_z= 125.8mm grav_b=(+0.01,+0.05,-1.00) r=0.80m +[headless_play] t= 16.80s step= 840 trunk_z= 116.4mm grav_b=(-0.05,-0.02,-1.00) r=0.84m +[headless_play] t= 16.90s step= 845 trunk_z= 124.5mm grav_b=(-0.05,-0.05,-1.00) r=0.87m +[headless_play] t= 17.00s step= 850 trunk_z= 124.4mm grav_b=(-0.02,-0.04,-1.00) r=0.88m +[headless_play] t= 17.10s step= 855 trunk_z= 120.1mm grav_b=(-0.03,+0.07,-1.00) r=0.88m +[headless_play] t= 17.20s step= 860 trunk_z= 129.0mm grav_b=(-0.03,+0.14,-0.99) r=0.88m +[headless_play] t= 17.30s step= 865 trunk_z= 130.4mm grav_b=(-0.01,+0.22,-0.98) r=0.89m +[headless_play] t= 17.40s step= 870 trunk_z= 131.6mm grav_b=(-0.01,+0.19,-0.98) r=0.92m +[headless_play] t= 17.50s step= 875 trunk_z= 122.5mm grav_b=(+0.00,+0.02,-1.00) r=0.96m +[headless_play] t= 17.60s step= 880 trunk_z= 128.2mm grav_b=(-0.00,-0.02,-1.00) r=0.98m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.98m +[headless_play] t= 17.80s step= 890 trunk_z= 124.8mm grav_b=(+0.02,+0.02,-1.00) r=0.99m +[headless_play] t= 17.90s step= 895 trunk_z= 128.0mm grav_b=(+0.04,+0.11,-0.99) r=1.00m +[headless_play] t= 18.00s step= 900 trunk_z= 123.6mm grav_b=(-0.04,+0.05,-1.00) r=1.04m +[headless_play] t= 18.10s step= 905 trunk_z= 124.7mm grav_b=(-0.04,-0.03,-1.00) r=1.06m +[headless_play] t= 18.20s step= 910 trunk_z= 119.7mm grav_b=(-0.04,-0.02,-1.00) r=1.07m +[headless_play] t= 18.30s step= 915 trunk_z= 121.2mm grav_b=(-0.04,+0.03,-1.00) r=1.07m +[headless_play] t= 18.40s step= 920 trunk_z= 121.7mm grav_b=(-0.04,+0.02,-1.00) r=1.09m +[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(-0.02,-0.05,-1.00) r=1.13m +[headless_play] t= 18.60s step= 930 trunk_z= 128.2mm grav_b=(+0.03,-0.07,-1.00) r=1.15m +[headless_play] t= 18.70s step= 935 trunk_z= 129.0mm grav_b=(+0.02,-0.08,-1.00) r=1.18m +[headless_play] t= 18.80s step= 940 trunk_z= 118.4mm grav_b=(-0.00,+0.01,-1.00) r=1.20m +[headless_play] t= 18.90s step= 945 trunk_z= 128.5mm grav_b=(+0.00,+0.04,-1.00) r=1.22m +[headless_play] t= 19.00s step= 950 trunk_z= 123.1mm grav_b=(-0.04,+0.01,-1.00) r=1.25m +[headless_play] t= 19.10s step= 955 trunk_z= 122.9mm grav_b=(-0.05,-0.07,-1.00) r=1.28m +[headless_play] t= 19.20s step= 960 trunk_z= 123.7mm grav_b=(-0.03,-0.05,-1.00) r=1.29m +[headless_play] t= 19.30s step= 965 trunk_z= 116.0mm grav_b=(-0.04,+0.01,-1.00) r=1.27m +[headless_play] t= 19.40s step= 970 trunk_z= 123.4mm grav_b=(+0.01,+0.01,-1.00) r=1.29m +[headless_play] t= 19.50s step= 975 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=1.33m +[headless_play] t= 19.60s step= 980 trunk_z= 123.4mm grav_b=(+0.01,-0.04,-1.00) r=1.36m +[headless_play] t= 19.70s step= 985 trunk_z= 123.5mm grav_b=(-0.02,-0.02,-1.00) r=1.37m +[headless_play] t= 19.80s step= 990 trunk_z= 119.0mm grav_b=(-0.04,+0.07,-1.00) r=1.38m +[headless_play] t= 19.90s step= 995 trunk_z= 127.8mm grav_b=(-0.01,+0.09,-1.00) r=1.39m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 117.4mm grav_b=(+0.09,-0.04,-1.00) r=0.34m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t2.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..22c45aa89b76d149d7ee815755b10228e76863b3 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.560,-18.202,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.03,-0.03,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(-0.02,-0.09,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 122.5mm grav_b=(-0.01,-0.07,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(-0.00,-0.02,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 123.8mm grav_b=(-0.00,+0.05,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 123.7mm grav_b=(-0.00,+0.04,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 117.5mm grav_b=(-0.04,-0.03,-1.00) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 124.4mm grav_b=(-0.04,-0.07,-1.00) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 124.9mm grav_b=(+0.01,-0.15,-0.99) r=0.54m +[headless_play] t= 1.00s step= 50 trunk_z= 127.4mm grav_b=(+0.00,-0.15,-0.99) r=0.56m +[headless_play] t= 1.10s step= 55 trunk_z= 122.0mm grav_b=(-0.00,-0.01,-1.00) r=0.57m +[headless_play] t= 1.20s step= 60 trunk_z= 130.2mm grav_b=(-0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 1.30s step= 65 trunk_z= 119.3mm grav_b=(-0.03,-0.05,-1.00) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 121.3mm grav_b=(-0.04,-0.04,-1.00) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 1.60s step= 80 trunk_z= 124.1mm grav_b=(-0.02,+0.04,-1.00) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 120.9mm grav_b=(-0.01,+0.02,-1.00) r=0.64m +[headless_play] t= 1.80s step= 90 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.68m +[headless_play] t= 1.90s step= 95 trunk_z= 127.6mm grav_b=(+0.00,-0.16,-0.99) r=0.71m +[headless_play] t= 2.00s step= 100 trunk_z= 124.3mm grav_b=(+0.00,-0.23,-0.97) r=0.73m +[headless_play] t= 2.10s step= 105 trunk_z= 120.0mm grav_b=(+0.01,-0.19,-0.98) r=0.75m +[headless_play] t= 2.20s step= 110 trunk_z= 124.8mm grav_b=(+0.02,-0.21,-0.98) r=0.80m +[headless_play] t= 2.30s step= 115 trunk_z= 133.5mm grav_b=(+0.02,-0.05,-1.00) r=0.85m +[headless_play] t= 2.40s step= 120 trunk_z= 110.8mm grav_b=(-0.01,-0.04,-1.00) r=0.90m +[headless_play] t= 2.50s step= 125 trunk_z= 120.2mm grav_b=(-0.08,-0.02,-1.00) r=0.92m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(-0.04,+0.04,-1.00) r=0.95m +[headless_play] t= 2.70s step= 135 trunk_z= 124.6mm grav_b=(-0.00,+0.06,-1.00) r=0.97m +[headless_play] t= 2.80s step= 140 trunk_z= 122.4mm grav_b=(-0.00,+0.05,-1.00) r=0.98m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(-0.03,-0.04,-1.00) r=1.01m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(-0.03,-0.06,-1.00) r=1.03m +[headless_play] t= 3.10s step= 155 trunk_z= 118.7mm grav_b=(-0.02,-0.05,-1.00) r=1.03m +[headless_play] t= 3.20s step= 160 trunk_z= 123.0mm grav_b=(-0.04,+0.07,-1.00) r=1.04m +[headless_play] t= 3.30s step= 165 trunk_z= 127.9mm grav_b=(-0.05,+0.11,-0.99) r=1.05m +[headless_play] t= 3.40s step= 170 trunk_z= 124.7mm grav_b=(-0.05,+0.09,-0.99) r=1.07m +[headless_play] t= 3.50s step= 175 trunk_z= 119.4mm grav_b=(-0.04,-0.01,-1.00) r=1.09m +[headless_play] t= 3.60s step= 180 trunk_z= 124.2mm grav_b=(-0.01,-0.06,-1.00) r=1.11m +[headless_play] t= 3.70s step= 185 trunk_z= 127.5mm grav_b=(+0.01,-0.19,-0.98) r=1.13m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(+0.03,-0.16,-0.99) r=1.15m +[headless_play] t= 3.90s step= 195 trunk_z= 114.9mm grav_b=(-0.00,-0.16,-0.99) r=1.20m +[headless_play] t= 4.00s step= 200 trunk_z= 134.4mm grav_b=(+0.04,-0.08,-1.00) r=1.24m +[headless_play] t= 4.10s step= 205 trunk_z= 124.8mm grav_b=(-0.02,-0.03,-1.00) r=1.29m +[headless_play] t= 4.20s step= 210 trunk_z= 119.4mm grav_b=(-0.10,-0.07,-0.99) r=1.32m +[headless_play] t= 4.30s step= 215 trunk_z= 120.7mm grav_b=(-0.10,+0.00,-0.99) r=1.33m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(-0.03,+0.06,-1.00) r=1.33m +[headless_play] t= 4.50s step= 225 trunk_z= 119.6mm grav_b=(-0.03,+0.03,-1.00) r=1.33m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.03,-0.05,-1.00) r=1.35m +[headless_play] t= 4.70s step= 235 trunk_z= 123.3mm grav_b=(-0.01,-0.07,-1.00) r=1.36m +[headless_play] t= 4.80s step= 240 trunk_z= 118.0mm grav_b=(-0.00,-0.06,-1.00) r=1.38m +[headless_play] t= 4.90s step= 245 trunk_z= 113.9mm grav_b=(-0.01,+0.04,-1.00) r=1.40m +[headless_play] t= 5.00s step= 250 trunk_z= 121.4mm grav_b=(-0.01,+0.03,-1.00) r=1.42m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.01,+0.03,-1.00) r=1.43m +[headless_play] t= 5.20s step= 260 trunk_z= 119.7mm grav_b=(-0.12,-0.01,-0.99) r=1.43m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(-0.05,+0.04,-1.00) r=1.42m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.00,+0.05,-1.00) r=1.41m +[headless_play] t= 5.50s step= 275 trunk_z= 113.5mm grav_b=(+0.03,+0.03,-1.00) r=1.39m +[headless_play] t= 5.60s step= 280 trunk_z= 116.9mm grav_b=(+0.04,-0.07,-1.00) r=1.38m +[headless_play] t= 5.70s step= 285 trunk_z= 120.5mm grav_b=(+0.03,-0.08,-1.00) r=1.38m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(+0.03,-0.09,-1.00) r=1.39m +[headless_play] t= 5.90s step= 295 trunk_z= 117.9mm grav_b=(+0.01,+0.06,-1.00) r=1.42m +[headless_play] t= 6.00s step= 300 trunk_z= 121.5mm grav_b=(+0.03,+0.05,-1.00) r=1.43m +[headless_play] t= 6.10s step= 305 trunk_z= 118.0mm grav_b=(+0.02,+0.08,-1.00) r=1.43m +[headless_play] t= 6.20s step= 310 trunk_z= 117.8mm grav_b=(+0.00,+0.02,-1.00) r=1.44m +[headless_play] t= 6.30s step= 315 trunk_z= 115.3mm grav_b=(+0.03,+0.05,-1.00) r=1.46m +[headless_play] t= 6.40s step= 320 trunk_z= 110.1mm grav_b=(+0.01,+0.05,-1.00) r=1.49m +[headless_play] t= 6.50s step= 325 trunk_z= 114.4mm grav_b=(+0.01,-0.03,-1.00) r=1.50m +[headless_play] t= 6.60s step= 330 trunk_z= 110.1mm grav_b=(-0.01,-0.08,-1.00) r=1.49m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.02,-0.07,-1.00) r=1.50m +[headless_play] t= 6.80s step= 340 trunk_z= 115.0mm grav_b=(+0.02,-0.04,-1.00) r=1.53m +[headless_play] t= 6.90s step= 345 trunk_z= 117.1mm grav_b=(+0.01,+0.05,-1.00) r=1.55m +[headless_play] t= 7.00s step= 350 trunk_z= 114.5mm grav_b=(-0.00,-0.04,-1.00) r=1.55m +[headless_play] t= 7.10s step= 355 trunk_z= 115.1mm grav_b=(+0.02,-0.05,-1.00) r=1.55m +[headless_play] t= 7.20s step= 360 trunk_z= 113.6mm grav_b=(+0.03,-0.03,-1.00) r=1.56m +[headless_play] t= 7.30s step= 365 trunk_z= 109.1mm grav_b=(+0.01,+0.04,-1.00) r=1.60m +[headless_play] t= 7.40s step= 370 trunk_z= 119.5mm grav_b=(-0.01,+0.04,-1.00) r=1.62m +[headless_play] t= 7.50s step= 375 trunk_z= 114.3mm grav_b=(+0.00,+0.03,-1.00) r=1.62m +[headless_play] t= 7.60s step= 380 trunk_z= 118.4mm grav_b=(-0.01,-0.05,-1.00) r=1.61m +[headless_play] t= 7.70s step= 385 trunk_z= 118.3mm grav_b=(+0.01,-0.06,-1.00) r=1.62m +[headless_play] t= 7.80s step= 390 trunk_z= 116.3mm grav_b=(-0.01,-0.07,-1.00) r=1.64m +[headless_play] t= 7.90s step= 395 trunk_z= 117.6mm grav_b=(-0.03,+0.03,-1.00) r=1.65m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(-0.04,+0.01,-1.00) r=1.64m +[headless_play] t= 8.10s step= 405 trunk_z= 109.5mm grav_b=(-0.02,-0.04,-1.00) r=1.62m +[headless_play] t= 8.20s step= 410 trunk_z= 114.2mm grav_b=(+0.01,-0.06,-1.00) r=1.62m +[headless_play] t= 8.30s step= 415 trunk_z= 112.5mm grav_b=(+0.00,-0.04,-1.00) r=1.64m +[headless_play] t= 8.40s step= 420 trunk_z= 118.3mm grav_b=(-0.08,+0.04,-1.00) r=1.65m +[headless_play] t= 8.50s step= 425 trunk_z= 119.9mm grav_b=(-0.09,+0.02,-1.00) r=1.65m +[headless_play] t= 8.60s step= 430 trunk_z= 110.3mm grav_b=(-0.04,-0.00,-1.00) r=1.62m +[headless_play] t= 8.70s step= 435 trunk_z= 113.1mm grav_b=(+0.03,-0.03,-1.00) r=1.63m +[headless_play] t= 8.80s step= 440 trunk_z= 106.4mm grav_b=(+0.07,+0.01,-1.00) r=1.65m +[headless_play] t= 8.90s step= 445 trunk_z= 111.4mm grav_b=(+0.09,+0.03,-1.00) r=1.66m +[headless_play] t= 9.00s step= 450 trunk_z= 107.4mm grav_b=(+0.06,-0.02,-1.00) r=1.66m +[headless_play] t= 9.10s step= 455 trunk_z= 112.3mm grav_b=(+0.04,+0.01,-1.00) r=1.66m +[headless_play] t= 9.20s step= 460 trunk_z= 107.7mm grav_b=(-0.02,+0.09,-1.00) r=1.69m +[headless_play] t= 9.30s step= 465 trunk_z= 109.6mm grav_b=(+0.02,+0.08,-1.00) r=1.71m +[headless_play] t= 9.40s step= 470 trunk_z= 111.3mm grav_b=(+0.03,+0.01,-1.00) r=1.71m +[headless_play] t= 9.50s step= 475 trunk_z= 107.6mm grav_b=(+0.03,-0.02,-1.00) r=1.68m +[headless_play] t= 9.60s step= 480 trunk_z= 117.0mm grav_b=(+0.01,-0.08,-1.00) r=1.68m +[headless_play] t= 9.70s step= 485 trunk_z= 113.4mm grav_b=(+0.06,-0.06,-1.00) r=1.68m +[headless_play] t= 9.80s step= 490 trunk_z= 111.8mm grav_b=(+0.04,+0.03,-1.00) r=1.71m +[headless_play] t= 9.90s step= 495 trunk_z= 118.9mm grav_b=(+0.01,+0.06,-1.00) r=1.73m +[headless_play] t= 10.00s step= 500 trunk_z= 111.1mm grav_b=(+0.04,-0.04,-1.00) r=1.71m +[headless_play] t= 10.10s step= 505 trunk_z= 118.2mm grav_b=(+0.04,-0.14,-0.99) r=1.69m +[headless_play] t= 10.20s step= 510 trunk_z= 121.8mm grav_b=(+0.03,-0.19,-0.98) r=1.68m +[headless_play] t= 10.30s step= 515 trunk_z= 119.4mm grav_b=(+0.09,-0.20,-0.98) r=1.66m +[headless_play] t= 10.40s step= 520 trunk_z= 111.6mm grav_b=(-0.06,-0.06,-1.00) r=1.66m +[headless_play] t= 10.50s step= 525 trunk_z= 110.9mm grav_b=(-0.05,-0.09,-0.99) r=1.67m +[headless_play] t= 10.60s step= 530 trunk_z= 123.0mm grav_b=(-0.03,-0.04,-1.00) r=1.66m +[headless_play] t= 10.70s step= 535 trunk_z= 119.2mm grav_b=(-0.06,-0.10,-0.99) r=1.63m +[headless_play] t= 10.80s step= 540 trunk_z= 119.3mm grav_b=(-0.03,-0.06,-1.00) r=1.62m +[headless_play] t= 10.90s step= 545 trunk_z= 112.7mm grav_b=(-0.02,-0.01,-1.00) r=1.64m +[headless_play] t= 11.00s step= 550 trunk_z= 119.4mm grav_b=(-0.04,+0.03,-1.00) r=1.65m +[headless_play] t= 11.10s step= 555 trunk_z= 113.0mm grav_b=(-0.02,-0.03,-1.00) r=1.64m +[headless_play] t= 11.20s step= 560 trunk_z= 105.2mm grav_b=(+0.06,-0.05,-1.00) r=1.62m +[headless_play] t= 11.30s step= 565 trunk_z= 109.0mm grav_b=(+0.07,-0.09,-0.99) r=1.62m +[headless_play] t= 11.40s step= 570 trunk_z= 113.3mm grav_b=(+0.04,-0.01,-1.00) r=1.62m +[headless_play] t= 11.50s step= 575 trunk_z= 118.0mm grav_b=(+0.02,+0.01,-1.00) r=1.61m +[headless_play] t= 11.60s step= 580 trunk_z= 110.0mm grav_b=(+0.04,-0.04,-1.00) r=1.58m +[headless_play] t= 11.70s step= 585 trunk_z= 118.2mm grav_b=(+0.04,-0.08,-1.00) r=1.55m +[headless_play] t= 11.80s step= 590 trunk_z= 116.1mm grav_b=(+0.03,-0.06,-1.00) r=1.54m +[headless_play] t= 11.90s step= 595 trunk_z= 111.7mm grav_b=(+0.03,+0.03,-1.00) r=1.54m +[headless_play] t= 12.00s step= 600 trunk_z= 121.0mm grav_b=(+0.02,+0.08,-1.00) r=1.54m +[headless_play] t= 12.10s step= 605 trunk_z= 118.0mm grav_b=(+0.05,+0.08,-1.00) r=1.53m +[headless_play] t= 12.20s step= 610 trunk_z= 112.7mm grav_b=(+0.01,-0.00,-1.00) r=1.50m +[headless_play] t= 12.30s step= 615 trunk_z= 120.0mm grav_b=(+0.00,-0.05,-1.00) r=1.48m +[headless_play] t= 12.40s step= 620 trunk_z= 115.9mm grav_b=(+0.03,-0.04,-1.00) r=1.46m +[headless_play] t= 12.50s step= 625 trunk_z= 113.7mm grav_b=(+0.04,+0.01,-1.00) r=1.45m +[headless_play] t= 12.60s step= 630 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=1.43m +[headless_play] t= 12.70s step= 635 trunk_z= 110.4mm grav_b=(+0.06,-0.05,-1.00) r=1.40m +[headless_play] t= 12.80s step= 640 trunk_z= 120.5mm grav_b=(+0.04,-0.10,-0.99) r=1.38m +[headless_play] t= 12.90s step= 645 trunk_z= 117.8mm grav_b=(+0.03,-0.08,-1.00) r=1.36m +[headless_play] t= 13.00s step= 650 trunk_z= 112.9mm grav_b=(-0.02,-0.02,-1.00) r=1.35m +[headless_play] t= 13.10s step= 655 trunk_z= 120.7mm grav_b=(-0.02,+0.02,-1.00) r=1.34m +[headless_play] t= 13.20s step= 660 trunk_z= 117.3mm grav_b=(+0.05,+0.05,-1.00) r=1.33m +[headless_play] t= 13.30s step= 665 trunk_z= 113.8mm grav_b=(+0.05,-0.02,-1.00) r=1.30m +[headless_play] t= 13.40s step= 670 trunk_z= 113.2mm grav_b=(+0.10,-0.06,-0.99) r=1.28m +[headless_play] t= 13.50s step= 675 trunk_z= 107.2mm grav_b=(+0.06,-0.03,-1.00) r=1.26m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=1.25m +[headless_play] t= 13.70s step= 685 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=1.23m +[headless_play] t= 13.80s step= 690 trunk_z= 112.4mm grav_b=(+0.00,-0.04,-1.00) r=1.22m +[headless_play] t= 13.90s step= 695 trunk_z= 119.8mm grav_b=(+0.00,-0.04,-1.00) r=1.21m +[headless_play] t= 14.00s step= 700 trunk_z= 114.7mm grav_b=(+0.04,-0.04,-1.00) r=1.20m +[headless_play] t= 14.10s step= 705 trunk_z= 111.2mm grav_b=(+0.03,+0.02,-1.00) r=1.20m +[headless_play] t= 14.20s step= 710 trunk_z= 117.8mm grav_b=(+0.06,+0.11,-0.99) r=1.20m +[headless_play] t= 14.30s step= 715 trunk_z= 117.4mm grav_b=(+0.08,+0.11,-0.99) r=1.19m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(+0.04,-0.00,-1.00) r=1.16m +[headless_play] t= 14.50s step= 725 trunk_z= 122.9mm grav_b=(+0.05,-0.07,-1.00) r=1.14m +[headless_play] t= 14.60s step= 730 trunk_z= 115.6mm grav_b=(+0.04,-0.06,-1.00) r=1.13m +[headless_play] t= 14.70s step= 735 trunk_z= 114.9mm grav_b=(-0.04,+0.01,-1.00) r=1.14m +[headless_play] t= 14.80s step= 740 trunk_z= 120.9mm grav_b=(-0.06,-0.02,-1.00) r=1.14m +[headless_play] t= 14.90s step= 745 trunk_z= 99.6mm grav_b=(+0.01,-0.03,-1.00) r=1.16m +[headless_play] t= 15.00s step= 750 trunk_z= 104.7mm grav_b=(+0.10,-0.01,-1.00) r=1.16m +[headless_play] t= 15.10s step= 755 trunk_z= 104.9mm grav_b=(+0.08,-0.00,-1.00) r=1.17m +[headless_play] t= 15.20s step= 760 trunk_z= 114.4mm grav_b=(+0.06,+0.02,-1.00) r=1.17m +[headless_play] t= 15.30s step= 765 trunk_z= 112.3mm grav_b=(+0.03,-0.00,-1.00) r=1.16m +[headless_play] t= 15.40s step= 770 trunk_z= 113.8mm grav_b=(+0.01,-0.05,-1.00) r=1.13m +[headless_play] t= 15.50s step= 775 trunk_z= 119.9mm grav_b=(+0.05,-0.09,-0.99) r=1.11m +[headless_play] t= 15.60s step= 780 trunk_z= 112.5mm grav_b=(+0.13,-0.05,-0.99) r=1.10m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=1.09m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=1.07m +[headless_play] t= 15.90s step= 795 trunk_z= 110.0mm grav_b=(-0.00,-0.06,-1.00) r=1.05m +[headless_play] t= 16.00s step= 800 trunk_z= 122.2mm grav_b=(-0.00,-0.09,-1.00) r=1.03m +[headless_play] t= 16.10s step= 805 trunk_z= 119.9mm grav_b=(+0.03,-0.08,-1.00) r=1.04m +[headless_play] t= 16.20s step= 810 trunk_z= 110.6mm grav_b=(+0.00,-0.01,-1.00) r=1.06m +[headless_play] t= 16.30s step= 815 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 16.40s step= 820 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) r=1.06m +[headless_play] t= 16.50s step= 825 trunk_z= 110.6mm grav_b=(+0.06,-0.04,-1.00) r=1.04m +[headless_play] t= 16.60s step= 830 trunk_z= 112.0mm grav_b=(+0.09,-0.08,-0.99) r=1.04m +[headless_play] t= 16.70s step= 835 trunk_z= 108.7mm grav_b=(+0.08,-0.05,-1.00) r=1.07m +[headless_play] t= 16.80s step= 840 trunk_z= 116.7mm grav_b=(+0.03,+0.02,-1.00) r=1.09m +[headless_play] t= 16.90s step= 845 trunk_z= 118.8mm grav_b=(+0.00,+0.03,-1.00) r=1.10m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(-0.00,-0.06,-1.00) r=1.10m +[headless_play] t= 17.10s step= 855 trunk_z= 124.5mm grav_b=(-0.01,-0.08,-1.00) r=1.11m +[headless_play] t= 17.20s step= 860 trunk_z= 123.9mm grav_b=(-0.02,-0.11,-0.99) r=1.12m +[headless_play] t= 17.30s step= 865 trunk_z= 121.9mm grav_b=(-0.01,-0.04,-1.00) r=1.14m +[headless_play] t= 17.40s step= 870 trunk_z= 124.8mm grav_b=(-0.01,+0.03,-1.00) r=1.15m +[headless_play] t= 17.50s step= 875 trunk_z= 121.1mm grav_b=(+0.00,+0.02,-1.00) r=1.15m +[headless_play] t= 17.60s step= 880 trunk_z= 121.9mm grav_b=(-0.02,-0.03,-1.00) r=1.14m +[headless_play] t= 17.70s step= 885 trunk_z= 124.9mm grav_b=(-0.02,-0.07,-1.00) r=1.14m +[headless_play] t= 17.80s step= 890 trunk_z= 120.9mm grav_b=(-0.05,-0.06,-1.00) r=1.14m +[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(-0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 18.00s step= 900 trunk_z= 117.7mm grav_b=(-0.02,-0.02,-1.00) r=1.14m +[headless_play] t= 18.10s step= 905 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=1.15m +[headless_play] t= 18.20s step= 910 trunk_z= 118.1mm grav_b=(+0.02,+0.00,-1.00) r=1.15m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=1.14m +[headless_play] t= 18.40s step= 920 trunk_z= 117.6mm grav_b=(-0.00,-0.00,-1.00) r=1.14m +[headless_play] t= 18.50s step= 925 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=1.14m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(-0.00,-0.00,-1.00) r=1.14m +[headless_play] t= 18.70s step= 935 trunk_z= 117.9mm grav_b=(+0.01,+0.02,-1.00) r=1.15m +[headless_play] t= 18.80s step= 940 trunk_z= 117.8mm grav_b=(+0.01,+0.01,-1.00) r=1.15m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=1.15m +[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(-0.00,+0.00,-1.00) r=1.15m +[headless_play] t= 19.10s step= 955 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=1.15m +[headless_play] t= 19.20s step= 960 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=1.15m +[headless_play] t= 19.30s step= 965 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=1.15m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=1.15m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=1.15m +[headless_play] t= 19.60s step= 980 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=1.14m +[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=1.14m +[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(-0.08,-0.00,-1.00) r=1.14m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(-0.05,-0.00,-1.00) r=1.14m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t3.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..9470ef21bb2c39c5caf301d3a81e8d410b19fbe0 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.6mm grav_b=(-0.00,+0.00,-1.00) root_w=(-17.938,-18.120,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.0mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.02,+0.00,-1.00) r=0.14m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.14m +[headless_play] t= 0.30s step= 15 trunk_z= 115.1mm grav_b=(+0.02,+0.05,-1.00) r=0.13m +[headless_play] t= 0.40s step= 20 trunk_z= 123.9mm grav_b=(+0.05,+0.04,-1.00) r=0.13m +[headless_play] t= 0.50s step= 25 trunk_z= 121.6mm grav_b=(+0.04,+0.00,-1.00) r=0.16m +[headless_play] t= 0.60s step= 30 trunk_z= 123.2mm grav_b=(+0.02,-0.07,-1.00) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 124.9mm grav_b=(+0.03,-0.09,-1.00) r=0.21m +[headless_play] t= 0.80s step= 40 trunk_z= 122.3mm grav_b=(+0.05,-0.07,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 124.0mm grav_b=(+0.05,-0.02,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 129.2mm grav_b=(+0.04,-0.00,-1.00) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 115.3mm grav_b=(-0.00,-0.06,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 123.9mm grav_b=(-0.04,-0.05,-1.00) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 116.8mm grav_b=(-0.06,-0.01,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 122.4mm grav_b=(-0.08,+0.03,-1.00) r=0.36m +[headless_play] t= 1.50s step= 75 trunk_z= 123.3mm grav_b=(-0.06,+0.02,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 116.4mm grav_b=(-0.04,-0.02,-1.00) r=0.38m +[headless_play] t= 1.70s step= 85 trunk_z= 121.9mm grav_b=(+0.00,-0.04,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 118.7mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 121.4mm grav_b=(+0.05,+0.02,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 126.0mm grav_b=(+0.04,+0.01,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(+0.02,-0.05,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 124.7mm grav_b=(+0.09,+0.00,-1.00) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 113.5mm grav_b=(+0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 127.1mm grav_b=(-0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 2.50s step= 125 trunk_z= 119.7mm grav_b=(-0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 2.60s step= 130 trunk_z= 122.4mm grav_b=(-0.07,-0.08,-0.99) r=0.62m +[headless_play] t= 2.70s step= 135 trunk_z= 124.2mm grav_b=(-0.05,-0.05,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 117.1mm grav_b=(-0.05,+0.00,-1.00) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 124.5mm grav_b=(-0.01,+0.05,-1.00) r=0.64m +[headless_play] t= 3.00s step= 150 trunk_z= 123.0mm grav_b=(+0.04,+0.05,-1.00) r=0.65m +[headless_play] t= 3.10s step= 155 trunk_z= 118.9mm grav_b=(+0.07,-0.02,-1.00) r=0.69m +[headless_play] t= 3.20s step= 160 trunk_z= 128.8mm grav_b=(+0.09,-0.02,-1.00) r=0.73m +[headless_play] t= 3.30s step= 165 trunk_z= 112.2mm grav_b=(+0.03,+0.00,-1.00) r=0.78m +[headless_play] t= 3.40s step= 170 trunk_z= 130.1mm grav_b=(-0.03,-0.04,-1.00) r=0.81m +[headless_play] t= 3.50s step= 175 trunk_z= 114.3mm grav_b=(-0.04,-0.08,-1.00) r=0.86m +[headless_play] t= 3.60s step= 180 trunk_z= 124.3mm grav_b=(-0.04,-0.07,-1.00) r=0.88m +[headless_play] t= 3.70s step= 185 trunk_z= 122.5mm grav_b=(-0.04,-0.06,-1.00) r=0.89m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=0.90m +[headless_play] t= 3.90s step= 195 trunk_z= 126.1mm grav_b=(+0.01,+0.04,-1.00) r=0.91m +[headless_play] t= 4.00s step= 200 trunk_z= 119.7mm grav_b=(+0.02,-0.03,-1.00) r=0.93m +[headless_play] t= 4.10s step= 205 trunk_z= 126.8mm grav_b=(+0.02,-0.13,-0.99) r=0.97m +[headless_play] t= 4.20s step= 210 trunk_z= 127.5mm grav_b=(+0.03,-0.21,-0.98) r=0.99m +[headless_play] t= 4.30s step= 215 trunk_z= 117.5mm grav_b=(+0.07,-0.17,-0.98) r=1.02m +[headless_play] t= 4.40s step= 220 trunk_z= 107.0mm grav_b=(+0.06,-0.08,-0.99) r=1.08m +[headless_play] t= 4.50s step= 225 trunk_z= 136.5mm grav_b=(+0.07,+0.00,-1.00) r=1.11m +[headless_play] t= 4.60s step= 230 trunk_z= 129.7mm grav_b=(+0.01,+0.02,-1.00) r=1.15m +[headless_play] t= 4.70s step= 235 trunk_z= 122.9mm grav_b=(-0.05,-0.09,-0.99) r=1.20m +[headless_play] t= 4.80s step= 240 trunk_z= 123.1mm grav_b=(-0.06,-0.06,-1.00) r=1.22m +[headless_play] t= 4.90s step= 245 trunk_z= 117.3mm grav_b=(-0.04,+0.03,-1.00) r=1.24m +[headless_play] t= 5.00s step= 250 trunk_z= 124.4mm grav_b=(+0.01,+0.07,-1.00) r=1.25m +[headless_play] t= 5.10s step= 255 trunk_z= 123.3mm grav_b=(+0.01,+0.07,-1.00) r=1.27m +[headless_play] t= 5.20s step= 260 trunk_z= 118.4mm grav_b=(+0.02,+0.04,-1.00) r=1.28m +[headless_play] t= 5.30s step= 265 trunk_z= 123.3mm grav_b=(+0.01,-0.04,-1.00) r=1.29m +[headless_play] t= 5.40s step= 270 trunk_z= 122.0mm grav_b=(+0.03,-0.04,-1.00) r=1.29m +[headless_play] t= 5.50s step= 275 trunk_z= 112.9mm grav_b=(-0.02,+0.05,-1.00) r=1.28m +[headless_play] t= 5.60s step= 280 trunk_z= 125.3mm grav_b=(-0.04,+0.12,-0.99) r=1.28m +[headless_play] t= 5.70s step= 285 trunk_z= 126.4mm grav_b=(-0.00,+0.15,-0.99) r=1.27m +[headless_play] t= 5.80s step= 290 trunk_z= 125.6mm grav_b=(-0.00,+0.22,-0.97) r=1.27m +[headless_play] t= 5.90s step= 295 trunk_z= 123.0mm grav_b=(-0.04,+0.38,-0.92) r=1.25m +[headless_play] t= 6.00s step= 300 trunk_z= 109.5mm grav_b=(-0.10,+0.64,-0.76) r=1.22m +[headless_play] t= 6.10s step= 305 trunk_z= 68.0mm grav_b=(-0.30,+0.89,-0.34) r=1.18m +[headless_play] RESET at t= 6.12s step= 306 (env termination, not a recovery) +[headless_play] t= 6.20s step= 310 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.26m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(+0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 116.2mm grav_b=(+0.01,-0.03,-1.00) r=0.22m +[headless_play] t= 6.50s step= 325 trunk_z= 109.7mm grav_b=(+0.03,+0.01,-1.00) r=0.20m +[headless_play] t= 6.60s step= 330 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00) r=0.20m +[headless_play] t= 6.70s step= 335 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.21m +[headless_play] t= 6.80s step= 340 trunk_z= 109.0mm grav_b=(+0.03,-0.05,-1.00) r=0.22m +[headless_play] t= 6.90s step= 345 trunk_z= 110.3mm grav_b=(+0.07,-0.10,-0.99) r=0.22m +[headless_play] t= 7.00s step= 350 trunk_z= 107.2mm grav_b=(+0.10,-0.08,-0.99) r=0.21m +[headless_play] t= 7.10s step= 355 trunk_z= 110.0mm grav_b=(+0.09,-0.02,-1.00) r=0.19m +[headless_play] t= 7.20s step= 360 trunk_z= 110.7mm grav_b=(+0.10,-0.08,-0.99) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 106.6mm grav_b=(+0.09,-0.08,-0.99) r=0.17m +[headless_play] t= 7.40s step= 370 trunk_z= 109.1mm grav_b=(+0.08,-0.04,-1.00) r=0.16m +[headless_play] t= 7.50s step= 375 trunk_z= 105.1mm grav_b=(+0.05,-0.02,-1.00) r=0.13m +[headless_play] t= 7.60s step= 380 trunk_z= 109.7mm grav_b=(+0.04,+0.04,-1.00) r=0.11m +[headless_play] t= 7.70s step= 385 trunk_z= 110.9mm grav_b=(+0.04,+0.05,-1.00) r=0.10m +[headless_play] t= 7.80s step= 390 trunk_z= 105.0mm grav_b=(+0.06,+0.05,-1.00) r=0.10m +[headless_play] t= 7.90s step= 395 trunk_z= 112.4mm grav_b=(+0.07,-0.02,-1.00) r=0.11m +[headless_play] t= 8.00s step= 400 trunk_z= 114.2mm grav_b=(+0.06,-0.02,-1.00) r=0.11m +[headless_play] t= 8.10s step= 405 trunk_z= 102.7mm grav_b=(+0.18,+0.01,-0.98) r=0.09m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(+0.13,+0.06,-0.99) r=0.09m +[headless_play] t= 8.30s step= 415 trunk_z= 111.2mm grav_b=(+0.09,+0.03,-1.00) r=0.09m +[headless_play] t= 8.40s step= 420 trunk_z= 110.3mm grav_b=(+0.04,-0.03,-1.00) r=0.12m +[headless_play] t= 8.50s step= 425 trunk_z= 117.8mm grav_b=(+0.03,-0.04,-1.00) r=0.14m +[headless_play] t= 8.60s step= 430 trunk_z= 114.2mm grav_b=(+0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 8.70s step= 435 trunk_z= 109.7mm grav_b=(+0.04,+0.03,-1.00) r=0.15m +[headless_play] t= 8.80s step= 440 trunk_z= 115.6mm grav_b=(+0.04,+0.03,-1.00) r=0.15m +[headless_play] t= 8.90s step= 445 trunk_z= 110.3mm grav_b=(+0.04,+0.03,-1.00) r=0.18m +[headless_play] t= 9.00s step= 450 trunk_z= 112.2mm grav_b=(+0.06,-0.03,-1.00) r=0.20m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(-0.01,+0.06,-1.00) r=0.19m +[headless_play] t= 9.20s step= 460 trunk_z= 103.4mm grav_b=(-0.00,+0.03,-1.00) r=0.17m +[headless_play] t= 9.30s step= 465 trunk_z= 112.9mm grav_b=(+0.01,+0.04,-1.00) r=0.18m +[headless_play] t= 9.40s step= 470 trunk_z= 109.4mm grav_b=(+0.04,+0.02,-1.00) r=0.19m +[headless_play] t= 9.50s step= 475 trunk_z= 111.4mm grav_b=(+0.05,-0.00,-1.00) r=0.21m +[headless_play] t= 9.60s step= 480 trunk_z= 112.7mm grav_b=(+0.06,-0.05,-1.00) r=0.23m +[headless_play] t= 9.70s step= 485 trunk_z= 107.2mm grav_b=(+0.14,-0.04,-0.99) r=0.24m +[headless_play] t= 9.80s step= 490 trunk_z= 109.0mm grav_b=(+0.11,+0.04,-0.99) r=0.25m +[headless_play] t= 9.90s step= 495 trunk_z= 114.1mm grav_b=(+0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 10.00s step= 500 trunk_z= 108.9mm grav_b=(+0.06,+0.03,-1.00) r=0.28m +[headless_play] t= 10.10s step= 505 trunk_z= 113.0mm grav_b=(+0.11,-0.01,-0.99) r=0.31m +[headless_play] t= 10.20s step= 510 trunk_z= 113.7mm grav_b=(+0.09,-0.04,-1.00) r=0.32m +[headless_play] t= 10.30s step= 515 trunk_z= 113.3mm grav_b=(+0.06,-0.02,-1.00) r=0.32m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(+0.05,+0.04,-1.00) r=0.33m +[headless_play] t= 10.50s step= 525 trunk_z= 111.8mm grav_b=(+0.08,+0.04,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 107.1mm grav_b=(+0.09,-0.01,-1.00) r=0.38m +[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(+0.06,-0.04,-1.00) r=0.40m +[headless_play] t= 10.80s step= 540 trunk_z= 121.9mm grav_b=(-0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 10.90s step= 545 trunk_z= 117.9mm grav_b=(-0.00,-0.07,-1.00) r=0.37m +[headless_play] t= 11.00s step= 550 trunk_z= 115.9mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 119.8mm grav_b=(+0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 11.30s step= 565 trunk_z= 125.2mm grav_b=(+0.04,-0.08,-1.00) r=0.36m +[headless_play] t= 11.40s step= 570 trunk_z= 124.2mm grav_b=(+0.04,-0.08,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 126.0mm grav_b=(+0.09,-0.10,-0.99) r=0.42m +[headless_play] t= 11.60s step= 580 trunk_z= 122.8mm grav_b=(+0.07,-0.07,-1.00) r=0.47m +[headless_play] t= 11.70s step= 585 trunk_z= 111.2mm grav_b=(+0.02,-0.03,-1.00) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 119.6mm grav_b=(-0.00,-0.03,-1.00) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 112.6mm grav_b=(-0.08,+0.01,-1.00) r=0.58m +[headless_play] t= 12.00s step= 600 trunk_z= 123.4mm grav_b=(-0.07,+0.04,-1.00) r=0.60m +[headless_play] t= 12.10s step= 605 trunk_z= 124.0mm grav_b=(-0.02,+0.02,-1.00) r=0.61m +[headless_play] t= 12.20s step= 610 trunk_z= 120.3mm grav_b=(+0.06,-0.04,-1.00) r=0.64m +[headless_play] t= 12.30s step= 615 trunk_z= 133.1mm grav_b=(+0.09,-0.11,-0.99) r=0.66m +[headless_play] t= 12.40s step= 620 trunk_z= 128.3mm grav_b=(+0.03,-0.06,-1.00) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 125.8mm grav_b=(+0.02,-0.03,-1.00) r=0.74m +[headless_play] t= 12.60s step= 630 trunk_z= 129.0mm grav_b=(+0.00,-0.03,-1.00) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 121.5mm grav_b=(+0.04,-0.09,-1.00) r=0.78m +[headless_play] t= 12.80s step= 640 trunk_z= 127.1mm grav_b=(+0.04,-0.14,-0.99) r=0.78m +[headless_play] t= 12.90s step= 645 trunk_z= 128.8mm grav_b=(+0.01,-0.21,-0.98) r=0.80m +[headless_play] t= 13.00s step= 650 trunk_z= 128.2mm grav_b=(-0.01,-0.22,-0.98) r=0.82m +[headless_play] t= 13.10s step= 655 trunk_z= 123.9mm grav_b=(-0.01,-0.13,-0.99) r=0.86m +[headless_play] t= 13.20s step= 660 trunk_z= 131.9mm grav_b=(+0.12,-0.12,-0.99) r=0.88m +[headless_play] t= 13.30s step= 665 trunk_z= 113.4mm grav_b=(+0.07,-0.03,-1.00) r=0.89m +[headless_play] t= 13.40s step= 670 trunk_z= 114.8mm grav_b=(+0.06,+0.02,-1.00) r=0.92m +[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(-0.00,+0.05,-1.00) r=0.95m +[headless_play] t= 13.60s step= 680 trunk_z= 119.7mm grav_b=(-0.03,+0.00,-1.00) r=0.96m +[headless_play] t= 13.70s step= 685 trunk_z= 110.1mm grav_b=(-0.00,-0.05,-1.00) r=0.94m +[headless_play] t= 13.80s step= 690 trunk_z= 122.7mm grav_b=(+0.02,-0.12,-0.99) r=0.93m +[headless_play] t= 13.90s step= 695 trunk_z= 121.8mm grav_b=(+0.04,-0.15,-0.99) r=0.93m +[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(+0.06,-0.17,-0.98) r=0.94m +[headless_play] t= 14.10s step= 705 trunk_z= 117.8mm grav_b=(+0.07,-0.12,-0.99) r=0.96m +[headless_play] t= 14.20s step= 710 trunk_z= 117.2mm grav_b=(+0.06,-0.05,-1.00) r=0.98m +[headless_play] t= 14.30s step= 715 trunk_z= 114.4mm grav_b=(+0.08,-0.02,-1.00) r=1.00m +[headless_play] t= 14.40s step= 720 trunk_z= 112.3mm grav_b=(+0.12,-0.06,-0.99) r=1.02m +[headless_play] t= 14.50s step= 725 trunk_z= 117.5mm grav_b=(+0.09,-0.02,-1.00) r=1.04m +[headless_play] t= 14.60s step= 730 trunk_z= 109.9mm grav_b=(+0.04,+0.03,-1.00) r=1.07m +[headless_play] t= 14.70s step= 735 trunk_z= 118.2mm grav_b=(-0.00,-0.01,-1.00) r=1.08m +[headless_play] t= 14.80s step= 740 trunk_z= 113.2mm grav_b=(+0.00,-0.04,-1.00) r=1.08m +[headless_play] t= 14.90s step= 745 trunk_z= 118.6mm grav_b=(-0.00,-0.07,-1.00) r=1.08m +[headless_play] t= 15.00s step= 750 trunk_z= 117.5mm grav_b=(+0.00,-0.07,-1.00) r=1.09m +[headless_play] t= 15.10s step= 755 trunk_z= 105.8mm grav_b=(+0.07,-0.00,-1.00) r=1.12m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(+0.08,+0.07,-0.99) r=1.15m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(+0.07,+0.08,-0.99) r=1.16m +[headless_play] t= 15.40s step= 770 trunk_z= 112.4mm grav_b=(+0.07,+0.01,-1.00) r=1.16m +[headless_play] t= 15.50s step= 775 trunk_z= 121.0mm grav_b=(+0.04,-0.09,-0.99) r=1.16m +[headless_play] t= 15.60s step= 780 trunk_z= 120.6mm grav_b=(+0.05,-0.10,-0.99) r=1.17m +[headless_play] t= 15.70s step= 785 trunk_z= 112.6mm grav_b=(+0.06,-0.07,-1.00) r=1.20m +[headless_play] t= 15.80s step= 790 trunk_z= 118.4mm grav_b=(-0.07,-0.04,-1.00) r=1.19m +[headless_play] t= 15.90s step= 795 trunk_z= 112.4mm grav_b=(+0.01,-0.04,-1.00) r=1.16m +[headless_play] t= 16.00s step= 800 trunk_z= 107.9mm grav_b=(+0.05,-0.08,-1.00) r=1.14m +[headless_play] t= 16.10s step= 805 trunk_z= 109.5mm grav_b=(+0.12,-0.11,-0.99) r=1.14m +[headless_play] t= 16.20s step= 810 trunk_z= 103.8mm grav_b=(+0.13,-0.04,-0.99) r=1.14m +[headless_play] t= 16.30s step= 815 trunk_z= 115.0mm grav_b=(+0.06,-0.03,-1.00) r=1.16m +[headless_play] t= 16.40s step= 820 trunk_z= 105.7mm grav_b=(+0.10,-0.04,-0.99) r=1.19m +[headless_play] t= 16.50s step= 825 trunk_z= 112.1mm grav_b=(+0.17,-0.06,-0.98) r=1.23m +[headless_play] t= 16.60s step= 830 trunk_z= 115.2mm grav_b=(+0.11,-0.02,-0.99) r=1.25m +[headless_play] t= 16.70s step= 835 trunk_z= 117.4mm grav_b=(+0.05,+0.03,-1.00) r=1.28m +[headless_play] t= 16.80s step= 840 trunk_z= 116.6mm grav_b=(-0.02,-0.06,-1.00) r=1.30m +[headless_play] t= 16.90s step= 845 trunk_z= 115.1mm grav_b=(+0.02,-0.08,-1.00) r=1.32m +[headless_play] t= 17.00s step= 850 trunk_z= 119.5mm grav_b=(-0.01,-0.07,-1.00) r=1.33m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(-0.08,-0.06,-1.00) r=1.31m +[headless_play] t= 17.20s step= 860 trunk_z= 101.8mm grav_b=(+0.05,+0.03,-1.00) r=1.28m +[headless_play] t= 17.30s step= 865 trunk_z= 109.5mm grav_b=(+0.02,+0.02,-1.00) r=1.28m +[headless_play] t= 17.40s step= 870 trunk_z= 109.3mm grav_b=(+0.04,-0.03,-1.00) r=1.27m +[headless_play] t= 17.50s step= 875 trunk_z= 116.2mm grav_b=(+0.07,-0.07,-0.99) r=1.29m +[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(+0.08,-0.06,-0.99) r=1.31m +[headless_play] t= 17.70s step= 885 trunk_z= 116.0mm grav_b=(+0.08,-0.01,-1.00) r=1.34m +[headless_play] t= 17.80s step= 890 trunk_z= 124.1mm grav_b=(+0.03,-0.08,-1.00) r=1.38m +[headless_play] t= 17.90s step= 895 trunk_z= 116.8mm grav_b=(-0.01,-0.09,-1.00) r=1.41m +[headless_play] t= 18.00s step= 900 trunk_z= 117.9mm grav_b=(-0.07,+0.02,-1.00) r=1.42m +[headless_play] t= 18.10s step= 905 trunk_z= 115.9mm grav_b=(-0.04,+0.05,-1.00) r=1.41m +[headless_play] t= 18.20s step= 910 trunk_z= 120.9mm grav_b=(-0.02,+0.03,-1.00) r=1.42m +[headless_play] t= 18.30s step= 915 trunk_z= 114.5mm grav_b=(+0.00,+0.00,-1.00) r=1.43m +[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(+0.03,-0.07,-1.00) r=1.45m +[headless_play] t= 18.50s step= 925 trunk_z= 119.1mm grav_b=(+0.05,-0.07,-1.00) r=1.47m +[headless_play] t= 18.60s step= 930 trunk_z= 113.0mm grav_b=(+0.06,-0.02,-1.00) r=1.50m +[headless_play] t= 18.70s step= 935 trunk_z= 120.8mm grav_b=(+0.05,-0.02,-1.00) r=1.53m +[headless_play] t= 18.80s step= 940 trunk_z= 114.1mm grav_b=(-0.01,-0.05,-1.00) r=1.55m +[headless_play] t= 18.90s step= 945 trunk_z= 123.4mm grav_b=(-0.03,-0.07,-1.00) r=1.56m +[headless_play] t= 19.00s step= 950 trunk_z= 124.0mm grav_b=(+0.01,-0.07,-1.00) r=1.57m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(+0.03,-0.05,-1.00) r=1.58m +[headless_play] t= 19.20s step= 960 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=1.60m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.06,+0.01,-1.00) r=1.61m +[headless_play] t= 19.40s step= 970 trunk_z= 112.9mm grav_b=(+0.03,-0.05,-1.00) r=1.63m +[headless_play] t= 19.50s step= 975 trunk_z= 121.5mm grav_b=(+0.01,-0.06,-1.00) r=1.66m +[headless_play] t= 19.60s step= 980 trunk_z= 116.8mm grav_b=(+0.04,-0.05,-1.00) r=1.68m +[headless_play] t= 19.70s step= 985 trunk_z= 115.5mm grav_b=(+0.03,+0.03,-1.00) r=1.70m +[headless_play] t= 19.80s step= 990 trunk_z= 121.1mm grav_b=(+0.04,+0.03,-1.00) r=1.73m +[headless_play] t= 19.90s step= 995 trunk_z= 117.8mm grav_b=(+0.04,+0.02,-1.00) r=1.75m +[headless_play] t= 20.00s step=1000 trunk_z= 122.8mm grav_b=(-0.01,-0.11,-0.99) r=1.78m +[headless_play] t= 20.10s step=1005 trunk_z= 121.2mm grav_b=(+0.03,-0.09,-1.00) r=1.80m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t4.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..d982ab1b3364e3981e28e2bbe920f336d079d536 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.793,-18.492,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 111.8mm grav_b=(+0.01,+0.05,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 118.3mm grav_b=(+0.01,+0.09,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(+0.02,+0.10,-0.99) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 111.6mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 120.1mm grav_b=(+0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 113.9mm grav_b=(-0.01,+0.07,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 118.6mm grav_b=(+0.02,+0.09,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 112.7mm grav_b=(+0.07,+0.07,-1.00) r=0.35m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(+0.05,-0.03,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 111.6mm grav_b=(+0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 118.9mm grav_b=(+0.02,+0.08,-1.00) r=0.29m +[headless_play] t= 1.60s step= 80 trunk_z= 115.6mm grav_b=(+0.05,+0.11,-0.99) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 111.8mm grav_b=(-0.04,-0.02,-1.00) r=0.26m +[headless_play] t= 1.80s step= 90 trunk_z= 123.1mm grav_b=(-0.08,-0.02,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.00,+0.04,-1.00) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 111.6mm grav_b=(+0.10,+0.06,-0.99) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 112.1mm grav_b=(+0.09,+0.05,-1.00) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 116.3mm grav_b=(+0.09,-0.03,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 122.9mm grav_b=(+0.03,-0.03,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 117.9mm grav_b=(+0.01,+0.02,-1.00) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 127.0mm grav_b=(+0.03,+0.08,-1.00) r=0.25m +[headless_play] t= 2.60s step= 130 trunk_z= 123.0mm grav_b=(+0.03,+0.04,-1.00) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 120.9mm grav_b=(-0.00,-0.07,-1.00) r=0.18m +[headless_play] t= 2.80s step= 140 trunk_z= 127.7mm grav_b=(-0.02,-0.09,-1.00) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 125.7mm grav_b=(-0.03,-0.07,-1.00) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 119.7mm grav_b=(-0.04,+0.05,-1.00) r=0.18m +[headless_play] t= 3.10s step= 155 trunk_z= 128.4mm grav_b=(-0.02,+0.10,-0.99) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 127.4mm grav_b=(-0.00,+0.10,-0.99) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 121.6mm grav_b=(-0.03,+0.07,-1.00) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 124.5mm grav_b=(+0.00,-0.04,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 123.0mm grav_b=(+0.02,+0.01,-1.00) r=0.20m +[headless_play] t= 3.60s step= 180 trunk_z= 123.3mm grav_b=(+0.01,+0.08,-1.00) r=0.24m +[headless_play] t= 3.70s step= 185 trunk_z= 130.5mm grav_b=(+0.02,+0.09,-1.00) r=0.27m +[headless_play] t= 3.80s step= 190 trunk_z= 128.0mm grav_b=(+0.03,+0.11,-0.99) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 120.6mm grav_b=(+0.03,+0.02,-1.00) r=0.30m +[headless_play] t= 4.00s step= 200 trunk_z= 127.7mm grav_b=(-0.00,+0.00,-1.00) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 117.5mm grav_b=(-0.04,+0.04,-1.00) r=0.35m +[headless_play] t= 4.20s step= 210 trunk_z= 126.2mm grav_b=(-0.00,+0.04,-1.00) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 122.3mm grav_b=(+0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 4.40s step= 220 trunk_z= 120.0mm grav_b=(+0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 123.5mm grav_b=(-0.00,-0.02,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(-0.05,+0.05,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 126.6mm grav_b=(-0.06,+0.09,-0.99) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 127.1mm grav_b=(-0.03,+0.10,-0.99) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 117.0mm grav_b=(+0.04,+0.03,-1.00) r=0.55m +[headless_play] t= 5.00s step= 250 trunk_z= 129.4mm grav_b=(+0.07,-0.02,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 127.3mm grav_b=(-0.00,-0.04,-1.00) r=0.62m +[headless_play] t= 5.20s step= 260 trunk_z= 119.0mm grav_b=(-0.04,+0.04,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 122.2mm grav_b=(-0.08,+0.03,-1.00) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 120.2mm grav_b=(-0.10,-0.02,-0.99) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 123.8mm grav_b=(-0.10,+0.04,-0.99) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 110.0mm grav_b=(-0.01,+0.07,-1.00) r=0.64m +[headless_play] t= 5.70s step= 285 trunk_z= 121.4mm grav_b=(+0.04,+0.08,-1.00) r=0.61m +[headless_play] t= 5.80s step= 290 trunk_z= 108.5mm grav_b=(+0.06,+0.03,-1.00) r=0.60m +[headless_play] t= 5.90s step= 295 trunk_z= 112.5mm grav_b=(+0.08,-0.01,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 113.9mm grav_b=(+0.05,+0.00,-1.00) r=0.61m +[headless_play] t= 6.10s step= 305 trunk_z= 119.1mm grav_b=(+0.02,+0.06,-1.00) r=0.63m +[headless_play] t= 6.20s step= 310 trunk_z= 114.1mm grav_b=(-0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.68m +[headless_play] t= 6.40s step= 320 trunk_z= 114.4mm grav_b=(-0.00,+0.02,-1.00) r=0.70m +[headless_play] t= 6.50s step= 325 trunk_z= 112.1mm grav_b=(-0.02,+0.07,-1.00) r=0.72m +[headless_play] t= 6.60s step= 330 trunk_z= 120.9mm grav_b=(+0.01,+0.07,-1.00) r=0.74m +[headless_play] t= 6.70s step= 335 trunk_z= 115.4mm grav_b=(+0.03,+0.07,-1.00) r=0.76m +[headless_play] t= 6.80s step= 340 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.78m +[headless_play] t= 6.90s step= 345 trunk_z= 116.8mm grav_b=(+0.02,+0.03,-1.00) r=0.80m +[headless_play] t= 7.00s step= 350 trunk_z= 110.3mm grav_b=(+0.00,+0.08,-1.00) r=0.82m +[headless_play] t= 7.10s step= 355 trunk_z= 120.4mm grav_b=(-0.00,+0.06,-1.00) r=0.84m +[headless_play] t= 7.20s step= 360 trunk_z= 115.6mm grav_b=(+0.00,+0.05,-1.00) r=0.86m +[headless_play] t= 7.30s step= 365 trunk_z= 117.7mm grav_b=(-0.00,-0.03,-1.00) r=0.89m +[headless_play] t= 7.40s step= 370 trunk_z= 119.8mm grav_b=(+0.01,-0.02,-1.00) r=0.91m +[headless_play] t= 7.50s step= 375 trunk_z= 113.8mm grav_b=(-0.01,+0.02,-1.00) r=0.92m +[headless_play] t= 7.60s step= 380 trunk_z= 120.5mm grav_b=(-0.11,+0.03,-0.99) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 111.6mm grav_b=(-0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 7.80s step= 390 trunk_z= 116.6mm grav_b=(+0.06,-0.00,-1.00) r=0.89m +[headless_play] t= 7.90s step= 395 trunk_z= 112.0mm grav_b=(+0.04,+0.01,-1.00) r=0.88m +[headless_play] t= 8.00s step= 400 trunk_z= 120.0mm grav_b=(+0.03,+0.08,-1.00) r=0.88m +[headless_play] t= 8.10s step= 405 trunk_z= 117.6mm grav_b=(+0.03,+0.07,-1.00) r=0.89m +[headless_play] t= 8.20s step= 410 trunk_z= 113.6mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 8.30s step= 415 trunk_z= 120.4mm grav_b=(+0.01,-0.00,-1.00) r=0.93m +[headless_play] t= 8.40s step= 420 trunk_z= 115.8mm grav_b=(+0.00,+0.04,-1.00) r=0.94m +[headless_play] t= 8.50s step= 425 trunk_z= 113.4mm grav_b=(-0.05,+0.06,-1.00) r=0.92m +[headless_play] t= 8.60s step= 430 trunk_z= 120.0mm grav_b=(-0.06,+0.03,-1.00) r=0.92m +[headless_play] t= 8.70s step= 435 trunk_z= 111.4mm grav_b=(-0.01,+0.03,-1.00) r=0.94m +[headless_play] t= 8.80s step= 440 trunk_z= 111.8mm grav_b=(+0.04,+0.00,-1.00) r=0.95m +[headless_play] t= 8.90s step= 445 trunk_z= 108.9mm grav_b=(+0.07,+0.02,-1.00) r=0.95m +[headless_play] t= 9.00s step= 450 trunk_z= 111.6mm grav_b=(+0.05,+0.07,-1.00) r=0.95m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(+0.05,+0.07,-1.00) r=0.96m +[headless_play] t= 9.20s step= 460 trunk_z= 112.1mm grav_b=(+0.04,+0.04,-1.00) r=0.99m +[headless_play] t= 9.30s step= 465 trunk_z= 117.6mm grav_b=(+0.03,+0.00,-1.00) r=1.01m +[headless_play] t= 9.40s step= 470 trunk_z= 115.5mm grav_b=(+0.05,+0.02,-1.00) r=1.02m +[headless_play] t= 9.50s step= 475 trunk_z= 110.5mm grav_b=(+0.07,+0.12,-0.99) r=1.02m +[headless_play] t= 9.60s step= 480 trunk_z= 118.1mm grav_b=(+0.07,+0.09,-0.99) r=1.03m +[headless_play] t= 9.70s step= 485 trunk_z= 115.1mm grav_b=(+0.04,+0.07,-1.00) r=1.06m +[headless_play] t= 9.80s step= 490 trunk_z= 118.6mm grav_b=(+0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 9.90s step= 495 trunk_z= 118.0mm grav_b=(+0.02,+0.00,-1.00) r=1.10m +[headless_play] t= 10.00s step= 500 trunk_z= 111.3mm grav_b=(-0.00,+0.04,-1.00) r=1.10m +[headless_play] t= 10.10s step= 505 trunk_z= 123.5mm grav_b=(-0.06,+0.11,-0.99) r=1.08m +[headless_play] t= 10.20s step= 510 trunk_z= 127.6mm grav_b=(-0.08,+0.14,-0.99) r=1.07m +[headless_play] t= 10.30s step= 515 trunk_z= 126.4mm grav_b=(-0.02,+0.13,-0.99) r=1.06m +[headless_play] t= 10.40s step= 520 trunk_z= 122.1mm grav_b=(+0.01,+0.13,-0.99) r=1.05m +[headless_play] t= 10.50s step= 525 trunk_z= 111.8mm grav_b=(+0.02,+0.12,-0.99) r=1.03m +[headless_play] t= 10.60s step= 530 trunk_z= 115.0mm grav_b=(+0.06,+0.10,-0.99) r=1.02m +[headless_play] t= 10.70s step= 535 trunk_z= 114.2mm grav_b=(+0.06,+0.09,-0.99) r=1.04m +[headless_play] t= 10.80s step= 540 trunk_z= 114.9mm grav_b=(+0.08,+0.01,-1.00) r=1.05m +[headless_play] t= 10.90s step= 545 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=1.06m +[headless_play] t= 11.00s step= 550 trunk_z= 114.5mm grav_b=(+0.04,+0.04,-1.00) r=1.05m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 11.20s step= 560 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=1.04m +[headless_play] t= 11.30s step= 565 trunk_z= 111.8mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 11.40s step= 570 trunk_z= 113.6mm grav_b=(+0.03,-0.00,-1.00) r=1.03m +[headless_play] t= 11.50s step= 575 trunk_z= 114.0mm grav_b=(+0.06,+0.04,-1.00) r=1.03m +[headless_play] t= 11.60s step= 580 trunk_z= 115.4mm grav_b=(+0.07,+0.03,-1.00) r=1.02m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(+0.03,+0.02,-1.00) r=1.02m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(-0.00,+0.00,-1.00) r=1.01m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=1.01m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(+0.03,+0.00,-1.00) r=1.02m +[headless_play] t= 12.10s step= 605 trunk_z= 116.5mm grav_b=(+0.05,+0.00,-1.00) r=1.02m +[headless_play] t= 12.20s step= 610 trunk_z= 118.6mm grav_b=(+0.05,+0.04,-1.00) r=1.02m +[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.05,+0.02,-1.00) r=1.02m +[headless_play] t= 12.40s step= 620 trunk_z= 117.5mm grav_b=(+0.02,+0.00,-1.00) r=1.01m +[headless_play] t= 12.50s step= 625 trunk_z= 117.0mm grav_b=(-0.00,+0.01,-1.00) r=1.01m +[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(+0.01,+0.02,-1.00) r=1.01m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=1.02m +[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00) r=1.01m +[headless_play] t= 12.90s step= 645 trunk_z= 117.2mm grav_b=(+0.03,+0.03,-1.00) r=1.01m +[headless_play] t= 13.00s step= 650 trunk_z= 118.0mm grav_b=(+0.03,+0.02,-1.00) r=1.01m +[headless_play] t= 13.10s step= 655 trunk_z= 117.8mm grav_b=(+0.04,+0.01,-1.00) r=1.01m +[headless_play] t= 13.20s step= 660 trunk_z= 117.6mm grav_b=(+0.03,+0.01,-1.00) r=1.01m +[headless_play] t= 13.30s step= 665 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=1.01m +[headless_play] t= 13.40s step= 670 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=1.01m +[headless_play] t= 13.50s step= 675 trunk_z= 117.5mm grav_b=(+0.02,+0.03,-1.00) r=1.01m +[headless_play] t= 13.60s step= 680 trunk_z= 118.9mm grav_b=(+0.01,+0.03,-1.00) r=1.01m +[headless_play] t= 13.70s step= 685 trunk_z= 118.2mm grav_b=(+0.01,+0.01,-1.00) r=1.01m +[headless_play] t= 13.80s step= 690 trunk_z= 117.8mm grav_b=(+0.03,+0.01,-1.00) r=1.01m +[headless_play] t= 13.90s step= 695 trunk_z= 117.8mm grav_b=(+0.06,+0.01,-1.00) r=1.01m +[headless_play] t= 14.00s step= 700 trunk_z= 117.7mm grav_b=(+0.06,+0.00,-1.00) r=1.01m +[headless_play] t= 14.10s step= 705 trunk_z= 117.5mm grav_b=(+0.04,+0.00,-1.00) r=1.01m +[headless_play] t= 14.20s step= 710 trunk_z= 117.7mm grav_b=(+0.11,+0.02,-0.99) r=1.02m +[headless_play] t= 14.30s step= 715 trunk_z= 121.1mm grav_b=(+0.13,+0.03,-0.99) r=1.03m +[headless_play] t= 14.40s step= 720 trunk_z= 118.8mm grav_b=(+0.00,+0.03,-1.00) r=1.05m +[headless_play] t= 14.50s step= 725 trunk_z= 116.6mm grav_b=(-0.04,-0.03,-1.00) r=1.07m +[headless_play] t= 14.60s step= 730 trunk_z= 117.4mm grav_b=(-0.05,-0.01,-1.00) r=1.08m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(+0.00,+0.04,-1.00) r=1.08m +[headless_play] t= 14.80s step= 740 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 14.90s step= 745 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00) r=1.08m +[headless_play] t= 15.00s step= 750 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=1.08m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.07,-0.01,-1.00) r=1.08m +[headless_play] t= 15.20s step= 760 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=1.08m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 15.50s step= 775 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=1.08m +[headless_play] t= 15.70s step= 785 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=1.08m +[headless_play] t= 15.80s step= 790 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=1.08m +[headless_play] t= 15.90s step= 795 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=1.08m +[headless_play] t= 16.00s step= 800 trunk_z= 117.0mm grav_b=(-0.07,+0.00,-1.00) r=1.07m +[headless_play] t= 16.10s step= 805 trunk_z= 120.4mm grav_b=(-0.08,-0.01,-1.00) r=1.06m +[headless_play] t= 16.20s step= 810 trunk_z= 100.4mm grav_b=(+0.05,-0.08,-1.00) r=1.04m +[headless_play] t= 16.30s step= 815 trunk_z= 105.3mm grav_b=(+0.04,+0.02,-1.00) r=1.02m +[headless_play] t= 16.40s step= 820 trunk_z= 111.3mm grav_b=(+0.10,+0.08,-0.99) r=1.00m +[headless_play] t= 16.50s step= 825 trunk_z= 113.9mm grav_b=(+0.05,+0.06,-1.00) r=0.99m +[headless_play] t= 16.60s step= 830 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) r=0.99m +[headless_play] t= 16.70s step= 835 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=0.99m +[headless_play] t= 16.80s step= 840 trunk_z= 115.4mm grav_b=(+0.04,+0.00,-1.00) r=0.99m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.07,+0.01,-1.00) r=0.99m +[headless_play] t= 17.00s step= 850 trunk_z= 116.2mm grav_b=(+0.06,+0.02,-1.00) r=0.99m +[headless_play] t= 17.10s step= 855 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 17.20s step= 860 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 17.30s step= 865 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 17.40s step= 870 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 17.50s step= 875 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.98m +[headless_play] t= 17.60s step= 880 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.98m +[headless_play] t= 17.70s step= 885 trunk_z= 115.4mm grav_b=(-0.04,+0.00,-1.00) r=0.99m +[headless_play] t= 17.80s step= 890 trunk_z= 112.2mm grav_b=(-0.04,+0.06,-1.00) r=0.98m +[headless_play] t= 17.90s step= 895 trunk_z= 117.3mm grav_b=(-0.03,+0.06,-1.00) r=0.98m +[headless_play] t= 18.00s step= 900 trunk_z= 114.6mm grav_b=(-0.02,+0.03,-1.00) r=1.00m +[headless_play] t= 18.10s step= 905 trunk_z= 108.8mm grav_b=(-0.01,-0.06,-1.00) r=1.03m +[headless_play] t= 18.20s step= 910 trunk_z= 116.8mm grav_b=(+0.05,-0.05,-1.00) r=1.05m +[headless_play] t= 18.30s step= 915 trunk_z= 110.5mm grav_b=(+0.06,+0.01,-1.00) r=1.04m +[headless_play] t= 18.40s step= 920 trunk_z= 116.3mm grav_b=(+0.02,+0.06,-1.00) r=1.04m +[headless_play] t= 18.50s step= 925 trunk_z= 114.4mm grav_b=(+0.04,+0.04,-1.00) r=1.06m +[headless_play] t= 18.60s step= 930 trunk_z= 109.4mm grav_b=(+0.04,-0.06,-1.00) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 120.6mm grav_b=(+0.08,-0.04,-1.00) r=1.11m +[headless_play] t= 18.80s step= 940 trunk_z= 114.4mm grav_b=(+0.06,+0.03,-1.00) r=1.12m +[headless_play] t= 18.90s step= 945 trunk_z= 123.1mm grav_b=(+0.03,+0.06,-1.00) r=1.12m +[headless_play] t= 19.00s step= 950 trunk_z= 115.6mm grav_b=(+0.02,+0.03,-1.00) r=1.14m +[headless_play] t= 19.10s step= 955 trunk_z= 117.5mm grav_b=(-0.04,-0.06,-1.00) r=1.16m +[headless_play] t= 19.20s step= 960 trunk_z= 120.9mm grav_b=(-0.01,-0.04,-1.00) r=1.17m +[headless_play] t= 19.30s step= 965 trunk_z= 110.5mm grav_b=(-0.03,+0.01,-1.00) r=1.16m +[headless_play] t= 19.40s step= 970 trunk_z= 118.8mm grav_b=(-0.03,+0.06,-1.00) r=1.14m +[headless_play] t= 19.50s step= 975 trunk_z= 122.7mm grav_b=(-0.02,+0.07,-1.00) r=1.14m +[headless_play] t= 19.60s step= 980 trunk_z= 123.3mm grav_b=(-0.07,+0.12,-0.99) r=1.15m +[headless_play] t= 19.70s step= 985 trunk_z= 114.5mm grav_b=(+0.04,+0.01,-1.00) r=1.16m +[headless_play] t= 19.80s step= 990 trunk_z= 112.2mm grav_b=(+0.07,+0.01,-1.00) r=1.17m +[headless_play] t= 19.90s step= 995 trunk_z= 105.7mm grav_b=(+0.05,+0.06,-1.00) r=1.16m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.7mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.03,-0.07,-1.00) r=0.55m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t5.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..fb02dbe4afb1ca637bc43f1a6eb2ef271745006f --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.825,-17.936,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 0.10s step= 5 trunk_z= 114.8mm grav_b=(-0.01,+0.04,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.00,+0.06,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.19m +[headless_play] t= 0.40s step= 20 trunk_z= 113.9mm grav_b=(+0.02,-0.06,-1.00) r=0.17m +[headless_play] t= 0.50s step= 25 trunk_z= 120.4mm grav_b=(+0.03,-0.04,-1.00) r=0.16m +[headless_play] t= 0.60s step= 30 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 120.4mm grav_b=(-0.00,+0.03,-1.00) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 120.1mm grav_b=(+0.00,+0.06,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 120.0mm grav_b=(-0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 1.00s step= 50 trunk_z= 121.0mm grav_b=(-0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 117.1mm grav_b=(+0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 1.20s step= 60 trunk_z= 118.9mm grav_b=(+0.01,+0.06,-1.00) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 118.3mm grav_b=(+0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.03,-0.02,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 122.1mm grav_b=(+0.03,-0.06,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 115.4mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 119.5mm grav_b=(-0.03,+0.06,-1.00) r=0.36m +[headless_play] t= 1.80s step= 90 trunk_z= 123.9mm grav_b=(-0.01,+0.05,-1.00) r=0.37m +[headless_play] t= 1.90s step= 95 trunk_z= 118.1mm grav_b=(-0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 2.00s step= 100 trunk_z= 121.4mm grav_b=(-0.01,-0.05,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 119.7mm grav_b=(+0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 112.5mm grav_b=(-0.04,+0.04,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 123.4mm grav_b=(-0.05,+0.06,-1.00) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 126.3mm grav_b=(-0.09,+0.08,-0.99) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(+0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 111.1mm grav_b=(+0.03,+0.02,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(+0.06,+0.04,-1.00) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(+0.05,+0.04,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 117.5mm grav_b=(+0.05,-0.07,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 121.9mm grav_b=(+0.01,-0.05,-1.00) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 123.8mm grav_b=(+0.03,+0.11,-0.99) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 126.7mm grav_b=(+0.02,+0.19,-0.98) r=0.55m +[headless_play] t= 3.50s step= 175 trunk_z= 129.4mm grav_b=(+0.02,+0.20,-0.98) r=0.56m +[headless_play] t= 3.60s step= 180 trunk_z= 129.7mm grav_b=(-0.07,+0.03,-1.00) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 129.1mm grav_b=(-0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 3.80s step= 190 trunk_z= 114.6mm grav_b=(-0.04,+0.02,-1.00) r=0.65m +[headless_play] t= 3.90s step= 195 trunk_z= 120.6mm grav_b=(-0.03,+0.03,-1.00) r=0.66m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.01,+0.02,-1.00) r=0.68m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(+0.06,-0.03,-1.00) r=0.71m +[headless_play] t= 4.20s step= 210 trunk_z= 117.0mm grav_b=(+0.09,+0.07,-0.99) r=0.74m +[headless_play] t= 4.30s step= 215 trunk_z= 125.5mm grav_b=(+0.05,+0.07,-1.00) r=0.77m +[headless_play] t= 4.40s step= 220 trunk_z= 119.4mm grav_b=(+0.00,-0.01,-1.00) r=0.82m +[headless_play] t= 4.50s step= 225 trunk_z= 123.9mm grav_b=(-0.01,-0.08,-1.00) r=0.86m +[headless_play] t= 4.60s step= 230 trunk_z= 120.3mm grav_b=(-0.04,-0.06,-1.00) r=0.88m +[headless_play] t= 4.70s step= 235 trunk_z= 112.3mm grav_b=(-0.04,+0.02,-1.00) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 122.8mm grav_b=(-0.04,+0.05,-1.00) r=0.88m +[headless_play] t= 4.90s step= 245 trunk_z= 121.1mm grav_b=(-0.01,+0.06,-1.00) r=0.90m +[headless_play] t= 5.00s step= 250 trunk_z= 114.6mm grav_b=(-0.01,-0.03,-1.00) r=0.92m +[headless_play] t= 5.10s step= 255 trunk_z= 123.2mm grav_b=(-0.04,-0.05,-1.00) r=0.93m +[headless_play] t= 5.20s step= 260 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.94m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(+0.01,+0.07,-1.00) r=0.94m +[headless_play] t= 5.40s step= 270 trunk_z= 124.7mm grav_b=(+0.02,+0.08,-1.00) r=0.95m +[headless_play] t= 5.50s step= 275 trunk_z= 122.4mm grav_b=(+0.02,+0.08,-1.00) r=0.98m +[headless_play] t= 5.60s step= 280 trunk_z= 121.0mm grav_b=(-0.01,-0.04,-1.00) r=1.01m +[headless_play] t= 5.70s step= 285 trunk_z= 122.4mm grav_b=(-0.02,-0.05,-1.00) r=1.03m +[headless_play] t= 5.80s step= 290 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=1.04m +[headless_play] t= 5.90s step= 295 trunk_z= 123.4mm grav_b=(-0.02,+0.06,-1.00) r=1.04m +[headless_play] t= 6.00s step= 300 trunk_z= 119.6mm grav_b=(+0.02,+0.05,-1.00) r=1.07m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 6.20s step= 310 trunk_z= 121.4mm grav_b=(+0.01,-0.01,-1.00) r=1.13m +[headless_play] t= 6.30s step= 315 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=1.14m +[headless_play] t= 6.40s step= 320 trunk_z= 124.8mm grav_b=(-0.03,+0.07,-1.00) r=1.15m +[headless_play] t= 6.50s step= 325 trunk_z= 122.9mm grav_b=(-0.04,+0.08,-1.00) r=1.17m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=1.20m +[headless_play] t= 6.70s step= 335 trunk_z= 121.7mm grav_b=(-0.03,-0.03,-1.00) r=1.22m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=1.22m +[headless_play] t= 6.90s step= 345 trunk_z= 121.7mm grav_b=(+0.05,+0.05,-1.00) r=1.24m +[headless_play] t= 7.00s step= 350 trunk_z= 129.9mm grav_b=(+0.05,+0.07,-1.00) r=1.27m +[headless_play] t= 7.10s step= 355 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=1.31m +[headless_play] t= 7.20s step= 360 trunk_z= 124.9mm grav_b=(-0.03,-0.02,-1.00) r=1.33m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.07,+0.01,-1.00) r=1.34m +[headless_play] t= 7.40s step= 370 trunk_z= 123.2mm grav_b=(-0.07,+0.08,-0.99) r=1.35m +[headless_play] t= 7.50s step= 375 trunk_z= 123.7mm grav_b=(-0.07,+0.08,-0.99) r=1.36m +[headless_play] t= 7.60s step= 380 trunk_z= 115.0mm grav_b=(-0.04,+0.02,-1.00) r=1.39m +[headless_play] t= 7.70s step= 385 trunk_z= 119.9mm grav_b=(+0.05,-0.00,-1.00) r=1.42m +[headless_play] t= 7.80s step= 390 trunk_z= 114.0mm grav_b=(+0.05,+0.03,-1.00) r=1.45m +[headless_play] t= 7.90s step= 395 trunk_z= 132.4mm grav_b=(-0.02,+0.01,-1.00) r=1.48m +[headless_play] t= 8.00s step= 400 trunk_z= 120.6mm grav_b=(-0.05,-0.03,-1.00) r=1.53m +[headless_play] t= 8.10s step= 405 trunk_z= 119.5mm grav_b=(-0.09,-0.02,-1.00) r=1.55m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(-0.05,+0.02,-1.00) r=1.55m +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(+0.00,-0.01,-1.00) r=1.56m +[headless_play] t= 8.40s step= 420 trunk_z= 115.6mm grav_b=(+0.02,-0.00,-1.00) r=1.56m +[headless_play] t= 8.50s step= 425 trunk_z= 115.7mm grav_b=(+0.02,-0.00,-1.00) r=1.56m +[headless_play] t= 8.60s step= 430 trunk_z= 115.7mm grav_b=(+0.02,-0.00,-1.00) r=1.56m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(+0.03,+0.02,-1.00) r=1.56m +[headless_play] t= 8.80s step= 440 trunk_z= 119.0mm grav_b=(+0.07,+0.05,-1.00) r=1.56m +[headless_play] t= 8.90s step= 445 trunk_z= 116.3mm grav_b=(+0.06,+0.01,-1.00) r=1.57m +[headless_play] t= 9.00s step= 450 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=1.56m +[headless_play] t= 9.10s step= 455 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) r=1.56m +[headless_play] t= 9.20s step= 460 trunk_z= 115.2mm grav_b=(+0.00,-0.01,-1.00) r=1.56m +[headless_play] t= 9.30s step= 465 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) r=1.56m +[headless_play] t= 9.40s step= 470 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) r=1.56m +[headless_play] t= 9.50s step= 475 trunk_z= 115.5mm grav_b=(-0.08,-0.01,-1.00) r=1.55m +[headless_play] t= 9.60s step= 480 trunk_z= 115.2mm grav_b=(-0.06,-0.05,-1.00) r=1.55m +[headless_play] t= 9.70s step= 485 trunk_z= 115.5mm grav_b=(-0.00,+0.04,-1.00) r=1.54m +[headless_play] t= 9.80s step= 490 trunk_z= 115.9mm grav_b=(+0.02,+0.05,-1.00) r=1.54m +[headless_play] t= 9.90s step= 495 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 10.00s step= 500 trunk_z= 115.1mm grav_b=(-0.00,-0.00,-1.00) r=1.54m +[headless_play] t= 10.10s step= 505 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=1.54m +[headless_play] t= 10.20s step= 510 trunk_z= 115.2mm grav_b=(+0.00,-0.00,-1.00) r=1.54m +[headless_play] t= 10.30s step= 515 trunk_z= 115.2mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 10.40s step= 520 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 10.50s step= 525 trunk_z= 115.3mm grav_b=(+0.01,-0.01,-1.00) r=1.54m +[headless_play] t= 10.60s step= 530 trunk_z= 115.3mm grav_b=(+0.01,-0.00,-1.00) r=1.54m +[headless_play] t= 10.70s step= 535 trunk_z= 115.3mm grav_b=(+0.01,-0.00,-1.00) r=1.54m +[headless_play] t= 10.80s step= 540 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=1.54m +[headless_play] t= 10.90s step= 545 trunk_z= 115.4mm grav_b=(+0.01,-0.00,-1.00) r=1.54m +[headless_play] t= 11.00s step= 550 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 11.10s step= 555 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 11.20s step= 560 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 11.30s step= 565 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=1.54m +[headless_play] t= 11.40s step= 570 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=1.54m +[headless_play] t= 11.50s step= 575 trunk_z= 116.9mm grav_b=(+0.08,-0.02,-1.00) r=1.55m +[headless_play] t= 11.60s step= 580 trunk_z= 120.0mm grav_b=(+0.06,+0.04,-1.00) r=1.55m +[headless_play] t= 11.70s step= 585 trunk_z= 121.9mm grav_b=(+0.01,+0.09,-1.00) r=1.55m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(-0.02,+0.05,-1.00) r=1.56m +[headless_play] t= 11.90s step= 595 trunk_z= 115.8mm grav_b=(-0.03,-0.01,-1.00) r=1.57m +[headless_play] t= 12.00s step= 600 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=1.57m +[headless_play] t= 12.10s step= 605 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=1.57m +[headless_play] t= 12.20s step= 610 trunk_z= 115.6mm grav_b=(+0.00,-0.00,-1.00) r=1.57m +[headless_play] t= 12.30s step= 615 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=1.57m +[headless_play] t= 12.40s step= 620 trunk_z= 115.3mm grav_b=(-0.01,-0.00,-1.00) r=1.57m +[headless_play] t= 12.50s step= 625 trunk_z= 115.2mm grav_b=(-0.00,-0.00,-1.00) r=1.57m +[headless_play] t= 12.60s step= 630 trunk_z= 115.0mm grav_b=(+0.02,+0.00,-1.00) r=1.57m +[headless_play] t= 12.70s step= 635 trunk_z= 115.1mm grav_b=(+0.03,+0.00,-1.00) r=1.57m +[headless_play] t= 12.80s step= 640 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=1.57m +[headless_play] t= 12.90s step= 645 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) r=1.57m +[headless_play] t= 13.00s step= 650 trunk_z= 115.1mm grav_b=(+0.00,+0.00,-1.00) r=1.57m +[headless_play] t= 13.10s step= 655 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) r=1.57m +[headless_play] t= 13.20s step= 660 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) r=1.57m +[headless_play] t= 13.30s step= 665 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) r=1.57m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(+0.01,+0.02,-1.00) r=1.56m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=1.56m +[headless_play] t= 13.60s step= 680 trunk_z= 116.1mm grav_b=(+0.00,-0.00,-1.00) r=1.56m +[headless_play] t= 13.70s step= 685 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=1.56m +[headless_play] t= 13.80s step= 690 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) r=1.56m +[headless_play] t= 13.90s step= 695 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) r=1.56m +[headless_play] t= 14.00s step= 700 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) r=1.56m +[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(+0.00,-0.00,-1.00) r=1.56m +[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(+0.00,-0.00,-1.00) r=1.56m +[headless_play] t= 14.30s step= 715 trunk_z= 116.4mm grav_b=(+0.05,-0.01,-1.00) r=1.57m +[headless_play] t= 14.40s step= 720 trunk_z= 118.8mm grav_b=(+0.12,+0.04,-0.99) r=1.57m +[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(+0.02,+0.07,-1.00) r=1.56m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(-0.03,-0.04,-1.00) r=1.57m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(-0.07,-0.03,-1.00) r=1.57m +[headless_play] t= 14.80s step= 740 trunk_z= 115.0mm grav_b=(+0.01,-0.03,-1.00) r=1.58m +[headless_play] t= 14.90s step= 745 trunk_z= 113.6mm grav_b=(-0.04,-0.05,-1.00) r=1.59m +[headless_play] t= 15.00s step= 750 trunk_z= 114.5mm grav_b=(-0.04,-0.02,-1.00) r=1.58m +[headless_play] t= 15.10s step= 755 trunk_z= 115.0mm grav_b=(-0.03,-0.01,-1.00) r=1.58m +[headless_play] t= 15.20s step= 760 trunk_z= 115.8mm grav_b=(-0.03,+0.00,-1.00) r=1.57m +[headless_play] t= 15.30s step= 765 trunk_z= 115.8mm grav_b=(-0.04,-0.01,-1.00) r=1.57m +[headless_play] t= 15.40s step= 770 trunk_z= 115.8mm grav_b=(-0.03,-0.00,-1.00) r=1.57m +[headless_play] t= 15.50s step= 775 trunk_z= 115.8mm grav_b=(-0.04,-0.01,-1.00) r=1.57m +[headless_play] t= 15.60s step= 780 trunk_z= 115.2mm grav_b=(-0.00,+0.03,-1.00) r=1.57m +[headless_play] t= 15.70s step= 785 trunk_z= 117.1mm grav_b=(+0.02,+0.03,-1.00) r=1.57m +[headless_play] t= 15.80s step= 790 trunk_z= 113.9mm grav_b=(+0.08,-0.15,-0.99) r=1.59m +[headless_play] t= 15.90s step= 795 trunk_z= 131.8mm grav_b=(+0.09,-0.13,-0.99) r=1.61m +[headless_play] t= 16.00s step= 800 trunk_z= 123.5mm grav_b=(+0.03,-0.02,-1.00) r=1.61m +[headless_play] t= 16.10s step= 805 trunk_z= 123.0mm grav_b=(-0.09,+0.04,-1.00) r=1.61m +[headless_play] t= 16.20s step= 810 trunk_z= 124.2mm grav_b=(-0.03,+0.02,-1.00) r=1.63m +[headless_play] t= 16.30s step= 815 trunk_z= 117.7mm grav_b=(-0.02,-0.06,-1.00) r=1.65m +[headless_play] t= 16.40s step= 820 trunk_z= 123.1mm grav_b=(+0.01,-0.06,-1.00) r=1.67m +[headless_play] t= 16.50s step= 825 trunk_z= 122.3mm grav_b=(-0.01,-0.04,-1.00) r=1.68m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=1.69m +[headless_play] t= 16.70s step= 835 trunk_z= 117.2mm grav_b=(+0.03,-0.06,-1.00) r=1.71m +[headless_play] t= 16.80s step= 840 trunk_z= 119.5mm grav_b=(+0.07,-0.06,-1.00) r=1.72m +[headless_play] t= 16.90s step= 845 trunk_z= 115.8mm grav_b=(+0.00,+0.07,-1.00) r=1.75m +[headless_play] t= 17.00s step= 850 trunk_z= 124.1mm grav_b=(-0.02,+0.09,-1.00) r=1.78m +[headless_play] t= 17.10s step= 855 trunk_z= 125.9mm grav_b=(-0.01,+0.08,-1.00) r=1.80m +[headless_play] t= 17.20s step= 860 trunk_z= 121.3mm grav_b=(-0.05,+0.05,-1.00) r=1.82m +[headless_play] t= 17.30s step= 865 trunk_z= 119.2mm grav_b=(-0.03,+0.03,-1.00) r=1.84m +[headless_play] t= 17.40s step= 870 trunk_z= 114.7mm grav_b=(-0.04,+0.08,-1.00) r=1.84m +[headless_play] t= 17.50s step= 875 trunk_z= 122.0mm grav_b=(-0.03,+0.04,-1.00) r=1.86m +[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=1.89m +[headless_play] t= 17.70s step= 885 trunk_z= 121.7mm grav_b=(-0.03,-0.07,-1.00) r=1.92m +[headless_play] t= 17.80s step= 890 trunk_z= 123.7mm grav_b=(-0.03,-0.07,-1.00) r=1.93m +[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(-0.03,-0.03,-1.00) r=1.95m +[headless_play] t= 18.00s step= 900 trunk_z= 122.6mm grav_b=(-0.02,+0.03,-1.00) r=1.97m +[headless_play] t= 18.10s step= 905 trunk_z= 116.7mm grav_b=(-0.07,-0.07,-1.00) r=1.98m +[headless_play] t= 18.20s step= 910 trunk_z= 121.4mm grav_b=(-0.02,-0.10,-0.99) r=2.00m +[headless_play] t= 18.30s step= 915 trunk_z= 123.4mm grav_b=(-0.04,-0.11,-0.99) r=2.01m +[headless_play] t= 18.40s step= 920 trunk_z= 120.5mm grav_b=(-0.03,-0.09,-1.00) r=2.02m +[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=2.03m +[headless_play] t= 18.60s step= 930 trunk_z= 123.4mm grav_b=(+0.01,+0.03,-1.00) r=2.05m +[headless_play] t= 18.70s step= 935 trunk_z= 122.1mm grav_b=(-0.02,+0.05,-1.00) r=2.06m +[headless_play] t= 18.80s step= 940 trunk_z= 120.2mm grav_b=(-0.01,-0.05,-1.00) r=2.08m +[headless_play] t= 18.90s step= 945 trunk_z= 121.4mm grav_b=(-0.02,-0.02,-1.00) r=2.09m +[headless_play] t= 19.00s step= 950 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=2.10m +[headless_play] t= 19.10s step= 955 trunk_z= 124.9mm grav_b=(-0.02,+0.02,-1.00) r=2.11m +[headless_play] t= 19.20s step= 960 trunk_z= 119.9mm grav_b=(+0.00,+0.02,-1.00) r=2.13m +[headless_play] t= 19.30s step= 965 trunk_z= 121.4mm grav_b=(-0.02,-0.05,-1.00) r=2.16m +[headless_play] t= 19.40s step= 970 trunk_z= 122.2mm grav_b=(-0.02,-0.04,-1.00) r=2.18m +[headless_play] t= 19.50s step= 975 trunk_z= 114.9mm grav_b=(-0.06,+0.00,-1.00) r=2.19m +[headless_play] t= 19.60s step= 980 trunk_z= 120.6mm grav_b=(-0.11,+0.03,-0.99) r=2.18m +[headless_play] t= 19.70s step= 985 trunk_z= 118.3mm grav_b=(-0.05,-0.01,-1.00) r=2.19m +[headless_play] t= 19.80s step= 990 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=2.19m +[headless_play] t= 19.90s step= 995 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) r=2.18m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.6mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.04,-0.03,-1.00) r=0.43m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t6.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..e9f6888d5328a3db1889aba62216624eb52e8241 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.6mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.501,-18.229,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.00,-0.04,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.06,-0.07,-1.00) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(+0.03,-0.07,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 115.0mm grav_b=(-0.03,+0.06,-1.00) r=0.60m +[headless_play] t= 0.50s step= 25 trunk_z= 122.7mm grav_b=(-0.07,+0.05,-1.00) r=0.61m +[headless_play] t= 0.60s step= 30 trunk_z= 115.1mm grav_b=(-0.05,-0.01,-1.00) r=0.63m +[headless_play] t= 0.70s step= 35 trunk_z= 122.8mm grav_b=(-0.01,-0.14,-0.99) r=0.66m +[headless_play] t= 0.80s step= 40 trunk_z= 125.7mm grav_b=(+0.00,-0.21,-0.98) r=0.68m +[headless_play] t= 0.90s step= 45 trunk_z= 127.5mm grav_b=(-0.03,-0.21,-0.98) r=0.70m +[headless_play] t= 1.00s step= 50 trunk_z= 123.3mm grav_b=(-0.02,-0.09,-1.00) r=0.74m +[headless_play] t= 1.10s step= 55 trunk_z= 135.6mm grav_b=(-0.00,-0.01,-1.00) r=0.76m +[headless_play] t= 1.20s step= 60 trunk_z= 128.0mm grav_b=(-0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 1.30s step= 65 trunk_z= 120.2mm grav_b=(-0.11,-0.08,-0.99) r=0.80m +[headless_play] t= 1.40s step= 70 trunk_z= 120.8mm grav_b=(-0.17,-0.05,-0.98) r=0.81m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(-0.13,+0.02,-0.99) r=0.83m +[headless_play] t= 1.60s step= 80 trunk_z= 119.0mm grav_b=(-0.11,-0.00,-0.99) r=0.84m +[headless_play] t= 1.70s step= 85 trunk_z= 112.9mm grav_b=(-0.10,-0.06,-0.99) r=0.84m +[headless_play] t= 1.80s step= 90 trunk_z= 121.7mm grav_b=(-0.15,-0.10,-0.98) r=0.82m +[headless_play] t= 1.90s step= 95 trunk_z= 123.3mm grav_b=(-0.15,-0.10,-0.98) r=0.81m +[headless_play] t= 2.00s step= 100 trunk_z= 110.4mm grav_b=(-0.11,-0.03,-0.99) r=0.78m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(-0.06,-0.04,-1.00) r=0.77m +[headless_play] t= 2.20s step= 110 trunk_z= 108.5mm grav_b=(-0.01,-0.09,-1.00) r=0.76m +[headless_play] t= 2.30s step= 115 trunk_z= 115.8mm grav_b=(-0.00,-0.14,-0.99) r=0.77m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(+0.00,-0.15,-0.99) r=0.78m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(-0.04,-0.08,-1.00) r=0.78m +[headless_play] t= 2.60s step= 130 trunk_z= 119.9mm grav_b=(-0.07,+0.00,-1.00) r=0.78m +[headless_play] t= 2.70s step= 135 trunk_z= 119.2mm grav_b=(-0.07,-0.04,-1.00) r=0.79m +[headless_play] t= 2.80s step= 140 trunk_z= 118.1mm grav_b=(-0.06,-0.10,-0.99) r=0.81m +[headless_play] t= 2.90s step= 145 trunk_z= 122.8mm grav_b=(-0.04,-0.12,-0.99) r=0.82m +[headless_play] t= 3.00s step= 150 trunk_z= 119.9mm grav_b=(-0.02,-0.10,-0.99) r=0.84m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.86m +[headless_play] t= 3.20s step= 160 trunk_z= 120.1mm grav_b=(+0.00,+0.02,-1.00) r=0.88m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(-0.00,-0.04,-1.00) r=0.89m +[headless_play] t= 3.40s step= 170 trunk_z= 121.8mm grav_b=(-0.01,-0.12,-0.99) r=0.91m +[headless_play] t= 3.50s step= 175 trunk_z= 124.8mm grav_b=(-0.04,-0.16,-0.99) r=0.91m +[headless_play] t= 3.60s step= 180 trunk_z= 124.9mm grav_b=(+0.01,-0.16,-0.99) r=0.93m +[headless_play] t= 3.70s step= 185 trunk_z= 116.4mm grav_b=(-0.01,+0.03,-1.00) r=0.97m +[headless_play] t= 3.80s step= 190 trunk_z= 130.3mm grav_b=(+0.04,+0.04,-1.00) r=1.00m +[headless_play] t= 3.90s step= 195 trunk_z= 131.6mm grav_b=(-0.04,-0.01,-1.00) r=1.02m +[headless_play] t= 4.00s step= 200 trunk_z= 117.4mm grav_b=(-0.10,-0.10,-0.99) r=1.04m +[headless_play] t= 4.10s step= 205 trunk_z= 123.1mm grav_b=(-0.09,-0.08,-0.99) r=1.05m +[headless_play] t= 4.20s step= 210 trunk_z= 118.8mm grav_b=(-0.10,-0.01,-1.00) r=1.07m +[headless_play] t= 4.30s step= 215 trunk_z= 124.1mm grav_b=(-0.01,+0.02,-1.00) r=1.11m +[headless_play] t= 4.40s step= 220 trunk_z= 129.7mm grav_b=(+0.06,-0.00,-1.00) r=1.13m +[headless_play] t= 4.50s step= 225 trunk_z= 115.2mm grav_b=(-0.01,-0.07,-1.00) r=1.17m +[headless_play] t= 4.60s step= 230 trunk_z= 130.8mm grav_b=(-0.01,-0.04,-1.00) r=1.20m +[headless_play] t= 4.70s step= 235 trunk_z= 117.6mm grav_b=(-0.10,+0.02,-0.99) r=1.24m +[headless_play] t= 4.80s step= 240 trunk_z= 122.3mm grav_b=(-0.07,+0.03,-1.00) r=1.27m +[headless_play] t= 4.90s step= 245 trunk_z= 121.3mm grav_b=(-0.05,-0.03,-1.00) r=1.27m +[headless_play] t= 5.00s step= 250 trunk_z= 120.9mm grav_b=(-0.10,-0.11,-0.99) r=1.25m +[headless_play] t= 5.10s step= 255 trunk_z= 126.0mm grav_b=(-0.09,-0.09,-0.99) r=1.26m +[headless_play] t= 5.20s step= 260 trunk_z= 122.1mm grav_b=(-0.16,-0.08,-0.98) r=1.27m +[headless_play] t= 5.30s step= 265 trunk_z= 119.8mm grav_b=(-0.08,+0.02,-1.00) r=1.30m +[headless_play] t= 5.40s step= 270 trunk_z= 126.0mm grav_b=(-0.00,+0.03,-1.00) r=1.31m +[headless_play] t= 5.50s step= 275 trunk_z= 121.6mm grav_b=(+0.03,-0.09,-1.00) r=1.30m +[headless_play] t= 5.60s step= 280 trunk_z= 130.9mm grav_b=(+0.07,-0.13,-0.99) r=1.29m +[headless_play] t= 5.70s step= 285 trunk_z= 133.8mm grav_b=(+0.04,-0.06,-1.00) r=1.30m +[headless_play] t= 5.80s step= 290 trunk_z= 116.4mm grav_b=(-0.10,+0.00,-0.99) r=1.32m +[headless_play] t= 5.90s step= 295 trunk_z= 122.2mm grav_b=(-0.05,-0.00,-1.00) r=1.33m +[headless_play] t= 6.00s step= 300 trunk_z= 118.7mm grav_b=(-0.10,-0.09,-0.99) r=1.31m +[headless_play] t= 6.10s step= 305 trunk_z= 122.7mm grav_b=(-0.13,-0.12,-0.98) r=1.30m +[headless_play] t= 6.20s step= 310 trunk_z= 124.2mm grav_b=(-0.14,-0.08,-0.99) r=1.30m +[headless_play] t= 6.30s step= 315 trunk_z= 121.4mm grav_b=(-0.09,-0.03,-1.00) r=1.31m +[headless_play] t= 6.40s step= 320 trunk_z= 126.6mm grav_b=(-0.07,+0.07,-0.99) r=1.31m +[headless_play] t= 6.50s step= 325 trunk_z= 126.6mm grav_b=(-0.05,+0.07,-1.00) r=1.31m +[headless_play] t= 6.60s step= 330 trunk_z= 120.6mm grav_b=(-0.07,+0.00,-1.00) r=1.28m +[headless_play] t= 6.70s step= 335 trunk_z= 124.6mm grav_b=(-0.11,-0.08,-0.99) r=1.26m +[headless_play] t= 6.80s step= 340 trunk_z= 128.3mm grav_b=(-0.12,-0.14,-0.98) r=1.25m +[headless_play] t= 6.90s step= 345 trunk_z= 129.1mm grav_b=(-0.12,-0.15,-0.98) r=1.25m +[headless_play] t= 7.00s step= 350 trunk_z= 124.6mm grav_b=(-0.06,-0.11,-0.99) r=1.26m +[headless_play] t= 7.10s step= 355 trunk_z= 119.6mm grav_b=(-0.06,-0.04,-1.00) r=1.27m +[headless_play] t= 7.20s step= 360 trunk_z= 119.8mm grav_b=(-0.07,-0.03,-1.00) r=1.26m +[headless_play] t= 7.30s step= 365 trunk_z= 112.0mm grav_b=(-0.05,-0.05,-1.00) r=1.25m +[headless_play] t= 7.40s step= 370 trunk_z= 112.4mm grav_b=(-0.04,+0.01,-1.00) r=1.27m +[headless_play] t= 7.50s step= 375 trunk_z= 107.2mm grav_b=(-0.01,+0.04,-1.00) r=1.30m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.02,+0.02,-1.00) r=1.31m +[headless_play] t= 7.70s step= 385 trunk_z= 111.3mm grav_b=(+0.01,-0.06,-1.00) r=1.29m +[headless_play] t= 7.80s step= 390 trunk_z= 120.0mm grav_b=(+0.01,-0.10,-0.99) r=1.28m +[headless_play] t= 7.90s step= 395 trunk_z= 119.1mm grav_b=(+0.03,-0.09,-1.00) r=1.29m +[headless_play] t= 8.00s step= 400 trunk_z= 116.4mm grav_b=(-0.07,-0.01,-1.00) r=1.30m +[headless_play] t= 8.10s step= 405 trunk_z= 120.7mm grav_b=(-0.14,+0.03,-0.99) r=1.30m +[headless_play] t= 8.20s step= 410 trunk_z= 113.8mm grav_b=(-0.15,-0.01,-0.99) r=1.28m +[headless_play] t= 8.30s step= 415 trunk_z= 121.4mm grav_b=(-0.08,-0.02,-1.00) r=1.28m +[headless_play] t= 8.40s step= 420 trunk_z= 111.0mm grav_b=(-0.03,+0.02,-1.00) r=1.29m +[headless_play] t= 8.50s step= 425 trunk_z= 113.4mm grav_b=(-0.02,+0.09,-1.00) r=1.30m +[headless_play] t= 8.60s step= 430 trunk_z= 117.4mm grav_b=(-0.03,+0.11,-0.99) r=1.31m +[headless_play] t= 8.70s step= 435 trunk_z= 118.6mm grav_b=(-0.03,+0.02,-1.00) r=1.31m +[headless_play] t= 8.80s step= 440 trunk_z= 123.0mm grav_b=(-0.03,-0.10,-0.99) r=1.31m +[headless_play] t= 8.90s step= 445 trunk_z= 124.2mm grav_b=(-0.02,-0.13,-0.99) r=1.31m +[headless_play] t= 9.00s step= 450 trunk_z= 121.0mm grav_b=(-0.01,-0.12,-0.99) r=1.32m +[headless_play] t= 9.10s step= 455 trunk_z= 115.3mm grav_b=(-0.04,+0.04,-1.00) r=1.34m +[headless_play] t= 9.20s step= 460 trunk_z= 124.5mm grav_b=(-0.06,+0.07,-1.00) r=1.35m +[headless_play] t= 9.30s step= 465 trunk_z= 119.3mm grav_b=(+0.00,-0.01,-1.00) r=1.34m +[headless_play] t= 9.40s step= 470 trunk_z= 125.5mm grav_b=(+0.06,-0.15,-0.99) r=1.33m +[headless_play] t= 9.50s step= 475 trunk_z= 131.1mm grav_b=(+0.05,-0.18,-0.98) r=1.32m +[headless_play] t= 9.60s step= 480 trunk_z= 128.8mm grav_b=(-0.02,-0.09,-1.00) r=1.33m +[headless_play] t= 9.70s step= 485 trunk_z= 133.3mm grav_b=(+0.11,-0.06,-0.99) r=1.34m +[headless_play] t= 9.80s step= 490 trunk_z= 141.7mm grav_b=(+0.09,+0.01,-1.00) r=1.34m +[headless_play] t= 9.90s step= 495 trunk_z= 113.5mm grav_b=(+0.05,-0.01,-1.00) r=1.33m +[headless_play] t= 10.00s step= 500 trunk_z= 126.4mm grav_b=(+0.02,+0.06,-1.00) r=1.34m +[headless_play] t= 10.10s step= 505 trunk_z= 109.7mm grav_b=(-0.11,+0.08,-0.99) r=1.36m +[headless_play] t= 10.20s step= 510 trunk_z= 121.0mm grav_b=(-0.04,-0.02,-1.00) r=1.35m +[headless_play] t= 10.30s step= 515 trunk_z= 110.6mm grav_b=(-0.10,-0.12,-0.99) r=1.31m +[headless_play] t= 10.40s step= 520 trunk_z= 123.5mm grav_b=(-0.11,-0.21,-0.97) r=1.29m +[headless_play] t= 10.50s step= 525 trunk_z= 129.0mm grav_b=(-0.08,-0.20,-0.98) r=1.27m +[headless_play] t= 10.60s step= 530 trunk_z= 127.0mm grav_b=(-0.08,-0.22,-0.97) r=1.27m +[headless_play] t= 10.70s step= 535 trunk_z= 124.1mm grav_b=(-0.08,-0.13,-0.99) r=1.26m +[headless_play] t= 10.80s step= 540 trunk_z= 124.1mm grav_b=(+0.00,-0.00,-1.00) r=1.25m +[headless_play] t= 10.90s step= 545 trunk_z= 139.7mm grav_b=(-0.02,+0.10,-1.00) r=1.25m +[headless_play] t= 11.00s step= 550 trunk_z= 138.5mm grav_b=(-0.12,+0.02,-0.99) r=1.24m +[headless_play] t= 11.10s step= 555 trunk_z= 123.4mm grav_b=(-0.01,+0.07,-1.00) r=1.22m +[headless_play] t= 11.20s step= 560 trunk_z= 118.6mm grav_b=(-0.09,+0.08,-0.99) r=1.21m +[headless_play] t= 11.30s step= 565 trunk_z= 120.3mm grav_b=(-0.08,+0.03,-1.00) r=1.19m +[headless_play] t= 11.40s step= 570 trunk_z= 118.1mm grav_b=(-0.04,-0.07,-1.00) r=1.18m +[headless_play] t= 11.50s step= 575 trunk_z= 123.4mm grav_b=(+0.03,-0.10,-0.99) r=1.15m +[headless_play] t= 11.60s step= 580 trunk_z= 122.2mm grav_b=(-0.02,-0.02,-1.00) r=1.13m +[headless_play] t= 11.70s step= 585 trunk_z= 119.3mm grav_b=(-0.06,+0.04,-1.00) r=1.09m +[headless_play] t= 11.80s step= 590 trunk_z= 125.6mm grav_b=(-0.04,+0.03,-1.00) r=1.07m +[headless_play] t= 11.90s step= 595 trunk_z= 120.3mm grav_b=(-0.10,-0.03,-0.99) r=1.07m +[headless_play] t= 12.00s step= 600 trunk_z= 125.6mm grav_b=(-0.10,-0.11,-0.99) r=1.06m +[headless_play] t= 12.10s step= 605 trunk_z= 127.6mm grav_b=(-0.06,-0.12,-0.99) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 126.7mm grav_b=(-0.06,-0.12,-0.99) r=1.02m +[headless_play] t= 12.30s step= 615 trunk_z= 118.1mm grav_b=(-0.02,-0.05,-1.00) r=1.00m +[headless_play] t= 12.40s step= 620 trunk_z= 118.0mm grav_b=(+0.01,-0.01,-1.00) r=0.99m +[headless_play] t= 12.50s step= 625 trunk_z= 113.7mm grav_b=(+0.00,-0.03,-1.00) r=0.98m +[headless_play] t= 12.60s step= 630 trunk_z= 118.0mm grav_b=(-0.03,-0.09,-1.00) r=0.97m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(-0.07,-0.02,-1.00) r=0.96m +[headless_play] t= 12.80s step= 640 trunk_z= 111.1mm grav_b=(-0.10,+0.09,-0.99) r=0.95m +[headless_play] t= 12.90s step= 645 trunk_z= 119.5mm grav_b=(-0.09,+0.08,-0.99) r=0.94m +[headless_play] t= 13.00s step= 650 trunk_z= 118.7mm grav_b=(-0.08,+0.06,-0.99) r=0.93m +[headless_play] t= 13.10s step= 655 trunk_z= 109.2mm grav_b=(-0.01,+0.01,-1.00) r=0.92m +[headless_play] t= 13.20s step= 660 trunk_z= 116.5mm grav_b=(+0.03,-0.10,-0.99) r=0.91m +[headless_play] t= 13.30s step= 665 trunk_z= 116.1mm grav_b=(+0.07,-0.12,-0.99) r=0.89m +[headless_play] t= 13.40s step= 670 trunk_z= 113.7mm grav_b=(+0.03,-0.05,-1.00) r=0.87m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(+0.02,-0.02,-1.00) r=0.85m +[headless_play] t= 13.60s step= 680 trunk_z= 110.7mm grav_b=(-0.04,-0.10,-0.99) r=0.84m +[headless_play] t= 13.70s step= 685 trunk_z= 120.1mm grav_b=(-0.05,-0.13,-0.99) r=0.83m +[headless_play] t= 13.80s step= 690 trunk_z= 122.8mm grav_b=(-0.07,-0.13,-0.99) r=0.82m +[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(-0.07,-0.09,-0.99) r=0.80m +[headless_play] t= 14.00s step= 700 trunk_z= 112.2mm grav_b=(-0.02,-0.01,-1.00) r=0.78m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=0.77m +[headless_play] t= 14.20s step= 710 trunk_z= 111.7mm grav_b=(+0.03,-0.02,-1.00) r=0.76m +[headless_play] t= 14.30s step= 715 trunk_z= 112.6mm grav_b=(+0.05,-0.10,-0.99) r=0.75m +[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(+0.12,-0.14,-0.98) r=0.74m +[headless_play] t= 14.50s step= 725 trunk_z= 115.1mm grav_b=(+0.08,-0.07,-0.99) r=0.71m +[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(+0.04,-0.00,-1.00) r=0.70m +[headless_play] t= 14.70s step= 735 trunk_z= 113.9mm grav_b=(-0.01,-0.07,-1.00) r=0.69m +[headless_play] t= 14.80s step= 740 trunk_z= 120.9mm grav_b=(-0.04,-0.13,-0.99) r=0.69m +[headless_play] t= 14.90s step= 745 trunk_z= 123.2mm grav_b=(-0.06,-0.14,-0.99) r=0.68m +[headless_play] t= 15.00s step= 750 trunk_z= 117.8mm grav_b=(-0.07,-0.10,-0.99) r=0.67m +[headless_play] t= 15.10s step= 755 trunk_z= 113.0mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 113.6mm grav_b=(+0.09,+0.02,-1.00) r=0.64m +[headless_play] t= 15.30s step= 765 trunk_z= 110.2mm grav_b=(+0.07,-0.02,-1.00) r=0.65m +[headless_play] t= 15.40s step= 770 trunk_z= 119.4mm grav_b=(+0.01,-0.09,-1.00) r=0.67m +[headless_play] t= 15.50s step= 775 trunk_z= 118.4mm grav_b=(-0.02,-0.09,-1.00) r=0.67m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(-0.00,-0.11,-0.99) r=0.67m +[headless_play] t= 15.70s step= 785 trunk_z= 113.9mm grav_b=(+0.06,-0.05,-1.00) r=0.68m +[headless_play] t= 15.80s step= 790 trunk_z= 110.1mm grav_b=(+0.09,-0.07,-0.99) r=0.70m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(+0.10,-0.11,-0.99) r=0.73m +[headless_play] t= 16.00s step= 800 trunk_z= 119.2mm grav_b=(+0.05,-0.08,-1.00) r=0.74m +[headless_play] t= 16.10s step= 805 trunk_z= 115.5mm grav_b=(-0.00,+0.05,-1.00) r=0.75m +[headless_play] t= 16.20s step= 810 trunk_z= 118.9mm grav_b=(-0.02,+0.04,-1.00) r=0.77m +[headless_play] t= 16.30s step= 815 trunk_z= 113.2mm grav_b=(-0.02,-0.00,-1.00) r=0.79m +[headless_play] t= 16.40s step= 820 trunk_z= 118.0mm grav_b=(-0.03,-0.09,-1.00) r=0.82m +[headless_play] t= 16.50s step= 825 trunk_z= 123.1mm grav_b=(-0.09,-0.13,-0.99) r=0.83m +[headless_play] t= 16.60s step= 830 trunk_z= 123.4mm grav_b=(-0.08,-0.13,-0.99) r=0.83m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.07,-0.11,-0.99) r=0.83m +[headless_play] t= 16.80s step= 840 trunk_z= 115.7mm grav_b=(-0.03,-0.03,-1.00) r=0.83m +[headless_play] t= 16.90s step= 845 trunk_z= 113.9mm grav_b=(-0.02,-0.03,-1.00) r=0.85m +[headless_play] t= 17.00s step= 850 trunk_z= 104.8mm grav_b=(+0.02,-0.06,-1.00) r=0.88m +[headless_play] t= 17.10s step= 855 trunk_z= 112.4mm grav_b=(+0.04,-0.10,-0.99) r=0.90m +[headless_play] t= 17.20s step= 860 trunk_z= 111.7mm grav_b=(+0.04,-0.11,-0.99) r=0.91m +[headless_play] t= 17.30s step= 865 trunk_z= 107.4mm grav_b=(+0.06,-0.02,-1.00) r=0.91m +[headless_play] t= 17.40s step= 870 trunk_z= 115.5mm grav_b=(+0.08,+0.09,-0.99) r=0.93m +[headless_play] t= 17.50s step= 875 trunk_z= 115.3mm grav_b=(+0.09,+0.08,-0.99) r=0.94m +[headless_play] t= 17.60s step= 880 trunk_z= 113.1mm grav_b=(+0.06,-0.06,-1.00) r=0.97m +[headless_play] t= 17.70s step= 885 trunk_z= 123.8mm grav_b=(+0.02,-0.12,-0.99) r=0.99m +[headless_play] t= 17.80s step= 890 trunk_z= 117.6mm grav_b=(-0.02,-0.11,-0.99) r=1.00m +[headless_play] t= 17.90s step= 895 trunk_z= 116.9mm grav_b=(-0.08,+0.03,-1.00) r=1.00m +[headless_play] t= 18.00s step= 900 trunk_z= 123.3mm grav_b=(-0.14,+0.03,-0.99) r=1.00m +[headless_play] t= 18.10s step= 905 trunk_z= 116.7mm grav_b=(-0.14,-0.02,-0.99) r=0.98m +[headless_play] t= 18.20s step= 910 trunk_z= 115.3mm grav_b=(-0.12,-0.06,-0.99) r=0.97m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(-0.04,-0.07,-1.00) r=0.95m +[headless_play] t= 18.40s step= 920 trunk_z= 105.2mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 18.50s step= 925 trunk_z= 108.9mm grav_b=(+0.05,+0.00,-1.00) r=0.94m +[headless_play] t= 18.60s step= 930 trunk_z= 108.3mm grav_b=(+0.03,-0.01,-1.00) r=0.95m +[headless_play] t= 18.70s step= 935 trunk_z= 111.7mm grav_b=(+0.00,-0.08,-1.00) r=0.97m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(-0.04,-0.09,-1.00) r=0.99m +[headless_play] t= 18.90s step= 945 trunk_z= 111.9mm grav_b=(-0.01,-0.09,-1.00) r=1.00m +[headless_play] t= 19.00s step= 950 trunk_z= 108.4mm grav_b=(+0.03,+0.01,-1.00) r=1.00m +[headless_play] t= 19.10s step= 955 trunk_z= 112.8mm grav_b=(+0.05,+0.02,-1.00) r=1.02m +[headless_play] t= 19.20s step= 960 trunk_z= 110.4mm grav_b=(+0.05,-0.02,-1.00) r=1.04m +[headless_play] t= 19.30s step= 965 trunk_z= 113.7mm grav_b=(+0.00,-0.09,-1.00) r=1.06m +[headless_play] t= 19.40s step= 970 trunk_z= 122.6mm grav_b=(-0.07,-0.14,-0.99) r=1.07m +[headless_play] t= 19.50s step= 975 trunk_z= 125.2mm grav_b=(-0.05,-0.20,-0.98) r=1.08m +[headless_play] t= 19.60s step= 980 trunk_z= 122.9mm grav_b=(-0.04,-0.18,-0.98) r=1.09m +[headless_play] t= 19.70s step= 985 trunk_z= 121.1mm grav_b=(+0.00,-0.11,-0.99) r=1.10m +[headless_play] t= 19.80s step= 990 trunk_z= 122.4mm grav_b=(+0.00,+0.04,-1.00) r=1.11m +[headless_play] t= 19.90s step= 995 trunk_z= 124.3mm grav_b=(-0.01,+0.02,-1.00) r=1.12m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t7.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..17e8a90c8c44ba5a783edea9b600a8805b09c456 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.3mm grav_b=(-0.00,+0.00,-1.00) root_w=(-14.468,-18.357,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.03,+0.02,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 113.7mm grav_b=(+0.08,+0.08,-0.99) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 112.8mm grav_b=(+0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 110.0mm grav_b=(+0.06,-0.09,-0.99) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 120.1mm grav_b=(+0.09,-0.08,-0.99) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 113.1mm grav_b=(+0.10,-0.06,-0.99) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 112.0mm grav_b=(+0.08,+0.04,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(+0.09,+0.04,-0.99) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 112.2mm grav_b=(+0.11,-0.02,-0.99) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(+0.11,-0.13,-0.99) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 122.5mm grav_b=(+0.14,-0.20,-0.97) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(+0.10,-0.18,-0.98) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 122.3mm grav_b=(+0.10,-0.10,-0.99) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 123.8mm grav_b=(+0.07,-0.16,-0.98) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 121.1mm grav_b=(+0.07,-0.17,-0.98) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 119.2mm grav_b=(+0.07,-0.15,-0.99) r=0.23m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(+0.04,-0.09,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 117.4mm grav_b=(+0.07,+0.03,-1.00) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 120.3mm grav_b=(+0.08,+0.06,-1.00) r=0.22m +[headless_play] t= 2.00s step= 100 trunk_z= 113.3mm grav_b=(+0.10,-0.02,-0.99) r=0.20m +[headless_play] t= 2.10s step= 105 trunk_z= 119.5mm grav_b=(+0.05,-0.16,-0.99) r=0.17m +[headless_play] t= 2.20s step= 110 trunk_z= 123.4mm grav_b=(+0.05,-0.22,-0.97) r=0.15m +[headless_play] t= 2.30s step= 115 trunk_z= 119.6mm grav_b=(+0.05,-0.29,-0.96) r=0.13m +[headless_play] t= 2.40s step= 120 trunk_z= 111.2mm grav_b=(+0.15,-0.27,-0.95) r=0.12m +[headless_play] t= 2.50s step= 125 trunk_z= 111.5mm grav_b=(+0.08,-0.13,-0.99) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 123.1mm grav_b=(+0.07,-0.13,-0.99) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 115.2mm grav_b=(+0.01,-0.11,-0.99) r=0.03m +[headless_play] t= 2.80s step= 140 trunk_z= 125.7mm grav_b=(-0.09,-0.12,-0.99) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 127.2mm grav_b=(-0.02,-0.12,-0.99) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 110.1mm grav_b=(+0.01,-0.07,-1.00) r=0.06m +[headless_play] t= 3.10s step= 155 trunk_z= 113.5mm grav_b=(+0.11,-0.07,-0.99) r=0.07m +[headless_play] t= 3.20s step= 160 trunk_z= 104.8mm grav_b=(+0.12,-0.08,-0.99) r=0.09m +[headless_play] t= 3.30s step= 165 trunk_z= 113.8mm grav_b=(+0.11,-0.08,-0.99) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 110.2mm grav_b=(+0.07,-0.02,-1.00) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 116.7mm grav_b=(+0.06,+0.06,-1.00) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 117.9mm grav_b=(+0.07,+0.05,-1.00) r=0.09m +[headless_play] t= 3.70s step= 185 trunk_z= 108.1mm grav_b=(+0.05,-0.10,-0.99) r=0.12m +[headless_play] t= 3.80s step= 190 trunk_z= 121.0mm grav_b=(+0.06,-0.13,-0.99) r=0.15m +[headless_play] t= 3.90s step= 195 trunk_z= 121.0mm grav_b=(+0.07,-0.17,-0.98) r=0.16m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(+0.08,-0.15,-0.99) r=0.17m +[headless_play] t= 4.10s step= 205 trunk_z= 111.9mm grav_b=(+0.09,-0.05,-0.99) r=0.18m +[headless_play] t= 4.20s step= 210 trunk_z= 120.1mm grav_b=(+0.02,+0.03,-1.00) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 122.7mm grav_b=(-0.04,+0.03,-1.00) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 4.50s step= 225 trunk_z= 115.3mm grav_b=(+0.07,-0.04,-1.00) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 113.5mm grav_b=(+0.11,-0.02,-0.99) r=0.16m +[headless_play] t= 4.70s step= 235 trunk_z= 116.6mm grav_b=(+0.11,+0.05,-0.99) r=0.16m +[headless_play] t= 4.80s step= 240 trunk_z= 124.4mm grav_b=(+0.11,+0.02,-0.99) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 114.6mm grav_b=(+0.11,-0.06,-0.99) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 125.4mm grav_b=(+0.12,-0.05,-0.99) r=0.24m +[headless_play] t= 5.10s step= 255 trunk_z= 124.8mm grav_b=(+0.06,-0.06,-1.00) r=0.25m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 119.4mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 5.40s step= 270 trunk_z= 118.6mm grav_b=(+0.01,-0.07,-1.00) r=0.30m +[headless_play] t= 5.50s step= 275 trunk_z= 124.4mm grav_b=(+0.04,-0.07,-1.00) r=0.32m +[headless_play] t= 5.60s step= 280 trunk_z= 122.8mm grav_b=(+0.06,-0.08,-1.00) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 121.3mm grav_b=(+0.06,+0.04,-1.00) r=0.35m +[headless_play] t= 5.80s step= 290 trunk_z= 128.7mm grav_b=(+0.07,+0.04,-1.00) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 129.4mm grav_b=(+0.03,+0.11,-0.99) r=0.38m +[headless_play] t= 6.00s step= 300 trunk_z= 126.7mm grav_b=(+0.04,+0.04,-1.00) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 124.6mm grav_b=(+0.08,-0.06,-0.99) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 129.1mm grav_b=(+0.08,-0.07,-0.99) r=0.44m +[headless_play] t= 6.30s step= 315 trunk_z= 127.1mm grav_b=(+0.04,-0.05,-1.00) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 124.5mm grav_b=(+0.08,+0.04,-1.00) r=0.47m +[headless_play] t= 6.50s step= 325 trunk_z= 129.1mm grav_b=(+0.11,+0.02,-0.99) r=0.49m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(+0.07,-0.03,-1.00) r=0.53m +[headless_play] t= 6.70s step= 335 trunk_z= 126.7mm grav_b=(+0.11,-0.03,-0.99) r=0.56m +[headless_play] t= 6.80s step= 340 trunk_z= 128.6mm grav_b=(+0.08,-0.05,-1.00) r=0.60m +[headless_play] t= 6.90s step= 345 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 123.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 7.10s step= 355 trunk_z= 116.5mm grav_b=(-0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 7.20s step= 360 trunk_z= 123.5mm grav_b=(-0.02,-0.08,-1.00) r=0.70m +[headless_play] t= 7.30s step= 365 trunk_z= 123.6mm grav_b=(+0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(-0.01,+0.04,-1.00) r=0.71m +[headless_play] t= 7.50s step= 375 trunk_z= 126.8mm grav_b=(+0.01,+0.10,-0.99) r=0.72m +[headless_play] t= 7.60s step= 380 trunk_z= 127.7mm grav_b=(+0.06,+0.10,-0.99) r=0.74m +[headless_play] t= 7.70s step= 385 trunk_z= 121.7mm grav_b=(+0.06,+0.02,-1.00) r=0.77m +[headless_play] t= 7.80s step= 390 trunk_z= 127.3mm grav_b=(+0.09,-0.04,-1.00) r=0.79m +[headless_play] t= 7.90s step= 395 trunk_z= 129.5mm grav_b=(+0.07,-0.07,-0.99) r=0.82m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(+0.02,+0.03,-1.00) r=0.84m +[headless_play] t= 8.10s step= 405 trunk_z= 126.4mm grav_b=(+0.05,+0.03,-1.00) r=0.85m +[headless_play] t= 8.20s step= 410 trunk_z= 123.8mm grav_b=(+0.03,+0.00,-1.00) r=0.87m +[headless_play] t= 8.30s step= 415 trunk_z= 121.2mm grav_b=(+0.02,-0.04,-1.00) r=0.90m +[headless_play] t= 8.40s step= 420 trunk_z= 125.2mm grav_b=(+0.04,-0.07,-1.00) r=0.91m +[headless_play] t= 8.50s step= 425 trunk_z= 123.6mm grav_b=(+0.04,-0.07,-1.00) r=0.92m +[headless_play] t= 8.60s step= 430 trunk_z= 122.2mm grav_b=(+0.06,+0.03,-1.00) r=0.92m +[headless_play] t= 8.70s step= 435 trunk_z= 126.1mm grav_b=(+0.10,+0.03,-1.00) r=0.93m +[headless_play] t= 8.80s step= 440 trunk_z= 125.9mm grav_b=(+0.07,+0.06,-1.00) r=0.95m +[headless_play] t= 8.90s step= 445 trunk_z= 121.5mm grav_b=(+0.04,-0.03,-1.00) r=0.96m +[headless_play] t= 9.00s step= 450 trunk_z= 122.4mm grav_b=(+0.03,-0.06,-1.00) r=0.97m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=0.99m +[headless_play] t= 9.20s step= 460 trunk_z= 126.6mm grav_b=(+0.10,+0.02,-0.99) r=1.01m +[headless_play] t= 9.30s step= 465 trunk_z= 127.1mm grav_b=(+0.08,-0.00,-1.00) r=1.04m +[headless_play] t= 9.40s step= 470 trunk_z= 119.7mm grav_b=(+0.07,-0.03,-1.00) r=1.07m +[headless_play] t= 9.50s step= 475 trunk_z= 127.8mm grav_b=(+0.07,-0.03,-1.00) r=1.09m +[headless_play] t= 9.60s step= 480 trunk_z= 120.1mm grav_b=(+0.04,-0.00,-1.00) r=1.12m +[headless_play] t= 9.70s step= 485 trunk_z= 118.4mm grav_b=(-0.02,-0.03,-1.00) r=1.12m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(+0.06,-0.10,-0.99) r=1.12m +[headless_play] t= 9.90s step= 495 trunk_z= 119.0mm grav_b=(+0.10,-0.02,-0.99) r=1.14m +[headless_play] t= 10.00s step= 500 trunk_z= 112.7mm grav_b=(+0.05,+0.05,-1.00) r=1.17m +[headless_play] t= 10.10s step= 505 trunk_z= 125.9mm grav_b=(+0.04,+0.03,-1.00) r=1.19m +[headless_play] t= 10.20s step= 510 trunk_z= 122.9mm grav_b=(+0.02,-0.01,-1.00) r=1.20m +[headless_play] t= 10.30s step= 515 trunk_z= 122.0mm grav_b=(+0.04,-0.09,-1.00) r=1.20m +[headless_play] t= 10.40s step= 520 trunk_z= 128.5mm grav_b=(+0.06,-0.13,-0.99) r=1.21m +[headless_play] t= 10.50s step= 525 trunk_z= 130.4mm grav_b=(+0.06,-0.14,-0.99) r=1.23m +[headless_play] t= 10.60s step= 530 trunk_z= 126.1mm grav_b=(+0.05,-0.08,-1.00) r=1.27m +[headless_play] t= 10.70s step= 535 trunk_z= 128.5mm grav_b=(+0.10,-0.04,-0.99) r=1.30m +[headless_play] t= 10.80s step= 540 trunk_z= 131.7mm grav_b=(+0.08,-0.03,-1.00) r=1.32m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(+0.08,-0.05,-1.00) r=1.34m +[headless_play] t= 11.00s step= 550 trunk_z= 124.5mm grav_b=(+0.06,-0.01,-1.00) r=1.36m +[headless_play] t= 11.10s step= 555 trunk_z= 115.3mm grav_b=(+0.02,+0.02,-1.00) r=1.39m +[headless_play] t= 11.20s step= 560 trunk_z= 121.0mm grav_b=(+0.05,-0.01,-1.00) r=1.40m +[headless_play] t= 11.30s step= 565 trunk_z= 120.2mm grav_b=(+0.08,-0.13,-0.99) r=1.40m +[headless_play] t= 11.40s step= 570 trunk_z= 125.1mm grav_b=(+0.11,-0.08,-0.99) r=1.42m +[headless_play] t= 11.50s step= 575 trunk_z= 118.2mm grav_b=(+0.05,-0.04,-1.00) r=1.46m +[headless_play] t= 11.60s step= 580 trunk_z= 125.1mm grav_b=(+0.06,-0.01,-1.00) r=1.49m +[headless_play] t= 11.70s step= 585 trunk_z= 131.2mm grav_b=(+0.08,+0.03,-1.00) r=1.51m +[headless_play] t= 11.80s step= 590 trunk_z= 123.5mm grav_b=(+0.05,-0.01,-1.00) r=1.52m +[headless_play] t= 11.90s step= 595 trunk_z= 123.8mm grav_b=(+0.08,-0.02,-1.00) r=1.52m +[headless_play] t= 12.00s step= 600 trunk_z= 125.5mm grav_b=(+0.02,-0.02,-1.00) r=1.54m +[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(+0.05,+0.03,-1.00) r=1.57m +[headless_play] t= 12.20s step= 610 trunk_z= 122.2mm grav_b=(+0.05,-0.05,-1.00) r=1.57m +[headless_play] t= 12.30s step= 615 trunk_z= 119.3mm grav_b=(+0.06,-0.08,-0.99) r=1.55m +[headless_play] t= 12.40s step= 620 trunk_z= 124.6mm grav_b=(+0.08,-0.05,-1.00) r=1.56m +[headless_play] t= 12.50s step= 625 trunk_z= 119.9mm grav_b=(+0.03,-0.02,-1.00) r=1.58m +[headless_play] t= 12.60s step= 630 trunk_z= 122.2mm grav_b=(+0.08,+0.04,-1.00) r=1.61m +[headless_play] t= 12.70s step= 635 trunk_z= 125.3mm grav_b=(+0.03,+0.05,-1.00) r=1.62m +[headless_play] t= 12.80s step= 640 trunk_z= 119.2mm grav_b=(+0.00,+0.01,-1.00) r=1.61m +[headless_play] t= 12.90s step= 645 trunk_z= 124.8mm grav_b=(+0.07,-0.05,-1.00) r=1.60m +[headless_play] t= 13.00s step= 650 trunk_z= 125.3mm grav_b=(+0.09,-0.08,-0.99) r=1.61m +[headless_play] t= 13.10s step= 655 trunk_z= 113.9mm grav_b=(+0.06,-0.01,-1.00) r=1.64m +[headless_play] t= 13.20s step= 660 trunk_z= 118.8mm grav_b=(+0.05,+0.00,-1.00) r=1.65m +[headless_play] t= 13.30s step= 665 trunk_z= 113.2mm grav_b=(+0.07,-0.03,-1.00) r=1.64m +[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(+0.05,-0.05,-1.00) r=1.63m +[headless_play] t= 13.50s step= 675 trunk_z= 113.3mm grav_b=(+0.07,+0.01,-1.00) r=1.65m +[headless_play] t= 13.60s step= 680 trunk_z= 112.9mm grav_b=(+0.12,+0.16,-0.98) r=1.68m +[headless_play] t= 13.70s step= 685 trunk_z= 118.4mm grav_b=(+0.10,+0.19,-0.98) r=1.70m +[headless_play] t= 13.80s step= 690 trunk_z= 120.2mm grav_b=(+0.07,+0.21,-0.98) r=1.71m +[headless_play] t= 13.90s step= 695 trunk_z= 123.3mm grav_b=(+0.06,+0.18,-0.98) r=1.73m +[headless_play] t= 14.00s step= 700 trunk_z= 122.1mm grav_b=(+0.06,+0.05,-1.00) r=1.76m +[headless_play] t= 14.10s step= 705 trunk_z= 129.9mm grav_b=(+0.05,-0.03,-1.00) r=1.78m +[headless_play] t= 14.20s step= 710 trunk_z= 113.5mm grav_b=(+0.01,-0.01,-1.00) r=1.81m +[headless_play] t= 14.30s step= 715 trunk_z= 116.9mm grav_b=(+0.05,+0.03,-1.00) r=1.84m +[headless_play] t= 14.40s step= 720 trunk_z= 117.0mm grav_b=(+0.09,+0.07,-0.99) r=1.85m +[headless_play] t= 14.50s step= 725 trunk_z= 114.4mm grav_b=(+0.14,+0.04,-0.99) r=1.86m +[headless_play] t= 14.60s step= 730 trunk_z= 117.5mm grav_b=(+0.12,-0.05,-0.99) r=1.87m +[headless_play] t= 14.70s step= 735 trunk_z= 114.0mm grav_b=(+0.10,-0.04,-0.99) r=1.89m +[headless_play] t= 14.80s step= 740 trunk_z= 110.8mm grav_b=(+0.03,+0.05,-1.00) r=1.92m +[headless_play] t= 14.90s step= 745 trunk_z= 117.2mm grav_b=(+0.02,+0.04,-1.00) r=1.92m +[headless_play] t= 15.00s step= 750 trunk_z= 113.5mm grav_b=(+0.04,-0.01,-1.00) r=1.91m +[headless_play] t= 15.10s step= 755 trunk_z= 109.3mm grav_b=(+0.08,-0.07,-0.99) r=1.90m +[headless_play] t= 15.20s step= 760 trunk_z= 103.7mm grav_b=(+0.13,-0.05,-0.99) r=1.92m +[headless_play] t= 15.30s step= 765 trunk_z= 108.2mm grav_b=(-0.00,+0.01,-1.00) r=1.94m +[headless_play] t= 15.40s step= 770 trunk_z= 119.7mm grav_b=(-0.02,+0.02,-1.00) r=1.94m +[headless_play] t= 15.50s step= 775 trunk_z= 114.6mm grav_b=(+0.09,+0.02,-1.00) r=1.92m +[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(+0.12,-0.04,-0.99) r=1.91m +[headless_play] t= 15.70s step= 785 trunk_z= 110.9mm grav_b=(+0.16,-0.06,-0.98) r=1.91m +[headless_play] t= 15.80s step= 790 trunk_z= 106.3mm grav_b=(+0.19,+0.02,-0.98) r=1.93m +[headless_play] t= 15.90s step= 795 trunk_z= 109.4mm grav_b=(+0.15,+0.05,-0.99) r=1.93m +[headless_play] t= 16.00s step= 800 trunk_z= 112.8mm grav_b=(+0.04,+0.02,-1.00) r=1.92m +[headless_play] t= 16.10s step= 805 trunk_z= 107.8mm grav_b=(+0.10,-0.05,-0.99) r=1.91m +[headless_play] t= 16.20s step= 810 trunk_z= 107.2mm grav_b=(+0.14,-0.09,-0.99) r=1.92m +[headless_play] t= 16.30s step= 815 trunk_z= 101.7mm grav_b=(+0.16,-0.06,-0.98) r=1.94m +[headless_play] t= 16.40s step= 820 trunk_z= 107.9mm grav_b=(+0.16,+0.02,-0.99) r=1.96m +[headless_play] t= 16.50s step= 825 trunk_z= 109.6mm grav_b=(+0.12,-0.01,-0.99) r=1.98m +[headless_play] t= 16.60s step= 830 trunk_z= 106.6mm grav_b=(+0.07,-0.04,-1.00) r=1.99m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(+0.08,-0.11,-0.99) r=2.01m +[headless_play] t= 16.80s step= 840 trunk_z= 118.5mm grav_b=(+0.11,-0.12,-0.99) r=2.03m +[headless_play] t= 16.90s step= 845 trunk_z= 110.6mm grav_b=(+0.14,-0.09,-0.99) r=2.05m +[headless_play] t= 17.00s step= 850 trunk_z= 112.2mm grav_b=(+0.08,+0.03,-1.00) r=2.05m +[headless_play] t= 17.10s step= 855 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=2.05m +[headless_play] t= 17.20s step= 860 trunk_z= 110.9mm grav_b=(+0.08,-0.07,-0.99) r=2.07m +[headless_play] t= 17.30s step= 865 trunk_z= 121.5mm grav_b=(+0.09,-0.06,-0.99) r=2.09m +[headless_play] t= 17.40s step= 870 trunk_z= 120.5mm grav_b=(+0.09,-0.03,-1.00) r=2.11m +[headless_play] t= 17.50s step= 875 trunk_z= 119.2mm grav_b=(+0.12,-0.01,-0.99) r=2.14m +[headless_play] t= 17.60s step= 880 trunk_z= 125.2mm grav_b=(+0.08,-0.02,-1.00) r=2.17m +[headless_play] t= 17.70s step= 885 trunk_z= 113.9mm grav_b=(+0.06,-0.05,-1.00) r=2.21m +[headless_play] t= 17.80s step= 890 trunk_z= 121.0mm grav_b=(+0.04,-0.02,-1.00) r=2.23m +[headless_play] t= 17.90s step= 895 trunk_z= 110.9mm grav_b=(+0.01,+0.03,-1.00) r=2.26m +[headless_play] t= 18.00s step= 900 trunk_z= 121.5mm grav_b=(+0.01,+0.07,-1.00) r=2.27m +[headless_play] t= 18.10s step= 905 trunk_z= 120.4mm grav_b=(+0.01,+0.04,-1.00) r=2.28m +[headless_play] t= 18.20s step= 910 trunk_z= 116.8mm grav_b=(+0.01,-0.03,-1.00) r=2.30m +[headless_play] t= 18.30s step= 915 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=2.30m +[headless_play] t= 18.40s step= 920 trunk_z= 116.9mm grav_b=(+0.03,+0.06,-1.00) r=2.31m +[headless_play] t= 18.50s step= 925 trunk_z= 122.2mm grav_b=(+0.06,+0.04,-1.00) r=2.34m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=2.36m +[headless_play] t= 18.70s step= 935 trunk_z= 122.2mm grav_b=(+0.07,-0.02,-1.00) r=2.39m +[headless_play] t= 18.80s step= 940 trunk_z= 120.7mm grav_b=(+0.04,-0.02,-1.00) r=2.42m +[headless_play] t= 18.90s step= 945 trunk_z= 118.4mm grav_b=(+0.04,+0.04,-1.00) r=2.44m +[headless_play] t= 19.00s step= 950 trunk_z= 123.6mm grav_b=(+0.06,+0.05,-1.00) r=2.46m +[headless_play] t= 19.10s step= 955 trunk_z= 120.9mm grav_b=(+0.04,+0.02,-1.00) r=2.48m +[headless_play] t= 19.20s step= 960 trunk_z= 120.2mm grav_b=(+0.06,-0.02,-1.00) r=2.50m +[headless_play] t= 19.30s step= 965 trunk_z= 119.3mm grav_b=(+0.05,+0.02,-1.00) r=2.52m +[headless_play] t= 19.40s step= 970 trunk_z= 116.3mm grav_b=(+0.04,+0.05,-1.00) r=2.54m +[headless_play] t= 19.50s step= 975 trunk_z= 122.3mm grav_b=(+0.03,+0.04,-1.00) r=2.56m +[headless_play] t= 19.60s step= 980 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=2.58m +[headless_play] t= 19.70s step= 985 trunk_z= 120.6mm grav_b=(+0.01,-0.05,-1.00) r=2.60m +[headless_play] t= 19.80s step= 990 trunk_z= 122.5mm grav_b=(+0.03,-0.04,-1.00) r=2.61m +[headless_play] t= 19.90s step= 995 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) r=2.64m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.23m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.03,-0.03,-1.00) r=0.23m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t8.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..ef74783e6418b73d771b58f98e7acff05fcaa34b --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.315,-18.405,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.7mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(+0.01,+0.03,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.04,+0.07,-1.00) r=0.54m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(+0.07,+0.02,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 118.0mm grav_b=(+0.08,-0.05,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 125.8mm grav_b=(+0.09,-0.04,-1.00) r=0.58m +[headless_play] t= 0.60s step= 30 trunk_z= 121.7mm grav_b=(+0.07,-0.01,-1.00) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 123.6mm grav_b=(+0.04,+0.01,-1.00) r=0.64m +[headless_play] t= 0.80s step= 40 trunk_z= 118.3mm grav_b=(-0.02,-0.04,-1.00) r=0.65m +[headless_play] t= 0.90s step= 45 trunk_z= 120.9mm grav_b=(-0.00,-0.07,-1.00) r=0.66m +[headless_play] t= 1.00s step= 50 trunk_z= 122.3mm grav_b=(+0.02,-0.03,-1.00) r=0.67m +[headless_play] t= 1.10s step= 55 trunk_z= 114.0mm grav_b=(+0.01,+0.04,-1.00) r=0.70m +[headless_play] t= 1.20s step= 60 trunk_z= 124.6mm grav_b=(+0.06,+0.05,-1.00) r=0.73m +[headless_play] t= 1.30s step= 65 trunk_z= 124.7mm grav_b=(+0.05,+0.07,-1.00) r=0.74m +[headless_play] t= 1.40s step= 70 trunk_z= 118.3mm grav_b=(+0.02,+0.02,-1.00) r=0.75m +[headless_play] t= 1.50s step= 75 trunk_z= 122.9mm grav_b=(+0.05,-0.04,-1.00) r=0.76m +[headless_play] t= 1.60s step= 80 trunk_z= 120.7mm grav_b=(+0.05,+0.01,-1.00) r=0.78m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(+0.05,+0.05,-1.00) r=0.81m +[headless_play] t= 1.80s step= 90 trunk_z= 123.4mm grav_b=(+0.02,+0.01,-1.00) r=0.83m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.03,-0.03,-1.00) r=0.85m +[headless_play] t= 2.00s step= 100 trunk_z= 122.4mm grav_b=(+0.05,-0.03,-1.00) r=0.87m +[headless_play] t= 2.10s step= 105 trunk_z= 119.0mm grav_b=(+0.05,+0.02,-1.00) r=0.89m +[headless_play] t= 2.20s step= 110 trunk_z= 122.7mm grav_b=(-0.00,+0.08,-1.00) r=0.91m +[headless_play] t= 2.30s step= 115 trunk_z= 125.7mm grav_b=(-0.01,+0.05,-1.00) r=0.92m +[headless_play] t= 2.40s step= 120 trunk_z= 118.5mm grav_b=(-0.00,+0.03,-1.00) r=0.95m +[headless_play] t= 2.50s step= 125 trunk_z= 123.0mm grav_b=(+0.04,-0.06,-1.00) r=0.98m +[headless_play] t= 2.60s step= 130 trunk_z= 123.2mm grav_b=(+0.06,-0.04,-1.00) r=1.00m +[headless_play] t= 2.70s step= 135 trunk_z= 116.7mm grav_b=(+0.04,+0.02,-1.00) r=1.01m +[headless_play] t= 2.80s step= 140 trunk_z= 121.9mm grav_b=(-0.02,+0.00,-1.00) r=1.03m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.00,-0.06,-1.00) r=1.05m +[headless_play] t= 3.00s step= 150 trunk_z= 122.1mm grav_b=(+0.05,-0.06,-1.00) r=1.08m +[headless_play] t= 3.10s step= 155 trunk_z= 121.0mm grav_b=(+0.01,-0.03,-1.00) r=1.09m +[headless_play] t= 3.20s step= 160 trunk_z= 116.0mm grav_b=(+0.05,+0.03,-1.00) r=1.10m +[headless_play] t= 3.30s step= 165 trunk_z= 125.1mm grav_b=(-0.00,-0.02,-1.00) r=1.13m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(-0.00,-0.08,-1.00) r=1.15m +[headless_play] t= 3.50s step= 175 trunk_z= 122.8mm grav_b=(+0.05,-0.06,-1.00) r=1.18m +[headless_play] t= 3.60s step= 180 trunk_z= 119.3mm grav_b=(+0.07,-0.04,-1.00) r=1.19m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.09,+0.02,-1.00) r=1.21m +[headless_play] t= 3.80s step= 190 trunk_z= 129.2mm grav_b=(+0.05,-0.00,-1.00) r=1.24m +[headless_play] t= 3.90s step= 195 trunk_z= 118.7mm grav_b=(+0.03,-0.08,-1.00) r=1.26m +[headless_play] t= 4.00s step= 200 trunk_z= 120.5mm grav_b=(+0.05,-0.04,-1.00) r=1.27m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(+0.02,+0.03,-1.00) r=1.26m +[headless_play] t= 4.20s step= 210 trunk_z= 117.4mm grav_b=(+0.06,+0.00,-1.00) r=1.27m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(+0.09,+0.02,-1.00) r=1.27m +[headless_play] t= 4.40s step= 220 trunk_z= 118.1mm grav_b=(+0.09,+0.01,-1.00) r=1.27m +[headless_play] t= 4.50s step= 225 trunk_z= 117.7mm grav_b=(+0.07,+0.01,-1.00) r=1.27m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=1.27m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=1.26m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=1.27m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=1.27m +[headless_play] t= 5.00s step= 250 trunk_z= 118.1mm grav_b=(-0.00,-0.03,-1.00) r=1.27m +[headless_play] t= 5.10s step= 255 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=1.27m +[headless_play] t= 5.20s step= 260 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=1.27m +[headless_play] t= 5.30s step= 265 trunk_z= 117.4mm grav_b=(+0.04,+0.00,-1.00) r=1.27m +[headless_play] t= 5.40s step= 270 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=1.27m +[headless_play] t= 5.60s step= 280 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 5.70s step= 285 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 5.80s step= 290 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=1.27m +[headless_play] t= 5.90s step= 295 trunk_z= 117.5mm grav_b=(+0.09,-0.00,-1.00) r=1.28m +[headless_play] t= 6.00s step= 300 trunk_z= 118.2mm grav_b=(+0.11,+0.05,-0.99) r=1.28m +[headless_play] t= 6.10s step= 305 trunk_z= 121.1mm grav_b=(+0.00,+0.07,-1.00) r=1.29m +[headless_play] t= 6.20s step= 310 trunk_z= 114.0mm grav_b=(-0.05,+0.02,-1.00) r=1.32m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=1.33m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(+0.06,+0.03,-1.00) r=1.33m +[headless_play] t= 6.50s step= 325 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) r=1.33m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(-0.04,-0.02,-1.00) r=1.33m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(-0.04,-0.03,-1.00) r=1.34m +[headless_play] t= 6.80s step= 340 trunk_z= 114.7mm grav_b=(+0.00,+0.04,-1.00) r=1.33m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(+0.00,-0.03,-1.00) r=1.33m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(+0.07,-0.02,-1.00) r=1.33m +[headless_play] t= 7.10s step= 355 trunk_z= 119.6mm grav_b=(+0.14,+0.03,-0.99) r=1.33m +[headless_play] t= 7.20s step= 360 trunk_z= 110.4mm grav_b=(+0.01,+0.07,-1.00) r=1.32m +[headless_play] t= 7.30s step= 365 trunk_z= 118.9mm grav_b=(-0.01,+0.01,-1.00) r=1.32m +[headless_play] t= 7.40s step= 370 trunk_z= 116.9mm grav_b=(-0.04,-0.07,-1.00) r=1.34m +[headless_play] t= 7.50s step= 375 trunk_z= 116.1mm grav_b=(-0.02,-0.04,-1.00) r=1.34m +[headless_play] t= 7.60s step= 380 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=1.33m +[headless_play] t= 7.70s step= 385 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) r=1.33m +[headless_play] t= 7.80s step= 390 trunk_z= 115.1mm grav_b=(+0.02,-0.00,-1.00) r=1.33m +[headless_play] t= 7.90s step= 395 trunk_z= 116.7mm grav_b=(+0.02,-0.03,-1.00) r=1.34m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(+0.02,-0.02,-1.00) r=1.34m +[headless_play] t= 8.10s step= 405 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=1.33m +[headless_play] t= 8.20s step= 410 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=1.33m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=1.33m +[headless_play] t= 8.50s step= 425 trunk_z= 112.5mm grav_b=(+0.02,+0.05,-1.00) r=1.31m +[headless_play] t= 8.60s step= 430 trunk_z= 117.1mm grav_b=(+0.06,+0.04,-1.00) r=1.30m +[headless_play] t= 8.70s step= 435 trunk_z= 112.0mm grav_b=(+0.04,-0.03,-1.00) r=1.30m +[headless_play] t= 8.80s step= 440 trunk_z= 118.9mm grav_b=(+0.14,-0.01,-0.99) r=1.29m +[headless_play] t= 8.90s step= 445 trunk_z= 114.6mm grav_b=(+0.11,+0.05,-0.99) r=1.26m +[headless_play] t= 9.00s step= 450 trunk_z= 126.9mm grav_b=(+0.07,+0.00,-1.00) r=1.24m +[headless_play] t= 9.10s step= 455 trunk_z= 119.0mm grav_b=(+0.01,-0.02,-1.00) r=1.24m +[headless_play] t= 9.20s step= 460 trunk_z= 121.0mm grav_b=(+0.02,-0.09,-1.00) r=1.25m +[headless_play] t= 9.30s step= 465 trunk_z= 124.0mm grav_b=(+0.03,-0.08,-1.00) r=1.24m +[headless_play] t= 9.40s step= 470 trunk_z= 120.2mm grav_b=(+0.00,-0.04,-1.00) r=1.21m +[headless_play] t= 9.50s step= 475 trunk_z= 124.2mm grav_b=(-0.03,+0.06,-1.00) r=1.19m +[headless_play] t= 9.60s step= 480 trunk_z= 127.9mm grav_b=(-0.01,+0.14,-0.99) r=1.17m +[headless_play] t= 9.70s step= 485 trunk_z= 124.4mm grav_b=(+0.00,+0.14,-0.99) r=1.18m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(+0.03,+0.02,-1.00) r=1.20m +[headless_play] t= 9.90s step= 495 trunk_z= 123.2mm grav_b=(+0.05,-0.05,-1.00) r=1.21m +[headless_play] t= 10.00s step= 500 trunk_z= 121.7mm grav_b=(+0.09,-0.04,-1.00) r=1.20m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(+0.09,+0.02,-1.00) r=1.17m +[headless_play] t= 10.20s step= 510 trunk_z= 128.1mm grav_b=(+0.07,+0.00,-1.00) r=1.16m +[headless_play] t= 10.30s step= 515 trunk_z= 109.0mm grav_b=(-0.00,-0.07,-1.00) r=1.16m +[headless_play] t= 10.40s step= 520 trunk_z= 122.1mm grav_b=(+0.03,-0.07,-1.00) r=1.16m +[headless_play] t= 10.50s step= 525 trunk_z= 122.8mm grav_b=(+0.03,-0.05,-1.00) r=1.15m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(-0.02,-0.05,-1.00) r=1.13m +[headless_play] t= 10.70s step= 535 trunk_z= 121.9mm grav_b=(+0.01,+0.05,-1.00) r=1.12m +[headless_play] t= 10.80s step= 540 trunk_z= 120.6mm grav_b=(+0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 10.90s step= 545 trunk_z= 120.2mm grav_b=(+0.02,-0.03,-1.00) r=1.14m +[headless_play] t= 11.00s step= 550 trunk_z= 121.6mm grav_b=(+0.05,-0.01,-1.00) r=1.14m +[headless_play] t= 11.10s step= 555 trunk_z= 115.3mm grav_b=(+0.05,+0.03,-1.00) r=1.11m +[headless_play] t= 11.20s step= 560 trunk_z= 125.2mm grav_b=(+0.04,+0.06,-1.00) r=1.09m +[headless_play] t= 11.30s step= 565 trunk_z= 121.9mm grav_b=(+0.03,+0.04,-1.00) r=1.10m +[headless_play] t= 11.40s step= 570 trunk_z= 119.4mm grav_b=(+0.03,-0.05,-1.00) r=1.12m +[headless_play] t= 11.50s step= 575 trunk_z= 124.8mm grav_b=(+0.07,-0.08,-0.99) r=1.12m +[headless_play] t= 11.60s step= 580 trunk_z= 125.7mm grav_b=(+0.12,-0.13,-0.98) r=1.12m +[headless_play] t= 11.70s step= 585 trunk_z= 114.3mm grav_b=(+0.09,-0.05,-0.99) r=1.12m +[headless_play] t= 11.80s step= 590 trunk_z= 141.5mm grav_b=(+0.06,+0.04,-1.00) r=1.13m +[headless_play] t= 11.90s step= 595 trunk_z= 125.4mm grav_b=(+0.01,+0.03,-1.00) r=1.15m +[headless_play] t= 12.00s step= 600 trunk_z= 117.5mm grav_b=(+0.06,-0.03,-1.00) r=1.17m +[headless_play] t= 12.10s step= 605 trunk_z= 125.4mm grav_b=(-0.01,-0.11,-0.99) r=1.20m +[headless_play] t= 12.20s step= 610 trunk_z= 127.6mm grav_b=(-0.04,-0.10,-0.99) r=1.20m +[headless_play] t= 12.30s step= 615 trunk_z= 123.7mm grav_b=(-0.02,-0.05,-1.00) r=1.19m +[headless_play] t= 12.40s step= 620 trunk_z= 120.5mm grav_b=(+0.03,-0.00,-1.00) r=1.16m +[headless_play] t= 12.50s step= 625 trunk_z= 123.8mm grav_b=(+0.06,-0.00,-1.00) r=1.16m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(+0.07,-0.07,-1.00) r=1.16m +[headless_play] t= 12.70s step= 635 trunk_z= 121.2mm grav_b=(+0.07,-0.01,-1.00) r=1.14m +[headless_play] t= 12.80s step= 640 trunk_z= 120.3mm grav_b=(+0.04,+0.10,-0.99) r=1.10m +[headless_play] t= 12.90s step= 645 trunk_z= 125.4mm grav_b=(+0.02,+0.10,-1.00) r=1.09m +[headless_play] t= 13.00s step= 650 trunk_z= 122.0mm grav_b=(+0.02,+0.10,-1.00) r=1.09m +[headless_play] t= 13.10s step= 655 trunk_z= 120.8mm grav_b=(+0.01,-0.03,-1.00) r=1.10m +[headless_play] t= 13.20s step= 660 trunk_z= 122.1mm grav_b=(+0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 13.30s step= 665 trunk_z= 115.7mm grav_b=(+0.04,-0.02,-1.00) r=1.08m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(+0.03,+0.06,-1.00) r=1.06m +[headless_play] t= 13.50s step= 675 trunk_z= 117.3mm grav_b=(+0.05,+0.03,-1.00) r=1.06m +[headless_play] t= 13.60s step= 680 trunk_z= 110.5mm grav_b=(+0.06,-0.02,-1.00) r=1.07m +[headless_play] t= 13.70s step= 685 trunk_z= 120.0mm grav_b=(+0.07,-0.10,-0.99) r=1.09m +[headless_play] t= 13.80s step= 690 trunk_z= 123.4mm grav_b=(+0.06,-0.19,-0.98) r=1.11m +[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(+0.09,-0.16,-0.98) r=1.12m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(+0.05,-0.10,-0.99) r=1.14m +[headless_play] t= 14.10s step= 705 trunk_z= 125.8mm grav_b=(+0.06,-0.05,-1.00) r=1.15m +[headless_play] t= 14.20s step= 710 trunk_z= 132.1mm grav_b=(+0.04,+0.02,-1.00) r=1.18m +[headless_play] t= 14.30s step= 715 trunk_z= 112.8mm grav_b=(+0.02,-0.04,-1.00) r=1.21m +[headless_play] t= 14.40s step= 720 trunk_z= 123.4mm grav_b=(+0.02,-0.05,-1.00) r=1.23m +[headless_play] t= 14.50s step= 725 trunk_z= 122.7mm grav_b=(-0.01,-0.04,-1.00) r=1.23m +[headless_play] t= 14.60s step= 730 trunk_z= 122.9mm grav_b=(-0.04,+0.10,-0.99) r=1.21m +[headless_play] t= 14.70s step= 735 trunk_z= 128.1mm grav_b=(-0.06,+0.16,-0.99) r=1.21m +[headless_play] t= 14.80s step= 740 trunk_z= 127.7mm grav_b=(-0.04,+0.18,-0.98) r=1.21m +[headless_play] t= 14.90s step= 745 trunk_z= 124.6mm grav_b=(-0.02,+0.15,-0.99) r=1.23m +[headless_play] t= 15.00s step= 750 trunk_z= 116.9mm grav_b=(+0.00,+0.08,-1.00) r=1.26m +[headless_play] t= 15.10s step= 755 trunk_z= 120.5mm grav_b=(+0.04,-0.02,-1.00) r=1.28m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(+0.06,-0.03,-1.00) r=1.29m +[headless_play] t= 15.30s step= 765 trunk_z= 113.9mm grav_b=(+0.13,+0.10,-0.99) r=1.28m +[headless_play] t= 15.40s step= 770 trunk_z= 123.2mm grav_b=(+0.15,+0.11,-0.98) r=1.30m +[headless_play] t= 15.50s step= 775 trunk_z= 110.3mm grav_b=(+0.14,+0.07,-0.99) r=1.32m +[headless_play] t= 15.60s step= 780 trunk_z= 127.1mm grav_b=(+0.12,+0.07,-0.99) r=1.33m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(+0.06,+0.07,-1.00) r=1.35m +[headless_play] t= 15.80s step= 790 trunk_z= 130.6mm grav_b=(+0.05,-0.05,-1.00) r=1.39m +[headless_play] t= 15.90s step= 795 trunk_z= 103.5mm grav_b=(+0.01,-0.08,-1.00) r=1.45m +[headless_play] t= 16.00s step= 800 trunk_z= 126.9mm grav_b=(+0.13,-0.09,-0.99) r=1.50m +[headless_play] t= 16.10s step= 805 trunk_z= 130.1mm grav_b=(+0.14,-0.08,-0.99) r=1.55m +[headless_play] t= 16.20s step= 810 trunk_z= 114.9mm grav_b=(+0.11,-0.13,-0.99) r=1.61m +[headless_play] t= 16.30s step= 815 trunk_z= 120.6mm grav_b=(+0.09,+0.01,-1.00) r=1.65m +[headless_play] t= 16.40s step= 820 trunk_z= 136.2mm grav_b=(+0.02,+0.03,-1.00) r=1.67m +[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(+0.07,-0.06,-1.00) r=1.70m +[headless_play] t= 16.60s step= 830 trunk_z= 129.8mm grav_b=(+0.13,-0.03,-0.99) r=1.73m +[headless_play] t= 16.70s step= 835 trunk_z= 128.2mm grav_b=(+0.09,-0.02,-1.00) r=1.77m +[headless_play] t= 16.80s step= 840 trunk_z= 110.2mm grav_b=(+0.04,+0.05,-1.00) r=1.83m +[headless_play] t= 16.90s step= 845 trunk_z= 134.9mm grav_b=(+0.03,+0.16,-0.99) r=1.85m +[headless_play] t= 17.00s step= 850 trunk_z= 136.0mm grav_b=(+0.03,+0.18,-0.98) r=1.87m +[headless_play] t= 17.10s step= 855 trunk_z= 124.4mm grav_b=(-0.01,+0.11,-0.99) r=1.88m +[headless_play] t= 17.20s step= 860 trunk_z= 127.6mm grav_b=(+0.01,+0.04,-1.00) r=1.89m +[headless_play] t= 17.30s step= 865 trunk_z= 121.5mm grav_b=(+0.03,+0.05,-1.00) r=1.92m +[headless_play] t= 17.40s step= 870 trunk_z= 126.5mm grav_b=(+0.09,-0.01,-1.00) r=1.95m +[headless_play] t= 17.50s step= 875 trunk_z= 122.3mm grav_b=(+0.07,-0.03,-1.00) r=1.98m +[headless_play] t= 17.60s step= 880 trunk_z= 109.9mm grav_b=(+0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 17.70s step= 885 trunk_z= 118.7mm grav_b=(+0.04,-0.02,-1.00) r=2.02m +[headless_play] t= 17.80s step= 890 trunk_z= 117.0mm grav_b=(-0.02,+0.00,-1.00) r=2.05m +[headless_play] t= 17.90s step= 895 trunk_z= 119.6mm grav_b=(-0.07,+0.05,-1.00) r=2.08m +[headless_play] t= 18.00s step= 900 trunk_z= 119.1mm grav_b=(-0.09,+0.01,-1.00) r=2.07m +[headless_play] t= 18.10s step= 905 trunk_z= 116.8mm grav_b=(+0.01,-0.05,-1.00) r=2.06m +[headless_play] t= 18.20s step= 910 trunk_z= 116.3mm grav_b=(+0.05,-0.05,-1.00) r=2.07m +[headless_play] t= 18.30s step= 915 trunk_z= 113.0mm grav_b=(+0.07,-0.03,-1.00) r=2.09m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(+0.05,+0.04,-1.00) r=2.11m +[headless_play] t= 18.50s step= 925 trunk_z= 114.6mm grav_b=(+0.04,+0.03,-1.00) r=2.12m +[headless_play] t= 18.60s step= 930 trunk_z= 113.2mm grav_b=(-0.03,-0.03,-1.00) r=2.11m +[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(-0.03,-0.01,-1.00) r=2.10m +[headless_play] t= 18.80s step= 940 trunk_z= 109.3mm grav_b=(+0.02,+0.06,-1.00) r=2.11m +[headless_play] t= 18.90s step= 945 trunk_z= 112.8mm grav_b=(+0.06,+0.06,-1.00) r=2.11m +[headless_play] t= 19.00s step= 950 trunk_z= 108.1mm grav_b=(+0.09,+0.05,-1.00) r=2.09m +[headless_play] t= 19.10s step= 955 trunk_z= 110.5mm grav_b=(+0.12,-0.06,-0.99) r=2.07m +[headless_play] t= 19.20s step= 960 trunk_z= 113.0mm grav_b=(+0.15,-0.09,-0.98) r=2.07m +[headless_play] t= 19.30s step= 965 trunk_z= 116.0mm grav_b=(+0.09,-0.05,-1.00) r=2.07m +[headless_play] t= 19.40s step= 970 trunk_z= 119.4mm grav_b=(+0.05,+0.04,-1.00) r=2.07m +[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=2.07m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(+0.04,-0.08,-1.00) r=2.05m +[headless_play] t= 19.70s step= 985 trunk_z= 117.0mm grav_b=(+0.06,-0.09,-0.99) r=2.05m +[headless_play] t= 19.80s step= 990 trunk_z= 114.4mm grav_b=(+0.07,-0.03,-1.00) r=2.06m +[headless_play] t= 19.90s step= 995 trunk_z= 118.6mm grav_b=(+0.05,+0.07,-1.00) r=2.07m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.1mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 113.9mm grav_b=(+0.03,+0.05,-1.00) r=0.52m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t9.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..cd61192402058ee96d92a68321e1df79fb253c74 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/v2-c-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(+2.314,-18.372,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 120.3mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.07,+0.01,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.07,+0.01,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(+0.09,+0.01,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 118.1mm grav_b=(+0.18,+0.05,-0.98) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 120.7mm grav_b=(+0.21,+0.04,-0.98) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 111.2mm grav_b=(+0.05,-0.05,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 120.7mm grav_b=(-0.01,-0.06,-1.00) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(-0.01,-0.03,-1.00) r=0.62m +[headless_play] t= 1.60s step= 80 trunk_z= 118.9mm grav_b=(+0.01,+0.04,-1.00) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(+0.09,+0.01,-1.00) r=0.64m +[headless_play] t= 1.90s step= 95 trunk_z= 116.9mm grav_b=(+0.10,+0.03,-0.99) r=0.64m +[headless_play] t= 2.00s step= 100 trunk_z= 118.1mm grav_b=(+0.17,+0.02,-0.99) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 114.5mm grav_b=(+0.14,+0.05,-0.99) r=0.65m +[headless_play] t= 2.20s step= 110 trunk_z= 122.4mm grav_b=(+0.11,+0.06,-0.99) r=0.67m +[headless_play] t= 2.30s step= 115 trunk_z= 117.8mm grav_b=(+0.04,-0.01,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.69m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(+0.04,+0.03,-1.00) r=0.69m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(+0.07,+0.03,-1.00) r=0.69m +[headless_play] t= 2.70s step= 135 trunk_z= 117.4mm grav_b=(+0.15,+0.05,-0.99) r=0.70m +[headless_play] t= 2.80s step= 140 trunk_z= 121.8mm grav_b=(+0.16,+0.03,-0.99) r=0.71m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(+0.08,+0.03,-1.00) r=0.74m +[headless_play] t= 3.00s step= 150 trunk_z= 118.3mm grav_b=(+0.04,+0.08,-1.00) r=0.74m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(+0.04,+0.12,-0.99) r=0.74m +[headless_play] t= 3.20s step= 160 trunk_z= 119.2mm grav_b=(+0.01,+0.10,-0.99) r=0.74m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.75m +[headless_play] t= 3.40s step= 170 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.74m +[headless_play] t= 3.50s step= 175 trunk_z= 118.9mm grav_b=(+0.05,+0.01,-1.00) r=0.74m +[headless_play] t= 3.60s step= 180 trunk_z= 108.3mm grav_b=(+0.08,-0.04,-1.00) r=0.73m +[headless_play] t= 3.70s step= 185 trunk_z= 111.0mm grav_b=(+0.06,+0.04,-1.00) r=0.72m +[headless_play] t= 3.80s step= 190 trunk_z= 115.0mm grav_b=(+0.04,+0.03,-1.00) r=0.72m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(+0.06,-0.05,-1.00) r=0.73m +[headless_play] t= 4.00s step= 200 trunk_z= 114.4mm grav_b=(+0.11,-0.02,-0.99) r=0.73m +[headless_play] t= 4.10s step= 205 trunk_z= 116.7mm grav_b=(+0.12,+0.01,-0.99) r=0.73m +[headless_play] t= 4.20s step= 210 trunk_z= 117.5mm grav_b=(+0.15,-0.01,-0.99) r=0.73m +[headless_play] t= 4.30s step= 215 trunk_z= 120.3mm grav_b=(+0.13,-0.03,-0.99) r=0.75m +[headless_play] t= 4.40s step= 220 trunk_z= 119.9mm grav_b=(+0.08,+0.04,-1.00) r=0.76m +[headless_play] t= 4.50s step= 225 trunk_z= 118.7mm grav_b=(+0.04,+0.04,-1.00) r=0.77m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.78m +[headless_play] t= 4.70s step= 235 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 4.90s step= 245 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.78m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.40s step= 270 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.70s step= 285 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.80s step= 290 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.90s step= 295 trunk_z= 118.4mm grav_b=(-0.00,+0.05,-1.00) r=0.77m +[headless_play] t= 6.00s step= 300 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.77m +[headless_play] t= 6.10s step= 305 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.77m +[headless_play] t= 6.20s step= 310 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.77m +[headless_play] t= 6.30s step= 315 trunk_z= 116.0mm grav_b=(+0.07,+0.02,-1.00) r=0.77m +[headless_play] t= 6.40s step= 320 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.77m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 6.70s step= 335 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 6.80s step= 340 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.77m +[headless_play] t= 6.90s step= 345 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.77m +[headless_play] t= 7.10s step= 355 trunk_z= 115.4mm grav_b=(+0.05,+0.02,-1.00) r=0.77m +[headless_play] t= 7.20s step= 360 trunk_z= 113.6mm grav_b=(+0.06,+0.08,-1.00) r=0.77m +[headless_play] t= 7.30s step= 365 trunk_z= 117.5mm grav_b=(+0.12,+0.07,-0.99) r=0.78m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(+0.09,-0.01,-1.00) r=0.81m +[headless_play] t= 7.50s step= 375 trunk_z= 122.1mm grav_b=(+0.12,+0.00,-0.99) r=0.85m +[headless_play] t= 7.60s step= 380 trunk_z= 120.0mm grav_b=(+0.10,+0.05,-0.99) r=0.86m +[headless_play] t= 7.70s step= 385 trunk_z= 121.9mm grav_b=(+0.07,+0.07,-0.99) r=0.87m +[headless_play] t= 7.80s step= 390 trunk_z= 124.7mm grav_b=(+0.06,+0.06,-1.00) r=0.89m +[headless_play] t= 7.90s step= 395 trunk_z= 114.3mm grav_b=(+0.02,-0.04,-1.00) r=0.93m +[headless_play] t= 8.00s step= 400 trunk_z= 124.2mm grav_b=(+0.03,-0.06,-1.00) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 122.0mm grav_b=(+0.04,-0.03,-1.00) r=0.96m +[headless_play] t= 8.20s step= 410 trunk_z= 117.7mm grav_b=(+0.07,+0.07,-0.99) r=0.97m +[headless_play] t= 8.30s step= 415 trunk_z= 128.8mm grav_b=(+0.10,+0.09,-0.99) r=0.98m +[headless_play] t= 8.40s step= 420 trunk_z= 127.4mm grav_b=(+0.08,+0.09,-0.99) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 120.9mm grav_b=(+0.08,-0.01,-1.00) r=1.04m +[headless_play] t= 8.60s step= 430 trunk_z= 122.7mm grav_b=(+0.02,+0.01,-1.00) r=1.05m +[headless_play] t= 8.70s step= 435 trunk_z= 117.5mm grav_b=(-0.03,+0.06,-1.00) r=1.06m +[headless_play] t= 8.80s step= 440 trunk_z= 123.5mm grav_b=(-0.01,+0.10,-1.00) r=1.06m +[headless_play] t= 8.90s step= 445 trunk_z= 124.4mm grav_b=(+0.04,+0.13,-0.99) r=1.08m +[headless_play] t= 9.00s step= 450 trunk_z= 121.1mm grav_b=(+0.07,+0.07,-0.99) r=1.10m +[headless_play] t= 9.10s step= 455 trunk_z= 124.3mm grav_b=(+0.07,-0.08,-0.99) r=1.13m +[headless_play] t= 9.20s step= 460 trunk_z= 123.8mm grav_b=(+0.06,-0.05,-1.00) r=1.15m +[headless_play] t= 9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=1.17m +[headless_play] t= 9.40s step= 470 trunk_z= 123.5mm grav_b=(+0.03,+0.09,-1.00) r=1.19m +[headless_play] t= 9.50s step= 475 trunk_z= 121.7mm grav_b=(+0.05,+0.10,-0.99) r=1.21m +[headless_play] t= 9.60s step= 480 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=1.24m +[headless_play] t= 9.70s step= 485 trunk_z= 123.3mm grav_b=(+0.06,-0.05,-1.00) r=1.27m +[headless_play] t= 9.80s step= 490 trunk_z= 119.0mm grav_b=(+0.04,-0.02,-1.00) r=1.28m +[headless_play] t= 9.90s step= 495 trunk_z= 119.1mm grav_b=(+0.01,+0.10,-0.99) r=1.29m +[headless_play] t= 10.00s step= 500 trunk_z= 127.1mm grav_b=(+0.01,+0.13,-0.99) r=1.30m +[headless_play] t= 10.10s step= 505 trunk_z= 126.4mm grav_b=(+0.01,+0.15,-0.99) r=1.32m +[headless_play] t= 10.20s step= 510 trunk_z= 123.8mm grav_b=(+0.04,+0.12,-0.99) r=1.35m +[headless_play] t= 10.30s step= 515 trunk_z= 118.1mm grav_b=(+0.04,-0.02,-1.00) r=1.38m +[headless_play] t= 10.40s step= 520 trunk_z= 120.6mm grav_b=(+0.09,-0.05,-1.00) r=1.39m +[headless_play] t= 10.50s step= 525 trunk_z= 114.9mm grav_b=(+0.08,-0.01,-1.00) r=1.41m +[headless_play] t= 10.60s step= 530 trunk_z= 118.1mm grav_b=(+0.06,+0.06,-1.00) r=1.42m +[headless_play] t= 10.70s step= 535 trunk_z= 118.0mm grav_b=(+0.08,+0.05,-1.00) r=1.45m +[headless_play] t= 10.80s step= 540 trunk_z= 114.1mm grav_b=(+0.03,-0.02,-1.00) r=1.47m +[headless_play] t= 10.90s step= 545 trunk_z= 117.6mm grav_b=(+0.02,+0.05,-1.00) r=1.48m +[headless_play] t= 11.00s step= 550 trunk_z= 110.8mm grav_b=(+0.02,+0.10,-1.00) r=1.48m +[headless_play] t= 11.10s step= 555 trunk_z= 118.8mm grav_b=(+0.06,+0.07,-1.00) r=1.50m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(+0.08,+0.04,-1.00) r=1.52m +[headless_play] t= 11.30s step= 565 trunk_z= 117.8mm grav_b=(+0.07,-0.04,-1.00) r=1.55m +[headless_play] t= 11.40s step= 570 trunk_z= 118.1mm grav_b=(+0.08,-0.03,-1.00) r=1.57m +[headless_play] t= 11.50s step= 575 trunk_z= 109.8mm grav_b=(+0.09,+0.06,-0.99) r=1.58m +[headless_play] t= 11.60s step= 580 trunk_z= 127.1mm grav_b=(+0.14,+0.14,-0.98) r=1.60m +[headless_play] t= 11.70s step= 585 trunk_z= 128.6mm grav_b=(+0.11,+0.17,-0.98) r=1.63m +[headless_play] t= 11.80s step= 590 trunk_z= 119.3mm grav_b=(+0.10,+0.08,-0.99) r=1.67m +[headless_play] t= 11.90s step= 595 trunk_z= 121.2mm grav_b=(+0.01,+0.12,-0.99) r=1.69m +[headless_play] t= 12.00s step= 600 trunk_z= 122.0mm grav_b=(+0.07,+0.19,-0.98) r=1.71m +[headless_play] t= 12.10s step= 605 trunk_z= 127.0mm grav_b=(+0.08,+0.23,-0.97) r=1.73m +[headless_play] t= 12.20s step= 610 trunk_z= 124.2mm grav_b=(+0.06,+0.25,-0.97) r=1.77m +[headless_play] t= 12.30s step= 615 trunk_z= 117.4mm grav_b=(+0.05,+0.33,-0.94) r=1.80m +[headless_play] t= 12.40s step= 620 trunk_z= 105.2mm grav_b=(+0.27,+0.31,-0.91) r=1.84m +[headless_play] t= 12.50s step= 625 trunk_z= 112.1mm grav_b=(+0.51,+0.15,-0.85) r=1.88m +[headless_play] RESET at t= 12.60s step= 630 (env termination, not a recovery) +[headless_play] t= 12.60s step= 630 trunk_z= 120.2mm grav_b=(+0.00,-0.00,-1.00) r=0.11m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(-0.01,+0.03,-1.00) r=0.11m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(+0.01,+0.09,-1.00) r=0.12m +[headless_play] t= 12.90s step= 645 trunk_z= 120.9mm grav_b=(+0.07,+0.07,-0.99) r=0.11m +[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(+0.09,-0.00,-1.00) r=0.11m +[headless_play] t= 13.10s step= 655 trunk_z= 125.0mm grav_b=(+0.07,-0.01,-1.00) r=0.11m +[headless_play] t= 13.20s step= 660 trunk_z= 118.5mm grav_b=(+0.03,+0.04,-1.00) r=0.14m +[headless_play] t= 13.30s step= 665 trunk_z= 123.8mm grav_b=(+0.01,+0.08,-1.00) r=0.17m +[headless_play] t= 13.40s step= 670 trunk_z= 124.3mm grav_b=(-0.00,+0.06,-1.00) r=0.19m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.19m +[headless_play] t= 13.60s step= 680 trunk_z= 123.5mm grav_b=(+0.01,-0.04,-1.00) r=0.20m +[headless_play] t= 13.70s step= 685 trunk_z= 120.6mm grav_b=(+0.03,-0.00,-1.00) r=0.22m +[headless_play] t= 13.80s step= 690 trunk_z= 118.5mm grav_b=(+0.02,+0.06,-1.00) r=0.25m +[headless_play] t= 13.90s step= 695 trunk_z= 124.3mm grav_b=(+0.02,+0.06,-1.00) r=0.27m +[headless_play] t= 14.00s step= 700 trunk_z= 119.4mm grav_b=(+0.02,+0.04,-1.00) r=0.29m +[headless_play] t= 14.10s step= 705 trunk_z= 120.6mm grav_b=(+0.01,-0.05,-1.00) r=0.31m +[headless_play] t= 14.20s step= 710 trunk_z= 122.3mm grav_b=(+0.02,-0.03,-1.00) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 114.4mm grav_b=(+0.00,+0.05,-1.00) r=0.35m +[headless_play] t= 14.40s step= 720 trunk_z= 124.9mm grav_b=(+0.01,+0.08,-1.00) r=0.37m +[headless_play] t= 14.50s step= 725 trunk_z= 124.0mm grav_b=(+0.01,+0.08,-1.00) r=0.39m +[headless_play] t= 14.60s step= 730 trunk_z= 117.4mm grav_b=(+0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 122.0mm grav_b=(+0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 123.5mm grav_b=(+0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 15.00s step= 750 trunk_z= 123.1mm grav_b=(-0.01,+0.07,-1.00) r=0.49m +[headless_play] t= 15.10s step= 755 trunk_z= 114.8mm grav_b=(-0.01,-0.01,-1.00) r=0.51m +[headless_play] t= 15.20s step= 760 trunk_z= 123.8mm grav_b=(+0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 15.30s step= 765 trunk_z= 120.2mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 119.3mm grav_b=(+0.03,+0.07,-1.00) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 124.2mm grav_b=(+0.07,+0.08,-0.99) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 120.7mm grav_b=(+0.04,+0.03,-1.00) r=0.61m +[headless_play] t= 15.70s step= 785 trunk_z= 123.4mm grav_b=(+0.01,-0.04,-1.00) r=0.65m +[headless_play] t= 15.80s step= 790 trunk_z= 122.3mm grav_b=(-0.01,-0.03,-1.00) r=0.67m +[headless_play] t= 15.90s step= 795 trunk_z= 115.5mm grav_b=(-0.04,+0.03,-1.00) r=0.68m +[headless_play] t= 16.00s step= 800 trunk_z= 123.7mm grav_b=(-0.03,+0.06,-1.00) r=0.68m +[headless_play] t= 16.10s step= 805 trunk_z= 122.1mm grav_b=(-0.01,+0.06,-1.00) r=0.69m +[headless_play] t= 16.20s step= 810 trunk_z= 120.7mm grav_b=(+0.03,-0.05,-1.00) r=0.71m +[headless_play] t= 16.30s step= 815 trunk_z= 124.4mm grav_b=(+0.06,-0.04,-1.00) r=0.73m +[headless_play] t= 16.40s step= 820 trunk_z= 123.2mm grav_b=(+0.06,-0.03,-1.00) r=0.75m +[headless_play] t= 16.50s step= 825 trunk_z= 125.1mm grav_b=(+0.06,-0.01,-1.00) r=0.78m +[headless_play] t= 16.60s step= 830 trunk_z= 127.7mm grav_b=(+0.04,-0.01,-1.00) r=0.82m +[headless_play] t= 16.70s step= 835 trunk_z= 116.4mm grav_b=(+0.02,-0.04,-1.00) r=0.85m +[headless_play] t= 16.80s step= 840 trunk_z= 119.0mm grav_b=(+0.00,+0.00,-1.00) r=0.87m +[headless_play] t= 16.90s step= 845 trunk_z= 114.8mm grav_b=(-0.02,+0.04,-1.00) r=0.88m +[headless_play] t= 17.00s step= 850 trunk_z= 124.8mm grav_b=(-0.01,+0.05,-1.00) r=0.89m +[headless_play] t= 17.10s step= 855 trunk_z= 122.4mm grav_b=(+0.03,+0.03,-1.00) r=0.91m +[headless_play] t= 17.20s step= 860 trunk_z= 121.0mm grav_b=(+0.02,-0.05,-1.00) r=0.93m +[headless_play] t= 17.30s step= 865 trunk_z= 125.3mm grav_b=(+0.02,-0.04,-1.00) r=0.95m +[headless_play] t= 17.40s step= 870 trunk_z= 121.6mm grav_b=(+0.00,+0.01,-1.00) r=0.96m +[headless_play] t= 17.50s step= 875 trunk_z= 125.0mm grav_b=(+0.02,+0.05,-1.00) r=0.97m +[headless_play] t= 17.60s step= 880 trunk_z= 127.6mm grav_b=(+0.06,+0.06,-1.00) r=0.98m +[headless_play] t= 17.70s step= 885 trunk_z= 119.8mm grav_b=(+0.05,+0.00,-1.00) r=1.00m +[headless_play] t= 17.80s step= 890 trunk_z= 123.4mm grav_b=(+0.07,-0.01,-1.00) r=1.02m +[headless_play] t= 17.90s step= 895 trunk_z= 119.2mm grav_b=(+0.04,+0.14,-0.99) r=1.03m +[headless_play] t= 18.00s step= 900 trunk_z= 128.1mm grav_b=(+0.03,+0.11,-0.99) r=1.05m +[headless_play] t= 18.10s step= 905 trunk_z= 125.7mm grav_b=(+0.03,+0.11,-0.99) r=1.07m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(+0.00,-0.02,-1.00) r=1.11m +[headless_play] t= 18.30s step= 915 trunk_z= 125.8mm grav_b=(+0.02,-0.00,-1.00) r=1.13m +[headless_play] t= 18.40s step= 920 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=1.13m +[headless_play] t= 18.50s step= 925 trunk_z= 122.5mm grav_b=(+0.02,+0.05,-1.00) r=1.14m +[headless_play] t= 18.60s step= 930 trunk_z= 121.3mm grav_b=(+0.02,+0.02,-1.00) r=1.15m +[headless_play] t= 18.70s step= 935 trunk_z= 117.9mm grav_b=(-0.03,-0.01,-1.00) r=1.16m +[headless_play] t= 18.80s step= 940 trunk_z= 118.2mm grav_b=(-0.07,+0.05,-1.00) r=1.16m +[headless_play] t= 18.90s step= 945 trunk_z= 119.9mm grav_b=(-0.04,+0.10,-0.99) r=1.16m +[headless_play] t= 19.00s step= 950 trunk_z= 122.8mm grav_b=(+0.01,+0.06,-1.00) r=1.17m +[headless_play] t= 19.10s step= 955 trunk_z= 116.4mm grav_b=(+0.08,-0.03,-1.00) r=1.19m +[headless_play] t= 19.20s step= 960 trunk_z= 124.2mm grav_b=(+0.11,-0.03,-0.99) r=1.21m +[headless_play] t= 19.30s step= 965 trunk_z= 122.1mm grav_b=(+0.06,-0.00,-1.00) r=1.23m +[headless_play] t= 19.40s step= 970 trunk_z= 124.1mm grav_b=(+0.03,+0.05,-1.00) r=1.25m +[headless_play] t= 19.50s step= 975 trunk_z= 126.9mm grav_b=(-0.00,+0.04,-1.00) r=1.27m +[headless_play] t= 19.60s step= 980 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=1.31m +[headless_play] t= 19.70s step= 985 trunk_z= 124.1mm grav_b=(+0.08,-0.02,-1.00) r=1.34m +[headless_play] t= 19.80s step= 990 trunk_z= 122.7mm grav_b=(+0.07,-0.00,-1.00) r=1.37m +[headless_play] t= 19.90s step= 995 trunk_z= 119.8mm grav_b=(+0.02,+0.06,-1.00) r=1.39m +[headless_play] t= 20.00s step=1000 trunk_z= 122.8mm grav_b=(-0.01,+0.03,-1.00) r=1.42m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=1.45m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t1.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..a021dc76d0ca68b66bb1de837f88482a81b5f63f --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.510,-18.492,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.2mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.04,+0.03,-1.00) r=0.69m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(-0.04,-0.00,-1.00) r=0.69m +[headless_play] t= 0.30s step= 15 trunk_z= 112.3mm grav_b=(-0.07,-0.03,-1.00) r=0.71m +[headless_play] t= 0.40s step= 20 trunk_z= 119.8mm grav_b=(-0.09,-0.03,-1.00) r=0.72m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.09,-0.01,-1.00) r=0.71m +[headless_play] t= 0.60s step= 30 trunk_z= 121.0mm grav_b=(-0.10,+0.04,-0.99) r=0.68m +[headless_play] t= 0.70s step= 35 trunk_z= 123.4mm grav_b=(-0.08,+0.03,-1.00) r=0.68m +[headless_play] t= 0.80s step= 40 trunk_z= 117.8mm grav_b=(-0.11,-0.00,-0.99) r=0.70m +[headless_play] t= 0.90s step= 45 trunk_z= 122.1mm grav_b=(-0.21,-0.08,-0.97) r=0.72m +[headless_play] t= 1.00s step= 50 trunk_z= 123.2mm grav_b=(-0.09,-0.03,-1.00) r=0.72m +[headless_play] t= 1.10s step= 55 trunk_z= 114.0mm grav_b=(-0.03,+0.05,-1.00) r=0.70m +[headless_play] t= 1.20s step= 60 trunk_z= 115.3mm grav_b=(-0.02,-0.00,-1.00) r=0.71m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(-0.06,-0.09,-0.99) r=0.74m +[headless_play] t= 1.40s step= 70 trunk_z= 122.1mm grav_b=(-0.07,-0.06,-1.00) r=0.76m +[headless_play] t= 1.50s step= 75 trunk_z= 115.0mm grav_b=(-0.08,+0.04,-1.00) r=0.75m +[headless_play] t= 1.60s step= 80 trunk_z= 125.7mm grav_b=(-0.10,+0.08,-0.99) r=0.75m +[headless_play] t= 1.70s step= 85 trunk_z= 125.4mm grav_b=(-0.05,+0.07,-1.00) r=0.76m +[headless_play] t= 1.80s step= 90 trunk_z= 120.9mm grav_b=(-0.03,+0.04,-1.00) r=0.78m +[headless_play] t= 1.90s step= 95 trunk_z= 121.4mm grav_b=(-0.10,-0.09,-0.99) r=0.81m +[headless_play] t= 2.00s step= 100 trunk_z= 125.9mm grav_b=(-0.08,-0.09,-0.99) r=0.83m +[headless_play] t= 2.10s step= 105 trunk_z= 119.8mm grav_b=(-0.09,-0.06,-0.99) r=0.84m +[headless_play] t= 2.20s step= 110 trunk_z= 123.1mm grav_b=(-0.09,+0.02,-1.00) r=0.84m +[headless_play] t= 2.30s step= 115 trunk_z= 124.1mm grav_b=(-0.07,+0.03,-1.00) r=0.85m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(-0.07,-0.03,-1.00) r=0.87m +[headless_play] t= 2.50s step= 125 trunk_z= 124.9mm grav_b=(-0.10,-0.12,-0.99) r=0.89m +[headless_play] t= 2.60s step= 130 trunk_z= 128.1mm grav_b=(-0.10,-0.15,-0.98) r=0.90m +[headless_play] t= 2.70s step= 135 trunk_z= 127.3mm grav_b=(-0.07,-0.13,-0.99) r=0.90m +[headless_play] t= 2.80s step= 140 trunk_z= 121.8mm grav_b=(-0.08,-0.07,-0.99) r=0.91m +[headless_play] t= 2.90s step= 145 trunk_z= 123.6mm grav_b=(-0.09,+0.02,-1.00) r=0.91m +[headless_play] t= 3.00s step= 150 trunk_z= 123.1mm grav_b=(-0.06,+0.03,-1.00) r=0.92m +[headless_play] t= 3.10s step= 155 trunk_z= 115.6mm grav_b=(-0.06,-0.01,-1.00) r=0.94m +[headless_play] t= 3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.97m +[headless_play] t= 3.30s step= 165 trunk_z= 115.8mm grav_b=(-0.04,+0.06,-1.00) r=0.98m +[headless_play] t= 3.40s step= 170 trunk_z= 125.1mm grav_b=(-0.04,+0.03,-1.00) r=1.00m +[headless_play] t= 3.50s step= 175 trunk_z= 126.4mm grav_b=(-0.04,+0.04,-1.00) r=1.03m +[headless_play] t= 3.60s step= 180 trunk_z= 119.1mm grav_b=(-0.08,-0.08,-0.99) r=1.06m +[headless_play] t= 3.70s step= 185 trunk_z= 126.0mm grav_b=(-0.05,-0.08,-1.00) r=1.09m +[headless_play] t= 3.80s step= 190 trunk_z= 119.9mm grav_b=(-0.09,-0.05,-0.99) r=1.11m +[headless_play] t= 3.90s step= 195 trunk_z= 123.9mm grav_b=(-0.10,+0.04,-0.99) r=1.12m +[headless_play] t= 4.00s step= 200 trunk_z= 126.1mm grav_b=(-0.09,+0.01,-1.00) r=1.13m +[headless_play] t= 4.10s step= 205 trunk_z= 118.2mm grav_b=(-0.10,+0.00,-0.99) r=1.16m +[headless_play] t= 4.20s step= 210 trunk_z= 122.9mm grav_b=(-0.11,-0.07,-0.99) r=1.18m +[headless_play] t= 4.30s step= 215 trunk_z= 121.8mm grav_b=(-0.08,-0.03,-1.00) r=1.18m +[headless_play] t= 4.40s step= 220 trunk_z= 121.6mm grav_b=(-0.10,+0.01,-1.00) r=1.18m +[headless_play] t= 4.50s step= 225 trunk_z= 124.7mm grav_b=(-0.09,-0.01,-1.00) r=1.18m +[headless_play] t= 4.60s step= 230 trunk_z= 118.5mm grav_b=(-0.01,-0.01,-1.00) r=1.22m +[headless_play] t= 4.70s step= 235 trunk_z= 124.9mm grav_b=(-0.07,-0.09,-0.99) r=1.25m +[headless_play] t= 4.80s step= 240 trunk_z= 124.9mm grav_b=(-0.08,-0.06,-0.99) r=1.27m +[headless_play] t= 4.90s step= 245 trunk_z= 117.3mm grav_b=(-0.11,-0.00,-0.99) r=1.28m +[headless_play] t= 5.00s step= 250 trunk_z= 125.1mm grav_b=(-0.09,+0.01,-1.00) r=1.27m +[headless_play] t= 5.10s step= 255 trunk_z= 122.7mm grav_b=(-0.07,-0.00,-1.00) r=1.27m +[headless_play] t= 5.20s step= 260 trunk_z= 118.2mm grav_b=(-0.07,-0.06,-1.00) r=1.28m +[headless_play] t= 5.30s step= 265 trunk_z= 122.9mm grav_b=(-0.08,-0.04,-1.00) r=1.29m +[headless_play] t= 5.40s step= 270 trunk_z= 118.0mm grav_b=(-0.06,-0.04,-1.00) r=1.30m +[headless_play] t= 5.50s step= 275 trunk_z= 121.2mm grav_b=(-0.07,-0.00,-1.00) r=1.32m +[headless_play] t= 5.60s step= 280 trunk_z= 118.2mm grav_b=(-0.03,-0.06,-1.00) r=1.33m +[headless_play] t= 5.70s step= 285 trunk_z= 118.5mm grav_b=(-0.03,-0.04,-1.00) r=1.35m +[headless_play] t= 5.80s step= 290 trunk_z= 119.9mm grav_b=(-0.07,+0.01,-1.00) r=1.37m +[headless_play] t= 5.90s step= 295 trunk_z= 119.4mm grav_b=(-0.08,+0.02,-1.00) r=1.38m +[headless_play] t= 6.00s step= 300 trunk_z= 124.6mm grav_b=(-0.09,-0.00,-1.00) r=1.39m +[headless_play] t= 6.10s step= 305 trunk_z= 119.2mm grav_b=(-0.09,-0.01,-1.00) r=1.40m +[headless_play] t= 6.20s step= 310 trunk_z= 121.2mm grav_b=(-0.08,-0.04,-1.00) r=1.41m +[headless_play] t= 6.30s step= 315 trunk_z= 121.0mm grav_b=(-0.04,-0.02,-1.00) r=1.43m +[headless_play] t= 6.40s step= 320 trunk_z= 117.8mm grav_b=(-0.05,+0.04,-1.00) r=1.46m +[headless_play] t= 6.50s step= 325 trunk_z= 124.6mm grav_b=(-0.07,+0.02,-1.00) r=1.48m +[headless_play] t= 6.60s step= 330 trunk_z= 120.9mm grav_b=(-0.07,+0.01,-1.00) r=1.49m +[headless_play] t= 6.70s step= 335 trunk_z= 118.9mm grav_b=(-0.07,-0.05,-1.00) r=1.51m +[headless_play] t= 6.80s step= 340 trunk_z= 122.7mm grav_b=(-0.07,-0.04,-1.00) r=1.52m +[headless_play] t= 6.90s step= 345 trunk_z= 114.9mm grav_b=(-0.07,-0.02,-1.00) r=1.53m +[headless_play] t= 7.00s step= 350 trunk_z= 122.0mm grav_b=(-0.07,-0.01,-1.00) r=1.55m +[headless_play] t= 7.10s step= 355 trunk_z= 120.3mm grav_b=(-0.06,-0.01,-1.00) r=1.56m +[headless_play] t= 7.20s step= 360 trunk_z= 115.6mm grav_b=(-0.08,-0.06,-0.99) r=1.56m +[headless_play] t= 7.30s step= 365 trunk_z= 121.9mm grav_b=(-0.09,-0.04,-0.99) r=1.57m +[headless_play] t= 7.40s step= 370 trunk_z= 115.2mm grav_b=(-0.08,-0.02,-1.00) r=1.59m +[headless_play] t= 7.50s step= 375 trunk_z= 121.6mm grav_b=(-0.07,-0.01,-1.00) r=1.60m +[headless_play] t= 7.60s step= 380 trunk_z= 118.4mm grav_b=(-0.06,-0.01,-1.00) r=1.62m +[headless_play] t= 7.70s step= 385 trunk_z= 115.4mm grav_b=(-0.09,-0.06,-0.99) r=1.63m +[headless_play] t= 7.80s step= 390 trunk_z= 119.1mm grav_b=(-0.11,-0.00,-0.99) r=1.64m +[headless_play] t= 7.90s step= 395 trunk_z= 116.8mm grav_b=(-0.08,+0.02,-1.00) r=1.63m +[headless_play] t= 8.00s step= 400 trunk_z= 119.3mm grav_b=(-0.04,-0.00,-1.00) r=1.64m +[headless_play] t= 8.10s step= 405 trunk_z= 114.1mm grav_b=(-0.03,-0.01,-1.00) r=1.65m +[headless_play] t= 8.20s step= 410 trunk_z= 119.9mm grav_b=(-0.04,-0.06,-1.00) r=1.66m +[headless_play] t= 8.30s step= 415 trunk_z= 118.7mm grav_b=(-0.02,-0.04,-1.00) r=1.68m +[headless_play] t= 8.40s step= 420 trunk_z= 115.0mm grav_b=(-0.04,+0.04,-1.00) r=1.70m +[headless_play] t= 8.50s step= 425 trunk_z= 123.5mm grav_b=(-0.06,+0.04,-1.00) r=1.72m +[headless_play] t= 8.60s step= 430 trunk_z= 120.8mm grav_b=(-0.04,+0.02,-1.00) r=1.73m +[headless_play] t= 8.70s step= 435 trunk_z= 115.8mm grav_b=(-0.11,-0.05,-0.99) r=1.74m +[headless_play] t= 8.80s step= 440 trunk_z= 123.5mm grav_b=(-0.18,-0.05,-0.98) r=1.73m +[headless_play] t= 8.90s step= 445 trunk_z= 105.5mm grav_b=(-0.02,+0.02,-1.00) r=1.71m +[headless_play] t= 9.00s step= 450 trunk_z= 109.5mm grav_b=(+0.04,-0.03,-1.00) r=1.70m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(-0.03,-0.08,-1.00) r=1.70m +[headless_play] t= 9.20s step= 460 trunk_z= 121.2mm grav_b=(-0.03,-0.06,-1.00) r=1.71m +[headless_play] t= 9.30s step= 465 trunk_z= 115.1mm grav_b=(-0.04,-0.00,-1.00) r=1.73m +[headless_play] t= 9.40s step= 470 trunk_z= 122.4mm grav_b=(-0.06,+0.04,-1.00) r=1.75m +[headless_play] t= 9.50s step= 475 trunk_z= 120.6mm grav_b=(+0.06,+0.02,-1.00) r=1.78m +[headless_play] t= 9.60s step= 480 trunk_z= 114.0mm grav_b=(-0.06,-0.06,-1.00) r=1.80m +[headless_play] t= 9.70s step= 485 trunk_z= 122.6mm grav_b=(-0.12,-0.06,-0.99) r=1.83m +[headless_play] t= 9.80s step= 490 trunk_z= 113.7mm grav_b=(-0.08,-0.01,-1.00) r=1.86m +[headless_play] t= 9.90s step= 495 trunk_z= 121.7mm grav_b=(-0.07,-0.01,-1.00) r=1.87m +[headless_play] t= 10.00s step= 500 trunk_z= 118.8mm grav_b=(-0.07,-0.03,-1.00) r=1.87m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(-0.09,-0.06,-0.99) r=1.86m +[headless_play] t= 10.20s step= 510 trunk_z= 119.5mm grav_b=(-0.08,-0.02,-1.00) r=1.88m +[headless_play] t= 10.30s step= 515 trunk_z= 114.2mm grav_b=(-0.07,+0.03,-1.00) r=1.90m +[headless_play] t= 10.40s step= 520 trunk_z= 122.6mm grav_b=(-0.05,+0.00,-1.00) r=1.92m +[headless_play] t= 10.50s step= 525 trunk_z= 118.1mm grav_b=(-0.04,+0.00,-1.00) r=1.92m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(-0.08,-0.07,-0.99) r=1.91m +[headless_play] t= 10.70s step= 535 trunk_z= 122.3mm grav_b=(-0.08,-0.04,-1.00) r=1.92m +[headless_play] t= 10.80s step= 540 trunk_z= 114.8mm grav_b=(-0.10,+0.02,-1.00) r=1.94m +[headless_play] t= 10.90s step= 545 trunk_z= 123.2mm grav_b=(-0.07,+0.01,-1.00) r=1.96m +[headless_play] t= 11.00s step= 550 trunk_z= 121.3mm grav_b=(-0.13,-0.04,-0.99) r=1.94m +[headless_play] t= 11.10s step= 555 trunk_z= 110.8mm grav_b=(-0.09,-0.04,-0.99) r=1.91m +[headless_play] t= 11.20s step= 560 trunk_z= 119.4mm grav_b=(-0.01,-0.06,-1.00) r=1.90m +[headless_play] t= 11.30s step= 565 trunk_z= 115.1mm grav_b=(-0.02,-0.03,-1.00) r=1.91m +[headless_play] t= 11.40s step= 570 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) r=1.93m +[headless_play] t= 11.50s step= 575 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=1.94m +[headless_play] t= 11.60s step= 580 trunk_z= 114.0mm grav_b=(-0.02,-0.06,-1.00) r=1.95m +[headless_play] t= 11.70s step= 585 trunk_z= 122.6mm grav_b=(-0.04,-0.12,-0.99) r=1.96m +[headless_play] t= 11.80s step= 590 trunk_z= 119.9mm grav_b=(-0.03,-0.07,-1.00) r=1.98m +[headless_play] t= 11.90s step= 595 trunk_z= 122.2mm grav_b=(-0.15,+0.08,-0.98) r=2.00m +[headless_play] t= 12.00s step= 600 trunk_z= 129.6mm grav_b=(-0.13,+0.04,-0.99) r=2.00m +[headless_play] t= 12.10s step= 605 trunk_z= 120.1mm grav_b=(-0.06,+0.07,-1.00) r=1.98m +[headless_play] t= 12.20s step= 610 trunk_z= 124.7mm grav_b=(+0.11,-0.01,-0.99) r=1.96m +[headless_play] t= 12.30s step= 615 trunk_z= 111.6mm grav_b=(-0.07,+0.09,-0.99) r=1.97m +[headless_play] t= 12.40s step= 620 trunk_z= 122.5mm grav_b=(-0.07,+0.05,-1.00) r=1.99m +[headless_play] t= 12.50s step= 625 trunk_z= 119.8mm grav_b=(-0.09,-0.05,-0.99) r=2.00m +[headless_play] t= 12.60s step= 630 trunk_z= 114.2mm grav_b=(-0.09,-0.07,-0.99) r=2.01m +[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.00,-0.05,-1.00) r=2.02m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=2.02m +[headless_play] t= 12.90s step= 645 trunk_z= 121.6mm grav_b=(-0.05,+0.04,-1.00) r=2.03m +[headless_play] t= 13.00s step= 650 trunk_z= 120.2mm grav_b=(-0.01,+0.03,-1.00) r=2.05m +[headless_play] t= 13.10s step= 655 trunk_z= 115.6mm grav_b=(-0.05,-0.05,-1.00) r=2.07m +[headless_play] t= 13.20s step= 660 trunk_z= 126.1mm grav_b=(-0.11,-0.13,-0.99) r=2.09m +[headless_play] t= 13.30s step= 665 trunk_z= 128.6mm grav_b=(-0.12,-0.14,-0.98) r=2.08m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(-0.05,-0.09,-0.99) r=2.06m +[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(-0.07,-0.05,-1.00) r=2.04m +[headless_play] t= 13.60s step= 680 trunk_z= 114.5mm grav_b=(-0.04,-0.04,-1.00) r=2.05m +[headless_play] t= 13.70s step= 685 trunk_z= 113.4mm grav_b=(-0.01,-0.08,-1.00) r=2.07m +[headless_play] t= 13.80s step= 690 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=2.08m +[headless_play] t= 13.90s step= 695 trunk_z= 112.7mm grav_b=(-0.03,+0.05,-1.00) r=2.09m +[headless_play] t= 14.00s step= 700 trunk_z= 121.6mm grav_b=(-0.03,+0.03,-1.00) r=2.10m +[headless_play] t= 14.10s step= 705 trunk_z= 119.7mm grav_b=(-0.07,+0.05,-1.00) r=2.11m +[headless_play] t= 14.20s step= 710 trunk_z= 114.1mm grav_b=(-0.07,-0.11,-0.99) r=2.13m +[headless_play] t= 14.30s step= 715 trunk_z= 123.2mm grav_b=(-0.05,-0.06,-1.00) r=2.13m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(-0.06,-0.05,-1.00) r=2.13m +[headless_play] t= 14.50s step= 725 trunk_z= 120.8mm grav_b=(-0.05,+0.04,-1.00) r=2.13m +[headless_play] t= 14.60s step= 730 trunk_z= 121.8mm grav_b=(-0.02,+0.03,-1.00) r=2.13m +[headless_play] t= 14.70s step= 735 trunk_z= 117.2mm grav_b=(-0.04,-0.00,-1.00) r=2.16m +[headless_play] t= 14.80s step= 740 trunk_z= 122.3mm grav_b=(+0.01,-0.14,-0.99) r=2.20m +[headless_play] t= 14.90s step= 745 trunk_z= 127.7mm grav_b=(+0.02,-0.10,-0.99) r=2.23m +[headless_play] t= 15.00s step= 750 trunk_z= 118.9mm grav_b=(-0.04,+0.00,-1.00) r=2.25m +[headless_play] t= 15.10s step= 755 trunk_z= 122.0mm grav_b=(-0.05,-0.01,-1.00) r=2.27m +[headless_play] t= 15.20s step= 760 trunk_z= 113.2mm grav_b=(-0.06,-0.03,-1.00) r=2.30m +[headless_play] t= 15.30s step= 765 trunk_z= 119.6mm grav_b=(-0.08,-0.02,-1.00) r=2.31m +[headless_play] t= 15.40s step= 770 trunk_z= 115.1mm grav_b=(-0.07,+0.00,-1.00) r=2.32m +[headless_play] t= 15.50s step= 775 trunk_z= 122.0mm grav_b=(-0.09,+0.03,-1.00) r=2.32m +[headless_play] t= 15.60s step= 780 trunk_z= 126.5mm grav_b=(-0.15,+0.05,-0.99) r=2.30m +[headless_play] t= 15.70s step= 785 trunk_z= 124.1mm grav_b=(-0.08,-0.06,-0.99) r=2.29m +[headless_play] t= 15.80s step= 790 trunk_z= 112.8mm grav_b=(-0.02,-0.09,-1.00) r=2.27m +[headless_play] t= 15.90s step= 795 trunk_z= 119.5mm grav_b=(-0.01,-0.06,-1.00) r=2.27m +[headless_play] t= 16.00s step= 800 trunk_z= 121.9mm grav_b=(+0.02,+0.10,-0.99) r=2.28m +[headless_play] t= 16.10s step= 805 trunk_z= 121.4mm grav_b=(-0.01,+0.07,-1.00) r=2.29m +[headless_play] t= 16.20s step= 810 trunk_z= 121.9mm grav_b=(-0.03,+0.02,-1.00) r=2.32m +[headless_play] t= 16.30s step= 815 trunk_z= 124.3mm grav_b=(-0.03,-0.08,-1.00) r=2.35m +[headless_play] t= 16.40s step= 820 trunk_z= 121.8mm grav_b=(-0.06,-0.07,-1.00) r=2.36m +[headless_play] t= 16.50s step= 825 trunk_z= 119.5mm grav_b=(-0.07,+0.01,-1.00) r=2.36m +[headless_play] t= 16.60s step= 830 trunk_z= 124.5mm grav_b=(-0.03,+0.09,-1.00) r=2.35m +[headless_play] t= 16.70s step= 835 trunk_z= 124.0mm grav_b=(-0.03,+0.07,-1.00) r=2.36m +[headless_play] t= 16.80s step= 840 trunk_z= 124.5mm grav_b=(-0.06,+0.02,-1.00) r=2.37m +[headless_play] t= 16.90s step= 845 trunk_z= 123.7mm grav_b=(-0.05,-0.06,-1.00) r=2.40m +[headless_play] t= 17.00s step= 850 trunk_z= 121.4mm grav_b=(-0.05,-0.05,-1.00) r=2.41m +[headless_play] t= 17.10s step= 855 trunk_z= 118.3mm grav_b=(-0.08,+0.02,-1.00) r=2.40m +[headless_play] t= 17.20s step= 860 trunk_z= 122.6mm grav_b=(-0.08,+0.01,-1.00) r=2.40m +[headless_play] t= 17.30s step= 865 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=2.42m +[headless_play] t= 17.40s step= 870 trunk_z= 116.7mm grav_b=(-0.09,+0.04,-1.00) r=2.43m +[headless_play] t= 17.50s step= 875 trunk_z= 112.4mm grav_b=(-0.08,+0.06,-0.99) r=2.42m +[headless_play] t= 17.60s step= 880 trunk_z= 119.0mm grav_b=(-0.07,+0.03,-1.00) r=2.41m +[headless_play] t= 17.70s step= 885 trunk_z= 115.4mm grav_b=(-0.06,+0.02,-1.00) r=2.43m +[headless_play] t= 17.80s step= 890 trunk_z= 113.8mm grav_b=(-0.06,-0.02,-1.00) r=2.46m +[headless_play] t= 17.90s step= 895 trunk_z= 118.5mm grav_b=(-0.06,-0.01,-1.00) r=2.48m +[headless_play] t= 18.00s step= 900 trunk_z= 113.6mm grav_b=(-0.05,+0.02,-1.00) r=2.47m +[headless_play] t= 18.10s step= 905 trunk_z= 121.1mm grav_b=(-0.09,+0.06,-0.99) r=2.46m +[headless_play] t= 18.20s step= 910 trunk_z= 123.8mm grav_b=(-0.10,+0.03,-0.99) r=2.46m +[headless_play] t= 18.30s step= 915 trunk_z= 118.4mm grav_b=(-0.09,-0.00,-1.00) r=2.48m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(-0.09,-0.02,-1.00) r=2.50m +[headless_play] t= 18.50s step= 925 trunk_z= 115.3mm grav_b=(-0.05,-0.01,-1.00) r=2.50m +[headless_play] t= 18.60s step= 930 trunk_z= 110.5mm grav_b=(-0.04,+0.05,-1.00) r=2.49m +[headless_play] t= 18.70s step= 935 trunk_z= 119.8mm grav_b=(-0.04,+0.04,-1.00) r=2.49m +[headless_play] t= 18.80s step= 940 trunk_z= 116.9mm grav_b=(-0.01,+0.04,-1.00) r=2.50m +[headless_play] t= 18.90s step= 945 trunk_z= 112.9mm grav_b=(-0.02,-0.02,-1.00) r=2.53m +[headless_play] t= 19.00s step= 950 trunk_z= 118.7mm grav_b=(-0.02,-0.04,-1.00) r=2.55m +[headless_play] t= 19.10s step= 955 trunk_z= 115.3mm grav_b=(-0.05,+0.02,-1.00) r=2.56m +[headless_play] t= 19.20s step= 960 trunk_z= 121.0mm grav_b=(-0.10,+0.04,-0.99) r=2.56m +[headless_play] t= 19.30s step= 965 trunk_z= 121.6mm grav_b=(-0.11,+0.01,-0.99) r=2.56m +[headless_play] t= 19.40s step= 970 trunk_z= 114.4mm grav_b=(-0.12,-0.02,-0.99) r=2.59m +[headless_play] t= 19.50s step= 975 trunk_z= 118.3mm grav_b=(-0.09,+0.02,-1.00) r=2.60m +[headless_play] t= 19.60s step= 980 trunk_z= 110.9mm grav_b=(-0.08,+0.05,-1.00) r=2.59m +[headless_play] t= 19.70s step= 985 trunk_z= 122.0mm grav_b=(-0.10,+0.06,-0.99) r=2.58m +[headless_play] t= 19.80s step= 990 trunk_z= 128.1mm grav_b=(-0.11,+0.15,-0.98) r=2.56m +[headless_play] t= 19.90s step= 995 trunk_z= 129.3mm grav_b=(-0.08,+0.12,-0.99) r=2.55m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.6mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.04,+0.02,-1.00) r=0.16m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t10.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..e9b75b118661803897cfa7529a4b76571c36d1b5 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.283,-17.583,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 120.3mm grav_b=(-0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 118.4mm grav_b=(+0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 120.8mm grav_b=(+0.04,-0.06,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 122.5mm grav_b=(+0.06,-0.03,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.04,+0.03,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 131.3mm grav_b=(+0.06,+0.14,-0.99) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 122.0mm grav_b=(+0.12,+0.24,-0.96) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 117.5mm grav_b=(+0.22,+0.24,-0.95) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 117.6mm grav_b=(+0.10,+0.34,-0.94) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 119.8mm grav_b=(+0.30,+0.43,-0.85) r=0.19m +[headless_play] t= 1.20s step= 60 trunk_z= 132.6mm grav_b=(+0.30,+0.31,-0.90) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 106.9mm grav_b=(+0.33,+0.13,-0.93) r=0.11m +[headless_play] t= 1.40s step= 70 trunk_z= 93.6mm grav_b=(+0.63,+0.32,-0.71) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 110.3mm grav_b=(+0.77,+0.45,-0.44) r=0.14m +[headless_play] RESET at t= 1.56s step= 78 (env termination, not a recovery) +[headless_play] t= 1.60s step= 80 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 114.6mm grav_b=(+0.02,+0.03,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 119.2mm grav_b=(+0.06,+0.02,-1.00) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 113.0mm grav_b=(+0.10,-0.03,-0.99) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 123.7mm grav_b=(+0.09,-0.04,-0.99) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 123.4mm grav_b=(+0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 2.20s step= 110 trunk_z= 125.9mm grav_b=(+0.11,+0.05,-0.99) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 132.1mm grav_b=(+0.09,+0.09,-0.99) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 118.2mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 123.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 118.7mm grav_b=(+0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 121.4mm grav_b=(+0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 117.8mm grav_b=(+0.06,-0.01,-1.00) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 118.6mm grav_b=(+0.06,-0.03,-1.00) r=0.47m +[headless_play] t= 3.00s step= 150 trunk_z= 121.8mm grav_b=(+0.07,-0.00,-1.00) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(+0.07,+0.07,-0.99) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 127.6mm grav_b=(+0.07,+0.07,-0.99) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 125.9mm grav_b=(+0.09,+0.06,-0.99) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 119.5mm grav_b=(+0.06,+0.01,-1.00) r=0.57m +[headless_play] t= 3.50s step= 175 trunk_z= 120.5mm grav_b=(+0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 3.60s step= 180 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 3.70s step= 185 trunk_z= 122.4mm grav_b=(+0.04,+0.01,-1.00) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 114.8mm grav_b=(+0.06,-0.01,-1.00) r=0.63m +[headless_play] t= 3.90s step= 195 trunk_z= 123.1mm grav_b=(+0.04,-0.07,-1.00) r=0.65m +[headless_play] t= 4.00s step= 200 trunk_z= 124.6mm grav_b=(+0.04,-0.08,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 121.8mm grav_b=(+0.05,-0.04,-1.00) r=0.67m +[headless_play] t= 4.20s step= 210 trunk_z= 125.0mm grav_b=(+0.07,+0.02,-1.00) r=0.69m +[headless_play] t= 4.30s step= 215 trunk_z= 123.0mm grav_b=(+0.08,+0.03,-1.00) r=0.71m +[headless_play] t= 4.40s step= 220 trunk_z= 118.1mm grav_b=(+0.05,-0.03,-1.00) r=0.75m +[headless_play] t= 4.50s step= 225 trunk_z= 121.8mm grav_b=(+0.07,-0.01,-1.00) r=0.77m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(+0.04,+0.02,-1.00) r=0.78m +[headless_play] t= 4.70s step= 235 trunk_z= 123.6mm grav_b=(+0.03,+0.01,-1.00) r=0.79m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(+0.04,+0.02,-1.00) r=0.82m +[headless_play] t= 4.90s step= 245 trunk_z= 120.4mm grav_b=(+0.03,-0.04,-1.00) r=0.85m +[headless_play] t= 5.00s step= 250 trunk_z= 121.3mm grav_b=(+0.05,-0.02,-1.00) r=0.86m +[headless_play] t= 5.10s step= 255 trunk_z= 117.2mm grav_b=(+0.04,+0.04,-1.00) r=0.87m +[headless_play] t= 5.20s step= 260 trunk_z= 124.3mm grav_b=(+0.06,+0.01,-1.00) r=0.89m +[headless_play] t= 5.30s step= 265 trunk_z= 119.8mm grav_b=(+0.06,+0.02,-1.00) r=0.91m +[headless_play] t= 5.40s step= 270 trunk_z= 123.5mm grav_b=(+0.07,-0.07,-1.00) r=0.94m +[headless_play] t= 5.50s step= 275 trunk_z= 126.7mm grav_b=(+0.14,-0.04,-0.99) r=0.99m +[headless_play] t= 5.60s step= 280 trunk_z= 111.5mm grav_b=(+0.05,+0.02,-1.00) r=1.03m +[headless_play] t= 5.70s step= 285 trunk_z= 123.0mm grav_b=(+0.04,+0.02,-1.00) r=1.06m +[headless_play] t= 5.80s step= 290 trunk_z= 118.5mm grav_b=(+0.01,-0.02,-1.00) r=1.08m +[headless_play] t= 5.90s step= 295 trunk_z= 122.5mm grav_b=(+0.02,-0.05,-1.00) r=1.10m +[headless_play] t= 6.00s step= 300 trunk_z= 119.1mm grav_b=(+0.02,-0.03,-1.00) r=1.11m +[headless_play] t= 6.10s step= 305 trunk_z= 122.0mm grav_b=(+0.04,+0.03,-1.00) r=1.12m +[headless_play] t= 6.20s step= 310 trunk_z= 123.3mm grav_b=(+0.07,+0.02,-1.00) r=1.14m +[headless_play] t= 6.30s step= 315 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=1.16m +[headless_play] t= 6.40s step= 320 trunk_z= 124.0mm grav_b=(+0.07,-0.05,-1.00) r=1.18m +[headless_play] t= 6.50s step= 325 trunk_z= 121.6mm grav_b=(+0.04,-0.05,-1.00) r=1.19m +[headless_play] t= 6.60s step= 330 trunk_z= 118.7mm grav_b=(+0.03,+0.03,-1.00) r=1.20m +[headless_play] t= 6.70s step= 335 trunk_z= 123.5mm grav_b=(+0.07,+0.02,-1.00) r=1.22m +[headless_play] t= 6.80s step= 340 trunk_z= 118.2mm grav_b=(+0.10,+0.02,-1.00) r=1.23m +[headless_play] t= 6.90s step= 345 trunk_z= 122.3mm grav_b=(+0.06,-0.05,-1.00) r=1.26m +[headless_play] t= 7.00s step= 350 trunk_z= 121.2mm grav_b=(+0.07,-0.03,-1.00) r=1.28m +[headless_play] t= 7.10s step= 355 trunk_z= 120.7mm grav_b=(+0.03,+0.06,-1.00) r=1.30m +[headless_play] t= 7.20s step= 360 trunk_z= 125.3mm grav_b=(+0.05,+0.05,-1.00) r=1.32m +[headless_play] t= 7.30s step= 365 trunk_z= 119.3mm grav_b=(+0.06,+0.02,-1.00) r=1.33m +[headless_play] t= 7.40s step= 370 trunk_z= 124.4mm grav_b=(+0.06,-0.10,-0.99) r=1.36m +[headless_play] t= 7.50s step= 375 trunk_z= 129.5mm grav_b=(+0.11,-0.17,-0.98) r=1.39m +[headless_play] t= 7.60s step= 380 trunk_z= 125.5mm grav_b=(+0.14,-0.13,-0.98) r=1.40m +[headless_play] t= 7.70s step= 385 trunk_z= 118.1mm grav_b=(+0.19,-0.12,-0.97) r=1.44m +[headless_play] t= 7.80s step= 390 trunk_z= 114.7mm grav_b=(+0.16,-0.01,-0.99) r=1.48m +[headless_play] t= 7.90s step= 395 trunk_z= 128.0mm grav_b=(+0.06,+0.05,-1.00) r=1.50m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=1.52m +[headless_play] t= 8.10s step= 405 trunk_z= 125.5mm grav_b=(+0.10,-0.10,-0.99) r=1.55m +[headless_play] t= 8.20s step= 410 trunk_z= 128.7mm grav_b=(+0.09,-0.08,-0.99) r=1.56m +[headless_play] t= 8.30s step= 415 trunk_z= 121.4mm grav_b=(+0.04,-0.00,-1.00) r=1.59m +[headless_play] t= 8.40s step= 420 trunk_z= 124.2mm grav_b=(+0.06,+0.02,-1.00) r=1.61m +[headless_play] t= 8.50s step= 425 trunk_z= 117.9mm grav_b=(+0.03,+0.01,-1.00) r=1.63m +[headless_play] t= 8.60s step= 430 trunk_z= 117.2mm grav_b=(+0.02,+0.05,-1.00) r=1.65m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(+0.13,+0.06,-0.99) r=1.65m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(+0.13,+0.01,-0.99) r=1.66m +[headless_play] t= 8.90s step= 445 trunk_z= 119.0mm grav_b=(+0.14,-0.00,-0.99) r=1.66m +[headless_play] t= 9.00s step= 450 trunk_z= 120.4mm grav_b=(+0.16,-0.01,-0.99) r=1.67m +[headless_play] t= 9.10s step= 455 trunk_z= 117.6mm grav_b=(+0.11,-0.05,-0.99) r=1.70m +[headless_play] t= 9.20s step= 460 trunk_z= 122.2mm grav_b=(+0.07,-0.04,-1.00) r=1.72m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=1.73m +[headless_play] t= 9.40s step= 470 trunk_z= 118.4mm grav_b=(+0.07,-0.02,-1.00) r=1.73m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.08,-0.03,-1.00) r=1.73m +[headless_play] t= 9.60s step= 480 trunk_z= 115.8mm grav_b=(+0.05,-0.03,-1.00) r=1.73m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.04,-0.02,-1.00) r=1.73m +[headless_play] t= 9.80s step= 490 trunk_z= 115.9mm grav_b=(+0.04,-0.02,-1.00) r=1.73m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.04,-0.02,-1.00) r=1.73m +[headless_play] t= 10.00s step= 500 trunk_z= 115.9mm grav_b=(+0.04,-0.02,-1.00) r=1.73m +[headless_play] t= 10.10s step= 505 trunk_z= 115.9mm grav_b=(+0.04,-0.02,-1.00) r=1.73m +[headless_play] t= 10.20s step= 510 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=1.72m +[headless_play] t= 10.30s step= 515 trunk_z= 113.4mm grav_b=(+0.01,-0.02,-1.00) r=1.71m +[headless_play] t= 10.40s step= 520 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=1.70m +[headless_play] t= 10.50s step= 525 trunk_z= 119.0mm grav_b=(+0.07,+0.02,-1.00) r=1.70m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(+0.11,-0.00,-0.99) r=1.71m +[headless_play] t= 10.70s step= 535 trunk_z= 119.5mm grav_b=(+0.05,+0.04,-1.00) r=1.73m +[headless_play] t= 10.80s step= 540 trunk_z= 119.7mm grav_b=(+0.04,+0.05,-1.00) r=1.74m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(+0.01,+0.01,-1.00) r=1.75m +[headless_play] t= 11.00s step= 550 trunk_z= 117.4mm grav_b=(-0.08,-0.06,-1.00) r=1.75m +[headless_play] t= 11.10s step= 555 trunk_z= 118.2mm grav_b=(-0.07,-0.06,-1.00) r=1.74m +[headless_play] t= 11.20s step= 560 trunk_z= 115.9mm grav_b=(+0.04,-0.08,-1.00) r=1.73m +[headless_play] t= 11.30s step= 565 trunk_z= 116.9mm grav_b=(+0.08,-0.10,-0.99) r=1.73m +[headless_play] t= 11.40s step= 570 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=1.71m +[headless_play] t= 11.50s step= 575 trunk_z= 117.6mm grav_b=(+0.03,+0.01,-1.00) r=1.70m +[headless_play] t= 11.60s step= 580 trunk_z= 115.2mm grav_b=(-0.02,-0.00,-1.00) r=1.70m +[headless_play] t= 11.70s step= 585 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=1.70m +[headless_play] t= 11.80s step= 590 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=1.70m +[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(+0.00,-0.01,-1.00) r=1.70m +[headless_play] t= 12.00s step= 600 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=1.70m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=1.70m +[headless_play] t= 12.20s step= 610 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=1.70m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.10,+0.01,-1.00) r=1.71m +[headless_play] t= 12.40s step= 620 trunk_z= 122.4mm grav_b=(+0.13,-0.01,-0.99) r=1.72m +[headless_play] t= 12.50s step= 625 trunk_z= 112.0mm grav_b=(+0.06,-0.06,-1.00) r=1.75m +[headless_play] t= 12.60s step= 630 trunk_z= 120.0mm grav_b=(+0.06,-0.06,-1.00) r=1.77m +[headless_play] t= 12.70s step= 635 trunk_z= 123.4mm grav_b=(+0.04,-0.08,-1.00) r=1.77m +[headless_play] t= 12.80s step= 640 trunk_z= 120.6mm grav_b=(+0.02,-0.04,-1.00) r=1.77m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=1.77m +[headless_play] t= 13.00s step= 650 trunk_z= 117.2mm grav_b=(+0.03,-0.02,-1.00) r=1.77m +[headless_play] t= 13.10s step= 655 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=1.77m +[headless_play] t= 13.20s step= 660 trunk_z= 117.8mm grav_b=(+0.08,-0.02,-1.00) r=1.78m +[headless_play] t= 13.30s step= 665 trunk_z= 118.4mm grav_b=(+0.11,-0.02,-0.99) r=1.78m +[headless_play] t= 13.40s step= 670 trunk_z= 118.7mm grav_b=(+0.12,-0.02,-0.99) r=1.78m +[headless_play] t= 13.50s step= 675 trunk_z= 119.0mm grav_b=(+0.13,-0.02,-0.99) r=1.79m +[headless_play] t= 13.60s step= 680 trunk_z= 119.2mm grav_b=(+0.14,-0.02,-0.99) r=1.79m +[headless_play] t= 13.70s step= 685 trunk_z= 119.8mm grav_b=(+0.14,-0.02,-0.99) r=1.79m +[headless_play] t= 13.80s step= 690 trunk_z= 121.4mm grav_b=(+0.14,-0.03,-0.99) r=1.79m +[headless_play] t= 13.90s step= 695 trunk_z= 118.8mm grav_b=(+0.07,+0.03,-1.00) r=1.80m +[headless_play] t= 14.00s step= 700 trunk_z= 132.2mm grav_b=(+0.15,+0.04,-0.99) r=1.83m +[headless_play] t= 14.10s step= 705 trunk_z= 124.8mm grav_b=(+0.04,+0.02,-1.00) r=1.88m +[headless_play] t= 14.20s step= 710 trunk_z= 60.5mm grav_b=(+0.03,-0.09,-1.00) r=1.94m +[headless_play] t= 14.30s step= 715 trunk_z= 1.0mm grav_b=(+0.40,-0.82,-0.40) r=1.97m +[headless_play] RESET at t= 14.32s step= 716 (env termination, not a recovery) +[headless_play] t= 14.40s step= 720 trunk_z= 114.3mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(+0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 119.6mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 111.2mm grav_b=(+0.03,+0.00,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 120.5mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 14.90s step= 745 trunk_z= 120.4mm grav_b=(+0.08,-0.03,-1.00) r=0.44m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(+0.03,+0.07,-1.00) r=0.47m +[headless_play] t= 15.10s step= 755 trunk_z= 124.6mm grav_b=(+0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 15.20s step= 760 trunk_z= 117.5mm grav_b=(+0.03,+0.04,-1.00) r=0.49m +[headless_play] t= 15.30s step= 765 trunk_z= 120.4mm grav_b=(-0.00,-0.07,-1.00) r=0.49m +[headless_play] t= 15.40s step= 770 trunk_z= 122.1mm grav_b=(+0.02,-0.03,-1.00) r=0.49m +[headless_play] t= 15.50s step= 775 trunk_z= 117.8mm grav_b=(+0.01,+0.04,-1.00) r=0.52m +[headless_play] t= 15.60s step= 780 trunk_z= 123.0mm grav_b=(+0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 15.70s step= 785 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 118.7mm grav_b=(-0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(-0.01,+0.04,-1.00) r=0.56m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(+0.04,+0.03,-1.00) r=0.56m +[headless_play] t= 16.10s step= 805 trunk_z= 111.7mm grav_b=(+0.07,-0.04,-1.00) r=0.55m +[headless_play] t= 16.20s step= 810 trunk_z= 121.4mm grav_b=(+0.08,-0.03,-1.00) r=0.56m +[headless_play] t= 16.30s step= 815 trunk_z= 117.9mm grav_b=(+0.05,+0.02,-1.00) r=0.59m +[headless_play] t= 16.40s step= 820 trunk_z= 123.7mm grav_b=(+0.05,+0.06,-1.00) r=0.62m +[headless_play] t= 16.50s step= 825 trunk_z= 118.8mm grav_b=(+0.05,+0.04,-1.00) r=0.63m +[headless_play] t= 16.60s step= 830 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.63m +[headless_play] t= 16.70s step= 835 trunk_z= 119.4mm grav_b=(-0.00,+0.02,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(-0.01,+0.07,-1.00) r=0.64m +[headless_play] t= 16.90s step= 845 trunk_z= 123.2mm grav_b=(+0.00,+0.06,-1.00) r=0.65m +[headless_play] t= 17.00s step= 850 trunk_z= 114.8mm grav_b=(+0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 17.10s step= 855 trunk_z= 122.3mm grav_b=(+0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 17.20s step= 860 trunk_z= 120.4mm grav_b=(+0.00,+0.00,-1.00) r=0.67m +[headless_play] t= 17.30s step= 865 trunk_z= 119.2mm grav_b=(-0.03,+0.04,-1.00) r=0.68m +[headless_play] t= 17.40s step= 870 trunk_z= 124.0mm grav_b=(-0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 17.50s step= 875 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 17.60s step= 880 trunk_z= 120.7mm grav_b=(+0.04,-0.01,-1.00) r=0.70m +[headless_play] t= 17.70s step= 885 trunk_z= 117.3mm grav_b=(+0.04,+0.03,-1.00) r=0.71m +[headless_play] t= 17.80s step= 890 trunk_z= 124.5mm grav_b=(+0.02,+0.06,-1.00) r=0.72m +[headless_play] t= 17.90s step= 895 trunk_z= 123.4mm grav_b=(+0.01,+0.05,-1.00) r=0.74m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(-0.00,-0.01,-1.00) r=0.76m +[headless_play] t= 18.10s step= 905 trunk_z= 124.7mm grav_b=(+0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 18.20s step= 910 trunk_z= 127.4mm grav_b=(+0.09,-0.10,-0.99) r=0.80m +[headless_play] t= 18.30s step= 915 trunk_z= 128.9mm grav_b=(+0.07,-0.06,-1.00) r=0.82m +[headless_play] t= 18.40s step= 920 trunk_z= 118.8mm grav_b=(-0.00,-0.00,-1.00) r=0.86m +[headless_play] t= 18.50s step= 925 trunk_z= 125.2mm grav_b=(-0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 18.60s step= 930 trunk_z= 115.0mm grav_b=(-0.02,-0.03,-1.00) r=0.90m +[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(+0.12,+0.06,-0.99) r=0.93m +[headless_play] t= 18.80s step= 940 trunk_z= 115.7mm grav_b=(+0.05,+0.12,-0.99) r=0.97m +[headless_play] t= 18.90s step= 945 trunk_z= 126.3mm grav_b=(-0.05,+0.08,-1.00) r=0.99m +[headless_play] t= 19.00s step= 950 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=1.02m +[headless_play] t= 19.10s step= 955 trunk_z= 121.6mm grav_b=(+0.02,+0.03,-1.00) r=1.03m +[headless_play] t= 19.20s step= 960 trunk_z= 118.0mm grav_b=(+0.01,+0.04,-1.00) r=1.03m +[headless_play] t= 19.30s step= 965 trunk_z= 123.7mm grav_b=(-0.02,+0.04,-1.00) r=1.03m +[headless_play] t= 19.40s step= 970 trunk_z= 124.3mm grav_b=(-0.03,+0.04,-1.00) r=1.04m +[headless_play] t= 19.50s step= 975 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.60s step= 980 trunk_z= 122.8mm grav_b=(+0.04,-0.01,-1.00) r=1.08m +[headless_play] t= 19.70s step= 985 trunk_z= 124.4mm grav_b=(+0.00,-0.07,-1.00) r=1.09m +[headless_play] t= 19.80s step= 990 trunk_z= 122.0mm grav_b=(-0.02,-0.05,-1.00) r=1.08m +[headless_play] t= 19.90s step= 995 trunk_z= 121.4mm grav_b=(+0.00,+0.05,-1.00) r=1.07m +[headless_play] t= 20.00s step=1000 trunk_z= 125.9mm grav_b=(+0.03,+0.07,-1.00) r=1.07m +[headless_play] t= 20.10s step=1005 trunk_z= 122.1mm grav_b=(+0.02,+0.06,-1.00) r=1.09m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t11.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..7a219970bc2f9ae37d039b66984593951b510327 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.110,-17.516,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 114.5mm grav_b=(-0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(+0.00,+0.05,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 115.0mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 118.7mm grav_b=(+0.01,-0.04,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 119.0mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 115.2mm grav_b=(+0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 120.0mm grav_b=(+0.04,+0.04,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 115.5mm grav_b=(+0.07,+0.01,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 119.8mm grav_b=(+0.00,-0.04,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 117.8mm grav_b=(+0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 117.8mm grav_b=(-0.02,+0.04,-1.00) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 120.9mm grav_b=(+0.01,+0.02,-1.00) r=0.29m +[headless_play] t= 1.30s step= 65 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 115.1mm grav_b=(-0.02,+0.07,-1.00) r=0.23m +[headless_play] t= 1.70s step= 85 trunk_z= 123.2mm grav_b=(-0.02,+0.07,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 122.4mm grav_b=(-0.00,+0.02,-1.00) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 109.1mm grav_b=(+0.06,-0.01,-1.00) r=0.24m +[headless_play] t= 2.00s step= 100 trunk_z= 107.8mm grav_b=(+0.10,-0.01,-1.00) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 112.8mm grav_b=(+0.10,+0.05,-0.99) r=0.21m +[headless_play] t= 2.20s step= 110 trunk_z= 115.4mm grav_b=(+0.09,+0.04,-1.00) r=0.19m +[headless_play] t= 2.30s step= 115 trunk_z= 111.1mm grav_b=(+0.04,-0.03,-1.00) r=0.17m +[headless_play] t= 2.40s step= 120 trunk_z= 121.3mm grav_b=(-0.09,-0.03,-1.00) r=0.16m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(+0.03,+0.03,-1.00) r=0.17m +[headless_play] t= 2.70s step= 135 trunk_z= 110.7mm grav_b=(+0.06,+0.01,-1.00) r=0.17m +[headless_play] t= 2.80s step= 140 trunk_z= 111.4mm grav_b=(+0.07,-0.04,-1.00) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 115.3mm grav_b=(+0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 108.4mm grav_b=(+0.02,+0.06,-1.00) r=0.15m +[headless_play] t= 3.10s step= 155 trunk_z= 116.6mm grav_b=(+0.04,+0.06,-1.00) r=0.14m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(+0.10,+0.05,-0.99) r=0.15m +[headless_play] t= 3.30s step= 165 trunk_z= 113.6mm grav_b=(+0.08,+0.01,-1.00) r=0.15m +[headless_play] t= 3.40s step= 170 trunk_z= 113.4mm grav_b=(+0.06,+0.01,-1.00) r=0.16m +[headless_play] t= 3.50s step= 175 trunk_z= 114.2mm grav_b=(+0.06,+0.01,-1.00) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 114.5mm grav_b=(+0.06,+0.01,-1.00) r=0.16m +[headless_play] t= 3.70s step= 185 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 115.9mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 115.1mm grav_b=(-0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 111.5mm grav_b=(+0.00,-0.04,-1.00) r=0.18m +[headless_play] t= 4.10s step= 205 trunk_z= 110.3mm grav_b=(+0.06,+0.03,-1.00) r=0.18m +[headless_play] t= 4.20s step= 210 trunk_z= 110.2mm grav_b=(+0.10,+0.00,-0.99) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 112.7mm grav_b=(+0.11,-0.01,-0.99) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(+0.09,-0.00,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(+0.07,-0.01,-1.00) r=0.19m +[headless_play] t= 4.60s step= 230 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 4.70s step= 235 trunk_z= 114.6mm grav_b=(+0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 4.80s step= 240 trunk_z= 114.7mm grav_b=(+0.02,-0.00,-1.00) r=0.19m +[headless_play] t= 4.90s step= 245 trunk_z= 114.7mm grav_b=(+0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 5.00s step= 250 trunk_z= 114.7mm grav_b=(+0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 5.10s step= 255 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.21m +[headless_play] t= 5.30s step= 265 trunk_z= 115.1mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 5.40s step= 270 trunk_z= 109.6mm grav_b=(+0.03,-0.08,-1.00) r=0.23m +[headless_play] t= 5.50s step= 275 trunk_z= 110.6mm grav_b=(+0.07,-0.02,-1.00) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(+0.14,+0.04,-0.99) r=0.22m +[headless_play] t= 5.80s step= 290 trunk_z= 125.9mm grav_b=(+0.05,-0.00,-1.00) r=0.21m +[headless_play] t= 5.90s step= 295 trunk_z= 122.5mm grav_b=(+0.02,-0.05,-1.00) r=0.19m +[headless_play] t= 6.00s step= 300 trunk_z= 120.2mm grav_b=(-0.00,-0.01,-1.00) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.17m +[headless_play] t= 6.20s step= 310 trunk_z= 116.3mm grav_b=(+0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(+0.00,-0.01,-1.00) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(+0.16,-0.02,-0.99) r=0.16m +[headless_play] t= 6.60s step= 330 trunk_z= 119.6mm grav_b=(-0.03,+0.03,-1.00) r=0.14m +[headless_play] t= 6.70s step= 335 trunk_z= 116.5mm grav_b=(+0.01,+0.08,-1.00) r=0.12m +[headless_play] t= 6.80s step= 340 trunk_z= 122.8mm grav_b=(+0.01,+0.03,-1.00) r=0.11m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(-0.01,-0.04,-1.00) r=0.13m +[headless_play] t= 7.00s step= 350 trunk_z= 119.1mm grav_b=(+0.00,-0.03,-1.00) r=0.13m +[headless_play] t= 7.10s step= 355 trunk_z= 118.5mm grav_b=(+0.12,+0.06,-0.99) r=0.11m +[headless_play] t= 7.20s step= 360 trunk_z= 127.0mm grav_b=(+0.04,-0.01,-1.00) r=0.12m +[headless_play] t= 7.30s step= 365 trunk_z= 120.0mm grav_b=(+0.02,-0.06,-1.00) r=0.13m +[headless_play] t= 7.40s step= 370 trunk_z= 118.2mm grav_b=(-0.01,-0.02,-1.00) r=0.12m +[headless_play] t= 7.50s step= 375 trunk_z= 117.5mm grav_b=(-0.00,+0.00,-1.00) r=0.11m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(+0.01,-0.03,-1.00) r=0.11m +[headless_play] t= 7.70s step= 385 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 7.80s step= 390 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.11m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.00s step= 400 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.11m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(+0.00,-0.02,-1.00) r=0.11m +[headless_play] t= 8.20s step= 410 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.11m +[headless_play] t= 8.40s step= 420 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.50s step= 425 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.70s step= 435 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.80s step= 440 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 8.90s step= 445 trunk_z= 117.3mm grav_b=(+0.06,-0.03,-1.00) r=0.12m +[headless_play] t= 9.00s step= 450 trunk_z= 118.5mm grav_b=(+0.11,-0.03,-0.99) r=0.12m +[headless_play] t= 9.10s step= 455 trunk_z= 119.5mm grav_b=(+0.03,+0.08,-1.00) r=0.10m +[headless_play] t= 9.20s step= 460 trunk_z= 123.8mm grav_b=(+0.01,+0.08,-1.00) r=0.10m +[headless_play] t= 9.30s step= 465 trunk_z= 123.1mm grav_b=(-0.00,+0.05,-1.00) r=0.11m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=0.13m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.13m +[headless_play] t= 9.60s step= 480 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.13m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(+0.04,-0.00,-1.00) r=0.13m +[headless_play] t= 9.80s step= 490 trunk_z= 116.9mm grav_b=(-0.06,-0.00,-1.00) r=0.12m +[headless_play] t= 9.90s step= 495 trunk_z= 112.9mm grav_b=(-0.05,-0.07,-1.00) r=0.14m +[headless_play] t= 10.00s step= 500 trunk_z= 119.4mm grav_b=(+0.03,-0.06,-1.00) r=0.14m +[headless_play] t= 10.10s step= 505 trunk_z= 113.5mm grav_b=(+0.08,+0.01,-1.00) r=0.14m +[headless_play] t= 10.20s step= 510 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.15m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(-0.05,+0.04,-1.00) r=0.14m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(-0.05,+0.00,-1.00) r=0.15m +[headless_play] t= 10.50s step= 525 trunk_z= 115.1mm grav_b=(-0.01,-0.10,-0.99) r=0.17m +[headless_play] t= 10.60s step= 530 trunk_z= 123.7mm grav_b=(+0.03,-0.07,-1.00) r=0.16m +[headless_play] t= 10.70s step= 535 trunk_z= 118.3mm grav_b=(+0.06,+0.01,-1.00) r=0.14m +[headless_play] t= 10.80s step= 540 trunk_z= 126.7mm grav_b=(+0.07,+0.04,-1.00) r=0.11m +[headless_play] t= 10.90s step= 545 trunk_z= 130.0mm grav_b=(+0.06,+0.02,-1.00) r=0.10m +[headless_play] t= 11.00s step= 550 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(-0.06,+0.03,-1.00) r=0.10m +[headless_play] t= 11.20s step= 560 trunk_z= 120.6mm grav_b=(-0.02,+0.04,-1.00) r=0.09m +[headless_play] t= 11.30s step= 565 trunk_z= 123.6mm grav_b=(+0.01,+0.03,-1.00) r=0.09m +[headless_play] t= 11.40s step= 570 trunk_z= 117.7mm grav_b=(+0.02,-0.03,-1.00) r=0.11m +[headless_play] t= 11.50s step= 575 trunk_z= 124.4mm grav_b=(+0.02,-0.04,-1.00) r=0.13m +[headless_play] t= 11.60s step= 580 trunk_z= 124.0mm grav_b=(+0.01,-0.01,-1.00) r=0.13m +[headless_play] t= 11.70s step= 585 trunk_z= 121.9mm grav_b=(+0.01,+0.02,-1.00) r=0.11m +[headless_play] t= 11.80s step= 590 trunk_z= 125.9mm grav_b=(+0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 11.90s step= 595 trunk_z= 123.8mm grav_b=(+0.02,+0.02,-1.00) r=0.14m +[headless_play] t= 12.00s step= 600 trunk_z= 121.5mm grav_b=(+0.01,-0.03,-1.00) r=0.17m +[headless_play] t= 12.10s step= 605 trunk_z= 119.6mm grav_b=(-0.01,+0.04,-1.00) r=0.16m +[headless_play] t= 12.20s step= 610 trunk_z= 122.5mm grav_b=(-0.01,+0.04,-1.00) r=0.16m +[headless_play] t= 12.30s step= 615 trunk_z= 124.2mm grav_b=(+0.01,+0.01,-1.00) r=0.17m +[headless_play] t= 12.40s step= 620 trunk_z= 120.3mm grav_b=(-0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 12.50s step= 625 trunk_z= 125.3mm grav_b=(+0.02,-0.08,-1.00) r=0.24m +[headless_play] t= 12.60s step= 630 trunk_z= 122.7mm grav_b=(+0.02,-0.07,-1.00) r=0.26m +[headless_play] t= 12.70s step= 635 trunk_z= 114.6mm grav_b=(+0.03,+0.01,-1.00) r=0.26m +[headless_play] t= 12.80s step= 640 trunk_z= 120.2mm grav_b=(+0.05,+0.06,-1.00) r=0.27m +[headless_play] t= 12.90s step= 645 trunk_z= 118.2mm grav_b=(+0.13,+0.05,-0.99) r=0.29m +[headless_play] t= 13.00s step= 650 trunk_z= 114.4mm grav_b=(+0.08,-0.03,-1.00) r=0.33m +[headless_play] t= 13.10s step= 655 trunk_z= 125.4mm grav_b=(+0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 13.20s step= 660 trunk_z= 116.4mm grav_b=(-0.01,+0.03,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 119.4mm grav_b=(+0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 13.40s step= 670 trunk_z= 112.1mm grav_b=(+0.00,-0.03,-1.00) r=0.43m +[headless_play] t= 13.50s step= 675 trunk_z= 123.8mm grav_b=(-0.10,-0.11,-0.99) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 127.4mm grav_b=(+0.01,-0.07,-1.00) r=0.42m +[headless_play] t= 13.70s step= 685 trunk_z= 115.0mm grav_b=(+0.06,+0.03,-1.00) r=0.40m +[headless_play] t= 13.80s step= 690 trunk_z= 119.3mm grav_b=(+0.05,+0.04,-1.00) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 114.2mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 14.00s step= 700 trunk_z= 118.9mm grav_b=(+0.05,-0.08,-1.00) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 119.3mm grav_b=(+0.05,-0.05,-1.00) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 14.30s step= 715 trunk_z= 120.3mm grav_b=(+0.04,+0.02,-1.00) r=0.44m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(+0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 117.6mm grav_b=(+0.03,-0.08,-1.00) r=0.48m +[headless_play] t= 14.60s step= 730 trunk_z= 118.1mm grav_b=(+0.05,-0.04,-1.00) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 114.3mm grav_b=(+0.02,+0.06,-1.00) r=0.53m +[headless_play] t= 14.80s step= 740 trunk_z= 121.6mm grav_b=(+0.04,+0.05,-1.00) r=0.55m +[headless_play] t= 14.90s step= 745 trunk_z= 118.0mm grav_b=(+0.06,+0.04,-1.00) r=0.57m +[headless_play] t= 15.00s step= 750 trunk_z= 116.5mm grav_b=(+0.08,-0.05,-1.00) r=0.61m +[headless_play] t= 15.10s step= 755 trunk_z= 123.6mm grav_b=(+0.07,+0.01,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 111.3mm grav_b=(-0.00,+0.03,-1.00) r=0.70m +[headless_play] t= 15.30s step= 765 trunk_z= 118.3mm grav_b=(-0.00,-0.03,-1.00) r=0.73m +[headless_play] t= 15.40s step= 770 trunk_z= 111.2mm grav_b=(-0.01,-0.05,-1.00) r=0.75m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.00,-0.00,-1.00) r=0.76m +[headless_play] t= 15.60s step= 780 trunk_z= 112.8mm grav_b=(+0.03,+0.05,-1.00) r=0.78m +[headless_play] t= 15.70s step= 785 trunk_z= 119.5mm grav_b=(+0.08,+0.04,-1.00) r=0.78m +[headless_play] t= 15.80s step= 790 trunk_z= 115.3mm grav_b=(+0.05,-0.03,-1.00) r=0.78m +[headless_play] t= 15.90s step= 795 trunk_z= 119.4mm grav_b=(+0.00,-0.05,-1.00) r=0.78m +[headless_play] t= 16.00s step= 800 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.77m +[headless_play] t= 16.10s step= 805 trunk_z= 115.3mm grav_b=(+0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 16.20s step= 810 trunk_z= 115.6mm grav_b=(+0.02,-0.00,-1.00) r=0.78m +[headless_play] t= 16.30s step= 815 trunk_z= 118.6mm grav_b=(+0.04,-0.04,-1.00) r=0.78m +[headless_play] t= 16.40s step= 820 trunk_z= 122.1mm grav_b=(+0.06,-0.06,-1.00) r=0.79m +[headless_play] t= 16.50s step= 825 trunk_z= 119.8mm grav_b=(+0.01,+0.02,-1.00) r=0.80m +[headless_play] t= 16.60s step= 830 trunk_z= 122.1mm grav_b=(+0.00,+0.04,-1.00) r=0.80m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(-0.00,+0.01,-1.00) r=0.80m +[headless_play] t= 16.80s step= 840 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.80m +[headless_play] t= 16.90s step= 845 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.80m +[headless_play] t= 17.00s step= 850 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.80m +[headless_play] t= 17.10s step= 855 trunk_z= 117.7mm grav_b=(-0.03,+0.00,-1.00) r=0.80m +[headless_play] t= 17.20s step= 860 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.80m +[headless_play] t= 17.30s step= 865 trunk_z= 117.4mm grav_b=(-0.05,-0.01,-1.00) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 116.6mm grav_b=(-0.05,-0.00,-1.00) r=0.80m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(-0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 17.60s step= 880 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.81m +[headless_play] t= 17.70s step= 885 trunk_z= 117.4mm grav_b=(+0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 17.80s step= 890 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 18.00s step= 900 trunk_z= 117.2mm grav_b=(-0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 18.10s step= 905 trunk_z= 118.4mm grav_b=(+0.03,+0.02,-1.00) r=0.81m +[headless_play] t= 18.20s step= 910 trunk_z= 119.6mm grav_b=(+0.05,+0.01,-1.00) r=0.82m +[headless_play] t= 18.30s step= 915 trunk_z= 120.0mm grav_b=(+0.07,+0.01,-1.00) r=0.82m +[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(+0.08,+0.01,-1.00) r=0.82m +[headless_play] t= 18.50s step= 925 trunk_z= 120.1mm grav_b=(+0.07,+0.01,-1.00) r=0.82m +[headless_play] t= 18.60s step= 930 trunk_z= 120.0mm grav_b=(+0.07,+0.01,-1.00) r=0.82m +[headless_play] t= 18.70s step= 935 trunk_z= 122.5mm grav_b=(+0.12,-0.02,-0.99) r=0.83m +[headless_play] t= 18.80s step= 940 trunk_z= 127.5mm grav_b=(+0.06,-0.02,-1.00) r=0.85m +[headless_play] t= 18.90s step= 945 trunk_z= 107.6mm grav_b=(-0.03,+0.04,-1.00) r=0.89m +[headless_play] t= 19.00s step= 950 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.90m +[headless_play] t= 19.10s step= 955 trunk_z= 114.3mm grav_b=(-0.04,-0.02,-1.00) r=0.90m +[headless_play] t= 19.20s step= 960 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.91m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.00,+0.05,-1.00) r=0.91m +[headless_play] t= 19.40s step= 970 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.91m +[headless_play] t= 19.50s step= 975 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.91m +[headless_play] t= 19.60s step= 980 trunk_z= 117.8mm grav_b=(+0.03,+0.07,-1.00) r=0.92m +[headless_play] t= 19.70s step= 985 trunk_z= 121.8mm grav_b=(+0.02,+0.01,-1.00) r=0.94m +[headless_play] t= 19.80s step= 990 trunk_z= 114.3mm grav_b=(+0.01,-0.02,-1.00) r=0.95m +[headless_play] t= 19.90s step= 995 trunk_z= 122.2mm grav_b=(-0.00,-0.05,-1.00) r=0.97m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.5mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(-0.00,+0.03,-1.00) r=0.37m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t12.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..95a5427d212b18701e1ceff6ae24d2699bc99da1 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.946,-18.493,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(-0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.00,+0.03,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 113.3mm grav_b=(-0.01,-0.03,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 119.2mm grav_b=(-0.01,-0.06,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 117.7mm grav_b=(-0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(-0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 122.5mm grav_b=(-0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 113.9mm grav_b=(-0.02,-0.03,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 121.1mm grav_b=(+0.00,-0.06,-1.00) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 118.6mm grav_b=(+0.03,-0.03,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(-0.01,+0.05,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 123.9mm grav_b=(-0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 120.8mm grav_b=(+0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 121.2mm grav_b=(-0.06,-0.03,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 115.7mm grav_b=(-0.04,+0.03,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 121.2mm grav_b=(-0.03,+0.08,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(-0.03,+0.07,-1.00) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 114.9mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 122.5mm grav_b=(-0.06,-0.09,-0.99) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 123.5mm grav_b=(-0.03,-0.06,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 122.3mm grav_b=(-0.04,+0.06,-1.00) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 121.8mm grav_b=(+0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 115.8mm grav_b=(+0.00,-0.00,-1.00) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 123.6mm grav_b=(-0.02,-0.08,-1.00) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 124.1mm grav_b=(+0.05,-0.10,-0.99) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 120.5mm grav_b=(+0.01,-0.04,-1.00) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 123.4mm grav_b=(-0.04,+0.09,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 124.3mm grav_b=(-0.04,+0.07,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(-0.04,+0.02,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 120.8mm grav_b=(-0.04,-0.04,-1.00) r=0.47m +[headless_play] t= 3.30s step= 165 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 120.9mm grav_b=(-0.01,+0.13,-0.99) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 124.9mm grav_b=(+0.02,+0.20,-0.98) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 118.7mm grav_b=(+0.14,+0.13,-0.98) r=0.37m +[headless_play] t= 3.70s step= 185 trunk_z= 109.9mm grav_b=(+0.14,-0.03,-0.99) r=0.35m +[headless_play] t= 3.80s step= 190 trunk_z= 125.6mm grav_b=(+0.12,-0.07,-0.99) r=0.34m +[headless_play] t= 3.90s step= 195 trunk_z= 133.1mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(-0.06,-0.06,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(-0.04,-0.08,-1.00) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 118.4mm grav_b=(-0.00,-0.09,-1.00) r=0.35m +[headless_play] t= 4.30s step= 215 trunk_z= 117.3mm grav_b=(-0.06,-0.00,-1.00) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 121.1mm grav_b=(-0.05,+0.08,-1.00) r=0.35m +[headless_play] t= 4.50s step= 225 trunk_z= 125.0mm grav_b=(-0.03,+0.07,-1.00) r=0.35m +[headless_play] t= 4.60s step= 230 trunk_z= 116.8mm grav_b=(-0.00,+0.02,-1.00) r=0.38m +[headless_play] t= 4.70s step= 235 trunk_z= 123.6mm grav_b=(-0.02,-0.12,-0.99) r=0.42m +[headless_play] t= 4.80s step= 240 trunk_z= 127.7mm grav_b=(-0.04,-0.18,-0.98) r=0.44m +[headless_play] t= 4.90s step= 245 trunk_z= 127.7mm grav_b=(+0.00,-0.19,-0.98) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 119.3mm grav_b=(+0.02,-0.10,-0.99) r=0.48m +[headless_play] t= 5.10s step= 255 trunk_z= 120.8mm grav_b=(+0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 5.20s step= 260 trunk_z= 128.5mm grav_b=(-0.02,+0.08,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 129.8mm grav_b=(-0.03,+0.12,-0.99) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 130.0mm grav_b=(-0.02,+0.08,-1.00) r=0.56m +[headless_play] t= 5.50s step= 275 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 125.0mm grav_b=(-0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 5.70s step= 285 trunk_z= 116.8mm grav_b=(-0.07,+0.02,-1.00) r=0.61m +[headless_play] t= 5.80s step= 290 trunk_z= 125.1mm grav_b=(-0.09,+0.04,-1.00) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 123.7mm grav_b=(-0.07,+0.04,-1.00) r=0.62m +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(-0.06,-0.03,-1.00) r=0.64m +[headless_play] t= 6.10s step= 305 trunk_z= 122.6mm grav_b=(-0.03,-0.03,-1.00) r=0.66m +[headless_play] t= 6.20s step= 310 trunk_z= 118.8mm grav_b=(-0.02,+0.01,-1.00) r=0.67m +[headless_play] t= 6.30s step= 315 trunk_z= 124.5mm grav_b=(-0.03,+0.08,-1.00) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 126.5mm grav_b=(-0.01,+0.10,-1.00) r=0.70m +[headless_play] t= 6.50s step= 325 trunk_z= 124.6mm grav_b=(-0.00,+0.08,-1.00) r=0.71m +[headless_play] t= 6.60s step= 330 trunk_z= 119.4mm grav_b=(-0.01,-0.01,-1.00) r=0.73m +[headless_play] t= 6.70s step= 335 trunk_z= 123.1mm grav_b=(+0.01,-0.02,-1.00) r=0.75m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(-0.01,+0.02,-1.00) r=0.76m +[headless_play] t= 6.90s step= 345 trunk_z= 123.2mm grav_b=(-0.10,+0.05,-0.99) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 119.3mm grav_b=(-0.08,-0.01,-1.00) r=0.76m +[headless_play] t= 7.10s step= 355 trunk_z= 118.6mm grav_b=(-0.03,-0.03,-1.00) r=0.76m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.76m +[headless_play] t= 7.30s step= 365 trunk_z= 119.3mm grav_b=(+0.03,+0.08,-1.00) r=0.77m +[headless_play] t= 7.40s step= 370 trunk_z= 125.8mm grav_b=(+0.03,+0.05,-1.00) r=0.79m +[headless_play] t= 7.50s step= 375 trunk_z= 122.7mm grav_b=(+0.02,+0.04,-1.00) r=0.81m +[headless_play] t= 7.60s step= 380 trunk_z= 122.5mm grav_b=(-0.02,-0.04,-1.00) r=0.84m +[headless_play] t= 7.70s step= 385 trunk_z= 123.0mm grav_b=(-0.02,-0.04,-1.00) r=0.87m +[headless_play] t= 7.80s step= 390 trunk_z= 118.2mm grav_b=(-0.01,+0.07,-1.00) r=0.90m +[headless_play] t= 7.90s step= 395 trunk_z= 129.4mm grav_b=(+0.02,+0.15,-0.99) r=0.92m +[headless_play] t= 8.00s step= 400 trunk_z= 127.6mm grav_b=(+0.04,+0.14,-0.99) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 132.8mm grav_b=(+0.04,+0.07,-1.00) r=0.99m +[headless_play] t= 8.20s step= 410 trunk_z= 127.1mm grav_b=(+0.04,+0.05,-1.00) r=1.03m +[headless_play] t= 8.30s step= 415 trunk_z= 125.1mm grav_b=(-0.02,-0.03,-1.00) r=1.04m +[headless_play] t= 8.40s step= 420 trunk_z= 120.3mm grav_b=(-0.04,+0.02,-1.00) r=1.05m +[headless_play] t= 8.50s step= 425 trunk_z= 120.9mm grav_b=(-0.06,-0.01,-1.00) r=1.07m +[headless_play] t= 8.60s step= 430 trunk_z= 116.1mm grav_b=(-0.05,-0.04,-1.00) r=1.10m +[headless_play] t= 8.70s step= 435 trunk_z= 125.8mm grav_b=(-0.04,-0.13,-0.99) r=1.11m +[headless_play] t= 8.80s step= 440 trunk_z= 126.5mm grav_b=(-0.03,-0.12,-0.99) r=1.12m +[headless_play] t= 8.90s step= 445 trunk_z= 123.9mm grav_b=(-0.01,-0.07,-1.00) r=1.13m +[headless_play] t= 9.00s step= 450 trunk_z= 124.1mm grav_b=(-0.01,+0.07,-1.00) r=1.14m +[headless_play] t= 9.10s step= 455 trunk_z= 126.0mm grav_b=(-0.00,+0.08,-1.00) r=1.16m +[headless_play] t= 9.20s step= 460 trunk_z= 124.7mm grav_b=(-0.02,+0.08,-1.00) r=1.18m +[headless_play] t= 9.30s step= 465 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=1.21m +[headless_play] t= 9.40s step= 470 trunk_z= 126.0mm grav_b=(+0.02,-0.04,-1.00) r=1.23m +[headless_play] t= 9.50s step= 475 trunk_z= 125.3mm grav_b=(+0.01,-0.03,-1.00) r=1.24m +[headless_play] t= 9.60s step= 480 trunk_z= 121.8mm grav_b=(-0.04,+0.05,-1.00) r=1.25m +[headless_play] t= 9.70s step= 485 trunk_z= 125.2mm grav_b=(-0.06,+0.05,-1.00) r=1.26m +[headless_play] t= 9.80s step= 490 trunk_z= 119.5mm grav_b=(-0.07,+0.04,-1.00) r=1.28m +[headless_play] t= 9.90s step= 495 trunk_z= 121.7mm grav_b=(-0.05,-0.04,-1.00) r=1.30m +[headless_play] t= 10.00s step= 500 trunk_z= 123.6mm grav_b=(-0.04,-0.05,-1.00) r=1.31m +[headless_play] t= 10.10s step= 505 trunk_z= 121.0mm grav_b=(-0.04,-0.04,-1.00) r=1.31m +[headless_play] t= 10.20s step= 510 trunk_z= 122.3mm grav_b=(-0.04,+0.05,-1.00) r=1.31m +[headless_play] t= 10.30s step= 515 trunk_z= 125.3mm grav_b=(-0.00,+0.05,-1.00) r=1.32m +[headless_play] t= 10.40s step= 520 trunk_z= 121.4mm grav_b=(+0.02,+0.04,-1.00) r=1.34m +[headless_play] t= 10.50s step= 525 trunk_z= 122.7mm grav_b=(+0.01,-0.04,-1.00) r=1.37m +[headless_play] t= 10.60s step= 530 trunk_z= 119.1mm grav_b=(-0.03,-0.00,-1.00) r=1.37m +[headless_play] t= 10.70s step= 535 trunk_z= 121.3mm grav_b=(-0.08,+0.06,-1.00) r=1.36m +[headless_play] t= 10.80s step= 540 trunk_z= 125.2mm grav_b=(-0.09,+0.05,-0.99) r=1.37m +[headless_play] t= 10.90s step= 545 trunk_z= 120.5mm grav_b=(-0.06,+0.02,-1.00) r=1.38m +[headless_play] t= 11.00s step= 550 trunk_z= 121.9mm grav_b=(-0.02,-0.04,-1.00) r=1.41m +[headless_play] t= 11.10s step= 555 trunk_z= 122.8mm grav_b=(+0.03,+0.00,-1.00) r=1.42m +[headless_play] t= 11.20s step= 560 trunk_z= 118.7mm grav_b=(+0.04,+0.07,-1.00) r=1.44m +[headless_play] t= 11.30s step= 565 trunk_z= 130.3mm grav_b=(+0.06,+0.05,-1.00) r=1.47m +[headless_play] t= 11.40s step= 570 trunk_z= 123.1mm grav_b=(+0.03,-0.00,-1.00) r=1.51m +[headless_play] t= 11.50s step= 575 trunk_z= 121.4mm grav_b=(-0.03,-0.02,-1.00) r=1.54m +[headless_play] t= 11.60s step= 580 trunk_z= 119.4mm grav_b=(-0.07,-0.03,-1.00) r=1.55m +[headless_play] t= 11.70s step= 585 trunk_z= 118.6mm grav_b=(-0.09,+0.04,-1.00) r=1.54m +[headless_play] t= 11.80s step= 590 trunk_z= 122.9mm grav_b=(-0.09,+0.02,-1.00) r=1.55m +[headless_play] t= 11.90s step= 595 trunk_z= 119.4mm grav_b=(-0.03,+0.04,-1.00) r=1.57m +[headless_play] t= 12.00s step= 600 trunk_z= 119.6mm grav_b=(-0.01,-0.06,-1.00) r=1.60m +[headless_play] t= 12.10s step= 605 trunk_z= 122.6mm grav_b=(+0.02,-0.02,-1.00) r=1.62m +[headless_play] t= 12.20s step= 610 trunk_z= 118.2mm grav_b=(-0.01,+0.02,-1.00) r=1.62m +[headless_play] t= 12.30s step= 615 trunk_z= 124.6mm grav_b=(-0.06,+0.08,-1.00) r=1.62m +[headless_play] t= 12.40s step= 620 trunk_z= 124.3mm grav_b=(-0.07,+0.06,-1.00) r=1.63m +[headless_play] t= 12.50s step= 625 trunk_z= 119.4mm grav_b=(-0.03,+0.06,-1.00) r=1.65m +[headless_play] t= 12.60s step= 630 trunk_z= 122.5mm grav_b=(+0.01,-0.03,-1.00) r=1.68m +[headless_play] t= 12.70s step= 635 trunk_z= 122.3mm grav_b=(+0.03,-0.01,-1.00) r=1.69m +[headless_play] t= 12.80s step= 640 trunk_z= 120.6mm grav_b=(-0.04,+0.09,-1.00) r=1.70m +[headless_play] t= 12.90s step= 645 trunk_z= 125.0mm grav_b=(-0.08,+0.08,-0.99) r=1.71m +[headless_play] t= 13.00s step= 650 trunk_z= 120.0mm grav_b=(-0.04,+0.04,-1.00) r=1.73m +[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(-0.04,-0.03,-1.00) r=1.76m +[headless_play] t= 13.20s step= 660 trunk_z= 121.6mm grav_b=(-0.03,-0.02,-1.00) r=1.77m +[headless_play] t= 13.30s step= 665 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=1.77m +[headless_play] t= 13.40s step= 670 trunk_z= 121.7mm grav_b=(-0.05,+0.06,-1.00) r=1.76m +[headless_play] t= 13.50s step= 675 trunk_z= 122.6mm grav_b=(-0.02,+0.07,-1.00) r=1.77m +[headless_play] t= 13.60s step= 680 trunk_z= 116.3mm grav_b=(-0.01,+0.03,-1.00) r=1.80m +[headless_play] t= 13.70s step= 685 trunk_z= 121.7mm grav_b=(-0.02,-0.08,-1.00) r=1.82m +[headless_play] t= 13.80s step= 690 trunk_z= 121.6mm grav_b=(-0.03,-0.05,-1.00) r=1.83m +[headless_play] t= 13.90s step= 695 trunk_z= 116.1mm grav_b=(-0.04,+0.05,-1.00) r=1.83m +[headless_play] t= 14.00s step= 700 trunk_z= 123.6mm grav_b=(-0.03,+0.08,-1.00) r=1.83m +[headless_play] t= 14.10s step= 705 trunk_z= 116.4mm grav_b=(+0.05,+0.01,-1.00) r=1.86m +[headless_play] t= 14.20s step= 710 trunk_z= 119.5mm grav_b=(+0.02,-0.05,-1.00) r=1.90m +[headless_play] t= 14.30s step= 715 trunk_z= 122.3mm grav_b=(+0.01,-0.02,-1.00) r=1.91m +[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(-0.05,+0.07,-1.00) r=1.92m +[headless_play] t= 14.50s step= 725 trunk_z= 124.6mm grav_b=(-0.05,+0.10,-0.99) r=1.92m +[headless_play] t= 14.60s step= 730 trunk_z= 124.2mm grav_b=(+0.05,+0.12,-0.99) r=1.94m +[headless_play] t= 14.70s step= 735 trunk_z= 124.4mm grav_b=(+0.02,+0.05,-1.00) r=1.97m +[headless_play] t= 14.80s step= 740 trunk_z= 122.2mm grav_b=(-0.05,-0.05,-1.00) r=2.00m +[headless_play] t= 14.90s step= 745 trunk_z= 123.0mm grav_b=(-0.06,-0.04,-1.00) r=2.01m +[headless_play] t= 15.00s step= 750 trunk_z= 117.3mm grav_b=(-0.08,+0.03,-1.00) r=2.00m +[headless_play] t= 15.10s step= 755 trunk_z= 124.1mm grav_b=(-0.08,+0.04,-1.00) r=1.99m +[headless_play] t= 15.20s step= 760 trunk_z= 122.8mm grav_b=(-0.05,+0.03,-1.00) r=2.00m +[headless_play] t= 15.30s step= 765 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=2.03m +[headless_play] t= 15.40s step= 770 trunk_z= 119.5mm grav_b=(-0.05,-0.02,-1.00) r=2.04m +[headless_play] t= 15.50s step= 775 trunk_z= 114.9mm grav_b=(-0.03,+0.06,-1.00) r=2.04m +[headless_play] t= 15.60s step= 780 trunk_z= 122.5mm grav_b=(-0.02,+0.09,-1.00) r=2.04m +[headless_play] t= 15.70s step= 785 trunk_z= 122.0mm grav_b=(+0.01,+0.08,-1.00) r=2.05m +[headless_play] t= 15.80s step= 790 trunk_z= 117.7mm grav_b=(-0.02,+0.02,-1.00) r=2.08m +[headless_play] t= 15.90s step= 795 trunk_z= 122.2mm grav_b=(-0.01,-0.07,-1.00) r=2.11m +[headless_play] t= 16.00s step= 800 trunk_z= 120.4mm grav_b=(+0.00,-0.05,-1.00) r=2.12m +[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(+0.03,+0.06,-1.00) r=2.13m +[headless_play] t= 16.20s step= 810 trunk_z= 126.0mm grav_b=(+0.06,+0.07,-1.00) r=2.14m +[headless_play] t= 16.30s step= 815 trunk_z= 124.2mm grav_b=(+0.01,+0.01,-1.00) r=2.17m +[headless_play] t= 16.40s step= 820 trunk_z= 121.6mm grav_b=(-0.01,-0.04,-1.00) r=2.20m +[headless_play] t= 16.50s step= 825 trunk_z= 119.9mm grav_b=(-0.05,-0.03,-1.00) r=2.20m +[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(-0.10,+0.04,-0.99) r=2.20m +[headless_play] t= 16.70s step= 835 trunk_z= 126.2mm grav_b=(-0.10,+0.07,-0.99) r=2.19m +[headless_play] t= 16.80s step= 840 trunk_z= 129.5mm grav_b=(-0.12,+0.14,-0.98) r=2.18m +[headless_play] t= 16.90s step= 845 trunk_z= 130.4mm grav_b=(-0.05,+0.11,-0.99) r=2.16m +[headless_play] t= 17.00s step= 850 trunk_z= 126.0mm grav_b=(-0.01,+0.08,-1.00) r=2.12m +[headless_play] t= 17.10s step= 855 trunk_z= 110.3mm grav_b=(+0.00,+0.00,-1.00) r=2.08m +[headless_play] t= 17.20s step= 860 trunk_z= 110.9mm grav_b=(-0.08,+0.08,-0.99) r=2.07m +[headless_play] t= 17.30s step= 865 trunk_z= 118.0mm grav_b=(-0.01,+0.09,-1.00) r=2.07m +[headless_play] t= 17.40s step= 870 trunk_z= 115.8mm grav_b=(-0.00,+0.06,-1.00) r=2.08m +[headless_play] t= 17.50s step= 875 trunk_z= 117.3mm grav_b=(-0.02,-0.07,-1.00) r=2.08m +[headless_play] t= 17.60s step= 880 trunk_z= 119.4mm grav_b=(-0.04,-0.04,-1.00) r=2.10m +[headless_play] t= 17.70s step= 885 trunk_z= 113.9mm grav_b=(-0.03,+0.04,-1.00) r=2.12m +[headless_play] t= 17.80s step= 890 trunk_z= 120.4mm grav_b=(-0.02,+0.03,-1.00) r=2.13m +[headless_play] t= 17.90s step= 895 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=2.14m +[headless_play] t= 18.00s step= 900 trunk_z= 117.1mm grav_b=(+0.01,-0.07,-1.00) r=2.15m +[headless_play] t= 18.10s step= 905 trunk_z= 118.2mm grav_b=(+0.02,-0.05,-1.00) r=2.17m +[headless_play] t= 18.20s step= 910 trunk_z= 112.4mm grav_b=(+0.02,+0.05,-1.00) r=2.20m +[headless_play] t= 18.30s step= 915 trunk_z= 122.2mm grav_b=(+0.03,+0.08,-1.00) r=2.23m +[headless_play] t= 18.40s step= 920 trunk_z= 121.3mm grav_b=(+0.03,+0.06,-1.00) r=2.24m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.01,-0.04,-1.00) r=2.25m +[headless_play] t= 18.60s step= 930 trunk_z= 122.9mm grav_b=(+0.00,-0.06,-1.00) r=2.26m +[headless_play] t= 18.70s step= 935 trunk_z= 118.3mm grav_b=(+0.00,-0.05,-1.00) r=2.28m +[headless_play] t= 18.80s step= 940 trunk_z= 118.2mm grav_b=(-0.03,+0.04,-1.00) r=2.30m +[headless_play] t= 18.90s step= 945 trunk_z= 121.2mm grav_b=(-0.04,+0.01,-1.00) r=2.31m +[headless_play] t= 19.00s step= 950 trunk_z= 114.9mm grav_b=(-0.08,-0.07,-0.99) r=2.31m +[headless_play] t= 19.10s step= 955 trunk_z= 124.6mm grav_b=(-0.08,-0.09,-0.99) r=2.30m +[headless_play] t= 19.20s step= 960 trunk_z= 126.1mm grav_b=(-0.05,-0.07,-1.00) r=2.30m +[headless_play] t= 19.30s step= 965 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=2.29m +[headless_play] t= 19.40s step= 970 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=2.29m +[headless_play] t= 19.50s step= 975 trunk_z= 112.6mm grav_b=(+0.03,-0.02,-1.00) r=2.31m +[headless_play] t= 19.60s step= 980 trunk_z= 114.9mm grav_b=(+0.07,-0.03,-1.00) r=2.33m +[headless_play] t= 19.70s step= 985 trunk_z= 114.5mm grav_b=(+0.02,+0.05,-1.00) r=2.35m +[headless_play] t= 19.80s step= 990 trunk_z= 119.0mm grav_b=(-0.03,+0.07,-1.00) r=2.37m +[headless_play] t= 19.90s step= 995 trunk_z= 117.9mm grav_b=(-0.01,+0.03,-1.00) r=2.39m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.02,+0.00,-1.00) r=0.45m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t13.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..8d713e0ae6b4c1c722f6df13bf8aef51fcc477bb --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.256,-17.614,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.9mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.03,+0.04,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 119.8mm grav_b=(-0.05,+0.05,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(-0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 119.8mm grav_b=(+0.00,-0.05,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 122.9mm grav_b=(+0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(-0.00,-0.01,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 124.1mm grav_b=(-0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(-0.03,+0.05,-1.00) r=0.54m +[headless_play] t= 0.90s step= 45 trunk_z= 115.5mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 1.00s step= 50 trunk_z= 121.7mm grav_b=(-0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 122.8mm grav_b=(-0.02,+0.07,-1.00) r=0.58m +[headless_play] t= 1.30s step= 65 trunk_z= 124.8mm grav_b=(+0.00,+0.04,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 1.50s step= 75 trunk_z= 121.7mm grav_b=(-0.01,-0.06,-1.00) r=0.60m +[headless_play] t= 1.60s step= 80 trunk_z= 121.2mm grav_b=(-0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 119.0mm grav_b=(-0.01,+0.07,-1.00) r=0.64m +[headless_play] t= 1.80s step= 90 trunk_z= 129.2mm grav_b=(-0.00,+0.14,-0.99) r=0.66m +[headless_play] t= 1.90s step= 95 trunk_z= 127.6mm grav_b=(+0.02,+0.16,-0.99) r=0.69m +[headless_play] t= 2.00s step= 100 trunk_z= 130.3mm grav_b=(+0.05,+0.13,-0.99) r=0.72m +[headless_play] t= 2.10s step= 105 trunk_z= 120.0mm grav_b=(+0.07,+0.08,-0.99) r=0.77m +[headless_play] t= 2.20s step= 110 trunk_z= 129.0mm grav_b=(+0.02,+0.04,-1.00) r=0.79m +[headless_play] t= 2.30s step= 115 trunk_z= 115.4mm grav_b=(+0.04,+0.02,-1.00) r=0.83m +[headless_play] t= 2.40s step= 120 trunk_z= 126.1mm grav_b=(+0.04,-0.04,-1.00) r=0.86m +[headless_play] t= 2.50s step= 125 trunk_z= 102.8mm grav_b=(-0.08,-0.04,-1.00) r=0.91m +[headless_play] t= 2.60s step= 130 trunk_z= 114.7mm grav_b=(-0.07,-0.06,-1.00) r=0.92m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.05,-0.02,-1.00) r=0.93m +[headless_play] t= 2.80s step= 140 trunk_z= 120.3mm grav_b=(-0.05,+0.08,-1.00) r=0.94m +[headless_play] t= 2.90s step= 145 trunk_z= 122.3mm grav_b=(-0.00,+0.01,-1.00) r=0.95m +[headless_play] t= 3.00s step= 150 trunk_z= 119.0mm grav_b=(+0.02,-0.08,-1.00) r=0.97m +[headless_play] t= 3.10s step= 155 trunk_z= 125.2mm grav_b=(+0.04,-0.11,-0.99) r=0.98m +[headless_play] t= 3.20s step= 160 trunk_z= 124.7mm grav_b=(+0.01,-0.10,-0.99) r=0.99m +[headless_play] t= 3.30s step= 165 trunk_z= 125.4mm grav_b=(+0.01,-0.05,-1.00) r=1.02m +[headless_play] t= 3.40s step= 170 trunk_z= 123.6mm grav_b=(+0.01,+0.04,-1.00) r=1.04m +[headless_play] t= 3.50s step= 175 trunk_z= 126.6mm grav_b=(+0.03,+0.02,-1.00) r=1.06m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(+0.01,+0.02,-1.00) r=1.07m +[headless_play] t= 3.70s step= 185 trunk_z= 119.6mm grav_b=(-0.01,-0.03,-1.00) r=1.08m +[headless_play] t= 3.80s step= 190 trunk_z= 119.9mm grav_b=(-0.02,-0.02,-1.00) r=1.09m +[headless_play] t= 3.90s step= 195 trunk_z= 118.9mm grav_b=(-0.02,+0.04,-1.00) r=1.10m +[headless_play] t= 4.00s step= 200 trunk_z= 124.9mm grav_b=(-0.01,+0.02,-1.00) r=1.12m +[headless_play] t= 4.10s step= 205 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 4.20s step= 210 trunk_z= 121.9mm grav_b=(-0.02,-0.06,-1.00) r=1.13m +[headless_play] t= 4.30s step= 215 trunk_z= 123.4mm grav_b=(-0.02,-0.05,-1.00) r=1.13m +[headless_play] t= 4.40s step= 220 trunk_z= 118.5mm grav_b=(-0.04,-0.04,-1.00) r=1.15m +[headless_play] t= 4.50s step= 225 trunk_z= 121.3mm grav_b=(-0.05,-0.01,-1.00) r=1.15m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.04,-0.04,-1.00) r=1.16m +[headless_play] t= 4.70s step= 235 trunk_z= 121.5mm grav_b=(+0.00,-0.07,-1.00) r=1.17m +[headless_play] t= 4.80s step= 240 trunk_z= 120.2mm grav_b=(+0.01,-0.03,-1.00) r=1.18m +[headless_play] t= 4.90s step= 245 trunk_z= 119.8mm grav_b=(+0.00,+0.04,-1.00) r=1.20m +[headless_play] t= 5.00s step= 250 trunk_z= 125.6mm grav_b=(+0.00,+0.04,-1.00) r=1.21m +[headless_play] t= 5.10s step= 255 trunk_z= 120.6mm grav_b=(-0.01,+0.03,-1.00) r=1.22m +[headless_play] t= 5.20s step= 260 trunk_z= 121.1mm grav_b=(-0.02,-0.04,-1.00) r=1.22m +[headless_play] t= 5.30s step= 265 trunk_z= 117.9mm grav_b=(-0.07,+0.01,-1.00) r=1.22m +[headless_play] t= 5.40s step= 270 trunk_z= 123.2mm grav_b=(-0.09,+0.08,-0.99) r=1.23m +[headless_play] t= 5.50s step= 275 trunk_z= 126.7mm grav_b=(-0.04,+0.06,-1.00) r=1.23m +[headless_play] t= 5.60s step= 280 trunk_z= 120.6mm grav_b=(-0.01,+0.03,-1.00) r=1.24m +[headless_play] t= 5.70s step= 285 trunk_z= 122.9mm grav_b=(+0.01,-0.06,-1.00) r=1.25m +[headless_play] t= 5.80s step= 290 trunk_z= 123.1mm grav_b=(+0.03,-0.04,-1.00) r=1.25m +[headless_play] t= 5.90s step= 295 trunk_z= 118.3mm grav_b=(+0.02,+0.03,-1.00) r=1.27m +[headless_play] t= 6.00s step= 300 trunk_z= 126.0mm grav_b=(+0.02,+0.05,-1.00) r=1.29m +[headless_play] t= 6.10s step= 305 trunk_z= 123.3mm grav_b=(+0.01,+0.04,-1.00) r=1.29m +[headless_play] t= 6.20s step= 310 trunk_z= 120.3mm grav_b=(+0.06,-0.02,-1.00) r=1.32m +[headless_play] t= 6.30s step= 315 trunk_z= 130.3mm grav_b=(+0.06,-0.02,-1.00) r=1.35m +[headless_play] t= 6.40s step= 320 trunk_z= 121.6mm grav_b=(+0.01,+0.04,-1.00) r=1.38m +[headless_play] t= 6.50s step= 325 trunk_z= 120.2mm grav_b=(-0.05,+0.05,-1.00) r=1.40m +[headless_play] t= 6.60s step= 330 trunk_z= 121.5mm grav_b=(-0.10,-0.00,-0.99) r=1.41m +[headless_play] t= 6.70s step= 335 trunk_z= 120.7mm grav_b=(-0.05,-0.07,-1.00) r=1.43m +[headless_play] t= 6.80s step= 340 trunk_z= 125.1mm grav_b=(-0.02,-0.08,-1.00) r=1.44m +[headless_play] t= 6.90s step= 345 trunk_z= 122.7mm grav_b=(-0.01,-0.05,-1.00) r=1.45m +[headless_play] t= 7.00s step= 350 trunk_z= 122.1mm grav_b=(-0.00,+0.06,-1.00) r=1.46m +[headless_play] t= 7.10s step= 355 trunk_z= 128.2mm grav_b=(+0.05,+0.09,-0.99) r=1.48m +[headless_play] t= 7.20s step= 360 trunk_z= 130.2mm grav_b=(+0.06,+0.11,-0.99) r=1.50m +[headless_play] t= 7.30s step= 365 trunk_z= 120.8mm grav_b=(+0.00,+0.06,-1.00) r=1.54m +[headless_play] t= 7.40s step= 370 trunk_z= 120.9mm grav_b=(+0.00,+0.02,-1.00) r=1.56m +[headless_play] t= 7.50s step= 375 trunk_z= 118.4mm grav_b=(-0.05,+0.03,-1.00) r=1.57m +[headless_play] t= 7.60s step= 380 trunk_z= 118.3mm grav_b=(-0.08,+0.03,-1.00) r=1.58m +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(-0.06,-0.05,-1.00) r=1.61m +[headless_play] t= 7.80s step= 390 trunk_z= 122.6mm grav_b=(+0.01,-0.11,-0.99) r=1.63m +[headless_play] t= 7.90s step= 395 trunk_z= 123.7mm grav_b=(+0.01,-0.11,-0.99) r=1.64m +[headless_play] t= 8.00s step= 400 trunk_z= 123.3mm grav_b=(+0.00,-0.08,-1.00) r=1.65m +[headless_play] t= 8.10s step= 405 trunk_z= 121.8mm grav_b=(-0.01,+0.03,-1.00) r=1.66m +[headless_play] t= 8.20s step= 410 trunk_z= 125.0mm grav_b=(-0.00,+0.04,-1.00) r=1.67m +[headless_play] t= 8.30s step= 415 trunk_z= 113.3mm grav_b=(-0.01,-0.00,-1.00) r=1.70m +[headless_play] t= 8.40s step= 420 trunk_z= 124.4mm grav_b=(-0.00,-0.15,-0.99) r=1.72m +[headless_play] t= 8.50s step= 425 trunk_z= 128.6mm grav_b=(-0.05,-0.21,-0.98) r=1.74m +[headless_play] t= 8.60s step= 430 trunk_z= 125.2mm grav_b=(+0.11,-0.30,-0.95) r=1.76m +[headless_play] t= 8.70s step= 435 trunk_z= 123.1mm grav_b=(+0.21,-0.39,-0.90) r=1.81m +[headless_play] t= 8.80s step= 440 trunk_z= 115.6mm grav_b=(+0.17,-0.22,-0.96) r=1.89m +[headless_play] t= 8.90s step= 445 trunk_z= 130.8mm grav_b=(+0.28,-0.08,-0.96) r=1.94m +[headless_play] t= 9.00s step= 450 trunk_z= 75.8mm grav_b=(+0.12,-0.04,-0.99) r=2.01m +[headless_play] t= 9.10s step= 455 trunk_z= 101.3mm grav_b=(+0.09,-0.02,-1.00) r=2.05m +[headless_play] t= 9.20s step= 460 trunk_z= 110.0mm grav_b=(+0.01,+0.06,-1.00) r=2.09m +[headless_play] t= 9.30s step= 465 trunk_z= 107.2mm grav_b=(-0.11,+0.13,-0.99) r=2.13m +[headless_play] t= 9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.13,+0.06,-0.99) r=2.14m +[headless_play] t= 9.50s step= 475 trunk_z= 115.9mm grav_b=(-0.05,-0.04,-1.00) r=2.13m +[headless_play] t= 9.60s step= 480 trunk_z= 121.3mm grav_b=(-0.05,-0.04,-1.00) r=2.13m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00) r=2.14m +[headless_play] t= 9.80s step= 490 trunk_z= 123.2mm grav_b=(+0.11,+0.07,-0.99) r=2.17m +[headless_play] t= 9.90s step= 495 trunk_z= 131.8mm grav_b=(+0.07,+0.04,-1.00) r=2.20m +[headless_play] t= 10.00s step= 500 trunk_z= 110.7mm grav_b=(+0.03,-0.03,-1.00) r=2.24m +[headless_play] t= 10.10s step= 505 trunk_z= 119.4mm grav_b=(-0.03,-0.02,-1.00) r=2.26m +[headless_play] t= 10.20s step= 510 trunk_z= 115.6mm grav_b=(-0.09,+0.03,-1.00) r=2.29m +[headless_play] t= 10.30s step= 515 trunk_z= 123.0mm grav_b=(-0.07,+0.05,-1.00) r=2.31m +[headless_play] t= 10.40s step= 520 trunk_z= 118.4mm grav_b=(-0.06,+0.00,-1.00) r=2.30m +[headless_play] t= 10.50s step= 525 trunk_z= 117.9mm grav_b=(-0.07,-0.06,-1.00) r=2.29m +[headless_play] t= 10.60s step= 530 trunk_z= 123.0mm grav_b=(-0.04,-0.03,-1.00) r=2.28m +[headless_play] t= 10.70s step= 535 trunk_z= 111.8mm grav_b=(+0.04,+0.07,-1.00) r=2.26m +[headless_play] t= 10.80s step= 540 trunk_z= 114.0mm grav_b=(+0.01,+0.03,-1.00) r=2.25m +[headless_play] t= 10.90s step= 545 trunk_z= 109.7mm grav_b=(-0.02,+0.01,-1.00) r=2.24m +[headless_play] t= 11.00s step= 550 trunk_z= 109.4mm grav_b=(-0.03,+0.06,-1.00) r=2.23m +[headless_play] t= 11.10s step= 555 trunk_z= 109.7mm grav_b=(+0.04,+0.06,-1.00) r=2.24m +[headless_play] t= 11.20s step= 560 trunk_z= 105.2mm grav_b=(+0.03,+0.07,-1.00) r=2.26m +[headless_play] t= 11.30s step= 565 trunk_z= 108.0mm grav_b=(+0.06,+0.05,-1.00) r=2.26m +[headless_play] t= 11.40s step= 570 trunk_z= 104.8mm grav_b=(+0.06,+0.03,-1.00) r=2.26m +[headless_play] t= 11.50s step= 575 trunk_z= 113.3mm grav_b=(-0.03,-0.02,-1.00) r=2.25m +[headless_play] t= 11.60s step= 580 trunk_z= 115.9mm grav_b=(-0.03,-0.02,-1.00) r=2.25m +[headless_play] t= 11.70s step= 585 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) r=2.26m +[headless_play] t= 11.80s step= 590 trunk_z= 111.2mm grav_b=(+0.04,+0.11,-0.99) r=2.28m +[headless_play] t= 11.90s step= 595 trunk_z= 113.7mm grav_b=(+0.11,+0.18,-0.98) r=2.30m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(+0.07,+0.17,-0.98) r=2.31m +[headless_play] t= 12.10s step= 605 trunk_z= 120.4mm grav_b=(+0.05,+0.14,-0.99) r=2.31m +[headless_play] t= 12.20s step= 610 trunk_z= 119.8mm grav_b=(+0.06,+0.05,-1.00) r=2.32m +[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(+0.06,-0.01,-1.00) r=2.33m +[headless_play] t= 12.40s step= 620 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=2.34m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(-0.06,+0.05,-1.00) r=2.36m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(-0.01,+0.03,-1.00) r=2.35m +[headless_play] t= 12.70s step= 635 trunk_z= 113.2mm grav_b=(-0.02,-0.02,-1.00) r=2.33m +[headless_play] t= 12.80s step= 640 trunk_z= 119.9mm grav_b=(+0.05,-0.08,-1.00) r=2.33m +[headless_play] t= 12.90s step= 645 trunk_z= 122.5mm grav_b=(+0.04,-0.06,-1.00) r=2.33m +[headless_play] t= 13.00s step= 650 trunk_z= 116.8mm grav_b=(+0.02,+0.03,-1.00) r=2.34m +[headless_play] t= 13.10s step= 655 trunk_z= 121.0mm grav_b=(+0.07,-0.00,-1.00) r=2.37m +[headless_play] t= 13.20s step= 660 trunk_z= 125.7mm grav_b=(+0.05,-0.02,-1.00) r=2.39m +[headless_play] t= 13.30s step= 665 trunk_z= 111.1mm grav_b=(+0.01,-0.02,-1.00) r=2.40m +[headless_play] t= 13.40s step= 670 trunk_z= 111.6mm grav_b=(-0.12,+0.02,-0.99) r=2.40m +[headless_play] t= 13.50s step= 675 trunk_z= 118.1mm grav_b=(-0.06,+0.10,-0.99) r=2.41m +[headless_play] t= 13.60s step= 680 trunk_z= 117.4mm grav_b=(+0.01,+0.05,-1.00) r=2.40m +[headless_play] t= 13.70s step= 685 trunk_z= 116.0mm grav_b=(+0.01,-0.03,-1.00) r=2.39m +[headless_play] t= 13.80s step= 690 trunk_z= 122.1mm grav_b=(+0.05,-0.04,-1.00) r=2.39m +[headless_play] t= 13.90s step= 695 trunk_z= 122.8mm grav_b=(+0.04,-0.01,-1.00) r=2.41m +[headless_play] t= 14.00s step= 700 trunk_z= 118.6mm grav_b=(+0.05,+0.03,-1.00) r=2.44m +[headless_play] t= 14.10s step= 705 trunk_z= 130.6mm grav_b=(+0.06,+0.01,-1.00) r=2.46m +[headless_play] t= 14.20s step= 710 trunk_z= 113.5mm grav_b=(-0.04,+0.02,-1.00) r=2.48m +[headless_play] t= 14.30s step= 715 trunk_z= 112.9mm grav_b=(-0.05,-0.02,-1.00) r=2.49m +[headless_play] t= 14.40s step= 720 trunk_z= 114.9mm grav_b=(-0.08,+0.01,-1.00) r=2.50m +[headless_play] t= 14.50s step= 725 trunk_z= 120.7mm grav_b=(-0.05,+0.04,-1.00) r=2.53m +[headless_play] t= 14.60s step= 730 trunk_z= 122.0mm grav_b=(-0.03,+0.03,-1.00) r=2.53m +[headless_play] t= 14.70s step= 735 trunk_z= 114.8mm grav_b=(-0.01,-0.04,-1.00) r=2.51m +[headless_play] t= 14.80s step= 740 trunk_z= 122.2mm grav_b=(+0.00,-0.07,-1.00) r=2.51m +[headless_play] t= 14.90s step= 745 trunk_z= 122.8mm grav_b=(-0.05,-0.07,-1.00) r=2.51m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(-0.04,-0.02,-1.00) r=2.53m +[headless_play] t= 15.10s step= 755 trunk_z= 123.0mm grav_b=(+0.02,+0.02,-1.00) r=2.56m +[headless_play] t= 15.20s step= 760 trunk_z= 123.7mm grav_b=(+0.03,+0.01,-1.00) r=2.56m +[headless_play] t= 15.30s step= 765 trunk_z= 114.4mm grav_b=(+0.00,-0.03,-1.00) r=2.55m +[headless_play] t= 15.40s step= 770 trunk_z= 120.5mm grav_b=(-0.02,-0.02,-1.00) r=2.55m +[headless_play] t= 15.50s step= 775 trunk_z= 116.3mm grav_b=(-0.06,-0.01,-1.00) r=2.57m +[headless_play] t= 15.60s step= 780 trunk_z= 123.2mm grav_b=(-0.04,+0.01,-1.00) r=2.59m +[headless_play] t= 15.70s step= 785 trunk_z= 121.6mm grav_b=(-0.01,-0.02,-1.00) r=2.60m +[headless_play] t= 15.80s step= 790 trunk_z= 116.7mm grav_b=(-0.03,-0.08,-1.00) r=2.59m +[headless_play] t= 15.90s step= 795 trunk_z= 120.2mm grav_b=(-0.01,-0.06,-1.00) r=2.59m +[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(+0.01,-0.03,-1.00) r=2.60m +[headless_play] t= 16.10s step= 805 trunk_z= 119.0mm grav_b=(+0.01,+0.04,-1.00) r=2.63m +[headless_play] t= 16.20s step= 810 trunk_z= 119.5mm grav_b=(+0.10,+0.02,-1.00) r=2.65m +[headless_play] t= 16.30s step= 815 trunk_z= 112.9mm grav_b=(+0.09,-0.04,-1.00) r=2.68m +[headless_play] t= 16.40s step= 820 trunk_z= 126.3mm grav_b=(+0.05,-0.03,-1.00) r=2.71m +[headless_play] t= 16.50s step= 825 trunk_z= 115.0mm grav_b=(-0.03,+0.05,-1.00) r=2.75m +[headless_play] t= 16.60s step= 830 trunk_z= 122.9mm grav_b=(-0.03,+0.07,-1.00) r=2.77m +[headless_play] t= 16.70s step= 835 trunk_z= 119.1mm grav_b=(-0.05,+0.01,-1.00) r=2.78m +[headless_play] t= 16.80s step= 840 trunk_z= 120.2mm grav_b=(-0.11,-0.04,-0.99) r=2.77m +[headless_play] t= 16.90s step= 845 trunk_z= 121.1mm grav_b=(-0.05,+0.01,-1.00) r=2.77m +[headless_play] t= 17.00s step= 850 trunk_z= 112.4mm grav_b=(+0.04,+0.08,-1.00) r=2.76m +[headless_play] t= 17.10s step= 855 trunk_z= 115.5mm grav_b=(+0.03,+0.07,-1.00) r=2.75m +[headless_play] t= 17.20s step= 860 trunk_z= 109.8mm grav_b=(+0.02,+0.01,-1.00) r=2.74m +[headless_play] t= 17.30s step= 865 trunk_z= 120.6mm grav_b=(+0.03,-0.06,-1.00) r=2.74m +[headless_play] t= 17.40s step= 870 trunk_z= 122.0mm grav_b=(+0.08,-0.03,-1.00) r=2.75m +[headless_play] t= 17.50s step= 875 trunk_z= 122.7mm grav_b=(+0.04,+0.01,-1.00) r=2.76m +[headless_play] t= 17.60s step= 880 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=2.75m +[headless_play] t= 17.70s step= 885 trunk_z= 115.6mm grav_b=(-0.03,-0.01,-1.00) r=2.75m +[headless_play] t= 17.80s step= 890 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) r=2.75m +[headless_play] t= 17.90s step= 895 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=2.75m +[headless_play] t= 18.00s step= 900 trunk_z= 115.4mm grav_b=(-0.00,-0.00,-1.00) r=2.75m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(-0.08,+0.00,-1.00) r=2.75m +[headless_play] t= 18.20s step= 910 trunk_z= 111.2mm grav_b=(-0.03,-0.06,-1.00) r=2.73m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(-0.04,-0.08,-1.00) r=2.71m +[headless_play] t= 18.40s step= 920 trunk_z= 115.5mm grav_b=(+0.01,-0.03,-1.00) r=2.71m +[headless_play] t= 18.50s step= 925 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=2.71m +[headless_play] t= 18.60s step= 930 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=2.70m +[headless_play] t= 18.70s step= 935 trunk_z= 114.8mm grav_b=(+0.03,-0.00,-1.00) r=2.70m +[headless_play] t= 18.80s step= 940 trunk_z= 114.6mm grav_b=(+0.02,-0.01,-1.00) r=2.70m +[headless_play] t= 18.90s step= 945 trunk_z= 114.8mm grav_b=(-0.00,-0.01,-1.00) r=2.70m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=2.70m +[headless_play] t= 19.10s step= 955 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=2.70m +[headless_play] t= 19.20s step= 960 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=2.70m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=2.70m +[headless_play] t= 19.40s step= 970 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=2.70m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=2.70m +[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=2.70m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=2.70m +[headless_play] t= 19.80s step= 990 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) r=2.70m +[headless_play] t= 19.90s step= 995 trunk_z= 116.9mm grav_b=(-0.11,-0.02,-0.99) r=2.69m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(-0.00,-0.00,-1.00) r=0.49m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t14.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..8cf24d4170e052e8e4a0a95a5eca4a6906f5a9cd --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.629,-17.852,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.2mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 118.0mm grav_b=(-0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 115.3mm grav_b=(-0.02,-0.03,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 120.5mm grav_b=(-0.01,-0.07,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 119.4mm grav_b=(+0.00,-0.04,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 124.1mm grav_b=(-0.06,+0.02,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 120.1mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 118.9mm grav_b=(-0.03,-0.05,-1.00) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 121.5mm grav_b=(-0.01,-0.03,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(+0.02,+0.05,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 130.2mm grav_b=(+0.01,+0.05,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 130.7mm grav_b=(-0.02,+0.03,-1.00) r=0.31m +[headless_play] t= 1.40s step= 70 trunk_z= 123.9mm grav_b=(-0.04,-0.03,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 123.8mm grav_b=(-0.05,-0.05,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 119.1mm grav_b=(-0.09,-0.06,-0.99) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 121.1mm grav_b=(-0.10,+0.01,-0.99) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 123.1mm grav_b=(-0.04,-0.02,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 114.2mm grav_b=(+0.02,-0.10,-1.00) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 125.3mm grav_b=(+0.04,-0.14,-0.99) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 130.2mm grav_b=(+0.05,-0.12,-0.99) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.00,-0.04,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 125.2mm grav_b=(-0.03,-0.02,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 115.3mm grav_b=(-0.05,-0.04,-1.00) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 118.2mm grav_b=(-0.02,-0.05,-1.00) r=0.26m +[headless_play] t= 2.60s step= 130 trunk_z= 115.2mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 120.4mm grav_b=(-0.02,+0.05,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 121.9mm grav_b=(-0.01,+0.04,-1.00) r=0.31m +[headless_play] t= 2.90s step= 145 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 3.00s step= 150 trunk_z= 121.2mm grav_b=(-0.03,-0.08,-1.00) r=0.30m +[headless_play] t= 3.10s step= 155 trunk_z= 119.7mm grav_b=(-0.03,-0.06,-1.00) r=0.31m +[headless_play] t= 3.20s step= 160 trunk_z= 116.0mm grav_b=(-0.02,+0.06,-1.00) r=0.35m +[headless_play] t= 3.30s step= 165 trunk_z= 125.1mm grav_b=(-0.00,+0.11,-0.99) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 122.6mm grav_b=(+0.00,+0.09,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 128.3mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 3.60s step= 180 trunk_z= 128.4mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 127.1mm grav_b=(-0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 121.4mm grav_b=(-0.05,-0.03,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(-0.06,-0.05,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 116.2mm grav_b=(+0.02,-0.02,-1.00) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 123.3mm grav_b=(+0.08,+0.03,-1.00) r=0.55m +[headless_play] t= 4.30s step= 215 trunk_z= 123.0mm grav_b=(-0.01,-0.06,-1.00) r=0.57m +[headless_play] t= 4.40s step= 220 trunk_z= 125.0mm grav_b=(+0.01,-0.05,-1.00) r=0.58m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(-0.05,-0.03,-1.00) r=0.60m +[headless_play] t= 4.60s step= 230 trunk_z= 117.3mm grav_b=(-0.09,-0.02,-1.00) r=0.60m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(-0.06,-0.04,-1.00) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 115.3mm grav_b=(-0.06,+0.03,-1.00) r=0.60m +[headless_play] t= 4.90s step= 245 trunk_z= 114.3mm grav_b=(-0.07,-0.04,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 114.7mm grav_b=(-0.07,+0.05,-1.00) r=0.60m +[headless_play] t= 5.10s step= 255 trunk_z= 115.1mm grav_b=(-0.03,+0.05,-1.00) r=0.59m +[headless_play] t= 5.20s step= 260 trunk_z= 114.1mm grav_b=(-0.03,-0.02,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 114.8mm grav_b=(-0.00,-0.02,-1.00) r=0.59m +[headless_play] t= 5.40s step= 270 trunk_z= 114.9mm grav_b=(+0.01,-0.02,-1.00) r=0.59m +[headless_play] t= 5.50s step= 275 trunk_z= 115.1mm grav_b=(+0.02,-0.02,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(+0.01,-0.02,-1.00) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 120.0mm grav_b=(+0.09,-0.01,-1.00) r=0.60m +[headless_play] t= 5.90s step= 295 trunk_z= 115.8mm grav_b=(+0.02,-0.07,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 121.2mm grav_b=(-0.02,-0.06,-1.00) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 115.7mm grav_b=(-0.07,-0.03,-1.00) r=0.62m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(-0.08,-0.02,-1.00) r=0.62m +[headless_play] t= 6.30s step= 315 trunk_z= 116.3mm grav_b=(-0.08,-0.01,-1.00) r=0.62m +[headless_play] t= 6.40s step= 320 trunk_z= 115.9mm grav_b=(-0.07,-0.04,-1.00) r=0.62m +[headless_play] t= 6.50s step= 325 trunk_z= 114.4mm grav_b=(-0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 6.60s step= 330 trunk_z= 114.8mm grav_b=(-0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 6.70s step= 335 trunk_z= 115.3mm grav_b=(-0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 6.80s step= 340 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.63m +[headless_play] t= 6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 7.10s step= 355 trunk_z= 117.1mm grav_b=(+0.02,-0.03,-1.00) r=0.62m +[headless_play] t= 7.20s step= 360 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 7.50s step= 375 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 7.60s step= 380 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 7.70s step= 385 trunk_z= 119.2mm grav_b=(+0.00,+0.04,-1.00) r=0.63m +[headless_play] t= 7.80s step= 390 trunk_z= 118.7mm grav_b=(+0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 7.90s step= 395 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 8.10s step= 405 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 119.4mm grav_b=(+0.01,-0.03,-1.00) r=0.62m +[headless_play] t= 8.30s step= 415 trunk_z= 120.2mm grav_b=(+0.04,-0.03,-1.00) r=0.62m +[headless_play] t= 8.40s step= 420 trunk_z= 119.8mm grav_b=(+0.02,-0.03,-1.00) r=0.62m +[headless_play] t= 8.50s step= 425 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 8.60s step= 430 trunk_z= 118.2mm grav_b=(-0.04,-0.00,-1.00) r=0.62m +[headless_play] t= 8.70s step= 435 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.62m +[headless_play] t= 8.80s step= 440 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 8.90s step= 445 trunk_z= 117.5mm grav_b=(-0.00,-0.01,-1.00) r=0.62m +[headless_play] t= 9.00s step= 450 trunk_z= 118.5mm grav_b=(+0.05,-0.01,-1.00) r=0.63m +[headless_play] t= 9.10s step= 455 trunk_z= 118.8mm grav_b=(+0.05,-0.01,-1.00) r=0.62m +[headless_play] t= 9.20s step= 460 trunk_z= 118.1mm grav_b=(+0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 9.30s step= 465 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.05,-0.01,-1.00) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 9.60s step= 480 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 9.70s step= 485 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 117.5mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 10.00s step= 500 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 10.50s step= 525 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 10.60s step= 530 trunk_z= 116.5mm grav_b=(+0.03,-0.00,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 10.80s step= 540 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 11.10s step= 555 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.30s step= 565 trunk_z= 119.5mm grav_b=(+0.15,-0.01,-0.99) r=0.64m +[headless_play] t= 11.40s step= 570 trunk_z= 123.8mm grav_b=(+0.08,-0.02,-1.00) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 122.4mm grav_b=(-0.03,-0.07,-1.00) r=0.64m +[headless_play] t= 11.60s step= 580 trunk_z= 118.4mm grav_b=(-0.09,-0.03,-1.00) r=0.66m +[headless_play] t= 11.70s step= 585 trunk_z= 117.7mm grav_b=(-0.10,-0.01,-1.00) r=0.66m +[headless_play] t= 11.80s step= 590 trunk_z= 116.9mm grav_b=(-0.07,-0.00,-1.00) r=0.66m +[headless_play] t= 11.90s step= 595 trunk_z= 115.4mm grav_b=(-0.04,-0.03,-1.00) r=0.65m +[headless_play] t= 12.00s step= 600 trunk_z= 111.3mm grav_b=(+0.00,-0.08,-1.00) r=0.64m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(-0.01,-0.12,-0.99) r=0.64m +[headless_play] t= 12.20s step= 610 trunk_z= 113.7mm grav_b=(+0.02,-0.04,-1.00) r=0.64m +[headless_play] t= 12.30s step= 615 trunk_z= 114.4mm grav_b=(+0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 12.40s step= 620 trunk_z= 115.4mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 12.50s step= 625 trunk_z= 115.9mm grav_b=(+0.03,-0.03,-1.00) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 116.1mm grav_b=(+0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.65m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 13.20s step= 660 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 13.60s step= 680 trunk_z= 118.9mm grav_b=(-0.00,+0.03,-1.00) r=0.65m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(+0.00,+0.00,-1.00) r=0.65m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.65m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 14.00s step= 700 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.65m +[headless_play] t= 14.10s step= 705 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(-0.02,-0.00,-1.00) r=0.65m +[headless_play] t= 14.30s step= 715 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.65m +[headless_play] t= 14.40s step= 720 trunk_z= 119.0mm grav_b=(+0.04,-0.00,-1.00) r=0.65m +[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(+0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.65m +[headless_play] t= 14.70s step= 735 trunk_z= 116.3mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=0.65m +[headless_play] t= 15.00s step= 750 trunk_z= 116.3mm grav_b=(-0.00,-0.00,-1.00) r=0.65m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(-0.10,-0.03,-0.99) r=0.65m +[headless_play] t= 15.30s step= 765 trunk_z= 115.1mm grav_b=(-0.09,+0.03,-1.00) r=0.65m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(-0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 15.50s step= 775 trunk_z= 111.7mm grav_b=(-0.01,-0.06,-1.00) r=0.65m +[headless_play] t= 15.60s step= 780 trunk_z= 108.7mm grav_b=(+0.00,-0.06,-1.00) r=0.63m +[headless_play] t= 15.70s step= 785 trunk_z= 113.4mm grav_b=(+0.01,-0.03,-1.00) r=0.64m +[headless_play] t= 15.80s step= 790 trunk_z= 114.0mm grav_b=(+0.00,+0.05,-1.00) r=0.66m +[headless_play] t= 15.90s step= 795 trunk_z= 122.6mm grav_b=(+0.01,+0.03,-1.00) r=0.66m +[headless_play] t= 16.00s step= 800 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 122.7mm grav_b=(-0.02,-0.07,-1.00) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 120.5mm grav_b=(-0.02,-0.07,-1.00) r=0.64m +[headless_play] t= 16.30s step= 815 trunk_z= 115.9mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 16.40s step= 820 trunk_z= 123.4mm grav_b=(-0.05,+0.04,-1.00) r=0.67m +[headless_play] t= 16.50s step= 825 trunk_z= 120.4mm grav_b=(-0.03,+0.03,-1.00) r=0.66m +[headless_play] t= 16.60s step= 830 trunk_z= 118.0mm grav_b=(-0.02,-0.05,-1.00) r=0.63m +[headless_play] t= 16.70s step= 835 trunk_z= 119.8mm grav_b=(+0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 16.90s step= 845 trunk_z= 120.3mm grav_b=(+0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(+0.03,-0.07,-1.00) r=0.62m +[headless_play] t= 17.10s step= 855 trunk_z= 121.7mm grav_b=(-0.01,-0.05,-1.00) r=0.61m +[headless_play] t= 17.20s step= 860 trunk_z= 115.1mm grav_b=(-0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 17.30s step= 865 trunk_z= 120.8mm grav_b=(-0.05,+0.06,-1.00) r=0.65m +[headless_play] t= 17.40s step= 870 trunk_z= 123.6mm grav_b=(-0.03,+0.03,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 17.60s step= 880 trunk_z= 122.1mm grav_b=(-0.02,-0.06,-1.00) r=0.61m +[headless_play] t= 17.70s step= 885 trunk_z= 122.0mm grav_b=(-0.02,-0.04,-1.00) r=0.61m +[headless_play] t= 17.80s step= 890 trunk_z= 115.2mm grav_b=(-0.07,+0.02,-1.00) r=0.63m +[headless_play] t= 17.90s step= 895 trunk_z= 117.7mm grav_b=(-0.11,-0.05,-0.99) r=0.62m +[headless_play] t= 18.00s step= 900 trunk_z= 119.1mm grav_b=(-0.06,-0.06,-1.00) r=0.62m +[headless_play] t= 18.10s step= 905 trunk_z= 114.4mm grav_b=(-0.04,+0.01,-1.00) r=0.64m +[headless_play] t= 18.20s step= 910 trunk_z= 124.8mm grav_b=(-0.03,+0.05,-1.00) r=0.65m +[headless_play] t= 18.30s step= 915 trunk_z= 125.7mm grav_b=(-0.02,+0.04,-1.00) r=0.65m +[headless_play] t= 18.40s step= 920 trunk_z= 115.9mm grav_b=(-0.07,-0.02,-1.00) r=0.62m +[headless_play] t= 18.50s step= 925 trunk_z= 123.5mm grav_b=(-0.06,-0.08,-1.00) r=0.60m +[headless_play] t= 18.60s step= 930 trunk_z= 123.0mm grav_b=(-0.05,-0.06,-1.00) r=0.61m +[headless_play] t= 18.70s step= 935 trunk_z= 117.9mm grav_b=(-0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 18.80s step= 940 trunk_z= 122.9mm grav_b=(-0.03,-0.00,-1.00) r=0.63m +[headless_play] t= 18.90s step= 945 trunk_z= 115.9mm grav_b=(-0.05,-0.03,-1.00) r=0.61m +[headless_play] t= 19.00s step= 950 trunk_z= 121.3mm grav_b=(-0.06,-0.07,-1.00) r=0.60m +[headless_play] t= 19.10s step= 955 trunk_z= 120.7mm grav_b=(-0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(-0.05,+0.04,-1.00) r=0.64m +[headless_play] t= 19.30s step= 965 trunk_z= 126.1mm grav_b=(-0.03,+0.05,-1.00) r=0.65m +[headless_play] t= 19.40s step= 970 trunk_z= 124.6mm grav_b=(-0.03,+0.03,-1.00) r=0.64m +[headless_play] t= 19.50s step= 975 trunk_z= 118.0mm grav_b=(-0.06,-0.07,-1.00) r=0.62m +[headless_play] t= 19.60s step= 980 trunk_z= 119.5mm grav_b=(-0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(-0.05,+0.07,-1.00) r=0.67m +[headless_play] t= 19.80s step= 990 trunk_z= 125.1mm grav_b=(-0.06,+0.06,-1.00) r=0.68m +[headless_play] t= 19.90s step= 995 trunk_z= 121.8mm grav_b=(-0.08,+0.04,-1.00) r=0.67m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.44m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t15.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..73927e5ffa5bbd3219163a9b30de3cddaa1382dd --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.247,-17.937,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.4mm grav_b=(-0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.00,+0.03,-1.00) r=0.25m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 112.5mm grav_b=(+0.05,-0.06,-1.00) r=0.27m +[headless_play] t= 0.40s step= 20 trunk_z= 119.7mm grav_b=(+0.07,-0.07,-1.00) r=0.27m +[headless_play] t= 0.50s step= 25 trunk_z= 117.4mm grav_b=(+0.03,-0.02,-1.00) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 121.4mm grav_b=(-0.01,+0.06,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 118.4mm grav_b=(+0.03,+0.02,-1.00) r=0.25m +[headless_play] t= 0.80s step= 40 trunk_z= 111.7mm grav_b=(+0.03,-0.06,-1.00) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 119.3mm grav_b=(+0.03,-0.04,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 112.8mm grav_b=(+0.03,+0.10,-0.99) r=0.27m +[headless_play] t= 1.10s step= 55 trunk_z= 122.5mm grav_b=(+0.05,+0.10,-0.99) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 121.6mm grav_b=(+0.04,+0.07,-1.00) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 118.4mm grav_b=(+0.06,-0.01,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 128.1mm grav_b=(+0.02,-0.06,-1.00) r=0.32m +[headless_play] t= 1.50s step= 75 trunk_z= 120.1mm grav_b=(-0.04,-0.03,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 121.5mm grav_b=(-0.06,+0.01,-1.00) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 121.4mm grav_b=(-0.02,-0.04,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 114.7mm grav_b=(+0.02,-0.07,-1.00) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.05,-0.07,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 111.9mm grav_b=(+0.07,+0.04,-1.00) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 119.7mm grav_b=(+0.11,+0.07,-0.99) r=0.35m +[headless_play] t= 2.20s step= 110 trunk_z= 118.4mm grav_b=(+0.10,+0.00,-0.99) r=0.38m +[headless_play] t= 2.30s step= 115 trunk_z= 125.2mm grav_b=(+0.04,-0.07,-1.00) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 124.5mm grav_b=(+0.01,-0.06,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 117.9mm grav_b=(-0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 121.8mm grav_b=(+0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 119.4mm grav_b=(-0.00,-0.08,-1.00) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(+0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 3.00s step= 150 trunk_z= 113.7mm grav_b=(+0.00,+0.04,-1.00) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 122.7mm grav_b=(+0.01,+0.08,-1.00) r=0.53m +[headless_play] t= 3.20s step= 160 trunk_z= 118.9mm grav_b=(+0.06,+0.04,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 112.4mm grav_b=(+0.06,-0.05,-1.00) r=0.58m +[headless_play] t= 3.40s step= 170 trunk_z= 120.7mm grav_b=(+0.05,-0.06,-1.00) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(+0.06,-0.02,-1.00) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 122.0mm grav_b=(+0.08,+0.06,-0.99) r=0.66m +[headless_play] t= 3.70s step= 185 trunk_z= 122.3mm grav_b=(+0.10,+0.03,-0.99) r=0.69m +[headless_play] t= 3.80s step= 190 trunk_z= 119.3mm grav_b=(+0.06,-0.07,-1.00) r=0.72m +[headless_play] t= 3.90s step= 195 trunk_z= 126.2mm grav_b=(+0.04,-0.09,-1.00) r=0.75m +[headless_play] t= 4.00s step= 200 trunk_z= 118.2mm grav_b=(+0.01,-0.04,-1.00) r=0.78m +[headless_play] t= 4.10s step= 205 trunk_z= 121.2mm grav_b=(+0.05,+0.02,-1.00) r=0.80m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(+0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 4.30s step= 215 trunk_z= 119.0mm grav_b=(-0.00,-0.06,-1.00) r=0.84m +[headless_play] t= 4.40s step= 220 trunk_z= 118.5mm grav_b=(+0.01,-0.04,-1.00) r=0.85m +[headless_play] t= 4.50s step= 225 trunk_z= 113.2mm grav_b=(+0.05,+0.03,-1.00) r=0.88m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(+0.12,-0.02,-0.99) r=0.91m +[headless_play] t= 4.70s step= 235 trunk_z= 115.8mm grav_b=(+0.10,-0.07,-0.99) r=0.93m +[headless_play] t= 4.80s step= 240 trunk_z= 120.6mm grav_b=(+0.05,-0.06,-1.00) r=0.95m +[headless_play] t= 4.90s step= 245 trunk_z= 114.9mm grav_b=(+0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 5.00s step= 250 trunk_z= 121.0mm grav_b=(+0.01,+0.05,-1.00) r=1.00m +[headless_play] t= 5.10s step= 255 trunk_z= 117.5mm grav_b=(+0.05,+0.02,-1.00) r=1.01m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(+0.04,-0.05,-1.00) r=1.03m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(+0.05,-0.05,-1.00) r=1.05m +[headless_play] t= 5.40s step= 270 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) r=1.07m +[headless_play] t= 5.50s step= 275 trunk_z= 119.9mm grav_b=(+0.03,+0.05,-1.00) r=1.09m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.08,+0.03,-1.00) r=1.10m +[headless_play] t= 5.70s step= 285 trunk_z= 114.5mm grav_b=(+0.08,-0.05,-1.00) r=1.12m +[headless_play] t= 5.80s step= 290 trunk_z= 118.4mm grav_b=(+0.08,-0.04,-1.00) r=1.14m +[headless_play] t= 5.90s step= 295 trunk_z= 112.7mm grav_b=(+0.02,+0.02,-1.00) r=1.17m +[headless_play] t= 6.00s step= 300 trunk_z= 120.2mm grav_b=(+0.00,+0.04,-1.00) r=1.19m +[headless_play] t= 6.10s step= 305 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=1.20m +[headless_play] t= 6.20s step= 310 trunk_z= 115.5mm grav_b=(+0.02,-0.05,-1.00) r=1.21m +[headless_play] t= 6.30s step= 315 trunk_z= 117.1mm grav_b=(+0.04,-0.02,-1.00) r=1.22m +[headless_play] t= 6.40s step= 320 trunk_z= 114.7mm grav_b=(+0.04,-0.04,-1.00) r=1.24m +[headless_play] t= 6.50s step= 325 trunk_z= 117.8mm grav_b=(+0.03,+0.01,-1.00) r=1.26m +[headless_play] t= 6.60s step= 330 trunk_z= 115.4mm grav_b=(+0.08,-0.04,-1.00) r=1.28m +[headless_play] t= 6.70s step= 335 trunk_z= 115.1mm grav_b=(+0.07,-0.08,-0.99) r=1.29m +[headless_play] t= 6.80s step= 340 trunk_z= 114.4mm grav_b=(+0.06,-0.02,-1.00) r=1.31m +[headless_play] t= 6.90s step= 345 trunk_z= 112.0mm grav_b=(+0.03,+0.06,-1.00) r=1.34m +[headless_play] t= 7.00s step= 350 trunk_z= 118.3mm grav_b=(+0.06,+0.03,-1.00) r=1.36m +[headless_play] t= 7.10s step= 355 trunk_z= 115.0mm grav_b=(+0.07,+0.02,-1.00) r=1.36m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.03,-0.02,-1.00) r=1.37m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=1.38m +[headless_play] t= 7.40s step= 370 trunk_z= 113.3mm grav_b=(+0.02,+0.08,-1.00) r=1.40m +[headless_play] t= 7.50s step= 375 trunk_z= 113.8mm grav_b=(+0.07,+0.04,-1.00) r=1.40m +[headless_play] t= 7.60s step= 380 trunk_z= 109.0mm grav_b=(+0.10,-0.02,-0.99) r=1.40m +[headless_play] t= 7.70s step= 385 trunk_z= 116.4mm grav_b=(+0.08,-0.04,-1.00) r=1.40m +[headless_play] t= 7.80s step= 390 trunk_z= 115.3mm grav_b=(-0.00,+0.01,-1.00) r=1.41m +[headless_play] t= 7.90s step= 395 trunk_z= 114.3mm grav_b=(-0.12,+0.09,-0.99) r=1.43m +[headless_play] t= 8.00s step= 400 trunk_z= 118.4mm grav_b=(-0.09,+0.06,-0.99) r=1.42m +[headless_play] t= 8.10s step= 405 trunk_z= 112.5mm grav_b=(-0.07,-0.04,-1.00) r=1.41m +[headless_play] t= 8.20s step= 410 trunk_z= 117.7mm grav_b=(+0.04,-0.00,-1.00) r=1.41m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(-0.01,+0.10,-0.99) r=1.42m +[headless_play] t= 8.40s step= 420 trunk_z= 124.2mm grav_b=(+0.02,+0.08,-1.00) r=1.44m +[headless_play] t= 8.50s step= 425 trunk_z= 122.9mm grav_b=(+0.04,+0.05,-1.00) r=1.44m +[headless_play] t= 8.60s step= 430 trunk_z= 118.7mm grav_b=(+0.02,-0.03,-1.00) r=1.45m +[headless_play] t= 8.70s step= 435 trunk_z= 123.9mm grav_b=(+0.03,-0.04,-1.00) r=1.46m +[headless_play] t= 8.80s step= 440 trunk_z= 118.0mm grav_b=(+0.00,+0.02,-1.00) r=1.48m +[headless_play] t= 8.90s step= 445 trunk_z= 120.9mm grav_b=(-0.01,+0.05,-1.00) r=1.51m +[headless_play] t= 9.00s step= 450 trunk_z= 123.9mm grav_b=(+0.01,+0.04,-1.00) r=1.51m +[headless_play] t= 9.10s step= 455 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=1.51m +[headless_play] t= 9.20s step= 460 trunk_z= 121.7mm grav_b=(-0.01,-0.05,-1.00) r=1.52m +[headless_play] t= 9.30s step= 465 trunk_z= 122.0mm grav_b=(+0.00,-0.02,-1.00) r=1.53m +[headless_play] t= 9.40s step= 470 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) r=1.55m +[headless_play] t= 9.50s step= 475 trunk_z= 124.1mm grav_b=(-0.01,+0.06,-1.00) r=1.57m +[headless_play] t= 9.60s step= 480 trunk_z= 123.0mm grav_b=(+0.03,+0.01,-1.00) r=1.58m +[headless_play] t= 9.70s step= 485 trunk_z= 120.6mm grav_b=(+0.04,-0.07,-1.00) r=1.59m +[headless_play] t= 9.80s step= 490 trunk_z= 130.6mm grav_b=(+0.02,-0.10,-0.99) r=1.61m +[headless_play] t= 9.90s step= 495 trunk_z= 133.2mm grav_b=(+0.03,-0.09,-1.00) r=1.63m +[headless_play] t= 10.00s step= 500 trunk_z= 119.9mm grav_b=(-0.04,-0.06,-1.00) r=1.67m +[headless_play] t= 10.10s step= 505 trunk_z= 126.6mm grav_b=(+0.05,+0.00,-1.00) r=1.69m +[headless_play] t= 10.20s step= 510 trunk_z= 126.9mm grav_b=(-0.04,-0.02,-1.00) r=1.70m +[headless_play] t= 10.30s step= 515 trunk_z= 117.0mm grav_b=(+0.02,-0.07,-1.00) r=1.69m +[headless_play] t= 10.40s step= 520 trunk_z= 121.9mm grav_b=(+0.01,-0.02,-1.00) r=1.70m +[headless_play] t= 10.50s step= 525 trunk_z= 115.8mm grav_b=(+0.02,+0.04,-1.00) r=1.73m +[headless_play] t= 10.60s step= 530 trunk_z= 125.0mm grav_b=(+0.04,+0.04,-1.00) r=1.75m +[headless_play] t= 10.70s step= 535 trunk_z= 122.8mm grav_b=(+0.03,+0.01,-1.00) r=1.75m +[headless_play] t= 10.80s step= 540 trunk_z= 121.4mm grav_b=(+0.03,-0.00,-1.00) r=1.75m +[headless_play] t= 10.90s step= 545 trunk_z= 124.3mm grav_b=(+0.02,-0.00,-1.00) r=1.77m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(+0.00,+0.03,-1.00) r=1.80m +[headless_play] t= 11.10s step= 555 trunk_z= 123.3mm grav_b=(+0.02,+0.04,-1.00) r=1.82m +[headless_play] t= 11.20s step= 560 trunk_z= 121.4mm grav_b=(+0.01,+0.01,-1.00) r=1.82m +[headless_play] t= 11.30s step= 565 trunk_z= 120.8mm grav_b=(-0.02,-0.04,-1.00) r=1.81m +[headless_play] t= 11.40s step= 570 trunk_z= 125.4mm grav_b=(-0.01,-0.07,-1.00) r=1.82m +[headless_play] t= 11.50s step= 575 trunk_z= 123.7mm grav_b=(+0.00,-0.05,-1.00) r=1.84m +[headless_play] t= 11.60s step= 580 trunk_z= 121.1mm grav_b=(-0.01,+0.03,-1.00) r=1.86m +[headless_play] t= 11.70s step= 585 trunk_z= 125.1mm grav_b=(+0.00,+0.03,-1.00) r=1.87m +[headless_play] t= 11.80s step= 590 trunk_z= 118.6mm grav_b=(-0.02,+0.00,-1.00) r=1.87m +[headless_play] t= 11.90s step= 595 trunk_z= 121.9mm grav_b=(-0.03,-0.04,-1.00) r=1.87m +[headless_play] t= 12.00s step= 600 trunk_z= 122.1mm grav_b=(-0.02,-0.01,-1.00) r=1.88m +[headless_play] t= 12.10s step= 605 trunk_z= 117.5mm grav_b=(-0.02,+0.04,-1.00) r=1.91m +[headless_play] t= 12.20s step= 610 trunk_z= 124.7mm grav_b=(+0.00,+0.04,-1.00) r=1.92m +[headless_play] t= 12.30s step= 615 trunk_z= 117.1mm grav_b=(+0.03,-0.07,-1.00) r=1.92m +[headless_play] t= 12.40s step= 620 trunk_z= 130.1mm grav_b=(+0.06,-0.10,-0.99) r=1.94m +[headless_play] t= 12.50s step= 625 trunk_z= 130.9mm grav_b=(+0.05,-0.15,-0.99) r=1.96m +[headless_play] t= 12.60s step= 630 trunk_z= 121.6mm grav_b=(+0.03,-0.19,-0.98) r=1.99m +[headless_play] t= 12.70s step= 635 trunk_z= 118.9mm grav_b=(+0.15,-0.15,-0.98) r=2.02m +[headless_play] t= 12.80s step= 640 trunk_z= 125.8mm grav_b=(+0.05,-0.06,-1.00) r=2.02m +[headless_play] t= 12.90s step= 645 trunk_z= 113.0mm grav_b=(-0.06,-0.10,-0.99) r=2.01m +[headless_play] t= 13.00s step= 650 trunk_z= 119.9mm grav_b=(-0.06,-0.07,-1.00) r=2.03m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.03,+0.00,-1.00) r=2.06m +[headless_play] t= 13.20s step= 660 trunk_z= 124.4mm grav_b=(-0.01,+0.08,-1.00) r=2.08m +[headless_play] t= 13.30s step= 665 trunk_z= 126.4mm grav_b=(+0.03,+0.05,-1.00) r=2.09m +[headless_play] t= 13.40s step= 670 trunk_z= 118.5mm grav_b=(-0.01,-0.01,-1.00) r=2.08m +[headless_play] t= 13.50s step= 675 trunk_z= 123.6mm grav_b=(+0.00,-0.04,-1.00) r=2.08m +[headless_play] t= 13.60s step= 680 trunk_z= 123.4mm grav_b=(-0.00,-0.03,-1.00) r=2.10m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(-0.03,+0.03,-1.00) r=2.13m +[headless_play] t= 13.80s step= 690 trunk_z= 130.8mm grav_b=(+0.09,+0.17,-0.98) r=2.18m +[headless_play] t= 13.90s step= 695 trunk_z= 137.6mm grav_b=(+0.12,+0.27,-0.96) r=2.22m +[headless_play] t= 14.00s step= 700 trunk_z= 106.8mm grav_b=(+0.14,+0.23,-0.96) r=2.27m +[headless_play] t= 14.10s step= 705 trunk_z= 124.6mm grav_b=(+0.12,+0.21,-0.97) r=2.34m +[headless_play] t= 14.20s step= 710 trunk_z= 113.4mm grav_b=(-0.04,+0.06,-1.00) r=2.40m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(+0.07,+0.02,-1.00) r=2.43m +[headless_play] t= 14.40s step= 720 trunk_z= 117.5mm grav_b=(+0.05,-0.02,-1.00) r=2.46m +[headless_play] t= 14.50s step= 725 trunk_z= 125.2mm grav_b=(+0.02,-0.03,-1.00) r=2.49m +[headless_play] t= 14.60s step= 730 trunk_z= 125.9mm grav_b=(+0.04,-0.01,-1.00) r=2.50m +[headless_play] t= 14.70s step= 735 trunk_z= 118.0mm grav_b=(+0.04,+0.04,-1.00) r=2.51m +[headless_play] t= 14.80s step= 740 trunk_z= 124.6mm grav_b=(+0.04,+0.01,-1.00) r=2.52m +[headless_play] t= 14.90s step= 745 trunk_z= 119.0mm grav_b=(+0.00,-0.03,-1.00) r=2.55m +[headless_play] t= 15.00s step= 750 trunk_z= 124.7mm grav_b=(+0.01,-0.07,-1.00) r=2.58m +[headless_play] t= 15.10s step= 755 trunk_z= 124.7mm grav_b=(+0.00,-0.08,-1.00) r=2.59m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(-0.04,-0.02,-1.00) r=2.60m +[headless_play] t= 15.30s step= 765 trunk_z= 122.8mm grav_b=(+0.01,+0.03,-1.00) r=2.60m +[headless_play] t= 15.40s step= 770 trunk_z= 120.2mm grav_b=(+0.03,+0.00,-1.00) r=2.61m +[headless_play] t= 15.50s step= 775 trunk_z= 118.0mm grav_b=(+0.05,-0.05,-1.00) r=2.62m +[headless_play] t= 15.60s step= 780 trunk_z= 125.1mm grav_b=(+0.05,-0.03,-1.00) r=2.64m +[headless_play] t= 15.70s step= 785 trunk_z= 119.2mm grav_b=(+0.04,+0.02,-1.00) r=2.67m +[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(+0.07,-0.02,-1.00) r=2.69m +[headless_play] t= 15.90s step= 795 trunk_z= 114.5mm grav_b=(+0.06,-0.08,-0.99) r=2.71m +[headless_play] t= 16.00s step= 800 trunk_z= 122.5mm grav_b=(+0.04,-0.07,-1.00) r=2.73m +[headless_play] t= 16.10s step= 805 trunk_z= 118.8mm grav_b=(+0.01,+0.00,-1.00) r=2.76m +[headless_play] t= 16.20s step= 810 trunk_z= 115.9mm grav_b=(+0.04,+0.12,-0.99) r=2.79m +[headless_play] t= 16.30s step= 815 trunk_z= 125.6mm grav_b=(+0.03,+0.12,-0.99) r=2.80m +[headless_play] t= 16.40s step= 820 trunk_z= 124.1mm grav_b=(+0.04,+0.06,-1.00) r=2.81m +[headless_play] t= 16.50s step= 825 trunk_z= 119.5mm grav_b=(+0.04,-0.01,-1.00) r=2.82m +[headless_play] t= 16.60s step= 830 trunk_z= 124.5mm grav_b=(+0.00,-0.01,-1.00) r=2.84m +[headless_play] t= 16.70s step= 835 trunk_z= 113.4mm grav_b=(-0.04,-0.00,-1.00) r=2.88m +[headless_play] t= 16.80s step= 840 trunk_z= 122.4mm grav_b=(+0.06,+0.08,-1.00) r=2.91m +[headless_play] t= 16.90s step= 845 trunk_z= 124.5mm grav_b=(+0.07,+0.11,-0.99) r=2.93m +[headless_play] t= 17.00s step= 850 trunk_z= 130.3mm grav_b=(+0.09,+0.03,-1.00) r=2.95m +[headless_play] t= 17.10s step= 855 trunk_z= 121.0mm grav_b=(+0.07,-0.02,-1.00) r=2.98m +[headless_play] t= 17.20s step= 860 trunk_z= 128.5mm grav_b=(+0.05,-0.06,-1.00) r=3.00m +[headless_play] t= 17.30s step= 865 trunk_z= 112.1mm grav_b=(-0.02,-0.04,-1.00) r=3.04m +[headless_play] t= 17.40s step= 870 trunk_z= 120.4mm grav_b=(-0.01,+0.04,-1.00) r=3.06m +[headless_play] t= 17.50s step= 875 trunk_z= 119.9mm grav_b=(-0.01,+0.03,-1.00) r=3.05m +[headless_play] t= 17.60s step= 880 trunk_z= 114.7mm grav_b=(+0.03,-0.05,-1.00) r=3.04m +[headless_play] t= 17.70s step= 885 trunk_z= 117.7mm grav_b=(+0.10,-0.04,-0.99) r=3.04m +[headless_play] t= 17.80s step= 890 trunk_z= 114.8mm grav_b=(+0.07,-0.01,-1.00) r=3.05m +[headless_play] t= 17.90s step= 895 trunk_z= 118.1mm grav_b=(+0.12,+0.07,-0.99) r=3.07m +[headless_play] t= 18.00s step= 900 trunk_z= 128.5mm grav_b=(+0.09,+0.05,-0.99) r=3.07m +[headless_play] t= 18.10s step= 905 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=3.07m +[headless_play] t= 18.20s step= 910 trunk_z= 122.4mm grav_b=(+0.01,-0.03,-1.00) r=3.07m +[headless_play] t= 18.30s step= 915 trunk_z= 115.7mm grav_b=(-0.02,-0.04,-1.00) r=3.09m +[headless_play] t= 18.40s step= 920 trunk_z= 114.4mm grav_b=(-0.03,-0.00,-1.00) r=3.11m +[headless_play] t= 18.50s step= 925 trunk_z= 116.6mm grav_b=(-0.00,-0.03,-1.00) r=3.10m +[headless_play] t= 18.60s step= 930 trunk_z= 114.6mm grav_b=(+0.07,-0.01,-1.00) r=3.11m +[headless_play] t= 18.70s step= 935 trunk_z= 120.4mm grav_b=(+0.08,-0.02,-1.00) r=3.11m +[headless_play] t= 18.80s step= 940 trunk_z= 109.5mm grav_b=(+0.00,+0.05,-1.00) r=3.13m +[headless_play] t= 18.90s step= 945 trunk_z= 118.9mm grav_b=(+0.07,+0.01,-1.00) r=3.13m +[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.03,-0.04,-1.00) r=3.12m +[headless_play] t= 19.10s step= 955 trunk_z= 122.7mm grav_b=(-0.03,-0.06,-1.00) r=3.12m +[headless_play] t= 19.20s step= 960 trunk_z= 119.1mm grav_b=(-0.05,-0.04,-1.00) r=3.13m +[headless_play] t= 19.30s step= 965 trunk_z= 113.7mm grav_b=(-0.04,+0.06,-1.00) r=3.17m +[headless_play] t= 19.40s step= 970 trunk_z= 124.1mm grav_b=(-0.01,+0.08,-1.00) r=3.19m +[headless_play] t= 19.50s step= 975 trunk_z= 123.3mm grav_b=(+0.03,+0.05,-1.00) r=3.20m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(+0.06,-0.04,-1.00) r=3.20m +[headless_play] t= 19.70s step= 985 trunk_z= 130.3mm grav_b=(+0.03,-0.05,-1.00) r=3.21m +[headless_play] t= 19.80s step= 990 trunk_z= 125.8mm grav_b=(-0.02,-0.04,-1.00) r=3.23m +[headless_play] t= 19.90s step= 995 trunk_z= 119.9mm grav_b=(-0.02,+0.01,-1.00) r=3.26m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(-0.07,+0.02,-1.00) r=0.11m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t2.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..7eb3f9d8fd64955d655e78729c1b9306332512e9 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.618,-18.251,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 114.7mm grav_b=(+0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 113.2mm grav_b=(-0.02,+0.04,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 118.7mm grav_b=(-0.02,+0.08,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 119.6mm grav_b=(+0.00,+0.05,-1.00) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 114.4mm grav_b=(+0.00,-0.03,-1.00) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 121.9mm grav_b=(-0.02,-0.07,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 118.8mm grav_b=(-0.01,-0.05,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 122.5mm grav_b=(-0.00,+0.13,-0.99) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 127.6mm grav_b=(-0.02,+0.16,-0.99) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 129.4mm grav_b=(+0.03,+0.13,-0.99) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 128.2mm grav_b=(-0.03,+0.02,-1.00) r=0.26m +[headless_play] t= 1.30s step= 65 trunk_z= 126.6mm grav_b=(-0.00,-0.01,-1.00) r=0.25m +[headless_play] t= 1.40s step= 70 trunk_z= 121.9mm grav_b=(-0.03,-0.07,-1.00) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 121.5mm grav_b=(-0.04,+0.05,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(-0.02,+0.02,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(-0.03,-0.00,-1.00) r=0.26m +[headless_play] t= 1.80s step= 90 trunk_z= 120.8mm grav_b=(-0.06,-0.05,-1.00) r=0.25m +[headless_play] t= 1.90s step= 95 trunk_z= 117.7mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 119.0mm grav_b=(-0.03,+0.06,-1.00) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 121.4mm grav_b=(-0.00,+0.04,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(-0.02,+0.03,-1.00) r=0.29m +[headless_play] t= 2.30s step= 115 trunk_z= 121.2mm grav_b=(-0.04,-0.06,-1.00) r=0.29m +[headless_play] t= 2.40s step= 120 trunk_z= 119.8mm grav_b=(-0.02,-0.03,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 116.0mm grav_b=(-0.04,+0.07,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 128.0mm grav_b=(-0.09,+0.15,-0.98) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 129.4mm grav_b=(-0.02,+0.16,-0.99) r=0.37m +[headless_play] t= 2.80s step= 140 trunk_z= 127.2mm grav_b=(+0.03,+0.15,-0.99) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 131.7mm grav_b=(+0.01,+0.15,-0.99) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 135.5mm grav_b=(+0.06,+0.11,-0.99) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 122.2mm grav_b=(+0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 126.1mm grav_b=(-0.03,-0.04,-1.00) r=0.48m +[headless_play] t= 3.30s step= 165 trunk_z= 121.3mm grav_b=(-0.04,-0.05,-1.00) r=0.48m +[headless_play] t= 3.40s step= 170 trunk_z= 118.3mm grav_b=(+0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 3.50s step= 175 trunk_z= 120.5mm grav_b=(+0.03,-0.05,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 124.2mm grav_b=(-0.05,-0.09,-0.99) r=0.57m +[headless_play] t= 3.70s step= 185 trunk_z= 122.9mm grav_b=(-0.02,-0.06,-1.00) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(-0.06,+0.03,-1.00) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 123.6mm grav_b=(-0.01,+0.07,-1.00) r=0.65m +[headless_play] t= 4.00s step= 200 trunk_z= 118.4mm grav_b=(+0.01,+0.02,-1.00) r=0.68m +[headless_play] t= 4.10s step= 205 trunk_z= 120.3mm grav_b=(-0.08,-0.05,-1.00) r=0.72m +[headless_play] t= 4.20s step= 210 trunk_z= 120.1mm grav_b=(-0.03,-0.05,-1.00) r=0.74m +[headless_play] t= 4.30s step= 215 trunk_z= 115.1mm grav_b=(-0.05,+0.02,-1.00) r=0.75m +[headless_play] t= 4.40s step= 220 trunk_z= 123.6mm grav_b=(-0.07,+0.09,-0.99) r=0.77m +[headless_play] t= 4.50s step= 225 trunk_z= 122.8mm grav_b=(-0.05,+0.05,-1.00) r=0.78m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(-0.06,-0.00,-1.00) r=0.80m +[headless_play] t= 4.70s step= 235 trunk_z= 120.0mm grav_b=(-0.01,-0.03,-1.00) r=0.83m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.04,+0.07,-1.00) r=0.86m +[headless_play] t= 4.90s step= 245 trunk_z= 127.2mm grav_b=(-0.04,+0.10,-0.99) r=0.89m +[headless_play] t= 5.00s step= 250 trunk_z= 122.4mm grav_b=(-0.01,+0.06,-1.00) r=0.92m +[headless_play] t= 5.10s step= 255 trunk_z= 115.9mm grav_b=(-0.10,-0.03,-0.99) r=0.96m +[headless_play] t= 5.20s step= 260 trunk_z= 122.6mm grav_b=(-0.13,-0.05,-0.99) r=0.98m +[headless_play] t= 5.30s step= 265 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.98m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(-0.04,+0.08,-1.00) r=0.97m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(-0.03,+0.07,-1.00) r=0.98m +[headless_play] t= 5.60s step= 280 trunk_z= 112.9mm grav_b=(-0.03,-0.03,-1.00) r=0.98m +[headless_play] t= 5.70s step= 285 trunk_z= 122.0mm grav_b=(-0.02,-0.08,-1.00) r=0.99m +[headless_play] t= 5.80s step= 290 trunk_z= 118.9mm grav_b=(-0.01,-0.06,-1.00) r=1.01m +[headless_play] t= 5.90s step= 295 trunk_z= 116.9mm grav_b=(-0.02,+0.06,-1.00) r=1.03m +[headless_play] t= 6.00s step= 300 trunk_z= 123.6mm grav_b=(-0.03,+0.10,-1.00) r=1.05m +[headless_play] t= 6.10s step= 305 trunk_z= 119.6mm grav_b=(-0.01,+0.09,-1.00) r=1.07m +[headless_play] t= 6.20s step= 310 trunk_z= 119.2mm grav_b=(-0.04,-0.05,-1.00) r=1.09m +[headless_play] t= 6.30s step= 315 trunk_z= 123.4mm grav_b=(-0.04,-0.09,-1.00) r=1.10m +[headless_play] t= 6.40s step= 320 trunk_z= 121.1mm grav_b=(-0.04,-0.10,-0.99) r=1.11m +[headless_play] t= 6.50s step= 325 trunk_z= 115.8mm grav_b=(-0.03,+0.02,-1.00) r=1.13m +[headless_play] t= 6.60s step= 330 trunk_z= 123.7mm grav_b=(-0.03,+0.08,-1.00) r=1.14m +[headless_play] t= 6.70s step= 335 trunk_z= 122.9mm grav_b=(-0.05,+0.05,-1.00) r=1.15m +[headless_play] t= 6.80s step= 340 trunk_z= 115.5mm grav_b=(-0.04,-0.03,-1.00) r=1.17m +[headless_play] t= 6.90s step= 345 trunk_z= 127.1mm grav_b=(+0.03,-0.06,-1.00) r=1.19m +[headless_play] t= 7.00s step= 350 trunk_z= 128.3mm grav_b=(+0.04,-0.04,-1.00) r=1.23m +[headless_play] t= 7.10s step= 355 trunk_z= 111.8mm grav_b=(-0.07,-0.00,-1.00) r=1.27m +[headless_play] t= 7.20s step= 360 trunk_z= 124.0mm grav_b=(-0.08,+0.08,-0.99) r=1.28m +[headless_play] t= 7.30s step= 365 trunk_z= 121.1mm grav_b=(-0.09,+0.03,-1.00) r=1.29m +[headless_play] t= 7.40s step= 370 trunk_z= 118.6mm grav_b=(-0.02,+0.00,-1.00) r=1.30m +[headless_play] t= 7.50s step= 375 trunk_z= 122.8mm grav_b=(-0.01,+0.02,-1.00) r=1.31m +[headless_play] t= 7.60s step= 380 trunk_z= 116.4mm grav_b=(-0.05,+0.06,-1.00) r=1.34m +[headless_play] t= 7.70s step= 385 trunk_z= 121.2mm grav_b=(-0.08,+0.02,-1.00) r=1.35m +[headless_play] t= 7.80s step= 390 trunk_z= 117.9mm grav_b=(-0.06,-0.07,-1.00) r=1.37m +[headless_play] t= 7.90s step= 395 trunk_z= 125.1mm grav_b=(-0.07,-0.07,-0.99) r=1.39m +[headless_play] t= 8.00s step= 400 trunk_z= 125.3mm grav_b=(-0.03,-0.04,-1.00) r=1.41m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(-0.07,+0.05,-1.00) r=1.44m +[headless_play] t= 8.20s step= 410 trunk_z= 124.7mm grav_b=(-0.07,+0.06,-1.00) r=1.46m +[headless_play] t= 8.30s step= 415 trunk_z= 120.5mm grav_b=(-0.07,+0.05,-1.00) r=1.47m +[headless_play] t= 8.40s step= 420 trunk_z= 120.0mm grav_b=(-0.10,-0.06,-0.99) r=1.46m +[headless_play] t= 8.50s step= 425 trunk_z= 125.0mm grav_b=(-0.07,-0.12,-0.99) r=1.47m +[headless_play] t= 8.60s step= 430 trunk_z= 125.4mm grav_b=(-0.04,-0.11,-0.99) r=1.49m +[headless_play] t= 8.70s step= 435 trunk_z= 123.7mm grav_b=(-0.06,-0.05,-1.00) r=1.52m +[headless_play] t= 8.80s step= 440 trunk_z= 123.1mm grav_b=(-0.05,+0.07,-1.00) r=1.55m +[headless_play] t= 8.90s step= 445 trunk_z= 127.7mm grav_b=(-0.02,+0.10,-1.00) r=1.57m +[headless_play] t= 9.00s step= 450 trunk_z= 129.8mm grav_b=(-0.04,+0.10,-0.99) r=1.60m +[headless_play] t= 9.10s step= 455 trunk_z= 120.3mm grav_b=(-0.04,+0.03,-1.00) r=1.62m +[headless_play] t= 9.20s step= 460 trunk_z= 126.9mm grav_b=(-0.04,+0.00,-1.00) r=1.64m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.06,+0.01,-1.00) r=1.66m +[headless_play] t= 9.40s step= 470 trunk_z= 120.8mm grav_b=(-0.05,+0.02,-1.00) r=1.68m +[headless_play] t= 9.50s step= 475 trunk_z= 118.8mm grav_b=(-0.05,+0.01,-1.00) r=1.68m +[headless_play] t= 9.60s step= 480 trunk_z= 117.3mm grav_b=(-0.08,-0.03,-1.00) r=1.69m +[headless_play] t= 9.70s step= 485 trunk_z= 120.6mm grav_b=(-0.08,-0.01,-1.00) r=1.70m +[headless_play] t= 9.80s step= 490 trunk_z= 114.1mm grav_b=(-0.09,+0.02,-1.00) r=1.73m +[headless_play] t= 9.90s step= 495 trunk_z= 128.8mm grav_b=(-0.01,+0.12,-0.99) r=1.76m +[headless_play] t= 10.00s step= 500 trunk_z= 134.6mm grav_b=(+0.01,+0.07,-1.00) r=1.80m +[headless_play] t= 10.10s step= 505 trunk_z= 120.9mm grav_b=(+0.01,+0.00,-1.00) r=1.86m +[headless_play] t= 10.20s step= 510 trunk_z= 138.0mm grav_b=(-0.03,-0.03,-1.00) r=1.90m +[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(-0.05,-0.05,-1.00) r=1.94m +[headless_play] t= 10.40s step= 520 trunk_z= 97.3mm grav_b=(+0.16,+0.09,-0.98) r=1.96m +[headless_play] t= 10.50s step= 525 trunk_z= 20.8mm grav_b=(-0.30,+0.91,-0.29) r=1.96m +[headless_play] RESET at t= 10.52s step= 526 (env termination, not a recovery) +[headless_play] t= 10.60s step= 530 trunk_z= 113.5mm grav_b=(+0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(+0.06,-0.04,-1.00) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 10.90s step= 545 trunk_z= 122.7mm grav_b=(-0.06,+0.07,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 121.6mm grav_b=(-0.06,+0.04,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 11.30s step= 565 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 11.40s step= 570 trunk_z= 120.1mm grav_b=(+0.04,+0.06,-1.00) r=0.57m +[headless_play] t= 11.50s step= 575 trunk_z= 123.9mm grav_b=(+0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 11.60s step= 580 trunk_z= 121.8mm grav_b=(-0.04,-0.08,-1.00) r=0.60m +[headless_play] t= 11.70s step= 585 trunk_z= 122.7mm grav_b=(-0.04,-0.06,-1.00) r=0.61m +[headless_play] t= 11.80s step= 590 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 11.90s step= 595 trunk_z= 120.4mm grav_b=(-0.05,-0.02,-1.00) r=0.61m +[headless_play] t= 12.00s step= 600 trunk_z= 116.5mm grav_b=(-0.04,-0.09,-1.00) r=0.63m +[headless_play] t= 12.10s step= 605 trunk_z= 120.5mm grav_b=(-0.02,-0.08,-1.00) r=0.65m +[headless_play] t= 12.20s step= 610 trunk_z= 118.0mm grav_b=(-0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 12.30s step= 615 trunk_z= 118.5mm grav_b=(-0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 12.40s step= 620 trunk_z= 119.7mm grav_b=(+0.01,+0.05,-1.00) r=0.64m +[headless_play] t= 12.50s step= 625 trunk_z= 113.2mm grav_b=(-0.02,-0.08,-1.00) r=0.67m +[headless_play] t= 12.60s step= 630 trunk_z= 124.0mm grav_b=(-0.01,-0.12,-0.99) r=0.70m +[headless_play] t= 12.70s step= 635 trunk_z= 125.0mm grav_b=(-0.00,-0.13,-0.99) r=0.71m +[headless_play] t= 12.80s step= 640 trunk_z= 124.1mm grav_b=(+0.02,-0.11,-0.99) r=0.72m +[headless_play] t= 12.90s step= 645 trunk_z= 122.9mm grav_b=(-0.00,-0.07,-1.00) r=0.71m +[headless_play] t= 13.00s step= 650 trunk_z= 120.7mm grav_b=(-0.02,+0.04,-1.00) r=0.70m +[headless_play] t= 13.10s step= 655 trunk_z= 121.6mm grav_b=(+0.00,+0.04,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.07,+0.02,-1.00) r=0.71m +[headless_play] t= 13.30s step= 665 trunk_z= 119.1mm grav_b=(-0.05,-0.02,-1.00) r=0.73m +[headless_play] t= 13.40s step= 670 trunk_z= 119.2mm grav_b=(-0.03,-0.03,-1.00) r=0.73m +[headless_play] t= 13.50s step= 675 trunk_z= 114.3mm grav_b=(-0.01,-0.02,-1.00) r=0.74m +[headless_play] t= 13.60s step= 680 trunk_z= 117.4mm grav_b=(+0.01,+0.06,-1.00) r=0.74m +[headless_play] t= 13.70s step= 685 trunk_z= 117.8mm grav_b=(+0.02,+0.04,-1.00) r=0.75m +[headless_play] t= 13.80s step= 690 trunk_z= 111.5mm grav_b=(+0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 13.90s step= 695 trunk_z= 119.3mm grav_b=(-0.02,-0.04,-1.00) r=0.80m +[headless_play] t= 14.00s step= 700 trunk_z= 121.8mm grav_b=(-0.06,-0.08,-0.99) r=0.80m +[headless_play] t= 14.10s step= 705 trunk_z= 117.6mm grav_b=(+0.02,-0.04,-1.00) r=0.80m +[headless_play] t= 14.20s step= 710 trunk_z= 113.0mm grav_b=(+0.11,+0.04,-0.99) r=0.79m +[headless_play] t= 14.30s step= 715 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.79m +[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.78m +[headless_play] t= 14.50s step= 725 trunk_z= 118.0mm grav_b=(+0.03,-0.02,-1.00) r=0.78m +[headless_play] t= 14.60s step= 730 trunk_z= 116.9mm grav_b=(-0.08,-0.06,-0.99) r=0.77m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(-0.07,-0.00,-1.00) r=0.76m +[headless_play] t= 14.80s step= 740 trunk_z= 114.2mm grav_b=(+0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 14.90s step= 745 trunk_z= 109.8mm grav_b=(+0.05,-0.02,-1.00) r=0.76m +[headless_play] t= 15.00s step= 750 trunk_z= 114.5mm grav_b=(-0.02,+0.03,-1.00) r=0.74m +[headless_play] t= 15.10s step= 755 trunk_z= 113.9mm grav_b=(+0.02,-0.01,-1.00) r=0.75m +[headless_play] t= 15.20s step= 760 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 15.30s step= 765 trunk_z= 115.5mm grav_b=(-0.04,+0.02,-1.00) r=0.74m +[headless_play] t= 15.40s step= 770 trunk_z= 115.8mm grav_b=(-0.04,-0.01,-1.00) r=0.74m +[headless_play] t= 15.50s step= 775 trunk_z= 115.3mm grav_b=(-0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 15.70s step= 785 trunk_z= 116.8mm grav_b=(+0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 15.80s step= 790 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 15.90s step= 795 trunk_z= 115.6mm grav_b=(-0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 16.00s step= 800 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 16.10s step= 805 trunk_z= 115.7mm grav_b=(+0.02,-0.00,-1.00) r=0.74m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.74m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(-0.08,-0.01,-1.00) r=0.73m +[headless_play] t= 16.40s step= 820 trunk_z= 115.5mm grav_b=(-0.10,-0.02,-1.00) r=0.72m +[headless_play] t= 16.50s step= 825 trunk_z= 106.5mm grav_b=(-0.01,-0.07,-1.00) r=0.72m +[headless_play] t= 16.60s step= 830 trunk_z= 110.5mm grav_b=(+0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 16.70s step= 835 trunk_z= 111.6mm grav_b=(+0.04,+0.02,-1.00) r=0.70m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.70m +[headless_play] t= 16.90s step= 845 trunk_z= 115.2mm grav_b=(+0.01,-0.02,-1.00) r=0.70m +[headless_play] t= 17.00s step= 850 trunk_z= 115.2mm grav_b=(+0.02,+0.00,-1.00) r=0.70m +[headless_play] t= 17.10s step= 855 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.70m +[headless_play] t= 17.20s step= 860 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 17.30s step= 865 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 17.40s step= 870 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.70m +[headless_play] t= 17.50s step= 875 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.69m +[headless_play] t= 17.60s step= 880 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.69m +[headless_play] t= 17.70s step= 885 trunk_z= 116.0mm grav_b=(-0.04,-0.00,-1.00) r=0.69m +[headless_play] t= 17.80s step= 890 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.69m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.69m +[headless_play] t= 18.00s step= 900 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.69m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.69m +[headless_play] t= 18.20s step= 910 trunk_z= 120.2mm grav_b=(+0.01,-0.00,-1.00) r=0.70m +[headless_play] t= 18.30s step= 915 trunk_z= 115.4mm grav_b=(-0.09,+0.02,-1.00) r=0.70m +[headless_play] t= 18.40s step= 920 trunk_z= 115.4mm grav_b=(-0.06,+0.00,-1.00) r=0.69m +[headless_play] t= 18.50s step= 925 trunk_z= 112.6mm grav_b=(-0.08,-0.02,-1.00) r=0.70m +[headless_play] t= 18.60s step= 930 trunk_z= 115.7mm grav_b=(-0.10,+0.01,-0.99) r=0.70m +[headless_play] t= 18.70s step= 935 trunk_z= 116.9mm grav_b=(-0.05,+0.02,-1.00) r=0.71m +[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(-0.05,+0.01,-1.00) r=0.71m +[headless_play] t= 18.90s step= 945 trunk_z= 118.5mm grav_b=(-0.01,+0.03,-1.00) r=0.71m +[headless_play] t= 19.00s step= 950 trunk_z= 123.2mm grav_b=(+0.00,+0.03,-1.00) r=0.72m +[headless_play] t= 19.10s step= 955 trunk_z= 113.1mm grav_b=(-0.08,-0.03,-1.00) r=0.74m +[headless_play] t= 19.20s step= 960 trunk_z= 114.9mm grav_b=(-0.12,+0.01,-0.99) r=0.74m +[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(-0.11,+0.02,-0.99) r=0.74m +[headless_play] t= 19.40s step= 970 trunk_z= 117.1mm grav_b=(-0.07,+0.02,-1.00) r=0.75m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 19.60s step= 980 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 19.70s step= 985 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.75m +[headless_play] t= 19.80s step= 990 trunk_z= 117.9mm grav_b=(-0.03,+0.02,-1.00) r=0.75m +[headless_play] t= 19.90s step= 995 trunk_z= 118.3mm grav_b=(-0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 20.00s step=1000 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.75m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.06,+0.00,-1.00) r=0.75m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t3.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..0abe270abec796bcd99a1a01e4f91e57b3202de8 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.462,-17.621,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.3mm grav_b=(-0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.04,-0.01,-1.00) r=0.59m +[headless_play] t= 0.20s step= 10 trunk_z= 114.3mm grav_b=(-0.06,+0.06,-1.00) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(-0.06,+0.01,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(-0.07,-0.06,-1.00) r=0.61m +[headless_play] t= 0.50s step= 25 trunk_z= 119.4mm grav_b=(-0.08,-0.14,-0.99) r=0.63m +[headless_play] t= 0.60s step= 30 trunk_z= 118.2mm grav_b=(-0.01,-0.09,-1.00) r=0.63m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(-0.00,-0.00,-1.00) r=0.63m +[headless_play] t= 0.80s step= 40 trunk_z= 120.1mm grav_b=(-0.05,+0.04,-1.00) r=0.62m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(-0.07,-0.09,-0.99) r=0.66m +[headless_play] t= 1.10s step= 55 trunk_z= 121.0mm grav_b=(-0.09,-0.11,-0.99) r=0.67m +[headless_play] t= 1.20s step= 60 trunk_z= 117.9mm grav_b=(-0.01,-0.06,-1.00) r=0.67m +[headless_play] t= 1.30s step= 65 trunk_z= 114.0mm grav_b=(-0.03,+0.01,-1.00) r=0.67m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.67m +[headless_play] t= 1.50s step= 75 trunk_z= 110.8mm grav_b=(-0.02,-0.03,-1.00) r=0.69m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(-0.07,-0.10,-0.99) r=0.70m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(-0.07,-0.07,-1.00) r=0.70m +[headless_play] t= 1.80s step= 90 trunk_z= 112.8mm grav_b=(-0.05,-0.01,-1.00) r=0.69m +[headless_play] t= 1.90s step= 95 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.69m +[headless_play] t= 2.00s step= 100 trunk_z= 110.0mm grav_b=(-0.01,-0.03,-1.00) r=0.71m +[headless_play] t= 2.10s step= 105 trunk_z= 110.1mm grav_b=(+0.02,-0.07,-1.00) r=0.73m +[headless_play] t= 2.20s step= 110 trunk_z= 109.7mm grav_b=(-0.01,-0.07,-1.00) r=0.73m +[headless_play] t= 2.30s step= 115 trunk_z= 107.0mm grav_b=(-0.02,+0.01,-1.00) r=0.74m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) r=0.74m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(-0.06,-0.03,-1.00) r=0.75m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(-0.08,-0.11,-0.99) r=0.76m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.07,-0.12,-0.99) r=0.77m +[headless_play] t= 2.80s step= 140 trunk_z= 114.3mm grav_b=(-0.03,-0.08,-1.00) r=0.77m +[headless_play] t= 2.90s step= 145 trunk_z= 108.7mm grav_b=(-0.02,-0.01,-1.00) r=0.77m +[headless_play] t= 3.00s step= 150 trunk_z= 118.6mm grav_b=(-0.07,+0.11,-0.99) r=0.77m +[headless_play] t= 3.10s step= 155 trunk_z= 120.4mm grav_b=(-0.03,+0.11,-0.99) r=0.76m +[headless_play] t= 3.20s step= 160 trunk_z= 123.0mm grav_b=(-0.06,+0.06,-1.00) r=0.76m +[headless_play] t= 3.30s step= 165 trunk_z= 120.6mm grav_b=(-0.04,+0.02,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 115.0mm grav_b=(-0.04,-0.05,-1.00) r=0.79m +[headless_play] t= 3.50s step= 175 trunk_z= 126.8mm grav_b=(-0.02,-0.11,-0.99) r=0.81m +[headless_play] t= 3.60s step= 180 trunk_z= 127.9mm grav_b=(-0.03,-0.09,-1.00) r=0.83m +[headless_play] t= 3.70s step= 185 trunk_z= 120.9mm grav_b=(-0.09,-0.01,-1.00) r=0.84m +[headless_play] t= 3.80s step= 190 trunk_z= 125.3mm grav_b=(-0.10,+0.05,-0.99) r=0.86m +[headless_play] t= 3.90s step= 195 trunk_z= 125.1mm grav_b=(-0.06,+0.02,-1.00) r=0.87m +[headless_play] t= 4.00s step= 200 trunk_z= 116.5mm grav_b=(-0.07,-0.04,-1.00) r=0.89m +[headless_play] t= 4.10s step= 205 trunk_z= 122.2mm grav_b=(-0.04,-0.06,-1.00) r=0.91m +[headless_play] t= 4.20s step= 210 trunk_z= 119.2mm grav_b=(-0.02,-0.03,-1.00) r=0.92m +[headless_play] t= 4.30s step= 215 trunk_z= 122.0mm grav_b=(-0.08,+0.04,-1.00) r=0.93m +[headless_play] t= 4.40s step= 220 trunk_z= 123.4mm grav_b=(-0.07,-0.00,-1.00) r=0.94m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(-0.09,-0.04,-1.00) r=0.96m +[headless_play] t= 4.60s step= 230 trunk_z= 124.0mm grav_b=(-0.09,-0.15,-0.99) r=0.97m +[headless_play] t= 4.70s step= 235 trunk_z= 126.7mm grav_b=(-0.10,-0.19,-0.98) r=0.98m +[headless_play] t= 4.80s step= 240 trunk_z= 128.4mm grav_b=(-0.03,-0.21,-0.98) r=0.98m +[headless_play] t= 4.90s step= 245 trunk_z= 125.6mm grav_b=(+0.02,-0.15,-0.99) r=0.99m +[headless_play] t= 5.00s step= 250 trunk_z= 128.2mm grav_b=(-0.03,-0.03,-1.00) r=1.02m +[headless_play] t= 5.10s step= 255 trunk_z= 124.8mm grav_b=(-0.07,+0.02,-1.00) r=1.05m +[headless_play] t= 5.20s step= 260 trunk_z= 125.6mm grav_b=(-0.07,+0.01,-1.00) r=1.05m +[headless_play] t= 5.30s step= 265 trunk_z= 117.0mm grav_b=(-0.06,-0.05,-1.00) r=1.04m +[headless_play] t= 5.40s step= 270 trunk_z= 121.1mm grav_b=(-0.09,-0.03,-1.00) r=1.03m +[headless_play] t= 5.50s step= 275 trunk_z= 112.5mm grav_b=(-0.05,+0.01,-1.00) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 119.9mm grav_b=(-0.04,+0.02,-1.00) r=1.05m +[headless_play] t= 5.70s step= 285 trunk_z= 118.8mm grav_b=(-0.03,+0.00,-1.00) r=1.06m +[headless_play] t= 5.80s step= 290 trunk_z= 120.6mm grav_b=(-0.02,-0.10,-0.99) r=1.07m +[headless_play] t= 5.90s step= 295 trunk_z= 125.0mm grav_b=(-0.02,-0.11,-0.99) r=1.08m +[headless_play] t= 6.00s step= 300 trunk_z= 124.9mm grav_b=(-0.05,-0.11,-0.99) r=1.09m +[headless_play] t= 6.10s step= 305 trunk_z= 120.7mm grav_b=(-0.07,-0.05,-1.00) r=1.11m +[headless_play] t= 6.20s step= 310 trunk_z= 123.1mm grav_b=(-0.06,+0.01,-1.00) r=1.12m +[headless_play] t= 6.30s step= 315 trunk_z= 118.9mm grav_b=(-0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 6.40s step= 320 trunk_z= 120.9mm grav_b=(+0.00,-0.10,-0.99) r=1.14m +[headless_play] t= 6.50s step= 325 trunk_z= 127.6mm grav_b=(-0.00,-0.10,-0.99) r=1.15m +[headless_play] t= 6.60s step= 330 trunk_z= 127.1mm grav_b=(-0.06,-0.08,-1.00) r=1.18m +[headless_play] t= 6.70s step= 335 trunk_z= 119.6mm grav_b=(-0.09,+0.00,-1.00) r=1.21m +[headless_play] t= 6.80s step= 340 trunk_z= 123.3mm grav_b=(-0.06,-0.03,-1.00) r=1.21m +[headless_play] t= 6.90s step= 345 trunk_z= 114.3mm grav_b=(-0.02,-0.06,-1.00) r=1.22m +[headless_play] t= 7.00s step= 350 trunk_z= 125.8mm grav_b=(-0.05,-0.10,-0.99) r=1.22m +[headless_play] t= 7.10s step= 355 trunk_z= 124.5mm grav_b=(-0.07,-0.07,-0.99) r=1.23m +[headless_play] t= 7.20s step= 360 trunk_z= 117.8mm grav_b=(-0.09,+0.01,-1.00) r=1.26m +[headless_play] t= 7.30s step= 365 trunk_z= 122.5mm grav_b=(-0.08,-0.00,-1.00) r=1.26m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(-0.08,-0.04,-1.00) r=1.25m +[headless_play] t= 7.50s step= 375 trunk_z= 122.3mm grav_b=(-0.07,-0.10,-0.99) r=1.24m +[headless_play] t= 7.60s step= 380 trunk_z= 122.0mm grav_b=(-0.05,-0.08,-1.00) r=1.25m +[headless_play] t= 7.70s step= 385 trunk_z= 117.9mm grav_b=(-0.07,-0.00,-1.00) r=1.27m +[headless_play] t= 7.80s step= 390 trunk_z= 123.9mm grav_b=(-0.03,+0.01,-1.00) r=1.29m +[headless_play] t= 7.90s step= 395 trunk_z= 120.5mm grav_b=(-0.04,-0.01,-1.00) r=1.28m +[headless_play] t= 8.00s step= 400 trunk_z= 119.6mm grav_b=(-0.07,-0.07,-0.99) r=1.27m +[headless_play] t= 8.10s step= 405 trunk_z= 120.8mm grav_b=(-0.08,-0.08,-0.99) r=1.28m +[headless_play] t= 8.20s step= 410 trunk_z= 115.9mm grav_b=(-0.08,-0.01,-1.00) r=1.30m +[headless_play] t= 8.30s step= 415 trunk_z= 122.9mm grav_b=(-0.09,+0.01,-1.00) r=1.32m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 8.50s step= 425 trunk_z= 119.9mm grav_b=(-0.05,-0.09,-0.99) r=1.30m +[headless_play] t= 8.60s step= 430 trunk_z= 123.3mm grav_b=(-0.05,-0.10,-0.99) r=1.31m +[headless_play] t= 8.70s step= 435 trunk_z= 120.8mm grav_b=(-0.06,-0.09,-0.99) r=1.32m +[headless_play] t= 8.80s step= 440 trunk_z= 119.2mm grav_b=(-0.10,-0.03,-0.99) r=1.33m +[headless_play] t= 8.90s step= 445 trunk_z= 118.9mm grav_b=(-0.11,-0.08,-0.99) r=1.32m +[headless_play] t= 9.00s step= 450 trunk_z= 120.8mm grav_b=(-0.05,-0.10,-0.99) r=1.32m +[headless_play] t= 9.10s step= 455 trunk_z= 119.5mm grav_b=(-0.07,-0.07,-1.00) r=1.34m +[headless_play] t= 9.20s step= 460 trunk_z= 119.7mm grav_b=(-0.09,+0.07,-0.99) r=1.37m +[headless_play] t= 9.30s step= 465 trunk_z= 125.4mm grav_b=(-0.10,+0.04,-0.99) r=1.38m +[headless_play] t= 9.40s step= 470 trunk_z= 121.0mm grav_b=(-0.10,+0.01,-0.99) r=1.37m +[headless_play] t= 9.50s step= 475 trunk_z= 119.2mm grav_b=(-0.12,-0.06,-0.99) r=1.35m +[headless_play] t= 9.60s step= 480 trunk_z= 121.7mm grav_b=(-0.08,-0.06,-1.00) r=1.35m +[headless_play] t= 9.70s step= 485 trunk_z= 110.9mm grav_b=(-0.03,+0.01,-1.00) r=1.37m +[headless_play] t= 9.80s step= 490 trunk_z= 115.1mm grav_b=(-0.05,+0.00,-1.00) r=1.37m +[headless_play] t= 9.90s step= 495 trunk_z= 111.8mm grav_b=(-0.05,-0.02,-1.00) r=1.36m +[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(-0.10,-0.10,-0.99) r=1.34m +[headless_play] t= 10.10s step= 505 trunk_z= 122.6mm grav_b=(-0.15,-0.09,-0.99) r=1.33m +[headless_play] t= 10.20s step= 510 trunk_z= 108.4mm grav_b=(+0.00,+0.01,-1.00) r=1.34m +[headless_play] t= 10.30s step= 515 trunk_z= 106.1mm grav_b=(-0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 10.40s step= 520 trunk_z= 102.0mm grav_b=(-0.02,-0.06,-1.00) r=1.32m +[headless_play] t= 10.50s step= 525 trunk_z= 113.4mm grav_b=(-0.03,-0.08,-1.00) r=1.31m +[headless_play] t= 10.60s step= 530 trunk_z= 114.2mm grav_b=(-0.03,-0.08,-1.00) r=1.32m +[headless_play] t= 10.70s step= 535 trunk_z= 109.3mm grav_b=(-0.01,+0.02,-1.00) r=1.34m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(-0.03,-0.04,-1.00) r=1.34m +[headless_play] t= 10.90s step= 545 trunk_z= 113.9mm grav_b=(-0.03,-0.10,-0.99) r=1.33m +[headless_play] t= 11.00s step= 550 trunk_z= 120.0mm grav_b=(-0.05,-0.12,-0.99) r=1.32m +[headless_play] t= 11.10s step= 555 trunk_z= 116.3mm grav_b=(-0.06,-0.08,-0.99) r=1.34m +[headless_play] t= 11.20s step= 560 trunk_z= 115.3mm grav_b=(-0.05,+0.04,-1.00) r=1.36m +[headless_play] t= 11.30s step= 565 trunk_z= 121.2mm grav_b=(-0.05,+0.04,-1.00) r=1.37m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(-0.03,+0.00,-1.00) r=1.36m +[headless_play] t= 11.50s step= 575 trunk_z= 116.1mm grav_b=(-0.07,-0.06,-1.00) r=1.36m +[headless_play] t= 11.60s step= 580 trunk_z= 118.7mm grav_b=(-0.10,-0.03,-0.99) r=1.36m +[headless_play] t= 11.70s step= 585 trunk_z= 112.3mm grav_b=(-0.06,+0.03,-1.00) r=1.38m +[headless_play] t= 11.80s step= 590 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=1.38m +[headless_play] t= 11.90s step= 595 trunk_z= 112.7mm grav_b=(-0.05,-0.02,-1.00) r=1.36m +[headless_play] t= 12.00s step= 600 trunk_z= 115.8mm grav_b=(-0.03,-0.10,-0.99) r=1.34m +[headless_play] t= 12.10s step= 605 trunk_z= 117.8mm grav_b=(-0.03,-0.10,-0.99) r=1.34m +[headless_play] t= 12.20s step= 610 trunk_z= 114.4mm grav_b=(-0.01,-0.04,-1.00) r=1.35m +[headless_play] t= 12.30s step= 615 trunk_z= 121.0mm grav_b=(-0.05,+0.08,-1.00) r=1.37m +[headless_play] t= 12.40s step= 620 trunk_z= 123.3mm grav_b=(-0.04,+0.04,-1.00) r=1.37m +[headless_play] t= 12.50s step= 625 trunk_z= 114.2mm grav_b=(+0.03,+0.01,-1.00) r=1.36m +[headless_play] t= 12.60s step= 630 trunk_z= 123.6mm grav_b=(+0.02,-0.08,-1.00) r=1.35m +[headless_play] t= 12.70s step= 635 trunk_z= 123.6mm grav_b=(-0.03,-0.08,-1.00) r=1.34m +[headless_play] t= 12.80s step= 640 trunk_z= 118.0mm grav_b=(-0.05,-0.00,-1.00) r=1.36m +[headless_play] t= 12.90s step= 645 trunk_z= 122.5mm grav_b=(-0.05,+0.05,-1.00) r=1.36m +[headless_play] t= 13.00s step= 650 trunk_z= 119.7mm grav_b=(-0.04,+0.02,-1.00) r=1.35m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.05,-0.07,-1.00) r=1.33m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(-0.05,-0.07,-1.00) r=1.33m +[headless_play] t= 13.30s step= 665 trunk_z= 113.5mm grav_b=(-0.03,-0.01,-1.00) r=1.35m +[headless_play] t= 13.40s step= 670 trunk_z= 119.7mm grav_b=(-0.04,+0.03,-1.00) r=1.36m +[headless_play] t= 13.50s step= 675 trunk_z= 115.1mm grav_b=(-0.02,-0.03,-1.00) r=1.34m +[headless_play] t= 13.60s step= 680 trunk_z= 116.0mm grav_b=(-0.03,-0.08,-1.00) r=1.32m +[headless_play] t= 13.70s step= 685 trunk_z= 121.4mm grav_b=(-0.03,-0.10,-0.99) r=1.31m +[headless_play] t= 13.80s step= 690 trunk_z= 116.4mm grav_b=(-0.03,-0.08,-1.00) r=1.32m +[headless_play] t= 13.90s step= 695 trunk_z= 119.2mm grav_b=(-0.06,+0.04,-1.00) r=1.34m +[headless_play] t= 14.00s step= 700 trunk_z= 121.5mm grav_b=(-0.05,+0.02,-1.00) r=1.34m +[headless_play] t= 14.10s step= 705 trunk_z= 115.1mm grav_b=(-0.05,-0.01,-1.00) r=1.32m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(-0.04,-0.07,-1.00) r=1.30m +[headless_play] t= 14.30s step= 715 trunk_z= 114.3mm grav_b=(-0.02,-0.06,-1.00) r=1.31m +[headless_play] t= 14.40s step= 720 trunk_z= 116.5mm grav_b=(-0.08,+0.11,-0.99) r=1.34m +[headless_play] t= 14.50s step= 725 trunk_z= 127.2mm grav_b=(-0.11,+0.15,-0.98) r=1.36m +[headless_play] t= 14.60s step= 730 trunk_z= 130.8mm grav_b=(-0.06,+0.12,-0.99) r=1.37m +[headless_play] t= 14.70s step= 735 trunk_z= 121.5mm grav_b=(-0.03,+0.14,-0.99) r=1.39m +[headless_play] t= 14.80s step= 740 trunk_z= 119.3mm grav_b=(+0.04,+0.06,-1.00) r=1.44m +[headless_play] t= 14.90s step= 745 trunk_z= 98.3mm grav_b=(-0.07,+0.02,-1.00) r=1.48m +[headless_play] t= 15.00s step= 750 trunk_z= 106.6mm grav_b=(-0.02,-0.02,-1.00) r=1.49m +[headless_play] t= 15.10s step= 755 trunk_z= 104.9mm grav_b=(+0.01,-0.08,-1.00) r=1.47m +[headless_play] t= 15.20s step= 760 trunk_z= 114.8mm grav_b=(-0.00,-0.06,-1.00) r=1.45m +[headless_play] t= 15.30s step= 765 trunk_z= 110.1mm grav_b=(-0.00,+0.06,-1.00) r=1.44m +[headless_play] t= 15.40s step= 770 trunk_z= 121.7mm grav_b=(+0.02,+0.09,-1.00) r=1.43m +[headless_play] t= 15.50s step= 775 trunk_z= 119.4mm grav_b=(-0.04,+0.03,-1.00) r=1.41m +[headless_play] t= 15.60s step= 780 trunk_z= 116.6mm grav_b=(-0.08,-0.08,-0.99) r=1.38m +[headless_play] t= 15.70s step= 785 trunk_z= 124.7mm grav_b=(-0.08,-0.09,-0.99) r=1.37m +[headless_play] t= 15.80s step= 790 trunk_z= 121.9mm grav_b=(-0.09,-0.07,-0.99) r=1.38m +[headless_play] t= 15.90s step= 795 trunk_z= 119.0mm grav_b=(-0.09,+0.03,-1.00) r=1.40m +[headless_play] t= 16.00s step= 800 trunk_z= 123.6mm grav_b=(-0.07,+0.00,-1.00) r=1.41m +[headless_play] t= 16.10s step= 805 trunk_z= 120.5mm grav_b=(-0.07,-0.01,-1.00) r=1.40m +[headless_play] t= 16.20s step= 810 trunk_z= 112.7mm grav_b=(-0.02,-0.06,-1.00) r=1.39m +[headless_play] t= 16.30s step= 815 trunk_z= 115.0mm grav_b=(-0.00,-0.07,-1.00) r=1.38m +[headless_play] t= 16.40s step= 820 trunk_z= 113.4mm grav_b=(+0.01,+0.04,-1.00) r=1.38m +[headless_play] t= 16.50s step= 825 trunk_z= 119.5mm grav_b=(-0.01,+0.05,-1.00) r=1.37m +[headless_play] t= 16.60s step= 830 trunk_z= 114.9mm grav_b=(-0.01,+0.01,-1.00) r=1.35m +[headless_play] t= 16.70s step= 835 trunk_z= 117.5mm grav_b=(-0.07,-0.09,-0.99) r=1.32m +[headless_play] t= 16.80s step= 840 trunk_z= 120.7mm grav_b=(-0.07,-0.09,-0.99) r=1.31m +[headless_play] t= 16.90s step= 845 trunk_z= 115.2mm grav_b=(-0.06,+0.00,-1.00) r=1.31m +[headless_play] t= 17.00s step= 850 trunk_z= 121.2mm grav_b=(-0.05,+0.02,-1.00) r=1.32m +[headless_play] t= 17.10s step= 855 trunk_z= 122.6mm grav_b=(+0.02,+0.10,-1.00) r=1.31m +[headless_play] t= 17.20s step= 860 trunk_z= 123.4mm grav_b=(+0.01,+0.02,-1.00) r=1.30m +[headless_play] t= 17.30s step= 865 trunk_z= 119.0mm grav_b=(-0.05,-0.09,-0.99) r=1.27m +[headless_play] t= 17.40s step= 870 trunk_z= 125.2mm grav_b=(-0.07,-0.12,-0.99) r=1.25m +[headless_play] t= 17.50s step= 875 trunk_z= 121.3mm grav_b=(-0.05,-0.09,-0.99) r=1.25m +[headless_play] t= 17.60s step= 880 trunk_z= 115.9mm grav_b=(-0.05,+0.00,-1.00) r=1.28m +[headless_play] t= 17.70s step= 885 trunk_z= 121.5mm grav_b=(-0.07,-0.00,-1.00) r=1.28m +[headless_play] t= 17.80s step= 890 trunk_z= 115.1mm grav_b=(-0.07,-0.09,-0.99) r=1.25m +[headless_play] t= 17.90s step= 895 trunk_z= 125.4mm grav_b=(-0.06,-0.17,-0.98) r=1.23m +[headless_play] t= 18.00s step= 900 trunk_z= 127.1mm grav_b=(-0.04,-0.17,-0.98) r=1.22m +[headless_play] t= 18.10s step= 905 trunk_z= 120.9mm grav_b=(-0.06,-0.10,-0.99) r=1.20m +[headless_play] t= 18.20s step= 910 trunk_z= 111.8mm grav_b=(+0.02,-0.02,-1.00) r=1.17m +[headless_play] t= 18.30s step= 915 trunk_z= 130.4mm grav_b=(+0.01,-0.02,-1.00) r=1.16m +[headless_play] t= 18.40s step= 920 trunk_z= 131.1mm grav_b=(-0.04,-0.01,-1.00) r=1.13m +[headless_play] t= 18.50s step= 925 trunk_z= 115.6mm grav_b=(-0.13,-0.03,-0.99) r=1.10m +[headless_play] t= 18.60s step= 930 trunk_z= 110.1mm grav_b=(-0.11,-0.00,-0.99) r=1.10m +[headless_play] t= 18.70s step= 935 trunk_z= 102.3mm grav_b=(+0.00,-0.18,-0.98) r=1.08m +[headless_play] t= 18.80s step= 940 trunk_z= 54.6mm grav_b=(+0.03,-0.66,-0.75) r=1.03m +[headless_play] RESET at t= 18.86s step= 943 (env termination, not a recovery) +[headless_play] t= 18.90s step= 945 trunk_z= 120.0mm grav_b=(-0.02,+0.00,-1.00) r=0.23m +[headless_play] t= 19.00s step= 950 trunk_z= 115.2mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 19.10s step= 955 trunk_z= 118.0mm grav_b=(-0.04,+0.05,-1.00) r=0.21m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.21m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.21m +[headless_play] t= 19.40s step= 970 trunk_z= 116.4mm grav_b=(-0.05,+0.03,-1.00) r=0.18m +[headless_play] t= 19.50s step= 975 trunk_z= 121.2mm grav_b=(-0.07,+0.06,-1.00) r=0.16m +[headless_play] t= 19.60s step= 980 trunk_z= 122.3mm grav_b=(-0.07,+0.03,-1.00) r=0.15m +[headless_play] t= 19.70s step= 985 trunk_z= 115.3mm grav_b=(-0.04,-0.05,-1.00) r=0.16m +[headless_play] t= 19.80s step= 990 trunk_z= 122.1mm grav_b=(-0.05,-0.06,-1.00) r=0.16m +[headless_play] t= 19.90s step= 995 trunk_z= 119.8mm grav_b=(-0.08,-0.05,-1.00) r=0.15m +[headless_play] t= 20.00s step=1000 trunk_z= 116.9mm grav_b=(-0.09,+0.04,-1.00) r=0.14m +[headless_play] t= 20.10s step=1005 trunk_z= 122.3mm grav_b=(-0.09,+0.02,-1.00) r=0.13m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t4.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..8acc859aeb54f262ad7beb0232ce04c48444605a --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.892,-17.703,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.00,-0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(-0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 113.6mm grav_b=(-0.04,-0.04,-1.00) r=0.30m +[headless_play] t= 0.40s step= 20 trunk_z= 111.5mm grav_b=(-0.05,-0.11,-0.99) r=0.27m +[headless_play] t= 0.50s step= 25 trunk_z= 118.3mm grav_b=(-0.06,-0.09,-0.99) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 113.9mm grav_b=(-0.05,-0.05,-1.00) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 117.2mm grav_b=(-0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 118.6mm grav_b=(-0.06,+0.01,-1.00) r=0.26m +[headless_play] t= 0.90s step= 45 trunk_z= 117.0mm grav_b=(-0.10,-0.00,-1.00) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 111.2mm grav_b=(-0.06,-0.10,-0.99) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 114.4mm grav_b=(-0.04,-0.11,-0.99) r=0.24m +[headless_play] t= 1.20s step= 60 trunk_z= 110.2mm grav_b=(+0.01,-0.09,-1.00) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 109.3mm grav_b=(+0.00,+0.03,-1.00) r=0.25m +[headless_play] t= 1.40s step= 70 trunk_z= 115.1mm grav_b=(+0.01,+0.04,-1.00) r=0.25m +[headless_play] t= 1.50s step= 75 trunk_z= 111.5mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(-0.09,-0.09,-0.99) r=0.22m +[headless_play] t= 1.70s step= 85 trunk_z= 119.6mm grav_b=(-0.09,-0.07,-0.99) r=0.22m +[headless_play] t= 1.80s step= 90 trunk_z= 106.2mm grav_b=(-0.07,-0.02,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 111.3mm grav_b=(-0.08,-0.06,-1.00) r=0.25m +[headless_play] t= 2.00s step= 100 trunk_z= 105.3mm grav_b=(-0.06,-0.11,-0.99) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 112.3mm grav_b=(-0.04,-0.12,-0.99) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 112.2mm grav_b=(+0.03,-0.11,-0.99) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 109.8mm grav_b=(+0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 120.0mm grav_b=(-0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 2.50s step= 125 trunk_z= 112.4mm grav_b=(-0.06,-0.12,-0.99) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 122.2mm grav_b=(-0.05,-0.17,-0.98) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 125.3mm grav_b=(-0.04,-0.18,-0.98) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 124.5mm grav_b=(-0.03,-0.15,-0.99) r=0.18m +[headless_play] t= 2.90s step= 145 trunk_z= 118.8mm grav_b=(-0.04,-0.06,-1.00) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(-0.02,+0.04,-1.00) r=0.19m +[headless_play] t= 3.10s step= 155 trunk_z= 123.1mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.02,-0.06,-1.00) r=0.16m +[headless_play] t= 3.30s step= 165 trunk_z= 123.2mm grav_b=(-0.03,-0.10,-0.99) r=0.14m +[headless_play] t= 3.40s step= 170 trunk_z= 122.9mm grav_b=(-0.04,-0.10,-0.99) r=0.13m +[headless_play] t= 3.50s step= 175 trunk_z= 115.7mm grav_b=(-0.11,-0.02,-0.99) r=0.15m +[headless_play] t= 3.60s step= 180 trunk_z= 124.0mm grav_b=(-0.11,+0.02,-0.99) r=0.16m +[headless_play] t= 3.70s step= 185 trunk_z= 124.0mm grav_b=(-0.07,-0.02,-1.00) r=0.16m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(-0.07,-0.08,-0.99) r=0.14m +[headless_play] t= 3.90s step= 195 trunk_z= 123.7mm grav_b=(-0.08,-0.11,-0.99) r=0.12m +[headless_play] t= 4.00s step= 200 trunk_z= 122.9mm grav_b=(-0.05,-0.09,-0.99) r=0.13m +[headless_play] t= 4.10s step= 205 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.15m +[headless_play] t= 4.20s step= 210 trunk_z= 124.9mm grav_b=(-0.00,+0.03,-1.00) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 119.1mm grav_b=(+0.01,-0.11,-0.99) r=0.13m +[headless_play] t= 4.40s step= 220 trunk_z= 125.2mm grav_b=(-0.00,-0.14,-0.99) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 126.1mm grav_b=(-0.04,-0.18,-0.98) r=0.10m +[headless_play] t= 4.60s step= 230 trunk_z= 127.0mm grav_b=(-0.07,-0.17,-0.98) r=0.11m +[headless_play] t= 4.70s step= 235 trunk_z= 122.2mm grav_b=(-0.07,-0.08,-0.99) r=0.13m +[headless_play] t= 4.80s step= 240 trunk_z= 118.8mm grav_b=(-0.02,-0.08,-1.00) r=0.14m +[headless_play] t= 4.90s step= 245 trunk_z= 115.1mm grav_b=(-0.02,-0.11,-0.99) r=0.13m +[headless_play] t= 5.00s step= 250 trunk_z= 115.6mm grav_b=(-0.05,-0.04,-1.00) r=0.14m +[headless_play] t= 5.10s step= 255 trunk_z= 114.7mm grav_b=(-0.08,-0.03,-1.00) r=0.14m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(-0.10,-0.02,-1.00) r=0.14m +[headless_play] t= 5.30s step= 265 trunk_z= 115.6mm grav_b=(-0.09,-0.02,-1.00) r=0.14m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(-0.08,-0.02,-1.00) r=0.14m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(-0.06,-0.02,-1.00) r=0.14m +[headless_play] t= 5.60s step= 280 trunk_z= 116.4mm grav_b=(-0.05,-0.03,-1.00) r=0.14m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.05,-0.02,-1.00) r=0.14m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(-0.16,-0.01,-0.99) r=0.14m +[headless_play] t= 5.90s step= 295 trunk_z= 113.6mm grav_b=(-0.17,-0.08,-0.98) r=0.14m +[headless_play] t= 6.00s step= 300 trunk_z= 121.5mm grav_b=(-0.20,-0.05,-0.98) r=0.15m +[headless_play] t= 6.10s step= 305 trunk_z= 100.1mm grav_b=(-0.07,+0.03,-1.00) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 99.5mm grav_b=(-0.09,+0.02,-1.00) r=0.22m +[headless_play] t= 6.30s step= 315 trunk_z= 109.5mm grav_b=(-0.00,-0.03,-1.00) r=0.22m +[headless_play] t= 6.40s step= 320 trunk_z= 104.9mm grav_b=(+0.04,-0.12,-0.99) r=0.22m +[headless_play] t= 6.50s step= 325 trunk_z= 106.6mm grav_b=(+0.06,-0.08,-0.99) r=0.22m +[headless_play] t= 6.60s step= 330 trunk_z= 111.0mm grav_b=(+0.04,-0.02,-1.00) r=0.23m +[headless_play] t= 6.70s step= 335 trunk_z= 112.0mm grav_b=(+0.04,-0.04,-1.00) r=0.23m +[headless_play] t= 6.80s step= 340 trunk_z= 113.0mm grav_b=(+0.04,-0.04,-1.00) r=0.24m +[headless_play] t= 6.90s step= 345 trunk_z= 113.1mm grav_b=(-0.00,-0.03,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 113.6mm grav_b=(-0.05,-0.03,-1.00) r=0.24m +[headless_play] t= 7.10s step= 355 trunk_z= 113.8mm grav_b=(-0.05,-0.02,-1.00) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 114.0mm grav_b=(-0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.15,-0.02,-0.99) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 112.5mm grav_b=(-0.12,-0.12,-0.99) r=0.27m +[headless_play] t= 7.50s step= 375 trunk_z= 122.9mm grav_b=(-0.05,-0.10,-0.99) r=0.30m +[headless_play] t= 7.60s step= 380 trunk_z= 101.5mm grav_b=(+0.01,-0.05,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 112.2mm grav_b=(-0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 109.1mm grav_b=(+0.00,-0.08,-1.00) r=0.35m +[headless_play] t= 7.90s step= 395 trunk_z= 109.9mm grav_b=(+0.03,-0.08,-1.00) r=0.35m +[headless_play] t= 8.00s step= 400 trunk_z= 109.5mm grav_b=(+0.06,-0.01,-1.00) r=0.36m +[headless_play] t= 8.10s step= 405 trunk_z= 110.5mm grav_b=(+0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 113.8mm grav_b=(-0.09,+0.02,-1.00) r=0.38m +[headless_play] t= 8.30s step= 415 trunk_z= 112.6mm grav_b=(-0.09,-0.04,-0.99) r=0.39m +[headless_play] t= 8.40s step= 420 trunk_z= 118.7mm grav_b=(-0.07,-0.08,-0.99) r=0.40m +[headless_play] t= 8.50s step= 425 trunk_z= 111.8mm grav_b=(+0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 8.60s step= 430 trunk_z= 111.4mm grav_b=(+0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 8.70s step= 435 trunk_z= 108.9mm grav_b=(+0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 8.80s step= 440 trunk_z= 112.8mm grav_b=(+0.01,-0.05,-1.00) r=0.43m +[headless_play] t= 8.90s step= 445 trunk_z= 113.4mm grav_b=(-0.03,-0.02,-1.00) r=0.44m +[headless_play] t= 9.00s step= 450 trunk_z= 114.0mm grav_b=(-0.05,-0.01,-1.00) r=0.45m +[headless_play] t= 9.10s step= 455 trunk_z= 113.0mm grav_b=(-0.08,-0.05,-1.00) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 111.3mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 9.30s step= 465 trunk_z= 111.1mm grav_b=(+0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 9.40s step= 470 trunk_z= 110.0mm grav_b=(+0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 9.50s step= 475 trunk_z= 114.0mm grav_b=(-0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 9.60s step= 480 trunk_z= 115.1mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 9.80s step= 490 trunk_z= 115.9mm grav_b=(-0.04,-0.03,-1.00) r=0.47m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(-0.06,-0.02,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 10.10s step= 505 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 10.40s step= 520 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 10.50s step= 525 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 11.30s step= 565 trunk_z= 116.5mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 118.9mm grav_b=(+0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 119.6mm grav_b=(+0.02,-0.06,-1.00) r=0.46m +[headless_play] t= 11.60s step= 580 trunk_z= 117.3mm grav_b=(-0.01,-0.12,-0.99) r=0.45m +[headless_play] t= 11.70s step= 585 trunk_z= 115.1mm grav_b=(-0.06,-0.03,-1.00) r=0.45m +[headless_play] t= 11.80s step= 590 trunk_z= 115.8mm grav_b=(-0.11,-0.03,-0.99) r=0.46m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(-0.09,-0.01,-1.00) r=0.46m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(-0.09,-0.02,-1.00) r=0.45m +[headless_play] t= 12.10s step= 605 trunk_z= 114.8mm grav_b=(-0.02,-0.05,-1.00) r=0.44m +[headless_play] t= 12.20s step= 610 trunk_z= 114.6mm grav_b=(+0.02,-0.03,-1.00) r=0.44m +[headless_play] t= 12.30s step= 615 trunk_z= 114.4mm grav_b=(+0.02,-0.03,-1.00) r=0.43m +[headless_play] t= 12.40s step= 620 trunk_z= 114.5mm grav_b=(+0.01,-0.07,-1.00) r=0.43m +[headless_play] t= 12.50s step= 625 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 114.0mm grav_b=(-0.03,+0.06,-1.00) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 117.7mm grav_b=(-0.05,+0.00,-1.00) r=0.43m +[headless_play] t= 12.80s step= 640 trunk_z= 110.9mm grav_b=(-0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 12.90s step= 645 trunk_z= 120.2mm grav_b=(+0.01,-0.11,-0.99) r=0.37m +[headless_play] t= 13.00s step= 650 trunk_z= 123.0mm grav_b=(+0.06,-0.14,-0.99) r=0.35m +[headless_play] t= 13.10s step= 655 trunk_z= 123.2mm grav_b=(+0.03,-0.06,-1.00) r=0.34m +[headless_play] t= 13.20s step= 660 trunk_z= 122.0mm grav_b=(-0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 13.30s step= 665 trunk_z= 119.4mm grav_b=(-0.04,+0.00,-1.00) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 116.6mm grav_b=(-0.07,-0.07,-0.99) r=0.30m +[headless_play] t= 13.50s step= 675 trunk_z= 119.2mm grav_b=(-0.08,-0.02,-1.00) r=0.30m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.09,+0.08,-0.99) r=0.32m +[headless_play] t= 13.70s step= 685 trunk_z= 123.8mm grav_b=(-0.10,+0.05,-0.99) r=0.33m +[headless_play] t= 13.80s step= 690 trunk_z= 123.7mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 13.90s step= 695 trunk_z= 114.1mm grav_b=(-0.03,-0.06,-1.00) r=0.33m +[headless_play] t= 14.00s step= 700 trunk_z= 117.0mm grav_b=(+0.00,-0.10,-0.99) r=0.32m +[headless_play] t= 14.10s step= 705 trunk_z= 116.0mm grav_b=(+0.03,-0.05,-1.00) r=0.32m +[headless_play] t= 14.20s step= 710 trunk_z= 121.6mm grav_b=(+0.02,+0.06,-1.00) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 123.1mm grav_b=(+0.05,+0.09,-0.99) r=0.32m +[headless_play] t= 14.40s step= 720 trunk_z= 131.1mm grav_b=(+0.10,+0.01,-1.00) r=0.32m +[headless_play] t= 14.50s step= 725 trunk_z= 123.9mm grav_b=(+0.04,-0.08,-1.00) r=0.32m +[headless_play] t= 14.60s step= 730 trunk_z= 131.7mm grav_b=(-0.04,-0.15,-0.99) r=0.32m +[headless_play] t= 14.70s step= 735 trunk_z= 125.5mm grav_b=(-0.07,-0.14,-0.99) r=0.34m +[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(-0.04,-0.03,-1.00) r=0.36m +[headless_play] t= 14.90s step= 745 trunk_z= 123.0mm grav_b=(-0.06,-0.01,-1.00) r=0.37m +[headless_play] t= 15.00s step= 750 trunk_z= 118.9mm grav_b=(-0.07,-0.06,-1.00) r=0.35m +[headless_play] t= 15.10s step= 755 trunk_z= 119.0mm grav_b=(-0.06,-0.12,-0.99) r=0.33m +[headless_play] t= 15.20s step= 760 trunk_z= 121.5mm grav_b=(-0.02,-0.13,-0.99) r=0.33m +[headless_play] t= 15.30s step= 765 trunk_z= 118.3mm grav_b=(+0.01,-0.11,-0.99) r=0.34m +[headless_play] t= 15.40s step= 770 trunk_z= 117.9mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 15.50s step= 775 trunk_z= 121.6mm grav_b=(+0.01,+0.05,-1.00) r=0.38m +[headless_play] t= 15.60s step= 780 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 15.70s step= 785 trunk_z= 120.7mm grav_b=(-0.07,-0.12,-0.99) r=0.37m +[headless_play] t= 15.80s step= 790 trunk_z= 125.4mm grav_b=(-0.09,-0.10,-0.99) r=0.37m +[headless_play] t= 15.90s step= 795 trunk_z= 117.9mm grav_b=(-0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 16.00s step= 800 trunk_z= 121.8mm grav_b=(+0.02,+0.05,-1.00) r=0.41m +[headless_play] t= 16.10s step= 805 trunk_z= 121.2mm grav_b=(+0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 115.6mm grav_b=(-0.01,-0.07,-1.00) r=0.41m +[headless_play] t= 16.30s step= 815 trunk_z= 122.9mm grav_b=(-0.04,-0.09,-0.99) r=0.42m +[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(-0.06,-0.06,-1.00) r=0.44m +[headless_play] t= 16.50s step= 825 trunk_z= 120.2mm grav_b=(-0.09,+0.03,-1.00) r=0.45m +[headless_play] t= 16.60s step= 830 trunk_z= 122.3mm grav_b=(-0.10,+0.00,-0.99) r=0.45m +[headless_play] t= 16.70s step= 835 trunk_z= 113.7mm grav_b=(-0.10,-0.10,-0.99) r=0.43m +[headless_play] t= 16.80s step= 840 trunk_z= 121.8mm grav_b=(-0.09,-0.17,-0.98) r=0.42m +[headless_play] t= 16.90s step= 845 trunk_z= 125.1mm grav_b=(-0.05,-0.17,-0.98) r=0.41m +[headless_play] t= 17.00s step= 850 trunk_z= 124.9mm grav_b=(-0.08,-0.15,-0.99) r=0.40m +[headless_play] t= 17.10s step= 855 trunk_z= 115.8mm grav_b=(-0.04,-0.11,-0.99) r=0.40m +[headless_play] t= 17.20s step= 860 trunk_z= 118.3mm grav_b=(-0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 116.4mm grav_b=(+0.02,-0.10,-1.00) r=0.41m +[headless_play] t= 17.40s step= 870 trunk_z= 121.5mm grav_b=(+0.02,-0.12,-0.99) r=0.42m +[headless_play] t= 17.50s step= 875 trunk_z= 123.4mm grav_b=(-0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 113.5mm grav_b=(-0.10,-0.01,-0.99) r=0.48m +[headless_play] t= 17.70s step= 885 trunk_z= 120.7mm grav_b=(-0.11,-0.00,-0.99) r=0.49m +[headless_play] t= 17.80s step= 890 trunk_z= 118.7mm grav_b=(-0.10,-0.06,-0.99) r=0.48m +[headless_play] t= 17.90s step= 895 trunk_z= 121.0mm grav_b=(-0.07,-0.09,-0.99) r=0.48m +[headless_play] t= 18.00s step= 900 trunk_z= 128.1mm grav_b=(+0.03,-0.12,-0.99) r=0.49m +[headless_play] t= 18.10s step= 905 trunk_z= 127.1mm grav_b=(+0.04,-0.07,-1.00) r=0.52m +[headless_play] t= 18.20s step= 910 trunk_z= 115.0mm grav_b=(-0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 18.30s step= 915 trunk_z= 120.5mm grav_b=(-0.04,-0.05,-1.00) r=0.57m +[headless_play] t= 18.40s step= 920 trunk_z= 114.6mm grav_b=(-0.11,-0.10,-0.99) r=0.56m +[headless_play] t= 18.50s step= 925 trunk_z= 120.0mm grav_b=(-0.15,-0.11,-0.98) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.2mm grav_b=(-0.16,-0.09,-0.98) r=0.57m +[headless_play] t= 18.70s step= 935 trunk_z= 118.6mm grav_b=(-0.11,+0.03,-0.99) r=0.59m +[headless_play] t= 18.80s step= 940 trunk_z= 123.8mm grav_b=(-0.14,+0.07,-0.99) r=0.60m +[headless_play] t= 18.90s step= 945 trunk_z= 122.1mm grav_b=(-0.11,+0.01,-0.99) r=0.59m +[headless_play] t= 19.00s step= 950 trunk_z= 118.3mm grav_b=(-0.09,-0.07,-0.99) r=0.57m +[headless_play] t= 19.10s step= 955 trunk_z= 122.3mm grav_b=(-0.07,-0.07,-1.00) r=0.58m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) r=0.60m +[headless_play] t= 19.30s step= 965 trunk_z= 124.7mm grav_b=(+0.01,+0.04,-1.00) r=0.61m +[headless_play] t= 19.40s step= 970 trunk_z= 123.9mm grav_b=(+0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 19.50s step= 975 trunk_z= 118.4mm grav_b=(-0.03,-0.09,-1.00) r=0.58m +[headless_play] t= 19.60s step= 980 trunk_z= 125.6mm grav_b=(-0.04,-0.14,-0.99) r=0.58m +[headless_play] t= 19.70s step= 985 trunk_z= 126.9mm grav_b=(-0.06,-0.15,-0.99) r=0.58m +[headless_play] t= 19.80s step= 990 trunk_z= 125.6mm grav_b=(-0.07,-0.12,-0.99) r=0.60m +[headless_play] t= 19.90s step= 995 trunk_z= 120.8mm grav_b=(-0.05,-0.02,-1.00) r=0.63m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.4mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 114.9mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t5.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..e07b81a1d70e05f5e00e14986c99c6585ca9dc34 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.098,-18.443,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.5mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(+0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 117.0mm grav_b=(+0.11,-0.02,-0.99) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 118.3mm grav_b=(+0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(+0.04,-0.02,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 121.4mm grav_b=(+0.04,-0.07,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 119.8mm grav_b=(+0.05,-0.05,-1.00) r=0.47m +[headless_play] t= 2.40s step= 120 trunk_z= 118.5mm grav_b=(+0.05,+0.00,-1.00) r=0.47m +[headless_play] t= 2.50s step= 125 trunk_z= 118.1mm grav_b=(+0.05,+0.00,-1.00) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 118.0mm grav_b=(+0.04,-0.00,-1.00) r=0.47m +[headless_play] t= 2.70s step= 135 trunk_z= 117.8mm grav_b=(+0.04,-0.00,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 2.90s step= 145 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 3.00s step= 150 trunk_z= 117.6mm grav_b=(+0.04,-0.01,-1.00) r=0.47m +[headless_play] t= 3.10s step= 155 trunk_z= 117.8mm grav_b=(+0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(+0.05,-0.00,-1.00) r=0.47m +[headless_play] t= 3.30s step= 165 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 117.9mm grav_b=(-0.02,-0.00,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(-0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 115.1mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 4.20s step= 210 trunk_z= 112.1mm grav_b=(+0.03,+0.07,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.07,+0.02,-1.00) r=0.45m +[headless_play] t= 4.40s step= 220 trunk_z= 112.6mm grav_b=(+0.07,-0.04,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(+0.08,-0.03,-1.00) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 116.4mm grav_b=(+0.07,-0.06,-1.00) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 117.3mm grav_b=(+0.07,-0.03,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 5.10s step= 255 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 5.20s step= 260 trunk_z= 117.0mm grav_b=(+0.00,-0.02,-1.00) r=0.45m +[headless_play] t= 5.30s step= 265 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 5.40s step= 270 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 5.50s step= 275 trunk_z= 118.7mm grav_b=(+0.08,-0.02,-1.00) r=0.46m +[headless_play] t= 5.60s step= 280 trunk_z= 122.7mm grav_b=(+0.05,+0.01,-1.00) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 121.9mm grav_b=(-0.01,+0.07,-1.00) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 122.9mm grav_b=(-0.05,+0.03,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(-0.06,+0.00,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 119.1mm grav_b=(-0.04,+0.00,-1.00) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 6.20s step= 310 trunk_z= 119.2mm grav_b=(-0.00,-0.00,-1.00) r=0.48m +[headless_play] t= 6.30s step= 315 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 6.40s step= 320 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 6.50s step= 325 trunk_z= 118.8mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 6.60s step= 330 trunk_z= 118.8mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 6.80s step= 340 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 6.90s step= 345 trunk_z= 118.7mm grav_b=(-0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 7.00s step= 350 trunk_z= 118.7mm grav_b=(-0.04,+0.00,-1.00) r=0.48m +[headless_play] t= 7.10s step= 355 trunk_z= 118.4mm grav_b=(-0.11,-0.02,-0.99) r=0.48m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.06,-0.05,-1.00) r=0.49m +[headless_play] t= 7.30s step= 365 trunk_z= 118.1mm grav_b=(+0.00,+0.00,-1.00) r=0.48m +[headless_play] t= 7.40s step= 370 trunk_z= 106.3mm grav_b=(+0.03,+0.04,-1.00) r=0.47m +[headless_play] t= 7.50s step= 375 trunk_z= 108.9mm grav_b=(+0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 7.60s step= 380 trunk_z= 107.6mm grav_b=(+0.08,-0.05,-1.00) r=0.49m +[headless_play] t= 7.70s step= 385 trunk_z= 108.1mm grav_b=(+0.08,-0.05,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 109.7mm grav_b=(+0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 7.90s step= 395 trunk_z= 115.3mm grav_b=(-0.05,-0.00,-1.00) r=0.48m +[headless_play] t= 8.00s step= 400 trunk_z= 104.9mm grav_b=(-0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 8.10s step= 405 trunk_z= 111.8mm grav_b=(-0.01,-0.08,-1.00) r=0.51m +[headless_play] t= 8.20s step= 410 trunk_z= 108.9mm grav_b=(+0.04,-0.06,-1.00) r=0.51m +[headless_play] t= 8.30s step= 415 trunk_z= 109.6mm grav_b=(+0.05,+0.04,-1.00) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 115.2mm grav_b=(+0.04,+0.04,-1.00) r=0.50m +[headless_play] t= 8.50s step= 425 trunk_z= 110.9mm grav_b=(+0.06,+0.01,-1.00) r=0.51m +[headless_play] t= 8.60s step= 430 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 8.70s step= 435 trunk_z= 111.8mm grav_b=(+0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 115.1mm grav_b=(+0.02,+0.04,-1.00) r=0.51m +[headless_play] t= 8.90s step= 445 trunk_z= 113.7mm grav_b=(+0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 108.6mm grav_b=(+0.03,-0.02,-1.00) r=0.54m +[headless_play] t= 9.10s step= 455 trunk_z= 115.3mm grav_b=(+0.00,-0.03,-1.00) r=0.55m +[headless_play] t= 9.20s step= 460 trunk_z= 111.6mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 9.30s step= 465 trunk_z= 112.7mm grav_b=(+0.02,+0.04,-1.00) r=0.53m +[headless_play] t= 9.40s step= 470 trunk_z= 114.8mm grav_b=(+0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 9.50s step= 475 trunk_z= 112.4mm grav_b=(+0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 9.60s step= 480 trunk_z= 118.2mm grav_b=(+0.03,-0.08,-1.00) r=0.57m +[headless_play] t= 9.70s step= 485 trunk_z= 118.4mm grav_b=(+0.04,-0.03,-1.00) r=0.57m +[headless_play] t= 9.80s step= 490 trunk_z= 111.8mm grav_b=(-0.00,+0.02,-1.00) r=0.56m +[headless_play] t= 9.90s step= 495 trunk_z= 119.1mm grav_b=(+0.00,+0.02,-1.00) r=0.56m +[headless_play] t= 10.00s step= 500 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.57m +[headless_play] t= 10.10s step= 505 trunk_z= 115.3mm grav_b=(+0.00,-0.05,-1.00) r=0.59m +[headless_play] t= 10.20s step= 510 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 10.30s step= 515 trunk_z= 108.2mm grav_b=(+0.05,+0.00,-1.00) r=0.59m +[headless_play] t= 10.40s step= 520 trunk_z= 117.5mm grav_b=(-0.05,+0.02,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 10.60s step= 530 trunk_z= 108.4mm grav_b=(+0.00,-0.06,-1.00) r=0.59m +[headless_play] t= 10.70s step= 535 trunk_z= 110.6mm grav_b=(+0.05,-0.08,-1.00) r=0.60m +[headless_play] t= 10.80s step= 540 trunk_z= 106.3mm grav_b=(+0.09,-0.01,-1.00) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.04,+0.05,-1.00) r=0.58m +[headless_play] t= 11.00s step= 550 trunk_z= 114.3mm grav_b=(+0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 11.10s step= 555 trunk_z= 109.4mm grav_b=(+0.06,-0.03,-1.00) r=0.61m +[headless_play] t= 11.20s step= 560 trunk_z= 114.3mm grav_b=(+0.09,+0.01,-1.00) r=0.62m +[headless_play] t= 11.30s step= 565 trunk_z= 112.5mm grav_b=(+0.05,+0.04,-1.00) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 118.4mm grav_b=(-0.03,+0.03,-1.00) r=0.62m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 114.5mm grav_b=(-0.00,-0.05,-1.00) r=0.65m +[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.66m +[headless_play] t= 11.80s step= 590 trunk_z= 111.6mm grav_b=(-0.01,+0.05,-1.00) r=0.65m +[headless_play] t= 11.90s step= 595 trunk_z= 120.4mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(+0.01,+0.04,-1.00) r=0.65m +[headless_play] t= 12.10s step= 605 trunk_z= 114.8mm grav_b=(+0.02,-0.07,-1.00) r=0.67m +[headless_play] t= 12.20s step= 610 trunk_z= 123.0mm grav_b=(+0.04,-0.11,-0.99) r=0.69m +[headless_play] t= 12.30s step= 615 trunk_z= 123.3mm grav_b=(+0.06,-0.08,-0.99) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 119.6mm grav_b=(+0.04,+0.05,-1.00) r=0.72m +[headless_play] t= 12.50s step= 625 trunk_z= 126.1mm grav_b=(+0.04,+0.06,-1.00) r=0.74m +[headless_play] t= 12.60s step= 630 trunk_z= 121.8mm grav_b=(+0.01,+0.04,-1.00) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 121.8mm grav_b=(-0.02,-0.05,-1.00) r=0.79m +[headless_play] t= 12.80s step= 640 trunk_z= 123.9mm grav_b=(+0.01,-0.08,-1.00) r=0.81m +[headless_play] t= 12.90s step= 645 trunk_z= 120.1mm grav_b=(+0.02,-0.05,-1.00) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 123.0mm grav_b=(-0.01,+0.05,-1.00) r=0.82m +[headless_play] t= 13.10s step= 655 trunk_z= 124.1mm grav_b=(-0.00,+0.04,-1.00) r=0.84m +[headless_play] t= 13.20s step= 660 trunk_z= 114.7mm grav_b=(-0.02,-0.00,-1.00) r=0.86m +[headless_play] t= 13.30s step= 665 trunk_z= 122.4mm grav_b=(-0.03,-0.05,-1.00) r=0.88m +[headless_play] t= 13.40s step= 670 trunk_z= 120.4mm grav_b=(+0.00,-0.03,-1.00) r=0.89m +[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(+0.03,+0.06,-1.00) r=0.89m +[headless_play] t= 13.60s step= 680 trunk_z= 127.9mm grav_b=(+0.04,+0.13,-0.99) r=0.91m +[headless_play] t= 13.70s step= 685 trunk_z= 130.5mm grav_b=(+0.05,+0.14,-0.99) r=0.92m +[headless_play] t= 13.80s step= 690 trunk_z= 127.9mm grav_b=(+0.02,+0.07,-1.00) r=0.95m +[headless_play] t= 13.90s step= 695 trunk_z= 128.8mm grav_b=(+0.04,+0.03,-1.00) r=0.97m +[headless_play] t= 14.00s step= 700 trunk_z= 127.0mm grav_b=(+0.00,-0.01,-1.00) r=0.98m +[headless_play] t= 14.10s step= 705 trunk_z= 121.8mm grav_b=(-0.03,+0.03,-1.00) r=0.99m +[headless_play] t= 14.20s step= 710 trunk_z= 123.9mm grav_b=(-0.02,+0.01,-1.00) r=1.00m +[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(-0.08,+0.02,-1.00) r=1.01m +[headless_play] t= 14.40s step= 720 trunk_z= 120.5mm grav_b=(-0.12,-0.03,-0.99) r=1.02m +[headless_play] t= 14.50s step= 725 trunk_z= 116.3mm grav_b=(-0.06,+0.02,-1.00) r=1.00m +[headless_play] t= 14.60s step= 730 trunk_z= 116.1mm grav_b=(-0.04,+0.00,-1.00) r=0.98m +[headless_play] t= 14.70s step= 735 trunk_z= 115.3mm grav_b=(-0.01,-0.04,-1.00) r=0.98m +[headless_play] t= 14.80s step= 740 trunk_z= 104.6mm grav_b=(+0.03,-0.07,-1.00) r=0.97m +[headless_play] t= 14.90s step= 745 trunk_z= 114.9mm grav_b=(+0.00,-0.08,-1.00) r=0.96m +[headless_play] t= 15.00s step= 750 trunk_z= 110.9mm grav_b=(+0.06,-0.05,-1.00) r=0.94m +[headless_play] t= 15.10s step= 755 trunk_z= 111.3mm grav_b=(+0.09,+0.01,-1.00) r=0.94m +[headless_play] t= 15.20s step= 760 trunk_z= 113.1mm grav_b=(+0.08,-0.01,-1.00) r=0.93m +[headless_play] t= 15.30s step= 765 trunk_z= 114.2mm grav_b=(+0.06,-0.01,-1.00) r=0.93m +[headless_play] t= 15.40s step= 770 trunk_z= 114.5mm grav_b=(+0.04,-0.01,-1.00) r=0.93m +[headless_play] t= 15.50s step= 775 trunk_z= 114.7mm grav_b=(+0.03,-0.01,-1.00) r=0.92m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(+0.04,+0.03,-1.00) r=0.92m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(+0.05,+0.03,-1.00) r=0.92m +[headless_play] t= 15.80s step= 790 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.92m +[headless_play] t= 15.90s step= 795 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 16.00s step= 800 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 16.20s step= 810 trunk_z= 116.2mm grav_b=(+0.00,-0.00,-1.00) r=0.92m +[headless_play] t= 16.30s step= 815 trunk_z= 118.6mm grav_b=(+0.06,+0.03,-1.00) r=0.92m +[headless_play] t= 16.40s step= 820 trunk_z= 119.9mm grav_b=(+0.09,+0.05,-0.99) r=0.93m +[headless_play] t= 16.50s step= 825 trunk_z= 116.8mm grav_b=(+0.08,-0.01,-1.00) r=0.94m +[headless_play] t= 16.60s step= 830 trunk_z= 119.3mm grav_b=(+0.05,-0.02,-1.00) r=0.94m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.94m +[headless_play] t= 16.80s step= 840 trunk_z= 117.9mm grav_b=(-0.04,+0.01,-1.00) r=0.93m +[headless_play] t= 16.90s step= 845 trunk_z= 119.7mm grav_b=(-0.10,-0.02,-1.00) r=0.92m +[headless_play] t= 17.00s step= 850 trunk_z= 108.5mm grav_b=(-0.06,-0.08,-0.99) r=0.92m +[headless_play] t= 17.10s step= 855 trunk_z= 116.5mm grav_b=(-0.04,-0.03,-1.00) r=0.90m +[headless_play] t= 17.20s step= 860 trunk_z= 106.3mm grav_b=(+0.08,+0.05,-1.00) r=0.86m +[headless_play] t= 17.30s step= 865 trunk_z= 112.3mm grav_b=(+0.06,+0.06,-1.00) r=0.86m +[headless_play] t= 17.40s step= 870 trunk_z= 110.8mm grav_b=(+0.08,+0.01,-1.00) r=0.87m +[headless_play] t= 17.50s step= 875 trunk_z= 113.5mm grav_b=(+0.07,-0.02,-1.00) r=0.87m +[headless_play] t= 17.60s step= 880 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=0.86m +[headless_play] t= 17.70s step= 885 trunk_z= 118.9mm grav_b=(+0.09,-0.04,-1.00) r=0.87m +[headless_play] t= 17.80s step= 890 trunk_z= 124.0mm grav_b=(+0.04,-0.01,-1.00) r=0.87m +[headless_play] t= 17.90s step= 895 trunk_z= 118.4mm grav_b=(-0.01,+0.08,-1.00) r=0.87m +[headless_play] t= 18.00s step= 900 trunk_z= 119.1mm grav_b=(-0.01,+0.04,-1.00) r=0.87m +[headless_play] t= 18.10s step= 905 trunk_z= 115.4mm grav_b=(-0.05,-0.01,-1.00) r=0.89m +[headless_play] t= 18.20s step= 910 trunk_z= 117.9mm grav_b=(-0.05,-0.00,-1.00) r=0.89m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.89m +[headless_play] t= 18.40s step= 920 trunk_z= 117.7mm grav_b=(-0.04,-0.01,-1.00) r=0.89m +[headless_play] t= 18.50s step= 925 trunk_z= 117.9mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.60s step= 930 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.70s step= 935 trunk_z= 117.7mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.80s step= 940 trunk_z= 118.4mm grav_b=(-0.00,+0.01,-1.00) r=0.89m +[headless_play] t= 18.90s step= 945 trunk_z= 118.7mm grav_b=(+0.02,+0.01,-1.00) r=0.89m +[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(-0.00,+0.00,-1.00) r=0.89m +[headless_play] t= 19.10s step= 955 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 19.40s step= 970 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 19.50s step= 975 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 19.60s step= 980 trunk_z= 118.9mm grav_b=(+0.00,+0.03,-1.00) r=0.89m +[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(+0.01,+0.02,-1.00) r=0.89m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 19.90s step= 995 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.89m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t6.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..13de1edeb92058119e697c5dfb7fa8493cd61ab5 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t6.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.120,-18.024,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.7mm grav_b=(-0.01,-0.00,-1.00) r=0.12m +[headless_play] t= 0.10s step= 5 trunk_z= 114.2mm grav_b=(+0.05,-0.02,-1.00) r=0.11m +[headless_play] t= 0.20s step= 10 trunk_z= 113.5mm grav_b=(+0.11,-0.04,-0.99) r=0.10m +[headless_play] t= 0.30s step= 15 trunk_z= 112.9mm grav_b=(+0.09,+0.04,-0.99) r=0.08m +[headless_play] t= 0.40s step= 20 trunk_z= 118.1mm grav_b=(+0.11,+0.06,-0.99) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 114.9mm grav_b=(+0.14,+0.02,-0.99) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(+0.12,-0.03,-0.99) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 119.7mm grav_b=(+0.11,-0.04,-0.99) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 118.3mm grav_b=(+0.06,-0.04,-1.00) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(+0.07,+0.05,-1.00) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(+0.10,+0.03,-0.99) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 110.2mm grav_b=(+0.13,-0.02,-0.99) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 118.0mm grav_b=(+0.15,-0.04,-0.99) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(+0.12,-0.00,-0.99) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 120.8mm grav_b=(+0.06,+0.05,-1.00) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 118.2mm grav_b=(+0.09,+0.03,-1.00) r=0.12m +[headless_play] t= 1.60s step= 80 trunk_z= 114.9mm grav_b=(+0.19,-0.05,-0.98) r=0.16m +[headless_play] t= 1.70s step= 85 trunk_z= 123.6mm grav_b=(+0.18,-0.05,-0.98) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 115.0mm grav_b=(+0.10,+0.02,-0.99) r=0.22m +[headless_play] t= 1.90s step= 95 trunk_z= 127.0mm grav_b=(+0.09,-0.02,-1.00) r=0.25m +[headless_play] t= 2.00s step= 100 trunk_z= 109.7mm grav_b=(+0.06,-0.03,-1.00) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(+0.10,-0.03,-0.99) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(+0.10,+0.01,-0.99) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 121.8mm grav_b=(+0.05,+0.05,-1.00) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 118.7mm grav_b=(+0.10,+0.05,-0.99) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 112.8mm grav_b=(+0.13,-0.03,-0.99) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.15,-0.05,-0.99) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 116.3mm grav_b=(+0.12,+0.01,-0.99) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 120.9mm grav_b=(+0.08,+0.06,-1.00) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 117.6mm grav_b=(+0.14,+0.05,-0.99) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 115.0mm grav_b=(+0.16,-0.01,-0.99) r=0.47m +[headless_play] t= 3.10s step= 155 trunk_z= 117.2mm grav_b=(+0.14,-0.02,-0.99) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 115.1mm grav_b=(+0.08,+0.04,-1.00) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 120.6mm grav_b=(+0.07,+0.03,-1.00) r=0.51m +[headless_play] t= 3.40s step= 170 trunk_z= 113.1mm grav_b=(+0.10,-0.00,-0.99) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 115.8mm grav_b=(+0.12,-0.05,-0.99) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 116.2mm grav_b=(+0.12,-0.01,-0.99) r=0.56m +[headless_play] t= 3.70s step= 185 trunk_z= 118.5mm grav_b=(+0.08,+0.05,-1.00) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 119.7mm grav_b=(+0.12,-0.00,-0.99) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(+0.13,-0.02,-0.99) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 124.3mm grav_b=(+0.12,+0.05,-0.99) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 120.5mm grav_b=(+0.10,+0.09,-0.99) r=0.63m +[headless_play] t= 4.20s step= 210 trunk_z= 129.2mm grav_b=(+0.12,+0.10,-0.99) r=0.65m +[headless_play] t= 4.30s step= 215 trunk_z= 129.6mm grav_b=(+0.08,+0.09,-0.99) r=0.66m +[headless_play] t= 4.40s step= 220 trunk_z= 123.2mm grav_b=(+0.07,+0.01,-1.00) r=0.69m +[headless_play] t= 4.50s step= 225 trunk_z= 119.7mm grav_b=(+0.06,+0.07,-1.00) r=0.67m +[headless_play] t= 4.60s step= 230 trunk_z= 121.6mm grav_b=(+0.04,+0.09,-1.00) r=0.67m +[headless_play] t= 4.70s step= 235 trunk_z= 119.6mm grav_b=(+0.04,+0.05,-1.00) r=0.67m +[headless_play] t= 4.80s step= 240 trunk_z= 118.5mm grav_b=(+0.03,+0.03,-1.00) r=0.67m +[headless_play] t= 4.90s step= 245 trunk_z= 117.7mm grav_b=(+0.01,+0.02,-1.00) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 117.1mm grav_b=(-0.00,+0.01,-1.00) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 117.3mm grav_b=(+0.04,+0.00,-1.00) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.66m +[headless_play] t= 5.80s step= 290 trunk_z= 115.0mm grav_b=(+0.03,-0.04,-1.00) r=0.67m +[headless_play] t= 5.90s step= 295 trunk_z= 115.5mm grav_b=(+0.08,+0.00,-1.00) r=0.67m +[headless_play] t= 6.00s step= 300 trunk_z= 116.8mm grav_b=(+0.08,+0.01,-1.00) r=0.67m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(+0.10,+0.01,-0.99) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 117.9mm grav_b=(+0.13,+0.01,-0.99) r=0.68m +[headless_play] t= 6.30s step= 315 trunk_z= 119.2mm grav_b=(+0.15,+0.01,-0.99) r=0.68m +[headless_play] t= 6.40s step= 320 trunk_z= 126.0mm grav_b=(+0.23,+0.05,-0.97) r=0.70m +[headless_play] t= 6.50s step= 325 trunk_z= 109.4mm grav_b=(+0.15,+0.01,-0.99) r=0.75m +[headless_play] t= 6.60s step= 330 trunk_z= 73.0mm grav_b=(+0.39,-0.26,-0.88) r=0.79m +[headless_play] RESET at t= 6.68s step= 334 (env termination, not a recovery) +[headless_play] t= 6.70s step= 335 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 6.80s step= 340 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 6.90s step= 345 trunk_z= 115.4mm grav_b=(+0.06,+0.03,-1.00) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 113.7mm grav_b=(+0.10,-0.01,-0.99) r=0.32m +[headless_play] t= 7.10s step= 355 trunk_z= 108.3mm grav_b=(+0.11,-0.06,-0.99) r=0.33m +[headless_play] t= 7.20s step= 360 trunk_z= 117.9mm grav_b=(+0.09,-0.06,-0.99) r=0.33m +[headless_play] t= 7.30s step= 365 trunk_z= 114.6mm grav_b=(+0.09,-0.04,-1.00) r=0.31m +[headless_play] t= 7.40s step= 370 trunk_z= 115.9mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 7.50s step= 375 trunk_z= 114.2mm grav_b=(+0.12,-0.00,-0.99) r=0.29m +[headless_play] t= 7.60s step= 380 trunk_z= 108.2mm grav_b=(+0.13,-0.04,-0.99) r=0.30m +[headless_play] t= 7.70s step= 385 trunk_z= 116.9mm grav_b=(+0.12,-0.07,-0.99) r=0.30m +[headless_play] t= 7.80s step= 390 trunk_z= 114.6mm grav_b=(+0.12,-0.07,-0.99) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 115.0mm grav_b=(+0.09,+0.01,-1.00) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 116.3mm grav_b=(+0.13,+0.02,-0.99) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 111.7mm grav_b=(+0.13,-0.01,-0.99) r=0.29m +[headless_play] t= 8.20s step= 410 trunk_z= 120.1mm grav_b=(+0.01,-0.08,-1.00) r=0.31m +[headless_play] t= 8.30s step= 415 trunk_z= 122.4mm grav_b=(+0.08,-0.04,-1.00) r=0.31m +[headless_play] t= 8.40s step= 420 trunk_z= 109.6mm grav_b=(+0.18,+0.05,-0.98) r=0.30m +[headless_play] t= 8.50s step= 425 trunk_z= 110.9mm grav_b=(+0.19,+0.03,-0.98) r=0.31m +[headless_play] t= 8.60s step= 430 trunk_z= 110.9mm grav_b=(+0.11,-0.06,-0.99) r=0.34m +[headless_play] t= 8.70s step= 435 trunk_z= 119.8mm grav_b=(+0.08,-0.09,-0.99) r=0.35m +[headless_play] t= 8.80s step= 440 trunk_z= 111.2mm grav_b=(+0.19,-0.03,-0.98) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 117.6mm grav_b=(+0.18,+0.05,-0.98) r=0.33m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(+0.13,+0.02,-0.99) r=0.33m +[headless_play] t= 9.10s step= 455 trunk_z= 108.6mm grav_b=(+0.11,-0.04,-0.99) r=0.35m +[headless_play] t= 9.20s step= 460 trunk_z= 119.6mm grav_b=(+0.06,-0.06,-1.00) r=0.36m +[headless_play] t= 9.30s step= 465 trunk_z= 115.6mm grav_b=(+0.12,-0.04,-0.99) r=0.36m +[headless_play] t= 9.40s step= 470 trunk_z= 116.1mm grav_b=(+0.12,+0.03,-0.99) r=0.35m +[headless_play] t= 9.50s step= 475 trunk_z= 114.0mm grav_b=(+0.14,+0.00,-0.99) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 108.0mm grav_b=(+0.14,-0.04,-0.99) r=0.38m +[headless_play] t= 9.70s step= 485 trunk_z= 117.7mm grav_b=(+0.12,-0.09,-0.99) r=0.40m +[headless_play] t= 9.80s step= 490 trunk_z= 114.5mm grav_b=(+0.17,-0.05,-0.98) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(+0.13,+0.04,-0.99) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 117.7mm grav_b=(+0.15,+0.03,-0.99) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 113.3mm grav_b=(+0.09,-0.04,-0.99) r=0.45m +[headless_play] t= 10.20s step= 510 trunk_z= 120.9mm grav_b=(+0.08,-0.06,-1.00) r=0.47m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(+0.10,-0.03,-0.99) r=0.46m +[headless_play] t= 10.40s step= 520 trunk_z= 120.4mm grav_b=(+0.07,+0.01,-1.00) r=0.46m +[headless_play] t= 10.50s step= 525 trunk_z= 119.3mm grav_b=(+0.10,-0.01,-0.99) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 115.7mm grav_b=(+0.14,-0.11,-0.98) r=0.52m +[headless_play] t= 10.70s step= 535 trunk_z= 130.3mm grav_b=(+0.16,-0.14,-0.98) r=0.56m +[headless_play] t= 10.80s step= 540 trunk_z= 126.8mm grav_b=(+0.16,-0.14,-0.98) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 112.8mm grav_b=(+0.18,-0.10,-0.98) r=0.62m +[headless_play] t= 11.00s step= 550 trunk_z= 101.8mm grav_b=(+0.22,-0.05,-0.97) r=0.65m +[headless_play] t= 11.10s step= 555 trunk_z= 69.9mm grav_b=(+0.24,+0.57,-0.79) r=0.67m +[headless_play] RESET at t= 11.18s step= 559 (env termination, not a recovery) +[headless_play] t= 11.20s step= 560 trunk_z= 125.8mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 114.6mm grav_b=(+0.04,+0.03,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 118.6mm grav_b=(+0.09,+0.02,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 114.3mm grav_b=(+0.08,-0.06,-1.00) r=0.48m +[headless_play] t= 11.60s step= 580 trunk_z= 122.5mm grav_b=(+0.14,-0.07,-0.99) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 123.5mm grav_b=(+0.13,-0.01,-0.99) r=0.46m +[headless_play] t= 11.80s step= 590 trunk_z= 124.2mm grav_b=(+0.11,+0.01,-0.99) r=0.44m +[headless_play] t= 11.90s step= 595 trunk_z= 127.5mm grav_b=(+0.13,-0.00,-0.99) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 115.5mm grav_b=(+0.08,-0.04,-1.00) r=0.45m +[headless_play] t= 12.10s step= 605 trunk_z= 125.6mm grav_b=(+0.09,-0.03,-1.00) r=0.45m +[headless_play] t= 12.20s step= 610 trunk_z= 122.6mm grav_b=(+0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 12.30s step= 615 trunk_z= 124.1mm grav_b=(+0.08,+0.01,-1.00) r=0.41m +[headless_play] t= 12.40s step= 620 trunk_z= 125.8mm grav_b=(+0.12,+0.00,-0.99) r=0.41m +[headless_play] t= 12.50s step= 625 trunk_z= 118.0mm grav_b=(+0.11,-0.03,-0.99) r=0.44m +[headless_play] t= 12.60s step= 630 trunk_z= 129.6mm grav_b=(+0.13,-0.01,-0.99) r=0.44m +[headless_play] t= 12.70s step= 635 trunk_z= 118.7mm grav_b=(+0.10,+0.01,-0.99) r=0.44m +[headless_play] t= 12.80s step= 640 trunk_z= 126.6mm grav_b=(+0.11,-0.02,-0.99) r=0.44m +[headless_play] t= 12.90s step= 645 trunk_z= 121.9mm grav_b=(+0.08,-0.05,-1.00) r=0.47m +[headless_play] t= 13.00s step= 650 trunk_z= 120.0mm grav_b=(+0.08,-0.06,-0.99) r=0.49m +[headless_play] t= 13.10s step= 655 trunk_z= 121.1mm grav_b=(+0.08,-0.03,-1.00) r=0.49m +[headless_play] t= 13.20s step= 660 trunk_z= 122.3mm grav_b=(+0.07,+0.04,-1.00) r=0.47m +[headless_play] t= 13.30s step= 665 trunk_z= 130.0mm grav_b=(+0.10,+0.09,-0.99) r=0.46m +[headless_play] t= 13.40s step= 670 trunk_z= 132.8mm grav_b=(+0.13,+0.10,-0.99) r=0.47m +[headless_play] t= 13.50s step= 675 trunk_z= 124.8mm grav_b=(+0.09,+0.03,-1.00) r=0.49m +[headless_play] t= 13.60s step= 680 trunk_z= 131.3mm grav_b=(+0.12,+0.05,-0.99) r=0.50m +[headless_play] t= 13.70s step= 685 trunk_z= 120.2mm grav_b=(+0.09,+0.00,-1.00) r=0.51m +[headless_play] t= 13.80s step= 690 trunk_z= 126.9mm grav_b=(+0.15,+0.03,-0.99) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 132.3mm grav_b=(+0.16,+0.10,-0.98) r=0.51m +[headless_play] t= 14.00s step= 700 trunk_z= 128.6mm grav_b=(+0.14,+0.10,-0.98) r=0.53m +[headless_play] t= 14.10s step= 705 trunk_z= 118.3mm grav_b=(+0.23,+0.04,-0.97) r=0.55m +[headless_play] t= 14.20s step= 710 trunk_z= 124.6mm grav_b=(+0.14,-0.03,-0.99) r=0.56m +[headless_play] t= 14.30s step= 715 trunk_z= 120.4mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 125.2mm grav_b=(+0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 14.50s step= 725 trunk_z= 119.2mm grav_b=(+0.08,-0.02,-1.00) r=0.56m +[headless_play] t= 14.60s step= 730 trunk_z= 122.6mm grav_b=(+0.10,-0.06,-0.99) r=0.59m +[headless_play] t= 14.70s step= 735 trunk_z= 127.5mm grav_b=(+0.16,-0.09,-0.98) r=0.61m +[headless_play] t= 14.80s step= 740 trunk_z= 122.1mm grav_b=(+0.13,-0.04,-0.99) r=0.63m +[headless_play] t= 14.90s step= 745 trunk_z= 126.0mm grav_b=(+0.15,-0.03,-0.99) r=0.65m +[headless_play] t= 15.00s step= 750 trunk_z= 127.3mm grav_b=(+0.10,-0.04,-0.99) r=0.68m +[headless_play] t= 15.10s step= 755 trunk_z= 119.1mm grav_b=(+0.10,-0.03,-0.99) r=0.71m +[headless_play] t= 15.20s step= 760 trunk_z= 124.0mm grav_b=(+0.14,+0.00,-0.99) r=0.73m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(+0.10,+0.04,-0.99) r=0.74m +[headless_play] t= 15.40s step= 770 trunk_z= 124.4mm grav_b=(+0.10,+0.01,-0.99) r=0.75m +[headless_play] t= 15.50s step= 775 trunk_z= 119.7mm grav_b=(+0.12,-0.04,-0.99) r=0.79m +[headless_play] t= 15.60s step= 780 trunk_z= 125.2mm grav_b=(+0.16,-0.04,-0.99) r=0.83m +[headless_play] t= 15.70s step= 785 trunk_z= 127.3mm grav_b=(+0.14,-0.00,-0.99) r=0.86m +[headless_play] t= 15.80s step= 790 trunk_z= 118.1mm grav_b=(+0.12,+0.01,-0.99) r=0.88m +[headless_play] t= 15.90s step= 795 trunk_z= 125.0mm grav_b=(+0.11,-0.02,-0.99) r=0.91m +[headless_play] t= 16.00s step= 800 trunk_z= 114.2mm grav_b=(+0.08,-0.05,-1.00) r=0.94m +[headless_play] t= 16.10s step= 805 trunk_z= 121.6mm grav_b=(+0.11,-0.05,-0.99) r=0.96m +[headless_play] t= 16.20s step= 810 trunk_z= 117.9mm grav_b=(+0.11,-0.02,-0.99) r=0.96m +[headless_play] t= 16.30s step= 815 trunk_z= 123.4mm grav_b=(+0.09,+0.02,-1.00) r=0.96m +[headless_play] t= 16.40s step= 820 trunk_z= 122.9mm grav_b=(+0.10,+0.00,-0.99) r=0.98m +[headless_play] t= 16.50s step= 825 trunk_z= 115.5mm grav_b=(+0.09,-0.04,-0.99) r=1.01m +[headless_play] t= 16.60s step= 830 trunk_z= 123.1mm grav_b=(+0.12,-0.00,-0.99) r=1.02m +[headless_play] t= 16.70s step= 835 trunk_z= 117.3mm grav_b=(+0.09,+0.04,-1.00) r=1.03m +[headless_play] t= 16.80s step= 840 trunk_z= 124.8mm grav_b=(+0.10,+0.01,-0.99) r=1.03m +[headless_play] t= 16.90s step= 845 trunk_z= 121.2mm grav_b=(+0.11,-0.01,-0.99) r=1.05m +[headless_play] t= 17.00s step= 850 trunk_z= 120.7mm grav_b=(+0.11,-0.05,-0.99) r=1.08m +[headless_play] t= 17.10s step= 855 trunk_z= 122.9mm grav_b=(+0.13,-0.04,-0.99) r=1.10m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(+0.09,+0.03,-1.00) r=1.10m +[headless_play] t= 17.30s step= 865 trunk_z= 127.9mm grav_b=(+0.11,+0.08,-0.99) r=1.10m +[headless_play] t= 17.40s step= 870 trunk_z= 128.0mm grav_b=(+0.14,+0.10,-0.98) r=1.11m +[headless_play] t= 17.50s step= 875 trunk_z= 128.2mm grav_b=(+0.14,+0.06,-0.99) r=1.14m +[headless_play] t= 17.60s step= 880 trunk_z= 114.7mm grav_b=(+0.08,+0.07,-0.99) r=1.18m +[headless_play] t= 17.70s step= 885 trunk_z= 119.8mm grav_b=(+0.06,+0.06,-1.00) r=1.19m +[headless_play] t= 17.80s step= 890 trunk_z= 117.4mm grav_b=(+0.09,+0.02,-1.00) r=1.21m +[headless_play] t= 17.90s step= 895 trunk_z= 116.7mm grav_b=(+0.11,-0.00,-0.99) r=1.22m +[headless_play] t= 18.00s step= 900 trunk_z= 112.1mm grav_b=(+0.12,-0.05,-0.99) r=1.24m +[headless_play] t= 18.10s step= 905 trunk_z= 114.3mm grav_b=(+0.15,-0.02,-0.99) r=1.26m +[headless_play] t= 18.20s step= 910 trunk_z= 113.8mm grav_b=(+0.11,+0.05,-0.99) r=1.27m +[headless_play] t= 18.30s step= 915 trunk_z= 121.2mm grav_b=(+0.09,+0.04,-0.99) r=1.29m +[headless_play] t= 18.40s step= 920 trunk_z= 114.5mm grav_b=(+0.14,+0.00,-0.99) r=1.31m +[headless_play] t= 18.50s step= 925 trunk_z= 118.3mm grav_b=(+0.12,-0.08,-0.99) r=1.34m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(+0.16,-0.06,-0.98) r=1.36m +[headless_play] t= 18.70s step= 935 trunk_z= 114.4mm grav_b=(+0.13,+0.06,-0.99) r=1.38m +[headless_play] t= 18.80s step= 940 trunk_z= 121.9mm grav_b=(+0.10,+0.06,-0.99) r=1.40m +[headless_play] t= 18.90s step= 945 trunk_z= 117.8mm grav_b=(+0.08,+0.07,-0.99) r=1.41m +[headless_play] t= 19.00s step= 950 trunk_z= 112.2mm grav_b=(+0.13,-0.07,-0.99) r=1.43m +[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(+0.18,-0.07,-0.98) r=1.45m +[headless_play] t= 19.20s step= 960 trunk_z= 114.1mm grav_b=(+0.17,-0.00,-0.99) r=1.46m +[headless_play] t= 19.30s step= 965 trunk_z= 120.4mm grav_b=(+0.10,+0.07,-0.99) r=1.48m +[headless_play] t= 19.40s step= 970 trunk_z= 115.0mm grav_b=(+0.12,+0.03,-0.99) r=1.50m +[headless_play] t= 19.50s step= 975 trunk_z= 115.4mm grav_b=(+0.11,-0.06,-0.99) r=1.53m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(+0.14,-0.07,-0.99) r=1.55m +[headless_play] t= 19.70s step= 985 trunk_z= 113.7mm grav_b=(+0.17,+0.01,-0.99) r=1.56m +[headless_play] t= 19.80s step= 990 trunk_z= 119.5mm grav_b=(+0.10,+0.07,-0.99) r=1.57m +[headless_play] t= 19.90s step= 995 trunk_z= 116.9mm grav_b=(+0.10,-0.01,-1.00) r=1.58m +[headless_play] t= 20.00s step=1000 trunk_z= 111.0mm grav_b=(+0.16,-0.09,-0.98) r=1.60m +[headless_play] t= 20.10s step=1005 trunk_z= 114.9mm grav_b=(+0.18,-0.02,-0.98) r=1.61m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t7.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..9a9ed5d0d197446f47eefdf0471bfa0e3f0f26a0 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.610,-17.651,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(+0.02,-0.03,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(+0.00,-0.02,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 119.0mm grav_b=(+0.06,+0.01,-1.00) r=0.52m +[headless_play] t= 1.80s step= 90 trunk_z= 120.5mm grav_b=(+0.07,-0.03,-1.00) r=0.53m +[headless_play] t= 1.90s step= 95 trunk_z= 122.7mm grav_b=(+0.09,-0.09,-0.99) r=0.54m +[headless_play] t= 2.00s step= 100 trunk_z= 124.6mm grav_b=(+0.04,-0.07,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 122.2mm grav_b=(-0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 2.20s step= 110 trunk_z= 118.3mm grav_b=(-0.07,-0.06,-1.00) r=0.56m +[headless_play] t= 2.30s step= 115 trunk_z= 115.3mm grav_b=(-0.11,-0.05,-0.99) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(-0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 121.0mm grav_b=(+0.06,+0.03,-1.00) r=0.58m +[headless_play] t= 2.60s step= 130 trunk_z= 115.0mm grav_b=(+0.03,-0.05,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 121.0mm grav_b=(+0.01,-0.09,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 124.3mm grav_b=(-0.01,-0.10,-1.00) r=0.64m +[headless_play] t= 2.90s step= 145 trunk_z= 118.1mm grav_b=(-0.06,-0.07,-1.00) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(-0.06,-0.05,-1.00) r=0.63m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.06,-0.02,-1.00) r=0.63m +[headless_play] t= 3.20s step= 160 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.63m +[headless_play] t= 3.30s step= 165 trunk_z= 118.3mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(-0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 3.50s step= 175 trunk_z= 117.5mm grav_b=(-0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(-0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 3.80s step= 190 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 4.00s step= 200 trunk_z= 120.4mm grav_b=(+0.07,-0.03,-1.00) r=0.65m +[headless_play] t= 4.10s step= 205 trunk_z= 122.8mm grav_b=(+0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 4.20s step= 210 trunk_z= 111.7mm grav_b=(-0.03,+0.07,-1.00) r=0.67m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(-0.03,-0.06,-1.00) r=0.68m +[headless_play] t= 4.40s step= 220 trunk_z= 118.4mm grav_b=(+0.03,-0.05,-1.00) r=0.70m +[headless_play] t= 4.50s step= 225 trunk_z= 120.6mm grav_b=(+0.06,+0.01,-1.00) r=0.73m +[headless_play] t= 4.60s step= 230 trunk_z= 115.3mm grav_b=(-0.01,+0.07,-1.00) r=0.77m +[headless_play] t= 4.70s step= 235 trunk_z= 123.3mm grav_b=(-0.00,+0.06,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 122.3mm grav_b=(-0.01,+0.03,-1.00) r=0.80m +[headless_play] t= 4.90s step= 245 trunk_z= 118.6mm grav_b=(+0.00,-0.01,-1.00) r=0.83m +[headless_play] t= 5.00s step= 250 trunk_z= 123.1mm grav_b=(+0.03,-0.04,-1.00) r=0.85m +[headless_play] t= 5.10s step= 255 trunk_z= 119.9mm grav_b=(+0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 5.20s step= 260 trunk_z= 120.2mm grav_b=(-0.01,+0.01,-1.00) r=0.87m +[headless_play] t= 5.30s step= 265 trunk_z= 118.3mm grav_b=(-0.01,-0.02,-1.00) r=0.89m +[headless_play] t= 5.40s step= 270 trunk_z= 117.9mm grav_b=(+0.02,-0.07,-1.00) r=0.90m +[headless_play] t= 5.50s step= 275 trunk_z= 121.8mm grav_b=(+0.02,-0.06,-1.00) r=0.92m +[headless_play] t= 5.60s step= 280 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=0.93m +[headless_play] t= 5.70s step= 285 trunk_z= 122.6mm grav_b=(-0.07,+0.08,-0.99) r=0.94m +[headless_play] t= 5.80s step= 290 trunk_z= 125.7mm grav_b=(-0.05,+0.08,-1.00) r=0.95m +[headless_play] t= 5.90s step= 295 trunk_z= 122.9mm grav_b=(-0.01,+0.01,-1.00) r=0.95m +[headless_play] t= 6.00s step= 300 trunk_z= 121.5mm grav_b=(-0.01,-0.07,-1.00) r=0.96m +[headless_play] t= 6.10s step= 305 trunk_z= 122.6mm grav_b=(+0.02,-0.09,-1.00) r=0.97m +[headless_play] t= 6.20s step= 310 trunk_z= 119.6mm grav_b=(+0.05,-0.08,-1.00) r=0.99m +[headless_play] t= 6.30s step= 315 trunk_z= 122.3mm grav_b=(+0.09,-0.03,-1.00) r=1.01m +[headless_play] t= 6.40s step= 320 trunk_z= 121.0mm grav_b=(+0.09,-0.06,-0.99) r=1.04m +[headless_play] t= 6.50s step= 325 trunk_z= 123.2mm grav_b=(+0.07,-0.09,-0.99) r=1.08m +[headless_play] t= 6.60s step= 330 trunk_z= 128.6mm grav_b=(+0.03,-0.09,-1.00) r=1.11m +[headless_play] t= 6.70s step= 335 trunk_z= 112.3mm grav_b=(-0.03,-0.02,-1.00) r=1.16m +[headless_play] t= 6.80s step= 340 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=1.17m +[headless_play] t= 6.90s step= 345 trunk_z= 117.6mm grav_b=(-0.03,-0.03,-1.00) r=1.18m +[headless_play] t= 7.00s step= 350 trunk_z= 119.4mm grav_b=(-0.02,-0.14,-0.99) r=1.18m +[headless_play] t= 7.10s step= 355 trunk_z= 125.3mm grav_b=(-0.00,-0.19,-0.98) r=1.19m +[headless_play] t= 7.20s step= 360 trunk_z= 125.5mm grav_b=(+0.06,-0.15,-0.99) r=1.20m +[headless_play] t= 7.30s step= 365 trunk_z= 114.7mm grav_b=(+0.14,-0.02,-0.99) r=1.24m +[headless_play] t= 7.40s step= 370 trunk_z= 115.0mm grav_b=(+0.15,+0.05,-0.99) r=1.28m +[headless_play] t= 7.50s step= 375 trunk_z= 116.0mm grav_b=(+0.08,-0.01,-1.00) r=1.30m +[headless_play] t= 7.60s step= 380 trunk_z= 91.8mm grav_b=(-0.01,+0.16,-0.99) r=1.33m +[headless_play] t= 7.70s step= 385 trunk_z= 89.6mm grav_b=(-0.07,+0.30,-0.95) r=1.34m +[headless_play] t= 7.80s step= 390 trunk_z= 90.6mm grav_b=(-0.11,+0.32,-0.94) r=1.35m +[headless_play] t= 7.90s step= 395 trunk_z= 84.1mm grav_b=(-0.06,+0.51,-0.86) r=1.36m +[headless_play] t= 8.00s step= 400 trunk_z= 52.9mm grav_b=(+0.16,+0.72,-0.67) r=1.40m +[headless_play] RESET at t= 8.06s step= 403 (env termination, not a recovery) +[headless_play] t= 8.10s step= 405 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 8.20s step= 410 trunk_z= 115.0mm grav_b=(-0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 8.30s step= 415 trunk_z= 118.9mm grav_b=(-0.05,+0.05,-1.00) r=0.46m +[headless_play] t= 8.40s step= 420 trunk_z= 115.3mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 8.50s step= 425 trunk_z= 120.4mm grav_b=(-0.02,-0.07,-1.00) r=0.49m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(+0.01,-0.01,-1.00) r=0.51m +[headless_play] t= 8.70s step= 435 trunk_z= 119.7mm grav_b=(+0.04,+0.05,-1.00) r=0.53m +[headless_play] t= 8.80s step= 440 trunk_z= 129.6mm grav_b=(+0.07,+0.05,-1.00) r=0.55m +[headless_play] t= 8.90s step= 445 trunk_z= 127.8mm grav_b=(+0.00,+0.03,-1.00) r=0.58m +[headless_play] t= 9.00s step= 450 trunk_z= 114.4mm grav_b=(-0.04,+0.02,-1.00) r=0.61m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(-0.09,+0.02,-1.00) r=0.62m +[headless_play] t= 9.20s step= 460 trunk_z= 117.5mm grav_b=(-0.12,+0.06,-0.99) r=0.61m +[headless_play] t= 9.30s step= 465 trunk_z= 123.2mm grav_b=(-0.11,+0.05,-0.99) r=0.62m +[headless_play] t= 9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.10,+0.01,-0.99) r=0.63m +[headless_play] t= 9.50s step= 475 trunk_z= 120.1mm grav_b=(-0.05,-0.07,-1.00) r=0.64m +[headless_play] t= 9.60s step= 480 trunk_z= 120.8mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 9.70s step= 485 trunk_z= 115.4mm grav_b=(-0.01,+0.03,-1.00) r=0.66m +[headless_play] t= 9.80s step= 490 trunk_z= 123.9mm grav_b=(-0.02,+0.07,-1.00) r=0.67m +[headless_play] t= 9.90s step= 495 trunk_z= 124.7mm grav_b=(-0.02,+0.05,-1.00) r=0.68m +[headless_play] t= 10.00s step= 500 trunk_z= 119.7mm grav_b=(-0.05,+0.02,-1.00) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 121.2mm grav_b=(+0.02,-0.00,-1.00) r=0.71m +[headless_play] t= 10.20s step= 510 trunk_z= 119.9mm grav_b=(-0.01,+0.06,-1.00) r=0.73m +[headless_play] t= 10.30s step= 515 trunk_z= 117.4mm grav_b=(-0.01,+0.09,-1.00) r=0.75m +[headless_play] t= 10.40s step= 520 trunk_z= 122.9mm grav_b=(-0.05,+0.05,-1.00) r=0.76m +[headless_play] t= 10.50s step= 525 trunk_z= 119.1mm grav_b=(-0.07,+0.03,-1.00) r=0.77m +[headless_play] t= 10.60s step= 530 trunk_z= 120.2mm grav_b=(-0.07,-0.04,-1.00) r=0.78m +[headless_play] t= 10.70s step= 535 trunk_z= 121.6mm grav_b=(-0.03,-0.01,-1.00) r=0.79m +[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(-0.04,+0.09,-1.00) r=0.80m +[headless_play] t= 10.90s step= 545 trunk_z= 128.6mm grav_b=(-0.07,+0.20,-0.98) r=0.81m +[headless_play] t= 11.00s step= 550 trunk_z= 127.4mm grav_b=(+0.04,+0.21,-0.98) r=0.82m +[headless_play] t= 11.10s step= 555 trunk_z= 136.8mm grav_b=(+0.08,+0.21,-0.97) r=0.86m +[headless_play] t= 11.20s step= 560 trunk_z= 114.8mm grav_b=(+0.07,+0.18,-0.98) r=0.91m +[headless_play] t= 11.30s step= 565 trunk_z= 134.4mm grav_b=(+0.16,+0.12,-0.98) r=0.93m +[headless_play] t= 11.40s step= 570 trunk_z= 109.3mm grav_b=(+0.02,-0.05,-1.00) r=0.94m +[headless_play] t= 11.50s step= 575 trunk_z= 116.7mm grav_b=(+0.10,-0.07,-0.99) r=0.96m +[headless_play] t= 11.60s step= 580 trunk_z= 119.3mm grav_b=(+0.01,-0.08,-1.00) r=1.00m +[headless_play] t= 11.70s step= 585 trunk_z= 102.9mm grav_b=(-0.11,-0.11,-0.99) r=1.05m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(-0.10,-0.11,-0.99) r=1.06m +[headless_play] t= 11.90s step= 595 trunk_z= 117.8mm grav_b=(-0.05,-0.05,-1.00) r=1.06m +[headless_play] t= 12.00s step= 600 trunk_z= 115.0mm grav_b=(-0.04,+0.04,-1.00) r=1.04m +[headless_play] t= 12.10s step= 605 trunk_z= 115.3mm grav_b=(-0.02,+0.05,-1.00) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 110.4mm grav_b=(+0.04,+0.02,-1.00) r=1.05m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(+0.03,-0.05,-1.00) r=1.06m +[headless_play] t= 12.40s step= 620 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.05m +[headless_play] t= 12.50s step= 625 trunk_z= 115.2mm grav_b=(-0.01,+0.08,-1.00) r=1.03m +[headless_play] t= 12.60s step= 630 trunk_z= 118.2mm grav_b=(-0.00,+0.07,-1.00) r=1.03m +[headless_play] t= 12.70s step= 635 trunk_z= 113.2mm grav_b=(+0.02,+0.04,-1.00) r=1.05m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(+0.03,-0.05,-1.00) r=1.07m +[headless_play] t= 12.90s step= 645 trunk_z= 119.6mm grav_b=(+0.11,-0.05,-0.99) r=1.08m +[headless_play] t= 13.00s step= 650 trunk_z= 112.4mm grav_b=(+0.07,+0.04,-1.00) r=1.07m +[headless_play] t= 13.10s step= 655 trunk_z= 121.4mm grav_b=(+0.04,+0.05,-1.00) r=1.07m +[headless_play] t= 13.20s step= 660 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 13.30s step= 665 trunk_z= 119.4mm grav_b=(-0.06,-0.03,-1.00) r=1.11m +[headless_play] t= 13.40s step= 670 trunk_z= 116.6mm grav_b=(-0.04,+0.05,-1.00) r=1.10m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.02,+0.11,-0.99) r=1.09m +[headless_play] t= 13.60s step= 680 trunk_z= 114.5mm grav_b=(-0.00,+0.07,-1.00) r=1.09m +[headless_play] t= 13.70s step= 685 trunk_z= 110.6mm grav_b=(+0.02,-0.03,-1.00) r=1.12m +[headless_play] t= 13.80s step= 690 trunk_z= 119.9mm grav_b=(+0.01,-0.09,-1.00) r=1.14m +[headless_play] t= 13.90s step= 695 trunk_z= 119.0mm grav_b=(+0.03,-0.07,-1.00) r=1.14m +[headless_play] t= 14.00s step= 700 trunk_z= 112.1mm grav_b=(+0.02,+0.04,-1.00) r=1.12m +[headless_play] t= 14.10s step= 705 trunk_z= 121.4mm grav_b=(+0.01,+0.13,-0.99) r=1.11m +[headless_play] t= 14.20s step= 710 trunk_z= 121.9mm grav_b=(+0.04,+0.12,-0.99) r=1.11m +[headless_play] t= 14.30s step= 715 trunk_z= 118.9mm grav_b=(+0.03,+0.09,-1.00) r=1.13m +[headless_play] t= 14.40s step= 720 trunk_z= 120.3mm grav_b=(-0.02,-0.06,-1.00) r=1.15m +[headless_play] t= 14.50s step= 725 trunk_z= 120.2mm grav_b=(-0.02,-0.04,-1.00) r=1.15m +[headless_play] t= 14.60s step= 730 trunk_z= 114.7mm grav_b=(-0.03,+0.05,-1.00) r=1.14m +[headless_play] t= 14.70s step= 735 trunk_z= 120.5mm grav_b=(-0.01,+0.07,-1.00) r=1.14m +[headless_play] t= 14.80s step= 740 trunk_z= 116.6mm grav_b=(+0.02,+0.05,-1.00) r=1.15m +[headless_play] t= 14.90s step= 745 trunk_z= 115.2mm grav_b=(+0.01,-0.04,-1.00) r=1.18m +[headless_play] t= 15.00s step= 750 trunk_z= 119.3mm grav_b=(+0.01,-0.03,-1.00) r=1.18m +[headless_play] t= 15.10s step= 755 trunk_z= 113.4mm grav_b=(+0.02,+0.02,-1.00) r=1.17m +[headless_play] t= 15.20s step= 760 trunk_z= 119.4mm grav_b=(-0.02,+0.11,-0.99) r=1.16m +[headless_play] t= 15.30s step= 765 trunk_z= 123.5mm grav_b=(-0.03,+0.12,-0.99) r=1.15m +[headless_play] t= 15.40s step= 770 trunk_z= 123.1mm grav_b=(-0.01,+0.09,-1.00) r=1.15m +[headless_play] t= 15.50s step= 775 trunk_z= 117.5mm grav_b=(+0.00,+0.07,-1.00) r=1.17m +[headless_play] t= 15.60s step= 780 trunk_z= 119.1mm grav_b=(-0.04,-0.07,-1.00) r=1.20m +[headless_play] t= 15.70s step= 785 trunk_z= 124.2mm grav_b=(-0.03,-0.07,-1.00) r=1.20m +[headless_play] t= 15.80s step= 790 trunk_z= 119.8mm grav_b=(-0.03,-0.05,-1.00) r=1.19m +[headless_play] t= 15.90s step= 795 trunk_z= 121.4mm grav_b=(-0.01,+0.02,-1.00) r=1.18m +[headless_play] t= 16.00s step= 800 trunk_z= 122.4mm grav_b=(+0.01,+0.01,-1.00) r=1.19m +[headless_play] t= 16.10s step= 805 trunk_z= 115.2mm grav_b=(-0.03,-0.03,-1.00) r=1.21m +[headless_play] t= 16.20s step= 810 trunk_z= 120.1mm grav_b=(-0.05,-0.05,-1.00) r=1.22m +[headless_play] t= 16.30s step= 815 trunk_z= 117.8mm grav_b=(-0.06,-0.01,-1.00) r=1.21m +[headless_play] t= 16.40s step= 820 trunk_z= 121.5mm grav_b=(-0.08,+0.06,-1.00) r=1.19m +[headless_play] t= 16.50s step= 825 trunk_z= 125.5mm grav_b=(-0.06,+0.07,-1.00) r=1.19m +[headless_play] t= 16.60s step= 830 trunk_z= 123.7mm grav_b=(-0.03,+0.05,-1.00) r=1.21m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(-0.03,-0.01,-1.00) r=1.23m +[headless_play] t= 16.80s step= 840 trunk_z= 118.1mm grav_b=(-0.02,+0.07,-1.00) r=1.22m +[headless_play] t= 16.90s step= 845 trunk_z= 120.9mm grav_b=(+0.00,+0.06,-1.00) r=1.23m +[headless_play] t= 17.00s step= 850 trunk_z= 115.9mm grav_b=(-0.04,-0.07,-1.00) r=1.26m +[headless_play] t= 17.10s step= 855 trunk_z= 122.5mm grav_b=(-0.04,-0.08,-1.00) r=1.27m +[headless_play] t= 17.20s step= 860 trunk_z= 120.1mm grav_b=(-0.07,-0.04,-1.00) r=1.26m +[headless_play] t= 17.30s step= 865 trunk_z= 118.5mm grav_b=(-0.09,+0.04,-0.99) r=1.23m +[headless_play] t= 17.40s step= 870 trunk_z= 122.5mm grav_b=(-0.07,+0.01,-1.00) r=1.23m +[headless_play] t= 17.50s step= 875 trunk_z= 117.2mm grav_b=(+0.00,-0.06,-1.00) r=1.26m +[headless_play] t= 17.60s step= 880 trunk_z= 124.5mm grav_b=(+0.02,-0.06,-1.00) r=1.27m +[headless_play] t= 17.70s step= 885 trunk_z= 122.8mm grav_b=(-0.00,-0.01,-1.00) r=1.26m +[headless_play] t= 17.80s step= 890 trunk_z= 118.3mm grav_b=(-0.04,+0.05,-1.00) r=1.24m +[headless_play] t= 17.90s step= 895 trunk_z= 121.4mm grav_b=(-0.04,+0.04,-1.00) r=1.23m +[headless_play] t= 18.00s step= 900 trunk_z= 118.1mm grav_b=(-0.06,+0.01,-1.00) r=1.25m +[headless_play] t= 18.10s step= 905 trunk_z= 119.7mm grav_b=(-0.06,-0.06,-1.00) r=1.27m +[headless_play] t= 18.20s step= 910 trunk_z= 121.2mm grav_b=(-0.03,-0.02,-1.00) r=1.27m +[headless_play] t= 18.30s step= 915 trunk_z= 114.3mm grav_b=(-0.12,+0.02,-0.99) r=1.24m +[headless_play] t= 18.40s step= 920 trunk_z= 121.0mm grav_b=(-0.15,+0.05,-0.99) r=1.23m +[headless_play] t= 18.50s step= 925 trunk_z= 121.6mm grav_b=(-0.08,+0.02,-1.00) r=1.24m +[headless_play] t= 18.60s step= 930 trunk_z= 115.6mm grav_b=(-0.04,-0.08,-1.00) r=1.25m +[headless_play] t= 18.70s step= 935 trunk_z= 121.6mm grav_b=(-0.04,-0.09,-0.99) r=1.25m +[headless_play] t= 18.80s step= 940 trunk_z= 116.4mm grav_b=(-0.05,+0.00,-1.00) r=1.23m +[headless_play] t= 18.90s step= 945 trunk_z= 124.4mm grav_b=(-0.02,+0.07,-1.00) r=1.22m +[headless_play] t= 19.00s step= 950 trunk_z= 124.8mm grav_b=(+0.02,+0.06,-1.00) r=1.22m +[headless_play] t= 19.10s step= 955 trunk_z= 118.5mm grav_b=(-0.01,+0.02,-1.00) r=1.25m +[headless_play] t= 19.20s step= 960 trunk_z= 124.7mm grav_b=(-0.02,-0.03,-1.00) r=1.26m +[headless_play] t= 19.30s step= 965 trunk_z= 126.6mm grav_b=(+0.01,+0.04,-1.00) r=1.25m +[headless_play] t= 19.40s step= 970 trunk_z= 119.8mm grav_b=(-0.02,+0.10,-1.00) r=1.23m +[headless_play] t= 19.50s step= 975 trunk_z= 127.3mm grav_b=(-0.04,+0.11,-0.99) r=1.23m +[headless_play] t= 19.60s step= 980 trunk_z= 126.7mm grav_b=(-0.04,+0.09,-1.00) r=1.23m +[headless_play] t= 19.70s step= 985 trunk_z= 118.7mm grav_b=(-0.05,+0.05,-1.00) r=1.26m +[headless_play] t= 19.80s step= 990 trunk_z= 120.0mm grav_b=(-0.03,-0.02,-1.00) r=1.27m +[headless_play] t= 19.90s step= 995 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=1.26m +[headless_play] t= 20.00s step=1000 trunk_z= 116.5mm grav_b=(-0.02,+0.07,-1.00) r=1.24m +[headless_play] t= 20.10s step=1005 trunk_z= 118.1mm grav_b=(-0.03,+0.07,-1.00) r=1.24m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t8.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..d3b701bb5f3d666666e3b9e584f77a1239320e66 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.744,-18.360,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.5mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.06,+0.00,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(-0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 116.3mm grav_b=(-0.04,-0.00,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(-0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(-0.06,-0.00,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(-0.06,-0.00,-1.00) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 118.7mm grav_b=(-0.07,-0.04,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 118.5mm grav_b=(-0.09,-0.00,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 118.3mm grav_b=(-0.09,+0.01,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 118.3mm grav_b=(-0.07,+0.01,-1.00) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 118.6mm grav_b=(-0.05,+0.03,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 118.9mm grav_b=(-0.08,+0.03,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 118.5mm grav_b=(-0.09,+0.02,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 118.2mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 118.3mm grav_b=(-0.06,+0.02,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 118.2mm grav_b=(-0.06,+0.03,-1.00) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 117.9mm grav_b=(-0.07,+0.02,-1.00) r=0.45m +[headless_play] t= 2.30s step= 115 trunk_z= 118.0mm grav_b=(-0.11,+0.00,-0.99) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 118.2mm grav_b=(-0.12,+0.01,-0.99) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(-0.13,+0.01,-0.99) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 117.4mm grav_b=(-0.12,+0.01,-0.99) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 117.4mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(-0.05,+0.01,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 118.8mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 118.7mm grav_b=(-0.05,-0.00,-1.00) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 118.2mm grav_b=(-0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 118.1mm grav_b=(-0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 117.9mm grav_b=(-0.06,+0.01,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 118.2mm grav_b=(-0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 119.7mm grav_b=(-0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 119.3mm grav_b=(-0.04,+0.04,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(-0.07,+0.02,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(-0.09,-0.00,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(-0.09,-0.01,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 115.1mm grav_b=(-0.09,-0.05,-1.00) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 112.7mm grav_b=(-0.09,-0.05,-0.99) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 108.4mm grav_b=(-0.01,+0.06,-1.00) r=0.48m +[headless_play] t= 4.50s step= 225 trunk_z= 115.1mm grav_b=(+0.01,+0.08,-1.00) r=0.47m +[headless_play] t= 4.60s step= 230 trunk_z= 112.1mm grav_b=(+0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 4.70s step= 235 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 4.80s step= 240 trunk_z= 114.4mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 4.90s step= 245 trunk_z= 114.8mm grav_b=(-0.03,-0.00,-1.00) r=0.48m +[headless_play] t= 5.00s step= 250 trunk_z= 115.0mm grav_b=(-0.05,-0.00,-1.00) r=0.48m +[headless_play] t= 5.10s step= 255 trunk_z= 115.1mm grav_b=(-0.05,-0.00,-1.00) r=0.48m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(-0.05,+0.00,-1.00) r=0.48m +[headless_play] t= 5.30s step= 265 trunk_z= 115.6mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 5.40s step= 270 trunk_z= 115.0mm grav_b=(+0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(-0.03,+0.07,-1.00) r=0.47m +[headless_play] t= 5.60s step= 280 trunk_z= 119.8mm grav_b=(-0.12,+0.01,-0.99) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 111.4mm grav_b=(-0.07,-0.00,-1.00) r=0.46m +[headless_play] t= 5.80s step= 290 trunk_z= 117.1mm grav_b=(-0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 5.90s step= 295 trunk_z= 113.4mm grav_b=(-0.03,+0.05,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 117.9mm grav_b=(-0.07,+0.07,-0.99) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 117.0mm grav_b=(-0.06,+0.07,-1.00) r=0.47m +[headless_play] t= 6.20s step= 310 trunk_z= 109.7mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 6.30s step= 315 trunk_z= 116.9mm grav_b=(-0.05,-0.02,-1.00) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 115.2mm grav_b=(-0.06,+0.07,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 120.7mm grav_b=(-0.05,+0.09,-0.99) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 122.1mm grav_b=(-0.04,+0.08,-1.00) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 113.2mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 6.80s step= 340 trunk_z= 119.6mm grav_b=(-0.06,-0.01,-1.00) r=0.40m +[headless_play] t= 6.90s step= 345 trunk_z= 118.0mm grav_b=(-0.11,+0.07,-0.99) r=0.42m +[headless_play] t= 7.00s step= 350 trunk_z= 116.9mm grav_b=(-0.10,+0.12,-0.99) r=0.44m +[headless_play] t= 7.10s step= 355 trunk_z= 120.7mm grav_b=(-0.04,+0.10,-0.99) r=0.45m +[headless_play] t= 7.20s step= 360 trunk_z= 117.3mm grav_b=(-0.05,+0.13,-0.99) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 120.8mm grav_b=(-0.06,+0.01,-1.00) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 115.4mm grav_b=(-0.05,+0.06,-1.00) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 121.3mm grav_b=(-0.08,+0.05,-1.00) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 117.4mm grav_b=(-0.06,+0.03,-1.00) r=0.39m +[headless_play] t= 7.80s step= 390 trunk_z= 115.8mm grav_b=(-0.05,+0.02,-1.00) r=0.38m +[headless_play] t= 7.90s step= 395 trunk_z= 114.5mm grav_b=(-0.06,+0.06,-1.00) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 115.9mm grav_b=(-0.04,+0.11,-0.99) r=0.40m +[headless_play] t= 8.10s step= 405 trunk_z= 121.3mm grav_b=(-0.03,+0.09,-1.00) r=0.39m +[headless_play] t= 8.20s step= 410 trunk_z= 115.3mm grav_b=(-0.02,+0.11,-0.99) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 119.6mm grav_b=(-0.04,-0.07,-1.00) r=0.34m +[headless_play] t= 8.40s step= 420 trunk_z= 122.4mm grav_b=(-0.06,-0.01,-1.00) r=0.33m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(-0.07,+0.04,-1.00) r=0.35m +[headless_play] t= 8.60s step= 430 trunk_z= 124.8mm grav_b=(-0.03,+0.12,-0.99) r=0.37m +[headless_play] t= 8.70s step= 435 trunk_z= 125.4mm grav_b=(-0.01,+0.16,-0.99) r=0.37m +[headless_play] t= 8.80s step= 440 trunk_z= 125.3mm grav_b=(+0.01,+0.13,-0.99) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 121.9mm grav_b=(-0.01,+0.02,-1.00) r=0.36m +[headless_play] t= 9.00s step= 450 trunk_z= 123.0mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 118.7mm grav_b=(-0.09,+0.07,-0.99) r=0.40m +[headless_play] t= 9.20s step= 460 trunk_z= 125.6mm grav_b=(-0.11,+0.07,-0.99) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 122.1mm grav_b=(-0.07,+0.07,-1.00) r=0.40m +[headless_play] t= 9.40s step= 470 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=0.38m +[headless_play] t= 9.50s step= 475 trunk_z= 120.8mm grav_b=(-0.10,-0.00,-0.99) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 110.9mm grav_b=(-0.06,+0.04,-1.00) r=0.39m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(-0.04,+0.06,-1.00) r=0.40m +[headless_play] t= 9.80s step= 490 trunk_z= 116.7mm grav_b=(-0.04,+0.07,-1.00) r=0.39m +[headless_play] t= 9.90s step= 495 trunk_z= 110.2mm grav_b=(-0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 10.00s step= 500 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 10.10s step= 505 trunk_z= 111.3mm grav_b=(-0.02,+0.04,-1.00) r=0.39m +[headless_play] t= 10.20s step= 510 trunk_z= 118.9mm grav_b=(-0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 10.30s step= 515 trunk_z= 119.5mm grav_b=(-0.10,+0.04,-0.99) r=0.40m +[headless_play] t= 10.40s step= 520 trunk_z= 113.3mm grav_b=(-0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 114.2mm grav_b=(-0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 110.4mm grav_b=(-0.00,+0.05,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(-0.03,+0.06,-1.00) r=0.42m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(-0.03,+0.05,-1.00) r=0.43m +[headless_play] t= 10.90s step= 545 trunk_z= 111.2mm grav_b=(-0.03,+0.04,-1.00) r=0.42m +[headless_play] t= 11.00s step= 550 trunk_z= 119.6mm grav_b=(-0.08,-0.04,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 118.9mm grav_b=(-0.08,+0.02,-1.00) r=0.42m +[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(-0.11,+0.05,-0.99) r=0.43m +[headless_play] t= 11.30s step= 565 trunk_z= 121.7mm grav_b=(-0.10,-0.01,-1.00) r=0.43m +[headless_play] t= 11.40s step= 570 trunk_z= 106.9mm grav_b=(-0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 108.5mm grav_b=(-0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 11.60s step= 580 trunk_z= 106.5mm grav_b=(-0.02,+0.08,-1.00) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 114.0mm grav_b=(-0.01,+0.08,-1.00) r=0.42m +[headless_play] t= 11.80s step= 590 trunk_z= 113.8mm grav_b=(+0.03,+0.06,-1.00) r=0.42m +[headless_play] t= 11.90s step= 595 trunk_z= 109.0mm grav_b=(-0.05,-0.05,-1.00) r=0.40m +[headless_play] t= 12.00s step= 600 trunk_z= 124.4mm grav_b=(-0.14,-0.07,-0.99) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 127.0mm grav_b=(-0.12,-0.04,-0.99) r=0.37m +[headless_play] t= 12.20s step= 610 trunk_z= 114.2mm grav_b=(-0.02,+0.04,-1.00) r=0.36m +[headless_play] t= 12.30s step= 615 trunk_z= 124.7mm grav_b=(+0.03,+0.09,-1.00) r=0.35m +[headless_play] t= 12.40s step= 620 trunk_z= 125.5mm grav_b=(-0.08,+0.14,-0.99) r=0.34m +[headless_play] t= 12.50s step= 625 trunk_z= 112.4mm grav_b=(-0.00,+0.05,-1.00) r=0.32m +[headless_play] t= 12.60s step= 630 trunk_z= 114.7mm grav_b=(-0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 12.70s step= 635 trunk_z= 115.2mm grav_b=(-0.05,+0.04,-1.00) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 113.6mm grav_b=(-0.05,-0.04,-1.00) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 114.9mm grav_b=(-0.07,-0.00,-1.00) r=0.30m +[headless_play] t= 13.00s step= 650 trunk_z= 115.7mm grav_b=(-0.10,+0.08,-0.99) r=0.31m +[headless_play] t= 13.10s step= 655 trunk_z= 117.7mm grav_b=(-0.04,+0.04,-1.00) r=0.30m +[headless_play] t= 13.20s step= 660 trunk_z= 111.1mm grav_b=(-0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 13.30s step= 665 trunk_z= 112.0mm grav_b=(-0.04,+0.03,-1.00) r=0.28m +[headless_play] t= 13.40s step= 670 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 13.50s step= 675 trunk_z= 113.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 13.60s step= 680 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=0.28m +[headless_play] t= 13.70s step= 685 trunk_z= 116.5mm grav_b=(-0.11,+0.02,-0.99) r=0.28m +[headless_play] t= 13.80s step= 690 trunk_z= 116.4mm grav_b=(-0.07,-0.02,-1.00) r=0.26m +[headless_play] t= 13.90s step= 695 trunk_z= 106.9mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 14.00s step= 700 trunk_z= 110.4mm grav_b=(-0.03,+0.04,-1.00) r=0.27m +[headless_play] t= 14.10s step= 705 trunk_z= 114.9mm grav_b=(-0.01,+0.08,-1.00) r=0.29m +[headless_play] t= 14.20s step= 710 trunk_z= 113.2mm grav_b=(-0.01,+0.05,-1.00) r=0.28m +[headless_play] t= 14.30s step= 715 trunk_z= 114.4mm grav_b=(-0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 14.40s step= 720 trunk_z= 114.9mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 14.50s step= 725 trunk_z= 115.2mm grav_b=(-0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 14.60s step= 730 trunk_z= 115.5mm grav_b=(+0.02,+0.02,-1.00) r=0.28m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.28m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 14.90s step= 745 trunk_z= 115.5mm grav_b=(-0.08,+0.01,-1.00) r=0.28m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(-0.08,+0.01,-1.00) r=0.28m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(-0.11,+0.00,-0.99) r=0.28m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(-0.09,+0.04,-1.00) r=0.29m +[headless_play] t= 15.30s step= 765 trunk_z= 114.4mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 15.40s step= 770 trunk_z= 114.8mm grav_b=(-0.05,+0.00,-1.00) r=0.28m +[headless_play] t= 15.50s step= 775 trunk_z= 115.2mm grav_b=(-0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 15.70s step= 785 trunk_z= 115.4mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 15.90s step= 795 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.28m +[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(-0.05,+0.00,-1.00) r=0.28m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(-0.06,+0.00,-1.00) r=0.28m +[headless_play] t= 16.20s step= 810 trunk_z= 116.2mm grav_b=(-0.06,+0.00,-1.00) r=0.28m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(-0.06,+0.00,-1.00) r=0.28m +[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(-0.05,+0.00,-1.00) r=0.28m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 16.70s step= 835 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.28m +[headless_play] t= 16.80s step= 840 trunk_z= 117.5mm grav_b=(+0.03,+0.03,-1.00) r=0.28m +[headless_play] t= 16.90s step= 845 trunk_z= 117.5mm grav_b=(-0.02,+0.03,-1.00) r=0.28m +[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(-0.06,+0.01,-1.00) r=0.28m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.28m +[headless_play] t= 17.20s step= 860 trunk_z= 116.6mm grav_b=(-0.10,+0.00,-0.99) r=0.28m +[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(-0.14,-0.01,-0.99) r=0.28m +[headless_play] t= 17.40s step= 870 trunk_z= 112.0mm grav_b=(-0.07,-0.02,-1.00) r=0.27m +[headless_play] t= 17.50s step= 875 trunk_z= 107.8mm grav_b=(-0.09,+0.06,-0.99) r=0.28m +[headless_play] t= 17.60s step= 880 trunk_z= 112.5mm grav_b=(-0.25,+0.12,-0.96) r=0.30m +[headless_play] t= 17.70s step= 885 trunk_z= 111.5mm grav_b=(-0.08,-0.02,-1.00) r=0.32m +[headless_play] t= 17.80s step= 890 trunk_z= 86.6mm grav_b=(-0.01,-0.10,-0.99) r=0.35m +[headless_play] t= 17.90s step= 895 trunk_z= 105.3mm grav_b=(-0.09,+0.02,-1.00) r=0.37m +[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(-0.04,+0.09,-1.00) r=0.39m +[headless_play] t= 18.10s step= 905 trunk_z= 116.0mm grav_b=(-0.03,+0.07,-1.00) r=0.40m +[headless_play] t= 18.20s step= 910 trunk_z= 114.7mm grav_b=(-0.06,+0.01,-1.00) r=0.40m +[headless_play] t= 18.30s step= 915 trunk_z= 117.1mm grav_b=(-0.16,+0.05,-0.99) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 112.3mm grav_b=(-0.09,-0.02,-1.00) r=0.44m +[headless_play] t= 18.50s step= 925 trunk_z= 108.9mm grav_b=(-0.10,+0.04,-0.99) r=0.46m +[headless_play] t= 18.60s step= 930 trunk_z= 106.5mm grav_b=(-0.05,+0.08,-1.00) r=0.48m +[headless_play] t= 18.70s step= 935 trunk_z= 113.8mm grav_b=(-0.00,+0.09,-1.00) r=0.50m +[headless_play] t= 18.80s step= 940 trunk_z= 112.9mm grav_b=(+0.01,+0.09,-1.00) r=0.50m +[headless_play] t= 18.90s step= 945 trunk_z= 112.3mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 19.00s step= 950 trunk_z= 112.4mm grav_b=(-0.00,+0.03,-1.00) r=0.50m +[headless_play] t= 19.10s step= 955 trunk_z= 113.9mm grav_b=(-0.01,+0.04,-1.00) r=0.50m +[headless_play] t= 19.20s step= 960 trunk_z= 114.4mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.51m +[headless_play] t= 19.40s step= 970 trunk_z= 114.7mm grav_b=(-0.09,+0.06,-0.99) r=0.51m +[headless_play] t= 19.50s step= 975 trunk_z= 120.3mm grav_b=(-0.14,+0.07,-0.99) r=0.51m +[headless_play] t= 19.60s step= 980 trunk_z= 121.5mm grav_b=(-0.09,-0.00,-1.00) r=0.53m +[headless_play] t= 19.70s step= 985 trunk_z= 106.5mm grav_b=(-0.04,+0.08,-1.00) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 111.9mm grav_b=(-0.00,+0.08,-1.00) r=0.56m +[headless_play] t= 19.90s step= 995 trunk_z= 109.7mm grav_b=(+0.07,+0.11,-0.99) r=0.55m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.05,+0.03,-1.00) r=0.51m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t9.log b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..bc89cd53d4673ef3c590282e6b0620837ea22cd3 --- /dev/null +++ b/level-01g-walk-slope/proof-takes/proof-z5-c-2026-10-16/z5-c-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.514,-18.309,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.1mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 0.30s step= 15 trunk_z= 116.3mm grav_b=(+0.06,-0.00,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 0.50s step= 25 trunk_z= 115.6mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 1.00s step= 50 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 1.10s step= 55 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 1.20s step= 60 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 1.30s step= 65 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 116.7mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(+0.06,-0.00,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 116.6mm grav_b=(-0.07,-0.02,-1.00) r=0.56m +[headless_play] t= 2.20s step= 110 trunk_z= 115.5mm grav_b=(-0.07,-0.03,-1.00) r=0.56m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(-0.03,-0.06,-1.00) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 114.8mm grav_b=(+0.06,-0.01,-1.00) r=0.56m +[headless_play] t= 2.60s step= 130 trunk_z= 114.7mm grav_b=(+0.05,-0.01,-1.00) r=0.56m +[headless_play] t= 2.70s step= 135 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(+0.11,-0.03,-0.99) r=0.57m +[headless_play] t= 2.90s step= 145 trunk_z= 120.6mm grav_b=(+0.06,+0.02,-1.00) r=0.59m +[headless_play] t= 3.00s step= 150 trunk_z= 122.1mm grav_b=(+0.01,+0.05,-1.00) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 3.20s step= 160 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.62m +[headless_play] t= 3.30s step= 165 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 115.3mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 3.50s step= 175 trunk_z= 123.5mm grav_b=(+0.05,+0.03,-1.00) r=0.66m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(+0.04,-0.03,-1.00) r=0.69m +[headless_play] t= 3.70s step= 185 trunk_z= 123.1mm grav_b=(+0.05,-0.06,-1.00) r=0.71m +[headless_play] t= 3.80s step= 190 trunk_z= 122.6mm grav_b=(+0.02,-0.08,-1.00) r=0.72m +[headless_play] t= 3.90s step= 195 trunk_z= 119.2mm grav_b=(-0.00,-0.03,-1.00) r=0.73m +[headless_play] t= 4.00s step= 200 trunk_z= 123.8mm grav_b=(-0.01,+0.04,-1.00) r=0.74m +[headless_play] t= 4.10s step= 205 trunk_z= 122.7mm grav_b=(+0.03,+0.02,-1.00) r=0.75m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(+0.03,-0.05,-1.00) r=0.77m +[headless_play] t= 4.30s step= 215 trunk_z= 123.1mm grav_b=(+0.04,-0.05,-1.00) r=0.79m +[headless_play] t= 4.40s step= 220 trunk_z= 121.7mm grav_b=(+0.03,-0.02,-1.00) r=0.80m +[headless_play] t= 4.50s step= 225 trunk_z= 122.8mm grav_b=(+0.01,+0.05,-1.00) r=0.82m +[headless_play] t= 4.60s step= 230 trunk_z= 124.4mm grav_b=(+0.01,+0.03,-1.00) r=0.84m +[headless_play] t= 4.70s step= 235 trunk_z= 118.5mm grav_b=(+0.00,+0.00,-1.00) r=0.86m +[headless_play] t= 4.80s step= 240 trunk_z= 120.2mm grav_b=(+0.03,+0.06,-1.00) r=0.89m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(+0.06,+0.08,-1.00) r=0.91m +[headless_play] t= 5.00s step= 250 trunk_z= 125.8mm grav_b=(+0.04,+0.05,-1.00) r=0.94m +[headless_play] t= 5.10s step= 255 trunk_z= 117.5mm grav_b=(-0.01,-0.02,-1.00) r=0.98m +[headless_play] t= 5.20s step= 260 trunk_z= 124.0mm grav_b=(+0.02,-0.03,-1.00) r=1.00m +[headless_play] t= 5.30s step= 265 trunk_z= 120.0mm grav_b=(+0.02,-0.02,-1.00) r=1.01m +[headless_play] t= 5.40s step= 270 trunk_z= 122.3mm grav_b=(-0.04,+0.04,-1.00) r=1.02m +[headless_play] t= 5.50s step= 275 trunk_z= 122.3mm grav_b=(-0.01,+0.02,-1.00) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 112.0mm grav_b=(+0.09,-0.05,-0.99) r=1.09m +[headless_play] t= 5.70s step= 285 trunk_z= 123.2mm grav_b=(+0.09,-0.04,-1.00) r=1.12m +[headless_play] t= 5.80s step= 290 trunk_z= 118.3mm grav_b=(+0.01,+0.03,-1.00) r=1.15m +[headless_play] t= 5.90s step= 295 trunk_z= 122.5mm grav_b=(-0.03,+0.06,-1.00) r=1.17m +[headless_play] t= 6.00s step= 300 trunk_z= 120.3mm grav_b=(-0.05,+0.01,-1.00) r=1.19m +[headless_play] t= 6.10s step= 305 trunk_z= 120.3mm grav_b=(-0.01,-0.10,-0.99) r=1.21m +[headless_play] t= 6.20s step= 310 trunk_z= 123.9mm grav_b=(+0.01,-0.15,-0.99) r=1.23m +[headless_play] t= 6.30s step= 315 trunk_z= 123.4mm grav_b=(+0.08,-0.12,-0.99) r=1.23m +[headless_play] t= 6.40s step= 320 trunk_z= 114.7mm grav_b=(+0.04,-0.03,-1.00) r=1.25m +[headless_play] t= 6.50s step= 325 trunk_z= 121.6mm grav_b=(-0.01,+0.06,-1.00) r=1.28m +[headless_play] t= 6.60s step= 330 trunk_z= 124.9mm grav_b=(-0.05,+0.03,-1.00) r=1.29m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(+0.00,+0.00,-1.00) r=1.31m +[headless_play] t= 6.80s step= 340 trunk_z= 118.3mm grav_b=(+0.04,-0.05,-1.00) r=1.33m +[headless_play] t= 6.90s step= 345 trunk_z= 117.8mm grav_b=(+0.05,+0.02,-1.00) r=1.35m +[headless_play] t= 7.00s step= 350 trunk_z= 122.5mm grav_b=(+0.08,+0.15,-0.98) r=1.39m +[headless_play] t= 7.10s step= 355 trunk_z= 129.5mm grav_b=(+0.06,+0.15,-0.99) r=1.41m +[headless_play] t= 7.20s step= 360 trunk_z= 131.1mm grav_b=(+0.04,+0.09,-0.99) r=1.44m +[headless_play] t= 7.30s step= 365 trunk_z= 121.3mm grav_b=(+0.02,-0.00,-1.00) r=1.48m +[headless_play] t= 7.40s step= 370 trunk_z= 125.4mm grav_b=(+0.03,-0.05,-1.00) r=1.49m +[headless_play] t= 7.50s step= 375 trunk_z= 123.5mm grav_b=(-0.01,-0.04,-1.00) r=1.49m +[headless_play] t= 7.60s step= 380 trunk_z= 121.1mm grav_b=(-0.01,+0.03,-1.00) r=1.48m +[headless_play] t= 7.70s step= 385 trunk_z= 122.3mm grav_b=(+0.01,+0.00,-1.00) r=1.49m +[headless_play] t= 7.80s step= 390 trunk_z= 116.3mm grav_b=(+0.01,-0.05,-1.00) r=1.52m +[headless_play] t= 7.90s step= 395 trunk_z= 120.2mm grav_b=(+0.04,-0.04,-1.00) r=1.54m +[headless_play] t= 8.00s step= 400 trunk_z= 113.7mm grav_b=(+0.04,+0.05,-1.00) r=1.54m +[headless_play] t= 8.10s step= 405 trunk_z= 123.8mm grav_b=(+0.04,+0.05,-1.00) r=1.55m +[headless_play] t= 8.20s step= 410 trunk_z= 122.8mm grav_b=(+0.04,+0.02,-1.00) r=1.57m +[headless_play] t= 8.30s step= 415 trunk_z= 121.8mm grav_b=(+0.01,-0.06,-1.00) r=1.60m +[headless_play] t= 8.40s step= 420 trunk_z= 123.0mm grav_b=(+0.02,-0.06,-1.00) r=1.62m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(+0.02,-0.03,-1.00) r=1.62m +[headless_play] t= 8.60s step= 430 trunk_z= 122.2mm grav_b=(-0.03,+0.05,-1.00) r=1.62m +[headless_play] t= 8.70s step= 435 trunk_z= 121.2mm grav_b=(+0.01,+0.00,-1.00) r=1.63m +[headless_play] t= 8.80s step= 440 trunk_z= 115.5mm grav_b=(+0.02,-0.06,-1.00) r=1.66m +[headless_play] t= 8.90s step= 445 trunk_z= 122.2mm grav_b=(+0.04,-0.13,-0.99) r=1.68m +[headless_play] t= 9.00s step= 450 trunk_z= 123.4mm grav_b=(+0.11,-0.16,-0.98) r=1.70m +[headless_play] t= 9.10s step= 455 trunk_z= 122.3mm grav_b=(+0.12,-0.03,-0.99) r=1.70m +[headless_play] t= 9.20s step= 460 trunk_z= 110.8mm grav_b=(+0.02,+0.05,-1.00) r=1.71m +[headless_play] t= 9.30s step= 465 trunk_z= 122.2mm grav_b=(-0.04,+0.07,-1.00) r=1.71m +[headless_play] t= 9.40s step= 470 trunk_z= 122.5mm grav_b=(-0.06,+0.00,-1.00) r=1.72m +[headless_play] t= 9.50s step= 475 trunk_z= 117.1mm grav_b=(-0.04,-0.05,-1.00) r=1.73m +[headless_play] t= 9.60s step= 480 trunk_z= 122.9mm grav_b=(-0.00,-0.03,-1.00) r=1.74m +[headless_play] t= 9.70s step= 485 trunk_z= 118.1mm grav_b=(+0.01,+0.03,-1.00) r=1.76m +[headless_play] t= 9.80s step= 490 trunk_z= 128.3mm grav_b=(+0.05,+0.09,-0.99) r=1.78m +[headless_play] t= 9.90s step= 495 trunk_z= 132.4mm grav_b=(+0.09,+0.14,-0.99) r=1.81m +[headless_play] t= 10.00s step= 500 trunk_z= 123.2mm grav_b=(+0.09,+0.11,-0.99) r=1.86m +[headless_play] t= 10.10s step= 505 trunk_z= 136.5mm grav_b=(+0.10,+0.03,-0.99) r=1.90m +[headless_play] t= 10.20s step= 510 trunk_z= 134.7mm grav_b=(-0.02,-0.12,-0.99) r=1.94m +[headless_play] t= 10.30s step= 515 trunk_z= 114.4mm grav_b=(+0.00,-0.03,-1.00) r=1.98m +[headless_play] t= 10.40s step= 520 trunk_z= 127.2mm grav_b=(-0.04,+0.08,-1.00) r=1.99m +[headless_play] t= 10.50s step= 525 trunk_z= 124.9mm grav_b=(-0.07,-0.01,-1.00) r=2.01m +[headless_play] t= 10.60s step= 530 trunk_z= 113.8mm grav_b=(-0.04,+0.03,-1.00) r=2.05m +[headless_play] t= 10.70s step= 535 trunk_z= 117.0mm grav_b=(+0.05,+0.10,-0.99) r=2.04m +[headless_play] t= 10.80s step= 540 trunk_z= 123.5mm grav_b=(+0.04,+0.03,-1.00) r=2.05m +[headless_play] t= 10.90s step= 545 trunk_z= 112.7mm grav_b=(-0.01,-0.05,-1.00) r=2.08m +[headless_play] t= 11.00s step= 550 trunk_z= 123.5mm grav_b=(+0.00,+0.00,-1.00) r=2.09m +[headless_play] t= 11.10s step= 555 trunk_z= 119.1mm grav_b=(-0.04,+0.03,-1.00) r=2.07m +[headless_play] t= 11.20s step= 560 trunk_z= 122.8mm grav_b=(-0.05,+0.04,-1.00) r=2.04m +[headless_play] t= 11.30s step= 565 trunk_z= 123.0mm grav_b=(-0.02,+0.02,-1.00) r=2.05m +[headless_play] t= 11.40s step= 570 trunk_z= 116.6mm grav_b=(+0.03,-0.04,-1.00) r=2.07m +[headless_play] t= 11.50s step= 575 trunk_z= 122.1mm grav_b=(+0.09,-0.07,-0.99) r=2.08m +[headless_play] t= 11.60s step= 580 trunk_z= 123.6mm grav_b=(+0.11,-0.03,-0.99) r=2.08m +[headless_play] t= 11.70s step= 585 trunk_z= 120.7mm grav_b=(+0.09,-0.02,-1.00) r=2.08m +[headless_play] t= 11.80s step= 590 trunk_z= 123.2mm grav_b=(+0.01,-0.04,-1.00) r=2.09m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(-0.01,-0.04,-1.00) r=2.11m +[headless_play] t= 12.00s step= 600 trunk_z= 117.2mm grav_b=(-0.00,-0.02,-1.00) r=2.11m +[headless_play] t= 12.10s step= 605 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=2.08m +[headless_play] t= 12.20s step= 610 trunk_z= 122.3mm grav_b=(-0.02,+0.03,-1.00) r=2.06m +[headless_play] t= 12.30s step= 615 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=2.07m +[headless_play] t= 12.40s step= 620 trunk_z= 120.7mm grav_b=(+0.04,-0.08,-1.00) r=2.09m +[headless_play] t= 12.50s step= 625 trunk_z= 121.7mm grav_b=(+0.07,-0.05,-1.00) r=2.09m +[headless_play] t= 12.60s step= 630 trunk_z= 116.0mm grav_b=(+0.02,+0.03,-1.00) r=2.06m +[headless_play] t= 12.70s step= 635 trunk_z= 122.1mm grav_b=(+0.01,+0.03,-1.00) r=2.04m +[headless_play] t= 12.80s step= 640 trunk_z= 116.6mm grav_b=(+0.01,+0.02,-1.00) r=2.05m +[headless_play] t= 12.90s step= 645 trunk_z= 119.4mm grav_b=(+0.01,-0.08,-1.00) r=2.07m +[headless_play] t= 13.00s step= 650 trunk_z= 120.9mm grav_b=(+0.04,-0.05,-1.00) r=2.07m +[headless_play] t= 13.10s step= 655 trunk_z= 114.8mm grav_b=(+0.06,+0.05,-1.00) r=2.03m +[headless_play] t= 13.20s step= 660 trunk_z= 125.3mm grav_b=(+0.02,+0.03,-1.00) r=2.01m +[headless_play] t= 13.30s step= 665 trunk_z= 120.8mm grav_b=(+0.02,+0.02,-1.00) r=2.02m +[headless_play] t= 13.40s step= 670 trunk_z= 119.8mm grav_b=(+0.00,-0.09,-1.00) r=2.04m +[headless_play] t= 13.50s step= 675 trunk_z= 123.7mm grav_b=(+0.00,-0.08,-1.00) r=2.04m +[headless_play] t= 13.60s step= 680 trunk_z= 119.9mm grav_b=(+0.00,-0.04,-1.00) r=2.02m +[headless_play] t= 13.70s step= 685 trunk_z= 121.0mm grav_b=(-0.01,+0.05,-1.00) r=1.99m +[headless_play] t= 13.80s step= 690 trunk_z= 123.3mm grav_b=(+0.01,+0.04,-1.00) r=1.98m +[headless_play] t= 13.90s step= 695 trunk_z= 113.4mm grav_b=(+0.02,-0.07,-1.00) r=2.00m +[headless_play] t= 14.00s step= 700 trunk_z= 122.0mm grav_b=(+0.05,-0.11,-0.99) r=2.02m +[headless_play] t= 14.10s step= 705 trunk_z= 123.3mm grav_b=(+0.06,-0.10,-0.99) r=2.02m +[headless_play] t= 14.20s step= 710 trunk_z= 121.9mm grav_b=(+0.05,-0.03,-1.00) r=2.00m +[headless_play] t= 14.30s step= 715 trunk_z= 121.9mm grav_b=(+0.01,+0.04,-1.00) r=1.98m +[headless_play] t= 14.40s step= 720 trunk_z= 118.2mm grav_b=(+0.04,-0.01,-1.00) r=1.99m +[headless_play] t= 14.50s step= 725 trunk_z= 120.3mm grav_b=(+0.13,-0.09,-0.99) r=2.01m +[headless_play] t= 14.60s step= 730 trunk_z= 127.8mm grav_b=(+0.03,-0.09,-1.00) r=2.02m +[headless_play] t= 14.70s step= 735 trunk_z= 123.6mm grav_b=(+0.00,-0.03,-1.00) r=2.01m +[headless_play] t= 14.80s step= 740 trunk_z= 123.1mm grav_b=(+0.00,+0.02,-1.00) r=2.00m +[headless_play] t= 14.90s step= 745 trunk_z= 122.9mm grav_b=(-0.05,+0.00,-1.00) r=2.00m +[headless_play] t= 15.00s step= 750 trunk_z= 115.8mm grav_b=(+0.08,-0.09,-0.99) r=2.03m +[headless_play] t= 15.10s step= 755 trunk_z= 122.9mm grav_b=(+0.17,-0.05,-0.98) r=2.04m +[headless_play] t= 15.20s step= 760 trunk_z= 112.3mm grav_b=(-0.00,+0.01,-1.00) r=2.03m +[headless_play] t= 15.30s step= 765 trunk_z= 120.4mm grav_b=(-0.04,+0.03,-1.00) r=2.03m +[headless_play] t= 15.40s step= 770 trunk_z= 119.1mm grav_b=(-0.11,-0.04,-0.99) r=2.05m +[headless_play] t= 15.50s step= 775 trunk_z= 118.9mm grav_b=(+0.02,-0.07,-1.00) r=2.06m +[headless_play] t= 15.60s step= 780 trunk_z= 118.9mm grav_b=(+0.09,-0.01,-1.00) r=2.05m +[headless_play] t= 15.70s step= 785 trunk_z= 118.6mm grav_b=(+0.02,+0.08,-1.00) r=2.03m +[headless_play] t= 15.80s step= 790 trunk_z= 125.7mm grav_b=(+0.07,+0.04,-1.00) r=2.02m +[headless_play] t= 15.90s step= 795 trunk_z= 117.5mm grav_b=(+0.04,+0.01,-1.00) r=2.02m +[headless_play] t= 16.00s step= 800 trunk_z= 118.7mm grav_b=(-0.03,-0.02,-1.00) r=2.02m +[headless_play] t= 16.10s step= 805 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=2.01m +[headless_play] t= 16.20s step= 810 trunk_z= 117.4mm grav_b=(-0.04,+0.04,-1.00) r=1.98m +[headless_play] t= 16.30s step= 815 trunk_z= 122.3mm grav_b=(-0.03,+0.04,-1.00) r=1.97m +[headless_play] t= 16.40s step= 820 trunk_z= 120.4mm grav_b=(+0.02,+0.06,-1.00) r=1.96m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(+0.03,-0.05,-1.00) r=1.96m +[headless_play] t= 16.60s step= 830 trunk_z= 122.1mm grav_b=(+0.04,-0.05,-1.00) r=1.95m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=1.93m +[headless_play] t= 16.80s step= 840 trunk_z= 122.0mm grav_b=(+0.01,+0.05,-1.00) r=1.91m +[headless_play] t= 16.90s step= 845 trunk_z= 120.4mm grav_b=(+0.00,+0.04,-1.00) r=1.90m +[headless_play] t= 17.00s step= 850 trunk_z= 115.1mm grav_b=(-0.01,-0.03,-1.00) r=1.91m +[headless_play] t= 17.10s step= 855 trunk_z= 119.6mm grav_b=(-0.07,-0.00,-1.00) r=1.91m +[headless_play] t= 17.20s step= 860 trunk_z= 114.6mm grav_b=(-0.04,+0.05,-1.00) r=1.90m +[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(+0.01,+0.03,-1.00) r=1.89m +[headless_play] t= 17.40s step= 870 trunk_z= 115.3mm grav_b=(+0.03,+0.01,-1.00) r=1.90m +[headless_play] t= 17.50s step= 875 trunk_z= 118.0mm grav_b=(+0.07,-0.06,-1.00) r=1.90m +[headless_play] t= 17.60s step= 880 trunk_z= 120.8mm grav_b=(+0.06,-0.03,-1.00) r=1.89m +[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(+0.03,+0.06,-1.00) r=1.86m +[headless_play] t= 17.80s step= 890 trunk_z= 122.5mm grav_b=(+0.03,+0.04,-1.00) r=1.85m +[headless_play] t= 17.90s step= 895 trunk_z= 113.9mm grav_b=(+0.02,-0.02,-1.00) r=1.86m +[headless_play] t= 18.00s step= 900 trunk_z= 121.5mm grav_b=(+0.02,-0.05,-1.00) r=1.86m +[headless_play] t= 18.10s step= 905 trunk_z= 118.5mm grav_b=(+0.02,-0.04,-1.00) r=1.84m +[headless_play] t= 18.20s step= 910 trunk_z= 118.8mm grav_b=(-0.00,+0.04,-1.00) r=1.82m +[headless_play] t= 18.30s step= 915 trunk_z= 122.7mm grav_b=(-0.00,+0.04,-1.00) r=1.80m +[headless_play] t= 18.40s step= 920 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=1.81m +[headless_play] t= 18.50s step= 925 trunk_z= 119.0mm grav_b=(-0.05,-0.02,-1.00) r=1.82m +[headless_play] t= 18.60s step= 930 trunk_z= 117.4mm grav_b=(-0.06,+0.02,-1.00) r=1.81m +[headless_play] t= 18.70s step= 935 trunk_z= 118.4mm grav_b=(-0.02,+0.05,-1.00) r=1.80m +[headless_play] t= 18.80s step= 940 trunk_z= 118.8mm grav_b=(+0.01,+0.02,-1.00) r=1.80m +[headless_play] t= 18.90s step= 945 trunk_z= 112.7mm grav_b=(+0.02,-0.04,-1.00) r=1.81m +[headless_play] t= 19.00s step= 950 trunk_z= 119.8mm grav_b=(+0.07,-0.07,-1.00) r=1.81m +[headless_play] t= 19.10s step= 955 trunk_z= 120.3mm grav_b=(+0.08,-0.05,-1.00) r=1.79m +[headless_play] t= 19.20s step= 960 trunk_z= 120.0mm grav_b=(+0.07,+0.02,-1.00) r=1.77m +[headless_play] t= 19.30s step= 965 trunk_z= 124.1mm grav_b=(+0.05,-0.02,-1.00) r=1.76m +[headless_play] t= 19.40s step= 970 trunk_z= 115.9mm grav_b=(-0.01,-0.05,-1.00) r=1.76m +[headless_play] t= 19.50s step= 975 trunk_z= 119.0mm grav_b=(+0.01,-0.04,-1.00) r=1.75m +[headless_play] t= 19.60s step= 980 trunk_z= 113.3mm grav_b=(+0.00,+0.02,-1.00) r=1.72m +[headless_play] t= 19.70s step= 985 trunk_z= 121.4mm grav_b=(-0.01,+0.03,-1.00) r=1.70m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(+0.00,+0.02,-1.00) r=1.71m +[headless_play] t= 19.90s step= 995 trunk_z= 122.0mm grav_b=(+0.00,-0.11,-0.99) r=1.73m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=0.12m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.11m +[headless_play] done diff --git a/level-01g-walk-slope/proof-takes/score.txt b/level-01g-walk-slope/proof-takes/score.txt new file mode 100644 index 0000000000000000000000000000000000000000..4bbd9e9f4a627ed2149dcd59c35e67827da868ec --- /dev/null +++ b/level-01g-walk-slope/proof-takes/score.txt @@ -0,0 +1,103 @@ +=== condition a + z5-a-t1 held=True [] + z5-a-t10 held=True [] + z5-a-t11 held=False [('reset', 14.18, 1.92, 'slope')] + z5-a-t12 held=False [('tilt', 15.8, 2.1, 'slope')] + z5-a-t13 held=True [] + z5-a-t14 held=True [] + z5-a-t15 held=False [('tilt', 16.2, 0.18, 'top')] + z5-a-t2 held=True [] + z5-a-t3 held=False [('tilt', 14.0, 1.8, 'slope')] + z5-a-t4 held=False [('reset', 9.3, 1.43, 'slope')] + z5-a-t5 held=True [] + z5-a-t6 held=True [] + z5-a-t7 held=True [] + z5-a-t8 held=False [('reset', 18.98, 2.9, 'slope')] + z5-a-t9 held=True [] + z5: held 9/15; first-event location {'slope': 5, 'top': 1}; takes with a slope-band event 5 + v2-a-t1 held=True [] + v2-a-t10 held=False [('reset', 6.44, 1.98, 'slope'), ('reset', 16.3, 0.75, 'top')] + v2-a-t11 held=False [('reset', 19.18, 2.16, 'slope')] + v2-a-t12 held=True [] + v2-a-t13 held=False [('reset', 18.56, 1.36, 'slope')] + v2-a-t14 held=False [('tilt', 17.0, 2.16, 'slope'), ('reset', 19.7, 0.68, 'top')] + v2-a-t15 held=False [('reset', 4.1, 0.58, 'top')] + v2-a-t2 held=True [] + v2-a-t3 held=False [('reset', 1.6, 0.47, 'top'), ('reset', 6.68, 0.49, 'top'), ('tilt', 14.0, 0.88, 'top')] + v2-a-t4 held=False [('reset', 12.86, 0.79, 'top')] + v2-a-t5 held=False [('reset', 9.68, 0.44, 'top')] + v2-a-t6 held=False [('reset', 10.8, 2.47, 'slope'), ('tilt', 16.5, 0.7, 'top')] + v2-a-t7 held=True [] + v2-a-t8 held=False [('tilt', 14.0, 1.77, 'slope'), ('tilt', 17.9, 1.99, 'slope')] + v2-a-t9 held=False [('tilt', 17.5, 0.76, 'top'), ('reset', 19.58, 0.39, 'top')] + v2: held 4/15; first-event location {'slope': 6, 'top': 5}; takes with a slope-band event 6 +=== condition b + z5-b-t1 held=True [] + z5-b-t10 held=True [] + z5-b-t11 held=True [] + z5-b-t12 held=True [] + z5-b-t13 held=True [] + z5-b-t14 held=False [('reset', 18.98, 2.52, 'slope')] + z5-b-t15 held=True [] + z5-b-t2 held=True [] + z5-b-t3 held=True [] + z5-b-t4 held=True [] + z5-b-t5 held=True [] + z5-b-t6 held=True [] + z5-b-t7 held=True [] + z5-b-t8 held=True [] + z5-b-t9 held=True [] + z5: held 14/15; first-event location {'slope': 1}; takes with a slope-band event 1 + v2-b-t1 held=True [] + v2-b-t10 held=True [] + v2-b-t11 held=True [] + v2-b-t12 held=True [] + v2-b-t13 held=False [('reset', 14.58, 2.37, 'slope')] + v2-b-t14 held=True [] + v2-b-t15 held=False [('tilt', 19.0, 3.29, 'other')] + v2-b-t2 held=True [] + v2-b-t3 held=False [('tilt', 18.5, 2.93, 'slope')] + v2-b-t4 held=False [('tilt', 13.1, 2.08, 'slope')] + v2-b-t5 held=False [('reset', 9.38, 1.56, 'slope')] + v2-b-t6 held=True [] + v2-b-t7 held=False [('tilt', 6.2, 1.72, 'slope')] + v2-b-t8 held=False [('tilt', 14.0, 4.12, 'other')] + v2-b-t9 held=True [] + v2: held 8/15; first-event location {'slope': 5, 'other': 2}; takes with a slope-band event 5 +=== condition c + z5-c-t1 held=True [] + z5-c-t10 held=False [('tilt', 1.5, 0.24, 'top'), ('tilt', 14.3, 1.97, 'slope')] + z5-c-t11 held=True [] + z5-c-t12 held=True [] + z5-c-t13 held=True [] + z5-c-t14 held=True [] + z5-c-t15 held=True [] + z5-c-t2 held=False [('tilt', 10.5, 1.96, 'slope')] + z5-c-t3 held=False [('reset', 18.86, 1.13, 'slope')] + z5-c-t4 held=True [] + z5-c-t5 held=True [] + z5-c-t6 held=False [('reset', 6.68, 0.79, 'top'), ('reset', 11.18, 0.67, 'top')] + z5-c-t7 held=False [('reset', 8.06, 1.4, 'slope')] + z5-c-t8 held=True [] + z5-c-t9 held=True [] + z5: held 10/15; first-event location {'slope': 3, 'top': 2}; takes with a slope-band event 4 + v2-c-t1 held=True [] + v2-c-t10 held=False [('reset', 4.16, 1.33, 'slope')] + v2-c-t11 held=False [('tilt', 13.2, 1.53, 'slope')] + v2-c-t12 held=True [] + v2-c-t13 held=False [('reset', 8.14, 1.02, 'slope')] + v2-c-t14 held=True [] + v2-c-t15 held=True [] + v2-c-t2 held=True [] + v2-c-t3 held=False [('tilt', 6.1, 1.28, 'slope')] + v2-c-t4 held=True [] + v2-c-t5 held=True [] + v2-c-t6 held=True [] + v2-c-t7 held=True [] + v2-c-t8 held=True [] + v2-c-t9 held=False [('reset', 12.6, 1.88, 'slope')] + v2: held 10/15; first-event location {'slope': 5}; takes with a slope-band event 5 +a: z5 9/15 vs v2 4/15 one-sided p=0.0697 two-sided p=0.1394 +b: z5 14/15 vs v2 8/15 one-sided p=0.0176 two-sided p=0.0352 +a+b: z5 23/30 vs v2 12/30 one-sided p=0.0041 two-sided p=0.0082 +c: z5 10/15 vs v2 10/15 one-sided p=0.6501 two-sided p=1.0000 diff --git a/level-01g-walk-slope/queue-item.sh b/level-01g-walk-slope/queue-item.sh new file mode 100644 index 0000000000000000000000000000000000000000..d7d57425c78816a154bac81fd4c065d152d79c50 --- /dev/null +++ b/level-01g-walk-slope/queue-item.sh @@ -0,0 +1,26 @@ +#!/bin/bash +# 09z5-duck-velslope.sh: duck skill tree, "our own conditions" track (skill-tree.md side branch: "slopes"), fifth fork of a +# walking task, sibling of 09z (payload, no gain), 09z2 (slippery floor, GAIN -> walk-slip), 09z3 (single step, GAIN) and +# 09z4 (stronger pushes). task Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck = the maker's Velocity-Flat-Backlash (walk-flat v2 +# on the Hub) with ONE change: the infinite plane becomes a generated floor of gentle hills, one mjlab HfPyramidSlopedTerrainCfg +# per 4 m tile (the maker's own pyramid_slope generator, vertical_scale 0.001), gradient 0.05-0.15 rise/run random per tile +# (maker's rough cap 0.10), flat top ~1.0-1.15 m from the tile centre, 127 mm high at 0.15. module +# witcheer_velocity_slope_env_cfg.py (vault 99-personal/benchmark-rig/scripts/), registered by one appended import line (backup +# ~/tasks-init.py.bak-slope-2026-10-14); resolved-cfg repr vs the base task = only scene.terrain (27 items, train and play); +# base, slip, payload, step, push reprs identical before/after (install-slope-fork-2026-10-14.log). height reads: depends on our +# ground_height_patch (_ground_z from foot_height_scan on generator terrain, checked on the slope by slope-play-check). +# WARM START: logs/rsl_rl/duckvelslope/2026-10-14_00-00-00_seed-velbl-it7000/model_7000.pt = walk-flat v2 (duckvelbl model_7000, +# md5 d16ed76e, the seed of 09z..09z4), true resume, 7000 -> 10000 (3k rule). +# probe (free card, 4096 envs, 2026-10-14 18:24 CEST): 2.55 s/it median (n=46, 2x the step fork: heightfield collision + +# ray cost, collection 2.50 s of it), card peak 7,490 MiB, train rc 0 (116 s), export rc 0 (793,777 B), 0 size mismatch, +# nan_state 0.0000; ~128 min + export at 4096 = one duck block if it starts the block (log ~/Pollen/probe-velslope.log). +# verdict: proof-z5-{a,b,c}.sh (z5 vs v2 in the slope env, 15 takes each, --cmd-vx 0.3): a = 0.15 hill + play shoves, +# b = 0.15 hill no shoves, c = 0.001 (1 mm top, same layout) + shoves (control). scorer z5-score-2026-10-16.py. +# held out of the queue by ~/Pollen/w09z5-enqueue.sh until after the thu 2026-10-15 14:10 block (09z4 trains there); by the lane +# alternation fri 01:10 is bench, so 09z5 trains fri 2026-10-16 14:10. +SKILL=velslope +# MANIFEST duplicated from the body so the drain grep fills idleq-active.json for the sentinel +MANIFEST=/home/witcheer/duckvelslope-status.json +TASK=Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck +TARGET_IT=${TARGET_IT:-10000} +. /home/witcheer/Pollen/duck-train-body.sh diff --git a/level-01g-walk-slope/reward-curve.csv b/level-01g-walk-slope/reward-curve.csv new file mode 100644 index 0000000000000000000000000000000000000000..fa8c4db125047719bd7945b1cd6ce78dd9969616 --- /dev/null +++ b/level-01g-walk-slope/reward-curve.csv @@ -0,0 +1,3002 @@ +iteration,Episode_Termination/fell_over,Episode_Termination/nan_state,Episode_Termination/out_of_terrain_bounds,Episode_Termination/time_out,Perf/total_fps,Train/mean_episode_length,Train/mean_reward +7000,0.0,0.0,0.0,3.5,29263.0,13.404762268066406,1.4662023782730103 +7001,0.0,0.0,0.0,3.625,39272.0,35.81999969482422,4.171432018280029 +7002,0.0,0.0,0.0,4.083333492279053,39084.0,59.75,7.191760063171387 +7003,0.0,0.0,0.0,4.2916669845581055,39280.0,84.44999694824219,10.27363109588623 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b/level-01g-walk-slope/reward-curve.png new file mode 100644 index 0000000000000000000000000000000000000000..15f435a9adc6ced5bdb9748355865b5581d16ed7 --- /dev/null +++ b/level-01g-walk-slope/reward-curve.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6ca353359bf9241add98ba07a0f72c631554b9ffdf0208c82cf269af85f14e8 +size 115217 diff --git a/level-01h-walk-mix/manifest.json b/level-01h-walk-mix/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0cea232610be1829f5968eb6ec264d0622a959f1 --- /dev/null +++ b/level-01h-walk-mix/manifest.json @@ -0,0 +1,36 @@ +{ + "schema_version": 2, + "model_api": 1, + "obs_len": 61, + "action_len": 14, + "robot": { + "model": "microduck", + "hw_rev": 1, + "servos": "xl330", + "control_hz": 50 + }, + "name": "walk-mix", + "kind": "perpetual", + "entry_pose": "standing", + "description": "One walk for three conditions at once, with +-1 deg of gear play in every servo: walk-step v1 plus 3,000 iterations (10,000 to 13,000) on a floor with single 10-25 mm steps, foot friction from 0.2 to 1.3 and the training shove doubled to +-0.6 m/s every 3-6 s (our fork Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck), 4096 envs, 64 min on one RTX 5090. Trained in simulation only. With all three at once (25 mm step, friction 0.2, doubled shoves), walking straight ahead at 0.3 m/s, it stayed on its feet for 20 s in 9 of 15 takes against 0 of 15 for walk-flat v2 (one-sided Fisher p 0.0003). Against each single-condition policy on its own condition it showed no measurable loss: step 10 of 15 vs walk-step 13 of 15 (p 0.39), doubled shoves 10 of 15 vs walk-push 9 of 15, slippery floor with shoves 11 of 15 vs walk-slip 3 of 15 (a low draw: walk-slip held 6 to 8 of 15 in three other 15-take sets at that friction and shove, so read it as no loss, not a win). Not yet tested on a real Microduck.", + "command": { + "encoding": "constant", + "idle": [ + 0.0, + 0.0, + 0.0 + ], + "twist": "unused (zeros)", + "head": "unused (zeros)", + "body": "unused (zeros)" + }, + "duration_s": null, + "slot": "walk", + "training": { + "repo": "pollen-robotics/microduck_rl", + "commit": "53b8971b6", + "branch": "develop", + "dirty": true, + "source_file": "velmix-2026-10-18-it13000.onnx" + } +} diff --git a/level-01h-walk-mix/patches/ground_height_patch.py b/level-01h-walk-mix/patches/ground_height_patch.py new file mode 100644 index 0000000000000000000000000000000000000000..3a6631033e78595d99e4abd9b628e59ee1f27bd1 --- /dev/null +++ b/level-01h-walk-mix/patches/ground_height_patch.py @@ -0,0 +1,60 @@ +"""ground_height_patch.py (2026-09-29): measure the trunk against the ground UNDER the duck on rough terrain. + +bug (found 2026-09-29, log.md): every height read in mdp.py is `root_z - env_origins[:, 2]`. pyramid stairs and +slopes put the env origin on the TOP platform, so an upright duck ~40 mm down the steps counts as fallen +(`_fallen_mask`, VelStand gate 0.08 m) and `fallen_too_long` resets it 8 s later (RESET at 8.08 / 16.18 s with +grav_b z -1.00 in the forced-terrain takes); the height-shaped rewards are skewed the same way. + +fix: `_ground_z(env)` = mean hit height of the existing `foot_height_scan` rays (2 feet x 2 rays, straight down, +terrain geoms only) on generator terrain; env-origin z everywhere else (plane terrain has `terrain_origins is None`, +and tasks without the sensor), so flat tasks compute exactly what they did before. every +`root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]` read in a function body is rewritten to use it. +the SitStand command term's `_alpha_from_height` (self._env_ref form) is left alone: SitStand-Rough has no foot +sensor in its cfg and holds still on its platform. + +idempotent; writes mdp.py.bak-groundz-2026-09-29 on first run. +""" +import pathlib +import shutil + +mdp = pathlib.Path("/home/witcheer/Pollen/microduck_rl/src/mjlab_microduck/tasks/mdp.py") +bak = mdp.with_name("mdp.py.bak-groundz-2026-09-29") +s = mdp.read_text() +if "def _ground_z(" in s: + print("already patched") + raise SystemExit(0) +if not bak.exists(): + shutil.copy2(mdp, bak) + +OLD = "asset.data.root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]" +NEW = "asset.data.root_link_pos_w[:, 2] - _ground_z(env)" +n = s.count(OLD) + +helper = '''def _ground_z(env: ManagerBasedRlEnv) -> torch.Tensor: + """Ground height under the robot, per env. + + Generator (rough) terrain with the per-foot `foot_height_scan` ray sensor: the mean + height of the rays' terrain hits under both feet. Anything else (plane terrain, where + `terrain_origins` is None, or a task without the sensor): the env origin's z, which is + what every height read used before 2026-09-29, so flat tasks are unchanged. On pyramid + stairs/slopes the origin sits on the top platform, and origin-relative heights read an + upright duck a few steps down as fallen (see ground_height_patch.py). + """ + terrain = env.scene.terrain + origin_z = terrain.env_origins[:, 2] + if getattr(terrain, "terrain_origins", None) is None or "foot_height_scan" not in env.scene.sensors: + return origin_z + d = env.scene.sensors["foot_height_scan"].data + hit_z = d.hit_pos_w[..., 2] + ok = (d.distances >= 0) & (d.normals_w[..., 2] > 0) + cnt = ok.sum(dim=-1) + mean = torch.where(ok, hit_z, torch.zeros_like(hit_z)).sum(dim=-1) / cnt.clamp(min=1) + return torch.where(cnt > 0, mean, origin_z) + + +''' +i = s.index("def _fallen_mask(") +s = s[:i] + helper + s[i:] +s = s.replace(OLD, NEW) +mdp.write_text(s) +print(f"patched: helper added, {n} height reads rewritten") diff --git a/level-01h-walk-mix/patches/witcheer_velocity_mix_env_cfg.py b/level-01h-walk-mix/patches/witcheer_velocity_mix_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..7dc3470f170bba6a8ed867baf3664031cf4c396d --- /dev/null +++ b/level-01h-walk-mix/patches/witcheer_velocity_mix_env_cfg.py @@ -0,0 +1,62 @@ +"""witcheer fork: Microduck walk with gear play under the THREE conditions that paid, at once. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +Why: the own-conditions track trained one condition per policy against +walk-flat v2. Two were clear gains (09z2 slippery floor -> walk-slip, 09z3 +single step -> walk-step) and one gained at its training cadence (09z4 +stronger pushes). A real owner installs ONE walk policy, so this fork asks +whether one policy can carry all three without losing any of them. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck``: +- floor: the single-step generator of ``witcheer_velocity_step_env_cfg`` + (one 1.5 m platform per 4 m tile, 10-25 mm step at every edge); +- foot friction DR (0.7, 1.3) -> (0.2, 1.3), as ``witcheer_velocity_slip_env_cfg``; +- training shoves x2 (+-0.6 m/s, maker interval), as ``witcheer_velocity_push_env_cfg``. +Everything else is the maker's. The three source modules are imported, not +copied, so their verdict overrides work here unchanged: +``MICRODUCK_STEP_HEIGHT``, ``MICRODUCK_FOOT_FRICTION``, ``MICRODUCK_PUSH_SCALE``, +``MICRODUCK_PUSH_INTERVAL`` (all read at import, i.e. at process start). + +Warm start: walk-step v1 (09z3 model_10000), the policy that already meets the +step; 10000 -> 13000 (3k rule). +""" + +from copy import deepcopy + +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg +from mjlab_microduck.tasks.witcheer_velocity_step_env_cfg import SINGLE_STEP_TERRAIN_CFG +from mjlab_microduck.tasks.witcheer_velocity_slip_env_cfg import _friction_range +from mjlab_microduck.tasks.witcheer_velocity_push_env_cfg import _push_scale, _push_interval + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck" + + +def make_witcheer_velocity_mix_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.scene.terrain.terrain_type = "generator" + cfg.scene.terrain.terrain_generator = deepcopy(SINGLE_STEP_TERRAIN_CFG) + cfg.events["foot_friction"].params["ranges"] = _friction_range() + push = cfg.events["push_robot"] + s = _push_scale() + push.params["velocity_range"] = {k: (lo * s, hi * s) for k, (lo, hi) in push.params["velocity_range"].items()} + iv = _push_interval() + if iv is not None: + push.interval_range_s = iv + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_mix_env_cfg(), + play_env_cfg=make_witcheer_velocity_mix_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01h-walk-mix/patches/witcheer_velocity_push_env_cfg.py b/level-01h-walk-mix/patches/witcheer_velocity_push_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..3bd72cb405ba16f09269b08bdf580d0170d71b29 --- /dev/null +++ b/level-01h-walk-mix/patches/witcheer_velocity_push_env_cfg.py @@ -0,0 +1,85 @@ +"""witcheer fork: Microduck walk with gear play under STRONGER PUSHES. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Push-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck`` +(walk-flat v2 on the Hub): ONE thing, the size of the training shove. The +maker's ``push_robot`` event (``mdp.push_by_setting_velocity``, mode +``interval``) ADDS a random root velocity change drawn per axis from +``VELOCITY_PUSH_RANGE`` = (-0.3, 0.3) m/s in x and y, every 3 to 6 s +(``VELOCITY_PUSH_INTERVAL_S``) in training. This fork multiplies the x and y +ranges by ``PUSH_SCALE`` = 2.0, i.e. (-0.6, 0.6) m/s. The interval stays the +maker's 3-6 s, so the duck is shoved as often as before, only harder. + +Read before trusting a gain: the maker's cfg comment says their earlier ++-0.5 m/s ("an ADDITIVE kick larger than max walk speed (0.4) every 3-6 s") +trained "a permanently nervous fall-recovery gait" (2026-07 audit), and they +cut it to +-0.3 so a calmer gait could be optimal. +-0.6 is past that line on +purpose: this fork asks whether harder shoves buy push robustness and what it +costs the calm gait. The verdict therefore includes the maker-strength control +and the training windows (error_vel_xy, fell_over) against walk-flat v2. + +Play: the maker's play branch shortens the push interval to 0.5-1.0 s "for +better visibility", same range. This fork keeps that and scales the range the +same way, so a play take at the default scale is a strong shove every 0.5-1 s. + +Everything else (rewards, terminations, backlash robot, curricula, mass and +friction DR, solver settings, observations) is the maker's. + +Verdict overrides (read at import, i.e. at process start; unset = the values +above, so the training env never sees them): +- ``MICRODUCK_PUSH_SCALE=s`` replaces 2.0 (``1.0`` = the maker's +-0.3 m/s), + so play takes can run the seed and the fork under the same shove. +- ``MICRODUCK_PUSH_INTERVAL=lo,hi`` in seconds replaces the interval of + whichever cfg is built (train 3-6 s, play 0.5-1.0 s), so a play take can use + the training cadence. +""" + +import os + +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Push-MicroDuck" + +PUSH_SCALE = 2.0 # x the maker's VELOCITY_PUSH_RANGE (-0.3, 0.3) m/s -> (-0.6, 0.6) + + +def _push_scale(): + v = os.environ.get("MICRODUCK_PUSH_SCALE") + return float(v) if v else PUSH_SCALE + + +def _push_interval(): + v = os.environ.get("MICRODUCK_PUSH_INTERVAL") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return None + + +def make_witcheer_velocity_push_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + push = cfg.events["push_robot"] # KeyError if the maker ever turns ENABLE_VELOCITY_PUSHES off: loud on purpose + s = _push_scale() + vr = push.params["velocity_range"] + push.params["velocity_range"] = {k: (lo * s, hi * s) for k, (lo, hi) in vr.items()} + iv = _push_interval() + if iv is not None: + push.interval_range_s = iv + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_push_env_cfg(), + play_env_cfg=make_witcheer_velocity_push_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01h-walk-mix/patches/witcheer_velocity_slip_env_cfg.py b/level-01h-walk-mix/patches/witcheer_velocity_slip_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..80b654fd652b83452ffc6b34f57e30c450e3ed39 --- /dev/null +++ b/level-01h-walk-mix/patches/witcheer_velocity_slip_env_cfg.py @@ -0,0 +1,64 @@ +"""witcheer fork: Microduck walk with gear play on a SLIPPERY floor. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Slip-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck`` +(walk-flat v2 on the Hub): ONE parameter. The maker randomises the foot +friction at startup (mjlab ``dr.geom_friction``, ``operation="abs"``, +``shared_random=True``) on ``left_foot_collision`` / ``right_foot_collision`` +over (0.7, 1.3), narrowed from mjlab's (0.3, 1.2) default ("Grippier footpad", +``microduck_velocity_env_cfg.py``). This fork lowers the bottom of that range +to 0.2: each env walks with a fixed foot friction between 0.2 and 1.3 for the +whole run. + +Why the foot friction is the floor friction here: the robot cfg gives the foot +collision geoms ``priority=1`` (``microduck_constants.py``), and MuJoCo uses the +higher-priority geom's friction for a contact, so the floor's own value never +enters a foot contact. A low foot friction therefore models a slippery floor +(polished tile, laminate, a sheet of paper) as much as a worn pad. + +Everything else (rewards, terminations, pushes, backlash robot, curricula, +mass DR) is the maker's. + +Verdict override: ``MICRODUCK_FOOT_FRICTION=lo,hi`` (read at import, i.e. at +process start) replaces the range, so play takes can force the slipperiest case +(``0.2,0.2``) or a normal floor (``1.0,1.0``) for both the seed and the fork. +""" + +import os + +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Slip-MicroDuck" + +FOOT_FRICTION = (0.2, 1.3) # maker (0.7, 1.3), mjlab default (0.3, 1.2) + + +def _friction_range(): + v = os.environ.get("MICRODUCK_FOOT_FRICTION") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return FOOT_FRICTION + + +def make_witcheer_velocity_slip_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.events["foot_friction"].params["ranges"] = _friction_range() + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_slip_env_cfg(), + play_env_cfg=make_witcheer_velocity_slip_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01h-walk-mix/patches/witcheer_velocity_step_env_cfg.py b/level-01h-walk-mix/patches/witcheer_velocity_step_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..d21e4e4e48e8b6d8653e172ceb7b6a01885b002c --- /dev/null +++ b/level-01h-walk-mix/patches/witcheer_velocity_step_env_cfg.py @@ -0,0 +1,108 @@ +"""witcheer fork: Microduck walk with gear play over a SINGLE STEP. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Step-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck`` +(walk-flat v2 on the Hub): ONE thing, the floor. The maker trains this task on +an infinite plane (``terrain_type="plane"``). This fork swaps the plane for a +generated floor that is flat except for one raised square per 4 m tile: a +1.5 m platform whose top sits 10 to 25 mm above the surrounding floor, with +2.5 m of flat floor between neighbouring platforms. Every edge crossing is a +single step, down when the duck walks off its spawn platform, up when it walks +onto the next one. A Microduck stands ~117 mm tall at the trunk and lifts its +feet ~1-2 cm (maker's rough-terrain comment, which caps their stairs at +1.5 cm), so 25 mm is a real step for it. + +How the floor is built: mjlab's ``BoxPyramidStairsTerrainCfg`` with a border +wide enough that zero stairs fit (``num_steps = int((4 - 2*1.25 - 1.5) / +(2*1.0)) = 0``), which leaves the border frame at z = 0 and one centre box with +its top at the step height. Random mode (``curriculum=False``, the mjlab +default the maker's flat task never touches), so each of the 10 x 10 tiles gets +its own height drawn uniformly from (10, 25) mm; no terrain-level curriculum +(the maker's flat cfg deletes it and so does this fork). + +Height reads: the env origin sits on the platform top, so any read of +``root_z - env_origin_z`` is off by the step height once the duck steps down. +Our clone's ``ground_height_patch.py`` makes ``_ground_z`` read the +``foot_height_scan`` ray hits on generator terrain, and in this task the only +active term that reads height (``head_pose_bias``) goes through it. +``body_pose_tracking_6d`` reads the origin directly but has weight 0 in the +velocity task. ``out_of_terrain_bounds`` becomes live with a generator floor +(it is a no-op on a plane); the 40 m grid plus the 20 m outer border means a +20 s episode cannot reach it. + +Everything else (rewards, terminations, pushes, backlash robot, curricula, +mass and friction DR, solver settings, observations: the policy still has no +terrain scan, it meets the step blind like the real robot would) is the maker's. +The maker's rough branch also softens terrain box contacts and raises solver +iterations; this fork does not, to keep one variable. Watch ``nan_state``. + +Verdict override: ``MICRODUCK_STEP_HEIGHT=lo,hi`` in metres (read at import, +i.e. at process start) replaces the height range, so play takes can force the +tallest step (``0.025,0.025``) or a flat floor on the same layout +(``0.0,0.0``) for both the seed and the fork. +""" + +import os +from copy import deepcopy + +import mjlab.terrains as terrain_gen +from mjlab.terrains.terrain_generator import TerrainGeneratorCfg +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Step-MicroDuck" + +STEP_HEIGHT = (0.010, 0.025) # metres; maker's rough stairs top out at 0.015 +TILE = 4.0 # m, one platform per tile +PLATFORM = 1.5 # m, side of the raised square +BORDER = (TILE - PLATFORM) / 2.0 # 1.25 m of floor around it -> 2.5 m between platforms + + +def _step_range(): + v = os.environ.get("MICRODUCK_STEP_HEIGHT") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return STEP_HEIGHT + + +SINGLE_STEP_TERRAIN_CFG = TerrainGeneratorCfg( + size=(TILE, TILE), + border_width=20.0, # same outer border as the maker's rough grid + num_rows=10, + num_cols=10, + curriculum=False, + sub_terrains={ + "single_step": terrain_gen.BoxPyramidStairsTerrainCfg( + proportion=1.0, + step_height_range=_step_range(), + step_width=1.0, # unused: zero stairs fit, see the docstring + platform_width=PLATFORM, + border_width=BORDER, + ), + }, + add_lights=False, +) + + +def make_witcheer_velocity_step_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.scene.terrain.terrain_type = "generator" + cfg.scene.terrain.terrain_generator = deepcopy(SINGLE_STEP_TERRAIN_CFG) + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_step_env_cfg(), + play_env_cfg=make_witcheer_velocity_step_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t1.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..5286920e03548950f04496e704496cace2b1cdea --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t1.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.799,-18.359,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.3mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(+0.08,-0.02,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 118.4mm grav_b=(+0.09,-0.02,-1.00) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 117.9mm grav_b=(+0.07,-0.02,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 116.7mm grav_b=(-0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 118.2mm grav_b=(+0.11,-0.02,-0.99) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 120.6mm grav_b=(+0.12,-0.02,-0.99) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 121.0mm grav_b=(+0.13,-0.02,-0.99) r=0.38m +[headless_play] t= 2.60s step= 130 trunk_z= 117.7mm grav_b=(+0.01,+0.08,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 113.7mm grav_b=(-0.03,-0.06,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 114.5mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.90s step= 145 trunk_z= 115.4mm grav_b=(-0.04,-0.01,-1.00) r=0.37m +[headless_play] t= 3.00s step= 150 trunk_z= 115.0mm grav_b=(-0.01,-0.01,-1.00) r=0.37m +[headless_play] t= 3.10s step= 155 trunk_z= 113.5mm grav_b=(+0.02,-0.08,-1.00) r=0.37m +[headless_play] t= 3.20s step= 160 trunk_z= 110.9mm grav_b=(+0.07,+0.02,-1.00) r=0.37m +[headless_play] t= 3.30s step= 165 trunk_z= 113.2mm grav_b=(+0.07,+0.00,-1.00) r=0.37m +[headless_play] t= 3.40s step= 170 trunk_z= 114.8mm grav_b=(+0.05,-0.01,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 115.9mm grav_b=(+0.10,-0.01,-1.00) r=0.37m +[headless_play] t= 3.60s step= 180 trunk_z= 118.7mm grav_b=(+0.13,-0.02,-0.99) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 119.3mm grav_b=(+0.14,-0.01,-0.99) r=0.36m +[headless_play] t= 3.80s step= 190 trunk_z= 118.4mm grav_b=(+0.03,+0.00,-1.00) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 115.0mm grav_b=(-0.11,-0.09,-0.99) r=0.34m +[headless_play] t= 4.00s step= 200 trunk_z= 115.4mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 116.6mm grav_b=(+0.09,+0.02,-1.00) r=0.32m +[headless_play] t= 4.20s step= 210 trunk_z= 116.9mm grav_b=(+0.07,-0.00,-1.00) r=0.32m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 117.1mm grav_b=(-0.03,-0.00,-1.00) r=0.35m +[headless_play] t= 5.90s step= 295 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 6.10s step= 305 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 6.30s step= 315 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 6.60s step= 330 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 6.70s step= 335 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 6.80s step= 340 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 6.90s step= 345 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 7.00s step= 350 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 7.20s step= 360 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.40s step= 370 trunk_z= 117.2mm grav_b=(+0.01,+0.10,-0.99) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 118.5mm grav_b=(+0.09,+0.12,-0.99) r=0.37m +[headless_play] t= 7.60s step= 380 trunk_z= 115.7mm grav_b=(+0.08,-0.06,-1.00) r=0.37m +[headless_play] t= 7.70s step= 385 trunk_z= 123.0mm grav_b=(-0.00,-0.06,-1.00) r=0.36m +[headless_play] t= 7.80s step= 390 trunk_z= 114.8mm grav_b=(+0.07,+0.13,-0.99) r=0.36m +[headless_play] t= 7.90s step= 395 trunk_z= 120.8mm grav_b=(+0.10,+0.10,-0.99) r=0.36m +[headless_play] t= 8.00s step= 400 trunk_z= 114.0mm grav_b=(+0.10,-0.09,-0.99) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 122.2mm grav_b=(+0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 8.20s step= 410 trunk_z= 113.7mm grav_b=(+0.09,+0.09,-0.99) r=0.31m +[headless_play] t= 8.30s step= 415 trunk_z= 111.5mm grav_b=(+0.17,-0.17,-0.97) r=0.30m +[headless_play] t= 8.40s step= 420 trunk_z= 125.7mm grav_b=(+0.11,-0.14,-0.98) r=0.30m +[headless_play] t= 8.50s step= 425 trunk_z= 110.8mm grav_b=(+0.13,+0.11,-0.99) r=0.30m +[headless_play] t= 8.60s step= 430 trunk_z= 118.1mm grav_b=(-0.02,-0.03,-1.00) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 115.8mm grav_b=(-0.06,-0.15,-0.99) r=0.30m +[headless_play] t= 8.80s step= 440 trunk_z= 124.0mm grav_b=(+0.01,-0.11,-0.99) r=0.30m +[headless_play] t= 8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.06,+0.07,-1.00) r=0.32m +[headless_play] t= 9.00s step= 450 trunk_z= 120.0mm grav_b=(+0.06,+0.04,-1.00) r=0.32m +[headless_play] t= 9.10s step= 455 trunk_z= 119.4mm grav_b=(+0.05,-0.05,-1.00) r=0.32m +[headless_play] t= 9.20s step= 460 trunk_z= 121.8mm grav_b=(+0.15,+0.07,-0.99) r=0.33m +[headless_play] t= 9.30s step= 465 trunk_z= 129.0mm grav_b=(+0.12,-0.02,-0.99) r=0.33m +[headless_play] t= 9.40s step= 470 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.33m +[headless_play] t= 9.50s step= 475 trunk_z= 119.0mm grav_b=(-0.04,+0.14,-0.99) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 129.0mm grav_b=(+0.01,+0.14,-0.99) r=0.36m +[headless_play] t= 9.70s step= 485 trunk_z= 122.5mm grav_b=(+0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 126.4mm grav_b=(+0.01,-0.14,-0.99) r=0.36m +[headless_play] t= 9.90s step= 495 trunk_z= 123.2mm grav_b=(-0.01,-0.04,-1.00) r=0.35m +[headless_play] t= 10.00s step= 500 trunk_z= 119.7mm grav_b=(-0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 10.10s step= 505 trunk_z= 117.9mm grav_b=(-0.06,-0.10,-0.99) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 122.2mm grav_b=(-0.05,-0.06,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 122.0mm grav_b=(+0.00,+0.07,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 121.1mm grav_b=(-0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 125.6mm grav_b=(+0.02,-0.13,-0.99) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 119.1mm grav_b=(+0.06,+0.01,-1.00) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 123.7mm grav_b=(+0.03,+0.03,-1.00) r=0.36m +[headless_play] t= 10.80s step= 540 trunk_z= 118.5mm grav_b=(-0.01,-0.10,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 124.9mm grav_b=(+0.01,-0.08,-1.00) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 120.4mm grav_b=(+0.06,+0.05,-1.00) r=0.36m +[headless_play] t= 11.10s step= 555 trunk_z= 121.8mm grav_b=(+0.02,-0.06,-1.00) r=0.36m +[headless_play] t= 11.20s step= 560 trunk_z= 126.4mm grav_b=(+0.01,-0.17,-0.99) r=0.37m +[headless_play] t= 11.30s step= 565 trunk_z= 125.9mm grav_b=(+0.04,-0.08,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 122.3mm grav_b=(+0.05,+0.03,-1.00) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 122.6mm grav_b=(+0.04,-0.08,-1.00) r=0.43m +[headless_play] t= 11.60s step= 580 trunk_z= 120.9mm grav_b=(-0.02,-0.07,-1.00) r=0.46m +[headless_play] t= 11.70s step= 585 trunk_z= 123.7mm grav_b=(+0.01,+0.09,-1.00) r=0.49m +[headless_play] t= 11.80s step= 590 trunk_z= 129.1mm grav_b=(+0.03,+0.07,-1.00) r=0.50m +[headless_play] t= 11.90s step= 595 trunk_z= 118.5mm grav_b=(+0.03,-0.10,-0.99) r=0.51m +[headless_play] t= 12.00s step= 600 trunk_z= 121.6mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 12.10s step= 605 trunk_z= 124.9mm grav_b=(+0.09,+0.08,-0.99) r=0.54m +[headless_play] t= 12.20s step= 610 trunk_z= 123.6mm grav_b=(-0.03,-0.07,-1.00) r=0.52m +[headless_play] t= 12.30s step= 615 trunk_z= 126.2mm grav_b=(-0.09,-0.20,-0.98) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 131.9mm grav_b=(-0.10,-0.11,-0.99) r=0.51m +[headless_play] t= 12.50s step= 625 trunk_z= 119.3mm grav_b=(-0.07,+0.01,-1.00) r=0.51m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(+0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 12.70s step= 635 trunk_z= 124.6mm grav_b=(+0.09,-0.04,-0.99) r=0.47m +[headless_play] t= 12.80s step= 640 trunk_z= 116.3mm grav_b=(+0.20,+0.05,-0.98) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 120.9mm grav_b=(+0.04,-0.06,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 122.4mm grav_b=(-0.03,-0.17,-0.99) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 127.7mm grav_b=(+0.01,-0.12,-0.99) r=0.43m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(+0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 123.0mm grav_b=(+0.04,+0.02,-1.00) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 117.3mm grav_b=(-0.01,-0.11,-0.99) r=0.43m +[headless_play] t= 13.50s step= 675 trunk_z= 124.7mm grav_b=(+0.03,-0.06,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 119.0mm grav_b=(+0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 13.70s step= 685 trunk_z= 122.1mm grav_b=(-0.00,-0.06,-1.00) r=0.36m +[headless_play] t= 13.80s step= 690 trunk_z= 123.5mm grav_b=(-0.03,-0.17,-0.99) r=0.34m +[headless_play] t= 13.90s step= 695 trunk_z= 122.9mm grav_b=(-0.03,-0.04,-1.00) r=0.33m +[headless_play] t= 14.00s step= 700 trunk_z= 124.3mm grav_b=(+0.04,+0.06,-1.00) r=0.32m +[headless_play] t= 14.10s step= 705 trunk_z= 124.0mm grav_b=(+0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 14.20s step= 710 trunk_z= 119.3mm grav_b=(-0.03,-0.04,-1.00) r=0.29m +[headless_play] t= 14.30s step= 715 trunk_z= 119.5mm grav_b=(+0.02,+0.05,-1.00) r=0.28m +[headless_play] t= 14.40s step= 720 trunk_z= 117.9mm grav_b=(-0.02,-0.13,-0.99) r=0.26m +[headless_play] t= 14.50s step= 725 trunk_z= 123.7mm grav_b=(-0.01,-0.03,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 125.1mm grav_b=(+0.03,+0.10,-0.99) r=0.24m +[headless_play] t= 14.70s step= 735 trunk_z= 123.2mm grav_b=(+0.00,-0.03,-1.00) r=0.22m +[headless_play] t= 14.80s step= 740 trunk_z= 124.2mm grav_b=(-0.00,-0.07,-1.00) r=0.20m +[headless_play] t= 14.90s step= 745 trunk_z= 119.9mm grav_b=(-0.00,+0.10,-0.99) r=0.19m +[headless_play] t= 15.00s step= 750 trunk_z= 122.3mm grav_b=(-0.04,+0.00,-1.00) r=0.17m +[headless_play] t= 15.10s step= 755 trunk_z= 123.0mm grav_b=(-0.09,-0.12,-0.99) r=0.15m +[headless_play] t= 15.20s step= 760 trunk_z= 119.2mm grav_b=(-0.07,+0.06,-1.00) r=0.14m +[headless_play] t= 15.30s step= 765 trunk_z= 121.0mm grav_b=(-0.04,+0.01,-1.00) r=0.13m +[headless_play] t= 15.40s step= 770 trunk_z= 121.8mm grav_b=(-0.05,-0.12,-0.99) r=0.11m +[headless_play] t= 15.50s step= 775 trunk_z= 121.1mm grav_b=(-0.00,+0.04,-1.00) r=0.10m +[headless_play] t= 15.60s step= 780 trunk_z= 125.4mm grav_b=(+0.02,-0.01,-1.00) r=0.09m +[headless_play] t= 15.70s step= 785 trunk_z= 116.2mm grav_b=(-0.03,-0.20,-0.98) r=0.09m +[headless_play] t= 15.80s step= 790 trunk_z= 131.0mm grav_b=(-0.02,-0.19,-0.98) r=0.10m +[headless_play] t= 15.90s step= 795 trunk_z= 127.8mm grav_b=(+0.06,-0.05,-1.00) r=0.13m +[headless_play] t= 16.00s step= 800 trunk_z= 114.9mm grav_b=(-0.01,+0.01,-1.00) r=0.16m +[headless_play] t= 16.10s step= 805 trunk_z= 120.3mm grav_b=(-0.07,-0.05,-1.00) r=0.18m +[headless_play] t= 16.20s step= 810 trunk_z= 116.6mm grav_b=(-0.05,-0.07,-1.00) r=0.19m +[headless_play] t= 16.30s step= 815 trunk_z= 118.8mm grav_b=(-0.02,+0.11,-0.99) r=0.21m +[headless_play] t= 16.40s step= 820 trunk_z= 125.1mm grav_b=(+0.06,-0.07,-1.00) r=0.22m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(-0.04,-0.28,-0.96) r=0.24m +[headless_play] t= 16.60s step= 830 trunk_z= 130.3mm grav_b=(-0.04,-0.19,-0.98) r=0.25m +[headless_play] t= 16.70s step= 835 trunk_z= 128.1mm grav_b=(-0.05,-0.02,-1.00) r=0.27m +[headless_play] t= 16.80s step= 840 trunk_z= 126.3mm grav_b=(-0.03,+0.09,-1.00) r=0.30m +[headless_play] t= 16.90s step= 845 trunk_z= 127.7mm grav_b=(+0.04,+0.05,-1.00) r=0.31m +[headless_play] t= 17.00s step= 850 trunk_z= 115.6mm grav_b=(+0.05,-0.12,-0.99) r=0.32m +[headless_play] t= 17.10s step= 855 trunk_z= 118.4mm grav_b=(-0.03,+0.06,-1.00) r=0.33m +[headless_play] t= 17.20s step= 860 trunk_z= 127.9mm grav_b=(+0.10,+0.01,-1.00) r=0.35m +[headless_play] t= 17.30s step= 865 trunk_z= 113.9mm grav_b=(-0.01,-0.20,-0.98) r=0.37m +[headless_play] t= 17.40s step= 870 trunk_z= 125.1mm grav_b=(-0.06,-0.15,-0.99) r=0.40m +[headless_play] t= 17.50s step= 875 trunk_z= 119.7mm grav_b=(-0.01,+0.09,-1.00) r=0.44m +[headless_play] t= 17.60s step= 880 trunk_z= 129.6mm grav_b=(+0.08,+0.15,-0.99) r=0.47m +[headless_play] t= 17.70s step= 885 trunk_z= 131.4mm grav_b=(+0.09,+0.20,-0.98) r=0.49m +[headless_play] t= 17.80s step= 890 trunk_z= 126.2mm grav_b=(+0.12,+0.14,-0.98) r=0.52m +[headless_play] t= 17.90s step= 895 trunk_z= 118.4mm grav_b=(+0.08,+0.15,-0.99) r=0.55m +[headless_play] t= 18.00s step= 900 trunk_z= 121.5mm grav_b=(+0.09,+0.18,-0.98) r=0.57m +[headless_play] t= 18.10s step= 905 trunk_z= 125.4mm grav_b=(+0.14,-0.18,-0.97) r=0.57m +[headless_play] t= 18.20s step= 910 trunk_z= 120.4mm grav_b=(+0.09,-0.17,-0.98) r=0.57m +[headless_play] t= 18.30s step= 915 trunk_z= 118.0mm grav_b=(+0.04,-0.02,-1.00) r=0.58m +[headless_play] t= 18.40s step= 920 trunk_z= 121.0mm grav_b=(+0.03,+0.13,-0.99) r=0.59m +[headless_play] t= 18.50s step= 925 trunk_z= 127.4mm grav_b=(-0.00,+0.08,-1.00) r=0.62m +[headless_play] t= 18.60s step= 930 trunk_z= 114.2mm grav_b=(-0.07,-0.11,-0.99) r=0.65m +[headless_play] t= 18.70s step= 935 trunk_z= 125.1mm grav_b=(-0.02,-0.06,-1.00) r=0.67m +[headless_play] t= 18.80s step= 940 trunk_z= 116.9mm grav_b=(+0.10,+0.10,-0.99) r=0.67m +[headless_play] t= 18.90s step= 945 trunk_z= 126.4mm grav_b=(+0.12,-0.09,-0.99) r=0.68m +[headless_play] t= 19.00s step= 950 trunk_z= 117.8mm grav_b=(-0.03,-0.23,-0.97) r=0.67m +[headless_play] t= 19.10s step= 955 trunk_z= 123.1mm grav_b=(-0.15,-0.10,-0.98) r=0.66m +[headless_play] t= 19.20s step= 960 trunk_z= 123.1mm grav_b=(-0.07,+0.13,-0.99) r=0.66m +[headless_play] t= 19.30s step= 965 trunk_z= 121.5mm grav_b=(+0.05,+0.06,-1.00) r=0.65m +[headless_play] t= 19.40s step= 970 trunk_z= 116.1mm grav_b=(+0.09,-0.07,-0.99) r=0.65m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(+0.22,+0.10,-0.97) r=0.64m +[headless_play] t= 19.60s step= 980 trunk_z= 121.9mm grav_b=(+0.23,-0.15,-0.96) r=0.65m +[headless_play] t= 19.70s step= 985 trunk_z= 101.2mm grav_b=(+0.07,-0.29,-0.95) r=0.65m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(-0.06,-0.15,-0.99) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 119.8mm grav_b=(-0.02,+0.05,-1.00) r=0.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t10.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..514452f71b9dd6a9aa589b2a20f51a6e95759b1c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.4mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.466,-17.544,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.8mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(+0.02,-0.06,-1.00) r=0.65m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(+0.07,-0.08,-0.99) r=0.65m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.11,+0.14,-0.98) r=0.66m +[headless_play] t= 0.40s step= 20 trunk_z= 119.5mm grav_b=(+0.10,+0.08,-0.99) r=0.66m +[headless_play] t= 0.50s step= 25 trunk_z= 122.8mm grav_b=(+0.04,-0.11,-0.99) r=0.65m +[headless_play] t= 0.60s step= 30 trunk_z= 125.5mm grav_b=(+0.06,-0.08,-1.00) r=0.66m +[headless_play] t= 0.70s step= 35 trunk_z= 118.7mm grav_b=(+0.05,+0.05,-1.00) r=0.67m +[headless_play] t= 0.80s step= 40 trunk_z= 114.2mm grav_b=(+0.10,-0.08,-0.99) r=0.68m +[headless_play] t= 0.90s step= 45 trunk_z= 118.2mm grav_b=(+0.10,-0.05,-0.99) r=0.67m +[headless_play] t= 1.00s step= 50 trunk_z= 115.4mm grav_b=(+0.04,+0.13,-0.99) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(+0.09,-0.11,-0.99) r=0.63m +[headless_play] t= 1.20s step= 60 trunk_z= 125.5mm grav_b=(+0.08,-0.21,-0.97) r=0.62m +[headless_play] t= 1.30s step= 65 trunk_z= 124.1mm grav_b=(+0.10,-0.21,-0.97) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 118.4mm grav_b=(+0.18,-0.12,-0.98) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 124.8mm grav_b=(+0.11,-0.13,-0.99) r=0.63m +[headless_play] t= 1.60s step= 80 trunk_z= 110.4mm grav_b=(+0.29,-0.14,-0.95) r=0.65m +[headless_play] t= 1.70s step= 85 trunk_z= 106.7mm grav_b=(+0.35,+0.18,-0.92) r=0.68m +[headless_play] t= 1.80s step= 90 trunk_z= 110.9mm grav_b=(+0.47,-0.20,-0.86) r=0.69m +[headless_play] RESET at t= 1.88s step= 94 (env termination, not a recovery) +[headless_play] t= 1.90s step= 95 trunk_z= 126.7mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 115.3mm grav_b=(-0.00,-0.10,-0.99) r=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 119.5mm grav_b=(+0.06,-0.01,-1.00) r=0.37m +[headless_play] t= 2.20s step= 110 trunk_z= 120.1mm grav_b=(+0.07,-0.05,-1.00) r=0.36m +[headless_play] t= 2.30s step= 115 trunk_z= 124.8mm grav_b=(+0.03,-0.17,-0.99) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 129.2mm grav_b=(+0.01,-0.19,-0.98) r=0.37m +[headless_play] t= 2.50s step= 125 trunk_z= 127.8mm grav_b=(+0.01,-0.15,-0.99) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 122.1mm grav_b=(+0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 2.80s step= 140 trunk_z= 118.9mm grav_b=(+0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.05,-0.05,-1.00) r=0.37m +[headless_play] t= 3.00s step= 150 trunk_z= 119.9mm grav_b=(-0.08,-0.06,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(+0.03,+0.09,-1.00) r=0.37m +[headless_play] t= 3.20s step= 160 trunk_z= 122.7mm grav_b=(+0.08,+0.05,-1.00) r=0.37m +[headless_play] t= 3.30s step= 165 trunk_z= 121.2mm grav_b=(+0.03,-0.09,-1.00) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 121.2mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.50s step= 175 trunk_z= 121.9mm grav_b=(+0.04,-0.00,-1.00) r=0.37m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(+0.01,-0.07,-1.00) r=0.37m +[headless_play] t= 3.70s step= 185 trunk_z= 117.0mm grav_b=(-0.05,+0.10,-0.99) r=0.37m +[headless_play] t= 3.80s step= 190 trunk_z= 124.1mm grav_b=(-0.08,+0.05,-1.00) r=0.38m +[headless_play] t= 3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.00,-0.07,-1.00) r=0.38m +[headless_play] t= 4.00s step= 200 trunk_z= 113.2mm grav_b=(+0.15,+0.09,-0.98) r=0.38m +[headless_play] t= 4.10s step= 205 trunk_z= 119.4mm grav_b=(+0.12,-0.05,-0.99) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 123.3mm grav_b=(-0.03,-0.16,-0.99) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 123.3mm grav_b=(-0.03,-0.08,-1.00) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 122.4mm grav_b=(+0.04,+0.06,-1.00) r=0.40m +[headless_play] t= 4.50s step= 225 trunk_z= 117.3mm grav_b=(-0.00,-0.07,-1.00) r=0.41m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.01,+0.06,-1.00) r=0.42m +[headless_play] t= 4.70s step= 235 trunk_z= 122.9mm grav_b=(+0.02,+0.08,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(-0.07,-0.09,-0.99) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 118.9mm grav_b=(-0.04,+0.06,-1.00) r=0.48m +[headless_play] t= 5.00s step= 250 trunk_z= 125.9mm grav_b=(+0.02,+0.12,-0.99) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 116.7mm grav_b=(+0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 5.20s step= 260 trunk_z= 125.4mm grav_b=(+0.07,-0.06,-1.00) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 121.5mm grav_b=(+0.11,+0.02,-0.99) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(-0.00,-0.04,-1.00) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 117.0mm grav_b=(+0.03,-0.04,-1.00) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 120.3mm grav_b=(+0.06,+0.05,-1.00) r=0.55m +[headless_play] t= 5.70s step= 285 trunk_z= 127.0mm grav_b=(+0.00,-0.05,-1.00) r=0.55m +[headless_play] t= 5.80s step= 290 trunk_z= 128.0mm grav_b=(+0.10,-0.18,-0.98) r=0.55m +[headless_play] t= 5.90s step= 295 trunk_z= 133.5mm grav_b=(+0.11,-0.14,-0.98) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 118.2mm grav_b=(+0.11,-0.02,-0.99) r=0.58m +[headless_play] t= 6.10s step= 305 trunk_z= 119.7mm grav_b=(+0.07,-0.11,-0.99) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 122.7mm grav_b=(+0.19,-0.09,-0.98) r=0.60m +[headless_play] t= 6.30s step= 315 trunk_z= 107.0mm grav_b=(+0.28,-0.18,-0.94) r=0.62m +[headless_play] t= 6.40s step= 320 trunk_z= 103.4mm grav_b=(+0.12,-0.01,-0.99) r=0.64m +[headless_play] t= 6.50s step= 325 trunk_z= 112.5mm grav_b=(+0.16,+0.01,-0.99) r=0.65m +[headless_play] t= 6.60s step= 330 trunk_z= 124.0mm grav_b=(+0.18,-0.16,-0.97) r=0.67m +[headless_play] t= 6.70s step= 335 trunk_z= 116.8mm grav_b=(-0.01,-0.07,-1.00) r=0.69m +[headless_play] t= 6.80s step= 340 trunk_z= 119.0mm grav_b=(+0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 6.90s step= 345 trunk_z= 118.3mm grav_b=(+0.07,-0.05,-1.00) r=0.69m +[headless_play] t= 7.00s step= 350 trunk_z= 119.3mm grav_b=(+0.11,-0.08,-0.99) r=0.69m +[headless_play] t= 7.10s step= 355 trunk_z= 120.8mm grav_b=(+0.07,-0.03,-1.00) r=0.70m +[headless_play] t= 7.20s step= 360 trunk_z= 120.0mm grav_b=(+0.07,+0.17,-0.98) r=0.70m +[headless_play] t= 7.30s step= 365 trunk_z= 128.9mm grav_b=(+0.12,-0.06,-0.99) r=0.73m +[headless_play] t= 7.40s step= 370 trunk_z= 118.4mm grav_b=(-0.10,-0.27,-0.96) r=0.76m +[headless_play] t= 7.50s step= 375 trunk_z= 121.1mm grav_b=(-0.16,-0.13,-0.98) r=0.77m +[headless_play] t= 7.60s step= 380 trunk_z= 115.5mm grav_b=(+0.01,-0.04,-1.00) r=0.79m +[headless_play] t= 7.70s step= 385 trunk_z= 104.6mm grav_b=(+0.16,-0.23,-0.96) r=0.81m +[headless_play] t= 7.80s step= 390 trunk_z= 118.5mm grav_b=(+0.25,-0.21,-0.94) r=0.83m +[headless_play] t= 7.90s step= 395 trunk_z= 102.6mm grav_b=(+0.36,-0.07,-0.93) r=0.85m +[headless_play] t= 8.00s step= 400 trunk_z= 105.3mm grav_b=(+0.41,-0.15,-0.90) r=0.86m +[headless_play] t= 8.10s step= 405 trunk_z= 99.2mm grav_b=(+0.28,-0.32,-0.90) r=0.88m +[headless_play] t= 8.20s step= 410 trunk_z= 98.7mm grav_b=(-0.19,-0.18,-0.96) r=0.89m +[headless_play] t= 8.30s step= 415 trunk_z= 103.6mm grav_b=(-0.22,-0.26,-0.94) r=0.89m +[headless_play] t= 8.40s step= 420 trunk_z= 70.0mm grav_b=(-0.60,-0.27,-0.75) r=0.90m +[headless_play] RESET at t= 8.46s step= 423 (env termination, not a recovery) +[headless_play] t= 8.50s step= 425 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.46m +[headless_play] t= 8.60s step= 430 trunk_z= 115.8mm grav_b=(+0.06,+0.05,-1.00) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 116.0mm grav_b=(+0.11,-0.12,-0.99) r=0.47m +[headless_play] t= 8.80s step= 440 trunk_z= 122.5mm grav_b=(+0.08,-0.09,-0.99) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 117.9mm grav_b=(+0.09,+0.13,-0.99) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 123.5mm grav_b=(+0.11,+0.14,-0.98) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 119.6mm grav_b=(+0.05,+0.01,-1.00) r=0.48m +[headless_play] t= 9.20s step= 460 trunk_z= 121.9mm grav_b=(+0.04,-0.02,-1.00) r=0.46m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.03,+0.18,-0.98) r=0.46m +[headless_play] t= 9.40s step= 470 trunk_z= 118.6mm grav_b=(+0.14,+0.08,-0.99) r=0.45m +[headless_play] t= 9.50s step= 475 trunk_z= 112.3mm grav_b=(+0.16,-0.09,-0.98) r=0.45m +[headless_play] t= 9.60s step= 480 trunk_z= 118.2mm grav_b=(+0.12,+0.04,-0.99) r=0.44m +[headless_play] t= 9.70s step= 485 trunk_z= 116.0mm grav_b=(+0.16,+0.05,-0.99) r=0.45m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(+0.09,-0.09,-0.99) r=0.44m +[headless_play] t= 9.90s step= 495 trunk_z= 124.6mm grav_b=(+0.04,-0.15,-0.99) r=0.43m +[headless_play] t= 10.00s step= 500 trunk_z= 124.9mm grav_b=(+0.10,-0.07,-0.99) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 113.5mm grav_b=(+0.18,+0.03,-0.98) r=0.43m +[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.10,-0.07,-0.99) r=0.42m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(+0.08,-0.00,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 115.2mm grav_b=(+0.15,+0.11,-0.98) r=0.41m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(+0.14,-0.02,-0.99) r=0.41m +[headless_play] t= 10.60s step= 530 trunk_z= 123.1mm grav_b=(+0.06,-0.14,-0.99) r=0.39m +[headless_play] t= 10.70s step= 535 trunk_z= 118.2mm grav_b=(+0.15,-0.00,-0.99) r=0.39m +[headless_play] t= 10.80s step= 540 trunk_z= 121.4mm grav_b=(+0.03,+0.05,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 115.1mm grav_b=(+0.11,-0.16,-0.98) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 127.5mm grav_b=(+0.15,-0.04,-0.99) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 121.8mm grav_b=(+0.16,+0.12,-0.98) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 129.4mm grav_b=(+0.12,+0.03,-0.99) r=0.41m +[headless_play] t= 11.30s step= 565 trunk_z= 119.9mm grav_b=(+0.11,-0.12,-0.99) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 119.1mm grav_b=(-0.05,+0.11,-0.99) r=0.42m +[headless_play] t= 11.50s step= 575 trunk_z= 128.3mm grav_b=(+0.02,+0.19,-0.98) r=0.42m +[headless_play] t= 11.60s step= 580 trunk_z= 125.7mm grav_b=(+0.04,+0.08,-1.00) r=0.42m +[headless_play] t= 11.70s step= 585 trunk_z= 118.4mm grav_b=(+0.12,-0.10,-0.99) r=0.41m +[headless_play] t= 11.80s step= 590 trunk_z= 119.8mm grav_b=(+0.09,+0.08,-0.99) r=0.41m +[headless_play] t= 11.90s step= 595 trunk_z= 118.0mm grav_b=(+0.16,-0.02,-0.99) r=0.40m +[headless_play] t= 12.00s step= 600 trunk_z= 122.6mm grav_b=(+0.10,-0.16,-0.98) r=0.39m +[headless_play] t= 12.10s step= 605 trunk_z= 122.0mm grav_b=(-0.00,-0.00,-1.00) r=0.39m +[headless_play] t= 12.20s step= 610 trunk_z= 126.0mm grav_b=(+0.06,+0.18,-0.98) r=0.40m +[headless_play] t= 12.30s step= 615 trunk_z= 125.6mm grav_b=(+0.12,+0.11,-0.99) r=0.40m +[headless_play] t= 12.40s step= 620 trunk_z= 118.1mm grav_b=(+0.21,-0.02,-0.98) r=0.39m +[headless_play] t= 12.50s step= 625 trunk_z= 130.7mm grav_b=(+0.12,+0.13,-0.98) r=0.38m +[headless_play] t= 12.60s step= 630 trunk_z= 122.0mm grav_b=(+0.20,+0.21,-0.96) r=0.38m +[headless_play] t= 12.70s step= 635 trunk_z= 134.0mm grav_b=(+0.07,+0.14,-0.99) r=0.37m +[headless_play] t= 12.80s step= 640 trunk_z= 120.7mm grav_b=(+0.07,-0.12,-0.99) r=0.35m +[headless_play] t= 12.90s step= 645 trunk_z= 128.1mm grav_b=(+0.05,-0.03,-1.00) r=0.34m +[headless_play] t= 13.00s step= 650 trunk_z= 122.9mm grav_b=(-0.00,+0.10,-0.99) r=0.33m +[headless_play] t= 13.10s step= 655 trunk_z= 120.3mm grav_b=(+0.01,-0.05,-1.00) r=0.30m +[headless_play] t= 13.20s step= 660 trunk_z= 124.1mm grav_b=(+0.06,-0.08,-0.99) r=0.28m +[headless_play] t= 13.30s step= 665 trunk_z= 119.6mm grav_b=(+0.10,+0.11,-0.99) r=0.27m +[headless_play] t= 13.40s step= 670 trunk_z= 124.7mm grav_b=(+0.09,+0.02,-1.00) r=0.26m +[headless_play] t= 13.50s step= 675 trunk_z= 124.8mm grav_b=(+0.06,-0.11,-0.99) r=0.23m +[headless_play] t= 13.60s step= 680 trunk_z= 122.1mm grav_b=(+0.04,+0.00,-1.00) r=0.18m +[headless_play] t= 13.70s step= 685 trunk_z= 118.1mm grav_b=(+0.02,-0.03,-1.00) r=0.14m +[headless_play] t= 13.80s step= 690 trunk_z= 119.7mm grav_b=(+0.06,-0.03,-1.00) r=0.11m +[headless_play] t= 13.90s step= 695 trunk_z= 119.9mm grav_b=(+0.14,+0.13,-0.98) r=0.09m +[headless_play] t= 14.00s step= 700 trunk_z= 121.4mm grav_b=(+0.15,-0.01,-0.99) r=0.07m +[headless_play] t= 14.10s step= 705 trunk_z= 124.1mm grav_b=(+0.05,-0.05,-1.00) r=0.04m +[headless_play] t= 14.20s step= 710 trunk_z= 119.8mm grav_b=(-0.02,+0.11,-0.99) r=0.00m +[headless_play] t= 14.30s step= 715 trunk_z= 120.4mm grav_b=(+0.03,-0.01,-1.00) r=0.03m +[headless_play] t= 14.40s step= 720 trunk_z= 116.1mm grav_b=(+0.17,-0.08,-0.98) r=0.05m +[headless_play] t= 14.50s step= 725 trunk_z= 117.4mm grav_b=(+0.21,+0.06,-0.98) r=0.07m +[headless_play] t= 14.60s step= 730 trunk_z= 115.7mm grav_b=(+0.22,-0.06,-0.97) r=0.09m +[headless_play] t= 14.70s step= 735 trunk_z= 122.8mm grav_b=(+0.12,-0.03,-0.99) r=0.10m +[headless_play] t= 14.80s step= 740 trunk_z= 111.7mm grav_b=(+0.03,+0.21,-0.98) r=0.13m +[headless_play] t= 14.90s step= 745 trunk_z= 122.7mm grav_b=(-0.02,+0.15,-0.99) r=0.14m +[headless_play] t= 15.00s step= 750 trunk_z= 121.1mm grav_b=(-0.00,-0.07,-1.00) r=0.18m +[headless_play] t= 15.10s step= 755 trunk_z= 121.0mm grav_b=(+0.05,-0.05,-1.00) r=0.19m +[headless_play] t= 15.20s step= 760 trunk_z= 110.0mm grav_b=(+0.18,+0.10,-0.98) r=0.19m +[headless_play] t= 15.30s step= 765 trunk_z= 114.2mm grav_b=(+0.18,-0.05,-0.98) r=0.20m +[headless_play] t= 15.40s step= 770 trunk_z= 126.1mm grav_b=(+0.09,-0.01,-1.00) r=0.20m +[headless_play] t= 15.50s step= 775 trunk_z= 121.4mm grav_b=(+0.06,+0.16,-0.99) r=0.22m +[headless_play] t= 15.60s step= 780 trunk_z= 118.2mm grav_b=(+0.05,+0.01,-1.00) r=0.23m +[headless_play] t= 15.70s step= 785 trunk_z= 119.3mm grav_b=(+0.07,-0.11,-0.99) r=0.26m +[headless_play] t= 15.80s step= 790 trunk_z= 112.1mm grav_b=(+0.17,+0.05,-0.98) r=0.27m +[headless_play] t= 15.90s step= 795 trunk_z= 118.3mm grav_b=(+0.18,+0.06,-0.98) r=0.27m +[headless_play] t= 16.00s step= 800 trunk_z= 118.4mm grav_b=(+0.06,-0.14,-0.99) r=0.28m +[headless_play] t= 16.10s step= 805 trunk_z= 124.4mm grav_b=(+0.03,-0.05,-1.00) r=0.30m +[headless_play] t= 16.20s step= 810 trunk_z= 118.8mm grav_b=(+0.06,+0.13,-0.99) r=0.33m +[headless_play] t= 16.30s step= 815 trunk_z= 119.9mm grav_b=(+0.09,+0.08,-0.99) r=0.34m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(+0.12,-0.05,-0.99) r=0.34m +[headless_play] t= 16.50s step= 825 trunk_z= 119.4mm grav_b=(+0.08,+0.05,-1.00) r=0.35m +[headless_play] t= 16.60s step= 830 trunk_z= 119.3mm grav_b=(+0.12,+0.16,-0.98) r=0.36m +[headless_play] t= 16.70s step= 835 trunk_z= 121.6mm grav_b=(+0.10,+0.07,-0.99) r=0.38m +[headless_play] t= 16.80s step= 840 trunk_z= 121.3mm grav_b=(+0.11,-0.04,-0.99) r=0.40m +[headless_play] t= 16.90s step= 845 trunk_z= 116.2mm grav_b=(+0.08,+0.12,-0.99) r=0.42m +[headless_play] t= 17.00s step= 850 trunk_z= 118.7mm grav_b=(+0.13,+0.10,-0.99) r=0.45m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.11,-0.11,-0.99) r=0.48m +[headless_play] t= 17.20s step= 860 trunk_z= 126.6mm grav_b=(+0.06,-0.08,-1.00) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 112.8mm grav_b=(+0.12,+0.07,-0.99) r=0.56m +[headless_play] t= 17.40s step= 870 trunk_z= 115.9mm grav_b=(+0.14,-0.08,-0.99) r=0.58m +[headless_play] t= 17.50s step= 875 trunk_z= 125.4mm grav_b=(+0.10,-0.09,-0.99) r=0.61m +[headless_play] t= 17.60s step= 880 trunk_z= 113.8mm grav_b=(+0.14,+0.11,-0.98) r=0.64m +[headless_play] t= 17.70s step= 885 trunk_z= 121.6mm grav_b=(+0.12,+0.08,-0.99) r=0.66m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(+0.11,-0.07,-0.99) r=0.68m +[headless_play] t= 17.90s step= 895 trunk_z= 117.1mm grav_b=(+0.13,+0.07,-0.99) r=0.71m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(+0.21,+0.14,-0.97) r=0.72m +[headless_play] t= 18.10s step= 905 trunk_z= 113.5mm grav_b=(+0.15,-0.07,-0.99) r=0.74m +[headless_play] t= 18.20s step= 910 trunk_z= 124.4mm grav_b=(+0.05,+0.10,-0.99) r=0.76m +[headless_play] t= 18.30s step= 915 trunk_z= 123.9mm grav_b=(+0.03,+0.20,-0.98) r=0.78m +[headless_play] t= 18.40s step= 920 trunk_z= 119.1mm grav_b=(+0.02,-0.03,-1.00) r=0.80m +[headless_play] t= 18.50s step= 925 trunk_z= 124.4mm grav_b=(+0.06,-0.07,-1.00) r=0.81m +[headless_play] t= 18.60s step= 930 trunk_z= 118.4mm grav_b=(+0.12,+0.13,-0.98) r=0.83m +[headless_play] t= 18.70s step= 935 trunk_z= 120.5mm grav_b=(+0.09,+0.02,-1.00) r=0.84m +[headless_play] t= 18.80s step= 940 trunk_z= 124.6mm grav_b=(+0.09,-0.08,-0.99) r=0.86m +[headless_play] t= 18.90s step= 945 trunk_z= 115.8mm grav_b=(+0.12,+0.07,-0.99) r=0.88m +[headless_play] t= 19.00s step= 950 trunk_z= 123.2mm grav_b=(+0.10,-0.01,-1.00) r=0.91m +[headless_play] t= 19.10s step= 955 trunk_z= 123.5mm grav_b=(+0.09,-0.12,-0.99) r=0.94m +[headless_play] t= 19.20s step= 960 trunk_z= 124.3mm grav_b=(+0.12,-0.06,-0.99) r=0.96m +[headless_play] t= 19.30s step= 965 trunk_z= 119.4mm grav_b=(+0.14,+0.02,-0.99) r=1.00m +[headless_play] t= 19.40s step= 970 trunk_z= 116.6mm grav_b=(+0.10,-0.10,-0.99) r=1.03m +[headless_play] t= 19.50s step= 975 trunk_z= 124.8mm grav_b=(+0.10,-0.01,-0.99) r=1.06m +[headless_play] t= 19.60s step= 980 trunk_z= 123.1mm grav_b=(+0.11,+0.18,-0.98) r=1.11m +[headless_play] t= 19.70s step= 985 trunk_z= 124.8mm grav_b=(+0.15,+0.07,-0.99) r=1.14m +[headless_play] t= 19.80s step= 990 trunk_z= 121.9mm grav_b=(+0.08,+0.09,-0.99) r=1.18m +[headless_play] t= 19.90s step= 995 trunk_z= 117.5mm grav_b=(-0.04,+0.24,-0.97) r=1.23m +[headless_play] t= 20.00s step=1000 trunk_z= 127.2mm grav_b=(+0.09,+0.12,-0.99) r=1.26m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.04,-0.12,-0.99) r=1.28m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t11.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..b8a7cc32f303c75407ae4cacbed674e3ebe43cd2 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t11.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.001,-18.105,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.11m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(-0.00,-0.01,-1.00) r=0.11m +[headless_play] t= 0.20s step= 10 trunk_z= 116.9mm grav_b=(-0.02,-0.07,-1.00) r=0.12m +[headless_play] t= 0.30s step= 15 trunk_z= 117.7mm grav_b=(+0.00,+0.08,-1.00) r=0.12m +[headless_play] t= 0.40s step= 20 trunk_z= 119.7mm grav_b=(-0.01,+0.07,-1.00) r=0.12m +[headless_play] t= 0.50s step= 25 trunk_z= 117.8mm grav_b=(-0.01,-0.08,-1.00) r=0.13m +[headless_play] t= 0.60s step= 30 trunk_z= 119.9mm grav_b=(+0.01,-0.01,-1.00) r=0.13m +[headless_play] t= 0.70s step= 35 trunk_z= 121.6mm grav_b=(-0.02,+0.09,-1.00) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 119.0mm grav_b=(-0.04,+0.01,-1.00) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 117.6mm grav_b=(+0.02,-0.06,-1.00) r=0.11m +[headless_play] t= 1.00s step= 50 trunk_z= 115.1mm grav_b=(+0.06,+0.11,-0.99) r=0.10m +[headless_play] t= 1.10s step= 55 trunk_z= 123.3mm grav_b=(+0.00,+0.14,-0.99) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 120.9mm grav_b=(-0.02,+0.06,-1.00) r=0.11m +[headless_play] t= 1.30s step= 65 trunk_z= 118.9mm grav_b=(-0.02,-0.07,-1.00) r=0.12m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(+0.04,+0.04,-1.00) r=0.13m +[headless_play] t= 1.50s step= 75 trunk_z= 121.0mm grav_b=(+0.02,+0.09,-1.00) r=0.12m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(-0.12,-0.08,-0.99) r=0.11m +[headless_play] t= 1.70s step= 85 trunk_z= 124.0mm grav_b=(-0.09,-0.16,-0.98) r=0.11m +[headless_play] t= 1.80s step= 90 trunk_z= 129.6mm grav_b=(-0.05,-0.12,-0.99) r=0.11m +[headless_play] t= 1.90s step= 95 trunk_z= 97.4mm grav_b=(-0.03,-0.01,-1.00) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 98.3mm grav_b=(+0.13,-0.09,-0.99) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 113.7mm grav_b=(-0.04,+0.01,-1.00) r=0.11m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.03,+0.07,-1.00) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 115.2mm grav_b=(-0.01,-0.10,-1.00) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 121.2mm grav_b=(+0.02,-0.07,-1.00) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 114.9mm grav_b=(+0.01,+0.11,-0.99) r=0.11m +[headless_play] t= 2.60s step= 130 trunk_z= 127.3mm grav_b=(-0.10,+0.14,-0.98) r=0.11m +[headless_play] t= 2.70s step= 135 trunk_z= 129.6mm grav_b=(-0.06,+0.09,-0.99) r=0.13m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.02,-0.05,-1.00) r=0.15m +[headless_play] t= 2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.11,+0.10,-0.99) r=0.18m +[headless_play] t= 3.00s step= 150 trunk_z= 120.6mm grav_b=(+0.04,+0.13,-0.99) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 118.6mm grav_b=(-0.03,+0.00,-1.00) r=0.22m +[headless_play] t= 3.20s step= 160 trunk_z= 116.8mm grav_b=(+0.04,-0.08,-1.00) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(+0.06,+0.07,-1.00) r=0.25m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(-0.03,-0.04,-1.00) r=0.26m +[headless_play] t= 3.50s step= 175 trunk_z= 119.7mm grav_b=(-0.01,-0.09,-1.00) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 115.7mm grav_b=(+0.02,+0.07,-1.00) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 119.2mm grav_b=(-0.00,+0.04,-1.00) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 118.1mm grav_b=(-0.01,-0.13,-0.99) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 122.3mm grav_b=(+0.02,-0.09,-1.00) r=0.28m +[headless_play] t= 4.00s step= 200 trunk_z= 115.3mm grav_b=(-0.01,+0.05,-1.00) r=0.29m +[headless_play] t= 4.10s step= 205 trunk_z= 117.9mm grav_b=(-0.00,-0.03,-1.00) r=0.29m +[headless_play] t= 4.20s step= 210 trunk_z= 117.4mm grav_b=(+0.03,-0.13,-0.99) r=0.29m +[headless_play] t= 4.30s step= 215 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.30m +[headless_play] t= 4.40s step= 220 trunk_z= 119.5mm grav_b=(-0.00,+0.09,-1.00) r=0.29m +[headless_play] t= 4.50s step= 225 trunk_z= 116.3mm grav_b=(-0.00,-0.05,-1.00) r=0.29m +[headless_play] t= 4.60s step= 230 trunk_z= 117.9mm grav_b=(+0.04,-0.07,-1.00) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 113.2mm grav_b=(+0.03,+0.11,-0.99) r=0.29m +[headless_play] t= 4.80s step= 240 trunk_z= 119.5mm grav_b=(+0.02,+0.07,-1.00) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 113.0mm grav_b=(+0.02,-0.10,-0.99) r=0.27m +[headless_play] t= 5.00s step= 250 trunk_z= 113.1mm grav_b=(+0.10,+0.07,-0.99) r=0.27m +[headless_play] t= 5.10s step= 255 trunk_z= 123.7mm grav_b=(+0.07,+0.18,-0.98) r=0.26m +[headless_play] t= 5.20s step= 260 trunk_z= 125.8mm grav_b=(+0.03,+0.11,-0.99) r=0.25m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(+0.04,-0.05,-1.00) r=0.25m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 5.50s step= 275 trunk_z= 118.8mm grav_b=(+0.04,+0.11,-0.99) r=0.26m +[headless_play] t= 5.60s step= 280 trunk_z= 116.0mm grav_b=(-0.00,-0.03,-1.00) r=0.26m +[headless_play] t= 5.70s step= 285 trunk_z= 121.6mm grav_b=(-0.09,-0.07,-0.99) r=0.27m +[headless_play] t= 5.80s step= 290 trunk_z= 115.8mm grav_b=(-0.05,+0.04,-1.00) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 101.2mm grav_b=(+0.08,+0.04,-1.00) r=0.29m +[headless_play] t= 6.00s step= 300 trunk_z= 109.8mm grav_b=(+0.10,-0.01,-1.00) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(+0.04,+0.14,-0.99) r=0.32m +[headless_play] t= 6.20s step= 310 trunk_z= 124.3mm grav_b=(+0.01,+0.11,-0.99) r=0.33m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(+0.01,-0.09,-1.00) r=0.36m +[headless_play] t= 6.40s step= 320 trunk_z= 123.1mm grav_b=(+0.04,-0.12,-0.99) r=0.38m +[headless_play] t= 6.50s step= 325 trunk_z= 113.2mm grav_b=(+0.10,+0.01,-1.00) r=0.40m +[headless_play] t= 6.60s step= 330 trunk_z= 123.3mm grav_b=(+0.08,+0.05,-1.00) r=0.42m +[headless_play] t= 6.70s step= 335 trunk_z= 122.7mm grav_b=(-0.00,-0.04,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 127.4mm grav_b=(-0.01,-0.12,-0.99) r=0.47m +[headless_play] t= 6.90s step= 345 trunk_z= 120.7mm grav_b=(-0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 121.4mm grav_b=(+0.04,+0.08,-1.00) r=0.52m +[headless_play] t= 7.10s step= 355 trunk_z= 115.6mm grav_b=(+0.04,-0.06,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 118.3mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 7.30s step= 365 trunk_z= 118.5mm grav_b=(-0.04,+0.21,-0.98) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 124.2mm grav_b=(-0.02,+0.24,-0.97) r=0.60m +[headless_play] t= 7.50s step= 375 trunk_z= 124.7mm grav_b=(+0.08,+0.19,-0.98) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 114.0mm grav_b=(+0.08,+0.06,-1.00) r=0.67m +[headless_play] t= 7.70s step= 385 trunk_z= 123.1mm grav_b=(+0.07,+0.09,-0.99) r=0.71m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(+0.03,+0.08,-1.00) r=0.75m +[headless_play] t= 7.90s step= 395 trunk_z= 116.3mm grav_b=(+0.08,-0.08,-0.99) r=0.79m +[headless_play] t= 8.00s step= 400 trunk_z= 118.5mm grav_b=(+0.10,-0.04,-0.99) r=0.81m +[headless_play] t= 8.10s step= 405 trunk_z= 116.0mm grav_b=(+0.02,+0.13,-0.99) r=0.82m +[headless_play] t= 8.20s step= 410 trunk_z= 122.5mm grav_b=(+0.03,+0.11,-0.99) r=0.85m +[headless_play] t= 8.30s step= 415 trunk_z= 116.5mm grav_b=(+0.01,-0.08,-1.00) r=0.87m +[headless_play] t= 8.40s step= 420 trunk_z= 122.4mm grav_b=(-0.04,-0.04,-1.00) r=0.88m +[headless_play] t= 8.50s step= 425 trunk_z= 120.4mm grav_b=(-0.07,+0.12,-0.99) r=0.88m +[headless_play] t= 8.60s step= 430 trunk_z= 119.1mm grav_b=(-0.03,+0.05,-1.00) r=0.89m +[headless_play] t= 8.70s step= 435 trunk_z= 119.1mm grav_b=(+0.03,-0.06,-1.00) r=0.90m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(+0.04,+0.06,-1.00) r=0.92m +[headless_play] t= 8.90s step= 445 trunk_z= 121.6mm grav_b=(+0.05,+0.09,-1.00) r=0.93m +[headless_play] t= 9.00s step= 450 trunk_z= 115.6mm grav_b=(+0.03,-0.08,-1.00) r=0.95m +[headless_play] t= 9.10s step= 455 trunk_z= 119.8mm grav_b=(+0.02,-0.01,-1.00) r=0.97m +[headless_play] t= 9.20s step= 460 trunk_z= 119.2mm grav_b=(-0.04,+0.09,-1.00) r=0.97m +[headless_play] t= 9.30s step= 465 trunk_z= 117.2mm grav_b=(-0.05,-0.04,-1.00) r=0.98m +[headless_play] t= 9.40s step= 470 trunk_z= 122.7mm grav_b=(-0.02,-0.10,-0.99) r=0.98m +[headless_play] t= 9.50s step= 475 trunk_z= 118.3mm grav_b=(-0.00,-0.03,-1.00) r=0.98m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(+0.03,+0.06,-1.00) r=0.99m +[headless_play] t= 9.70s step= 485 trunk_z= 113.6mm grav_b=(+0.03,-0.09,-1.00) r=0.99m +[headless_play] t= 9.80s step= 490 trunk_z= 119.3mm grav_b=(+0.02,-0.00,-1.00) r=0.99m +[headless_play] t= 9.90s step= 495 trunk_z= 124.0mm grav_b=(+0.03,+0.20,-0.98) r=1.00m +[headless_play] t= 10.00s step= 500 trunk_z= 126.3mm grav_b=(+0.03,+0.15,-0.99) r=1.01m +[headless_play] t= 10.10s step= 505 trunk_z= 118.4mm grav_b=(+0.01,-0.09,-1.00) r=1.04m +[headless_play] t= 10.20s step= 510 trunk_z= 129.1mm grav_b=(-0.01,-0.15,-0.99) r=1.07m +[headless_play] t= 10.30s step= 515 trunk_z= 127.8mm grav_b=(+0.01,-0.14,-0.99) r=1.09m +[headless_play] t= 10.40s step= 520 trunk_z= 126.7mm grav_b=(+0.04,-0.13,-0.99) r=1.11m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=1.12m +[headless_play] t= 10.60s step= 530 trunk_z= 123.0mm grav_b=(-0.02,-0.04,-1.00) r=1.13m +[headless_play] t= 10.70s step= 535 trunk_z= 117.6mm grav_b=(-0.02,-0.11,-0.99) r=1.15m +[headless_play] t= 10.80s step= 540 trunk_z= 117.3mm grav_b=(-0.04,+0.07,-1.00) r=1.16m +[headless_play] t= 10.90s step= 545 trunk_z= 123.8mm grav_b=(+0.01,+0.14,-0.99) r=1.17m +[headless_play] t= 11.00s step= 550 trunk_z= 118.5mm grav_b=(+0.04,-0.01,-1.00) r=1.20m +[headless_play] t= 11.10s step= 555 trunk_z= 127.8mm grav_b=(+0.10,-0.05,-0.99) r=1.23m +[headless_play] t= 11.20s step= 560 trunk_z= 106.0mm grav_b=(+0.07,+0.02,-1.00) r=1.26m +[headless_play] t= 11.30s step= 565 trunk_z= 112.9mm grav_b=(+0.01,-0.09,-1.00) r=1.29m +[headless_play] t= 11.40s step= 570 trunk_z= 113.9mm grav_b=(+0.05,-0.19,-0.98) r=1.32m +[headless_play] t= 11.50s step= 575 trunk_z= 126.6mm grav_b=(+0.01,-0.05,-1.00) r=1.34m +[headless_play] t= 11.60s step= 580 trunk_z= 120.7mm grav_b=(-0.08,+0.18,-0.98) r=1.37m +[headless_play] t= 11.70s step= 585 trunk_z= 122.7mm grav_b=(-0.07,+0.07,-0.99) r=1.39m +[headless_play] t= 11.80s step= 590 trunk_z= 120.7mm grav_b=(-0.00,-0.08,-1.00) r=1.42m +[headless_play] t= 11.90s step= 595 trunk_z= 120.4mm grav_b=(+0.06,+0.01,-1.00) r=1.44m +[headless_play] t= 12.00s step= 600 trunk_z= 125.2mm grav_b=(+0.08,+0.09,-0.99) r=1.46m +[headless_play] t= 12.10s step= 605 trunk_z= 123.2mm grav_b=(+0.05,-0.02,-1.00) r=1.49m +[headless_play] t= 12.20s step= 610 trunk_z= 125.9mm grav_b=(+0.02,-0.08,-1.00) r=1.52m +[headless_play] t= 12.30s step= 615 trunk_z= 118.4mm grav_b=(+0.01,+0.05,-1.00) r=1.56m +[headless_play] t= 12.40s step= 620 trunk_z= 120.9mm grav_b=(+0.02,-0.12,-0.99) r=1.61m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(+0.18,+0.01,-0.98) r=1.65m +[headless_play] t= 12.60s step= 630 trunk_z= 96.6mm grav_b=(+0.15,-0.13,-0.98) r=1.67m +[headless_play] t= 12.70s step= 635 trunk_z= 95.2mm grav_b=(+0.70,-0.51,-0.50) r=1.70m +[headless_play] RESET at t= 12.74s step= 637 (env termination, not a recovery) +[headless_play] t= 12.80s step= 640 trunk_z= 114.5mm grav_b=(-0.03,+0.00,-1.00) r=0.38m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(-0.03,-0.03,-1.00) r=0.39m +[headless_play] t= 13.00s step= 650 trunk_z= 114.7mm grav_b=(-0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 116.0mm grav_b=(-0.00,+0.13,-0.99) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 119.4mm grav_b=(+0.05,+0.14,-0.99) r=0.43m +[headless_play] t= 13.30s step= 665 trunk_z= 114.8mm grav_b=(+0.02,-0.07,-1.00) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 123.4mm grav_b=(-0.02,-0.05,-1.00) r=0.46m +[headless_play] t= 13.50s step= 675 trunk_z= 118.6mm grav_b=(+0.01,+0.17,-0.98) r=0.49m +[headless_play] t= 13.60s step= 680 trunk_z= 127.3mm grav_b=(+0.05,+0.25,-0.97) r=0.52m +[headless_play] t= 13.70s step= 685 trunk_z= 127.2mm grav_b=(+0.03,+0.17,-0.99) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 114.4mm grav_b=(+0.04,+0.11,-0.99) r=0.59m +[headless_play] t= 13.90s step= 695 trunk_z= 125.9mm grav_b=(-0.07,+0.11,-0.99) r=0.62m +[headless_play] t= 14.00s step= 700 trunk_z= 118.5mm grav_b=(+0.00,+0.17,-0.99) r=0.66m +[headless_play] t= 14.10s step= 705 trunk_z= 111.4mm grav_b=(+0.14,-0.04,-0.99) r=0.69m +[headless_play] t= 14.20s step= 710 trunk_z= 123.7mm grav_b=(+0.01,-0.08,-1.00) r=0.71m +[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(-0.03,+0.15,-0.99) r=0.72m +[headless_play] t= 14.40s step= 720 trunk_z= 122.8mm grav_b=(-0.01,+0.18,-0.98) r=0.74m +[headless_play] t= 14.50s step= 725 trunk_z= 114.9mm grav_b=(-0.00,-0.01,-1.00) r=0.77m +[headless_play] t= 14.60s step= 730 trunk_z= 120.6mm grav_b=(-0.02,-0.01,-1.00) r=0.79m +[headless_play] t= 14.70s step= 735 trunk_z= 118.0mm grav_b=(+0.01,+0.13,-0.99) r=0.81m +[headless_play] t= 14.80s step= 740 trunk_z= 113.2mm grav_b=(+0.04,-0.04,-1.00) r=0.83m +[headless_play] t= 14.90s step= 745 trunk_z= 118.4mm grav_b=(+0.02,-0.04,-1.00) r=0.86m +[headless_play] t= 15.00s step= 750 trunk_z= 120.1mm grav_b=(+0.02,+0.21,-0.98) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 125.5mm grav_b=(+0.08,+0.21,-0.97) r=0.91m +[headless_play] t= 15.20s step= 760 trunk_z= 114.3mm grav_b=(+0.08,+0.09,-0.99) r=0.94m +[headless_play] t= 15.30s step= 765 trunk_z= 120.2mm grav_b=(-0.09,-0.06,-0.99) r=0.97m +[headless_play] t= 15.40s step= 770 trunk_z= 121.0mm grav_b=(-0.15,+0.03,-0.99) r=1.00m +[headless_play] t= 15.50s step= 775 trunk_z= 117.0mm grav_b=(-0.01,+0.10,-1.00) r=1.02m +[headless_play] t= 15.60s step= 780 trunk_z= 108.2mm grav_b=(+0.14,-0.08,-0.99) r=1.04m +[headless_play] t= 15.70s step= 785 trunk_z= 122.6mm grav_b=(+0.15,+0.10,-0.98) r=1.06m +[headless_play] t= 15.80s step= 790 trunk_z= 108.0mm grav_b=(+0.13,+0.16,-0.98) r=1.08m +[headless_play] t= 15.90s step= 795 trunk_z= 111.9mm grav_b=(+0.10,+0.05,-0.99) r=1.10m +[headless_play] t= 16.00s step= 800 trunk_z= 107.5mm grav_b=(-0.16,-0.06,-0.99) r=1.13m +[headless_play] t= 16.10s step= 805 trunk_z= 107.8mm grav_b=(-0.15,+0.04,-0.99) r=1.16m +[headless_play] t= 16.20s step= 810 trunk_z= 107.6mm grav_b=(+0.02,-0.11,-0.99) r=1.18m +[headless_play] t= 16.30s step= 815 trunk_z= 116.4mm grav_b=(-0.10,-0.20,-0.98) r=1.19m +[headless_play] t= 16.40s step= 820 trunk_z= 128.5mm grav_b=(-0.06,-0.15,-0.99) r=1.20m +[headless_play] t= 16.50s step= 825 trunk_z= 118.8mm grav_b=(-0.06,-0.01,-1.00) r=1.22m +[headless_play] t= 16.60s step= 830 trunk_z= 98.8mm grav_b=(+0.25,-0.02,-0.97) r=1.23m +[headless_play] t= 16.70s step= 835 trunk_z= 114.3mm grav_b=(+0.21,+0.06,-0.97) r=1.26m +[headless_play] t= 16.80s step= 840 trunk_z= 104.7mm grav_b=(+0.12,+0.13,-0.98) r=1.27m +[headless_play] t= 16.90s step= 845 trunk_z= 110.1mm grav_b=(-0.00,+0.13,-0.99) r=1.27m +[headless_play] t= 17.00s step= 850 trunk_z= 115.2mm grav_b=(-0.05,+0.05,-1.00) r=1.27m +[headless_play] t= 17.10s step= 855 trunk_z= 116.4mm grav_b=(-0.00,-0.06,-1.00) r=1.25m +[headless_play] t= 17.20s step= 860 trunk_z= 111.9mm grav_b=(+0.02,+0.08,-1.00) r=1.24m +[headless_play] t= 17.30s step= 865 trunk_z= 112.2mm grav_b=(-0.01,+0.06,-1.00) r=1.24m +[headless_play] t= 17.40s step= 870 trunk_z= 111.2mm grav_b=(-0.01,-0.13,-0.99) r=1.23m +[headless_play] t= 17.50s step= 875 trunk_z= 118.1mm grav_b=(-0.01,-0.18,-0.98) r=1.23m +[headless_play] t= 17.60s step= 880 trunk_z= 115.3mm grav_b=(+0.04,-0.20,-0.98) r=1.22m +[headless_play] t= 17.70s step= 885 trunk_z= 116.8mm grav_b=(+0.10,-0.15,-0.98) r=1.21m +[headless_play] t= 17.80s step= 890 trunk_z= 120.5mm grav_b=(+0.04,+0.00,-1.00) r=1.19m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.06,-0.05,-1.00) r=1.17m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(+0.01,-0.07,-1.00) r=1.15m +[headless_play] t= 18.10s step= 905 trunk_z= 106.9mm grav_b=(+0.08,+0.14,-0.99) r=1.13m +[headless_play] t= 18.20s step= 910 trunk_z= 117.6mm grav_b=(+0.04,+0.17,-0.98) r=1.11m +[headless_play] t= 18.30s step= 915 trunk_z= 122.6mm grav_b=(+0.03,+0.11,-0.99) r=1.10m +[headless_play] t= 18.40s step= 920 trunk_z= 127.7mm grav_b=(+0.02,+0.03,-1.00) r=1.09m +[headless_play] t= 18.50s step= 925 trunk_z= 120.1mm grav_b=(+0.01,+0.13,-0.99) r=1.09m +[headless_play] t= 18.60s step= 930 trunk_z= 119.1mm grav_b=(+0.01,+0.01,-1.00) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=1.10m +[headless_play] t= 18.80s step= 940 trunk_z= 114.0mm grav_b=(-0.02,+0.01,-1.00) r=1.10m +[headless_play] t= 18.90s step= 945 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 19.00s step= 950 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 19.10s step= 955 trunk_z= 114.3mm grav_b=(+0.02,+0.02,-1.00) r=1.09m +[headless_play] t= 19.20s step= 960 trunk_z= 114.5mm grav_b=(+0.01,+0.02,-1.00) r=1.09m +[headless_play] t= 19.30s step= 965 trunk_z= 114.7mm grav_b=(+0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 19.40s step= 970 trunk_z= 114.8mm grav_b=(-0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 19.50s step= 975 trunk_z= 114.8mm grav_b=(-0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 19.60s step= 980 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) r=1.09m +[headless_play] t= 19.70s step= 985 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) r=1.09m +[headless_play] t= 19.80s step= 990 trunk_z= 114.9mm grav_b=(-0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 19.90s step= 995 trunk_z= 115.7mm grav_b=(+0.05,+0.01,-1.00) r=1.09m +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(+0.07,+0.01,-1.00) r=1.09m +[headless_play] t= 20.10s step=1005 trunk_z= 118.8mm grav_b=(+0.08,+0.02,-1.00) r=1.09m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t12.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..22b90ede02e2d4600b3e8be46812d58a994e6267 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.358,-18.205,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.4mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 118.6mm grav_b=(+0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 119.9mm grav_b=(+0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(-0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(-0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(-0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 2.60s step= 130 trunk_z= 116.6mm grav_b=(-0.06,+0.00,-1.00) r=0.39m +[headless_play] t= 2.70s step= 135 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 117.5mm grav_b=(-0.08,+0.02,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 118.1mm grav_b=(-0.09,+0.01,-1.00) r=0.40m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(-0.10,-0.06,-0.99) r=0.39m +[headless_play] t= 3.50s step= 175 trunk_z= 113.8mm grav_b=(-0.08,+0.09,-0.99) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(-0.03,+0.03,-1.00) r=0.39m +[headless_play] t= 3.70s step= 185 trunk_z= 102.8mm grav_b=(+0.08,-0.07,-0.99) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.01,+0.10,-1.00) r=0.38m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 4.00s step= 200 trunk_z= 115.5mm grav_b=(-0.02,+0.03,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 116.8mm grav_b=(+0.06,+0.02,-1.00) r=0.39m +[headless_play] t= 4.20s step= 210 trunk_z= 118.1mm grav_b=(+0.05,+0.04,-1.00) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 117.7mm grav_b=(+0.03,+0.03,-1.00) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 116.9mm grav_b=(-0.00,+0.01,-1.00) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 4.70s step= 235 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 4.90s step= 245 trunk_z= 117.2mm grav_b=(+0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 5.00s step= 250 trunk_z= 117.0mm grav_b=(+0.00,+0.02,-1.00) r=0.39m +[headless_play] t= 5.10s step= 255 trunk_z= 117.2mm grav_b=(+0.00,+0.02,-1.00) r=0.39m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(+0.00,+0.02,-1.00) r=0.39m +[headless_play] t= 5.30s step= 265 trunk_z= 117.1mm grav_b=(-0.00,+0.02,-1.00) r=0.39m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 5.50s step= 275 trunk_z= 118.1mm grav_b=(-0.08,+0.02,-1.00) r=0.40m +[headless_play] t= 5.60s step= 280 trunk_z= 118.3mm grav_b=(-0.10,+0.02,-1.00) r=0.40m +[headless_play] t= 5.70s step= 285 trunk_z= 116.7mm grav_b=(-0.12,-0.02,-0.99) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 114.2mm grav_b=(-0.17,+0.07,-0.98) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 116.5mm grav_b=(-0.08,-0.10,-0.99) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 106.1mm grav_b=(-0.07,-0.17,-0.98) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 109.1mm grav_b=(+0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(+0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 6.30s step= 315 trunk_z= 118.9mm grav_b=(+0.12,+0.03,-0.99) r=0.40m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(+0.13,+0.14,-0.98) r=0.40m +[headless_play] t= 6.50s step= 325 trunk_z= 124.0mm grav_b=(-0.00,-0.01,-1.00) r=0.39m +[headless_play] t= 6.60s step= 330 trunk_z= 107.8mm grav_b=(-0.28,-0.13,-0.95) r=0.38m +[headless_play] t= 6.70s step= 335 trunk_z= 105.8mm grav_b=(-0.36,+0.02,-0.93) r=0.37m +[headless_play] t= 6.80s step= 340 trunk_z= 103.4mm grav_b=(-0.34,-0.01,-0.94) r=0.36m +[headless_play] t= 6.90s step= 345 trunk_z= 79.7mm grav_b=(-0.11,-0.24,-0.96) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 87.3mm grav_b=(-0.22,-0.10,-0.97) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 92.9mm grav_b=(-0.05,+0.25,-0.97) r=0.31m +[headless_play] t= 7.20s step= 360 trunk_z= 120.3mm grav_b=(+0.06,+0.30,-0.95) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 129.1mm grav_b=(+0.07,+0.21,-0.97) r=0.32m +[headless_play] t= 7.40s step= 370 trunk_z= 125.2mm grav_b=(+0.09,+0.09,-0.99) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 123.7mm grav_b=(+0.03,+0.25,-0.97) r=0.36m +[headless_play] t= 7.60s step= 380 trunk_z= 135.4mm grav_b=(-0.03,+0.14,-0.99) r=0.35m +[headless_play] t= 7.70s step= 385 trunk_z= 118.8mm grav_b=(-0.18,-0.07,-0.98) r=0.34m +[headless_play] t= 7.80s step= 390 trunk_z= 118.7mm grav_b=(-0.15,+0.09,-0.99) r=0.33m +[headless_play] t= 7.90s step= 395 trunk_z= 118.8mm grav_b=(-0.05,+0.06,-1.00) r=0.30m +[headless_play] t= 8.00s step= 400 trunk_z= 107.1mm grav_b=(+0.10,+0.05,-0.99) r=0.28m +[headless_play] t= 8.10s step= 405 trunk_z= 116.6mm grav_b=(-0.01,+0.12,-0.99) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 116.3mm grav_b=(-0.08,+0.02,-1.00) r=0.27m +[headless_play] t= 8.30s step= 415 trunk_z= 115.9mm grav_b=(-0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 8.40s step= 420 trunk_z= 115.9mm grav_b=(-0.07,+0.02,-1.00) r=0.26m +[headless_play] t= 8.50s step= 425 trunk_z= 115.3mm grav_b=(-0.10,-0.02,-0.99) r=0.26m +[headless_play] t= 8.60s step= 430 trunk_z= 98.7mm grav_b=(-0.04,-0.11,-0.99) r=0.26m +[headless_play] t= 8.70s step= 435 trunk_z= 98.1mm grav_b=(+0.02,+0.11,-0.99) r=0.27m +[headless_play] t= 8.80s step= 440 trunk_z= 114.8mm grav_b=(-0.00,+0.08,-1.00) r=0.29m +[headless_play] t= 8.90s step= 445 trunk_z= 110.4mm grav_b=(+0.03,-0.02,-1.00) r=0.30m +[headless_play] t= 9.00s step= 450 trunk_z= 112.6mm grav_b=(+0.03,+0.10,-0.99) r=0.30m +[headless_play] t= 9.10s step= 455 trunk_z= 113.5mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 9.20s step= 460 trunk_z= 115.3mm grav_b=(-0.08,+0.00,-1.00) r=0.32m +[headless_play] t= 9.30s step= 465 trunk_z= 111.5mm grav_b=(-0.02,-0.10,-1.00) r=0.33m +[headless_play] t= 9.40s step= 470 trunk_z= 110.4mm grav_b=(+0.05,+0.07,-1.00) r=0.34m +[headless_play] t= 9.50s step= 475 trunk_z= 113.0mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 113.7mm grav_b=(-0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 9.70s step= 485 trunk_z= 115.0mm grav_b=(+0.01,+0.02,-1.00) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 115.1mm grav_b=(+0.01,+0.03,-1.00) r=0.36m +[headless_play] t= 9.90s step= 495 trunk_z= 115.4mm grav_b=(+0.01,+0.03,-1.00) r=0.36m +[headless_play] t= 10.00s step= 500 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(+0.04,+0.03,-1.00) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 10.50s step= 525 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 10.60s step= 530 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(+0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 117.2mm grav_b=(-0.10,+0.03,-0.99) r=0.36m +[headless_play] t= 11.30s step= 565 trunk_z= 116.4mm grav_b=(-0.08,+0.02,-1.00) r=0.36m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(-0.06,+0.02,-1.00) r=0.36m +[headless_play] t= 11.50s step= 575 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.35m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 11.70s step= 585 trunk_z= 117.3mm grav_b=(-0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 11.80s step= 590 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=0.36m +[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(-0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 12.00s step= 600 trunk_z= 119.1mm grav_b=(-0.05,+0.08,-1.00) r=0.36m +[headless_play] t= 12.10s step= 605 trunk_z= 120.5mm grav_b=(-0.01,+0.08,-1.00) r=0.36m +[headless_play] t= 12.20s step= 610 trunk_z= 120.5mm grav_b=(+0.05,+0.10,-0.99) r=0.35m +[headless_play] t= 12.30s step= 615 trunk_z= 123.8mm grav_b=(+0.09,+0.06,-0.99) r=0.34m +[headless_play] t= 12.40s step= 620 trunk_z= 111.7mm grav_b=(+0.02,-0.10,-0.99) r=0.31m +[headless_play] t= 12.50s step= 625 trunk_z= 120.3mm grav_b=(-0.07,-0.01,-1.00) r=0.29m +[headless_play] t= 12.60s step= 630 trunk_z= 121.4mm grav_b=(-0.04,+0.12,-0.99) r=0.28m +[headless_play] t= 12.70s step= 635 trunk_z= 126.3mm grav_b=(-0.00,+0.07,-1.00) r=0.26m +[headless_play] t= 12.80s step= 640 trunk_z= 114.6mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 12.90s step= 645 trunk_z= 119.9mm grav_b=(-0.09,+0.06,-0.99) r=0.22m +[headless_play] t= 13.00s step= 650 trunk_z= 123.1mm grav_b=(-0.01,+0.14,-0.99) r=0.21m +[headless_play] t= 13.10s step= 655 trunk_z= 117.9mm grav_b=(-0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 13.20s step= 660 trunk_z= 122.0mm grav_b=(-0.07,-0.01,-1.00) r=0.16m +[headless_play] t= 13.30s step= 665 trunk_z= 122.3mm grav_b=(-0.00,+0.16,-0.99) r=0.14m +[headless_play] t= 13.40s step= 670 trunk_z= 125.5mm grav_b=(+0.00,+0.10,-1.00) r=0.12m +[headless_play] t= 13.50s step= 675 trunk_z= 119.3mm grav_b=(-0.05,-0.04,-1.00) r=0.10m +[headless_play] t= 13.60s step= 680 trunk_z= 118.3mm grav_b=(-0.02,+0.11,-0.99) r=0.08m +[headless_play] t= 13.70s step= 685 trunk_z= 127.9mm grav_b=(+0.03,+0.10,-0.99) r=0.07m +[headless_play] t= 13.80s step= 690 trunk_z= 123.1mm grav_b=(-0.03,-0.03,-1.00) r=0.07m +[headless_play] t= 13.90s step= 695 trunk_z= 125.4mm grav_b=(-0.04,-0.01,-1.00) r=0.08m +[headless_play] t= 14.00s step= 700 trunk_z= 121.1mm grav_b=(+0.00,+0.14,-0.99) r=0.09m +[headless_play] t= 14.10s step= 705 trunk_z= 121.3mm grav_b=(-0.00,+0.06,-1.00) r=0.11m +[headless_play] t= 14.20s step= 710 trunk_z= 119.4mm grav_b=(-0.06,-0.07,-1.00) r=0.12m +[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(-0.05,+0.11,-0.99) r=0.13m +[headless_play] t= 14.40s step= 720 trunk_z= 120.5mm grav_b=(-0.08,+0.17,-0.98) r=0.13m +[headless_play] t= 14.50s step= 725 trunk_z= 120.0mm grav_b=(+0.01,+0.13,-0.99) r=0.12m +[headless_play] t= 14.60s step= 730 trunk_z= 110.5mm grav_b=(+0.04,+0.04,-1.00) r=0.12m +[headless_play] t= 14.70s step= 735 trunk_z= 109.8mm grav_b=(+0.04,+0.13,-0.99) r=0.13m +[headless_play] t= 14.80s step= 740 trunk_z= 112.5mm grav_b=(-0.01,+0.15,-0.99) r=0.14m +[headless_play] t= 14.90s step= 745 trunk_z= 115.2mm grav_b=(+0.02,+0.12,-0.99) r=0.15m +[headless_play] t= 15.00s step= 750 trunk_z= 114.1mm grav_b=(+0.03,+0.10,-0.99) r=0.17m +[headless_play] t= 15.10s step= 755 trunk_z= 116.7mm grav_b=(+0.01,+0.08,-1.00) r=0.18m +[headless_play] t= 15.20s step= 760 trunk_z= 113.3mm grav_b=(-0.02,+0.19,-0.98) r=0.19m +[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(+0.00,+0.12,-0.99) r=0.20m +[headless_play] t= 15.40s step= 770 trunk_z= 114.3mm grav_b=(-0.01,+0.09,-1.00) r=0.22m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 15.60s step= 780 trunk_z= 112.7mm grav_b=(-0.01,+0.23,-0.97) r=0.23m +[headless_play] t= 15.70s step= 785 trunk_z= 119.2mm grav_b=(+0.05,+0.21,-0.98) r=0.24m +[headless_play] t= 15.80s step= 790 trunk_z= 118.5mm grav_b=(+0.12,+0.14,-0.98) r=0.25m +[headless_play] t= 15.90s step= 795 trunk_z= 118.1mm grav_b=(+0.05,+0.03,-1.00) r=0.28m +[headless_play] t= 16.00s step= 800 trunk_z= 114.9mm grav_b=(+0.02,+0.09,-1.00) r=0.30m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(+0.03,+0.09,-1.00) r=0.31m +[headless_play] t= 16.20s step= 810 trunk_z= 111.9mm grav_b=(+0.03,+0.05,-1.00) r=0.33m +[headless_play] t= 16.30s step= 815 trunk_z= 117.9mm grav_b=(+0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 16.40s step= 820 trunk_z= 112.8mm grav_b=(+0.10,+0.11,-0.99) r=0.35m +[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(+0.11,+0.16,-0.98) r=0.35m +[headless_play] t= 16.60s step= 830 trunk_z= 115.7mm grav_b=(+0.02,+0.09,-1.00) r=0.36m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(-0.04,+0.03,-1.00) r=0.36m +[headless_play] t= 16.80s step= 840 trunk_z= 108.0mm grav_b=(-0.26,+0.16,-0.95) r=0.36m +[headless_play] t= 16.90s step= 845 trunk_z= 114.1mm grav_b=(-0.39,+0.09,-0.92) r=0.36m +[headless_play] t= 17.00s step= 850 trunk_z= 118.8mm grav_b=(-0.21,+0.14,-0.97) r=0.36m +[headless_play] t= 17.10s step= 855 trunk_z= 87.7mm grav_b=(+0.05,+0.11,-0.99) r=0.36m +[headless_play] t= 17.20s step= 860 trunk_z= 97.4mm grav_b=(-0.06,+0.22,-0.97) r=0.36m +[headless_play] t= 17.30s step= 865 trunk_z= 97.9mm grav_b=(-0.20,-0.00,-0.98) r=0.36m +[headless_play] t= 17.40s step= 870 trunk_z= 83.5mm grav_b=(-0.33,+0.36,-0.87) r=0.36m +[headless_play] RESET at t= 17.50s step= 875 (env termination, not a recovery) +[headless_play] t= 17.50s step= 875 trunk_z= 122.1mm grav_b=(-0.00,-0.00,-1.00) r=0.29m +[headless_play] t= 17.60s step= 880 trunk_z= 118.8mm grav_b=(-0.03,+0.06,-1.00) r=0.29m +[headless_play] t= 17.70s step= 885 trunk_z= 119.7mm grav_b=(-0.04,+0.08,-1.00) r=0.29m +[headless_play] t= 17.80s step= 890 trunk_z= 115.5mm grav_b=(-0.06,-0.10,-0.99) r=0.30m +[headless_play] t= 17.90s step= 895 trunk_z= 121.5mm grav_b=(-0.04,-0.05,-1.00) r=0.30m +[headless_play] t= 18.00s step= 900 trunk_z= 112.6mm grav_b=(-0.07,+0.06,-1.00) r=0.29m +[headless_play] t= 18.10s step= 905 trunk_z= 116.9mm grav_b=(-0.02,-0.03,-1.00) r=0.29m +[headless_play] t= 18.20s step= 910 trunk_z= 107.8mm grav_b=(+0.04,-0.10,-0.99) r=0.29m +[headless_play] t= 18.30s step= 915 trunk_z= 120.4mm grav_b=(+0.04,-0.07,-1.00) r=0.30m +[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(+0.02,+0.05,-1.00) r=0.31m +[headless_play] t= 18.50s step= 925 trunk_z= 117.0mm grav_b=(-0.03,-0.05,-1.00) r=0.31m +[headless_play] t= 18.60s step= 930 trunk_z= 113.2mm grav_b=(-0.23,+0.03,-0.97) r=0.32m +[headless_play] t= 18.70s step= 935 trunk_z= 104.1mm grav_b=(-0.38,-0.37,-0.85) r=0.34m +[headless_play] t= 18.80s step= 940 trunk_z= 53.4mm grav_b=(-0.95,-0.10,-0.31) r=0.34m +[headless_play] RESET at t= 18.82s step= 941 (env termination, not a recovery) +[headless_play] t= 18.90s step= 945 trunk_z= 117.1mm grav_b=(-0.03,+0.04,-1.00) r=0.32m +[headless_play] t= 19.00s step= 950 trunk_z= 118.9mm grav_b=(-0.01,+0.10,-1.00) r=0.31m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 19.20s step= 960 trunk_z= 117.4mm grav_b=(+0.02,+0.09,-1.00) r=0.31m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(+0.07,+0.07,-1.00) r=0.28m +[headless_play] t= 19.40s step= 970 trunk_z= 118.7mm grav_b=(+0.02,-0.19,-0.98) r=0.25m +[headless_play] t= 19.50s step= 975 trunk_z= 127.5mm grav_b=(+0.02,-0.09,-1.00) r=0.23m +[headless_play] t= 19.60s step= 980 trunk_z= 123.2mm grav_b=(-0.04,+0.18,-0.98) r=0.21m +[headless_play] t= 19.70s step= 985 trunk_z= 126.4mm grav_b=(-0.05,+0.13,-0.99) r=0.19m +[headless_play] t= 19.80s step= 990 trunk_z= 115.9mm grav_b=(-0.01,-0.04,-1.00) r=0.18m +[headless_play] t= 19.90s step= 995 trunk_z= 114.6mm grav_b=(+0.03,+0.11,-0.99) r=0.18m +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 119.2mm grav_b=(+0.00,-0.02,-1.00) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t13.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..a46339fc46559ea894f1e4d46681c5c8ed625eac --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t13.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.351,-17.900,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.8mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 117.8mm grav_b=(-0.00,-0.03,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(+0.00,+0.03,-1.00) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.02,-0.09,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 120.6mm grav_b=(-0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 0.70s step= 35 trunk_z= 122.8mm grav_b=(-0.02,+0.08,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 118.7mm grav_b=(-0.05,-0.07,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 117.1mm grav_b=(-0.07,+0.08,-0.99) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(-0.06,-0.05,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 121.3mm grav_b=(-0.05,-0.10,-0.99) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 119.1mm grav_b=(+0.03,+0.08,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 121.2mm grav_b=(+0.01,+0.05,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(-0.06,-0.02,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 117.9mm grav_b=(-0.08,+0.05,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(-0.08,-0.09,-0.99) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 118.6mm grav_b=(-0.02,+0.09,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 121.5mm grav_b=(+0.01,+0.07,-1.00) r=0.56m +[headless_play] t= 1.90s step= 95 trunk_z= 120.7mm grav_b=(-0.02,-0.10,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.03,+0.06,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 121.8mm grav_b=(-0.02,+0.05,-1.00) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 117.9mm grav_b=(-0.06,-0.09,-0.99) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(-0.05,+0.07,-1.00) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 120.4mm grav_b=(-0.03,+0.07,-1.00) r=0.62m +[headless_play] t= 2.50s step= 125 trunk_z= 119.2mm grav_b=(-0.04,-0.11,-0.99) r=0.62m +[headless_play] t= 2.60s step= 130 trunk_z= 118.3mm grav_b=(-0.00,+0.06,-1.00) r=0.63m +[headless_play] t= 2.70s step= 135 trunk_z= 123.7mm grav_b=(+0.01,+0.05,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 118.7mm grav_b=(-0.01,-0.12,-0.99) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 122.8mm grav_b=(-0.04,-0.05,-1.00) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 117.6mm grav_b=(-0.01,+0.05,-1.00) r=0.62m +[headless_play] t= 3.10s step= 155 trunk_z= 111.6mm grav_b=(+0.04,-0.11,-0.99) r=0.61m +[headless_play] t= 3.20s step= 160 trunk_z= 113.6mm grav_b=(+0.05,-0.03,-1.00) r=0.61m +[headless_play] t= 3.30s step= 165 trunk_z= 111.0mm grav_b=(+0.06,+0.06,-1.00) r=0.62m +[headless_play] t= 3.40s step= 170 trunk_z= 108.7mm grav_b=(+0.04,-0.11,-0.99) r=0.62m +[headless_play] t= 3.50s step= 175 trunk_z= 112.3mm grav_b=(+0.05,-0.07,-1.00) r=0.61m +[headless_play] t= 3.60s step= 180 trunk_z= 111.4mm grav_b=(+0.07,-0.04,-1.00) r=0.62m +[headless_play] t= 3.70s step= 185 trunk_z= 111.9mm grav_b=(+0.09,+0.01,-1.00) r=0.63m +[headless_play] t= 3.80s step= 190 trunk_z= 111.4mm grav_b=(+0.08,-0.03,-1.00) r=0.63m +[headless_play] t= 3.90s step= 195 trunk_z= 105.7mm grav_b=(+0.11,-0.02,-0.99) r=0.65m +[headless_play] t= 4.00s step= 200 trunk_z= 105.8mm grav_b=(+0.17,+0.11,-0.98) r=0.67m +[headless_play] t= 4.10s step= 205 trunk_z= 111.4mm grav_b=(+0.11,+0.03,-0.99) r=0.68m +[headless_play] t= 4.20s step= 210 trunk_z= 108.7mm grav_b=(+0.05,-0.16,-0.99) r=0.69m +[headless_play] t= 4.30s step= 215 trunk_z= 108.9mm grav_b=(+0.09,-0.07,-0.99) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 107.2mm grav_b=(+0.10,+0.01,-0.99) r=0.68m +[headless_play] t= 4.50s step= 225 trunk_z= 110.5mm grav_b=(+0.07,-0.09,-0.99) r=0.67m +[headless_play] t= 4.60s step= 230 trunk_z= 107.6mm grav_b=(+0.04,-0.17,-0.99) r=0.66m +[headless_play] t= 4.70s step= 235 trunk_z= 105.5mm grav_b=(+0.09,-0.07,-0.99) r=0.66m +[headless_play] t= 4.80s step= 240 trunk_z= 108.5mm grav_b=(+0.09,+0.06,-0.99) r=0.67m +[headless_play] t= 4.90s step= 245 trunk_z= 112.6mm grav_b=(+0.07,-0.03,-1.00) r=0.68m +[headless_play] t= 5.00s step= 250 trunk_z= 110.3mm grav_b=(+0.01,-0.05,-1.00) r=0.70m +[headless_play] t= 5.10s step= 255 trunk_z= 107.8mm grav_b=(+0.07,+0.13,-0.99) r=0.71m +[headless_play] t= 5.20s step= 260 trunk_z= 108.8mm grav_b=(+0.09,-0.05,-0.99) r=0.72m +[headless_play] t= 5.30s step= 265 trunk_z= 110.6mm grav_b=(+0.10,-0.07,-0.99) r=0.72m +[headless_play] t= 5.40s step= 270 trunk_z= 109.9mm grav_b=(+0.09,+0.05,-0.99) r=0.72m +[headless_play] t= 5.50s step= 275 trunk_z= 112.6mm grav_b=(+0.06,+0.05,-1.00) r=0.75m +[headless_play] t= 5.60s step= 280 trunk_z= 106.5mm grav_b=(+0.06,-0.12,-0.99) r=0.79m +[headless_play] t= 5.70s step= 285 trunk_z= 107.2mm grav_b=(+0.10,+0.12,-0.99) r=0.81m +[headless_play] t= 5.80s step= 290 trunk_z= 109.4mm grav_b=(+0.08,+0.00,-1.00) r=0.83m +[headless_play] t= 5.90s step= 295 trunk_z= 109.1mm grav_b=(+0.06,-0.11,-0.99) r=0.84m +[headless_play] t= 6.00s step= 300 trunk_z= 109.9mm grav_b=(+0.08,+0.02,-1.00) r=0.84m +[headless_play] t= 6.10s step= 305 trunk_z= 108.6mm grav_b=(+0.12,+0.05,-0.99) r=0.85m +[headless_play] t= 6.20s step= 310 trunk_z= 107.1mm grav_b=(+0.08,-0.16,-0.98) r=0.86m +[headless_play] t= 6.30s step= 315 trunk_z= 111.4mm grav_b=(+0.08,-0.06,-1.00) r=0.86m +[headless_play] t= 6.40s step= 320 trunk_z= 110.7mm grav_b=(+0.09,+0.01,-1.00) r=0.87m +[headless_play] t= 6.50s step= 325 trunk_z= 113.4mm grav_b=(+0.07,+0.04,-1.00) r=0.88m +[headless_play] t= 6.60s step= 330 trunk_z= 111.2mm grav_b=(+0.04,-0.05,-1.00) r=0.88m +[headless_play] t= 6.70s step= 335 trunk_z= 114.6mm grav_b=(+0.03,-0.06,-1.00) r=0.87m +[headless_play] t= 6.80s step= 340 trunk_z= 113.0mm grav_b=(+0.07,-0.01,-1.00) r=0.87m +[headless_play] t= 6.90s step= 345 trunk_z= 111.8mm grav_b=(+0.10,+0.04,-0.99) r=0.88m +[headless_play] t= 7.00s step= 350 trunk_z= 110.8mm grav_b=(+0.08,-0.07,-0.99) r=0.88m +[headless_play] t= 7.10s step= 355 trunk_z= 115.6mm grav_b=(+0.04,-0.06,-1.00) r=0.88m +[headless_play] t= 7.20s step= 360 trunk_z= 118.7mm grav_b=(+0.03,-0.03,-1.00) r=0.88m +[headless_play] t= 7.30s step= 365 trunk_z= 112.8mm grav_b=(+0.05,+0.04,-1.00) r=0.88m +[headless_play] t= 7.40s step= 370 trunk_z= 114.1mm grav_b=(+0.04,-0.03,-1.00) r=0.87m +[headless_play] t= 7.50s step= 375 trunk_z= 109.6mm grav_b=(+0.08,-0.10,-0.99) r=0.87m +[headless_play] t= 7.60s step= 380 trunk_z= 115.3mm grav_b=(+0.04,-0.00,-1.00) r=0.87m +[headless_play] t= 7.70s step= 385 trunk_z= 119.5mm grav_b=(+0.00,+0.05,-1.00) r=0.88m +[headless_play] t= 7.80s step= 390 trunk_z= 119.5mm grav_b=(-0.01,-0.14,-0.99) r=0.87m +[headless_play] t= 7.90s step= 395 trunk_z= 119.8mm grav_b=(-0.05,+0.01,-1.00) r=0.90m +[headless_play] t= 8.00s step= 400 trunk_z= 122.7mm grav_b=(-0.06,+0.13,-0.99) r=0.92m +[headless_play] t= 8.10s step= 405 trunk_z= 117.2mm grav_b=(-0.02,-0.05,-1.00) r=0.93m +[headless_play] t= 8.20s step= 410 trunk_z= 123.0mm grav_b=(-0.02,-0.08,-1.00) r=0.94m +[headless_play] t= 8.30s step= 415 trunk_z= 115.6mm grav_b=(-0.03,+0.07,-1.00) r=0.96m +[headless_play] t= 8.40s step= 420 trunk_z= 117.3mm grav_b=(+0.00,-0.09,-1.00) r=0.97m +[headless_play] t= 8.50s step= 425 trunk_z= 122.0mm grav_b=(-0.05,-0.11,-0.99) r=0.97m +[headless_play] t= 8.60s step= 430 trunk_z= 115.9mm grav_b=(-0.09,+0.10,-0.99) r=0.98m +[headless_play] t= 8.70s step= 435 trunk_z= 122.9mm grav_b=(-0.04,+0.09,-1.00) r=0.98m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(-0.02,-0.11,-0.99) r=0.99m +[headless_play] t= 8.90s step= 445 trunk_z= 123.3mm grav_b=(-0.06,-0.08,-1.00) r=1.00m +[headless_play] t= 9.00s step= 450 trunk_z= 113.5mm grav_b=(-0.04,+0.06,-1.00) r=1.02m +[headless_play] t= 9.10s step= 455 trunk_z= 113.2mm grav_b=(+0.04,-0.13,-0.99) r=1.03m +[headless_play] t= 9.20s step= 460 trunk_z= 119.7mm grav_b=(-0.02,-0.10,-1.00) r=1.04m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(-0.04,+0.12,-0.99) r=1.05m +[headless_play] t= 9.40s step= 470 trunk_z= 123.8mm grav_b=(-0.01,+0.08,-1.00) r=1.05m +[headless_play] t= 9.50s step= 475 trunk_z= 118.2mm grav_b=(-0.00,-0.10,-1.00) r=1.02m +[headless_play] t= 9.60s step= 480 trunk_z= 126.6mm grav_b=(+0.03,-0.11,-0.99) r=1.00m +[headless_play] t= 9.70s step= 485 trunk_z= 124.6mm grav_b=(+0.03,-0.09,-1.00) r=0.99m +[headless_play] t= 9.80s step= 490 trunk_z= 119.2mm grav_b=(-0.01,-0.04,-1.00) r=1.01m +[headless_play] t= 9.90s step= 495 trunk_z= 116.9mm grav_b=(-0.02,-0.09,-1.00) r=1.01m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(-0.10,+0.02,-0.99) r=1.02m +[headless_play] t= 10.10s step= 505 trunk_z= 116.2mm grav_b=(-0.07,+0.03,-1.00) r=1.04m +[headless_play] t= 10.20s step= 510 trunk_z= 115.5mm grav_b=(-0.01,-0.23,-0.97) r=1.05m +[headless_play] t= 10.30s step= 515 trunk_z= 125.2mm grav_b=(-0.03,-0.19,-0.98) r=1.06m +[headless_play] t= 10.40s step= 520 trunk_z= 120.5mm grav_b=(+0.03,-0.06,-1.00) r=1.08m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(+0.05,-0.08,-1.00) r=1.10m +[headless_play] t= 10.60s step= 530 trunk_z= 116.4mm grav_b=(-0.02,-0.05,-1.00) r=1.11m +[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(-0.04,+0.09,-1.00) r=1.12m +[headless_play] t= 10.80s step= 540 trunk_z= 117.6mm grav_b=(-0.04,-0.10,-0.99) r=1.13m +[headless_play] t= 10.90s step= 545 trunk_z= 123.8mm grav_b=(-0.06,-0.12,-0.99) r=1.13m +[headless_play] t= 11.00s step= 550 trunk_z= 114.3mm grav_b=(-0.03,+0.15,-0.99) r=1.14m +[headless_play] t= 11.10s step= 555 trunk_z= 122.1mm grav_b=(-0.01,+0.20,-0.98) r=1.16m +[headless_play] t= 11.20s step= 560 trunk_z= 124.3mm grav_b=(-0.03,+0.16,-0.99) r=1.18m +[headless_play] t= 11.30s step= 565 trunk_z= 125.1mm grav_b=(-0.03,+0.14,-0.99) r=1.18m +[headless_play] t= 11.40s step= 570 trunk_z= 124.4mm grav_b=(+0.00,+0.09,-1.00) r=1.19m +[headless_play] t= 11.50s step= 575 trunk_z= 115.1mm grav_b=(+0.00,-0.02,-1.00) r=1.19m +[headless_play] t= 11.60s step= 580 trunk_z= 110.1mm grav_b=(+0.08,+0.07,-0.99) r=1.19m +[headless_play] t= 11.70s step= 585 trunk_z= 112.7mm grav_b=(+0.00,-0.03,-1.00) r=1.19m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(-0.01,-0.13,-0.99) r=1.19m +[headless_play] t= 11.90s step= 595 trunk_z= 114.0mm grav_b=(+0.03,+0.09,-1.00) r=1.18m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(+0.04,+0.04,-1.00) r=1.19m +[headless_play] t= 12.10s step= 605 trunk_z= 120.8mm grav_b=(-0.04,-0.19,-0.98) r=1.20m +[headless_play] t= 12.20s step= 610 trunk_z= 128.1mm grav_b=(-0.01,-0.20,-0.98) r=1.20m +[headless_play] t= 12.30s step= 615 trunk_z= 128.7mm grav_b=(+0.02,-0.18,-0.98) r=1.21m +[headless_play] t= 12.40s step= 620 trunk_z= 127.2mm grav_b=(+0.03,-0.14,-0.99) r=1.20m +[headless_play] t= 12.50s step= 625 trunk_z= 120.6mm grav_b=(+0.01,-0.04,-1.00) r=1.18m +[headless_play] t= 12.60s step= 630 trunk_z= 119.4mm grav_b=(-0.02,-0.03,-1.00) r=1.16m +[headless_play] t= 12.70s step= 635 trunk_z= 114.5mm grav_b=(-0.05,-0.10,-0.99) r=1.14m +[headless_play] t= 12.80s step= 640 trunk_z= 114.6mm grav_b=(-0.11,+0.16,-0.98) r=1.12m +[headless_play] t= 12.90s step= 645 trunk_z= 123.3mm grav_b=(-0.18,+0.04,-0.98) r=1.10m +[headless_play] t= 13.00s step= 650 trunk_z= 106.5mm grav_b=(-0.19,-0.07,-0.98) r=1.09m +[headless_play] t= 13.10s step= 655 trunk_z= 103.7mm grav_b=(-0.02,+0.10,-0.99) r=1.07m +[headless_play] t= 13.20s step= 660 trunk_z= 103.2mm grav_b=(+0.20,+0.08,-0.98) r=1.05m +[headless_play] t= 13.30s step= 665 trunk_z= 111.6mm grav_b=(+0.15,-0.16,-0.98) r=1.04m +[headless_play] t= 13.40s step= 670 trunk_z= 124.1mm grav_b=(-0.06,+0.06,-1.00) r=1.02m +[headless_play] t= 13.50s step= 675 trunk_z= 123.6mm grav_b=(-0.11,+0.14,-0.98) r=1.00m +[headless_play] t= 13.60s step= 680 trunk_z= 122.6mm grav_b=(+0.01,+0.04,-1.00) r=1.00m +[headless_play] t= 13.70s step= 685 trunk_z= 119.3mm grav_b=(+0.01,-0.01,-1.00) r=1.01m +[headless_play] t= 13.80s step= 690 trunk_z= 112.1mm grav_b=(+0.13,+0.04,-0.99) r=1.02m +[headless_play] t= 13.90s step= 695 trunk_z= 116.9mm grav_b=(+0.03,-0.03,-1.00) r=1.03m +[headless_play] t= 14.00s step= 700 trunk_z= 121.6mm grav_b=(-0.08,-0.20,-0.98) r=1.04m +[headless_play] t= 14.10s step= 705 trunk_z= 129.4mm grav_b=(-0.11,-0.11,-0.99) r=1.05m +[headless_play] t= 14.20s step= 710 trunk_z= 111.5mm grav_b=(-0.11,-0.03,-0.99) r=1.07m +[headless_play] t= 14.30s step= 715 trunk_z= 111.2mm grav_b=(-0.02,-0.09,-1.00) r=1.10m +[headless_play] t= 14.40s step= 720 trunk_z= 99.9mm grav_b=(+0.14,-0.00,-0.99) r=1.14m +[headless_play] t= 14.50s step= 725 trunk_z= 109.3mm grav_b=(+0.07,+0.03,-1.00) r=1.15m +[headless_play] t= 14.60s step= 730 trunk_z= 118.9mm grav_b=(+0.02,-0.16,-0.99) r=1.17m +[headless_play] t= 14.70s step= 735 trunk_z= 126.4mm grav_b=(-0.05,-0.19,-0.98) r=1.19m +[headless_play] t= 14.80s step= 740 trunk_z= 127.8mm grav_b=(-0.07,-0.18,-0.98) r=1.20m +[headless_play] t= 14.90s step= 745 trunk_z= 127.5mm grav_b=(-0.00,-0.13,-0.99) r=1.20m +[headless_play] t= 15.00s step= 750 trunk_z= 117.3mm grav_b=(+0.00,-0.03,-1.00) r=1.19m +[headless_play] t= 15.10s step= 755 trunk_z= 112.8mm grav_b=(+0.05,-0.10,-0.99) r=1.19m +[headless_play] t= 15.20s step= 760 trunk_z= 117.8mm grav_b=(+0.03,-0.06,-1.00) r=1.19m +[headless_play] t= 15.30s step= 765 trunk_z= 113.4mm grav_b=(+0.01,+0.08,-1.00) r=1.18m +[headless_play] t= 15.40s step= 770 trunk_z= 115.0mm grav_b=(-0.00,-0.05,-1.00) r=1.18m +[headless_play] t= 15.50s step= 775 trunk_z= 118.2mm grav_b=(+0.06,-0.12,-0.99) r=1.21m +[headless_play] t= 15.60s step= 780 trunk_z= 112.7mm grav_b=(+0.12,+0.04,-0.99) r=1.23m +[headless_play] t= 15.70s step= 785 trunk_z= 120.9mm grav_b=(+0.00,+0.06,-1.00) r=1.23m +[headless_play] t= 15.80s step= 790 trunk_z= 117.1mm grav_b=(-0.02,-0.14,-0.99) r=1.25m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=1.26m +[headless_play] t= 16.00s step= 800 trunk_z= 119.9mm grav_b=(+0.04,+0.15,-0.99) r=1.27m +[headless_play] t= 16.10s step= 805 trunk_z= 118.8mm grav_b=(-0.00,-0.01,-1.00) r=1.28m +[headless_play] t= 16.20s step= 810 trunk_z= 122.4mm grav_b=(-0.04,-0.10,-0.99) r=1.29m +[headless_play] t= 16.30s step= 815 trunk_z= 117.1mm grav_b=(-0.03,+0.07,-1.00) r=1.30m +[headless_play] t= 16.40s step= 820 trunk_z= 119.6mm grav_b=(-0.09,+0.07,-0.99) r=1.29m +[headless_play] t= 16.50s step= 825 trunk_z= 115.3mm grav_b=(-0.02,-0.17,-0.98) r=1.27m +[headless_play] t= 16.60s step= 830 trunk_z= 122.6mm grav_b=(+0.01,-0.20,-0.98) r=1.26m +[headless_play] t= 16.70s step= 835 trunk_z= 123.9mm grav_b=(+0.03,-0.21,-0.98) r=1.26m +[headless_play] t= 16.80s step= 840 trunk_z= 123.3mm grav_b=(+0.05,-0.17,-0.98) r=1.27m +[headless_play] t= 16.90s step= 845 trunk_z= 122.4mm grav_b=(+0.05,-0.10,-0.99) r=1.28m +[headless_play] t= 17.00s step= 850 trunk_z= 122.8mm grav_b=(+0.02,+0.00,-1.00) r=1.32m +[headless_play] t= 17.10s step= 855 trunk_z= 115.1mm grav_b=(-0.04,-0.08,-1.00) r=1.36m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(-0.02,+0.09,-1.00) r=1.38m +[headless_play] t= 17.30s step= 865 trunk_z= 120.9mm grav_b=(+0.03,+0.06,-1.00) r=1.40m +[headless_play] t= 17.40s step= 870 trunk_z= 117.4mm grav_b=(-0.00,-0.07,-1.00) r=1.40m +[headless_play] t= 17.50s step= 875 trunk_z= 117.5mm grav_b=(-0.05,+0.04,-1.00) r=1.42m +[headless_play] t= 17.60s step= 880 trunk_z= 119.9mm grav_b=(-0.01,+0.10,-1.00) r=1.43m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(-0.01,-0.10,-1.00) r=1.43m +[headless_play] t= 17.80s step= 890 trunk_z= 123.4mm grav_b=(-0.01,-0.11,-0.99) r=1.44m +[headless_play] t= 17.90s step= 895 trunk_z= 119.1mm grav_b=(+0.02,-0.04,-1.00) r=1.45m +[headless_play] t= 18.00s step= 900 trunk_z= 118.5mm grav_b=(+0.02,+0.01,-1.00) r=1.47m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(+0.01,-0.04,-1.00) r=1.48m +[headless_play] t= 18.20s step= 910 trunk_z= 117.3mm grav_b=(+0.01,+0.06,-1.00) r=1.49m +[headless_play] t= 18.30s step= 915 trunk_z= 118.5mm grav_b=(+0.02,-0.06,-1.00) r=1.49m +[headless_play] t= 18.40s step= 920 trunk_z= 118.8mm grav_b=(-0.01,-0.02,-1.00) r=1.49m +[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.03,+0.06,-1.00) r=1.49m +[headless_play] t= 18.60s step= 930 trunk_z= 120.7mm grav_b=(-0.04,-0.15,-0.99) r=1.47m +[headless_play] t= 18.70s step= 935 trunk_z= 128.8mm grav_b=(-0.02,-0.20,-0.98) r=1.45m +[headless_play] t= 18.80s step= 940 trunk_z= 129.5mm grav_b=(-0.00,-0.19,-0.98) r=1.45m +[headless_play] t= 18.90s step= 945 trunk_z= 127.1mm grav_b=(-0.01,-0.16,-0.99) r=1.46m +[headless_play] t= 19.00s step= 950 trunk_z= 115.7mm grav_b=(-0.05,-0.09,-0.99) r=1.48m +[headless_play] t= 19.10s step= 955 trunk_z= 109.3mm grav_b=(-0.02,-0.18,-0.98) r=1.49m +[headless_play] t= 19.20s step= 960 trunk_z= 115.7mm grav_b=(+0.03,-0.05,-1.00) r=1.50m +[headless_play] t= 19.30s step= 965 trunk_z= 118.1mm grav_b=(+0.08,+0.22,-0.97) r=1.51m +[headless_play] t= 19.40s step= 970 trunk_z= 132.0mm grav_b=(+0.11,+0.24,-0.96) r=1.52m +[headless_play] t= 19.50s step= 975 trunk_z= 128.0mm grav_b=(+0.13,+0.12,-0.98) r=1.54m +[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(+0.18,+0.04,-0.98) r=1.54m +[headless_play] t= 19.70s step= 985 trunk_z= 114.7mm grav_b=(-0.02,+0.03,-1.00) r=1.53m +[headless_play] t= 19.80s step= 990 trunk_z= 112.3mm grav_b=(-0.06,+0.02,-1.00) r=1.54m +[headless_play] t= 19.90s step= 995 trunk_z= 116.1mm grav_b=(-0.01,-0.12,-0.99) r=1.54m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.5mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t14.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..a043c6bf7318476848e3a4fbc7ec1622dac9dbe8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 130.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-6.298,-18.087,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.4mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(-0.01,-0.09,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 119.1mm grav_b=(+0.03,-0.04,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(-0.01,+0.09,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 117.4mm grav_b=(-0.03,-0.08,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 122.9mm grav_b=(-0.01,-0.06,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(-0.06,+0.07,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 124.0mm grav_b=(-0.08,+0.12,-0.99) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(-0.07,-0.04,-1.00) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 119.8mm grav_b=(-0.10,-0.04,-0.99) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 118.9mm grav_b=(-0.09,+0.09,-0.99) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 116.2mm grav_b=(-0.06,-0.09,-0.99) r=0.30m +[headless_play] t= 1.30s step= 65 trunk_z= 119.9mm grav_b=(-0.08,-0.09,-0.99) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 118.0mm grav_b=(-0.10,+0.11,-0.99) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 126.0mm grav_b=(+0.00,+0.13,-0.99) r=0.27m +[headless_play] t= 1.60s step= 80 trunk_z= 119.3mm grav_b=(+0.04,-0.08,-1.00) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 128.6mm grav_b=(-0.02,-0.12,-0.99) r=0.24m +[headless_play] t= 1.80s step= 90 trunk_z= 126.0mm grav_b=(-0.02,-0.08,-1.00) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(-0.09,+0.02,-1.00) r=0.23m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.06,-0.07,-1.00) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(-0.02,-0.03,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 120.2mm grav_b=(+0.02,+0.11,-0.99) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 122.1mm grav_b=(+0.01,-0.05,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 127.7mm grav_b=(-0.02,-0.17,-0.98) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 131.1mm grav_b=(-0.02,-0.17,-0.98) r=0.19m +[headless_play] t= 2.60s step= 130 trunk_z= 131.6mm grav_b=(-0.02,-0.16,-0.99) r=0.18m +[headless_play] t= 2.70s step= 135 trunk_z= 128.9mm grav_b=(-0.03,-0.09,-1.00) r=0.18m +[headless_play] t= 2.80s step= 140 trunk_z= 123.7mm grav_b=(+0.01,-0.04,-1.00) r=0.18m +[headless_play] t= 2.90s step= 145 trunk_z= 121.5mm grav_b=(-0.00,-0.07,-1.00) r=0.18m +[headless_play] t= 3.00s step= 150 trunk_z= 118.5mm grav_b=(-0.06,+0.09,-0.99) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 119.8mm grav_b=(-0.08,+0.00,-1.00) r=0.22m +[headless_play] t= 3.20s step= 160 trunk_z= 119.3mm grav_b=(-0.09,-0.02,-1.00) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 119.5mm grav_b=(-0.06,+0.04,-1.00) r=0.24m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(-0.07,+0.02,-1.00) r=0.25m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(-0.06,+0.02,-1.00) r=0.25m +[headless_play] t= 3.60s step= 180 trunk_z= 117.6mm grav_b=(-0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 3.70s step= 185 trunk_z= 117.8mm grav_b=(-0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 3.80s step= 190 trunk_z= 118.2mm grav_b=(-0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 3.90s step= 195 trunk_z= 119.7mm grav_b=(+0.03,+0.00,-1.00) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 121.1mm grav_b=(+0.06,+0.06,-1.00) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 120.7mm grav_b=(+0.05,+0.04,-1.00) r=0.19m +[headless_play] t= 4.20s step= 210 trunk_z= 113.1mm grav_b=(-0.11,-0.17,-0.98) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 120.5mm grav_b=(-0.17,-0.10,-0.98) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(-0.11,+0.01,-0.99) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 114.2mm grav_b=(-0.05,-0.17,-0.98) r=0.19m +[headless_play] t= 4.60s step= 230 trunk_z= 118.3mm grav_b=(-0.02,-0.11,-0.99) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 115.8mm grav_b=(-0.02,+0.03,-1.00) r=0.21m +[headless_play] t= 4.80s step= 240 trunk_z= 115.7mm grav_b=(+0.00,-0.02,-1.00) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 115.1mm grav_b=(-0.02,+0.00,-1.00) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 5.10s step= 255 trunk_z= 115.6mm grav_b=(-0.03,-0.00,-1.00) r=0.21m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(-0.04,+0.00,-1.00) r=0.21m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(-0.04,-0.00,-1.00) r=0.21m +[headless_play] t= 5.40s step= 270 trunk_z= 115.8mm grav_b=(-0.03,+0.00,-1.00) r=0.21m +[headless_play] t= 5.50s step= 275 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 5.60s step= 280 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 5.70s step= 285 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(-0.05,+0.02,-1.00) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.22m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.08,+0.02,-1.00) r=0.23m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(-0.09,+0.02,-1.00) r=0.23m +[headless_play] t= 6.20s step= 310 trunk_z= 115.0mm grav_b=(-0.09,-0.04,-1.00) r=0.23m +[headless_play] t= 6.30s step= 315 trunk_z= 106.9mm grav_b=(+0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 104.9mm grav_b=(+0.12,+0.08,-0.99) r=0.26m +[headless_play] t= 6.50s step= 325 trunk_z= 111.5mm grav_b=(+0.05,+0.00,-1.00) r=0.28m +[headless_play] t= 6.60s step= 330 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) r=0.28m +[headless_play] t= 6.70s step= 335 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=0.28m +[headless_play] t= 6.80s step= 340 trunk_z= 115.5mm grav_b=(+0.01,+0.01,-1.00) r=0.28m +[headless_play] t= 6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.28m +[headless_play] t= 7.00s step= 350 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.28m +[headless_play] t= 7.10s step= 355 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 7.20s step= 360 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 7.30s step= 365 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 7.40s step= 370 trunk_z= 117.5mm grav_b=(-0.05,+0.00,-1.00) r=0.28m +[headless_play] t= 7.50s step= 375 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.27m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.27m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 118.0mm grav_b=(-0.07,+0.00,-1.00) r=0.28m +[headless_play] t= 8.60s step= 430 trunk_z= 116.1mm grav_b=(-0.10,-0.04,-0.99) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 114.1mm grav_b=(-0.10,+0.01,-0.99) r=0.29m +[headless_play] t= 8.80s step= 440 trunk_z= 92.3mm grav_b=(-0.09,+0.13,-0.99) r=0.31m +[headless_play] t= 8.90s step= 445 trunk_z= 87.6mm grav_b=(+0.09,+0.07,-0.99) r=0.32m +[headless_play] t= 9.00s step= 450 trunk_z= 109.4mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(-0.03,-0.04,-1.00) r=0.36m +[headless_play] t= 9.20s step= 460 trunk_z= 110.8mm grav_b=(+0.02,+0.11,-0.99) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 107.6mm grav_b=(+0.09,+0.03,-1.00) r=0.38m +[headless_play] t= 9.40s step= 470 trunk_z= 113.7mm grav_b=(-0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 9.50s step= 475 trunk_z= 116.3mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 9.60s step= 480 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 9.70s step= 485 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 9.80s step= 490 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 9.90s step= 495 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 10.00s step= 500 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 10.10s step= 505 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 10.20s step= 510 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 117.3mm grav_b=(+0.06,+0.01,-1.00) r=0.39m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 10.70s step= 535 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 10.80s step= 540 trunk_z= 117.0mm grav_b=(-0.05,+0.07,-1.00) r=0.39m +[headless_play] t= 10.90s step= 545 trunk_z= 115.4mm grav_b=(-0.03,+0.00,-1.00) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(+0.00,-0.12,-0.99) r=0.39m +[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(+0.00,-0.04,-1.00) r=0.40m +[headless_play] t= 11.20s step= 560 trunk_z= 112.7mm grav_b=(+0.03,+0.04,-1.00) r=0.41m +[headless_play] t= 11.30s step= 565 trunk_z= 112.2mm grav_b=(-0.02,-0.09,-1.00) r=0.42m +[headless_play] t= 11.40s step= 570 trunk_z= 116.5mm grav_b=(-0.03,-0.06,-1.00) r=0.42m +[headless_play] t= 11.50s step= 575 trunk_z= 111.7mm grav_b=(-0.01,+0.07,-1.00) r=0.43m +[headless_play] t= 11.60s step= 580 trunk_z= 114.0mm grav_b=(+0.04,+0.04,-1.00) r=0.44m +[headless_play] t= 11.70s step= 585 trunk_z= 109.5mm grav_b=(+0.06,-0.07,-1.00) r=0.45m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 114.7mm grav_b=(-0.05,+0.07,-1.00) r=0.44m +[headless_play] t= 12.00s step= 600 trunk_z= 110.3mm grav_b=(-0.10,-0.14,-0.99) r=0.43m +[headless_play] t= 12.10s step= 605 trunk_z= 114.1mm grav_b=(-0.09,-0.12,-0.99) r=0.42m +[headless_play] t= 12.20s step= 610 trunk_z= 113.9mm grav_b=(+0.05,-0.06,-1.00) r=0.43m +[headless_play] t= 12.30s step= 615 trunk_z= 109.2mm grav_b=(+0.10,+0.00,-0.99) r=0.43m +[headless_play] t= 12.40s step= 620 trunk_z= 114.1mm grav_b=(+0.01,-0.12,-0.99) r=0.42m +[headless_play] t= 12.50s step= 625 trunk_z= 117.9mm grav_b=(+0.00,-0.04,-1.00) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 111.9mm grav_b=(+0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 111.3mm grav_b=(+0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 12.80s step= 640 trunk_z= 114.6mm grav_b=(+0.03,-0.20,-0.98) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 115.4mm grav_b=(+0.04,-0.24,-0.97) r=0.34m +[headless_play] t= 13.00s step= 650 trunk_z= 115.4mm grav_b=(+0.08,-0.24,-0.97) r=0.32m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(+0.08,-0.06,-0.99) r=0.30m +[headless_play] t= 13.20s step= 660 trunk_z= 122.4mm grav_b=(-0.02,-0.03,-1.00) r=0.27m +[headless_play] t= 13.30s step= 665 trunk_z= 115.5mm grav_b=(-0.05,-0.11,-0.99) r=0.24m +[headless_play] t= 13.40s step= 670 trunk_z= 113.9mm grav_b=(+0.01,+0.04,-1.00) r=0.20m +[headless_play] t= 13.50s step= 675 trunk_z= 112.0mm grav_b=(+0.08,+0.05,-1.00) r=0.18m +[headless_play] t= 13.60s step= 680 trunk_z= 113.8mm grav_b=(+0.04,-0.12,-0.99) r=0.16m +[headless_play] t= 13.70s step= 685 trunk_z= 116.2mm grav_b=(+0.02,-0.06,-1.00) r=0.15m +[headless_play] t= 13.80s step= 690 trunk_z= 114.8mm grav_b=(-0.01,+0.07,-1.00) r=0.13m +[headless_play] t= 13.90s step= 695 trunk_z= 119.9mm grav_b=(-0.04,+0.02,-1.00) r=0.12m +[headless_play] t= 14.00s step= 700 trunk_z= 117.4mm grav_b=(-0.04,-0.12,-0.99) r=0.11m +[headless_play] t= 14.10s step= 705 trunk_z= 119.8mm grav_b=(+0.01,-0.04,-1.00) r=0.11m +[headless_play] t= 14.20s step= 710 trunk_z= 124.3mm grav_b=(+0.06,+0.04,-1.00) r=0.12m +[headless_play] t= 14.30s step= 715 trunk_z= 122.3mm grav_b=(+0.01,-0.17,-0.99) r=0.14m +[headless_play] t= 14.40s step= 720 trunk_z= 113.8mm grav_b=(-0.19,-0.20,-0.96) r=0.16m +[headless_play] t= 14.50s step= 725 trunk_z= 105.7mm grav_b=(-0.26,-0.06,-0.96) r=0.19m +[headless_play] t= 14.60s step= 730 trunk_z= 106.7mm grav_b=(-0.33,-0.24,-0.92) r=0.22m +[headless_play] t= 14.70s step= 735 trunk_z= 82.8mm grav_b=(-0.73,-0.14,-0.67) r=0.22m +[headless_play] RESET at t= 14.76s step= 738 (env termination, not a recovery) +[headless_play] t= 14.80s step= 740 trunk_z= 115.5mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 117.9mm grav_b=(+0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 124.2mm grav_b=(+0.08,+0.05,-0.99) r=0.50m +[headless_play] t= 15.10s step= 755 trunk_z= 116.8mm grav_b=(-0.00,-0.18,-0.98) r=0.49m +[headless_play] t= 15.20s step= 760 trunk_z= 127.1mm grav_b=(-0.05,-0.20,-0.98) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 127.8mm grav_b=(-0.06,-0.16,-0.99) r=0.50m +[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(-0.09,-0.03,-1.00) r=0.51m +[headless_play] t= 15.50s step= 775 trunk_z= 114.8mm grav_b=(-0.06,-0.10,-0.99) r=0.53m +[headless_play] t= 15.60s step= 780 trunk_z= 110.6mm grav_b=(+0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(-0.05,+0.20,-0.98) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 124.1mm grav_b=(-0.08,+0.12,-0.99) r=0.54m +[headless_play] t= 15.90s step= 795 trunk_z= 115.6mm grav_b=(-0.08,-0.07,-0.99) r=0.55m +[headless_play] t= 16.00s step= 800 trunk_z= 120.9mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 16.10s step= 805 trunk_z= 119.2mm grav_b=(+0.07,+0.12,-0.99) r=0.57m +[headless_play] t= 16.20s step= 810 trunk_z= 120.7mm grav_b=(+0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 16.30s step= 815 trunk_z= 120.7mm grav_b=(-0.03,-0.10,-0.99) r=0.59m +[headless_play] t= 16.40s step= 820 trunk_z= 118.9mm grav_b=(-0.07,+0.07,-1.00) r=0.61m +[headless_play] t= 16.50s step= 825 trunk_z= 119.0mm grav_b=(-0.11,+0.04,-0.99) r=0.63m +[headless_play] t= 16.60s step= 830 trunk_z= 122.5mm grav_b=(-0.07,-0.14,-0.99) r=0.66m +[headless_play] t= 16.70s step= 835 trunk_z= 125.3mm grav_b=(-0.09,-0.07,-0.99) r=0.68m +[headless_play] t= 16.80s step= 840 trunk_z= 112.6mm grav_b=(-0.05,-0.00,-1.00) r=0.70m +[headless_play] t= 16.90s step= 845 trunk_z= 111.3mm grav_b=(+0.03,-0.19,-0.98) r=0.72m +[headless_play] t= 17.00s step= 850 trunk_z= 125.7mm grav_b=(+0.02,-0.18,-0.98) r=0.74m +[headless_play] t= 17.10s step= 855 trunk_z= 119.5mm grav_b=(-0.03,-0.03,-1.00) r=0.75m +[headless_play] t= 17.20s step= 860 trunk_z= 120.0mm grav_b=(-0.05,-0.01,-1.00) r=0.76m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(-0.00,-0.14,-0.99) r=0.77m +[headless_play] t= 17.40s step= 870 trunk_z= 120.5mm grav_b=(-0.04,+0.01,-1.00) r=0.78m +[headless_play] t= 17.50s step= 875 trunk_z= 120.6mm grav_b=(-0.04,+0.12,-0.99) r=0.78m +[headless_play] t= 17.60s step= 880 trunk_z= 120.4mm grav_b=(-0.01,-0.03,-1.00) r=0.79m +[headless_play] t= 17.70s step= 885 trunk_z= 126.3mm grav_b=(-0.02,-0.16,-0.99) r=0.81m +[headless_play] t= 17.80s step= 890 trunk_z= 125.7mm grav_b=(-0.02,-0.08,-1.00) r=0.81m +[headless_play] t= 17.90s step= 895 trunk_z= 115.7mm grav_b=(-0.07,+0.00,-1.00) r=0.81m +[headless_play] t= 18.00s step= 900 trunk_z= 115.0mm grav_b=(-0.12,-0.10,-0.99) r=0.82m +[headless_play] t= 18.10s step= 905 trunk_z= 108.6mm grav_b=(-0.22,+0.03,-0.97) r=0.82m +[headless_play] t= 18.20s step= 910 trunk_z= 105.1mm grav_b=(-0.46,-0.27,-0.85) r=0.83m +[headless_play] RESET at t= 18.28s step= 914 (env termination, not a recovery) +[headless_play] t= 18.30s step= 915 trunk_z= 125.7mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(+0.00,+0.05,-1.00) r=0.34m +[headless_play] t= 18.50s step= 925 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(-0.01,-0.08,-1.00) r=0.30m +[headless_play] t= 18.70s step= 935 trunk_z= 117.9mm grav_b=(+0.03,+0.05,-1.00) r=0.28m +[headless_play] t= 18.80s step= 940 trunk_z= 113.8mm grav_b=(+0.03,-0.11,-0.99) r=0.27m +[headless_play] t= 18.90s step= 945 trunk_z= 119.0mm grav_b=(+0.03,-0.06,-1.00) r=0.27m +[headless_play] t= 19.00s step= 950 trunk_z= 121.6mm grav_b=(+0.05,+0.09,-0.99) r=0.26m +[headless_play] t= 19.10s step= 955 trunk_z= 119.2mm grav_b=(+0.07,-0.00,-1.00) r=0.25m +[headless_play] t= 19.20s step= 960 trunk_z= 118.6mm grav_b=(+0.01,-0.06,-1.00) r=0.26m +[headless_play] t= 19.30s step= 965 trunk_z= 119.4mm grav_b=(+0.02,+0.10,-0.99) r=0.26m +[headless_play] t= 19.40s step= 970 trunk_z= 122.5mm grav_b=(+0.10,+0.05,-0.99) r=0.26m +[headless_play] t= 19.50s step= 975 trunk_z= 115.6mm grav_b=(+0.09,-0.12,-0.99) r=0.27m +[headless_play] t= 19.60s step= 980 trunk_z= 121.5mm grav_b=(+0.00,-0.00,-1.00) r=0.28m +[headless_play] t= 19.70s step= 985 trunk_z= 121.6mm grav_b=(-0.01,+0.09,-1.00) r=0.29m +[headless_play] t= 19.80s step= 990 trunk_z= 119.6mm grav_b=(+0.02,-0.07,-1.00) r=0.30m +[headless_play] t= 19.90s step= 995 trunk_z= 124.6mm grav_b=(+0.03,-0.11,-0.99) r=0.31m +[headless_play] t= 20.00s step=1000 trunk_z= 117.9mm grav_b=(+0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 20.10s step=1005 trunk_z= 120.8mm grav_b=(+0.06,+0.01,-1.00) r=0.33m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t15.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..8268c42e236cc5daf70304c80eae6a94f458a152 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t15.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.043,-18.024,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.05m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.00,+0.00,-1.00) r=0.05m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.05,+0.00,-1.00) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.04,+0.00,-1.00) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 117.7mm grav_b=(-0.04,+0.01,-1.00) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(-0.05,+0.01,-1.00) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(+0.04,+0.00,-1.00) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(+0.04,-0.00,-1.00) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 117.7mm grav_b=(+0.05,+0.00,-1.00) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 119.9mm grav_b=(+0.12,-0.03,-0.99) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 121.4mm grav_b=(+0.06,-0.09,-0.99) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(-0.06,+0.07,-1.00) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(-0.08,-0.01,-1.00) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.11m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(+0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.11m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.11m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.11m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.00,-0.00,-1.00) r=0.11m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 117.4mm grav_b=(-0.08,+0.00,-1.00) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 117.4mm grav_b=(-0.06,+0.01,-1.00) r=0.07m +[headless_play] t= 4.30s step= 215 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=0.08m +[headless_play] t= 4.40s step= 220 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.08m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 4.70s step= 235 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 4.80s step= 240 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 4.90s step= 245 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 5.00s step= 250 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 5.50s step= 275 trunk_z= 119.9mm grav_b=(+0.06,+0.01,-1.00) r=0.10m +[headless_play] t= 5.60s step= 280 trunk_z= 120.3mm grav_b=(+0.11,-0.12,-0.99) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 122.6mm grav_b=(+0.02,-0.07,-1.00) r=0.11m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(-0.11,+0.07,-0.99) r=0.13m +[headless_play] t= 5.90s step= 295 trunk_z= 117.9mm grav_b=(-0.06,-0.01,-1.00) r=0.14m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.14m +[headless_play] t= 6.10s step= 305 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.14m +[headless_play] t= 6.20s step= 310 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.15m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.14m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(-0.07,+0.01,-1.00) r=0.14m +[headless_play] t= 6.50s step= 325 trunk_z= 117.3mm grav_b=(-0.05,+0.02,-1.00) r=0.14m +[headless_play] t= 6.60s step= 330 trunk_z= 117.6mm grav_b=(+0.02,-0.07,-1.00) r=0.14m +[headless_play] t= 6.70s step= 335 trunk_z= 121.2mm grav_b=(+0.05,+0.01,-1.00) r=0.15m +[headless_play] t= 6.80s step= 340 trunk_z= 120.6mm grav_b=(+0.15,+0.10,-0.98) r=0.16m +[headless_play] t= 6.90s step= 345 trunk_z= 127.2mm grav_b=(+0.06,-0.13,-0.99) r=0.16m +[headless_play] t= 7.00s step= 350 trunk_z= 117.7mm grav_b=(-0.11,-0.17,-0.98) r=0.19m +[headless_play] t= 7.10s step= 355 trunk_z= 116.4mm grav_b=(-0.15,+0.01,-0.99) r=0.22m +[headless_play] t= 7.20s step= 360 trunk_z= 118.0mm grav_b=(-0.09,-0.02,-1.00) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 116.2mm grav_b=(-0.05,-0.13,-0.99) r=0.25m +[headless_play] t= 7.40s step= 370 trunk_z= 111.7mm grav_b=(+0.07,+0.11,-0.99) r=0.26m +[headless_play] t= 7.50s step= 375 trunk_z= 124.8mm grav_b=(+0.04,+0.06,-1.00) r=0.27m +[headless_play] t= 7.60s step= 380 trunk_z= 121.2mm grav_b=(+0.09,-0.14,-0.99) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 129.6mm grav_b=(+0.05,+0.02,-1.00) r=0.28m +[headless_play] t= 7.80s step= 390 trunk_z= 114.1mm grav_b=(-0.00,+0.09,-1.00) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 118.2mm grav_b=(-0.13,-0.02,-0.99) r=0.29m +[headless_play] t= 8.00s step= 400 trunk_z= 119.4mm grav_b=(-0.03,-0.18,-0.98) r=0.28m +[headless_play] t= 8.10s step= 405 trunk_z= 121.0mm grav_b=(+0.04,-0.08,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 115.0mm grav_b=(+0.07,+0.05,-1.00) r=0.26m +[headless_play] t= 8.30s step= 415 trunk_z= 114.9mm grav_b=(+0.04,-0.12,-0.99) r=0.23m +[headless_play] t= 8.40s step= 420 trunk_z= 113.7mm grav_b=(+0.08,+0.01,-1.00) r=0.20m +[headless_play] t= 8.50s step= 425 trunk_z= 117.7mm grav_b=(+0.03,+0.13,-0.99) r=0.18m +[headless_play] t= 8.60s step= 430 trunk_z= 115.0mm grav_b=(-0.01,-0.11,-0.99) r=0.17m +[headless_play] t= 8.70s step= 435 trunk_z= 118.4mm grav_b=(+0.04,-0.09,-1.00) r=0.15m +[headless_play] t= 8.80s step= 440 trunk_z= 112.1mm grav_b=(+0.03,+0.08,-1.00) r=0.15m +[headless_play] t= 8.90s step= 445 trunk_z= 115.7mm grav_b=(-0.04,-0.03,-1.00) r=0.15m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(-0.01,-0.12,-0.99) r=0.15m +[headless_play] t= 9.10s step= 455 trunk_z= 111.0mm grav_b=(+0.09,-0.06,-0.99) r=0.14m +[headless_play] t= 9.20s step= 460 trunk_z= 113.0mm grav_b=(+0.08,+0.05,-1.00) r=0.13m +[headless_play] t= 9.30s step= 465 trunk_z= 115.5mm grav_b=(+0.01,-0.06,-1.00) r=0.12m +[headless_play] t= 9.40s step= 470 trunk_z= 118.8mm grav_b=(-0.00,-0.11,-0.99) r=0.11m +[headless_play] t= 9.50s step= 475 trunk_z= 115.0mm grav_b=(+0.05,-0.03,-1.00) r=0.09m +[headless_play] t= 9.60s step= 480 trunk_z= 114.6mm grav_b=(+0.07,+0.07,-1.00) r=0.07m +[headless_play] t= 9.70s step= 485 trunk_z= 112.9mm grav_b=(+0.03,-0.12,-0.99) r=0.04m +[headless_play] t= 9.80s step= 490 trunk_z= 114.0mm grav_b=(+0.06,+0.03,-1.00) r=0.03m +[headless_play] t= 9.90s step= 495 trunk_z= 113.0mm grav_b=(+0.10,+0.04,-0.99) r=0.03m +[headless_play] t= 10.00s step= 500 trunk_z= 111.1mm grav_b=(+0.08,-0.10,-0.99) r=0.03m +[headless_play] t= 10.10s step= 505 trunk_z= 114.3mm grav_b=(+0.08,-0.01,-1.00) r=0.04m +[headless_play] t= 10.20s step= 510 trunk_z= 112.3mm grav_b=(+0.05,+0.11,-0.99) r=0.06m +[headless_play] t= 10.30s step= 515 trunk_z= 113.6mm grav_b=(+0.03,-0.11,-0.99) r=0.07m +[headless_play] t= 10.40s step= 520 trunk_z= 123.2mm grav_b=(-0.02,-0.12,-0.99) r=0.06m +[headless_play] t= 10.50s step= 525 trunk_z= 107.9mm grav_b=(-0.04,+0.01,-1.00) r=0.06m +[headless_play] t= 10.60s step= 530 trunk_z= 112.7mm grav_b=(+0.03,-0.08,-1.00) r=0.05m +[headless_play] t= 10.70s step= 535 trunk_z= 110.7mm grav_b=(+0.11,-0.16,-0.98) r=0.05m +[headless_play] t= 10.80s step= 540 trunk_z= 114.6mm grav_b=(+0.07,-0.01,-1.00) r=0.04m +[headless_play] t= 10.90s step= 545 trunk_z= 116.2mm grav_b=(+0.03,+0.09,-1.00) r=0.04m +[headless_play] t= 11.00s step= 550 trunk_z= 111.7mm grav_b=(+0.05,-0.13,-0.99) r=0.04m +[headless_play] t= 11.10s step= 555 trunk_z= 116.1mm grav_b=(+0.04,-0.08,-1.00) r=0.02m +[headless_play] t= 11.20s step= 560 trunk_z= 111.0mm grav_b=(+0.06,+0.07,-1.00) r=0.05m +[headless_play] t= 11.30s step= 565 trunk_z= 111.2mm grav_b=(+0.09,-0.11,-0.99) r=0.08m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(+0.07,-0.15,-0.99) r=0.11m +[headless_play] t= 11.50s step= 575 trunk_z= 112.8mm grav_b=(+0.10,-0.07,-0.99) r=0.14m +[headless_play] t= 11.60s step= 580 trunk_z= 115.1mm grav_b=(+0.05,+0.08,-1.00) r=0.17m +[headless_play] t= 11.70s step= 585 trunk_z= 114.7mm grav_b=(+0.01,-0.08,-1.00) r=0.19m +[headless_play] t= 11.80s step= 590 trunk_z= 113.3mm grav_b=(+0.08,-0.06,-1.00) r=0.21m +[headless_play] t= 11.90s step= 595 trunk_z= 108.6mm grav_b=(+0.16,+0.10,-0.98) r=0.23m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(+0.09,+0.04,-0.99) r=0.24m +[headless_play] t= 12.10s step= 605 trunk_z= 119.8mm grav_b=(+0.05,-0.14,-0.99) r=0.24m +[headless_play] t= 12.20s step= 610 trunk_z= 117.3mm grav_b=(+0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 12.30s step= 615 trunk_z= 114.4mm grav_b=(+0.03,-0.01,-1.00) r=0.25m +[headless_play] t= 12.40s step= 620 trunk_z= 114.6mm grav_b=(+0.04,-0.02,-1.00) r=0.25m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(+0.04,-0.02,-1.00) r=0.25m +[headless_play] t= 12.60s step= 630 trunk_z= 115.4mm grav_b=(+0.05,-0.02,-1.00) r=0.25m +[headless_play] t= 12.70s step= 635 trunk_z= 115.5mm grav_b=(+0.05,-0.02,-1.00) r=0.25m +[headless_play] t= 12.80s step= 640 trunk_z= 115.5mm grav_b=(+0.05,-0.02,-1.00) r=0.25m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(+0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 13.00s step= 650 trunk_z= 117.1mm grav_b=(-0.04,-0.02,-1.00) r=0.23m +[headless_play] t= 13.10s step= 655 trunk_z= 116.0mm grav_b=(-0.05,-0.05,-1.00) r=0.22m +[headless_play] t= 13.20s step= 660 trunk_z= 109.9mm grav_b=(+0.01,-0.06,-1.00) r=0.22m +[headless_play] t= 13.30s step= 665 trunk_z= 102.9mm grav_b=(+0.26,+0.02,-0.96) r=0.22m +[headless_play] t= 13.40s step= 670 trunk_z= 113.0mm grav_b=(+0.18,-0.21,-0.96) r=0.21m +[headless_play] t= 13.50s step= 675 trunk_z= 120.9mm grav_b=(-0.06,-0.06,-1.00) r=0.22m +[headless_play] t= 13.60s step= 680 trunk_z= 116.8mm grav_b=(-0.11,+0.01,-0.99) r=0.24m +[headless_play] t= 13.70s step= 685 trunk_z= 113.7mm grav_b=(-0.01,-0.07,-1.00) r=0.24m +[headless_play] t= 13.80s step= 690 trunk_z= 109.5mm grav_b=(+0.07,+0.03,-1.00) r=0.22m +[headless_play] t= 13.90s step= 695 trunk_z= 112.6mm grav_b=(+0.03,-0.05,-1.00) r=0.21m +[headless_play] t= 14.00s step= 700 trunk_z= 113.4mm grav_b=(+0.06,-0.04,-1.00) r=0.20m +[headless_play] t= 14.10s step= 705 trunk_z= 115.2mm grav_b=(+0.09,-0.01,-1.00) r=0.21m +[headless_play] t= 14.20s step= 710 trunk_z= 115.7mm grav_b=(+0.07,-0.00,-1.00) r=0.21m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.21m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.21m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(+0.06,-0.02,-1.00) r=0.19m +[headless_play] t= 14.70s step= 735 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=0.19m +[headless_play] t= 14.80s step= 740 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 14.90s step= 745 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.19m +[headless_play] t= 15.10s step= 755 trunk_z= 116.4mm grav_b=(+0.10,-0.00,-0.99) r=0.19m +[headless_play] t= 15.20s step= 760 trunk_z= 117.5mm grav_b=(+0.10,-0.01,-1.00) r=0.19m +[headless_play] t= 15.30s step= 765 trunk_z= 117.3mm grav_b=(+0.08,-0.01,-1.00) r=0.19m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(+0.05,+0.00,-1.00) r=0.19m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 15.70s step= 785 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.19m +[headless_play] t= 15.80s step= 790 trunk_z= 116.6mm grav_b=(+0.05,+0.00,-1.00) r=0.20m +[headless_play] t= 15.90s step= 795 trunk_z= 117.7mm grav_b=(+0.10,-0.00,-0.99) r=0.21m +[headless_play] t= 16.00s step= 800 trunk_z= 119.2mm grav_b=(+0.12,-0.01,-0.99) r=0.21m +[headless_play] t= 16.10s step= 805 trunk_z= 117.9mm grav_b=(+0.03,+0.05,-1.00) r=0.21m +[headless_play] t= 16.20s step= 810 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 16.30s step= 815 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(+0.04,+0.01,-1.00) r=0.23m +[headless_play] t= 16.50s step= 825 trunk_z= 117.3mm grav_b=(+0.07,+0.00,-1.00) r=0.23m +[headless_play] t= 16.60s step= 830 trunk_z= 116.8mm grav_b=(+0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 16.80s step= 840 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 16.90s step= 845 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.10s step= 855 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.20s step= 860 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.30s step= 865 trunk_z= 116.9mm grav_b=(+0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 17.40s step= 870 trunk_z= 117.2mm grav_b=(+0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 17.50s step= 875 trunk_z= 116.8mm grav_b=(+0.04,+0.01,-1.00) r=0.23m +[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.80s step= 890 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 17.90s step= 895 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 18.10s step= 905 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 18.20s step= 910 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.23m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(+0.04,+0.01,-1.00) r=0.23m +[headless_play] t= 18.40s step= 920 trunk_z= 116.6mm grav_b=(+0.06,+0.01,-1.00) r=0.23m +[headless_play] t= 18.50s step= 925 trunk_z= 116.7mm grav_b=(+0.05,+0.01,-1.00) r=0.23m +[headless_play] t= 18.60s step= 930 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=0.23m +[headless_play] t= 18.70s step= 935 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=0.23m +[headless_play] t= 18.80s step= 940 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 18.90s step= 945 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 19.00s step= 950 trunk_z= 116.8mm grav_b=(+0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(+0.07,-0.01,-1.00) r=0.22m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(+0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 19.40s step= 970 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 19.50s step= 975 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 19.60s step= 980 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 19.70s step= 985 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 19.90s step= 995 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.0mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.04,-0.04,-1.00) r=0.38m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t2.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..ffc4f48babe3ca8ead3c92523d8d623957c0f8dd --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t2.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.1mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.579,-17.610,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.4mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(-0.06,+0.03,-1.00) r=0.57m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(-0.07,+0.07,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 118.2mm grav_b=(-0.06,+0.10,-0.99) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 119.0mm grav_b=(-0.07,+0.04,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 119.6mm grav_b=(-0.10,+0.08,-0.99) r=0.57m +[headless_play] t= 0.60s step= 30 trunk_z= 117.8mm grav_b=(-0.09,+0.05,-0.99) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 120.8mm grav_b=(-0.07,-0.08,-0.99) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 126.3mm grav_b=(-0.02,-0.04,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 118.2mm grav_b=(-0.08,+0.17,-0.98) r=0.60m +[headless_play] t= 1.00s step= 50 trunk_z= 121.4mm grav_b=(-0.17,+0.05,-0.98) r=0.60m +[headless_play] t= 1.10s step= 55 trunk_z= 123.9mm grav_b=(-0.17,-0.13,-0.98) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 125.7mm grav_b=(-0.17,-0.06,-0.98) r=0.62m +[headless_play] t= 1.30s step= 65 trunk_z= 117.5mm grav_b=(-0.17,+0.04,-0.98) r=0.62m +[headless_play] t= 1.40s step= 70 trunk_z= 113.4mm grav_b=(-0.16,-0.15,-0.98) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 122.1mm grav_b=(-0.23,-0.07,-0.97) r=0.62m +[headless_play] t= 1.60s step= 80 trunk_z= 106.8mm grav_b=(-0.21,+0.05,-0.98) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 108.4mm grav_b=(-0.04,-0.16,-0.99) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(-0.04,-0.26,-0.96) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 127.0mm grav_b=(+0.02,-0.12,-0.99) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 118.5mm grav_b=(-0.03,+0.15,-0.99) r=0.60m +[headless_play] t= 2.10s step= 105 trunk_z= 130.0mm grav_b=(-0.06,+0.20,-0.98) r=0.59m +[headless_play] t= 2.20s step= 110 trunk_z= 128.2mm grav_b=(-0.14,+0.13,-0.98) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 123.3mm grav_b=(-0.21,-0.01,-0.98) r=0.58m +[headless_play] t= 2.40s step= 120 trunk_z= 114.6mm grav_b=(-0.29,+0.09,-0.95) r=0.59m +[headless_play] t= 2.50s step= 125 trunk_z= 112.3mm grav_b=(-0.30,-0.12,-0.95) r=0.60m +[headless_play] t= 2.60s step= 130 trunk_z= 98.4mm grav_b=(-0.65,+0.02,-0.76) r=0.58m +[headless_play] t= 2.70s step= 135 trunk_z= 39.4mm grav_b=(-0.90,-0.10,-0.43) r=0.58m +[headless_play] RESET at t= 2.72s step= 136 (env termination, not a recovery) +[headless_play] t= 2.80s step= 140 trunk_z= 116.3mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 119.5mm grav_b=(-0.09,+0.11,-0.99) r=0.15m +[headless_play] t= 3.00s step= 150 trunk_z= 119.6mm grav_b=(-0.13,+0.03,-0.99) r=0.15m +[headless_play] t= 3.10s step= 155 trunk_z= 122.9mm grav_b=(-0.14,-0.08,-0.99) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 120.0mm grav_b=(-0.13,+0.01,-0.99) r=0.17m +[headless_play] t= 3.30s step= 165 trunk_z= 120.8mm grav_b=(-0.12,+0.09,-0.99) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(-0.16,-0.07,-0.98) r=0.19m +[headless_play] t= 3.50s step= 175 trunk_z= 123.8mm grav_b=(-0.15,-0.08,-0.99) r=0.20m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(-0.09,+0.11,-0.99) r=0.22m +[headless_play] t= 3.70s step= 185 trunk_z= 125.4mm grav_b=(-0.06,+0.07,-1.00) r=0.23m +[headless_play] t= 3.80s step= 190 trunk_z= 117.0mm grav_b=(-0.14,-0.09,-0.99) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 119.1mm grav_b=(-0.17,+0.06,-0.98) r=0.26m +[headless_play] t= 4.00s step= 200 trunk_z= 125.1mm grav_b=(-0.06,+0.13,-0.99) r=0.28m +[headless_play] t= 4.10s step= 205 trunk_z= 127.3mm grav_b=(-0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 4.20s step= 210 trunk_z= 124.2mm grav_b=(-0.17,-0.13,-0.98) r=0.36m +[headless_play] t= 4.30s step= 215 trunk_z= 121.7mm grav_b=(-0.14,+0.02,-0.99) r=0.38m +[headless_play] t= 4.40s step= 220 trunk_z= 123.0mm grav_b=(-0.07,+0.05,-1.00) r=0.41m +[headless_play] t= 4.50s step= 225 trunk_z= 117.1mm grav_b=(-0.18,-0.14,-0.97) r=0.43m +[headless_play] t= 4.60s step= 230 trunk_z= 120.4mm grav_b=(-0.25,-0.15,-0.96) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 124.9mm grav_b=(-0.22,-0.07,-0.97) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 119.3mm grav_b=(-0.25,-0.02,-0.97) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 114.9mm grav_b=(-0.37,-0.09,-0.93) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 96.7mm grav_b=(-0.51,-0.07,-0.86) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 68.0mm grav_b=(-0.88,-0.22,-0.41) r=0.42m +[headless_play] RESET at t= 5.12s step= 256 (env termination, not a recovery) +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(-0.05,+0.01,-1.00) r=0.26m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.06,+0.00,-1.00) r=0.26m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(-0.06,+0.00,-1.00) r=0.26m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(-0.06,+0.00,-1.00) r=0.26m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(-0.06,+0.00,-1.00) r=0.26m +[headless_play] t= 5.80s step= 290 trunk_z= 117.8mm grav_b=(-0.08,+0.00,-1.00) r=0.25m +[headless_play] t= 5.90s step= 295 trunk_z= 118.3mm grav_b=(-0.09,+0.00,-1.00) r=0.24m +[headless_play] t= 6.00s step= 300 trunk_z= 118.4mm grav_b=(-0.12,+0.01,-0.99) r=0.24m +[headless_play] t= 6.10s step= 305 trunk_z= 118.5mm grav_b=(-0.12,+0.01,-0.99) r=0.24m +[headless_play] t= 6.20s step= 310 trunk_z= 118.5mm grav_b=(-0.12,+0.01,-0.99) r=0.25m +[headless_play] t= 6.30s step= 315 trunk_z= 118.5mm grav_b=(-0.11,+0.01,-0.99) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 118.4mm grav_b=(-0.11,+0.01,-0.99) r=0.24m +[headless_play] t= 6.50s step= 325 trunk_z= 118.4mm grav_b=(-0.09,+0.01,-1.00) r=0.24m +[headless_play] t= 6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 6.70s step= 335 trunk_z= 118.3mm grav_b=(-0.03,+0.00,-1.00) r=0.23m +[headless_play] t= 6.80s step= 340 trunk_z= 118.3mm grav_b=(-0.04,+0.00,-1.00) r=0.23m +[headless_play] t= 6.90s step= 345 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00) r=0.23m +[headless_play] t= 7.00s step= 350 trunk_z= 118.3mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 7.10s step= 355 trunk_z= 118.5mm grav_b=(-0.11,+0.02,-0.99) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 118.4mm grav_b=(-0.19,+0.03,-0.98) r=0.26m +[headless_play] t= 7.30s step= 365 trunk_z= 112.8mm grav_b=(-0.30,+0.03,-0.95) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 103.0mm grav_b=(-0.56,+0.02,-0.83) r=0.26m +[headless_play] RESET at t= 7.48s step= 374 (env termination, not a recovery) +[headless_play] t= 7.50s step= 375 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(-0.03,-0.00,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 116.9mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 116.9mm grav_b=(-0.07,-0.00,-1.00) r=0.35m +[headless_play] t= 7.90s step= 395 trunk_z= 117.0mm grav_b=(-0.07,-0.00,-1.00) r=0.35m +[headless_play] t= 8.00s step= 400 trunk_z= 117.1mm grav_b=(-0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 117.2mm grav_b=(-0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 8.20s step= 410 trunk_z= 117.2mm grav_b=(-0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 8.30s step= 415 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 8.40s step= 420 trunk_z= 117.7mm grav_b=(-0.05,-0.00,-1.00) r=0.35m +[headless_play] t= 8.50s step= 425 trunk_z= 119.8mm grav_b=(-0.02,+0.03,-1.00) r=0.34m +[headless_play] t= 8.60s step= 430 trunk_z= 121.2mm grav_b=(-0.04,+0.05,-1.00) r=0.34m +[headless_play] t= 8.70s step= 435 trunk_z= 112.4mm grav_b=(-0.14,-0.11,-0.98) r=0.34m +[headless_play] t= 8.80s step= 440 trunk_z= 118.2mm grav_b=(-0.19,-0.04,-0.98) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 116.9mm grav_b=(-0.18,+0.01,-0.98) r=0.34m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(-0.18,-0.01,-0.98) r=0.34m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(-0.20,-0.01,-0.98) r=0.34m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(-0.22,-0.02,-0.97) r=0.34m +[headless_play] t= 9.30s step= 465 trunk_z= 112.7mm grav_b=(-0.30,-0.00,-0.95) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 99.2mm grav_b=(-0.47,+0.21,-0.86) r=0.34m +[headless_play] RESET at t= 9.50s step= 475 (env termination, not a recovery) +[headless_play] t= 9.50s step= 475 trunk_z= 124.7mm grav_b=(-0.00,-0.00,-1.00) r=0.06m +[headless_play] t= 9.60s step= 480 trunk_z= 115.9mm grav_b=(-0.03,-0.02,-1.00) r=0.06m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(-0.07,-0.05,-1.00) r=0.07m +[headless_play] t= 9.80s step= 490 trunk_z= 118.5mm grav_b=(-0.10,+0.10,-0.99) r=0.07m +[headless_play] t= 9.90s step= 495 trunk_z= 124.0mm grav_b=(-0.11,+0.13,-0.99) r=0.07m +[headless_play] t= 10.00s step= 500 trunk_z= 114.8mm grav_b=(-0.09,-0.01,-1.00) r=0.06m +[headless_play] t= 10.10s step= 505 trunk_z= 118.0mm grav_b=(-0.15,+0.10,-0.98) r=0.04m +[headless_play] t= 10.20s step= 510 trunk_z= 121.6mm grav_b=(-0.15,+0.16,-0.98) r=0.04m +[headless_play] t= 10.30s step= 515 trunk_z= 119.9mm grav_b=(-0.12,+0.04,-0.99) r=0.04m +[headless_play] t= 10.40s step= 520 trunk_z= 112.3mm grav_b=(-0.06,-0.00,-1.00) r=0.05m +[headless_play] t= 10.50s step= 525 trunk_z= 108.7mm grav_b=(+0.03,+0.13,-0.99) r=0.07m +[headless_play] t= 10.60s step= 530 trunk_z= 120.1mm grav_b=(-0.04,-0.01,-1.00) r=0.08m +[headless_play] t= 10.70s step= 535 trunk_z= 122.6mm grav_b=(-0.11,-0.08,-0.99) r=0.09m +[headless_play] t= 10.80s step= 540 trunk_z= 118.7mm grav_b=(-0.11,+0.04,-0.99) r=0.10m +[headless_play] t= 10.90s step= 545 trunk_z= 122.4mm grav_b=(-0.06,+0.07,-1.00) r=0.11m +[headless_play] t= 11.00s step= 550 trunk_z= 114.0mm grav_b=(-0.03,-0.06,-1.00) r=0.12m +[headless_play] t= 11.10s step= 555 trunk_z= 116.2mm grav_b=(-0.01,+0.10,-1.00) r=0.14m +[headless_play] t= 11.20s step= 560 trunk_z= 124.8mm grav_b=(-0.05,+0.14,-0.99) r=0.16m +[headless_play] t= 11.30s step= 565 trunk_z= 115.5mm grav_b=(-0.06,-0.01,-1.00) r=0.17m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.08,+0.06,-1.00) r=0.18m +[headless_play] t= 11.50s step= 575 trunk_z= 120.3mm grav_b=(-0.03,+0.14,-0.99) r=0.21m +[headless_play] t= 11.60s step= 580 trunk_z= 124.0mm grav_b=(-0.06,+0.09,-0.99) r=0.24m +[headless_play] t= 11.70s step= 585 trunk_z= 113.0mm grav_b=(-0.06,-0.00,-1.00) r=0.26m +[headless_play] t= 11.80s step= 590 trunk_z= 114.5mm grav_b=(-0.03,+0.16,-0.99) r=0.29m +[headless_play] t= 11.90s step= 595 trunk_z= 122.6mm grav_b=(-0.02,+0.08,-1.00) r=0.31m +[headless_play] t= 12.00s step= 600 trunk_z= 117.4mm grav_b=(-0.06,-0.07,-1.00) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(-0.10,+0.09,-0.99) r=0.33m +[headless_play] t= 12.20s step= 610 trunk_z= 125.4mm grav_b=(-0.11,+0.18,-0.98) r=0.34m +[headless_play] t= 12.30s step= 615 trunk_z= 127.6mm grav_b=(-0.10,+0.16,-0.98) r=0.35m +[headless_play] t= 12.40s step= 620 trunk_z= 128.0mm grav_b=(-0.05,+0.14,-0.99) r=0.34m +[headless_play] t= 12.50s step= 625 trunk_z= 119.0mm grav_b=(-0.05,+0.03,-1.00) r=0.33m +[headless_play] t= 12.60s step= 630 trunk_z= 118.5mm grav_b=(-0.08,+0.05,-1.00) r=0.31m +[headless_play] t= 12.70s step= 635 trunk_z= 114.3mm grav_b=(-0.04,+0.09,-1.00) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(-0.07,-0.09,-0.99) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 118.4mm grav_b=(-0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 13.00s step= 650 trunk_z= 121.5mm grav_b=(-0.01,+0.15,-0.99) r=0.31m +[headless_play] t= 13.10s step= 655 trunk_z= 120.7mm grav_b=(-0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 13.20s step= 660 trunk_z= 118.6mm grav_b=(-0.11,-0.04,-0.99) r=0.31m +[headless_play] t= 13.30s step= 665 trunk_z= 112.8mm grav_b=(-0.05,+0.12,-0.99) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 121.7mm grav_b=(+0.00,+0.06,-1.00) r=0.32m +[headless_play] t= 13.50s step= 675 trunk_z= 118.5mm grav_b=(-0.06,-0.08,-0.99) r=0.32m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(-0.09,+0.02,-1.00) r=0.32m +[headless_play] t= 13.70s step= 685 trunk_z= 121.0mm grav_b=(-0.06,+0.07,-1.00) r=0.33m +[headless_play] t= 13.80s step= 690 trunk_z= 116.5mm grav_b=(-0.07,-0.06,-1.00) r=0.33m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(-0.10,+0.11,-0.99) r=0.35m +[headless_play] t= 14.00s step= 700 trunk_z= 124.3mm grav_b=(-0.10,+0.15,-0.98) r=0.36m +[headless_play] t= 14.10s step= 705 trunk_z= 125.6mm grav_b=(-0.07,+0.14,-0.99) r=0.36m +[headless_play] t= 14.20s step= 710 trunk_z= 117.5mm grav_b=(-0.06,+0.07,-1.00) r=0.35m +[headless_play] t= 14.30s step= 715 trunk_z= 117.9mm grav_b=(-0.06,+0.04,-1.00) r=0.34m +[headless_play] t= 14.40s step= 720 trunk_z= 114.6mm grav_b=(-0.02,+0.09,-1.00) r=0.35m +[headless_play] t= 14.50s step= 725 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 14.60s step= 730 trunk_z= 118.1mm grav_b=(-0.07,+0.04,-1.00) r=0.34m +[headless_play] t= 14.70s step= 735 trunk_z= 120.4mm grav_b=(-0.07,+0.02,-1.00) r=0.34m +[headless_play] t= 14.80s step= 740 trunk_z= 117.5mm grav_b=(-0.11,-0.14,-0.98) r=0.36m +[headless_play] t= 14.90s step= 745 trunk_z= 121.3mm grav_b=(-0.11,+0.01,-0.99) r=0.37m +[headless_play] t= 15.00s step= 750 trunk_z= 128.8mm grav_b=(-0.08,+0.16,-0.98) r=0.39m +[headless_play] t= 15.10s step= 755 trunk_z= 130.0mm grav_b=(-0.04,+0.15,-0.99) r=0.40m +[headless_play] t= 15.20s step= 760 trunk_z= 127.5mm grav_b=(-0.04,+0.07,-1.00) r=0.39m +[headless_play] t= 15.30s step= 765 trunk_z= 119.1mm grav_b=(-0.11,-0.03,-0.99) r=0.39m +[headless_play] t= 15.40s step= 770 trunk_z= 118.1mm grav_b=(-0.11,+0.07,-0.99) r=0.39m +[headless_play] t= 15.50s step= 775 trunk_z= 118.5mm grav_b=(-0.10,-0.07,-0.99) r=0.37m +[headless_play] t= 15.60s step= 780 trunk_z= 120.4mm grav_b=(-0.05,+0.05,-1.00) r=0.36m +[headless_play] t= 15.70s step= 785 trunk_z= 119.4mm grav_b=(-0.07,+0.05,-1.00) r=0.36m +[headless_play] t= 15.80s step= 790 trunk_z= 117.0mm grav_b=(-0.16,-0.15,-0.98) r=0.35m +[headless_play] t= 15.90s step= 795 trunk_z= 127.0mm grav_b=(-0.19,-0.21,-0.96) r=0.34m +[headless_play] t= 16.00s step= 800 trunk_z= 127.8mm grav_b=(-0.20,-0.16,-0.97) r=0.34m +[headless_play] t= 16.10s step= 805 trunk_z= 122.8mm grav_b=(-0.17,-0.06,-0.98) r=0.36m +[headless_play] t= 16.20s step= 810 trunk_z= 118.4mm grav_b=(-0.11,-0.10,-0.99) r=0.37m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(-0.15,-0.01,-0.99) r=0.38m +[headless_play] t= 16.40s step= 820 trunk_z= 121.8mm grav_b=(-0.04,+0.10,-0.99) r=0.40m +[headless_play] t= 16.50s step= 825 trunk_z= 125.5mm grav_b=(-0.09,+0.01,-1.00) r=0.41m +[headless_play] t= 16.60s step= 830 trunk_z= 119.4mm grav_b=(-0.21,-0.14,-0.97) r=0.43m +[headless_play] t= 16.70s step= 835 trunk_z= 126.2mm grav_b=(-0.18,-0.06,-0.98) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(-0.12,+0.06,-0.99) r=0.48m +[headless_play] t= 16.90s step= 845 trunk_z= 113.1mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 17.00s step= 850 trunk_z= 119.6mm grav_b=(-0.07,-0.09,-0.99) r=0.51m +[headless_play] t= 17.10s step= 855 trunk_z= 124.5mm grav_b=(-0.03,-0.05,-1.00) r=0.52m +[headless_play] t= 17.20s step= 860 trunk_z= 114.5mm grav_b=(-0.08,+0.08,-0.99) r=0.54m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(-0.10,-0.06,-0.99) r=0.56m +[headless_play] t= 17.40s step= 870 trunk_z= 116.5mm grav_b=(-0.06,-0.13,-0.99) r=0.57m +[headless_play] t= 17.50s step= 875 trunk_z= 110.6mm grav_b=(+0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 17.60s step= 880 trunk_z= 114.3mm grav_b=(+0.02,+0.08,-1.00) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 120.4mm grav_b=(-0.03,+0.02,-1.00) r=0.62m +[headless_play] t= 17.80s step= 890 trunk_z= 122.2mm grav_b=(-0.10,-0.12,-0.99) r=0.64m +[headless_play] t= 17.90s step= 895 trunk_z= 129.8mm grav_b=(-0.12,-0.13,-0.99) r=0.65m +[headless_play] t= 18.00s step= 900 trunk_z= 127.8mm grav_b=(-0.11,-0.08,-0.99) r=0.65m +[headless_play] t= 18.10s step= 905 trunk_z= 118.9mm grav_b=(-0.11,-0.02,-0.99) r=0.66m +[headless_play] t= 18.20s step= 910 trunk_z= 113.2mm grav_b=(-0.13,-0.12,-0.98) r=0.66m +[headless_play] t= 18.30s step= 915 trunk_z= 115.3mm grav_b=(-0.06,+0.05,-1.00) r=0.67m +[headless_play] t= 18.40s step= 920 trunk_z= 115.3mm grav_b=(-0.02,+0.20,-0.98) r=0.67m +[headless_play] t= 18.50s step= 925 trunk_z= 123.2mm grav_b=(-0.03,+0.20,-0.98) r=0.70m +[headless_play] t= 18.60s step= 930 trunk_z= 135.9mm grav_b=(-0.08,+0.11,-0.99) r=0.71m +[headless_play] t= 18.70s step= 935 trunk_z= 136.1mm grav_b=(-0.02,-0.00,-1.00) r=0.74m +[headless_play] t= 18.80s step= 940 trunk_z= 123.0mm grav_b=(-0.10,+0.00,-0.99) r=0.77m +[headless_play] t= 18.90s step= 945 trunk_z= 115.3mm grav_b=(-0.17,-0.04,-0.99) r=0.81m +[headless_play] t= 19.00s step= 950 trunk_z= 118.1mm grav_b=(-0.07,-0.13,-0.99) r=0.84m +[headless_play] t= 19.10s step= 955 trunk_z= 117.8mm grav_b=(-0.05,+0.06,-1.00) r=0.87m +[headless_play] t= 19.20s step= 960 trunk_z= 126.4mm grav_b=(-0.07,+0.26,-0.96) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 126.9mm grav_b=(-0.00,+0.23,-0.97) r=0.92m +[headless_play] t= 19.40s step= 970 trunk_z= 133.3mm grav_b=(-0.04,+0.09,-0.99) r=0.94m +[headless_play] t= 19.50s step= 975 trunk_z= 128.8mm grav_b=(-0.09,-0.02,-1.00) r=0.98m +[headless_play] t= 19.60s step= 980 trunk_z= 119.6mm grav_b=(-0.15,+0.06,-0.99) r=1.01m +[headless_play] t= 19.70s step= 985 trunk_z= 113.6mm grav_b=(-0.07,+0.01,-1.00) r=1.04m +[headless_play] t= 19.80s step= 990 trunk_z= 113.0mm grav_b=(-0.04,-0.10,-0.99) r=1.06m +[headless_play] t= 19.90s step= 995 trunk_z= 112.1mm grav_b=(+0.05,-0.09,-0.99) r=1.08m +[headless_play] t= 20.00s step=1000 trunk_z= 110.5mm grav_b=(+0.04,+0.04,-1.00) r=1.09m +[headless_play] t= 20.10s step=1005 trunk_z= 124.4mm grav_b=(-0.08,+0.05,-1.00) r=1.12m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t3.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..62f252f30ed3cdf06903c1d05d86b4d811d4aacb --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t3.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(+1.525,-18.463,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 0.10s step= 5 trunk_z= 117.5mm grav_b=(-0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 0.20s step= 10 trunk_z= 119.2mm grav_b=(-0.03,-0.01,-1.00) r=0.66m +[headless_play] t= 0.30s step= 15 trunk_z= 119.0mm grav_b=(-0.05,-0.10,-0.99) r=0.66m +[headless_play] t= 0.40s step= 20 trunk_z= 120.6mm grav_b=(-0.07,+0.04,-1.00) r=0.65m +[headless_play] t= 0.50s step= 25 trunk_z= 125.6mm grav_b=(-0.08,+0.07,-0.99) r=0.65m +[headless_play] t= 0.60s step= 30 trunk_z= 118.4mm grav_b=(-0.06,-0.04,-1.00) r=0.63m +[headless_play] t= 0.70s step= 35 trunk_z= 122.3mm grav_b=(-0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 0.80s step= 40 trunk_z= 117.8mm grav_b=(-0.07,+0.06,-1.00) r=0.61m +[headless_play] t= 0.90s step= 45 trunk_z= 118.4mm grav_b=(-0.07,-0.07,-1.00) r=0.60m +[headless_play] t= 1.00s step= 50 trunk_z= 122.8mm grav_b=(-0.04,-0.07,-1.00) r=0.60m +[headless_play] t= 1.10s step= 55 trunk_z= 122.2mm grav_b=(-0.02,+0.09,-1.00) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 125.0mm grav_b=(-0.06,+0.06,-1.00) r=0.61m +[headless_play] t= 1.30s step= 65 trunk_z= 112.9mm grav_b=(-0.10,-0.07,-0.99) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 117.9mm grav_b=(-0.01,+0.07,-1.00) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 120.9mm grav_b=(-0.05,+0.04,-1.00) r=0.61m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(-0.05,-0.13,-0.99) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 123.7mm grav_b=(-0.04,-0.04,-1.00) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 123.6mm grav_b=(-0.04,+0.07,-1.00) r=0.62m +[headless_play] t= 1.90s step= 95 trunk_z= 118.5mm grav_b=(-0.07,-0.00,-1.00) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(-0.05,+0.02,-1.00) r=0.63m +[headless_play] t= 2.10s step= 105 trunk_z= 122.2mm grav_b=(-0.05,+0.11,-0.99) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 116.6mm grav_b=(-0.09,-0.07,-0.99) r=0.67m +[headless_play] t= 2.30s step= 115 trunk_z= 122.3mm grav_b=(-0.07,-0.08,-0.99) r=0.68m +[headless_play] t= 2.40s step= 120 trunk_z= 119.6mm grav_b=(-0.05,+0.10,-0.99) r=0.69m +[headless_play] t= 2.50s step= 125 trunk_z= 126.2mm grav_b=(-0.04,+0.09,-1.00) r=0.70m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(-0.04,-0.07,-1.00) r=0.70m +[headless_play] t= 2.70s step= 135 trunk_z= 118.9mm grav_b=(-0.06,+0.04,-1.00) r=0.71m +[headless_play] t= 2.80s step= 140 trunk_z= 124.3mm grav_b=(-0.10,+0.07,-0.99) r=0.73m +[headless_play] t= 2.90s step= 145 trunk_z= 115.3mm grav_b=(-0.12,-0.10,-0.99) r=0.73m +[headless_play] t= 3.00s step= 150 trunk_z= 122.0mm grav_b=(-0.08,-0.06,-1.00) r=0.74m +[headless_play] t= 3.10s step= 155 trunk_z= 119.5mm grav_b=(-0.03,+0.11,-0.99) r=0.76m +[headless_play] t= 3.20s step= 160 trunk_z= 129.0mm grav_b=(-0.02,+0.13,-0.99) r=0.76m +[headless_play] t= 3.30s step= 165 trunk_z= 125.4mm grav_b=(-0.01,+0.08,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 116.4mm grav_b=(-0.05,-0.05,-1.00) r=0.75m +[headless_play] t= 3.50s step= 175 trunk_z= 117.6mm grav_b=(-0.05,+0.08,-1.00) r=0.75m +[headless_play] t= 3.60s step= 180 trunk_z= 124.0mm grav_b=(-0.07,+0.10,-0.99) r=0.75m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(-0.08,-0.13,-0.99) r=0.75m +[headless_play] t= 3.80s step= 190 trunk_z= 127.9mm grav_b=(-0.07,-0.13,-0.99) r=0.74m +[headless_play] t= 3.90s step= 195 trunk_z= 121.0mm grav_b=(-0.04,-0.02,-1.00) r=0.75m +[headless_play] t= 4.00s step= 200 trunk_z= 121.9mm grav_b=(-0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(-0.10,-0.16,-0.98) r=0.76m +[headless_play] t= 4.20s step= 210 trunk_z= 120.6mm grav_b=(-0.12,-0.01,-0.99) r=0.77m +[headless_play] t= 4.30s step= 215 trunk_z= 120.6mm grav_b=(-0.07,+0.17,-0.98) r=0.79m +[headless_play] t= 4.40s step= 220 trunk_z= 126.7mm grav_b=(-0.12,+0.16,-0.98) r=0.80m +[headless_play] t= 4.50s step= 225 trunk_z= 121.9mm grav_b=(-0.10,+0.01,-0.99) r=0.80m +[headless_play] t= 4.60s step= 230 trunk_z= 121.4mm grav_b=(-0.03,-0.04,-1.00) r=0.81m +[headless_play] t= 4.70s step= 235 trunk_z= 111.9mm grav_b=(+0.01,+0.04,-1.00) r=0.83m +[headless_play] t= 4.80s step= 240 trunk_z= 117.0mm grav_b=(-0.06,-0.08,-1.00) r=0.83m +[headless_play] t= 4.90s step= 245 trunk_z= 121.2mm grav_b=(-0.12,-0.12,-0.99) r=0.83m +[headless_play] t= 5.00s step= 250 trunk_z= 110.6mm grav_b=(-0.16,+0.02,-0.99) r=0.84m +[headless_play] t= 5.10s step= 255 trunk_z= 113.7mm grav_b=(-0.15,-0.08,-0.99) r=0.83m +[headless_play] t= 5.20s step= 260 trunk_z= 108.2mm grav_b=(-0.22,-0.13,-0.97) r=0.82m +[headless_play] t= 5.30s step= 265 trunk_z= 113.3mm grav_b=(-0.24,-0.07,-0.97) r=0.81m +[headless_play] t= 5.40s step= 270 trunk_z= 83.5mm grav_b=(-0.17,-0.03,-0.98) r=0.81m +[headless_play] t= 5.50s step= 275 trunk_z= 87.4mm grav_b=(-0.14,-0.17,-0.98) r=0.80m +[headless_play] t= 5.60s step= 280 trunk_z= 102.4mm grav_b=(-0.15,-0.05,-0.99) r=0.80m +[headless_play] t= 5.70s step= 285 trunk_z= 88.2mm grav_b=(-0.07,+0.20,-0.98) r=0.79m +[headless_play] t= 5.80s step= 290 trunk_z= 98.5mm grav_b=(+0.16,+0.07,-0.99) r=0.79m +[headless_play] t= 5.90s step= 295 trunk_z= 115.0mm grav_b=(-0.03,-0.16,-0.99) r=0.78m +[headless_play] t= 6.00s step= 300 trunk_z= 121.1mm grav_b=(-0.11,-0.06,-0.99) r=0.78m +[headless_play] t= 6.10s step= 305 trunk_z= 120.9mm grav_b=(-0.03,+0.14,-0.99) r=0.80m +[headless_play] t= 6.20s step= 310 trunk_z= 126.2mm grav_b=(-0.03,+0.13,-0.99) r=0.81m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.81m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(-0.05,-0.06,-1.00) r=0.80m +[headless_play] t= 6.50s step= 325 trunk_z= 113.9mm grav_b=(+0.01,+0.11,-0.99) r=0.80m +[headless_play] t= 6.60s step= 330 trunk_z= 123.7mm grav_b=(+0.03,+0.14,-0.99) r=0.80m +[headless_play] t= 6.70s step= 335 trunk_z= 123.5mm grav_b=(-0.03,+0.02,-1.00) r=0.78m +[headless_play] t= 6.80s step= 340 trunk_z= 118.3mm grav_b=(-0.11,-0.04,-0.99) r=0.76m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(-0.07,+0.07,-1.00) r=0.75m +[headless_play] t= 7.00s step= 350 trunk_z= 119.9mm grav_b=(-0.07,+0.11,-0.99) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 113.9mm grav_b=(-0.10,-0.12,-0.99) r=0.72m +[headless_play] t= 7.20s step= 360 trunk_z= 123.2mm grav_b=(-0.10,-0.09,-0.99) r=0.71m +[headless_play] t= 7.30s step= 365 trunk_z= 117.8mm grav_b=(-0.05,+0.06,-1.00) r=0.70m +[headless_play] t= 7.40s step= 370 trunk_z= 125.5mm grav_b=(-0.01,+0.10,-1.00) r=0.70m +[headless_play] t= 7.50s step= 375 trunk_z= 117.3mm grav_b=(-0.05,-0.02,-1.00) r=0.71m +[headless_play] t= 7.60s step= 380 trunk_z= 118.3mm grav_b=(-0.11,-0.02,-0.99) r=0.72m +[headless_play] t= 7.70s step= 385 trunk_z= 117.5mm grav_b=(-0.04,+0.17,-0.99) r=0.72m +[headless_play] t= 7.80s step= 390 trunk_z= 130.4mm grav_b=(-0.02,+0.22,-0.97) r=0.73m +[headless_play] t= 7.90s step= 395 trunk_z= 130.7mm grav_b=(-0.02,+0.21,-0.98) r=0.72m +[headless_play] t= 8.00s step= 400 trunk_z= 130.8mm grav_b=(-0.05,+0.12,-0.99) r=0.72m +[headless_play] t= 8.10s step= 405 trunk_z= 125.2mm grav_b=(-0.08,+0.06,-0.99) r=0.71m +[headless_play] t= 8.20s step= 410 trunk_z= 117.0mm grav_b=(-0.13,-0.02,-0.99) r=0.69m +[headless_play] t= 8.30s step= 415 trunk_z= 119.5mm grav_b=(-0.07,+0.05,-1.00) r=0.68m +[headless_play] t= 8.40s step= 420 trunk_z= 117.7mm grav_b=(-0.06,+0.13,-0.99) r=0.67m +[headless_play] t= 8.50s step= 425 trunk_z= 115.8mm grav_b=(-0.09,-0.10,-0.99) r=0.66m +[headless_play] t= 8.60s step= 430 trunk_z= 127.8mm grav_b=(-0.06,-0.18,-0.98) r=0.65m +[headless_play] t= 8.70s step= 435 trunk_z= 127.9mm grav_b=(-0.05,-0.15,-0.99) r=0.64m +[headless_play] t= 8.80s step= 440 trunk_z= 118.6mm grav_b=(-0.05,+0.02,-1.00) r=0.65m +[headless_play] t= 8.90s step= 445 trunk_z= 121.3mm grav_b=(-0.03,-0.02,-1.00) r=0.65m +[headless_play] t= 9.00s step= 450 trunk_z= 115.4mm grav_b=(-0.10,-0.13,-0.99) r=0.65m +[headless_play] t= 9.10s step= 455 trunk_z= 118.8mm grav_b=(-0.09,+0.05,-1.00) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 124.6mm grav_b=(-0.06,+0.20,-0.98) r=0.66m +[headless_play] t= 9.30s step= 465 trunk_z= 129.9mm grav_b=(-0.06,+0.21,-0.98) r=0.66m +[headless_play] t= 9.40s step= 470 trunk_z= 128.4mm grav_b=(-0.08,+0.16,-0.98) r=0.65m +[headless_play] t= 9.50s step= 475 trunk_z= 121.3mm grav_b=(-0.12,+0.02,-0.99) r=0.64m +[headless_play] t= 9.60s step= 480 trunk_z= 122.9mm grav_b=(+0.05,-0.05,-1.00) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 114.0mm grav_b=(-0.08,-0.03,-1.00) r=0.62m +[headless_play] t= 9.90s step= 495 trunk_z= 112.1mm grav_b=(-0.16,-0.09,-0.98) r=0.62m +[headless_play] t= 10.00s step= 500 trunk_z= 111.2mm grav_b=(-0.10,+0.14,-0.98) r=0.62m +[headless_play] t= 10.10s step= 505 trunk_z= 119.5mm grav_b=(-0.17,+0.08,-0.98) r=0.62m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(-0.17,-0.10,-0.98) r=0.62m +[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(-0.10,+0.01,-0.99) r=0.62m +[headless_play] t= 10.40s step= 520 trunk_z= 117.7mm grav_b=(-0.12,+0.10,-0.99) r=0.62m +[headless_play] t= 10.50s step= 525 trunk_z= 114.7mm grav_b=(-0.10,-0.12,-0.99) r=0.62m +[headless_play] t= 10.60s step= 530 trunk_z= 123.9mm grav_b=(-0.07,-0.08,-0.99) r=0.62m +[headless_play] t= 10.70s step= 535 trunk_z= 114.6mm grav_b=(+0.02,+0.08,-1.00) r=0.63m +[headless_play] t= 10.80s step= 540 trunk_z= 121.4mm grav_b=(+0.03,+0.04,-1.00) r=0.65m +[headless_play] t= 10.90s step= 545 trunk_z= 121.5mm grav_b=(+0.01,-0.11,-0.99) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 119.9mm grav_b=(-0.03,+0.03,-1.00) r=0.67m +[headless_play] t= 11.10s step= 555 trunk_z= 120.9mm grav_b=(-0.06,+0.07,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 115.2mm grav_b=(-0.04,-0.13,-0.99) r=0.70m +[headless_play] t= 11.30s step= 565 trunk_z= 115.0mm grav_b=(+0.00,-0.05,-1.00) r=0.71m +[headless_play] t= 11.40s step= 570 trunk_z= 112.2mm grav_b=(-0.01,+0.11,-0.99) r=0.74m +[headless_play] t= 11.50s step= 575 trunk_z= 115.9mm grav_b=(-0.04,+0.01,-1.00) r=0.78m +[headless_play] t= 11.60s step= 580 trunk_z= 113.6mm grav_b=(+0.00,-0.09,-1.00) r=0.80m +[headless_play] t= 11.70s step= 585 trunk_z= 110.3mm grav_b=(+0.08,+0.01,-1.00) r=0.82m +[headless_play] t= 11.80s step= 590 trunk_z= 112.9mm grav_b=(+0.07,+0.12,-0.99) r=0.85m +[headless_play] t= 11.90s step= 595 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.87m +[headless_play] t= 12.00s step= 600 trunk_z= 119.9mm grav_b=(-0.07,-0.12,-0.99) r=0.89m +[headless_play] t= 12.10s step= 605 trunk_z= 116.0mm grav_b=(-0.01,+0.02,-1.00) r=0.90m +[headless_play] t= 12.20s step= 610 trunk_z= 114.2mm grav_b=(+0.00,+0.07,-1.00) r=0.91m +[headless_play] t= 12.30s step= 615 trunk_z= 114.3mm grav_b=(-0.05,-0.09,-0.99) r=0.92m +[headless_play] t= 12.40s step= 620 trunk_z= 117.5mm grav_b=(-0.04,-0.08,-1.00) r=0.93m +[headless_play] t= 12.50s step= 625 trunk_z= 107.9mm grav_b=(+0.03,+0.05,-1.00) r=0.95m +[headless_play] t= 12.60s step= 630 trunk_z= 112.2mm grav_b=(+0.05,+0.03,-1.00) r=0.96m +[headless_play] t= 12.70s step= 635 trunk_z= 116.4mm grav_b=(-0.03,-0.16,-0.99) r=0.97m +[headless_play] t= 12.80s step= 640 trunk_z= 119.7mm grav_b=(+0.01,-0.12,-0.99) r=0.98m +[headless_play] t= 12.90s step= 645 trunk_z= 111.0mm grav_b=(+0.01,+0.04,-1.00) r=1.00m +[headless_play] t= 13.00s step= 650 trunk_z= 119.0mm grav_b=(-0.09,+0.02,-1.00) r=1.01m +[headless_play] t= 13.10s step= 655 trunk_z= 115.5mm grav_b=(-0.11,-0.16,-0.98) r=1.01m +[headless_play] t= 13.20s step= 660 trunk_z= 118.1mm grav_b=(-0.07,-0.11,-0.99) r=1.02m +[headless_play] t= 13.30s step= 665 trunk_z= 112.7mm grav_b=(+0.03,-0.02,-1.00) r=1.03m +[headless_play] t= 13.40s step= 670 trunk_z= 113.4mm grav_b=(+0.06,+0.08,-1.00) r=1.06m +[headless_play] t= 13.50s step= 675 trunk_z= 110.0mm grav_b=(+0.01,-0.13,-0.99) r=1.08m +[headless_play] t= 13.60s step= 680 trunk_z= 114.3mm grav_b=(-0.00,-0.04,-1.00) r=1.09m +[headless_play] t= 13.70s step= 685 trunk_z= 110.9mm grav_b=(-0.01,+0.13,-0.99) r=1.11m +[headless_play] t= 13.80s step= 690 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) r=1.12m +[headless_play] t= 13.90s step= 695 trunk_z= 117.7mm grav_b=(-0.02,-0.10,-0.99) r=1.13m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.02,-0.07,-1.00) r=1.15m +[headless_play] t= 14.10s step= 705 trunk_z= 109.6mm grav_b=(-0.00,+0.04,-1.00) r=1.17m +[headless_play] t= 14.20s step= 710 trunk_z= 112.7mm grav_b=(+0.01,-0.04,-1.00) r=1.17m +[headless_play] t= 14.30s step= 715 trunk_z= 115.2mm grav_b=(+0.02,-0.19,-0.98) r=1.17m +[headless_play] t= 14.40s step= 720 trunk_z= 117.0mm grav_b=(+0.03,-0.18,-0.98) r=1.17m +[headless_play] t= 14.50s step= 725 trunk_z= 117.1mm grav_b=(+0.03,-0.13,-0.99) r=1.19m +[headless_play] t= 14.60s step= 730 trunk_z= 114.7mm grav_b=(+0.04,+0.02,-1.00) r=1.21m +[headless_play] t= 14.70s step= 735 trunk_z= 113.8mm grav_b=(-0.01,-0.11,-0.99) r=1.22m +[headless_play] t= 14.80s step= 740 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=1.23m +[headless_play] t= 14.90s step= 745 trunk_z= 114.3mm grav_b=(-0.05,+0.11,-0.99) r=1.24m +[headless_play] t= 15.00s step= 750 trunk_z= 117.0mm grav_b=(-0.01,+0.09,-1.00) r=1.25m +[headless_play] t= 15.10s step= 755 trunk_z= 111.2mm grav_b=(+0.02,-0.09,-1.00) r=1.24m +[headless_play] t= 15.20s step= 760 trunk_z= 117.6mm grav_b=(+0.03,-0.07,-1.00) r=1.22m +[headless_play] t= 15.30s step= 765 trunk_z= 109.6mm grav_b=(+0.04,+0.08,-1.00) r=1.21m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) r=1.20m +[headless_play] t= 15.50s step= 775 trunk_z= 113.4mm grav_b=(-0.00,-0.16,-0.99) r=1.20m +[headless_play] t= 15.60s step= 780 trunk_z= 112.7mm grav_b=(+0.04,-0.09,-1.00) r=1.19m +[headless_play] t= 15.70s step= 785 trunk_z= 108.5mm grav_b=(+0.02,+0.09,-1.00) r=1.20m +[headless_play] t= 15.80s step= 790 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) r=1.20m +[headless_play] t= 15.90s step= 795 trunk_z= 113.7mm grav_b=(-0.02,-0.12,-0.99) r=1.20m +[headless_play] t= 16.00s step= 800 trunk_z= 110.0mm grav_b=(+0.06,-0.01,-1.00) r=1.20m +[headless_play] t= 16.10s step= 805 trunk_z= 111.5mm grav_b=(+0.01,+0.12,-0.99) r=1.21m +[headless_play] t= 16.20s step= 810 trunk_z= 114.5mm grav_b=(-0.09,-0.06,-0.99) r=1.22m +[headless_play] t= 16.30s step= 815 trunk_z= 113.0mm grav_b=(-0.05,-0.09,-1.00) r=1.23m +[headless_play] t= 16.40s step= 820 trunk_z= 108.1mm grav_b=(+0.04,+0.01,-1.00) r=1.24m +[headless_play] t= 16.50s step= 825 trunk_z= 110.9mm grav_b=(+0.07,+0.07,-1.00) r=1.24m +[headless_play] t= 16.60s step= 830 trunk_z= 111.7mm grav_b=(+0.03,-0.14,-0.99) r=1.25m +[headless_play] t= 16.70s step= 835 trunk_z= 114.9mm grav_b=(-0.00,-0.02,-1.00) r=1.24m +[headless_play] t= 16.80s step= 840 trunk_z= 109.8mm grav_b=(-0.05,+0.11,-0.99) r=1.24m +[headless_play] t= 16.90s step= 845 trunk_z= 111.6mm grav_b=(+0.00,+0.03,-1.00) r=1.24m +[headless_play] t= 17.00s step= 850 trunk_z= 110.0mm grav_b=(+0.07,-0.12,-0.99) r=1.24m +[headless_play] t= 17.10s step= 855 trunk_z= 117.2mm grav_b=(-0.04,-0.02,-1.00) r=1.24m +[headless_play] t= 17.20s step= 860 trunk_z= 109.2mm grav_b=(-0.02,+0.06,-1.00) r=1.26m +[headless_play] t= 17.30s step= 865 trunk_z= 109.4mm grav_b=(+0.01,+0.02,-1.00) r=1.26m +[headless_play] t= 17.40s step= 870 trunk_z= 107.4mm grav_b=(+0.07,-0.07,-1.00) r=1.25m +[headless_play] t= 17.50s step= 875 trunk_z= 112.9mm grav_b=(+0.02,+0.03,-1.00) r=1.25m +[headless_play] t= 17.60s step= 880 trunk_z= 112.6mm grav_b=(-0.07,+0.10,-0.99) r=1.25m +[headless_play] t= 17.70s step= 885 trunk_z= 114.1mm grav_b=(+0.04,-0.05,-1.00) r=1.25m +[headless_play] t= 17.80s step= 890 trunk_z= 123.5mm grav_b=(+0.03,-0.19,-0.98) r=1.25m +[headless_play] t= 17.90s step= 895 trunk_z= 121.0mm grav_b=(-0.05,-0.03,-1.00) r=1.25m +[headless_play] t= 18.00s step= 900 trunk_z= 120.1mm grav_b=(-0.06,+0.11,-0.99) r=1.24m +[headless_play] t= 18.10s step= 905 trunk_z= 114.5mm grav_b=(-0.02,-0.09,-1.00) r=1.23m +[headless_play] t= 18.20s step= 910 trunk_z= 121.7mm grav_b=(-0.00,-0.12,-0.99) r=1.22m +[headless_play] t= 18.30s step= 915 trunk_z= 113.6mm grav_b=(+0.01,+0.09,-1.00) r=1.22m +[headless_play] t= 18.40s step= 920 trunk_z= 120.0mm grav_b=(-0.01,+0.03,-1.00) r=1.21m +[headless_play] t= 18.50s step= 925 trunk_z= 119.1mm grav_b=(-0.02,-0.17,-0.99) r=1.20m +[headless_play] t= 18.60s step= 930 trunk_z= 120.0mm grav_b=(+0.07,-0.05,-1.00) r=1.18m +[headless_play] t= 18.70s step= 935 trunk_z= 122.5mm grav_b=(+0.06,+0.13,-0.99) r=1.16m +[headless_play] t= 18.80s step= 940 trunk_z= 124.4mm grav_b=(+0.00,-0.03,-1.00) r=1.15m +[headless_play] t= 18.90s step= 945 trunk_z= 126.4mm grav_b=(-0.06,-0.19,-0.98) r=1.13m +[headless_play] t= 19.00s step= 950 trunk_z= 123.5mm grav_b=(-0.10,-0.09,-0.99) r=1.11m +[headless_play] t= 19.10s step= 955 trunk_z= 119.5mm grav_b=(-0.08,+0.06,-0.99) r=1.10m +[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(-0.05,-0.06,-1.00) r=1.10m +[headless_play] t= 19.30s step= 965 trunk_z= 118.4mm grav_b=(+0.04,-0.10,-0.99) r=1.09m +[headless_play] t= 19.40s step= 970 trunk_z= 118.1mm grav_b=(+0.02,+0.16,-0.99) r=1.06m +[headless_play] t= 19.50s step= 975 trunk_z= 125.6mm grav_b=(+0.05,+0.09,-1.00) r=1.03m +[headless_play] t= 19.60s step= 980 trunk_z= 115.3mm grav_b=(+0.04,-0.09,-0.99) r=0.99m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(-0.17,+0.02,-0.99) r=0.95m +[headless_play] t= 19.80s step= 990 trunk_z= 114.4mm grav_b=(-0.10,+0.08,-0.99) r=0.92m +[headless_play] t= 19.90s step= 995 trunk_z= 113.0mm grav_b=(+0.00,-0.15,-0.99) r=0.90m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 20.10s step=1005 trunk_z= 117.6mm grav_b=(-0.08,+0.06,-1.00) r=0.14m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t4.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..4d6efde28203572b7aafb90afcfe74cd2e37582c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t4.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.213,-17.688,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.02,+0.11,-0.99) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 120.1mm grav_b=(+0.07,+0.09,-0.99) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 115.4mm grav_b=(+0.02,-0.10,-0.99) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 121.5mm grav_b=(-0.07,-0.01,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 122.4mm grav_b=(-0.04,+0.17,-0.98) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 123.4mm grav_b=(+0.00,+0.17,-0.98) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 124.5mm grav_b=(+0.01,+0.11,-0.99) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 123.9mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 118.2mm grav_b=(+0.02,+0.14,-0.99) r=0.54m +[headless_play] t= 1.00s step= 50 trunk_z= 123.8mm grav_b=(+0.10,+0.04,-0.99) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 118.4mm grav_b=(+0.01,-0.12,-0.99) r=0.63m +[headless_play] t= 1.20s step= 60 trunk_z= 121.5mm grav_b=(-0.06,+0.05,-1.00) r=0.67m +[headless_play] t= 1.30s step= 65 trunk_z= 121.0mm grav_b=(+0.00,+0.09,-1.00) r=0.72m +[headless_play] t= 1.40s step= 70 trunk_z= 117.2mm grav_b=(-0.01,-0.10,-1.00) r=0.75m +[headless_play] t= 1.50s step= 75 trunk_z= 124.6mm grav_b=(+0.03,-0.07,-1.00) r=0.78m +[headless_play] t= 1.60s step= 80 trunk_z= 115.5mm grav_b=(+0.05,+0.12,-0.99) r=0.82m +[headless_play] t= 1.70s step= 85 trunk_z= 121.5mm grav_b=(+0.05,-0.00,-1.00) r=0.86m +[headless_play] t= 1.80s step= 90 trunk_z= 124.8mm grav_b=(-0.00,-0.12,-0.99) r=0.90m +[headless_play] t= 1.90s step= 95 trunk_z= 119.2mm grav_b=(-0.01,+0.02,-1.00) r=0.94m +[headless_play] t= 2.00s step= 100 trunk_z= 118.9mm grav_b=(+0.00,+0.07,-1.00) r=0.97m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(-0.02,-0.09,-1.00) r=1.00m +[headless_play] t= 2.20s step= 110 trunk_z= 124.3mm grav_b=(-0.02,-0.05,-1.00) r=1.02m +[headless_play] t= 2.30s step= 115 trunk_z= 119.0mm grav_b=(+0.01,+0.11,-0.99) r=1.04m +[headless_play] t= 2.40s step= 120 trunk_z= 120.2mm grav_b=(+0.04,+0.09,-0.99) r=1.05m +[headless_play] t= 2.50s step= 125 trunk_z= 116.1mm grav_b=(+0.00,-0.04,-1.00) r=1.08m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(-0.04,+0.11,-0.99) r=1.10m +[headless_play] t= 2.70s step= 135 trunk_z= 119.9mm grav_b=(+0.02,+0.12,-0.99) r=1.12m +[headless_play] t= 2.80s step= 140 trunk_z= 114.9mm grav_b=(-0.02,-0.04,-1.00) r=1.13m +[headless_play] t= 2.90s step= 145 trunk_z= 119.0mm grav_b=(-0.05,+0.03,-1.00) r=1.14m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(-0.01,+0.11,-0.99) r=1.15m +[headless_play] t= 3.10s step= 155 trunk_z= 113.9mm grav_b=(+0.01,-0.07,-1.00) r=1.17m +[headless_play] t= 3.20s step= 160 trunk_z= 123.4mm grav_b=(+0.03,-0.07,-1.00) r=1.19m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(+0.01,+0.12,-0.99) r=1.21m +[headless_play] t= 3.40s step= 170 trunk_z= 120.9mm grav_b=(+0.04,+0.10,-0.99) r=1.24m +[headless_play] t= 3.50s step= 175 trunk_z= 115.9mm grav_b=(-0.01,-0.06,-1.00) r=1.26m +[headless_play] t= 3.60s step= 180 trunk_z= 118.5mm grav_b=(-0.03,+0.06,-1.00) r=1.29m +[headless_play] t= 3.70s step= 185 trunk_z= 118.3mm grav_b=(+0.05,+0.07,-1.00) r=1.32m +[headless_play] t= 3.80s step= 190 trunk_z= 117.0mm grav_b=(+0.00,-0.14,-0.99) r=1.36m +[headless_play] t= 3.90s step= 195 trunk_z= 124.3mm grav_b=(+0.02,-0.07,-1.00) r=1.39m +[headless_play] t= 4.00s step= 200 trunk_z= 118.7mm grav_b=(+0.02,+0.12,-0.99) r=1.42m +[headless_play] t= 4.10s step= 205 trunk_z= 118.8mm grav_b=(+0.01,+0.00,-1.00) r=1.45m +[headless_play] t= 4.20s step= 210 trunk_z= 121.6mm grav_b=(-0.07,-0.09,-0.99) r=1.47m +[headless_play] t= 4.30s step= 215 trunk_z= 114.6mm grav_b=(-0.10,+0.09,-0.99) r=1.48m +[headless_play] t= 4.40s step= 220 trunk_z= 115.9mm grav_b=(-0.04,+0.01,-1.00) r=1.49m +[headless_play] t= 4.50s step= 225 trunk_z= 118.4mm grav_b=(+0.01,-0.13,-0.99) r=1.51m +[headless_play] t= 4.60s step= 230 trunk_z= 122.9mm grav_b=(+0.03,-0.07,-1.00) r=1.52m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(+0.03,+0.11,-0.99) r=1.54m +[headless_play] t= 4.80s step= 240 trunk_z= 119.1mm grav_b=(+0.03,-0.00,-1.00) r=1.56m +[headless_play] t= 4.90s step= 245 trunk_z= 123.9mm grav_b=(+0.03,-0.08,-1.00) r=1.58m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(+0.03,+0.16,-0.99) r=1.60m +[headless_play] t= 5.10s step= 255 trunk_z= 129.9mm grav_b=(+0.03,+0.19,-0.98) r=1.60m +[headless_play] t= 5.20s step= 260 trunk_z= 128.8mm grav_b=(+0.00,+0.13,-0.99) r=1.61m +[headless_play] t= 5.30s step= 265 trunk_z= 120.4mm grav_b=(-0.03,-0.02,-1.00) r=1.64m +[headless_play] t= 5.40s step= 270 trunk_z= 118.9mm grav_b=(+0.01,+0.14,-0.99) r=1.65m +[headless_play] t= 5.50s step= 275 trunk_z= 128.5mm grav_b=(+0.10,+0.05,-0.99) r=1.67m +[headless_play] t= 5.60s step= 280 trunk_z= 113.0mm grav_b=(+0.02,-0.12,-0.99) r=1.69m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(-0.08,+0.04,-1.00) r=1.68m +[headless_play] t= 5.80s step= 290 trunk_z= 122.0mm grav_b=(-0.02,+0.12,-0.99) r=1.67m +[headless_play] t= 5.90s step= 295 trunk_z= 116.7mm grav_b=(-0.09,-0.07,-0.99) r=1.67m +[headless_play] t= 6.00s step= 300 trunk_z= 123.4mm grav_b=(-0.04,-0.03,-1.00) r=1.67m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(+0.02,+0.16,-0.99) r=1.67m +[headless_play] t= 6.20s step= 310 trunk_z= 129.0mm grav_b=(+0.03,+0.07,-1.00) r=1.68m +[headless_play] t= 6.30s step= 315 trunk_z= 118.4mm grav_b=(-0.01,-0.06,-1.00) r=1.69m +[headless_play] t= 6.40s step= 320 trunk_z= 117.2mm grav_b=(-0.09,+0.08,-0.99) r=1.69m +[headless_play] t= 6.50s step= 325 trunk_z= 120.4mm grav_b=(+0.03,-0.02,-1.00) r=1.70m +[headless_play] t= 6.60s step= 330 trunk_z= 124.4mm grav_b=(+0.04,-0.15,-0.99) r=1.71m +[headless_play] t= 6.70s step= 335 trunk_z= 128.4mm grav_b=(-0.02,-0.04,-1.00) r=1.71m +[headless_play] t= 6.80s step= 340 trunk_z= 121.2mm grav_b=(-0.02,+0.15,-0.99) r=1.71m +[headless_play] t= 6.90s step= 345 trunk_z= 123.1mm grav_b=(+0.01,-0.03,-1.00) r=1.71m +[headless_play] t= 7.00s step= 350 trunk_z= 125.2mm grav_b=(+0.01,-0.07,-1.00) r=1.71m +[headless_play] t= 7.10s step= 355 trunk_z= 117.0mm grav_b=(-0.05,+0.10,-0.99) r=1.69m +[headless_play] t= 7.20s step= 360 trunk_z= 117.6mm grav_b=(-0.07,-0.01,-1.00) r=1.69m +[headless_play] t= 7.30s step= 365 trunk_z= 119.7mm grav_b=(-0.03,-0.06,-1.00) r=1.68m +[headless_play] t= 7.40s step= 370 trunk_z= 118.7mm grav_b=(-0.01,+0.18,-0.98) r=1.67m +[headless_play] t= 7.50s step= 375 trunk_z= 128.3mm grav_b=(+0.03,+0.11,-0.99) r=1.66m +[headless_play] t= 7.60s step= 380 trunk_z= 117.7mm grav_b=(-0.04,-0.10,-0.99) r=1.65m +[headless_play] t= 7.70s step= 385 trunk_z= 120.8mm grav_b=(-0.02,+0.04,-1.00) r=1.63m +[headless_play] t= 7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.11,+0.09,-0.99) r=1.62m +[headless_play] t= 7.90s step= 395 trunk_z= 118.0mm grav_b=(+0.05,-0.13,-0.99) r=1.61m +[headless_play] t= 8.00s step= 400 trunk_z= 116.1mm grav_b=(-0.03,-0.03,-1.00) r=1.61m +[headless_play] t= 8.10s step= 405 trunk_z= 116.7mm grav_b=(+0.01,+0.08,-1.00) r=1.59m +[headless_play] t= 8.20s step= 410 trunk_z= 119.2mm grav_b=(+0.04,-0.02,-1.00) r=1.59m +[headless_play] t= 8.30s step= 415 trunk_z= 121.2mm grav_b=(-0.01,-0.11,-0.99) r=1.59m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(-0.05,+0.10,-0.99) r=1.59m +[headless_play] t= 8.50s step= 425 trunk_z= 127.0mm grav_b=(-0.03,+0.18,-0.98) r=1.58m +[headless_play] t= 8.60s step= 430 trunk_z= 125.9mm grav_b=(-0.02,+0.15,-0.99) r=1.58m +[headless_play] t= 8.70s step= 435 trunk_z= 121.8mm grav_b=(-0.03,+0.01,-1.00) r=1.59m +[headless_play] t= 8.80s step= 440 trunk_z= 118.2mm grav_b=(-0.02,+0.09,-1.00) r=1.60m +[headless_play] t= 8.90s step= 445 trunk_z= 121.3mm grav_b=(+0.02,+0.05,-1.00) r=1.61m +[headless_play] t= 9.00s step= 450 trunk_z= 120.5mm grav_b=(+0.00,-0.13,-0.99) r=1.62m +[headless_play] t= 9.10s step= 455 trunk_z= 128.3mm grav_b=(+0.02,-0.13,-0.99) r=1.62m +[headless_play] t= 9.20s step= 460 trunk_z= 118.0mm grav_b=(+0.01,+0.03,-1.00) r=1.62m +[headless_play] t= 9.30s step= 465 trunk_z= 120.7mm grav_b=(+0.01,+0.01,-1.00) r=1.62m +[headless_play] t= 9.40s step= 470 trunk_z= 117.3mm grav_b=(-0.03,-0.08,-1.00) r=1.63m +[headless_play] t= 9.50s step= 475 trunk_z= 118.7mm grav_b=(-0.05,+0.07,-1.00) r=1.63m +[headless_play] t= 9.60s step= 480 trunk_z= 120.0mm grav_b=(+0.04,+0.01,-1.00) r=1.63m +[headless_play] t= 9.70s step= 485 trunk_z= 122.9mm grav_b=(+0.03,-0.13,-0.99) r=1.64m +[headless_play] t= 9.80s step= 490 trunk_z= 124.9mm grav_b=(+0.03,+0.03,-1.00) r=1.64m +[headless_play] t= 9.90s step= 495 trunk_z= 125.9mm grav_b=(+0.01,+0.14,-0.99) r=1.65m +[headless_play] t= 10.00s step= 500 trunk_z= 123.0mm grav_b=(-0.00,+0.03,-1.00) r=1.65m +[headless_play] t= 10.10s step= 505 trunk_z= 124.3mm grav_b=(-0.03,-0.08,-1.00) r=1.67m +[headless_play] t= 10.20s step= 510 trunk_z= 118.2mm grav_b=(-0.00,+0.09,-1.00) r=1.68m +[headless_play] t= 10.30s step= 515 trunk_z= 126.4mm grav_b=(+0.02,+0.13,-0.99) r=1.68m +[headless_play] t= 10.40s step= 520 trunk_z= 117.3mm grav_b=(-0.02,-0.11,-0.99) r=1.71m +[headless_play] t= 10.50s step= 525 trunk_z= 124.7mm grav_b=(-0.03,-0.10,-0.99) r=1.74m +[headless_play] t= 10.60s step= 530 trunk_z= 116.5mm grav_b=(-0.06,+0.02,-1.00) r=1.76m +[headless_play] t= 10.70s step= 535 trunk_z= 116.0mm grav_b=(-0.05,-0.02,-1.00) r=1.77m +[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(-0.04,-0.01,-1.00) r=1.77m +[headless_play] t= 10.90s step= 545 trunk_z= 116.5mm grav_b=(-0.04,-0.01,-1.00) r=1.76m +[headless_play] t= 11.00s step= 550 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=1.76m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=1.76m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=1.76m +[headless_play] t= 11.30s step= 565 trunk_z= 116.4mm grav_b=(-0.05,+0.00,-1.00) r=1.76m +[headless_play] t= 11.40s step= 570 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=1.76m +[headless_play] t= 11.50s step= 575 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=1.76m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=1.76m +[headless_play] t= 11.70s step= 585 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=1.76m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=1.76m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=1.76m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.76m +[headless_play] t= 12.10s step= 605 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=1.77m +[headless_play] t= 12.20s step= 610 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=1.77m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.77m +[headless_play] t= 12.40s step= 620 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=1.77m +[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.77m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.77m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=1.77m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=1.77m +[headless_play] t= 12.90s step= 645 trunk_z= 116.1mm grav_b=(-0.05,+0.01,-1.00) r=1.75m +[headless_play] t= 13.00s step= 650 trunk_z= 116.2mm grav_b=(-0.05,+0.01,-1.00) r=1.75m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.20s step= 660 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=1.75m +[headless_play] t= 13.30s step= 665 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.60s step= 680 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 13.90s step= 695 trunk_z= 116.7mm grav_b=(+0.01,+0.02,-1.00) r=1.74m +[headless_play] t= 14.00s step= 700 trunk_z= 117.7mm grav_b=(+0.03,+0.03,-1.00) r=1.73m +[headless_play] t= 14.10s step= 705 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=1.74m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.74m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.74m +[headless_play] t= 14.40s step= 720 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=1.74m +[headless_play] t= 14.50s step= 725 trunk_z= 116.1mm grav_b=(-0.04,+0.01,-1.00) r=1.73m +[headless_play] t= 14.60s step= 730 trunk_z= 116.1mm grav_b=(-0.04,+0.01,-1.00) r=1.73m +[headless_play] t= 14.70s step= 735 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=1.73m +[headless_play] t= 14.80s step= 740 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=1.73m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 15.00s step= 750 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 15.20s step= 760 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 15.30s step= 765 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(-0.03,+0.01,-1.00) r=1.76m +[headless_play] t= 15.60s step= 780 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=1.76m +[headless_play] t= 15.70s step= 785 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=1.76m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=1.76m +[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(-0.03,+0.00,-1.00) r=1.76m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(-0.03,+0.01,-1.00) r=1.76m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(-0.03,+0.01,-1.00) r=1.76m +[headless_play] t= 16.20s step= 810 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.76m +[headless_play] t= 16.30s step= 815 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=1.76m +[headless_play] t= 16.40s step= 820 trunk_z= 116.2mm grav_b=(-0.03,+0.01,-1.00) r=1.78m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=1.79m +[headless_play] t= 16.60s step= 830 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=1.79m +[headless_play] t= 16.70s step= 835 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=1.79m +[headless_play] t= 16.80s step= 840 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=1.79m +[headless_play] t= 16.90s step= 845 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=1.79m +[headless_play] t= 17.00s step= 850 trunk_z= 116.7mm grav_b=(-0.11,+0.01,-0.99) r=1.79m +[headless_play] t= 17.10s step= 855 trunk_z= 110.9mm grav_b=(-0.08,-0.07,-0.99) r=1.80m +[headless_play] t= 17.20s step= 860 trunk_z= 109.4mm grav_b=(+0.04,+0.07,-1.00) r=1.80m +[headless_play] t= 17.30s step= 865 trunk_z= 113.6mm grav_b=(+0.00,+0.04,-1.00) r=1.79m +[headless_play] t= 17.40s step= 870 trunk_z= 114.2mm grav_b=(+0.01,+0.02,-1.00) r=1.79m +[headless_play] t= 17.50s step= 875 trunk_z= 115.0mm grav_b=(+0.04,+0.03,-1.00) r=1.79m +[headless_play] t= 17.60s step= 880 trunk_z= 116.8mm grav_b=(+0.07,+0.04,-1.00) r=1.78m +[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(+0.08,+0.04,-1.00) r=1.78m +[headless_play] t= 17.80s step= 890 trunk_z= 116.8mm grav_b=(+0.07,+0.04,-1.00) r=1.78m +[headless_play] t= 17.90s step= 895 trunk_z= 115.9mm grav_b=(+0.04,+0.03,-1.00) r=1.78m +[headless_play] t= 18.00s step= 900 trunk_z= 115.1mm grav_b=(-0.00,+0.02,-1.00) r=1.79m +[headless_play] t= 18.10s step= 905 trunk_z= 115.2mm grav_b=(-0.01,+0.02,-1.00) r=1.79m +[headless_play] t= 18.20s step= 910 trunk_z= 115.5mm grav_b=(-0.01,+0.02,-1.00) r=1.79m +[headless_play] t= 18.30s step= 915 trunk_z= 115.6mm grav_b=(-0.01,+0.02,-1.00) r=1.79m +[headless_play] t= 18.40s step= 920 trunk_z= 115.6mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 18.50s step= 925 trunk_z= 115.6mm grav_b=(-0.01,+0.02,-1.00) r=1.78m +[headless_play] t= 18.60s step= 930 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=1.78m +[headless_play] t= 18.70s step= 935 trunk_z= 115.7mm grav_b=(-0.01,+0.02,-1.00) r=1.78m +[headless_play] t= 18.80s step= 940 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=1.78m +[headless_play] t= 18.90s step= 945 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=1.78m +[headless_play] t= 19.00s step= 950 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=1.78m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.30s step= 965 trunk_z= 115.8mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.40s step= 970 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.50s step= 975 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.60s step= 980 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.70s step= 985 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.80s step= 990 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 19.90s step= 995 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00) r=1.78m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.5mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.03,+0.06,-1.00) r=0.19m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t5.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..275d25726b7b981c034dc23ce478fc448eafe14d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t5.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.1mm grav_b=(-0.00,+0.00,-1.00) root_w=(-2.253,-17.556,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.5mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.08,-0.01,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.06,-0.01,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 115.8mm grav_b=(+0.05,-0.00,-1.00) r=0.48m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(+0.06,+0.00,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.48m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.48m +[headless_play] t= 1.50s step= 75 trunk_z= 110.6mm grav_b=(+0.07,-0.11,-0.99) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 109.6mm grav_b=(+0.18,-0.06,-0.98) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 114.6mm grav_b=(+0.10,-0.01,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 112.4mm grav_b=(+0.13,-0.01,-0.99) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 113.9mm grav_b=(+0.09,+0.01,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 114.4mm grav_b=(+0.07,+0.01,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 114.7mm grav_b=(+0.07,+0.00,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 114.8mm grav_b=(+0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 2.30s step= 115 trunk_z= 115.2mm grav_b=(+0.07,-0.00,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(+0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 2.50s step= 125 trunk_z= 115.4mm grav_b=(+0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 2.60s step= 130 trunk_z= 115.4mm grav_b=(+0.06,+0.00,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 115.5mm grav_b=(+0.05,+0.00,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 115.6mm grav_b=(+0.05,+0.00,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 116.1mm grav_b=(+0.10,+0.00,-0.99) r=0.53m +[headless_play] t= 3.10s step= 155 trunk_z= 118.4mm grav_b=(+0.17,+0.00,-0.99) r=0.53m +[headless_play] t= 3.20s step= 160 trunk_z= 119.8mm grav_b=(+0.16,-0.04,-0.99) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 123.4mm grav_b=(+0.11,+0.05,-0.99) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 118.7mm grav_b=(+0.03,+0.13,-0.99) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 118.6mm grav_b=(+0.00,+0.04,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 118.1mm grav_b=(+0.00,+0.03,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 117.7mm grav_b=(-0.04,+0.02,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 117.7mm grav_b=(-0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 118.3mm grav_b=(+0.04,+0.03,-1.00) r=0.51m +[headless_play] t= 4.10s step= 205 trunk_z= 118.6mm grav_b=(+0.04,+0.03,-1.00) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 118.1mm grav_b=(+0.03,+0.03,-1.00) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 117.7mm grav_b=(+0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 117.8mm grav_b=(+0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 4.50s step= 225 trunk_z= 117.7mm grav_b=(+0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 117.6mm grav_b=(+0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 118.8mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 119.1mm grav_b=(+0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 118.4mm grav_b=(+0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 117.6mm grav_b=(-0.00,+0.02,-1.00) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 117.8mm grav_b=(+0.01,+0.02,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(+0.01,+0.02,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(+0.02,+0.03,-1.00) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 118.0mm grav_b=(+0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 117.8mm grav_b=(+0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(+0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 5.80s step= 290 trunk_z= 117.7mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 117.7mm grav_b=(-0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 6.10s step= 305 trunk_z= 117.7mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 6.20s step= 310 trunk_z= 117.0mm grav_b=(-0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(+0.04,+0.02,-1.00) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 118.4mm grav_b=(+0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 117.5mm grav_b=(+0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(-0.05,+0.03,-1.00) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 114.7mm grav_b=(+0.03,-0.03,-1.00) r=0.49m +[headless_play] t= 6.80s step= 340 trunk_z= 110.2mm grav_b=(+0.11,-0.00,-0.99) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 112.4mm grav_b=(+0.10,-0.00,-0.99) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 113.8mm grav_b=(+0.10,-0.00,-1.00) r=0.49m +[headless_play] t= 7.10s step= 355 trunk_z= 114.6mm grav_b=(+0.08,-0.00,-1.00) r=0.49m +[headless_play] t= 7.20s step= 360 trunk_z= 114.8mm grav_b=(+0.07,+0.00,-1.00) r=0.49m +[headless_play] t= 7.30s step= 365 trunk_z= 115.0mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 7.40s step= 370 trunk_z= 115.1mm grav_b=(+0.06,+0.00,-1.00) r=0.48m +[headless_play] t= 7.50s step= 375 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 7.60s step= 380 trunk_z= 115.3mm grav_b=(+0.04,-0.00,-1.00) r=0.49m +[headless_play] t= 7.70s step= 385 trunk_z= 115.5mm grav_b=(+0.04,-0.00,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 115.7mm grav_b=(+0.07,-0.00,-1.00) r=0.49m +[headless_play] t= 7.90s step= 395 trunk_z= 115.7mm grav_b=(+0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 8.10s step= 405 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 8.20s step= 410 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 115.8mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 8.40s step= 420 trunk_z= 115.9mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 115.7mm grav_b=(+0.08,+0.01,-1.00) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 115.9mm grav_b=(+0.09,+0.01,-1.00) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.48m +[headless_play] t= 9.10s step= 455 trunk_z= 116.0mm grav_b=(+0.07,+0.00,-1.00) r=0.48m +[headless_play] t= 9.20s step= 460 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.48m +[headless_play] t= 9.30s step= 465 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.48m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(+0.05,+0.00,-1.00) r=0.47m +[headless_play] t= 9.50s step= 475 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.47m +[headless_play] t= 9.60s step= 480 trunk_z= 115.9mm grav_b=(+0.06,+0.00,-1.00) r=0.48m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(+0.09,+0.00,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(+0.09,+0.01,-1.00) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.08,+0.00,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 118.1mm grav_b=(+0.16,+0.01,-0.99) r=0.49m +[headless_play] t= 10.10s step= 505 trunk_z= 119.4mm grav_b=(+0.20,-0.00,-0.98) r=0.50m +[headless_play] t= 10.20s step= 510 trunk_z= 118.4mm grav_b=(+0.18,-0.04,-0.98) r=0.51m +[headless_play] t= 10.30s step= 515 trunk_z= 115.0mm grav_b=(+0.04,+0.18,-0.98) r=0.52m +[headless_play] t= 10.40s step= 520 trunk_z= 119.7mm grav_b=(-0.01,+0.16,-0.99) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 116.0mm grav_b=(+0.00,-0.06,-1.00) r=0.56m +[headless_play] t= 10.60s step= 530 trunk_z= 113.9mm grav_b=(+0.09,-0.00,-1.00) r=0.56m +[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(+0.09,+0.00,-1.00) r=0.56m +[headless_play] t= 10.80s step= 540 trunk_z= 115.1mm grav_b=(+0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(+0.09,-0.00,-1.00) r=0.58m +[headless_play] t= 11.00s step= 550 trunk_z= 118.2mm grav_b=(+0.17,-0.01,-0.99) r=0.59m +[headless_play] t= 11.10s step= 555 trunk_z= 120.4mm grav_b=(+0.22,-0.01,-0.98) r=0.60m +[headless_play] t= 11.20s step= 560 trunk_z= 112.3mm grav_b=(+0.22,+0.09,-0.97) r=0.61m +[headless_play] t= 11.30s step= 565 trunk_z= 124.7mm grav_b=(+0.25,-0.05,-0.97) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 102.3mm grav_b=(+0.13,-0.27,-0.95) r=0.65m +[headless_play] t= 11.50s step= 575 trunk_z= 108.8mm grav_b=(-0.11,-0.20,-0.97) r=0.66m +[headless_play] t= 11.60s step= 580 trunk_z= 113.0mm grav_b=(-0.09,+0.02,-1.00) r=0.67m +[headless_play] t= 11.70s step= 585 trunk_z= 114.2mm grav_b=(+0.09,-0.02,-1.00) r=0.68m +[headless_play] t= 11.80s step= 590 trunk_z= 115.7mm grav_b=(+0.16,-0.05,-0.99) r=0.69m +[headless_play] t= 11.90s step= 595 trunk_z= 117.1mm grav_b=(+0.17,-0.07,-0.98) r=0.69m +[headless_play] t= 12.00s step= 600 trunk_z= 118.2mm grav_b=(+0.18,+0.10,-0.98) r=0.69m +[headless_play] t= 12.10s step= 605 trunk_z= 125.2mm grav_b=(+0.18,-0.08,-0.98) r=0.70m +[headless_play] t= 12.20s step= 610 trunk_z= 116.3mm grav_b=(+0.01,-0.13,-0.99) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 112.6mm grav_b=(-0.10,+0.03,-0.99) r=0.70m +[headless_play] t= 12.40s step= 620 trunk_z= 116.9mm grav_b=(+0.09,+0.01,-1.00) r=0.70m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(+0.05,-0.13,-0.99) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 118.9mm grav_b=(+0.16,+0.04,-0.99) r=0.71m +[headless_play] t= 12.70s step= 635 trunk_z= 123.2mm grav_b=(+0.13,+0.14,-0.98) r=0.70m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(-0.02,-0.05,-1.00) r=0.70m +[headless_play] t= 12.90s step= 645 trunk_z= 122.5mm grav_b=(+0.03,-0.06,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 114.4mm grav_b=(+0.10,+0.19,-0.98) r=0.69m +[headless_play] t= 13.10s step= 655 trunk_z= 128.8mm grav_b=(+0.10,+0.13,-0.99) r=0.68m +[headless_play] t= 13.20s step= 660 trunk_z= 127.5mm grav_b=(+0.07,+0.01,-1.00) r=0.69m +[headless_play] t= 13.30s step= 665 trunk_z= 124.1mm grav_b=(+0.04,-0.07,-1.00) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 120.5mm grav_b=(+0.01,+0.00,-1.00) r=0.69m +[headless_play] t= 13.50s step= 675 trunk_z= 119.1mm grav_b=(-0.04,+0.03,-1.00) r=0.67m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 13.70s step= 685 trunk_z= 119.9mm grav_b=(-0.01,+0.11,-0.99) r=0.63m +[headless_play] t= 13.80s step= 690 trunk_z= 116.3mm grav_b=(-0.01,-0.04,-1.00) r=0.62m +[headless_play] t= 13.90s step= 695 trunk_z= 122.8mm grav_b=(+0.05,-0.03,-1.00) r=0.61m +[headless_play] t= 14.00s step= 700 trunk_z= 119.0mm grav_b=(+0.03,+0.10,-0.99) r=0.59m +[headless_play] t= 14.10s step= 705 trunk_z= 120.1mm grav_b=(+0.00,+0.05,-1.00) r=0.58m +[headless_play] t= 14.20s step= 710 trunk_z= 119.7mm grav_b=(+0.01,-0.04,-1.00) r=0.57m +[headless_play] t= 14.30s step= 715 trunk_z= 120.3mm grav_b=(+0.05,+0.06,-1.00) r=0.56m +[headless_play] t= 14.40s step= 720 trunk_z= 115.0mm grav_b=(+0.05,-0.08,-1.00) r=0.55m +[headless_play] t= 14.50s step= 725 trunk_z= 122.5mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 119.9mm grav_b=(+0.07,+0.06,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 117.9mm grav_b=(+0.05,-0.10,-0.99) r=0.55m +[headless_play] t= 14.80s step= 740 trunk_z= 127.7mm grav_b=(+0.06,-0.08,-1.00) r=0.55m +[headless_play] t= 14.90s step= 745 trunk_z= 118.5mm grav_b=(+0.06,+0.09,-0.99) r=0.55m +[headless_play] t= 15.00s step= 750 trunk_z= 124.6mm grav_b=(+0.08,+0.05,-1.00) r=0.54m +[headless_play] t= 15.10s step= 755 trunk_z= 119.0mm grav_b=(+0.09,-0.03,-1.00) r=0.53m +[headless_play] t= 15.20s step= 760 trunk_z= 119.4mm grav_b=(+0.06,+0.07,-1.00) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 117.2mm grav_b=(+0.06,-0.09,-0.99) r=0.53m +[headless_play] t= 15.40s step= 770 trunk_z= 125.5mm grav_b=(+0.06,-0.08,-1.00) r=0.53m +[headless_play] t= 15.50s step= 775 trunk_z= 117.7mm grav_b=(+0.05,+0.07,-1.00) r=0.53m +[headless_play] t= 15.60s step= 780 trunk_z= 119.9mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 15.70s step= 785 trunk_z= 123.9mm grav_b=(+0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 15.80s step= 790 trunk_z= 117.8mm grav_b=(-0.01,+0.07,-1.00) r=0.54m +[headless_play] t= 15.90s step= 795 trunk_z= 119.1mm grav_b=(+0.06,+0.00,-1.00) r=0.54m +[headless_play] t= 16.00s step= 800 trunk_z= 120.6mm grav_b=(+0.05,-0.09,-0.99) r=0.55m +[headless_play] t= 16.10s step= 805 trunk_z= 116.6mm grav_b=(+0.06,+0.02,-1.00) r=0.55m +[headless_play] t= 16.20s step= 810 trunk_z= 117.3mm grav_b=(+0.09,+0.04,-1.00) r=0.54m +[headless_play] t= 16.30s step= 815 trunk_z= 112.9mm grav_b=(+0.08,-0.09,-0.99) r=0.54m +[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(+0.11,+0.04,-0.99) r=0.54m +[headless_play] t= 16.50s step= 825 trunk_z= 114.8mm grav_b=(+0.14,+0.05,-0.99) r=0.54m +[headless_play] t= 16.60s step= 830 trunk_z= 112.6mm grav_b=(+0.08,-0.12,-0.99) r=0.54m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(+0.11,-0.03,-0.99) r=0.55m +[headless_play] t= 16.80s step= 840 trunk_z= 117.7mm grav_b=(+0.12,+0.07,-0.99) r=0.55m +[headless_play] t= 16.90s step= 845 trunk_z= 112.9mm grav_b=(+0.12,-0.07,-0.99) r=0.55m +[headless_play] t= 17.00s step= 850 trunk_z= 113.5mm grav_b=(+0.13,+0.00,-0.99) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 110.8mm grav_b=(+0.20,-0.06,-0.98) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 110.3mm grav_b=(+0.18,-0.13,-0.98) r=0.55m +[headless_play] t= 17.30s step= 865 trunk_z= 115.2mm grav_b=(+0.10,+0.09,-0.99) r=0.55m +[headless_play] t= 17.40s step= 870 trunk_z= 122.8mm grav_b=(+0.08,+0.16,-0.98) r=0.55m +[headless_play] t= 17.50s step= 875 trunk_z= 121.5mm grav_b=(+0.09,+0.06,-0.99) r=0.55m +[headless_play] t= 17.60s step= 880 trunk_z= 117.4mm grav_b=(+0.08,-0.07,-0.99) r=0.56m +[headless_play] t= 17.70s step= 885 trunk_z= 115.8mm grav_b=(+0.09,+0.06,-0.99) r=0.56m +[headless_play] t= 17.80s step= 890 trunk_z= 114.4mm grav_b=(+0.12,-0.00,-0.99) r=0.56m +[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(+0.08,-0.12,-0.99) r=0.58m +[headless_play] t= 18.00s step= 900 trunk_z= 116.5mm grav_b=(+0.12,+0.01,-0.99) r=0.58m +[headless_play] t= 18.10s step= 905 trunk_z= 115.2mm grav_b=(+0.14,+0.03,-0.99) r=0.59m +[headless_play] t= 18.20s step= 910 trunk_z= 115.1mm grav_b=(+0.07,-0.15,-0.99) r=0.60m +[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(+0.09,-0.05,-1.00) r=0.61m +[headless_play] t= 18.40s step= 920 trunk_z= 119.7mm grav_b=(+0.15,+0.07,-0.99) r=0.61m +[headless_play] t= 18.50s step= 925 trunk_z= 111.4mm grav_b=(+0.15,-0.09,-0.98) r=0.61m +[headless_play] t= 18.60s step= 930 trunk_z= 119.7mm grav_b=(+0.12,+0.00,-0.99) r=0.62m +[headless_play] t= 18.70s step= 935 trunk_z= 124.6mm grav_b=(+0.07,+0.17,-0.98) r=0.62m +[headless_play] t= 18.80s step= 940 trunk_z= 127.0mm grav_b=(+0.06,+0.18,-0.98) r=0.63m +[headless_play] t= 18.90s step= 945 trunk_z= 124.6mm grav_b=(+0.07,+0.14,-0.99) r=0.63m +[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.06,-0.00,-1.00) r=0.64m +[headless_play] t= 19.10s step= 955 trunk_z= 119.7mm grav_b=(+0.06,+0.04,-1.00) r=0.65m +[headless_play] t= 19.20s step= 960 trunk_z= 118.5mm grav_b=(+0.09,+0.01,-1.00) r=0.66m +[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(+0.08,-0.01,-1.00) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 117.9mm grav_b=(+0.08,-0.02,-1.00) r=0.66m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(+0.06,-0.07,-1.00) r=0.66m +[headless_play] t= 19.60s step= 980 trunk_z= 119.7mm grav_b=(+0.06,+0.03,-1.00) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 115.6mm grav_b=(+0.03,-0.07,-1.00) r=0.66m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(+0.06,+0.06,-1.00) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 114.7mm grav_b=(+0.07,-0.02,-1.00) r=0.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.4mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.01,-0.03,-1.00) r=0.63m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t6.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..598f67bac1de75ba96b0e5be426da9ad13f64a89 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t6.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.536,-17.862,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 118.7mm grav_b=(-0.06,+0.03,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 120.0mm grav_b=(-0.07,+0.04,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(-0.07,-0.15,-0.99) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 121.7mm grav_b=(-0.06,-0.11,-0.99) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 120.7mm grav_b=(-0.02,+0.07,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 121.3mm grav_b=(-0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 120.3mm grav_b=(-0.00,-0.13,-0.99) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 119.5mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 124.2mm grav_b=(+0.00,+0.08,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 117.4mm grav_b=(-0.04,-0.12,-0.99) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 124.7mm grav_b=(-0.04,-0.15,-0.99) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 118.6mm grav_b=(-0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 123.6mm grav_b=(-0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(-0.08,-0.12,-0.99) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 123.2mm grav_b=(-0.03,-0.12,-0.99) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 116.0mm grav_b=(-0.06,+0.07,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 115.7mm grav_b=(-0.13,-0.07,-0.99) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(-0.06,-0.03,-1.00) r=0.47m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(-0.06,+0.10,-0.99) r=0.47m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(-0.06,-0.09,-0.99) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 119.1mm grav_b=(-0.02,-0.14,-0.99) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 116.6mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 120.6mm grav_b=(-0.01,-0.10,-0.99) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 126.8mm grav_b=(+0.04,-0.24,-0.97) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 128.4mm grav_b=(+0.05,-0.22,-0.97) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 127.5mm grav_b=(+0.03,-0.14,-0.99) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 118.9mm grav_b=(-0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 112.5mm grav_b=(-0.13,-0.07,-0.99) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 109.4mm grav_b=(+0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 117.8mm grav_b=(+0.01,+0.07,-1.00) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 115.6mm grav_b=(-0.06,-0.13,-0.99) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 124.9mm grav_b=(-0.02,-0.22,-0.98) r=0.48m +[headless_play] t= 3.30s step= 165 trunk_z= 126.5mm grav_b=(-0.02,-0.21,-0.98) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 124.5mm grav_b=(-0.01,-0.12,-0.99) r=0.48m +[headless_play] t= 3.50s step= 175 trunk_z= 120.9mm grav_b=(-0.04,-0.00,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 117.6mm grav_b=(-0.04,-0.07,-1.00) r=0.50m +[headless_play] t= 3.70s step= 185 trunk_z= 117.8mm grav_b=(+0.03,+0.04,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 120.9mm grav_b=(+0.03,-0.13,-0.99) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 125.5mm grav_b=(+0.02,-0.22,-0.98) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 125.5mm grav_b=(+0.02,-0.10,-0.99) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 119.6mm grav_b=(-0.06,+0.06,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 120.8mm grav_b=(-0.05,-0.03,-1.00) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 118.5mm grav_b=(-0.07,-0.13,-0.99) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 119.8mm grav_b=(-0.05,-0.01,-1.00) r=0.50m +[headless_play] t= 4.50s step= 225 trunk_z= 122.2mm grav_b=(-0.04,+0.08,-1.00) r=0.50m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(-0.06,-0.08,-0.99) r=0.50m +[headless_play] t= 4.70s step= 235 trunk_z= 125.1mm grav_b=(-0.08,-0.16,-0.98) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 127.7mm grav_b=(-0.08,-0.15,-0.98) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 125.5mm grav_b=(-0.07,-0.09,-0.99) r=0.50m +[headless_play] t= 5.00s step= 250 trunk_z= 120.2mm grav_b=(-0.05,+0.01,-1.00) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 116.9mm grav_b=(-0.03,-0.09,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 118.9mm grav_b=(-0.05,-0.07,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 117.0mm grav_b=(-0.02,+0.09,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 121.2mm grav_b=(-0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(-0.02,-0.12,-0.99) r=0.56m +[headless_play] t= 5.60s step= 280 trunk_z= 117.3mm grav_b=(+0.03,+0.03,-1.00) r=0.57m +[headless_play] t= 5.70s step= 285 trunk_z= 125.8mm grav_b=(+0.02,+0.11,-0.99) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 118.3mm grav_b=(-0.01,-0.04,-1.00) r=0.60m +[headless_play] t= 5.90s step= 295 trunk_z= 119.9mm grav_b=(-0.03,-0.08,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 118.4mm grav_b=(-0.01,+0.07,-1.00) r=0.62m +[headless_play] t= 6.10s step= 305 trunk_z= 118.4mm grav_b=(-0.00,-0.09,-1.00) r=0.63m +[headless_play] t= 6.20s step= 310 trunk_z= 118.6mm grav_b=(+0.03,-0.06,-1.00) r=0.65m +[headless_play] t= 6.30s step= 315 trunk_z= 123.0mm grav_b=(+0.01,+0.09,-1.00) r=0.66m +[headless_play] t= 6.40s step= 320 trunk_z= 118.4mm grav_b=(-0.03,-0.02,-1.00) r=0.68m +[headless_play] t= 6.50s step= 325 trunk_z= 119.4mm grav_b=(-0.06,-0.10,-0.99) r=0.69m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(-0.07,+0.07,-1.00) r=0.70m +[headless_play] t= 6.70s step= 335 trunk_z= 121.6mm grav_b=(-0.08,+0.05,-1.00) r=0.71m +[headless_play] t= 6.80s step= 340 trunk_z= 118.1mm grav_b=(-0.05,-0.12,-0.99) r=0.72m +[headless_play] t= 6.90s step= 345 trunk_z= 120.0mm grav_b=(-0.03,-0.04,-1.00) r=0.73m +[headless_play] t= 7.00s step= 350 trunk_z= 120.7mm grav_b=(-0.05,+0.06,-1.00) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 116.0mm grav_b=(-0.10,-0.10,-0.99) r=0.74m +[headless_play] t= 7.20s step= 360 trunk_z= 122.2mm grav_b=(-0.06,-0.15,-0.99) r=0.75m +[headless_play] t= 7.30s step= 365 trunk_z= 119.6mm grav_b=(-0.04,-0.06,-1.00) r=0.76m +[headless_play] t= 7.40s step= 370 trunk_z= 116.8mm grav_b=(+0.01,+0.03,-1.00) r=0.77m +[headless_play] t= 7.50s step= 375 trunk_z= 116.4mm grav_b=(-0.04,-0.11,-0.99) r=0.78m +[headless_play] t= 7.60s step= 380 trunk_z= 118.5mm grav_b=(-0.08,-0.04,-1.00) r=0.78m +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(-0.03,+0.12,-0.99) r=0.79m +[headless_play] t= 7.80s step= 390 trunk_z= 119.0mm grav_b=(-0.02,+0.03,-1.00) r=0.80m +[headless_play] t= 7.90s step= 395 trunk_z= 117.9mm grav_b=(-0.07,-0.14,-0.99) r=0.80m +[headless_play] t= 8.00s step= 400 trunk_z= 122.6mm grav_b=(-0.01,-0.08,-1.00) r=0.80m +[headless_play] t= 8.10s step= 405 trunk_z= 115.0mm grav_b=(+0.01,+0.07,-1.00) r=0.82m +[headless_play] t= 8.20s step= 410 trunk_z= 119.4mm grav_b=(-0.06,+0.03,-1.00) r=0.83m +[headless_play] t= 8.30s step= 415 trunk_z= 114.0mm grav_b=(-0.09,-0.11,-0.99) r=0.82m +[headless_play] t= 8.40s step= 420 trunk_z= 120.6mm grav_b=(-0.10,-0.05,-0.99) r=0.82m +[headless_play] t= 8.50s step= 425 trunk_z= 98.7mm grav_b=(-0.08,+0.05,-1.00) r=0.82m +[headless_play] t= 8.60s step= 430 trunk_z= 97.2mm grav_b=(+0.02,-0.07,-1.00) r=0.82m +[headless_play] t= 8.70s step= 435 trunk_z= 100.5mm grav_b=(+0.01,-0.11,-0.99) r=0.82m +[headless_play] t= 8.80s step= 440 trunk_z= 115.8mm grav_b=(-0.04,-0.09,-1.00) r=0.81m +[headless_play] t= 8.90s step= 445 trunk_z= 119.1mm grav_b=(+0.02,-0.07,-1.00) r=0.81m +[headless_play] t= 9.00s step= 450 trunk_z= 112.5mm grav_b=(+0.06,+0.04,-1.00) r=0.80m +[headless_play] t= 9.10s step= 455 trunk_z= 115.2mm grav_b=(+0.03,-0.04,-1.00) r=0.80m +[headless_play] t= 9.20s step= 460 trunk_z= 114.5mm grav_b=(-0.05,-0.04,-1.00) r=0.80m +[headless_play] t= 9.30s step= 465 trunk_z= 111.5mm grav_b=(-0.04,+0.12,-0.99) r=0.80m +[headless_play] t= 9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.06,+0.12,-0.99) r=0.80m +[headless_play] t= 9.50s step= 475 trunk_z= 114.8mm grav_b=(-0.03,-0.02,-1.00) r=0.79m +[headless_play] t= 9.60s step= 480 trunk_z= 114.5mm grav_b=(-0.01,-0.08,-1.00) r=0.79m +[headless_play] t= 9.70s step= 485 trunk_z= 115.0mm grav_b=(+0.02,-0.03,-1.00) r=0.78m +[headless_play] t= 9.80s step= 490 trunk_z= 113.0mm grav_b=(+0.04,-0.01,-1.00) r=0.76m +[headless_play] t= 9.90s step= 495 trunk_z= 113.0mm grav_b=(+0.02,-0.03,-1.00) r=0.76m +[headless_play] t= 10.00s step= 500 trunk_z= 112.5mm grav_b=(+0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 10.10s step= 505 trunk_z= 112.3mm grav_b=(+0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 10.30s step= 515 trunk_z= 108.2mm grav_b=(-0.08,-0.15,-0.99) r=0.73m +[headless_play] t= 10.40s step= 520 trunk_z= 109.8mm grav_b=(-0.04,-0.05,-1.00) r=0.72m +[headless_play] t= 10.50s step= 525 trunk_z= 105.9mm grav_b=(+0.09,+0.08,-0.99) r=0.70m +[headless_play] t= 10.60s step= 530 trunk_z= 112.6mm grav_b=(+0.05,-0.02,-1.00) r=0.68m +[headless_play] t= 10.70s step= 535 trunk_z= 114.3mm grav_b=(-0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 10.80s step= 540 trunk_z= 114.8mm grav_b=(-0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 10.90s step= 545 trunk_z= 115.5mm grav_b=(+0.05,-0.01,-1.00) r=0.68m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.06,-0.01,-1.00) r=0.68m +[headless_play] t= 11.10s step= 555 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 11.20s step= 560 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 11.30s step= 565 trunk_z= 115.8mm grav_b=(-0.03,-0.01,-1.00) r=0.68m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.68m +[headless_play] t= 11.60s step= 580 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 12.00s step= 600 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 12.10s step= 605 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.68m +[headless_play] t= 12.20s step= 610 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.68m +[headless_play] t= 12.30s step= 615 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.68m +[headless_play] t= 12.40s step= 620 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 12.50s step= 625 trunk_z= 117.5mm grav_b=(+0.05,-0.00,-1.00) r=0.70m +[headless_play] t= 12.60s step= 630 trunk_z= 117.9mm grav_b=(+0.06,+0.00,-1.00) r=0.71m +[headless_play] t= 12.70s step= 635 trunk_z= 117.6mm grav_b=(+0.05,-0.00,-1.00) r=0.71m +[headless_play] t= 12.80s step= 640 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.70m +[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) r=0.70m +[headless_play] t= 13.10s step= 655 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.70m +[headless_play] t= 13.30s step= 665 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(-0.04,-0.01,-1.00) r=0.68m +[headless_play] t= 13.50s step= 675 trunk_z= 117.4mm grav_b=(-0.10,-0.01,-1.00) r=0.67m +[headless_play] t= 13.60s step= 680 trunk_z= 116.8mm grav_b=(-0.13,-0.03,-0.99) r=0.66m +[headless_play] t= 13.70s step= 685 trunk_z= 114.8mm grav_b=(-0.13,+0.03,-0.99) r=0.66m +[headless_play] t= 13.80s step= 690 trunk_z= 114.3mm grav_b=(-0.13,+0.04,-0.99) r=0.66m +[headless_play] t= 13.90s step= 695 trunk_z= 100.8mm grav_b=(-0.15,-0.16,-0.98) r=0.65m +[headless_play] t= 14.00s step= 700 trunk_z= 104.1mm grav_b=(-0.07,-0.11,-0.99) r=0.64m +[headless_play] t= 14.10s step= 705 trunk_z= 107.9mm grav_b=(+0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 14.20s step= 710 trunk_z= 112.3mm grav_b=(+0.05,-0.03,-1.00) r=0.62m +[headless_play] t= 14.30s step= 715 trunk_z= 114.0mm grav_b=(+0.06,-0.00,-1.00) r=0.61m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(+0.06,+0.03,-1.00) r=0.61m +[headless_play] t= 14.50s step= 725 trunk_z= 116.3mm grav_b=(+0.06,+0.03,-1.00) r=0.61m +[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.61m +[headless_play] t= 14.70s step= 735 trunk_z= 115.9mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 14.90s step= 745 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 15.00s step= 750 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 15.30s step= 765 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.61m +[headless_play] t= 15.50s step= 775 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 15.70s step= 785 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 15.80s step= 790 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(+0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 16.20s step= 810 trunk_z= 116.4mm grav_b=(+0.04,+0.00,-1.00) r=0.62m +[headless_play] t= 16.30s step= 815 trunk_z= 116.2mm grav_b=(+0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 16.40s step= 820 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 16.50s step= 825 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 16.60s step= 830 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.61m +[headless_play] t= 16.70s step= 835 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 16.80s step= 840 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 16.90s step= 845 trunk_z= 115.9mm grav_b=(+0.03,+0.00,-1.00) r=0.61m +[headless_play] t= 17.00s step= 850 trunk_z= 116.7mm grav_b=(+0.02,-0.05,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 115.7mm grav_b=(-0.01,-0.11,-0.99) r=0.61m +[headless_play] t= 17.20s step= 860 trunk_z= 117.4mm grav_b=(-0.00,+0.05,-1.00) r=0.61m +[headless_play] t= 17.30s step= 865 trunk_z= 122.8mm grav_b=(+0.01,+0.12,-0.99) r=0.61m +[headless_play] t= 17.40s step= 870 trunk_z= 116.4mm grav_b=(+0.03,+0.05,-1.00) r=0.62m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.03,-0.05,-1.00) r=0.63m +[headless_play] t= 17.60s step= 880 trunk_z= 117.5mm grav_b=(-0.05,+0.06,-1.00) r=0.63m +[headless_play] t= 17.70s step= 885 trunk_z= 119.2mm grav_b=(-0.05,+0.01,-1.00) r=0.64m +[headless_play] t= 17.80s step= 890 trunk_z= 121.9mm grav_b=(-0.07,-0.11,-0.99) r=0.64m +[headless_play] t= 17.90s step= 895 trunk_z= 123.8mm grav_b=(-0.10,-0.07,-0.99) r=0.64m +[headless_play] t= 18.00s step= 900 trunk_z= 114.5mm grav_b=(+0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 18.10s step= 905 trunk_z= 111.7mm grav_b=(+0.03,-0.09,-1.00) r=0.63m +[headless_play] t= 18.20s step= 910 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 18.30s step= 915 trunk_z= 119.9mm grav_b=(-0.01,+0.09,-1.00) r=0.63m +[headless_play] t= 18.40s step= 920 trunk_z= 114.0mm grav_b=(-0.02,-0.04,-1.00) r=0.63m +[headless_play] t= 18.50s step= 925 trunk_z= 120.2mm grav_b=(-0.10,-0.02,-1.00) r=0.63m +[headless_play] t= 18.60s step= 930 trunk_z= 121.0mm grav_b=(-0.09,+0.02,-1.00) r=0.62m +[headless_play] t= 18.70s step= 935 trunk_z= 113.3mm grav_b=(-0.07,-0.15,-0.99) r=0.61m +[headless_play] t= 18.80s step= 940 trunk_z= 117.8mm grav_b=(-0.08,-0.06,-0.99) r=0.60m +[headless_play] t= 18.90s step= 945 trunk_z= 109.8mm grav_b=(+0.04,+0.11,-0.99) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 111.0mm grav_b=(+0.02,-0.07,-1.00) r=0.59m +[headless_play] t= 19.10s step= 955 trunk_z= 125.0mm grav_b=(-0.11,-0.14,-0.98) r=0.61m +[headless_play] t= 19.20s step= 960 trunk_z= 130.1mm grav_b=(-0.10,-0.11,-0.99) r=0.62m +[headless_play] t= 19.30s step= 965 trunk_z= 119.9mm grav_b=(-0.11,-0.10,-0.99) r=0.61m +[headless_play] t= 19.40s step= 970 trunk_z= 103.7mm grav_b=(-0.12,-0.29,-0.95) r=0.61m +[headless_play] t= 19.50s step= 975 trunk_z= 106.3mm grav_b=(-0.34,-0.32,-0.89) r=0.62m +[headless_play] t= 19.60s step= 980 trunk_z= 78.7mm grav_b=(-0.53,-0.52,-0.67) r=0.63m +[headless_play] RESET at t= 19.64s step= 982 (env termination, not a recovery) +[headless_play] t= 19.70s step= 985 trunk_z= 115.4mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 19.80s step= 990 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t7.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..c0c1021adb8eba8c4476220bbce33e99083d69aa --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.551,-18.342,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(-0.00,+0.07,-1.00) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 120.8mm grav_b=(-0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 118.2mm grav_b=(-0.05,+0.07,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(-0.07,-0.00,-1.00) r=0.56m +[headless_play] t= 0.70s step= 35 trunk_z= 118.7mm grav_b=(-0.06,-0.12,-0.99) r=0.56m +[headless_play] t= 0.80s step= 40 trunk_z= 119.5mm grav_b=(-0.03,-0.05,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 120.3mm grav_b=(+0.02,+0.06,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 114.1mm grav_b=(+0.05,-0.09,-1.00) r=0.54m +[headless_play] t= 1.10s step= 55 trunk_z= 120.1mm grav_b=(-0.02,-0.07,-1.00) r=0.54m +[headless_play] t= 1.20s step= 60 trunk_z= 117.6mm grav_b=(-0.05,+0.06,-1.00) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(-0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 114.2mm grav_b=(+0.02,-0.07,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 117.1mm grav_b=(-0.06,+0.07,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 124.7mm grav_b=(-0.11,+0.11,-0.99) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 125.7mm grav_b=(-0.09,+0.06,-0.99) r=0.57m +[headless_play] t= 1.80s step= 90 trunk_z= 91.6mm grav_b=(+0.07,-0.06,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 90.0mm grav_b=(+0.18,+0.02,-0.98) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 114.6mm grav_b=(-0.00,-0.04,-1.00) r=0.59m +[headless_play] t= 2.10s step= 105 trunk_z= 116.8mm grav_b=(+0.11,-0.09,-0.99) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 118.3mm grav_b=(+0.11,+0.05,-0.99) r=0.57m +[headless_play] t= 2.30s step= 115 trunk_z= 121.0mm grav_b=(-0.13,+0.12,-0.98) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 112.7mm grav_b=(-0.15,-0.04,-0.99) r=0.53m +[headless_play] t= 2.50s step= 125 trunk_z= 115.4mm grav_b=(-0.13,+0.08,-0.99) r=0.53m +[headless_play] t= 2.60s step= 130 trunk_z= 110.7mm grav_b=(-0.08,+0.02,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 110.3mm grav_b=(-0.03,-0.11,-0.99) r=0.54m +[headless_play] t= 2.80s step= 140 trunk_z= 101.5mm grav_b=(-0.01,-0.12,-0.99) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 108.9mm grav_b=(+0.05,-0.04,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 115.3mm grav_b=(+0.08,+0.08,-0.99) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(+0.04,-0.07,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 121.9mm grav_b=(-0.13,-0.08,-0.99) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 113.1mm grav_b=(-0.13,+0.04,-0.99) r=0.59m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(-0.09,-0.08,-0.99) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 87.7mm grav_b=(+0.03,-0.17,-0.98) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 84.3mm grav_b=(+0.18,+0.00,-0.98) r=0.64m +[headless_play] t= 3.70s step= 185 trunk_z= 110.0mm grav_b=(+0.08,-0.02,-1.00) r=0.65m +[headless_play] t= 3.80s step= 190 trunk_z= 116.2mm grav_b=(+0.01,-0.12,-0.99) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 121.3mm grav_b=(+0.02,-0.09,-1.00) r=0.65m +[headless_play] t= 4.00s step= 200 trunk_z= 119.4mm grav_b=(-0.00,-0.00,-1.00) r=0.64m +[headless_play] t= 4.10s step= 205 trunk_z= 115.6mm grav_b=(-0.01,-0.03,-1.00) r=0.64m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 116.6mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 4.40s step= 220 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 4.60s step= 230 trunk_z= 116.7mm grav_b=(+0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 116.7mm grav_b=(+0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(-0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 4.90s step= 245 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.00s step= 250 trunk_z= 116.7mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.10s step= 255 trunk_z= 116.7mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 5.30s step= 265 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 5.40s step= 270 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 5.50s step= 275 trunk_z= 116.8mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.60s step= 280 trunk_z= 117.0mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 6.10s step= 305 trunk_z= 117.6mm grav_b=(-0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 6.30s step= 315 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.61m +[headless_play] t= 6.40s step= 320 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.61m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(-0.00,-0.02,-1.00) r=0.61m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(-0.04,-0.02,-1.00) r=0.62m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(-0.08,-0.02,-1.00) r=0.64m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.12,-0.02,-0.99) r=0.65m +[headless_play] t= 6.90s step= 345 trunk_z= 107.8mm grav_b=(-0.15,-0.08,-0.99) r=0.65m +[headless_play] t= 7.00s step= 350 trunk_z= 109.2mm grav_b=(-0.06,+0.06,-1.00) r=0.64m +[headless_play] t= 7.10s step= 355 trunk_z= 110.5mm grav_b=(+0.07,+0.06,-1.00) r=0.65m +[headless_play] t= 7.20s step= 360 trunk_z= 114.4mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 7.30s step= 365 trunk_z= 114.3mm grav_b=(-0.01,-0.00,-1.00) r=0.65m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 7.50s step= 375 trunk_z= 115.3mm grav_b=(-0.03,+0.09,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(-0.01,-0.06,-1.00) r=0.62m +[headless_play] t= 7.70s step= 385 trunk_z= 115.7mm grav_b=(+0.04,-0.04,-1.00) r=0.59m +[headless_play] t= 7.80s step= 390 trunk_z= 119.1mm grav_b=(+0.03,+0.15,-0.99) r=0.57m +[headless_play] t= 7.90s step= 395 trunk_z= 125.9mm grav_b=(+0.04,+0.17,-0.98) r=0.55m +[headless_play] t= 8.00s step= 400 trunk_z= 125.2mm grav_b=(+0.04,+0.18,-0.98) r=0.55m +[headless_play] t= 8.10s step= 405 trunk_z= 123.8mm grav_b=(+0.03,+0.14,-0.99) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 114.8mm grav_b=(-0.03,+0.04,-1.00) r=0.56m +[headless_play] t= 8.30s step= 415 trunk_z= 120.3mm grav_b=(-0.07,-0.01,-1.00) r=0.57m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(-0.06,+0.11,-0.99) r=0.56m +[headless_play] t= 8.50s step= 425 trunk_z= 123.4mm grav_b=(-0.04,+0.09,-1.00) r=0.55m +[headless_play] t= 8.60s step= 430 trunk_z= 114.9mm grav_b=(-0.05,-0.03,-1.00) r=0.56m +[headless_play] t= 8.70s step= 435 trunk_z= 118.7mm grav_b=(-0.06,-0.03,-1.00) r=0.56m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(-0.01,+0.06,-1.00) r=0.55m +[headless_play] t= 8.90s step= 445 trunk_z= 118.1mm grav_b=(+0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 9.00s step= 450 trunk_z= 115.8mm grav_b=(+0.01,-0.13,-0.99) r=0.55m +[headless_play] t= 9.10s step= 455 trunk_z= 119.6mm grav_b=(-0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 9.20s step= 460 trunk_z= 114.6mm grav_b=(+0.06,+0.07,-1.00) r=0.56m +[headless_play] t= 9.30s step= 465 trunk_z= 113.8mm grav_b=(+0.03,-0.17,-0.99) r=0.57m +[headless_play] t= 9.40s step= 470 trunk_z= 128.7mm grav_b=(-0.03,-0.18,-0.98) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 124.0mm grav_b=(-0.01,-0.15,-0.99) r=0.59m +[headless_play] t= 9.60s step= 480 trunk_z= 123.4mm grav_b=(-0.01,-0.07,-1.00) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 122.4mm grav_b=(-0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 9.80s step= 490 trunk_z= 112.6mm grav_b=(-0.03,-0.13,-0.99) r=0.55m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(-0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.01,+0.11,-0.99) r=0.57m +[headless_play] t= 10.10s step= 505 trunk_z= 115.2mm grav_b=(+0.01,-0.05,-1.00) r=0.59m +[headless_play] t= 10.20s step= 510 trunk_z= 126.0mm grav_b=(-0.05,-0.17,-0.98) r=0.60m +[headless_play] t= 10.30s step= 515 trunk_z= 126.6mm grav_b=(-0.06,-0.17,-0.98) r=0.61m +[headless_play] t= 10.40s step= 520 trunk_z= 127.6mm grav_b=(-0.01,-0.07,-1.00) r=0.62m +[headless_play] t= 10.50s step= 525 trunk_z= 115.4mm grav_b=(+0.01,+0.07,-1.00) r=0.63m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 119.2mm grav_b=(-0.15,-0.10,-0.98) r=0.63m +[headless_play] t= 10.80s step= 540 trunk_z= 121.7mm grav_b=(-0.21,-0.02,-0.98) r=0.64m +[headless_play] t= 10.90s step= 545 trunk_z= 100.9mm grav_b=(-0.21,-0.09,-0.97) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 80.6mm grav_b=(-0.10,-0.31,-0.95) r=0.69m +[headless_play] t= 11.10s step= 555 trunk_z= 91.1mm grav_b=(-0.46,-0.05,-0.89) r=0.70m +[headless_play] t= 11.20s step= 560 trunk_z= 75.4mm grav_b=(-0.72,-0.31,-0.62) r=0.73m +[headless_play] RESET at t= 11.24s step= 562 (env termination, not a recovery) +[headless_play] t= 11.30s step= 565 trunk_z= 114.2mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(+0.07,-0.01,-1.00) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 119.3mm grav_b=(+0.03,+0.04,-1.00) r=0.64m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.03,-0.06,-1.00) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 115.9mm grav_b=(-0.10,-0.01,-1.00) r=0.62m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(-0.06,-0.00,-1.00) r=0.62m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(-0.00,-0.00,-1.00) r=0.61m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.61m +[headless_play] t= 12.10s step= 605 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 12.30s step= 615 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 12.40s step= 620 trunk_z= 118.5mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 12.50s step= 625 trunk_z= 119.1mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 12.60s step= 630 trunk_z= 119.2mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 119.2mm grav_b=(+0.04,+0.01,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 118.1mm grav_b=(+0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(+0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 13.20s step= 660 trunk_z= 116.7mm grav_b=(-0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 13.30s step= 665 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 13.60s step= 680 trunk_z= 118.2mm grav_b=(+0.08,-0.01,-1.00) r=0.58m +[headless_play] t= 13.70s step= 685 trunk_z= 120.7mm grav_b=(+0.09,+0.01,-1.00) r=0.57m +[headless_play] t= 13.80s step= 690 trunk_z= 120.0mm grav_b=(+0.05,-0.09,-0.99) r=0.57m +[headless_play] t= 13.90s step= 695 trunk_z= 117.6mm grav_b=(-0.13,-0.08,-0.99) r=0.56m +[headless_play] t= 14.00s step= 700 trunk_z= 118.1mm grav_b=(-0.12,+0.04,-0.99) r=0.56m +[headless_play] t= 14.10s step= 705 trunk_z= 116.4mm grav_b=(-0.07,+0.01,-1.00) r=0.55m +[headless_play] t= 14.20s step= 710 trunk_z= 116.4mm grav_b=(-0.08,-0.02,-1.00) r=0.55m +[headless_play] t= 14.30s step= 715 trunk_z= 116.3mm grav_b=(-0.09,-0.01,-1.00) r=0.55m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(-0.06,-0.07,-1.00) r=0.55m +[headless_play] t= 14.50s step= 725 trunk_z= 114.3mm grav_b=(-0.02,-0.02,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 14.90s step= 745 trunk_z= 116.4mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 15.80s step= 790 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 16.00s step= 800 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 16.10s step= 805 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 16.20s step= 810 trunk_z= 116.9mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 16.30s step= 815 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 16.40s step= 820 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 16.50s step= 825 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 16.60s step= 830 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.54m +[headless_play] t= 16.80s step= 840 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.54m +[headless_play] t= 16.90s step= 845 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 17.30s step= 865 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 17.40s step= 870 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 17.50s step= 875 trunk_z= 116.7mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 17.60s step= 880 trunk_z= 116.9mm grav_b=(+0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 17.80s step= 890 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 18.10s step= 905 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 18.20s step= 910 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 18.30s step= 915 trunk_z= 117.1mm grav_b=(+0.00,-0.02,-1.00) r=0.53m +[headless_play] t= 18.40s step= 920 trunk_z= 118.9mm grav_b=(+0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 119.8mm grav_b=(+0.04,-0.00,-1.00) r=0.53m +[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(+0.04,+0.07,-1.00) r=0.53m +[headless_play] t= 18.70s step= 935 trunk_z= 122.9mm grav_b=(+0.04,-0.03,-1.00) r=0.52m +[headless_play] t= 18.80s step= 940 trunk_z= 109.1mm grav_b=(-0.16,-0.17,-0.97) r=0.51m +[headless_play] t= 18.90s step= 945 trunk_z= 111.5mm grav_b=(-0.28,-0.03,-0.96) r=0.50m +[headless_play] t= 19.00s step= 950 trunk_z= 108.6mm grav_b=(-0.15,-0.14,-0.98) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 86.1mm grav_b=(-0.50,-0.07,-0.86) r=0.48m +[headless_play] t= 19.20s step= 960 trunk_z= 43.3mm grav_b=(-0.80,-0.40,-0.44) r=0.49m +[headless_play] RESET at t= 19.22s step= 961 (env termination, not a recovery) +[headless_play] t= 19.30s step= 965 trunk_z= 115.0mm grav_b=(-0.04,+0.01,-1.00) r=0.46m +[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(-0.01,+0.09,-1.00) r=0.46m +[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(-0.04,-0.04,-1.00) r=0.45m +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(-0.07,+0.05,-1.00) r=0.45m +[headless_play] t= 19.70s step= 985 trunk_z= 122.9mm grav_b=(-0.07,+0.07,-1.00) r=0.45m +[headless_play] t= 19.80s step= 990 trunk_z= 118.3mm grav_b=(-0.01,-0.13,-0.99) r=0.44m +[headless_play] t= 19.90s step= 995 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 20.00s step=1000 trunk_z= 125.4mm grav_b=(-0.04,+0.11,-0.99) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 120.6mm grav_b=(-0.10,+0.03,-0.99) r=0.42m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t8.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..14e19432ac320d0f15af57a2fd910da192cee4f5 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t8.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.533,-17.947,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 117.6mm grav_b=(+0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 117.0mm grav_b=(+0.00,-0.00,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 117.0mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 118.5mm grav_b=(+0.04,-0.00,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 119.3mm grav_b=(+0.05,-0.01,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 120.5mm grav_b=(+0.06,-0.01,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 120.9mm grav_b=(+0.07,+0.00,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 113.2mm grav_b=(+0.06,-0.18,-0.98) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 111.8mm grav_b=(-0.14,-0.12,-0.98) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 117.8mm grav_b=(-0.03,-0.06,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(+0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 118.8mm grav_b=(+0.06,-0.01,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 119.4mm grav_b=(+0.05,+0.00,-1.00) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 122.4mm grav_b=(+0.08,-0.02,-1.00) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(-0.01,+0.07,-1.00) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 114.2mm grav_b=(-0.07,-0.11,-0.99) r=0.59m +[headless_play] t= 2.40s step= 120 trunk_z= 117.6mm grav_b=(-0.05,-0.07,-1.00) r=0.60m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 2.60s step= 130 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 120.1mm grav_b=(+0.07,+0.00,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 120.7mm grav_b=(+0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(-0.06,-0.16,-0.99) r=0.65m +[headless_play] t= 3.00s step= 150 trunk_z= 116.3mm grav_b=(-0.09,-0.03,-1.00) r=0.67m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00) r=0.68m +[headless_play] t= 3.20s step= 160 trunk_z= 117.7mm grav_b=(+0.03,+0.00,-1.00) r=0.68m +[headless_play] t= 3.30s step= 165 trunk_z= 118.7mm grav_b=(+0.05,-0.00,-1.00) r=0.69m +[headless_play] t= 3.40s step= 170 trunk_z= 119.0mm grav_b=(+0.06,-0.01,-1.00) r=0.69m +[headless_play] t= 3.50s step= 175 trunk_z= 119.3mm grav_b=(+0.06,-0.02,-1.00) r=0.69m +[headless_play] t= 3.60s step= 180 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.69m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 3.80s step= 190 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.70m +[headless_play] t= 3.90s step= 195 trunk_z= 117.3mm grav_b=(+0.03,+0.02,-1.00) r=0.71m +[headless_play] t= 4.00s step= 200 trunk_z= 119.7mm grav_b=(+0.08,+0.01,-1.00) r=0.72m +[headless_play] t= 4.10s step= 205 trunk_z= 119.2mm grav_b=(+0.03,-0.13,-0.99) r=0.72m +[headless_play] t= 4.20s step= 210 trunk_z= 121.3mm grav_b=(-0.10,-0.15,-0.98) r=0.73m +[headless_play] t= 4.30s step= 215 trunk_z= 119.2mm grav_b=(-0.08,-0.07,-0.99) r=0.74m +[headless_play] t= 4.40s step= 220 trunk_z= 117.0mm grav_b=(-0.09,-0.02,-1.00) r=0.75m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(-0.08,+0.02,-1.00) r=0.76m +[headless_play] t= 4.60s step= 230 trunk_z= 115.3mm grav_b=(-0.11,+0.01,-0.99) r=0.76m +[headless_play] t= 4.70s step= 235 trunk_z= 105.8mm grav_b=(-0.06,-0.04,-1.00) r=0.75m +[headless_play] t= 4.80s step= 240 trunk_z= 100.8mm grav_b=(+0.15,+0.01,-0.99) r=0.76m +[headless_play] t= 4.90s step= 245 trunk_z= 111.9mm grav_b=(+0.07,-0.02,-1.00) r=0.76m +[headless_play] t= 5.00s step= 250 trunk_z= 112.1mm grav_b=(+0.11,-0.02,-0.99) r=0.75m +[headless_play] t= 5.10s step= 255 trunk_z= 119.3mm grav_b=(+0.05,+0.00,-1.00) r=0.76m +[headless_play] t= 5.20s step= 260 trunk_z= 118.2mm grav_b=(+0.11,-0.07,-0.99) r=0.76m +[headless_play] t= 5.30s step= 265 trunk_z= 118.4mm grav_b=(-0.00,-0.13,-0.99) r=0.74m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(-0.09,-0.06,-0.99) r=0.74m +[headless_play] t= 5.50s step= 275 trunk_z= 117.9mm grav_b=(-0.07,-0.04,-1.00) r=0.75m +[headless_play] t= 5.60s step= 280 trunk_z= 116.4mm grav_b=(-0.07,+0.01,-1.00) r=0.75m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(-0.05,+0.02,-1.00) r=0.76m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=0.76m +[headless_play] t= 5.90s step= 295 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.76m +[headless_play] t= 6.00s step= 300 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.76m +[headless_play] t= 6.10s step= 305 trunk_z= 118.1mm grav_b=(+0.09,+0.01,-1.00) r=0.78m +[headless_play] t= 6.20s step= 310 trunk_z= 122.2mm grav_b=(+0.11,+0.02,-0.99) r=0.78m +[headless_play] t= 6.30s step= 315 trunk_z= 109.2mm grav_b=(-0.07,+0.10,-0.99) r=0.79m +[headless_play] t= 6.40s step= 320 trunk_z= 111.2mm grav_b=(-0.06,-0.02,-1.00) r=0.81m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.09,+0.02,-1.00) r=0.81m +[headless_play] t= 6.60s step= 330 trunk_z= 118.1mm grav_b=(+0.01,+0.14,-0.99) r=0.82m +[headless_play] t= 6.70s step= 335 trunk_z= 121.0mm grav_b=(-0.11,+0.10,-0.99) r=0.82m +[headless_play] t= 6.80s step= 340 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 115.0mm grav_b=(-0.08,+0.07,-0.99) r=0.82m +[headless_play] t= 7.00s step= 350 trunk_z= 113.0mm grav_b=(-0.11,-0.05,-0.99) r=0.82m +[headless_play] t= 7.10s step= 355 trunk_z= 109.7mm grav_b=(+0.07,-0.02,-1.00) r=0.81m +[headless_play] t= 7.20s step= 360 trunk_z= 117.8mm grav_b=(-0.00,-0.05,-1.00) r=0.82m +[headless_play] t= 7.30s step= 365 trunk_z= 123.9mm grav_b=(+0.10,-0.20,-0.98) r=0.81m +[headless_play] t= 7.40s step= 370 trunk_z= 134.8mm grav_b=(-0.03,-0.18,-0.98) r=0.81m +[headless_play] t= 7.50s step= 375 trunk_z= 133.8mm grav_b=(+0.01,-0.14,-0.99) r=0.81m +[headless_play] t= 7.60s step= 380 trunk_z= 122.8mm grav_b=(-0.04,+0.02,-1.00) r=0.85m +[headless_play] t= 7.70s step= 385 trunk_z= 114.7mm grav_b=(-0.09,-0.13,-0.99) r=0.88m +[headless_play] t= 7.80s step= 390 trunk_z= 116.6mm grav_b=(+0.05,+0.09,-0.99) r=0.91m +[headless_play] t= 7.90s step= 395 trunk_z= 128.3mm grav_b=(+0.10,+0.10,-0.99) r=0.94m +[headless_play] t= 8.00s step= 400 trunk_z= 132.8mm grav_b=(+0.03,-0.03,-1.00) r=0.96m +[headless_play] t= 8.10s step= 405 trunk_z= 119.4mm grav_b=(-0.06,-0.11,-0.99) r=0.96m +[headless_play] t= 8.20s step= 410 trunk_z= 122.1mm grav_b=(-0.06,-0.07,-1.00) r=0.98m +[headless_play] t= 8.30s step= 415 trunk_z= 120.6mm grav_b=(-0.03,-0.04,-1.00) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 114.5mm grav_b=(-0.07,-0.07,-0.99) r=1.02m +[headless_play] t= 8.50s step= 425 trunk_z= 118.9mm grav_b=(+0.03,+0.11,-0.99) r=1.05m +[headless_play] t= 8.60s step= 430 trunk_z= 131.9mm grav_b=(+0.06,+0.07,-1.00) r=1.06m +[headless_play] t= 8.70s step= 435 trunk_z= 119.8mm grav_b=(+0.06,-0.08,-0.99) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 106.6mm grav_b=(-0.18,-0.02,-0.98) r=1.07m +[headless_play] t= 8.90s step= 445 trunk_z= 114.5mm grav_b=(-0.09,+0.02,-1.00) r=1.07m +[headless_play] t= 9.00s step= 450 trunk_z= 117.7mm grav_b=(-0.08,-0.08,-0.99) r=1.07m +[headless_play] t= 9.10s step= 455 trunk_z= 120.3mm grav_b=(-0.06,-0.18,-0.98) r=1.07m +[headless_play] t= 9.20s step= 460 trunk_z= 124.5mm grav_b=(+0.01,-0.08,-1.00) r=1.07m +[headless_play] t= 9.30s step= 465 trunk_z= 123.5mm grav_b=(+0.08,+0.00,-1.00) r=1.08m +[headless_play] t= 9.40s step= 470 trunk_z= 119.1mm grav_b=(+0.08,-0.28,-0.96) r=1.09m +[headless_play] t= 9.50s step= 475 trunk_z= 127.0mm grav_b=(-0.01,-0.21,-0.98) r=1.09m +[headless_play] t= 9.60s step= 480 trunk_z= 125.3mm grav_b=(-0.04,-0.11,-0.99) r=1.11m +[headless_play] t= 9.70s step= 485 trunk_z= 118.2mm grav_b=(-0.11,-0.03,-0.99) r=1.13m +[headless_play] t= 9.80s step= 490 trunk_z= 114.8mm grav_b=(-0.11,-0.06,-0.99) r=1.14m +[headless_play] t= 9.90s step= 495 trunk_z= 115.4mm grav_b=(+0.02,+0.12,-0.99) r=1.14m +[headless_play] t= 10.00s step= 500 trunk_z= 123.0mm grav_b=(+0.04,+0.06,-1.00) r=1.14m +[headless_play] t= 10.10s step= 505 trunk_z= 119.8mm grav_b=(-0.04,-0.20,-0.98) r=1.12m +[headless_play] t= 10.20s step= 510 trunk_z= 127.8mm grav_b=(-0.07,-0.25,-0.97) r=1.12m +[headless_play] t= 10.30s step= 515 trunk_z= 129.6mm grav_b=(-0.05,-0.22,-0.97) r=1.12m +[headless_play] t= 10.40s step= 520 trunk_z= 127.7mm grav_b=(-0.03,-0.13,-0.99) r=1.13m +[headless_play] t= 10.50s step= 525 trunk_z= 122.5mm grav_b=(-0.08,-0.04,-1.00) r=1.14m +[headless_play] t= 10.60s step= 530 trunk_z= 112.6mm grav_b=(-0.09,-0.09,-0.99) r=1.15m +[headless_play] t= 10.70s step= 535 trunk_z= 119.4mm grav_b=(-0.03,+0.05,-1.00) r=1.16m +[headless_play] t= 10.80s step= 540 trunk_z= 125.0mm grav_b=(+0.02,+0.11,-0.99) r=1.17m +[headless_play] t= 10.90s step= 545 trunk_z= 128.7mm grav_b=(+0.03,+0.02,-1.00) r=1.17m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(-0.05,-0.04,-1.00) r=1.17m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(-0.02,+0.06,-1.00) r=1.19m +[headless_play] t= 11.20s step= 560 trunk_z= 123.3mm grav_b=(+0.07,-0.17,-0.98) r=1.20m +[headless_play] t= 11.30s step= 565 trunk_z= 113.2mm grav_b=(-0.12,-0.25,-0.96) r=1.21m +[headless_play] t= 11.40s step= 570 trunk_z= 116.9mm grav_b=(-0.12,-0.03,-0.99) r=1.22m +[headless_play] t= 11.50s step= 575 trunk_z= 120.3mm grav_b=(+0.00,+0.04,-1.00) r=1.23m +[headless_play] t= 11.60s step= 580 trunk_z= 115.6mm grav_b=(+0.01,-0.13,-0.99) r=1.22m +[headless_play] t= 11.70s step= 585 trunk_z= 120.3mm grav_b=(+0.05,-0.02,-1.00) r=1.20m +[headless_play] t= 11.80s step= 590 trunk_z= 116.2mm grav_b=(+0.01,-0.04,-1.00) r=1.19m +[headless_play] t= 11.90s step= 595 trunk_z= 117.2mm grav_b=(-0.02,-0.05,-1.00) r=1.18m +[headless_play] t= 12.00s step= 600 trunk_z= 118.4mm grav_b=(+0.00,+0.07,-1.00) r=1.17m +[headless_play] t= 12.10s step= 605 trunk_z= 116.1mm grav_b=(-0.02,-0.09,-1.00) r=1.15m +[headless_play] t= 12.20s step= 610 trunk_z= 123.0mm grav_b=(-0.02,-0.14,-0.99) r=1.15m +[headless_play] t= 12.30s step= 615 trunk_z= 121.4mm grav_b=(+0.05,-0.01,-1.00) r=1.15m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(+0.08,+0.04,-1.00) r=1.16m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(+0.08,-0.12,-0.99) r=1.17m +[headless_play] t= 12.60s step= 630 trunk_z= 121.0mm grav_b=(+0.06,-0.04,-1.00) r=1.19m +[headless_play] t= 12.70s step= 635 trunk_z= 120.9mm grav_b=(+0.03,+0.07,-1.00) r=1.22m +[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(-0.00,-0.11,-0.99) r=1.25m +[headless_play] t= 12.90s step= 645 trunk_z= 124.3mm grav_b=(+0.04,-0.12,-0.99) r=1.28m +[headless_play] t= 13.00s step= 650 trunk_z= 116.9mm grav_b=(+0.05,-0.01,-1.00) r=1.31m +[headless_play] t= 13.10s step= 655 trunk_z= 121.5mm grav_b=(+0.03,+0.02,-1.00) r=1.34m +[headless_play] t= 13.20s step= 660 trunk_z= 114.7mm grav_b=(+0.03,-0.12,-0.99) r=1.37m +[headless_play] t= 13.30s step= 665 trunk_z= 115.9mm grav_b=(-0.02,+0.09,-1.00) r=1.39m +[headless_play] t= 13.40s step= 670 trunk_z= 123.0mm grav_b=(+0.03,+0.16,-0.99) r=1.42m +[headless_play] t= 13.50s step= 675 trunk_z= 120.1mm grav_b=(+0.06,+0.03,-1.00) r=1.45m +[headless_play] t= 13.60s step= 680 trunk_z= 121.3mm grav_b=(+0.06,-0.07,-1.00) r=1.47m +[headless_play] t= 13.70s step= 685 trunk_z= 115.5mm grav_b=(+0.03,+0.03,-1.00) r=1.50m +[headless_play] t= 13.80s step= 690 trunk_z= 124.3mm grav_b=(+0.01,+0.05,-1.00) r=1.54m +[headless_play] t= 13.90s step= 695 trunk_z= 113.3mm grav_b=(+0.03,-0.12,-0.99) r=1.58m +[headless_play] t= 14.00s step= 700 trunk_z= 113.7mm grav_b=(+0.06,+0.07,-1.00) r=1.61m +[headless_play] t= 14.10s step= 705 trunk_z= 122.8mm grav_b=(+0.08,+0.15,-0.99) r=1.63m +[headless_play] t= 14.20s step= 710 trunk_z= 122.0mm grav_b=(+0.12,+0.01,-0.99) r=1.67m +[headless_play] t= 14.30s step= 715 trunk_z= 120.8mm grav_b=(-0.01,-0.13,-0.99) r=1.69m +[headless_play] t= 14.40s step= 720 trunk_z= 124.2mm grav_b=(-0.07,-0.08,-0.99) r=1.72m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(-0.05,+0.05,-1.00) r=1.75m +[headless_play] t= 14.60s step= 730 trunk_z= 117.6mm grav_b=(-0.08,-0.09,-0.99) r=1.75m +[headless_play] t= 14.70s step= 735 trunk_z= 115.5mm grav_b=(+0.00,-0.04,-1.00) r=1.76m +[headless_play] t= 14.80s step= 740 trunk_z= 113.2mm grav_b=(+0.05,+0.13,-0.99) r=1.77m +[headless_play] t= 14.90s step= 745 trunk_z= 122.3mm grav_b=(+0.02,+0.05,-1.00) r=1.78m +[headless_play] t= 15.00s step= 750 trunk_z= 116.7mm grav_b=(+0.13,-0.09,-0.99) r=1.80m +[headless_play] t= 15.10s step= 755 trunk_z= 124.7mm grav_b=(+0.03,+0.08,-1.00) r=1.83m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=1.85m +[headless_play] t= 15.30s step= 765 trunk_z= 113.6mm grav_b=(-0.04,-0.14,-0.99) r=1.87m +[headless_play] t= 15.40s step= 770 trunk_z= 118.0mm grav_b=(-0.02,+0.05,-1.00) r=1.89m +[headless_play] t= 15.50s step= 775 trunk_z= 128.4mm grav_b=(+0.06,+0.21,-0.98) r=1.91m +[headless_play] t= 15.60s step= 780 trunk_z= 128.2mm grav_b=(+0.06,+0.12,-0.99) r=1.94m +[headless_play] t= 15.70s step= 785 trunk_z= 119.4mm grav_b=(+0.11,+0.05,-0.99) r=1.96m +[headless_play] t= 15.80s step= 790 trunk_z= 128.2mm grav_b=(-0.02,+0.01,-1.00) r=1.97m +[headless_play] t= 15.90s step= 795 trunk_z= 118.6mm grav_b=(+0.06,+0.06,-1.00) r=1.99m +[headless_play] t= 16.00s step= 800 trunk_z= 119.4mm grav_b=(+0.09,-0.23,-0.97) r=2.00m +[headless_play] t= 16.10s step= 805 trunk_z= 127.4mm grav_b=(+0.19,+0.02,-0.98) r=2.00m +[headless_play] t= 16.20s step= 810 trunk_z= 107.9mm grav_b=(+0.35,+0.08,-0.93) r=2.02m +[headless_play] t= 16.30s step= 815 trunk_z= 110.4mm grav_b=(+0.62,-0.35,-0.70) r=2.05m +[headless_play] RESET at t= 16.36s step= 818 (env termination, not a recovery) +[headless_play] t= 16.40s step= 820 trunk_z= 114.5mm grav_b=(-0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 16.50s step= 825 trunk_z= 115.8mm grav_b=(-0.04,-0.10,-0.99) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 121.5mm grav_b=(-0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 119.2mm grav_b=(-0.07,+0.14,-0.99) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 124.1mm grav_b=(-0.07,+0.08,-0.99) r=0.40m +[headless_play] t= 16.90s step= 845 trunk_z= 117.8mm grav_b=(-0.04,-0.06,-1.00) r=0.38m +[headless_play] t= 17.00s step= 850 trunk_z= 120.9mm grav_b=(+0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 17.10s step= 855 trunk_z= 120.6mm grav_b=(-0.01,+0.09,-1.00) r=0.37m +[headless_play] t= 17.20s step= 860 trunk_z= 119.4mm grav_b=(-0.03,-0.07,-1.00) r=0.37m +[headless_play] t= 17.30s step= 865 trunk_z= 124.3mm grav_b=(-0.04,-0.10,-0.99) r=0.36m +[headless_play] t= 17.40s step= 870 trunk_z= 115.8mm grav_b=(-0.01,+0.10,-0.99) r=0.35m +[headless_play] t= 17.50s step= 875 trunk_z= 123.9mm grav_b=(+0.00,+0.04,-1.00) r=0.34m +[headless_play] t= 17.60s step= 880 trunk_z= 121.3mm grav_b=(-0.05,-0.14,-0.99) r=0.32m +[headless_play] t= 17.70s step= 885 trunk_z= 127.4mm grav_b=(-0.05,-0.08,-1.00) r=0.30m +[headless_play] t= 17.80s step= 890 trunk_z= 114.4mm grav_b=(-0.00,+0.09,-1.00) r=0.29m +[headless_play] t= 17.90s step= 895 trunk_z= 119.2mm grav_b=(-0.05,-0.06,-1.00) r=0.28m +[headless_play] t= 18.00s step= 900 trunk_z= 125.0mm grav_b=(-0.04,-0.13,-0.99) r=0.27m +[headless_play] t= 18.10s step= 905 trunk_z= 120.9mm grav_b=(-0.03,+0.03,-1.00) r=0.27m +[headless_play] t= 18.20s step= 910 trunk_z= 125.6mm grav_b=(+0.00,+0.13,-0.99) r=0.26m +[headless_play] t= 18.30s step= 915 trunk_z= 121.4mm grav_b=(-0.01,+0.02,-1.00) r=0.25m +[headless_play] t= 18.40s step= 920 trunk_z= 121.0mm grav_b=(-0.05,-0.05,-1.00) r=0.24m +[headless_play] t= 18.50s step= 925 trunk_z= 117.2mm grav_b=(-0.02,+0.11,-0.99) r=0.23m +[headless_play] t= 18.60s step= 930 trunk_z= 125.0mm grav_b=(-0.02,+0.11,-0.99) r=0.22m +[headless_play] t= 18.70s step= 935 trunk_z= 116.5mm grav_b=(-0.04,-0.05,-1.00) r=0.21m +[headless_play] t= 18.80s step= 940 trunk_z= 122.6mm grav_b=(-0.04,+0.01,-1.00) r=0.19m +[headless_play] t= 18.90s step= 945 trunk_z= 119.0mm grav_b=(-0.04,+0.16,-0.99) r=0.19m +[headless_play] t= 19.00s step= 950 trunk_z= 125.5mm grav_b=(-0.03,+0.08,-1.00) r=0.18m +[headless_play] t= 19.10s step= 955 trunk_z= 120.5mm grav_b=(-0.01,-0.08,-1.00) r=0.15m +[headless_play] t= 19.20s step= 960 trunk_z= 121.6mm grav_b=(+0.01,+0.04,-1.00) r=0.12m +[headless_play] t= 19.30s step= 965 trunk_z= 121.8mm grav_b=(-0.01,+0.05,-1.00) r=0.10m +[headless_play] t= 19.40s step= 970 trunk_z= 124.0mm grav_b=(-0.03,-0.13,-0.99) r=0.08m +[headless_play] t= 19.50s step= 975 trunk_z= 126.4mm grav_b=(-0.04,-0.06,-1.00) r=0.07m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(-0.02,+0.07,-1.00) r=0.08m +[headless_play] t= 19.70s step= 985 trunk_z= 117.4mm grav_b=(-0.05,-0.12,-0.99) r=0.08m +[headless_play] t= 19.80s step= 990 trunk_z= 128.6mm grav_b=(-0.07,-0.16,-0.98) r=0.09m +[headless_play] t= 19.90s step= 995 trunk_z= 124.5mm grav_b=(-0.01,-0.05,-1.00) r=0.10m +[headless_play] t= 20.00s step=1000 trunk_z= 122.9mm grav_b=(-0.08,+0.03,-1.00) r=0.14m +[headless_play] t= 20.10s step=1005 trunk_z= 114.2mm grav_b=(-0.16,-0.12,-0.98) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t9.log b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..49072559653e91c29a1104e55b0d492bb2afc910 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-mix-randcmd-2026-10-22/dg2-c-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.248,-18.090,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(-0.08,-0.01,-1.00) r=0.26m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(-0.07,-0.01,-1.00) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 119.1mm grav_b=(+0.01,+0.01,-1.00) r=0.26m +[headless_play] t= 0.90s step= 45 trunk_z= 118.6mm grav_b=(-0.02,+0.00,-1.00) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(-0.08,-0.01,-1.00) r=0.25m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(-0.11,-0.01,-0.99) r=0.25m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(-0.13,-0.01,-0.99) r=0.25m +[headless_play] t= 1.30s step= 65 trunk_z= 117.1mm grav_b=(-0.16,-0.02,-0.99) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(-0.19,-0.03,-0.98) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 108.3mm grav_b=(-0.27,-0.04,-0.96) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 103.8mm grav_b=(-0.44,+0.14,-0.89) r=0.26m +[headless_play] t= 1.70s step= 85 trunk_z= 72.1mm grav_b=(-0.89,-0.24,-0.39) r=0.30m +[headless_play] RESET at t= 1.72s step= 86 (env termination, not a recovery) +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(-0.05,+0.02,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(-0.07,+0.09,-0.99) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(-0.11,+0.01,-0.99) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 118.1mm grav_b=(-0.11,+0.08,-0.99) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(-0.10,+0.01,-0.99) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 118.7mm grav_b=(-0.10,+0.08,-0.99) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.10,+0.04,-0.99) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(-0.08,-0.05,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.09,+0.08,-0.99) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(-0.10,-0.06,-0.99) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 117.4mm grav_b=(-0.10,+0.08,-0.99) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(-0.13,+0.01,-0.99) r=0.37m +[headless_play] t= 3.00s step= 150 trunk_z= 117.9mm grav_b=(-0.11,-0.06,-0.99) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.13,+0.13,-0.98) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(-0.17,-0.03,-0.99) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 121.4mm grav_b=(-0.20,-0.16,-0.97) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 122.5mm grav_b=(-0.14,-0.05,-0.99) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 122.2mm grav_b=(-0.02,+0.17,-0.99) r=0.38m +[headless_play] t= 3.60s step= 180 trunk_z= 129.4mm grav_b=(-0.01,+0.21,-0.98) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 128.3mm grav_b=(-0.04,+0.20,-0.98) r=0.44m +[headless_play] t= 3.80s step= 190 trunk_z= 123.9mm grav_b=(-0.07,+0.30,-0.95) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 119.3mm grav_b=(-0.16,+0.46,-0.87) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 103.7mm grav_b=(-0.13,+0.86,-0.50) r=0.53m +[headless_play] RESET at t= 4.04s step= 202 (env termination, not a recovery) +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 119.8mm grav_b=(-0.03,+0.06,-1.00) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 117.2mm grav_b=(-0.05,-0.11,-0.99) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 118.7mm grav_b=(-0.07,+0.06,-1.00) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 125.6mm grav_b=(-0.13,+0.15,-0.98) r=0.38m +[headless_play] t= 4.60s step= 230 trunk_z= 119.3mm grav_b=(-0.11,+0.03,-0.99) r=0.39m +[headless_play] t= 4.70s step= 235 trunk_z= 120.7mm grav_b=(-0.06,+0.04,-1.00) r=0.39m +[headless_play] t= 4.80s step= 240 trunk_z= 118.7mm grav_b=(-0.10,+0.04,-0.99) r=0.40m +[headless_play] t= 4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.11,-0.09,-0.99) r=0.41m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(-0.06,+0.17,-0.98) r=0.42m +[headless_play] t= 5.10s step= 255 trunk_z= 131.4mm grav_b=(-0.00,+0.15,-0.99) r=0.43m +[headless_play] t= 5.20s step= 260 trunk_z= 124.4mm grav_b=(-0.05,+0.01,-1.00) r=0.46m +[headless_play] t= 5.30s step= 265 trunk_z= 116.0mm grav_b=(-0.13,+0.05,-0.99) r=0.48m +[headless_play] t= 5.40s step= 270 trunk_z= 118.8mm grav_b=(-0.08,-0.01,-1.00) r=0.49m +[headless_play] t= 5.50s step= 275 trunk_z= 118.2mm grav_b=(-0.11,-0.09,-0.99) r=0.50m +[headless_play] t= 5.60s step= 280 trunk_z= 119.8mm grav_b=(-0.12,+0.03,-0.99) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 121.4mm grav_b=(-0.14,+0.19,-0.97) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 122.1mm grav_b=(-0.22,+0.16,-0.96) r=0.48m +[headless_play] t= 5.90s step= 295 trunk_z= 114.8mm grav_b=(-0.19,+0.05,-0.98) r=0.49m +[headless_play] t= 6.00s step= 300 trunk_z= 111.8mm grav_b=(-0.19,+0.21,-0.96) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.19,+0.12,-0.97) r=0.47m +[headless_play] t= 6.20s step= 310 trunk_z= 107.8mm grav_b=(-0.11,-0.00,-0.99) r=0.47m +[headless_play] t= 6.30s step= 315 trunk_z= 110.5mm grav_b=(+0.00,+0.12,-0.99) r=0.46m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(+0.01,+0.12,-0.99) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 121.8mm grav_b=(+0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 6.60s step= 330 trunk_z= 121.1mm grav_b=(-0.00,-0.11,-0.99) r=0.49m +[headless_play] t= 6.70s step= 335 trunk_z= 121.7mm grav_b=(-0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 120.6mm grav_b=(-0.05,+0.06,-1.00) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 119.5mm grav_b=(-0.07,-0.05,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 118.4mm grav_b=(-0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 7.10s step= 355 trunk_z= 121.2mm grav_b=(-0.09,+0.17,-0.98) r=0.49m +[headless_play] t= 7.20s step= 360 trunk_z= 129.8mm grav_b=(-0.11,+0.25,-0.96) r=0.48m +[headless_play] t= 7.30s step= 365 trunk_z= 129.9mm grav_b=(-0.12,+0.22,-0.97) r=0.47m +[headless_play] t= 7.40s step= 370 trunk_z= 127.3mm grav_b=(-0.10,+0.17,-0.98) r=0.45m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(-0.06,+0.13,-0.99) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 114.5mm grav_b=(-0.16,+0.34,-0.93) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 112.0mm grav_b=(-0.35,+0.30,-0.89) r=0.40m +[headless_play] t= 7.80s step= 390 trunk_z= 83.2mm grav_b=(-0.45,+0.81,-0.37) r=0.42m +[headless_play] RESET at t= 7.82s step= 391 (env termination, not a recovery) +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 8.10s step= 405 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00) r=0.53m +[headless_play] t= 8.20s step= 410 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 8.50s step= 425 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 8.90s step= 445 trunk_z= 116.8mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 9.00s step= 450 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 9.30s step= 465 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.07,-0.01,-1.00) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(-0.07,-0.02,-1.00) r=0.53m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 9.70s step= 485 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.53m +[headless_play] t= 9.90s step= 495 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.00s step= 500 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 10.20s step= 510 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=0.53m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.70s step= 535 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 10.90s step= 545 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 118.7mm grav_b=(-0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(-0.10,+0.03,-0.99) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 115.5mm grav_b=(-0.05,-0.03,-1.00) r=0.55m +[headless_play] t= 11.30s step= 565 trunk_z= 115.2mm grav_b=(-0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 11.40s step= 570 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 11.50s step= 575 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 11.60s step= 580 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 11.80s step= 590 trunk_z= 116.1mm grav_b=(-0.06,-0.02,-1.00) r=0.55m +[headless_play] t= 11.90s step= 595 trunk_z= 117.2mm grav_b=(-0.05,+0.02,-1.00) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 117.0mm grav_b=(+0.00,+0.10,-1.00) r=0.55m +[headless_play] t= 12.10s step= 605 trunk_z= 115.6mm grav_b=(-0.03,-0.05,-1.00) r=0.55m +[headless_play] t= 12.20s step= 610 trunk_z= 117.3mm grav_b=(-0.03,-0.10,-0.99) r=0.57m +[headless_play] t= 12.30s step= 615 trunk_z= 113.4mm grav_b=(-0.01,+0.04,-1.00) r=0.57m +[headless_play] t= 12.40s step= 620 trunk_z= 114.7mm grav_b=(+0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 12.50s step= 625 trunk_z= 111.3mm grav_b=(+0.01,-0.12,-0.99) r=0.58m +[headless_play] t= 12.60s step= 630 trunk_z= 119.0mm grav_b=(-0.01,-0.10,-0.99) r=0.60m +[headless_play] t= 12.70s step= 635 trunk_z= 113.0mm grav_b=(-0.01,+0.07,-1.00) r=0.61m +[headless_play] t= 12.80s step= 640 trunk_z= 119.2mm grav_b=(-0.07,+0.05,-1.00) r=0.61m +[headless_play] t= 12.90s step= 645 trunk_z= 120.2mm grav_b=(-0.04,-0.14,-0.99) r=0.63m +[headless_play] t= 13.00s step= 650 trunk_z= 127.5mm grav_b=(-0.05,-0.17,-0.98) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 125.1mm grav_b=(-0.01,-0.10,-0.99) r=0.66m +[headless_play] t= 13.20s step= 660 trunk_z= 112.4mm grav_b=(+0.02,+0.07,-1.00) r=0.67m +[headless_play] t= 13.30s step= 665 trunk_z= 124.1mm grav_b=(-0.06,+0.08,-1.00) r=0.68m +[headless_play] t= 13.40s step= 670 trunk_z= 118.9mm grav_b=(-0.12,-0.02,-0.99) r=0.70m +[headless_play] t= 13.50s step= 675 trunk_z= 120.4mm grav_b=(-0.08,-0.01,-1.00) r=0.72m +[headless_play] t= 13.60s step= 680 trunk_z= 117.9mm grav_b=(-0.00,+0.15,-0.99) r=0.73m +[headless_play] t= 13.70s step= 685 trunk_z= 130.2mm grav_b=(-0.00,+0.08,-1.00) r=0.75m +[headless_play] t= 13.80s step= 690 trunk_z= 113.1mm grav_b=(-0.03,-0.05,-1.00) r=0.78m +[headless_play] t= 13.90s step= 695 trunk_z= 118.3mm grav_b=(-0.09,+0.07,-0.99) r=0.80m +[headless_play] t= 14.00s step= 700 trunk_z= 116.8mm grav_b=(-0.13,+0.06,-0.99) r=0.82m +[headless_play] t= 14.10s step= 705 trunk_z= 118.1mm grav_b=(-0.15,-0.08,-0.98) r=0.84m +[headless_play] t= 14.20s step= 710 trunk_z= 123.9mm grav_b=(-0.09,-0.09,-0.99) r=0.85m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(-0.04,+0.09,-1.00) r=0.86m +[headless_play] t= 14.40s step= 720 trunk_z= 127.3mm grav_b=(-0.00,+0.14,-0.99) r=0.88m +[headless_play] t= 14.50s step= 725 trunk_z= 132.4mm grav_b=(+0.00,+0.16,-0.99) r=0.90m +[headless_play] t= 14.60s step= 730 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) r=0.93m +[headless_play] t= 14.70s step= 735 trunk_z= 119.2mm grav_b=(-0.07,+0.07,-0.99) r=0.95m +[headless_play] t= 14.80s step= 740 trunk_z= 116.3mm grav_b=(-0.08,+0.06,-0.99) r=0.98m +[headless_play] t= 14.90s step= 745 trunk_z= 120.6mm grav_b=(-0.05,+0.03,-1.00) r=1.00m +[headless_play] t= 15.00s step= 750 trunk_z= 120.4mm grav_b=(-0.07,-0.12,-0.99) r=1.02m +[headless_play] t= 15.10s step= 755 trunk_z= 126.2mm grav_b=(-0.05,-0.13,-0.99) r=1.02m +[headless_play] t= 15.20s step= 760 trunk_z= 124.8mm grav_b=(-0.00,-0.05,-1.00) r=1.03m +[headless_play] t= 15.30s step= 765 trunk_z= 120.9mm grav_b=(+0.01,+0.04,-1.00) r=1.04m +[headless_play] t= 15.40s step= 770 trunk_z= 122.1mm grav_b=(-0.07,-0.10,-0.99) r=1.06m +[headless_play] t= 15.50s step= 775 trunk_z= 116.3mm grav_b=(-0.19,-0.11,-0.97) r=1.08m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.15,+0.09,-0.98) r=1.09m +[headless_play] t= 15.70s step= 785 trunk_z= 123.5mm grav_b=(-0.09,+0.11,-0.99) r=1.09m +[headless_play] t= 15.80s step= 790 trunk_z= 114.7mm grav_b=(-0.05,-0.06,-1.00) r=1.09m +[headless_play] t= 15.90s step= 795 trunk_z= 119.5mm grav_b=(+0.02,+0.01,-1.00) r=1.08m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(+0.03,+0.14,-0.99) r=1.08m +[headless_play] t= 16.10s step= 805 trunk_z= 119.8mm grav_b=(-0.13,+0.08,-0.99) r=1.09m +[headless_play] t= 16.20s step= 810 trunk_z= 114.4mm grav_b=(-0.19,-0.11,-0.97) r=1.09m +[headless_play] t= 16.30s step= 815 trunk_z= 119.8mm grav_b=(-0.15,-0.01,-0.99) r=1.10m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(-0.11,+0.13,-0.99) r=1.10m +[headless_play] t= 16.50s step= 825 trunk_z= 119.2mm grav_b=(-0.10,+0.06,-0.99) r=1.10m +[headless_play] t= 16.60s step= 830 trunk_z= 114.6mm grav_b=(-0.06,-0.10,-0.99) r=1.09m +[headless_play] t= 16.70s step= 835 trunk_z= 116.2mm grav_b=(-0.06,+0.01,-1.00) r=1.08m +[headless_play] t= 16.80s step= 840 trunk_z= 120.0mm grav_b=(-0.06,+0.06,-1.00) r=1.07m +[headless_play] t= 16.90s step= 845 trunk_z= 116.2mm grav_b=(-0.10,-0.08,-0.99) r=1.07m +[headless_play] t= 17.00s step= 850 trunk_z= 121.1mm grav_b=(-0.08,-0.07,-0.99) r=1.07m +[headless_play] t= 17.10s step= 855 trunk_z= 116.5mm grav_b=(-0.09,+0.09,-0.99) r=1.07m +[headless_play] t= 17.20s step= 860 trunk_z= 118.8mm grav_b=(-0.07,-0.01,-1.00) r=1.08m +[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(-0.04,-0.14,-0.99) r=1.08m +[headless_play] t= 17.40s step= 870 trunk_z= 117.2mm grav_b=(-0.05,+0.01,-1.00) r=1.08m +[headless_play] t= 17.50s step= 875 trunk_z= 119.2mm grav_b=(-0.06,+0.03,-1.00) r=1.09m +[headless_play] t= 17.60s step= 880 trunk_z= 117.2mm grav_b=(-0.06,-0.18,-0.98) r=1.10m +[headless_play] t= 17.70s step= 885 trunk_z= 125.9mm grav_b=(-0.07,-0.18,-0.98) r=1.10m +[headless_play] t= 17.80s step= 890 trunk_z= 124.0mm grav_b=(-0.06,-0.09,-0.99) r=1.10m +[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(-0.06,+0.02,-1.00) r=1.09m +[headless_play] t= 18.00s step= 900 trunk_z= 114.7mm grav_b=(-0.11,-0.12,-0.99) r=1.08m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(-0.05,-0.01,-1.00) r=1.07m +[headless_play] t= 18.20s step= 910 trunk_z= 122.4mm grav_b=(-0.06,+0.19,-0.98) r=1.06m +[headless_play] t= 18.30s step= 915 trunk_z= 129.0mm grav_b=(-0.05,+0.23,-0.97) r=1.04m +[headless_play] t= 18.40s step= 920 trunk_z= 129.6mm grav_b=(-0.05,+0.19,-0.98) r=1.03m +[headless_play] t= 18.50s step= 925 trunk_z= 130.1mm grav_b=(-0.02,+0.15,-0.99) r=1.02m +[headless_play] t= 18.60s step= 930 trunk_z= 125.8mm grav_b=(-0.02,+0.09,-1.00) r=1.02m +[headless_play] t= 18.70s step= 935 trunk_z= 118.2mm grav_b=(-0.09,+0.15,-0.99) r=1.01m +[headless_play] t= 18.80s step= 940 trunk_z= 118.5mm grav_b=(-0.06,+0.03,-1.00) r=1.00m +[headless_play] t= 18.90s step= 945 trunk_z= 118.6mm grav_b=(-0.06,-0.19,-0.98) r=1.01m +[headless_play] t= 19.00s step= 950 trunk_z= 127.8mm grav_b=(-0.06,-0.19,-0.98) r=1.02m +[headless_play] t= 19.10s step= 955 trunk_z= 125.0mm grav_b=(-0.03,-0.13,-0.99) r=1.02m +[headless_play] t= 19.20s step= 960 trunk_z= 124.7mm grav_b=(-0.03,+0.00,-1.00) r=1.01m +[headless_play] t= 19.30s step= 965 trunk_z= 127.2mm grav_b=(-0.09,+0.12,-0.99) r=1.00m +[headless_play] t= 19.40s step= 970 trunk_z= 118.0mm grav_b=(-0.10,+0.01,-1.00) r=1.00m +[headless_play] t= 19.50s step= 975 trunk_z= 113.7mm grav_b=(+0.00,-0.05,-1.00) r=1.00m +[headless_play] t= 19.60s step= 980 trunk_z= 114.1mm grav_b=(-0.03,+0.12,-0.99) r=1.02m +[headless_play] t= 19.70s step= 985 trunk_z= 112.0mm grav_b=(-0.02,-0.14,-0.99) r=1.02m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(-0.01,-0.11,-0.99) r=1.03m +[headless_play] t= 19.90s step= 995 trunk_z= 116.6mm grav_b=(-0.02,+0.16,-0.99) r=1.03m +[headless_play] t= 20.00s step=1000 trunk_z= 120.8mm grav_b=(+0.00,+0.08,-1.00) r=1.02m +[headless_play] t= 20.10s step=1005 trunk_z= 117.6mm grav_b=(-0.06,-0.13,-0.99) r=1.02m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t1.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..fd0da001b13765d7dc3c84c6d885d0f7f0ccd0a2 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t1.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.084,+0.132,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(-0.03,+0.07,-1.00) r=0.15m +[headless_play] t= 0.20s step= 10 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) r=0.13m +[headless_play] t= 0.30s step= 15 trunk_z= 113.7mm grav_b=(+0.00,-0.09,-1.00) r=0.12m +[headless_play] t= 0.40s step= 20 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.11m +[headless_play] t= 0.50s step= 25 trunk_z= 117.7mm grav_b=(-0.00,+0.12,-0.99) r=0.10m +[headless_play] t= 0.60s step= 30 trunk_z= 114.7mm grav_b=(+0.05,+0.05,-1.00) r=0.09m +[headless_play] t= 0.70s step= 35 trunk_z= 117.5mm grav_b=(+0.02,-0.09,-1.00) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 118.1mm grav_b=(-0.01,+0.03,-1.00) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 117.8mm grav_b=(+0.00,+0.09,-1.00) r=0.07m +[headless_play] t= 1.00s step= 50 trunk_z= 111.6mm grav_b=(+0.05,-0.06,-1.00) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 115.2mm grav_b=(+0.06,-0.05,-1.00) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 114.6mm grav_b=(-0.02,+0.16,-0.99) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(+0.02,+0.17,-0.99) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 118.4mm grav_b=(+0.03,+0.06,-1.00) r=0.09m +[headless_play] t= 1.50s step= 75 trunk_z= 120.9mm grav_b=(-0.02,-0.08,-1.00) r=0.12m +[headless_play] t= 1.60s step= 80 trunk_z= 118.3mm grav_b=(-0.05,+0.07,-1.00) r=0.13m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.00,+0.10,-0.99) r=0.14m +[headless_play] t= 1.80s step= 90 trunk_z= 112.9mm grav_b=(+0.01,-0.11,-0.99) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 118.9mm grav_b=(-0.03,-0.06,-1.00) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 115.2mm grav_b=(-0.05,+0.13,-0.99) r=0.18m +[headless_play] t= 2.10s step= 105 trunk_z= 121.1mm grav_b=(-0.04,+0.13,-0.99) r=0.18m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(+0.02,+0.05,-1.00) r=0.19m +[headless_play] t= 2.30s step= 115 trunk_z= 115.5mm grav_b=(+0.02,-0.04,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 114.8mm grav_b=(+0.00,+0.09,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(+0.04,+0.06,-1.00) r=0.24m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(+0.01,-0.14,-0.99) r=0.26m +[headless_play] t= 2.70s step= 135 trunk_z= 118.0mm grav_b=(-0.01,-0.08,-1.00) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 113.7mm grav_b=(+0.01,+0.08,-1.00) r=0.29m +[headless_play] t= 2.90s step= 145 trunk_z= 113.4mm grav_b=(+0.04,-0.02,-1.00) r=0.30m +[headless_play] t= 3.00s step= 150 trunk_z= 114.8mm grav_b=(+0.09,-0.12,-0.99) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(+0.05,+0.07,-1.00) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 119.1mm grav_b=(+0.04,+0.16,-0.99) r=0.39m +[headless_play] t= 3.30s step= 165 trunk_z= 117.8mm grav_b=(+0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 122.9mm grav_b=(-0.04,-0.09,-1.00) r=0.43m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(-0.02,+0.07,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 114.9mm grav_b=(+0.05,+0.04,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 116.0mm grav_b=(+0.00,-0.14,-0.99) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 118.5mm grav_b=(-0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.00,+0.10,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 113.2mm grav_b=(+0.04,-0.03,-1.00) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 119.3mm grav_b=(+0.01,-0.13,-0.99) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 118.5mm grav_b=(-0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(-0.03,+0.08,-1.00) r=0.57m +[headless_play] t= 4.40s step= 220 trunk_z= 115.0mm grav_b=(-0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(-0.00,-0.05,-1.00) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 113.8mm grav_b=(+0.01,+0.05,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 113.9mm grav_b=(+0.04,+0.07,-1.00) r=0.61m +[headless_play] t= 4.80s step= 240 trunk_z= 111.4mm grav_b=(+0.04,-0.11,-0.99) r=0.63m +[headless_play] t= 4.90s step= 245 trunk_z= 117.3mm grav_b=(+0.01,-0.08,-1.00) r=0.64m +[headless_play] t= 5.00s step= 250 trunk_z= 112.8mm grav_b=(-0.01,+0.09,-1.00) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 113.8mm grav_b=(+0.08,+0.07,-0.99) r=0.69m +[headless_play] t= 5.20s step= 260 trunk_z= 112.1mm grav_b=(+0.10,-0.15,-0.98) r=0.72m +[headless_play] t= 5.30s step= 265 trunk_z= 118.3mm grav_b=(-0.00,-0.07,-1.00) r=0.75m +[headless_play] t= 5.40s step= 270 trunk_z= 115.1mm grav_b=(+0.00,+0.12,-0.99) r=0.79m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(-0.02,+0.03,-1.00) r=0.80m +[headless_play] t= 5.60s step= 280 trunk_z= 112.3mm grav_b=(+0.03,-0.13,-0.99) r=0.82m +[headless_play] t= 5.70s step= 285 trunk_z= 113.3mm grav_b=(+0.03,-0.01,-1.00) r=0.84m +[headless_play] t= 5.80s step= 290 trunk_z= 113.5mm grav_b=(+0.03,+0.11,-0.99) r=0.86m +[headless_play] t= 5.90s step= 295 trunk_z= 110.8mm grav_b=(+0.10,+0.01,-1.00) r=0.89m +[headless_play] t= 6.00s step= 300 trunk_z= 116.7mm grav_b=(+0.02,-0.15,-0.99) r=0.92m +[headless_play] t= 6.10s step= 305 trunk_z= 119.3mm grav_b=(-0.01,-0.06,-1.00) r=0.95m +[headless_play] t= 6.20s step= 310 trunk_z= 116.4mm grav_b=(-0.01,+0.09,-1.00) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.99m +[headless_play] t= 6.40s step= 320 trunk_z= 117.2mm grav_b=(+0.01,-0.11,-0.99) r=1.01m +[headless_play] t= 6.50s step= 325 trunk_z= 113.8mm grav_b=(+0.05,+0.04,-1.00) r=1.05m +[headless_play] t= 6.60s step= 330 trunk_z= 119.2mm grav_b=(+0.02,+0.12,-0.99) r=1.08m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.05,-0.02,-1.00) r=1.11m +[headless_play] t= 6.80s step= 340 trunk_z= 119.3mm grav_b=(-0.01,-0.07,-1.00) r=1.13m +[headless_play] t= 6.90s step= 345 trunk_z= 115.4mm grav_b=(-0.04,+0.08,-1.00) r=1.15m +[headless_play] t= 7.00s step= 350 trunk_z= 119.1mm grav_b=(-0.05,+0.08,-1.00) r=1.16m +[headless_play] t= 7.10s step= 355 trunk_z= 113.0mm grav_b=(+0.01,-0.06,-1.00) r=1.16m +[headless_play] t= 7.20s step= 360 trunk_z= 118.2mm grav_b=(-0.01,-0.05,-1.00) r=1.17m +[headless_play] t= 7.30s step= 365 trunk_z= 113.9mm grav_b=(-0.02,+0.07,-1.00) r=1.19m +[headless_play] t= 7.40s step= 370 trunk_z= 112.3mm grav_b=(+0.06,+0.01,-1.00) r=1.21m +[headless_play] t= 7.50s step= 375 trunk_z= 113.5mm grav_b=(+0.02,-0.15,-0.99) r=1.23m +[headless_play] t= 7.60s step= 380 trunk_z= 118.2mm grav_b=(-0.02,-0.09,-1.00) r=1.23m +[headless_play] t= 7.70s step= 385 trunk_z= 115.1mm grav_b=(-0.07,+0.06,-1.00) r=1.21m +[headless_play] t= 7.80s step= 390 trunk_z= 124.0mm grav_b=(-0.08,+0.03,-1.00) r=1.21m +[headless_play] t= 7.90s step= 395 trunk_z= 110.0mm grav_b=(-0.09,-0.13,-0.99) r=1.20m +[headless_play] t= 8.00s step= 400 trunk_z= 108.7mm grav_b=(+0.01,-0.00,-1.00) r=1.18m +[headless_play] t= 8.10s step= 405 trunk_z= 106.3mm grav_b=(+0.13,+0.10,-0.99) r=1.17m +[headless_play] t= 8.20s step= 410 trunk_z= 117.8mm grav_b=(+0.00,-0.04,-1.00) r=1.17m +[headless_play] t= 8.30s step= 415 trunk_z= 123.3mm grav_b=(-0.04,-0.11,-0.99) r=1.18m +[headless_play] t= 8.40s step= 420 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=1.19m +[headless_play] t= 8.50s step= 425 trunk_z= 115.6mm grav_b=(+0.00,+0.03,-1.00) r=1.21m +[headless_play] t= 8.60s step= 430 trunk_z= 112.7mm grav_b=(+0.05,-0.11,-0.99) r=1.23m +[headless_play] t= 8.70s step= 435 trunk_z= 116.0mm grav_b=(+0.02,+0.06,-1.00) r=1.25m +[headless_play] t= 8.80s step= 440 trunk_z= 121.9mm grav_b=(+0.02,+0.18,-0.98) r=1.26m +[headless_play] t= 8.90s step= 445 trunk_z= 122.3mm grav_b=(+0.02,+0.14,-0.99) r=1.27m +[headless_play] t= 9.00s step= 450 trunk_z= 121.6mm grav_b=(+0.00,+0.03,-1.00) r=1.29m +[headless_play] t= 9.10s step= 455 trunk_z= 123.4mm grav_b=(-0.03,-0.03,-1.00) r=1.31m +[headless_play] t= 9.20s step= 460 trunk_z= 116.5mm grav_b=(-0.02,+0.10,-1.00) r=1.33m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(-0.01,-0.05,-1.00) r=1.34m +[headless_play] t= 9.40s step= 470 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=1.34m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(-0.02,+0.09,-1.00) r=1.34m +[headless_play] t= 9.60s step= 480 trunk_z= 113.2mm grav_b=(-0.02,-0.02,-1.00) r=1.36m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(-0.01,-0.04,-1.00) r=1.37m +[headless_play] t= 9.80s step= 490 trunk_z= 115.4mm grav_b=(+0.01,+0.12,-0.99) r=1.38m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.02,+0.06,-1.00) r=1.40m +[headless_play] t= 10.00s step= 500 trunk_z= 114.7mm grav_b=(-0.02,-0.10,-0.99) r=1.41m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(-0.06,+0.04,-1.00) r=1.42m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(-0.04,-0.03,-1.00) r=1.41m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(-0.03,-0.02,-1.00) r=1.41m +[headless_play] t= 10.40s step= 520 trunk_z= 118.0mm grav_b=(+0.00,+0.02,-1.00) r=1.42m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(-0.03,-0.10,-0.99) r=1.43m +[headless_play] t= 10.60s step= 530 trunk_z= 119.3mm grav_b=(-0.06,+0.08,-0.99) r=1.45m +[headless_play] t= 10.70s step= 535 trunk_z= 123.9mm grav_b=(-0.02,+0.06,-1.00) r=1.46m +[headless_play] t= 10.80s step= 540 trunk_z= 117.7mm grav_b=(-0.03,-0.12,-0.99) r=1.48m +[headless_play] t= 10.90s step= 545 trunk_z= 122.2mm grav_b=(+0.00,+0.05,-1.00) r=1.50m +[headless_play] t= 11.00s step= 550 trunk_z= 128.1mm grav_b=(+0.04,+0.15,-0.99) r=1.52m +[headless_play] t= 11.10s step= 555 trunk_z= 127.8mm grav_b=(+0.02,+0.06,-1.00) r=1.53m +[headless_play] t= 11.20s step= 560 trunk_z= 120.1mm grav_b=(-0.07,-0.09,-0.99) r=1.56m +[headless_play] t= 11.30s step= 565 trunk_z= 119.4mm grav_b=(-0.06,+0.11,-0.99) r=1.57m +[headless_play] t= 11.40s step= 570 trunk_z= 124.3mm grav_b=(-0.01,-0.02,-1.00) r=1.58m +[headless_play] t= 11.50s step= 575 trunk_z= 120.4mm grav_b=(-0.09,-0.22,-0.97) r=1.60m +[headless_play] t= 11.60s step= 580 trunk_z= 131.5mm grav_b=(-0.05,-0.18,-0.98) r=1.64m +[headless_play] t= 11.70s step= 585 trunk_z= 132.6mm grav_b=(+0.04,-0.15,-0.99) r=1.67m +[headless_play] t= 11.80s step= 590 trunk_z= 105.9mm grav_b=(+0.01,-0.09,-1.00) r=1.71m +[headless_play] t= 11.90s step= 595 trunk_z= 114.1mm grav_b=(-0.08,-0.04,-1.00) r=1.74m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(-0.05,-0.15,-0.99) r=1.76m +[headless_play] t= 12.10s step= 605 trunk_z= 115.5mm grav_b=(-0.04,-0.01,-1.00) r=1.77m +[headless_play] t= 12.20s step= 610 trunk_z= 120.7mm grav_b=(-0.04,+0.14,-0.99) r=1.79m +[headless_play] t= 12.30s step= 615 trunk_z= 124.2mm grav_b=(-0.03,+0.06,-1.00) r=1.79m +[headless_play] t= 12.40s step= 620 trunk_z= 119.7mm grav_b=(-0.04,-0.10,-0.99) r=1.79m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(-0.03,+0.03,-1.00) r=1.80m +[headless_play] t= 12.60s step= 630 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=1.81m +[headless_play] t= 12.70s step= 635 trunk_z= 117.9mm grav_b=(-0.05,-0.13,-0.99) r=1.81m +[headless_play] t= 12.80s step= 640 trunk_z= 119.3mm grav_b=(-0.11,+0.05,-0.99) r=1.83m +[headless_play] t= 12.90s step= 645 trunk_z= 119.9mm grav_b=(-0.04,-0.00,-1.00) r=1.84m +[headless_play] t= 13.00s step= 650 trunk_z= 117.7mm grav_b=(-0.03,-0.14,-0.99) r=1.85m +[headless_play] t= 13.10s step= 655 trunk_z= 119.5mm grav_b=(-0.08,+0.05,-1.00) r=1.86m +[headless_play] t= 13.20s step= 660 trunk_z= 123.4mm grav_b=(-0.03,+0.06,-1.00) r=1.88m +[headless_play] t= 13.30s step= 665 trunk_z= 118.3mm grav_b=(+0.02,-0.16,-0.99) r=1.92m +[headless_play] t= 13.40s step= 670 trunk_z= 129.6mm grav_b=(+0.02,-0.06,-1.00) r=1.94m +[headless_play] t= 13.50s step= 675 trunk_z= 113.6mm grav_b=(-0.05,+0.16,-0.99) r=1.97m +[headless_play] t= 13.60s step= 680 trunk_z= 117.2mm grav_b=(-0.07,+0.01,-1.00) r=2.00m +[headless_play] t= 13.70s step= 685 trunk_z= 117.1mm grav_b=(-0.07,-0.11,-0.99) r=2.02m +[headless_play] t= 13.80s step= 690 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=2.03m +[headless_play] t= 13.90s step= 695 trunk_z= 118.8mm grav_b=(-0.02,-0.08,-1.00) r=2.04m +[headless_play] t= 14.00s step= 700 trunk_z= 120.2mm grav_b=(-0.00,+0.06,-1.00) r=2.05m +[headless_play] t= 14.10s step= 705 trunk_z= 124.5mm grav_b=(+0.01,+0.12,-0.99) r=2.06m +[headless_play] t= 14.20s step= 710 trunk_z= 122.9mm grav_b=(-0.04,-0.01,-1.00) r=2.08m +[headless_play] t= 14.30s step= 715 trunk_z= 124.0mm grav_b=(-0.07,-0.07,-0.99) r=2.09m +[headless_play] t= 14.40s step= 720 trunk_z= 119.5mm grav_b=(-0.06,+0.08,-1.00) r=2.10m +[headless_play] t= 14.50s step= 725 trunk_z= 124.5mm grav_b=(-0.07,+0.09,-0.99) r=2.10m +[headless_play] t= 14.60s step= 730 trunk_z= 117.9mm grav_b=(-0.09,-0.06,-0.99) r=2.10m +[headless_play] t= 14.70s step= 735 trunk_z= 123.6mm grav_b=(-0.14,-0.04,-0.99) r=2.08m +[headless_play] t= 14.80s step= 740 trunk_z= 113.2mm grav_b=(-0.14,-0.02,-0.99) r=2.07m +[headless_play] t= 14.90s step= 745 trunk_z= 106.6mm grav_b=(-0.08,-0.16,-0.98) r=2.04m +[headless_play] t= 15.00s step= 750 trunk_z= 105.0mm grav_b=(+0.02,-0.12,-0.99) r=2.03m +[headless_play] t= 15.10s step= 755 trunk_z= 106.5mm grav_b=(+0.06,+0.05,-1.00) r=2.02m +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(+0.08,+0.03,-1.00) r=2.02m +[headless_play] t= 15.30s step= 765 trunk_z= 118.4mm grav_b=(-0.02,-0.12,-0.99) r=2.03m +[headless_play] t= 15.40s step= 770 trunk_z= 122.3mm grav_b=(-0.04,-0.05,-1.00) r=2.04m +[headless_play] t= 15.50s step= 775 trunk_z= 121.9mm grav_b=(-0.04,+0.10,-0.99) r=2.04m +[headless_play] t= 15.60s step= 780 trunk_z= 122.3mm grav_b=(-0.04,+0.05,-1.00) r=2.05m +[headless_play] t= 15.70s step= 785 trunk_z= 117.2mm grav_b=(-0.03,-0.05,-1.00) r=2.07m +[headless_play] t= 15.80s step= 790 trunk_z= 118.2mm grav_b=(+0.01,+0.06,-1.00) r=2.08m +[headless_play] t= 15.90s step= 795 trunk_z= 116.0mm grav_b=(+0.01,-0.06,-1.00) r=2.09m +[headless_play] t= 16.00s step= 800 trunk_z= 118.0mm grav_b=(+0.02,-0.02,-1.00) r=2.11m +[headless_play] t= 16.10s step= 805 trunk_z= 122.4mm grav_b=(+0.02,+0.18,-0.98) r=2.14m +[headless_play] t= 16.20s step= 810 trunk_z= 125.2mm grav_b=(+0.12,+0.15,-0.98) r=2.18m +[headless_play] t= 16.30s step= 815 trunk_z= 112.8mm grav_b=(+0.10,-0.08,-0.99) r=2.21m +[headless_play] t= 16.40s step= 820 trunk_z= 119.3mm grav_b=(-0.12,-0.10,-0.99) r=2.25m +[headless_play] t= 16.50s step= 825 trunk_z= 115.9mm grav_b=(-0.21,+0.04,-0.98) r=2.28m +[headless_play] t= 16.60s step= 830 trunk_z= 114.6mm grav_b=(-0.06,-0.02,-1.00) r=2.31m +[headless_play] t= 16.70s step= 835 trunk_z= 104.5mm grav_b=(+0.07,-0.16,-0.99) r=2.32m +[headless_play] t= 16.80s step= 840 trunk_z= 115.5mm grav_b=(+0.07,-0.14,-0.99) r=2.32m +[headless_play] t= 16.90s step= 845 trunk_z= 116.5mm grav_b=(+0.02,+0.03,-1.00) r=2.32m +[headless_play] t= 17.00s step= 850 trunk_z= 122.9mm grav_b=(+0.05,+0.12,-0.99) r=2.32m +[headless_play] t= 17.10s step= 855 trunk_z= 120.2mm grav_b=(+0.06,+0.06,-1.00) r=2.33m +[headless_play] t= 17.20s step= 860 trunk_z= 119.1mm grav_b=(-0.02,-0.06,-1.00) r=2.36m +[headless_play] t= 17.30s step= 865 trunk_z= 118.4mm grav_b=(-0.10,+0.08,-0.99) r=2.37m +[headless_play] t= 17.40s step= 870 trunk_z= 119.3mm grav_b=(-0.04,+0.04,-1.00) r=2.39m +[headless_play] t= 17.50s step= 875 trunk_z= 119.1mm grav_b=(-0.04,-0.12,-0.99) r=2.40m +[headless_play] t= 17.60s step= 880 trunk_z= 122.8mm grav_b=(-0.02,-0.09,-1.00) r=2.41m +[headless_play] t= 17.70s step= 885 trunk_z= 116.8mm grav_b=(-0.00,+0.05,-1.00) r=2.41m +[headless_play] t= 17.80s step= 890 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=2.43m +[headless_play] t= 17.90s step= 895 trunk_z= 117.5mm grav_b=(+0.03,-0.08,-1.00) r=2.45m +[headless_play] t= 18.00s step= 900 trunk_z= 119.2mm grav_b=(-0.02,+0.07,-1.00) r=2.48m +[headless_play] t= 18.10s step= 905 trunk_z= 121.6mm grav_b=(-0.03,+0.08,-1.00) r=2.49m +[headless_play] t= 18.20s step= 910 trunk_z= 117.7mm grav_b=(-0.06,-0.11,-0.99) r=2.51m +[headless_play] t= 18.30s step= 915 trunk_z= 122.5mm grav_b=(-0.05,-0.07,-1.00) r=2.53m +[headless_play] t= 18.40s step= 920 trunk_z= 118.2mm grav_b=(-0.04,+0.08,-1.00) r=2.54m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.01,-0.03,-1.00) r=2.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.8mm grav_b=(-0.03,-0.04,-1.00) r=2.56m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(-0.05,+0.10,-0.99) r=2.57m +[headless_play] t= 18.80s step= 940 trunk_z= 118.0mm grav_b=(-0.06,+0.03,-1.00) r=2.58m +[headless_play] t= 18.90s step= 945 trunk_z= 115.8mm grav_b=(-0.05,-0.10,-0.99) r=2.61m +[headless_play] t= 19.00s step= 950 trunk_z= 119.1mm grav_b=(-0.07,-0.03,-1.00) r=2.62m +[headless_play] t= 19.10s step= 955 trunk_z= 109.7mm grav_b=(-0.01,+0.13,-0.99) r=2.62m +[headless_play] t= 19.20s step= 960 trunk_z= 107.0mm grav_b=(+0.06,+0.00,-1.00) r=2.63m +[headless_play] t= 19.30s step= 965 trunk_z= 115.3mm grav_b=(+0.01,-0.05,-1.00) r=2.65m +[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(+0.01,+0.02,-1.00) r=2.66m +[headless_play] t= 19.50s step= 975 trunk_z= 114.9mm grav_b=(-0.05,+0.06,-1.00) r=2.67m +[headless_play] t= 19.60s step= 980 trunk_z= 114.6mm grav_b=(-0.07,-0.08,-0.99) r=2.67m +[headless_play] t= 19.70s step= 985 trunk_z= 113.4mm grav_b=(-0.02,-0.13,-0.99) r=2.68m +[headless_play] t= 19.80s step= 990 trunk_z= 106.6mm grav_b=(+0.05,-0.05,-1.00) r=2.69m +[headless_play] t= 19.90s step= 995 trunk_z= 113.2mm grav_b=(-0.01,+0.05,-1.00) r=2.69m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.5mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 117.0mm grav_b=(-0.01,+0.05,-1.00) r=0.46m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t10.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..255bbf70951f92d1bf3bd75358814ef24cd98f59 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t10.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.275,+0.019,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.28m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(+0.00,+0.08,-1.00) r=0.28m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=0.29m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.00,-0.04,-1.00) r=0.30m +[headless_play] t= 0.40s step= 20 trunk_z= 113.4mm grav_b=(+0.04,+0.10,-0.99) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 115.0mm grav_b=(+0.06,+0.02,-1.00) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 120.6mm grav_b=(+0.00,-0.11,-0.99) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 117.6mm grav_b=(+0.03,+0.08,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(-0.01,-0.09,-1.00) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(+0.04,+0.12,-0.99) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 114.3mm grav_b=(+0.07,+0.01,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(-0.00,-0.09,-1.00) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 114.5mm grav_b=(+0.00,+0.11,-0.99) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.07,+0.08,-0.99) r=0.48m +[headless_play] t= 1.60s step= 80 trunk_z= 115.6mm grav_b=(+0.02,-0.13,-0.99) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(+0.00,-0.02,-1.00) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.03,+0.16,-0.99) r=0.54m +[headless_play] t= 1.90s step= 95 trunk_z= 119.0mm grav_b=(+0.07,+0.10,-0.99) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.02,-0.10,-0.99) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 118.0mm grav_b=(-0.00,+0.02,-1.00) r=0.59m +[headless_play] t= 2.20s step= 110 trunk_z= 120.1mm grav_b=(+0.11,+0.14,-0.98) r=0.60m +[headless_play] t= 2.30s step= 115 trunk_z= 123.3mm grav_b=(+0.06,+0.02,-1.00) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 119.9mm grav_b=(+0.00,+0.09,-1.00) r=0.65m +[headless_play] t= 2.60s step= 130 trunk_z= 120.4mm grav_b=(+0.02,-0.01,-1.00) r=0.67m +[headless_play] t= 2.70s step= 135 trunk_z= 119.1mm grav_b=(-0.03,-0.04,-1.00) r=0.68m +[headless_play] t= 2.80s step= 140 trunk_z= 119.1mm grav_b=(-0.02,+0.13,-0.99) r=0.69m +[headless_play] t= 2.90s step= 145 trunk_z= 128.9mm grav_b=(-0.01,+0.22,-0.97) r=0.71m +[headless_play] t= 3.00s step= 150 trunk_z= 126.9mm grav_b=(+0.01,+0.20,-0.98) r=0.73m +[headless_play] t= 3.10s step= 155 trunk_z= 123.9mm grav_b=(+0.05,+0.17,-0.98) r=0.76m +[headless_play] t= 3.20s step= 160 trunk_z= 124.2mm grav_b=(+0.03,+0.19,-0.98) r=0.79m +[headless_play] t= 3.30s step= 165 trunk_z= 125.7mm grav_b=(+0.16,+0.18,-0.97) r=0.83m +[headless_play] t= 3.40s step= 170 trunk_z= 123.0mm grav_b=(+0.31,-0.06,-0.95) r=0.86m +[headless_play] t= 3.50s step= 175 trunk_z= 103.5mm grav_b=(+0.20,-0.20,-0.96) r=0.89m +[headless_play] t= 3.60s step= 180 trunk_z= 106.2mm grav_b=(+0.05,-0.09,-0.99) r=0.90m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(-0.04,+0.00,-1.00) r=0.91m +[headless_play] t= 3.80s step= 190 trunk_z= 116.9mm grav_b=(-0.00,+0.07,-1.00) r=0.91m +[headless_play] t= 3.90s step= 195 trunk_z= 117.4mm grav_b=(-0.02,-0.09,-1.00) r=0.92m +[headless_play] t= 4.00s step= 200 trunk_z= 120.3mm grav_b=(-0.07,-0.06,-1.00) r=0.92m +[headless_play] t= 4.10s step= 205 trunk_z= 118.0mm grav_b=(-0.10,+0.13,-0.99) r=0.91m +[headless_play] t= 4.20s step= 210 trunk_z= 126.8mm grav_b=(-0.00,+0.19,-0.98) r=0.91m +[headless_play] t= 4.30s step= 215 trunk_z= 127.1mm grav_b=(+0.04,+0.14,-0.99) r=0.92m +[headless_play] t= 4.40s step= 220 trunk_z= 118.3mm grav_b=(+0.03,+0.02,-1.00) r=0.95m +[headless_play] t= 4.50s step= 225 trunk_z= 120.9mm grav_b=(-0.00,+0.05,-1.00) r=0.97m +[headless_play] t= 4.60s step= 230 trunk_z= 118.3mm grav_b=(+0.06,+0.12,-0.99) r=0.98m +[headless_play] t= 4.70s step= 235 trunk_z= 121.0mm grav_b=(+0.02,-0.02,-1.00) r=1.00m +[headless_play] t= 4.80s step= 240 trunk_z= 119.5mm grav_b=(-0.10,-0.11,-0.99) r=1.02m +[headless_play] t= 4.90s step= 245 trunk_z= 121.0mm grav_b=(-0.04,+0.06,-1.00) r=1.03m +[headless_play] t= 5.00s step= 250 trunk_z= 122.0mm grav_b=(+0.00,+0.11,-0.99) r=1.05m +[headless_play] t= 5.10s step= 255 trunk_z= 118.4mm grav_b=(-0.05,-0.07,-1.00) r=1.07m +[headless_play] t= 5.20s step= 260 trunk_z= 127.5mm grav_b=(-0.07,-0.17,-0.98) r=1.09m +[headless_play] t= 5.30s step= 265 trunk_z= 129.9mm grav_b=(-0.05,-0.15,-0.99) r=1.11m +[headless_play] t= 5.40s step= 270 trunk_z= 127.3mm grav_b=(+0.00,-0.12,-0.99) r=1.12m +[headless_play] t= 5.50s step= 275 trunk_z= 117.2mm grav_b=(+0.02,-0.03,-1.00) r=1.13m +[headless_play] t= 5.60s step= 280 trunk_z= 118.1mm grav_b=(-0.09,+0.03,-1.00) r=1.15m +[headless_play] t= 5.70s step= 285 trunk_z= 117.9mm grav_b=(-0.07,-0.06,-1.00) r=1.17m +[headless_play] t= 5.80s step= 290 trunk_z= 118.9mm grav_b=(+0.04,+0.03,-1.00) r=1.19m +[headless_play] t= 5.90s step= 295 trunk_z= 123.0mm grav_b=(+0.14,+0.12,-0.98) r=1.20m +[headless_play] t= 6.00s step= 300 trunk_z= 130.2mm grav_b=(+0.06,+0.04,-1.00) r=1.22m +[headless_play] t= 6.10s step= 305 trunk_z= 119.3mm grav_b=(-0.04,-0.08,-1.00) r=1.25m +[headless_play] t= 6.20s step= 310 trunk_z= 120.2mm grav_b=(-0.06,+0.06,-1.00) r=1.26m +[headless_play] t= 6.30s step= 315 trunk_z= 122.9mm grav_b=(-0.03,+0.07,-1.00) r=1.28m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(-0.05,-0.11,-0.99) r=1.32m +[headless_play] t= 6.50s step= 325 trunk_z= 127.3mm grav_b=(-0.01,-0.11,-0.99) r=1.34m +[headless_play] t= 6.60s step= 330 trunk_z= 124.0mm grav_b=(+0.01,-0.01,-1.00) r=1.36m +[headless_play] t= 6.70s step= 335 trunk_z= 121.4mm grav_b=(-0.01,+0.04,-1.00) r=1.38m +[headless_play] t= 6.80s step= 340 trunk_z= 116.7mm grav_b=(-0.06,-0.08,-1.00) r=1.40m +[headless_play] t= 6.90s step= 345 trunk_z= 119.4mm grav_b=(-0.05,+0.03,-1.00) r=1.42m +[headless_play] t= 7.00s step= 350 trunk_z= 122.4mm grav_b=(-0.00,+0.11,-0.99) r=1.43m +[headless_play] t= 7.10s step= 355 trunk_z= 121.6mm grav_b=(-0.04,+0.01,-1.00) r=1.45m +[headless_play] t= 7.20s step= 360 trunk_z= 123.6mm grav_b=(-0.06,-0.07,-1.00) r=1.45m +[headless_play] t= 7.30s step= 365 trunk_z= 119.2mm grav_b=(-0.04,+0.07,-1.00) r=1.46m +[headless_play] t= 7.40s step= 370 trunk_z= 119.7mm grav_b=(-0.04,-0.00,-1.00) r=1.47m +[headless_play] t= 7.50s step= 375 trunk_z= 121.5mm grav_b=(-0.04,-0.11,-0.99) r=1.49m +[headless_play] t= 7.60s step= 380 trunk_z= 117.8mm grav_b=(-0.01,+0.04,-1.00) r=1.50m +[headless_play] t= 7.70s step= 385 trunk_z= 120.9mm grav_b=(+0.01,+0.06,-1.00) r=1.51m +[headless_play] t= 7.80s step= 390 trunk_z= 118.6mm grav_b=(-0.01,-0.08,-1.00) r=1.52m +[headless_play] t= 7.90s step= 395 trunk_z= 121.3mm grav_b=(-0.04,-0.01,-1.00) r=1.53m +[headless_play] t= 8.00s step= 400 trunk_z= 123.6mm grav_b=(-0.04,+0.14,-0.99) r=1.52m +[headless_play] t= 8.10s step= 405 trunk_z= 125.5mm grav_b=(-0.07,+0.13,-0.99) r=1.53m +[headless_play] t= 8.20s step= 410 trunk_z= 118.3mm grav_b=(-0.04,+0.02,-1.00) r=1.54m +[headless_play] t= 8.30s step= 415 trunk_z= 118.8mm grav_b=(+0.01,+0.04,-1.00) r=1.56m +[headless_play] t= 8.40s step= 420 trunk_z= 119.9mm grav_b=(+0.06,+0.06,-1.00) r=1.57m +[headless_play] t= 8.50s step= 425 trunk_z= 120.3mm grav_b=(-0.01,-0.07,-1.00) r=1.59m +[headless_play] t= 8.60s step= 430 trunk_z= 127.6mm grav_b=(-0.02,-0.13,-0.99) r=1.61m +[headless_play] t= 8.70s step= 435 trunk_z= 119.9mm grav_b=(-0.01,+0.01,-1.00) r=1.62m +[headless_play] t= 8.80s step= 440 trunk_z= 121.3mm grav_b=(-0.04,+0.03,-1.00) r=1.63m +[headless_play] t= 8.90s step= 445 trunk_z= 117.5mm grav_b=(-0.05,-0.11,-0.99) r=1.64m +[headless_play] t= 9.00s step= 450 trunk_z= 121.3mm grav_b=(-0.02,-0.03,-1.00) r=1.66m +[headless_play] t= 9.10s step= 455 trunk_z= 118.1mm grav_b=(+0.04,+0.06,-1.00) r=1.67m +[headless_play] t= 9.20s step= 460 trunk_z= 117.4mm grav_b=(-0.00,-0.12,-0.99) r=1.71m +[headless_play] t= 9.30s step= 465 trunk_z= 127.5mm grav_b=(+0.01,-0.21,-0.98) r=1.74m +[headless_play] t= 9.40s step= 470 trunk_z= 127.3mm grav_b=(+0.03,-0.16,-0.99) r=1.76m +[headless_play] t= 9.50s step= 475 trunk_z= 123.1mm grav_b=(-0.00,-0.07,-1.00) r=1.78m +[headless_play] t= 9.60s step= 480 trunk_z= 121.7mm grav_b=(-0.10,+0.06,-0.99) r=1.81m +[headless_play] t= 9.70s step= 485 trunk_z= 119.9mm grav_b=(-0.14,-0.03,-0.99) r=1.84m +[headless_play] t= 9.80s step= 490 trunk_z= 112.6mm grav_b=(+0.00,-0.06,-1.00) r=1.85m +[headless_play] t= 9.90s step= 495 trunk_z= 111.7mm grav_b=(+0.12,+0.10,-0.99) r=1.86m +[headless_play] t= 10.00s step= 500 trunk_z= 122.9mm grav_b=(+0.04,+0.01,-1.00) r=1.88m +[headless_play] t= 10.10s step= 505 trunk_z= 122.6mm grav_b=(+0.07,-0.15,-0.99) r=1.91m +[headless_play] t= 10.20s step= 510 trunk_z= 130.8mm grav_b=(+0.07,-0.10,-0.99) r=1.94m +[headless_play] t= 10.30s step= 515 trunk_z= 110.8mm grav_b=(-0.01,+0.03,-1.00) r=1.97m +[headless_play] t= 10.40s step= 520 trunk_z= 121.5mm grav_b=(-0.05,+0.01,-1.00) r=2.00m +[headless_play] t= 10.50s step= 525 trunk_z= 118.0mm grav_b=(-0.05,-0.08,-1.00) r=2.01m +[headless_play] t= 10.60s step= 530 trunk_z= 120.2mm grav_b=(-0.02,-0.04,-1.00) r=2.02m +[headless_play] t= 10.70s step= 535 trunk_z= 123.7mm grav_b=(+0.02,+0.17,-0.99) r=2.04m +[headless_play] t= 10.80s step= 540 trunk_z= 129.0mm grav_b=(+0.03,+0.22,-0.98) r=2.06m +[headless_play] t= 10.90s step= 545 trunk_z= 128.5mm grav_b=(+0.03,+0.16,-0.99) r=2.09m +[headless_play] t= 11.00s step= 550 trunk_z= 124.2mm grav_b=(-0.01,+0.13,-0.99) r=2.13m +[headless_play] t= 11.10s step= 555 trunk_z= 119.9mm grav_b=(-0.03,+0.14,-0.99) r=2.17m +[headless_play] t= 11.20s step= 560 trunk_z= 119.5mm grav_b=(+0.08,+0.04,-1.00) r=2.20m +[headless_play] t= 11.30s step= 565 trunk_z= 118.1mm grav_b=(+0.05,-0.15,-0.99) r=2.22m +[headless_play] t= 11.40s step= 570 trunk_z= 121.3mm grav_b=(-0.03,-0.05,-1.00) r=2.23m +[headless_play] t= 11.50s step= 575 trunk_z= 122.9mm grav_b=(-0.07,+0.17,-0.98) r=2.23m +[headless_play] t= 11.60s step= 580 trunk_z= 129.4mm grav_b=(-0.07,+0.22,-0.97) r=2.24m +[headless_play] t= 11.70s step= 585 trunk_z= 126.6mm grav_b=(+0.01,+0.14,-0.99) r=2.25m +[headless_play] t= 11.80s step= 590 trunk_z= 122.3mm grav_b=(+0.06,-0.00,-1.00) r=2.27m +[headless_play] t= 11.90s step= 595 trunk_z= 126.3mm grav_b=(-0.07,-0.07,-1.00) r=2.30m +[headless_play] t= 12.00s step= 600 trunk_z= 123.1mm grav_b=(-0.08,+0.06,-1.00) r=2.31m +[headless_play] t= 12.10s step= 605 trunk_z= 126.1mm grav_b=(-0.03,+0.14,-0.99) r=2.32m +[headless_play] t= 12.20s step= 610 trunk_z= 119.9mm grav_b=(+0.01,+0.00,-1.00) r=2.33m +[headless_play] t= 12.30s step= 615 trunk_z= 122.8mm grav_b=(-0.01,-0.08,-1.00) r=2.37m +[headless_play] t= 12.40s step= 620 trunk_z= 117.5mm grav_b=(-0.04,+0.12,-0.99) r=2.40m +[headless_play] t= 12.50s step= 625 trunk_z= 118.6mm grav_b=(+0.00,-0.04,-1.00) r=2.43m +[headless_play] t= 12.60s step= 630 trunk_z= 124.3mm grav_b=(+0.03,-0.16,-0.99) r=2.45m +[headless_play] t= 12.70s step= 635 trunk_z= 124.8mm grav_b=(+0.02,-0.06,-1.00) r=2.48m +[headless_play] t= 12.80s step= 640 trunk_z= 120.8mm grav_b=(-0.04,+0.09,-1.00) r=2.50m +[headless_play] t= 12.90s step= 645 trunk_z= 120.2mm grav_b=(-0.05,-0.02,-1.00) r=2.52m +[headless_play] t= 13.00s step= 650 trunk_z= 122.8mm grav_b=(-0.04,-0.09,-1.00) r=2.54m +[headless_play] t= 13.10s step= 655 trunk_z= 118.6mm grav_b=(-0.05,+0.08,-1.00) r=2.56m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(-0.05,-0.03,-1.00) r=2.59m +[headless_play] t= 13.30s step= 665 trunk_z= 122.6mm grav_b=(-0.05,-0.11,-0.99) r=2.61m +[headless_play] t= 13.40s step= 670 trunk_z= 118.4mm grav_b=(-0.04,+0.08,-1.00) r=2.63m +[headless_play] t= 13.50s step= 675 trunk_z= 119.7mm grav_b=(+0.00,+0.03,-1.00) r=2.65m +[headless_play] t= 13.60s step= 680 trunk_z= 120.4mm grav_b=(+0.00,-0.10,-0.99) r=2.68m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(-0.02,+0.10,-1.00) r=2.70m +[headless_play] t= 13.80s step= 690 trunk_z= 121.6mm grav_b=(+0.00,+0.05,-1.00) r=2.72m +[headless_play] t= 13.90s step= 695 trunk_z= 122.1mm grav_b=(-0.00,-0.12,-0.99) r=2.75m +[headless_play] t= 14.00s step= 700 trunk_z= 124.1mm grav_b=(+0.08,-0.01,-1.00) r=2.78m +[headless_play] t= 14.10s step= 705 trunk_z= 122.6mm grav_b=(+0.06,+0.10,-0.99) r=2.82m +[headless_play] t= 14.20s step= 710 trunk_z= 124.5mm grav_b=(+0.02,+0.01,-1.00) r=2.85m +[headless_play] t= 14.30s step= 715 trunk_z= 122.0mm grav_b=(-0.05,-0.07,-1.00) r=2.88m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(-0.05,+0.12,-0.99) r=2.90m +[headless_play] t= 14.50s step= 725 trunk_z= 121.6mm grav_b=(-0.00,+0.02,-1.00) r=2.92m +[headless_play] t= 14.60s step= 730 trunk_z= 123.5mm grav_b=(-0.03,-0.12,-0.99) r=2.94m +[headless_play] t= 14.70s step= 735 trunk_z= 122.2mm grav_b=(-0.05,-0.00,-1.00) r=2.96m +[headless_play] t= 14.80s step= 740 trunk_z= 121.1mm grav_b=(-0.02,+0.06,-1.00) r=2.98m +[headless_play] t= 14.90s step= 745 trunk_z= 118.0mm grav_b=(-0.03,-0.10,-0.99) r=3.00m +[headless_play] t= 15.00s step= 750 trunk_z= 126.0mm grav_b=(-0.01,-0.09,-1.00) r=3.02m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(-0.01,+0.09,-1.00) r=3.04m +[headless_play] t= 15.20s step= 760 trunk_z= 121.1mm grav_b=(-0.02,-0.00,-1.00) r=3.06m +[headless_play] t= 15.30s step= 765 trunk_z= 123.6mm grav_b=(-0.07,-0.15,-0.99) r=3.09m +[headless_play] t= 15.40s step= 770 trunk_z= 125.1mm grav_b=(-0.06,-0.06,-1.00) r=3.11m +[headless_play] t= 15.50s step= 775 trunk_z= 119.4mm grav_b=(-0.04,+0.06,-1.00) r=3.12m +[headless_play] t= 15.60s step= 780 trunk_z= 115.4mm grav_b=(-0.04,-0.11,-0.99) r=3.14m +[headless_play] t= 15.70s step= 785 trunk_z= 118.0mm grav_b=(-0.02,-0.03,-1.00) r=3.15m +[headless_play] t= 15.80s step= 790 trunk_z= 115.2mm grav_b=(+0.06,+0.07,-1.00) r=3.17m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(+0.06,-0.15,-0.99) r=3.20m +[headless_play] t= 16.00s step= 800 trunk_z= 121.3mm grav_b=(+0.02,-0.03,-1.00) r=3.23m +[headless_play] t= 16.10s step= 805 trunk_z= 120.6mm grav_b=(-0.01,+0.16,-0.99) r=3.26m +[headless_play] t= 16.20s step= 810 trunk_z= 118.9mm grav_b=(+0.00,+0.00,-1.00) r=3.27m +[headless_play] t= 16.30s step= 815 trunk_z= 124.4mm grav_b=(-0.05,-0.12,-0.99) r=3.30m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(-0.06,+0.07,-1.00) r=3.29m +[headless_play] t= 16.50s step= 825 trunk_z= 123.6mm grav_b=(-0.04,+0.16,-0.99) r=3.29m +[headless_play] t= 16.60s step= 830 trunk_z= 121.0mm grav_b=(+0.01,+0.10,-0.99) r=3.29m +[headless_play] t= 16.70s step= 835 trunk_z= 115.8mm grav_b=(+0.00,-0.07,-1.00) r=3.31m +[headless_play] t= 16.80s step= 840 trunk_z= 117.7mm grav_b=(+0.01,+0.08,-1.00) r=3.33m +[headless_play] t= 16.90s step= 845 trunk_z= 113.4mm grav_b=(+0.09,+0.03,-1.00) r=3.34m +[headless_play] t= 17.00s step= 850 trunk_z= 116.2mm grav_b=(+0.06,-0.14,-0.99) r=3.37m +[headless_play] t= 17.10s step= 855 trunk_z= 117.4mm grav_b=(+0.06,+0.07,-1.00) r=3.41m +[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(+0.03,+0.05,-1.00) r=3.44m +[headless_play] t= 17.30s step= 865 trunk_z= 116.8mm grav_b=(+0.00,-0.19,-0.98) r=3.47m +[headless_play] t= 17.40s step= 870 trunk_z= 124.9mm grav_b=(-0.01,-0.16,-0.99) r=3.50m +[headless_play] t= 17.50s step= 875 trunk_z= 114.1mm grav_b=(-0.02,+0.07,-1.00) r=3.52m +[headless_play] t= 17.60s step= 880 trunk_z= 116.3mm grav_b=(+0.03,+0.03,-1.00) r=3.53m +[headless_play] t= 17.70s step= 885 trunk_z= 113.7mm grav_b=(+0.06,-0.16,-0.99) r=3.55m +[headless_play] t= 17.80s step= 890 trunk_z= 115.2mm grav_b=(+0.01,+0.04,-1.00) r=3.57m +[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(+0.04,+0.14,-0.99) r=3.58m +[headless_play] t= 18.00s step= 900 trunk_z= 114.9mm grav_b=(+0.02,-0.11,-0.99) r=3.60m +[headless_play] t= 18.10s step= 905 trunk_z= 124.1mm grav_b=(-0.03,-0.12,-0.99) r=3.62m +[headless_play] t= 18.20s step= 910 trunk_z= 113.8mm grav_b=(-0.01,+0.11,-0.99) r=3.64m +[headless_play] t= 18.30s step= 915 trunk_z= 114.4mm grav_b=(+0.06,+0.03,-1.00) r=3.66m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(+0.05,-0.18,-0.98) r=3.68m +[headless_play] t= 18.50s step= 925 trunk_z= 121.8mm grav_b=(-0.03,-0.03,-1.00) r=3.70m +[headless_play] t= 18.60s step= 930 trunk_z= 119.6mm grav_b=(-0.01,+0.16,-0.99) r=3.72m +[headless_play] t= 18.70s step= 935 trunk_z= 118.0mm grav_b=(+0.06,+0.04,-1.00) r=3.74m +[headless_play] t= 18.80s step= 940 trunk_z= 117.3mm grav_b=(+0.06,-0.03,-1.00) r=3.77m +[headless_play] t= 18.90s step= 945 trunk_z= 116.4mm grav_b=(+0.06,+0.15,-0.99) r=3.79m +[headless_play] t= 19.00s step= 950 trunk_z= 116.4mm grav_b=(+0.10,+0.06,-0.99) r=3.81m +[headless_play] t= 19.10s step= 955 trunk_z= 119.7mm grav_b=(-0.05,-0.11,-0.99) r=3.83m +[headless_play] t= 19.20s step= 960 trunk_z= 118.1mm grav_b=(-0.01,+0.06,-1.00) r=3.85m +[headless_play] t= 19.30s step= 965 trunk_z= 116.3mm grav_b=(+0.10,+0.16,-0.98) r=3.87m +[headless_play] t= 19.40s step= 970 trunk_z= 117.6mm grav_b=(+0.05,-0.03,-1.00) r=3.88m +[headless_play] t= 19.50s step= 975 trunk_z= 123.9mm grav_b=(-0.02,-0.07,-1.00) r=3.90m +[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(-0.05,+0.13,-0.99) r=3.91m +[headless_play] t= 19.70s step= 985 trunk_z= 122.8mm grav_b=(-0.03,+0.18,-0.98) r=3.92m +[headless_play] t= 19.80s step= 990 trunk_z= 123.1mm grav_b=(-0.01,+0.16,-0.99) r=3.93m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(+0.05,+0.10,-0.99) r=3.94m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(+0.02,+0.06,-1.00) r=0.38m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t11.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..c6610173bdd21a39261bdc7075b37881d7085e25 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.308,+0.490,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 117.0mm grav_b=(-0.03,+0.07,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 117.6mm grav_b=(-0.00,+0.03,-1.00) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 118.3mm grav_b=(+0.03,+0.06,-1.00) r=0.59m +[headless_play] t= 0.40s step= 20 trunk_z= 120.4mm grav_b=(+0.07,+0.07,-1.00) r=0.59m +[headless_play] t= 0.50s step= 25 trunk_z= 119.1mm grav_b=(-0.01,-0.10,-0.99) r=0.59m +[headless_play] t= 0.60s step= 30 trunk_z= 121.9mm grav_b=(+0.01,+0.02,-1.00) r=0.59m +[headless_play] t= 0.70s step= 35 trunk_z= 123.9mm grav_b=(+0.04,+0.17,-0.98) r=0.59m +[headless_play] t= 0.80s step= 40 trunk_z= 125.7mm grav_b=(+0.04,+0.08,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 120.6mm grav_b=(-0.02,-0.07,-1.00) r=0.58m +[headless_play] t= 1.00s step= 50 trunk_z= 119.1mm grav_b=(-0.04,+0.11,-0.99) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 125.4mm grav_b=(+0.03,+0.15,-0.99) r=0.59m +[headless_play] t= 1.20s step= 60 trunk_z= 118.9mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 1.30s step= 65 trunk_z= 121.6mm grav_b=(-0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 120.6mm grav_b=(-0.00,+0.16,-0.99) r=0.60m +[headless_play] t= 1.50s step= 75 trunk_z= 124.1mm grav_b=(+0.01,+0.07,-1.00) r=0.60m +[headless_play] t= 1.60s step= 80 trunk_z= 123.1mm grav_b=(-0.01,-0.10,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 123.3mm grav_b=(+0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 121.6mm grav_b=(+0.09,+0.10,-0.99) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 122.7mm grav_b=(-0.05,-0.06,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 127.5mm grav_b=(-0.10,-0.17,-0.98) r=0.56m +[headless_play] t= 2.10s step= 105 trunk_z= 134.1mm grav_b=(-0.09,-0.08,-0.99) r=0.56m +[headless_play] t= 2.20s step= 110 trunk_z= 126.8mm grav_b=(-0.03,+0.07,-1.00) r=0.56m +[headless_play] t= 2.30s step= 115 trunk_z= 125.6mm grav_b=(+0.00,+0.16,-0.99) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 121.5mm grav_b=(+0.07,+0.10,-0.99) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 122.3mm grav_b=(+0.10,+0.01,-0.99) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(+0.26,+0.12,-0.96) r=0.54m +[headless_play] t= 2.70s step= 135 trunk_z= 115.4mm grav_b=(+0.26,-0.34,-0.90) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 96.1mm grav_b=(+0.84,-0.17,-0.51) r=0.50m +[headless_play] RESET at t= 2.86s step= 143 (env termination, not a recovery) +[headless_play] t= 2.90s step= 145 trunk_z= 115.1mm grav_b=(-0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 3.00s step= 150 trunk_z= 117.1mm grav_b=(+0.04,+0.11,-0.99) r=0.68m +[headless_play] t= 3.10s step= 155 trunk_z= 116.3mm grav_b=(+0.09,-0.01,-1.00) r=0.68m +[headless_play] t= 3.20s step= 160 trunk_z= 119.0mm grav_b=(+0.12,-0.08,-0.99) r=0.68m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(+0.04,+0.17,-0.99) r=0.69m +[headless_play] t= 3.40s step= 170 trunk_z= 122.8mm grav_b=(+0.13,+0.16,-0.98) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 114.8mm grav_b=(+0.11,-0.04,-0.99) r=0.72m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(+0.07,+0.13,-0.99) r=0.74m +[headless_play] t= 3.70s step= 185 trunk_z= 122.3mm grav_b=(+0.13,+0.12,-0.98) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 116.4mm grav_b=(-0.01,-0.13,-0.99) r=0.77m +[headless_play] t= 3.90s step= 195 trunk_z= 121.5mm grav_b=(+0.01,+0.00,-1.00) r=0.78m +[headless_play] t= 4.00s step= 200 trunk_z= 118.3mm grav_b=(+0.14,+0.13,-0.98) r=0.80m +[headless_play] t= 4.10s step= 205 trunk_z= 112.3mm grav_b=(+0.24,-0.15,-0.96) r=0.81m +[headless_play] t= 4.20s step= 210 trunk_z= 125.1mm grav_b=(+0.16,-0.12,-0.98) r=0.82m +[headless_play] t= 4.30s step= 215 trunk_z= 121.0mm grav_b=(-0.01,+0.04,-1.00) r=0.84m +[headless_play] t= 4.40s step= 220 trunk_z= 102.6mm grav_b=(-0.29,+0.18,-0.94) r=0.87m +[headless_play] t= 4.50s step= 225 trunk_z= 104.0mm grav_b=(-0.34,+0.12,-0.93) r=0.89m +[headless_play] t= 4.60s step= 230 trunk_z= 100.9mm grav_b=(-0.46,+0.30,-0.83) r=0.87m +[headless_play] t= 4.70s step= 235 trunk_z= 58.7mm grav_b=(-0.85,-0.41,-0.32) r=0.85m +[headless_play] RESET at t= 4.72s step= 236 (env termination, not a recovery) +[headless_play] t= 4.80s step= 240 trunk_z= 114.9mm grav_b=(-0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.50s step= 275 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 6.10s step= 305 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 6.30s step= 315 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 6.40s step= 320 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.51m +[headless_play] t= 6.60s step= 330 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 6.70s step= 335 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 117.0mm grav_b=(-0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 117.6mm grav_b=(-0.08,+0.01,-1.00) r=0.51m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(-0.03,-0.03,-1.00) r=0.50m +[headless_play] t= 7.60s step= 380 trunk_z= 112.3mm grav_b=(+0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 7.70s step= 385 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 7.90s step= 395 trunk_z= 116.4mm grav_b=(+0.00,+0.03,-1.00) r=0.50m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(-0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(-0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(-0.00,+0.03,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 117.9mm grav_b=(+0.04,+0.03,-1.00) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 118.6mm grav_b=(+0.06,+0.03,-1.00) r=0.50m +[headless_play] t= 8.50s step= 425 trunk_z= 118.1mm grav_b=(+0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 8.60s step= 430 trunk_z= 116.7mm grav_b=(+0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 8.80s step= 440 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 8.90s step= 445 trunk_z= 117.0mm grav_b=(+0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 9.10s step= 455 trunk_z= 116.9mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 9.20s step= 460 trunk_z= 118.0mm grav_b=(+0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 9.30s step= 465 trunk_z= 117.9mm grav_b=(+0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 9.40s step= 470 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 9.50s step= 475 trunk_z= 117.1mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 9.70s step= 485 trunk_z= 117.2mm grav_b=(-0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 9.80s step= 490 trunk_z= 117.1mm grav_b=(-0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(-0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=0.51m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 10.60s step= 530 trunk_z= 117.3mm grav_b=(+0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 10.70s step= 535 trunk_z= 117.2mm grav_b=(+0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 10.90s step= 545 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.00s step= 550 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 11.10s step= 555 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 11.20s step= 560 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 11.30s step= 565 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 11.90s step= 595 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 12.10s step= 605 trunk_z= 118.2mm grav_b=(+0.04,+0.08,-1.00) r=0.51m +[headless_play] t= 12.20s step= 610 trunk_z= 118.2mm grav_b=(+0.07,+0.04,-1.00) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.04,-0.11,-0.99) r=0.48m +[headless_play] t= 12.40s step= 620 trunk_z= 119.4mm grav_b=(+0.02,+0.05,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 123.9mm grav_b=(+0.07,+0.15,-0.99) r=0.45m +[headless_play] t= 12.60s step= 630 trunk_z= 122.2mm grav_b=(+0.04,+0.07,-1.00) r=0.44m +[headless_play] t= 12.70s step= 635 trunk_z= 122.8mm grav_b=(+0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 12.80s step= 640 trunk_z= 118.1mm grav_b=(+0.04,+0.10,-0.99) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 120.0mm grav_b=(+0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 13.00s step= 650 trunk_z= 124.3mm grav_b=(+0.04,-0.11,-0.99) r=0.37m +[headless_play] t= 13.10s step= 655 trunk_z= 117.1mm grav_b=(+0.03,+0.10,-0.99) r=0.35m +[headless_play] t= 13.20s step= 660 trunk_z= 121.1mm grav_b=(+0.07,+0.07,-0.99) r=0.34m +[headless_play] t= 13.30s step= 665 trunk_z= 119.0mm grav_b=(+0.04,-0.07,-1.00) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 124.8mm grav_b=(+0.04,-0.02,-1.00) r=0.30m +[headless_play] t= 13.50s step= 675 trunk_z= 119.8mm grav_b=(+0.07,+0.10,-0.99) r=0.28m +[headless_play] t= 13.60s step= 680 trunk_z= 121.5mm grav_b=(+0.02,+0.02,-1.00) r=0.27m +[headless_play] t= 13.70s step= 685 trunk_z= 124.2mm grav_b=(+0.02,-0.08,-1.00) r=0.25m +[headless_play] t= 13.80s step= 690 trunk_z= 119.4mm grav_b=(+0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 13.90s step= 695 trunk_z= 118.9mm grav_b=(+0.08,+0.07,-0.99) r=0.22m +[headless_play] t= 14.00s step= 700 trunk_z= 117.3mm grav_b=(+0.02,-0.12,-0.99) r=0.19m +[headless_play] t= 14.10s step= 705 trunk_z= 125.9mm grav_b=(+0.01,-0.09,-1.00) r=0.17m +[headless_play] t= 14.20s step= 710 trunk_z= 119.0mm grav_b=(+0.01,+0.12,-0.99) r=0.13m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.10,-0.07,-0.99) r=0.10m +[headless_play] t= 14.40s step= 720 trunk_z= 127.5mm grav_b=(+0.08,-0.16,-0.98) r=0.07m +[headless_play] t= 14.50s step= 725 trunk_z= 129.7mm grav_b=(+0.10,-0.09,-0.99) r=0.04m +[headless_play] t= 14.60s step= 730 trunk_z= 113.3mm grav_b=(+0.11,+0.08,-0.99) r=0.05m +[headless_play] t= 14.70s step= 735 trunk_z= 125.6mm grav_b=(-0.04,+0.00,-1.00) r=0.06m +[headless_play] t= 14.80s step= 740 trunk_z= 118.2mm grav_b=(-0.09,-0.12,-0.99) r=0.09m +[headless_play] t= 14.90s step= 745 trunk_z= 121.1mm grav_b=(+0.08,+0.07,-0.99) r=0.11m +[headless_play] t= 15.00s step= 750 trunk_z= 120.3mm grav_b=(+0.16,+0.26,-0.95) r=0.12m +[headless_play] t= 15.10s step= 755 trunk_z= 131.3mm grav_b=(+0.13,+0.23,-0.96) r=0.13m +[headless_play] t= 15.20s step= 760 trunk_z= 114.6mm grav_b=(+0.16,+0.16,-0.97) r=0.15m +[headless_play] t= 15.30s step= 765 trunk_z= 118.6mm grav_b=(-0.01,+0.21,-0.98) r=0.18m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(+0.18,+0.12,-0.98) r=0.20m +[headless_play] t= 15.50s step= 775 trunk_z= 113.6mm grav_b=(+0.11,-0.15,-0.98) r=0.21m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(+0.00,-0.06,-1.00) r=0.22m +[headless_play] t= 15.70s step= 785 trunk_z= 115.0mm grav_b=(-0.03,+0.14,-0.99) r=0.24m +[headless_play] t= 15.80s step= 790 trunk_z= 123.9mm grav_b=(+0.05,+0.21,-0.98) r=0.26m +[headless_play] t= 15.90s step= 795 trunk_z= 123.9mm grav_b=(+0.02,+0.16,-0.99) r=0.25m +[headless_play] t= 16.00s step= 800 trunk_z= 115.8mm grav_b=(-0.00,+0.02,-1.00) r=0.23m +[headless_play] t= 16.10s step= 805 trunk_z= 116.4mm grav_b=(+0.04,+0.14,-0.99) r=0.21m +[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(+0.10,+0.04,-0.99) r=0.21m +[headless_play] t= 16.30s step= 815 trunk_z= 124.0mm grav_b=(+0.03,-0.19,-0.98) r=0.20m +[headless_play] t= 16.40s step= 820 trunk_z= 131.4mm grav_b=(+0.03,-0.19,-0.98) r=0.20m +[headless_play] t= 16.50s step= 825 trunk_z= 122.0mm grav_b=(+0.13,-0.05,-0.99) r=0.21m +[headless_play] t= 16.60s step= 830 trunk_z= 112.1mm grav_b=(+0.08,+0.01,-1.00) r=0.23m +[headless_play] t= 16.70s step= 835 trunk_z= 120.0mm grav_b=(-0.07,+0.03,-1.00) r=0.25m +[headless_play] t= 16.80s step= 840 trunk_z= 115.8mm grav_b=(-0.06,-0.08,-1.00) r=0.26m +[headless_play] t= 16.90s step= 845 trunk_z= 116.2mm grav_b=(+0.10,+0.16,-0.98) r=0.26m +[headless_play] t= 17.00s step= 850 trunk_z= 121.6mm grav_b=(+0.17,+0.22,-0.96) r=0.27m +[headless_play] t= 17.10s step= 855 trunk_z= 126.3mm grav_b=(+0.08,+0.08,-0.99) r=0.27m +[headless_play] t= 17.20s step= 860 trunk_z= 126.7mm grav_b=(+0.08,-0.00,-1.00) r=0.25m +[headless_play] t= 17.30s step= 865 trunk_z= 116.8mm grav_b=(+0.05,+0.10,-0.99) r=0.24m +[headless_play] t= 17.40s step= 870 trunk_z= 121.2mm grav_b=(+0.05,-0.05,-1.00) r=0.23m +[headless_play] t= 17.50s step= 875 trunk_z= 125.4mm grav_b=(+0.05,-0.16,-0.99) r=0.21m +[headless_play] t= 17.60s step= 880 trunk_z= 124.4mm grav_b=(+0.05,-0.05,-1.00) r=0.21m +[headless_play] t= 17.70s step= 885 trunk_z= 122.1mm grav_b=(+0.09,+0.13,-0.99) r=0.20m +[headless_play] t= 17.80s step= 890 trunk_z= 119.8mm grav_b=(+0.09,-0.01,-1.00) r=0.20m +[headless_play] t= 17.90s step= 895 trunk_z= 120.9mm grav_b=(+0.03,-0.04,-1.00) r=0.20m +[headless_play] t= 18.00s step= 900 trunk_z= 119.6mm grav_b=(+0.05,+0.17,-0.98) r=0.21m +[headless_play] t= 18.10s step= 905 trunk_z= 124.9mm grav_b=(+0.14,+0.15,-0.98) r=0.21m +[headless_play] t= 18.20s step= 910 trunk_z= 114.2mm grav_b=(+0.08,-0.03,-1.00) r=0.21m +[headless_play] t= 18.30s step= 915 trunk_z= 120.8mm grav_b=(+0.05,+0.05,-1.00) r=0.22m +[headless_play] t= 18.40s step= 920 trunk_z= 118.9mm grav_b=(+0.02,+0.15,-0.99) r=0.23m +[headless_play] t= 18.50s step= 925 trunk_z= 121.6mm grav_b=(-0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 18.60s step= 930 trunk_z= 123.7mm grav_b=(-0.03,-0.07,-1.00) r=0.24m +[headless_play] t= 18.70s step= 935 trunk_z= 118.8mm grav_b=(+0.01,+0.11,-0.99) r=0.26m +[headless_play] t= 18.80s step= 940 trunk_z= 127.0mm grav_b=(+0.08,+0.08,-0.99) r=0.27m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.00,-0.11,-0.99) r=0.29m +[headless_play] t= 19.00s step= 950 trunk_z= 122.1mm grav_b=(+0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 19.10s step= 955 trunk_z= 123.4mm grav_b=(+0.06,+0.12,-0.99) r=0.33m +[headless_play] t= 19.20s step= 960 trunk_z= 124.3mm grav_b=(+0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 19.30s step= 965 trunk_z= 120.8mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 19.40s step= 970 trunk_z= 120.9mm grav_b=(+0.08,+0.12,-0.99) r=0.35m +[headless_play] t= 19.50s step= 975 trunk_z= 122.0mm grav_b=(+0.01,-0.05,-1.00) r=0.35m +[headless_play] t= 19.60s step= 980 trunk_z= 128.1mm grav_b=(+0.01,-0.13,-0.99) r=0.36m +[headless_play] t= 19.70s step= 985 trunk_z= 123.1mm grav_b=(+0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 19.80s step= 990 trunk_z= 123.0mm grav_b=(+0.05,+0.05,-1.00) r=0.39m +[headless_play] t= 19.90s step= 995 trunk_z= 115.8mm grav_b=(-0.02,-0.13,-0.99) r=0.40m +[headless_play] t= 20.00s step=1000 trunk_z= 123.9mm grav_b=(+0.06,+0.04,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 125.0mm grav_b=(+0.07,+0.17,-0.98) r=0.48m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t12.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..295d3bf9d02fd09c0fd5afd13bb7ba52418d98d4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t12.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.360,+0.098,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 123.1mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.00,-0.00,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(-0.04,-0.01,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=0.37m +[headless_play] t= 1.00s step= 50 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 1.70s step= 85 trunk_z= 116.2mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 1.80s step= 90 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.37m +[headless_play] t= 1.90s step= 95 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.00s step= 100 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.20s step= 110 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.50s step= 125 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.39m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(+0.06,-0.02,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(-0.03,-0.00,-1.00) r=0.38m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.06,+0.00,-1.00) r=0.37m +[headless_play] t= 3.20s step= 160 trunk_z= 117.4mm grav_b=(-0.08,+0.01,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 117.5mm grav_b=(-0.10,+0.01,-0.99) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(-0.13,+0.01,-0.99) r=0.35m +[headless_play] t= 3.50s step= 175 trunk_z= 116.0mm grav_b=(-0.13,-0.02,-0.99) r=0.35m +[headless_play] t= 3.60s step= 180 trunk_z= 114.9mm grav_b=(-0.14,+0.02,-0.99) r=0.35m +[headless_play] t= 3.70s step= 185 trunk_z= 100.5mm grav_b=(-0.10,+0.09,-0.99) r=0.34m +[headless_play] t= 3.80s step= 190 trunk_z= 96.6mm grav_b=(+0.11,-0.02,-0.99) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 111.2mm grav_b=(-0.07,-0.01,-1.00) r=0.32m +[headless_play] t= 4.00s step= 200 trunk_z= 112.6mm grav_b=(-0.05,+0.04,-1.00) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 112.8mm grav_b=(-0.02,-0.04,-1.00) r=0.31m +[headless_play] t= 4.20s step= 210 trunk_z= 120.4mm grav_b=(-0.07,-0.02,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 118.9mm grav_b=(-0.06,+0.07,-1.00) r=0.29m +[headless_play] t= 4.40s step= 220 trunk_z= 121.5mm grav_b=(-0.04,+0.11,-0.99) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(+0.00,-0.00,-1.00) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 120.4mm grav_b=(-0.05,-0.02,-1.00) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 118.6mm grav_b=(-0.05,+0.03,-1.00) r=0.25m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(+0.01,+0.04,-1.00) r=0.25m +[headless_play] t= 4.90s step= 245 trunk_z= 119.6mm grav_b=(+0.03,-0.14,-0.99) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 125.3mm grav_b=(+0.01,-0.18,-0.98) r=0.27m +[headless_play] t= 5.10s step= 255 trunk_z= 126.2mm grav_b=(-0.02,-0.15,-0.99) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 123.0mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 5.30s step= 265 trunk_z= 118.6mm grav_b=(-0.09,-0.05,-1.00) r=0.30m +[headless_play] t= 5.40s step= 270 trunk_z= 119.9mm grav_b=(-0.04,-0.07,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(+0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(+0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 114.7mm grav_b=(+0.08,-0.12,-0.99) r=0.40m +[headless_play] t= 5.80s step= 290 trunk_z= 118.4mm grav_b=(+0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 5.90s step= 295 trunk_z= 118.0mm grav_b=(-0.01,+0.05,-1.00) r=0.46m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(-0.04,-0.14,-0.99) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 117.9mm grav_b=(-0.02,-0.09,-1.00) r=0.51m +[headless_play] t= 6.20s step= 310 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 115.7mm grav_b=(+0.05,-0.02,-1.00) r=0.57m +[headless_play] t= 6.40s step= 320 trunk_z= 119.7mm grav_b=(-0.00,-0.15,-0.99) r=0.61m +[headless_play] t= 6.50s step= 325 trunk_z= 119.9mm grav_b=(-0.01,-0.06,-1.00) r=0.63m +[headless_play] t= 6.60s step= 330 trunk_z= 118.4mm grav_b=(-0.02,+0.05,-1.00) r=0.65m +[headless_play] t= 6.70s step= 335 trunk_z= 113.1mm grav_b=(+0.02,-0.09,-1.00) r=0.67m +[headless_play] t= 6.80s step= 340 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 6.90s step= 345 trunk_z= 112.7mm grav_b=(+0.00,+0.10,-0.99) r=0.71m +[headless_play] t= 7.00s step= 350 trunk_z= 116.1mm grav_b=(+0.01,+0.08,-1.00) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.05,-0.11,-0.99) r=0.75m +[headless_play] t= 7.20s step= 360 trunk_z= 123.7mm grav_b=(-0.08,-0.09,-0.99) r=0.75m +[headless_play] t= 7.30s step= 365 trunk_z= 121.7mm grav_b=(-0.07,-0.04,-1.00) r=0.75m +[headless_play] t= 7.40s step= 370 trunk_z= 115.6mm grav_b=(-0.05,+0.05,-1.00) r=0.76m +[headless_play] t= 7.50s step= 375 trunk_z= 112.2mm grav_b=(-0.02,-0.08,-1.00) r=0.77m +[headless_play] t= 7.60s step= 380 trunk_z= 112.3mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 7.70s step= 385 trunk_z= 109.5mm grav_b=(-0.03,+0.06,-1.00) r=0.79m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(-0.08,+0.02,-1.00) r=0.80m +[headless_play] t= 7.90s step= 395 trunk_z= 111.2mm grav_b=(-0.03,-0.13,-0.99) r=0.80m +[headless_play] t= 8.00s step= 400 trunk_z= 110.0mm grav_b=(-0.01,-0.11,-0.99) r=0.81m +[headless_play] t= 8.10s step= 405 trunk_z= 108.6mm grav_b=(+0.07,-0.04,-1.00) r=0.82m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(+0.06,+0.05,-1.00) r=0.85m +[headless_play] t= 8.30s step= 415 trunk_z= 115.5mm grav_b=(-0.03,-0.11,-0.99) r=0.87m +[headless_play] t= 8.40s step= 420 trunk_z= 118.5mm grav_b=(-0.06,-0.06,-1.00) r=0.89m +[headless_play] t= 8.50s step= 425 trunk_z= 116.8mm grav_b=(-0.03,-0.06,-1.00) r=0.90m +[headless_play] t= 8.60s step= 430 trunk_z= 113.8mm grav_b=(+0.04,-0.07,-1.00) r=0.91m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(+0.03,+0.04,-1.00) r=0.92m +[headless_play] t= 8.80s step= 440 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 8.90s step= 445 trunk_z= 114.3mm grav_b=(+0.02,-0.05,-1.00) r=0.95m +[headless_play] t= 9.00s step= 450 trunk_z= 110.9mm grav_b=(-0.01,+0.00,-1.00) r=0.96m +[headless_play] t= 9.10s step= 455 trunk_z= 113.7mm grav_b=(+0.01,+0.08,-1.00) r=0.98m +[headless_play] t= 9.20s step= 460 trunk_z= 112.2mm grav_b=(+0.06,-0.13,-0.99) r=0.98m +[headless_play] t= 9.30s step= 465 trunk_z= 124.9mm grav_b=(+0.01,-0.21,-0.98) r=0.98m +[headless_play] t= 9.40s step= 470 trunk_z= 125.0mm grav_b=(+0.01,-0.21,-0.98) r=0.99m +[headless_play] t= 9.50s step= 475 trunk_z= 125.8mm grav_b=(+0.02,-0.09,-1.00) r=1.00m +[headless_play] t= 9.60s step= 480 trunk_z= 121.7mm grav_b=(+0.02,+0.04,-1.00) r=1.02m +[headless_play] t= 9.70s step= 485 trunk_z= 124.7mm grav_b=(-0.01,+0.01,-1.00) r=1.03m +[headless_play] t= 9.80s step= 490 trunk_z= 119.4mm grav_b=(-0.10,-0.08,-0.99) r=1.05m +[headless_play] t= 9.90s step= 495 trunk_z= 122.6mm grav_b=(-0.10,-0.03,-0.99) r=1.06m +[headless_play] t= 10.00s step= 500 trunk_z= 119.4mm grav_b=(-0.05,+0.05,-1.00) r=1.09m +[headless_play] t= 10.10s step= 505 trunk_z= 123.9mm grav_b=(-0.02,+0.04,-1.00) r=1.11m +[headless_play] t= 10.20s step= 510 trunk_z= 118.3mm grav_b=(-0.03,-0.09,-1.00) r=1.13m +[headless_play] t= 10.30s step= 515 trunk_z= 119.6mm grav_b=(-0.09,+0.04,-1.00) r=1.14m +[headless_play] t= 10.40s step= 520 trunk_z= 123.5mm grav_b=(-0.04,+0.11,-0.99) r=1.17m +[headless_play] t= 10.50s step= 525 trunk_z= 117.9mm grav_b=(-0.06,-0.06,-1.00) r=1.18m +[headless_play] t= 10.60s step= 530 trunk_z= 123.6mm grav_b=(-0.01,-0.04,-1.00) r=1.22m +[headless_play] t= 10.70s step= 535 trunk_z= 115.9mm grav_b=(-0.01,+0.06,-1.00) r=1.26m +[headless_play] t= 10.80s step= 540 trunk_z= 120.2mm grav_b=(-0.07,+0.05,-1.00) r=1.30m +[headless_play] t= 10.90s step= 545 trunk_z= 117.7mm grav_b=(-0.08,-0.11,-0.99) r=1.32m +[headless_play] t= 11.00s step= 550 trunk_z= 123.2mm grav_b=(-0.05,-0.07,-1.00) r=1.34m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(+0.02,+0.08,-1.00) r=1.38m +[headless_play] t= 11.20s step= 560 trunk_z= 132.1mm grav_b=(+0.06,-0.01,-1.00) r=1.42m +[headless_play] t= 11.30s step= 565 trunk_z= 114.6mm grav_b=(-0.02,-0.09,-1.00) r=1.45m +[headless_play] t= 11.40s step= 570 trunk_z= 121.1mm grav_b=(-0.05,-0.04,-1.00) r=1.48m +[headless_play] t= 11.50s step= 575 trunk_z= 119.0mm grav_b=(-0.08,+0.04,-1.00) r=1.51m +[headless_play] t= 11.60s step= 580 trunk_z= 121.4mm grav_b=(-0.10,+0.01,-1.00) r=1.54m +[headless_play] t= 11.70s step= 585 trunk_z= 120.1mm grav_b=(-0.11,-0.12,-0.99) r=1.55m +[headless_play] t= 11.80s step= 590 trunk_z= 122.4mm grav_b=(-0.12,-0.05,-0.99) r=1.56m +[headless_play] t= 11.90s step= 595 trunk_z= 121.0mm grav_b=(-0.02,+0.08,-1.00) r=1.58m +[headless_play] t= 12.00s step= 600 trunk_z= 121.7mm grav_b=(+0.01,-0.02,-1.00) r=1.60m +[headless_play] t= 12.10s step= 605 trunk_z= 122.8mm grav_b=(-0.03,-0.07,-1.00) r=1.62m +[headless_play] t= 12.20s step= 610 trunk_z= 120.1mm grav_b=(-0.03,+0.02,-1.00) r=1.64m +[headless_play] t= 12.30s step= 615 trunk_z= 122.4mm grav_b=(-0.04,+0.02,-1.00) r=1.67m +[headless_play] t= 12.40s step= 620 trunk_z= 119.2mm grav_b=(-0.09,-0.12,-0.99) r=1.69m +[headless_play] t= 12.50s step= 625 trunk_z= 118.9mm grav_b=(-0.08,+0.05,-1.00) r=1.72m +[headless_play] t= 12.60s step= 630 trunk_z= 127.1mm grav_b=(+0.02,+0.18,-0.98) r=1.75m +[headless_play] t= 12.70s step= 635 trunk_z= 130.4mm grav_b=(+0.02,+0.16,-0.99) r=1.78m +[headless_play] t= 12.80s step= 640 trunk_z= 123.5mm grav_b=(+0.00,+0.07,-1.00) r=1.81m +[headless_play] t= 12.90s step= 645 trunk_z= 121.5mm grav_b=(-0.05,+0.00,-1.00) r=1.84m +[headless_play] t= 13.00s step= 650 trunk_z= 122.5mm grav_b=(-0.07,+0.02,-1.00) r=1.86m +[headless_play] t= 13.10s step= 655 trunk_z= 119.8mm grav_b=(-0.04,+0.02,-1.00) r=1.89m +[headless_play] t= 13.20s step= 660 trunk_z= 120.1mm grav_b=(-0.07,-0.11,-0.99) r=1.92m +[headless_play] t= 13.30s step= 665 trunk_z= 122.5mm grav_b=(-0.07,-0.07,-0.99) r=1.96m +[headless_play] t= 13.40s step= 670 trunk_z= 118.8mm grav_b=(-0.04,+0.10,-0.99) r=1.99m +[headless_play] t= 13.50s step= 675 trunk_z= 124.3mm grav_b=(-0.05,+0.05,-1.00) r=2.01m +[headless_play] t= 13.60s step= 680 trunk_z= 120.0mm grav_b=(-0.09,-0.06,-0.99) r=2.04m +[headless_play] t= 13.70s step= 685 trunk_z= 118.5mm grav_b=(-0.06,+0.12,-0.99) r=2.07m +[headless_play] t= 13.80s step= 690 trunk_z= 124.4mm grav_b=(-0.02,+0.13,-0.99) r=2.10m +[headless_play] t= 13.90s step= 695 trunk_z= 116.7mm grav_b=(-0.06,-0.07,-1.00) r=2.12m +[headless_play] t= 14.00s step= 700 trunk_z= 119.5mm grav_b=(-0.04,+0.04,-1.00) r=2.14m +[headless_play] t= 14.10s step= 705 trunk_z= 118.6mm grav_b=(-0.01,+0.07,-1.00) r=2.15m +[headless_play] t= 14.20s step= 710 trunk_z= 114.2mm grav_b=(-0.00,-0.12,-0.99) r=2.17m +[headless_play] t= 14.30s step= 715 trunk_z= 120.1mm grav_b=(+0.01,-0.05,-1.00) r=2.19m +[headless_play] t= 14.40s step= 720 trunk_z= 118.6mm grav_b=(-0.00,+0.12,-0.99) r=2.22m +[headless_play] t= 14.50s step= 725 trunk_z= 116.0mm grav_b=(+0.00,-0.07,-1.00) r=2.23m +[headless_play] t= 14.60s step= 730 trunk_z= 126.7mm grav_b=(-0.05,-0.23,-0.97) r=2.24m +[headless_play] t= 14.70s step= 735 trunk_z= 127.5mm grav_b=(-0.02,-0.23,-0.97) r=2.25m +[headless_play] t= 14.80s step= 740 trunk_z= 128.3mm grav_b=(+0.01,-0.14,-0.99) r=2.26m +[headless_play] t= 14.90s step= 745 trunk_z= 121.6mm grav_b=(+0.01,+0.04,-1.00) r=2.28m +[headless_play] t= 15.00s step= 750 trunk_z= 121.5mm grav_b=(-0.04,-0.04,-1.00) r=2.30m +[headless_play] t= 15.10s step= 755 trunk_z= 118.7mm grav_b=(-0.05,-0.05,-1.00) r=2.33m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.03,+0.13,-0.99) r=2.36m +[headless_play] t= 15.30s step= 765 trunk_z= 123.5mm grav_b=(-0.01,+0.17,-0.98) r=2.38m +[headless_play] t= 15.40s step= 770 trunk_z= 125.0mm grav_b=(-0.00,+0.14,-0.99) r=2.38m +[headless_play] t= 15.50s step= 775 trunk_z= 120.3mm grav_b=(+0.02,-0.01,-1.00) r=2.37m +[headless_play] t= 15.60s step= 780 trunk_z= 126.8mm grav_b=(-0.01,-0.04,-1.00) r=2.37m +[headless_play] t= 15.70s step= 785 trunk_z= 123.1mm grav_b=(-0.02,+0.01,-1.00) r=2.37m +[headless_play] t= 15.80s step= 790 trunk_z= 123.7mm grav_b=(-0.05,+0.04,-1.00) r=2.38m +[headless_play] t= 15.90s step= 795 trunk_z= 120.4mm grav_b=(-0.07,-0.15,-0.99) r=2.39m +[headless_play] t= 16.00s step= 800 trunk_z= 125.6mm grav_b=(-0.05,-0.10,-0.99) r=2.39m +[headless_play] t= 16.10s step= 805 trunk_z= 120.9mm grav_b=(-0.03,+0.04,-1.00) r=2.41m +[headless_play] t= 16.20s step= 810 trunk_z= 122.6mm grav_b=(-0.05,+0.06,-1.00) r=2.44m +[headless_play] t= 16.30s step= 815 trunk_z= 115.4mm grav_b=(+0.00,-0.13,-0.99) r=2.46m +[headless_play] t= 16.40s step= 820 trunk_z= 118.5mm grav_b=(+0.02,+0.11,-0.99) r=2.49m +[headless_play] t= 16.50s step= 825 trunk_z= 123.5mm grav_b=(-0.02,+0.13,-0.99) r=2.51m +[headless_play] t= 16.60s step= 830 trunk_z= 117.9mm grav_b=(-0.10,-0.12,-0.99) r=2.53m +[headless_play] t= 16.70s step= 835 trunk_z= 119.3mm grav_b=(-0.04,-0.02,-1.00) r=2.54m +[headless_play] t= 16.80s step= 840 trunk_z= 118.1mm grav_b=(+0.02,+0.12,-0.99) r=2.56m +[headless_play] t= 16.90s step= 845 trunk_z= 115.4mm grav_b=(-0.01,-0.09,-1.00) r=2.58m +[headless_play] t= 17.00s step= 850 trunk_z= 120.1mm grav_b=(-0.03,-0.09,-1.00) r=2.58m +[headless_play] t= 17.10s step= 855 trunk_z= 119.3mm grav_b=(-0.01,+0.07,-1.00) r=2.60m +[headless_play] t= 17.20s step= 860 trunk_z= 122.2mm grav_b=(+0.01,+0.12,-0.99) r=2.62m +[headless_play] t= 17.30s step= 865 trunk_z= 116.8mm grav_b=(-0.07,-0.07,-0.99) r=2.64m +[headless_play] t= 17.40s step= 870 trunk_z= 119.8mm grav_b=(-0.11,+0.03,-0.99) r=2.65m +[headless_play] t= 17.50s step= 875 trunk_z= 120.6mm grav_b=(-0.08,+0.11,-0.99) r=2.66m +[headless_play] t= 17.60s step= 880 trunk_z= 114.2mm grav_b=(-0.06,-0.03,-1.00) r=2.66m +[headless_play] t= 17.70s step= 885 trunk_z= 115.2mm grav_b=(-0.08,-0.02,-1.00) r=2.67m +[headless_play] t= 17.80s step= 890 trunk_z= 110.7mm grav_b=(-0.05,+0.03,-1.00) r=2.68m +[headless_play] t= 17.90s step= 895 trunk_z= 109.9mm grav_b=(+0.05,+0.07,-1.00) r=2.69m +[headless_play] t= 18.00s step= 900 trunk_z= 110.2mm grav_b=(+0.09,-0.11,-0.99) r=2.69m +[headless_play] t= 18.10s step= 905 trunk_z= 117.7mm grav_b=(+0.03,-0.05,-1.00) r=2.68m +[headless_play] t= 18.20s step= 910 trunk_z= 113.6mm grav_b=(-0.02,+0.11,-0.99) r=2.68m +[headless_play] t= 18.30s step= 915 trunk_z= 120.6mm grav_b=(-0.04,+0.10,-0.99) r=2.68m +[headless_play] t= 18.40s step= 920 trunk_z= 114.1mm grav_b=(-0.04,-0.09,-1.00) r=2.68m +[headless_play] t= 18.50s step= 925 trunk_z= 115.1mm grav_b=(-0.06,+0.06,-1.00) r=2.70m +[headless_play] t= 18.60s step= 930 trunk_z= 114.7mm grav_b=(-0.02,+0.11,-0.99) r=2.71m +[headless_play] t= 18.70s step= 935 trunk_z= 107.5mm grav_b=(+0.04,-0.08,-1.00) r=2.72m +[headless_play] t= 18.80s step= 940 trunk_z= 115.6mm grav_b=(+0.00,-0.05,-1.00) r=2.71m +[headless_play] t= 18.90s step= 945 trunk_z= 111.7mm grav_b=(+0.00,+0.00,-1.00) r=2.71m +[headless_play] t= 19.00s step= 950 trunk_z= 116.0mm grav_b=(+0.02,+0.10,-1.00) r=2.72m +[headless_play] t= 19.10s step= 955 trunk_z= 111.4mm grav_b=(+0.05,-0.07,-1.00) r=2.72m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(-0.03,-0.09,-1.00) r=2.72m +[headless_play] t= 19.30s step= 965 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) r=2.72m +[headless_play] t= 19.40s step= 970 trunk_z= 116.9mm grav_b=(-0.02,+0.09,-1.00) r=2.74m +[headless_play] t= 19.50s step= 975 trunk_z= 109.0mm grav_b=(+0.04,-0.03,-1.00) r=2.74m +[headless_play] t= 19.60s step= 980 trunk_z= 115.6mm grav_b=(+0.00,-0.06,-1.00) r=2.74m +[headless_play] t= 19.70s step= 985 trunk_z= 113.4mm grav_b=(-0.02,-0.00,-1.00) r=2.74m +[headless_play] t= 19.80s step= 990 trunk_z= 115.2mm grav_b=(-0.00,+0.09,-1.00) r=2.75m +[headless_play] t= 19.90s step= 995 trunk_z= 111.9mm grav_b=(+0.04,-0.04,-1.00) r=2.75m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.6mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(-0.08,+0.05,-1.00) r=0.14m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t13.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..7b81ae3b0d1167259ffd265b94393fe652dd8a0d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t13.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.3mm grav_b=(-0.00,+0.00,-1.00) root_w=(-0.414,+0.357,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(+0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 0.90s step= 45 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 117.8mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 119.7mm grav_b=(+0.06,+0.02,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 120.8mm grav_b=(+0.06,+0.01,-1.00) r=0.60m +[headless_play] t= 2.50s step= 125 trunk_z= 119.9mm grav_b=(+0.04,+0.05,-1.00) r=0.60m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.59m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 2.90s step= 145 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 3.00s step= 150 trunk_z= 117.6mm grav_b=(+0.04,+0.01,-1.00) r=0.62m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(+0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 3.20s step= 160 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 3.30s step= 165 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 3.40s step= 170 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 3.50s step= 175 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 4.10s step= 205 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 4.20s step= 210 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 4.30s step= 215 trunk_z= 117.5mm grav_b=(+0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 4.40s step= 220 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 4.50s step= 225 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(+0.00,+0.00,-1.00) r=0.62m +[headless_play] t= 4.70s step= 235 trunk_z= 118.0mm grav_b=(-0.07,+0.00,-1.00) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 117.9mm grav_b=(-0.08,+0.01,-1.00) r=0.62m +[headless_play] t= 4.90s step= 245 trunk_z= 114.8mm grav_b=(-0.08,-0.04,-1.00) r=0.61m +[headless_play] t= 5.00s step= 250 trunk_z= 110.9mm grav_b=(+0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 5.10s step= 255 trunk_z= 113.9mm grav_b=(+0.00,+0.02,-1.00) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 5.30s step= 265 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.61m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(-0.09,-0.02,-1.00) r=0.60m +[headless_play] t= 5.70s step= 285 trunk_z= 109.1mm grav_b=(+0.05,-0.02,-1.00) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 111.9mm grav_b=(+0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 6.30s step= 315 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 117.3mm grav_b=(+0.04,+0.01,-1.00) r=0.55m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(+0.02,+0.01,-1.00) r=0.55m +[headless_play] t= 6.70s step= 335 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 6.80s step= 340 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.00s step= 350 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.50s step= 375 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.60s step= 380 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.80s step= 390 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 7.90s step= 395 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 8.00s step= 400 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 8.10s step= 405 trunk_z= 118.0mm grav_b=(+0.05,+0.02,-1.00) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 118.7mm grav_b=(+0.06,+0.02,-1.00) r=0.55m +[headless_play] t= 8.30s step= 415 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 8.40s step= 420 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 8.50s step= 425 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 8.60s step= 430 trunk_z= 117.7mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 8.70s step= 435 trunk_z= 117.8mm grav_b=(-0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 8.80s step= 440 trunk_z= 117.6mm grav_b=(+0.00,+0.02,-1.00) r=0.58m +[headless_play] t= 8.90s step= 445 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 9.00s step= 450 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 9.10s step= 455 trunk_z= 117.9mm grav_b=(-0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 9.20s step= 460 trunk_z= 117.9mm grav_b=(-0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 9.30s step= 465 trunk_z= 118.9mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 9.40s step= 470 trunk_z= 121.7mm grav_b=(+0.08,+0.01,-1.00) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 120.1mm grav_b=(+0.01,+0.10,-0.99) r=0.58m +[headless_play] t= 9.60s step= 480 trunk_z= 121.3mm grav_b=(-0.03,+0.02,-1.00) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 9.80s step= 490 trunk_z= 116.9mm grav_b=(-0.00,+0.00,-1.00) r=0.57m +[headless_play] t= 9.90s step= 495 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 10.00s step= 500 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 10.30s step= 515 trunk_z= 117.2mm grav_b=(-0.08,-0.00,-1.00) r=0.57m +[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(-0.09,+0.00,-1.00) r=0.57m +[headless_play] t= 10.50s step= 525 trunk_z= 116.5mm grav_b=(-0.07,-0.01,-1.00) r=0.56m +[headless_play] t= 10.60s step= 530 trunk_z= 115.0mm grav_b=(-0.05,+0.01,-1.00) r=0.56m +[headless_play] t= 10.70s step= 535 trunk_z= 109.4mm grav_b=(+0.03,-0.09,-1.00) r=0.56m +[headless_play] t= 10.80s step= 540 trunk_z= 111.4mm grav_b=(+0.09,+0.02,-1.00) r=0.56m +[headless_play] t= 10.90s step= 545 trunk_z= 116.6mm grav_b=(+0.04,+0.04,-1.00) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 116.9mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(+0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 11.70s step= 585 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 11.80s step= 590 trunk_z= 118.0mm grav_b=(-0.09,+0.01,-1.00) r=0.55m +[headless_play] t= 11.90s step= 595 trunk_z= 113.9mm grav_b=(-0.03,-0.06,-1.00) r=0.54m +[headless_play] t= 12.00s step= 600 trunk_z= 104.7mm grav_b=(+0.07,-0.03,-1.00) r=0.54m +[headless_play] t= 12.10s step= 605 trunk_z= 109.0mm grav_b=(+0.04,-0.03,-1.00) r=0.54m +[headless_play] t= 12.20s step= 610 trunk_z= 114.0mm grav_b=(+0.04,-0.00,-1.00) r=0.54m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 117.2mm grav_b=(-0.10,-0.01,-1.00) r=0.53m +[headless_play] t= 12.70s step= 635 trunk_z= 98.6mm grav_b=(+0.03,-0.10,-0.99) r=0.53m +[headless_play] t= 12.80s step= 640 trunk_z= 102.8mm grav_b=(+0.05,+0.03,-1.00) r=0.53m +[headless_play] t= 12.90s step= 645 trunk_z= 111.6mm grav_b=(+0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 13.00s step= 650 trunk_z= 115.2mm grav_b=(+0.05,-0.01,-1.00) r=0.53m +[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 13.20s step= 660 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 13.40s step= 670 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 13.60s step= 680 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 13.80s step= 690 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 13.90s step= 695 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 14.10s step= 705 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 14.30s step= 715 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 14.50s step= 725 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 14.60s step= 730 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 14.70s step= 735 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 14.80s step= 740 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 14.90s step= 745 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 15.00s step= 750 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 15.10s step= 755 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 15.20s step= 760 trunk_z= 117.8mm grav_b=(-0.07,+0.02,-1.00) r=0.58m +[headless_play] t= 15.30s step= 765 trunk_z= 116.4mm grav_b=(-0.10,-0.02,-1.00) r=0.57m +[headless_play] t= 15.40s step= 770 trunk_z= 106.1mm grav_b=(+0.03,-0.04,-1.00) r=0.57m +[headless_play] t= 15.50s step= 775 trunk_z= 108.6mm grav_b=(+0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 113.7mm grav_b=(+0.05,+0.00,-1.00) r=0.57m +[headless_play] t= 15.70s step= 785 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 15.80s step= 790 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.57m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 16.00s step= 800 trunk_z= 116.4mm grav_b=(+0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 16.10s step= 805 trunk_z= 119.6mm grav_b=(+0.09,+0.00,-1.00) r=0.57m +[headless_play] t= 16.20s step= 810 trunk_z= 121.7mm grav_b=(+0.11,-0.01,-0.99) r=0.57m +[headless_play] t= 16.30s step= 815 trunk_z= 116.9mm grav_b=(+0.03,-0.10,-0.99) r=0.56m +[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(-0.11,-0.03,-0.99) r=0.56m +[headless_play] t= 16.50s step= 825 trunk_z= 117.7mm grav_b=(-0.11,-0.00,-0.99) r=0.58m +[headless_play] t= 16.60s step= 830 trunk_z= 117.8mm grav_b=(-0.07,+0.02,-1.00) r=0.59m +[headless_play] t= 16.70s step= 835 trunk_z= 117.3mm grav_b=(-0.07,+0.01,-1.00) r=0.59m +[headless_play] t= 16.80s step= 840 trunk_z= 117.1mm grav_b=(-0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 16.90s step= 845 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.59m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 17.30s step= 865 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 17.40s step= 870 trunk_z= 117.9mm grav_b=(+0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 17.50s step= 875 trunk_z= 118.2mm grav_b=(-0.02,-0.00,-1.00) r=0.56m +[headless_play] t= 17.60s step= 880 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.57m +[headless_play] t= 17.70s step= 885 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 17.80s step= 890 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 17.90s step= 895 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 18.00s step= 900 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(-0.06,+0.00,-1.00) r=0.56m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.30s step= 915 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.40s step= 920 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.60s step= 930 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.80s step= 940 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 19.00s step= 950 trunk_z= 119.4mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 19.10s step= 955 trunk_z= 120.6mm grav_b=(+0.04,+0.02,-1.00) r=0.54m +[headless_play] t= 19.20s step= 960 trunk_z= 121.2mm grav_b=(+0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 19.30s step= 965 trunk_z= 121.3mm grav_b=(+0.07,+0.04,-1.00) r=0.55m +[headless_play] t= 19.40s step= 970 trunk_z= 122.8mm grav_b=(+0.06,+0.05,-1.00) r=0.55m +[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(-0.06,-0.11,-0.99) r=0.53m +[headless_play] t= 19.60s step= 980 trunk_z= 114.3mm grav_b=(-0.25,+0.06,-0.97) r=0.53m +[headless_play] t= 19.70s step= 985 trunk_z= 117.9mm grav_b=(+0.08,-0.08,-0.99) r=0.52m +[headless_play] t= 19.80s step= 990 trunk_z= 128.2mm grav_b=(+0.09,-0.17,-0.98) r=0.50m +[headless_play] t= 19.90s step= 995 trunk_z= 114.5mm grav_b=(+0.15,-0.02,-0.99) r=0.49m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t14.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..b9c6ac18df1bf1b30a7186c058b20c7d92e7c210 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t14.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.127,+0.163,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 120.5mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.30s step= 15 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.50s step= 25 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 117.8mm grav_b=(-0.07,-0.00,-1.00) r=0.21m +[headless_play] t= 0.80s step= 40 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.21m +[headless_play] t= 0.90s step= 45 trunk_z= 117.2mm grav_b=(-0.05,-0.00,-1.00) r=0.21m +[headless_play] t= 1.00s step= 50 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(+0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 1.30s step= 65 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 1.40s step= 70 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.21m +[headless_play] t= 1.50s step= 75 trunk_z= 117.2mm grav_b=(+0.00,-0.01,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 1.80s step= 90 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 1.90s step= 95 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(+0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 117.7mm grav_b=(+0.03,+0.00,-1.00) r=0.21m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 2.60s step= 130 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 2.80s step= 140 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 3.20s step= 160 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 117.9mm grav_b=(+0.04,-0.00,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 120.3mm grav_b=(+0.07,+0.01,-1.00) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 121.9mm grav_b=(-0.03,+0.09,-1.00) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 114.8mm grav_b=(-0.10,-0.05,-0.99) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(-0.06,+0.02,-1.00) r=0.21m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(-0.03,+0.02,-1.00) r=0.21m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 4.30s step= 215 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 4.40s step= 220 trunk_z= 116.9mm grav_b=(+0.00,-0.01,-1.00) r=0.21m +[headless_play] t= 4.50s step= 225 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 117.7mm grav_b=(-0.07,-0.01,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(-0.08,-0.01,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 118.0mm grav_b=(+0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(+0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(-0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.19m +[headless_play] t= 5.60s step= 280 trunk_z= 118.4mm grav_b=(-0.03,+0.07,-1.00) r=0.18m +[headless_play] t= 5.70s step= 285 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.18m +[headless_play] t= 5.80s step= 290 trunk_z= 119.4mm grav_b=(-0.03,-0.14,-0.99) r=0.20m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(-0.02,-0.06,-1.00) r=0.21m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.08,+0.11,-0.99) r=0.22m +[headless_play] t= 6.10s step= 305 trunk_z= 118.7mm grav_b=(-0.10,-0.07,-0.99) r=0.22m +[headless_play] t= 6.20s step= 310 trunk_z= 120.6mm grav_b=(-0.06,-0.17,-0.98) r=0.24m +[headless_play] t= 6.30s step= 315 trunk_z= 124.4mm grav_b=(-0.06,-0.14,-0.99) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 120.6mm grav_b=(+0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 6.50s step= 325 trunk_z= 122.1mm grav_b=(-0.00,+0.05,-1.00) r=0.23m +[headless_play] t= 6.60s step= 330 trunk_z= 114.9mm grav_b=(-0.03,-0.13,-0.99) r=0.25m +[headless_play] t= 6.70s step= 335 trunk_z= 124.3mm grav_b=(+0.03,-0.14,-0.99) r=0.27m +[headless_play] t= 6.80s step= 340 trunk_z= 117.1mm grav_b=(+0.05,+0.05,-1.00) r=0.28m +[headless_play] t= 6.90s step= 345 trunk_z= 126.5mm grav_b=(-0.03,+0.06,-1.00) r=0.30m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(-0.08,-0.07,-0.99) r=0.32m +[headless_play] t= 7.10s step= 355 trunk_z= 126.9mm grav_b=(-0.12,-0.11,-0.99) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 118.8mm grav_b=(-0.16,+0.01,-0.99) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 118.3mm grav_b=(-0.06,-0.04,-1.00) r=0.38m +[headless_play] t= 7.40s step= 370 trunk_z= 112.0mm grav_b=(+0.04,-0.15,-0.99) r=0.40m +[headless_play] t= 7.50s step= 375 trunk_z= 119.4mm grav_b=(+0.07,+0.04,-1.00) r=0.42m +[headless_play] t= 7.60s step= 380 trunk_z= 124.8mm grav_b=(-0.02,+0.15,-0.99) r=0.44m +[headless_play] t= 7.70s step= 385 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00) r=0.46m +[headless_play] t= 7.80s step= 390 trunk_z= 124.1mm grav_b=(-0.12,-0.04,-0.99) r=0.47m +[headless_play] t= 7.90s step= 395 trunk_z= 110.3mm grav_b=(-0.11,+0.09,-0.99) r=0.48m +[headless_play] t= 8.00s step= 400 trunk_z= 110.8mm grav_b=(+0.04,+0.00,-1.00) r=0.50m +[headless_play] t= 8.10s step= 405 trunk_z= 114.2mm grav_b=(+0.11,-0.04,-0.99) r=0.52m +[headless_play] t= 8.20s step= 410 trunk_z= 114.3mm grav_b=(+0.05,+0.16,-0.99) r=0.56m +[headless_play] t= 8.30s step= 415 trunk_z= 119.2mm grav_b=(-0.14,-0.01,-0.99) r=0.59m +[headless_play] t= 8.40s step= 420 trunk_z= 122.8mm grav_b=(-0.22,-0.12,-0.97) r=0.63m +[headless_play] t= 8.50s step= 425 trunk_z= 101.5mm grav_b=(-0.22,+0.06,-0.97) r=0.67m +[headless_play] t= 8.60s step= 430 trunk_z= 95.1mm grav_b=(-0.04,-0.14,-0.99) r=0.70m +[headless_play] t= 8.70s step= 435 trunk_z= 96.9mm grav_b=(+0.04,-0.12,-0.99) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 114.3mm grav_b=(-0.04,+0.09,-1.00) r=0.76m +[headless_play] t= 8.90s step= 445 trunk_z= 116.5mm grav_b=(+0.04,+0.11,-0.99) r=0.78m +[headless_play] t= 9.00s step= 450 trunk_z= 120.3mm grav_b=(-0.04,-0.15,-0.99) r=0.79m +[headless_play] t= 9.10s step= 455 trunk_z= 131.3mm grav_b=(-0.11,-0.20,-0.97) r=0.81m +[headless_play] t= 9.20s step= 460 trunk_z= 126.3mm grav_b=(-0.08,-0.11,-0.99) r=0.80m +[headless_play] t= 9.30s step= 465 trunk_z= 120.3mm grav_b=(-0.10,+0.03,-0.99) r=0.79m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.15,-0.06,-0.99) r=0.77m +[headless_play] t= 9.50s step= 475 trunk_z= 109.4mm grav_b=(-0.04,+0.03,-1.00) r=0.76m +[headless_play] t= 9.60s step= 480 trunk_z= 113.9mm grav_b=(-0.02,+0.21,-0.98) r=0.75m +[headless_play] t= 9.70s step= 485 trunk_z= 126.5mm grav_b=(-0.08,+0.17,-0.98) r=0.75m +[headless_play] t= 9.80s step= 490 trunk_z= 125.3mm grav_b=(-0.08,+0.10,-0.99) r=0.75m +[headless_play] t= 9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 10.00s step= 500 trunk_z= 117.2mm grav_b=(-0.03,+0.14,-0.99) r=0.78m +[headless_play] t= 10.10s step= 505 trunk_z= 121.6mm grav_b=(-0.08,+0.05,-1.00) r=0.79m +[headless_play] t= 10.20s step= 510 trunk_z= 119.9mm grav_b=(-0.08,-0.09,-0.99) r=0.80m +[headless_play] t= 10.30s step= 515 trunk_z= 119.8mm grav_b=(-0.06,-0.02,-1.00) r=0.81m +[headless_play] t= 10.40s step= 520 trunk_z= 117.7mm grav_b=(-0.02,+0.09,-1.00) r=0.82m +[headless_play] t= 10.50s step= 525 trunk_z= 116.0mm grav_b=(-0.02,-0.06,-1.00) r=0.83m +[headless_play] t= 10.60s step= 530 trunk_z= 123.2mm grav_b=(-0.04,-0.10,-0.99) r=0.85m +[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(-0.03,+0.05,-1.00) r=0.87m +[headless_play] t= 10.80s step= 540 trunk_z= 122.6mm grav_b=(-0.02,+0.10,-0.99) r=0.88m +[headless_play] t= 10.90s step= 545 trunk_z= 114.6mm grav_b=(-0.03,-0.05,-1.00) r=0.89m +[headless_play] t= 11.00s step= 550 trunk_z= 125.8mm grav_b=(-0.13,-0.05,-0.99) r=0.90m +[headless_play] t= 11.10s step= 555 trunk_z= 116.4mm grav_b=(-0.11,+0.11,-0.99) r=0.90m +[headless_play] t= 11.20s step= 560 trunk_z= 120.9mm grav_b=(-0.07,+0.05,-1.00) r=0.89m +[headless_play] t= 11.30s step= 565 trunk_z= 111.4mm grav_b=(+0.03,-0.09,-1.00) r=0.88m +[headless_play] t= 11.40s step= 570 trunk_z= 119.1mm grav_b=(+0.04,+0.02,-1.00) r=0.88m +[headless_play] t= 11.50s step= 575 trunk_z= 122.8mm grav_b=(-0.04,+0.14,-0.99) r=0.89m +[headless_play] t= 11.60s step= 580 trunk_z= 118.2mm grav_b=(-0.14,-0.03,-0.99) r=0.90m +[headless_play] t= 11.70s step= 585 trunk_z= 125.7mm grav_b=(-0.07,-0.06,-1.00) r=0.92m +[headless_play] t= 11.80s step= 590 trunk_z= 114.6mm grav_b=(-0.17,+0.04,-0.99) r=0.92m +[headless_play] t= 11.90s step= 595 trunk_z= 109.5mm grav_b=(-0.25,-0.25,-0.93) r=0.91m +[headless_play] t= 12.00s step= 600 trunk_z= 90.1mm grav_b=(-0.81,-0.09,-0.58) r=0.90m +[headless_play] RESET at t= 12.04s step= 602 (env termination, not a recovery) +[headless_play] t= 12.10s step= 605 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 12.20s step= 610 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 116.5mm grav_b=(+0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 12.40s step= 620 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.59m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 12.90s step= 645 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 13.00s step= 650 trunk_z= 117.0mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.10s step= 655 trunk_z= 117.0mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.20s step= 660 trunk_z= 117.0mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.30s step= 665 trunk_z= 117.0mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.50s step= 675 trunk_z= 116.9mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.70s step= 685 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.80s step= 690 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 14.00s step= 700 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 14.10s step= 705 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 14.30s step= 715 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(+0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 120.6mm grav_b=(+0.07,+0.02,-1.00) r=0.56m +[headless_play] t= 14.60s step= 730 trunk_z= 118.8mm grav_b=(-0.06,+0.12,-0.99) r=0.55m +[headless_play] t= 14.70s step= 735 trunk_z= 113.6mm grav_b=(-0.09,-0.05,-0.99) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 14.90s step= 745 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 115.5mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 15.10s step= 755 trunk_z= 115.7mm grav_b=(+0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.52m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 15.70s step= 785 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 15.80s step= 790 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 16.10s step= 805 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 16.20s step= 810 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.52m +[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 16.60s step= 830 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 16.70s step= 835 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 16.80s step= 840 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 16.90s step= 845 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(-0.00,-0.00,-1.00) r=0.51m +[headless_play] t= 17.10s step= 855 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 17.40s step= 870 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 17.50s step= 875 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.51m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.51m +[headless_play] t= 17.70s step= 885 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 17.80s step= 890 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 18.00s step= 900 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 18.10s step= 905 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(-0.02,+0.08,-1.00) r=0.52m +[headless_play] t= 18.40s step= 920 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 18.50s step= 925 trunk_z= 120.6mm grav_b=(-0.02,-0.06,-1.00) r=0.51m +[headless_play] t= 18.60s step= 930 trunk_z= 120.7mm grav_b=(-0.03,+0.15,-0.99) r=0.51m +[headless_play] t= 18.70s step= 935 trunk_z= 124.9mm grav_b=(-0.07,+0.09,-0.99) r=0.49m +[headless_play] t= 18.80s step= 940 trunk_z= 122.5mm grav_b=(-0.07,-0.07,-1.00) r=0.47m +[headless_play] t= 18.90s step= 945 trunk_z= 123.3mm grav_b=(-0.02,+0.00,-1.00) r=0.46m +[headless_play] t= 19.00s step= 950 trunk_z= 122.8mm grav_b=(-0.01,+0.08,-1.00) r=0.45m +[headless_play] t= 19.10s step= 955 trunk_z= 119.9mm grav_b=(-0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 19.20s step= 960 trunk_z= 125.1mm grav_b=(-0.06,-0.06,-1.00) r=0.42m +[headless_play] t= 19.30s step= 965 trunk_z= 119.8mm grav_b=(-0.05,+0.10,-0.99) r=0.41m +[headless_play] t= 19.40s step= 970 trunk_z= 122.2mm grav_b=(-0.08,+0.05,-1.00) r=0.39m +[headless_play] t= 19.50s step= 975 trunk_z= 121.6mm grav_b=(-0.05,-0.04,-1.00) r=0.38m +[headless_play] t= 19.60s step= 980 trunk_z= 119.4mm grav_b=(-0.02,+0.12,-0.99) r=0.36m +[headless_play] t= 19.70s step= 985 trunk_z= 125.5mm grav_b=(-0.02,+0.08,-1.00) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 120.2mm grav_b=(-0.06,-0.08,-1.00) r=0.32m +[headless_play] t= 19.90s step= 995 trunk_z= 120.9mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.01,+0.08,-1.00) r=0.29m +[headless_play] t= 20.10s step=1005 trunk_z= 119.4mm grav_b=(-0.05,-0.06,-1.00) r=0.27m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t15.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..83d0c03a0c2cbf5fd9233a36e02d9bdd0e4b60ac --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t15.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.2mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.260,-0.239,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 124.6mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.02,+0.06,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.04,-0.08,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 118.2mm grav_b=(+0.04,+0.09,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 122.7mm grav_b=(+0.06,+0.12,-0.99) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 121.2mm grav_b=(+0.02,+0.04,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 122.1mm grav_b=(-0.03,-0.06,-1.00) r=0.37m +[headless_play] t= 0.80s step= 40 trunk_z= 118.5mm grav_b=(-0.06,+0.12,-0.99) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 121.1mm grav_b=(-0.03,+0.12,-0.99) r=0.37m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 121.6mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 118.4mm grav_b=(+0.06,+0.11,-0.99) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 120.4mm grav_b=(+0.18,-0.02,-0.98) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.02,-0.13,-0.99) r=0.48m +[headless_play] t= 1.50s step= 75 trunk_z= 119.7mm grav_b=(-0.01,-0.04,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 124.5mm grav_b=(+0.06,+0.10,-0.99) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 127.0mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 1.80s step= 90 trunk_z= 122.9mm grav_b=(+0.01,-0.09,-1.00) r=0.57m +[headless_play] t= 1.90s step= 95 trunk_z= 122.7mm grav_b=(-0.00,+0.03,-1.00) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 122.5mm grav_b=(+0.02,+0.07,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 119.5mm grav_b=(-0.03,-0.05,-1.00) r=0.63m +[headless_play] t= 2.20s step= 110 trunk_z= 124.2mm grav_b=(-0.03,-0.08,-1.00) r=0.65m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.04,+0.05,-1.00) r=0.65m +[headless_play] t= 2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.02,+0.06,-1.00) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 117.3mm grav_b=(+0.02,-0.08,-1.00) r=0.68m +[headless_play] t= 2.60s step= 130 trunk_z= 119.3mm grav_b=(+0.05,-0.01,-1.00) r=0.70m +[headless_play] t= 2.70s step= 135 trunk_z= 120.1mm grav_b=(+0.07,+0.11,-0.99) r=0.71m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(+0.02,+0.00,-1.00) r=0.72m +[headless_play] t= 2.90s step= 145 trunk_z= 124.2mm grav_b=(-0.03,-0.10,-0.99) r=0.74m +[headless_play] t= 3.00s step= 150 trunk_z= 120.9mm grav_b=(-0.04,+0.01,-1.00) r=0.75m +[headless_play] t= 3.10s step= 155 trunk_z= 119.5mm grav_b=(-0.04,+0.03,-1.00) r=0.77m +[headless_play] t= 3.20s step= 160 trunk_z= 118.9mm grav_b=(-0.04,-0.14,-0.99) r=0.78m +[headless_play] t= 3.30s step= 165 trunk_z= 125.7mm grav_b=(-0.01,-0.10,-1.00) r=0.80m +[headless_play] t= 3.40s step= 170 trunk_z= 117.2mm grav_b=(-0.02,+0.10,-1.00) r=0.81m +[headless_play] t= 3.50s step= 175 trunk_z= 121.0mm grav_b=(-0.04,+0.03,-1.00) r=0.82m +[headless_play] t= 3.60s step= 180 trunk_z= 121.4mm grav_b=(-0.03,-0.15,-0.99) r=0.83m +[headless_play] t= 3.70s step= 185 trunk_z= 123.7mm grav_b=(-0.03,-0.10,-0.99) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(+0.07,+0.10,-0.99) r=0.84m +[headless_play] t= 3.90s step= 195 trunk_z= 123.2mm grav_b=(+0.04,+0.09,-1.00) r=0.84m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.01,-0.09,-1.00) r=0.85m +[headless_play] t= 4.10s step= 205 trunk_z= 118.0mm grav_b=(+0.04,+0.05,-1.00) r=0.87m +[headless_play] t= 4.20s step= 210 trunk_z= 123.0mm grav_b=(+0.07,+0.16,-0.98) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 122.4mm grav_b=(+0.05,+0.02,-1.00) r=0.89m +[headless_play] t= 4.40s step= 220 trunk_z= 122.3mm grav_b=(+0.03,+0.02,-1.00) r=0.91m +[headless_play] t= 4.50s step= 225 trunk_z= 123.2mm grav_b=(+0.02,+0.18,-0.98) r=0.92m +[headless_play] t= 4.60s step= 230 trunk_z= 128.5mm grav_b=(+0.04,+0.17,-0.99) r=0.93m +[headless_play] t= 4.70s step= 235 trunk_z= 121.4mm grav_b=(+0.00,+0.05,-1.00) r=0.95m +[headless_play] t= 4.80s step= 240 trunk_z= 121.6mm grav_b=(+0.00,+0.02,-1.00) r=0.97m +[headless_play] t= 4.90s step= 245 trunk_z= 121.9mm grav_b=(+0.05,+0.13,-0.99) r=0.99m +[headless_play] t= 5.00s step= 250 trunk_z= 121.4mm grav_b=(+0.04,+0.04,-1.00) r=1.00m +[headless_play] t= 5.10s step= 255 trunk_z= 123.3mm grav_b=(-0.00,-0.06,-1.00) r=1.03m +[headless_play] t= 5.20s step= 260 trunk_z= 118.6mm grav_b=(+0.01,+0.11,-0.99) r=1.04m +[headless_play] t= 5.30s step= 265 trunk_z= 123.9mm grav_b=(+0.01,+0.09,-1.00) r=1.06m +[headless_play] t= 5.40s step= 270 trunk_z= 119.2mm grav_b=(+0.01,-0.12,-0.99) r=1.07m +[headless_play] t= 5.50s step= 275 trunk_z= 125.3mm grav_b=(+0.03,-0.09,-1.00) r=1.09m +[headless_play] t= 5.60s step= 280 trunk_z= 119.1mm grav_b=(+0.03,+0.09,-1.00) r=1.10m +[headless_play] t= 5.70s step= 285 trunk_z= 120.2mm grav_b=(+0.08,-0.03,-1.00) r=1.13m +[headless_play] t= 5.80s step= 290 trunk_z= 121.9mm grav_b=(+0.08,-0.07,-0.99) r=1.16m +[headless_play] t= 5.90s step= 295 trunk_z= 119.0mm grav_b=(+0.03,+0.18,-0.98) r=1.19m +[headless_play] t= 6.00s step= 300 trunk_z= 128.9mm grav_b=(+0.04,+0.20,-0.98) r=1.22m +[headless_play] t= 6.10s step= 305 trunk_z= 122.3mm grav_b=(+0.02,+0.07,-1.00) r=1.25m +[headless_play] t= 6.20s step= 310 trunk_z= 122.4mm grav_b=(-0.05,-0.08,-1.00) r=1.28m +[headless_play] t= 6.30s step= 315 trunk_z= 119.2mm grav_b=(-0.00,+0.10,-1.00) r=1.30m +[headless_play] t= 6.40s step= 320 trunk_z= 123.9mm grav_b=(+0.07,+0.11,-0.99) r=1.31m +[headless_play] t= 6.50s step= 325 trunk_z= 119.6mm grav_b=(+0.05,-0.08,-1.00) r=1.33m +[headless_play] t= 6.60s step= 330 trunk_z= 127.6mm grav_b=(+0.04,-0.10,-0.99) r=1.35m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(+0.05,+0.07,-1.00) r=1.37m +[headless_play] t= 6.80s step= 340 trunk_z= 129.0mm grav_b=(+0.05,+0.08,-1.00) r=1.39m +[headless_play] t= 6.90s step= 345 trunk_z= 123.2mm grav_b=(+0.03,-0.01,-1.00) r=1.41m +[headless_play] t= 7.00s step= 350 trunk_z= 122.5mm grav_b=(+0.01,-0.07,-1.00) r=1.44m +[headless_play] t= 7.10s step= 355 trunk_z= 120.0mm grav_b=(+0.03,+0.12,-0.99) r=1.46m +[headless_play] t= 7.20s step= 360 trunk_z= 125.8mm grav_b=(+0.07,+0.06,-1.00) r=1.47m +[headless_play] t= 7.30s step= 365 trunk_z= 117.5mm grav_b=(+0.06,-0.11,-0.99) r=1.52m +[headless_play] t= 7.40s step= 370 trunk_z= 127.7mm grav_b=(+0.04,+0.04,-1.00) r=1.56m +[headless_play] t= 7.50s step= 375 trunk_z= 115.4mm grav_b=(-0.12,+0.19,-0.97) r=1.61m +[headless_play] t= 7.60s step= 380 trunk_z= 119.3mm grav_b=(-0.23,+0.12,-0.97) r=1.65m +[headless_play] t= 7.70s step= 385 trunk_z= 107.7mm grav_b=(-0.07,-0.01,-1.00) r=1.69m +[headless_play] t= 7.80s step= 390 trunk_z= 102.9mm grav_b=(+0.12,+0.09,-0.99) r=1.70m +[headless_play] t= 7.90s step= 395 trunk_z= 118.6mm grav_b=(+0.04,+0.09,-1.00) r=1.71m +[headless_play] t= 8.00s step= 400 trunk_z= 120.6mm grav_b=(+0.06,-0.03,-1.00) r=1.74m +[headless_play] t= 8.10s step= 405 trunk_z= 124.3mm grav_b=(+0.06,-0.08,-1.00) r=1.76m +[headless_play] t= 8.20s step= 410 trunk_z= 118.6mm grav_b=(+0.07,+0.09,-0.99) r=1.79m +[headless_play] t= 8.30s step= 415 trunk_z= 127.8mm grav_b=(+0.04,+0.11,-0.99) r=1.82m +[headless_play] t= 8.40s step= 420 trunk_z= 123.8mm grav_b=(-0.00,+0.05,-1.00) r=1.84m +[headless_play] t= 8.50s step= 425 trunk_z= 121.3mm grav_b=(+0.00,-0.07,-1.00) r=1.86m +[headless_play] t= 8.60s step= 430 trunk_z= 119.3mm grav_b=(+0.05,+0.12,-0.99) r=1.86m +[headless_play] t= 8.70s step= 435 trunk_z= 125.6mm grav_b=(+0.05,+0.05,-1.00) r=1.86m +[headless_play] t= 8.80s step= 440 trunk_z= 119.6mm grav_b=(-0.03,-0.16,-0.99) r=1.86m +[headless_play] t= 8.90s step= 445 trunk_z= 129.6mm grav_b=(-0.01,-0.19,-0.98) r=1.86m +[headless_play] t= 9.00s step= 450 trunk_z= 128.3mm grav_b=(+0.02,-0.13,-0.99) r=1.87m +[headless_play] t= 9.10s step= 455 trunk_z= 123.1mm grav_b=(-0.01,-0.04,-1.00) r=1.90m +[headless_play] t= 9.20s step= 460 trunk_z= 124.1mm grav_b=(-0.08,+0.06,-1.00) r=1.93m +[headless_play] t= 9.30s step= 465 trunk_z= 121.3mm grav_b=(-0.02,-0.05,-1.00) r=1.94m +[headless_play] t= 9.40s step= 470 trunk_z= 120.7mm grav_b=(+0.06,-0.10,-0.99) r=1.95m +[headless_play] t= 9.50s step= 475 trunk_z= 118.0mm grav_b=(+0.08,+0.12,-0.99) r=1.95m +[headless_play] t= 9.60s step= 480 trunk_z= 125.4mm grav_b=(-0.04,+0.12,-0.99) r=1.95m +[headless_play] t= 9.70s step= 485 trunk_z= 117.1mm grav_b=(-0.04,-0.07,-1.00) r=1.95m +[headless_play] t= 9.80s step= 490 trunk_z= 120.5mm grav_b=(+0.00,+0.00,-1.00) r=1.94m +[headless_play] t= 9.90s step= 495 trunk_z= 120.4mm grav_b=(+0.03,+0.08,-1.00) r=1.95m +[headless_play] t= 10.00s step= 500 trunk_z= 117.2mm grav_b=(+0.03,-0.12,-0.99) r=1.95m +[headless_play] t= 10.10s step= 505 trunk_z= 124.5mm grav_b=(+0.04,-0.07,-1.00) r=1.95m +[headless_play] t= 10.20s step= 510 trunk_z= 122.1mm grav_b=(-0.02,+0.12,-0.99) r=1.98m +[headless_play] t= 10.30s step= 515 trunk_z= 123.0mm grav_b=(-0.06,+0.05,-1.00) r=1.99m +[headless_play] t= 10.40s step= 520 trunk_z= 121.0mm grav_b=(-0.03,-0.06,-1.00) r=2.00m +[headless_play] t= 10.50s step= 525 trunk_z= 121.2mm grav_b=(+0.04,+0.07,-1.00) r=2.02m +[headless_play] t= 10.60s step= 530 trunk_z= 122.5mm grav_b=(+0.04,-0.06,-1.00) r=2.03m +[headless_play] t= 10.70s step= 535 trunk_z= 125.1mm grav_b=(+0.02,-0.07,-1.00) r=2.04m +[headless_play] t= 10.80s step= 540 trunk_z= 120.9mm grav_b=(+0.01,+0.15,-0.99) r=2.05m +[headless_play] t= 10.90s step= 545 trunk_z= 129.2mm grav_b=(+0.00,+0.14,-0.99) r=2.06m +[headless_play] t= 11.00s step= 550 trunk_z= 118.7mm grav_b=(-0.04,-0.05,-1.00) r=2.05m +[headless_play] t= 11.10s step= 555 trunk_z= 118.6mm grav_b=(-0.10,+0.04,-0.99) r=2.05m +[headless_play] t= 11.20s step= 560 trunk_z= 119.0mm grav_b=(-0.06,-0.02,-1.00) r=2.05m +[headless_play] t= 11.30s step= 565 trunk_z= 120.7mm grav_b=(-0.01,-0.08,-1.00) r=2.04m +[headless_play] t= 11.40s step= 570 trunk_z= 119.7mm grav_b=(+0.03,+0.06,-1.00) r=2.05m +[headless_play] t= 11.50s step= 575 trunk_z= 120.8mm grav_b=(+0.01,-0.08,-1.00) r=2.05m +[headless_play] t= 11.60s step= 580 trunk_z= 125.3mm grav_b=(-0.01,-0.16,-0.99) r=2.05m +[headless_play] t= 11.70s step= 585 trunk_z= 119.6mm grav_b=(+0.01,+0.10,-0.99) r=2.06m +[headless_play] t= 11.80s step= 590 trunk_z= 132.4mm grav_b=(+0.04,+0.20,-0.98) r=2.08m +[headless_play] t= 11.90s step= 595 trunk_z= 132.5mm grav_b=(+0.03,+0.14,-0.99) r=2.09m +[headless_play] t= 12.00s step= 600 trunk_z= 125.4mm grav_b=(-0.01,-0.00,-1.00) r=2.09m +[headless_play] t= 12.10s step= 605 trunk_z= 125.1mm grav_b=(+0.02,+0.05,-1.00) r=2.09m +[headless_play] t= 12.20s step= 610 trunk_z= 123.8mm grav_b=(+0.15,+0.12,-0.98) r=2.09m +[headless_play] t= 12.30s step= 615 trunk_z= 123.1mm grav_b=(+0.13,-0.14,-0.98) r=2.07m +[headless_play] t= 12.40s step= 620 trunk_z= 109.9mm grav_b=(-0.10,-0.22,-0.97) r=2.05m +[headless_play] t= 12.50s step= 625 trunk_z= 108.2mm grav_b=(-0.33,-0.11,-0.94) r=2.04m +[headless_play] t= 12.60s step= 630 trunk_z= 97.3mm grav_b=(-0.08,-0.10,-0.99) r=2.05m +[headless_play] t= 12.70s step= 635 trunk_z= 88.7mm grav_b=(-0.00,-0.27,-0.96) r=2.04m +[headless_play] t= 12.80s step= 640 trunk_z= 99.4mm grav_b=(+0.07,-0.12,-0.99) r=2.03m +[headless_play] t= 12.90s step= 645 trunk_z= 106.7mm grav_b=(+0.16,+0.25,-0.95) r=2.02m +[headless_play] t= 13.00s step= 650 trunk_z= 128.5mm grav_b=(+0.25,+0.21,-0.95) r=2.03m +[headless_play] t= 13.10s step= 655 trunk_z= 105.5mm grav_b=(+0.32,+0.34,-0.89) r=2.04m +[headless_play] RESET at t= 13.20s step= 660 (env termination, not a recovery) +[headless_play] t= 13.20s step= 660 trunk_z= 120.9mm grav_b=(-0.00,+0.00,-1.00) r=0.67m +[headless_play] t= 13.30s step= 665 trunk_z= 117.1mm grav_b=(-0.02,+0.05,-1.00) r=0.66m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(+0.03,+0.03,-1.00) r=0.65m +[headless_play] t= 13.50s step= 675 trunk_z= 113.9mm grav_b=(+0.06,-0.13,-0.99) r=0.63m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(+0.07,-0.08,-0.99) r=0.62m +[headless_play] t= 13.70s step= 685 trunk_z= 115.5mm grav_b=(+0.06,+0.09,-0.99) r=0.59m +[headless_play] t= 13.80s step= 690 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00) r=0.57m +[headless_play] t= 13.90s step= 695 trunk_z= 115.7mm grav_b=(+0.02,-0.07,-1.00) r=0.56m +[headless_play] t= 14.00s step= 700 trunk_z= 114.2mm grav_b=(+0.03,+0.08,-1.00) r=0.55m +[headless_play] t= 14.10s step= 705 trunk_z= 111.4mm grav_b=(+0.08,+0.00,-1.00) r=0.54m +[headless_play] t= 14.20s step= 710 trunk_z= 113.3mm grav_b=(+0.09,-0.07,-0.99) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 112.6mm grav_b=(+0.09,+0.04,-1.00) r=0.50m +[headless_play] t= 14.40s step= 720 trunk_z= 113.6mm grav_b=(+0.11,+0.08,-0.99) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 113.1mm grav_b=(+0.05,-0.17,-0.98) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 120.6mm grav_b=(+0.10,-0.20,-0.97) r=0.41m +[headless_play] t= 14.70s step= 735 trunk_z= 119.0mm grav_b=(+0.10,-0.10,-0.99) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 120.7mm grav_b=(+0.09,-0.00,-1.00) r=0.34m +[headless_play] t= 14.90s step= 745 trunk_z= 118.1mm grav_b=(+0.05,-0.12,-0.99) r=0.30m +[headless_play] t= 15.00s step= 750 trunk_z= 124.1mm grav_b=(+0.03,-0.10,-0.99) r=0.27m +[headless_play] t= 15.10s step= 755 trunk_z= 117.3mm grav_b=(+0.01,+0.09,-1.00) r=0.25m +[headless_play] t= 15.20s step= 760 trunk_z= 117.3mm grav_b=(+0.03,+0.02,-1.00) r=0.23m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(-0.00,-0.12,-0.99) r=0.23m +[headless_play] t= 15.40s step= 770 trunk_z= 120.5mm grav_b=(+0.02,-0.07,-1.00) r=0.23m +[headless_play] t= 15.50s step= 775 trunk_z= 113.3mm grav_b=(+0.06,+0.05,-1.00) r=0.21m +[headless_play] t= 15.60s step= 780 trunk_z= 113.8mm grav_b=(+0.10,-0.01,-0.99) r=0.19m +[headless_play] t= 15.70s step= 785 trunk_z= 115.5mm grav_b=(+0.08,-0.14,-0.99) r=0.18m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(+0.08,-0.04,-1.00) r=0.16m +[headless_play] t= 15.90s step= 795 trunk_z= 116.4mm grav_b=(+0.05,+0.11,-0.99) r=0.14m +[headless_play] t= 16.00s step= 800 trunk_z= 114.2mm grav_b=(+0.09,+0.02,-1.00) r=0.13m +[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(+0.08,-0.13,-0.99) r=0.14m +[headless_play] t= 16.20s step= 810 trunk_z= 115.6mm grav_b=(+0.08,-0.02,-1.00) r=0.16m +[headless_play] t= 16.30s step= 815 trunk_z= 115.1mm grav_b=(+0.08,+0.07,-0.99) r=0.18m +[headless_play] t= 16.40s step= 820 trunk_z= 115.1mm grav_b=(+0.09,-0.12,-0.99) r=0.20m +[headless_play] t= 16.50s step= 825 trunk_z= 121.9mm grav_b=(+0.06,-0.20,-0.98) r=0.22m +[headless_play] t= 16.60s step= 830 trunk_z= 119.5mm grav_b=(+0.07,-0.15,-0.99) r=0.23m +[headless_play] t= 16.70s step= 835 trunk_z= 115.5mm grav_b=(+0.08,+0.04,-1.00) r=0.25m +[headless_play] t= 16.80s step= 840 trunk_z= 118.9mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 16.90s step= 845 trunk_z= 115.4mm grav_b=(+0.01,-0.13,-0.99) r=0.28m +[headless_play] t= 17.00s step= 850 trunk_z= 111.6mm grav_b=(+0.11,-0.02,-0.99) r=0.29m +[headless_play] t= 17.10s step= 855 trunk_z= 114.2mm grav_b=(+0.14,+0.13,-0.98) r=0.30m +[headless_play] t= 17.20s step= 860 trunk_z= 119.6mm grav_b=(+0.05,+0.05,-1.00) r=0.31m +[headless_play] t= 17.30s step= 865 trunk_z= 119.6mm grav_b=(+0.03,-0.12,-0.99) r=0.34m +[headless_play] t= 17.40s step= 870 trunk_z= 121.1mm grav_b=(+0.07,-0.10,-0.99) r=0.36m +[headless_play] t= 17.50s step= 875 trunk_z= 113.8mm grav_b=(+0.09,+0.07,-0.99) r=0.38m +[headless_play] t= 17.60s step= 880 trunk_z= 117.8mm grav_b=(+0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 17.70s step= 885 trunk_z= 115.8mm grav_b=(+0.01,-0.14,-0.99) r=0.41m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(+0.05,-0.04,-1.00) r=0.43m +[headless_play] t= 17.90s step= 895 trunk_z= 114.2mm grav_b=(+0.09,+0.11,-0.99) r=0.44m +[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(+0.07,+0.02,-1.00) r=0.46m +[headless_play] t= 18.10s step= 905 trunk_z= 120.5mm grav_b=(+0.05,-0.10,-0.99) r=0.47m +[headless_play] t= 18.20s step= 910 trunk_z= 119.1mm grav_b=(+0.06,+0.05,-1.00) r=0.49m +[headless_play] t= 18.30s step= 915 trunk_z= 123.0mm grav_b=(+0.04,+0.04,-1.00) r=0.51m +[headless_play] t= 18.40s step= 920 trunk_z= 121.6mm grav_b=(-0.00,-0.13,-0.99) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 123.5mm grav_b=(-0.02,-0.06,-1.00) r=0.53m +[headless_play] t= 18.60s step= 930 trunk_z= 121.0mm grav_b=(+0.00,+0.08,-1.00) r=0.54m +[headless_play] t= 18.70s step= 935 trunk_z= 118.6mm grav_b=(+0.00,-0.04,-1.00) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 122.4mm grav_b=(+0.04,-0.06,-1.00) r=0.56m +[headless_play] t= 18.90s step= 945 trunk_z= 119.1mm grav_b=(+0.05,+0.09,-0.99) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 120.8mm grav_b=(+0.02,-0.05,-1.00) r=0.59m +[headless_play] t= 19.10s step= 955 trunk_z= 125.8mm grav_b=(+0.04,-0.14,-0.99) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 121.8mm grav_b=(+0.05,-0.05,-1.00) r=0.64m +[headless_play] t= 19.30s step= 965 trunk_z= 121.0mm grav_b=(+0.03,-0.01,-1.00) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 119.8mm grav_b=(+0.06,-0.13,-0.99) r=0.68m +[headless_play] t= 19.50s step= 975 trunk_z= 122.2mm grav_b=(+0.04,-0.01,-1.00) r=0.70m +[headless_play] t= 19.60s step= 980 trunk_z= 123.8mm grav_b=(+0.03,+0.12,-0.99) r=0.72m +[headless_play] t= 19.70s step= 985 trunk_z= 119.6mm grav_b=(+0.01,-0.04,-1.00) r=0.74m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(-0.02,+0.02,-1.00) r=0.76m +[headless_play] t= 19.90s step= 995 trunk_z= 120.7mm grav_b=(+0.03,+0.08,-1.00) r=0.78m +[headless_play] t= 20.00s step=1000 trunk_z= 117.1mm grav_b=(+0.03,-0.11,-0.99) r=0.80m +[headless_play] t= 20.10s step=1005 trunk_z= 119.7mm grav_b=(+0.03,+0.01,-1.00) r=0.81m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t2.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..bcc30643bc51006340137343a30afce2ba54fd71 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t2.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.043,-0.171,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.03,-0.07,-1.00) r=0.18m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(-0.01,-0.03,-1.00) r=0.18m +[headless_play] t= 0.30s step= 15 trunk_z= 122.5mm grav_b=(-0.01,+0.09,-1.00) r=0.18m +[headless_play] t= 0.40s step= 20 trunk_z= 121.8mm grav_b=(+0.04,+0.02,-1.00) r=0.18m +[headless_play] t= 0.50s step= 25 trunk_z= 121.2mm grav_b=(+0.01,-0.06,-1.00) r=0.19m +[headless_play] t= 0.60s step= 30 trunk_z= 117.0mm grav_b=(-0.03,+0.07,-1.00) r=0.18m +[headless_play] t= 0.70s step= 35 trunk_z= 120.7mm grav_b=(-0.09,+0.00,-1.00) r=0.17m +[headless_play] t= 0.80s step= 40 trunk_z= 123.8mm grav_b=(-0.09,-0.11,-0.99) r=0.17m +[headless_play] t= 0.90s step= 45 trunk_z= 123.6mm grav_b=(-0.05,-0.05,-1.00) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 121.5mm grav_b=(-0.00,+0.06,-1.00) r=0.17m +[headless_play] t= 1.10s step= 55 trunk_z= 117.1mm grav_b=(+0.05,-0.09,-1.00) r=0.17m +[headless_play] t= 1.20s step= 60 trunk_z= 121.4mm grav_b=(+0.02,+0.00,-1.00) r=0.18m +[headless_play] t= 1.30s step= 65 trunk_z= 122.7mm grav_b=(-0.09,+0.11,-0.99) r=0.18m +[headless_play] t= 1.40s step= 70 trunk_z= 121.0mm grav_b=(-0.07,-0.02,-1.00) r=0.18m +[headless_play] t= 1.50s step= 75 trunk_z= 121.0mm grav_b=(-0.07,-0.10,-0.99) r=0.18m +[headless_play] t= 1.60s step= 80 trunk_z= 115.6mm grav_b=(-0.01,+0.04,-1.00) r=0.18m +[headless_play] t= 1.70s step= 85 trunk_z= 118.5mm grav_b=(+0.05,+0.02,-1.00) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 119.3mm grav_b=(+0.06,-0.07,-1.00) r=0.20m +[headless_play] t= 1.90s step= 95 trunk_z= 119.9mm grav_b=(+0.00,+0.06,-1.00) r=0.22m +[headless_play] t= 2.00s step= 100 trunk_z= 121.9mm grav_b=(-0.07,+0.08,-0.99) r=0.25m +[headless_play] t= 2.10s step= 105 trunk_z= 119.1mm grav_b=(-0.07,-0.12,-0.99) r=0.27m +[headless_play] t= 2.20s step= 110 trunk_z= 120.0mm grav_b=(-0.04,+0.00,-1.00) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 124.4mm grav_b=(+0.01,+0.12,-0.99) r=0.29m +[headless_play] t= 2.40s step= 120 trunk_z= 121.5mm grav_b=(+0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 120.7mm grav_b=(+0.03,-0.04,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(-0.00,+0.11,-0.99) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 123.0mm grav_b=(-0.01,+0.05,-1.00) r=0.37m +[headless_play] t= 2.80s step= 140 trunk_z= 121.6mm grav_b=(-0.01,-0.08,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 122.0mm grav_b=(-0.00,+0.00,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(+0.01,+0.09,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(-0.01,-0.07,-1.00) r=0.42m +[headless_play] t= 3.20s step= 160 trunk_z= 120.7mm grav_b=(-0.00,-0.00,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 122.1mm grav_b=(-0.00,+0.10,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(-0.01,-0.09,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 126.8mm grav_b=(+0.02,-0.11,-0.99) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 121.9mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 3.70s step= 185 trunk_z= 121.0mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 121.1mm grav_b=(+0.01,-0.10,-1.00) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 118.8mm grav_b=(-0.04,+0.03,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 117.7mm grav_b=(-0.03,+0.03,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 117.4mm grav_b=(-0.04,+0.03,-1.00) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 117.5mm grav_b=(-0.04,+0.03,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.04,+0.02,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 4.50s step= 225 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 4.70s step= 235 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 4.80s step= 240 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(-0.04,+0.01,-1.00) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 118.1mm grav_b=(+0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 120.2mm grav_b=(+0.09,+0.01,-1.00) r=0.58m +[headless_play] t= 5.20s step= 260 trunk_z= 120.7mm grav_b=(+0.11,+0.01,-0.99) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 120.7mm grav_b=(+0.11,+0.02,-0.99) r=0.59m +[headless_play] t= 5.40s step= 270 trunk_z= 118.6mm grav_b=(+0.04,-0.04,-1.00) r=0.60m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(-0.09,+0.03,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 114.7mm grav_b=(-0.05,-0.06,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 112.3mm grav_b=(-0.02,+0.03,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 111.6mm grav_b=(-0.02,-0.03,-1.00) r=0.56m +[headless_play] t= 5.90s step= 295 trunk_z= 112.6mm grav_b=(+0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 6.00s step= 300 trunk_z= 111.2mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 113.7mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 114.5mm grav_b=(+0.01,-0.02,-1.00) r=0.51m +[headless_play] t= 6.30s step= 315 trunk_z= 115.1mm grav_b=(+0.01,-0.02,-1.00) r=0.51m +[headless_play] t= 6.40s step= 320 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 6.80s step= 340 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 6.90s step= 345 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 7.00s step= 350 trunk_z= 117.8mm grav_b=(+0.13,-0.01,-0.99) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 120.4mm grav_b=(+0.17,-0.04,-0.98) r=0.56m +[headless_play] t= 7.20s step= 360 trunk_z= 122.4mm grav_b=(+0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 7.30s step= 365 trunk_z= 112.0mm grav_b=(-0.08,+0.09,-0.99) r=0.61m +[headless_play] t= 7.40s step= 370 trunk_z= 114.5mm grav_b=(-0.18,+0.05,-0.98) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 112.2mm grav_b=(-0.00,+0.07,-1.00) r=0.65m +[headless_play] t= 7.60s step= 380 trunk_z= 108.8mm grav_b=(-0.00,+0.00,-1.00) r=0.65m +[headless_play] t= 7.70s step= 385 trunk_z= 104.5mm grav_b=(+0.09,-0.01,-1.00) r=0.66m +[headless_play] t= 7.80s step= 390 trunk_z= 111.7mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 7.90s step= 395 trunk_z= 116.7mm grav_b=(+0.10,+0.00,-0.99) r=0.67m +[headless_play] t= 8.00s step= 400 trunk_z= 119.6mm grav_b=(+0.19,-0.00,-0.98) r=0.68m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(+0.10,-0.06,-0.99) r=0.69m +[headless_play] t= 8.20s step= 410 trunk_z= 121.7mm grav_b=(-0.04,+0.03,-1.00) r=0.71m +[headless_play] t= 8.30s step= 415 trunk_z= 117.6mm grav_b=(-0.16,+0.07,-0.98) r=0.72m +[headless_play] t= 8.40s step= 420 trunk_z= 116.1mm grav_b=(-0.05,-0.06,-1.00) r=0.72m +[headless_play] t= 8.50s step= 425 trunk_z= 115.6mm grav_b=(-0.01,-0.00,-1.00) r=0.73m +[headless_play] t= 8.60s step= 430 trunk_z= 116.0mm grav_b=(-0.00,+0.01,-1.00) r=0.73m +[headless_play] t= 8.70s step= 435 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.73m +[headless_play] t= 8.80s step= 440 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.73m +[headless_play] t= 8.90s step= 445 trunk_z= 116.9mm grav_b=(-0.08,+0.01,-1.00) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 114.6mm grav_b=(-0.06,-0.07,-1.00) r=0.75m +[headless_play] t= 9.10s step= 455 trunk_z= 111.8mm grav_b=(+0.02,-0.03,-1.00) r=0.75m +[headless_play] t= 9.20s step= 460 trunk_z= 114.5mm grav_b=(-0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 9.30s step= 465 trunk_z= 115.0mm grav_b=(-0.01,-0.00,-1.00) r=0.76m +[headless_play] t= 9.40s step= 470 trunk_z= 115.7mm grav_b=(-0.03,-0.02,-1.00) r=0.75m +[headless_play] t= 9.50s step= 475 trunk_z= 116.0mm grav_b=(-0.03,-0.02,-1.00) r=0.75m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.75m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.75m +[headless_play] t= 9.80s step= 490 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.75m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.75m +[headless_play] t= 10.00s step= 500 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.75m +[headless_play] t= 10.10s step= 505 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(+0.01,-0.00,-1.00) r=0.76m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(+0.00,-0.00,-1.00) r=0.76m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.77m +[headless_play] t= 10.50s step= 525 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 10.80s step= 540 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(-0.02,-0.00,-1.00) r=0.79m +[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.80m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.06,+0.00,-1.00) r=0.80m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(-0.03,+0.00,-1.00) r=0.80m +[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.80m +[headless_play] t= 11.40s step= 570 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.80m +[headless_play] t= 11.50s step= 575 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.80m +[headless_play] t= 11.60s step= 580 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.80m +[headless_play] t= 11.70s step= 585 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 11.80s step= 590 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.83m +[headless_play] t= 11.90s step= 595 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.83m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.83m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.83m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.83m +[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.83m +[headless_play] t= 12.40s step= 620 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.83m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(+0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 12.70s step= 635 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 13.00s step= 650 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 13.10s step= 655 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 13.30s step= 665 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.84m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(-0.04,-0.00,-1.00) r=0.86m +[headless_play] t= 13.50s step= 675 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.86m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.06,-0.00,-1.00) r=0.86m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.86m +[headless_play] t= 13.80s step= 690 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.86m +[headless_play] t= 13.90s step= 695 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=0.86m +[headless_play] t= 14.00s step= 700 trunk_z= 117.4mm grav_b=(+0.03,-0.00,-1.00) r=0.86m +[headless_play] t= 14.10s step= 705 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=0.86m +[headless_play] t= 14.20s step= 710 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.86m +[headless_play] t= 14.30s step= 715 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.86m +[headless_play] t= 14.40s step= 720 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.86m +[headless_play] t= 14.50s step= 725 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.85m +[headless_play] t= 14.60s step= 730 trunk_z= 118.9mm grav_b=(+0.05,-0.01,-1.00) r=0.85m +[headless_play] t= 14.70s step= 735 trunk_z= 119.4mm grav_b=(+0.07,-0.01,-1.00) r=0.85m +[headless_play] t= 14.80s step= 740 trunk_z= 119.9mm grav_b=(+0.07,-0.01,-1.00) r=0.85m +[headless_play] t= 14.90s step= 745 trunk_z= 120.2mm grav_b=(+0.08,-0.01,-1.00) r=0.84m +[headless_play] t= 15.00s step= 750 trunk_z= 120.6mm grav_b=(+0.09,-0.00,-1.00) r=0.84m +[headless_play] t= 15.10s step= 755 trunk_z= 121.0mm grav_b=(+0.11,+0.03,-0.99) r=0.85m +[headless_play] t= 15.20s step= 760 trunk_z= 122.3mm grav_b=(+0.12,-0.03,-0.99) r=0.85m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(+0.06,-0.21,-0.98) r=0.85m +[headless_play] t= 15.40s step= 770 trunk_z= 119.5mm grav_b=(-0.03,-0.11,-0.99) r=0.86m +[headless_play] t= 15.50s step= 775 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-0.99) r=0.87m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(-0.09,-0.02,-1.00) r=0.88m +[headless_play] t= 15.70s step= 785 trunk_z= 116.5mm grav_b=(-0.08,-0.00,-1.00) r=0.88m +[headless_play] t= 15.80s step= 790 trunk_z= 116.4mm grav_b=(-0.07,-0.00,-1.00) r=0.88m +[headless_play] t= 15.90s step= 795 trunk_z= 117.5mm grav_b=(+0.04,+0.00,-1.00) r=0.87m +[headless_play] t= 16.00s step= 800 trunk_z= 120.5mm grav_b=(+0.09,-0.01,-1.00) r=0.87m +[headless_play] t= 16.10s step= 805 trunk_z= 119.9mm grav_b=(+0.04,-0.06,-1.00) r=0.87m +[headless_play] t= 16.20s step= 810 trunk_z= 115.7mm grav_b=(-0.02,+0.03,-1.00) r=0.87m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(-0.06,+0.03,-1.00) r=0.87m +[headless_play] t= 16.40s step= 820 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00) r=0.87m +[headless_play] t= 16.50s step= 825 trunk_z= 117.3mm grav_b=(-0.04,-0.00,-1.00) r=0.87m +[headless_play] t= 16.60s step= 830 trunk_z= 117.6mm grav_b=(-0.04,-0.00,-1.00) r=0.88m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.03,-0.00,-1.00) r=0.89m +[headless_play] t= 16.80s step= 840 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 16.90s step= 845 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.00s step= 850 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.10s step= 855 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.20s step= 860 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.30s step= 865 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.40s step= 870 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.50s step= 875 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.89m +[headless_play] t= 17.60s step= 880 trunk_z= 117.2mm grav_b=(-0.06,-0.00,-1.00) r=0.89m +[headless_play] t= 17.70s step= 885 trunk_z= 117.4mm grav_b=(-0.07,-0.00,-1.00) r=0.89m +[headless_play] t= 17.80s step= 890 trunk_z= 117.5mm grav_b=(-0.03,-0.00,-1.00) r=0.89m +[headless_play] t= 17.90s step= 895 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.00s step= 900 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 18.30s step= 915 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.89m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.89m +[headless_play] t= 18.50s step= 925 trunk_z= 118.7mm grav_b=(-0.04,+0.07,-1.00) r=0.90m +[headless_play] t= 18.60s step= 930 trunk_z= 115.8mm grav_b=(-0.02,-0.07,-1.00) r=0.90m +[headless_play] t= 18.70s step= 935 trunk_z= 119.5mm grav_b=(-0.05,-0.05,-1.00) r=0.90m +[headless_play] t= 18.80s step= 940 trunk_z= 118.1mm grav_b=(+0.01,+0.09,-1.00) r=0.90m +[headless_play] t= 18.90s step= 945 trunk_z= 121.0mm grav_b=(-0.01,+0.07,-1.00) r=0.90m +[headless_play] t= 19.00s step= 950 trunk_z= 116.8mm grav_b=(-0.02,-0.06,-1.00) r=0.89m +[headless_play] t= 19.10s step= 955 trunk_z= 122.0mm grav_b=(-0.06,-0.02,-1.00) r=0.89m +[headless_play] t= 19.20s step= 960 trunk_z= 117.1mm grav_b=(-0.05,+0.05,-1.00) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 117.7mm grav_b=(-0.05,-0.05,-1.00) r=0.89m +[headless_play] t= 19.40s step= 970 trunk_z= 117.9mm grav_b=(-0.03,+0.02,-1.00) r=0.88m +[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(+0.01,+0.02,-1.00) r=0.88m +[headless_play] t= 19.60s step= 980 trunk_z= 119.3mm grav_b=(+0.02,-0.12,-0.99) r=0.86m +[headless_play] t= 19.70s step= 985 trunk_z= 123.3mm grav_b=(+0.03,-0.08,-1.00) r=0.85m +[headless_play] t= 19.80s step= 990 trunk_z= 119.8mm grav_b=(+0.01,+0.06,-1.00) r=0.83m +[headless_play] t= 19.90s step= 995 trunk_z= 118.6mm grav_b=(-0.01,-0.06,-1.00) r=0.81m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.3mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 20.10s step=1005 trunk_z= 114.5mm grav_b=(+0.03,-0.06,-1.00) r=0.39m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t3.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..514e205dcbe26e2dfa32eb4d19522719508646e6 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t3.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.449,+0.200,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 124.4mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(-0.05,-0.02,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 116.4mm grav_b=(-0.07,-0.01,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.08,-0.02,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(-0.08,-0.02,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 116.2mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 116.3mm grav_b=(-0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.10,-0.02,-1.00) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 1.80s step= 90 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(-0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 2.40s step= 120 trunk_z= 116.2mm grav_b=(-0.11,-0.02,-0.99) r=0.51m +[headless_play] t= 2.50s step= 125 trunk_z= 116.0mm grav_b=(-0.17,-0.01,-0.99) r=0.51m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(-0.18,-0.01,-0.98) r=0.51m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(-0.15,-0.01,-0.99) r=0.51m +[headless_play] t= 2.80s step= 140 trunk_z= 116.9mm grav_b=(-0.08,-0.01,-1.00) r=0.51m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(-0.08,-0.01,-1.00) r=0.51m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(-0.11,-0.01,-0.99) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 116.4mm grav_b=(-0.10,-0.01,-1.00) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 116.6mm grav_b=(-0.09,-0.00,-1.00) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 116.8mm grav_b=(-0.06,-0.00,-1.00) r=0.51m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(-0.06,-0.00,-1.00) r=0.51m +[headless_play] t= 3.50s step= 175 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 116.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 4.10s step= 205 trunk_z= 118.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 118.5mm grav_b=(-0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(-0.08,+0.05,-1.00) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 115.0mm grav_b=(-0.17,-0.04,-0.98) r=0.51m +[headless_play] t= 4.50s step= 225 trunk_z= 115.9mm grav_b=(-0.15,+0.01,-0.99) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 116.9mm grav_b=(-0.10,-0.00,-0.99) r=0.51m +[headless_play] t= 4.70s step= 235 trunk_z= 117.9mm grav_b=(-0.06,+0.00,-1.00) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 117.1mm grav_b=(-0.11,+0.00,-0.99) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(-0.16,+0.00,-0.99) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 117.1mm grav_b=(-0.18,-0.00,-0.98) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(-0.19,-0.00,-0.98) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 117.0mm grav_b=(-0.18,-0.00,-0.98) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 117.0mm grav_b=(-0.14,-0.00,-0.99) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 118.5mm grav_b=(-0.04,+0.02,-1.00) r=0.51m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(-0.07,-0.02,-1.00) r=0.53m +[headless_play] t= 5.90s step= 295 trunk_z= 116.7mm grav_b=(-0.10,-0.02,-1.00) r=0.53m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(-0.08,-0.01,-1.00) r=0.53m +[headless_play] t= 6.10s step= 305 trunk_z= 117.6mm grav_b=(-0.07,-0.01,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 118.0mm grav_b=(-0.07,+0.06,-1.00) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 119.7mm grav_b=(+0.02,+0.04,-1.00) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 121.6mm grav_b=(-0.05,-0.14,-0.99) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 124.1mm grav_b=(-0.12,-0.17,-0.98) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 119.6mm grav_b=(-0.09,+0.08,-0.99) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 126.8mm grav_b=(-0.09,+0.09,-0.99) r=0.47m +[headless_play] t= 6.80s step= 340 trunk_z= 118.5mm grav_b=(-0.09,-0.06,-0.99) r=0.47m +[headless_play] t= 6.90s step= 345 trunk_z= 119.4mm grav_b=(-0.07,+0.04,-1.00) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 122.6mm grav_b=(+0.02,+0.04,-1.00) r=0.47m +[headless_play] t= 7.10s step= 355 trunk_z= 122.9mm grav_b=(-0.09,-0.11,-0.99) r=0.47m +[headless_play] t= 7.20s step= 360 trunk_z= 124.8mm grav_b=(-0.12,-0.16,-0.98) r=0.47m +[headless_play] t= 7.30s step= 365 trunk_z= 118.5mm grav_b=(-0.10,+0.08,-0.99) r=0.45m +[headless_play] t= 7.40s step= 370 trunk_z= 126.8mm grav_b=(-0.08,+0.10,-0.99) r=0.44m +[headless_play] t= 7.50s step= 375 trunk_z= 117.8mm grav_b=(-0.08,-0.07,-0.99) r=0.44m +[headless_play] t= 7.60s step= 380 trunk_z= 120.7mm grav_b=(-0.10,-0.02,-0.99) r=0.44m +[headless_play] t= 7.70s step= 385 trunk_z= 121.0mm grav_b=(-0.02,+0.10,-0.99) r=0.43m +[headless_play] t= 7.80s step= 390 trunk_z= 124.4mm grav_b=(-0.07,-0.00,-1.00) r=0.44m +[headless_play] t= 7.90s step= 395 trunk_z= 123.4mm grav_b=(-0.08,-0.13,-0.99) r=0.45m +[headless_play] t= 8.00s step= 400 trunk_z= 121.4mm grav_b=(-0.06,+0.03,-1.00) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 122.5mm grav_b=(-0.02,+0.05,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 122.6mm grav_b=(-0.07,-0.07,-0.99) r=0.44m +[headless_play] t= 8.30s step= 415 trunk_z= 119.7mm grav_b=(-0.13,-0.04,-0.99) r=0.43m +[headless_play] t= 8.40s step= 420 trunk_z= 121.3mm grav_b=(-0.02,+0.09,-1.00) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 125.2mm grav_b=(-0.08,-0.06,-0.99) r=0.41m +[headless_play] t= 8.60s step= 430 trunk_z= 119.0mm grav_b=(-0.20,-0.14,-0.97) r=0.41m +[headless_play] t= 8.70s step= 435 trunk_z= 119.9mm grav_b=(-0.08,+0.13,-0.99) r=0.41m +[headless_play] t= 8.80s step= 440 trunk_z= 128.5mm grav_b=(-0.08,+0.15,-0.99) r=0.40m +[headless_play] t= 8.90s step= 445 trunk_z= 119.3mm grav_b=(-0.06,+0.01,-1.00) r=0.39m +[headless_play] t= 9.00s step= 450 trunk_z= 121.8mm grav_b=(-0.04,-0.07,-1.00) r=0.40m +[headless_play] t= 9.10s step= 455 trunk_z= 117.6mm grav_b=(-0.07,+0.03,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 120.0mm grav_b=(-0.05,+0.04,-1.00) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(-0.09,-0.13,-0.99) r=0.41m +[headless_play] t= 9.40s step= 470 trunk_z= 121.2mm grav_b=(-0.13,+0.00,-0.99) r=0.40m +[headless_play] t= 9.50s step= 475 trunk_z= 121.8mm grav_b=(-0.05,+0.23,-0.97) r=0.39m +[headless_play] t= 9.60s step= 480 trunk_z= 127.2mm grav_b=(-0.08,+0.22,-0.97) r=0.38m +[headless_play] t= 9.70s step= 485 trunk_z= 126.6mm grav_b=(-0.08,+0.17,-0.98) r=0.37m +[headless_play] t= 9.80s step= 490 trunk_z= 125.8mm grav_b=(-0.06,+0.13,-0.99) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 119.8mm grav_b=(-0.04,+0.02,-1.00) r=0.39m +[headless_play] t= 10.00s step= 500 trunk_z= 116.5mm grav_b=(-0.04,+0.09,-1.00) r=0.39m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 10.20s step= 510 trunk_z= 117.2mm grav_b=(-0.07,-0.14,-0.99) r=0.41m +[headless_play] t= 10.30s step= 515 trunk_z= 121.0mm grav_b=(-0.10,-0.04,-0.99) r=0.42m +[headless_play] t= 10.40s step= 520 trunk_z= 118.5mm grav_b=(-0.03,+0.13,-0.99) r=0.43m +[headless_play] t= 10.50s step= 525 trunk_z= 120.0mm grav_b=(-0.01,+0.03,-1.00) r=0.44m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(-0.09,-0.13,-0.99) r=0.45m +[headless_play] t= 10.70s step= 535 trunk_z= 120.6mm grav_b=(-0.10,-0.01,-0.99) r=0.46m +[headless_play] t= 10.80s step= 540 trunk_z= 120.8mm grav_b=(-0.03,+0.11,-0.99) r=0.47m +[headless_play] t= 10.90s step= 545 trunk_z= 115.6mm grav_b=(+0.00,-0.08,-1.00) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 123.3mm grav_b=(-0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 11.10s step= 555 trunk_z= 119.5mm grav_b=(-0.07,+0.11,-0.99) r=0.52m +[headless_play] t= 11.20s step= 560 trunk_z= 127.5mm grav_b=(-0.09,+0.18,-0.98) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 124.5mm grav_b=(-0.07,+0.11,-0.99) r=0.56m +[headless_play] t= 11.40s step= 570 trunk_z= 117.0mm grav_b=(-0.09,-0.04,-1.00) r=0.59m +[headless_play] t= 11.50s step= 575 trunk_z= 118.8mm grav_b=(-0.05,+0.05,-1.00) r=0.60m +[headless_play] t= 11.60s step= 580 trunk_z= 119.8mm grav_b=(-0.06,+0.11,-0.99) r=0.59m +[headless_play] t= 11.70s step= 585 trunk_z= 118.1mm grav_b=(-0.15,-0.07,-0.99) r=0.59m +[headless_play] t= 11.80s step= 590 trunk_z= 127.6mm grav_b=(-0.19,-0.16,-0.97) r=0.59m +[headless_play] t= 11.90s step= 595 trunk_z= 131.3mm grav_b=(-0.20,-0.12,-0.97) r=0.59m +[headless_play] t= 12.00s step= 600 trunk_z= 122.2mm grav_b=(-0.20,-0.04,-0.98) r=0.58m +[headless_play] t= 12.10s step= 605 trunk_z= 108.9mm grav_b=(-0.21,-0.10,-0.97) r=0.57m +[headless_play] t= 12.20s step= 610 trunk_z= 90.3mm grav_b=(-0.41,+0.07,-0.91) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 44.6mm grav_b=(-0.79,+0.44,-0.43) r=0.52m +[headless_play] RESET at t= 12.32s step= 616 (env termination, not a recovery) +[headless_play] t= 12.40s step= 620 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 12.70s step= 635 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 12.80s step= 640 trunk_z= 117.9mm grav_b=(+0.04,+0.01,-1.00) r=0.52m +[headless_play] t= 12.90s step= 645 trunk_z= 118.8mm grav_b=(+0.01,+0.03,-1.00) r=0.52m +[headless_play] t= 13.00s step= 650 trunk_z= 118.5mm grav_b=(-0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.12,-0.03,-0.99) r=0.50m +[headless_play] t= 13.20s step= 660 trunk_z= 115.8mm grav_b=(-0.10,-0.02,-1.00) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.50m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 13.60s step= 680 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 13.90s step= 695 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 14.00s step= 700 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 14.20s step= 710 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 14.40s step= 720 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 14.60s step= 730 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 14.70s step= 735 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 116.7mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 15.10s step= 755 trunk_z= 116.7mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 15.50s step= 775 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.50m +[headless_play] t= 15.70s step= 785 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 15.80s step= 790 trunk_z= 119.4mm grav_b=(+0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 15.90s step= 795 trunk_z= 117.9mm grav_b=(+0.04,+0.08,-1.00) r=0.49m +[headless_play] t= 16.00s step= 800 trunk_z= 117.0mm grav_b=(-0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 16.10s step= 805 trunk_z= 115.2mm grav_b=(-0.18,-0.05,-0.98) r=0.47m +[headless_play] t= 16.20s step= 810 trunk_z= 115.5mm grav_b=(-0.12,+0.02,-0.99) r=0.46m +[headless_play] t= 16.30s step= 815 trunk_z= 115.6mm grav_b=(-0.09,-0.01,-1.00) r=0.46m +[headless_play] t= 16.40s step= 820 trunk_z= 116.3mm grav_b=(-0.05,+0.00,-1.00) r=0.45m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(-0.05,+0.00,-1.00) r=0.45m +[headless_play] t= 16.60s step= 830 trunk_z= 117.3mm grav_b=(-0.03,+0.00,-1.00) r=0.43m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(-0.02,+0.03,-1.00) r=0.42m +[headless_play] t= 16.80s step= 840 trunk_z= 115.4mm grav_b=(-0.05,-0.02,-1.00) r=0.42m +[headless_play] t= 16.90s step= 845 trunk_z= 113.8mm grav_b=(-0.14,-0.03,-0.99) r=0.40m +[headless_play] t= 17.00s step= 850 trunk_z= 115.5mm grav_b=(-0.13,-0.00,-0.99) r=0.41m +[headless_play] t= 17.10s step= 855 trunk_z= 115.7mm grav_b=(-0.11,-0.02,-0.99) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 116.4mm grav_b=(-0.08,-0.01,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 116.5mm grav_b=(-0.08,-0.01,-1.00) r=0.41m +[headless_play] t= 17.40s step= 870 trunk_z= 116.6mm grav_b=(-0.08,-0.00,-1.00) r=0.41m +[headless_play] t= 17.50s step= 875 trunk_z= 116.8mm grav_b=(-0.08,-0.00,-1.00) r=0.41m +[headless_play] t= 17.60s step= 880 trunk_z= 116.9mm grav_b=(-0.08,+0.00,-1.00) r=0.41m +[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(-0.08,+0.00,-1.00) r=0.41m +[headless_play] t= 17.80s step= 890 trunk_z= 117.0mm grav_b=(-0.08,+0.00,-1.00) r=0.41m +[headless_play] t= 17.90s step= 895 trunk_z= 117.0mm grav_b=(-0.08,+0.00,-1.00) r=0.41m +[headless_play] t= 18.00s step= 900 trunk_z= 117.0mm grav_b=(-0.08,+0.00,-1.00) r=0.41m +[headless_play] t= 18.10s step= 905 trunk_z= 117.7mm grav_b=(-0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 18.20s step= 910 trunk_z= 117.6mm grav_b=(-0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(-0.07,+0.00,-1.00) r=0.37m +[headless_play] t= 18.40s step= 920 trunk_z= 116.8mm grav_b=(-0.08,+0.01,-1.00) r=0.37m +[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(-0.08,+0.01,-1.00) r=0.37m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(-0.08,+0.01,-1.00) r=0.37m +[headless_play] t= 18.70s step= 935 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.37m +[headless_play] t= 18.80s step= 940 trunk_z= 118.6mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 18.90s step= 945 trunk_z= 120.2mm grav_b=(-0.07,+0.10,-0.99) r=0.38m +[headless_play] t= 19.00s step= 950 trunk_z= 117.6mm grav_b=(-0.09,+0.06,-0.99) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 117.0mm grav_b=(-0.11,+0.02,-0.99) r=0.36m +[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.36m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 19.40s step= 970 trunk_z= 117.9mm grav_b=(+0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 19.50s step= 975 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(-0.04,-0.00,-1.00) r=0.36m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(-0.08,-0.01,-1.00) r=0.36m +[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(-0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 19.90s step= 995 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 20.00s step=1000 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 117.6mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t4.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..1e0f07cf5eb575e0ae8915c27fd8a3f4b664371d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t4.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(+0.377,-0.069,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(-0.00,+0.08,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 117.9mm grav_b=(+0.01,-0.15,-0.99) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.06,-0.10,-0.99) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 113.0mm grav_b=(+0.08,+0.06,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 116.7mm grav_b=(+0.06,-0.05,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 120.7mm grav_b=(+0.03,-0.18,-0.98) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 122.2mm grav_b=(+0.08,-0.16,-0.98) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 114.7mm grav_b=(+0.06,+0.02,-1.00) r=0.58m +[headless_play] t= 1.00s step= 50 trunk_z= 122.0mm grav_b=(+0.01,-0.03,-1.00) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 122.3mm grav_b=(-0.04,-0.11,-0.99) r=0.65m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(-0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(+0.05,+0.09,-0.99) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(+0.05,-0.07,-1.00) r=0.70m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(+0.05,-0.03,-1.00) r=0.72m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(+0.03,+0.06,-1.00) r=0.74m +[headless_play] t= 1.70s step= 85 trunk_z= 116.3mm grav_b=(-0.00,-0.13,-0.99) r=0.75m +[headless_play] t= 1.80s step= 90 trunk_z= 121.7mm grav_b=(+0.01,-0.17,-0.99) r=0.77m +[headless_play] t= 1.90s step= 95 trunk_z= 117.0mm grav_b=(+0.05,-0.11,-0.99) r=0.78m +[headless_play] t= 2.00s step= 100 trunk_z= 116.4mm grav_b=(+0.05,+0.04,-1.00) r=0.81m +[headless_play] t= 2.10s step= 105 trunk_z= 117.8mm grav_b=(+0.05,-0.06,-1.00) r=0.84m +[headless_play] t= 2.20s step= 110 trunk_z= 119.5mm grav_b=(+0.07,-0.09,-0.99) r=0.89m +[headless_play] t= 2.30s step= 115 trunk_z= 118.0mm grav_b=(+0.05,+0.16,-0.99) r=0.93m +[headless_play] t= 2.40s step= 120 trunk_z= 128.1mm grav_b=(+0.06,+0.17,-0.98) r=0.97m +[headless_play] t= 2.50s step= 125 trunk_z= 126.0mm grav_b=(+0.08,+0.00,-1.00) r=1.01m +[headless_play] t= 2.60s step= 130 trunk_z= 127.7mm grav_b=(-0.07,-0.15,-0.99) r=1.05m +[headless_play] t= 2.70s step= 135 trunk_z= 127.6mm grav_b=(-0.03,-0.05,-1.00) r=1.09m +[headless_play] t= 2.80s step= 140 trunk_z= 118.5mm grav_b=(+0.00,+0.05,-1.00) r=1.12m +[headless_play] t= 2.90s step= 145 trunk_z= 113.7mm grav_b=(+0.09,-0.11,-0.99) r=1.13m +[headless_play] t= 3.00s step= 150 trunk_z= 125.0mm grav_b=(+0.05,-0.18,-0.98) r=1.13m +[headless_play] t= 3.10s step= 155 trunk_z= 121.0mm grav_b=(-0.00,-0.10,-0.99) r=1.14m +[headless_play] t= 3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.01,+0.05,-1.00) r=1.16m +[headless_play] t= 3.30s step= 165 trunk_z= 115.1mm grav_b=(+0.05,-0.12,-0.99) r=1.18m +[headless_play] t= 3.40s step= 170 trunk_z= 123.9mm grav_b=(+0.04,-0.10,-0.99) r=1.19m +[headless_play] t= 3.50s step= 175 trunk_z= 117.9mm grav_b=(-0.00,+0.10,-0.99) r=1.22m +[headless_play] t= 3.60s step= 180 trunk_z= 125.9mm grav_b=(+0.00,+0.11,-0.99) r=1.24m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(+0.01,-0.07,-1.00) r=1.26m +[headless_play] t= 3.80s step= 190 trunk_z= 123.3mm grav_b=(-0.04,-0.07,-1.00) r=1.26m +[headless_play] t= 3.90s step= 195 trunk_z= 118.3mm grav_b=(-0.00,+0.09,-1.00) r=1.26m +[headless_play] t= 4.00s step= 200 trunk_z= 116.6mm grav_b=(-0.00,-0.09,-1.00) r=1.27m +[headless_play] t= 4.10s step= 205 trunk_z= 126.5mm grav_b=(-0.01,-0.17,-0.99) r=1.29m +[headless_play] t= 4.20s step= 210 trunk_z= 124.9mm grav_b=(+0.02,-0.11,-0.99) r=1.30m +[headless_play] t= 4.30s step= 215 trunk_z= 120.9mm grav_b=(+0.00,+0.03,-1.00) r=1.33m +[headless_play] t= 4.40s step= 220 trunk_z= 118.2mm grav_b=(+0.01,-0.05,-1.00) r=1.35m +[headless_play] t= 4.50s step= 225 trunk_z= 119.6mm grav_b=(+0.00,-0.04,-1.00) r=1.38m +[headless_play] t= 4.60s step= 230 trunk_z= 122.5mm grav_b=(-0.00,+0.17,-0.99) r=1.40m +[headless_play] t= 4.70s step= 235 trunk_z= 127.3mm grav_b=(+0.02,+0.23,-0.97) r=1.42m +[headless_play] t= 4.80s step= 240 trunk_z= 122.8mm grav_b=(+0.08,+0.20,-0.98) r=1.44m +[headless_play] t= 4.90s step= 245 trunk_z= 126.1mm grav_b=(+0.13,+0.04,-0.99) r=1.47m +[headless_play] t= 5.00s step= 250 trunk_z= 136.8mm grav_b=(+0.08,-0.03,-1.00) r=1.49m +[headless_play] t= 5.10s step= 255 trunk_z= 129.8mm grav_b=(-0.03,-0.07,-1.00) r=1.52m +[headless_play] t= 5.20s step= 260 trunk_z= 123.7mm grav_b=(-0.03,+0.03,-1.00) r=1.56m +[headless_play] t= 5.30s step= 265 trunk_z= 119.7mm grav_b=(-0.05,-0.06,-1.00) r=1.59m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.01,-0.03,-1.00) r=1.62m +[headless_play] t= 5.50s step= 275 trunk_z= 121.3mm grav_b=(+0.12,+0.15,-0.98) r=1.65m +[headless_play] t= 5.60s step= 280 trunk_z= 127.8mm grav_b=(+0.15,+0.09,-0.98) r=1.68m +[headless_play] t= 5.70s step= 285 trunk_z= 107.7mm grav_b=(+0.09,+0.01,-1.00) r=1.71m +[headless_play] t= 5.80s step= 290 trunk_z= 120.6mm grav_b=(+0.06,-0.04,-1.00) r=1.73m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(-0.05,+0.10,-0.99) r=1.76m +[headless_play] t= 6.00s step= 300 trunk_z= 121.9mm grav_b=(-0.03,+0.03,-1.00) r=1.79m +[headless_play] t= 6.10s step= 305 trunk_z= 118.9mm grav_b=(-0.01,-0.15,-0.99) r=1.81m +[headless_play] t= 6.20s step= 310 trunk_z= 123.6mm grav_b=(+0.02,-0.07,-1.00) r=1.83m +[headless_play] t= 6.30s step= 315 trunk_z= 119.8mm grav_b=(+0.06,+0.10,-0.99) r=1.85m +[headless_play] t= 6.40s step= 320 trunk_z= 126.0mm grav_b=(+0.05,+0.03,-1.00) r=1.89m +[headless_play] t= 6.50s step= 325 trunk_z= 117.9mm grav_b=(+0.01,-0.06,-1.00) r=1.93m +[headless_play] t= 6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.05,+0.10,-0.99) r=1.96m +[headless_play] t= 6.70s step= 335 trunk_z= 120.5mm grav_b=(+0.03,+0.07,-1.00) r=1.99m +[headless_play] t= 6.80s step= 340 trunk_z= 118.8mm grav_b=(-0.01,-0.14,-0.99) r=2.01m +[headless_play] t= 6.90s step= 345 trunk_z= 119.9mm grav_b=(-0.00,-0.01,-1.00) r=2.03m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(+0.03,+0.11,-0.99) r=2.05m +[headless_play] t= 7.10s step= 355 trunk_z= 118.9mm grav_b=(-0.00,-0.06,-1.00) r=2.07m +[headless_play] t= 7.20s step= 360 trunk_z= 125.5mm grav_b=(-0.01,-0.09,-1.00) r=2.09m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(+0.01,+0.09,-1.00) r=2.11m +[headless_play] t= 7.40s step= 370 trunk_z= 123.0mm grav_b=(+0.01,-0.00,-1.00) r=2.13m +[headless_play] t= 7.50s step= 375 trunk_z= 124.4mm grav_b=(-0.00,-0.15,-0.99) r=2.15m +[headless_play] t= 7.60s step= 380 trunk_z= 123.4mm grav_b=(-0.02,-0.06,-1.00) r=2.17m +[headless_play] t= 7.70s step= 385 trunk_z= 120.3mm grav_b=(-0.06,+0.06,-1.00) r=2.19m +[headless_play] t= 7.80s step= 390 trunk_z= 115.8mm grav_b=(-0.04,-0.03,-1.00) r=2.20m +[headless_play] t= 7.90s step= 395 trunk_z= 108.4mm grav_b=(+0.05,-0.03,-1.00) r=2.21m +[headless_play] t= 8.00s step= 400 trunk_z= 103.9mm grav_b=(+0.18,+0.05,-0.98) r=2.22m +[headless_play] t= 8.10s step= 405 trunk_z= 118.3mm grav_b=(+0.12,+0.07,-0.99) r=2.24m +[headless_play] t= 8.20s step= 410 trunk_z= 118.7mm grav_b=(+0.06,-0.07,-1.00) r=2.26m +[headless_play] t= 8.30s step= 415 trunk_z= 126.1mm grav_b=(+0.02,-0.07,-1.00) r=2.28m +[headless_play] t= 8.40s step= 420 trunk_z= 118.1mm grav_b=(-0.02,-0.00,-1.00) r=2.30m +[headless_play] t= 8.50s step= 425 trunk_z= 115.7mm grav_b=(-0.00,-0.03,-1.00) r=2.31m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=2.31m +[headless_play] t= 8.70s step= 435 trunk_z= 117.1mm grav_b=(+0.05,+0.00,-1.00) r=2.31m +[headless_play] t= 8.80s step= 440 trunk_z= 117.0mm grav_b=(+0.04,+0.00,-1.00) r=2.31m +[headless_play] t= 8.90s step= 445 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=2.31m +[headless_play] t= 9.00s step= 450 trunk_z= 118.7mm grav_b=(+0.08,+0.00,-1.00) r=2.32m +[headless_play] t= 9.10s step= 455 trunk_z= 120.3mm grav_b=(+0.06,+0.04,-1.00) r=2.33m +[headless_play] t= 9.20s step= 460 trunk_z= 118.9mm grav_b=(+0.01,+0.01,-1.00) r=2.34m +[headless_play] t= 9.30s step= 465 trunk_z= 117.5mm grav_b=(-0.09,-0.09,-0.99) r=2.35m +[headless_play] t= 9.40s step= 470 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=2.36m +[headless_play] t= 9.50s step= 475 trunk_z= 116.4mm grav_b=(-0.00,-0.00,-1.00) r=2.37m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=2.37m +[headless_play] t= 9.70s step= 485 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=2.37m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(+0.00,-0.00,-1.00) r=2.37m +[headless_play] t= 9.90s step= 495 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=2.37m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(+0.00,-0.00,-1.00) r=2.37m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=2.38m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=2.38m +[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=2.38m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=2.37m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=2.36m +[headless_play] t= 10.60s step= 530 trunk_z= 116.1mm grav_b=(-0.08,-0.03,-1.00) r=2.36m +[headless_play] t= 10.70s step= 535 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) r=2.35m +[headless_play] t= 10.80s step= 540 trunk_z= 109.2mm grav_b=(+0.11,+0.12,-0.99) r=2.34m +[headless_play] t= 10.90s step= 545 trunk_z= 115.6mm grav_b=(+0.05,-0.04,-1.00) r=2.33m +[headless_play] t= 11.00s step= 550 trunk_z= 114.6mm grav_b=(-0.02,+0.06,-1.00) r=2.32m +[headless_play] t= 11.10s step= 555 trunk_z= 113.3mm grav_b=(+0.04,-0.02,-1.00) r=2.32m +[headless_play] t= 11.20s step= 560 trunk_z= 114.7mm grav_b=(+0.03,-0.01,-1.00) r=2.31m +[headless_play] t= 11.30s step= 565 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=2.31m +[headless_play] t= 11.40s step= 570 trunk_z= 115.3mm grav_b=(+0.06,-0.01,-1.00) r=2.31m +[headless_play] t= 11.50s step= 575 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=2.31m +[headless_play] t= 11.60s step= 580 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=2.31m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00) r=2.32m +[headless_play] t= 11.80s step= 590 trunk_z= 115.8mm grav_b=(+0.05,-0.00,-1.00) r=2.31m +[headless_play] t= 11.90s step= 595 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=2.31m +[headless_play] t= 12.00s step= 600 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=2.31m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=2.31m +[headless_play] t= 12.20s step= 610 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=2.31m +[headless_play] t= 12.30s step= 615 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=2.30m +[headless_play] t= 12.40s step= 620 trunk_z= 116.9mm grav_b=(-0.04,+0.00,-1.00) r=2.29m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=2.29m +[headless_play] t= 12.60s step= 630 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=2.30m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=2.30m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=2.30m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.04,-0.00,-1.00) r=2.30m +[headless_play] t= 13.00s step= 650 trunk_z= 116.6mm grav_b=(+0.04,-0.00,-1.00) r=2.30m +[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=2.30m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=2.30m +[headless_play] t= 13.30s step= 665 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=2.30m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=2.30m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(+0.04,-0.00,-1.00) r=2.30m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(+0.04,-0.00,-1.00) r=2.30m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(+0.04,-0.00,-1.00) r=2.30m +[headless_play] t= 13.80s step= 690 trunk_z= 116.7mm grav_b=(+0.05,-0.01,-1.00) r=2.31m +[headless_play] t= 13.90s step= 695 trunk_z= 116.9mm grav_b=(+0.06,-0.01,-1.00) r=2.32m +[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=2.32m +[headless_play] t= 14.10s step= 705 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=2.32m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=2.32m +[headless_play] t= 14.30s step= 715 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=2.32m +[headless_play] t= 14.40s step= 720 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=2.31m +[headless_play] t= 14.50s step= 725 trunk_z= 116.8mm grav_b=(-0.02,-0.00,-1.00) r=2.30m +[headless_play] t= 14.60s step= 730 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=2.30m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=2.30m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=2.31m +[headless_play] t= 14.90s step= 745 trunk_z= 116.6mm grav_b=(+0.04,-0.00,-1.00) r=2.31m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(-0.01,+0.05,-1.00) r=2.30m +[headless_play] t= 15.10s step= 755 trunk_z= 119.9mm grav_b=(+0.03,+0.14,-0.99) r=2.30m +[headless_play] t= 15.20s step= 760 trunk_z= 120.6mm grav_b=(+0.02,-0.02,-1.00) r=2.30m +[headless_play] t= 15.30s step= 765 trunk_z= 125.3mm grav_b=(-0.04,-0.11,-0.99) r=2.31m +[headless_play] t= 15.40s step= 770 trunk_z= 118.1mm grav_b=(-0.05,+0.05,-1.00) r=2.30m +[headless_play] t= 15.50s step= 775 trunk_z= 127.0mm grav_b=(-0.00,+0.13,-0.99) r=2.30m +[headless_play] t= 15.60s step= 780 trunk_z= 121.1mm grav_b=(+0.02,+0.05,-1.00) r=2.30m +[headless_play] t= 15.70s step= 785 trunk_z= 120.9mm grav_b=(-0.03,-0.02,-1.00) r=2.30m +[headless_play] t= 15.80s step= 790 trunk_z= 118.6mm grav_b=(-0.02,+0.10,-0.99) r=2.30m +[headless_play] t= 15.90s step= 795 trunk_z= 124.9mm grav_b=(+0.00,+0.09,-1.00) r=2.31m +[headless_play] t= 16.00s step= 800 trunk_z= 119.1mm grav_b=(-0.01,-0.06,-1.00) r=2.32m +[headless_play] t= 16.10s step= 805 trunk_z= 120.6mm grav_b=(-0.01,+0.04,-1.00) r=2.33m +[headless_play] t= 16.20s step= 810 trunk_z= 125.6mm grav_b=(+0.02,+0.11,-0.99) r=2.34m +[headless_play] t= 16.30s step= 815 trunk_z= 120.8mm grav_b=(+0.01,+0.00,-1.00) r=2.35m +[headless_play] t= 16.40s step= 820 trunk_z= 119.3mm grav_b=(+0.00,+0.04,-1.00) r=2.35m +[headless_play] t= 16.50s step= 825 trunk_z= 123.7mm grav_b=(+0.05,+0.14,-0.99) r=2.36m +[headless_play] t= 16.60s step= 830 trunk_z= 124.6mm grav_b=(+0.03,+0.05,-1.00) r=2.37m +[headless_play] t= 16.70s step= 835 trunk_z= 122.7mm grav_b=(-0.01,-0.08,-1.00) r=2.38m +[headless_play] t= 16.80s step= 840 trunk_z= 119.4mm grav_b=(+0.01,+0.03,-1.00) r=2.39m +[headless_play] t= 16.90s step= 845 trunk_z= 122.9mm grav_b=(-0.01,+0.04,-1.00) r=2.38m +[headless_play] t= 17.00s step= 850 trunk_z= 120.4mm grav_b=(-0.02,-0.10,-0.99) r=2.37m +[headless_play] t= 17.10s step= 855 trunk_z= 120.2mm grav_b=(-0.02,+0.05,-1.00) r=2.37m +[headless_play] t= 17.20s step= 860 trunk_z= 128.0mm grav_b=(+0.03,+0.16,-0.99) r=2.36m +[headless_play] t= 17.30s step= 865 trunk_z= 129.0mm grav_b=(+0.02,+0.14,-0.99) r=2.37m +[headless_play] t= 17.40s step= 870 trunk_z= 123.7mm grav_b=(+0.01,+0.05,-1.00) r=2.38m +[headless_play] t= 17.50s step= 875 trunk_z= 122.1mm grav_b=(-0.02,+0.02,-1.00) r=2.40m +[headless_play] t= 17.60s step= 880 trunk_z= 118.8mm grav_b=(+0.02,+0.07,-1.00) r=2.41m +[headless_play] t= 17.70s step= 885 trunk_z= 120.7mm grav_b=(+0.01,-0.05,-1.00) r=2.42m +[headless_play] t= 17.80s step= 890 trunk_z= 124.9mm grav_b=(-0.03,-0.17,-0.99) r=2.45m +[headless_play] t= 17.90s step= 895 trunk_z= 130.4mm grav_b=(-0.03,-0.18,-0.98) r=2.46m +[headless_play] t= 18.00s step= 900 trunk_z= 125.8mm grav_b=(+0.03,-0.13,-0.99) r=2.48m +[headless_play] t= 18.10s step= 905 trunk_z= 115.1mm grav_b=(+0.03,-0.02,-1.00) r=2.50m +[headless_play] t= 18.20s step= 910 trunk_z= 121.3mm grav_b=(-0.12,+0.03,-0.99) r=2.52m +[headless_play] t= 18.30s step= 915 trunk_z= 119.1mm grav_b=(-0.08,-0.07,-0.99) r=2.54m +[headless_play] t= 18.40s step= 920 trunk_z= 117.9mm grav_b=(+0.01,-0.03,-1.00) r=2.56m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(+0.07,+0.08,-0.99) r=2.57m +[headless_play] t= 18.60s step= 930 trunk_z= 118.8mm grav_b=(+0.09,-0.07,-0.99) r=2.58m +[headless_play] t= 18.70s step= 935 trunk_z= 125.5mm grav_b=(-0.02,-0.09,-1.00) r=2.60m +[headless_play] t= 18.80s step= 940 trunk_z= 120.1mm grav_b=(-0.09,+0.13,-0.99) r=2.60m +[headless_play] t= 18.90s step= 945 trunk_z= 128.2mm grav_b=(-0.07,+0.16,-0.98) r=2.61m +[headless_play] t= 19.00s step= 950 trunk_z= 127.3mm grav_b=(-0.01,+0.08,-1.00) r=2.61m +[headless_play] t= 19.10s step= 955 trunk_z= 117.0mm grav_b=(+0.02,-0.05,-1.00) r=2.62m +[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(+0.05,+0.03,-1.00) r=2.63m +[headless_play] t= 19.30s step= 965 trunk_z= 118.2mm grav_b=(+0.04,+0.07,-1.00) r=2.64m +[headless_play] t= 19.40s step= 970 trunk_z= 115.3mm grav_b=(+0.01,-0.15,-0.99) r=2.65m +[headless_play] t= 19.50s step= 975 trunk_z= 121.8mm grav_b=(+0.01,-0.04,-1.00) r=2.67m +[headless_play] t= 19.60s step= 980 trunk_z= 120.7mm grav_b=(+0.02,+0.09,-1.00) r=2.69m +[headless_play] t= 19.70s step= 985 trunk_z= 116.8mm grav_b=(+0.00,-0.13,-0.99) r=2.73m +[headless_play] t= 19.80s step= 990 trunk_z= 128.6mm grav_b=(+0.02,-0.19,-0.98) r=2.76m +[headless_play] t= 19.90s step= 995 trunk_z= 126.7mm grav_b=(+0.02,-0.11,-0.99) r=2.78m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.03,+0.06,-1.00) r=0.64m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t5.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..b1eb9e857f7e5eb0a247b400e007cae6f7db0bd6 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.405,+0.226,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 121.4mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 117.6mm grav_b=(+0.02,+0.05,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(+0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 121.7mm grav_b=(+0.08,-0.04,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 121.2mm grav_b=(+0.04,+0.11,-0.99) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 126.7mm grav_b=(+0.05,+0.10,-0.99) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 120.0mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 121.5mm grav_b=(+0.04,+0.04,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 123.9mm grav_b=(+0.08,+0.06,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 122.0mm grav_b=(+0.07,-0.09,-0.99) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 124.1mm grav_b=(+0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 121.7mm grav_b=(-0.03,+0.04,-1.00) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(+0.01,-0.09,-1.00) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 121.2mm grav_b=(+0.08,-0.02,-1.00) r=0.35m +[headless_play] t= 1.40s step= 70 trunk_z= 121.2mm grav_b=(+0.11,+0.05,-0.99) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 118.3mm grav_b=(+0.07,-0.07,-0.99) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 123.3mm grav_b=(+0.05,+0.03,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 123.8mm grav_b=(+0.02,+0.13,-0.99) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 122.6mm grav_b=(+0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 123.7mm grav_b=(+0.02,-0.07,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 120.0mm grav_b=(-0.01,+0.09,-1.00) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 124.3mm grav_b=(+0.07,+0.06,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 120.1mm grav_b=(+0.04,-0.11,-0.99) r=0.32m +[headless_play] t= 2.30s step= 115 trunk_z= 124.6mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 123.2mm grav_b=(+0.05,+0.10,-0.99) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 121.5mm grav_b=(+0.04,-0.04,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 125.6mm grav_b=(+0.05,-0.02,-1.00) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 121.4mm grav_b=(+0.07,+0.09,-0.99) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 123.2mm grav_b=(+0.05,-0.04,-1.00) r=0.32m +[headless_play] t= 2.90s step= 145 trunk_z= 127.2mm grav_b=(+0.02,-0.16,-0.99) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 131.2mm grav_b=(+0.05,-0.15,-0.99) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 131.4mm grav_b=(+0.09,-0.12,-0.99) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.08,-0.08,-0.99) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 127.5mm grav_b=(+0.06,-0.08,-0.99) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 121.3mm grav_b=(+0.11,-0.09,-0.99) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 128.5mm grav_b=(+0.10,+0.12,-0.99) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 119.1mm grav_b=(-0.03,+0.20,-0.98) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 126.9mm grav_b=(-0.01,+0.08,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 121.7mm grav_b=(+0.05,-0.12,-0.99) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 123.9mm grav_b=(+0.15,-0.05,-0.99) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 124.6mm grav_b=(+0.17,+0.11,-0.98) r=0.56m +[headless_play] t= 4.10s step= 205 trunk_z= 137.9mm grav_b=(+0.09,+0.17,-0.98) r=0.59m +[headless_play] t= 4.20s step= 210 trunk_z= 129.8mm grav_b=(+0.12,+0.03,-0.99) r=0.62m +[headless_play] t= 4.30s step= 215 trunk_z= 130.0mm grav_b=(+0.16,+0.03,-0.99) r=0.65m +[headless_play] t= 4.40s step= 220 trunk_z= 136.6mm grav_b=(+0.15,-0.02,-0.99) r=0.69m +[headless_play] t= 4.50s step= 225 trunk_z= 110.7mm grav_b=(+0.06,-0.01,-1.00) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 119.5mm grav_b=(-0.05,-0.08,-1.00) r=0.77m +[headless_play] t= 4.70s step= 235 trunk_z= 115.9mm grav_b=(+0.11,-0.15,-0.98) r=0.81m +[headless_play] t= 4.80s step= 240 trunk_z= 116.0mm grav_b=(+0.07,+0.09,-0.99) r=0.82m +[headless_play] t= 4.90s step= 245 trunk_z= 127.8mm grav_b=(+0.02,+0.30,-0.95) r=0.84m +[headless_play] t= 5.00s step= 250 trunk_z= 131.5mm grav_b=(-0.00,+0.32,-0.95) r=0.86m +[headless_play] t= 5.10s step= 255 trunk_z= 132.8mm grav_b=(+0.22,+0.37,-0.90) r=0.87m +[headless_play] t= 5.20s step= 260 trunk_z= 123.5mm grav_b=(+0.63,+0.39,-0.67) r=0.89m +[headless_play] RESET at t= 5.30s step= 265 (env termination, not a recovery) +[headless_play] t= 5.30s step= 265 trunk_z= 126.3mm grav_b=(+0.00,-0.00,-1.00) r=0.24m +[headless_play] t= 5.40s step= 270 trunk_z= 116.2mm grav_b=(-0.00,+0.03,-1.00) r=0.23m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(+0.04,+0.03,-1.00) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 115.4mm grav_b=(+0.04,-0.13,-0.99) r=0.22m +[headless_play] t= 5.70s step= 285 trunk_z= 120.0mm grav_b=(+0.07,-0.10,-0.99) r=0.21m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(+0.08,+0.05,-1.00) r=0.19m +[headless_play] t= 5.90s step= 295 trunk_z= 116.9mm grav_b=(+0.11,+0.07,-0.99) r=0.18m +[headless_play] t= 6.00s step= 300 trunk_z= 113.4mm grav_b=(+0.11,-0.07,-0.99) r=0.16m +[headless_play] t= 6.10s step= 305 trunk_z= 119.5mm grav_b=(+0.08,-0.01,-1.00) r=0.15m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(+0.06,+0.10,-0.99) r=0.13m +[headless_play] t= 6.30s step= 315 trunk_z= 114.2mm grav_b=(+0.10,+0.04,-0.99) r=0.11m +[headless_play] t= 6.40s step= 320 trunk_z= 117.4mm grav_b=(+0.07,-0.09,-0.99) r=0.10m +[headless_play] t= 6.50s step= 325 trunk_z= 121.6mm grav_b=(+0.09,-0.09,-0.99) r=0.09m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.11,-0.03,-0.99) r=0.09m +[headless_play] t= 6.70s step= 335 trunk_z= 116.6mm grav_b=(+0.03,-0.10,-0.99) r=0.09m +[headless_play] t= 6.80s step= 340 trunk_z= 106.9mm grav_b=(+0.03,-0.17,-0.99) r=0.10m +[headless_play] t= 6.90s step= 345 trunk_z= 105.3mm grav_b=(+0.13,-0.11,-0.98) r=0.10m +[headless_play] t= 7.00s step= 350 trunk_z= 110.6mm grav_b=(+0.13,+0.02,-0.99) r=0.10m +[headless_play] t= 7.10s step= 355 trunk_z= 115.6mm grav_b=(+0.11,-0.07,-0.99) r=0.08m +[headless_play] t= 7.20s step= 360 trunk_z= 118.8mm grav_b=(+0.08,-0.10,-0.99) r=0.06m +[headless_play] t= 7.30s step= 365 trunk_z= 116.0mm grav_b=(+0.10,+0.01,-0.99) r=0.05m +[headless_play] t= 7.40s step= 370 trunk_z= 118.7mm grav_b=(+0.02,+0.04,-1.00) r=0.05m +[headless_play] t= 7.50s step= 375 trunk_z= 113.1mm grav_b=(+0.07,-0.04,-1.00) r=0.06m +[headless_play] t= 7.60s step= 380 trunk_z= 108.3mm grav_b=(+0.14,-0.05,-0.99) r=0.07m +[headless_play] t= 7.70s step= 385 trunk_z= 107.6mm grav_b=(+0.16,-0.01,-0.99) r=0.07m +[headless_play] t= 7.80s step= 390 trunk_z= 115.3mm grav_b=(+0.07,+0.01,-1.00) r=0.07m +[headless_play] t= 7.90s step= 395 trunk_z= 111.6mm grav_b=(+0.09,-0.09,-0.99) r=0.06m +[headless_play] t= 8.00s step= 400 trunk_z= 114.4mm grav_b=(+0.12,-0.06,-0.99) r=0.06m +[headless_play] t= 8.10s step= 405 trunk_z= 109.8mm grav_b=(+0.16,+0.05,-0.99) r=0.06m +[headless_play] t= 8.20s step= 410 trunk_z= 112.1mm grav_b=(+0.15,-0.02,-0.99) r=0.07m +[headless_play] t= 8.30s step= 415 trunk_z= 117.7mm grav_b=(+0.07,-0.19,-0.98) r=0.09m +[headless_play] t= 8.40s step= 420 trunk_z= 126.2mm grav_b=(+0.13,-0.17,-0.98) r=0.11m +[headless_play] t= 8.50s step= 425 trunk_z= 126.1mm grav_b=(+0.12,-0.13,-0.98) r=0.11m +[headless_play] t= 8.60s step= 430 trunk_z= 119.8mm grav_b=(+0.07,-0.06,-1.00) r=0.12m +[headless_play] t= 8.70s step= 435 trunk_z= 122.0mm grav_b=(+0.05,-0.09,-0.99) r=0.13m +[headless_play] t= 8.80s step= 440 trunk_z= 119.8mm grav_b=(-0.02,-0.08,-1.00) r=0.15m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(-0.03,+0.09,-1.00) r=0.17m +[headless_play] t= 9.00s step= 450 trunk_z= 123.9mm grav_b=(+0.03,+0.02,-1.00) r=0.18m +[headless_play] t= 9.10s step= 455 trunk_z= 124.4mm grav_b=(+0.05,-0.15,-0.99) r=0.21m +[headless_play] t= 9.20s step= 460 trunk_z= 131.3mm grav_b=(+0.07,-0.17,-0.98) r=0.23m +[headless_play] t= 9.30s step= 465 trunk_z= 128.9mm grav_b=(+0.09,-0.21,-0.97) r=0.25m +[headless_play] t= 9.40s step= 470 trunk_z= 125.9mm grav_b=(+0.15,-0.25,-0.96) r=0.29m +[headless_play] t= 9.50s step= 475 trunk_z= 110.5mm grav_b=(+0.04,-0.33,-0.94) r=0.32m +[headless_play] t= 9.60s step= 480 trunk_z= 104.2mm grav_b=(+0.27,-0.75,-0.60) r=0.36m +[headless_play] RESET at t= 9.66s step= 483 (env termination, not a recovery) +[headless_play] t= 9.70s step= 485 trunk_z= 115.2mm grav_b=(-0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 9.80s step= 490 trunk_z= 117.4mm grav_b=(+0.02,+0.07,-1.00) r=0.22m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(+0.05,+0.05,-1.00) r=0.22m +[headless_play] t= 10.00s step= 500 trunk_z= 114.0mm grav_b=(+0.03,-0.06,-1.00) r=0.20m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(+0.08,+0.05,-1.00) r=0.20m +[headless_play] t= 10.20s step= 510 trunk_z= 112.1mm grav_b=(+0.09,+0.13,-0.99) r=0.19m +[headless_play] t= 10.30s step= 515 trunk_z= 109.8mm grav_b=(+0.10,+0.05,-0.99) r=0.18m +[headless_play] t= 10.40s step= 520 trunk_z= 118.1mm grav_b=(+0.09,-0.01,-1.00) r=0.17m +[headless_play] t= 10.50s step= 525 trunk_z= 117.5mm grav_b=(+0.08,+0.03,-1.00) r=0.16m +[headless_play] t= 10.60s step= 530 trunk_z= 111.7mm grav_b=(+0.12,+0.09,-0.99) r=0.15m +[headless_play] t= 10.70s step= 535 trunk_z= 112.0mm grav_b=(+0.12,-0.03,-0.99) r=0.14m +[headless_play] t= 10.80s step= 540 trunk_z= 120.1mm grav_b=(+0.11,-0.06,-0.99) r=0.12m +[headless_play] t= 10.90s step= 545 trunk_z= 117.2mm grav_b=(+0.10,+0.02,-0.99) r=0.12m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.10,+0.07,-0.99) r=0.12m +[headless_play] t= 11.10s step= 555 trunk_z= 114.1mm grav_b=(+0.11,-0.00,-0.99) r=0.12m +[headless_play] t= 11.20s step= 560 trunk_z= 117.2mm grav_b=(+0.07,-0.03,-1.00) r=0.11m +[headless_play] t= 11.30s step= 565 trunk_z= 113.5mm grav_b=(+0.10,+0.07,-0.99) r=0.11m +[headless_play] t= 11.40s step= 570 trunk_z= 111.0mm grav_b=(+0.13,+0.05,-0.99) r=0.11m +[headless_play] t= 11.50s step= 575 trunk_z= 113.0mm grav_b=(+0.11,-0.07,-0.99) r=0.12m +[headless_play] t= 11.60s step= 580 trunk_z= 118.0mm grav_b=(+0.11,-0.02,-0.99) r=0.12m +[headless_play] t= 11.70s step= 585 trunk_z= 110.3mm grav_b=(+0.11,+0.07,-0.99) r=0.14m +[headless_play] t= 11.80s step= 590 trunk_z= 109.7mm grav_b=(+0.13,-0.05,-0.99) r=0.15m +[headless_play] t= 11.90s step= 595 trunk_z= 115.8mm grav_b=(+0.14,-0.12,-0.98) r=0.17m +[headless_play] t= 12.00s step= 600 trunk_z= 113.8mm grav_b=(+0.16,-0.09,-0.98) r=0.19m +[headless_play] t= 12.10s step= 605 trunk_z= 111.4mm grav_b=(+0.12,+0.00,-0.99) r=0.22m +[headless_play] t= 12.20s step= 610 trunk_z= 114.2mm grav_b=(+0.13,-0.03,-0.99) r=0.25m +[headless_play] t= 12.30s step= 615 trunk_z= 113.9mm grav_b=(+0.10,-0.09,-0.99) r=0.27m +[headless_play] t= 12.40s step= 620 trunk_z= 115.9mm grav_b=(+0.10,+0.06,-0.99) r=0.28m +[headless_play] t= 12.50s step= 625 trunk_z= 115.6mm grav_b=(+0.15,+0.11,-0.98) r=0.30m +[headless_play] t= 12.60s step= 630 trunk_z= 114.3mm grav_b=(+0.13,-0.02,-0.99) r=0.32m +[headless_play] t= 12.70s step= 635 trunk_z= 119.3mm grav_b=(+0.10,-0.05,-0.99) r=0.33m +[headless_play] t= 12.80s step= 640 trunk_z= 113.0mm grav_b=(+0.10,+0.05,-0.99) r=0.35m +[headless_play] t= 12.90s step= 645 trunk_z= 112.4mm grav_b=(+0.15,+0.03,-0.99) r=0.37m +[headless_play] t= 13.00s step= 650 trunk_z= 111.3mm grav_b=(+0.11,-0.08,-0.99) r=0.39m +[headless_play] t= 13.10s step= 655 trunk_z= 117.7mm grav_b=(+0.11,-0.02,-0.99) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 112.4mm grav_b=(+0.09,+0.14,-0.99) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 113.8mm grav_b=(+0.14,+0.04,-0.99) r=0.46m +[headless_play] t= 13.40s step= 670 trunk_z= 119.2mm grav_b=(+0.09,-0.11,-0.99) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 120.3mm grav_b=(+0.10,-0.08,-0.99) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 113.1mm grav_b=(+0.12,+0.03,-0.99) r=0.52m +[headless_play] t= 13.70s step= 685 trunk_z= 111.5mm grav_b=(+0.15,+0.00,-0.99) r=0.54m +[headless_play] t= 13.80s step= 690 trunk_z= 113.0mm grav_b=(+0.11,-0.12,-0.99) r=0.56m +[headless_play] t= 13.90s step= 695 trunk_z= 119.2mm grav_b=(+0.07,-0.01,-1.00) r=0.58m +[headless_play] t= 14.00s step= 700 trunk_z= 112.3mm grav_b=(+0.09,+0.08,-0.99) r=0.61m +[headless_play] t= 14.10s step= 705 trunk_z= 108.8mm grav_b=(+0.16,-0.11,-0.98) r=0.63m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(+0.15,-0.10,-0.98) r=0.65m +[headless_play] t= 14.30s step= 715 trunk_z= 114.7mm grav_b=(+0.14,-0.01,-0.99) r=0.68m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.08,+0.06,-0.99) r=0.71m +[headless_play] t= 14.50s step= 725 trunk_z= 113.5mm grav_b=(+0.13,-0.04,-0.99) r=0.74m +[headless_play] t= 14.60s step= 730 trunk_z= 116.8mm grav_b=(+0.11,-0.04,-0.99) r=0.74m +[headless_play] t= 14.70s step= 735 trunk_z= 115.2mm grav_b=(+0.11,+0.13,-0.99) r=0.74m +[headless_play] t= 14.80s step= 740 trunk_z= 120.8mm grav_b=(+0.11,+0.17,-0.98) r=0.75m +[headless_play] t= 14.90s step= 745 trunk_z= 122.4mm grav_b=(+0.09,+0.12,-0.99) r=0.76m +[headless_play] t= 15.00s step= 750 trunk_z= 119.6mm grav_b=(+0.07,+0.02,-1.00) r=0.79m +[headless_play] t= 15.10s step= 755 trunk_z= 122.4mm grav_b=(+0.04,+0.11,-0.99) r=0.81m +[headless_play] t= 15.20s step= 760 trunk_z= 121.9mm grav_b=(+0.06,+0.12,-0.99) r=0.83m +[headless_play] t= 15.30s step= 765 trunk_z= 118.3mm grav_b=(+0.02,-0.08,-1.00) r=0.85m +[headless_play] t= 15.40s step= 770 trunk_z= 123.3mm grav_b=(+0.05,-0.05,-1.00) r=0.87m +[headless_play] t= 15.50s step= 775 trunk_z= 117.7mm grav_b=(+0.06,+0.06,-1.00) r=0.87m +[headless_play] t= 15.60s step= 780 trunk_z= 114.8mm grav_b=(+0.08,-0.07,-0.99) r=0.89m +[headless_play] t= 15.70s step= 785 trunk_z= 118.8mm grav_b=(+0.11,-0.02,-0.99) r=0.91m +[headless_play] t= 15.80s step= 790 trunk_z= 120.9mm grav_b=(+0.09,+0.14,-0.99) r=0.92m +[headless_play] t= 15.90s step= 795 trunk_z= 121.5mm grav_b=(+0.05,+0.04,-1.00) r=0.94m +[headless_play] t= 16.00s step= 800 trunk_z= 123.4mm grav_b=(+0.03,-0.07,-1.00) r=0.96m +[headless_play] t= 16.10s step= 805 trunk_z= 119.7mm grav_b=(+0.04,+0.03,-1.00) r=0.97m +[headless_play] t= 16.20s step= 810 trunk_z= 120.7mm grav_b=(+0.06,+0.09,-0.99) r=0.98m +[headless_play] t= 16.30s step= 815 trunk_z= 115.5mm grav_b=(+0.05,-0.08,-1.00) r=0.99m +[headless_play] t= 16.40s step= 820 trunk_z= 123.5mm grav_b=(+0.05,-0.04,-1.00) r=1.01m +[headless_play] t= 16.50s step= 825 trunk_z= 119.8mm grav_b=(+0.07,+0.13,-0.99) r=1.03m +[headless_play] t= 16.60s step= 830 trunk_z= 123.1mm grav_b=(+0.08,+0.10,-0.99) r=1.04m +[headless_play] t= 16.70s step= 835 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=1.06m +[headless_play] t= 16.80s step= 840 trunk_z= 119.1mm grav_b=(+0.02,+0.08,-1.00) r=1.08m +[headless_play] t= 16.90s step= 845 trunk_z= 122.0mm grav_b=(+0.09,+0.15,-0.99) r=1.10m +[headless_play] t= 17.00s step= 850 trunk_z= 116.6mm grav_b=(+0.10,-0.01,-0.99) r=1.13m +[headless_play] t= 17.10s step= 855 trunk_z= 122.9mm grav_b=(+0.08,+0.01,-1.00) r=1.16m +[headless_play] t= 17.20s step= 860 trunk_z= 118.1mm grav_b=(+0.01,+0.12,-0.99) r=1.20m +[headless_play] t= 17.30s step= 865 trunk_z= 120.0mm grav_b=(+0.03,+0.00,-1.00) r=1.24m +[headless_play] t= 17.40s step= 870 trunk_z= 121.7mm grav_b=(+0.04,-0.14,-0.99) r=1.27m +[headless_play] t= 17.50s step= 875 trunk_z= 117.4mm grav_b=(+0.12,-0.06,-0.99) r=1.28m +[headless_play] t= 17.60s step= 880 trunk_z= 119.7mm grav_b=(+0.12,+0.08,-0.99) r=1.29m +[headless_play] t= 17.70s step= 885 trunk_z= 120.6mm grav_b=(+0.06,-0.02,-1.00) r=1.31m +[headless_play] t= 17.80s step= 890 trunk_z= 125.1mm grav_b=(+0.05,-0.10,-0.99) r=1.34m +[headless_play] t= 17.90s step= 895 trunk_z= 118.5mm grav_b=(+0.03,+0.04,-1.00) r=1.34m +[headless_play] t= 18.00s step= 900 trunk_z= 122.0mm grav_b=(+0.03,+0.08,-1.00) r=1.35m +[headless_play] t= 18.10s step= 905 trunk_z= 114.7mm grav_b=(+0.05,-0.09,-0.99) r=1.36m +[headless_play] t= 18.20s step= 910 trunk_z= 118.6mm grav_b=(+0.08,+0.06,-1.00) r=1.38m +[headless_play] t= 18.30s step= 915 trunk_z= 120.2mm grav_b=(+0.08,+0.10,-0.99) r=1.39m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(+0.05,-0.07,-1.00) r=1.41m +[headless_play] t= 18.50s step= 925 trunk_z= 120.5mm grav_b=(+0.06,-0.01,-1.00) r=1.44m +[headless_play] t= 18.60s step= 930 trunk_z= 121.9mm grav_b=(+0.05,+0.15,-0.99) r=1.46m +[headless_play] t= 18.70s step= 935 trunk_z= 122.1mm grav_b=(+0.06,+0.05,-1.00) r=1.47m +[headless_play] t= 18.80s step= 940 trunk_z= 120.8mm grav_b=(+0.05,-0.06,-1.00) r=1.49m +[headless_play] t= 18.90s step= 945 trunk_z= 117.9mm grav_b=(+0.03,+0.11,-0.99) r=1.50m +[headless_play] t= 19.00s step= 950 trunk_z= 122.7mm grav_b=(+0.06,+0.14,-0.99) r=1.52m +[headless_play] t= 19.10s step= 955 trunk_z= 119.2mm grav_b=(+0.06,-0.00,-1.00) r=1.53m +[headless_play] t= 19.20s step= 960 trunk_z= 122.5mm grav_b=(+0.08,-0.01,-1.00) r=1.56m +[headless_play] t= 19.30s step= 965 trunk_z= 118.7mm grav_b=(+0.06,+0.13,-0.99) r=1.58m +[headless_play] t= 19.40s step= 970 trunk_z= 118.2mm grav_b=(+0.08,-0.02,-1.00) r=1.60m +[headless_play] t= 19.50s step= 975 trunk_z= 122.3mm grav_b=(+0.15,-0.09,-0.98) r=1.66m +[headless_play] t= 19.60s step= 980 trunk_z= 115.7mm grav_b=(+0.12,+0.09,-0.99) r=1.70m +[headless_play] t= 19.70s step= 985 trunk_z= 128.2mm grav_b=(+0.05,+0.03,-1.00) r=1.73m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(+0.09,-0.13,-0.99) r=1.77m +[headless_play] t= 19.90s step= 995 trunk_z= 122.4mm grav_b=(+0.06,-0.02,-1.00) r=1.80m +[headless_play] t= 20.00s step=1000 trunk_z= 121.9mm grav_b=(-0.00,+0.16,-0.99) r=1.83m +[headless_play] t= 20.10s step=1005 trunk_z= 122.6mm grav_b=(+0.05,+0.08,-1.00) r=1.86m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t6.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..0055d6fa37854feb9b8b4c1021746422acb35b37 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t6.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(+0.018,-0.181,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.03,+0.00,-1.00) r=0.18m +[headless_play] t= 0.40s step= 20 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 0.90s step= 45 trunk_z= 116.3mm grav_b=(+0.04,-0.00,-1.00) r=0.18m +[headless_play] t= 1.00s step= 50 trunk_z= 117.4mm grav_b=(+0.07,-0.01,-1.00) r=0.18m +[headless_play] t= 1.10s step= 55 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.18m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.18m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.18m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.05,+0.00,-1.00) r=0.18m +[headless_play] t= 1.60s step= 80 trunk_z= 118.5mm grav_b=(+0.08,+0.01,-1.00) r=0.19m +[headless_play] t= 1.70s step= 85 trunk_z= 118.4mm grav_b=(+0.08,+0.00,-1.00) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.18m +[headless_play] t= 1.90s step= 95 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.03,+0.01,-1.00) r=0.18m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.18m +[headless_play] t= 2.20s step= 110 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.18m +[headless_play] t= 2.30s step= 115 trunk_z= 117.0mm grav_b=(-0.06,+0.01,-1.00) r=0.18m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(-0.03,-0.09,-1.00) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 114.7mm grav_b=(-0.01,-0.05,-1.00) r=0.17m +[headless_play] t= 2.60s step= 130 trunk_z= 112.2mm grav_b=(+0.04,+0.02,-1.00) r=0.18m +[headless_play] t= 2.70s step= 135 trunk_z= 112.8mm grav_b=(+0.06,-0.00,-1.00) r=0.18m +[headless_play] t= 2.80s step= 140 trunk_z= 114.6mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 2.90s step= 145 trunk_z= 115.5mm grav_b=(+0.08,-0.01,-1.00) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(+0.11,-0.01,-0.99) r=0.19m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.12,-0.01,-0.99) r=0.19m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(+0.10,-0.01,-0.99) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.19m +[headless_play] t= 3.40s step= 170 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(-0.00,-0.00,-1.00) r=0.18m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.00,-0.00,-1.00) r=0.18m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 4.50s step= 225 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 4.60s step= 230 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 4.80s step= 240 trunk_z= 116.9mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=0.19m +[headless_play] t= 5.00s step= 250 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 5.10s step= 255 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(-0.00,-0.00,-1.00) r=0.19m +[headless_play] t= 5.30s step= 265 trunk_z= 116.9mm grav_b=(+0.00,-0.00,-1.00) r=0.19m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 5.50s step= 275 trunk_z= 116.9mm grav_b=(+0.00,-0.00,-1.00) r=0.19m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 5.70s step= 285 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.21m +[headless_play] t= 5.80s step= 290 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 5.90s step= 295 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 6.00s step= 300 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 6.10s step= 305 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 6.20s step= 310 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 6.30s step= 315 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 6.40s step= 320 trunk_z= 116.8mm grav_b=(-0.00,-0.00,-1.00) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 6.60s step= 330 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 6.70s step= 335 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 6.80s step= 340 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 7.00s step= 350 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.19m +[headless_play] t= 7.40s step= 370 trunk_z= 118.7mm grav_b=(+0.06,-0.00,-1.00) r=0.20m +[headless_play] t= 7.50s step= 375 trunk_z= 118.8mm grav_b=(+0.07,-0.00,-1.00) r=0.20m +[headless_play] t= 7.60s step= 380 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=0.20m +[headless_play] t= 7.70s step= 385 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 7.80s step= 390 trunk_z= 117.2mm grav_b=(-0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 7.90s step= 395 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 8.00s step= 400 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00) r=0.19m +[headless_play] t= 8.20s step= 410 trunk_z= 117.2mm grav_b=(-0.05,-0.00,-1.00) r=0.19m +[headless_play] t= 8.30s step= 415 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.19m +[headless_play] t= 8.40s step= 420 trunk_z= 116.6mm grav_b=(-0.05,-0.03,-1.00) r=0.19m +[headless_play] t= 8.50s step= 425 trunk_z= 113.7mm grav_b=(+0.01,-0.04,-1.00) r=0.18m +[headless_play] t= 8.60s step= 430 trunk_z= 114.2mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 8.70s step= 435 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00) r=0.18m +[headless_play] t= 8.80s step= 440 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.18m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(+0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.20s step= 460 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.40s step= 470 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.50s step= 475 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.60s step= 480 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.70s step= 485 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.80s step= 490 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 9.90s step= 495 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.20m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 10.60s step= 530 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 10.70s step= 535 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.10s step= 555 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.30s step= 565 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.40s step= 570 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.50s step= 575 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.19m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(-0.06,+0.00,-1.00) r=0.20m +[headless_play] t= 11.70s step= 585 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 12.00s step= 600 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 12.10s step= 605 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(+0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 12.30s step= 615 trunk_z= 118.3mm grav_b=(+0.03,+0.06,-1.00) r=0.21m +[headless_play] t= 12.40s step= 620 trunk_z= 119.4mm grav_b=(+0.11,+0.12,-0.99) r=0.24m +[headless_play] t= 12.50s step= 625 trunk_z= 118.9mm grav_b=(+0.03,-0.09,-1.00) r=0.26m +[headless_play] t= 12.60s step= 630 trunk_z= 124.2mm grav_b=(-0.04,-0.06,-1.00) r=0.28m +[headless_play] t= 12.70s step= 635 trunk_z= 119.9mm grav_b=(-0.01,+0.10,-1.00) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 118.4mm grav_b=(+0.04,+0.06,-1.00) r=0.32m +[headless_play] t= 12.90s step= 645 trunk_z= 114.6mm grav_b=(+0.05,-0.05,-1.00) r=0.32m +[headless_play] t= 13.00s step= 650 trunk_z= 116.9mm grav_b=(+0.03,-0.01,-1.00) r=0.32m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(+0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 13.20s step= 660 trunk_z= 114.6mm grav_b=(+0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 13.30s step= 665 trunk_z= 109.6mm grav_b=(+0.06,-0.10,-0.99) r=0.33m +[headless_play] t= 13.40s step= 670 trunk_z= 110.1mm grav_b=(+0.10,-0.05,-0.99) r=0.33m +[headless_play] t= 13.50s step= 675 trunk_z= 110.4mm grav_b=(+0.06,+0.02,-1.00) r=0.35m +[headless_play] t= 13.60s step= 680 trunk_z= 112.8mm grav_b=(+0.08,+0.07,-0.99) r=0.36m +[headless_play] t= 13.70s step= 685 trunk_z= 111.0mm grav_b=(+0.10,-0.06,-0.99) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 116.8mm grav_b=(+0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 13.90s step= 695 trunk_z= 114.5mm grav_b=(+0.05,+0.06,-1.00) r=0.40m +[headless_play] t= 14.00s step= 700 trunk_z= 111.7mm grav_b=(+0.09,+0.10,-0.99) r=0.42m +[headless_play] t= 14.10s step= 705 trunk_z= 108.2mm grav_b=(+0.11,-0.08,-0.99) r=0.43m +[headless_play] t= 14.20s step= 710 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 14.30s step= 715 trunk_z= 111.2mm grav_b=(+0.06,+0.07,-1.00) r=0.46m +[headless_play] t= 14.40s step= 720 trunk_z= 110.8mm grav_b=(+0.11,+0.01,-0.99) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 110.0mm grav_b=(+0.13,-0.15,-0.98) r=0.45m +[headless_play] t= 14.60s step= 730 trunk_z= 117.6mm grav_b=(+0.11,-0.12,-0.99) r=0.45m +[headless_play] t= 14.70s step= 735 trunk_z= 112.7mm grav_b=(+0.07,+0.06,-1.00) r=0.46m +[headless_play] t= 14.80s step= 740 trunk_z= 118.5mm grav_b=(+0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 14.90s step= 745 trunk_z= 113.6mm grav_b=(+0.01,-0.13,-0.99) r=0.48m +[headless_play] t= 15.00s step= 750 trunk_z= 111.3mm grav_b=(+0.11,-0.05,-0.99) r=0.48m +[headless_play] t= 15.10s step= 755 trunk_z= 109.2mm grav_b=(+0.15,+0.11,-0.98) r=0.49m +[headless_play] t= 15.20s step= 760 trunk_z= 115.1mm grav_b=(+0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 118.1mm grav_b=(-0.03,-0.16,-0.99) r=0.50m +[headless_play] t= 15.40s step= 770 trunk_z= 124.0mm grav_b=(-0.02,-0.09,-1.00) r=0.49m +[headless_play] t= 15.50s step= 775 trunk_z= 117.2mm grav_b=(+0.08,+0.00,-1.00) r=0.48m +[headless_play] t= 15.60s step= 780 trunk_z= 107.9mm grav_b=(+0.20,+0.04,-0.98) r=0.47m +[headless_play] t= 15.70s step= 785 trunk_z= 114.8mm grav_b=(+0.08,-0.09,-0.99) r=0.46m +[headless_play] t= 15.80s step= 790 trunk_z= 116.9mm grav_b=(+0.08,+0.01,-1.00) r=0.45m +[headless_play] t= 15.90s step= 795 trunk_z= 112.5mm grav_b=(+0.09,+0.11,-0.99) r=0.45m +[headless_play] t= 16.00s step= 800 trunk_z= 110.2mm grav_b=(+0.12,-0.01,-0.99) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.06,-0.15,-0.99) r=0.40m +[headless_play] t= 16.20s step= 810 trunk_z= 114.2mm grav_b=(+0.08,-0.04,-1.00) r=0.38m +[headless_play] t= 16.30s step= 815 trunk_z= 110.2mm grav_b=(+0.12,+0.06,-0.99) r=0.36m +[headless_play] t= 16.40s step= 820 trunk_z= 114.4mm grav_b=(+0.06,-0.04,-1.00) r=0.36m +[headless_play] t= 16.50s step= 825 trunk_z= 115.7mm grav_b=(+0.03,-0.12,-0.99) r=0.35m +[headless_play] t= 16.60s step= 830 trunk_z= 112.6mm grav_b=(+0.08,+0.04,-1.00) r=0.34m +[headless_play] t= 16.70s step= 835 trunk_z= 112.5mm grav_b=(+0.11,+0.09,-0.99) r=0.35m +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(+0.02,-0.06,-1.00) r=0.37m +[headless_play] t= 16.90s step= 845 trunk_z= 122.0mm grav_b=(-0.06,-0.03,-1.00) r=0.38m +[headless_play] t= 17.00s step= 850 trunk_z= 120.0mm grav_b=(-0.05,+0.02,-1.00) r=0.39m +[headless_play] t= 17.10s step= 855 trunk_z= 112.3mm grav_b=(+0.01,-0.16,-0.99) r=0.39m +[headless_play] t= 17.20s step= 860 trunk_z= 116.6mm grav_b=(+0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 17.30s step= 865 trunk_z= 119.9mm grav_b=(+0.03,+0.10,-0.99) r=0.40m +[headless_play] t= 17.40s step= 870 trunk_z= 119.9mm grav_b=(+0.00,-0.02,-1.00) r=0.39m +[headless_play] t= 17.50s step= 875 trunk_z= 123.6mm grav_b=(-0.03,-0.08,-1.00) r=0.37m +[headless_play] t= 17.60s step= 880 trunk_z= 119.8mm grav_b=(-0.02,+0.13,-0.99) r=0.37m +[headless_play] t= 17.70s step= 885 trunk_z= 121.6mm grav_b=(+0.00,+0.03,-1.00) r=0.36m +[headless_play] t= 17.80s step= 890 trunk_z= 124.5mm grav_b=(-0.00,-0.12,-0.99) r=0.34m +[headless_play] t= 17.90s step= 895 trunk_z= 119.1mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 18.00s step= 900 trunk_z= 120.6mm grav_b=(+0.01,+0.04,-1.00) r=0.32m +[headless_play] t= 18.10s step= 905 trunk_z= 118.9mm grav_b=(+0.00,-0.15,-0.99) r=0.31m +[headless_play] t= 18.20s step= 910 trunk_z= 119.5mm grav_b=(-0.05,+0.03,-1.00) r=0.30m +[headless_play] t= 18.30s step= 915 trunk_z= 125.0mm grav_b=(-0.03,+0.17,-0.98) r=0.30m +[headless_play] t= 18.40s step= 920 trunk_z= 122.8mm grav_b=(+0.02,+0.06,-1.00) r=0.29m +[headless_play] t= 18.50s step= 925 trunk_z= 121.9mm grav_b=(+0.01,-0.09,-1.00) r=0.28m +[headless_play] t= 18.60s step= 930 trunk_z= 117.2mm grav_b=(+0.01,+0.12,-0.99) r=0.27m +[headless_play] t= 18.70s step= 935 trunk_z= 120.5mm grav_b=(+0.11,+0.03,-0.99) r=0.26m +[headless_play] t= 18.80s step= 940 trunk_z= 121.9mm grav_b=(+0.02,-0.13,-0.99) r=0.26m +[headless_play] t= 18.90s step= 945 trunk_z= 120.3mm grav_b=(-0.06,+0.06,-1.00) r=0.26m +[headless_play] t= 19.00s step= 950 trunk_z= 121.3mm grav_b=(+0.00,+0.19,-0.98) r=0.25m +[headless_play] t= 19.10s step= 955 trunk_z= 119.7mm grav_b=(+0.05,+0.05,-1.00) r=0.26m +[headless_play] t= 19.20s step= 960 trunk_z= 123.8mm grav_b=(+0.01,-0.14,-0.99) r=0.24m +[headless_play] t= 19.30s step= 965 trunk_z= 128.5mm grav_b=(-0.05,-0.13,-0.99) r=0.22m +[headless_play] t= 19.40s step= 970 trunk_z= 127.4mm grav_b=(-0.01,-0.14,-0.99) r=0.21m +[headless_play] t= 19.50s step= 975 trunk_z= 124.2mm grav_b=(+0.03,-0.08,-1.00) r=0.20m +[headless_play] t= 19.60s step= 980 trunk_z= 122.3mm grav_b=(+0.01,+0.05,-1.00) r=0.20m +[headless_play] t= 19.70s step= 985 trunk_z= 116.5mm grav_b=(+0.04,-0.05,-1.00) r=0.20m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(+0.05,-0.04,-1.00) r=0.20m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(+0.01,+0.19,-0.98) r=0.21m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(+0.00,-0.00,-1.00) r=0.48m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t7.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..9cd5605520c2b7bae4f530c3728ec2b6b1db1f6b --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t7.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.460,+0.195,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 117.0mm grav_b=(+0.00,+0.07,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(-0.00,-0.08,-1.00) r=0.54m +[headless_play] t= 0.40s step= 20 trunk_z= 118.7mm grav_b=(+0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 115.2mm grav_b=(+0.04,+0.09,-1.00) r=0.58m +[headless_play] t= 0.60s step= 30 trunk_z= 115.5mm grav_b=(+0.09,+0.04,-1.00) r=0.60m +[headless_play] t= 0.70s step= 35 trunk_z= 119.7mm grav_b=(+0.04,-0.10,-0.99) r=0.63m +[headless_play] t= 0.80s step= 40 trunk_z= 118.2mm grav_b=(+0.07,-0.02,-1.00) r=0.67m +[headless_play] t= 0.90s step= 45 trunk_z= 121.9mm grav_b=(+0.03,+0.11,-0.99) r=0.72m +[headless_play] t= 1.00s step= 50 trunk_z= 119.9mm grav_b=(+0.02,+0.10,-0.99) r=0.75m +[headless_play] t= 1.10s step= 55 trunk_z= 118.5mm grav_b=(+0.03,-0.04,-1.00) r=0.78m +[headless_play] t= 1.20s step= 60 trunk_z= 119.9mm grav_b=(+0.02,+0.01,-1.00) r=0.81m +[headless_play] t= 1.30s step= 65 trunk_z= 119.1mm grav_b=(+0.03,+0.10,-0.99) r=0.85m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(+0.07,-0.00,-1.00) r=0.87m +[headless_play] t= 1.50s step= 75 trunk_z= 123.6mm grav_b=(+0.03,-0.14,-0.99) r=0.91m +[headless_play] t= 1.60s step= 80 trunk_z= 119.4mm grav_b=(+0.06,-0.09,-0.99) r=0.94m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(+0.02,+0.04,-1.00) r=0.98m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(+0.03,-0.08,-1.00) r=1.01m +[headless_play] t= 1.90s step= 95 trunk_z= 119.2mm grav_b=(+0.02,-0.10,-1.00) r=1.04m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.04,+0.04,-1.00) r=1.07m +[headless_play] t= 2.10s step= 105 trunk_z= 115.8mm grav_b=(+0.09,+0.03,-1.00) r=1.10m +[headless_play] t= 2.20s step= 110 trunk_z= 118.0mm grav_b=(-0.02,-0.16,-0.99) r=1.13m +[headless_play] t= 2.30s step= 115 trunk_z= 127.1mm grav_b=(+0.01,-0.18,-0.98) r=1.17m +[headless_play] t= 2.40s step= 120 trunk_z= 124.8mm grav_b=(+0.02,-0.14,-0.99) r=1.20m +[headless_play] t= 2.50s step= 125 trunk_z= 119.4mm grav_b=(+0.02,+0.02,-1.00) r=1.22m +[headless_play] t= 2.60s step= 130 trunk_z= 126.4mm grav_b=(+0.03,+0.10,-0.99) r=1.23m +[headless_play] t= 2.70s step= 135 trunk_z= 129.2mm grav_b=(+0.06,+0.12,-0.99) r=1.24m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(+0.07,-0.02,-1.00) r=1.26m +[headless_play] t= 2.90s step= 145 trunk_z= 125.5mm grav_b=(-0.04,+0.04,-1.00) r=1.27m +[headless_play] t= 3.00s step= 150 trunk_z= 119.9mm grav_b=(-0.03,+0.10,-0.99) r=1.29m +[headless_play] t= 3.10s step= 155 trunk_z= 122.2mm grav_b=(-0.05,-0.01,-1.00) r=1.30m +[headless_play] t= 3.20s step= 160 trunk_z= 122.9mm grav_b=(-0.05,-0.14,-0.99) r=1.31m +[headless_play] t= 3.30s step= 165 trunk_z= 124.0mm grav_b=(-0.02,-0.01,-1.00) r=1.32m +[headless_play] t= 3.40s step= 170 trunk_z= 122.8mm grav_b=(+0.04,+0.10,-0.99) r=1.33m +[headless_play] t= 3.50s step= 175 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=1.34m +[headless_play] t= 3.60s step= 180 trunk_z= 126.2mm grav_b=(+0.02,-0.12,-0.99) r=1.35m +[headless_play] t= 3.70s step= 185 trunk_z= 131.7mm grav_b=(+0.07,-0.06,-1.00) r=1.37m +[headless_play] t= 3.80s step= 190 trunk_z= 98.6mm grav_b=(+0.01,-0.04,-1.00) r=1.41m +[headless_play] t= 3.90s step= 195 trunk_z= 111.8mm grav_b=(-0.06,-0.06,-1.00) r=1.43m +[headless_play] t= 4.00s step= 200 trunk_z= 114.9mm grav_b=(+0.02,-0.19,-0.98) r=1.43m +[headless_play] t= 4.10s step= 205 trunk_z= 123.8mm grav_b=(+0.07,+0.06,-1.00) r=1.45m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.04,+0.22,-0.98) r=1.48m +[headless_play] t= 4.30s step= 215 trunk_z= 124.6mm grav_b=(-0.05,+0.13,-0.99) r=1.51m +[headless_play] t= 4.40s step= 220 trunk_z= 118.2mm grav_b=(-0.08,-0.07,-0.99) r=1.51m +[headless_play] t= 4.50s step= 225 trunk_z= 119.1mm grav_b=(+0.03,+0.12,-0.99) r=1.52m +[headless_play] t= 4.60s step= 230 trunk_z= 129.9mm grav_b=(+0.11,+0.14,-0.98) r=1.53m +[headless_play] t= 4.70s step= 235 trunk_z= 129.2mm grav_b=(+0.09,+0.02,-1.00) r=1.53m +[headless_play] t= 4.80s step= 240 trunk_z= 115.6mm grav_b=(-0.10,-0.04,-0.99) r=1.53m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(-0.17,+0.08,-0.98) r=1.54m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(+0.01,+0.03,-1.00) r=1.55m +[headless_play] t= 5.10s step= 255 trunk_z= 115.5mm grav_b=(+0.08,-0.00,-1.00) r=1.55m +[headless_play] t= 5.20s step= 260 trunk_z= 120.3mm grav_b=(+0.13,-0.01,-0.99) r=1.54m +[headless_play] t= 5.30s step= 265 trunk_z= 110.0mm grav_b=(+0.20,+0.25,-0.95) r=1.52m +[headless_play] t= 5.40s step= 270 trunk_z= 110.8mm grav_b=(+0.24,+0.11,-0.96) r=1.51m +[headless_play] t= 5.50s step= 275 trunk_z= 106.3mm grav_b=(+0.06,-0.11,-0.99) r=1.47m +[headless_play] t= 5.60s step= 280 trunk_z= 121.3mm grav_b=(-0.11,-0.14,-0.98) r=1.45m +[headless_play] t= 5.70s step= 285 trunk_z= 120.5mm grav_b=(-0.10,+0.10,-0.99) r=1.41m +[headless_play] t= 5.80s step= 290 trunk_z= 121.5mm grav_b=(+0.03,+0.12,-0.99) r=1.39m +[headless_play] t= 5.90s step= 295 trunk_z= 122.5mm grav_b=(+0.05,-0.10,-0.99) r=1.37m +[headless_play] t= 6.00s step= 300 trunk_z= 131.5mm grav_b=(+0.05,-0.18,-0.98) r=1.36m +[headless_play] t= 6.10s step= 305 trunk_z= 128.5mm grav_b=(+0.10,-0.23,-0.97) r=1.36m +[headless_play] t= 6.20s step= 310 trunk_z= 88.0mm grav_b=(+0.11,-0.16,-0.98) r=1.36m +[headless_play] t= 6.30s step= 315 trunk_z= 102.1mm grav_b=(+0.14,+0.02,-0.99) r=1.37m +[headless_play] t= 6.40s step= 320 trunk_z= 114.1mm grav_b=(+0.12,+0.00,-0.99) r=1.39m +[headless_play] t= 6.50s step= 325 trunk_z= 113.4mm grav_b=(-0.04,-0.09,-0.99) r=1.38m +[headless_play] t= 6.60s step= 330 trunk_z= 119.1mm grav_b=(-0.09,+0.07,-0.99) r=1.37m +[headless_play] t= 6.70s step= 335 trunk_z= 124.3mm grav_b=(-0.14,+0.15,-0.98) r=1.36m +[headless_play] t= 6.80s step= 340 trunk_z= 106.8mm grav_b=(-0.15,+0.01,-0.99) r=1.36m +[headless_play] t= 6.90s step= 345 trunk_z= 98.3mm grav_b=(+0.06,+0.13,-0.99) r=1.35m +[headless_play] t= 7.00s step= 350 trunk_z= 106.3mm grav_b=(+0.02,+0.06,-1.00) r=1.35m +[headless_play] t= 7.10s step= 355 trunk_z= 106.3mm grav_b=(+0.04,-0.04,-1.00) r=1.35m +[headless_play] t= 7.20s step= 360 trunk_z= 110.5mm grav_b=(+0.14,+0.10,-0.99) r=1.34m +[headless_play] t= 7.30s step= 365 trunk_z= 120.0mm grav_b=(+0.14,+0.11,-0.98) r=1.33m +[headless_play] t= 7.40s step= 370 trunk_z= 116.4mm grav_b=(-0.01,-0.13,-0.99) r=1.31m +[headless_play] t= 7.50s step= 375 trunk_z= 126.4mm grav_b=(-0.13,-0.14,-0.98) r=1.29m +[headless_play] t= 7.60s step= 380 trunk_z= 123.0mm grav_b=(-0.08,-0.03,-1.00) r=1.26m +[headless_play] t= 7.70s step= 385 trunk_z= 124.0mm grav_b=(-0.03,+0.07,-1.00) r=1.25m +[headless_play] t= 7.80s step= 390 trunk_z= 115.7mm grav_b=(-0.00,-0.02,-1.00) r=1.23m +[headless_play] t= 7.90s step= 395 trunk_z= 118.5mm grav_b=(+0.11,+0.04,-0.99) r=1.22m +[headless_play] t= 8.00s step= 400 trunk_z= 124.5mm grav_b=(+0.09,+0.22,-0.97) r=1.20m +[headless_play] t= 8.10s step= 405 trunk_z= 126.9mm grav_b=(+0.07,+0.11,-0.99) r=1.17m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(-0.03,-0.05,-1.00) r=1.14m +[headless_play] t= 8.30s step= 415 trunk_z= 121.7mm grav_b=(-0.22,-0.00,-0.98) r=1.12m +[headless_play] t= 8.40s step= 420 trunk_z= 110.4mm grav_b=(-0.15,+0.15,-0.98) r=1.09m +[headless_play] t= 8.50s step= 425 trunk_z= 98.9mm grav_b=(+0.05,+0.07,-1.00) r=1.07m +[headless_play] t= 8.60s step= 430 trunk_z= 109.1mm grav_b=(+0.14,-0.02,-0.99) r=1.07m +[headless_play] t= 8.70s step= 435 trunk_z= 120.8mm grav_b=(+0.11,+0.07,-0.99) r=1.06m +[headless_play] t= 8.80s step= 440 trunk_z= 117.8mm grav_b=(+0.07,-0.01,-1.00) r=1.06m +[headless_play] t= 8.90s step= 445 trunk_z= 113.2mm grav_b=(+0.05,-0.18,-0.98) r=1.06m +[headless_play] t= 9.00s step= 450 trunk_z= 125.5mm grav_b=(-0.10,-0.20,-0.97) r=1.06m +[headless_play] t= 9.10s step= 455 trunk_z= 125.9mm grav_b=(-0.04,-0.06,-1.00) r=1.04m +[headless_play] t= 9.20s step= 460 trunk_z= 122.3mm grav_b=(+0.07,+0.09,-0.99) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 120.4mm grav_b=(-0.09,-0.00,-1.00) r=1.05m +[headless_play] t= 9.50s step= 475 trunk_z= 118.7mm grav_b=(-0.06,+0.05,-1.00) r=1.06m +[headless_play] t= 9.60s step= 480 trunk_z= 114.4mm grav_b=(-0.01,-0.08,-1.00) r=1.07m +[headless_play] t= 9.70s step= 485 trunk_z= 114.5mm grav_b=(+0.03,+0.01,-1.00) r=1.08m +[headless_play] t= 9.80s step= 490 trunk_z= 117.8mm grav_b=(+0.05,+0.09,-0.99) r=1.08m +[headless_play] t= 9.90s step= 495 trunk_z= 116.9mm grav_b=(-0.04,-0.09,-0.99) r=1.09m +[headless_play] t= 10.00s step= 500 trunk_z= 128.6mm grav_b=(-0.12,-0.10,-0.99) r=1.10m +[headless_play] t= 10.10s step= 505 trunk_z= 119.4mm grav_b=(-0.09,-0.04,-0.99) r=1.11m +[headless_play] t= 10.20s step= 510 trunk_z= 114.7mm grav_b=(-0.03,-0.05,-1.00) r=1.13m +[headless_play] t= 10.30s step= 515 trunk_z= 93.0mm grav_b=(+0.24,+0.00,-0.97) r=1.16m +[headless_play] t= 10.40s step= 520 trunk_z= 109.4mm grav_b=(+0.22,-0.04,-0.97) r=1.18m +[headless_play] t= 10.50s step= 525 trunk_z= 113.8mm grav_b=(+0.36,-0.20,-0.91) r=1.20m +[headless_play] t= 10.60s step= 530 trunk_z= 107.9mm grav_b=(+0.26,-0.11,-0.96) r=1.21m +[headless_play] t= 10.70s step= 535 trunk_z= 106.4mm grav_b=(+0.11,-0.01,-0.99) r=1.21m +[headless_play] t= 10.80s step= 540 trunk_z= 120.5mm grav_b=(-0.00,-0.07,-1.00) r=1.21m +[headless_play] t= 10.90s step= 545 trunk_z= 119.2mm grav_b=(-0.03,+0.11,-0.99) r=1.20m +[headless_play] t= 11.00s step= 550 trunk_z= 120.9mm grav_b=(+0.02,+0.07,-1.00) r=1.20m +[headless_play] t= 11.10s step= 555 trunk_z= 118.9mm grav_b=(-0.04,-0.12,-0.99) r=1.20m +[headless_play] t= 11.20s step= 560 trunk_z= 126.4mm grav_b=(-0.02,-0.05,-1.00) r=1.21m +[headless_play] t= 11.30s step= 565 trunk_z= 118.3mm grav_b=(+0.06,+0.09,-0.99) r=1.21m +[headless_play] t= 11.40s step= 570 trunk_z= 125.4mm grav_b=(+0.16,-0.09,-0.98) r=1.19m +[headless_play] t= 11.50s step= 575 trunk_z= 111.9mm grav_b=(+0.06,-0.10,-0.99) r=1.18m +[headless_play] t= 11.60s step= 580 trunk_z= 113.4mm grav_b=(+0.02,+0.07,-1.00) r=1.17m +[headless_play] t= 11.70s step= 585 trunk_z= 122.0mm grav_b=(+0.05,-0.08,-1.00) r=1.16m +[headless_play] t= 11.80s step= 590 trunk_z= 123.7mm grav_b=(-0.05,-0.20,-0.98) r=1.15m +[headless_play] t= 11.90s step= 595 trunk_z= 123.6mm grav_b=(-0.06,+0.01,-1.00) r=1.14m +[headless_play] t= 12.00s step= 600 trunk_z= 130.0mm grav_b=(+0.03,+0.26,-0.96) r=1.14m +[headless_play] t= 12.10s step= 605 trunk_z= 128.0mm grav_b=(+0.12,+0.31,-0.94) r=1.14m +[headless_play] t= 12.20s step= 610 trunk_z= 107.9mm grav_b=(+0.30,+0.42,-0.85) r=1.14m +[headless_play] t= 12.30s step= 615 trunk_z= 110.9mm grav_b=(+0.31,+0.82,-0.47) r=1.15m +[headless_play] RESET at t= 12.34s step= 617 (env termination, not a recovery) +[headless_play] t= 12.40s step= 620 trunk_z= 113.6mm grav_b=(-0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 12.50s step= 625 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 12.60s step= 630 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 13.00s step= 650 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 13.10s step= 655 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 13.20s step= 660 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 13.30s step= 665 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 13.50s step= 675 trunk_z= 117.0mm grav_b=(+0.06,+0.00,-1.00) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(+0.08,-0.00,-1.00) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 117.9mm grav_b=(+0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.48m +[headless_play] t= 13.90s step= 695 trunk_z= 116.6mm grav_b=(-0.04,+0.01,-1.00) r=0.48m +[headless_play] t= 14.00s step= 700 trunk_z= 116.5mm grav_b=(-0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 14.10s step= 705 trunk_z= 116.6mm grav_b=(-0.06,+0.01,-1.00) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 116.4mm grav_b=(-0.06,+0.01,-1.00) r=0.47m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(-0.06,+0.02,-1.00) r=0.47m +[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 116.3mm grav_b=(-0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 14.60s step= 730 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 14.70s step= 735 trunk_z= 115.9mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(+0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 14.90s step= 745 trunk_z= 118.1mm grav_b=(+0.10,-0.00,-0.99) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 119.5mm grav_b=(+0.10,+0.01,-1.00) r=0.50m +[headless_play] t= 15.10s step= 755 trunk_z= 119.6mm grav_b=(+0.05,+0.03,-1.00) r=0.51m +[headless_play] t= 15.20s step= 760 trunk_z= 117.2mm grav_b=(-0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 15.30s step= 765 trunk_z= 115.4mm grav_b=(-0.07,+0.00,-1.00) r=0.51m +[headless_play] t= 15.40s step= 770 trunk_z= 116.0mm grav_b=(-0.07,+0.01,-1.00) r=0.51m +[headless_play] t= 15.50s step= 775 trunk_z= 116.3mm grav_b=(-0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 15.70s step= 785 trunk_z= 116.6mm grav_b=(-0.10,+0.01,-0.99) r=0.50m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 15.90s step= 795 trunk_z= 111.5mm grav_b=(-0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 16.00s step= 800 trunk_z= 111.8mm grav_b=(+0.06,+0.04,-1.00) r=0.48m +[headless_play] t= 16.10s step= 805 trunk_z= 117.2mm grav_b=(+0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.47m +[headless_play] t= 16.30s step= 815 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 16.40s step= 820 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 16.50s step= 825 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 16.60s step= 830 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.46m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(-0.09,+0.01,-1.00) r=0.44m +[headless_play] t= 16.80s step= 840 trunk_z= 116.4mm grav_b=(-0.12,-0.02,-0.99) r=0.43m +[headless_play] t= 16.90s step= 845 trunk_z= 110.5mm grav_b=(-0.04,-0.00,-1.00) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 107.1mm grav_b=(+0.07,+0.17,-0.98) r=0.42m +[headless_play] t= 17.10s step= 855 trunk_z= 120.5mm grav_b=(+0.01,+0.03,-1.00) r=0.40m +[headless_play] t= 17.20s step= 860 trunk_z= 123.6mm grav_b=(-0.10,-0.10,-0.99) r=0.39m +[headless_play] t= 17.30s step= 865 trunk_z= 122.0mm grav_b=(-0.13,-0.00,-0.99) r=0.40m +[headless_play] t= 17.40s step= 870 trunk_z= 122.2mm grav_b=(-0.13,+0.02,-0.99) r=0.39m +[headless_play] t= 17.50s step= 875 trunk_z= 114.3mm grav_b=(+0.02,-0.16,-0.99) r=0.38m +[headless_play] t= 17.60s step= 880 trunk_z= 118.6mm grav_b=(+0.05,-0.15,-0.99) r=0.36m +[headless_play] t= 17.70s step= 885 trunk_z= 120.9mm grav_b=(+0.01,-0.04,-1.00) r=0.36m +[headless_play] t= 17.80s step= 890 trunk_z= 120.6mm grav_b=(+0.02,-0.02,-1.00) r=0.37m +[headless_play] t= 17.90s step= 895 trunk_z= 120.6mm grav_b=(-0.02,-0.06,-1.00) r=0.38m +[headless_play] t= 18.00s step= 900 trunk_z= 118.7mm grav_b=(-0.08,+0.09,-0.99) r=0.40m +[headless_play] t= 18.10s step= 905 trunk_z= 124.1mm grav_b=(-0.06,+0.07,-1.00) r=0.41m +[headless_play] t= 18.20s step= 910 trunk_z= 121.9mm grav_b=(-0.03,-0.12,-0.99) r=0.42m +[headless_play] t= 18.30s step= 915 trunk_z= 126.6mm grav_b=(+0.00,-0.12,-0.99) r=0.43m +[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(+0.00,-0.04,-1.00) r=0.45m +[headless_play] t= 18.50s step= 925 trunk_z= 120.6mm grav_b=(-0.03,-0.07,-1.00) r=0.47m +[headless_play] t= 18.60s step= 930 trunk_z= 118.8mm grav_b=(+0.05,-0.10,-0.99) r=0.49m +[headless_play] t= 18.70s step= 935 trunk_z= 122.7mm grav_b=(+0.02,+0.09,-1.00) r=0.51m +[headless_play] t= 18.80s step= 940 trunk_z= 126.8mm grav_b=(-0.12,+0.21,-0.97) r=0.54m +[headless_play] t= 18.90s step= 945 trunk_z= 132.2mm grav_b=(-0.09,+0.15,-0.99) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 127.8mm grav_b=(-0.00,+0.04,-1.00) r=0.57m +[headless_play] t= 19.10s step= 955 trunk_z= 119.8mm grav_b=(+0.05,-0.02,-1.00) r=0.57m +[headless_play] t= 19.20s step= 960 trunk_z= 109.2mm grav_b=(+0.16,+0.05,-0.99) r=0.57m +[headless_play] t= 19.30s step= 965 trunk_z= 129.8mm grav_b=(+0.05,+0.06,-1.00) r=0.58m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(-0.02,-0.15,-0.99) r=0.61m +[headless_play] t= 19.50s step= 975 trunk_z= 124.1mm grav_b=(-0.10,-0.09,-0.99) r=0.63m +[headless_play] t= 19.60s step= 980 trunk_z= 119.6mm grav_b=(-0.10,+0.09,-0.99) r=0.67m +[headless_play] t= 19.70s step= 985 trunk_z= 122.6mm grav_b=(-0.14,-0.04,-0.99) r=0.69m +[headless_play] t= 19.80s step= 990 trunk_z= 114.8mm grav_b=(+0.01,-0.13,-0.99) r=0.71m +[headless_play] t= 19.90s step= 995 trunk_z= 109.2mm grav_b=(+0.08,+0.09,-0.99) r=0.73m +[headless_play] t= 20.00s step=1000 trunk_z= 123.9mm grav_b=(-0.00,+0.07,-1.00) r=0.75m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(-0.04,-0.08,-1.00) r=0.77m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t8.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..5fbc634503c68e67c9e78ffb20b4bc87ee43a1b7 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.237,-0.116,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 121.8mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 117.6mm grav_b=(-0.01,+0.04,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 119.3mm grav_b=(+0.01,+0.08,-1.00) r=0.27m +[headless_play] t= 0.30s step= 15 trunk_z= 119.0mm grav_b=(+0.00,+0.02,-1.00) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 120.5mm grav_b=(-0.04,-0.06,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 120.1mm grav_b=(-0.01,+0.04,-1.00) r=0.23m +[headless_play] t= 0.60s step= 30 trunk_z= 126.1mm grav_b=(-0.06,+0.12,-0.99) r=0.25m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(-0.06,+0.02,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 120.7mm grav_b=(-0.02,+0.07,-1.00) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 116.3mm grav_b=(-0.03,-0.06,-1.00) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 120.6mm grav_b=(-0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 123.6mm grav_b=(-0.01,+0.14,-0.99) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 126.6mm grav_b=(-0.01,+0.14,-0.99) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 1.50s step= 75 trunk_z= 121.8mm grav_b=(+0.02,-0.00,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 119.1mm grav_b=(+0.03,+0.04,-1.00) r=0.18m +[headless_play] t= 1.70s step= 85 trunk_z= 121.2mm grav_b=(-0.02,-0.13,-0.99) r=0.15m +[headless_play] t= 1.80s step= 90 trunk_z= 129.1mm grav_b=(-0.02,-0.18,-0.98) r=0.13m +[headless_play] t= 1.90s step= 95 trunk_z= 126.6mm grav_b=(-0.02,-0.16,-0.99) r=0.11m +[headless_play] t= 2.00s step= 100 trunk_z= 126.4mm grav_b=(-0.02,-0.09,-1.00) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 125.4mm grav_b=(-0.03,+0.05,-1.00) r=0.11m +[headless_play] t= 2.20s step= 110 trunk_z= 126.7mm grav_b=(-0.11,+0.07,-0.99) r=0.12m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(-0.06,-0.03,-1.00) r=0.12m +[headless_play] t= 2.40s step= 120 trunk_z= 111.5mm grav_b=(+0.04,+0.04,-1.00) r=0.12m +[headless_play] t= 2.50s step= 125 trunk_z= 118.4mm grav_b=(+0.03,+0.09,-1.00) r=0.12m +[headless_play] t= 2.60s step= 130 trunk_z= 118.2mm grav_b=(-0.02,-0.07,-1.00) r=0.12m +[headless_play] t= 2.70s step= 135 trunk_z= 124.4mm grav_b=(-0.05,-0.10,-0.99) r=0.11m +[headless_play] t= 2.80s step= 140 trunk_z= 121.4mm grav_b=(-0.04,-0.04,-1.00) r=0.11m +[headless_play] t= 2.90s step= 145 trunk_z= 120.8mm grav_b=(-0.01,+0.07,-1.00) r=0.12m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(+0.02,-0.06,-1.00) r=0.13m +[headless_play] t= 3.10s step= 155 trunk_z= 121.6mm grav_b=(-0.02,-0.09,-1.00) r=0.13m +[headless_play] t= 3.20s step= 160 trunk_z= 115.7mm grav_b=(-0.02,+0.04,-1.00) r=0.13m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(-0.02,+0.07,-1.00) r=0.14m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) r=0.14m +[headless_play] t= 3.50s step= 175 trunk_z= 119.3mm grav_b=(-0.02,+0.00,-1.00) r=0.13m +[headless_play] t= 3.60s step= 180 trunk_z= 113.7mm grav_b=(-0.02,+0.12,-0.99) r=0.13m +[headless_play] t= 3.70s step= 185 trunk_z= 114.2mm grav_b=(-0.02,-0.05,-1.00) r=0.12m +[headless_play] t= 3.80s step= 190 trunk_z= 119.7mm grav_b=(-0.03,-0.17,-0.99) r=0.11m +[headless_play] t= 3.90s step= 195 trunk_z= 123.0mm grav_b=(-0.03,-0.20,-0.98) r=0.11m +[headless_play] t= 4.00s step= 200 trunk_z= 122.5mm grav_b=(+0.02,-0.19,-0.98) r=0.11m +[headless_play] t= 4.10s step= 205 trunk_z= 125.1mm grav_b=(+0.02,-0.13,-0.99) r=0.12m +[headless_play] t= 4.20s step= 210 trunk_z= 123.7mm grav_b=(-0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 4.30s step= 215 trunk_z= 119.4mm grav_b=(-0.07,-0.03,-1.00) r=0.16m +[headless_play] t= 4.40s step= 220 trunk_z= 117.5mm grav_b=(-0.02,-0.04,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(-0.03,+0.15,-0.99) r=0.19m +[headless_play] t= 4.60s step= 230 trunk_z= 128.0mm grav_b=(-0.14,+0.27,-0.95) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 129.2mm grav_b=(-0.13,+0.31,-0.94) r=0.21m +[headless_play] t= 4.80s step= 240 trunk_z= 107.6mm grav_b=(-0.17,+0.50,-0.85) r=0.22m +[headless_play] RESET at t= 4.90s step= 245 (env termination, not a recovery) +[headless_play] t= 4.90s step= 245 trunk_z= 124.1mm grav_b=(-0.00,+0.00,-1.00) r=0.44m +[headless_play] t= 5.00s step= 250 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 117.0mm grav_b=(-0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(-0.10,+0.00,-1.00) r=0.43m +[headless_play] t= 5.30s step= 265 trunk_z= 116.3mm grav_b=(-0.11,-0.01,-0.99) r=0.43m +[headless_play] t= 5.40s step= 270 trunk_z= 114.9mm grav_b=(-0.09,+0.02,-1.00) r=0.42m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(-0.04,+0.04,-1.00) r=0.42m +[headless_play] t= 5.60s step= 280 trunk_z= 115.0mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 6.30s step= 315 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 6.50s step= 325 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 6.70s step= 335 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 6.90s step= 345 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 7.10s step= 355 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.50s step= 375 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.60s step= 380 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 7.90s step= 395 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.00s step= 400 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.10s step= 405 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.20s step= 410 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.30s step= 415 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.60s step= 430 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 8.70s step= 435 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 8.90s step= 445 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 9.00s step= 450 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 9.10s step= 455 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 9.20s step= 460 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 9.30s step= 465 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 9.40s step= 470 trunk_z= 117.6mm grav_b=(-0.00,+0.01,-1.00) r=0.39m +[headless_play] t= 9.50s step= 475 trunk_z= 117.6mm grav_b=(-0.00,+0.01,-1.00) r=0.39m +[headless_play] t= 9.60s step= 480 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 9.70s step= 485 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 10.00s step= 500 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 10.10s step= 505 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 10.20s step= 510 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 10.30s step= 515 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 10.50s step= 525 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 10.70s step= 535 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 10.90s step= 545 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 11.00s step= 550 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 11.10s step= 555 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 11.30s step= 565 trunk_z= 119.0mm grav_b=(+0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 120.5mm grav_b=(+0.05,+0.11,-0.99) r=0.39m +[headless_play] t= 11.50s step= 575 trunk_z= 123.3mm grav_b=(+0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 11.60s step= 580 trunk_z= 112.3mm grav_b=(-0.12,-0.06,-0.99) r=0.38m +[headless_play] t= 11.70s step= 585 trunk_z= 115.4mm grav_b=(-0.18,-0.00,-0.98) r=0.38m +[headless_play] t= 11.80s step= 590 trunk_z= 119.2mm grav_b=(-0.02,+0.07,-1.00) r=0.39m +[headless_play] t= 11.90s step= 595 trunk_z= 119.5mm grav_b=(+0.10,+0.01,-1.00) r=0.39m +[headless_play] t= 12.00s step= 600 trunk_z= 117.3mm grav_b=(-0.03,-0.10,-0.99) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 115.0mm grav_b=(-0.03,+0.06,-1.00) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.37m +[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(-0.03,+0.02,-1.00) r=0.38m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(+0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 12.50s step= 625 trunk_z= 117.2mm grav_b=(+0.07,+0.18,-0.98) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 123.0mm grav_b=(-0.01,+0.12,-0.99) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 121.1mm grav_b=(-0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 12.80s step= 640 trunk_z= 123.2mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 12.90s step= 645 trunk_z= 119.1mm grav_b=(+0.01,+0.14,-0.99) r=0.45m +[headless_play] t= 13.00s step= 650 trunk_z= 119.2mm grav_b=(+0.00,+0.08,-1.00) r=0.45m +[headless_play] t= 13.10s step= 655 trunk_z= 118.3mm grav_b=(+0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 13.20s step= 660 trunk_z= 116.4mm grav_b=(+0.02,+0.10,-1.00) r=0.46m +[headless_play] t= 13.30s step= 665 trunk_z= 120.0mm grav_b=(+0.02,+0.12,-0.99) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 123.7mm grav_b=(-0.02,-0.09,-1.00) r=0.45m +[headless_play] t= 13.60s step= 680 trunk_z= 117.4mm grav_b=(-0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 13.70s step= 685 trunk_z= 120.6mm grav_b=(+0.01,+0.13,-0.99) r=0.47m +[headless_play] t= 13.80s step= 690 trunk_z= 118.5mm grav_b=(+0.00,+0.03,-1.00) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 122.4mm grav_b=(-0.01,-0.06,-1.00) r=0.48m +[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(-0.01,+0.12,-0.99) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 121.1mm grav_b=(+0.03,+0.12,-0.99) r=0.50m +[headless_play] t= 14.20s step= 710 trunk_z= 120.0mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 14.30s step= 715 trunk_z= 121.5mm grav_b=(+0.01,+0.03,-1.00) r=0.55m +[headless_play] t= 14.40s step= 720 trunk_z= 120.3mm grav_b=(+0.08,+0.17,-0.98) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 127.3mm grav_b=(+0.05,+0.14,-0.99) r=0.59m +[headless_play] t= 14.60s step= 730 trunk_z= 121.1mm grav_b=(+0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 14.70s step= 735 trunk_z= 122.2mm grav_b=(-0.03,+0.03,-1.00) r=0.64m +[headless_play] t= 14.80s step= 740 trunk_z= 120.0mm grav_b=(+0.04,+0.12,-0.99) r=0.66m +[headless_play] t= 14.90s step= 745 trunk_z= 117.0mm grav_b=(-0.01,-0.07,-1.00) r=0.66m +[headless_play] t= 15.00s step= 750 trunk_z= 126.8mm grav_b=(-0.06,-0.16,-0.98) r=0.66m +[headless_play] t= 15.10s step= 755 trunk_z= 129.1mm grav_b=(-0.07,-0.10,-0.99) r=0.66m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.04,+0.08,-1.00) r=0.66m +[headless_play] t= 15.30s step= 765 trunk_z= 122.5mm grav_b=(-0.01,+0.07,-1.00) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(-0.01,-0.03,-1.00) r=0.68m +[headless_play] t= 15.50s step= 775 trunk_z= 117.9mm grav_b=(-0.01,+0.11,-0.99) r=0.69m +[headless_play] t= 15.60s step= 780 trunk_z= 121.5mm grav_b=(+0.07,+0.16,-0.98) r=0.71m +[headless_play] t= 15.70s step= 785 trunk_z= 124.5mm grav_b=(+0.01,+0.04,-1.00) r=0.73m +[headless_play] t= 15.80s step= 790 trunk_z= 123.2mm grav_b=(-0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 15.90s step= 795 trunk_z= 119.2mm grav_b=(+0.03,+0.14,-0.99) r=0.77m +[headless_play] t= 16.00s step= 800 trunk_z= 123.7mm grav_b=(+0.04,+0.08,-1.00) r=0.79m +[headless_play] t= 16.10s step= 805 trunk_z= 121.9mm grav_b=(-0.02,-0.07,-1.00) r=0.81m +[headless_play] t= 16.20s step= 810 trunk_z= 123.6mm grav_b=(-0.02,+0.00,-1.00) r=0.82m +[headless_play] t= 16.30s step= 815 trunk_z= 121.1mm grav_b=(+0.00,+0.09,-1.00) r=0.84m +[headless_play] t= 16.40s step= 820 trunk_z= 119.6mm grav_b=(-0.02,-0.03,-1.00) r=0.85m +[headless_play] t= 16.50s step= 825 trunk_z= 123.7mm grav_b=(-0.02,-0.03,-1.00) r=0.87m +[headless_play] t= 16.60s step= 830 trunk_z= 121.7mm grav_b=(-0.01,+0.15,-0.99) r=0.88m +[headless_play] t= 16.70s step= 835 trunk_z= 127.7mm grav_b=(+0.01,+0.25,-0.97) r=0.90m +[headless_play] t= 16.80s step= 840 trunk_z= 123.4mm grav_b=(+0.03,+0.22,-0.98) r=0.93m +[headless_play] t= 16.90s step= 845 trunk_z= 118.4mm grav_b=(+0.10,+0.24,-0.96) r=0.96m +[headless_play] t= 17.00s step= 850 trunk_z= 123.1mm grav_b=(+0.09,+0.34,-0.94) r=1.00m +[headless_play] t= 17.10s step= 855 trunk_z= 132.4mm grav_b=(+0.46,+0.50,-0.73) r=1.02m +[headless_play] RESET at t= 17.20s step= 860 (env termination, not a recovery) +[headless_play] t= 17.20s step= 860 trunk_z= 125.4mm grav_b=(-0.00,+0.00,-1.00) r=0.53m +[headless_play] t= 17.30s step= 865 trunk_z= 115.7mm grav_b=(-0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 17.40s step= 870 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 17.60s step= 880 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 17.70s step= 885 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 17.80s step= 890 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 18.10s step= 905 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 18.20s step= 910 trunk_z= 117.1mm grav_b=(-0.09,+0.00,-1.00) r=0.54m +[headless_play] t= 18.30s step= 915 trunk_z= 116.9mm grav_b=(-0.10,-0.01,-1.00) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 114.8mm grav_b=(-0.10,+0.04,-0.99) r=0.55m +[headless_play] t= 18.50s step= 925 trunk_z= 113.9mm grav_b=(-0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 109.0mm grav_b=(+0.01,-0.21,-0.98) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 120.9mm grav_b=(+0.01,-0.11,-0.99) r=0.56m +[headless_play] t= 18.80s step= 940 trunk_z= 117.7mm grav_b=(+0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 18.90s step= 945 trunk_z= 117.9mm grav_b=(+0.01,-0.02,-1.00) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 19.10s step= 955 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(-0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 19.50s step= 975 trunk_z= 116.7mm grav_b=(-0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 19.60s step= 980 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 19.70s step= 985 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 19.80s step= 990 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 19.90s step= 995 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 20.00s step=1000 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 117.4mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t9.log b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..8fdc14c5aef81c23ec5e785343006d22642cfd0b --- /dev/null +++ b/level-01h-walk-mix/proof-takes/diag-z2c-plane-cmdvx-2026-10-22/dg1-c-t9.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.373,+0.331,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(+0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 110.1mm grav_b=(+0.07,-0.09,-0.99) r=0.54m +[headless_play] t= 1.80s step= 90 trunk_z= 107.6mm grav_b=(+0.18,-0.01,-0.98) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.12,+0.02,-0.99) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.06,+0.02,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(+0.00,+0.02,-1.00) r=0.57m +[headless_play] t= 2.30s step= 115 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.57m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.07,+0.01,-1.00) r=0.57m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00) r=0.57m +[headless_play] t= 2.60s step= 130 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 2.80s step= 140 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 2.90s step= 145 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 3.00s step= 150 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 3.20s step= 160 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 3.40s step= 170 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 3.70s step= 185 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 117.6mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 3.90s step= 195 trunk_z= 118.2mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 118.6mm grav_b=(+0.06,+0.04,-1.00) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 118.0mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 117.6mm grav_b=(+0.02,+0.02,-1.00) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 4.40s step= 220 trunk_z= 117.7mm grav_b=(+0.02,+0.02,-1.00) r=0.54m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 118.1mm grav_b=(+0.06,+0.01,-1.00) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 118.8mm grav_b=(+0.08,+0.01,-1.00) r=0.54m +[headless_play] t= 4.80s step= 240 trunk_z= 118.9mm grav_b=(+0.08,+0.01,-1.00) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(+0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 5.10s step= 255 trunk_z= 117.5mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(+0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(+0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 5.80s step= 290 trunk_z= 119.2mm grav_b=(+0.10,+0.02,-0.99) r=0.53m +[headless_play] t= 5.90s step= 295 trunk_z= 121.1mm grav_b=(+0.16,+0.02,-0.99) r=0.52m +[headless_play] t= 6.00s step= 300 trunk_z= 120.8mm grav_b=(+0.20,-0.01,-0.98) r=0.52m +[headless_play] t= 6.10s step= 305 trunk_z= 116.6mm grav_b=(+0.17,+0.12,-0.98) r=0.52m +[headless_play] t= 6.20s step= 310 trunk_z= 124.2mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 116.4mm grav_b=(-0.00,-0.14,-0.99) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 6.50s step= 325 trunk_z= 120.1mm grav_b=(+0.03,+0.09,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 115.4mm grav_b=(+0.03,-0.02,-1.00) r=0.52m +[headless_play] t= 6.70s step= 335 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 6.80s step= 340 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 6.90s step= 345 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 7.10s step= 355 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 7.20s step= 360 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 7.30s step= 365 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 7.40s step= 370 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 7.50s step= 375 trunk_z= 116.4mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 8.30s step= 415 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(-0.01,-0.03,-1.00) r=0.52m +[headless_play] t= 8.50s step= 425 trunk_z= 111.5mm grav_b=(+0.10,-0.14,-0.98) r=0.53m +[headless_play] t= 8.60s step= 430 trunk_z= 112.8mm grav_b=(+0.06,+0.03,-1.00) r=0.53m +[headless_play] t= 8.70s step= 435 trunk_z= 114.4mm grav_b=(+0.06,+0.03,-1.00) r=0.53m +[headless_play] t= 8.80s step= 440 trunk_z= 115.1mm grav_b=(+0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 8.90s step= 445 trunk_z= 115.7mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(+0.04,-0.03,-1.00) r=0.53m +[headless_play] t= 9.60s step= 480 trunk_z= 118.2mm grav_b=(+0.03,-0.10,-0.99) r=0.53m +[headless_play] t= 9.70s step= 485 trunk_z= 119.2mm grav_b=(-0.01,+0.05,-1.00) r=0.52m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(+0.04,-0.02,-1.00) r=0.52m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(+0.10,-0.06,-0.99) r=0.52m +[headless_play] t= 10.00s step= 500 trunk_z= 119.4mm grav_b=(+0.09,+0.13,-0.99) r=0.51m +[headless_play] t= 10.10s step= 505 trunk_z= 123.2mm grav_b=(+0.13,+0.07,-0.99) r=0.51m +[headless_play] t= 10.20s step= 510 trunk_z= 119.5mm grav_b=(+0.07,-0.09,-0.99) r=0.52m +[headless_play] t= 10.30s step= 515 trunk_z= 120.0mm grav_b=(+0.05,+0.10,-0.99) r=0.52m +[headless_play] t= 10.40s step= 520 trunk_z= 128.9mm grav_b=(+0.15,+0.17,-0.97) r=0.51m +[headless_play] t= 10.50s step= 525 trunk_z= 129.0mm grav_b=(+0.15,+0.09,-0.98) r=0.52m +[headless_play] t= 10.60s step= 530 trunk_z= 123.0mm grav_b=(+0.08,+0.11,-0.99) r=0.52m +[headless_play] t= 10.70s step= 535 trunk_z= 120.4mm grav_b=(+0.04,+0.23,-0.97) r=0.52m +[headless_play] t= 10.80s step= 540 trunk_z= 128.5mm grav_b=(+0.12,+0.16,-0.98) r=0.53m +[headless_play] t= 10.90s step= 545 trunk_z= 119.1mm grav_b=(+0.10,-0.11,-0.99) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 130.3mm grav_b=(+0.09,-0.11,-0.99) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 123.9mm grav_b=(+0.12,-0.02,-0.99) r=0.57m +[headless_play] t= 11.20s step= 560 trunk_z= 124.1mm grav_b=(+0.11,-0.02,-0.99) r=0.58m +[headless_play] t= 11.30s step= 565 trunk_z= 118.2mm grav_b=(+0.07,-0.15,-0.99) r=0.60m +[headless_play] t= 11.40s step= 570 trunk_z= 124.4mm grav_b=(+0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 11.50s step= 575 trunk_z= 127.3mm grav_b=(+0.03,+0.20,-0.98) r=0.62m +[headless_play] t= 11.60s step= 580 trunk_z= 128.9mm grav_b=(+0.05,+0.15,-0.99) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 123.1mm grav_b=(+0.06,+0.02,-1.00) r=0.65m +[headless_play] t= 11.80s step= 590 trunk_z= 120.8mm grav_b=(+0.05,+0.08,-1.00) r=0.67m +[headless_play] t= 11.90s step= 595 trunk_z= 116.9mm grav_b=(+0.10,+0.01,-0.99) r=0.68m +[headless_play] t= 12.00s step= 600 trunk_z= 120.2mm grav_b=(+0.09,-0.06,-0.99) r=0.70m +[headless_play] t= 12.10s step= 605 trunk_z= 118.7mm grav_b=(+0.02,+0.11,-0.99) r=0.72m +[headless_play] t= 12.20s step= 610 trunk_z= 120.9mm grav_b=(+0.06,+0.00,-1.00) r=0.74m +[headless_play] t= 12.30s step= 615 trunk_z= 124.9mm grav_b=(+0.04,-0.09,-0.99) r=0.76m +[headless_play] t= 12.40s step= 620 trunk_z= 118.6mm grav_b=(+0.01,+0.06,-1.00) r=0.77m +[headless_play] t= 12.50s step= 625 trunk_z= 120.7mm grav_b=(+0.06,+0.01,-1.00) r=0.79m +[headless_play] t= 12.60s step= 630 trunk_z= 121.7mm grav_b=(+0.08,-0.06,-0.99) r=0.80m +[headless_play] t= 12.70s step= 635 trunk_z= 120.9mm grav_b=(+0.04,+0.12,-0.99) r=0.81m +[headless_play] t= 12.80s step= 640 trunk_z= 126.8mm grav_b=(+0.09,+0.14,-0.99) r=0.82m +[headless_play] t= 12.90s step= 645 trunk_z= 124.7mm grav_b=(+0.10,+0.06,-0.99) r=0.84m +[headless_play] t= 13.00s step= 650 trunk_z= 121.1mm grav_b=(+0.04,+0.05,-1.00) r=0.87m +[headless_play] t= 13.10s step= 655 trunk_z= 120.6mm grav_b=(+0.01,+0.12,-0.99) r=0.89m +[headless_play] t= 13.20s step= 660 trunk_z= 119.5mm grav_b=(+0.17,+0.01,-0.99) r=0.93m +[headless_play] t= 13.30s step= 665 trunk_z= 119.1mm grav_b=(+0.12,-0.20,-0.97) r=0.98m +[headless_play] t= 13.40s step= 670 trunk_z= 131.0mm grav_b=(-0.02,-0.22,-0.98) r=1.02m +[headless_play] t= 13.50s step= 675 trunk_z= 127.6mm grav_b=(+0.03,-0.07,-1.00) r=1.04m +[headless_play] t= 13.60s step= 680 trunk_z= 121.8mm grav_b=(+0.10,+0.04,-0.99) r=1.06m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(+0.09,-0.12,-0.99) r=1.08m +[headless_play] t= 13.80s step= 690 trunk_z= 120.9mm grav_b=(+0.05,+0.03,-1.00) r=1.10m +[headless_play] t= 13.90s step= 695 trunk_z= 120.8mm grav_b=(-0.01,+0.13,-0.99) r=1.12m +[headless_play] t= 14.00s step= 700 trunk_z= 120.5mm grav_b=(+0.05,+0.02,-1.00) r=1.15m +[headless_play] t= 14.10s step= 705 trunk_z= 121.0mm grav_b=(+0.06,-0.16,-0.99) r=1.17m +[headless_play] t= 14.20s step= 710 trunk_z= 118.7mm grav_b=(+0.07,-0.05,-1.00) r=1.19m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.12,+0.14,-0.98) r=1.20m +[headless_play] t= 14.40s step= 720 trunk_z= 118.6mm grav_b=(+0.13,+0.11,-0.98) r=1.21m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(+0.10,-0.05,-0.99) r=1.23m +[headless_play] t= 14.60s step= 730 trunk_z= 119.8mm grav_b=(+0.06,+0.02,-1.00) r=1.25m +[headless_play] t= 14.70s step= 735 trunk_z= 112.8mm grav_b=(+0.11,+0.12,-0.99) r=1.27m +[headless_play] t= 14.80s step= 740 trunk_z= 111.2mm grav_b=(+0.11,-0.06,-0.99) r=1.28m +[headless_play] t= 14.90s step= 745 trunk_z= 117.8mm grav_b=(+0.06,-0.06,-1.00) r=1.30m +[headless_play] t= 15.00s step= 750 trunk_z= 111.4mm grav_b=(+0.10,+0.10,-0.99) r=1.32m +[headless_play] t= 15.10s step= 755 trunk_z= 111.9mm grav_b=(+0.16,+0.12,-0.98) r=1.34m +[headless_play] t= 15.20s step= 760 trunk_z= 112.9mm grav_b=(+0.12,-0.07,-0.99) r=1.35m +[headless_play] t= 15.30s step= 765 trunk_z= 119.3mm grav_b=(+0.07,-0.04,-1.00) r=1.37m +[headless_play] t= 15.40s step= 770 trunk_z= 111.8mm grav_b=(+0.09,+0.13,-0.99) r=1.40m +[headless_play] t= 15.50s step= 775 trunk_z= 113.4mm grav_b=(+0.14,+0.09,-0.99) r=1.41m +[headless_play] t= 15.60s step= 780 trunk_z= 112.4mm grav_b=(+0.14,-0.06,-0.99) r=1.44m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(+0.10,+0.01,-0.99) r=1.47m +[headless_play] t= 15.80s step= 790 trunk_z= 111.1mm grav_b=(+0.14,+0.12,-0.98) r=1.51m +[headless_play] t= 15.90s step= 795 trunk_z= 112.7mm grav_b=(+0.14,-0.01,-0.99) r=1.53m +[headless_play] t= 16.00s step= 800 trunk_z= 119.3mm grav_b=(+0.08,-0.14,-0.99) r=1.55m +[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(+0.13,-0.05,-0.99) r=1.58m +[headless_play] t= 16.20s step= 810 trunk_z= 114.9mm grav_b=(+0.09,+0.08,-0.99) r=1.60m +[headless_play] t= 16.30s step= 815 trunk_z= 115.3mm grav_b=(+0.08,-0.01,-1.00) r=1.62m +[headless_play] t= 16.40s step= 820 trunk_z= 114.1mm grav_b=(+0.08,-0.09,-0.99) r=1.64m +[headless_play] t= 16.50s step= 825 trunk_z= 111.8mm grav_b=(+0.14,+0.03,-0.99) r=1.65m +[headless_play] t= 16.60s step= 830 trunk_z= 108.5mm grav_b=(+0.18,+0.11,-0.98) r=1.67m +[headless_play] t= 16.70s step= 835 trunk_z= 112.1mm grav_b=(+0.10,+0.01,-0.99) r=1.67m +[headless_play] t= 16.80s step= 840 trunk_z= 114.5mm grav_b=(+0.04,-0.09,-1.00) r=1.68m +[headless_play] t= 16.90s step= 845 trunk_z= 112.9mm grav_b=(+0.13,+0.02,-0.99) r=1.69m +[headless_play] t= 17.00s step= 850 trunk_z= 104.7mm grav_b=(+0.31,+0.09,-0.95) r=1.71m +[headless_play] t= 17.10s step= 855 trunk_z= 111.3mm grav_b=(+0.22,-0.04,-0.97) r=1.73m +[headless_play] t= 17.20s step= 860 trunk_z= 126.0mm grav_b=(+0.16,+0.05,-0.99) r=1.75m +[headless_play] t= 17.30s step= 865 trunk_z= 107.1mm grav_b=(+0.18,-0.06,-0.98) r=1.76m +[headless_play] t= 17.40s step= 870 trunk_z= 114.4mm grav_b=(+0.45,-0.21,-0.87) r=1.77m +[headless_play] t= 17.50s step= 875 trunk_z= 123.2mm grav_b=(+0.64,+0.08,-0.76) r=1.79m +[headless_play] RESET at t= 17.58s step= 879 (env termination, not a recovery) +[headless_play] t= 17.60s step= 880 trunk_z= 125.2mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 17.70s step= 885 trunk_z= 115.0mm grav_b=(+0.07,+0.01,-1.00) r=0.29m +[headless_play] t= 17.80s step= 890 trunk_z= 115.5mm grav_b=(+0.11,+0.01,-0.99) r=0.30m +[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(+0.10,+0.01,-0.99) r=0.29m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.10s step= 905 trunk_z= 115.9mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.20s step= 910 trunk_z= 115.8mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(+0.07,+0.01,-1.00) r=0.29m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(+0.07,+0.01,-1.00) r=0.29m +[headless_play] t= 18.50s step= 925 trunk_z= 116.1mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 18.90s step= 945 trunk_z= 116.8mm grav_b=(+0.09,-0.00,-1.00) r=0.28m +[headless_play] t= 19.00s step= 950 trunk_z= 116.7mm grav_b=(+0.09,-0.00,-1.00) r=0.28m +[headless_play] t= 19.10s step= 955 trunk_z= 116.7mm grav_b=(+0.08,+0.00,-1.00) r=0.28m +[headless_play] t= 19.20s step= 960 trunk_z= 116.7mm grav_b=(+0.09,+0.00,-1.00) r=0.28m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.09,+0.00,-1.00) r=0.28m +[headless_play] t= 19.40s step= 970 trunk_z= 116.6mm grav_b=(+0.09,+0.00,-1.00) r=0.28m +[headless_play] t= 19.50s step= 975 trunk_z= 116.6mm grav_b=(+0.09,-0.00,-1.00) r=0.28m +[headless_play] t= 19.60s step= 980 trunk_z= 116.6mm grav_b=(+0.09,-0.00,-1.00) r=0.28m +[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(+0.09,-0.00,-1.00) r=0.28m +[headless_play] t= 19.80s step= 990 trunk_z= 116.1mm grav_b=(+0.09,+0.00,-1.00) r=0.29m +[headless_play] t= 19.90s step= 995 trunk_z= 118.2mm grav_b=(+0.11,+0.00,-0.99) r=0.29m +[headless_play] t= 20.00s step=1000 trunk_z= 120.4mm grav_b=(+0.17,-0.00,-0.99) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 121.8mm grav_b=(+0.24,+0.02,-0.97) r=0.31m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..555d7d1fff67f93443c2de07d219c09593361fbb --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t1.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(-2.320,-18.456,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.03,+0.05,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 113.1mm grav_b=(-0.07,-0.13,-0.99) r=0.57m +[headless_play] t= 0.40s step= 20 trunk_z= 114.1mm grav_b=(-0.11,+0.04,-0.99) r=0.59m +[headless_play] t= 0.50s step= 25 trunk_z= 112.9mm grav_b=(+0.01,+0.02,-1.00) r=0.60m +[headless_play] t= 0.60s step= 30 trunk_z= 114.6mm grav_b=(+0.04,-0.19,-0.98) r=0.62m +[headless_play] t= 0.70s step= 35 trunk_z= 124.4mm grav_b=(+0.02,+0.08,-1.00) r=0.65m +[headless_play] t= 0.80s step= 40 trunk_z= 109.7mm grav_b=(+0.01,+0.13,-0.99) r=0.68m +[headless_play] t= 0.90s step= 45 trunk_z= 114.0mm grav_b=(-0.15,-0.16,-0.98) r=0.70m +[headless_play] t= 1.00s step= 50 trunk_z= 97.7mm grav_b=(-0.25,-0.08,-0.96) r=0.72m +[headless_play] t= 1.10s step= 55 trunk_z= 102.0mm grav_b=(-0.24,+0.02,-0.97) r=0.73m +[headless_play] t= 1.20s step= 60 trunk_z= 108.3mm grav_b=(-0.00,-0.07,-1.00) r=0.74m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(+0.06,+0.07,-1.00) r=0.75m +[headless_play] t= 1.40s step= 70 trunk_z= 118.7mm grav_b=(+0.08,-0.07,-0.99) r=0.76m +[headless_play] t= 1.50s step= 75 trunk_z= 104.5mm grav_b=(+0.14,-0.34,-0.93) r=0.77m +[headless_play] t= 1.60s step= 80 trunk_z= 112.7mm grav_b=(+0.38,+0.14,-0.91) r=0.79m +[headless_play] RESET at t= 1.70s step= 85 (env termination, not a recovery) +[headless_play] t= 1.70s step= 85 trunk_z= 120.5mm grav_b=(-0.00,+0.00,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(-0.02,+0.03,-1.00) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 112.7mm grav_b=(-0.02,+0.04,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 116.7mm grav_b=(-0.05,-0.03,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 113.7mm grav_b=(-0.09,-0.13,-0.99) r=0.32m +[headless_play] t= 2.20s step= 110 trunk_z= 116.2mm grav_b=(-0.07,-0.00,-1.00) r=0.32m +[headless_play] t= 2.30s step= 115 trunk_z= 103.0mm grav_b=(-0.01,+0.03,-1.00) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 89.5mm grav_b=(+0.21,-0.09,-0.97) r=0.32m +[headless_play] t= 2.50s step= 125 trunk_z= 110.4mm grav_b=(+0.02,+0.00,-1.00) r=0.31m +[headless_play] t= 2.60s step= 130 trunk_z= 115.0mm grav_b=(-0.00,+0.05,-1.00) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 110.3mm grav_b=(-0.04,-0.11,-0.99) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 115.2mm grav_b=(-0.09,-0.02,-1.00) r=0.34m +[headless_play] t= 2.90s step= 145 trunk_z= 111.3mm grav_b=(-0.08,+0.07,-0.99) r=0.35m +[headless_play] t= 3.00s step= 150 trunk_z= 111.6mm grav_b=(-0.04,-0.07,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 115.0mm grav_b=(-0.03,-0.10,-0.99) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 108.1mm grav_b=(-0.01,+0.03,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 3.40s step= 170 trunk_z= 109.7mm grav_b=(-0.02,-0.05,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 113.2mm grav_b=(-0.04,-0.04,-1.00) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 109.7mm grav_b=(-0.04,+0.09,-1.00) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 112.8mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 3.80s step= 190 trunk_z= 109.6mm grav_b=(-0.01,-0.11,-0.99) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 107.7mm grav_b=(+0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 4.00s step= 200 trunk_z= 112.0mm grav_b=(+0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 4.10s step= 205 trunk_z= 105.2mm grav_b=(-0.01,-0.09,-1.00) r=0.44m +[headless_play] t= 4.20s step= 210 trunk_z= 107.7mm grav_b=(+0.00,-0.00,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 105.5mm grav_b=(+0.09,+0.08,-0.99) r=0.45m +[headless_play] t= 4.40s step= 220 trunk_z= 113.4mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 104.9mm grav_b=(+0.07,-0.07,-0.99) r=0.47m +[headless_play] t= 4.60s step= 230 trunk_z= 109.2mm grav_b=(+0.06,+0.11,-0.99) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(+0.05,+0.04,-1.00) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 108.1mm grav_b=(+0.02,-0.06,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 111.4mm grav_b=(+0.03,+0.10,-0.99) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(+0.08,+0.01,-1.00) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 110.3mm grav_b=(-0.11,-0.15,-0.98) r=0.56m +[headless_play] t= 5.20s step= 260 trunk_z= 119.1mm grav_b=(-0.03,-0.08,-1.00) r=0.58m +[headless_play] t= 5.30s step= 265 trunk_z= 111.8mm grav_b=(-0.11,+0.03,-0.99) r=0.59m +[headless_play] t= 5.40s step= 270 trunk_z= 112.5mm grav_b=(-0.07,-0.12,-0.99) r=0.59m +[headless_play] t= 5.50s step= 275 trunk_z= 92.9mm grav_b=(+0.17,-0.13,-0.98) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 84.2mm grav_b=(+0.43,+0.04,-0.90) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 107.0mm grav_b=(+0.12,-0.20,-0.97) r=0.55m +[headless_play] t= 5.80s step= 290 trunk_z= 94.0mm grav_b=(+0.22,+0.04,-0.97) r=0.56m +[headless_play] t= 5.90s step= 295 trunk_z= 76.5mm grav_b=(+0.80,+0.18,-0.57) r=0.59m +[headless_play] RESET at t= 5.94s step= 297 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 111.7mm grav_b=(+0.02,+0.06,-1.00) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 116.0mm grav_b=(-0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 107.7mm grav_b=(-0.06,-0.09,-0.99) r=0.44m +[headless_play] t= 6.40s step= 320 trunk_z= 111.6mm grav_b=(-0.08,+0.09,-0.99) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 110.5mm grav_b=(-0.03,+0.09,-1.00) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 105.3mm grav_b=(+0.01,-0.10,-0.99) r=0.47m +[headless_play] t= 6.70s step= 335 trunk_z= 110.2mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 6.80s step= 340 trunk_z= 107.3mm grav_b=(+0.04,+0.07,-1.00) r=0.49m +[headless_play] t= 6.90s step= 345 trunk_z= 112.0mm grav_b=(-0.04,-0.04,-1.00) r=0.51m +[headless_play] t= 7.00s step= 350 trunk_z= 111.3mm grav_b=(-0.08,-0.01,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 108.3mm grav_b=(-0.05,+0.14,-0.99) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 111.8mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 106.5mm grav_b=(-0.01,-0.11,-0.99) r=0.56m +[headless_play] t= 7.40s step= 370 trunk_z= 106.5mm grav_b=(+0.02,+0.12,-0.99) r=0.58m +[headless_play] t= 7.50s step= 375 trunk_z= 110.6mm grav_b=(+0.07,+0.02,-1.00) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 104.2mm grav_b=(-0.05,-0.13,-0.99) r=0.59m +[headless_play] t= 7.70s step= 385 trunk_z= 111.4mm grav_b=(-0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 111.5mm grav_b=(-0.02,+0.04,-1.00) r=0.62m +[headless_play] t= 7.90s step= 395 trunk_z= 106.0mm grav_b=(-0.08,-0.14,-0.99) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 112.2mm grav_b=(-0.05,+0.01,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 108.2mm grav_b=(+0.00,+0.11,-0.99) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 112.0mm grav_b=(-0.05,-0.05,-1.00) r=0.65m +[headless_play] t= 8.30s step= 415 trunk_z= 108.9mm grav_b=(-0.01,-0.06,-1.00) r=0.67m +[headless_play] t= 8.40s step= 420 trunk_z= 105.9mm grav_b=(+0.02,+0.10,-0.99) r=0.68m +[headless_play] t= 8.50s step= 425 trunk_z= 110.5mm grav_b=(-0.02,-0.05,-1.00) r=0.68m +[headless_play] t= 8.60s step= 430 trunk_z= 106.1mm grav_b=(+0.03,-0.04,-1.00) r=0.69m +[headless_play] t= 8.70s step= 435 trunk_z= 106.3mm grav_b=(+0.09,+0.12,-0.99) r=0.70m +[headless_play] t= 8.80s step= 440 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.70m +[headless_play] t= 8.90s step= 445 trunk_z= 107.7mm grav_b=(-0.03,-0.08,-1.00) r=0.71m +[headless_play] t= 9.00s step= 450 trunk_z= 111.7mm grav_b=(-0.11,+0.12,-0.99) r=0.72m +[headless_play] t= 9.10s step= 455 trunk_z= 109.6mm grav_b=(+0.05,-0.02,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 110.1mm grav_b=(+0.04,-0.10,-0.99) r=0.76m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.06,+0.12,-0.99) r=0.77m +[headless_play] t= 9.40s step= 470 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.78m +[headless_play] t= 9.50s step= 475 trunk_z= 118.7mm grav_b=(+0.02,-0.11,-0.99) r=0.80m +[headless_play] t= 9.60s step= 480 trunk_z= 122.8mm grav_b=(-0.02,+0.05,-1.00) r=0.80m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(+0.00,-0.03,-1.00) r=0.80m +[headless_play] t= 9.80s step= 490 trunk_z= 115.6mm grav_b=(+0.01,-0.23,-0.97) r=0.81m +[headless_play] t= 9.90s step= 495 trunk_z= 128.4mm grav_b=(+0.05,+0.04,-1.00) r=0.81m +[headless_play] t= 10.00s step= 500 trunk_z= 100.6mm grav_b=(+0.09,-0.43,-0.90) r=0.81m +[headless_play] RESET at t= 10.08s step= 504 (env termination, not a recovery) +[headless_play] t= 10.10s step= 505 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 10.20s step= 510 trunk_z= 115.3mm grav_b=(-0.03,+0.06,-1.00) r=0.53m +[headless_play] t= 10.30s step= 515 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=0.53m +[headless_play] t= 10.40s step= 520 trunk_z= 115.5mm grav_b=(-0.00,-0.03,-1.00) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 114.0mm grav_b=(+0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 118.0mm grav_b=(-0.04,-0.12,-0.99) r=0.53m +[headless_play] t= 10.70s step= 535 trunk_z= 114.5mm grav_b=(-0.12,-0.11,-0.99) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 112.7mm grav_b=(-0.16,+0.07,-0.99) r=0.54m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 120.8mm grav_b=(+0.00,-0.10,-1.00) r=0.54m +[headless_play] t= 11.10s step= 555 trunk_z= 118.2mm grav_b=(-0.04,+0.06,-1.00) r=0.55m +[headless_play] t= 11.20s step= 560 trunk_z= 119.6mm grav_b=(-0.07,+0.01,-1.00) r=0.55m +[headless_play] t= 11.30s step= 565 trunk_z= 114.8mm grav_b=(-0.11,-0.08,-0.99) r=0.55m +[headless_play] t= 11.40s step= 570 trunk_z= 113.9mm grav_b=(-0.10,+0.09,-0.99) r=0.56m +[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.57m +[headless_play] t= 11.60s step= 580 trunk_z= 116.3mm grav_b=(-0.04,-0.09,-0.99) r=0.57m +[headless_play] t= 11.70s step= 585 trunk_z= 114.0mm grav_b=(-0.10,+0.08,-0.99) r=0.58m +[headless_play] t= 11.80s step= 590 trunk_z= 115.2mm grav_b=(-0.06,-0.12,-0.99) r=0.58m +[headless_play] t= 11.90s step= 595 trunk_z= 122.3mm grav_b=(-0.01,-0.09,-1.00) r=0.58m +[headless_play] t= 12.00s step= 600 trunk_z= 115.6mm grav_b=(-0.14,+0.12,-0.98) r=0.59m +[headless_play] t= 12.10s step= 605 trunk_z= 117.0mm grav_b=(-0.19,+0.05,-0.98) r=0.60m +[headless_play] t= 12.20s step= 610 trunk_z= 105.1mm grav_b=(-0.21,-0.02,-0.98) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 106.9mm grav_b=(-0.16,+0.15,-0.98) r=0.59m +[headless_play] t= 12.40s step= 620 trunk_z= 110.3mm grav_b=(-0.09,-0.09,-0.99) r=0.59m +[headless_play] t= 12.50s step= 625 trunk_z= 114.8mm grav_b=(+0.00,-0.12,-0.99) r=0.58m +[headless_play] t= 12.60s step= 630 trunk_z= 117.8mm grav_b=(-0.10,-0.02,-0.99) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.12,+0.08,-0.99) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 114.8mm grav_b=(-0.15,-0.11,-0.98) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 114.7mm grav_b=(-0.11,-0.01,-0.99) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 114.4mm grav_b=(-0.09,+0.15,-0.98) r=0.61m +[headless_play] t= 13.10s step= 655 trunk_z= 118.9mm grav_b=(-0.07,+0.04,-1.00) r=0.62m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.04,-0.07,-1.00) r=0.62m +[headless_play] t= 13.30s step= 665 trunk_z= 112.8mm grav_b=(-0.06,+0.08,-1.00) r=0.64m +[headless_play] t= 13.40s step= 670 trunk_z= 119.0mm grav_b=(-0.01,+0.04,-1.00) r=0.65m +[headless_play] t= 13.50s step= 675 trunk_z= 116.9mm grav_b=(+0.08,-0.07,-0.99) r=0.69m +[headless_play] t= 13.60s step= 680 trunk_z= 108.8mm grav_b=(+0.19,+0.04,-0.98) r=0.73m +[headless_play] t= 13.70s step= 685 trunk_z= 100.9mm grav_b=(+0.09,-0.02,-1.00) r=0.77m +[headless_play] t= 13.80s step= 690 trunk_z= 84.9mm grav_b=(+0.40,+0.03,-0.92) r=0.81m +[headless_play] RESET at t= 13.88s step= 694 (env termination, not a recovery) +[headless_play] t= 13.90s step= 695 trunk_z= 122.5mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 14.00s step= 700 trunk_z= 114.6mm grav_b=(+0.02,+0.07,-1.00) r=0.14m +[headless_play] t= 14.10s step= 705 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.14m +[headless_play] t= 14.20s step= 710 trunk_z= 109.4mm grav_b=(-0.05,-0.20,-0.98) r=0.13m +[headless_play] t= 14.30s step= 715 trunk_z= 112.2mm grav_b=(-0.21,-0.02,-0.98) r=0.13m +[headless_play] t= 14.40s step= 720 trunk_z= 109.7mm grav_b=(-0.10,-0.02,-1.00) r=0.13m +[headless_play] t= 14.50s step= 725 trunk_z= 106.1mm grav_b=(+0.01,-0.17,-0.99) r=0.13m +[headless_play] t= 14.60s step= 730 trunk_z= 115.5mm grav_b=(-0.04,+0.04,-1.00) r=0.13m +[headless_play] t= 14.70s step= 735 trunk_z= 121.2mm grav_b=(+0.00,+0.04,-1.00) r=0.15m +[headless_play] t= 14.80s step= 740 trunk_z= 108.4mm grav_b=(-0.08,-0.16,-0.98) r=0.17m +[headless_play] t= 14.90s step= 745 trunk_z= 112.5mm grav_b=(-0.18,-0.01,-0.98) r=0.19m +[headless_play] t= 15.00s step= 750 trunk_z= 114.8mm grav_b=(-0.03,+0.05,-1.00) r=0.21m +[headless_play] t= 15.10s step= 755 trunk_z= 111.3mm grav_b=(+0.04,-0.15,-0.99) r=0.22m +[headless_play] t= 15.20s step= 760 trunk_z= 123.9mm grav_b=(+0.06,+0.04,-1.00) r=0.23m +[headless_play] t= 15.30s step= 765 trunk_z= 122.0mm grav_b=(+0.04,+0.15,-0.99) r=0.25m +[headless_play] t= 15.40s step= 770 trunk_z= 132.1mm grav_b=(-0.09,+0.06,-0.99) r=0.26m +[headless_play] t= 15.50s step= 775 trunk_z= 110.0mm grav_b=(-0.10,-0.12,-0.99) r=0.28m +[headless_play] t= 15.60s step= 780 trunk_z= 113.5mm grav_b=(-0.15,+0.08,-0.99) r=0.30m +[headless_play] t= 15.70s step= 785 trunk_z= 114.0mm grav_b=(-0.02,-0.09,-1.00) r=0.31m +[headless_play] t= 15.80s step= 790 trunk_z= 113.7mm grav_b=(+0.08,-0.09,-0.99) r=0.31m +[headless_play] t= 15.90s step= 795 trunk_z= 113.5mm grav_b=(+0.02,+0.16,-0.99) r=0.33m +[headless_play] t= 16.00s step= 800 trunk_z= 123.2mm grav_b=(-0.07,+0.07,-1.00) r=0.34m +[headless_play] t= 16.10s step= 805 trunk_z= 114.5mm grav_b=(-0.10,-0.08,-0.99) r=0.35m +[headless_play] t= 16.20s step= 810 trunk_z= 114.6mm grav_b=(-0.18,-0.01,-0.98) r=0.37m +[headless_play] t= 16.30s step= 815 trunk_z= 112.3mm grav_b=(-0.07,+0.02,-1.00) r=0.38m +[headless_play] t= 16.40s step= 820 trunk_z= 111.3mm grav_b=(+0.01,-0.17,-0.99) r=0.38m +[headless_play] t= 16.50s step= 825 trunk_z= 127.9mm grav_b=(+0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 16.60s step= 830 trunk_z= 113.4mm grav_b=(+0.00,+0.11,-0.99) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 127.7mm grav_b=(-0.12,-0.07,-0.99) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 103.7mm grav_b=(-0.15,-0.05,-0.99) r=0.50m +[headless_play] t= 16.90s step= 845 trunk_z= 109.3mm grav_b=(-0.10,+0.13,-0.99) r=0.52m +[headless_play] t= 17.00s step= 850 trunk_z= 109.8mm grav_b=(+0.11,-0.14,-0.98) r=0.55m +[headless_play] t= 17.10s step= 855 trunk_z= 110.8mm grav_b=(+0.38,-0.07,-0.92) r=0.57m +[headless_play] t= 17.20s step= 860 trunk_z= 97.9mm grav_b=(+0.71,+0.06,-0.70) r=0.62m +[headless_play] RESET at t= 17.26s step= 863 (env termination, not a recovery) +[headless_play] t= 17.30s step= 865 trunk_z= 115.4mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 17.40s step= 870 trunk_z= 113.9mm grav_b=(+0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 17.50s step= 875 trunk_z= 114.6mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 17.60s step= 880 trunk_z= 108.5mm grav_b=(-0.03,-0.12,-0.99) r=0.47m +[headless_play] t= 17.70s step= 885 trunk_z= 110.1mm grav_b=(+0.00,-0.01,-1.00) r=0.48m +[headless_play] t= 17.80s step= 890 trunk_z= 107.2mm grav_b=(+0.04,+0.05,-1.00) r=0.49m +[headless_play] t= 17.90s step= 895 trunk_z= 104.5mm grav_b=(+0.02,-0.18,-0.98) r=0.49m +[headless_play] t= 18.00s step= 900 trunk_z= 111.3mm grav_b=(+0.09,-0.10,-0.99) r=0.49m +[headless_play] t= 18.10s step= 905 trunk_z= 107.2mm grav_b=(+0.03,+0.14,-0.99) r=0.50m +[headless_play] t= 18.20s step= 910 trunk_z= 117.3mm grav_b=(-0.04,-0.03,-1.00) r=0.51m +[headless_play] t= 18.30s step= 915 trunk_z= 108.3mm grav_b=(-0.02,-0.12,-0.99) r=0.51m +[headless_play] t= 18.40s step= 920 trunk_z= 104.5mm grav_b=(+0.05,+0.11,-0.99) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 110.7mm grav_b=(+0.07,-0.02,-1.00) r=0.53m +[headless_play] t= 18.60s step= 930 trunk_z= 105.9mm grav_b=(-0.01,-0.19,-0.98) r=0.54m +[headless_play] t= 18.70s step= 935 trunk_z= 112.0mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 114.0mm grav_b=(+0.06,+0.09,-0.99) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 110.0mm grav_b=(-0.06,-0.11,-0.99) r=0.57m +[headless_play] t= 19.00s step= 950 trunk_z= 111.8mm grav_b=(+0.01,-0.05,-1.00) r=0.59m +[headless_play] t= 19.10s step= 955 trunk_z= 107.9mm grav_b=(+0.04,+0.07,-1.00) r=0.60m +[headless_play] t= 19.20s step= 960 trunk_z= 102.7mm grav_b=(-0.01,-0.12,-0.99) r=0.61m +[headless_play] t= 19.30s step= 965 trunk_z= 107.1mm grav_b=(+0.07,-0.00,-1.00) r=0.62m +[headless_play] t= 19.40s step= 970 trunk_z= 109.5mm grav_b=(+0.09,+0.04,-1.00) r=0.63m +[headless_play] t= 19.50s step= 975 trunk_z= 105.1mm grav_b=(-0.02,-0.14,-0.99) r=0.64m +[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 115.9mm grav_b=(+0.00,+0.07,-1.00) r=0.68m +[headless_play] t= 19.80s step= 990 trunk_z= 110.6mm grav_b=(-0.01,-0.06,-1.00) r=0.69m +[headless_play] t= 19.90s step= 995 trunk_z= 112.8mm grav_b=(+0.00,+0.08,-1.00) r=0.70m +[headless_play] t= 20.00s step=1000 trunk_z= 109.9mm grav_b=(+0.08,+0.04,-1.00) r=0.71m +[headless_play] t= 20.10s step=1005 trunk_z= 110.3mm grav_b=(+0.01,-0.09,-1.00) r=0.72m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..9a306880c97fa74ade5559cc24d434ff11ea6e01 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t10.log @@ -0,0 +1,218 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.894,-18.416,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.1mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 114.3mm grav_b=(+0.00,+0.06,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(+0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 110.6mm grav_b=(+0.02,-0.12,-0.99) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(+0.08,+0.03,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 112.1mm grav_b=(+0.10,+0.05,-0.99) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 115.2mm grav_b=(+0.02,-0.07,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 114.1mm grav_b=(+0.04,-0.02,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 110.1mm grav_b=(+0.06,+0.14,-0.99) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 107.7mm grav_b=(-0.05,-0.13,-0.99) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 111.3mm grav_b=(+0.06,+0.08,-0.99) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 110.7mm grav_b=(+0.07,+0.08,-0.99) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 108.0mm grav_b=(-0.02,-0.10,-0.99) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 110.3mm grav_b=(+0.08,+0.03,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 111.9mm grav_b=(+0.09,+0.03,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 112.8mm grav_b=(-0.01,-0.11,-0.99) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 112.6mm grav_b=(+0.05,-0.02,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 112.4mm grav_b=(+0.05,+0.10,-0.99) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 110.6mm grav_b=(+0.09,-0.12,-0.99) r=0.60m +[headless_play] t= 2.10s step= 105 trunk_z= 109.0mm grav_b=(+0.06,+0.13,-0.99) r=0.61m +[headless_play] t= 2.20s step= 110 trunk_z= 115.1mm grav_b=(+0.05,+0.01,-1.00) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 109.2mm grav_b=(+0.01,-0.10,-0.99) r=0.64m +[headless_play] t= 2.40s step= 120 trunk_z= 111.7mm grav_b=(+0.05,+0.08,-1.00) r=0.66m +[headless_play] t= 2.50s step= 125 trunk_z= 116.7mm grav_b=(+0.04,+0.04,-1.00) r=0.66m +[headless_play] t= 2.60s step= 130 trunk_z= 109.4mm grav_b=(-0.02,-0.13,-0.99) r=0.68m +[headless_play] t= 2.70s step= 135 trunk_z= 110.3mm grav_b=(+0.06,+0.07,-1.00) r=0.69m +[headless_play] t= 2.80s step= 140 trunk_z= 113.1mm grav_b=(+0.11,+0.07,-0.99) r=0.70m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(+0.03,-0.11,-0.99) r=0.71m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(+0.04,-0.08,-1.00) r=0.73m +[headless_play] t= 3.10s step= 155 trunk_z= 110.5mm grav_b=(+0.02,+0.12,-0.99) r=0.75m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(+0.00,+0.02,-1.00) r=0.76m +[headless_play] t= 3.30s step= 165 trunk_z= 109.7mm grav_b=(+0.03,-0.12,-0.99) r=0.78m +[headless_play] t= 3.40s step= 170 trunk_z= 110.5mm grav_b=(+0.06,+0.06,-1.00) r=0.79m +[headless_play] t= 3.50s step= 175 trunk_z= 113.3mm grav_b=(+0.10,+0.04,-0.99) r=0.79m +[headless_play] t= 3.60s step= 180 trunk_z= 111.4mm grav_b=(+0.03,-0.14,-0.99) r=0.81m +[headless_play] t= 3.70s step= 185 trunk_z= 112.6mm grav_b=(-0.00,-0.01,-1.00) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 97.0mm grav_b=(+0.13,-0.16,-0.98) r=0.86m +[headless_play] t= 3.90s step= 195 trunk_z= 92.8mm grav_b=(+0.10,-0.40,-0.91) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 57.6mm grav_b=(-0.11,-0.83,-0.54) r=0.91m +[headless_play] RESET at t= 4.04s step= 202 (env termination, not a recovery) +[headless_play] t= 4.10s step= 205 trunk_z= 114.6mm grav_b=(-0.02,+0.01,-1.00) r=0.21m +[headless_play] t= 4.20s step= 210 trunk_z= 113.0mm grav_b=(-0.01,+0.05,-1.00) r=0.20m +[headless_play] t= 4.30s step= 215 trunk_z= 111.8mm grav_b=(-0.01,-0.09,-1.00) r=0.19m +[headless_play] t= 4.40s step= 220 trunk_z= 107.3mm grav_b=(+0.07,-0.07,-0.99) r=0.19m +[headless_play] t= 4.50s step= 225 trunk_z= 102.2mm grav_b=(+0.09,+0.04,-1.00) r=0.18m +[headless_play] t= 4.60s step= 230 trunk_z= 110.3mm grav_b=(+0.02,-0.09,-1.00) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 104.5mm grav_b=(+0.01,-0.17,-0.99) r=0.18m +[headless_play] t= 4.80s step= 240 trunk_z= 108.1mm grav_b=(+0.02,+0.04,-1.00) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 110.2mm grav_b=(+0.00,+0.02,-1.00) r=0.17m +[headless_play] t= 5.00s step= 250 trunk_z= 110.9mm grav_b=(+0.01,-0.09,-1.00) r=0.17m +[headless_play] t= 5.10s step= 255 trunk_z= 107.0mm grav_b=(+0.06,-0.08,-1.00) r=0.17m +[headless_play] t= 5.20s step= 260 trunk_z= 102.6mm grav_b=(+0.10,+0.10,-0.99) r=0.17m +[headless_play] t= 5.30s step= 265 trunk_z= 113.1mm grav_b=(-0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 5.40s step= 270 trunk_z= 102.7mm grav_b=(-0.02,-0.15,-0.99) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 108.7mm grav_b=(+0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 5.60s step= 280 trunk_z= 105.1mm grav_b=(+0.05,+0.06,-1.00) r=0.17m +[headless_play] t= 5.70s step= 285 trunk_z= 111.0mm grav_b=(+0.02,-0.07,-1.00) r=0.18m +[headless_play] t= 5.80s step= 290 trunk_z= 105.0mm grav_b=(+0.08,-0.09,-0.99) r=0.18m +[headless_play] t= 5.90s step= 295 trunk_z= 103.1mm grav_b=(+0.06,+0.03,-1.00) r=0.18m +[headless_play] t= 6.00s step= 300 trunk_z= 111.8mm grav_b=(+0.00,-0.07,-1.00) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 102.3mm grav_b=(+0.01,-0.17,-0.99) r=0.18m +[headless_play] t= 6.20s step= 310 trunk_z= 106.3mm grav_b=(+0.04,+0.01,-1.00) r=0.18m +[headless_play] t= 6.30s step= 315 trunk_z= 108.2mm grav_b=(+0.02,+0.06,-1.00) r=0.19m +[headless_play] t= 6.40s step= 320 trunk_z= 113.5mm grav_b=(-0.00,-0.06,-1.00) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 105.2mm grav_b=(+0.04,-0.10,-0.99) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 100.9mm grav_b=(+0.08,+0.08,-0.99) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 110.6mm grav_b=(+0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 6.80s step= 340 trunk_z= 104.3mm grav_b=(+0.03,-0.12,-0.99) r=0.19m +[headless_play] t= 6.90s step= 345 trunk_z= 107.6mm grav_b=(+0.06,-0.01,-1.00) r=0.19m +[headless_play] t= 7.00s step= 350 trunk_z= 107.4mm grav_b=(+0.04,+0.11,-0.99) r=0.20m +[headless_play] t= 7.10s step= 355 trunk_z= 114.4mm grav_b=(-0.02,-0.03,-1.00) r=0.20m +[headless_play] t= 7.20s step= 360 trunk_z= 112.6mm grav_b=(+0.03,-0.09,-1.00) r=0.20m +[headless_play] t= 7.30s step= 365 trunk_z= 112.1mm grav_b=(+0.04,+0.06,-1.00) r=0.20m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(+0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 7.50s step= 375 trunk_z= 113.2mm grav_b=(-0.02,-0.11,-0.99) r=0.19m +[headless_play] t= 7.60s step= 380 trunk_z= 114.7mm grav_b=(+0.02,+0.07,-1.00) r=0.18m +[headless_play] t= 7.70s step= 385 trunk_z= 114.6mm grav_b=(+0.02,+0.05,-1.00) r=0.18m +[headless_play] t= 7.80s step= 390 trunk_z= 113.2mm grav_b=(-0.04,-0.10,-0.99) r=0.18m +[headless_play] t= 7.90s step= 395 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.18m +[headless_play] t= 8.00s step= 400 trunk_z= 114.1mm grav_b=(+0.06,+0.08,-1.00) r=0.17m +[headless_play] t= 8.10s step= 405 trunk_z= 119.2mm grav_b=(+0.02,-0.06,-1.00) r=0.17m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(+0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 8.30s step= 415 trunk_z= 112.5mm grav_b=(+0.01,+0.07,-1.00) r=0.16m +[headless_play] t= 8.40s step= 420 trunk_z= 117.0mm grav_b=(+0.02,-0.05,-1.00) r=0.16m +[headless_play] t= 8.50s step= 425 trunk_z= 120.6mm grav_b=(+0.04,-0.05,-1.00) r=0.15m +[headless_play] t= 8.60s step= 430 trunk_z= 112.5mm grav_b=(-0.00,+0.10,-1.00) r=0.14m +[headless_play] t= 8.70s step= 435 trunk_z= 115.2mm grav_b=(+0.02,-0.05,-1.00) r=0.13m +[headless_play] t= 8.80s step= 440 trunk_z= 114.2mm grav_b=(+0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 8.90s step= 445 trunk_z= 114.6mm grav_b=(+0.07,-0.05,-1.00) r=0.12m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(+0.09,-0.00,-1.00) r=0.12m +[headless_play] t= 9.10s step= 455 trunk_z= 114.0mm grav_b=(+0.09,+0.10,-0.99) r=0.10m +[headless_play] t= 9.20s step= 460 trunk_z= 117.9mm grav_b=(+0.05,-0.05,-1.00) r=0.09m +[headless_play] t= 9.30s step= 465 trunk_z= 119.4mm grav_b=(+0.02,-0.03,-1.00) r=0.08m +[headless_play] t= 9.40s step= 470 trunk_z= 115.4mm grav_b=(-0.04,+0.11,-0.99) r=0.07m +[headless_play] t= 9.50s step= 475 trunk_z= 116.7mm grav_b=(-0.13,+0.00,-0.99) r=0.10m +[headless_play] t= 9.60s step= 480 trunk_z= 119.5mm grav_b=(-0.17,-0.04,-0.98) r=0.13m +[headless_play] t= 9.70s step= 485 trunk_z= 96.4mm grav_b=(-0.46,-0.01,-0.89) r=0.17m +[headless_play] t= 9.80s step= 490 trunk_z= 74.5mm grav_b=(-0.69,-0.55,-0.47) r=0.22m +[headless_play] RESET at t= 9.84s step= 492 (env termination, not a recovery) +[headless_play] t= 9.90s step= 495 trunk_z= 113.8mm grav_b=(-0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 113.6mm grav_b=(+0.03,-0.04,-1.00) r=0.41m +[headless_play] t= 10.10s step= 505 trunk_z= 113.0mm grav_b=(+0.06,+0.05,-1.00) r=0.41m +[headless_play] t= 10.20s step= 510 trunk_z= 105.3mm grav_b=(+0.10,+0.10,-0.99) r=0.42m +[headless_play] t= 10.30s step= 515 trunk_z= 108.2mm grav_b=(+0.06,-0.06,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 109.2mm grav_b=(+0.16,-0.05,-0.99) r=0.40m +[headless_play] t= 10.50s step= 525 trunk_z= 108.9mm grav_b=(+0.08,+0.11,-0.99) r=0.40m +[headless_play] t= 10.60s step= 530 trunk_z= 114.5mm grav_b=(+0.03,-0.05,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 112.8mm grav_b=(+0.10,-0.04,-0.99) r=0.41m +[headless_play] t= 10.80s step= 540 trunk_z= 109.5mm grav_b=(+0.15,+0.12,-0.98) r=0.42m +[headless_play] t= 10.90s step= 545 trunk_z= 120.3mm grav_b=(+0.11,-0.00,-0.99) r=0.42m +[headless_play] t= 11.00s step= 550 trunk_z= 112.0mm grav_b=(+0.08,-0.03,-1.00) r=0.42m +[headless_play] t= 11.10s step= 555 trunk_z= 118.8mm grav_b=(-0.04,+0.12,-0.99) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 118.4mm grav_b=(-0.11,-0.02,-0.99) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 112.8mm grav_b=(-0.00,-0.06,-1.00) r=0.46m +[headless_play] t= 11.40s step= 570 trunk_z= 114.6mm grav_b=(+0.03,+0.23,-0.97) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 121.4mm grav_b=(+0.11,+0.01,-0.99) r=0.48m +[headless_play] t= 11.60s step= 580 trunk_z= 98.6mm grav_b=(+0.41,-0.15,-0.90) r=0.50m +[headless_play] RESET at t= 11.70s step= 585 (env termination, not a recovery) +[headless_play] t= 11.70s step= 585 trunk_z= 121.5mm grav_b=(+0.00,+0.00,-1.00) r=0.22m +[headless_play] t= 11.80s step= 590 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 11.90s step= 595 trunk_z= 114.3mm grav_b=(+0.03,+0.02,-1.00) r=0.21m +[headless_play] t= 12.00s step= 600 trunk_z= 112.6mm grav_b=(+0.02,-0.08,-1.00) r=0.20m +[headless_play] t= 12.10s step= 605 trunk_z= 111.0mm grav_b=(+0.10,-0.01,-1.00) r=0.20m +[headless_play] t= 12.20s step= 610 trunk_z= 107.7mm grav_b=(+0.10,+0.12,-0.99) r=0.19m +[headless_play] t= 12.30s step= 615 trunk_z= 110.6mm grav_b=(-0.01,-0.10,-1.00) r=0.18m +[headless_play] t= 12.40s step= 620 trunk_z= 112.4mm grav_b=(+0.10,-0.06,-0.99) r=0.18m +[headless_play] t= 12.50s step= 625 trunk_z= 106.9mm grav_b=(+0.11,+0.11,-0.99) r=0.17m +[headless_play] t= 12.60s step= 630 trunk_z= 114.6mm grav_b=(-0.03,-0.08,-1.00) r=0.17m +[headless_play] t= 12.70s step= 635 trunk_z= 114.8mm grav_b=(+0.08,-0.12,-0.99) r=0.17m +[headless_play] t= 12.80s step= 640 trunk_z= 108.9mm grav_b=(+0.06,+0.09,-0.99) r=0.17m +[headless_play] t= 12.90s step= 645 trunk_z= 116.5mm grav_b=(+0.03,+0.04,-1.00) r=0.17m +[headless_play] t= 13.00s step= 650 trunk_z= 110.9mm grav_b=(-0.01,-0.11,-0.99) r=0.18m +[headless_play] t= 13.10s step= 655 trunk_z= 116.3mm grav_b=(+0.08,-0.04,-1.00) r=0.18m +[headless_play] t= 13.20s step= 660 trunk_z= 110.5mm grav_b=(+0.09,+0.11,-0.99) r=0.17m +[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(-0.01,-0.08,-1.00) r=0.10m +[headless_play] t= 13.40s step= 670 trunk_z= 106.7mm grav_b=(+0.06,-0.02,-1.00) r=0.06m +[headless_play] t= 13.50s step= 675 trunk_z= 113.3mm grav_b=(+0.09,+0.04,-1.00) r=0.06m +[headless_play] t= 13.60s step= 680 trunk_z= 105.7mm grav_b=(+0.12,-0.10,-0.99) r=0.08m +[headless_play] t= 13.70s step= 685 trunk_z= 103.1mm grav_b=(+0.25,+0.05,-0.97) r=0.10m +[headless_play] t= 13.80s step= 690 trunk_z= 105.9mm grav_b=(+0.24,-0.09,-0.97) r=0.13m +[headless_play] t= 13.90s step= 695 trunk_z= 96.8mm grav_b=(+0.37,-0.10,-0.92) r=0.14m +[headless_play] RESET at t= 13.98s step= 699 (env termination, not a recovery) +[headless_play] t= 14.00s step= 700 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 14.10s step= 705 trunk_z= 115.8mm grav_b=(-0.00,+0.04,-1.00) r=0.49m +[headless_play] t= 14.20s step= 710 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 113.0mm grav_b=(+0.10,-0.10,-0.99) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 114.1mm grav_b=(+0.06,+0.09,-0.99) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 118.8mm grav_b=(+0.12,-0.02,-0.99) r=0.46m +[headless_play] t= 14.60s step= 730 trunk_z= 109.8mm grav_b=(+0.16,-0.18,-0.97) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 122.9mm grav_b=(+0.14,+0.06,-0.99) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 96.5mm grav_b=(+0.03,+0.04,-1.00) r=0.42m +[headless_play] t= 14.90s step= 745 trunk_z= 99.1mm grav_b=(+0.08,-0.17,-0.98) r=0.41m +[headless_play] t= 15.00s step= 750 trunk_z= 107.4mm grav_b=(+0.38,-0.09,-0.92) r=0.39m +[headless_play] t= 15.10s step= 755 trunk_z= 92.4mm grav_b=(+0.75,+0.10,-0.65) r=0.36m +[headless_play] RESET at t= 15.16s step= 758 (env termination, not a recovery) +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(-0.00,-0.07,-1.00) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 115.4mm grav_b=(+0.00,+0.02,-1.00) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 114.7mm grav_b=(+0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(+0.04,-0.11,-0.99) r=0.40m +[headless_play] t= 15.70s step= 785 trunk_z= 118.8mm grav_b=(+0.07,+0.03,-1.00) r=0.39m +[headless_play] t= 15.80s step= 790 trunk_z= 111.3mm grav_b=(+0.07,+0.01,-1.00) r=0.37m +[headless_play] t= 15.90s step= 795 trunk_z= 113.5mm grav_b=(-0.02,-0.26,-0.96) r=0.35m +[headless_play] t= 16.00s step= 800 trunk_z= 129.6mm grav_b=(+0.07,-0.11,-0.99) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 109.1mm grav_b=(+0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 16.20s step= 810 trunk_z= 105.2mm grav_b=(-0.15,-0.19,-0.97) r=0.30m +[headless_play] t= 16.30s step= 815 trunk_z= 104.3mm grav_b=(+0.21,-0.09,-0.97) r=0.28m +[headless_play] t= 16.40s step= 820 trunk_z= 88.2mm grav_b=(+0.52,-0.49,-0.70) r=0.27m +[headless_play] RESET at t= 16.44s step= 822 (env termination, not a recovery) +[headless_play] t= 16.50s step= 825 trunk_z= 114.0mm grav_b=(-0.02,-0.00,-1.00) r=0.23m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(-0.00,-0.06,-1.00) r=0.22m +[headless_play] t= 16.70s step= 835 trunk_z= 113.9mm grav_b=(-0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 16.80s step= 840 trunk_z= 115.9mm grav_b=(-0.03,-0.03,-1.00) r=0.24m +[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(+0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 17.00s step= 850 trunk_z= 114.3mm grav_b=(+0.04,+0.06,-1.00) r=0.24m +[headless_play] t= 17.10s step= 855 trunk_z= 116.8mm grav_b=(+0.06,-0.02,-1.00) r=0.25m +[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(+0.05,-0.10,-0.99) r=0.27m +[headless_play] t= 17.30s step= 865 trunk_z= 122.3mm grav_b=(+0.05,+0.08,-1.00) r=0.29m +[headless_play] t= 17.40s step= 870 trunk_z= 113.7mm grav_b=(-0.08,+0.01,-1.00) r=0.31m +[headless_play] t= 17.50s step= 875 trunk_z= 109.0mm grav_b=(-0.06,-0.21,-0.98) r=0.33m +[headless_play] t= 17.60s step= 880 trunk_z= 126.2mm grav_b=(+0.07,-0.02,-1.00) r=0.35m +[headless_play] t= 17.70s step= 885 trunk_z= 98.9mm grav_b=(+0.04,-0.08,-1.00) r=0.37m +[headless_play] t= 17.80s step= 890 trunk_z= 88.8mm grav_b=(+0.16,-0.40,-0.90) r=0.39m +[headless_play] t= 17.90s step= 895 trunk_z= 35.6mm grav_b=(+0.84,-0.14,-0.53) r=0.41m +[headless_play] RESET at t= 17.94s step= 897 (env termination, not a recovery) +[headless_play] t= 18.00s step= 900 trunk_z= 113.3mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 18.10s step= 905 trunk_z= 112.8mm grav_b=(+0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 18.20s step= 910 trunk_z= 111.2mm grav_b=(+0.06,-0.10,-0.99) r=0.65m +[headless_play] t= 18.30s step= 915 trunk_z= 107.4mm grav_b=(+0.13,-0.05,-0.99) r=0.67m +[headless_play] t= 18.40s step= 920 trunk_z= 106.9mm grav_b=(+0.17,+0.06,-0.98) r=0.69m +[headless_play] t= 18.50s step= 925 trunk_z= 109.1mm grav_b=(+0.17,-0.14,-0.98) r=0.71m +[headless_play] t= 18.60s step= 930 trunk_z= 113.5mm grav_b=(+0.29,+0.02,-0.96) r=0.72m +[headless_play] t= 18.70s step= 935 trunk_z= 89.2mm grav_b=(+0.53,-0.13,-0.84) r=0.75m +[headless_play] RESET at t= 18.76s step= 938 (env termination, not a recovery) +[headless_play] t= 18.80s step= 940 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) r=0.56m +[headless_play] t= 18.90s step= 945 trunk_z= 114.9mm grav_b=(+0.02,+0.04,-1.00) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 113.8mm grav_b=(+0.09,+0.00,-1.00) r=0.57m +[headless_play] t= 19.10s step= 955 trunk_z= 114.6mm grav_b=(+0.14,-0.04,-0.99) r=0.58m +[headless_play] t= 19.20s step= 960 trunk_z= 114.8mm grav_b=(+0.12,+0.13,-0.98) r=0.59m +[headless_play] t= 19.30s step= 965 trunk_z= 118.1mm grav_b=(+0.16,-0.04,-0.99) r=0.59m +[headless_play] t= 19.40s step= 970 trunk_z= 110.9mm grav_b=(+0.26,+0.01,-0.97) r=0.60m +[headless_play] t= 19.50s step= 975 trunk_z= 98.4mm grav_b=(+0.40,+0.13,-0.90) r=0.61m +[headless_play] RESET at t= 19.58s step= 979 (env termination, not a recovery) +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(-0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 19.70s step= 985 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 19.80s step= 990 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(-0.00,+0.00,-1.00) r=0.28m +[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.28m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..357f92a539d36cfff5a90f7e6e56b67ab891f4bb --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t11.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.852,-17.802,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.6mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.01,-0.03,-1.00) r=0.24m +[headless_play] t= 0.20s step= 10 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 111.1mm grav_b=(+0.05,+0.07,-1.00) r=0.23m +[headless_play] t= 0.40s step= 20 trunk_z= 114.8mm grav_b=(-0.00,-0.01,-1.00) r=0.23m +[headless_play] t= 0.50s step= 25 trunk_z= 113.7mm grav_b=(+0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 110.6mm grav_b=(+0.01,+0.07,-1.00) r=0.23m +[headless_play] t= 0.70s step= 35 trunk_z= 111.4mm grav_b=(+0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 0.80s step= 40 trunk_z= 112.6mm grav_b=(+0.05,-0.08,-1.00) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 112.8mm grav_b=(+0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 108.8mm grav_b=(+0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 112.2mm grav_b=(+0.04,-0.03,-1.00) r=0.24m +[headless_play] t= 1.20s step= 60 trunk_z= 111.7mm grav_b=(+0.05,+0.01,-1.00) r=0.26m +[headless_play] t= 1.30s step= 65 trunk_z= 110.0mm grav_b=(+0.05,+0.02,-1.00) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 111.5mm grav_b=(+0.04,-0.08,-1.00) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 111.4mm grav_b=(+0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 107.6mm grav_b=(-0.01,+0.04,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 110.9mm grav_b=(+0.05,-0.05,-1.00) r=0.29m +[headless_play] t= 1.80s step= 90 trunk_z= 109.8mm grav_b=(+0.12,-0.04,-0.99) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 108.4mm grav_b=(+0.04,+0.11,-0.99) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 110.5mm grav_b=(+0.02,-0.03,-1.00) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 111.1mm grav_b=(+0.07,-0.03,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 109.1mm grav_b=(+0.03,+0.08,-1.00) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 111.8mm grav_b=(+0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 2.40s step= 120 trunk_z= 110.7mm grav_b=(+0.07,-0.05,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 107.5mm grav_b=(+0.06,+0.08,-1.00) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 111.2mm grav_b=(+0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 110.3mm grav_b=(+0.06,-0.08,-1.00) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 108.3mm grav_b=(+0.04,+0.09,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 110.7mm grav_b=(+0.04,-0.02,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 112.6mm grav_b=(+0.05,-0.06,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 108.2mm grav_b=(+0.03,+0.08,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 111.9mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 110.0mm grav_b=(+0.04,-0.08,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 107.7mm grav_b=(+0.01,+0.08,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 109.4mm grav_b=(+0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 112.1mm grav_b=(+0.07,-0.05,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 113.2mm grav_b=(-0.03,+0.09,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 116.4mm grav_b=(-0.03,-0.04,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 118.5mm grav_b=(+0.04,-0.09,-0.99) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 113.2mm grav_b=(+0.01,+0.07,-1.00) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(+0.04,-0.05,-1.00) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 115.6mm grav_b=(+0.06,-0.04,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.01,+0.11,-0.99) r=0.58m +[headless_play] t= 4.40s step= 220 trunk_z= 119.8mm grav_b=(+0.03,-0.04,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 116.7mm grav_b=(+0.00,-0.10,-1.00) r=0.62m +[headless_play] t= 4.60s step= 230 trunk_z= 113.3mm grav_b=(-0.07,+0.11,-0.99) r=0.64m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(+0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 4.80s step= 240 trunk_z= 115.9mm grav_b=(+0.09,-0.07,-0.99) r=0.67m +[headless_play] t= 4.90s step= 245 trunk_z= 117.0mm grav_b=(+0.06,+0.11,-0.99) r=0.68m +[headless_play] t= 5.00s step= 250 trunk_z= 125.9mm grav_b=(-0.00,+0.00,-1.00) r=0.70m +[headless_play] t= 5.10s step= 255 trunk_z= 108.5mm grav_b=(-0.13,-0.14,-0.98) r=0.73m +[headless_play] t= 5.20s step= 260 trunk_z= 100.0mm grav_b=(-0.17,-0.22,-0.96) r=0.77m +[headless_play] t= 5.30s step= 265 trunk_z= 104.0mm grav_b=(-0.09,-0.34,-0.94) r=0.79m +[headless_play] t= 5.40s step= 270 trunk_z= 81.3mm grav_b=(-0.18,-0.78,-0.60) r=0.81m +[headless_play] RESET at t= 5.46s step= 273 (env termination, not a recovery) +[headless_play] t= 5.50s step= 275 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 116.1mm grav_b=(-0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 5.70s step= 285 trunk_z= 116.4mm grav_b=(-0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 5.90s step= 295 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 6.10s step= 305 trunk_z= 117.3mm grav_b=(-0.14,-0.03,-0.99) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 111.8mm grav_b=(-0.20,-0.01,-0.98) r=0.45m +[headless_play] t= 6.30s step= 315 trunk_z= 98.1mm grav_b=(-0.30,-0.27,-0.91) r=0.44m +[headless_play] t= 6.40s step= 320 trunk_z= 25.2mm grav_b=(-0.63,-0.58,-0.52) r=0.43m +[headless_play] RESET at t= 6.44s step= 322 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 115.1mm grav_b=(-0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 6.60s step= 330 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(-0.00,+0.00,-1.00) r=0.55m +[headless_play] t= 6.80s step= 340 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 6.90s step= 345 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.50s step= 375 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.60s step= 380 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.80s step= 390 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 7.90s step= 395 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 8.00s step= 400 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 8.10s step= 405 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 8.30s step= 415 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 8.50s step= 425 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 8.60s step= 430 trunk_z= 117.0mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 8.70s step= 435 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 8.80s step= 440 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 9.10s step= 455 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 9.20s step= 460 trunk_z= 116.9mm grav_b=(-0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 9.70s step= 485 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.30s step= 515 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.80s step= 540 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 10.90s step= 545 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 11.80s step= 590 trunk_z= 119.6mm grav_b=(+0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(+0.11,+0.10,-0.99) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 113.6mm grav_b=(+0.01,-0.14,-0.99) r=0.56m +[headless_play] t= 12.10s step= 605 trunk_z= 104.6mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 108.2mm grav_b=(-0.01,+0.21,-0.98) r=0.58m +[headless_play] t= 12.30s step= 615 trunk_z= 95.2mm grav_b=(+0.17,-0.37,-0.91) r=0.61m +[headless_play] t= 12.40s step= 620 trunk_z= 34.8mm grav_b=(+0.66,-0.51,-0.56) r=0.64m +[headless_play] RESET at t= 12.44s step= 622 (env termination, not a recovery) +[headless_play] t= 12.50s step= 625 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 111.6mm grav_b=(+0.04,+0.04,-1.00) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(+0.01,-0.05,-1.00) r=0.40m +[headless_play] t= 12.80s step= 640 trunk_z= 109.3mm grav_b=(+0.03,-0.11,-0.99) r=0.40m +[headless_play] t= 12.90s step= 645 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 13.00s step= 650 trunk_z= 109.4mm grav_b=(+0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 13.10s step= 655 trunk_z= 107.2mm grav_b=(+0.04,-0.09,-1.00) r=0.43m +[headless_play] t= 13.20s step= 660 trunk_z= 109.0mm grav_b=(+0.09,-0.01,-1.00) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 105.9mm grav_b=(+0.06,+0.09,-0.99) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 111.0mm grav_b=(+0.01,-0.08,-1.00) r=0.46m +[headless_play] t= 13.50s step= 675 trunk_z= 111.3mm grav_b=(+0.05,-0.10,-0.99) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 107.7mm grav_b=(+0.04,+0.11,-0.99) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 112.8mm grav_b=(+0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 13.80s step= 690 trunk_z= 108.0mm grav_b=(+0.04,-0.14,-0.99) r=0.51m +[headless_play] t= 13.90s step= 695 trunk_z= 108.3mm grav_b=(+0.05,+0.07,-1.00) r=0.52m +[headless_play] t= 14.00s step= 700 trunk_z= 111.2mm grav_b=(+0.07,+0.04,-1.00) r=0.52m +[headless_play] t= 14.10s step= 705 trunk_z= 104.8mm grav_b=(-0.03,-0.13,-0.99) r=0.53m +[headless_play] t= 14.20s step= 710 trunk_z= 108.6mm grav_b=(+0.08,+0.06,-1.00) r=0.55m +[headless_play] t= 14.30s step= 715 trunk_z= 110.8mm grav_b=(+0.09,+0.06,-0.99) r=0.56m +[headless_play] t= 14.40s step= 720 trunk_z= 107.6mm grav_b=(-0.04,-0.11,-0.99) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 113.2mm grav_b=(+0.07,-0.02,-1.00) r=0.59m +[headless_play] t= 14.60s step= 730 trunk_z= 111.0mm grav_b=(+0.07,+0.12,-0.99) r=0.61m +[headless_play] t= 14.70s step= 735 trunk_z= 112.9mm grav_b=(-0.02,-0.05,-1.00) r=0.62m +[headless_play] t= 14.80s step= 740 trunk_z= 110.9mm grav_b=(+0.08,-0.09,-0.99) r=0.64m +[headless_play] t= 14.90s step= 745 trunk_z= 108.4mm grav_b=(+0.07,+0.13,-0.99) r=0.66m +[headless_play] t= 15.00s step= 750 trunk_z= 114.1mm grav_b=(+0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 15.10s step= 755 trunk_z= 107.0mm grav_b=(+0.08,-0.08,-0.99) r=0.68m +[headless_play] t= 15.20s step= 760 trunk_z= 107.1mm grav_b=(+0.08,+0.10,-0.99) r=0.70m +[headless_play] t= 15.30s step= 765 trunk_z= 108.5mm grav_b=(+0.01,-0.17,-0.99) r=0.70m +[headless_play] t= 15.40s step= 770 trunk_z= 115.8mm grav_b=(+0.09,-0.17,-0.98) r=0.69m +[headless_play] t= 15.50s step= 775 trunk_z= 113.8mm grav_b=(+0.02,+0.04,-1.00) r=0.70m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.15,-0.09,-0.98) r=0.72m +[headless_play] t= 15.70s step= 785 trunk_z= 111.6mm grav_b=(+0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 15.80s step= 790 trunk_z= 109.4mm grav_b=(+0.07,+0.10,-0.99) r=0.76m +[headless_play] t= 15.90s step= 795 trunk_z= 113.3mm grav_b=(-0.00,-0.13,-0.99) r=0.77m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(+0.05,-0.14,-0.99) r=0.79m +[headless_play] t= 16.10s step= 805 trunk_z= 118.5mm grav_b=(-0.02,+0.06,-1.00) r=0.81m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(-0.00,+0.03,-1.00) r=0.84m +[headless_play] t= 16.30s step= 815 trunk_z= 108.7mm grav_b=(-0.01,-0.15,-0.99) r=0.86m +[headless_play] t= 16.40s step= 820 trunk_z= 103.3mm grav_b=(+0.06,-0.10,-0.99) r=0.89m +[headless_play] t= 16.50s step= 825 trunk_z= 101.6mm grav_b=(+0.07,-0.25,-0.97) r=0.92m +[headless_play] t= 16.60s step= 830 trunk_z= 76.4mm grav_b=(+0.09,-0.40,-0.91) r=0.95m +[headless_play] t= 16.70s step= 835 trunk_z= 27.3mm grav_b=(-0.17,-0.92,-0.36) r=0.99m +[headless_play] RESET at t= 16.72s step= 836 (env termination, not a recovery) +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 16.90s step= 845 trunk_z= 114.7mm grav_b=(-0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(+0.03,-0.04,-1.00) r=0.33m +[headless_play] t= 17.10s step= 855 trunk_z= 112.1mm grav_b=(+0.07,+0.05,-1.00) r=0.33m +[headless_play] t= 17.20s step= 860 trunk_z= 114.2mm grav_b=(+0.07,-0.07,-0.99) r=0.34m +[headless_play] t= 17.30s step= 865 trunk_z= 113.6mm grav_b=(+0.12,-0.11,-0.99) r=0.35m +[headless_play] t= 17.40s step= 870 trunk_z= 114.1mm grav_b=(+0.06,+0.13,-0.99) r=0.36m +[headless_play] t= 17.50s step= 875 trunk_z= 123.3mm grav_b=(+0.07,-0.01,-1.00) r=0.37m +[headless_play] t= 17.60s step= 880 trunk_z= 98.0mm grav_b=(+0.05,-0.09,-0.99) r=0.40m +[headless_play] t= 17.70s step= 885 trunk_z= 103.5mm grav_b=(-0.10,+0.11,-0.99) r=0.41m +[headless_play] t= 17.80s step= 890 trunk_z= 120.4mm grav_b=(+0.13,-0.12,-0.98) r=0.42m +[headless_play] t= 17.90s step= 895 trunk_z= 93.6mm grav_b=(+0.45,-0.20,-0.87) r=0.44m +[headless_play] RESET at t= 18.00s step= 900 (env termination, not a recovery) +[headless_play] t= 18.00s step= 900 trunk_z= 127.0mm grav_b=(+0.00,+0.00,-1.00) r=0.38m +[headless_play] t= 18.10s step= 905 trunk_z= 115.2mm grav_b=(+0.01,+0.04,-1.00) r=0.39m +[headless_play] t= 18.20s step= 910 trunk_z= 114.2mm grav_b=(+0.05,+0.03,-1.00) r=0.40m +[headless_play] t= 18.30s step= 915 trunk_z= 111.5mm grav_b=(+0.01,-0.11,-0.99) r=0.40m +[headless_play] t= 18.40s step= 920 trunk_z= 109.6mm grav_b=(+0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 18.50s step= 925 trunk_z= 108.0mm grav_b=(+0.07,+0.09,-0.99) r=0.43m +[headless_play] t= 18.60s step= 930 trunk_z= 111.6mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 18.70s step= 935 trunk_z= 105.0mm grav_b=(+0.06,-0.09,-0.99) r=0.45m +[headless_play] t= 18.80s step= 940 trunk_z= 107.2mm grav_b=(+0.08,+0.14,-0.99) r=0.45m +[headless_play] t= 18.90s step= 945 trunk_z= 114.5mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 19.00s step= 950 trunk_z= 113.1mm grav_b=(+0.02,-0.14,-0.99) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 111.5mm grav_b=(+0.01,+0.10,-1.00) r=0.49m +[headless_play] t= 19.20s step= 960 trunk_z= 118.9mm grav_b=(+0.05,+0.04,-1.00) r=0.49m +[headless_play] t= 19.30s step= 965 trunk_z= 105.8mm grav_b=(+0.00,-0.16,-0.99) r=0.51m +[headless_play] t= 19.40s step= 970 trunk_z= 108.1mm grav_b=(+0.13,+0.09,-0.99) r=0.52m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(+0.14,+0.09,-0.99) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 103.0mm grav_b=(+0.15,-0.14,-0.98) r=0.52m +[headless_play] t= 19.70s step= 985 trunk_z= 101.0mm grav_b=(+0.18,+0.35,-0.92) r=0.53m +[headless_play] t= 19.80s step= 990 trunk_z= 73.6mm grav_b=(+0.78,-0.32,-0.54) r=0.57m +[headless_play] RESET at t= 19.82s step= 991 (env termination, not a recovery) +[headless_play] t= 19.90s step= 995 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 20.00s step=1000 trunk_z= 115.7mm grav_b=(-0.01,-0.05,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(-0.03,+0.05,-1.00) r=0.59m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..f845dda393308e8655dc966350a9a34a7b9a4a93 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t12.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.020,-17.714,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.7mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.02,+0.05,-1.00) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.08,-0.04,-1.00) r=0.29m +[headless_play] t= 0.30s step= 15 trunk_z= 112.7mm grav_b=(+0.16,+0.06,-0.98) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 117.3mm grav_b=(+0.13,-0.13,-0.98) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 113.4mm grav_b=(+0.25,-0.03,-0.97) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 100.0mm grav_b=(+0.25,+0.16,-0.95) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 71.6mm grav_b=(+0.67,-0.65,-0.35) r=0.24m +[headless_play] RESET at t= 0.72s step= 36 (env termination, not a recovery) +[headless_play] t= 0.80s step= 40 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 114.0mm grav_b=(+0.06,-0.04,-1.00) r=0.60m +[headless_play] t= 1.00s step= 50 trunk_z= 111.8mm grav_b=(+0.13,+0.10,-0.99) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 113.8mm grav_b=(+0.15,-0.04,-0.99) r=0.62m +[headless_play] t= 1.20s step= 60 trunk_z= 114.3mm grav_b=(+0.14,-0.14,-0.98) r=0.64m +[headless_play] t= 1.30s step= 65 trunk_z= 123.4mm grav_b=(+0.06,+0.10,-0.99) r=0.66m +[headless_play] t= 1.40s step= 70 trunk_z= 119.1mm grav_b=(+0.08,+0.04,-1.00) r=0.69m +[headless_play] t= 1.50s step= 75 trunk_z= 105.4mm grav_b=(+0.10,-0.08,-0.99) r=0.72m +[headless_play] t= 1.60s step= 80 trunk_z= 113.3mm grav_b=(-0.04,+0.12,-0.99) r=0.73m +[headless_play] t= 1.70s step= 85 trunk_z= 113.2mm grav_b=(+0.09,-0.01,-1.00) r=0.74m +[headless_play] t= 1.80s step= 90 trunk_z= 108.4mm grav_b=(+0.32,-0.14,-0.94) r=0.76m +[headless_play] t= 1.90s step= 95 trunk_z= 63.7mm grav_b=(+0.79,+0.45,-0.41) r=0.76m +[headless_play] RESET at t= 1.92s step= 96 (env termination, not a recovery) +[headless_play] t= 2.00s step= 100 trunk_z= 114.8mm grav_b=(+0.02,+0.03,-1.00) r=0.25m +[headless_play] t= 2.10s step= 105 trunk_z= 111.7mm grav_b=(+0.07,+0.03,-1.00) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 112.8mm grav_b=(+0.06,-0.08,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 110.7mm grav_b=(+0.13,+0.01,-0.99) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 109.2mm grav_b=(+0.17,+0.06,-0.98) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 111.8mm grav_b=(+0.04,-0.12,-0.99) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 115.7mm grav_b=(+0.08,-0.06,-1.00) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 110.8mm grav_b=(+0.01,+0.13,-0.99) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 111.8mm grav_b=(+0.10,-0.04,-0.99) r=0.32m +[headless_play] t= 2.90s step= 145 trunk_z= 110.5mm grav_b=(+0.13,-0.03,-0.99) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 109.7mm grav_b=(+0.09,+0.08,-0.99) r=0.34m +[headless_play] t= 3.10s step= 155 trunk_z= 111.4mm grav_b=(+0.04,-0.10,-0.99) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(+0.08,-0.07,-0.99) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 111.4mm grav_b=(+0.06,+0.12,-0.99) r=0.39m +[headless_play] t= 3.40s step= 170 trunk_z= 114.0mm grav_b=(+0.08,-0.02,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 113.2mm grav_b=(+0.07,-0.09,-0.99) r=0.42m +[headless_play] t= 3.60s step= 180 trunk_z= 107.6mm grav_b=(+0.10,+0.08,-0.99) r=0.43m +[headless_play] t= 3.70s step= 185 trunk_z= 111.1mm grav_b=(+0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 107.1mm grav_b=(+0.06,-0.13,-0.99) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 111.1mm grav_b=(+0.06,+0.05,-1.00) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 111.4mm grav_b=(+0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 4.10s step= 205 trunk_z= 106.7mm grav_b=(+0.07,-0.14,-0.99) r=0.48m +[headless_play] t= 4.20s step= 210 trunk_z= 109.3mm grav_b=(+0.12,+0.03,-0.99) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 111.6mm grav_b=(+0.12,+0.03,-0.99) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 107.0mm grav_b=(+0.01,-0.13,-0.99) r=0.51m +[headless_play] t= 4.50s step= 225 trunk_z= 111.7mm grav_b=(+0.07,-0.02,-1.00) r=0.53m +[headless_play] t= 4.60s step= 230 trunk_z= 110.1mm grav_b=(+0.08,+0.06,-0.99) r=0.53m +[headless_play] t= 4.70s step= 235 trunk_z= 109.7mm grav_b=(+0.05,-0.07,-1.00) r=0.55m +[headless_play] t= 4.80s step= 240 trunk_z= 109.8mm grav_b=(+0.19,+0.02,-0.98) r=0.60m +[headless_play] t= 4.90s step= 245 trunk_z= 110.9mm grav_b=(+0.26,+0.01,-0.97) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 108.4mm grav_b=(+0.27,-0.15,-0.95) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 74.1mm grav_b=(+0.45,+0.61,-0.65) r=0.71m +[headless_play] RESET at t= 5.14s step= 257 (env termination, not a recovery) +[headless_play] t= 5.20s step= 260 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 5.30s step= 265 trunk_z= 113.1mm grav_b=(+0.11,+0.04,-0.99) r=0.42m +[headless_play] t= 5.40s step= 270 trunk_z= 113.2mm grav_b=(+0.10,-0.05,-0.99) r=0.43m +[headless_play] t= 5.50s step= 275 trunk_z= 113.4mm grav_b=(+0.14,-0.00,-0.99) r=0.45m +[headless_play] t= 5.60s step= 280 trunk_z= 110.2mm grav_b=(+0.20,+0.06,-0.98) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 112.9mm grav_b=(+0.19,-0.09,-0.98) r=0.47m +[headless_play] t= 5.80s step= 290 trunk_z= 117.0mm grav_b=(+0.20,-0.04,-0.98) r=0.47m +[headless_play] t= 5.90s step= 295 trunk_z= 108.5mm grav_b=(+0.22,+0.13,-0.97) r=0.49m +[headless_play] t= 6.00s step= 300 trunk_z= 97.4mm grav_b=(+0.40,-0.39,-0.83) r=0.52m +[headless_play] RESET at t= 6.10s step= 305 (env termination, not a recovery) +[headless_play] t= 6.10s step= 305 trunk_z= 121.8mm grav_b=(+0.00,-0.00,-1.00) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 6.30s step= 315 trunk_z= 116.5mm grav_b=(+0.06,-0.00,-1.00) r=0.42m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(+0.06,-0.00,-1.00) r=0.42m +[headless_play] t= 6.50s step= 325 trunk_z= 116.8mm grav_b=(+0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 6.60s step= 330 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 6.70s step= 335 trunk_z= 116.5mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 6.80s step= 340 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 6.90s step= 345 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.60s step= 380 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.70s step= 385 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.80s step= 390 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 7.90s step= 395 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.00s step= 400 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.30s step= 415 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.60s step= 430 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.80s step= 440 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 8.90s step= 445 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.38m +[headless_play] t= 9.20s step= 460 trunk_z= 117.1mm grav_b=(+0.05,-0.00,-1.00) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.37m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 9.80s step= 490 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 9.90s step= 495 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 10.40s step= 520 trunk_z= 115.2mm grav_b=(+0.06,+0.07,-1.00) r=0.37m +[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(+0.09,-0.03,-1.00) r=0.37m +[headless_play] t= 10.60s step= 530 trunk_z= 115.8mm grav_b=(+0.11,-0.04,-0.99) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 111.9mm grav_b=(+0.14,+0.08,-0.99) r=0.34m +[headless_play] t= 10.80s step= 540 trunk_z= 112.4mm grav_b=(+0.17,-0.13,-0.98) r=0.33m +[headless_play] t= 10.90s step= 545 trunk_z= 113.0mm grav_b=(+0.32,-0.02,-0.95) r=0.32m +[headless_play] t= 11.00s step= 550 trunk_z= 107.1mm grav_b=(+0.40,+0.15,-0.90) r=0.32m +[headless_play] RESET at t= 11.10s step= 555 (env termination, not a recovery) +[headless_play] t= 11.10s step= 555 trunk_z= 126.5mm grav_b=(+0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 11.20s step= 560 trunk_z= 115.4mm grav_b=(+0.03,+0.03,-1.00) r=0.21m +[headless_play] t= 11.30s step= 565 trunk_z= 113.4mm grav_b=(+0.07,+0.03,-1.00) r=0.23m +[headless_play] t= 11.40s step= 570 trunk_z= 112.4mm grav_b=(+0.07,-0.09,-0.99) r=0.25m +[headless_play] t= 11.50s step= 575 trunk_z= 108.1mm grav_b=(+0.12,-0.04,-0.99) r=0.26m +[headless_play] t= 11.60s step= 580 trunk_z= 104.6mm grav_b=(+0.17,+0.01,-0.99) r=0.26m +[headless_play] t= 11.70s step= 585 trunk_z= 98.5mm grav_b=(+0.16,-0.17,-0.97) r=0.26m +[headless_play] t= 11.80s step= 590 trunk_z= 104.7mm grav_b=(+0.16,-0.03,-0.99) r=0.26m +[headless_play] t= 11.90s step= 595 trunk_z= 105.0mm grav_b=(+0.15,+0.08,-0.99) r=0.26m +[headless_play] t= 12.00s step= 600 trunk_z= 111.9mm grav_b=(+0.07,-0.08,-0.99) r=0.26m +[headless_play] t= 12.10s step= 605 trunk_z= 110.1mm grav_b=(+0.13,-0.08,-0.99) r=0.27m +[headless_play] t= 12.20s step= 610 trunk_z= 105.8mm grav_b=(+0.12,+0.08,-0.99) r=0.28m +[headless_play] t= 12.30s step= 615 trunk_z= 111.1mm grav_b=(+0.15,-0.02,-0.99) r=0.28m +[headless_play] t= 12.40s step= 620 trunk_z= 102.0mm grav_b=(+0.17,-0.14,-0.98) r=0.29m +[headless_play] t= 12.50s step= 625 trunk_z= 109.3mm grav_b=(+0.17,+0.01,-0.99) r=0.30m +[headless_play] t= 12.60s step= 630 trunk_z= 110.3mm grav_b=(+0.18,+0.05,-0.98) r=0.31m +[headless_play] t= 12.70s step= 635 trunk_z= 104.9mm grav_b=(+0.05,-0.14,-0.99) r=0.33m +[headless_play] t= 12.80s step= 640 trunk_z= 121.0mm grav_b=(+0.01,-0.16,-0.99) r=0.35m +[headless_play] t= 12.90s step= 645 trunk_z= 120.5mm grav_b=(+0.04,-0.10,-0.99) r=0.37m +[headless_play] t= 13.00s step= 650 trunk_z= 113.9mm grav_b=(+0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 13.10s step= 655 trunk_z= 110.1mm grav_b=(+0.02,-0.13,-0.99) r=0.38m +[headless_play] t= 13.20s step= 660 trunk_z= 104.8mm grav_b=(+0.14,-0.07,-0.99) r=0.39m +[headless_play] t= 13.30s step= 665 trunk_z= 95.6mm grav_b=(+0.26,+0.05,-0.96) r=0.39m +[headless_play] t= 13.40s step= 670 trunk_z= 102.8mm grav_b=(+0.09,-0.10,-0.99) r=0.39m +[headless_play] t= 13.50s step= 675 trunk_z= 103.7mm grav_b=(+0.16,-0.06,-0.99) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 104.8mm grav_b=(+0.14,+0.08,-0.99) r=0.42m +[headless_play] t= 13.70s step= 685 trunk_z= 111.6mm grav_b=(+0.09,-0.07,-0.99) r=0.43m +[headless_play] t= 13.80s step= 690 trunk_z= 103.6mm grav_b=(+0.15,-0.10,-0.98) r=0.44m +[headless_play] t= 13.90s step= 695 trunk_z= 106.0mm grav_b=(+0.14,+0.07,-0.99) r=0.44m +[headless_play] t= 14.00s step= 700 trunk_z= 114.3mm grav_b=(+0.15,+0.04,-0.99) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 106.2mm grav_b=(+0.06,-0.11,-0.99) r=0.46m +[headless_play] t= 14.20s step= 710 trunk_z= 111.7mm grav_b=(+0.11,-0.01,-0.99) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 103.6mm grav_b=(+0.14,+0.05,-0.99) r=0.49m +[headless_play] t= 14.40s step= 720 trunk_z= 109.1mm grav_b=(+0.15,-0.09,-0.98) r=0.50m +[headless_play] t= 14.50s step= 725 trunk_z= 104.6mm grav_b=(+0.21,-0.11,-0.97) r=0.51m +[headless_play] t= 14.60s step= 730 trunk_z= 107.2mm grav_b=(+0.20,+0.06,-0.98) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 115.1mm grav_b=(+0.11,+0.01,-0.99) r=0.51m +[headless_play] t= 14.80s step= 740 trunk_z= 105.7mm grav_b=(+0.13,-0.17,-0.98) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 119.2mm grav_b=(+0.08,-0.01,-1.00) r=0.53m +[headless_play] t= 15.00s step= 750 trunk_z= 114.9mm grav_b=(+0.15,+0.08,-0.99) r=0.53m +[headless_play] t= 15.10s step= 755 trunk_z= 112.9mm grav_b=(+0.08,-0.11,-0.99) r=0.55m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(+0.12,-0.03,-0.99) r=0.56m +[headless_play] t= 15.30s step= 765 trunk_z= 109.6mm grav_b=(+0.08,+0.10,-0.99) r=0.57m +[headless_play] t= 15.40s step= 770 trunk_z= 111.0mm grav_b=(+0.08,-0.12,-0.99) r=0.58m +[headless_play] t= 15.50s step= 775 trunk_z= 114.4mm grav_b=(+0.08,-0.12,-0.99) r=0.59m +[headless_play] t= 15.60s step= 780 trunk_z= 110.4mm grav_b=(+0.10,+0.12,-0.99) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 120.2mm grav_b=(+0.10,+0.01,-0.99) r=0.60m +[headless_play] t= 15.80s step= 790 trunk_z= 111.3mm grav_b=(+0.06,-0.15,-0.99) r=0.61m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(+0.13,+0.01,-0.99) r=0.62m +[headless_play] t= 16.00s step= 800 trunk_z= 112.8mm grav_b=(+0.15,+0.03,-0.99) r=0.62m +[headless_play] t= 16.10s step= 805 trunk_z= 114.1mm grav_b=(-0.01,-0.18,-0.98) r=0.64m +[headless_play] t= 16.20s step= 810 trunk_z= 119.5mm grav_b=(+0.00,-0.16,-0.99) r=0.66m +[headless_play] t= 16.30s step= 815 trunk_z= 123.0mm grav_b=(-0.03,-0.03,-1.00) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 113.5mm grav_b=(+0.03,+0.02,-1.00) r=0.69m +[headless_play] t= 16.50s step= 825 trunk_z= 105.8mm grav_b=(+0.19,-0.21,-0.96) r=0.70m +[headless_play] t= 16.60s step= 830 trunk_z= 121.0mm grav_b=(+0.16,-0.12,-0.98) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 119.0mm grav_b=(+0.08,+0.04,-1.00) r=0.71m +[headless_play] t= 16.80s step= 840 trunk_z= 131.3mm grav_b=(+0.14,+0.02,-0.99) r=0.72m +[headless_play] t= 16.90s step= 845 trunk_z= 102.3mm grav_b=(+0.22,+0.08,-0.97) r=0.74m +[headless_play] t= 17.00s step= 850 trunk_z= 91.9mm grav_b=(+0.30,+0.26,-0.92) r=0.74m +[headless_play] RESET at t= 17.10s step= 855 (env termination, not a recovery) +[headless_play] t= 17.10s step= 855 trunk_z= 127.3mm grav_b=(-0.00,-0.00,-1.00) r=0.35m +[headless_play] t= 17.20s step= 860 trunk_z= 115.2mm grav_b=(+0.03,+0.03,-1.00) r=0.35m +[headless_play] t= 17.30s step= 865 trunk_z= 112.2mm grav_b=(+0.06,+0.03,-1.00) r=0.36m +[headless_play] t= 17.40s step= 870 trunk_z= 112.4mm grav_b=(+0.09,-0.06,-0.99) r=0.35m +[headless_play] t= 17.50s step= 875 trunk_z= 109.1mm grav_b=(+0.11,+0.03,-0.99) r=0.36m +[headless_play] t= 17.60s step= 880 trunk_z= 110.4mm grav_b=(+0.07,+0.01,-1.00) r=0.36m +[headless_play] t= 17.70s step= 885 trunk_z= 104.4mm grav_b=(+0.06,-0.14,-0.99) r=0.36m +[headless_play] t= 17.80s step= 890 trunk_z= 107.4mm grav_b=(+0.06,+0.02,-1.00) r=0.36m +[headless_play] t= 17.90s step= 895 trunk_z= 106.7mm grav_b=(+0.06,+0.02,-1.00) r=0.37m +[headless_play] t= 18.00s step= 900 trunk_z= 107.0mm grav_b=(+0.11,-0.09,-0.99) r=0.37m +[headless_play] t= 18.10s step= 905 trunk_z= 104.4mm grav_b=(+0.19,+0.08,-0.98) r=0.36m +[headless_play] t= 18.20s step= 910 trunk_z= 110.5mm grav_b=(+0.05,-0.05,-1.00) r=0.36m +[headless_play] t= 18.30s step= 915 trunk_z= 106.6mm grav_b=(+0.12,-0.10,-0.99) r=0.36m +[headless_play] t= 18.40s step= 920 trunk_z= 105.3mm grav_b=(+0.02,+0.13,-0.99) r=0.36m +[headless_play] t= 18.50s step= 925 trunk_z= 109.6mm grav_b=(+0.07,-0.04,-1.00) r=0.37m +[headless_play] t= 18.60s step= 930 trunk_z= 110.7mm grav_b=(+0.13,-0.11,-0.98) r=0.37m +[headless_play] t= 18.70s step= 935 trunk_z= 110.8mm grav_b=(+0.05,+0.03,-1.00) r=0.38m +[headless_play] t= 18.80s step= 940 trunk_z= 112.8mm grav_b=(+0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 18.90s step= 945 trunk_z= 107.5mm grav_b=(+0.12,-0.18,-0.98) r=0.41m +[headless_play] t= 19.00s step= 950 trunk_z= 108.6mm grav_b=(+0.15,+0.01,-0.99) r=0.42m +[headless_play] t= 19.10s step= 955 trunk_z= 111.3mm grav_b=(+0.06,+0.07,-1.00) r=0.44m +[headless_play] t= 19.20s step= 960 trunk_z= 108.0mm grav_b=(+0.01,-0.14,-0.99) r=0.45m +[headless_play] t= 19.30s step= 965 trunk_z= 109.9mm grav_b=(+0.03,+0.02,-1.00) r=0.46m +[headless_play] t= 19.40s step= 970 trunk_z= 108.5mm grav_b=(+0.06,-0.00,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 105.2mm grav_b=(+0.14,-0.07,-0.99) r=0.48m +[headless_play] t= 19.60s step= 980 trunk_z= 106.7mm grav_b=(+0.12,+0.04,-0.99) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 108.4mm grav_b=(+0.12,-0.05,-0.99) r=0.53m +[headless_play] t= 19.80s step= 990 trunk_z= 105.7mm grav_b=(+0.18,-0.09,-0.98) r=0.56m +[headless_play] t= 19.90s step= 995 trunk_z= 109.9mm grav_b=(+0.15,+0.11,-0.98) r=0.58m +[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(+0.11,-0.00,-0.99) r=0.59m +[headless_play] t= 20.10s step=1005 trunk_z= 104.2mm grav_b=(+0.11,-0.08,-0.99) r=0.61m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..8c24a458acbf124daabe95cd726a69d75b978cfe --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t13.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.881,-18.307,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.03,+0.04,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 112.4mm grav_b=(+0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 104.6mm grav_b=(+0.06,-0.15,-0.99) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 106.6mm grav_b=(+0.09,+0.00,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 104.2mm grav_b=(+0.06,+0.07,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 111.6mm grav_b=(+0.00,-0.07,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 107.8mm grav_b=(+0.01,-0.14,-0.99) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 107.9mm grav_b=(+0.02,+0.04,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 108.5mm grav_b=(+0.04,-0.00,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 99.9mm grav_b=(+0.06,-0.13,-0.99) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 106.4mm grav_b=(+0.08,+0.00,-1.00) r=0.44m +[headless_play] t= 1.20s step= 60 trunk_z= 104.5mm grav_b=(+0.05,+0.05,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 109.7mm grav_b=(+0.02,-0.12,-0.99) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 106.2mm grav_b=(+0.10,-0.18,-0.98) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 108.7mm grav_b=(-0.00,+0.02,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 108.0mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 102.1mm grav_b=(+0.05,-0.18,-0.98) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 107.4mm grav_b=(+0.06,+0.02,-1.00) r=0.44m +[headless_play] t= 1.90s step= 95 trunk_z= 107.7mm grav_b=(+0.01,+0.07,-1.00) r=0.43m +[headless_play] t= 2.00s step= 100 trunk_z= 109.1mm grav_b=(-0.02,-0.12,-0.99) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 108.9mm grav_b=(+0.05,-0.08,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 102.9mm grav_b=(+0.04,+0.12,-0.99) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 112.6mm grav_b=(+0.00,-0.02,-1.00) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 102.5mm grav_b=(+0.02,-0.17,-0.98) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 108.0mm grav_b=(+0.03,+0.00,-1.00) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 105.5mm grav_b=(+0.05,+0.08,-1.00) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 111.1mm grav_b=(-0.03,-0.13,-0.99) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 108.7mm grav_b=(+0.04,-0.12,-0.99) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 99.9mm grav_b=(+0.10,+0.12,-0.99) r=0.44m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 103.7mm grav_b=(-0.01,-0.17,-0.99) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 105.2mm grav_b=(+0.08,+0.00,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 105.9mm grav_b=(+0.08,+0.09,-0.99) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 112.5mm grav_b=(-0.04,-0.09,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 108.0mm grav_b=(+0.07,-0.13,-0.99) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 104.7mm grav_b=(+0.02,+0.09,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 110.3mm grav_b=(-0.00,+0.01,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 104.2mm grav_b=(-0.01,-0.15,-0.99) r=0.47m +[headless_play] t= 3.90s step= 195 trunk_z= 105.0mm grav_b=(+0.02,-0.02,-1.00) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 107.7mm grav_b=(+0.00,+0.03,-1.00) r=0.47m +[headless_play] t= 4.10s step= 205 trunk_z= 112.1mm grav_b=(-0.01,-0.10,-0.99) r=0.47m +[headless_play] t= 4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.03,-0.09,-0.99) r=0.48m +[headless_play] t= 4.30s step= 215 trunk_z= 112.8mm grav_b=(-0.02,+0.08,-1.00) r=0.47m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(-0.06,-0.04,-1.00) r=0.48m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(-0.01,+0.05,-1.00) r=0.48m +[headless_play] t= 4.60s step= 230 trunk_z= 117.9mm grav_b=(+0.04,-0.02,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 112.3mm grav_b=(+0.15,-0.17,-0.97) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 126.0mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 105.9mm grav_b=(-0.11,+0.01,-0.99) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 105.3mm grav_b=(-0.22,-0.08,-0.97) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 108.0mm grav_b=(-0.06,-0.04,-1.00) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 112.4mm grav_b=(+0.00,-0.09,-1.00) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 113.6mm grav_b=(+0.01,+0.07,-1.00) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 118.1mm grav_b=(-0.07,-0.17,-0.98) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 114.1mm grav_b=(+0.04,-0.14,-0.99) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 115.6mm grav_b=(-0.09,+0.12,-0.99) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 104.1mm grav_b=(-0.20,-0.16,-0.97) r=0.60m +[headless_play] t= 5.80s step= 290 trunk_z= 113.0mm grav_b=(+0.02,-0.05,-1.00) r=0.64m +[headless_play] t= 5.90s step= 295 trunk_z= 101.0mm grav_b=(+0.03,+0.13,-0.99) r=0.68m +[headless_play] t= 6.00s step= 300 trunk_z= 103.2mm grav_b=(-0.14,-0.22,-0.96) r=0.70m +[headless_play] t= 6.10s step= 305 trunk_z= 108.8mm grav_b=(-0.01,-0.00,-1.00) r=0.72m +[headless_play] t= 6.20s step= 310 trunk_z= 86.6mm grav_b=(+0.04,-0.29,-0.96) r=0.74m +[headless_play] t= 6.30s step= 315 trunk_z= 40.9mm grav_b=(+0.00,-0.95,-0.32) r=0.76m +[headless_play] RESET at t= 6.32s step= 316 (env termination, not a recovery) +[headless_play] t= 6.40s step= 320 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 6.70s step= 335 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 6.80s step= 340 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 116.6mm grav_b=(+0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(-0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 7.10s step= 355 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(-0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 7.40s step= 370 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 7.60s step= 380 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 7.70s step= 385 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 7.80s step= 390 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 7.90s step= 395 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 8.00s step= 400 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.30s step= 415 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.60s step= 430 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.80s step= 440 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 8.90s step= 445 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.10s step= 455 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.20s step= 460 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.40s step= 470 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.60s step= 480 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 10.00s step= 500 trunk_z= 117.4mm grav_b=(-0.08,+0.01,-1.00) r=0.47m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(-0.11,+0.01,-0.99) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(-0.12,+0.00,-0.99) r=0.49m +[headless_play] t= 10.30s step= 515 trunk_z= 114.5mm grav_b=(-0.15,-0.02,-0.99) r=0.49m +[headless_play] t= 10.40s step= 520 trunk_z= 109.3mm grav_b=(-0.28,-0.00,-0.96) r=0.49m +[headless_play] t= 10.50s step= 525 trunk_z= 79.6mm grav_b=(-0.61,-0.13,-0.78) r=0.51m +[headless_play] RESET at t= 10.56s step= 528 (env termination, not a recovery) +[headless_play] t= 10.60s step= 530 trunk_z= 114.9mm grav_b=(-0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(+0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 10.80s step= 540 trunk_z= 114.1mm grav_b=(+0.05,-0.05,-1.00) r=0.45m +[headless_play] t= 10.90s step= 545 trunk_z= 113.4mm grav_b=(+0.10,-0.05,-0.99) r=0.46m +[headless_play] t= 11.00s step= 550 trunk_z= 110.9mm grav_b=(+0.06,+0.05,-1.00) r=0.47m +[headless_play] t= 11.10s step= 555 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 11.20s step= 560 trunk_z= 107.9mm grav_b=(+0.03,-0.12,-0.99) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 109.6mm grav_b=(+0.02,+0.03,-1.00) r=0.51m +[headless_play] t= 11.40s step= 570 trunk_z= 108.8mm grav_b=(+0.04,+0.02,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 105.1mm grav_b=(+0.07,-0.13,-0.99) r=0.52m +[headless_play] t= 11.60s step= 580 trunk_z= 109.7mm grav_b=(+0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 11.70s step= 585 trunk_z= 107.9mm grav_b=(+0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 105.7mm grav_b=(+0.04,-0.19,-0.98) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 110.8mm grav_b=(+0.08,-0.06,-1.00) r=0.54m +[headless_play] t= 12.00s step= 600 trunk_z= 109.0mm grav_b=(+0.03,+0.11,-0.99) r=0.54m +[headless_play] t= 12.10s step= 605 trunk_z= 112.6mm grav_b=(-0.05,-0.10,-0.99) r=0.54m +[headless_play] t= 12.20s step= 610 trunk_z= 113.4mm grav_b=(+0.04,-0.14,-0.99) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 106.5mm grav_b=(-0.00,+0.05,-1.00) r=0.56m +[headless_play] t= 12.40s step= 620 trunk_z= 112.2mm grav_b=(-0.02,-0.06,-1.00) r=0.57m +[headless_play] t= 12.50s step= 625 trunk_z= 110.7mm grav_b=(+0.03,-0.21,-0.98) r=0.57m +[headless_play] t= 12.60s step= 630 trunk_z= 111.3mm grav_b=(+0.01,-0.06,-1.00) r=0.58m +[headless_play] t= 12.70s step= 635 trunk_z= 111.1mm grav_b=(-0.06,-0.00,-1.00) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 109.4mm grav_b=(-0.04,-0.19,-0.98) r=0.58m +[headless_play] t= 12.90s step= 645 trunk_z= 113.7mm grav_b=(+0.01,-0.11,-0.99) r=0.58m +[headless_play] t= 13.00s step= 650 trunk_z= 104.6mm grav_b=(-0.02,+0.06,-1.00) r=0.58m +[headless_play] t= 13.10s step= 655 trunk_z= 114.0mm grav_b=(-0.03,-0.07,-1.00) r=0.59m +[headless_play] t= 13.20s step= 660 trunk_z= 108.3mm grav_b=(+0.02,-0.15,-0.99) r=0.60m +[headless_play] t= 13.30s step= 665 trunk_z= 104.5mm grav_b=(-0.01,+0.06,-1.00) r=0.60m +[headless_play] t= 13.40s step= 670 trunk_z= 109.3mm grav_b=(+0.00,+0.00,-1.00) r=0.60m +[headless_play] t= 13.50s step= 675 trunk_z= 103.3mm grav_b=(+0.07,-0.18,-0.98) r=0.61m +[headless_play] t= 13.60s step= 680 trunk_z= 108.0mm grav_b=(+0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 13.70s step= 685 trunk_z= 107.8mm grav_b=(-0.01,+0.08,-1.00) r=0.62m +[headless_play] t= 13.80s step= 690 trunk_z= 103.6mm grav_b=(+0.08,-0.21,-0.97) r=0.65m +[headless_play] t= 13.90s step= 695 trunk_z= 119.2mm grav_b=(+0.12,-0.28,-0.95) r=0.68m +[headless_play] t= 14.00s step= 700 trunk_z= 126.7mm grav_b=(+0.06,-0.39,-0.92) r=0.71m +[headless_play] t= 14.10s step= 705 trunk_z= 119.0mm grav_b=(+0.22,-0.48,-0.85) r=0.72m +[headless_play] t= 14.20s step= 710 trunk_z= 78.2mm grav_b=(+0.51,-0.75,-0.42) r=0.78m +[headless_play] RESET at t= 14.22s step= 711 (env termination, not a recovery) +[headless_play] t= 14.30s step= 715 trunk_z= 115.5mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 14.40s step= 720 trunk_z= 114.6mm grav_b=(+0.02,+0.05,-1.00) r=0.29m +[headless_play] t= 14.50s step= 725 trunk_z= 110.8mm grav_b=(+0.12,-0.09,-0.99) r=0.30m +[headless_play] t= 14.60s step= 730 trunk_z= 119.2mm grav_b=(+0.12,+0.03,-0.99) r=0.29m +[headless_play] t= 14.70s step= 735 trunk_z= 112.0mm grav_b=(+0.11,+0.02,-0.99) r=0.29m +[headless_play] t= 14.80s step= 740 trunk_z= 99.3mm grav_b=(+0.28,-0.24,-0.93) r=0.30m +[headless_play] t= 14.90s step= 745 trunk_z= 78.9mm grav_b=(+0.77,+0.31,-0.56) r=0.30m +[headless_play] RESET at t= 14.94s step= 747 (env termination, not a recovery) +[headless_play] t= 15.00s step= 750 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 114.4mm grav_b=(+0.05,-0.06,-1.00) r=0.59m +[headless_play] t= 15.20s step= 760 trunk_z= 114.1mm grav_b=(+0.06,+0.02,-1.00) r=0.60m +[headless_play] t= 15.30s step= 765 trunk_z= 109.2mm grav_b=(+0.02,+0.05,-1.00) r=0.60m +[headless_play] t= 15.40s step= 770 trunk_z= 111.4mm grav_b=(-0.01,-0.08,-1.00) r=0.61m +[headless_play] t= 15.50s step= 775 trunk_z= 109.8mm grav_b=(+0.04,-0.01,-1.00) r=0.62m +[headless_play] t= 15.60s step= 780 trunk_z= 105.4mm grav_b=(+0.04,+0.09,-1.00) r=0.62m +[headless_play] t= 15.70s step= 785 trunk_z= 110.7mm grav_b=(+0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 15.80s step= 790 trunk_z= 106.4mm grav_b=(+0.07,-0.11,-0.99) r=0.64m +[headless_play] t= 15.90s step= 795 trunk_z= 107.4mm grav_b=(+0.07,+0.05,-1.00) r=0.65m +[headless_play] t= 16.00s step= 800 trunk_z= 111.0mm grav_b=(+0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 16.10s step= 805 trunk_z= 108.6mm grav_b=(+0.07,-0.11,-0.99) r=0.66m +[headless_play] t= 16.20s step= 810 trunk_z= 109.1mm grav_b=(+0.04,+0.02,-1.00) r=0.67m +[headless_play] t= 16.30s step= 815 trunk_z= 111.5mm grav_b=(+0.04,+0.00,-1.00) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 108.2mm grav_b=(+0.07,-0.05,-1.00) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 106.9mm grav_b=(+0.05,+0.08,-1.00) r=0.69m +[headless_play] t= 16.60s step= 830 trunk_z= 111.3mm grav_b=(+0.02,-0.05,-1.00) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 109.2mm grav_b=(+0.05,-0.09,-0.99) r=0.71m +[headless_play] t= 16.80s step= 840 trunk_z= 106.1mm grav_b=(+0.04,+0.08,-1.00) r=0.71m +[headless_play] t= 16.90s step= 845 trunk_z= 110.5mm grav_b=(+0.00,-0.03,-1.00) r=0.71m +[headless_play] t= 17.00s step= 850 trunk_z= 111.5mm grav_b=(-0.06,+0.00,-1.00) r=0.69m +[headless_play] t= 17.10s step= 855 trunk_z= 106.1mm grav_b=(-0.07,+0.16,-0.98) r=0.67m +[headless_play] t= 17.20s step= 860 trunk_z= 113.7mm grav_b=(-0.02,+0.01,-1.00) r=0.66m +[headless_play] t= 17.30s step= 865 trunk_z= 104.0mm grav_b=(+0.07,-0.09,-0.99) r=0.64m +[headless_play] t= 17.40s step= 870 trunk_z= 102.7mm grav_b=(+0.05,+0.03,-1.00) r=0.64m +[headless_play] t= 17.50s step= 875 trunk_z= 109.2mm grav_b=(-0.01,-0.15,-0.99) r=0.65m +[headless_play] t= 17.60s step= 880 trunk_z= 107.6mm grav_b=(+0.03,-0.03,-1.00) r=0.65m +[headless_play] t= 17.70s step= 885 trunk_z= 107.8mm grav_b=(+0.06,+0.08,-1.00) r=0.66m +[headless_play] t= 17.80s step= 890 trunk_z= 107.0mm grav_b=(+0.04,-0.11,-0.99) r=0.67m +[headless_play] t= 17.90s step= 895 trunk_z= 107.8mm grav_b=(+0.06,+0.02,-1.00) r=0.68m +[headless_play] t= 18.00s step= 900 trunk_z= 107.9mm grav_b=(+0.07,+0.06,-1.00) r=0.69m +[headless_play] t= 18.10s step= 905 trunk_z= 107.6mm grav_b=(-0.01,-0.13,-0.99) r=0.70m +[headless_play] t= 18.20s step= 910 trunk_z= 109.3mm grav_b=(+0.05,-0.03,-1.00) r=0.71m +[headless_play] t= 18.30s step= 915 trunk_z= 105.3mm grav_b=(+0.03,+0.09,-1.00) r=0.72m +[headless_play] t= 18.40s step= 920 trunk_z= 110.7mm grav_b=(+0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 18.50s step= 925 trunk_z= 107.8mm grav_b=(+0.06,-0.07,-1.00) r=0.73m +[headless_play] t= 18.60s step= 930 trunk_z= 105.2mm grav_b=(+0.05,+0.08,-1.00) r=0.74m +[headless_play] t= 18.70s step= 935 trunk_z= 109.9mm grav_b=(+0.05,-0.04,-1.00) r=0.74m +[headless_play] t= 18.80s step= 940 trunk_z= 108.1mm grav_b=(+0.07,-0.11,-0.99) r=0.75m +[headless_play] t= 18.90s step= 945 trunk_z= 109.3mm grav_b=(+0.03,+0.04,-1.00) r=0.76m +[headless_play] t= 19.00s step= 950 trunk_z= 111.1mm grav_b=(+0.00,+0.00,-1.00) r=0.77m +[headless_play] t= 19.10s step= 955 trunk_z= 108.3mm grav_b=(+0.03,-0.05,-1.00) r=0.78m +[headless_play] t= 19.20s step= 960 trunk_z= 106.1mm grav_b=(+0.02,+0.07,-1.00) r=0.79m +[headless_play] t= 19.30s step= 965 trunk_z= 110.1mm grav_b=(+0.03,-0.03,-1.00) r=0.80m +[headless_play] t= 19.40s step= 970 trunk_z= 106.4mm grav_b=(+0.06,-0.11,-0.99) r=0.81m +[headless_play] t= 19.50s step= 975 trunk_z= 106.7mm grav_b=(+0.03,+0.07,-1.00) r=0.82m +[headless_play] t= 19.60s step= 980 trunk_z= 113.4mm grav_b=(-0.04,+0.07,-1.00) r=0.83m +[headless_play] t= 19.70s step= 985 trunk_z= 104.7mm grav_b=(+0.05,-0.15,-0.99) r=0.83m +[headless_play] t= 19.80s step= 990 trunk_z= 108.0mm grav_b=(+0.17,+0.09,-0.98) r=0.84m +[headless_play] t= 19.90s step= 995 trunk_z= 87.2mm grav_b=(+0.06,+0.28,-0.96) r=0.86m +[headless_play] t= 20.00s step=1000 trunk_z= 100.6mm grav_b=(+0.01,+0.07,-1.00) r=0.89m +[headless_play] t= 20.10s step=1005 trunk_z= 83.0mm grav_b=(-0.15,-0.24,-0.96) r=0.92m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..06553b7343627b3491ab0f9b105b6213510cdbb8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t14.log @@ -0,0 +1,216 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(+1.880,-18.350,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.2mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(-0.01,-0.02,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 115.6mm grav_b=(+0.04,+0.06,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 118.2mm grav_b=(+0.05,-0.11,-0.99) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 118.9mm grav_b=(+0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 0.60s step= 30 trunk_z= 113.5mm grav_b=(-0.04,+0.17,-0.98) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.01,-0.16,-0.99) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 108.9mm grav_b=(+0.27,+0.21,-0.94) r=0.33m +[headless_play] RESET at t= 0.90s step= 45 (env termination, not a recovery) +[headless_play] t= 0.90s step= 45 trunk_z= 127.1mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 1.00s step= 50 trunk_z= 115.4mm grav_b=(-0.00,-0.00,-1.00) r=0.20m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 1.20s step= 60 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 1.80s step= 90 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 1.90s step= 95 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.30s step= 115 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.40s step= 170 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.70s step= 185 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 3.90s step= 195 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 4.20s step= 210 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 4.30s step= 215 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.21m +[headless_play] t= 4.50s step= 225 trunk_z= 119.2mm grav_b=(+0.11,-0.01,-0.99) r=0.23m +[headless_play] t= 4.60s step= 230 trunk_z= 118.3mm grav_b=(+0.20,+0.07,-0.98) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 118.3mm grav_b=(+0.22,-0.14,-0.97) r=0.27m +[headless_play] t= 4.80s step= 240 trunk_z= 97.2mm grav_b=(+0.59,-0.17,-0.79) r=0.30m +[headless_play] RESET at t= 4.88s step= 244 (env termination, not a recovery) +[headless_play] t= 4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.00s step= 250 trunk_z= 115.8mm grav_b=(+0.02,+0.04,-1.00) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 115.0mm grav_b=(+0.06,-0.03,-1.00) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(+0.10,-0.06,-0.99) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(+0.07,+0.08,-0.99) r=0.53m +[headless_play] t= 5.40s step= 270 trunk_z= 120.6mm grav_b=(+0.03,-0.09,-1.00) r=0.55m +[headless_play] t= 5.50s step= 275 trunk_z= 115.5mm grav_b=(+0.03,-0.15,-0.99) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 117.3mm grav_b=(-0.04,+0.03,-1.00) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 111.4mm grav_b=(+0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 108.5mm grav_b=(+0.13,-0.17,-0.98) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 116.8mm grav_b=(+0.11,+0.00,-0.99) r=0.63m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(+0.02,+0.01,-1.00) r=0.64m +[headless_play] t= 6.10s step= 305 trunk_z= 105.9mm grav_b=(+0.10,-0.23,-0.97) r=0.66m +[headless_play] t= 6.20s step= 310 trunk_z= 123.8mm grav_b=(+0.11,-0.07,-0.99) r=0.68m +[headless_play] t= 6.30s step= 315 trunk_z= 99.9mm grav_b=(+0.14,-0.11,-0.98) r=0.71m +[headless_play] t= 6.40s step= 320 trunk_z= 73.4mm grav_b=(+0.48,-0.52,-0.70) r=0.73m +[headless_play] RESET at t= 6.48s step= 324 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 123.5mm grav_b=(-0.01,-0.00,-1.00) r=0.31m +[headless_play] t= 6.60s step= 330 trunk_z= 115.3mm grav_b=(+0.01,-0.05,-1.00) r=0.31m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(+0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 6.80s step= 340 trunk_z= 112.3mm grav_b=(+0.04,+0.07,-1.00) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 117.1mm grav_b=(+0.02,-0.08,-1.00) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 121.7mm grav_b=(+0.07,-0.06,-1.00) r=0.34m +[headless_play] t= 7.10s step= 355 trunk_z= 114.0mm grav_b=(+0.02,+0.10,-1.00) r=0.36m +[headless_play] t= 7.20s step= 360 trunk_z= 118.1mm grav_b=(+0.01,-0.02,-1.00) r=0.38m +[headless_play] t= 7.30s step= 365 trunk_z= 114.9mm grav_b=(+0.05,-0.10,-0.99) r=0.39m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(+0.00,+0.11,-0.99) r=0.41m +[headless_play] t= 7.50s step= 375 trunk_z= 118.5mm grav_b=(+0.06,+0.06,-1.00) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 110.9mm grav_b=(-0.02,-0.11,-0.99) r=0.46m +[headless_play] t= 7.70s step= 385 trunk_z= 113.3mm grav_b=(-0.03,+0.11,-0.99) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 115.7mm grav_b=(+0.09,+0.03,-1.00) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 109.1mm grav_b=(+0.26,-0.07,-0.96) r=0.54m +[headless_play] t= 8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.22,+0.25,-0.94) r=0.56m +[headless_play] t= 8.10s step= 405 trunk_z= 84.1mm grav_b=(+0.59,-0.43,-0.68) r=0.60m +[headless_play] RESET at t= 8.14s step= 407 (env termination, not a recovery) +[headless_play] t= 8.20s step= 410 trunk_z= 114.6mm grav_b=(-0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(-0.00,+0.05,-1.00) r=0.33m +[headless_play] t= 8.40s step= 420 trunk_z= 117.4mm grav_b=(+0.00,-0.06,-1.00) r=0.32m +[headless_play] t= 8.50s step= 425 trunk_z= 118.4mm grav_b=(+0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 8.60s step= 430 trunk_z= 115.0mm grav_b=(+0.09,+0.09,-0.99) r=0.30m +[headless_play] t= 8.70s step= 435 trunk_z= 119.5mm grav_b=(+0.05,-0.03,-1.00) r=0.29m +[headless_play] t= 8.80s step= 440 trunk_z= 117.0mm grav_b=(-0.01,-0.11,-0.99) r=0.26m +[headless_play] t= 8.90s step= 445 trunk_z= 113.2mm grav_b=(-0.04,+0.06,-1.00) r=0.25m +[headless_play] t= 9.00s step= 450 trunk_z= 118.0mm grav_b=(+0.02,+0.02,-1.00) r=0.24m +[headless_play] t= 9.10s step= 455 trunk_z= 114.9mm grav_b=(+0.00,-0.11,-0.99) r=0.23m +[headless_play] t= 9.20s step= 460 trunk_z= 117.6mm grav_b=(+0.01,+0.04,-1.00) r=0.21m +[headless_play] t= 9.30s step= 465 trunk_z= 118.9mm grav_b=(+0.02,+0.04,-1.00) r=0.19m +[headless_play] t= 9.40s step= 470 trunk_z= 113.7mm grav_b=(-0.01,-0.13,-0.99) r=0.17m +[headless_play] t= 9.50s step= 475 trunk_z= 118.2mm grav_b=(-0.01,-0.02,-1.00) r=0.15m +[headless_play] t= 9.60s step= 480 trunk_z= 115.4mm grav_b=(+0.05,+0.08,-1.00) r=0.14m +[headless_play] t= 9.70s step= 485 trunk_z= 117.7mm grav_b=(+0.02,-0.08,-1.00) r=0.12m +[headless_play] t= 9.80s step= 490 trunk_z= 118.2mm grav_b=(-0.02,-0.08,-1.00) r=0.10m +[headless_play] t= 9.90s step= 495 trunk_z= 113.6mm grav_b=(-0.03,+0.08,-1.00) r=0.08m +[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(+0.03,-0.06,-1.00) r=0.07m +[headless_play] t= 10.10s step= 505 trunk_z= 115.1mm grav_b=(+0.11,-0.10,-0.99) r=0.07m +[headless_play] t= 10.20s step= 510 trunk_z= 118.8mm grav_b=(+0.05,+0.13,-0.99) r=0.05m +[headless_play] t= 10.30s step= 515 trunk_z= 121.3mm grav_b=(-0.04,+0.14,-0.99) r=0.04m +[headless_play] t= 10.40s step= 520 trunk_z= 120.2mm grav_b=(-0.04,+0.04,-1.00) r=0.04m +[headless_play] t= 10.50s step= 525 trunk_z= 117.2mm grav_b=(+0.02,-0.07,-1.00) r=0.05m +[headless_play] t= 10.60s step= 530 trunk_z= 115.6mm grav_b=(+0.04,+0.13,-0.99) r=0.06m +[headless_play] t= 10.70s step= 535 trunk_z= 122.4mm grav_b=(+0.06,-0.03,-1.00) r=0.07m +[headless_play] t= 10.80s step= 540 trunk_z= 111.1mm grav_b=(+0.02,-0.17,-0.99) r=0.09m +[headless_play] t= 10.90s step= 545 trunk_z= 117.0mm grav_b=(-0.08,+0.03,-1.00) r=0.12m +[headless_play] t= 11.00s step= 550 trunk_z= 110.3mm grav_b=(+0.16,-0.04,-0.99) r=0.18m +[headless_play] t= 11.10s step= 555 trunk_z= 100.5mm grav_b=(+0.40,-0.00,-0.92) r=0.23m +[headless_play] t= 11.20s step= 560 trunk_z= 77.9mm grav_b=(+0.55,+0.60,-0.58) r=0.28m +[headless_play] RESET at t= 11.24s step= 562 (env termination, not a recovery) +[headless_play] t= 11.30s step= 565 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 11.40s step= 570 trunk_z= 114.5mm grav_b=(-0.02,+0.05,-1.00) r=0.18m +[headless_play] t= 11.50s step= 575 trunk_z= 117.0mm grav_b=(-0.06,-0.04,-1.00) r=0.18m +[headless_play] t= 11.60s step= 580 trunk_z= 113.8mm grav_b=(-0.07,-0.01,-1.00) r=0.19m +[headless_play] t= 11.70s step= 585 trunk_z= 114.5mm grav_b=(-0.06,+0.06,-1.00) r=0.19m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=0.20m +[headless_play] t= 11.90s step= 595 trunk_z= 115.0mm grav_b=(-0.06,-0.08,-0.99) r=0.21m +[headless_play] t= 12.00s step= 600 trunk_z= 114.0mm grav_b=(-0.07,+0.03,-1.00) r=0.22m +[headless_play] t= 12.10s step= 605 trunk_z= 114.7mm grav_b=(+0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 12.20s step= 610 trunk_z= 122.3mm grav_b=(+0.06,-0.09,-0.99) r=0.25m +[headless_play] t= 12.30s step= 615 trunk_z= 117.3mm grav_b=(+0.01,+0.03,-1.00) r=0.26m +[headless_play] t= 12.40s step= 620 trunk_z= 116.0mm grav_b=(-0.08,+0.26,-0.96) r=0.27m +[headless_play] t= 12.50s step= 625 trunk_z= 125.4mm grav_b=(-0.00,-0.00,-1.00) r=0.29m +[headless_play] t= 12.60s step= 630 trunk_z= 92.9mm grav_b=(+0.07,+0.26,-0.96) r=0.30m +[headless_play] t= 12.70s step= 635 trunk_z= 72.9mm grav_b=(+0.45,+0.47,-0.76) r=0.31m +[headless_play] RESET at t= 12.78s step= 639 (env termination, not a recovery) +[headless_play] t= 12.80s step= 640 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 12.90s step= 645 trunk_z= 115.8mm grav_b=(-0.02,-0.04,-1.00) r=0.51m +[headless_play] t= 13.00s step= 650 trunk_z= 116.1mm grav_b=(+0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 13.10s step= 655 trunk_z= 112.9mm grav_b=(+0.07,+0.09,-0.99) r=0.50m +[headless_play] t= 13.20s step= 660 trunk_z= 118.6mm grav_b=(+0.05,-0.17,-0.98) r=0.51m +[headless_play] t= 13.30s step= 665 trunk_z= 123.2mm grav_b=(+0.26,-0.01,-0.97) r=0.52m +[headless_play] t= 13.40s step= 670 trunk_z= 96.1mm grav_b=(+0.49,-0.04,-0.87) r=0.54m +[headless_play] RESET at t= 13.46s step= 673 (env termination, not a recovery) +[headless_play] t= 13.50s step= 675 trunk_z= 114.7mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 13.60s step= 680 trunk_z= 115.2mm grav_b=(+0.00,-0.02,-1.00) r=0.32m +[headless_play] t= 13.70s step= 685 trunk_z= 114.9mm grav_b=(+0.03,-0.06,-1.00) r=0.33m +[headless_play] t= 13.80s step= 690 trunk_z= 114.1mm grav_b=(+0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 13.90s step= 695 trunk_z= 111.6mm grav_b=(+0.02,+0.00,-1.00) r=0.32m +[headless_play] t= 14.00s step= 700 trunk_z= 110.9mm grav_b=(+0.06,-0.05,-1.00) r=0.32m +[headless_play] t= 14.10s step= 705 trunk_z= 111.3mm grav_b=(+0.08,-0.01,-1.00) r=0.32m +[headless_play] t= 14.20s step= 710 trunk_z= 107.5mm grav_b=(+0.09,+0.06,-0.99) r=0.31m +[headless_play] t= 14.30s step= 715 trunk_z= 110.6mm grav_b=(-0.00,-0.07,-1.00) r=0.32m +[headless_play] t= 14.40s step= 720 trunk_z= 107.8mm grav_b=(+0.07,-0.03,-1.00) r=0.32m +[headless_play] t= 14.50s step= 725 trunk_z= 107.6mm grav_b=(+0.05,+0.06,-1.00) r=0.32m +[headless_play] t= 14.60s step= 730 trunk_z= 109.5mm grav_b=(+0.02,-0.07,-1.00) r=0.32m +[headless_play] t= 14.70s step= 735 trunk_z= 107.2mm grav_b=(+0.07,-0.03,-1.00) r=0.32m +[headless_play] t= 14.80s step= 740 trunk_z= 106.0mm grav_b=(+0.05,+0.07,-1.00) r=0.31m +[headless_play] t= 14.90s step= 745 trunk_z= 109.8mm grav_b=(+0.00,-0.03,-1.00) r=0.30m +[headless_play] t= 15.00s step= 750 trunk_z= 107.3mm grav_b=(+0.04,-0.07,-1.00) r=0.31m +[headless_play] t= 15.10s step= 755 trunk_z= 109.7mm grav_b=(+0.04,+0.04,-1.00) r=0.31m +[headless_play] t= 15.20s step= 760 trunk_z= 104.3mm grav_b=(+0.03,+0.07,-1.00) r=0.29m +[headless_play] t= 15.30s step= 765 trunk_z= 108.8mm grav_b=(+0.06,-0.04,-1.00) r=0.30m +[headless_play] t= 15.40s step= 770 trunk_z= 106.7mm grav_b=(+0.14,-0.07,-0.99) r=0.31m +[headless_play] t= 15.50s step= 775 trunk_z= 109.7mm grav_b=(+0.08,+0.03,-1.00) r=0.31m +[headless_play] t= 15.60s step= 780 trunk_z= 108.8mm grav_b=(+0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 15.70s step= 785 trunk_z= 109.3mm grav_b=(+0.03,-0.07,-1.00) r=0.32m +[headless_play] t= 15.80s step= 790 trunk_z= 108.5mm grav_b=(+0.07,-0.03,-1.00) r=0.33m +[headless_play] t= 15.90s step= 795 trunk_z= 107.7mm grav_b=(+0.02,+0.07,-1.00) r=0.33m +[headless_play] t= 16.00s step= 800 trunk_z= 109.1mm grav_b=(+0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 106.3mm grav_b=(+0.09,-0.06,-0.99) r=0.34m +[headless_play] t= 16.20s step= 810 trunk_z= 107.8mm grav_b=(+0.04,+0.06,-1.00) r=0.34m +[headless_play] t= 16.30s step= 815 trunk_z= 106.2mm grav_b=(+0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 16.40s step= 820 trunk_z= 105.6mm grav_b=(+0.07,-0.09,-0.99) r=0.34m +[headless_play] t= 16.50s step= 825 trunk_z= 107.6mm grav_b=(+0.09,-0.00,-1.00) r=0.35m +[headless_play] t= 16.60s step= 830 trunk_z= 105.6mm grav_b=(+0.02,+0.06,-1.00) r=0.34m +[headless_play] t= 16.70s step= 835 trunk_z= 108.2mm grav_b=(+0.03,-0.05,-1.00) r=0.35m +[headless_play] t= 16.80s step= 840 trunk_z= 107.2mm grav_b=(+0.10,-0.05,-0.99) r=0.36m +[headless_play] t= 16.90s step= 845 trunk_z= 108.3mm grav_b=(+0.04,+0.07,-1.00) r=0.36m +[headless_play] t= 17.00s step= 850 trunk_z= 108.4mm grav_b=(-0.00,+0.00,-1.00) r=0.37m +[headless_play] t= 17.10s step= 855 trunk_z= 107.5mm grav_b=(+0.04,-0.09,-1.00) r=0.38m +[headless_play] t= 17.20s step= 860 trunk_z= 107.2mm grav_b=(+0.09,-0.01,-1.00) r=0.39m +[headless_play] t= 17.30s step= 865 trunk_z= 106.0mm grav_b=(+0.04,+0.08,-1.00) r=0.40m +[headless_play] t= 17.40s step= 870 trunk_z= 111.6mm grav_b=(-0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 17.50s step= 875 trunk_z= 108.9mm grav_b=(-0.04,-0.14,-0.99) r=0.42m +[headless_play] t= 17.60s step= 880 trunk_z= 108.6mm grav_b=(+0.04,+0.05,-1.00) r=0.42m +[headless_play] t= 17.70s step= 885 trunk_z= 107.4mm grav_b=(+0.08,+0.06,-0.99) r=0.42m +[headless_play] t= 17.80s step= 890 trunk_z= 106.8mm grav_b=(+0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 17.90s step= 895 trunk_z= 106.4mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 18.00s step= 900 trunk_z= 103.7mm grav_b=(+0.03,+0.08,-1.00) r=0.43m +[headless_play] t= 18.10s step= 905 trunk_z= 106.7mm grav_b=(+0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 18.20s step= 910 trunk_z= 100.2mm grav_b=(+0.03,-0.15,-0.99) r=0.44m +[headless_play] t= 18.30s step= 915 trunk_z= 104.2mm grav_b=(+0.05,-0.06,-1.00) r=0.44m +[headless_play] t= 18.40s step= 920 trunk_z= 101.9mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 18.50s step= 925 trunk_z= 109.1mm grav_b=(+0.04,-0.04,-1.00) r=0.43m +[headless_play] t= 18.60s step= 930 trunk_z= 101.8mm grav_b=(+0.07,-0.12,-0.99) r=0.43m +[headless_play] t= 18.70s step= 935 trunk_z= 105.0mm grav_b=(-0.01,+0.07,-1.00) r=0.41m +[headless_play] t= 18.80s step= 940 trunk_z= 109.2mm grav_b=(-0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 18.90s step= 945 trunk_z= 97.2mm grav_b=(+0.02,-0.13,-0.99) r=0.37m +[headless_play] t= 19.00s step= 950 trunk_z= 99.5mm grav_b=(+0.06,+0.03,-1.00) r=0.34m +[headless_play] t= 19.10s step= 955 trunk_z= 101.9mm grav_b=(+0.02,-0.16,-0.99) r=0.32m +[headless_play] t= 19.20s step= 960 trunk_z= 98.0mm grav_b=(+0.10,-0.01,-0.99) r=0.31m +[headless_play] t= 19.30s step= 965 trunk_z= 101.9mm grav_b=(+0.08,+0.03,-1.00) r=0.29m +[headless_play] t= 19.40s step= 970 trunk_z= 108.1mm grav_b=(-0.01,-0.12,-0.99) r=0.28m +[headless_play] t= 19.50s step= 975 trunk_z= 106.6mm grav_b=(+0.05,-0.08,-1.00) r=0.27m +[headless_play] t= 19.60s step= 980 trunk_z= 104.9mm grav_b=(+0.05,+0.09,-0.99) r=0.27m +[headless_play] t= 19.70s step= 985 trunk_z= 110.9mm grav_b=(+0.05,+0.01,-1.00) r=0.27m +[headless_play] t= 19.80s step= 990 trunk_z= 105.2mm grav_b=(+0.05,-0.15,-0.99) r=0.26m +[headless_play] t= 19.90s step= 995 trunk_z= 110.6mm grav_b=(+0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 20.00s step=1000 trunk_z= 108.3mm grav_b=(-0.01,+0.04,-1.00) r=0.26m +[headless_play] t= 20.10s step=1005 trunk_z= 107.8mm grav_b=(+0.00,-0.10,-0.99) r=0.26m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..fe7308344fb5f7b52ff133a796543ea1a978526f --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.880,-18.313,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.60s step= 180 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 116.4mm grav_b=(+0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 113.6mm grav_b=(+0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 109.2mm grav_b=(+0.01,-0.08,-1.00) r=0.34m +[headless_play] t= 5.70s step= 285 trunk_z= 111.7mm grav_b=(+0.04,+0.17,-0.99) r=0.35m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.07,+0.04,-1.00) r=0.35m +[headless_play] t= 5.90s step= 295 trunk_z= 106.4mm grav_b=(-0.07,-0.11,-0.99) r=0.35m +[headless_play] t= 6.00s step= 300 trunk_z= 108.6mm grav_b=(-0.08,+0.09,-0.99) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 114.2mm grav_b=(-0.03,+0.04,-1.00) r=0.29m +[headless_play] t= 6.20s step= 310 trunk_z= 107.1mm grav_b=(+0.03,-0.07,-1.00) r=0.26m +[headless_play] t= 6.30s step= 315 trunk_z= 110.3mm grav_b=(+0.05,+0.19,-0.98) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 126.2mm grav_b=(+0.07,+0.07,-0.99) r=0.22m +[headless_play] t= 6.50s step= 325 trunk_z= 89.5mm grav_b=(+0.05,+0.06,-1.00) r=0.20m +[headless_play] t= 6.60s step= 330 trunk_z= 102.1mm grav_b=(+0.08,+0.24,-0.97) r=0.18m +[headless_play] t= 6.70s step= 335 trunk_z= 94.6mm grav_b=(+0.25,+0.22,-0.94) r=0.15m +[headless_play] RESET at t= 6.80s step= 340 (env termination, not a recovery) +[headless_play] t= 6.80s step= 340 trunk_z= 127.4mm grav_b=(-0.00,-0.00,-1.00) r=0.26m +[headless_play] t= 6.90s step= 345 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.26m +[headless_play] t= 7.00s step= 350 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.26m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.26m +[headless_play] t= 7.20s step= 360 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.60s step= 380 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.70s step= 385 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 7.90s step= 395 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 8.00s step= 400 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 8.10s step= 405 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 8.50s step= 425 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 8.60s step= 430 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 8.80s step= 440 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 8.90s step= 445 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 9.10s step= 455 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 9.20s step= 460 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 9.30s step= 465 trunk_z= 117.7mm grav_b=(-0.00,+0.02,-1.00) r=0.26m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(+0.04,+0.02,-1.00) r=0.25m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(+0.06,+0.02,-1.00) r=0.25m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 9.80s step= 490 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.25m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.20s step= 510 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.80s step= 540 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 10.90s step= 545 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.20s step= 560 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.30s step= 565 trunk_z= 117.0mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.50s step= 575 trunk_z= 117.0mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(+0.05,+0.02,-1.00) r=0.25m +[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(+0.07,+0.02,-1.00) r=0.23m +[headless_play] t= 11.90s step= 595 trunk_z= 119.7mm grav_b=(+0.15,+0.05,-0.99) r=0.20m +[headless_play] t= 12.00s step= 600 trunk_z= 115.6mm grav_b=(+0.08,+0.08,-0.99) r=0.18m +[headless_play] t= 12.10s step= 605 trunk_z= 117.9mm grav_b=(-0.04,-0.04,-1.00) r=0.17m +[headless_play] t= 12.20s step= 610 trunk_z= 111.4mm grav_b=(-0.08,+0.04,-1.00) r=0.15m +[headless_play] t= 12.30s step= 615 trunk_z= 110.5mm grav_b=(+0.04,+0.15,-0.99) r=0.14m +[headless_play] t= 12.40s step= 620 trunk_z= 115.7mm grav_b=(+0.01,-0.03,-1.00) r=0.14m +[headless_play] t= 12.50s step= 625 trunk_z= 111.0mm grav_b=(+0.06,-0.02,-1.00) r=0.14m +[headless_play] t= 12.60s step= 630 trunk_z= 114.0mm grav_b=(+0.03,+0.19,-0.98) r=0.14m +[headless_play] t= 12.70s step= 635 trunk_z= 122.5mm grav_b=(+0.01,+0.04,-1.00) r=0.14m +[headless_play] t= 12.80s step= 640 trunk_z= 109.5mm grav_b=(-0.03,-0.08,-1.00) r=0.15m +[headless_play] t= 12.90s step= 645 trunk_z= 112.8mm grav_b=(-0.11,+0.12,-0.99) r=0.15m +[headless_play] t= 13.00s step= 650 trunk_z= 111.4mm grav_b=(+0.04,+0.05,-1.00) r=0.14m +[headless_play] t= 13.10s step= 655 trunk_z= 106.7mm grav_b=(+0.18,-0.10,-0.98) r=0.15m +[headless_play] t= 13.20s step= 660 trunk_z= 120.2mm grav_b=(+0.14,+0.15,-0.98) r=0.14m +[headless_play] t= 13.30s step= 665 trunk_z= 123.0mm grav_b=(+0.09,+0.10,-0.99) r=0.15m +[headless_play] t= 13.40s step= 670 trunk_z= 110.4mm grav_b=(+0.21,-0.20,-0.96) r=0.16m +[headless_play] t= 13.50s step= 675 trunk_z= 85.5mm grav_b=(+0.17,+0.24,-0.96) r=0.15m +[headless_play] t= 13.60s step= 680 trunk_z= 83.4mm grav_b=(+0.58,+0.12,-0.81) r=0.15m +[headless_play] RESET at t= 13.66s step= 683 (env termination, not a recovery) +[headless_play] t= 13.70s step= 685 trunk_z= 114.6mm grav_b=(-0.02,+0.00,-1.00) r=0.45m +[headless_play] t= 13.80s step= 690 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 13.90s step= 695 trunk_z= 116.7mm grav_b=(+0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.00s step= 700 trunk_z= 116.7mm grav_b=(-0.00,+0.02,-1.00) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.50s step= 725 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.60s step= 730 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.70s step= 735 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.80s step= 740 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.10s step= 755 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.20s step= 760 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.30s step= 765 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.40s step= 770 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.50s step= 775 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.70s step= 785 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.80s step= 790 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.00s step= 800 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.10s step= 805 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.40s step= 820 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.70s step= 835 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(-0.02,+0.02,-1.00) r=0.46m +[headless_play] t= 16.90s step= 845 trunk_z= 116.9mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 17.00s step= 850 trunk_z= 118.2mm grav_b=(+0.03,+0.04,-1.00) r=0.48m +[headless_play] t= 17.10s step= 855 trunk_z= 117.2mm grav_b=(+0.02,+0.03,-1.00) r=0.48m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(-0.00,+0.02,-1.00) r=0.48m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.40s step= 870 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.80s step= 890 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.90s step= 895 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(-0.00,+0.02,-1.00) r=0.47m +[headless_play] t= 18.10s step= 905 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.20s step= 910 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.30s step= 915 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.40s step= 920 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.50s step= 925 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.80s step= 940 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.90s step= 945 trunk_z= 116.7mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 19.00s step= 950 trunk_z= 113.5mm grav_b=(+0.04,+0.05,-1.00) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 118.8mm grav_b=(+0.00,-0.08,-1.00) r=0.47m +[headless_play] t= 19.20s step= 960 trunk_z= 114.0mm grav_b=(-0.05,+0.02,-1.00) r=0.47m +[headless_play] t= 19.30s step= 965 trunk_z= 111.7mm grav_b=(-0.04,+0.10,-0.99) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 119.3mm grav_b=(+0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 19.60s step= 980 trunk_z= 114.7mm grav_b=(+0.06,+0.06,-1.00) r=0.47m +[headless_play] t= 19.70s step= 985 trunk_z= 109.0mm grav_b=(+0.00,-0.11,-0.99) r=0.47m +[headless_play] t= 19.80s step= 990 trunk_z= 113.8mm grav_b=(-0.16,+0.09,-0.98) r=0.47m +[headless_play] t= 19.90s step= 995 trunk_z= 107.9mm grav_b=(-0.00,-0.08,-1.00) r=0.48m +[headless_play] t= 20.00s step=1000 trunk_z= 112.5mm grav_b=(-0.04,+0.10,-0.99) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 111.7mm grav_b=(+0.02,-0.00,-1.00) r=0.49m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..f22acba1ff631de60329497f0d828c8a20aab429 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t2.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.528,-17.859,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.5mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.06,-0.01,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(+0.06,-0.01,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 117.1mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 117.2mm grav_b=(+0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 117.2mm grav_b=(+0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 116.7mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(+0.07,+0.00,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.07,+0.00,-1.00) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 117.1mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 117.0mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 117.2mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 117.2mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 117.1mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 117.2mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 117.2mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.70s step= 235 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.30s step= 265 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.70s step= 285 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 5.90s step= 295 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 6.00s step= 300 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.50m +[headless_play] t= 6.10s step= 305 trunk_z= 117.6mm grav_b=(+0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 117.8mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 117.4mm grav_b=(-0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 6.60s step= 330 trunk_z= 117.4mm grav_b=(+0.06,+0.00,-1.00) r=0.55m +[headless_play] t= 6.70s step= 335 trunk_z= 118.3mm grav_b=(+0.09,+0.01,-1.00) r=0.55m +[headless_play] t= 6.80s step= 340 trunk_z= 118.9mm grav_b=(+0.12,+0.01,-0.99) r=0.55m +[headless_play] t= 6.90s step= 345 trunk_z= 119.3mm grav_b=(+0.15,+0.01,-0.99) r=0.55m +[headless_play] t= 7.00s step= 350 trunk_z= 114.3mm grav_b=(+0.17,-0.10,-0.98) r=0.55m +[headless_play] t= 7.10s step= 355 trunk_z= 124.7mm grav_b=(+0.05,+0.02,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 110.6mm grav_b=(-0.05,+0.15,-0.99) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 109.5mm grav_b=(-0.16,+0.02,-0.99) r=0.54m +[headless_play] t= 7.40s step= 370 trunk_z= 104.7mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 7.50s step= 375 trunk_z= 108.0mm grav_b=(+0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(+0.07,-0.08,-0.99) r=0.56m +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(+0.09,+0.09,-0.99) r=0.57m +[headless_play] t= 7.80s step= 390 trunk_z= 122.0mm grav_b=(-0.04,-0.03,-1.00) r=0.59m +[headless_play] t= 7.90s step= 395 trunk_z= 116.0mm grav_b=(-0.05,-0.06,-1.00) r=0.61m +[headless_play] t= 8.00s step= 400 trunk_z= 114.9mm grav_b=(+0.03,+0.01,-1.00) r=0.62m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(+0.07,-0.02,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 115.0mm grav_b=(+0.10,+0.09,-0.99) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 116.1mm grav_b=(+0.05,-0.04,-1.00) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 107.5mm grav_b=(-0.13,-0.16,-0.98) r=0.67m +[headless_play] t= 8.50s step= 425 trunk_z= 110.6mm grav_b=(-0.13,-0.01,-0.99) r=0.69m +[headless_play] t= 8.60s step= 430 trunk_z= 109.4mm grav_b=(+0.07,-0.19,-0.98) r=0.69m +[headless_play] t= 8.70s step= 435 trunk_z= 122.8mm grav_b=(+0.07,-0.12,-0.99) r=0.70m +[headless_play] t= 8.80s step= 440 trunk_z= 113.3mm grav_b=(+0.07,+0.05,-1.00) r=0.70m +[headless_play] t= 8.90s step= 445 trunk_z= 119.1mm grav_b=(-0.01,-0.13,-0.99) r=0.71m +[headless_play] t= 9.00s step= 450 trunk_z= 114.8mm grav_b=(-0.07,-0.10,-0.99) r=0.73m +[headless_play] t= 9.10s step= 455 trunk_z= 113.8mm grav_b=(-0.08,+0.07,-0.99) r=0.73m +[headless_play] t= 9.20s step= 460 trunk_z= 114.5mm grav_b=(+0.08,-0.07,-0.99) r=0.74m +[headless_play] t= 9.30s step= 465 trunk_z= 120.2mm grav_b=(+0.06,+0.09,-0.99) r=0.74m +[headless_play] t= 9.40s step= 470 trunk_z= 122.1mm grav_b=(-0.08,+0.02,-1.00) r=0.74m +[headless_play] t= 9.50s step= 475 trunk_z= 114.7mm grav_b=(-0.06,-0.07,-1.00) r=0.76m +[headless_play] t= 9.60s step= 480 trunk_z= 115.1mm grav_b=(+0.07,+0.08,-0.99) r=0.76m +[headless_play] t= 9.70s step= 485 trunk_z= 117.6mm grav_b=(+0.07,+0.05,-1.00) r=0.76m +[headless_play] t= 9.80s step= 490 trunk_z= 117.2mm grav_b=(+0.08,-0.02,-1.00) r=0.77m +[headless_play] t= 9.90s step= 495 trunk_z= 116.6mm grav_b=(+0.10,+0.06,-0.99) r=0.78m +[headless_play] t= 10.00s step= 500 trunk_z= 120.8mm grav_b=(+0.03,-0.08,-1.00) r=0.79m +[headless_play] t= 10.10s step= 505 trunk_z= 117.7mm grav_b=(-0.03,-0.05,-1.00) r=0.81m +[headless_play] t= 10.20s step= 510 trunk_z= 115.0mm grav_b=(-0.01,+0.02,-1.00) r=0.81m +[headless_play] t= 10.30s step= 515 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) r=0.82m +[headless_play] t= 10.40s step= 520 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.82m +[headless_play] t= 10.50s step= 525 trunk_z= 115.5mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 10.60s step= 530 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=0.81m +[headless_play] t= 10.70s step= 535 trunk_z= 115.6mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 10.80s step= 540 trunk_z= 115.7mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 11.00s step= 550 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.81m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 11.30s step= 565 trunk_z= 119.3mm grav_b=(+0.07,+0.02,-1.00) r=0.84m +[headless_play] t= 11.40s step= 570 trunk_z= 117.8mm grav_b=(+0.16,-0.09,-0.98) r=0.86m +[headless_play] t= 11.50s step= 575 trunk_z= 117.2mm grav_b=(+0.08,+0.01,-1.00) r=0.88m +[headless_play] t= 11.60s step= 580 trunk_z= 96.0mm grav_b=(+0.10,-0.29,-0.95) r=0.92m +[headless_play] RESET at t= 11.70s step= 585 (env termination, not a recovery) +[headless_play] t= 11.70s step= 585 trunk_z= 125.3mm grav_b=(+0.00,-0.00,-1.00) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 115.9mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(+0.05,-0.01,-1.00) r=0.53m +[headless_play] t= 12.00s step= 600 trunk_z= 118.4mm grav_b=(+0.06,-0.01,-1.00) r=0.53m +[headless_play] t= 12.10s step= 605 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.53m +[headless_play] t= 12.20s step= 610 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 12.50s step= 625 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 12.60s step= 630 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 12.70s step= 635 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 12.80s step= 640 trunk_z= 117.9mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 12.90s step= 645 trunk_z= 117.9mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 13.00s step= 650 trunk_z= 117.9mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 13.10s step= 655 trunk_z= 118.0mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 13.20s step= 660 trunk_z= 118.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 13.30s step= 665 trunk_z= 118.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 13.40s step= 670 trunk_z= 118.1mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 13.50s step= 675 trunk_z= 118.1mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 13.60s step= 680 trunk_z= 118.2mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 13.70s step= 685 trunk_z= 118.2mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 13.80s step= 690 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 13.90s step= 695 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.00s step= 700 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.10s step= 705 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.20s step= 710 trunk_z= 118.3mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 118.4mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 118.4mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.50s step= 725 trunk_z= 118.5mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 118.5mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 118.6mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 118.5mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 118.7mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 118.8mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 118.7mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 117.8mm grav_b=(+0.05,-0.03,-1.00) r=0.53m +[headless_play] t= 15.50s step= 775 trunk_z= 117.0mm grav_b=(+0.08,+0.02,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 112.7mm grav_b=(+0.05,+0.03,-1.00) r=0.56m +[headless_play] t= 15.70s step= 785 trunk_z= 112.8mm grav_b=(+0.06,-0.10,-0.99) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 117.1mm grav_b=(+0.11,-0.01,-0.99) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 113.4mm grav_b=(+0.05,+0.06,-1.00) r=0.62m +[headless_play] t= 16.00s step= 800 trunk_z= 110.1mm grav_b=(+0.07,-0.06,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(+0.10,+0.04,-0.99) r=0.66m +[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(+0.06,+0.02,-1.00) r=0.68m +[headless_play] t= 16.30s step= 815 trunk_z= 112.5mm grav_b=(+0.04,-0.12,-0.99) r=0.70m +[headless_play] t= 16.40s step= 820 trunk_z= 120.4mm grav_b=(+0.08,-0.02,-1.00) r=0.72m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(+0.06,+0.05,-1.00) r=0.74m +[headless_play] t= 16.60s step= 830 trunk_z= 114.8mm grav_b=(+0.02,-0.12,-0.99) r=0.76m +[headless_play] t= 16.70s step= 835 trunk_z= 113.0mm grav_b=(+0.03,+0.03,-1.00) r=0.79m +[headless_play] t= 16.80s step= 840 trunk_z= 116.7mm grav_b=(+0.07,-0.08,-0.99) r=0.81m +[headless_play] t= 16.90s step= 845 trunk_z= 115.1mm grav_b=(+0.13,-0.10,-0.99) r=0.82m +[headless_play] t= 17.00s step= 850 trunk_z= 111.8mm grav_b=(+0.05,+0.14,-0.99) r=0.84m +[headless_play] t= 17.10s step= 855 trunk_z= 119.5mm grav_b=(+0.04,-0.04,-1.00) r=0.86m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(-0.05,-0.04,-1.00) r=0.89m +[headless_play] t= 17.30s step= 865 trunk_z= 110.3mm grav_b=(-0.20,+0.08,-0.98) r=0.85m +[headless_play] t= 17.40s step= 870 trunk_z= 106.3mm grav_b=(-0.21,-0.10,-0.97) r=0.82m +[headless_play] t= 17.50s step= 875 trunk_z= 90.8mm grav_b=(-0.37,+0.05,-0.93) r=0.78m +[headless_play] t= 17.60s step= 880 trunk_z= 59.0mm grav_b=(-0.62,-0.66,-0.42) r=0.76m +[headless_play] RESET at t= 17.64s step= 882 (env termination, not a recovery) +[headless_play] t= 17.70s step= 885 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) r=0.09m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(+0.03,-0.04,-1.00) r=0.08m +[headless_play] t= 17.90s step= 895 trunk_z= 114.7mm grav_b=(+0.08,+0.02,-1.00) r=0.08m +[headless_play] t= 18.00s step= 900 trunk_z= 110.1mm grav_b=(+0.09,+0.03,-0.99) r=0.08m +[headless_play] t= 18.10s step= 905 trunk_z= 110.2mm grav_b=(+0.00,-0.10,-0.99) r=0.07m +[headless_play] t= 18.20s step= 910 trunk_z= 110.8mm grav_b=(+0.07,+0.04,-1.00) r=0.07m +[headless_play] t= 18.30s step= 915 trunk_z= 112.8mm grav_b=(+0.08,+0.03,-1.00) r=0.08m +[headless_play] t= 18.40s step= 920 trunk_z= 108.9mm grav_b=(+0.07,-0.16,-0.99) r=0.08m +[headless_play] t= 18.50s step= 925 trunk_z= 119.8mm grav_b=(+0.04,-0.01,-1.00) r=0.09m +[headless_play] t= 18.60s step= 930 trunk_z= 113.6mm grav_b=(-0.04,+0.07,-1.00) r=0.10m +[headless_play] t= 18.70s step= 935 trunk_z= 110.5mm grav_b=(-0.13,-0.11,-0.99) r=0.12m +[headless_play] t= 18.80s step= 940 trunk_z= 112.5mm grav_b=(-0.04,+0.06,-1.00) r=0.15m +[headless_play] t= 18.90s step= 945 trunk_z= 111.2mm grav_b=(+0.05,+0.08,-1.00) r=0.17m +[headless_play] t= 19.00s step= 950 trunk_z= 112.2mm grav_b=(+0.02,-0.12,-0.99) r=0.18m +[headless_play] t= 19.10s step= 955 trunk_z= 122.6mm grav_b=(+0.07,-0.02,-1.00) r=0.19m +[headless_play] t= 19.20s step= 960 trunk_z= 113.7mm grav_b=(-0.01,+0.07,-1.00) r=0.21m +[headless_play] t= 19.30s step= 965 trunk_z= 112.2mm grav_b=(-0.12,-0.12,-0.99) r=0.24m +[headless_play] t= 19.40s step= 970 trunk_z= 118.2mm grav_b=(-0.09,+0.00,-1.00) r=0.27m +[headless_play] t= 19.50s step= 975 trunk_z= 109.0mm grav_b=(-0.09,+0.11,-0.99) r=0.29m +[headless_play] t= 19.60s step= 980 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) r=0.32m +[headless_play] t= 19.70s step= 985 trunk_z= 113.8mm grav_b=(+0.16,+0.11,-0.98) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 115.7mm grav_b=(+0.15,-0.17,-0.97) r=0.35m +[headless_play] t= 19.90s step= 995 trunk_z= 89.8mm grav_b=(+0.58,+0.09,-0.81) r=0.38m +[headless_play] RESET at t= 19.96s step= 998 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=0.04m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.04m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..7a0063a190f416e3a25b2d1745d48d25119a1f5d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t3.log @@ -0,0 +1,216 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(+1.589,-17.815,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 124.8mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.00,+0.05,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.03,-0.04,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 118.8mm grav_b=(+0.07,-0.07,-0.99) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 115.1mm grav_b=(+0.01,+0.07,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(+0.00,-0.09,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 121.3mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(+0.00,+0.07,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 111.8mm grav_b=(+0.04,-0.09,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 113.2mm grav_b=(+0.06,+0.11,-0.99) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 120.0mm grav_b=(+0.12,-0.03,-0.99) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 94.7mm grav_b=(+0.12,-0.08,-0.99) r=0.57m +[headless_play] t= 1.20s step= 60 trunk_z= 99.6mm grav_b=(-0.10,-0.07,-0.99) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 111.1mm grav_b=(-0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 1.40s step= 70 trunk_z= 117.3mm grav_b=(-0.04,-0.02,-1.00) r=0.58m +[headless_play] t= 1.50s step= 75 trunk_z= 110.5mm grav_b=(-0.02,-0.12,-0.99) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(-0.04,+0.01,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 115.6mm grav_b=(+0.04,+0.00,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 116.9mm grav_b=(+0.11,-0.07,-0.99) r=0.57m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(-0.04,+0.10,-0.99) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 119.4mm grav_b=(-0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(+0.06,-0.04,-1.00) r=0.54m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(+0.07,+0.11,-0.99) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 119.5mm grav_b=(+0.08,-0.17,-0.98) r=0.52m +[headless_play] t= 2.40s step= 120 trunk_z= 112.6mm grav_b=(+0.10,-0.14,-0.99) r=0.51m +[headless_play] t= 2.50s step= 125 trunk_z= 112.6mm grav_b=(-0.07,+0.13,-0.99) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 117.3mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 113.7mm grav_b=(+0.10,-0.12,-0.99) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(+0.09,+0.01,-1.00) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 121.9mm grav_b=(-0.03,+0.00,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 112.8mm grav_b=(-0.17,-0.18,-0.97) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 109.9mm grav_b=(-0.25,-0.03,-0.97) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 93.5mm grav_b=(+0.04,-0.31,-0.95) r=0.43m +[headless_play] t= 3.30s step= 165 trunk_z= 83.0mm grav_b=(+0.06,-0.49,-0.87) r=0.43m +[headless_play] t= 3.40s step= 170 trunk_z= 85.0mm grav_b=(+0.07,-0.39,-0.92) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 72.5mm grav_b=(-0.14,-0.73,-0.67) r=0.46m +[headless_play] RESET at t= 3.58s step= 179 (env termination, not a recovery) +[headless_play] t= 3.60s step= 180 trunk_z= 123.3mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 3.70s step= 185 trunk_z= 115.9mm grav_b=(-0.02,+0.04,-1.00) r=0.25m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(-0.01,-0.03,-1.00) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 125.4mm grav_b=(+0.13,+0.00,-0.99) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 96.5mm grav_b=(+0.15,-0.11,-0.98) r=0.16m +[headless_play] t= 4.10s step= 205 trunk_z= 85.9mm grav_b=(+0.24,-0.45,-0.86) r=0.11m +[headless_play] RESET at t= 4.20s step= 210 (env termination, not a recovery) +[headless_play] t= 4.20s step= 210 trunk_z= 125.6mm grav_b=(+0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 4.30s step= 215 trunk_z= 116.8mm grav_b=(-0.03,-0.05,-1.00) r=0.46m +[headless_play] t= 4.40s step= 220 trunk_z= 116.7mm grav_b=(-0.02,-0.02,-1.00) r=0.47m +[headless_play] t= 4.50s step= 225 trunk_z= 112.2mm grav_b=(-0.07,+0.08,-0.99) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 119.1mm grav_b=(-0.12,-0.05,-0.99) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 4.80s step= 240 trunk_z= 114.3mm grav_b=(+0.02,+0.08,-1.00) r=0.45m +[headless_play] t= 4.90s step= 245 trunk_z= 119.4mm grav_b=(-0.03,-0.08,-1.00) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(+0.05,-0.18,-0.98) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 127.4mm grav_b=(+0.00,+0.02,-1.00) r=0.42m +[headless_play] t= 5.20s step= 260 trunk_z= 109.8mm grav_b=(-0.07,-0.01,-1.00) r=0.41m +[headless_play] t= 5.30s step= 265 trunk_z= 104.4mm grav_b=(-0.15,-0.21,-0.97) r=0.41m +[headless_play] t= 5.40s step= 270 trunk_z= 120.5mm grav_b=(+0.02,+0.11,-0.99) r=0.40m +[headless_play] t= 5.50s step= 275 trunk_z= 95.6mm grav_b=(+0.15,-0.23,-0.96) r=0.40m +[headless_play] t= 5.60s step= 280 trunk_z= 42.3mm grav_b=(-0.09,-0.95,-0.30) r=0.42m +[headless_play] RESET at t= 5.62s step= 281 (env termination, not a recovery) +[headless_play] t= 5.70s step= 285 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(+0.03,-0.03,-1.00) r=0.49m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.07,+0.02,-1.00) r=0.50m +[headless_play] t= 6.00s step= 300 trunk_z= 108.9mm grav_b=(+0.02,+0.11,-0.99) r=0.50m +[headless_play] t= 6.10s step= 305 trunk_z= 112.3mm grav_b=(+0.03,-0.03,-1.00) r=0.51m +[headless_play] t= 6.20s step= 310 trunk_z= 105.9mm grav_b=(+0.05,-0.07,-1.00) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 107.2mm grav_b=(+0.03,+0.11,-0.99) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 109.5mm grav_b=(+0.05,+0.03,-1.00) r=0.52m +[headless_play] t= 6.50s step= 325 trunk_z= 104.5mm grav_b=(+0.07,-0.11,-0.99) r=0.53m +[headless_play] t= 6.60s step= 330 trunk_z= 110.6mm grav_b=(+0.05,+0.06,-1.00) r=0.53m +[headless_play] t= 6.70s step= 335 trunk_z= 107.7mm grav_b=(+0.07,+0.08,-0.99) r=0.53m +[headless_play] t= 6.80s step= 340 trunk_z= 105.5mm grav_b=(+0.05,-0.11,-0.99) r=0.54m +[headless_play] t= 6.90s step= 345 trunk_z= 109.5mm grav_b=(+0.06,-0.01,-1.00) r=0.55m +[headless_play] t= 7.00s step= 350 trunk_z= 106.6mm grav_b=(+0.05,+0.10,-0.99) r=0.56m +[headless_play] t= 7.10s step= 355 trunk_z= 111.9mm grav_b=(+0.06,-0.03,-1.00) r=0.57m +[headless_play] t= 7.20s step= 360 trunk_z= 109.6mm grav_b=(+0.08,-0.04,-1.00) r=0.58m +[headless_play] t= 7.30s step= 365 trunk_z= 105.2mm grav_b=(+0.05,+0.11,-0.99) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 112.4mm grav_b=(+0.04,-0.01,-1.00) r=0.58m +[headless_play] t= 7.50s step= 375 trunk_z= 105.7mm grav_b=(+0.07,-0.05,-1.00) r=0.59m +[headless_play] t= 7.60s step= 380 trunk_z= 104.4mm grav_b=(+0.04,+0.13,-0.99) r=0.60m +[headless_play] t= 7.70s step= 385 trunk_z= 112.0mm grav_b=(+0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 7.80s step= 390 trunk_z= 104.6mm grav_b=(+0.01,-0.09,-1.00) r=0.61m +[headless_play] t= 7.90s step= 395 trunk_z= 106.9mm grav_b=(+0.03,+0.07,-1.00) r=0.62m +[headless_play] t= 8.00s step= 400 trunk_z= 109.1mm grav_b=(+0.03,+0.00,-1.00) r=0.62m +[headless_play] t= 8.10s step= 405 trunk_z= 110.7mm grav_b=(+0.02,-0.08,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 107.1mm grav_b=(+0.07,+0.03,-1.00) r=0.64m +[headless_play] t= 8.30s step= 415 trunk_z= 107.3mm grav_b=(+0.05,+0.09,-0.99) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 110.7mm grav_b=(+0.04,-0.02,-1.00) r=0.65m +[headless_play] t= 8.50s step= 425 trunk_z= 108.0mm grav_b=(+0.05,-0.03,-1.00) r=0.66m +[headless_play] t= 8.60s step= 430 trunk_z= 106.0mm grav_b=(+0.01,+0.13,-0.99) r=0.68m +[headless_play] t= 8.70s step= 435 trunk_z= 105.3mm grav_b=(+0.00,-0.07,-1.00) r=0.71m +[headless_play] t= 8.80s step= 440 trunk_z= 113.1mm grav_b=(+0.02,+0.05,-1.00) r=0.74m +[headless_play] t= 8.90s step= 445 trunk_z= 106.9mm grav_b=(+0.01,+0.08,-1.00) r=0.76m +[headless_play] t= 9.00s step= 450 trunk_z= 110.5mm grav_b=(+0.03,-0.08,-1.00) r=0.79m +[headless_play] t= 9.10s step= 455 trunk_z= 118.0mm grav_b=(+0.00,+0.04,-1.00) r=0.80m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.82m +[headless_play] t= 9.30s step= 465 trunk_z= 110.6mm grav_b=(+0.01,-0.11,-0.99) r=0.84m +[headless_play] t= 9.40s step= 470 trunk_z= 116.6mm grav_b=(+0.03,+0.04,-1.00) r=0.85m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(+0.05,+0.08,-1.00) r=0.87m +[headless_play] t= 9.60s step= 480 trunk_z= 114.9mm grav_b=(+0.03,-0.06,-1.00) r=0.89m +[headless_play] t= 9.70s step= 485 trunk_z= 102.1mm grav_b=(-0.03,-0.23,-0.97) r=0.91m +[headless_play] t= 9.80s step= 490 trunk_z= 105.2mm grav_b=(-0.03,-0.30,-0.95) r=0.94m +[headless_play] t= 9.90s step= 495 trunk_z= 101.8mm grav_b=(+0.08,-0.28,-0.96) r=0.95m +[headless_play] t= 10.00s step= 500 trunk_z= 93.7mm grav_b=(+0.27,-0.28,-0.92) r=0.98m +[headless_play] t= 10.10s step= 505 trunk_z= 100.3mm grav_b=(+0.31,-0.19,-0.93) r=1.01m +[headless_play] t= 10.20s step= 510 trunk_z= 80.7mm grav_b=(+0.78,+0.08,-0.63) r=1.04m +[headless_play] RESET at t= 10.26s step= 513 (env termination, not a recovery) +[headless_play] t= 10.30s step= 515 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 115.7mm grav_b=(-0.03,+0.05,-1.00) r=0.52m +[headless_play] t= 10.50s step= 525 trunk_z= 115.9mm grav_b=(-0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 10.70s step= 535 trunk_z= 112.4mm grav_b=(-0.02,+0.08,-1.00) r=0.54m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(-0.07,-0.16,-0.99) r=0.56m +[headless_play] t= 10.90s step= 545 trunk_z= 120.2mm grav_b=(+0.06,-0.07,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 112.4mm grav_b=(-0.03,+0.08,-1.00) r=0.59m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(-0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 11.20s step= 560 trunk_z= 122.0mm grav_b=(-0.00,-0.14,-0.99) r=0.62m +[headless_play] t= 11.30s step= 565 trunk_z= 122.8mm grav_b=(-0.04,-0.07,-1.00) r=0.63m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.05,+0.02,-1.00) r=0.63m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(-0.02,-0.14,-0.99) r=0.64m +[headless_play] t= 11.60s step= 580 trunk_z= 120.3mm grav_b=(+0.01,-0.05,-1.00) r=0.65m +[headless_play] t= 11.70s step= 585 trunk_z= 110.3mm grav_b=(-0.12,+0.06,-0.99) r=0.67m +[headless_play] t= 11.80s step= 590 trunk_z= 108.6mm grav_b=(-0.18,-0.09,-0.98) r=0.69m +[headless_play] t= 11.90s step= 595 trunk_z= 106.8mm grav_b=(-0.02,-0.00,-1.00) r=0.70m +[headless_play] t= 12.00s step= 600 trunk_z= 98.8mm grav_b=(+0.04,+0.11,-0.99) r=0.70m +[headless_play] t= 12.10s step= 605 trunk_z= 108.9mm grav_b=(+0.11,-0.07,-0.99) r=0.70m +[headless_play] t= 12.20s step= 610 trunk_z= 125.8mm grav_b=(+0.08,-0.08,-0.99) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 112.0mm grav_b=(-0.03,+0.09,-1.00) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 103.9mm grav_b=(-0.27,-0.06,-0.96) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 108.6mm grav_b=(-0.02,+0.04,-1.00) r=0.72m +[headless_play] t= 12.60s step= 630 trunk_z= 108.3mm grav_b=(+0.08,+0.17,-0.98) r=0.72m +[headless_play] t= 12.70s step= 635 trunk_z= 123.3mm grav_b=(+0.04,-0.05,-1.00) r=0.71m +[headless_play] t= 12.80s step= 640 trunk_z= 118.8mm grav_b=(+0.09,-0.12,-0.99) r=0.71m +[headless_play] t= 12.90s step= 645 trunk_z= 126.5mm grav_b=(+0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 13.00s step= 650 trunk_z= 110.7mm grav_b=(-0.12,-0.01,-0.99) r=0.73m +[headless_play] t= 13.10s step= 655 trunk_z= 109.4mm grav_b=(-0.16,-0.06,-0.99) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 114.2mm grav_b=(+0.01,+0.03,-1.00) r=0.73m +[headless_play] t= 13.30s step= 665 trunk_z= 109.7mm grav_b=(-0.03,+0.08,-1.00) r=0.74m +[headless_play] t= 13.40s step= 670 trunk_z= 119.1mm grav_b=(+0.04,-0.17,-0.98) r=0.74m +[headless_play] t= 13.50s step= 675 trunk_z= 128.3mm grav_b=(+0.23,-0.10,-0.97) r=0.74m +[headless_play] t= 13.60s step= 680 trunk_z= 112.9mm grav_b=(+0.21,-0.06,-0.98) r=0.75m +[headless_play] t= 13.70s step= 685 trunk_z= 75.7mm grav_b=(+0.32,-0.86,-0.40) r=0.75m +[headless_play] RESET at t= 13.72s step= 686 (env termination, not a recovery) +[headless_play] t= 13.80s step= 690 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(+0.06,-0.02,-1.00) r=0.22m +[headless_play] t= 14.00s step= 700 trunk_z= 112.8mm grav_b=(+0.08,+0.08,-0.99) r=0.21m +[headless_play] t= 14.10s step= 705 trunk_z= 122.0mm grav_b=(+0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 14.20s step= 710 trunk_z= 110.8mm grav_b=(+0.03,-0.10,-0.99) r=0.23m +[headless_play] t= 14.30s step= 715 trunk_z= 114.3mm grav_b=(-0.02,+0.05,-1.00) r=0.24m +[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(+0.04,+0.11,-0.99) r=0.24m +[headless_play] t= 14.50s step= 725 trunk_z= 113.5mm grav_b=(+0.07,-0.02,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 119.4mm grav_b=(+0.05,-0.00,-1.00) r=0.26m +[headless_play] t= 14.70s step= 735 trunk_z= 113.3mm grav_b=(+0.04,+0.14,-0.99) r=0.27m +[headless_play] t= 14.80s step= 740 trunk_z= 124.6mm grav_b=(+0.05,+0.06,-1.00) r=0.28m +[headless_play] t= 14.90s step= 745 trunk_z= 113.8mm grav_b=(+0.08,-0.08,-0.99) r=0.30m +[headless_play] t= 15.00s step= 750 trunk_z= 116.3mm grav_b=(+0.01,+0.07,-1.00) r=0.32m +[headless_play] t= 15.10s step= 755 trunk_z= 117.0mm grav_b=(+0.11,+0.09,-0.99) r=0.33m +[headless_play] t= 15.20s step= 760 trunk_z= 113.3mm grav_b=(+0.08,-0.08,-0.99) r=0.35m +[headless_play] t= 15.30s step= 765 trunk_z= 123.5mm grav_b=(+0.10,-0.06,-0.99) r=0.37m +[headless_play] t= 15.40s step= 770 trunk_z= 114.2mm grav_b=(+0.02,+0.09,-1.00) r=0.39m +[headless_play] t= 15.50s step= 775 trunk_z= 126.4mm grav_b=(-0.05,+0.01,-1.00) r=0.42m +[headless_play] t= 15.60s step= 780 trunk_z= 114.3mm grav_b=(+0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 15.70s step= 785 trunk_z= 112.7mm grav_b=(-0.01,+0.13,-0.99) r=0.48m +[headless_play] t= 15.80s step= 790 trunk_z= 118.0mm grav_b=(+0.05,+0.05,-1.00) r=0.49m +[headless_play] t= 15.90s step= 795 trunk_z= 111.6mm grav_b=(+0.12,-0.09,-0.99) r=0.51m +[headless_play] t= 16.00s step= 800 trunk_z= 115.6mm grav_b=(+0.06,+0.07,-1.00) r=0.52m +[headless_play] t= 16.10s step= 805 trunk_z= 121.6mm grav_b=(+0.08,+0.04,-1.00) r=0.54m +[headless_play] t= 16.20s step= 810 trunk_z= 110.9mm grav_b=(+0.04,-0.12,-0.99) r=0.57m +[headless_play] t= 16.30s step= 815 trunk_z= 121.4mm grav_b=(+0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 16.40s step= 820 trunk_z= 113.0mm grav_b=(+0.07,+0.05,-1.00) r=0.61m +[headless_play] t= 16.50s step= 825 trunk_z= 111.9mm grav_b=(+0.05,-0.06,-1.00) r=0.63m +[headless_play] t= 16.60s step= 830 trunk_z= 115.7mm grav_b=(+0.12,-0.01,-0.99) r=0.65m +[headless_play] t= 16.70s step= 835 trunk_z= 114.6mm grav_b=(+0.05,+0.13,-0.99) r=0.66m +[headless_play] t= 16.80s step= 840 trunk_z= 124.6mm grav_b=(-0.08,-0.01,-1.00) r=0.68m +[headless_play] t= 16.90s step= 845 trunk_z= 117.5mm grav_b=(+0.02,-0.04,-1.00) r=0.70m +[headless_play] t= 17.00s step= 850 trunk_z= 114.7mm grav_b=(+0.04,+0.19,-0.98) r=0.71m +[headless_play] t= 17.10s step= 855 trunk_z= 119.6mm grav_b=(+0.20,-0.17,-0.97) r=0.73m +[headless_play] t= 17.20s step= 860 trunk_z= 78.7mm grav_b=(+0.37,-0.42,-0.83) r=0.77m +[headless_play] t= 17.30s step= 865 trunk_z= 95.5mm grav_b=(+0.77,+0.15,-0.62) r=0.79m +[headless_play] RESET at t= 17.36s step= 868 (env termination, not a recovery) +[headless_play] t= 17.40s step= 870 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.39m +[headless_play] t= 17.50s step= 875 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 17.60s step= 880 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.39m +[headless_play] t= 17.80s step= 890 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.39m +[headless_play] t= 17.90s step= 895 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.10s step= 905 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.20s step= 910 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.30s step= 915 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.40s step= 920 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.70s step= 935 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.80s step= 940 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 18.90s step= 945 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 19.00s step= 950 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 19.10s step= 955 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 19.30s step= 965 trunk_z= 119.9mm grav_b=(+0.08,+0.02,-1.00) r=0.35m +[headless_play] t= 19.40s step= 970 trunk_z= 120.3mm grav_b=(+0.20,-0.12,-0.97) r=0.31m +[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(+0.23,-0.06,-0.97) r=0.29m +[headless_play] t= 19.60s step= 980 trunk_z= 115.3mm grav_b=(+0.18,+0.26,-0.95) r=0.25m +[headless_play] t= 19.70s step= 985 trunk_z= 86.7mm grav_b=(+0.12,-0.08,-0.99) r=0.23m +[headless_play] t= 19.80s step= 990 trunk_z= 88.8mm grav_b=(+0.42,-0.46,-0.78) r=0.23m +[headless_play] RESET at t= 19.88s step= 994 (env termination, not a recovery) +[headless_play] t= 19.90s step= 995 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 20.00s step=1000 trunk_z= 117.2mm grav_b=(-0.05,+0.06,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 118.6mm grav_b=(-0.04,-0.03,-1.00) r=0.39m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..e2d1296e66bb0c7a28c29fe9d887e5492e0cf2f4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t4.log @@ -0,0 +1,217 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.876,-18.043,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.13m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(-0.04,+0.06,-1.00) r=0.13m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(-0.02,-0.03,-1.00) r=0.13m +[headless_play] t= 0.30s step= 15 trunk_z= 114.9mm grav_b=(+0.05,-0.14,-0.99) r=0.13m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.00,+0.06,-1.00) r=0.15m +[headless_play] t= 0.50s step= 25 trunk_z= 117.1mm grav_b=(+0.10,-0.10,-0.99) r=0.17m +[headless_play] t= 0.60s step= 30 trunk_z= 113.9mm grav_b=(+0.37,-0.06,-0.93) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 99.8mm grav_b=(+0.66,-0.01,-0.75) r=0.24m +[headless_play] RESET at t= 0.74s step= 37 (env termination, not a recovery) +[headless_play] t= 0.80s step= 40 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) r=0.36m +[headless_play] t= 0.90s step= 45 trunk_z= 113.4mm grav_b=(+0.04,+0.05,-1.00) r=0.36m +[headless_play] t= 1.00s step= 50 trunk_z= 111.1mm grav_b=(+0.09,-0.11,-0.99) r=0.36m +[headless_play] t= 1.10s step= 55 trunk_z= 114.9mm grav_b=(+0.15,-0.04,-0.99) r=0.35m +[headless_play] t= 1.20s step= 60 trunk_z= 109.7mm grav_b=(+0.08,+0.07,-0.99) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 102.0mm grav_b=(+0.05,-0.23,-0.97) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 111.1mm grav_b=(+0.12,+0.11,-0.99) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 87.2mm grav_b=(+0.26,-0.14,-0.96) r=0.35m +[headless_play] RESET at t= 1.60s step= 80 (env termination, not a recovery) +[headless_play] t= 1.60s step= 80 trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) r=0.37m +[headless_play] t= 1.70s step= 85 trunk_z= 115.4mm grav_b=(-0.00,-0.04,-1.00) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.05,-0.03,-1.00) r=0.38m +[headless_play] t= 1.90s step= 95 trunk_z= 110.7mm grav_b=(+0.03,+0.09,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 110.6mm grav_b=(+0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 107.8mm grav_b=(+0.03,-0.11,-0.99) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 107.9mm grav_b=(+0.07,+0.01,-1.00) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 103.7mm grav_b=(+0.07,+0.08,-0.99) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 108.6mm grav_b=(+0.05,-0.09,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 107.7mm grav_b=(+0.10,-0.02,-1.00) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 105.4mm grav_b=(+0.07,+0.10,-0.99) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 110.4mm grav_b=(+0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 2.80s step= 140 trunk_z= 107.4mm grav_b=(+0.12,-0.05,-0.99) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 107.7mm grav_b=(+0.07,+0.12,-0.99) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 112.5mm grav_b=(-0.03,-0.11,-0.99) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(+0.03,-0.06,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 107.0mm grav_b=(+0.03,+0.14,-0.99) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 111.9mm grav_b=(+0.04,-0.12,-0.99) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 114.2mm grav_b=(+0.08,-0.06,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 108.7mm grav_b=(-0.01,+0.11,-0.99) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 113.1mm grav_b=(-0.04,-0.09,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 112.3mm grav_b=(+0.02,-0.06,-1.00) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 105.7mm grav_b=(-0.00,+0.14,-0.99) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(-0.01,-0.08,-1.00) r=0.48m +[headless_play] t= 4.00s step= 200 trunk_z= 112.2mm grav_b=(+0.00,-0.04,-1.00) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 106.9mm grav_b=(-0.06,+0.08,-0.99) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 108.1mm grav_b=(+0.02,-0.03,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 108.3mm grav_b=(+0.08,+0.03,-1.00) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 108.0mm grav_b=(+0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 4.50s step= 225 trunk_z= 105.6mm grav_b=(+0.06,-0.10,-0.99) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 108.2mm grav_b=(+0.08,+0.02,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 104.3mm grav_b=(+0.10,+0.04,-0.99) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 108.2mm grav_b=(+0.06,-0.10,-0.99) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 112.4mm grav_b=(+0.08,+0.06,-0.99) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(+0.03,-0.00,-1.00) r=0.64m +[headless_play] t= 5.10s step= 255 trunk_z= 112.3mm grav_b=(+0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 106.4mm grav_b=(+0.06,+0.11,-0.99) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 108.9mm grav_b=(+0.03,-0.09,-1.00) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 112.6mm grav_b=(+0.07,+0.05,-1.00) r=0.71m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(+0.03,-0.02,-1.00) r=0.72m +[headless_play] t= 5.60s step= 280 trunk_z= 112.6mm grav_b=(-0.00,-0.05,-1.00) r=0.75m +[headless_play] t= 5.70s step= 285 trunk_z= 97.5mm grav_b=(+0.09,-0.12,-0.99) r=0.77m +[headless_play] t= 5.80s step= 290 trunk_z= 98.2mm grav_b=(+0.05,-0.44,-0.90) r=0.80m +[headless_play] t= 5.90s step= 295 trunk_z= 65.4mm grav_b=(+0.06,-0.89,-0.46) r=0.85m +[headless_play] RESET at t= 5.92s step= 296 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 113.9mm grav_b=(+0.05,+0.04,-1.00) r=0.43m +[headless_play] t= 6.20s step= 310 trunk_z= 112.2mm grav_b=(+0.04,-0.07,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 111.9mm grav_b=(+0.09,+0.03,-1.00) r=0.43m +[headless_play] t= 6.40s step= 320 trunk_z= 110.1mm grav_b=(+0.12,+0.00,-0.99) r=0.44m +[headless_play] t= 6.50s step= 325 trunk_z= 109.2mm grav_b=(+0.04,-0.14,-0.99) r=0.43m +[headless_play] t= 6.60s step= 330 trunk_z= 114.3mm grav_b=(-0.01,+0.06,-1.00) r=0.44m +[headless_play] t= 6.70s step= 335 trunk_z= 111.5mm grav_b=(+0.05,-0.03,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 111.6mm grav_b=(+0.08,-0.00,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 113.8mm grav_b=(+0.13,+0.02,-0.99) r=0.44m +[headless_play] t= 7.00s step= 350 trunk_z= 107.2mm grav_b=(+0.06,-0.17,-0.98) r=0.44m +[headless_play] t= 7.10s step= 355 trunk_z= 116.4mm grav_b=(-0.05,-0.01,-1.00) r=0.45m +[headless_play] t= 7.20s step= 360 trunk_z= 111.6mm grav_b=(-0.05,+0.05,-1.00) r=0.46m +[headless_play] t= 7.30s step= 365 trunk_z= 110.3mm grav_b=(+0.08,-0.09,-0.99) r=0.46m +[headless_play] t= 7.40s step= 370 trunk_z= 109.0mm grav_b=(+0.11,+0.10,-0.99) r=0.47m +[headless_play] t= 7.50s step= 375 trunk_z= 117.1mm grav_b=(+0.10,-0.11,-0.99) r=0.47m +[headless_play] t= 7.60s step= 380 trunk_z= 113.4mm grav_b=(+0.05,-0.05,-1.00) r=0.48m +[headless_play] t= 7.70s step= 385 trunk_z= 110.2mm grav_b=(-0.12,+0.13,-0.98) r=0.50m +[headless_play] t= 7.80s step= 390 trunk_z= 111.6mm grav_b=(-0.01,-0.09,-1.00) r=0.51m +[headless_play] t= 7.90s step= 395 trunk_z= 115.1mm grav_b=(+0.10,+0.01,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 115.5mm grav_b=(+0.14,+0.03,-0.99) r=0.53m +[headless_play] t= 8.10s step= 405 trunk_z= 103.8mm grav_b=(+0.10,-0.13,-0.99) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 102.8mm grav_b=(-0.11,+0.08,-0.99) r=0.57m +[headless_play] t= 8.30s step= 415 trunk_z= 113.1mm grav_b=(+0.03,+0.03,-1.00) r=0.58m +[headless_play] t= 8.40s step= 420 trunk_z= 112.1mm grav_b=(+0.09,-0.23,-0.97) r=0.59m +[headless_play] t= 8.50s step= 425 trunk_z= 114.0mm grav_b=(+0.14,+0.04,-0.99) r=0.61m +[headless_play] t= 8.60s step= 430 trunk_z= 105.6mm grav_b=(+0.25,-0.03,-0.97) r=0.63m +[headless_play] t= 8.70s step= 435 trunk_z= 85.8mm grav_b=(+0.72,-0.18,-0.67) r=0.66m +[headless_play] RESET at t= 8.74s step= 437 (env termination, not a recovery) +[headless_play] t= 8.80s step= 440 trunk_z= 114.8mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 8.90s step= 445 trunk_z= 113.6mm grav_b=(+0.01,+0.03,-1.00) r=0.44m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(+0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 9.10s step= 455 trunk_z= 106.9mm grav_b=(+0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 9.20s step= 460 trunk_z= 113.1mm grav_b=(-0.04,+0.05,-1.00) r=0.48m +[headless_play] t= 9.30s step= 465 trunk_z= 105.9mm grav_b=(-0.02,+0.10,-1.00) r=0.49m +[headless_play] t= 9.40s step= 470 trunk_z= 96.5mm grav_b=(+0.13,-0.09,-0.99) r=0.51m +[headless_play] t= 9.50s step= 475 trunk_z= 110.1mm grav_b=(+0.18,+0.02,-0.98) r=0.55m +[headless_play] t= 9.60s step= 480 trunk_z= 105.1mm grav_b=(+0.21,-0.02,-0.98) r=0.57m +[headless_play] t= 9.70s step= 485 trunk_z= 92.3mm grav_b=(+0.34,+0.56,-0.75) r=0.59m +[headless_play] RESET at t= 9.74s step= 487 (env termination, not a recovery) +[headless_play] t= 9.80s step= 490 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 9.90s step= 495 trunk_z= 112.0mm grav_b=(+0.02,+0.04,-1.00) r=0.36m +[headless_play] t= 10.00s step= 500 trunk_z= 115.1mm grav_b=(+0.02,-0.04,-1.00) r=0.37m +[headless_play] t= 10.10s step= 505 trunk_z= 108.1mm grav_b=(+0.00,-0.08,-1.00) r=0.37m +[headless_play] t= 10.20s step= 510 trunk_z= 109.2mm grav_b=(+0.05,+0.09,-1.00) r=0.38m +[headless_play] t= 10.30s step= 515 trunk_z= 111.1mm grav_b=(+0.05,-0.01,-1.00) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 104.5mm grav_b=(+0.06,-0.14,-0.99) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 111.3mm grav_b=(+0.05,+0.03,-1.00) r=0.39m +[headless_play] t= 10.60s step= 530 trunk_z= 109.3mm grav_b=(+0.08,-0.02,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 106.5mm grav_b=(+0.04,-0.13,-0.99) r=0.40m +[headless_play] t= 10.80s step= 540 trunk_z= 112.4mm grav_b=(+0.07,-0.02,-1.00) r=0.41m +[headless_play] t= 10.90s step= 545 trunk_z= 109.7mm grav_b=(+0.05,+0.13,-0.99) r=0.42m +[headless_play] t= 11.00s step= 550 trunk_z= 114.4mm grav_b=(+0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(+0.04,-0.08,-1.00) r=0.45m +[headless_play] t= 11.20s step= 560 trunk_z= 110.1mm grav_b=(+0.02,+0.10,-1.00) r=0.46m +[headless_play] t= 11.30s step= 565 trunk_z= 115.9mm grav_b=(+0.06,-0.02,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 109.8mm grav_b=(+0.04,-0.12,-0.99) r=0.49m +[headless_play] t= 11.50s step= 575 trunk_z= 109.4mm grav_b=(+0.02,+0.09,-1.00) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 113.7mm grav_b=(+0.07,+0.07,-1.00) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 108.2mm grav_b=(+0.01,-0.10,-0.99) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 111.4mm grav_b=(+0.04,+0.02,-1.00) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 108.1mm grav_b=(+0.07,+0.08,-0.99) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 109.8mm grav_b=(+0.03,-0.08,-1.00) r=0.57m +[headless_play] t= 12.10s step= 605 trunk_z= 109.8mm grav_b=(+0.04,-0.05,-1.00) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 105.7mm grav_b=(+0.05,+0.08,-1.00) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 113.3mm grav_b=(+0.00,-0.06,-1.00) r=0.59m +[headless_play] t= 12.40s step= 620 trunk_z= 110.4mm grav_b=(+0.05,-0.17,-0.98) r=0.60m +[headless_play] t= 12.50s step= 625 trunk_z= 115.8mm grav_b=(-0.03,+0.02,-1.00) r=0.60m +[headless_play] t= 12.60s step= 630 trunk_z= 119.4mm grav_b=(+0.06,+0.09,-0.99) r=0.60m +[headless_play] t= 12.70s step= 635 trunk_z= 120.3mm grav_b=(+0.09,-0.05,-0.99) r=0.62m +[headless_play] t= 12.80s step= 640 trunk_z= 124.5mm grav_b=(-0.00,+0.02,-1.00) r=0.62m +[headless_play] t= 12.90s step= 645 trunk_z= 115.8mm grav_b=(-0.02,+0.05,-1.00) r=0.63m +[headless_play] t= 13.00s step= 650 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 113.7mm grav_b=(+0.03,-0.02,-1.00) r=0.67m +[headless_play] t= 13.20s step= 660 trunk_z= 110.6mm grav_b=(+0.08,+0.08,-0.99) r=0.68m +[headless_play] t= 13.30s step= 665 trunk_z= 113.2mm grav_b=(+0.07,-0.12,-0.99) r=0.69m +[headless_play] t= 13.40s step= 670 trunk_z= 114.6mm grav_b=(+0.04,-0.09,-1.00) r=0.70m +[headless_play] t= 13.50s step= 675 trunk_z= 113.3mm grav_b=(-0.04,+0.20,-0.98) r=0.71m +[headless_play] t= 13.60s step= 680 trunk_z= 119.4mm grav_b=(-0.00,+0.07,-1.00) r=0.73m +[headless_play] t= 13.70s step= 685 trunk_z= 108.2mm grav_b=(-0.00,-0.03,-1.00) r=0.76m +[headless_play] t= 13.80s step= 690 trunk_z= 114.7mm grav_b=(+0.05,+0.06,-1.00) r=0.78m +[headless_play] t= 13.90s step= 695 trunk_z= 110.3mm grav_b=(+0.10,-0.03,-0.99) r=0.79m +[headless_play] t= 14.00s step= 700 trunk_z= 97.0mm grav_b=(+0.06,-0.25,-0.97) r=0.81m +[headless_play] t= 14.10s step= 705 trunk_z= 91.2mm grav_b=(-0.20,-0.28,-0.94) r=0.83m +[headless_play] t= 14.20s step= 710 trunk_z= 98.9mm grav_b=(-0.02,-0.24,-0.97) r=0.85m +[headless_play] t= 14.30s step= 715 trunk_z= 94.7mm grav_b=(+0.05,-0.49,-0.87) r=0.85m +[headless_play] t= 14.40s step= 720 trunk_z= 48.0mm grav_b=(-0.03,-0.74,-0.67) r=0.85m +[headless_play] RESET at t= 14.48s step= 724 (env termination, not a recovery) +[headless_play] t= 14.50s step= 725 trunk_z= 125.7mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 14.60s step= 730 trunk_z= 114.7mm grav_b=(+0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 14.70s step= 735 trunk_z= 114.5mm grav_b=(+0.10,-0.06,-0.99) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 112.6mm grav_b=(+0.11,+0.03,-0.99) r=0.46m +[headless_play] t= 14.90s step= 745 trunk_z= 115.0mm grav_b=(+0.04,-0.00,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 108.7mm grav_b=(+0.04,-0.13,-0.99) r=0.43m +[headless_play] t= 15.10s step= 755 trunk_z= 114.5mm grav_b=(+0.07,-0.02,-1.00) r=0.42m +[headless_play] t= 15.20s step= 760 trunk_z= 109.9mm grav_b=(+0.08,+0.03,-1.00) r=0.41m +[headless_play] t= 15.30s step= 765 trunk_z= 107.1mm grav_b=(+0.01,-0.18,-0.98) r=0.40m +[headless_play] t= 15.40s step= 770 trunk_z= 113.9mm grav_b=(+0.12,-0.04,-0.99) r=0.39m +[headless_play] t= 15.50s step= 775 trunk_z= 109.7mm grav_b=(+0.00,+0.12,-0.99) r=0.38m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.35m +[headless_play] t= 15.70s step= 785 trunk_z= 115.8mm grav_b=(+0.06,-0.11,-0.99) r=0.34m +[headless_play] t= 15.80s step= 790 trunk_z= 114.9mm grav_b=(+0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 15.90s step= 795 trunk_z= 115.8mm grav_b=(+0.00,+0.02,-1.00) r=0.32m +[headless_play] t= 16.00s step= 800 trunk_z= 113.2mm grav_b=(+0.00,-0.17,-0.98) r=0.31m +[headless_play] t= 16.10s step= 805 trunk_z= 119.4mm grav_b=(+0.07,-0.10,-0.99) r=0.30m +[headless_play] t= 16.20s step= 810 trunk_z= 110.9mm grav_b=(-0.03,+0.02,-1.00) r=0.29m +[headless_play] t= 16.30s step= 815 trunk_z= 116.3mm grav_b=(-0.01,-0.07,-1.00) r=0.27m +[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(+0.05,-0.10,-0.99) r=0.27m +[headless_play] t= 16.50s step= 825 trunk_z= 110.5mm grav_b=(-0.02,+0.05,-1.00) r=0.25m +[headless_play] t= 16.60s step= 830 trunk_z= 113.9mm grav_b=(+0.00,-0.06,-1.00) r=0.24m +[headless_play] t= 16.70s step= 835 trunk_z= 113.7mm grav_b=(+0.10,-0.18,-0.98) r=0.24m +[headless_play] t= 16.80s step= 840 trunk_z= 123.1mm grav_b=(-0.01,-0.09,-1.00) r=0.23m +[headless_play] t= 16.90s step= 845 trunk_z= 109.5mm grav_b=(+0.05,+0.08,-0.99) r=0.23m +[headless_play] t= 17.00s step= 850 trunk_z= 113.2mm grav_b=(+0.07,-0.15,-0.99) r=0.22m +[headless_play] t= 17.10s step= 855 trunk_z= 121.4mm grav_b=(+0.13,-0.11,-0.99) r=0.22m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(+0.05,+0.02,-1.00) r=0.21m +[headless_play] t= 17.30s step= 865 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 17.40s step= 870 trunk_z= 110.4mm grav_b=(+0.08,-0.14,-0.99) r=0.19m +[headless_play] t= 17.50s step= 875 trunk_z= 119.3mm grav_b=(-0.00,-0.02,-1.00) r=0.19m +[headless_play] t= 17.60s step= 880 trunk_z= 109.2mm grav_b=(+0.03,+0.08,-1.00) r=0.19m +[headless_play] t= 17.70s step= 885 trunk_z= 108.0mm grav_b=(+0.04,-0.18,-0.98) r=0.18m +[headless_play] t= 17.80s step= 890 trunk_z= 121.4mm grav_b=(+0.17,-0.17,-0.97) r=0.18m +[headless_play] t= 17.90s step= 895 trunk_z= 123.5mm grav_b=(+0.07,-0.06,-1.00) r=0.18m +[headless_play] t= 18.00s step= 900 trunk_z= 126.4mm grav_b=(-0.11,+0.01,-0.99) r=0.17m +[headless_play] t= 18.10s step= 905 trunk_z= 114.0mm grav_b=(+0.01,-0.10,-0.99) r=0.16m +[headless_play] t= 18.20s step= 910 trunk_z= 122.8mm grav_b=(+0.08,-0.01,-1.00) r=0.15m +[headless_play] t= 18.30s step= 915 trunk_z= 105.4mm grav_b=(+0.05,-0.02,-1.00) r=0.15m +[headless_play] t= 18.40s step= 920 trunk_z= 103.1mm grav_b=(+0.14,-0.23,-0.96) r=0.13m +[headless_play] t= 18.50s step= 925 trunk_z= 109.1mm grav_b=(+0.62,+0.00,-0.78) r=0.13m +[headless_play] RESET at t= 18.58s step= 929 (env termination, not a recovery) +[headless_play] t= 18.60s step= 930 trunk_z= 123.6mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 18.70s step= 935 trunk_z= 116.8mm grav_b=(-0.03,+0.05,-1.00) r=0.27m +[headless_play] t= 18.80s step= 940 trunk_z= 118.2mm grav_b=(-0.02,+0.03,-1.00) r=0.26m +[headless_play] t= 18.90s step= 945 trunk_z= 117.2mm grav_b=(+0.00,-0.07,-1.00) r=0.26m +[headless_play] t= 19.00s step= 950 trunk_z= 115.5mm grav_b=(+0.01,+0.03,-1.00) r=0.25m +[headless_play] t= 19.10s step= 955 trunk_z= 115.1mm grav_b=(+0.07,+0.08,-0.99) r=0.24m +[headless_play] t= 19.20s step= 960 trunk_z= 118.1mm grav_b=(+0.16,-0.09,-0.98) r=0.23m +[headless_play] t= 19.30s step= 965 trunk_z= 96.8mm grav_b=(+0.13,-0.16,-0.98) r=0.26m +[headless_play] t= 19.40s step= 970 trunk_z= 89.2mm grav_b=(-0.25,-0.18,-0.95) r=0.30m +[headless_play] t= 19.50s step= 975 trunk_z= 97.8mm grav_b=(-0.18,-0.22,-0.96) r=0.33m +[headless_play] t= 19.60s step= 980 trunk_z= 107.1mm grav_b=(-0.24,-0.41,-0.88) r=0.34m +[headless_play] t= 19.70s step= 985 trunk_z= 56.4mm grav_b=(-0.52,-0.48,-0.71) r=0.36m +[headless_play] RESET at t= 19.78s step= 989 (env termination, not a recovery) +[headless_play] t= 19.80s step= 990 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 19.90s step= 995 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 20.00s step=1000 trunk_z= 116.4mm grav_b=(+0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.03,-0.00,-1.00) r=0.25m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..454e7bfe1bdbf056c2f7e788de749fb75d230759 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t5.log @@ -0,0 +1,215 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.1mm grav_b=(-0.00,-0.00,-1.00) root_w=(+1.973,-18.426,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 114.4mm grav_b=(+0.00,+0.02,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 109.9mm grav_b=(-0.03,+0.15,-0.99) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 110.1mm grav_b=(+0.04,+0.05,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 106.7mm grav_b=(+0.11,-0.06,-0.99) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 108.2mm grav_b=(+0.05,+0.09,-0.99) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 109.2mm grav_b=(+0.04,+0.07,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 107.8mm grav_b=(-0.00,-0.07,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 110.3mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 105.4mm grav_b=(+0.04,+0.15,-0.99) r=0.54m +[headless_play] t= 1.10s step= 55 trunk_z= 109.7mm grav_b=(+0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 108.3mm grav_b=(+0.09,-0.05,-0.99) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 106.2mm grav_b=(+0.07,+0.11,-0.99) r=0.57m +[headless_play] t= 1.40s step= 70 trunk_z= 108.6mm grav_b=(+0.08,+0.07,-0.99) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 108.7mm grav_b=(-0.03,-0.07,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 111.9mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 109.4mm grav_b=(+0.02,+0.18,-0.98) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 114.5mm grav_b=(+0.05,+0.10,-0.99) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 107.9mm grav_b=(+0.09,-0.01,-1.00) r=0.62m +[headless_play] t= 2.00s step= 100 trunk_z= 107.8mm grav_b=(+0.04,+0.14,-0.99) r=0.63m +[headless_play] t= 2.10s step= 105 trunk_z= 109.3mm grav_b=(+0.04,+0.06,-1.00) r=0.63m +[headless_play] t= 2.20s step= 110 trunk_z= 105.3mm grav_b=(-0.01,-0.11,-0.99) r=0.65m +[headless_play] t= 2.30s step= 115 trunk_z= 109.2mm grav_b=(+0.03,+0.01,-1.00) r=0.67m +[headless_play] t= 2.40s step= 120 trunk_z= 105.0mm grav_b=(+0.06,+0.14,-0.99) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 108.8mm grav_b=(+0.00,-0.08,-1.00) r=0.68m +[headless_play] t= 2.60s step= 130 trunk_z= 108.7mm grav_b=(+0.08,-0.02,-1.00) r=0.69m +[headless_play] t= 2.70s step= 135 trunk_z= 106.2mm grav_b=(+0.06,+0.14,-0.99) r=0.69m +[headless_play] t= 2.80s step= 140 trunk_z= 113.5mm grav_b=(+0.00,-0.01,-1.00) r=0.70m +[headless_play] t= 2.90s step= 145 trunk_z= 109.8mm grav_b=(+0.04,-0.03,-1.00) r=0.71m +[headless_play] t= 3.00s step= 150 trunk_z= 106.0mm grav_b=(+0.06,+0.15,-0.99) r=0.71m +[headless_play] t= 3.10s step= 155 trunk_z= 110.4mm grav_b=(+0.05,-0.00,-1.00) r=0.71m +[headless_play] t= 3.20s step= 160 trunk_z= 108.8mm grav_b=(+0.05,-0.09,-0.99) r=0.72m +[headless_play] t= 3.30s step= 165 trunk_z= 106.9mm grav_b=(+0.02,+0.16,-0.99) r=0.73m +[headless_play] t= 3.40s step= 170 trunk_z= 114.9mm grav_b=(+0.06,+0.09,-0.99) r=0.74m +[headless_play] t= 3.50s step= 175 trunk_z= 105.6mm grav_b=(-0.04,-0.08,-1.00) r=0.75m +[headless_play] t= 3.60s step= 180 trunk_z= 100.8mm grav_b=(-0.03,-0.20,-0.98) r=0.77m +[headless_play] t= 3.70s step= 185 trunk_z= 103.5mm grav_b=(-0.01,-0.34,-0.94) r=0.79m +[headless_play] t= 3.80s step= 190 trunk_z= 79.6mm grav_b=(-0.01,-0.76,-0.65) r=0.80m +[headless_play] RESET at t= 3.88s step= 194 (env termination, not a recovery) +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 4.70s step= 235 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 5.10s step= 255 trunk_z= 116.4mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 5.40s step= 270 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 5.60s step= 280 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 5.70s step= 285 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 5.90s step= 295 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 6.00s step= 300 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00) r=0.51m +[headless_play] t= 6.10s step= 305 trunk_z= 121.4mm grav_b=(+0.16,+0.03,-0.99) r=0.49m +[headless_play] t= 6.20s step= 310 trunk_z= 108.7mm grav_b=(+0.11,+0.04,-0.99) r=0.46m +[headless_play] t= 6.30s step= 315 trunk_z= 103.5mm grav_b=(+0.13,-0.22,-0.97) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 99.8mm grav_b=(+0.30,+0.14,-0.94) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 71.3mm grav_b=(+0.74,-0.60,-0.29) r=0.41m +[headless_play] RESET at t= 6.52s step= 326 (env termination, not a recovery) +[headless_play] t= 6.60s step= 330 trunk_z= 115.5mm grav_b=(-0.02,+0.03,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 111.7mm grav_b=(+0.04,+0.05,-1.00) r=0.55m +[headless_play] t= 6.80s step= 340 trunk_z= 111.9mm grav_b=(+0.05,-0.06,-1.00) r=0.56m +[headless_play] t= 6.90s step= 345 trunk_z= 110.8mm grav_b=(+0.10,-0.05,-0.99) r=0.57m +[headless_play] t= 7.00s step= 350 trunk_z= 107.9mm grav_b=(+0.06,+0.10,-0.99) r=0.59m +[headless_play] t= 7.10s step= 355 trunk_z= 111.1mm grav_b=(+0.04,-0.02,-1.00) r=0.60m +[headless_play] t= 7.20s step= 360 trunk_z= 105.8mm grav_b=(+0.06,-0.09,-0.99) r=0.62m +[headless_play] t= 7.30s step= 365 trunk_z= 107.1mm grav_b=(+0.09,+0.01,-1.00) r=0.62m +[headless_play] t= 7.40s step= 370 trunk_z= 109.0mm grav_b=(+0.10,+0.00,-0.99) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 104.5mm grav_b=(+0.07,-0.13,-0.99) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 112.4mm grav_b=(+0.06,+0.07,-1.00) r=0.65m +[headless_play] t= 7.70s step= 385 trunk_z= 113.5mm grav_b=(+0.10,+0.10,-0.99) r=0.65m +[headless_play] t= 7.80s step= 390 trunk_z= 107.0mm grav_b=(+0.07,-0.12,-0.99) r=0.66m +[headless_play] t= 7.90s step= 395 trunk_z= 119.6mm grav_b=(+0.07,-0.01,-1.00) r=0.67m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(+0.01,+0.17,-0.99) r=0.67m +[headless_play] t= 8.10s step= 405 trunk_z= 123.4mm grav_b=(-0.03,+0.12,-0.99) r=0.68m +[headless_play] t= 8.20s step= 410 trunk_z= 114.2mm grav_b=(+0.01,-0.04,-1.00) r=0.71m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(+0.00,+0.02,-1.00) r=0.73m +[headless_play] t= 8.40s step= 420 trunk_z= 111.1mm grav_b=(+0.03,+0.05,-1.00) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 108.9mm grav_b=(+0.06,-0.08,-0.99) r=0.76m +[headless_play] t= 8.60s step= 430 trunk_z= 112.0mm grav_b=(+0.12,+0.01,-0.99) r=0.77m +[headless_play] t= 8.70s step= 435 trunk_z= 109.5mm grav_b=(+0.12,+0.07,-0.99) r=0.78m +[headless_play] t= 8.80s step= 440 trunk_z= 109.0mm grav_b=(-0.02,-0.20,-0.98) r=0.80m +[headless_play] t= 8.90s step= 445 trunk_z= 119.7mm grav_b=(+0.06,-0.09,-0.99) r=0.81m +[headless_play] t= 9.00s step= 450 trunk_z= 111.1mm grav_b=(-0.03,+0.15,-0.99) r=0.82m +[headless_play] t= 9.10s step= 455 trunk_z= 121.4mm grav_b=(+0.02,+0.04,-1.00) r=0.82m +[headless_play] t= 9.20s step= 460 trunk_z= 113.4mm grav_b=(+0.07,-0.09,-0.99) r=0.83m +[headless_play] t= 9.30s step= 465 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.83m +[headless_play] t= 9.40s step= 470 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.83m +[headless_play] t= 9.50s step= 475 trunk_z= 114.1mm grav_b=(+0.08,-0.13,-0.99) r=0.84m +[headless_play] t= 9.60s step= 480 trunk_z= 117.9mm grav_b=(+0.03,+0.03,-1.00) r=0.85m +[headless_play] t= 9.70s step= 485 trunk_z= 117.6mm grav_b=(+0.03,+0.06,-1.00) r=0.85m +[headless_play] t= 9.80s step= 490 trunk_z= 111.6mm grav_b=(+0.03,-0.11,-0.99) r=0.86m +[headless_play] t= 9.90s step= 495 trunk_z= 110.0mm grav_b=(+0.04,-0.01,-1.00) r=0.87m +[headless_play] t= 10.00s step= 500 trunk_z= 99.3mm grav_b=(+0.20,-0.25,-0.95) r=0.88m +[headless_play] t= 10.10s step= 505 trunk_z= 68.3mm grav_b=(-0.13,-0.80,-0.59) r=0.93m +[headless_play] RESET at t= 10.14s step= 507 (env termination, not a recovery) +[headless_play] t= 10.20s step= 510 trunk_z= 114.4mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 112.4mm grav_b=(+0.02,+0.07,-1.00) r=0.24m +[headless_play] t= 10.40s step= 520 trunk_z= 115.0mm grav_b=(+0.01,-0.03,-1.00) r=0.23m +[headless_play] t= 10.50s step= 525 trunk_z= 110.4mm grav_b=(-0.02,-0.10,-0.99) r=0.22m +[headless_play] t= 10.60s step= 530 trunk_z= 113.9mm grav_b=(-0.00,+0.04,-1.00) r=0.21m +[headless_play] t= 10.70s step= 535 trunk_z= 111.4mm grav_b=(+0.04,+0.09,-1.00) r=0.21m +[headless_play] t= 10.80s step= 540 trunk_z= 109.9mm grav_b=(-0.02,-0.10,-0.99) r=0.21m +[headless_play] t= 10.90s step= 545 trunk_z= 118.0mm grav_b=(+0.03,-0.08,-1.00) r=0.23m +[headless_play] t= 11.00s step= 550 trunk_z= 106.0mm grav_b=(+0.09,+0.04,-1.00) r=0.24m +[headless_play] t= 11.10s step= 555 trunk_z= 111.0mm grav_b=(-0.05,-0.08,-1.00) r=0.25m +[headless_play] t= 11.20s step= 560 trunk_z= 108.8mm grav_b=(+0.01,+0.02,-1.00) r=0.27m +[headless_play] t= 11.30s step= 565 trunk_z= 107.5mm grav_b=(+0.01,-0.03,-1.00) r=0.27m +[headless_play] t= 11.40s step= 570 trunk_z= 104.0mm grav_b=(+0.06,-0.14,-0.99) r=0.28m +[headless_play] t= 11.50s step= 575 trunk_z= 106.7mm grav_b=(+0.05,+0.06,-1.00) r=0.28m +[headless_play] t= 11.60s step= 580 trunk_z= 112.2mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 11.70s step= 585 trunk_z= 102.9mm grav_b=(+0.05,-0.16,-0.99) r=0.27m +[headless_play] t= 11.80s step= 590 trunk_z= 111.1mm grav_b=(+0.04,-0.00,-1.00) r=0.27m +[headless_play] t= 11.90s step= 595 trunk_z= 110.8mm grav_b=(+0.00,+0.07,-1.00) r=0.25m +[headless_play] t= 12.00s step= 600 trunk_z= 108.5mm grav_b=(+0.02,-0.09,-1.00) r=0.25m +[headless_play] t= 12.10s step= 605 trunk_z= 110.3mm grav_b=(+0.04,-0.01,-1.00) r=0.25m +[headless_play] t= 12.20s step= 610 trunk_z= 109.1mm grav_b=(+0.06,+0.01,-1.00) r=0.24m +[headless_play] t= 12.30s step= 615 trunk_z= 109.7mm grav_b=(+0.03,-0.10,-0.99) r=0.24m +[headless_play] t= 12.40s step= 620 trunk_z= 113.2mm grav_b=(+0.02,-0.03,-1.00) r=0.24m +[headless_play] t= 12.50s step= 625 trunk_z= 109.2mm grav_b=(+0.01,+0.08,-1.00) r=0.23m +[headless_play] t= 12.60s step= 630 trunk_z= 109.5mm grav_b=(+0.02,-0.08,-1.00) r=0.23m +[headless_play] t= 12.70s step= 635 trunk_z= 111.0mm grav_b=(+0.08,-0.05,-1.00) r=0.23m +[headless_play] t= 12.80s step= 640 trunk_z= 107.3mm grav_b=(+0.07,+0.11,-0.99) r=0.23m +[headless_play] t= 12.90s step= 645 trunk_z= 114.0mm grav_b=(-0.02,-0.06,-1.00) r=0.22m +[headless_play] t= 13.00s step= 650 trunk_z= 110.7mm grav_b=(+0.03,-0.15,-0.99) r=0.23m +[headless_play] t= 13.10s step= 655 trunk_z= 108.6mm grav_b=(+0.02,+0.07,-1.00) r=0.23m +[headless_play] t= 13.20s step= 660 trunk_z= 113.1mm grav_b=(+0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 13.30s step= 665 trunk_z= 108.7mm grav_b=(-0.00,-0.15,-0.99) r=0.24m +[headless_play] t= 13.40s step= 670 trunk_z= 111.7mm grav_b=(+0.09,-0.00,-1.00) r=0.24m +[headless_play] t= 13.50s step= 675 trunk_z= 108.9mm grav_b=(+0.08,+0.10,-0.99) r=0.24m +[headless_play] t= 13.60s step= 680 trunk_z= 110.9mm grav_b=(-0.00,-0.09,-1.00) r=0.24m +[headless_play] t= 13.70s step= 685 trunk_z= 107.4mm grav_b=(+0.13,-0.01,-0.99) r=0.25m +[headless_play] t= 13.80s step= 690 trunk_z= 105.4mm grav_b=(+0.08,+0.11,-0.99) r=0.25m +[headless_play] t= 13.90s step= 695 trunk_z= 112.5mm grav_b=(-0.04,-0.12,-0.99) r=0.25m +[headless_play] t= 14.00s step= 700 trunk_z= 112.8mm grav_b=(+0.01,-0.13,-0.99) r=0.26m +[headless_play] t= 14.10s step= 705 trunk_z= 108.3mm grav_b=(-0.01,+0.03,-1.00) r=0.27m +[headless_play] t= 14.20s step= 710 trunk_z= 110.9mm grav_b=(+0.07,-0.03,-1.00) r=0.27m +[headless_play] t= 14.30s step= 715 trunk_z= 103.3mm grav_b=(+0.19,-0.02,-0.98) r=0.27m +[headless_play] t= 14.40s step= 720 trunk_z= 105.8mm grav_b=(+0.21,+0.09,-0.97) r=0.27m +[headless_play] t= 14.50s step= 725 trunk_z= 112.6mm grav_b=(+0.21,-0.22,-0.95) r=0.27m +[headless_play] t= 14.60s step= 730 trunk_z= 104.2mm grav_b=(+0.57,+0.18,-0.80) r=0.28m +[headless_play] RESET at t= 14.68s step= 734 (env termination, not a recovery) +[headless_play] t= 14.70s step= 735 trunk_z= 120.5mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 14.80s step= 740 trunk_z= 116.4mm grav_b=(-0.03,-0.04,-1.00) r=0.39m +[headless_play] t= 14.90s step= 745 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 15.00s step= 750 trunk_z= 114.8mm grav_b=(+0.02,+0.10,-0.99) r=0.39m +[headless_play] t= 15.10s step= 755 trunk_z= 123.1mm grav_b=(+0.03,-0.04,-1.00) r=0.40m +[headless_play] t= 15.20s step= 760 trunk_z= 119.8mm grav_b=(-0.02,-0.06,-1.00) r=0.41m +[headless_play] t= 15.30s step= 765 trunk_z= 110.1mm grav_b=(-0.17,+0.11,-0.98) r=0.41m +[headless_play] t= 15.40s step= 770 trunk_z= 112.6mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 15.50s step= 775 trunk_z= 114.3mm grav_b=(+0.13,-0.01,-0.99) r=0.45m +[headless_play] t= 15.60s step= 780 trunk_z= 121.2mm grav_b=(+0.13,+0.16,-0.98) r=0.45m +[headless_play] t= 15.70s step= 785 trunk_z= 94.5mm grav_b=(+0.16,-0.11,-0.98) r=0.47m +[headless_play] t= 15.80s step= 790 trunk_z= 96.6mm grav_b=(+0.22,-0.35,-0.91) r=0.49m +[headless_play] t= 15.90s step= 795 trunk_z= 105.3mm grav_b=(+0.47,+0.17,-0.87) r=0.50m +[headless_play] RESET at t= 16.00s step= 800 (env termination, not a recovery) +[headless_play] t= 16.00s step= 800 trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 115.1mm grav_b=(+0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 115.9mm grav_b=(+0.06,-0.03,-1.00) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 111.7mm grav_b=(+0.07,+0.10,-0.99) r=0.41m +[headless_play] t= 16.40s step= 820 trunk_z= 112.9mm grav_b=(+0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 16.50s step= 825 trunk_z= 110.4mm grav_b=(+0.08,+0.01,-1.00) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 107.0mm grav_b=(+0.11,+0.10,-0.99) r=0.42m +[headless_play] t= 16.70s step= 835 trunk_z= 110.5mm grav_b=(+0.07,-0.06,-1.00) r=0.42m +[headless_play] t= 16.80s step= 840 trunk_z= 111.9mm grav_b=(+0.14,-0.01,-0.99) r=0.43m +[headless_play] t= 16.90s step= 845 trunk_z= 112.6mm grav_b=(+0.07,+0.08,-0.99) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 113.6mm grav_b=(-0.05,-0.17,-0.98) r=0.44m +[headless_play] t= 17.10s step= 855 trunk_z= 124.9mm grav_b=(-0.03,-0.13,-0.99) r=0.45m +[headless_play] t= 17.20s step= 860 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) r=0.44m +[headless_play] t= 17.30s step= 865 trunk_z= 113.5mm grav_b=(+0.02,-0.02,-1.00) r=0.44m +[headless_play] t= 17.40s step= 870 trunk_z= 111.6mm grav_b=(+0.10,+0.05,-0.99) r=0.45m +[headless_play] t= 17.50s step= 875 trunk_z= 107.4mm grav_b=(+0.08,+0.09,-0.99) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 110.2mm grav_b=(+0.03,-0.09,-1.00) r=0.46m +[headless_play] t= 17.70s step= 885 trunk_z= 112.6mm grav_b=(+0.11,+0.01,-0.99) r=0.47m +[headless_play] t= 17.80s step= 890 trunk_z= 110.7mm grav_b=(+0.08,+0.06,-0.99) r=0.47m +[headless_play] t= 17.90s step= 895 trunk_z= 112.3mm grav_b=(+0.04,-0.07,-1.00) r=0.49m +[headless_play] t= 18.00s step= 900 trunk_z= 113.3mm grav_b=(+0.07,+0.09,-0.99) r=0.50m +[headless_play] t= 18.10s step= 905 trunk_z= 114.4mm grav_b=(+0.13,-0.10,-0.99) r=0.53m +[headless_play] t= 18.20s step= 910 trunk_z= 119.3mm grav_b=(+0.27,+0.01,-0.96) r=0.56m +[headless_play] t= 18.30s step= 915 trunk_z= 110.2mm grav_b=(+0.34,+0.04,-0.94) r=0.59m +[headless_play] RESET at t= 18.38s step= 919 (env termination, not a recovery) +[headless_play] t= 18.40s step= 920 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 18.50s step= 925 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 18.70s step= 935 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 18.80s step= 940 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 18.90s step= 945 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 19.10s step= 955 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 19.20s step= 960 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 19.30s step= 965 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 19.40s step= 970 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 19.50s step= 975 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 19.60s step= 980 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 19.70s step= 985 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 19.80s step= 990 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 19.90s step= 995 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 20.00s step=1000 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..0c2a25a1c589e060db3864adbab3ae5ca7d172a9 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t6.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.033,-17.887,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.6mm grav_b=(-0.01,-0.00,-1.00) r=0.12m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.04,-0.05,-1.00) r=0.12m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(-0.02,+0.01,-1.00) r=0.12m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 0.40s step= 20 trunk_z= 118.2mm grav_b=(-0.02,-0.00,-1.00) r=0.11m +[headless_play] t= 0.50s step= 25 trunk_z= 114.1mm grav_b=(-0.03,+0.09,-1.00) r=0.10m +[headless_play] t= 0.60s step= 30 trunk_z= 115.5mm grav_b=(-0.02,-0.04,-1.00) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 119.5mm grav_b=(-0.04,+0.12,-0.99) r=0.10m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 121.3mm grav_b=(-0.06,+0.02,-1.00) r=0.12m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(-0.05,+0.10,-0.99) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 118.8mm grav_b=(+0.02,+0.01,-1.00) r=0.15m +[headless_play] t= 1.20s step= 60 trunk_z= 109.2mm grav_b=(+0.18,-0.05,-0.98) r=0.16m +[headless_play] t= 1.30s step= 65 trunk_z= 75.6mm grav_b=(+0.13,-0.83,-0.55) r=0.19m +[headless_play] RESET at t= 1.34s step= 67 (env termination, not a recovery) +[headless_play] t= 1.40s step= 70 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) r=0.14m +[headless_play] t= 1.50s step= 75 trunk_z= 114.8mm grav_b=(+0.01,+0.02,-1.00) r=0.14m +[headless_play] t= 1.60s step= 80 trunk_z= 115.6mm grav_b=(+0.02,-0.02,-1.00) r=0.16m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(+0.02,-0.04,-1.00) r=0.17m +[headless_play] t= 1.80s step= 90 trunk_z= 114.6mm grav_b=(-0.02,+0.04,-1.00) r=0.18m +[headless_play] t= 1.90s step= 95 trunk_z= 112.6mm grav_b=(-0.01,+0.04,-1.00) r=0.19m +[headless_play] t= 2.00s step= 100 trunk_z= 110.5mm grav_b=(+0.01,-0.06,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 113.1mm grav_b=(+0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 110.3mm grav_b=(-0.02,+0.09,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 113.6mm grav_b=(+0.00,-0.00,-1.00) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 110.1mm grav_b=(+0.01,-0.06,-1.00) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 112.0mm grav_b=(-0.00,+0.05,-1.00) r=0.26m +[headless_play] t= 2.60s step= 130 trunk_z= 110.8mm grav_b=(+0.00,+0.01,-1.00) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 109.5mm grav_b=(-0.00,-0.09,-1.00) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 111.7mm grav_b=(+0.03,+0.00,-1.00) r=0.29m +[headless_play] t= 2.90s step= 145 trunk_z= 106.3mm grav_b=(+0.04,+0.07,-1.00) r=0.29m +[headless_play] t= 3.00s step= 150 trunk_z= 113.3mm grav_b=(+0.00,-0.07,-1.00) r=0.29m +[headless_play] t= 3.10s step= 155 trunk_z= 112.6mm grav_b=(-0.01,-0.12,-0.99) r=0.30m +[headless_play] t= 3.20s step= 160 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 3.30s step= 165 trunk_z= 114.9mm grav_b=(-0.01,+0.06,-1.00) r=0.31m +[headless_play] t= 3.40s step= 170 trunk_z= 115.3mm grav_b=(-0.01,-0.03,-1.00) r=0.32m +[headless_play] t= 3.50s step= 175 trunk_z= 112.9mm grav_b=(+0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 3.60s step= 180 trunk_z= 107.9mm grav_b=(+0.02,+0.10,-0.99) r=0.34m +[headless_play] t= 3.70s step= 185 trunk_z= 112.2mm grav_b=(-0.02,-0.03,-1.00) r=0.35m +[headless_play] t= 3.80s step= 190 trunk_z= 111.2mm grav_b=(+0.02,-0.09,-1.00) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 112.8mm grav_b=(-0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 4.00s step= 200 trunk_z= 104.7mm grav_b=(-0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 108.7mm grav_b=(+0.01,-0.09,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 102.9mm grav_b=(+0.08,-0.05,-1.00) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 100.5mm grav_b=(+0.04,+0.05,-1.00) r=0.38m +[headless_play] t= 4.40s step= 220 trunk_z= 110.5mm grav_b=(+0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 4.50s step= 225 trunk_z= 103.9mm grav_b=(+0.03,-0.09,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 109.6mm grav_b=(+0.03,+0.03,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 103.8mm grav_b=(-0.04,+0.10,-0.99) r=0.41m +[headless_play] t= 4.80s step= 240 trunk_z= 108.0mm grav_b=(-0.01,-0.17,-0.99) r=0.42m +[headless_play] t= 4.90s step= 245 trunk_z= 111.7mm grav_b=(+0.09,-0.26,-0.96) r=0.42m +[headless_play] t= 5.00s step= 250 trunk_z= 119.2mm grav_b=(+0.05,-0.17,-0.98) r=0.43m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(-0.02,-0.03,-1.00) r=0.43m +[headless_play] t= 5.20s step= 260 trunk_z= 116.4mm grav_b=(-0.01,-0.04,-1.00) r=0.43m +[headless_play] t= 5.30s step= 265 trunk_z= 110.0mm grav_b=(+0.07,-0.09,-0.99) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 110.6mm grav_b=(+0.03,+0.06,-1.00) r=0.49m +[headless_play] t= 5.50s step= 275 trunk_z= 114.0mm grav_b=(-0.08,+0.04,-1.00) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 107.4mm grav_b=(-0.09,-0.14,-0.99) r=0.53m +[headless_play] t= 5.70s step= 285 trunk_z= 111.8mm grav_b=(+0.05,-0.03,-1.00) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 102.1mm grav_b=(+0.08,+0.09,-0.99) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(-0.03,-0.05,-1.00) r=0.54m +[headless_play] t= 6.00s step= 300 trunk_z= 107.3mm grav_b=(+0.03,-0.08,-1.00) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 112.2mm grav_b=(-0.06,+0.06,-1.00) r=0.54m +[headless_play] t= 6.20s step= 310 trunk_z= 110.3mm grav_b=(-0.01,+0.09,-1.00) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 102.6mm grav_b=(+0.07,-0.12,-0.99) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 114.1mm grav_b=(+0.09,-0.02,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 113.0mm grav_b=(-0.06,+0.11,-0.99) r=0.56m +[headless_play] t= 6.60s step= 330 trunk_z= 117.5mm grav_b=(-0.12,-0.02,-0.99) r=0.57m +[headless_play] t= 6.70s step= 335 trunk_z= 116.0mm grav_b=(-0.04,-0.11,-0.99) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 112.2mm grav_b=(-0.08,+0.04,-1.00) r=0.59m +[headless_play] t= 6.90s step= 345 trunk_z= 113.9mm grav_b=(-0.07,+0.06,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 106.9mm grav_b=(+0.00,-0.16,-0.99) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 119.1mm grav_b=(+0.03,-0.13,-0.99) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 112.7mm grav_b=(-0.03,+0.02,-1.00) r=0.64m +[headless_play] t= 7.30s step= 365 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.65m +[headless_play] t= 7.40s step= 370 trunk_z= 109.9mm grav_b=(+0.03,-0.08,-1.00) r=0.66m +[headless_play] t= 7.50s step= 375 trunk_z= 107.5mm grav_b=(-0.01,+0.10,-1.00) r=0.67m +[headless_play] t= 7.60s step= 380 trunk_z= 112.7mm grav_b=(-0.02,+0.03,-1.00) r=0.67m +[headless_play] t= 7.70s step= 385 trunk_z= 105.6mm grav_b=(+0.06,-0.13,-0.99) r=0.68m +[headless_play] t= 7.80s step= 390 trunk_z= 112.9mm grav_b=(+0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 7.90s step= 395 trunk_z= 108.7mm grav_b=(+0.03,+0.05,-1.00) r=0.70m +[headless_play] t= 8.00s step= 400 trunk_z= 106.9mm grav_b=(+0.07,-0.08,-0.99) r=0.71m +[headless_play] t= 8.10s step= 405 trunk_z= 110.3mm grav_b=(+0.05,+0.06,-1.00) r=0.72m +[headless_play] t= 8.20s step= 410 trunk_z= 114.8mm grav_b=(-0.02,+0.00,-1.00) r=0.73m +[headless_play] t= 8.30s step= 415 trunk_z= 109.0mm grav_b=(+0.03,-0.12,-0.99) r=0.76m +[headless_play] t= 8.40s step= 420 trunk_z= 113.4mm grav_b=(+0.01,+0.08,-1.00) r=0.77m +[headless_play] t= 8.50s step= 425 trunk_z= 118.4mm grav_b=(-0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 8.60s step= 430 trunk_z= 91.4mm grav_b=(-0.12,-0.19,-0.97) r=0.82m +[headless_play] t= 8.70s step= 435 trunk_z= 102.1mm grav_b=(-0.04,-0.19,-0.98) r=0.84m +[headless_play] t= 8.80s step= 440 trunk_z= 102.7mm grav_b=(-0.05,-0.22,-0.97) r=0.86m +[headless_play] t= 8.90s step= 445 trunk_z= 100.0mm grav_b=(+0.00,-0.29,-0.96) r=0.87m +[headless_play] t= 9.00s step= 450 trunk_z= 89.3mm grav_b=(+0.00,-0.09,-1.00) r=0.88m +[headless_play] t= 9.10s step= 455 trunk_z= 76.9mm grav_b=(-0.01,-0.06,-1.00) r=0.90m +[headless_play] t= 9.20s step= 460 trunk_z= 86.6mm grav_b=(-0.11,-0.18,-0.98) r=0.93m +[headless_play] t= 9.30s step= 465 trunk_z= 97.7mm grav_b=(-0.09,+0.00,-1.00) r=0.97m +[headless_play] t= 9.40s step= 470 trunk_z= 83.2mm grav_b=(-0.09,+0.08,-0.99) r=1.01m +[headless_play] t= 9.50s step= 475 trunk_z= 81.8mm grav_b=(-0.09,-0.19,-0.98) r=0.99m +[headless_play] t= 9.60s step= 480 trunk_z= 99.8mm grav_b=(+0.00,-0.35,-0.94) r=0.97m +[headless_play] t= 9.70s step= 485 trunk_z= 102.5mm grav_b=(-0.01,-0.37,-0.93) r=0.94m +[headless_play] t= 9.80s step= 490 trunk_z= 93.5mm grav_b=(+0.08,-0.59,-0.81) r=0.91m +[headless_play] t= 9.90s step= 495 trunk_z= 36.0mm grav_b=(+0.07,-0.88,-0.46) r=0.86m +[headless_play] RESET at t= 9.94s step= 497 (env termination, not a recovery) +[headless_play] t= 10.00s step= 500 trunk_z= 115.0mm grav_b=(-0.03,+0.00,-1.00) r=0.20m +[headless_play] t= 10.10s step= 505 trunk_z= 115.5mm grav_b=(-0.02,+0.04,-1.00) r=0.21m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(-0.04,-0.07,-1.00) r=0.20m +[headless_play] t= 10.30s step= 515 trunk_z= 119.4mm grav_b=(-0.04,-0.02,-1.00) r=0.21m +[headless_play] t= 10.40s step= 520 trunk_z= 115.2mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 10.50s step= 525 trunk_z= 121.7mm grav_b=(-0.03,-0.08,-1.00) r=0.23m +[headless_play] t= 10.60s step= 530 trunk_z= 118.4mm grav_b=(+0.02,+0.07,-1.00) r=0.23m +[headless_play] t= 10.70s step= 535 trunk_z= 124.7mm grav_b=(+0.00,-0.02,-1.00) r=0.24m +[headless_play] t= 10.80s step= 540 trunk_z= 112.0mm grav_b=(-0.02,-0.18,-0.98) r=0.23m +[headless_play] t= 10.90s step= 545 trunk_z= 116.5mm grav_b=(-0.20,-0.05,-0.98) r=0.24m +[headless_play] t= 11.00s step= 550 trunk_z= 112.7mm grav_b=(-0.13,-0.03,-0.99) r=0.26m +[headless_play] t= 11.10s step= 555 trunk_z= 111.9mm grav_b=(-0.07,-0.06,-1.00) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 111.3mm grav_b=(+0.01,+0.06,-1.00) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 117.5mm grav_b=(-0.05,-0.09,-0.99) r=0.29m +[headless_play] t= 11.40s step= 570 trunk_z= 122.3mm grav_b=(-0.00,-0.04,-1.00) r=0.30m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(-0.02,+0.09,-1.00) r=0.31m +[headless_play] t= 11.60s step= 580 trunk_z= 120.1mm grav_b=(-0.05,-0.13,-0.99) r=0.32m +[headless_play] t= 11.70s step= 585 trunk_z= 127.2mm grav_b=(+0.00,-0.07,-1.00) r=0.32m +[headless_play] t= 11.80s step= 590 trunk_z= 113.3mm grav_b=(-0.02,+0.10,-0.99) r=0.34m +[headless_play] t= 11.90s step= 595 trunk_z= 119.5mm grav_b=(-0.11,-0.11,-0.99) r=0.34m +[headless_play] t= 12.00s step= 600 trunk_z= 114.5mm grav_b=(-0.03,-0.05,-1.00) r=0.35m +[headless_play] t= 12.10s step= 605 trunk_z= 111.7mm grav_b=(-0.08,+0.15,-0.99) r=0.37m +[headless_play] t= 12.20s step= 610 trunk_z= 116.1mm grav_b=(-0.03,-0.12,-0.99) r=0.37m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(+0.08,-0.08,-0.99) r=0.38m +[headless_play] t= 12.40s step= 620 trunk_z= 112.1mm grav_b=(-0.02,+0.08,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 83.3mm grav_b=(-0.16,-0.29,-0.94) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 78.3mm grav_b=(+0.24,-0.38,-0.89) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 8.9mm grav_b=(+0.66,-0.67,-0.35) r=0.39m +[headless_play] RESET at t= 12.72s step= 636 (env termination, not a recovery) +[headless_play] t= 12.80s step= 640 trunk_z= 115.1mm grav_b=(-0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(-0.08,+0.06,-1.00) r=0.23m +[headless_play] t= 13.00s step= 650 trunk_z= 115.3mm grav_b=(-0.08,-0.08,-0.99) r=0.22m +[headless_play] t= 13.10s step= 655 trunk_z= 112.2mm grav_b=(-0.04,+0.07,-1.00) r=0.21m +[headless_play] t= 13.20s step= 660 trunk_z= 114.6mm grav_b=(-0.08,-0.05,-1.00) r=0.20m +[headless_play] t= 13.30s step= 665 trunk_z= 116.2mm grav_b=(-0.01,-0.07,-1.00) r=0.19m +[headless_play] t= 13.40s step= 670 trunk_z= 111.0mm grav_b=(-0.03,+0.05,-1.00) r=0.17m +[headless_play] t= 13.50s step= 675 trunk_z= 110.8mm grav_b=(-0.06,-0.12,-0.99) r=0.16m +[headless_play] t= 13.60s step= 680 trunk_z= 112.5mm grav_b=(-0.03,+0.02,-1.00) r=0.15m +[headless_play] t= 13.70s step= 685 trunk_z= 111.2mm grav_b=(-0.01,-0.06,-1.00) r=0.14m +[headless_play] t= 13.80s step= 690 trunk_z= 114.4mm grav_b=(+0.02,-0.03,-1.00) r=0.13m +[headless_play] t= 13.90s step= 695 trunk_z= 111.5mm grav_b=(-0.02,+0.02,-1.00) r=0.12m +[headless_play] t= 14.00s step= 700 trunk_z= 113.2mm grav_b=(-0.02,-0.09,-1.00) r=0.11m +[headless_play] t= 14.10s step= 705 trunk_z= 112.0mm grav_b=(-0.04,+0.05,-1.00) r=0.10m +[headless_play] t= 14.20s step= 710 trunk_z= 111.9mm grav_b=(-0.03,-0.10,-1.00) r=0.10m +[headless_play] t= 14.30s step= 715 trunk_z= 113.3mm grav_b=(-0.02,+0.01,-1.00) r=0.09m +[headless_play] t= 14.40s step= 720 trunk_z= 112.2mm grav_b=(-0.01,-0.03,-1.00) r=0.08m +[headless_play] t= 14.50s step= 725 trunk_z= 113.7mm grav_b=(+0.02,-0.08,-1.00) r=0.07m +[headless_play] t= 14.60s step= 730 trunk_z= 112.1mm grav_b=(-0.05,+0.06,-1.00) r=0.09m +[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(-0.01,-0.08,-1.00) r=0.11m +[headless_play] t= 14.80s step= 740 trunk_z= 114.6mm grav_b=(-0.01,+0.03,-1.00) r=0.13m +[headless_play] t= 14.90s step= 745 trunk_z= 113.8mm grav_b=(-0.05,-0.08,-1.00) r=0.14m +[headless_play] t= 15.00s step= 750 trunk_z= 114.4mm grav_b=(+0.05,-0.07,-1.00) r=0.16m +[headless_play] t= 15.10s step= 755 trunk_z= 114.0mm grav_b=(-0.00,+0.05,-1.00) r=0.17m +[headless_play] t= 15.20s step= 760 trunk_z= 112.3mm grav_b=(-0.03,-0.02,-1.00) r=0.18m +[headless_play] t= 15.30s step= 765 trunk_z= 112.4mm grav_b=(+0.04,-0.05,-1.00) r=0.20m +[headless_play] t= 15.40s step= 770 trunk_z= 110.3mm grav_b=(-0.00,+0.09,-1.00) r=0.21m +[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(-0.07,-0.05,-1.00) r=0.22m +[headless_play] t= 15.60s step= 780 trunk_z= 114.0mm grav_b=(-0.05,-0.18,-0.98) r=0.23m +[headless_play] t= 15.70s step= 785 trunk_z= 117.8mm grav_b=(+0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 15.80s step= 790 trunk_z= 112.7mm grav_b=(-0.03,+0.06,-1.00) r=0.24m +[headless_play] t= 15.90s step= 795 trunk_z= 113.9mm grav_b=(-0.06,-0.13,-0.99) r=0.24m +[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(+0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 16.10s step= 805 trunk_z= 113.4mm grav_b=(+0.02,-0.03,-1.00) r=0.24m +[headless_play] t= 16.20s step= 810 trunk_z= 115.2mm grav_b=(-0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 16.30s step= 815 trunk_z= 115.0mm grav_b=(-0.02,-0.02,-1.00) r=0.24m +[headless_play] t= 16.40s step= 820 trunk_z= 115.1mm grav_b=(-0.01,-0.01,-1.00) r=0.24m +[headless_play] t= 16.50s step= 825 trunk_z= 115.2mm grav_b=(+0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(+0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 16.70s step= 835 trunk_z= 115.6mm grav_b=(+0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 16.80s step= 840 trunk_z= 115.6mm grav_b=(+0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 16.90s step= 845 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 17.00s step= 850 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 17.20s step= 860 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(-0.04,+0.00,-1.00) r=0.23m +[headless_play] t= 17.40s step= 870 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(-0.03,-0.00,-1.00) r=0.23m +[headless_play] t= 17.60s step= 880 trunk_z= 117.2mm grav_b=(-0.03,-0.00,-1.00) r=0.23m +[headless_play] t= 17.70s step= 885 trunk_z= 117.3mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 17.80s step= 890 trunk_z= 117.2mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 17.90s step= 895 trunk_z= 117.3mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 18.00s step= 900 trunk_z= 117.3mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 18.10s step= 905 trunk_z= 117.2mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 18.50s step= 925 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 18.60s step= 930 trunk_z= 117.2mm grav_b=(-0.11,-0.02,-0.99) r=0.22m +[headless_play] t= 18.70s step= 935 trunk_z= 115.2mm grav_b=(-0.11,+0.04,-0.99) r=0.21m +[headless_play] t= 18.80s step= 940 trunk_z= 110.6mm grav_b=(-0.12,-0.10,-0.99) r=0.21m +[headless_play] t= 18.90s step= 945 trunk_z= 109.4mm grav_b=(-0.07,-0.01,-1.00) r=0.21m +[headless_play] t= 19.00s step= 950 trunk_z= 81.4mm grav_b=(+0.08,-0.01,-1.00) r=0.20m +[headless_play] t= 19.10s step= 955 trunk_z= 87.0mm grav_b=(+0.12,-0.10,-0.99) r=0.20m +[headless_play] t= 19.20s step= 960 trunk_z= 110.8mm grav_b=(+0.00,+0.02,-1.00) r=0.20m +[headless_play] t= 19.30s step= 965 trunk_z= 119.8mm grav_b=(-0.13,+0.15,-0.98) r=0.19m +[headless_play] t= 19.40s step= 970 trunk_z= 123.1mm grav_b=(-0.15,+0.03,-0.99) r=0.20m +[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(-0.23,-0.01,-0.97) r=0.21m +[headless_play] t= 19.60s step= 980 trunk_z= 96.0mm grav_b=(-0.26,+0.15,-0.95) r=0.23m +[headless_play] t= 19.70s step= 985 trunk_z= 76.2mm grav_b=(-0.06,-0.18,-0.98) r=0.24m +[headless_play] t= 19.80s step= 990 trunk_z= 75.2mm grav_b=(-0.45,-0.30,-0.84) r=0.26m +[headless_play] t= 19.90s step= 995 trunk_z= 49.6mm grav_b=(-0.58,-0.45,-0.68) r=0.29m +[headless_play] RESET at t= 19.94s step= 997 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 112.3mm grav_b=(+0.04,+0.03,-1.00) r=0.39m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..6c65ead5f33515dee81df9261f9f92ed5e799cd6 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t7.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.974,-18.230,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.1mm grav_b=(-0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 0.20s step= 10 trunk_z= 115.3mm grav_b=(+0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 0.30s step= 15 trunk_z= 108.0mm grav_b=(-0.00,+0.08,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 112.7mm grav_b=(-0.03,-0.07,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 110.1mm grav_b=(+0.05,-0.09,-0.99) r=0.20m +[headless_play] t= 0.60s step= 30 trunk_z= 105.3mm grav_b=(+0.04,+0.10,-0.99) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(-0.02,+0.02,-1.00) r=0.18m +[headless_play] t= 0.80s step= 40 trunk_z= 105.7mm grav_b=(-0.01,-0.08,-1.00) r=0.18m +[headless_play] t= 0.90s step= 45 trunk_z= 107.0mm grav_b=(+0.04,+0.14,-0.99) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 111.7mm grav_b=(+0.04,+0.04,-1.00) r=0.16m +[headless_play] t= 1.10s step= 55 trunk_z= 104.3mm grav_b=(-0.00,-0.10,-1.00) r=0.16m +[headless_play] t= 1.20s step= 60 trunk_z= 106.1mm grav_b=(+0.06,+0.11,-0.99) r=0.16m +[headless_play] t= 1.30s step= 65 trunk_z= 110.2mm grav_b=(+0.02,+0.02,-1.00) r=0.15m +[headless_play] t= 1.40s step= 70 trunk_z= 106.2mm grav_b=(-0.03,-0.12,-0.99) r=0.14m +[headless_play] t= 1.50s step= 75 trunk_z= 109.4mm grav_b=(+0.02,+0.10,-1.00) r=0.14m +[headless_play] t= 1.60s step= 80 trunk_z= 119.1mm grav_b=(+0.01,+0.12,-0.99) r=0.13m +[headless_play] t= 1.70s step= 85 trunk_z= 117.9mm grav_b=(-0.03,+0.04,-1.00) r=0.13m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(-0.02,-0.02,-1.00) r=0.14m +[headless_play] t= 1.90s step= 95 trunk_z= 106.9mm grav_b=(-0.02,+0.10,-0.99) r=0.14m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) r=0.14m +[headless_play] t= 2.10s step= 105 trunk_z= 106.3mm grav_b=(-0.04,-0.11,-0.99) r=0.16m +[headless_play] t= 2.20s step= 110 trunk_z= 112.3mm grav_b=(+0.04,-0.03,-1.00) r=0.17m +[headless_play] t= 2.30s step= 115 trunk_z= 108.3mm grav_b=(+0.03,+0.14,-0.99) r=0.17m +[headless_play] t= 2.40s step= 120 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 108.9mm grav_b=(+0.03,-0.08,-1.00) r=0.19m +[headless_play] t= 2.60s step= 130 trunk_z= 109.5mm grav_b=(+0.01,+0.08,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 114.6mm grav_b=(-0.01,+0.07,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 111.2mm grav_b=(-0.02,-0.04,-1.00) r=0.22m +[headless_play] t= 2.90s step= 145 trunk_z= 111.7mm grav_b=(+0.01,-0.02,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 106.8mm grav_b=(+0.02,+0.14,-0.99) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 113.7mm grav_b=(+0.00,-0.00,-1.00) r=0.25m +[headless_play] t= 3.20s step= 160 trunk_z= 107.0mm grav_b=(+0.04,-0.09,-1.00) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 108.0mm grav_b=(+0.07,+0.10,-0.99) r=0.28m +[headless_play] t= 3.40s step= 170 trunk_z= 114.3mm grav_b=(+0.04,+0.08,-1.00) r=0.28m +[headless_play] t= 3.50s step= 175 trunk_z= 110.0mm grav_b=(-0.08,-0.11,-0.99) r=0.29m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(+0.06,-0.05,-1.00) r=0.31m +[headless_play] t= 3.70s step= 185 trunk_z= 108.7mm grav_b=(+0.03,+0.17,-0.99) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 120.8mm grav_b=(-0.03,+0.04,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 109.7mm grav_b=(-0.04,-0.04,-1.00) r=0.35m +[headless_play] t= 4.00s step= 200 trunk_z= 109.3mm grav_b=(+0.03,+0.08,-1.00) r=0.36m +[headless_play] t= 4.10s step= 205 trunk_z= 109.1mm grav_b=(+0.05,+0.08,-1.00) r=0.37m +[headless_play] t= 4.20s step= 210 trunk_z= 108.1mm grav_b=(-0.05,-0.12,-0.99) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 110.8mm grav_b=(+0.08,-0.05,-1.00) r=0.40m +[headless_play] t= 4.40s step= 220 trunk_z= 108.6mm grav_b=(+0.04,+0.14,-0.99) r=0.41m +[headless_play] t= 4.50s step= 225 trunk_z= 115.9mm grav_b=(-0.02,+0.03,-1.00) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 110.9mm grav_b=(-0.00,-0.06,-1.00) r=0.44m +[headless_play] t= 4.70s step= 235 trunk_z= 110.0mm grav_b=(-0.01,+0.09,-1.00) r=0.44m +[headless_play] t= 4.80s step= 240 trunk_z= 120.0mm grav_b=(-0.06,+0.09,-0.99) r=0.41m +[headless_play] t= 4.90s step= 245 trunk_z= 118.2mm grav_b=(-0.04,-0.05,-1.00) r=0.38m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(-0.02,+0.07,-1.00) r=0.37m +[headless_play] t= 5.10s step= 255 trunk_z= 121.2mm grav_b=(-0.02,+0.02,-1.00) r=0.36m +[headless_play] t= 5.20s step= 260 trunk_z= 113.8mm grav_b=(-0.05,-0.14,-0.99) r=0.37m +[headless_play] t= 5.30s step= 265 trunk_z= 113.7mm grav_b=(-0.09,+0.11,-0.99) r=0.38m +[headless_play] t= 5.40s step= 270 trunk_z= 122.5mm grav_b=(-0.02,+0.03,-1.00) r=0.39m +[headless_play] t= 5.50s step= 275 trunk_z= 109.8mm grav_b=(-0.04,-0.14,-0.99) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 110.9mm grav_b=(-0.19,+0.02,-0.98) r=0.42m +[headless_play] t= 5.70s step= 285 trunk_z= 113.3mm grav_b=(+0.00,-0.03,-1.00) r=0.43m +[headless_play] t= 5.80s step= 290 trunk_z= 113.6mm grav_b=(+0.07,-0.09,-0.99) r=0.44m +[headless_play] t= 5.90s step= 295 trunk_z= 120.7mm grav_b=(-0.08,+0.18,-0.98) r=0.45m +[headless_play] t= 6.00s step= 300 trunk_z= 121.8mm grav_b=(-0.12,+0.15,-0.98) r=0.47m +[headless_play] t= 6.10s step= 305 trunk_z= 120.6mm grav_b=(-0.14,+0.03,-0.99) r=0.50m +[headless_play] t= 6.20s step= 310 trunk_z= 121.1mm grav_b=(-0.10,-0.07,-0.99) r=0.53m +[headless_play] t= 6.30s step= 315 trunk_z= 116.6mm grav_b=(-0.08,+0.12,-0.99) r=0.54m +[headless_play] t= 6.40s step= 320 trunk_z= 125.7mm grav_b=(-0.01,+0.03,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 117.8mm grav_b=(+0.10,-0.14,-0.98) r=0.57m +[headless_play] t= 6.60s step= 330 trunk_z= 120.9mm grav_b=(+0.14,+0.12,-0.98) r=0.58m +[headless_play] t= 6.70s step= 335 trunk_z= 105.0mm grav_b=(+0.12,-0.28,-0.95) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 67.7mm grav_b=(+0.84,-0.10,-0.54) r=0.62m +[headless_play] RESET at t= 6.84s step= 342 (env termination, not a recovery) +[headless_play] t= 6.90s step= 345 trunk_z= 113.2mm grav_b=(-0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 7.00s step= 350 trunk_z= 111.9mm grav_b=(-0.01,+0.06,-1.00) r=0.36m +[headless_play] t= 7.10s step= 355 trunk_z= 116.1mm grav_b=(-0.05,-0.05,-1.00) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 113.3mm grav_b=(-0.03,-0.16,-0.99) r=0.33m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 7.40s step= 370 trunk_z= 106.8mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] t= 7.50s step= 375 trunk_z= 111.0mm grav_b=(+0.04,-0.04,-1.00) r=0.32m +[headless_play] t= 7.60s step= 380 trunk_z= 106.5mm grav_b=(+0.06,-0.05,-1.00) r=0.31m +[headless_play] t= 7.70s step= 385 trunk_z= 104.2mm grav_b=(+0.03,+0.08,-1.00) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 110.9mm grav_b=(+0.02,-0.07,-1.00) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 97.8mm grav_b=(+0.07,-0.16,-0.99) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 101.9mm grav_b=(+0.15,+0.15,-0.98) r=0.42m +[headless_play] t= 8.10s step= 405 trunk_z= 125.4mm grav_b=(-0.04,+0.06,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 118.2mm grav_b=(+0.03,-0.07,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 119.3mm grav_b=(-0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 8.40s step= 420 trunk_z= 113.4mm grav_b=(-0.00,+0.03,-1.00) r=0.53m +[headless_play] t= 8.50s step= 425 trunk_z= 113.2mm grav_b=(-0.04,-0.14,-0.99) r=0.55m +[headless_play] t= 8.60s step= 430 trunk_z= 113.6mm grav_b=(+0.09,-0.07,-0.99) r=0.57m +[headless_play] t= 8.70s step= 435 trunk_z= 108.2mm grav_b=(+0.07,+0.13,-0.99) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 117.0mm grav_b=(-0.04,-0.02,-1.00) r=0.60m +[headless_play] t= 8.90s step= 445 trunk_z= 106.4mm grav_b=(+0.00,-0.15,-0.99) r=0.60m +[headless_play] t= 9.00s step= 450 trunk_z= 104.1mm grav_b=(+0.07,+0.07,-1.00) r=0.61m +[headless_play] t= 9.10s step= 455 trunk_z= 113.4mm grav_b=(+0.03,+0.00,-1.00) r=0.61m +[headless_play] t= 9.20s step= 460 trunk_z= 103.3mm grav_b=(+0.02,-0.18,-0.98) r=0.61m +[headless_play] t= 9.30s step= 465 trunk_z= 104.1mm grav_b=(+0.13,-0.04,-0.99) r=0.62m +[headless_play] t= 9.40s step= 470 trunk_z= 108.1mm grav_b=(+0.09,+0.10,-0.99) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(-0.06,-0.06,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 108.7mm grav_b=(+0.11,-0.15,-0.98) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 109.9mm grav_b=(+0.08,+0.03,-1.00) r=0.64m +[headless_play] t= 9.80s step= 490 trunk_z= 117.3mm grav_b=(+0.02,+0.02,-1.00) r=0.64m +[headless_play] t= 9.90s step= 495 trunk_z= 101.8mm grav_b=(+0.03,-0.14,-0.99) r=0.65m +[headless_play] t= 10.00s step= 500 trunk_z= 105.6mm grav_b=(+0.13,-0.02,-0.99) r=0.65m +[headless_play] t= 10.10s step= 505 trunk_z= 108.7mm grav_b=(+0.09,+0.07,-0.99) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 110.0mm grav_b=(-0.02,-0.12,-0.99) r=0.67m +[headless_play] t= 10.30s step= 515 trunk_z= 111.0mm grav_b=(+0.00,-0.07,-1.00) r=0.68m +[headless_play] t= 10.40s step= 520 trunk_z= 105.5mm grav_b=(+0.00,+0.09,-1.00) r=0.69m +[headless_play] t= 10.50s step= 525 trunk_z= 110.7mm grav_b=(+0.02,-0.04,-1.00) r=0.70m +[headless_play] t= 10.60s step= 530 trunk_z= 102.2mm grav_b=(+0.08,-0.15,-0.99) r=0.70m +[headless_play] t= 10.70s step= 535 trunk_z= 103.2mm grav_b=(+0.09,+0.03,-1.00) r=0.71m +[headless_play] t= 10.80s step= 540 trunk_z= 108.9mm grav_b=(+0.04,+0.02,-1.00) r=0.72m +[headless_play] t= 10.90s step= 545 trunk_z= 103.7mm grav_b=(+0.02,-0.12,-0.99) r=0.72m +[headless_play] t= 11.00s step= 550 trunk_z= 108.7mm grav_b=(+0.03,-0.01,-1.00) r=0.73m +[headless_play] t= 11.10s step= 555 trunk_z= 104.8mm grav_b=(+0.02,+0.06,-1.00) r=0.74m +[headless_play] t= 11.20s step= 560 trunk_z= 112.2mm grav_b=(+0.02,-0.07,-1.00) r=0.74m +[headless_play] t= 11.30s step= 565 trunk_z= 108.9mm grav_b=(+0.05,-0.11,-0.99) r=0.74m +[headless_play] t= 11.40s step= 570 trunk_z= 108.3mm grav_b=(-0.02,+0.08,-1.00) r=0.75m +[headless_play] t= 11.50s step= 575 trunk_z= 126.3mm grav_b=(-0.02,+0.08,-1.00) r=0.76m +[headless_play] t= 11.60s step= 580 trunk_z= 129.2mm grav_b=(+0.03,+0.04,-1.00) r=0.78m +[headless_play] t= 11.70s step= 585 trunk_z= 109.6mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 11.80s step= 590 trunk_z= 115.6mm grav_b=(-0.04,+0.03,-1.00) r=0.80m +[headless_play] t= 11.90s step= 595 trunk_z= 114.4mm grav_b=(-0.06,-0.01,-1.00) r=0.81m +[headless_play] t= 12.00s step= 600 trunk_z= 117.0mm grav_b=(+0.01,-0.15,-0.99) r=0.83m +[headless_play] t= 12.10s step= 605 trunk_z= 119.6mm grav_b=(-0.03,+0.01,-1.00) r=0.84m +[headless_play] t= 12.20s step= 610 trunk_z= 106.9mm grav_b=(+0.03,-0.11,-0.99) r=0.87m +[headless_play] t= 12.30s step= 615 trunk_z= 97.6mm grav_b=(+0.10,-0.44,-0.89) r=0.92m +[headless_play] t= 12.40s step= 620 trunk_z= 78.0mm grav_b=(+0.44,-0.72,-0.54) r=0.96m +[headless_play] RESET at t= 12.44s step= 622 (env termination, not a recovery) +[headless_play] t= 12.50s step= 625 trunk_z= 115.3mm grav_b=(-0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 12.60s step= 630 trunk_z= 111.6mm grav_b=(+0.02,+0.06,-1.00) r=0.27m +[headless_play] t= 12.70s step= 635 trunk_z= 114.1mm grav_b=(-0.01,-0.08,-1.00) r=0.26m +[headless_play] t= 12.80s step= 640 trunk_z= 111.3mm grav_b=(+0.04,-0.06,-1.00) r=0.24m +[headless_play] t= 12.90s step= 645 trunk_z= 106.5mm grav_b=(+0.06,+0.06,-1.00) r=0.23m +[headless_play] t= 13.00s step= 650 trunk_z= 110.0mm grav_b=(-0.03,-0.11,-0.99) r=0.22m +[headless_play] t= 13.10s step= 655 trunk_z= 107.1mm grav_b=(+0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 13.20s step= 660 trunk_z= 108.1mm grav_b=(+0.04,+0.06,-1.00) r=0.20m +[headless_play] t= 13.30s step= 665 trunk_z= 110.4mm grav_b=(-0.03,-0.12,-0.99) r=0.20m +[headless_play] t= 13.40s step= 670 trunk_z= 110.8mm grav_b=(+0.09,-0.02,-1.00) r=0.18m +[headless_play] t= 13.50s step= 675 trunk_z= 111.8mm grav_b=(+0.08,+0.10,-0.99) r=0.18m +[headless_play] t= 13.60s step= 680 trunk_z= 122.4mm grav_b=(-0.02,-0.06,-1.00) r=0.16m +[headless_play] t= 13.70s step= 685 trunk_z= 118.0mm grav_b=(+0.00,-0.01,-1.00) r=0.13m +[headless_play] t= 13.80s step= 690 trunk_z= 114.8mm grav_b=(-0.00,+0.14,-0.99) r=0.11m +[headless_play] t= 13.90s step= 695 trunk_z= 118.8mm grav_b=(+0.01,+0.02,-1.00) r=0.09m +[headless_play] t= 14.00s step= 700 trunk_z= 109.5mm grav_b=(+0.05,-0.01,-1.00) r=0.07m +[headless_play] t= 14.10s step= 705 trunk_z= 108.5mm grav_b=(+0.12,+0.13,-0.98) r=0.05m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(+0.04,-0.03,-1.00) r=0.04m +[headless_play] t= 14.30s step= 715 trunk_z= 112.3mm grav_b=(-0.02,-0.17,-0.99) r=0.02m +[headless_play] t= 14.40s step= 720 trunk_z= 116.1mm grav_b=(-0.12,+0.05,-0.99) r=0.03m +[headless_play] t= 14.50s step= 725 trunk_z= 117.5mm grav_b=(-0.05,+0.05,-1.00) r=0.05m +[headless_play] t= 14.60s step= 730 trunk_z= 108.4mm grav_b=(+0.05,-0.11,-0.99) r=0.06m +[headless_play] t= 14.70s step= 735 trunk_z= 121.0mm grav_b=(+0.09,-0.06,-0.99) r=0.07m +[headless_play] t= 14.80s step= 740 trunk_z= 116.4mm grav_b=(+0.06,+0.07,-1.00) r=0.09m +[headless_play] t= 14.90s step= 745 trunk_z= 120.1mm grav_b=(-0.06,-0.16,-0.99) r=0.12m +[headless_play] t= 15.00s step= 750 trunk_z= 120.0mm grav_b=(-0.10,-0.06,-0.99) r=0.15m +[headless_play] t= 15.10s step= 755 trunk_z= 106.5mm grav_b=(-0.08,+0.13,-0.99) r=0.17m +[headless_play] t= 15.20s step= 760 trunk_z= 105.9mm grav_b=(+0.14,-0.01,-0.99) r=0.18m +[headless_play] t= 15.30s step= 765 trunk_z= 116.4mm grav_b=(+0.09,-0.03,-1.00) r=0.19m +[headless_play] t= 15.40s step= 770 trunk_z= 110.9mm grav_b=(+0.08,+0.09,-0.99) r=0.21m +[headless_play] t= 15.50s step= 775 trunk_z= 121.7mm grav_b=(-0.16,-0.05,-0.99) r=0.23m +[headless_play] t= 15.60s step= 780 trunk_z= 113.2mm grav_b=(-0.02,-0.12,-0.99) r=0.26m +[headless_play] t= 15.70s step= 785 trunk_z= 112.6mm grav_b=(-0.06,+0.20,-0.98) r=0.29m +[headless_play] t= 15.80s step= 790 trunk_z= 122.5mm grav_b=(-0.04,+0.03,-1.00) r=0.31m +[headless_play] t= 15.90s step= 795 trunk_z= 111.1mm grav_b=(-0.03,-0.11,-0.99) r=0.35m +[headless_play] t= 16.00s step= 800 trunk_z= 111.4mm grav_b=(-0.01,+0.10,-1.00) r=0.38m +[headless_play] t= 16.10s step= 805 trunk_z= 116.7mm grav_b=(+0.06,+0.04,-1.00) r=0.39m +[headless_play] t= 16.20s step= 810 trunk_z= 105.9mm grav_b=(+0.02,-0.12,-0.99) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 113.6mm grav_b=(+0.08,+0.07,-0.99) r=0.44m +[headless_play] t= 16.40s step= 820 trunk_z= 121.4mm grav_b=(+0.05,+0.09,-0.99) r=0.46m +[headless_play] t= 16.50s step= 825 trunk_z= 112.9mm grav_b=(+0.03,-0.05,-1.00) r=0.49m +[headless_play] t= 16.60s step= 830 trunk_z= 116.5mm grav_b=(-0.11,-0.01,-0.99) r=0.51m +[headless_play] t= 16.70s step= 835 trunk_z= 111.9mm grav_b=(-0.05,+0.10,-0.99) r=0.52m +[headless_play] t= 16.80s step= 840 trunk_z= 114.0mm grav_b=(+0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 16.90s step= 845 trunk_z= 113.8mm grav_b=(+0.06,-0.01,-1.00) r=0.55m +[headless_play] t= 17.00s step= 850 trunk_z= 111.4mm grav_b=(+0.13,+0.19,-0.97) r=0.56m +[headless_play] t= 17.10s step= 855 trunk_z= 123.4mm grav_b=(+0.07,+0.06,-1.00) r=0.57m +[headless_play] t= 17.20s step= 860 trunk_z= 106.8mm grav_b=(-0.02,-0.09,-1.00) r=0.58m +[headless_play] t= 17.30s step= 865 trunk_z= 113.3mm grav_b=(-0.16,+0.03,-0.99) r=0.58m +[headless_play] t= 17.40s step= 870 trunk_z= 114.5mm grav_b=(+0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 17.50s step= 875 trunk_z= 108.5mm grav_b=(+0.06,-0.08,-0.99) r=0.61m +[headless_play] t= 17.60s step= 880 trunk_z= 118.7mm grav_b=(+0.02,+0.05,-1.00) r=0.62m +[headless_play] t= 17.70s step= 885 trunk_z= 115.7mm grav_b=(+0.06,+0.13,-0.99) r=0.62m +[headless_play] t= 17.80s step= 890 trunk_z= 117.3mm grav_b=(+0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 17.90s step= 895 trunk_z= 118.4mm grav_b=(-0.09,-0.06,-0.99) r=0.64m +[headless_play] t= 18.00s step= 900 trunk_z= 115.1mm grav_b=(-0.03,+0.09,-1.00) r=0.64m +[headless_play] t= 18.10s step= 905 trunk_z= 118.0mm grav_b=(+0.04,-0.09,-0.99) r=0.66m +[headless_play] t= 18.20s step= 910 trunk_z= 126.7mm grav_b=(+0.11,+0.04,-0.99) r=0.67m +[headless_play] t= 18.30s step= 915 trunk_z= 113.2mm grav_b=(+0.17,+0.06,-0.98) r=0.67m +[headless_play] t= 18.40s step= 920 trunk_z= 102.1mm grav_b=(+0.13,-0.04,-0.99) r=0.68m +[headless_play] t= 18.50s step= 925 trunk_z= 75.2mm grav_b=(-0.39,-0.07,-0.92) r=0.69m +[headless_play] t= 18.60s step= 930 trunk_z= 80.2mm grav_b=(-0.52,+0.08,-0.85) r=0.72m +[headless_play] t= 18.70s step= 935 trunk_z= 88.2mm grav_b=(-0.82,+0.41,-0.39) r=0.73m +[headless_play] RESET at t= 18.72s step= 936 (env termination, not a recovery) +[headless_play] t= 18.80s step= 940 trunk_z= 115.5mm grav_b=(-0.02,+0.02,-1.00) r=0.23m +[headless_play] t= 18.90s step= 945 trunk_z= 113.6mm grav_b=(-0.06,+0.04,-1.00) r=0.24m +[headless_play] t= 19.00s step= 950 trunk_z= 115.0mm grav_b=(-0.04,-0.07,-1.00) r=0.25m +[headless_play] t= 19.10s step= 955 trunk_z= 113.6mm grav_b=(+0.06,-0.10,-0.99) r=0.25m +[headless_play] t= 19.20s step= 960 trunk_z= 111.8mm grav_b=(+0.02,+0.07,-1.00) r=0.25m +[headless_play] t= 19.30s step= 965 trunk_z= 119.0mm grav_b=(-0.02,-0.05,-1.00) r=0.27m +[headless_play] t= 19.40s step= 970 trunk_z= 115.6mm grav_b=(+0.05,-0.18,-0.98) r=0.29m +[headless_play] t= 19.50s step= 975 trunk_z= 117.3mm grav_b=(+0.04,-0.02,-1.00) r=0.31m +[headless_play] t= 19.60s step= 980 trunk_z= 117.3mm grav_b=(-0.00,+0.05,-1.00) r=0.33m +[headless_play] t= 19.70s step= 985 trunk_z= 110.5mm grav_b=(-0.03,-0.16,-0.99) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 117.3mm grav_b=(+0.06,-0.10,-0.99) r=0.35m +[headless_play] t= 19.90s step= 995 trunk_z= 110.7mm grav_b=(+0.00,+0.10,-0.99) r=0.36m +[headless_play] t= 20.00s step=1000 trunk_z= 120.0mm grav_b=(-0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 112.8mm grav_b=(+0.08,-0.17,-0.98) r=0.39m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..8a11d5aed680bf0f764f093f9d908ae1497ed590 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t8.log @@ -0,0 +1,216 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.294,-18.230,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.0mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.00,+0.04,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 113.5mm grav_b=(+0.07,-0.02,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 112.8mm grav_b=(+0.16,-0.08,-0.98) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 111.4mm grav_b=(+0.20,+0.10,-0.98) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.25,-0.14,-0.96) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 91.8mm grav_b=(+0.55,+0.06,-0.83) r=0.40m +[headless_play] RESET at t= 0.70s step= 35 (env termination, not a recovery) +[headless_play] t= 0.70s step= 35 trunk_z= 123.2mm grav_b=(+0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 114.9mm grav_b=(+0.02,-0.05,-1.00) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 113.4mm grav_b=(+0.08,+0.00,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 106.0mm grav_b=(+0.09,+0.12,-0.99) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 110.1mm grav_b=(+0.02,-0.07,-1.00) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 104.0mm grav_b=(+0.11,-0.01,-0.99) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 103.9mm grav_b=(+0.10,+0.07,-0.99) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 110.0mm grav_b=(+0.05,-0.06,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 101.6mm grav_b=(+0.13,-0.08,-0.99) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 103.3mm grav_b=(+0.04,+0.12,-0.99) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 104.0mm grav_b=(+0.06,+0.01,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 102.7mm grav_b=(+0.16,-0.04,-0.99) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 109.9mm grav_b=(+0.12,+0.02,-0.99) r=0.29m +[headless_play] t= 2.00s step= 100 trunk_z= 109.4mm grav_b=(+0.04,+0.06,-1.00) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 109.3mm grav_b=(+0.04,-0.06,-1.00) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 105.6mm grav_b=(+0.10,+0.09,-0.99) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 111.0mm grav_b=(+0.05,-0.02,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 109.0mm grav_b=(+0.03,-0.15,-0.99) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 107.1mm grav_b=(+0.07,+0.03,-1.00) r=0.27m +[headless_play] t= 2.60s step= 130 trunk_z= 109.5mm grav_b=(+0.08,+0.07,-0.99) r=0.26m +[headless_play] t= 2.70s step= 135 trunk_z= 105.6mm grav_b=(+0.07,-0.06,-1.00) r=0.26m +[headless_play] t= 2.80s step= 140 trunk_z= 101.0mm grav_b=(+0.15,+0.07,-0.99) r=0.26m +[headless_play] t= 2.90s step= 145 trunk_z= 108.1mm grav_b=(+0.04,-0.10,-0.99) r=0.26m +[headless_play] t= 3.00s step= 150 trunk_z= 104.4mm grav_b=(+0.11,-0.04,-0.99) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 106.2mm grav_b=(+0.10,+0.07,-0.99) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 108.8mm grav_b=(-0.02,-0.09,-1.00) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 111.6mm grav_b=(+0.04,-0.03,-1.00) r=0.26m +[headless_play] t= 3.40s step= 170 trunk_z= 105.9mm grav_b=(+0.04,+0.12,-0.99) r=0.25m +[headless_play] t= 3.50s step= 175 trunk_z= 109.0mm grav_b=(+0.08,-0.01,-1.00) r=0.25m +[headless_play] t= 3.60s step= 180 trunk_z= 108.6mm grav_b=(+0.14,-0.07,-0.99) r=0.26m +[headless_play] t= 3.70s step= 185 trunk_z= 109.5mm grav_b=(+0.10,+0.07,-0.99) r=0.25m +[headless_play] t= 3.80s step= 190 trunk_z= 113.1mm grav_b=(+0.01,-0.01,-1.00) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 108.2mm grav_b=(+0.03,-0.06,-1.00) r=0.26m +[headless_play] t= 4.00s step= 200 trunk_z= 103.3mm grav_b=(+0.07,+0.09,-0.99) r=0.26m +[headless_play] t= 4.10s step= 205 trunk_z= 105.7mm grav_b=(+0.11,+0.01,-0.99) r=0.26m +[headless_play] t= 4.20s step= 210 trunk_z= 100.8mm grav_b=(+0.11,-0.16,-0.98) r=0.27m +[headless_play] t= 4.30s step= 215 trunk_z= 107.5mm grav_b=(+0.12,+0.03,-0.99) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 108.3mm grav_b=(+0.08,+0.08,-0.99) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 106.6mm grav_b=(-0.05,-0.13,-0.99) r=0.28m +[headless_play] t= 4.60s step= 230 trunk_z= 111.0mm grav_b=(+0.01,+0.02,-1.00) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 113.0mm grav_b=(+0.14,+0.04,-0.99) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 109.3mm grav_b=(+0.23,-0.22,-0.95) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 122.4mm grav_b=(+0.49,+0.05,-0.87) r=0.35m +[headless_play] t= 5.00s step= 250 trunk_z= 86.6mm grav_b=(+0.63,-0.47,-0.62) r=0.39m +[headless_play] RESET at t= 5.04s step= 252 (env termination, not a recovery) +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(-0.03,-0.01,-1.00) r=0.29m +[headless_play] t= 5.20s step= 260 trunk_z= 116.8mm grav_b=(-0.01,-0.08,-1.00) r=0.28m +[headless_play] t= 5.30s step= 265 trunk_z= 114.8mm grav_b=(-0.02,+0.06,-1.00) r=0.28m +[headless_play] t= 5.40s step= 270 trunk_z= 115.5mm grav_b=(+0.01,-0.04,-1.00) r=0.28m +[headless_play] t= 5.50s step= 275 trunk_z= 120.3mm grav_b=(+0.04,+0.04,-1.00) r=0.29m +[headless_play] t= 5.60s step= 280 trunk_z= 116.8mm grav_b=(+0.05,+0.04,-1.00) r=0.30m +[headless_play] t= 5.70s step= 285 trunk_z= 118.8mm grav_b=(+0.02,-0.10,-1.00) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 120.2mm grav_b=(+0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 120.8mm grav_b=(+0.03,-0.03,-1.00) r=0.35m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(+0.04,-0.09,-1.00) r=0.37m +[headless_play] t= 6.10s step= 305 trunk_z= 126.9mm grav_b=(+0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 106.3mm grav_b=(-0.06,+0.04,-1.00) r=0.41m +[headless_play] t= 6.30s step= 315 trunk_z= 99.0mm grav_b=(-0.15,-0.20,-0.97) r=0.42m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(+0.08,+0.05,-1.00) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 102.1mm grav_b=(+0.06,+0.07,-1.00) r=0.45m +[headless_play] t= 6.60s step= 330 trunk_z= 100.4mm grav_b=(-0.06,-0.24,-0.97) r=0.46m +[headless_play] t= 6.70s step= 335 trunk_z= 106.9mm grav_b=(+0.06,+0.09,-0.99) r=0.48m +[headless_play] t= 6.80s step= 340 trunk_z= 90.7mm grav_b=(+0.22,-0.12,-0.97) r=0.50m +[headless_play] RESET at t= 6.88s step= 344 (env termination, not a recovery) +[headless_play] t= 6.90s step= 345 trunk_z= 122.8mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 115.2mm grav_b=(-0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 7.10s step= 355 trunk_z= 113.4mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 111.7mm grav_b=(+0.04,-0.10,-0.99) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 113.4mm grav_b=(+0.10,-0.08,-0.99) r=0.38m +[headless_play] t= 7.40s step= 370 trunk_z= 108.3mm grav_b=(+0.14,+0.06,-0.99) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 111.4mm grav_b=(+0.12,-0.10,-0.99) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.16,-0.14,-0.98) r=0.42m +[headless_play] t= 7.70s step= 385 trunk_z= 115.8mm grav_b=(+0.13,+0.07,-0.99) r=0.43m +[headless_play] t= 7.80s step= 390 trunk_z= 119.3mm grav_b=(+0.06,-0.04,-1.00) r=0.44m +[headless_play] t= 7.90s step= 395 trunk_z= 105.6mm grav_b=(+0.09,-0.10,-0.99) r=0.47m +[headless_play] t= 8.00s step= 400 trunk_z= 107.1mm grav_b=(+0.10,+0.19,-0.98) r=0.48m +[headless_play] t= 8.10s step= 405 trunk_z= 103.1mm grav_b=(+0.19,-0.25,-0.95) r=0.50m +[headless_play] t= 8.20s step= 410 trunk_z= 66.8mm grav_b=(+0.85,-0.05,-0.52) r=0.55m +[headless_play] RESET at t= 8.24s step= 412 (env termination, not a recovery) +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 8.40s step= 420 trunk_z= 115.9mm grav_b=(-0.03,+0.07,-1.00) r=0.37m +[headless_play] t= 8.50s step= 425 trunk_z= 114.3mm grav_b=(-0.00,-0.09,-1.00) r=0.37m +[headless_play] t= 8.60s step= 430 trunk_z= 113.8mm grav_b=(+0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 8.70s step= 435 trunk_z= 113.6mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 8.80s step= 440 trunk_z= 112.6mm grav_b=(+0.06,-0.11,-0.99) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 110.9mm grav_b=(+0.01,+0.05,-1.00) r=0.36m +[headless_play] t= 9.00s step= 450 trunk_z= 113.3mm grav_b=(+0.02,-0.10,-1.00) r=0.36m +[headless_play] t= 9.10s step= 455 trunk_z= 110.8mm grav_b=(+0.08,-0.09,-0.99) r=0.36m +[headless_play] t= 9.20s step= 460 trunk_z= 108.2mm grav_b=(+0.02,+0.12,-0.99) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 111.0mm grav_b=(-0.01,-0.10,-0.99) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 110.9mm grav_b=(+0.08,-0.05,-1.00) r=0.34m +[headless_play] t= 9.50s step= 475 trunk_z= 110.5mm grav_b=(+0.01,+0.09,-1.00) r=0.32m +[headless_play] t= 9.60s step= 480 trunk_z= 112.0mm grav_b=(-0.05,-0.13,-0.99) r=0.32m +[headless_play] t= 9.70s step= 485 trunk_z= 114.7mm grav_b=(+0.07,-0.09,-0.99) r=0.32m +[headless_play] t= 9.80s step= 490 trunk_z= 108.2mm grav_b=(-0.01,+0.09,-1.00) r=0.32m +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(-0.03,-0.08,-1.00) r=0.32m +[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(+0.04,-0.13,-0.99) r=0.33m +[headless_play] t= 10.10s step= 505 trunk_z= 109.9mm grav_b=(-0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 10.20s step= 510 trunk_z= 118.5mm grav_b=(-0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 10.30s step= 515 trunk_z= 113.5mm grav_b=(+0.01,-0.18,-0.98) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 118.3mm grav_b=(+0.02,-0.07,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 111.6mm grav_b=(-0.04,+0.05,-1.00) r=0.36m +[headless_play] t= 10.60s step= 530 trunk_z= 110.3mm grav_b=(-0.06,-0.19,-0.98) r=0.37m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(+0.01,-0.13,-0.99) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 108.5mm grav_b=(-0.06,+0.09,-0.99) r=0.39m +[headless_play] t= 10.90s step= 545 trunk_z= 117.9mm grav_b=(-0.04,-0.06,-1.00) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 114.5mm grav_b=(+0.04,-0.18,-0.98) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 115.9mm grav_b=(+0.02,-0.07,-1.00) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(-0.02,-0.02,-1.00) r=0.42m +[headless_play] t= 11.30s step= 565 trunk_z= 112.7mm grav_b=(-0.01,-0.19,-0.98) r=0.43m +[headless_play] t= 11.40s step= 570 trunk_z= 116.5mm grav_b=(+0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 115.1mm grav_b=(-0.04,+0.08,-1.00) r=0.45m +[headless_play] t= 11.60s step= 580 trunk_z= 114.5mm grav_b=(-0.01,-0.08,-1.00) r=0.47m +[headless_play] t= 11.70s step= 585 trunk_z= 113.4mm grav_b=(-0.01,-0.03,-1.00) r=0.48m +[headless_play] t= 11.80s step= 590 trunk_z= 110.8mm grav_b=(-0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 11.90s step= 595 trunk_z= 107.8mm grav_b=(+0.07,-0.06,-1.00) r=0.50m +[headless_play] t= 12.00s step= 600 trunk_z= 105.1mm grav_b=(+0.09,+0.03,-1.00) r=0.51m +[headless_play] t= 12.10s step= 605 trunk_z= 106.5mm grav_b=(+0.03,-0.15,-0.99) r=0.51m +[headless_play] t= 12.20s step= 610 trunk_z= 107.8mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 12.30s step= 615 trunk_z= 104.3mm grav_b=(+0.05,+0.05,-1.00) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 109.8mm grav_b=(+0.01,-0.09,-1.00) r=0.52m +[headless_play] t= 12.50s step= 625 trunk_z= 103.6mm grav_b=(+0.12,-0.04,-0.99) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 108.3mm grav_b=(+0.12,-0.02,-0.99) r=0.53m +[headless_play] t= 12.70s step= 635 trunk_z= 106.7mm grav_b=(+0.06,-0.15,-0.99) r=0.54m +[headless_play] t= 12.80s step= 640 trunk_z= 107.4mm grav_b=(+0.14,-0.04,-0.99) r=0.55m +[headless_play] t= 12.90s step= 645 trunk_z= 109.6mm grav_b=(+0.16,+0.06,-0.98) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 113.3mm grav_b=(+0.09,-0.16,-0.98) r=0.54m +[headless_play] t= 13.10s step= 655 trunk_z= 120.4mm grav_b=(+0.08,-0.15,-0.99) r=0.55m +[headless_play] t= 13.20s step= 660 trunk_z= 117.3mm grav_b=(-0.07,+0.06,-1.00) r=0.55m +[headless_play] t= 13.30s step= 665 trunk_z= 118.5mm grav_b=(-0.08,+0.05,-1.00) r=0.55m +[headless_play] t= 13.40s step= 670 trunk_z= 110.4mm grav_b=(-0.00,-0.07,-1.00) r=0.56m +[headless_play] t= 13.50s step= 675 trunk_z= 109.3mm grav_b=(+0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 13.60s step= 680 trunk_z= 109.3mm grav_b=(+0.17,-0.09,-0.98) r=0.62m +[headless_play] t= 13.70s step= 685 trunk_z= 110.4mm grav_b=(+0.17,+0.09,-0.98) r=0.67m +[headless_play] t= 13.80s step= 690 trunk_z= 114.8mm grav_b=(+0.12,-0.18,-0.98) r=0.71m +[headless_play] t= 13.90s step= 695 trunk_z= 114.9mm grav_b=(+0.29,-0.09,-0.95) r=0.75m +[headless_play] t= 14.00s step= 700 trunk_z= 119.2mm grav_b=(+0.26,+0.08,-0.96) r=0.77m +[headless_play] t= 14.10s step= 705 trunk_z= 79.4mm grav_b=(+0.30,-0.64,-0.71) r=0.81m +[headless_play] RESET at t= 14.16s step= 708 (env termination, not a recovery) +[headless_play] t= 14.20s step= 710 trunk_z= 115.3mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 14.30s step= 715 trunk_z= 114.6mm grav_b=(-0.01,+0.05,-1.00) r=0.33m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(+0.02,-0.09,-1.00) r=0.34m +[headless_play] t= 14.50s step= 725 trunk_z= 113.6mm grav_b=(+0.11,+0.03,-0.99) r=0.34m +[headless_play] t= 14.60s step= 730 trunk_z= 115.0mm grav_b=(+0.12,+0.06,-0.99) r=0.35m +[headless_play] t= 14.70s step= 735 trunk_z= 113.5mm grav_b=(+0.17,-0.12,-0.98) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 108.5mm grav_b=(+0.14,+0.04,-0.99) r=0.37m +[headless_play] t= 14.90s step= 745 trunk_z= 103.0mm grav_b=(+0.19,+0.19,-0.96) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 95.2mm grav_b=(+0.42,-0.52,-0.74) r=0.41m +[headless_play] RESET at t= 15.08s step= 754 (env termination, not a recovery) +[headless_play] t= 15.10s step= 755 trunk_z= 127.4mm grav_b=(-0.01,+0.00,-1.00) r=0.08m +[headless_play] t= 15.20s step= 760 trunk_z= 114.3mm grav_b=(+0.01,+0.03,-1.00) r=0.09m +[headless_play] t= 15.30s step= 765 trunk_z= 114.0mm grav_b=(+0.04,-0.05,-1.00) r=0.09m +[headless_play] t= 15.40s step= 770 trunk_z= 108.6mm grav_b=(+0.09,-0.06,-0.99) r=0.09m +[headless_play] t= 15.50s step= 775 trunk_z= 107.2mm grav_b=(+0.07,+0.03,-1.00) r=0.10m +[headless_play] t= 15.60s step= 780 trunk_z= 109.7mm grav_b=(+0.08,-0.05,-1.00) r=0.11m +[headless_play] t= 15.70s step= 785 trunk_z= 104.3mm grav_b=(+0.10,-0.15,-0.98) r=0.12m +[headless_play] t= 15.80s step= 790 trunk_z= 106.6mm grav_b=(+0.12,+0.12,-0.99) r=0.13m +[headless_play] t= 15.90s step= 795 trunk_z= 111.5mm grav_b=(+0.03,-0.02,-1.00) r=0.13m +[headless_play] t= 16.00s step= 800 trunk_z= 107.5mm grav_b=(+0.03,-0.17,-0.99) r=0.14m +[headless_play] t= 16.10s step= 805 trunk_z= 107.3mm grav_b=(+0.10,+0.04,-0.99) r=0.15m +[headless_play] t= 16.20s step= 810 trunk_z= 113.0mm grav_b=(+0.04,-0.00,-1.00) r=0.16m +[headless_play] t= 16.30s step= 815 trunk_z= 105.2mm grav_b=(+0.01,-0.15,-0.99) r=0.16m +[headless_play] t= 16.40s step= 820 trunk_z= 105.5mm grav_b=(+0.09,+0.05,-0.99) r=0.18m +[headless_play] t= 16.50s step= 825 trunk_z= 112.0mm grav_b=(+0.05,-0.00,-1.00) r=0.18m +[headless_play] t= 16.60s step= 830 trunk_z= 103.5mm grav_b=(+0.03,-0.17,-0.99) r=0.18m +[headless_play] t= 16.70s step= 835 trunk_z= 101.6mm grav_b=(+0.13,+0.07,-0.99) r=0.19m +[headless_play] t= 16.80s step= 840 trunk_z= 111.9mm grav_b=(+0.03,+0.01,-1.00) r=0.20m +[headless_play] t= 16.90s step= 845 trunk_z= 103.7mm grav_b=(+0.02,-0.16,-0.99) r=0.20m +[headless_play] t= 17.00s step= 850 trunk_z= 102.5mm grav_b=(+0.12,+0.07,-0.99) r=0.22m +[headless_play] t= 17.10s step= 855 trunk_z= 109.3mm grav_b=(+0.08,+0.01,-1.00) r=0.22m +[headless_play] t= 17.20s step= 860 trunk_z= 103.9mm grav_b=(+0.03,-0.13,-0.99) r=0.22m +[headless_play] t= 17.30s step= 865 trunk_z= 104.4mm grav_b=(+0.09,+0.11,-0.99) r=0.24m +[headless_play] t= 17.40s step= 870 trunk_z= 112.6mm grav_b=(-0.00,-0.07,-1.00) r=0.25m +[headless_play] t= 17.50s step= 875 trunk_z= 108.4mm grav_b=(+0.03,-0.13,-0.99) r=0.26m +[headless_play] t= 17.60s step= 880 trunk_z= 101.2mm grav_b=(+0.09,+0.17,-0.98) r=0.27m +[headless_play] t= 17.70s step= 885 trunk_z= 112.9mm grav_b=(+0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 17.80s step= 890 trunk_z= 104.9mm grav_b=(+0.05,-0.15,-0.99) r=0.29m +[headless_play] t= 17.90s step= 895 trunk_z= 106.2mm grav_b=(+0.11,+0.04,-0.99) r=0.30m +[headless_play] t= 18.00s step= 900 trunk_z= 111.2mm grav_b=(+0.05,+0.00,-1.00) r=0.30m +[headless_play] t= 18.10s step= 905 trunk_z= 103.9mm grav_b=(+0.00,-0.19,-0.98) r=0.31m +[headless_play] t= 18.20s step= 910 trunk_z= 104.1mm grav_b=(+0.08,+0.06,-1.00) r=0.32m +[headless_play] t= 18.30s step= 915 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 18.40s step= 920 trunk_z= 104.4mm grav_b=(+0.02,-0.18,-0.98) r=0.33m +[headless_play] t= 18.50s step= 925 trunk_z= 106.0mm grav_b=(+0.10,+0.02,-0.99) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 108.3mm grav_b=(+0.04,-0.03,-1.00) r=0.35m +[headless_play] t= 18.70s step= 935 trunk_z= 105.5mm grav_b=(+0.04,-0.20,-0.98) r=0.36m +[headless_play] t= 18.80s step= 940 trunk_z= 108.4mm grav_b=(+0.11,+0.04,-0.99) r=0.37m +[headless_play] t= 18.90s step= 945 trunk_z= 116.6mm grav_b=(+0.05,-0.09,-0.99) r=0.38m +[headless_play] t= 19.00s step= 950 trunk_z= 104.0mm grav_b=(+0.08,-0.24,-0.97) r=0.41m +[headless_play] t= 19.10s step= 955 trunk_z= 118.9mm grav_b=(+0.13,+0.03,-0.99) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 92.5mm grav_b=(+0.17,-0.14,-0.98) r=0.45m +[headless_play] t= 19.30s step= 965 trunk_z= 70.7mm grav_b=(+0.53,-0.40,-0.75) r=0.48m +[headless_play] RESET at t= 19.38s step= 969 (env termination, not a recovery) +[headless_play] t= 19.40s step= 970 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.05m +[headless_play] t= 19.50s step= 975 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.05m +[headless_play] t= 19.60s step= 980 trunk_z= 116.6mm grav_b=(+0.04,+0.01,-1.00) r=0.05m +[headless_play] t= 19.70s step= 985 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.05m +[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.05m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.05m +[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.05m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=0.05m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..b9808cf1c56f90619daaf5ef0aaf07059aea01a9 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/v2-a-t9.log @@ -0,0 +1,214 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.113,-17.726,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(-0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 113.8mm grav_b=(+0.05,+0.04,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 113.5mm grav_b=(+0.09,-0.07,-0.99) r=0.32m +[headless_play] t= 0.40s step= 20 trunk_z= 114.3mm grav_b=(+0.02,+0.11,-0.99) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 115.4mm grav_b=(+0.02,-0.05,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 113.5mm grav_b=(-0.01,-0.15,-0.99) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 112.8mm grav_b=(-0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(-0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 110.8mm grav_b=(+0.04,-0.11,-0.99) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 109.7mm grav_b=(+0.03,+0.14,-0.99) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 119.1mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 110.1mm grav_b=(-0.06,-0.15,-0.99) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 111.3mm grav_b=(-0.08,+0.11,-0.99) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 113.0mm grav_b=(-0.06,-0.01,-1.00) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 109.6mm grav_b=(+0.02,-0.12,-0.99) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 109.4mm grav_b=(+0.02,+0.13,-0.99) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 117.9mm grav_b=(-0.00,-0.02,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 109.9mm grav_b=(-0.08,-0.19,-0.98) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 115.1mm grav_b=(-0.13,+0.01,-0.99) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.06,+0.09,-0.99) r=0.64m +[headless_play] t= 2.10s step= 105 trunk_z= 110.9mm grav_b=(-0.02,-0.09,-1.00) r=0.65m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(+0.06,+0.04,-1.00) r=0.66m +[headless_play] t= 2.30s step= 115 trunk_z= 115.6mm grav_b=(+0.03,+0.08,-1.00) r=0.68m +[headless_play] t= 2.40s step= 120 trunk_z= 112.4mm grav_b=(-0.11,-0.14,-0.98) r=0.71m +[headless_play] t= 2.50s step= 125 trunk_z= 115.3mm grav_b=(-0.02,+0.04,-1.00) r=0.74m +[headless_play] t= 2.60s step= 130 trunk_z= 107.6mm grav_b=(+0.03,+0.08,-1.00) r=0.75m +[headless_play] t= 2.70s step= 135 trunk_z= 108.4mm grav_b=(+0.01,-0.21,-0.98) r=0.77m +[headless_play] t= 2.80s step= 140 trunk_z= 120.2mm grav_b=(+0.13,-0.12,-0.98) r=0.79m +[headless_play] t= 2.90s step= 145 trunk_z= 110.6mm grav_b=(+0.01,+0.11,-0.99) r=0.81m +[headless_play] t= 3.00s step= 150 trunk_z= 115.3mm grav_b=(-0.10,-0.10,-0.99) r=0.85m +[headless_play] t= 3.10s step= 155 trunk_z= 90.1mm grav_b=(-0.17,-0.20,-0.96) r=0.89m +[headless_play] t= 3.20s step= 160 trunk_z= 99.9mm grav_b=(-0.06,-0.18,-0.98) r=0.93m +[headless_play] t= 3.30s step= 165 trunk_z= 94.4mm grav_b=(+0.08,-0.02,-1.00) r=0.99m +[headless_play] t= 3.40s step= 170 trunk_z= 89.3mm grav_b=(-0.05,-0.10,-0.99) r=1.04m +[headless_play] t= 3.50s step= 175 trunk_z= 86.7mm grav_b=(+0.06,-0.08,-1.00) r=1.08m +[headless_play] t= 3.60s step= 180 trunk_z= 87.3mm grav_b=(-0.01,+0.20,-0.98) r=1.11m +[headless_play] t= 3.70s step= 185 trunk_z= 100.6mm grav_b=(+0.09,+0.04,-1.00) r=1.14m +[headless_play] t= 3.80s step= 190 trunk_z= 58.1mm grav_b=(+0.19,+0.18,-0.96) r=1.17m +[headless_play] t= 3.90s step= 195 trunk_z= 20.5mm grav_b=(+0.15,+0.90,-0.41) r=1.22m +[headless_play] RESET at t= 3.92s step= 196 (env termination, not a recovery) +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(-0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(+0.08,+0.05,-1.00) r=0.36m +[headless_play] t= 4.30s step= 215 trunk_z= 115.8mm grav_b=(+0.16,-0.17,-0.97) r=0.37m +[headless_play] t= 4.40s step= 220 trunk_z= 128.2mm grav_b=(+0.31,+0.01,-0.95) r=0.37m +[headless_play] t= 4.50s step= 225 trunk_z= 99.5mm grav_b=(+0.54,-0.34,-0.77) r=0.38m +[headless_play] RESET at t= 4.54s step= 227 (env termination, not a recovery) +[headless_play] t= 4.60s step= 230 trunk_z= 114.2mm grav_b=(-0.03,+0.00,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.06,-0.06,-1.00) r=0.47m +[headless_play] t= 4.80s step= 240 trunk_z= 115.2mm grav_b=(-0.02,+0.05,-1.00) r=0.47m +[headless_play] t= 4.90s step= 245 trunk_z= 116.9mm grav_b=(-0.05,-0.03,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 115.0mm grav_b=(-0.04,-0.03,-1.00) r=0.47m +[headless_play] t= 5.10s step= 255 trunk_z= 113.4mm grav_b=(+0.00,+0.09,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 118.3mm grav_b=(+0.04,-0.18,-0.98) r=0.48m +[headless_play] t= 5.30s step= 265 trunk_z= 105.9mm grav_b=(+0.32,+0.08,-0.94) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 81.8mm grav_b=(+0.75,+0.15,-0.65) r=0.52m +[headless_play] RESET at t= 5.44s step= 272 (env termination, not a recovery) +[headless_play] t= 5.50s step= 275 trunk_z= 113.6mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 113.9mm grav_b=(-0.02,+0.05,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 113.6mm grav_b=(-0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 106.6mm grav_b=(+0.00,-0.12,-0.99) r=0.53m +[headless_play] t= 5.90s step= 295 trunk_z= 108.7mm grav_b=(+0.00,+0.03,-1.00) r=0.53m +[headless_play] t= 6.00s step= 300 trunk_z= 107.1mm grav_b=(+0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 108.5mm grav_b=(+0.02,-0.08,-1.00) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 108.3mm grav_b=(+0.05,-0.12,-0.99) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 105.3mm grav_b=(+0.05,+0.08,-1.00) r=0.57m +[headless_play] t= 6.40s step= 320 trunk_z= 109.7mm grav_b=(+0.04,+0.02,-1.00) r=0.58m +[headless_play] t= 6.50s step= 325 trunk_z= 105.6mm grav_b=(+0.02,-0.12,-0.99) r=0.59m +[headless_play] t= 6.60s step= 330 trunk_z= 108.4mm grav_b=(+0.02,-0.03,-1.00) r=0.60m +[headless_play] t= 6.70s step= 335 trunk_z= 105.0mm grav_b=(+0.03,+0.06,-1.00) r=0.60m +[headless_play] t= 6.80s step= 340 trunk_z= 110.8mm grav_b=(+0.01,-0.08,-1.00) r=0.61m +[headless_play] t= 6.90s step= 345 trunk_z= 106.6mm grav_b=(+0.05,-0.14,-0.99) r=0.62m +[headless_play] t= 7.00s step= 350 trunk_z= 101.3mm grav_b=(+0.11,+0.08,-0.99) r=0.62m +[headless_play] t= 7.10s step= 355 trunk_z= 114.2mm grav_b=(+0.02,+0.02,-1.00) r=0.62m +[headless_play] t= 7.20s step= 360 trunk_z= 103.0mm grav_b=(+0.01,-0.15,-0.99) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 105.0mm grav_b=(+0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 106.3mm grav_b=(+0.03,+0.06,-1.00) r=0.64m +[headless_play] t= 7.50s step= 375 trunk_z= 108.9mm grav_b=(-0.01,-0.13,-0.99) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 106.7mm grav_b=(+0.07,-0.11,-0.99) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 101.3mm grav_b=(+0.07,+0.12,-0.99) r=0.65m +[headless_play] t= 7.80s step= 390 trunk_z= 113.6mm grav_b=(-0.00,-0.02,-1.00) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 104.7mm grav_b=(+0.01,-0.13,-0.99) r=0.65m +[headless_play] t= 8.00s step= 400 trunk_z= 103.4mm grav_b=(+0.04,+0.13,-0.99) r=0.65m +[headless_play] t= 8.10s step= 405 trunk_z= 109.8mm grav_b=(+0.04,+0.02,-1.00) r=0.65m +[headless_play] t= 8.20s step= 410 trunk_z= 104.6mm grav_b=(+0.02,-0.12,-0.99) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 107.3mm grav_b=(+0.02,-0.03,-1.00) r=0.66m +[headless_play] t= 8.40s step= 420 trunk_z= 104.8mm grav_b=(+0.04,+0.08,-1.00) r=0.67m +[headless_play] t= 8.50s step= 425 trunk_z= 111.4mm grav_b=(+0.02,-0.02,-1.00) r=0.67m +[headless_play] t= 8.60s step= 430 trunk_z= 103.0mm grav_b=(+0.03,-0.11,-0.99) r=0.69m +[headless_play] t= 8.70s step= 435 trunk_z= 103.4mm grav_b=(+0.07,+0.07,-1.00) r=0.70m +[headless_play] t= 8.80s step= 440 trunk_z= 108.6mm grav_b=(+0.04,+0.00,-1.00) r=0.70m +[headless_play] t= 8.90s step= 445 trunk_z= 101.6mm grav_b=(+0.02,-0.16,-0.99) r=0.71m +[headless_play] t= 9.00s step= 450 trunk_z= 106.4mm grav_b=(+0.04,-0.05,-1.00) r=0.72m +[headless_play] t= 9.10s step= 455 trunk_z= 102.7mm grav_b=(+0.06,+0.08,-0.99) r=0.72m +[headless_play] t= 9.20s step= 460 trunk_z= 108.4mm grav_b=(+0.03,-0.07,-1.00) r=0.72m +[headless_play] t= 9.30s step= 465 trunk_z= 106.3mm grav_b=(+0.07,-0.10,-0.99) r=0.73m +[headless_play] t= 9.40s step= 470 trunk_z= 100.9mm grav_b=(+0.06,+0.07,-1.00) r=0.73m +[headless_play] t= 9.50s step= 475 trunk_z= 109.9mm grav_b=(+0.03,-0.01,-1.00) r=0.73m +[headless_play] t= 9.60s step= 480 trunk_z= 98.7mm grav_b=(+0.01,-0.17,-0.99) r=0.73m +[headless_play] t= 9.70s step= 485 trunk_z= 102.7mm grav_b=(+0.06,+0.01,-1.00) r=0.74m +[headless_play] t= 9.80s step= 490 trunk_z= 106.4mm grav_b=(+0.04,+0.03,-1.00) r=0.74m +[headless_play] t= 9.90s step= 495 trunk_z= 102.1mm grav_b=(+0.03,-0.14,-0.99) r=0.74m +[headless_play] t= 10.00s step= 500 trunk_z= 105.7mm grav_b=(+0.06,-0.05,-1.00) r=0.74m +[headless_play] t= 10.10s step= 505 trunk_z= 107.9mm grav_b=(+0.00,+0.08,-1.00) r=0.73m +[headless_play] t= 10.20s step= 510 trunk_z= 112.8mm grav_b=(-0.02,-0.09,-1.00) r=0.73m +[headless_play] t= 10.30s step= 515 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.73m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(+0.04,+0.06,-1.00) r=0.74m +[headless_play] t= 10.50s step= 525 trunk_z= 115.2mm grav_b=(-0.03,-0.13,-0.99) r=0.76m +[headless_play] t= 10.60s step= 530 trunk_z= 118.0mm grav_b=(+0.00,+0.00,-1.00) r=0.78m +[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(+0.03,+0.06,-1.00) r=0.79m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(-0.04,-0.14,-0.99) r=0.81m +[headless_play] t= 10.90s step= 545 trunk_z= 120.2mm grav_b=(+0.01,-0.08,-1.00) r=0.83m +[headless_play] t= 11.00s step= 550 trunk_z= 112.4mm grav_b=(-0.06,+0.10,-0.99) r=0.85m +[headless_play] t= 11.10s step= 555 trunk_z= 117.0mm grav_b=(-0.05,-0.07,-1.00) r=0.87m +[headless_play] t= 11.20s step= 560 trunk_z= 119.4mm grav_b=(+0.03,-0.10,-0.99) r=0.87m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(-0.03,+0.04,-1.00) r=0.88m +[headless_play] t= 11.40s step= 570 trunk_z= 117.6mm grav_b=(-0.04,-0.00,-1.00) r=0.90m +[headless_play] t= 11.50s step= 575 trunk_z= 118.3mm grav_b=(-0.02,-0.13,-0.99) r=0.91m +[headless_play] t= 11.60s step= 580 trunk_z= 116.3mm grav_b=(-0.03,+0.03,-1.00) r=0.92m +[headless_play] t= 11.70s step= 585 trunk_z= 115.6mm grav_b=(-0.02,+0.05,-1.00) r=0.93m +[headless_play] t= 11.80s step= 590 trunk_z= 115.9mm grav_b=(-0.02,-0.13,-0.99) r=0.94m +[headless_play] t= 11.90s step= 595 trunk_z= 118.3mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 12.00s step= 600 trunk_z= 114.2mm grav_b=(+0.01,+0.05,-1.00) r=0.96m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(-0.02,-0.11,-0.99) r=0.97m +[headless_play] t= 12.20s step= 610 trunk_z= 118.5mm grav_b=(-0.01,+0.02,-1.00) r=0.99m +[headless_play] t= 12.30s step= 615 trunk_z= 112.2mm grav_b=(+0.04,+0.06,-1.00) r=1.01m +[headless_play] t= 12.40s step= 620 trunk_z= 109.3mm grav_b=(-0.03,-0.24,-0.97) r=1.03m +[headless_play] t= 12.50s step= 625 trunk_z= 102.8mm grav_b=(-0.07,-0.35,-0.93) r=1.05m +[headless_play] t= 12.60s step= 630 trunk_z= 104.2mm grav_b=(+0.03,-0.30,-0.95) r=1.07m +[headless_play] t= 12.70s step= 635 trunk_z= 99.0mm grav_b=(+0.12,-0.32,-0.94) r=1.05m +[headless_play] t= 12.80s step= 640 trunk_z= 74.2mm grav_b=(+0.04,-0.27,-0.96) r=1.05m +[headless_play] t= 12.90s step= 645 trunk_z= 49.1mm grav_b=(-0.29,-0.56,-0.78) r=1.07m +[headless_play] RESET at t= 13.00s step= 650 (env termination, not a recovery) +[headless_play] t= 13.00s step= 650 trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 13.10s step= 655 trunk_z= 114.7mm grav_b=(-0.02,+0.04,-1.00) r=0.20m +[headless_play] t= 13.20s step= 660 trunk_z= 113.1mm grav_b=(-0.03,+0.03,-1.00) r=0.20m +[headless_play] t= 13.30s step= 665 trunk_z= 111.8mm grav_b=(-0.04,-0.11,-0.99) r=0.21m +[headless_play] t= 13.40s step= 670 trunk_z= 110.0mm grav_b=(+0.04,-0.02,-1.00) r=0.21m +[headless_play] t= 13.50s step= 675 trunk_z= 106.4mm grav_b=(+0.03,+0.00,-1.00) r=0.20m +[headless_play] t= 13.60s step= 680 trunk_z= 105.5mm grav_b=(-0.04,-0.17,-0.99) r=0.21m +[headless_play] t= 13.70s step= 685 trunk_z= 104.2mm grav_b=(+0.05,+0.01,-1.00) r=0.21m +[headless_play] t= 13.80s step= 690 trunk_z= 106.4mm grav_b=(+0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 13.90s step= 695 trunk_z= 100.1mm grav_b=(+0.01,-0.15,-0.99) r=0.22m +[headless_play] t= 14.00s step= 700 trunk_z= 101.3mm grav_b=(+0.04,+0.01,-1.00) r=0.22m +[headless_play] t= 14.10s step= 705 trunk_z= 105.0mm grav_b=(+0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 14.20s step= 710 trunk_z= 108.4mm grav_b=(-0.02,-0.13,-0.99) r=0.22m +[headless_play] t= 14.30s step= 715 trunk_z= 104.9mm grav_b=(+0.01,-0.06,-1.00) r=0.23m +[headless_play] t= 14.40s step= 720 trunk_z= 104.0mm grav_b=(+0.05,+0.08,-1.00) r=0.23m +[headless_play] t= 14.50s step= 725 trunk_z= 109.3mm grav_b=(-0.01,-0.11,-0.99) r=0.23m +[headless_play] t= 14.60s step= 730 trunk_z= 104.6mm grav_b=(+0.02,-0.11,-0.99) r=0.23m +[headless_play] t= 14.70s step= 735 trunk_z= 102.1mm grav_b=(+0.04,+0.09,-1.00) r=0.23m +[headless_play] t= 14.80s step= 740 trunk_z= 109.4mm grav_b=(+0.01,-0.07,-1.00) r=0.23m +[headless_play] t= 14.90s step= 745 trunk_z= 104.1mm grav_b=(+0.03,-0.15,-0.99) r=0.23m +[headless_play] t= 15.00s step= 750 trunk_z= 101.0mm grav_b=(+0.04,+0.08,-1.00) r=0.23m +[headless_play] t= 15.10s step= 755 trunk_z= 109.6mm grav_b=(+0.02,-0.01,-1.00) r=0.24m +[headless_play] t= 15.20s step= 760 trunk_z= 102.8mm grav_b=(-0.00,-0.15,-0.99) r=0.25m +[headless_play] t= 15.30s step= 765 trunk_z= 104.2mm grav_b=(+0.01,+0.03,-1.00) r=0.26m +[headless_play] t= 15.40s step= 770 trunk_z= 106.7mm grav_b=(+0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 15.50s step= 775 trunk_z= 104.4mm grav_b=(+0.01,-0.16,-0.99) r=0.26m +[headless_play] t= 15.60s step= 780 trunk_z= 105.6mm grav_b=(+0.01,-0.01,-1.00) r=0.25m +[headless_play] t= 15.70s step= 785 trunk_z= 112.1mm grav_b=(-0.09,+0.03,-1.00) r=0.25m +[headless_play] t= 15.80s step= 790 trunk_z= 112.7mm grav_b=(-0.07,-0.10,-0.99) r=0.25m +[headless_play] t= 15.90s step= 795 trunk_z= 113.3mm grav_b=(-0.06,+0.04,-1.00) r=0.24m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(-0.07,-0.03,-1.00) r=0.24m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(-0.03,-0.04,-1.00) r=0.24m +[headless_play] t= 16.20s step= 810 trunk_z= 114.4mm grav_b=(-0.01,+0.03,-1.00) r=0.25m +[headless_play] t= 16.30s step= 815 trunk_z= 118.2mm grav_b=(+0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 16.40s step= 820 trunk_z= 115.2mm grav_b=(-0.02,-0.11,-0.99) r=0.28m +[headless_play] t= 16.50s step= 825 trunk_z= 112.5mm grav_b=(-0.10,+0.13,-0.99) r=0.30m +[headless_play] t= 16.60s step= 830 trunk_z= 116.9mm grav_b=(+0.00,-0.12,-0.99) r=0.31m +[headless_play] t= 16.70s step= 835 trunk_z= 116.6mm grav_b=(+0.13,+0.00,-0.99) r=0.33m +[headless_play] t= 16.80s step= 840 trunk_z= 106.1mm grav_b=(+0.16,+0.15,-0.98) r=0.35m +[headless_play] t= 16.90s step= 845 trunk_z= 82.8mm grav_b=(+0.42,-0.58,-0.70) r=0.38m +[headless_play] RESET at t= 16.98s step= 849 (env termination, not a recovery) +[headless_play] t= 17.00s step= 850 trunk_z= 125.9mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 17.10s step= 855 trunk_z= 115.9mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 17.20s step= 860 trunk_z= 117.4mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 17.30s step= 865 trunk_z= 119.4mm grav_b=(+0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 17.40s step= 870 trunk_z= 115.8mm grav_b=(+0.03,+0.08,-1.00) r=0.40m +[headless_play] t= 17.50s step= 875 trunk_z= 119.8mm grav_b=(+0.08,-0.06,-1.00) r=0.41m +[headless_play] t= 17.60s step= 880 trunk_z= 120.2mm grav_b=(+0.02,-0.10,-0.99) r=0.42m +[headless_play] t= 17.70s step= 885 trunk_z= 118.1mm grav_b=(-0.09,+0.04,-1.00) r=0.43m +[headless_play] t= 17.80s step= 890 trunk_z= 113.3mm grav_b=(-0.06,-0.06,-1.00) r=0.45m +[headless_play] t= 17.90s step= 895 trunk_z= 116.0mm grav_b=(-0.02,-0.08,-1.00) r=0.47m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(+0.02,+0.04,-1.00) r=0.48m +[headless_play] t= 18.10s step= 905 trunk_z= 119.2mm grav_b=(+0.04,-0.02,-1.00) r=0.49m +[headless_play] t= 18.20s step= 910 trunk_z= 114.7mm grav_b=(+0.01,-0.23,-0.97) r=0.51m +[headless_play] t= 18.30s step= 915 trunk_z= 126.0mm grav_b=(-0.06,-0.12,-0.99) r=0.52m +[headless_play] t= 18.40s step= 920 trunk_z= 114.9mm grav_b=(-0.13,+0.08,-0.99) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 117.2mm grav_b=(-0.00,-0.02,-1.00) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.8mm grav_b=(+0.09,-0.14,-0.99) r=0.55m +[headless_play] t= 18.70s step= 935 trunk_z= 124.1mm grav_b=(+0.07,-0.00,-1.00) r=0.57m +[headless_play] t= 18.80s step= 940 trunk_z= 120.5mm grav_b=(-0.08,-0.01,-1.00) r=0.58m +[headless_play] t= 18.90s step= 945 trunk_z= 111.7mm grav_b=(-0.11,-0.13,-0.99) r=0.60m +[headless_play] t= 19.00s step= 950 trunk_z= 114.2mm grav_b=(+0.02,+0.08,-1.00) r=0.62m +[headless_play] t= 19.10s step= 955 trunk_z= 114.2mm grav_b=(+0.07,+0.05,-1.00) r=0.63m +[headless_play] t= 19.20s step= 960 trunk_z= 117.4mm grav_b=(+0.03,-0.19,-0.98) r=0.65m +[headless_play] t= 19.30s step= 965 trunk_z= 118.3mm grav_b=(-0.04,-0.14,-0.99) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 112.1mm grav_b=(-0.12,+0.01,-0.99) r=0.68m +[headless_play] t= 19.50s step= 975 trunk_z= 114.5mm grav_b=(-0.07,-0.02,-1.00) r=0.70m +[headless_play] t= 19.60s step= 980 trunk_z= 113.6mm grav_b=(+0.01,-0.12,-0.99) r=0.71m +[headless_play] t= 19.70s step= 985 trunk_z= 117.5mm grav_b=(+0.06,+0.05,-1.00) r=0.71m +[headless_play] t= 19.80s step= 990 trunk_z= 125.2mm grav_b=(+0.10,+0.01,-0.99) r=0.72m +[headless_play] t= 19.90s step= 995 trunk_z= 106.4mm grav_b=(+0.22,-0.09,-0.97) r=0.74m +[headless_play] t= 20.00s step=1000 trunk_z= 108.1mm grav_b=(+0.05,+0.07,-1.00) r=0.75m +[headless_play] t= 20.10s step=1005 trunk_z= 100.6mm grav_b=(+0.16,-0.11,-0.98) r=0.79m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..72fd85ab44b6ce0729a0fe70b84496d5b379e835 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-13.673,-17.916,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 118.0mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 0.60s step= 30 trunk_z= 118.2mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 118.2mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 118.2mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 118.2mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.10s step= 55 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 118.2mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 118.2mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.70s step= 85 trunk_z= 118.2mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.80s step= 90 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.00s step= 100 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.20s step= 110 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.40s step= 120 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.50s step= 125 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.80s step= 140 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 2.90s step= 145 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 118.5mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 118.6mm grav_b=(-0.06,-0.02,-1.00) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 118.7mm grav_b=(-0.05,-0.01,-1.00) r=0.34m +[headless_play] t= 3.60s step= 180 trunk_z= 118.7mm grav_b=(-0.05,-0.01,-1.00) r=0.34m +[headless_play] t= 3.70s step= 185 trunk_z= 118.7mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 3.90s step= 195 trunk_z= 118.9mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 4.00s step= 200 trunk_z= 118.9mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 4.10s step= 205 trunk_z= 118.9mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 118.9mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 118.8mm grav_b=(-0.07,-0.01,-1.00) r=0.34m +[headless_play] t= 4.40s step= 220 trunk_z= 118.7mm grav_b=(-0.08,-0.01,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 119.9mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 4.60s step= 230 trunk_z= 121.2mm grav_b=(-0.05,+0.02,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 120.4mm grav_b=(-0.06,-0.00,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 120.7mm grav_b=(-0.07,+0.00,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 120.6mm grav_b=(-0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 120.5mm grav_b=(-0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 5.10s step= 255 trunk_z= 120.7mm grav_b=(-0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 120.4mm grav_b=(-0.06,+0.01,-1.00) r=0.34m +[headless_play] t= 5.30s step= 265 trunk_z= 120.1mm grav_b=(-0.06,+0.01,-1.00) r=0.34m +[headless_play] t= 5.40s step= 270 trunk_z= 120.5mm grav_b=(-0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 5.50s step= 275 trunk_z= 120.3mm grav_b=(-0.06,+0.01,-1.00) r=0.34m +[headless_play] t= 5.60s step= 280 trunk_z= 120.1mm grav_b=(-0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 5.70s step= 285 trunk_z= 120.3mm grav_b=(-0.05,+0.01,-1.00) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 120.0mm grav_b=(-0.06,+0.03,-1.00) r=0.34m +[headless_play] t= 5.90s step= 295 trunk_z= 120.2mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 6.00s step= 300 trunk_z= 124.7mm grav_b=(-0.00,+0.08,-1.00) r=0.33m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(-0.10,+0.08,-0.99) r=0.34m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(-0.07,-0.05,-1.00) r=0.33m +[headless_play] t= 6.30s step= 315 trunk_z= 121.2mm grav_b=(-0.09,-0.02,-1.00) r=0.32m +[headless_play] t= 6.40s step= 320 trunk_z= 120.9mm grav_b=(-0.07,+0.07,-0.99) r=0.32m +[headless_play] t= 6.50s step= 325 trunk_z= 124.1mm grav_b=(-0.06,-0.02,-1.00) r=0.32m +[headless_play] t= 6.60s step= 330 trunk_z= 123.6mm grav_b=(-0.06,-0.07,-1.00) r=0.31m +[headless_play] t= 6.70s step= 335 trunk_z= 120.3mm grav_b=(-0.10,+0.02,-0.99) r=0.32m +[headless_play] t= 6.80s step= 340 trunk_z= 123.9mm grav_b=(-0.09,+0.02,-1.00) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 122.0mm grav_b=(-0.06,-0.10,-0.99) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 122.6mm grav_b=(-0.09,-0.02,-1.00) r=0.33m +[headless_play] t= 7.10s step= 355 trunk_z= 123.4mm grav_b=(-0.09,+0.09,-0.99) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 122.3mm grav_b=(-0.06,-0.04,-1.00) r=0.35m +[headless_play] t= 7.30s step= 365 trunk_z= 123.3mm grav_b=(-0.05,-0.05,-1.00) r=0.36m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(-0.11,+0.10,-0.99) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 125.5mm grav_b=(-0.13,+0.11,-0.99) r=0.38m +[headless_play] t= 7.60s step= 380 trunk_z= 119.4mm grav_b=(-0.08,-0.06,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 121.4mm grav_b=(-0.04,+0.02,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 126.7mm grav_b=(-0.06,+0.12,-0.99) r=0.42m +[headless_play] t= 7.90s step= 395 trunk_z= 130.4mm grav_b=(-0.08,+0.05,-1.00) r=0.44m +[headless_play] t= 8.00s step= 400 trunk_z= 122.5mm grav_b=(-0.11,-0.08,-0.99) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 121.0mm grav_b=(-0.13,-0.03,-0.99) r=0.47m +[headless_play] t= 8.20s step= 410 trunk_z= 106.5mm grav_b=(-0.13,+0.02,-0.99) r=0.48m +[headless_play] t= 8.30s step= 415 trunk_z= 100.9mm grav_b=(+0.00,-0.18,-0.98) r=0.47m +[headless_play] t= 8.40s step= 420 trunk_z= 112.2mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 8.50s step= 425 trunk_z= 113.4mm grav_b=(-0.01,+0.14,-0.99) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 115.1mm grav_b=(-0.06,-0.06,-1.00) r=0.49m +[headless_play] t= 8.70s step= 435 trunk_z= 120.0mm grav_b=(-0.06,-0.09,-0.99) r=0.50m +[headless_play] t= 8.80s step= 440 trunk_z= 116.1mm grav_b=(-0.06,+0.06,-1.00) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 120.7mm grav_b=(-0.09,+0.06,-0.99) r=0.51m +[headless_play] t= 9.00s step= 450 trunk_z= 112.7mm grav_b=(-0.07,-0.13,-0.99) r=0.52m +[headless_play] t= 9.10s step= 455 trunk_z= 118.9mm grav_b=(-0.00,-0.06,-1.00) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 113.8mm grav_b=(-0.03,+0.12,-0.99) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 120.3mm grav_b=(-0.07,+0.02,-1.00) r=0.57m +[headless_play] t= 9.40s step= 470 trunk_z= 117.7mm grav_b=(-0.06,-0.11,-0.99) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 119.0mm grav_b=(-0.13,+0.05,-0.99) r=0.55m +[headless_play] t= 9.60s step= 480 trunk_z= 122.9mm grav_b=(-0.31,+0.05,-0.95) r=0.52m +[headless_play] t= 9.70s step= 485 trunk_z= 92.0mm grav_b=(-0.48,-0.12,-0.87) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 101.4mm grav_b=(-0.49,-0.21,-0.85) r=0.46m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(-0.19,-0.17,-0.97) r=0.43m +[headless_play] t= 10.00s step= 500 trunk_z= 96.5mm grav_b=(-0.02,+0.06,-1.00) r=0.39m +[headless_play] t= 10.10s step= 505 trunk_z= 103.5mm grav_b=(+0.23,-0.09,-0.97) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 109.6mm grav_b=(+0.13,-0.07,-0.99) r=0.33m +[headless_play] t= 10.30s step= 515 trunk_z= 106.1mm grav_b=(-0.07,+0.13,-0.99) r=0.33m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(-0.29,+0.20,-0.94) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 121.7mm grav_b=(-0.28,+0.05,-0.96) r=0.37m +[headless_play] t= 10.60s step= 530 trunk_z= 118.2mm grav_b=(-0.50,+0.10,-0.86) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 70.1mm grav_b=(-0.57,+0.27,-0.78) r=0.34m +[headless_play] RESET at t= 10.80s step= 540 (env termination, not a recovery) +[headless_play] t= 10.80s step= 540 trunk_z= 124.3mm grav_b=(-0.00,+0.00,-1.00) r=0.15m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(-0.04,+0.01,-1.00) r=0.15m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(-0.03,-0.02,-1.00) r=0.16m +[headless_play] t= 11.10s step= 555 trunk_z= 117.0mm grav_b=(-0.04,-0.05,-1.00) r=0.16m +[headless_play] t= 11.20s step= 560 trunk_z= 114.1mm grav_b=(-0.05,-0.09,-0.99) r=0.18m +[headless_play] t= 11.30s step= 565 trunk_z= 114.2mm grav_b=(-0.03,-0.02,-1.00) r=0.18m +[headless_play] t= 11.40s step= 570 trunk_z= 117.3mm grav_b=(-0.06,-0.04,-1.00) r=0.18m +[headless_play] t= 11.50s step= 575 trunk_z= 113.5mm grav_b=(-0.05,-0.12,-0.99) r=0.20m +[headless_play] t= 11.60s step= 580 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 11.70s step= 585 trunk_z= 117.7mm grav_b=(-0.04,+0.05,-1.00) r=0.22m +[headless_play] t= 11.80s step= 590 trunk_z= 115.3mm grav_b=(-0.07,-0.12,-0.99) r=0.24m +[headless_play] t= 11.90s step= 595 trunk_z= 118.4mm grav_b=(-0.03,-0.05,-1.00) r=0.25m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(-0.04,+0.08,-1.00) r=0.26m +[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(-0.05,-0.07,-1.00) r=0.27m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(-0.03,-0.05,-1.00) r=0.28m +[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(-0.04,+0.05,-1.00) r=0.29m +[headless_play] t= 12.40s step= 620 trunk_z= 115.8mm grav_b=(-0.05,-0.09,-0.99) r=0.31m +[headless_play] t= 12.50s step= 625 trunk_z= 117.0mm grav_b=(-0.02,-0.03,-1.00) r=0.32m +[headless_play] t= 12.60s step= 630 trunk_z= 117.3mm grav_b=(-0.02,+0.07,-1.00) r=0.33m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(-0.04,-0.09,-1.00) r=0.34m +[headless_play] t= 12.80s step= 640 trunk_z= 119.5mm grav_b=(-0.04,-0.06,-1.00) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 113.0mm grav_b=(-0.03,+0.12,-0.99) r=0.37m +[headless_play] t= 13.00s step= 650 trunk_z= 116.5mm grav_b=(-0.04,-0.05,-1.00) r=0.38m +[headless_play] t= 13.10s step= 655 trunk_z= 118.7mm grav_b=(-0.06,-0.09,-0.99) r=0.40m +[headless_play] t= 13.20s step= 660 trunk_z= 111.1mm grav_b=(+0.01,+0.08,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 115.7mm grav_b=(-0.04,-0.03,-1.00) r=0.42m +[headless_play] t= 13.40s step= 670 trunk_z= 117.8mm grav_b=(-0.06,-0.12,-0.99) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 114.0mm grav_b=(+0.00,+0.04,-1.00) r=0.45m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.46m +[headless_play] t= 13.70s step= 685 trunk_z= 114.1mm grav_b=(-0.06,-0.16,-0.98) r=0.48m +[headless_play] t= 13.80s step= 690 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.49m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(-0.04,+0.08,-1.00) r=0.50m +[headless_play] t= 14.00s step= 700 trunk_z= 114.0mm grav_b=(-0.05,-0.09,-0.99) r=0.51m +[headless_play] t= 14.10s step= 705 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 14.20s step= 710 trunk_z= 117.6mm grav_b=(-0.05,+0.03,-1.00) r=0.53m +[headless_play] t= 14.30s step= 715 trunk_z= 115.2mm grav_b=(-0.05,-0.10,-0.99) r=0.55m +[headless_play] t= 14.40s step= 720 trunk_z= 115.5mm grav_b=(-0.01,-0.04,-1.00) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.03,+0.06,-1.00) r=0.57m +[headless_play] t= 14.60s step= 730 trunk_z= 115.4mm grav_b=(-0.05,-0.08,-0.99) r=0.59m +[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(-0.05,-0.07,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 114.2mm grav_b=(-0.02,+0.07,-1.00) r=0.61m +[headless_play] t= 14.90s step= 745 trunk_z= 116.6mm grav_b=(-0.06,-0.03,-1.00) r=0.62m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(-0.08,-0.03,-1.00) r=0.63m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(-0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 15.20s step= 760 trunk_z= 112.0mm grav_b=(-0.04,+0.09,-1.00) r=0.64m +[headless_play] t= 15.30s step= 765 trunk_z= 116.6mm grav_b=(-0.06,-0.04,-1.00) r=0.64m +[headless_play] t= 15.40s step= 770 trunk_z= 114.2mm grav_b=(-0.04,-0.10,-0.99) r=0.65m +[headless_play] t= 15.50s step= 775 trunk_z= 115.5mm grav_b=(+0.02,+0.05,-1.00) r=0.68m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(-0.02,+0.02,-1.00) r=0.70m +[headless_play] t= 15.70s step= 785 trunk_z= 117.5mm grav_b=(-0.06,-0.15,-0.99) r=0.71m +[headless_play] t= 15.80s step= 790 trunk_z= 123.6mm grav_b=(-0.04,-0.15,-0.99) r=0.72m +[headless_play] t= 15.90s step= 795 trunk_z= 123.9mm grav_b=(-0.06,-0.11,-0.99) r=0.72m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(-0.04,+0.05,-1.00) r=0.73m +[headless_play] t= 16.10s step= 805 trunk_z= 119.1mm grav_b=(-0.06,-0.01,-1.00) r=0.74m +[headless_play] t= 16.20s step= 810 trunk_z= 114.7mm grav_b=(-0.04,-0.12,-0.99) r=0.75m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 16.40s step= 820 trunk_z= 115.9mm grav_b=(-0.04,+0.11,-0.99) r=0.77m +[headless_play] t= 16.50s step= 825 trunk_z= 118.4mm grav_b=(+0.01,+0.05,-1.00) r=0.77m +[headless_play] t= 16.60s step= 830 trunk_z= 115.7mm grav_b=(-0.02,-0.04,-1.00) r=0.78m +[headless_play] t= 16.70s step= 835 trunk_z= 113.8mm grav_b=(+0.05,+0.01,-1.00) r=0.78m +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.78m +[headless_play] t= 16.90s step= 845 trunk_z= 114.4mm grav_b=(-0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 17.00s step= 850 trunk_z= 114.6mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 17.10s step= 855 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 17.20s step= 860 trunk_z= 115.0mm grav_b=(-0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 17.30s step= 865 trunk_z= 115.1mm grav_b=(-0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 17.40s step= 870 trunk_z= 115.1mm grav_b=(-0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 17.50s step= 875 trunk_z= 115.1mm grav_b=(-0.02,-0.01,-1.00) r=0.78m +[headless_play] t= 17.60s step= 880 trunk_z= 115.2mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 17.70s step= 885 trunk_z= 115.3mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 17.80s step= 890 trunk_z= 115.4mm grav_b=(-0.02,-0.00,-1.00) r=0.78m +[headless_play] t= 17.90s step= 895 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.78m +[headless_play] t= 18.00s step= 900 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(-0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 18.20s step= 910 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=0.78m +[headless_play] t= 18.40s step= 920 trunk_z= 117.7mm grav_b=(-0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 18.50s step= 925 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 18.70s step= 935 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 18.80s step= 940 trunk_z= 117.5mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.00s step= 950 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.40s step= 970 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 19.90s step= 995 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 20.00s step=1000 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 20.10s step=1005 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.78m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..9a3038c643dce5a7746049d3b5e0810030421c3f --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.497,-17.964,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.2mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 118.1mm grav_b=(+0.00,+0.10,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 118.4mm grav_b=(-0.07,-0.01,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 118.7mm grav_b=(-0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 121.8mm grav_b=(-0.05,+0.08,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 118.4mm grav_b=(-0.05,-0.13,-0.99) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 124.7mm grav_b=(-0.04,+0.13,-0.99) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(-0.05,-0.05,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 120.9mm grav_b=(-0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 121.4mm grav_b=(-0.04,+0.18,-0.98) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 128.1mm grav_b=(-0.04,+0.12,-0.99) r=0.35m +[headless_play] t= 1.40s step= 70 trunk_z= 118.8mm grav_b=(-0.08,-0.07,-0.99) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 120.6mm grav_b=(+0.01,+0.03,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 120.8mm grav_b=(+0.01,+0.12,-0.99) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 122.4mm grav_b=(-0.08,-0.06,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 124.4mm grav_b=(-0.06,-0.11,-0.99) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(-0.05,+0.09,-0.99) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 119.8mm grav_b=(-0.07,+0.01,-1.00) r=0.27m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(-0.05,-0.09,-1.00) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 118.1mm grav_b=(-0.04,+0.13,-0.99) r=0.25m +[headless_play] t= 2.30s step= 115 trunk_z= 127.2mm grav_b=(-0.04,+0.09,-1.00) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 118.8mm grav_b=(-0.06,-0.09,-0.99) r=0.23m +[headless_play] t= 2.50s step= 125 trunk_z= 120.3mm grav_b=(-0.02,+0.06,-1.00) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 124.4mm grav_b=(-0.05,+0.12,-0.99) r=0.21m +[headless_play] t= 2.70s step= 135 trunk_z= 117.5mm grav_b=(-0.09,-0.05,-0.99) r=0.21m +[headless_play] t= 2.80s step= 140 trunk_z= 121.8mm grav_b=(-0.04,-0.02,-1.00) r=0.21m +[headless_play] t= 2.90s step= 145 trunk_z= 121.2mm grav_b=(-0.04,+0.16,-0.99) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 123.0mm grav_b=(-0.07,+0.02,-1.00) r=0.20m +[headless_play] t= 3.10s step= 155 trunk_z= 119.6mm grav_b=(-0.04,-0.05,-1.00) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 118.2mm grav_b=(-0.06,+0.15,-0.99) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 122.0mm grav_b=(-0.06,+0.02,-1.00) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 122.9mm grav_b=(-0.07,-0.12,-0.99) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 120.4mm grav_b=(+0.00,+0.03,-1.00) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 123.4mm grav_b=(-0.05,+0.08,-1.00) r=0.17m +[headless_play] t= 3.70s step= 185 trunk_z= 116.8mm grav_b=(-0.06,-0.13,-0.99) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 120.6mm grav_b=(-0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 121.3mm grav_b=(+0.00,+0.10,-0.99) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 118.7mm grav_b=(-0.01,-0.05,-1.00) r=0.18m +[headless_play] t= 4.10s step= 205 trunk_z= 119.9mm grav_b=(-0.03,-0.03,-1.00) r=0.19m +[headless_play] t= 4.20s step= 210 trunk_z= 115.2mm grav_b=(+0.02,+0.15,-0.99) r=0.19m +[headless_play] t= 4.30s step= 215 trunk_z= 123.9mm grav_b=(-0.01,+0.07,-1.00) r=0.19m +[headless_play] t= 4.40s step= 220 trunk_z= 117.7mm grav_b=(-0.06,-0.12,-0.99) r=0.21m +[headless_play] t= 4.50s step= 225 trunk_z= 120.2mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 119.7mm grav_b=(+0.00,+0.11,-0.99) r=0.23m +[headless_play] t= 4.70s step= 235 trunk_z= 115.6mm grav_b=(-0.01,-0.09,-1.00) r=0.24m +[headless_play] t= 4.80s step= 240 trunk_z= 120.1mm grav_b=(-0.02,-0.04,-1.00) r=0.25m +[headless_play] t= 4.90s step= 245 trunk_z= 117.6mm grav_b=(+0.01,+0.15,-0.99) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 122.1mm grav_b=(+0.04,+0.04,-1.00) r=0.27m +[headless_play] t= 5.10s step= 255 trunk_z= 118.2mm grav_b=(-0.01,-0.07,-1.00) r=0.29m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(-0.02,+0.12,-0.99) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 126.2mm grav_b=(+0.00,+0.08,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 116.2mm grav_b=(-0.02,-0.08,-1.00) r=0.34m +[headless_play] t= 5.50s step= 275 trunk_z= 119.6mm grav_b=(-0.03,+0.04,-1.00) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 121.1mm grav_b=(-0.03,+0.08,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 115.6mm grav_b=(-0.03,-0.10,-0.99) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 119.1mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 5.90s step= 295 trunk_z= 121.2mm grav_b=(+0.00,+0.11,-0.99) r=0.42m +[headless_play] t= 6.00s step= 300 trunk_z= 117.7mm grav_b=(-0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 120.4mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(+0.00,+0.12,-0.99) r=0.46m +[headless_play] t= 6.30s step= 315 trunk_z= 118.5mm grav_b=(-0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 6.40s step= 320 trunk_z= 125.2mm grav_b=(-0.05,-0.10,-0.99) r=0.48m +[headless_play] t= 6.50s step= 325 trunk_z= 116.5mm grav_b=(-0.02,+0.09,-1.00) r=0.49m +[headless_play] t= 6.60s step= 330 trunk_z= 119.7mm grav_b=(-0.04,-0.03,-1.00) r=0.50m +[headless_play] t= 6.70s step= 335 trunk_z= 123.6mm grav_b=(-0.05,-0.07,-1.00) r=0.52m +[headless_play] t= 6.80s step= 340 trunk_z= 119.6mm grav_b=(-0.02,+0.13,-0.99) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 123.4mm grav_b=(-0.05,+0.02,-1.00) r=0.54m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(-0.04,-0.11,-0.99) r=0.56m +[headless_play] t= 7.10s step= 355 trunk_z= 120.1mm grav_b=(-0.07,+0.07,-1.00) r=0.58m +[headless_play] t= 7.20s step= 360 trunk_z= 124.0mm grav_b=(-0.06,+0.08,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(-0.04,-0.11,-0.99) r=0.60m +[headless_play] t= 7.40s step= 370 trunk_z= 128.0mm grav_b=(-0.05,-0.08,-1.00) r=0.62m +[headless_play] t= 7.50s step= 375 trunk_z= 117.0mm grav_b=(-0.02,+0.09,-1.00) r=0.63m +[headless_play] t= 7.60s step= 380 trunk_z= 118.9mm grav_b=(-0.05,-0.05,-1.00) r=0.65m +[headless_play] t= 7.70s step= 385 trunk_z= 124.6mm grav_b=(-0.04,-0.11,-0.99) r=0.67m +[headless_play] t= 7.80s step= 390 trunk_z= 119.0mm grav_b=(-0.05,+0.05,-1.00) r=0.68m +[headless_play] t= 7.90s step= 395 trunk_z= 122.2mm grav_b=(-0.03,+0.04,-1.00) r=0.69m +[headless_play] t= 8.00s step= 400 trunk_z= 119.2mm grav_b=(-0.04,-0.14,-0.99) r=0.71m +[headless_play] t= 8.10s step= 405 trunk_z= 123.5mm grav_b=(-0.06,-0.03,-1.00) r=0.72m +[headless_play] t= 8.20s step= 410 trunk_z= 121.9mm grav_b=(-0.03,+0.10,-0.99) r=0.73m +[headless_play] t= 8.30s step= 415 trunk_z= 117.5mm grav_b=(-0.04,-0.08,-1.00) r=0.74m +[headless_play] t= 8.40s step= 420 trunk_z= 124.8mm grav_b=(-0.07,-0.05,-1.00) r=0.76m +[headless_play] t= 8.50s step= 425 trunk_z= 120.1mm grav_b=(-0.06,+0.14,-0.99) r=0.77m +[headless_play] t= 8.60s step= 430 trunk_z= 122.1mm grav_b=(-0.04,+0.03,-1.00) r=0.78m +[headless_play] t= 8.70s step= 435 trunk_z= 124.4mm grav_b=(-0.04,-0.10,-0.99) r=0.80m +[headless_play] t= 8.80s step= 440 trunk_z= 119.6mm grav_b=(-0.04,+0.07,-1.00) r=0.81m +[headless_play] t= 8.90s step= 445 trunk_z= 123.6mm grav_b=(-0.06,+0.10,-0.99) r=0.82m +[headless_play] t= 9.00s step= 450 trunk_z= 118.2mm grav_b=(-0.05,-0.07,-1.00) r=0.84m +[headless_play] t= 9.10s step= 455 trunk_z= 126.3mm grav_b=(-0.05,-0.05,-1.00) r=0.85m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(-0.03,+0.11,-0.99) r=0.87m +[headless_play] t= 9.30s step= 465 trunk_z= 120.2mm grav_b=(-0.05,-0.02,-1.00) r=0.88m +[headless_play] t= 9.40s step= 470 trunk_z= 108.4mm grav_b=(-0.10,-0.15,-0.98) r=0.91m +[headless_play] t= 9.50s step= 475 trunk_z= 111.6mm grav_b=(-0.13,-0.29,-0.95) r=0.93m +[headless_play] t= 9.60s step= 480 trunk_z= 104.0mm grav_b=(-0.25,-0.04,-0.97) r=0.96m +[headless_play] t= 9.70s step= 485 trunk_z= 75.8mm grav_b=(-0.17,-0.09,-0.98) r=1.03m +[headless_play] t= 9.80s step= 490 trunk_z= 67.4mm grav_b=(+0.11,-0.13,-0.99) r=1.10m +[headless_play] t= 9.90s step= 495 trunk_z= 82.5mm grav_b=(+0.17,+0.18,-0.97) r=1.15m +[headless_play] t= 10.00s step= 500 trunk_z= 94.1mm grav_b=(+0.07,-0.04,-1.00) r=1.18m +[headless_play] t= 10.10s step= 505 trunk_z= 74.8mm grav_b=(+0.12,-0.24,-0.96) r=1.22m +[headless_play] t= 10.20s step= 510 trunk_z= 95.4mm grav_b=(+0.07,-0.22,-0.97) r=1.24m +[headless_play] t= 10.30s step= 515 trunk_z= 101.5mm grav_b=(-0.00,-0.09,-1.00) r=1.26m +[headless_play] t= 10.40s step= 520 trunk_z= 94.3mm grav_b=(-0.09,-0.01,-1.00) r=1.28m +[headless_play] t= 10.50s step= 525 trunk_z= 92.7mm grav_b=(-0.06,-0.08,-0.99) r=1.29m +[headless_play] t= 10.60s step= 530 trunk_z= 95.4mm grav_b=(-0.05,-0.01,-1.00) r=1.30m +[headless_play] t= 10.70s step= 535 trunk_z= 98.1mm grav_b=(-0.03,+0.07,-1.00) r=1.30m +[headless_play] t= 10.80s step= 540 trunk_z= 93.4mm grav_b=(-0.02,-0.06,-1.00) r=1.31m +[headless_play] t= 10.90s step= 545 trunk_z= 95.7mm grav_b=(-0.03,-0.00,-1.00) r=1.32m +[headless_play] t= 11.00s step= 550 trunk_z= 97.1mm grav_b=(-0.01,+0.09,-1.00) r=1.34m +[headless_play] t= 11.10s step= 555 trunk_z= 92.8mm grav_b=(-0.03,-0.04,-1.00) r=1.35m +[headless_play] t= 11.20s step= 560 trunk_z= 96.9mm grav_b=(-0.03,-0.03,-1.00) r=1.37m +[headless_play] t= 11.30s step= 565 trunk_z= 94.3mm grav_b=(-0.01,+0.10,-1.00) r=1.38m +[headless_play] t= 11.40s step= 570 trunk_z= 95.1mm grav_b=(-0.01,+0.01,-1.00) r=1.39m +[headless_play] t= 11.50s step= 575 trunk_z= 96.7mm grav_b=(-0.03,-0.07,-1.00) r=1.41m +[headless_play] t= 11.60s step= 580 trunk_z= 92.8mm grav_b=(-0.00,+0.04,-1.00) r=1.42m +[headless_play] t= 11.70s step= 585 trunk_z= 97.3mm grav_b=(+0.02,+0.06,-1.00) r=1.43m +[headless_play] t= 11.80s step= 590 trunk_z= 92.7mm grav_b=(-0.03,-0.09,-1.00) r=1.45m +[headless_play] t= 11.90s step= 595 trunk_z= 96.5mm grav_b=(-0.02,-0.03,-1.00) r=1.47m +[headless_play] t= 12.00s step= 600 trunk_z= 93.7mm grav_b=(+0.01,+0.07,-1.00) r=1.48m +[headless_play] t= 12.10s step= 605 trunk_z= 91.4mm grav_b=(-0.01,-0.08,-1.00) r=1.50m +[headless_play] t= 12.20s step= 610 trunk_z= 96.9mm grav_b=(-0.02,-0.04,-1.00) r=1.52m +[headless_play] t= 12.30s step= 615 trunk_z= 93.8mm grav_b=(-0.02,+0.11,-0.99) r=1.53m +[headless_play] t= 12.40s step= 620 trunk_z= 96.1mm grav_b=(-0.02,+0.03,-1.00) r=1.54m +[headless_play] t= 12.50s step= 625 trunk_z= 96.2mm grav_b=(-0.03,-0.09,-1.00) r=1.56m +[headless_play] t= 12.60s step= 630 trunk_z= 93.3mm grav_b=(+0.00,+0.02,-1.00) r=1.57m +[headless_play] t= 12.70s step= 635 trunk_z= 95.6mm grav_b=(+0.01,+0.05,-1.00) r=1.59m +[headless_play] t= 12.80s step= 640 trunk_z= 93.2mm grav_b=(-0.03,-0.10,-0.99) r=1.60m +[headless_play] t= 12.90s step= 645 trunk_z= 96.2mm grav_b=(-0.01,-0.02,-1.00) r=1.62m +[headless_play] t= 13.00s step= 650 trunk_z= 94.5mm grav_b=(+0.01,+0.07,-1.00) r=1.63m +[headless_play] t= 13.10s step= 655 trunk_z= 92.2mm grav_b=(-0.01,-0.10,-0.99) r=1.65m +[headless_play] t= 13.20s step= 660 trunk_z= 99.7mm grav_b=(-0.03,-0.09,-1.00) r=1.67m +[headless_play] t= 13.30s step= 665 trunk_z= 90.8mm grav_b=(-0.01,+0.10,-0.99) r=1.69m +[headless_play] t= 13.40s step= 670 trunk_z= 96.4mm grav_b=(+0.00,+0.04,-1.00) r=1.71m +[headless_play] t= 13.50s step= 675 trunk_z= 94.3mm grav_b=(-0.09,-0.07,-0.99) r=1.73m +[headless_play] t= 13.60s step= 680 trunk_z= 95.4mm grav_b=(-0.06,+0.02,-1.00) r=1.74m +[headless_play] t= 13.70s step= 685 trunk_z= 94.6mm grav_b=(+0.04,+0.10,-0.99) r=1.74m +[headless_play] t= 13.80s step= 690 trunk_z= 90.8mm grav_b=(-0.05,-0.08,-1.00) r=1.69m +[headless_play] t= 13.90s step= 695 trunk_z= 88.3mm grav_b=(-0.17,-0.00,-0.99) r=1.67m +[headless_play] t= 14.00s step= 700 trunk_z= 92.2mm grav_b=(-0.22,-0.15,-0.96) r=1.66m +[headless_play] t= 14.10s step= 705 trunk_z= 74.2mm grav_b=(-0.10,-0.24,-0.97) r=1.64m +[headless_play] t= 14.20s step= 710 trunk_z= 78.9mm grav_b=(-0.09,+0.08,-0.99) r=1.62m +[headless_play] t= 14.30s step= 715 trunk_z= 67.4mm grav_b=(+0.05,+0.07,-1.00) r=1.61m +[headless_play] t= 14.40s step= 720 trunk_z= 81.7mm grav_b=(+0.22,-0.08,-0.97) r=1.59m +[headless_play] t= 14.50s step= 725 trunk_z= 109.2mm grav_b=(+0.19,-0.11,-0.97) r=1.57m +[headless_play] t= 14.60s step= 730 trunk_z= 61.5mm grav_b=(+0.02,-0.13,-0.99) r=1.57m +[headless_play] t= 14.70s step= 735 trunk_z= 48.6mm grav_b=(-0.34,+0.13,-0.93) r=1.57m +[headless_play] t= 14.80s step= 740 trunk_z= 72.6mm grav_b=(-0.18,+0.09,-0.98) r=1.57m +[headless_play] t= 14.90s step= 745 trunk_z= 85.3mm grav_b=(-0.07,+0.23,-0.97) r=1.57m +[headless_play] t= 15.00s step= 750 trunk_z= 80.5mm grav_b=(-0.07,+0.18,-0.98) r=1.58m +[headless_play] t= 15.10s step= 755 trunk_z= 78.1mm grav_b=(-0.02,-0.16,-0.99) r=1.59m +[headless_play] t= 15.20s step= 760 trunk_z= 95.8mm grav_b=(-0.03,-0.05,-1.00) r=1.59m +[headless_play] t= 15.30s step= 765 trunk_z= 93.0mm grav_b=(-0.02,+0.10,-0.99) r=1.59m +[headless_play] t= 15.40s step= 770 trunk_z= 92.7mm grav_b=(-0.04,-0.09,-1.00) r=1.59m +[headless_play] t= 15.50s step= 775 trunk_z= 95.6mm grav_b=(-0.04,-0.08,-1.00) r=1.59m +[headless_play] t= 15.60s step= 780 trunk_z= 92.0mm grav_b=(-0.02,+0.07,-1.00) r=1.59m +[headless_play] t= 15.70s step= 785 trunk_z= 98.1mm grav_b=(+0.01,+0.10,-1.00) r=1.60m +[headless_play] t= 15.80s step= 790 trunk_z= 90.3mm grav_b=(-0.02,-0.09,-1.00) r=1.61m +[headless_play] t= 15.90s step= 795 trunk_z= 95.8mm grav_b=(-0.01,+0.01,-1.00) r=1.61m +[headless_play] t= 16.00s step= 800 trunk_z= 92.3mm grav_b=(+0.00,+0.12,-0.99) r=1.62m +[headless_play] t= 16.10s step= 805 trunk_z= 89.9mm grav_b=(-0.02,-0.06,-1.00) r=1.63m +[headless_play] t= 16.20s step= 810 trunk_z= 94.4mm grav_b=(-0.00,-0.05,-1.00) r=1.64m +[headless_play] t= 16.30s step= 815 trunk_z= 93.4mm grav_b=(-0.01,+0.12,-0.99) r=1.65m +[headless_play] t= 16.40s step= 820 trunk_z= 94.2mm grav_b=(-0.01,+0.01,-1.00) r=1.67m +[headless_play] t= 16.50s step= 825 trunk_z= 93.8mm grav_b=(-0.01,-0.05,-1.00) r=1.68m +[headless_play] t= 16.60s step= 830 trunk_z= 91.4mm grav_b=(+0.02,+0.09,-1.00) r=1.69m +[headless_play] t= 16.70s step= 835 trunk_z= 98.0mm grav_b=(+0.03,+0.09,-1.00) r=1.70m +[headless_play] t= 16.80s step= 840 trunk_z= 91.4mm grav_b=(-0.04,-0.13,-0.99) r=1.70m +[headless_play] t= 16.90s step= 845 trunk_z= 95.6mm grav_b=(-0.05,+0.02,-1.00) r=1.71m +[headless_play] t= 17.00s step= 850 trunk_z= 101.7mm grav_b=(-0.01,+0.11,-0.99) r=1.73m +[headless_play] t= 17.10s step= 855 trunk_z= 97.9mm grav_b=(-0.01,-0.01,-1.00) r=1.73m +[headless_play] t= 17.20s step= 860 trunk_z= 97.2mm grav_b=(-0.04,-0.01,-1.00) r=1.74m +[headless_play] t= 17.30s step= 865 trunk_z= 96.6mm grav_b=(-0.03,+0.13,-0.99) r=1.75m +[headless_play] t= 17.40s step= 870 trunk_z= 97.3mm grav_b=(-0.05,+0.02,-1.00) r=1.75m +[headless_play] t= 17.50s step= 875 trunk_z= 100.0mm grav_b=(-0.07,-0.07,-0.99) r=1.75m +[headless_play] t= 17.60s step= 880 trunk_z= 93.4mm grav_b=(-0.03,+0.10,-0.99) r=1.76m +[headless_play] t= 17.70s step= 885 trunk_z= 101.2mm grav_b=(-0.02,+0.07,-1.00) r=1.76m +[headless_play] t= 17.80s step= 890 trunk_z= 94.6mm grav_b=(-0.07,-0.11,-0.99) r=1.76m +[headless_play] t= 17.90s step= 895 trunk_z= 96.4mm grav_b=(-0.07,-0.00,-1.00) r=1.77m +[headless_play] t= 18.00s step= 900 trunk_z= 99.2mm grav_b=(-0.03,+0.08,-1.00) r=1.77m +[headless_play] t= 18.10s step= 905 trunk_z= 92.9mm grav_b=(-0.04,-0.10,-0.99) r=1.77m +[headless_play] t= 18.20s step= 910 trunk_z= 96.9mm grav_b=(-0.10,-0.01,-0.99) r=1.75m +[headless_play] t= 18.30s step= 915 trunk_z= 98.3mm grav_b=(-0.06,+0.04,-1.00) r=1.73m +[headless_play] t= 18.40s step= 920 trunk_z= 96.8mm grav_b=(-0.05,-0.11,-0.99) r=1.72m +[headless_play] t= 18.50s step= 925 trunk_z= 98.8mm grav_b=(-0.05,-0.01,-1.00) r=1.72m +[headless_play] t= 18.60s step= 930 trunk_z= 99.1mm grav_b=(-0.03,+0.08,-1.00) r=1.71m +[headless_play] t= 18.70s step= 935 trunk_z= 92.6mm grav_b=(-0.04,-0.10,-0.99) r=1.71m +[headless_play] t= 18.80s step= 940 trunk_z= 99.7mm grav_b=(-0.06,-0.06,-1.00) r=1.71m +[headless_play] t= 18.90s step= 945 trunk_z= 97.5mm grav_b=(-0.04,+0.12,-0.99) r=1.72m +[headless_play] t= 19.00s step= 950 trunk_z= 98.5mm grav_b=(-0.02,+0.02,-1.00) r=1.71m +[headless_play] t= 19.10s step= 955 trunk_z= 98.5mm grav_b=(-0.05,-0.09,-0.99) r=1.71m +[headless_play] t= 19.20s step= 960 trunk_z= 93.7mm grav_b=(-0.05,+0.08,-1.00) r=1.72m +[headless_play] t= 19.30s step= 965 trunk_z= 99.2mm grav_b=(-0.02,+0.05,-1.00) r=1.72m +[headless_play] t= 19.40s step= 970 trunk_z= 96.8mm grav_b=(-0.06,-0.12,-0.99) r=1.72m +[headless_play] t= 19.50s step= 975 trunk_z= 96.9mm grav_b=(-0.05,+0.01,-1.00) r=1.72m +[headless_play] t= 19.60s step= 980 trunk_z= 97.8mm grav_b=(-0.01,+0.08,-1.00) r=1.73m +[headless_play] t= 19.70s step= 985 trunk_z= 91.8mm grav_b=(-0.06,-0.11,-0.99) r=1.73m +[headless_play] t= 19.80s step= 990 trunk_z= 100.6mm grav_b=(-0.05,-0.11,-0.99) r=1.73m +[headless_play] t= 19.90s step= 995 trunk_z= 94.4mm grav_b=(-0.06,+0.10,-0.99) r=1.74m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.5mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..c6f911e8e807935b0fa6b446fb0a13bc063aa711 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.4mm grav_b=(-0.00,-0.00,-1.00) root_w=(-10.378,-17.539,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(+0.05,+0.04,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.10,+0.07,-0.99) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 115.1mm grav_b=(+0.08,-0.00,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 114.5mm grav_b=(+0.08,-0.03,-1.00) r=0.54m +[headless_play] t= 0.50s step= 25 trunk_z= 110.9mm grav_b=(+0.13,+0.10,-0.99) r=0.54m +[headless_play] t= 0.60s step= 30 trunk_z= 114.1mm grav_b=(+0.10,+0.07,-0.99) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 111.6mm grav_b=(+0.05,-0.08,-1.00) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 115.2mm grav_b=(+0.06,-0.00,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 111.4mm grav_b=(+0.13,+0.10,-0.99) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.09,+0.02,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 115.3mm grav_b=(+0.05,-0.08,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 112.8mm grav_b=(+0.08,+0.05,-1.00) r=0.47m +[headless_play] t= 1.30s step= 65 trunk_z= 114.9mm grav_b=(+0.09,+0.07,-0.99) r=0.47m +[headless_play] t= 1.40s step= 70 trunk_z= 114.5mm grav_b=(+0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(+0.07,-0.05,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 110.4mm grav_b=(+0.14,+0.12,-0.98) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(+0.12,+0.04,-0.99) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 113.9mm grav_b=(+0.06,-0.11,-0.99) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 115.1mm grav_b=(+0.07,-0.00,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 113.4mm grav_b=(+0.11,+0.09,-0.99) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 115.4mm grav_b=(+0.08,-0.01,-1.00) r=0.37m +[headless_play] t= 2.20s step= 110 trunk_z= 115.0mm grav_b=(+0.07,-0.06,-1.00) r=0.36m +[headless_play] t= 2.30s step= 115 trunk_z= 111.3mm grav_b=(+0.11,+0.10,-0.99) r=0.35m +[headless_play] t= 2.40s step= 120 trunk_z= 115.3mm grav_b=(+0.13,+0.09,-0.99) r=0.34m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.07,-0.05,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 117.1mm grav_b=(+0.03,-0.04,-1.00) r=0.31m +[headless_play] t= 2.70s step= 135 trunk_z= 110.2mm grav_b=(+0.12,+0.10,-0.99) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 114.8mm grav_b=(+0.12,+0.03,-0.99) r=0.30m +[headless_play] t= 2.90s step= 145 trunk_z= 114.3mm grav_b=(+0.07,-0.11,-0.99) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 115.0mm grav_b=(+0.08,-0.00,-1.00) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 114.3mm grav_b=(+0.11,+0.10,-0.99) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 116.6mm grav_b=(+0.09,+0.02,-1.00) r=0.25m +[headless_play] t= 3.30s step= 165 trunk_z= 115.4mm grav_b=(+0.07,-0.07,-1.00) r=0.23m +[headless_play] t= 3.40s step= 170 trunk_z= 112.3mm grav_b=(+0.11,+0.08,-0.99) r=0.22m +[headless_play] t= 3.50s step= 175 trunk_z= 114.1mm grav_b=(+0.13,+0.10,-0.99) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 112.4mm grav_b=(+0.08,-0.06,-0.99) r=0.20m +[headless_play] t= 3.70s step= 185 trunk_z= 115.8mm grav_b=(+0.06,-0.03,-1.00) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 111.7mm grav_b=(+0.11,+0.11,-0.99) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 115.0mm grav_b=(+0.10,+0.03,-1.00) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 113.4mm grav_b=(+0.07,-0.08,-0.99) r=0.16m +[headless_play] t= 4.10s step= 205 trunk_z= 113.5mm grav_b=(+0.08,+0.04,-1.00) r=0.15m +[headless_play] t= 4.20s step= 210 trunk_z= 113.9mm grav_b=(+0.11,+0.08,-0.99) r=0.14m +[headless_play] t= 4.30s step= 215 trunk_z= 112.6mm grav_b=(+0.06,-0.06,-1.00) r=0.13m +[headless_play] t= 4.40s step= 220 trunk_z= 113.4mm grav_b=(+0.09,-0.04,-1.00) r=0.12m +[headless_play] t= 4.50s step= 225 trunk_z= 107.6mm grav_b=(+0.13,+0.13,-0.98) r=0.11m +[headless_play] t= 4.60s step= 230 trunk_z= 114.5mm grav_b=(+0.11,+0.06,-0.99) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.02,-0.10,-0.99) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 116.4mm grav_b=(-0.04,+0.03,-1.00) r=0.12m +[headless_play] t= 4.90s step= 245 trunk_z= 107.6mm grav_b=(-0.01,+0.16,-0.99) r=0.16m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.04,+0.02,-1.00) r=0.19m +[headless_play] t= 5.10s step= 255 trunk_z= 101.2mm grav_b=(+0.15,-0.01,-0.99) r=0.22m +[headless_play] t= 5.20s step= 260 trunk_z= 102.9mm grav_b=(+0.15,+0.08,-0.99) r=0.25m +[headless_play] t= 5.30s step= 265 trunk_z= 115.2mm grav_b=(+0.08,+0.06,-0.99) r=0.26m +[headless_play] t= 5.40s step= 270 trunk_z= 107.1mm grav_b=(+0.07,-0.03,-1.00) r=0.27m +[headless_play] t= 5.50s step= 275 trunk_z= 110.1mm grav_b=(+0.09,+0.03,-1.00) r=0.28m +[headless_play] t= 5.60s step= 280 trunk_z= 107.7mm grav_b=(+0.14,+0.10,-0.98) r=0.29m +[headless_play] t= 5.70s step= 285 trunk_z= 112.6mm grav_b=(+0.10,-0.04,-0.99) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=0.32m +[headless_play] t= 5.90s step= 295 trunk_z= 112.6mm grav_b=(+0.05,+0.07,-1.00) r=0.34m +[headless_play] t= 6.00s step= 300 trunk_z= 113.1mm grav_b=(+0.05,-0.04,-1.00) r=0.35m +[headless_play] t= 6.10s step= 305 trunk_z= 113.9mm grav_b=(+0.06,-0.03,-1.00) r=0.36m +[headless_play] t= 6.20s step= 310 trunk_z= 109.2mm grav_b=(+0.08,+0.10,-0.99) r=0.38m +[headless_play] t= 6.30s step= 315 trunk_z= 113.4mm grav_b=(+0.10,+0.05,-0.99) r=0.40m +[headless_play] t= 6.40s step= 320 trunk_z= 110.9mm grav_b=(+0.08,-0.08,-0.99) r=0.42m +[headless_play] t= 6.50s step= 325 trunk_z= 114.0mm grav_b=(+0.07,+0.03,-1.00) r=0.43m +[headless_play] t= 6.60s step= 330 trunk_z= 111.9mm grav_b=(+0.06,+0.07,-1.00) r=0.44m +[headless_play] t= 6.70s step= 335 trunk_z= 110.4mm grav_b=(+0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 6.80s step= 340 trunk_z= 115.2mm grav_b=(+0.07,-0.01,-1.00) r=0.48m +[headless_play] t= 6.90s step= 345 trunk_z= 111.4mm grav_b=(+0.07,+0.09,-0.99) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 113.8mm grav_b=(+0.07,-0.01,-1.00) r=0.51m +[headless_play] t= 7.10s step= 355 trunk_z= 114.0mm grav_b=(+0.08,-0.06,-0.99) r=0.53m +[headless_play] t= 7.20s step= 360 trunk_z= 108.3mm grav_b=(+0.10,+0.10,-0.99) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 113.9mm grav_b=(+0.11,+0.04,-0.99) r=0.55m +[headless_play] t= 7.40s step= 370 trunk_z= 114.0mm grav_b=(+0.04,-0.11,-0.99) r=0.57m +[headless_play] t= 7.50s step= 375 trunk_z= 115.1mm grav_b=(+0.06,-0.01,-1.00) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 112.9mm grav_b=(+0.13,+0.08,-0.99) r=0.59m +[headless_play] t= 7.70s step= 385 trunk_z= 115.2mm grav_b=(+0.07,-0.02,-1.00) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 115.4mm grav_b=(+0.05,-0.07,-1.00) r=0.62m +[headless_play] t= 7.90s step= 395 trunk_z= 110.8mm grav_b=(+0.09,+0.08,-0.99) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 115.5mm grav_b=(+0.10,+0.10,-0.99) r=0.63m +[headless_play] t= 8.10s step= 405 trunk_z= 113.2mm grav_b=(+0.03,-0.04,-1.00) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(+0.08,-0.07,-0.99) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 117.0mm grav_b=(+0.09,+0.00,-1.00) r=0.67m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(+0.07,+0.10,-0.99) r=0.67m +[headless_play] t= 8.50s step= 425 trunk_z= 114.6mm grav_b=(+0.01,-0.07,-1.00) r=0.69m +[headless_play] t= 8.60s step= 430 trunk_z= 119.7mm grav_b=(-0.03,-0.23,-0.97) r=0.72m +[headless_play] t= 8.70s step= 435 trunk_z= 130.2mm grav_b=(-0.08,-0.19,-0.98) r=0.75m +[headless_play] t= 8.80s step= 440 trunk_z= 133.8mm grav_b=(-0.05,-0.10,-0.99) r=0.76m +[headless_play] t= 8.90s step= 445 trunk_z= 108.5mm grav_b=(+0.12,-0.01,-0.99) r=0.76m +[headless_play] t= 9.00s step= 450 trunk_z= 89.8mm grav_b=(+0.35,-0.04,-0.93) r=0.77m +[headless_play] t= 9.10s step= 455 trunk_z= 99.6mm grav_b=(+0.21,-0.24,-0.95) r=0.80m +[headless_play] t= 9.20s step= 460 trunk_z= 110.8mm grav_b=(+0.17,-0.28,-0.95) r=0.83m +[headless_play] t= 9.30s step= 465 trunk_z= 85.9mm grav_b=(+0.03,-0.29,-0.96) r=0.88m +[headless_play] t= 9.40s step= 470 trunk_z= 82.6mm grav_b=(+0.21,-0.26,-0.94) r=0.93m +[headless_play] t= 9.50s step= 475 trunk_z= 58.9mm grav_b=(+0.55,+0.09,-0.83) r=0.95m +[headless_play] RESET at t= 9.58s step= 479 (env termination, not a recovery) +[headless_play] t= 9.60s step= 480 trunk_z= 124.8mm grav_b=(-0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 9.80s step= 490 trunk_z= 116.2mm grav_b=(+0.00,+0.07,-1.00) r=0.21m +[headless_play] t= 9.90s step= 495 trunk_z= 114.2mm grav_b=(+0.02,+0.05,-1.00) r=0.20m +[headless_play] t= 10.00s step= 500 trunk_z= 113.5mm grav_b=(+0.03,-0.06,-1.00) r=0.21m +[headless_play] t= 10.10s step= 505 trunk_z= 114.5mm grav_b=(+0.09,-0.01,-1.00) r=0.21m +[headless_play] t= 10.20s step= 510 trunk_z= 108.4mm grav_b=(+0.05,+0.14,-0.99) r=0.20m +[headless_play] t= 10.30s step= 515 trunk_z= 118.2mm grav_b=(+0.00,+0.08,-1.00) r=0.20m +[headless_play] t= 10.40s step= 520 trunk_z= 113.5mm grav_b=(-0.02,-0.12,-0.99) r=0.20m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(+0.07,-0.06,-1.00) r=0.21m +[headless_play] t= 10.60s step= 530 trunk_z= 117.7mm grav_b=(+0.03,+0.05,-1.00) r=0.21m +[headless_play] t= 10.70s step= 535 trunk_z= 117.2mm grav_b=(-0.02,+0.09,-1.00) r=0.21m +[headless_play] t= 10.80s step= 540 trunk_z= 113.1mm grav_b=(-0.03,-0.14,-0.99) r=0.22m +[headless_play] t= 10.90s step= 545 trunk_z= 114.6mm grav_b=(+0.07,-0.08,-0.99) r=0.22m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.06,+0.03,-1.00) r=0.23m +[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(+0.02,+0.12,-0.99) r=0.23m +[headless_play] t= 11.20s step= 560 trunk_z= 113.8mm grav_b=(-0.02,-0.09,-1.00) r=0.24m +[headless_play] t= 11.30s step= 565 trunk_z= 115.5mm grav_b=(+0.03,-0.09,-1.00) r=0.25m +[headless_play] t= 11.40s step= 570 trunk_z= 117.5mm grav_b=(+0.06,+0.02,-1.00) r=0.26m +[headless_play] t= 11.50s step= 575 trunk_z= 112.3mm grav_b=(+0.02,+0.14,-0.99) r=0.27m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 11.70s step= 585 trunk_z= 114.5mm grav_b=(+0.01,-0.14,-0.99) r=0.30m +[headless_play] t= 11.80s step= 590 trunk_z= 116.9mm grav_b=(+0.08,-0.04,-1.00) r=0.31m +[headless_play] t= 11.90s step= 595 trunk_z= 112.5mm grav_b=(+0.03,+0.10,-0.99) r=0.31m +[headless_play] t= 12.00s step= 600 trunk_z= 117.0mm grav_b=(-0.01,+0.05,-1.00) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 113.9mm grav_b=(-0.00,-0.14,-0.99) r=0.34m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(+0.10,-0.06,-0.99) r=0.35m +[headless_play] t= 12.30s step= 615 trunk_z= 117.6mm grav_b=(+0.03,+0.03,-1.00) r=0.35m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(-0.02,+0.04,-1.00) r=0.34m +[headless_play] t= 12.50s step= 625 trunk_z= 120.7mm grav_b=(-0.01,-0.07,-1.00) r=0.34m +[headless_play] t= 12.60s step= 630 trunk_z= 121.1mm grav_b=(+0.04,+0.05,-1.00) r=0.35m +[headless_play] t= 12.70s step= 635 trunk_z= 122.0mm grav_b=(+0.03,-0.05,-1.00) r=0.35m +[headless_play] t= 12.80s step= 640 trunk_z= 120.5mm grav_b=(+0.04,+0.02,-1.00) r=0.35m +[headless_play] t= 12.90s step= 645 trunk_z= 120.6mm grav_b=(+0.04,+0.00,-1.00) r=0.35m +[headless_play] t= 13.00s step= 650 trunk_z= 119.6mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 13.10s step= 655 trunk_z= 119.8mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 13.20s step= 660 trunk_z= 120.0mm grav_b=(+0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 13.30s step= 665 trunk_z= 120.3mm grav_b=(+0.03,+0.02,-1.00) r=0.35m +[headless_play] t= 13.40s step= 670 trunk_z= 120.4mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 13.50s step= 675 trunk_z= 120.5mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 13.60s step= 680 trunk_z= 120.5mm grav_b=(+0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 13.70s step= 685 trunk_z= 120.5mm grav_b=(+0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 13.80s step= 690 trunk_z= 120.5mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 13.90s step= 695 trunk_z= 120.4mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 14.00s step= 700 trunk_z= 120.5mm grav_b=(+0.02,+0.03,-1.00) r=0.35m +[headless_play] t= 14.10s step= 705 trunk_z= 120.1mm grav_b=(+0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 14.20s step= 710 trunk_z= 120.2mm grav_b=(+0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 14.30s step= 715 trunk_z= 120.7mm grav_b=(+0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 14.40s step= 720 trunk_z= 125.5mm grav_b=(+0.08,+0.05,-1.00) r=0.39m +[headless_play] t= 14.50s step= 725 trunk_z= 114.9mm grav_b=(+0.02,+0.14,-0.99) r=0.42m +[headless_play] t= 14.60s step= 730 trunk_z= 116.3mm grav_b=(-0.10,-0.00,-0.99) r=0.45m +[headless_play] t= 14.70s step= 735 trunk_z= 119.3mm grav_b=(-0.04,-0.10,-0.99) r=0.48m +[headless_play] t= 14.80s step= 740 trunk_z= 116.7mm grav_b=(+0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 14.90s step= 745 trunk_z= 114.0mm grav_b=(+0.12,+0.06,-0.99) r=0.51m +[headless_play] t= 15.00s step= 750 trunk_z= 114.9mm grav_b=(+0.13,-0.09,-0.99) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 117.9mm grav_b=(+0.09,-0.06,-0.99) r=0.53m +[headless_play] t= 15.20s step= 760 trunk_z= 115.3mm grav_b=(-0.02,+0.07,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 120.0mm grav_b=(-0.04,-0.00,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 116.0mm grav_b=(-0.00,-0.06,-1.00) r=0.55m +[headless_play] t= 15.50s step= 775 trunk_z= 115.0mm grav_b=(+0.04,+0.04,-1.00) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 118.2mm grav_b=(+0.09,+0.06,-0.99) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 113.3mm grav_b=(+0.05,-0.08,-1.00) r=0.56m +[headless_play] t= 15.80s step= 790 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 15.90s step= 795 trunk_z= 115.5mm grav_b=(+0.04,+0.12,-0.99) r=0.59m +[headless_play] t= 16.00s step= 800 trunk_z= 117.9mm grav_b=(+0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(+0.01,-0.04,-1.00) r=0.61m +[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(+0.04,+0.09,-1.00) r=0.62m +[headless_play] t= 16.30s step= 815 trunk_z= 119.0mm grav_b=(+0.05,+0.00,-1.00) r=0.63m +[headless_play] t= 16.40s step= 820 trunk_z= 117.2mm grav_b=(+0.03,-0.04,-1.00) r=0.65m +[headless_play] t= 16.50s step= 825 trunk_z= 115.8mm grav_b=(+0.02,+0.06,-1.00) r=0.66m +[headless_play] t= 16.60s step= 830 trunk_z= 118.7mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 16.70s step= 835 trunk_z= 115.8mm grav_b=(+0.04,-0.06,-1.00) r=0.68m +[headless_play] t= 16.80s step= 840 trunk_z= 114.9mm grav_b=(+0.04,+0.07,-1.00) r=0.69m +[headless_play] t= 16.90s step= 845 trunk_z= 118.7mm grav_b=(+0.05,+0.01,-1.00) r=0.71m +[headless_play] t= 17.00s step= 850 trunk_z= 115.4mm grav_b=(-0.00,-0.05,-1.00) r=0.72m +[headless_play] t= 17.10s step= 855 trunk_z= 115.3mm grav_b=(+0.01,+0.07,-1.00) r=0.73m +[headless_play] t= 17.20s step= 860 trunk_z= 118.6mm grav_b=(+0.05,+0.01,-1.00) r=0.74m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(+0.05,-0.05,-1.00) r=0.75m +[headless_play] t= 17.40s step= 870 trunk_z= 115.8mm grav_b=(+0.04,+0.06,-1.00) r=0.77m +[headless_play] t= 17.50s step= 875 trunk_z= 119.3mm grav_b=(+0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 17.60s step= 880 trunk_z= 116.9mm grav_b=(+0.03,-0.09,-0.99) r=0.80m +[headless_play] t= 17.70s step= 885 trunk_z= 116.3mm grav_b=(+0.04,+0.04,-1.00) r=0.81m +[headless_play] t= 17.80s step= 890 trunk_z= 122.3mm grav_b=(-0.01,+0.09,-1.00) r=0.82m +[headless_play] t= 17.90s step= 895 trunk_z= 117.1mm grav_b=(-0.04,-0.10,-0.99) r=0.82m +[headless_play] t= 18.00s step= 900 trunk_z= 118.7mm grav_b=(+0.02,+0.02,-1.00) r=0.82m +[headless_play] t= 18.10s step= 905 trunk_z= 122.0mm grav_b=(+0.05,+0.14,-0.99) r=0.82m +[headless_play] t= 18.20s step= 910 trunk_z= 121.8mm grav_b=(-0.04,-0.07,-1.00) r=0.84m +[headless_play] t= 18.30s step= 915 trunk_z= 123.6mm grav_b=(+0.01,-0.04,-1.00) r=0.86m +[headless_play] t= 18.40s step= 920 trunk_z= 112.6mm grav_b=(+0.01,+0.21,-0.98) r=0.88m +[headless_play] t= 18.50s step= 925 trunk_z= 108.4mm grav_b=(-0.06,+0.37,-0.93) r=0.89m +[headless_play] t= 18.60s step= 930 trunk_z= 110.5mm grav_b=(+0.12,+0.38,-0.92) r=0.92m +[headless_play] t= 18.70s step= 935 trunk_z= 98.8mm grav_b=(+0.18,+0.34,-0.92) r=0.94m +[headless_play] t= 18.80s step= 940 trunk_z= 70.1mm grav_b=(+0.06,+0.45,-0.89) r=0.98m +[headless_play] t= 18.90s step= 945 trunk_z= 50.8mm grav_b=(-0.30,+0.83,-0.47) r=1.01m +[headless_play] RESET at t= 18.94s step= 947 (env termination, not a recovery) +[headless_play] t= 19.00s step= 950 trunk_z= 114.7mm grav_b=(+0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 19.10s step= 955 trunk_z= 116.3mm grav_b=(+0.08,+0.03,-1.00) r=0.34m +[headless_play] t= 19.20s step= 960 trunk_z= 116.7mm grav_b=(+0.10,+0.01,-0.99) r=0.34m +[headless_play] t= 19.30s step= 965 trunk_z= 117.0mm grav_b=(+0.08,+0.07,-0.99) r=0.33m +[headless_play] t= 19.40s step= 970 trunk_z= 115.2mm grav_b=(+0.11,-0.01,-0.99) r=0.33m +[headless_play] t= 19.50s step= 975 trunk_z= 119.8mm grav_b=(+0.06,-0.03,-1.00) r=0.33m +[headless_play] t= 19.60s step= 980 trunk_z= 114.8mm grav_b=(+0.06,+0.14,-0.99) r=0.33m +[headless_play] t= 19.70s step= 985 trunk_z= 120.0mm grav_b=(+0.11,+0.02,-0.99) r=0.32m +[headless_play] t= 19.80s step= 990 trunk_z= 120.3mm grav_b=(+0.04,-0.08,-1.00) r=0.32m +[headless_play] t= 19.90s step= 995 trunk_z= 115.6mm grav_b=(+0.03,+0.10,-0.99) r=0.31m +[headless_play] t= 20.00s step=1000 trunk_z= 125.3mm grav_b=(+0.09,+0.10,-0.99) r=0.31m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(+0.03,-0.10,-0.99) r=0.32m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..dc162a43dc559ea6fe900a8bcbf595b50497c9b0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.9mm grav_b=(+0.00,-0.00,-1.00) root_w=(-17.714,-18.210,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 119.0mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 0.40s step= 20 trunk_z= 118.8mm grav_b=(+0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 0.60s step= 30 trunk_z= 118.5mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 118.5mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 0.90s step= 45 trunk_z= 118.7mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 1.00s step= 50 trunk_z= 118.6mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 1.10s step= 55 trunk_z= 118.6mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 118.7mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 1.50s step= 75 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 118.7mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 1.80s step= 90 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.10s step= 105 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 118.9mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.30s step= 115 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 118.9mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 119.0mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 119.0mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.70s step= 135 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 119.1mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 2.90s step= 145 trunk_z= 119.1mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 119.2mm grav_b=(-0.00,+0.02,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 119.4mm grav_b=(+0.00,+0.04,-1.00) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 118.9mm grav_b=(+0.03,+0.01,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 119.7mm grav_b=(+0.01,+0.09,-1.00) r=0.35m +[headless_play] t= 3.40s step= 170 trunk_z= 118.6mm grav_b=(+0.02,-0.03,-1.00) r=0.35m +[headless_play] t= 3.50s step= 175 trunk_z= 120.0mm grav_b=(+0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 3.60s step= 180 trunk_z= 123.1mm grav_b=(+0.03,+0.15,-0.99) r=0.35m +[headless_play] t= 3.70s step= 185 trunk_z= 121.8mm grav_b=(-0.02,+0.03,-1.00) r=0.35m +[headless_play] t= 3.80s step= 190 trunk_z= 120.6mm grav_b=(+0.01,-0.03,-1.00) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 118.8mm grav_b=(+0.03,+0.16,-0.99) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 126.7mm grav_b=(-0.01,+0.08,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 118.6mm grav_b=(+0.03,-0.05,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 118.6mm grav_b=(+0.04,+0.13,-0.99) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 127.0mm grav_b=(-0.13,+0.28,-0.95) r=0.36m +[headless_play] t= 4.40s step= 220 trunk_z= 133.7mm grav_b=(-0.13,+0.27,-0.95) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 111.6mm grav_b=(-0.13,-0.02,-0.99) r=0.32m +[headless_play] t= 4.60s step= 230 trunk_z= 98.0mm grav_b=(+0.15,+0.03,-0.99) r=0.31m +[headless_play] t= 4.70s step= 235 trunk_z= 106.1mm grav_b=(-0.07,+0.07,-0.99) r=0.29m +[headless_play] t= 4.80s step= 240 trunk_z= 114.8mm grav_b=(-0.07,-0.06,-1.00) r=0.30m +[headless_play] t= 4.90s step= 245 trunk_z= 114.0mm grav_b=(+0.07,-0.01,-1.00) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 117.6mm grav_b=(+0.10,+0.18,-0.98) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 127.1mm grav_b=(-0.04,+0.11,-0.99) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 115.7mm grav_b=(+0.06,-0.05,-1.00) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 119.0mm grav_b=(+0.06,+0.15,-0.99) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 125.9mm grav_b=(+0.03,+0.18,-0.98) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 121.9mm grav_b=(+0.01,+0.06,-1.00) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 120.4mm grav_b=(+0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 119.1mm grav_b=(+0.02,+0.17,-0.99) r=0.38m +[headless_play] t= 5.80s step= 290 trunk_z= 126.0mm grav_b=(-0.01,+0.10,-1.00) r=0.40m +[headless_play] t= 5.90s step= 295 trunk_z= 118.7mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 6.00s step= 300 trunk_z= 120.1mm grav_b=(+0.04,+0.09,-0.99) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 123.1mm grav_b=(+0.03,+0.14,-0.99) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 121.3mm grav_b=(-0.00,+0.04,-1.00) r=0.47m +[headless_play] t= 6.30s step= 315 trunk_z= 121.0mm grav_b=(+0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 116.8mm grav_b=(+0.04,+0.14,-0.99) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 124.8mm grav_b=(+0.00,+0.06,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 120.8mm grav_b=(+0.02,-0.04,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(+0.00,+0.15,-0.99) r=0.55m +[headless_play] t= 6.80s step= 340 trunk_z= 122.4mm grav_b=(+0.02,+0.10,-0.99) r=0.56m +[headless_play] t= 6.90s step= 345 trunk_z= 118.8mm grav_b=(+0.02,-0.06,-1.00) r=0.58m +[headless_play] t= 7.00s step= 350 trunk_z= 118.4mm grav_b=(+0.01,+0.06,-1.00) r=0.59m +[headless_play] t= 7.10s step= 355 trunk_z= 119.7mm grav_b=(+0.06,-0.02,-1.00) r=0.61m +[headless_play] t= 7.20s step= 360 trunk_z= 122.0mm grav_b=(+0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 119.7mm grav_b=(+0.04,+0.13,-0.99) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 121.0mm grav_b=(+0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 7.50s step= 375 trunk_z= 123.4mm grav_b=(-0.02,-0.08,-1.00) r=0.67m +[headless_play] t= 7.60s step= 380 trunk_z= 118.5mm grav_b=(+0.05,+0.11,-0.99) r=0.68m +[headless_play] t= 7.70s step= 385 trunk_z= 121.9mm grav_b=(+0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.01,-0.09,-1.00) r=0.71m +[headless_play] t= 7.90s step= 395 trunk_z= 118.2mm grav_b=(+0.01,+0.10,-0.99) r=0.72m +[headless_play] t= 8.00s step= 400 trunk_z= 123.2mm grav_b=(+0.03,+0.03,-1.00) r=0.73m +[headless_play] t= 8.10s step= 405 trunk_z= 121.4mm grav_b=(-0.00,-0.08,-1.00) r=0.75m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(+0.02,+0.10,-0.99) r=0.76m +[headless_play] t= 8.30s step= 415 trunk_z= 118.4mm grav_b=(+0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 8.40s step= 420 trunk_z= 99.6mm grav_b=(-0.04,-0.26,-0.97) r=0.81m +[headless_play] t= 8.50s step= 425 trunk_z= 119.3mm grav_b=(-0.11,-0.34,-0.93) r=0.84m +[headless_play] t= 8.60s step= 430 trunk_z= 98.9mm grav_b=(-0.34,+0.06,-0.94) r=0.87m +[headless_play] t= 8.70s step= 435 trunk_z= 54.3mm grav_b=(-0.28,+0.37,-0.89) r=0.90m +[headless_play] t= 8.80s step= 440 trunk_z= 72.4mm grav_b=(+0.00,+0.20,-0.98) r=0.92m +[headless_play] t= 8.90s step= 445 trunk_z= 99.5mm grav_b=(+0.08,-0.04,-1.00) r=0.93m +[headless_play] t= 9.00s step= 450 trunk_z= 101.1mm grav_b=(+0.12,-0.03,-0.99) r=0.93m +[headless_play] t= 9.10s step= 455 trunk_z= 83.7mm grav_b=(-0.09,+0.14,-0.99) r=0.93m +[headless_play] t= 9.20s step= 460 trunk_z= 90.9mm grav_b=(-0.13,+0.03,-0.99) r=0.92m +[headless_play] t= 9.30s step= 465 trunk_z= 81.0mm grav_b=(+0.01,-0.07,-1.00) r=0.92m +[headless_play] t= 9.40s step= 470 trunk_z= 77.8mm grav_b=(+0.14,+0.07,-0.99) r=0.91m +[headless_play] t= 9.50s step= 475 trunk_z= 96.3mm grav_b=(+0.02,+0.04,-1.00) r=0.91m +[headless_play] t= 9.60s step= 480 trunk_z= 93.8mm grav_b=(-0.01,-0.10,-1.00) r=0.91m +[headless_play] t= 9.70s step= 485 trunk_z= 96.2mm grav_b=(+0.03,-0.00,-1.00) r=0.91m +[headless_play] t= 9.80s step= 490 trunk_z= 98.1mm grav_b=(+0.02,+0.05,-1.00) r=0.91m +[headless_play] t= 9.90s step= 495 trunk_z= 94.2mm grav_b=(+0.00,-0.08,-1.00) r=0.91m +[headless_play] t= 10.00s step= 500 trunk_z= 95.0mm grav_b=(+0.02,+0.06,-1.00) r=0.91m +[headless_play] t= 10.10s step= 505 trunk_z= 98.1mm grav_b=(-0.00,+0.03,-1.00) r=0.92m +[headless_play] t= 10.20s step= 510 trunk_z= 96.8mm grav_b=(-0.00,-0.08,-1.00) r=0.92m +[headless_play] t= 10.30s step= 515 trunk_z= 93.8mm grav_b=(+0.04,+0.10,-0.99) r=0.93m +[headless_play] t= 10.40s step= 520 trunk_z= 96.9mm grav_b=(+0.01,+0.02,-1.00) r=0.94m +[headless_play] t= 10.50s step= 525 trunk_z= 94.5mm grav_b=(-0.01,-0.08,-1.00) r=0.96m +[headless_play] t= 10.60s step= 530 trunk_z= 90.0mm grav_b=(+0.02,+0.09,-1.00) r=0.97m +[headless_play] t= 10.70s step= 535 trunk_z= 94.1mm grav_b=(+0.07,+0.03,-1.00) r=0.98m +[headless_play] t= 10.80s step= 540 trunk_z= 94.9mm grav_b=(+0.03,-0.08,-1.00) r=1.00m +[headless_play] t= 10.90s step= 545 trunk_z= 88.8mm grav_b=(+0.03,+0.12,-0.99) r=1.01m +[headless_play] t= 11.00s step= 550 trunk_z= 92.8mm grav_b=(+0.07,-0.00,-1.00) r=1.03m +[headless_play] t= 11.10s step= 555 trunk_z= 96.5mm grav_b=(+0.02,-0.10,-1.00) r=1.05m +[headless_play] t= 11.20s step= 560 trunk_z= 89.4mm grav_b=(+0.02,+0.06,-1.00) r=1.07m +[headless_play] t= 11.30s step= 565 trunk_z= 91.4mm grav_b=(+0.06,-0.07,-1.00) r=1.08m +[headless_play] t= 11.40s step= 570 trunk_z= 94.5mm grav_b=(+0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 11.50s step= 575 trunk_z= 91.8mm grav_b=(+0.05,+0.10,-0.99) r=1.11m +[headless_play] t= 11.60s step= 580 trunk_z= 90.9mm grav_b=(+0.03,-0.06,-1.00) r=1.13m +[headless_play] t= 11.70s step= 585 trunk_z= 94.5mm grav_b=(+0.02,-0.07,-1.00) r=1.14m +[headless_play] t= 11.80s step= 590 trunk_z= 91.0mm grav_b=(+0.07,-0.02,-1.00) r=1.15m +[headless_play] t= 11.90s step= 595 trunk_z= 91.8mm grav_b=(+0.08,-0.02,-1.00) r=1.15m +[headless_play] t= 12.00s step= 600 trunk_z= 90.7mm grav_b=(+0.06,-0.03,-1.00) r=1.15m +[headless_play] t= 12.10s step= 605 trunk_z= 90.8mm grav_b=(+0.03,-0.03,-1.00) r=1.15m +[headless_play] t= 12.20s step= 610 trunk_z= 90.8mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 12.30s step= 615 trunk_z= 90.9mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 12.40s step= 620 trunk_z= 91.2mm grav_b=(+0.07,-0.02,-1.00) r=1.15m +[headless_play] t= 12.50s step= 625 trunk_z= 91.1mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 12.60s step= 630 trunk_z= 91.2mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 12.70s step= 635 trunk_z= 91.3mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 12.80s step= 640 trunk_z= 91.3mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 12.90s step= 645 trunk_z= 91.3mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 13.00s step= 650 trunk_z= 91.3mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 13.10s step= 655 trunk_z= 91.4mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 13.20s step= 660 trunk_z= 91.4mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 13.30s step= 665 trunk_z= 91.4mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 13.40s step= 670 trunk_z= 91.4mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 13.50s step= 675 trunk_z= 91.5mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 13.60s step= 680 trunk_z= 91.5mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 13.70s step= 685 trunk_z= 91.5mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 13.80s step= 690 trunk_z= 91.5mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 13.90s step= 695 trunk_z= 91.5mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 14.00s step= 700 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.15m +[headless_play] t= 14.10s step= 705 trunk_z= 91.4mm grav_b=(+0.05,-0.01,-1.00) r=1.15m +[headless_play] t= 14.20s step= 710 trunk_z= 91.5mm grav_b=(+0.00,-0.02,-1.00) r=1.14m +[headless_play] t= 14.30s step= 715 trunk_z= 91.4mm grav_b=(+0.00,-0.00,-1.00) r=1.14m +[headless_play] t= 14.40s step= 720 trunk_z= 90.8mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 14.50s step= 725 trunk_z= 91.3mm grav_b=(+0.08,-0.01,-1.00) r=1.15m +[headless_play] t= 14.60s step= 730 trunk_z= 91.1mm grav_b=(+0.06,-0.01,-1.00) r=1.14m +[headless_play] t= 14.70s step= 735 trunk_z= 91.2mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 14.80s step= 740 trunk_z= 91.2mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 14.90s step= 745 trunk_z= 91.2mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.00s step= 750 trunk_z= 91.3mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.10s step= 755 trunk_z= 91.3mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.20s step= 760 trunk_z= 91.1mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.30s step= 765 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.14m +[headless_play] t= 15.40s step= 770 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.50s step= 775 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.60s step= 780 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.70s step= 785 trunk_z= 91.6mm grav_b=(+0.03,-0.01,-1.00) r=1.14m +[headless_play] t= 15.80s step= 790 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 15.90s step= 795 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.00s step= 800 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.10s step= 805 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.20s step= 810 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.30s step= 815 trunk_z= 91.7mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.40s step= 820 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.50s step= 825 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.60s step= 830 trunk_z= 91.7mm grav_b=(+0.04,-0.01,-1.00) r=1.14m +[headless_play] t= 16.70s step= 835 trunk_z= 92.1mm grav_b=(+0.05,-0.00,-1.00) r=1.15m +[headless_play] t= 16.80s step= 840 trunk_z= 92.2mm grav_b=(+0.07,-0.02,-1.00) r=1.15m +[headless_play] t= 16.90s step= 845 trunk_z= 93.1mm grav_b=(+0.06,+0.00,-1.00) r=1.15m +[headless_play] t= 17.00s step= 850 trunk_z= 92.4mm grav_b=(+0.05,-0.01,-1.00) r=1.15m +[headless_play] t= 17.10s step= 855 trunk_z= 92.3mm grav_b=(+0.05,-0.02,-1.00) r=1.16m +[headless_play] t= 17.20s step= 860 trunk_z= 92.0mm grav_b=(+0.05,-0.00,-1.00) r=1.15m +[headless_play] t= 17.30s step= 865 trunk_z= 92.3mm grav_b=(+0.05,-0.03,-1.00) r=1.16m +[headless_play] t= 17.40s step= 870 trunk_z= 92.5mm grav_b=(+0.06,+0.01,-1.00) r=1.16m +[headless_play] t= 17.50s step= 875 trunk_z= 91.5mm grav_b=(+0.07,+0.00,-1.00) r=1.16m +[headless_play] t= 17.60s step= 880 trunk_z= 91.9mm grav_b=(+0.04,-0.05,-1.00) r=1.17m +[headless_play] t= 17.70s step= 885 trunk_z= 92.4mm grav_b=(+0.04,+0.04,-1.00) r=1.17m +[headless_play] t= 17.80s step= 890 trunk_z= 91.9mm grav_b=(+0.06,-0.08,-0.99) r=1.18m +[headless_play] t= 17.90s step= 895 trunk_z= 95.7mm grav_b=(+0.03,-0.02,-1.00) r=1.19m +[headless_play] t= 18.00s step= 900 trunk_z= 94.8mm grav_b=(+0.04,+0.11,-0.99) r=1.20m +[headless_play] t= 18.10s step= 905 trunk_z= 93.9mm grav_b=(+0.05,-0.03,-1.00) r=1.22m +[headless_play] t= 18.20s step= 910 trunk_z= 97.2mm grav_b=(+0.04,-0.06,-1.00) r=1.24m +[headless_play] t= 18.30s step= 915 trunk_z= 91.2mm grav_b=(+0.03,+0.12,-0.99) r=1.25m +[headless_play] t= 18.40s step= 920 trunk_z= 94.7mm grav_b=(+0.05,+0.00,-1.00) r=1.27m +[headless_play] t= 18.50s step= 925 trunk_z= 97.4mm grav_b=(+0.04,-0.07,-1.00) r=1.29m +[headless_play] t= 18.60s step= 930 trunk_z= 90.8mm grav_b=(+0.02,+0.10,-0.99) r=1.30m +[headless_play] t= 18.70s step= 935 trunk_z= 94.5mm grav_b=(+0.04,-0.03,-1.00) r=1.32m +[headless_play] t= 18.80s step= 940 trunk_z= 99.9mm grav_b=(+0.05,-0.06,-1.00) r=1.34m +[headless_play] t= 18.90s step= 945 trunk_z= 90.7mm grav_b=(+0.05,+0.10,-0.99) r=1.35m +[headless_play] t= 19.00s step= 950 trunk_z= 91.9mm grav_b=(+0.01,-0.06,-1.00) r=1.37m +[headless_play] t= 19.10s step= 955 trunk_z= 98.0mm grav_b=(+0.01,-0.10,-1.00) r=1.39m +[headless_play] t= 19.20s step= 960 trunk_z= 89.8mm grav_b=(+0.03,+0.10,-1.00) r=1.40m +[headless_play] t= 19.30s step= 965 trunk_z= 93.8mm grav_b=(+0.06,-0.02,-1.00) r=1.42m +[headless_play] t= 19.40s step= 970 trunk_z= 96.1mm grav_b=(+0.04,-0.05,-1.00) r=1.44m +[headless_play] t= 19.50s step= 975 trunk_z= 91.0mm grav_b=(+0.09,+0.13,-0.99) r=1.45m +[headless_play] t= 19.60s step= 980 trunk_z= 94.6mm grav_b=(+0.04,-0.02,-1.00) r=1.47m +[headless_play] t= 19.70s step= 985 trunk_z= 99.3mm grav_b=(+0.02,-0.11,-0.99) r=1.49m +[headless_play] t= 19.80s step= 990 trunk_z= 88.7mm grav_b=(+0.00,+0.07,-1.00) r=1.51m +[headless_play] t= 19.90s step= 995 trunk_z= 93.9mm grav_b=(+0.07,-0.01,-1.00) r=1.53m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.8mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(+0.02,+0.02,-1.00) r=0.32m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..d5552c3d3887e912694c2d962dce723dd8317bce --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.367,-18.223,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.5mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.05,+0.01,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.08,-0.01,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 116.9mm grav_b=(+0.10,+0.00,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(+0.10,-0.01,-0.99) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 117.3mm grav_b=(+0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 116.9mm grav_b=(+0.09,+0.01,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 117.6mm grav_b=(+0.09,-0.05,-0.99) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 114.7mm grav_b=(+0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 118.8mm grav_b=(+0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 119.4mm grav_b=(+0.05,-0.06,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 115.1mm grav_b=(+0.04,+0.09,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(+0.05,-0.02,-1.00) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 119.1mm grav_b=(+0.05,-0.06,-1.00) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 115.2mm grav_b=(+0.02,+0.06,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(+0.06,+0.05,-1.00) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 115.0mm grav_b=(+0.06,-0.09,-0.99) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 118.3mm grav_b=(+0.09,-0.02,-1.00) r=0.29m +[headless_play] t= 1.80s step= 90 trunk_z= 115.7mm grav_b=(+0.06,+0.09,-0.99) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(+0.05,+0.01,-1.00) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.06,-0.07,-1.00) r=0.25m +[headless_play] t= 2.10s step= 105 trunk_z= 117.9mm grav_b=(+0.08,-0.01,-1.00) r=0.24m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.09,+0.10,-0.99) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 118.4mm grav_b=(+0.06,-0.09,-0.99) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 119.0mm grav_b=(+0.08,-0.03,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 115.6mm grav_b=(+0.07,+0.08,-0.99) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 116.7mm grav_b=(+0.04,-0.04,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 118.0mm grav_b=(+0.05,-0.06,-1.00) r=0.19m +[headless_play] t= 2.90s step= 145 trunk_z= 114.5mm grav_b=(+0.04,+0.09,-0.99) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 120.2mm grav_b=(+0.06,+0.07,-1.00) r=0.20m +[headless_play] t= 3.10s step= 155 trunk_z= 115.0mm grav_b=(+0.06,-0.06,-1.00) r=0.19m +[headless_play] t= 3.20s step= 160 trunk_z= 119.2mm grav_b=(+0.07,-0.04,-1.00) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 111.4mm grav_b=(+0.08,+0.09,-0.99) r=0.20m +[headless_play] t= 3.40s step= 170 trunk_z= 118.8mm grav_b=(+0.07,+0.03,-1.00) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(+0.05,-0.11,-0.99) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 119.5mm grav_b=(+0.07,+0.06,-1.00) r=0.22m +[headless_play] t= 3.80s step= 190 trunk_z= 114.3mm grav_b=(+0.04,-0.10,-0.99) r=0.22m +[headless_play] t= 3.90s step= 195 trunk_z= 115.7mm grav_b=(+0.07,+0.03,-1.00) r=0.22m +[headless_play] t= 4.00s step= 200 trunk_z= 114.8mm grav_b=(+0.09,+0.03,-1.00) r=0.23m +[headless_play] t= 4.10s step= 205 trunk_z= 114.9mm grav_b=(+0.04,-0.12,-0.99) r=0.23m +[headless_play] t= 4.20s step= 210 trunk_z= 113.2mm grav_b=(+0.08,+0.04,-1.00) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(+0.08,-0.02,-1.00) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 114.9mm grav_b=(+0.03,-0.09,-1.00) r=0.25m +[headless_play] t= 4.50s step= 225 trunk_z= 113.4mm grav_b=(+0.08,+0.06,-0.99) r=0.26m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(+0.08,-0.07,-0.99) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 115.0mm grav_b=(+0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 4.80s step= 240 trunk_z= 114.8mm grav_b=(+0.12,+0.12,-0.99) r=0.31m +[headless_play] t= 4.90s step= 245 trunk_z= 112.8mm grav_b=(+0.04,-0.09,-0.99) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 113.4mm grav_b=(+0.03,+0.03,-1.00) r=0.36m +[headless_play] t= 5.10s step= 255 trunk_z= 112.4mm grav_b=(+0.10,+0.08,-0.99) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 110.3mm grav_b=(+0.05,-0.11,-0.99) r=0.39m +[headless_play] t= 5.30s step= 265 trunk_z= 113.5mm grav_b=(+0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 5.40s step= 270 trunk_z= 111.6mm grav_b=(+0.15,+0.06,-0.99) r=0.42m +[headless_play] t= 5.50s step= 275 trunk_z= 113.0mm grav_b=(+0.06,-0.13,-0.99) r=0.43m +[headless_play] t= 5.60s step= 280 trunk_z= 116.0mm grav_b=(+0.03,+0.02,-1.00) r=0.44m +[headless_play] t= 5.70s step= 285 trunk_z= 112.5mm grav_b=(+0.10,+0.06,-0.99) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 112.6mm grav_b=(+0.05,-0.15,-0.99) r=0.45m +[headless_play] t= 5.90s step= 295 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 6.00s step= 300 trunk_z= 117.4mm grav_b=(+0.05,+0.05,-1.00) r=0.46m +[headless_play] t= 6.10s step= 305 trunk_z= 116.2mm grav_b=(+0.04,-0.13,-0.99) r=0.46m +[headless_play] t= 6.20s step= 310 trunk_z= 121.4mm grav_b=(+0.07,+0.06,-1.00) r=0.48m +[headless_play] t= 6.30s step= 315 trunk_z= 119.6mm grav_b=(+0.09,+0.03,-1.00) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 116.6mm grav_b=(+0.04,-0.12,-0.99) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 119.5mm grav_b=(+0.04,+0.01,-1.00) r=0.54m +[headless_play] t= 6.60s step= 330 trunk_z= 113.3mm grav_b=(-0.02,+0.10,-0.99) r=0.56m +[headless_play] t= 6.70s step= 335 trunk_z= 119.6mm grav_b=(+0.04,-0.07,-1.00) r=0.58m +[headless_play] t= 6.80s step= 340 trunk_z= 120.2mm grav_b=(+0.06,-0.09,-0.99) r=0.59m +[headless_play] t= 6.90s step= 345 trunk_z= 115.3mm grav_b=(+0.01,+0.15,-0.99) r=0.61m +[headless_play] t= 7.00s step= 350 trunk_z= 121.0mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 7.10s step= 355 trunk_z= 116.0mm grav_b=(+0.01,-0.17,-0.99) r=0.64m +[headless_play] t= 7.20s step= 360 trunk_z= 122.1mm grav_b=(+0.04,-0.00,-1.00) r=0.66m +[headless_play] t= 7.30s step= 365 trunk_z= 117.0mm grav_b=(+0.06,+0.06,-1.00) r=0.68m +[headless_play] t= 7.40s step= 370 trunk_z= 120.6mm grav_b=(+0.05,-0.09,-0.99) r=0.69m +[headless_play] t= 7.50s step= 375 trunk_z= 121.1mm grav_b=(+0.04,-0.06,-1.00) r=0.72m +[headless_play] t= 7.60s step= 380 trunk_z= 114.6mm grav_b=(+0.00,+0.13,-0.99) r=0.74m +[headless_play] t= 7.70s step= 385 trunk_z= 120.9mm grav_b=(+0.05,-0.01,-1.00) r=0.75m +[headless_play] t= 7.80s step= 390 trunk_z= 117.2mm grav_b=(+0.09,-0.07,-0.99) r=0.79m +[headless_play] t= 7.90s step= 395 trunk_z= 111.8mm grav_b=(+0.04,+0.29,-0.96) r=0.84m +[headless_play] t= 8.00s step= 400 trunk_z= 98.9mm grav_b=(+0.06,+0.44,-0.89) r=0.88m +[headless_play] t= 8.10s step= 405 trunk_z= 103.1mm grav_b=(+0.29,+0.43,-0.86) r=0.92m +[headless_play] t= 8.20s step= 410 trunk_z= 75.4mm grav_b=(+0.56,+0.36,-0.75) r=0.96m +[headless_play] RESET at t= 8.28s step= 414 (env termination, not a recovery) +[headless_play] t= 8.30s step= 415 trunk_z= 125.8mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 8.40s step= 420 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(-0.01,-0.05,-1.00) r=0.38m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 8.70s step= 435 trunk_z= 120.3mm grav_b=(+0.00,-0.02,-1.00) r=0.38m +[headless_play] t= 8.80s step= 440 trunk_z= 120.0mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 8.90s step= 445 trunk_z= 120.0mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 119.9mm grav_b=(-0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.10s step= 455 trunk_z= 120.0mm grav_b=(-0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.20s step= 460 trunk_z= 120.0mm grav_b=(-0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.30s step= 465 trunk_z= 119.9mm grav_b=(-0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.40s step= 470 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 9.50s step= 475 trunk_z= 119.9mm grav_b=(-0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.60s step= 480 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 9.70s step= 485 trunk_z= 119.8mm grav_b=(-0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.00s step= 500 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.10s step= 505 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.20s step= 510 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.30s step= 515 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.50s step= 525 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.70s step= 535 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 10.90s step= 545 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.00s step= 550 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.10s step= 555 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.20s step= 560 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.30s step= 565 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 119.7mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.60s step= 580 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.70s step= 585 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.80s step= 590 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 11.90s step= 595 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 119.7mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 12.30s step= 615 trunk_z= 119.9mm grav_b=(-0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 12.40s step= 620 trunk_z= 120.0mm grav_b=(-0.01,-0.02,-1.00) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 119.1mm grav_b=(+0.01,-0.01,-1.00) r=0.39m +[headless_play] t= 12.60s step= 630 trunk_z= 117.8mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 116.8mm grav_b=(+0.04,-0.03,-1.00) r=0.40m +[headless_play] t= 12.80s step= 640 trunk_z= 115.6mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(+0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 13.00s step= 650 trunk_z= 114.8mm grav_b=(+0.01,-0.07,-1.00) r=0.41m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.42m +[headless_play] t= 13.20s step= 660 trunk_z= 115.4mm grav_b=(+0.01,+0.08,-1.00) r=0.42m +[headless_play] t= 13.30s step= 665 trunk_z= 115.4mm grav_b=(+0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 13.40s step= 670 trunk_z= 116.4mm grav_b=(+0.04,-0.06,-1.00) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 115.5mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(+0.02,+0.06,-1.00) r=0.46m +[headless_play] t= 13.70s step= 685 trunk_z= 112.6mm grav_b=(+0.04,-0.09,-1.00) r=0.45m +[headless_play] t= 13.80s step= 690 trunk_z= 112.3mm grav_b=(-0.02,+0.10,-1.00) r=0.44m +[headless_play] t= 13.90s step= 695 trunk_z= 114.5mm grav_b=(+0.01,+0.17,-0.99) r=0.44m +[headless_play] t= 14.00s step= 700 trunk_z= 111.9mm grav_b=(+0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 14.10s step= 705 trunk_z= 116.7mm grav_b=(+0.01,-0.07,-1.00) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 112.7mm grav_b=(-0.04,+0.09,-0.99) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 117.6mm grav_b=(+0.01,+0.05,-1.00) r=0.46m +[headless_play] t= 14.40s step= 720 trunk_z= 112.3mm grav_b=(+0.04,-0.11,-0.99) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 114.9mm grav_b=(-0.00,+0.04,-1.00) r=0.48m +[headless_play] t= 14.60s step= 730 trunk_z= 111.7mm grav_b=(+0.02,+0.10,-0.99) r=0.49m +[headless_play] t= 14.70s step= 735 trunk_z= 109.8mm grav_b=(+0.04,-0.12,-0.99) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 117.8mm grav_b=(+0.01,-0.06,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 113.6mm grav_b=(+0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 15.10s step= 755 trunk_z= 113.5mm grav_b=(+0.01,-0.11,-0.99) r=0.55m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.56m +[headless_play] t= 15.30s step= 765 trunk_z= 110.7mm grav_b=(+0.06,+0.02,-1.00) r=0.56m +[headless_play] t= 15.40s step= 770 trunk_z= 114.7mm grav_b=(+0.03,+0.05,-1.00) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 112.4mm grav_b=(-0.00,-0.11,-0.99) r=0.56m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(+0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 109.6mm grav_b=(+0.04,+0.09,-1.00) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) r=0.59m +[headless_play] t= 15.90s step= 795 trunk_z= 114.1mm grav_b=(+0.01,-0.10,-0.99) r=0.60m +[headless_play] t= 16.00s step= 800 trunk_z= 116.8mm grav_b=(+0.04,-0.03,-1.00) r=0.61m +[headless_play] t= 16.10s step= 805 trunk_z= 110.3mm grav_b=(+0.04,+0.08,-1.00) r=0.61m +[headless_play] t= 16.20s step= 810 trunk_z= 115.2mm grav_b=(+0.02,+0.03,-1.00) r=0.62m +[headless_play] t= 16.30s step= 815 trunk_z= 113.1mm grav_b=(+0.02,-0.11,-0.99) r=0.63m +[headless_play] t= 16.40s step= 820 trunk_z= 115.4mm grav_b=(+0.04,+0.02,-1.00) r=0.65m +[headless_play] t= 16.50s step= 825 trunk_z= 113.0mm grav_b=(+0.03,+0.10,-0.99) r=0.66m +[headless_play] t= 16.60s step= 830 trunk_z= 112.4mm grav_b=(+0.02,-0.10,-0.99) r=0.67m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.00,-0.06,-1.00) r=0.68m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.02,+0.06,-1.00) r=0.70m +[headless_play] t= 17.00s step= 850 trunk_z= 113.6mm grav_b=(+0.03,-0.08,-1.00) r=0.71m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.04,-0.05,-1.00) r=0.72m +[headless_play] t= 17.20s step= 860 trunk_z= 113.1mm grav_b=(+0.06,+0.03,-1.00) r=0.73m +[headless_play] t= 17.30s step= 865 trunk_z= 114.9mm grav_b=(+0.06,+0.11,-0.99) r=0.74m +[headless_play] t= 17.40s step= 870 trunk_z= 112.7mm grav_b=(+0.02,-0.06,-1.00) r=0.75m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(+0.01,-0.06,-1.00) r=0.77m +[headless_play] t= 17.60s step= 880 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=0.77m +[headless_play] t= 17.70s step= 885 trunk_z= 111.8mm grav_b=(+0.05,+0.06,-1.00) r=0.78m +[headless_play] t= 17.80s step= 890 trunk_z= 112.3mm grav_b=(+0.02,-0.07,-1.00) r=0.79m +[headless_play] t= 17.90s step= 895 trunk_z= 114.3mm grav_b=(+0.04,-0.06,-1.00) r=0.80m +[headless_play] t= 18.00s step= 900 trunk_z= 112.6mm grav_b=(+0.03,+0.08,-1.00) r=0.82m +[headless_play] t= 18.10s step= 905 trunk_z= 112.8mm grav_b=(-0.01,-0.09,-1.00) r=0.81m +[headless_play] t= 18.20s step= 910 trunk_z= 114.2mm grav_b=(-0.01,-0.12,-0.99) r=0.81m +[headless_play] t= 18.30s step= 915 trunk_z= 114.7mm grav_b=(+0.02,-0.11,-0.99) r=0.83m +[headless_play] t= 18.40s step= 920 trunk_z= 113.4mm grav_b=(+0.05,-0.05,-1.00) r=0.84m +[headless_play] t= 18.50s step= 925 trunk_z= 114.4mm grav_b=(+0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 18.60s step= 930 trunk_z= 114.6mm grav_b=(+0.04,-0.05,-1.00) r=0.87m +[headless_play] t= 18.70s step= 935 trunk_z= 114.5mm grav_b=(+0.03,-0.05,-1.00) r=0.88m +[headless_play] t= 18.80s step= 940 trunk_z= 114.0mm grav_b=(+0.01,+0.05,-1.00) r=0.89m +[headless_play] t= 18.90s step= 945 trunk_z= 115.6mm grav_b=(+0.01,+0.10,-1.00) r=0.91m +[headless_play] t= 19.00s step= 950 trunk_z= 110.7mm grav_b=(+0.05,-0.08,-1.00) r=0.92m +[headless_play] t= 19.10s step= 955 trunk_z= 118.8mm grav_b=(+0.02,-0.06,-1.00) r=0.92m +[headless_play] t= 19.20s step= 960 trunk_z= 118.0mm grav_b=(-0.02,+0.04,-1.00) r=0.92m +[headless_play] t= 19.30s step= 965 trunk_z= 123.8mm grav_b=(+0.01,+0.01,-1.00) r=0.92m +[headless_play] t= 19.40s step= 970 trunk_z= 122.7mm grav_b=(+0.00,-0.11,-0.99) r=0.92m +[headless_play] t= 19.50s step= 975 trunk_z= 120.7mm grav_b=(-0.01,+0.02,-1.00) r=0.92m +[headless_play] t= 19.60s step= 980 trunk_z= 123.1mm grav_b=(+0.01,+0.05,-1.00) r=0.92m +[headless_play] t= 19.70s step= 985 trunk_z= 118.7mm grav_b=(-0.02,-0.08,-1.00) r=0.92m +[headless_play] t= 19.80s step= 990 trunk_z= 120.3mm grav_b=(-0.06,+0.05,-1.00) r=0.93m +[headless_play] t= 19.90s step= 995 trunk_z= 119.9mm grav_b=(+0.01,-0.04,-1.00) r=0.93m +[headless_play] t= 20.00s step=1000 trunk_z= 121.4mm grav_b=(-0.02,-0.01,-1.00) r=0.93m +[headless_play] t= 20.10s step=1005 trunk_z= 118.2mm grav_b=(+0.00,-0.02,-1.00) r=0.93m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..3ef9a9986efc726de9eb079e55ea294684422feb --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.3mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.028,-17.544,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 117.7mm grav_b=(+0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 113.9mm grav_b=(+0.06,+0.03,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.04,-0.05,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(+0.00,-0.06,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(+0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.04,+0.04,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 115.8mm grav_b=(+0.02,-0.05,-1.00) r=0.48m +[headless_play] t= 1.10s step= 55 trunk_z= 117.1mm grav_b=(+0.00,-0.07,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 114.8mm grav_b=(+0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 118.9mm grav_b=(+0.03,+0.05,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 117.7mm grav_b=(+0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 113.8mm grav_b=(+0.05,-0.06,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 117.6mm grav_b=(+0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 115.4mm grav_b=(+0.02,+0.10,-1.00) r=0.50m +[headless_play] t= 1.80s step= 90 trunk_z= 119.8mm grav_b=(+0.00,+0.03,-1.00) r=0.51m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(+0.04,-0.03,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 112.1mm grav_b=(+0.05,+0.07,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 117.7mm grav_b=(+0.02,+0.03,-1.00) r=0.51m +[headless_play] t= 2.30s step= 115 trunk_z= 114.7mm grav_b=(+0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.51m +[headless_play] t= 2.50s step= 125 trunk_z= 113.3mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(+0.03,-0.03,-1.00) r=0.54m +[headless_play] t= 2.80s step= 140 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 112.7mm grav_b=(+0.03,+0.07,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(+0.03,+0.07,-1.00) r=0.57m +[headless_play] t= 3.10s step= 155 trunk_z= 113.6mm grav_b=(+0.05,-0.05,-1.00) r=0.58m +[headless_play] t= 3.20s step= 160 trunk_z= 117.0mm grav_b=(+0.04,+0.00,-1.00) r=0.58m +[headless_play] t= 3.30s step= 165 trunk_z= 113.2mm grav_b=(+0.02,+0.11,-0.99) r=0.60m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(+0.04,-0.10,-0.99) r=0.62m +[headless_play] t= 3.60s step= 180 trunk_z= 114.9mm grav_b=(+0.04,+0.04,-1.00) r=0.63m +[headless_play] t= 3.70s step= 185 trunk_z= 116.4mm grav_b=(+0.03,+0.08,-1.00) r=0.64m +[headless_play] t= 3.80s step= 190 trunk_z= 114.1mm grav_b=(+0.02,-0.08,-1.00) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 116.9mm grav_b=(+0.02,-0.03,-1.00) r=0.67m +[headless_play] t= 4.00s step= 200 trunk_z= 112.4mm grav_b=(+0.02,+0.11,-0.99) r=0.68m +[headless_play] t= 4.10s step= 205 trunk_z= 116.2mm grav_b=(+0.04,+0.02,-1.00) r=0.69m +[headless_play] t= 4.20s step= 210 trunk_z= 115.1mm grav_b=(+0.02,-0.07,-1.00) r=0.71m +[headless_play] t= 4.30s step= 215 trunk_z= 115.5mm grav_b=(+0.03,+0.02,-1.00) r=0.71m +[headless_play] t= 4.40s step= 220 trunk_z= 115.0mm grav_b=(+0.04,+0.07,-1.00) r=0.72m +[headless_play] t= 4.50s step= 225 trunk_z= 114.9mm grav_b=(+0.04,-0.06,-1.00) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 118.0mm grav_b=(+0.02,-0.08,-1.00) r=0.75m +[headless_play] t= 4.70s step= 235 trunk_z= 116.7mm grav_b=(+0.01,+0.07,-1.00) r=0.75m +[headless_play] t= 4.80s step= 240 trunk_z= 123.1mm grav_b=(+0.03,+0.06,-1.00) r=0.75m +[headless_play] t= 4.90s step= 245 trunk_z= 118.6mm grav_b=(+0.02,-0.09,-1.00) r=0.76m +[headless_play] t= 5.00s step= 250 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.76m +[headless_play] t= 5.10s step= 255 trunk_z= 123.4mm grav_b=(+0.02,+0.07,-1.00) r=0.78m +[headless_play] t= 5.20s step= 260 trunk_z= 119.8mm grav_b=(+0.07,-0.08,-0.99) r=0.85m +[headless_play] t= 5.30s step= 265 trunk_z= 126.7mm grav_b=(+0.06,+0.01,-1.00) r=0.89m +[headless_play] t= 5.40s step= 270 trunk_z= 113.8mm grav_b=(-0.01,+0.14,-0.99) r=0.94m +[headless_play] t= 5.50s step= 275 trunk_z= 121.7mm grav_b=(+0.02,+0.06,-1.00) r=0.98m +[headless_play] t= 5.60s step= 280 trunk_z= 119.3mm grav_b=(-0.02,-0.06,-1.00) r=1.01m +[headless_play] t= 5.70s step= 285 trunk_z= 119.3mm grav_b=(+0.00,+0.06,-1.00) r=1.03m +[headless_play] t= 5.80s step= 290 trunk_z= 101.7mm grav_b=(-0.07,+0.19,-0.98) r=1.06m +[headless_play] t= 5.90s step= 295 trunk_z= 103.8mm grav_b=(+0.00,+0.18,-0.98) r=1.08m +[headless_play] t= 6.00s step= 300 trunk_z= 101.3mm grav_b=(+0.02,+0.08,-1.00) r=1.10m +[headless_play] t= 6.10s step= 305 trunk_z= 97.2mm grav_b=(-0.01,-0.01,-1.00) r=1.12m +[headless_play] t= 6.20s step= 310 trunk_z= 91.8mm grav_b=(-0.01,+0.09,-1.00) r=1.14m +[headless_play] t= 6.30s step= 315 trunk_z= 94.8mm grav_b=(-0.01,-0.01,-1.00) r=1.15m +[headless_play] t= 6.40s step= 320 trunk_z= 99.6mm grav_b=(-0.03,-0.09,-1.00) r=1.16m +[headless_play] t= 6.50s step= 325 trunk_z= 93.0mm grav_b=(-0.03,+0.06,-1.00) r=1.17m +[headless_play] t= 6.60s step= 330 trunk_z= 98.5mm grav_b=(+0.00,+0.05,-1.00) r=1.18m +[headless_play] t= 6.70s step= 335 trunk_z= 94.0mm grav_b=(-0.01,-0.11,-0.99) r=1.19m +[headless_play] t= 6.80s step= 340 trunk_z= 96.0mm grav_b=(-0.02,-0.01,-1.00) r=1.20m +[headless_play] t= 6.90s step= 345 trunk_z= 95.8mm grav_b=(+0.04,+0.09,-1.00) r=1.21m +[headless_play] t= 7.00s step= 350 trunk_z= 92.3mm grav_b=(-0.00,-0.10,-1.00) r=1.22m +[headless_play] t= 7.10s step= 355 trunk_z= 99.2mm grav_b=(-0.03,-0.10,-0.99) r=1.24m +[headless_play] t= 7.20s step= 360 trunk_z= 93.4mm grav_b=(-0.01,+0.10,-1.00) r=1.25m +[headless_play] t= 7.30s step= 365 trunk_z= 96.5mm grav_b=(+0.03,+0.02,-1.00) r=1.26m +[headless_play] t= 7.40s step= 370 trunk_z= 96.8mm grav_b=(-0.00,-0.13,-0.99) r=1.28m +[headless_play] t= 7.50s step= 375 trunk_z= 95.2mm grav_b=(-0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 7.60s step= 380 trunk_z= 95.9mm grav_b=(+0.03,+0.07,-1.00) r=1.30m +[headless_play] t= 7.70s step= 385 trunk_z= 91.6mm grav_b=(-0.02,-0.11,-0.99) r=1.31m +[headless_play] t= 7.80s step= 390 trunk_z= 98.6mm grav_b=(-0.02,-0.06,-1.00) r=1.32m +[headless_play] t= 7.90s step= 395 trunk_z= 95.0mm grav_b=(+0.02,+0.11,-0.99) r=1.33m +[headless_play] t= 8.00s step= 400 trunk_z= 95.8mm grav_b=(+0.01,+0.00,-1.00) r=1.34m +[headless_play] t= 8.10s step= 405 trunk_z= 98.5mm grav_b=(-0.02,-0.07,-1.00) r=1.36m +[headless_play] t= 8.20s step= 410 trunk_z= 93.1mm grav_b=(+0.01,+0.09,-1.00) r=1.36m +[headless_play] t= 8.30s step= 415 trunk_z= 96.0mm grav_b=(+0.01,-0.01,-1.00) r=1.37m +[headless_play] t= 8.40s step= 420 trunk_z= 100.0mm grav_b=(-0.02,-0.09,-1.00) r=1.38m +[headless_play] t= 8.50s step= 425 trunk_z= 93.5mm grav_b=(-0.01,+0.06,-1.00) r=1.39m +[headless_play] t= 8.60s step= 430 trunk_z= 95.9mm grav_b=(+0.01,+0.04,-1.00) r=1.40m +[headless_play] t= 8.70s step= 435 trunk_z= 97.9mm grav_b=(-0.03,-0.11,-0.99) r=1.41m +[headless_play] t= 8.80s step= 440 trunk_z= 96.9mm grav_b=(-0.03,-0.01,-1.00) r=1.42m +[headless_play] t= 8.90s step= 445 trunk_z= 97.2mm grav_b=(+0.01,+0.07,-1.00) r=1.43m +[headless_play] t= 9.00s step= 450 trunk_z= 93.2mm grav_b=(-0.01,-0.09,-1.00) r=1.44m +[headless_play] t= 9.10s step= 455 trunk_z= 96.3mm grav_b=(-0.02,-0.00,-1.00) r=1.46m +[headless_play] t= 9.20s step= 460 trunk_z= 97.9mm grav_b=(+0.03,+0.13,-0.99) r=1.47m +[headless_play] t= 9.30s step= 465 trunk_z= 98.0mm grav_b=(-0.01,+0.02,-1.00) r=1.48m +[headless_play] t= 9.40s step= 470 trunk_z= 97.8mm grav_b=(-0.01,-0.08,-1.00) r=1.49m +[headless_play] t= 9.50s step= 475 trunk_z= 92.7mm grav_b=(-0.01,+0.11,-0.99) r=1.50m +[headless_play] t= 9.60s step= 480 trunk_z= 100.9mm grav_b=(+0.00,+0.10,-1.00) r=1.51m +[headless_play] t= 9.70s step= 485 trunk_z= 94.3mm grav_b=(-0.02,-0.07,-1.00) r=1.53m +[headless_play] t= 9.80s step= 490 trunk_z= 99.8mm grav_b=(-0.00,-0.07,-1.00) r=1.55m +[headless_play] t= 9.90s step= 495 trunk_z= 92.6mm grav_b=(+0.01,+0.12,-0.99) r=1.56m +[headless_play] t= 10.00s step= 500 trunk_z= 98.4mm grav_b=(-0.02,+0.02,-1.00) r=1.57m +[headless_play] t= 10.10s step= 505 trunk_z= 97.0mm grav_b=(-0.01,-0.10,-0.99) r=1.58m +[headless_play] t= 10.20s step= 510 trunk_z= 95.1mm grav_b=(-0.01,+0.06,-1.00) r=1.59m +[headless_play] t= 10.30s step= 515 trunk_z= 100.4mm grav_b=(-0.00,+0.08,-1.00) r=1.60m +[headless_play] t= 10.40s step= 520 trunk_z= 93.3mm grav_b=(-0.02,-0.08,-1.00) r=1.62m +[headless_play] t= 10.50s step= 525 trunk_z= 96.8mm grav_b=(-0.02,-0.03,-1.00) r=1.63m +[headless_play] t= 10.60s step= 530 trunk_z= 94.3mm grav_b=(-0.05,+0.08,-1.00) r=1.63m +[headless_play] t= 10.70s step= 535 trunk_z= 93.6mm grav_b=(-0.05,-0.12,-0.99) r=1.63m +[headless_play] t= 10.80s step= 540 trunk_z= 102.8mm grav_b=(-0.05,-0.13,-0.99) r=1.64m +[headless_play] t= 10.90s step= 545 trunk_z= 99.6mm grav_b=(-0.02,-0.02,-1.00) r=1.65m +[headless_play] t= 11.00s step= 550 trunk_z= 97.0mm grav_b=(-0.02,+0.08,-1.00) r=1.65m +[headless_play] t= 11.10s step= 555 trunk_z= 92.5mm grav_b=(-0.01,-0.09,-1.00) r=1.66m +[headless_play] t= 11.20s step= 560 trunk_z= 99.4mm grav_b=(-0.02,-0.06,-1.00) r=1.67m +[headless_play] t= 11.30s step= 565 trunk_z= 92.7mm grav_b=(+0.00,+0.13,-0.99) r=1.68m +[headless_play] t= 11.40s step= 570 trunk_z= 98.2mm grav_b=(-0.00,+0.03,-1.00) r=1.69m +[headless_play] t= 11.50s step= 575 trunk_z= 98.0mm grav_b=(-0.01,-0.11,-0.99) r=1.71m +[headless_play] t= 11.60s step= 580 trunk_z= 96.2mm grav_b=(-0.00,+0.03,-1.00) r=1.72m +[headless_play] t= 11.70s step= 585 trunk_z= 98.4mm grav_b=(+0.02,+0.11,-0.99) r=1.74m +[headless_play] t= 11.80s step= 590 trunk_z= 95.4mm grav_b=(-0.01,-0.04,-1.00) r=1.75m +[headless_play] t= 11.90s step= 595 trunk_z= 100.1mm grav_b=(-0.01,-0.07,-1.00) r=1.76m +[headless_play] t= 12.00s step= 600 trunk_z= 91.9mm grav_b=(-0.00,+0.11,-0.99) r=1.78m +[headless_play] t= 12.10s step= 605 trunk_z= 97.8mm grav_b=(-0.03,+0.04,-1.00) r=1.80m +[headless_play] t= 12.20s step= 610 trunk_z= 94.7mm grav_b=(-0.04,-0.06,-1.00) r=1.81m +[headless_play] t= 12.30s step= 615 trunk_z= 94.4mm grav_b=(-0.01,+0.04,-1.00) r=1.82m +[headless_play] t= 12.40s step= 620 trunk_z= 95.4mm grav_b=(-0.00,+0.12,-0.99) r=1.82m +[headless_play] t= 12.50s step= 625 trunk_z= 95.6mm grav_b=(-0.01,+0.07,-1.00) r=1.83m +[headless_play] t= 12.60s step= 630 trunk_z= 88.7mm grav_b=(+0.02,-0.04,-1.00) r=1.85m +[headless_play] t= 12.70s step= 635 trunk_z= 92.2mm grav_b=(+0.05,-0.01,-1.00) r=1.86m +[headless_play] t= 12.80s step= 640 trunk_z= 86.2mm grav_b=(+0.07,+0.09,-0.99) r=1.87m +[headless_play] t= 12.90s step= 645 trunk_z= 92.2mm grav_b=(+0.02,+0.01,-1.00) r=1.88m +[headless_play] t= 13.00s step= 650 trunk_z= 90.0mm grav_b=(-0.01,-0.11,-0.99) r=1.89m +[headless_play] t= 13.10s step= 655 trunk_z= 92.4mm grav_b=(+0.02,-0.05,-1.00) r=1.90m +[headless_play] t= 13.20s step= 660 trunk_z= 89.6mm grav_b=(+0.03,+0.03,-1.00) r=1.90m +[headless_play] t= 13.30s step= 665 trunk_z= 94.8mm grav_b=(+0.01,+0.06,-1.00) r=1.91m +[headless_play] t= 13.40s step= 670 trunk_z= 92.2mm grav_b=(+0.02,-0.01,-1.00) r=1.92m +[headless_play] t= 13.50s step= 675 trunk_z= 92.4mm grav_b=(-0.00,-0.03,-1.00) r=1.93m +[headless_play] t= 13.60s step= 680 trunk_z= 91.1mm grav_b=(+0.02,+0.02,-1.00) r=1.93m +[headless_play] t= 13.70s step= 685 trunk_z= 93.0mm grav_b=(+0.00,+0.08,-1.00) r=1.94m +[headless_play] t= 13.80s step= 690 trunk_z= 93.3mm grav_b=(+0.01,+0.02,-1.00) r=1.94m +[headless_play] t= 13.90s step= 695 trunk_z= 89.9mm grav_b=(+0.04,-0.04,-1.00) r=1.96m +[headless_play] t= 14.00s step= 700 trunk_z= 91.5mm grav_b=(+0.04,+0.00,-1.00) r=1.96m +[headless_play] t= 14.10s step= 705 trunk_z= 89.5mm grav_b=(+0.02,+0.11,-0.99) r=1.96m +[headless_play] t= 14.20s step= 710 trunk_z= 96.9mm grav_b=(+0.03,+0.07,-1.00) r=1.95m +[headless_play] t= 14.30s step= 715 trunk_z= 95.1mm grav_b=(-0.00,-0.09,-1.00) r=1.96m +[headless_play] t= 14.40s step= 720 trunk_z= 97.1mm grav_b=(-0.02,-0.02,-1.00) r=1.96m +[headless_play] t= 14.50s step= 725 trunk_z= 96.3mm grav_b=(-0.01,+0.06,-1.00) r=1.96m +[headless_play] t= 14.60s step= 730 trunk_z= 95.1mm grav_b=(-0.04,-0.08,-1.00) r=1.98m +[headless_play] t= 14.70s step= 735 trunk_z= 98.1mm grav_b=(-0.05,-0.04,-1.00) r=1.99m +[headless_play] t= 14.80s step= 740 trunk_z= 96.2mm grav_b=(-0.01,+0.08,-1.00) r=1.99m +[headless_play] t= 14.90s step= 745 trunk_z= 98.9mm grav_b=(+0.00,-0.06,-1.00) r=2.00m +[headless_play] t= 15.00s step= 750 trunk_z= 100.5mm grav_b=(-0.01,-0.10,-0.99) r=2.01m +[headless_play] t= 15.10s step= 755 trunk_z= 92.6mm grav_b=(-0.04,+0.08,-1.00) r=2.01m +[headless_play] t= 15.20s step= 760 trunk_z= 99.0mm grav_b=(-0.00,+0.01,-1.00) r=2.01m +[headless_play] t= 15.30s step= 765 trunk_z= 96.8mm grav_b=(-0.01,-0.10,-0.99) r=2.02m +[headless_play] t= 15.40s step= 770 trunk_z= 95.8mm grav_b=(-0.04,+0.04,-1.00) r=2.02m +[headless_play] t= 15.50s step= 775 trunk_z= 99.9mm grav_b=(-0.00,+0.11,-0.99) r=2.02m +[headless_play] t= 15.60s step= 780 trunk_z= 99.0mm grav_b=(-0.02,-0.00,-1.00) r=2.03m +[headless_play] t= 15.70s step= 785 trunk_z= 97.9mm grav_b=(-0.02,-0.03,-1.00) r=2.04m +[headless_play] t= 15.80s step= 790 trunk_z= 93.0mm grav_b=(+0.00,+0.13,-0.99) r=2.04m +[headless_play] t= 15.90s step= 795 trunk_z= 99.3mm grav_b=(-0.02,+0.02,-1.00) r=2.04m +[headless_play] t= 16.00s step= 800 trunk_z= 98.4mm grav_b=(-0.05,-0.07,-1.00) r=2.05m +[headless_play] t= 16.10s step= 805 trunk_z= 94.4mm grav_b=(-0.03,+0.09,-1.00) r=2.05m +[headless_play] t= 16.20s step= 810 trunk_z= 101.4mm grav_b=(+0.01,+0.07,-1.00) r=2.05m +[headless_play] t= 16.30s step= 815 trunk_z= 94.5mm grav_b=(-0.04,-0.08,-1.00) r=2.06m +[headless_play] t= 16.40s step= 820 trunk_z= 98.2mm grav_b=(-0.05,-0.02,-1.00) r=2.06m +[headless_play] t= 16.50s step= 825 trunk_z= 95.0mm grav_b=(-0.00,+0.12,-0.99) r=2.06m +[headless_play] t= 16.60s step= 830 trunk_z= 93.5mm grav_b=(+0.01,-0.01,-1.00) r=2.07m +[headless_play] t= 16.70s step= 835 trunk_z= 94.3mm grav_b=(-0.03,-0.02,-1.00) r=2.07m +[headless_play] t= 16.80s step= 840 trunk_z= 90.5mm grav_b=(-0.04,+0.12,-0.99) r=2.07m +[headless_play] t= 16.90s step= 845 trunk_z= 95.4mm grav_b=(-0.02,+0.09,-1.00) r=2.07m +[headless_play] t= 17.00s step= 850 trunk_z= 87.4mm grav_b=(+0.04,-0.05,-1.00) r=2.08m +[headless_play] t= 17.10s step= 855 trunk_z= 92.6mm grav_b=(+0.05,-0.04,-1.00) r=2.09m +[headless_play] t= 17.20s step= 860 trunk_z= 90.3mm grav_b=(+0.07,+0.03,-1.00) r=2.08m +[headless_play] t= 17.30s step= 865 trunk_z= 92.1mm grav_b=(+0.03,+0.08,-1.00) r=2.08m +[headless_play] t= 17.40s step= 870 trunk_z= 89.7mm grav_b=(+0.02,-0.04,-1.00) r=2.08m +[headless_play] t= 17.50s step= 875 trunk_z= 92.9mm grav_b=(+0.03,-0.06,-1.00) r=2.08m +[headless_play] t= 17.60s step= 880 trunk_z= 91.6mm grav_b=(+0.04,+0.03,-1.00) r=2.07m +[headless_play] t= 17.70s step= 885 trunk_z= 92.6mm grav_b=(+0.03,+0.11,-0.99) r=2.06m +[headless_play] t= 17.80s step= 890 trunk_z= 91.1mm grav_b=(+0.01,-0.00,-1.00) r=2.06m +[headless_play] t= 17.90s step= 895 trunk_z= 92.0mm grav_b=(+0.03,-0.07,-1.00) r=2.06m +[headless_play] t= 18.00s step= 900 trunk_z= 93.4mm grav_b=(+0.04,+0.01,-1.00) r=2.06m +[headless_play] t= 18.10s step= 905 trunk_z= 92.1mm grav_b=(+0.02,+0.13,-0.99) r=2.05m +[headless_play] t= 18.20s step= 910 trunk_z= 93.0mm grav_b=(+0.01,+0.05,-1.00) r=2.05m +[headless_play] t= 18.30s step= 915 trunk_z= 89.7mm grav_b=(+0.05,-0.09,-0.99) r=2.05m +[headless_play] t= 18.40s step= 920 trunk_z= 91.8mm grav_b=(+0.07,+0.02,-1.00) r=2.05m +[headless_play] t= 18.50s step= 925 trunk_z= 91.3mm grav_b=(+0.02,+0.15,-0.99) r=2.05m +[headless_play] t= 18.60s step= 930 trunk_z= 96.2mm grav_b=(-0.01,+0.09,-1.00) r=2.04m +[headless_play] t= 18.70s step= 935 trunk_z= 88.7mm grav_b=(+0.02,-0.07,-1.00) r=2.05m +[headless_play] t= 18.80s step= 940 trunk_z= 92.2mm grav_b=(+0.06,-0.04,-1.00) r=2.05m +[headless_play] t= 18.90s step= 945 trunk_z= 87.3mm grav_b=(+0.15,+0.06,-0.99) r=2.04m +[headless_play] t= 19.00s step= 950 trunk_z= 93.8mm grav_b=(+0.24,+0.04,-0.97) r=2.02m +[headless_play] t= 19.10s step= 955 trunk_z= 78.6mm grav_b=(+0.08,-0.10,-0.99) r=2.01m +[headless_play] t= 19.20s step= 960 trunk_z= 85.0mm grav_b=(+0.01,-0.06,-1.00) r=2.01m +[headless_play] t= 19.30s step= 965 trunk_z= 92.8mm grav_b=(+0.05,+0.07,-1.00) r=1.99m +[headless_play] t= 19.40s step= 970 trunk_z= 95.6mm grav_b=(+0.02,+0.13,-0.99) r=1.97m +[headless_play] t= 19.50s step= 975 trunk_z= 93.0mm grav_b=(-0.04,-0.01,-1.00) r=1.95m +[headless_play] t= 19.60s step= 980 trunk_z= 94.1mm grav_b=(-0.01,+0.01,-1.00) r=1.94m +[headless_play] t= 19.70s step= 985 trunk_z= 89.9mm grav_b=(+0.02,+0.11,-0.99) r=1.93m +[headless_play] t= 19.80s step= 990 trunk_z= 89.8mm grav_b=(+0.04,+0.01,-1.00) r=1.91m +[headless_play] t= 19.90s step= 995 trunk_z= 93.7mm grav_b=(+0.03,-0.06,-1.00) r=1.91m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.7mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..fab8deabb94ad4152e511f4422dadffbc24c83c8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.521,-17.716,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 119.0mm grav_b=(-0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 119.6mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 119.4mm grav_b=(-0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 119.3mm grav_b=(-0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 119.5mm grav_b=(-0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 119.5mm grav_b=(-0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 119.4mm grav_b=(-0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 119.3mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.20s step= 110 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 119.3mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 119.1mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 119.2mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 119.2mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 3.50s step= 175 trunk_z= 119.2mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 119.1mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 3.80s step= 190 trunk_z= 119.5mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 119.5mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 119.5mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 4.10s step= 205 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 4.20s step= 210 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 119.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 119.2mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 119.3mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 119.5mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 119.3mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 119.0mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 119.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 119.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.10s step= 255 trunk_z= 119.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.20s step= 260 trunk_z= 118.9mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 119.0mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.40s step= 270 trunk_z= 118.8mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.50s step= 275 trunk_z= 118.7mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 118.6mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 118.5mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 118.4mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 118.4mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.00s step= 300 trunk_z= 118.3mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 6.10s step= 305 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.30s step= 315 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.60s step= 330 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.70s step= 335 trunk_z= 118.0mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 6.90s step= 345 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 7.00s step= 350 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 7.10s step= 355 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 7.20s step= 360 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 7.40s step= 370 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 7.60s step= 380 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 7.70s step= 385 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 7.80s step= 390 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 7.90s step= 395 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 8.10s step= 405 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 8.20s step= 410 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 8.30s step= 415 trunk_z= 118.0mm grav_b=(+0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 8.40s step= 420 trunk_z= 121.1mm grav_b=(+0.08,-0.03,-1.00) r=0.56m +[headless_play] t= 8.50s step= 425 trunk_z= 118.1mm grav_b=(+0.03,+0.10,-0.99) r=0.56m +[headless_play] t= 8.60s step= 430 trunk_z= 112.5mm grav_b=(-0.07,-0.05,-1.00) r=0.56m +[headless_play] t= 8.70s step= 435 trunk_z= 114.5mm grav_b=(-0.03,+0.06,-1.00) r=0.56m +[headless_play] t= 8.80s step= 440 trunk_z= 115.6mm grav_b=(-0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 8.90s step= 445 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 9.10s step= 455 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 9.40s step= 470 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 9.50s step= 475 trunk_z= 116.3mm grav_b=(+0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 9.70s step= 485 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 9.80s step= 490 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.30s step= 515 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.40s step= 520 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.50s step= 525 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.60s step= 530 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.80s step= 540 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 10.90s step= 545 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 11.30s step= 565 trunk_z= 116.7mm grav_b=(+0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 11.40s step= 570 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 11.50s step= 575 trunk_z= 115.4mm grav_b=(+0.00,-0.04,-1.00) r=0.55m +[headless_play] t= 11.60s step= 580 trunk_z= 110.3mm grav_b=(-0.05,-0.12,-0.99) r=0.53m +[headless_play] t= 11.70s step= 585 trunk_z= 112.5mm grav_b=(-0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 109.7mm grav_b=(+0.04,+0.16,-0.99) r=0.52m +[headless_play] t= 11.90s step= 595 trunk_z= 114.9mm grav_b=(-0.01,+0.03,-1.00) r=0.52m +[headless_play] t= 12.00s step= 600 trunk_z= 115.5mm grav_b=(-0.05,-0.10,-0.99) r=0.51m +[headless_play] t= 12.10s step= 605 trunk_z= 119.7mm grav_b=(-0.01,+0.05,-1.00) r=0.50m +[headless_play] t= 12.20s step= 610 trunk_z= 121.4mm grav_b=(-0.04,+0.11,-0.99) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 119.9mm grav_b=(-0.10,-0.03,-0.99) r=0.48m +[headless_play] t= 12.40s step= 620 trunk_z= 128.3mm grav_b=(-0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 117.8mm grav_b=(-0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 119.7mm grav_b=(-0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 122.3mm grav_b=(-0.11,-0.08,-0.99) r=0.44m +[headless_play] t= 12.80s step= 640 trunk_z= 119.2mm grav_b=(-0.03,+0.10,-0.99) r=0.43m +[headless_play] t= 12.90s step= 645 trunk_z= 121.1mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 124.5mm grav_b=(-0.09,-0.12,-0.99) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 123.6mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 13.20s step= 660 trunk_z= 121.2mm grav_b=(-0.02,+0.04,-1.00) r=0.39m +[headless_play] t= 13.30s step= 665 trunk_z= 118.9mm grav_b=(-0.04,-0.12,-0.99) r=0.37m +[headless_play] t= 13.40s step= 670 trunk_z= 127.5mm grav_b=(-0.05,-0.03,-1.00) r=0.36m +[headless_play] t= 13.50s step= 675 trunk_z= 118.0mm grav_b=(-0.11,+0.06,-0.99) r=0.36m +[headless_play] t= 13.60s step= 680 trunk_z= 115.8mm grav_b=(-0.17,-0.05,-0.98) r=0.36m +[headless_play] t= 13.70s step= 685 trunk_z= 120.6mm grav_b=(-0.12,+0.12,-0.99) r=0.35m +[headless_play] t= 13.80s step= 690 trunk_z= 107.6mm grav_b=(-0.11,+0.11,-0.99) r=0.36m +[headless_play] t= 13.90s step= 695 trunk_z= 109.5mm grav_b=(-0.01,-0.12,-0.99) r=0.35m +[headless_play] t= 14.00s step= 700 trunk_z= 123.0mm grav_b=(+0.07,-0.13,-0.99) r=0.36m +[headless_play] t= 14.10s step= 705 trunk_z= 113.6mm grav_b=(+0.09,+0.09,-0.99) r=0.36m +[headless_play] t= 14.20s step= 710 trunk_z= 113.5mm grav_b=(-0.12,-0.01,-0.99) r=0.36m +[headless_play] t= 14.30s step= 715 trunk_z= 115.9mm grav_b=(-0.14,-0.02,-0.99) r=0.36m +[headless_play] t= 14.40s step= 720 trunk_z= 100.8mm grav_b=(-0.11,+0.07,-0.99) r=0.36m +[headless_play] t= 14.50s step= 725 trunk_z= 105.0mm grav_b=(-0.03,-0.07,-1.00) r=0.36m +[headless_play] t= 14.60s step= 730 trunk_z= 112.0mm grav_b=(+0.03,-0.12,-0.99) r=0.37m +[headless_play] t= 14.70s step= 735 trunk_z= 115.5mm grav_b=(-0.01,+0.11,-0.99) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 121.2mm grav_b=(-0.11,+0.05,-0.99) r=0.37m +[headless_play] t= 14.90s step= 745 trunk_z= 123.6mm grav_b=(-0.11,-0.07,-0.99) r=0.36m +[headless_play] t= 15.00s step= 750 trunk_z= 120.3mm grav_b=(-0.07,+0.02,-1.00) r=0.36m +[headless_play] t= 15.10s step= 755 trunk_z= 120.7mm grav_b=(-0.03,+0.00,-1.00) r=0.36m +[headless_play] t= 15.20s step= 760 trunk_z= 124.0mm grav_b=(-0.05,-0.11,-0.99) r=0.34m +[headless_play] t= 15.30s step= 765 trunk_z= 120.1mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 15.40s step= 770 trunk_z= 121.5mm grav_b=(-0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 15.50s step= 775 trunk_z= 124.2mm grav_b=(-0.07,-0.11,-0.99) r=0.31m +[headless_play] t= 15.60s step= 780 trunk_z= 123.9mm grav_b=(-0.05,-0.02,-1.00) r=0.31m +[headless_play] t= 15.70s step= 785 trunk_z= 121.0mm grav_b=(-0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 15.80s step= 790 trunk_z= 120.5mm grav_b=(-0.07,-0.09,-0.99) r=0.29m +[headless_play] t= 15.90s step= 795 trunk_z= 124.6mm grav_b=(-0.07,-0.02,-1.00) r=0.29m +[headless_play] t= 16.00s step= 800 trunk_z= 121.0mm grav_b=(-0.02,+0.05,-1.00) r=0.28m +[headless_play] t= 16.10s step= 805 trunk_z= 119.3mm grav_b=(-0.08,-0.08,-0.99) r=0.27m +[headless_play] t= 16.20s step= 810 trunk_z= 121.7mm grav_b=(-0.08,-0.01,-1.00) r=0.26m +[headless_play] t= 16.30s step= 815 trunk_z= 119.3mm grav_b=(-0.02,+0.03,-1.00) r=0.24m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(-0.04,-0.09,-0.99) r=0.23m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(-0.01,+0.04,-1.00) r=0.22m +[headless_play] t= 16.60s step= 830 trunk_z= 115.8mm grav_b=(+0.04,+0.08,-1.00) r=0.22m +[headless_play] t= 16.70s step= 835 trunk_z= 115.1mm grav_b=(+0.01,-0.03,-1.00) r=0.21m +[headless_play] t= 16.80s step= 840 trunk_z= 119.5mm grav_b=(-0.02,-0.07,-1.00) r=0.19m +[headless_play] t= 16.90s step= 845 trunk_z= 113.0mm grav_b=(-0.03,+0.12,-0.99) r=0.18m +[headless_play] t= 17.00s step= 850 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 17.10s step= 855 trunk_z= 114.1mm grav_b=(+0.04,-0.08,-1.00) r=0.14m +[headless_play] t= 17.20s step= 860 trunk_z= 114.7mm grav_b=(+0.05,+0.11,-0.99) r=0.12m +[headless_play] t= 17.30s step= 865 trunk_z= 114.8mm grav_b=(+0.01,+0.08,-1.00) r=0.10m +[headless_play] t= 17.40s step= 870 trunk_z= 113.1mm grav_b=(-0.04,-0.13,-0.99) r=0.08m +[headless_play] t= 17.50s step= 875 trunk_z= 122.0mm grav_b=(-0.01,-0.05,-1.00) r=0.06m +[headless_play] t= 17.60s step= 880 trunk_z= 111.3mm grav_b=(-0.01,+0.09,-1.00) r=0.06m +[headless_play] t= 17.70s step= 885 trunk_z= 114.8mm grav_b=(-0.01,-0.02,-1.00) r=0.05m +[headless_play] t= 17.80s step= 890 trunk_z= 114.5mm grav_b=(+0.00,-0.08,-1.00) r=0.04m +[headless_play] t= 17.90s step= 895 trunk_z= 114.6mm grav_b=(-0.02,+0.08,-1.00) r=0.03m +[headless_play] t= 18.00s step= 900 trunk_z= 119.4mm grav_b=(+0.00,+0.09,-1.00) r=0.02m +[headless_play] t= 18.10s step= 905 trunk_z= 113.7mm grav_b=(+0.01,-0.06,-1.00) r=0.02m +[headless_play] t= 18.20s step= 910 trunk_z= 118.0mm grav_b=(+0.01,+0.01,-1.00) r=0.03m +[headless_play] t= 18.30s step= 915 trunk_z= 114.9mm grav_b=(+0.01,+0.07,-1.00) r=0.04m +[headless_play] t= 18.40s step= 920 trunk_z= 115.4mm grav_b=(-0.01,-0.07,-1.00) r=0.05m +[headless_play] t= 18.50s step= 925 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.07m +[headless_play] t= 18.60s step= 930 trunk_z= 113.0mm grav_b=(+0.05,+0.11,-0.99) r=0.08m +[headless_play] t= 18.70s step= 935 trunk_z= 116.4mm grav_b=(+0.01,-0.03,-1.00) r=0.09m +[headless_play] t= 18.80s step= 940 trunk_z= 119.6mm grav_b=(-0.02,-0.07,-1.00) r=0.11m +[headless_play] t= 18.90s step= 945 trunk_z= 111.8mm grav_b=(+0.01,+0.10,-0.99) r=0.11m +[headless_play] t= 19.00s step= 950 trunk_z= 116.6mm grav_b=(+0.03,+0.03,-1.00) r=0.12m +[headless_play] t= 19.10s step= 955 trunk_z= 113.3mm grav_b=(+0.01,-0.07,-1.00) r=0.14m +[headless_play] t= 19.20s step= 960 trunk_z= 114.3mm grav_b=(+0.02,+0.08,-1.00) r=0.15m +[headless_play] t= 19.30s step= 965 trunk_z= 116.1mm grav_b=(+0.03,+0.07,-1.00) r=0.16m +[headless_play] t= 19.40s step= 970 trunk_z= 113.5mm grav_b=(+0.00,-0.10,-1.00) r=0.17m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 19.60s step= 980 trunk_z= 113.6mm grav_b=(+0.03,+0.08,-1.00) r=0.19m +[headless_play] t= 19.70s step= 985 trunk_z= 113.9mm grav_b=(-0.01,-0.04,-1.00) r=0.20m +[headless_play] t= 19.80s step= 990 trunk_z= 117.9mm grav_b=(-0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 19.90s step= 995 trunk_z= 113.8mm grav_b=(+0.03,+0.10,-0.99) r=0.22m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.1mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.47m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..efb1c670f539b018c66b46a51c96fd08f7bbce33 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t2.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-14.471,-18.276,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.6mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 116.9mm grav_b=(-0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 117.3mm grav_b=(-0.04,+0.02,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 115.6mm grav_b=(-0.04,-0.04,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(-0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 0.60s step= 30 trunk_z= 113.9mm grav_b=(-0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 113.9mm grav_b=(-0.01,-0.06,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(+0.03,-0.07,-1.00) r=0.58m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(+0.04,-0.02,-1.00) r=0.59m +[headless_play] t= 1.00s step= 50 trunk_z= 113.6mm grav_b=(-0.00,+0.09,-1.00) r=0.60m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(-0.04,-0.11,-0.99) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 114.7mm grav_b=(-0.00,-0.06,-1.00) r=0.62m +[headless_play] t= 1.30s step= 65 trunk_z= 114.3mm grav_b=(-0.01,+0.05,-1.00) r=0.63m +[headless_play] t= 1.40s step= 70 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.64m +[headless_play] t= 1.50s step= 75 trunk_z= 114.5mm grav_b=(+0.00,-0.09,-1.00) r=0.65m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.00,-0.02,-1.00) r=0.65m +[headless_play] t= 1.70s step= 85 trunk_z= 114.9mm grav_b=(-0.02,+0.09,-1.00) r=0.67m +[headless_play] t= 1.80s step= 90 trunk_z= 116.4mm grav_b=(-0.01,-0.04,-1.00) r=0.67m +[headless_play] t= 1.90s step= 95 trunk_z= 115.3mm grav_b=(-0.01,-0.08,-1.00) r=0.68m +[headless_play] t= 2.00s step= 100 trunk_z= 115.6mm grav_b=(-0.00,+0.01,-1.00) r=0.69m +[headless_play] t= 2.10s step= 105 trunk_z= 118.0mm grav_b=(-0.03,+0.04,-1.00) r=0.70m +[headless_play] t= 2.20s step= 110 trunk_z= 115.1mm grav_b=(-0.02,-0.12,-0.99) r=0.72m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.73m +[headless_play] t= 2.40s step= 120 trunk_z= 113.7mm grav_b=(-0.02,+0.05,-1.00) r=0.74m +[headless_play] t= 2.50s step= 125 trunk_z= 116.2mm grav_b=(+0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 2.60s step= 130 trunk_z= 115.5mm grav_b=(-0.04,-0.10,-0.99) r=0.77m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 2.80s step= 140 trunk_z= 114.6mm grav_b=(-0.00,+0.05,-1.00) r=0.79m +[headless_play] t= 2.90s step= 145 trunk_z= 113.3mm grav_b=(+0.00,-0.11,-0.99) r=0.80m +[headless_play] t= 3.00s step= 150 trunk_z= 114.6mm grav_b=(-0.00,-0.05,-1.00) r=0.82m +[headless_play] t= 3.10s step= 155 trunk_z= 115.1mm grav_b=(+0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 3.20s step= 160 trunk_z= 111.9mm grav_b=(+0.03,+0.10,-0.99) r=0.83m +[headless_play] t= 3.30s step= 165 trunk_z= 115.1mm grav_b=(+0.01,-0.04,-1.00) r=0.84m +[headless_play] t= 3.40s step= 170 trunk_z= 113.8mm grav_b=(-0.01,-0.11,-0.99) r=0.86m +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(+0.01,-0.02,-1.00) r=0.87m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(-0.00,+0.06,-1.00) r=0.88m +[headless_play] t= 3.70s step= 185 trunk_z= 115.4mm grav_b=(+0.01,-0.11,-0.99) r=0.90m +[headless_play] t= 3.80s step= 190 trunk_z= 113.7mm grav_b=(-0.00,-0.06,-1.00) r=0.91m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00) r=0.93m +[headless_play] t= 4.00s step= 200 trunk_z= 100.8mm grav_b=(-0.02,+0.27,-0.96) r=0.94m +[headless_play] t= 4.10s step= 205 trunk_z= 108.2mm grav_b=(+0.06,+0.47,-0.88) r=0.94m +[headless_play] t= 4.20s step= 210 trunk_z= 98.4mm grav_b=(+0.34,+0.37,-0.86) r=0.94m +[headless_play] t= 4.30s step= 215 trunk_z= 77.5mm grav_b=(+0.38,+0.45,-0.81) r=0.96m +[headless_play] RESET at t= 4.40s step= 220 (env termination, not a recovery) +[headless_play] t= 4.40s step= 220 trunk_z= 122.7mm grav_b=(-0.00,-0.00,-1.00) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 116.7mm grav_b=(-0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.30s step= 265 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.50s step= 275 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.60s step= 280 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 5.80s step= 290 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 120.9mm grav_b=(+0.11,+0.02,-0.99) r=0.51m +[headless_play] t= 6.10s step= 305 trunk_z= 116.2mm grav_b=(+0.03,+0.06,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 113.0mm grav_b=(-0.00,-0.08,-1.00) r=0.55m +[headless_play] t= 6.30s step= 315 trunk_z= 120.4mm grav_b=(+0.00,+0.03,-1.00) r=0.57m +[headless_play] t= 6.40s step= 320 trunk_z= 120.0mm grav_b=(-0.06,+0.13,-0.99) r=0.59m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(-0.08,-0.08,-0.99) r=0.60m +[headless_play] t= 6.60s step= 330 trunk_z= 117.6mm grav_b=(-0.02,-0.05,-1.00) r=0.61m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(+0.00,+0.09,-1.00) r=0.62m +[headless_play] t= 6.80s step= 340 trunk_z= 117.8mm grav_b=(-0.02,-0.09,-1.00) r=0.63m +[headless_play] t= 6.90s step= 345 trunk_z= 119.1mm grav_b=(-0.02,-0.07,-1.00) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 118.0mm grav_b=(-0.03,+0.09,-1.00) r=0.66m +[headless_play] t= 7.10s step= 355 trunk_z= 119.1mm grav_b=(-0.03,-0.07,-1.00) r=0.67m +[headless_play] t= 7.20s step= 360 trunk_z= 117.3mm grav_b=(-0.03,-0.06,-1.00) r=0.69m +[headless_play] t= 7.30s step= 365 trunk_z= 117.6mm grav_b=(+0.00,+0.05,-1.00) r=0.70m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(-0.00,-0.14,-0.99) r=0.71m +[headless_play] t= 7.50s step= 375 trunk_z= 118.1mm grav_b=(-0.04,+0.00,-1.00) r=0.72m +[headless_play] t= 7.60s step= 380 trunk_z= 120.4mm grav_b=(-0.06,+0.05,-1.00) r=0.73m +[headless_play] t= 7.70s step= 385 trunk_z= 118.2mm grav_b=(-0.04,-0.13,-0.99) r=0.74m +[headless_play] t= 7.80s step= 390 trunk_z= 118.6mm grav_b=(-0.03,-0.01,-1.00) r=0.75m +[headless_play] t= 7.90s step= 395 trunk_z= 115.9mm grav_b=(-0.03,+0.12,-0.99) r=0.77m +[headless_play] t= 8.00s step= 400 trunk_z= 103.5mm grav_b=(+0.02,+0.16,-0.99) r=0.80m +[headless_play] t= 8.10s step= 405 trunk_z= 107.4mm grav_b=(+0.01,+0.14,-0.99) r=0.81m +[headless_play] t= 8.20s step= 410 trunk_z= 98.4mm grav_b=(+0.04,-0.02,-1.00) r=0.83m +[headless_play] t= 8.30s step= 415 trunk_z= 100.5mm grav_b=(-0.15,-0.13,-0.98) r=0.84m +[headless_play] t= 8.40s step= 420 trunk_z= 88.5mm grav_b=(-0.14,-0.08,-0.99) r=0.86m +[headless_play] t= 8.50s step= 425 trunk_z= 84.6mm grav_b=(-0.00,-0.23,-0.97) r=0.86m +[headless_play] t= 8.60s step= 430 trunk_z= 90.9mm grav_b=(-0.14,-0.21,-0.97) r=0.85m +[headless_play] t= 8.70s step= 435 trunk_z= 91.5mm grav_b=(-0.11,+0.05,-0.99) r=0.85m +[headless_play] t= 8.80s step= 440 trunk_z= 96.6mm grav_b=(-0.02,+0.10,-1.00) r=0.85m +[headless_play] t= 8.90s step= 445 trunk_z= 92.6mm grav_b=(-0.02,-0.11,-0.99) r=0.85m +[headless_play] t= 9.00s step= 450 trunk_z= 95.7mm grav_b=(-0.04,-0.03,-1.00) r=0.85m +[headless_play] t= 9.10s step= 455 trunk_z= 97.1mm grav_b=(-0.03,+0.06,-1.00) r=0.86m +[headless_play] t= 9.20s step= 460 trunk_z= 95.4mm grav_b=(-0.04,-0.07,-1.00) r=0.86m +[headless_play] t= 9.30s step= 465 trunk_z= 96.4mm grav_b=(-0.05,+0.01,-1.00) r=0.86m +[headless_play] t= 9.40s step= 470 trunk_z= 96.9mm grav_b=(-0.00,+0.00,-1.00) r=0.87m +[headless_play] t= 9.50s step= 475 trunk_z= 96.4mm grav_b=(-0.01,-0.03,-1.00) r=0.87m +[headless_play] t= 9.60s step= 480 trunk_z= 95.1mm grav_b=(-0.02,+0.04,-1.00) r=0.88m +[headless_play] t= 9.70s step= 485 trunk_z= 94.3mm grav_b=(-0.03,-0.03,-1.00) r=0.88m +[headless_play] t= 9.80s step= 490 trunk_z= 94.3mm grav_b=(-0.04,-0.01,-1.00) r=0.93m +[headless_play] t= 9.90s step= 495 trunk_z= 95.3mm grav_b=(-0.03,-0.03,-1.00) r=0.96m +[headless_play] t= 10.00s step= 500 trunk_z= 94.3mm grav_b=(-0.06,-0.02,-1.00) r=0.99m +[headless_play] t= 10.10s step= 505 trunk_z= 94.1mm grav_b=(-0.08,-0.02,-1.00) r=1.00m +[headless_play] t= 10.20s step= 510 trunk_z= 94.3mm grav_b=(-0.06,-0.01,-1.00) r=1.01m +[headless_play] t= 10.30s step= 515 trunk_z= 94.3mm grav_b=(-0.04,-0.02,-1.00) r=1.01m +[headless_play] t= 10.40s step= 520 trunk_z= 94.4mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 10.50s step= 525 trunk_z= 94.4mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 10.60s step= 530 trunk_z= 94.3mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 10.70s step= 535 trunk_z= 94.2mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 10.80s step= 540 trunk_z= 94.4mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 10.90s step= 545 trunk_z= 94.3mm grav_b=(-0.03,-0.01,-1.00) r=1.01m +[headless_play] t= 11.00s step= 550 trunk_z= 94.2mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.10s step= 555 trunk_z= 94.3mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.20s step= 560 trunk_z= 94.3mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.30s step= 565 trunk_z= 94.4mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.40s step= 570 trunk_z= 94.4mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.50s step= 575 trunk_z= 94.4mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.60s step= 580 trunk_z= 94.3mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.70s step= 585 trunk_z= 94.4mm grav_b=(-0.03,-0.02,-1.00) r=1.01m +[headless_play] t= 11.80s step= 590 trunk_z= 93.8mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 11.90s step= 595 trunk_z= 93.0mm grav_b=(-0.06,-0.01,-1.00) r=1.01m +[headless_play] t= 12.00s step= 600 trunk_z= 92.7mm grav_b=(-0.07,-0.01,-1.00) r=1.00m +[headless_play] t= 12.10s step= 605 trunk_z= 92.6mm grav_b=(-0.07,-0.01,-1.00) r=1.00m +[headless_play] t= 12.20s step= 610 trunk_z= 92.6mm grav_b=(-0.05,-0.01,-1.00) r=1.01m +[headless_play] t= 12.30s step= 615 trunk_z= 92.6mm grav_b=(-0.05,-0.01,-1.00) r=1.01m +[headless_play] t= 12.40s step= 620 trunk_z= 92.4mm grav_b=(-0.05,-0.01,-1.00) r=1.01m +[headless_play] t= 12.50s step= 625 trunk_z= 92.7mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 12.60s step= 630 trunk_z= 92.7mm grav_b=(-0.02,-0.01,-1.00) r=1.01m +[headless_play] t= 12.70s step= 635 trunk_z= 92.1mm grav_b=(-0.03,-0.00,-1.00) r=1.01m +[headless_play] t= 12.80s step= 640 trunk_z= 92.2mm grav_b=(-0.04,-0.01,-1.00) r=1.00m +[headless_play] t= 12.90s step= 645 trunk_z= 90.9mm grav_b=(-0.23,-0.01,-0.97) r=0.98m +[headless_play] t= 13.00s step= 650 trunk_z= 73.9mm grav_b=(-0.51,-0.16,-0.85) r=0.96m +[headless_play] t= 13.10s step= 655 trunk_z= 38.4mm grav_b=(-0.64,-0.70,-0.32) r=0.93m +[headless_play] RESET at t= 13.12s step= 656 (env termination, not a recovery) +[headless_play] t= 13.20s step= 660 trunk_z= 114.5mm grav_b=(-0.01,-0.01,-1.00) r=0.58m +[headless_play] t= 13.30s step= 665 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 13.40s step= 670 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 13.50s step= 675 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 13.60s step= 680 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 13.70s step= 685 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 13.90s step= 695 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.20s step= 710 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.50s step= 725 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.60s step= 730 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.80s step= 740 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.90s step= 745 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.40s step= 770 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 16.20s step= 810 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 16.30s step= 815 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 16.40s step= 820 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 16.60s step= 830 trunk_z= 116.4mm grav_b=(-0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.70s step= 835 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.55m +[headless_play] t= 16.80s step= 840 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.55m +[headless_play] t= 16.90s step= 845 trunk_z= 116.4mm grav_b=(-0.03,-0.02,-1.00) r=0.55m +[headless_play] t= 17.00s step= 850 trunk_z= 116.3mm grav_b=(-0.03,-0.02,-1.00) r=0.55m +[headless_play] t= 17.10s step= 855 trunk_z= 117.1mm grav_b=(-0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 17.20s step= 860 trunk_z= 117.8mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 17.30s step= 865 trunk_z= 118.1mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 17.40s step= 870 trunk_z= 118.8mm grav_b=(+0.01,+0.06,-1.00) r=0.56m +[headless_play] t= 17.50s step= 875 trunk_z= 118.3mm grav_b=(-0.01,-0.03,-1.00) r=0.55m +[headless_play] t= 17.60s step= 880 trunk_z= 119.3mm grav_b=(-0.01,+0.03,-1.00) r=0.55m +[headless_play] t= 17.70s step= 885 trunk_z= 121.0mm grav_b=(+0.02,+0.07,-1.00) r=0.56m +[headless_play] t= 17.80s step= 890 trunk_z= 118.9mm grav_b=(+0.02,-0.09,-1.00) r=0.56m +[headless_play] t= 17.90s step= 895 trunk_z= 120.7mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 18.00s step= 900 trunk_z= 120.8mm grav_b=(-0.04,+0.09,-1.00) r=0.57m +[headless_play] t= 18.10s step= 905 trunk_z= 119.0mm grav_b=(-0.02,-0.10,-0.99) r=0.58m +[headless_play] t= 18.20s step= 910 trunk_z= 120.8mm grav_b=(-0.00,-0.01,-1.00) r=0.58m +[headless_play] t= 18.30s step= 915 trunk_z= 120.7mm grav_b=(+0.00,+0.12,-0.99) r=0.59m +[headless_play] t= 18.40s step= 920 trunk_z= 122.7mm grav_b=(-0.02,-0.02,-1.00) r=0.59m +[headless_play] t= 18.50s step= 925 trunk_z= 122.5mm grav_b=(+0.01,-0.12,-0.99) r=0.59m +[headless_play] t= 18.60s step= 930 trunk_z= 120.2mm grav_b=(-0.00,+0.02,-1.00) r=0.60m +[headless_play] t= 18.70s step= 935 trunk_z= 122.6mm grav_b=(-0.02,+0.06,-1.00) r=0.61m +[headless_play] t= 18.80s step= 940 trunk_z= 118.2mm grav_b=(-0.00,-0.12,-0.99) r=0.62m +[headless_play] t= 18.90s step= 945 trunk_z= 119.6mm grav_b=(+0.00,+0.01,-1.00) r=0.63m +[headless_play] t= 19.00s step= 950 trunk_z= 123.2mm grav_b=(+0.00,+0.15,-0.99) r=0.64m +[headless_play] t= 19.10s step= 955 trunk_z= 126.1mm grav_b=(-0.01,+0.06,-1.00) r=0.65m +[headless_play] t= 19.20s step= 960 trunk_z= 119.5mm grav_b=(-0.03,-0.09,-1.00) r=0.65m +[headless_play] t= 19.30s step= 965 trunk_z= 119.6mm grav_b=(-0.00,+0.02,-1.00) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 121.5mm grav_b=(+0.03,+0.13,-0.99) r=0.67m +[headless_play] t= 19.50s step= 975 trunk_z= 123.1mm grav_b=(-0.01,-0.02,-1.00) r=0.68m +[headless_play] t= 19.60s step= 980 trunk_z= 122.7mm grav_b=(+0.01,-0.08,-1.00) r=0.69m +[headless_play] t= 19.70s step= 985 trunk_z= 119.6mm grav_b=(-0.03,+0.05,-1.00) r=0.70m +[headless_play] t= 19.80s step= 990 trunk_z= 120.5mm grav_b=(-0.15,+0.07,-0.99) r=0.70m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(-0.09,-0.05,-1.00) r=0.70m +[headless_play] t= 20.00s step=1000 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.70m +[headless_play] t= 20.10s step=1005 trunk_z= 112.7mm grav_b=(+0.04,+0.09,-1.00) r=0.70m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..47c140684afffbca83b8f7ed3280af1422ec81f1 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.706,-18.067,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.30m +[headless_play] t= 0.40s step= 20 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.50s step= 25 trunk_z= 117.7mm grav_b=(+0.00,+0.00,-1.00) r=0.30m +[headless_play] t= 0.60s step= 30 trunk_z= 117.7mm grav_b=(-0.00,+0.00,-1.00) r=0.30m +[headless_play] t= 0.70s step= 35 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.30s step= 65 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 117.9mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 2.60s step= 130 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 2.90s step= 145 trunk_z= 117.9mm grav_b=(-0.02,+0.00,-1.00) r=0.30m +[headless_play] t= 3.00s step= 150 trunk_z= 118.0mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 3.10s step= 155 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 3.20s step= 160 trunk_z= 117.9mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 3.30s step= 165 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 3.40s step= 170 trunk_z= 118.0mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 3.50s step= 175 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 3.60s step= 180 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 3.80s step= 190 trunk_z= 118.0mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 3.90s step= 195 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 4.00s step= 200 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 4.10s step= 205 trunk_z= 117.9mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 4.20s step= 210 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 118.0mm grav_b=(-0.02,+0.00,-1.00) r=0.30m +[headless_play] t= 4.40s step= 220 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00) r=0.30m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 4.80s step= 240 trunk_z= 116.9mm grav_b=(+0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.02,+0.05,-1.00) r=0.28m +[headless_play] t= 5.40s step= 270 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.25m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(-0.06,+0.01,-1.00) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 113.0mm grav_b=(-0.06,+0.09,-0.99) r=0.21m +[headless_play] t= 5.70s step= 285 trunk_z= 112.1mm grav_b=(+0.09,-0.04,-1.00) r=0.20m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(+0.12,-0.05,-0.99) r=0.20m +[headless_play] t= 5.90s step= 295 trunk_z= 113.1mm grav_b=(+0.02,+0.13,-0.99) r=0.19m +[headless_play] t= 6.00s step= 300 trunk_z= 122.4mm grav_b=(+0.00,+0.10,-0.99) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 112.9mm grav_b=(-0.02,-0.05,-1.00) r=0.18m +[headless_play] t= 6.20s step= 310 trunk_z= 118.7mm grav_b=(+0.03,+0.02,-1.00) r=0.18m +[headless_play] t= 6.30s step= 315 trunk_z= 115.8mm grav_b=(+0.03,+0.17,-0.98) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 118.5mm grav_b=(+0.02,+0.06,-1.00) r=0.16m +[headless_play] t= 6.50s step= 325 trunk_z= 117.3mm grav_b=(+0.03,-0.07,-1.00) r=0.16m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(+0.04,+0.05,-1.00) r=0.16m +[headless_play] t= 6.70s step= 335 trunk_z= 118.0mm grav_b=(+0.01,+0.02,-1.00) r=0.16m +[headless_play] t= 6.80s step= 340 trunk_z= 121.8mm grav_b=(+0.01,-0.05,-1.00) r=0.17m +[headless_play] t= 6.90s step= 345 trunk_z= 120.9mm grav_b=(+0.00,+0.10,-1.00) r=0.17m +[headless_play] t= 7.00s step= 350 trunk_z= 119.9mm grav_b=(-0.03,-0.03,-1.00) r=0.18m +[headless_play] t= 7.10s step= 355 trunk_z= 121.7mm grav_b=(-0.03,+0.02,-1.00) r=0.18m +[headless_play] t= 7.20s step= 360 trunk_z= 122.6mm grav_b=(-0.02,+0.07,-1.00) r=0.19m +[headless_play] t= 7.30s step= 365 trunk_z= 119.9mm grav_b=(-0.04,-0.07,-1.00) r=0.20m +[headless_play] t= 7.40s step= 370 trunk_z= 119.2mm grav_b=(-0.03,+0.06,-1.00) r=0.21m +[headless_play] t= 7.50s step= 375 trunk_z= 118.8mm grav_b=(-0.00,-0.01,-1.00) r=0.21m +[headless_play] t= 7.60s step= 380 trunk_z= 120.3mm grav_b=(+0.02,+0.02,-1.00) r=0.21m +[headless_play] t= 7.70s step= 385 trunk_z= 120.4mm grav_b=(+0.03,+0.08,-1.00) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 120.4mm grav_b=(+0.01,+0.05,-1.00) r=0.21m +[headless_play] t= 7.90s step= 395 trunk_z= 117.8mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 8.00s step= 400 trunk_z= 119.2mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 8.20s step= 410 trunk_z= 118.8mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 8.30s step= 415 trunk_z= 119.0mm grav_b=(-0.03,+0.02,-1.00) r=0.22m +[headless_play] t= 8.40s step= 420 trunk_z= 118.9mm grav_b=(-0.03,+0.02,-1.00) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 119.0mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 8.60s step= 430 trunk_z= 119.1mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 8.70s step= 435 trunk_z= 118.9mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 8.80s step= 440 trunk_z= 119.1mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 8.90s step= 445 trunk_z= 119.1mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 9.00s step= 450 trunk_z= 119.1mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 9.10s step= 455 trunk_z= 119.1mm grav_b=(-0.04,+0.02,-1.00) r=0.22m +[headless_play] t= 9.20s step= 460 trunk_z= 119.2mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 9.30s step= 465 trunk_z= 119.7mm grav_b=(-0.04,+0.03,-1.00) r=0.22m +[headless_play] t= 9.40s step= 470 trunk_z= 118.0mm grav_b=(+0.00,-0.02,-1.00) r=0.22m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.22m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(+0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 9.70s step= 485 trunk_z= 115.4mm grav_b=(+0.04,-0.00,-1.00) r=0.24m +[headless_play] t= 9.80s step= 490 trunk_z= 113.6mm grav_b=(+0.08,+0.13,-0.99) r=0.25m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(+0.03,-0.00,-1.00) r=0.25m +[headless_play] t= 10.00s step= 500 trunk_z= 119.7mm grav_b=(-0.01,-0.08,-1.00) r=0.26m +[headless_play] t= 10.10s step= 505 trunk_z= 115.8mm grav_b=(+0.03,+0.06,-1.00) r=0.27m +[headless_play] t= 10.20s step= 510 trunk_z= 118.2mm grav_b=(+0.06,+0.05,-1.00) r=0.28m +[headless_play] t= 10.30s step= 515 trunk_z= 112.2mm grav_b=(+0.12,-0.10,-0.99) r=0.31m +[headless_play] t= 10.40s step= 520 trunk_z= 124.2mm grav_b=(+0.20,+0.02,-0.98) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 103.0mm grav_b=(-0.01,+0.20,-0.98) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 114.9mm grav_b=(-0.05,+0.12,-0.99) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 10.80s step= 540 trunk_z= 119.9mm grav_b=(-0.06,+0.02,-1.00) r=0.46m +[headless_play] t= 10.90s step= 545 trunk_z= 111.6mm grav_b=(+0.03,+0.10,-0.99) r=0.47m +[headless_play] t= 11.00s step= 550 trunk_z= 105.2mm grav_b=(+0.11,-0.10,-0.99) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 118.8mm grav_b=(+0.06,-0.03,-1.00) r=0.49m +[headless_play] t= 11.20s step= 560 trunk_z= 114.1mm grav_b=(+0.03,+0.15,-0.99) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 117.9mm grav_b=(+0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 119.6mm grav_b=(-0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 113.7mm grav_b=(-0.00,+0.11,-0.99) r=0.52m +[headless_play] t= 11.60s step= 580 trunk_z= 115.9mm grav_b=(+0.07,+0.06,-1.00) r=0.53m +[headless_play] t= 11.70s step= 585 trunk_z= 114.6mm grav_b=(+0.06,-0.09,-0.99) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 115.1mm grav_b=(+0.05,+0.05,-1.00) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(+0.06,+0.05,-1.00) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 113.7mm grav_b=(+0.00,-0.11,-0.99) r=0.56m +[headless_play] t= 12.10s step= 605 trunk_z= 118.9mm grav_b=(+0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 12.20s step= 610 trunk_z= 117.3mm grav_b=(+0.05,+0.07,-1.00) r=0.57m +[headless_play] t= 12.30s step= 615 trunk_z= 114.5mm grav_b=(+0.03,-0.08,-1.00) r=0.58m +[headless_play] t= 12.40s step= 620 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.59m +[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(+0.06,+0.13,-0.99) r=0.59m +[headless_play] t= 12.60s step= 630 trunk_z= 115.7mm grav_b=(+0.04,-0.02,-1.00) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 118.9mm grav_b=(+0.01,-0.04,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 113.0mm grav_b=(+0.03,+0.12,-0.99) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 118.3mm grav_b=(+0.05,+0.04,-1.00) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 114.7mm grav_b=(+0.02,-0.11,-0.99) r=0.60m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(+0.03,+0.06,-1.00) r=0.61m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(+0.09,+0.15,-0.98) r=0.61m +[headless_play] t= 13.30s step= 665 trunk_z= 119.6mm grav_b=(+0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 13.40s step= 670 trunk_z= 121.7mm grav_b=(+0.01,-0.09,-1.00) r=0.62m +[headless_play] t= 13.50s step= 675 trunk_z= 113.7mm grav_b=(+0.05,+0.10,-0.99) r=0.63m +[headless_play] t= 13.60s step= 680 trunk_z= 117.9mm grav_b=(+0.08,+0.06,-1.00) r=0.64m +[headless_play] t= 13.70s step= 685 trunk_z= 115.6mm grav_b=(-0.01,-0.10,-0.99) r=0.65m +[headless_play] t= 13.80s step= 690 trunk_z= 119.8mm grav_b=(+0.00,+0.02,-1.00) r=0.66m +[headless_play] t= 13.90s step= 695 trunk_z= 118.0mm grav_b=(+0.09,+0.15,-0.98) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 119.5mm grav_b=(+0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 14.10s step= 705 trunk_z= 120.8mm grav_b=(+0.00,-0.09,-1.00) r=0.69m +[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(-0.00,+0.09,-1.00) r=0.71m +[headless_play] t= 14.30s step= 715 trunk_z= 119.4mm grav_b=(+0.06,+0.04,-1.00) r=0.71m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(+0.03,-0.10,-0.99) r=0.73m +[headless_play] t= 14.50s step= 725 trunk_z= 118.1mm grav_b=(+0.00,+0.09,-1.00) r=0.75m +[headless_play] t= 14.60s step= 730 trunk_z= 122.1mm grav_b=(+0.00,+0.05,-1.00) r=0.76m +[headless_play] t= 14.70s step= 735 trunk_z= 117.7mm grav_b=(+0.00,-0.04,-1.00) r=0.71m +[headless_play] t= 14.80s step= 740 trunk_z= 122.4mm grav_b=(+0.02,+0.14,-0.99) r=0.68m +[headless_play] t= 14.90s step= 745 trunk_z= 123.7mm grav_b=(+0.01,+0.07,-1.00) r=0.65m +[headless_play] t= 15.00s step= 750 trunk_z= 120.8mm grav_b=(-0.00,-0.04,-1.00) r=0.64m +[headless_play] t= 15.10s step= 755 trunk_z= 118.4mm grav_b=(+0.02,+0.15,-0.99) r=0.63m +[headless_play] t= 15.20s step= 760 trunk_z= 129.4mm grav_b=(+0.04,+0.15,-0.99) r=0.62m +[headless_play] t= 15.30s step= 765 trunk_z= 131.2mm grav_b=(+0.03,+0.08,-1.00) r=0.63m +[headless_play] t= 15.40s step= 770 trunk_z= 124.5mm grav_b=(-0.00,-0.00,-1.00) r=0.64m +[headless_play] t= 15.50s step= 775 trunk_z= 122.9mm grav_b=(-0.03,+0.10,-0.99) r=0.63m +[headless_play] t= 15.60s step= 780 trunk_z= 119.6mm grav_b=(-0.02,+0.06,-1.00) r=0.63m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(-0.03,-0.09,-1.00) r=0.64m +[headless_play] t= 15.80s step= 790 trunk_z= 121.3mm grav_b=(+0.04,+0.02,-1.00) r=0.65m +[headless_play] t= 15.90s step= 795 trunk_z= 124.0mm grav_b=(+0.06,+0.14,-0.99) r=0.65m +[headless_play] t= 16.00s step= 800 trunk_z= 127.7mm grav_b=(-0.01,+0.04,-1.00) r=0.65m +[headless_play] t= 16.10s step= 805 trunk_z= 122.5mm grav_b=(+0.02,-0.07,-1.00) r=0.67m +[headless_play] t= 16.20s step= 810 trunk_z= 115.9mm grav_b=(+0.04,+0.17,-0.98) r=0.68m +[headless_play] t= 16.30s step= 815 trunk_z= 124.8mm grav_b=(+0.05,+0.13,-0.99) r=0.69m +[headless_play] t= 16.40s step= 820 trunk_z= 120.9mm grav_b=(-0.00,-0.07,-1.00) r=0.71m +[headless_play] t= 16.50s step= 825 trunk_z= 121.5mm grav_b=(-0.01,-0.04,-1.00) r=0.73m +[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(+0.03,+0.14,-0.99) r=0.74m +[headless_play] t= 16.70s step= 835 trunk_z= 123.5mm grav_b=(+0.02,+0.03,-1.00) r=0.75m +[headless_play] t= 16.80s step= 840 trunk_z= 103.2mm grav_b=(-0.03,-0.24,-0.97) r=0.77m +[headless_play] t= 16.90s step= 845 trunk_z= 114.4mm grav_b=(-0.07,-0.31,-0.95) r=0.79m +[headless_play] t= 17.00s step= 850 trunk_z= 108.2mm grav_b=(-0.23,-0.15,-0.96) r=0.82m +[headless_play] t= 17.10s step= 855 trunk_z= 83.6mm grav_b=(-0.10,+0.23,-0.97) r=0.84m +[headless_play] t= 17.20s step= 860 trunk_z= 89.9mm grav_b=(+0.06,+0.18,-0.98) r=0.86m +[headless_play] t= 17.30s step= 865 trunk_z= 94.5mm grav_b=(+0.07,-0.01,-1.00) r=0.87m +[headless_play] t= 17.40s step= 870 trunk_z= 86.3mm grav_b=(+0.08,+0.18,-0.98) r=0.88m +[headless_play] t= 17.50s step= 875 trunk_z= 95.9mm grav_b=(+0.09,+0.04,-1.00) r=0.89m +[headless_play] t= 17.60s step= 880 trunk_z= 89.5mm grav_b=(+0.01,-0.19,-0.98) r=0.91m +[headless_play] t= 17.70s step= 885 trunk_z= 97.4mm grav_b=(-0.03,-0.06,-1.00) r=0.93m +[headless_play] t= 17.80s step= 890 trunk_z= 98.7mm grav_b=(-0.03,+0.10,-0.99) r=0.95m +[headless_play] t= 17.90s step= 895 trunk_z= 97.2mm grav_b=(-0.01,+0.05,-1.00) r=0.95m +[headless_play] t= 18.00s step= 900 trunk_z= 97.1mm grav_b=(+0.03,-0.05,-1.00) r=0.96m +[headless_play] t= 18.10s step= 905 trunk_z= 90.3mm grav_b=(-0.01,+0.13,-0.99) r=0.98m +[headless_play] t= 18.20s step= 910 trunk_z= 97.8mm grav_b=(+0.01,+0.08,-1.00) r=1.00m +[headless_play] t= 18.30s step= 915 trunk_z= 93.2mm grav_b=(+0.00,-0.08,-1.00) r=1.01m +[headless_play] t= 18.40s step= 920 trunk_z= 95.0mm grav_b=(-0.02,+0.06,-1.00) r=1.03m +[headless_play] t= 18.50s step= 925 trunk_z= 96.9mm grav_b=(+0.05,+0.09,-0.99) r=1.04m +[headless_play] t= 18.60s step= 930 trunk_z= 91.4mm grav_b=(-0.04,-0.09,-1.00) r=1.06m +[headless_play] t= 18.70s step= 935 trunk_z= 100.7mm grav_b=(-0.01,-0.09,-1.00) r=1.08m +[headless_play] t= 18.80s step= 940 trunk_z= 92.9mm grav_b=(+0.02,+0.13,-0.99) r=1.10m +[headless_play] t= 18.90s step= 945 trunk_z= 96.6mm grav_b=(+0.02,+0.01,-1.00) r=1.11m +[headless_play] t= 19.00s step= 950 trunk_z= 96.1mm grav_b=(-0.01,-0.14,-0.99) r=1.13m +[headless_play] t= 19.10s step= 955 trunk_z= 97.3mm grav_b=(-0.01,+0.02,-1.00) r=1.15m +[headless_play] t= 19.20s step= 960 trunk_z= 98.6mm grav_b=(+0.02,+0.13,-0.99) r=1.17m +[headless_play] t= 19.30s step= 965 trunk_z= 92.1mm grav_b=(-0.04,-0.01,-1.00) r=1.18m +[headless_play] t= 19.40s step= 970 trunk_z= 94.1mm grav_b=(+0.01,-0.08,-1.00) r=1.20m +[headless_play] t= 19.50s step= 975 trunk_z= 91.4mm grav_b=(+0.02,+0.08,-1.00) r=1.21m +[headless_play] t= 19.60s step= 980 trunk_z= 94.7mm grav_b=(+0.02,+0.13,-0.99) r=1.21m +[headless_play] t= 19.70s step= 985 trunk_z= 90.7mm grav_b=(+0.00,+0.01,-1.00) r=1.22m +[headless_play] t= 19.80s step= 990 trunk_z= 91.7mm grav_b=(+0.07,-0.06,-1.00) r=1.24m +[headless_play] t= 19.90s step= 995 trunk_z= 92.1mm grav_b=(+0.07,+0.03,-1.00) r=1.25m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.4mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.26m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..765b6081e96d1f93b63beeb82228271ba53b1582 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.779,-17.590,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.02,+0.00,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 117.7mm grav_b=(+0.02,+0.03,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 119.1mm grav_b=(-0.00,-0.08,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 118.9mm grav_b=(-0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 119.3mm grav_b=(-0.05,+0.01,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 120.9mm grav_b=(-0.03,-0.13,-0.99) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 120.1mm grav_b=(-0.08,+0.02,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 121.7mm grav_b=(-0.04,-0.11,-0.99) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 118.6mm grav_b=(-0.07,+0.07,-0.99) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 120.9mm grav_b=(-0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 121.2mm grav_b=(-0.02,-0.14,-0.99) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 118.3mm grav_b=(-0.06,+0.03,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 120.8mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 1.80s step= 90 trunk_z= 120.6mm grav_b=(-0.03,-0.16,-0.99) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 120.5mm grav_b=(-0.08,-0.02,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 120.9mm grav_b=(-0.04,+0.05,-1.00) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 119.2mm grav_b=(-0.02,-0.15,-0.99) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 122.8mm grav_b=(-0.05,-0.04,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 119.4mm grav_b=(-0.04,+0.09,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.05,-0.12,-0.99) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 119.7mm grav_b=(-0.07,-0.04,-1.00) r=0.26m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(-0.04,+0.06,-1.00) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 118.7mm grav_b=(-0.01,-0.12,-0.99) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 121.1mm grav_b=(-0.04,-0.01,-1.00) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 117.5mm grav_b=(-0.03,+0.06,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 119.8mm grav_b=(-0.04,-0.11,-0.99) r=0.23m +[headless_play] t= 3.10s step= 155 trunk_z= 119.8mm grav_b=(-0.06,+0.01,-1.00) r=0.23m +[headless_play] t= 3.20s step= 160 trunk_z= 120.0mm grav_b=(-0.02,-0.03,-1.00) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 119.6mm grav_b=(+0.00,+0.02,-1.00) r=0.23m +[headless_play] t= 3.40s step= 170 trunk_z= 120.3mm grav_b=(+0.01,+0.02,-1.00) r=0.23m +[headless_play] t= 3.50s step= 175 trunk_z= 119.8mm grav_b=(+0.00,+0.02,-1.00) r=0.23m +[headless_play] t= 3.60s step= 180 trunk_z= 118.1mm grav_b=(-0.03,+0.00,-1.00) r=0.23m +[headless_play] t= 3.70s step= 185 trunk_z= 117.4mm grav_b=(-0.06,+0.01,-1.00) r=0.23m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(-0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 4.00s step= 200 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(-0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 4.20s step= 210 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 4.40s step= 220 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 117.9mm grav_b=(-0.05,-0.02,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 117.5mm grav_b=(-0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 117.6mm grav_b=(-0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.70s step= 285 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.80s step= 290 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 117.6mm grav_b=(-0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.10s step= 305 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.20s step= 310 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.40s step= 320 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.50s step= 325 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 6.70s step= 335 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 6.80s step= 340 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 6.90s step= 345 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 7.00s step= 350 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 7.10s step= 355 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 7.20s step= 360 trunk_z= 118.0mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.30s step= 365 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.40s step= 370 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.50s step= 375 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.60s step= 380 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.70s step= 385 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.80s step= 390 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 7.90s step= 395 trunk_z= 118.0mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.10s step= 405 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.20s step= 410 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.30s step= 415 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.40s step= 420 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.60s step= 430 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.70s step= 435 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.80s step= 440 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.90s step= 445 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.00s step= 450 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.10s step= 455 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.20s step= 460 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.30s step= 465 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.40s step= 470 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.50s step= 475 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.60s step= 480 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 9.70s step= 485 trunk_z= 118.5mm grav_b=(-0.04,-0.02,-1.00) r=0.23m +[headless_play] t= 9.80s step= 490 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 9.90s step= 495 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(-0.07,-0.01,-1.00) r=0.33m +[headless_play] t= 10.10s step= 505 trunk_z= 118.0mm grav_b=(-0.06,-0.01,-1.00) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 118.3mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 118.4mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 118.5mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 11.00s step= 550 trunk_z= 119.0mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 11.30s step= 565 trunk_z= 118.9mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 11.40s step= 570 trunk_z= 120.2mm grav_b=(-0.08,+0.02,-1.00) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(-0.07,+0.04,-1.00) r=0.35m +[headless_play] t= 11.60s step= 580 trunk_z= 118.1mm grav_b=(-0.05,+0.05,-1.00) r=0.35m +[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(-0.04,-0.05,-1.00) r=0.34m +[headless_play] t= 11.80s step= 590 trunk_z= 118.4mm grav_b=(-0.07,-0.06,-1.00) r=0.34m +[headless_play] t= 11.90s step= 595 trunk_z= 119.8mm grav_b=(-0.10,-0.04,-0.99) r=0.34m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(-0.09,+0.03,-1.00) r=0.34m +[headless_play] t= 12.10s step= 605 trunk_z= 115.4mm grav_b=(-0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 12.20s step= 610 trunk_z= 112.8mm grav_b=(+0.00,-0.11,-0.99) r=0.35m +[headless_play] t= 12.30s step= 615 trunk_z= 111.2mm grav_b=(-0.04,+0.12,-0.99) r=0.35m +[headless_play] t= 12.40s step= 620 trunk_z= 112.4mm grav_b=(-0.01,+0.05,-1.00) r=0.34m +[headless_play] t= 12.50s step= 625 trunk_z= 110.5mm grav_b=(-0.01,-0.17,-0.99) r=0.33m +[headless_play] t= 12.60s step= 630 trunk_z= 113.8mm grav_b=(-0.07,+0.02,-1.00) r=0.32m +[headless_play] t= 12.70s step= 635 trunk_z= 110.1mm grav_b=(-0.03,+0.10,-0.99) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 107.3mm grav_b=(+0.04,-0.12,-0.99) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 13.00s step= 650 trunk_z= 110.6mm grav_b=(-0.00,+0.12,-0.99) r=0.28m +[headless_play] t= 13.10s step= 655 trunk_z= 111.8mm grav_b=(-0.02,-0.09,-1.00) r=0.28m +[headless_play] t= 13.20s step= 660 trunk_z= 117.3mm grav_b=(-0.07,-0.07,-1.00) r=0.27m +[headless_play] t= 13.30s step= 665 trunk_z= 115.1mm grav_b=(-0.03,-0.02,-1.00) r=0.28m +[headless_play] t= 13.40s step= 670 trunk_z= 112.9mm grav_b=(+0.04,+0.05,-1.00) r=0.30m +[headless_play] t= 13.50s step= 675 trunk_z= 112.8mm grav_b=(+0.03,-0.09,-1.00) r=0.32m +[headless_play] t= 13.60s step= 680 trunk_z= 113.7mm grav_b=(+0.01,+0.05,-1.00) r=0.33m +[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(-0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 13.80s step= 690 trunk_z= 115.0mm grav_b=(-0.05,-0.06,-1.00) r=0.35m +[headless_play] t= 13.90s step= 695 trunk_z= 115.7mm grav_b=(-0.07,+0.02,-1.00) r=0.36m +[headless_play] t= 14.00s step= 700 trunk_z= 114.5mm grav_b=(+0.01,+0.06,-1.00) r=0.37m +[headless_play] t= 14.10s step= 705 trunk_z= 118.0mm grav_b=(-0.00,-0.07,-1.00) r=0.39m +[headless_play] t= 14.20s step= 710 trunk_z= 119.6mm grav_b=(-0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(+0.02,+0.00,-1.00) r=0.41m +[headless_play] t= 14.40s step= 720 trunk_z= 120.9mm grav_b=(+0.03,-0.06,-1.00) r=0.42m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(-0.03,+0.08,-1.00) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 119.1mm grav_b=(-0.02,-0.08,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 122.1mm grav_b=(-0.01,-0.10,-1.00) r=0.45m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(-0.06,+0.04,-1.00) r=0.46m +[headless_play] t= 14.90s step= 745 trunk_z= 121.0mm grav_b=(-0.04,+0.01,-1.00) r=0.48m +[headless_play] t= 15.00s step= 750 trunk_z= 120.0mm grav_b=(-0.04,-0.13,-0.99) r=0.48m +[headless_play] t= 15.10s step= 755 trunk_z= 120.2mm grav_b=(-0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 15.20s step= 760 trunk_z= 120.5mm grav_b=(-0.02,+0.05,-1.00) r=0.51m +[headless_play] t= 15.30s step= 765 trunk_z= 117.9mm grav_b=(-0.02,-0.14,-0.99) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 119.9mm grav_b=(-0.04,-0.02,-1.00) r=0.54m +[headless_play] t= 15.50s step= 775 trunk_z= 119.2mm grav_b=(-0.02,+0.06,-1.00) r=0.56m +[headless_play] t= 15.60s step= 780 trunk_z= 118.2mm grav_b=(-0.03,-0.13,-0.99) r=0.57m +[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(-0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 119.2mm grav_b=(-0.02,+0.07,-1.00) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(-0.04,-0.13,-0.99) r=0.62m +[headless_play] t= 16.00s step= 800 trunk_z= 119.4mm grav_b=(-0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 16.10s step= 805 trunk_z= 120.2mm grav_b=(-0.01,+0.05,-1.00) r=0.65m +[headless_play] t= 16.20s step= 810 trunk_z= 118.2mm grav_b=(-0.01,-0.14,-0.99) r=0.66m +[headless_play] t= 16.30s step= 815 trunk_z= 119.8mm grav_b=(-0.05,-0.02,-1.00) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 118.9mm grav_b=(-0.01,+0.02,-1.00) r=0.69m +[headless_play] t= 16.50s step= 825 trunk_z= 119.2mm grav_b=(-0.03,-0.12,-0.99) r=0.71m +[headless_play] t= 16.60s step= 830 trunk_z= 119.1mm grav_b=(-0.07,+0.03,-1.00) r=0.72m +[headless_play] t= 16.70s step= 835 trunk_z= 119.2mm grav_b=(-0.02,-0.05,-1.00) r=0.73m +[headless_play] t= 16.80s step= 840 trunk_z= 120.1mm grav_b=(-0.03,-0.06,-1.00) r=0.74m +[headless_play] t= 16.90s step= 845 trunk_z= 117.1mm grav_b=(-0.02,+0.06,-1.00) r=0.75m +[headless_play] t= 17.00s step= 850 trunk_z= 118.9mm grav_b=(-0.02,-0.12,-0.99) r=0.76m +[headless_play] t= 17.10s step= 855 trunk_z= 120.7mm grav_b=(-0.07,-0.04,-1.00) r=0.77m +[headless_play] t= 17.20s step= 860 trunk_z= 119.4mm grav_b=(-0.06,+0.05,-1.00) r=0.78m +[headless_play] t= 17.30s step= 865 trunk_z= 109.0mm grav_b=(+0.05,+0.08,-1.00) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 107.5mm grav_b=(+0.08,+0.11,-0.99) r=0.82m +[headless_play] t= 17.50s step= 875 trunk_z= 87.9mm grav_b=(-0.07,-0.02,-1.00) r=0.85m +[headless_play] t= 17.60s step= 880 trunk_z= 80.6mm grav_b=(-0.19,-0.00,-0.98) r=0.89m +[headless_play] t= 17.70s step= 885 trunk_z= 85.7mm grav_b=(+0.00,-0.00,-1.00) r=0.91m +[headless_play] t= 17.80s step= 890 trunk_z= 90.6mm grav_b=(-0.03,-0.01,-1.00) r=0.92m +[headless_play] t= 17.90s step= 895 trunk_z= 91.5mm grav_b=(-0.01,+0.02,-1.00) r=0.93m +[headless_play] t= 18.00s step= 900 trunk_z= 96.5mm grav_b=(+0.14,+0.00,-0.99) r=0.95m +[headless_play] t= 18.10s step= 905 trunk_z= 93.6mm grav_b=(+0.13,+0.07,-0.99) r=0.96m +[headless_play] t= 18.20s step= 910 trunk_z= 65.2mm grav_b=(+0.12,+0.09,-0.99) r=0.98m +[headless_play] t= 18.30s step= 915 trunk_z= 74.4mm grav_b=(+0.16,-0.13,-0.98) r=0.99m +[headless_play] t= 18.40s step= 920 trunk_z= 73.8mm grav_b=(+0.06,-0.19,-0.98) r=0.99m +[headless_play] t= 18.50s step= 925 trunk_z= 75.7mm grav_b=(-0.13,+0.08,-0.99) r=1.00m +[headless_play] t= 18.60s step= 930 trunk_z= 82.6mm grav_b=(-0.21,+0.02,-0.98) r=1.00m +[headless_play] t= 18.70s step= 935 trunk_z= 89.9mm grav_b=(-0.10,-0.00,-0.99) r=1.01m +[headless_play] t= 18.80s step= 940 trunk_z= 90.8mm grav_b=(-0.02,-0.02,-1.00) r=1.02m +[headless_play] t= 18.90s step= 945 trunk_z= 91.5mm grav_b=(+0.00,-0.02,-1.00) r=1.02m +[headless_play] t= 19.00s step= 950 trunk_z= 92.1mm grav_b=(+0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 19.10s step= 955 trunk_z= 92.0mm grav_b=(-0.00,-0.03,-1.00) r=1.02m +[headless_play] t= 19.20s step= 960 trunk_z= 92.1mm grav_b=(-0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 19.30s step= 965 trunk_z= 92.1mm grav_b=(-0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 19.40s step= 970 trunk_z= 92.2mm grav_b=(-0.00,-0.03,-1.00) r=1.02m +[headless_play] t= 19.50s step= 975 trunk_z= 92.2mm grav_b=(-0.00,-0.03,-1.00) r=1.02m +[headless_play] t= 19.60s step= 980 trunk_z= 92.2mm grav_b=(+0.00,-0.03,-1.00) r=1.02m +[headless_play] t= 19.70s step= 985 trunk_z= 92.3mm grav_b=(-0.00,-0.03,-1.00) r=1.02m +[headless_play] t= 19.80s step= 990 trunk_z= 92.3mm grav_b=(-0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 19.90s step= 995 trunk_z= 92.3mm grav_b=(-0.01,-0.04,-1.00) r=1.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..b372d43dc8111ad5ec895aea7a5b7607d48e7eb3 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t5.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-18.132,-17.649,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 121.9mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 118.8mm grav_b=(-0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 119.1mm grav_b=(-0.01,+0.08,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 122.7mm grav_b=(-0.03,+0.04,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 118.5mm grav_b=(-0.09,-0.06,-0.99) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 119.6mm grav_b=(-0.06,+0.10,-0.99) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 125.8mm grav_b=(-0.05,+0.05,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 122.4mm grav_b=(-0.07,-0.08,-0.99) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 121.6mm grav_b=(-0.06,+0.05,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 124.1mm grav_b=(-0.06,+0.10,-0.99) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 120.3mm grav_b=(-0.09,-0.04,-0.99) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 125.3mm grav_b=(-0.08,-0.04,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 119.7mm grav_b=(-0.03,+0.10,-0.99) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 123.6mm grav_b=(-0.07,-0.00,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 123.3mm grav_b=(-0.09,-0.08,-0.99) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 119.3mm grav_b=(-0.07,+0.11,-0.99) r=0.48m +[headless_play] t= 1.70s step= 85 trunk_z= 125.7mm grav_b=(-0.04,+0.06,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(-0.07,-0.09,-0.99) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 122.3mm grav_b=(-0.06,+0.01,-1.00) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 123.9mm grav_b=(-0.02,+0.09,-1.00) r=0.52m +[headless_play] t= 2.10s step= 105 trunk_z= 121.6mm grav_b=(-0.08,-0.03,-1.00) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 124.6mm grav_b=(-0.09,-0.09,-0.99) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 118.9mm grav_b=(-0.04,+0.13,-0.99) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 125.6mm grav_b=(-0.03,+0.03,-1.00) r=0.57m +[headless_play] t= 2.50s step= 125 trunk_z= 114.9mm grav_b=(-0.08,-0.09,-0.99) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 119.6mm grav_b=(-0.06,+0.06,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 123.6mm grav_b=(+0.04,+0.04,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 118.2mm grav_b=(-0.06,-0.11,-0.99) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 120.2mm grav_b=(-0.08,-0.04,-1.00) r=0.65m +[headless_play] t= 3.00s step= 150 trunk_z= 120.3mm grav_b=(-0.04,+0.14,-0.99) r=0.67m +[headless_play] t= 3.10s step= 155 trunk_z= 132.5mm grav_b=(-0.01,+0.08,-1.00) r=0.69m +[headless_play] t= 3.20s step= 160 trunk_z= 122.2mm grav_b=(-0.07,-0.05,-1.00) r=0.71m +[headless_play] t= 3.30s step= 165 trunk_z= 125.8mm grav_b=(-0.13,-0.11,-0.99) r=0.74m +[headless_play] t= 3.40s step= 170 trunk_z= 119.7mm grav_b=(-0.13,+0.02,-0.99) r=0.76m +[headless_play] t= 3.50s step= 175 trunk_z= 122.2mm grav_b=(-0.13,+0.03,-0.99) r=0.76m +[headless_play] t= 3.60s step= 180 trunk_z= 99.1mm grav_b=(-0.03,-0.01,-1.00) r=0.75m +[headless_play] t= 3.70s step= 185 trunk_z= 93.5mm grav_b=(+0.13,+0.08,-0.99) r=0.75m +[headless_play] t= 3.80s step= 190 trunk_z= 109.3mm grav_b=(+0.02,+0.02,-1.00) r=0.75m +[headless_play] t= 3.90s step= 195 trunk_z= 111.5mm grav_b=(-0.03,-0.10,-0.99) r=0.75m +[headless_play] t= 4.00s step= 200 trunk_z= 118.3mm grav_b=(-0.06,-0.01,-1.00) r=0.76m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.05,+0.08,-1.00) r=0.77m +[headless_play] t= 4.20s step= 210 trunk_z= 115.0mm grav_b=(-0.01,+0.03,-1.00) r=0.78m +[headless_play] t= 4.30s step= 215 trunk_z= 113.1mm grav_b=(+0.03,-0.06,-1.00) r=0.79m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.80m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(-0.02,+0.06,-1.00) r=0.82m +[headless_play] t= 4.60s step= 230 trunk_z= 115.2mm grav_b=(-0.03,-0.03,-1.00) r=0.84m +[headless_play] t= 4.70s step= 235 trunk_z= 100.7mm grav_b=(-0.08,-0.21,-0.97) r=0.85m +[headless_play] t= 4.80s step= 240 trunk_z= 110.3mm grav_b=(-0.36,-0.03,-0.93) r=0.87m +[headless_play] t= 4.90s step= 245 trunk_z= 45.0mm grav_b=(-0.38,+0.05,-0.93) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 42.4mm grav_b=(-0.05,-0.08,-1.00) r=0.89m +[headless_play] t= 5.10s step= 255 trunk_z= 66.9mm grav_b=(+0.03,-0.07,-1.00) r=0.91m +[headless_play] t= 5.20s step= 260 trunk_z= 87.0mm grav_b=(+0.08,+0.09,-0.99) r=0.92m +[headless_play] t= 5.30s step= 265 trunk_z= 94.0mm grav_b=(-0.00,+0.06,-1.00) r=0.93m +[headless_play] t= 5.40s step= 270 trunk_z= 90.8mm grav_b=(-0.07,-0.06,-1.00) r=0.94m +[headless_play] t= 5.50s step= 275 trunk_z= 90.5mm grav_b=(-0.12,+0.07,-0.99) r=0.95m +[headless_play] t= 5.60s step= 280 trunk_z= 85.1mm grav_b=(-0.07,+0.03,-1.00) r=0.96m +[headless_play] t= 5.70s step= 285 trunk_z= 74.9mm grav_b=(+0.01,-0.09,-1.00) r=0.98m +[headless_play] t= 5.80s step= 290 trunk_z= 91.0mm grav_b=(+0.01,-0.03,-1.00) r=0.99m +[headless_play] t= 5.90s step= 295 trunk_z= 92.9mm grav_b=(-0.05,+0.07,-1.00) r=0.99m +[headless_play] t= 6.00s step= 300 trunk_z= 96.7mm grav_b=(-0.03,+0.02,-1.00) r=0.98m +[headless_play] t= 6.10s step= 305 trunk_z= 95.2mm grav_b=(-0.07,-0.01,-1.00) r=0.98m +[headless_play] t= 6.20s step= 310 trunk_z= 95.7mm grav_b=(-0.06,+0.09,-0.99) r=0.97m +[headless_play] t= 6.30s step= 315 trunk_z= 98.0mm grav_b=(-0.03,+0.06,-1.00) r=0.97m +[headless_play] t= 6.40s step= 320 trunk_z= 92.7mm grav_b=(-0.07,-0.03,-1.00) r=0.98m +[headless_play] t= 6.50s step= 325 trunk_z= 93.4mm grav_b=(-0.04,+0.03,-1.00) r=0.98m +[headless_play] t= 6.60s step= 330 trunk_z= 96.2mm grav_b=(-0.02,+0.10,-0.99) r=0.98m +[headless_play] t= 6.70s step= 335 trunk_z= 97.1mm grav_b=(-0.05,+0.03,-1.00) r=0.99m +[headless_play] t= 6.80s step= 340 trunk_z= 96.3mm grav_b=(-0.05,-0.04,-1.00) r=1.00m +[headless_play] t= 6.90s step= 345 trunk_z= 90.8mm grav_b=(-0.06,+0.09,-0.99) r=1.01m +[headless_play] t= 7.00s step= 350 trunk_z= 96.4mm grav_b=(-0.03,+0.02,-1.00) r=1.02m +[headless_play] t= 7.10s step= 355 trunk_z= 97.2mm grav_b=(-0.07,-0.09,-0.99) r=1.03m +[headless_play] t= 7.20s step= 360 trunk_z= 94.6mm grav_b=(-0.06,+0.02,-1.00) r=1.04m +[headless_play] t= 7.30s step= 365 trunk_z= 97.0mm grav_b=(-0.03,+0.11,-0.99) r=1.04m +[headless_play] t= 7.40s step= 370 trunk_z= 97.0mm grav_b=(-0.03,+0.04,-1.00) r=1.05m +[headless_play] t= 7.50s step= 375 trunk_z= 95.4mm grav_b=(-0.05,-0.03,-1.00) r=1.06m +[headless_play] t= 7.60s step= 380 trunk_z= 90.8mm grav_b=(-0.05,+0.12,-0.99) r=1.06m +[headless_play] t= 7.70s step= 385 trunk_z= 97.0mm grav_b=(-0.01,+0.08,-1.00) r=1.07m +[headless_play] t= 7.80s step= 390 trunk_z= 93.0mm grav_b=(-0.07,-0.04,-1.00) r=1.08m +[headless_play] t= 7.90s step= 395 trunk_z= 94.6mm grav_b=(-0.08,+0.05,-1.00) r=1.09m +[headless_play] t= 8.00s step= 400 trunk_z= 97.9mm grav_b=(-0.02,+0.10,-0.99) r=1.10m +[headless_play] t= 8.10s step= 405 trunk_z= 93.6mm grav_b=(-0.05,+0.01,-1.00) r=1.10m +[headless_play] t= 8.20s step= 410 trunk_z= 95.9mm grav_b=(-0.07,-0.05,-1.00) r=1.11m +[headless_play] t= 8.30s step= 415 trunk_z= 95.2mm grav_b=(-0.10,+0.05,-0.99) r=1.12m +[headless_play] t= 8.40s step= 420 trunk_z= 95.7mm grav_b=(-0.07,+0.12,-0.99) r=1.12m +[headless_play] t= 8.50s step= 425 trunk_z= 92.4mm grav_b=(+0.02,+0.03,-1.00) r=1.13m +[headless_play] t= 8.60s step= 430 trunk_z= 92.8mm grav_b=(-0.00,-0.07,-1.00) r=1.13m +[headless_play] t= 8.70s step= 435 trunk_z= 94.0mm grav_b=(-0.02,+0.03,-1.00) r=1.14m +[headless_play] t= 8.80s step= 440 trunk_z= 96.5mm grav_b=(-0.04,+0.11,-0.99) r=1.14m +[headless_play] t= 8.90s step= 445 trunk_z= 96.3mm grav_b=(-0.03,+0.04,-1.00) r=1.14m +[headless_play] t= 9.00s step= 450 trunk_z= 92.6mm grav_b=(-0.04,-0.04,-1.00) r=1.15m +[headless_play] t= 9.10s step= 455 trunk_z= 93.9mm grav_b=(-0.13,+0.04,-0.99) r=1.15m +[headless_play] t= 9.20s step= 460 trunk_z= 81.5mm grav_b=(-0.08,+0.17,-0.98) r=1.16m +[headless_play] t= 9.30s step= 465 trunk_z= 89.0mm grav_b=(-0.01,+0.03,-1.00) r=1.16m +[headless_play] t= 9.40s step= 470 trunk_z= 88.7mm grav_b=(+0.02,-0.06,-1.00) r=1.17m +[headless_play] t= 9.50s step= 475 trunk_z= 89.7mm grav_b=(-0.03,+0.08,-1.00) r=1.17m +[headless_play] t= 9.60s step= 480 trunk_z= 96.7mm grav_b=(-0.03,+0.13,-0.99) r=1.17m +[headless_play] t= 9.70s step= 485 trunk_z= 93.5mm grav_b=(-0.03,+0.04,-1.00) r=1.17m +[headless_play] t= 9.80s step= 490 trunk_z= 94.7mm grav_b=(-0.07,-0.03,-1.00) r=1.17m +[headless_play] t= 9.90s step= 495 trunk_z= 96.1mm grav_b=(-0.06,-0.00,-1.00) r=1.17m +[headless_play] t= 10.00s step= 500 trunk_z= 90.9mm grav_b=(-0.01,+0.10,-1.00) r=1.16m +[headless_play] t= 10.10s step= 505 trunk_z= 94.9mm grav_b=(+0.00,+0.06,-1.00) r=1.15m +[headless_play] t= 10.20s step= 510 trunk_z= 90.6mm grav_b=(-0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 10.30s step= 515 trunk_z= 95.3mm grav_b=(-0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 10.40s step= 520 trunk_z= 92.6mm grav_b=(-0.02,+0.05,-1.00) r=1.14m +[headless_play] t= 10.50s step= 525 trunk_z= 98.1mm grav_b=(-0.04,+0.10,-0.99) r=1.13m +[headless_play] t= 10.60s step= 530 trunk_z= 95.9mm grav_b=(-0.01,+0.08,-1.00) r=1.12m +[headless_play] t= 10.70s step= 535 trunk_z= 92.5mm grav_b=(-0.01,-0.03,-1.00) r=1.12m +[headless_play] t= 10.80s step= 540 trunk_z= 94.4mm grav_b=(-0.02,-0.01,-1.00) r=1.12m +[headless_play] t= 10.90s step= 545 trunk_z= 92.6mm grav_b=(-0.02,+0.05,-1.00) r=1.11m +[headless_play] t= 11.00s step= 550 trunk_z= 97.9mm grav_b=(-0.05,+0.08,-1.00) r=1.10m +[headless_play] t= 11.10s step= 555 trunk_z= 95.2mm grav_b=(-0.00,+0.06,-1.00) r=1.09m +[headless_play] t= 11.20s step= 560 trunk_z= 93.2mm grav_b=(-0.01,-0.04,-1.00) r=1.09m +[headless_play] t= 11.30s step= 565 trunk_z= 94.9mm grav_b=(-0.02,-0.01,-1.00) r=1.09m +[headless_play] t= 11.40s step= 570 trunk_z= 92.1mm grav_b=(-0.02,+0.05,-1.00) r=1.08m +[headless_play] t= 11.50s step= 575 trunk_z= 99.2mm grav_b=(-0.05,+0.08,-1.00) r=1.07m +[headless_play] t= 11.60s step= 580 trunk_z= 93.6mm grav_b=(-0.03,+0.00,-1.00) r=1.07m +[headless_play] t= 11.70s step= 585 trunk_z= 97.1mm grav_b=(-0.03,+0.02,-1.00) r=1.07m +[headless_play] t= 11.80s step= 590 trunk_z= 96.4mm grav_b=(+0.01,+0.13,-0.99) r=1.07m +[headless_play] t= 11.90s step= 595 trunk_z= 103.6mm grav_b=(-0.00,+0.05,-1.00) r=1.06m +[headless_play] t= 12.00s step= 600 trunk_z= 94.3mm grav_b=(-0.00,-0.04,-1.00) r=1.05m +[headless_play] t= 12.10s step= 605 trunk_z= 96.2mm grav_b=(-0.05,+0.06,-1.00) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 97.5mm grav_b=(-0.06,+0.08,-0.99) r=1.02m +[headless_play] t= 12.30s step= 615 trunk_z= 95.0mm grav_b=(-0.04,-0.02,-1.00) r=1.02m +[headless_play] t= 12.40s step= 620 trunk_z= 93.9mm grav_b=(-0.01,+0.11,-0.99) r=1.02m +[headless_play] t= 12.50s step= 625 trunk_z= 101.1mm grav_b=(+0.01,+0.07,-1.00) r=1.01m +[headless_play] t= 12.60s step= 630 trunk_z= 104.8mm grav_b=(+0.23,+0.23,-0.94) r=0.96m +[headless_play] t= 12.70s step= 635 trunk_z= 87.6mm grav_b=(+0.57,+0.69,-0.44) r=0.91m +[headless_play] RESET at t= 12.72s step= 636 (env termination, not a recovery) +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.04m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(+0.00,+0.06,-1.00) r=0.04m +[headless_play] t= 13.00s step= 650 trunk_z= 120.1mm grav_b=(-0.01,+0.01,-1.00) r=0.04m +[headless_play] t= 13.10s step= 655 trunk_z= 118.4mm grav_b=(-0.01,+0.06,-1.00) r=0.04m +[headless_play] t= 13.20s step= 660 trunk_z= 119.0mm grav_b=(-0.00,+0.01,-1.00) r=0.05m +[headless_play] t= 13.30s step= 665 trunk_z= 118.8mm grav_b=(-0.07,+0.02,-1.00) r=0.05m +[headless_play] t= 13.40s step= 670 trunk_z= 118.5mm grav_b=(-0.03,+0.02,-1.00) r=0.05m +[headless_play] t= 13.50s step= 675 trunk_z= 119.2mm grav_b=(-0.00,+0.01,-1.00) r=0.06m +[headless_play] t= 13.60s step= 680 trunk_z= 118.4mm grav_b=(+0.01,+0.05,-1.00) r=0.06m +[headless_play] t= 13.70s step= 685 trunk_z= 119.1mm grav_b=(-0.01,+0.01,-1.00) r=0.06m +[headless_play] t= 13.80s step= 690 trunk_z= 118.9mm grav_b=(-0.06,+0.02,-1.00) r=0.06m +[headless_play] t= 13.90s step= 695 trunk_z= 118.7mm grav_b=(-0.02,+0.03,-1.00) r=0.07m +[headless_play] t= 14.00s step= 700 trunk_z= 118.8mm grav_b=(-0.01,+0.02,-1.00) r=0.07m +[headless_play] t= 14.10s step= 705 trunk_z= 118.6mm grav_b=(+0.00,+0.04,-1.00) r=0.07m +[headless_play] t= 14.20s step= 710 trunk_z= 118.3mm grav_b=(-0.01,+0.01,-1.00) r=0.07m +[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(-0.04,+0.06,-1.00) r=0.07m +[headless_play] t= 14.40s step= 720 trunk_z= 118.5mm grav_b=(-0.00,+0.01,-1.00) r=0.06m +[headless_play] t= 14.50s step= 725 trunk_z= 119.6mm grav_b=(-0.06,-0.01,-1.00) r=0.07m +[headless_play] t= 14.60s step= 730 trunk_z= 120.8mm grav_b=(-0.02,+0.08,-1.00) r=0.07m +[headless_play] t= 14.70s step= 735 trunk_z= 119.4mm grav_b=(-0.05,-0.10,-0.99) r=0.08m +[headless_play] t= 14.80s step= 740 trunk_z= 125.4mm grav_b=(-0.09,-0.08,-0.99) r=0.08m +[headless_play] t= 14.90s step= 745 trunk_z= 118.6mm grav_b=(-0.06,+0.08,-0.99) r=0.09m +[headless_play] t= 15.00s step= 750 trunk_z= 121.7mm grav_b=(+0.01,+0.01,-1.00) r=0.09m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(-0.07,-0.10,-0.99) r=0.09m +[headless_play] t= 15.20s step= 760 trunk_z= 118.3mm grav_b=(-0.02,+0.04,-1.00) r=0.10m +[headless_play] t= 15.30s step= 765 trunk_z= 120.7mm grav_b=(-0.05,+0.03,-1.00) r=0.10m +[headless_play] t= 15.40s step= 770 trunk_z= 117.0mm grav_b=(-0.09,-0.11,-0.99) r=0.10m +[headless_play] t= 15.50s step= 775 trunk_z= 127.8mm grav_b=(-0.08,-0.09,-0.99) r=0.11m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(-0.05,+0.05,-1.00) r=0.12m +[headless_play] t= 15.70s step= 785 trunk_z= 121.8mm grav_b=(-0.02,+0.03,-1.00) r=0.11m +[headless_play] t= 15.80s step= 790 trunk_z= 121.1mm grav_b=(-0.04,-0.07,-1.00) r=0.11m +[headless_play] t= 15.90s step= 795 trunk_z= 115.5mm grav_b=(-0.05,+0.08,-1.00) r=0.12m +[headless_play] t= 16.00s step= 800 trunk_z= 122.2mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 16.10s step= 805 trunk_z= 121.9mm grav_b=(-0.12,-0.14,-0.98) r=0.12m +[headless_play] t= 16.20s step= 810 trunk_z= 125.5mm grav_b=(-0.07,-0.05,-1.00) r=0.13m +[headless_play] t= 16.30s step= 815 trunk_z= 121.9mm grav_b=(-0.02,+0.07,-1.00) r=0.14m +[headless_play] t= 16.40s step= 820 trunk_z= 118.2mm grav_b=(-0.01,-0.07,-1.00) r=0.14m +[headless_play] t= 16.50s step= 825 trunk_z= 125.4mm grav_b=(-0.06,-0.04,-1.00) r=0.15m +[headless_play] t= 16.60s step= 830 trunk_z= 118.8mm grav_b=(-0.02,+0.10,-0.99) r=0.16m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(-0.04,-0.07,-1.00) r=0.16m +[headless_play] t= 16.80s step= 840 trunk_z= 123.4mm grav_b=(-0.07,-0.06,-1.00) r=0.16m +[headless_play] t= 16.90s step= 845 trunk_z= 117.1mm grav_b=(-0.08,+0.13,-0.99) r=0.17m +[headless_play] t= 17.00s step= 850 trunk_z= 121.4mm grav_b=(+0.02,+0.01,-1.00) r=0.18m +[headless_play] t= 17.10s step= 855 trunk_z= 122.6mm grav_b=(-0.01,-0.12,-0.99) r=0.19m +[headless_play] t= 17.20s step= 860 trunk_z= 118.8mm grav_b=(-0.03,+0.06,-1.00) r=0.20m +[headless_play] t= 17.30s step= 865 trunk_z= 124.1mm grav_b=(-0.03,+0.12,-0.99) r=0.25m +[headless_play] t= 17.40s step= 870 trunk_z= 117.4mm grav_b=(+0.09,-0.06,-0.99) r=0.32m +[headless_play] t= 17.50s step= 875 trunk_z= 127.7mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 17.60s step= 880 trunk_z= 121.4mm grav_b=(+0.03,+0.19,-0.98) r=0.40m +[headless_play] t= 17.70s step= 885 trunk_z= 139.4mm grav_b=(-0.00,+0.21,-0.98) r=0.45m +[headless_play] t= 17.80s step= 890 trunk_z= 131.4mm grav_b=(+0.00,+0.11,-0.99) r=0.49m +[headless_play] t= 17.90s step= 895 trunk_z= 122.0mm grav_b=(-0.22,+0.06,-0.97) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 106.8mm grav_b=(-0.31,+0.13,-0.94) r=0.58m +[headless_play] t= 18.10s step= 905 trunk_z= 96.7mm grav_b=(-0.16,-0.14,-0.98) r=0.61m +[headless_play] t= 18.20s step= 910 trunk_z= 112.4mm grav_b=(-0.33,-0.07,-0.94) r=0.63m +[headless_play] t= 18.30s step= 915 trunk_z= 101.4mm grav_b=(-0.19,+0.17,-0.97) r=0.65m +[headless_play] t= 18.40s step= 920 trunk_z= 82.1mm grav_b=(+0.28,-0.02,-0.96) r=0.66m +[headless_play] t= 18.50s step= 925 trunk_z= 105.7mm grav_b=(-0.01,-0.20,-0.98) r=0.69m +[headless_play] t= 18.60s step= 930 trunk_z= 116.7mm grav_b=(-0.15,+0.09,-0.99) r=0.70m +[headless_play] t= 18.70s step= 935 trunk_z= 127.4mm grav_b=(-0.18,+0.27,-0.95) r=0.70m +[headless_play] t= 18.80s step= 940 trunk_z= 108.6mm grav_b=(-0.36,+0.59,-0.72) r=0.70m +[headless_play] RESET at t= 18.86s step= 943 (env termination, not a recovery) +[headless_play] t= 18.90s step= 945 trunk_z= 115.0mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(-0.04,+0.04,-1.00) r=0.57m +[headless_play] t= 19.10s step= 955 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.57m +[headless_play] t= 19.20s step= 960 trunk_z= 116.8mm grav_b=(-0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 19.30s step= 965 trunk_z= 115.5mm grav_b=(-0.06,+0.06,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 118.6mm grav_b=(-0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 19.50s step= 975 trunk_z= 112.9mm grav_b=(-0.07,-0.10,-0.99) r=0.56m +[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(-0.07,-0.06,-1.00) r=0.56m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(-0.06,-0.03,-1.00) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(-0.04,+0.04,-1.00) r=0.53m +[headless_play] t= 19.90s step= 995 trunk_z= 118.7mm grav_b=(-0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 20.00s step=1000 trunk_z= 114.2mm grav_b=(-0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 117.1mm grav_b=(-0.05,-0.04,-1.00) r=0.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..599f94355dfc663c36c5043c556c5a1134776acc --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.656,-18.260,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.1mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 117.2mm grav_b=(-0.00,+0.05,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 117.2mm grav_b=(+0.01,+0.03,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(-0.00,+0.04,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 117.2mm grav_b=(-0.03,+0.04,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(+0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 117.4mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(-0.02,+0.04,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.43m +[headless_play] t= 1.40s step= 70 trunk_z= 117.1mm grav_b=(-0.02,+0.04,-1.00) r=0.43m +[headless_play] t= 1.50s step= 75 trunk_z= 116.8mm grav_b=(-0.00,+0.05,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(+0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 1.80s step= 90 trunk_z= 117.5mm grav_b=(-0.02,+0.04,-1.00) r=0.42m +[headless_play] t= 1.90s step= 95 trunk_z= 117.5mm grav_b=(-0.02,+0.04,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 2.10s step= 105 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 2.20s step= 110 trunk_z= 117.4mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 117.4mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 117.3mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(-0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(-0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 116.8mm grav_b=(-0.02,+0.04,-1.00) r=0.43m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(-0.00,+0.04,-1.00) r=0.43m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(+0.00,+0.04,-1.00) r=0.43m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(-0.00,+0.04,-1.00) r=0.43m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(-0.02,+0.04,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(-0.02,+0.04,-1.00) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 117.1mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 116.9mm grav_b=(-0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 4.20s step= 210 trunk_z= 117.1mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(-0.03,+0.04,-1.00) r=0.42m +[headless_play] t= 4.50s step= 225 trunk_z= 115.4mm grav_b=(-0.01,+0.08,-1.00) r=0.44m +[headless_play] t= 4.60s step= 230 trunk_z= 114.8mm grav_b=(+0.09,+0.09,-0.99) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 119.2mm grav_b=(+0.06,-0.00,-1.00) r=0.48m +[headless_play] t= 4.80s step= 240 trunk_z= 105.0mm grav_b=(+0.07,-0.24,-0.97) r=0.50m +[headless_play] t= 4.90s step= 245 trunk_z= 119.7mm grav_b=(+0.04,-0.13,-0.99) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 117.5mm grav_b=(-0.07,+0.13,-0.99) r=0.53m +[headless_play] t= 5.10s step= 255 trunk_z= 119.1mm grav_b=(-0.18,+0.07,-0.98) r=0.55m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(-0.12,+0.06,-0.99) r=0.57m +[headless_play] t= 5.30s step= 265 trunk_z= 113.3mm grav_b=(-0.07,+0.19,-0.98) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 113.0mm grav_b=(+0.03,+0.03,-1.00) r=0.58m +[headless_play] t= 5.50s step= 275 trunk_z= 114.7mm grav_b=(+0.01,-0.02,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 117.0mm grav_b=(-0.08,+0.09,-0.99) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.09,+0.06,-0.99) r=0.60m +[headless_play] t= 5.80s step= 290 trunk_z= 111.7mm grav_b=(-0.00,-0.07,-1.00) r=0.60m +[headless_play] t= 5.90s step= 295 trunk_z= 113.5mm grav_b=(+0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(-0.05,+0.09,-0.99) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 115.1mm grav_b=(-0.08,-0.06,-0.99) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 118.1mm grav_b=(-0.05,-0.03,-1.00) r=0.61m +[headless_play] t= 6.30s step= 315 trunk_z= 117.5mm grav_b=(-0.01,+0.07,-1.00) r=0.61m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(+0.01,+0.09,-1.00) r=0.60m +[headless_play] t= 6.50s step= 325 trunk_z= 113.1mm grav_b=(-0.04,-0.08,-1.00) r=0.61m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(-0.05,+0.03,-1.00) r=0.61m +[headless_play] t= 6.70s step= 335 trunk_z= 117.4mm grav_b=(-0.03,+0.13,-0.99) r=0.61m +[headless_play] t= 6.80s step= 340 trunk_z= 118.8mm grav_b=(-0.00,+0.03,-1.00) r=0.61m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(-0.03,-0.05,-1.00) r=0.62m +[headless_play] t= 7.00s step= 350 trunk_z= 117.7mm grav_b=(-0.03,+0.06,-1.00) r=0.62m +[headless_play] t= 7.10s step= 355 trunk_z= 120.3mm grav_b=(-0.02,+0.07,-1.00) r=0.62m +[headless_play] t= 7.20s step= 360 trunk_z= 115.0mm grav_b=(-0.04,-0.07,-1.00) r=0.62m +[headless_play] t= 7.30s step= 365 trunk_z= 117.7mm grav_b=(-0.04,+0.02,-1.00) r=0.63m +[headless_play] t= 7.40s step= 370 trunk_z= 115.4mm grav_b=(-0.03,+0.13,-0.99) r=0.62m +[headless_play] t= 7.50s step= 375 trunk_z= 118.8mm grav_b=(-0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 7.60s step= 380 trunk_z= 118.5mm grav_b=(-0.07,+0.02,-1.00) r=0.60m +[headless_play] t= 7.70s step= 385 trunk_z= 119.0mm grav_b=(-0.08,+0.00,-1.00) r=0.60m +[headless_play] t= 7.80s step= 390 trunk_z= 120.8mm grav_b=(-0.10,-0.03,-0.99) r=0.60m +[headless_play] t= 7.90s step= 395 trunk_z= 119.8mm grav_b=(-0.06,+0.05,-1.00) r=0.60m +[headless_play] t= 8.00s step= 400 trunk_z= 119.8mm grav_b=(-0.09,+0.01,-1.00) r=0.60m +[headless_play] t= 8.10s step= 405 trunk_z= 118.9mm grav_b=(-0.04,+0.04,-1.00) r=0.61m +[headless_play] t= 8.20s step= 410 trunk_z= 119.2mm grav_b=(+0.00,+0.04,-1.00) r=0.61m +[headless_play] t= 8.30s step= 415 trunk_z= 120.0mm grav_b=(+0.00,+0.06,-1.00) r=0.61m +[headless_play] t= 8.40s step= 420 trunk_z= 117.5mm grav_b=(-0.07,-0.06,-1.00) r=0.62m +[headless_play] t= 8.50s step= 425 trunk_z= 115.4mm grav_b=(-0.11,+0.04,-0.99) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 117.3mm grav_b=(-0.07,+0.02,-1.00) r=0.63m +[headless_play] t= 8.70s step= 435 trunk_z= 117.9mm grav_b=(-0.05,+0.03,-1.00) r=0.63m +[headless_play] t= 8.80s step= 440 trunk_z= 118.2mm grav_b=(-0.03,+0.05,-1.00) r=0.63m +[headless_play] t= 8.90s step= 445 trunk_z= 118.1mm grav_b=(-0.04,+0.05,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 117.7mm grav_b=(-0.06,+0.04,-1.00) r=0.63m +[headless_play] t= 9.10s step= 455 trunk_z= 117.9mm grav_b=(-0.06,+0.04,-1.00) r=0.63m +[headless_play] t= 9.20s step= 460 trunk_z= 118.1mm grav_b=(-0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 118.2mm grav_b=(-0.04,+0.05,-1.00) r=0.63m +[headless_play] t= 9.40s step= 470 trunk_z= 118.0mm grav_b=(-0.04,+0.04,-1.00) r=0.63m +[headless_play] t= 9.50s step= 475 trunk_z= 118.0mm grav_b=(-0.04,+0.05,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 118.0mm grav_b=(-0.05,+0.04,-1.00) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(-0.04,+0.05,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 118.0mm grav_b=(-0.04,+0.05,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 117.9mm grav_b=(-0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(-0.07,+0.05,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 116.2mm grav_b=(-0.23,+0.04,-0.97) r=0.62m +[headless_play] t= 10.20s step= 510 trunk_z= 109.3mm grav_b=(-0.31,+0.03,-0.95) r=0.61m +[headless_play] t= 10.30s step= 515 trunk_z= 67.6mm grav_b=(-0.31,-0.12,-0.94) r=0.60m +[headless_play] t= 10.40s step= 520 trunk_z= 68.5mm grav_b=(-0.23,-0.33,-0.92) r=0.60m +[headless_play] t= 10.50s step= 525 trunk_z= 94.3mm grav_b=(-0.45,-0.21,-0.87) r=0.62m +[headless_play] t= 10.60s step= 530 trunk_z= 85.6mm grav_b=(-0.54,-0.02,-0.84) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 93.6mm grav_b=(-0.50,-0.03,-0.87) r=0.64m +[headless_play] t= 10.80s step= 540 trunk_z= 82.4mm grav_b=(-0.21,-0.12,-0.97) r=0.67m +[headless_play] t= 10.90s step= 545 trunk_z= 95.4mm grav_b=(-0.11,-0.00,-0.99) r=0.70m +[headless_play] t= 11.00s step= 550 trunk_z= 105.2mm grav_b=(-0.07,+0.12,-0.99) r=0.72m +[headless_play] t= 11.10s step= 555 trunk_z= 107.9mm grav_b=(-0.04,-0.11,-0.99) r=0.73m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(-0.10,-0.10,-0.99) r=0.74m +[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(-0.02,+0.08,-1.00) r=0.75m +[headless_play] t= 11.40s step= 570 trunk_z= 121.0mm grav_b=(-0.00,+0.01,-1.00) r=0.75m +[headless_play] t= 11.50s step= 575 trunk_z= 120.5mm grav_b=(-0.07,-0.09,-0.99) r=0.75m +[headless_play] t= 11.60s step= 580 trunk_z= 117.6mm grav_b=(-0.13,+0.10,-0.99) r=0.75m +[headless_play] t= 11.70s step= 585 trunk_z= 123.0mm grav_b=(-0.04,+0.04,-1.00) r=0.74m +[headless_play] t= 11.80s step= 590 trunk_z= 122.0mm grav_b=(-0.08,-0.13,-0.99) r=0.73m +[headless_play] t= 11.90s step= 595 trunk_z= 123.8mm grav_b=(-0.07,-0.01,-1.00) r=0.73m +[headless_play] t= 12.00s step= 600 trunk_z= 123.3mm grav_b=(-0.02,+0.11,-0.99) r=0.72m +[headless_play] t= 12.10s step= 605 trunk_z= 121.3mm grav_b=(-0.11,-0.01,-0.99) r=0.72m +[headless_play] t= 12.20s step= 610 trunk_z= 122.2mm grav_b=(-0.08,-0.03,-1.00) r=0.71m +[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(-0.06,+0.15,-0.99) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 123.1mm grav_b=(-0.06,+0.06,-1.00) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 123.8mm grav_b=(-0.08,-0.08,-0.99) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 120.0mm grav_b=(-0.09,+0.09,-0.99) r=0.71m +[headless_play] t= 12.70s step= 635 trunk_z= 122.2mm grav_b=(-0.06,+0.08,-0.99) r=0.71m +[headless_play] t= 12.80s step= 640 trunk_z= 120.9mm grav_b=(-0.08,-0.09,-0.99) r=0.71m +[headless_play] t= 12.90s step= 645 trunk_z= 122.6mm grav_b=(-0.10,+0.04,-0.99) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 122.9mm grav_b=(-0.06,+0.11,-0.99) r=0.70m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(-0.09,-0.06,-0.99) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 124.5mm grav_b=(-0.11,-0.04,-0.99) r=0.70m +[headless_play] t= 13.30s step= 665 trunk_z= 121.4mm grav_b=(-0.08,+0.13,-0.99) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 120.1mm grav_b=(-0.06,-0.01,-1.00) r=0.70m +[headless_play] t= 13.50s step= 675 trunk_z= 127.8mm grav_b=(-0.08,-0.11,-0.99) r=0.70m +[headless_play] t= 13.60s step= 680 trunk_z= 122.9mm grav_b=(-0.09,+0.05,-0.99) r=0.70m +[headless_play] t= 13.70s step= 685 trunk_z= 123.5mm grav_b=(-0.05,+0.08,-1.00) r=0.70m +[headless_play] t= 13.80s step= 690 trunk_z= 119.8mm grav_b=(-0.07,-0.09,-0.99) r=0.70m +[headless_play] t= 13.90s step= 695 trunk_z= 125.1mm grav_b=(-0.09,-0.01,-1.00) r=0.70m +[headless_play] t= 14.00s step= 700 trunk_z= 121.8mm grav_b=(-0.05,+0.12,-0.99) r=0.69m +[headless_play] t= 14.10s step= 705 trunk_z= 118.1mm grav_b=(-0.06,-0.02,-1.00) r=0.68m +[headless_play] t= 14.20s step= 710 trunk_z= 119.7mm grav_b=(-0.09,-0.05,-0.99) r=0.68m +[headless_play] t= 14.30s step= 715 trunk_z= 111.4mm grav_b=(-0.05,+0.12,-0.99) r=0.68m +[headless_play] t= 14.40s step= 720 trunk_z= 111.3mm grav_b=(-0.02,+0.02,-1.00) r=0.68m +[headless_play] t= 14.50s step= 725 trunk_z= 110.5mm grav_b=(-0.01,-0.09,-1.00) r=0.68m +[headless_play] t= 14.60s step= 730 trunk_z= 114.3mm grav_b=(-0.01,+0.04,-1.00) r=0.68m +[headless_play] t= 14.70s step= 735 trunk_z= 113.9mm grav_b=(-0.01,+0.05,-1.00) r=0.67m +[headless_play] t= 14.80s step= 740 trunk_z= 112.9mm grav_b=(-0.04,-0.10,-0.99) r=0.67m +[headless_play] t= 14.90s step= 745 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 15.00s step= 750 trunk_z= 113.2mm grav_b=(-0.01,+0.05,-1.00) r=0.65m +[headless_play] t= 15.10s step= 755 trunk_z= 112.9mm grav_b=(-0.01,-0.06,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 114.3mm grav_b=(-0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 15.30s step= 765 trunk_z= 121.3mm grav_b=(-0.26,+0.09,-0.96) r=0.70m +[headless_play] t= 15.40s step= 770 trunk_z= 101.4mm grav_b=(-0.50,-0.05,-0.86) r=0.74m +[headless_play] t= 15.50s step= 775 trunk_z= 77.3mm grav_b=(-0.67,-0.16,-0.72) r=0.77m +[headless_play] t= 15.60s step= 780 trunk_z= 76.8mm grav_b=(-0.68,-0.01,-0.73) r=0.80m +[headless_play] RESET at t= 15.70s step= 785 (env termination, not a recovery) +[headless_play] t= 15.70s step= 785 trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) r=0.60m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(-0.01,+0.04,-1.00) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 116.6mm grav_b=(-0.01,+0.12,-0.99) r=0.60m +[headless_play] t= 16.00s step= 800 trunk_z= 117.4mm grav_b=(-0.01,+0.07,-1.00) r=0.59m +[headless_play] t= 16.10s step= 805 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 16.20s step= 810 trunk_z= 118.0mm grav_b=(-0.04,+0.06,-1.00) r=0.58m +[headless_play] t= 16.30s step= 815 trunk_z= 116.7mm grav_b=(-0.04,+0.17,-0.99) r=0.57m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(-0.01,+0.09,-1.00) r=0.56m +[headless_play] t= 16.50s step= 825 trunk_z= 114.2mm grav_b=(+0.02,-0.06,-1.00) r=0.55m +[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(+0.02,+0.03,-1.00) r=0.54m +[headless_play] t= 16.70s step= 835 trunk_z= 114.8mm grav_b=(-0.01,+0.19,-0.98) r=0.52m +[headless_play] t= 16.80s step= 840 trunk_z= 122.2mm grav_b=(+0.00,+0.17,-0.99) r=0.51m +[headless_play] t= 16.90s step= 845 trunk_z= 114.0mm grav_b=(-0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 17.00s step= 850 trunk_z= 119.1mm grav_b=(-0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 17.10s step= 855 trunk_z= 117.5mm grav_b=(-0.02,+0.09,-1.00) r=0.48m +[headless_play] t= 17.20s step= 860 trunk_z= 120.0mm grav_b=(+0.02,+0.14,-0.99) r=0.48m +[headless_play] t= 17.30s step= 865 trunk_z= 117.8mm grav_b=(-0.02,+0.03,-1.00) r=0.46m +[headless_play] t= 17.40s step= 870 trunk_z= 117.5mm grav_b=(+0.01,-0.07,-1.00) r=0.45m +[headless_play] t= 17.50s step= 875 trunk_z= 118.5mm grav_b=(-0.01,+0.06,-1.00) r=0.44m +[headless_play] t= 17.60s step= 880 trunk_z= 120.6mm grav_b=(-0.01,+0.19,-0.98) r=0.43m +[headless_play] t= 17.70s step= 885 trunk_z= 123.7mm grav_b=(-0.02,+0.19,-0.98) r=0.43m +[headless_play] t= 17.80s step= 890 trunk_z= 116.9mm grav_b=(+0.01,+0.08,-1.00) r=0.42m +[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 18.00s step= 900 trunk_z= 117.3mm grav_b=(+0.00,+0.06,-1.00) r=0.39m +[headless_play] t= 18.10s step= 905 trunk_z= 122.3mm grav_b=(+0.04,+0.11,-0.99) r=0.38m +[headless_play] t= 18.20s step= 910 trunk_z= 118.5mm grav_b=(-0.01,-0.03,-1.00) r=0.36m +[headless_play] t= 18.30s step= 915 trunk_z= 119.8mm grav_b=(-0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 18.40s step= 920 trunk_z= 122.4mm grav_b=(+0.00,+0.11,-0.99) r=0.34m +[headless_play] t= 18.50s step= 925 trunk_z= 119.3mm grav_b=(-0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 18.60s step= 930 trunk_z= 120.8mm grav_b=(-0.05,-0.02,-1.00) r=0.31m +[headless_play] t= 18.70s step= 935 trunk_z= 120.6mm grav_b=(-0.00,+0.11,-0.99) r=0.30m +[headless_play] t= 18.80s step= 940 trunk_z= 119.1mm grav_b=(-0.05,-0.01,-1.00) r=0.29m +[headless_play] t= 18.90s step= 945 trunk_z= 121.6mm grav_b=(-0.05,-0.03,-1.00) r=0.28m +[headless_play] t= 19.00s step= 950 trunk_z= 119.8mm grav_b=(-0.01,+0.16,-0.99) r=0.27m +[headless_play] t= 19.10s step= 955 trunk_z= 123.0mm grav_b=(-0.02,+0.08,-1.00) r=0.26m +[headless_play] t= 19.20s step= 960 trunk_z= 119.2mm grav_b=(-0.05,-0.09,-0.99) r=0.25m +[headless_play] t= 19.30s step= 965 trunk_z= 118.1mm grav_b=(-0.04,+0.09,-0.99) r=0.23m +[headless_play] t= 19.40s step= 970 trunk_z= 123.2mm grav_b=(+0.01,+0.14,-0.99) r=0.22m +[headless_play] t= 19.50s step= 975 trunk_z= 120.2mm grav_b=(-0.04,+0.01,-1.00) r=0.21m +[headless_play] t= 19.60s step= 980 trunk_z= 121.6mm grav_b=(-0.03,-0.06,-1.00) r=0.20m +[headless_play] t= 19.70s step= 985 trunk_z= 118.6mm grav_b=(-0.03,+0.15,-0.99) r=0.19m +[headless_play] t= 19.80s step= 990 trunk_z= 122.6mm grav_b=(-0.01,+0.06,-1.00) r=0.18m +[headless_play] t= 19.90s step= 995 trunk_z= 120.1mm grav_b=(-0.04,-0.10,-0.99) r=0.16m +[headless_play] t= 20.00s step=1000 trunk_z= 118.5mm grav_b=(-0.05,+0.08,-1.00) r=0.15m +[headless_play] t= 20.10s step=1005 trunk_z= 122.2mm grav_b=(+0.00,+0.15,-0.99) r=0.14m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..6f6dd21c157d1608da2b06cd59e6d0cd9c481ae2 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.540,-17.832,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.6mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 117.5mm grav_b=(+0.00,+0.04,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(+0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 116.4mm grav_b=(+0.01,+0.05,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 115.0mm grav_b=(+0.02,+0.09,-1.00) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 113.8mm grav_b=(+0.14,+0.00,-0.99) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 120.2mm grav_b=(+0.08,-0.02,-1.00) r=0.52m +[headless_play] t= 4.20s step= 210 trunk_z= 113.3mm grav_b=(-0.04,+0.13,-0.99) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 118.0mm grav_b=(-0.09,+0.03,-1.00) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 116.7mm grav_b=(-0.02,-0.07,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 115.9mm grav_b=(+0.03,-0.02,-1.00) r=0.55m +[headless_play] t= 4.60s step= 230 trunk_z= 113.8mm grav_b=(+0.05,+0.07,-1.00) r=0.56m +[headless_play] t= 4.70s step= 235 trunk_z= 115.1mm grav_b=(+0.03,-0.06,-1.00) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(+0.01,-0.07,-1.00) r=0.58m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.02,+0.07,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.61m +[headless_play] t= 5.10s step= 255 trunk_z= 115.3mm grav_b=(+0.02,-0.10,-1.00) r=0.62m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(+0.03,+0.03,-1.00) r=0.64m +[headless_play] t= 5.30s step= 265 trunk_z= 118.9mm grav_b=(+0.02,+0.10,-1.00) r=0.65m +[headless_play] t= 5.40s step= 270 trunk_z= 114.8mm grav_b=(+0.02,-0.06,-1.00) r=0.66m +[headless_play] t= 5.50s step= 275 trunk_z= 117.1mm grav_b=(+0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 113.9mm grav_b=(+0.03,+0.05,-1.00) r=0.69m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) r=0.71m +[headless_play] t= 5.80s step= 290 trunk_z= 113.1mm grav_b=(+0.02,-0.09,-1.00) r=0.72m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.04,+0.02,-1.00) r=0.73m +[headless_play] t= 6.00s step= 300 trunk_z= 115.1mm grav_b=(+0.03,+0.09,-1.00) r=0.75m +[headless_play] t= 6.10s step= 305 trunk_z= 112.8mm grav_b=(+0.03,-0.07,-1.00) r=0.77m +[headless_play] t= 6.20s step= 310 trunk_z= 115.0mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 6.30s step= 315 trunk_z= 105.4mm grav_b=(+0.06,+0.12,-0.99) r=0.81m +[headless_play] t= 6.40s step= 320 trunk_z= 98.7mm grav_b=(+0.14,+0.31,-0.94) r=0.83m +[headless_play] t= 6.50s step= 325 trunk_z= 101.3mm grav_b=(+0.25,+0.04,-0.97) r=0.85m +[headless_play] t= 6.60s step= 330 trunk_z= 79.2mm grav_b=(+0.02,-0.21,-0.98) r=0.88m +[headless_play] t= 6.70s step= 335 trunk_z= 86.4mm grav_b=(-0.08,-0.11,-0.99) r=0.90m +[headless_play] t= 6.80s step= 340 trunk_z= 86.6mm grav_b=(-0.02,-0.08,-1.00) r=0.92m +[headless_play] t= 6.90s step= 345 trunk_z= 88.5mm grav_b=(-0.06,-0.06,-1.00) r=0.93m +[headless_play] t= 7.00s step= 350 trunk_z= 90.2mm grav_b=(+0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 7.10s step= 355 trunk_z= 90.6mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 7.20s step= 360 trunk_z= 90.9mm grav_b=(+0.05,-0.02,-1.00) r=0.94m +[headless_play] t= 7.30s step= 365 trunk_z= 90.9mm grav_b=(+0.04,-0.02,-1.00) r=0.94m +[headless_play] t= 7.40s step= 370 trunk_z= 90.9mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 7.50s step= 375 trunk_z= 90.9mm grav_b=(+0.02,-0.02,-1.00) r=0.94m +[headless_play] t= 7.60s step= 380 trunk_z= 90.9mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 7.70s step= 385 trunk_z= 90.9mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 7.80s step= 390 trunk_z= 90.9mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 7.90s step= 395 trunk_z= 91.0mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 8.00s step= 400 trunk_z= 91.0mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 8.10s step= 405 trunk_z= 91.0mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 8.20s step= 410 trunk_z= 91.0mm grav_b=(+0.03,-0.01,-1.00) r=0.94m +[headless_play] t= 8.30s step= 415 trunk_z= 91.1mm grav_b=(+0.04,-0.01,-1.00) r=0.94m +[headless_play] t= 8.40s step= 420 trunk_z= 91.3mm grav_b=(+0.04,-0.01,-1.00) r=0.94m +[headless_play] t= 8.50s step= 425 trunk_z= 91.4mm grav_b=(+0.03,-0.01,-1.00) r=0.94m +[headless_play] t= 8.60s step= 430 trunk_z= 91.6mm grav_b=(+0.02,-0.01,-1.00) r=0.93m +[headless_play] t= 8.70s step= 435 trunk_z= 91.6mm grav_b=(+0.01,-0.01,-1.00) r=0.93m +[headless_play] t= 8.80s step= 440 trunk_z= 91.7mm grav_b=(+0.02,-0.01,-1.00) r=0.93m +[headless_play] t= 8.90s step= 445 trunk_z= 91.9mm grav_b=(-0.03,-0.01,-1.00) r=0.93m +[headless_play] t= 9.00s step= 450 trunk_z= 92.5mm grav_b=(-0.05,-0.01,-1.00) r=0.92m +[headless_play] t= 9.10s step= 455 trunk_z= 91.7mm grav_b=(-0.07,-0.00,-1.00) r=0.92m +[headless_play] t= 9.20s step= 460 trunk_z= 90.8mm grav_b=(-0.07,+0.03,-1.00) r=0.92m +[headless_play] t= 9.30s step= 465 trunk_z= 86.3mm grav_b=(+0.01,-0.14,-0.99) r=0.92m +[headless_play] t= 9.40s step= 470 trunk_z= 90.6mm grav_b=(+0.08,-0.07,-0.99) r=0.91m +[headless_play] t= 9.50s step= 475 trunk_z= 95.1mm grav_b=(+0.00,-0.06,-1.00) r=0.90m +[headless_play] t= 9.60s step= 480 trunk_z= 90.4mm grav_b=(-0.02,-0.06,-1.00) r=0.90m +[headless_play] t= 9.70s step= 485 trunk_z= 90.5mm grav_b=(-0.01,-0.04,-1.00) r=0.90m +[headless_play] t= 9.80s step= 490 trunk_z= 91.0mm grav_b=(+0.00,-0.03,-1.00) r=0.90m +[headless_play] t= 9.90s step= 495 trunk_z= 91.3mm grav_b=(+0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 10.00s step= 500 trunk_z= 91.4mm grav_b=(+0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 10.10s step= 505 trunk_z= 91.5mm grav_b=(+0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 10.20s step= 510 trunk_z= 91.5mm grav_b=(+0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 10.30s step= 515 trunk_z= 91.5mm grav_b=(+0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 10.40s step= 520 trunk_z= 91.5mm grav_b=(+0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 10.50s step= 525 trunk_z= 91.8mm grav_b=(+0.01,-0.02,-1.00) r=0.90m +[headless_play] t= 10.60s step= 530 trunk_z= 91.8mm grav_b=(+0.01,-0.01,-1.00) r=0.91m +[headless_play] t= 10.70s step= 535 trunk_z= 91.9mm grav_b=(+0.02,-0.01,-1.00) r=0.91m +[headless_play] t= 10.80s step= 540 trunk_z= 91.9mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 10.90s step= 545 trunk_z= 91.9mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 11.00s step= 550 trunk_z= 91.9mm grav_b=(+0.03,-0.02,-1.00) r=0.91m +[headless_play] t= 11.10s step= 555 trunk_z= 91.9mm grav_b=(+0.03,-0.02,-1.00) r=0.91m +[headless_play] t= 11.20s step= 560 trunk_z= 91.9mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 11.30s step= 565 trunk_z= 92.0mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 11.40s step= 570 trunk_z= 91.9mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 11.50s step= 575 trunk_z= 92.0mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 11.60s step= 580 trunk_z= 92.0mm grav_b=(+0.01,-0.02,-1.00) r=0.91m +[headless_play] t= 11.70s step= 585 trunk_z= 91.8mm grav_b=(+0.03,-0.02,-1.00) r=0.91m +[headless_play] t= 11.80s step= 590 trunk_z= 91.8mm grav_b=(+0.03,-0.02,-1.00) r=0.91m +[headless_play] t= 11.90s step= 595 trunk_z= 91.9mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 12.00s step= 600 trunk_z= 92.7mm grav_b=(-0.03,-0.04,-1.00) r=0.91m +[headless_play] t= 12.10s step= 605 trunk_z= 93.1mm grav_b=(+0.01,-0.00,-1.00) r=0.91m +[headless_play] t= 12.20s step= 610 trunk_z= 93.7mm grav_b=(-0.02,+0.04,-1.00) r=0.91m +[headless_play] t= 12.30s step= 615 trunk_z= 93.0mm grav_b=(-0.02,+0.00,-1.00) r=0.92m +[headless_play] t= 12.40s step= 620 trunk_z= 92.8mm grav_b=(+0.00,+0.01,-1.00) r=0.92m +[headless_play] t= 12.50s step= 625 trunk_z= 92.8mm grav_b=(+0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 12.60s step= 630 trunk_z= 92.6mm grav_b=(+0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 12.70s step= 635 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 12.80s step= 640 trunk_z= 92.7mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 12.90s step= 645 trunk_z= 92.6mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.00s step= 650 trunk_z= 92.6mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.10s step= 655 trunk_z= 92.6mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.20s step= 660 trunk_z= 92.6mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.30s step= 665 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.40s step= 670 trunk_z= 92.6mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.50s step= 675 trunk_z= 92.5mm grav_b=(-0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.60s step= 680 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.70s step= 685 trunk_z= 92.4mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.80s step= 690 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 13.90s step= 695 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 14.00s step= 700 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 14.10s step= 705 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 14.20s step= 710 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 14.30s step= 715 trunk_z= 92.5mm grav_b=(+0.00,+0.00,-1.00) r=0.92m +[headless_play] t= 14.40s step= 720 trunk_z= 92.5mm grav_b=(+0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 14.50s step= 725 trunk_z= 92.1mm grav_b=(+0.04,+0.05,-1.00) r=0.95m +[headless_play] t= 14.60s step= 730 trunk_z= 92.2mm grav_b=(+0.13,-0.02,-0.99) r=0.99m +[headless_play] t= 14.70s step= 735 trunk_z= 87.0mm grav_b=(+0.11,-0.10,-0.99) r=1.01m +[headless_play] t= 14.80s step= 740 trunk_z= 93.2mm grav_b=(+0.04,+0.05,-1.00) r=1.04m +[headless_play] t= 14.90s step= 745 trunk_z= 89.1mm grav_b=(+0.01,+0.11,-0.99) r=1.07m +[headless_play] t= 15.00s step= 750 trunk_z= 97.5mm grav_b=(-0.00,+0.03,-1.00) r=1.09m +[headless_play] t= 15.10s step= 755 trunk_z= 94.1mm grav_b=(-0.05,-0.08,-1.00) r=1.12m +[headless_play] t= 15.20s step= 760 trunk_z= 90.1mm grav_b=(-0.07,+0.06,-1.00) r=1.14m +[headless_play] t= 15.30s step= 765 trunk_z= 91.1mm grav_b=(+0.04,-0.01,-1.00) r=1.16m +[headless_play] t= 15.40s step= 770 trunk_z= 92.2mm grav_b=(+0.05,-0.10,-0.99) r=1.17m +[headless_play] t= 15.50s step= 775 trunk_z= 88.3mm grav_b=(-0.04,+0.08,-1.00) r=1.18m +[headless_play] t= 15.60s step= 780 trunk_z= 93.4mm grav_b=(+0.04,+0.05,-1.00) r=1.19m +[headless_play] t= 15.70s step= 785 trunk_z= 91.6mm grav_b=(+0.02,-0.12,-0.99) r=1.21m +[headless_play] t= 15.80s step= 790 trunk_z= 94.8mm grav_b=(-0.05,-0.01,-1.00) r=1.23m +[headless_play] t= 15.90s step= 795 trunk_z= 93.0mm grav_b=(-0.01,+0.09,-1.00) r=1.24m +[headless_play] t= 16.00s step= 800 trunk_z= 91.9mm grav_b=(+0.01,-0.08,-1.00) r=1.26m +[headless_play] t= 16.10s step= 805 trunk_z= 96.1mm grav_b=(+0.01,-0.05,-1.00) r=1.28m +[headless_play] t= 16.20s step= 810 trunk_z= 88.8mm grav_b=(-0.01,+0.12,-0.99) r=1.29m +[headless_play] t= 16.30s step= 815 trunk_z= 93.1mm grav_b=(+0.02,-0.01,-1.00) r=1.31m +[headless_play] t= 16.40s step= 820 trunk_z= 96.5mm grav_b=(-0.02,-0.12,-0.99) r=1.33m +[headless_play] t= 16.50s step= 825 trunk_z= 92.7mm grav_b=(-0.04,+0.05,-1.00) r=1.34m +[headless_play] t= 16.60s step= 830 trunk_z= 94.3mm grav_b=(+0.04,+0.08,-1.00) r=1.35m +[headless_play] t= 16.70s step= 835 trunk_z= 90.3mm grav_b=(-0.04,-0.13,-0.99) r=1.36m +[headless_play] t= 16.80s step= 840 trunk_z= 96.6mm grav_b=(-0.02,-0.05,-1.00) r=1.37m +[headless_play] t= 16.90s step= 845 trunk_z= 94.1mm grav_b=(+0.03,+0.13,-0.99) r=1.38m +[headless_play] t= 17.00s step= 850 trunk_z= 95.1mm grav_b=(-0.01,-0.04,-1.00) r=1.40m +[headless_play] t= 17.10s step= 855 trunk_z= 98.4mm grav_b=(-0.05,-0.16,-0.99) r=1.42m +[headless_play] t= 17.20s step= 860 trunk_z= 97.5mm grav_b=(-0.03,-0.01,-1.00) r=1.42m +[headless_play] t= 17.30s step= 865 trunk_z= 96.2mm grav_b=(+0.00,+0.07,-1.00) r=1.42m +[headless_play] t= 17.40s step= 870 trunk_z= 91.8mm grav_b=(-0.04,-0.11,-0.99) r=1.43m +[headless_play] t= 17.50s step= 875 trunk_z= 96.1mm grav_b=(-0.06,-0.01,-1.00) r=1.44m +[headless_play] t= 17.60s step= 880 trunk_z= 97.0mm grav_b=(-0.00,+0.13,-0.99) r=1.44m +[headless_play] t= 17.70s step= 885 trunk_z= 93.1mm grav_b=(-0.02,-0.07,-1.00) r=1.45m +[headless_play] t= 17.80s step= 890 trunk_z= 98.9mm grav_b=(-0.05,-0.11,-0.99) r=1.46m +[headless_play] t= 17.90s step= 895 trunk_z= 92.2mm grav_b=(-0.04,+0.11,-0.99) r=1.46m +[headless_play] t= 18.00s step= 900 trunk_z= 93.5mm grav_b=(-0.02,-0.03,-1.00) r=1.47m +[headless_play] t= 18.10s step= 905 trunk_z= 96.2mm grav_b=(-0.03,-0.09,-1.00) r=1.48m +[headless_play] t= 18.20s step= 910 trunk_z= 93.8mm grav_b=(-0.03,+0.12,-0.99) r=1.49m +[headless_play] t= 18.30s step= 915 trunk_z= 94.4mm grav_b=(-0.02,-0.03,-1.00) r=1.50m +[headless_play] t= 18.40s step= 920 trunk_z= 96.3mm grav_b=(-0.05,-0.09,-0.99) r=1.51m +[headless_play] t= 18.50s step= 925 trunk_z= 92.8mm grav_b=(-0.03,+0.14,-0.99) r=1.51m +[headless_play] t= 18.60s step= 930 trunk_z= 94.5mm grav_b=(-0.01,-0.01,-1.00) r=1.52m +[headless_play] t= 18.70s step= 935 trunk_z= 97.4mm grav_b=(-0.03,-0.14,-0.99) r=1.53m +[headless_play] t= 18.80s step= 940 trunk_z= 92.6mm grav_b=(-0.04,+0.07,-1.00) r=1.53m +[headless_play] t= 18.90s step= 945 trunk_z= 95.9mm grav_b=(-0.02,+0.04,-1.00) r=1.54m +[headless_play] t= 19.00s step= 950 trunk_z= 95.4mm grav_b=(-0.03,-0.14,-0.99) r=1.55m +[headless_play] t= 19.10s step= 955 trunk_z= 96.2mm grav_b=(-0.04,-0.00,-1.00) r=1.56m +[headless_play] t= 19.20s step= 960 trunk_z= 96.8mm grav_b=(-0.01,+0.09,-1.00) r=1.56m +[headless_play] t= 19.30s step= 965 trunk_z= 92.6mm grav_b=(-0.03,-0.12,-0.99) r=1.58m +[headless_play] t= 19.40s step= 970 trunk_z= 97.5mm grav_b=(-0.04,-0.04,-1.00) r=1.58m +[headless_play] t= 19.50s step= 975 trunk_z= 94.6mm grav_b=(-0.01,+0.10,-0.99) r=1.59m +[headless_play] t= 19.60s step= 980 trunk_z= 91.8mm grav_b=(-0.03,-0.12,-0.99) r=1.63m +[headless_play] t= 19.70s step= 985 trunk_z= 103.8mm grav_b=(+0.11,-0.04,-0.99) r=1.68m +[headless_play] t= 19.80s step= 990 trunk_z= 84.7mm grav_b=(+0.06,+0.11,-0.99) r=1.73m +[headless_play] t= 19.90s step= 995 trunk_z= 88.0mm grav_b=(-0.05,-0.10,-0.99) r=1.77m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.06,+0.01,-1.00) r=0.59m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..fc9684d9f3a55d21fe18dbfabb3ad17afadc886a --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.532,-18.457,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.4mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.65m +[headless_play] t= 0.50s step= 25 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 0.60s step= 30 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 0.70s step= 35 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 0.80s step= 40 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.65m +[headless_play] t= 0.90s step= 45 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.65m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 117.3mm grav_b=(+0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 1.40s step= 70 trunk_z= 117.3mm grav_b=(+0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 1.50s step= 75 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(+0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 1.80s step= 90 trunk_z= 117.3mm grav_b=(+0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 1.90s step= 95 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 2.00s step= 100 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 117.5mm grav_b=(+0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(-0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 2.30s step= 115 trunk_z= 117.6mm grav_b=(-0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 2.60s step= 130 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 2.70s step= 135 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 2.80s step= 140 trunk_z= 117.6mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 2.90s step= 145 trunk_z= 117.6mm grav_b=(+0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(+0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 3.20s step= 160 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 3.30s step= 165 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 3.80s step= 190 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.66m +[headless_play] t= 4.00s step= 200 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 4.20s step= 210 trunk_z= 117.0mm grav_b=(+0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 4.30s step= 215 trunk_z= 117.1mm grav_b=(+0.00,-0.01,-1.00) r=0.66m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 117.2mm grav_b=(+0.00,-0.01,-1.00) r=0.66m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(-0.00,-0.01,-1.00) r=0.66m +[headless_play] t= 4.70s step= 235 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(+0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 4.90s step= 245 trunk_z= 117.1mm grav_b=(+0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 116.9mm grav_b=(+0.00,-0.01,-1.00) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 117.3mm grav_b=(-0.07,+0.01,-1.00) r=0.65m +[headless_play] t= 5.30s step= 265 trunk_z= 116.9mm grav_b=(-0.10,+0.06,-0.99) r=0.65m +[headless_play] t= 5.40s step= 270 trunk_z= 111.5mm grav_b=(-0.09,+0.12,-0.99) r=0.65m +[headless_play] t= 5.50s step= 275 trunk_z= 106.0mm grav_b=(+0.03,-0.09,-1.00) r=0.65m +[headless_play] t= 5.60s step= 280 trunk_z= 110.5mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 5.70s step= 285 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 5.80s step= 290 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00) r=0.65m +[headless_play] t= 5.90s step= 295 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 6.10s step= 305 trunk_z= 117.0mm grav_b=(+0.01,+0.03,-1.00) r=0.64m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(-0.04,+0.02,-1.00) r=0.64m +[headless_play] t= 6.30s step= 315 trunk_z= 118.2mm grav_b=(-0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.64m +[headless_play] t= 6.50s step= 325 trunk_z= 118.0mm grav_b=(-0.01,+0.03,-1.00) r=0.64m +[headless_play] t= 6.60s step= 330 trunk_z= 118.0mm grav_b=(-0.00,+0.03,-1.00) r=0.64m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 6.80s step= 340 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 6.90s step= 345 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.10s step= 355 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.20s step= 360 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.30s step= 365 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.50s step= 375 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.80s step= 390 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 118.1mm grav_b=(-0.02,+0.04,-1.00) r=0.64m +[headless_play] t= 8.30s step= 415 trunk_z= 118.1mm grav_b=(-0.02,+0.04,-1.00) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.50s step= 425 trunk_z= 118.0mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.60s step= 430 trunk_z= 118.1mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.70s step= 435 trunk_z= 118.2mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.80s step= 440 trunk_z= 118.2mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 8.90s step= 445 trunk_z= 118.2mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 9.00s step= 450 trunk_z= 118.3mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 9.10s step= 455 trunk_z= 118.3mm grav_b=(-0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 9.20s step= 460 trunk_z= 118.8mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 9.40s step= 470 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.64m +[headless_play] t= 9.50s step= 475 trunk_z= 116.8mm grav_b=(-0.07,+0.08,-0.99) r=0.64m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.65m +[headless_play] t= 9.70s step= 485 trunk_z= 113.6mm grav_b=(-0.00,-0.04,-1.00) r=0.65m +[headless_play] t= 9.80s step= 490 trunk_z= 114.0mm grav_b=(-0.04,+0.16,-0.99) r=0.65m +[headless_play] t= 9.90s step= 495 trunk_z= 120.9mm grav_b=(-0.01,+0.10,-0.99) r=0.65m +[headless_play] t= 10.00s step= 500 trunk_z= 113.3mm grav_b=(-0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 115.6mm grav_b=(-0.06,+0.11,-0.99) r=0.67m +[headless_play] t= 10.20s step= 510 trunk_z= 115.5mm grav_b=(+0.02,+0.10,-0.99) r=0.67m +[headless_play] t= 10.30s step= 515 trunk_z= 109.7mm grav_b=(-0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 10.40s step= 520 trunk_z= 118.5mm grav_b=(-0.03,+0.00,-1.00) r=0.69m +[headless_play] t= 10.50s step= 525 trunk_z= 117.0mm grav_b=(-0.08,+0.14,-0.99) r=0.69m +[headless_play] t= 10.60s step= 530 trunk_z= 126.6mm grav_b=(-0.13,+0.08,-0.99) r=0.67m +[headless_play] t= 10.70s step= 535 trunk_z= 96.5mm grav_b=(-0.07,+0.07,-1.00) r=0.65m +[headless_play] t= 10.80s step= 540 trunk_z= 88.1mm grav_b=(+0.03,+0.22,-0.98) r=0.63m +[headless_play] t= 10.90s step= 545 trunk_z= 111.9mm grav_b=(-0.14,+0.02,-0.99) r=0.61m +[headless_play] t= 11.00s step= 550 trunk_z= 99.2mm grav_b=(-0.03,-0.11,-0.99) r=0.60m +[headless_play] t= 11.10s step= 555 trunk_z= 106.3mm grav_b=(+0.03,+0.05,-1.00) r=0.60m +[headless_play] t= 11.20s step= 560 trunk_z= 116.4mm grav_b=(-0.01,+0.06,-1.00) r=0.60m +[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(-0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 11.40s step= 570 trunk_z= 113.3mm grav_b=(-0.04,+0.02,-1.00) r=0.60m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(-0.00,+0.13,-0.99) r=0.61m +[headless_play] t= 11.60s step= 580 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 119.4mm grav_b=(-0.05,-0.06,-1.00) r=0.63m +[headless_play] t= 11.80s step= 590 trunk_z= 114.4mm grav_b=(-0.03,+0.13,-0.99) r=0.64m +[headless_play] t= 11.90s step= 595 trunk_z= 119.4mm grav_b=(-0.00,+0.12,-0.99) r=0.64m +[headless_play] t= 12.00s step= 600 trunk_z= 114.2mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 12.10s step= 605 trunk_z= 117.7mm grav_b=(-0.05,+0.03,-1.00) r=0.66m +[headless_play] t= 12.20s step= 610 trunk_z= 113.6mm grav_b=(+0.01,+0.14,-0.99) r=0.67m +[headless_play] t= 12.30s step= 615 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.67m +[headless_play] t= 12.40s step= 620 trunk_z= 118.9mm grav_b=(-0.05,-0.05,-1.00) r=0.68m +[headless_play] t= 12.50s step= 625 trunk_z= 112.2mm grav_b=(-0.07,+0.12,-0.99) r=0.69m +[headless_play] t= 12.60s step= 630 trunk_z= 113.9mm grav_b=(+0.04,+0.05,-1.00) r=0.69m +[headless_play] t= 12.70s step= 635 trunk_z= 113.3mm grav_b=(+0.00,-0.07,-1.00) r=0.69m +[headless_play] t= 12.80s step= 640 trunk_z= 117.0mm grav_b=(-0.07,+0.06,-1.00) r=0.71m +[headless_play] t= 12.90s step= 645 trunk_z= 119.6mm grav_b=(-0.01,+0.10,-0.99) r=0.72m +[headless_play] t= 13.00s step= 650 trunk_z= 114.3mm grav_b=(+0.01,-0.03,-1.00) r=0.73m +[headless_play] t= 13.10s step= 655 trunk_z= 119.0mm grav_b=(-0.05,+0.00,-1.00) r=0.74m +[headless_play] t= 13.20s step= 660 trunk_z= 113.9mm grav_b=(-0.02,+0.15,-0.99) r=0.76m +[headless_play] t= 13.30s step= 665 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=0.77m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.78m +[headless_play] t= 13.50s step= 675 trunk_z= 115.4mm grav_b=(-0.01,+0.09,-1.00) r=0.79m +[headless_play] t= 13.60s step= 680 trunk_z= 115.3mm grav_b=(+0.02,+0.09,-1.00) r=0.80m +[headless_play] t= 13.70s step= 685 trunk_z= 113.5mm grav_b=(+0.01,-0.02,-1.00) r=0.81m +[headless_play] t= 13.80s step= 690 trunk_z= 117.0mm grav_b=(-0.00,-0.01,-1.00) r=0.83m +[headless_play] t= 13.90s step= 695 trunk_z= 110.3mm grav_b=(+0.01,+0.12,-0.99) r=0.84m +[headless_play] t= 14.00s step= 700 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.85m +[headless_play] t= 14.10s step= 705 trunk_z= 101.6mm grav_b=(-0.01,-0.22,-0.97) r=0.87m +[headless_play] t= 14.20s step= 710 trunk_z= 121.1mm grav_b=(-0.32,-0.15,-0.93) r=0.89m +[headless_play] t= 14.30s step= 715 trunk_z= 68.7mm grav_b=(-0.45,+0.22,-0.87) r=0.91m +[headless_play] t= 14.40s step= 720 trunk_z= 48.6mm grav_b=(-0.16,-0.06,-0.99) r=0.93m +[headless_play] t= 14.50s step= 725 trunk_z= 62.5mm grav_b=(-0.05,-0.24,-0.97) r=0.96m +[headless_play] t= 14.60s step= 730 trunk_z= 93.1mm grav_b=(+0.11,-0.17,-0.98) r=1.00m +[headless_play] t= 14.70s step= 735 trunk_z= 102.9mm grav_b=(-0.04,-0.13,-0.99) r=1.01m +[headless_play] t= 14.80s step= 740 trunk_z= 100.9mm grav_b=(-0.04,-0.07,-1.00) r=1.02m +[headless_play] t= 14.90s step= 745 trunk_z= 95.9mm grav_b=(-0.07,+0.06,-1.00) r=1.01m +[headless_play] t= 15.00s step= 750 trunk_z= 98.1mm grav_b=(+0.02,+0.03,-1.00) r=1.01m +[headless_play] t= 15.10s step= 755 trunk_z= 87.9mm grav_b=(-0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 15.20s step= 760 trunk_z= 86.5mm grav_b=(+0.00,+0.06,-1.00) r=1.01m +[headless_play] t= 15.30s step= 765 trunk_z= 86.0mm grav_b=(+0.05,+0.07,-1.00) r=1.01m +[headless_play] t= 15.40s step= 770 trunk_z= 87.5mm grav_b=(-0.01,-0.06,-1.00) r=1.01m +[headless_play] t= 15.50s step= 775 trunk_z= 94.6mm grav_b=(-0.05,-0.07,-1.00) r=1.01m +[headless_play] t= 15.60s step= 780 trunk_z= 89.3mm grav_b=(-0.01,+0.08,-1.00) r=1.01m +[headless_play] t= 15.70s step= 785 trunk_z= 93.8mm grav_b=(+0.00,+0.08,-1.00) r=1.01m +[headless_play] t= 15.80s step= 790 trunk_z= 92.4mm grav_b=(+0.02,+0.05,-1.00) r=1.01m +[headless_play] t= 15.90s step= 795 trunk_z= 88.7mm grav_b=(+0.01,-0.04,-1.00) r=1.02m +[headless_play] t= 16.00s step= 800 trunk_z= 93.1mm grav_b=(-0.02,+0.01,-1.00) r=1.02m +[headless_play] t= 16.10s step= 805 trunk_z= 89.9mm grav_b=(+0.01,+0.09,-1.00) r=1.02m +[headless_play] t= 16.20s step= 810 trunk_z= 93.4mm grav_b=(-0.12,-0.01,-0.99) r=1.05m +[headless_play] t= 16.30s step= 815 trunk_z= 71.9mm grav_b=(-0.07,-0.07,-1.00) r=1.07m +[headless_play] t= 16.40s step= 820 trunk_z= 74.6mm grav_b=(-0.05,+0.14,-0.99) r=1.08m +[headless_play] t= 16.50s step= 825 trunk_z= 73.3mm grav_b=(+0.10,+0.16,-0.98) r=1.10m +[headless_play] t= 16.60s step= 830 trunk_z= 87.4mm grav_b=(-0.02,+0.06,-1.00) r=1.11m +[headless_play] t= 16.70s step= 835 trunk_z= 85.3mm grav_b=(-0.01,-0.04,-1.00) r=1.12m +[headless_play] t= 16.80s step= 840 trunk_z= 86.4mm grav_b=(-0.04,+0.10,-0.99) r=1.13m +[headless_play] t= 16.90s step= 845 trunk_z= 94.9mm grav_b=(-0.04,+0.06,-1.00) r=1.13m +[headless_play] t= 17.00s step= 850 trunk_z= 88.1mm grav_b=(+0.01,-0.02,-1.00) r=1.14m +[headless_play] t= 17.10s step= 855 trunk_z= 91.5mm grav_b=(-0.01,-0.01,-1.00) r=1.15m +[headless_play] t= 17.20s step= 860 trunk_z= 88.8mm grav_b=(-0.06,+0.12,-0.99) r=1.15m +[headless_play] t= 17.30s step= 865 trunk_z= 88.6mm grav_b=(-0.05,-0.09,-0.99) r=1.15m +[headless_play] t= 17.40s step= 870 trunk_z= 96.3mm grav_b=(+0.01,-0.10,-0.99) r=1.15m +[headless_play] t= 17.50s step= 875 trunk_z= 93.9mm grav_b=(+0.06,+0.03,-1.00) r=1.14m +[headless_play] t= 17.60s step= 880 trunk_z= 97.5mm grav_b=(+0.02,+0.07,-1.00) r=1.12m +[headless_play] t= 17.70s step= 885 trunk_z= 89.1mm grav_b=(-0.04,-0.09,-1.00) r=1.11m +[headless_play] t= 17.80s step= 890 trunk_z= 94.5mm grav_b=(+0.02,+0.02,-1.00) r=1.10m +[headless_play] t= 17.90s step= 895 trunk_z= 94.4mm grav_b=(+0.05,+0.13,-0.99) r=1.08m +[headless_play] t= 18.00s step= 900 trunk_z= 88.2mm grav_b=(-0.04,-0.12,-0.99) r=1.06m +[headless_play] t= 18.10s step= 905 trunk_z= 92.7mm grav_b=(-0.05,-0.03,-1.00) r=1.04m +[headless_play] t= 18.20s step= 910 trunk_z= 89.9mm grav_b=(+0.04,+0.13,-0.99) r=1.03m +[headless_play] t= 18.30s step= 915 trunk_z= 94.4mm grav_b=(+0.00,-0.02,-1.00) r=1.02m +[headless_play] t= 18.40s step= 920 trunk_z= 95.0mm grav_b=(-0.09,-0.06,-0.99) r=1.01m +[headless_play] t= 18.50s step= 925 trunk_z= 82.1mm grav_b=(-0.08,+0.14,-0.99) r=0.99m +[headless_play] t= 18.60s step= 930 trunk_z= 69.2mm grav_b=(+0.10,+0.07,-0.99) r=0.99m +[headless_play] t= 18.70s step= 935 trunk_z= 85.6mm grav_b=(+0.14,-0.15,-0.98) r=1.00m +[headless_play] t= 18.80s step= 940 trunk_z= 104.6mm grav_b=(-0.02,+0.09,-1.00) r=1.00m +[headless_play] t= 18.90s step= 945 trunk_z= 106.0mm grav_b=(-0.02,+0.32,-0.95) r=0.98m +[headless_play] t= 19.00s step= 950 trunk_z= 107.9mm grav_b=(+0.06,+0.25,-0.97) r=0.97m +[headless_play] t= 19.10s step= 955 trunk_z= 102.3mm grav_b=(-0.11,+0.19,-0.97) r=0.95m +[headless_play] t= 19.20s step= 960 trunk_z= 92.4mm grav_b=(-0.14,+0.15,-0.98) r=0.94m +[headless_play] t= 19.30s step= 965 trunk_z= 57.4mm grav_b=(+0.01,+0.18,-0.98) r=0.96m +[headless_play] t= 19.40s step= 970 trunk_z= 53.4mm grav_b=(+0.02,-0.20,-0.98) r=0.99m +[headless_play] t= 19.50s step= 975 trunk_z= 61.4mm grav_b=(-0.13,-0.13,-0.98) r=0.99m +[headless_play] t= 19.60s step= 980 trunk_z= 68.6mm grav_b=(+0.02,-0.16,-0.99) r=0.99m +[headless_play] t= 19.70s step= 985 trunk_z= 77.0mm grav_b=(+0.05,-0.06,-1.00) r=0.99m +[headless_play] t= 19.80s step= 990 trunk_z= 97.1mm grav_b=(-0.01,+0.11,-0.99) r=1.01m +[headless_play] t= 19.90s step= 995 trunk_z= 106.9mm grav_b=(-0.03,+0.19,-0.98) r=1.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(+0.01,+0.03,-1.00) r=0.38m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..8daa1fd7db2af284f537f3dde21a9d5513c6fa7f --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-a-2026-10-17/z6-a-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.565,-17.801,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(+0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(+0.00,-0.04,-1.00) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 116.9mm grav_b=(-0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 111.2mm grav_b=(-0.03,+0.08,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 104.1mm grav_b=(+0.07,-0.09,-0.99) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 114.2mm grav_b=(+0.03,+0.00,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 114.8mm grav_b=(-0.03,+0.13,-0.99) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 1.30s step= 65 trunk_z= 115.0mm grav_b=(-0.00,-0.05,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 112.9mm grav_b=(-0.06,+0.09,-0.99) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 119.4mm grav_b=(-0.04,+0.09,-1.00) r=0.51m +[headless_play] t= 1.60s step= 80 trunk_z= 105.8mm grav_b=(+0.06,-0.08,-1.00) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 114.1mm grav_b=(+0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 1.80s step= 90 trunk_z= 113.7mm grav_b=(-0.05,+0.09,-0.99) r=0.51m +[headless_play] t= 1.90s step= 95 trunk_z= 118.3mm grav_b=(+0.00,-0.01,-1.00) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 111.8mm grav_b=(+0.00,-0.05,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(-0.05,+0.03,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 112.1mm grav_b=(-0.01,+0.07,-1.00) r=0.51m +[headless_play] t= 2.30s step= 115 trunk_z= 106.5mm grav_b=(+0.08,-0.10,-0.99) r=0.51m +[headless_play] t= 2.40s step= 120 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 2.50s step= 125 trunk_z= 112.5mm grav_b=(-0.03,+0.12,-0.99) r=0.51m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(+0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(+0.02,-0.08,-1.00) r=0.51m +[headless_play] t= 2.80s step= 140 trunk_z= 113.0mm grav_b=(-0.02,+0.04,-1.00) r=0.51m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(-0.06,+0.05,-1.00) r=0.51m +[headless_play] t= 3.00s step= 150 trunk_z= 106.0mm grav_b=(+0.06,-0.13,-0.99) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 113.4mm grav_b=(-0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 111.7mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 113.2mm grav_b=(+0.05,+0.04,-1.00) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 110.8mm grav_b=(+0.01,-0.09,-1.00) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 113.0mm grav_b=(-0.04,+0.07,-1.00) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 120.3mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 109.9mm grav_b=(+0.01,-0.09,-1.00) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 114.2mm grav_b=(-0.01,+0.11,-0.99) r=0.57m +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 4.20s step= 210 trunk_z= 113.9mm grav_b=(+0.01,-0.05,-1.00) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(-0.03,+0.04,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 114.7mm grav_b=(-0.03,+0.05,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 109.2mm grav_b=(+0.03,-0.11,-0.99) r=0.61m +[headless_play] t= 4.60s step= 230 trunk_z= 114.7mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 4.70s step= 235 trunk_z= 111.3mm grav_b=(-0.03,+0.10,-0.99) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 113.9mm grav_b=(+0.01,-0.03,-1.00) r=0.64m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(+0.02,-0.06,-1.00) r=0.65m +[headless_play] t= 5.00s step= 250 trunk_z= 116.8mm grav_b=(+0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 119.9mm grav_b=(-0.00,+0.03,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 118.9mm grav_b=(+0.02,-0.08,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 120.4mm grav_b=(-0.03,-0.11,-0.99) r=0.66m +[headless_play] t= 5.40s step= 270 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 118.2mm grav_b=(+0.07,-0.01,-1.00) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 119.9mm grav_b=(+0.02,-0.09,-1.00) r=0.69m +[headless_play] t= 5.70s step= 285 trunk_z= 115.5mm grav_b=(-0.02,+0.09,-1.00) r=0.70m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(+0.01,-0.05,-1.00) r=0.71m +[headless_play] t= 5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.02,-0.06,-1.00) r=0.71m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.06,+0.08,-0.99) r=0.70m +[headless_play] t= 6.10s step= 305 trunk_z= 113.4mm grav_b=(-0.12,-0.06,-0.99) r=0.68m +[headless_play] t= 6.20s step= 310 trunk_z= 108.3mm grav_b=(-0.02,-0.05,-1.00) r=0.66m +[headless_play] t= 6.30s step= 315 trunk_z= 109.2mm grav_b=(+0.04,+0.04,-1.00) r=0.66m +[headless_play] t= 6.40s step= 320 trunk_z= 105.5mm grav_b=(+0.05,-0.04,-1.00) r=0.67m +[headless_play] t= 6.50s step= 325 trunk_z= 110.9mm grav_b=(-0.01,-0.14,-0.99) r=0.67m +[headless_play] t= 6.60s step= 330 trunk_z= 113.7mm grav_b=(-0.01,+0.05,-1.00) r=0.67m +[headless_play] t= 6.70s step= 335 trunk_z= 118.3mm grav_b=(+0.04,+0.00,-1.00) r=0.68m +[headless_play] t= 6.80s step= 340 trunk_z= 120.8mm grav_b=(-0.01,-0.12,-0.99) r=0.68m +[headless_play] t= 6.90s step= 345 trunk_z= 114.3mm grav_b=(-0.04,+0.06,-1.00) r=0.69m +[headless_play] t= 7.00s step= 350 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.70m +[headless_play] t= 7.10s step= 355 trunk_z= 120.4mm grav_b=(-0.01,-0.11,-0.99) r=0.70m +[headless_play] t= 7.20s step= 360 trunk_z= 114.2mm grav_b=(+0.01,+0.06,-1.00) r=0.71m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(+0.05,-0.04,-1.00) r=0.72m +[headless_play] t= 7.40s step= 370 trunk_z= 120.1mm grav_b=(-0.02,-0.09,-1.00) r=0.73m +[headless_play] t= 7.50s step= 375 trunk_z= 115.9mm grav_b=(-0.00,+0.09,-1.00) r=0.74m +[headless_play] t= 7.60s step= 380 trunk_z= 114.9mm grav_b=(+0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 7.70s step= 385 trunk_z= 105.2mm grav_b=(+0.03,+0.14,-0.99) r=0.78m +[headless_play] t= 7.80s step= 390 trunk_z= 107.0mm grav_b=(+0.09,+0.14,-0.99) r=0.81m +[headless_play] t= 7.90s step= 395 trunk_z= 104.7mm grav_b=(+0.10,+0.02,-0.99) r=0.85m +[headless_play] t= 8.00s step= 400 trunk_z= 84.0mm grav_b=(-0.09,+0.02,-1.00) r=0.90m +[headless_play] t= 8.10s step= 405 trunk_z= 86.6mm grav_b=(-0.08,-0.11,-0.99) r=0.93m +[headless_play] t= 8.20s step= 410 trunk_z= 88.1mm grav_b=(-0.06,-0.07,-1.00) r=0.95m +[headless_play] t= 8.30s step= 415 trunk_z= 92.3mm grav_b=(-0.02,-0.01,-1.00) r=0.96m +[headless_play] t= 8.40s step= 420 trunk_z= 86.6mm grav_b=(+0.03,-0.12,-0.99) r=0.97m +[headless_play] t= 8.50s step= 425 trunk_z= 90.8mm grav_b=(+0.00,-0.03,-1.00) r=0.98m +[headless_play] t= 8.60s step= 430 trunk_z= 92.6mm grav_b=(+0.04,+0.06,-1.00) r=0.99m +[headless_play] t= 8.70s step= 435 trunk_z= 90.6mm grav_b=(+0.05,-0.11,-0.99) r=1.00m +[headless_play] t= 8.80s step= 440 trunk_z= 91.0mm grav_b=(-0.05,+0.04,-1.00) r=1.01m +[headless_play] t= 8.90s step= 445 trunk_z= 90.9mm grav_b=(+0.02,+0.01,-1.00) r=1.02m +[headless_play] t= 9.00s step= 450 trunk_z= 95.8mm grav_b=(-0.01,-0.10,-0.99) r=1.02m +[headless_play] t= 9.10s step= 455 trunk_z= 90.0mm grav_b=(-0.02,+0.05,-1.00) r=1.03m +[headless_play] t= 9.20s step= 460 trunk_z= 92.1mm grav_b=(+0.04,-0.02,-1.00) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 96.2mm grav_b=(-0.01,-0.11,-0.99) r=1.04m +[headless_play] t= 9.40s step= 470 trunk_z= 89.0mm grav_b=(-0.01,+0.06,-1.00) r=1.05m +[headless_play] t= 9.50s step= 475 trunk_z= 92.8mm grav_b=(+0.02,-0.03,-1.00) r=1.06m +[headless_play] t= 9.60s step= 480 trunk_z= 97.9mm grav_b=(-0.03,-0.13,-0.99) r=1.07m +[headless_play] t= 9.70s step= 485 trunk_z= 90.9mm grav_b=(+0.00,+0.03,-1.00) r=1.08m +[headless_play] t= 9.80s step= 490 trunk_z= 92.9mm grav_b=(+0.05,-0.01,-1.00) r=1.09m +[headless_play] t= 9.90s step= 495 trunk_z= 96.5mm grav_b=(+0.03,-0.13,-0.99) r=1.11m +[headless_play] t= 10.00s step= 500 trunk_z= 90.8mm grav_b=(-0.02,-0.02,-1.00) r=1.12m +[headless_play] t= 10.10s step= 505 trunk_z= 91.9mm grav_b=(-0.03,+0.02,-1.00) r=1.13m +[headless_play] t= 10.20s step= 510 trunk_z= 87.1mm grav_b=(-0.02,-0.10,-0.99) r=1.13m +[headless_play] t= 10.30s step= 515 trunk_z= 87.1mm grav_b=(-0.01,-0.06,-1.00) r=1.14m +[headless_play] t= 10.40s step= 520 trunk_z= 85.2mm grav_b=(+0.01,+0.01,-1.00) r=1.15m +[headless_play] t= 10.50s step= 525 trunk_z= 89.9mm grav_b=(+0.02,+0.04,-1.00) r=1.16m +[headless_play] t= 10.60s step= 530 trunk_z= 89.0mm grav_b=(+0.03,+0.02,-1.00) r=1.17m +[headless_play] t= 10.70s step= 535 trunk_z= 84.2mm grav_b=(+0.09,-0.03,-1.00) r=1.17m +[headless_play] t= 10.80s step= 540 trunk_z= 91.5mm grav_b=(+0.02,-0.07,-1.00) r=1.17m +[headless_play] t= 10.90s step= 545 trunk_z= 90.5mm grav_b=(+0.01,-0.02,-1.00) r=1.18m +[headless_play] t= 11.00s step= 550 trunk_z= 90.8mm grav_b=(+0.00,-0.01,-1.00) r=1.19m +[headless_play] t= 11.10s step= 555 trunk_z= 87.2mm grav_b=(-0.03,-0.16,-0.99) r=1.20m +[headless_play] t= 11.20s step= 560 trunk_z= 88.7mm grav_b=(-0.01,-0.09,-1.00) r=1.21m +[headless_play] t= 11.30s step= 565 trunk_z= 84.8mm grav_b=(+0.06,+0.00,-1.00) r=1.22m +[headless_play] t= 11.40s step= 570 trunk_z= 90.3mm grav_b=(+0.06,+0.00,-1.00) r=1.23m +[headless_play] t= 11.50s step= 575 trunk_z= 91.1mm grav_b=(-0.02,-0.02,-1.00) r=1.23m +[headless_play] t= 11.60s step= 580 trunk_z= 81.7mm grav_b=(+0.02,-0.10,-1.00) r=1.22m +[headless_play] t= 11.70s step= 585 trunk_z= 85.4mm grav_b=(+0.01,-0.08,-1.00) r=1.23m +[headless_play] t= 11.80s step= 590 trunk_z= 86.3mm grav_b=(+0.00,-0.07,-1.00) r=1.23m +[headless_play] t= 11.90s step= 595 trunk_z= 83.9mm grav_b=(+0.04,-0.01,-1.00) r=1.24m +[headless_play] t= 12.00s step= 600 trunk_z= 90.3mm grav_b=(-0.02,-0.03,-1.00) r=1.25m +[headless_play] t= 12.10s step= 605 trunk_z= 87.9mm grav_b=(+0.01,-0.05,-1.00) r=1.26m +[headless_play] t= 12.20s step= 610 trunk_z= 84.3mm grav_b=(+0.02,-0.06,-1.00) r=1.27m +[headless_play] t= 12.30s step= 615 trunk_z= 87.2mm grav_b=(+0.02,-0.02,-1.00) r=1.28m +[headless_play] t= 12.40s step= 620 trunk_z= 84.0mm grav_b=(+0.06,+0.04,-1.00) r=1.29m +[headless_play] t= 12.50s step= 625 trunk_z= 90.4mm grav_b=(+0.02,-0.05,-1.00) r=1.30m +[headless_play] t= 12.60s step= 630 trunk_z= 86.0mm grav_b=(-0.05,-0.12,-0.99) r=1.31m +[headless_play] t= 12.70s step= 635 trunk_z= 87.9mm grav_b=(+0.00,-0.03,-1.00) r=1.33m +[headless_play] t= 12.80s step= 640 trunk_z= 84.6mm grav_b=(+0.04,+0.05,-1.00) r=1.34m +[headless_play] t= 12.90s step= 645 trunk_z= 90.2mm grav_b=(+0.06,+0.03,-1.00) r=1.35m +[headless_play] t= 13.00s step= 650 trunk_z= 89.4mm grav_b=(+0.03,-0.01,-1.00) r=1.35m +[headless_play] t= 13.10s step= 655 trunk_z= 86.3mm grav_b=(+0.02,-0.08,-1.00) r=1.36m +[headless_play] t= 13.20s step= 660 trunk_z= 90.7mm grav_b=(-0.00,-0.03,-1.00) r=1.37m +[headless_play] t= 13.30s step= 665 trunk_z= 85.9mm grav_b=(+0.03,+0.01,-1.00) r=1.38m +[headless_play] t= 13.40s step= 670 trunk_z= 91.2mm grav_b=(+0.01,-0.01,-1.00) r=1.39m +[headless_play] t= 13.50s step= 675 trunk_z= 87.1mm grav_b=(-0.02,-0.10,-0.99) r=1.40m +[headless_play] t= 13.60s step= 680 trunk_z= 87.0mm grav_b=(-0.01,-0.04,-1.00) r=1.41m +[headless_play] t= 13.70s step= 685 trunk_z= 81.0mm grav_b=(+0.07,+0.03,-1.00) r=1.43m +[headless_play] t= 13.80s step= 690 trunk_z= 87.8mm grav_b=(+0.10,+0.04,-0.99) r=1.44m +[headless_play] t= 13.90s step= 695 trunk_z= 89.0mm grav_b=(-0.02,-0.06,-1.00) r=1.44m +[headless_play] t= 14.00s step= 700 trunk_z= 91.6mm grav_b=(-0.04,-0.05,-1.00) r=1.45m +[headless_play] t= 14.10s step= 705 trunk_z= 86.5mm grav_b=(+0.02,+0.04,-1.00) r=1.46m +[headless_play] t= 14.20s step= 710 trunk_z= 87.2mm grav_b=(+0.03,+0.07,-1.00) r=1.47m +[headless_play] t= 14.30s step= 715 trunk_z= 87.9mm grav_b=(+0.01,+0.03,-1.00) r=1.47m +[headless_play] t= 14.40s step= 720 trunk_z= 84.1mm grav_b=(+0.04,-0.03,-1.00) r=1.46m +[headless_play] t= 14.50s step= 725 trunk_z= 89.8mm grav_b=(+0.00,-0.04,-1.00) r=1.47m +[headless_play] t= 14.60s step= 730 trunk_z= 89.3mm grav_b=(+0.00,+0.01,-1.00) r=1.48m +[headless_play] t= 14.70s step= 735 trunk_z= 88.9mm grav_b=(+0.03,+0.01,-1.00) r=1.49m +[headless_play] t= 14.80s step= 740 trunk_z= 86.5mm grav_b=(+0.01,-0.14,-0.99) r=1.49m +[headless_play] t= 14.90s step= 745 trunk_z= 91.0mm grav_b=(+0.01,-0.14,-0.99) r=1.50m +[headless_play] t= 15.00s step= 750 trunk_z= 88.4mm grav_b=(+0.05,-0.03,-1.00) r=1.51m +[headless_play] t= 15.10s step= 755 trunk_z= 91.6mm grav_b=(+0.06,+0.03,-1.00) r=1.53m +[headless_play] t= 15.20s step= 760 trunk_z= 91.3mm grav_b=(+0.03,-0.02,-1.00) r=1.53m +[headless_play] t= 15.30s step= 765 trunk_z= 88.9mm grav_b=(-0.00,-0.09,-1.00) r=1.53m +[headless_play] t= 15.40s step= 770 trunk_z= 91.8mm grav_b=(-0.02,+0.02,-1.00) r=1.51m +[headless_play] t= 15.50s step= 775 trunk_z= 87.9mm grav_b=(+0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 15.60s step= 780 trunk_z= 96.8mm grav_b=(-0.03,-0.15,-0.99) r=1.50m +[headless_play] t= 15.70s step= 785 trunk_z= 93.9mm grav_b=(-0.03,-0.07,-1.00) r=1.49m +[headless_play] t= 15.80s step= 790 trunk_z= 84.5mm grav_b=(-0.00,+0.04,-1.00) r=1.49m +[headless_play] t= 15.90s step= 795 trunk_z= 81.3mm grav_b=(+0.04,-0.10,-0.99) r=1.49m +[headless_play] t= 16.00s step= 800 trunk_z= 90.7mm grav_b=(+0.01,-0.04,-1.00) r=1.50m +[headless_play] t= 16.10s step= 805 trunk_z= 87.4mm grav_b=(+0.02,+0.08,-1.00) r=1.51m +[headless_play] t= 16.20s step= 810 trunk_z= 89.6mm grav_b=(+0.05,-0.07,-1.00) r=1.52m +[headless_play] t= 16.30s step= 815 trunk_z= 94.5mm grav_b=(-0.00,-0.10,-0.99) r=1.53m +[headless_play] t= 16.40s step= 820 trunk_z= 86.7mm grav_b=(-0.04,+0.07,-1.00) r=1.54m +[headless_play] t= 16.50s step= 825 trunk_z= 90.1mm grav_b=(+0.00,+0.03,-1.00) r=1.55m +[headless_play] t= 16.60s step= 830 trunk_z= 85.1mm grav_b=(+0.04,-0.09,-0.99) r=1.55m +[headless_play] t= 16.70s step= 835 trunk_z= 91.7mm grav_b=(+0.03,-0.04,-1.00) r=1.56m +[headless_play] t= 16.80s step= 840 trunk_z= 87.3mm grav_b=(+0.02,+0.08,-1.00) r=1.57m +[headless_play] t= 16.90s step= 845 trunk_z= 90.1mm grav_b=(+0.02,-0.05,-1.00) r=1.59m +[headless_play] t= 17.00s step= 850 trunk_z= 90.9mm grav_b=(-0.00,-0.05,-1.00) r=1.60m +[headless_play] t= 17.10s step= 855 trunk_z= 86.5mm grav_b=(+0.03,+0.08,-1.00) r=1.61m +[headless_play] t= 17.20s step= 860 trunk_z= 89.4mm grav_b=(+0.05,-0.00,-1.00) r=1.62m +[headless_play] t= 17.30s step= 865 trunk_z= 89.4mm grav_b=(+0.01,-0.10,-0.99) r=1.63m +[headless_play] t= 17.40s step= 870 trunk_z= 90.9mm grav_b=(-0.02,+0.02,-1.00) r=1.63m +[headless_play] t= 17.50s step= 875 trunk_z= 89.8mm grav_b=(+0.01,+0.05,-1.00) r=1.65m +[headless_play] t= 17.60s step= 880 trunk_z= 85.6mm grav_b=(+0.02,-0.09,-1.00) r=1.66m +[headless_play] t= 17.70s step= 885 trunk_z= 89.8mm grav_b=(+0.02,-0.02,-1.00) r=1.67m +[headless_play] t= 17.80s step= 890 trunk_z= 85.5mm grav_b=(+0.05,+0.12,-0.99) r=1.68m +[headless_play] t= 17.90s step= 895 trunk_z= 88.8mm grav_b=(+0.06,-0.04,-1.00) r=1.70m +[headless_play] t= 18.00s step= 900 trunk_z= 95.2mm grav_b=(-0.02,-0.12,-0.99) r=1.71m +[headless_play] t= 18.10s step= 905 trunk_z= 89.9mm grav_b=(-0.02,+0.01,-1.00) r=1.72m +[headless_play] t= 18.20s step= 910 trunk_z= 90.5mm grav_b=(+0.02,+0.04,-1.00) r=1.74m +[headless_play] t= 18.30s step= 915 trunk_z= 87.7mm grav_b=(+0.04,-0.04,-1.00) r=1.74m +[headless_play] t= 18.40s step= 920 trunk_z= 90.8mm grav_b=(+0.01,-0.07,-1.00) r=1.75m +[headless_play] t= 18.50s step= 925 trunk_z= 87.0mm grav_b=(-0.03,+0.09,-1.00) r=1.75m +[headless_play] t= 18.60s step= 930 trunk_z= 90.9mm grav_b=(+0.03,+0.04,-1.00) r=1.77m +[headless_play] t= 18.70s step= 935 trunk_z= 88.6mm grav_b=(+0.02,-0.13,-0.99) r=1.78m +[headless_play] t= 18.80s step= 940 trunk_z= 91.3mm grav_b=(-0.01,-0.01,-1.00) r=1.80m +[headless_play] t= 18.90s step= 945 trunk_z= 86.8mm grav_b=(+0.03,+0.08,-1.00) r=1.81m +[headless_play] t= 19.00s step= 950 trunk_z= 87.1mm grav_b=(+0.03,-0.05,-1.00) r=1.82m +[headless_play] t= 19.10s step= 955 trunk_z= 91.1mm grav_b=(+0.00,-0.06,-1.00) r=1.83m +[headless_play] t= 19.20s step= 960 trunk_z= 86.8mm grav_b=(+0.00,+0.08,-1.00) r=1.84m +[headless_play] t= 19.30s step= 965 trunk_z= 90.7mm grav_b=(+0.03,+0.00,-1.00) r=1.85m +[headless_play] t= 19.40s step= 970 trunk_z= 90.5mm grav_b=(+0.01,-0.08,-1.00) r=1.87m +[headless_play] t= 19.50s step= 975 trunk_z= 88.2mm grav_b=(+0.02,+0.04,-1.00) r=1.86m +[headless_play] t= 19.60s step= 980 trunk_z= 86.9mm grav_b=(-0.01,-0.07,-1.00) r=1.86m +[headless_play] t= 19.70s step= 985 trunk_z= 93.3mm grav_b=(-0.05,-0.08,-1.00) r=1.85m +[headless_play] t= 19.80s step= 990 trunk_z= 85.9mm grav_b=(-0.01,+0.06,-1.00) r=1.85m +[headless_play] t= 19.90s step= 995 trunk_z= 88.9mm grav_b=(+0.01,-0.04,-1.00) r=1.86m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 20.10s step=1005 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..290f683ae6595699d1d350903daea82bced875cc --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t1.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.418,-18.166,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.00,+0.05,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.03,+0.07,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 120.6mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.04,-0.03,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 121.0mm grav_b=(+0.05,-0.04,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(+0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 124.2mm grav_b=(+0.00,+0.09,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 126.5mm grav_b=(-0.01,+0.12,-0.99) r=0.39m +[headless_play] t= 0.90s step= 45 trunk_z= 121.7mm grav_b=(-0.00,+0.11,-0.99) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 120.3mm grav_b=(+0.03,-0.02,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 121.7mm grav_b=(+0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.02,+0.04,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 125.2mm grav_b=(+0.03,+0.06,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 123.9mm grav_b=(+0.02,+0.08,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 117.7mm grav_b=(+0.03,-0.02,-1.00) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 121.7mm grav_b=(+0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 124.5mm grav_b=(+0.01,+0.06,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 124.3mm grav_b=(+0.01,+0.08,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 114.9mm grav_b=(+0.02,-0.00,-1.00) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 121.3mm grav_b=(+0.03,-0.04,-1.00) r=0.29m +[headless_play] t= 2.20s step= 110 trunk_z= 118.5mm grav_b=(+0.02,-0.01,-1.00) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 121.3mm grav_b=(+0.01,+0.07,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 124.4mm grav_b=(-0.00,+0.07,-1.00) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 116.7mm grav_b=(+0.00,+0.04,-1.00) r=0.25m +[headless_play] t= 2.60s step= 130 trunk_z= 122.6mm grav_b=(+0.05,-0.04,-1.00) r=0.24m +[headless_play] t= 2.70s step= 135 trunk_z= 123.2mm grav_b=(+0.05,-0.03,-1.00) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(+0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 124.8mm grav_b=(-0.01,+0.08,-1.00) r=0.22m +[headless_play] t= 3.00s step= 150 trunk_z= 124.2mm grav_b=(+0.00,+0.10,-0.99) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 115.1mm grav_b=(+0.01,+0.02,-1.00) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 123.7mm grav_b=(+0.04,-0.04,-1.00) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 122.9mm grav_b=(+0.04,-0.04,-1.00) r=0.19m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(+0.01,+0.06,-1.00) r=0.19m +[headless_play] t= 3.50s step= 175 trunk_z= 124.7mm grav_b=(-0.02,+0.09,-1.00) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 122.9mm grav_b=(-0.01,+0.10,-0.99) r=0.16m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.15m +[headless_play] t= 3.80s step= 190 trunk_z= 122.9mm grav_b=(+0.05,-0.04,-1.00) r=0.14m +[headless_play] t= 3.90s step= 195 trunk_z= 119.7mm grav_b=(+0.04,-0.02,-1.00) r=0.14m +[headless_play] t= 4.00s step= 200 trunk_z= 121.5mm grav_b=(+0.00,+0.04,-1.00) r=0.14m +[headless_play] t= 4.10s step= 205 trunk_z= 122.3mm grav_b=(-0.00,+0.06,-1.00) r=0.13m +[headless_play] t= 4.20s step= 210 trunk_z= 113.7mm grav_b=(+0.00,-0.00,-1.00) r=0.11m +[headless_play] t= 4.30s step= 215 trunk_z= 121.6mm grav_b=(+0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 4.40s step= 220 trunk_z= 118.0mm grav_b=(+0.03,+0.00,-1.00) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 121.8mm grav_b=(+0.02,+0.05,-1.00) r=0.11m +[headless_play] t= 4.60s step= 230 trunk_z= 124.6mm grav_b=(+0.01,+0.07,-1.00) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(-0.00,+0.02,-1.00) r=0.07m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(+0.05,-0.03,-1.00) r=0.06m +[headless_play] t= 4.90s step= 245 trunk_z= 121.5mm grav_b=(+0.05,-0.02,-1.00) r=0.05m +[headless_play] t= 5.00s step= 250 trunk_z= 119.1mm grav_b=(+0.02,+0.06,-1.00) r=0.07m +[headless_play] t= 5.10s step= 255 trunk_z= 127.3mm grav_b=(+0.00,+0.09,-1.00) r=0.07m +[headless_play] t= 5.20s step= 260 trunk_z= 124.2mm grav_b=(+0.05,+0.08,-1.00) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 120.8mm grav_b=(+0.06,-0.01,-1.00) r=0.03m +[headless_play] t= 5.40s step= 270 trunk_z= 122.7mm grav_b=(+0.04,+0.00,-1.00) r=0.02m +[headless_play] t= 5.50s step= 275 trunk_z= 117.0mm grav_b=(+0.01,+0.06,-1.00) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 125.6mm grav_b=(+0.01,+0.09,-1.00) r=0.06m +[headless_play] t= 5.70s step= 285 trunk_z= 122.2mm grav_b=(+0.01,+0.08,-1.00) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 118.2mm grav_b=(-0.00,-0.03,-1.00) r=0.05m +[headless_play] t= 5.90s step= 295 trunk_z= 123.3mm grav_b=(-0.01,-0.03,-1.00) r=0.06m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.06m +[headless_play] t= 6.10s step= 305 trunk_z= 125.0mm grav_b=(+0.02,+0.09,-1.00) r=0.08m +[headless_play] t= 6.20s step= 310 trunk_z= 125.6mm grav_b=(+0.02,+0.09,-1.00) r=0.09m +[headless_play] t= 6.30s step= 315 trunk_z= 118.9mm grav_b=(-0.01,+0.04,-1.00) r=0.11m +[headless_play] t= 6.40s step= 320 trunk_z= 123.2mm grav_b=(+0.00,-0.04,-1.00) r=0.11m +[headless_play] t= 6.50s step= 325 trunk_z= 120.5mm grav_b=(+0.00,+0.00,-1.00) r=0.12m +[headless_play] t= 6.60s step= 330 trunk_z= 121.6mm grav_b=(+0.02,+0.08,-1.00) r=0.12m +[headless_play] t= 6.70s step= 335 trunk_z= 125.0mm grav_b=(+0.01,+0.09,-1.00) r=0.13m +[headless_play] t= 6.80s step= 340 trunk_z= 120.5mm grav_b=(-0.01,+0.08,-1.00) r=0.14m +[headless_play] t= 6.90s step= 345 trunk_z= 122.4mm grav_b=(-0.01,-0.03,-1.00) r=0.16m +[headless_play] t= 7.00s step= 350 trunk_z= 122.9mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 7.10s step= 355 trunk_z= 118.0mm grav_b=(+0.00,+0.06,-1.00) r=0.17m +[headless_play] t= 7.20s step= 360 trunk_z= 125.1mm grav_b=(+0.01,+0.10,-1.00) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 122.9mm grav_b=(+0.01,+0.10,-0.99) r=0.19m +[headless_play] t= 7.40s step= 370 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 7.50s step= 375 trunk_z= 123.6mm grav_b=(-0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 7.60s step= 380 trunk_z= 119.3mm grav_b=(-0.01,+0.04,-1.00) r=0.22m +[headless_play] t= 7.70s step= 385 trunk_z= 124.0mm grav_b=(+0.01,+0.11,-0.99) r=0.23m +[headless_play] t= 7.80s step= 390 trunk_z= 126.7mm grav_b=(+0.01,+0.10,-1.00) r=0.24m +[headless_play] t= 7.90s step= 395 trunk_z= 123.6mm grav_b=(-0.01,+0.11,-0.99) r=0.26m +[headless_play] t= 8.00s step= 400 trunk_z= 121.2mm grav_b=(+0.02,-0.03,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 124.0mm grav_b=(+0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 8.20s step= 410 trunk_z= 118.3mm grav_b=(+0.01,+0.06,-1.00) r=0.29m +[headless_play] t= 8.30s step= 415 trunk_z= 125.2mm grav_b=(+0.02,+0.13,-0.99) r=0.29m +[headless_play] t= 8.40s step= 420 trunk_z= 125.4mm grav_b=(+0.05,+0.12,-0.99) r=0.31m +[headless_play] t= 8.50s step= 425 trunk_z= 121.0mm grav_b=(+0.01,+0.09,-1.00) r=0.33m +[headless_play] t= 8.60s step= 430 trunk_z= 123.2mm grav_b=(+0.04,-0.05,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 123.8mm grav_b=(+0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 117.9mm grav_b=(+0.02,+0.08,-1.00) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 124.8mm grav_b=(+0.03,+0.10,-0.99) r=0.36m +[headless_play] t= 9.00s step= 450 trunk_z= 122.9mm grav_b=(+0.04,+0.11,-0.99) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 118.1mm grav_b=(+0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 9.20s step= 460 trunk_z= 122.9mm grav_b=(+0.02,-0.03,-1.00) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(+0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 9.40s step= 470 trunk_z= 123.3mm grav_b=(+0.00,+0.10,-0.99) r=0.40m +[headless_play] t= 9.50s step= 475 trunk_z= 123.9mm grav_b=(+0.01,+0.10,-0.99) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 117.2mm grav_b=(+0.03,+0.03,-1.00) r=0.43m +[headless_play] t= 9.70s step= 485 trunk_z= 119.2mm grav_b=(+0.04,+0.02,-1.00) r=0.44m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(+0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(+0.00,+0.02,-1.00) r=0.44m +[headless_play] t= 10.00s step= 500 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 10.30s step= 515 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 10.40s step= 520 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 10.90s step= 545 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.10s step= 555 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.40s step= 570 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.60s step= 580 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.70s step= 585 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.80s step= 590 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 11.90s step= 595 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 12.10s step= 605 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.20s step= 610 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.40s step= 620 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.50s step= 625 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.60s step= 630 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.70s step= 685 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 13.90s step= 695 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 14.90s step= 745 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.40s step= 770 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.50s step= 775 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 15.60s step= 780 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.70s step= 785 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.80s step= 790 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 15.90s step= 795 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.20s step= 810 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 16.30s step= 815 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.60s step= 830 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.80s step= 840 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.20s step= 860 trunk_z= 115.9mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.30s step= 865 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.40s step= 870 trunk_z= 115.9mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.50s step= 875 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 17.60s step= 880 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.44m +[headless_play] t= 17.70s step= 885 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 17.80s step= 890 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 18.10s step= 905 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 18.20s step= 910 trunk_z= 115.9mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 18.30s step= 915 trunk_z= 115.9mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 18.40s step= 920 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 18.50s step= 925 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 18.70s step= 935 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 18.90s step= 945 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.00s step= 950 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.20s step= 960 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.30s step= 965 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.40s step= 970 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.60s step= 980 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.70s step= 985 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.80s step= 990 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 19.90s step= 995 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.44m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..fb5679b284d9f104ad40899b6868fef922f1c5fb --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.229,-18.039,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.8mm grav_b=(-0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.01,-0.03,-1.00) r=0.23m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(+0.00,-0.08,-1.00) r=0.23m +[headless_play] t= 0.30s step= 15 trunk_z= 120.4mm grav_b=(+0.04,-0.04,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 113.8mm grav_b=(+0.03,+0.02,-1.00) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 123.2mm grav_b=(-0.02,+0.03,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 117.9mm grav_b=(-0.03,-0.00,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(-0.03,-0.06,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 123.7mm grav_b=(-0.01,-0.05,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 117.9mm grav_b=(+0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 123.2mm grav_b=(+0.00,+0.04,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 120.1mm grav_b=(-0.00,+0.01,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 119.6mm grav_b=(-0.02,-0.06,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 124.1mm grav_b=(-0.02,-0.06,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 120.0mm grav_b=(-0.00,-0.04,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 120.2mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 123.2mm grav_b=(+0.02,+0.03,-1.00) r=0.38m +[headless_play] t= 1.70s step= 85 trunk_z= 116.0mm grav_b=(+0.00,-0.02,-1.00) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 123.3mm grav_b=(-0.01,-0.08,-1.00) r=0.37m +[headless_play] t= 1.90s step= 95 trunk_z= 123.4mm grav_b=(-0.01,-0.06,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 122.7mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 2.20s step= 110 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 121.1mm grav_b=(-0.04,-0.07,-1.00) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 124.3mm grav_b=(-0.03,-0.06,-1.00) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 119.5mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 121.1mm grav_b=(-0.01,+0.04,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 120.9mm grav_b=(+0.01,+0.01,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 116.5mm grav_b=(-0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 124.1mm grav_b=(-0.03,-0.07,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 123.5mm grav_b=(-0.03,-0.05,-1.00) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 122.9mm grav_b=(+0.00,+0.05,-1.00) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 120.6mm grav_b=(+0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 3.40s step= 170 trunk_z= 120.7mm grav_b=(-0.01,-0.07,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 122.9mm grav_b=(+0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 115.7mm grav_b=(+0.03,-0.04,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(-0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(-0.02,+0.03,-1.00) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 111.9mm grav_b=(+0.01,-0.02,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 115.6mm grav_b=(+0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 112.7mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 109.6mm grav_b=(+0.04,+0.04,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(+0.02,+0.05,-1.00) r=0.58m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 4.50s step= 225 trunk_z= 114.4mm grav_b=(+0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 114.9mm grav_b=(+0.03,-0.02,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 109.0mm grav_b=(+0.03,+0.02,-1.00) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 113.8mm grav_b=(+0.04,+0.03,-1.00) r=0.63m +[headless_play] t= 4.90s step= 245 trunk_z= 111.0mm grav_b=(+0.07,-0.04,-1.00) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 112.6mm grav_b=(+0.04,-0.07,-1.00) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 112.6mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 5.20s step= 260 trunk_z= 106.5mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 112.7mm grav_b=(+0.04,+0.02,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 108.9mm grav_b=(+0.08,-0.03,-1.00) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 113.1mm grav_b=(+0.06,-0.07,-1.00) r=0.66m +[headless_play] t= 5.60s step= 280 trunk_z= 109.7mm grav_b=(+0.09,-0.03,-1.00) r=0.67m +[headless_play] t= 5.70s step= 285 trunk_z= 110.2mm grav_b=(+0.12,+0.02,-0.99) r=0.67m +[headless_play] t= 5.80s step= 290 trunk_z= 111.2mm grav_b=(+0.09,-0.01,-1.00) r=0.67m +[headless_play] t= 5.90s step= 295 trunk_z= 112.5mm grav_b=(+0.04,-0.00,-1.00) r=0.66m +[headless_play] t= 6.00s step= 300 trunk_z= 113.1mm grav_b=(+0.03,-0.00,-1.00) r=0.66m +[headless_play] t= 6.10s step= 305 trunk_z= 113.3mm grav_b=(+0.03,-0.00,-1.00) r=0.66m +[headless_play] t= 6.20s step= 310 trunk_z= 113.5mm grav_b=(+0.03,-0.00,-1.00) r=0.66m +[headless_play] t= 6.30s step= 315 trunk_z= 113.6mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 6.40s step= 320 trunk_z= 113.6mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 6.50s step= 325 trunk_z= 113.6mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 6.60s step= 330 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 6.70s step= 335 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 6.80s step= 340 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 6.90s step= 345 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 7.00s step= 350 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 7.10s step= 355 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 7.20s step= 360 trunk_z= 113.7mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 7.30s step= 365 trunk_z= 113.7mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 7.40s step= 370 trunk_z= 113.8mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 7.50s step= 375 trunk_z= 113.8mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 7.60s step= 380 trunk_z= 113.8mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 7.70s step= 385 trunk_z= 113.8mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 7.80s step= 390 trunk_z= 113.8mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 7.90s step= 395 trunk_z= 113.8mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 8.00s step= 400 trunk_z= 113.8mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 8.10s step= 405 trunk_z= 115.2mm grav_b=(+0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 8.20s step= 410 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.66m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 8.50s step= 425 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 8.60s step= 430 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 8.90s step= 445 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.00s step= 450 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.40s step= 470 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.50s step= 475 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.80s step= 540 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.10s step= 555 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.30s step= 565 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.50s step= 575 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 11.70s step= 585 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 11.80s step= 590 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.66m +[headless_play] t= 11.90s step= 595 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.66m +[headless_play] t= 12.00s step= 600 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.66m +[headless_play] t= 12.10s step= 605 trunk_z= 115.7mm grav_b=(-0.03,+0.05,-1.00) r=0.67m +[headless_play] t= 12.20s step= 610 trunk_z= 115.6mm grav_b=(-0.03,+0.09,-1.00) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 117.9mm grav_b=(-0.03,+0.02,-1.00) r=0.70m +[headless_play] t= 12.40s step= 620 trunk_z= 114.0mm grav_b=(-0.00,-0.05,-1.00) r=0.68m +[headless_play] t= 12.50s step= 625 trunk_z= 121.0mm grav_b=(+0.03,-0.07,-1.00) r=0.68m +[headless_play] t= 12.60s step= 630 trunk_z= 117.2mm grav_b=(+0.05,-0.04,-1.00) r=0.70m +[headless_play] t= 12.70s step= 635 trunk_z= 115.0mm grav_b=(+0.01,+0.05,-1.00) r=0.72m +[headless_play] t= 12.80s step= 640 trunk_z= 119.3mm grav_b=(-0.03,+0.02,-1.00) r=0.73m +[headless_play] t= 12.90s step= 645 trunk_z= 113.4mm grav_b=(-0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 13.00s step= 650 trunk_z= 121.3mm grav_b=(+0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 118.6mm grav_b=(+0.04,-0.04,-1.00) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 113.7mm grav_b=(+0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 13.30s step= 665 trunk_z= 120.8mm grav_b=(-0.01,+0.03,-1.00) r=0.77m +[headless_play] t= 13.40s step= 670 trunk_z= 114.7mm grav_b=(-0.01,-0.00,-1.00) r=0.76m +[headless_play] t= 13.50s step= 675 trunk_z= 120.3mm grav_b=(+0.01,-0.05,-1.00) r=0.76m +[headless_play] t= 13.60s step= 680 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.77m +[headless_play] t= 13.70s step= 685 trunk_z= 112.7mm grav_b=(+0.00,+0.06,-1.00) r=0.80m +[headless_play] t= 13.80s step= 690 trunk_z= 120.9mm grav_b=(-0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 13.90s step= 695 trunk_z= 114.6mm grav_b=(-0.02,+0.00,-1.00) r=0.81m +[headless_play] t= 14.00s step= 700 trunk_z= 120.8mm grav_b=(-0.00,-0.05,-1.00) r=0.80m +[headless_play] t= 14.10s step= 705 trunk_z= 118.9mm grav_b=(+0.02,-0.01,-1.00) r=0.81m +[headless_play] t= 14.20s step= 710 trunk_z= 113.4mm grav_b=(+0.02,+0.05,-1.00) r=0.84m +[headless_play] t= 14.30s step= 715 trunk_z= 120.9mm grav_b=(+0.00,+0.05,-1.00) r=0.85m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.85m +[headless_play] t= 14.50s step= 725 trunk_z= 120.6mm grav_b=(-0.00,-0.07,-1.00) r=0.84m +[headless_play] t= 14.60s step= 730 trunk_z= 122.1mm grav_b=(+0.00,-0.06,-1.00) r=0.85m +[headless_play] t= 14.70s step= 735 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.87m +[headless_play] t= 14.80s step= 740 trunk_z= 120.9mm grav_b=(-0.01,+0.06,-1.00) r=0.89m +[headless_play] t= 14.90s step= 745 trunk_z= 118.7mm grav_b=(+0.00,+0.02,-1.00) r=0.89m +[headless_play] t= 15.00s step= 750 trunk_z= 116.9mm grav_b=(+0.01,-0.06,-1.00) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(+0.03,-0.06,-1.00) r=0.89m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(+0.04,-0.02,-1.00) r=0.91m +[headless_play] t= 15.30s step= 765 trunk_z= 119.3mm grav_b=(+0.00,+0.05,-1.00) r=0.93m +[headless_play] t= 15.40s step= 770 trunk_z= 118.1mm grav_b=(-0.01,+0.01,-1.00) r=0.93m +[headless_play] t= 15.50s step= 775 trunk_z= 117.1mm grav_b=(+0.00,-0.06,-1.00) r=0.92m +[headless_play] t= 15.60s step= 780 trunk_z= 120.9mm grav_b=(+0.03,-0.05,-1.00) r=0.93m +[headless_play] t= 15.70s step= 785 trunk_z= 114.3mm grav_b=(+0.03,-0.02,-1.00) r=0.95m +[headless_play] t= 15.80s step= 790 trunk_z= 93.7mm grav_b=(+0.04,+0.12,-0.99) r=0.99m +[headless_play] t= 15.90s step= 795 trunk_z= 98.5mm grav_b=(+0.07,+0.10,-0.99) r=1.01m +[headless_play] t= 16.00s step= 800 trunk_z= 88.8mm grav_b=(+0.04,+0.00,-1.00) r=1.02m +[headless_play] t= 16.10s step= 805 trunk_z= 98.3mm grav_b=(-0.01,-0.04,-1.00) r=1.04m +[headless_play] t= 16.20s step= 810 trunk_z= 94.7mm grav_b=(+0.01,-0.03,-1.00) r=1.05m +[headless_play] t= 16.30s step= 815 trunk_z= 92.8mm grav_b=(-0.00,+0.06,-1.00) r=1.07m +[headless_play] t= 16.40s step= 820 trunk_z= 93.9mm grav_b=(+0.00,+0.02,-1.00) r=1.08m +[headless_play] t= 16.50s step= 825 trunk_z= 89.6mm grav_b=(+0.00,-0.06,-1.00) r=1.07m +[headless_play] t= 16.60s step= 830 trunk_z= 96.7mm grav_b=(-0.01,-0.08,-1.00) r=1.07m +[headless_play] t= 16.70s step= 835 trunk_z= 93.4mm grav_b=(+0.02,-0.06,-1.00) r=1.09m +[headless_play] t= 16.80s step= 840 trunk_z= 88.3mm grav_b=(+0.00,+0.04,-1.00) r=1.11m +[headless_play] t= 16.90s step= 845 trunk_z= 91.2mm grav_b=(+0.02,+0.04,-1.00) r=1.12m +[headless_play] t= 17.00s step= 850 trunk_z= 88.8mm grav_b=(+0.07,+0.01,-1.00) r=1.12m +[headless_play] t= 17.10s step= 855 trunk_z= 86.8mm grav_b=(+0.04,-0.08,-1.00) r=1.11m +[headless_play] t= 17.20s step= 860 trunk_z= 91.2mm grav_b=(+0.05,-0.08,-1.00) r=1.12m +[headless_play] t= 17.30s step= 865 trunk_z= 88.0mm grav_b=(+0.05,-0.05,-1.00) r=1.14m +[headless_play] t= 17.40s step= 870 trunk_z= 85.5mm grav_b=(+0.06,+0.04,-1.00) r=1.16m +[headless_play] t= 17.50s step= 875 trunk_z= 90.2mm grav_b=(+0.04,+0.04,-1.00) r=1.17m +[headless_play] t= 17.60s step= 880 trunk_z= 87.3mm grav_b=(+0.07,-0.05,-1.00) r=1.16m +[headless_play] t= 17.70s step= 885 trunk_z= 89.5mm grav_b=(+0.06,-0.05,-1.00) r=1.16m +[headless_play] t= 17.80s step= 890 trunk_z= 86.1mm grav_b=(+0.09,+0.02,-1.00) r=1.17m +[headless_play] t= 17.90s step= 895 trunk_z= 86.4mm grav_b=(+0.09,-0.02,-1.00) r=1.17m +[headless_play] t= 18.00s step= 900 trunk_z= 87.7mm grav_b=(+0.06,-0.00,-1.00) r=1.17m +[headless_play] t= 18.10s step= 905 trunk_z= 88.4mm grav_b=(+0.04,+0.00,-1.00) r=1.16m +[headless_play] t= 18.20s step= 910 trunk_z= 88.9mm grav_b=(+0.03,+0.00,-1.00) r=1.16m +[headless_play] t= 18.30s step= 915 trunk_z= 89.2mm grav_b=(+0.03,+0.00,-1.00) r=1.16m +[headless_play] t= 18.40s step= 920 trunk_z= 89.3mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 18.50s step= 925 trunk_z= 89.4mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 18.60s step= 930 trunk_z= 89.5mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 18.70s step= 935 trunk_z= 89.6mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 18.80s step= 940 trunk_z= 89.6mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 18.90s step= 945 trunk_z= 89.7mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.00s step= 950 trunk_z= 89.7mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.10s step= 955 trunk_z= 89.7mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.20s step= 960 trunk_z= 89.7mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.30s step= 965 trunk_z= 89.8mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.40s step= 970 trunk_z= 89.8mm grav_b=(+0.02,-0.00,-1.00) r=1.16m +[headless_play] t= 19.50s step= 975 trunk_z= 89.9mm grav_b=(+0.02,-0.00,-1.00) r=1.16m +[headless_play] t= 19.60s step= 980 trunk_z= 89.9mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.70s step= 985 trunk_z= 89.9mm grav_b=(+0.02,-0.00,-1.00) r=1.16m +[headless_play] t= 19.80s step= 990 trunk_z= 89.9mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] t= 19.90s step= 995 trunk_z= 89.9mm grav_b=(+0.02,+0.00,-1.00) r=1.16m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 114.7mm grav_b=(+0.01,-0.03,-1.00) r=0.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..bfeb57e8e12475bb19c4ca7e4ca72c9d4fb67a01 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.728,-18.441,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.3mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.07,-0.01,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.80s step= 90 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.10s step= 105 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.50s step= 125 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 2.90s step= 145 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 6.10s step= 305 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 6.20s step= 310 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 6.50s step= 325 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 6.70s step= 335 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.00s step= 350 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.10s step= 355 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.20s step= 360 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.30s step= 365 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.40s step= 370 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.50s step= 375 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.60s step= 380 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.70s step= 385 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.80s step= 390 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.10s step= 405 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.20s step= 410 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.30s step= 415 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.40s step= 420 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.50s step= 425 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.60s step= 430 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.70s step= 435 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 8.90s step= 445 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 9.10s step= 455 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 9.40s step= 470 trunk_z= 114.8mm grav_b=(+0.01,+0.04,-1.00) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(+0.00,+0.07,-1.00) r=0.54m +[headless_play] t= 9.60s step= 480 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 9.70s step= 485 trunk_z= 115.6mm grav_b=(+0.04,-0.08,-1.00) r=0.50m +[headless_play] t= 9.80s step= 490 trunk_z= 122.4mm grav_b=(+0.06,-0.08,-0.99) r=0.49m +[headless_play] t= 9.90s step= 495 trunk_z= 120.1mm grav_b=(+0.06,-0.07,-1.00) r=0.50m +[headless_play] t= 10.00s step= 500 trunk_z= 118.4mm grav_b=(+0.03,+0.03,-1.00) r=0.51m +[headless_play] t= 10.10s step= 505 trunk_z= 120.2mm grav_b=(+0.04,+0.02,-1.00) r=0.51m +[headless_play] t= 10.20s step= 510 trunk_z= 115.1mm grav_b=(+0.03,-0.05,-1.00) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 122.0mm grav_b=(+0.03,-0.08,-1.00) r=0.47m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(+0.05,-0.07,-1.00) r=0.48m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(+0.04,+0.04,-1.00) r=0.49m +[headless_play] t= 10.60s step= 530 trunk_z= 120.9mm grav_b=(+0.02,+0.03,-1.00) r=0.50m +[headless_play] t= 10.70s step= 535 trunk_z= 114.2mm grav_b=(+0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 121.9mm grav_b=(+0.03,-0.08,-1.00) r=0.46m +[headless_play] t= 10.90s step= 545 trunk_z= 120.6mm grav_b=(+0.05,-0.07,-1.00) r=0.46m +[headless_play] t= 11.00s step= 550 trunk_z= 115.4mm grav_b=(+0.05,+0.03,-1.00) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 121.6mm grav_b=(+0.04,+0.03,-1.00) r=0.49m +[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 122.2mm grav_b=(+0.02,-0.09,-1.00) r=0.45m +[headless_play] t= 11.40s step= 570 trunk_z= 121.6mm grav_b=(+0.03,-0.09,-1.00) r=0.45m +[headless_play] t= 11.50s step= 575 trunk_z= 115.7mm grav_b=(+0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 11.60s step= 580 trunk_z= 122.2mm grav_b=(+0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 11.80s step= 590 trunk_z= 120.9mm grav_b=(+0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 122.3mm grav_b=(+0.03,-0.08,-1.00) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 117.4mm grav_b=(+0.07,-0.04,-1.00) r=0.44m +[headless_play] t= 12.10s step= 605 trunk_z= 121.9mm grav_b=(+0.03,+0.04,-1.00) r=0.46m +[headless_play] t= 12.20s step= 610 trunk_z= 118.5mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 12.30s step= 615 trunk_z= 118.1mm grav_b=(+0.01,-0.07,-1.00) r=0.42m +[headless_play] t= 12.40s step= 620 trunk_z= 122.5mm grav_b=(+0.02,-0.08,-1.00) r=0.42m +[headless_play] t= 12.50s step= 625 trunk_z= 118.6mm grav_b=(+0.04,-0.08,-1.00) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 119.3mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 12.70s step= 635 trunk_z= 122.0mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 12.90s step= 645 trunk_z= 122.3mm grav_b=(+0.03,-0.08,-1.00) r=0.41m +[headless_play] t= 13.00s step= 650 trunk_z= 121.4mm grav_b=(+0.05,-0.07,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 114.9mm grav_b=(+0.05,+0.00,-1.00) r=0.42m +[headless_play] t= 13.20s step= 660 trunk_z= 122.1mm grav_b=(+0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 13.30s step= 665 trunk_z= 115.6mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 13.40s step= 670 trunk_z= 120.6mm grav_b=(+0.01,-0.10,-1.00) r=0.39m +[headless_play] t= 13.50s step= 675 trunk_z= 121.0mm grav_b=(+0.01,-0.09,-1.00) r=0.38m +[headless_play] t= 13.60s step= 680 trunk_z= 115.3mm grav_b=(+0.05,-0.04,-1.00) r=0.40m +[headless_play] t= 13.70s step= 685 trunk_z= 121.1mm grav_b=(+0.03,+0.07,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 119.6mm grav_b=(+0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 114.6mm grav_b=(-0.00,-0.05,-1.00) r=0.37m +[headless_play] t= 14.00s step= 700 trunk_z= 122.2mm grav_b=(+0.00,-0.09,-1.00) r=0.36m +[headless_play] t= 14.10s step= 705 trunk_z= 119.6mm grav_b=(+0.03,-0.08,-1.00) r=0.36m +[headless_play] t= 14.20s step= 710 trunk_z= 114.1mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.30s step= 715 trunk_z= 121.4mm grav_b=(+0.03,+0.04,-1.00) r=0.38m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.36m +[headless_play] t= 14.50s step= 725 trunk_z= 120.5mm grav_b=(-0.01,-0.07,-1.00) r=0.34m +[headless_play] t= 14.60s step= 730 trunk_z= 119.9mm grav_b=(+0.02,-0.07,-1.00) r=0.34m +[headless_play] t= 14.70s step= 735 trunk_z= 114.6mm grav_b=(+0.05,-0.00,-1.00) r=0.36m +[headless_play] t= 14.80s step= 740 trunk_z= 121.3mm grav_b=(+0.02,+0.06,-1.00) r=0.37m +[headless_play] t= 14.90s step= 745 trunk_z= 117.9mm grav_b=(+0.03,+0.03,-1.00) r=0.36m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(-0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 15.10s step= 755 trunk_z= 121.7mm grav_b=(+0.01,-0.08,-1.00) r=0.33m +[headless_play] t= 15.20s step= 760 trunk_z= 118.0mm grav_b=(+0.05,-0.06,-1.00) r=0.34m +[headless_play] t= 15.30s step= 765 trunk_z= 117.9mm grav_b=(+0.04,+0.07,-1.00) r=0.35m +[headless_play] t= 15.40s step= 770 trunk_z= 121.4mm grav_b=(+0.04,+0.05,-1.00) r=0.36m +[headless_play] t= 15.50s step= 775 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 15.60s step= 780 trunk_z= 122.5mm grav_b=(-0.01,-0.11,-0.99) r=0.32m +[headless_play] t= 15.70s step= 785 trunk_z= 124.2mm grav_b=(+0.00,-0.09,-1.00) r=0.32m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.34m +[headless_play] t= 15.90s step= 795 trunk_z= 126.4mm grav_b=(+0.05,+0.03,-1.00) r=0.35m +[headless_play] t= 16.00s step= 800 trunk_z= 126.5mm grav_b=(+0.09,-0.03,-1.00) r=0.34m +[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(+0.03,-0.08,-1.00) r=0.32m +[headless_play] t= 16.20s step= 810 trunk_z= 124.4mm grav_b=(+0.03,-0.11,-0.99) r=0.31m +[headless_play] t= 16.30s step= 815 trunk_z= 123.0mm grav_b=(-0.02,-0.06,-1.00) r=0.32m +[headless_play] t= 16.40s step= 820 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00) r=0.35m +[headless_play] t= 16.50s step= 825 trunk_z= 123.8mm grav_b=(+0.01,+0.03,-1.00) r=0.36m +[headless_play] t= 16.60s step= 830 trunk_z= 120.7mm grav_b=(+0.04,-0.02,-1.00) r=0.35m +[headless_play] t= 16.70s step= 835 trunk_z= 124.2mm grav_b=(+0.05,-0.10,-0.99) r=0.32m +[headless_play] t= 16.80s step= 840 trunk_z= 128.9mm grav_b=(+0.06,-0.12,-0.99) r=0.32m +[headless_play] t= 16.90s step= 845 trunk_z= 129.0mm grav_b=(+0.04,-0.10,-0.99) r=0.33m +[headless_play] t= 17.00s step= 850 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 17.10s step= 855 trunk_z= 124.3mm grav_b=(+0.03,-0.03,-1.00) r=0.36m +[headless_play] t= 17.20s step= 860 trunk_z= 119.1mm grav_b=(+0.03,-0.06,-1.00) r=0.34m +[headless_play] t= 17.30s step= 865 trunk_z= 122.2mm grav_b=(+0.01,-0.05,-1.00) r=0.34m +[headless_play] t= 17.40s step= 870 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 17.50s step= 875 trunk_z= 117.3mm grav_b=(-0.03,-0.02,-1.00) r=0.34m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 17.80s step= 890 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 17.90s step= 895 trunk_z= 117.0mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 18.10s step= 905 trunk_z= 117.0mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 18.20s step= 910 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 18.40s step= 920 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 18.50s step= 925 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 18.70s step= 935 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 18.90s step= 945 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.00s step= 950 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.10s step= 955 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.20s step= 960 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.30s step= 965 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.40s step= 970 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.50s step= 975 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.60s step= 980 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 19.70s step= 985 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 19.90s step= 995 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.35m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.2mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,+0.03,-1.00) r=0.49m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..1e384757391f5c73b2cd9810e0216020f585469b --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t12.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.112,-18.419,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.5mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(+0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 111.8mm grav_b=(+0.02,-0.06,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 114.4mm grav_b=(+0.02,-0.09,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 111.8mm grav_b=(+0.00,-0.04,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 113.2mm grav_b=(-0.00,+0.07,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 118.7mm grav_b=(-0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 112.7mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 117.2mm grav_b=(-0.00,-0.07,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 114.1mm grav_b=(+0.03,-0.06,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 112.0mm grav_b=(+0.03,+0.05,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 118.7mm grav_b=(+0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 113.2mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 117.4mm grav_b=(-0.00,-0.07,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(+0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 110.7mm grav_b=(+0.03,+0.04,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 119.7mm grav_b=(+0.01,+0.07,-1.00) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.01,+0.03,-1.00) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 116.3mm grav_b=(-0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 118.9mm grav_b=(-0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 114.3mm grav_b=(+0.02,-0.02,-1.00) r=0.42m +[headless_play] t= 2.10s step= 105 trunk_z= 117.8mm grav_b=(+0.01,+0.06,-1.00) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 115.7mm grav_b=(+0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(-0.01,-0.05,-1.00) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 118.0mm grav_b=(-0.01,-0.06,-1.00) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 113.7mm grav_b=(+0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 117.4mm grav_b=(+0.02,+0.07,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 2.80s step= 140 trunk_z= 112.9mm grav_b=(-0.01,-0.05,-1.00) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 119.1mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.00,-0.02,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(+0.03,+0.07,-1.00) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.04,+0.04,-1.00) r=0.48m +[headless_play] t= 3.30s step= 165 trunk_z= 111.3mm grav_b=(+0.02,-0.03,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 118.7mm grav_b=(-0.02,-0.06,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(+0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 3.60s step= 180 trunk_z= 111.8mm grav_b=(+0.02,+0.07,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 118.3mm grav_b=(+0.04,+0.03,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 112.1mm grav_b=(+0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 118.0mm grav_b=(+0.00,-0.08,-1.00) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 116.5mm grav_b=(+0.02,-0.05,-1.00) r=0.48m +[headless_play] t= 4.10s step= 205 trunk_z= 111.4mm grav_b=(+0.02,+0.05,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 119.9mm grav_b=(+0.02,+0.08,-1.00) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 117.1mm grav_b=(-0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 117.6mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 112.6mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 4.70s step= 235 trunk_z= 118.2mm grav_b=(+0.03,+0.06,-1.00) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 114.9mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 116.3mm grav_b=(-0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 117.1mm grav_b=(+0.01,-0.05,-1.00) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 109.9mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(+0.02,+0.05,-1.00) r=0.55m +[headless_play] t= 5.30s step= 265 trunk_z= 112.2mm grav_b=(+0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 110.0mm grav_b=(+0.03,-0.07,-1.00) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 110.6mm grav_b=(+0.03,-0.03,-1.00) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 107.1mm grav_b=(+0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 114.3mm grav_b=(+0.03,+0.03,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 111.0mm grav_b=(+0.05,-0.04,-1.00) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 112.7mm grav_b=(+0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 110.6mm grav_b=(+0.02,-0.04,-1.00) r=0.57m +[headless_play] t= 6.10s step= 305 trunk_z= 105.2mm grav_b=(+0.04,+0.02,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 114.1mm grav_b=(+0.05,+0.03,-1.00) r=0.61m +[headless_play] t= 6.30s step= 315 trunk_z= 110.0mm grav_b=(+0.05,-0.05,-1.00) r=0.60m +[headless_play] t= 6.40s step= 320 trunk_z= 114.0mm grav_b=(-0.01,-0.08,-1.00) r=0.59m +[headless_play] t= 6.50s step= 325 trunk_z= 113.0mm grav_b=(-0.00,-0.04,-1.00) r=0.60m +[headless_play] t= 6.60s step= 330 trunk_z= 106.0mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 6.70s step= 335 trunk_z= 114.2mm grav_b=(+0.06,+0.03,-1.00) r=0.64m +[headless_play] t= 6.80s step= 340 trunk_z= 110.6mm grav_b=(+0.07,-0.04,-1.00) r=0.63m +[headless_play] t= 6.90s step= 345 trunk_z= 115.1mm grav_b=(+0.03,-0.09,-1.00) r=0.62m +[headless_play] t= 7.00s step= 350 trunk_z= 113.1mm grav_b=(+0.06,-0.05,-1.00) r=0.63m +[headless_play] t= 7.10s step= 355 trunk_z= 110.8mm grav_b=(+0.12,+0.01,-0.99) r=0.64m +[headless_play] t= 7.20s step= 360 trunk_z= 112.8mm grav_b=(+0.10,-0.03,-0.99) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 113.3mm grav_b=(+0.07,-0.00,-1.00) r=0.63m +[headless_play] t= 7.40s step= 370 trunk_z= 113.7mm grav_b=(+0.04,+0.00,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 114.4mm grav_b=(+0.03,-0.00,-1.00) r=0.63m +[headless_play] t= 7.80s step= 390 trunk_z= 114.5mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 7.90s step= 395 trunk_z= 114.6mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.10s step= 405 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.40s step= 420 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.50s step= 425 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 8.70s step= 435 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 8.80s step= 440 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 8.90s step= 445 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.10s step= 455 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 9.20s step= 460 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.40s step= 470 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.50s step= 475 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.00s step= 500 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.40s step= 520 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.60s step= 530 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 115.0mm grav_b=(+0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 10.80s step= 540 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 10.90s step= 545 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.10s step= 555 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.30s step= 565 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.40s step= 570 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.50s step= 575 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.80s step= 590 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 11.90s step= 595 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 12.00s step= 600 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 12.10s step= 605 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 12.20s step= 610 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=0.63m +[headless_play] t= 12.30s step= 615 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 12.40s step= 620 trunk_z= 115.0mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 12.60s step= 630 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 12.70s step= 635 trunk_z= 115.0mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 12.80s step= 640 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 12.90s step= 645 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 13.00s step= 650 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 13.10s step= 655 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 13.20s step= 660 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 13.30s step= 665 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 13.40s step= 670 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 13.50s step= 675 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.63m +[headless_play] t= 13.60s step= 680 trunk_z= 114.7mm grav_b=(+0.04,+0.00,-1.00) r=0.63m +[headless_play] t= 13.70s step= 685 trunk_z= 114.2mm grav_b=(+0.01,+0.05,-1.00) r=0.64m +[headless_play] t= 13.80s step= 690 trunk_z= 113.4mm grav_b=(-0.04,+0.09,-1.00) r=0.67m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(-0.03,+0.03,-1.00) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 109.8mm grav_b=(+0.01,-0.05,-1.00) r=0.66m +[headless_play] t= 14.10s step= 705 trunk_z= 116.9mm grav_b=(+0.03,-0.08,-1.00) r=0.65m +[headless_play] t= 14.20s step= 710 trunk_z= 115.1mm grav_b=(+0.05,-0.08,-1.00) r=0.67m +[headless_play] t= 14.30s step= 715 trunk_z= 112.1mm grav_b=(+0.05,+0.05,-1.00) r=0.69m +[headless_play] t= 14.40s step= 720 trunk_z= 120.5mm grav_b=(+0.02,+0.04,-1.00) r=0.71m +[headless_play] t= 14.50s step= 725 trunk_z= 114.5mm grav_b=(+0.01,+0.01,-1.00) r=0.70m +[headless_play] t= 14.60s step= 730 trunk_z= 119.5mm grav_b=(-0.02,-0.06,-1.00) r=0.69m +[headless_play] t= 14.70s step= 735 trunk_z= 118.8mm grav_b=(+0.01,-0.04,-1.00) r=0.70m +[headless_play] t= 14.80s step= 740 trunk_z= 112.7mm grav_b=(+0.03,+0.02,-1.00) r=0.72m +[headless_play] t= 14.90s step= 745 trunk_z= 119.9mm grav_b=(+0.01,+0.05,-1.00) r=0.74m +[headless_play] t= 15.00s step= 750 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 15.10s step= 755 trunk_z= 117.1mm grav_b=(+0.01,-0.07,-1.00) r=0.74m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(+0.03,-0.04,-1.00) r=0.74m +[headless_play] t= 15.30s step= 765 trunk_z= 110.9mm grav_b=(+0.04,+0.03,-1.00) r=0.77m +[headless_play] t= 15.40s step= 770 trunk_z= 121.0mm grav_b=(-0.01,+0.06,-1.00) r=0.79m +[headless_play] t= 15.50s step= 775 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.79m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(+0.01,-0.06,-1.00) r=0.78m +[headless_play] t= 15.70s step= 785 trunk_z= 119.2mm grav_b=(+0.03,-0.04,-1.00) r=0.78m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.80m +[headless_play] t= 15.90s step= 795 trunk_z= 99.5mm grav_b=(-0.02,+0.24,-0.97) r=0.82m +[headless_play] t= 16.00s step= 800 trunk_z= 105.7mm grav_b=(+0.10,+0.23,-0.97) r=0.84m +[headless_play] t= 16.10s step= 805 trunk_z= 104.6mm grav_b=(+0.20,+0.37,-0.91) r=0.88m +[headless_play] t= 16.20s step= 810 trunk_z= 104.5mm grav_b=(+0.19,+0.30,-0.93) r=0.95m +[headless_play] t= 16.30s step= 815 trunk_z= 85.8mm grav_b=(+0.16,+0.46,-0.87) r=1.03m +[headless_play] t= 16.40s step= 820 trunk_z= 89.8mm grav_b=(+0.54,+0.50,-0.68) r=1.08m +[headless_play] RESET at t= 16.48s step= 824 (env termination, not a recovery) +[headless_play] t= 16.50s step= 825 trunk_z= 127.2mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 16.60s step= 830 trunk_z= 115.0mm grav_b=(+0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 16.70s step= 835 trunk_z= 115.0mm grav_b=(+0.04,+0.06,-1.00) r=0.39m +[headless_play] t= 16.80s step= 840 trunk_z= 116.5mm grav_b=(+0.07,+0.10,-0.99) r=0.39m +[headless_play] t= 16.90s step= 845 trunk_z= 119.2mm grav_b=(+0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 17.00s step= 850 trunk_z= 120.3mm grav_b=(-0.03,-0.06,-1.00) r=0.45m +[headless_play] t= 17.10s step= 855 trunk_z= 122.5mm grav_b=(-0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(-0.02,+0.06,-1.00) r=0.47m +[headless_play] t= 17.30s step= 865 trunk_z= 122.9mm grav_b=(+0.02,+0.06,-1.00) r=0.47m +[headless_play] t= 17.40s step= 870 trunk_z= 120.8mm grav_b=(+0.02,+0.05,-1.00) r=0.48m +[headless_play] t= 17.50s step= 875 trunk_z= 118.6mm grav_b=(+0.02,-0.02,-1.00) r=0.51m +[headless_play] t= 17.60s step= 880 trunk_z= 122.2mm grav_b=(+0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 17.70s step= 885 trunk_z= 115.7mm grav_b=(-0.01,+0.04,-1.00) r=0.52m +[headless_play] t= 17.80s step= 890 trunk_z= 122.6mm grav_b=(-0.02,+0.08,-1.00) r=0.52m +[headless_play] t= 17.90s step= 895 trunk_z= 121.5mm grav_b=(+0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 116.0mm grav_b=(-0.00,-0.02,-1.00) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 123.2mm grav_b=(+0.01,-0.04,-1.00) r=0.57m +[headless_play] t= 18.20s step= 910 trunk_z= 119.1mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 18.30s step= 915 trunk_z= 120.4mm grav_b=(-0.01,+0.10,-0.99) r=0.57m +[headless_play] t= 18.40s step= 920 trunk_z= 123.1mm grav_b=(-0.00,+0.08,-1.00) r=0.58m +[headless_play] t= 18.50s step= 925 trunk_z= 119.4mm grav_b=(+0.02,+0.06,-1.00) r=0.60m +[headless_play] t= 18.60s step= 930 trunk_z= 121.5mm grav_b=(+0.03,-0.04,-1.00) r=0.62m +[headless_play] t= 18.70s step= 935 trunk_z= 122.5mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 18.80s step= 940 trunk_z= 115.2mm grav_b=(-0.01,+0.06,-1.00) r=0.63m +[headless_play] t= 18.90s step= 945 trunk_z= 123.1mm grav_b=(-0.02,+0.09,-1.00) r=0.63m +[headless_play] t= 19.00s step= 950 trunk_z= 122.0mm grav_b=(+0.02,+0.07,-1.00) r=0.65m +[headless_play] t= 19.10s step= 955 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 19.20s step= 960 trunk_z= 123.0mm grav_b=(+0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(+0.00,+0.01,-1.00) r=0.69m +[headless_play] t= 19.40s step= 970 trunk_z= 120.7mm grav_b=(-0.01,+0.08,-1.00) r=0.68m +[headless_play] t= 19.50s step= 975 trunk_z= 122.1mm grav_b=(-0.02,+0.05,-1.00) r=0.68m +[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.71m +[headless_play] t= 19.70s step= 985 trunk_z= 123.0mm grav_b=(+0.02,-0.03,-1.00) r=0.72m +[headless_play] t= 19.80s step= 990 trunk_z= 121.9mm grav_b=(+0.04,+0.00,-1.00) r=0.72m +[headless_play] t= 19.90s step= 995 trunk_z= 121.4mm grav_b=(+0.04,+0.04,-1.00) r=0.72m +[headless_play] t= 20.00s step=1000 trunk_z= 126.3mm grav_b=(-0.00,+0.01,-1.00) r=0.73m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(-0.05,-0.02,-1.00) r=0.76m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..d6f36566d8aaf8b7a248417eed49ec9809ff01d0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-13.830,-18.111,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.03,+0.04,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 118.5mm grav_b=(-0.04,+0.08,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 123.0mm grav_b=(-0.07,+0.04,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 118.3mm grav_b=(-0.07,+0.02,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 123.1mm grav_b=(-0.08,-0.03,-1.00) r=0.20m +[headless_play] t= 0.60s step= 30 trunk_z= 121.8mm grav_b=(-0.07,-0.02,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 119.5mm grav_b=(-0.05,+0.03,-1.00) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 125.6mm grav_b=(-0.05,+0.03,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 123.7mm grav_b=(-0.07,+0.03,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 121.5mm grav_b=(-0.07,-0.05,-1.00) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 123.1mm grav_b=(-0.07,-0.04,-1.00) r=0.24m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(-0.06,+0.02,-1.00) r=0.25m +[headless_play] t= 1.30s step= 65 trunk_z= 125.4mm grav_b=(-0.05,+0.03,-1.00) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 123.4mm grav_b=(-0.07,+0.03,-1.00) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 119.8mm grav_b=(-0.09,-0.05,-0.99) r=0.26m +[headless_play] t= 1.60s step= 80 trunk_z= 123.8mm grav_b=(-0.09,-0.06,-0.99) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 118.2mm grav_b=(-0.08,-0.02,-1.00) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 124.6mm grav_b=(-0.05,+0.04,-1.00) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 124.7mm grav_b=(-0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 117.7mm grav_b=(-0.08,-0.01,-1.00) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 122.9mm grav_b=(-0.10,-0.05,-0.99) r=0.29m +[headless_play] t= 2.20s step= 110 trunk_z= 118.6mm grav_b=(-0.09,-0.01,-1.00) r=0.29m +[headless_play] t= 2.30s step= 115 trunk_z= 123.8mm grav_b=(-0.07,+0.03,-1.00) r=0.29m +[headless_play] t= 2.40s step= 120 trunk_z= 125.1mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 120.4mm grav_b=(-0.09,+0.01,-1.00) r=0.31m +[headless_play] t= 2.60s step= 130 trunk_z= 123.2mm grav_b=(-0.08,-0.05,-1.00) r=0.31m +[headless_play] t= 2.70s step= 135 trunk_z= 122.3mm grav_b=(-0.07,-0.04,-1.00) r=0.32m +[headless_play] t= 2.80s step= 140 trunk_z= 118.4mm grav_b=(-0.06,+0.04,-1.00) r=0.32m +[headless_play] t= 2.90s step= 145 trunk_z= 126.0mm grav_b=(-0.05,+0.03,-1.00) r=0.32m +[headless_play] t= 3.00s step= 150 trunk_z= 124.3mm grav_b=(-0.07,+0.03,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 120.6mm grav_b=(-0.08,-0.05,-0.99) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 123.5mm grav_b=(-0.07,-0.04,-1.00) r=0.35m +[headless_play] t= 3.30s step= 165 trunk_z= 117.5mm grav_b=(-0.06,+0.00,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 125.0mm grav_b=(-0.07,+0.04,-1.00) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 124.9mm grav_b=(-0.08,+0.05,-1.00) r=0.35m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(-0.10,-0.02,-1.00) r=0.37m +[headless_play] t= 3.70s step= 185 trunk_z= 123.9mm grav_b=(-0.08,-0.05,-1.00) r=0.39m +[headless_play] t= 3.80s step= 190 trunk_z= 119.9mm grav_b=(-0.07,-0.02,-1.00) r=0.38m +[headless_play] t= 3.90s step= 195 trunk_z= 123.1mm grav_b=(-0.06,+0.05,-1.00) r=0.37m +[headless_play] t= 4.00s step= 200 trunk_z= 124.9mm grav_b=(-0.07,+0.05,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 120.3mm grav_b=(-0.08,+0.02,-1.00) r=0.39m +[headless_play] t= 4.20s step= 210 trunk_z= 123.4mm grav_b=(-0.06,-0.05,-1.00) r=0.41m +[headless_play] t= 4.30s step= 215 trunk_z= 122.3mm grav_b=(-0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 4.40s step= 220 trunk_z= 119.4mm grav_b=(-0.06,+0.05,-1.00) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 125.2mm grav_b=(-0.06,+0.06,-1.00) r=0.39m +[headless_play] t= 4.60s step= 230 trunk_z= 122.8mm grav_b=(-0.08,+0.05,-1.00) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 120.2mm grav_b=(-0.07,-0.05,-1.00) r=0.43m +[headless_play] t= 4.80s step= 240 trunk_z= 123.9mm grav_b=(-0.06,-0.05,-1.00) r=0.43m +[headless_play] t= 4.90s step= 245 trunk_z= 117.2mm grav_b=(-0.07,-0.00,-1.00) r=0.42m +[headless_play] t= 5.00s step= 250 trunk_z= 125.2mm grav_b=(-0.06,+0.04,-1.00) r=0.40m +[headless_play] t= 5.10s step= 255 trunk_z= 124.4mm grav_b=(-0.06,+0.04,-1.00) r=0.41m +[headless_play] t= 5.20s step= 260 trunk_z= 118.3mm grav_b=(-0.07,-0.01,-1.00) r=0.44m +[headless_play] t= 5.30s step= 265 trunk_z= 123.4mm grav_b=(-0.06,-0.04,-1.00) r=0.45m +[headless_play] t= 5.40s step= 270 trunk_z= 119.2mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 5.50s step= 275 trunk_z= 123.0mm grav_b=(-0.07,+0.04,-1.00) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 124.6mm grav_b=(-0.07,+0.04,-1.00) r=0.41m +[headless_play] t= 5.70s step= 285 trunk_z= 119.6mm grav_b=(-0.08,+0.02,-1.00) r=0.44m +[headless_play] t= 5.80s step= 290 trunk_z= 123.3mm grav_b=(-0.06,-0.06,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 121.4mm grav_b=(-0.06,-0.04,-1.00) r=0.45m +[headless_play] t= 6.00s step= 300 trunk_z= 120.8mm grav_b=(-0.06,+0.04,-1.00) r=0.42m +[headless_play] t= 6.10s step= 305 trunk_z= 124.5mm grav_b=(-0.06,+0.04,-1.00) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(-0.08,+0.03,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 121.8mm grav_b=(-0.07,-0.06,-1.00) r=0.46m +[headless_play] t= 6.40s step= 320 trunk_z= 122.7mm grav_b=(-0.06,-0.04,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(-0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 6.60s step= 330 trunk_z= 124.5mm grav_b=(-0.05,+0.05,-1.00) r=0.41m +[headless_play] t= 6.70s step= 335 trunk_z= 123.4mm grav_b=(-0.07,+0.04,-1.00) r=0.42m +[headless_play] t= 6.80s step= 340 trunk_z= 118.3mm grav_b=(-0.08,-0.05,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 123.9mm grav_b=(-0.07,-0.06,-1.00) r=0.45m +[headless_play] t= 7.00s step= 350 trunk_z= 118.9mm grav_b=(-0.06,-0.02,-1.00) r=0.43m +[headless_play] t= 7.10s step= 355 trunk_z= 123.0mm grav_b=(-0.05,+0.06,-1.00) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 124.9mm grav_b=(-0.06,+0.04,-1.00) r=0.40m +[headless_play] t= 7.30s step= 365 trunk_z= 119.8mm grav_b=(-0.08,+0.02,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 123.4mm grav_b=(-0.08,-0.08,-0.99) r=0.43m +[headless_play] t= 7.50s step= 375 trunk_z= 122.7mm grav_b=(-0.07,-0.03,-1.00) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 115.8mm grav_b=(-0.04,+0.03,-1.00) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 123.4mm grav_b=(-0.06,+0.04,-1.00) r=0.40m +[headless_play] t= 7.80s step= 390 trunk_z= 120.2mm grav_b=(-0.07,+0.03,-1.00) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 120.2mm grav_b=(-0.09,-0.04,-1.00) r=0.40m +[headless_play] t= 8.00s step= 400 trunk_z= 122.5mm grav_b=(-0.08,-0.02,-1.00) r=0.40m +[headless_play] t= 8.10s step= 405 trunk_z= 117.4mm grav_b=(-0.08,-0.00,-1.00) r=0.38m +[headless_play] t= 8.20s step= 410 trunk_z= 122.6mm grav_b=(-0.04,+0.04,-1.00) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 121.0mm grav_b=(-0.04,+0.00,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 120.0mm grav_b=(-0.05,-0.05,-1.00) r=0.36m +[headless_play] t= 8.50s step= 425 trunk_z= 123.6mm grav_b=(-0.04,-0.03,-1.00) r=0.35m +[headless_play] t= 8.60s step= 430 trunk_z= 118.5mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 8.70s step= 435 trunk_z= 121.8mm grav_b=(-0.03,+0.04,-1.00) r=0.31m +[headless_play] t= 8.80s step= 440 trunk_z= 120.9mm grav_b=(-0.05,+0.02,-1.00) r=0.30m +[headless_play] t= 8.90s step= 445 trunk_z= 117.2mm grav_b=(-0.08,-0.04,-1.00) r=0.31m +[headless_play] t= 9.00s step= 450 trunk_z= 123.4mm grav_b=(-0.09,-0.03,-1.00) r=0.31m +[headless_play] t= 9.10s step= 455 trunk_z= 120.1mm grav_b=(-0.09,-0.01,-1.00) r=0.29m +[headless_play] t= 9.20s step= 460 trunk_z= 122.1mm grav_b=(-0.05,+0.05,-1.00) r=0.27m +[headless_play] t= 9.30s step= 465 trunk_z= 124.2mm grav_b=(-0.01,+0.04,-1.00) r=0.26m +[headless_play] t= 9.40s step= 470 trunk_z= 118.4mm grav_b=(-0.04,-0.00,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 124.0mm grav_b=(-0.06,-0.06,-1.00) r=0.25m +[headless_play] t= 9.60s step= 480 trunk_z= 122.3mm grav_b=(-0.08,-0.07,-0.99) r=0.24m +[headless_play] t= 9.70s step= 485 trunk_z= 117.7mm grav_b=(-0.06,+0.03,-1.00) r=0.21m +[headless_play] t= 9.80s step= 490 trunk_z= 122.1mm grav_b=(-0.07,+0.05,-1.00) r=0.20m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(-0.05,+0.03,-1.00) r=0.19m +[headless_play] t= 10.00s step= 500 trunk_z= 114.1mm grav_b=(-0.04,-0.05,-1.00) r=0.19m +[headless_play] t= 10.10s step= 505 trunk_z= 117.3mm grav_b=(-0.04,-0.01,-1.00) r=0.18m +[headless_play] t= 10.20s step= 510 trunk_z= 111.0mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 10.30s step= 515 trunk_z= 115.4mm grav_b=(-0.06,+0.05,-1.00) r=0.14m +[headless_play] t= 10.40s step= 520 trunk_z= 114.3mm grav_b=(-0.04,+0.04,-1.00) r=0.13m +[headless_play] t= 10.50s step= 525 trunk_z= 109.7mm grav_b=(+0.00,-0.01,-1.00) r=0.12m +[headless_play] t= 10.60s step= 530 trunk_z= 115.2mm grav_b=(-0.03,-0.03,-1.00) r=0.12m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(-0.01,-0.02,-1.00) r=0.11m +[headless_play] t= 10.80s step= 540 trunk_z= 107.9mm grav_b=(-0.01,+0.04,-1.00) r=0.09m +[headless_play] t= 10.90s step= 545 trunk_z= 115.0mm grav_b=(-0.04,+0.05,-1.00) r=0.07m +[headless_play] t= 11.00s step= 550 trunk_z= 112.8mm grav_b=(-0.01,+0.03,-1.00) r=0.06m +[headless_play] t= 11.10s step= 555 trunk_z= 107.7mm grav_b=(+0.01,-0.05,-1.00) r=0.05m +[headless_play] t= 11.20s step= 560 trunk_z= 116.4mm grav_b=(-0.03,-0.03,-1.00) r=0.04m +[headless_play] t= 11.30s step= 565 trunk_z= 115.5mm grav_b=(+0.02,-0.02,-1.00) r=0.03m +[headless_play] t= 11.40s step= 570 trunk_z= 109.0mm grav_b=(-0.01,+0.07,-1.00) r=0.01m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(-0.04,+0.07,-1.00) r=0.02m +[headless_play] t= 11.60s step= 580 trunk_z= 113.8mm grav_b=(-0.01,+0.04,-1.00) r=0.03m +[headless_play] t= 11.70s step= 585 trunk_z= 109.3mm grav_b=(+0.02,-0.05,-1.00) r=0.04m +[headless_play] t= 11.80s step= 590 trunk_z= 118.0mm grav_b=(-0.03,-0.05,-1.00) r=0.05m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.05m +[headless_play] t= 12.00s step= 600 trunk_z= 111.6mm grav_b=(-0.04,+0.06,-1.00) r=0.07m +[headless_play] t= 12.10s step= 605 trunk_z= 117.3mm grav_b=(-0.05,+0.07,-1.00) r=0.08m +[headless_play] t= 12.20s step= 610 trunk_z= 114.8mm grav_b=(-0.02,+0.04,-1.00) r=0.09m +[headless_play] t= 12.30s step= 615 trunk_z= 110.0mm grav_b=(-0.00,-0.04,-1.00) r=0.11m +[headless_play] t= 12.40s step= 620 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.12m +[headless_play] t= 12.50s step= 625 trunk_z= 115.3mm grav_b=(+0.01,-0.00,-1.00) r=0.11m +[headless_play] t= 12.60s step= 630 trunk_z= 112.0mm grav_b=(-0.02,+0.08,-1.00) r=0.12m +[headless_play] t= 12.70s step= 635 trunk_z= 116.4mm grav_b=(-0.03,+0.09,-1.00) r=0.12m +[headless_play] t= 12.80s step= 640 trunk_z= 112.0mm grav_b=(-0.00,+0.07,-1.00) r=0.14m +[headless_play] t= 12.90s step= 645 trunk_z= 109.9mm grav_b=(-0.02,-0.04,-1.00) r=0.16m +[headless_play] t= 13.00s step= 650 trunk_z= 119.3mm grav_b=(-0.06,-0.02,-1.00) r=0.17m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 13.20s step= 660 trunk_z= 115.3mm grav_b=(-0.07,+0.06,-1.00) r=0.16m +[headless_play] t= 13.30s step= 665 trunk_z= 118.5mm grav_b=(-0.06,+0.08,-1.00) r=0.16m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(-0.04,+0.07,-1.00) r=0.17m +[headless_play] t= 13.50s step= 675 trunk_z= 111.5mm grav_b=(+0.00,+0.03,-1.00) r=0.18m +[headless_play] t= 13.60s step= 680 trunk_z= 114.2mm grav_b=(+0.02,-0.05,-1.00) r=0.20m +[headless_play] t= 13.70s step= 685 trunk_z= 113.9mm grav_b=(+0.05,-0.07,-1.00) r=0.21m +[headless_play] t= 13.80s step= 690 trunk_z= 112.6mm grav_b=(+0.04,+0.00,-1.00) r=0.21m +[headless_play] t= 13.90s step= 695 trunk_z= 120.9mm grav_b=(-0.04,+0.09,-0.99) r=0.22m +[headless_play] t= 14.00s step= 700 trunk_z= 118.3mm grav_b=(-0.01,+0.07,-1.00) r=0.24m +[headless_play] t= 14.10s step= 705 trunk_z= 113.6mm grav_b=(-0.01,-0.01,-1.00) r=0.26m +[headless_play] t= 14.20s step= 710 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 14.30s step= 715 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) r=0.26m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(-0.03,+0.06,-1.00) r=0.26m +[headless_play] t= 14.50s step= 725 trunk_z= 117.4mm grav_b=(-0.00,+0.04,-1.00) r=0.27m +[headless_play] t= 14.60s step= 730 trunk_z= 112.6mm grav_b=(+0.03,+0.00,-1.00) r=0.29m +[headless_play] t= 14.70s step= 735 trunk_z= 117.2mm grav_b=(-0.02,-0.05,-1.00) r=0.31m +[headless_play] t= 14.80s step= 740 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 14.90s step= 745 trunk_z= 110.5mm grav_b=(-0.01,+0.04,-1.00) r=0.32m +[headless_play] t= 15.00s step= 750 trunk_z= 119.0mm grav_b=(-0.03,+0.06,-1.00) r=0.33m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(+0.02,+0.02,-1.00) r=0.34m +[headless_play] t= 15.20s step= 760 trunk_z= 115.2mm grav_b=(-0.00,-0.06,-1.00) r=0.37m +[headless_play] t= 15.30s step= 765 trunk_z= 118.1mm grav_b=(-0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 15.40s step= 770 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 15.50s step= 775 trunk_z= 117.1mm grav_b=(-0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(+0.00,+0.03,-1.00) r=0.40m +[headless_play] t= 15.70s step= 785 trunk_z= 111.1mm grav_b=(+0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 15.80s step= 790 trunk_z= 117.3mm grav_b=(-0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 15.90s step= 795 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 16.00s step= 800 trunk_z= 113.1mm grav_b=(-0.01,+0.06,-1.00) r=0.46m +[headless_play] t= 16.10s step= 805 trunk_z= 116.9mm grav_b=(-0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 16.20s step= 810 trunk_z= 111.8mm grav_b=(+0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 16.30s step= 815 trunk_z= 115.5mm grav_b=(+0.00,-0.03,-1.00) r=0.51m +[headless_play] t= 16.40s step= 820 trunk_z= 115.2mm grav_b=(+0.01,-0.02,-1.00) r=0.51m +[headless_play] t= 16.50s step= 825 trunk_z= 108.1mm grav_b=(+0.02,+0.03,-1.00) r=0.52m +[headless_play] t= 16.60s step= 830 trunk_z= 116.9mm grav_b=(-0.01,+0.05,-1.00) r=0.53m +[headless_play] t= 16.70s step= 835 trunk_z= 113.3mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 16.80s step= 840 trunk_z= 113.8mm grav_b=(-0.00,-0.03,-1.00) r=0.57m +[headless_play] t= 16.90s step= 845 trunk_z= 115.5mm grav_b=(-0.00,-0.02,-1.00) r=0.58m +[headless_play] t= 17.00s step= 850 trunk_z= 112.7mm grav_b=(-0.03,+0.03,-1.00) r=0.58m +[headless_play] t= 17.10s step= 855 trunk_z= 121.8mm grav_b=(-0.04,+0.10,-0.99) r=0.57m +[headless_play] t= 17.20s step= 860 trunk_z= 124.6mm grav_b=(-0.03,+0.09,-1.00) r=0.58m +[headless_play] t= 17.30s step= 865 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=0.59m +[headless_play] t= 17.40s step= 870 trunk_z= 123.8mm grav_b=(-0.03,-0.07,-1.00) r=0.60m +[headless_play] t= 17.50s step= 875 trunk_z= 121.0mm grav_b=(-0.03,-0.04,-1.00) r=0.60m +[headless_play] t= 17.60s step= 880 trunk_z= 119.2mm grav_b=(-0.06,+0.05,-1.00) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 124.1mm grav_b=(-0.06,+0.05,-1.00) r=0.61m +[headless_play] t= 17.80s step= 890 trunk_z= 120.2mm grav_b=(-0.08,+0.03,-1.00) r=0.62m +[headless_play] t= 17.90s step= 895 trunk_z= 121.2mm grav_b=(-0.06,-0.05,-1.00) r=0.64m +[headless_play] t= 18.00s step= 900 trunk_z= 122.1mm grav_b=(-0.03,-0.03,-1.00) r=0.64m +[headless_play] t= 18.10s step= 905 trunk_z= 115.8mm grav_b=(-0.03,+0.05,-1.00) r=0.64m +[headless_play] t= 18.20s step= 910 trunk_z= 124.0mm grav_b=(-0.04,+0.05,-1.00) r=0.65m +[headless_play] t= 18.30s step= 915 trunk_z= 121.6mm grav_b=(-0.07,+0.03,-1.00) r=0.66m +[headless_play] t= 18.40s step= 920 trunk_z= 119.9mm grav_b=(-0.08,-0.04,-1.00) r=0.67m +[headless_play] t= 18.50s step= 925 trunk_z= 123.1mm grav_b=(-0.07,-0.02,-1.00) r=0.68m +[headless_play] t= 18.60s step= 930 trunk_z= 115.5mm grav_b=(-0.07,+0.03,-1.00) r=0.69m +[headless_play] t= 18.70s step= 935 trunk_z= 123.5mm grav_b=(-0.05,+0.05,-1.00) r=0.69m +[headless_play] t= 18.80s step= 940 trunk_z= 122.8mm grav_b=(-0.04,+0.04,-1.00) r=0.70m +[headless_play] t= 18.90s step= 945 trunk_z= 117.0mm grav_b=(-0.06,-0.02,-1.00) r=0.72m +[headless_play] t= 19.00s step= 950 trunk_z= 124.0mm grav_b=(-0.07,-0.04,-1.00) r=0.73m +[headless_play] t= 19.10s step= 955 trunk_z= 119.5mm grav_b=(-0.06,-0.02,-1.00) r=0.72m +[headless_play] t= 19.20s step= 960 trunk_z= 119.6mm grav_b=(-0.04,+0.04,-1.00) r=0.71m +[headless_play] t= 19.30s step= 965 trunk_z= 122.4mm grav_b=(-0.04,+0.04,-1.00) r=0.71m +[headless_play] t= 19.40s step= 970 trunk_z= 115.5mm grav_b=(-0.05,+0.01,-1.00) r=0.72m +[headless_play] t= 19.50s step= 975 trunk_z= 121.7mm grav_b=(-0.07,-0.05,-1.00) r=0.73m +[headless_play] t= 19.60s step= 980 trunk_z= 121.0mm grav_b=(-0.10,-0.03,-0.99) r=0.73m +[headless_play] t= 19.70s step= 985 trunk_z= 117.2mm grav_b=(-0.09,+0.04,-0.99) r=0.72m +[headless_play] t= 19.80s step= 990 trunk_z= 124.0mm grav_b=(-0.08,+0.04,-1.00) r=0.72m +[headless_play] t= 19.90s step= 995 trunk_z= 117.7mm grav_b=(-0.05,+0.02,-1.00) r=0.73m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..59f34b634a94174de0c8b51e681a39b03f90e760 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t14.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.235,-18.253,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.8mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.02,+0.04,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 113.1mm grav_b=(+0.07,+0.07,-0.99) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 111.2mm grav_b=(+0.10,-0.00,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 105.7mm grav_b=(+0.10,-0.06,-0.99) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 113.7mm grav_b=(+0.09,-0.05,-0.99) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 109.9mm grav_b=(+0.07,+0.00,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(+0.04,+0.07,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(+0.07,+0.04,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 107.2mm grav_b=(+0.08,-0.02,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 114.7mm grav_b=(+0.07,-0.07,-1.00) r=0.34m +[headless_play] t= 1.10s step= 55 trunk_z= 112.2mm grav_b=(+0.06,-0.05,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 110.9mm grav_b=(+0.06,+0.06,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(+0.05,+0.06,-1.00) r=0.31m +[headless_play] t= 1.40s step= 70 trunk_z= 113.2mm grav_b=(+0.11,+0.03,-0.99) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 110.8mm grav_b=(+0.09,-0.06,-0.99) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 113.8mm grav_b=(+0.08,-0.05,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 108.8mm grav_b=(+0.08,+0.01,-1.00) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 115.6mm grav_b=(+0.06,+0.06,-1.00) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 114.5mm grav_b=(+0.10,+0.02,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 107.1mm grav_b=(+0.08,-0.05,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(+0.07,-0.06,-1.00) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 111.2mm grav_b=(+0.07,-0.03,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 112.2mm grav_b=(+0.07,+0.08,-0.99) r=0.38m +[headless_play] t= 2.40s step= 120 trunk_z= 116.0mm grav_b=(+0.08,+0.07,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 111.7mm grav_b=(+0.10,+0.00,-0.99) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 114.3mm grav_b=(+0.08,-0.07,-0.99) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 113.6mm grav_b=(+0.06,-0.06,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 108.5mm grav_b=(+0.06,+0.04,-1.00) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 117.5mm grav_b=(+0.04,+0.08,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.09,+0.04,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 107.7mm grav_b=(+0.09,-0.05,-0.99) r=0.47m +[headless_play] t= 3.20s step= 160 trunk_z= 115.4mm grav_b=(+0.07,-0.08,-0.99) r=0.48m +[headless_play] t= 3.30s step= 165 trunk_z= 111.2mm grav_b=(+0.07,-0.04,-1.00) r=0.48m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(+0.05,+0.07,-1.00) r=0.48m +[headless_play] t= 3.50s step= 175 trunk_z= 117.5mm grav_b=(+0.05,+0.06,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 111.9mm grav_b=(+0.10,+0.01,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 113.7mm grav_b=(+0.09,-0.06,-0.99) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 111.7mm grav_b=(+0.08,-0.05,-1.00) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 109.5mm grav_b=(+0.07,+0.05,-1.00) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 117.1mm grav_b=(+0.04,+0.06,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.09,+0.02,-1.00) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 109.0mm grav_b=(+0.11,-0.06,-0.99) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 113.9mm grav_b=(+0.09,-0.07,-0.99) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 109.8mm grav_b=(+0.07,-0.02,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(+0.04,+0.07,-1.00) r=0.60m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(+0.06,+0.04,-1.00) r=0.62m +[headless_play] t= 4.70s step= 235 trunk_z= 109.0mm grav_b=(+0.09,-0.00,-1.00) r=0.64m +[headless_play] t= 4.80s step= 240 trunk_z= 113.1mm grav_b=(+0.09,-0.05,-0.99) r=0.66m +[headless_play] t= 4.90s step= 245 trunk_z= 109.8mm grav_b=(+0.09,-0.02,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 111.4mm grav_b=(+0.07,+0.11,-0.99) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 118.8mm grav_b=(+0.07,+0.05,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 115.9mm grav_b=(+0.05,+0.01,-1.00) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(+0.03,-0.05,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 122.7mm grav_b=(+0.08,-0.01,-1.00) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(+0.08,+0.06,-0.99) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 125.1mm grav_b=(+0.09,+0.06,-0.99) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 122.3mm grav_b=(+0.08,+0.02,-1.00) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 119.1mm grav_b=(+0.05,-0.04,-1.00) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 123.3mm grav_b=(+0.06,-0.05,-1.00) r=0.76m +[headless_play] t= 6.00s step= 300 trunk_z= 118.7mm grav_b=(+0.03,+0.01,-1.00) r=0.76m +[headless_play] t= 6.10s step= 305 trunk_z= 121.9mm grav_b=(+0.03,+0.06,-1.00) r=0.77m +[headless_play] t= 6.20s step= 310 trunk_z= 121.9mm grav_b=(+0.06,+0.03,-1.00) r=0.78m +[headless_play] t= 6.30s step= 315 trunk_z= 116.6mm grav_b=(+0.05,-0.03,-1.00) r=0.80m +[headless_play] t= 6.40s step= 320 trunk_z= 121.8mm grav_b=(+0.05,-0.03,-1.00) r=0.81m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(+0.03,+0.02,-1.00) r=0.81m +[headless_play] t= 6.60s step= 330 trunk_z= 121.8mm grav_b=(+0.04,+0.05,-1.00) r=0.81m +[headless_play] t= 6.70s step= 335 trunk_z= 121.4mm grav_b=(+0.04,+0.01,-1.00) r=0.82m +[headless_play] t= 6.80s step= 340 trunk_z= 115.3mm grav_b=(+0.03,-0.03,-1.00) r=0.85m +[headless_play] t= 6.90s step= 345 trunk_z= 120.7mm grav_b=(+0.06,-0.12,-0.99) r=0.87m +[headless_play] t= 7.00s step= 350 trunk_z= 118.0mm grav_b=(+0.20,-0.15,-0.97) r=0.90m +[headless_play] t= 7.10s step= 355 trunk_z= 77.5mm grav_b=(+0.18,-0.37,-0.91) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 64.9mm grav_b=(+0.11,-0.73,-0.68) r=1.04m +[headless_play] t= 7.30s step= 365 trunk_z= 30.2mm grav_b=(-0.29,-0.90,-0.34) r=1.12m +[headless_play] RESET at t= 7.32s step= 366 (env termination, not a recovery) +[headless_play] t= 7.40s step= 370 trunk_z= 114.6mm grav_b=(+0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 7.50s step= 375 trunk_z= 113.5mm grav_b=(+0.10,+0.09,-0.99) r=0.46m +[headless_play] t= 7.60s step= 380 trunk_z= 114.3mm grav_b=(+0.12,+0.07,-0.99) r=0.46m +[headless_play] t= 7.70s step= 385 trunk_z= 106.8mm grav_b=(+0.07,-0.01,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 117.1mm grav_b=(+0.07,-0.03,-1.00) r=0.51m +[headless_play] t= 7.90s step= 395 trunk_z= 113.9mm grav_b=(+0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 8.00s step= 400 trunk_z= 114.3mm grav_b=(+0.05,+0.09,-0.99) r=0.48m +[headless_play] t= 8.10s step= 405 trunk_z= 116.1mm grav_b=(+0.06,+0.06,-1.00) r=0.48m +[headless_play] t= 8.20s step= 410 trunk_z= 110.0mm grav_b=(+0.08,+0.03,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 113.8mm grav_b=(+0.10,-0.04,-0.99) r=0.51m +[headless_play] t= 8.40s step= 420 trunk_z= 112.1mm grav_b=(+0.10,-0.02,-0.99) r=0.51m +[headless_play] t= 8.50s step= 425 trunk_z= 108.2mm grav_b=(+0.08,+0.08,-0.99) r=0.49m +[headless_play] t= 8.60s step= 430 trunk_z= 115.6mm grav_b=(+0.06,+0.08,-1.00) r=0.48m +[headless_play] t= 8.70s step= 435 trunk_z= 113.2mm grav_b=(+0.09,+0.03,-1.00) r=0.49m +[headless_play] t= 8.80s step= 440 trunk_z= 110.7mm grav_b=(+0.09,-0.04,-1.00) r=0.51m +[headless_play] t= 8.90s step= 445 trunk_z= 112.9mm grav_b=(+0.10,-0.01,-1.00) r=0.51m +[headless_play] t= 9.00s step= 450 trunk_z= 107.5mm grav_b=(+0.08,+0.05,-1.00) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 115.5mm grav_b=(+0.06,+0.09,-0.99) r=0.48m +[headless_play] t= 9.20s step= 460 trunk_z= 115.0mm grav_b=(+0.08,+0.04,-1.00) r=0.48m +[headless_play] t= 9.30s step= 465 trunk_z= 105.0mm grav_b=(+0.09,-0.03,-1.00) r=0.50m +[headless_play] t= 9.40s step= 470 trunk_z= 114.7mm grav_b=(+0.10,-0.02,-1.00) r=0.52m +[headless_play] t= 9.50s step= 475 trunk_z= 110.5mm grav_b=(+0.08,+0.02,-1.00) r=0.51m +[headless_play] t= 9.60s step= 480 trunk_z= 112.4mm grav_b=(+0.07,+0.11,-0.99) r=0.49m +[headless_play] t= 9.70s step= 485 trunk_z= 115.4mm grav_b=(+0.06,+0.06,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 110.3mm grav_b=(+0.10,+0.02,-0.99) r=0.50m +[headless_play] t= 9.90s step= 495 trunk_z= 112.7mm grav_b=(+0.10,-0.03,-0.99) r=0.51m +[headless_play] t= 10.00s step= 500 trunk_z= 110.1mm grav_b=(+0.11,+0.01,-0.99) r=0.51m +[headless_play] t= 10.10s step= 505 trunk_z= 107.7mm grav_b=(+0.09,+0.11,-0.99) r=0.49m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.07,+0.10,-0.99) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 113.6mm grav_b=(+0.10,+0.05,-0.99) r=0.49m +[headless_play] t= 10.40s step= 520 trunk_z= 108.8mm grav_b=(+0.09,-0.04,-0.99) r=0.52m +[headless_play] t= 10.50s step= 525 trunk_z= 114.1mm grav_b=(+0.10,-0.01,-1.00) r=0.52m +[headless_play] t= 10.60s step= 530 trunk_z= 108.6mm grav_b=(+0.08,+0.04,-1.00) r=0.51m +[headless_play] t= 10.70s step= 535 trunk_z= 114.8mm grav_b=(+0.07,+0.10,-0.99) r=0.50m +[headless_play] t= 10.80s step= 540 trunk_z= 114.1mm grav_b=(+0.09,+0.04,-1.00) r=0.50m +[headless_play] t= 10.90s step= 545 trunk_z= 105.1mm grav_b=(+0.10,-0.01,-0.99) r=0.53m +[headless_play] t= 11.00s step= 550 trunk_z= 113.3mm grav_b=(+0.11,-0.01,-0.99) r=0.54m +[headless_play] t= 11.10s step= 555 trunk_z= 110.2mm grav_b=(+0.08,+0.04,-1.00) r=0.53m +[headless_play] t= 11.20s step= 560 trunk_z= 112.7mm grav_b=(+0.07,+0.11,-0.99) r=0.51m +[headless_play] t= 11.30s step= 565 trunk_z= 115.2mm grav_b=(+0.07,+0.06,-1.00) r=0.52m +[headless_play] t= 11.40s step= 570 trunk_z= 108.5mm grav_b=(+0.11,+0.02,-0.99) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 113.7mm grav_b=(+0.11,-0.03,-0.99) r=0.55m +[headless_play] t= 11.60s step= 580 trunk_z= 109.6mm grav_b=(+0.14,-0.00,-0.99) r=0.55m +[headless_play] t= 11.70s step= 585 trunk_z= 108.4mm grav_b=(+0.11,+0.11,-0.99) r=0.54m +[headless_play] t= 11.80s step= 590 trunk_z= 115.2mm grav_b=(+0.12,+0.09,-0.99) r=0.53m +[headless_play] t= 11.90s step= 595 trunk_z= 111.5mm grav_b=(+0.18,-0.00,-0.98) r=0.54m +[headless_play] t= 12.00s step= 600 trunk_z= 115.1mm grav_b=(+0.19,+0.01,-0.98) r=0.54m +[headless_play] t= 12.10s step= 605 trunk_z= 115.8mm grav_b=(+0.17,+0.02,-0.98) r=0.55m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.14,-0.02,-0.99) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 116.6mm grav_b=(+0.14,+0.02,-0.99) r=0.54m +[headless_play] t= 12.40s step= 620 trunk_z= 114.9mm grav_b=(+0.09,+0.12,-0.99) r=0.53m +[headless_play] t= 12.50s step= 625 trunk_z= 117.4mm grav_b=(+0.08,+0.10,-0.99) r=0.53m +[headless_play] t= 12.60s step= 630 trunk_z= 115.7mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 12.80s step= 640 trunk_z= 115.7mm grav_b=(+0.08,+0.06,-1.00) r=0.54m +[headless_play] t= 12.90s step= 645 trunk_z= 115.5mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.54m +[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 13.20s step= 660 trunk_z= 115.6mm grav_b=(+0.06,+0.03,-1.00) r=0.54m +[headless_play] t= 13.30s step= 665 trunk_z= 115.7mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 13.40s step= 670 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 13.50s step= 675 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 13.70s step= 685 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 13.80s step= 690 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 13.90s step= 695 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.00s step= 700 trunk_z= 115.6mm grav_b=(+0.08,+0.03,-1.00) r=0.54m +[headless_play] t= 14.10s step= 705 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.20s step= 710 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.30s step= 715 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.80s step= 740 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 14.90s step= 745 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.00s step= 750 trunk_z= 115.4mm grav_b=(+0.07,+0.02,-1.00) r=0.54m +[headless_play] t= 15.10s step= 755 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.20s step= 760 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.50s step= 775 trunk_z= 115.5mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.70s step= 785 trunk_z= 113.7mm grav_b=(+0.06,+0.11,-0.99) r=0.52m +[headless_play] t= 15.80s step= 790 trunk_z= 117.0mm grav_b=(+0.09,+0.14,-0.99) r=0.51m +[headless_play] t= 15.90s step= 795 trunk_z= 114.9mm grav_b=(+0.09,+0.07,-0.99) r=0.49m +[headless_play] t= 16.00s step= 800 trunk_z= 113.2mm grav_b=(+0.08,-0.00,-1.00) r=0.49m +[headless_play] t= 16.10s step= 805 trunk_z= 114.3mm grav_b=(+0.09,+0.02,-1.00) r=0.47m +[headless_play] t= 16.20s step= 810 trunk_z= 108.5mm grav_b=(+0.08,+0.11,-0.99) r=0.45m +[headless_play] t= 16.30s step= 815 trunk_z= 119.4mm grav_b=(+0.10,+0.14,-0.98) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 116.6mm grav_b=(+0.10,+0.14,-0.99) r=0.42m +[headless_play] t= 16.50s step= 825 trunk_z= 110.8mm grav_b=(+0.09,+0.01,-1.00) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 117.7mm grav_b=(+0.07,-0.02,-1.00) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 112.1mm grav_b=(+0.11,+0.05,-0.99) r=0.39m +[headless_play] t= 16.80s step= 840 trunk_z= 115.1mm grav_b=(+0.14,+0.14,-0.98) r=0.36m +[headless_play] t= 16.90s step= 845 trunk_z= 119.7mm grav_b=(+0.15,+0.12,-0.98) r=0.34m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(+0.11,+0.09,-0.99) r=0.35m +[headless_play] t= 17.10s step= 855 trunk_z= 120.6mm grav_b=(+0.02,-0.03,-1.00) r=0.36m +[headless_play] t= 17.20s step= 860 trunk_z= 122.9mm grav_b=(+0.04,+0.00,-1.00) r=0.36m +[headless_play] t= 17.30s step= 865 trunk_z= 117.6mm grav_b=(+0.05,+0.08,-1.00) r=0.34m +[headless_play] t= 17.40s step= 870 trunk_z= 128.2mm grav_b=(+0.10,+0.11,-0.99) r=0.32m +[headless_play] t= 17.50s step= 875 trunk_z= 130.7mm grav_b=(+0.09,+0.08,-0.99) r=0.30m +[headless_play] t= 17.60s step= 880 trunk_z= 122.8mm grav_b=(+0.04,+0.06,-1.00) r=0.28m +[headless_play] t= 17.70s step= 885 trunk_z= 126.0mm grav_b=(+0.09,+0.03,-1.00) r=0.27m +[headless_play] t= 17.80s step= 890 trunk_z= 127.6mm grav_b=(+0.05,+0.07,-1.00) r=0.25m +[headless_play] t= 17.90s step= 895 trunk_z= 122.0mm grav_b=(+0.07,+0.13,-0.99) r=0.21m +[headless_play] t= 18.00s step= 900 trunk_z= 132.8mm grav_b=(+0.10,+0.11,-0.99) r=0.18m +[headless_play] t= 18.10s step= 905 trunk_z= 130.5mm grav_b=(+0.11,+0.09,-0.99) r=0.16m +[headless_play] t= 18.20s step= 910 trunk_z= 118.8mm grav_b=(+0.08,+0.08,-0.99) r=0.15m +[headless_play] t= 18.30s step= 915 trunk_z= 127.5mm grav_b=(+0.07,+0.07,-0.99) r=0.13m +[headless_play] t= 18.40s step= 920 trunk_z= 116.3mm grav_b=(+0.05,+0.13,-0.99) r=0.09m +[headless_play] t= 18.50s step= 925 trunk_z= 130.6mm grav_b=(+0.09,+0.10,-0.99) r=0.07m +[headless_play] t= 18.60s step= 930 trunk_z= 129.6mm grav_b=(+0.08,+0.06,-0.99) r=0.07m +[headless_play] t= 18.70s step= 935 trunk_z= 114.8mm grav_b=(+0.08,+0.03,-1.00) r=0.10m +[headless_play] t= 18.80s step= 940 trunk_z= 126.2mm grav_b=(+0.06,+0.02,-1.00) r=0.11m +[headless_play] t= 18.90s step= 945 trunk_z= 119.8mm grav_b=(+0.04,+0.10,-0.99) r=0.10m +[headless_play] t= 19.00s step= 950 trunk_z= 128.3mm grav_b=(+0.09,+0.09,-0.99) r=0.11m +[headless_play] t= 19.10s step= 955 trunk_z= 129.9mm grav_b=(+0.08,+0.09,-0.99) r=0.13m +[headless_play] t= 19.20s step= 960 trunk_z= 113.7mm grav_b=(+0.10,+0.07,-0.99) r=0.17m +[headless_play] t= 19.30s step= 965 trunk_z= 126.1mm grav_b=(+0.10,+0.08,-0.99) r=0.20m +[headless_play] t= 19.40s step= 970 trunk_z= 111.0mm grav_b=(+0.04,+0.13,-0.99) r=0.23m +[headless_play] t= 19.50s step= 975 trunk_z= 127.8mm grav_b=(+0.08,+0.11,-0.99) r=0.26m +[headless_play] t= 19.60s step= 980 trunk_z= 128.1mm grav_b=(+0.03,+0.09,-1.00) r=0.29m +[headless_play] t= 19.70s step= 985 trunk_z= 114.9mm grav_b=(+0.05,+0.01,-1.00) r=0.33m +[headless_play] t= 19.80s step= 990 trunk_z= 123.2mm grav_b=(+0.11,+0.01,-0.99) r=0.35m +[headless_play] t= 19.90s step= 995 trunk_z= 122.9mm grav_b=(+0.07,+0.06,-1.00) r=0.36m +[headless_play] t= 20.00s step=1000 trunk_z= 120.4mm grav_b=(+0.06,+0.10,-0.99) r=0.37m +[headless_play] t= 20.10s step=1005 trunk_z= 126.5mm grav_b=(+0.01,+0.09,-1.00) r=0.38m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..afc812df56d314820ac603f5b8409d64aefa4f67 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-13.905,-18.033,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.02,-0.01,-1.00) r=0.10m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.10m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.10m +[headless_play] t= 0.50s step= 25 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.10m +[headless_play] t= 0.60s step= 30 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 0.90s step= 45 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.00s step= 50 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.10s step= 55 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.30s step= 65 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.40s step= 70 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.60s step= 80 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.60s step= 130 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(-0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 115.9mm grav_b=(-0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 115.9mm grav_b=(-0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 115.9mm grav_b=(+0.00,+0.01,-1.00) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 114.5mm grav_b=(-0.01,+0.07,-1.00) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 120.2mm grav_b=(-0.01,+0.06,-1.00) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.12m +[headless_play] t= 4.10s step= 205 trunk_z= 120.9mm grav_b=(-0.02,-0.09,-1.00) r=0.15m +[headless_play] t= 4.20s step= 210 trunk_z= 121.8mm grav_b=(-0.02,-0.07,-1.00) r=0.15m +[headless_play] t= 4.30s step= 215 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.14m +[headless_play] t= 4.40s step= 220 trunk_z= 123.5mm grav_b=(-0.02,+0.06,-1.00) r=0.13m +[headless_play] t= 4.50s step= 225 trunk_z= 121.8mm grav_b=(-0.01,+0.05,-1.00) r=0.14m +[headless_play] t= 4.60s step= 230 trunk_z= 117.3mm grav_b=(-0.02,-0.04,-1.00) r=0.17m +[headless_play] t= 4.70s step= 235 trunk_z= 122.7mm grav_b=(-0.04,-0.04,-1.00) r=0.18m +[headless_play] t= 4.80s step= 240 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(-0.03,+0.06,-1.00) r=0.16m +[headless_play] t= 5.00s step= 250 trunk_z= 123.2mm grav_b=(-0.02,+0.06,-1.00) r=0.17m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.19m +[headless_play] t= 5.20s step= 260 trunk_z= 122.2mm grav_b=(-0.01,-0.05,-1.00) r=0.21m +[headless_play] t= 5.30s step= 265 trunk_z= 119.8mm grav_b=(-0.02,-0.03,-1.00) r=0.20m +[headless_play] t= 5.40s step= 270 trunk_z= 121.4mm grav_b=(-0.03,+0.06,-1.00) r=0.20m +[headless_play] t= 5.50s step= 275 trunk_z= 123.1mm grav_b=(-0.01,+0.05,-1.00) r=0.20m +[headless_play] t= 5.60s step= 280 trunk_z= 118.8mm grav_b=(-0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 5.70s step= 285 trunk_z= 122.4mm grav_b=(-0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(-0.02,-0.03,-1.00) r=0.25m +[headless_play] t= 5.90s step= 295 trunk_z= 117.6mm grav_b=(-0.03,+0.05,-1.00) r=0.24m +[headless_play] t= 6.00s step= 300 trunk_z= 124.0mm grav_b=(-0.04,+0.06,-1.00) r=0.25m +[headless_play] t= 6.10s step= 305 trunk_z= 121.0mm grav_b=(-0.03,+0.04,-1.00) r=0.27m +[headless_play] t= 6.20s step= 310 trunk_z= 120.2mm grav_b=(-0.03,-0.07,-1.00) r=0.29m +[headless_play] t= 6.30s step= 315 trunk_z= 122.8mm grav_b=(-0.01,-0.05,-1.00) r=0.30m +[headless_play] t= 6.40s step= 320 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 123.0mm grav_b=(-0.04,+0.07,-1.00) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 122.6mm grav_b=(-0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(-0.04,-0.04,-1.00) r=0.32m +[headless_play] t= 6.80s step= 340 trunk_z= 123.8mm grav_b=(-0.01,-0.07,-1.00) r=0.34m +[headless_play] t= 6.90s step= 345 trunk_z= 120.1mm grav_b=(-0.01,-0.04,-1.00) r=0.34m +[headless_play] t= 7.00s step= 350 trunk_z= 121.3mm grav_b=(-0.03,+0.07,-1.00) r=0.34m +[headless_play] t= 7.10s step= 355 trunk_z= 123.7mm grav_b=(-0.01,+0.06,-1.00) r=0.34m +[headless_play] t= 7.20s step= 360 trunk_z= 120.1mm grav_b=(-0.04,+0.04,-1.00) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 122.3mm grav_b=(-0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 7.40s step= 370 trunk_z= 122.0mm grav_b=(-0.01,-0.04,-1.00) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 116.1mm grav_b=(-0.02,+0.04,-1.00) r=0.38m +[headless_play] t= 7.60s step= 380 trunk_z= 122.3mm grav_b=(-0.06,+0.05,-1.00) r=0.38m +[headless_play] t= 7.70s step= 385 trunk_z= 119.7mm grav_b=(-0.03,+0.04,-1.00) r=0.39m +[headless_play] t= 7.80s step= 390 trunk_z= 119.6mm grav_b=(-0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 119.7mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 8.00s step= 400 trunk_z= 116.4mm grav_b=(-0.04,+0.07,-1.00) r=0.40m +[headless_play] t= 8.10s step= 405 trunk_z= 124.2mm grav_b=(-0.08,+0.06,-1.00) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 118.8mm grav_b=(-0.07,+0.04,-1.00) r=0.43m +[headless_play] t= 8.30s step= 415 trunk_z= 122.0mm grav_b=(-0.04,-0.06,-1.00) r=0.46m +[headless_play] t= 8.40s step= 420 trunk_z= 124.1mm grav_b=(-0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 8.60s step= 430 trunk_z= 124.3mm grav_b=(-0.04,+0.07,-1.00) r=0.44m +[headless_play] t= 8.70s step= 435 trunk_z= 124.7mm grav_b=(-0.07,+0.06,-1.00) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(-0.07,-0.02,-1.00) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(-0.03,-0.05,-1.00) r=0.49m +[headless_play] t= 9.00s step= 450 trunk_z= 121.7mm grav_b=(-0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 119.4mm grav_b=(-0.05,+0.05,-1.00) r=0.47m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(-0.08,+0.00,-1.00) r=0.48m +[headless_play] t= 9.30s step= 465 trunk_z= 117.2mm grav_b=(-0.05,-0.01,-1.00) r=0.48m +[headless_play] t= 9.40s step= 470 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.48m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.10s step= 505 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.50s step= 525 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.90s step= 545 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.60s step= 580 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 12.40s step= 620 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 12.50s step= 625 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 12.60s step= 630 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 12.70s step= 635 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 12.80s step= 640 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 12.90s step= 645 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.00s step= 650 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.10s step= 655 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.20s step= 660 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.40s step= 670 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.80s step= 690 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.90s step= 695 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.00s step= 700 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.50s step= 725 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 14.60s step= 730 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(+0.00,-0.01,-1.00) r=0.48m +[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.20s step= 760 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.30s step= 765 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.50s step= 775 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.60s step= 780 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.70s step= 785 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.00s step= 800 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.20s step= 810 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 16.30s step= 815 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.40s step= 820 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 16.70s step= 835 trunk_z= 115.0mm grav_b=(-0.02,+0.06,-1.00) r=0.48m +[headless_play] t= 16.80s step= 840 trunk_z= 116.9mm grav_b=(-0.05,+0.10,-0.99) r=0.47m +[headless_play] t= 16.90s step= 845 trunk_z= 118.1mm grav_b=(-0.03,+0.03,-1.00) r=0.47m +[headless_play] t= 17.00s step= 850 trunk_z= 110.6mm grav_b=(-0.01,-0.03,-1.00) r=0.50m +[headless_play] t= 17.10s step= 855 trunk_z= 118.9mm grav_b=(+0.00,-0.06,-1.00) r=0.52m +[headless_play] t= 17.20s step= 860 trunk_z= 116.3mm grav_b=(+0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 17.30s step= 865 trunk_z= 117.8mm grav_b=(-0.02,+0.07,-1.00) r=0.49m +[headless_play] t= 17.40s step= 870 trunk_z= 123.2mm grav_b=(-0.03,+0.08,-1.00) r=0.49m +[headless_play] t= 17.50s step= 875 trunk_z= 117.8mm grav_b=(-0.02,+0.06,-1.00) r=0.51m +[headless_play] t= 17.60s step= 880 trunk_z= 118.2mm grav_b=(-0.03,-0.05,-1.00) r=0.53m +[headless_play] t= 17.70s step= 885 trunk_z= 118.9mm grav_b=(-0.03,-0.03,-1.00) r=0.53m +[headless_play] t= 17.80s step= 890 trunk_z= 112.9mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 17.90s step= 895 trunk_z= 119.5mm grav_b=(-0.00,+0.08,-1.00) r=0.50m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=0.51m +[headless_play] t= 18.10s step= 905 trunk_z= 113.1mm grav_b=(-0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 18.20s step= 910 trunk_z= 119.3mm grav_b=(-0.04,-0.04,-1.00) r=0.55m +[headless_play] t= 18.30s step= 915 trunk_z= 115.3mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 18.40s step= 920 trunk_z= 118.7mm grav_b=(+0.00,+0.09,-1.00) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 120.3mm grav_b=(+0.00,+0.08,-1.00) r=0.53m +[headless_play] t= 18.60s step= 930 trunk_z= 114.4mm grav_b=(-0.00,+0.03,-1.00) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 118.7mm grav_b=(-0.04,-0.05,-1.00) r=0.57m +[headless_play] t= 18.80s step= 940 trunk_z= 117.6mm grav_b=(-0.02,-0.02,-1.00) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 112.2mm grav_b=(+0.01,+0.06,-1.00) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 120.6mm grav_b=(+0.01,+0.08,-1.00) r=0.55m +[headless_play] t= 19.10s step= 955 trunk_z= 116.8mm grav_b=(+0.00,+0.04,-1.00) r=0.57m +[headless_play] t= 19.20s step= 960 trunk_z= 116.8mm grav_b=(-0.02,-0.05,-1.00) r=0.59m +[headless_play] t= 19.30s step= 965 trunk_z= 118.5mm grav_b=(-0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 19.40s step= 970 trunk_z= 112.7mm grav_b=(-0.00,+0.02,-1.00) r=0.59m +[headless_play] t= 19.50s step= 975 trunk_z= 119.3mm grav_b=(+0.01,+0.08,-1.00) r=0.58m +[headless_play] t= 19.60s step= 980 trunk_z= 117.2mm grav_b=(+0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 19.70s step= 985 trunk_z= 114.2mm grav_b=(-0.02,-0.03,-1.00) r=0.62m +[headless_play] t= 19.80s step= 990 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 19.90s step= 995 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) r=0.62m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.4mm grav_b=(-0.01,+0.00,-1.00) r=0.56m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.03,+0.04,-1.00) r=0.55m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..f35db4435d41f5e08319cfd4fd5b3da10a79bbd0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t2.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.363,-17.968,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.06,+0.09,-0.99) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 122.5mm grav_b=(+0.08,+0.07,-0.99) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(+0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 120.4mm grav_b=(+0.05,-0.02,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(+0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 123.9mm grav_b=(+0.04,+0.12,-0.99) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 119.9mm grav_b=(+0.03,+0.08,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(+0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 119.3mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 115.7mm grav_b=(+0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 123.8mm grav_b=(+0.03,+0.10,-0.99) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 121.8mm grav_b=(+0.06,+0.11,-0.99) r=0.60m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.03,-0.03,-1.00) r=0.61m +[headless_play] t= 1.60s step= 80 trunk_z= 122.1mm grav_b=(+0.03,-0.04,-1.00) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 1.80s step= 90 trunk_z= 122.1mm grav_b=(+0.02,+0.09,-1.00) r=0.67m +[headless_play] t= 1.90s step= 95 trunk_z= 124.2mm grav_b=(+0.06,+0.12,-0.99) r=0.68m +[headless_play] t= 2.00s step= 100 trunk_z= 120.8mm grav_b=(+0.05,+0.08,-1.00) r=0.69m +[headless_play] t= 2.10s step= 105 trunk_z= 120.6mm grav_b=(+0.06,-0.04,-1.00) r=0.70m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(+0.04,-0.04,-1.00) r=0.72m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(+0.08,+0.08,-0.99) r=0.75m +[headless_play] t= 2.40s step= 120 trunk_z= 126.5mm grav_b=(+0.09,+0.12,-0.99) r=0.76m +[headless_play] t= 2.50s step= 125 trunk_z= 127.1mm grav_b=(+0.08,+0.12,-0.99) r=0.78m +[headless_play] t= 2.60s step= 130 trunk_z= 119.6mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 2.70s step= 135 trunk_z= 124.7mm grav_b=(+0.04,-0.05,-1.00) r=0.80m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.82m +[headless_play] t= 2.90s step= 145 trunk_z= 122.9mm grav_b=(+0.01,+0.09,-1.00) r=0.85m +[headless_play] t= 3.00s step= 150 trunk_z= 122.4mm grav_b=(+0.08,+0.09,-0.99) r=0.87m +[headless_play] t= 3.10s step= 155 trunk_z= 120.7mm grav_b=(+0.06,+0.09,-0.99) r=0.89m +[headless_play] t= 3.20s step= 160 trunk_z= 112.8mm grav_b=(+0.03,+0.17,-0.98) r=0.93m +[headless_play] t= 3.30s step= 165 trunk_z= 87.1mm grav_b=(-0.00,+0.07,-1.00) r=0.99m +[headless_play] t= 3.40s step= 170 trunk_z= 90.1mm grav_b=(+0.16,-0.04,-0.99) r=1.03m +[headless_play] t= 3.50s step= 175 trunk_z= 102.0mm grav_b=(+0.03,+0.03,-1.00) r=1.06m +[headless_play] t= 3.60s step= 180 trunk_z= 87.1mm grav_b=(+0.04,-0.08,-1.00) r=1.10m +[headless_play] t= 3.70s step= 185 trunk_z= 99.3mm grav_b=(+0.03,-0.03,-1.00) r=1.12m +[headless_play] t= 3.80s step= 190 trunk_z= 89.0mm grav_b=(+0.03,+0.04,-1.00) r=1.14m +[headless_play] t= 3.90s step= 195 trunk_z= 98.9mm grav_b=(+0.04,+0.09,-1.00) r=1.15m +[headless_play] t= 4.00s step= 200 trunk_z= 98.4mm grav_b=(+0.03,+0.10,-0.99) r=1.17m +[headless_play] t= 4.10s step= 205 trunk_z= 91.8mm grav_b=(+0.04,+0.00,-1.00) r=1.19m +[headless_play] t= 4.20s step= 210 trunk_z= 97.8mm grav_b=(+0.03,-0.06,-1.00) r=1.20m +[headless_play] t= 4.30s step= 215 trunk_z= 93.8mm grav_b=(+0.06,-0.02,-1.00) r=1.20m +[headless_play] t= 4.40s step= 220 trunk_z= 97.6mm grav_b=(+0.04,+0.09,-1.00) r=1.20m +[headless_play] t= 4.50s step= 225 trunk_z= 101.1mm grav_b=(+0.07,+0.11,-0.99) r=1.21m +[headless_play] t= 4.60s step= 230 trunk_z= 99.8mm grav_b=(+0.08,+0.10,-0.99) r=1.22m +[headless_play] t= 4.70s step= 235 trunk_z= 94.4mm grav_b=(+0.08,-0.03,-1.00) r=1.25m +[headless_play] t= 4.80s step= 240 trunk_z= 98.1mm grav_b=(+0.06,-0.03,-1.00) r=1.26m +[headless_play] t= 4.90s step= 245 trunk_z= 91.0mm grav_b=(+0.02,+0.04,-1.00) r=1.27m +[headless_play] t= 5.00s step= 250 trunk_z= 100.3mm grav_b=(+0.04,+0.10,-0.99) r=1.28m +[headless_play] t= 5.10s step= 255 trunk_z= 99.4mm grav_b=(+0.06,+0.12,-0.99) r=1.29m +[headless_play] t= 5.20s step= 260 trunk_z= 94.5mm grav_b=(+0.06,+0.04,-1.00) r=1.31m +[headless_play] t= 5.30s step= 265 trunk_z= 99.2mm grav_b=(+0.04,-0.05,-1.00) r=1.33m +[headless_play] t= 5.40s step= 270 trunk_z= 95.5mm grav_b=(+0.04,-0.02,-1.00) r=1.33m +[headless_play] t= 5.50s step= 275 trunk_z= 96.2mm grav_b=(+0.02,+0.09,-1.00) r=1.33m +[headless_play] t= 5.60s step= 280 trunk_z= 99.5mm grav_b=(+0.06,+0.10,-0.99) r=1.33m +[headless_play] t= 5.70s step= 285 trunk_z= 97.1mm grav_b=(+0.05,+0.10,-0.99) r=1.35m +[headless_play] t= 5.80s step= 290 trunk_z= 96.0mm grav_b=(+0.01,-0.07,-1.00) r=1.38m +[headless_play] t= 5.90s step= 295 trunk_z= 101.2mm grav_b=(+0.03,-0.06,-1.00) r=1.39m +[headless_play] t= 6.00s step= 300 trunk_z= 99.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 6.10s step= 305 trunk_z= 99.1mm grav_b=(+0.02,+0.09,-1.00) r=1.39m +[headless_play] t= 6.20s step= 310 trunk_z= 102.5mm grav_b=(+0.03,+0.10,-0.99) r=1.40m +[headless_play] t= 6.30s step= 315 trunk_z= 98.3mm grav_b=(+0.03,+0.05,-1.00) r=1.42m +[headless_play] t= 6.40s step= 320 trunk_z= 96.5mm grav_b=(+0.00,-0.04,-1.00) r=1.45m +[headless_play] t= 6.50s step= 325 trunk_z= 99.7mm grav_b=(+0.04,-0.03,-1.00) r=1.45m +[headless_play] t= 6.60s step= 330 trunk_z= 93.0mm grav_b=(+0.01,+0.04,-1.00) r=1.45m +[headless_play] t= 6.70s step= 335 trunk_z= 100.5mm grav_b=(+0.03,+0.10,-0.99) r=1.44m +[headless_play] t= 6.80s step= 340 trunk_z= 101.8mm grav_b=(+0.02,+0.09,-1.00) r=1.45m +[headless_play] t= 6.90s step= 345 trunk_z= 95.1mm grav_b=(-0.01,+0.04,-1.00) r=1.47m +[headless_play] t= 7.00s step= 350 trunk_z= 99.2mm grav_b=(+0.02,-0.02,-1.00) r=1.49m +[headless_play] t= 7.10s step= 355 trunk_z= 98.7mm grav_b=(+0.03,-0.00,-1.00) r=1.49m +[headless_play] t= 7.20s step= 360 trunk_z= 94.8mm grav_b=(+0.03,+0.08,-1.00) r=1.47m +[headless_play] t= 7.30s step= 365 trunk_z= 102.6mm grav_b=(+0.03,+0.07,-1.00) r=1.46m +[headless_play] t= 7.40s step= 370 trunk_z= 98.6mm grav_b=(+0.04,+0.05,-1.00) r=1.48m +[headless_play] t= 7.50s step= 375 trunk_z= 95.8mm grav_b=(+0.03,-0.04,-1.00) r=1.50m +[headless_play] t= 7.60s step= 380 trunk_z= 99.7mm grav_b=(+0.04,-0.02,-1.00) r=1.51m +[headless_play] t= 7.70s step= 385 trunk_z= 92.5mm grav_b=(-0.00,+0.03,-1.00) r=1.49m +[headless_play] t= 7.80s step= 390 trunk_z= 100.6mm grav_b=(+0.02,+0.09,-1.00) r=1.48m +[headless_play] t= 7.90s step= 395 trunk_z= 100.6mm grav_b=(+0.03,+0.08,-1.00) r=1.48m +[headless_play] t= 8.00s step= 400 trunk_z= 94.0mm grav_b=(+0.00,+0.01,-1.00) r=1.50m +[headless_play] t= 8.10s step= 405 trunk_z= 99.3mm grav_b=(+0.03,-0.04,-1.00) r=1.51m +[headless_play] t= 8.20s step= 410 trunk_z= 98.4mm grav_b=(+0.03,-0.02,-1.00) r=1.51m +[headless_play] t= 8.30s step= 415 trunk_z= 96.3mm grav_b=(+0.02,+0.06,-1.00) r=1.48m +[headless_play] t= 8.40s step= 420 trunk_z= 101.9mm grav_b=(+0.04,+0.07,-1.00) r=1.48m +[headless_play] t= 8.50s step= 425 trunk_z= 98.5mm grav_b=(+0.05,+0.05,-1.00) r=1.49m +[headless_play] t= 8.60s step= 430 trunk_z= 96.8mm grav_b=(+0.05,-0.03,-1.00) r=1.51m +[headless_play] t= 8.70s step= 435 trunk_z= 100.3mm grav_b=(+0.04,-0.03,-1.00) r=1.51m +[headless_play] t= 8.80s step= 440 trunk_z= 90.5mm grav_b=(+0.02,+0.05,-1.00) r=1.49m +[headless_play] t= 8.90s step= 445 trunk_z= 101.4mm grav_b=(+0.04,+0.06,-1.00) r=1.48m +[headless_play] t= 9.00s step= 450 trunk_z= 99.3mm grav_b=(+0.05,+0.06,-1.00) r=1.49m +[headless_play] t= 9.10s step= 455 trunk_z= 92.1mm grav_b=(+0.03,-0.03,-1.00) r=1.51m +[headless_play] t= 9.20s step= 460 trunk_z= 99.5mm grav_b=(+0.04,-0.02,-1.00) r=1.52m +[headless_play] t= 9.30s step= 465 trunk_z= 92.9mm grav_b=(+0.01,+0.03,-1.00) r=1.50m +[headless_play] t= 9.40s step= 470 trunk_z= 100.3mm grav_b=(+0.02,+0.10,-0.99) r=1.48m +[headless_play] t= 9.50s step= 475 trunk_z= 99.8mm grav_b=(+0.06,+0.09,-0.99) r=1.48m +[headless_play] t= 9.60s step= 480 trunk_z= 95.1mm grav_b=(+0.01,+0.05,-1.00) r=1.50m +[headless_play] t= 9.70s step= 485 trunk_z= 99.4mm grav_b=(+0.01,-0.06,-1.00) r=1.52m +[headless_play] t= 9.80s step= 490 trunk_z= 99.0mm grav_b=(+0.01,-0.02,-1.00) r=1.51m +[headless_play] t= 9.90s step= 495 trunk_z= 92.5mm grav_b=(+0.01,+0.08,-1.00) r=1.48m +[headless_play] t= 10.00s step= 500 trunk_z= 100.7mm grav_b=(+0.05,+0.09,-0.99) r=1.47m +[headless_play] t= 10.10s step= 505 trunk_z= 101.6mm grav_b=(+0.05,+0.08,-1.00) r=1.47m +[headless_play] t= 10.20s step= 510 trunk_z= 93.7mm grav_b=(+0.02,+0.01,-1.00) r=1.50m +[headless_play] t= 10.30s step= 515 trunk_z= 99.3mm grav_b=(+0.06,-0.03,-1.00) r=1.50m +[headless_play] t= 10.40s step= 520 trunk_z= 96.0mm grav_b=(+0.01,+0.03,-1.00) r=1.49m +[headless_play] t= 10.50s step= 525 trunk_z= 98.4mm grav_b=(+0.02,+0.09,-1.00) r=1.47m +[headless_play] t= 10.60s step= 530 trunk_z= 100.1mm grav_b=(+0.06,+0.07,-1.00) r=1.47m +[headless_play] t= 10.70s step= 535 trunk_z= 95.3mm grav_b=(+0.04,+0.05,-1.00) r=1.49m +[headless_play] t= 10.80s step= 540 trunk_z= 98.7mm grav_b=(+0.04,-0.03,-1.00) r=1.50m +[headless_play] t= 10.90s step= 545 trunk_z= 97.4mm grav_b=(+0.03,+0.00,-1.00) r=1.49m +[headless_play] t= 11.00s step= 550 trunk_z= 95.3mm grav_b=(+0.01,+0.07,-1.00) r=1.47m +[headless_play] t= 11.10s step= 555 trunk_z= 99.1mm grav_b=(+0.05,+0.07,-1.00) r=1.46m +[headless_play] t= 11.20s step= 560 trunk_z= 96.2mm grav_b=(+0.04,+0.06,-1.00) r=1.48m +[headless_play] t= 11.30s step= 565 trunk_z= 96.8mm grav_b=(+0.03,-0.02,-1.00) r=1.50m +[headless_play] t= 11.40s step= 570 trunk_z= 97.6mm grav_b=(+0.03,-0.01,-1.00) r=1.49m +[headless_play] t= 11.50s step= 575 trunk_z= 93.6mm grav_b=(+0.02,+0.06,-1.00) r=1.47m +[headless_play] t= 11.60s step= 580 trunk_z= 100.8mm grav_b=(+0.04,+0.06,-1.00) r=1.46m +[headless_play] t= 11.70s step= 585 trunk_z= 97.9mm grav_b=(+0.06,+0.05,-1.00) r=1.47m +[headless_play] t= 11.80s step= 590 trunk_z= 96.4mm grav_b=(+0.05,-0.03,-1.00) r=1.49m +[headless_play] t= 11.90s step= 595 trunk_z= 99.1mm grav_b=(+0.04,+0.01,-1.00) r=1.48m +[headless_play] t= 12.00s step= 600 trunk_z= 91.5mm grav_b=(+0.01,+0.08,-1.00) r=1.45m +[headless_play] t= 12.10s step= 605 trunk_z= 101.6mm grav_b=(+0.03,+0.08,-1.00) r=1.44m +[headless_play] t= 12.20s step= 610 trunk_z= 100.6mm grav_b=(+0.05,+0.07,-1.00) r=1.45m +[headless_play] t= 12.30s step= 615 trunk_z= 91.3mm grav_b=(+0.02,-0.02,-1.00) r=1.47m +[headless_play] t= 12.40s step= 620 trunk_z= 99.6mm grav_b=(+0.03,-0.04,-1.00) r=1.48m +[headless_play] t= 12.50s step= 625 trunk_z= 94.6mm grav_b=(+0.03,+0.00,-1.00) r=1.47m +[headless_play] t= 12.60s step= 630 trunk_z= 97.7mm grav_b=(+0.01,+0.09,-1.00) r=1.45m +[headless_play] t= 12.70s step= 635 trunk_z= 95.5mm grav_b=(+0.03,+0.10,-0.99) r=1.45m +[headless_play] t= 12.80s step= 640 trunk_z= 89.2mm grav_b=(+0.02,-0.01,-1.00) r=1.47m +[headless_play] t= 12.90s step= 645 trunk_z= 95.9mm grav_b=(+0.01,-0.02,-1.00) r=1.48m +[headless_play] t= 13.00s step= 650 trunk_z= 89.6mm grav_b=(+0.05,+0.01,-1.00) r=1.46m +[headless_play] t= 13.10s step= 655 trunk_z= 95.9mm grav_b=(+0.06,+0.10,-0.99) r=1.44m +[headless_play] t= 13.20s step= 660 trunk_z= 98.6mm grav_b=(+0.08,+0.10,-0.99) r=1.43m +[headless_play] t= 13.30s step= 665 trunk_z= 95.5mm grav_b=(+0.05,+0.08,-1.00) r=1.44m +[headless_play] t= 13.40s step= 670 trunk_z= 96.5mm grav_b=(+0.06,-0.03,-1.00) r=1.45m +[headless_play] t= 13.50s step= 675 trunk_z= 92.6mm grav_b=(+0.06,-0.02,-1.00) r=1.44m +[headless_play] t= 13.60s step= 680 trunk_z= 93.3mm grav_b=(+0.03,+0.08,-1.00) r=1.41m +[headless_play] t= 13.70s step= 685 trunk_z= 96.8mm grav_b=(+0.05,+0.10,-0.99) r=1.40m +[headless_play] t= 13.80s step= 690 trunk_z= 92.7mm grav_b=(+0.06,+0.07,-1.00) r=1.41m +[headless_play] t= 13.90s step= 695 trunk_z= 94.9mm grav_b=(+0.04,-0.03,-1.00) r=1.42m +[headless_play] t= 14.00s step= 700 trunk_z= 92.8mm grav_b=(+0.05,-0.02,-1.00) r=1.42m +[headless_play] t= 14.10s step= 705 trunk_z= 90.2mm grav_b=(+0.05,+0.07,-1.00) r=1.39m +[headless_play] t= 14.20s step= 710 trunk_z= 98.8mm grav_b=(+0.07,+0.11,-0.99) r=1.37m +[headless_play] t= 14.30s step= 715 trunk_z= 97.1mm grav_b=(+0.07,+0.11,-0.99) r=1.38m +[headless_play] t= 14.40s step= 720 trunk_z= 91.6mm grav_b=(+0.04,-0.03,-1.00) r=1.39m +[headless_play] t= 14.50s step= 725 trunk_z= 95.6mm grav_b=(+0.06,-0.02,-1.00) r=1.39m +[headless_play] t= 14.60s step= 730 trunk_z= 88.4mm grav_b=(+0.06,+0.02,-1.00) r=1.37m +[headless_play] t= 14.70s step= 735 trunk_z= 97.7mm grav_b=(+0.06,+0.09,-0.99) r=1.35m +[headless_play] t= 14.80s step= 740 trunk_z= 96.5mm grav_b=(+0.06,+0.08,-0.99) r=1.35m +[headless_play] t= 14.90s step= 745 trunk_z= 89.0mm grav_b=(+0.03,-0.00,-1.00) r=1.36m +[headless_play] t= 15.00s step= 750 trunk_z= 96.0mm grav_b=(+0.04,-0.04,-1.00) r=1.36m +[headless_play] t= 15.10s step= 755 trunk_z= 90.1mm grav_b=(+0.06,+0.01,-1.00) r=1.35m +[headless_play] t= 15.20s step= 760 trunk_z= 96.6mm grav_b=(+0.05,+0.10,-0.99) r=1.32m +[headless_play] t= 15.30s step= 765 trunk_z= 97.9mm grav_b=(+0.08,+0.11,-0.99) r=1.31m +[headless_play] t= 15.40s step= 770 trunk_z= 93.5mm grav_b=(+0.04,+0.07,-1.00) r=1.32m +[headless_play] t= 15.50s step= 775 trunk_z= 95.4mm grav_b=(+0.04,-0.04,-1.00) r=1.32m +[headless_play] t= 15.60s step= 780 trunk_z= 91.0mm grav_b=(+0.05,-0.00,-1.00) r=1.31m +[headless_play] t= 15.70s step= 785 trunk_z= 94.1mm grav_b=(+0.04,+0.09,-0.99) r=1.28m +[headless_play] t= 15.80s step= 790 trunk_z= 101.0mm grav_b=(+0.07,+0.10,-0.99) r=1.27m +[headless_play] t= 15.90s step= 795 trunk_z= 103.2mm grav_b=(+0.06,+0.11,-0.99) r=1.26m +[headless_play] t= 16.00s step= 800 trunk_z= 90.7mm grav_b=(+0.01,+0.01,-1.00) r=1.27m +[headless_play] t= 16.10s step= 805 trunk_z= 97.8mm grav_b=(+0.03,+0.01,-1.00) r=1.26m +[headless_play] t= 16.20s step= 810 trunk_z= 89.8mm grav_b=(-0.02,+0.05,-1.00) r=1.23m +[headless_play] t= 16.30s step= 815 trunk_z= 99.1mm grav_b=(+0.01,+0.09,-1.00) r=1.22m +[headless_play] t= 16.40s step= 820 trunk_z= 100.5mm grav_b=(+0.02,+0.08,-1.00) r=1.22m +[headless_play] t= 16.50s step= 825 trunk_z= 92.9mm grav_b=(+0.01,-0.01,-1.00) r=1.23m +[headless_play] t= 16.60s step= 830 trunk_z= 100.2mm grav_b=(+0.03,-0.04,-1.00) r=1.24m +[headless_play] t= 16.70s step= 835 trunk_z= 99.9mm grav_b=(+0.03,-0.01,-1.00) r=1.23m +[headless_play] t= 16.80s step= 840 trunk_z= 97.9mm grav_b=(+0.02,+0.08,-1.00) r=1.20m +[headless_play] t= 16.90s step= 845 trunk_z= 101.8mm grav_b=(+0.05,+0.09,-0.99) r=1.20m +[headless_play] t= 17.00s step= 850 trunk_z= 98.2mm grav_b=(+0.03,+0.05,-1.00) r=1.20m +[headless_play] t= 17.10s step= 855 trunk_z= 99.4mm grav_b=(+0.04,-0.07,-1.00) r=1.22m +[headless_play] t= 17.20s step= 860 trunk_z= 101.8mm grav_b=(+0.04,-0.04,-1.00) r=1.21m +[headless_play] t= 17.30s step= 865 trunk_z= 93.1mm grav_b=(+0.00,+0.04,-1.00) r=1.18m +[headless_play] t= 17.40s step= 870 trunk_z= 101.9mm grav_b=(+0.03,+0.12,-0.99) r=1.17m +[headless_play] t= 17.50s step= 875 trunk_z= 103.5mm grav_b=(+0.05,+0.11,-0.99) r=1.16m +[headless_play] t= 17.60s step= 880 trunk_z= 99.2mm grav_b=(+0.02,+0.04,-1.00) r=1.17m +[headless_play] t= 17.70s step= 885 trunk_z= 100.0mm grav_b=(+0.05,-0.03,-1.00) r=1.17m +[headless_play] t= 17.80s step= 890 trunk_z= 101.5mm grav_b=(+0.05,-0.02,-1.00) r=1.16m +[headless_play] t= 17.90s step= 895 trunk_z= 92.8mm grav_b=(+0.02,+0.04,-1.00) r=1.13m +[headless_play] t= 18.00s step= 900 trunk_z= 100.2mm grav_b=(+0.02,+0.10,-1.00) r=1.12m +[headless_play] t= 18.10s step= 905 trunk_z= 97.2mm grav_b=(+0.01,+0.06,-1.00) r=1.12m +[headless_play] t= 18.20s step= 910 trunk_z= 96.6mm grav_b=(-0.01,-0.05,-1.00) r=1.13m +[headless_play] t= 18.30s step= 915 trunk_z= 99.3mm grav_b=(+0.02,-0.02,-1.00) r=1.13m +[headless_play] t= 18.40s step= 920 trunk_z= 91.1mm grav_b=(+0.03,+0.04,-1.00) r=1.10m +[headless_play] t= 18.50s step= 925 trunk_z= 100.9mm grav_b=(+0.04,+0.08,-1.00) r=1.08m +[headless_play] t= 18.60s step= 930 trunk_z= 101.2mm grav_b=(+0.04,+0.07,-1.00) r=1.07m +[headless_play] t= 18.70s step= 935 trunk_z= 94.8mm grav_b=(+0.02,+0.01,-1.00) r=1.07m +[headless_play] t= 18.80s step= 940 trunk_z= 99.8mm grav_b=(+0.05,-0.03,-1.00) r=1.06m +[headless_play] t= 18.90s step= 945 trunk_z= 97.8mm grav_b=(+0.01,+0.01,-1.00) r=1.04m +[headless_play] t= 19.00s step= 950 trunk_z= 99.0mm grav_b=(+0.01,+0.09,-1.00) r=1.01m +[headless_play] t= 19.10s step= 955 trunk_z= 102.1mm grav_b=(+0.03,+0.10,-0.99) r=1.00m +[headless_play] t= 19.20s step= 960 trunk_z= 98.8mm grav_b=(+0.02,+0.06,-1.00) r=1.00m +[headless_play] t= 19.30s step= 965 trunk_z= 99.4mm grav_b=(+0.04,-0.03,-1.00) r=1.00m +[headless_play] t= 19.40s step= 970 trunk_z= 101.9mm grav_b=(+0.02,-0.02,-1.00) r=0.99m +[headless_play] t= 19.50s step= 975 trunk_z= 92.7mm grav_b=(+0.01,+0.05,-1.00) r=0.96m +[headless_play] t= 19.60s step= 980 trunk_z= 100.1mm grav_b=(+0.03,+0.08,-1.00) r=0.94m +[headless_play] t= 19.70s step= 985 trunk_z= 94.7mm grav_b=(+0.05,+0.07,-1.00) r=0.92m +[headless_play] t= 19.80s step= 990 trunk_z= 91.8mm grav_b=(+0.04,-0.04,-1.00) r=0.91m +[headless_play] t= 19.90s step= 995 trunk_z= 92.2mm grav_b=(+0.05,-0.03,-1.00) r=0.90m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.0mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.34m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..bb8f4f7bd2a00f7b2746e30564882e6d790459a6 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(-6.467,-17.731,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.7mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 117.9mm grav_b=(+0.06,+0.03,-1.00) r=0.53m +[headless_play] t= 0.30s step= 15 trunk_z= 114.7mm grav_b=(+0.05,-0.05,-1.00) r=0.54m +[headless_play] t= 0.40s step= 20 trunk_z= 123.0mm grav_b=(+0.03,-0.10,-0.99) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 122.6mm grav_b=(+0.06,-0.09,-0.99) r=0.54m +[headless_play] t= 0.60s step= 30 trunk_z= 114.9mm grav_b=(+0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(+0.06,+0.03,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 120.2mm grav_b=(+0.07,+0.00,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 123.7mm grav_b=(+0.03,-0.08,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 125.2mm grav_b=(+0.06,-0.09,-0.99) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 121.5mm grav_b=(+0.04,+0.03,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 118.6mm grav_b=(+0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 122.5mm grav_b=(+0.03,-0.08,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 125.0mm grav_b=(+0.06,-0.08,-0.99) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(+0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 1.70s step= 85 trunk_z= 121.7mm grav_b=(+0.04,+0.03,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 119.4mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 122.2mm grav_b=(+0.02,-0.07,-1.00) r=0.48m +[headless_play] t= 2.00s step= 100 trunk_z= 125.4mm grav_b=(+0.07,-0.08,-0.99) r=0.48m +[headless_play] t= 2.10s step= 105 trunk_z= 115.0mm grav_b=(+0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 122.0mm grav_b=(+0.04,+0.05,-1.00) r=0.43m +[headless_play] t= 2.30s step= 115 trunk_z= 120.1mm grav_b=(+0.05,+0.00,-1.00) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 122.3mm grav_b=(+0.02,-0.08,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 126.4mm grav_b=(+0.05,-0.08,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 117.3mm grav_b=(+0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 120.2mm grav_b=(+0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 118.6mm grav_b=(+0.03,-0.00,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(+0.04,-0.07,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 124.4mm grav_b=(+0.04,-0.07,-1.00) r=0.38m +[headless_play] t= 3.10s step= 155 trunk_z= 114.5mm grav_b=(+0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 122.0mm grav_b=(-0.01,+0.05,-1.00) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 119.1mm grav_b=(+0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(+0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 123.8mm grav_b=(+0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 3.60s step= 180 trunk_z= 116.4mm grav_b=(+0.03,-0.04,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 121.0mm grav_b=(+0.00,+0.05,-1.00) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 119.9mm grav_b=(+0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 115.8mm grav_b=(+0.04,-0.07,-1.00) r=0.29m +[headless_play] t= 4.00s step= 200 trunk_z= 124.3mm grav_b=(+0.02,-0.08,-1.00) r=0.29m +[headless_play] t= 4.10s step= 205 trunk_z= 118.4mm grav_b=(+0.03,-0.07,-1.00) r=0.27m +[headless_play] t= 4.20s step= 210 trunk_z= 120.7mm grav_b=(-0.01,+0.04,-1.00) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 121.2mm grav_b=(+0.04,+0.02,-1.00) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 115.3mm grav_b=(+0.03,-0.05,-1.00) r=0.25m +[headless_play] t= 4.50s step= 225 trunk_z= 124.6mm grav_b=(+0.03,-0.07,-1.00) r=0.26m +[headless_play] t= 4.60s step= 230 trunk_z= 119.7mm grav_b=(+0.05,-0.08,-0.99) r=0.25m +[headless_play] t= 4.70s step= 235 trunk_z= 117.5mm grav_b=(-0.01,+0.04,-1.00) r=0.23m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(+0.05,+0.05,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(+0.01,-0.03,-1.00) r=0.23m +[headless_play] t= 5.00s step= 250 trunk_z= 125.1mm grav_b=(+0.00,-0.07,-1.00) r=0.25m +[headless_play] t= 5.10s step= 255 trunk_z= 122.7mm grav_b=(+0.02,-0.08,-1.00) r=0.25m +[headless_play] t= 5.20s step= 260 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) r=0.23m +[headless_play] t= 5.30s step= 265 trunk_z= 121.5mm grav_b=(+0.05,+0.04,-1.00) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.24m +[headless_play] t= 5.50s step= 275 trunk_z= 122.2mm grav_b=(+0.03,-0.08,-1.00) r=0.26m +[headless_play] t= 5.60s step= 280 trunk_z= 121.9mm grav_b=(+0.05,-0.07,-1.00) r=0.27m +[headless_play] t= 5.70s step= 285 trunk_z= 113.1mm grav_b=(+0.03,-0.01,-1.00) r=0.26m +[headless_play] t= 5.80s step= 290 trunk_z= 122.2mm grav_b=(+0.03,+0.07,-1.00) r=0.26m +[headless_play] t= 5.90s step= 295 trunk_z= 119.1mm grav_b=(+0.05,+0.02,-1.00) r=0.28m +[headless_play] t= 6.00s step= 300 trunk_z= 120.0mm grav_b=(+0.02,-0.07,-1.00) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 124.5mm grav_b=(+0.04,-0.08,-1.00) r=0.32m +[headless_play] t= 6.20s step= 310 trunk_z= 117.6mm grav_b=(+0.02,-0.06,-1.00) r=0.32m +[headless_play] t= 6.30s step= 315 trunk_z= 121.4mm grav_b=(+0.02,+0.06,-1.00) r=0.33m +[headless_play] t= 6.40s step= 320 trunk_z= 119.9mm grav_b=(+0.03,+0.03,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 117.4mm grav_b=(+0.03,-0.05,-1.00) r=0.36m +[headless_play] t= 6.60s step= 330 trunk_z= 126.8mm grav_b=(+0.03,-0.09,-1.00) r=0.37m +[headless_play] t= 6.70s step= 335 trunk_z= 126.0mm grav_b=(+0.02,-0.11,-0.99) r=0.37m +[headless_play] t= 6.80s step= 340 trunk_z= 117.6mm grav_b=(+0.03,-0.02,-1.00) r=0.35m +[headless_play] t= 6.90s step= 345 trunk_z= 123.3mm grav_b=(+0.05,+0.01,-1.00) r=0.34m +[headless_play] t= 7.00s step= 350 trunk_z= 123.6mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 7.10s step= 355 trunk_z= 121.1mm grav_b=(+0.03,-0.04,-1.00) r=0.39m +[headless_play] t= 7.20s step= 360 trunk_z= 126.1mm grav_b=(-0.02,-0.07,-1.00) r=0.39m +[headless_play] t= 7.30s step= 365 trunk_z= 118.3mm grav_b=(-0.00,-0.05,-1.00) r=0.39m +[headless_play] t= 7.40s step= 370 trunk_z= 121.2mm grav_b=(+0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 7.50s step= 375 trunk_z= 121.3mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 119.7mm grav_b=(+0.02,-0.06,-1.00) r=0.42m +[headless_play] t= 7.70s step= 385 trunk_z= 128.0mm grav_b=(+0.01,-0.09,-1.00) r=0.44m +[headless_play] t= 7.80s step= 390 trunk_z= 123.4mm grav_b=(-0.00,-0.11,-0.99) r=0.44m +[headless_play] t= 7.90s step= 395 trunk_z= 120.2mm grav_b=(+0.03,+0.03,-1.00) r=0.43m +[headless_play] t= 8.00s step= 400 trunk_z= 123.9mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 8.10s step= 405 trunk_z= 119.7mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 124.5mm grav_b=(+0.03,-0.08,-1.00) r=0.48m +[headless_play] t= 8.30s step= 415 trunk_z= 127.1mm grav_b=(+0.00,-0.09,-1.00) r=0.49m +[headless_play] t= 8.40s step= 420 trunk_z= 120.1mm grav_b=(-0.01,-0.08,-1.00) r=0.49m +[headless_play] t= 8.50s step= 425 trunk_z= 122.5mm grav_b=(+0.03,+0.04,-1.00) r=0.49m +[headless_play] t= 8.60s step= 430 trunk_z= 123.9mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 117.8mm grav_b=(+0.00,-0.04,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 125.7mm grav_b=(+0.00,-0.08,-1.00) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 121.3mm grav_b=(-0.01,-0.10,-1.00) r=0.55m +[headless_play] t= 9.00s step= 450 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.55m +[headless_play] t= 9.10s step= 455 trunk_z= 125.2mm grav_b=(+0.03,+0.03,-1.00) r=0.57m +[headless_play] t= 9.20s step= 460 trunk_z= 124.6mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 9.30s step= 465 trunk_z= 123.2mm grav_b=(+0.04,-0.06,-1.00) r=0.60m +[headless_play] t= 9.40s step= 470 trunk_z= 130.1mm grav_b=(-0.01,-0.09,-1.00) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 121.6mm grav_b=(+0.00,-0.08,-1.00) r=0.65m +[headless_play] t= 9.60s step= 480 trunk_z= 120.7mm grav_b=(+0.05,+0.02,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 123.4mm grav_b=(+0.04,-0.00,-1.00) r=0.68m +[headless_play] t= 9.80s step= 490 trunk_z= 116.4mm grav_b=(+0.02,-0.05,-1.00) r=0.69m +[headless_play] t= 9.90s step= 495 trunk_z= 129.5mm grav_b=(+0.00,-0.10,-1.00) r=0.71m +[headless_play] t= 10.00s step= 500 trunk_z= 124.7mm grav_b=(-0.00,-0.08,-1.00) r=0.73m +[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.76m +[headless_play] t= 10.20s step= 510 trunk_z= 124.5mm grav_b=(+0.02,+0.03,-1.00) r=0.78m +[headless_play] t= 10.30s step= 515 trunk_z= 120.6mm grav_b=(+0.05,+0.01,-1.00) r=0.81m +[headless_play] t= 10.40s step= 520 trunk_z= 117.9mm grav_b=(+0.04,+0.01,-1.00) r=0.86m +[headless_play] t= 10.50s step= 525 trunk_z= 106.4mm grav_b=(-0.10,-0.01,-1.00) r=0.92m +[headless_play] t= 10.60s step= 530 trunk_z= 87.9mm grav_b=(+0.03,-0.03,-1.00) r=0.96m +[headless_play] t= 10.70s step= 535 trunk_z= 100.2mm grav_b=(-0.02,+0.01,-1.00) r=0.99m +[headless_play] t= 10.80s step= 540 trunk_z= 91.8mm grav_b=(+0.02,-0.04,-1.00) r=1.00m +[headless_play] t= 10.90s step= 545 trunk_z= 101.8mm grav_b=(+0.01,-0.08,-1.00) r=1.01m +[headless_play] t= 11.00s step= 550 trunk_z= 99.3mm grav_b=(+0.01,-0.06,-1.00) r=1.02m +[headless_play] t= 11.10s step= 555 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.05m +[headless_play] t= 11.20s step= 560 trunk_z= 97.2mm grav_b=(+0.03,-0.00,-1.00) r=1.06m +[headless_play] t= 11.30s step= 565 trunk_z= 95.8mm grav_b=(+0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 11.40s step= 570 trunk_z= 98.4mm grav_b=(+0.03,-0.08,-1.00) r=1.08m +[headless_play] t= 11.50s step= 575 trunk_z= 101.3mm grav_b=(+0.00,-0.09,-1.00) r=1.10m +[headless_play] t= 11.60s step= 580 trunk_z= 94.7mm grav_b=(-0.01,-0.08,-1.00) r=1.12m +[headless_play] t= 11.70s step= 585 trunk_z= 98.3mm grav_b=(+0.03,+0.05,-1.00) r=1.14m +[headless_play] t= 11.80s step= 590 trunk_z= 99.9mm grav_b=(+0.04,+0.03,-1.00) r=1.16m +[headless_play] t= 11.90s step= 595 trunk_z= 90.5mm grav_b=(+0.01,-0.02,-1.00) r=1.19m +[headless_play] t= 12.00s step= 600 trunk_z= 102.0mm grav_b=(-0.00,-0.05,-1.00) r=1.21m +[headless_play] t= 12.10s step= 605 trunk_z= 98.7mm grav_b=(-0.03,-0.04,-1.00) r=1.24m +[headless_play] t= 12.20s step= 610 trunk_z= 94.9mm grav_b=(+0.00,+0.01,-1.00) r=1.27m +[headless_play] t= 12.30s step= 615 trunk_z= 95.0mm grav_b=(+0.02,+0.00,-1.00) r=1.28m +[headless_play] t= 12.40s step= 620 trunk_z= 94.0mm grav_b=(+0.04,-0.03,-1.00) r=1.27m +[headless_play] t= 12.50s step= 625 trunk_z= 94.0mm grav_b=(+0.01,-0.03,-1.00) r=1.27m +[headless_play] t= 12.60s step= 630 trunk_z= 93.4mm grav_b=(-0.01,-0.00,-1.00) r=1.27m +[headless_play] t= 12.70s step= 635 trunk_z= 93.1mm grav_b=(-0.02,-0.00,-1.00) r=1.27m +[headless_play] t= 12.80s step= 640 trunk_z= 93.2mm grav_b=(-0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 12.90s step= 645 trunk_z= 93.2mm grav_b=(-0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 13.00s step= 650 trunk_z= 93.2mm grav_b=(-0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 13.10s step= 655 trunk_z= 93.1mm grav_b=(-0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 13.20s step= 660 trunk_z= 93.6mm grav_b=(-0.04,+0.00,-1.00) r=1.27m +[headless_play] t= 13.30s step= 665 trunk_z= 92.5mm grav_b=(-0.02,+0.01,-1.00) r=1.27m +[headless_play] t= 13.40s step= 670 trunk_z= 92.6mm grav_b=(-0.01,+0.01,-1.00) r=1.27m +[headless_play] t= 13.50s step= 675 trunk_z= 92.6mm grav_b=(-0.01,+0.01,-1.00) r=1.27m +[headless_play] t= 13.60s step= 680 trunk_z= 92.5mm grav_b=(-0.00,+0.01,-1.00) r=1.27m +[headless_play] t= 13.70s step= 685 trunk_z= 92.6mm grav_b=(-0.00,+0.01,-1.00) r=1.27m +[headless_play] t= 13.80s step= 690 trunk_z= 92.5mm grav_b=(-0.00,+0.01,-1.00) r=1.27m +[headless_play] t= 13.90s step= 695 trunk_z= 92.5mm grav_b=(-0.00,+0.01,-1.00) r=1.27m +[headless_play] t= 14.00s step= 700 trunk_z= 92.3mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.10s step= 705 trunk_z= 92.2mm grav_b=(-0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 14.20s step= 710 trunk_z= 92.1mm grav_b=(-0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 14.30s step= 715 trunk_z= 92.1mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.40s step= 720 trunk_z= 92.2mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.50s step= 725 trunk_z= 92.1mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.60s step= 730 trunk_z= 92.1mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.70s step= 735 trunk_z= 92.1mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.80s step= 740 trunk_z= 92.0mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 14.90s step= 745 trunk_z= 92.0mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.00s step= 750 trunk_z= 92.1mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.10s step= 755 trunk_z= 92.0mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.20s step= 760 trunk_z= 92.0mm grav_b=(-0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.30s step= 765 trunk_z= 92.0mm grav_b=(+0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.40s step= 770 trunk_z= 92.0mm grav_b=(+0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.50s step= 775 trunk_z= 92.0mm grav_b=(+0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.60s step= 780 trunk_z= 92.0mm grav_b=(+0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.70s step= 785 trunk_z= 92.0mm grav_b=(+0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 15.80s step= 790 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 15.90s step= 795 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.00s step= 800 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.10s step= 805 trunk_z= 92.0mm grav_b=(+0.00,+0.02,-1.00) r=1.27m +[headless_play] t= 16.20s step= 810 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.30s step= 815 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.40s step= 820 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.50s step= 825 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.60s step= 830 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.70s step= 835 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.80s step= 840 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 16.90s step= 845 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.00s step= 850 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.10s step= 855 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.20s step= 860 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.30s step= 865 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.40s step= 870 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.50s step= 875 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.60s step= 880 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.70s step= 885 trunk_z= 91.9mm grav_b=(+0.01,+0.02,-1.00) r=1.27m +[headless_play] t= 17.80s step= 890 trunk_z= 91.7mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 17.90s step= 895 trunk_z= 91.5mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.00s step= 900 trunk_z= 91.4mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 18.10s step= 905 trunk_z= 91.4mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 18.20s step= 910 trunk_z= 91.4mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 18.30s step= 915 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.40s step= 920 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.50s step= 925 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.60s step= 930 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.70s step= 935 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.80s step= 940 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 18.90s step= 945 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 19.00s step= 950 trunk_z= 91.3mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 19.10s step= 955 trunk_z= 91.3mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 19.20s step= 960 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 19.30s step= 965 trunk_z= 91.3mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 19.40s step= 970 trunk_z= 91.3mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 19.50s step= 975 trunk_z= 91.3mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 19.60s step= 980 trunk_z= 91.3mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 19.70s step= 985 trunk_z= 91.3mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] t= 19.80s step= 990 trunk_z= 91.3mm grav_b=(+0.05,+0.02,-1.00) r=1.28m +[headless_play] t= 19.90s step= 995 trunk_z= 91.3mm grav_b=(+0.04,+0.02,-1.00) r=1.28m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.04,-0.04,-1.00) r=0.42m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..9f11b166bd977fae226705d8bc14eecaf0bdbdb4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t4.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.257,-17.937,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.5mm grav_b=(-0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.01,+0.02,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.26m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.10s step= 105 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.20s step= 110 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.60s step= 130 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 2.90s step= 145 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 4.30s step= 215 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(+0.07,+0.00,-1.00) r=0.26m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(+0.08,+0.00,-1.00) r=0.26m +[headless_play] t= 4.90s step= 245 trunk_z= 116.3mm grav_b=(+0.07,+0.00,-1.00) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(+0.06,+0.00,-1.00) r=0.26m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.30s step= 265 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.60s step= 280 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.80s step= 290 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 5.90s step= 295 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.00s step= 300 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.20s step= 310 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.30s step= 315 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.40s step= 320 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.70s step= 335 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.80s step= 340 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 6.90s step= 345 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.00s step= 350 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.10s step= 355 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.20s step= 360 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.50s step= 375 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.60s step= 380 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.70s step= 385 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 8.10s step= 405 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(+0.05,+0.00,-1.00) r=0.26m +[headless_play] t= 8.50s step= 425 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00) r=0.26m +[headless_play] t= 8.60s step= 430 trunk_z= 115.8mm grav_b=(+0.06,-0.01,-1.00) r=0.26m +[headless_play] t= 8.70s step= 435 trunk_z= 115.7mm grav_b=(+0.08,-0.00,-1.00) r=0.25m +[headless_play] t= 8.80s step= 440 trunk_z= 115.8mm grav_b=(+0.09,-0.00,-1.00) r=0.26m +[headless_play] t= 8.90s step= 445 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 9.00s step= 450 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 9.10s step= 455 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 9.20s step= 460 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 9.30s step= 465 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 9.60s step= 480 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 9.70s step= 485 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 9.80s step= 490 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.00s step= 500 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.10s step= 505 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.40s step= 520 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.50s step= 525 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.60s step= 530 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.70s step= 535 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 10.90s step= 545 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00) r=0.26m +[headless_play] t= 11.00s step= 550 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00) r=0.26m +[headless_play] t= 11.10s step= 555 trunk_z= 115.7mm grav_b=(+0.06,-0.00,-1.00) r=0.26m +[headless_play] t= 11.20s step= 560 trunk_z= 115.7mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.40s step= 570 trunk_z= 115.7mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.50s step= 575 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.80s step= 590 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.26m +[headless_play] t= 11.90s step= 595 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00) r=0.26m +[headless_play] t= 12.00s step= 600 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 12.10s step= 605 trunk_z= 117.0mm grav_b=(+0.05,+0.02,-1.00) r=0.27m +[headless_play] t= 12.20s step= 610 trunk_z= 118.2mm grav_b=(+0.03,-0.03,-1.00) r=0.27m +[headless_play] t= 12.30s step= 615 trunk_z= 122.1mm grav_b=(+0.05,-0.09,-0.99) r=0.26m +[headless_play] t= 12.40s step= 620 trunk_z= 124.1mm grav_b=(+0.08,-0.05,-1.00) r=0.25m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(+0.06,+0.04,-1.00) r=0.22m +[headless_play] t= 12.60s step= 630 trunk_z= 124.3mm grav_b=(+0.06,+0.04,-1.00) r=0.21m +[headless_play] t= 12.70s step= 635 trunk_z= 121.8mm grav_b=(+0.03,+0.04,-1.00) r=0.21m +[headless_play] t= 12.80s step= 640 trunk_z= 121.2mm grav_b=(+0.02,-0.06,-1.00) r=0.21m +[headless_play] t= 12.90s step= 645 trunk_z= 125.1mm grav_b=(+0.04,-0.05,-1.00) r=0.20m +[headless_play] t= 13.00s step= 650 trunk_z= 120.1mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 13.10s step= 655 trunk_z= 124.0mm grav_b=(+0.06,+0.04,-1.00) r=0.16m +[headless_play] t= 13.20s step= 660 trunk_z= 122.3mm grav_b=(+0.04,+0.03,-1.00) r=0.16m +[headless_play] t= 13.30s step= 665 trunk_z= 117.6mm grav_b=(+0.01,-0.05,-1.00) r=0.16m +[headless_play] t= 13.40s step= 670 trunk_z= 125.1mm grav_b=(+0.03,-0.06,-1.00) r=0.16m +[headless_play] t= 13.50s step= 675 trunk_z= 122.8mm grav_b=(+0.04,-0.04,-1.00) r=0.15m +[headless_play] t= 13.60s step= 680 trunk_z= 122.7mm grav_b=(+0.06,+0.05,-1.00) r=0.12m +[headless_play] t= 13.70s step= 685 trunk_z= 125.1mm grav_b=(+0.05,+0.04,-1.00) r=0.11m +[headless_play] t= 13.80s step= 690 trunk_z= 120.6mm grav_b=(+0.03,+0.02,-1.00) r=0.12m +[headless_play] t= 13.90s step= 695 trunk_z= 122.8mm grav_b=(+0.03,-0.07,-1.00) r=0.13m +[headless_play] t= 14.00s step= 700 trunk_z= 125.3mm grav_b=(+0.04,-0.06,-1.00) r=0.12m +[headless_play] t= 14.10s step= 705 trunk_z= 120.5mm grav_b=(+0.04,-0.01,-1.00) r=0.10m +[headless_play] t= 14.20s step= 710 trunk_z= 124.9mm grav_b=(+0.05,+0.06,-1.00) r=0.08m +[headless_play] t= 14.30s step= 715 trunk_z= 125.1mm grav_b=(+0.03,+0.05,-1.00) r=0.07m +[headless_play] t= 14.40s step= 720 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.09m +[headless_play] t= 14.50s step= 725 trunk_z= 125.5mm grav_b=(+0.04,-0.07,-1.00) r=0.10m +[headless_play] t= 14.60s step= 730 trunk_z= 124.5mm grav_b=(+0.06,-0.04,-1.00) r=0.09m +[headless_play] t= 14.70s step= 735 trunk_z= 119.2mm grav_b=(+0.05,+0.04,-1.00) r=0.07m +[headless_play] t= 14.80s step= 740 trunk_z= 124.6mm grav_b=(+0.05,+0.04,-1.00) r=0.06m +[headless_play] t= 14.90s step= 745 trunk_z= 120.8mm grav_b=(+0.02,+0.02,-1.00) r=0.08m +[headless_play] t= 15.00s step= 750 trunk_z= 122.8mm grav_b=(+0.02,-0.07,-1.00) r=0.10m +[headless_play] t= 15.10s step= 755 trunk_z= 125.8mm grav_b=(+0.04,-0.06,-1.00) r=0.10m +[headless_play] t= 15.20s step= 760 trunk_z= 120.8mm grav_b=(+0.05,-0.01,-1.00) r=0.09m +[headless_play] t= 15.30s step= 765 trunk_z= 123.6mm grav_b=(+0.06,+0.04,-1.00) r=0.08m +[headless_play] t= 15.40s step= 770 trunk_z= 122.8mm grav_b=(+0.03,+0.04,-1.00) r=0.09m +[headless_play] t= 15.50s step= 775 trunk_z= 119.0mm grav_b=(+0.01,-0.06,-1.00) r=0.12m +[headless_play] t= 15.60s step= 780 trunk_z= 126.0mm grav_b=(+0.03,-0.08,-1.00) r=0.13m +[headless_play] t= 15.70s step= 785 trunk_z= 124.4mm grav_b=(+0.04,-0.05,-1.00) r=0.13m +[headless_play] t= 15.80s step= 790 trunk_z= 121.7mm grav_b=(+0.05,+0.03,-1.00) r=0.13m +[headless_play] t= 15.90s step= 795 trunk_z= 124.0mm grav_b=(+0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 16.00s step= 800 trunk_z= 118.4mm grav_b=(+0.02,-0.02,-1.00) r=0.15m +[headless_play] t= 16.10s step= 805 trunk_z= 124.4mm grav_b=(+0.04,-0.06,-1.00) r=0.17m +[headless_play] t= 16.20s step= 810 trunk_z= 124.3mm grav_b=(+0.05,-0.04,-1.00) r=0.17m +[headless_play] t= 16.30s step= 815 trunk_z= 120.5mm grav_b=(+0.04,+0.03,-1.00) r=0.17m +[headless_play] t= 16.40s step= 820 trunk_z= 123.3mm grav_b=(+0.05,+0.01,-1.00) r=0.17m +[headless_play] t= 16.50s step= 825 trunk_z= 118.6mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 16.60s step= 830 trunk_z= 124.2mm grav_b=(+0.04,-0.08,-1.00) r=0.21m +[headless_play] t= 16.70s step= 835 trunk_z= 124.0mm grav_b=(+0.08,-0.06,-0.99) r=0.21m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(+0.06,+0.01,-1.00) r=0.20m +[headless_play] t= 16.90s step= 845 trunk_z= 124.1mm grav_b=(+0.06,+0.04,-1.00) r=0.20m +[headless_play] t= 17.00s step= 850 trunk_z= 120.6mm grav_b=(+0.05,+0.03,-1.00) r=0.21m +[headless_play] t= 17.10s step= 855 trunk_z= 122.1mm grav_b=(+0.04,-0.07,-1.00) r=0.23m +[headless_play] t= 17.20s step= 860 trunk_z= 124.4mm grav_b=(+0.06,-0.06,-1.00) r=0.23m +[headless_play] t= 17.30s step= 865 trunk_z= 119.8mm grav_b=(+0.06,-0.03,-1.00) r=0.23m +[headless_play] t= 17.40s step= 870 trunk_z= 123.8mm grav_b=(+0.05,+0.04,-1.00) r=0.23m +[headless_play] t= 17.50s step= 875 trunk_z= 124.2mm grav_b=(+0.04,+0.04,-1.00) r=0.23m +[headless_play] t= 17.60s step= 880 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=0.25m +[headless_play] t= 17.70s step= 885 trunk_z= 124.6mm grav_b=(+0.06,-0.07,-1.00) r=0.27m +[headless_play] t= 17.80s step= 890 trunk_z= 124.6mm grav_b=(+0.09,-0.06,-0.99) r=0.27m +[headless_play] t= 17.90s step= 895 trunk_z= 117.8mm grav_b=(+0.06,+0.04,-1.00) r=0.27m +[headless_play] t= 18.00s step= 900 trunk_z= 124.8mm grav_b=(+0.07,+0.04,-1.00) r=0.27m +[headless_play] t= 18.10s step= 905 trunk_z= 122.6mm grav_b=(+0.04,+0.04,-1.00) r=0.28m +[headless_play] t= 18.20s step= 910 trunk_z= 121.4mm grav_b=(+0.05,-0.05,-1.00) r=0.30m +[headless_play] t= 18.30s step= 915 trunk_z= 124.2mm grav_b=(+0.07,-0.06,-1.00) r=0.31m +[headless_play] t= 18.40s step= 920 trunk_z= 119.1mm grav_b=(+0.07,-0.03,-1.00) r=0.30m +[headless_play] t= 18.50s step= 925 trunk_z= 123.1mm grav_b=(+0.07,+0.03,-1.00) r=0.29m +[headless_play] t= 18.60s step= 930 trunk_z= 121.6mm grav_b=(+0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 18.70s step= 935 trunk_z= 118.5mm grav_b=(+0.06,-0.04,-1.00) r=0.31m +[headless_play] t= 18.80s step= 940 trunk_z= 123.9mm grav_b=(+0.07,-0.05,-1.00) r=0.32m +[headless_play] t= 18.90s step= 945 trunk_z= 119.7mm grav_b=(+0.07,-0.04,-1.00) r=0.32m +[headless_play] t= 19.00s step= 950 trunk_z= 123.0mm grav_b=(+0.05,+0.03,-1.00) r=0.31m +[headless_play] t= 19.10s step= 955 trunk_z= 122.2mm grav_b=(+0.06,+0.03,-1.00) r=0.32m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=0.33m +[headless_play] t= 19.30s step= 965 trunk_z= 124.1mm grav_b=(+0.05,-0.07,-1.00) r=0.35m +[headless_play] t= 19.40s step= 970 trunk_z= 122.1mm grav_b=(+0.07,-0.06,-1.00) r=0.34m +[headless_play] t= 19.50s step= 975 trunk_z= 121.1mm grav_b=(+0.06,+0.02,-1.00) r=0.34m +[headless_play] t= 19.60s step= 980 trunk_z= 122.4mm grav_b=(+0.07,+0.02,-1.00) r=0.34m +[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.36m +[headless_play] t= 19.80s step= 990 trunk_z= 124.9mm grav_b=(+0.07,-0.06,-1.00) r=0.37m +[headless_play] t= 19.90s step= 995 trunk_z= 123.4mm grav_b=(+0.09,-0.06,-0.99) r=0.37m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,+0.04,-1.00) r=0.62m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..9d79e898231ad5fd76880d187ccc6e5d57c73da3 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t5.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.940,-18.166,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.4mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.18m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 0.90s step= 45 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 1.10s step= 55 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 2.10s step= 105 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 2.20s step= 110 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.00s step= 150 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 3.20s step= 160 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.18m +[headless_play] t= 4.80s step= 240 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.18m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.18m +[headless_play] t= 5.00s step= 250 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.10s step= 255 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.30s step= 265 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.60s step= 280 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.70s step= 285 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.20s step= 310 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.30s step= 315 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.40s step= 320 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.60s step= 330 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.70s step= 335 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 7.10s step= 355 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 7.20s step= 360 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(-0.06,-0.09,-0.99) r=0.18m +[headless_play] t= 7.50s step= 375 trunk_z= 120.4mm grav_b=(-0.06,-0.10,-0.99) r=0.19m +[headless_play] t= 7.60s step= 380 trunk_z= 117.6mm grav_b=(-0.06,-0.06,-1.00) r=0.21m +[headless_play] t= 7.70s step= 385 trunk_z= 112.9mm grav_b=(-0.05,+0.05,-1.00) r=0.23m +[headless_play] t= 7.80s step= 390 trunk_z= 118.9mm grav_b=(-0.03,+0.03,-1.00) r=0.24m +[headless_play] t= 7.90s step= 395 trunk_z= 114.6mm grav_b=(-0.04,-0.03,-1.00) r=0.24m +[headless_play] t= 8.00s step= 400 trunk_z= 121.3mm grav_b=(-0.07,-0.10,-0.99) r=0.24m +[headless_play] t= 8.10s step= 405 trunk_z= 122.7mm grav_b=(-0.07,-0.11,-0.99) r=0.25m +[headless_play] t= 8.20s step= 410 trunk_z= 118.1mm grav_b=(-0.04,-0.07,-1.00) r=0.27m +[headless_play] t= 8.30s step= 415 trunk_z= 119.0mm grav_b=(-0.05,+0.06,-1.00) r=0.29m +[headless_play] t= 8.40s step= 420 trunk_z= 119.3mm grav_b=(-0.04,+0.01,-1.00) r=0.30m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(-0.04,-0.08,-1.00) r=0.29m +[headless_play] t= 8.60s step= 430 trunk_z= 123.3mm grav_b=(-0.06,-0.11,-0.99) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 122.1mm grav_b=(-0.05,-0.11,-0.99) r=0.30m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 8.90s step= 445 trunk_z= 120.8mm grav_b=(-0.04,+0.05,-1.00) r=0.34m +[headless_play] t= 9.00s step= 450 trunk_z= 118.2mm grav_b=(-0.04,-0.00,-1.00) r=0.34m +[headless_play] t= 9.10s step= 455 trunk_z= 120.0mm grav_b=(-0.06,-0.11,-0.99) r=0.33m +[headless_play] t= 9.20s step= 460 trunk_z= 124.2mm grav_b=(-0.06,-0.11,-0.99) r=0.33m +[headless_play] t= 9.30s step= 465 trunk_z= 120.3mm grav_b=(-0.04,-0.12,-0.99) r=0.35m +[headless_play] t= 9.40s step= 470 trunk_z= 115.8mm grav_b=(-0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 119.9mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 114.5mm grav_b=(-0.03,-0.05,-1.00) r=0.36m +[headless_play] t= 9.70s step= 485 trunk_z= 122.4mm grav_b=(-0.09,-0.11,-0.99) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 123.5mm grav_b=(-0.07,-0.12,-0.99) r=0.36m +[headless_play] t= 9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.04,-0.09,-1.00) r=0.38m +[headless_play] t= 10.00s step= 500 trunk_z= 118.6mm grav_b=(-0.03,+0.06,-1.00) r=0.40m +[headless_play] t= 10.10s step= 505 trunk_z= 119.8mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 10.20s step= 510 trunk_z= 114.1mm grav_b=(-0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 10.30s step= 515 trunk_z= 122.7mm grav_b=(-0.08,-0.11,-0.99) r=0.39m +[headless_play] t= 10.40s step= 520 trunk_z= 122.4mm grav_b=(-0.06,-0.12,-0.99) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 115.6mm grav_b=(-0.03,-0.04,-1.00) r=0.42m +[headless_play] t= 10.60s step= 530 trunk_z= 119.9mm grav_b=(-0.03,+0.04,-1.00) r=0.43m +[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 10.80s step= 540 trunk_z= 118.9mm grav_b=(-0.05,-0.10,-0.99) r=0.41m +[headless_play] t= 10.90s step= 545 trunk_z= 122.8mm grav_b=(-0.05,-0.11,-0.99) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 117.9mm grav_b=(-0.03,-0.11,-0.99) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 115.3mm grav_b=(-0.02,+0.05,-1.00) r=0.45m +[headless_play] t= 11.20s step= 560 trunk_z= 121.0mm grav_b=(-0.03,+0.03,-1.00) r=0.46m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(-0.04,-0.03,-1.00) r=0.45m +[headless_play] t= 11.40s step= 570 trunk_z= 121.6mm grav_b=(-0.07,-0.11,-0.99) r=0.43m +[headless_play] t= 11.50s step= 575 trunk_z= 122.6mm grav_b=(-0.04,-0.10,-0.99) r=0.43m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(-0.01,-0.10,-0.99) r=0.45m +[headless_play] t= 11.70s step= 585 trunk_z= 118.0mm grav_b=(-0.03,+0.06,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 120.4mm grav_b=(-0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 11.90s step= 595 trunk_z= 114.3mm grav_b=(-0.04,-0.06,-1.00) r=0.46m +[headless_play] t= 12.00s step= 600 trunk_z= 121.9mm grav_b=(-0.07,-0.11,-0.99) r=0.45m +[headless_play] t= 12.10s step= 605 trunk_z= 121.1mm grav_b=(-0.03,-0.11,-0.99) r=0.45m +[headless_play] t= 12.20s step= 610 trunk_z= 114.9mm grav_b=(-0.01,-0.04,-1.00) r=0.47m +[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(-0.03,+0.07,-1.00) r=0.49m +[headless_play] t= 12.40s step= 620 trunk_z= 119.4mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 12.50s step= 625 trunk_z= 116.7mm grav_b=(-0.05,-0.09,-1.00) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 123.0mm grav_b=(-0.06,-0.10,-0.99) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 120.3mm grav_b=(-0.03,-0.10,-0.99) r=0.46m +[headless_play] t= 12.80s step= 640 trunk_z= 113.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 12.90s step= 645 trunk_z= 120.9mm grav_b=(-0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 13.10s step= 655 trunk_z= 120.3mm grav_b=(-0.06,-0.11,-0.99) r=0.46m +[headless_play] t= 13.20s step= 660 trunk_z= 123.2mm grav_b=(-0.05,-0.11,-0.99) r=0.46m +[headless_play] t= 13.30s step= 665 trunk_z= 118.4mm grav_b=(-0.01,-0.10,-0.99) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 115.2mm grav_b=(-0.02,+0.06,-1.00) r=0.49m +[headless_play] t= 13.50s step= 675 trunk_z= 120.3mm grav_b=(-0.06,+0.04,-1.00) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 114.6mm grav_b=(-0.08,-0.03,-1.00) r=0.48m +[headless_play] t= 13.70s step= 685 trunk_z= 122.8mm grav_b=(-0.08,-0.08,-0.99) r=0.47m +[headless_play] t= 13.80s step= 690 trunk_z= 123.5mm grav_b=(-0.08,-0.08,-0.99) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 118.2mm grav_b=(-0.06,-0.03,-1.00) r=0.49m +[headless_play] t= 14.00s step= 700 trunk_z= 122.3mm grav_b=(-0.06,+0.06,-1.00) r=0.50m +[headless_play] t= 14.10s step= 705 trunk_z= 120.9mm grav_b=(-0.05,+0.02,-1.00) r=0.50m +[headless_play] t= 14.20s step= 710 trunk_z= 118.8mm grav_b=(-0.05,-0.06,-1.00) r=0.47m +[headless_play] t= 14.30s step= 715 trunk_z= 124.2mm grav_b=(-0.06,-0.10,-0.99) r=0.46m +[headless_play] t= 14.40s step= 720 trunk_z= 122.4mm grav_b=(-0.05,-0.10,-0.99) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 115.1mm grav_b=(-0.04,+0.01,-1.00) r=0.48m +[headless_play] t= 14.60s step= 730 trunk_z= 121.5mm grav_b=(-0.06,+0.04,-1.00) r=0.49m +[headless_play] t= 14.70s step= 735 trunk_z= 116.9mm grav_b=(-0.06,-0.00,-1.00) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 122.3mm grav_b=(-0.07,-0.08,-0.99) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 124.3mm grav_b=(-0.08,-0.08,-0.99) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(-0.06,-0.08,-1.00) r=0.46m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(-0.05,+0.06,-1.00) r=0.47m +[headless_play] t= 15.20s step= 760 trunk_z= 121.6mm grav_b=(-0.05,+0.03,-1.00) r=0.47m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.06,-0.03,-1.00) r=0.45m +[headless_play] t= 15.40s step= 770 trunk_z= 123.4mm grav_b=(-0.09,-0.08,-0.99) r=0.44m +[headless_play] t= 15.50s step= 775 trunk_z= 123.4mm grav_b=(-0.10,-0.08,-0.99) r=0.44m +[headless_play] t= 15.60s step= 780 trunk_z= 117.9mm grav_b=(-0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 15.70s step= 785 trunk_z= 122.0mm grav_b=(-0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 15.80s step= 790 trunk_z= 120.1mm grav_b=(-0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 15.90s step= 795 trunk_z= 120.3mm grav_b=(-0.06,-0.07,-1.00) r=0.43m +[headless_play] t= 16.00s step= 800 trunk_z= 124.2mm grav_b=(-0.07,-0.09,-0.99) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 121.2mm grav_b=(-0.08,-0.07,-0.99) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(-0.06,+0.04,-1.00) r=0.43m +[headless_play] t= 16.30s step= 815 trunk_z= 120.7mm grav_b=(-0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 115.2mm grav_b=(-0.07,-0.03,-1.00) r=0.41m +[headless_play] t= 16.50s step= 825 trunk_z= 121.6mm grav_b=(-0.09,-0.11,-0.99) r=0.39m +[headless_play] t= 16.60s step= 830 trunk_z= 122.2mm grav_b=(-0.06,-0.10,-0.99) r=0.39m +[headless_play] t= 16.70s step= 835 trunk_z= 117.3mm grav_b=(-0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 16.80s step= 840 trunk_z= 119.0mm grav_b=(-0.05,+0.07,-1.00) r=0.39m +[headless_play] t= 16.90s step= 845 trunk_z= 120.0mm grav_b=(-0.04,+0.00,-1.00) r=0.39m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(-0.06,-0.07,-1.00) r=0.37m +[headless_play] t= 17.10s step= 855 trunk_z= 123.8mm grav_b=(-0.08,-0.10,-0.99) r=0.35m +[headless_play] t= 17.20s step= 860 trunk_z= 122.7mm grav_b=(-0.05,-0.11,-0.99) r=0.34m +[headless_play] t= 17.30s step= 865 trunk_z= 116.4mm grav_b=(-0.03,-0.06,-1.00) r=0.35m +[headless_play] t= 17.40s step= 870 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.35m +[headless_play] t= 17.50s step= 875 trunk_z= 118.4mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 17.60s step= 880 trunk_z= 119.7mm grav_b=(-0.06,-0.09,-0.99) r=0.32m +[headless_play] t= 17.70s step= 885 trunk_z= 123.6mm grav_b=(-0.06,-0.09,-0.99) r=0.31m +[headless_play] t= 17.80s step= 890 trunk_z= 118.6mm grav_b=(-0.04,-0.10,-0.99) r=0.30m +[headless_play] t= 17.90s step= 895 trunk_z= 115.2mm grav_b=(-0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 18.00s step= 900 trunk_z= 120.0mm grav_b=(-0.03,+0.02,-1.00) r=0.30m +[headless_play] t= 18.10s step= 905 trunk_z= 114.5mm grav_b=(-0.04,-0.04,-1.00) r=0.28m +[headless_play] t= 18.20s step= 910 trunk_z= 122.3mm grav_b=(-0.08,-0.09,-0.99) r=0.26m +[headless_play] t= 18.30s step= 915 trunk_z= 121.6mm grav_b=(-0.06,-0.09,-0.99) r=0.26m +[headless_play] t= 18.40s step= 920 trunk_z= 115.4mm grav_b=(-0.04,-0.03,-1.00) r=0.25m +[headless_play] t= 18.50s step= 925 trunk_z= 120.0mm grav_b=(-0.04,+0.05,-1.00) r=0.25m +[headless_play] t= 18.60s step= 930 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.24m +[headless_play] t= 18.70s step= 935 trunk_z= 118.9mm grav_b=(-0.06,-0.09,-0.99) r=0.22m +[headless_play] t= 18.80s step= 940 trunk_z= 123.7mm grav_b=(-0.07,-0.10,-0.99) r=0.21m +[headless_play] t= 18.90s step= 945 trunk_z= 119.7mm grav_b=(-0.05,-0.11,-0.99) r=0.20m +[headless_play] t= 19.00s step= 950 trunk_z= 114.1mm grav_b=(-0.04,+0.03,-1.00) r=0.19m +[headless_play] t= 19.10s step= 955 trunk_z= 120.2mm grav_b=(-0.05,+0.02,-1.00) r=0.18m +[headless_play] t= 19.20s step= 960 trunk_z= 115.1mm grav_b=(-0.05,-0.04,-1.00) r=0.17m +[headless_play] t= 19.30s step= 965 trunk_z= 122.7mm grav_b=(-0.07,-0.11,-0.99) r=0.15m +[headless_play] t= 19.40s step= 970 trunk_z= 123.5mm grav_b=(-0.06,-0.12,-0.99) r=0.14m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(-0.03,-0.09,-1.00) r=0.13m +[headless_play] t= 19.60s step= 980 trunk_z= 118.8mm grav_b=(-0.06,+0.04,-1.00) r=0.11m +[headless_play] t= 19.70s step= 985 trunk_z= 119.2mm grav_b=(-0.06,-0.00,-1.00) r=0.11m +[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(-0.06,-0.09,-0.99) r=0.11m +[headless_play] t= 19.90s step= 995 trunk_z= 123.6mm grav_b=(-0.06,-0.11,-0.99) r=0.10m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.1mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.00,+0.00,-1.00) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..3c866eb372d941256ff452d9351b80a965062832 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t6.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.708,-17.615,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.00,+0.03,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 112.2mm grav_b=(+0.01,+0.08,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 117.5mm grav_b=(+0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 112.2mm grav_b=(+0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 117.7mm grav_b=(+0.02,-0.06,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.04,-0.04,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 111.1mm grav_b=(+0.04,+0.06,-1.00) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 121.2mm grav_b=(+0.02,+0.07,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(+0.04,+0.04,-1.00) r=0.54m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.02,-0.04,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 1.20s step= 60 trunk_z= 110.5mm grav_b=(+0.05,+0.04,-1.00) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 121.1mm grav_b=(+0.03,+0.06,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.00,-0.04,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 110.7mm grav_b=(+0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 120.2mm grav_b=(+0.04,+0.05,-1.00) r=0.66m +[headless_play] t= 1.90s step= 95 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(+0.01,-0.05,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 117.3mm grav_b=(+0.04,-0.02,-1.00) r=0.68m +[headless_play] t= 2.20s step= 110 trunk_z= 111.2mm grav_b=(+0.05,+0.05,-1.00) r=0.71m +[headless_play] t= 2.30s step= 115 trunk_z= 121.3mm grav_b=(+0.03,+0.09,-1.00) r=0.73m +[headless_play] t= 2.40s step= 120 trunk_z= 117.8mm grav_b=(+0.03,+0.05,-1.00) r=0.74m +[headless_play] t= 2.50s step= 125 trunk_z= 114.5mm grav_b=(+0.03,-0.03,-1.00) r=0.75m +[headless_play] t= 2.60s step= 130 trunk_z= 118.1mm grav_b=(+0.04,-0.03,-1.00) r=0.76m +[headless_play] t= 2.70s step= 135 trunk_z= 113.4mm grav_b=(+0.05,+0.01,-1.00) r=0.78m +[headless_play] t= 2.80s step= 140 trunk_z= 117.8mm grav_b=(+0.01,+0.09,-1.00) r=0.81m +[headless_play] t= 2.90s step= 145 trunk_z= 95.7mm grav_b=(-0.00,+0.03,-1.00) r=0.83m +[headless_play] t= 3.00s step= 150 trunk_z= 89.4mm grav_b=(+0.11,+0.08,-0.99) r=0.86m +[headless_play] t= 3.10s step= 155 trunk_z= 93.2mm grav_b=(+0.08,-0.07,-0.99) r=0.88m +[headless_play] t= 3.20s step= 160 trunk_z= 95.5mm grav_b=(+0.03,-0.01,-1.00) r=0.90m +[headless_play] t= 3.30s step= 165 trunk_z= 95.6mm grav_b=(-0.01,+0.07,-1.00) r=0.93m +[headless_play] t= 3.40s step= 170 trunk_z= 96.4mm grav_b=(-0.02,+0.05,-1.00) r=0.95m +[headless_play] t= 3.50s step= 175 trunk_z= 88.5mm grav_b=(+0.04,-0.04,-1.00) r=0.97m +[headless_play] t= 3.60s step= 180 trunk_z= 93.6mm grav_b=(+0.06,-0.06,-1.00) r=0.98m +[headless_play] t= 3.70s step= 185 trunk_z= 89.3mm grav_b=(+0.06,-0.00,-1.00) r=1.00m +[headless_play] t= 3.80s step= 190 trunk_z= 94.4mm grav_b=(+0.01,+0.09,-1.00) r=1.02m +[headless_play] t= 3.90s step= 195 trunk_z= 95.3mm grav_b=(+0.00,+0.06,-1.00) r=1.03m +[headless_play] t= 4.00s step= 200 trunk_z= 88.9mm grav_b=(+0.01,+0.00,-1.00) r=1.05m +[headless_play] t= 4.10s step= 205 trunk_z= 94.1mm grav_b=(+0.02,-0.05,-1.00) r=1.07m +[headless_play] t= 4.20s step= 210 trunk_z= 89.7mm grav_b=(+0.05,-0.02,-1.00) r=1.08m +[headless_play] t= 4.30s step= 215 trunk_z= 88.6mm grav_b=(+0.04,+0.07,-1.00) r=1.10m +[headless_play] t= 4.40s step= 220 trunk_z= 95.4mm grav_b=(+0.04,+0.06,-1.00) r=1.12m +[headless_play] t= 4.50s step= 225 trunk_z= 89.1mm grav_b=(+0.04,+0.01,-1.00) r=1.14m +[headless_play] t= 4.60s step= 230 trunk_z= 92.6mm grav_b=(+0.02,-0.04,-1.00) r=1.16m +[headless_play] t= 4.70s step= 235 trunk_z= 90.3mm grav_b=(+0.06,-0.01,-1.00) r=1.18m +[headless_play] t= 4.80s step= 240 trunk_z= 89.5mm grav_b=(+0.11,+0.08,-0.99) r=1.19m +[headless_play] t= 4.90s step= 245 trunk_z= 99.2mm grav_b=(+0.08,+0.05,-1.00) r=1.21m +[headless_play] t= 5.00s step= 250 trunk_z= 95.5mm grav_b=(+0.01,+0.01,-1.00) r=1.22m +[headless_play] t= 5.10s step= 255 trunk_z= 96.5mm grav_b=(-0.01,-0.06,-1.00) r=1.24m +[headless_play] t= 5.20s step= 260 trunk_z= 93.2mm grav_b=(+0.01,-0.03,-1.00) r=1.25m +[headless_play] t= 5.30s step= 265 trunk_z= 91.9mm grav_b=(+0.01,+0.05,-1.00) r=1.27m +[headless_play] t= 5.40s step= 270 trunk_z= 95.6mm grav_b=(+0.04,+0.03,-1.00) r=1.28m +[headless_play] t= 5.50s step= 275 trunk_z= 89.0mm grav_b=(+0.02,-0.02,-1.00) r=1.29m +[headless_play] t= 5.60s step= 280 trunk_z= 95.9mm grav_b=(+0.01,-0.05,-1.00) r=1.30m +[headless_play] t= 5.70s step= 285 trunk_z= 91.2mm grav_b=(+0.02,-0.01,-1.00) r=1.31m +[headless_play] t= 5.80s step= 290 trunk_z= 93.7mm grav_b=(+0.00,+0.06,-1.00) r=1.33m +[headless_play] t= 5.90s step= 295 trunk_z= 97.3mm grav_b=(+0.01,+0.05,-1.00) r=1.33m +[headless_play] t= 6.00s step= 300 trunk_z= 91.9mm grav_b=(+0.01,+0.01,-1.00) r=1.35m +[headless_play] t= 6.10s step= 305 trunk_z= 95.4mm grav_b=(+0.01,-0.04,-1.00) r=1.36m +[headless_play] t= 6.20s step= 310 trunk_z= 91.4mm grav_b=(+0.03,-0.01,-1.00) r=1.37m +[headless_play] t= 6.30s step= 315 trunk_z= 93.0mm grav_b=(-0.00,+0.06,-1.00) r=1.38m +[headless_play] t= 6.40s step= 320 trunk_z= 97.3mm grav_b=(-0.01,+0.04,-1.00) r=1.39m +[headless_play] t= 6.50s step= 325 trunk_z= 91.3mm grav_b=(+0.00,+0.00,-1.00) r=1.40m +[headless_play] t= 6.60s step= 330 trunk_z= 95.5mm grav_b=(+0.02,-0.05,-1.00) r=1.41m +[headless_play] t= 6.70s step= 335 trunk_z= 92.1mm grav_b=(+0.03,-0.01,-1.00) r=1.42m +[headless_play] t= 6.80s step= 340 trunk_z= 94.3mm grav_b=(-0.00,+0.06,-1.00) r=1.43m +[headless_play] t= 6.90s step= 345 trunk_z= 96.3mm grav_b=(-0.00,+0.04,-1.00) r=1.44m +[headless_play] t= 7.00s step= 350 trunk_z= 89.3mm grav_b=(+0.00,-0.02,-1.00) r=1.46m +[headless_play] t= 7.10s step= 355 trunk_z= 95.4mm grav_b=(+0.02,-0.04,-1.00) r=1.47m +[headless_play] t= 7.20s step= 360 trunk_z= 90.8mm grav_b=(+0.04,-0.00,-1.00) r=1.48m +[headless_play] t= 7.30s step= 365 trunk_z= 95.7mm grav_b=(-0.01,+0.06,-1.00) r=1.49m +[headless_play] t= 7.40s step= 370 trunk_z= 96.2mm grav_b=(-0.00,+0.04,-1.00) r=1.49m +[headless_play] t= 7.50s step= 375 trunk_z= 90.3mm grav_b=(+0.01,-0.04,-1.00) r=1.51m +[headless_play] t= 7.60s step= 380 trunk_z= 96.0mm grav_b=(+0.02,-0.05,-1.00) r=1.52m +[headless_play] t= 7.70s step= 385 trunk_z= 90.4mm grav_b=(+0.03,-0.02,-1.00) r=1.53m +[headless_play] t= 7.80s step= 390 trunk_z= 96.1mm grav_b=(-0.03,+0.06,-1.00) r=1.53m +[headless_play] t= 7.90s step= 395 trunk_z= 96.6mm grav_b=(-0.00,+0.03,-1.00) r=1.54m +[headless_play] t= 8.00s step= 400 trunk_z= 90.0mm grav_b=(+0.00,-0.03,-1.00) r=1.55m +[headless_play] t= 8.10s step= 405 trunk_z= 95.7mm grav_b=(+0.04,-0.06,-1.00) r=1.57m +[headless_play] t= 8.20s step= 410 trunk_z= 92.3mm grav_b=(+0.05,-0.01,-1.00) r=1.58m +[headless_play] t= 8.30s step= 415 trunk_z= 95.7mm grav_b=(-0.00,+0.07,-1.00) r=1.59m +[headless_play] t= 8.40s step= 420 trunk_z= 96.5mm grav_b=(+0.00,+0.04,-1.00) r=1.60m +[headless_play] t= 8.50s step= 425 trunk_z= 89.9mm grav_b=(+0.02,-0.02,-1.00) r=1.61m +[headless_play] t= 8.60s step= 430 trunk_z= 95.6mm grav_b=(+0.00,-0.06,-1.00) r=1.63m +[headless_play] t= 8.70s step= 435 trunk_z= 92.2mm grav_b=(+0.01,-0.02,-1.00) r=1.63m +[headless_play] t= 8.80s step= 440 trunk_z= 93.2mm grav_b=(-0.01,+0.05,-1.00) r=1.64m +[headless_play] t= 8.90s step= 445 trunk_z= 96.6mm grav_b=(-0.01,+0.03,-1.00) r=1.65m +[headless_play] t= 9.00s step= 450 trunk_z= 91.0mm grav_b=(+0.00,-0.01,-1.00) r=1.66m +[headless_play] t= 9.10s step= 455 trunk_z= 93.8mm grav_b=(+0.03,-0.06,-1.00) r=1.68m +[headless_play] t= 9.20s step= 460 trunk_z= 91.4mm grav_b=(+0.04,-0.01,-1.00) r=1.69m +[headless_play] t= 9.30s step= 465 trunk_z= 90.7mm grav_b=(+0.02,+0.07,-1.00) r=1.70m +[headless_play] t= 9.40s step= 470 trunk_z= 96.5mm grav_b=(+0.01,+0.05,-1.00) r=1.71m +[headless_play] t= 9.50s step= 475 trunk_z= 91.0mm grav_b=(+0.02,+0.01,-1.00) r=1.73m +[headless_play] t= 9.60s step= 480 trunk_z= 93.9mm grav_b=(+0.02,-0.07,-1.00) r=1.75m +[headless_play] t= 9.70s step= 485 trunk_z= 92.4mm grav_b=(+0.03,-0.03,-1.00) r=1.75m +[headless_play] t= 9.80s step= 490 trunk_z= 89.8mm grav_b=(+0.01,+0.06,-1.00) r=1.76m +[headless_play] t= 9.90s step= 495 trunk_z= 97.2mm grav_b=(+0.00,+0.05,-1.00) r=1.77m +[headless_play] t= 10.00s step= 500 trunk_z= 92.0mm grav_b=(+0.01,+0.02,-1.00) r=1.79m +[headless_play] t= 10.10s step= 505 trunk_z= 94.0mm grav_b=(+0.02,-0.06,-1.00) r=1.81m +[headless_play] t= 10.20s step= 510 trunk_z= 93.0mm grav_b=(+0.03,-0.03,-1.00) r=1.81m +[headless_play] t= 10.30s step= 515 trunk_z= 88.5mm grav_b=(+0.03,+0.04,-1.00) r=1.82m +[headless_play] t= 10.40s step= 520 trunk_z= 97.0mm grav_b=(-0.01,+0.04,-1.00) r=1.83m +[headless_play] t= 10.50s step= 525 trunk_z= 92.6mm grav_b=(+0.01,+0.01,-1.00) r=1.84m +[headless_play] t= 10.60s step= 530 trunk_z= 93.6mm grav_b=(+0.01,-0.06,-1.00) r=1.87m +[headless_play] t= 10.70s step= 535 trunk_z= 93.4mm grav_b=(+0.03,-0.02,-1.00) r=1.88m +[headless_play] t= 10.80s step= 540 trunk_z= 87.1mm grav_b=(+0.02,+0.04,-1.00) r=1.88m +[headless_play] t= 10.90s step= 545 trunk_z= 97.1mm grav_b=(+0.00,+0.07,-1.00) r=1.89m +[headless_play] t= 11.00s step= 550 trunk_z= 92.8mm grav_b=(+0.01,+0.03,-1.00) r=1.91m +[headless_play] t= 11.10s step= 555 trunk_z= 91.9mm grav_b=(+0.01,-0.06,-1.00) r=1.93m +[headless_play] t= 11.20s step= 560 trunk_z= 93.8mm grav_b=(+0.03,-0.04,-1.00) r=1.94m +[headless_play] t= 11.30s step= 565 trunk_z= 87.5mm grav_b=(+0.03,+0.01,-1.00) r=1.94m +[headless_play] t= 11.40s step= 570 trunk_z= 96.1mm grav_b=(-0.00,+0.05,-1.00) r=1.95m +[headless_play] t= 11.50s step= 575 trunk_z= 93.2mm grav_b=(+0.00,+0.01,-1.00) r=1.96m +[headless_play] t= 11.60s step= 580 trunk_z= 91.6mm grav_b=(-0.01,-0.06,-1.00) r=1.99m +[headless_play] t= 11.70s step= 585 trunk_z= 93.7mm grav_b=(+0.03,-0.03,-1.00) r=2.00m +[headless_play] t= 11.80s step= 590 trunk_z= 87.0mm grav_b=(+0.03,+0.01,-1.00) r=2.00m +[headless_play] t= 11.90s step= 595 trunk_z= 95.3mm grav_b=(+0.03,+0.06,-1.00) r=2.00m +[headless_play] t= 12.00s step= 600 trunk_z= 91.4mm grav_b=(+0.02,+0.01,-1.00) r=2.01m +[headless_play] t= 12.10s step= 605 trunk_z= 91.4mm grav_b=(+0.03,-0.02,-1.00) r=2.02m +[headless_play] t= 12.20s step= 610 trunk_z= 91.2mm grav_b=(+0.02,+0.00,-1.00) r=2.02m +[headless_play] t= 12.30s step= 615 trunk_z= 91.0mm grav_b=(+0.03,-0.01,-1.00) r=2.02m +[headless_play] t= 12.40s step= 620 trunk_z= 91.0mm grav_b=(+0.04,-0.01,-1.00) r=2.02m +[headless_play] t= 12.50s step= 625 trunk_z= 92.1mm grav_b=(+0.01,-0.02,-1.00) r=2.01m +[headless_play] t= 12.60s step= 630 trunk_z= 93.3mm grav_b=(-0.04,-0.02,-1.00) r=2.01m +[headless_play] t= 12.70s step= 635 trunk_z= 93.0mm grav_b=(-0.05,-0.02,-1.00) r=2.00m +[headless_play] t= 12.80s step= 640 trunk_z= 93.1mm grav_b=(-0.04,-0.02,-1.00) r=2.00m +[headless_play] t= 12.90s step= 645 trunk_z= 93.1mm grav_b=(-0.03,-0.02,-1.00) r=2.00m +[headless_play] t= 13.00s step= 650 trunk_z= 93.1mm grav_b=(-0.03,-0.02,-1.00) r=2.01m +[headless_play] t= 13.10s step= 655 trunk_z= 93.0mm grav_b=(-0.03,-0.02,-1.00) r=2.01m +[headless_play] t= 13.20s step= 660 trunk_z= 93.0mm grav_b=(-0.03,-0.02,-1.00) r=2.01m +[headless_play] t= 13.30s step= 665 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 13.40s step= 670 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 13.50s step= 675 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 13.60s step= 680 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 13.70s step= 685 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 13.80s step= 690 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 13.90s step= 695 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.00s step= 700 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.10s step= 705 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.20s step= 710 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.30s step= 715 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.40s step= 720 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.50s step= 725 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.60s step= 730 trunk_z= 93.1mm grav_b=(-0.03,-0.03,-1.00) r=2.01m +[headless_play] t= 14.70s step= 735 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 14.80s step= 740 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 14.90s step= 745 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.00s step= 750 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.10s step= 755 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.20s step= 760 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.30s step= 765 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.40s step= 770 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.50s step= 775 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.60s step= 780 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.70s step= 785 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.80s step= 790 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 15.90s step= 795 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.00s step= 800 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.10s step= 805 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.20s step= 810 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.30s step= 815 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.40s step= 820 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.50s step= 825 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.60s step= 830 trunk_z= 93.1mm grav_b=(-0.04,-0.03,-1.00) r=2.01m +[headless_play] t= 16.70s step= 835 trunk_z= 92.9mm grav_b=(+0.01,+0.02,-1.00) r=2.00m +[headless_play] t= 16.80s step= 840 trunk_z= 93.0mm grav_b=(+0.04,+0.06,-1.00) r=1.99m +[headless_play] t= 16.90s step= 845 trunk_z= 99.4mm grav_b=(+0.02,-0.03,-1.00) r=2.01m +[headless_play] t= 17.00s step= 850 trunk_z= 91.1mm grav_b=(-0.00,-0.07,-1.00) r=2.04m +[headless_play] t= 17.10s step= 855 trunk_z= 99.4mm grav_b=(-0.01,-0.08,-1.00) r=2.06m +[headless_play] t= 17.20s step= 860 trunk_z= 98.2mm grav_b=(-0.02,-0.06,-1.00) r=2.06m +[headless_play] t= 17.30s step= 865 trunk_z= 94.0mm grav_b=(-0.02,+0.03,-1.00) r=2.04m +[headless_play] t= 17.40s step= 870 trunk_z= 103.4mm grav_b=(-0.01,+0.06,-1.00) r=2.04m +[headless_play] t= 17.50s step= 875 trunk_z= 100.8mm grav_b=(+0.03,+0.04,-1.00) r=2.06m +[headless_play] t= 17.60s step= 880 trunk_z= 94.0mm grav_b=(+0.02,-0.04,-1.00) r=2.08m +[headless_play] t= 17.70s step= 885 trunk_z= 99.8mm grav_b=(-0.00,-0.07,-1.00) r=2.09m +[headless_play] t= 17.80s step= 890 trunk_z= 95.9mm grav_b=(-0.04,-0.04,-1.00) r=2.09m +[headless_play] t= 17.90s step= 895 trunk_z= 97.2mm grav_b=(-0.02,+0.03,-1.00) r=2.08m +[headless_play] t= 18.00s step= 900 trunk_z= 99.4mm grav_b=(+0.01,+0.01,-1.00) r=2.09m +[headless_play] t= 18.10s step= 905 trunk_z= 94.2mm grav_b=(+0.00,-0.02,-1.00) r=2.11m +[headless_play] t= 18.20s step= 910 trunk_z= 100.5mm grav_b=(-0.01,-0.07,-1.00) r=2.13m +[headless_play] t= 18.30s step= 915 trunk_z= 98.9mm grav_b=(-0.02,-0.03,-1.00) r=2.13m +[headless_play] t= 18.40s step= 920 trunk_z= 94.7mm grav_b=(-0.02,+0.03,-1.00) r=2.12m +[headless_play] t= 18.50s step= 925 trunk_z= 99.6mm grav_b=(-0.01,+0.03,-1.00) r=2.12m +[headless_play] t= 18.60s step= 930 trunk_z= 95.6mm grav_b=(-0.01,-0.00,-1.00) r=2.14m +[headless_play] t= 18.70s step= 935 trunk_z= 99.6mm grav_b=(-0.01,-0.06,-1.00) r=2.16m +[headless_play] t= 18.80s step= 940 trunk_z= 99.1mm grav_b=(-0.02,-0.04,-1.00) r=2.17m +[headless_play] t= 18.90s step= 945 trunk_z= 93.8mm grav_b=(-0.03,+0.03,-1.00) r=2.15m +[headless_play] t= 19.00s step= 950 trunk_z= 99.5mm grav_b=(-0.04,+0.03,-1.00) r=2.16m +[headless_play] t= 19.10s step= 955 trunk_z= 94.9mm grav_b=(-0.02,-0.01,-1.00) r=2.18m +[headless_play] t= 19.20s step= 960 trunk_z= 99.3mm grav_b=(-0.01,-0.07,-1.00) r=2.20m +[headless_play] t= 19.30s step= 965 trunk_z= 99.6mm grav_b=(-0.01,-0.06,-1.00) r=2.21m +[headless_play] t= 19.40s step= 970 trunk_z= 92.0mm grav_b=(-0.02,+0.01,-1.00) r=2.19m +[headless_play] t= 19.50s step= 975 trunk_z= 99.6mm grav_b=(-0.01,+0.05,-1.00) r=2.19m +[headless_play] t= 19.60s step= 980 trunk_z= 97.4mm grav_b=(-0.00,+0.02,-1.00) r=2.21m +[headless_play] t= 19.70s step= 985 trunk_z= 97.3mm grav_b=(-0.01,-0.06,-1.00) r=2.23m +[headless_play] t= 19.80s step= 990 trunk_z= 99.5mm grav_b=(-0.03,-0.04,-1.00) r=2.24m +[headless_play] t= 19.90s step= 995 trunk_z= 92.8mm grav_b=(-0.04,+0.01,-1.00) r=2.22m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.3mm grav_b=(-0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.03,+0.03,-1.00) r=0.58m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..e4eaadf1c5ed08734b9b0ce31916653d48c01447 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t7.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-10.181,-17.516,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.3mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 118.4mm grav_b=(+0.01,+0.08,-1.00) r=0.54m +[headless_play] t= 0.30s step= 15 trunk_z= 122.3mm grav_b=(+0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(+0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 125.2mm grav_b=(+0.05,-0.07,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 128.3mm grav_b=(+0.06,-0.07,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 119.9mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 123.7mm grav_b=(+0.05,+0.03,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 122.9mm grav_b=(+0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 119.7mm grav_b=(+0.03,-0.05,-1.00) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 126.4mm grav_b=(+0.04,-0.07,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 122.5mm grav_b=(+0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 1.30s step= 65 trunk_z= 121.8mm grav_b=(+0.03,+0.03,-1.00) r=0.48m +[headless_play] t= 1.40s step= 70 trunk_z= 123.1mm grav_b=(+0.05,+0.02,-1.00) r=0.48m +[headless_play] t= 1.50s step= 75 trunk_z= 117.7mm grav_b=(+0.03,-0.04,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 126.2mm grav_b=(+0.05,-0.07,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 125.6mm grav_b=(+0.05,-0.04,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 119.3mm grav_b=(+0.03,+0.03,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 123.8mm grav_b=(+0.06,+0.03,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 121.0mm grav_b=(+0.04,-0.00,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 124.0mm grav_b=(+0.04,-0.06,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 126.7mm grav_b=(+0.05,-0.07,-1.00) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 119.8mm grav_b=(+0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 123.3mm grav_b=(+0.03,+0.05,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 123.3mm grav_b=(+0.03,+0.04,-1.00) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 124.3mm grav_b=(+0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 122.7mm grav_b=(+0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 119.7mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 123.3mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 3.10s step= 155 trunk_z= 118.8mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 124.1mm grav_b=(+0.03,-0.07,-1.00) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 125.7mm grav_b=(+0.05,-0.07,-1.00) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 116.9mm grav_b=(-0.00,-0.00,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 123.4mm grav_b=(+0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 122.8mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.00,-0.05,-1.00) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 125.0mm grav_b=(+0.03,-0.07,-1.00) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 123.5mm grav_b=(+0.03,-0.05,-1.00) r=0.38m +[headless_play] t= 4.00s step= 200 trunk_z= 120.3mm grav_b=(+0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 124.0mm grav_b=(+0.03,+0.03,-1.00) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 120.2mm grav_b=(+0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 124.0mm grav_b=(+0.01,-0.06,-1.00) r=0.36m +[headless_play] t= 4.40s step= 220 trunk_z= 125.2mm grav_b=(+0.04,-0.07,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 117.5mm grav_b=(+0.00,-0.00,-1.00) r=0.39m +[headless_play] t= 4.60s step= 230 trunk_z= 122.9mm grav_b=(+0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 121.1mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 4.80s step= 240 trunk_z= 118.0mm grav_b=(+0.01,-0.06,-1.00) r=0.37m +[headless_play] t= 4.90s step= 245 trunk_z= 126.6mm grav_b=(+0.03,-0.07,-1.00) r=0.36m +[headless_play] t= 5.00s step= 250 trunk_z= 125.1mm grav_b=(+0.07,-0.05,-1.00) r=0.37m +[headless_play] t= 5.10s step= 255 trunk_z= 117.1mm grav_b=(+0.01,+0.04,-1.00) r=0.39m +[headless_play] t= 5.20s step= 260 trunk_z= 123.6mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 5.30s step= 265 trunk_z= 119.7mm grav_b=(-0.04,+0.00,-1.00) r=0.39m +[headless_play] t= 5.40s step= 270 trunk_z= 122.9mm grav_b=(+0.02,-0.06,-1.00) r=0.37m +[headless_play] t= 5.50s step= 275 trunk_z= 125.6mm grav_b=(+0.06,-0.05,-1.00) r=0.38m +[headless_play] t= 5.60s step= 280 trunk_z= 118.9mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(+0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 5.80s step= 290 trunk_z= 121.2mm grav_b=(-0.03,+0.02,-1.00) r=0.41m +[headless_play] t= 5.90s step= 295 trunk_z= 117.1mm grav_b=(-0.03,-0.05,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 124.3mm grav_b=(+0.01,-0.06,-1.00) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 121.9mm grav_b=(+0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 121.7mm grav_b=(+0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 122.9mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 6.40s step= 320 trunk_z= 118.5mm grav_b=(-0.03,-0.00,-1.00) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 123.3mm grav_b=(+0.01,-0.07,-1.00) r=0.42m +[headless_play] t= 6.60s step= 330 trunk_z= 124.3mm grav_b=(+0.03,-0.06,-1.00) r=0.43m +[headless_play] t= 6.70s step= 335 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 6.80s step= 340 trunk_z= 123.4mm grav_b=(+0.00,+0.04,-1.00) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 122.4mm grav_b=(-0.03,+0.02,-1.00) r=0.46m +[headless_play] t= 7.00s step= 350 trunk_z= 118.3mm grav_b=(-0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 7.10s step= 355 trunk_z= 125.0mm grav_b=(+0.03,-0.06,-1.00) r=0.45m +[headless_play] t= 7.20s step= 360 trunk_z= 124.2mm grav_b=(+0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 7.30s step= 365 trunk_z= 119.1mm grav_b=(+0.01,+0.05,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 123.8mm grav_b=(-0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 7.50s step= 375 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 7.60s step= 380 trunk_z= 121.8mm grav_b=(-0.00,-0.07,-1.00) r=0.50m +[headless_play] t= 7.70s step= 385 trunk_z= 125.5mm grav_b=(+0.03,-0.06,-1.00) r=0.51m +[headless_play] t= 7.80s step= 390 trunk_z= 122.3mm grav_b=(+0.00,-0.03,-1.00) r=0.53m +[headless_play] t= 7.90s step= 395 trunk_z= 121.3mm grav_b=(+0.00,+0.05,-1.00) r=0.55m +[headless_play] t= 8.00s step= 400 trunk_z= 122.6mm grav_b=(-0.03,+0.02,-1.00) r=0.55m +[headless_play] t= 8.10s step= 405 trunk_z= 117.0mm grav_b=(-0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 124.6mm grav_b=(+0.02,-0.07,-1.00) r=0.55m +[headless_play] t= 8.30s step= 415 trunk_z= 124.3mm grav_b=(+0.03,-0.04,-1.00) r=0.56m +[headless_play] t= 8.40s step= 420 trunk_z= 115.9mm grav_b=(-0.01,+0.04,-1.00) r=0.59m +[headless_play] t= 8.50s step= 425 trunk_z= 122.9mm grav_b=(-0.00,+0.04,-1.00) r=0.60m +[headless_play] t= 8.60s step= 430 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 8.70s step= 435 trunk_z= 121.2mm grav_b=(-0.02,-0.07,-1.00) r=0.59m +[headless_play] t= 8.80s step= 440 trunk_z= 125.5mm grav_b=(+0.01,-0.07,-1.00) r=0.60m +[headless_play] t= 8.90s step= 445 trunk_z= 121.7mm grav_b=(+0.00,-0.03,-1.00) r=0.62m +[headless_play] t= 9.00s step= 450 trunk_z= 122.5mm grav_b=(+0.00,+0.05,-1.00) r=0.64m +[headless_play] t= 9.10s step= 455 trunk_z= 124.2mm grav_b=(-0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.65m +[headless_play] t= 9.30s step= 465 trunk_z= 123.6mm grav_b=(+0.01,-0.06,-1.00) r=0.66m +[headless_play] t= 9.40s step= 470 trunk_z= 123.3mm grav_b=(+0.04,-0.04,-1.00) r=0.67m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(+0.02,+0.04,-1.00) r=0.70m +[headless_play] t= 9.60s step= 480 trunk_z= 123.3mm grav_b=(-0.01,+0.04,-1.00) r=0.71m +[headless_play] t= 9.70s step= 485 trunk_z= 120.2mm grav_b=(-0.02,+0.02,-1.00) r=0.71m +[headless_play] t= 9.80s step= 490 trunk_z= 121.0mm grav_b=(-0.00,-0.06,-1.00) r=0.71m +[headless_play] t= 9.90s step= 495 trunk_z= 124.6mm grav_b=(+0.04,-0.06,-1.00) r=0.72m +[headless_play] t= 10.00s step= 500 trunk_z= 121.0mm grav_b=(+0.04,-0.02,-1.00) r=0.74m +[headless_play] t= 10.10s step= 505 trunk_z= 121.8mm grav_b=(+0.03,+0.04,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 121.3mm grav_b=(-0.00,+0.02,-1.00) r=0.76m +[headless_play] t= 10.30s step= 515 trunk_z= 116.3mm grav_b=(-0.01,-0.03,-1.00) r=0.76m +[headless_play] t= 10.40s step= 520 trunk_z= 123.2mm grav_b=(+0.03,-0.04,-1.00) r=0.77m +[headless_play] t= 10.50s step= 525 trunk_z= 120.5mm grav_b=(+0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 10.60s step= 530 trunk_z= 119.8mm grav_b=(+0.01,+0.05,-1.00) r=0.80m +[headless_play] t= 10.70s step= 535 trunk_z= 122.2mm grav_b=(-0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 10.80s step= 540 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.82m +[headless_play] t= 10.90s step= 545 trunk_z= 123.3mm grav_b=(+0.00,-0.06,-1.00) r=0.83m +[headless_play] t= 11.00s step= 550 trunk_z= 123.5mm grav_b=(+0.05,-0.04,-1.00) r=0.84m +[headless_play] t= 11.10s step= 555 trunk_z= 115.9mm grav_b=(+0.04,+0.04,-1.00) r=0.85m +[headless_play] t= 11.20s step= 560 trunk_z= 125.1mm grav_b=(+0.02,+0.04,-1.00) r=0.86m +[headless_play] t= 11.30s step= 565 trunk_z= 121.0mm grav_b=(+0.00,+0.02,-1.00) r=0.86m +[headless_play] t= 11.40s step= 570 trunk_z= 119.5mm grav_b=(-0.00,-0.05,-1.00) r=0.88m +[headless_play] t= 11.50s step= 575 trunk_z= 122.2mm grav_b=(+0.05,-0.09,-0.99) r=0.90m +[headless_play] t= 11.60s step= 580 trunk_z= 111.8mm grav_b=(+0.08,-0.11,-0.99) r=0.94m +[headless_play] t= 11.70s step= 585 trunk_z= 93.3mm grav_b=(+0.10,-0.12,-0.99) r=0.99m +[headless_play] t= 11.80s step= 590 trunk_z= 111.6mm grav_b=(+0.07,-0.04,-1.00) r=1.02m +[headless_play] t= 11.90s step= 595 trunk_z= 88.6mm grav_b=(-0.00,-0.10,-0.99) r=1.07m +[headless_play] t= 12.00s step= 600 trunk_z= 95.1mm grav_b=(+0.05,-0.11,-0.99) r=1.09m +[headless_play] t= 12.10s step= 605 trunk_z= 92.3mm grav_b=(+0.02,-0.02,-1.00) r=1.12m +[headless_play] t= 12.20s step= 610 trunk_z= 95.3mm grav_b=(-0.00,+0.06,-1.00) r=1.14m +[headless_play] t= 12.30s step= 615 trunk_z= 99.2mm grav_b=(-0.03,+0.06,-1.00) r=1.15m +[headless_play] t= 12.40s step= 620 trunk_z= 95.2mm grav_b=(-0.02,+0.03,-1.00) r=1.15m +[headless_play] t= 12.50s step= 625 trunk_z= 97.8mm grav_b=(+0.01,-0.05,-1.00) r=1.15m +[headless_play] t= 12.60s step= 630 trunk_z= 98.6mm grav_b=(+0.05,-0.04,-1.00) r=1.16m +[headless_play] t= 12.70s step= 635 trunk_z= 92.2mm grav_b=(+0.03,+0.03,-1.00) r=1.18m +[headless_play] t= 12.80s step= 640 trunk_z= 100.0mm grav_b=(+0.02,+0.04,-1.00) r=1.20m +[headless_play] t= 12.90s step= 645 trunk_z= 95.5mm grav_b=(+0.01,+0.02,-1.00) r=1.20m +[headless_play] t= 13.00s step= 650 trunk_z= 95.9mm grav_b=(+0.01,-0.04,-1.00) r=1.20m +[headless_play] t= 13.10s step= 655 trunk_z= 99.1mm grav_b=(+0.03,-0.04,-1.00) r=1.21m +[headless_play] t= 13.20s step= 660 trunk_z= 93.7mm grav_b=(+0.02,-0.01,-1.00) r=1.22m +[headless_play] t= 13.30s step= 665 trunk_z= 98.0mm grav_b=(+0.02,+0.05,-1.00) r=1.24m +[headless_play] t= 13.40s step= 670 trunk_z= 98.1mm grav_b=(-0.01,+0.03,-1.00) r=1.24m +[headless_play] t= 13.50s step= 675 trunk_z= 92.0mm grav_b=(-0.02,-0.03,-1.00) r=1.24m +[headless_play] t= 13.60s step= 680 trunk_z= 99.6mm grav_b=(+0.00,-0.06,-1.00) r=1.25m +[headless_play] t= 13.70s step= 685 trunk_z= 97.8mm grav_b=(+0.03,-0.01,-1.00) r=1.27m +[headless_play] t= 13.80s step= 690 trunk_z= 94.6mm grav_b=(+0.02,+0.04,-1.00) r=1.29m +[headless_play] t= 13.90s step= 695 trunk_z= 98.7mm grav_b=(+0.00,+0.04,-1.00) r=1.30m +[headless_play] t= 14.00s step= 700 trunk_z= 95.3mm grav_b=(-0.02,+0.02,-1.00) r=1.30m +[headless_play] t= 14.10s step= 705 trunk_z= 97.1mm grav_b=(-0.02,-0.06,-1.00) r=1.30m +[headless_play] t= 14.20s step= 710 trunk_z= 99.1mm grav_b=(+0.01,-0.04,-1.00) r=1.31m +[headless_play] t= 14.30s step= 715 trunk_z= 91.7mm grav_b=(+0.01,+0.02,-1.00) r=1.33m +[headless_play] t= 14.40s step= 720 trunk_z= 97.9mm grav_b=(+0.01,+0.06,-1.00) r=1.34m +[headless_play] t= 14.50s step= 725 trunk_z= 97.8mm grav_b=(-0.02,+0.03,-1.00) r=1.35m +[headless_play] t= 14.60s step= 730 trunk_z= 92.8mm grav_b=(-0.03,-0.04,-1.00) r=1.35m +[headless_play] t= 14.70s step= 735 trunk_z= 100.1mm grav_b=(+0.00,-0.07,-1.00) r=1.35m +[headless_play] t= 14.80s step= 740 trunk_z= 97.9mm grav_b=(+0.03,-0.04,-1.00) r=1.37m +[headless_play] t= 14.90s step= 745 trunk_z= 94.9mm grav_b=(+0.03,+0.04,-1.00) r=1.39m +[headless_play] t= 15.00s step= 750 trunk_z= 98.2mm grav_b=(+0.00,+0.04,-1.00) r=1.39m +[headless_play] t= 15.10s step= 755 trunk_z= 94.7mm grav_b=(-0.03,+0.02,-1.00) r=1.39m +[headless_play] t= 15.20s step= 760 trunk_z= 97.4mm grav_b=(-0.02,-0.06,-1.00) r=1.39m +[headless_play] t= 15.30s step= 765 trunk_z= 97.2mm grav_b=(+0.02,-0.03,-1.00) r=1.41m +[headless_play] t= 15.40s step= 770 trunk_z= 93.7mm grav_b=(+0.04,+0.05,-1.00) r=1.44m +[headless_play] t= 15.50s step= 775 trunk_z= 102.1mm grav_b=(+0.08,+0.04,-1.00) r=1.46m +[headless_play] t= 15.60s step= 780 trunk_z= 101.7mm grav_b=(+0.07,+0.01,-1.00) r=1.47m +[headless_play] t= 15.70s step= 785 trunk_z= 95.3mm grav_b=(+0.05,-0.04,-1.00) r=1.47m +[headless_play] t= 15.80s step= 790 trunk_z= 104.6mm grav_b=(+0.05,-0.04,-1.00) r=1.49m +[headless_play] t= 15.90s step= 795 trunk_z= 94.1mm grav_b=(+0.02,+0.01,-1.00) r=1.53m +[headless_play] t= 16.00s step= 800 trunk_z= 97.1mm grav_b=(+0.05,+0.06,-1.00) r=1.54m +[headless_play] t= 16.10s step= 805 trunk_z= 95.7mm grav_b=(+0.03,+0.02,-1.00) r=1.54m +[headless_play] t= 16.20s step= 810 trunk_z= 91.8mm grav_b=(+0.01,-0.05,-1.00) r=1.53m +[headless_play] t= 16.30s step= 815 trunk_z= 98.5mm grav_b=(-0.02,-0.06,-1.00) r=1.53m +[headless_play] t= 16.40s step= 820 trunk_z= 93.0mm grav_b=(+0.00,-0.00,-1.00) r=1.55m +[headless_play] t= 16.50s step= 825 trunk_z= 99.7mm grav_b=(+0.04,+0.06,-1.00) r=1.57m +[headless_play] t= 16.60s step= 830 trunk_z= 100.7mm grav_b=(+0.08,+0.04,-1.00) r=1.58m +[headless_play] t= 16.70s step= 835 trunk_z= 94.4mm grav_b=(+0.06,-0.03,-1.00) r=1.58m +[headless_play] t= 16.80s step= 840 trunk_z= 104.5mm grav_b=(+0.07,-0.07,-1.00) r=1.59m +[headless_play] t= 16.90s step= 845 trunk_z= 104.8mm grav_b=(+0.05,-0.05,-1.00) r=1.61m +[headless_play] t= 17.00s step= 850 trunk_z= 92.3mm grav_b=(+0.04,+0.02,-1.00) r=1.65m +[headless_play] t= 17.10s step= 855 trunk_z= 99.2mm grav_b=(+0.03,+0.05,-1.00) r=1.66m +[headless_play] t= 17.20s step= 860 trunk_z= 94.8mm grav_b=(+0.03,+0.00,-1.00) r=1.65m +[headless_play] t= 17.30s step= 865 trunk_z= 95.4mm grav_b=(+0.01,-0.05,-1.00) r=1.64m +[headless_play] t= 17.40s step= 870 trunk_z= 99.0mm grav_b=(+0.01,-0.04,-1.00) r=1.65m +[headless_play] t= 17.50s step= 875 trunk_z= 91.4mm grav_b=(+0.01,+0.02,-1.00) r=1.67m +[headless_play] t= 17.60s step= 880 trunk_z= 98.8mm grav_b=(+0.04,+0.03,-1.00) r=1.69m +[headless_play] t= 17.70s step= 885 trunk_z= 99.2mm grav_b=(+0.03,+0.03,-1.00) r=1.70m +[headless_play] t= 17.80s step= 890 trunk_z= 93.2mm grav_b=(+0.02,-0.05,-1.00) r=1.69m +[headless_play] t= 17.90s step= 895 trunk_z= 102.0mm grav_b=(+0.04,-0.08,-1.00) r=1.69m +[headless_play] t= 18.00s step= 900 trunk_z= 101.2mm grav_b=(+0.04,-0.05,-1.00) r=1.70m +[headless_play] t= 18.10s step= 905 trunk_z= 92.9mm grav_b=(+0.03,+0.04,-1.00) r=1.72m +[headless_play] t= 18.20s step= 910 trunk_z= 98.7mm grav_b=(+0.05,+0.04,-1.00) r=1.73m +[headless_play] t= 18.30s step= 915 trunk_z= 97.5mm grav_b=(+0.02,+0.01,-1.00) r=1.74m +[headless_play] t= 18.40s step= 920 trunk_z= 98.2mm grav_b=(+0.04,-0.07,-1.00) r=1.74m +[headless_play] t= 18.50s step= 925 trunk_z= 103.5mm grav_b=(+0.06,-0.09,-0.99) r=1.75m +[headless_play] t= 18.60s step= 930 trunk_z= 100.5mm grav_b=(+0.01,-0.02,-1.00) r=1.77m +[headless_play] t= 18.70s step= 935 trunk_z= 97.4mm grav_b=(+0.04,+0.05,-1.00) r=1.80m +[headless_play] t= 18.80s step= 940 trunk_z= 98.6mm grav_b=(+0.02,+0.01,-1.00) r=1.81m +[headless_play] t= 18.90s step= 945 trunk_z= 91.6mm grav_b=(+0.03,-0.05,-1.00) r=1.82m +[headless_play] t= 19.00s step= 950 trunk_z= 98.7mm grav_b=(+0.05,-0.07,-1.00) r=1.83m +[headless_play] t= 19.10s step= 955 trunk_z= 93.9mm grav_b=(+0.07,-0.05,-1.00) r=1.84m +[headless_play] t= 19.20s step= 960 trunk_z= 94.2mm grav_b=(+0.02,+0.06,-1.00) r=1.85m +[headless_play] t= 19.30s step= 965 trunk_z= 97.1mm grav_b=(+0.04,+0.04,-1.00) r=1.86m +[headless_play] t= 19.40s step= 970 trunk_z= 91.7mm grav_b=(+0.04,-0.00,-1.00) r=1.86m +[headless_play] t= 19.50s step= 975 trunk_z= 97.3mm grav_b=(+0.03,-0.08,-1.00) r=1.87m +[headless_play] t= 19.60s step= 980 trunk_z= 96.0mm grav_b=(+0.06,-0.05,-1.00) r=1.87m +[headless_play] t= 19.70s step= 985 trunk_z= 91.2mm grav_b=(+0.05,+0.05,-1.00) r=1.88m +[headless_play] t= 19.80s step= 990 trunk_z= 96.4mm grav_b=(+0.04,+0.04,-1.00) r=1.89m +[headless_play] t= 19.90s step= 995 trunk_z= 91.8mm grav_b=(+0.04,+0.01,-1.00) r=1.90m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.2mm grav_b=(-0.01,-0.00,-1.00) r=0.08m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.01,-0.00,-1.00) r=0.08m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..4964e0509506066d8792ea53bf2dd430c5b5c44d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.120,-18.293,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.4mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(-0.01,+0.03,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 120.2mm grav_b=(+0.00,+0.09,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 124.9mm grav_b=(+0.04,+0.07,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 123.9mm grav_b=(+0.02,+0.05,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 122.5mm grav_b=(+0.04,-0.04,-1.00) r=0.34m +[headless_play] t= 0.60s step= 30 trunk_z= 123.0mm grav_b=(-0.00,-0.00,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 119.7mm grav_b=(-0.03,+0.07,-1.00) r=0.37m +[headless_play] t= 0.80s step= 40 trunk_z= 125.4mm grav_b=(-0.01,+0.08,-1.00) r=0.39m +[headless_play] t= 0.90s step= 45 trunk_z= 123.2mm grav_b=(+0.02,+0.06,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 118.2mm grav_b=(+0.02,-0.05,-1.00) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 124.8mm grav_b=(+0.01,-0.05,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 118.9mm grav_b=(-0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 123.0mm grav_b=(-0.02,+0.08,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 125.6mm grav_b=(+0.00,+0.08,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 123.5mm grav_b=(+0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 120.4mm grav_b=(+0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 123.9mm grav_b=(+0.02,-0.05,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 124.2mm grav_b=(-0.02,+0.07,-1.00) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 124.1mm grav_b=(-0.00,+0.07,-1.00) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 123.0mm grav_b=(+0.00,-0.04,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 118.8mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 121.0mm grav_b=(-0.00,+0.08,-1.00) r=0.47m +[headless_play] t= 2.50s step= 125 trunk_z= 119.3mm grav_b=(+0.03,+0.08,-1.00) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 113.3mm grav_b=(+0.03,+0.04,-1.00) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 117.8mm grav_b=(-0.01,-0.04,-1.00) r=0.48m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 112.5mm grav_b=(+0.01,+0.06,-1.00) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(+0.05,+0.09,-1.00) r=0.54m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(+0.06,+0.05,-1.00) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 115.9mm grav_b=(+0.02,-0.06,-1.00) r=0.54m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(+0.02,-0.04,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 111.3mm grav_b=(+0.01,+0.03,-1.00) r=0.58m +[headless_play] t= 3.50s step= 175 trunk_z= 119.0mm grav_b=(+0.03,+0.09,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(+0.07,+0.08,-0.99) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 111.1mm grav_b=(+0.06,-0.03,-1.00) r=0.61m +[headless_play] t= 3.80s step= 190 trunk_z= 118.9mm grav_b=(+0.00,-0.05,-1.00) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 115.1mm grav_b=(+0.01,-0.00,-1.00) r=0.64m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(+0.02,+0.08,-1.00) r=0.67m +[headless_play] t= 4.10s step= 205 trunk_z= 117.7mm grav_b=(+0.05,+0.09,-0.99) r=0.68m +[headless_play] t= 4.20s step= 210 trunk_z= 113.8mm grav_b=(+0.07,+0.04,-1.00) r=0.68m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(+0.01,-0.06,-1.00) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 117.8mm grav_b=(-0.00,-0.04,-1.00) r=0.70m +[headless_play] t= 4.50s step= 225 trunk_z= 110.8mm grav_b=(-0.00,+0.04,-1.00) r=0.72m +[headless_play] t= 4.60s step= 230 trunk_z= 118.6mm grav_b=(+0.03,+0.08,-1.00) r=0.74m +[headless_play] t= 4.70s step= 235 trunk_z= 114.6mm grav_b=(+0.06,+0.07,-1.00) r=0.75m +[headless_play] t= 4.80s step= 240 trunk_z= 112.5mm grav_b=(+0.03,-0.04,-1.00) r=0.76m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 5.00s step= 250 trunk_z= 111.8mm grav_b=(+0.02,+0.02,-1.00) r=0.80m +[headless_play] t= 5.10s step= 255 trunk_z= 114.7mm grav_b=(+0.01,+0.09,-1.00) r=0.82m +[headless_play] t= 5.20s step= 260 trunk_z= 95.1mm grav_b=(+0.06,+0.10,-0.99) r=0.85m +[headless_play] t= 5.30s step= 265 trunk_z= 91.8mm grav_b=(+0.15,+0.09,-0.98) r=0.87m +[headless_play] t= 5.40s step= 270 trunk_z= 89.1mm grav_b=(+0.05,-0.03,-1.00) r=0.89m +[headless_play] t= 5.50s step= 275 trunk_z= 95.1mm grav_b=(+0.01,-0.02,-1.00) r=0.92m +[headless_play] t= 5.60s step= 280 trunk_z= 90.7mm grav_b=(-0.02,+0.08,-1.00) r=0.95m +[headless_play] t= 5.70s step= 285 trunk_z= 99.6mm grav_b=(-0.02,+0.12,-0.99) r=0.97m +[headless_play] t= 5.80s step= 290 trunk_z= 98.6mm grav_b=(+0.00,+0.13,-0.99) r=0.98m +[headless_play] t= 5.90s step= 295 trunk_z= 93.5mm grav_b=(+0.01,+0.09,-1.00) r=0.99m +[headless_play] t= 6.00s step= 300 trunk_z= 90.0mm grav_b=(+0.02,-0.04,-1.00) r=1.00m +[headless_play] t= 6.10s step= 305 trunk_z= 95.0mm grav_b=(+0.02,-0.02,-1.00) r=1.00m +[headless_play] t= 6.20s step= 310 trunk_z= 86.9mm grav_b=(+0.02,+0.04,-1.00) r=1.02m +[headless_play] t= 6.30s step= 315 trunk_z= 94.8mm grav_b=(+0.01,+0.11,-0.99) r=1.04m +[headless_play] t= 6.40s step= 320 trunk_z= 94.2mm grav_b=(+0.01,+0.09,-1.00) r=1.06m +[headless_play] t= 6.50s step= 325 trunk_z= 89.4mm grav_b=(+0.04,+0.03,-1.00) r=1.07m +[headless_play] t= 6.60s step= 330 trunk_z= 93.1mm grav_b=(+0.02,-0.06,-1.00) r=1.09m +[headless_play] t= 6.70s step= 335 trunk_z= 90.3mm grav_b=(+0.02,+0.01,-1.00) r=1.11m +[headless_play] t= 6.80s step= 340 trunk_z= 90.7mm grav_b=(+0.01,+0.10,-1.00) r=1.13m +[headless_play] t= 6.90s step= 345 trunk_z= 94.0mm grav_b=(+0.02,+0.09,-1.00) r=1.14m +[headless_play] t= 7.00s step= 350 trunk_z= 90.1mm grav_b=(+0.04,+0.06,-1.00) r=1.15m +[headless_play] t= 7.10s step= 355 trunk_z= 90.4mm grav_b=(+0.01,-0.07,-1.00) r=1.17m +[headless_play] t= 7.20s step= 360 trunk_z= 93.8mm grav_b=(-0.00,-0.02,-1.00) r=1.18m +[headless_play] t= 7.30s step= 365 trunk_z= 85.7mm grav_b=(+0.00,+0.06,-1.00) r=1.20m +[headless_play] t= 7.40s step= 370 trunk_z= 93.8mm grav_b=(+0.05,+0.09,-0.99) r=1.22m +[headless_play] t= 7.50s step= 375 trunk_z= 90.6mm grav_b=(+0.06,+0.07,-1.00) r=1.23m +[headless_play] t= 7.60s step= 380 trunk_z= 86.6mm grav_b=(+0.04,-0.05,-1.00) r=1.25m +[headless_play] t= 7.70s step= 385 trunk_z= 94.7mm grav_b=(+0.01,-0.05,-1.00) r=1.26m +[headless_play] t= 7.80s step= 390 trunk_z= 89.0mm grav_b=(+0.01,+0.02,-1.00) r=1.28m +[headless_play] t= 7.90s step= 395 trunk_z= 93.3mm grav_b=(+0.02,+0.10,-0.99) r=1.30m +[headless_play] t= 8.00s step= 400 trunk_z= 94.9mm grav_b=(+0.03,+0.10,-0.99) r=1.31m +[headless_play] t= 8.10s step= 405 trunk_z= 90.9mm grav_b=(+0.04,+0.06,-1.00) r=1.32m +[headless_play] t= 8.20s step= 410 trunk_z= 92.6mm grav_b=(+0.01,-0.06,-1.00) r=1.33m +[headless_play] t= 8.30s step= 415 trunk_z= 92.9mm grav_b=(+0.00,-0.04,-1.00) r=1.35m +[headless_play] t= 8.40s step= 420 trunk_z= 87.5mm grav_b=(-0.00,+0.07,-1.00) r=1.36m +[headless_play] t= 8.50s step= 425 trunk_z= 94.8mm grav_b=(+0.00,+0.09,-1.00) r=1.38m +[headless_play] t= 8.60s step= 430 trunk_z= 91.5mm grav_b=(+0.03,+0.07,-1.00) r=1.39m +[headless_play] t= 8.70s step= 435 trunk_z= 88.2mm grav_b=(+0.02,-0.05,-1.00) r=1.41m +[headless_play] t= 8.80s step= 440 trunk_z= 93.3mm grav_b=(+0.00,-0.02,-1.00) r=1.41m +[headless_play] t= 8.90s step= 445 trunk_z= 88.6mm grav_b=(-0.02,+0.05,-1.00) r=1.42m +[headless_play] t= 9.00s step= 450 trunk_z= 97.9mm grav_b=(-0.01,+0.09,-1.00) r=1.43m +[headless_play] t= 9.10s step= 455 trunk_z= 99.7mm grav_b=(+0.02,+0.09,-1.00) r=1.44m +[headless_play] t= 9.20s step= 460 trunk_z= 99.0mm grav_b=(+0.01,+0.07,-1.00) r=1.45m +[headless_play] t= 9.30s step= 465 trunk_z= 95.2mm grav_b=(+0.03,-0.04,-1.00) r=1.46m +[headless_play] t= 9.40s step= 470 trunk_z= 97.2mm grav_b=(+0.02,-0.02,-1.00) r=1.46m +[headless_play] t= 9.50s step= 475 trunk_z= 89.9mm grav_b=(-0.01,+0.04,-1.00) r=1.47m +[headless_play] t= 9.60s step= 480 trunk_z= 98.8mm grav_b=(-0.01,+0.06,-1.00) r=1.48m +[headless_play] t= 9.70s step= 485 trunk_z= 98.7mm grav_b=(-0.01,+0.06,-1.00) r=1.49m +[headless_play] t= 9.80s step= 490 trunk_z= 92.5mm grav_b=(+0.00,-0.03,-1.00) r=1.50m +[headless_play] t= 9.90s step= 495 trunk_z= 98.6mm grav_b=(+0.03,-0.05,-1.00) r=1.51m +[headless_play] t= 10.00s step= 500 trunk_z= 95.1mm grav_b=(+0.01,-0.01,-1.00) r=1.51m +[headless_play] t= 10.10s step= 505 trunk_z= 97.4mm grav_b=(-0.01,+0.09,-1.00) r=1.52m +[headless_play] t= 10.20s step= 510 trunk_z= 99.6mm grav_b=(+0.00,+0.08,-1.00) r=1.53m +[headless_play] t= 10.30s step= 515 trunk_z= 97.7mm grav_b=(+0.00,+0.06,-1.00) r=1.55m +[headless_play] t= 10.40s step= 520 trunk_z= 96.4mm grav_b=(+0.01,-0.04,-1.00) r=1.56m +[headless_play] t= 10.50s step= 525 trunk_z= 97.3mm grav_b=(+0.02,-0.03,-1.00) r=1.57m +[headless_play] t= 10.60s step= 530 trunk_z= 90.7mm grav_b=(-0.01,+0.03,-1.00) r=1.57m +[headless_play] t= 10.70s step= 535 trunk_z= 99.2mm grav_b=(-0.02,+0.06,-1.00) r=1.58m +[headless_play] t= 10.80s step= 540 trunk_z= 98.0mm grav_b=(-0.01,+0.05,-1.00) r=1.59m +[headless_play] t= 10.90s step= 545 trunk_z= 93.3mm grav_b=(+0.02,-0.04,-1.00) r=1.60m +[headless_play] t= 11.00s step= 550 trunk_z= 97.1mm grav_b=(+0.03,-0.01,-1.00) r=1.61m +[headless_play] t= 11.10s step= 555 trunk_z= 90.7mm grav_b=(+0.02,+0.04,-1.00) r=1.62m +[headless_play] t= 11.20s step= 560 trunk_z= 99.8mm grav_b=(+0.01,+0.07,-1.00) r=1.64m +[headless_play] t= 11.30s step= 565 trunk_z= 98.3mm grav_b=(+0.01,+0.04,-1.00) r=1.65m +[headless_play] t= 11.40s step= 570 trunk_z= 92.2mm grav_b=(-0.02,-0.02,-1.00) r=1.67m +[headless_play] t= 11.50s step= 575 trunk_z= 96.6mm grav_b=(+0.00,-0.02,-1.00) r=1.68m +[headless_play] t= 11.60s step= 580 trunk_z= 90.8mm grav_b=(-0.02,+0.02,-1.00) r=1.68m +[headless_play] t= 11.70s step= 585 trunk_z= 98.0mm grav_b=(-0.02,+0.07,-1.00) r=1.69m +[headless_play] t= 11.80s step= 590 trunk_z= 97.8mm grav_b=(-0.00,+0.04,-1.00) r=1.70m +[headless_play] t= 11.90s step= 595 trunk_z= 91.4mm grav_b=(-0.03,-0.02,-1.00) r=1.73m +[headless_play] t= 12.00s step= 600 trunk_z= 97.6mm grav_b=(+0.02,-0.04,-1.00) r=1.74m +[headless_play] t= 12.10s step= 605 trunk_z= 94.6mm grav_b=(+0.01,-0.00,-1.00) r=1.75m +[headless_play] t= 12.20s step= 610 trunk_z= 95.6mm grav_b=(-0.02,+0.07,-1.00) r=1.74m +[headless_play] t= 12.30s step= 615 trunk_z= 98.4mm grav_b=(-0.01,+0.05,-1.00) r=1.75m +[headless_play] t= 12.40s step= 620 trunk_z= 94.1mm grav_b=(-0.01,+0.03,-1.00) r=1.77m +[headless_play] t= 12.50s step= 625 trunk_z= 97.0mm grav_b=(+0.01,-0.04,-1.00) r=1.79m +[headless_play] t= 12.60s step= 630 trunk_z= 96.2mm grav_b=(+0.02,-0.03,-1.00) r=1.80m +[headless_play] t= 12.70s step= 635 trunk_z= 91.7mm grav_b=(-0.02,+0.04,-1.00) r=1.79m +[headless_play] t= 12.80s step= 640 trunk_z= 98.3mm grav_b=(-0.04,+0.06,-1.00) r=1.79m +[headless_play] t= 12.90s step= 645 trunk_z= 93.5mm grav_b=(-0.02,+0.02,-1.00) r=1.81m +[headless_play] t= 13.00s step= 650 trunk_z= 95.9mm grav_b=(+0.03,-0.03,-1.00) r=1.83m +[headless_play] t= 13.10s step= 655 trunk_z= 95.7mm grav_b=(+0.04,+0.01,-1.00) r=1.84m +[headless_play] t= 13.20s step= 660 trunk_z= 92.6mm grav_b=(-0.01,+0.06,-1.00) r=1.84m +[headless_play] t= 13.30s step= 665 trunk_z= 98.2mm grav_b=(-0.01,+0.05,-1.00) r=1.85m +[headless_play] t= 13.40s step= 670 trunk_z= 93.0mm grav_b=(-0.01,+0.02,-1.00) r=1.87m +[headless_play] t= 13.50s step= 675 trunk_z= 95.9mm grav_b=(+0.01,-0.03,-1.00) r=1.90m +[headless_play] t= 13.60s step= 680 trunk_z= 95.6mm grav_b=(+0.01,-0.00,-1.00) r=1.89m +[headless_play] t= 13.70s step= 685 trunk_z= 92.1mm grav_b=(-0.02,+0.05,-1.00) r=1.88m +[headless_play] t= 13.80s step= 690 trunk_z= 97.9mm grav_b=(-0.02,+0.05,-1.00) r=1.88m +[headless_play] t= 13.90s step= 695 trunk_z= 93.2mm grav_b=(-0.01,+0.03,-1.00) r=1.90m +[headless_play] t= 14.00s step= 700 trunk_z= 96.1mm grav_b=(+0.01,-0.04,-1.00) r=1.92m +[headless_play] t= 14.10s step= 705 trunk_z= 95.6mm grav_b=(+0.01,-0.01,-1.00) r=1.92m +[headless_play] t= 14.20s step= 710 trunk_z= 91.1mm grav_b=(-0.01,+0.05,-1.00) r=1.90m +[headless_play] t= 14.30s step= 715 trunk_z= 97.9mm grav_b=(-0.02,+0.06,-1.00) r=1.89m +[headless_play] t= 14.40s step= 720 trunk_z= 94.8mm grav_b=(-0.02,+0.04,-1.00) r=1.91m +[headless_play] t= 14.50s step= 725 trunk_z= 94.6mm grav_b=(+0.02,-0.04,-1.00) r=1.93m +[headless_play] t= 14.60s step= 730 trunk_z= 92.6mm grav_b=(-0.01,-0.00,-1.00) r=1.92m +[headless_play] t= 14.70s step= 735 trunk_z= 92.9mm grav_b=(-0.02,+0.01,-1.00) r=1.92m +[headless_play] t= 14.80s step= 740 trunk_z= 92.4mm grav_b=(-0.04,+0.01,-1.00) r=1.92m +[headless_play] t= 14.90s step= 745 trunk_z= 92.3mm grav_b=(-0.03,+0.01,-1.00) r=1.92m +[headless_play] t= 15.00s step= 750 trunk_z= 92.1mm grav_b=(-0.03,+0.00,-1.00) r=1.92m +[headless_play] t= 15.10s step= 755 trunk_z= 91.9mm grav_b=(-0.02,-0.00,-1.00) r=1.92m +[headless_play] t= 15.20s step= 760 trunk_z= 91.8mm grav_b=(-0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 15.30s step= 765 trunk_z= 91.7mm grav_b=(-0.03,-0.00,-1.00) r=1.92m +[headless_play] t= 15.40s step= 770 trunk_z= 91.7mm grav_b=(-0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 15.50s step= 775 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.92m +[headless_play] t= 15.60s step= 780 trunk_z= 91.9mm grav_b=(+0.03,+0.01,-1.00) r=1.92m +[headless_play] t= 15.70s step= 785 trunk_z= 91.8mm grav_b=(+0.02,+0.01,-1.00) r=1.92m +[headless_play] t= 15.80s step= 790 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.92m +[headless_play] t= 15.90s step= 795 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.00s step= 800 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.10s step= 805 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.20s step= 810 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.30s step= 815 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.40s step= 820 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.50s step= 825 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.60s step= 830 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.70s step= 835 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.80s step= 840 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 16.90s step= 845 trunk_z= 91.8mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.00s step= 850 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 17.10s step= 855 trunk_z= 91.8mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.20s step= 860 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 17.30s step= 865 trunk_z= 91.8mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.40s step= 870 trunk_z= 91.7mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.50s step= 875 trunk_z= 91.7mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.60s step= 880 trunk_z= 91.7mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.70s step= 885 trunk_z= 91.8mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.80s step= 890 trunk_z= 91.7mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 17.90s step= 895 trunk_z= 91.8mm grav_b=(+0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 18.00s step= 900 trunk_z= 91.7mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 18.10s step= 905 trunk_z= 91.7mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 18.20s step= 910 trunk_z= 91.7mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 18.30s step= 915 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 18.40s step= 920 trunk_z= 91.1mm grav_b=(+0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 18.50s step= 925 trunk_z= 91.2mm grav_b=(+0.04,+0.00,-1.00) r=1.92m +[headless_play] t= 18.60s step= 930 trunk_z= 91.3mm grav_b=(+0.04,+0.00,-1.00) r=1.92m +[headless_play] t= 18.70s step= 935 trunk_z= 91.5mm grav_b=(+0.03,+0.00,-1.00) r=1.92m +[headless_play] t= 18.80s step= 940 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 18.90s step= 945 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 19.00s step= 950 trunk_z= 91.3mm grav_b=(+0.03,+0.00,-1.00) r=1.92m +[headless_play] t= 19.10s step= 955 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 19.20s step= 960 trunk_z= 91.3mm grav_b=(+0.02,-0.00,-1.00) r=1.92m +[headless_play] t= 19.30s step= 965 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 19.40s step= 970 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 19.50s step= 975 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 19.60s step= 980 trunk_z= 91.3mm grav_b=(+0.02,-0.00,-1.00) r=1.92m +[headless_play] t= 19.70s step= 985 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 19.80s step= 990 trunk_z= 91.3mm grav_b=(+0.02,-0.00,-1.00) r=1.92m +[headless_play] t= 19.90s step= 995 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.92m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.6mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.48m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..fd28e9626fad325a52383a6269ba9b9fbd1ae534 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z3-b-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.913,-18.221,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 0.10s step= 5 trunk_z= 114.0mm grav_b=(+0.04,+0.05,-1.00) r=0.25m +[headless_play] t= 0.20s step= 10 trunk_z= 114.4mm grav_b=(+0.08,+0.11,-0.99) r=0.27m +[headless_play] t= 0.30s step= 15 trunk_z= 115.0mm grav_b=(+0.08,+0.04,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 112.7mm grav_b=(+0.02,-0.07,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 120.1mm grav_b=(+0.05,-0.06,-1.00) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 112.8mm grav_b=(+0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(+0.03,+0.08,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 117.0mm grav_b=(+0.04,+0.05,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 111.8mm grav_b=(+0.08,-0.03,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 115.6mm grav_b=(+0.09,-0.07,-0.99) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 111.1mm grav_b=(+0.09,+0.01,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 114.5mm grav_b=(+0.05,+0.11,-0.99) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 118.5mm grav_b=(+0.05,+0.09,-0.99) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 113.1mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(+0.05,-0.07,-1.00) r=0.51m +[headless_play] t= 1.60s step= 80 trunk_z= 114.8mm grav_b=(+0.07,-0.03,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 110.9mm grav_b=(+0.06,+0.07,-1.00) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 117.3mm grav_b=(+0.06,+0.08,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 116.7mm grav_b=(+0.05,-0.07,-1.00) r=0.59m +[headless_play] t= 2.10s step= 105 trunk_z= 113.9mm grav_b=(+0.06,-0.03,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 111.5mm grav_b=(+0.05,+0.07,-1.00) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 116.9mm grav_b=(+0.07,+0.06,-1.00) r=0.63m +[headless_play] t= 2.40s step= 120 trunk_z= 113.1mm grav_b=(+0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 2.50s step= 125 trunk_z= 117.0mm grav_b=(+0.05,-0.06,-1.00) r=0.67m +[headless_play] t= 2.60s step= 130 trunk_z= 113.4mm grav_b=(+0.06,-0.02,-1.00) r=0.68m +[headless_play] t= 2.70s step= 135 trunk_z= 112.6mm grav_b=(+0.05,+0.07,-1.00) r=0.70m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(+0.06,+0.06,-1.00) r=0.71m +[headless_play] t= 2.90s step= 145 trunk_z= 111.8mm grav_b=(+0.06,-0.03,-1.00) r=0.73m +[headless_play] t= 3.00s step= 150 trunk_z= 116.7mm grav_b=(+0.06,-0.06,-1.00) r=0.75m +[headless_play] t= 3.10s step= 155 trunk_z= 112.4mm grav_b=(+0.07,-0.02,-1.00) r=0.77m +[headless_play] t= 3.20s step= 160 trunk_z= 113.9mm grav_b=(+0.05,+0.08,-1.00) r=0.78m +[headless_play] t= 3.30s step= 165 trunk_z= 116.2mm grav_b=(+0.05,+0.05,-1.00) r=0.80m +[headless_play] t= 3.40s step= 170 trunk_z= 110.9mm grav_b=(+0.06,-0.03,-1.00) r=0.82m +[headless_play] t= 3.50s step= 175 trunk_z= 110.9mm grav_b=(+0.03,-0.08,-1.00) r=0.85m +[headless_play] t= 3.60s step= 180 trunk_z= 94.6mm grav_b=(+0.14,-0.20,-0.97) r=0.86m +[headless_play] t= 3.70s step= 185 trunk_z= 97.5mm grav_b=(+0.16,-0.18,-0.97) r=0.87m +[headless_play] t= 3.80s step= 190 trunk_z= 98.5mm grav_b=(+0.10,-0.15,-0.98) r=0.90m +[headless_play] t= 3.90s step= 195 trunk_z= 102.7mm grav_b=(+0.10,-0.21,-0.97) r=0.94m +[headless_play] t= 4.00s step= 200 trunk_z= 84.8mm grav_b=(+0.01,-0.20,-0.98) r=1.00m +[headless_play] t= 4.10s step= 205 trunk_z= 93.4mm grav_b=(+0.13,-0.25,-0.96) r=1.03m +[headless_play] t= 4.20s step= 210 trunk_z= 99.7mm grav_b=(+0.09,-0.17,-0.98) r=1.05m +[headless_play] t= 4.30s step= 215 trunk_z= 93.4mm grav_b=(+0.10,+0.00,-1.00) r=1.06m +[headless_play] t= 4.40s step= 220 trunk_z= 101.7mm grav_b=(+0.05,+0.04,-1.00) r=1.07m +[headless_play] t= 4.50s step= 225 trunk_z= 94.5mm grav_b=(+0.02,+0.01,-1.00) r=1.09m +[headless_play] t= 4.60s step= 230 trunk_z= 92.1mm grav_b=(+0.03,-0.06,-1.00) r=1.11m +[headless_play] t= 4.70s step= 235 trunk_z= 92.9mm grav_b=(+0.08,-0.02,-1.00) r=1.12m +[headless_play] t= 4.80s step= 240 trunk_z= 85.0mm grav_b=(+0.09,+0.06,-0.99) r=1.12m +[headless_play] t= 4.90s step= 245 trunk_z= 96.9mm grav_b=(+0.10,+0.08,-0.99) r=1.13m +[headless_play] t= 5.00s step= 250 trunk_z= 96.1mm grav_b=(+0.08,+0.03,-1.00) r=1.15m +[headless_play] t= 5.10s step= 255 trunk_z= 92.5mm grav_b=(+0.03,-0.06,-1.00) r=1.18m +[headless_play] t= 5.20s step= 260 trunk_z= 94.5mm grav_b=(+0.05,-0.04,-1.00) r=1.19m +[headless_play] t= 5.30s step= 265 trunk_z= 86.3mm grav_b=(+0.05,+0.03,-1.00) r=1.19m +[headless_play] t= 5.40s step= 270 trunk_z= 95.0mm grav_b=(+0.07,+0.06,-1.00) r=1.19m +[headless_play] t= 5.50s step= 275 trunk_z= 92.5mm grav_b=(+0.07,+0.03,-1.00) r=1.21m +[headless_play] t= 5.60s step= 280 trunk_z= 91.4mm grav_b=(+0.03,-0.06,-1.00) r=1.24m +[headless_play] t= 5.70s step= 285 trunk_z= 95.2mm grav_b=(+0.04,-0.06,-1.00) r=1.25m +[headless_play] t= 5.80s step= 290 trunk_z= 87.2mm grav_b=(+0.05,+0.00,-1.00) r=1.24m +[headless_play] t= 5.90s step= 295 trunk_z= 95.6mm grav_b=(+0.04,+0.07,-1.00) r=1.24m +[headless_play] t= 6.00s step= 300 trunk_z= 94.5mm grav_b=(+0.05,+0.05,-1.00) r=1.25m +[headless_play] t= 6.10s step= 305 trunk_z= 88.9mm grav_b=(+0.04,-0.04,-1.00) r=1.28m +[headless_play] t= 6.20s step= 310 trunk_z= 95.3mm grav_b=(+0.04,-0.06,-1.00) r=1.29m +[headless_play] t= 6.30s step= 315 trunk_z= 89.2mm grav_b=(+0.06,-0.01,-1.00) r=1.29m +[headless_play] t= 6.40s step= 320 trunk_z= 94.8mm grav_b=(+0.03,+0.07,-1.00) r=1.29m +[headless_play] t= 6.50s step= 325 trunk_z= 94.9mm grav_b=(+0.04,+0.04,-1.00) r=1.30m +[headless_play] t= 6.60s step= 330 trunk_z= 88.4mm grav_b=(+0.04,-0.03,-1.00) r=1.32m +[headless_play] t= 6.70s step= 335 trunk_z= 94.8mm grav_b=(+0.04,-0.06,-1.00) r=1.34m +[headless_play] t= 6.80s step= 340 trunk_z= 89.4mm grav_b=(+0.06,-0.01,-1.00) r=1.34m +[headless_play] t= 6.90s step= 345 trunk_z= 94.9mm grav_b=(+0.03,+0.07,-1.00) r=1.33m +[headless_play] t= 7.00s step= 350 trunk_z= 95.7mm grav_b=(+0.04,+0.05,-1.00) r=1.34m +[headless_play] t= 7.10s step= 355 trunk_z= 89.1mm grav_b=(+0.04,-0.01,-1.00) r=1.37m +[headless_play] t= 7.20s step= 360 trunk_z= 95.6mm grav_b=(+0.03,-0.07,-1.00) r=1.38m +[headless_play] t= 7.30s step= 365 trunk_z= 91.0mm grav_b=(+0.05,-0.04,-1.00) r=1.38m +[headless_play] t= 7.40s step= 370 trunk_z= 93.2mm grav_b=(+0.03,+0.06,-1.00) r=1.38m +[headless_play] t= 7.50s step= 375 trunk_z= 95.0mm grav_b=(+0.05,+0.04,-1.00) r=1.39m +[headless_play] t= 7.60s step= 380 trunk_z= 88.8mm grav_b=(+0.05,-0.02,-1.00) r=1.41m +[headless_play] t= 7.70s step= 385 trunk_z= 94.6mm grav_b=(+0.04,-0.06,-1.00) r=1.43m +[headless_play] t= 7.80s step= 390 trunk_z= 90.0mm grav_b=(+0.06,-0.02,-1.00) r=1.43m +[headless_play] t= 7.90s step= 395 trunk_z= 93.6mm grav_b=(+0.04,+0.07,-1.00) r=1.42m +[headless_play] t= 8.00s step= 400 trunk_z= 95.0mm grav_b=(+0.05,+0.05,-1.00) r=1.43m +[headless_play] t= 8.10s step= 405 trunk_z= 88.5mm grav_b=(+0.04,-0.02,-1.00) r=1.46m +[headless_play] t= 8.20s step= 410 trunk_z= 96.1mm grav_b=(+0.03,-0.07,-1.00) r=1.47m +[headless_play] t= 8.30s step= 415 trunk_z= 91.5mm grav_b=(+0.05,-0.05,-1.00) r=1.47m +[headless_play] t= 8.40s step= 420 trunk_z= 91.9mm grav_b=(+0.04,+0.06,-1.00) r=1.47m +[headless_play] t= 8.50s step= 425 trunk_z= 95.6mm grav_b=(+0.05,+0.05,-1.00) r=1.48m +[headless_play] t= 8.60s step= 430 trunk_z= 90.2mm grav_b=(+0.06,+0.00,-1.00) r=1.50m +[headless_play] t= 8.70s step= 435 trunk_z= 94.1mm grav_b=(+0.05,-0.07,-1.00) r=1.52m +[headless_play] t= 8.80s step= 440 trunk_z= 91.1mm grav_b=(+0.07,-0.03,-1.00) r=1.52m +[headless_play] t= 8.90s step= 445 trunk_z= 91.6mm grav_b=(+0.04,+0.07,-1.00) r=1.52m +[headless_play] t= 9.00s step= 450 trunk_z= 95.9mm grav_b=(+0.05,+0.06,-1.00) r=1.52m +[headless_play] t= 9.10s step= 455 trunk_z= 91.0mm grav_b=(+0.05,+0.01,-1.00) r=1.54m +[headless_play] t= 9.20s step= 460 trunk_z= 94.6mm grav_b=(+0.03,-0.07,-1.00) r=1.56m +[headless_play] t= 9.30s step= 465 trunk_z= 93.6mm grav_b=(+0.05,-0.05,-1.00) r=1.57m +[headless_play] t= 9.40s step= 470 trunk_z= 88.7mm grav_b=(+0.07,+0.05,-1.00) r=1.56m +[headless_play] t= 9.50s step= 475 trunk_z= 97.4mm grav_b=(+0.07,+0.07,-1.00) r=1.56m +[headless_play] t= 9.60s step= 480 trunk_z= 94.4mm grav_b=(+0.07,+0.05,-1.00) r=1.58m +[headless_play] t= 9.70s step= 485 trunk_z= 93.8mm grav_b=(+0.05,-0.04,-1.00) r=1.60m +[headless_play] t= 9.80s step= 490 trunk_z= 95.4mm grav_b=(+0.05,-0.03,-1.00) r=1.61m +[headless_play] t= 9.90s step= 495 trunk_z= 87.4mm grav_b=(+0.04,+0.04,-1.00) r=1.60m +[headless_play] t= 10.00s step= 500 trunk_z= 96.5mm grav_b=(+0.03,+0.08,-1.00) r=1.60m +[headless_play] t= 10.10s step= 505 trunk_z= 94.9mm grav_b=(+0.03,+0.05,-1.00) r=1.61m +[headless_play] t= 10.20s step= 510 trunk_z= 91.3mm grav_b=(+0.02,-0.05,-1.00) r=1.64m +[headless_play] t= 10.30s step= 515 trunk_z= 97.7mm grav_b=(+0.06,-0.07,-1.00) r=1.65m +[headless_play] t= 10.40s step= 520 trunk_z= 92.3mm grav_b=(+0.07,-0.03,-1.00) r=1.65m +[headless_play] t= 10.50s step= 525 trunk_z= 96.6mm grav_b=(+0.04,+0.07,-1.00) r=1.65m +[headless_play] t= 10.60s step= 530 trunk_z= 95.8mm grav_b=(+0.06,+0.05,-1.00) r=1.66m +[headless_play] t= 10.70s step= 535 trunk_z= 90.3mm grav_b=(+0.03,-0.02,-1.00) r=1.68m +[headless_play] t= 10.80s step= 540 trunk_z= 97.1mm grav_b=(+0.04,-0.05,-1.00) r=1.70m +[headless_play] t= 10.90s step= 545 trunk_z= 91.9mm grav_b=(+0.05,-0.01,-1.00) r=1.69m +[headless_play] t= 11.00s step= 550 trunk_z= 95.1mm grav_b=(+0.02,+0.07,-1.00) r=1.69m +[headless_play] t= 11.10s step= 555 trunk_z= 96.4mm grav_b=(+0.04,+0.05,-1.00) r=1.70m +[headless_play] t= 11.20s step= 560 trunk_z= 90.6mm grav_b=(+0.02,-0.01,-1.00) r=1.72m +[headless_play] t= 11.30s step= 565 trunk_z= 97.2mm grav_b=(+0.03,-0.07,-1.00) r=1.74m +[headless_play] t= 11.40s step= 570 trunk_z= 94.0mm grav_b=(+0.05,-0.04,-1.00) r=1.74m +[headless_play] t= 11.50s step= 575 trunk_z= 92.7mm grav_b=(+0.03,+0.07,-1.00) r=1.74m +[headless_play] t= 11.60s step= 580 trunk_z= 97.6mm grav_b=(+0.05,+0.07,-1.00) r=1.74m +[headless_play] t= 11.70s step= 585 trunk_z= 94.3mm grav_b=(+0.04,+0.04,-1.00) r=1.76m +[headless_play] t= 11.80s step= 590 trunk_z= 95.7mm grav_b=(+0.02,-0.06,-1.00) r=1.78m +[headless_play] t= 11.90s step= 595 trunk_z= 96.5mm grav_b=(+0.05,-0.05,-1.00) r=1.79m +[headless_play] t= 12.00s step= 600 trunk_z= 87.9mm grav_b=(+0.04,+0.03,-1.00) r=1.78m +[headless_play] t= 12.10s step= 605 trunk_z= 97.6mm grav_b=(+0.03,+0.08,-1.00) r=1.78m +[headless_play] t= 12.20s step= 610 trunk_z= 97.4mm grav_b=(+0.04,+0.07,-1.00) r=1.79m +[headless_play] t= 12.30s step= 615 trunk_z= 91.5mm grav_b=(+0.02,-0.01,-1.00) r=1.81m +[headless_play] t= 12.40s step= 620 trunk_z= 98.1mm grav_b=(+0.04,-0.07,-1.00) r=1.83m +[headless_play] t= 12.50s step= 625 trunk_z= 95.9mm grav_b=(+0.04,-0.04,-1.00) r=1.83m +[headless_play] t= 12.60s step= 630 trunk_z= 94.7mm grav_b=(+0.03,+0.07,-1.00) r=1.83m +[headless_play] t= 12.70s step= 635 trunk_z= 94.6mm grav_b=(+0.05,+0.07,-1.00) r=1.84m +[headless_play] t= 12.80s step= 640 trunk_z= 86.7mm grav_b=(+0.04,-0.00,-1.00) r=1.86m +[headless_play] t= 12.90s step= 645 trunk_z= 92.6mm grav_b=(+0.02,-0.04,-1.00) r=1.88m +[headless_play] t= 13.00s step= 650 trunk_z= 88.0mm grav_b=(+0.06,+0.00,-1.00) r=1.88m +[headless_play] t= 13.10s step= 655 trunk_z= 89.6mm grav_b=(+0.03,+0.10,-0.99) r=1.88m +[headless_play] t= 13.20s step= 660 trunk_z= 94.5mm grav_b=(+0.04,+0.11,-0.99) r=1.89m +[headless_play] t= 13.30s step= 665 trunk_z= 89.9mm grav_b=(+0.04,+0.07,-1.00) r=1.91m +[headless_play] t= 13.40s step= 670 trunk_z= 91.5mm grav_b=(+0.04,-0.04,-1.00) r=1.93m +[headless_play] t= 13.50s step= 675 trunk_z= 90.3mm grav_b=(+0.07,-0.02,-1.00) r=1.94m +[headless_play] t= 13.60s step= 680 trunk_z= 84.8mm grav_b=(+0.05,+0.07,-1.00) r=1.94m +[headless_play] t= 13.70s step= 685 trunk_z= 94.7mm grav_b=(+0.05,+0.11,-0.99) r=1.94m +[headless_play] t= 13.80s step= 690 trunk_z= 89.7mm grav_b=(+0.07,+0.08,-0.99) r=1.96m +[headless_play] t= 13.90s step= 695 trunk_z= 88.7mm grav_b=(+0.04,-0.03,-1.00) r=1.99m +[headless_play] t= 14.00s step= 700 trunk_z= 91.2mm grav_b=(+0.06,-0.02,-1.00) r=2.00m +[headless_play] t= 14.10s step= 705 trunk_z= 85.0mm grav_b=(+0.07,+0.04,-1.00) r=1.99m +[headless_play] t= 14.20s step= 710 trunk_z= 93.0mm grav_b=(+0.07,+0.09,-0.99) r=1.99m +[headless_play] t= 14.30s step= 715 trunk_z= 89.8mm grav_b=(+0.08,+0.06,-1.00) r=2.01m +[headless_play] t= 14.40s step= 720 trunk_z= 87.1mm grav_b=(+0.05,-0.04,-1.00) r=2.03m +[headless_play] t= 14.50s step= 725 trunk_z= 90.8mm grav_b=(+0.07,-0.03,-1.00) r=2.04m +[headless_play] t= 14.60s step= 730 trunk_z= 85.6mm grav_b=(+0.09,+0.03,-1.00) r=2.04m +[headless_play] t= 14.70s step= 735 trunk_z= 92.1mm grav_b=(+0.06,+0.11,-0.99) r=2.04m +[headless_play] t= 14.80s step= 740 trunk_z= 90.6mm grav_b=(+0.08,+0.08,-0.99) r=2.04m +[headless_play] t= 14.90s step= 745 trunk_z= 85.0mm grav_b=(+0.05,-0.02,-1.00) r=2.07m +[headless_play] t= 15.00s step= 750 trunk_z= 91.4mm grav_b=(+0.06,-0.03,-1.00) r=2.08m +[headless_play] t= 15.10s step= 755 trunk_z= 86.7mm grav_b=(+0.10,+0.02,-1.00) r=2.07m +[headless_play] t= 15.20s step= 760 trunk_z= 89.6mm grav_b=(+0.05,+0.10,-0.99) r=2.06m +[headless_play] t= 15.30s step= 765 trunk_z= 90.6mm grav_b=(+0.07,+0.08,-0.99) r=2.06m +[headless_play] t= 15.40s step= 770 trunk_z= 83.7mm grav_b=(+0.07,-0.00,-1.00) r=2.08m +[headless_play] t= 15.50s step= 775 trunk_z= 90.4mm grav_b=(+0.06,-0.05,-1.00) r=2.09m +[headless_play] t= 15.60s step= 780 trunk_z= 87.3mm grav_b=(+0.08,-0.01,-1.00) r=2.08m +[headless_play] t= 15.70s step= 785 trunk_z= 87.2mm grav_b=(+0.05,+0.09,-0.99) r=2.05m +[headless_play] t= 15.80s step= 790 trunk_z= 92.1mm grav_b=(+0.05,+0.09,-0.99) r=2.04m +[headless_play] t= 15.90s step= 795 trunk_z= 87.3mm grav_b=(+0.07,+0.03,-1.00) r=2.06m +[headless_play] t= 16.00s step= 800 trunk_z= 91.2mm grav_b=(+0.05,-0.04,-1.00) r=2.07m +[headless_play] t= 16.10s step= 805 trunk_z= 88.7mm grav_b=(+0.07,+0.01,-1.00) r=2.06m +[headless_play] t= 16.20s step= 810 trunk_z= 85.9mm grav_b=(+0.06,+0.09,-0.99) r=2.03m +[headless_play] t= 16.30s step= 815 trunk_z= 92.4mm grav_b=(+0.08,+0.09,-0.99) r=2.03m +[headless_play] t= 16.40s step= 820 trunk_z= 87.6mm grav_b=(+0.08,+0.04,-1.00) r=2.04m +[headless_play] t= 16.50s step= 825 trunk_z= 90.3mm grav_b=(+0.04,-0.05,-1.00) r=2.05m +[headless_play] t= 16.60s step= 830 trunk_z= 88.9mm grav_b=(+0.08,-0.02,-1.00) r=2.05m +[headless_play] t= 16.70s step= 835 trunk_z= 83.5mm grav_b=(+0.07,+0.07,-0.99) r=2.02m +[headless_play] t= 16.80s step= 840 trunk_z= 93.4mm grav_b=(+0.07,+0.08,-0.99) r=2.00m +[headless_play] t= 16.90s step= 845 trunk_z= 88.2mm grav_b=(+0.10,+0.03,-0.99) r=2.01m +[headless_play] t= 17.00s step= 850 trunk_z= 90.4mm grav_b=(+0.02,-0.06,-1.00) r=2.03m +[headless_play] t= 17.10s step= 855 trunk_z= 93.5mm grav_b=(+0.06,-0.01,-1.00) r=2.03m +[headless_play] t= 17.20s step= 860 trunk_z= 85.1mm grav_b=(+0.04,+0.06,-1.00) r=2.00m +[headless_play] t= 17.30s step= 865 trunk_z= 91.4mm grav_b=(+0.06,+0.06,-1.00) r=1.99m +[headless_play] t= 17.40s step= 870 trunk_z= 87.7mm grav_b=(+0.10,-0.01,-0.99) r=2.00m +[headless_play] t= 17.50s step= 875 trunk_z= 90.1mm grav_b=(+0.07,-0.06,-1.00) r=2.02m +[headless_play] t= 17.60s step= 880 trunk_z= 87.9mm grav_b=(+0.09,-0.01,-1.00) r=2.01m +[headless_play] t= 17.70s step= 885 trunk_z= 84.2mm grav_b=(+0.07,+0.09,-0.99) r=1.99m +[headless_play] t= 17.80s step= 890 trunk_z= 93.0mm grav_b=(+0.07,+0.09,-0.99) r=1.98m +[headless_play] t= 17.90s step= 895 trunk_z= 89.2mm grav_b=(+0.07,+0.02,-1.00) r=1.99m +[headless_play] t= 18.00s step= 900 trunk_z= 90.9mm grav_b=(+0.04,-0.07,-1.00) r=2.00m +[headless_play] t= 18.10s step= 905 trunk_z= 92.7mm grav_b=(+0.05,-0.05,-1.00) r=2.00m +[headless_play] t= 18.20s step= 910 trunk_z= 84.5mm grav_b=(+0.06,+0.03,-1.00) r=1.98m +[headless_play] t= 18.30s step= 915 trunk_z= 93.3mm grav_b=(+0.04,+0.08,-1.00) r=1.96m +[headless_play] t= 18.40s step= 920 trunk_z= 92.1mm grav_b=(+0.04,+0.05,-1.00) r=1.97m +[headless_play] t= 18.50s step= 925 trunk_z= 87.3mm grav_b=(+0.06,-0.06,-1.00) r=1.99m +[headless_play] t= 18.60s step= 930 trunk_z= 92.3mm grav_b=(+0.08,-0.06,-1.00) r=1.99m +[headless_play] t= 18.70s step= 935 trunk_z= 86.5mm grav_b=(+0.07,+0.01,-1.00) r=1.97m +[headless_play] t= 18.80s step= 940 trunk_z= 93.0mm grav_b=(+0.03,+0.10,-0.99) r=1.96m +[headless_play] t= 18.90s step= 945 trunk_z= 93.3mm grav_b=(+0.03,+0.07,-1.00) r=1.96m +[headless_play] t= 19.00s step= 950 trunk_z= 87.4mm grav_b=(+0.05,-0.02,-1.00) r=1.98m +[headless_play] t= 19.10s step= 955 trunk_z= 92.5mm grav_b=(+0.07,-0.05,-1.00) r=1.99m +[headless_play] t= 19.20s step= 960 trunk_z= 88.5mm grav_b=(+0.08,-0.01,-1.00) r=1.97m +[headless_play] t= 19.30s step= 965 trunk_z= 91.9mm grav_b=(+0.05,+0.07,-1.00) r=1.95m +[headless_play] t= 19.40s step= 970 trunk_z= 93.1mm grav_b=(+0.07,+0.06,-1.00) r=1.95m +[headless_play] t= 19.50s step= 975 trunk_z= 87.1mm grav_b=(+0.07,+0.00,-1.00) r=1.97m +[headless_play] t= 19.60s step= 980 trunk_z= 94.2mm grav_b=(+0.06,-0.05,-1.00) r=1.99m +[headless_play] t= 19.70s step= 985 trunk_z= 90.7mm grav_b=(+0.08,-0.01,-1.00) r=1.98m +[headless_play] t= 19.80s step= 990 trunk_z= 91.3mm grav_b=(+0.06,+0.09,-0.99) r=1.96m +[headless_play] t= 19.90s step= 995 trunk_z= 97.1mm grav_b=(+0.06,+0.08,-0.99) r=1.95m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.6mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) r=0.36m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..765d30dbc950e2cbee74dfe3b32d8e198e6b24b4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t1.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.486,-17.808,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.9mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(+0.05,-0.00,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.10,-0.00,-1.00) r=0.53m +[headless_play] t= 0.30s step= 15 trunk_z= 115.5mm grav_b=(+0.07,-0.00,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 115.5mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 115.5mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 0.70s step= 35 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 115.4mm grav_b=(+0.06,+0.00,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 115.4mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 115.4mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 115.4mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 115.4mm grav_b=(+0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 115.5mm grav_b=(+0.07,-0.00,-1.00) r=0.52m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.05,+0.00,-1.00) r=0.52m +[headless_play] t= 2.50s step= 125 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 2.70s step= 135 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 2.90s step= 145 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.20s step= 160 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 6.00s step= 300 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 6.10s step= 305 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 6.20s step= 310 trunk_z= 115.4mm grav_b=(+0.05,+0.00,-1.00) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 115.6mm grav_b=(+0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 6.50s step= 325 trunk_z= 115.6mm grav_b=(+0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 115.6mm grav_b=(+0.05,+0.00,-1.00) r=0.52m +[headless_play] t= 6.70s step= 335 trunk_z= 115.6mm grav_b=(+0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 6.80s step= 340 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 117.9mm grav_b=(+0.06,-0.05,-1.00) r=0.53m +[headless_play] t= 7.20s step= 360 trunk_z= 117.9mm grav_b=(+0.11,-0.06,-0.99) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 119.1mm grav_b=(+0.13,-0.05,-0.99) r=0.54m +[headless_play] t= 7.40s step= 370 trunk_z= 116.8mm grav_b=(+0.08,+0.05,-0.99) r=0.53m +[headless_play] t= 7.50s step= 375 trunk_z= 121.2mm grav_b=(+0.07,+0.06,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 118.0mm grav_b=(+0.04,-0.06,-1.00) r=0.55m +[headless_play] t= 7.70s step= 385 trunk_z= 126.1mm grav_b=(+0.05,-0.11,-0.99) r=0.57m +[headless_play] t= 7.80s step= 390 trunk_z= 123.4mm grav_b=(+0.07,-0.11,-0.99) r=0.56m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(+0.05,-0.01,-1.00) r=0.54m +[headless_play] t= 8.00s step= 400 trunk_z= 121.5mm grav_b=(+0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 8.10s step= 405 trunk_z= 118.4mm grav_b=(+0.04,-0.08,-1.00) r=0.56m +[headless_play] t= 8.20s step= 410 trunk_z= 125.9mm grav_b=(+0.06,-0.10,-0.99) r=0.57m +[headless_play] t= 8.30s step= 415 trunk_z= 120.5mm grav_b=(+0.05,-0.08,-1.00) r=0.56m +[headless_play] t= 8.40s step= 420 trunk_z= 121.0mm grav_b=(+0.05,+0.02,-1.00) r=0.55m +[headless_play] t= 8.50s step= 425 trunk_z= 121.4mm grav_b=(+0.06,+0.00,-1.00) r=0.56m +[headless_play] t= 8.60s step= 430 trunk_z= 121.1mm grav_b=(+0.06,-0.09,-0.99) r=0.57m +[headless_play] t= 8.70s step= 435 trunk_z= 125.0mm grav_b=(+0.06,-0.11,-0.99) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 117.6mm grav_b=(+0.04,-0.05,-1.00) r=0.58m +[headless_play] t= 8.90s step= 445 trunk_z= 122.7mm grav_b=(+0.05,+0.03,-1.00) r=0.58m +[headless_play] t= 9.00s step= 450 trunk_z= 120.4mm grav_b=(+0.07,-0.02,-1.00) r=0.59m +[headless_play] t= 9.10s step= 455 trunk_z= 123.6mm grav_b=(+0.04,-0.10,-0.99) r=0.60m +[headless_play] t= 9.20s step= 460 trunk_z= 125.6mm grav_b=(+0.05,-0.12,-0.99) r=0.61m +[headless_play] t= 9.30s step= 465 trunk_z= 117.3mm grav_b=(+0.02,-0.05,-1.00) r=0.62m +[headless_play] t= 9.40s step= 470 trunk_z= 123.6mm grav_b=(+0.03,+0.04,-1.00) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 121.5mm grav_b=(+0.05,+0.00,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 122.7mm grav_b=(+0.04,-0.10,-0.99) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 126.2mm grav_b=(+0.05,-0.12,-0.99) r=0.64m +[headless_play] t= 9.80s step= 490 trunk_z= 119.8mm grav_b=(+0.02,-0.08,-1.00) r=0.65m +[headless_play] t= 9.90s step= 495 trunk_z= 122.4mm grav_b=(+0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 121.5mm grav_b=(+0.05,-0.00,-1.00) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 122.0mm grav_b=(+0.05,-0.09,-0.99) r=0.67m +[headless_play] t= 10.20s step= 510 trunk_z= 125.3mm grav_b=(+0.06,-0.11,-0.99) r=0.68m +[headless_play] t= 10.30s step= 515 trunk_z= 118.9mm grav_b=(+0.03,-0.06,-1.00) r=0.69m +[headless_play] t= 10.40s step= 520 trunk_z= 122.5mm grav_b=(+0.04,+0.03,-1.00) r=0.71m +[headless_play] t= 10.50s step= 525 trunk_z= 121.3mm grav_b=(+0.06,-0.01,-1.00) r=0.71m +[headless_play] t= 10.60s step= 530 trunk_z= 122.8mm grav_b=(+0.06,-0.10,-0.99) r=0.70m +[headless_play] t= 10.70s step= 535 trunk_z= 125.8mm grav_b=(+0.06,-0.10,-0.99) r=0.72m +[headless_play] t= 10.80s step= 540 trunk_z= 118.7mm grav_b=(+0.04,-0.04,-1.00) r=0.74m +[headless_play] t= 10.90s step= 545 trunk_z= 105.8mm grav_b=(+0.00,+0.10,-0.99) r=0.77m +[headless_play] t= 11.00s step= 550 trunk_z= 106.6mm grav_b=(+0.12,+0.14,-0.98) r=0.78m +[headless_play] t= 11.10s step= 555 trunk_z= 99.9mm grav_b=(+0.06,+0.01,-1.00) r=0.81m +[headless_play] t= 11.20s step= 560 trunk_z= 94.2mm grav_b=(+0.10,-0.09,-0.99) r=0.84m +[headless_play] t= 11.30s step= 565 trunk_z= 106.6mm grav_b=(+0.10,-0.09,-0.99) r=0.86m +[headless_play] t= 11.40s step= 570 trunk_z= 94.6mm grav_b=(+0.00,-0.05,-1.00) r=0.91m +[headless_play] t= 11.50s step= 575 trunk_z= 94.8mm grav_b=(+0.10,-0.05,-0.99) r=0.93m +[headless_play] t= 11.60s step= 580 trunk_z= 94.6mm grav_b=(+0.05,-0.05,-1.00) r=0.94m +[headless_play] t= 11.70s step= 585 trunk_z= 94.8mm grav_b=(+0.03,-0.08,-1.00) r=0.95m +[headless_play] t= 11.80s step= 590 trunk_z= 92.9mm grav_b=(+0.02,-0.02,-1.00) r=0.96m +[headless_play] t= 11.90s step= 595 trunk_z= 92.7mm grav_b=(+0.03,+0.01,-1.00) r=0.96m +[headless_play] t= 12.00s step= 600 trunk_z= 92.6mm grav_b=(+0.02,+0.01,-1.00) r=0.96m +[headless_play] t= 12.10s step= 605 trunk_z= 92.4mm grav_b=(+0.01,+0.01,-1.00) r=0.96m +[headless_play] t= 12.20s step= 610 trunk_z= 92.4mm grav_b=(+0.01,+0.01,-1.00) r=0.96m +[headless_play] t= 12.30s step= 615 trunk_z= 92.4mm grav_b=(+0.02,+0.01,-1.00) r=0.96m +[headless_play] t= 12.40s step= 620 trunk_z= 92.4mm grav_b=(+0.03,+0.01,-1.00) r=0.96m +[headless_play] t= 12.50s step= 625 trunk_z= 92.4mm grav_b=(+0.03,+0.00,-1.00) r=0.96m +[headless_play] t= 12.60s step= 630 trunk_z= 92.2mm grav_b=(+0.02,+0.01,-1.00) r=0.96m +[headless_play] t= 12.70s step= 635 trunk_z= 92.0mm grav_b=(-0.02,+0.00,-1.00) r=0.95m +[headless_play] t= 12.80s step= 640 trunk_z= 92.0mm grav_b=(-0.02,+0.00,-1.00) r=0.95m +[headless_play] t= 12.90s step= 645 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.00s step= 650 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.10s step= 655 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.20s step= 660 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.30s step= 665 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.40s step= 670 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.50s step= 675 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.60s step= 680 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.70s step= 685 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.80s step= 690 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 13.90s step= 695 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.00s step= 700 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.10s step= 705 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.20s step= 710 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.30s step= 715 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.40s step= 720 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.50s step= 725 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.60s step= 730 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.70s step= 735 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.80s step= 740 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 14.90s step= 745 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.00s step= 750 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.10s step= 755 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.20s step= 760 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.30s step= 765 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.40s step= 770 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.50s step= 775 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.60s step= 780 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.70s step= 785 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.80s step= 790 trunk_z= 92.1mm grav_b=(+0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 15.90s step= 795 trunk_z= 92.5mm grav_b=(+0.02,-0.01,-1.00) r=0.95m +[headless_play] t= 16.00s step= 800 trunk_z= 93.4mm grav_b=(+0.04,-0.04,-1.00) r=0.96m +[headless_play] t= 16.10s step= 805 trunk_z= 93.4mm grav_b=(+0.07,-0.05,-1.00) r=0.96m +[headless_play] t= 16.20s step= 810 trunk_z= 94.2mm grav_b=(+0.09,-0.04,-1.00) r=0.97m +[headless_play] t= 16.30s step= 815 trunk_z= 94.5mm grav_b=(+0.08,+0.01,-1.00) r=0.98m +[headless_play] t= 16.40s step= 820 trunk_z= 95.5mm grav_b=(+0.05,+0.12,-0.99) r=1.00m +[headless_play] t= 16.50s step= 825 trunk_z= 100.3mm grav_b=(+0.02,+0.08,-1.00) r=1.01m +[headless_play] t= 16.60s step= 830 trunk_z= 94.1mm grav_b=(+0.03,-0.05,-1.00) r=1.01m +[headless_play] t= 16.70s step= 835 trunk_z= 100.4mm grav_b=(+0.08,-0.09,-0.99) r=1.03m +[headless_play] t= 16.80s step= 840 trunk_z= 97.2mm grav_b=(+0.07,-0.08,-0.99) r=1.04m +[headless_play] t= 16.90s step= 845 trunk_z= 93.7mm grav_b=(+0.06,+0.06,-1.00) r=1.06m +[headless_play] t= 17.00s step= 850 trunk_z= 98.4mm grav_b=(+0.05,+0.03,-1.00) r=1.07m +[headless_play] t= 17.10s step= 855 trunk_z= 95.1mm grav_b=(+0.06,-0.07,-1.00) r=1.07m +[headless_play] t= 17.20s step= 860 trunk_z= 99.5mm grav_b=(+0.07,-0.10,-0.99) r=1.08m +[headless_play] t= 17.30s step= 865 trunk_z= 95.5mm grav_b=(+0.06,-0.06,-1.00) r=1.09m +[headless_play] t= 17.40s step= 870 trunk_z= 96.6mm grav_b=(+0.04,+0.06,-1.00) r=1.10m +[headless_play] t= 17.50s step= 875 trunk_z= 97.1mm grav_b=(+0.04,+0.00,-1.00) r=1.11m +[headless_play] t= 17.60s step= 880 trunk_z= 98.0mm grav_b=(+0.06,-0.08,-1.00) r=1.11m +[headless_play] t= 17.70s step= 885 trunk_z= 100.4mm grav_b=(+0.08,-0.10,-0.99) r=1.12m +[headless_play] t= 17.80s step= 890 trunk_z= 94.6mm grav_b=(+0.05,-0.03,-1.00) r=1.14m +[headless_play] t= 17.90s step= 895 trunk_z= 98.8mm grav_b=(+0.04,+0.06,-1.00) r=1.15m +[headless_play] t= 18.00s step= 900 trunk_z= 98.2mm grav_b=(+0.05,+0.01,-1.00) r=1.16m +[headless_play] t= 18.10s step= 905 trunk_z= 98.8mm grav_b=(+0.06,-0.08,-1.00) r=1.16m +[headless_play] t= 18.20s step= 910 trunk_z= 100.9mm grav_b=(+0.08,-0.10,-0.99) r=1.17m +[headless_play] t= 18.30s step= 915 trunk_z= 96.1mm grav_b=(+0.04,-0.04,-1.00) r=1.19m +[headless_play] t= 18.40s step= 920 trunk_z= 98.5mm grav_b=(+0.04,+0.07,-1.00) r=1.21m +[headless_play] t= 18.50s step= 925 trunk_z= 98.5mm grav_b=(+0.05,+0.00,-1.00) r=1.22m +[headless_play] t= 18.60s step= 930 trunk_z= 99.3mm grav_b=(+0.08,-0.08,-0.99) r=1.22m +[headless_play] t= 18.70s step= 935 trunk_z= 102.8mm grav_b=(+0.10,-0.10,-0.99) r=1.24m +[headless_play] t= 18.80s step= 940 trunk_z= 98.3mm grav_b=(+0.05,-0.06,-1.00) r=1.26m +[headless_play] t= 18.90s step= 945 trunk_z= 97.2mm grav_b=(+0.06,+0.07,-1.00) r=1.29m +[headless_play] t= 19.00s step= 950 trunk_z= 98.3mm grav_b=(+0.07,-0.00,-1.00) r=1.30m +[headless_play] t= 19.10s step= 955 trunk_z= 99.0mm grav_b=(+0.06,-0.09,-0.99) r=1.31m +[headless_play] t= 19.20s step= 960 trunk_z= 103.1mm grav_b=(+0.08,-0.12,-0.99) r=1.32m +[headless_play] t= 19.30s step= 965 trunk_z= 100.5mm grav_b=(+0.04,-0.09,-0.99) r=1.34m +[headless_play] t= 19.40s step= 970 trunk_z= 96.0mm grav_b=(+0.04,+0.07,-1.00) r=1.36m +[headless_play] t= 19.50s step= 975 trunk_z= 99.1mm grav_b=(+0.06,+0.01,-1.00) r=1.38m +[headless_play] t= 19.60s step= 980 trunk_z= 95.6mm grav_b=(+0.07,-0.08,-0.99) r=1.38m +[headless_play] t= 19.70s step= 985 trunk_z= 104.3mm grav_b=(+0.08,-0.12,-0.99) r=1.39m +[headless_play] t= 19.80s step= 990 trunk_z= 103.3mm grav_b=(+0.06,-0.11,-0.99) r=1.41m +[headless_play] t= 19.90s step= 995 trunk_z= 91.3mm grav_b=(+0.02,+0.03,-1.00) r=1.45m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.3mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..4b326250c23caf7a9d7c74d3aa48053617065e20 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.262,-17.703,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.5mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 119.9mm grav_b=(+0.08,-0.03,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 117.2mm grav_b=(+0.05,+0.06,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 127.1mm grav_b=(+0.06,+0.07,-1.00) r=0.36m +[headless_play] t= 0.60s step= 30 trunk_z= 126.2mm grav_b=(+0.05,+0.03,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 122.9mm grav_b=(+0.01,-0.06,-1.00) r=0.37m +[headless_play] t= 0.80s step= 40 trunk_z= 126.9mm grav_b=(+0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 124.7mm grav_b=(+0.03,+0.06,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 123.2mm grav_b=(+0.05,+0.03,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 123.7mm grav_b=(+0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 126.7mm grav_b=(+0.01,-0.06,-1.00) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 125.2mm grav_b=(+0.02,+0.06,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 124.1mm grav_b=(+0.05,+0.05,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 123.0mm grav_b=(+0.01,-0.06,-1.00) r=0.29m +[headless_play] t= 1.80s step= 90 trunk_z= 126.4mm grav_b=(+0.03,-0.06,-1.00) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 116.9mm grav_b=(+0.00,+0.02,-1.00) r=0.25m +[headless_play] t= 2.00s step= 100 trunk_z= 125.9mm grav_b=(+0.04,+0.06,-1.00) r=0.24m +[headless_play] t= 2.10s step= 105 trunk_z= 126.0mm grav_b=(+0.06,+0.05,-1.00) r=0.24m +[headless_play] t= 2.20s step= 110 trunk_z= 121.4mm grav_b=(+0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 2.30s step= 115 trunk_z= 126.6mm grav_b=(+0.02,-0.05,-1.00) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 124.9mm grav_b=(+0.02,+0.07,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 125.0mm grav_b=(+0.05,+0.06,-1.00) r=0.19m +[headless_play] t= 2.70s step= 135 trunk_z= 119.7mm grav_b=(+0.01,-0.05,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 126.5mm grav_b=(+0.01,-0.06,-1.00) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 123.2mm grav_b=(-0.00,-0.03,-1.00) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 123.4mm grav_b=(+0.01,+0.07,-1.00) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 125.5mm grav_b=(+0.06,+0.07,-1.00) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 121.7mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 3.30s step= 165 trunk_z= 127.4mm grav_b=(-0.00,-0.11,-0.99) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 128.1mm grav_b=(-0.01,-0.09,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 121.6mm grav_b=(-0.09,-0.01,-1.00) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 126.2mm grav_b=(-0.05,+0.11,-0.99) r=0.14m +[headless_play] t= 3.70s step= 185 trunk_z= 128.1mm grav_b=(+0.01,+0.10,-0.99) r=0.14m +[headless_play] t= 3.80s step= 190 trunk_z= 123.6mm grav_b=(+0.03,+0.01,-1.00) r=0.15m +[headless_play] t= 3.90s step= 195 trunk_z= 124.7mm grav_b=(-0.01,-0.11,-0.99) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 121.7mm grav_b=(-0.01,-0.11,-0.99) r=0.17m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 121.3mm grav_b=(+0.04,+0.08,-1.00) r=0.15m +[headless_play] t= 4.30s step= 215 trunk_z= 120.9mm grav_b=(+0.05,+0.08,-1.00) r=0.16m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(+0.06,-0.03,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 121.8mm grav_b=(+0.03,-0.10,-0.99) r=0.19m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(+0.04,-0.07,-1.00) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 116.9mm grav_b=(+0.04,+0.07,-1.00) r=0.18m +[headless_play] t= 4.80s step= 240 trunk_z= 120.1mm grav_b=(+0.05,+0.08,-1.00) r=0.19m +[headless_play] t= 4.90s step= 245 trunk_z= 117.2mm grav_b=(+0.07,-0.01,-1.00) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 121.6mm grav_b=(+0.03,-0.10,-0.99) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 116.9mm grav_b=(+0.06,-0.09,-0.99) r=0.23m +[headless_play] t= 5.20s step= 260 trunk_z= 113.9mm grav_b=(+0.04,+0.08,-1.00) r=0.23m +[headless_play] t= 5.30s step= 265 trunk_z= 122.1mm grav_b=(+0.05,+0.10,-0.99) r=0.23m +[headless_play] t= 5.40s step= 270 trunk_z= 119.5mm grav_b=(+0.08,+0.07,-0.99) r=0.25m +[headless_play] t= 5.50s step= 275 trunk_z= 117.9mm grav_b=(+0.06,-0.08,-0.99) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 122.2mm grav_b=(+0.03,-0.11,-0.99) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(+0.04,-0.07,-1.00) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 117.5mm grav_b=(+0.03,+0.08,-1.00) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 121.4mm grav_b=(+0.04,+0.09,-1.00) r=0.28m +[headless_play] t= 6.00s step= 300 trunk_z= 118.1mm grav_b=(+0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 6.10s step= 305 trunk_z= 120.7mm grav_b=(+0.04,-0.11,-0.99) r=0.32m +[headless_play] t= 6.20s step= 310 trunk_z= 119.9mm grav_b=(+0.04,-0.11,-0.99) r=0.33m +[headless_play] t= 6.30s step= 315 trunk_z= 114.3mm grav_b=(+0.06,-0.02,-1.00) r=0.32m +[headless_play] t= 6.40s step= 320 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(+0.04,-0.02,-1.00) r=0.31m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 6.70s step= 335 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.00s step= 350 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.20s step= 360 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.50s step= 375 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.60s step= 380 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 7.70s step= 385 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.10s step= 405 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.20s step= 410 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.50s step= 425 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.60s step= 430 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.70s step= 435 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 8.90s step= 445 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.20s step= 460 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.30s step= 465 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.40s step= 470 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.50s step= 475 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.60s step= 480 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.80s step= 490 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 9.90s step= 495 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.00s step= 500 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.20s step= 510 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.60s step= 530 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.70s step= 535 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.80s step= 540 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 10.90s step= 545 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.00s step= 550 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.10s step= 555 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.20s step= 560 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.30s step= 565 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.50s step= 575 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.70s step= 585 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 11.80s step= 590 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.31m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.30m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 12.10s step= 605 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 12.20s step= 610 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 12.40s step= 620 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 12.50s step= 625 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 12.60s step= 630 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.00s step= 650 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.10s step= 655 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.30s step= 665 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.40s step= 670 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.60s step= 680 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(+0.00,-0.01,-1.00) r=0.30m +[headless_play] t= 13.90s step= 695 trunk_z= 117.2mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 14.00s step= 700 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 14.10s step= 705 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 14.30s step= 715 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 14.40s step= 720 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 14.50s step= 725 trunk_z= 117.3mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 14.60s step= 730 trunk_z= 117.3mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 14.80s step= 740 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 14.90s step= 745 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 15.00s step= 750 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.30m +[headless_play] t= 15.10s step= 755 trunk_z= 118.7mm grav_b=(+0.01,-0.04,-1.00) r=0.31m +[headless_play] t= 15.20s step= 760 trunk_z= 122.0mm grav_b=(-0.00,-0.06,-1.00) r=0.32m +[headless_play] t= 15.30s step= 765 trunk_z= 116.3mm grav_b=(-0.05,+0.06,-1.00) r=0.32m +[headless_play] t= 15.40s step= 770 trunk_z= 124.8mm grav_b=(-0.06,+0.10,-0.99) r=0.33m +[headless_play] t= 15.50s step= 775 trunk_z= 120.1mm grav_b=(-0.06,+0.02,-1.00) r=0.34m +[headless_play] t= 15.60s step= 780 trunk_z= 118.7mm grav_b=(-0.02,-0.10,-0.99) r=0.36m +[headless_play] t= 15.70s step= 785 trunk_z= 117.8mm grav_b=(+0.02,-0.10,-1.00) r=0.38m +[headless_play] t= 15.80s step= 790 trunk_z= 115.3mm grav_b=(+0.05,-0.04,-1.00) r=0.39m +[headless_play] t= 15.90s step= 795 trunk_z= 116.0mm grav_b=(+0.05,+0.11,-0.99) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 121.5mm grav_b=(+0.04,+0.11,-0.99) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 16.20s step= 810 trunk_z= 121.8mm grav_b=(+0.01,-0.12,-0.99) r=0.46m +[headless_play] t= 16.30s step= 815 trunk_z= 121.2mm grav_b=(+0.04,-0.13,-0.99) r=0.47m +[headless_play] t= 16.40s step= 820 trunk_z= 117.2mm grav_b=(+0.06,-0.06,-1.00) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 119.4mm grav_b=(+0.04,+0.11,-0.99) r=0.50m +[headless_play] t= 16.60s step= 830 trunk_z= 122.9mm grav_b=(+0.01,+0.12,-0.99) r=0.52m +[headless_play] t= 16.70s step= 835 trunk_z= 115.6mm grav_b=(-0.00,+0.00,-1.00) r=0.53m +[headless_play] t= 16.80s step= 840 trunk_z= 121.6mm grav_b=(-0.02,-0.08,-1.00) r=0.55m +[headless_play] t= 16.90s step= 845 trunk_z= 119.5mm grav_b=(+0.01,-0.09,-1.00) r=0.56m +[headless_play] t= 17.00s step= 850 trunk_z= 114.9mm grav_b=(+0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 17.10s step= 855 trunk_z= 117.7mm grav_b=(+0.05,+0.07,-1.00) r=0.59m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 17.30s step= 865 trunk_z= 120.6mm grav_b=(+0.02,-0.11,-0.99) r=0.62m +[headless_play] t= 17.40s step= 870 trunk_z= 118.9mm grav_b=(+0.05,-0.12,-0.99) r=0.63m +[headless_play] t= 17.50s step= 875 trunk_z= 115.7mm grav_b=(+0.06,+0.00,-1.00) r=0.64m +[headless_play] t= 17.60s step= 880 trunk_z= 121.1mm grav_b=(+0.05,+0.09,-1.00) r=0.65m +[headless_play] t= 17.70s step= 885 trunk_z= 118.4mm grav_b=(+0.02,+0.03,-1.00) r=0.67m +[headless_play] t= 17.80s step= 890 trunk_z= 120.5mm grav_b=(-0.00,-0.09,-1.00) r=0.69m +[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(+0.01,-0.10,-1.00) r=0.70m +[headless_play] t= 18.00s step= 900 trunk_z= 116.3mm grav_b=(+0.05,-0.02,-1.00) r=0.71m +[headless_play] t= 18.10s step= 905 trunk_z= 119.2mm grav_b=(+0.05,+0.10,-0.99) r=0.72m +[headless_play] t= 18.20s step= 910 trunk_z= 119.7mm grav_b=(+0.03,+0.07,-1.00) r=0.73m +[headless_play] t= 18.30s step= 915 trunk_z= 117.9mm grav_b=(+0.04,-0.10,-0.99) r=0.76m +[headless_play] t= 18.40s step= 920 trunk_z= 122.7mm grav_b=(+0.03,-0.14,-0.99) r=0.77m +[headless_play] t= 18.50s step= 925 trunk_z= 119.0mm grav_b=(+0.06,-0.11,-0.99) r=0.78m +[headless_play] t= 18.60s step= 930 trunk_z= 113.8mm grav_b=(+0.05,+0.06,-1.00) r=0.77m +[headless_play] t= 18.70s step= 935 trunk_z= 123.8mm grav_b=(+0.01,+0.11,-0.99) r=0.78m +[headless_play] t= 18.80s step= 940 trunk_z= 120.9mm grav_b=(-0.01,+0.08,-1.00) r=0.80m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.00,-0.07,-1.00) r=0.82m +[headless_play] t= 19.00s step= 950 trunk_z= 120.0mm grav_b=(-0.01,-0.10,-0.99) r=0.83m +[headless_play] t= 19.10s step= 955 trunk_z= 117.3mm grav_b=(+0.04,-0.09,-1.00) r=0.83m +[headless_play] t= 19.20s step= 960 trunk_z= 112.8mm grav_b=(+0.07,+0.04,-1.00) r=0.82m +[headless_play] t= 19.30s step= 965 trunk_z= 118.0mm grav_b=(+0.07,+0.09,-0.99) r=0.83m +[headless_play] t= 19.40s step= 970 trunk_z= 115.2mm grav_b=(+0.03,-0.02,-1.00) r=0.84m +[headless_play] t= 19.50s step= 975 trunk_z= 121.2mm grav_b=(+0.00,-0.10,-0.99) r=0.86m +[headless_play] t= 19.60s step= 980 trunk_z= 115.2mm grav_b=(+0.01,-0.11,-0.99) r=0.88m +[headless_play] t= 19.70s step= 985 trunk_z= 104.9mm grav_b=(+0.07,-0.09,-0.99) r=0.90m +[headless_play] t= 19.80s step= 990 trunk_z= 91.5mm grav_b=(+0.10,-0.00,-0.99) r=0.91m +[headless_play] t= 19.90s step= 995 trunk_z= 106.2mm grav_b=(+0.14,+0.07,-0.99) r=0.92m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.2mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(-0.03,+0.00,-1.00) r=0.44m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..244fe09e211910d09b1d1fd9b5ada77d4c4711a4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.262,-17.691,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(+0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 115.3mm grav_b=(-0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 115.3mm grav_b=(+0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 115.4mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 115.5mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 115.5mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 115.3mm grav_b=(-0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 115.5mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 115.4mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 115.5mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 115.5mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 115.4mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(-0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.40s step= 170 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.80s step= 190 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 4.30s step= 215 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 4.80s step= 240 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 4.90s step= 245 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 5.00s step= 250 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(+0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 5.80s step= 290 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 5.90s step= 295 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 6.00s step= 300 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 6.30s step= 315 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 6.40s step= 320 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 6.50s step= 325 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 6.60s step= 330 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 6.80s step= 340 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 6.90s step= 345 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 7.10s step= 355 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.50s step= 375 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.60s step= 380 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.10s step= 405 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.50s step= 425 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.60s step= 430 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 8.90s step= 445 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 9.40s step= 470 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 9.50s step= 475 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.00s step= 500 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.80s step= 540 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.30s step= 565 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 116.8mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.80s step= 590 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.90s step= 595 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.00s step= 600 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.20s step= 610 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 12.40s step= 620 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.80s step= 640 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 13.30s step= 665 trunk_z= 116.6mm grav_b=(+0.02,-0.03,-1.00) r=0.40m +[headless_play] t= 13.40s step= 670 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(+0.04,+0.08,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(+0.02,+0.06,-1.00) r=0.40m +[headless_play] t= 13.70s step= 685 trunk_z= 116.4mm grav_b=(-0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 120.4mm grav_b=(-0.04,-0.07,-1.00) r=0.37m +[headless_play] t= 13.90s step= 695 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 14.00s step= 700 trunk_z= 114.0mm grav_b=(+0.05,+0.12,-0.99) r=0.40m +[headless_play] t= 14.10s step= 705 trunk_z= 118.1mm grav_b=(+0.06,+0.11,-0.99) r=0.41m +[headless_play] t= 14.20s step= 710 trunk_z= 115.8mm grav_b=(+0.07,+0.03,-1.00) r=0.40m +[headless_play] t= 14.30s step= 715 trunk_z= 121.3mm grav_b=(+0.04,-0.09,-0.99) r=0.40m +[headless_play] t= 14.40s step= 720 trunk_z= 119.4mm grav_b=(+0.04,-0.04,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 114.7mm grav_b=(+0.02,+0.06,-1.00) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 123.7mm grav_b=(+0.01,+0.12,-0.99) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 121.0mm grav_b=(+0.03,+0.09,-1.00) r=0.44m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(+0.01,-0.04,-1.00) r=0.44m +[headless_play] t= 14.90s step= 745 trunk_z= 117.6mm grav_b=(+0.03,-0.04,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 113.2mm grav_b=(+0.03,+0.07,-1.00) r=0.46m +[headless_play] t= 15.10s step= 755 trunk_z= 121.2mm grav_b=(+0.02,+0.12,-0.99) r=0.48m +[headless_play] t= 15.20s step= 760 trunk_z= 120.1mm grav_b=(+0.04,+0.09,-0.99) r=0.48m +[headless_play] t= 15.30s step= 765 trunk_z= 115.5mm grav_b=(+0.02,-0.05,-1.00) r=0.49m +[headless_play] t= 15.40s step= 770 trunk_z= 117.6mm grav_b=(+0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 15.50s step= 775 trunk_z= 114.3mm grav_b=(+0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 15.60s step= 780 trunk_z= 120.7mm grav_b=(+0.02,+0.10,-0.99) r=0.53m +[headless_play] t= 15.70s step= 785 trunk_z= 120.1mm grav_b=(+0.03,+0.08,-1.00) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 114.1mm grav_b=(+0.02,-0.07,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 118.6mm grav_b=(+0.04,-0.05,-1.00) r=0.56m +[headless_play] t= 16.00s step= 800 trunk_z= 114.7mm grav_b=(+0.04,+0.02,-1.00) r=0.57m +[headless_play] t= 16.10s step= 805 trunk_z= 120.0mm grav_b=(+0.02,+0.12,-0.99) r=0.59m +[headless_play] t= 16.20s step= 810 trunk_z= 123.5mm grav_b=(+0.03,+0.10,-0.99) r=0.61m +[headless_play] t= 16.30s step= 815 trunk_z= 117.4mm grav_b=(-0.00,-0.02,-1.00) r=0.61m +[headless_play] t= 16.40s step= 820 trunk_z= 121.7mm grav_b=(-0.02,-0.05,-1.00) r=0.61m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(+0.04,+0.03,-1.00) r=0.63m +[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(+0.09,+0.13,-0.99) r=0.65m +[headless_play] t= 16.70s step= 835 trunk_z= 121.2mm grav_b=(+0.06,+0.05,-1.00) r=0.67m +[headless_play] t= 16.80s step= 840 trunk_z= 120.5mm grav_b=(+0.00,-0.11,-0.99) r=0.68m +[headless_play] t= 16.90s step= 845 trunk_z= 122.8mm grav_b=(+0.04,-0.07,-1.00) r=0.69m +[headless_play] t= 17.00s step= 850 trunk_z= 117.1mm grav_b=(+0.03,+0.04,-1.00) r=0.71m +[headless_play] t= 17.10s step= 855 trunk_z= 124.1mm grav_b=(+0.03,+0.12,-0.99) r=0.72m +[headless_play] t= 17.20s step= 860 trunk_z= 122.8mm grav_b=(+0.03,+0.11,-0.99) r=0.73m +[headless_play] t= 17.30s step= 865 trunk_z= 118.7mm grav_b=(+0.00,-0.04,-1.00) r=0.74m +[headless_play] t= 17.40s step= 870 trunk_z= 120.5mm grav_b=(+0.01,-0.05,-1.00) r=0.76m +[headless_play] t= 17.50s step= 875 trunk_z= 112.9mm grav_b=(+0.04,+0.05,-1.00) r=0.77m +[headless_play] t= 17.60s step= 880 trunk_z= 117.9mm grav_b=(+0.03,+0.09,-1.00) r=0.79m +[headless_play] t= 17.70s step= 885 trunk_z= 101.8mm grav_b=(+0.08,+0.04,-1.00) r=0.83m +[headless_play] t= 17.80s step= 890 trunk_z= 97.9mm grav_b=(+0.16,-0.08,-0.98) r=0.86m +[headless_play] t= 17.90s step= 895 trunk_z= 103.8mm grav_b=(+0.06,+0.01,-1.00) r=0.90m +[headless_play] t= 18.00s step= 900 trunk_z= 101.5mm grav_b=(+0.06,+0.13,-0.99) r=0.94m +[headless_play] t= 18.10s step= 905 trunk_z= 109.1mm grav_b=(+0.03,+0.19,-0.98) r=0.96m +[headless_play] t= 18.20s step= 910 trunk_z= 106.6mm grav_b=(+0.04,+0.15,-0.99) r=0.97m +[headless_play] t= 18.30s step= 915 trunk_z= 95.0mm grav_b=(-0.01,+0.02,-1.00) r=0.99m +[headless_play] t= 18.40s step= 920 trunk_z= 94.6mm grav_b=(-0.02,-0.00,-1.00) r=1.00m +[headless_play] t= 18.50s step= 925 trunk_z= 88.6mm grav_b=(+0.03,+0.08,-1.00) r=1.01m +[headless_play] t= 18.60s step= 930 trunk_z= 94.3mm grav_b=(+0.07,+0.10,-0.99) r=1.02m +[headless_play] t= 18.70s step= 935 trunk_z= 94.2mm grav_b=(+0.04,+0.00,-1.00) r=1.04m +[headless_play] t= 18.80s step= 940 trunk_z= 97.2mm grav_b=(+0.01,-0.11,-0.99) r=1.06m +[headless_play] t= 18.90s step= 945 trunk_z= 95.8mm grav_b=(+0.04,-0.04,-1.00) r=1.06m +[headless_play] t= 19.00s step= 950 trunk_z= 91.5mm grav_b=(+0.02,+0.07,-1.00) r=1.06m +[headless_play] t= 19.10s step= 955 trunk_z= 98.6mm grav_b=(+0.01,+0.10,-1.00) r=1.06m +[headless_play] t= 19.20s step= 960 trunk_z= 95.2mm grav_b=(+0.04,+0.05,-1.00) r=1.08m +[headless_play] t= 19.30s step= 965 trunk_z= 95.2mm grav_b=(+0.01,-0.10,-1.00) r=1.10m +[headless_play] t= 19.40s step= 970 trunk_z= 95.0mm grav_b=(+0.04,-0.04,-1.00) r=1.11m +[headless_play] t= 19.50s step= 975 trunk_z= 89.3mm grav_b=(+0.02,+0.07,-1.00) r=1.11m +[headless_play] t= 19.60s step= 980 trunk_z= 98.2mm grav_b=(+0.02,+0.10,-0.99) r=1.11m +[headless_play] t= 19.70s step= 985 trunk_z= 95.9mm grav_b=(+0.03,+0.07,-1.00) r=1.12m +[headless_play] t= 19.80s step= 990 trunk_z= 94.6mm grav_b=(-0.01,-0.09,-1.00) r=1.14m +[headless_play] t= 19.90s step= 995 trunk_z= 96.1mm grav_b=(+0.01,-0.05,-1.00) r=1.16m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.8mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 114.8mm grav_b=(-0.03,-0.01,-1.00) r=0.51m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..7b1d1977f5a182187f687861bcae55dcf0a7f924 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t12.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.304,-18.215,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.0mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 117.3mm grav_b=(-0.04,+0.02,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(-0.04,+0.06,-1.00) r=0.38m +[headless_play] t= 0.40s step= 20 trunk_z= 118.8mm grav_b=(-0.08,-0.01,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 114.2mm grav_b=(-0.04,-0.06,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 117.9mm grav_b=(-0.04,-0.08,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(-0.02,-0.03,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 121.4mm grav_b=(-0.04,+0.09,-0.99) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 123.8mm grav_b=(-0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 117.3mm grav_b=(+0.03,+0.05,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 119.4mm grav_b=(-0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 118.9mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 115.5mm grav_b=(-0.04,+0.06,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 125.7mm grav_b=(-0.11,+0.10,-0.99) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 127.2mm grav_b=(-0.08,+0.11,-0.99) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 120.9mm grav_b=(-0.05,+0.05,-1.00) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 117.9mm grav_b=(-0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 118.0mm grav_b=(-0.03,-0.05,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 114.5mm grav_b=(-0.01,+0.04,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 122.4mm grav_b=(-0.04,+0.10,-0.99) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 121.4mm grav_b=(-0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(+0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 2.30s step= 115 trunk_z= 120.8mm grav_b=(-0.02,-0.08,-1.00) r=0.47m +[headless_play] t= 2.40s step= 120 trunk_z= 118.8mm grav_b=(-0.00,-0.07,-1.00) r=0.48m +[headless_play] t= 2.50s step= 125 trunk_z= 118.0mm grav_b=(-0.05,+0.09,-0.99) r=0.50m +[headless_play] t= 2.60s step= 130 trunk_z= 126.5mm grav_b=(-0.08,+0.09,-0.99) r=0.52m +[headless_play] t= 2.70s step= 135 trunk_z= 124.6mm grav_b=(-0.04,+0.10,-0.99) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(-0.01,-0.07,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 117.8mm grav_b=(-0.00,-0.05,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(-0.06,+0.10,-0.99) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 126.2mm grav_b=(-0.09,+0.10,-0.99) r=0.58m +[headless_play] t= 3.30s step= 165 trunk_z= 124.7mm grav_b=(-0.03,+0.10,-0.99) r=0.58m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(-0.00,-0.03,-1.00) r=0.59m +[headless_play] t= 3.50s step= 175 trunk_z= 120.0mm grav_b=(-0.03,-0.08,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 118.5mm grav_b=(-0.01,-0.06,-1.00) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(-0.03,+0.10,-0.99) r=0.62m +[headless_play] t= 3.80s step= 190 trunk_z= 125.1mm grav_b=(-0.06,+0.11,-0.99) r=0.64m +[headless_play] t= 3.90s step= 195 trunk_z= 123.0mm grav_b=(-0.00,+0.10,-1.00) r=0.65m +[headless_play] t= 4.00s step= 200 trunk_z= 114.2mm grav_b=(+0.03,-0.03,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 124.7mm grav_b=(-0.02,-0.10,-0.99) r=0.68m +[headless_play] t= 4.20s step= 210 trunk_z= 122.0mm grav_b=(-0.01,-0.10,-0.99) r=0.68m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(-0.05,+0.03,-1.00) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 125.6mm grav_b=(-0.11,+0.06,-0.99) r=0.70m +[headless_play] t= 4.50s step= 225 trunk_z= 123.6mm grav_b=(-0.05,+0.06,-1.00) r=0.70m +[headless_play] t= 4.60s step= 230 trunk_z= 117.6mm grav_b=(-0.07,-0.06,-1.00) r=0.71m +[headless_play] t= 4.70s step= 235 trunk_z= 120.2mm grav_b=(-0.08,-0.06,-1.00) r=0.72m +[headless_play] t= 4.80s step= 240 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=0.72m +[headless_play] t= 4.90s step= 245 trunk_z= 120.3mm grav_b=(-0.05,+0.07,-1.00) r=0.73m +[headless_play] t= 5.00s step= 250 trunk_z= 119.0mm grav_b=(-0.05,+0.04,-1.00) r=0.74m +[headless_play] t= 5.10s step= 255 trunk_z= 119.8mm grav_b=(-0.04,-0.07,-1.00) r=0.76m +[headless_play] t= 5.20s step= 260 trunk_z= 119.0mm grav_b=(-0.06,-0.06,-1.00) r=0.77m +[headless_play] t= 5.30s step= 265 trunk_z= 109.2mm grav_b=(-0.03,-0.02,-1.00) r=0.79m +[headless_play] t= 5.40s step= 270 trunk_z= 104.3mm grav_b=(+0.01,-0.09,-1.00) r=0.82m +[headless_play] t= 5.50s step= 275 trunk_z= 88.4mm grav_b=(+0.10,-0.19,-0.98) r=0.85m +[headless_play] t= 5.60s step= 280 trunk_z= 108.1mm grav_b=(-0.01,-0.16,-0.99) r=0.88m +[headless_play] t= 5.70s step= 285 trunk_z= 96.1mm grav_b=(-0.07,-0.00,-1.00) r=0.91m +[headless_play] t= 5.80s step= 290 trunk_z= 98.5mm grav_b=(-0.06,+0.04,-1.00) r=0.92m +[headless_play] t= 5.90s step= 295 trunk_z= 92.1mm grav_b=(-0.06,-0.03,-1.00) r=0.94m +[headless_play] t= 6.00s step= 300 trunk_z= 98.1mm grav_b=(-0.08,-0.06,-0.99) r=0.96m +[headless_play] t= 6.10s step= 305 trunk_z= 95.9mm grav_b=(-0.07,-0.04,-1.00) r=0.97m +[headless_play] t= 6.20s step= 310 trunk_z= 93.1mm grav_b=(-0.06,+0.06,-1.00) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 97.7mm grav_b=(-0.07,+0.07,-1.00) r=0.99m +[headless_play] t= 6.40s step= 320 trunk_z= 91.9mm grav_b=(-0.01,+0.01,-1.00) r=1.00m +[headless_play] t= 6.50s step= 325 trunk_z= 95.9mm grav_b=(-0.03,-0.07,-1.00) r=1.01m +[headless_play] t= 6.60s step= 330 trunk_z= 94.9mm grav_b=(-0.03,-0.04,-1.00) r=1.02m +[headless_play] t= 6.70s step= 335 trunk_z= 92.9mm grav_b=(-0.06,+0.08,-1.00) r=1.03m +[headless_play] t= 6.80s step= 340 trunk_z= 98.0mm grav_b=(-0.07,+0.07,-0.99) r=1.04m +[headless_play] t= 6.90s step= 345 trunk_z= 91.5mm grav_b=(-0.05,+0.00,-1.00) r=1.04m +[headless_play] t= 7.00s step= 350 trunk_z= 96.5mm grav_b=(-0.07,-0.08,-0.99) r=1.05m +[headless_play] t= 7.10s step= 355 trunk_z= 96.6mm grav_b=(-0.04,-0.04,-1.00) r=1.05m +[headless_play] t= 7.20s step= 360 trunk_z= 96.4mm grav_b=(-0.04,+0.11,-0.99) r=1.06m +[headless_play] t= 7.30s step= 365 trunk_z= 106.0mm grav_b=(-0.04,+0.11,-0.99) r=1.07m +[headless_play] t= 7.40s step= 370 trunk_z= 102.8mm grav_b=(-0.07,+0.04,-1.00) r=1.09m +[headless_play] t= 7.50s step= 375 trunk_z= 100.3mm grav_b=(-0.10,-0.03,-0.99) r=1.11m +[headless_play] t= 7.60s step= 380 trunk_z= 97.2mm grav_b=(-0.08,-0.02,-1.00) r=1.12m +[headless_play] t= 7.70s step= 385 trunk_z= 96.2mm grav_b=(-0.07,+0.07,-1.00) r=1.12m +[headless_play] t= 7.80s step= 390 trunk_z= 101.2mm grav_b=(-0.05,+0.06,-1.00) r=1.13m +[headless_play] t= 7.90s step= 395 trunk_z= 95.9mm grav_b=(-0.07,-0.01,-1.00) r=1.15m +[headless_play] t= 8.00s step= 400 trunk_z= 100.2mm grav_b=(-0.09,-0.06,-0.99) r=1.16m +[headless_play] t= 8.10s step= 405 trunk_z= 95.6mm grav_b=(-0.07,-0.01,-1.00) r=1.17m +[headless_play] t= 8.20s step= 410 trunk_z= 98.4mm grav_b=(-0.06,+0.08,-0.99) r=1.17m +[headless_play] t= 8.30s step= 415 trunk_z= 102.9mm grav_b=(-0.05,+0.06,-1.00) r=1.18m +[headless_play] t= 8.40s step= 420 trunk_z= 96.2mm grav_b=(-0.07,-0.02,-1.00) r=1.20m +[headless_play] t= 8.50s step= 425 trunk_z= 100.3mm grav_b=(-0.08,-0.06,-0.99) r=1.22m +[headless_play] t= 8.60s step= 430 trunk_z= 96.1mm grav_b=(-0.08,-0.02,-1.00) r=1.22m +[headless_play] t= 8.70s step= 435 trunk_z= 98.2mm grav_b=(-0.08,+0.09,-0.99) r=1.23m +[headless_play] t= 8.80s step= 440 trunk_z= 102.5mm grav_b=(-0.07,+0.07,-1.00) r=1.23m +[headless_play] t= 8.90s step= 445 trunk_z= 96.2mm grav_b=(-0.06,+0.02,-1.00) r=1.25m +[headless_play] t= 9.00s step= 450 trunk_z= 99.0mm grav_b=(-0.08,-0.05,-1.00) r=1.26m +[headless_play] t= 9.10s step= 455 trunk_z= 95.4mm grav_b=(-0.07,-0.01,-1.00) r=1.26m +[headless_play] t= 9.20s step= 460 trunk_z= 97.6mm grav_b=(-0.07,+0.10,-0.99) r=1.27m +[headless_play] t= 9.30s step= 465 trunk_z= 102.5mm grav_b=(-0.05,+0.08,-1.00) r=1.28m +[headless_play] t= 9.40s step= 470 trunk_z= 96.0mm grav_b=(-0.07,-0.01,-1.00) r=1.30m +[headless_play] t= 9.50s step= 475 trunk_z= 100.1mm grav_b=(-0.09,-0.06,-0.99) r=1.31m +[headless_play] t= 9.60s step= 480 trunk_z= 96.0mm grav_b=(-0.08,-0.02,-1.00) r=1.32m +[headless_play] t= 9.70s step= 485 trunk_z= 98.7mm grav_b=(-0.06,+0.10,-0.99) r=1.32m +[headless_play] t= 9.80s step= 490 trunk_z= 102.5mm grav_b=(-0.05,+0.08,-1.00) r=1.33m +[headless_play] t= 9.90s step= 495 trunk_z= 95.8mm grav_b=(-0.07,-0.01,-1.00) r=1.35m +[headless_play] t= 10.00s step= 500 trunk_z= 99.7mm grav_b=(-0.08,-0.06,-1.00) r=1.36m +[headless_play] t= 10.10s step= 505 trunk_z= 95.9mm grav_b=(-0.09,-0.02,-1.00) r=1.36m +[headless_play] t= 10.20s step= 510 trunk_z= 98.5mm grav_b=(-0.08,+0.10,-0.99) r=1.36m +[headless_play] t= 10.30s step= 515 trunk_z= 102.8mm grav_b=(-0.07,+0.09,-0.99) r=1.37m +[headless_play] t= 10.40s step= 520 trunk_z= 96.0mm grav_b=(-0.07,+0.01,-1.00) r=1.39m +[headless_play] t= 10.50s step= 525 trunk_z= 99.1mm grav_b=(-0.06,-0.05,-1.00) r=1.40m +[headless_play] t= 10.60s step= 530 trunk_z= 96.3mm grav_b=(-0.06,-0.02,-1.00) r=1.42m +[headless_play] t= 10.70s step= 535 trunk_z= 96.6mm grav_b=(-0.08,+0.07,-0.99) r=1.44m +[headless_play] t= 10.80s step= 540 trunk_z= 102.0mm grav_b=(-0.09,+0.06,-0.99) r=1.45m +[headless_play] t= 10.90s step= 545 trunk_z= 97.3mm grav_b=(-0.07,+0.02,-1.00) r=1.45m +[headless_play] t= 11.00s step= 550 trunk_z= 94.6mm grav_b=(-0.09,-0.05,-1.00) r=1.45m +[headless_play] t= 11.10s step= 555 trunk_z= 93.5mm grav_b=(-0.07,-0.05,-1.00) r=1.42m +[headless_play] t= 11.20s step= 560 trunk_z= 93.0mm grav_b=(-0.05,+0.05,-1.00) r=1.40m +[headless_play] t= 11.30s step= 565 trunk_z= 95.3mm grav_b=(-0.04,+0.06,-1.00) r=1.39m +[headless_play] t= 11.40s step= 570 trunk_z= 91.5mm grav_b=(+0.01,-0.03,-1.00) r=1.40m +[headless_play] t= 11.50s step= 575 trunk_z= 97.0mm grav_b=(-0.05,-0.11,-0.99) r=1.41m +[headless_play] t= 11.60s step= 580 trunk_z= 94.5mm grav_b=(-0.04,-0.09,-0.99) r=1.41m +[headless_play] t= 11.70s step= 585 trunk_z= 92.2mm grav_b=(-0.04,+0.03,-1.00) r=1.39m +[headless_play] t= 11.80s step= 590 trunk_z= 96.5mm grav_b=(-0.06,+0.04,-1.00) r=1.39m +[headless_play] t= 11.90s step= 595 trunk_z= 92.9mm grav_b=(+0.01,-0.01,-1.00) r=1.40m +[headless_play] t= 12.00s step= 600 trunk_z= 94.8mm grav_b=(-0.01,-0.10,-1.00) r=1.41m +[headless_play] t= 12.10s step= 605 trunk_z= 93.4mm grav_b=(-0.02,-0.07,-1.00) r=1.40m +[headless_play] t= 12.20s step= 610 trunk_z= 93.0mm grav_b=(-0.06,+0.03,-1.00) r=1.38m +[headless_play] t= 12.30s step= 615 trunk_z= 99.8mm grav_b=(-0.11,+0.02,-0.99) r=1.38m +[headless_play] t= 12.40s step= 620 trunk_z= 96.9mm grav_b=(-0.06,-0.01,-1.00) r=1.40m +[headless_play] t= 12.50s step= 625 trunk_z= 93.8mm grav_b=(-0.06,-0.10,-0.99) r=1.41m +[headless_play] t= 12.60s step= 630 trunk_z= 95.2mm grav_b=(-0.07,-0.11,-0.99) r=1.41m +[headless_play] t= 12.70s step= 635 trunk_z= 90.3mm grav_b=(-0.03,-0.05,-1.00) r=1.40m +[headless_play] t= 12.80s step= 640 trunk_z= 93.9mm grav_b=(-0.00,+0.03,-1.00) r=1.38m +[headless_play] t= 12.90s step= 645 trunk_z= 94.0mm grav_b=(+0.01,+0.01,-1.00) r=1.38m +[headless_play] t= 13.00s step= 650 trunk_z= 94.3mm grav_b=(-0.04,-0.08,-1.00) r=1.38m +[headless_play] t= 13.10s step= 655 trunk_z= 94.8mm grav_b=(-0.07,-0.07,-0.99) r=1.37m +[headless_play] t= 13.20s step= 660 trunk_z= 89.3mm grav_b=(-0.03,+0.03,-1.00) r=1.36m +[headless_play] t= 13.30s step= 665 trunk_z= 97.0mm grav_b=(-0.04,+0.04,-1.00) r=1.34m +[headless_play] t= 13.40s step= 670 trunk_z= 94.1mm grav_b=(-0.01,+0.02,-1.00) r=1.34m +[headless_play] t= 13.50s step= 675 trunk_z= 94.5mm grav_b=(-0.02,-0.08,-1.00) r=1.34m +[headless_play] t= 13.60s step= 680 trunk_z= 93.7mm grav_b=(-0.03,-0.07,-1.00) r=1.33m +[headless_play] t= 13.70s step= 685 trunk_z= 90.0mm grav_b=(-0.03,+0.04,-1.00) r=1.32m +[headless_play] t= 13.80s step= 690 trunk_z= 97.8mm grav_b=(-0.07,+0.03,-1.00) r=1.31m +[headless_play] t= 13.90s step= 695 trunk_z= 94.5mm grav_b=(-0.02,-0.01,-1.00) r=1.30m +[headless_play] t= 14.00s step= 700 trunk_z= 94.3mm grav_b=(-0.03,-0.10,-0.99) r=1.30m +[headless_play] t= 14.10s step= 705 trunk_z= 93.7mm grav_b=(-0.02,-0.10,-0.99) r=1.29m +[headless_play] t= 14.20s step= 710 trunk_z= 88.5mm grav_b=(+0.00,+0.02,-1.00) r=1.28m +[headless_play] t= 14.30s step= 715 trunk_z= 97.6mm grav_b=(-0.04,+0.03,-1.00) r=1.27m +[headless_play] t= 14.40s step= 720 trunk_z= 94.8mm grav_b=(-0.00,+0.02,-1.00) r=1.26m +[headless_play] t= 14.50s step= 725 trunk_z= 92.7mm grav_b=(-0.01,-0.11,-0.99) r=1.25m +[headless_play] t= 14.60s step= 730 trunk_z= 94.8mm grav_b=(-0.03,-0.08,-1.00) r=1.25m +[headless_play] t= 14.70s step= 735 trunk_z= 90.4mm grav_b=(-0.03,-0.02,-1.00) r=1.24m +[headless_play] t= 14.80s step= 740 trunk_z= 97.3mm grav_b=(-0.05,+0.03,-1.00) r=1.23m +[headless_play] t= 14.90s step= 745 trunk_z= 96.5mm grav_b=(-0.05,+0.03,-1.00) r=1.22m +[headless_play] t= 15.00s step= 750 trunk_z= 89.9mm grav_b=(+0.00,-0.09,-1.00) r=1.21m +[headless_play] t= 15.10s step= 755 trunk_z= 95.3mm grav_b=(-0.02,-0.10,-1.00) r=1.21m +[headless_play] t= 15.20s step= 760 trunk_z= 95.6mm grav_b=(-0.05,-0.09,-1.00) r=1.22m +[headless_play] t= 15.30s step= 765 trunk_z= 96.4mm grav_b=(-0.12,+0.09,-0.99) r=1.23m +[headless_play] t= 15.40s step= 770 trunk_z= 101.4mm grav_b=(-0.10,+0.09,-0.99) r=1.24m +[headless_play] t= 15.50s step= 775 trunk_z= 98.8mm grav_b=(-0.11,+0.08,-0.99) r=1.25m +[headless_play] t= 15.60s step= 780 trunk_z= 96.6mm grav_b=(-0.08,-0.04,-1.00) r=1.26m +[headless_play] t= 15.70s step= 785 trunk_z= 99.9mm grav_b=(-0.06,-0.03,-1.00) r=1.25m +[headless_play] t= 15.80s step= 790 trunk_z= 94.5mm grav_b=(-0.08,+0.03,-1.00) r=1.23m +[headless_play] t= 15.90s step= 795 trunk_z= 101.1mm grav_b=(-0.07,+0.09,-0.99) r=1.22m +[headless_play] t= 16.00s step= 800 trunk_z= 101.5mm grav_b=(-0.06,+0.05,-1.00) r=1.22m +[headless_play] t= 16.10s step= 805 trunk_z= 96.6mm grav_b=(-0.08,-0.02,-1.00) r=1.21m +[headless_play] t= 16.20s step= 810 trunk_z= 101.6mm grav_b=(-0.09,-0.06,-0.99) r=1.21m +[headless_play] t= 16.30s step= 815 trunk_z= 99.3mm grav_b=(-0.12,-0.05,-0.99) r=1.20m +[headless_play] t= 16.40s step= 820 trunk_z= 96.5mm grav_b=(-0.10,+0.06,-0.99) r=1.18m +[headless_play] t= 16.50s step= 825 trunk_z= 100.2mm grav_b=(-0.08,+0.05,-1.00) r=1.18m +[headless_play] t= 16.60s step= 830 trunk_z= 95.4mm grav_b=(-0.06,-0.02,-1.00) r=1.18m +[headless_play] t= 16.70s step= 835 trunk_z= 102.8mm grav_b=(-0.06,-0.07,-1.00) r=1.17m +[headless_play] t= 16.80s step= 840 trunk_z= 101.0mm grav_b=(-0.09,-0.04,-1.00) r=1.16m +[headless_play] t= 16.90s step= 845 trunk_z= 93.9mm grav_b=(-0.12,+0.08,-0.99) r=1.13m +[headless_play] t= 17.00s step= 850 trunk_z= 101.2mm grav_b=(-0.09,+0.11,-0.99) r=1.12m +[headless_play] t= 17.10s step= 855 trunk_z= 99.1mm grav_b=(-0.09,+0.05,-0.99) r=1.12m +[headless_play] t= 17.20s step= 860 trunk_z= 99.4mm grav_b=(-0.07,-0.05,-1.00) r=1.12m +[headless_play] t= 17.30s step= 865 trunk_z= 102.9mm grav_b=(-0.05,-0.05,-1.00) r=1.11m +[headless_play] t= 17.40s step= 870 trunk_z= 97.3mm grav_b=(-0.11,+0.00,-0.99) r=1.09m +[headless_play] t= 17.50s step= 875 trunk_z= 98.0mm grav_b=(-0.09,+0.10,-0.99) r=1.07m +[headless_play] t= 17.60s step= 880 trunk_z= 97.8mm grav_b=(-0.09,+0.05,-0.99) r=1.07m +[headless_play] t= 17.70s step= 885 trunk_z= 99.0mm grav_b=(-0.08,-0.06,-0.99) r=1.07m +[headless_play] t= 17.80s step= 890 trunk_z= 102.3mm grav_b=(-0.06,-0.05,-1.00) r=1.06m +[headless_play] t= 17.90s step= 895 trunk_z= 97.3mm grav_b=(-0.14,-0.00,-0.99) r=1.03m +[headless_play] t= 18.00s step= 900 trunk_z= 98.6mm grav_b=(-0.08,+0.10,-0.99) r=1.00m +[headless_play] t= 18.10s step= 905 trunk_z= 100.9mm grav_b=(-0.07,+0.07,-1.00) r=0.98m +[headless_play] t= 18.20s step= 910 trunk_z= 95.0mm grav_b=(-0.10,-0.02,-0.99) r=0.98m +[headless_play] t= 18.30s step= 915 trunk_z= 95.5mm grav_b=(-0.09,-0.03,-1.00) r=0.98m +[headless_play] t= 18.40s step= 920 trunk_z= 88.7mm grav_b=(-0.07,+0.01,-1.00) r=0.98m +[headless_play] t= 18.50s step= 925 trunk_z= 94.5mm grav_b=(-0.06,+0.06,-1.00) r=0.98m +[headless_play] t= 18.60s step= 930 trunk_z= 95.6mm grav_b=(-0.07,+0.05,-1.00) r=0.99m +[headless_play] t= 18.70s step= 935 trunk_z= 87.8mm grav_b=(-0.05,-0.04,-1.00) r=1.01m +[headless_play] t= 18.80s step= 940 trunk_z= 91.9mm grav_b=(-0.07,-0.07,-0.99) r=1.01m +[headless_play] t= 18.90s step= 945 trunk_z= 90.5mm grav_b=(-0.04,-0.05,-1.00) r=0.99m +[headless_play] t= 19.00s step= 950 trunk_z= 91.9mm grav_b=(-0.02,+0.00,-1.00) r=0.98m +[headless_play] t= 19.10s step= 955 trunk_z= 92.9mm grav_b=(-0.01,-0.01,-1.00) r=0.98m +[headless_play] t= 19.20s step= 960 trunk_z= 85.9mm grav_b=(+0.02,-0.07,-1.00) r=1.00m +[headless_play] t= 19.30s step= 965 trunk_z= 94.0mm grav_b=(-0.02,-0.09,-1.00) r=1.00m +[headless_play] t= 19.40s step= 970 trunk_z= 91.0mm grav_b=(-0.03,-0.05,-1.00) r=0.98m +[headless_play] t= 19.50s step= 975 trunk_z= 91.6mm grav_b=(-0.05,+0.05,-1.00) r=0.97m +[headless_play] t= 19.60s step= 980 trunk_z= 93.8mm grav_b=(-0.05,+0.03,-1.00) r=0.98m +[headless_play] t= 19.70s step= 985 trunk_z= 87.3mm grav_b=(-0.01,-0.05,-1.00) r=0.99m +[headless_play] t= 19.80s step= 990 trunk_z= 86.0mm grav_b=(+0.01,-0.06,-1.00) r=0.99m +[headless_play] t= 19.90s step= 995 trunk_z= 85.8mm grav_b=(+0.01,-0.00,-1.00) r=0.98m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.40m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..a4116fc08d6f3703c2f66c70a8131bba4cc5cd41 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.335,-18.413,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.05,-0.00,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.09,+0.02,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.08,+0.07,-0.99) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 118.2mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 120.0mm grav_b=(-0.00,-0.14,-0.99) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 123.3mm grav_b=(+0.01,-0.14,-0.99) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 120.3mm grav_b=(+0.05,-0.08,-1.00) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 117.4mm grav_b=(+0.09,+0.06,-0.99) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 123.1mm grav_b=(+0.09,+0.09,-0.99) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 115.7mm grav_b=(+0.04,-0.03,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 121.7mm grav_b=(+0.01,-0.10,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 119.5mm grav_b=(+0.04,-0.04,-1.00) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 119.1mm grav_b=(+0.07,+0.07,-0.99) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 121.2mm grav_b=(+0.09,+0.04,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 118.4mm grav_b=(+0.05,-0.10,-0.99) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 122.7mm grav_b=(+0.04,-0.12,-0.99) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 118.5mm grav_b=(+0.06,-0.06,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 119.7mm grav_b=(+0.06,+0.07,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 121.3mm grav_b=(+0.04,+0.04,-1.00) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(+0.04,-0.07,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 120.7mm grav_b=(+0.05,-0.10,-0.99) r=0.37m +[headless_play] t= 2.20s step= 110 trunk_z= 118.0mm grav_b=(+0.08,-0.05,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 118.3mm grav_b=(+0.09,+0.09,-0.99) r=0.37m +[headless_play] t= 2.40s step= 120 trunk_z= 121.7mm grav_b=(+0.06,+0.05,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(+0.03,-0.07,-1.00) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 121.3mm grav_b=(+0.03,-0.09,-1.00) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 117.8mm grav_b=(+0.06,-0.03,-1.00) r=0.34m +[headless_play] t= 2.80s step= 140 trunk_z= 120.1mm grav_b=(+0.08,+0.07,-0.99) r=0.35m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(+0.07,+0.03,-1.00) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 119.5mm grav_b=(+0.03,-0.10,-0.99) r=0.32m +[headless_play] t= 3.10s step= 155 trunk_z= 122.2mm grav_b=(+0.04,-0.11,-0.99) r=0.31m +[headless_play] t= 3.20s step= 160 trunk_z= 117.9mm grav_b=(+0.06,-0.05,-1.00) r=0.32m +[headless_play] t= 3.30s step= 165 trunk_z= 120.4mm grav_b=(+0.07,+0.08,-0.99) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 121.0mm grav_b=(+0.06,+0.04,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 118.1mm grav_b=(+0.04,-0.09,-0.99) r=0.31m +[headless_play] t= 3.60s step= 180 trunk_z= 121.9mm grav_b=(+0.04,-0.10,-0.99) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 118.0mm grav_b=(+0.06,-0.05,-1.00) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 119.0mm grav_b=(+0.05,+0.10,-0.99) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 122.9mm grav_b=(+0.05,+0.05,-1.00) r=0.34m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(+0.05,-0.04,-1.00) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 121.3mm grav_b=(+0.03,-0.09,-1.00) r=0.32m +[headless_play] t= 4.20s step= 210 trunk_z= 117.9mm grav_b=(+0.06,-0.07,-1.00) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 114.3mm grav_b=(+0.05,+0.08,-1.00) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 121.5mm grav_b=(+0.06,+0.06,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 114.7mm grav_b=(+0.06,-0.04,-1.00) r=0.35m +[headless_play] t= 4.60s step= 230 trunk_z= 121.4mm grav_b=(+0.04,-0.11,-0.99) r=0.35m +[headless_play] t= 4.70s step= 235 trunk_z= 119.6mm grav_b=(+0.07,-0.08,-0.99) r=0.36m +[headless_play] t= 4.80s step= 240 trunk_z= 114.8mm grav_b=(+0.05,+0.05,-1.00) r=0.38m +[headless_play] t= 4.90s step= 245 trunk_z= 124.1mm grav_b=(+0.03,+0.09,-1.00) r=0.39m +[headless_play] t= 5.00s step= 250 trunk_z= 119.8mm grav_b=(+0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 5.10s step= 255 trunk_z= 124.0mm grav_b=(+0.01,-0.09,-1.00) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 122.9mm grav_b=(+0.03,-0.07,-1.00) r=0.39m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.06,+0.04,-1.00) r=0.41m +[headless_play] t= 5.40s step= 270 trunk_z= 125.1mm grav_b=(+0.04,+0.09,-0.99) r=0.43m +[headless_play] t= 5.50s step= 275 trunk_z= 123.9mm grav_b=(+0.04,+0.06,-1.00) r=0.43m +[headless_play] t= 5.60s step= 280 trunk_z= 122.3mm grav_b=(+0.01,-0.08,-1.00) r=0.44m +[headless_play] t= 5.70s step= 285 trunk_z= 122.1mm grav_b=(+0.05,-0.06,-1.00) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 116.7mm grav_b=(+0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 124.4mm grav_b=(+0.04,+0.08,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 122.9mm grav_b=(+0.03,+0.04,-1.00) r=0.49m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(+0.01,-0.08,-1.00) r=0.49m +[headless_play] t= 6.20s step= 310 trunk_z= 122.4mm grav_b=(+0.04,-0.07,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(+0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 124.3mm grav_b=(+0.03,+0.10,-0.99) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 123.5mm grav_b=(+0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 121.2mm grav_b=(-0.01,-0.06,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 123.1mm grav_b=(+0.03,-0.07,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 117.4mm grav_b=(+0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 6.90s step= 345 trunk_z= 121.7mm grav_b=(+0.05,+0.11,-0.99) r=0.54m +[headless_play] t= 7.00s step= 350 trunk_z= 126.2mm grav_b=(+0.03,+0.06,-1.00) r=0.56m +[headless_play] t= 7.10s step= 355 trunk_z= 119.2mm grav_b=(+0.03,-0.05,-1.00) r=0.58m +[headless_play] t= 7.20s step= 360 trunk_z= 123.2mm grav_b=(+0.06,-0.08,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 120.1mm grav_b=(+0.05,-0.03,-1.00) r=0.59m +[headless_play] t= 7.40s step= 370 trunk_z= 119.9mm grav_b=(+0.05,+0.09,-0.99) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 126.2mm grav_b=(+0.03,+0.06,-1.00) r=0.60m +[headless_play] t= 7.60s step= 380 trunk_z= 118.4mm grav_b=(+0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 7.70s step= 385 trunk_z= 124.0mm grav_b=(+0.02,-0.09,-1.00) r=0.63m +[headless_play] t= 7.80s step= 390 trunk_z= 120.8mm grav_b=(+0.03,-0.04,-1.00) r=0.62m +[headless_play] t= 7.90s step= 395 trunk_z= 117.4mm grav_b=(+0.04,+0.08,-1.00) r=0.61m +[headless_play] t= 8.00s step= 400 trunk_z= 127.4mm grav_b=(+0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 8.10s step= 405 trunk_z= 122.4mm grav_b=(+0.04,+0.04,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 122.8mm grav_b=(+0.05,-0.06,-1.00) r=0.65m +[headless_play] t= 8.30s step= 415 trunk_z= 120.7mm grav_b=(+0.04,-0.04,-1.00) r=0.65m +[headless_play] t= 8.40s step= 420 trunk_z= 115.8mm grav_b=(+0.02,+0.07,-1.00) r=0.63m +[headless_play] t= 8.50s step= 425 trunk_z= 125.6mm grav_b=(+0.02,+0.08,-1.00) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 121.3mm grav_b=(+0.03,+0.03,-1.00) r=0.65m +[headless_play] t= 8.70s step= 435 trunk_z= 122.9mm grav_b=(+0.05,-0.08,-1.00) r=0.67m +[headless_play] t= 8.80s step= 440 trunk_z= 121.7mm grav_b=(+0.03,-0.05,-1.00) r=0.66m +[headless_play] t= 8.90s step= 445 trunk_z= 115.6mm grav_b=(+0.01,+0.05,-1.00) r=0.65m +[headless_play] t= 9.00s step= 450 trunk_z= 125.8mm grav_b=(-0.00,+0.09,-1.00) r=0.64m +[headless_play] t= 9.10s step= 455 trunk_z= 123.8mm grav_b=(+0.02,+0.06,-1.00) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 121.2mm grav_b=(+0.04,-0.06,-1.00) r=0.67m +[headless_play] t= 9.30s step= 465 trunk_z= 121.4mm grav_b=(+0.05,-0.05,-1.00) r=0.67m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(+0.04,+0.03,-1.00) r=0.66m +[headless_play] t= 9.50s step= 475 trunk_z= 124.1mm grav_b=(+0.03,+0.08,-1.00) r=0.65m +[headless_play] t= 9.60s step= 480 trunk_z= 122.4mm grav_b=(+0.04,+0.04,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 122.3mm grav_b=(+0.04,-0.07,-1.00) r=0.68m +[headless_play] t= 9.80s step= 490 trunk_z= 122.3mm grav_b=(+0.04,-0.06,-1.00) r=0.68m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 125.0mm grav_b=(+0.03,+0.08,-1.00) r=0.65m +[headless_play] t= 10.10s step= 505 trunk_z= 123.7mm grav_b=(+0.03,+0.05,-1.00) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 122.4mm grav_b=(+0.03,-0.06,-1.00) r=0.68m +[headless_play] t= 10.30s step= 515 trunk_z= 121.9mm grav_b=(+0.03,-0.05,-1.00) r=0.67m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(+0.02,+0.04,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 126.0mm grav_b=(+0.04,+0.08,-1.00) r=0.64m +[headless_play] t= 10.60s step= 530 trunk_z= 125.3mm grav_b=(+0.04,+0.04,-1.00) r=0.65m +[headless_play] t= 10.70s step= 535 trunk_z= 123.8mm grav_b=(+0.04,-0.08,-1.00) r=0.67m +[headless_play] t= 10.80s step= 540 trunk_z= 123.6mm grav_b=(+0.05,-0.08,-1.00) r=0.67m +[headless_play] t= 10.90s step= 545 trunk_z= 118.1mm grav_b=(+0.04,-0.00,-1.00) r=0.65m +[headless_play] t= 11.00s step= 550 trunk_z= 124.5mm grav_b=(+0.03,+0.09,-1.00) r=0.63m +[headless_play] t= 11.10s step= 555 trunk_z= 125.4mm grav_b=(+0.03,+0.05,-1.00) r=0.64m +[headless_play] t= 11.20s step= 560 trunk_z= 124.0mm grav_b=(+0.03,-0.07,-1.00) r=0.66m +[headless_play] t= 11.30s step= 565 trunk_z= 125.3mm grav_b=(+0.03,-0.07,-1.00) r=0.66m +[headless_play] t= 11.40s step= 570 trunk_z= 120.7mm grav_b=(+0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 123.8mm grav_b=(+0.01,+0.10,-0.99) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 126.6mm grav_b=(+0.02,+0.07,-1.00) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 11.80s step= 590 trunk_z= 124.1mm grav_b=(+0.03,-0.07,-1.00) r=0.65m +[headless_play] t= 11.90s step= 595 trunk_z= 117.9mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 12.00s step= 600 trunk_z= 118.8mm grav_b=(+0.02,+0.02,-1.00) r=0.64m +[headless_play] t= 12.10s step= 605 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.64m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 12.50s step= 625 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 12.90s step= 645 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 13.10s step= 655 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 13.20s step= 660 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 13.30s step= 665 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.64m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(+0.03,-0.03,-1.00) r=0.64m +[headless_play] t= 13.70s step= 685 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 13.80s step= 690 trunk_z= 115.6mm grav_b=(+0.07,-0.02,-1.00) r=0.64m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(+0.09,-0.02,-1.00) r=0.64m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(+0.07,-0.02,-1.00) r=0.64m +[headless_play] t= 14.10s step= 705 trunk_z= 115.6mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 14.20s step= 710 trunk_z= 115.3mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 14.30s step= 715 trunk_z= 115.2mm grav_b=(+0.07,-0.02,-1.00) r=0.64m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(+0.08,-0.02,-1.00) r=0.64m +[headless_play] t= 14.50s step= 725 trunk_z= 115.4mm grav_b=(+0.07,-0.02,-1.00) r=0.64m +[headless_play] t= 14.60s step= 730 trunk_z= 115.3mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 14.70s step= 735 trunk_z= 115.2mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 14.80s step= 740 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 14.90s step= 745 trunk_z= 115.3mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 15.00s step= 750 trunk_z= 115.3mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 15.10s step= 755 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 15.20s step= 760 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 15.30s step= 765 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 15.40s step= 770 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 15.50s step= 775 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 15.60s step= 780 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.64m +[headless_play] t= 15.70s step= 785 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 15.80s step= 790 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 15.90s step= 795 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.00s step= 800 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 115.3mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.20s step= 810 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.30s step= 815 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.40s step= 820 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.50s step= 825 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.60s step= 830 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.70s step= 835 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 16.90s step= 845 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.00s step= 850 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.10s step= 855 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.20s step= 860 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.40s step= 870 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.50s step= 875 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.60s step= 880 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.70s step= 885 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.80s step= 890 trunk_z= 115.1mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 17.90s step= 895 trunk_z= 115.1mm grav_b=(+0.06,-0.03,-1.00) r=0.64m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(+0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 18.10s step= 905 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00) r=0.64m +[headless_play] t= 18.20s step= 910 trunk_z= 116.3mm grav_b=(+0.03,+0.07,-1.00) r=0.63m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(+0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 18.40s step= 920 trunk_z= 114.7mm grav_b=(+0.01,-0.04,-1.00) r=0.62m +[headless_play] t= 18.50s step= 925 trunk_z= 119.4mm grav_b=(+0.01,-0.12,-0.99) r=0.62m +[headless_play] t= 18.60s step= 930 trunk_z= 118.1mm grav_b=(+0.07,-0.09,-0.99) r=0.62m +[headless_play] t= 18.70s step= 935 trunk_z= 114.6mm grav_b=(+0.06,+0.03,-1.00) r=0.60m +[headless_play] t= 18.80s step= 940 trunk_z= 122.1mm grav_b=(+0.03,+0.13,-0.99) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 121.2mm grav_b=(+0.02,+0.11,-0.99) r=0.57m +[headless_play] t= 19.00s step= 950 trunk_z= 115.5mm grav_b=(+0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 19.10s step= 955 trunk_z= 119.1mm grav_b=(+0.01,-0.07,-1.00) r=0.57m +[headless_play] t= 19.20s step= 960 trunk_z= 118.0mm grav_b=(+0.04,-0.05,-1.00) r=0.56m +[headless_play] t= 19.30s step= 965 trunk_z= 113.9mm grav_b=(+0.07,+0.05,-1.00) r=0.55m +[headless_play] t= 19.40s step= 970 trunk_z= 118.7mm grav_b=(+0.06,+0.11,-0.99) r=0.53m +[headless_play] t= 19.50s step= 975 trunk_z= 115.7mm grav_b=(+0.05,+0.03,-1.00) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 118.3mm grav_b=(+0.05,-0.08,-1.00) r=0.51m +[headless_play] t= 19.70s step= 985 trunk_z= 118.3mm grav_b=(+0.08,-0.08,-0.99) r=0.50m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(+0.07,+0.02,-1.00) r=0.49m +[headless_play] t= 19.90s step= 995 trunk_z= 119.7mm grav_b=(+0.04,+0.10,-0.99) r=0.47m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.9mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 114.4mm grav_b=(-0.00,+0.02,-1.00) r=0.51m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..e421b84c4d6489cdf54738c6903b69a4e8c137a8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t14.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(-2.287,-17.611,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(+0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 117.7mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 119.7mm grav_b=(-0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 120.2mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 120.6mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(-0.03,+0.09,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 125.2mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 122.7mm grav_b=(-0.04,-0.07,-1.00) r=0.47m +[headless_play] t= 1.30s step= 65 trunk_z= 126.4mm grav_b=(-0.04,-0.10,-0.99) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 121.8mm grav_b=(-0.04,-0.06,-1.00) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 123.1mm grav_b=(-0.02,+0.08,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 126.7mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 120.0mm grav_b=(-0.03,-0.03,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 126.4mm grav_b=(-0.06,-0.10,-0.99) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 124.0mm grav_b=(-0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 119.9mm grav_b=(-0.03,+0.05,-1.00) r=0.48m +[headless_play] t= 2.10s step= 105 trunk_z= 127.0mm grav_b=(-0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 119.8mm grav_b=(-0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 2.30s step= 115 trunk_z= 126.5mm grav_b=(-0.06,-0.10,-0.99) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 125.0mm grav_b=(-0.07,-0.09,-0.99) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 119.3mm grav_b=(-0.06,+0.02,-1.00) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 126.1mm grav_b=(-0.02,+0.04,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 120.9mm grav_b=(-0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 2.80s step= 140 trunk_z= 126.5mm grav_b=(-0.06,-0.11,-0.99) r=0.48m +[headless_play] t= 2.90s step= 145 trunk_z= 125.5mm grav_b=(-0.06,-0.09,-0.99) r=0.48m +[headless_play] t= 3.00s step= 150 trunk_z= 119.4mm grav_b=(-0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 126.3mm grav_b=(-0.02,+0.05,-1.00) r=0.52m +[headless_play] t= 3.20s step= 160 trunk_z= 122.9mm grav_b=(-0.02,-0.02,-1.00) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 125.6mm grav_b=(-0.07,-0.10,-0.99) r=0.51m +[headless_play] t= 3.40s step= 170 trunk_z= 125.0mm grav_b=(-0.07,-0.09,-0.99) r=0.51m +[headless_play] t= 3.50s step= 175 trunk_z= 119.6mm grav_b=(-0.05,+0.01,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 126.1mm grav_b=(-0.06,+0.06,-1.00) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 122.6mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 126.0mm grav_b=(-0.03,-0.08,-1.00) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 125.4mm grav_b=(-0.03,-0.06,-1.00) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(-0.05,+0.03,-1.00) r=0.56m +[headless_play] t= 4.10s step= 205 trunk_z= 125.3mm grav_b=(-0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 4.20s step= 210 trunk_z= 124.3mm grav_b=(-0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 123.7mm grav_b=(-0.05,-0.07,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 126.2mm grav_b=(-0.07,-0.08,-0.99) r=0.57m +[headless_play] t= 4.50s step= 225 trunk_z= 120.2mm grav_b=(-0.09,-0.02,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 125.2mm grav_b=(-0.03,+0.07,-1.00) r=0.61m +[headless_play] t= 4.70s step= 235 trunk_z= 126.8mm grav_b=(+0.01,+0.03,-1.00) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(-0.03,-0.05,-1.00) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 126.6mm grav_b=(-0.07,-0.11,-0.99) r=0.61m +[headless_play] t= 5.00s step= 250 trunk_z= 127.0mm grav_b=(-0.08,-0.10,-0.99) r=0.62m +[headless_play] t= 5.10s step= 255 trunk_z= 121.5mm grav_b=(-0.09,-0.02,-1.00) r=0.64m +[headless_play] t= 5.20s step= 260 trunk_z= 124.7mm grav_b=(-0.03,+0.03,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 125.3mm grav_b=(+0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 120.0mm grav_b=(-0.03,-0.10,-0.99) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 127.0mm grav_b=(-0.06,-0.11,-0.99) r=0.68m +[headless_play] t= 5.60s step= 280 trunk_z= 125.5mm grav_b=(-0.07,-0.08,-0.99) r=0.69m +[headless_play] t= 5.70s step= 285 trunk_z= 119.6mm grav_b=(-0.09,+0.03,-1.00) r=0.72m +[headless_play] t= 5.80s step= 290 trunk_z= 123.8mm grav_b=(-0.04,+0.05,-1.00) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 121.2mm grav_b=(+0.02,+0.02,-1.00) r=0.76m +[headless_play] t= 6.00s step= 300 trunk_z= 88.6mm grav_b=(-0.00,+0.02,-1.00) r=0.81m +[headless_play] t= 6.10s step= 305 trunk_z= 100.6mm grav_b=(+0.06,+0.04,-1.00) r=0.83m +[headless_play] t= 6.20s step= 310 trunk_z= 80.1mm grav_b=(-0.05,+0.09,-1.00) r=0.87m +[headless_play] t= 6.30s step= 315 trunk_z= 94.1mm grav_b=(-0.03,+0.00,-1.00) r=0.89m +[headless_play] t= 6.40s step= 320 trunk_z= 95.0mm grav_b=(-0.06,-0.05,-1.00) r=0.89m +[headless_play] t= 6.50s step= 325 trunk_z= 101.8mm grav_b=(-0.08,-0.10,-0.99) r=0.90m +[headless_play] t= 6.60s step= 330 trunk_z= 102.4mm grav_b=(-0.06,-0.09,-0.99) r=0.91m +[headless_play] t= 6.70s step= 335 trunk_z= 95.0mm grav_b=(-0.07,-0.02,-1.00) r=0.93m +[headless_play] t= 6.80s step= 340 trunk_z= 98.6mm grav_b=(-0.03,+0.03,-1.00) r=0.94m +[headless_play] t= 6.90s step= 345 trunk_z= 99.4mm grav_b=(-0.03,+0.02,-1.00) r=0.95m +[headless_play] t= 7.00s step= 350 trunk_z= 94.3mm grav_b=(-0.07,-0.08,-0.99) r=0.96m +[headless_play] t= 7.10s step= 355 trunk_z= 104.6mm grav_b=(-0.09,-0.12,-0.99) r=0.98m +[headless_play] t= 7.20s step= 360 trunk_z= 103.7mm grav_b=(-0.06,-0.11,-0.99) r=0.99m +[headless_play] t= 7.30s step= 365 trunk_z= 97.3mm grav_b=(-0.05,-0.06,-1.00) r=1.01m +[headless_play] t= 7.40s step= 370 trunk_z= 97.1mm grav_b=(-0.09,+0.04,-1.00) r=1.01m +[headless_play] t= 7.50s step= 375 trunk_z= 100.2mm grav_b=(-0.10,+0.01,-0.99) r=1.01m +[headless_play] t= 7.60s step= 380 trunk_z= 89.7mm grav_b=(-0.03,-0.04,-1.00) r=0.99m +[headless_play] t= 7.70s step= 385 trunk_z= 95.0mm grav_b=(-0.07,-0.10,-0.99) r=0.98m +[headless_play] t= 7.80s step= 390 trunk_z= 94.7mm grav_b=(-0.03,-0.08,-1.00) r=0.97m +[headless_play] t= 7.90s step= 395 trunk_z= 92.0mm grav_b=(-0.04,+0.05,-1.00) r=0.95m +[headless_play] t= 8.00s step= 400 trunk_z= 97.3mm grav_b=(-0.03,+0.06,-1.00) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 90.2mm grav_b=(+0.01,-0.03,-1.00) r=0.97m +[headless_play] t= 8.20s step= 410 trunk_z= 95.0mm grav_b=(-0.01,-0.09,-1.00) r=0.98m +[headless_play] t= 8.30s step= 415 trunk_z= 93.1mm grav_b=(-0.01,-0.08,-1.00) r=0.97m +[headless_play] t= 8.40s step= 420 trunk_z= 89.4mm grav_b=(+0.01,+0.05,-1.00) r=0.96m +[headless_play] t= 8.50s step= 425 trunk_z= 96.0mm grav_b=(-0.00,+0.05,-1.00) r=0.96m +[headless_play] t= 8.60s step= 430 trunk_z= 91.0mm grav_b=(+0.01,-0.04,-1.00) r=0.98m +[headless_play] t= 8.70s step= 435 trunk_z= 97.6mm grav_b=(-0.06,-0.10,-0.99) r=0.99m +[headless_play] t= 8.80s step= 440 trunk_z= 98.1mm grav_b=(-0.05,-0.09,-0.99) r=0.99m +[headless_play] t= 8.90s step= 445 trunk_z= 92.4mm grav_b=(-0.04,+0.01,-1.00) r=0.97m +[headless_play] t= 9.00s step= 450 trunk_z= 97.7mm grav_b=(-0.05,+0.06,-1.00) r=0.96m +[headless_play] t= 9.10s step= 455 trunk_z= 93.4mm grav_b=(-0.01,+0.02,-1.00) r=0.97m +[headless_play] t= 9.20s step= 460 trunk_z= 92.3mm grav_b=(-0.01,-0.09,-1.00) r=0.99m +[headless_play] t= 9.30s step= 465 trunk_z= 93.6mm grav_b=(-0.01,-0.10,-1.00) r=0.99m +[headless_play] t= 9.40s step= 470 trunk_z= 90.7mm grav_b=(+0.01,-0.01,-1.00) r=0.98m +[headless_play] t= 9.50s step= 475 trunk_z= 95.3mm grav_b=(+0.00,+0.06,-1.00) r=0.97m +[headless_play] t= 9.60s step= 480 trunk_z= 94.1mm grav_b=(+0.01,-0.00,-1.00) r=0.98m +[headless_play] t= 9.70s step= 485 trunk_z= 96.8mm grav_b=(-0.04,-0.10,-0.99) r=1.00m +[headless_play] t= 9.80s step= 490 trunk_z= 97.7mm grav_b=(-0.04,-0.09,-1.00) r=1.00m +[headless_play] t= 9.90s step= 495 trunk_z= 94.8mm grav_b=(-0.04,-0.02,-1.00) r=0.99m +[headless_play] t= 10.00s step= 500 trunk_z= 97.7mm grav_b=(-0.05,+0.07,-1.00) r=0.98m +[headless_play] t= 10.10s step= 505 trunk_z= 100.2mm grav_b=(-0.05,+0.04,-1.00) r=0.97m +[headless_play] t= 10.20s step= 510 trunk_z= 93.5mm grav_b=(-0.04,-0.06,-1.00) r=0.99m +[headless_play] t= 10.30s step= 515 trunk_z= 98.2mm grav_b=(-0.01,-0.13,-0.99) r=1.00m +[headless_play] t= 10.40s step= 520 trunk_z= 97.9mm grav_b=(-0.04,-0.12,-0.99) r=1.00m +[headless_play] t= 10.50s step= 525 trunk_z= 92.3mm grav_b=(-0.01,-0.01,-1.00) r=0.98m +[headless_play] t= 10.60s step= 530 trunk_z= 99.4mm grav_b=(-0.04,+0.06,-1.00) r=0.97m +[headless_play] t= 10.70s step= 535 trunk_z= 96.7mm grav_b=(-0.05,-0.01,-1.00) r=0.97m +[headless_play] t= 10.80s step= 540 trunk_z= 99.2mm grav_b=(-0.04,-0.08,-1.00) r=0.99m +[headless_play] t= 10.90s step= 545 trunk_z= 98.8mm grav_b=(-0.06,-0.08,-0.99) r=0.98m +[headless_play] t= 11.00s step= 550 trunk_z= 93.0mm grav_b=(-0.05,+0.02,-1.00) r=0.96m +[headless_play] t= 11.10s step= 555 trunk_z= 100.8mm grav_b=(-0.02,+0.08,-1.00) r=0.95m +[headless_play] t= 11.20s step= 560 trunk_z= 98.1mm grav_b=(-0.01,+0.01,-1.00) r=0.96m +[headless_play] t= 11.30s step= 565 trunk_z= 99.5mm grav_b=(-0.03,-0.09,-1.00) r=0.97m +[headless_play] t= 11.40s step= 570 trunk_z= 99.5mm grav_b=(-0.06,-0.10,-0.99) r=0.97m +[headless_play] t= 11.50s step= 575 trunk_z= 93.8mm grav_b=(-0.07,-0.01,-1.00) r=0.95m +[headless_play] t= 11.60s step= 580 trunk_z= 99.9mm grav_b=(-0.03,+0.05,-1.00) r=0.94m +[headless_play] t= 11.70s step= 585 trunk_z= 95.8mm grav_b=(-0.00,-0.02,-1.00) r=0.95m +[headless_play] t= 11.80s step= 590 trunk_z= 100.3mm grav_b=(-0.02,-0.09,-1.00) r=0.95m +[headless_play] t= 11.90s step= 595 trunk_z= 98.1mm grav_b=(-0.04,-0.08,-1.00) r=0.94m +[headless_play] t= 12.00s step= 600 trunk_z= 92.7mm grav_b=(-0.06,+0.05,-1.00) r=0.92m +[headless_play] t= 12.10s step= 605 trunk_z= 100.7mm grav_b=(-0.05,+0.04,-1.00) r=0.92m +[headless_play] t= 12.20s step= 610 trunk_z= 95.0mm grav_b=(-0.04,-0.04,-1.00) r=0.92m +[headless_play] t= 12.30s step= 615 trunk_z= 99.2mm grav_b=(-0.02,-0.09,-1.00) r=0.93m +[headless_play] t= 12.40s step= 620 trunk_z= 95.5mm grav_b=(-0.01,-0.07,-1.00) r=0.91m +[headless_play] t= 12.50s step= 625 trunk_z= 95.5mm grav_b=(-0.04,+0.06,-1.00) r=0.89m +[headless_play] t= 12.60s step= 630 trunk_z= 100.1mm grav_b=(-0.07,+0.03,-1.00) r=0.89m +[headless_play] t= 12.70s step= 635 trunk_z= 96.5mm grav_b=(-0.05,-0.07,-1.00) r=0.90m +[headless_play] t= 12.80s step= 640 trunk_z= 100.1mm grav_b=(-0.03,-0.11,-0.99) r=0.91m +[headless_play] t= 12.90s step= 645 trunk_z= 96.7mm grav_b=(-0.02,-0.07,-1.00) r=0.90m +[headless_play] t= 13.00s step= 650 trunk_z= 95.2mm grav_b=(-0.02,+0.06,-1.00) r=0.88m +[headless_play] t= 13.10s step= 655 trunk_z= 99.6mm grav_b=(-0.01,+0.02,-1.00) r=0.88m +[headless_play] t= 13.20s step= 660 trunk_z= 97.2mm grav_b=(-0.02,-0.07,-1.00) r=0.89m +[headless_play] t= 13.30s step= 665 trunk_z= 100.9mm grav_b=(-0.06,-0.10,-0.99) r=0.90m +[headless_play] t= 13.40s step= 670 trunk_z= 96.9mm grav_b=(-0.06,-0.07,-1.00) r=0.88m +[headless_play] t= 13.50s step= 675 trunk_z= 96.9mm grav_b=(-0.03,+0.07,-1.00) r=0.86m +[headless_play] t= 13.60s step= 680 trunk_z= 100.4mm grav_b=(+0.00,+0.03,-1.00) r=0.86m +[headless_play] t= 13.70s step= 685 trunk_z= 97.7mm grav_b=(-0.01,-0.06,-1.00) r=0.87m +[headless_play] t= 13.80s step= 690 trunk_z= 100.1mm grav_b=(-0.03,-0.10,-0.99) r=0.87m +[headless_play] t= 13.90s step= 695 trunk_z= 98.1mm grav_b=(-0.03,-0.06,-1.00) r=0.87m +[headless_play] t= 14.00s step= 700 trunk_z= 96.8mm grav_b=(-0.05,-0.04,-1.00) r=0.87m +[headless_play] t= 14.10s step= 705 trunk_z= 96.4mm grav_b=(-0.11,-0.03,-0.99) r=0.87m +[headless_play] t= 14.20s step= 710 trunk_z= 97.4mm grav_b=(-0.12,-0.03,-0.99) r=0.87m +[headless_play] t= 14.30s step= 715 trunk_z= 98.6mm grav_b=(-0.11,-0.05,-0.99) r=0.88m +[headless_play] t= 14.40s step= 720 trunk_z= 96.3mm grav_b=(-0.10,-0.02,-0.99) r=0.88m +[headless_play] t= 14.50s step= 725 trunk_z= 96.2mm grav_b=(-0.08,-0.04,-1.00) r=0.89m +[headless_play] t= 14.60s step= 730 trunk_z= 88.4mm grav_b=(-0.04,-0.13,-0.99) r=0.91m +[headless_play] t= 14.70s step= 735 trunk_z= 96.1mm grav_b=(-0.01,-0.18,-0.98) r=0.92m +[headless_play] t= 14.80s step= 740 trunk_z= 97.6mm grav_b=(-0.01,-0.15,-0.99) r=0.92m +[headless_play] t= 14.90s step= 745 trunk_z= 92.5mm grav_b=(-0.04,-0.05,-1.00) r=0.91m +[headless_play] t= 15.00s step= 750 trunk_z= 98.2mm grav_b=(-0.02,+0.01,-1.00) r=0.90m +[headless_play] t= 15.10s step= 755 trunk_z= 95.3mm grav_b=(-0.01,-0.03,-1.00) r=0.90m +[headless_play] t= 15.20s step= 760 trunk_z= 94.6mm grav_b=(-0.01,-0.12,-0.99) r=0.91m +[headless_play] t= 15.30s step= 765 trunk_z= 93.2mm grav_b=(+0.02,-0.11,-0.99) r=0.91m +[headless_play] t= 15.40s step= 770 trunk_z= 87.3mm grav_b=(+0.04,+0.03,-1.00) r=0.88m +[headless_play] t= 15.50s step= 775 trunk_z= 96.3mm grav_b=(+0.02,+0.07,-1.00) r=0.87m +[headless_play] t= 15.60s step= 780 trunk_z= 94.4mm grav_b=(+0.01,+0.02,-1.00) r=0.87m +[headless_play] t= 15.70s step= 785 trunk_z= 95.9mm grav_b=(-0.03,-0.09,-1.00) r=0.87m +[headless_play] t= 15.80s step= 790 trunk_z= 94.5mm grav_b=(-0.00,-0.08,-1.00) r=0.86m +[headless_play] t= 15.90s step= 795 trunk_z= 89.2mm grav_b=(+0.08,-0.01,-1.00) r=0.85m +[headless_play] t= 16.00s step= 800 trunk_z= 93.0mm grav_b=(+0.04,+0.06,-1.00) r=0.84m +[headless_play] t= 16.10s step= 805 trunk_z= 91.7mm grav_b=(+0.09,-0.05,-0.99) r=0.84m +[headless_play] t= 16.20s step= 810 trunk_z= 96.7mm grav_b=(+0.05,-0.13,-0.99) r=0.84m +[headless_play] t= 16.30s step= 815 trunk_z= 96.0mm grav_b=(+0.08,-0.05,-1.00) r=0.84m +[headless_play] t= 16.40s step= 820 trunk_z= 94.9mm grav_b=(+0.10,+0.04,-0.99) r=0.84m +[headless_play] t= 16.50s step= 825 trunk_z= 100.5mm grav_b=(+0.15,-0.00,-0.99) r=0.85m +[headless_play] t= 16.60s step= 830 trunk_z= 99.4mm grav_b=(+0.32,+0.07,-0.95) r=0.84m +[headless_play] t= 16.70s step= 835 trunk_z= 99.0mm grav_b=(+0.52,-0.17,-0.84) r=0.83m +[headless_play] RESET at t= 16.78s step= 839 (env termination, not a recovery) +[headless_play] t= 16.80s step= 840 trunk_z= 121.7mm grav_b=(-0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 16.90s step= 845 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 17.00s step= 850 trunk_z= 118.1mm grav_b=(+0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 17.10s step= 855 trunk_z= 119.6mm grav_b=(+0.05,+0.01,-1.00) r=0.60m +[headless_play] t= 17.20s step= 860 trunk_z= 119.7mm grav_b=(+0.07,+0.05,-1.00) r=0.60m +[headless_play] t= 17.30s step= 865 trunk_z= 120.4mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 17.40s step= 870 trunk_z= 119.7mm grav_b=(-0.02,-0.05,-1.00) r=0.56m +[headless_play] t= 17.50s step= 875 trunk_z= 120.0mm grav_b=(-0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 17.60s step= 880 trunk_z= 121.8mm grav_b=(-0.01,+0.09,-1.00) r=0.57m +[headless_play] t= 17.70s step= 885 trunk_z= 128.0mm grav_b=(+0.01,+0.12,-0.99) r=0.57m +[headless_play] t= 17.80s step= 890 trunk_z= 128.0mm grav_b=(+0.03,+0.09,-1.00) r=0.55m +[headless_play] t= 17.90s step= 895 trunk_z= 121.1mm grav_b=(-0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 126.2mm grav_b=(+0.00,-0.04,-1.00) r=0.52m +[headless_play] t= 18.10s step= 905 trunk_z= 118.5mm grav_b=(-0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 18.20s step= 910 trunk_z= 124.5mm grav_b=(-0.01,+0.10,-0.99) r=0.54m +[headless_play] t= 18.30s step= 915 trunk_z= 127.1mm grav_b=(+0.02,+0.11,-0.99) r=0.54m +[headless_play] t= 18.40s step= 920 trunk_z= 124.3mm grav_b=(+0.01,+0.05,-1.00) r=0.52m +[headless_play] t= 18.50s step= 925 trunk_z= 123.9mm grav_b=(+0.00,-0.04,-1.00) r=0.50m +[headless_play] t= 18.60s step= 930 trunk_z= 123.1mm grav_b=(-0.02,-0.02,-1.00) r=0.51m +[headless_play] t= 18.70s step= 935 trunk_z= 120.7mm grav_b=(-0.02,+0.10,-1.00) r=0.52m +[headless_play] t= 18.80s step= 940 trunk_z= 127.7mm grav_b=(-0.00,+0.13,-0.99) r=0.53m +[headless_play] t= 18.90s step= 945 trunk_z= 127.8mm grav_b=(+0.01,+0.11,-0.99) r=0.52m +[headless_play] t= 19.00s step= 950 trunk_z= 123.2mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 19.10s step= 955 trunk_z= 125.9mm grav_b=(-0.00,-0.05,-1.00) r=0.49m +[headless_play] t= 19.20s step= 960 trunk_z= 122.2mm grav_b=(-0.02,-0.02,-1.00) r=0.49m +[headless_play] t= 19.30s step= 965 trunk_z= 122.8mm grav_b=(-0.01,+0.09,-1.00) r=0.51m +[headless_play] t= 19.40s step= 970 trunk_z= 127.2mm grav_b=(+0.03,+0.13,-0.99) r=0.52m +[headless_play] t= 19.50s step= 975 trunk_z= 127.1mm grav_b=(+0.02,+0.10,-1.00) r=0.51m +[headless_play] t= 19.60s step= 980 trunk_z= 122.0mm grav_b=(-0.02,-0.03,-1.00) r=0.49m +[headless_play] t= 19.70s step= 985 trunk_z= 125.4mm grav_b=(-0.01,-0.05,-1.00) r=0.48m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(-0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 19.90s step= 995 trunk_z= 125.8mm grav_b=(-0.01,+0.12,-0.99) r=0.52m +[headless_play] t= 20.00s step=1000 trunk_z= 128.8mm grav_b=(+0.02,+0.14,-0.99) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 128.4mm grav_b=(+0.02,+0.09,-1.00) r=0.51m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..564b53bf1daf74a0773d75be6724a5bc4dd3822a --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.442,-18.070,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(+0.00,-0.03,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 118.4mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 118.4mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 118.2mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 118.0mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.30s step= 115 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.40s step= 120 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 118.0mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.60s step= 130 trunk_z= 118.0mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.80s step= 140 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.80s step= 190 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.10s step= 205 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.40s step= 220 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 118.1mm grav_b=(-0.03,-0.03,-1.00) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 118.6mm grav_b=(-0.00,-0.03,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 118.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.90s step= 245 trunk_z= 118.4mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 119.0mm grav_b=(+0.00,-0.08,-1.00) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 119.4mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 5.20s step= 260 trunk_z= 117.4mm grav_b=(-0.01,+0.06,-1.00) r=0.46m +[headless_play] t= 5.30s step= 265 trunk_z= 122.3mm grav_b=(-0.01,+0.04,-1.00) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 119.1mm grav_b=(-0.02,-0.09,-1.00) r=0.44m +[headless_play] t= 5.50s step= 275 trunk_z= 123.9mm grav_b=(-0.01,-0.14,-0.99) r=0.43m +[headless_play] t= 5.60s step= 280 trunk_z= 121.6mm grav_b=(+0.01,-0.11,-0.99) r=0.43m +[headless_play] t= 5.70s step= 285 trunk_z= 116.4mm grav_b=(-0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 124.6mm grav_b=(-0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(-0.05,-0.02,-1.00) r=0.44m +[headless_play] t= 6.00s step= 300 trunk_z= 123.0mm grav_b=(-0.01,-0.11,-0.99) r=0.42m +[headless_play] t= 6.10s step= 305 trunk_z= 121.7mm grav_b=(+0.00,-0.11,-0.99) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 6.30s step= 315 trunk_z= 122.6mm grav_b=(-0.01,+0.06,-1.00) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 120.6mm grav_b=(-0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 123.8mm grav_b=(-0.02,-0.13,-0.99) r=0.42m +[headless_play] t= 6.60s step= 330 trunk_z= 125.5mm grav_b=(-0.02,-0.15,-0.99) r=0.41m +[headless_play] t= 6.70s step= 335 trunk_z= 121.9mm grav_b=(-0.01,-0.11,-0.99) r=0.42m +[headless_play] t= 6.80s step= 340 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 124.3mm grav_b=(-0.04,+0.03,-1.00) r=0.44m +[headless_play] t= 7.00s step= 350 trunk_z= 117.5mm grav_b=(-0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 7.10s step= 355 trunk_z= 123.2mm grav_b=(-0.02,-0.12,-0.99) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 121.8mm grav_b=(-0.02,-0.12,-0.99) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(-0.00,-0.00,-1.00) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 123.0mm grav_b=(-0.02,+0.06,-1.00) r=0.44m +[headless_play] t= 7.50s step= 375 trunk_z= 120.3mm grav_b=(-0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 123.3mm grav_b=(-0.02,-0.11,-0.99) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 124.1mm grav_b=(-0.02,-0.13,-0.99) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 119.5mm grav_b=(-0.02,-0.08,-1.00) r=0.42m +[headless_play] t= 7.90s step= 395 trunk_z= 120.6mm grav_b=(-0.01,+0.07,-1.00) r=0.44m +[headless_play] t= 8.00s step= 400 trunk_z= 122.5mm grav_b=(-0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 8.10s step= 405 trunk_z= 121.0mm grav_b=(-0.02,-0.11,-0.99) r=0.42m +[headless_play] t= 8.20s step= 410 trunk_z= 125.4mm grav_b=(-0.02,-0.14,-0.99) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 123.1mm grav_b=(-0.02,-0.13,-0.99) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 116.4mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 8.50s step= 425 trunk_z= 123.4mm grav_b=(-0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 8.60s step= 430 trunk_z= 119.3mm grav_b=(-0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 8.70s step= 435 trunk_z= 125.1mm grav_b=(-0.01,-0.12,-0.99) r=0.42m +[headless_play] t= 8.80s step= 440 trunk_z= 124.9mm grav_b=(-0.00,-0.12,-0.99) r=0.42m +[headless_play] t= 8.90s step= 445 trunk_z= 118.6mm grav_b=(-0.00,-0.04,-1.00) r=0.44m +[headless_play] t= 9.00s step= 450 trunk_z= 122.8mm grav_b=(-0.02,+0.08,-1.00) r=0.46m +[headless_play] t= 9.10s step= 455 trunk_z= 121.9mm grav_b=(-0.02,+0.00,-1.00) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 123.2mm grav_b=(-0.02,-0.11,-0.99) r=0.44m +[headless_play] t= 9.30s step= 465 trunk_z= 125.3mm grav_b=(+0.01,-0.14,-0.99) r=0.44m +[headless_play] t= 9.40s step= 470 trunk_z= 122.4mm grav_b=(+0.01,-0.09,-1.00) r=0.45m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(-0.01,+0.08,-1.00) r=0.48m +[headless_play] t= 9.60s step= 480 trunk_z= 124.3mm grav_b=(-0.04,+0.08,-1.00) r=0.49m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(-0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 119.4mm grav_b=(-0.05,-0.09,-0.99) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 118.8mm grav_b=(-0.00,-0.09,-1.00) r=0.49m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(+0.03,-0.04,-1.00) r=0.50m +[headless_play] t= 10.10s step= 505 trunk_z= 115.6mm grav_b=(+0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 10.30s step= 515 trunk_z= 116.5mm grav_b=(+0.01,-0.09,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(+0.01,-0.09,-1.00) r=0.52m +[headless_play] t= 10.50s step= 525 trunk_z= 116.0mm grav_b=(+0.03,-0.05,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 112.6mm grav_b=(+0.01,+0.09,-1.00) r=0.55m +[headless_play] t= 10.70s step= 535 trunk_z= 117.9mm grav_b=(+0.00,+0.04,-1.00) r=0.56m +[headless_play] t= 10.80s step= 540 trunk_z= 114.5mm grav_b=(+0.02,-0.08,-1.00) r=0.55m +[headless_play] t= 10.90s step= 545 trunk_z= 118.6mm grav_b=(+0.00,-0.11,-0.99) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 117.6mm grav_b=(+0.03,-0.10,-0.99) r=0.56m +[headless_play] t= 11.10s step= 555 trunk_z= 114.6mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 118.3mm grav_b=(-0.01,+0.09,-1.00) r=0.59m +[headless_play] t= 11.30s step= 565 trunk_z= 117.7mm grav_b=(-0.00,+0.02,-1.00) r=0.59m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.02,-0.11,-0.99) r=0.58m +[headless_play] t= 11.50s step= 575 trunk_z= 118.0mm grav_b=(-0.01,-0.11,-0.99) r=0.59m +[headless_play] t= 11.60s step= 580 trunk_z= 116.9mm grav_b=(+0.03,-0.08,-1.00) r=0.60m +[headless_play] t= 11.70s step= 585 trunk_z= 113.8mm grav_b=(+0.05,+0.02,-1.00) r=0.62m +[headless_play] t= 11.80s step= 590 trunk_z= 118.4mm grav_b=(+0.02,+0.09,-1.00) r=0.63m +[headless_play] t= 11.90s step= 595 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 12.00s step= 600 trunk_z= 122.4mm grav_b=(-0.03,-0.15,-0.99) r=0.62m +[headless_play] t= 12.10s step= 605 trunk_z= 125.0mm grav_b=(+0.02,-0.17,-0.99) r=0.62m +[headless_play] t= 12.20s step= 610 trunk_z= 123.8mm grav_b=(+0.05,-0.11,-0.99) r=0.63m +[headless_play] t= 12.30s step= 615 trunk_z= 117.6mm grav_b=(+0.04,+0.04,-1.00) r=0.65m +[headless_play] t= 12.40s step= 620 trunk_z= 125.5mm grav_b=(+0.03,+0.05,-1.00) r=0.67m +[headless_play] t= 12.50s step= 625 trunk_z= 119.6mm grav_b=(-0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 12.60s step= 630 trunk_z= 127.0mm grav_b=(-0.04,-0.13,-0.99) r=0.67m +[headless_play] t= 12.70s step= 635 trunk_z= 126.5mm grav_b=(-0.03,-0.12,-0.99) r=0.68m +[headless_play] t= 12.80s step= 640 trunk_z= 122.1mm grav_b=(-0.02,-0.05,-1.00) r=0.68m +[headless_play] t= 12.90s step= 645 trunk_z= 122.6mm grav_b=(-0.04,+0.06,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 123.1mm grav_b=(+0.00,+0.01,-1.00) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 122.1mm grav_b=(-0.00,-0.08,-1.00) r=0.72m +[headless_play] t= 13.20s step= 660 trunk_z= 124.8mm grav_b=(+0.00,-0.12,-0.99) r=0.72m +[headless_play] t= 13.30s step= 665 trunk_z= 120.0mm grav_b=(-0.00,-0.08,-1.00) r=0.73m +[headless_play] t= 13.40s step= 670 trunk_z= 121.0mm grav_b=(-0.03,+0.05,-1.00) r=0.75m +[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(-0.02,+0.00,-1.00) r=0.76m +[headless_play] t= 13.60s step= 680 trunk_z= 123.1mm grav_b=(-0.02,-0.10,-0.99) r=0.76m +[headless_play] t= 13.70s step= 685 trunk_z= 125.2mm grav_b=(-0.02,-0.12,-0.99) r=0.76m +[headless_play] t= 13.80s step= 690 trunk_z= 120.3mm grav_b=(+0.00,-0.08,-1.00) r=0.77m +[headless_play] t= 13.90s step= 695 trunk_z= 120.2mm grav_b=(-0.00,+0.06,-1.00) r=0.79m +[headless_play] t= 14.00s step= 700 trunk_z= 122.0mm grav_b=(+0.01,+0.01,-1.00) r=0.80m +[headless_play] t= 14.10s step= 705 trunk_z= 106.2mm grav_b=(+0.01,-0.17,-0.99) r=0.82m +[headless_play] t= 14.20s step= 710 trunk_z= 107.7mm grav_b=(+0.08,-0.38,-0.92) r=0.81m +[headless_play] t= 14.30s step= 715 trunk_z= 109.2mm grav_b=(+0.16,-0.31,-0.94) r=0.82m +[headless_play] t= 14.40s step= 720 trunk_z= 76.4mm grav_b=(+0.00,-0.13,-0.99) r=0.86m +[headless_play] t= 14.50s step= 725 trunk_z= 96.6mm grav_b=(+0.08,-0.17,-0.98) r=0.86m +[headless_play] t= 14.60s step= 730 trunk_z= 90.3mm grav_b=(-0.05,-0.15,-0.99) r=0.84m +[headless_play] t= 14.70s step= 735 trunk_z= 97.3mm grav_b=(-0.00,-0.16,-0.99) r=0.84m +[headless_play] t= 14.80s step= 740 trunk_z= 100.4mm grav_b=(+0.00,-0.15,-0.99) r=0.86m +[headless_play] t= 14.90s step= 745 trunk_z= 94.3mm grav_b=(-0.07,-0.02,-1.00) r=0.88m +[headless_play] t= 15.00s step= 750 trunk_z= 99.7mm grav_b=(-0.07,+0.08,-0.99) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 98.5mm grav_b=(-0.03,+0.04,-1.00) r=0.89m +[headless_play] t= 15.20s step= 760 trunk_z= 90.9mm grav_b=(-0.03,-0.09,-1.00) r=0.87m +[headless_play] t= 15.30s step= 765 trunk_z= 95.5mm grav_b=(-0.03,-0.14,-0.99) r=0.86m +[headless_play] t= 15.40s step= 770 trunk_z= 94.5mm grav_b=(+0.01,-0.12,-0.99) r=0.86m +[headless_play] t= 15.50s step= 775 trunk_z= 89.5mm grav_b=(+0.03,-0.05,-1.00) r=0.87m +[headless_play] t= 15.60s step= 780 trunk_z= 95.3mm grav_b=(-0.02,+0.07,-1.00) r=0.88m +[headless_play] t= 15.70s step= 785 trunk_z= 98.0mm grav_b=(-0.03,+0.06,-1.00) r=0.88m +[headless_play] t= 15.80s step= 790 trunk_z= 91.3mm grav_b=(-0.00,-0.02,-1.00) r=0.86m +[headless_play] t= 15.90s step= 795 trunk_z= 91.8mm grav_b=(-0.02,-0.10,-0.99) r=0.85m +[headless_play] t= 16.00s step= 800 trunk_z= 91.3mm grav_b=(+0.02,-0.10,-0.99) r=0.85m +[headless_play] t= 16.10s step= 805 trunk_z= 86.7mm grav_b=(+0.04,+0.01,-1.00) r=0.86m +[headless_play] t= 16.20s step= 810 trunk_z= 93.2mm grav_b=(+0.03,+0.04,-1.00) r=0.87m +[headless_play] t= 16.30s step= 815 trunk_z= 91.5mm grav_b=(+0.03,-0.03,-1.00) r=0.85m +[headless_play] t= 16.40s step= 820 trunk_z= 91.7mm grav_b=(+0.00,-0.10,-0.99) r=0.84m +[headless_play] t= 16.50s step= 825 trunk_z= 92.1mm grav_b=(+0.00,-0.09,-1.00) r=0.84m +[headless_play] t= 16.60s step= 830 trunk_z= 88.1mm grav_b=(+0.01,-0.00,-1.00) r=0.86m +[headless_play] t= 16.70s step= 835 trunk_z= 93.7mm grav_b=(-0.00,+0.04,-1.00) r=0.86m +[headless_play] t= 16.80s step= 840 trunk_z= 92.0mm grav_b=(+0.03,-0.00,-1.00) r=0.85m +[headless_play] t= 16.90s step= 845 trunk_z= 89.3mm grav_b=(+0.04,-0.11,-0.99) r=0.84m +[headless_play] t= 17.00s step= 850 trunk_z= 91.6mm grav_b=(+0.00,-0.07,-1.00) r=0.84m +[headless_play] t= 17.10s step= 855 trunk_z= 88.0mm grav_b=(+0.01,+0.01,-1.00) r=0.85m +[headless_play] t= 17.20s step= 860 trunk_z= 92.9mm grav_b=(+0.01,+0.05,-1.00) r=0.85m +[headless_play] t= 17.30s step= 865 trunk_z= 90.9mm grav_b=(+0.06,-0.02,-1.00) r=0.85m +[headless_play] t= 17.40s step= 870 trunk_z= 92.2mm grav_b=(+0.04,-0.10,-0.99) r=0.84m +[headless_play] t= 17.50s step= 875 trunk_z= 93.4mm grav_b=(-0.00,-0.07,-1.00) r=0.84m +[headless_play] t= 17.60s step= 880 trunk_z= 89.1mm grav_b=(-0.03,+0.04,-1.00) r=0.84m +[headless_play] t= 17.70s step= 885 trunk_z= 95.3mm grav_b=(-0.01,+0.04,-1.00) r=0.84m +[headless_play] t= 17.80s step= 890 trunk_z= 90.8mm grav_b=(+0.06,-0.05,-1.00) r=0.83m +[headless_play] t= 17.90s step= 895 trunk_z= 96.0mm grav_b=(+0.08,-0.13,-0.99) r=0.82m +[headless_play] t= 18.00s step= 900 trunk_z= 95.8mm grav_b=(+0.05,-0.11,-0.99) r=0.82m +[headless_play] t= 18.10s step= 905 trunk_z= 90.9mm grav_b=(+0.03,-0.03,-1.00) r=0.83m +[headless_play] t= 18.20s step= 910 trunk_z= 94.9mm grav_b=(+0.03,+0.08,-1.00) r=0.84m +[headless_play] t= 18.30s step= 915 trunk_z= 96.6mm grav_b=(+0.04,+0.01,-1.00) r=0.84m +[headless_play] t= 18.40s step= 920 trunk_z= 95.9mm grav_b=(+0.07,-0.10,-0.99) r=0.84m +[headless_play] t= 18.50s step= 925 trunk_z= 96.0mm grav_b=(+0.09,-0.08,-0.99) r=0.85m +[headless_play] t= 18.60s step= 930 trunk_z= 94.1mm grav_b=(+0.06,-0.00,-1.00) r=0.85m +[headless_play] t= 18.70s step= 935 trunk_z= 98.3mm grav_b=(+0.12,+0.03,-0.99) r=0.85m +[headless_play] t= 18.80s step= 940 trunk_z= 99.2mm grav_b=(+0.16,-0.00,-0.99) r=0.86m +[headless_play] t= 18.90s step= 945 trunk_z= 101.7mm grav_b=(+0.24,-0.01,-0.97) r=0.86m +[headless_play] t= 19.00s step= 950 trunk_z= 94.9mm grav_b=(+0.42,-0.08,-0.90) r=0.85m +[headless_play] t= 19.10s step= 955 trunk_z= 96.8mm grav_b=(+0.45,-0.24,-0.86) r=0.83m +[headless_play] t= 19.20s step= 960 trunk_z= 96.5mm grav_b=(+0.71,-0.24,-0.67) r=0.82m +[headless_play] t= 19.30s step= 965 trunk_z= 85.6mm grav_b=(+0.94,-0.06,-0.34) r=0.78m +[headless_play] RESET at t= 19.32s step= 966 (env termination, not a recovery) +[headless_play] t= 19.40s step= 970 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(+0.01,-0.04,-1.00) r=0.47m +[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(-0.00,-0.04,-1.00) r=0.47m +[headless_play] t= 19.80s step= 990 trunk_z= 117.3mm grav_b=(-0.01,-0.04,-1.00) r=0.47m +[headless_play] t= 19.90s step= 995 trunk_z= 117.4mm grav_b=(+0.00,-0.04,-1.00) r=0.47m +[headless_play] t= 20.00s step=1000 trunk_z= 117.3mm grav_b=(+0.00,-0.04,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(+0.00,-0.04,-1.00) r=0.47m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..8d2094fe76d18ae0c7ed623f03fed19411c68aa6 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t2.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.580,-17.532,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(+0.01,-0.05,-1.00) r=0.63m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(+0.06,-0.06,-1.00) r=0.63m +[headless_play] t= 0.30s step= 15 trunk_z= 125.4mm grav_b=(+0.06,-0.01,-1.00) r=0.63m +[headless_play] t= 0.40s step= 20 trunk_z= 124.3mm grav_b=(+0.08,-0.09,-0.99) r=0.64m +[headless_play] t= 0.50s step= 25 trunk_z= 131.8mm grav_b=(+0.15,-0.14,-0.98) r=0.66m +[headless_play] t= 0.60s step= 30 trunk_z= 137.6mm grav_b=(+0.10,-0.13,-0.99) r=0.68m +[headless_play] t= 0.70s step= 35 trunk_z= 120.9mm grav_b=(+0.00,-0.04,-1.00) r=0.72m +[headless_play] t= 0.80s step= 40 trunk_z= 128.1mm grav_b=(+0.07,-0.00,-1.00) r=0.74m +[headless_play] t= 0.90s step= 45 trunk_z= 131.6mm grav_b=(+0.04,+0.02,-1.00) r=0.74m +[headless_play] t= 1.00s step= 50 trunk_z= 123.7mm grav_b=(+0.02,-0.08,-1.00) r=0.74m +[headless_play] t= 1.10s step= 55 trunk_z= 132.8mm grav_b=(+0.08,-0.12,-0.99) r=0.74m +[headless_play] t= 1.20s step= 60 trunk_z= 133.0mm grav_b=(+0.07,-0.11,-0.99) r=0.76m +[headless_play] t= 1.30s step= 65 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=0.79m +[headless_play] t= 1.40s step= 70 trunk_z= 134.0mm grav_b=(+0.07,+0.01,-1.00) r=0.80m +[headless_play] t= 1.50s step= 75 trunk_z= 128.1mm grav_b=(+0.01,-0.02,-1.00) r=0.80m +[headless_play] t= 1.60s step= 80 trunk_z= 130.5mm grav_b=(+0.04,-0.08,-1.00) r=0.80m +[headless_play] t= 1.70s step= 85 trunk_z= 130.8mm grav_b=(+0.07,-0.10,-0.99) r=0.82m +[headless_play] t= 1.80s step= 90 trunk_z= 111.5mm grav_b=(+0.01,+0.01,-1.00) r=0.86m +[headless_play] t= 1.90s step= 95 trunk_z= 111.1mm grav_b=(+0.11,+0.11,-0.99) r=0.89m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.10,+0.10,-0.99) r=0.91m +[headless_play] t= 2.10s step= 105 trunk_z= 87.0mm grav_b=(+0.03,-0.00,-1.00) r=0.94m +[headless_play] t= 2.20s step= 110 trunk_z= 105.5mm grav_b=(+0.03,-0.08,-1.00) r=0.96m +[headless_play] t= 2.30s step= 115 trunk_z= 94.9mm grav_b=(+0.03,-0.06,-1.00) r=0.98m +[headless_play] t= 2.40s step= 120 trunk_z= 99.8mm grav_b=(+0.05,-0.01,-1.00) r=1.00m +[headless_play] t= 2.50s step= 125 trunk_z= 101.8mm grav_b=(+0.08,-0.02,-1.00) r=1.00m +[headless_play] t= 2.60s step= 130 trunk_z= 98.7mm grav_b=(+0.08,-0.10,-0.99) r=1.00m +[headless_play] t= 2.70s step= 135 trunk_z= 107.0mm grav_b=(+0.10,-0.10,-0.99) r=1.01m +[headless_play] t= 2.80s step= 140 trunk_z= 108.3mm grav_b=(+0.03,-0.09,-1.00) r=1.03m +[headless_play] t= 2.90s step= 145 trunk_z= 95.1mm grav_b=(+0.02,+0.00,-1.00) r=1.06m +[headless_play] t= 3.00s step= 150 trunk_z= 102.6mm grav_b=(+0.06,+0.03,-1.00) r=1.07m +[headless_play] t= 3.10s step= 155 trunk_z= 97.7mm grav_b=(-0.01,-0.03,-1.00) r=1.06m +[headless_play] t= 3.20s step= 160 trunk_z= 103.8mm grav_b=(+0.02,-0.11,-0.99) r=1.05m +[headless_play] t= 3.30s step= 165 trunk_z= 104.4mm grav_b=(+0.07,-0.11,-0.99) r=1.06m +[headless_play] t= 3.40s step= 170 trunk_z= 102.5mm grav_b=(+0.05,-0.06,-1.00) r=1.09m +[headless_play] t= 3.50s step= 175 trunk_z= 104.6mm grav_b=(+0.07,-0.02,-1.00) r=1.11m +[headless_play] t= 3.60s step= 180 trunk_z= 108.5mm grav_b=(+0.08,-0.00,-1.00) r=1.13m +[headless_play] t= 3.70s step= 185 trunk_z= 91.4mm grav_b=(-0.00,-0.09,-1.00) r=1.16m +[headless_play] t= 3.80s step= 190 trunk_z= 101.4mm grav_b=(+0.06,-0.07,-1.00) r=1.19m +[headless_play] t= 3.90s step= 195 trunk_z= 94.8mm grav_b=(-0.01,-0.02,-1.00) r=1.22m +[headless_play] t= 4.00s step= 200 trunk_z= 101.6mm grav_b=(+0.03,-0.00,-1.00) r=1.24m +[headless_play] t= 4.10s step= 205 trunk_z= 102.4mm grav_b=(+0.08,+0.02,-1.00) r=1.24m +[headless_play] t= 4.20s step= 210 trunk_z= 97.5mm grav_b=(+0.07,-0.09,-0.99) r=1.24m +[headless_play] t= 4.30s step= 215 trunk_z= 106.8mm grav_b=(+0.11,-0.13,-0.99) r=1.25m +[headless_play] t= 4.40s step= 220 trunk_z= 110.2mm grav_b=(+0.07,-0.14,-0.99) r=1.27m +[headless_play] t= 4.50s step= 225 trunk_z= 94.7mm grav_b=(-0.00,-0.01,-1.00) r=1.30m +[headless_play] t= 4.60s step= 230 trunk_z= 104.3mm grav_b=(+0.08,-0.00,-1.00) r=1.31m +[headless_play] t= 4.70s step= 235 trunk_z= 105.8mm grav_b=(+0.01,+0.00,-1.00) r=1.31m +[headless_play] t= 4.80s step= 240 trunk_z= 102.4mm grav_b=(+0.05,-0.10,-0.99) r=1.30m +[headless_play] t= 4.90s step= 245 trunk_z= 108.6mm grav_b=(+0.08,-0.14,-0.99) r=1.31m +[headless_play] t= 5.00s step= 250 trunk_z= 104.6mm grav_b=(+0.02,-0.15,-0.99) r=1.34m +[headless_play] t= 5.10s step= 255 trunk_z= 98.9mm grav_b=(+0.06,-0.10,-0.99) r=1.36m +[headless_play] t= 5.20s step= 260 trunk_z= 101.5mm grav_b=(+0.07,-0.07,-1.00) r=1.37m +[headless_play] t= 5.30s step= 265 trunk_z= 96.7mm grav_b=(+0.03,-0.10,-0.99) r=1.38m +[headless_play] t= 5.40s step= 270 trunk_z= 101.5mm grav_b=(+0.06,-0.12,-0.99) r=1.39m +[headless_play] t= 5.50s step= 275 trunk_z= 92.2mm grav_b=(+0.04,-0.05,-1.00) r=1.42m +[headless_play] t= 5.60s step= 280 trunk_z= 98.1mm grav_b=(+0.05,+0.00,-1.00) r=1.43m +[headless_play] t= 5.70s step= 285 trunk_z= 95.6mm grav_b=(+0.07,-0.03,-1.00) r=1.43m +[headless_play] t= 5.80s step= 290 trunk_z= 101.1mm grav_b=(+0.04,-0.11,-0.99) r=1.42m +[headless_play] t= 5.90s step= 295 trunk_z= 101.5mm grav_b=(+0.05,-0.13,-0.99) r=1.44m +[headless_play] t= 6.00s step= 300 trunk_z= 91.1mm grav_b=(+0.03,-0.02,-1.00) r=1.46m +[headless_play] t= 6.10s step= 305 trunk_z= 98.0mm grav_b=(+0.05,+0.02,-1.00) r=1.47m +[headless_play] t= 6.20s step= 310 trunk_z= 95.1mm grav_b=(+0.06,-0.03,-1.00) r=1.46m +[headless_play] t= 6.30s step= 315 trunk_z= 100.8mm grav_b=(+0.03,-0.11,-0.99) r=1.46m +[headless_play] t= 6.40s step= 320 trunk_z= 101.5mm grav_b=(+0.05,-0.12,-0.99) r=1.46m +[headless_play] t= 6.50s step= 325 trunk_z= 91.7mm grav_b=(+0.04,-0.05,-1.00) r=1.49m +[headless_play] t= 6.60s step= 330 trunk_z= 98.7mm grav_b=(+0.06,+0.01,-1.00) r=1.50m +[headless_play] t= 6.70s step= 335 trunk_z= 97.4mm grav_b=(+0.07,-0.03,-1.00) r=1.50m +[headless_play] t= 6.80s step= 340 trunk_z= 100.7mm grav_b=(+0.04,-0.12,-0.99) r=1.49m +[headless_play] t= 6.90s step= 345 trunk_z= 102.6mm grav_b=(+0.06,-0.13,-0.99) r=1.49m +[headless_play] t= 7.00s step= 350 trunk_z= 95.9mm grav_b=(+0.03,-0.09,-1.00) r=1.51m +[headless_play] t= 7.10s step= 355 trunk_z= 96.6mm grav_b=(+0.06,+0.01,-1.00) r=1.53m +[headless_play] t= 7.20s step= 360 trunk_z= 96.7mm grav_b=(+0.08,-0.01,-1.00) r=1.52m +[headless_play] t= 7.30s step= 365 trunk_z= 99.6mm grav_b=(+0.04,-0.11,-0.99) r=1.51m +[headless_play] t= 7.40s step= 370 trunk_z= 103.2mm grav_b=(+0.06,-0.15,-0.99) r=1.52m +[headless_play] t= 7.50s step= 375 trunk_z= 98.2mm grav_b=(+0.05,-0.12,-0.99) r=1.53m +[headless_play] t= 7.60s step= 380 trunk_z= 94.2mm grav_b=(+0.06,+0.01,-1.00) r=1.56m +[headless_play] t= 7.70s step= 385 trunk_z= 98.6mm grav_b=(+0.08,+0.01,-1.00) r=1.56m +[headless_play] t= 7.80s step= 390 trunk_z= 95.0mm grav_b=(+0.06,-0.07,-1.00) r=1.55m +[headless_play] t= 7.90s step= 395 trunk_z= 102.9mm grav_b=(+0.06,-0.13,-0.99) r=1.54m +[headless_play] t= 8.00s step= 400 trunk_z= 101.0mm grav_b=(+0.05,-0.13,-0.99) r=1.55m +[headless_play] t= 8.10s step= 405 trunk_z= 91.4mm grav_b=(+0.06,-0.02,-1.00) r=1.58m +[headless_play] t= 8.20s step= 410 trunk_z= 97.8mm grav_b=(+0.06,-0.01,-1.00) r=1.58m +[headless_play] t= 8.30s step= 415 trunk_z= 94.3mm grav_b=(+0.07,-0.07,-1.00) r=1.58m +[headless_play] t= 8.40s step= 420 trunk_z= 95.4mm grav_b=(+0.07,-0.06,-1.00) r=1.58m +[headless_play] t= 8.50s step= 425 trunk_z= 95.7mm grav_b=(+0.08,-0.05,-1.00) r=1.58m +[headless_play] t= 8.60s step= 430 trunk_z= 96.0mm grav_b=(+0.08,-0.05,-1.00) r=1.58m +[headless_play] t= 8.70s step= 435 trunk_z= 96.3mm grav_b=(+0.09,-0.04,-1.00) r=1.58m +[headless_play] t= 8.80s step= 440 trunk_z= 96.5mm grav_b=(+0.11,-0.03,-0.99) r=1.59m +[headless_play] t= 8.90s step= 445 trunk_z= 97.2mm grav_b=(+0.12,-0.01,-0.99) r=1.59m +[headless_play] t= 9.00s step= 450 trunk_z= 98.3mm grav_b=(+0.08,+0.04,-1.00) r=1.60m +[headless_play] t= 9.10s step= 455 trunk_z= 96.8mm grav_b=(+0.06,-0.03,-1.00) r=1.61m +[headless_play] t= 9.20s step= 460 trunk_z= 99.4mm grav_b=(+0.10,-0.09,-0.99) r=1.61m +[headless_play] t= 9.30s step= 465 trunk_z= 93.5mm grav_b=(+0.06,-0.07,-1.00) r=1.61m +[headless_play] t= 9.40s step= 470 trunk_z= 92.8mm grav_b=(+0.03,-0.01,-1.00) r=1.61m +[headless_play] t= 9.50s step= 475 trunk_z= 92.7mm grav_b=(+0.04,-0.00,-1.00) r=1.61m +[headless_play] t= 9.60s step= 480 trunk_z= 92.2mm grav_b=(+0.09,-0.01,-1.00) r=1.61m +[headless_play] t= 9.70s step= 485 trunk_z= 92.2mm grav_b=(+0.10,-0.02,-1.00) r=1.62m +[headless_play] t= 9.80s step= 490 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 9.90s step= 495 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 10.00s step= 500 trunk_z= 92.2mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 10.10s step= 505 trunk_z= 92.2mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.20s step= 510 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.30s step= 515 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.40s step= 520 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.50s step= 525 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.60s step= 530 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 10.70s step= 535 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.80s step= 540 trunk_z= 92.1mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 10.90s step= 545 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.00s step= 550 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.10s step= 555 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.20s step= 560 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.30s step= 565 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.40s step= 570 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.50s step= 575 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.60s step= 580 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.70s step= 585 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.80s step= 590 trunk_z= 92.1mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 11.90s step= 595 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.00s step= 600 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.10s step= 605 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.20s step= 610 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.30s step= 615 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.40s step= 620 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.50s step= 625 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 12.60s step= 630 trunk_z= 92.0mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 12.70s step= 635 trunk_z= 92.0mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 12.80s step= 640 trunk_z= 92.0mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 12.90s step= 645 trunk_z= 92.0mm grav_b=(+0.07,-0.01,-1.00) r=1.61m +[headless_play] t= 13.00s step= 650 trunk_z= 92.1mm grav_b=(+0.06,-0.02,-1.00) r=1.61m +[headless_play] t= 13.10s step= 655 trunk_z= 92.2mm grav_b=(+0.07,-0.07,-0.99) r=1.62m +[headless_play] t= 13.20s step= 660 trunk_z= 91.9mm grav_b=(+0.09,-0.04,-0.99) r=1.63m +[headless_play] t= 13.30s step= 665 trunk_z= 93.1mm grav_b=(+0.08,+0.08,-0.99) r=1.65m +[headless_play] t= 13.40s step= 670 trunk_z= 94.8mm grav_b=(+0.04,+0.03,-1.00) r=1.65m +[headless_play] t= 13.50s step= 675 trunk_z= 90.6mm grav_b=(+0.05,-0.10,-0.99) r=1.66m +[headless_play] t= 13.60s step= 680 trunk_z= 97.4mm grav_b=(+0.06,-0.18,-0.98) r=1.67m +[headless_play] t= 13.70s step= 685 trunk_z= 96.4mm grav_b=(+0.12,-0.20,-0.97) r=1.67m +[headless_play] t= 13.80s step= 690 trunk_z= 96.6mm grav_b=(+0.14,-0.12,-0.98) r=1.69m +[headless_play] t= 13.90s step= 695 trunk_z= 97.7mm grav_b=(+0.18,-0.06,-0.98) r=1.71m +[headless_play] t= 14.00s step= 700 trunk_z= 93.5mm grav_b=(+0.03,-0.14,-0.99) r=1.75m +[headless_play] t= 14.10s step= 705 trunk_z= 100.2mm grav_b=(+0.09,-0.15,-0.99) r=1.77m +[headless_play] t= 14.20s step= 710 trunk_z= 94.2mm grav_b=(+0.10,-0.05,-0.99) r=1.79m +[headless_play] t= 14.30s step= 715 trunk_z= 96.3mm grav_b=(+0.06,+0.06,-1.00) r=1.81m +[headless_play] t= 14.40s step= 720 trunk_z= 96.8mm grav_b=(+0.06,-0.01,-1.00) r=1.83m +[headless_play] t= 14.50s step= 725 trunk_z= 95.6mm grav_b=(+0.06,-0.11,-0.99) r=1.85m +[headless_play] t= 14.60s step= 730 trunk_z= 97.0mm grav_b=(+0.10,-0.17,-0.98) r=1.86m +[headless_play] t= 14.70s step= 735 trunk_z= 93.2mm grav_b=(+0.13,-0.12,-0.99) r=1.87m +[headless_play] t= 14.80s step= 740 trunk_z= 92.2mm grav_b=(+0.14,+0.03,-0.99) r=1.88m +[headless_play] t= 14.90s step= 745 trunk_z= 96.7mm grav_b=(+0.06,-0.05,-1.00) r=1.89m +[headless_play] t= 15.00s step= 750 trunk_z= 97.2mm grav_b=(+0.02,-0.15,-0.99) r=1.92m +[headless_play] t= 15.10s step= 755 trunk_z= 96.2mm grav_b=(+0.09,-0.17,-0.98) r=1.93m +[headless_play] t= 15.20s step= 760 trunk_z= 92.9mm grav_b=(+0.13,-0.11,-0.99) r=1.94m +[headless_play] t= 15.30s step= 765 trunk_z= 91.1mm grav_b=(+0.14,+0.04,-0.99) r=1.94m +[headless_play] t= 15.40s step= 770 trunk_z= 94.9mm grav_b=(+0.08,-0.06,-0.99) r=1.96m +[headless_play] t= 15.50s step= 775 trunk_z= 97.9mm grav_b=(+0.06,-0.15,-0.99) r=1.98m +[headless_play] t= 15.60s step= 780 trunk_z= 94.5mm grav_b=(+0.12,-0.12,-0.99) r=2.00m +[headless_play] t= 15.70s step= 785 trunk_z= 87.8mm grav_b=(+0.12,+0.02,-0.99) r=2.00m +[headless_play] t= 15.80s step= 790 trunk_z= 94.8mm grav_b=(+0.13,+0.03,-0.99) r=2.01m +[headless_play] t= 15.90s step= 795 trunk_z= 89.7mm grav_b=(+0.02,-0.06,-1.00) r=2.03m +[headless_play] t= 16.00s step= 800 trunk_z= 95.3mm grav_b=(+0.07,-0.14,-0.99) r=2.05m +[headless_play] t= 16.10s step= 805 trunk_z= 94.8mm grav_b=(+0.15,-0.13,-0.98) r=2.06m +[headless_play] t= 16.20s step= 810 trunk_z= 94.7mm grav_b=(+0.11,-0.05,-0.99) r=2.06m +[headless_play] t= 16.30s step= 815 trunk_z= 95.5mm grav_b=(+0.10,+0.07,-0.99) r=2.07m +[headless_play] t= 16.40s step= 820 trunk_z= 96.3mm grav_b=(+0.04,-0.03,-1.00) r=2.08m +[headless_play] t= 16.50s step= 825 trunk_z= 97.6mm grav_b=(+0.05,-0.14,-0.99) r=2.11m +[headless_play] t= 16.60s step= 830 trunk_z= 97.7mm grav_b=(+0.08,-0.14,-0.99) r=2.11m +[headless_play] t= 16.70s step= 835 trunk_z= 94.1mm grav_b=(+0.11,-0.07,-0.99) r=2.10m +[headless_play] t= 16.80s step= 840 trunk_z= 96.3mm grav_b=(+0.06,+0.07,-1.00) r=2.10m +[headless_play] t= 16.90s step= 845 trunk_z= 94.9mm grav_b=(+0.04,+0.04,-1.00) r=2.11m +[headless_play] t= 17.00s step= 850 trunk_z= 92.7mm grav_b=(+0.04,-0.08,-1.00) r=2.13m +[headless_play] t= 17.10s step= 855 trunk_z= 94.7mm grav_b=(+0.07,-0.11,-0.99) r=2.13m +[headless_play] t= 17.20s step= 860 trunk_z= 93.5mm grav_b=(+0.13,-0.09,-0.99) r=2.13m +[headless_play] t= 17.30s step= 865 trunk_z= 87.8mm grav_b=(+0.12,+0.04,-0.99) r=2.12m +[headless_play] t= 17.40s step= 870 trunk_z= 94.8mm grav_b=(+0.09,+0.05,-0.99) r=2.12m +[headless_play] t= 17.50s step= 875 trunk_z= 92.3mm grav_b=(+0.06,-0.08,-1.00) r=2.13m +[headless_play] t= 17.60s step= 880 trunk_z= 96.0mm grav_b=(+0.08,-0.10,-0.99) r=2.13m +[headless_play] t= 17.70s step= 885 trunk_z= 94.2mm grav_b=(+0.10,-0.06,-0.99) r=2.13m +[headless_play] t= 17.80s step= 890 trunk_z= 92.0mm grav_b=(+0.07,+0.06,-1.00) r=2.11m +[headless_play] t= 17.90s step= 895 trunk_z= 92.8mm grav_b=(+0.06,+0.01,-1.00) r=2.12m +[headless_play] t= 18.00s step= 900 trunk_z= 93.5mm grav_b=(+0.05,-0.10,-0.99) r=2.13m +[headless_play] t= 18.10s step= 905 trunk_z= 94.6mm grav_b=(+0.09,-0.11,-0.99) r=2.13m +[headless_play] t= 18.20s step= 910 trunk_z= 94.2mm grav_b=(+0.13,-0.08,-0.99) r=2.12m +[headless_play] t= 18.30s step= 915 trunk_z= 88.5mm grav_b=(+0.15,+0.04,-0.99) r=2.11m +[headless_play] t= 18.40s step= 920 trunk_z= 97.3mm grav_b=(+0.04,+0.00,-1.00) r=2.11m +[headless_play] t= 18.50s step= 925 trunk_z= 98.2mm grav_b=(+0.06,-0.10,-0.99) r=2.13m +[headless_play] t= 18.60s step= 930 trunk_z= 102.6mm grav_b=(+0.08,-0.11,-0.99) r=2.13m +[headless_play] t= 18.70s step= 935 trunk_z= 99.1mm grav_b=(+0.06,-0.06,-1.00) r=2.11m +[headless_play] t= 18.80s step= 940 trunk_z= 99.9mm grav_b=(+0.04,+0.05,-1.00) r=2.10m +[headless_play] t= 18.90s step= 945 trunk_z= 100.7mm grav_b=(+0.06,+0.01,-1.00) r=2.11m +[headless_play] t= 19.00s step= 950 trunk_z= 100.8mm grav_b=(+0.04,-0.08,-1.00) r=2.13m +[headless_play] t= 19.10s step= 955 trunk_z= 103.1mm grav_b=(+0.06,-0.12,-0.99) r=2.13m +[headless_play] t= 19.20s step= 960 trunk_z= 99.7mm grav_b=(+0.04,-0.09,-1.00) r=2.12m +[headless_play] t= 19.30s step= 965 trunk_z= 96.5mm grav_b=(+0.04,+0.05,-1.00) r=2.10m +[headless_play] t= 19.40s step= 970 trunk_z= 99.3mm grav_b=(+0.05,+0.01,-1.00) r=2.10m +[headless_play] t= 19.50s step= 975 trunk_z= 97.6mm grav_b=(+0.04,-0.07,-1.00) r=2.12m +[headless_play] t= 19.60s step= 980 trunk_z= 103.4mm grav_b=(+0.04,-0.12,-0.99) r=2.12m +[headless_play] t= 19.70s step= 985 trunk_z= 100.3mm grav_b=(+0.05,-0.10,-0.99) r=2.11m +[headless_play] t= 19.80s step= 990 trunk_z= 93.7mm grav_b=(+0.02,+0.05,-1.00) r=2.09m +[headless_play] t= 19.90s step= 995 trunk_z= 101.9mm grav_b=(+0.04,+0.06,-1.00) r=2.08m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.9mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.43m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..ee20ca58ae2ac91a57cebb4ec0ddc137c78d8b4d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.068,-17.654,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.06,-0.02,-1.00) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 115.4mm grav_b=(+0.08,-0.02,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 115.6mm grav_b=(+0.09,-0.03,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(+0.07,-0.01,-1.00) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 114.9mm grav_b=(+0.06,+0.02,-1.00) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(+0.03,-0.04,-1.00) r=0.37m +[headless_play] t= 0.80s step= 40 trunk_z= 117.2mm grav_b=(+0.02,-0.12,-0.99) r=0.39m +[headless_play] t= 0.90s step= 45 trunk_z= 119.2mm grav_b=(+0.04,-0.09,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 120.4mm grav_b=(+0.07,+0.09,-0.99) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 118.1mm grav_b=(+0.05,+0.05,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 119.6mm grav_b=(+0.03,-0.09,-1.00) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 121.8mm grav_b=(+0.04,-0.10,-0.99) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 118.6mm grav_b=(+0.08,-0.04,-1.00) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 119.7mm grav_b=(+0.06,+0.09,-0.99) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 119.1mm grav_b=(+0.05,+0.06,-1.00) r=0.47m +[headless_play] t= 1.80s step= 90 trunk_z= 117.5mm grav_b=(+0.04,-0.07,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 121.4mm grav_b=(+0.04,-0.10,-0.99) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 118.8mm grav_b=(+0.06,-0.05,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 118.5mm grav_b=(+0.04,+0.08,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 119.4mm grav_b=(+0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 116.5mm grav_b=(+0.05,-0.07,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 121.0mm grav_b=(+0.05,-0.10,-0.99) r=0.53m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(+0.07,-0.06,-1.00) r=0.53m +[headless_play] t= 2.60s step= 130 trunk_z= 117.7mm grav_b=(+0.04,+0.08,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 119.2mm grav_b=(+0.04,+0.06,-1.00) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 116.4mm grav_b=(+0.04,-0.06,-1.00) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(+0.03,-0.09,-1.00) r=0.56m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(+0.06,-0.04,-1.00) r=0.56m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.05,+0.08,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 119.3mm grav_b=(+0.04,+0.05,-1.00) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 118.0mm grav_b=(+0.03,-0.09,-1.00) r=0.58m +[headless_play] t= 3.40s step= 170 trunk_z= 122.1mm grav_b=(+0.01,-0.11,-0.99) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 116.5mm grav_b=(+0.05,-0.06,-1.00) r=0.59m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(+0.04,+0.02,-1.00) r=0.59m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 112.2mm grav_b=(+0.08,-0.05,-1.00) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 115.4mm grav_b=(+0.03,-0.09,-1.00) r=0.63m +[headless_play] t= 4.00s step= 200 trunk_z= 114.7mm grav_b=(+0.05,-0.06,-1.00) r=0.63m +[headless_play] t= 4.10s step= 205 trunk_z= 111.2mm grav_b=(+0.06,+0.02,-1.00) r=0.62m +[headless_play] t= 4.20s step= 210 trunk_z= 117.3mm grav_b=(+0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 4.40s step= 220 trunk_z= 110.0mm grav_b=(+0.06,-0.08,-0.99) r=0.65m +[headless_play] t= 4.50s step= 225 trunk_z= 112.7mm grav_b=(+0.07,-0.11,-0.99) r=0.66m +[headless_play] t= 4.60s step= 230 trunk_z= 111.8mm grav_b=(+0.08,-0.09,-0.99) r=0.65m +[headless_play] t= 4.70s step= 235 trunk_z= 112.5mm grav_b=(+0.06,+0.02,-1.00) r=0.64m +[headless_play] t= 4.80s step= 240 trunk_z= 118.6mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 4.90s step= 245 trunk_z= 116.5mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 108.8mm grav_b=(+0.08,-0.11,-0.99) r=0.68m +[headless_play] t= 5.10s step= 255 trunk_z= 111.9mm grav_b=(+0.11,-0.13,-0.98) r=0.69m +[headless_play] t= 5.20s step= 260 trunk_z= 110.8mm grav_b=(+0.11,-0.09,-0.99) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 120.3mm grav_b=(-0.03,-0.02,-1.00) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(+0.02,-0.03,-1.00) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 112.9mm grav_b=(+0.02,-0.09,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 110.6mm grav_b=(+0.09,-0.10,-0.99) r=0.70m +[headless_play] t= 5.80s step= 290 trunk_z= 107.9mm grav_b=(+0.11,+0.00,-0.99) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 118.2mm grav_b=(+0.04,+0.00,-1.00) r=0.69m +[headless_play] t= 6.00s step= 300 trunk_z= 118.7mm grav_b=(+0.01,-0.04,-1.00) r=0.70m +[headless_play] t= 6.10s step= 305 trunk_z= 120.6mm grav_b=(+0.01,-0.12,-0.99) r=0.71m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(+0.03,-0.12,-0.99) r=0.70m +[headless_play] t= 6.30s step= 315 trunk_z= 115.0mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 123.6mm grav_b=(+0.02,+0.05,-1.00) r=0.68m +[headless_play] t= 6.50s step= 325 trunk_z= 120.8mm grav_b=(-0.00,-0.01,-1.00) r=0.69m +[headless_play] t= 6.60s step= 330 trunk_z= 125.1mm grav_b=(+0.00,-0.08,-1.00) r=0.71m +[headless_play] t= 6.70s step= 335 trunk_z= 122.7mm grav_b=(+0.01,-0.07,-1.00) r=0.70m +[headless_play] t= 6.80s step= 340 trunk_z= 119.6mm grav_b=(+0.00,+0.04,-1.00) r=0.67m +[headless_play] t= 6.90s step= 345 trunk_z= 124.8mm grav_b=(-0.01,+0.05,-1.00) r=0.67m +[headless_play] t= 7.00s step= 350 trunk_z= 119.9mm grav_b=(-0.01,-0.03,-1.00) r=0.69m +[headless_play] t= 7.10s step= 355 trunk_z= 124.1mm grav_b=(+0.01,-0.09,-1.00) r=0.70m +[headless_play] t= 7.20s step= 360 trunk_z= 120.4mm grav_b=(+0.04,-0.06,-1.00) r=0.68m +[headless_play] t= 7.30s step= 365 trunk_z= 120.3mm grav_b=(+0.04,+0.02,-1.00) r=0.67m +[headless_play] t= 7.40s step= 370 trunk_z= 118.1mm grav_b=(+0.00,-0.00,-1.00) r=0.67m +[headless_play] t= 7.50s step= 375 trunk_z= 117.1mm grav_b=(-0.03,-0.03,-1.00) r=0.68m +[headless_play] t= 7.60s step= 380 trunk_z= 116.9mm grav_b=(-0.00,-0.00,-1.00) r=0.67m +[headless_play] t= 7.70s step= 385 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 7.80s step= 390 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.67m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.67m +[headless_play] t= 8.00s step= 400 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.67m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=0.67m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 8.30s step= 415 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.67m +[headless_play] t= 8.40s step= 420 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 8.70s step= 435 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 8.80s step= 440 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.20s step= 460 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.40s step= 470 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.50s step= 475 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.60s step= 480 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.67m +[headless_play] t= 9.80s step= 490 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 10.00s step= 500 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.67m +[headless_play] t= 10.10s step= 505 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.67m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=0.67m +[headless_play] t= 10.30s step= 515 trunk_z= 116.6mm grav_b=(+0.07,-0.00,-1.00) r=0.67m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(+0.06,+0.00,-1.00) r=0.67m +[headless_play] t= 10.50s step= 525 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.67m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(+0.06,+0.00,-1.00) r=0.67m +[headless_play] t= 10.70s step= 535 trunk_z= 116.1mm grav_b=(+0.07,+0.00,-1.00) r=0.67m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.07,-0.01,-1.00) r=0.67m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(+0.07,-0.02,-1.00) r=0.68m +[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(+0.05,-0.06,-1.00) r=0.68m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(+0.04,-0.08,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00) r=0.68m +[headless_play] t= 11.30s step= 565 trunk_z= 118.9mm grav_b=(+0.05,+0.10,-0.99) r=0.67m +[headless_play] t= 11.40s step= 570 trunk_z= 120.7mm grav_b=(+0.04,+0.07,-1.00) r=0.67m +[headless_play] t= 11.50s step= 575 trunk_z= 116.7mm grav_b=(+0.03,-0.06,-1.00) r=0.69m +[headless_play] t= 11.60s step= 580 trunk_z= 122.2mm grav_b=(+0.00,-0.10,-0.99) r=0.70m +[headless_play] t= 11.70s step= 585 trunk_z= 118.0mm grav_b=(+0.07,-0.07,-1.00) r=0.69m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.07,+0.05,-1.00) r=0.68m +[headless_play] t= 11.90s step= 595 trunk_z= 118.8mm grav_b=(+0.07,+0.00,-1.00) r=0.69m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(+0.02,-0.08,-1.00) r=0.70m +[headless_play] t= 12.10s step= 605 trunk_z= 121.0mm grav_b=(+0.03,-0.08,-1.00) r=0.70m +[headless_play] t= 12.20s step= 610 trunk_z= 114.7mm grav_b=(+0.07,-0.00,-1.00) r=0.69m +[headless_play] t= 12.30s step= 615 trunk_z= 118.5mm grav_b=(+0.06,+0.03,-1.00) r=0.68m +[headless_play] t= 12.40s step= 620 trunk_z= 116.6mm grav_b=(+0.06,-0.03,-1.00) r=0.69m +[headless_play] t= 12.50s step= 625 trunk_z= 121.8mm grav_b=(+0.02,-0.09,-1.00) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(+0.03,-0.07,-1.00) r=0.70m +[headless_play] t= 12.70s step= 635 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.69m +[headless_play] t= 12.80s step= 640 trunk_z= 119.3mm grav_b=(+0.06,-0.00,-1.00) r=0.69m +[headless_play] t= 12.90s step= 645 trunk_z= 116.0mm grav_b=(+0.04,-0.07,-1.00) r=0.71m +[headless_play] t= 13.00s step= 650 trunk_z= 120.8mm grav_b=(+0.02,-0.09,-1.00) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 116.4mm grav_b=(+0.06,-0.05,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 117.5mm grav_b=(+0.07,+0.04,-1.00) r=0.70m +[headless_play] t= 13.30s step= 665 trunk_z= 119.4mm grav_b=(+0.05,-0.01,-1.00) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 119.4mm grav_b=(+0.01,-0.09,-1.00) r=0.72m +[headless_play] t= 13.50s step= 675 trunk_z= 121.0mm grav_b=(+0.01,-0.07,-1.00) r=0.72m +[headless_play] t= 13.60s step= 680 trunk_z= 115.3mm grav_b=(+0.05,+0.00,-1.00) r=0.71m +[headless_play] t= 13.70s step= 685 trunk_z= 118.6mm grav_b=(+0.07,+0.04,-1.00) r=0.71m +[headless_play] t= 13.80s step= 690 trunk_z= 117.5mm grav_b=(+0.06,-0.03,-1.00) r=0.72m +[headless_play] t= 13.90s step= 695 trunk_z= 122.4mm grav_b=(-0.01,-0.10,-0.99) r=0.74m +[headless_play] t= 14.00s step= 700 trunk_z= 121.3mm grav_b=(+0.02,-0.11,-0.99) r=0.75m +[headless_play] t= 14.10s step= 705 trunk_z= 115.2mm grav_b=(+0.08,-0.10,-0.99) r=0.76m +[headless_play] t= 14.20s step= 710 trunk_z= 110.0mm grav_b=(+0.15,-0.14,-0.98) r=0.78m +[headless_play] t= 14.30s step= 715 trunk_z= 108.1mm grav_b=(+0.10,-0.29,-0.95) r=0.81m +[headless_play] t= 14.40s step= 720 trunk_z= 109.1mm grav_b=(-0.05,-0.45,-0.89) r=0.85m +[headless_play] t= 14.50s step= 725 trunk_z= 114.2mm grav_b=(-0.49,-0.50,-0.72) r=0.90m +[headless_play] t= 14.60s step= 730 trunk_z= 52.6mm grav_b=(-0.94,-0.09,-0.32) r=0.94m +[headless_play] RESET at t= 14.62s step= 731 (env termination, not a recovery) +[headless_play] t= 14.70s step= 735 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(+0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 14.90s step= 745 trunk_z= 115.2mm grav_b=(+0.07,-0.05,-1.00) r=0.54m +[headless_play] t= 15.00s step= 750 trunk_z= 114.9mm grav_b=(+0.09,-0.06,-0.99) r=0.55m +[headless_play] t= 15.10s step= 755 trunk_z= 115.6mm grav_b=(+0.07,-0.01,-1.00) r=0.55m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(+0.05,+0.04,-1.00) r=0.56m +[headless_play] t= 15.30s step= 765 trunk_z= 117.8mm grav_b=(+0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 15.40s step= 770 trunk_z= 116.9mm grav_b=(+0.03,-0.11,-0.99) r=0.57m +[headless_play] t= 15.50s step= 775 trunk_z= 118.2mm grav_b=(+0.04,-0.14,-0.99) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 115.5mm grav_b=(+0.09,-0.11,-0.99) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 116.0mm grav_b=(+0.06,+0.01,-1.00) r=0.61m +[headless_play] t= 15.80s step= 790 trunk_z= 120.0mm grav_b=(+0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(+0.03,-0.08,-1.00) r=0.63m +[headless_play] t= 16.00s step= 800 trunk_z= 120.1mm grav_b=(+0.01,-0.11,-0.99) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 117.2mm grav_b=(+0.07,-0.10,-0.99) r=0.65m +[headless_play] t= 16.20s step= 810 trunk_z= 114.3mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 16.30s step= 815 trunk_z= 119.0mm grav_b=(+0.07,-0.01,-1.00) r=0.67m +[headless_play] t= 16.40s step= 820 trunk_z= 115.5mm grav_b=(+0.05,-0.07,-1.00) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 119.6mm grav_b=(+0.02,-0.10,-0.99) r=0.69m +[headless_play] t= 16.60s step= 830 trunk_z= 117.6mm grav_b=(+0.06,-0.10,-0.99) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 113.3mm grav_b=(+0.07,-0.01,-1.00) r=0.71m +[headless_play] t= 16.80s step= 840 trunk_z= 118.8mm grav_b=(+0.07,-0.02,-1.00) r=0.72m +[headless_play] t= 16.90s step= 845 trunk_z= 114.9mm grav_b=(+0.03,-0.08,-1.00) r=0.73m +[headless_play] t= 17.00s step= 850 trunk_z= 121.7mm grav_b=(+0.03,-0.11,-0.99) r=0.74m +[headless_play] t= 17.10s step= 855 trunk_z= 118.1mm grav_b=(+0.06,-0.07,-1.00) r=0.74m +[headless_play] t= 17.20s step= 860 trunk_z= 117.3mm grav_b=(+0.06,+0.02,-1.00) r=0.75m +[headless_play] t= 17.30s step= 865 trunk_z= 120.3mm grav_b=(+0.04,-0.04,-1.00) r=0.77m +[headless_play] t= 17.40s step= 870 trunk_z= 122.2mm grav_b=(+0.01,-0.14,-0.99) r=0.79m +[headless_play] t= 17.50s step= 875 trunk_z= 122.7mm grav_b=(+0.06,-0.15,-0.99) r=0.80m +[headless_play] t= 17.60s step= 880 trunk_z= 112.1mm grav_b=(+0.04,-0.04,-1.00) r=0.82m +[headless_play] t= 17.70s step= 885 trunk_z= 101.8mm grav_b=(+0.12,+0.11,-0.99) r=0.84m +[headless_play] t= 17.80s step= 890 trunk_z= 104.5mm grav_b=(+0.10,+0.08,-0.99) r=0.86m +[headless_play] t= 17.90s step= 895 trunk_z= 94.3mm grav_b=(+0.01,-0.04,-1.00) r=0.90m +[headless_play] t= 18.00s step= 900 trunk_z= 101.7mm grav_b=(-0.03,-0.13,-0.99) r=0.92m +[headless_play] t= 18.10s step= 905 trunk_z= 90.5mm grav_b=(-0.00,-0.05,-1.00) r=0.94m +[headless_play] t= 18.20s step= 910 trunk_z= 94.8mm grav_b=(+0.07,-0.02,-1.00) r=0.94m +[headless_play] t= 18.30s step= 915 trunk_z= 91.3mm grav_b=(+0.03,-0.09,-1.00) r=0.96m +[headless_play] t= 18.40s step= 920 trunk_z= 99.0mm grav_b=(+0.02,-0.12,-0.99) r=0.97m +[headless_play] t= 18.50s step= 925 trunk_z= 93.0mm grav_b=(+0.05,-0.10,-0.99) r=0.98m +[headless_play] t= 18.60s step= 930 trunk_z= 92.5mm grav_b=(+0.05,+0.04,-1.00) r=0.98m +[headless_play] t= 18.70s step= 935 trunk_z= 96.0mm grav_b=(+0.04,+0.01,-1.00) r=0.99m +[headless_play] t= 18.80s step= 940 trunk_z= 94.3mm grav_b=(-0.00,-0.10,-1.00) r=1.00m +[headless_play] t= 18.90s step= 945 trunk_z= 98.8mm grav_b=(+0.01,-0.12,-0.99) r=1.01m +[headless_play] t= 19.00s step= 950 trunk_z= 93.2mm grav_b=(+0.04,-0.05,-1.00) r=1.02m +[headless_play] t= 19.10s step= 955 trunk_z= 95.2mm grav_b=(+0.05,+0.06,-1.00) r=1.03m +[headless_play] t= 19.20s step= 960 trunk_z= 94.3mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 19.30s step= 965 trunk_z= 96.9mm grav_b=(-0.01,-0.12,-0.99) r=1.05m +[headless_play] t= 19.40s step= 970 trunk_z= 98.6mm grav_b=(+0.04,-0.14,-0.99) r=1.07m +[headless_play] t= 19.50s step= 975 trunk_z= 91.8mm grav_b=(+0.06,-0.06,-1.00) r=1.08m +[headless_play] t= 19.60s step= 980 trunk_z= 95.9mm grav_b=(+0.05,+0.05,-1.00) r=1.09m +[headless_play] t= 19.70s step= 985 trunk_z= 95.8mm grav_b=(+0.04,-0.00,-1.00) r=1.10m +[headless_play] t= 19.80s step= 990 trunk_z= 96.1mm grav_b=(-0.01,-0.11,-0.99) r=1.11m +[headless_play] t= 19.90s step= 995 trunk_z= 99.1mm grav_b=(+0.03,-0.13,-0.99) r=1.12m +[headless_play] t= 20.00s step=1000 trunk_z= 92.2mm grav_b=(+0.05,-0.08,-1.00) r=1.13m +[headless_play] t= 20.10s step=1005 trunk_z= 95.2mm grav_b=(+0.03,+0.05,-1.00) r=1.14m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..3675cc4b0cce4471345a90400762f130db04fffd --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t4.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.495,-17.803,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.1mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.07,-0.04,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 118.3mm grav_b=(+0.10,-0.02,-0.99) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(+0.12,+0.07,-0.99) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 123.7mm grav_b=(+0.10,+0.09,-0.99) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 120.4mm grav_b=(+0.04,-0.04,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 125.5mm grav_b=(+0.05,-0.09,-0.99) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 122.3mm grav_b=(+0.07,-0.05,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 121.2mm grav_b=(+0.05,+0.08,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 125.4mm grav_b=(+0.06,+0.07,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 119.4mm grav_b=(+0.06,+0.01,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 125.5mm grav_b=(+0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 122.3mm grav_b=(+0.05,-0.02,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 120.0mm grav_b=(+0.02,+0.10,-1.00) r=0.43m +[headless_play] t= 1.50s step= 75 trunk_z= 126.9mm grav_b=(+0.03,+0.09,-0.99) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 123.3mm grav_b=(+0.05,+0.06,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 123.6mm grav_b=(+0.05,-0.05,-1.00) r=0.38m +[headless_play] t= 1.80s step= 90 trunk_z= 122.9mm grav_b=(+0.08,-0.03,-1.00) r=0.38m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.04,+0.09,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 127.2mm grav_b=(+0.04,+0.11,-0.99) r=0.39m +[headless_play] t= 2.10s step= 105 trunk_z= 125.9mm grav_b=(+0.06,+0.08,-0.99) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 121.8mm grav_b=(+0.03,-0.03,-1.00) r=0.35m +[headless_play] t= 2.30s step= 115 trunk_z= 124.6mm grav_b=(+0.06,-0.06,-1.00) r=0.35m +[headless_play] t= 2.40s step= 120 trunk_z= 118.7mm grav_b=(+0.04,+0.01,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 124.0mm grav_b=(+0.03,+0.09,-1.00) r=0.38m +[headless_play] t= 2.60s step= 130 trunk_z= 123.2mm grav_b=(+0.05,+0.06,-1.00) r=0.37m +[headless_play] t= 2.70s step= 135 trunk_z= 123.2mm grav_b=(+0.03,-0.06,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 124.8mm grav_b=(+0.07,-0.06,-1.00) r=0.34m +[headless_play] t= 2.90s step= 145 trunk_z= 116.0mm grav_b=(+0.05,+0.05,-1.00) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 129.0mm grav_b=(+0.05,+0.06,-1.00) r=0.37m +[headless_play] t= 3.10s step= 155 trunk_z= 130.6mm grav_b=(+0.07,+0.05,-1.00) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 120.4mm grav_b=(+0.06,-0.03,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 127.2mm grav_b=(+0.06,-0.00,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 122.0mm grav_b=(+0.02,+0.00,-1.00) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 125.8mm grav_b=(+0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 126.1mm grav_b=(+0.03,+0.06,-1.00) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 123.4mm grav_b=(+0.04,-0.03,-1.00) r=0.34m +[headless_play] t= 3.80s step= 190 trunk_z= 125.5mm grav_b=(+0.05,+0.00,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 118.0mm grav_b=(+0.04,+0.06,-1.00) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 128.8mm grav_b=(+0.04,+0.09,-0.99) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 128.5mm grav_b=(+0.04,+0.09,-0.99) r=0.36m +[headless_play] t= 4.20s step= 210 trunk_z= 122.0mm grav_b=(+0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 127.1mm grav_b=(+0.04,-0.03,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 122.7mm grav_b=(+0.02,-0.02,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 124.4mm grav_b=(+0.00,+0.05,-1.00) r=0.36m +[headless_play] t= 4.60s step= 230 trunk_z= 126.7mm grav_b=(-0.01,+0.06,-1.00) r=0.37m +[headless_play] t= 4.70s step= 235 trunk_z= 121.6mm grav_b=(+0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 126.0mm grav_b=(+0.05,-0.01,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 121.5mm grav_b=(+0.04,+0.03,-1.00) r=0.36m +[headless_play] t= 5.00s step= 250 trunk_z= 127.8mm grav_b=(+0.03,+0.07,-1.00) r=0.38m +[headless_play] t= 5.10s step= 255 trunk_z= 128.8mm grav_b=(+0.05,+0.08,-1.00) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 123.7mm grav_b=(+0.02,+0.03,-1.00) r=0.36m +[headless_play] t= 5.30s step= 265 trunk_z= 125.6mm grav_b=(+0.00,-0.05,-1.00) r=0.34m +[headless_play] t= 5.40s step= 270 trunk_z= 123.1mm grav_b=(+0.01,-0.04,-1.00) r=0.36m +[headless_play] t= 5.50s step= 275 trunk_z= 118.4mm grav_b=(+0.03,+0.06,-1.00) r=0.38m +[headless_play] t= 5.60s step= 280 trunk_z= 126.9mm grav_b=(+0.01,+0.11,-0.99) r=0.39m +[headless_play] t= 5.70s step= 285 trunk_z= 124.6mm grav_b=(+0.03,+0.08,-1.00) r=0.38m +[headless_play] t= 5.80s step= 290 trunk_z= 120.1mm grav_b=(+0.04,-0.05,-1.00) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 119.9mm grav_b=(+0.09,-0.05,-0.99) r=0.38m +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(+0.06,+0.05,-1.00) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 124.6mm grav_b=(+0.05,+0.09,-0.99) r=0.40m +[headless_play] t= 6.20s step= 310 trunk_z= 121.6mm grav_b=(+0.04,+0.05,-1.00) r=0.39m +[headless_play] t= 6.30s step= 315 trunk_z= 121.8mm grav_b=(+0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 6.40s step= 320 trunk_z= 120.6mm grav_b=(+0.06,-0.05,-1.00) r=0.39m +[headless_play] t= 6.50s step= 325 trunk_z= 117.9mm grav_b=(+0.08,+0.07,-0.99) r=0.41m +[headless_play] t= 6.60s step= 330 trunk_z= 125.5mm grav_b=(+0.08,+0.09,-0.99) r=0.42m +[headless_play] t= 6.70s step= 335 trunk_z= 123.0mm grav_b=(+0.07,+0.03,-1.00) r=0.41m +[headless_play] t= 6.80s step= 340 trunk_z= 123.5mm grav_b=(+0.05,-0.09,-1.00) r=0.40m +[headless_play] t= 6.90s step= 345 trunk_z= 123.1mm grav_b=(+0.07,-0.07,-0.99) r=0.41m +[headless_play] t= 7.00s step= 350 trunk_z= 116.9mm grav_b=(+0.04,+0.02,-1.00) r=0.43m +[headless_play] t= 7.10s step= 355 trunk_z= 124.1mm grav_b=(+0.05,+0.07,-1.00) r=0.44m +[headless_play] t= 7.20s step= 360 trunk_z= 121.3mm grav_b=(+0.04,+0.03,-1.00) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 122.0mm grav_b=(+0.03,-0.08,-1.00) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 119.3mm grav_b=(+0.08,-0.04,-1.00) r=0.44m +[headless_play] t= 7.50s step= 375 trunk_z= 120.0mm grav_b=(+0.08,+0.09,-0.99) r=0.46m +[headless_play] t= 7.60s step= 380 trunk_z= 126.5mm grav_b=(+0.08,+0.11,-0.99) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 123.9mm grav_b=(+0.07,+0.05,-1.00) r=0.47m +[headless_play] t= 7.80s step= 390 trunk_z= 124.1mm grav_b=(+0.04,-0.07,-1.00) r=0.46m +[headless_play] t= 7.90s step= 395 trunk_z= 124.7mm grav_b=(+0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 8.00s step= 400 trunk_z= 115.4mm grav_b=(+0.04,-0.00,-1.00) r=0.48m +[headless_play] t= 8.10s step= 405 trunk_z= 123.8mm grav_b=(+0.06,+0.07,-1.00) r=0.49m +[headless_play] t= 8.20s step= 410 trunk_z= 121.9mm grav_b=(+0.05,+0.05,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 121.0mm grav_b=(+0.04,-0.07,-1.00) r=0.48m +[headless_play] t= 8.40s step= 420 trunk_z= 121.4mm grav_b=(+0.08,-0.06,-1.00) r=0.49m +[headless_play] t= 8.50s step= 425 trunk_z= 115.8mm grav_b=(+0.06,+0.06,-1.00) r=0.51m +[headless_play] t= 8.60s step= 430 trunk_z= 125.3mm grav_b=(+0.06,+0.10,-0.99) r=0.52m +[headless_play] t= 8.70s step= 435 trunk_z= 123.1mm grav_b=(+0.06,+0.06,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 121.4mm grav_b=(+0.03,-0.06,-1.00) r=0.52m +[headless_play] t= 8.90s step= 445 trunk_z= 123.2mm grav_b=(+0.06,-0.07,-1.00) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 115.5mm grav_b=(+0.06,+0.01,-1.00) r=0.54m +[headless_play] t= 9.10s step= 455 trunk_z= 123.7mm grav_b=(+0.07,+0.08,-0.99) r=0.55m +[headless_play] t= 9.20s step= 460 trunk_z= 122.9mm grav_b=(+0.07,+0.06,-1.00) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 119.5mm grav_b=(+0.04,-0.06,-1.00) r=0.55m +[headless_play] t= 9.40s step= 470 trunk_z= 121.7mm grav_b=(+0.04,-0.08,-1.00) r=0.56m +[headless_play] t= 9.50s step= 475 trunk_z= 116.7mm grav_b=(+0.06,+0.03,-1.00) r=0.58m +[headless_play] t= 9.60s step= 480 trunk_z= 124.0mm grav_b=(+0.07,+0.08,-0.99) r=0.59m +[headless_play] t= 9.70s step= 485 trunk_z= 121.2mm grav_b=(+0.07,+0.03,-1.00) r=0.59m +[headless_play] t= 9.80s step= 490 trunk_z= 122.6mm grav_b=(+0.05,-0.09,-0.99) r=0.59m +[headless_play] t= 9.90s step= 495 trunk_z= 121.5mm grav_b=(+0.07,-0.06,-1.00) r=0.60m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(+0.06,+0.07,-1.00) r=0.62m +[headless_play] t= 10.10s step= 505 trunk_z= 126.5mm grav_b=(+0.06,+0.10,-0.99) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 124.7mm grav_b=(+0.06,+0.06,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 120.1mm grav_b=(+0.04,-0.04,-1.00) r=0.64m +[headless_play] t= 10.40s step= 520 trunk_z= 123.9mm grav_b=(+0.07,-0.09,-0.99) r=0.64m +[headless_play] t= 10.50s step= 525 trunk_z= 119.5mm grav_b=(+0.06,-0.03,-1.00) r=0.65m +[headless_play] t= 10.60s step= 530 trunk_z= 122.3mm grav_b=(+0.03,+0.10,-0.99) r=0.66m +[headless_play] t= 10.70s step= 535 trunk_z= 126.3mm grav_b=(+0.04,+0.09,-1.00) r=0.67m +[headless_play] t= 10.80s step= 540 trunk_z= 120.6mm grav_b=(+0.05,+0.01,-1.00) r=0.68m +[headless_play] t= 10.90s step= 545 trunk_z= 122.3mm grav_b=(+0.08,-0.11,-0.99) r=0.70m +[headless_play] t= 11.00s step= 550 trunk_z= 122.4mm grav_b=(+0.09,-0.09,-0.99) r=0.70m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.71m +[headless_play] t= 11.20s step= 560 trunk_z= 125.5mm grav_b=(+0.05,+0.11,-0.99) r=0.73m +[headless_play] t= 11.30s step= 565 trunk_z= 126.4mm grav_b=(+0.06,+0.08,-1.00) r=0.74m +[headless_play] t= 11.40s step= 570 trunk_z= 119.2mm grav_b=(+0.03,-0.02,-1.00) r=0.76m +[headless_play] t= 11.50s step= 575 trunk_z= 123.7mm grav_b=(+0.07,-0.10,-0.99) r=0.78m +[headless_play] t= 11.60s step= 580 trunk_z= 122.1mm grav_b=(+0.06,-0.08,-1.00) r=0.78m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(+0.05,+0.06,-1.00) r=0.78m +[headless_play] t= 11.80s step= 590 trunk_z= 126.3mm grav_b=(+0.06,+0.10,-0.99) r=0.79m +[headless_play] t= 11.90s step= 595 trunk_z= 124.4mm grav_b=(+0.07,+0.07,-1.00) r=0.80m +[headless_play] t= 12.00s step= 600 trunk_z= 115.0mm grav_b=(+0.02,-0.08,-1.00) r=0.82m +[headless_play] t= 12.10s step= 605 trunk_z= 110.6mm grav_b=(-0.06,-0.34,-0.94) r=0.85m +[headless_play] t= 12.20s step= 610 trunk_z= 116.8mm grav_b=(-0.36,-0.30,-0.88) r=0.87m +[headless_play] t= 12.30s step= 615 trunk_z= 95.4mm grav_b=(-0.33,+0.04,-0.94) r=0.90m +[headless_play] t= 12.40s step= 620 trunk_z= 58.0mm grav_b=(-0.33,+0.16,-0.93) r=0.93m +[headless_play] t= 12.50s step= 625 trunk_z= 77.3mm grav_b=(-0.19,+0.13,-0.97) r=0.96m +[headless_play] t= 12.60s step= 630 trunk_z= 73.1mm grav_b=(+0.14,-0.04,-0.99) r=1.00m +[headless_play] t= 12.70s step= 635 trunk_z= 91.5mm grav_b=(+0.15,-0.09,-0.98) r=1.01m +[headless_play] t= 12.80s step= 640 trunk_z= 94.6mm grav_b=(+0.08,-0.03,-1.00) r=1.01m +[headless_play] t= 12.90s step= 645 trunk_z= 97.5mm grav_b=(+0.11,+0.05,-0.99) r=1.01m +[headless_play] t= 13.00s step= 650 trunk_z= 99.0mm grav_b=(+0.07,+0.01,-1.00) r=1.03m +[headless_play] t= 13.10s step= 655 trunk_z= 99.1mm grav_b=(+0.06,-0.11,-0.99) r=1.05m +[headless_play] t= 13.20s step= 660 trunk_z= 99.8mm grav_b=(+0.06,-0.10,-0.99) r=1.06m +[headless_play] t= 13.30s step= 665 trunk_z= 92.9mm grav_b=(+0.03,-0.03,-1.00) r=1.05m +[headless_play] t= 13.40s step= 670 trunk_z= 98.8mm grav_b=(+0.06,+0.08,-1.00) r=1.04m +[headless_play] t= 13.50s step= 675 trunk_z= 98.9mm grav_b=(+0.05,+0.06,-1.00) r=1.05m +[headless_play] t= 13.60s step= 680 trunk_z= 94.2mm grav_b=(+0.03,-0.07,-1.00) r=1.07m +[headless_play] t= 13.70s step= 685 trunk_z= 98.7mm grav_b=(+0.05,-0.09,-0.99) r=1.08m +[headless_play] t= 13.80s step= 690 trunk_z= 93.1mm grav_b=(+0.08,-0.03,-1.00) r=1.07m +[headless_play] t= 13.90s step= 695 trunk_z= 93.4mm grav_b=(+0.04,+0.10,-0.99) r=1.06m +[headless_play] t= 14.00s step= 700 trunk_z= 96.0mm grav_b=(+0.04,+0.08,-1.00) r=1.06m +[headless_play] t= 14.10s step= 705 trunk_z= 89.2mm grav_b=(+0.08,-0.01,-1.00) r=1.08m +[headless_play] t= 14.20s step= 710 trunk_z= 92.3mm grav_b=(+0.08,-0.10,-0.99) r=1.09m +[headless_play] t= 14.30s step= 715 trunk_z= 90.7mm grav_b=(+0.11,-0.06,-0.99) r=1.08m +[headless_play] t= 14.40s step= 720 trunk_z= 87.5mm grav_b=(+0.09,+0.09,-0.99) r=1.06m +[headless_play] t= 14.50s step= 725 trunk_z= 96.1mm grav_b=(+0.06,+0.11,-0.99) r=1.05m +[headless_play] t= 14.60s step= 730 trunk_z= 91.9mm grav_b=(+0.08,+0.05,-1.00) r=1.06m +[headless_play] t= 14.70s step= 735 trunk_z= 92.5mm grav_b=(+0.07,-0.09,-0.99) r=1.07m +[headless_play] t= 14.80s step= 740 trunk_z= 91.3mm grav_b=(+0.10,-0.09,-0.99) r=1.06m +[headless_play] t= 14.90s step= 745 trunk_z= 88.7mm grav_b=(+0.10,+0.01,-1.00) r=1.05m +[headless_play] t= 15.00s step= 750 trunk_z= 93.6mm grav_b=(+0.07,+0.09,-0.99) r=1.03m +[headless_play] t= 15.10s step= 755 trunk_z= 92.6mm grav_b=(+0.07,+0.06,-1.00) r=1.02m +[headless_play] t= 15.20s step= 760 trunk_z= 89.7mm grav_b=(+0.08,-0.08,-0.99) r=1.03m +[headless_play] t= 15.30s step= 765 trunk_z= 92.6mm grav_b=(+0.08,-0.09,-0.99) r=1.02m +[headless_play] t= 15.40s step= 770 trunk_z= 90.2mm grav_b=(+0.10,-0.03,-0.99) r=1.01m +[headless_play] t= 15.50s step= 775 trunk_z= 91.7mm grav_b=(+0.07,+0.10,-0.99) r=0.99m +[headless_play] t= 15.60s step= 780 trunk_z= 94.8mm grav_b=(+0.07,+0.08,-0.99) r=0.97m +[headless_play] t= 15.70s step= 785 trunk_z= 88.8mm grav_b=(+0.10,-0.01,-0.99) r=0.97m +[headless_play] t= 15.80s step= 790 trunk_z= 93.7mm grav_b=(+0.07,-0.10,-0.99) r=0.96m +[headless_play] t= 15.90s step= 795 trunk_z= 91.3mm grav_b=(+0.10,-0.07,-0.99) r=0.95m +[headless_play] t= 16.00s step= 800 trunk_z= 86.5mm grav_b=(+0.10,+0.07,-0.99) r=0.94m +[headless_play] t= 16.10s step= 805 trunk_z= 95.1mm grav_b=(+0.08,+0.10,-0.99) r=0.92m +[headless_play] t= 16.20s step= 810 trunk_z= 91.9mm grav_b=(+0.09,+0.06,-0.99) r=0.91m +[headless_play] t= 16.30s step= 815 trunk_z= 92.2mm grav_b=(+0.10,-0.08,-0.99) r=0.90m +[headless_play] t= 16.40s step= 820 trunk_z= 91.7mm grav_b=(+0.10,-0.07,-0.99) r=0.89m +[headless_play] t= 16.50s step= 825 trunk_z= 86.5mm grav_b=(+0.10,+0.04,-0.99) r=0.87m +[headless_play] t= 16.60s step= 830 trunk_z= 93.2mm grav_b=(+0.09,+0.10,-0.99) r=0.86m +[headless_play] t= 16.70s step= 835 trunk_z= 91.2mm grav_b=(+0.14,+0.01,-0.99) r=0.87m +[headless_play] t= 16.80s step= 840 trunk_z= 95.1mm grav_b=(+0.13,-0.08,-0.99) r=0.87m +[headless_play] t= 16.90s step= 845 trunk_z= 95.2mm grav_b=(+0.19,+0.00,-0.98) r=0.86m +[headless_play] t= 17.00s step= 850 trunk_z= 96.7mm grav_b=(+0.22,+0.06,-0.97) r=0.85m +[headless_play] t= 17.10s step= 855 trunk_z= 103.7mm grav_b=(+0.34,+0.23,-0.91) r=0.84m +[headless_play] t= 17.20s step= 860 trunk_z= 43.3mm grav_b=(+0.58,+0.75,-0.31) r=0.81m +[headless_play] RESET at t= 17.22s step= 861 (env termination, not a recovery) +[headless_play] t= 17.30s step= 865 trunk_z= 113.4mm grav_b=(-0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(+0.05,-0.02,-1.00) r=0.24m +[headless_play] t= 17.50s step= 875 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.25m +[headless_play] t= 17.60s step= 880 trunk_z= 117.3mm grav_b=(+0.08,-0.01,-1.00) r=0.24m +[headless_play] t= 17.70s step= 885 trunk_z= 117.6mm grav_b=(+0.09,-0.01,-1.00) r=0.24m +[headless_play] t= 17.80s step= 890 trunk_z= 117.7mm grav_b=(+0.10,-0.01,-1.00) r=0.24m +[headless_play] t= 17.90s step= 895 trunk_z= 117.8mm grav_b=(+0.10,-0.01,-0.99) r=0.24m +[headless_play] t= 18.00s step= 900 trunk_z= 118.2mm grav_b=(+0.11,-0.01,-0.99) r=0.24m +[headless_play] t= 18.10s step= 905 trunk_z= 118.5mm grav_b=(+0.12,-0.02,-0.99) r=0.24m +[headless_play] t= 18.20s step= 910 trunk_z= 119.0mm grav_b=(+0.13,-0.02,-0.99) r=0.24m +[headless_play] t= 18.30s step= 915 trunk_z= 121.2mm grav_b=(+0.14,-0.01,-0.99) r=0.23m +[headless_play] t= 18.40s step= 920 trunk_z= 123.2mm grav_b=(+0.15,+0.05,-0.99) r=0.22m +[headless_play] t= 18.50s step= 925 trunk_z= 124.2mm grav_b=(+0.12,+0.03,-0.99) r=0.20m +[headless_play] t= 18.60s step= 930 trunk_z= 121.2mm grav_b=(+0.07,-0.05,-1.00) r=0.18m +[headless_play] t= 18.70s step= 935 trunk_z= 121.2mm grav_b=(+0.07,-0.05,-1.00) r=0.17m +[headless_play] t= 18.80s step= 940 trunk_z= 118.4mm grav_b=(+0.07,-0.02,-1.00) r=0.18m +[headless_play] t= 18.90s step= 945 trunk_z= 118.2mm grav_b=(+0.04,-0.01,-1.00) r=0.18m +[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.18m +[headless_play] t= 19.10s step= 955 trunk_z= 117.3mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 19.20s step= 960 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 19.30s step= 965 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(+0.04,+0.00,-1.00) r=0.17m +[headless_play] t= 19.70s step= 985 trunk_z= 117.8mm grav_b=(+0.08,-0.00,-1.00) r=0.17m +[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(+0.08,-0.00,-1.00) r=0.17m +[headless_play] t= 19.90s step= 995 trunk_z= 117.8mm grav_b=(+0.08,-0.00,-1.00) r=0.17m +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(+0.08,-0.00,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 117.8mm grav_b=(+0.07,-0.00,-1.00) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..d52efeb24719acb32c8bddaba544bb29fbbdd83d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t5.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.150,-17.704,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.6mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.03,+0.06,-1.00) r=0.32m +[headless_play] t= 0.40s step= 20 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 121.3mm grav_b=(+0.03,-0.11,-0.99) r=0.29m +[headless_play] t= 0.60s step= 30 trunk_z= 123.2mm grav_b=(+0.06,-0.09,-0.99) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 116.7mm grav_b=(+0.04,+0.02,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 124.8mm grav_b=(+0.04,+0.06,-1.00) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 121.3mm grav_b=(+0.04,+0.01,-1.00) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 123.2mm grav_b=(+0.03,-0.09,-1.00) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 120.8mm grav_b=(+0.05,-0.05,-1.00) r=0.23m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(+0.02,+0.08,-1.00) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 124.7mm grav_b=(+0.02,+0.07,-1.00) r=0.24m +[headless_play] t= 1.40s step= 70 trunk_z= 119.7mm grav_b=(+0.04,-0.00,-1.00) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 123.1mm grav_b=(+0.06,-0.08,-0.99) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 121.8mm grav_b=(+0.05,-0.04,-1.00) r=0.21m +[headless_play] t= 1.70s step= 85 trunk_z= 118.3mm grav_b=(+0.04,+0.06,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 125.6mm grav_b=(+0.03,+0.04,-1.00) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(+0.02,-0.06,-1.00) r=0.21m +[headless_play] t= 2.00s step= 100 trunk_z= 123.8mm grav_b=(+0.05,-0.09,-0.99) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 121.0mm grav_b=(+0.03,-0.04,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 121.0mm grav_b=(+0.02,+0.08,-1.00) r=0.25m +[headless_play] t= 2.30s step= 115 trunk_z= 124.1mm grav_b=(+0.04,+0.06,-1.00) r=0.26m +[headless_play] t= 2.40s step= 120 trunk_z= 118.7mm grav_b=(+0.01,-0.05,-1.00) r=0.25m +[headless_play] t= 2.50s step= 125 trunk_z= 122.7mm grav_b=(+0.05,-0.08,-1.00) r=0.25m +[headless_play] t= 2.60s step= 130 trunk_z= 117.7mm grav_b=(+0.04,-0.02,-1.00) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 123.3mm grav_b=(+0.02,+0.08,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 122.7mm grav_b=(+0.03,+0.03,-1.00) r=0.30m +[headless_play] t= 2.90s step= 145 trunk_z= 121.6mm grav_b=(+0.03,-0.08,-1.00) r=0.31m +[headless_play] t= 3.00s step= 150 trunk_z= 122.2mm grav_b=(+0.06,-0.07,-1.00) r=0.31m +[headless_play] t= 3.10s step= 155 trunk_z= 114.8mm grav_b=(+0.04,+0.04,-1.00) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 124.6mm grav_b=(+0.04,+0.05,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 118.6mm grav_b=(+0.02,-0.03,-1.00) r=0.37m +[headless_play] t= 3.40s step= 170 trunk_z= 123.5mm grav_b=(+0.03,-0.09,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 119.4mm grav_b=(+0.06,-0.05,-1.00) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 119.2mm grav_b=(+0.01,+0.09,-1.00) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 125.1mm grav_b=(+0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 119.6mm grav_b=(+0.02,-0.00,-1.00) r=0.44m +[headless_play] t= 3.90s step= 195 trunk_z= 122.3mm grav_b=(+0.02,-0.11,-0.99) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 120.8mm grav_b=(+0.03,-0.10,-0.99) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(-0.00,+0.05,-1.00) r=0.48m +[headless_play] t= 4.20s step= 210 trunk_z= 125.3mm grav_b=(-0.01,+0.09,-1.00) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 121.8mm grav_b=(+0.04,+0.05,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 118.8mm grav_b=(+0.08,-0.10,-0.99) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 122.7mm grav_b=(+0.06,-0.10,-0.99) r=0.53m +[headless_play] t= 4.60s step= 230 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 4.70s step= 235 trunk_z= 124.5mm grav_b=(+0.03,+0.09,-1.00) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 123.3mm grav_b=(+0.04,+0.06,-1.00) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 120.8mm grav_b=(+0.03,-0.09,-1.00) r=0.61m +[headless_play] t= 5.00s step= 250 trunk_z= 123.8mm grav_b=(+0.03,-0.11,-0.99) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 119.5mm grav_b=(+0.01,-0.06,-1.00) r=0.63m +[headless_play] t= 5.20s step= 260 trunk_z= 122.7mm grav_b=(+0.01,+0.08,-1.00) r=0.65m +[headless_play] t= 5.30s step= 265 trunk_z= 124.8mm grav_b=(+0.02,+0.07,-1.00) r=0.66m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.07,-0.03,-1.00) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 124.2mm grav_b=(+0.08,-0.12,-0.99) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 122.6mm grav_b=(+0.03,-0.09,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 118.2mm grav_b=(+0.00,+0.07,-1.00) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 126.1mm grav_b=(+0.03,+0.10,-0.99) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 122.1mm grav_b=(+0.05,+0.03,-1.00) r=0.77m +[headless_play] t= 6.00s step= 300 trunk_z= 122.8mm grav_b=(+0.04,-0.10,-0.99) r=0.79m +[headless_play] t= 6.10s step= 305 trunk_z= 124.1mm grav_b=(+0.04,-0.11,-0.99) r=0.80m +[headless_play] t= 6.20s step= 310 trunk_z= 118.4mm grav_b=(+0.01,-0.03,-1.00) r=0.81m +[headless_play] t= 6.30s step= 315 trunk_z= 124.4mm grav_b=(+0.02,+0.09,-1.00) r=0.82m +[headless_play] t= 6.40s step= 320 trunk_z= 124.5mm grav_b=(+0.03,+0.08,-1.00) r=0.84m +[headless_play] t= 6.50s step= 325 trunk_z= 117.7mm grav_b=(+0.02,-0.05,-1.00) r=0.86m +[headless_play] t= 6.60s step= 330 trunk_z= 125.5mm grav_b=(+0.05,-0.12,-0.99) r=0.88m +[headless_play] t= 6.70s step= 335 trunk_z= 123.4mm grav_b=(+0.00,-0.09,-1.00) r=0.88m +[headless_play] t= 6.80s step= 340 trunk_z= 119.1mm grav_b=(+0.01,+0.05,-1.00) r=0.89m +[headless_play] t= 6.90s step= 345 trunk_z= 125.2mm grav_b=(+0.01,+0.08,-1.00) r=0.90m +[headless_play] t= 7.00s step= 350 trunk_z= 120.6mm grav_b=(+0.05,+0.02,-1.00) r=0.92m +[headless_play] t= 7.10s step= 355 trunk_z= 120.2mm grav_b=(+0.05,-0.11,-0.99) r=0.94m +[headless_play] t= 7.20s step= 360 trunk_z= 113.1mm grav_b=(+0.08,-0.18,-0.98) r=0.97m +[headless_play] t= 7.30s step= 365 trunk_z= 104.8mm grav_b=(+0.11,-0.15,-0.98) r=1.01m +[headless_play] t= 7.40s step= 370 trunk_z= 89.4mm grav_b=(+0.10,-0.02,-0.99) r=1.06m +[headless_play] t= 7.50s step= 375 trunk_z= 87.3mm grav_b=(-0.01,+0.02,-1.00) r=1.07m +[headless_play] t= 7.60s step= 380 trunk_z= 90.8mm grav_b=(+0.03,+0.03,-1.00) r=1.09m +[headless_play] t= 7.70s step= 385 trunk_z= 89.6mm grav_b=(+0.02,-0.00,-1.00) r=1.10m +[headless_play] t= 7.80s step= 390 trunk_z= 90.9mm grav_b=(+0.04,-0.00,-1.00) r=1.10m +[headless_play] t= 7.90s step= 395 trunk_z= 91.0mm grav_b=(+0.05,-0.00,-1.00) r=1.10m +[headless_play] t= 8.00s step= 400 trunk_z= 90.6mm grav_b=(+0.04,-0.00,-1.00) r=1.10m +[headless_play] t= 8.10s step= 405 trunk_z= 90.5mm grav_b=(+0.02,+0.00,-1.00) r=1.09m +[headless_play] t= 8.20s step= 410 trunk_z= 90.6mm grav_b=(+0.00,+0.01,-1.00) r=1.09m +[headless_play] t= 8.30s step= 415 trunk_z= 91.3mm grav_b=(-0.00,+0.00,-1.00) r=1.09m +[headless_play] t= 8.40s step= 420 trunk_z= 91.2mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 8.50s step= 425 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 8.60s step= 430 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 8.70s step= 435 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 8.80s step= 440 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 8.90s step= 445 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 9.00s step= 450 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.10s step= 455 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.20s step= 460 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.30s step= 465 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.40s step= 470 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.50s step= 475 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.60s step= 480 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.70s step= 485 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.80s step= 490 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 9.90s step= 495 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.00s step= 500 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.10s step= 505 trunk_z= 91.6mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.20s step= 510 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.30s step= 515 trunk_z= 91.5mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.40s step= 520 trunk_z= 91.6mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.50s step= 525 trunk_z= 91.6mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.60s step= 530 trunk_z= 91.6mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.70s step= 535 trunk_z= 91.6mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.80s step= 540 trunk_z= 91.7mm grav_b=(+0.00,-0.00,-1.00) r=1.09m +[headless_play] t= 10.90s step= 545 trunk_z= 91.9mm grav_b=(+0.03,+0.00,-1.00) r=1.09m +[headless_play] t= 11.00s step= 550 trunk_z= 91.8mm grav_b=(+0.03,-0.00,-1.00) r=1.09m +[headless_play] t= 11.10s step= 555 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.20s step= 560 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.30s step= 565 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.40s step= 570 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.50s step= 575 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.60s step= 580 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.70s step= 585 trunk_z= 91.7mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.80s step= 590 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 11.90s step= 595 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.00s step= 600 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.10s step= 605 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.20s step= 610 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.30s step= 615 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.40s step= 620 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.50s step= 625 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.60s step= 630 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.70s step= 635 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.80s step= 640 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 12.90s step= 645 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.00s step= 650 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.10s step= 655 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.20s step= 660 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.30s step= 665 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.40s step= 670 trunk_z= 91.6mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.50s step= 675 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.60s step= 680 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.70s step= 685 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.80s step= 690 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 13.90s step= 695 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 14.00s step= 700 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 14.10s step= 705 trunk_z= 91.4mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 14.20s step= 710 trunk_z= 91.5mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 14.30s step= 715 trunk_z= 91.4mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 14.40s step= 720 trunk_z= 91.4mm grav_b=(+0.04,-0.00,-1.00) r=1.10m +[headless_play] t= 14.50s step= 725 trunk_z= 91.4mm grav_b=(+0.03,-0.00,-1.00) r=1.10m +[headless_play] t= 14.60s step= 730 trunk_z= 91.4mm grav_b=(+0.04,-0.00,-1.00) r=1.10m +[headless_play] t= 14.70s step= 735 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.10m +[headless_play] t= 14.80s step= 740 trunk_z= 91.7mm grav_b=(+0.05,-0.01,-1.00) r=1.10m +[headless_play] t= 14.90s step= 745 trunk_z= 91.2mm grav_b=(+0.07,-0.02,-1.00) r=1.11m +[headless_play] t= 15.00s step= 750 trunk_z= 91.0mm grav_b=(+0.06,-0.03,-1.00) r=1.11m +[headless_play] t= 15.10s step= 755 trunk_z= 91.2mm grav_b=(+0.07,-0.05,-1.00) r=1.12m +[headless_play] t= 15.20s step= 760 trunk_z= 92.4mm grav_b=(+0.08,-0.05,-1.00) r=1.12m +[headless_play] t= 15.30s step= 765 trunk_z= 89.9mm grav_b=(+0.03,+0.04,-1.00) r=1.12m +[headless_play] t= 15.40s step= 770 trunk_z= 98.3mm grav_b=(+0.00,+0.10,-0.99) r=1.13m +[headless_play] t= 15.50s step= 775 trunk_z= 97.6mm grav_b=(+0.04,+0.09,-0.99) r=1.14m +[headless_play] t= 15.60s step= 780 trunk_z= 91.6mm grav_b=(+0.07,-0.01,-1.00) r=1.16m +[headless_play] t= 15.70s step= 785 trunk_z= 98.7mm grav_b=(+0.06,-0.10,-0.99) r=1.17m +[headless_play] t= 15.80s step= 790 trunk_z= 99.2mm grav_b=(+0.04,-0.08,-1.00) r=1.18m +[headless_play] t= 15.90s step= 795 trunk_z= 90.0mm grav_b=(+0.00,+0.09,-1.00) r=1.19m +[headless_play] t= 16.00s step= 800 trunk_z= 101.6mm grav_b=(+0.05,+0.08,-1.00) r=1.21m +[headless_play] t= 16.10s step= 805 trunk_z= 106.6mm grav_b=(+0.02,+0.05,-1.00) r=1.23m +[headless_play] t= 16.20s step= 810 trunk_z= 94.4mm grav_b=(-0.02,-0.01,-1.00) r=1.27m +[headless_play] t= 16.30s step= 815 trunk_z= 103.2mm grav_b=(-0.03,-0.05,-1.00) r=1.29m +[headless_play] t= 16.40s step= 820 trunk_z= 96.2mm grav_b=(-0.03,-0.01,-1.00) r=1.30m +[headless_play] t= 16.50s step= 825 trunk_z= 102.1mm grav_b=(-0.00,+0.06,-1.00) r=1.30m +[headless_play] t= 16.60s step= 830 trunk_z= 103.4mm grav_b=(+0.02,+0.02,-1.00) r=1.31m +[headless_play] t= 16.70s step= 835 trunk_z= 97.2mm grav_b=(+0.00,-0.04,-1.00) r=1.34m +[headless_play] t= 16.80s step= 840 trunk_z= 102.9mm grav_b=(-0.01,-0.07,-1.00) r=1.35m +[headless_play] t= 16.90s step= 845 trunk_z= 97.9mm grav_b=(-0.04,-0.02,-1.00) r=1.36m +[headless_play] t= 17.00s step= 850 trunk_z= 101.0mm grav_b=(-0.01,+0.08,-1.00) r=1.38m +[headless_play] t= 17.10s step= 855 trunk_z= 103.7mm grav_b=(+0.02,+0.05,-1.00) r=1.39m +[headless_play] t= 17.20s step= 860 trunk_z= 98.6mm grav_b=(-0.01,-0.00,-1.00) r=1.40m +[headless_play] t= 17.30s step= 865 trunk_z= 102.4mm grav_b=(+0.01,-0.09,-1.00) r=1.41m +[headless_play] t= 17.40s step= 870 trunk_z= 104.2mm grav_b=(-0.01,-0.07,-1.00) r=1.43m +[headless_play] t= 17.50s step= 875 trunk_z= 94.5mm grav_b=(-0.04,+0.04,-1.00) r=1.45m +[headless_play] t= 17.60s step= 880 trunk_z= 103.0mm grav_b=(+0.02,+0.06,-1.00) r=1.47m +[headless_play] t= 17.70s step= 885 trunk_z= 103.0mm grav_b=(+0.02,+0.03,-1.00) r=1.49m +[headless_play] t= 17.80s step= 890 trunk_z= 99.7mm grav_b=(+0.00,-0.04,-1.00) r=1.50m +[headless_play] t= 17.90s step= 895 trunk_z= 103.1mm grav_b=(-0.00,-0.07,-1.00) r=1.52m +[headless_play] t= 18.00s step= 900 trunk_z= 96.8mm grav_b=(-0.03,-0.02,-1.00) r=1.53m +[headless_play] t= 18.10s step= 905 trunk_z= 101.6mm grav_b=(+0.00,+0.04,-1.00) r=1.55m +[headless_play] t= 18.20s step= 910 trunk_z= 102.7mm grav_b=(+0.02,+0.01,-1.00) r=1.56m +[headless_play] t= 18.30s step= 915 trunk_z= 98.1mm grav_b=(+0.01,-0.04,-1.00) r=1.58m +[headless_play] t= 18.40s step= 920 trunk_z= 102.2mm grav_b=(-0.02,-0.08,-1.00) r=1.59m +[headless_play] t= 18.50s step= 925 trunk_z= 96.4mm grav_b=(-0.04,-0.03,-1.00) r=1.61m +[headless_play] t= 18.60s step= 930 trunk_z= 101.0mm grav_b=(-0.01,+0.05,-1.00) r=1.62m +[headless_play] t= 18.70s step= 935 trunk_z= 101.2mm grav_b=(+0.00,+0.02,-1.00) r=1.63m +[headless_play] t= 18.80s step= 940 trunk_z= 97.1mm grav_b=(+0.03,-0.07,-1.00) r=1.64m +[headless_play] t= 18.90s step= 945 trunk_z= 105.4mm grav_b=(-0.00,-0.10,-1.00) r=1.66m +[headless_play] t= 19.00s step= 950 trunk_z= 100.0mm grav_b=(-0.02,-0.07,-1.00) r=1.68m +[headless_play] t= 19.10s step= 955 trunk_z= 96.0mm grav_b=(+0.07,+0.04,-1.00) r=1.71m +[headless_play] t= 19.20s step= 960 trunk_z= 97.3mm grav_b=(+0.01,+0.02,-1.00) r=1.72m +[headless_play] t= 19.30s step= 965 trunk_z= 94.0mm grav_b=(+0.02,-0.08,-1.00) r=1.74m +[headless_play] t= 19.40s step= 970 trunk_z= 92.8mm grav_b=(+0.02,-0.05,-1.00) r=1.74m +[headless_play] t= 19.50s step= 975 trunk_z= 87.1mm grav_b=(+0.05,+0.05,-1.00) r=1.75m +[headless_play] t= 19.60s step= 980 trunk_z= 96.4mm grav_b=(+0.03,+0.09,-1.00) r=1.77m +[headless_play] t= 19.70s step= 985 trunk_z= 93.7mm grav_b=(+0.07,+0.05,-1.00) r=1.78m +[headless_play] t= 19.80s step= 990 trunk_z= 94.1mm grav_b=(+0.03,-0.10,-0.99) r=1.80m +[headless_play] t= 19.90s step= 995 trunk_z= 99.3mm grav_b=(+0.01,-0.09,-1.00) r=1.82m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.0mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 115.0mm grav_b=(+0.01,+0.00,-1.00) r=0.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..90966fd6fdefffd3c63b535170a90842ddc07d2c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t6.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.187,-18.279,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.07,-0.00,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.05,-0.00,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 1.10s step= 55 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.00s step= 100 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.10s step= 105 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=0.34m +[headless_play] t= 2.20s step= 110 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.40s step= 120 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=0.34m +[headless_play] t= 2.50s step= 125 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 3.10s step= 155 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.70s step= 185 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.10s step= 255 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.40s step= 270 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.50s step= 275 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.60s step= 280 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.70s step= 285 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 5.90s step= 295 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 6.00s step= 300 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 6.10s step= 305 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 6.20s step= 310 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 6.30s step= 315 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 6.40s step= 320 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 6.70s step= 335 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 6.80s step= 340 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 6.90s step= 345 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 7.00s step= 350 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 7.10s step= 355 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 7.20s step= 360 trunk_z= 116.2mm grav_b=(-0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 7.80s step= 390 trunk_z= 118.1mm grav_b=(+0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 118.3mm grav_b=(+0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 8.00s step= 400 trunk_z= 118.6mm grav_b=(+0.02,-0.02,-1.00) r=0.34m +[headless_play] t= 8.10s step= 405 trunk_z= 118.7mm grav_b=(+0.02,-0.02,-1.00) r=0.34m +[headless_play] t= 8.20s step= 410 trunk_z= 118.6mm grav_b=(+0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 8.30s step= 415 trunk_z= 118.6mm grav_b=(+0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 8.40s step= 420 trunk_z= 118.6mm grav_b=(-0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 8.50s step= 425 trunk_z= 118.6mm grav_b=(-0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 8.60s step= 430 trunk_z= 118.5mm grav_b=(-0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 8.70s step= 435 trunk_z= 118.5mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 8.80s step= 440 trunk_z= 118.5mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 118.5mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 9.00s step= 450 trunk_z= 118.4mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 9.10s step= 455 trunk_z= 118.6mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 9.20s step= 460 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 9.30s step= 465 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 9.50s step= 475 trunk_z= 118.5mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(-0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 9.70s step= 485 trunk_z= 119.9mm grav_b=(+0.02,-0.04,-1.00) r=0.34m +[headless_play] t= 9.80s step= 490 trunk_z= 119.3mm grav_b=(+0.02,-0.04,-1.00) r=0.34m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(+0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 10.00s step= 500 trunk_z= 115.1mm grav_b=(+0.03,-0.05,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 113.8mm grav_b=(+0.03,-0.08,-1.00) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 114.6mm grav_b=(+0.04,-0.05,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 111.6mm grav_b=(+0.04,+0.07,-1.00) r=0.34m +[headless_play] t= 10.40s step= 520 trunk_z= 120.3mm grav_b=(+0.01,+0.11,-0.99) r=0.33m +[headless_play] t= 10.50s step= 525 trunk_z= 117.3mm grav_b=(+0.04,+0.07,-1.00) r=0.34m +[headless_play] t= 10.60s step= 530 trunk_z= 114.3mm grav_b=(+0.04,-0.06,-1.00) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 120.2mm grav_b=(+0.00,-0.10,-1.00) r=0.37m +[headless_play] t= 10.80s step= 540 trunk_z= 117.1mm grav_b=(+0.03,-0.04,-1.00) r=0.36m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(+0.03,+0.05,-1.00) r=0.35m +[headless_play] t= 11.00s step= 550 trunk_z= 119.1mm grav_b=(+0.07,+0.03,-1.00) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 114.4mm grav_b=(+0.08,-0.04,-1.00) r=0.37m +[headless_play] t= 11.20s step= 560 trunk_z= 118.9mm grav_b=(+0.04,-0.08,-1.00) r=0.37m +[headless_play] t= 11.30s step= 565 trunk_z= 116.3mm grav_b=(+0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 11.40s step= 570 trunk_z= 119.7mm grav_b=(+0.01,+0.06,-1.00) r=0.36m +[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(+0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 11.60s step= 580 trunk_z= 112.7mm grav_b=(+0.08,-0.06,-0.99) r=0.38m +[headless_play] t= 11.70s step= 585 trunk_z= 118.8mm grav_b=(+0.08,-0.10,-0.99) r=0.39m +[headless_play] t= 11.80s step= 590 trunk_z= 115.2mm grav_b=(+0.04,-0.04,-1.00) r=0.39m +[headless_play] t= 11.90s step= 595 trunk_z= 119.4mm grav_b=(-0.00,+0.07,-1.00) r=0.38m +[headless_play] t= 12.00s step= 600 trunk_z= 121.1mm grav_b=(+0.01,+0.05,-1.00) r=0.39m +[headless_play] t= 12.10s step= 605 trunk_z= 113.9mm grav_b=(+0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 12.20s step= 610 trunk_z= 117.2mm grav_b=(+0.05,-0.07,-1.00) r=0.42m +[headless_play] t= 12.30s step= 615 trunk_z= 114.5mm grav_b=(+0.06,-0.01,-1.00) r=0.41m +[headless_play] t= 12.40s step= 620 trunk_z= 118.8mm grav_b=(+0.02,+0.07,-1.00) r=0.41m +[headless_play] t= 12.50s step= 625 trunk_z= 118.8mm grav_b=(+0.04,+0.04,-1.00) r=0.42m +[headless_play] t= 12.60s step= 630 trunk_z= 114.4mm grav_b=(+0.05,-0.07,-1.00) r=0.44m +[headless_play] t= 12.70s step= 635 trunk_z= 118.2mm grav_b=(+0.04,-0.08,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 114.7mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 12.90s step= 645 trunk_z= 119.8mm grav_b=(+0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 118.4mm grav_b=(+0.04,+0.02,-1.00) r=0.46m +[headless_play] t= 13.10s step= 655 trunk_z= 114.1mm grav_b=(+0.05,-0.07,-1.00) r=0.48m +[headless_play] t= 13.20s step= 660 trunk_z= 118.2mm grav_b=(+0.05,-0.07,-1.00) r=0.48m +[headless_play] t= 13.30s step= 665 trunk_z= 113.0mm grav_b=(+0.05,+0.02,-1.00) r=0.48m +[headless_play] t= 13.40s step= 670 trunk_z= 120.3mm grav_b=(+0.02,+0.06,-1.00) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(+0.04,+0.02,-1.00) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 116.5mm grav_b=(+0.03,-0.07,-1.00) r=0.51m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(+0.03,-0.03,-1.00) r=0.52m +[headless_play] t= 13.80s step= 690 trunk_z= 114.4mm grav_b=(+0.02,+0.07,-1.00) r=0.51m +[headless_play] t= 13.90s step= 695 trunk_z= 118.1mm grav_b=(+0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 14.00s step= 700 trunk_z= 114.5mm grav_b=(+0.09,+0.00,-1.00) r=0.53m +[headless_play] t= 14.10s step= 705 trunk_z= 117.7mm grav_b=(+0.06,-0.12,-0.99) r=0.55m +[headless_play] t= 14.20s step= 710 trunk_z= 117.7mm grav_b=(+0.05,-0.07,-1.00) r=0.56m +[headless_play] t= 14.30s step= 715 trunk_z= 112.4mm grav_b=(-0.00,+0.04,-1.00) r=0.56m +[headless_play] t= 14.40s step= 720 trunk_z= 121.3mm grav_b=(-0.01,+0.06,-1.00) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 117.8mm grav_b=(+0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 14.60s step= 730 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-1.00) r=0.60m +[headless_play] t= 14.70s step= 735 trunk_z= 115.1mm grav_b=(+0.07,-0.04,-1.00) r=0.61m +[headless_play] t= 14.80s step= 740 trunk_z= 111.5mm grav_b=(+0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 14.90s step= 745 trunk_z= 120.6mm grav_b=(+0.00,+0.09,-1.00) r=0.61m +[headless_play] t= 15.00s step= 750 trunk_z= 117.0mm grav_b=(+0.04,+0.04,-1.00) r=0.63m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(+0.03,-0.07,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(+0.04,-0.05,-1.00) r=0.65m +[headless_play] t= 15.30s step= 765 trunk_z= 113.2mm grav_b=(+0.02,+0.06,-1.00) r=0.65m +[headless_play] t= 15.40s step= 770 trunk_z= 120.0mm grav_b=(+0.00,+0.06,-1.00) r=0.66m +[headless_play] t= 15.50s step= 775 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00) r=0.67m +[headless_play] t= 15.60s step= 780 trunk_z= 116.6mm grav_b=(+0.04,-0.08,-1.00) r=0.69m +[headless_play] t= 15.70s step= 785 trunk_z= 116.4mm grav_b=(+0.06,-0.04,-1.00) r=0.69m +[headless_play] t= 15.80s step= 790 trunk_z= 114.4mm grav_b=(+0.02,+0.07,-1.00) r=0.69m +[headless_play] t= 15.90s step= 795 trunk_z= 119.2mm grav_b=(+0.00,+0.06,-1.00) r=0.70m +[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.72m +[headless_play] t= 16.10s step= 805 trunk_z= 117.7mm grav_b=(+0.03,-0.09,-1.00) r=0.73m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(+0.04,-0.05,-1.00) r=0.73m +[headless_play] t= 16.30s step= 815 trunk_z= 115.1mm grav_b=(+0.01,+0.06,-1.00) r=0.73m +[headless_play] t= 16.40s step= 820 trunk_z= 120.0mm grav_b=(+0.01,+0.06,-1.00) r=0.74m +[headless_play] t= 16.50s step= 825 trunk_z= 115.4mm grav_b=(+0.07,-0.00,-1.00) r=0.76m +[headless_play] t= 16.60s step= 830 trunk_z= 118.2mm grav_b=(+0.05,-0.11,-0.99) r=0.78m +[headless_play] t= 16.70s step= 835 trunk_z= 117.7mm grav_b=(+0.04,-0.07,-1.00) r=0.79m +[headless_play] t= 16.80s step= 840 trunk_z= 112.7mm grav_b=(-0.01,+0.05,-1.00) r=0.78m +[headless_play] t= 16.90s step= 845 trunk_z= 122.0mm grav_b=(-0.01,+0.07,-1.00) r=0.79m +[headless_play] t= 17.00s step= 850 trunk_z= 118.6mm grav_b=(+0.03,+0.04,-1.00) r=0.80m +[headless_play] t= 17.10s step= 855 trunk_z= 114.3mm grav_b=(+0.06,-0.07,-1.00) r=0.82m +[headless_play] t= 17.20s step= 860 trunk_z= 118.5mm grav_b=(+0.02,-0.07,-1.00) r=0.81m +[headless_play] t= 17.30s step= 865 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.81m +[headless_play] t= 17.40s step= 870 trunk_z= 119.0mm grav_b=(-0.01,+0.08,-1.00) r=0.80m +[headless_play] t= 17.50s step= 875 trunk_z= 118.3mm grav_b=(+0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 17.60s step= 880 trunk_z= 115.3mm grav_b=(+0.03,-0.10,-1.00) r=0.83m +[headless_play] t= 17.70s step= 885 trunk_z= 118.0mm grav_b=(+0.02,-0.10,-0.99) r=0.84m +[headless_play] t= 17.80s step= 890 trunk_z= 116.5mm grav_b=(+0.04,-0.05,-1.00) r=0.83m +[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(+0.02,+0.07,-1.00) r=0.82m +[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(+0.03,+0.04,-1.00) r=0.83m +[headless_play] t= 18.10s step= 905 trunk_z= 105.8mm grav_b=(+0.03,-0.13,-0.99) r=0.85m +[headless_play] t= 18.20s step= 910 trunk_z= 105.0mm grav_b=(-0.03,-0.28,-0.96) r=0.87m +[headless_play] t= 18.30s step= 915 trunk_z= 110.2mm grav_b=(-0.11,-0.28,-0.95) r=0.89m +[headless_play] t= 18.40s step= 920 trunk_z= 105.1mm grav_b=(+0.04,-0.16,-0.99) r=0.92m +[headless_play] t= 18.50s step= 925 trunk_z= 102.5mm grav_b=(+0.08,-0.34,-0.94) r=0.93m +[headless_play] t= 18.60s step= 930 trunk_z= 94.6mm grav_b=(-0.38,-0.69,-0.62) r=0.96m +[headless_play] RESET at t= 18.66s step= 933 (env termination, not a recovery) +[headless_play] t= 18.70s step= 935 trunk_z= 115.4mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(+0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 18.90s step= 945 trunk_z= 115.6mm grav_b=(+0.04,-0.04,-1.00) r=0.37m +[headless_play] t= 19.00s step= 950 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 114.7mm grav_b=(+0.03,-0.01,-1.00) r=0.37m +[headless_play] t= 19.20s step= 960 trunk_z= 114.6mm grav_b=(-0.02,-0.09,-1.00) r=0.36m +[headless_play] t= 19.30s step= 965 trunk_z= 117.3mm grav_b=(-0.03,-0.10,-0.99) r=0.36m +[headless_play] t= 19.40s step= 970 trunk_z= 116.3mm grav_b=(-0.03,-0.07,-1.00) r=0.37m +[headless_play] t= 19.50s step= 975 trunk_z= 112.8mm grav_b=(+0.01,+0.04,-1.00) r=0.40m +[headless_play] t= 19.60s step= 980 trunk_z= 119.0mm grav_b=(-0.00,+0.06,-1.00) r=0.41m +[headless_play] t= 19.70s step= 985 trunk_z= 114.3mm grav_b=(+0.07,+0.04,-1.00) r=0.41m +[headless_play] t= 19.80s step= 990 trunk_z= 114.2mm grav_b=(+0.05,-0.07,-1.00) r=0.40m +[headless_play] t= 19.90s step= 995 trunk_z= 117.7mm grav_b=(+0.02,-0.07,-1.00) r=0.41m +[headless_play] t= 20.00s step=1000 trunk_z= 114.0mm grav_b=(+0.04,+0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 118.2mm grav_b=(-0.01,+0.03,-1.00) r=0.44m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..ac70f4515ad1870c9adcc86d93fa7184bd57c430 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t7.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.365,-18.321,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 121.9mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(+0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.06,-0.04,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(+0.06,+0.03,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(+0.07,-0.07,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 124.2mm grav_b=(+0.05,-0.09,-0.99) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 120.4mm grav_b=(+0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(+0.03,+0.11,-0.99) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 126.4mm grav_b=(+0.06,+0.08,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 121.8mm grav_b=(+0.06,+0.01,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 124.7mm grav_b=(+0.03,-0.07,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 122.9mm grav_b=(+0.06,-0.07,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(+0.01,+0.07,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 125.6mm grav_b=(+0.04,+0.07,-1.00) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 120.8mm grav_b=(+0.05,+0.01,-1.00) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 124.6mm grav_b=(+0.05,-0.06,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 123.2mm grav_b=(+0.05,-0.06,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.03,+0.06,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 124.5mm grav_b=(+0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 118.7mm grav_b=(+0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 2.00s step= 100 trunk_z= 124.3mm grav_b=(+0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 2.10s step= 105 trunk_z= 120.2mm grav_b=(+0.07,-0.04,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 120.5mm grav_b=(+0.06,+0.07,-1.00) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 124.5mm grav_b=(+0.05,+0.05,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 119.3mm grav_b=(+0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 124.4mm grav_b=(+0.05,-0.07,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 119.1mm grav_b=(+0.06,-0.03,-1.00) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 121.1mm grav_b=(+0.05,+0.08,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 123.3mm grav_b=(+0.06,+0.05,-1.00) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 121.1mm grav_b=(+0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 124.0mm grav_b=(+0.07,-0.05,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.04,+0.01,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 124.0mm grav_b=(+0.04,+0.08,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 121.5mm grav_b=(+0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 3.40s step= 170 trunk_z= 123.3mm grav_b=(+0.04,-0.07,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 122.8mm grav_b=(+0.08,-0.06,-1.00) r=0.42m +[headless_play] t= 3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.04,+0.05,-1.00) r=0.44m +[headless_play] t= 3.70s step= 185 trunk_z= 124.6mm grav_b=(+0.04,+0.07,-1.00) r=0.44m +[headless_play] t= 3.80s step= 190 trunk_z= 119.0mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 3.90s step= 195 trunk_z= 123.2mm grav_b=(+0.06,-0.08,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 120.4mm grav_b=(+0.07,-0.04,-1.00) r=0.43m +[headless_play] t= 4.10s step= 205 trunk_z= 118.4mm grav_b=(+0.07,+0.07,-1.00) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 123.9mm grav_b=(+0.04,+0.04,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 118.8mm grav_b=(+0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 4.40s step= 220 trunk_z= 123.4mm grav_b=(+0.04,-0.06,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(+0.05,+0.00,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 122.8mm grav_b=(+0.06,+0.07,-1.00) r=0.47m +[headless_play] t= 4.70s step= 235 trunk_z= 121.8mm grav_b=(+0.06,+0.02,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 123.4mm grav_b=(+0.04,-0.07,-1.00) r=0.45m +[headless_play] t= 4.90s step= 245 trunk_z= 122.9mm grav_b=(+0.05,-0.10,-0.99) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 115.3mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 5.10s step= 255 trunk_z= 121.2mm grav_b=(+0.04,+0.05,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(+0.09,-0.01,-1.00) r=0.49m +[headless_play] t= 5.30s step= 265 trunk_z= 120.6mm grav_b=(+0.09,-0.10,-0.99) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 118.2mm grav_b=(+0.10,-0.08,-0.99) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 117.1mm grav_b=(+0.06,+0.04,-1.00) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 120.0mm grav_b=(+0.06,+0.01,-1.00) r=0.53m +[headless_play] t= 5.70s step= 285 trunk_z= 116.4mm grav_b=(+0.07,-0.08,-0.99) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 119.9mm grav_b=(+0.09,-0.09,-0.99) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 113.5mm grav_b=(+0.08,+0.02,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 121.3mm grav_b=(+0.06,+0.06,-1.00) r=0.57m +[headless_play] t= 6.10s step= 305 trunk_z= 117.9mm grav_b=(+0.09,-0.01,-1.00) r=0.57m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(+0.06,-0.10,-0.99) r=0.58m +[headless_play] t= 6.30s step= 315 trunk_z= 119.9mm grav_b=(+0.09,-0.08,-0.99) r=0.59m +[headless_play] t= 6.40s step= 320 trunk_z= 114.0mm grav_b=(+0.07,+0.05,-1.00) r=0.61m +[headless_play] t= 6.50s step= 325 trunk_z= 120.8mm grav_b=(+0.06,+0.04,-1.00) r=0.62m +[headless_play] t= 6.60s step= 330 trunk_z= 115.3mm grav_b=(+0.09,-0.05,-0.99) r=0.62m +[headless_play] t= 6.70s step= 335 trunk_z= 121.3mm grav_b=(+0.08,-0.10,-0.99) r=0.63m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(+0.09,-0.04,-0.99) r=0.64m +[headless_play] t= 6.90s step= 345 trunk_z= 119.6mm grav_b=(+0.06,+0.06,-1.00) r=0.66m +[headless_play] t= 7.00s step= 350 trunk_z= 119.4mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 7.10s step= 355 trunk_z= 117.9mm grav_b=(+0.07,-0.09,-0.99) r=0.67m +[headless_play] t= 7.20s step= 360 trunk_z= 120.5mm grav_b=(+0.10,-0.10,-0.99) r=0.68m +[headless_play] t= 7.30s step= 365 trunk_z= 113.2mm grav_b=(+0.08,+0.01,-1.00) r=0.69m +[headless_play] t= 7.40s step= 370 trunk_z= 120.3mm grav_b=(+0.07,+0.04,-1.00) r=0.71m +[headless_play] t= 7.50s step= 375 trunk_z= 117.0mm grav_b=(+0.09,-0.03,-1.00) r=0.71m +[headless_play] t= 7.60s step= 380 trunk_z= 120.8mm grav_b=(+0.07,-0.10,-0.99) r=0.72m +[headless_play] t= 7.70s step= 385 trunk_z= 119.2mm grav_b=(+0.09,-0.05,-0.99) r=0.73m +[headless_play] t= 7.80s step= 390 trunk_z= 118.0mm grav_b=(+0.06,+0.05,-1.00) r=0.75m +[headless_play] t= 7.90s step= 395 trunk_z= 119.0mm grav_b=(+0.07,-0.01,-1.00) r=0.76m +[headless_play] t= 8.00s step= 400 trunk_z= 116.9mm grav_b=(+0.11,-0.10,-0.99) r=0.77m +[headless_play] t= 8.10s step= 405 trunk_z= 120.8mm grav_b=(+0.10,-0.09,-0.99) r=0.78m +[headless_play] t= 8.20s step= 410 trunk_z= 109.7mm grav_b=(+0.10,+0.05,-0.99) r=0.80m +[headless_play] t= 8.30s step= 415 trunk_z= 107.4mm grav_b=(+0.13,+0.32,-0.94) r=0.81m +[headless_play] t= 8.40s step= 420 trunk_z= 104.3mm grav_b=(+0.41,+0.33,-0.85) r=0.84m +[headless_play] t= 8.50s step= 425 trunk_z= 88.5mm grav_b=(+0.40,+0.05,-0.92) r=0.90m +[headless_play] t= 8.60s step= 430 trunk_z= 72.1mm grav_b=(+0.43,+0.01,-0.90) r=0.96m +[headless_play] t= 8.70s step= 435 trunk_z= 91.6mm grav_b=(+0.48,+0.01,-0.88) r=0.99m +[headless_play] t= 8.80s step= 440 trunk_z= 57.0mm grav_b=(+0.16,+0.22,-0.96) r=1.04m +[headless_play] t= 8.90s step= 445 trunk_z= 87.6mm grav_b=(+0.08,+0.10,-0.99) r=1.06m +[headless_play] t= 9.00s step= 450 trunk_z= 105.2mm grav_b=(-0.02,+0.02,-1.00) r=1.08m +[headless_play] t= 9.10s step= 455 trunk_z= 89.1mm grav_b=(+0.06,-0.15,-0.99) r=1.06m +[headless_play] t= 9.20s step= 460 trunk_z= 98.5mm grav_b=(+0.05,-0.17,-0.98) r=1.06m +[headless_play] t= 9.30s step= 465 trunk_z= 97.7mm grav_b=(-0.00,-0.08,-1.00) r=1.07m +[headless_play] t= 9.40s step= 470 trunk_z= 98.1mm grav_b=(+0.03,+0.02,-1.00) r=1.08m +[headless_play] t= 9.50s step= 475 trunk_z= 97.2mm grav_b=(+0.04,+0.00,-1.00) r=1.07m +[headless_play] t= 9.60s step= 480 trunk_z= 98.2mm grav_b=(+0.04,-0.08,-1.00) r=1.05m +[headless_play] t= 9.70s step= 485 trunk_z= 101.1mm grav_b=(+0.03,-0.08,-1.00) r=1.05m +[headless_play] t= 9.80s step= 490 trunk_z= 92.0mm grav_b=(+0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 9.90s step= 495 trunk_z= 99.4mm grav_b=(+0.04,+0.04,-1.00) r=1.08m +[headless_play] t= 10.00s step= 500 trunk_z= 97.0mm grav_b=(+0.04,+0.01,-1.00) r=1.07m +[headless_play] t= 10.10s step= 505 trunk_z= 99.4mm grav_b=(+0.02,-0.08,-1.00) r=1.06m +[headless_play] t= 10.20s step= 510 trunk_z= 99.7mm grav_b=(+0.03,-0.08,-1.00) r=1.06m +[headless_play] t= 10.30s step= 515 trunk_z= 92.0mm grav_b=(+0.03,+0.02,-1.00) r=1.08m +[headless_play] t= 10.40s step= 520 trunk_z= 100.3mm grav_b=(+0.04,+0.05,-1.00) r=1.09m +[headless_play] t= 10.50s step= 525 trunk_z= 96.7mm grav_b=(+0.04,+0.01,-1.00) r=1.07m +[headless_play] t= 10.60s step= 530 trunk_z= 100.0mm grav_b=(+0.03,-0.08,-1.00) r=1.05m +[headless_play] t= 10.70s step= 535 trunk_z= 99.7mm grav_b=(+0.03,-0.08,-1.00) r=1.06m +[headless_play] t= 10.80s step= 540 trunk_z= 92.3mm grav_b=(+0.03,+0.01,-1.00) r=1.08m +[headless_play] t= 10.90s step= 545 trunk_z= 100.0mm grav_b=(+0.03,+0.05,-1.00) r=1.08m +[headless_play] t= 11.00s step= 550 trunk_z= 96.7mm grav_b=(+0.03,+0.01,-1.00) r=1.07m +[headless_play] t= 11.10s step= 555 trunk_z= 99.6mm grav_b=(+0.05,-0.07,-1.00) r=1.05m +[headless_play] t= 11.20s step= 560 trunk_z= 99.6mm grav_b=(+0.04,-0.07,-1.00) r=1.06m +[headless_play] t= 11.30s step= 565 trunk_z= 92.4mm grav_b=(+0.03,+0.02,-1.00) r=1.07m +[headless_play] t= 11.40s step= 570 trunk_z= 98.5mm grav_b=(+0.02,+0.03,-1.00) r=1.08m +[headless_play] t= 11.50s step= 575 trunk_z= 94.7mm grav_b=(+0.02,-0.03,-1.00) r=1.06m +[headless_play] t= 11.60s step= 580 trunk_z= 100.1mm grav_b=(+0.03,-0.06,-1.00) r=1.05m +[headless_play] t= 11.70s step= 585 trunk_z= 94.6mm grav_b=(+0.03,-0.04,-1.00) r=1.06m +[headless_play] t= 11.80s step= 590 trunk_z= 98.3mm grav_b=(+0.03,+0.05,-1.00) r=1.08m +[headless_play] t= 11.90s step= 595 trunk_z= 97.3mm grav_b=(-0.00,+0.00,-1.00) r=1.07m +[headless_play] t= 12.00s step= 600 trunk_z= 100.1mm grav_b=(+0.02,-0.05,-1.00) r=1.06m +[headless_play] t= 12.10s step= 605 trunk_z= 97.2mm grav_b=(+0.03,-0.01,-1.00) r=1.07m +[headless_play] t= 12.20s step= 610 trunk_z= 97.2mm grav_b=(+0.03,+0.08,-1.00) r=1.09m +[headless_play] t= 12.30s step= 615 trunk_z= 101.3mm grav_b=(+0.01,+0.08,-1.00) r=1.09m +[headless_play] t= 12.40s step= 620 trunk_z= 97.2mm grav_b=(+0.01,+0.04,-1.00) r=1.07m +[headless_play] t= 12.50s step= 625 trunk_z= 100.6mm grav_b=(+0.04,-0.05,-1.00) r=1.05m +[headless_play] t= 12.60s step= 630 trunk_z= 101.7mm grav_b=(+0.03,-0.05,-1.00) r=1.05m +[headless_play] t= 12.70s step= 635 trunk_z= 93.5mm grav_b=(-0.00,+0.05,-1.00) r=1.07m +[headless_play] t= 12.80s step= 640 trunk_z= 100.1mm grav_b=(-0.00,+0.07,-1.00) r=1.08m +[headless_play] t= 12.90s step= 645 trunk_z= 94.9mm grav_b=(-0.00,-0.00,-1.00) r=1.06m +[headless_play] t= 13.00s step= 650 trunk_z= 100.1mm grav_b=(+0.04,-0.01,-1.00) r=1.05m +[headless_play] t= 13.10s step= 655 trunk_z= 95.9mm grav_b=(+0.02,+0.04,-1.00) r=1.06m +[headless_play] t= 13.20s step= 660 trunk_z= 100.7mm grav_b=(+0.01,+0.09,-1.00) r=1.07m +[headless_play] t= 13.30s step= 665 trunk_z= 100.5mm grav_b=(+0.01,+0.08,-1.00) r=1.07m +[headless_play] t= 13.40s step= 670 trunk_z= 97.2mm grav_b=(+0.03,-0.02,-1.00) r=1.04m +[headless_play] t= 13.50s step= 675 trunk_z= 101.2mm grav_b=(+0.04,-0.04,-1.00) r=1.03m +[headless_play] t= 13.60s step= 680 trunk_z= 97.4mm grav_b=(+0.00,-0.01,-1.00) r=1.05m +[headless_play] t= 13.70s step= 685 trunk_z= 100.0mm grav_b=(+0.01,+0.07,-1.00) r=1.06m +[headless_play] t= 13.80s step= 690 trunk_z= 99.3mm grav_b=(-0.01,+0.06,-1.00) r=1.06m +[headless_play] t= 13.90s step= 695 trunk_z= 97.8mm grav_b=(+0.01,-0.04,-1.00) r=1.03m +[headless_play] t= 14.00s step= 700 trunk_z= 100.3mm grav_b=(+0.04,-0.03,-1.00) r=1.03m +[headless_play] t= 14.10s step= 705 trunk_z= 93.9mm grav_b=(-0.00,+0.04,-1.00) r=1.04m +[headless_play] t= 14.20s step= 710 trunk_z= 100.7mm grav_b=(+0.00,+0.07,-1.00) r=1.05m +[headless_play] t= 14.30s step= 715 trunk_z= 98.4mm grav_b=(+0.01,+0.05,-1.00) r=1.04m +[headless_play] t= 14.40s step= 720 trunk_z= 100.0mm grav_b=(+0.04,-0.04,-1.00) r=1.02m +[headless_play] t= 14.50s step= 725 trunk_z= 103.2mm grav_b=(+0.07,-0.05,-1.00) r=1.01m +[headless_play] t= 14.60s step= 730 trunk_z= 97.4mm grav_b=(-0.01,+0.01,-1.00) r=1.02m +[headless_play] t= 14.70s step= 735 trunk_z= 99.2mm grav_b=(+0.00,+0.07,-1.00) r=1.03m +[headless_play] t= 14.80s step= 740 trunk_z= 96.9mm grav_b=(-0.01,+0.04,-1.00) r=1.01m +[headless_play] t= 14.90s step= 745 trunk_z= 101.5mm grav_b=(+0.04,-0.03,-1.00) r=0.99m +[headless_play] t= 15.00s step= 750 trunk_z= 103.1mm grav_b=(+0.06,-0.03,-1.00) r=1.00m +[headless_play] t= 15.10s step= 755 trunk_z= 93.0mm grav_b=(+0.03,+0.06,-1.00) r=1.01m +[headless_play] t= 15.20s step= 760 trunk_z= 100.9mm grav_b=(+0.05,+0.06,-1.00) r=1.02m +[headless_play] t= 15.30s step= 765 trunk_z= 96.4mm grav_b=(+0.02,+0.02,-1.00) r=1.00m +[headless_play] t= 15.40s step= 770 trunk_z= 102.3mm grav_b=(+0.02,-0.05,-1.00) r=0.99m +[headless_play] t= 15.50s step= 775 trunk_z= 102.8mm grav_b=(+0.01,-0.06,-1.00) r=0.99m +[headless_play] t= 15.60s step= 780 trunk_z= 94.7mm grav_b=(-0.02,+0.01,-1.00) r=1.01m +[headless_play] t= 15.70s step= 785 trunk_z= 98.5mm grav_b=(+0.03,+0.05,-1.00) r=1.03m +[headless_play] t= 15.80s step= 790 trunk_z= 94.8mm grav_b=(+0.00,+0.03,-1.00) r=1.02m +[headless_play] t= 15.90s step= 795 trunk_z= 93.4mm grav_b=(-0.04,-0.00,-1.00) r=1.01m +[headless_play] t= 16.00s step= 800 trunk_z= 93.0mm grav_b=(-0.04,-0.01,-1.00) r=1.01m +[headless_play] t= 16.10s step= 805 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.02m +[headless_play] t= 16.20s step= 810 trunk_z= 91.4mm grav_b=(+0.04,-0.00,-1.00) r=1.02m +[headless_play] t= 16.30s step= 815 trunk_z= 91.0mm grav_b=(+0.03,-0.01,-1.00) r=1.02m +[headless_play] t= 16.40s step= 820 trunk_z= 90.6mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 16.50s step= 825 trunk_z= 90.4mm grav_b=(+0.07,-0.01,-1.00) r=1.02m +[headless_play] t= 16.60s step= 830 trunk_z= 90.3mm grav_b=(+0.07,-0.01,-1.00) r=1.02m +[headless_play] t= 16.70s step= 835 trunk_z= 90.3mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 16.80s step= 840 trunk_z= 90.3mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 16.90s step= 845 trunk_z= 90.3mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 17.00s step= 850 trunk_z= 90.3mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 17.10s step= 855 trunk_z= 90.3mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 17.20s step= 860 trunk_z= 90.3mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 17.30s step= 865 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 17.40s step= 870 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 17.50s step= 875 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 17.60s step= 880 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 17.70s step= 885 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 17.80s step= 890 trunk_z= 90.2mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 17.90s step= 895 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.00s step= 900 trunk_z= 90.2mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 18.10s step= 905 trunk_z= 90.2mm grav_b=(+0.05,-0.01,-1.00) r=1.02m +[headless_play] t= 18.20s step= 910 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.30s step= 915 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.40s step= 920 trunk_z= 90.1mm grav_b=(+0.06,-0.00,-1.00) r=1.02m +[headless_play] t= 18.50s step= 925 trunk_z= 90.2mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.60s step= 930 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.70s step= 935 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.80s step= 940 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.90s step= 945 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.00s step= 950 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.10s step= 955 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.20s step= 960 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.30s step= 965 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.40s step= 970 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.50s step= 975 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.60s step= 980 trunk_z= 90.0mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.70s step= 985 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.80s step= 990 trunk_z= 90.0mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 19.90s step= 995 trunk_z= 90.0mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.1mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 20.10s step=1005 trunk_z= 114.8mm grav_b=(+0.05,-0.02,-1.00) r=0.34m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..bacb9d71b515f8f29c8d3f8bc488913c7bed5687 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.9mm grav_b=(+0.00,-0.00,-1.00) root_w=(+2.009,-18.290,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.3mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.02,-0.02,-1.00) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(-0.01,-0.07,-1.00) r=0.28m +[headless_play] t= 0.30s step= 15 trunk_z= 117.5mm grav_b=(-0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 117.8mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 117.8mm grav_b=(-0.04,-0.08,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 120.9mm grav_b=(-0.05,-0.02,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 119.5mm grav_b=(-0.06,+0.11,-0.99) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 125.4mm grav_b=(-0.04,+0.10,-0.99) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 121.2mm grav_b=(-0.02,+0.02,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 121.4mm grav_b=(-0.03,-0.06,-1.00) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 118.8mm grav_b=(+0.01,-0.06,-1.00) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 115.3mm grav_b=(-0.02,+0.07,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 122.2mm grav_b=(-0.03,+0.03,-1.00) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 117.7mm grav_b=(-0.04,-0.05,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 122.2mm grav_b=(-0.02,-0.08,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 118.0mm grav_b=(+0.01,-0.02,-1.00) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(-0.01,+0.09,-1.00) r=0.34m +[headless_play] t= 1.80s step= 90 trunk_z= 121.1mm grav_b=(-0.03,+0.04,-1.00) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 119.8mm grav_b=(-0.06,-0.06,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 122.8mm grav_b=(-0.03,-0.06,-1.00) r=0.34m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 121.4mm grav_b=(-0.03,+0.09,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 121.6mm grav_b=(-0.02,+0.03,-1.00) r=0.38m +[headless_play] t= 2.40s step= 120 trunk_z= 120.2mm grav_b=(-0.06,-0.06,-1.00) r=0.37m +[headless_play] t= 2.50s step= 125 trunk_z= 122.1mm grav_b=(-0.01,-0.06,-1.00) r=0.38m +[headless_play] t= 2.60s step= 130 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 122.3mm grav_b=(-0.03,+0.10,-0.99) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 121.8mm grav_b=(-0.02,+0.02,-1.00) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 120.3mm grav_b=(-0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 120.8mm grav_b=(-0.00,-0.05,-1.00) r=0.42m +[headless_play] t= 3.10s step= 155 trunk_z= 114.3mm grav_b=(-0.00,+0.05,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 122.6mm grav_b=(-0.03,+0.10,-0.99) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 121.3mm grav_b=(-0.02,+0.02,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 120.8mm grav_b=(-0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 122.3mm grav_b=(-0.01,-0.07,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 116.5mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 3.70s step= 185 trunk_z= 122.2mm grav_b=(-0.02,+0.10,-0.99) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 121.8mm grav_b=(-0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 119.7mm grav_b=(-0.06,-0.06,-1.00) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 123.4mm grav_b=(-0.01,-0.04,-1.00) r=0.50m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.02,+0.05,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 124.5mm grav_b=(-0.05,+0.10,-0.99) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 123.1mm grav_b=(-0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 123.7mm grav_b=(-0.02,-0.07,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 127.2mm grav_b=(+0.01,-0.08,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 118.6mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 4.70s step= 235 trunk_z= 123.6mm grav_b=(-0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 4.80s step= 240 trunk_z= 120.9mm grav_b=(-0.05,-0.04,-1.00) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 126.2mm grav_b=(-0.03,-0.06,-1.00) r=0.55m +[headless_play] t= 5.00s step= 250 trunk_z= 124.4mm grav_b=(-0.02,-0.03,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 120.8mm grav_b=(-0.05,+0.08,-1.00) r=0.56m +[headless_play] t= 5.20s step= 260 trunk_z= 125.3mm grav_b=(-0.07,+0.05,-1.00) r=0.56m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(-0.07,-0.01,-1.00) r=0.56m +[headless_play] t= 5.40s step= 270 trunk_z= 125.9mm grav_b=(-0.03,-0.06,-1.00) r=0.57m +[headless_play] t= 5.50s step= 275 trunk_z= 122.5mm grav_b=(-0.00,-0.04,-1.00) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 119.6mm grav_b=(-0.02,+0.07,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 124.4mm grav_b=(-0.07,+0.04,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 120.5mm grav_b=(-0.08,-0.05,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 126.2mm grav_b=(-0.04,-0.05,-1.00) r=0.59m +[headless_play] t= 6.00s step= 300 trunk_z= 119.3mm grav_b=(+0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 6.10s step= 305 trunk_z= 124.5mm grav_b=(-0.00,+0.09,-1.00) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 125.1mm grav_b=(-0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 6.30s step= 315 trunk_z= 118.4mm grav_b=(-0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 6.40s step= 320 trunk_z= 124.0mm grav_b=(-0.06,-0.09,-0.99) r=0.63m +[headless_play] t= 6.50s step= 325 trunk_z= 123.7mm grav_b=(-0.05,-0.09,-0.99) r=0.63m +[headless_play] t= 6.60s step= 330 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.63m +[headless_play] t= 6.70s step= 335 trunk_z= 120.9mm grav_b=(-0.04,+0.02,-1.00) r=0.63m +[headless_play] t= 6.80s step= 340 trunk_z= 114.5mm grav_b=(-0.00,-0.08,-1.00) r=0.62m +[headless_play] t= 6.90s step= 345 trunk_z= 119.8mm grav_b=(+0.01,-0.11,-0.99) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 118.5mm grav_b=(+0.01,-0.07,-1.00) r=0.65m +[headless_play] t= 7.10s step= 355 trunk_z= 117.4mm grav_b=(-0.03,+0.10,-0.99) r=0.66m +[headless_play] t= 7.20s step= 360 trunk_z= 124.8mm grav_b=(-0.05,+0.08,-1.00) r=0.67m +[headless_play] t= 7.30s step= 365 trunk_z= 120.0mm grav_b=(-0.02,+0.01,-1.00) r=0.68m +[headless_play] t= 7.40s step= 370 trunk_z= 120.1mm grav_b=(-0.02,-0.09,-1.00) r=0.69m +[headless_play] t= 7.50s step= 375 trunk_z= 120.9mm grav_b=(-0.00,-0.11,-0.99) r=0.70m +[headless_play] t= 7.60s step= 380 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.71m +[headless_play] t= 7.70s step= 385 trunk_z= 121.8mm grav_b=(-0.04,+0.10,-0.99) r=0.72m +[headless_play] t= 7.80s step= 390 trunk_z= 122.8mm grav_b=(-0.03,+0.06,-1.00) r=0.73m +[headless_play] t= 7.90s step= 395 trunk_z= 115.8mm grav_b=(-0.01,-0.05,-1.00) r=0.73m +[headless_play] t= 8.00s step= 400 trunk_z= 121.9mm grav_b=(-0.03,-0.09,-1.00) r=0.74m +[headless_play] t= 8.10s step= 405 trunk_z= 120.5mm grav_b=(-0.01,-0.09,-1.00) r=0.75m +[headless_play] t= 8.20s step= 410 trunk_z= 115.9mm grav_b=(-0.02,+0.08,-1.00) r=0.76m +[headless_play] t= 8.30s step= 415 trunk_z= 122.4mm grav_b=(-0.02,+0.07,-1.00) r=0.78m +[headless_play] t= 8.40s step= 420 trunk_z= 119.0mm grav_b=(+0.00,-0.00,-1.00) r=0.79m +[headless_play] t= 8.50s step= 425 trunk_z= 121.1mm grav_b=(+0.01,-0.11,-0.99) r=0.80m +[headless_play] t= 8.60s step= 430 trunk_z= 122.1mm grav_b=(-0.00,-0.10,-1.00) r=0.82m +[headless_play] t= 8.70s step= 435 trunk_z= 109.8mm grav_b=(-0.00,+0.02,-1.00) r=0.84m +[headless_play] t= 8.80s step= 440 trunk_z= 101.8mm grav_b=(+0.06,+0.28,-0.96) r=0.86m +[headless_play] t= 8.90s step= 445 trunk_z= 106.1mm grav_b=(+0.15,+0.07,-0.99) r=0.87m +[headless_play] t= 9.00s step= 450 trunk_z= 83.3mm grav_b=(-0.10,-0.10,-0.99) r=0.93m +[headless_play] t= 9.10s step= 455 trunk_z= 93.2mm grav_b=(-0.11,-0.07,-0.99) r=0.93m +[headless_play] t= 9.20s step= 460 trunk_z= 90.8mm grav_b=(-0.07,+0.03,-1.00) r=0.94m +[headless_play] t= 9.30s step= 465 trunk_z= 95.4mm grav_b=(-0.03,+0.01,-1.00) r=0.94m +[headless_play] t= 9.40s step= 470 trunk_z= 89.3mm grav_b=(-0.00,-0.07,-1.00) r=0.94m +[headless_play] t= 9.50s step= 475 trunk_z= 93.3mm grav_b=(-0.00,-0.07,-1.00) r=0.96m +[headless_play] t= 9.60s step= 480 trunk_z= 91.6mm grav_b=(-0.01,+0.02,-1.00) r=0.96m +[headless_play] t= 9.70s step= 485 trunk_z= 97.6mm grav_b=(-0.06,+0.11,-0.99) r=0.97m +[headless_play] t= 9.80s step= 490 trunk_z= 98.6mm grav_b=(-0.05,+0.08,-1.00) r=0.98m +[headless_play] t= 9.90s step= 495 trunk_z= 91.2mm grav_b=(-0.04,-0.05,-1.00) r=0.98m +[headless_play] t= 10.00s step= 500 trunk_z= 101.2mm grav_b=(-0.03,-0.14,-0.99) r=0.97m +[headless_play] t= 10.10s step= 505 trunk_z= 104.7mm grav_b=(-0.04,-0.13,-0.99) r=0.98m +[headless_play] t= 10.20s step= 510 trunk_z= 93.6mm grav_b=(-0.00,-0.06,-1.00) r=0.97m +[headless_play] t= 10.30s step= 515 trunk_z= 98.0mm grav_b=(-0.06,-0.01,-1.00) r=0.97m +[headless_play] t= 10.40s step= 520 trunk_z= 94.3mm grav_b=(-0.08,-0.07,-0.99) r=0.97m +[headless_play] t= 10.50s step= 525 trunk_z= 100.5mm grav_b=(-0.10,-0.06,-0.99) r=0.98m +[headless_play] t= 10.60s step= 530 trunk_z= 94.1mm grav_b=(-0.06,+0.01,-1.00) r=0.98m +[headless_play] t= 10.70s step= 535 trunk_z= 100.4mm grav_b=(-0.04,+0.08,-1.00) r=0.98m +[headless_play] t= 10.80s step= 540 trunk_z= 99.8mm grav_b=(-0.06,+0.03,-1.00) r=0.98m +[headless_play] t= 10.90s step= 545 trunk_z= 96.3mm grav_b=(-0.08,-0.04,-1.00) r=0.99m +[headless_play] t= 11.00s step= 550 trunk_z= 101.1mm grav_b=(-0.10,-0.04,-0.99) r=0.99m +[headless_play] t= 11.10s step= 555 trunk_z= 93.5mm grav_b=(-0.07,+0.02,-1.00) r=1.00m +[headless_play] t= 11.20s step= 560 trunk_z= 100.1mm grav_b=(-0.05,+0.07,-1.00) r=1.00m +[headless_play] t= 11.30s step= 565 trunk_z= 98.8mm grav_b=(-0.05,+0.03,-1.00) r=1.00m +[headless_play] t= 11.40s step= 570 trunk_z= 98.2mm grav_b=(-0.07,-0.04,-1.00) r=1.01m +[headless_play] t= 11.50s step= 575 trunk_z= 100.7mm grav_b=(-0.07,-0.04,-1.00) r=1.01m +[headless_play] t= 11.60s step= 580 trunk_z= 92.7mm grav_b=(-0.06,+0.05,-1.00) r=1.02m +[headless_play] t= 11.70s step= 585 trunk_z= 100.0mm grav_b=(-0.06,+0.06,-1.00) r=1.02m +[headless_play] t= 11.80s step= 590 trunk_z= 97.7mm grav_b=(-0.09,+0.02,-1.00) r=1.02m +[headless_play] t= 11.90s step= 595 trunk_z= 99.8mm grav_b=(-0.09,-0.03,-1.00) r=1.03m +[headless_play] t= 12.00s step= 600 trunk_z= 99.5mm grav_b=(-0.07,-0.02,-1.00) r=1.03m +[headless_play] t= 12.10s step= 605 trunk_z= 95.7mm grav_b=(-0.06,+0.08,-1.00) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 100.1mm grav_b=(-0.08,+0.06,-1.00) r=1.04m +[headless_play] t= 12.30s step= 615 trunk_z= 97.1mm grav_b=(-0.09,+0.02,-1.00) r=1.04m +[headless_play] t= 12.40s step= 620 trunk_z= 101.1mm grav_b=(-0.08,-0.05,-1.00) r=1.04m +[headless_play] t= 12.50s step= 625 trunk_z= 99.4mm grav_b=(-0.06,-0.04,-1.00) r=1.05m +[headless_play] t= 12.60s step= 630 trunk_z= 94.5mm grav_b=(-0.06,+0.07,-1.00) r=1.06m +[headless_play] t= 12.70s step= 635 trunk_z= 100.4mm grav_b=(-0.08,+0.05,-1.00) r=1.06m +[headless_play] t= 12.80s step= 640 trunk_z= 97.4mm grav_b=(-0.08,+0.01,-1.00) r=1.06m +[headless_play] t= 12.90s step= 645 trunk_z= 100.9mm grav_b=(-0.07,-0.04,-1.00) r=1.06m +[headless_play] t= 13.00s step= 650 trunk_z= 100.8mm grav_b=(-0.05,-0.04,-1.00) r=1.07m +[headless_play] t= 13.10s step= 655 trunk_z= 91.9mm grav_b=(-0.07,+0.05,-1.00) r=1.09m +[headless_play] t= 13.20s step= 660 trunk_z= 101.6mm grav_b=(-0.10,+0.07,-0.99) r=1.10m +[headless_play] t= 13.30s step= 665 trunk_z= 100.0mm grav_b=(-0.05,+0.03,-1.00) r=1.10m +[headless_play] t= 13.40s step= 670 trunk_z= 96.3mm grav_b=(-0.04,-0.05,-1.00) r=1.09m +[headless_play] t= 13.50s step= 675 trunk_z= 95.8mm grav_b=(-0.02,-0.05,-1.00) r=1.10m +[headless_play] t= 13.60s step= 680 trunk_z= 88.4mm grav_b=(-0.01,+0.03,-1.00) r=1.12m +[headless_play] t= 13.70s step= 685 trunk_z= 97.4mm grav_b=(-0.04,+0.09,-1.00) r=1.13m +[headless_play] t= 13.80s step= 690 trunk_z= 96.9mm grav_b=(-0.02,+0.05,-1.00) r=1.13m +[headless_play] t= 13.90s step= 695 trunk_z= 92.1mm grav_b=(-0.03,-0.06,-1.00) r=1.13m +[headless_play] t= 14.00s step= 700 trunk_z= 97.4mm grav_b=(-0.03,-0.06,-1.00) r=1.14m +[headless_play] t= 14.10s step= 705 trunk_z= 91.1mm grav_b=(-0.00,-0.03,-1.00) r=1.15m +[headless_play] t= 14.20s step= 710 trunk_z= 95.6mm grav_b=(-0.02,+0.09,-1.00) r=1.17m +[headless_play] t= 14.30s step= 715 trunk_z= 96.6mm grav_b=(-0.01,+0.05,-1.00) r=1.17m +[headless_play] t= 14.40s step= 720 trunk_z= 91.4mm grav_b=(-0.04,-0.06,-1.00) r=1.17m +[headless_play] t= 14.50s step= 725 trunk_z= 97.9mm grav_b=(-0.05,-0.06,-1.00) r=1.17m +[headless_play] t= 14.60s step= 730 trunk_z= 92.8mm grav_b=(-0.01,-0.03,-1.00) r=1.19m +[headless_play] t= 14.70s step= 735 trunk_z= 95.5mm grav_b=(-0.01,+0.08,-1.00) r=1.20m +[headless_play] t= 14.80s step= 740 trunk_z= 96.8mm grav_b=(+0.01,+0.05,-1.00) r=1.21m +[headless_play] t= 14.90s step= 745 trunk_z= 91.4mm grav_b=(-0.04,-0.06,-1.00) r=1.21m +[headless_play] t= 15.00s step= 750 trunk_z= 97.8mm grav_b=(-0.05,-0.06,-1.00) r=1.21m +[headless_play] t= 15.10s step= 755 trunk_z= 93.0mm grav_b=(-0.01,-0.04,-1.00) r=1.22m +[headless_play] t= 15.20s step= 760 trunk_z= 94.6mm grav_b=(-0.01,+0.07,-1.00) r=1.24m +[headless_play] t= 15.30s step= 765 trunk_z= 96.0mm grav_b=(+0.00,+0.05,-1.00) r=1.24m +[headless_play] t= 15.40s step= 770 trunk_z= 91.8mm grav_b=(-0.04,-0.07,-1.00) r=1.25m +[headless_play] t= 15.50s step= 775 trunk_z= 96.8mm grav_b=(-0.04,-0.06,-1.00) r=1.25m +[headless_play] t= 15.60s step= 780 trunk_z= 89.9mm grav_b=(-0.01,+0.02,-1.00) r=1.26m +[headless_play] t= 15.70s step= 785 trunk_z= 96.0mm grav_b=(-0.01,+0.06,-1.00) r=1.27m +[headless_play] t= 15.80s step= 790 trunk_z= 93.9mm grav_b=(-0.01,+0.01,-1.00) r=1.28m +[headless_play] t= 15.90s step= 795 trunk_z= 95.0mm grav_b=(-0.04,-0.08,-1.00) r=1.28m +[headless_play] t= 16.00s step= 800 trunk_z= 95.3mm grav_b=(-0.01,-0.07,-1.00) r=1.29m +[headless_play] t= 16.10s step= 805 trunk_z= 88.3mm grav_b=(+0.00,+0.06,-1.00) r=1.30m +[headless_play] t= 16.20s step= 810 trunk_z= 97.2mm grav_b=(-0.02,+0.08,-1.00) r=1.32m +[headless_play] t= 16.30s step= 815 trunk_z= 92.7mm grav_b=(-0.01,+0.03,-1.00) r=1.33m +[headless_play] t= 16.40s step= 820 trunk_z= 91.1mm grav_b=(-0.03,-0.08,-1.00) r=1.35m +[headless_play] t= 16.50s step= 825 trunk_z= 93.2mm grav_b=(-0.03,-0.08,-1.00) r=1.36m +[headless_play] t= 16.60s step= 830 trunk_z= 91.3mm grav_b=(-0.01,-0.03,-1.00) r=1.36m +[headless_play] t= 16.70s step= 835 trunk_z= 92.7mm grav_b=(-0.03,+0.08,-1.00) r=1.37m +[headless_play] t= 16.80s step= 840 trunk_z= 93.2mm grav_b=(-0.02,+0.06,-1.00) r=1.37m +[headless_play] t= 16.90s step= 845 trunk_z= 87.1mm grav_b=(-0.01,-0.05,-1.00) r=1.38m +[headless_play] t= 17.00s step= 850 trunk_z= 94.3mm grav_b=(-0.04,-0.09,-1.00) r=1.39m +[headless_play] t= 17.10s step= 855 trunk_z= 94.4mm grav_b=(-0.03,-0.08,-1.00) r=1.40m +[headless_play] t= 17.20s step= 860 trunk_z= 89.0mm grav_b=(-0.02,+0.07,-1.00) r=1.39m +[headless_play] t= 17.30s step= 865 trunk_z= 95.4mm grav_b=(-0.04,+0.09,-1.00) r=1.40m +[headless_play] t= 17.40s step= 870 trunk_z= 93.9mm grav_b=(-0.01,+0.07,-1.00) r=1.40m +[headless_play] t= 17.50s step= 875 trunk_z= 89.0mm grav_b=(-0.01,-0.08,-1.00) r=1.42m +[headless_play] t= 17.60s step= 880 trunk_z= 96.3mm grav_b=(-0.04,-0.11,-0.99) r=1.43m +[headless_play] t= 17.70s step= 885 trunk_z= 95.5mm grav_b=(-0.04,-0.10,-0.99) r=1.43m +[headless_play] t= 17.80s step= 890 trunk_z= 90.2mm grav_b=(-0.03,+0.06,-1.00) r=1.44m +[headless_play] t= 17.90s step= 895 trunk_z= 95.8mm grav_b=(-0.05,+0.07,-1.00) r=1.45m +[headless_play] t= 18.00s step= 900 trunk_z= 91.2mm grav_b=(-0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 18.10s step= 905 trunk_z= 91.8mm grav_b=(-0.01,-0.08,-1.00) r=1.48m +[headless_play] t= 18.20s step= 910 trunk_z= 93.4mm grav_b=(-0.01,-0.08,-1.00) r=1.48m +[headless_play] t= 18.30s step= 915 trunk_z= 88.5mm grav_b=(+0.02,+0.01,-1.00) r=1.48m +[headless_play] t= 18.40s step= 920 trunk_z= 93.4mm grav_b=(-0.02,+0.07,-1.00) r=1.48m +[headless_play] t= 18.50s step= 925 trunk_z= 92.1mm grav_b=(-0.03,+0.03,-1.00) r=1.49m +[headless_play] t= 18.60s step= 930 trunk_z= 90.8mm grav_b=(-0.04,-0.08,-1.00) r=1.50m +[headless_play] t= 18.70s step= 935 trunk_z= 94.4mm grav_b=(-0.04,-0.07,-1.00) r=1.51m +[headless_play] t= 18.80s step= 940 trunk_z= 90.6mm grav_b=(-0.02,-0.01,-1.00) r=1.50m +[headless_play] t= 18.90s step= 945 trunk_z= 93.0mm grav_b=(-0.03,+0.06,-1.00) r=1.49m +[headless_play] t= 19.00s step= 950 trunk_z= 91.0mm grav_b=(-0.01,+0.03,-1.00) r=1.50m +[headless_play] t= 19.10s step= 955 trunk_z= 90.0mm grav_b=(-0.00,-0.10,-1.00) r=1.52m +[headless_play] t= 19.20s step= 960 trunk_z= 93.2mm grav_b=(-0.02,-0.07,-1.00) r=1.53m +[headless_play] t= 19.30s step= 965 trunk_z= 92.9mm grav_b=(-0.01,-0.04,-1.00) r=1.52m +[headless_play] t= 19.40s step= 970 trunk_z= 91.9mm grav_b=(-0.04,+0.07,-1.00) r=1.50m +[headless_play] t= 19.50s step= 975 trunk_z= 93.4mm grav_b=(-0.03,+0.05,-1.00) r=1.51m +[headless_play] t= 19.60s step= 980 trunk_z= 87.9mm grav_b=(+0.00,-0.05,-1.00) r=1.52m +[headless_play] t= 19.70s step= 985 trunk_z= 93.3mm grav_b=(-0.03,-0.08,-1.00) r=1.54m +[headless_play] t= 19.80s step= 990 trunk_z= 93.8mm grav_b=(-0.02,-0.09,-1.00) r=1.53m +[headless_play] t= 19.90s step= 995 trunk_z= 87.6mm grav_b=(+0.01,+0.02,-1.00) r=1.51m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.03,-0.03,-1.00) r=0.29m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..a919591a59b8cfc44c0663c78fd54ba63bbb64ce --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-b-2026-10-17/z6-b-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-1.560,-17.892,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.47m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(-0.00,+0.01,-1.00) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(+0.00,-0.03,-1.00) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(-0.00,-0.02,-1.00) r=0.47m +[headless_play] t= 1.70s step= 85 trunk_z= 115.8mm grav_b=(+0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 1.80s step= 90 trunk_z= 120.4mm grav_b=(-0.02,+0.09,-1.00) r=0.48m +[headless_play] t= 1.90s step= 95 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 119.0mm grav_b=(-0.04,-0.08,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 117.9mm grav_b=(-0.02,-0.03,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(-0.01,+0.12,-0.99) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 123.9mm grav_b=(-0.00,+0.14,-0.99) r=0.51m +[headless_play] t= 2.40s step= 120 trunk_z= 122.4mm grav_b=(+0.01,+0.10,-1.00) r=0.52m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(-0.05,-0.01,-1.00) r=0.53m +[headless_play] t= 2.60s step= 130 trunk_z= 119.9mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 114.6mm grav_b=(-0.03,+0.07,-1.00) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 123.8mm grav_b=(-0.03,+0.11,-0.99) r=0.52m +[headless_play] t= 2.90s step= 145 trunk_z= 121.7mm grav_b=(-0.00,+0.09,-1.00) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 118.3mm grav_b=(-0.03,-0.04,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 119.1mm grav_b=(-0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 113.4mm grav_b=(-0.01,+0.08,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 123.3mm grav_b=(-0.02,+0.11,-0.99) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 122.0mm grav_b=(-0.00,+0.08,-1.00) r=0.56m +[headless_play] t= 3.50s step= 175 trunk_z= 119.1mm grav_b=(-0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 3.60s step= 180 trunk_z= 119.5mm grav_b=(-0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 3.70s step= 185 trunk_z= 115.1mm grav_b=(-0.03,+0.09,-1.00) r=0.56m +[headless_play] t= 3.80s step= 190 trunk_z= 124.5mm grav_b=(-0.02,+0.12,-0.99) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 123.2mm grav_b=(-0.00,+0.09,-1.00) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 119.6mm grav_b=(-0.06,-0.05,-1.00) r=0.58m +[headless_play] t= 4.10s step= 205 trunk_z= 122.8mm grav_b=(-0.05,-0.06,-1.00) r=0.58m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(-0.03,+0.05,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 128.9mm grav_b=(-0.01,+0.14,-0.99) r=0.55m +[headless_play] t= 4.40s step= 220 trunk_z= 132.4mm grav_b=(+0.03,+0.14,-0.99) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 125.6mm grav_b=(-0.01,+0.06,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 122.3mm grav_b=(-0.01,+0.04,-1.00) r=0.58m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(-0.04,+0.07,-1.00) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 124.4mm grav_b=(-0.05,+0.12,-0.99) r=0.56m +[headless_play] t= 4.90s step= 245 trunk_z= 127.1mm grav_b=(-0.06,+0.11,-0.99) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 120.5mm grav_b=(-0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 124.5mm grav_b=(+0.00,-0.00,-1.00) r=0.59m +[headless_play] t= 5.20s step= 260 trunk_z= 119.2mm grav_b=(-0.01,+0.08,-1.00) r=0.57m +[headless_play] t= 5.30s step= 265 trunk_z= 129.0mm grav_b=(-0.02,+0.15,-0.99) r=0.56m +[headless_play] t= 5.40s step= 270 trunk_z= 129.8mm grav_b=(-0.01,+0.14,-0.99) r=0.55m +[headless_play] t= 5.50s step= 275 trunk_z= 127.8mm grav_b=(-0.03,+0.08,-1.00) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 123.7mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 120.6mm grav_b=(-0.04,+0.02,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(-0.05,+0.13,-0.99) r=0.55m +[headless_play] t= 5.90s step= 295 trunk_z= 128.9mm grav_b=(-0.06,+0.14,-0.99) r=0.55m +[headless_play] t= 6.00s step= 300 trunk_z= 126.7mm grav_b=(-0.04,+0.09,-1.00) r=0.55m +[headless_play] t= 6.10s step= 305 trunk_z= 123.0mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 6.20s step= 310 trunk_z= 123.2mm grav_b=(-0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 117.0mm grav_b=(-0.02,+0.11,-0.99) r=0.54m +[headless_play] t= 6.40s step= 320 trunk_z= 128.6mm grav_b=(-0.05,+0.15,-0.99) r=0.53m +[headless_play] t= 6.50s step= 325 trunk_z= 129.1mm grav_b=(-0.04,+0.13,-0.99) r=0.53m +[headless_play] t= 6.60s step= 330 trunk_z= 122.1mm grav_b=(-0.05,+0.04,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 123.8mm grav_b=(-0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 119.2mm grav_b=(-0.03,+0.05,-1.00) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 124.7mm grav_b=(-0.04,+0.14,-0.99) r=0.51m +[headless_play] t= 7.00s step= 350 trunk_z= 129.6mm grav_b=(-0.06,+0.15,-0.99) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 127.3mm grav_b=(-0.05,+0.10,-0.99) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 121.6mm grav_b=(-0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 7.30s step= 365 trunk_z= 122.5mm grav_b=(+0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 116.9mm grav_b=(-0.02,+0.11,-0.99) r=0.48m +[headless_play] t= 7.50s step= 375 trunk_z= 127.8mm grav_b=(-0.05,+0.14,-0.99) r=0.47m +[headless_play] t= 7.60s step= 380 trunk_z= 126.9mm grav_b=(-0.05,+0.11,-0.99) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 121.8mm grav_b=(-0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 7.80s step= 390 trunk_z= 123.2mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 7.90s step= 395 trunk_z= 116.3mm grav_b=(-0.04,+0.08,-1.00) r=0.45m +[headless_play] t= 8.00s step= 400 trunk_z= 127.5mm grav_b=(-0.04,+0.15,-0.99) r=0.43m +[headless_play] t= 8.10s step= 405 trunk_z= 128.7mm grav_b=(-0.04,+0.13,-0.99) r=0.43m +[headless_play] t= 8.20s step= 410 trunk_z= 122.9mm grav_b=(-0.05,+0.05,-1.00) r=0.42m +[headless_play] t= 8.30s step= 415 trunk_z= 123.9mm grav_b=(-0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 120.1mm grav_b=(-0.03,+0.03,-1.00) r=0.41m +[headless_play] t= 8.50s step= 425 trunk_z= 123.8mm grav_b=(-0.05,+0.13,-0.99) r=0.40m +[headless_play] t= 8.60s step= 430 trunk_z= 129.1mm grav_b=(-0.07,+0.16,-0.98) r=0.39m +[headless_play] t= 8.70s step= 435 trunk_z= 127.0mm grav_b=(-0.06,+0.11,-0.99) r=0.39m +[headless_play] t= 8.80s step= 440 trunk_z= 122.7mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 8.90s step= 445 trunk_z= 124.9mm grav_b=(-0.05,-0.05,-1.00) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 118.4mm grav_b=(-0.07,-0.01,-1.00) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 120.7mm grav_b=(-0.06,+0.07,-1.00) r=0.37m +[headless_play] t= 9.20s step= 460 trunk_z= 118.8mm grav_b=(-0.06,+0.02,-1.00) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 118.0mm grav_b=(-0.07,+0.01,-1.00) r=0.38m +[headless_play] t= 9.40s step= 470 trunk_z= 117.7mm grav_b=(-0.09,+0.01,-1.00) r=0.38m +[headless_play] t= 9.50s step= 475 trunk_z= 117.6mm grav_b=(-0.08,+0.00,-1.00) r=0.38m +[headless_play] t= 9.60s step= 480 trunk_z= 117.7mm grav_b=(-0.07,+0.00,-1.00) r=0.38m +[headless_play] t= 9.70s step= 485 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(-0.07,+0.00,-1.00) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.00s step= 500 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.10s step= 505 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.20s step= 510 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.30s step= 515 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.50s step= 525 trunk_z= 117.4mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.70s step= 535 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 10.90s step= 545 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 11.00s step= 550 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 11.10s step= 555 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.60s step= 580 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 11.90s step= 595 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.00s step= 600 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.30s step= 615 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.40s step= 620 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.60s step= 630 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.70s step= 635 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 13.00s step= 650 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.38m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.08,-0.01,-1.00) r=0.38m +[headless_play] t= 13.30s step= 665 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.37m +[headless_play] t= 13.40s step= 670 trunk_z= 117.7mm grav_b=(-0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 13.50s step= 675 trunk_z= 117.2mm grav_b=(+0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 13.60s step= 680 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.37m +[headless_play] t= 13.80s step= 690 trunk_z= 119.0mm grav_b=(-0.06,-0.00,-1.00) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 104.0mm grav_b=(-0.02,-0.08,-1.00) r=0.40m +[headless_play] t= 14.00s step= 700 trunk_z= 110.1mm grav_b=(-0.04,-0.10,-0.99) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 107.8mm grav_b=(-0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 110.2mm grav_b=(+0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 108.2mm grav_b=(+0.08,+0.02,-1.00) r=0.42m +[headless_play] t= 14.40s step= 720 trunk_z= 110.5mm grav_b=(+0.08,-0.01,-1.00) r=0.42m +[headless_play] t= 14.50s step= 725 trunk_z= 112.3mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 113.2mm grav_b=(+0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 14.70s step= 735 trunk_z= 113.8mm grav_b=(-0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 114.0mm grav_b=(-0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 14.90s step= 745 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 15.00s step= 750 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 15.10s step= 755 trunk_z= 114.1mm grav_b=(+0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 15.20s step= 760 trunk_z= 114.1mm grav_b=(+0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 15.30s step= 765 trunk_z= 114.1mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 15.40s step= 770 trunk_z= 114.0mm grav_b=(+0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 15.50s step= 775 trunk_z= 113.9mm grav_b=(+0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 15.60s step= 780 trunk_z= 114.1mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 15.70s step= 785 trunk_z= 114.1mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 15.80s step= 790 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 15.90s step= 795 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 16.00s step= 800 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 114.3mm grav_b=(+0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 16.20s step= 810 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 16.30s step= 815 trunk_z= 114.0mm grav_b=(+0.05,-0.02,-1.00) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 114.2mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 16.50s step= 825 trunk_z= 114.5mm grav_b=(-0.00,-0.02,-1.00) r=0.43m +[headless_play] t= 16.60s step= 830 trunk_z= 114.6mm grav_b=(-0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 16.70s step= 835 trunk_z= 114.8mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 16.80s step= 840 trunk_z= 114.6mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 16.90s step= 845 trunk_z= 114.7mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 17.10s step= 855 trunk_z= 114.8mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 17.20s step= 860 trunk_z= 114.9mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 17.30s step= 865 trunk_z= 114.9mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 17.40s step= 870 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 17.50s step= 875 trunk_z= 114.9mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 17.60s step= 880 trunk_z= 114.9mm grav_b=(+0.02,-0.02,-1.00) r=0.44m +[headless_play] t= 17.70s step= 885 trunk_z= 115.0mm grav_b=(+0.02,-0.02,-1.00) r=0.44m +[headless_play] t= 17.80s step= 890 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 17.90s step= 895 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(-0.00,-0.04,-1.00) r=0.42m +[headless_play] t= 18.20s step= 910 trunk_z= 114.4mm grav_b=(-0.05,-0.11,-0.99) r=0.42m +[headless_play] t= 18.30s step= 915 trunk_z= 117.1mm grav_b=(-0.08,-0.09,-0.99) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 114.2mm grav_b=(-0.08,-0.04,-1.00) r=0.43m +[headless_play] t= 18.50s step= 925 trunk_z= 119.3mm grav_b=(-0.07,+0.08,-0.99) r=0.44m +[headless_play] t= 18.60s step= 930 trunk_z= 122.8mm grav_b=(-0.02,+0.11,-0.99) r=0.45m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(+0.04,+0.06,-1.00) r=0.45m +[headless_play] t= 18.80s step= 940 trunk_z= 117.7mm grav_b=(-0.03,-0.08,-1.00) r=0.44m +[headless_play] t= 18.90s step= 945 trunk_z= 116.6mm grav_b=(-0.03,-0.05,-1.00) r=0.43m +[headless_play] t= 19.00s step= 950 trunk_z= 112.5mm grav_b=(+0.00,+0.07,-1.00) r=0.41m +[headless_play] t= 19.10s step= 955 trunk_z= 120.6mm grav_b=(-0.00,+0.07,-1.00) r=0.40m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(+0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 19.30s step= 965 trunk_z= 119.1mm grav_b=(-0.07,-0.11,-0.99) r=0.40m +[headless_play] t= 19.40s step= 970 trunk_z= 119.8mm grav_b=(-0.09,-0.06,-0.99) r=0.39m +[headless_play] t= 19.50s step= 975 trunk_z= 114.7mm grav_b=(-0.02,+0.03,-1.00) r=0.38m +[headless_play] t= 19.60s step= 980 trunk_z= 120.4mm grav_b=(-0.00,+0.11,-0.99) r=0.37m +[headless_play] t= 19.70s step= 985 trunk_z= 120.2mm grav_b=(+0.04,+0.08,-1.00) r=0.37m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(-0.00,-0.06,-1.00) r=0.37m +[headless_play] t= 19.90s step= 995 trunk_z= 121.1mm grav_b=(-0.08,-0.08,-0.99) r=0.36m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..7d02775aa690064f2e6e6ccf43c533576461a7d4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t1.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.774,-17.586,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.4mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(-0.01,+0.07,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(+0.01,-0.10,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 117.2mm grav_b=(+0.04,+0.06,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 117.3mm grav_b=(+0.06,+0.07,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 118.7mm grav_b=(+0.03,-0.10,-0.99) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 121.4mm grav_b=(+0.03,-0.05,-1.00) r=0.54m +[headless_play] t= 0.80s step= 40 trunk_z= 114.9mm grav_b=(+0.07,+0.04,-1.00) r=0.56m +[headless_play] t= 0.90s step= 45 trunk_z= 117.2mm grav_b=(+0.06,-0.14,-0.99) r=0.57m +[headless_play] t= 1.00s step= 50 trunk_z= 128.0mm grav_b=(+0.06,-0.15,-0.99) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 119.2mm grav_b=(+0.03,-0.02,-1.00) r=0.62m +[headless_play] t= 1.20s step= 60 trunk_z= 119.2mm grav_b=(+0.04,+0.04,-1.00) r=0.65m +[headless_play] t= 1.30s step= 65 trunk_z= 114.5mm grav_b=(+0.09,-0.14,-0.99) r=0.66m +[headless_play] t= 1.40s step= 70 trunk_z= 120.9mm grav_b=(+0.04,-0.04,-1.00) r=0.68m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(+0.02,+0.14,-0.99) r=0.70m +[headless_play] t= 1.60s step= 80 trunk_z= 114.8mm grav_b=(+0.06,-0.02,-1.00) r=0.71m +[headless_play] t= 1.70s step= 85 trunk_z= 120.1mm grav_b=(+0.04,-0.12,-0.99) r=0.72m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(+0.01,+0.12,-0.99) r=0.74m +[headless_play] t= 1.90s step= 95 trunk_z= 120.0mm grav_b=(+0.06,+0.15,-0.99) r=0.75m +[headless_play] t= 2.00s step= 100 trunk_z= 114.7mm grav_b=(+0.08,-0.07,-0.99) r=0.77m +[headless_play] t= 2.10s step= 105 trunk_z= 122.5mm grav_b=(+0.05,-0.05,-1.00) r=0.80m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(+0.06,+0.13,-0.99) r=0.82m +[headless_play] t= 2.30s step= 115 trunk_z= 116.0mm grav_b=(+0.11,-0.05,-0.99) r=0.84m +[headless_play] t= 2.40s step= 120 trunk_z= 125.8mm grav_b=(+0.06,-0.15,-0.99) r=0.86m +[headless_play] t= 2.50s step= 125 trunk_z= 118.3mm grav_b=(-0.01,+0.01,-1.00) r=0.89m +[headless_play] t= 2.60s step= 130 trunk_z= 119.5mm grav_b=(+0.00,+0.07,-1.00) r=0.92m +[headless_play] t= 2.70s step= 135 trunk_z= 113.7mm grav_b=(+0.07,-0.13,-0.99) r=0.93m +[headless_play] t= 2.80s step= 140 trunk_z= 121.0mm grav_b=(+0.05,-0.08,-1.00) r=0.94m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(+0.02,+0.17,-0.99) r=0.96m +[headless_play] t= 3.00s step= 150 trunk_z= 118.3mm grav_b=(+0.08,+0.09,-0.99) r=0.98m +[headless_play] t= 3.10s step= 155 trunk_z= 117.2mm grav_b=(+0.09,-0.10,-0.99) r=1.01m +[headless_play] t= 3.20s step= 160 trunk_z= 123.0mm grav_b=(+0.09,+0.06,-0.99) r=1.04m +[headless_play] t= 3.30s step= 165 trunk_z= 121.6mm grav_b=(+0.15,+0.09,-0.99) r=1.08m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.05,-0.12,-0.99) r=1.12m +[headless_play] t= 3.50s step= 175 trunk_z= 122.9mm grav_b=(-0.10,-0.13,-0.99) r=1.16m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(-0.09,+0.11,-0.99) r=1.19m +[headless_play] t= 3.70s step= 185 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00) r=1.20m +[headless_play] t= 3.80s step= 190 trunk_z= 119.8mm grav_b=(+0.07,-0.14,-0.99) r=1.21m +[headless_play] t= 3.90s step= 195 trunk_z= 121.9mm grav_b=(+0.06,-0.07,-1.00) r=1.22m +[headless_play] t= 4.00s step= 200 trunk_z= 118.7mm grav_b=(+0.05,+0.05,-1.00) r=1.24m +[headless_play] t= 4.10s step= 205 trunk_z= 118.6mm grav_b=(+0.05,-0.04,-1.00) r=1.26m +[headless_play] t= 4.20s step= 210 trunk_z= 120.1mm grav_b=(+0.02,-0.05,-1.00) r=1.28m +[headless_play] t= 4.30s step= 215 trunk_z= 118.6mm grav_b=(+0.04,+0.07,-1.00) r=1.30m +[headless_play] t= 4.40s step= 220 trunk_z= 115.1mm grav_b=(+0.08,-0.07,-0.99) r=1.32m +[headless_play] t= 4.50s step= 225 trunk_z= 120.0mm grav_b=(+0.04,-0.02,-1.00) r=1.33m +[headless_play] t= 4.60s step= 230 trunk_z= 120.9mm grav_b=(-0.00,+0.17,-0.99) r=1.35m +[headless_play] t= 4.70s step= 235 trunk_z= 122.7mm grav_b=(+0.02,+0.14,-0.99) r=1.37m +[headless_play] t= 4.80s step= 240 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=1.38m +[headless_play] t= 4.90s step= 245 trunk_z= 119.3mm grav_b=(+0.02,+0.03,-1.00) r=1.40m +[headless_play] t= 5.00s step= 250 trunk_z= 118.0mm grav_b=(+0.06,+0.08,-0.99) r=1.41m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(+0.03,-0.09,-1.00) r=1.43m +[headless_play] t= 5.20s step= 260 trunk_z= 121.9mm grav_b=(+0.04,-0.04,-1.00) r=1.45m +[headless_play] t= 5.30s step= 265 trunk_z= 118.7mm grav_b=(+0.05,+0.06,-1.00) r=1.47m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(+0.02,-0.07,-1.00) r=1.49m +[headless_play] t= 5.50s step= 275 trunk_z= 124.0mm grav_b=(+0.01,-0.07,-1.00) r=1.50m +[headless_play] t= 5.60s step= 280 trunk_z= 117.5mm grav_b=(-0.03,+0.06,-1.00) r=1.52m +[headless_play] t= 5.70s step= 285 trunk_z= 115.1mm grav_b=(-0.02,-0.07,-1.00) r=1.54m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(+0.04,+0.03,-1.00) r=1.56m +[headless_play] t= 5.90s step= 295 trunk_z= 112.6mm grav_b=(+0.11,+0.10,-0.99) r=1.57m +[headless_play] t= 6.00s step= 300 trunk_z= 112.3mm grav_b=(+0.06,-0.08,-0.99) r=1.58m +[headless_play] t= 6.10s step= 305 trunk_z= 116.6mm grav_b=(+0.05,-0.05,-1.00) r=1.60m +[headless_play] t= 6.20s step= 310 trunk_z= 113.5mm grav_b=(+0.02,+0.10,-1.00) r=1.63m +[headless_play] t= 6.30s step= 315 trunk_z= 112.2mm grav_b=(+0.05,-0.04,-1.00) r=1.65m +[headless_play] t= 6.40s step= 320 trunk_z= 111.8mm grav_b=(+0.10,-0.09,-0.99) r=1.68m +[headless_play] t= 6.50s step= 325 trunk_z= 112.5mm grav_b=(+0.07,+0.05,-1.00) r=1.70m +[headless_play] t= 6.60s step= 330 trunk_z= 115.6mm grav_b=(+0.08,+0.08,-0.99) r=1.72m +[headless_play] t= 6.70s step= 335 trunk_z= 113.6mm grav_b=(+0.05,-0.11,-0.99) r=1.74m +[headless_play] t= 6.80s step= 340 trunk_z= 117.9mm grav_b=(+0.05,-0.02,-1.00) r=1.76m +[headless_play] t= 6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.04,+0.15,-0.99) r=1.79m +[headless_play] t= 7.00s step= 350 trunk_z= 116.8mm grav_b=(+0.09,+0.12,-0.99) r=1.80m +[headless_play] t= 7.10s step= 355 trunk_z= 115.5mm grav_b=(+0.07,-0.07,-1.00) r=1.82m +[headless_play] t= 7.20s step= 360 trunk_z= 118.6mm grav_b=(+0.04,-0.01,-1.00) r=1.84m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(+0.01,+0.11,-0.99) r=1.87m +[headless_play] t= 7.40s step= 370 trunk_z= 112.3mm grav_b=(+0.09,-0.02,-1.00) r=1.89m +[headless_play] t= 7.50s step= 375 trunk_z= 114.5mm grav_b=(+0.12,-0.05,-0.99) r=1.90m +[headless_play] t= 7.60s step= 380 trunk_z= 113.9mm grav_b=(+0.02,+0.10,-0.99) r=1.92m +[headless_play] t= 7.70s step= 385 trunk_z= 119.7mm grav_b=(+0.02,+0.16,-0.99) r=1.94m +[headless_play] t= 7.80s step= 390 trunk_z= 114.2mm grav_b=(+0.06,+0.04,-1.00) r=1.96m +[headless_play] t= 7.90s step= 395 trunk_z= 114.7mm grav_b=(+0.08,-0.05,-1.00) r=1.99m +[headless_play] t= 8.00s step= 400 trunk_z= 112.4mm grav_b=(+0.08,+0.03,-1.00) r=2.01m +[headless_play] t= 8.10s step= 405 trunk_z= 109.7mm grav_b=(+0.09,+0.10,-0.99) r=2.03m +[headless_play] t= 8.20s step= 410 trunk_z= 110.4mm grav_b=(+0.11,-0.06,-0.99) r=2.05m +[headless_play] t= 8.30s step= 415 trunk_z= 118.0mm grav_b=(+0.12,-0.13,-0.98) r=2.07m +[headless_play] t= 8.40s step= 420 trunk_z= 117.7mm grav_b=(+0.05,-0.02,-1.00) r=2.10m +[headless_play] t= 8.50s step= 425 trunk_z= 120.8mm grav_b=(-0.00,+0.13,-0.99) r=2.12m +[headless_play] t= 8.60s step= 430 trunk_z= 119.2mm grav_b=(+0.04,+0.05,-1.00) r=2.14m +[headless_play] t= 8.70s step= 435 trunk_z= 117.7mm grav_b=(+0.01,-0.07,-1.00) r=2.16m +[headless_play] t= 8.80s step= 440 trunk_z= 117.4mm grav_b=(+0.00,+0.03,-1.00) r=2.17m +[headless_play] t= 8.90s step= 445 trunk_z= 113.1mm grav_b=(+0.05,+0.11,-0.99) r=2.19m +[headless_play] t= 9.00s step= 450 trunk_z= 109.7mm grav_b=(+0.11,-0.06,-0.99) r=2.22m +[headless_play] t= 9.10s step= 455 trunk_z= 115.3mm grav_b=(+0.12,-0.04,-0.99) r=2.24m +[headless_play] t= 9.20s step= 460 trunk_z= 112.7mm grav_b=(+0.05,+0.09,-0.99) r=2.27m +[headless_play] t= 9.30s step= 465 trunk_z= 119.2mm grav_b=(+0.05,+0.11,-0.99) r=2.29m +[headless_play] t= 9.40s step= 470 trunk_z= 113.0mm grav_b=(+0.05,-0.08,-1.00) r=2.31m +[headless_play] t= 9.50s step= 475 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=2.32m +[headless_play] t= 9.60s step= 480 trunk_z= 114.7mm grav_b=(+0.06,+0.17,-0.98) r=2.33m +[headless_play] t= 9.70s step= 485 trunk_z= 119.4mm grav_b=(+0.10,+0.15,-0.98) r=2.34m +[headless_play] t= 9.80s step= 490 trunk_z= 118.0mm grav_b=(+0.10,+0.02,-0.99) r=2.35m +[headless_play] t= 9.90s step= 495 trunk_z= 120.7mm grav_b=(+0.01,+0.01,-1.00) r=2.37m +[headless_play] t= 10.00s step= 500 trunk_z= 118.1mm grav_b=(+0.11,+0.13,-0.98) r=2.38m +[headless_play] t= 10.10s step= 505 trunk_z= 121.4mm grav_b=(+0.08,-0.07,-0.99) r=2.41m +[headless_play] t= 10.20s step= 510 trunk_z= 126.0mm grav_b=(-0.07,-0.24,-0.97) r=2.44m +[headless_play] t= 10.30s step= 515 trunk_z= 136.8mm grav_b=(-0.10,-0.23,-0.97) r=2.46m +[headless_play] t= 10.40s step= 520 trunk_z= 135.4mm grav_b=(-0.01,-0.15,-0.99) r=2.48m +[headless_play] t= 10.50s step= 525 trunk_z= 129.3mm grav_b=(+0.11,-0.16,-0.98) r=2.49m +[headless_play] t= 10.60s step= 530 trunk_z= 128.1mm grav_b=(+0.05,-0.09,-0.99) r=2.51m +[headless_play] t= 10.70s step= 535 trunk_z= 120.6mm grav_b=(+0.01,-0.00,-1.00) r=2.55m +[headless_play] t= 10.80s step= 540 trunk_z= 117.5mm grav_b=(-0.04,-0.07,-1.00) r=2.58m +[headless_play] t= 10.90s step= 545 trunk_z= 111.1mm grav_b=(+0.20,-0.02,-0.98) r=2.61m +[headless_play] t= 11.00s step= 550 trunk_z= 112.3mm grav_b=(+0.40,-0.06,-0.92) r=2.64m +[headless_play] t= 11.10s step= 555 trunk_z= 111.9mm grav_b=(+0.74,-0.31,-0.60) r=2.67m +[headless_play] RESET at t= 11.14s step= 557 (env termination, not a recovery) +[headless_play] t= 11.20s step= 560 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 11.30s step= 565 trunk_z= 115.8mm grav_b=(+0.06,+0.00,-1.00) r=0.66m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(+0.07,+0.00,-1.00) r=0.66m +[headless_play] t= 11.50s step= 575 trunk_z= 117.7mm grav_b=(+0.09,+0.00,-1.00) r=0.66m +[headless_play] t= 11.60s step= 580 trunk_z= 117.8mm grav_b=(+0.09,-0.01,-1.00) r=0.66m +[headless_play] t= 11.70s step= 585 trunk_z= 117.6mm grav_b=(+0.07,-0.01,-1.00) r=0.66m +[headless_play] t= 11.80s step= 590 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.67m +[headless_play] t= 11.90s step= 595 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.67m +[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(+0.03,-0.00,-1.00) r=0.67m +[headless_play] t= 12.10s step= 605 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.67m +[headless_play] t= 12.20s step= 610 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.66m +[headless_play] t= 12.30s step= 615 trunk_z= 119.1mm grav_b=(+0.11,+0.01,-0.99) r=0.65m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(+0.16,+0.00,-0.99) r=0.65m +[headless_play] t= 12.50s step= 625 trunk_z= 121.5mm grav_b=(+0.14,+0.06,-0.99) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 118.9mm grav_b=(+0.14,-0.12,-0.98) r=0.63m +[headless_play] t= 12.70s step= 635 trunk_z= 121.2mm grav_b=(+0.20,-0.18,-0.96) r=0.62m +[headless_play] t= 12.80s step= 640 trunk_z= 127.2mm grav_b=(+0.24,-0.05,-0.97) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 78.7mm grav_b=(+0.18,+0.12,-0.98) r=0.58m +[headless_play] t= 13.00s step= 650 trunk_z= 4.7mm grav_b=(+0.31,+0.80,-0.51) r=0.55m +[headless_play] RESET at t= 13.04s step= 652 (env termination, not a recovery) +[headless_play] t= 13.10s step= 655 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 13.20s step= 660 trunk_z= 118.2mm grav_b=(+0.08,+0.03,-1.00) r=0.58m +[headless_play] t= 13.30s step= 665 trunk_z= 119.5mm grav_b=(+0.13,+0.03,-0.99) r=0.58m +[headless_play] t= 13.40s step= 670 trunk_z= 120.8mm grav_b=(+0.14,+0.02,-0.99) r=0.57m +[headless_play] t= 13.50s step= 675 trunk_z= 120.2mm grav_b=(+0.13,+0.12,-0.98) r=0.57m +[headless_play] t= 13.60s step= 680 trunk_z= 128.5mm grav_b=(+0.06,+0.01,-1.00) r=0.56m +[headless_play] t= 13.70s step= 685 trunk_z= 119.9mm grav_b=(-0.09,-0.15,-0.98) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 115.6mm grav_b=(-0.14,-0.04,-0.99) r=0.54m +[headless_play] t= 13.90s step= 695 trunk_z= 116.6mm grav_b=(+0.03,-0.07,-1.00) r=0.53m +[headless_play] t= 14.00s step= 700 trunk_z= 108.3mm grav_b=(+0.12,-0.08,-0.99) r=0.54m +[headless_play] t= 14.10s step= 705 trunk_z= 106.5mm grav_b=(+0.18,+0.06,-0.98) r=0.55m +[headless_play] t= 14.20s step= 710 trunk_z= 112.1mm grav_b=(+0.11,+0.04,-0.99) r=0.56m +[headless_play] t= 14.30s step= 715 trunk_z= 114.3mm grav_b=(+0.07,+0.02,-1.00) r=0.57m +[headless_play] t= 14.40s step= 720 trunk_z= 115.1mm grav_b=(+0.05,+0.02,-1.00) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 115.6mm grav_b=(+0.04,+0.02,-1.00) r=0.58m +[headless_play] t= 14.60s step= 730 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.58m +[headless_play] t= 14.70s step= 735 trunk_z= 117.0mm grav_b=(+0.07,+0.03,-1.00) r=0.57m +[headless_play] t= 14.80s step= 740 trunk_z= 118.1mm grav_b=(+0.08,+0.05,-1.00) r=0.57m +[headless_play] t= 14.90s step= 745 trunk_z= 118.6mm grav_b=(+0.10,+0.05,-0.99) r=0.57m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(+0.11,+0.05,-0.99) r=0.57m +[headless_play] t= 15.10s step= 755 trunk_z= 118.6mm grav_b=(+0.10,+0.05,-0.99) r=0.57m +[headless_play] t= 15.20s step= 760 trunk_z= 118.2mm grav_b=(+0.09,+0.04,-1.00) r=0.57m +[headless_play] t= 15.30s step= 765 trunk_z= 117.6mm grav_b=(+0.06,+0.04,-1.00) r=0.57m +[headless_play] t= 15.40s step= 770 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 15.50s step= 775 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.58m +[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(+0.06,+0.02,-1.00) r=0.58m +[headless_play] t= 16.00s step= 800 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 16.10s step= 805 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 16.20s step= 810 trunk_z= 106.4mm grav_b=(+0.07,-0.12,-0.99) r=0.59m +[headless_play] t= 16.30s step= 815 trunk_z= 105.8mm grav_b=(+0.10,+0.06,-0.99) r=0.60m +[headless_play] t= 16.40s step= 820 trunk_z= 108.9mm grav_b=(+0.11,+0.02,-0.99) r=0.61m +[headless_play] t= 16.50s step= 825 trunk_z= 110.7mm grav_b=(+0.09,-0.01,-1.00) r=0.61m +[headless_play] t= 16.60s step= 830 trunk_z= 113.6mm grav_b=(+0.05,-0.01,-1.00) r=0.62m +[headless_play] t= 16.70s step= 835 trunk_z= 114.6mm grav_b=(+0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 114.9mm grav_b=(+0.03,-0.00,-1.00) r=0.63m +[headless_play] t= 16.90s step= 845 trunk_z= 114.9mm grav_b=(+0.06,+0.02,-1.00) r=0.63m +[headless_play] t= 17.00s step= 850 trunk_z= 115.6mm grav_b=(+0.05,+0.01,-1.00) r=0.63m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 17.30s step= 865 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 17.40s step= 870 trunk_z= 116.9mm grav_b=(+0.08,+0.01,-1.00) r=0.61m +[headless_play] t= 17.50s step= 875 trunk_z= 118.8mm grav_b=(+0.13,+0.02,-0.99) r=0.60m +[headless_play] t= 17.60s step= 880 trunk_z= 120.0mm grav_b=(+0.13,+0.01,-0.99) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 117.9mm grav_b=(+0.10,+0.11,-0.99) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 121.8mm grav_b=(+0.07,+0.04,-1.00) r=0.59m +[headless_play] t= 17.90s step= 895 trunk_z= 118.5mm grav_b=(-0.03,-0.09,-1.00) r=0.57m +[headless_play] t= 18.00s step= 900 trunk_z= 116.4mm grav_b=(-0.02,+0.07,-1.00) r=0.57m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(+0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 18.20s step= 910 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 18.30s step= 915 trunk_z= 116.4mm grav_b=(+0.07,+0.02,-1.00) r=0.56m +[headless_play] t= 18.40s step= 920 trunk_z= 116.7mm grav_b=(+0.05,+0.01,-1.00) r=0.56m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 18.60s step= 930 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 18.70s step= 935 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.56m +[headless_play] t= 19.10s step= 955 trunk_z= 116.6mm grav_b=(+0.08,+0.00,-1.00) r=0.56m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 19.30s step= 965 trunk_z= 116.2mm grav_b=(+0.03,+0.00,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.56m +[headless_play] t= 19.50s step= 975 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.57m +[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.57m +[headless_play] t= 19.80s step= 990 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.57m +[headless_play] t= 19.90s step= 995 trunk_z= 116.2mm grav_b=(+0.06,+0.00,-1.00) r=0.57m +[headless_play] t= 20.00s step=1000 trunk_z= 116.2mm grav_b=(+0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00) r=0.57m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..9ab18184987567abdda9ee6be013cfff4a0b81d8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,-0.00,-1.00) root_w=(-2.405,-18.149,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.5mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(-0.04,+0.09,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 120.1mm grav_b=(-0.00,+0.06,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 122.1mm grav_b=(-0.00,-0.07,-1.00) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 118.1mm grav_b=(-0.03,+0.11,-0.99) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 127.2mm grav_b=(+0.02,+0.17,-0.99) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 125.8mm grav_b=(+0.03,+0.11,-0.99) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 122.7mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 0.80s step= 40 trunk_z= 119.8mm grav_b=(-0.03,+0.12,-0.99) r=0.57m +[headless_play] t= 0.90s step= 45 trunk_z= 123.6mm grav_b=(+0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 1.00s step= 50 trunk_z= 125.6mm grav_b=(-0.01,-0.09,-1.00) r=0.63m +[headless_play] t= 1.10s step= 55 trunk_z= 120.2mm grav_b=(-0.03,+0.08,-1.00) r=0.65m +[headless_play] t= 1.20s step= 60 trunk_z= 127.1mm grav_b=(+0.00,+0.15,-0.99) r=0.68m +[headless_play] t= 1.30s step= 65 trunk_z= 121.4mm grav_b=(+0.00,+0.03,-1.00) r=0.70m +[headless_play] t= 1.40s step= 70 trunk_z= 124.0mm grav_b=(-0.03,+0.01,-1.00) r=0.72m +[headless_play] t= 1.50s step= 75 trunk_z= 121.0mm grav_b=(-0.07,+0.14,-0.99) r=0.72m +[headless_play] t= 1.60s step= 80 trunk_z= 122.9mm grav_b=(-0.09,+0.03,-1.00) r=0.74m +[headless_play] t= 1.70s step= 85 trunk_z= 126.1mm grav_b=(-0.06,-0.07,-1.00) r=0.75m +[headless_play] t= 1.80s step= 90 trunk_z= 117.8mm grav_b=(-0.04,+0.05,-1.00) r=0.76m +[headless_play] t= 1.90s step= 95 trunk_z= 122.0mm grav_b=(+0.01,+0.09,-1.00) r=0.78m +[headless_play] t= 2.00s step= 100 trunk_z= 118.5mm grav_b=(-0.00,-0.07,-1.00) r=0.80m +[headless_play] t= 2.10s step= 105 trunk_z= 120.0mm grav_b=(-0.00,+0.06,-1.00) r=0.83m +[headless_play] t= 2.20s step= 110 trunk_z= 121.8mm grav_b=(+0.07,+0.08,-0.99) r=0.85m +[headless_play] t= 2.30s step= 115 trunk_z= 119.6mm grav_b=(-0.03,-0.09,-0.99) r=0.88m +[headless_play] t= 2.40s step= 120 trunk_z= 128.7mm grav_b=(-0.04,-0.16,-0.99) r=0.91m +[headless_play] t= 2.50s step= 125 trunk_z= 127.2mm grav_b=(-0.00,-0.07,-1.00) r=0.94m +[headless_play] t= 2.60s step= 130 trunk_z= 118.7mm grav_b=(-0.07,+0.05,-1.00) r=0.98m +[headless_play] t= 2.70s step= 135 trunk_z= 120.9mm grav_b=(-0.07,-0.02,-1.00) r=1.01m +[headless_play] t= 2.80s step= 140 trunk_z= 119.3mm grav_b=(+0.06,-0.08,-0.99) r=1.04m +[headless_play] t= 2.90s step= 145 trunk_z= 115.3mm grav_b=(+0.11,+0.17,-0.98) r=1.06m +[headless_play] t= 3.00s step= 150 trunk_z= 134.6mm grav_b=(+0.12,+0.19,-0.97) r=1.08m +[headless_play] t= 3.10s step= 155 trunk_z= 122.4mm grav_b=(+0.08,+0.08,-0.99) r=1.12m +[headless_play] t= 3.20s step= 160 trunk_z= 98.8mm grav_b=(-0.17,-0.19,-0.97) r=1.15m +[headless_play] t= 3.30s step= 165 trunk_z= 107.2mm grav_b=(-0.36,-0.18,-0.92) r=1.19m +[headless_play] t= 3.40s step= 170 trunk_z= 87.2mm grav_b=(-0.28,+0.34,-0.90) r=1.21m +[headless_play] t= 3.50s step= 175 trunk_z= 96.4mm grav_b=(-0.11,+0.33,-0.94) r=1.21m +[headless_play] t= 3.60s step= 180 trunk_z= 126.6mm grav_b=(-0.00,+0.36,-0.93) r=1.20m +[headless_play] t= 3.70s step= 185 trunk_z= 123.4mm grav_b=(+0.19,+0.42,-0.89) r=1.19m +[headless_play] t= 3.80s step= 190 trunk_z= 106.3mm grav_b=(+0.42,+0.84,-0.35) r=1.19m +[headless_play] RESET at t= 3.82s step= 191 (env termination, not a recovery) +[headless_play] t= 3.90s step= 195 trunk_z= 115.2mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 118.0mm grav_b=(+0.02,-0.04,-1.00) r=0.45m +[headless_play] t= 4.10s step= 205 trunk_z= 120.4mm grav_b=(+0.03,+0.04,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 126.1mm grav_b=(+0.01,+0.13,-0.99) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 122.5mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 123.8mm grav_b=(+0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 114.6mm grav_b=(+0.04,+0.04,-1.00) r=0.55m +[headless_play] t= 4.60s step= 230 trunk_z= 117.4mm grav_b=(-0.09,+0.03,-1.00) r=0.58m +[headless_play] t= 4.70s step= 235 trunk_z= 118.0mm grav_b=(-0.05,-0.15,-0.99) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 127.5mm grav_b=(+0.02,-0.07,-1.00) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(+0.06,+0.07,-1.00) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 125.6mm grav_b=(+0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 5.10s step= 255 trunk_z= 121.8mm grav_b=(+0.02,-0.09,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 126.1mm grav_b=(+0.02,-0.02,-1.00) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(-0.01,+0.02,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 120.3mm grav_b=(-0.06,-0.08,-1.00) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 122.1mm grav_b=(+0.01,-0.10,-1.00) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 122.5mm grav_b=(-0.01,-0.00,-1.00) r=0.72m +[headless_play] t= 5.70s step= 285 trunk_z= 125.5mm grav_b=(+0.02,+0.08,-1.00) r=0.74m +[headless_play] t= 5.80s step= 290 trunk_z= 122.8mm grav_b=(+0.02,-0.01,-1.00) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 124.1mm grav_b=(+0.03,-0.05,-1.00) r=0.77m +[headless_play] t= 6.00s step= 300 trunk_z= 123.7mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.10s step= 305 trunk_z= 124.1mm grav_b=(-0.01,+0.05,-1.00) r=0.82m +[headless_play] t= 6.20s step= 310 trunk_z= 123.0mm grav_b=(-0.05,-0.01,-1.00) r=0.84m +[headless_play] t= 6.30s step= 315 trunk_z= 120.4mm grav_b=(-0.02,-0.03,-1.00) r=0.87m +[headless_play] t= 6.40s step= 320 trunk_z= 119.7mm grav_b=(+0.03,+0.04,-1.00) r=0.90m +[headless_play] t= 6.50s step= 325 trunk_z= 128.0mm grav_b=(+0.05,+0.06,-1.00) r=0.92m +[headless_play] t= 6.60s step= 330 trunk_z= 121.9mm grav_b=(+0.06,-0.05,-1.00) r=0.94m +[headless_play] t= 6.70s step= 335 trunk_z= 120.3mm grav_b=(-0.10,-0.14,-0.98) r=0.93m +[headless_play] t= 6.80s step= 340 trunk_z= 128.6mm grav_b=(-0.15,-0.12,-0.98) r=0.93m +[headless_play] t= 6.90s step= 345 trunk_z= 122.0mm grav_b=(-0.07,+0.03,-1.00) r=0.94m +[headless_play] t= 7.00s step= 350 trunk_z= 116.3mm grav_b=(+0.07,-0.02,-1.00) r=0.93m +[headless_play] t= 7.10s step= 355 trunk_z= 124.2mm grav_b=(+0.03,-0.04,-1.00) r=0.93m +[headless_play] t= 7.20s step= 360 trunk_z= 116.3mm grav_b=(-0.01,+0.10,-0.99) r=0.94m +[headless_play] t= 7.30s step= 365 trunk_z= 122.1mm grav_b=(-0.04,+0.04,-1.00) r=0.96m +[headless_play] t= 7.40s step= 370 trunk_z= 121.6mm grav_b=(-0.06,-0.09,-0.99) r=0.97m +[headless_play] t= 7.50s step= 375 trunk_z= 123.6mm grav_b=(-0.01,-0.07,-1.00) r=0.98m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(+0.02,+0.02,-1.00) r=0.99m +[headless_play] t= 7.70s step= 385 trunk_z= 110.3mm grav_b=(+0.11,-0.02,-0.99) r=1.00m +[headless_play] t= 7.80s step= 390 trunk_z= 117.8mm grav_b=(+0.13,-0.05,-0.99) r=1.01m +[headless_play] t= 7.90s step= 395 trunk_z= 117.1mm grav_b=(+0.03,+0.05,-1.00) r=1.03m +[headless_play] t= 8.00s step= 400 trunk_z= 118.9mm grav_b=(+0.03,+0.11,-0.99) r=1.05m +[headless_play] t= 8.10s step= 405 trunk_z= 112.0mm grav_b=(+0.06,-0.04,-1.00) r=1.07m +[headless_play] t= 8.20s step= 410 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=1.10m +[headless_play] t= 8.30s step= 415 trunk_z= 118.2mm grav_b=(+0.07,+0.18,-0.98) r=1.14m +[headless_play] t= 8.40s step= 420 trunk_z= 119.8mm grav_b=(+0.12,+0.18,-0.98) r=1.17m +[headless_play] t= 8.50s step= 425 trunk_z= 113.2mm grav_b=(+0.13,+0.00,-0.99) r=1.20m +[headless_play] t= 8.60s step= 430 trunk_z= 123.9mm grav_b=(-0.01,-0.02,-1.00) r=1.23m +[headless_play] t= 8.70s step= 435 trunk_z= 117.3mm grav_b=(-0.05,+0.04,-1.00) r=1.27m +[headless_play] t= 8.80s step= 440 trunk_z= 116.0mm grav_b=(-0.04,-0.07,-1.00) r=1.31m +[headless_play] t= 8.90s step= 445 trunk_z= 109.3mm grav_b=(+0.04,+0.01,-1.00) r=1.33m +[headless_play] t= 9.00s step= 450 trunk_z= 115.8mm grav_b=(+0.06,+0.15,-0.99) r=1.35m +[headless_play] t= 9.10s step= 455 trunk_z= 119.7mm grav_b=(+0.04,+0.12,-0.99) r=1.36m +[headless_play] t= 9.20s step= 460 trunk_z= 114.1mm grav_b=(+0.03,-0.01,-1.00) r=1.37m +[headless_play] t= 9.30s step= 465 trunk_z= 115.1mm grav_b=(+0.02,+0.06,-1.00) r=1.39m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(+0.05,+0.17,-0.98) r=1.41m +[headless_play] t= 9.50s step= 475 trunk_z= 114.5mm grav_b=(+0.07,+0.08,-0.99) r=1.42m +[headless_play] t= 9.60s step= 480 trunk_z= 118.3mm grav_b=(+0.05,-0.06,-1.00) r=1.42m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.06,-0.02,-1.00) r=1.42m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(+0.01,+0.05,-1.00) r=1.43m +[headless_play] t= 9.90s step= 495 trunk_z= 112.3mm grav_b=(+0.02,-0.10,-0.99) r=1.44m +[headless_play] t= 10.00s step= 500 trunk_z= 118.6mm grav_b=(+0.05,-0.08,-1.00) r=1.44m +[headless_play] t= 10.10s step= 505 trunk_z= 115.5mm grav_b=(+0.05,+0.06,-1.00) r=1.46m +[headless_play] t= 10.20s step= 510 trunk_z= 117.2mm grav_b=(+0.06,+0.05,-1.00) r=1.47m +[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(+0.02,-0.09,-1.00) r=1.48m +[headless_play] t= 10.40s step= 520 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 10.50s step= 525 trunk_z= 113.8mm grav_b=(+0.05,-0.01,-1.00) r=1.48m +[headless_play] t= 10.60s step= 530 trunk_z= 113.3mm grav_b=(+0.07,+0.00,-1.00) r=1.48m +[headless_play] t= 10.70s step= 535 trunk_z= 114.2mm grav_b=(+0.07,+0.01,-1.00) r=1.48m +[headless_play] t= 10.80s step= 540 trunk_z= 114.4mm grav_b=(+0.05,+0.01,-1.00) r=1.48m +[headless_play] t= 10.90s step= 545 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=1.48m +[headless_play] t= 11.00s step= 550 trunk_z= 114.6mm grav_b=(+0.03,+0.01,-1.00) r=1.48m +[headless_play] t= 11.10s step= 555 trunk_z= 115.9mm grav_b=(+0.09,+0.00,-1.00) r=1.48m +[headless_play] t= 11.20s step= 560 trunk_z= 118.0mm grav_b=(+0.10,+0.01,-1.00) r=1.49m +[headless_play] t= 11.30s step= 565 trunk_z= 118.9mm grav_b=(+0.12,-0.00,-0.99) r=1.49m +[headless_play] t= 11.40s step= 570 trunk_z= 115.1mm grav_b=(+0.03,+0.10,-0.99) r=1.50m +[headless_play] t= 11.50s step= 575 trunk_z= 115.1mm grav_b=(-0.13,+0.04,-0.99) r=1.50m +[headless_play] t= 11.60s step= 580 trunk_z= 110.8mm grav_b=(+0.08,-0.04,-1.00) r=1.50m +[headless_play] t= 11.70s step= 585 trunk_z= 112.9mm grav_b=(-0.01,+0.03,-1.00) r=1.50m +[headless_play] t= 11.80s step= 590 trunk_z= 114.4mm grav_b=(+0.06,-0.03,-1.00) r=1.50m +[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(+0.04,-0.02,-1.00) r=1.50m +[headless_play] t= 12.00s step= 600 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=1.51m +[headless_play] t= 12.10s step= 605 trunk_z= 117.9mm grav_b=(+0.07,-0.02,-1.00) r=1.50m +[headless_play] t= 12.20s step= 610 trunk_z= 117.1mm grav_b=(+0.04,+0.11,-0.99) r=1.50m +[headless_play] t= 12.30s step= 615 trunk_z= 121.2mm grav_b=(-0.03,+0.04,-1.00) r=1.49m +[headless_play] t= 12.40s step= 620 trunk_z= 115.8mm grav_b=(-0.02,-0.03,-1.00) r=1.48m +[headless_play] t= 12.50s step= 625 trunk_z= 116.2mm grav_b=(-0.01,+0.04,-1.00) r=1.48m +[headless_play] t= 12.60s step= 630 trunk_z= 115.9mm grav_b=(-0.01,+0.01,-1.00) r=1.47m +[headless_play] t= 12.70s step= 635 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=1.47m +[headless_play] t= 12.80s step= 640 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=1.46m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=1.46m +[headless_play] t= 13.20s step= 660 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 13.30s step= 665 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 13.40s step= 670 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 13.60s step= 680 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 13.70s step= 685 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 13.80s step= 690 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.48m +[headless_play] t= 13.90s step= 695 trunk_z= 116.1mm grav_b=(-0.05,+0.01,-1.00) r=1.49m +[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(-0.04,+0.01,-1.00) r=1.49m +[headless_play] t= 14.10s step= 705 trunk_z= 117.0mm grav_b=(+0.00,+0.01,-1.00) r=1.48m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(+0.00,+0.01,-1.00) r=1.48m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(-0.03,+0.01,-1.00) r=1.49m +[headless_play] t= 14.50s step= 725 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=1.49m +[headless_play] t= 14.60s step= 730 trunk_z= 119.0mm grav_b=(+0.05,+0.01,-1.00) r=1.49m +[headless_play] t= 14.70s step= 735 trunk_z= 120.1mm grav_b=(+0.07,+0.02,-1.00) r=1.49m +[headless_play] t= 14.80s step= 740 trunk_z= 120.9mm grav_b=(+0.09,+0.00,-1.00) r=1.48m +[headless_play] t= 14.90s step= 745 trunk_z= 114.6mm grav_b=(+0.02,-0.13,-0.99) r=1.48m +[headless_play] t= 15.00s step= 750 trunk_z= 111.6mm grav_b=(-0.12,-0.00,-0.99) r=1.48m +[headless_play] t= 15.10s step= 755 trunk_z= 115.3mm grav_b=(-0.06,-0.02,-1.00) r=1.47m +[headless_play] t= 15.20s step= 760 trunk_z= 114.3mm grav_b=(-0.03,-0.00,-1.00) r=1.48m +[headless_play] t= 15.30s step= 765 trunk_z= 114.3mm grav_b=(-0.03,+0.00,-1.00) r=1.48m +[headless_play] t= 15.40s step= 770 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=1.49m +[headless_play] t= 15.50s step= 775 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=1.49m +[headless_play] t= 15.60s step= 780 trunk_z= 115.2mm grav_b=(+0.06,-0.00,-1.00) r=1.49m +[headless_play] t= 15.70s step= 785 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=1.49m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=1.49m +[headless_play] t= 15.90s step= 795 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.49m +[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=1.49m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=1.49m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.49m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=1.48m +[headless_play] t= 16.40s step= 820 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 16.70s step= 835 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 16.90s step= 845 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 17.00s step= 850 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=1.48m +[headless_play] t= 17.20s step= 860 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=1.48m +[headless_play] t= 17.30s step= 865 trunk_z= 118.4mm grav_b=(+0.11,-0.00,-0.99) r=1.48m +[headless_play] t= 17.40s step= 870 trunk_z= 120.9mm grav_b=(+0.12,+0.03,-0.99) r=1.49m +[headless_play] t= 17.50s step= 875 trunk_z= 121.4mm grav_b=(+0.11,-0.01,-0.99) r=1.49m +[headless_play] t= 17.60s step= 880 trunk_z= 106.9mm grav_b=(-0.01,-0.28,-0.96) r=1.50m +[headless_play] t= 17.70s step= 885 trunk_z= 115.1mm grav_b=(-0.10,-0.15,-0.98) r=1.51m +[headless_play] t= 17.80s step= 890 trunk_z= 121.3mm grav_b=(-0.05,+0.07,-1.00) r=1.54m +[headless_play] t= 17.90s step= 895 trunk_z= 115.1mm grav_b=(+0.00,+0.01,-1.00) r=1.56m +[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(+0.07,+0.02,-1.00) r=1.57m +[headless_play] t= 18.10s step= 905 trunk_z= 117.0mm grav_b=(+0.08,+0.02,-1.00) r=1.57m +[headless_play] t= 18.20s step= 910 trunk_z= 117.6mm grav_b=(+0.09,+0.01,-1.00) r=1.57m +[headless_play] t= 18.30s step= 915 trunk_z= 117.9mm grav_b=(+0.10,+0.01,-1.00) r=1.57m +[headless_play] t= 18.40s step= 920 trunk_z= 118.0mm grav_b=(+0.10,+0.01,-1.00) r=1.57m +[headless_play] t= 18.50s step= 925 trunk_z= 119.2mm grav_b=(+0.13,+0.01,-0.99) r=1.56m +[headless_play] t= 18.60s step= 930 trunk_z= 111.5mm grav_b=(+0.11,+0.11,-0.99) r=1.56m +[headless_play] t= 18.70s step= 935 trunk_z= 111.6mm grav_b=(+0.00,-0.04,-1.00) r=1.55m +[headless_play] t= 18.80s step= 940 trunk_z= 110.0mm grav_b=(-0.04,-0.09,-1.00) r=1.54m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(+0.00,+0.07,-1.00) r=1.53m +[headless_play] t= 19.00s step= 950 trunk_z= 121.7mm grav_b=(-0.01,+0.13,-0.99) r=1.53m +[headless_play] t= 19.10s step= 955 trunk_z= 114.0mm grav_b=(+0.01,-0.04,-1.00) r=1.52m +[headless_play] t= 19.20s step= 960 trunk_z= 114.7mm grav_b=(+0.01,+0.03,-1.00) r=1.52m +[headless_play] t= 19.30s step= 965 trunk_z= 115.4mm grav_b=(-0.04,+0.03,-1.00) r=1.53m +[headless_play] t= 19.40s step= 970 trunk_z= 116.5mm grav_b=(-0.06,+0.02,-1.00) r=1.53m +[headless_play] t= 19.50s step= 975 trunk_z= 116.1mm grav_b=(-0.07,+0.02,-1.00) r=1.53m +[headless_play] t= 19.60s step= 980 trunk_z= 115.5mm grav_b=(-0.04,+0.02,-1.00) r=1.53m +[headless_play] t= 19.70s step= 985 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=1.53m +[headless_play] t= 19.80s step= 990 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=1.52m +[headless_play] t= 19.90s step= 995 trunk_z= 117.5mm grav_b=(+0.07,+0.00,-1.00) r=1.52m +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(+0.08,+0.00,-1.00) r=1.52m +[headless_play] t= 20.10s step=1005 trunk_z= 119.4mm grav_b=(+0.13,-0.00,-0.99) r=1.50m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..c11ffa3c5e6ec716be5ea3ae250ed6c38dbe1971 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.002,-18.415,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.03,+0.09,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 121.0mm grav_b=(+0.08,+0.11,-0.99) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 119.2mm grav_b=(+0.08,-0.02,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 123.3mm grav_b=(+0.04,-0.07,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.05,+0.05,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 120.7mm grav_b=(+0.07,+0.06,-1.00) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(+0.04,-0.05,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 119.9mm grav_b=(+0.04,-0.02,-1.00) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(+0.09,+0.12,-0.99) r=0.26m +[headless_play] t= 1.00s step= 50 trunk_z= 122.7mm grav_b=(+0.09,+0.06,-0.99) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 121.2mm grav_b=(+0.06,-0.10,-0.99) r=0.21m +[headless_play] t= 1.20s step= 60 trunk_z= 122.4mm grav_b=(+0.10,-0.05,-0.99) r=0.19m +[headless_play] t= 1.30s step= 65 trunk_z= 119.6mm grav_b=(+0.09,+0.06,-0.99) r=0.16m +[headless_play] t= 1.40s step= 70 trunk_z= 126.5mm grav_b=(+0.06,-0.01,-1.00) r=0.14m +[headless_play] t= 1.50s step= 75 trunk_z= 124.8mm grav_b=(+0.03,-0.10,-0.99) r=0.13m +[headless_play] t= 1.60s step= 80 trunk_z= 123.3mm grav_b=(+0.08,-0.03,-1.00) r=0.11m +[headless_play] t= 1.70s step= 85 trunk_z= 123.1mm grav_b=(+0.09,+0.04,-0.99) r=0.11m +[headless_play] t= 1.80s step= 90 trunk_z= 124.9mm grav_b=(+0.06,-0.04,-1.00) r=0.12m +[headless_play] t= 1.90s step= 95 trunk_z= 125.9mm grav_b=(+0.07,-0.04,-1.00) r=0.14m +[headless_play] t= 2.00s step= 100 trunk_z= 118.6mm grav_b=(+0.03,+0.16,-0.99) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 129.8mm grav_b=(+0.09,+0.13,-0.99) r=0.20m +[headless_play] t= 2.20s step= 110 trunk_z= 121.2mm grav_b=(+0.08,-0.01,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 122.5mm grav_b=(+0.08,-0.03,-1.00) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 116.3mm grav_b=(+0.05,+0.11,-0.99) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 128.1mm grav_b=(+0.05,+0.06,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 119.3mm grav_b=(-0.01,-0.11,-0.99) r=0.37m +[headless_play] t= 2.70s step= 135 trunk_z= 129.9mm grav_b=(+0.01,-0.16,-0.99) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 128.3mm grav_b=(+0.05,-0.10,-0.99) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 119.1mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 120.4mm grav_b=(-0.02,-0.08,-1.00) r=0.47m +[headless_play] t= 3.10s step= 155 trunk_z= 121.9mm grav_b=(+0.04,-0.11,-0.99) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(+0.05,+0.10,-0.99) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 120.8mm grav_b=(+0.12,+0.08,-0.99) r=0.54m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(+0.03,-0.10,-0.99) r=0.57m +[headless_play] t= 3.50s step= 175 trunk_z= 123.8mm grav_b=(+0.04,-0.06,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(+0.12,+0.07,-0.99) r=0.63m +[headless_play] t= 3.70s step= 185 trunk_z= 120.7mm grav_b=(+0.08,-0.05,-1.00) r=0.64m +[headless_play] t= 3.80s step= 190 trunk_z= 120.7mm grav_b=(-0.06,-0.19,-0.98) r=0.67m +[headless_play] t= 3.90s step= 195 trunk_z= 125.7mm grav_b=(-0.06,-0.09,-0.99) r=0.69m +[headless_play] t= 4.00s step= 200 trunk_z= 120.7mm grav_b=(-0.11,+0.09,-0.99) r=0.71m +[headless_play] t= 4.10s step= 205 trunk_z= 123.9mm grav_b=(-0.05,+0.07,-1.00) r=0.72m +[headless_play] t= 4.20s step= 210 trunk_z= 112.0mm grav_b=(+0.11,-0.08,-0.99) r=0.71m +[headless_play] t= 4.30s step= 215 trunk_z= 115.0mm grav_b=(+0.18,+0.03,-0.98) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 120.1mm grav_b=(+0.08,+0.07,-0.99) r=0.68m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(+0.06,-0.16,-0.99) r=0.70m +[headless_play] t= 4.60s step= 230 trunk_z= 124.0mm grav_b=(+0.01,-0.10,-0.99) r=0.71m +[headless_play] t= 4.70s step= 235 trunk_z= 115.0mm grav_b=(+0.10,+0.10,-0.99) r=0.73m +[headless_play] t= 4.80s step= 240 trunk_z= 123.9mm grav_b=(+0.12,+0.09,-0.99) r=0.75m +[headless_play] t= 4.90s step= 245 trunk_z= 115.0mm grav_b=(+0.10,-0.09,-0.99) r=0.76m +[headless_play] t= 5.00s step= 250 trunk_z= 122.9mm grav_b=(+0.00,-0.01,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 120.4mm grav_b=(+0.05,+0.14,-0.99) r=0.82m +[headless_play] t= 5.20s step= 260 trunk_z= 122.9mm grav_b=(+0.14,+0.10,-0.98) r=0.84m +[headless_play] t= 5.30s step= 265 trunk_z= 111.4mm grav_b=(+0.14,-0.08,-0.99) r=0.87m +[headless_play] t= 5.40s step= 270 trunk_z= 122.8mm grav_b=(+0.05,+0.01,-1.00) r=0.89m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(-0.03,+0.10,-1.00) r=0.92m +[headless_play] t= 5.60s step= 280 trunk_z= 121.5mm grav_b=(-0.02,+0.01,-1.00) r=0.95m +[headless_play] t= 5.70s step= 285 trunk_z= 120.7mm grav_b=(-0.01,-0.06,-1.00) r=0.97m +[headless_play] t= 5.80s step= 290 trunk_z= 119.8mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 5.90s step= 295 trunk_z= 119.1mm grav_b=(+0.03,+0.13,-0.99) r=1.00m +[headless_play] t= 6.00s step= 300 trunk_z= 120.9mm grav_b=(+0.04,+0.11,-0.99) r=1.00m +[headless_play] t= 6.10s step= 305 trunk_z= 120.3mm grav_b=(+0.07,+0.04,-1.00) r=1.00m +[headless_play] t= 6.20s step= 310 trunk_z= 123.4mm grav_b=(+0.05,-0.02,-1.00) r=1.01m +[headless_play] t= 6.30s step= 315 trunk_z= 115.3mm grav_b=(+0.16,+0.16,-0.97) r=1.02m +[headless_play] t= 6.40s step= 320 trunk_z= 120.3mm grav_b=(+0.25,-0.03,-0.97) r=1.03m +[headless_play] t= 6.50s step= 325 trunk_z= 111.2mm grav_b=(+0.24,-0.10,-0.96) r=1.03m +[headless_play] t= 6.60s step= 330 trunk_z= 114.4mm grav_b=(+0.30,+0.11,-0.95) r=1.05m +[headless_play] t= 6.70s step= 335 trunk_z= 97.8mm grav_b=(+0.23,+0.23,-0.95) r=1.07m +[headless_play] t= 6.80s step= 340 trunk_z= 105.1mm grav_b=(-0.03,+0.09,-1.00) r=1.07m +[headless_play] t= 6.90s step= 345 trunk_z= 108.2mm grav_b=(+0.00,-0.06,-1.00) r=1.07m +[headless_play] t= 7.00s step= 350 trunk_z= 110.3mm grav_b=(+0.11,+0.08,-0.99) r=1.07m +[headless_play] t= 7.10s step= 355 trunk_z= 113.4mm grav_b=(+0.21,+0.12,-0.97) r=1.07m +[headless_play] t= 7.20s step= 360 trunk_z= 112.2mm grav_b=(+0.18,-0.12,-0.98) r=1.05m +[headless_play] t= 7.30s step= 365 trunk_z= 120.4mm grav_b=(+0.00,-0.00,-1.00) r=1.04m +[headless_play] t= 7.40s step= 370 trunk_z= 114.5mm grav_b=(-0.01,+0.03,-1.00) r=1.04m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.04,-0.07,-1.00) r=1.03m +[headless_play] t= 7.60s step= 380 trunk_z= 116.1mm grav_b=(+0.03,+0.10,-0.99) r=1.02m +[headless_play] t= 7.70s step= 385 trunk_z= 116.4mm grav_b=(+0.08,+0.01,-1.00) r=1.02m +[headless_play] t= 7.80s step= 390 trunk_z= 122.6mm grav_b=(+0.03,-0.20,-0.98) r=1.02m +[headless_play] t= 7.90s step= 395 trunk_z= 123.6mm grav_b=(+0.07,-0.11,-0.99) r=1.02m +[headless_play] t= 8.00s step= 400 trunk_z= 117.1mm grav_b=(+0.09,+0.07,-0.99) r=1.02m +[headless_play] t= 8.10s step= 405 trunk_z= 119.1mm grav_b=(+0.08,-0.18,-0.98) r=1.02m +[headless_play] t= 8.20s step= 410 trunk_z= 130.1mm grav_b=(+0.18,-0.17,-0.97) r=1.02m +[headless_play] t= 8.30s step= 415 trunk_z= 99.8mm grav_b=(+0.14,-0.11,-0.98) r=1.02m +[headless_play] t= 8.40s step= 420 trunk_z= 98.3mm grav_b=(+0.30,-0.41,-0.86) r=1.02m +[headless_play] t= 8.50s step= 425 trunk_z= 83.5mm grav_b=(+0.79,-0.44,-0.43) r=1.02m +[headless_play] RESET at t= 8.54s step= 427 (env termination, not a recovery) +[headless_play] t= 8.60s step= 430 trunk_z= 115.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 8.70s step= 435 trunk_z= 118.6mm grav_b=(-0.09,-0.05,-1.00) r=0.41m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.12,+0.07,-0.99) r=0.41m +[headless_play] t= 8.90s step= 445 trunk_z= 118.9mm grav_b=(-0.11,+0.02,-0.99) r=0.42m +[headless_play] t= 9.00s step= 450 trunk_z= 101.3mm grav_b=(+0.02,-0.10,-0.99) r=0.42m +[headless_play] t= 9.10s step= 455 trunk_z= 100.9mm grav_b=(+0.16,+0.10,-0.98) r=0.44m +[headless_play] t= 9.20s step= 460 trunk_z= 117.1mm grav_b=(+0.06,+0.03,-1.00) r=0.45m +[headless_play] t= 9.30s step= 465 trunk_z= 122.2mm grav_b=(+0.01,-0.14,-0.99) r=0.46m +[headless_play] t= 9.40s step= 470 trunk_z= 126.3mm grav_b=(+0.02,-0.08,-1.00) r=0.49m +[headless_play] t= 9.50s step= 475 trunk_z= 116.4mm grav_b=(+0.07,+0.14,-0.99) r=0.51m +[headless_play] t= 9.60s step= 480 trunk_z= 125.1mm grav_b=(+0.10,+0.12,-0.99) r=0.52m +[headless_play] t= 9.70s step= 485 trunk_z= 117.1mm grav_b=(+0.03,-0.04,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 120.1mm grav_b=(-0.01,+0.04,-1.00) r=0.56m +[headless_play] t= 9.90s step= 495 trunk_z= 121.3mm grav_b=(+0.08,+0.17,-0.98) r=0.59m +[headless_play] t= 10.00s step= 500 trunk_z= 124.1mm grav_b=(+0.08,+0.11,-0.99) r=0.60m +[headless_play] t= 10.10s step= 505 trunk_z= 120.1mm grav_b=(+0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 117.3mm grav_b=(-0.01,+0.14,-0.99) r=0.66m +[headless_play] t= 10.30s step= 515 trunk_z= 123.3mm grav_b=(+0.08,+0.13,-0.99) r=0.68m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(+0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 10.50s step= 525 trunk_z= 123.7mm grav_b=(+0.05,+0.07,-1.00) r=0.76m +[headless_play] t= 10.60s step= 530 trunk_z= 122.7mm grav_b=(+0.00,+0.16,-0.99) r=0.81m +[headless_play] t= 10.70s step= 535 trunk_z= 121.2mm grav_b=(-0.04,+0.03,-1.00) r=0.86m +[headless_play] t= 10.80s step= 540 trunk_z= 121.4mm grav_b=(+0.03,-0.05,-1.00) r=0.90m +[headless_play] t= 10.90s step= 545 trunk_z= 120.0mm grav_b=(+0.06,+0.14,-0.99) r=0.93m +[headless_play] t= 11.00s step= 550 trunk_z= 127.9mm grav_b=(+0.11,+0.11,-0.99) r=0.96m +[headless_play] t= 11.10s step= 555 trunk_z= 114.6mm grav_b=(+0.04,-0.03,-1.00) r=1.00m +[headless_play] t= 11.20s step= 560 trunk_z= 120.7mm grav_b=(-0.04,+0.12,-0.99) r=1.04m +[headless_play] t= 11.30s step= 565 trunk_z= 127.5mm grav_b=(+0.04,+0.20,-0.98) r=1.08m +[headless_play] t= 11.40s step= 570 trunk_z= 129.2mm grav_b=(+0.09,+0.16,-0.98) r=1.11m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(+0.07,+0.04,-1.00) r=1.15m +[headless_play] t= 11.60s step= 580 trunk_z= 121.5mm grav_b=(-0.02,+0.12,-0.99) r=1.18m +[headless_play] t= 11.70s step= 585 trunk_z= 124.6mm grav_b=(+0.02,+0.11,-0.99) r=1.22m +[headless_play] t= 11.80s step= 590 trunk_z= 117.9mm grav_b=(-0.01,-0.08,-1.00) r=1.25m +[headless_play] t= 11.90s step= 595 trunk_z= 125.9mm grav_b=(+0.02,-0.08,-1.00) r=1.27m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(+0.03,+0.15,-0.99) r=1.30m +[headless_play] t= 12.10s step= 605 trunk_z= 121.9mm grav_b=(+0.03,+0.03,-1.00) r=1.32m +[headless_play] t= 12.20s step= 610 trunk_z= 123.8mm grav_b=(-0.05,-0.14,-0.99) r=1.35m +[headless_play] t= 12.30s step= 615 trunk_z= 124.5mm grav_b=(+0.00,-0.06,-1.00) r=1.38m +[headless_play] t= 12.40s step= 620 trunk_z= 115.9mm grav_b=(+0.06,+0.15,-0.99) r=1.40m +[headless_play] t= 12.50s step= 625 trunk_z= 118.8mm grav_b=(+0.05,+0.04,-1.00) r=1.42m +[headless_play] t= 12.60s step= 630 trunk_z= 120.9mm grav_b=(-0.02,-0.11,-0.99) r=1.44m +[headless_play] t= 12.70s step= 635 trunk_z= 117.5mm grav_b=(+0.01,+0.05,-1.00) r=1.46m +[headless_play] t= 12.80s step= 640 trunk_z= 122.8mm grav_b=(+0.05,+0.14,-0.99) r=1.47m +[headless_play] t= 12.90s step= 645 trunk_z= 119.1mm grav_b=(+0.12,-0.04,-0.99) r=1.51m +[headless_play] t= 13.00s step= 650 trunk_z= 129.2mm grav_b=(+0.12,-0.02,-0.99) r=1.55m +[headless_play] t= 13.10s step= 655 trunk_z= 107.4mm grav_b=(+0.14,+0.07,-0.99) r=1.59m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(+0.17,-0.02,-0.99) r=1.62m +[headless_play] t= 13.30s step= 665 trunk_z= 119.6mm grav_b=(+0.18,-0.16,-0.97) r=1.66m +[headless_play] t= 13.40s step= 670 trunk_z= 110.0mm grav_b=(+0.05,-0.16,-0.99) r=1.69m +[headless_play] t= 13.50s step= 675 trunk_z= 122.5mm grav_b=(+0.01,-0.00,-1.00) r=1.70m +[headless_play] t= 13.60s step= 680 trunk_z= 124.7mm grav_b=(+0.01,+0.11,-0.99) r=1.71m +[headless_play] t= 13.70s step= 685 trunk_z= 125.1mm grav_b=(-0.01,+0.08,-1.00) r=1.73m +[headless_play] t= 13.80s step= 690 trunk_z= 119.5mm grav_b=(-0.04,-0.04,-1.00) r=1.75m +[headless_play] t= 13.90s step= 695 trunk_z= 118.3mm grav_b=(+0.01,+0.07,-1.00) r=1.75m +[headless_play] t= 14.00s step= 700 trunk_z= 123.3mm grav_b=(+0.09,+0.02,-1.00) r=1.76m +[headless_play] t= 14.10s step= 705 trunk_z= 119.4mm grav_b=(+0.03,-0.18,-0.98) r=1.77m +[headless_play] t= 14.20s step= 710 trunk_z= 126.3mm grav_b=(-0.03,-0.12,-0.99) r=1.78m +[headless_play] t= 14.30s step= 715 trunk_z= 119.3mm grav_b=(+0.00,+0.05,-1.00) r=1.77m +[headless_play] t= 14.40s step= 720 trunk_z= 125.8mm grav_b=(+0.01,+0.09,-1.00) r=1.75m +[headless_play] t= 14.50s step= 725 trunk_z= 123.0mm grav_b=(-0.01,+0.07,-1.00) r=1.75m +[headless_play] t= 14.60s step= 730 trunk_z= 120.0mm grav_b=(-0.03,-0.02,-1.00) r=1.76m +[headless_play] t= 14.70s step= 735 trunk_z= 118.1mm grav_b=(+0.06,+0.10,-0.99) r=1.77m +[headless_play] t= 14.80s step= 740 trunk_z= 123.5mm grav_b=(+0.06,-0.03,-1.00) r=1.77m +[headless_play] t= 14.90s step= 745 trunk_z= 125.2mm grav_b=(+0.02,-0.20,-0.98) r=1.79m +[headless_play] t= 15.00s step= 750 trunk_z= 129.5mm grav_b=(+0.00,-0.15,-0.99) r=1.80m +[headless_play] t= 15.10s step= 755 trunk_z= 118.3mm grav_b=(+0.05,+0.05,-1.00) r=1.81m +[headless_play] t= 15.20s step= 760 trunk_z= 128.3mm grav_b=(+0.03,+0.04,-1.00) r=1.82m +[headless_play] t= 15.30s step= 765 trunk_z= 120.7mm grav_b=(+0.00,-0.07,-1.00) r=1.84m +[headless_play] t= 15.40s step= 770 trunk_z= 122.8mm grav_b=(+0.05,-0.07,-1.00) r=1.87m +[headless_play] t= 15.50s step= 775 trunk_z= 118.4mm grav_b=(+0.09,+0.12,-0.99) r=1.89m +[headless_play] t= 15.60s step= 780 trunk_z= 131.1mm grav_b=(+0.07,+0.07,-1.00) r=1.92m +[headless_play] t= 15.70s step= 785 trunk_z= 115.5mm grav_b=(-0.02,-0.11,-0.99) r=1.96m +[headless_play] t= 15.80s step= 790 trunk_z= 123.7mm grav_b=(+0.03,-0.03,-1.00) r=1.99m +[headless_play] t= 15.90s step= 795 trunk_z= 123.0mm grav_b=(+0.09,+0.13,-0.99) r=2.01m +[headless_play] t= 16.00s step= 800 trunk_z= 134.0mm grav_b=(+0.10,+0.19,-0.98) r=2.02m +[headless_play] t= 16.10s step= 805 trunk_z= 120.7mm grav_b=(+0.15,+0.19,-0.97) r=2.05m +[headless_play] t= 16.20s step= 810 trunk_z= 105.8mm grav_b=(-0.04,+0.45,-0.89) r=2.07m +[headless_play] RESET at t= 16.30s step= 815 (env termination, not a recovery) +[headless_play] t= 16.30s step= 815 trunk_z= 122.6mm grav_b=(+0.00,-0.00,-1.00) r=0.51m +[headless_play] t= 16.40s step= 820 trunk_z= 115.6mm grav_b=(-0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 116.9mm grav_b=(+0.05,+0.00,-1.00) r=0.53m +[headless_play] t= 16.60s step= 830 trunk_z= 120.4mm grav_b=(+0.11,-0.00,-0.99) r=0.54m +[headless_play] t= 16.70s step= 835 trunk_z= 118.9mm grav_b=(+0.10,+0.07,-0.99) r=0.55m +[headless_play] t= 16.80s step= 840 trunk_z= 120.1mm grav_b=(+0.01,-0.12,-0.99) r=0.55m +[headless_play] t= 16.90s step= 845 trunk_z= 120.6mm grav_b=(-0.11,-0.14,-0.98) r=0.56m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(-0.11,+0.06,-0.99) r=0.57m +[headless_play] t= 17.10s step= 855 trunk_z= 116.4mm grav_b=(-0.00,-0.07,-1.00) r=0.56m +[headless_play] t= 17.20s step= 860 trunk_z= 117.5mm grav_b=(+0.05,-0.05,-1.00) r=0.56m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(+0.04,-0.02,-1.00) r=0.55m +[headless_play] t= 17.40s step= 870 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 17.50s step= 875 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 17.60s step= 880 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 17.70s step= 885 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 17.80s step= 890 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 116.6mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=0.53m +[headless_play] t= 18.10s step= 905 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 18.20s step= 910 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 18.30s step= 915 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 18.40s step= 920 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 116.8mm grav_b=(-0.06,+0.00,-1.00) r=0.50m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(-0.11,+0.01,-0.99) r=0.49m +[headless_play] t= 18.70s step= 935 trunk_z= 115.1mm grav_b=(-0.11,-0.02,-0.99) r=0.48m +[headless_play] t= 18.80s step= 940 trunk_z= 111.6mm grav_b=(-0.04,+0.08,-1.00) r=0.48m +[headless_play] t= 18.90s step= 945 trunk_z= 112.9mm grav_b=(+0.03,+0.00,-1.00) r=0.48m +[headless_play] t= 19.00s step= 950 trunk_z= 111.7mm grav_b=(+0.08,-0.12,-0.99) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 110.2mm grav_b=(+0.10,-0.04,-0.99) r=0.47m +[headless_play] t= 19.20s step= 960 trunk_z= 112.6mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 19.30s step= 965 trunk_z= 113.7mm grav_b=(+0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 19.40s step= 970 trunk_z= 114.3mm grav_b=(+0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 116.0mm grav_b=(+0.08,-0.02,-1.00) r=0.47m +[headless_play] t= 19.60s step= 980 trunk_z= 115.7mm grav_b=(+0.05,-0.02,-1.00) r=0.47m +[headless_play] t= 19.70s step= 985 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 19.90s step= 995 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 20.00s step=1000 trunk_z= 115.3mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.03,-0.02,-1.00) r=0.46m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..12eedfc9f03790c2e7865e583f352bf306db74c0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.419,-18.102,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.0mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 118.7mm grav_b=(-0.02,-0.07,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 117.2mm grav_b=(-0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 112.6mm grav_b=(+0.05,-0.10,-0.99) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 115.3mm grav_b=(+0.02,+0.03,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 112.8mm grav_b=(+0.04,+0.11,-0.99) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 108.4mm grav_b=(+0.09,-0.02,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 114.5mm grav_b=(+0.09,-0.04,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 111.0mm grav_b=(-0.02,+0.14,-0.99) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 116.3mm grav_b=(+0.04,+0.20,-0.98) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 117.1mm grav_b=(+0.06,+0.12,-0.99) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 114.8mm grav_b=(+0.06,-0.08,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 122.8mm grav_b=(-0.09,-0.03,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 110.5mm grav_b=(-0.15,+0.13,-0.98) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 110.0mm grav_b=(-0.20,-0.10,-0.97) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 102.4mm grav_b=(-0.17,-0.15,-0.97) r=0.48m +[headless_play] t= 1.80s step= 90 trunk_z= 107.6mm grav_b=(-0.03,+0.05,-1.00) r=0.48m +[headless_play] t= 1.90s step= 95 trunk_z= 96.9mm grav_b=(+0.21,+0.19,-0.96) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 110.3mm grav_b=(+0.13,-0.07,-0.99) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 123.1mm grav_b=(-0.08,-0.05,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 112.2mm grav_b=(-0.05,+0.15,-0.99) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 108.2mm grav_b=(-0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 110.5mm grav_b=(-0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 2.50s step= 125 trunk_z= 115.2mm grav_b=(+0.01,+0.07,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 112.2mm grav_b=(+0.05,+0.14,-0.99) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 107.1mm grav_b=(+0.08,-0.07,-0.99) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 2.90s step= 145 trunk_z= 110.3mm grav_b=(+0.00,+0.14,-0.99) r=0.57m +[headless_play] t= 3.00s step= 150 trunk_z= 108.1mm grav_b=(+0.10,+0.02,-0.99) r=0.58m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(+0.07,-0.11,-0.99) r=0.60m +[headless_play] t= 3.20s step= 160 trunk_z= 114.4mm grav_b=(+0.03,+0.02,-1.00) r=0.61m +[headless_play] t= 3.30s step= 165 trunk_z= 111.9mm grav_b=(+0.05,+0.09,-0.99) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 107.6mm grav_b=(+0.08,-0.09,-0.99) r=0.64m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(+0.04,-0.03,-1.00) r=0.65m +[headless_play] t= 3.60s step= 180 trunk_z= 110.9mm grav_b=(+0.03,+0.04,-1.00) r=0.66m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(+0.03,+0.09,-1.00) r=0.66m +[headless_play] t= 3.80s step= 190 trunk_z= 108.1mm grav_b=(+0.10,-0.05,-0.99) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 118.1mm grav_b=(-0.03,-0.05,-1.00) r=0.67m +[headless_play] t= 4.00s step= 200 trunk_z= 115.1mm grav_b=(+0.00,+0.08,-1.00) r=0.68m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.03,+0.13,-0.99) r=0.68m +[headless_play] t= 4.20s step= 210 trunk_z= 111.5mm grav_b=(+0.06,+0.06,-1.00) r=0.69m +[headless_play] t= 4.30s step= 215 trunk_z= 115.3mm grav_b=(+0.09,-0.07,-0.99) r=0.70m +[headless_play] t= 4.40s step= 220 trunk_z= 117.0mm grav_b=(+0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 4.50s step= 225 trunk_z= 118.0mm grav_b=(-0.06,+0.04,-1.00) r=0.71m +[headless_play] t= 4.60s step= 230 trunk_z= 118.7mm grav_b=(-0.06,-0.06,-1.00) r=0.71m +[headless_play] t= 4.70s step= 235 trunk_z= 113.2mm grav_b=(+0.01,-0.03,-1.00) r=0.70m +[headless_play] t= 4.80s step= 240 trunk_z= 111.5mm grav_b=(+0.12,+0.05,-0.99) r=0.68m +[headless_play] t= 4.90s step= 245 trunk_z= 119.0mm grav_b=(+0.02,-0.06,-1.00) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 121.6mm grav_b=(+0.00,-0.04,-1.00) r=0.68m +[headless_play] t= 5.10s step= 255 trunk_z= 121.6mm grav_b=(+0.00,+0.07,-1.00) r=0.68m +[headless_play] t= 5.20s step= 260 trunk_z= 121.0mm grav_b=(-0.03,-0.03,-1.00) r=0.69m +[headless_play] t= 5.30s step= 265 trunk_z= 121.6mm grav_b=(-0.05,+0.01,-1.00) r=0.70m +[headless_play] t= 5.40s step= 270 trunk_z= 119.3mm grav_b=(+0.01,+0.01,-1.00) r=0.71m +[headless_play] t= 5.50s step= 275 trunk_z= 120.5mm grav_b=(-0.00,-0.10,-1.00) r=0.72m +[headless_play] t= 5.60s step= 280 trunk_z= 119.5mm grav_b=(-0.06,+0.08,-0.99) r=0.74m +[headless_play] t= 5.70s step= 285 trunk_z= 120.6mm grav_b=(+0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(-0.05,-0.21,-0.98) r=0.79m +[headless_play] t= 5.90s step= 295 trunk_z= 131.8mm grav_b=(-0.05,-0.25,-0.97) r=0.81m +[headless_play] t= 6.00s step= 300 trunk_z= 130.1mm grav_b=(+0.02,-0.21,-0.98) r=0.83m +[headless_play] t= 6.10s step= 305 trunk_z= 124.0mm grav_b=(+0.07,-0.15,-0.99) r=0.86m +[headless_play] t= 6.20s step= 310 trunk_z= 112.9mm grav_b=(-0.08,-0.09,-0.99) r=0.89m +[headless_play] t= 6.30s step= 315 trunk_z= 114.0mm grav_b=(-0.06,-0.14,-0.99) r=0.91m +[headless_play] t= 6.40s step= 320 trunk_z= 115.4mm grav_b=(+0.09,-0.02,-1.00) r=0.93m +[headless_play] t= 6.50s step= 325 trunk_z= 120.1mm grav_b=(+0.01,+0.08,-1.00) r=0.95m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(-0.05,+0.01,-1.00) r=0.97m +[headless_play] t= 6.70s step= 335 trunk_z= 115.7mm grav_b=(-0.07,+0.05,-1.00) r=0.98m +[headless_play] t= 6.80s step= 340 trunk_z= 115.5mm grav_b=(-0.08,+0.03,-1.00) r=0.98m +[headless_play] t= 6.90s step= 345 trunk_z= 114.7mm grav_b=(-0.02,+0.05,-1.00) r=0.97m +[headless_play] t= 7.00s step= 350 trunk_z= 112.3mm grav_b=(+0.06,+0.05,-1.00) r=0.98m +[headless_play] t= 7.10s step= 355 trunk_z= 117.9mm grav_b=(+0.03,+0.03,-1.00) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 115.0mm grav_b=(+0.08,+0.03,-1.00) r=0.97m +[headless_play] t= 7.30s step= 365 trunk_z= 118.2mm grav_b=(+0.08,+0.04,-1.00) r=0.97m +[headless_play] t= 7.40s step= 370 trunk_z= 117.4mm grav_b=(+0.08,+0.02,-1.00) r=0.97m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.97m +[headless_play] t= 7.60s step= 380 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.97m +[headless_play] t= 7.70s step= 385 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.97m +[headless_play] t= 7.80s step= 390 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=0.97m +[headless_play] t= 7.90s step= 395 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) r=0.97m +[headless_play] t= 8.00s step= 400 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.97m +[headless_play] t= 8.10s step= 405 trunk_z= 116.0mm grav_b=(-0.02,+0.02,-1.00) r=0.94m +[headless_play] t= 8.20s step= 410 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.93m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.93m +[headless_play] t= 8.40s step= 420 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.93m +[headless_play] t= 8.50s step= 425 trunk_z= 115.8mm grav_b=(+0.05,+0.01,-1.00) r=0.93m +[headless_play] t= 8.60s step= 430 trunk_z= 115.9mm grav_b=(+0.05,+0.01,-1.00) r=0.93m +[headless_play] t= 8.70s step= 435 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.93m +[headless_play] t= 8.80s step= 440 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.93m +[headless_play] t= 8.90s step= 445 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.93m +[headless_play] t= 9.00s step= 450 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.92m +[headless_play] t= 9.10s step= 455 trunk_z= 116.5mm grav_b=(-0.04,+0.02,-1.00) r=0.92m +[headless_play] t= 9.20s step= 460 trunk_z= 109.4mm grav_b=(-0.06,-0.05,-1.00) r=0.93m +[headless_play] t= 9.30s step= 465 trunk_z= 105.7mm grav_b=(+0.07,+0.05,-1.00) r=0.93m +[headless_play] t= 9.40s step= 470 trunk_z= 107.4mm grav_b=(+0.10,+0.03,-0.99) r=0.94m +[headless_play] t= 9.50s step= 475 trunk_z= 111.0mm grav_b=(+0.04,+0.02,-1.00) r=0.94m +[headless_play] t= 9.60s step= 480 trunk_z= 113.3mm grav_b=(+0.02,+0.02,-1.00) r=0.94m +[headless_play] t= 9.70s step= 485 trunk_z= 114.1mm grav_b=(+0.01,+0.02,-1.00) r=0.94m +[headless_play] t= 9.80s step= 490 trunk_z= 114.9mm grav_b=(-0.03,+0.02,-1.00) r=0.95m +[headless_play] t= 9.90s step= 495 trunk_z= 115.0mm grav_b=(-0.07,-0.01,-1.00) r=0.95m +[headless_play] t= 10.00s step= 500 trunk_z= 111.3mm grav_b=(-0.01,+0.00,-1.00) r=0.95m +[headless_play] t= 10.10s step= 505 trunk_z= 108.1mm grav_b=(+0.04,+0.13,-0.99) r=0.95m +[headless_play] t= 10.20s step= 510 trunk_z= 112.6mm grav_b=(+0.09,+0.07,-0.99) r=0.96m +[headless_play] t= 10.30s step= 515 trunk_z= 113.4mm grav_b=(-0.03,-0.01,-1.00) r=0.94m +[headless_play] t= 10.40s step= 520 trunk_z= 114.1mm grav_b=(-0.11,-0.01,-0.99) r=0.91m +[headless_play] t= 10.50s step= 525 trunk_z= 112.6mm grav_b=(-0.15,-0.06,-0.99) r=0.90m +[headless_play] t= 10.60s step= 530 trunk_z= 112.1mm grav_b=(-0.01,+0.07,-1.00) r=0.89m +[headless_play] t= 10.70s step= 535 trunk_z= 111.8mm grav_b=(-0.02,+0.04,-1.00) r=0.89m +[headless_play] t= 10.80s step= 540 trunk_z= 111.5mm grav_b=(-0.03,+0.04,-1.00) r=0.88m +[headless_play] t= 10.90s step= 545 trunk_z= 113.4mm grav_b=(-0.03,+0.02,-1.00) r=0.88m +[headless_play] t= 11.00s step= 550 trunk_z= 115.2mm grav_b=(-0.02,+0.00,-1.00) r=0.87m +[headless_play] t= 11.10s step= 555 trunk_z= 116.8mm grav_b=(-0.05,-0.01,-1.00) r=0.86m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(-0.05,+0.07,-1.00) r=0.86m +[headless_play] t= 11.30s step= 565 trunk_z= 116.6mm grav_b=(-0.03,-0.06,-1.00) r=0.85m +[headless_play] t= 11.40s step= 570 trunk_z= 123.6mm grav_b=(-0.03,-0.09,-1.00) r=0.84m +[headless_play] t= 11.50s step= 575 trunk_z= 118.6mm grav_b=(-0.04,+0.04,-1.00) r=0.84m +[headless_play] t= 11.60s step= 580 trunk_z= 119.9mm grav_b=(-0.03,+0.03,-1.00) r=0.83m +[headless_play] t= 11.70s step= 585 trunk_z= 121.6mm grav_b=(+0.02,-0.09,-1.00) r=0.81m +[headless_play] t= 11.80s step= 590 trunk_z= 120.2mm grav_b=(+0.02,+0.10,-1.00) r=0.78m +[headless_play] t= 11.90s step= 595 trunk_z= 123.6mm grav_b=(+0.05,+0.00,-1.00) r=0.76m +[headless_play] t= 12.00s step= 600 trunk_z= 118.3mm grav_b=(-0.10,-0.25,-0.96) r=0.73m +[headless_play] t= 12.10s step= 605 trunk_z= 131.8mm grav_b=(-0.12,-0.31,-0.94) r=0.71m +[headless_play] t= 12.20s step= 610 trunk_z= 135.9mm grav_b=(-0.08,-0.23,-0.97) r=0.68m +[headless_play] t= 12.30s step= 615 trunk_z= 130.7mm grav_b=(+0.03,-0.16,-0.99) r=0.67m +[headless_play] t= 12.40s step= 620 trunk_z= 125.5mm grav_b=(+0.04,-0.05,-1.00) r=0.65m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(-0.05,-0.08,-1.00) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.01,-0.15,-0.99) r=0.61m +[headless_play] t= 12.70s step= 635 trunk_z= 124.5mm grav_b=(+0.04,+0.05,-1.00) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 127.7mm grav_b=(+0.02,+0.25,-0.97) r=0.55m +[headless_play] t= 12.90s step= 645 trunk_z= 131.1mm grav_b=(-0.00,+0.13,-0.99) r=0.53m +[headless_play] t= 13.00s step= 650 trunk_z= 121.3mm grav_b=(-0.02,-0.09,-1.00) r=0.52m +[headless_play] t= 13.10s step= 655 trunk_z= 122.6mm grav_b=(-0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 13.20s step= 660 trunk_z= 121.4mm grav_b=(+0.00,+0.03,-1.00) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 119.9mm grav_b=(-0.05,-0.14,-0.99) r=0.49m +[headless_play] t= 13.40s step= 670 trunk_z= 121.0mm grav_b=(-0.12,-0.03,-0.99) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 125.1mm grav_b=(-0.09,+0.13,-0.99) r=0.47m +[headless_play] t= 13.60s step= 680 trunk_z= 120.6mm grav_b=(-0.06,-0.02,-1.00) r=0.47m +[headless_play] t= 13.70s step= 685 trunk_z= 124.6mm grav_b=(-0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 13.80s step= 690 trunk_z= 119.3mm grav_b=(-0.00,+0.08,-1.00) r=0.45m +[headless_play] t= 13.90s step= 695 trunk_z= 119.6mm grav_b=(-0.01,-0.08,-1.00) r=0.44m +[headless_play] t= 14.00s step= 700 trunk_z= 125.0mm grav_b=(-0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 14.10s step= 705 trunk_z= 117.8mm grav_b=(-0.01,+0.09,-1.00) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 120.2mm grav_b=(-0.03,-0.11,-0.99) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 130.7mm grav_b=(-0.01,-0.17,-0.99) r=0.42m +[headless_play] t= 14.40s step= 720 trunk_z= 131.1mm grav_b=(+0.00,-0.19,-0.98) r=0.42m +[headless_play] t= 14.50s step= 725 trunk_z= 131.2mm grav_b=(-0.01,-0.18,-0.98) r=0.40m +[headless_play] t= 14.60s step= 730 trunk_z= 121.5mm grav_b=(-0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 14.70s step= 735 trunk_z= 119.0mm grav_b=(-0.10,-0.10,-0.99) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 115.2mm grav_b=(-0.01,-0.10,-0.99) r=0.37m +[headless_play] t= 14.90s step= 745 trunk_z= 112.8mm grav_b=(+0.02,+0.11,-0.99) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 118.9mm grav_b=(+0.07,+0.12,-0.99) r=0.37m +[headless_play] t= 15.10s step= 755 trunk_z= 117.6mm grav_b=(+0.07,-0.06,-1.00) r=0.38m +[headless_play] t= 15.20s step= 760 trunk_z= 127.0mm grav_b=(-0.01,-0.09,-1.00) r=0.39m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(-0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 15.40s step= 770 trunk_z= 117.7mm grav_b=(+0.01,+0.07,-1.00) r=0.41m +[headless_play] t= 15.50s step= 775 trunk_z= 114.0mm grav_b=(+0.02,-0.11,-0.99) r=0.42m +[headless_play] t= 15.60s step= 780 trunk_z= 118.7mm grav_b=(+0.01,-0.03,-1.00) r=0.44m +[headless_play] t= 15.70s step= 785 trunk_z= 113.6mm grav_b=(+0.08,+0.12,-0.99) r=0.46m +[headless_play] t= 15.80s step= 790 trunk_z= 114.9mm grav_b=(+0.02,-0.10,-0.99) r=0.48m +[headless_play] t= 15.90s step= 795 trunk_z= 126.0mm grav_b=(-0.01,-0.18,-0.98) r=0.51m +[headless_play] t= 16.00s step= 800 trunk_z= 121.4mm grav_b=(+0.02,-0.13,-0.99) r=0.53m +[headless_play] t= 16.10s step= 805 trunk_z= 115.4mm grav_b=(-0.01,+0.06,-1.00) r=0.55m +[headless_play] t= 16.20s step= 810 trunk_z= 115.3mm grav_b=(+0.02,-0.07,-1.00) r=0.57m +[headless_play] t= 16.30s step= 815 trunk_z= 115.8mm grav_b=(+0.04,-0.07,-1.00) r=0.58m +[headless_play] t= 16.40s step= 820 trunk_z= 115.2mm grav_b=(-0.00,+0.15,-0.99) r=0.60m +[headless_play] t= 16.50s step= 825 trunk_z= 115.8mm grav_b=(+0.04,+0.07,-1.00) r=0.62m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(+0.06,-0.11,-0.99) r=0.65m +[headless_play] t= 16.70s step= 835 trunk_z= 114.6mm grav_b=(+0.04,+0.12,-0.99) r=0.67m +[headless_play] t= 16.80s step= 840 trunk_z= 113.5mm grav_b=(+0.13,+0.08,-0.99) r=0.69m +[headless_play] t= 16.90s step= 845 trunk_z= 115.7mm grav_b=(+0.13,-0.13,-0.98) r=0.71m +[headless_play] t= 17.00s step= 850 trunk_z= 122.3mm grav_b=(+0.03,+0.05,-1.00) r=0.74m +[headless_play] t= 17.10s step= 855 trunk_z= 123.4mm grav_b=(-0.01,+0.22,-0.98) r=0.77m +[headless_play] t= 17.20s step= 860 trunk_z= 122.8mm grav_b=(+0.04,+0.14,-0.99) r=0.79m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(+0.00,-0.06,-1.00) r=0.82m +[headless_play] t= 17.40s step= 870 trunk_z= 120.7mm grav_b=(+0.00,+0.02,-1.00) r=0.84m +[headless_play] t= 17.50s step= 875 trunk_z= 116.1mm grav_b=(+0.05,+0.07,-1.00) r=0.86m +[headless_play] t= 17.60s step= 880 trunk_z= 118.4mm grav_b=(+0.02,-0.16,-0.99) r=0.89m +[headless_play] t= 17.70s step= 885 trunk_z= 122.8mm grav_b=(+0.03,-0.17,-0.99) r=0.92m +[headless_play] t= 17.80s step= 890 trunk_z= 114.8mm grav_b=(+0.02,-0.00,-1.00) r=0.94m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.97m +[headless_play] t= 18.00s step= 900 trunk_z= 114.5mm grav_b=(+0.03,-0.11,-0.99) r=0.99m +[headless_play] t= 18.10s step= 905 trunk_z= 114.0mm grav_b=(+0.01,+0.11,-0.99) r=1.01m +[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(+0.05,+0.10,-0.99) r=1.02m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(-0.00,-0.11,-0.99) r=1.03m +[headless_play] t= 18.40s step= 920 trunk_z= 119.6mm grav_b=(-0.01,-0.02,-1.00) r=1.04m +[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(+0.01,+0.15,-0.99) r=1.06m +[headless_play] t= 18.60s step= 930 trunk_z= 117.6mm grav_b=(+0.03,+0.06,-1.00) r=1.07m +[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(+0.02,-0.09,-1.00) r=1.08m +[headless_play] t= 18.80s step= 940 trunk_z= 116.4mm grav_b=(-0.04,+0.07,-1.00) r=1.10m +[headless_play] t= 18.90s step= 945 trunk_z= 119.2mm grav_b=(+0.02,+0.14,-0.99) r=1.13m +[headless_play] t= 19.00s step= 950 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=1.14m +[headless_play] t= 19.10s step= 955 trunk_z= 117.7mm grav_b=(-0.04,+0.01,-1.00) r=1.16m +[headless_play] t= 19.20s step= 960 trunk_z= 116.4mm grav_b=(+0.01,+0.13,-0.99) r=1.17m +[headless_play] t= 19.30s step= 965 trunk_z= 113.8mm grav_b=(+0.03,-0.01,-1.00) r=1.19m +[headless_play] t= 19.40s step= 970 trunk_z= 119.3mm grav_b=(-0.04,-0.07,-1.00) r=1.20m +[headless_play] t= 19.50s step= 975 trunk_z= 114.3mm grav_b=(-0.04,+0.11,-0.99) r=1.21m +[headless_play] t= 19.60s step= 980 trunk_z= 117.7mm grav_b=(-0.00,+0.15,-0.99) r=1.23m +[headless_play] t= 19.70s step= 985 trunk_z= 114.1mm grav_b=(+0.08,+0.00,-1.00) r=1.25m +[headless_play] t= 19.80s step= 990 trunk_z= 121.6mm grav_b=(+0.05,-0.00,-1.00) r=1.28m +[headless_play] t= 19.90s step= 995 trunk_z= 115.9mm grav_b=(-0.02,+0.14,-0.99) r=1.32m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.7mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.01,+0.06,-1.00) r=0.42m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..908ef0564dbcbfcabbf330037e7e52294cd2197e --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.655,-17.734,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.02,+0.07,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.08,+0.05,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 114.0mm grav_b=(+0.08,-0.13,-0.99) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 119.0mm grav_b=(+0.07,-0.10,-0.99) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 115.5mm grav_b=(+0.06,+0.12,-0.99) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 119.1mm grav_b=(+0.05,+0.07,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 118.2mm grav_b=(+0.00,-0.13,-0.99) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 124.0mm grav_b=(+0.00,-0.15,-0.99) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(+0.07,-0.03,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 115.5mm grav_b=(+0.09,+0.04,-0.99) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 115.2mm grav_b=(+0.02,-0.09,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(+0.06,-0.07,-1.00) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 110.2mm grav_b=(+0.10,+0.12,-0.99) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 113.1mm grav_b=(+0.11,+0.03,-0.99) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 118.1mm grav_b=(+0.03,-0.14,-0.99) r=0.58m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.05,+0.03,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 115.7mm grav_b=(+0.11,+0.16,-0.98) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 115.1mm grav_b=(+0.12,-0.02,-0.99) r=0.64m +[headless_play] t= 1.90s step= 95 trunk_z= 119.6mm grav_b=(+0.04,-0.09,-0.99) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(-0.00,+0.11,-0.99) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(+0.02,+0.11,-0.99) r=0.68m +[headless_play] t= 2.20s step= 110 trunk_z= 108.8mm grav_b=(+0.07,-0.07,-1.00) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 113.3mm grav_b=(+0.11,-0.03,-0.99) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 110.0mm grav_b=(+0.07,+0.13,-0.99) r=0.70m +[headless_play] t= 2.50s step= 125 trunk_z= 111.3mm grav_b=(+0.17,+0.09,-0.98) r=0.72m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(+0.06,-0.15,-0.99) r=0.73m +[headless_play] t= 2.70s step= 135 trunk_z= 121.1mm grav_b=(+0.04,-0.12,-0.99) r=0.74m +[headless_play] t= 2.80s step= 140 trunk_z= 112.4mm grav_b=(+0.06,+0.10,-0.99) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 114.4mm grav_b=(+0.07,+0.02,-1.00) r=0.78m +[headless_play] t= 3.00s step= 150 trunk_z= 113.1mm grav_b=(+0.13,-0.15,-0.98) r=0.79m +[headless_play] t= 3.10s step= 155 trunk_z= 116.6mm grav_b=(+0.14,-0.02,-0.99) r=0.80m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(+0.14,+0.13,-0.98) r=0.81m +[headless_play] t= 3.30s step= 165 trunk_z= 124.1mm grav_b=(+0.11,-0.02,-0.99) r=0.83m +[headless_play] t= 3.40s step= 170 trunk_z= 119.3mm grav_b=(+0.04,-0.09,-1.00) r=0.85m +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(-0.04,+0.09,-0.99) r=0.88m +[headless_play] t= 3.60s step= 180 trunk_z= 116.9mm grav_b=(+0.10,+0.00,-1.00) r=0.90m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(+0.13,-0.16,-0.98) r=0.91m +[headless_play] t= 3.80s step= 190 trunk_z= 129.4mm grav_b=(+0.08,+0.00,-1.00) r=0.92m +[headless_play] t= 3.90s step= 195 trunk_z= 113.2mm grav_b=(-0.03,+0.14,-0.99) r=0.94m +[headless_play] t= 4.00s step= 200 trunk_z= 120.4mm grav_b=(-0.03,+0.03,-1.00) r=0.94m +[headless_play] t= 4.10s step= 205 trunk_z= 120.0mm grav_b=(-0.04,-0.13,-0.99) r=0.95m +[headless_play] t= 4.20s step= 210 trunk_z= 122.9mm grav_b=(+0.03,-0.06,-1.00) r=0.95m +[headless_play] t= 4.30s step= 215 trunk_z= 119.3mm grav_b=(+0.06,+0.10,-0.99) r=0.97m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.98m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(+0.09,-0.04,-1.00) r=1.01m +[headless_play] t= 4.60s step= 230 trunk_z= 115.3mm grav_b=(+0.11,+0.14,-0.98) r=1.04m +[headless_play] t= 4.70s step= 235 trunk_z= 120.8mm grav_b=(+0.16,+0.04,-0.99) r=1.06m +[headless_play] t= 4.80s step= 240 trunk_z= 117.8mm grav_b=(+0.08,-0.08,-0.99) r=1.08m +[headless_play] t= 4.90s step= 245 trunk_z= 120.5mm grav_b=(+0.06,+0.05,-1.00) r=1.11m +[headless_play] t= 5.00s step= 250 trunk_z= 117.5mm grav_b=(-0.04,+0.08,-1.00) r=1.14m +[headless_play] t= 5.10s step= 255 trunk_z= 121.4mm grav_b=(-0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 5.20s step= 260 trunk_z= 120.9mm grav_b=(-0.01,-0.10,-1.00) r=1.17m +[headless_play] t= 5.30s step= 265 trunk_z= 115.0mm grav_b=(+0.06,+0.08,-1.00) r=1.19m +[headless_play] t= 5.40s step= 270 trunk_z= 120.6mm grav_b=(+0.11,+0.11,-0.99) r=1.22m +[headless_play] t= 5.50s step= 275 trunk_z= 118.5mm grav_b=(+0.06,-0.04,-1.00) r=1.23m +[headless_play] t= 5.60s step= 280 trunk_z= 123.0mm grav_b=(+0.07,-0.04,-1.00) r=1.24m +[headless_play] t= 5.70s step= 285 trunk_z= 119.3mm grav_b=(+0.07,+0.14,-0.99) r=1.26m +[headless_play] t= 5.80s step= 290 trunk_z= 121.5mm grav_b=(+0.07,+0.06,-1.00) r=1.28m +[headless_play] t= 5.90s step= 295 trunk_z= 117.7mm grav_b=(+0.04,-0.10,-0.99) r=1.29m +[headless_play] t= 6.00s step= 300 trunk_z= 115.2mm grav_b=(+0.05,+0.06,-1.00) r=1.30m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(+0.10,+0.08,-0.99) r=1.31m +[headless_play] t= 6.20s step= 310 trunk_z= 114.6mm grav_b=(+0.07,-0.14,-0.99) r=1.31m +[headless_play] t= 6.30s step= 315 trunk_z= 118.6mm grav_b=(+0.06,+0.03,-1.00) r=1.32m +[headless_play] t= 6.40s step= 320 trunk_z= 121.7mm grav_b=(+0.08,+0.17,-0.98) r=1.34m +[headless_play] t= 6.50s step= 325 trunk_z= 117.9mm grav_b=(+0.09,+0.01,-1.00) r=1.35m +[headless_play] t= 6.60s step= 330 trunk_z= 118.8mm grav_b=(+0.07,-0.01,-1.00) r=1.36m +[headless_play] t= 6.70s step= 335 trunk_z= 117.6mm grav_b=(+0.06,+0.14,-0.99) r=1.37m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(+0.08,-0.03,-1.00) r=1.37m +[headless_play] t= 6.90s step= 345 trunk_z= 120.1mm grav_b=(+0.07,-0.10,-0.99) r=1.38m +[headless_play] t= 7.00s step= 350 trunk_z= 115.0mm grav_b=(+0.04,+0.12,-0.99) r=1.38m +[headless_play] t= 7.10s step= 355 trunk_z= 118.3mm grav_b=(+0.09,+0.13,-0.99) r=1.39m +[headless_play] t= 7.20s step= 360 trunk_z= 112.4mm grav_b=(+0.05,-0.12,-0.99) r=1.39m +[headless_play] t= 7.30s step= 365 trunk_z= 120.3mm grav_b=(+0.11,+0.01,-0.99) r=1.40m +[headless_play] t= 7.40s step= 370 trunk_z= 120.1mm grav_b=(+0.06,+0.10,-0.99) r=1.41m +[headless_play] t= 7.50s step= 375 trunk_z= 120.2mm grav_b=(+0.10,-0.07,-0.99) r=1.42m +[headless_play] t= 7.60s step= 380 trunk_z= 126.9mm grav_b=(+0.09,-0.08,-0.99) r=1.43m +[headless_play] t= 7.70s step= 385 trunk_z= 116.0mm grav_b=(+0.03,+0.08,-1.00) r=1.45m +[headless_play] t= 7.80s step= 390 trunk_z= 119.8mm grav_b=(-0.03,+0.06,-1.00) r=1.46m +[headless_play] t= 7.90s step= 395 trunk_z= 120.3mm grav_b=(+0.01,-0.06,-1.00) r=1.46m +[headless_play] t= 8.00s step= 400 trunk_z= 120.9mm grav_b=(+0.05,-0.08,-1.00) r=1.46m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(+0.08,+0.11,-0.99) r=1.47m +[headless_play] t= 8.20s step= 410 trunk_z= 122.1mm grav_b=(+0.19,+0.11,-0.98) r=1.48m +[headless_play] t= 8.30s step= 415 trunk_z= 111.9mm grav_b=(+0.18,-0.04,-0.98) r=1.49m +[headless_play] t= 8.40s step= 420 trunk_z= 126.0mm grav_b=(+0.11,+0.01,-0.99) r=1.51m +[headless_play] t= 8.50s step= 425 trunk_z= 105.7mm grav_b=(-0.06,+0.09,-0.99) r=1.54m +[headless_play] t= 8.60s step= 430 trunk_z= 112.4mm grav_b=(-0.12,-0.01,-0.99) r=1.55m +[headless_play] t= 8.70s step= 435 trunk_z= 113.7mm grav_b=(+0.01,-0.06,-1.00) r=1.56m +[headless_play] t= 8.80s step= 440 trunk_z= 114.1mm grav_b=(+0.12,+0.15,-0.98) r=1.56m +[headless_play] t= 8.90s step= 445 trunk_z= 121.0mm grav_b=(+0.23,+0.12,-0.97) r=1.56m +[headless_play] t= 9.00s step= 450 trunk_z= 109.6mm grav_b=(+0.21,-0.03,-0.98) r=1.56m +[headless_play] t= 9.10s step= 455 trunk_z= 125.9mm grav_b=(+0.20,+0.05,-0.98) r=1.57m +[headless_play] t= 9.20s step= 460 trunk_z= 98.7mm grav_b=(+0.07,+0.19,-0.98) r=1.59m +[headless_play] t= 9.30s step= 465 trunk_z= 104.5mm grav_b=(-0.04,-0.02,-1.00) r=1.59m +[headless_play] t= 9.40s step= 470 trunk_z= 113.5mm grav_b=(+0.03,-0.04,-1.00) r=1.59m +[headless_play] t= 9.50s step= 475 trunk_z= 114.3mm grav_b=(+0.05,+0.11,-0.99) r=1.59m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=1.58m +[headless_play] t= 9.70s step= 485 trunk_z= 117.7mm grav_b=(+0.07,-0.15,-0.99) r=1.56m +[headless_play] t= 9.80s step= 490 trunk_z= 117.4mm grav_b=(+0.02,+0.04,-1.00) r=1.55m +[headless_play] t= 9.90s step= 495 trunk_z= 120.1mm grav_b=(+0.05,+0.12,-0.99) r=1.53m +[headless_play] t= 10.00s step= 500 trunk_z= 112.9mm grav_b=(+0.05,-0.09,-0.99) r=1.51m +[headless_play] t= 10.10s step= 505 trunk_z= 119.0mm grav_b=(+0.06,-0.08,-1.00) r=1.49m +[headless_play] t= 10.20s step= 510 trunk_z= 113.4mm grav_b=(+0.07,+0.13,-0.99) r=1.47m +[headless_play] t= 10.30s step= 515 trunk_z= 114.6mm grav_b=(+0.05,-0.07,-1.00) r=1.44m +[headless_play] t= 10.40s step= 520 trunk_z= 122.1mm grav_b=(+0.05,-0.18,-0.98) r=1.41m +[headless_play] t= 10.50s step= 525 trunk_z= 119.7mm grav_b=(+0.07,-0.04,-1.00) r=1.38m +[headless_play] t= 10.60s step= 530 trunk_z= 118.1mm grav_b=(+0.06,+0.07,-1.00) r=1.36m +[headless_play] t= 10.70s step= 535 trunk_z= 113.8mm grav_b=(+0.05,-0.10,-0.99) r=1.33m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.06,-0.03,-1.00) r=1.31m +[headless_play] t= 10.90s step= 545 trunk_z= 115.8mm grav_b=(+0.08,+0.11,-0.99) r=1.28m +[headless_play] t= 11.00s step= 550 trunk_z= 114.8mm grav_b=(+0.13,-0.04,-0.99) r=1.27m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.08,-0.06,-0.99) r=1.26m +[headless_play] t= 11.20s step= 560 trunk_z= 116.1mm grav_b=(+0.06,+0.13,-0.99) r=1.26m +[headless_play] t= 11.30s step= 565 trunk_z= 117.7mm grav_b=(+0.12,+0.01,-0.99) r=1.24m +[headless_play] t= 11.40s step= 570 trunk_z= 117.8mm grav_b=(+0.08,-0.09,-0.99) r=1.23m +[headless_play] t= 11.50s step= 575 trunk_z= 115.3mm grav_b=(+0.04,+0.14,-0.99) r=1.22m +[headless_play] t= 11.60s step= 580 trunk_z= 123.7mm grav_b=(+0.07,+0.21,-0.98) r=1.21m +[headless_play] t= 11.70s step= 585 trunk_z= 123.3mm grav_b=(+0.10,+0.15,-0.98) r=1.19m +[headless_play] t= 11.80s step= 590 trunk_z= 114.3mm grav_b=(+0.09,-0.03,-1.00) r=1.14m +[headless_play] t= 11.90s step= 595 trunk_z= 119.3mm grav_b=(+0.08,+0.07,-0.99) r=1.11m +[headless_play] t= 12.00s step= 600 trunk_z= 119.6mm grav_b=(+0.15,-0.00,-0.99) r=1.08m +[headless_play] t= 12.10s step= 605 trunk_z= 115.0mm grav_b=(+0.01,-0.27,-0.96) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 129.8mm grav_b=(+0.05,-0.31,-0.95) r=1.01m +[headless_play] t= 12.30s step= 615 trunk_z= 125.2mm grav_b=(+0.14,-0.17,-0.98) r=0.98m +[headless_play] t= 12.40s step= 620 trunk_z= 94.3mm grav_b=(+0.20,+0.04,-0.98) r=0.95m +[headless_play] t= 12.50s step= 625 trunk_z= 100.5mm grav_b=(+0.02,+0.27,-0.96) r=0.94m +[headless_play] t= 12.60s step= 630 trunk_z= 99.1mm grav_b=(-0.14,+0.19,-0.97) r=0.93m +[headless_play] t= 12.70s step= 635 trunk_z= 103.3mm grav_b=(-0.05,+0.13,-0.99) r=0.92m +[headless_play] t= 12.80s step= 640 trunk_z= 99.6mm grav_b=(-0.08,+0.22,-0.97) r=0.93m +[headless_play] t= 12.90s step= 645 trunk_z= 76.2mm grav_b=(-0.09,+0.58,-0.81) r=0.93m +[headless_play] RESET at t= 12.98s step= 649 (env termination, not a recovery) +[headless_play] t= 13.00s step= 650 trunk_z= 127.3mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(+0.02,+0.06,-1.00) r=0.48m +[headless_play] t= 13.20s step= 660 trunk_z= 120.2mm grav_b=(+0.09,+0.08,-0.99) r=0.48m +[headless_play] t= 13.30s step= 665 trunk_z= 120.7mm grav_b=(+0.07,-0.17,-0.98) r=0.46m +[headless_play] t= 13.40s step= 670 trunk_z= 128.5mm grav_b=(+0.13,-0.12,-0.98) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 107.3mm grav_b=(+0.13,+0.04,-0.99) r=0.40m +[headless_play] t= 13.60s step= 680 trunk_z= 114.3mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 13.70s step= 685 trunk_z= 115.0mm grav_b=(-0.05,-0.13,-0.99) r=0.36m +[headless_play] t= 13.80s step= 690 trunk_z= 123.0mm grav_b=(-0.01,-0.06,-1.00) r=0.34m +[headless_play] t= 13.90s step= 695 trunk_z= 118.4mm grav_b=(+0.04,+0.12,-0.99) r=0.31m +[headless_play] t= 14.00s step= 700 trunk_z= 129.1mm grav_b=(+0.05,+0.11,-0.99) r=0.29m +[headless_play] t= 14.10s step= 705 trunk_z= 119.1mm grav_b=(+0.03,-0.04,-1.00) r=0.28m +[headless_play] t= 14.20s step= 710 trunk_z= 124.5mm grav_b=(+0.12,+0.01,-0.99) r=0.26m +[headless_play] t= 14.30s step= 715 trunk_z= 113.4mm grav_b=(+0.15,+0.08,-0.99) r=0.25m +[headless_play] t= 14.40s step= 720 trunk_z= 128.6mm grav_b=(+0.11,-0.10,-0.99) r=0.25m +[headless_play] t= 14.50s step= 725 trunk_z= 123.5mm grav_b=(+0.07,-0.19,-0.98) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 129.9mm grav_b=(+0.07,-0.15,-0.99) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 125.5mm grav_b=(+0.07,-0.07,-1.00) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 124.0mm grav_b=(+0.04,-0.03,-1.00) r=0.27m +[headless_play] t= 14.90s step= 745 trunk_z= 123.6mm grav_b=(+0.04,-0.15,-0.99) r=0.29m +[headless_play] t= 15.00s step= 750 trunk_z= 129.1mm grav_b=(+0.09,-0.07,-0.99) r=0.32m +[headless_play] t= 15.10s step= 755 trunk_z= 110.0mm grav_b=(+0.12,+0.15,-0.98) r=0.36m +[headless_play] t= 15.20s step= 760 trunk_z= 118.8mm grav_b=(+0.09,+0.04,-0.99) r=0.39m +[headless_play] t= 15.30s step= 765 trunk_z= 112.6mm grav_b=(-0.02,-0.13,-0.99) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 122.6mm grav_b=(-0.02,-0.07,-1.00) r=0.46m +[headless_play] t= 15.50s step= 775 trunk_z= 116.8mm grav_b=(-0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 15.60s step= 780 trunk_z= 121.7mm grav_b=(-0.06,-0.01,-1.00) r=0.53m +[headless_play] t= 15.70s step= 785 trunk_z= 122.0mm grav_b=(+0.02,-0.06,-1.00) r=0.56m +[headless_play] t= 15.80s step= 790 trunk_z= 120.7mm grav_b=(+0.01,+0.11,-0.99) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 124.8mm grav_b=(+0.02,+0.06,-1.00) r=0.64m +[headless_play] t= 16.00s step= 800 trunk_z= 117.5mm grav_b=(-0.03,-0.06,-1.00) r=0.68m +[headless_play] t= 16.10s step= 805 trunk_z= 119.3mm grav_b=(+0.01,+0.13,-0.99) r=0.71m +[headless_play] t= 16.20s step= 810 trunk_z= 123.6mm grav_b=(+0.07,+0.11,-0.99) r=0.74m +[headless_play] t= 16.30s step= 815 trunk_z= 114.2mm grav_b=(+0.01,-0.06,-1.00) r=0.76m +[headless_play] t= 16.40s step= 820 trunk_z= 119.0mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 16.50s step= 825 trunk_z= 116.7mm grav_b=(+0.06,+0.12,-0.99) r=0.82m +[headless_play] t= 16.60s step= 830 trunk_z= 116.5mm grav_b=(+0.06,+0.01,-1.00) r=0.86m +[headless_play] t= 16.70s step= 835 trunk_z= 115.9mm grav_b=(+0.06,-0.10,-0.99) r=0.90m +[headless_play] t= 16.80s step= 840 trunk_z= 116.7mm grav_b=(+0.07,+0.07,-1.00) r=0.93m +[headless_play] t= 16.90s step= 845 trunk_z= 123.0mm grav_b=(+0.08,+0.16,-0.98) r=0.96m +[headless_play] t= 17.00s step= 850 trunk_z= 118.7mm grav_b=(+0.04,+0.01,-1.00) r=0.99m +[headless_play] t= 17.10s step= 855 trunk_z= 118.8mm grav_b=(-0.00,-0.07,-1.00) r=1.03m +[headless_play] t= 17.20s step= 860 trunk_z= 117.3mm grav_b=(+0.06,+0.04,-1.00) r=1.06m +[headless_play] t= 17.30s step= 865 trunk_z= 119.9mm grav_b=(+0.04,+0.09,-1.00) r=1.08m +[headless_play] t= 17.40s step= 870 trunk_z= 114.7mm grav_b=(-0.03,-0.13,-0.99) r=1.09m +[headless_play] t= 17.50s step= 875 trunk_z= 120.1mm grav_b=(-0.04,-0.07,-1.00) r=1.10m +[headless_play] t= 17.60s step= 880 trunk_z= 113.5mm grav_b=(+0.03,+0.07,-1.00) r=1.12m +[headless_play] t= 17.70s step= 885 trunk_z= 109.6mm grav_b=(+0.09,+0.05,-0.99) r=1.13m +[headless_play] t= 17.80s step= 890 trunk_z= 107.0mm grav_b=(+0.20,-0.07,-0.98) r=1.13m +[headless_play] t= 17.90s step= 895 trunk_z= 113.4mm grav_b=(+0.11,+0.02,-0.99) r=1.14m +[headless_play] t= 18.00s step= 900 trunk_z= 117.9mm grav_b=(+0.05,+0.14,-0.99) r=1.15m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(+0.06,-0.01,-1.00) r=1.17m +[headless_play] t= 18.20s step= 910 trunk_z= 120.6mm grav_b=(+0.06,-0.10,-0.99) r=1.17m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(+0.14,+0.06,-0.99) r=1.20m +[headless_play] t= 18.40s step= 920 trunk_z= 127.5mm grav_b=(+0.12,-0.01,-0.99) r=1.21m +[headless_play] t= 18.50s step= 925 trunk_z= 113.5mm grav_b=(+0.04,-0.22,-0.98) r=1.23m +[headless_play] t= 18.60s step= 930 trunk_z= 124.8mm grav_b=(+0.03,-0.23,-0.97) r=1.24m +[headless_play] t= 18.70s step= 935 trunk_z= 129.2mm grav_b=(+0.05,-0.17,-0.98) r=1.25m +[headless_play] t= 18.80s step= 940 trunk_z= 126.5mm grav_b=(+0.03,-0.06,-1.00) r=1.28m +[headless_play] t= 18.90s step= 945 trunk_z= 123.6mm grav_b=(-0.02,-0.00,-1.00) r=1.31m +[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(-0.05,-0.10,-0.99) r=1.33m +[headless_play] t= 19.10s step= 955 trunk_z= 121.5mm grav_b=(+0.06,+0.01,-1.00) r=1.35m +[headless_play] t= 19.20s step= 960 trunk_z= 123.3mm grav_b=(+0.10,+0.10,-0.99) r=1.37m +[headless_play] t= 19.30s step= 965 trunk_z= 127.7mm grav_b=(+0.07,-0.02,-1.00) r=1.38m +[headless_play] t= 19.40s step= 970 trunk_z= 126.1mm grav_b=(+0.06,-0.12,-0.99) r=1.39m +[headless_play] t= 19.50s step= 975 trunk_z= 121.0mm grav_b=(+0.09,+0.02,-1.00) r=1.42m +[headless_play] t= 19.60s step= 980 trunk_z= 123.0mm grav_b=(+0.08,-0.03,-1.00) r=1.45m +[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(+0.03,-0.20,-0.98) r=1.48m +[headless_play] t= 19.80s step= 990 trunk_z= 128.0mm grav_b=(+0.08,-0.07,-0.99) r=1.50m +[headless_play] t= 19.90s step= 995 trunk_z= 111.6mm grav_b=(+0.00,+0.05,-1.00) r=1.52m +[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(-0.04,-0.14,-0.99) r=1.53m +[headless_play] t= 20.10s step=1005 trunk_z= 124.5mm grav_b=(+0.05,-0.12,-0.99) r=1.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..516a4dce1970a700e5e3153ca6eb25fd70d86286 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.778,-18.107,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.2mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.02,+0.04,-1.00) r=0.24m +[headless_play] t= 0.20s step= 10 trunk_z= 117.3mm grav_b=(+0.09,+0.08,-0.99) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 113.6mm grav_b=(+0.10,-0.10,-0.99) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 120.1mm grav_b=(+0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 120.1mm grav_b=(+0.08,+0.14,-0.99) r=0.25m +[headless_play] t= 0.60s step= 30 trunk_z= 115.0mm grav_b=(+0.12,-0.00,-0.99) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 120.6mm grav_b=(+0.08,-0.04,-1.00) r=0.27m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(+0.06,+0.13,-0.99) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(+0.14,+0.03,-0.99) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 120.0mm grav_b=(+0.08,-0.03,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 118.9mm grav_b=(+0.08,+0.14,-0.99) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.14,+0.03,-0.99) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 121.1mm grav_b=(+0.08,-0.05,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 114.5mm grav_b=(+0.08,+0.13,-0.99) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 113.4mm grav_b=(+0.15,-0.01,-0.99) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 121.3mm grav_b=(+0.06,-0.13,-0.99) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 118.9mm grav_b=(+0.01,+0.06,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 120.1mm grav_b=(+0.10,+0.23,-0.97) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 121.5mm grav_b=(+0.14,+0.18,-0.97) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(+0.12,+0.01,-0.99) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 120.1mm grav_b=(+0.06,+0.08,-0.99) r=0.47m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(+0.12,+0.08,-0.99) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 115.6mm grav_b=(+0.10,-0.14,-0.99) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 122.3mm grav_b=(+0.09,+0.01,-1.00) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 118.8mm grav_b=(+0.12,+0.19,-0.97) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 118.6mm grav_b=(+0.16,+0.01,-0.99) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 124.5mm grav_b=(+0.11,-0.09,-0.99) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 119.6mm grav_b=(+0.06,+0.08,-1.00) r=0.68m +[headless_play] t= 2.90s step= 145 trunk_z= 120.2mm grav_b=(+0.09,+0.06,-0.99) r=0.71m +[headless_play] t= 3.00s step= 150 trunk_z= 121.2mm grav_b=(+0.05,-0.15,-0.99) r=0.74m +[headless_play] t= 3.10s step= 155 trunk_z= 124.5mm grav_b=(+0.09,-0.09,-0.99) r=0.77m +[headless_play] t= 3.20s step= 160 trunk_z= 117.9mm grav_b=(+0.12,+0.07,-0.99) r=0.80m +[headless_play] t= 3.30s step= 165 trunk_z= 114.8mm grav_b=(+0.11,-0.15,-0.98) r=0.83m +[headless_play] t= 3.40s step= 170 trunk_z= 127.6mm grav_b=(+0.09,-0.14,-0.99) r=0.86m +[headless_play] t= 3.50s step= 175 trunk_z= 118.4mm grav_b=(+0.08,+0.07,-0.99) r=0.89m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(+0.14,-0.02,-0.99) r=0.93m +[headless_play] t= 3.70s step= 185 trunk_z= 126.5mm grav_b=(+0.09,-0.18,-0.98) r=0.97m +[headless_play] t= 3.80s step= 190 trunk_z= 126.9mm grav_b=(+0.10,-0.12,-0.99) r=1.00m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(+0.10,+0.03,-0.99) r=1.04m +[headless_play] t= 4.00s step= 200 trunk_z= 123.1mm grav_b=(+0.04,-0.07,-1.00) r=1.08m +[headless_play] t= 4.10s step= 205 trunk_z= 122.1mm grav_b=(+0.05,-0.12,-0.99) r=1.12m +[headless_play] t= 4.20s step= 210 trunk_z= 114.7mm grav_b=(+0.10,+0.07,-0.99) r=1.14m +[headless_play] t= 4.30s step= 215 trunk_z= 121.1mm grav_b=(+0.04,+0.10,-0.99) r=1.16m +[headless_play] t= 4.40s step= 220 trunk_z= 114.4mm grav_b=(+0.05,-0.12,-0.99) r=1.17m +[headless_play] t= 4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.09,+0.03,-1.00) r=1.18m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(+0.15,+0.13,-0.98) r=1.19m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.09,-0.12,-0.99) r=1.20m +[headless_play] t= 4.80s step= 240 trunk_z= 124.1mm grav_b=(+0.05,-0.09,-0.99) r=1.21m +[headless_play] t= 4.90s step= 245 trunk_z= 111.5mm grav_b=(+0.09,+0.07,-0.99) r=1.23m +[headless_play] t= 5.00s step= 250 trunk_z= 112.4mm grav_b=(+0.14,+0.03,-0.99) r=1.24m +[headless_play] t= 5.10s step= 255 trunk_z= 109.9mm grav_b=(+0.16,-0.16,-0.97) r=1.24m +[headless_play] t= 5.20s step= 260 trunk_z= 119.9mm grav_b=(+0.05,-0.00,-1.00) r=1.25m +[headless_play] t= 5.30s step= 265 trunk_z= 112.5mm grav_b=(+0.13,+0.23,-0.96) r=1.28m +[headless_play] t= 5.40s step= 270 trunk_z= 120.8mm grav_b=(+0.09,+0.22,-0.97) r=1.29m +[headless_play] t= 5.50s step= 275 trunk_z= 118.1mm grav_b=(+0.13,+0.14,-0.98) r=1.31m +[headless_play] t= 5.60s step= 280 trunk_z= 120.8mm grav_b=(+0.14,-0.01,-0.99) r=1.31m +[headless_play] t= 5.70s step= 285 trunk_z= 125.0mm grav_b=(+0.03,+0.01,-1.00) r=1.32m +[headless_play] t= 5.80s step= 290 trunk_z= 112.6mm grav_b=(+0.07,+0.10,-0.99) r=1.33m +[headless_play] t= 5.90s step= 295 trunk_z= 111.1mm grav_b=(+0.16,-0.06,-0.99) r=1.34m +[headless_play] t= 6.00s step= 300 trunk_z= 119.8mm grav_b=(+0.13,-0.12,-0.99) r=1.34m +[headless_play] t= 6.10s step= 305 trunk_z= 114.1mm grav_b=(+0.09,+0.08,-0.99) r=1.35m +[headless_play] t= 6.20s step= 310 trunk_z= 111.5mm grav_b=(+0.23,+0.04,-0.97) r=1.33m +[headless_play] t= 6.30s step= 315 trunk_z= 115.1mm grav_b=(+0.17,-0.19,-0.97) r=1.32m +[headless_play] t= 6.40s step= 320 trunk_z= 125.1mm grav_b=(+0.17,-0.07,-0.98) r=1.30m +[headless_play] t= 6.50s step= 325 trunk_z= 104.0mm grav_b=(+0.09,-0.06,-0.99) r=1.29m +[headless_play] t= 6.60s step= 330 trunk_z= 117.0mm grav_b=(+0.28,-0.19,-0.94) r=1.27m +[headless_play] t= 6.70s step= 335 trunk_z= 113.9mm grav_b=(+0.26,-0.11,-0.96) r=1.26m +[headless_play] t= 6.80s step= 340 trunk_z= 114.7mm grav_b=(+0.44,+0.18,-0.88) r=1.25m +[headless_play] t= 6.90s step= 345 trunk_z= 126.9mm grav_b=(+0.71,-0.06,-0.70) r=1.24m +[headless_play] RESET at t= 7.00s step= 350 (env termination, not a recovery) +[headless_play] t= 7.00s step= 350 trunk_z= 126.6mm grav_b=(-0.00,+0.00,-1.00) r=0.40m +[headless_play] t= 7.10s step= 355 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 7.20s step= 360 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.39m +[headless_play] t= 7.30s step= 365 trunk_z= 116.2mm grav_b=(+0.07,+0.01,-1.00) r=0.39m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 7.50s step= 375 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 116.4mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 7.80s step= 390 trunk_z= 116.4mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 8.00s step= 400 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 8.50s step= 425 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=0.38m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.38m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00) r=0.37m +[headless_play] t= 9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.10,+0.01,-0.99) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.08,+0.01,-1.00) r=0.37m +[headless_play] t= 9.20s step= 460 trunk_z= 116.5mm grav_b=(+0.07,+0.01,-1.00) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 116.5mm grav_b=(+0.06,+0.01,-1.00) r=0.37m +[headless_play] t= 9.40s step= 470 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=0.39m +[headless_play] t= 9.50s step= 475 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 9.80s step= 490 trunk_z= 114.8mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 9.90s step= 495 trunk_z= 115.0mm grav_b=(+0.11,+0.02,-0.99) r=0.40m +[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(+0.10,+0.02,-0.99) r=0.40m +[headless_play] t= 10.10s step= 505 trunk_z= 115.5mm grav_b=(+0.08,+0.02,-1.00) r=0.40m +[headless_play] t= 10.20s step= 510 trunk_z= 115.6mm grav_b=(+0.07,+0.02,-1.00) r=0.40m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(+0.07,+0.02,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 115.8mm grav_b=(+0.07,+0.02,-1.00) r=0.41m +[headless_play] t= 10.50s step= 525 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 10.60s step= 530 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.41m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(-0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 11.00s step= 550 trunk_z= 115.8mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 11.10s step= 555 trunk_z= 115.9mm grav_b=(-0.04,+0.02,-1.00) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 11.40s step= 570 trunk_z= 116.7mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 11.60s step= 580 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(-0.00,+0.02,-1.00) r=0.44m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(+0.00,+0.02,-1.00) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 120.1mm grav_b=(+0.10,+0.03,-0.99) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 122.6mm grav_b=(+0.19,-0.01,-0.98) r=0.42m +[headless_play] t= 12.80s step= 640 trunk_z= 105.4mm grav_b=(+0.16,-0.09,-0.98) r=0.42m +[headless_play] t= 12.90s step= 645 trunk_z= 103.2mm grav_b=(+0.07,-0.00,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 118.0mm grav_b=(+0.07,-0.00,-1.00) r=0.42m +[headless_play] t= 13.10s step= 655 trunk_z= 121.0mm grav_b=(+0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(+0.05,-0.02,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 117.6mm grav_b=(+0.03,-0.00,-1.00) r=0.41m +[headless_play] t= 13.40s step= 670 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 13.50s step= 675 trunk_z= 115.8mm grav_b=(-0.06,+0.00,-1.00) r=0.40m +[headless_play] t= 13.60s step= 680 trunk_z= 115.8mm grav_b=(-0.09,+0.00,-1.00) r=0.39m +[headless_play] t= 13.70s step= 685 trunk_z= 115.1mm grav_b=(-0.11,-0.00,-0.99) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 111.4mm grav_b=(-0.03,-0.08,-1.00) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 112.1mm grav_b=(+0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 14.00s step= 700 trunk_z= 114.6mm grav_b=(+0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 14.10s step= 705 trunk_z= 117.2mm grav_b=(+0.07,+0.06,-1.00) r=0.38m +[headless_play] t= 14.20s step= 710 trunk_z= 118.1mm grav_b=(+0.11,+0.05,-0.99) r=0.39m +[headless_play] t= 14.30s step= 715 trunk_z= 118.7mm grav_b=(+0.13,+0.04,-0.99) r=0.39m +[headless_play] t= 14.40s step= 720 trunk_z= 119.2mm grav_b=(+0.15,+0.03,-0.99) r=0.39m +[headless_play] t= 14.50s step= 725 trunk_z= 119.8mm grav_b=(+0.16,+0.02,-0.99) r=0.39m +[headless_play] t= 14.60s step= 730 trunk_z= 120.2mm grav_b=(+0.16,+0.06,-0.99) r=0.39m +[headless_play] t= 14.70s step= 735 trunk_z= 124.1mm grav_b=(+0.14,+0.02,-0.99) r=0.39m +[headless_play] t= 14.80s step= 740 trunk_z= 115.8mm grav_b=(+0.02,-0.10,-0.99) r=0.38m +[headless_play] t= 14.90s step= 745 trunk_z= 117.5mm grav_b=(-0.02,+0.10,-0.99) r=0.37m +[headless_play] t= 15.00s step= 750 trunk_z= 119.9mm grav_b=(+0.05,+0.02,-1.00) r=0.36m +[headless_play] t= 15.10s step= 755 trunk_z= 122.7mm grav_b=(+0.06,-0.07,-1.00) r=0.35m +[headless_play] t= 15.20s step= 760 trunk_z= 117.4mm grav_b=(+0.05,+0.05,-1.00) r=0.36m +[headless_play] t= 15.30s step= 765 trunk_z= 121.0mm grav_b=(+0.08,-0.00,-1.00) r=0.36m +[headless_play] t= 15.40s step= 770 trunk_z= 118.6mm grav_b=(+0.05,-0.13,-0.99) r=0.35m +[headless_play] t= 15.50s step= 775 trunk_z= 127.7mm grav_b=(+0.04,-0.10,-0.99) r=0.36m +[headless_play] t= 15.60s step= 780 trunk_z= 117.1mm grav_b=(+0.01,+0.07,-1.00) r=0.37m +[headless_play] t= 15.70s step= 785 trunk_z= 121.4mm grav_b=(+0.04,+0.01,-1.00) r=0.38m +[headless_play] t= 15.80s step= 790 trunk_z= 120.9mm grav_b=(+0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 15.90s step= 795 trunk_z= 119.9mm grav_b=(-0.00,+0.09,-1.00) r=0.40m +[headless_play] t= 16.00s step= 800 trunk_z= 124.3mm grav_b=(+0.09,+0.11,-0.99) r=0.41m +[headless_play] t= 16.10s step= 805 trunk_z= 117.8mm grav_b=(+0.10,-0.05,-0.99) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 118.7mm grav_b=(+0.05,+0.07,-1.00) r=0.43m +[headless_play] t= 16.30s step= 815 trunk_z= 121.8mm grav_b=(+0.13,+0.05,-0.99) r=0.45m +[headless_play] t= 16.40s step= 820 trunk_z= 118.0mm grav_b=(+0.07,-0.12,-0.99) r=0.47m +[headless_play] t= 16.50s step= 825 trunk_z= 124.2mm grav_b=(+0.01,-0.05,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 122.2mm grav_b=(-0.00,+0.13,-0.99) r=0.50m +[headless_play] t= 16.70s step= 835 trunk_z= 123.0mm grav_b=(+0.01,+0.05,-1.00) r=0.50m +[headless_play] t= 16.80s step= 840 trunk_z= 122.4mm grav_b=(+0.04,-0.06,-1.00) r=0.50m +[headless_play] t= 16.90s step= 845 trunk_z= 117.3mm grav_b=(+0.03,+0.06,-1.00) r=0.51m +[headless_play] t= 17.00s step= 850 trunk_z= 119.7mm grav_b=(+0.09,-0.00,-1.00) r=0.52m +[headless_play] t= 17.10s step= 855 trunk_z= 122.4mm grav_b=(+0.06,-0.13,-0.99) r=0.53m +[headless_play] t= 17.20s step= 860 trunk_z= 123.9mm grav_b=(+0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 17.30s step= 865 trunk_z= 122.2mm grav_b=(+0.03,+0.08,-1.00) r=0.57m +[headless_play] t= 17.40s step= 870 trunk_z= 121.5mm grav_b=(+0.07,+0.01,-1.00) r=0.59m +[headless_play] t= 17.50s step= 875 trunk_z= 123.7mm grav_b=(+0.06,-0.04,-1.00) r=0.60m +[headless_play] t= 17.60s step= 880 trunk_z= 120.2mm grav_b=(+0.05,+0.11,-0.99) r=0.62m +[headless_play] t= 17.70s step= 885 trunk_z= 122.7mm grav_b=(+0.13,+0.11,-0.98) r=0.64m +[headless_play] t= 17.80s step= 890 trunk_z= 116.4mm grav_b=(+0.10,-0.03,-0.99) r=0.66m +[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(+0.04,+0.05,-1.00) r=0.68m +[headless_play] t= 18.00s step= 900 trunk_z= 116.4mm grav_b=(+0.12,+0.07,-0.99) r=0.70m +[headless_play] t= 18.10s step= 905 trunk_z= 114.4mm grav_b=(+0.10,-0.13,-0.99) r=0.72m +[headless_play] t= 18.20s step= 910 trunk_z= 123.7mm grav_b=(+0.06,-0.10,-0.99) r=0.74m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(+0.04,+0.12,-0.99) r=0.76m +[headless_play] t= 18.40s step= 920 trunk_z= 118.4mm grav_b=(+0.08,+0.00,-1.00) r=0.78m +[headless_play] t= 18.50s step= 925 trunk_z= 122.1mm grav_b=(+0.06,-0.10,-0.99) r=0.80m +[headless_play] t= 18.60s step= 930 trunk_z= 115.6mm grav_b=(+0.07,+0.08,-0.99) r=0.81m +[headless_play] t= 18.70s step= 935 trunk_z= 116.7mm grav_b=(+0.14,+0.04,-0.99) r=0.83m +[headless_play] t= 18.80s step= 940 trunk_z= 120.3mm grav_b=(+0.06,-0.12,-0.99) r=0.86m +[headless_play] t= 18.90s step= 945 trunk_z= 119.1mm grav_b=(+0.06,-0.00,-1.00) r=0.88m +[headless_play] t= 19.00s step= 950 trunk_z= 115.9mm grav_b=(+0.16,+0.08,-0.98) r=0.92m +[headless_play] t= 19.10s step= 955 trunk_z= 111.3mm grav_b=(+0.17,-0.14,-0.98) r=0.95m +[headless_play] t= 19.20s step= 960 trunk_z= 121.4mm grav_b=(+0.01,+0.05,-1.00) r=0.98m +[headless_play] t= 19.30s step= 965 trunk_z= 119.2mm grav_b=(+0.15,+0.23,-0.96) r=1.03m +[headless_play] t= 19.40s step= 970 trunk_z= 124.3mm grav_b=(+0.21,+0.10,-0.97) r=1.06m +[headless_play] t= 19.50s step= 975 trunk_z= 116.6mm grav_b=(+0.05,-0.07,-1.00) r=1.09m +[headless_play] t= 19.60s step= 980 trunk_z= 116.1mm grav_b=(-0.01,+0.12,-0.99) r=1.12m +[headless_play] t= 19.70s step= 985 trunk_z= 114.7mm grav_b=(+0.16,+0.05,-0.99) r=1.16m +[headless_play] t= 19.80s step= 990 trunk_z= 120.9mm grav_b=(+0.13,-0.16,-0.98) r=1.18m +[headless_play] t= 19.90s step= 995 trunk_z= 132.5mm grav_b=(+0.06,-0.15,-0.99) r=1.20m +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(+0.08,-0.01,-1.00) r=1.23m +[headless_play] t= 20.10s step=1005 trunk_z= 122.0mm grav_b=(+0.08,-0.01,-1.00) r=1.27m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..51b2dec4bc2e49562dce1a189a23afb39f1fa9c8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t15.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(-10.390,-18.092,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.8mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(+0.04,-0.07,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 119.7mm grav_b=(+0.06,-0.01,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 123.6mm grav_b=(+0.04,+0.18,-0.98) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 128.1mm grav_b=(+0.02,+0.21,-0.98) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 125.7mm grav_b=(+0.03,+0.14,-0.99) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 120.4mm grav_b=(+0.06,+0.01,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 119.6mm grav_b=(-0.01,+0.08,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.08,+0.03,-1.00) r=0.39m +[headless_play] t= 0.90s step= 45 trunk_z= 119.9mm grav_b=(+0.05,-0.09,-0.99) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 120.7mm grav_b=(+0.05,+0.05,-1.00) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 124.4mm grav_b=(+0.05,+0.10,-0.99) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(-0.01,-0.06,-1.00) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 122.5mm grav_b=(+0.02,-0.03,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 119.1mm grav_b=(+0.13,+0.15,-0.98) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 130.6mm grav_b=(+0.07,+0.08,-0.99) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(+0.05,-0.06,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 119.1mm grav_b=(-0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(+0.07,+0.10,-0.99) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 115.1mm grav_b=(+0.08,-0.09,-0.99) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 121.8mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 2.10s step= 105 trunk_z= 122.0mm grav_b=(+0.08,+0.22,-0.97) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 126.9mm grav_b=(+0.09,+0.25,-0.96) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 123.1mm grav_b=(+0.12,+0.07,-0.99) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 131.2mm grav_b=(+0.04,+0.04,-1.00) r=0.59m +[headless_play] t= 2.50s step= 125 trunk_z= 119.6mm grav_b=(+0.00,+0.14,-0.99) r=0.62m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(+0.09,-0.02,-1.00) r=0.65m +[headless_play] t= 2.70s step= 135 trunk_z= 118.7mm grav_b=(+0.07,-0.03,-1.00) r=0.67m +[headless_play] t= 2.80s step= 140 trunk_z= 116.7mm grav_b=(+0.06,+0.16,-0.99) r=0.69m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(+0.01,-0.05,-1.00) r=0.70m +[headless_play] t= 3.00s step= 150 trunk_z= 125.4mm grav_b=(-0.05,-0.20,-0.98) r=0.72m +[headless_play] t= 3.10s step= 155 trunk_z= 132.1mm grav_b=(-0.02,-0.16,-0.99) r=0.73m +[headless_play] t= 3.20s step= 160 trunk_z= 130.2mm grav_b=(+0.05,-0.06,-1.00) r=0.74m +[headless_play] t= 3.30s step= 165 trunk_z= 119.7mm grav_b=(+0.00,-0.03,-1.00) r=0.75m +[headless_play] t= 3.40s step= 170 trunk_z= 116.3mm grav_b=(+0.13,-0.11,-0.98) r=0.75m +[headless_play] t= 3.50s step= 175 trunk_z= 117.6mm grav_b=(+0.21,+0.13,-0.97) r=0.76m +[headless_play] t= 3.60s step= 180 trunk_z= 123.3mm grav_b=(+0.32,-0.10,-0.94) r=0.76m +[headless_play] t= 3.70s step= 185 trunk_z= 106.8mm grav_b=(+0.59,-0.26,-0.77) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 113.9mm grav_b=(+0.87,+0.05,-0.49) r=0.76m +[headless_play] RESET at t= 3.90s step= 195 (env termination, not a recovery) +[headless_play] t= 3.90s step= 195 trunk_z= 124.4mm grav_b=(+0.00,+0.00,-1.00) r=0.57m +[headless_play] t= 4.00s step= 200 trunk_z= 115.1mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 4.10s step= 205 trunk_z= 116.7mm grav_b=(+0.07,-0.08,-0.99) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(+0.07,+0.12,-0.99) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 121.7mm grav_b=(+0.07,+0.07,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 123.7mm grav_b=(-0.02,-0.13,-0.99) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 128.0mm grav_b=(-0.00,-0.14,-0.99) r=0.50m +[headless_play] t= 4.60s step= 230 trunk_z= 119.7mm grav_b=(+0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 119.9mm grav_b=(+0.05,-0.03,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 119.0mm grav_b=(+0.08,-0.06,-0.99) r=0.44m +[headless_play] t= 4.90s step= 245 trunk_z= 119.1mm grav_b=(+0.05,+0.14,-0.99) r=0.41m +[headless_play] t= 5.00s step= 250 trunk_z= 127.9mm grav_b=(+0.07,+0.14,-0.99) r=0.39m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(+0.06,-0.04,-1.00) r=0.36m +[headless_play] t= 5.20s step= 260 trunk_z= 120.5mm grav_b=(+0.04,-0.00,-1.00) r=0.34m +[headless_play] t= 5.30s step= 265 trunk_z= 118.5mm grav_b=(-0.02,+0.07,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 118.9mm grav_b=(+0.00,-0.12,-0.99) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 119.9mm grav_b=(+0.07,-0.05,-1.00) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 122.1mm grav_b=(+0.09,+0.07,-0.99) r=0.29m +[headless_play] t= 5.70s step= 285 trunk_z= 116.8mm grav_b=(+0.06,-0.13,-0.99) r=0.27m +[headless_play] t= 5.80s step= 290 trunk_z= 122.7mm grav_b=(+0.10,-0.10,-0.99) r=0.25m +[headless_play] t= 5.90s step= 295 trunk_z= 116.4mm grav_b=(+0.06,+0.08,-1.00) r=0.22m +[headless_play] t= 6.00s step= 300 trunk_z= 125.8mm grav_b=(+0.02,+0.06,-1.00) r=0.21m +[headless_play] t= 6.10s step= 305 trunk_z= 117.9mm grav_b=(+0.00,-0.10,-0.99) r=0.20m +[headless_play] t= 6.20s step= 310 trunk_z= 120.4mm grav_b=(+0.03,-0.03,-1.00) r=0.20m +[headless_play] t= 6.30s step= 315 trunk_z= 123.5mm grav_b=(+0.05,+0.04,-1.00) r=0.19m +[headless_play] t= 6.40s step= 320 trunk_z= 116.8mm grav_b=(+0.04,-0.11,-0.99) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 124.8mm grav_b=(+0.07,-0.10,-0.99) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 121.6mm grav_b=(+0.04,+0.02,-1.00) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 124.2mm grav_b=(+0.06,+0.02,-1.00) r=0.19m +[headless_play] t= 6.80s step= 340 trunk_z= 120.8mm grav_b=(+0.06,-0.14,-0.99) r=0.20m +[headless_play] t= 6.90s step= 345 trunk_z= 122.1mm grav_b=(+0.04,+0.03,-1.00) r=0.21m +[headless_play] t= 7.00s step= 350 trunk_z= 128.4mm grav_b=(+0.01,+0.17,-0.98) r=0.22m +[headless_play] t= 7.10s step= 355 trunk_z= 128.3mm grav_b=(+0.07,+0.15,-0.99) r=0.24m +[headless_play] t= 7.20s step= 360 trunk_z= 118.6mm grav_b=(+0.07,-0.02,-1.00) r=0.27m +[headless_play] t= 7.30s step= 365 trunk_z= 123.2mm grav_b=(+0.04,-0.03,-1.00) r=0.29m +[headless_play] t= 7.40s step= 370 trunk_z= 117.8mm grav_b=(-0.02,+0.04,-1.00) r=0.31m +[headless_play] t= 7.50s step= 375 trunk_z= 121.4mm grav_b=(-0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 7.60s step= 380 trunk_z= 120.1mm grav_b=(-0.01,-0.10,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 118.0mm grav_b=(+0.01,+0.06,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 122.7mm grav_b=(+0.04,+0.15,-0.99) r=0.37m +[headless_play] t= 7.90s step= 395 trunk_z= 119.1mm grav_b=(+0.07,+0.02,-1.00) r=0.39m +[headless_play] t= 8.00s step= 400 trunk_z= 121.0mm grav_b=(+0.03,-0.09,-1.00) r=0.42m +[headless_play] t= 8.10s step= 405 trunk_z= 118.1mm grav_b=(+0.04,+0.02,-1.00) r=0.44m +[headless_play] t= 8.20s step= 410 trunk_z= 121.3mm grav_b=(+0.03,+0.05,-1.00) r=0.47m +[headless_play] t= 8.30s step= 415 trunk_z= 113.6mm grav_b=(+0.05,-0.17,-0.98) r=0.49m +[headless_play] t= 8.40s step= 420 trunk_z= 124.0mm grav_b=(+0.05,-0.15,-0.99) r=0.51m +[headless_play] t= 8.50s step= 425 trunk_z= 116.3mm grav_b=(+0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 8.60s step= 430 trunk_z= 120.5mm grav_b=(+0.02,+0.06,-1.00) r=0.54m +[headless_play] t= 8.70s step= 435 trunk_z= 111.2mm grav_b=(+0.03,-0.14,-0.99) r=0.56m +[headless_play] t= 8.80s step= 440 trunk_z= 115.8mm grav_b=(+0.07,-0.02,-1.00) r=0.58m +[headless_play] t= 8.90s step= 445 trunk_z= 117.4mm grav_b=(+0.03,+0.14,-0.99) r=0.60m +[headless_play] t= 9.00s step= 450 trunk_z= 122.2mm grav_b=(+0.07,+0.14,-0.99) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 115.7mm grav_b=(+0.08,-0.05,-1.00) r=0.64m +[headless_play] t= 9.20s step= 460 trunk_z= 122.5mm grav_b=(-0.03,-0.07,-1.00) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(-0.00,+0.12,-0.99) r=0.63m +[headless_play] t= 9.40s step= 470 trunk_z= 120.4mm grav_b=(+0.04,+0.05,-1.00) r=0.64m +[headless_play] t= 9.50s step= 475 trunk_z= 122.0mm grav_b=(+0.04,-0.11,-0.99) r=0.65m +[headless_play] t= 9.60s step= 480 trunk_z= 120.1mm grav_b=(+0.02,+0.01,-1.00) r=0.67m +[headless_play] t= 9.70s step= 485 trunk_z= 120.9mm grav_b=(+0.06,+0.04,-1.00) r=0.70m +[headless_play] t= 9.80s step= 490 trunk_z= 117.7mm grav_b=(+0.04,-0.14,-0.99) r=0.72m +[headless_play] t= 9.90s step= 495 trunk_z= 125.7mm grav_b=(+0.00,-0.07,-1.00) r=0.74m +[headless_play] t= 10.00s step= 500 trunk_z= 119.3mm grav_b=(+0.02,+0.10,-0.99) r=0.77m +[headless_play] t= 10.10s step= 505 trunk_z= 118.2mm grav_b=(+0.08,-0.07,-0.99) r=0.80m +[headless_play] t= 10.20s step= 510 trunk_z= 126.7mm grav_b=(+0.07,-0.09,-0.99) r=0.82m +[headless_play] t= 10.30s step= 515 trunk_z= 120.7mm grav_b=(+0.07,+0.03,-1.00) r=0.85m +[headless_play] t= 10.40s step= 520 trunk_z= 122.5mm grav_b=(-0.00,-0.01,-1.00) r=0.88m +[headless_play] t= 10.50s step= 525 trunk_z= 117.9mm grav_b=(+0.02,-0.15,-0.99) r=0.90m +[headless_play] t= 10.60s step= 530 trunk_z= 124.8mm grav_b=(+0.05,-0.12,-0.99) r=0.92m +[headless_play] t= 10.70s step= 535 trunk_z= 115.8mm grav_b=(+0.06,+0.03,-1.00) r=0.95m +[headless_play] t= 10.80s step= 540 trunk_z= 121.1mm grav_b=(+0.06,+0.00,-1.00) r=0.97m +[headless_play] t= 10.90s step= 545 trunk_z= 118.8mm grav_b=(+0.05,-0.11,-0.99) r=0.99m +[headless_play] t= 11.00s step= 550 trunk_z= 121.8mm grav_b=(+0.10,+0.01,-0.99) r=1.00m +[headless_play] t= 11.10s step= 555 trunk_z= 122.1mm grav_b=(+0.12,+0.04,-0.99) r=1.02m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(+0.08,-0.17,-0.98) r=1.04m +[headless_play] t= 11.30s step= 565 trunk_z= 131.3mm grav_b=(+0.03,-0.16,-0.99) r=1.06m +[headless_play] t= 11.40s step= 570 trunk_z= 125.0mm grav_b=(+0.01,-0.09,-1.00) r=1.10m +[headless_play] t= 11.50s step= 575 trunk_z= 120.0mm grav_b=(-0.02,+0.03,-1.00) r=1.14m +[headless_play] t= 11.60s step= 580 trunk_z= 120.2mm grav_b=(-0.02,-0.08,-1.00) r=1.16m +[headless_play] t= 11.70s step= 585 trunk_z= 119.4mm grav_b=(+0.07,-0.05,-1.00) r=1.18m +[headless_play] t= 11.80s step= 590 trunk_z= 120.5mm grav_b=(+0.04,+0.16,-0.99) r=1.20m +[headless_play] t= 11.90s step= 595 trunk_z= 126.7mm grav_b=(+0.10,+0.16,-0.98) r=1.24m +[headless_play] t= 12.00s step= 600 trunk_z= 128.6mm grav_b=(+0.10,+0.12,-0.99) r=1.28m +[headless_play] t= 12.10s step= 605 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=1.32m +[headless_play] t= 12.20s step= 610 trunk_z= 121.8mm grav_b=(+0.03,-0.02,-1.00) r=1.34m +[headless_play] t= 12.30s step= 615 trunk_z= 116.3mm grav_b=(-0.05,+0.07,-1.00) r=1.37m +[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.09,-0.06,-0.99) r=1.40m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(+0.15,-0.18,-0.97) r=1.41m +[headless_play] t= 12.60s step= 630 trunk_z= 123.3mm grav_b=(+0.12,-0.01,-0.99) r=1.42m +[headless_play] t= 12.70s step= 635 trunk_z= 113.5mm grav_b=(+0.08,-0.01,-1.00) r=1.44m +[headless_play] t= 12.80s step= 640 trunk_z= 113.9mm grav_b=(-0.00,-0.15,-0.99) r=1.46m +[headless_play] t= 12.90s step= 645 trunk_z= 121.5mm grav_b=(-0.09,-0.08,-0.99) r=1.47m +[headless_play] t= 13.00s step= 650 trunk_z= 122.1mm grav_b=(-0.05,+0.15,-0.99) r=1.49m +[headless_play] t= 13.10s step= 655 trunk_z= 122.1mm grav_b=(-0.01,+0.09,-1.00) r=1.49m +[headless_play] t= 13.20s step= 660 trunk_z= 120.9mm grav_b=(+0.04,-0.07,-1.00) r=1.50m +[headless_play] t= 13.30s step= 665 trunk_z= 119.3mm grav_b=(+0.03,+0.02,-1.00) r=1.51m +[headless_play] t= 13.40s step= 670 trunk_z= 119.8mm grav_b=(+0.11,+0.01,-0.99) r=1.55m +[headless_play] t= 13.50s step= 675 trunk_z= 118.9mm grav_b=(+0.11,-0.15,-0.98) r=1.59m +[headless_play] t= 13.60s step= 680 trunk_z= 124.1mm grav_b=(+0.12,-0.08,-0.99) r=1.63m +[headless_play] t= 13.70s step= 685 trunk_z= 115.4mm grav_b=(+0.07,-0.01,-1.00) r=1.67m +[headless_play] t= 13.80s step= 690 trunk_z= 123.5mm grav_b=(+0.01,-0.15,-0.99) r=1.70m +[headless_play] t= 13.90s step= 695 trunk_z= 131.4mm grav_b=(+0.06,-0.18,-0.98) r=1.74m +[headless_play] t= 14.00s step= 700 trunk_z= 128.3mm grav_b=(+0.05,-0.13,-0.99) r=1.77m +[headless_play] t= 14.10s step= 705 trunk_z= 118.5mm grav_b=(+0.01,+0.00,-1.00) r=1.81m +[headless_play] t= 14.20s step= 710 trunk_z= 119.5mm grav_b=(-0.04,-0.08,-1.00) r=1.85m +[headless_play] t= 14.30s step= 715 trunk_z= 115.6mm grav_b=(+0.04,+0.01,-1.00) r=1.88m +[headless_play] t= 14.40s step= 720 trunk_z= 121.7mm grav_b=(+0.09,+0.14,-0.99) r=1.91m +[headless_play] t= 14.50s step= 725 trunk_z= 121.0mm grav_b=(+0.14,+0.04,-0.99) r=1.92m +[headless_play] t= 14.60s step= 730 trunk_z= 120.1mm grav_b=(+0.00,-0.02,-1.00) r=1.93m +[headless_play] t= 14.70s step= 735 trunk_z= 114.8mm grav_b=(-0.09,+0.07,-0.99) r=1.96m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(-0.03,-0.06,-1.00) r=1.98m +[headless_play] t= 14.90s step= 745 trunk_z= 116.9mm grav_b=(+0.09,-0.06,-0.99) r=1.99m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(+0.10,+0.08,-0.99) r=2.01m +[headless_play] t= 15.10s step= 755 trunk_z= 122.9mm grav_b=(+0.10,+0.02,-0.99) r=2.03m +[headless_play] t= 15.20s step= 760 trunk_z= 120.7mm grav_b=(+0.03,-0.09,-1.00) r=2.06m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(+0.03,-0.02,-1.00) r=2.08m +[headless_play] t= 15.40s step= 770 trunk_z= 118.9mm grav_b=(+0.07,+0.03,-1.00) r=2.11m +[headless_play] t= 15.50s step= 775 trunk_z= 115.2mm grav_b=(+0.14,-0.17,-0.98) r=2.12m +[headless_play] t= 15.60s step= 780 trunk_z= 125.5mm grav_b=(+0.12,-0.01,-0.99) r=2.10m +[headless_play] t= 15.70s step= 785 trunk_z= 108.8mm grav_b=(+0.07,-0.03,-1.00) r=2.09m +[headless_play] t= 15.80s step= 790 trunk_z= 118.1mm grav_b=(+0.16,-0.19,-0.97) r=2.08m +[headless_play] t= 15.90s step= 795 trunk_z= 128.6mm grav_b=(+0.22,+0.02,-0.98) r=2.07m +[headless_play] t= 16.00s step= 800 trunk_z= 107.4mm grav_b=(+0.25,-0.02,-0.97) r=2.06m +[headless_play] t= 16.10s step= 805 trunk_z= 100.6mm grav_b=(+0.70,-0.37,-0.61) r=2.06m +[headless_play] RESET at t= 16.16s step= 808 (env termination, not a recovery) +[headless_play] t= 16.20s step= 810 trunk_z= 120.9mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 16.30s step= 815 trunk_z= 117.5mm grav_b=(-0.02,+0.04,-1.00) r=0.30m +[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(-0.04,-0.05,-1.00) r=0.29m +[headless_play] t= 16.50s step= 825 trunk_z= 118.2mm grav_b=(-0.02,-0.03,-1.00) r=0.30m +[headless_play] t= 16.60s step= 830 trunk_z= 122.6mm grav_b=(-0.02,+0.11,-0.99) r=0.30m +[headless_play] t= 16.70s step= 835 trunk_z= 121.6mm grav_b=(-0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 16.80s step= 840 trunk_z= 122.0mm grav_b=(-0.01,-0.04,-1.00) r=0.31m +[headless_play] t= 16.90s step= 845 trunk_z= 120.9mm grav_b=(+0.07,+0.11,-0.99) r=0.31m +[headless_play] t= 17.00s step= 850 trunk_z= 126.5mm grav_b=(+0.03,+0.00,-1.00) r=0.31m +[headless_play] t= 17.10s step= 855 trunk_z= 124.0mm grav_b=(+0.01,-0.14,-0.99) r=0.33m +[headless_play] t= 17.20s step= 860 trunk_z= 130.1mm grav_b=(+0.04,-0.12,-0.99) r=0.34m +[headless_play] t= 17.30s step= 865 trunk_z= 115.5mm grav_b=(+0.03,+0.03,-1.00) r=0.37m +[headless_play] t= 17.40s step= 870 trunk_z= 129.0mm grav_b=(+0.07,-0.06,-1.00) r=0.40m +[headless_play] t= 17.50s step= 875 trunk_z= 112.4mm grav_b=(+0.02,-0.14,-0.99) r=0.43m +[headless_play] t= 17.60s step= 880 trunk_z= 120.1mm grav_b=(-0.08,+0.19,-0.98) r=0.47m +[headless_play] t= 17.70s step= 885 trunk_z= 135.6mm grav_b=(+0.04,+0.32,-0.95) r=0.50m +[headless_play] t= 17.80s step= 890 trunk_z= 135.7mm grav_b=(+0.06,+0.15,-0.99) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 121.2mm grav_b=(+0.07,+0.00,-1.00) r=0.57m +[headless_play] t= 18.00s step= 900 trunk_z= 124.2mm grav_b=(+0.06,+0.16,-0.99) r=0.61m +[headless_play] t= 18.10s step= 905 trunk_z= 127.7mm grav_b=(+0.13,+0.02,-0.99) r=0.63m +[headless_play] t= 18.20s step= 910 trunk_z= 107.7mm grav_b=(+0.09,-0.25,-0.97) r=0.65m +[headless_play] t= 18.30s step= 915 trunk_z= 109.4mm grav_b=(-0.12,-0.15,-0.98) r=0.65m +[headless_play] t= 18.40s step= 920 trunk_z= 112.9mm grav_b=(-0.10,+0.06,-0.99) r=0.66m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(+0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 18.60s step= 930 trunk_z= 117.0mm grav_b=(+0.05,-0.15,-0.99) r=0.68m +[headless_play] t= 18.70s step= 935 trunk_z= 131.2mm grav_b=(+0.10,-0.22,-0.97) r=0.72m +[headless_play] t= 18.80s step= 940 trunk_z= 122.9mm grav_b=(+0.08,-0.29,-0.95) r=0.76m +[headless_play] t= 18.90s step= 945 trunk_z= 82.3mm grav_b=(-0.07,-0.38,-0.92) r=0.82m +[headless_play] t= 19.00s step= 950 trunk_z= 59.0mm grav_b=(+0.43,-0.81,-0.41) r=0.87m +[headless_play] RESET at t= 19.02s step= 951 (env termination, not a recovery) +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(+0.02,+0.05,-1.00) r=0.60m +[headless_play] t= 19.20s step= 960 trunk_z= 118.6mm grav_b=(+0.06,+0.06,-1.00) r=0.61m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(+0.05,-0.11,-0.99) r=0.60m +[headless_play] t= 19.40s step= 970 trunk_z= 126.5mm grav_b=(+0.02,-0.13,-0.99) r=0.59m +[headless_play] t= 19.50s step= 975 trunk_z= 118.1mm grav_b=(+0.05,+0.03,-1.00) r=0.59m +[headless_play] t= 19.60s step= 980 trunk_z= 122.7mm grav_b=(+0.03,+0.06,-1.00) r=0.60m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(+0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(+0.04,+0.02,-1.00) r=0.59m +[headless_play] t= 19.90s step= 995 trunk_z= 121.9mm grav_b=(+0.08,+0.13,-0.99) r=0.60m +[headless_play] t= 20.00s step=1000 trunk_z= 121.7mm grav_b=(+0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 20.10s step=1005 trunk_z= 123.9mm grav_b=(+0.04,-0.06,-1.00) r=0.60m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..ee26581f9371e7b2ee0e5b43b5f2aa5d408376ec --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.854,-18.133,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.5mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 118.7mm grav_b=(+0.01,-0.09,-1.00) r=0.21m +[headless_play] t= 0.30s step= 15 trunk_z= 120.2mm grav_b=(+0.03,-0.02,-1.00) r=0.21m +[headless_play] t= 0.40s step= 20 trunk_z= 122.6mm grav_b=(+0.04,+0.10,-0.99) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 121.0mm grav_b=(+0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 0.60s step= 30 trunk_z= 122.0mm grav_b=(+0.02,-0.05,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(-0.01,+0.08,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 117.6mm grav_b=(-0.00,-0.07,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 123.0mm grav_b=(-0.00,-0.08,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 118.0mm grav_b=(+0.00,+0.08,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 123.0mm grav_b=(+0.04,+0.07,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(+0.06,-0.10,-0.99) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 123.0mm grav_b=(+0.00,-0.02,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 119.7mm grav_b=(+0.03,+0.09,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 118.5mm grav_b=(+0.03,-0.09,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 126.4mm grav_b=(+0.00,-0.13,-0.99) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 119.9mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 1.80s step= 90 trunk_z= 118.8mm grav_b=(+0.01,-0.03,-1.00) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 121.2mm grav_b=(+0.07,-0.11,-0.99) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 124.4mm grav_b=(+0.10,+0.01,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 119.4mm grav_b=(+0.05,+0.04,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 125.5mm grav_b=(+0.00,-0.07,-1.00) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 124.9mm grav_b=(-0.06,-0.16,-0.99) r=0.65m +[headless_play] t= 2.40s step= 120 trunk_z= 125.4mm grav_b=(-0.05,-0.09,-0.99) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 121.4mm grav_b=(+0.02,+0.09,-1.00) r=0.72m +[headless_play] t= 2.60s step= 130 trunk_z= 125.6mm grav_b=(+0.11,+0.01,-0.99) r=0.75m +[headless_play] t= 2.70s step= 135 trunk_z= 119.6mm grav_b=(+0.08,-0.04,-1.00) r=0.78m +[headless_play] t= 2.80s step= 140 trunk_z= 123.1mm grav_b=(+0.09,+0.06,-0.99) r=0.81m +[headless_play] t= 2.90s step= 145 trunk_z= 116.8mm grav_b=(+0.01,+0.10,-1.00) r=0.84m +[headless_play] t= 3.00s step= 150 trunk_z= 121.7mm grav_b=(-0.03,+0.01,-1.00) r=0.86m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(-0.09,-0.07,-0.99) r=0.89m +[headless_play] t= 3.20s step= 160 trunk_z= 119.8mm grav_b=(-0.07,+0.07,-1.00) r=0.91m +[headless_play] t= 3.30s step= 165 trunk_z= 121.2mm grav_b=(+0.03,+0.05,-1.00) r=0.93m +[headless_play] t= 3.40s step= 170 trunk_z= 117.2mm grav_b=(+0.09,-0.04,-0.99) r=0.97m +[headless_play] t= 3.50s step= 175 trunk_z= 123.4mm grav_b=(+0.12,+0.13,-0.98) r=1.00m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(+0.10,+0.13,-0.99) r=1.04m +[headless_play] t= 3.70s step= 185 trunk_z= 124.7mm grav_b=(+0.10,+0.00,-1.00) r=1.07m +[headless_play] t= 3.80s step= 190 trunk_z= 110.1mm grav_b=(-0.06,-0.16,-0.98) r=1.11m +[headless_play] t= 3.90s step= 195 trunk_z= 121.4mm grav_b=(-0.11,-0.07,-0.99) r=1.14m +[headless_play] t= 4.00s step= 200 trunk_z= 119.6mm grav_b=(-0.05,+0.09,-0.99) r=1.16m +[headless_play] t= 4.10s step= 205 trunk_z= 123.3mm grav_b=(+0.03,+0.09,-1.00) r=1.17m +[headless_play] t= 4.20s step= 210 trunk_z= 116.6mm grav_b=(+0.04,-0.07,-1.00) r=1.19m +[headless_play] t= 4.30s step= 215 trunk_z= 120.3mm grav_b=(-0.01,+0.00,-1.00) r=1.21m +[headless_play] t= 4.40s step= 220 trunk_z= 119.2mm grav_b=(-0.00,+0.09,-1.00) r=1.23m +[headless_play] t= 4.50s step= 225 trunk_z= 116.7mm grav_b=(+0.00,-0.03,-1.00) r=1.26m +[headless_play] t= 4.60s step= 230 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00) r=1.28m +[headless_play] t= 4.70s step= 235 trunk_z= 116.8mm grav_b=(-0.02,+0.14,-0.99) r=1.29m +[headless_play] t= 4.80s step= 240 trunk_z= 114.3mm grav_b=(+0.04,+0.03,-1.00) r=1.31m +[headless_play] t= 4.90s step= 245 trunk_z= 118.0mm grav_b=(+0.03,-0.09,-1.00) r=1.33m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(+0.02,+0.07,-1.00) r=1.35m +[headless_play] t= 5.10s step= 255 trunk_z= 117.6mm grav_b=(+0.07,+0.15,-0.99) r=1.37m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(+0.10,-0.01,-1.00) r=1.40m +[headless_play] t= 5.30s step= 265 trunk_z= 123.5mm grav_b=(+0.01,-0.08,-1.00) r=1.42m +[headless_play] t= 5.40s step= 270 trunk_z= 114.5mm grav_b=(-0.01,+0.08,-1.00) r=1.45m +[headless_play] t= 5.50s step= 275 trunk_z= 120.9mm grav_b=(+0.05,+0.14,-0.99) r=1.48m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(+0.11,+0.03,-0.99) r=1.50m +[headless_play] t= 5.70s step= 285 trunk_z= 121.1mm grav_b=(+0.02,-0.05,-1.00) r=1.53m +[headless_play] t= 5.80s step= 290 trunk_z= 117.2mm grav_b=(-0.00,+0.09,-1.00) r=1.55m +[headless_play] t= 5.90s step= 295 trunk_z= 122.7mm grav_b=(+0.04,+0.15,-0.99) r=1.58m +[headless_play] t= 6.00s step= 300 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00) r=1.60m +[headless_play] t= 6.10s step= 305 trunk_z= 119.7mm grav_b=(-0.01,-0.03,-1.00) r=1.62m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(+0.00,+0.15,-0.99) r=1.65m +[headless_play] t= 6.30s step= 315 trunk_z= 114.0mm grav_b=(+0.10,-0.01,-0.99) r=1.68m +[headless_play] t= 6.40s step= 320 trunk_z= 121.5mm grav_b=(+0.03,-0.07,-1.00) r=1.71m +[headless_play] t= 6.50s step= 325 trunk_z= 114.9mm grav_b=(-0.00,+0.10,-0.99) r=1.74m +[headless_play] t= 6.60s step= 330 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=1.76m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(+0.06,-0.11,-0.99) r=1.79m +[headless_play] t= 6.80s step= 340 trunk_z= 122.3mm grav_b=(-0.01,+0.07,-1.00) r=1.82m +[headless_play] t= 6.90s step= 345 trunk_z= 123.5mm grav_b=(-0.02,+0.14,-0.99) r=1.85m +[headless_play] t= 7.00s step= 350 trunk_z= 117.9mm grav_b=(+0.05,-0.02,-1.00) r=1.88m +[headless_play] t= 7.10s step= 355 trunk_z= 118.6mm grav_b=(+0.04,-0.00,-1.00) r=1.91m +[headless_play] t= 7.20s step= 360 trunk_z= 116.5mm grav_b=(+0.04,+0.16,-0.99) r=1.94m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(+0.04,-0.07,-1.00) r=1.99m +[headless_play] t= 7.40s step= 370 trunk_z= 125.3mm grav_b=(-0.04,-0.20,-0.98) r=2.03m +[headless_play] t= 7.50s step= 375 trunk_z= 121.1mm grav_b=(-0.06,-0.05,-1.00) r=2.06m +[headless_play] t= 7.60s step= 380 trunk_z= 117.9mm grav_b=(-0.05,+0.04,-1.00) r=2.09m +[headless_play] t= 7.70s step= 385 trunk_z= 119.0mm grav_b=(+0.01,-0.10,-0.99) r=2.11m +[headless_play] t= 7.80s step= 390 trunk_z= 122.4mm grav_b=(+0.08,+0.00,-1.00) r=2.14m +[headless_play] t= 7.90s step= 395 trunk_z= 124.4mm grav_b=(+0.11,+0.14,-0.98) r=2.16m +[headless_play] t= 8.00s step= 400 trunk_z= 124.5mm grav_b=(+0.09,+0.01,-1.00) r=2.19m +[headless_play] t= 8.10s step= 405 trunk_z= 122.3mm grav_b=(+0.01,-0.04,-1.00) r=2.23m +[headless_play] t= 8.20s step= 410 trunk_z= 118.4mm grav_b=(-0.03,+0.15,-0.99) r=2.28m +[headless_play] t= 8.30s step= 415 trunk_z= 120.8mm grav_b=(+0.09,+0.02,-1.00) r=2.31m +[headless_play] t= 8.40s step= 420 trunk_z= 123.1mm grav_b=(+0.02,-0.06,-1.00) r=2.35m +[headless_play] t= 8.50s step= 425 trunk_z= 117.9mm grav_b=(-0.03,+0.16,-0.99) r=2.39m +[headless_play] t= 8.60s step= 430 trunk_z= 120.8mm grav_b=(+0.10,+0.06,-0.99) r=2.43m +[headless_play] t= 8.70s step= 435 trunk_z= 116.0mm grav_b=(+0.02,-0.14,-0.99) r=2.47m +[headless_play] t= 8.80s step= 440 trunk_z= 115.4mm grav_b=(-0.11,+0.07,-0.99) r=2.47m +[headless_play] t= 8.90s step= 445 trunk_z= 121.1mm grav_b=(+0.02,+0.14,-0.99) r=2.49m +[headless_play] t= 9.00s step= 450 trunk_z= 118.9mm grav_b=(+0.05,-0.00,-1.00) r=2.50m +[headless_play] t= 9.10s step= 455 trunk_z= 120.4mm grav_b=(-0.02,-0.01,-1.00) r=2.52m +[headless_play] t= 9.20s step= 460 trunk_z= 117.5mm grav_b=(+0.01,+0.12,-0.99) r=2.54m +[headless_play] t= 9.30s step= 465 trunk_z= 115.1mm grav_b=(+0.07,-0.09,-0.99) r=2.56m +[headless_play] t= 9.40s step= 470 trunk_z= 121.4mm grav_b=(-0.02,-0.07,-1.00) r=2.57m +[headless_play] t= 9.50s step= 475 trunk_z= 119.4mm grav_b=(-0.03,+0.18,-0.98) r=2.59m +[headless_play] t= 9.60s step= 480 trunk_z= 127.0mm grav_b=(+0.07,+0.20,-0.98) r=2.60m +[headless_play] t= 9.70s step= 485 trunk_z= 126.3mm grav_b=(+0.10,+0.11,-0.99) r=2.61m +[headless_play] t= 9.80s step= 490 trunk_z= 128.2mm grav_b=(+0.08,+0.13,-0.99) r=2.63m +[headless_play] t= 9.90s step= 495 trunk_z= 124.3mm grav_b=(+0.05,+0.25,-0.97) r=2.65m +[headless_play] t= 10.00s step= 500 trunk_z= 125.2mm grav_b=(+0.25,+0.14,-0.96) r=2.67m +[headless_play] t= 10.10s step= 505 trunk_z= 104.3mm grav_b=(+0.28,+0.21,-0.94) r=2.68m +[headless_play] t= 10.20s step= 510 trunk_z= 95.6mm grav_b=(+0.78,+0.50,-0.38) r=2.69m +[headless_play] RESET at t= 10.22s step= 511 (env termination, not a recovery) +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(-0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 10.50s step= 525 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 10.60s step= 530 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=0.47m +[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 10.80s step= 540 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.47m +[headless_play] t= 10.90s step= 545 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.47m +[headless_play] t= 11.10s step= 555 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 11.70s step= 585 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 11.80s step= 590 trunk_z= 116.8mm grav_b=(-0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 11.90s step= 595 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(+0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 12.50s step= 625 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 117.0mm grav_b=(+0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 13.20s step= 660 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(-0.00,-0.02,-1.00) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 117.0mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(-0.00,-0.02,-1.00) r=0.43m +[headless_play] t= 13.80s step= 690 trunk_z= 116.9mm grav_b=(-0.00,-0.02,-1.00) r=0.43m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 14.00s step= 700 trunk_z= 117.0mm grav_b=(-0.00,-0.02,-1.00) r=0.43m +[headless_play] t= 14.10s step= 705 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 117.2mm grav_b=(-0.06,-0.01,-1.00) r=0.44m +[headless_play] t= 14.30s step= 715 trunk_z= 117.1mm grav_b=(-0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 14.60s step= 730 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.44m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 15.10s step= 755 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.45m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(-0.00,-0.01,-1.00) r=0.45m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 15.50s step= 775 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 15.70s step= 785 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.48m +[headless_play] t= 15.80s step= 790 trunk_z= 116.9mm grav_b=(-0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 15.90s step= 795 trunk_z= 117.0mm grav_b=(-0.06,-0.01,-1.00) r=0.49m +[headless_play] t= 16.00s step= 800 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 16.10s step= 805 trunk_z= 117.2mm grav_b=(+0.00,-0.01,-1.00) r=0.49m +[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 16.30s step= 815 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 16.40s step= 820 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=0.49m +[headless_play] t= 16.50s step= 825 trunk_z= 117.8mm grav_b=(+0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 16.60s step= 830 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 16.70s step= 835 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 16.80s step= 840 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 16.90s step= 845 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 17.10s step= 855 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.50m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.50m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 17.40s step= 870 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 17.50s step= 875 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 17.60s step= 880 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 17.70s step= 885 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 17.80s step= 890 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.50m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.50m +[headless_play] t= 18.00s step= 900 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 18.10s step= 905 trunk_z= 117.9mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 18.50s step= 925 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 18.60s step= 930 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 18.70s step= 935 trunk_z= 117.8mm grav_b=(+0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 18.80s step= 940 trunk_z= 118.6mm grav_b=(+0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 18.90s step= 945 trunk_z= 118.4mm grav_b=(+0.00,-0.00,-1.00) r=0.50m +[headless_play] t= 19.00s step= 950 trunk_z= 117.2mm grav_b=(-0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.51m +[headless_play] t= 19.30s step= 965 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.51m +[headless_play] t= 19.40s step= 970 trunk_z= 117.4mm grav_b=(-0.05,+0.00,-1.00) r=0.51m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 19.60s step= 980 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 19.70s step= 985 trunk_z= 117.5mm grav_b=(-0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(-0.03,+0.00,-1.00) r=0.51m +[headless_play] t= 19.90s step= 995 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.06,+0.01,-1.00) r=0.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..09e5c0e74da030cf89a27fcdbf55243834fa355e --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t3.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.113,-18.387,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.1mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(+0.04,-0.07,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.09,-0.08,-0.99) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 117.9mm grav_b=(+0.11,+0.08,-0.99) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 124.1mm grav_b=(+0.17,+0.07,-0.98) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(+0.15,-0.07,-0.99) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 120.7mm grav_b=(+0.07,-0.03,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 118.0mm grav_b=(+0.04,+0.05,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 120.8mm grav_b=(+0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 122.7mm grav_b=(+0.06,-0.09,-0.99) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 121.6mm grav_b=(+0.09,-0.02,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 123.3mm grav_b=(+0.10,+0.05,-0.99) r=0.44m +[headless_play] t= 1.20s step= 60 trunk_z= 117.5mm grav_b=(+0.05,-0.07,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 117.9mm grav_b=(+0.09,+0.06,-0.99) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 122.2mm grav_b=(+0.10,+0.07,-0.99) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 115.9mm grav_b=(+0.02,-0.11,-0.99) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 121.5mm grav_b=(+0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 118.9mm grav_b=(+0.03,+0.10,-0.99) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 120.4mm grav_b=(+0.08,+0.01,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 121.9mm grav_b=(+0.09,-0.10,-0.99) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 120.7mm grav_b=(+0.07,-0.02,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 121.6mm grav_b=(+0.11,+0.02,-0.99) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 119.0mm grav_b=(+0.18,-0.12,-0.98) r=0.47m +[headless_play] t= 2.30s step= 115 trunk_z= 126.5mm grav_b=(+0.18,+0.02,-0.98) r=0.48m +[headless_play] t= 2.40s step= 120 trunk_z= 111.6mm grav_b=(+0.16,-0.05,-0.99) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 121.8mm grav_b=(+0.28,-0.25,-0.93) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 134.5mm grav_b=(+0.38,-0.17,-0.91) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 105.4mm grav_b=(+0.60,+0.10,-0.79) r=0.48m +[headless_play] RESET at t= 2.78s step= 139 (env termination, not a recovery) +[headless_play] t= 2.80s step= 140 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(+0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(+0.10,-0.02,-0.99) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 118.9mm grav_b=(+0.09,-0.07,-0.99) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 118.8mm grav_b=(+0.07,+0.03,-1.00) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 121.5mm grav_b=(+0.09,-0.02,-1.00) r=0.51m +[headless_play] t= 3.40s step= 170 trunk_z= 121.4mm grav_b=(+0.09,-0.14,-0.99) r=0.50m +[headless_play] t= 3.50s step= 175 trunk_z= 121.8mm grav_b=(+0.03,-0.02,-1.00) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 123.1mm grav_b=(+0.04,+0.06,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 118.7mm grav_b=(+0.07,-0.15,-0.99) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 124.3mm grav_b=(+0.04,-0.09,-0.99) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 120.4mm grav_b=(-0.00,+0.09,-1.00) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 119.8mm grav_b=(+0.01,-0.07,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 122.2mm grav_b=(+0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 122.3mm grav_b=(+0.04,+0.07,-1.00) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 121.2mm grav_b=(+0.12,-0.07,-0.99) r=0.58m +[headless_play] t= 4.40s step= 220 trunk_z= 124.3mm grav_b=(+0.11,-0.04,-0.99) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 117.1mm grav_b=(+0.08,+0.14,-0.99) r=0.62m +[headless_play] t= 4.60s step= 230 trunk_z= 124.9mm grav_b=(+0.08,+0.06,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 118.1mm grav_b=(+0.02,-0.13,-0.99) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 124.3mm grav_b=(-0.09,-0.13,-0.99) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 115.1mm grav_b=(-0.09,+0.02,-1.00) r=0.62m +[headless_play] t= 5.00s step= 250 trunk_z= 116.1mm grav_b=(+0.02,-0.12,-0.99) r=0.61m +[headless_play] t= 5.10s step= 255 trunk_z= 119.2mm grav_b=(+0.04,-0.22,-0.98) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 123.5mm grav_b=(+0.07,-0.11,-0.99) r=0.62m +[headless_play] t= 5.30s step= 265 trunk_z= 119.3mm grav_b=(+0.13,+0.02,-0.99) r=0.63m +[headless_play] t= 5.40s step= 270 trunk_z= 118.0mm grav_b=(+0.12,-0.15,-0.98) r=0.64m +[headless_play] t= 5.50s step= 275 trunk_z= 123.3mm grav_b=(+0.15,+0.04,-0.99) r=0.66m +[headless_play] t= 5.60s step= 280 trunk_z= 121.0mm grav_b=(+0.18,+0.07,-0.98) r=0.68m +[headless_play] t= 5.70s step= 285 trunk_z= 118.4mm grav_b=(+0.11,-0.16,-0.98) r=0.69m +[headless_play] t= 5.80s step= 290 trunk_z= 124.3mm grav_b=(-0.01,-0.25,-0.97) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 128.0mm grav_b=(-0.05,-0.16,-0.99) r=0.70m +[headless_play] t= 6.00s step= 300 trunk_z= 121.7mm grav_b=(-0.04,+0.08,-1.00) r=0.72m +[headless_play] t= 6.10s step= 305 trunk_z= 119.6mm grav_b=(+0.03,+0.01,-1.00) r=0.73m +[headless_play] t= 6.20s step= 310 trunk_z= 117.9mm grav_b=(+0.03,-0.00,-1.00) r=0.74m +[headless_play] t= 6.30s step= 315 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 6.40s step= 320 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.74m +[headless_play] t= 6.50s step= 325 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 6.60s step= 330 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.74m +[headless_play] t= 6.70s step= 335 trunk_z= 118.0mm grav_b=(+0.03,-0.01,-1.00) r=0.74m +[headless_play] t= 6.80s step= 340 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.74m +[headless_play] t= 6.90s step= 345 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.74m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.74m +[headless_play] t= 7.30s step= 365 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.74m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.74m +[headless_play] t= 7.50s step= 375 trunk_z= 116.8mm grav_b=(-0.00,-0.00,-1.00) r=0.73m +[headless_play] t= 7.60s step= 380 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.73m +[headless_play] t= 7.70s step= 385 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.73m +[headless_play] t= 7.80s step= 390 trunk_z= 113.4mm grav_b=(+0.06,-0.04,-1.00) r=0.72m +[headless_play] t= 7.90s step= 395 trunk_z= 113.1mm grav_b=(+0.10,-0.03,-0.99) r=0.72m +[headless_play] t= 8.00s step= 400 trunk_z= 114.0mm grav_b=(+0.09,-0.02,-1.00) r=0.72m +[headless_play] t= 8.10s step= 405 trunk_z= 114.7mm grav_b=(+0.06,-0.01,-1.00) r=0.72m +[headless_play] t= 8.20s step= 410 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.72m +[headless_play] t= 8.30s step= 415 trunk_z= 115.1mm grav_b=(+0.05,-0.01,-1.00) r=0.72m +[headless_play] t= 8.40s step= 420 trunk_z= 115.2mm grav_b=(+0.06,-0.01,-1.00) r=0.72m +[headless_play] t= 8.50s step= 425 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.72m +[headless_play] t= 8.60s step= 430 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.72m +[headless_play] t= 8.70s step= 435 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.72m +[headless_play] t= 8.80s step= 440 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.72m +[headless_play] t= 8.90s step= 445 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.72m +[headless_play] t= 9.00s step= 450 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.72m +[headless_play] t= 9.10s step= 455 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.72m +[headless_play] t= 9.20s step= 460 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.72m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.72m +[headless_play] t= 9.40s step= 470 trunk_z= 115.5mm grav_b=(+0.02,+0.01,-1.00) r=0.72m +[headless_play] t= 9.50s step= 475 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.72m +[headless_play] t= 9.60s step= 480 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.72m +[headless_play] t= 9.70s step= 485 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.72m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(+0.05,+0.01,-1.00) r=0.72m +[headless_play] t= 9.90s step= 495 trunk_z= 119.0mm grav_b=(+0.10,+0.01,-0.99) r=0.72m +[headless_play] t= 10.00s step= 500 trunk_z= 121.2mm grav_b=(+0.16,+0.01,-0.99) r=0.72m +[headless_play] t= 10.10s step= 505 trunk_z= 115.1mm grav_b=(+0.25,+0.12,-0.96) r=0.73m +[headless_play] t= 10.20s step= 510 trunk_z= 112.1mm grav_b=(+0.34,-0.36,-0.87) r=0.71m +[headless_play] t= 10.30s step= 515 trunk_z= 79.0mm grav_b=(+0.90,-0.11,-0.43) r=0.70m +[headless_play] RESET at t= 10.32s step= 516 (env termination, not a recovery) +[headless_play] t= 10.40s step= 520 trunk_z= 114.5mm grav_b=(-0.00,+0.00,-1.00) r=0.25m +[headless_play] t= 10.50s step= 525 trunk_z= 116.3mm grav_b=(+0.06,-0.06,-1.00) r=0.25m +[headless_play] t= 10.60s step= 530 trunk_z= 115.9mm grav_b=(+0.06,-0.04,-1.00) r=0.25m +[headless_play] t= 10.70s step= 535 trunk_z= 119.4mm grav_b=(+0.10,+0.12,-0.99) r=0.26m +[headless_play] t= 10.80s step= 540 trunk_z= 122.7mm grav_b=(+0.16,+0.10,-0.98) r=0.26m +[headless_play] t= 10.90s step= 545 trunk_z= 114.6mm grav_b=(+0.17,-0.05,-0.98) r=0.26m +[headless_play] t= 11.00s step= 550 trunk_z= 121.8mm grav_b=(+0.07,+0.10,-0.99) r=0.28m +[headless_play] t= 11.10s step= 555 trunk_z= 124.7mm grav_b=(+0.22,+0.13,-0.97) r=0.30m +[headless_play] t= 11.20s step= 560 trunk_z= 107.9mm grav_b=(+0.35,+0.00,-0.94) r=0.33m +[headless_play] t= 11.30s step= 565 trunk_z= 101.4mm grav_b=(+0.46,+0.32,-0.83) r=0.35m +[headless_play] RESET at t= 11.38s step= 569 (env termination, not a recovery) +[headless_play] t= 11.40s step= 570 trunk_z= 122.5mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 11.50s step= 575 trunk_z= 116.9mm grav_b=(+0.01,+0.07,-1.00) r=0.36m +[headless_play] t= 11.60s step= 580 trunk_z= 118.0mm grav_b=(+0.07,+0.05,-1.00) r=0.36m +[headless_play] t= 11.70s step= 585 trunk_z= 118.8mm grav_b=(+0.08,-0.07,-0.99) r=0.36m +[headless_play] t= 11.80s step= 590 trunk_z= 117.3mm grav_b=(+0.10,+0.05,-0.99) r=0.38m +[headless_play] t= 11.90s step= 595 trunk_z= 120.9mm grav_b=(+0.17,-0.04,-0.99) r=0.42m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(+0.11,-0.21,-0.97) r=0.46m +[headless_play] t= 12.10s step= 605 trunk_z= 126.2mm grav_b=(+0.04,-0.21,-0.98) r=0.50m +[headless_play] t= 12.20s step= 610 trunk_z= 129.2mm grav_b=(+0.08,-0.11,-0.99) r=0.52m +[headless_play] t= 12.30s step= 615 trunk_z= 120.3mm grav_b=(+0.08,+0.04,-1.00) r=0.54m +[headless_play] t= 12.40s step= 620 trunk_z= 119.3mm grav_b=(+0.06,-0.11,-0.99) r=0.56m +[headless_play] t= 12.50s step= 625 trunk_z= 120.1mm grav_b=(+0.08,-0.01,-1.00) r=0.58m +[headless_play] t= 12.60s step= 630 trunk_z= 122.0mm grav_b=(+0.11,+0.12,-0.99) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 124.0mm grav_b=(+0.10,+0.00,-1.00) r=0.61m +[headless_play] t= 12.80s step= 640 trunk_z= 124.1mm grav_b=(+0.08,-0.07,-0.99) r=0.64m +[headless_play] t= 12.90s step= 645 trunk_z= 119.0mm grav_b=(+0.07,+0.10,-0.99) r=0.66m +[headless_play] t= 13.00s step= 650 trunk_z= 124.4mm grav_b=(+0.10,+0.03,-0.99) r=0.68m +[headless_play] t= 13.10s step= 655 trunk_z= 122.8mm grav_b=(+0.13,-0.11,-0.98) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 126.3mm grav_b=(+0.16,+0.02,-0.99) r=0.77m +[headless_play] t= 13.30s step= 665 trunk_z= 119.2mm grav_b=(+0.09,+0.06,-0.99) r=0.80m +[headless_play] t= 13.40s step= 670 trunk_z= 124.7mm grav_b=(+0.06,-0.02,-1.00) r=0.83m +[headless_play] t= 13.50s step= 675 trunk_z= 123.7mm grav_b=(+0.02,-0.14,-0.99) r=0.86m +[headless_play] t= 13.60s step= 680 trunk_z= 126.8mm grav_b=(+0.07,-0.06,-1.00) r=0.88m +[headless_play] t= 13.70s step= 685 trunk_z= 122.7mm grav_b=(+0.10,+0.04,-0.99) r=0.90m +[headless_play] t= 13.80s step= 690 trunk_z= 120.7mm grav_b=(+0.07,-0.12,-0.99) r=0.93m +[headless_play] t= 13.90s step= 695 trunk_z= 130.8mm grav_b=(+0.12,-0.16,-0.98) r=0.96m +[headless_play] t= 14.00s step= 700 trunk_z= 128.5mm grav_b=(+0.14,-0.14,-0.98) r=1.00m +[headless_play] t= 14.10s step= 705 trunk_z= 110.5mm grav_b=(+0.07,-0.11,-0.99) r=1.04m +[headless_play] t= 14.20s step= 710 trunk_z= 122.7mm grav_b=(+0.07,-0.11,-0.99) r=1.07m +[headless_play] t= 14.30s step= 715 trunk_z= 121.2mm grav_b=(+0.14,-0.15,-0.98) r=1.10m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.20,+0.09,-0.97) r=1.13m +[headless_play] t= 14.50s step= 725 trunk_z= 115.7mm grav_b=(+0.14,+0.07,-0.99) r=1.16m +[headless_play] t= 14.60s step= 730 trunk_z= 123.3mm grav_b=(+0.09,+0.00,-1.00) r=1.18m +[headless_play] t= 14.70s step= 735 trunk_z= 117.7mm grav_b=(-0.00,-0.13,-0.99) r=1.19m +[headless_play] t= 14.80s step= 740 trunk_z= 123.3mm grav_b=(+0.03,+0.05,-1.00) r=1.22m +[headless_play] t= 14.90s step= 745 trunk_z= 127.4mm grav_b=(+0.05,+0.12,-0.99) r=1.24m +[headless_play] t= 15.00s step= 750 trunk_z= 121.3mm grav_b=(+0.06,-0.03,-1.00) r=1.24m +[headless_play] t= 15.10s step= 755 trunk_z= 125.4mm grav_b=(+0.13,-0.07,-0.99) r=1.25m +[headless_play] t= 15.20s step= 760 trunk_z= 115.4mm grav_b=(+0.12,+0.07,-0.99) r=1.26m +[headless_play] t= 15.30s step= 765 trunk_z= 126.5mm grav_b=(+0.12,-0.01,-0.99) r=1.25m +[headless_play] t= 15.40s step= 770 trunk_z= 121.5mm grav_b=(+0.05,-0.17,-0.98) r=1.25m +[headless_play] t= 15.50s step= 775 trunk_z= 130.3mm grav_b=(+0.08,-0.16,-0.98) r=1.26m +[headless_play] t= 15.60s step= 780 trunk_z= 125.1mm grav_b=(+0.10,-0.09,-0.99) r=1.27m +[headless_play] t= 15.70s step= 785 trunk_z= 120.3mm grav_b=(+0.09,-0.03,-1.00) r=1.29m +[headless_play] t= 15.80s step= 790 trunk_z= 119.4mm grav_b=(+0.04,-0.13,-0.99) r=1.30m +[headless_play] t= 15.90s step= 795 trunk_z= 126.6mm grav_b=(+0.12,-0.10,-0.99) r=1.31m +[headless_play] t= 16.00s step= 800 trunk_z= 112.2mm grav_b=(+0.16,+0.08,-0.98) r=1.33m +[headless_play] t= 16.10s step= 805 trunk_z= 123.9mm grav_b=(+0.11,+0.08,-0.99) r=1.37m +[headless_play] t= 16.20s step= 810 trunk_z= 119.9mm grav_b=(+0.06,-0.08,-1.00) r=1.39m +[headless_play] t= 16.30s step= 815 trunk_z= 119.5mm grav_b=(+0.01,-0.03,-1.00) r=1.40m +[headless_play] t= 16.40s step= 820 trunk_z= 124.4mm grav_b=(+0.06,+0.14,-0.99) r=1.43m +[headless_play] t= 16.50s step= 825 trunk_z= 128.5mm grav_b=(+0.11,+0.16,-0.98) r=1.44m +[headless_play] t= 16.60s step= 830 trunk_z= 125.4mm grav_b=(+0.21,+0.06,-0.98) r=1.45m +[headless_play] t= 16.70s step= 835 trunk_z= 127.1mm grav_b=(+0.22,+0.20,-0.96) r=1.47m +[headless_play] t= 16.80s step= 840 trunk_z= 126.0mm grav_b=(+0.38,+0.40,-0.84) r=1.49m +[headless_play] t= 16.90s step= 845 trunk_z= 125.8mm grav_b=(+0.76,+0.29,-0.57) r=1.48m +[headless_play] RESET at t= 16.96s step= 848 (env termination, not a recovery) +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 17.10s step= 855 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.06,-0.00,-1.00) r=0.46m +[headless_play] t= 17.30s step= 865 trunk_z= 116.9mm grav_b=(+0.07,+0.00,-1.00) r=0.46m +[headless_play] t= 17.40s step= 870 trunk_z= 116.7mm grav_b=(+0.06,+0.01,-1.00) r=0.45m +[headless_play] t= 17.50s step= 875 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 17.70s step= 885 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 17.80s step= 890 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00) r=0.45m +[headless_play] t= 17.90s step= 895 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 18.00s step= 900 trunk_z= 116.0mm grav_b=(-0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 18.20s step= 910 trunk_z= 116.7mm grav_b=(+0.05,+0.00,-1.00) r=0.45m +[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(+0.06,+0.00,-1.00) r=0.45m +[headless_play] t= 18.40s step= 920 trunk_z= 116.2mm grav_b=(+0.03,+0.00,-1.00) r=0.45m +[headless_play] t= 18.50s step= 925 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 18.80s step= 940 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 18.90s step= 945 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 19.00s step= 950 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 19.10s step= 955 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.43m +[headless_play] t= 19.30s step= 965 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 19.40s step= 970 trunk_z= 116.2mm grav_b=(-0.00,+0.01,-1.00) r=0.43m +[headless_play] t= 19.50s step= 975 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) r=0.43m +[headless_play] t= 19.70s step= 985 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 19.80s step= 990 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 20.00s step=1000 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..02d566b07ca7e5f9f0561e1cbb96502e6c902348 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(-10.141,-18.355,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.01,-0.06,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(-0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 121.0mm grav_b=(+0.02,+0.05,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 121.8mm grav_b=(-0.00,-0.12,-0.99) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 123.1mm grav_b=(-0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 122.9mm grav_b=(-0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 117.3mm grav_b=(-0.00,-0.09,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 122.0mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 123.4mm grav_b=(+0.01,+0.11,-0.99) r=0.47m +[headless_play] t= 1.00s step= 50 trunk_z= 120.3mm grav_b=(+0.02,-0.02,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 120.9mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 123.4mm grav_b=(-0.00,+0.12,-0.99) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 123.3mm grav_b=(+0.02,+0.05,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 121.6mm grav_b=(-0.01,-0.04,-1.00) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 120.0mm grav_b=(-0.03,+0.08,-1.00) r=0.58m +[headless_play] t= 1.60s step= 80 trunk_z= 121.5mm grav_b=(-0.04,+0.04,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 124.7mm grav_b=(-0.03,-0.11,-0.99) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 124.0mm grav_b=(-0.00,-0.04,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 119.8mm grav_b=(+0.00,+0.04,-1.00) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 118.8mm grav_b=(+0.00,-0.13,-0.99) r=0.64m +[headless_play] t= 2.10s step= 105 trunk_z= 126.4mm grav_b=(+0.00,-0.11,-0.99) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(-0.01,+0.03,-1.00) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 119.3mm grav_b=(+0.01,-0.02,-1.00) r=0.70m +[headless_play] t= 2.40s step= 120 trunk_z= 120.6mm grav_b=(+0.03,-0.11,-0.99) r=0.71m +[headless_play] t= 2.50s step= 125 trunk_z= 120.4mm grav_b=(-0.03,+0.02,-1.00) r=0.73m +[headless_play] t= 2.60s step= 130 trunk_z= 123.2mm grav_b=(+0.02,+0.10,-1.00) r=0.74m +[headless_play] t= 2.70s step= 135 trunk_z= 116.4mm grav_b=(-0.04,-0.10,-0.99) r=0.75m +[headless_play] t= 2.80s step= 140 trunk_z= 119.8mm grav_b=(-0.15,+0.01,-0.99) r=0.75m +[headless_play] t= 2.90s step= 145 trunk_z= 123.6mm grav_b=(-0.09,+0.10,-0.99) r=0.75m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.05,-0.10,-0.99) r=0.75m +[headless_play] t= 3.10s step= 155 trunk_z= 123.3mm grav_b=(-0.06,-0.17,-0.98) r=0.74m +[headless_play] t= 3.20s step= 160 trunk_z= 124.4mm grav_b=(-0.02,-0.13,-0.99) r=0.73m +[headless_play] t= 3.30s step= 165 trunk_z= 117.2mm grav_b=(+0.07,+0.01,-1.00) r=0.73m +[headless_play] t= 3.40s step= 170 trunk_z= 120.1mm grav_b=(+0.04,-0.08,-1.00) r=0.74m +[headless_play] t= 3.50s step= 175 trunk_z= 121.4mm grav_b=(+0.01,+0.02,-1.00) r=0.75m +[headless_play] t= 3.60s step= 180 trunk_z= 122.8mm grav_b=(+0.05,+0.12,-0.99) r=0.78m +[headless_play] t= 3.70s step= 185 trunk_z= 122.6mm grav_b=(-0.00,+0.03,-1.00) r=0.81m +[headless_play] t= 3.80s step= 190 trunk_z= 118.0mm grav_b=(-0.11,-0.15,-0.98) r=0.84m +[headless_play] t= 3.90s step= 195 trunk_z= 118.1mm grav_b=(-0.04,-0.04,-1.00) r=0.87m +[headless_play] t= 4.00s step= 200 trunk_z= 115.9mm grav_b=(-0.00,+0.02,-1.00) r=0.88m +[headless_play] t= 4.10s step= 205 trunk_z= 116.5mm grav_b=(+0.01,+0.03,-1.00) r=0.89m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(-0.01,+0.02,-1.00) r=0.89m +[headless_play] t= 4.40s step= 220 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.70s step= 235 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.90s step= 245 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.10s step= 255 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.89m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(-0.00,+0.02,-1.00) r=0.90m +[headless_play] t= 5.30s step= 265 trunk_z= 116.5mm grav_b=(+0.01,+0.02,-1.00) r=0.91m +[headless_play] t= 5.40s step= 270 trunk_z= 116.5mm grav_b=(+0.04,+0.02,-1.00) r=0.91m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(+0.03,+0.02,-1.00) r=0.91m +[headless_play] t= 5.60s step= 280 trunk_z= 116.5mm grav_b=(+0.01,+0.02,-1.00) r=0.91m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(+0.00,+0.02,-1.00) r=0.91m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(+0.01,+0.02,-1.00) r=0.90m +[headless_play] t= 5.90s step= 295 trunk_z= 117.2mm grav_b=(-0.06,+0.02,-1.00) r=0.89m +[headless_play] t= 6.00s step= 300 trunk_z= 113.8mm grav_b=(-0.07,-0.07,-1.00) r=0.88m +[headless_play] t= 6.10s step= 305 trunk_z= 102.4mm grav_b=(-0.01,-0.13,-0.99) r=0.87m +[headless_play] t= 6.20s step= 310 trunk_z= 100.1mm grav_b=(+0.18,-0.07,-0.98) r=0.87m +[headless_play] t= 6.30s step= 315 trunk_z= 118.1mm grav_b=(+0.11,-0.06,-0.99) r=0.86m +[headless_play] t= 6.40s step= 320 trunk_z= 116.8mm grav_b=(-0.04,+0.14,-0.99) r=0.86m +[headless_play] t= 6.50s step= 325 trunk_z= 119.1mm grav_b=(-0.05,+0.15,-0.99) r=0.88m +[headless_play] t= 6.60s step= 330 trunk_z= 114.3mm grav_b=(-0.04,-0.11,-0.99) r=0.90m +[headless_play] t= 6.70s step= 335 trunk_z= 113.2mm grav_b=(+0.11,-0.02,-0.99) r=0.90m +[headless_play] t= 6.80s step= 340 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.90m +[headless_play] t= 6.90s step= 345 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.91m +[headless_play] t= 7.00s step= 350 trunk_z= 115.2mm grav_b=(+0.02,+0.00,-1.00) r=0.90m +[headless_play] t= 7.10s step= 355 trunk_z= 115.6mm grav_b=(+0.07,+0.01,-1.00) r=0.92m +[headless_play] t= 7.20s step= 360 trunk_z= 116.0mm grav_b=(+0.07,+0.01,-1.00) r=0.92m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(+0.03,+0.00,-1.00) r=0.91m +[headless_play] t= 7.40s step= 370 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.91m +[headless_play] t= 7.50s step= 375 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.91m +[headless_play] t= 7.70s step= 385 trunk_z= 115.9mm grav_b=(+0.04,+0.00,-1.00) r=0.91m +[headless_play] t= 7.80s step= 390 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.91m +[headless_play] t= 7.90s step= 395 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.91m +[headless_play] t= 8.00s step= 400 trunk_z= 116.3mm grav_b=(+0.05,+0.00,-1.00) r=0.92m +[headless_play] t= 8.10s step= 405 trunk_z= 118.4mm grav_b=(+0.07,+0.00,-1.00) r=0.93m +[headless_play] t= 8.20s step= 410 trunk_z= 117.5mm grav_b=(+0.07,+0.01,-1.00) r=0.93m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.92m +[headless_play] t= 8.40s step= 420 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 8.50s step= 425 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.92m +[headless_play] t= 8.60s step= 430 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 8.70s step= 435 trunk_z= 117.5mm grav_b=(+0.04,-0.09,-0.99) r=0.93m +[headless_play] t= 8.80s step= 440 trunk_z= 121.7mm grav_b=(+0.02,-0.03,-1.00) r=0.94m +[headless_play] t= 8.90s step= 445 trunk_z= 121.1mm grav_b=(+0.01,+0.15,-0.99) r=0.97m +[headless_play] t= 9.00s step= 450 trunk_z= 121.8mm grav_b=(+0.01,+0.06,-1.00) r=1.00m +[headless_play] t= 9.10s step= 455 trunk_z= 117.3mm grav_b=(-0.00,-0.04,-1.00) r=1.02m +[headless_play] t= 9.20s step= 460 trunk_z= 119.1mm grav_b=(-0.01,+0.15,-0.99) r=1.04m +[headless_play] t= 9.30s step= 465 trunk_z= 125.4mm grav_b=(+0.03,+0.14,-0.99) r=1.06m +[headless_play] t= 9.40s step= 470 trunk_z= 118.1mm grav_b=(+0.02,-0.01,-1.00) r=1.08m +[headless_play] t= 9.50s step= 475 trunk_z= 120.3mm grav_b=(-0.03,+0.03,-1.00) r=1.10m +[headless_play] t= 9.60s step= 480 trunk_z= 121.2mm grav_b=(-0.00,+0.11,-0.99) r=1.12m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(-0.01,-0.07,-1.00) r=1.13m +[headless_play] t= 9.80s step= 490 trunk_z= 119.4mm grav_b=(+0.01,+0.03,-1.00) r=1.16m +[headless_play] t= 9.90s step= 495 trunk_z= 125.2mm grav_b=(+0.02,+0.14,-0.99) r=1.19m +[headless_play] t= 10.00s step= 500 trunk_z= 121.9mm grav_b=(+0.04,+0.06,-1.00) r=1.21m +[headless_play] t= 10.10s step= 505 trunk_z= 121.2mm grav_b=(-0.00,-0.04,-1.00) r=1.22m +[headless_play] t= 10.20s step= 510 trunk_z= 118.5mm grav_b=(-0.05,+0.08,-1.00) r=1.24m +[headless_play] t= 10.30s step= 515 trunk_z= 124.2mm grav_b=(-0.03,+0.10,-0.99) r=1.26m +[headless_play] t= 10.40s step= 520 trunk_z= 115.0mm grav_b=(+0.00,-0.06,-1.00) r=1.27m +[headless_play] t= 10.50s step= 525 trunk_z= 117.2mm grav_b=(-0.00,+0.07,-1.00) r=1.29m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(+0.04,-0.05,-1.00) r=1.30m +[headless_play] t= 10.70s step= 535 trunk_z= 119.0mm grav_b=(+0.01,-0.01,-1.00) r=1.32m +[headless_play] t= 10.80s step= 540 trunk_z= 118.2mm grav_b=(-0.01,+0.16,-0.99) r=1.34m +[headless_play] t= 10.90s step= 545 trunk_z= 122.0mm grav_b=(-0.00,+0.08,-1.00) r=1.36m +[headless_play] t= 11.00s step= 550 trunk_z= 117.2mm grav_b=(-0.01,-0.07,-1.00) r=1.40m +[headless_play] t= 11.10s step= 555 trunk_z= 118.9mm grav_b=(+0.01,+0.14,-0.99) r=1.42m +[headless_play] t= 11.20s step= 560 trunk_z= 125.1mm grav_b=(+0.08,+0.11,-0.99) r=1.45m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(+0.03,-0.08,-1.00) r=1.48m +[headless_play] t= 11.40s step= 570 trunk_z= 121.2mm grav_b=(-0.09,-0.03,-1.00) r=1.50m +[headless_play] t= 11.50s step= 575 trunk_z= 119.5mm grav_b=(-0.01,+0.11,-0.99) r=1.53m +[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(+0.03,-0.06,-1.00) r=1.54m +[headless_play] t= 11.70s step= 585 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=1.56m +[headless_play] t= 11.80s step= 590 trunk_z= 122.0mm grav_b=(+0.01,+0.18,-0.98) r=1.59m +[headless_play] t= 11.90s step= 595 trunk_z= 124.0mm grav_b=(+0.03,+0.10,-1.00) r=1.61m +[headless_play] t= 12.00s step= 600 trunk_z= 118.9mm grav_b=(+0.03,-0.10,-0.99) r=1.63m +[headless_play] t= 12.10s step= 605 trunk_z= 119.1mm grav_b=(-0.03,+0.04,-1.00) r=1.64m +[headless_play] t= 12.20s step= 610 trunk_z= 122.4mm grav_b=(+0.01,+0.10,-0.99) r=1.66m +[headless_play] t= 12.30s step= 615 trunk_z= 114.0mm grav_b=(+0.01,-0.15,-0.99) r=1.67m +[headless_play] t= 12.40s step= 620 trunk_z= 124.6mm grav_b=(-0.04,-0.08,-1.00) r=1.68m +[headless_play] t= 12.50s step= 625 trunk_z= 118.8mm grav_b=(+0.01,+0.09,-1.00) r=1.70m +[headless_play] t= 12.60s step= 630 trunk_z= 119.2mm grav_b=(+0.08,-0.08,-0.99) r=1.74m +[headless_play] t= 12.70s step= 635 trunk_z= 127.9mm grav_b=(+0.01,-0.12,-0.99) r=1.77m +[headless_play] t= 12.80s step= 640 trunk_z= 119.9mm grav_b=(-0.03,+0.03,-1.00) r=1.80m +[headless_play] t= 12.90s step= 645 trunk_z= 120.3mm grav_b=(+0.01,+0.04,-1.00) r=1.83m +[headless_play] t= 13.00s step= 650 trunk_z= 117.8mm grav_b=(+0.02,-0.16,-0.99) r=1.85m +[headless_play] t= 13.10s step= 655 trunk_z= 124.0mm grav_b=(+0.00,-0.04,-1.00) r=1.87m +[headless_play] t= 13.20s step= 660 trunk_z= 120.8mm grav_b=(+0.05,+0.13,-0.99) r=1.89m +[headless_play] t= 13.30s step= 665 trunk_z= 118.9mm grav_b=(+0.04,-0.05,-1.00) r=1.91m +[headless_play] t= 13.40s step= 670 trunk_z= 123.7mm grav_b=(-0.05,-0.13,-0.99) r=1.91m +[headless_play] t= 13.50s step= 675 trunk_z= 117.4mm grav_b=(-0.09,+0.05,-0.99) r=1.92m +[headless_play] t= 13.60s step= 680 trunk_z= 120.7mm grav_b=(-0.01,+0.07,-1.00) r=1.93m +[headless_play] t= 13.70s step= 685 trunk_z= 118.0mm grav_b=(+0.03,-0.14,-0.99) r=1.93m +[headless_play] t= 13.80s step= 690 trunk_z= 124.6mm grav_b=(+0.00,-0.07,-1.00) r=1.94m +[headless_play] t= 13.90s step= 695 trunk_z= 119.0mm grav_b=(-0.00,+0.07,-1.00) r=1.96m +[headless_play] t= 14.00s step= 700 trunk_z= 114.5mm grav_b=(+0.00,-0.15,-0.99) r=1.97m +[headless_play] t= 14.10s step= 705 trunk_z= 127.1mm grav_b=(-0.00,-0.20,-0.98) r=1.96m +[headless_play] t= 14.20s step= 710 trunk_z= 125.3mm grav_b=(-0.03,-0.18,-0.98) r=1.96m +[headless_play] t= 14.30s step= 715 trunk_z= 123.5mm grav_b=(+0.02,-0.11,-0.99) r=1.98m +[headless_play] t= 14.40s step= 720 trunk_z= 122.7mm grav_b=(+0.04,+0.02,-1.00) r=2.00m +[headless_play] t= 14.50s step= 725 trunk_z= 115.7mm grav_b=(+0.00,-0.13,-0.99) r=2.02m +[headless_play] t= 14.60s step= 730 trunk_z= 123.5mm grav_b=(+0.03,-0.08,-1.00) r=2.03m +[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(-0.00,+0.11,-0.99) r=2.03m +[headless_play] t= 14.80s step= 740 trunk_z= 117.0mm grav_b=(-0.08,-0.08,-0.99) r=2.02m +[headless_play] t= 14.90s step= 745 trunk_z= 124.3mm grav_b=(-0.05,-0.20,-0.98) r=2.00m +[headless_play] t= 15.00s step= 750 trunk_z= 125.2mm grav_b=(-0.00,-0.22,-0.97) r=1.98m +[headless_play] t= 15.10s step= 755 trunk_z= 124.6mm grav_b=(+0.03,-0.21,-0.98) r=1.97m +[headless_play] t= 15.20s step= 760 trunk_z= 115.9mm grav_b=(+0.05,-0.07,-1.00) r=1.96m +[headless_play] t= 15.30s step= 765 trunk_z= 125.2mm grav_b=(+0.03,-0.14,-0.99) r=1.94m +[headless_play] t= 15.40s step= 770 trunk_z= 124.1mm grav_b=(+0.03,-0.22,-0.98) r=1.92m +[headless_play] t= 15.50s step= 775 trunk_z= 126.8mm grav_b=(+0.02,-0.17,-0.98) r=1.90m +[headless_play] t= 15.60s step= 780 trunk_z= 114.2mm grav_b=(+0.07,-0.01,-1.00) r=1.86m +[headless_play] t= 15.70s step= 785 trunk_z= 121.6mm grav_b=(+0.04,-0.10,-0.99) r=1.84m +[headless_play] t= 15.80s step= 790 trunk_z= 124.6mm grav_b=(+0.12,-0.19,-0.97) r=1.81m +[headless_play] t= 15.90s step= 795 trunk_z= 125.1mm grav_b=(+0.07,-0.08,-0.99) r=1.77m +[headless_play] t= 16.00s step= 800 trunk_z= 108.3mm grav_b=(-0.05,-0.07,-1.00) r=1.74m +[headless_play] t= 16.10s step= 805 trunk_z= 113.4mm grav_b=(-0.03,-0.15,-0.99) r=1.71m +[headless_play] t= 16.20s step= 810 trunk_z= 121.1mm grav_b=(+0.03,-0.08,-1.00) r=1.68m +[headless_play] t= 16.30s step= 815 trunk_z= 122.3mm grav_b=(-0.05,+0.17,-0.98) r=1.68m +[headless_play] t= 16.40s step= 820 trunk_z= 130.0mm grav_b=(-0.08,+0.21,-0.97) r=1.67m +[headless_play] t= 16.50s step= 825 trunk_z= 129.1mm grav_b=(-0.04,+0.18,-0.98) r=1.67m +[headless_play] t= 16.60s step= 830 trunk_z= 130.5mm grav_b=(+0.05,+0.17,-0.98) r=1.67m +[headless_play] t= 16.70s step= 835 trunk_z= 128.4mm grav_b=(+0.08,+0.17,-0.98) r=1.67m +[headless_play] t= 16.80s step= 840 trunk_z= 128.9mm grav_b=(+0.02,+0.08,-1.00) r=1.66m +[headless_play] t= 16.90s step= 845 trunk_z= 125.5mm grav_b=(-0.03,+0.00,-1.00) r=1.64m +[headless_play] t= 17.00s step= 850 trunk_z= 116.3mm grav_b=(-0.07,+0.03,-1.00) r=1.62m +[headless_play] t= 17.10s step= 855 trunk_z= 118.2mm grav_b=(-0.03,-0.09,-1.00) r=1.60m +[headless_play] t= 17.20s step= 860 trunk_z= 119.7mm grav_b=(-0.06,-0.09,-0.99) r=1.61m +[headless_play] t= 17.30s step= 865 trunk_z= 120.4mm grav_b=(-0.09,+0.04,-0.99) r=1.61m +[headless_play] t= 17.40s step= 870 trunk_z= 125.3mm grav_b=(-0.06,+0.12,-0.99) r=1.60m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.05,-0.04,-1.00) r=1.59m +[headless_play] t= 17.60s step= 880 trunk_z= 121.9mm grav_b=(-0.04,-0.02,-1.00) r=1.59m +[headless_play] t= 17.70s step= 885 trunk_z= 120.7mm grav_b=(-0.01,+0.07,-1.00) r=1.58m +[headless_play] t= 17.80s step= 890 trunk_z= 118.5mm grav_b=(-0.02,-0.12,-0.99) r=1.57m +[headless_play] t= 17.90s step= 895 trunk_z= 123.6mm grav_b=(-0.03,-0.06,-1.00) r=1.56m +[headless_play] t= 18.00s step= 900 trunk_z= 120.8mm grav_b=(+0.00,+0.06,-1.00) r=1.54m +[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(-0.02,-0.13,-0.99) r=1.53m +[headless_play] t= 18.20s step= 910 trunk_z= 127.4mm grav_b=(-0.02,-0.13,-0.99) r=1.52m +[headless_play] t= 18.30s step= 915 trunk_z= 120.0mm grav_b=(-0.04,-0.02,-1.00) r=1.50m +[headless_play] t= 18.40s step= 920 trunk_z= 118.8mm grav_b=(-0.00,-0.05,-1.00) r=1.49m +[headless_play] t= 18.50s step= 925 trunk_z= 119.7mm grav_b=(+0.01,-0.06,-1.00) r=1.48m +[headless_play] t= 18.60s step= 930 trunk_z= 118.6mm grav_b=(-0.03,+0.03,-1.00) r=1.46m +[headless_play] t= 18.70s step= 935 trunk_z= 121.8mm grav_b=(-0.02,+0.06,-1.00) r=1.44m +[headless_play] t= 18.80s step= 940 trunk_z= 119.3mm grav_b=(-0.04,-0.13,-0.99) r=1.43m +[headless_play] t= 18.90s step= 945 trunk_z= 122.0mm grav_b=(-0.06,-0.03,-1.00) r=1.41m +[headless_play] t= 19.00s step= 950 trunk_z= 122.2mm grav_b=(-0.03,+0.09,-1.00) r=1.41m +[headless_play] t= 19.10s step= 955 trunk_z= 116.3mm grav_b=(-0.02,-0.09,-1.00) r=1.40m +[headless_play] t= 19.20s step= 960 trunk_z= 126.2mm grav_b=(-0.05,-0.14,-0.99) r=1.40m +[headless_play] t= 19.30s step= 965 trunk_z= 122.7mm grav_b=(-0.03,-0.05,-1.00) r=1.38m +[headless_play] t= 19.40s step= 970 trunk_z= 118.0mm grav_b=(+0.02,+0.02,-1.00) r=1.35m +[headless_play] t= 19.50s step= 975 trunk_z= 115.5mm grav_b=(+0.01,-0.14,-0.99) r=1.34m +[headless_play] t= 19.60s step= 980 trunk_z= 117.7mm grav_b=(+0.00,+0.00,-1.00) r=1.33m +[headless_play] t= 19.70s step= 985 trunk_z= 115.4mm grav_b=(+0.06,+0.11,-0.99) r=1.31m +[headless_play] t= 19.80s step= 990 trunk_z= 110.4mm grav_b=(+0.09,-0.17,-0.98) r=1.30m +[headless_play] t= 19.90s step= 995 trunk_z= 126.2mm grav_b=(+0.02,-0.20,-0.98) r=1.29m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.8mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 117.9mm grav_b=(-0.05,+0.06,-1.00) r=0.50m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..8c15c9d877d0941992f0745d0156cfed06da3bbc --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.195,-18.295,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 117.7mm grav_b=(-0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 117.2mm grav_b=(-0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 116.9mm grav_b=(-0.06,+0.01,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 116.9mm grav_b=(-0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(-0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(-0.06,+0.01,-1.00) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 117.0mm grav_b=(-0.06,+0.01,-1.00) r=0.35m +[headless_play] t= 1.00s step= 50 trunk_z= 117.1mm grav_b=(-0.06,+0.02,-1.00) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(-0.10,+0.02,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(-0.13,+0.02,-0.99) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(-0.12,+0.02,-0.99) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 117.3mm grav_b=(-0.06,+0.02,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.35m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 117.4mm grav_b=(-0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 1.90s step= 95 trunk_z= 117.5mm grav_b=(-0.08,+0.02,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(-0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(-0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 2.30s step= 115 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.08,+0.02,-1.00) r=0.34m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(-0.10,+0.02,-0.99) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 117.4mm grav_b=(-0.10,+0.02,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 117.8mm grav_b=(-0.06,+0.02,-1.00) r=0.34m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(-0.07,+0.02,-1.00) r=0.34m +[headless_play] t= 2.90s step= 145 trunk_z= 117.6mm grav_b=(-0.08,+0.02,-1.00) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(-0.07,+0.02,-1.00) r=0.34m +[headless_play] t= 3.10s step= 155 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(-0.08,+0.02,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 118.5mm grav_b=(-0.07,+0.08,-0.99) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 119.7mm grav_b=(+0.02,+0.09,-1.00) r=0.35m +[headless_play] t= 3.50s step= 175 trunk_z= 119.6mm grav_b=(-0.02,-0.24,-0.97) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 125.5mm grav_b=(-0.06,-0.20,-0.98) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 122.0mm grav_b=(-0.07,-0.02,-1.00) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 125.7mm grav_b=(-0.10,+0.09,-0.99) r=0.41m +[headless_play] t= 3.90s step= 195 trunk_z= 123.2mm grav_b=(-0.11,+0.03,-0.99) r=0.41m +[headless_play] t= 4.00s step= 200 trunk_z= 121.9mm grav_b=(-0.07,-0.05,-1.00) r=0.42m +[headless_play] t= 4.10s step= 205 trunk_z= 119.0mm grav_b=(-0.04,+0.12,-0.99) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 122.1mm grav_b=(-0.10,+0.04,-0.99) r=0.40m +[headless_play] t= 4.30s step= 215 trunk_z= 123.7mm grav_b=(-0.16,-0.14,-0.98) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 128.4mm grav_b=(-0.19,-0.12,-0.98) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 117.5mm grav_b=(-0.21,-0.06,-0.98) r=0.39m +[headless_play] t= 4.60s step= 230 trunk_z= 108.9mm grav_b=(-0.19,-0.19,-0.96) r=0.39m +[headless_play] t= 4.70s step= 235 trunk_z= 87.2mm grav_b=(-0.46,-0.18,-0.87) r=0.39m +[headless_play] t= 4.80s step= 240 trunk_z= 42.9mm grav_b=(-0.73,-0.55,-0.40) r=0.37m +[headless_play] RESET at t= 4.82s step= 241 (env termination, not a recovery) +[headless_play] t= 4.90s step= 245 trunk_z= 116.7mm grav_b=(-0.03,+0.04,-1.00) r=0.25m +[headless_play] t= 5.00s step= 250 trunk_z= 117.3mm grav_b=(-0.04,+0.12,-0.99) r=0.27m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.02,+0.04,-1.00) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 119.3mm grav_b=(-0.07,-0.10,-0.99) r=0.29m +[headless_play] t= 5.30s step= 265 trunk_z= 121.7mm grav_b=(-0.06,-0.04,-1.00) r=0.30m +[headless_play] t= 5.40s step= 270 trunk_z= 109.7mm grav_b=(-0.00,+0.09,-1.00) r=0.31m +[headless_play] t= 5.50s step= 275 trunk_z= 111.9mm grav_b=(+0.03,-0.04,-1.00) r=0.32m +[headless_play] t= 5.60s step= 280 trunk_z= 114.1mm grav_b=(+0.05,-0.11,-0.99) r=0.34m +[headless_play] t= 5.70s step= 285 trunk_z= 111.5mm grav_b=(+0.05,+0.07,-1.00) r=0.35m +[headless_play] t= 5.80s step= 290 trunk_z= 117.8mm grav_b=(+0.03,+0.14,-0.99) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 115.9mm grav_b=(-0.04,-0.04,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 122.8mm grav_b=(-0.08,-0.10,-0.99) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 119.2mm grav_b=(-0.05,+0.02,-1.00) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 118.2mm grav_b=(-0.02,+0.15,-0.99) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 115.9mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(+0.01,-0.07,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 114.1mm grav_b=(-0.02,+0.12,-0.99) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 116.1mm grav_b=(+0.00,+0.14,-0.99) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 113.2mm grav_b=(+0.02,-0.05,-1.00) r=0.48m +[headless_play] t= 6.80s step= 340 trunk_z= 118.5mm grav_b=(-0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 6.90s step= 345 trunk_z= 112.3mm grav_b=(-0.03,+0.10,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 112.0mm grav_b=(+0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 7.10s step= 355 trunk_z= 114.0mm grav_b=(+0.01,-0.08,-1.00) r=0.53m +[headless_play] t= 7.20s step= 360 trunk_z= 114.8mm grav_b=(-0.01,+0.06,-1.00) r=0.55m +[headless_play] t= 7.30s step= 365 trunk_z= 113.8mm grav_b=(+0.00,+0.19,-0.98) r=0.57m +[headless_play] t= 7.40s step= 370 trunk_z= 115.9mm grav_b=(+0.03,+0.17,-0.99) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 123.3mm grav_b=(+0.04,+0.08,-1.00) r=0.60m +[headless_play] t= 7.60s step= 380 trunk_z= 120.5mm grav_b=(+0.03,+0.02,-1.00) r=0.60m +[headless_play] t= 7.70s step= 385 trunk_z= 115.6mm grav_b=(-0.05,+0.10,-0.99) r=0.62m +[headless_play] t= 7.80s step= 390 trunk_z= 115.4mm grav_b=(-0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 7.90s step= 395 trunk_z= 113.2mm grav_b=(-0.00,-0.09,-1.00) r=0.64m +[headless_play] t= 8.00s step= 400 trunk_z= 112.2mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 105.6mm grav_b=(+0.06,+0.06,-1.00) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 110.8mm grav_b=(+0.05,+0.01,-1.00) r=0.65m +[headless_play] t= 8.30s step= 415 trunk_z= 112.6mm grav_b=(+0.01,-0.17,-0.99) r=0.67m +[headless_play] t= 8.40s step= 420 trunk_z= 116.0mm grav_b=(-0.00,-0.12,-0.99) r=0.68m +[headless_play] t= 8.50s step= 425 trunk_z= 112.0mm grav_b=(-0.01,+0.04,-1.00) r=0.70m +[headless_play] t= 8.60s step= 430 trunk_z= 117.5mm grav_b=(-0.03,+0.05,-1.00) r=0.71m +[headless_play] t= 8.70s step= 435 trunk_z= 113.4mm grav_b=(-0.01,-0.14,-0.99) r=0.72m +[headless_play] t= 8.80s step= 440 trunk_z= 118.4mm grav_b=(-0.01,-0.01,-1.00) r=0.74m +[headless_play] t= 8.90s step= 445 trunk_z= 118.5mm grav_b=(-0.01,+0.16,-0.99) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.74m +[headless_play] t= 9.10s step= 455 trunk_z= 123.8mm grav_b=(-0.14,-0.10,-0.98) r=0.72m +[headless_play] t= 9.20s step= 460 trunk_z= 111.5mm grav_b=(-0.13,+0.03,-0.99) r=0.71m +[headless_play] t= 9.30s step= 465 trunk_z= 108.1mm grav_b=(-0.08,-0.05,-1.00) r=0.68m +[headless_play] t= 9.40s step= 470 trunk_z= 105.2mm grav_b=(+0.08,-0.06,-1.00) r=0.65m +[headless_play] t= 9.50s step= 475 trunk_z= 115.4mm grav_b=(+0.04,+0.19,-0.98) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 124.4mm grav_b=(-0.05,+0.20,-0.98) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 121.3mm grav_b=(-0.10,-0.03,-0.99) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 127.8mm grav_b=(-0.14,-0.11,-0.98) r=0.61m +[headless_play] t= 9.90s step= 495 trunk_z= 118.7mm grav_b=(-0.20,-0.00,-0.98) r=0.60m +[headless_play] t= 10.00s step= 500 trunk_z= 103.0mm grav_b=(-0.03,-0.13,-0.99) r=0.58m +[headless_play] t= 10.10s step= 505 trunk_z= 100.9mm grav_b=(+0.05,-0.15,-0.99) r=0.57m +[headless_play] t= 10.20s step= 510 trunk_z= 114.0mm grav_b=(+0.05,+0.15,-0.99) r=0.56m +[headless_play] t= 10.30s step= 515 trunk_z= 125.9mm grav_b=(+0.01,+0.22,-0.98) r=0.57m +[headless_play] t= 10.40s step= 520 trunk_z= 129.0mm grav_b=(-0.05,+0.04,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 126.6mm grav_b=(-0.12,-0.03,-0.99) r=0.59m +[headless_play] t= 10.60s step= 530 trunk_z= 113.3mm grav_b=(-0.17,+0.12,-0.98) r=0.59m +[headless_play] t= 10.70s step= 535 trunk_z= 109.5mm grav_b=(+0.06,-0.07,-1.00) r=0.62m +[headless_play] t= 10.80s step= 540 trunk_z= 122.3mm grav_b=(+0.07,-0.18,-0.98) r=0.64m +[headless_play] t= 10.90s step= 545 trunk_z= 131.6mm grav_b=(-0.03,-0.03,-1.00) r=0.65m +[headless_play] t= 11.00s step= 550 trunk_z= 121.7mm grav_b=(+0.01,+0.17,-0.99) r=0.68m +[headless_play] t= 11.10s step= 555 trunk_z= 128.7mm grav_b=(-0.03,+0.14,-0.99) r=0.71m +[headless_play] t= 11.20s step= 560 trunk_z= 126.8mm grav_b=(-0.06,+0.07,-1.00) r=0.74m +[headless_play] t= 11.30s step= 565 trunk_z= 124.2mm grav_b=(-0.13,-0.04,-0.99) r=0.78m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(-0.09,+0.14,-0.99) r=0.80m +[headless_play] t= 11.50s step= 575 trunk_z= 113.5mm grav_b=(-0.03,-0.07,-1.00) r=0.82m +[headless_play] t= 11.60s step= 580 trunk_z= 118.9mm grav_b=(-0.05,-0.05,-1.00) r=0.84m +[headless_play] t= 11.70s step= 585 trunk_z= 113.8mm grav_b=(-0.01,+0.12,-0.99) r=0.86m +[headless_play] t= 11.80s step= 590 trunk_z= 114.8mm grav_b=(-0.01,-0.09,-1.00) r=0.89m +[headless_play] t= 11.90s step= 595 trunk_z= 124.8mm grav_b=(-0.04,-0.22,-0.97) r=0.91m +[headless_play] t= 12.00s step= 600 trunk_z= 124.0mm grav_b=(-0.01,-0.21,-0.98) r=0.94m +[headless_play] t= 12.10s step= 605 trunk_z= 125.6mm grav_b=(-0.01,-0.08,-1.00) r=0.96m +[headless_play] t= 12.20s step= 610 trunk_z= 125.9mm grav_b=(-0.07,+0.12,-0.99) r=0.97m +[headless_play] t= 12.30s step= 615 trunk_z= 127.0mm grav_b=(-0.11,+0.12,-0.99) r=0.98m +[headless_play] t= 12.40s step= 620 trunk_z= 114.0mm grav_b=(-0.16,-0.00,-0.99) r=0.99m +[headless_play] t= 12.50s step= 625 trunk_z= 109.9mm grav_b=(-0.13,+0.18,-0.97) r=0.99m +[headless_play] t= 12.60s step= 630 trunk_z= 98.0mm grav_b=(-0.06,+0.05,-1.00) r=0.99m +[headless_play] t= 12.70s step= 635 trunk_z= 99.5mm grav_b=(+0.13,-0.06,-0.99) r=0.98m +[headless_play] t= 12.80s step= 640 trunk_z= 114.2mm grav_b=(+0.02,+0.05,-1.00) r=0.97m +[headless_play] t= 12.90s step= 645 trunk_z= 117.6mm grav_b=(-0.03,+0.16,-0.99) r=0.98m +[headless_play] t= 13.00s step= 650 trunk_z= 117.4mm grav_b=(-0.05,+0.05,-1.00) r=0.99m +[headless_play] t= 13.10s step= 655 trunk_z= 119.6mm grav_b=(-0.08,-0.07,-0.99) r=0.99m +[headless_play] t= 13.20s step= 660 trunk_z= 121.2mm grav_b=(-0.07,-0.02,-1.00) r=1.00m +[headless_play] t= 13.30s step= 665 trunk_z= 111.5mm grav_b=(+0.00,+0.12,-0.99) r=1.01m +[headless_play] t= 13.40s step= 670 trunk_z= 113.7mm grav_b=(+0.08,-0.01,-1.00) r=1.03m +[headless_play] t= 13.50s step= 675 trunk_z= 119.4mm grav_b=(+0.03,-0.07,-1.00) r=1.04m +[headless_play] t= 13.60s step= 680 trunk_z= 114.5mm grav_b=(+0.00,+0.12,-0.99) r=1.06m +[headless_play] t= 13.70s step= 685 trunk_z= 120.8mm grav_b=(-0.03,+0.09,-1.00) r=1.08m +[headless_play] t= 13.80s step= 690 trunk_z= 113.8mm grav_b=(-0.07,-0.09,-0.99) r=1.10m +[headless_play] t= 13.90s step= 695 trunk_z= 113.8mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 14.00s step= 700 trunk_z= 108.7mm grav_b=(+0.07,+0.09,-0.99) r=1.13m +[headless_play] t= 14.10s step= 705 trunk_z= 115.0mm grav_b=(+0.04,-0.10,-0.99) r=1.14m +[headless_play] t= 14.20s step= 710 trunk_z= 119.2mm grav_b=(+0.00,-0.19,-0.98) r=1.15m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.05,-0.15,-0.99) r=1.16m +[headless_play] t= 14.40s step= 720 trunk_z= 112.3mm grav_b=(+0.06,-0.00,-1.00) r=1.18m +[headless_play] t= 14.50s step= 725 trunk_z= 125.5mm grav_b=(-0.08,+0.02,-1.00) r=1.20m +[headless_play] t= 14.60s step= 730 trunk_z= 114.6mm grav_b=(-0.10,-0.09,-0.99) r=1.23m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(-0.09,+0.05,-0.99) r=1.25m +[headless_play] t= 14.80s step= 740 trunk_z= 115.5mm grav_b=(-0.02,+0.22,-0.98) r=1.26m +[headless_play] t= 14.90s step= 745 trunk_z= 117.8mm grav_b=(+0.00,+0.15,-0.99) r=1.26m +[headless_play] t= 15.00s step= 750 trunk_z= 123.0mm grav_b=(+0.00,+0.06,-1.00) r=1.26m +[headless_play] t= 15.10s step= 755 trunk_z= 120.9mm grav_b=(+0.01,+0.04,-1.00) r=1.27m +[headless_play] t= 15.20s step= 760 trunk_z= 118.3mm grav_b=(-0.02,+0.11,-0.99) r=1.28m +[headless_play] t= 15.30s step= 765 trunk_z= 113.3mm grav_b=(-0.05,-0.09,-0.99) r=1.29m +[headless_play] t= 15.40s step= 770 trunk_z= 117.8mm grav_b=(-0.07,-0.09,-0.99) r=1.30m +[headless_play] t= 15.50s step= 775 trunk_z= 109.4mm grav_b=(+0.01,+0.02,-1.00) r=1.31m +[headless_play] t= 15.60s step= 780 trunk_z= 111.4mm grav_b=(+0.04,+0.08,-1.00) r=1.33m +[headless_play] t= 15.70s step= 785 trunk_z= 112.7mm grav_b=(-0.03,-0.13,-0.99) r=1.37m +[headless_play] t= 15.80s step= 790 trunk_z= 112.4mm grav_b=(+0.02,-0.01,-1.00) r=1.40m +[headless_play] t= 15.90s step= 795 trunk_z= 111.3mm grav_b=(+0.02,+0.17,-0.99) r=1.43m +[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(+0.04,+0.14,-0.99) r=1.45m +[headless_play] t= 16.10s step= 805 trunk_z= 119.7mm grav_b=(+0.01,+0.03,-1.00) r=1.47m +[headless_play] t= 16.20s step= 810 trunk_z= 119.0mm grav_b=(-0.03,+0.02,-1.00) r=1.49m +[headless_play] t= 16.30s step= 815 trunk_z= 111.5mm grav_b=(+0.04,+0.16,-0.99) r=1.51m +[headless_play] t= 16.40s step= 820 trunk_z= 115.6mm grav_b=(+0.03,+0.02,-1.00) r=1.52m +[headless_play] t= 16.50s step= 825 trunk_z= 123.3mm grav_b=(-0.07,-0.15,-0.99) r=1.52m +[headless_play] t= 16.60s step= 830 trunk_z= 129.0mm grav_b=(-0.10,-0.13,-0.99) r=1.52m +[headless_play] t= 16.70s step= 835 trunk_z= 128.7mm grav_b=(-0.08,-0.08,-0.99) r=1.52m +[headless_play] t= 16.80s step= 840 trunk_z= 125.4mm grav_b=(-0.06,-0.04,-1.00) r=1.52m +[headless_play] t= 16.90s step= 845 trunk_z= 118.7mm grav_b=(-0.08,+0.03,-1.00) r=1.53m +[headless_play] t= 17.00s step= 850 trunk_z= 111.9mm grav_b=(-0.06,-0.10,-0.99) r=1.52m +[headless_play] t= 17.10s step= 855 trunk_z= 116.8mm grav_b=(-0.18,+0.11,-0.98) r=1.51m +[headless_play] t= 17.20s step= 860 trunk_z= 111.1mm grav_b=(-0.31,+0.18,-0.93) r=1.50m +[headless_play] t= 17.30s step= 865 trunk_z= 118.4mm grav_b=(-0.40,+0.01,-0.92) r=1.48m +[headless_play] t= 17.40s step= 870 trunk_z= 81.6mm grav_b=(-0.30,-0.05,-0.95) r=1.45m +[headless_play] t= 17.50s step= 875 trunk_z= 62.5mm grav_b=(+0.03,+0.18,-0.98) r=1.43m +[headless_play] t= 17.60s step= 880 trunk_z= 74.6mm grav_b=(-0.14,+0.09,-0.99) r=1.43m +[headless_play] t= 17.70s step= 885 trunk_z= 67.5mm grav_b=(-0.09,-0.05,-0.99) r=1.42m +[headless_play] t= 17.80s step= 890 trunk_z= 83.4mm grav_b=(-0.03,+0.12,-0.99) r=1.41m +[headless_play] t= 17.90s step= 895 trunk_z= 110.1mm grav_b=(-0.13,+0.02,-0.99) r=1.42m +[headless_play] t= 18.00s step= 900 trunk_z= 106.9mm grav_b=(-0.06,-0.20,-0.98) r=1.42m +[headless_play] t= 18.10s step= 905 trunk_z= 110.0mm grav_b=(-0.04,-0.15,-0.99) r=1.42m +[headless_play] t= 18.20s step= 910 trunk_z= 105.4mm grav_b=(+0.03,+0.02,-1.00) r=1.43m +[headless_play] t= 18.30s step= 915 trunk_z= 117.7mm grav_b=(-0.03,+0.10,-0.99) r=1.43m +[headless_play] t= 18.40s step= 920 trunk_z= 115.2mm grav_b=(-0.05,-0.02,-1.00) r=1.43m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=1.41m +[headless_play] t= 18.60s step= 930 trunk_z= 106.5mm grav_b=(+0.04,+0.13,-0.99) r=1.40m +[headless_play] t= 18.70s step= 935 trunk_z= 113.3mm grav_b=(+0.03,+0.05,-1.00) r=1.40m +[headless_play] t= 18.80s step= 940 trunk_z= 114.9mm grav_b=(-0.02,-0.15,-0.99) r=1.38m +[headless_play] t= 18.90s step= 945 trunk_z= 119.0mm grav_b=(+0.00,-0.09,-1.00) r=1.36m +[headless_play] t= 19.00s step= 950 trunk_z= 111.8mm grav_b=(-0.02,+0.11,-0.99) r=1.35m +[headless_play] t= 19.10s step= 955 trunk_z= 117.7mm grav_b=(-0.02,+0.08,-1.00) r=1.34m +[headless_play] t= 19.20s step= 960 trunk_z= 112.7mm grav_b=(-0.04,-0.10,-0.99) r=1.32m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(-0.02,-0.07,-1.00) r=1.30m +[headless_play] t= 19.40s step= 970 trunk_z= 108.5mm grav_b=(+0.03,+0.11,-0.99) r=1.28m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(+0.12,+0.15,-0.98) r=1.27m +[headless_play] t= 19.60s step= 980 trunk_z= 120.7mm grav_b=(+0.09,+0.04,-0.99) r=1.25m +[headless_play] t= 19.70s step= 985 trunk_z= 137.5mm grav_b=(-0.04,-0.09,-0.99) r=1.24m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(-0.18,+0.06,-0.98) r=1.21m +[headless_play] t= 19.90s step= 995 trunk_z= 108.3mm grav_b=(-0.26,+0.10,-0.96) r=1.19m +[headless_play] t= 20.00s step=1000 trunk_z= 99.0mm grav_b=(-0.14,+0.01,-0.99) r=1.16m +[headless_play] t= 20.10s step=1005 trunk_z= 92.4mm grav_b=(+0.10,+0.13,-0.99) r=1.13m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..a1de0f834cb79e87d8ef395b1b949623e9f36d27 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.851,-17.883,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.2mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 0.10s step= 5 trunk_z= 117.2mm grav_b=(-0.01,+0.06,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(+0.04,+0.00,-1.00) r=0.19m +[headless_play] t= 0.30s step= 15 trunk_z= 122.3mm grav_b=(+0.01,-0.12,-0.99) r=0.19m +[headless_play] t= 0.40s step= 20 trunk_z= 118.6mm grav_b=(-0.01,+0.05,-1.00) r=0.18m +[headless_play] t= 0.50s step= 25 trunk_z= 122.5mm grav_b=(-0.04,+0.04,-1.00) r=0.18m +[headless_play] t= 0.60s step= 30 trunk_z= 121.0mm grav_b=(-0.06,-0.15,-0.99) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 121.2mm grav_b=(-0.02,-0.06,-1.00) r=0.16m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(+0.00,+0.02,-1.00) r=0.15m +[headless_play] t= 0.90s step= 45 trunk_z= 118.2mm grav_b=(+0.03,-0.08,-1.00) r=0.13m +[headless_play] t= 1.00s step= 50 trunk_z= 117.8mm grav_b=(+0.03,+0.06,-1.00) r=0.12m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(-0.01,-0.13,-0.99) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 124.5mm grav_b=(-0.04,-0.15,-0.99) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.03,+0.07,-1.00) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 120.1mm grav_b=(-0.01,+0.00,-1.00) r=0.07m +[headless_play] t= 1.50s step= 75 trunk_z= 120.5mm grav_b=(-0.04,-0.11,-0.99) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 120.2mm grav_b=(-0.02,+0.11,-0.99) r=0.09m +[headless_play] t= 1.70s step= 85 trunk_z= 124.2mm grav_b=(+0.02,+0.10,-0.99) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 118.2mm grav_b=(-0.00,-0.08,-1.00) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 118.8mm grav_b=(-0.03,+0.05,-1.00) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 123.1mm grav_b=(+0.04,+0.07,-1.00) r=0.11m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(+0.01,-0.15,-0.99) r=0.12m +[headless_play] t= 2.20s step= 110 trunk_z= 120.5mm grav_b=(-0.04,-0.03,-1.00) r=0.14m +[headless_play] t= 2.30s step= 115 trunk_z= 124.0mm grav_b=(-0.05,+0.13,-0.99) r=0.16m +[headless_play] t= 2.40s step= 120 trunk_z= 120.7mm grav_b=(-0.01,+0.02,-1.00) r=0.17m +[headless_play] t= 2.50s step= 125 trunk_z= 120.7mm grav_b=(-0.02,-0.07,-1.00) r=0.18m +[headless_play] t= 2.60s step= 130 trunk_z= 120.3mm grav_b=(+0.01,+0.10,-0.99) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 124.6mm grav_b=(+0.03,+0.08,-1.00) r=0.21m +[headless_play] t= 2.80s step= 140 trunk_z= 118.6mm grav_b=(-0.02,-0.10,-0.99) r=0.22m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(-0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 3.00s step= 150 trunk_z= 123.5mm grav_b=(-0.03,+0.10,-0.99) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(-0.02,-0.10,-0.99) r=0.29m +[headless_play] t= 3.20s step= 160 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 3.30s step= 165 trunk_z= 123.0mm grav_b=(+0.03,+0.14,-0.99) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 122.1mm grav_b=(+0.03,+0.05,-1.00) r=0.35m +[headless_play] t= 3.50s step= 175 trunk_z= 121.8mm grav_b=(-0.04,-0.09,-1.00) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(-0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 3.70s step= 185 trunk_z= 120.5mm grav_b=(-0.02,+0.05,-1.00) r=0.39m +[headless_play] t= 3.80s step= 190 trunk_z= 118.5mm grav_b=(-0.04,-0.13,-0.99) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 118.3mm grav_b=(-0.01,+0.03,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 118.1mm grav_b=(+0.04,+0.05,-1.00) r=0.43m +[headless_play] t= 4.10s step= 205 trunk_z= 117.2mm grav_b=(+0.02,-0.18,-0.98) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 120.5mm grav_b=(-0.00,-0.07,-1.00) r=0.46m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(+0.00,+0.15,-0.99) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 121.2mm grav_b=(+0.08,+0.06,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 119.7mm grav_b=(+0.03,-0.07,-1.00) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(-0.04,+0.12,-0.99) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 118.3mm grav_b=(-0.01,+0.06,-1.00) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 117.4mm grav_b=(-0.02,-0.15,-0.99) r=0.60m +[headless_play] t= 4.90s step= 245 trunk_z= 118.6mm grav_b=(+0.02,-0.03,-1.00) r=0.61m +[headless_play] t= 5.00s step= 250 trunk_z= 118.3mm grav_b=(+0.04,+0.05,-1.00) r=0.62m +[headless_play] t= 5.10s step= 255 trunk_z= 116.7mm grav_b=(+0.01,-0.21,-0.98) r=0.64m +[headless_play] t= 5.20s step= 260 trunk_z= 122.0mm grav_b=(-0.01,-0.15,-0.99) r=0.65m +[headless_play] t= 5.30s step= 265 trunk_z= 115.5mm grav_b=(+0.02,+0.12,-0.99) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 121.1mm grav_b=(+0.08,+0.07,-0.99) r=0.72m +[headless_play] t= 5.50s step= 275 trunk_z= 117.8mm grav_b=(+0.03,-0.09,-1.00) r=0.74m +[headless_play] t= 5.60s step= 280 trunk_z= 116.4mm grav_b=(-0.01,+0.12,-0.99) r=0.77m +[headless_play] t= 5.70s step= 285 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) r=0.80m +[headless_play] t= 5.80s step= 290 trunk_z= 118.8mm grav_b=(+0.01,-0.11,-0.99) r=0.82m +[headless_play] t= 5.90s step= 295 trunk_z= 116.2mm grav_b=(+0.02,+0.13,-0.99) r=0.84m +[headless_play] t= 6.00s step= 300 trunk_z= 120.5mm grav_b=(+0.02,+0.12,-0.99) r=0.85m +[headless_play] t= 6.10s step= 305 trunk_z= 113.9mm grav_b=(-0.02,-0.12,-0.99) r=0.87m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(-0.02,-0.02,-1.00) r=0.89m +[headless_play] t= 6.30s step= 315 trunk_z= 114.5mm grav_b=(+0.06,+0.11,-0.99) r=0.92m +[headless_play] t= 6.40s step= 320 trunk_z= 113.6mm grav_b=(+0.03,-0.09,-1.00) r=0.94m +[headless_play] t= 6.50s step= 325 trunk_z= 121.7mm grav_b=(-0.05,-0.15,-0.99) r=0.96m +[headless_play] t= 6.60s step= 330 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=0.99m +[headless_play] t= 6.70s step= 335 trunk_z= 112.0mm grav_b=(+0.11,-0.02,-0.99) r=1.01m +[headless_play] t= 6.80s step= 340 trunk_z= 116.2mm grav_b=(+0.08,-0.19,-0.98) r=1.03m +[headless_play] t= 6.90s step= 345 trunk_z= 121.9mm grav_b=(+0.10,-0.03,-0.99) r=1.05m +[headless_play] t= 7.00s step= 350 trunk_z= 113.0mm grav_b=(-0.00,-0.02,-1.00) r=1.06m +[headless_play] t= 7.10s step= 355 trunk_z= 113.0mm grav_b=(-0.08,-0.22,-0.97) r=1.08m +[headless_play] t= 7.20s step= 360 trunk_z= 122.5mm grav_b=(+0.03,-0.16,-0.99) r=1.10m +[headless_play] t= 7.30s step= 365 trunk_z= 115.1mm grav_b=(-0.04,+0.09,-0.99) r=1.12m +[headless_play] t= 7.40s step= 370 trunk_z= 119.7mm grav_b=(-0.05,+0.03,-1.00) r=1.14m +[headless_play] t= 7.50s step= 375 trunk_z= 111.9mm grav_b=(-0.01,-0.15,-0.99) r=1.16m +[headless_play] t= 7.60s step= 380 trunk_z= 112.2mm grav_b=(+0.07,+0.09,-0.99) r=1.16m +[headless_play] t= 7.70s step= 385 trunk_z= 123.6mm grav_b=(+0.07,+0.08,-0.99) r=1.17m +[headless_play] t= 7.80s step= 390 trunk_z= 116.4mm grav_b=(+0.05,-0.13,-0.99) r=1.18m +[headless_play] t= 7.90s step= 395 trunk_z= 123.4mm grav_b=(-0.03,+0.00,-1.00) r=1.19m +[headless_play] t= 8.00s step= 400 trunk_z= 121.1mm grav_b=(-0.03,+0.11,-0.99) r=1.20m +[headless_play] t= 8.10s step= 405 trunk_z= 115.2mm grav_b=(+0.01,-0.07,-1.00) r=1.21m +[headless_play] t= 8.20s step= 410 trunk_z= 118.6mm grav_b=(-0.01,-0.08,-1.00) r=1.21m +[headless_play] t= 8.30s step= 415 trunk_z= 110.3mm grav_b=(+0.02,+0.12,-0.99) r=1.21m +[headless_play] t= 8.40s step= 420 trunk_z= 109.4mm grav_b=(+0.07,-0.11,-0.99) r=1.21m +[headless_play] t= 8.50s step= 425 trunk_z= 120.9mm grav_b=(+0.03,-0.21,-0.98) r=1.20m +[headless_play] t= 8.60s step= 430 trunk_z= 121.3mm grav_b=(+0.01,-0.15,-0.99) r=1.20m +[headless_play] t= 8.70s step= 435 trunk_z= 115.5mm grav_b=(+0.01,+0.03,-1.00) r=1.20m +[headless_play] t= 8.80s step= 440 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=1.21m +[headless_play] t= 8.90s step= 445 trunk_z= 114.6mm grav_b=(-0.04,-0.06,-1.00) r=1.23m +[headless_play] t= 9.00s step= 450 trunk_z= 114.6mm grav_b=(+0.00,+0.10,-1.00) r=1.24m +[headless_play] t= 9.10s step= 455 trunk_z= 111.9mm grav_b=(+0.06,-0.02,-1.00) r=1.26m +[headless_play] t= 9.20s step= 460 trunk_z= 113.6mm grav_b=(+0.03,-0.09,-1.00) r=1.26m +[headless_play] t= 9.30s step= 465 trunk_z= 118.0mm grav_b=(-0.02,+0.08,-1.00) r=1.27m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(+0.03,-0.10,-0.99) r=1.28m +[headless_play] t= 9.50s step= 475 trunk_z= 119.8mm grav_b=(+0.01,-0.07,-1.00) r=1.28m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(-0.04,+0.10,-0.99) r=1.28m +[headless_play] t= 9.70s step= 485 trunk_z= 119.3mm grav_b=(-0.06,-0.07,-1.00) r=1.28m +[headless_play] t= 9.80s step= 490 trunk_z= 125.9mm grav_b=(-0.04,-0.17,-0.98) r=1.27m +[headless_play] t= 9.90s step= 495 trunk_z= 126.7mm grav_b=(+0.01,-0.11,-0.99) r=1.27m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(-0.01,+0.07,-1.00) r=1.29m +[headless_play] t= 10.10s step= 505 trunk_z= 120.3mm grav_b=(-0.04,-0.02,-1.00) r=1.30m +[headless_play] t= 10.20s step= 510 trunk_z= 121.3mm grav_b=(-0.05,-0.12,-0.99) r=1.29m +[headless_play] t= 10.30s step= 515 trunk_z= 118.4mm grav_b=(-0.07,+0.07,-0.99) r=1.29m +[headless_play] t= 10.40s step= 520 trunk_z= 118.8mm grav_b=(-0.02,-0.01,-1.00) r=1.28m +[headless_play] t= 10.50s step= 525 trunk_z= 119.3mm grav_b=(-0.05,-0.15,-0.99) r=1.28m +[headless_play] t= 10.60s step= 530 trunk_z= 118.2mm grav_b=(-0.09,+0.06,-0.99) r=1.29m +[headless_play] t= 10.70s step= 535 trunk_z= 121.4mm grav_b=(-0.07,+0.07,-1.00) r=1.29m +[headless_play] t= 10.80s step= 540 trunk_z= 117.7mm grav_b=(-0.07,-0.15,-0.99) r=1.29m +[headless_play] t= 10.90s step= 545 trunk_z= 125.6mm grav_b=(-0.06,-0.13,-0.99) r=1.29m +[headless_play] t= 11.00s step= 550 trunk_z= 116.1mm grav_b=(-0.03,+0.06,-1.00) r=1.31m +[headless_play] t= 11.10s step= 555 trunk_z= 118.9mm grav_b=(-0.02,-0.08,-1.00) r=1.31m +[headless_play] t= 11.20s step= 560 trunk_z= 121.2mm grav_b=(-0.04,-0.14,-0.99) r=1.32m +[headless_play] t= 11.30s step= 565 trunk_z= 118.9mm grav_b=(-0.09,+0.05,-0.99) r=1.33m +[headless_play] t= 11.40s step= 570 trunk_z= 122.5mm grav_b=(-0.09,+0.08,-0.99) r=1.35m +[headless_play] t= 11.50s step= 575 trunk_z= 118.0mm grav_b=(-0.06,-0.14,-0.99) r=1.35m +[headless_play] t= 11.60s step= 580 trunk_z= 124.6mm grav_b=(-0.00,-0.07,-1.00) r=1.35m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(-0.03,+0.09,-1.00) r=1.37m +[headless_play] t= 11.80s step= 590 trunk_z= 119.2mm grav_b=(-0.07,-0.05,-1.00) r=1.37m +[headless_play] t= 11.90s step= 595 trunk_z= 124.7mm grav_b=(+0.04,-0.13,-0.99) r=1.36m +[headless_play] t= 12.00s step= 600 trunk_z= 135.9mm grav_b=(+0.01,-0.12,-0.99) r=1.36m +[headless_play] t= 12.10s step= 605 trunk_z= 108.8mm grav_b=(-0.01,+0.06,-1.00) r=1.37m +[headless_play] t= 12.20s step= 610 trunk_z= 109.5mm grav_b=(-0.28,+0.08,-0.96) r=1.38m +[headless_play] t= 12.30s step= 615 trunk_z= 106.8mm grav_b=(-0.29,+0.01,-0.96) r=1.39m +[headless_play] t= 12.40s step= 620 trunk_z= 105.7mm grav_b=(-0.16,+0.14,-0.98) r=1.38m +[headless_play] t= 12.50s step= 625 trunk_z= 103.0mm grav_b=(+0.08,+0.11,-0.99) r=1.37m +[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(+0.05,-0.15,-0.99) r=1.34m +[headless_play] t= 12.70s step= 635 trunk_z= 124.0mm grav_b=(-0.01,-0.10,-0.99) r=1.31m +[headless_play] t= 12.80s step= 640 trunk_z= 116.0mm grav_b=(-0.00,+0.06,-1.00) r=1.28m +[headless_play] t= 12.90s step= 645 trunk_z= 114.6mm grav_b=(+0.01,-0.08,-1.00) r=1.26m +[headless_play] t= 13.00s step= 650 trunk_z= 112.0mm grav_b=(+0.07,-0.05,-1.00) r=1.24m +[headless_play] t= 13.10s step= 655 trunk_z= 114.8mm grav_b=(-0.00,+0.16,-0.99) r=1.22m +[headless_play] t= 13.20s step= 660 trunk_z= 115.4mm grav_b=(-0.02,-0.00,-1.00) r=1.21m +[headless_play] t= 13.30s step= 665 trunk_z= 120.1mm grav_b=(-0.01,-0.22,-0.98) r=1.18m +[headless_play] t= 13.40s step= 670 trunk_z= 124.2mm grav_b=(+0.05,-0.25,-0.97) r=1.15m +[headless_play] t= 13.50s step= 675 trunk_z= 122.8mm grav_b=(+0.06,-0.10,-0.99) r=1.13m +[headless_play] t= 13.60s step= 680 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00) r=1.09m +[headless_play] t= 13.70s step= 685 trunk_z= 116.2mm grav_b=(-0.10,-0.06,-0.99) r=1.05m +[headless_play] t= 13.80s step= 690 trunk_z= 118.0mm grav_b=(-0.04,-0.15,-0.99) r=1.01m +[headless_play] t= 13.90s step= 695 trunk_z= 115.3mm grav_b=(+0.04,-0.16,-0.99) r=0.99m +[headless_play] t= 14.00s step= 700 trunk_z= 111.6mm grav_b=(+0.12,-0.04,-0.99) r=0.96m +[headless_play] t= 14.10s step= 705 trunk_z= 119.0mm grav_b=(-0.00,-0.08,-1.00) r=0.95m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(+0.06,-0.10,-0.99) r=0.93m +[headless_play] t= 14.30s step= 715 trunk_z= 116.1mm grav_b=(+0.07,+0.06,-1.00) r=0.91m +[headless_play] t= 14.40s step= 720 trunk_z= 117.0mm grav_b=(-0.01,-0.05,-1.00) r=0.89m +[headless_play] t= 14.50s step= 725 trunk_z= 114.0mm grav_b=(+0.03,-0.01,-1.00) r=0.87m +[headless_play] t= 14.60s step= 730 trunk_z= 115.1mm grav_b=(+0.01,-0.00,-1.00) r=0.87m +[headless_play] t= 14.70s step= 735 trunk_z= 114.5mm grav_b=(-0.00,-0.02,-1.00) r=0.87m +[headless_play] t= 14.80s step= 740 trunk_z= 114.6mm grav_b=(-0.02,-0.02,-1.00) r=0.87m +[headless_play] t= 14.90s step= 745 trunk_z= 114.9mm grav_b=(-0.01,-0.02,-1.00) r=0.87m +[headless_play] t= 15.00s step= 750 trunk_z= 114.9mm grav_b=(+0.00,-0.02,-1.00) r=0.87m +[headless_play] t= 15.10s step= 755 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.85m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(+0.09,-0.01,-1.00) r=0.85m +[headless_play] t= 15.30s step= 765 trunk_z= 117.1mm grav_b=(+0.07,-0.01,-1.00) r=0.85m +[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.85m +[headless_play] t= 15.50s step= 775 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.86m +[headless_play] t= 15.60s step= 780 trunk_z= 115.8mm grav_b=(-0.03,-0.01,-1.00) r=0.86m +[headless_play] t= 15.70s step= 785 trunk_z= 115.6mm grav_b=(-0.04,-0.01,-1.00) r=0.86m +[headless_play] t= 15.80s step= 790 trunk_z= 115.2mm grav_b=(-0.01,-0.01,-1.00) r=0.86m +[headless_play] t= 15.90s step= 795 trunk_z= 115.0mm grav_b=(+0.02,-0.01,-1.00) r=0.83m +[headless_play] t= 16.00s step= 800 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.82m +[headless_play] t= 16.10s step= 805 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=0.81m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.81m +[headless_play] t= 16.30s step= 815 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.82m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 16.70s step= 835 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 16.80s step= 840 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 16.90s step= 845 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.81m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.81m +[headless_play] t= 17.10s step= 855 trunk_z= 116.4mm grav_b=(+0.01,+0.07,-1.00) r=0.80m +[headless_play] t= 17.20s step= 860 trunk_z= 115.0mm grav_b=(-0.01,-0.05,-1.00) r=0.79m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.06,-0.05,-1.00) r=0.79m +[headless_play] t= 17.40s step= 870 trunk_z= 116.5mm grav_b=(-0.00,+0.09,-1.00) r=0.79m +[headless_play] t= 17.50s step= 875 trunk_z= 113.5mm grav_b=(+0.01,-0.03,-1.00) r=0.79m +[headless_play] t= 17.60s step= 880 trunk_z= 120.5mm grav_b=(-0.02,-0.11,-0.99) r=0.80m +[headless_play] t= 17.70s step= 885 trunk_z= 119.6mm grav_b=(-0.01,-0.01,-1.00) r=0.79m +[headless_play] t= 17.80s step= 890 trunk_z= 118.9mm grav_b=(-0.01,+0.06,-1.00) r=0.78m +[headless_play] t= 17.90s step= 895 trunk_z= 113.8mm grav_b=(+0.02,-0.07,-1.00) r=0.78m +[headless_play] t= 18.00s step= 900 trunk_z= 121.8mm grav_b=(+0.08,-0.12,-0.99) r=0.79m +[headless_play] t= 18.10s step= 905 trunk_z= 115.7mm grav_b=(+0.09,-0.00,-1.00) r=0.78m +[headless_play] t= 18.20s step= 910 trunk_z= 124.4mm grav_b=(+0.07,-0.07,-1.00) r=0.78m +[headless_play] t= 18.30s step= 915 trunk_z= 119.7mm grav_b=(-0.05,-0.26,-0.97) r=0.78m +[headless_play] t= 18.40s step= 920 trunk_z= 126.5mm grav_b=(-0.06,-0.18,-0.98) r=0.78m +[headless_play] t= 18.50s step= 925 trunk_z= 115.3mm grav_b=(-0.03,+0.02,-1.00) r=0.79m +[headless_play] t= 18.60s step= 930 trunk_z= 116.2mm grav_b=(-0.03,-0.07,-1.00) r=0.79m +[headless_play] t= 18.70s step= 935 trunk_z= 111.7mm grav_b=(+0.06,-0.05,-1.00) r=0.79m +[headless_play] t= 18.80s step= 940 trunk_z= 115.8mm grav_b=(+0.06,+0.07,-1.00) r=0.80m +[headless_play] t= 18.90s step= 945 trunk_z= 116.7mm grav_b=(+0.00,-0.12,-0.99) r=0.82m +[headless_play] t= 19.00s step= 950 trunk_z= 120.5mm grav_b=(-0.01,-0.14,-0.99) r=0.85m +[headless_play] t= 19.10s step= 955 trunk_z= 114.0mm grav_b=(+0.02,+0.04,-1.00) r=0.88m +[headless_play] t= 19.20s step= 960 trunk_z= 119.4mm grav_b=(+0.05,-0.01,-1.00) r=0.90m +[headless_play] t= 19.30s step= 965 trunk_z= 116.8mm grav_b=(-0.01,-0.15,-0.99) r=0.92m +[headless_play] t= 19.40s step= 970 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 19.50s step= 975 trunk_z= 119.5mm grav_b=(+0.03,+0.08,-1.00) r=0.96m +[headless_play] t= 19.60s step= 980 trunk_z= 115.7mm grav_b=(+0.01,-0.07,-1.00) r=0.98m +[headless_play] t= 19.70s step= 985 trunk_z= 117.9mm grav_b=(+0.01,-0.10,-0.99) r=1.01m +[headless_play] t= 19.80s step= 990 trunk_z= 115.1mm grav_b=(-0.01,+0.05,-1.00) r=1.02m +[headless_play] t= 19.90s step= 995 trunk_z= 120.8mm grav_b=(-0.02,+0.04,-1.00) r=1.03m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.01,+0.06,-1.00) r=0.41m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..e974fd118b312f22f9a435f1a0deed99b73d8369 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.4mm grav_b=(-0.00,+0.00,-1.00) root_w=(-10.260,-18.404,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(+0.03,+0.10,-0.99) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 120.8mm grav_b=(+0.09,+0.10,-0.99) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 119.6mm grav_b=(+0.01,-0.05,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 125.3mm grav_b=(+0.04,-0.05,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 118.0mm grav_b=(+0.06,+0.09,-0.99) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 122.5mm grav_b=(+0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 119.6mm grav_b=(-0.01,-0.09,-1.00) r=0.37m +[headless_play] t= 0.80s step= 40 trunk_z= 119.0mm grav_b=(+0.03,+0.07,-1.00) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 127.1mm grav_b=(+0.15,+0.12,-0.98) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 121.1mm grav_b=(+0.07,+0.01,-1.00) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(-0.04,-0.08,-1.00) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 117.4mm grav_b=(-0.03,+0.10,-0.99) r=0.22m +[headless_play] t= 1.30s step= 65 trunk_z= 121.4mm grav_b=(+0.06,+0.06,-1.00) r=0.20m +[headless_play] t= 1.40s step= 70 trunk_z= 119.4mm grav_b=(+0.03,-0.13,-0.99) r=0.19m +[headless_play] t= 1.50s step= 75 trunk_z= 130.1mm grav_b=(+0.03,-0.09,-1.00) r=0.18m +[headless_play] t= 1.60s step= 80 trunk_z= 115.8mm grav_b=(+0.05,+0.05,-1.00) r=0.16m +[headless_play] t= 1.70s step= 85 trunk_z= 126.3mm grav_b=(+0.06,+0.01,-1.00) r=0.15m +[headless_play] t= 1.80s step= 90 trunk_z= 116.7mm grav_b=(+0.04,-0.09,-0.99) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 121.9mm grav_b=(-0.01,+0.03,-1.00) r=0.16m +[headless_play] t= 2.00s step= 100 trunk_z= 121.7mm grav_b=(+0.06,+0.11,-0.99) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 119.6mm grav_b=(+0.06,-0.02,-1.00) r=0.19m +[headless_play] t= 2.20s step= 110 trunk_z= 126.2mm grav_b=(+0.00,-0.09,-1.00) r=0.20m +[headless_play] t= 2.30s step= 115 trunk_z= 119.2mm grav_b=(-0.00,+0.04,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 122.6mm grav_b=(+0.13,+0.05,-0.99) r=0.25m +[headless_play] t= 2.50s step= 125 trunk_z= 110.9mm grav_b=(+0.10,-0.13,-0.99) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 120.8mm grav_b=(+0.06,-0.02,-1.00) r=0.29m +[headless_play] t= 2.70s step= 135 trunk_z= 118.4mm grav_b=(-0.01,+0.10,-0.99) r=0.32m +[headless_play] t= 2.80s step= 140 trunk_z= 122.6mm grav_b=(+0.04,+0.06,-1.00) r=0.36m +[headless_play] t= 2.90s step= 145 trunk_z= 119.8mm grav_b=(+0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 119.9mm grav_b=(+0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 124.4mm grav_b=(+0.03,+0.15,-0.99) r=0.39m +[headless_play] t= 3.20s step= 160 trunk_z= 120.2mm grav_b=(-0.02,+0.04,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 123.7mm grav_b=(+0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 117.3mm grav_b=(+0.02,+0.10,-1.00) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 121.1mm grav_b=(+0.05,+0.04,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 123.1mm grav_b=(+0.02,-0.09,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 121.2mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 123.1mm grav_b=(+0.06,+0.08,-0.99) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 118.2mm grav_b=(+0.03,-0.12,-0.99) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 128.5mm grav_b=(+0.05,-0.11,-0.99) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 119.4mm grav_b=(+0.06,+0.01,-1.00) r=0.64m +[headless_play] t= 4.20s step= 210 trunk_z= 123.2mm grav_b=(-0.01,-0.01,-1.00) r=0.68m +[headless_play] t= 4.30s step= 215 trunk_z= 119.1mm grav_b=(+0.03,-0.09,-1.00) r=0.72m +[headless_play] t= 4.40s step= 220 trunk_z= 126.5mm grav_b=(+0.02,-0.10,-0.99) r=0.75m +[headless_play] t= 4.50s step= 225 trunk_z= 115.6mm grav_b=(-0.00,+0.07,-1.00) r=0.77m +[headless_play] t= 4.60s step= 230 trunk_z= 119.4mm grav_b=(+0.08,+0.03,-1.00) r=0.80m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(-0.03,-0.17,-0.99) r=0.81m +[headless_play] t= 4.80s step= 240 trunk_z= 128.4mm grav_b=(-0.08,-0.16,-0.98) r=0.82m +[headless_play] t= 4.90s step= 245 trunk_z= 127.8mm grav_b=(-0.02,-0.08,-1.00) r=0.84m +[headless_play] t= 5.00s step= 250 trunk_z= 119.7mm grav_b=(+0.02,+0.08,-1.00) r=0.85m +[headless_play] t= 5.10s step= 255 trunk_z= 123.4mm grav_b=(+0.06,+0.08,-0.99) r=0.86m +[headless_play] t= 5.20s step= 260 trunk_z= 119.4mm grav_b=(+0.08,+0.01,-1.00) r=0.86m +[headless_play] t= 5.30s step= 265 trunk_z= 121.3mm grav_b=(+0.09,+0.05,-0.99) r=0.87m +[headless_play] t= 5.40s step= 270 trunk_z= 125.4mm grav_b=(+0.13,+0.12,-0.98) r=0.89m +[headless_play] t= 5.50s step= 275 trunk_z= 126.0mm grav_b=(+0.04,-0.00,-1.00) r=0.91m +[headless_play] t= 5.60s step= 280 trunk_z= 125.3mm grav_b=(-0.09,-0.17,-0.98) r=0.91m +[headless_play] t= 5.70s step= 285 trunk_z= 128.1mm grav_b=(-0.10,-0.09,-0.99) r=0.91m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(-0.06,+0.07,-1.00) r=0.92m +[headless_play] t= 5.90s step= 295 trunk_z= 117.8mm grav_b=(+0.03,+0.05,-1.00) r=0.91m +[headless_play] t= 6.00s step= 300 trunk_z= 115.6mm grav_b=(+0.09,-0.05,-0.99) r=0.90m +[headless_play] t= 6.10s step= 305 trunk_z= 119.2mm grav_b=(+0.15,+0.07,-0.99) r=0.90m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(+0.08,+0.02,-1.00) r=0.89m +[headless_play] t= 6.30s step= 315 trunk_z= 115.0mm grav_b=(-0.04,-0.18,-0.98) r=0.89m +[headless_play] t= 6.40s step= 320 trunk_z= 130.2mm grav_b=(-0.04,-0.26,-0.96) r=0.90m +[headless_play] t= 6.50s step= 325 trunk_z= 127.4mm grav_b=(+0.02,-0.15,-0.99) r=0.90m +[headless_play] t= 6.60s step= 330 trunk_z= 111.1mm grav_b=(+0.15,+0.03,-0.99) r=0.91m +[headless_play] t= 6.70s step= 335 trunk_z= 131.2mm grav_b=(+0.04,+0.03,-1.00) r=0.92m +[headless_play] t= 6.80s step= 340 trunk_z= 123.9mm grav_b=(+0.09,-0.01,-1.00) r=0.93m +[headless_play] t= 6.90s step= 345 trunk_z= 122.6mm grav_b=(+0.00,+0.08,-1.00) r=0.95m +[headless_play] t= 7.00s step= 350 trunk_z= 125.0mm grav_b=(+0.17,+0.27,-0.95) r=0.95m +[headless_play] t= 7.10s step= 355 trunk_z= 131.1mm grav_b=(+0.14,+0.23,-0.96) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 97.5mm grav_b=(+0.09,+0.16,-0.98) r=0.98m +[headless_play] t= 7.30s step= 365 trunk_z= 110.5mm grav_b=(+0.33,+0.41,-0.85) r=0.99m +[headless_play] t= 7.40s step= 370 trunk_z= 117.7mm grav_b=(+0.83,-0.05,-0.56) r=0.99m +[headless_play] RESET at t= 7.44s step= 372 (env termination, not a recovery) +[headless_play] t= 7.50s step= 375 trunk_z= 114.2mm grav_b=(-0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 7.60s step= 380 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 7.70s step= 385 trunk_z= 116.8mm grav_b=(-0.00,-0.04,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(+0.01,+0.03,-1.00) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 122.9mm grav_b=(-0.06,+0.13,-0.99) r=0.43m +[headless_play] t= 8.00s step= 400 trunk_z= 114.4mm grav_b=(-0.13,-0.02,-0.99) r=0.45m +[headless_play] t= 8.10s step= 405 trunk_z= 94.8mm grav_b=(+0.03,+0.05,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 102.7mm grav_b=(+0.06,+0.07,-1.00) r=0.47m +[headless_play] t= 8.30s step= 415 trunk_z= 113.7mm grav_b=(+0.04,-0.13,-0.99) r=0.48m +[headless_play] t= 8.40s step= 420 trunk_z= 115.4mm grav_b=(+0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 8.50s step= 425 trunk_z= 120.7mm grav_b=(+0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 8.60s step= 430 trunk_z= 113.9mm grav_b=(-0.01,-0.10,-1.00) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 118.2mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 8.90s step= 445 trunk_z= 113.7mm grav_b=(+0.06,-0.09,-0.99) r=0.43m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 9.10s step= 455 trunk_z= 118.0mm grav_b=(+0.03,+0.10,-0.99) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 113.5mm grav_b=(+0.05,-0.09,-0.99) r=0.40m +[headless_play] t= 9.30s step= 465 trunk_z= 118.3mm grav_b=(+0.02,-0.05,-1.00) r=0.39m +[headless_play] t= 9.40s step= 470 trunk_z= 115.6mm grav_b=(+0.02,+0.08,-1.00) r=0.38m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(+0.04,+0.00,-1.00) r=0.38m +[headless_play] t= 9.60s step= 480 trunk_z= 117.3mm grav_b=(+0.02,-0.08,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 116.7mm grav_b=(+0.01,+0.05,-1.00) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(+0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 9.90s step= 495 trunk_z= 118.6mm grav_b=(-0.01,-0.15,-0.99) r=0.33m +[headless_play] t= 10.00s step= 500 trunk_z= 118.6mm grav_b=(+0.01,-0.14,-0.99) r=0.32m +[headless_play] t= 10.10s step= 505 trunk_z= 119.3mm grav_b=(+0.05,-0.08,-1.00) r=0.31m +[headless_play] t= 10.20s step= 510 trunk_z= 119.9mm grav_b=(+0.06,+0.05,-1.00) r=0.30m +[headless_play] t= 10.30s step= 515 trunk_z= 113.0mm grav_b=(+0.04,-0.10,-0.99) r=0.29m +[headless_play] t= 10.40s step= 520 trunk_z= 117.5mm grav_b=(-0.03,-0.03,-1.00) r=0.28m +[headless_play] t= 10.50s step= 525 trunk_z= 113.1mm grav_b=(+0.03,+0.11,-0.99) r=0.28m +[headless_play] t= 10.60s step= 530 trunk_z= 112.6mm grav_b=(+0.10,-0.01,-1.00) r=0.28m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(+0.10,-0.08,-0.99) r=0.28m +[headless_play] t= 10.80s step= 540 trunk_z= 115.6mm grav_b=(-0.02,+0.14,-0.99) r=0.28m +[headless_play] t= 10.90s step= 545 trunk_z= 119.7mm grav_b=(+0.03,+0.16,-0.99) r=0.28m +[headless_play] t= 11.00s step= 550 trunk_z= 107.9mm grav_b=(+0.09,-0.04,-1.00) r=0.28m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 114.2mm grav_b=(+0.02,+0.10,-0.99) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 11.40s step= 570 trunk_z= 118.6mm grav_b=(+0.02,-0.11,-0.99) r=0.28m +[headless_play] t= 11.50s step= 575 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 11.60s step= 580 trunk_z= 119.0mm grav_b=(-0.00,+0.13,-0.99) r=0.31m +[headless_play] t= 11.70s step= 585 trunk_z= 115.1mm grav_b=(+0.05,+0.02,-1.00) r=0.33m +[headless_play] t= 11.80s step= 590 trunk_z= 114.0mm grav_b=(+0.08,-0.05,-1.00) r=0.34m +[headless_play] t= 11.90s step= 595 trunk_z= 112.6mm grav_b=(+0.03,+0.09,-1.00) r=0.35m +[headless_play] t= 12.00s step= 600 trunk_z= 115.2mm grav_b=(+0.07,+0.10,-0.99) r=0.36m +[headless_play] t= 12.10s step= 605 trunk_z= 112.4mm grav_b=(+0.07,-0.13,-0.99) r=0.37m +[headless_play] t= 12.20s step= 610 trunk_z= 115.6mm grav_b=(+0.07,-0.05,-1.00) r=0.38m +[headless_play] t= 12.30s step= 615 trunk_z= 115.9mm grav_b=(+0.03,+0.12,-0.99) r=0.39m +[headless_play] t= 12.40s step= 620 trunk_z= 114.9mm grav_b=(+0.08,+0.02,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 118.7mm grav_b=(+0.00,-0.14,-0.99) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 118.3mm grav_b=(-0.00,-0.05,-1.00) r=0.41m +[headless_play] t= 12.70s step= 635 trunk_z= 115.7mm grav_b=(+0.04,+0.07,-1.00) r=0.42m +[headless_play] t= 12.80s step= 640 trunk_z= 112.4mm grav_b=(+0.06,-0.10,-0.99) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 121.1mm grav_b=(+0.01,-0.14,-0.99) r=0.40m +[headless_play] t= 13.00s step= 650 trunk_z= 116.9mm grav_b=(-0.01,-0.08,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 110.8mm grav_b=(+0.06,+0.06,-1.00) r=0.40m +[headless_play] t= 13.20s step= 660 trunk_z= 113.6mm grav_b=(+0.06,-0.07,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 118.2mm grav_b=(+0.05,-0.13,-0.99) r=0.40m +[headless_play] t= 13.40s step= 670 trunk_z= 113.5mm grav_b=(+0.05,-0.07,-1.00) r=0.40m +[headless_play] t= 13.50s step= 675 trunk_z= 114.3mm grav_b=(+0.04,+0.08,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 113.5mm grav_b=(+0.06,-0.04,-1.00) r=0.42m +[headless_play] t= 13.70s step= 685 trunk_z= 113.7mm grav_b=(+0.03,-0.05,-1.00) r=0.43m +[headless_play] t= 13.80s step= 690 trunk_z= 113.2mm grav_b=(-0.00,+0.14,-0.99) r=0.44m +[headless_play] t= 13.90s step= 695 trunk_z= 119.5mm grav_b=(+0.05,+0.08,-1.00) r=0.46m +[headless_play] t= 14.00s step= 700 trunk_z= 111.5mm grav_b=(+0.05,-0.10,-0.99) r=0.46m +[headless_play] t= 14.10s step= 705 trunk_z= 114.7mm grav_b=(+0.03,+0.02,-1.00) r=0.46m +[headless_play] t= 14.20s step= 710 trunk_z= 113.6mm grav_b=(+0.06,+0.10,-0.99) r=0.47m +[headless_play] t= 14.30s step= 715 trunk_z= 108.8mm grav_b=(+0.08,-0.14,-0.99) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 117.9mm grav_b=(+0.06,-0.12,-0.99) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 114.0mm grav_b=(+0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 14.60s step= 730 trunk_z= 115.6mm grav_b=(+0.03,-0.03,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 114.5mm grav_b=(+0.02,-0.21,-0.98) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 120.4mm grav_b=(+0.04,-0.15,-0.99) r=0.42m +[headless_play] t= 14.90s step= 745 trunk_z= 110.8mm grav_b=(+0.10,-0.01,-1.00) r=0.42m +[headless_play] t= 15.00s step= 750 trunk_z= 119.4mm grav_b=(+0.09,+0.02,-1.00) r=0.42m +[headless_play] t= 15.10s step= 755 trunk_z= 113.6mm grav_b=(+0.08,-0.19,-0.98) r=0.42m +[headless_play] t= 15.20s step= 760 trunk_z= 122.7mm grav_b=(+0.03,-0.08,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 119.5mm grav_b=(-0.01,+0.14,-0.99) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 118.2mm grav_b=(+0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 15.50s step= 775 trunk_z= 116.9mm grav_b=(+0.03,-0.05,-1.00) r=0.43m +[headless_play] t= 15.60s step= 780 trunk_z= 115.4mm grav_b=(+0.06,+0.10,-0.99) r=0.43m +[headless_play] t= 15.70s step= 785 trunk_z= 116.0mm grav_b=(+0.09,+0.03,-1.00) r=0.44m +[headless_play] t= 15.80s step= 790 trunk_z= 119.2mm grav_b=(+0.02,-0.09,-1.00) r=0.43m +[headless_play] t= 15.90s step= 795 trunk_z= 115.3mm grav_b=(-0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 16.00s step= 800 trunk_z= 114.9mm grav_b=(+0.06,+0.05,-1.00) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 115.8mm grav_b=(+0.02,-0.16,-0.99) r=0.43m +[headless_play] t= 16.20s step= 810 trunk_z= 123.8mm grav_b=(+0.05,-0.19,-0.98) r=0.41m +[headless_play] t= 16.30s step= 815 trunk_z= 121.5mm grav_b=(+0.07,-0.15,-0.99) r=0.40m +[headless_play] t= 16.40s step= 820 trunk_z= 119.8mm grav_b=(+0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 16.50s step= 825 trunk_z= 121.4mm grav_b=(+0.01,-0.09,-1.00) r=0.39m +[headless_play] t= 16.60s step= 830 trunk_z= 120.5mm grav_b=(-0.02,-0.09,-1.00) r=0.39m +[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(-0.01,+0.15,-0.99) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 125.0mm grav_b=(-0.02,+0.14,-0.99) r=0.42m +[headless_play] t= 16.90s step= 845 trunk_z= 120.3mm grav_b=(+0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 117.9mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 17.10s step= 855 trunk_z= 115.5mm grav_b=(+0.05,+0.13,-0.99) r=0.42m +[headless_play] t= 17.20s step= 860 trunk_z= 116.7mm grav_b=(+0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 17.30s step= 865 trunk_z= 122.2mm grav_b=(-0.01,-0.18,-0.98) r=0.42m +[headless_play] t= 17.40s step= 870 trunk_z= 121.2mm grav_b=(-0.01,-0.17,-0.98) r=0.42m +[headless_play] t= 17.50s step= 875 trunk_z= 119.4mm grav_b=(-0.02,-0.07,-1.00) r=0.43m +[headless_play] t= 17.60s step= 880 trunk_z= 118.3mm grav_b=(+0.02,+0.04,-1.00) r=0.44m +[headless_play] t= 17.70s step= 885 trunk_z= 110.1mm grav_b=(+0.06,-0.11,-0.99) r=0.45m +[headless_play] t= 17.80s step= 890 trunk_z= 113.7mm grav_b=(+0.05,+0.02,-1.00) r=0.45m +[headless_play] t= 17.90s step= 895 trunk_z= 116.3mm grav_b=(+0.01,+0.11,-0.99) r=0.46m +[headless_play] t= 18.00s step= 900 trunk_z= 113.7mm grav_b=(+0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 18.10s step= 905 trunk_z= 114.7mm grav_b=(+0.03,-0.06,-1.00) r=0.45m +[headless_play] t= 18.20s step= 910 trunk_z= 116.6mm grav_b=(+0.03,-0.05,-1.00) r=0.44m +[headless_play] t= 18.30s step= 915 trunk_z= 110.4mm grav_b=(+0.04,+0.05,-1.00) r=0.45m +[headless_play] t= 18.40s step= 920 trunk_z= 112.5mm grav_b=(+0.07,+0.03,-1.00) r=0.45m +[headless_play] t= 18.50s step= 925 trunk_z= 113.1mm grav_b=(+0.08,-0.10,-0.99) r=0.44m +[headless_play] t= 18.60s step= 930 trunk_z= 117.4mm grav_b=(+0.04,-0.07,-1.00) r=0.43m +[headless_play] t= 18.70s step= 935 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 18.80s step= 940 trunk_z= 118.3mm grav_b=(+0.04,+0.07,-1.00) r=0.43m +[headless_play] t= 18.90s step= 945 trunk_z= 114.7mm grav_b=(+0.07,-0.07,-1.00) r=0.43m +[headless_play] t= 19.00s step= 950 trunk_z= 116.9mm grav_b=(+0.05,-0.02,-1.00) r=0.43m +[headless_play] t= 19.10s step= 955 trunk_z= 110.9mm grav_b=(+0.07,+0.13,-0.99) r=0.43m +[headless_play] t= 19.20s step= 960 trunk_z= 115.0mm grav_b=(+0.05,+0.01,-1.00) r=0.44m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(+0.02,-0.13,-0.99) r=0.44m +[headless_play] t= 19.40s step= 970 trunk_z= 113.6mm grav_b=(+0.09,-0.03,-1.00) r=0.43m +[headless_play] t= 19.50s step= 975 trunk_z= 113.3mm grav_b=(+0.05,+0.08,-1.00) r=0.43m +[headless_play] t= 19.60s step= 980 trunk_z= 115.2mm grav_b=(+0.07,-0.02,-1.00) r=0.43m +[headless_play] t= 19.70s step= 985 trunk_z= 114.8mm grav_b=(+0.07,-0.13,-0.99) r=0.43m +[headless_play] t= 19.80s step= 990 trunk_z= 111.2mm grav_b=(+0.13,-0.08,-0.99) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 113.3mm grav_b=(+0.10,+0.04,-0.99) r=0.43m +[headless_play] t= 20.00s step=1000 trunk_z= 125.3mm grav_b=(+0.04,-0.05,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 123.7mm grav_b=(-0.02,-0.15,-0.99) r=0.45m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..1ac49f2335c404b53f904d9ed868120cbaf51bfb --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-17.731,-17.997,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.5mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.03,-0.05,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 117.6mm grav_b=(-0.05,-0.07,-1.00) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 117.5mm grav_b=(-0.08,+0.05,-1.00) r=0.23m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(-0.05,+0.09,-0.99) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 107.9mm grav_b=(+0.03,-0.09,-1.00) r=0.22m +[headless_play] t= 0.60s step= 30 trunk_z= 114.0mm grav_b=(-0.07,+0.02,-1.00) r=0.20m +[headless_play] t= 0.70s step= 35 trunk_z= 109.8mm grav_b=(-0.02,+0.08,-1.00) r=0.19m +[headless_play] t= 0.80s step= 40 trunk_z= 107.0mm grav_b=(+0.07,-0.09,-0.99) r=0.18m +[headless_play] t= 0.90s step= 45 trunk_z= 113.8mm grav_b=(+0.02,-0.10,-0.99) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 112.9mm grav_b=(-0.02,-0.00,-1.00) r=0.16m +[headless_play] t= 1.10s step= 55 trunk_z= 117.4mm grav_b=(-0.10,+0.05,-0.99) r=0.16m +[headless_play] t= 1.20s step= 60 trunk_z= 111.3mm grav_b=(-0.15,-0.15,-0.98) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(-0.18,-0.17,-0.97) r=0.18m +[headless_play] t= 1.40s step= 70 trunk_z= 125.0mm grav_b=(-0.09,-0.16,-0.98) r=0.18m +[headless_play] t= 1.50s step= 75 trunk_z= 125.1mm grav_b=(-0.06,-0.12,-0.99) r=0.19m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(-0.06,-0.03,-1.00) r=0.19m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(-0.07,-0.10,-0.99) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(-0.05,+0.05,-1.00) r=0.20m +[headless_play] t= 1.90s step= 95 trunk_z= 112.6mm grav_b=(+0.05,+0.11,-0.99) r=0.21m +[headless_play] t= 2.00s step= 100 trunk_z= 110.9mm grav_b=(+0.04,-0.06,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 112.9mm grav_b=(-0.02,+0.09,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(-0.04,+0.14,-0.99) r=0.22m +[headless_play] t= 2.30s step= 115 trunk_z= 108.2mm grav_b=(+0.00,-0.08,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(-0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 113.0mm grav_b=(-0.05,+0.06,-1.00) r=0.23m +[headless_play] t= 2.60s step= 130 trunk_z= 111.1mm grav_b=(-0.01,-0.09,-1.00) r=0.24m +[headless_play] t= 2.70s step= 135 trunk_z= 112.8mm grav_b=(-0.02,-0.05,-1.00) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 110.8mm grav_b=(-0.02,+0.03,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 108.9mm grav_b=(+0.03,+0.09,-1.00) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 106.9mm grav_b=(+0.05,-0.11,-0.99) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 113.0mm grav_b=(+0.02,-0.04,-1.00) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 111.7mm grav_b=(-0.00,+0.08,-1.00) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 112.3mm grav_b=(+0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 3.40s step= 170 trunk_z= 115.3mm grav_b=(-0.00,-0.14,-0.99) r=0.28m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(-0.03,-0.07,-1.00) r=0.29m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(-0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 117.0mm grav_b=(-0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 3.80s step= 190 trunk_z= 110.9mm grav_b=(+0.01,-0.11,-0.99) r=0.30m +[headless_play] t= 3.90s step= 195 trunk_z= 114.7mm grav_b=(-0.08,+0.09,-0.99) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 121.4mm grav_b=(-0.11,+0.17,-0.98) r=0.35m +[headless_play] t= 4.10s step= 205 trunk_z= 124.4mm grav_b=(-0.11,+0.13,-0.99) r=0.36m +[headless_play] t= 4.20s step= 210 trunk_z= 125.2mm grav_b=(-0.11,+0.11,-0.99) r=0.37m +[headless_play] t= 4.30s step= 215 trunk_z= 123.8mm grav_b=(-0.07,+0.09,-0.99) r=0.36m +[headless_play] t= 4.40s step= 220 trunk_z= 111.9mm grav_b=(-0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 102.8mm grav_b=(+0.07,+0.01,-1.00) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 111.5mm grav_b=(+0.10,-0.01,-0.99) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 117.6mm grav_b=(+0.03,-0.15,-0.99) r=0.28m +[headless_play] t= 4.80s step= 240 trunk_z= 124.3mm grav_b=(-0.02,-0.19,-0.98) r=0.25m +[headless_play] t= 4.90s step= 245 trunk_z= 123.8mm grav_b=(-0.02,-0.17,-0.99) r=0.23m +[headless_play] t= 5.00s step= 250 trunk_z= 115.6mm grav_b=(+0.01,-0.03,-1.00) r=0.21m +[headless_play] t= 5.10s step= 255 trunk_z= 121.6mm grav_b=(-0.07,-0.08,-0.99) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 122.4mm grav_b=(-0.10,-0.15,-0.98) r=0.18m +[headless_play] t= 5.30s step= 265 trunk_z= 115.5mm grav_b=(-0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.00,+0.12,-0.99) r=0.21m +[headless_play] t= 5.50s step= 275 trunk_z= 111.3mm grav_b=(+0.01,-0.06,-1.00) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 114.1mm grav_b=(-0.02,-0.02,-1.00) r=0.24m +[headless_play] t= 5.70s step= 285 trunk_z= 112.5mm grav_b=(-0.02,+0.11,-0.99) r=0.25m +[headless_play] t= 5.80s step= 290 trunk_z= 113.4mm grav_b=(+0.01,+0.05,-1.00) r=0.26m +[headless_play] t= 5.90s step= 295 trunk_z= 113.3mm grav_b=(+0.01,-0.11,-0.99) r=0.26m +[headless_play] t= 6.00s step= 300 trunk_z= 112.4mm grav_b=(+0.04,-0.03,-1.00) r=0.26m +[headless_play] t= 6.10s step= 305 trunk_z= 113.1mm grav_b=(+0.02,+0.10,-0.99) r=0.27m +[headless_play] t= 6.20s step= 310 trunk_z= 114.1mm grav_b=(+0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 6.30s step= 315 trunk_z= 116.2mm grav_b=(-0.02,-0.14,-0.99) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 114.3mm grav_b=(-0.02,-0.08,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 114.7mm grav_b=(-0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 6.60s step= 330 trunk_z= 117.0mm grav_b=(+0.01,+0.04,-1.00) r=0.33m +[headless_play] t= 6.70s step= 335 trunk_z= 112.2mm grav_b=(+0.03,-0.15,-0.99) r=0.34m +[headless_play] t= 6.80s step= 340 trunk_z= 121.4mm grav_b=(-0.16,-0.09,-0.98) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 116.5mm grav_b=(-0.08,+0.04,-1.00) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 102.7mm grav_b=(+0.08,+0.06,-0.99) r=0.32m +[headless_play] t= 7.10s step= 355 trunk_z= 109.7mm grav_b=(+0.04,-0.07,-1.00) r=0.31m +[headless_play] t= 7.20s step= 360 trunk_z= 120.5mm grav_b=(-0.10,-0.02,-0.99) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 115.7mm grav_b=(-0.05,+0.06,-1.00) r=0.32m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(-0.06,+0.00,-1.00) r=0.33m +[headless_play] t= 7.50s step= 375 trunk_z= 112.5mm grav_b=(-0.01,-0.09,-1.00) r=0.33m +[headless_play] t= 7.60s step= 380 trunk_z= 115.2mm grav_b=(-0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 112.2mm grav_b=(-0.03,+0.02,-1.00) r=0.34m +[headless_play] t= 7.80s step= 390 trunk_z= 114.9mm grav_b=(+0.02,-0.06,-1.00) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 121.2mm grav_b=(-0.03,-0.15,-0.99) r=0.33m +[headless_play] t= 8.00s step= 400 trunk_z= 123.6mm grav_b=(-0.01,-0.09,-1.00) r=0.33m +[headless_play] t= 8.10s step= 405 trunk_z= 120.7mm grav_b=(-0.03,+0.05,-1.00) r=0.34m +[headless_play] t= 8.20s step= 410 trunk_z= 120.3mm grav_b=(-0.06,-0.06,-1.00) r=0.35m +[headless_play] t= 8.30s step= 415 trunk_z= 121.5mm grav_b=(-0.06,-0.03,-1.00) r=0.35m +[headless_play] t= 8.40s step= 420 trunk_z= 121.1mm grav_b=(-0.03,+0.07,-1.00) r=0.36m +[headless_play] t= 8.50s step= 425 trunk_z= 119.2mm grav_b=(-0.07,-0.08,-0.99) r=0.36m +[headless_play] t= 8.60s step= 430 trunk_z= 123.4mm grav_b=(-0.09,-0.11,-0.99) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 117.3mm grav_b=(-0.07,+0.08,-0.99) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 124.0mm grav_b=(-0.06,+0.04,-1.00) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 120.9mm grav_b=(-0.05,-0.11,-0.99) r=0.37m +[headless_play] t= 9.00s step= 450 trunk_z= 122.2mm grav_b=(-0.08,-0.03,-1.00) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 122.0mm grav_b=(-0.10,+0.07,-0.99) r=0.38m +[headless_play] t= 9.20s step= 460 trunk_z= 118.1mm grav_b=(-0.09,-0.11,-0.99) r=0.38m +[headless_play] t= 9.30s step= 465 trunk_z= 122.9mm grav_b=(-0.07,-0.07,-1.00) r=0.37m +[headless_play] t= 9.40s step= 470 trunk_z= 121.7mm grav_b=(-0.07,+0.11,-0.99) r=0.39m +[headless_play] t= 9.50s step= 475 trunk_z= 125.0mm grav_b=(-0.01,+0.07,-1.00) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 116.5mm grav_b=(-0.03,-0.14,-0.99) r=0.42m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(-0.12,+0.03,-0.99) r=0.44m +[headless_play] t= 9.80s step= 490 trunk_z= 122.0mm grav_b=(-0.07,+0.06,-1.00) r=0.45m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(-0.06,-0.15,-0.99) r=0.46m +[headless_play] t= 10.00s step= 500 trunk_z= 120.6mm grav_b=(-0.13,-0.04,-0.99) r=0.47m +[headless_play] t= 10.10s step= 505 trunk_z= 123.9mm grav_b=(-0.11,+0.15,-0.98) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 125.2mm grav_b=(-0.10,+0.08,-0.99) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 119.6mm grav_b=(-0.05,-0.09,-0.99) r=0.48m +[headless_play] t= 10.40s step= 520 trunk_z= 120.3mm grav_b=(-0.04,+0.03,-1.00) r=0.49m +[headless_play] t= 10.50s step= 525 trunk_z= 123.1mm grav_b=(-0.00,+0.07,-1.00) r=0.50m +[headless_play] t= 10.60s step= 530 trunk_z= 119.1mm grav_b=(-0.03,-0.16,-0.99) r=0.51m +[headless_play] t= 10.70s step= 535 trunk_z= 125.2mm grav_b=(-0.05,-0.11,-0.99) r=0.51m +[headless_play] t= 10.80s step= 540 trunk_z= 117.8mm grav_b=(-0.09,+0.08,-0.99) r=0.53m +[headless_play] t= 10.90s step= 545 trunk_z= 120.1mm grav_b=(-0.08,-0.03,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 117.4mm grav_b=(-0.07,-0.05,-1.00) r=0.56m +[headless_play] t= 11.10s step= 555 trunk_z= 119.0mm grav_b=(-0.05,+0.07,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 115.5mm grav_b=(-0.00,-0.10,-1.00) r=0.60m +[headless_play] t= 11.30s step= 565 trunk_z= 119.4mm grav_b=(-0.04,-0.05,-1.00) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 120.9mm grav_b=(-0.04,+0.16,-0.99) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 124.3mm grav_b=(-0.01,+0.11,-0.99) r=0.65m +[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(-0.05,-0.11,-0.99) r=0.66m +[headless_play] t= 11.70s step= 585 trunk_z= 124.5mm grav_b=(-0.09,-0.08,-0.99) r=0.67m +[headless_play] t= 11.80s step= 590 trunk_z= 120.2mm grav_b=(-0.09,+0.08,-0.99) r=0.68m +[headless_play] t= 11.90s step= 595 trunk_z= 118.0mm grav_b=(-0.05,-0.09,-0.99) r=0.68m +[headless_play] t= 12.00s step= 600 trunk_z= 125.2mm grav_b=(-0.05,-0.17,-0.98) r=0.69m +[headless_play] t= 12.10s step= 605 trunk_z= 123.6mm grav_b=(-0.05,-0.09,-0.99) r=0.70m +[headless_play] t= 12.20s step= 610 trunk_z= 119.7mm grav_b=(-0.07,+0.02,-1.00) r=0.71m +[headless_play] t= 12.30s step= 615 trunk_z= 117.6mm grav_b=(-0.08,-0.12,-0.99) r=0.72m +[headless_play] t= 12.40s step= 620 trunk_z= 124.2mm grav_b=(-0.08,-0.11,-0.99) r=0.72m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(-0.07,+0.06,-1.00) r=0.74m +[headless_play] t= 12.60s step= 630 trunk_z= 119.5mm grav_b=(-0.05,+0.03,-1.00) r=0.75m +[headless_play] t= 12.70s step= 635 trunk_z= 120.0mm grav_b=(-0.01,-0.10,-0.99) r=0.76m +[headless_play] t= 12.80s step= 640 trunk_z= 119.7mm grav_b=(+0.00,+0.06,-1.00) r=0.78m +[headless_play] t= 12.90s step= 645 trunk_z= 119.8mm grav_b=(-0.08,+0.08,-0.99) r=0.80m +[headless_play] t= 13.00s step= 650 trunk_z= 116.8mm grav_b=(-0.04,-0.05,-1.00) r=0.82m +[headless_play] t= 13.10s step= 655 trunk_z= 118.1mm grav_b=(+0.05,+0.01,-1.00) r=0.82m +[headless_play] t= 13.20s step= 660 trunk_z= 115.9mm grav_b=(+0.00,-0.17,-0.99) r=0.83m +[headless_play] t= 13.30s step= 665 trunk_z= 118.6mm grav_b=(-0.16,-0.17,-0.97) r=0.83m +[headless_play] t= 13.40s step= 670 trunk_z= 112.9mm grav_b=(-0.22,-0.05,-0.97) r=0.83m +[headless_play] t= 13.50s step= 675 trunk_z= 115.3mm grav_b=(-0.31,-0.14,-0.94) r=0.82m +[headless_play] t= 13.60s step= 680 trunk_z= 105.1mm grav_b=(-0.53,-0.14,-0.84) r=0.81m +[headless_play] RESET at t= 13.68s step= 684 (env termination, not a recovery) +[headless_play] t= 13.70s step= 685 trunk_z= 120.2mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 13.80s step= 690 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=0.27m +[headless_play] t= 13.90s step= 695 trunk_z= 117.9mm grav_b=(-0.02,-0.02,-1.00) r=0.26m +[headless_play] t= 14.00s step= 700 trunk_z= 115.5mm grav_b=(-0.05,+0.12,-0.99) r=0.27m +[headless_play] t= 14.10s step= 705 trunk_z= 113.9mm grav_b=(-0.03,-0.03,-1.00) r=0.27m +[headless_play] t= 14.20s step= 710 trunk_z= 115.3mm grav_b=(-0.01,-0.04,-1.00) r=0.27m +[headless_play] t= 14.30s step= 715 trunk_z= 114.6mm grav_b=(-0.03,+0.12,-0.99) r=0.26m +[headless_play] t= 14.40s step= 720 trunk_z= 112.9mm grav_b=(+0.01,-0.05,-1.00) r=0.26m +[headless_play] t= 14.50s step= 725 trunk_z= 118.1mm grav_b=(-0.02,-0.10,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 113.2mm grav_b=(-0.02,+0.11,-0.99) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 114.3mm grav_b=(+0.03,+0.06,-1.00) r=0.24m +[headless_play] t= 14.80s step= 740 trunk_z= 117.4mm grav_b=(+0.04,-0.19,-0.98) r=0.23m +[headless_play] t= 14.90s step= 745 trunk_z= 126.6mm grav_b=(-0.00,-0.16,-0.99) r=0.22m +[headless_play] t= 15.00s step= 750 trunk_z= 123.0mm grav_b=(+0.00,-0.03,-1.00) r=0.22m +[headless_play] t= 15.10s step= 755 trunk_z= 120.4mm grav_b=(-0.10,+0.04,-0.99) r=0.22m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(-0.18,-0.14,-0.97) r=0.23m +[headless_play] t= 15.30s step= 765 trunk_z= 116.3mm grav_b=(-0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 15.40s step= 770 trunk_z= 119.3mm grav_b=(+0.01,+0.15,-0.99) r=0.25m +[headless_play] t= 15.50s step= 775 trunk_z= 120.2mm grav_b=(-0.04,+0.03,-1.00) r=0.26m +[headless_play] t= 15.60s step= 780 trunk_z= 121.3mm grav_b=(-0.07,-0.05,-1.00) r=0.26m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(-0.08,+0.08,-0.99) r=0.26m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(-0.05,-0.07,-1.00) r=0.27m +[headless_play] t= 15.90s step= 795 trunk_z= 117.7mm grav_b=(-0.05,-0.02,-1.00) r=0.27m +[headless_play] t= 16.00s step= 800 trunk_z= 120.4mm grav_b=(-0.06,+0.14,-0.99) r=0.29m +[headless_play] t= 16.10s step= 805 trunk_z= 126.1mm grav_b=(-0.11,+0.15,-0.98) r=0.31m +[headless_play] t= 16.20s step= 810 trunk_z= 126.1mm grav_b=(-0.11,+0.15,-0.98) r=0.32m +[headless_play] t= 16.30s step= 815 trunk_z= 127.5mm grav_b=(-0.06,+0.19,-0.98) r=0.32m +[headless_play] t= 16.40s step= 820 trunk_z= 122.8mm grav_b=(+0.05,+0.15,-0.99) r=0.32m +[headless_play] t= 16.50s step= 825 trunk_z= 124.1mm grav_b=(-0.02,-0.04,-1.00) r=0.32m +[headless_play] t= 16.60s step= 830 trunk_z= 126.3mm grav_b=(-0.23,-0.07,-0.97) r=0.32m +[headless_play] t= 16.70s step= 835 trunk_z= 111.2mm grav_b=(-0.31,-0.05,-0.95) r=0.32m +[headless_play] t= 16.80s step= 840 trunk_z= 104.3mm grav_b=(-0.27,-0.32,-0.91) r=0.32m +[headless_play] RESET at t= 16.90s step= 845 (env termination, not a recovery) +[headless_play] t= 16.90s step= 845 trunk_z= 129.6mm grav_b=(-0.00,-0.00,-1.00) r=0.63m +[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(-0.07,+0.02,-1.00) r=0.64m +[headless_play] t= 17.10s step= 855 trunk_z= 119.3mm grav_b=(-0.08,+0.06,-1.00) r=0.65m +[headless_play] t= 17.20s step= 860 trunk_z= 116.4mm grav_b=(-0.07,-0.10,-0.99) r=0.65m +[headless_play] t= 17.30s step= 865 trunk_z= 120.5mm grav_b=(-0.07,-0.02,-1.00) r=0.65m +[headless_play] t= 17.40s step= 870 trunk_z= 121.8mm grav_b=(-0.02,+0.11,-0.99) r=0.64m +[headless_play] t= 17.50s step= 875 trunk_z= 119.1mm grav_b=(-0.10,-0.03,-0.99) r=0.63m +[headless_play] t= 17.60s step= 880 trunk_z= 123.2mm grav_b=(-0.10,-0.12,-0.99) r=0.62m +[headless_play] t= 17.70s step= 885 trunk_z= 119.7mm grav_b=(-0.07,+0.07,-0.99) r=0.61m +[headless_play] t= 17.80s step= 890 trunk_z= 123.6mm grav_b=(-0.03,+0.05,-1.00) r=0.60m +[headless_play] t= 17.90s step= 895 trunk_z= 114.3mm grav_b=(-0.16,-0.16,-0.97) r=0.59m +[headless_play] t= 18.00s step= 900 trunk_z= 119.3mm grav_b=(-0.19,-0.01,-0.98) r=0.59m +[headless_play] t= 18.10s step= 905 trunk_z= 119.7mm grav_b=(-0.19,+0.11,-0.98) r=0.59m +[headless_play] t= 18.20s step= 910 trunk_z= 115.2mm grav_b=(-0.19,-0.07,-0.98) r=0.59m +[headless_play] t= 18.30s step= 915 trunk_z= 116.8mm grav_b=(-0.18,+0.08,-0.98) r=0.59m +[headless_play] t= 18.40s step= 920 trunk_z= 120.5mm grav_b=(-0.12,+0.07,-0.99) r=0.59m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(-0.14,-0.07,-0.99) r=0.60m +[headless_play] t= 18.60s step= 930 trunk_z= 118.6mm grav_b=(-0.16,+0.06,-0.99) r=0.60m +[headless_play] t= 18.70s step= 935 trunk_z= 123.4mm grav_b=(-0.13,+0.13,-0.98) r=0.60m +[headless_play] t= 18.80s step= 940 trunk_z= 114.9mm grav_b=(-0.14,-0.03,-0.99) r=0.61m +[headless_play] t= 18.90s step= 945 trunk_z= 121.5mm grav_b=(-0.17,-0.08,-0.98) r=0.62m +[headless_play] t= 19.00s step= 950 trunk_z= 112.6mm grav_b=(-0.22,+0.08,-0.97) r=0.62m +[headless_play] t= 19.10s step= 955 trunk_z= 114.8mm grav_b=(-0.17,-0.03,-0.98) r=0.63m +[headless_play] t= 19.20s step= 960 trunk_z= 114.6mm grav_b=(-0.18,+0.09,-0.98) r=0.64m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(-0.17,+0.09,-0.98) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 112.7mm grav_b=(-0.12,-0.04,-0.99) r=0.67m +[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(-0.08,+0.00,-1.00) r=0.69m +[headless_play] t= 19.60s step= 980 trunk_z= 112.3mm grav_b=(-0.09,+0.05,-1.00) r=0.72m +[headless_play] t= 19.70s step= 985 trunk_z= 110.3mm grav_b=(-0.08,-0.12,-0.99) r=0.74m +[headless_play] t= 19.80s step= 990 trunk_z= 116.5mm grav_b=(-0.11,+0.00,-0.99) r=0.76m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(-0.12,+0.08,-0.99) r=0.78m +[headless_play] t= 20.00s step=1000 trunk_z= 115.4mm grav_b=(-0.14,-0.11,-0.98) r=0.79m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.15,+0.01,-0.99) r=0.81m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..b05ebe4ba41ca667c9dd63f891f0fa0e6f65570c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z2-c-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.188,-17.568,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.6mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(+0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 117.7mm grav_b=(+0.02,-0.05,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 115.1mm grav_b=(+0.01,+0.13,-0.99) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 120.5mm grav_b=(-0.00,+0.16,-0.99) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 117.4mm grav_b=(+0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 120.9mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 114.1mm grav_b=(+0.05,+0.10,-0.99) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 119.5mm grav_b=(+0.11,+0.14,-0.98) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 115.7mm grav_b=(+0.12,+0.02,-0.99) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 127.5mm grav_b=(+0.00,-0.02,-1.00) r=0.47m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(-0.06,+0.06,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 121.2mm grav_b=(-0.07,+0.06,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(-0.03,-0.07,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 115.7mm grav_b=(+0.05,+0.05,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 118.5mm grav_b=(+0.05,+0.24,-0.97) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 120.5mm grav_b=(+0.10,+0.26,-0.96) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 123.3mm grav_b=(+0.01,+0.23,-0.97) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 121.0mm grav_b=(+0.01,+0.28,-0.96) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 127.5mm grav_b=(+0.19,+0.56,-0.81) r=0.67m +[headless_play] t= 2.10s step= 105 trunk_z= 88.6mm grav_b=(+0.16,+0.94,-0.31) r=0.71m +[headless_play] RESET at t= 2.12s step= 106 (env termination, not a recovery) +[headless_play] t= 2.20s step= 110 trunk_z= 115.7mm grav_b=(-0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 116.5mm grav_b=(+0.06,+0.09,-0.99) r=0.38m +[headless_play] t= 2.40s step= 120 trunk_z= 114.3mm grav_b=(+0.07,-0.10,-0.99) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 121.7mm grav_b=(+0.01,-0.04,-1.00) r=0.39m +[headless_play] t= 2.60s step= 130 trunk_z= 119.8mm grav_b=(-0.00,+0.20,-0.98) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 123.0mm grav_b=(+0.05,+0.15,-0.99) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 117.9mm grav_b=(+0.06,-0.04,-1.00) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 121.1mm grav_b=(-0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 114.9mm grav_b=(+0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 120.7mm grav_b=(+0.03,-0.15,-0.99) r=0.39m +[headless_play] t= 3.20s step= 160 trunk_z= 124.5mm grav_b=(+0.05,-0.09,-0.99) r=0.39m +[headless_play] t= 3.30s step= 165 trunk_z= 116.7mm grav_b=(+0.01,+0.08,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.05,-0.05,-1.00) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 122.1mm grav_b=(+0.06,-0.08,-0.99) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 115.4mm grav_b=(+0.04,+0.16,-0.99) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 119.3mm grav_b=(+0.09,+0.06,-0.99) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 122.1mm grav_b=(+0.05,-0.07,-1.00) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 117.3mm grav_b=(+0.03,+0.20,-0.98) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 126.7mm grav_b=(+0.11,+0.15,-0.98) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 117.0mm grav_b=(+0.00,-0.09,-1.00) r=0.65m +[headless_play] t= 4.20s step= 210 trunk_z= 120.7mm grav_b=(-0.11,+0.01,-0.99) r=0.69m +[headless_play] t= 4.30s step= 215 trunk_z= 119.1mm grav_b=(-0.04,+0.17,-0.99) r=0.73m +[headless_play] t= 4.40s step= 220 trunk_z= 119.5mm grav_b=(+0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 4.50s step= 225 trunk_z= 120.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 4.60s step= 230 trunk_z= 118.5mm grav_b=(+0.07,+0.15,-0.99) r=0.79m +[headless_play] t= 4.70s step= 235 trunk_z= 123.1mm grav_b=(+0.07,+0.07,-0.99) r=0.82m +[headless_play] t= 4.80s step= 240 trunk_z= 123.0mm grav_b=(+0.02,-0.00,-1.00) r=0.85m +[headless_play] t= 4.90s step= 245 trunk_z= 119.3mm grav_b=(-0.07,+0.20,-0.98) r=0.89m +[headless_play] t= 5.00s step= 250 trunk_z= 124.3mm grav_b=(+0.05,+0.20,-0.98) r=0.93m +[headless_play] t= 5.10s step= 255 trunk_z= 123.4mm grav_b=(+0.11,+0.09,-0.99) r=0.96m +[headless_play] t= 5.20s step= 260 trunk_z= 122.5mm grav_b=(+0.01,+0.02,-1.00) r=0.99m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.02,+0.18,-0.98) r=1.03m +[headless_play] t= 5.40s step= 270 trunk_z= 122.0mm grav_b=(+0.03,+0.09,-1.00) r=1.05m +[headless_play] t= 5.50s step= 275 trunk_z= 120.2mm grav_b=(-0.02,-0.11,-0.99) r=1.07m +[headless_play] t= 5.60s step= 280 trunk_z= 125.2mm grav_b=(-0.01,-0.07,-1.00) r=1.09m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(+0.02,+0.10,-0.99) r=1.11m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(+0.06,+0.02,-1.00) r=1.12m +[headless_play] t= 5.90s step= 295 trunk_z= 121.1mm grav_b=(+0.02,-0.05,-1.00) r=1.14m +[headless_play] t= 6.00s step= 300 trunk_z= 116.7mm grav_b=(+0.02,+0.15,-0.99) r=1.16m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(+0.07,+0.19,-0.98) r=1.18m +[headless_play] t= 6.20s step= 310 trunk_z= 125.7mm grav_b=(+0.04,+0.13,-0.99) r=1.20m +[headless_play] t= 6.30s step= 315 trunk_z= 122.2mm grav_b=(+0.03,-0.03,-1.00) r=1.23m +[headless_play] t= 6.40s step= 320 trunk_z= 117.3mm grav_b=(-0.04,+0.12,-0.99) r=1.26m +[headless_play] t= 6.50s step= 325 trunk_z= 117.4mm grav_b=(+0.07,+0.11,-0.99) r=1.29m +[headless_play] t= 6.60s step= 330 trunk_z= 113.6mm grav_b=(+0.02,-0.12,-0.99) r=1.31m +[headless_play] t= 6.70s step= 335 trunk_z= 120.6mm grav_b=(-0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 6.80s step= 340 trunk_z= 118.5mm grav_b=(+0.02,+0.13,-0.99) r=1.37m +[headless_play] t= 6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.06,-0.00,-1.00) r=1.39m +[headless_play] t= 7.00s step= 350 trunk_z= 120.3mm grav_b=(-0.01,-0.06,-1.00) r=1.41m +[headless_play] t= 7.10s step= 355 trunk_z= 112.1mm grav_b=(+0.05,+0.15,-0.99) r=1.43m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(+0.09,+0.16,-0.98) r=1.46m +[headless_play] t= 7.30s step= 365 trunk_z= 120.0mm grav_b=(+0.07,+0.02,-1.00) r=1.48m +[headless_play] t= 7.40s step= 370 trunk_z= 122.2mm grav_b=(+0.00,-0.02,-1.00) r=1.51m +[headless_play] t= 7.50s step= 375 trunk_z= 113.5mm grav_b=(+0.04,+0.14,-0.99) r=1.54m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(+0.09,+0.07,-0.99) r=1.57m +[headless_play] t= 7.70s step= 385 trunk_z= 115.6mm grav_b=(+0.03,-0.07,-1.00) r=1.61m +[headless_play] t= 7.80s step= 390 trunk_z= 119.5mm grav_b=(+0.00,+0.01,-1.00) r=1.64m +[headless_play] t= 7.90s step= 395 trunk_z= 117.3mm grav_b=(+0.04,+0.19,-0.98) r=1.67m +[headless_play] t= 8.00s step= 400 trunk_z= 122.2mm grav_b=(+0.07,+0.22,-0.97) r=1.69m +[headless_play] t= 8.10s step= 405 trunk_z= 126.4mm grav_b=(+0.08,+0.10,-0.99) r=1.71m +[headless_play] t= 8.20s step= 410 trunk_z= 128.5mm grav_b=(+0.02,-0.05,-1.00) r=1.74m +[headless_play] t= 8.30s step= 415 trunk_z= 127.9mm grav_b=(+0.01,-0.05,-1.00) r=1.79m +[headless_play] t= 8.40s step= 420 trunk_z= 119.0mm grav_b=(+0.03,+0.11,-0.99) r=1.84m +[headless_play] t= 8.50s step= 425 trunk_z= 122.5mm grav_b=(+0.06,+0.13,-0.99) r=1.87m +[headless_play] t= 8.60s step= 430 trunk_z= 121.8mm grav_b=(+0.07,+0.01,-1.00) r=1.90m +[headless_play] t= 8.70s step= 435 trunk_z= 119.7mm grav_b=(-0.10,-0.06,-0.99) r=1.93m +[headless_play] t= 8.80s step= 440 trunk_z= 115.0mm grav_b=(-0.08,+0.13,-0.99) r=1.97m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(-0.05,+0.13,-0.99) r=1.98m +[headless_play] t= 9.00s step= 450 trunk_z= 111.8mm grav_b=(+0.02,-0.00,-1.00) r=1.96m +[headless_play] t= 9.10s step= 455 trunk_z= 115.1mm grav_b=(+0.08,-0.01,-1.00) r=1.96m +[headless_play] t= 9.20s step= 460 trunk_z= 107.4mm grav_b=(+0.13,+0.11,-0.99) r=1.96m +[headless_play] t= 9.30s step= 465 trunk_z= 116.8mm grav_b=(+0.07,+0.01,-1.00) r=1.96m +[headless_play] t= 9.40s step= 470 trunk_z= 121.2mm grav_b=(+0.01,-0.17,-0.99) r=1.96m +[headless_play] t= 9.50s step= 475 trunk_z= 123.1mm grav_b=(+0.04,-0.12,-0.99) r=1.97m +[headless_play] t= 9.60s step= 480 trunk_z= 114.8mm grav_b=(+0.03,+0.08,-1.00) r=1.98m +[headless_play] t= 9.70s step= 485 trunk_z= 118.5mm grav_b=(+0.04,+0.06,-1.00) r=1.98m +[headless_play] t= 9.80s step= 490 trunk_z= 120.4mm grav_b=(+0.02,-0.02,-1.00) r=2.01m +[headless_play] t= 9.90s step= 495 trunk_z= 119.0mm grav_b=(+0.03,+0.03,-1.00) r=2.03m +[headless_play] t= 10.00s step= 500 trunk_z= 114.3mm grav_b=(+0.16,+0.12,-0.98) r=2.05m +[headless_play] t= 10.10s step= 505 trunk_z= 113.4mm grav_b=(+0.21,-0.01,-0.98) r=2.07m +[headless_play] t= 10.20s step= 510 trunk_z= 125.0mm grav_b=(+0.07,+0.01,-1.00) r=2.08m +[headless_play] t= 10.30s step= 515 trunk_z= 107.7mm grav_b=(-0.05,+0.21,-0.98) r=2.09m +[headless_play] t= 10.40s step= 520 trunk_z= 122.5mm grav_b=(-0.07,+0.14,-0.99) r=2.10m +[headless_play] t= 10.50s step= 525 trunk_z= 121.4mm grav_b=(-0.04,-0.06,-1.00) r=2.11m +[headless_play] t= 10.60s step= 530 trunk_z= 123.5mm grav_b=(+0.03,-0.12,-0.99) r=2.11m +[headless_play] t= 10.70s step= 535 trunk_z= 113.3mm grav_b=(+0.14,+0.02,-0.99) r=2.10m +[headless_play] t= 10.80s step= 540 trunk_z= 118.1mm grav_b=(+0.09,+0.09,-0.99) r=2.10m +[headless_play] t= 10.90s step= 545 trunk_z= 119.7mm grav_b=(+0.01,-0.13,-0.99) r=2.11m +[headless_play] t= 11.00s step= 550 trunk_z= 128.5mm grav_b=(+0.03,-0.18,-0.98) r=2.12m +[headless_play] t= 11.10s step= 555 trunk_z= 122.6mm grav_b=(+0.02,-0.11,-0.99) r=2.13m +[headless_play] t= 11.20s step= 560 trunk_z= 120.3mm grav_b=(-0.01,+0.04,-1.00) r=2.16m +[headless_play] t= 11.30s step= 565 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00) r=2.17m +[headless_play] t= 11.40s step= 570 trunk_z= 118.0mm grav_b=(+0.01,-0.03,-1.00) r=2.17m +[headless_play] t= 11.50s step= 575 trunk_z= 115.0mm grav_b=(+0.11,+0.09,-0.99) r=2.18m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(+0.15,-0.02,-0.99) r=2.19m +[headless_play] t= 11.70s step= 585 trunk_z= 124.6mm grav_b=(+0.06,-0.01,-1.00) r=2.20m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(+0.07,+0.28,-0.96) r=2.21m +[headless_play] t= 11.90s step= 595 trunk_z= 126.5mm grav_b=(+0.16,+0.19,-0.97) r=2.23m +[headless_play] t= 12.00s step= 600 trunk_z= 112.1mm grav_b=(+0.08,-0.03,-1.00) r=2.24m +[headless_play] t= 12.10s step= 605 trunk_z= 121.0mm grav_b=(+0.03,-0.03,-1.00) r=2.26m +[headless_play] t= 12.20s step= 610 trunk_z= 116.1mm grav_b=(-0.06,+0.15,-0.99) r=2.29m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.02,+0.12,-0.99) r=2.31m +[headless_play] t= 12.40s step= 620 trunk_z= 114.9mm grav_b=(+0.03,-0.08,-1.00) r=2.32m +[headless_play] t= 12.50s step= 625 trunk_z= 117.7mm grav_b=(+0.02,+0.04,-1.00) r=2.33m +[headless_play] t= 12.60s step= 630 trunk_z= 115.8mm grav_b=(+0.10,+0.10,-0.99) r=2.34m +[headless_play] t= 12.70s step= 635 trunk_z= 115.9mm grav_b=(+0.07,-0.10,-0.99) r=2.34m +[headless_play] t= 12.80s step= 640 trunk_z= 123.5mm grav_b=(+0.00,-0.08,-1.00) r=2.34m +[headless_play] t= 12.90s step= 645 trunk_z= 115.5mm grav_b=(+0.02,+0.16,-0.99) r=2.35m +[headless_play] t= 13.00s step= 650 trunk_z= 120.2mm grav_b=(-0.02,+0.11,-0.99) r=2.35m +[headless_play] t= 13.10s step= 655 trunk_z= 111.9mm grav_b=(+0.04,-0.05,-1.00) r=2.34m +[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(+0.07,+0.04,-1.00) r=2.33m +[headless_play] t= 13.30s step= 665 trunk_z= 115.2mm grav_b=(+0.12,+0.10,-0.99) r=2.33m +[headless_play] t= 13.40s step= 670 trunk_z= 115.1mm grav_b=(+0.03,-0.12,-0.99) r=2.33m +[headless_play] t= 13.50s step= 675 trunk_z= 122.4mm grav_b=(-0.01,-0.12,-0.99) r=2.32m +[headless_play] t= 13.60s step= 680 trunk_z= 112.6mm grav_b=(+0.03,+0.15,-0.99) r=2.32m +[headless_play] t= 13.70s step= 685 trunk_z= 119.5mm grav_b=(+0.12,+0.16,-0.98) r=2.34m +[headless_play] t= 13.80s step= 690 trunk_z= 128.2mm grav_b=(+0.06,+0.07,-1.00) r=2.37m +[headless_play] t= 13.90s step= 695 trunk_z= 124.4mm grav_b=(+0.00,-0.04,-1.00) r=2.41m +[headless_play] t= 14.00s step= 700 trunk_z= 119.0mm grav_b=(-0.13,+0.16,-0.98) r=2.43m +[headless_play] t= 14.10s step= 705 trunk_z= 124.8mm grav_b=(-0.06,+0.31,-0.95) r=2.46m +[headless_play] t= 14.20s step= 710 trunk_z= 120.7mm grav_b=(+0.10,+0.33,-0.94) r=2.49m +[headless_play] t= 14.30s step= 715 trunk_z= 103.8mm grav_b=(+0.38,+0.29,-0.88) r=2.52m +[headless_play] t= 14.40s step= 720 trunk_z= 111.3mm grav_b=(+0.49,+0.74,-0.46) r=2.58m +[headless_play] RESET at t= 14.44s step= 722 (env termination, not a recovery) +[headless_play] t= 14.50s step= 725 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 14.60s step= 730 trunk_z= 115.2mm grav_b=(+0.04,+0.08,-1.00) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(+0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 122.6mm grav_b=(-0.03,-0.13,-0.99) r=0.46m +[headless_play] t= 14.90s step= 745 trunk_z= 123.2mm grav_b=(+0.01,-0.08,-1.00) r=0.46m +[headless_play] t= 15.00s step= 750 trunk_z= 109.4mm grav_b=(+0.06,+0.07,-1.00) r=0.46m +[headless_play] t= 15.10s step= 755 trunk_z= 112.0mm grav_b=(+0.08,-0.04,-1.00) r=0.46m +[headless_play] t= 15.20s step= 760 trunk_z= 118.6mm grav_b=(+0.08,-0.09,-0.99) r=0.44m +[headless_play] t= 15.30s step= 765 trunk_z= 116.0mm grav_b=(+0.09,-0.03,-1.00) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 115.7mm grav_b=(+0.06,+0.05,-1.00) r=0.40m +[headless_play] t= 15.50s step= 775 trunk_z= 114.6mm grav_b=(+0.07,-0.10,-0.99) r=0.39m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.07,-0.11,-0.99) r=0.36m +[headless_play] t= 15.70s step= 785 trunk_z= 114.8mm grav_b=(+0.08,+0.03,-1.00) r=0.32m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.10,-0.02,-1.00) r=0.29m +[headless_play] t= 15.90s step= 795 trunk_z= 119.4mm grav_b=(+0.05,-0.21,-0.98) r=0.25m +[headless_play] t= 16.00s step= 800 trunk_z= 122.5mm grav_b=(+0.09,-0.22,-0.97) r=0.22m +[headless_play] t= 16.10s step= 805 trunk_z= 118.2mm grav_b=(+0.10,-0.14,-0.99) r=0.20m +[headless_play] t= 16.20s step= 810 trunk_z= 123.9mm grav_b=(+0.02,-0.06,-1.00) r=0.18m +[headless_play] t= 16.30s step= 815 trunk_z= 116.0mm grav_b=(-0.02,-0.15,-0.99) r=0.16m +[headless_play] t= 16.40s step= 820 trunk_z= 124.3mm grav_b=(-0.02,-0.12,-0.99) r=0.14m +[headless_play] t= 16.50s step= 825 trunk_z= 114.6mm grav_b=(+0.01,+0.05,-1.00) r=0.12m +[headless_play] t= 16.60s step= 830 trunk_z= 110.9mm grav_b=(+0.07,-0.00,-1.00) r=0.11m +[headless_play] t= 16.70s step= 835 trunk_z= 112.7mm grav_b=(+0.13,-0.16,-0.98) r=0.10m +[headless_play] t= 16.80s step= 840 trunk_z= 118.4mm grav_b=(+0.08,-0.09,-0.99) r=0.10m +[headless_play] t= 16.90s step= 845 trunk_z= 114.9mm grav_b=(+0.10,+0.08,-0.99) r=0.11m +[headless_play] t= 17.00s step= 850 trunk_z= 119.7mm grav_b=(+0.10,-0.01,-1.00) r=0.12m +[headless_play] t= 17.10s step= 855 trunk_z= 125.1mm grav_b=(+0.12,-0.12,-0.99) r=0.14m +[headless_play] t= 17.20s step= 860 trunk_z= 118.9mm grav_b=(+0.09,-0.01,-1.00) r=0.16m +[headless_play] t= 17.30s step= 865 trunk_z= 117.4mm grav_b=(+0.01,-0.04,-1.00) r=0.18m +[headless_play] t= 17.40s step= 870 trunk_z= 117.0mm grav_b=(+0.00,-0.17,-0.98) r=0.21m +[headless_play] t= 17.50s step= 875 trunk_z= 127.6mm grav_b=(+0.03,-0.17,-0.98) r=0.23m +[headless_play] t= 17.60s step= 880 trunk_z= 120.7mm grav_b=(+0.04,-0.07,-1.00) r=0.26m +[headless_play] t= 17.70s step= 885 trunk_z= 121.9mm grav_b=(-0.00,+0.02,-1.00) r=0.29m +[headless_play] t= 17.80s step= 890 trunk_z= 116.8mm grav_b=(+0.01,-0.07,-1.00) r=0.32m +[headless_play] t= 17.90s step= 895 trunk_z= 119.2mm grav_b=(+0.11,-0.14,-0.98) r=0.33m +[headless_play] t= 18.00s step= 900 trunk_z= 114.0mm grav_b=(+0.15,-0.05,-0.99) r=0.34m +[headless_play] t= 18.10s step= 905 trunk_z= 124.0mm grav_b=(+0.09,+0.03,-1.00) r=0.36m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(+0.06,-0.14,-0.99) r=0.40m +[headless_play] t= 18.30s step= 915 trunk_z= 130.7mm grav_b=(+0.01,-0.12,-0.99) r=0.43m +[headless_play] t= 18.40s step= 920 trunk_z= 120.6mm grav_b=(-0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 18.50s step= 925 trunk_z= 122.9mm grav_b=(-0.07,+0.04,-1.00) r=0.50m +[headless_play] t= 18.60s step= 930 trunk_z= 116.4mm grav_b=(-0.01,-0.12,-0.99) r=0.53m +[headless_play] t= 18.70s step= 935 trunk_z= 111.9mm grav_b=(+0.10,-0.02,-0.99) r=0.56m +[headless_play] t= 18.80s step= 940 trunk_z= 111.0mm grav_b=(+0.19,+0.14,-0.97) r=0.60m +[headless_play] t= 18.90s step= 945 trunk_z= 118.2mm grav_b=(+0.16,+0.04,-0.99) r=0.63m +[headless_play] t= 19.00s step= 950 trunk_z= 130.4mm grav_b=(+0.11,-0.13,-0.98) r=0.66m +[headless_play] t= 19.10s step= 955 trunk_z= 129.4mm grav_b=(+0.03,-0.08,-1.00) r=0.71m +[headless_play] t= 19.20s step= 960 trunk_z= 100.0mm grav_b=(-0.12,-0.12,-0.99) r=0.75m +[headless_play] t= 19.30s step= 965 trunk_z= 116.8mm grav_b=(+0.05,-0.11,-0.99) r=0.79m +[headless_play] t= 19.40s step= 970 trunk_z= 118.8mm grav_b=(-0.05,-0.24,-0.97) r=0.83m +[headless_play] t= 19.50s step= 975 trunk_z= 122.5mm grav_b=(+0.05,-0.13,-0.99) r=0.87m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(-0.06,+0.09,-0.99) r=0.91m +[headless_play] t= 19.70s step= 985 trunk_z= 113.7mm grav_b=(-0.09,-0.12,-0.99) r=0.95m +[headless_play] t= 19.80s step= 990 trunk_z= 101.1mm grav_b=(+0.12,-0.04,-0.99) r=0.97m +[headless_play] t= 19.90s step= 995 trunk_z= 115.9mm grav_b=(+0.06,+0.15,-0.99) r=0.99m +[headless_play] t= 20.00s step=1000 trunk_z= 116.3mm grav_b=(+0.04,+0.04,-1.00) r=1.00m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(+0.09,-0.05,-0.99) r=1.00m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..6f0c7b8b1ec1865890841241722f81b2bb906080 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.889,-18.071,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.3mm grav_b=(-0.01,+0.00,-1.00) r=0.13m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.01,-0.04,-1.00) r=0.13m +[headless_play] t= 0.20s step= 10 trunk_z= 117.6mm grav_b=(+0.03,-0.06,-1.00) r=0.12m +[headless_play] t= 0.30s step= 15 trunk_z= 120.6mm grav_b=(+0.07,-0.06,-1.00) r=0.12m +[headless_play] t= 0.40s step= 20 trunk_z= 112.4mm grav_b=(+0.05,+0.11,-0.99) r=0.12m +[headless_play] t= 0.50s step= 25 trunk_z= 117.9mm grav_b=(+0.03,+0.02,-1.00) r=0.12m +[headless_play] t= 0.60s step= 30 trunk_z= 113.5mm grav_b=(-0.02,-0.11,-0.99) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 125.9mm grav_b=(-0.04,-0.09,-0.99) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 118.5mm grav_b=(-0.03,+0.04,-1.00) r=0.09m +[headless_play] t= 0.90s step= 45 trunk_z= 120.7mm grav_b=(-0.02,-0.06,-1.00) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 124.9mm grav_b=(+0.03,-0.04,-1.00) r=0.08m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(-0.01,+0.15,-0.99) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 120.7mm grav_b=(-0.01,+0.02,-1.00) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 118.3mm grav_b=(+0.00,-0.10,-1.00) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 123.2mm grav_b=(-0.01,-0.03,-1.00) r=0.01m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(-0.02,+0.05,-1.00) r=0.01m +[headless_play] t= 1.60s step= 80 trunk_z= 119.5mm grav_b=(-0.01,-0.13,-0.99) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 128.5mm grav_b=(+0.03,-0.04,-1.00) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 114.9mm grav_b=(-0.03,+0.08,-1.00) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 116.9mm grav_b=(-0.05,-0.10,-0.99) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 123.8mm grav_b=(+0.03,-0.04,-1.00) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(-0.03,+0.12,-0.99) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 121.4mm grav_b=(-0.07,+0.03,-1.00) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 122.2mm grav_b=(-0.00,-0.07,-1.00) r=0.12m +[headless_play] t= 2.40s step= 120 trunk_z= 119.2mm grav_b=(+0.01,+0.09,-1.00) r=0.13m +[headless_play] t= 2.50s step= 125 trunk_z= 124.4mm grav_b=(-0.00,+0.10,-0.99) r=0.14m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(-0.05,-0.08,-1.00) r=0.16m +[headless_play] t= 2.70s step= 135 trunk_z= 120.5mm grav_b=(-0.02,-0.12,-0.99) r=0.17m +[headless_play] t= 2.80s step= 140 trunk_z= 118.5mm grav_b=(+0.01,+0.02,-1.00) r=0.19m +[headless_play] t= 2.90s step= 145 trunk_z= 125.2mm grav_b=(-0.05,+0.04,-1.00) r=0.18m +[headless_play] t= 3.00s step= 150 trunk_z= 115.2mm grav_b=(-0.04,-0.15,-0.99) r=0.17m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(+0.04,-0.06,-1.00) r=0.17m +[headless_play] t= 3.20s step= 160 trunk_z= 119.9mm grav_b=(+0.03,+0.09,-1.00) r=0.18m +[headless_play] t= 3.30s step= 165 trunk_z= 118.8mm grav_b=(+0.00,-0.09,-1.00) r=0.19m +[headless_play] t= 3.40s step= 170 trunk_z= 124.5mm grav_b=(+0.05,-0.10,-0.99) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 120.0mm grav_b=(-0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 118.6mm grav_b=(-0.05,-0.03,-1.00) r=0.22m +[headless_play] t= 3.70s step= 185 trunk_z= 120.8mm grav_b=(+0.04,-0.13,-0.99) r=0.24m +[headless_play] t= 3.80s step= 190 trunk_z= 120.4mm grav_b=(-0.01,-0.05,-1.00) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 119.9mm grav_b=(+0.05,+0.01,-1.00) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 117.2mm grav_b=(+0.04,-0.14,-0.99) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 122.9mm grav_b=(-0.02,-0.05,-1.00) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 118.4mm grav_b=(-0.02,+0.07,-1.00) r=0.25m +[headless_play] t= 4.30s step= 215 trunk_z= 119.5mm grav_b=(+0.00,-0.08,-1.00) r=0.26m +[headless_play] t= 4.40s step= 220 trunk_z= 123.9mm grav_b=(+0.03,-0.13,-0.99) r=0.30m +[headless_play] t= 4.50s step= 225 trunk_z= 119.5mm grav_b=(+0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 4.60s step= 230 trunk_z= 118.4mm grav_b=(-0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 4.70s step= 235 trunk_z= 119.7mm grav_b=(+0.08,-0.14,-0.99) r=0.37m +[headless_play] t= 4.80s step= 240 trunk_z= 123.4mm grav_b=(-0.01,-0.04,-1.00) r=0.39m +[headless_play] t= 4.90s step= 245 trunk_z= 118.0mm grav_b=(+0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(+0.06,-0.17,-0.98) r=0.42m +[headless_play] t= 5.10s step= 255 trunk_z= 126.4mm grav_b=(+0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 5.20s step= 260 trunk_z= 109.1mm grav_b=(-0.03,+0.10,-0.99) r=0.43m +[headless_play] t= 5.30s step= 265 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 5.40s step= 270 trunk_z= 120.2mm grav_b=(+0.09,-0.08,-0.99) r=0.47m +[headless_play] t= 5.50s step= 275 trunk_z= 117.2mm grav_b=(-0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 5.60s step= 280 trunk_z= 119.9mm grav_b=(-0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 5.70s step= 285 trunk_z= 115.9mm grav_b=(+0.03,-0.13,-0.99) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 118.7mm grav_b=(+0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 118.1mm grav_b=(+0.04,+0.10,-0.99) r=0.51m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(+0.04,-0.05,-1.00) r=0.52m +[headless_play] t= 6.10s step= 305 trunk_z= 120.8mm grav_b=(+0.04,-0.09,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 112.5mm grav_b=(-0.04,+0.12,-0.99) r=0.55m +[headless_play] t= 6.30s step= 315 trunk_z= 120.0mm grav_b=(-0.00,+0.08,-1.00) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 114.0mm grav_b=(+0.05,-0.12,-0.99) r=0.57m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 6.60s step= 330 trunk_z= 114.1mm grav_b=(+0.05,+0.08,-1.00) r=0.59m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(+0.04,-0.05,-1.00) r=0.60m +[headless_play] t= 6.80s step= 340 trunk_z= 122.3mm grav_b=(+0.02,-0.16,-0.99) r=0.62m +[headless_play] t= 6.90s step= 345 trunk_z= 121.0mm grav_b=(+0.03,-0.10,-0.99) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 111.8mm grav_b=(+0.02,+0.02,-1.00) r=0.66m +[headless_play] t= 7.10s step= 355 trunk_z= 115.7mm grav_b=(+0.02,-0.11,-0.99) r=0.68m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(+0.03,-0.11,-0.99) r=0.70m +[headless_play] t= 7.30s step= 365 trunk_z= 115.4mm grav_b=(+0.07,+0.02,-1.00) r=0.71m +[headless_play] t= 7.40s step= 370 trunk_z= 117.2mm grav_b=(+0.04,+0.06,-1.00) r=0.72m +[headless_play] t= 7.50s step= 375 trunk_z= 113.9mm grav_b=(+0.05,-0.11,-0.99) r=0.74m +[headless_play] t= 7.60s step= 380 trunk_z= 117.8mm grav_b=(+0.04,-0.05,-1.00) r=0.75m +[headless_play] t= 7.70s step= 385 trunk_z= 108.8mm grav_b=(+0.01,+0.13,-0.99) r=0.75m +[headless_play] t= 7.80s step= 390 trunk_z= 119.6mm grav_b=(+0.04,+0.12,-0.99) r=0.75m +[headless_play] t= 7.90s step= 395 trunk_z= 113.6mm grav_b=(+0.03,-0.08,-1.00) r=0.76m +[headless_play] t= 8.00s step= 400 trunk_z= 120.2mm grav_b=(+0.02,-0.06,-1.00) r=0.78m +[headless_play] t= 8.10s step= 405 trunk_z= 112.1mm grav_b=(+0.06,+0.07,-1.00) r=0.80m +[headless_play] t= 8.20s step= 410 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.80m +[headless_play] t= 8.30s step= 415 trunk_z= 113.3mm grav_b=(+0.04,-0.13,-0.99) r=0.82m +[headless_play] t= 8.40s step= 420 trunk_z= 114.4mm grav_b=(+0.15,+0.00,-0.99) r=0.86m +[headless_play] t= 8.50s step= 425 trunk_z= 112.4mm grav_b=(+0.13,+0.12,-0.98) r=0.88m +[headless_play] t= 8.60s step= 430 trunk_z= 117.7mm grav_b=(-0.02,-0.07,-1.00) r=0.90m +[headless_play] t= 8.70s step= 435 trunk_z= 121.2mm grav_b=(+0.03,-0.07,-1.00) r=0.94m +[headless_play] t= 8.80s step= 440 trunk_z= 116.4mm grav_b=(-0.03,+0.04,-1.00) r=0.96m +[headless_play] t= 8.90s step= 445 trunk_z= 119.0mm grav_b=(+0.02,-0.01,-1.00) r=0.97m +[headless_play] t= 9.00s step= 450 trunk_z= 118.2mm grav_b=(+0.05,-0.13,-0.99) r=1.00m +[headless_play] t= 9.10s step= 455 trunk_z= 118.8mm grav_b=(+0.01,-0.02,-1.00) r=1.01m +[headless_play] t= 9.20s step= 460 trunk_z= 113.7mm grav_b=(+0.05,+0.06,-1.00) r=1.01m +[headless_play] t= 9.30s step= 465 trunk_z= 115.1mm grav_b=(+0.04,-0.06,-1.00) r=1.02m +[headless_play] t= 9.40s step= 470 trunk_z= 117.5mm grav_b=(+0.07,-0.07,-1.00) r=1.03m +[headless_play] t= 9.50s step= 475 trunk_z= 110.7mm grav_b=(-0.02,+0.13,-0.99) r=1.03m +[headless_play] t= 9.60s step= 480 trunk_z= 117.7mm grav_b=(+0.01,+0.12,-0.99) r=1.04m +[headless_play] t= 9.70s step= 485 trunk_z= 113.6mm grav_b=(+0.03,-0.11,-0.99) r=1.05m +[headless_play] t= 9.80s step= 490 trunk_z= 116.3mm grav_b=(+0.09,+0.01,-1.00) r=1.07m +[headless_play] t= 9.90s step= 495 trunk_z= 110.0mm grav_b=(+0.02,+0.12,-0.99) r=1.08m +[headless_play] t= 10.00s step= 500 trunk_z= 115.1mm grav_b=(+0.04,-0.03,-1.00) r=1.10m +[headless_play] t= 10.10s step= 505 trunk_z= 120.1mm grav_b=(+0.04,-0.11,-0.99) r=1.12m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=1.13m +[headless_play] t= 10.30s step= 515 trunk_z= 121.3mm grav_b=(-0.03,+0.03,-1.00) r=1.12m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(-0.02,-0.15,-0.99) r=1.10m +[headless_play] t= 10.50s step= 525 trunk_z= 120.8mm grav_b=(-0.07,-0.00,-1.00) r=1.09m +[headless_play] t= 10.60s step= 530 trunk_z= 113.9mm grav_b=(-0.07,+0.10,-0.99) r=1.08m +[headless_play] t= 10.70s step= 535 trunk_z= 124.7mm grav_b=(-0.05,-0.04,-1.00) r=1.09m +[headless_play] t= 10.80s step= 540 trunk_z= 131.4mm grav_b=(+0.05,-0.15,-0.99) r=1.07m +[headless_play] t= 10.90s step= 545 trunk_z= 131.4mm grav_b=(-0.04,-0.16,-0.99) r=1.07m +[headless_play] t= 11.00s step= 550 trunk_z= 118.8mm grav_b=(+0.06,-0.03,-1.00) r=1.06m +[headless_play] t= 11.10s step= 555 trunk_z= 116.8mm grav_b=(+0.08,-0.24,-0.97) r=1.06m +[headless_play] t= 11.20s step= 560 trunk_z= 113.2mm grav_b=(+0.05,-0.11,-0.99) r=1.05m +[headless_play] t= 11.30s step= 565 trunk_z= 95.7mm grav_b=(-0.11,+0.07,-0.99) r=1.04m +[headless_play] t= 11.40s step= 570 trunk_z= 114.2mm grav_b=(-0.06,-0.02,-1.00) r=1.03m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(+0.03,-0.08,-1.00) r=1.02m +[headless_play] t= 11.60s step= 580 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00) r=1.02m +[headless_play] t= 11.70s step= 585 trunk_z= 117.1mm grav_b=(+0.02,-0.04,-1.00) r=1.02m +[headless_play] t= 11.80s step= 590 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=1.02m +[headless_play] t= 11.90s step= 595 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=1.02m +[headless_play] t= 12.00s step= 600 trunk_z= 116.8mm grav_b=(-0.00,-0.00,-1.00) r=1.01m +[headless_play] t= 12.10s step= 605 trunk_z= 118.1mm grav_b=(+0.04,-0.01,-1.00) r=1.00m +[headless_play] t= 12.20s step= 610 trunk_z= 119.4mm grav_b=(+0.05,-0.04,-1.00) r=0.99m +[headless_play] t= 12.30s step= 615 trunk_z= 120.8mm grav_b=(+0.01,-0.03,-1.00) r=0.99m +[headless_play] t= 12.40s step= 620 trunk_z= 115.5mm grav_b=(-0.06,+0.01,-1.00) r=0.98m +[headless_play] t= 12.50s step= 625 trunk_z= 115.9mm grav_b=(-0.00,-0.04,-1.00) r=0.98m +[headless_play] t= 12.60s step= 630 trunk_z= 117.6mm grav_b=(+0.03,-0.00,-1.00) r=0.97m +[headless_play] t= 12.70s step= 635 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.97m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.97m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.97m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.00,-0.00,-1.00) r=0.97m +[headless_play] t= 13.10s step= 655 trunk_z= 117.5mm grav_b=(+0.00,-0.00,-1.00) r=0.97m +[headless_play] t= 13.20s step= 660 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.97m +[headless_play] t= 13.30s step= 665 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.97m +[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.97m +[headless_play] t= 13.50s step= 675 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.97m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(+0.03,-0.00,-1.00) r=0.96m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.96m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=0.96m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.96m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.96m +[headless_play] t= 14.10s step= 705 trunk_z= 115.7mm grav_b=(+0.04,+0.01,-1.00) r=0.96m +[headless_play] t= 14.20s step= 710 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.96m +[headless_play] t= 14.30s step= 715 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.96m +[headless_play] t= 14.40s step= 720 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.96m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(+0.08,+0.02,-1.00) r=0.94m +[headless_play] t= 14.60s step= 730 trunk_z= 117.3mm grav_b=(+0.10,-0.04,-0.99) r=0.93m +[headless_play] t= 14.70s step= 735 trunk_z= 119.0mm grav_b=(+0.04,-0.01,-1.00) r=0.92m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(-0.08,+0.05,-1.00) r=0.91m +[headless_play] t= 14.90s step= 745 trunk_z= 114.8mm grav_b=(+0.03,-0.00,-1.00) r=0.89m +[headless_play] t= 15.00s step= 750 trunk_z= 114.7mm grav_b=(+0.07,+0.00,-1.00) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 116.0mm grav_b=(+0.07,-0.02,-1.00) r=0.89m +[headless_play] t= 15.20s step= 760 trunk_z= 116.0mm grav_b=(+0.02,-0.02,-1.00) r=0.89m +[headless_play] t= 15.30s step= 765 trunk_z= 115.2mm grav_b=(+0.01,+0.01,-1.00) r=0.89m +[headless_play] t= 15.40s step= 770 trunk_z= 115.1mm grav_b=(+0.01,+0.03,-1.00) r=0.89m +[headless_play] t= 15.50s step= 775 trunk_z= 115.0mm grav_b=(+0.02,+0.03,-1.00) r=0.89m +[headless_play] t= 15.60s step= 780 trunk_z= 115.1mm grav_b=(+0.03,+0.03,-1.00) r=0.89m +[headless_play] t= 15.70s step= 785 trunk_z= 115.1mm grav_b=(+0.04,+0.03,-1.00) r=0.89m +[headless_play] t= 15.80s step= 790 trunk_z= 115.3mm grav_b=(+0.01,+0.03,-1.00) r=0.89m +[headless_play] t= 15.90s step= 795 trunk_z= 115.5mm grav_b=(-0.07,+0.03,-1.00) r=0.90m +[headless_play] t= 16.00s step= 800 trunk_z= 116.2mm grav_b=(-0.09,+0.03,-1.00) r=0.91m +[headless_play] t= 16.10s step= 805 trunk_z= 104.6mm grav_b=(-0.06,+0.16,-0.99) r=0.91m +[headless_play] t= 16.20s step= 810 trunk_z= 105.7mm grav_b=(+0.03,-0.03,-1.00) r=0.92m +[headless_play] t= 16.30s step= 815 trunk_z= 112.7mm grav_b=(+0.08,-0.03,-1.00) r=0.92m +[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(+0.02,-0.04,-1.00) r=0.92m +[headless_play] t= 16.50s step= 825 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.91m +[headless_play] t= 16.60s step= 830 trunk_z= 116.9mm grav_b=(+0.05,-0.01,-1.00) r=0.91m +[headless_play] t= 16.70s step= 835 trunk_z= 118.2mm grav_b=(+0.05,+0.01,-1.00) r=0.90m +[headless_play] t= 16.80s step= 840 trunk_z= 116.7mm grav_b=(+0.04,-0.07,-1.00) r=0.90m +[headless_play] t= 16.90s step= 845 trunk_z= 115.8mm grav_b=(-0.05,+0.00,-1.00) r=0.89m +[headless_play] t= 17.00s step= 850 trunk_z= 115.1mm grav_b=(-0.03,+0.03,-1.00) r=0.88m +[headless_play] t= 17.10s step= 855 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=0.88m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(+0.02,+0.02,-1.00) r=0.88m +[headless_play] t= 17.30s step= 865 trunk_z= 115.4mm grav_b=(+0.04,+0.01,-1.00) r=0.88m +[headless_play] t= 17.40s step= 870 trunk_z= 115.3mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 17.50s step= 875 trunk_z= 115.6mm grav_b=(-0.06,+0.02,-1.00) r=0.89m +[headless_play] t= 17.60s step= 880 trunk_z= 116.1mm grav_b=(-0.08,+0.01,-1.00) r=0.90m +[headless_play] t= 17.70s step= 885 trunk_z= 116.3mm grav_b=(-0.04,+0.03,-1.00) r=0.90m +[headless_play] t= 17.80s step= 890 trunk_z= 109.9mm grav_b=(-0.00,+0.10,-1.00) r=0.91m +[headless_play] t= 17.90s step= 895 trunk_z= 109.9mm grav_b=(+0.07,-0.11,-0.99) r=0.91m +[headless_play] t= 18.00s step= 900 trunk_z= 121.7mm grav_b=(+0.02,-0.09,-1.00) r=0.91m +[headless_play] t= 18.10s step= 905 trunk_z= 115.1mm grav_b=(+0.01,+0.08,-1.00) r=0.89m +[headless_play] t= 18.20s step= 910 trunk_z= 116.5mm grav_b=(+0.03,-0.06,-1.00) r=0.88m +[headless_play] t= 18.30s step= 915 trunk_z= 121.1mm grav_b=(+0.03,-0.06,-1.00) r=0.87m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(-0.01,+0.13,-0.99) r=0.86m +[headless_play] t= 18.50s step= 925 trunk_z= 127.1mm grav_b=(+0.05,+0.16,-0.99) r=0.84m +[headless_play] t= 18.60s step= 930 trunk_z= 119.2mm grav_b=(+0.13,-0.04,-0.99) r=0.83m +[headless_play] t= 18.70s step= 935 trunk_z= 121.6mm grav_b=(+0.01,-0.06,-1.00) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 112.1mm grav_b=(-0.07,+0.07,-1.00) r=0.80m +[headless_play] t= 18.90s step= 945 trunk_z= 120.7mm grav_b=(-0.04,+0.01,-1.00) r=0.79m +[headless_play] t= 19.00s step= 950 trunk_z= 121.5mm grav_b=(-0.01,-0.10,-1.00) r=0.77m +[headless_play] t= 19.10s step= 955 trunk_z= 119.6mm grav_b=(+0.03,-0.01,-1.00) r=0.76m +[headless_play] t= 19.20s step= 960 trunk_z= 119.8mm grav_b=(+0.00,+0.03,-1.00) r=0.75m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(+0.00,-0.12,-0.99) r=0.74m +[headless_play] t= 19.40s step= 970 trunk_z= 120.1mm grav_b=(+0.04,+0.01,-1.00) r=0.72m +[headless_play] t= 19.50s step= 975 trunk_z= 120.7mm grav_b=(+0.04,+0.07,-1.00) r=0.71m +[headless_play] t= 19.60s step= 980 trunk_z= 114.8mm grav_b=(+0.01,-0.12,-0.99) r=0.70m +[headless_play] t= 19.70s step= 985 trunk_z= 122.4mm grav_b=(+0.02,-0.08,-1.00) r=0.68m +[headless_play] t= 19.80s step= 990 trunk_z= 117.2mm grav_b=(-0.01,+0.08,-1.00) r=0.67m +[headless_play] t= 19.90s step= 995 trunk_z= 118.1mm grav_b=(-0.03,-0.04,-1.00) r=0.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.5mm grav_b=(-0.01,-0.00,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.05,+0.01,-1.00) r=0.25m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..1418cd89a06c347b6838a263dddcc53541e15875 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.135,-17.730,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 117.9mm grav_b=(+0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 117.4mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(-0.00,+0.03,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 118.1mm grav_b=(+0.03,-0.02,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 119.6mm grav_b=(-0.04,-0.10,-0.99) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 119.6mm grav_b=(-0.08,-0.00,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 119.0mm grav_b=(-0.03,+0.05,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 118.8mm grav_b=(-0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 117.3mm grav_b=(-0.01,-0.07,-1.00) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 115.1mm grav_b=(-0.01,+0.04,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 118.9mm grav_b=(-0.01,+0.08,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 119.5mm grav_b=(-0.08,-0.04,-1.00) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 115.0mm grav_b=(-0.02,-0.12,-0.99) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 115.0mm grav_b=(-0.03,-0.05,-1.00) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 111.3mm grav_b=(-0.03,+0.07,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 120.1mm grav_b=(-0.04,+0.04,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 116.2mm grav_b=(-0.03,-0.04,-1.00) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 116.9mm grav_b=(-0.03,-0.06,-1.00) r=0.32m +[headless_play] t= 2.30s step= 115 trunk_z= 115.5mm grav_b=(+0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 114.5mm grav_b=(+0.02,+0.08,-1.00) r=0.34m +[headless_play] t= 2.50s step= 125 trunk_z= 119.2mm grav_b=(-0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 2.60s step= 130 trunk_z= 114.6mm grav_b=(-0.01,-0.07,-1.00) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 117.9mm grav_b=(-0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 113.0mm grav_b=(-0.02,+0.09,-1.00) r=0.37m +[headless_play] t= 2.90s step= 145 trunk_z= 119.6mm grav_b=(-0.01,+0.04,-1.00) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(+0.06,-0.06,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 124.8mm grav_b=(+0.02,-0.03,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 113.6mm grav_b=(-0.03,+0.11,-0.99) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 122.3mm grav_b=(-0.03,+0.07,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 118.2mm grav_b=(-0.04,-0.03,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 121.5mm grav_b=(-0.05,-0.04,-1.00) r=0.50m +[headless_play] t= 3.60s step= 180 trunk_z= 115.8mm grav_b=(-0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 119.1mm grav_b=(-0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(-0.02,-0.08,-1.00) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 120.1mm grav_b=(-0.04,-0.02,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 120.0mm grav_b=(-0.08,+0.09,-0.99) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 123.5mm grav_b=(-0.04,+0.04,-1.00) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 124.6mm grav_b=(+0.01,-0.06,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 113.3mm grav_b=(+0.02,+0.15,-0.99) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 123.4mm grav_b=(+0.02,+0.07,-1.00) r=0.61m +[headless_play] t= 4.50s step= 225 trunk_z= 115.1mm grav_b=(-0.07,-0.05,-1.00) r=0.63m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(-0.12,+0.09,-0.99) r=0.64m +[headless_play] t= 4.70s step= 235 trunk_z= 118.1mm grav_b=(+0.03,-0.02,-1.00) r=0.65m +[headless_play] t= 4.80s step= 240 trunk_z= 113.2mm grav_b=(-0.08,-0.25,-0.97) r=0.67m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(-0.13,-0.12,-0.98) r=0.69m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(-0.02,+0.12,-0.99) r=0.70m +[headless_play] t= 5.10s step= 255 trunk_z= 125.4mm grav_b=(+0.01,+0.02,-1.00) r=0.70m +[headless_play] t= 5.20s step= 260 trunk_z= 110.7mm grav_b=(-0.03,-0.14,-0.99) r=0.72m +[headless_play] t= 5.30s step= 265 trunk_z= 114.5mm grav_b=(-0.11,+0.13,-0.99) r=0.73m +[headless_play] t= 5.40s step= 270 trunk_z= 119.9mm grav_b=(+0.02,+0.02,-1.00) r=0.74m +[headless_play] t= 5.50s step= 275 trunk_z= 118.5mm grav_b=(-0.11,-0.12,-0.99) r=0.75m +[headless_play] t= 5.60s step= 280 trunk_z= 116.5mm grav_b=(-0.19,-0.03,-0.98) r=0.75m +[headless_play] t= 5.70s step= 285 trunk_z= 119.5mm grav_b=(+0.00,+0.04,-1.00) r=0.76m +[headless_play] t= 5.80s step= 290 trunk_z= 120.1mm grav_b=(-0.04,-0.08,-1.00) r=0.77m +[headless_play] t= 5.90s step= 295 trunk_z= 118.3mm grav_b=(-0.09,+0.01,-1.00) r=0.78m +[headless_play] t= 6.00s step= 300 trunk_z= 120.1mm grav_b=(-0.01,+0.05,-1.00) r=0.80m +[headless_play] t= 6.10s step= 305 trunk_z= 121.7mm grav_b=(-0.03,-0.08,-1.00) r=0.82m +[headless_play] t= 6.20s step= 310 trunk_z= 120.3mm grav_b=(-0.10,+0.05,-0.99) r=0.83m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(-0.08,+0.05,-1.00) r=0.82m +[headless_play] t= 6.40s step= 320 trunk_z= 118.0mm grav_b=(-0.15,-0.08,-0.99) r=0.82m +[headless_play] t= 6.50s step= 325 trunk_z= 116.7mm grav_b=(-0.13,+0.06,-0.99) r=0.82m +[headless_play] t= 6.60s step= 330 trunk_z= 119.5mm grav_b=(-0.05,-0.05,-1.00) r=0.82m +[headless_play] t= 6.70s step= 335 trunk_z= 120.7mm grav_b=(-0.04,+0.06,-1.00) r=0.83m +[headless_play] t= 6.80s step= 340 trunk_z= 119.5mm grav_b=(-0.03,+0.00,-1.00) r=0.84m +[headless_play] t= 6.90s step= 345 trunk_z= 115.6mm grav_b=(-0.10,-0.08,-0.99) r=0.85m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(-0.08,+0.03,-1.00) r=0.85m +[headless_play] t= 7.10s step= 355 trunk_z= 119.5mm grav_b=(-0.02,-0.01,-1.00) r=0.86m +[headless_play] t= 7.20s step= 360 trunk_z= 119.2mm grav_b=(+0.02,+0.11,-0.99) r=0.87m +[headless_play] t= 7.30s step= 365 trunk_z= 126.8mm grav_b=(+0.06,-0.02,-1.00) r=0.87m +[headless_play] t= 7.40s step= 370 trunk_z= 97.8mm grav_b=(-0.03,-0.25,-0.97) r=0.89m +[headless_play] t= 7.50s step= 375 trunk_z= 98.0mm grav_b=(-0.28,-0.08,-0.96) r=0.89m +[headless_play] t= 7.60s step= 380 trunk_z= 94.8mm grav_b=(-0.10,-0.03,-0.99) r=0.90m +[headless_play] t= 7.70s step= 385 trunk_z= 99.2mm grav_b=(+0.12,-0.13,-0.98) r=0.89m +[headless_play] t= 7.80s step= 390 trunk_z= 119.3mm grav_b=(+0.19,+0.10,-0.98) r=0.91m +[headless_play] t= 7.90s step= 395 trunk_z= 115.3mm grav_b=(+0.55,+0.10,-0.83) r=0.95m +[headless_play] t= 8.00s step= 400 trunk_z= 121.3mm grav_b=(+0.77,-0.03,-0.64) r=1.00m +[headless_play] RESET at t= 8.10s step= 405 (env termination, not a recovery) +[headless_play] t= 8.10s step= 405 trunk_z= 121.7mm grav_b=(+0.00,+0.00,-1.00) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 8.70s step= 435 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 8.90s step= 445 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 9.10s step= 455 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.00,-0.02,-1.00) r=0.45m +[headless_play] t= 9.40s step= 470 trunk_z= 116.8mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 9.50s step= 475 trunk_z= 116.8mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 9.80s step= 490 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.43m +[headless_play] t= 9.90s step= 495 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 10.00s step= 500 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 10.30s step= 515 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.43m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.50s step= 525 trunk_z= 117.0mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(-0.08,-0.01,-1.00) r=0.43m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(-0.08,-0.01,-1.00) r=0.43m +[headless_play] t= 10.80s step= 540 trunk_z= 109.3mm grav_b=(-0.14,-0.12,-0.98) r=0.43m +[headless_play] t= 10.90s step= 545 trunk_z= 111.9mm grav_b=(-0.05,-0.00,-1.00) r=0.43m +[headless_play] t= 11.00s step= 550 trunk_z= 100.5mm grav_b=(+0.09,+0.13,-0.99) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 111.9mm grav_b=(+0.02,+0.03,-1.00) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 115.9mm grav_b=(-0.07,-0.08,-0.99) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 115.2mm grav_b=(-0.07,-0.04,-1.00) r=0.49m +[headless_play] t= 11.40s step= 570 trunk_z= 118.0mm grav_b=(-0.11,-0.07,-0.99) r=0.50m +[headless_play] t= 11.50s step= 575 trunk_z= 103.0mm grav_b=(-0.21,+0.06,-0.98) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 72.0mm grav_b=(-0.20,+0.09,-0.98) r=0.50m +[headless_play] t= 11.70s step= 585 trunk_z= 76.5mm grav_b=(+0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 11.80s step= 590 trunk_z= 103.4mm grav_b=(+0.07,+0.00,-1.00) r=0.51m +[headless_play] t= 11.90s step= 595 trunk_z= 111.6mm grav_b=(-0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 12.00s step= 600 trunk_z= 117.9mm grav_b=(-0.09,+0.02,-1.00) r=0.49m +[headless_play] t= 12.10s step= 605 trunk_z= 117.4mm grav_b=(-0.06,-0.11,-0.99) r=0.47m +[headless_play] t= 12.20s step= 610 trunk_z= 118.5mm grav_b=(-0.08,-0.02,-1.00) r=0.46m +[headless_play] t= 12.30s step= 615 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00) r=0.45m +[headless_play] t= 12.40s step= 620 trunk_z= 118.0mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 12.50s step= 625 trunk_z= 109.9mm grav_b=(+0.01,-0.09,-1.00) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 115.8mm grav_b=(-0.02,-0.11,-0.99) r=0.46m +[headless_play] t= 12.70s step= 635 trunk_z= 116.0mm grav_b=(-0.00,-0.12,-0.99) r=0.46m +[headless_play] t= 12.80s step= 640 trunk_z= 115.4mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 120.6mm grav_b=(-0.06,+0.00,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 113.9mm grav_b=(-0.14,-0.10,-0.99) r=0.44m +[headless_play] t= 13.10s step= 655 trunk_z= 115.5mm grav_b=(-0.15,+0.04,-0.99) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 71.0mm grav_b=(-0.20,+0.26,-0.94) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 76.9mm grav_b=(+0.05,+0.22,-0.97) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 99.4mm grav_b=(+0.09,+0.03,-1.00) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 117.7mm grav_b=(-0.01,-0.05,-1.00) r=0.44m +[headless_play] t= 13.60s step= 680 trunk_z= 118.8mm grav_b=(-0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 13.70s step= 685 trunk_z= 119.9mm grav_b=(-0.06,+0.01,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 117.8mm grav_b=(-0.08,-0.09,-0.99) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 119.0mm grav_b=(-0.11,-0.02,-0.99) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 118.2mm grav_b=(-0.10,+0.04,-0.99) r=0.38m +[headless_play] t= 14.10s step= 705 trunk_z= 117.4mm grav_b=(-0.08,-0.02,-1.00) r=0.39m +[headless_play] t= 14.20s step= 710 trunk_z= 111.1mm grav_b=(-0.05,-0.08,-1.00) r=0.39m +[headless_play] t= 14.30s step= 715 trunk_z= 113.5mm grav_b=(-0.04,-0.10,-0.99) r=0.41m +[headless_play] t= 14.40s step= 720 trunk_z= 113.5mm grav_b=(-0.01,-0.10,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 112.0mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(-0.08,-0.09,-0.99) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 111.3mm grav_b=(-0.12,-0.10,-0.99) r=0.40m +[headless_play] t= 14.80s step= 740 trunk_z= 113.1mm grav_b=(-0.01,+0.09,-1.00) r=0.40m +[headless_play] t= 14.90s step= 745 trunk_z= 120.6mm grav_b=(-0.00,+0.17,-0.99) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 120.7mm grav_b=(-0.05,+0.08,-1.00) r=0.35m +[headless_play] t= 15.10s step= 755 trunk_z= 116.0mm grav_b=(-0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 15.20s step= 760 trunk_z= 117.6mm grav_b=(-0.04,+0.05,-1.00) r=0.32m +[headless_play] t= 15.30s step= 765 trunk_z= 119.4mm grav_b=(-0.03,+0.11,-0.99) r=0.32m +[headless_play] t= 15.40s step= 770 trunk_z= 117.9mm grav_b=(-0.07,-0.07,-1.00) r=0.32m +[headless_play] t= 15.50s step= 775 trunk_z= 122.1mm grav_b=(-0.07,-0.09,-0.99) r=0.32m +[headless_play] t= 15.60s step= 780 trunk_z= 116.7mm grav_b=(-0.09,+0.07,-0.99) r=0.33m +[headless_play] t= 15.70s step= 785 trunk_z= 122.3mm grav_b=(-0.06,+0.02,-1.00) r=0.32m +[headless_play] t= 15.80s step= 790 trunk_z= 114.5mm grav_b=(-0.06,-0.14,-0.99) r=0.32m +[headless_play] t= 15.90s step= 795 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.32m +[headless_play] t= 16.00s step= 800 trunk_z= 119.6mm grav_b=(-0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(-0.00,-0.07,-1.00) r=0.34m +[headless_play] t= 16.20s step= 810 trunk_z= 122.1mm grav_b=(-0.07,-0.09,-0.99) r=0.35m +[headless_play] t= 16.30s step= 815 trunk_z= 115.7mm grav_b=(-0.08,+0.08,-0.99) r=0.35m +[headless_play] t= 16.40s step= 820 trunk_z= 120.3mm grav_b=(-0.02,+0.05,-1.00) r=0.35m +[headless_play] t= 16.50s step= 825 trunk_z= 116.4mm grav_b=(-0.01,-0.09,-1.00) r=0.36m +[headless_play] t= 16.60s step= 830 trunk_z= 114.7mm grav_b=(-0.06,+0.06,-1.00) r=0.36m +[headless_play] t= 16.70s step= 835 trunk_z= 119.9mm grav_b=(-0.03,+0.08,-1.00) r=0.38m +[headless_play] t= 16.80s step= 840 trunk_z= 114.6mm grav_b=(-0.03,-0.10,-0.99) r=0.39m +[headless_play] t= 16.90s step= 845 trunk_z= 119.7mm grav_b=(-0.06,-0.02,-1.00) r=0.40m +[headless_play] t= 17.00s step= 850 trunk_z= 119.4mm grav_b=(-0.05,+0.06,-1.00) r=0.40m +[headless_play] t= 17.10s step= 855 trunk_z= 118.1mm grav_b=(-0.03,-0.06,-1.00) r=0.42m +[headless_play] t= 17.20s step= 860 trunk_z= 119.9mm grav_b=(-0.09,-0.04,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 119.3mm grav_b=(-0.07,+0.07,-1.00) r=0.40m +[headless_play] t= 17.40s step= 870 trunk_z= 122.3mm grav_b=(-0.08,+0.02,-1.00) r=0.41m +[headless_play] t= 17.50s step= 875 trunk_z= 115.4mm grav_b=(-0.08,-0.10,-0.99) r=0.41m +[headless_play] t= 17.60s step= 880 trunk_z= 118.0mm grav_b=(-0.05,-0.03,-1.00) r=0.42m +[headless_play] t= 17.70s step= 885 trunk_z= 119.2mm grav_b=(-0.02,+0.07,-1.00) r=0.43m +[headless_play] t= 17.80s step= 890 trunk_z= 116.4mm grav_b=(-0.00,-0.07,-1.00) r=0.45m +[headless_play] t= 17.90s step= 895 trunk_z= 120.3mm grav_b=(-0.01,-0.03,-1.00) r=0.46m +[headless_play] t= 18.00s step= 900 trunk_z= 117.8mm grav_b=(-0.04,+0.09,-0.99) r=0.48m +[headless_play] t= 18.10s step= 905 trunk_z= 118.6mm grav_b=(-0.04,-0.05,-1.00) r=0.49m +[headless_play] t= 18.20s step= 910 trunk_z= 120.9mm grav_b=(-0.07,-0.08,-0.99) r=0.51m +[headless_play] t= 18.30s step= 915 trunk_z= 116.8mm grav_b=(-0.05,+0.05,-1.00) r=0.52m +[headless_play] t= 18.40s step= 920 trunk_z= 119.9mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(-0.03,-0.11,-0.99) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.4mm grav_b=(-0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 118.0mm grav_b=(-0.03,+0.06,-1.00) r=0.58m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(-0.02,-0.12,-0.99) r=0.60m +[headless_play] t= 18.90s step= 945 trunk_z= 122.2mm grav_b=(-0.06,-0.10,-0.99) r=0.61m +[headless_play] t= 19.00s step= 950 trunk_z= 115.5mm grav_b=(-0.04,+0.02,-1.00) r=0.63m +[headless_play] t= 19.10s step= 955 trunk_z= 119.3mm grav_b=(-0.06,-0.06,-1.00) r=0.65m +[headless_play] t= 19.20s step= 960 trunk_z= 119.8mm grav_b=(-0.09,-0.09,-0.99) r=0.65m +[headless_play] t= 19.30s step= 965 trunk_z= 118.3mm grav_b=(-0.06,+0.06,-1.00) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 119.3mm grav_b=(-0.06,-0.03,-1.00) r=0.68m +[headless_play] t= 19.50s step= 975 trunk_z= 115.1mm grav_b=(-0.06,-0.05,-1.00) r=0.69m +[headless_play] t= 19.60s step= 980 trunk_z= 115.7mm grav_b=(+0.01,+0.06,-1.00) r=0.71m +[headless_play] t= 19.70s step= 985 trunk_z= 116.0mm grav_b=(+0.01,-0.13,-0.99) r=0.73m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(-0.07,+0.08,-0.99) r=0.75m +[headless_play] t= 19.90s step= 995 trunk_z= 116.2mm grav_b=(+0.02,+0.03,-1.00) r=0.77m +[headless_play] t= 20.00s step=1000 trunk_z= 115.9mm grav_b=(-0.04,-0.11,-0.99) r=0.79m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(-0.07,+0.10,-0.99) r=0.80m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..1be8c3a5523d6b79a985b53092da102885828305 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.0mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.065,-18.127,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.4mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.14m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(+0.04,-0.02,-1.00) r=0.14m +[headless_play] t= 0.40s step= 20 trunk_z= 119.5mm grav_b=(+0.05,-0.02,-1.00) r=0.14m +[headless_play] t= 0.50s step= 25 trunk_z= 118.2mm grav_b=(+0.03,+0.00,-1.00) r=0.13m +[headless_play] t= 0.60s step= 30 trunk_z= 119.0mm grav_b=(+0.00,-0.03,-1.00) r=0.13m +[headless_play] t= 0.70s step= 35 trunk_z= 118.0mm grav_b=(+0.02,-0.01,-1.00) r=0.13m +[headless_play] t= 0.80s step= 40 trunk_z= 118.2mm grav_b=(+0.02,-0.01,-1.00) r=0.12m +[headless_play] t= 0.90s step= 45 trunk_z= 118.1mm grav_b=(-0.00,-0.01,-1.00) r=0.13m +[headless_play] t= 1.00s step= 50 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.13m +[headless_play] t= 1.20s step= 60 trunk_z= 118.1mm grav_b=(+0.02,-0.01,-1.00) r=0.13m +[headless_play] t= 1.30s step= 65 trunk_z= 118.4mm grav_b=(+0.02,-0.01,-1.00) r=0.12m +[headless_play] t= 1.40s step= 70 trunk_z= 119.1mm grav_b=(+0.06,-0.01,-1.00) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 120.4mm grav_b=(+0.05,-0.02,-1.00) r=0.11m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.03,+0.02,-1.00) r=0.11m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.01,-0.03,-1.00) r=0.11m +[headless_play] t= 1.80s step= 90 trunk_z= 118.7mm grav_b=(+0.00,-0.01,-1.00) r=0.11m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(+0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(+0.04,-0.02,-1.00) r=0.11m +[headless_play] t= 2.10s step= 105 trunk_z= 119.7mm grav_b=(+0.07,+0.01,-1.00) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 119.3mm grav_b=(+0.05,-0.10,-0.99) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 120.7mm grav_b=(-0.04,-0.03,-1.00) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 121.8mm grav_b=(-0.03,+0.06,-1.00) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 122.6mm grav_b=(-0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 124.1mm grav_b=(+0.02,-0.08,-1.00) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 115.1mm grav_b=(-0.02,+0.09,-1.00) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 121.7mm grav_b=(+0.02,+0.02,-1.00) r=0.02m +[headless_play] t= 2.90s step= 145 trunk_z= 118.7mm grav_b=(-0.02,-0.14,-0.99) r=0.02m +[headless_play] t= 3.00s step= 150 trunk_z= 122.6mm grav_b=(-0.04,-0.03,-1.00) r=0.02m +[headless_play] t= 3.10s step= 155 trunk_z= 122.1mm grav_b=(+0.10,+0.08,-0.99) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 120.2mm grav_b=(+0.05,-0.10,-0.99) r=0.07m +[headless_play] t= 3.30s step= 165 trunk_z= 110.5mm grav_b=(-0.02,-0.06,-1.00) r=0.09m +[headless_play] t= 3.40s step= 170 trunk_z= 111.6mm grav_b=(-0.05,+0.07,-1.00) r=0.12m +[headless_play] t= 3.50s step= 175 trunk_z= 121.4mm grav_b=(+0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 3.60s step= 180 trunk_z= 121.0mm grav_b=(+0.00,-0.13,-0.99) r=0.15m +[headless_play] t= 3.70s step= 185 trunk_z= 120.0mm grav_b=(+0.03,+0.03,-1.00) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 123.2mm grav_b=(+0.03,+0.07,-1.00) r=0.19m +[headless_play] t= 3.90s step= 195 trunk_z= 120.6mm grav_b=(-0.01,-0.08,-1.00) r=0.22m +[headless_play] t= 4.00s step= 200 trunk_z= 121.5mm grav_b=(-0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 4.10s step= 205 trunk_z= 119.2mm grav_b=(-0.03,+0.10,-0.99) r=0.26m +[headless_play] t= 4.20s step= 210 trunk_z= 121.0mm grav_b=(-0.01,-0.05,-1.00) r=0.28m +[headless_play] t= 4.30s step= 215 trunk_z= 124.3mm grav_b=(+0.02,-0.08,-1.00) r=0.29m +[headless_play] t= 4.40s step= 220 trunk_z= 115.5mm grav_b=(-0.03,+0.13,-0.99) r=0.31m +[headless_play] t= 4.50s step= 225 trunk_z= 122.2mm grav_b=(-0.00,+0.06,-1.00) r=0.32m +[headless_play] t= 4.60s step= 230 trunk_z= 120.7mm grav_b=(+0.00,-0.10,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 121.6mm grav_b=(+0.03,+0.01,-1.00) r=0.36m +[headless_play] t= 4.80s step= 240 trunk_z= 116.9mm grav_b=(+0.02,+0.06,-1.00) r=0.37m +[headless_play] t= 4.90s step= 245 trunk_z= 113.7mm grav_b=(-0.08,-0.09,-0.99) r=0.40m +[headless_play] t= 5.00s step= 250 trunk_z= 119.9mm grav_b=(-0.00,+0.03,-1.00) r=0.42m +[headless_play] t= 5.10s step= 255 trunk_z= 121.4mm grav_b=(+0.02,+0.07,-1.00) r=0.43m +[headless_play] t= 5.20s step= 260 trunk_z= 120.4mm grav_b=(-0.01,-0.12,-0.99) r=0.44m +[headless_play] t= 5.30s step= 265 trunk_z= 122.0mm grav_b=(+0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 5.40s step= 270 trunk_z= 121.8mm grav_b=(-0.00,+0.08,-1.00) r=0.46m +[headless_play] t= 5.50s step= 275 trunk_z= 118.0mm grav_b=(-0.05,-0.08,-1.00) r=0.48m +[headless_play] t= 5.60s step= 280 trunk_z= 122.2mm grav_b=(+0.04,-0.02,-1.00) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 121.8mm grav_b=(+0.10,+0.13,-0.99) r=0.55m +[headless_play] t= 5.80s step= 290 trunk_z= 131.5mm grav_b=(+0.05,+0.01,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 114.9mm grav_b=(-0.02,-0.10,-0.99) r=0.61m +[headless_play] t= 6.00s step= 300 trunk_z= 122.8mm grav_b=(-0.05,-0.03,-1.00) r=0.65m +[headless_play] t= 6.10s step= 305 trunk_z= 122.9mm grav_b=(-0.02,+0.08,-1.00) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 120.0mm grav_b=(+0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 6.30s step= 315 trunk_z= 123.9mm grav_b=(+0.10,+0.04,-0.99) r=0.75m +[headless_play] t= 6.40s step= 320 trunk_z= 114.4mm grav_b=(+0.05,+0.17,-0.98) r=0.79m +[headless_play] t= 6.50s step= 325 trunk_z= 122.1mm grav_b=(-0.03,+0.12,-0.99) r=0.82m +[headless_play] t= 6.60s step= 330 trunk_z= 118.0mm grav_b=(+0.00,-0.03,-1.00) r=0.85m +[headless_play] t= 6.70s step= 335 trunk_z= 118.3mm grav_b=(+0.03,+0.08,-1.00) r=0.87m +[headless_play] t= 6.80s step= 340 trunk_z= 122.7mm grav_b=(+0.05,-0.01,-1.00) r=0.89m +[headless_play] t= 6.90s step= 345 trunk_z= 118.1mm grav_b=(-0.02,+0.03,-1.00) r=0.91m +[headless_play] t= 7.00s step= 350 trunk_z= 119.1mm grav_b=(-0.03,+0.10,-0.99) r=0.93m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.03,-0.07,-1.00) r=0.94m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.01,+0.07,-1.00) r=0.95m +[headless_play] t= 7.30s step= 365 trunk_z= 121.1mm grav_b=(+0.01,-0.00,-1.00) r=0.96m +[headless_play] t= 7.40s step= 370 trunk_z= 121.1mm grav_b=(-0.01,-0.01,-1.00) r=0.98m +[headless_play] t= 7.50s step= 375 trunk_z= 119.3mm grav_b=(+0.00,+0.12,-0.99) r=0.99m +[headless_play] t= 7.60s step= 380 trunk_z= 120.1mm grav_b=(-0.03,-0.01,-1.00) r=1.00m +[headless_play] t= 7.70s step= 385 trunk_z= 120.3mm grav_b=(-0.02,-0.04,-1.00) r=1.01m +[headless_play] t= 7.80s step= 390 trunk_z= 118.9mm grav_b=(-0.02,+0.12,-0.99) r=1.01m +[headless_play] t= 7.90s step= 395 trunk_z= 126.1mm grav_b=(-0.02,+0.06,-1.00) r=1.02m +[headless_play] t= 8.00s step= 400 trunk_z= 118.8mm grav_b=(+0.00,-0.07,-1.00) r=1.03m +[headless_play] t= 8.10s step= 405 trunk_z= 116.7mm grav_b=(+0.01,+0.10,-1.00) r=1.04m +[headless_play] t= 8.20s step= 410 trunk_z= 125.9mm grav_b=(-0.01,+0.10,-0.99) r=1.06m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(-0.02,-0.09,-1.00) r=1.08m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(-0.09,+0.01,-1.00) r=1.07m +[headless_play] t= 8.50s step= 425 trunk_z= 119.6mm grav_b=(-0.01,+0.03,-1.00) r=1.06m +[headless_play] t= 8.60s step= 430 trunk_z= 114.9mm grav_b=(-0.00,-0.15,-0.99) r=1.06m +[headless_play] t= 8.70s step= 435 trunk_z= 118.2mm grav_b=(-0.01,-0.05,-1.00) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 122.0mm grav_b=(+0.02,+0.11,-0.99) r=1.08m +[headless_play] t= 8.90s step= 445 trunk_z= 120.1mm grav_b=(-0.01,-0.02,-1.00) r=1.09m +[headless_play] t= 9.00s step= 450 trunk_z= 120.5mm grav_b=(-0.00,-0.03,-1.00) r=1.11m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(+0.00,+0.11,-0.99) r=1.12m +[headless_play] t= 9.20s step= 460 trunk_z= 123.5mm grav_b=(-0.01,+0.03,-1.00) r=1.13m +[headless_play] t= 9.30s step= 465 trunk_z= 122.9mm grav_b=(-0.02,-0.10,-1.00) r=1.15m +[headless_play] t= 9.40s step= 470 trunk_z= 116.8mm grav_b=(-0.03,+0.02,-1.00) r=1.16m +[headless_play] t= 9.50s step= 475 trunk_z= 119.9mm grav_b=(+0.04,+0.02,-1.00) r=1.18m +[headless_play] t= 9.60s step= 480 trunk_z= 116.5mm grav_b=(+0.03,-0.11,-0.99) r=1.20m +[headless_play] t= 9.70s step= 485 trunk_z= 118.9mm grav_b=(-0.01,+0.01,-1.00) r=1.21m +[headless_play] t= 9.80s step= 490 trunk_z= 118.2mm grav_b=(+0.01,+0.08,-1.00) r=1.22m +[headless_play] t= 9.90s step= 495 trunk_z= 115.5mm grav_b=(+0.00,-0.10,-0.99) r=1.24m +[headless_play] t= 10.00s step= 500 trunk_z= 119.9mm grav_b=(+0.02,-0.03,-1.00) r=1.25m +[headless_play] t= 10.10s step= 505 trunk_z= 117.3mm grav_b=(+0.00,+0.07,-1.00) r=1.25m +[headless_play] t= 10.20s step= 510 trunk_z= 115.8mm grav_b=(-0.00,-0.09,-1.00) r=1.26m +[headless_play] t= 10.30s step= 515 trunk_z= 123.0mm grav_b=(-0.01,-0.10,-0.99) r=1.27m +[headless_play] t= 10.40s step= 520 trunk_z= 113.5mm grav_b=(+0.01,+0.07,-1.00) r=1.28m +[headless_play] t= 10.50s step= 525 trunk_z= 118.8mm grav_b=(+0.03,+0.00,-1.00) r=1.30m +[headless_play] t= 10.60s step= 530 trunk_z= 118.6mm grav_b=(-0.01,-0.12,-0.99) r=1.31m +[headless_play] t= 10.70s step= 535 trunk_z= 117.2mm grav_b=(+0.01,+0.03,-1.00) r=1.34m +[headless_play] t= 10.80s step= 540 trunk_z= 115.5mm grav_b=(+0.07,+0.01,-1.00) r=1.36m +[headless_play] t= 10.90s step= 545 trunk_z= 115.5mm grav_b=(+0.01,-0.17,-0.99) r=1.38m +[headless_play] t= 11.00s step= 550 trunk_z= 120.6mm grav_b=(-0.02,-0.07,-1.00) r=1.40m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(+0.00,+0.04,-1.00) r=1.42m +[headless_play] t= 11.20s step= 560 trunk_z= 118.9mm grav_b=(+0.00,-0.09,-1.00) r=1.43m +[headless_play] t= 11.30s step= 565 trunk_z= 122.8mm grav_b=(+0.02,-0.11,-0.99) r=1.45m +[headless_play] t= 11.40s step= 570 trunk_z= 112.2mm grav_b=(+0.02,+0.08,-1.00) r=1.48m +[headless_play] t= 11.50s step= 575 trunk_z= 118.1mm grav_b=(+0.02,+0.08,-1.00) r=1.51m +[headless_play] t= 11.60s step= 580 trunk_z= 115.5mm grav_b=(+0.03,-0.02,-1.00) r=1.54m +[headless_play] t= 11.70s step= 585 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=1.56m +[headless_play] t= 11.80s step= 590 trunk_z= 110.5mm grav_b=(+0.04,+0.08,-1.00) r=1.57m +[headless_play] t= 11.90s step= 595 trunk_z= 110.2mm grav_b=(+0.04,-0.10,-0.99) r=1.59m +[headless_play] t= 12.00s step= 600 trunk_z= 113.9mm grav_b=(+0.03,-0.02,-1.00) r=1.61m +[headless_play] t= 12.10s step= 605 trunk_z= 110.3mm grav_b=(+0.05,+0.05,-1.00) r=1.62m +[headless_play] t= 12.20s step= 610 trunk_z= 112.5mm grav_b=(+0.03,-0.14,-0.99) r=1.64m +[headless_play] t= 12.30s step= 615 trunk_z= 116.3mm grav_b=(+0.01,-0.05,-1.00) r=1.66m +[headless_play] t= 12.40s step= 620 trunk_z= 113.5mm grav_b=(+0.02,+0.03,-1.00) r=1.67m +[headless_play] t= 12.50s step= 625 trunk_z= 113.9mm grav_b=(+0.04,-0.05,-1.00) r=1.69m +[headless_play] t= 12.60s step= 630 trunk_z= 112.9mm grav_b=(+0.07,-0.07,-0.99) r=1.70m +[headless_play] t= 12.70s step= 635 trunk_z= 110.4mm grav_b=(+0.05,+0.08,-1.00) r=1.72m +[headless_play] t= 12.80s step= 640 trunk_z= 113.8mm grav_b=(+0.05,-0.02,-1.00) r=1.73m +[headless_play] t= 12.90s step= 645 trunk_z= 114.6mm grav_b=(-0.01,-0.04,-1.00) r=1.74m +[headless_play] t= 13.00s step= 650 trunk_z= 112.8mm grav_b=(+0.01,+0.00,-1.00) r=1.75m +[headless_play] t= 13.10s step= 655 trunk_z= 113.7mm grav_b=(+0.04,+0.00,-1.00) r=1.75m +[headless_play] t= 13.20s step= 660 trunk_z= 113.8mm grav_b=(+0.01,-0.00,-1.00) r=1.74m +[headless_play] t= 13.30s step= 665 trunk_z= 113.8mm grav_b=(+0.01,-0.00,-1.00) r=1.75m +[headless_play] t= 13.40s step= 670 trunk_z= 113.7mm grav_b=(+0.03,-0.00,-1.00) r=1.75m +[headless_play] t= 13.50s step= 675 trunk_z= 113.9mm grav_b=(-0.01,+0.00,-1.00) r=1.74m +[headless_play] t= 13.60s step= 680 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=1.73m +[headless_play] t= 13.70s step= 685 trunk_z= 112.6mm grav_b=(-0.02,+0.04,-1.00) r=1.73m +[headless_play] t= 13.80s step= 690 trunk_z= 111.4mm grav_b=(+0.02,+0.03,-1.00) r=1.73m +[headless_play] t= 13.90s step= 695 trunk_z= 106.6mm grav_b=(+0.09,-0.07,-0.99) r=1.73m +[headless_play] t= 14.00s step= 700 trunk_z= 110.3mm grav_b=(+0.06,+0.02,-1.00) r=1.73m +[headless_play] t= 14.10s step= 705 trunk_z= 111.3mm grav_b=(+0.03,+0.00,-1.00) r=1.73m +[headless_play] t= 14.20s step= 710 trunk_z= 112.7mm grav_b=(-0.05,+0.01,-1.00) r=1.71m +[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(-0.06,+0.03,-1.00) r=1.71m +[headless_play] t= 14.40s step= 720 trunk_z= 96.5mm grav_b=(-0.12,+0.23,-0.97) r=1.70m +[headless_play] t= 14.50s step= 725 trunk_z= 99.7mm grav_b=(+0.01,+0.13,-0.99) r=1.69m +[headless_play] t= 14.60s step= 730 trunk_z= 110.4mm grav_b=(+0.03,-0.01,-1.00) r=1.68m +[headless_play] t= 14.70s step= 735 trunk_z= 111.5mm grav_b=(+0.06,+0.06,-1.00) r=1.68m +[headless_play] t= 14.80s step= 740 trunk_z= 114.9mm grav_b=(+0.00,-0.00,-1.00) r=1.68m +[headless_play] t= 14.90s step= 745 trunk_z= 113.5mm grav_b=(+0.03,-0.02,-1.00) r=1.67m +[headless_play] t= 15.00s step= 750 trunk_z= 114.1mm grav_b=(-0.00,-0.02,-1.00) r=1.66m +[headless_play] t= 15.10s step= 755 trunk_z= 114.4mm grav_b=(-0.05,-0.02,-1.00) r=1.64m +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(-0.04,-0.01,-1.00) r=1.64m +[headless_play] t= 15.30s step= 765 trunk_z= 115.1mm grav_b=(-0.05,+0.07,-1.00) r=1.64m +[headless_play] t= 15.40s step= 770 trunk_z= 109.1mm grav_b=(+0.01,+0.13,-0.99) r=1.64m +[headless_play] t= 15.50s step= 775 trunk_z= 108.7mm grav_b=(+0.06,-0.03,-1.00) r=1.64m +[headless_play] t= 15.60s step= 780 trunk_z= 111.3mm grav_b=(+0.05,+0.02,-1.00) r=1.63m +[headless_play] t= 15.70s step= 785 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=1.63m +[headless_play] t= 15.80s step= 790 trunk_z= 114.3mm grav_b=(+0.05,-0.01,-1.00) r=1.63m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=1.63m +[headless_play] t= 16.00s step= 800 trunk_z= 114.5mm grav_b=(+0.01,-0.02,-1.00) r=1.62m +[headless_play] t= 16.10s step= 805 trunk_z= 114.7mm grav_b=(-0.01,-0.02,-1.00) r=1.62m +[headless_play] t= 16.20s step= 810 trunk_z= 114.9mm grav_b=(+0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 16.30s step= 815 trunk_z= 114.8mm grav_b=(+0.03,-0.01,-1.00) r=1.63m +[headless_play] t= 16.40s step= 820 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=1.63m +[headless_play] t= 16.50s step= 825 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) r=1.63m +[headless_play] t= 16.60s step= 830 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=1.63m +[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(+0.01,-0.01,-1.00) r=1.63m +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 16.90s step= 845 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 17.00s step= 850 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 17.10s step= 855 trunk_z= 115.9mm grav_b=(-0.07,-0.00,-1.00) r=1.62m +[headless_play] t= 17.20s step= 860 trunk_z= 114.5mm grav_b=(-0.09,-0.09,-0.99) r=1.62m +[headless_play] t= 17.30s step= 865 trunk_z= 96.3mm grav_b=(-0.01,-0.10,-0.99) r=1.62m +[headless_play] t= 17.40s step= 870 trunk_z= 96.9mm grav_b=(+0.09,+0.01,-1.00) r=1.62m +[headless_play] t= 17.50s step= 875 trunk_z= 107.5mm grav_b=(+0.02,-0.14,-0.99) r=1.62m +[headless_play] t= 17.60s step= 880 trunk_z= 113.7mm grav_b=(+0.09,-0.03,-1.00) r=1.62m +[headless_play] t= 17.70s step= 885 trunk_z= 114.4mm grav_b=(-0.01,-0.03,-1.00) r=1.62m +[headless_play] t= 17.80s step= 890 trunk_z= 114.9mm grav_b=(-0.02,-0.02,-1.00) r=1.62m +[headless_play] t= 17.90s step= 895 trunk_z= 115.0mm grav_b=(-0.01,-0.01,-1.00) r=1.63m +[headless_play] t= 18.00s step= 900 trunk_z= 115.5mm grav_b=(+0.00,-0.01,-1.00) r=1.64m +[headless_play] t= 18.10s step= 905 trunk_z= 115.4mm grav_b=(-0.01,-0.01,-1.00) r=1.63m +[headless_play] t= 18.20s step= 910 trunk_z= 115.2mm grav_b=(-0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 18.30s step= 915 trunk_z= 115.2mm grav_b=(-0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 18.40s step= 920 trunk_z= 115.2mm grav_b=(-0.02,-0.01,-1.00) r=1.63m +[headless_play] t= 18.50s step= 925 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=1.65m +[headless_play] t= 18.60s step= 930 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=1.66m +[headless_play] t= 18.70s step= 935 trunk_z= 115.6mm grav_b=(-0.02,+0.00,-1.00) r=1.66m +[headless_play] t= 18.80s step= 940 trunk_z= 115.5mm grav_b=(-0.03,+0.00,-1.00) r=1.66m +[headless_play] t= 18.90s step= 945 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=1.66m +[headless_play] t= 19.00s step= 950 trunk_z= 115.5mm grav_b=(-0.02,-0.00,-1.00) r=1.66m +[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(-0.03,+0.00,-1.00) r=1.66m +[headless_play] t= 19.20s step= 960 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=1.66m +[headless_play] t= 19.30s step= 965 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=1.66m +[headless_play] t= 19.40s step= 970 trunk_z= 115.6mm grav_b=(-0.02,+0.00,-1.00) r=1.66m +[headless_play] t= 19.50s step= 975 trunk_z= 115.1mm grav_b=(-0.04,-0.00,-1.00) r=1.63m +[headless_play] t= 19.60s step= 980 trunk_z= 114.9mm grav_b=(-0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 19.70s step= 985 trunk_z= 115.2mm grav_b=(-0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=1.61m +[headless_play] t= 19.90s step= 995 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=1.61m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 20.10s step=1005 trunk_z= 117.0mm grav_b=(+0.06,+0.02,-1.00) r=0.09m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..53a2fc4c9ac67b71d982aeb5d3f62a867513407c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.6mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.817,-18.439,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.00,+0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.06,-0.02,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.12,-0.05,-0.99) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 116.3mm grav_b=(+0.12,-0.06,-0.99) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.5mm grav_b=(+0.11,-0.06,-0.99) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.10,-0.05,-0.99) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.10,-0.05,-0.99) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 115.2mm grav_b=(+0.11,-0.07,-0.99) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(+0.10,-0.02,-0.99) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 118.1mm grav_b=(+0.04,+0.08,-1.00) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(+0.10,-0.03,-0.99) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(+0.03,-0.03,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 114.5mm grav_b=(+0.06,+0.08,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 111.5mm grav_b=(+0.12,-0.08,-0.99) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 114.2mm grav_b=(+0.10,+0.07,-0.99) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 112.4mm grav_b=(+0.13,-0.11,-0.99) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 120.5mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 1.80s step= 90 trunk_z= 114.9mm grav_b=(-0.04,+0.11,-0.99) r=0.44m +[headless_play] t= 1.90s step= 95 trunk_z= 115.0mm grav_b=(+0.03,-0.04,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 102.3mm grav_b=(+0.13,-0.16,-0.98) r=0.47m +[headless_play] t= 2.10s step= 105 trunk_z= 99.8mm grav_b=(+0.24,-0.03,-0.97) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 113.2mm grav_b=(+0.02,-0.10,-0.99) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 118.7mm grav_b=(-0.02,-0.13,-0.99) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 119.2mm grav_b=(-0.02,+0.03,-1.00) r=0.48m +[headless_play] t= 2.50s step= 125 trunk_z= 120.9mm grav_b=(+0.07,-0.03,-1.00) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 111.1mm grav_b=(+0.11,-0.16,-0.98) r=0.51m +[headless_play] t= 2.70s step= 135 trunk_z= 107.3mm grav_b=(+0.16,-0.04,-0.99) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(+0.09,-0.05,-1.00) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 115.8mm grav_b=(+0.01,-0.17,-0.99) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(+0.07,-0.04,-1.00) r=0.54m +[headless_play] t= 3.10s step= 155 trunk_z= 118.8mm grav_b=(+0.09,+0.03,-1.00) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.08,-0.13,-0.99) r=0.54m +[headless_play] t= 3.30s step= 165 trunk_z= 118.6mm grav_b=(+0.09,-0.03,-1.00) r=0.54m +[headless_play] t= 3.40s step= 170 trunk_z= 117.1mm grav_b=(+0.12,+0.04,-0.99) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 115.3mm grav_b=(+0.11,-0.08,-0.99) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(+0.09,+0.09,-0.99) r=0.53m +[headless_play] t= 3.70s step= 185 trunk_z= 117.7mm grav_b=(+0.10,+0.00,-0.99) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 118.6mm grav_b=(+0.09,-0.08,-0.99) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 115.5mm grav_b=(+0.05,+0.04,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 118.2mm grav_b=(+0.06,-0.03,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 117.6mm grav_b=(+0.06,-0.09,-0.99) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 116.9mm grav_b=(+0.09,-0.00,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 118.1mm grav_b=(+0.11,-0.02,-0.99) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(+0.12,-0.06,-0.99) r=0.57m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(+0.08,+0.06,-0.99) r=0.57m +[headless_play] t= 4.60s step= 230 trunk_z= 119.8mm grav_b=(+0.07,+0.05,-1.00) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(+0.10,-0.11,-0.99) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 116.8mm grav_b=(+0.10,+0.04,-0.99) r=0.58m +[headless_play] t= 4.90s step= 245 trunk_z= 118.4mm grav_b=(+0.08,+0.11,-0.99) r=0.57m +[headless_play] t= 5.00s step= 250 trunk_z= 112.6mm grav_b=(+0.09,-0.12,-0.99) r=0.60m +[headless_play] t= 5.10s step= 255 trunk_z= 118.2mm grav_b=(+0.10,-0.04,-0.99) r=0.63m +[headless_play] t= 5.20s step= 260 trunk_z= 114.9mm grav_b=(+0.04,+0.07,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 116.6mm grav_b=(+0.08,-0.08,-0.99) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 115.3mm grav_b=(+0.12,-0.05,-0.99) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 114.8mm grav_b=(+0.14,+0.06,-0.99) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 114.7mm grav_b=(+0.13,-0.12,-0.98) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 122.9mm grav_b=(+0.08,-0.04,-1.00) r=0.72m +[headless_play] t= 5.80s step= 290 trunk_z= 113.3mm grav_b=(+0.06,+0.07,-1.00) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 114.4mm grav_b=(+0.06,-0.09,-0.99) r=0.77m +[headless_play] t= 6.00s step= 300 trunk_z= 117.4mm grav_b=(+0.09,-0.00,-1.00) r=0.78m +[headless_play] t= 6.10s step= 305 trunk_z= 117.6mm grav_b=(+0.09,-0.01,-1.00) r=0.80m +[headless_play] t= 6.20s step= 310 trunk_z= 116.3mm grav_b=(+0.09,-0.07,-0.99) r=0.81m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(+0.11,+0.01,-0.99) r=0.83m +[headless_play] t= 6.40s step= 320 trunk_z= 113.9mm grav_b=(+0.15,-0.08,-0.99) r=0.85m +[headless_play] t= 6.50s step= 325 trunk_z= 119.9mm grav_b=(+0.10,-0.02,-1.00) r=0.86m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(+0.06,+0.03,-1.00) r=0.87m +[headless_play] t= 6.70s step= 335 trunk_z= 114.6mm grav_b=(+0.08,-0.09,-0.99) r=0.88m +[headless_play] t= 6.80s step= 340 trunk_z= 116.7mm grav_b=(+0.13,-0.03,-0.99) r=0.88m +[headless_play] t= 6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.10,+0.04,-0.99) r=0.88m +[headless_play] t= 7.00s step= 350 trunk_z= 114.0mm grav_b=(+0.10,-0.08,-0.99) r=0.87m +[headless_play] t= 7.10s step= 355 trunk_z= 115.7mm grav_b=(+0.12,+0.03,-0.99) r=0.86m +[headless_play] t= 7.20s step= 360 trunk_z= 114.0mm grav_b=(+0.15,-0.09,-0.98) r=0.86m +[headless_play] t= 7.30s step= 365 trunk_z= 119.9mm grav_b=(+0.08,-0.00,-1.00) r=0.85m +[headless_play] t= 7.40s step= 370 trunk_z= 115.6mm grav_b=(+0.07,+0.09,-0.99) r=0.85m +[headless_play] t= 7.50s step= 375 trunk_z= 113.5mm grav_b=(+0.06,-0.06,-1.00) r=0.85m +[headless_play] t= 7.60s step= 380 trunk_z= 116.0mm grav_b=(+0.10,-0.04,-0.99) r=0.86m +[headless_play] t= 7.70s step= 385 trunk_z= 115.3mm grav_b=(+0.11,+0.03,-0.99) r=0.85m +[headless_play] t= 7.80s step= 390 trunk_z= 114.9mm grav_b=(+0.09,-0.07,-0.99) r=0.85m +[headless_play] t= 7.90s step= 395 trunk_z= 114.5mm grav_b=(+0.05,-0.03,-1.00) r=0.87m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(+0.09,+0.01,-1.00) r=0.88m +[headless_play] t= 8.10s step= 405 trunk_z= 119.4mm grav_b=(+0.05,-0.00,-1.00) r=0.89m +[headless_play] t= 8.20s step= 410 trunk_z= 121.3mm grav_b=(+0.09,-0.01,-1.00) r=0.90m +[headless_play] t= 8.30s step= 415 trunk_z= 120.2mm grav_b=(+0.10,+0.11,-0.99) r=0.91m +[headless_play] t= 8.40s step= 420 trunk_z= 118.9mm grav_b=(+0.10,-0.13,-0.99) r=0.92m +[headless_play] t= 8.50s step= 425 trunk_z= 118.1mm grav_b=(+0.05,-0.12,-0.99) r=0.92m +[headless_play] t= 8.60s step= 430 trunk_z= 117.7mm grav_b=(-0.04,-0.00,-1.00) r=0.91m +[headless_play] t= 8.70s step= 435 trunk_z= 119.5mm grav_b=(-0.00,+0.02,-1.00) r=0.90m +[headless_play] t= 8.80s step= 440 trunk_z= 119.7mm grav_b=(+0.07,-0.08,-0.99) r=0.89m +[headless_play] t= 8.90s step= 445 trunk_z= 120.3mm grav_b=(+0.09,+0.06,-0.99) r=0.89m +[headless_play] t= 9.00s step= 450 trunk_z= 118.6mm grav_b=(+0.10,-0.07,-0.99) r=0.89m +[headless_play] t= 9.10s step= 455 trunk_z= 117.6mm grav_b=(+0.07,+0.13,-0.99) r=0.89m +[headless_play] t= 9.20s step= 460 trunk_z= 123.1mm grav_b=(+0.13,-0.02,-0.99) r=0.91m +[headless_play] t= 9.30s step= 465 trunk_z= 112.3mm grav_b=(+0.16,-0.16,-0.97) r=0.94m +[headless_play] t= 9.40s step= 470 trunk_z= 119.3mm grav_b=(+0.07,-0.14,-0.99) r=0.96m +[headless_play] t= 9.50s step= 475 trunk_z= 121.2mm grav_b=(+0.05,-0.03,-1.00) r=0.97m +[headless_play] t= 9.60s step= 480 trunk_z= 119.7mm grav_b=(+0.02,-0.02,-1.00) r=0.96m +[headless_play] t= 9.70s step= 485 trunk_z= 119.6mm grav_b=(+0.07,-0.04,-1.00) r=0.96m +[headless_play] t= 9.80s step= 490 trunk_z= 122.8mm grav_b=(+0.11,+0.05,-0.99) r=0.95m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(+0.16,-0.06,-0.99) r=0.96m +[headless_play] t= 10.00s step= 500 trunk_z= 122.5mm grav_b=(+0.14,+0.01,-0.99) r=0.97m +[headless_play] t= 10.10s step= 505 trunk_z= 109.3mm grav_b=(+0.04,+0.08,-1.00) r=0.99m +[headless_play] t= 10.20s step= 510 trunk_z= 110.7mm grav_b=(-0.05,-0.14,-0.99) r=1.02m +[headless_play] t= 10.30s step= 515 trunk_z= 121.1mm grav_b=(+0.07,+0.07,-1.00) r=1.04m +[headless_play] t= 10.40s step= 520 trunk_z= 120.7mm grav_b=(+0.08,-0.09,-0.99) r=1.06m +[headless_play] t= 10.50s step= 525 trunk_z= 119.3mm grav_b=(+0.05,-0.00,-1.00) r=1.08m +[headless_play] t= 10.60s step= 530 trunk_z= 118.6mm grav_b=(+0.04,+0.04,-1.00) r=1.09m +[headless_play] t= 10.70s step= 535 trunk_z= 116.1mm grav_b=(+0.07,-0.11,-0.99) r=1.11m +[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(+0.06,+0.02,-1.00) r=1.12m +[headless_play] t= 10.90s step= 545 trunk_z= 115.8mm grav_b=(+0.07,+0.06,-1.00) r=1.13m +[headless_play] t= 11.00s step= 550 trunk_z= 112.4mm grav_b=(+0.07,-0.08,-0.99) r=1.14m +[headless_play] t= 11.10s step= 555 trunk_z= 113.4mm grav_b=(+0.12,+0.00,-0.99) r=1.14m +[headless_play] t= 11.20s step= 560 trunk_z= 110.3mm grav_b=(+0.14,+0.11,-0.98) r=1.15m +[headless_play] t= 11.30s step= 565 trunk_z= 113.4mm grav_b=(+0.13,-0.00,-0.99) r=1.15m +[headless_play] t= 11.40s step= 570 trunk_z= 115.0mm grav_b=(+0.07,-0.08,-0.99) r=1.16m +[headless_play] t= 11.50s step= 575 trunk_z= 115.4mm grav_b=(+0.10,-0.01,-0.99) r=1.17m +[headless_play] t= 11.60s step= 580 trunk_z= 113.9mm grav_b=(+0.11,+0.08,-0.99) r=1.17m +[headless_play] t= 11.70s step= 585 trunk_z= 111.1mm grav_b=(+0.14,-0.06,-0.99) r=1.20m +[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(+0.19,-0.06,-0.98) r=1.23m +[headless_play] t= 11.90s step= 595 trunk_z= 107.8mm grav_b=(+0.09,+0.12,-0.99) r=1.25m +[headless_play] t= 12.00s step= 600 trunk_z= 115.2mm grav_b=(+0.07,+0.02,-1.00) r=1.27m +[headless_play] t= 12.10s step= 605 trunk_z= 112.6mm grav_b=(+0.09,-0.11,-0.99) r=1.30m +[headless_play] t= 12.20s step= 610 trunk_z= 115.1mm grav_b=(+0.11,-0.04,-0.99) r=1.31m +[headless_play] t= 12.30s step= 615 trunk_z= 112.4mm grav_b=(+0.09,+0.07,-0.99) r=1.32m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.08,-0.03,-1.00) r=1.33m +[headless_play] t= 12.50s step= 625 trunk_z= 109.5mm grav_b=(+0.14,-0.07,-0.99) r=1.33m +[headless_play] t= 12.60s step= 630 trunk_z= 108.0mm grav_b=(+0.14,+0.15,-0.98) r=1.33m +[headless_play] t= 12.70s step= 635 trunk_z= 113.5mm grav_b=(+0.16,+0.11,-0.98) r=1.33m +[headless_play] t= 12.80s step= 640 trunk_z= 111.4mm grav_b=(+0.05,-0.08,-1.00) r=1.35m +[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(+0.09,-0.05,-1.00) r=1.36m +[headless_play] t= 13.00s step= 650 trunk_z= 112.1mm grav_b=(+0.07,+0.10,-0.99) r=1.37m +[headless_play] t= 13.10s step= 655 trunk_z= 116.0mm grav_b=(+0.10,+0.01,-0.99) r=1.38m +[headless_play] t= 13.20s step= 660 trunk_z= 112.4mm grav_b=(+0.09,-0.12,-0.99) r=1.39m +[headless_play] t= 13.30s step= 665 trunk_z= 115.0mm grav_b=(+0.11,-0.01,-0.99) r=1.40m +[headless_play] t= 13.40s step= 670 trunk_z= 113.7mm grav_b=(+0.07,+0.10,-0.99) r=1.41m +[headless_play] t= 13.50s step= 675 trunk_z= 115.4mm grav_b=(+0.08,-0.02,-1.00) r=1.42m +[headless_play] t= 13.60s step= 680 trunk_z= 112.5mm grav_b=(+0.09,-0.08,-0.99) r=1.44m +[headless_play] t= 13.70s step= 685 trunk_z= 113.4mm grav_b=(+0.12,+0.06,-0.99) r=1.44m +[headless_play] t= 13.80s step= 690 trunk_z= 116.1mm grav_b=(+0.12,+0.10,-0.99) r=1.45m +[headless_play] t= 13.90s step= 695 trunk_z= 111.5mm grav_b=(+0.08,-0.10,-0.99) r=1.46m +[headless_play] t= 14.00s step= 700 trunk_z= 115.7mm grav_b=(+0.11,+0.02,-0.99) r=1.48m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(+0.12,+0.15,-0.98) r=1.49m +[headless_play] t= 14.20s step= 710 trunk_z= 114.3mm grav_b=(+0.08,-0.00,-1.00) r=1.49m +[headless_play] t= 14.30s step= 715 trunk_z= 114.8mm grav_b=(+0.09,+0.00,-1.00) r=1.50m +[headless_play] t= 14.40s step= 720 trunk_z= 113.7mm grav_b=(+0.12,+0.02,-0.99) r=1.50m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(+0.19,-0.00,-0.98) r=1.52m +[headless_play] t= 14.60s step= 730 trunk_z= 117.2mm grav_b=(+0.16,+0.10,-0.98) r=1.53m +[headless_play] t= 14.70s step= 735 trunk_z= 108.9mm grav_b=(+0.08,+0.03,-1.00) r=1.55m +[headless_play] t= 14.80s step= 740 trunk_z= 112.9mm grav_b=(+0.08,-0.03,-1.00) r=1.57m +[headless_play] t= 14.90s step= 745 trunk_z= 116.3mm grav_b=(+0.10,-0.05,-0.99) r=1.58m +[headless_play] t= 15.00s step= 750 trunk_z= 115.6mm grav_b=(+0.10,-0.05,-0.99) r=1.58m +[headless_play] t= 15.10s step= 755 trunk_z= 114.8mm grav_b=(+0.07,-0.05,-1.00) r=1.58m +[headless_play] t= 15.20s step= 760 trunk_z= 114.7mm grav_b=(+0.01,-0.02,-1.00) r=1.57m +[headless_play] t= 15.30s step= 765 trunk_z= 114.5mm grav_b=(+0.03,-0.00,-1.00) r=1.57m +[headless_play] t= 15.40s step= 770 trunk_z= 114.1mm grav_b=(+0.07,+0.01,-1.00) r=1.57m +[headless_play] t= 15.50s step= 775 trunk_z= 113.8mm grav_b=(+0.10,+0.01,-0.99) r=1.58m +[headless_play] t= 15.60s step= 780 trunk_z= 114.2mm grav_b=(+0.10,+0.00,-0.99) r=1.58m +[headless_play] t= 15.70s step= 785 trunk_z= 114.3mm grav_b=(+0.08,-0.00,-1.00) r=1.58m +[headless_play] t= 15.80s step= 790 trunk_z= 114.4mm grav_b=(+0.04,+0.00,-1.00) r=1.55m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(+0.00,+0.00,-1.00) r=1.54m +[headless_play] t= 16.00s step= 800 trunk_z= 115.9mm grav_b=(-0.03,+0.09,-1.00) r=1.54m +[headless_play] t= 16.10s step= 805 trunk_z= 93.1mm grav_b=(+0.04,+0.22,-0.98) r=1.53m +[headless_play] t= 16.20s step= 810 trunk_z= 96.5mm grav_b=(+0.21,-0.01,-0.98) r=1.51m +[headless_play] t= 16.30s step= 815 trunk_z= 107.7mm grav_b=(+0.05,+0.12,-0.99) r=1.51m +[headless_play] t= 16.40s step= 820 trunk_z= 114.8mm grav_b=(+0.08,-0.06,-0.99) r=1.52m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(+0.06,-0.06,-1.00) r=1.53m +[headless_play] t= 16.60s step= 830 trunk_z= 112.6mm grav_b=(-0.02,-0.01,-1.00) r=1.53m +[headless_play] t= 16.70s step= 835 trunk_z= 114.3mm grav_b=(-0.05,+0.00,-1.00) r=1.54m +[headless_play] t= 16.80s step= 840 trunk_z= 105.3mm grav_b=(-0.04,+0.23,-0.97) r=1.53m +[headless_play] t= 16.90s step= 845 trunk_z= 93.6mm grav_b=(+0.10,+0.24,-0.96) r=1.53m +[headless_play] t= 17.00s step= 850 trunk_z= 104.3mm grav_b=(+0.13,+0.03,-0.99) r=1.53m +[headless_play] t= 17.10s step= 855 trunk_z= 113.4mm grav_b=(+0.11,+0.12,-0.99) r=1.53m +[headless_play] t= 17.20s step= 860 trunk_z= 114.3mm grav_b=(+0.08,-0.09,-0.99) r=1.53m +[headless_play] t= 17.30s step= 865 trunk_z= 114.1mm grav_b=(+0.04,-0.01,-1.00) r=1.54m +[headless_play] t= 17.40s step= 870 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) r=1.54m +[headless_play] t= 17.50s step= 875 trunk_z= 114.1mm grav_b=(-0.01,-0.01,-1.00) r=1.54m +[headless_play] t= 17.60s step= 880 trunk_z= 114.5mm grav_b=(-0.00,+0.00,-1.00) r=1.54m +[headless_play] t= 17.70s step= 885 trunk_z= 114.5mm grav_b=(+0.02,+0.01,-1.00) r=1.54m +[headless_play] t= 17.80s step= 890 trunk_z= 114.7mm grav_b=(+0.06,+0.01,-1.00) r=1.54m +[headless_play] t= 17.90s step= 895 trunk_z= 115.2mm grav_b=(+0.07,-0.00,-1.00) r=1.54m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=1.54m +[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(+0.08,-0.03,-1.00) r=1.56m +[headless_play] t= 18.20s step= 910 trunk_z= 117.5mm grav_b=(+0.11,-0.04,-0.99) r=1.56m +[headless_play] t= 18.30s step= 915 trunk_z= 117.2mm grav_b=(+0.10,+0.03,-0.99) r=1.55m +[headless_play] t= 18.40s step= 920 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=1.54m +[headless_play] t= 18.50s step= 925 trunk_z= 117.4mm grav_b=(+0.08,-0.00,-1.00) r=1.53m +[headless_play] t= 18.60s step= 930 trunk_z= 117.9mm grav_b=(+0.08,+0.01,-1.00) r=1.53m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(+0.03,-0.02,-1.00) r=1.54m +[headless_play] t= 18.80s step= 940 trunk_z= 116.9mm grav_b=(+0.02,-0.03,-1.00) r=1.54m +[headless_play] t= 18.90s step= 945 trunk_z= 116.8mm grav_b=(+0.05,-0.03,-1.00) r=1.54m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(+0.08,-0.03,-1.00) r=1.53m +[headless_play] t= 19.10s step= 955 trunk_z= 118.7mm grav_b=(+0.09,-0.01,-1.00) r=1.53m +[headless_play] t= 19.20s step= 960 trunk_z= 118.2mm grav_b=(+0.10,-0.00,-0.99) r=1.52m +[headless_play] t= 19.30s step= 965 trunk_z= 118.7mm grav_b=(+0.15,-0.01,-0.99) r=1.51m +[headless_play] t= 19.40s step= 970 trunk_z= 119.1mm grav_b=(+0.09,+0.10,-0.99) r=1.49m +[headless_play] t= 19.50s step= 975 trunk_z= 116.8mm grav_b=(+0.05,-0.08,-1.00) r=1.48m +[headless_play] t= 19.60s step= 980 trunk_z= 119.2mm grav_b=(+0.10,-0.01,-0.99) r=1.46m +[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(+0.06,+0.14,-0.99) r=1.44m +[headless_play] t= 19.80s step= 990 trunk_z= 117.8mm grav_b=(+0.03,-0.03,-1.00) r=1.42m +[headless_play] t= 19.90s step= 995 trunk_z= 119.2mm grav_b=(+0.06,-0.02,-1.00) r=1.41m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.4mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..4f4e1435bd7db16db14d8d5e4fd717ad28a35d2a --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.136,-17.667,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.14,+0.01,-0.99) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.16,+0.01,-0.99) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(+0.20,-0.06,-0.98) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 110.3mm grav_b=(+0.10,+0.10,-0.99) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 121.7mm grav_b=(+0.06,-0.06,-1.00) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 124.2mm grav_b=(+0.10,-0.19,-0.98) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 126.4mm grav_b=(+0.12,-0.09,-0.99) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(+0.07,+0.04,-1.00) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 112.7mm grav_b=(+0.01,-0.14,-0.99) r=0.26m +[headless_play] t= 1.10s step= 55 trunk_z= 121.4mm grav_b=(+0.14,-0.06,-0.99) r=0.25m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(+0.15,+0.06,-0.99) r=0.25m +[headless_play] t= 1.30s step= 65 trunk_z= 114.1mm grav_b=(+0.06,-0.16,-0.99) r=0.25m +[headless_play] t= 1.40s step= 70 trunk_z= 121.8mm grav_b=(+0.07,-0.06,-1.00) r=0.25m +[headless_play] t= 1.50s step= 75 trunk_z= 120.3mm grav_b=(+0.08,+0.10,-0.99) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.04,-0.09,-0.99) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 121.2mm grav_b=(+0.10,-0.07,-0.99) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 115.7mm grav_b=(+0.13,+0.10,-0.99) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 115.4mm grav_b=(+0.06,-0.16,-0.99) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 120.4mm grav_b=(+0.18,-0.01,-0.98) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 110.3mm grav_b=(+0.08,+0.17,-0.98) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 119.0mm grav_b=(+0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(+0.09,-0.11,-0.99) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 114.9mm grav_b=(+0.08,+0.12,-0.99) r=0.38m +[headless_play] t= 2.50s step= 125 trunk_z= 122.0mm grav_b=(+0.05,-0.01,-1.00) r=0.39m +[headless_play] t= 2.60s step= 130 trunk_z= 118.8mm grav_b=(+0.11,-0.11,-0.99) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 114.6mm grav_b=(+0.08,+0.14,-0.99) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(+0.15,+0.01,-0.99) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 114.6mm grav_b=(+0.07,-0.18,-0.98) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 122.5mm grav_b=(+0.11,-0.05,-0.99) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 118.2mm grav_b=(+0.10,+0.12,-0.99) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 119.2mm grav_b=(+0.04,-0.05,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 117.7mm grav_b=(+0.11,-0.09,-0.99) r=0.60m +[headless_play] t= 3.40s step= 170 trunk_z= 112.8mm grav_b=(+0.20,+0.14,-0.97) r=0.64m +[headless_play] t= 3.50s step= 175 trunk_z= 121.3mm grav_b=(+0.32,-0.05,-0.95) r=0.66m +[headless_play] t= 3.60s step= 180 trunk_z= 84.7mm grav_b=(+0.30,-0.14,-0.94) r=0.68m +[headless_play] t= 3.70s step= 185 trunk_z= 96.0mm grav_b=(+0.59,-0.06,-0.81) r=0.71m +[headless_play] t= 3.80s step= 190 trunk_z= 104.5mm grav_b=(+0.64,+0.08,-0.76) r=0.74m +[headless_play] t= 3.90s step= 195 trunk_z= 77.4mm grav_b=(+0.58,+0.15,-0.80) r=0.76m +[headless_play] t= 4.00s step= 200 trunk_z= 97.6mm grav_b=(+0.74,-0.43,-0.52) r=0.79m +[headless_play] RESET at t= 4.06s step= 203 (env termination, not a recovery) +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(+0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(+0.07,-0.03,-1.00) r=0.51m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(+0.08,-0.01,-1.00) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 4.70s step= 235 trunk_z= 117.0mm grav_b=(+0.03,-0.05,-1.00) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 114.8mm grav_b=(+0.04,-0.07,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 116.9mm grav_b=(+0.06,-0.02,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 111.8mm grav_b=(+0.08,+0.06,-0.99) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 119.7mm grav_b=(+0.05,+0.08,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(+0.06,+0.00,-1.00) r=0.49m +[headless_play] t= 5.30s step= 265 trunk_z= 116.7mm grav_b=(+0.05,-0.06,-1.00) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.07,-0.02,-1.00) r=0.48m +[headless_play] t= 5.50s step= 275 trunk_z= 115.2mm grav_b=(+0.05,+0.06,-1.00) r=0.47m +[headless_play] t= 5.60s step= 280 trunk_z= 119.2mm grav_b=(+0.05,+0.04,-1.00) r=0.45m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(+0.08,-0.02,-1.00) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 117.5mm grav_b=(+0.06,-0.01,-1.00) r=0.44m +[headless_play] t= 5.90s step= 295 trunk_z= 112.5mm grav_b=(+0.04,+0.09,-1.00) r=0.43m +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(+0.06,+0.03,-1.00) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 113.5mm grav_b=(+0.06,-0.08,-0.99) r=0.40m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.07,-0.03,-1.00) r=0.39m +[headless_play] t= 6.30s step= 315 trunk_z= 112.9mm grav_b=(+0.05,+0.08,-1.00) r=0.38m +[headless_play] t= 6.40s step= 320 trunk_z= 117.8mm grav_b=(+0.05,+0.05,-1.00) r=0.36m +[headless_play] t= 6.50s step= 325 trunk_z= 112.6mm grav_b=(+0.07,-0.06,-1.00) r=0.35m +[headless_play] t= 6.60s step= 330 trunk_z= 117.8mm grav_b=(+0.09,-0.03,-1.00) r=0.34m +[headless_play] t= 6.70s step= 335 trunk_z= 112.2mm grav_b=(+0.06,+0.09,-0.99) r=0.32m +[headless_play] t= 6.80s step= 340 trunk_z= 121.3mm grav_b=(+0.04,+0.10,-0.99) r=0.30m +[headless_play] t= 6.90s step= 345 trunk_z= 113.9mm grav_b=(+0.07,-0.02,-1.00) r=0.28m +[headless_play] t= 7.00s step= 350 trunk_z= 113.8mm grav_b=(+0.10,+0.06,-0.99) r=0.26m +[headless_play] t= 7.10s step= 355 trunk_z= 115.2mm grav_b=(+0.11,+0.15,-0.98) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 115.3mm grav_b=(+0.06,+0.04,-1.00) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 116.0mm grav_b=(+0.04,-0.05,-1.00) r=0.22m +[headless_play] t= 7.40s step= 370 trunk_z= 115.6mm grav_b=(+0.06,+0.04,-1.00) r=0.21m +[headless_play] t= 7.50s step= 375 trunk_z= 118.5mm grav_b=(+0.05,+0.11,-0.99) r=0.21m +[headless_play] t= 7.60s step= 380 trunk_z= 118.4mm grav_b=(+0.03,+0.04,-1.00) r=0.21m +[headless_play] t= 7.70s step= 385 trunk_z= 112.1mm grav_b=(+0.07,-0.04,-1.00) r=0.19m +[headless_play] t= 7.80s step= 390 trunk_z= 115.4mm grav_b=(+0.09,-0.03,-1.00) r=0.18m +[headless_play] t= 7.90s step= 395 trunk_z= 111.4mm grav_b=(+0.09,+0.06,-0.99) r=0.18m +[headless_play] t= 8.00s step= 400 trunk_z= 118.5mm grav_b=(+0.04,+0.03,-1.00) r=0.17m +[headless_play] t= 8.10s step= 405 trunk_z= 112.9mm grav_b=(+0.04,-0.07,-1.00) r=0.15m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(+0.07,-0.04,-1.00) r=0.14m +[headless_play] t= 8.30s step= 415 trunk_z= 113.3mm grav_b=(+0.05,+0.08,-1.00) r=0.14m +[headless_play] t= 8.40s step= 420 trunk_z= 125.7mm grav_b=(-0.01,+0.13,-0.99) r=0.15m +[headless_play] t= 8.50s step= 425 trunk_z= 127.7mm grav_b=(-0.01,+0.12,-0.99) r=0.15m +[headless_play] t= 8.60s step= 430 trunk_z= 120.5mm grav_b=(+0.05,+0.05,-1.00) r=0.14m +[headless_play] t= 8.70s step= 435 trunk_z= 114.6mm grav_b=(+0.09,-0.04,-1.00) r=0.12m +[headless_play] t= 8.80s step= 440 trunk_z= 115.6mm grav_b=(+0.11,-0.03,-0.99) r=0.12m +[headless_play] t= 8.90s step= 445 trunk_z= 115.5mm grav_b=(+0.03,+0.07,-1.00) r=0.13m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(+0.05,-0.08,-1.00) r=0.13m +[headless_play] t= 9.10s step= 455 trunk_z= 119.8mm grav_b=(+0.05,+0.05,-1.00) r=0.14m +[headless_play] t= 9.20s step= 460 trunk_z= 127.6mm grav_b=(+0.04,+0.04,-1.00) r=0.14m +[headless_play] t= 9.30s step= 465 trunk_z= 119.2mm grav_b=(+0.06,-0.10,-0.99) r=0.13m +[headless_play] t= 9.40s step= 470 trunk_z= 120.4mm grav_b=(-0.05,+0.03,-1.00) r=0.13m +[headless_play] t= 9.50s step= 475 trunk_z= 123.2mm grav_b=(-0.04,+0.04,-1.00) r=0.14m +[headless_play] t= 9.60s step= 480 trunk_z= 123.4mm grav_b=(+0.03,-0.07,-1.00) r=0.14m +[headless_play] t= 9.70s step= 485 trunk_z= 120.1mm grav_b=(+0.04,+0.09,-0.99) r=0.15m +[headless_play] t= 9.80s step= 490 trunk_z= 123.7mm grav_b=(+0.05,-0.01,-1.00) r=0.16m +[headless_play] t= 9.90s step= 495 trunk_z= 120.8mm grav_b=(+0.04,+0.02,-1.00) r=0.17m +[headless_play] t= 10.00s step= 500 trunk_z= 120.8mm grav_b=(+0.05,+0.09,-1.00) r=0.18m +[headless_play] t= 10.10s step= 505 trunk_z= 119.1mm grav_b=(+0.01,-0.09,-1.00) r=0.19m +[headless_play] t= 10.20s step= 510 trunk_z= 123.2mm grav_b=(+0.07,+0.15,-0.99) r=0.22m +[headless_play] t= 10.30s step= 515 trunk_z= 124.8mm grav_b=(+0.14,+0.06,-0.99) r=0.24m +[headless_play] t= 10.40s step= 520 trunk_z= 114.0mm grav_b=(+0.09,-0.12,-0.99) r=0.26m +[headless_play] t= 10.50s step= 525 trunk_z= 122.4mm grav_b=(+0.05,+0.08,-1.00) r=0.28m +[headless_play] t= 10.60s step= 530 trunk_z= 119.7mm grav_b=(-0.00,+0.12,-0.99) r=0.31m +[headless_play] t= 10.70s step= 535 trunk_z= 118.9mm grav_b=(-0.00,-0.05,-1.00) r=0.32m +[headless_play] t= 10.80s step= 540 trunk_z= 127.0mm grav_b=(+0.08,-0.03,-1.00) r=0.34m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(+0.08,+0.19,-0.98) r=0.37m +[headless_play] t= 11.00s step= 550 trunk_z= 130.1mm grav_b=(+0.06,+0.09,-0.99) r=0.38m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.04,-0.03,-1.00) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 123.4mm grav_b=(+0.04,+0.13,-0.99) r=0.43m +[headless_play] t= 11.30s step= 565 trunk_z= 123.6mm grav_b=(+0.03,+0.14,-0.99) r=0.45m +[headless_play] t= 11.40s step= 570 trunk_z= 118.0mm grav_b=(+0.01,-0.03,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 128.9mm grav_b=(+0.09,-0.04,-1.00) r=0.48m +[headless_play] t= 11.60s step= 580 trunk_z= 117.7mm grav_b=(+0.11,+0.14,-0.98) r=0.50m +[headless_play] t= 11.70s step= 585 trunk_z= 123.8mm grav_b=(+0.08,-0.16,-0.98) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 104.0mm grav_b=(+0.17,-0.09,-0.98) r=0.56m +[headless_play] t= 11.90s step= 595 trunk_z= 125.0mm grav_b=(+0.11,+0.09,-0.99) r=0.58m +[headless_play] t= 12.00s step= 600 trunk_z= 110.7mm grav_b=(-0.09,+0.21,-0.97) r=0.61m +[headless_play] t= 12.10s step= 605 trunk_z= 119.8mm grav_b=(-0.10,+0.03,-0.99) r=0.62m +[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(+0.03,-0.10,-0.99) r=0.65m +[headless_play] t= 12.30s step= 615 trunk_z= 117.1mm grav_b=(+0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 12.40s step= 620 trunk_z= 115.4mm grav_b=(+0.00,+0.09,-1.00) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 119.3mm grav_b=(-0.05,-0.06,-1.00) r=0.62m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(-0.02,-0.11,-0.99) r=0.61m +[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(+0.07,+0.02,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 114.8mm grav_b=(+0.16,+0.08,-0.98) r=0.58m +[headless_play] t= 12.90s step= 645 trunk_z= 111.1mm grav_b=(+0.11,-0.11,-0.99) r=0.58m +[headless_play] t= 13.00s step= 650 trunk_z= 121.1mm grav_b=(+0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 13.10s step= 655 trunk_z= 123.3mm grav_b=(-0.02,+0.17,-0.99) r=0.56m +[headless_play] t= 13.20s step= 660 trunk_z= 121.6mm grav_b=(-0.05,+0.06,-1.00) r=0.55m +[headless_play] t= 13.30s step= 665 trunk_z= 116.1mm grav_b=(+0.05,-0.09,-0.99) r=0.55m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(+0.07,-0.02,-1.00) r=0.55m +[headless_play] t= 13.50s step= 675 trunk_z= 113.0mm grav_b=(+0.05,+0.15,-0.99) r=0.55m +[headless_play] t= 13.60s step= 680 trunk_z= 116.9mm grav_b=(+0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 13.70s step= 685 trunk_z= 115.8mm grav_b=(+0.05,-0.13,-0.99) r=0.52m +[headless_play] t= 13.80s step= 690 trunk_z= 118.0mm grav_b=(+0.11,-0.03,-0.99) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 114.9mm grav_b=(+0.08,+0.15,-0.99) r=0.50m +[headless_play] t= 14.00s step= 700 trunk_z= 122.2mm grav_b=(+0.00,+0.07,-1.00) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 114.9mm grav_b=(-0.03,-0.13,-0.99) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 115.5mm grav_b=(+0.12,-0.05,-0.99) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 109.6mm grav_b=(+0.20,+0.15,-0.97) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 124.6mm grav_b=(+0.03,+0.09,-1.00) r=0.45m +[headless_play] t= 14.50s step= 725 trunk_z= 112.8mm grav_b=(-0.06,-0.15,-0.99) r=0.43m +[headless_play] t= 14.60s step= 730 trunk_z= 119.3mm grav_b=(+0.04,-0.09,-1.00) r=0.41m +[headless_play] t= 14.70s step= 735 trunk_z= 114.3mm grav_b=(+0.11,+0.03,-0.99) r=0.40m +[headless_play] t= 14.80s step= 740 trunk_z= 122.0mm grav_b=(+0.10,+0.07,-0.99) r=0.39m +[headless_play] t= 14.90s step= 745 trunk_z= 120.1mm grav_b=(-0.03,-0.03,-1.00) r=0.39m +[headless_play] t= 15.00s step= 750 trunk_z= 114.0mm grav_b=(+0.06,-0.10,-0.99) r=0.37m +[headless_play] t= 15.10s step= 755 trunk_z= 112.0mm grav_b=(+0.11,-0.01,-0.99) r=0.36m +[headless_play] t= 15.20s step= 760 trunk_z= 115.1mm grav_b=(+0.06,+0.10,-0.99) r=0.36m +[headless_play] t= 15.30s step= 765 trunk_z= 118.0mm grav_b=(+0.03,+0.01,-1.00) r=0.36m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.02,-0.05,-1.00) r=0.34m +[headless_play] t= 15.50s step= 775 trunk_z= 115.4mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] t= 15.60s step= 780 trunk_z= 114.1mm grav_b=(+0.09,+0.04,-1.00) r=0.33m +[headless_play] t= 15.70s step= 785 trunk_z= 113.1mm grav_b=(+0.06,-0.09,-0.99) r=0.32m +[headless_play] t= 15.80s step= 790 trunk_z= 116.9mm grav_b=(+0.05,-0.03,-1.00) r=0.32m +[headless_play] t= 15.90s step= 795 trunk_z= 112.7mm grav_b=(+0.05,+0.09,-0.99) r=0.32m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.32m +[headless_play] t= 16.10s step= 805 trunk_z= 113.6mm grav_b=(+0.05,-0.08,-1.00) r=0.31m +[headless_play] t= 16.20s step= 810 trunk_z= 116.3mm grav_b=(+0.07,+0.00,-1.00) r=0.29m +[headless_play] t= 16.30s step= 815 trunk_z= 112.6mm grav_b=(+0.09,+0.06,-0.99) r=0.27m +[headless_play] t= 16.40s step= 820 trunk_z= 113.4mm grav_b=(+0.05,-0.11,-0.99) r=0.26m +[headless_play] t= 16.50s step= 825 trunk_z= 116.8mm grav_b=(+0.04,-0.04,-1.00) r=0.25m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.03,+0.06,-1.00) r=0.25m +[headless_play] t= 16.70s step= 835 trunk_z= 118.3mm grav_b=(+0.05,-0.03,-1.00) r=0.26m +[headless_play] t= 16.80s step= 840 trunk_z= 112.7mm grav_b=(+0.16,-0.09,-0.98) r=0.26m +[headless_play] t= 16.90s step= 845 trunk_z= 113.8mm grav_b=(+0.10,+0.11,-0.99) r=0.27m +[headless_play] t= 17.00s step= 850 trunk_z= 120.5mm grav_b=(+0.05,+0.13,-0.99) r=0.28m +[headless_play] t= 17.10s step= 855 trunk_z= 115.6mm grav_b=(+0.02,-0.03,-1.00) r=0.29m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(+0.00,-0.05,-1.00) r=0.31m +[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(+0.05,+0.02,-1.00) r=0.31m +[headless_play] t= 17.40s step= 870 trunk_z= 115.2mm grav_b=(+0.09,+0.03,-1.00) r=0.31m +[headless_play] t= 17.50s step= 875 trunk_z= 113.5mm grav_b=(+0.02,-0.09,-1.00) r=0.32m +[headless_play] t= 17.60s step= 880 trunk_z= 113.1mm grav_b=(+0.07,-0.08,-0.99) r=0.32m +[headless_play] t= 17.70s step= 885 trunk_z= 113.8mm grav_b=(+0.04,+0.02,-1.00) r=0.33m +[headless_play] t= 17.80s step= 890 trunk_z= 119.7mm grav_b=(+0.00,+0.06,-1.00) r=0.33m +[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(+0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 18.00s step= 900 trunk_z= 113.8mm grav_b=(+0.05,-0.04,-1.00) r=0.35m +[headless_play] t= 18.10s step= 905 trunk_z= 110.8mm grav_b=(+0.09,+0.02,-1.00) r=0.34m +[headless_play] t= 18.20s step= 910 trunk_z= 114.7mm grav_b=(+0.09,+0.04,-0.99) r=0.35m +[headless_play] t= 18.30s step= 915 trunk_z= 111.0mm grav_b=(+0.04,-0.10,-0.99) r=0.36m +[headless_play] t= 18.40s step= 920 trunk_z= 115.1mm grav_b=(+0.03,-0.03,-1.00) r=0.36m +[headless_play] t= 18.50s step= 925 trunk_z= 113.2mm grav_b=(+0.04,+0.06,-1.00) r=0.35m +[headless_play] t= 18.60s step= 930 trunk_z= 115.4mm grav_b=(+0.05,+0.06,-1.00) r=0.35m +[headless_play] t= 18.70s step= 935 trunk_z= 111.2mm grav_b=(+0.02,-0.10,-0.99) r=0.36m +[headless_play] t= 18.80s step= 940 trunk_z= 119.9mm grav_b=(+0.08,-0.14,-0.99) r=0.38m +[headless_play] t= 18.90s step= 945 trunk_z= 120.0mm grav_b=(+0.09,-0.02,-1.00) r=0.39m +[headless_play] t= 19.00s step= 950 trunk_z= 118.3mm grav_b=(+0.10,+0.10,-0.99) r=0.39m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(+0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 19.20s step= 960 trunk_z= 114.4mm grav_b=(+0.04,-0.09,-1.00) r=0.41m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.41m +[headless_play] t= 19.40s step= 970 trunk_z= 116.4mm grav_b=(-0.01,+0.14,-0.99) r=0.41m +[headless_play] t= 19.50s step= 975 trunk_z= 122.4mm grav_b=(+0.02,+0.06,-1.00) r=0.41m +[headless_play] t= 19.60s step= 980 trunk_z= 108.6mm grav_b=(+0.08,-0.07,-0.99) r=0.42m +[headless_play] t= 19.70s step= 985 trunk_z= 111.7mm grav_b=(+0.13,-0.07,-0.99) r=0.43m +[headless_play] t= 19.80s step= 990 trunk_z= 112.5mm grav_b=(+0.10,+0.01,-0.99) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 120.1mm grav_b=(-0.02,+0.12,-0.99) r=0.41m +[headless_play] t= 20.00s step=1000 trunk_z= 123.0mm grav_b=(-0.09,+0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 107.7mm grav_b=(+0.02,-0.08,-1.00) r=0.40m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..c8b7699ccd920051996a6afa44614088bae617ab --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(+1.952,-18.443,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.2mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 117.1mm grav_b=(+0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 117.2mm grav_b=(-0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(+0.01,+0.03,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 117.2mm grav_b=(-0.04,+0.02,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 116.8mm grav_b=(+0.00,+0.00,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 117.2mm grav_b=(+0.03,+0.10,-0.99) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 120.2mm grav_b=(-0.04,+0.00,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 119.3mm grav_b=(-0.08,-0.07,-0.99) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 119.3mm grav_b=(-0.06,+0.11,-0.99) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 119.5mm grav_b=(-0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 119.7mm grav_b=(-0.06,-0.09,-0.99) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 116.1mm grav_b=(-0.02,+0.13,-0.99) r=0.37m +[headless_play] t= 2.20s step= 110 trunk_z= 118.8mm grav_b=(+0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.30s step= 115 trunk_z= 125.6mm grav_b=(+0.00,-0.17,-0.98) r=0.34m +[headless_play] t= 2.40s step= 120 trunk_z= 129.1mm grav_b=(+0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 121.4mm grav_b=(-0.08,+0.04,-1.00) r=0.32m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.10,-0.13,-0.99) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 123.3mm grav_b=(-0.03,-0.09,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 117.4mm grav_b=(+0.00,+0.10,-0.99) r=0.31m +[headless_play] t= 2.90s step= 145 trunk_z= 120.3mm grav_b=(-0.11,-0.01,-0.99) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 117.1mm grav_b=(-0.06,-0.07,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 118.2mm grav_b=(-0.00,+0.06,-1.00) r=0.37m +[headless_play] t= 3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.03,-0.08,-1.00) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 118.3mm grav_b=(-0.01,+0.04,-1.00) r=0.39m +[headless_play] t= 3.40s step= 170 trunk_z= 119.9mm grav_b=(-0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 119.2mm grav_b=(-0.03,-0.03,-1.00) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 119.1mm grav_b=(-0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 3.90s step= 195 trunk_z= 119.7mm grav_b=(-0.08,-0.04,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 115.1mm grav_b=(-0.06,-0.12,-0.99) r=0.41m +[headless_play] t= 4.10s step= 205 trunk_z= 109.7mm grav_b=(-0.02,-0.05,-1.00) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 111.9mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 4.30s step= 215 trunk_z= 115.1mm grav_b=(-0.06,-0.10,-0.99) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.08,-0.01,-1.00) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 114.8mm grav_b=(-0.12,-0.20,-0.97) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 122.1mm grav_b=(-0.06,-0.15,-0.99) r=0.41m +[headless_play] t= 4.80s step= 240 trunk_z= 118.4mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 4.90s step= 245 trunk_z= 120.5mm grav_b=(+0.01,+0.09,-1.00) r=0.42m +[headless_play] t= 5.00s step= 250 trunk_z= 118.7mm grav_b=(-0.07,-0.07,-0.99) r=0.43m +[headless_play] t= 5.10s step= 255 trunk_z= 121.4mm grav_b=(-0.03,-0.12,-0.99) r=0.43m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(+0.09,+0.08,-0.99) r=0.45m +[headless_play] t= 5.30s step= 265 trunk_z= 123.3mm grav_b=(+0.06,+0.07,-1.00) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(-0.04,-0.15,-0.99) r=0.47m +[headless_play] t= 5.50s step= 275 trunk_z= 118.6mm grav_b=(-0.09,+0.03,-1.00) r=0.48m +[headless_play] t= 5.60s step= 280 trunk_z= 120.6mm grav_b=(-0.00,+0.13,-0.99) r=0.49m +[headless_play] t= 5.70s step= 285 trunk_z= 116.6mm grav_b=(+0.01,-0.04,-1.00) r=0.50m +[headless_play] t= 5.80s step= 290 trunk_z= 118.7mm grav_b=(-0.05,-0.05,-1.00) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 118.4mm grav_b=(-0.04,+0.10,-0.99) r=0.51m +[headless_play] t= 6.00s step= 300 trunk_z= 118.5mm grav_b=(-0.04,-0.04,-1.00) r=0.52m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(-0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 6.30s step= 315 trunk_z= 115.2mm grav_b=(-0.05,-0.11,-0.99) r=0.54m +[headless_play] t= 6.40s step= 320 trunk_z= 116.3mm grav_b=(-0.01,+0.05,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 116.8mm grav_b=(-0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 6.60s step= 330 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(-0.01,+0.04,-1.00) r=0.57m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(-0.05,-0.08,-1.00) r=0.58m +[headless_play] t= 6.90s step= 345 trunk_z= 115.4mm grav_b=(-0.03,+0.08,-1.00) r=0.59m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(-0.05,+0.03,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 112.6mm grav_b=(-0.02,-0.03,-1.00) r=0.62m +[headless_play] t= 7.20s step= 360 trunk_z= 114.9mm grav_b=(-0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 114.7mm grav_b=(-0.02,-0.00,-1.00) r=0.63m +[headless_play] t= 7.40s step= 370 trunk_z= 113.1mm grav_b=(+0.02,+0.06,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 114.7mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 113.4mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 112.5mm grav_b=(-0.09,+0.14,-0.99) r=0.64m +[headless_play] t= 7.80s step= 390 trunk_z= 122.9mm grav_b=(-0.11,+0.12,-0.99) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 118.4mm grav_b=(-0.04,+0.04,-1.00) r=0.64m +[headless_play] t= 8.00s step= 400 trunk_z= 112.2mm grav_b=(-0.01,-0.03,-1.00) r=0.65m +[headless_play] t= 8.10s step= 405 trunk_z= 114.2mm grav_b=(-0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 8.20s step= 410 trunk_z= 110.3mm grav_b=(+0.00,+0.06,-1.00) r=0.64m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(+0.00,+0.03,-1.00) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 118.1mm grav_b=(-0.08,-0.01,-1.00) r=0.63m +[headless_play] t= 8.50s step= 425 trunk_z= 116.7mm grav_b=(-0.13,-0.05,-0.99) r=0.61m +[headless_play] t= 8.60s step= 430 trunk_z= 99.5mm grav_b=(-0.21,+0.13,-0.97) r=0.60m +[headless_play] t= 8.70s step= 435 trunk_z= 68.1mm grav_b=(+0.09,+0.05,-1.00) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 87.1mm grav_b=(+0.05,-0.02,-1.00) r=0.58m +[headless_play] t= 8.90s step= 445 trunk_z= 103.7mm grav_b=(-0.05,+0.10,-0.99) r=0.57m +[headless_play] t= 9.00s step= 450 trunk_z= 110.8mm grav_b=(+0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 9.10s step= 455 trunk_z= 112.5mm grav_b=(-0.01,-0.04,-1.00) r=0.56m +[headless_play] t= 9.20s step= 460 trunk_z= 111.3mm grav_b=(-0.07,+0.12,-0.99) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 121.3mm grav_b=(-0.10,+0.12,-0.99) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 113.1mm grav_b=(-0.05,+0.00,-1.00) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 114.9mm grav_b=(-0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 9.60s step= 480 trunk_z= 108.4mm grav_b=(+0.01,+0.11,-0.99) r=0.53m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 9.80s step= 490 trunk_z= 110.6mm grav_b=(+0.01,-0.06,-1.00) r=0.52m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 10.00s step= 500 trunk_z= 115.5mm grav_b=(-0.03,+0.03,-1.00) r=0.50m +[headless_play] t= 10.10s step= 505 trunk_z= 117.9mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 111.4mm grav_b=(+0.00,-0.10,-0.99) r=0.47m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(-0.03,-0.03,-1.00) r=0.45m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(-0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 10.50s step= 525 trunk_z= 118.6mm grav_b=(-0.01,+0.05,-1.00) r=0.43m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 10.70s step= 535 trunk_z= 114.0mm grav_b=(-0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 10.80s step= 540 trunk_z= 115.5mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 109.8mm grav_b=(+0.03,+0.09,-1.00) r=0.37m +[headless_play] t= 11.00s step= 550 trunk_z= 110.1mm grav_b=(+0.08,-0.07,-0.99) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 118.7mm grav_b=(+0.02,-0.03,-1.00) r=0.34m +[headless_play] t= 11.20s step= 560 trunk_z= 117.2mm grav_b=(-0.02,+0.09,-1.00) r=0.32m +[headless_play] t= 11.30s step= 565 trunk_z= 120.0mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 11.40s step= 570 trunk_z= 116.3mm grav_b=(-0.04,-0.06,-1.00) r=0.31m +[headless_play] t= 11.50s step= 575 trunk_z= 113.6mm grav_b=(-0.06,+0.08,-1.00) r=0.31m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(-0.03,+0.06,-1.00) r=0.30m +[headless_play] t= 11.70s step= 585 trunk_z= 110.6mm grav_b=(+0.05,-0.03,-1.00) r=0.29m +[headless_play] t= 11.80s step= 590 trunk_z= 116.6mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 11.90s step= 595 trunk_z= 118.4mm grav_b=(+0.02,+0.14,-0.99) r=0.28m +[headless_play] t= 12.00s step= 600 trunk_z= 121.4mm grav_b=(-0.02,-0.00,-1.00) r=0.29m +[headless_play] t= 12.10s step= 605 trunk_z= 121.7mm grav_b=(-0.07,-0.08,-0.99) r=0.29m +[headless_play] t= 12.20s step= 610 trunk_z= 114.4mm grav_b=(-0.03,+0.09,-1.00) r=0.29m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.04,+0.02,-1.00) r=0.28m +[headless_play] t= 12.40s step= 620 trunk_z= 115.2mm grav_b=(+0.01,-0.05,-1.00) r=0.27m +[headless_play] t= 12.50s step= 625 trunk_z= 114.7mm grav_b=(-0.01,+0.10,-0.99) r=0.27m +[headless_play] t= 12.60s step= 630 trunk_z= 117.5mm grav_b=(-0.00,+0.05,-1.00) r=0.27m +[headless_play] t= 12.70s step= 635 trunk_z= 114.3mm grav_b=(-0.02,-0.07,-1.00) r=0.28m +[headless_play] t= 12.80s step= 640 trunk_z= 115.3mm grav_b=(-0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 12.90s step= 645 trunk_z= 113.9mm grav_b=(+0.01,+0.03,-1.00) r=0.29m +[headless_play] t= 13.00s step= 650 trunk_z= 115.1mm grav_b=(-0.02,-0.07,-1.00) r=0.29m +[headless_play] t= 13.10s step= 655 trunk_z= 116.0mm grav_b=(-0.05,-0.06,-1.00) r=0.30m +[headless_play] t= 13.20s step= 660 trunk_z= 112.2mm grav_b=(-0.03,+0.06,-1.00) r=0.29m +[headless_play] t= 13.30s step= 665 trunk_z= 118.7mm grav_b=(-0.05,+0.03,-1.00) r=0.29m +[headless_play] t= 13.40s step= 670 trunk_z= 116.3mm grav_b=(+0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 13.50s step= 675 trunk_z= 111.8mm grav_b=(+0.02,-0.09,-1.00) r=0.32m +[headless_play] t= 13.60s step= 680 trunk_z= 115.1mm grav_b=(-0.04,+0.00,-1.00) r=0.33m +[headless_play] t= 13.70s step= 685 trunk_z= 114.9mm grav_b=(-0.06,+0.07,-1.00) r=0.32m +[headless_play] t= 13.80s step= 690 trunk_z= 124.7mm grav_b=(-0.14,-0.00,-0.99) r=0.31m +[headless_play] t= 13.90s step= 695 trunk_z= 98.0mm grav_b=(-0.19,-0.03,-0.98) r=0.31m +[headless_play] t= 14.00s step= 700 trunk_z= 93.9mm grav_b=(-0.03,+0.27,-0.96) r=0.30m +[headless_play] t= 14.10s step= 705 trunk_z= 85.1mm grav_b=(+0.04,+0.36,-0.93) r=0.29m +[headless_play] t= 14.20s step= 710 trunk_z= 111.0mm grav_b=(-0.05,+0.21,-0.98) r=0.28m +[headless_play] t= 14.30s step= 715 trunk_z= 105.3mm grav_b=(+0.08,-0.03,-1.00) r=0.27m +[headless_play] t= 14.40s step= 720 trunk_z= 118.4mm grav_b=(+0.05,+0.03,-1.00) r=0.26m +[headless_play] t= 14.50s step= 725 trunk_z= 117.6mm grav_b=(-0.04,+0.19,-0.98) r=0.24m +[headless_play] t= 14.60s step= 730 trunk_z= 126.3mm grav_b=(-0.07,+0.16,-0.98) r=0.24m +[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(-0.06,+0.02,-1.00) r=0.24m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(-0.05,+0.08,-1.00) r=0.25m +[headless_play] t= 14.90s step= 745 trunk_z= 108.6mm grav_b=(+0.05,+0.06,-1.00) r=0.24m +[headless_play] t= 15.00s step= 750 trunk_z= 112.1mm grav_b=(+0.06,-0.10,-0.99) r=0.23m +[headless_play] t= 15.10s step= 755 trunk_z= 115.6mm grav_b=(+0.02,+0.06,-1.00) r=0.24m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.01,+0.01,-1.00) r=0.24m +[headless_play] t= 15.30s step= 765 trunk_z= 119.0mm grav_b=(-0.07,-0.09,-0.99) r=0.25m +[headless_play] t= 15.40s step= 770 trunk_z= 115.2mm grav_b=(-0.05,+0.07,-1.00) r=0.25m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 15.60s step= 780 trunk_z= 110.2mm grav_b=(+0.02,-0.07,-1.00) r=0.27m +[headless_play] t= 15.70s step= 785 trunk_z= 114.1mm grav_b=(+0.04,+0.06,-1.00) r=0.26m +[headless_play] t= 15.80s step= 790 trunk_z= 122.6mm grav_b=(-0.02,+0.13,-0.99) r=0.25m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(-0.06,-0.04,-1.00) r=0.25m +[headless_play] t= 16.00s step= 800 trunk_z= 120.0mm grav_b=(-0.03,-0.05,-1.00) r=0.25m +[headless_play] t= 16.10s step= 805 trunk_z= 115.7mm grav_b=(-0.06,+0.11,-0.99) r=0.25m +[headless_play] t= 16.20s step= 810 trunk_z= 121.4mm grav_b=(-0.03,+0.02,-1.00) r=0.25m +[headless_play] t= 16.30s step= 815 trunk_z= 117.7mm grav_b=(-0.04,-0.10,-0.99) r=0.26m +[headless_play] t= 16.40s step= 820 trunk_z= 117.6mm grav_b=(-0.03,+0.05,-1.00) r=0.26m +[headless_play] t= 16.50s step= 825 trunk_z= 123.0mm grav_b=(-0.09,+0.07,-0.99) r=0.27m +[headless_play] t= 16.60s step= 830 trunk_z= 113.6mm grav_b=(-0.05,-0.10,-0.99) r=0.27m +[headless_play] t= 16.70s step= 835 trunk_z= 117.3mm grav_b=(-0.06,-0.08,-0.99) r=0.27m +[headless_play] t= 16.80s step= 840 trunk_z= 114.6mm grav_b=(-0.05,+0.07,-1.00) r=0.27m +[headless_play] t= 16.90s step= 845 trunk_z= 120.1mm grav_b=(-0.06,+0.06,-1.00) r=0.26m +[headless_play] t= 17.00s step= 850 trunk_z= 114.3mm grav_b=(-0.05,-0.10,-0.99) r=0.27m +[headless_play] t= 17.10s step= 855 trunk_z= 118.2mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 17.20s step= 860 trunk_z= 118.3mm grav_b=(-0.05,+0.10,-0.99) r=0.29m +[headless_play] t= 17.30s step= 865 trunk_z= 120.5mm grav_b=(-0.05,-0.02,-1.00) r=0.29m +[headless_play] t= 17.40s step= 870 trunk_z= 119.3mm grav_b=(-0.05,-0.12,-0.99) r=0.31m +[headless_play] t= 17.50s step= 875 trunk_z= 120.7mm grav_b=(-0.01,-0.03,-1.00) r=0.31m +[headless_play] t= 17.60s step= 880 trunk_z= 118.5mm grav_b=(-0.04,+0.14,-0.99) r=0.31m +[headless_play] t= 17.70s step= 885 trunk_z= 122.7mm grav_b=(-0.05,+0.05,-1.00) r=0.31m +[headless_play] t= 17.80s step= 890 trunk_z= 117.9mm grav_b=(-0.05,-0.09,-0.99) r=0.32m +[headless_play] t= 17.90s step= 895 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 18.00s step= 900 trunk_z= 119.9mm grav_b=(-0.08,+0.08,-0.99) r=0.33m +[headless_play] t= 18.10s step= 905 trunk_z= 114.3mm grav_b=(-0.13,-0.14,-0.98) r=0.33m +[headless_play] t= 18.20s step= 910 trunk_z= 117.0mm grav_b=(-0.14,-0.08,-0.99) r=0.33m +[headless_play] t= 18.30s step= 915 trunk_z= 110.6mm grav_b=(-0.01,+0.14,-0.99) r=0.32m +[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(+0.07,+0.20,-0.98) r=0.31m +[headless_play] t= 18.50s step= 925 trunk_z= 117.5mm grav_b=(+0.00,+0.06,-1.00) r=0.32m +[headless_play] t= 18.60s step= 930 trunk_z= 118.9mm grav_b=(-0.07,-0.06,-1.00) r=0.32m +[headless_play] t= 18.70s step= 935 trunk_z= 117.9mm grav_b=(-0.07,+0.11,-0.99) r=0.32m +[headless_play] t= 18.80s step= 940 trunk_z= 123.6mm grav_b=(-0.05,+0.08,-1.00) r=0.31m +[headless_play] t= 18.90s step= 945 trunk_z= 112.7mm grav_b=(-0.03,-0.04,-1.00) r=0.31m +[headless_play] t= 19.00s step= 950 trunk_z= 113.8mm grav_b=(-0.04,+0.09,-0.99) r=0.31m +[headless_play] t= 19.10s step= 955 trunk_z= 116.8mm grav_b=(-0.00,+0.07,-1.00) r=0.31m +[headless_play] t= 19.20s step= 960 trunk_z= 110.5mm grav_b=(-0.00,-0.09,-1.00) r=0.32m +[headless_play] t= 19.30s step= 965 trunk_z= 113.0mm grav_b=(-0.01,+0.09,-1.00) r=0.33m +[headless_play] t= 19.40s step= 970 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 19.50s step= 975 trunk_z= 116.9mm grav_b=(-0.01,-0.05,-1.00) r=0.36m +[headless_play] t= 19.60s step= 980 trunk_z= 113.0mm grav_b=(-0.01,+0.12,-0.99) r=0.37m +[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(-0.05,-0.05,-1.00) r=0.40m +[headless_play] t= 19.90s step= 995 trunk_z= 114.9mm grav_b=(-0.03,+0.08,-1.00) r=0.41m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.29m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..7568da41fc18eb2d167ddd8f7912df1188faa737 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.6mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.469,-17.634,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.04,+0.00,-1.00) r=0.59m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.09,+0.00,-1.00) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.06,-0.00,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(+0.06,-0.00,-1.00) r=0.59m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(+0.08,+0.01,-1.00) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(+0.12,+0.00,-0.99) r=0.59m +[headless_play] t= 1.20s step= 60 trunk_z= 118.9mm grav_b=(+0.12,-0.00,-0.99) r=0.59m +[headless_play] t= 1.30s step= 65 trunk_z= 119.0mm grav_b=(+0.12,-0.01,-0.99) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 119.2mm grav_b=(+0.11,-0.01,-0.99) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 119.0mm grav_b=(+0.10,-0.01,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 117.9mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.04,+0.00,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.59m +[headless_play] t= 2.40s step= 120 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 2.70s step= 135 trunk_z= 117.0mm grav_b=(-0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(-0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(+0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.61m +[headless_play] t= 3.40s step= 170 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.00s step= 200 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.20s step= 210 trunk_z= 117.1mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.30s step= 215 trunk_z= 117.0mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 117.2mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(-0.00,+0.01,-1.00) r=0.60m +[headless_play] t= 4.70s step= 235 trunk_z= 117.1mm grav_b=(-0.00,+0.01,-1.00) r=0.61m +[headless_play] t= 4.80s step= 240 trunk_z= 116.9mm grav_b=(-0.05,+0.01,-1.00) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00) r=0.61m +[headless_play] t= 5.00s step= 250 trunk_z= 118.5mm grav_b=(+0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 5.10s step= 255 trunk_z= 118.6mm grav_b=(+0.05,+0.03,-1.00) r=0.60m +[headless_play] t= 5.20s step= 260 trunk_z= 117.4mm grav_b=(+0.06,+0.05,-1.00) r=0.60m +[headless_play] t= 5.30s step= 265 trunk_z= 116.5mm grav_b=(+0.08,-0.00,-1.00) r=0.60m +[headless_play] t= 5.40s step= 270 trunk_z= 116.7mm grav_b=(+0.04,+0.07,-1.00) r=0.60m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(+0.04,+0.06,-1.00) r=0.60m +[headless_play] t= 5.60s step= 280 trunk_z= 117.4mm grav_b=(+0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 5.70s step= 285 trunk_z= 113.3mm grav_b=(+0.04,+0.15,-0.99) r=0.60m +[headless_play] t= 5.80s step= 290 trunk_z= 118.2mm grav_b=(+0.09,+0.07,-0.99) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 119.1mm grav_b=(+0.11,-0.02,-0.99) r=0.62m +[headless_play] t= 6.00s step= 300 trunk_z= 115.5mm grav_b=(+0.05,+0.12,-0.99) r=0.63m +[headless_play] t= 6.10s step= 305 trunk_z= 119.5mm grav_b=(+0.04,+0.07,-1.00) r=0.64m +[headless_play] t= 6.20s step= 310 trunk_z= 116.4mm grav_b=(+0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 6.30s step= 315 trunk_z= 120.5mm grav_b=(+0.05,+0.01,-1.00) r=0.65m +[headless_play] t= 6.40s step= 320 trunk_z= 114.7mm grav_b=(+0.03,+0.15,-0.99) r=0.66m +[headless_play] t= 6.50s step= 325 trunk_z= 116.5mm grav_b=(+0.01,+0.03,-1.00) r=0.66m +[headless_play] t= 6.60s step= 330 trunk_z= 116.8mm grav_b=(+0.03,-0.07,-1.00) r=0.67m +[headless_play] t= 6.70s step= 335 trunk_z= 118.6mm grav_b=(+0.05,-0.03,-1.00) r=0.67m +[headless_play] t= 6.80s step= 340 trunk_z= 113.3mm grav_b=(+0.07,+0.05,-1.00) r=0.69m +[headless_play] t= 6.90s step= 345 trunk_z= 116.2mm grav_b=(+0.05,+0.08,-1.00) r=0.71m +[headless_play] t= 7.00s step= 350 trunk_z= 113.4mm grav_b=(+0.05,-0.04,-1.00) r=0.72m +[headless_play] t= 7.10s step= 355 trunk_z= 116.5mm grav_b=(+0.07,+0.03,-1.00) r=0.74m +[headless_play] t= 7.20s step= 360 trunk_z= 114.5mm grav_b=(+0.08,+0.15,-0.99) r=0.76m +[headless_play] t= 7.30s step= 365 trunk_z= 117.9mm grav_b=(+0.03,+0.02,-1.00) r=0.77m +[headless_play] t= 7.40s step= 370 trunk_z= 119.4mm grav_b=(+0.01,-0.04,-1.00) r=0.78m +[headless_play] t= 7.50s step= 375 trunk_z= 117.7mm grav_b=(+0.03,+0.05,-1.00) r=0.79m +[headless_play] t= 7.60s step= 380 trunk_z= 117.6mm grav_b=(+0.02,+0.11,-0.99) r=0.81m +[headless_play] t= 7.70s step= 385 trunk_z= 113.7mm grav_b=(+0.04,-0.04,-1.00) r=0.82m +[headless_play] t= 7.80s step= 390 trunk_z= 117.5mm grav_b=(+0.08,-0.05,-1.00) r=0.83m +[headless_play] t= 7.90s step= 395 trunk_z= 113.2mm grav_b=(+0.08,+0.07,-0.99) r=0.85m +[headless_play] t= 8.00s step= 400 trunk_z= 115.2mm grav_b=(+0.05,+0.08,-1.00) r=0.87m +[headless_play] t= 8.10s step= 405 trunk_z= 111.5mm grav_b=(+0.07,-0.07,-1.00) r=0.89m +[headless_play] t= 8.20s step= 410 trunk_z= 112.2mm grav_b=(+0.16,+0.07,-0.99) r=0.92m +[headless_play] t= 8.30s step= 415 trunk_z= 111.1mm grav_b=(+0.19,+0.11,-0.97) r=0.94m +[headless_play] t= 8.40s step= 420 trunk_z= 113.3mm grav_b=(+0.06,-0.07,-1.00) r=0.95m +[headless_play] t= 8.50s step= 425 trunk_z= 123.6mm grav_b=(-0.00,-0.09,-1.00) r=0.97m +[headless_play] t= 8.60s step= 430 trunk_z= 120.7mm grav_b=(+0.01,+0.01,-1.00) r=0.99m +[headless_play] t= 8.70s step= 435 trunk_z= 118.8mm grav_b=(+0.03,+0.06,-1.00) r=1.02m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(+0.04,-0.03,-1.00) r=1.03m +[headless_play] t= 8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.06,-0.02,-1.00) r=1.05m +[headless_play] t= 9.00s step= 450 trunk_z= 108.4mm grav_b=(+0.10,+0.11,-0.99) r=1.06m +[headless_play] t= 9.10s step= 455 trunk_z= 111.5mm grav_b=(+0.18,+0.01,-0.98) r=1.09m +[headless_play] t= 9.20s step= 460 trunk_z= 120.3mm grav_b=(+0.12,-0.10,-0.99) r=1.11m +[headless_play] t= 9.30s step= 465 trunk_z= 121.1mm grav_b=(+0.07,+0.03,-1.00) r=1.14m +[headless_play] t= 9.40s step= 470 trunk_z= 118.8mm grav_b=(+0.06,+0.04,-1.00) r=1.16m +[headless_play] t= 9.50s step= 475 trunk_z= 119.3mm grav_b=(-0.03,-0.07,-1.00) r=1.19m +[headless_play] t= 9.60s step= 480 trunk_z= 122.2mm grav_b=(-0.06,-0.09,-0.99) r=1.21m +[headless_play] t= 9.70s step= 485 trunk_z= 110.8mm grav_b=(-0.17,+0.07,-0.98) r=1.22m +[headless_play] t= 9.80s step= 490 trunk_z= 111.6mm grav_b=(+0.04,-0.08,-1.00) r=1.22m +[headless_play] t= 9.90s step= 495 trunk_z= 99.5mm grav_b=(+0.31,-0.15,-0.94) r=1.21m +[headless_play] t= 10.00s step= 500 trunk_z= 103.7mm grav_b=(+0.29,+0.01,-0.96) r=1.20m +[headless_play] t= 10.10s step= 505 trunk_z= 117.5mm grav_b=(+0.12,-0.12,-0.99) r=1.20m +[headless_play] t= 10.20s step= 510 trunk_z= 99.3mm grav_b=(+0.07,-0.18,-0.98) r=1.22m +[headless_play] t= 10.30s step= 515 trunk_z= 106.7mm grav_b=(-0.12,-0.01,-0.99) r=1.24m +[headless_play] t= 10.40s step= 520 trunk_z= 111.2mm grav_b=(+0.08,-0.07,-0.99) r=1.27m +[headless_play] t= 10.50s step= 525 trunk_z= 115.9mm grav_b=(+0.10,-0.14,-0.98) r=1.30m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(-0.01,+0.07,-1.00) r=1.31m +[headless_play] t= 10.70s step= 535 trunk_z= 113.8mm grav_b=(+0.09,+0.05,-0.99) r=1.34m +[headless_play] t= 10.80s step= 540 trunk_z= 113.2mm grav_b=(+0.03,-0.14,-0.99) r=1.37m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(-0.02,+0.02,-1.00) r=1.40m +[headless_play] t= 11.00s step= 550 trunk_z= 111.4mm grav_b=(+0.05,+0.10,-0.99) r=1.42m +[headless_play] t= 11.10s step= 555 trunk_z= 109.9mm grav_b=(+0.03,-0.07,-1.00) r=1.43m +[headless_play] t= 11.20s step= 560 trunk_z= 120.0mm grav_b=(-0.05,-0.07,-1.00) r=1.44m +[headless_play] t= 11.30s step= 565 trunk_z= 100.7mm grav_b=(-0.15,+0.12,-0.98) r=1.44m +[headless_play] t= 11.40s step= 570 trunk_z= 90.1mm grav_b=(+0.15,-0.03,-0.99) r=1.46m +[headless_play] t= 11.50s step= 575 trunk_z= 103.0mm grav_b=(+0.25,+0.01,-0.97) r=1.46m +[headless_play] t= 11.60s step= 580 trunk_z= 101.3mm grav_b=(+0.12,+0.19,-0.97) r=1.47m +[headless_play] t= 11.70s step= 585 trunk_z= 109.3mm grav_b=(+0.14,+0.11,-0.98) r=1.49m +[headless_play] t= 11.80s step= 590 trunk_z= 108.7mm grav_b=(+0.06,-0.11,-0.99) r=1.51m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(-0.10,-0.06,-0.99) r=1.54m +[headless_play] t= 12.00s step= 600 trunk_z= 114.9mm grav_b=(+0.02,+0.04,-1.00) r=1.57m +[headless_play] t= 12.10s step= 605 trunk_z= 108.6mm grav_b=(+0.15,-0.16,-0.98) r=1.60m +[headless_play] t= 12.20s step= 610 trunk_z= 120.7mm grav_b=(+0.10,+0.00,-0.99) r=1.62m +[headless_play] t= 12.30s step= 615 trunk_z= 109.3mm grav_b=(+0.07,+0.08,-0.99) r=1.65m +[headless_play] t= 12.40s step= 620 trunk_z= 112.4mm grav_b=(+0.01,-0.09,-1.00) r=1.67m +[headless_play] t= 12.50s step= 625 trunk_z= 118.0mm grav_b=(-0.05,-0.05,-1.00) r=1.71m +[headless_play] t= 12.60s step= 630 trunk_z= 113.9mm grav_b=(+0.02,+0.07,-1.00) r=1.73m +[headless_play] t= 12.70s step= 635 trunk_z= 108.7mm grav_b=(+0.10,-0.10,-0.99) r=1.75m +[headless_play] t= 12.80s step= 640 trunk_z= 118.9mm grav_b=(+0.03,+0.01,-1.00) r=1.76m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.04,+0.16,-0.99) r=1.78m +[headless_play] t= 13.00s step= 650 trunk_z= 119.9mm grav_b=(+0.07,+0.01,-1.00) r=1.81m +[headless_play] t= 13.10s step= 655 trunk_z= 119.9mm grav_b=(+0.04,-0.06,-1.00) r=1.84m +[headless_play] t= 13.20s step= 660 trunk_z= 113.4mm grav_b=(+0.00,+0.16,-0.99) r=1.86m +[headless_play] t= 13.30s step= 665 trunk_z= 112.6mm grav_b=(+0.06,-0.02,-1.00) r=1.88m +[headless_play] t= 13.40s step= 670 trunk_z= 118.3mm grav_b=(+0.03,-0.07,-1.00) r=1.90m +[headless_play] t= 13.50s step= 675 trunk_z= 114.7mm grav_b=(+0.04,+0.11,-0.99) r=1.93m +[headless_play] t= 13.60s step= 680 trunk_z= 116.8mm grav_b=(+0.11,-0.09,-0.99) r=1.95m +[headless_play] t= 13.70s step= 685 trunk_z= 119.9mm grav_b=(+0.10,-0.16,-0.98) r=1.98m +[headless_play] t= 13.80s step= 690 trunk_z= 123.2mm grav_b=(-0.01,-0.00,-1.00) r=2.01m +[headless_play] t= 13.90s step= 695 trunk_z= 118.2mm grav_b=(-0.06,+0.07,-1.00) r=2.03m +[headless_play] t= 14.00s step= 700 trunk_z= 115.7mm grav_b=(+0.02,-0.11,-0.99) r=2.05m +[headless_play] t= 14.10s step= 705 trunk_z= 121.9mm grav_b=(+0.05,-0.08,-1.00) r=2.06m +[headless_play] t= 14.20s step= 710 trunk_z= 116.8mm grav_b=(+0.05,+0.10,-0.99) r=2.07m +[headless_play] t= 14.30s step= 715 trunk_z= 115.8mm grav_b=(+0.05,-0.02,-1.00) r=2.08m +[headless_play] t= 14.40s step= 720 trunk_z= 114.7mm grav_b=(+0.03,-0.03,-1.00) r=2.09m +[headless_play] t= 14.50s step= 725 trunk_z= 115.3mm grav_b=(+0.02,-0.02,-1.00) r=2.09m +[headless_play] t= 14.60s step= 730 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=2.09m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=2.08m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=2.08m +[headless_play] t= 14.90s step= 745 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=2.09m +[headless_play] t= 15.00s step= 750 trunk_z= 116.8mm grav_b=(+0.06,-0.02,-1.00) r=2.10m +[headless_play] t= 15.10s step= 755 trunk_z= 116.8mm grav_b=(+0.05,-0.02,-1.00) r=2.10m +[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=2.10m +[headless_play] t= 15.30s step= 765 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=2.09m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=2.10m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=2.10m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=2.10m +[headless_play] t= 15.70s step= 785 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=2.09m +[headless_play] t= 15.80s step= 790 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=2.09m +[headless_play] t= 15.90s step= 795 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=2.09m +[headless_play] t= 16.00s step= 800 trunk_z= 116.8mm grav_b=(+0.04,-0.00,-1.00) r=2.09m +[headless_play] t= 16.10s step= 805 trunk_z= 117.1mm grav_b=(+0.05,-0.00,-1.00) r=2.09m +[headless_play] t= 16.20s step= 810 trunk_z= 116.7mm grav_b=(+0.03,-0.00,-1.00) r=2.09m +[headless_play] t= 16.30s step= 815 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=2.09m +[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=2.09m +[headless_play] t= 16.50s step= 825 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=2.09m +[headless_play] t= 16.60s step= 830 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=2.09m +[headless_play] t= 16.70s step= 835 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=2.09m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=2.09m +[headless_play] t= 16.90s step= 845 trunk_z= 116.3mm grav_b=(+0.02,-0.00,-1.00) r=2.09m +[headless_play] t= 17.00s step= 850 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=2.09m +[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=2.09m +[headless_play] t= 17.20s step= 860 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=2.10m +[headless_play] t= 17.30s step= 865 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) r=2.10m +[headless_play] t= 17.40s step= 870 trunk_z= 115.7mm grav_b=(+0.01,+0.00,-1.00) r=2.09m +[headless_play] t= 17.50s step= 875 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=2.09m +[headless_play] t= 17.60s step= 880 trunk_z= 114.8mm grav_b=(+0.05,+0.00,-1.00) r=2.09m +[headless_play] t= 17.70s step= 885 trunk_z= 114.5mm grav_b=(+0.11,-0.00,-0.99) r=2.10m +[headless_play] t= 17.80s step= 890 trunk_z= 114.7mm grav_b=(+0.09,+0.00,-1.00) r=2.10m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(+0.10,+0.00,-0.99) r=2.10m +[headless_play] t= 18.00s step= 900 trunk_z= 119.1mm grav_b=(+0.14,+0.01,-0.99) r=2.11m +[headless_play] t= 18.10s step= 905 trunk_z= 121.6mm grav_b=(+0.10,+0.03,-0.99) r=2.12m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(+0.02,-0.07,-1.00) r=2.13m +[headless_play] t= 18.30s step= 915 trunk_z= 114.8mm grav_b=(-0.11,-0.07,-0.99) r=2.15m +[headless_play] t= 18.40s step= 920 trunk_z= 115.0mm grav_b=(+0.01,+0.03,-1.00) r=2.16m +[headless_play] t= 18.50s step= 925 trunk_z= 114.2mm grav_b=(+0.10,+0.01,-1.00) r=2.16m +[headless_play] t= 18.60s step= 930 trunk_z= 117.3mm grav_b=(+0.11,-0.01,-0.99) r=2.17m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(+0.11,+0.00,-0.99) r=2.17m +[headless_play] t= 18.80s step= 940 trunk_z= 119.3mm grav_b=(+0.14,+0.01,-0.99) r=2.17m +[headless_play] t= 18.90s step= 945 trunk_z= 118.5mm grav_b=(+0.12,+0.09,-0.99) r=2.17m +[headless_play] t= 19.00s step= 950 trunk_z= 108.2mm grav_b=(+0.04,+0.10,-0.99) r=2.18m +[headless_play] t= 19.10s step= 955 trunk_z= 107.9mm grav_b=(-0.03,+0.00,-1.00) r=2.19m +[headless_play] t= 19.20s step= 960 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=2.20m +[headless_play] t= 19.30s step= 965 trunk_z= 115.1mm grav_b=(+0.08,-0.01,-1.00) r=2.20m +[headless_play] t= 19.40s step= 970 trunk_z= 115.1mm grav_b=(+0.10,+0.00,-1.00) r=2.20m +[headless_play] t= 19.50s step= 975 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=2.19m +[headless_play] t= 19.60s step= 980 trunk_z= 115.3mm grav_b=(+0.03,-0.06,-1.00) r=2.20m +[headless_play] t= 19.70s step= 985 trunk_z= 111.7mm grav_b=(+0.04,-0.02,-1.00) r=2.21m +[headless_play] t= 19.80s step= 990 trunk_z= 111.6mm grav_b=(+0.10,+0.00,-0.99) r=2.22m +[headless_play] t= 19.90s step= 995 trunk_z= 109.2mm grav_b=(+0.09,-0.11,-0.99) r=2.23m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.3mm grav_b=(-0.01,-0.00,-1.00) r=0.08m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.04,+0.01,-1.00) r=0.07m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..9443853b04967c42ad765b78f2832cdb278e3aa4 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.568,-17.539,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 0.20s step= 10 trunk_z= 119.8mm grav_b=(+0.04,-0.05,-1.00) r=0.63m +[headless_play] t= 0.30s step= 15 trunk_z= 123.7mm grav_b=(+0.07,-0.02,-1.00) r=0.62m +[headless_play] t= 0.40s step= 20 trunk_z= 122.2mm grav_b=(+0.02,+0.13,-0.99) r=0.63m +[headless_play] t= 0.50s step= 25 trunk_z= 126.8mm grav_b=(+0.07,+0.03,-1.00) r=0.62m +[headless_play] t= 0.60s step= 30 trunk_z= 118.2mm grav_b=(+0.10,-0.10,-0.99) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 120.6mm grav_b=(+0.04,+0.12,-0.99) r=0.62m +[headless_play] t= 0.80s step= 40 trunk_z= 109.0mm grav_b=(-0.02,+0.13,-0.99) r=0.62m +[headless_play] t= 0.90s step= 45 trunk_z= 119.3mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 1.00s step= 50 trunk_z= 122.8mm grav_b=(+0.00,-0.09,-1.00) r=0.58m +[headless_play] t= 1.10s step= 55 trunk_z= 119.9mm grav_b=(-0.04,+0.03,-1.00) r=0.57m +[headless_play] t= 1.20s step= 60 trunk_z= 121.6mm grav_b=(+0.00,+0.04,-1.00) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 121.1mm grav_b=(+0.03,-0.09,-1.00) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 130.7mm grav_b=(+0.05,-0.07,-1.00) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 113.3mm grav_b=(-0.02,+0.08,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(+0.01,-0.08,-1.00) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 123.2mm grav_b=(+0.07,-0.04,-1.00) r=0.47m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(+0.01,+0.20,-0.98) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 111.9mm grav_b=(+0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 120.0mm grav_b=(+0.02,-0.08,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 121.6mm grav_b=(-0.02,+0.08,-1.00) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(-0.02,-0.05,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 122.0mm grav_b=(+0.04,-0.05,-1.00) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(-0.05,+0.23,-0.97) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(-0.08,+0.09,-0.99) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 120.1mm grav_b=(-0.06,-0.12,-0.99) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 121.9mm grav_b=(-0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 119.9mm grav_b=(+0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(+0.04,-0.15,-0.99) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 128.2mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(-0.04,+0.10,-0.99) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 121.9mm grav_b=(-0.01,-0.09,-1.00) r=0.43m +[headless_play] t= 3.30s step= 165 trunk_z= 125.3mm grav_b=(+0.10,-0.14,-0.99) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 131.3mm grav_b=(+0.08,-0.15,-0.98) r=0.50m +[headless_play] t= 3.50s step= 175 trunk_z= 127.5mm grav_b=(+0.03,-0.08,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 120.0mm grav_b=(-0.07,-0.02,-1.00) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 114.6mm grav_b=(+0.05,-0.07,-1.00) r=0.58m +[headless_play] t= 3.80s step= 190 trunk_z= 118.3mm grav_b=(+0.13,+0.12,-0.98) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 126.9mm grav_b=(+0.04,+0.03,-1.00) r=0.62m +[headless_play] t= 4.00s step= 200 trunk_z= 122.2mm grav_b=(-0.01,-0.09,-1.00) r=0.64m +[headless_play] t= 4.10s step= 205 trunk_z= 120.8mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 4.20s step= 210 trunk_z= 118.1mm grav_b=(+0.03,+0.07,-1.00) r=0.68m +[headless_play] t= 4.30s step= 215 trunk_z= 112.9mm grav_b=(+0.05,-0.10,-0.99) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 115.1mm grav_b=(+0.07,-0.00,-1.00) r=0.72m +[headless_play] t= 4.50s step= 225 trunk_z= 115.2mm grav_b=(+0.09,+0.11,-0.99) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 111.4mm grav_b=(+0.05,-0.09,-0.99) r=0.77m +[headless_play] t= 4.70s step= 235 trunk_z= 113.2mm grav_b=(+0.05,+0.04,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 114.5mm grav_b=(+0.05,+0.03,-1.00) r=0.80m +[headless_play] t= 4.90s step= 245 trunk_z= 112.8mm grav_b=(+0.05,-0.04,-1.00) r=0.81m +[headless_play] t= 5.00s step= 250 trunk_z= 110.1mm grav_b=(+0.07,+0.08,-0.99) r=0.83m +[headless_play] t= 5.10s step= 255 trunk_z= 109.4mm grav_b=(+0.07,+0.02,-1.00) r=0.84m +[headless_play] t= 5.20s step= 260 trunk_z= 109.9mm grav_b=(+0.03,-0.11,-0.99) r=0.86m +[headless_play] t= 5.30s step= 265 trunk_z= 114.4mm grav_b=(+0.04,-0.01,-1.00) r=0.87m +[headless_play] t= 5.40s step= 270 trunk_z= 111.5mm grav_b=(+0.03,+0.09,-1.00) r=0.88m +[headless_play] t= 5.50s step= 275 trunk_z= 111.0mm grav_b=(+0.06,-0.10,-0.99) r=0.90m +[headless_play] t= 5.60s step= 280 trunk_z= 112.8mm grav_b=(+0.06,-0.05,-1.00) r=0.92m +[headless_play] t= 5.70s step= 285 trunk_z= 110.2mm grav_b=(+0.05,+0.08,-1.00) r=0.94m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(+0.05,+0.05,-1.00) r=0.95m +[headless_play] t= 5.90s step= 295 trunk_z= 110.3mm grav_b=(+0.04,-0.12,-0.99) r=0.97m +[headless_play] t= 6.00s step= 300 trunk_z= 113.7mm grav_b=(+0.08,+0.01,-1.00) r=0.99m +[headless_play] t= 6.10s step= 305 trunk_z= 111.2mm grav_b=(+0.05,+0.07,-1.00) r=1.01m +[headless_play] t= 6.20s step= 310 trunk_z= 109.6mm grav_b=(+0.11,-0.13,-0.99) r=1.04m +[headless_play] t= 6.30s step= 315 trunk_z= 116.8mm grav_b=(+0.11,-0.04,-0.99) r=1.07m +[headless_play] t= 6.40s step= 320 trunk_z= 111.4mm grav_b=(+0.08,+0.10,-0.99) r=1.09m +[headless_play] t= 6.50s step= 325 trunk_z= 114.9mm grav_b=(+0.01,-0.05,-1.00) r=1.11m +[headless_play] t= 6.60s step= 330 trunk_z= 113.5mm grav_b=(+0.03,-0.09,-1.00) r=1.13m +[headless_play] t= 6.70s step= 335 trunk_z= 113.0mm grav_b=(+0.07,+0.00,-1.00) r=1.15m +[headless_play] t= 6.80s step= 340 trunk_z= 114.6mm grav_b=(+0.05,+0.06,-1.00) r=1.16m +[headless_play] t= 6.90s step= 345 trunk_z= 112.9mm grav_b=(+0.02,-0.11,-0.99) r=1.17m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(-0.01,-0.11,-0.99) r=1.17m +[headless_play] t= 7.10s step= 355 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=1.17m +[headless_play] t= 7.20s step= 360 trunk_z= 114.9mm grav_b=(+0.02,+0.05,-1.00) r=1.18m +[headless_play] t= 7.30s step= 365 trunk_z= 106.2mm grav_b=(+0.09,-0.14,-0.99) r=1.19m +[headless_play] t= 7.40s step= 370 trunk_z= 110.6mm grav_b=(+0.08,+0.02,-1.00) r=1.20m +[headless_play] t= 7.50s step= 375 trunk_z= 110.6mm grav_b=(+0.09,+0.09,-0.99) r=1.22m +[headless_play] t= 7.60s step= 380 trunk_z= 109.7mm grav_b=(+0.06,-0.14,-0.99) r=1.23m +[headless_play] t= 7.70s step= 385 trunk_z= 116.9mm grav_b=(+0.04,-0.09,-1.00) r=1.23m +[headless_play] t= 7.80s step= 390 trunk_z= 120.1mm grav_b=(+0.07,-0.14,-0.99) r=1.23m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(+0.06,-0.07,-1.00) r=1.23m +[headless_play] t= 8.00s step= 400 trunk_z= 119.7mm grav_b=(+0.05,-0.00,-1.00) r=1.24m +[headless_play] t= 8.10s step= 405 trunk_z= 115.8mm grav_b=(+0.06,-0.08,-0.99) r=1.24m +[headless_play] t= 8.20s step= 410 trunk_z= 121.8mm grav_b=(+0.07,-0.07,-0.99) r=1.24m +[headless_play] t= 8.30s step= 415 trunk_z= 112.7mm grav_b=(+0.01,+0.05,-1.00) r=1.26m +[headless_play] t= 8.40s step= 420 trunk_z= 118.3mm grav_b=(+0.03,+0.01,-1.00) r=1.27m +[headless_play] t= 8.50s step= 425 trunk_z= 118.5mm grav_b=(+0.10,-0.10,-0.99) r=1.27m +[headless_play] t= 8.60s step= 430 trunk_z= 118.7mm grav_b=(+0.03,-0.02,-1.00) r=1.26m +[headless_play] t= 8.70s step= 435 trunk_z= 115.8mm grav_b=(+0.01,+0.02,-1.00) r=1.26m +[headless_play] t= 8.80s step= 440 trunk_z= 116.1mm grav_b=(+0.08,-0.14,-0.99) r=1.27m +[headless_play] t= 8.90s step= 445 trunk_z= 121.8mm grav_b=(+0.08,-0.08,-0.99) r=1.27m +[headless_play] t= 9.00s step= 450 trunk_z= 113.5mm grav_b=(+0.04,+0.05,-1.00) r=1.29m +[headless_play] t= 9.10s step= 455 trunk_z= 118.5mm grav_b=(+0.05,-0.03,-1.00) r=1.30m +[headless_play] t= 9.20s step= 460 trunk_z= 119.0mm grav_b=(+0.08,-0.08,-0.99) r=1.32m +[headless_play] t= 9.30s step= 465 trunk_z= 113.6mm grav_b=(-0.00,+0.06,-1.00) r=1.33m +[headless_play] t= 9.40s step= 470 trunk_z= 118.5mm grav_b=(+0.01,+0.05,-1.00) r=1.35m +[headless_play] t= 9.50s step= 475 trunk_z= 114.4mm grav_b=(+0.07,-0.10,-0.99) r=1.36m +[headless_play] t= 9.60s step= 480 trunk_z= 118.6mm grav_b=(+0.11,-0.04,-0.99) r=1.38m +[headless_play] t= 9.70s step= 485 trunk_z= 114.0mm grav_b=(+0.02,+0.10,-0.99) r=1.39m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=1.40m +[headless_play] t= 9.90s step= 495 trunk_z= 117.7mm grav_b=(+0.07,-0.08,-0.99) r=1.42m +[headless_play] t= 10.00s step= 500 trunk_z= 113.6mm grav_b=(+0.07,+0.05,-1.00) r=1.43m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(+0.04,+0.04,-1.00) r=1.44m +[headless_play] t= 10.20s step= 510 trunk_z= 113.9mm grav_b=(+0.06,-0.11,-0.99) r=1.46m +[headless_play] t= 10.30s step= 515 trunk_z= 120.0mm grav_b=(+0.12,-0.03,-0.99) r=1.48m +[headless_play] t= 10.40s step= 520 trunk_z= 114.9mm grav_b=(+0.06,+0.10,-0.99) r=1.50m +[headless_play] t= 10.50s step= 525 trunk_z= 119.7mm grav_b=(+0.04,+0.01,-1.00) r=1.51m +[headless_play] t= 10.60s step= 530 trunk_z= 117.7mm grav_b=(+0.06,-0.06,-1.00) r=1.53m +[headless_play] t= 10.70s step= 535 trunk_z= 117.7mm grav_b=(+0.08,+0.02,-1.00) r=1.54m +[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(+0.13,-0.01,-0.99) r=1.55m +[headless_play] t= 10.90s step= 545 trunk_z= 116.3mm grav_b=(+0.04,+0.07,-1.00) r=1.56m +[headless_play] t= 11.00s step= 550 trunk_z= 115.9mm grav_b=(-0.01,-0.05,-1.00) r=1.56m +[headless_play] t= 11.10s step= 555 trunk_z= 114.2mm grav_b=(-0.02,-0.02,-1.00) r=1.57m +[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(+0.01,-0.02,-1.00) r=1.57m +[headless_play] t= 11.30s step= 565 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=1.58m +[headless_play] t= 11.40s step= 570 trunk_z= 115.1mm grav_b=(+0.03,-0.01,-1.00) r=1.58m +[headless_play] t= 11.50s step= 575 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=1.58m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(+0.08,-0.02,-1.00) r=1.59m +[headless_play] t= 11.70s step= 585 trunk_z= 119.1mm grav_b=(+0.13,-0.01,-0.99) r=1.59m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(+0.07,-0.10,-0.99) r=1.61m +[headless_play] t= 11.90s step= 595 trunk_z= 117.9mm grav_b=(+0.08,-0.11,-0.99) r=1.61m +[headless_play] t= 12.00s step= 600 trunk_z= 114.4mm grav_b=(-0.01,-0.05,-1.00) r=1.62m +[headless_play] t= 12.10s step= 605 trunk_z= 116.6mm grav_b=(-0.03,-0.03,-1.00) r=1.62m +[headless_play] t= 12.20s step= 610 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=1.62m +[headless_play] t= 12.30s step= 615 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=1.63m +[headless_play] t= 12.40s step= 620 trunk_z= 115.8mm grav_b=(+0.06,-0.01,-1.00) r=1.63m +[headless_play] t= 12.50s step= 625 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=1.62m +[headless_play] t= 12.60s step= 630 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=1.62m +[headless_play] t= 12.70s step= 635 trunk_z= 115.2mm grav_b=(+0.02,-0.00,-1.00) r=1.62m +[headless_play] t= 12.80s step= 640 trunk_z= 115.3mm grav_b=(+0.05,-0.00,-1.00) r=1.62m +[headless_play] t= 12.90s step= 645 trunk_z= 115.2mm grav_b=(+0.04,-0.00,-1.00) r=1.62m +[headless_play] t= 13.00s step= 650 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=1.62m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(+0.04,-0.00,-1.00) r=1.62m +[headless_play] t= 13.20s step= 660 trunk_z= 115.3mm grav_b=(+0.06,-0.01,-1.00) r=1.63m +[headless_play] t= 13.30s step= 665 trunk_z= 115.4mm grav_b=(+0.07,-0.01,-1.00) r=1.63m +[headless_play] t= 13.40s step= 670 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=1.63m +[headless_play] t= 13.50s step= 675 trunk_z= 115.0mm grav_b=(+0.04,+0.00,-1.00) r=1.63m +[headless_play] t= 13.60s step= 680 trunk_z= 115.0mm grav_b=(+0.04,+0.00,-1.00) r=1.63m +[headless_play] t= 13.70s step= 685 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=1.63m +[headless_play] t= 13.80s step= 690 trunk_z= 115.1mm grav_b=(+0.04,+0.00,-1.00) r=1.63m +[headless_play] t= 13.90s step= 695 trunk_z= 115.0mm grav_b=(+0.04,+0.00,-1.00) r=1.63m +[headless_play] t= 14.00s step= 700 trunk_z= 115.1mm grav_b=(+0.03,-0.01,-1.00) r=1.63m +[headless_play] t= 14.10s step= 705 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=1.63m +[headless_play] t= 14.20s step= 710 trunk_z= 115.0mm grav_b=(+0.03,-0.01,-1.00) r=1.64m +[headless_play] t= 14.30s step= 715 trunk_z= 115.2mm grav_b=(+0.05,-0.04,-1.00) r=1.65m +[headless_play] t= 14.40s step= 720 trunk_z= 116.6mm grav_b=(+0.07,+0.01,-1.00) r=1.66m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(+0.05,-0.03,-1.00) r=1.66m +[headless_play] t= 14.60s step= 730 trunk_z= 115.5mm grav_b=(+0.08,-0.03,-1.00) r=1.67m +[headless_play] t= 14.70s step= 735 trunk_z= 116.9mm grav_b=(+0.00,+0.13,-0.99) r=1.69m +[headless_play] t= 14.80s step= 740 trunk_z= 114.5mm grav_b=(-0.05,-0.06,-1.00) r=1.70m +[headless_play] t= 14.90s step= 745 trunk_z= 117.0mm grav_b=(+0.01,-0.08,-1.00) r=1.70m +[headless_play] t= 15.00s step= 750 trunk_z= 114.5mm grav_b=(+0.04,+0.10,-0.99) r=1.72m +[headless_play] t= 15.10s step= 755 trunk_z= 118.4mm grav_b=(-0.02,+0.02,-1.00) r=1.72m +[headless_play] t= 15.20s step= 760 trunk_z= 115.4mm grav_b=(-0.08,-0.08,-0.99) r=1.70m +[headless_play] t= 15.30s step= 765 trunk_z= 99.5mm grav_b=(-0.02,+0.11,-0.99) r=1.70m +[headless_play] t= 15.40s step= 770 trunk_z= 95.3mm grav_b=(-0.02,+0.10,-1.00) r=1.68m +[headless_play] t= 15.50s step= 775 trunk_z= 101.6mm grav_b=(+0.06,-0.09,-0.99) r=1.67m +[headless_play] t= 15.60s step= 780 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=1.67m +[headless_play] t= 15.70s step= 785 trunk_z= 114.1mm grav_b=(+0.02,+0.02,-1.00) r=1.68m +[headless_play] t= 15.80s step= 790 trunk_z= 118.4mm grav_b=(+0.05,-0.07,-1.00) r=1.69m +[headless_play] t= 15.90s step= 795 trunk_z= 117.0mm grav_b=(+0.00,-0.02,-1.00) r=1.71m +[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(+0.04,-0.03,-1.00) r=1.73m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(+0.11,-0.08,-0.99) r=1.76m +[headless_play] t= 16.20s step= 810 trunk_z= 116.4mm grav_b=(+0.06,+0.02,-1.00) r=1.77m +[headless_play] t= 16.30s step= 815 trunk_z= 117.9mm grav_b=(+0.04,+0.06,-1.00) r=1.79m +[headless_play] t= 16.40s step= 820 trunk_z= 113.7mm grav_b=(+0.07,-0.10,-0.99) r=1.81m +[headless_play] t= 16.50s step= 825 trunk_z= 118.5mm grav_b=(+0.15,-0.01,-0.99) r=1.84m +[headless_play] t= 16.60s step= 830 trunk_z= 111.6mm grav_b=(+0.12,+0.08,-0.99) r=1.86m +[headless_play] t= 16.70s step= 835 trunk_z= 118.2mm grav_b=(+0.05,-0.04,-1.00) r=1.87m +[headless_play] t= 16.80s step= 840 trunk_z= 119.8mm grav_b=(+0.13,-0.05,-0.99) r=1.90m +[headless_play] t= 16.90s step= 845 trunk_z= 115.5mm grav_b=(-0.01,+0.10,-0.99) r=1.91m +[headless_play] t= 17.00s step= 850 trunk_z= 116.1mm grav_b=(-0.06,+0.10,-0.99) r=1.92m +[headless_play] t= 17.10s step= 855 trunk_z= 111.8mm grav_b=(+0.05,-0.12,-0.99) r=1.94m +[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(+0.13,-0.08,-0.99) r=1.95m +[headless_play] t= 17.30s step= 865 trunk_z= 113.1mm grav_b=(+0.05,+0.07,-1.00) r=1.93m +[headless_play] t= 17.40s step= 870 trunk_z= 120.0mm grav_b=(-0.12,+0.02,-0.99) r=1.92m +[headless_play] t= 17.50s step= 875 trunk_z= 112.7mm grav_b=(-0.11,-0.12,-0.99) r=1.91m +[headless_play] t= 17.60s step= 880 trunk_z= 112.1mm grav_b=(+0.07,+0.04,-1.00) r=1.90m +[headless_play] t= 17.70s step= 885 trunk_z= 106.0mm grav_b=(+0.16,+0.11,-0.98) r=1.88m +[headless_play] t= 17.80s step= 890 trunk_z= 115.0mm grav_b=(+0.07,-0.06,-1.00) r=1.87m +[headless_play] t= 17.90s step= 895 trunk_z= 121.9mm grav_b=(+0.06,-0.08,-0.99) r=1.86m +[headless_play] t= 18.00s step= 900 trunk_z= 121.2mm grav_b=(-0.06,-0.00,-1.00) r=1.85m +[headless_play] t= 18.10s step= 905 trunk_z= 120.3mm grav_b=(-0.05,+0.05,-1.00) r=1.84m +[headless_play] t= 18.20s step= 910 trunk_z= 116.5mm grav_b=(+0.02,-0.08,-1.00) r=1.83m +[headless_play] t= 18.30s step= 915 trunk_z= 116.4mm grav_b=(+0.04,-0.03,-1.00) r=1.82m +[headless_play] t= 18.40s step= 920 trunk_z= 110.4mm grav_b=(+0.05,+0.03,-1.00) r=1.81m +[headless_play] t= 18.50s step= 925 trunk_z= 114.5mm grav_b=(+0.06,-0.01,-1.00) r=1.80m +[headless_play] t= 18.60s step= 930 trunk_z= 113.4mm grav_b=(+0.05,-0.10,-0.99) r=1.79m +[headless_play] t= 18.70s step= 935 trunk_z= 117.4mm grav_b=(+0.06,-0.02,-1.00) r=1.79m +[headless_play] t= 18.80s step= 940 trunk_z= 111.0mm grav_b=(+0.03,+0.08,-1.00) r=1.77m +[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(+0.07,-0.03,-1.00) r=1.75m +[headless_play] t= 19.00s step= 950 trunk_z= 114.7mm grav_b=(+0.09,-0.10,-0.99) r=1.74m +[headless_play] t= 19.10s step= 955 trunk_z= 115.8mm grav_b=(+0.05,-0.02,-1.00) r=1.73m +[headless_play] t= 19.20s step= 960 trunk_z= 117.9mm grav_b=(+0.05,+0.10,-0.99) r=1.70m +[headless_play] t= 19.30s step= 965 trunk_z= 115.3mm grav_b=(+0.08,-0.01,-1.00) r=1.68m +[headless_play] t= 19.40s step= 970 trunk_z= 117.3mm grav_b=(+0.08,-0.04,-1.00) r=1.66m +[headless_play] t= 19.50s step= 975 trunk_z= 109.7mm grav_b=(+0.01,+0.08,-1.00) r=1.65m +[headless_play] t= 19.60s step= 980 trunk_z= 114.4mm grav_b=(+0.05,+0.03,-1.00) r=1.63m +[headless_play] t= 19.70s step= 985 trunk_z= 114.9mm grav_b=(+0.06,-0.11,-0.99) r=1.61m +[headless_play] t= 19.80s step= 990 trunk_z= 116.0mm grav_b=(+0.05,-0.05,-1.00) r=1.61m +[headless_play] t= 19.90s step= 995 trunk_z= 117.6mm grav_b=(+0.06,+0.06,-1.00) r=1.60m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.51m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..d4566817303144ec110e6bd19826a003e7364a8d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.260,-18.466,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.2mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.54m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 0.30s step= 15 trunk_z= 115.2mm grav_b=(+0.06,+0.02,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 115.5mm grav_b=(+0.06,+0.01,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 115.6mm grav_b=(+0.02,+0.04,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 0.70s step= 35 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 115.6mm grav_b=(+0.01,+0.06,-1.00) r=0.54m +[headless_play] t= 0.90s step= 45 trunk_z= 117.0mm grav_b=(+0.02,+0.05,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.05,-0.06,-1.00) r=0.58m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(+0.05,+0.02,-1.00) r=0.60m +[headless_play] t= 1.20s step= 60 trunk_z= 118.5mm grav_b=(+0.01,+0.10,-1.00) r=0.61m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(+0.00,-0.01,-1.00) r=0.63m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(+0.02,-0.05,-1.00) r=0.64m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(+0.08,+0.02,-1.00) r=0.66m +[headless_play] t= 1.60s step= 80 trunk_z= 114.9mm grav_b=(+0.08,+0.07,-0.99) r=0.69m +[headless_play] t= 1.70s step= 85 trunk_z= 112.4mm grav_b=(+0.03,-0.10,-0.99) r=0.71m +[headless_play] t= 1.80s step= 90 trunk_z= 117.9mm grav_b=(+0.04,-0.04,-1.00) r=0.73m +[headless_play] t= 1.90s step= 95 trunk_z= 114.6mm grav_b=(-0.00,+0.11,-0.99) r=0.74m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.02,+0.04,-1.00) r=0.75m +[headless_play] t= 2.10s step= 105 trunk_z= 114.2mm grav_b=(+0.04,-0.11,-0.99) r=0.76m +[headless_play] t= 2.20s step= 110 trunk_z= 115.7mm grav_b=(+0.06,+0.02,-1.00) r=0.76m +[headless_play] t= 2.30s step= 115 trunk_z= 117.4mm grav_b=(+0.03,+0.14,-0.99) r=0.76m +[headless_play] t= 2.40s step= 120 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 2.50s step= 125 trunk_z= 116.1mm grav_b=(-0.02,-0.05,-1.00) r=0.76m +[headless_play] t= 2.60s step= 130 trunk_z= 114.5mm grav_b=(+0.06,+0.06,-1.00) r=0.76m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(+0.10,+0.05,-0.99) r=0.76m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(-0.04,-0.11,-0.99) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 119.0mm grav_b=(+0.00,-0.03,-1.00) r=0.77m +[headless_play] t= 3.00s step= 150 trunk_z= 115.1mm grav_b=(-0.01,+0.08,-1.00) r=0.76m +[headless_play] t= 3.10s step= 155 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.76m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(+0.06,-0.04,-1.00) r=0.77m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(+0.09,+0.03,-1.00) r=0.78m +[headless_play] t= 3.40s step= 170 trunk_z= 119.9mm grav_b=(+0.04,+0.08,-1.00) r=0.78m +[headless_play] t= 3.50s step= 175 trunk_z= 111.9mm grav_b=(-0.03,-0.09,-1.00) r=0.78m +[headless_play] t= 3.60s step= 180 trunk_z= 117.9mm grav_b=(+0.00,-0.04,-1.00) r=0.79m +[headless_play] t= 3.70s step= 185 trunk_z= 116.0mm grav_b=(+0.02,+0.07,-1.00) r=0.79m +[headless_play] t= 3.80s step= 190 trunk_z= 118.0mm grav_b=(+0.04,+0.01,-1.00) r=0.80m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(+0.05,-0.12,-0.99) r=0.83m +[headless_play] t= 4.00s step= 200 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.86m +[headless_play] t= 4.10s step= 205 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.88m +[headless_play] t= 4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.00,-0.09,-1.00) r=0.90m +[headless_play] t= 4.30s step= 215 trunk_z= 114.9mm grav_b=(+0.04,+0.07,-1.00) r=0.91m +[headless_play] t= 4.40s step= 220 trunk_z= 118.5mm grav_b=(+0.06,+0.03,-1.00) r=0.92m +[headless_play] t= 4.50s step= 225 trunk_z= 116.8mm grav_b=(+0.01,-0.07,-1.00) r=0.92m +[headless_play] t= 4.60s step= 230 trunk_z= 115.5mm grav_b=(+0.02,+0.10,-0.99) r=0.92m +[headless_play] t= 4.70s step= 235 trunk_z= 119.1mm grav_b=(+0.06,+0.04,-1.00) r=0.93m +[headless_play] t= 4.80s step= 240 trunk_z= 117.2mm grav_b=(+0.00,-0.07,-1.00) r=0.94m +[headless_play] t= 4.90s step= 245 trunk_z= 115.1mm grav_b=(+0.00,+0.09,-1.00) r=0.95m +[headless_play] t= 5.00s step= 250 trunk_z= 120.3mm grav_b=(+0.04,+0.07,-1.00) r=0.95m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(+0.02,-0.08,-1.00) r=0.97m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(-0.03,+0.05,-1.00) r=0.97m +[headless_play] t= 5.30s step= 265 trunk_z= 121.4mm grav_b=(-0.04,+0.06,-1.00) r=0.97m +[headless_play] t= 5.40s step= 270 trunk_z= 112.0mm grav_b=(-0.03,-0.09,-1.00) r=0.97m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.03,-0.02,-1.00) r=0.97m +[headless_play] t= 5.60s step= 280 trunk_z= 112.9mm grav_b=(+0.09,+0.06,-0.99) r=0.96m +[headless_play] t= 5.70s step= 285 trunk_z= 118.6mm grav_b=(-0.02,-0.07,-1.00) r=0.97m +[headless_play] t= 5.80s step= 290 trunk_z= 121.2mm grav_b=(-0.05,-0.08,-1.00) r=0.98m +[headless_play] t= 5.90s step= 295 trunk_z= 115.7mm grav_b=(-0.06,+0.10,-0.99) r=0.98m +[headless_play] t= 6.00s step= 300 trunk_z= 119.5mm grav_b=(+0.05,+0.06,-1.00) r=0.98m +[headless_play] t= 6.10s step= 305 trunk_z= 112.4mm grav_b=(+0.05,-0.09,-1.00) r=0.97m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(-0.06,+0.03,-1.00) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 120.5mm grav_b=(-0.03,+0.07,-1.00) r=0.99m +[headless_play] t= 6.40s step= 320 trunk_z= 112.2mm grav_b=(+0.02,-0.12,-0.99) r=0.99m +[headless_play] t= 6.50s step= 325 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=1.00m +[headless_play] t= 6.60s step= 330 trunk_z= 118.2mm grav_b=(+0.04,+0.11,-0.99) r=1.01m +[headless_play] t= 6.70s step= 335 trunk_z= 117.6mm grav_b=(-0.02,-0.04,-1.00) r=1.02m +[headless_play] t= 6.80s step= 340 trunk_z= 120.7mm grav_b=(-0.01,-0.10,-1.00) r=1.04m +[headless_play] t= 6.90s step= 345 trunk_z= 112.8mm grav_b=(+0.02,+0.11,-0.99) r=1.06m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(+0.05,-0.07,-1.00) r=1.08m +[headless_play] t= 7.10s step= 355 trunk_z= 124.3mm grav_b=(-0.02,-0.07,-1.00) r=1.10m +[headless_play] t= 7.20s step= 360 trunk_z= 114.8mm grav_b=(-0.04,+0.08,-1.00) r=1.12m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(+0.02,-0.08,-1.00) r=1.14m +[headless_play] t= 7.40s step= 370 trunk_z= 126.0mm grav_b=(+0.02,-0.13,-0.99) r=1.15m +[headless_play] t= 7.50s step= 375 trunk_z= 115.1mm grav_b=(-0.03,+0.06,-1.00) r=1.17m +[headless_play] t= 7.60s step= 380 trunk_z= 119.7mm grav_b=(+0.02,+0.01,-1.00) r=1.18m +[headless_play] t= 7.70s step= 385 trunk_z= 115.9mm grav_b=(-0.02,-0.11,-0.99) r=1.19m +[headless_play] t= 7.80s step= 390 trunk_z= 115.9mm grav_b=(-0.03,+0.08,-1.00) r=1.19m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(+0.05,+0.04,-1.00) r=1.19m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=1.19m +[headless_play] t= 8.10s step= 405 trunk_z= 115.2mm grav_b=(-0.02,+0.03,-1.00) r=1.18m +[headless_play] t= 8.20s step= 410 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=1.18m +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=1.18m +[headless_play] t= 8.40s step= 420 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=1.18m +[headless_play] t= 8.50s step= 425 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=1.18m +[headless_play] t= 8.60s step= 430 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=1.18m +[headless_play] t= 8.70s step= 435 trunk_z= 115.6mm grav_b=(-0.12,+0.01,-0.99) r=1.17m +[headless_play] t= 8.80s step= 440 trunk_z= 104.7mm grav_b=(-0.05,-0.17,-0.98) r=1.16m +[headless_play] t= 8.90s step= 445 trunk_z= 106.5mm grav_b=(+0.01,-0.10,-0.99) r=1.15m +[headless_play] t= 9.00s step= 450 trunk_z= 112.3mm grav_b=(-0.05,-0.01,-1.00) r=1.13m +[headless_play] t= 9.10s step= 455 trunk_z= 112.6mm grav_b=(-0.04,-0.01,-1.00) r=1.13m +[headless_play] t= 9.20s step= 460 trunk_z= 113.1mm grav_b=(-0.02,+0.01,-1.00) r=1.13m +[headless_play] t= 9.30s step= 465 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 9.40s step= 470 trunk_z= 114.5mm grav_b=(-0.04,+0.02,-1.00) r=1.12m +[headless_play] t= 9.50s step= 475 trunk_z= 114.7mm grav_b=(-0.05,+0.01,-1.00) r=1.12m +[headless_play] t= 9.60s step= 480 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) r=1.12m +[headless_play] t= 9.70s step= 485 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=1.13m +[headless_play] t= 9.80s step= 490 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 9.90s step= 495 trunk_z= 115.0mm grav_b=(-0.03,+0.01,-1.00) r=1.12m +[headless_play] t= 10.00s step= 500 trunk_z= 115.1mm grav_b=(-0.04,+0.01,-1.00) r=1.12m +[headless_play] t= 10.10s step= 505 trunk_z= 114.9mm grav_b=(-0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(+0.07,+0.02,-1.00) r=1.12m +[headless_play] t= 10.30s step= 515 trunk_z= 118.4mm grav_b=(+0.06,+0.02,-1.00) r=1.12m +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(+0.04,+0.00,-1.00) r=1.12m +[headless_play] t= 10.50s step= 525 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=1.12m +[headless_play] t= 10.60s step= 530 trunk_z= 115.5mm grav_b=(-0.05,+0.01,-1.00) r=1.12m +[headless_play] t= 10.70s step= 535 trunk_z= 115.4mm grav_b=(-0.04,+0.01,-1.00) r=1.11m +[headless_play] t= 10.80s step= 540 trunk_z= 115.4mm grav_b=(-0.06,+0.01,-1.00) r=1.11m +[headless_play] t= 10.90s step= 545 trunk_z= 115.3mm grav_b=(-0.04,+0.00,-1.00) r=1.11m +[headless_play] t= 11.00s step= 550 trunk_z= 114.8mm grav_b=(-0.02,+0.00,-1.00) r=1.11m +[headless_play] t= 11.10s step= 555 trunk_z= 115.0mm grav_b=(-0.00,+0.00,-1.00) r=1.11m +[headless_play] t= 11.20s step= 560 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=1.11m +[headless_play] t= 11.30s step= 565 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=1.11m +[headless_play] t= 11.40s step= 570 trunk_z= 115.5mm grav_b=(-0.02,-0.00,-1.00) r=1.11m +[headless_play] t= 11.50s step= 575 trunk_z= 115.6mm grav_b=(-0.01,-0.00,-1.00) r=1.11m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(-0.00,-0.00,-1.00) r=1.11m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=1.11m +[headless_play] t= 11.80s step= 590 trunk_z= 116.7mm grav_b=(+0.03,-0.00,-1.00) r=1.12m +[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=1.11m +[headless_play] t= 12.00s step= 600 trunk_z= 115.6mm grav_b=(-0.03,-0.00,-1.00) r=1.11m +[headless_play] t= 12.10s step= 605 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=1.11m +[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=1.11m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(+0.02,-0.00,-1.00) r=1.11m +[headless_play] t= 12.40s step= 620 trunk_z= 115.7mm grav_b=(-0.01,-0.00,-1.00) r=1.11m +[headless_play] t= 12.50s step= 625 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=1.11m +[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(+0.05,+0.00,-1.00) r=1.11m +[headless_play] t= 12.70s step= 635 trunk_z= 118.9mm grav_b=(+0.05,+0.06,-1.00) r=1.12m +[headless_play] t= 12.80s step= 640 trunk_z= 118.0mm grav_b=(+0.03,+0.04,-1.00) r=1.12m +[headless_play] t= 12.90s step= 645 trunk_z= 114.0mm grav_b=(-0.09,-0.08,-0.99) r=1.13m +[headless_play] t= 13.00s step= 650 trunk_z= 117.1mm grav_b=(-0.01,+0.10,-1.00) r=1.14m +[headless_play] t= 13.10s step= 655 trunk_z= 119.4mm grav_b=(+0.08,+0.12,-0.99) r=1.14m +[headless_play] t= 13.20s step= 660 trunk_z= 120.6mm grav_b=(-0.00,-0.00,-1.00) r=1.15m +[headless_play] t= 13.30s step= 665 trunk_z= 122.7mm grav_b=(-0.04,-0.11,-0.99) r=1.17m +[headless_play] t= 13.40s step= 670 trunk_z= 114.5mm grav_b=(-0.09,+0.06,-0.99) r=1.19m +[headless_play] t= 13.50s step= 675 trunk_z= 112.6mm grav_b=(+0.03,-0.09,-1.00) r=1.20m +[headless_play] t= 13.60s step= 680 trunk_z= 106.6mm grav_b=(+0.12,-0.15,-0.98) r=1.22m +[headless_play] t= 13.70s step= 685 trunk_z= 113.9mm grav_b=(+0.07,+0.04,-1.00) r=1.23m +[headless_play] t= 13.80s step= 690 trunk_z= 119.6mm grav_b=(-0.01,-0.03,-1.00) r=1.25m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(-0.06,-0.09,-0.99) r=1.28m +[headless_play] t= 14.00s step= 700 trunk_z= 108.5mm grav_b=(+0.01,+0.10,-0.99) r=1.28m +[headless_play] t= 14.10s step= 705 trunk_z= 110.3mm grav_b=(+0.02,-0.07,-1.00) r=1.29m +[headless_play] t= 14.20s step= 710 trunk_z= 107.0mm grav_b=(-0.01,-0.15,-0.99) r=1.30m +[headless_play] t= 14.30s step= 715 trunk_z= 107.0mm grav_b=(+0.02,+0.06,-1.00) r=1.30m +[headless_play] t= 14.40s step= 720 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) r=1.31m +[headless_play] t= 14.50s step= 725 trunk_z= 107.6mm grav_b=(+0.03,-0.14,-0.99) r=1.32m +[headless_play] t= 14.60s step= 730 trunk_z= 111.0mm grav_b=(+0.02,+0.00,-1.00) r=1.33m +[headless_play] t= 14.70s step= 735 trunk_z= 111.3mm grav_b=(+0.03,+0.03,-1.00) r=1.33m +[headless_play] t= 14.80s step= 740 trunk_z= 111.2mm grav_b=(-0.03,-0.13,-0.99) r=1.35m +[headless_play] t= 14.90s step= 745 trunk_z= 111.6mm grav_b=(+0.01,-0.07,-1.00) r=1.36m +[headless_play] t= 15.00s step= 750 trunk_z= 107.9mm grav_b=(+0.08,+0.08,-0.99) r=1.35m +[headless_play] t= 15.10s step= 755 trunk_z= 114.5mm grav_b=(+0.01,-0.03,-1.00) r=1.36m +[headless_play] t= 15.20s step= 760 trunk_z= 112.9mm grav_b=(-0.08,-0.15,-0.99) r=1.37m +[headless_play] t= 15.30s step= 765 trunk_z= 115.1mm grav_b=(-0.02,-0.01,-1.00) r=1.37m +[headless_play] t= 15.40s step= 770 trunk_z= 106.8mm grav_b=(+0.05,+0.14,-0.99) r=1.36m +[headless_play] t= 15.50s step= 775 trunk_z= 110.5mm grav_b=(+0.08,+0.06,-0.99) r=1.36m +[headless_play] t= 15.60s step= 780 trunk_z= 113.0mm grav_b=(+0.00,-0.08,-1.00) r=1.37m +[headless_play] t= 15.70s step= 785 trunk_z= 113.0mm grav_b=(-0.03,+0.10,-0.99) r=1.40m +[headless_play] t= 15.80s step= 790 trunk_z= 110.3mm grav_b=(+0.14,-0.02,-0.99) r=1.43m +[headless_play] t= 15.90s step= 795 trunk_z= 115.5mm grav_b=(+0.09,-0.11,-0.99) r=1.45m +[headless_play] t= 16.00s step= 800 trunk_z= 112.2mm grav_b=(-0.01,+0.09,-1.00) r=1.48m +[headless_play] t= 16.10s step= 805 trunk_z= 114.3mm grav_b=(-0.01,-0.06,-1.00) r=1.50m +[headless_play] t= 16.20s step= 810 trunk_z= 112.8mm grav_b=(+0.01,-0.09,-1.00) r=1.52m +[headless_play] t= 16.30s step= 815 trunk_z= 110.8mm grav_b=(+0.05,+0.08,-1.00) r=1.52m +[headless_play] t= 16.40s step= 820 trunk_z= 116.1mm grav_b=(+0.03,+0.03,-1.00) r=1.52m +[headless_play] t= 16.50s step= 825 trunk_z= 113.6mm grav_b=(+0.04,-0.01,-1.00) r=1.53m +[headless_play] t= 16.60s step= 830 trunk_z= 110.1mm grav_b=(+0.01,-0.04,-1.00) r=1.54m +[headless_play] t= 16.70s step= 835 trunk_z= 108.4mm grav_b=(+0.04,+0.11,-0.99) r=1.55m +[headless_play] t= 16.80s step= 840 trunk_z= 115.3mm grav_b=(+0.01,-0.01,-1.00) r=1.55m +[headless_play] t= 16.90s step= 845 trunk_z= 108.8mm grav_b=(-0.03,-0.12,-0.99) r=1.56m +[headless_play] t= 17.00s step= 850 trunk_z= 110.2mm grav_b=(+0.01,-0.03,-1.00) r=1.58m +[headless_play] t= 17.10s step= 855 trunk_z= 109.9mm grav_b=(+0.08,+0.05,-1.00) r=1.58m +[headless_play] t= 17.20s step= 860 trunk_z= 112.1mm grav_b=(+0.01,-0.12,-0.99) r=1.59m +[headless_play] t= 17.30s step= 865 trunk_z= 112.1mm grav_b=(+0.01,-0.03,-1.00) r=1.61m +[headless_play] t= 17.40s step= 870 trunk_z= 114.6mm grav_b=(-0.02,+0.09,-1.00) r=1.59m +[headless_play] t= 17.50s step= 875 trunk_z= 118.7mm grav_b=(-0.07,-0.06,-1.00) r=1.59m +[headless_play] t= 17.60s step= 880 trunk_z= 104.5mm grav_b=(+0.01,-0.13,-0.99) r=1.58m +[headless_play] t= 17.70s step= 885 trunk_z= 101.8mm grav_b=(+0.11,+0.04,-0.99) r=1.58m +[headless_play] t= 17.80s step= 890 trunk_z= 113.9mm grav_b=(+0.07,+0.05,-1.00) r=1.58m +[headless_play] t= 17.90s step= 895 trunk_z= 109.7mm grav_b=(-0.06,-0.12,-0.99) r=1.59m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(-0.05,-0.02,-1.00) r=1.60m +[headless_play] t= 18.10s step= 905 trunk_z= 104.7mm grav_b=(-0.03,+0.15,-0.99) r=1.60m +[headless_play] t= 18.20s step= 910 trunk_z= 100.2mm grav_b=(+0.20,+0.04,-0.98) r=1.60m +[headless_play] t= 18.30s step= 915 trunk_z= 114.3mm grav_b=(+0.09,-0.08,-0.99) r=1.60m +[headless_play] t= 18.40s step= 920 trunk_z= 113.0mm grav_b=(-0.05,+0.14,-0.99) r=1.61m +[headless_play] t= 18.50s step= 925 trunk_z= 120.2mm grav_b=(-0.13,+0.10,-0.99) r=1.62m +[headless_play] t= 18.60s step= 930 trunk_z= 112.3mm grav_b=(-0.05,-0.11,-0.99) r=1.63m +[headless_play] t= 18.70s step= 935 trunk_z= 109.2mm grav_b=(+0.08,-0.04,-1.00) r=1.64m +[headless_play] t= 18.80s step= 940 trunk_z= 108.9mm grav_b=(+0.13,+0.09,-0.99) r=1.62m +[headless_play] t= 18.90s step= 945 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=1.61m +[headless_play] t= 19.00s step= 950 trunk_z= 115.0mm grav_b=(-0.13,-0.08,-0.99) r=1.62m +[headless_play] t= 19.10s step= 955 trunk_z= 109.8mm grav_b=(-0.22,+0.22,-0.95) r=1.63m +[headless_play] t= 19.20s step= 960 trunk_z= 85.1mm grav_b=(+0.03,+0.38,-0.92) r=1.64m +[headless_play] t= 19.30s step= 965 trunk_z= 98.3mm grav_b=(+0.22,+0.11,-0.97) r=1.65m +[headless_play] t= 19.40s step= 970 trunk_z= 108.3mm grav_b=(-0.01,-0.20,-0.98) r=1.66m +[headless_play] t= 19.50s step= 975 trunk_z= 121.8mm grav_b=(-0.01,-0.22,-0.98) r=1.67m +[headless_play] t= 19.60s step= 980 trunk_z= 123.8mm grav_b=(+0.01,-0.08,-1.00) r=1.67m +[headless_play] t= 19.70s step= 985 trunk_z= 118.7mm grav_b=(-0.16,+0.02,-0.99) r=1.65m +[headless_play] t= 19.80s step= 990 trunk_z= 110.0mm grav_b=(-0.10,-0.09,-0.99) r=1.62m +[headless_play] t= 19.90s step= 995 trunk_z= 83.1mm grav_b=(+0.21,-0.02,-0.98) r=1.59m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.8mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..1978447ca9c3369091d9c29d5aafd5040b7e6ab8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.3mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.132,-17.657,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.7mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 117.4mm grav_b=(+0.03,-0.00,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(-0.05,-0.01,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 117.9mm grav_b=(-0.09,-0.05,-0.99) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 113.7mm grav_b=(-0.06,+0.08,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 113.7mm grav_b=(-0.00,+0.04,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 114.2mm grav_b=(+0.04,-0.08,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 122.4mm grav_b=(+0.00,+0.07,-1.00) r=0.36m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.01,-0.08,-1.00) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 119.8mm grav_b=(+0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 118.3mm grav_b=(-0.01,+0.09,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(-0.05,-0.08,-1.00) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 120.1mm grav_b=(-0.02,-0.07,-1.00) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.04,+0.05,-1.00) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 126.0mm grav_b=(+0.06,+0.02,-1.00) r=0.25m +[headless_play] t= 2.20s step= 110 trunk_z= 118.6mm grav_b=(+0.02,-0.10,-0.99) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 121.8mm grav_b=(+0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 121.0mm grav_b=(-0.07,+0.10,-0.99) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 118.4mm grav_b=(-0.04,-0.03,-1.00) r=0.21m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.10,-0.02,-1.00) r=0.21m +[headless_play] t= 2.70s step= 135 trunk_z= 117.4mm grav_b=(+0.10,+0.16,-0.98) r=0.21m +[headless_play] t= 2.80s step= 140 trunk_z= 124.3mm grav_b=(+0.03,+0.03,-1.00) r=0.21m +[headless_play] t= 2.90s step= 145 trunk_z= 113.3mm grav_b=(-0.06,-0.08,-1.00) r=0.21m +[headless_play] t= 3.00s step= 150 trunk_z= 117.8mm grav_b=(-0.01,+0.04,-1.00) r=0.22m +[headless_play] t= 3.10s step= 155 trunk_z= 122.0mm grav_b=(+0.02,+0.09,-1.00) r=0.24m +[headless_play] t= 3.20s step= 160 trunk_z= 114.9mm grav_b=(-0.02,-0.15,-0.99) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 121.5mm grav_b=(-0.01,-0.07,-1.00) r=0.25m +[headless_play] t= 3.40s step= 170 trunk_z= 117.9mm grav_b=(-0.05,+0.11,-0.99) r=0.26m +[headless_play] t= 3.50s step= 175 trunk_z= 120.4mm grav_b=(-0.07,+0.01,-1.00) r=0.28m +[headless_play] t= 3.60s step= 180 trunk_z= 118.0mm grav_b=(-0.05,-0.02,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 121.7mm grav_b=(-0.02,+0.11,-0.99) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 116.9mm grav_b=(-0.06,-0.10,-0.99) r=0.35m +[headless_play] t= 3.90s step= 195 trunk_z= 118.0mm grav_b=(-0.08,+0.03,-1.00) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 121.2mm grav_b=(-0.06,+0.05,-1.00) r=0.38m +[headless_play] t= 4.10s step= 205 trunk_z= 120.0mm grav_b=(-0.05,-0.10,-0.99) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 119.0mm grav_b=(-0.05,+0.06,-1.00) r=0.41m +[headless_play] t= 4.30s step= 215 trunk_z= 121.7mm grav_b=(-0.05,+0.01,-1.00) r=0.41m +[headless_play] t= 4.40s step= 220 trunk_z= 122.4mm grav_b=(-0.05,-0.06,-1.00) r=0.41m +[headless_play] t= 4.50s step= 225 trunk_z= 119.4mm grav_b=(-0.05,+0.09,-0.99) r=0.41m +[headless_play] t= 4.60s step= 230 trunk_z= 119.3mm grav_b=(-0.06,-0.03,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 121.5mm grav_b=(-0.06,-0.03,-1.00) r=0.41m +[headless_play] t= 4.80s step= 240 trunk_z= 122.0mm grav_b=(-0.06,+0.09,-0.99) r=0.42m +[headless_play] t= 4.90s step= 245 trunk_z= 118.0mm grav_b=(-0.06,-0.08,-1.00) r=0.42m +[headless_play] t= 5.00s step= 250 trunk_z= 121.6mm grav_b=(-0.06,-0.02,-1.00) r=0.43m +[headless_play] t= 5.10s step= 255 trunk_z= 124.6mm grav_b=(-0.04,+0.11,-0.99) r=0.45m +[headless_play] t= 5.20s step= 260 trunk_z= 122.8mm grav_b=(-0.03,-0.04,-1.00) r=0.48m +[headless_play] t= 5.30s step= 265 trunk_z= 120.0mm grav_b=(-0.04,-0.01,-1.00) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 120.2mm grav_b=(-0.02,+0.09,-1.00) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 119.0mm grav_b=(-0.07,-0.09,-0.99) r=0.55m +[headless_play] t= 5.60s step= 280 trunk_z= 120.4mm grav_b=(-0.06,-0.03,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 122.1mm grav_b=(-0.01,+0.09,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 117.1mm grav_b=(-0.03,-0.12,-0.99) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 118.4mm grav_b=(-0.00,+0.05,-1.00) r=0.65m +[headless_play] t= 6.00s step= 300 trunk_z= 119.2mm grav_b=(+0.00,+0.09,-1.00) r=0.68m +[headless_play] t= 6.10s step= 305 trunk_z= 116.4mm grav_b=(-0.09,-0.10,-0.99) r=0.71m +[headless_play] t= 6.20s step= 310 trunk_z= 120.6mm grav_b=(-0.07,-0.03,-1.00) r=0.73m +[headless_play] t= 6.30s step= 315 trunk_z= 121.7mm grav_b=(-0.03,+0.08,-1.00) r=0.74m +[headless_play] t= 6.40s step= 320 trunk_z= 117.8mm grav_b=(-0.03,-0.11,-0.99) r=0.73m +[headless_play] t= 6.50s step= 325 trunk_z= 126.0mm grav_b=(-0.05,-0.20,-0.98) r=0.72m +[headless_play] t= 6.60s step= 330 trunk_z= 129.0mm grav_b=(-0.00,-0.16,-0.99) r=0.72m +[headless_play] t= 6.70s step= 335 trunk_z= 125.6mm grav_b=(-0.03,-0.09,-1.00) r=0.73m +[headless_play] t= 6.80s step= 340 trunk_z= 120.5mm grav_b=(-0.06,+0.03,-1.00) r=0.75m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(-0.01,-0.10,-1.00) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 120.6mm grav_b=(+0.04,+0.03,-1.00) r=0.79m +[headless_play] t= 7.10s step= 355 trunk_z= 124.6mm grav_b=(+0.02,-0.03,-1.00) r=0.81m +[headless_play] t= 7.20s step= 360 trunk_z= 112.2mm grav_b=(-0.07,-0.14,-0.99) r=0.83m +[headless_play] t= 7.30s step= 365 trunk_z= 114.8mm grav_b=(-0.07,-0.04,-1.00) r=0.84m +[headless_play] t= 7.40s step= 370 trunk_z= 117.1mm grav_b=(-0.04,-0.03,-1.00) r=0.85m +[headless_play] t= 7.50s step= 375 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.86m +[headless_play] t= 7.60s step= 380 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 7.70s step= 385 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 7.80s step= 390 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.86m +[headless_play] t= 8.00s step= 400 trunk_z= 116.7mm grav_b=(-0.03,-0.02,-1.00) r=0.86m +[headless_play] t= 8.10s step= 405 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.40s step= 420 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.50s step= 425 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.70s step= 435 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.85m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=0.85m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=0.85m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=0.85m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.85m +[headless_play] t= 9.30s step= 465 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.86m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.88m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.00,-0.01,-1.00) r=0.89m +[headless_play] t= 9.60s step= 480 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.89m +[headless_play] t= 9.70s step= 485 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=0.89m +[headless_play] t= 9.80s step= 490 trunk_z= 115.3mm grav_b=(+0.01,-0.02,-1.00) r=0.89m +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(+0.03,-0.02,-1.00) r=0.89m +[headless_play] t= 10.00s step= 500 trunk_z= 115.2mm grav_b=(+0.04,-0.02,-1.00) r=0.89m +[headless_play] t= 10.10s step= 505 trunk_z= 115.4mm grav_b=(+0.03,-0.02,-1.00) r=0.89m +[headless_play] t= 10.20s step= 510 trunk_z= 115.3mm grav_b=(-0.02,-0.02,-1.00) r=0.88m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(-0.11,+0.00,-0.99) r=0.87m +[headless_play] t= 10.40s step= 520 trunk_z= 97.2mm grav_b=(-0.12,+0.14,-0.98) r=0.86m +[headless_play] t= 10.50s step= 525 trunk_z= 94.6mm grav_b=(+0.05,+0.04,-1.00) r=0.85m +[headless_play] t= 10.60s step= 530 trunk_z= 109.8mm grav_b=(-0.06,-0.01,-1.00) r=0.83m +[headless_play] t= 10.70s step= 535 trunk_z= 111.9mm grav_b=(+0.01,-0.06,-1.00) r=0.82m +[headless_play] t= 10.80s step= 540 trunk_z= 113.5mm grav_b=(-0.00,-0.04,-1.00) r=0.82m +[headless_play] t= 10.90s step= 545 trunk_z= 113.8mm grav_b=(-0.01,-0.03,-1.00) r=0.82m +[headless_play] t= 11.00s step= 550 trunk_z= 114.0mm grav_b=(+0.03,-0.01,-1.00) r=0.82m +[headless_play] t= 11.10s step= 555 trunk_z= 113.8mm grav_b=(+0.05,-0.01,-1.00) r=0.82m +[headless_play] t= 11.20s step= 560 trunk_z= 113.9mm grav_b=(+0.06,-0.01,-1.00) r=0.83m +[headless_play] t= 11.30s step= 565 trunk_z= 114.3mm grav_b=(+0.04,-0.01,-1.00) r=0.83m +[headless_play] t= 11.40s step= 570 trunk_z= 114.4mm grav_b=(+0.02,-0.01,-1.00) r=0.82m +[headless_play] t= 11.50s step= 575 trunk_z= 114.2mm grav_b=(+0.01,-0.01,-1.00) r=0.83m +[headless_play] t= 11.60s step= 580 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) r=0.82m +[headless_play] t= 11.70s step= 585 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) r=0.83m +[headless_play] t= 11.80s step= 590 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) r=0.83m +[headless_play] t= 11.90s step= 595 trunk_z= 114.6mm grav_b=(+0.02,-0.01,-1.00) r=0.81m +[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=0.81m +[headless_play] t= 12.10s step= 605 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00) r=0.81m +[headless_play] t= 12.20s step= 610 trunk_z= 115.0mm grav_b=(+0.01,-0.02,-1.00) r=0.81m +[headless_play] t= 12.30s step= 615 trunk_z= 114.9mm grav_b=(+0.01,-0.02,-1.00) r=0.81m +[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.02,-0.02,-1.00) r=0.80m +[headless_play] t= 12.50s step= 625 trunk_z= 115.5mm grav_b=(+0.04,-0.03,-1.00) r=0.79m +[headless_play] t= 12.60s step= 630 trunk_z= 115.6mm grav_b=(+0.02,-0.02,-1.00) r=0.79m +[headless_play] t= 12.70s step= 635 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 12.80s step= 640 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 12.90s step= 645 trunk_z= 115.3mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 13.00s step= 650 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 13.20s step= 660 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.79m +[headless_play] t= 13.30s step= 665 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 13.40s step= 670 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.79m +[headless_play] t= 13.50s step= 675 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.79m +[headless_play] t= 13.60s step= 680 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.82m +[headless_play] t= 13.70s step= 685 trunk_z= 115.6mm grav_b=(+0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 13.80s step= 690 trunk_z= 115.6mm grav_b=(+0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 13.90s step= 695 trunk_z= 115.5mm grav_b=(+0.03,-0.02,-1.00) r=0.83m +[headless_play] t= 14.00s step= 700 trunk_z= 115.5mm grav_b=(+0.05,-0.02,-1.00) r=0.83m +[headless_play] t= 14.10s step= 705 trunk_z= 115.6mm grav_b=(+0.04,-0.02,-1.00) r=0.83m +[headless_play] t= 14.20s step= 710 trunk_z= 115.7mm grav_b=(+0.02,-0.02,-1.00) r=0.83m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.02,-0.02,-1.00) r=0.83m +[headless_play] t= 14.40s step= 720 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.85m +[headless_play] t= 14.50s step= 725 trunk_z= 116.4mm grav_b=(-0.04,-0.11,-0.99) r=0.86m +[headless_play] t= 14.60s step= 730 trunk_z= 115.9mm grav_b=(-0.06,-0.04,-1.00) r=0.87m +[headless_play] t= 14.70s step= 735 trunk_z= 112.2mm grav_b=(-0.03,+0.08,-1.00) r=0.88m +[headless_play] t= 14.80s step= 740 trunk_z= 115.8mm grav_b=(-0.01,-0.05,-1.00) r=0.90m +[headless_play] t= 14.90s step= 745 trunk_z= 112.5mm grav_b=(+0.06,-0.03,-1.00) r=0.92m +[headless_play] t= 15.00s step= 750 trunk_z= 115.6mm grav_b=(+0.13,+0.08,-0.99) r=0.95m +[headless_play] t= 15.10s step= 755 trunk_z= 112.9mm grav_b=(+0.03,-0.13,-0.99) r=0.96m +[headless_play] t= 15.20s step= 760 trunk_z= 123.7mm grav_b=(-0.04,-0.06,-1.00) r=0.98m +[headless_play] t= 15.30s step= 765 trunk_z= 117.9mm grav_b=(-0.02,+0.07,-1.00) r=1.01m +[headless_play] t= 15.40s step= 770 trunk_z= 112.9mm grav_b=(-0.03,-0.12,-0.99) r=1.02m +[headless_play] t= 15.50s step= 775 trunk_z= 116.6mm grav_b=(-0.02,-0.06,-1.00) r=1.04m +[headless_play] t= 15.60s step= 780 trunk_z= 113.2mm grav_b=(+0.01,+0.05,-1.00) r=1.05m +[headless_play] t= 15.70s step= 785 trunk_z= 116.7mm grav_b=(-0.02,-0.06,-1.00) r=1.07m +[headless_play] t= 15.80s step= 790 trunk_z= 114.7mm grav_b=(-0.04,-0.04,-1.00) r=1.08m +[headless_play] t= 15.90s step= 795 trunk_z= 111.8mm grav_b=(+0.02,+0.09,-1.00) r=1.10m +[headless_play] t= 16.00s step= 800 trunk_z= 115.8mm grav_b=(+0.01,-0.03,-1.00) r=1.12m +[headless_play] t= 16.10s step= 805 trunk_z= 113.9mm grav_b=(-0.04,-0.06,-1.00) r=1.13m +[headless_play] t= 16.20s step= 810 trunk_z= 112.4mm grav_b=(+0.02,+0.07,-1.00) r=1.15m +[headless_play] t= 16.30s step= 815 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=1.17m +[headless_play] t= 16.40s step= 820 trunk_z= 114.2mm grav_b=(-0.04,-0.09,-1.00) r=1.18m +[headless_play] t= 16.50s step= 825 trunk_z= 114.1mm grav_b=(-0.00,+0.03,-1.00) r=1.19m +[headless_play] t= 16.60s step= 830 trunk_z= 117.4mm grav_b=(-0.01,+0.04,-1.00) r=1.21m +[headless_play] t= 16.70s step= 835 trunk_z= 114.2mm grav_b=(-0.05,-0.13,-0.99) r=1.22m +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(+0.03,-0.03,-1.00) r=1.24m +[headless_play] t= 16.90s step= 845 trunk_z= 115.5mm grav_b=(+0.07,+0.06,-1.00) r=1.27m +[headless_play] t= 17.00s step= 850 trunk_z= 112.9mm grav_b=(-0.00,-0.13,-0.99) r=1.29m +[headless_play] t= 17.10s step= 855 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=1.31m +[headless_play] t= 17.20s step= 860 trunk_z= 117.5mm grav_b=(+0.01,+0.03,-1.00) r=1.33m +[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(-0.03,-0.12,-0.99) r=1.34m +[headless_play] t= 17.40s step= 870 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=1.35m +[headless_play] t= 17.50s step= 875 trunk_z= 115.4mm grav_b=(+0.04,+0.05,-1.00) r=1.37m +[headless_play] t= 17.60s step= 880 trunk_z= 111.3mm grav_b=(+0.02,-0.11,-0.99) r=1.40m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=1.41m +[headless_play] t= 17.80s step= 890 trunk_z= 123.0mm grav_b=(-0.05,+0.12,-0.99) r=1.42m +[headless_play] t= 17.90s step= 895 trunk_z= 117.6mm grav_b=(-0.06,-0.03,-1.00) r=1.44m +[headless_play] t= 18.00s step= 900 trunk_z= 120.0mm grav_b=(-0.02,-0.07,-1.00) r=1.45m +[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(-0.04,+0.08,-1.00) r=1.47m +[headless_play] t= 18.20s step= 910 trunk_z= 119.3mm grav_b=(-0.01,-0.03,-1.00) r=1.48m +[headless_play] t= 18.30s step= 915 trunk_z= 119.8mm grav_b=(-0.02,-0.06,-1.00) r=1.49m +[headless_play] t= 18.40s step= 920 trunk_z= 117.3mm grav_b=(-0.03,+0.09,-1.00) r=1.51m +[headless_play] t= 18.50s step= 925 trunk_z= 121.8mm grav_b=(+0.01,+0.02,-1.00) r=1.52m +[headless_play] t= 18.60s step= 930 trunk_z= 122.2mm grav_b=(+0.01,-0.10,-0.99) r=1.53m +[headless_play] t= 18.70s step= 935 trunk_z= 119.1mm grav_b=(+0.02,+0.01,-1.00) r=1.54m +[headless_play] t= 18.80s step= 940 trunk_z= 118.7mm grav_b=(-0.04,+0.03,-1.00) r=1.55m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.02,-0.09,-1.00) r=1.56m +[headless_play] t= 19.00s step= 950 trunk_z= 119.1mm grav_b=(-0.02,+0.03,-1.00) r=1.57m +[headless_play] t= 19.10s step= 955 trunk_z= 122.0mm grav_b=(+0.00,+0.06,-1.00) r=1.58m +[headless_play] t= 19.20s step= 960 trunk_z= 117.7mm grav_b=(-0.04,-0.10,-0.99) r=1.60m +[headless_play] t= 19.30s step= 965 trunk_z= 119.8mm grav_b=(-0.02,-0.00,-1.00) r=1.61m +[headless_play] t= 19.40s step= 970 trunk_z= 121.6mm grav_b=(+0.06,+0.07,-1.00) r=1.64m +[headless_play] t= 19.50s step= 975 trunk_z= 114.2mm grav_b=(+0.02,-0.11,-0.99) r=1.66m +[headless_play] t= 19.60s step= 980 trunk_z= 127.2mm grav_b=(+0.04,-0.06,-1.00) r=1.69m +[headless_play] t= 19.70s step= 985 trunk_z= 110.1mm grav_b=(-0.04,+0.08,-1.00) r=1.73m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(-0.07,+0.03,-1.00) r=1.75m +[headless_play] t= 19.90s step= 995 trunk_z= 118.0mm grav_b=(-0.02,-0.07,-1.00) r=1.77m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.8mm grav_b=(-0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..a71c2f47896975fc4ac388a6671ef90bfcfed043 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(-0.00,-0.00,-1.00) root_w=(-1.730,-18.294,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(+0.02,+0.06,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.05,+0.04,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.06,+0.04,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 115.6mm grav_b=(+0.06,+0.05,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.05,+0.01,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 114.6mm grav_b=(+0.04,+0.08,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 117.6mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 117.7mm grav_b=(-0.00,-0.05,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 115.8mm grav_b=(-0.01,+0.13,-0.99) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 126.1mm grav_b=(-0.02,+0.16,-0.99) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 125.6mm grav_b=(+0.02,+0.17,-0.99) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 116.8mm grav_b=(+0.05,+0.07,-1.00) r=0.47m +[headless_play] t= 1.30s step= 65 trunk_z= 117.7mm grav_b=(+0.01,+0.05,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 114.2mm grav_b=(+0.03,+0.13,-0.99) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 110.6mm grav_b=(+0.06,-0.08,-1.00) r=0.54m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.05,+0.02,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 118.3mm grav_b=(+0.07,+0.05,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 116.4mm grav_b=(-0.04,-0.04,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(-0.06,+0.10,-0.99) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(+0.06,+0.04,-1.00) r=0.64m +[headless_play] t= 2.10s step= 105 trunk_z= 111.2mm grav_b=(+0.12,-0.04,-0.99) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 116.9mm grav_b=(+0.04,+0.02,-1.00) r=0.70m +[headless_play] t= 2.40s step= 120 trunk_z= 116.3mm grav_b=(-0.03,-0.05,-1.00) r=0.72m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(-0.02,+0.10,-1.00) r=0.73m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.06,-0.05,-1.00) r=0.73m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.06,-0.02,-1.00) r=0.74m +[headless_play] t= 2.80s step= 140 trunk_z= 113.3mm grav_b=(+0.04,+0.08,-1.00) r=0.75m +[headless_play] t= 2.90s step= 145 trunk_z= 113.3mm grav_b=(+0.02,-0.07,-1.00) r=0.76m +[headless_play] t= 3.00s step= 150 trunk_z= 116.7mm grav_b=(-0.00,+0.02,-1.00) r=0.77m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(-0.03,+0.07,-1.00) r=0.77m +[headless_play] t= 3.20s step= 160 trunk_z= 110.5mm grav_b=(+0.04,-0.09,-1.00) r=0.78m +[headless_play] t= 3.30s step= 165 trunk_z= 113.3mm grav_b=(+0.04,-0.00,-1.00) r=0.80m +[headless_play] t= 3.40s step= 170 trunk_z= 113.8mm grav_b=(+0.03,+0.10,-0.99) r=0.81m +[headless_play] t= 3.50s step= 175 trunk_z= 114.7mm grav_b=(+0.01,-0.05,-1.00) r=0.82m +[headless_play] t= 3.60s step= 180 trunk_z= 118.3mm grav_b=(+0.01,+0.07,-1.00) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 121.2mm grav_b=(+0.06,+0.03,-1.00) r=0.84m +[headless_play] t= 3.80s step= 190 trunk_z= 124.3mm grav_b=(+0.00,-0.09,-1.00) r=0.87m +[headless_play] t= 3.90s step= 195 trunk_z= 115.9mm grav_b=(+0.00,+0.07,-1.00) r=0.90m +[headless_play] t= 4.00s step= 200 trunk_z= 120.7mm grav_b=(+0.02,-0.01,-1.00) r=0.91m +[headless_play] t= 4.10s step= 205 trunk_z= 119.3mm grav_b=(-0.03,-0.12,-0.99) r=0.92m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(-0.02,+0.06,-1.00) r=0.94m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(+0.02,+0.04,-1.00) r=0.95m +[headless_play] t= 4.40s step= 220 trunk_z= 119.1mm grav_b=(-0.01,-0.05,-1.00) r=0.96m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(+0.02,+0.10,-1.00) r=0.97m +[headless_play] t= 4.60s step= 230 trunk_z= 114.9mm grav_b=(+0.03,-0.14,-0.99) r=1.00m +[headless_play] t= 4.70s step= 235 trunk_z= 129.3mm grav_b=(-0.01,-0.03,-1.00) r=1.02m +[headless_play] t= 4.80s step= 240 trunk_z= 118.9mm grav_b=(+0.01,+0.11,-0.99) r=1.05m +[headless_play] t= 4.90s step= 245 trunk_z= 115.0mm grav_b=(-0.05,-0.07,-1.00) r=1.07m +[headless_play] t= 5.00s step= 250 trunk_z= 117.0mm grav_b=(-0.03,+0.03,-1.00) r=1.09m +[headless_play] t= 5.10s step= 255 trunk_z= 115.1mm grav_b=(+0.09,+0.03,-1.00) r=1.10m +[headless_play] t= 5.20s step= 260 trunk_z= 121.1mm grav_b=(+0.02,-0.09,-1.00) r=1.11m +[headless_play] t= 5.30s step= 265 trunk_z= 115.4mm grav_b=(-0.04,+0.11,-0.99) r=1.12m +[headless_play] t= 5.40s step= 270 trunk_z= 120.2mm grav_b=(+0.05,+0.05,-1.00) r=1.11m +[headless_play] t= 5.50s step= 275 trunk_z= 118.0mm grav_b=(-0.03,-0.09,-1.00) r=1.11m +[headless_play] t= 5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.05,+0.11,-0.99) r=1.11m +[headless_play] t= 5.70s step= 285 trunk_z= 121.1mm grav_b=(+0.03,+0.08,-1.00) r=1.11m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(-0.00,-0.09,-1.00) r=1.12m +[headless_play] t= 5.90s step= 295 trunk_z= 114.4mm grav_b=(-0.02,+0.14,-0.99) r=1.12m +[headless_play] t= 6.00s step= 300 trunk_z= 123.2mm grav_b=(-0.00,+0.17,-0.98) r=1.12m +[headless_play] t= 6.10s step= 305 trunk_z= 121.0mm grav_b=(+0.00,+0.10,-1.00) r=1.12m +[headless_play] t= 6.20s step= 310 trunk_z= 115.5mm grav_b=(-0.03,-0.04,-1.00) r=1.13m +[headless_play] t= 6.30s step= 315 trunk_z= 113.0mm grav_b=(-0.01,+0.15,-0.99) r=1.13m +[headless_play] t= 6.40s step= 320 trunk_z= 119.3mm grav_b=(+0.03,+0.10,-0.99) r=1.14m +[headless_play] t= 6.50s step= 325 trunk_z= 114.0mm grav_b=(-0.01,-0.09,-1.00) r=1.15m +[headless_play] t= 6.60s step= 330 trunk_z= 116.8mm grav_b=(-0.02,+0.07,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 117.1mm grav_b=(+0.05,+0.10,-0.99) r=1.17m +[headless_play] t= 6.80s step= 340 trunk_z= 112.3mm grav_b=(-0.00,-0.10,-1.00) r=1.18m +[headless_play] t= 6.90s step= 345 trunk_z= 117.8mm grav_b=(+0.01,+0.01,-1.00) r=1.21m +[headless_play] t= 7.00s step= 350 trunk_z= 118.8mm grav_b=(+0.10,+0.17,-0.98) r=1.22m +[headless_play] t= 7.10s step= 355 trunk_z= 126.8mm grav_b=(-0.03,+0.09,-1.00) r=1.24m +[headless_play] t= 7.20s step= 360 trunk_z= 120.6mm grav_b=(+0.00,-0.05,-1.00) r=1.27m +[headless_play] t= 7.30s step= 365 trunk_z= 114.8mm grav_b=(-0.02,+0.12,-0.99) r=1.30m +[headless_play] t= 7.40s step= 370 trunk_z= 116.9mm grav_b=(+0.13,+0.07,-0.99) r=1.32m +[headless_play] t= 7.50s step= 375 trunk_z= 108.7mm grav_b=(-0.02,-0.12,-0.99) r=1.35m +[headless_play] t= 7.60s step= 380 trunk_z= 115.1mm grav_b=(-0.06,+0.01,-1.00) r=1.37m +[headless_play] t= 7.70s step= 385 trunk_z= 117.5mm grav_b=(+0.10,+0.10,-0.99) r=1.39m +[headless_play] t= 7.80s step= 390 trunk_z= 115.4mm grav_b=(-0.02,-0.07,-1.00) r=1.40m +[headless_play] t= 7.90s step= 395 trunk_z= 120.3mm grav_b=(-0.03,-0.02,-1.00) r=1.42m +[headless_play] t= 8.00s step= 400 trunk_z= 118.3mm grav_b=(+0.05,+0.13,-0.99) r=1.43m +[headless_play] t= 8.10s step= 405 trunk_z= 115.9mm grav_b=(+0.03,-0.02,-1.00) r=1.44m +[headless_play] t= 8.20s step= 410 trunk_z= 121.1mm grav_b=(-0.07,-0.05,-1.00) r=1.45m +[headless_play] t= 8.30s step= 415 trunk_z= 113.8mm grav_b=(+0.02,+0.14,-0.99) r=1.47m +[headless_play] t= 8.40s step= 420 trunk_z= 111.5mm grav_b=(+0.08,-0.06,-0.99) r=1.48m +[headless_play] t= 8.50s step= 425 trunk_z= 120.6mm grav_b=(-0.01,-0.05,-1.00) r=1.49m +[headless_play] t= 8.60s step= 430 trunk_z= 118.1mm grav_b=(-0.03,+0.12,-0.99) r=1.51m +[headless_play] t= 8.70s step= 435 trunk_z= 118.7mm grav_b=(+0.01,-0.01,-1.00) r=1.53m +[headless_play] t= 8.80s step= 440 trunk_z= 119.7mm grav_b=(-0.03,-0.08,-1.00) r=1.54m +[headless_play] t= 8.90s step= 445 trunk_z= 115.9mm grav_b=(-0.01,+0.12,-0.99) r=1.55m +[headless_play] t= 9.00s step= 450 trunk_z= 117.9mm grav_b=(-0.06,+0.04,-1.00) r=1.55m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=1.56m +[headless_play] t= 9.20s step= 460 trunk_z= 117.6mm grav_b=(+0.03,+0.18,-0.98) r=1.57m +[headless_play] t= 9.30s step= 465 trunk_z= 123.5mm grav_b=(-0.03,+0.06,-1.00) r=1.58m +[headless_play] t= 9.40s step= 470 trunk_z= 118.3mm grav_b=(-0.01,-0.01,-1.00) r=1.60m +[headless_play] t= 9.50s step= 475 trunk_z= 117.3mm grav_b=(+0.05,+0.15,-0.99) r=1.61m +[headless_play] t= 9.60s step= 480 trunk_z= 120.9mm grav_b=(-0.03,+0.00,-1.00) r=1.63m +[headless_play] t= 9.70s step= 485 trunk_z= 118.7mm grav_b=(-0.01,+0.05,-1.00) r=1.65m +[headless_play] t= 9.80s step= 490 trunk_z= 120.7mm grav_b=(+0.03,+0.09,-1.00) r=1.65m +[headless_play] t= 9.90s step= 495 trunk_z= 117.8mm grav_b=(-0.03,-0.10,-0.99) r=1.67m +[headless_play] t= 10.00s step= 500 trunk_z= 116.8mm grav_b=(-0.01,+0.11,-0.99) r=1.67m +[headless_play] t= 10.10s step= 505 trunk_z= 123.4mm grav_b=(+0.03,+0.08,-1.00) r=1.68m +[headless_play] t= 10.20s step= 510 trunk_z= 117.6mm grav_b=(-0.03,-0.07,-1.00) r=1.69m +[headless_play] t= 10.30s step= 515 trunk_z= 116.4mm grav_b=(+0.01,+0.14,-0.99) r=1.70m +[headless_play] t= 10.40s step= 520 trunk_z= 126.6mm grav_b=(+0.01,+0.11,-0.99) r=1.70m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(-0.04,-0.06,-1.00) r=1.71m +[headless_play] t= 10.60s step= 530 trunk_z= 116.9mm grav_b=(-0.02,+0.12,-0.99) r=1.72m +[headless_play] t= 10.70s step= 535 trunk_z= 119.5mm grav_b=(+0.01,-0.00,-1.00) r=1.72m +[headless_play] t= 10.80s step= 540 trunk_z= 122.1mm grav_b=(-0.09,-0.04,-1.00) r=1.72m +[headless_play] t= 10.90s step= 545 trunk_z= 120.3mm grav_b=(-0.09,+0.15,-0.98) r=1.72m +[headless_play] t= 11.00s step= 550 trunk_z= 120.3mm grav_b=(+0.04,+0.04,-1.00) r=1.72m +[headless_play] t= 11.10s step= 555 trunk_z= 114.7mm grav_b=(+0.06,+0.01,-1.00) r=1.71m +[headless_play] t= 11.20s step= 560 trunk_z= 118.3mm grav_b=(+0.03,+0.16,-0.99) r=1.71m +[headless_play] t= 11.30s step= 565 trunk_z= 123.6mm grav_b=(-0.08,+0.08,-0.99) r=1.71m +[headless_play] t= 11.40s step= 570 trunk_z= 122.5mm grav_b=(-0.08,-0.05,-1.00) r=1.71m +[headless_play] t= 11.50s step= 575 trunk_z= 114.4mm grav_b=(-0.04,+0.13,-0.99) r=1.70m +[headless_play] t= 11.60s step= 580 trunk_z= 118.3mm grav_b=(+0.00,+0.07,-1.00) r=1.69m +[headless_play] t= 11.70s step= 585 trunk_z= 118.2mm grav_b=(-0.01,+0.03,-1.00) r=1.68m +[headless_play] t= 11.80s step= 590 trunk_z= 113.9mm grav_b=(+0.02,-0.01,-1.00) r=1.69m +[headless_play] t= 11.90s step= 595 trunk_z= 114.3mm grav_b=(+0.03,-0.02,-1.00) r=1.69m +[headless_play] t= 12.00s step= 600 trunk_z= 114.3mm grav_b=(+0.03,-0.02,-1.00) r=1.69m +[headless_play] t= 12.10s step= 605 trunk_z= 115.6mm grav_b=(+0.01,-0.02,-1.00) r=1.68m +[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=1.67m +[headless_play] t= 12.30s step= 615 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=1.67m +[headless_play] t= 12.40s step= 620 trunk_z= 113.4mm grav_b=(-0.05,+0.02,-1.00) r=1.67m +[headless_play] t= 12.50s step= 625 trunk_z= 111.4mm grav_b=(+0.02,-0.11,-0.99) r=1.67m +[headless_play] t= 12.60s step= 630 trunk_z= 96.8mm grav_b=(+0.16,-0.08,-0.98) r=1.66m +[headless_play] t= 12.70s step= 635 trunk_z= 110.7mm grav_b=(+0.15,+0.08,-0.99) r=1.66m +[headless_play] t= 12.80s step= 640 trunk_z= 116.1mm grav_b=(-0.05,-0.01,-1.00) r=1.65m +[headless_play] t= 12.90s step= 645 trunk_z= 113.8mm grav_b=(+0.02,-0.01,-1.00) r=1.66m +[headless_play] t= 13.00s step= 650 trunk_z= 113.9mm grav_b=(+0.03,+0.02,-1.00) r=1.66m +[headless_play] t= 13.10s step= 655 trunk_z= 108.9mm grav_b=(+0.12,-0.05,-0.99) r=1.66m +[headless_play] t= 13.20s step= 660 trunk_z= 113.6mm grav_b=(+0.08,+0.02,-1.00) r=1.65m +[headless_play] t= 13.30s step= 665 trunk_z= 112.6mm grav_b=(+0.02,-0.02,-1.00) r=1.65m +[headless_play] t= 13.40s step= 670 trunk_z= 113.7mm grav_b=(-0.01,-0.01,-1.00) r=1.64m +[headless_play] t= 13.50s step= 675 trunk_z= 115.1mm grav_b=(-0.03,-0.02,-1.00) r=1.64m +[headless_play] t= 13.60s step= 680 trunk_z= 112.5mm grav_b=(-0.05,+0.03,-1.00) r=1.64m +[headless_play] t= 13.70s step= 685 trunk_z= 107.4mm grav_b=(+0.05,-0.15,-0.99) r=1.63m +[headless_play] t= 13.80s step= 690 trunk_z= 97.7mm grav_b=(+0.12,-0.07,-0.99) r=1.62m +[headless_play] t= 13.90s step= 695 trunk_z= 114.0mm grav_b=(+0.04,+0.05,-1.00) r=1.63m +[headless_play] t= 14.00s step= 700 trunk_z= 111.8mm grav_b=(+0.04,-0.05,-1.00) r=1.63m +[headless_play] t= 14.10s step= 705 trunk_z= 112.3mm grav_b=(+0.03,-0.00,-1.00) r=1.64m +[headless_play] t= 14.20s step= 710 trunk_z= 113.9mm grav_b=(+0.04,-0.02,-1.00) r=1.65m +[headless_play] t= 14.30s step= 715 trunk_z= 114.0mm grav_b=(+0.03,-0.00,-1.00) r=1.65m +[headless_play] t= 14.40s step= 720 trunk_z= 113.8mm grav_b=(+0.06,-0.01,-1.00) r=1.65m +[headless_play] t= 14.50s step= 725 trunk_z= 114.0mm grav_b=(+0.06,-0.01,-1.00) r=1.65m +[headless_play] t= 14.60s step= 730 trunk_z= 114.2mm grav_b=(+0.06,-0.02,-1.00) r=1.65m +[headless_play] t= 14.70s step= 735 trunk_z= 114.4mm grav_b=(+0.05,-0.02,-1.00) r=1.65m +[headless_play] t= 14.80s step= 740 trunk_z= 114.5mm grav_b=(-0.01,-0.03,-1.00) r=1.64m +[headless_play] t= 14.90s step= 745 trunk_z= 114.9mm grav_b=(-0.03,+0.00,-1.00) r=1.64m +[headless_play] t= 15.00s step= 750 trunk_z= 115.5mm grav_b=(+0.02,+0.00,-1.00) r=1.64m +[headless_play] t= 15.10s step= 755 trunk_z= 117.5mm grav_b=(+0.05,+0.05,-1.00) r=1.65m +[headless_play] t= 15.20s step= 760 trunk_z= 117.6mm grav_b=(+0.02,+0.02,-1.00) r=1.65m +[headless_play] t= 15.30s step= 765 trunk_z= 115.4mm grav_b=(-0.01,-0.00,-1.00) r=1.65m +[headless_play] t= 15.40s step= 770 trunk_z= 114.6mm grav_b=(-0.03,+0.00,-1.00) r=1.65m +[headless_play] t= 15.50s step= 775 trunk_z= 115.0mm grav_b=(-0.02,-0.00,-1.00) r=1.65m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(+0.00,-0.00,-1.00) r=1.65m +[headless_play] t= 15.70s step= 785 trunk_z= 115.3mm grav_b=(+0.00,+0.00,-1.00) r=1.65m +[headless_play] t= 15.80s step= 790 trunk_z= 115.3mm grav_b=(-0.01,-0.00,-1.00) r=1.65m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(-0.01,-0.00,-1.00) r=1.65m +[headless_play] t= 16.00s step= 800 trunk_z= 115.5mm grav_b=(-0.00,-0.00,-1.00) r=1.65m +[headless_play] t= 16.10s step= 805 trunk_z= 117.3mm grav_b=(+0.02,+0.06,-1.00) r=1.66m +[headless_play] t= 16.20s step= 810 trunk_z= 117.2mm grav_b=(+0.06,+0.05,-1.00) r=1.67m +[headless_play] t= 16.30s step= 815 trunk_z= 117.9mm grav_b=(+0.05,+0.03,-1.00) r=1.67m +[headless_play] t= 16.40s step= 820 trunk_z= 115.9mm grav_b=(+0.01,+0.05,-1.00) r=1.67m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(+0.03,+0.05,-1.00) r=1.67m +[headless_play] t= 16.60s step= 830 trunk_z= 116.5mm grav_b=(+0.01,+0.04,-1.00) r=1.67m +[headless_play] t= 16.70s step= 835 trunk_z= 117.0mm grav_b=(+0.00,+0.06,-1.00) r=1.67m +[headless_play] t= 16.80s step= 840 trunk_z= 116.8mm grav_b=(+0.02,+0.05,-1.00) r=1.67m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(+0.01,+0.05,-1.00) r=1.67m +[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(+0.00,+0.05,-1.00) r=1.66m +[headless_play] t= 17.10s step= 855 trunk_z= 116.9mm grav_b=(+0.02,+0.06,-1.00) r=1.67m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(+0.03,+0.06,-1.00) r=1.67m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(+0.04,+0.05,-1.00) r=1.67m +[headless_play] t= 17.40s step= 870 trunk_z= 116.8mm grav_b=(+0.02,+0.05,-1.00) r=1.66m +[headless_play] t= 17.50s step= 875 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=1.66m +[headless_play] t= 17.60s step= 880 trunk_z= 116.6mm grav_b=(+0.01,+0.05,-1.00) r=1.66m +[headless_play] t= 17.70s step= 885 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=1.66m +[headless_play] t= 17.80s step= 890 trunk_z= 117.2mm grav_b=(-0.00,+0.05,-1.00) r=1.65m +[headless_play] t= 17.90s step= 895 trunk_z= 117.1mm grav_b=(+0.01,+0.05,-1.00) r=1.65m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(+0.03,+0.06,-1.00) r=1.66m +[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(+0.05,+0.06,-1.00) r=1.66m +[headless_play] t= 18.20s step= 910 trunk_z= 117.8mm grav_b=(+0.05,+0.05,-1.00) r=1.66m +[headless_play] t= 18.30s step= 915 trunk_z= 116.2mm grav_b=(+0.01,+0.06,-1.00) r=1.65m +[headless_play] t= 18.40s step= 920 trunk_z= 114.6mm grav_b=(+0.02,+0.05,-1.00) r=1.66m +[headless_play] t= 18.50s step= 925 trunk_z= 113.8mm grav_b=(+0.01,+0.04,-1.00) r=1.66m +[headless_play] t= 18.60s step= 930 trunk_z= 113.1mm grav_b=(+0.01,+0.06,-1.00) r=1.66m +[headless_play] t= 18.70s step= 935 trunk_z= 112.3mm grav_b=(+0.04,+0.06,-1.00) r=1.66m +[headless_play] t= 18.80s step= 940 trunk_z= 111.9mm grav_b=(+0.07,+0.08,-0.99) r=1.67m +[headless_play] t= 18.90s step= 945 trunk_z= 112.2mm grav_b=(+0.09,+0.05,-0.99) r=1.66m +[headless_play] t= 19.00s step= 950 trunk_z= 111.5mm grav_b=(+0.08,+0.08,-0.99) r=1.66m +[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(+0.00,+0.01,-1.00) r=1.66m +[headless_play] t= 19.20s step= 960 trunk_z= 115.7mm grav_b=(-0.08,-0.04,-1.00) r=1.67m +[headless_play] t= 19.30s step= 965 trunk_z= 111.9mm grav_b=(-0.01,+0.11,-0.99) r=1.67m +[headless_play] t= 19.40s step= 970 trunk_z= 109.2mm grav_b=(+0.08,+0.03,-1.00) r=1.67m +[headless_play] t= 19.50s step= 975 trunk_z= 113.5mm grav_b=(+0.08,-0.04,-1.00) r=1.67m +[headless_play] t= 19.60s step= 980 trunk_z= 111.8mm grav_b=(-0.00,+0.08,-1.00) r=1.65m +[headless_play] t= 19.70s step= 985 trunk_z= 112.1mm grav_b=(-0.03,-0.04,-1.00) r=1.64m +[headless_play] t= 19.80s step= 990 trunk_z= 112.4mm grav_b=(+0.02,-0.01,-1.00) r=1.64m +[headless_play] t= 19.90s step= 995 trunk_z= 111.2mm grav_b=(+0.09,+0.09,-0.99) r=1.63m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.1mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=0.46m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..86328e44e982598a3d9b7aec0fbafb829b5e425f --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.984,-18.244,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.3mm grav_b=(-0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.06,-0.00,-1.00) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.23m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 1.30s step= 65 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.23m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(+0.08,-0.01,-1.00) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.06,-0.01,-1.00) r=0.23m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(+0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 115.8mm grav_b=(+0.09,-0.01,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 119.1mm grav_b=(+0.11,-0.03,-0.99) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 119.2mm grav_b=(+0.03,+0.04,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 116.3mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(+0.07,-0.01,-1.00) r=0.19m +[headless_play] t= 3.10s step= 155 trunk_z= 116.5mm grav_b=(+0.03,-0.02,-1.00) r=0.18m +[headless_play] t= 3.20s step= 160 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(+0.07,-0.01,-1.00) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 4.20s step= 210 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 116.0mm grav_b=(+0.07,-0.00,-1.00) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(+0.09,-0.02,-1.00) r=0.17m +[headless_play] t= 4.80s step= 240 trunk_z= 117.5mm grav_b=(+0.10,-0.03,-0.99) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 117.0mm grav_b=(+0.06,-0.03,-1.00) r=0.17m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 5.10s step= 255 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.17m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(+0.06,-0.01,-1.00) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 116.1mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 5.60s step= 280 trunk_z= 116.1mm grav_b=(+0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 5.90s step= 295 trunk_z= 115.7mm grav_b=(+0.05,-0.02,-1.00) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(+0.07,-0.01,-1.00) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.17m +[headless_play] t= 6.20s step= 310 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.17m +[headless_play] t= 6.30s step= 315 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 116.3mm grav_b=(+0.07,-0.02,-1.00) r=0.16m +[headless_play] t= 6.50s step= 325 trunk_z= 118.6mm grav_b=(+0.14,-0.02,-0.99) r=0.15m +[headless_play] t= 6.60s step= 330 trunk_z= 119.8mm grav_b=(+0.03,+0.07,-1.00) r=0.14m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(-0.07,+0.04,-1.00) r=0.13m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.12m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 7.00s step= 350 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.12m +[headless_play] t= 7.10s step= 355 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.12m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(+0.07,-0.02,-1.00) r=0.11m +[headless_play] t= 7.30s step= 365 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.11m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 7.50s step= 375 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 7.60s step= 380 trunk_z= 116.2mm grav_b=(+0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 7.70s step= 385 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 7.80s step= 390 trunk_z= 116.1mm grav_b=(+0.05,-0.01,-1.00) r=0.11m +[headless_play] t= 7.90s step= 395 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.11m +[headless_play] t= 8.00s step= 400 trunk_z= 116.3mm grav_b=(+0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 8.10s step= 405 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00) r=0.10m +[headless_play] t= 8.20s step= 410 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 8.30s step= 415 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.09m +[headless_play] t= 8.40s step= 420 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 8.60s step= 430 trunk_z= 116.2mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 8.70s step= 435 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 8.90s step= 445 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.10m +[headless_play] t= 9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.10m +[headless_play] t= 9.10s step= 455 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.10m +[headless_play] t= 9.20s step= 460 trunk_z= 115.8mm grav_b=(+0.08,-0.01,-1.00) r=0.10m +[headless_play] t= 9.30s step= 465 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.10m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.10m +[headless_play] t= 9.50s step= 475 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.10m +[headless_play] t= 9.60s step= 480 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.10m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 9.80s step= 490 trunk_z= 116.7mm grav_b=(-0.06,-0.01,-1.00) r=0.12m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(-0.07,+0.01,-1.00) r=0.13m +[headless_play] t= 10.00s step= 500 trunk_z= 107.2mm grav_b=(-0.04,+0.16,-0.99) r=0.14m +[headless_play] t= 10.10s step= 505 trunk_z= 109.8mm grav_b=(+0.05,+0.01,-1.00) r=0.14m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(+0.07,+0.01,-1.00) r=0.15m +[headless_play] t= 10.30s step= 515 trunk_z= 117.5mm grav_b=(+0.10,+0.01,-1.00) r=0.14m +[headless_play] t= 10.40s step= 520 trunk_z= 119.3mm grav_b=(+0.08,-0.03,-1.00) r=0.14m +[headless_play] t= 10.50s step= 525 trunk_z= 119.0mm grav_b=(+0.02,+0.08,-1.00) r=0.13m +[headless_play] t= 10.60s step= 530 trunk_z= 119.1mm grav_b=(-0.02,+0.04,-1.00) r=0.12m +[headless_play] t= 10.70s step= 535 trunk_z= 114.5mm grav_b=(+0.01,-0.00,-1.00) r=0.12m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.05,+0.00,-1.00) r=0.12m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.04,-0.00,-1.00) r=0.12m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.12m +[headless_play] t= 11.10s step= 555 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.12m +[headless_play] t= 11.20s step= 560 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.12m +[headless_play] t= 11.30s step= 565 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.12m +[headless_play] t= 11.40s step= 570 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.12m +[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.12m +[headless_play] t= 11.60s step= 580 trunk_z= 116.4mm grav_b=(+0.05,-0.01,-1.00) r=0.13m +[headless_play] t= 11.70s step= 585 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 12.20s step= 610 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 12.30s step= 615 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.14m +[headless_play] t= 12.50s step= 625 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.14m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.14m +[headless_play] t= 12.80s step= 640 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.14m +[headless_play] t= 12.90s step= 645 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.14m +[headless_play] t= 13.00s step= 650 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.14m +[headless_play] t= 13.10s step= 655 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 13.20s step= 660 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 13.30s step= 665 trunk_z= 115.2mm grav_b=(-0.07,+0.03,-1.00) r=0.19m +[headless_play] t= 13.40s step= 670 trunk_z= 113.6mm grav_b=(-0.13,-0.05,-0.99) r=0.20m +[headless_play] t= 13.50s step= 675 trunk_z= 117.2mm grav_b=(-0.08,+0.10,-0.99) r=0.21m +[headless_play] t= 13.60s step= 680 trunk_z= 97.5mm grav_b=(-0.01,+0.19,-0.98) r=0.22m +[headless_play] t= 13.70s step= 685 trunk_z= 108.5mm grav_b=(+0.17,+0.04,-0.99) r=0.24m +[headless_play] t= 13.80s step= 690 trunk_z= 127.2mm grav_b=(+0.09,+0.05,-0.99) r=0.24m +[headless_play] t= 13.90s step= 695 trunk_z= 104.1mm grav_b=(-0.03,+0.06,-1.00) r=0.23m +[headless_play] t= 14.00s step= 700 trunk_z= 109.4mm grav_b=(-0.04,-0.06,-1.00) r=0.22m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(-0.04,-0.07,-1.00) r=0.22m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(-0.07,-0.06,-1.00) r=0.22m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(-0.06,-0.03,-1.00) r=0.22m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 14.50s step= 725 trunk_z= 116.7mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 14.60s step= 730 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.21m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 14.90s step= 745 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 15.00s step= 750 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 15.30s step= 765 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.22m +[headless_play] t= 15.40s step= 770 trunk_z= 116.5mm grav_b=(+0.00,+0.00,-1.00) r=0.22m +[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 15.70s step= 785 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 15.80s step= 790 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 16.00s step= 800 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.10s step= 805 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.20s step= 810 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.30s step= 815 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.40s step= 820 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.60s step= 830 trunk_z= 115.6mm grav_b=(-0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 16.70s step= 835 trunk_z= 116.3mm grav_b=(-0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 16.80s step= 840 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.22m +[headless_play] t= 16.90s step= 845 trunk_z= 117.9mm grav_b=(+0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 17.00s step= 850 trunk_z= 118.8mm grav_b=(+0.04,+0.03,-1.00) r=0.21m +[headless_play] t= 17.10s step= 855 trunk_z= 118.5mm grav_b=(-0.00,-0.02,-1.00) r=0.21m +[headless_play] t= 17.20s step= 860 trunk_z= 118.8mm grav_b=(+0.00,+0.01,-1.00) r=0.21m +[headless_play] t= 17.30s step= 865 trunk_z= 118.7mm grav_b=(+0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 17.40s step= 870 trunk_z= 119.3mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 17.50s step= 875 trunk_z= 119.6mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 17.60s step= 880 trunk_z= 119.3mm grav_b=(+0.02,+0.01,-1.00) r=0.20m +[headless_play] t= 17.70s step= 885 trunk_z= 119.3mm grav_b=(-0.00,-0.02,-1.00) r=0.20m +[headless_play] t= 17.80s step= 890 trunk_z= 119.4mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 17.90s step= 895 trunk_z= 119.1mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 18.00s step= 900 trunk_z= 119.1mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 18.10s step= 905 trunk_z= 118.7mm grav_b=(+0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 18.20s step= 910 trunk_z= 117.0mm grav_b=(+0.05,+0.01,-1.00) r=0.18m +[headless_play] t= 18.30s step= 915 trunk_z= 116.0mm grav_b=(+0.10,-0.04,-0.99) r=0.16m +[headless_play] t= 18.40s step= 920 trunk_z= 115.8mm grav_b=(+0.07,+0.04,-1.00) r=0.15m +[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(+0.08,+0.07,-0.99) r=0.14m +[headless_play] t= 18.60s step= 930 trunk_z= 115.6mm grav_b=(+0.01,-0.07,-1.00) r=0.13m +[headless_play] t= 18.70s step= 935 trunk_z= 119.2mm grav_b=(-0.02,-0.05,-1.00) r=0.11m +[headless_play] t= 18.80s step= 940 trunk_z= 112.0mm grav_b=(+0.07,+0.05,-1.00) r=0.09m +[headless_play] t= 18.90s step= 945 trunk_z= 114.6mm grav_b=(+0.10,-0.10,-0.99) r=0.07m +[headless_play] t= 19.00s step= 950 trunk_z= 123.2mm grav_b=(+0.05,-0.15,-0.99) r=0.06m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(+0.01,+0.03,-1.00) r=0.05m +[headless_play] t= 19.20s step= 960 trunk_z= 120.6mm grav_b=(+0.03,+0.06,-1.00) r=0.06m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(+0.03,-0.03,-1.00) r=0.06m +[headless_play] t= 19.40s step= 970 trunk_z= 117.7mm grav_b=(+0.01,-0.03,-1.00) r=0.07m +[headless_play] t= 19.50s step= 975 trunk_z= 113.3mm grav_b=(+0.04,+0.15,-0.99) r=0.10m +[headless_play] t= 19.60s step= 980 trunk_z= 120.0mm grav_b=(+0.09,+0.13,-0.99) r=0.12m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(+0.03,-0.03,-1.00) r=0.14m +[headless_play] t= 19.80s step= 990 trunk_z= 118.8mm grav_b=(+0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 19.90s step= 995 trunk_z= 113.0mm grav_b=(+0.03,+0.10,-0.99) r=0.19m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.7mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..b82d384e53e14762afcc275ad77de5c0adbe18e8 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(+1.551,-17.944,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.8mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.03,+0.03,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 114.6mm grav_b=(+0.07,-0.00,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.02,+0.04,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(-0.03,-0.14,-0.99) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 116.7mm grav_b=(-0.02,-0.04,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 112.8mm grav_b=(+0.00,+0.03,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(-0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 109.6mm grav_b=(-0.04,-0.12,-0.99) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 112.0mm grav_b=(+0.04,-0.09,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 106.5mm grav_b=(+0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 114.3mm grav_b=(+0.08,-0.01,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 109.2mm grav_b=(+0.04,-0.09,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(+0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 110.0mm grav_b=(+0.02,+0.06,-1.00) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 109.1mm grav_b=(-0.01,-0.12,-0.99) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 113.2mm grav_b=(+0.03,-0.06,-1.00) r=0.47m +[headless_play] t= 2.00s step= 100 trunk_z= 106.7mm grav_b=(+0.12,+0.05,-0.99) r=0.48m +[headless_play] t= 2.10s step= 105 trunk_z= 114.9mm grav_b=(+0.09,+0.02,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(-0.00,-0.16,-0.99) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 124.2mm grav_b=(-0.04,-0.19,-0.98) r=0.51m +[headless_play] t= 2.40s step= 120 trunk_z= 124.8mm grav_b=(-0.04,-0.22,-0.98) r=0.51m +[headless_play] t= 2.50s step= 125 trunk_z= 131.8mm grav_b=(-0.07,-0.33,-0.94) r=0.50m +[headless_play] t= 2.60s step= 130 trunk_z= 133.1mm grav_b=(+0.08,-0.16,-0.98) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 125.1mm grav_b=(+0.11,-0.02,-0.99) r=0.50m +[headless_play] t= 2.80s step= 140 trunk_z= 119.2mm grav_b=(-0.02,+0.13,-0.99) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 121.8mm grav_b=(-0.02,+0.07,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 120.5mm grav_b=(-0.02,-0.07,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(-0.03,+0.04,-1.00) r=0.57m +[headless_play] t= 3.20s step= 160 trunk_z= 112.4mm grav_b=(+0.02,+0.04,-1.00) r=0.58m +[headless_play] t= 3.30s step= 165 trunk_z= 109.9mm grav_b=(+0.03,-0.10,-0.99) r=0.59m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(+0.04,-0.04,-1.00) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 118.2mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.02,+0.02,-1.00) r=0.61m +[headless_play] t= 3.70s step= 185 trunk_z= 119.1mm grav_b=(+0.03,-0.08,-1.00) r=0.62m +[headless_play] t= 3.80s step= 190 trunk_z= 118.6mm grav_b=(+0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 3.90s step= 195 trunk_z= 121.6mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 4.00s step= 200 trunk_z= 119.1mm grav_b=(+0.01,-0.10,-1.00) r=0.64m +[headless_play] t= 4.10s step= 205 trunk_z= 119.2mm grav_b=(+0.02,-0.00,-1.00) r=0.64m +[headless_play] t= 4.20s step= 210 trunk_z= 120.7mm grav_b=(+0.02,+0.05,-1.00) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 118.7mm grav_b=(-0.03,-0.10,-0.99) r=0.63m +[headless_play] t= 4.40s step= 220 trunk_z= 123.1mm grav_b=(-0.03,-0.07,-1.00) r=0.64m +[headless_play] t= 4.50s step= 225 trunk_z= 118.5mm grav_b=(-0.03,+0.04,-1.00) r=0.63m +[headless_play] t= 4.60s step= 230 trunk_z= 121.8mm grav_b=(-0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 120.3mm grav_b=(+0.02,-0.12,-0.99) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 119.0mm grav_b=(+0.05,-0.01,-1.00) r=0.64m +[headless_play] t= 4.90s step= 245 trunk_z= 120.0mm grav_b=(-0.04,+0.03,-1.00) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 118.5mm grav_b=(-0.05,-0.12,-0.99) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 120.9mm grav_b=(+0.00,-0.06,-1.00) r=0.63m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(-0.01,+0.07,-1.00) r=0.62m +[headless_play] t= 5.30s step= 265 trunk_z= 120.2mm grav_b=(+0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 5.40s step= 270 trunk_z= 118.5mm grav_b=(+0.04,-0.09,-1.00) r=0.63m +[headless_play] t= 5.50s step= 275 trunk_z= 118.3mm grav_b=(+0.08,+0.00,-1.00) r=0.63m +[headless_play] t= 5.60s step= 280 trunk_z= 119.8mm grav_b=(+0.03,+0.05,-1.00) r=0.62m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(-0.11,-0.09,-0.99) r=0.60m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(-0.06,+0.07,-1.00) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 120.5mm grav_b=(-0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 6.00s step= 300 trunk_z= 107.1mm grav_b=(+0.06,-0.16,-0.99) r=0.56m +[headless_play] t= 6.10s step= 305 trunk_z= 112.2mm grav_b=(+0.10,-0.02,-0.99) r=0.54m +[headless_play] t= 6.20s step= 310 trunk_z= 119.3mm grav_b=(+0.02,-0.08,-1.00) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(-0.04,-0.15,-0.99) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 119.6mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 6.50s step= 325 trunk_z= 123.0mm grav_b=(-0.01,+0.04,-1.00) r=0.54m +[headless_play] t= 6.60s step= 330 trunk_z= 120.3mm grav_b=(-0.01,-0.09,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 119.3mm grav_b=(+0.02,+0.08,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.55m +[headless_play] t= 6.90s step= 345 trunk_z= 122.7mm grav_b=(-0.00,-0.08,-1.00) r=0.56m +[headless_play] t= 7.00s step= 350 trunk_z= 118.6mm grav_b=(+0.00,+0.05,-1.00) r=0.56m +[headless_play] t= 7.10s step= 355 trunk_z= 117.5mm grav_b=(-0.01,-0.09,-1.00) r=0.56m +[headless_play] t= 7.20s step= 360 trunk_z= 116.4mm grav_b=(-0.01,+0.04,-1.00) r=0.57m +[headless_play] t= 7.30s step= 365 trunk_z= 117.9mm grav_b=(-0.01,-0.01,-1.00) r=0.57m +[headless_play] t= 7.40s step= 370 trunk_z= 118.3mm grav_b=(+0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 7.50s step= 375 trunk_z= 118.5mm grav_b=(+0.05,-0.00,-1.00) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 117.2mm grav_b=(+0.05,+0.03,-1.00) r=0.58m +[headless_play] t= 7.70s step= 385 trunk_z= 117.8mm grav_b=(+0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 7.80s step= 390 trunk_z= 117.1mm grav_b=(+0.02,+0.04,-1.00) r=0.58m +[headless_play] t= 7.90s step= 395 trunk_z= 117.9mm grav_b=(-0.00,-0.03,-1.00) r=0.59m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(+0.01,+0.02,-1.00) r=0.60m +[headless_play] t= 8.10s step= 405 trunk_z= 117.8mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(-0.05,+0.01,-1.00) r=0.58m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(-0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 8.40s step= 420 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 8.50s step= 425 trunk_z= 117.7mm grav_b=(+0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 8.60s step= 430 trunk_z= 116.9mm grav_b=(-0.03,+0.09,-1.00) r=0.59m +[headless_play] t= 8.70s step= 435 trunk_z= 115.5mm grav_b=(-0.05,-0.08,-1.00) r=0.60m +[headless_play] t= 8.80s step= 440 trunk_z= 120.1mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 8.90s step= 445 trunk_z= 114.6mm grav_b=(-0.06,+0.16,-0.99) r=0.61m +[headless_play] t= 9.00s step= 450 trunk_z= 120.4mm grav_b=(-0.11,+0.08,-0.99) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 118.5mm grav_b=(-0.06,-0.08,-0.99) r=0.63m +[headless_play] t= 9.20s step= 460 trunk_z= 122.7mm grav_b=(-0.00,-0.06,-1.00) r=0.62m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(+0.01,+0.06,-1.00) r=0.61m +[headless_play] t= 9.40s step= 470 trunk_z= 120.1mm grav_b=(+0.00,+0.05,-1.00) r=0.60m +[headless_play] t= 9.50s step= 475 trunk_z= 119.2mm grav_b=(-0.00,-0.13,-0.99) r=0.61m +[headless_play] t= 9.60s step= 480 trunk_z= 122.6mm grav_b=(+0.01,-0.07,-1.00) r=0.62m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.03,+0.10,-0.99) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 122.1mm grav_b=(-0.03,-0.05,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 125.2mm grav_b=(-0.02,-0.17,-0.98) r=0.65m +[headless_play] t= 10.00s step= 500 trunk_z= 131.5mm grav_b=(-0.00,-0.19,-0.98) r=0.67m +[headless_play] t= 10.10s step= 505 trunk_z= 131.6mm grav_b=(+0.03,-0.16,-0.99) r=0.68m +[headless_play] t= 10.20s step= 510 trunk_z= 129.5mm grav_b=(+0.04,-0.10,-0.99) r=0.70m +[headless_play] t= 10.30s step= 515 trunk_z= 122.9mm grav_b=(-0.03,+0.04,-1.00) r=0.71m +[headless_play] t= 10.40s step= 520 trunk_z= 121.3mm grav_b=(-0.05,-0.01,-1.00) r=0.73m +[headless_play] t= 10.50s step= 525 trunk_z= 117.6mm grav_b=(+0.09,-0.05,-0.99) r=0.74m +[headless_play] t= 10.60s step= 530 trunk_z= 119.2mm grav_b=(+0.01,+0.14,-0.99) r=0.75m +[headless_play] t= 10.70s step= 535 trunk_z= 121.4mm grav_b=(-0.06,+0.21,-0.97) r=0.77m +[headless_play] t= 10.80s step= 540 trunk_z= 124.4mm grav_b=(+0.01,+0.06,-1.00) r=0.80m +[headless_play] t= 10.90s step= 545 trunk_z= 126.0mm grav_b=(+0.03,-0.09,-1.00) r=0.83m +[headless_play] t= 11.00s step= 550 trunk_z= 124.2mm grav_b=(+0.09,-0.06,-0.99) r=0.84m +[headless_play] t= 11.10s step= 555 trunk_z= 117.4mm grav_b=(+0.06,+0.08,-1.00) r=0.86m +[headless_play] t= 11.20s step= 560 trunk_z= 124.2mm grav_b=(-0.01,-0.06,-1.00) r=0.89m +[headless_play] t= 11.30s step= 565 trunk_z= 119.9mm grav_b=(-0.08,-0.14,-0.99) r=0.92m +[headless_play] t= 11.40s step= 570 trunk_z= 123.2mm grav_b=(+0.04,-0.05,-1.00) r=0.96m +[headless_play] t= 11.50s step= 575 trunk_z= 119.0mm grav_b=(+0.05,+0.05,-1.00) r=0.99m +[headless_play] t= 11.60s step= 580 trunk_z= 117.3mm grav_b=(+0.00,-0.14,-0.99) r=1.01m +[headless_play] t= 11.70s step= 585 trunk_z= 123.4mm grav_b=(+0.08,-0.07,-0.99) r=1.04m +[headless_play] t= 11.80s step= 590 trunk_z= 115.2mm grav_b=(+0.01,+0.10,-0.99) r=1.07m +[headless_play] t= 11.90s step= 595 trunk_z= 123.6mm grav_b=(+0.01,+0.03,-1.00) r=1.09m +[headless_play] t= 12.00s step= 600 trunk_z= 118.6mm grav_b=(-0.01,-0.10,-0.99) r=1.11m +[headless_play] t= 12.10s step= 605 trunk_z= 121.0mm grav_b=(+0.01,+0.02,-1.00) r=1.13m +[headless_play] t= 12.20s step= 610 trunk_z= 120.7mm grav_b=(-0.02,+0.07,-1.00) r=1.14m +[headless_play] t= 12.30s step= 615 trunk_z= 115.5mm grav_b=(-0.05,-0.12,-0.99) r=1.14m +[headless_play] t= 12.40s step= 620 trunk_z= 116.8mm grav_b=(-0.01,+0.06,-1.00) r=1.15m +[headless_play] t= 12.50s step= 625 trunk_z= 122.8mm grav_b=(+0.01,+0.07,-1.00) r=1.16m +[headless_play] t= 12.60s step= 630 trunk_z= 117.8mm grav_b=(-0.03,-0.12,-0.99) r=1.17m +[headless_play] t= 12.70s step= 635 trunk_z= 119.0mm grav_b=(-0.03,+0.03,-1.00) r=1.19m +[headless_play] t= 12.80s step= 640 trunk_z= 121.4mm grav_b=(+0.04,+0.08,-1.00) r=1.20m +[headless_play] t= 12.90s step= 645 trunk_z= 113.9mm grav_b=(-0.02,-0.15,-0.99) r=1.22m +[headless_play] t= 13.00s step= 650 trunk_z= 118.3mm grav_b=(+0.02,+0.00,-1.00) r=1.25m +[headless_play] t= 13.10s step= 655 trunk_z= 120.9mm grav_b=(+0.06,+0.07,-1.00) r=1.27m +[headless_play] t= 13.20s step= 660 trunk_z= 115.2mm grav_b=(-0.01,-0.16,-0.99) r=1.30m +[headless_play] t= 13.30s step= 665 trunk_z= 118.3mm grav_b=(+0.01,-0.07,-1.00) r=1.33m +[headless_play] t= 13.40s step= 670 trunk_z= 114.8mm grav_b=(-0.03,+0.10,-0.99) r=1.36m +[headless_play] t= 13.50s step= 675 trunk_z= 121.2mm grav_b=(-0.02,+0.00,-1.00) r=1.38m +[headless_play] t= 13.60s step= 680 trunk_z= 119.1mm grav_b=(+0.02,-0.08,-1.00) r=1.40m +[headless_play] t= 13.70s step= 685 trunk_z= 117.3mm grav_b=(+0.00,+0.10,-1.00) r=1.41m +[headless_play] t= 13.80s step= 690 trunk_z= 123.0mm grav_b=(-0.02,+0.05,-1.00) r=1.42m +[headless_play] t= 13.90s step= 695 trunk_z= 119.1mm grav_b=(-0.02,-0.05,-1.00) r=1.44m +[headless_play] t= 14.00s step= 700 trunk_z= 117.7mm grav_b=(-0.01,+0.08,-1.00) r=1.45m +[headless_play] t= 14.10s step= 705 trunk_z= 117.8mm grav_b=(+0.01,-0.05,-1.00) r=1.47m +[headless_play] t= 14.20s step= 710 trunk_z= 121.3mm grav_b=(+0.03,+0.03,-1.00) r=1.49m +[headless_play] t= 14.30s step= 715 trunk_z= 122.1mm grav_b=(-0.00,+0.07,-1.00) r=1.50m +[headless_play] t= 14.40s step= 720 trunk_z= 117.5mm grav_b=(-0.04,-0.12,-0.99) r=1.52m +[headless_play] t= 14.50s step= 725 trunk_z= 120.5mm grav_b=(+0.04,+0.01,-1.00) r=1.56m +[headless_play] t= 14.60s step= 730 trunk_z= 120.5mm grav_b=(+0.08,+0.04,-1.00) r=1.59m +[headless_play] t= 14.70s step= 735 trunk_z= 114.1mm grav_b=(+0.01,-0.17,-0.99) r=1.62m +[headless_play] t= 14.80s step= 740 trunk_z= 119.8mm grav_b=(+0.02,-0.10,-1.00) r=1.66m +[headless_play] t= 14.90s step= 745 trunk_z= 117.3mm grav_b=(-0.01,+0.05,-1.00) r=1.69m +[headless_play] t= 15.00s step= 750 trunk_z= 122.0mm grav_b=(-0.03,+0.01,-1.00) r=1.71m +[headless_play] t= 15.10s step= 755 trunk_z= 118.0mm grav_b=(+0.02,-0.10,-0.99) r=1.74m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(+0.02,+0.09,-1.00) r=1.77m +[headless_play] t= 15.30s step= 765 trunk_z= 120.8mm grav_b=(-0.01,+0.07,-1.00) r=1.79m +[headless_play] t= 15.40s step= 770 trunk_z= 114.7mm grav_b=(-0.05,-0.06,-1.00) r=1.82m +[headless_play] t= 15.50s step= 775 trunk_z= 114.5mm grav_b=(+0.02,+0.06,-1.00) r=1.84m +[headless_play] t= 15.60s step= 780 trunk_z= 117.1mm grav_b=(+0.02,+0.05,-1.00) r=1.85m +[headless_play] t= 15.70s step= 785 trunk_z= 113.7mm grav_b=(+0.03,-0.03,-1.00) r=1.86m +[headless_play] t= 15.80s step= 790 trunk_z= 113.0mm grav_b=(+0.07,+0.09,-0.99) r=1.88m +[headless_play] t= 15.90s step= 795 trunk_z= 114.6mm grav_b=(+0.04,-0.05,-1.00) r=1.90m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(+0.02,-0.02,-1.00) r=1.92m +[headless_play] t= 16.10s step= 805 trunk_z= 112.1mm grav_b=(+0.01,+0.10,-0.99) r=1.94m +[headless_play] t= 16.20s step= 810 trunk_z= 117.9mm grav_b=(-0.01,+0.04,-1.00) r=1.95m +[headless_play] t= 16.30s step= 815 trunk_z= 115.7mm grav_b=(-0.02,-0.12,-0.99) r=1.97m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(+0.06,-0.01,-1.00) r=1.98m +[headless_play] t= 16.50s step= 825 trunk_z= 115.4mm grav_b=(+0.03,+0.10,-0.99) r=2.00m +[headless_play] t= 16.60s step= 830 trunk_z= 116.2mm grav_b=(-0.01,-0.06,-1.00) r=2.02m +[headless_play] t= 16.70s step= 835 trunk_z= 114.4mm grav_b=(+0.07,-0.04,-1.00) r=2.05m +[headless_play] t= 16.80s step= 840 trunk_z= 108.4mm grav_b=(+0.15,+0.14,-0.98) r=2.08m +[headless_play] t= 16.90s step= 845 trunk_z= 118.8mm grav_b=(+0.04,-0.02,-1.00) r=2.10m +[headless_play] t= 17.00s step= 850 trunk_z= 114.2mm grav_b=(-0.03,-0.12,-0.99) r=2.13m +[headless_play] t= 17.10s step= 855 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=2.16m +[headless_play] t= 17.20s step= 860 trunk_z= 112.3mm grav_b=(+0.03,+0.15,-0.99) r=2.19m +[headless_play] t= 17.30s step= 865 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=2.22m +[headless_play] t= 17.40s step= 870 trunk_z= 111.8mm grav_b=(-0.02,-0.13,-0.99) r=2.25m +[headless_play] t= 17.50s step= 875 trunk_z= 109.3mm grav_b=(+0.07,+0.08,-0.99) r=2.28m +[headless_play] t= 17.60s step= 880 trunk_z= 112.8mm grav_b=(+0.03,+0.02,-1.00) r=2.30m +[headless_play] t= 17.70s step= 885 trunk_z= 109.0mm grav_b=(-0.01,-0.14,-0.99) r=2.32m +[headless_play] t= 17.80s step= 890 trunk_z= 114.6mm grav_b=(+0.04,-0.04,-1.00) r=2.35m +[headless_play] t= 17.90s step= 895 trunk_z= 105.3mm grav_b=(+0.07,+0.11,-0.99) r=2.37m +[headless_play] t= 18.00s step= 900 trunk_z= 112.7mm grav_b=(-0.01,-0.00,-1.00) r=2.39m +[headless_play] t= 18.10s step= 905 trunk_z= 107.9mm grav_b=(+0.08,+0.02,-1.00) r=2.42m +[headless_play] t= 18.20s step= 910 trunk_z= 104.6mm grav_b=(+0.14,+0.16,-0.98) r=2.44m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(+0.06,+0.02,-1.00) r=2.45m +[headless_play] t= 18.40s step= 920 trunk_z= 108.1mm grav_b=(-0.01,-0.15,-0.99) r=2.48m +[headless_play] t= 18.50s step= 925 trunk_z= 115.5mm grav_b=(-0.03,-0.06,-1.00) r=2.49m +[headless_play] t= 18.60s step= 930 trunk_z= 114.0mm grav_b=(-0.02,+0.09,-1.00) r=2.52m +[headless_play] t= 18.70s step= 935 trunk_z= 118.2mm grav_b=(-0.03,+0.06,-1.00) r=2.53m +[headless_play] t= 18.80s step= 940 trunk_z= 108.9mm grav_b=(+0.02,-0.02,-1.00) r=2.55m +[headless_play] t= 18.90s step= 945 trunk_z= 102.5mm grav_b=(+0.15,+0.10,-0.98) r=2.57m +[headless_play] t= 19.00s step= 950 trunk_z= 109.8mm grav_b=(+0.19,+0.10,-0.98) r=2.59m +[headless_play] t= 19.10s step= 955 trunk_z= 101.3mm grav_b=(+0.04,-0.22,-0.97) r=2.61m +[headless_play] t= 19.20s step= 960 trunk_z= 101.7mm grav_b=(-0.19,-0.40,-0.90) r=2.63m +[headless_play] t= 19.30s step= 965 trunk_z= 118.0mm grav_b=(-0.40,-0.14,-0.91) r=2.67m +[headless_play] t= 19.40s step= 970 trunk_z= 65.2mm grav_b=(-0.53,+0.51,-0.68) r=2.70m +[headless_play] RESET at t= 19.48s step= 974 (env termination, not a recovery) +[headless_play] t= 19.50s step= 975 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.25m +[headless_play] t= 19.60s step= 980 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.26m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.26m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(+0.04,+0.00,-1.00) r=0.26m +[headless_play] t= 19.90s step= 995 trunk_z= 119.4mm grav_b=(+0.01,+0.06,-1.00) r=0.27m +[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.00,-0.04,-1.00) r=0.27m +[headless_play] t= 20.10s step=1005 trunk_z= 118.3mm grav_b=(-0.02,+0.04,-1.00) r=0.28m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..e44e6c50e7ef142f64cf9170500bb3356d9dd427 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-10.372,-17.960,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(+0.05,-0.02,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(+0.03,+0.05,-1.00) r=0.36m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 123.8mm grav_b=(-0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 117.4mm grav_b=(+0.00,+0.08,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 120.7mm grav_b=(-0.03,-0.09,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 122.8mm grav_b=(+0.02,-0.09,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 118.0mm grav_b=(-0.02,+0.07,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 120.1mm grav_b=(-0.05,-0.05,-1.00) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 125.6mm grav_b=(+0.03,-0.16,-0.99) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 122.1mm grav_b=(+0.04,-0.07,-1.00) r=0.29m +[headless_play] t= 1.30s step= 65 trunk_z= 118.0mm grav_b=(-0.01,+0.08,-1.00) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 121.0mm grav_b=(-0.04,-0.07,-1.00) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 121.3mm grav_b=(+0.05,-0.09,-1.00) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 117.8mm grav_b=(-0.00,+0.06,-1.00) r=0.23m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(-0.04,+0.00,-1.00) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 120.8mm grav_b=(-0.06,-0.11,-0.99) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.23m +[headless_play] t= 2.00s step= 100 trunk_z= 122.1mm grav_b=(+0.02,+0.05,-1.00) r=0.22m +[headless_play] t= 2.10s step= 105 trunk_z= 119.4mm grav_b=(+0.04,-0.12,-0.99) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 119.1mm grav_b=(+0.04,-0.02,-1.00) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 117.7mm grav_b=(-0.00,+0.01,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 121.3mm grav_b=(+0.03,-0.10,-0.99) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 119.3mm grav_b=(+0.02,+0.01,-1.00) r=0.24m +[headless_play] t= 2.60s step= 130 trunk_z= 119.1mm grav_b=(-0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 2.70s step= 135 trunk_z= 122.0mm grav_b=(+0.02,-0.12,-0.99) r=0.25m +[headless_play] t= 2.80s step= 140 trunk_z= 122.4mm grav_b=(+0.02,-0.03,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(-0.07,+0.07,-1.00) r=0.26m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(-0.12,-0.07,-0.99) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 122.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 3.20s step= 160 trunk_z= 112.3mm grav_b=(+0.03,+0.15,-0.99) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(+0.10,+0.01,-1.00) r=0.28m +[headless_play] t= 3.40s step= 170 trunk_z= 117.9mm grav_b=(+0.07,-0.11,-0.99) r=0.29m +[headless_play] t= 3.50s step= 175 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=0.29m +[headless_play] t= 3.60s step= 180 trunk_z= 119.6mm grav_b=(-0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 116.6mm grav_b=(-0.02,-0.17,-0.99) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 117.9mm grav_b=(+0.01,-0.08,-1.00) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(+0.04,+0.03,-1.00) r=0.26m +[headless_play] t= 4.00s step= 200 trunk_z= 122.4mm grav_b=(+0.06,+0.05,-1.00) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(+0.03,-0.14,-0.99) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 118.4mm grav_b=(+0.03,-0.05,-1.00) r=0.25m +[headless_play] t= 4.30s step= 215 trunk_z= 116.3mm grav_b=(+0.04,+0.08,-1.00) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 119.8mm grav_b=(+0.04,-0.05,-1.00) r=0.22m +[headless_play] t= 4.50s step= 225 trunk_z= 118.8mm grav_b=(+0.02,-0.09,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(+0.03,+0.03,-1.00) r=0.21m +[headless_play] t= 4.70s step= 235 trunk_z= 121.9mm grav_b=(+0.03,+0.06,-1.00) r=0.20m +[headless_play] t= 4.80s step= 240 trunk_z= 115.3mm grav_b=(+0.02,-0.13,-0.99) r=0.20m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.04,-0.04,-1.00) r=0.20m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(+0.03,+0.08,-1.00) r=0.20m +[headless_play] t= 5.10s step= 255 trunk_z= 116.6mm grav_b=(+0.03,-0.09,-1.00) r=0.21m +[headless_play] t= 5.20s step= 260 trunk_z= 120.8mm grav_b=(+0.07,-0.12,-0.99) r=0.23m +[headless_play] t= 5.30s step= 265 trunk_z= 116.8mm grav_b=(+0.07,+0.02,-1.00) r=0.24m +[headless_play] t= 5.40s step= 270 trunk_z= 121.9mm grav_b=(+0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 5.50s step= 275 trunk_z= 114.9mm grav_b=(-0.01,-0.13,-0.99) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 121.4mm grav_b=(+0.03,+0.07,-1.00) r=0.29m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(+0.05,-0.12,-0.99) r=0.30m +[headless_play] t= 5.90s step= 295 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00) r=0.31m +[headless_play] t= 6.00s step= 300 trunk_z= 118.7mm grav_b=(+0.05,+0.08,-1.00) r=0.33m +[headless_play] t= 6.10s step= 305 trunk_z= 116.1mm grav_b=(+0.02,-0.15,-0.99) r=0.35m +[headless_play] t= 6.20s step= 310 trunk_z= 118.4mm grav_b=(-0.01,-0.06,-1.00) r=0.37m +[headless_play] t= 6.30s step= 315 trunk_z= 116.7mm grav_b=(+0.02,+0.08,-1.00) r=0.39m +[headless_play] t= 6.40s step= 320 trunk_z= 119.8mm grav_b=(+0.04,-0.07,-1.00) r=0.40m +[headless_play] t= 6.50s step= 325 trunk_z= 123.1mm grav_b=(+0.01,-0.14,-0.99) r=0.41m +[headless_play] t= 6.60s step= 330 trunk_z= 119.4mm grav_b=(+0.03,-0.05,-1.00) r=0.42m +[headless_play] t= 6.70s step= 335 trunk_z= 120.4mm grav_b=(-0.00,+0.07,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(+0.02,-0.10,-1.00) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(+0.05,-0.08,-1.00) r=0.48m +[headless_play] t= 7.00s step= 350 trunk_z= 115.0mm grav_b=(+0.07,+0.09,-0.99) r=0.51m +[headless_play] t= 7.10s step= 355 trunk_z= 124.7mm grav_b=(+0.09,+0.02,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 118.3mm grav_b=(+0.05,-0.12,-0.99) r=0.58m +[headless_play] t= 7.30s step= 365 trunk_z= 118.3mm grav_b=(+0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 7.40s step= 370 trunk_z= 121.2mm grav_b=(+0.01,+0.07,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 113.2mm grav_b=(+0.00,-0.12,-0.99) r=0.66m +[headless_play] t= 7.60s step= 380 trunk_z= 118.2mm grav_b=(+0.02,-0.03,-1.00) r=0.68m +[headless_play] t= 7.70s step= 385 trunk_z= 119.2mm grav_b=(+0.02,+0.05,-1.00) r=0.69m +[headless_play] t= 7.80s step= 390 trunk_z= 118.3mm grav_b=(+0.00,-0.12,-0.99) r=0.69m +[headless_play] t= 7.90s step= 395 trunk_z= 120.8mm grav_b=(+0.04,-0.04,-1.00) r=0.70m +[headless_play] t= 8.00s step= 400 trunk_z= 118.7mm grav_b=(+0.02,+0.01,-1.00) r=0.71m +[headless_play] t= 8.10s step= 405 trunk_z= 119.5mm grav_b=(+0.00,-0.08,-1.00) r=0.73m +[headless_play] t= 8.20s step= 410 trunk_z= 118.0mm grav_b=(-0.00,+0.09,-1.00) r=0.74m +[headless_play] t= 8.30s step= 415 trunk_z= 118.6mm grav_b=(+0.00,-0.13,-0.99) r=0.75m +[headless_play] t= 8.40s step= 420 trunk_z= 123.1mm grav_b=(-0.03,-0.08,-1.00) r=0.77m +[headless_play] t= 8.50s step= 425 trunk_z= 120.0mm grav_b=(+0.03,+0.06,-1.00) r=0.80m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(+0.08,-0.14,-0.99) r=0.84m +[headless_play] t= 8.70s step= 435 trunk_z= 119.3mm grav_b=(+0.04,+0.07,-1.00) r=0.87m +[headless_play] t= 8.80s step= 440 trunk_z= 115.9mm grav_b=(-0.07,+0.12,-0.99) r=0.90m +[headless_play] t= 8.90s step= 445 trunk_z= 117.4mm grav_b=(-0.06,-0.03,-1.00) r=0.93m +[headless_play] t= 9.00s step= 450 trunk_z= 120.2mm grav_b=(+0.03,-0.07,-1.00) r=0.94m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(+0.08,+0.09,-0.99) r=0.95m +[headless_play] t= 9.20s step= 460 trunk_z= 119.4mm grav_b=(-0.01,-0.08,-1.00) r=0.95m +[headless_play] t= 9.30s step= 465 trunk_z= 119.9mm grav_b=(-0.07,-0.10,-0.99) r=0.95m +[headless_play] t= 9.40s step= 470 trunk_z= 118.9mm grav_b=(-0.04,+0.03,-1.00) r=0.96m +[headless_play] t= 9.50s step= 475 trunk_z= 115.8mm grav_b=(+0.07,-0.13,-0.99) r=0.96m +[headless_play] t= 9.60s step= 480 trunk_z= 121.5mm grav_b=(+0.05,+0.02,-1.00) r=0.97m +[headless_play] t= 9.70s step= 485 trunk_z= 123.0mm grav_b=(-0.00,+0.08,-1.00) r=0.98m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(-0.04,-0.11,-0.99) r=0.98m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(-0.02,+0.04,-1.00) r=0.97m +[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.02,-0.04,-1.00) r=0.97m +[headless_play] t= 10.10s step= 505 trunk_z= 118.0mm grav_b=(+0.00,+0.03,-1.00) r=0.97m +[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=0.98m +[headless_play] t= 10.30s step= 515 trunk_z= 117.9mm grav_b=(+0.03,+0.02,-1.00) r=0.99m +[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(+0.03,+0.01,-1.00) r=1.00m +[headless_play] t= 10.50s step= 525 trunk_z= 117.6mm grav_b=(-0.01,-0.02,-1.00) r=1.00m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=1.01m +[headless_play] t= 10.70s step= 535 trunk_z= 116.5mm grav_b=(+0.02,+0.02,-1.00) r=1.01m +[headless_play] t= 10.80s step= 540 trunk_z= 117.4mm grav_b=(+0.02,-0.06,-1.00) r=1.02m +[headless_play] t= 10.90s step= 545 trunk_z= 117.1mm grav_b=(+0.00,+0.06,-1.00) r=1.03m +[headless_play] t= 11.00s step= 550 trunk_z= 116.5mm grav_b=(+0.05,-0.10,-0.99) r=1.04m +[headless_play] t= 11.10s step= 555 trunk_z= 116.3mm grav_b=(-0.05,+0.07,-1.00) r=1.05m +[headless_play] t= 11.20s step= 560 trunk_z= 117.7mm grav_b=(+0.01,-0.06,-1.00) r=1.05m +[headless_play] t= 11.30s step= 565 trunk_z= 119.5mm grav_b=(+0.02,-0.03,-1.00) r=1.06m +[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(-0.03,+0.09,-1.00) r=1.08m +[headless_play] t= 11.50s step= 575 trunk_z= 119.5mm grav_b=(+0.01,-0.12,-0.99) r=1.09m +[headless_play] t= 11.60s step= 580 trunk_z= 123.1mm grav_b=(+0.07,-0.05,-1.00) r=1.10m +[headless_play] t= 11.70s step= 585 trunk_z= 116.6mm grav_b=(-0.06,+0.10,-0.99) r=1.12m +[headless_play] t= 11.80s step= 590 trunk_z= 119.5mm grav_b=(-0.13,+0.06,-0.99) r=1.14m +[headless_play] t= 11.90s step= 595 trunk_z= 117.7mm grav_b=(-0.02,-0.10,-0.99) r=1.15m +[headless_play] t= 12.00s step= 600 trunk_z= 118.2mm grav_b=(+0.06,-0.01,-1.00) r=1.15m +[headless_play] t= 12.10s step= 605 trunk_z= 117.7mm grav_b=(+0.01,+0.12,-0.99) r=1.15m +[headless_play] t= 12.20s step= 610 trunk_z= 118.4mm grav_b=(-0.05,-0.05,-1.00) r=1.16m +[headless_play] t= 12.30s step= 615 trunk_z= 118.3mm grav_b=(-0.05,-0.05,-1.00) r=1.18m +[headless_play] t= 12.40s step= 620 trunk_z= 115.9mm grav_b=(+0.01,+0.11,-0.99) r=1.19m +[headless_play] t= 12.50s step= 625 trunk_z= 127.3mm grav_b=(+0.05,+0.06,-1.00) r=1.19m +[headless_play] t= 12.60s step= 630 trunk_z= 121.9mm grav_b=(+0.04,-0.12,-0.99) r=1.20m +[headless_play] t= 12.70s step= 635 trunk_z= 125.4mm grav_b=(-0.00,-0.04,-1.00) r=1.22m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(-0.02,+0.08,-1.00) r=1.23m +[headless_play] t= 12.90s step= 645 trunk_z= 122.0mm grav_b=(-0.03,-0.03,-1.00) r=1.24m +[headless_play] t= 13.00s step= 650 trunk_z= 123.9mm grav_b=(-0.07,-0.17,-0.98) r=1.25m +[headless_play] t= 13.10s step= 655 trunk_z= 128.4mm grav_b=(+0.00,-0.13,-0.99) r=1.26m +[headless_play] t= 13.20s step= 660 trunk_z= 121.1mm grav_b=(-0.02,+0.00,-1.00) r=1.27m +[headless_play] t= 13.30s step= 665 trunk_z= 123.6mm grav_b=(-0.01,+0.06,-1.00) r=1.28m +[headless_play] t= 13.40s step= 670 trunk_z= 119.3mm grav_b=(+0.02,-0.15,-0.99) r=1.29m +[headless_play] t= 13.50s step= 675 trunk_z= 123.7mm grav_b=(+0.02,-0.06,-1.00) r=1.31m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(+0.06,+0.08,-0.99) r=1.33m +[headless_play] t= 13.70s step= 685 trunk_z= 118.9mm grav_b=(-0.01,-0.12,-0.99) r=1.35m +[headless_play] t= 13.80s step= 690 trunk_z= 122.9mm grav_b=(+0.02,-0.07,-1.00) r=1.38m +[headless_play] t= 13.90s step= 695 trunk_z= 117.0mm grav_b=(-0.00,+0.06,-1.00) r=1.40m +[headless_play] t= 14.00s step= 700 trunk_z= 122.2mm grav_b=(-0.03,-0.04,-1.00) r=1.42m +[headless_play] t= 14.10s step= 705 trunk_z= 120.7mm grav_b=(-0.02,-0.08,-1.00) r=1.44m +[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(+0.01,+0.09,-1.00) r=1.47m +[headless_play] t= 14.30s step= 715 trunk_z= 119.4mm grav_b=(+0.02,-0.06,-1.00) r=1.48m +[headless_play] t= 14.40s step= 720 trunk_z= 119.9mm grav_b=(+0.04,-0.04,-1.00) r=1.50m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(+0.00,+0.08,-1.00) r=1.52m +[headless_play] t= 14.60s step= 730 trunk_z= 116.8mm grav_b=(-0.03,-0.09,-1.00) r=1.54m +[headless_play] t= 14.70s step= 735 trunk_z= 117.6mm grav_b=(-0.01,+0.04,-1.00) r=1.56m +[headless_play] t= 14.80s step= 740 trunk_z= 119.6mm grav_b=(+0.01,+0.08,-1.00) r=1.57m +[headless_play] t= 14.90s step= 745 trunk_z= 117.2mm grav_b=(-0.03,-0.13,-0.99) r=1.59m +[headless_play] t= 15.00s step= 750 trunk_z= 119.5mm grav_b=(+0.00,-0.00,-1.00) r=1.61m +[headless_play] t= 15.10s step= 755 trunk_z= 118.2mm grav_b=(+0.04,+0.10,-0.99) r=1.63m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(-0.02,-0.12,-0.99) r=1.65m +[headless_play] t= 15.30s step= 765 trunk_z= 119.3mm grav_b=(+0.01,-0.06,-1.00) r=1.68m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(-0.01,+0.09,-1.00) r=1.70m +[headless_play] t= 15.50s step= 775 trunk_z= 118.3mm grav_b=(+0.01,-0.07,-1.00) r=1.73m +[headless_play] t= 15.60s step= 780 trunk_z= 125.6mm grav_b=(+0.13,-0.10,-0.99) r=1.75m +[headless_play] t= 15.70s step= 785 trunk_z= 126.9mm grav_b=(+0.00,+0.04,-1.00) r=1.78m +[headless_play] t= 15.80s step= 790 trunk_z= 112.2mm grav_b=(-0.05,+0.13,-0.99) r=1.81m +[headless_play] t= 15.90s step= 795 trunk_z= 116.3mm grav_b=(-0.03,-0.02,-1.00) r=1.83m +[headless_play] t= 16.00s step= 800 trunk_z= 120.7mm grav_b=(-0.01,-0.05,-1.00) r=1.85m +[headless_play] t= 16.10s step= 805 trunk_z= 113.4mm grav_b=(+0.06,+0.11,-0.99) r=1.87m +[headless_play] t= 16.20s step= 810 trunk_z= 125.9mm grav_b=(+0.04,-0.00,-1.00) r=1.88m +[headless_play] t= 16.30s step= 815 trunk_z= 116.8mm grav_b=(+0.03,-0.22,-0.98) r=1.90m +[headless_play] t= 16.40s step= 820 trunk_z= 121.8mm grav_b=(-0.07,-0.14,-0.99) r=1.90m +[headless_play] t= 16.50s step= 825 trunk_z= 116.6mm grav_b=(-0.03,+0.05,-1.00) r=1.91m +[headless_play] t= 16.60s step= 830 trunk_z= 120.1mm grav_b=(-0.01,-0.02,-1.00) r=1.91m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(-0.02,-0.16,-0.99) r=1.92m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=1.93m +[headless_play] t= 16.90s step= 845 trunk_z= 121.7mm grav_b=(+0.02,+0.03,-1.00) r=1.95m +[headless_play] t= 17.00s step= 850 trunk_z= 119.9mm grav_b=(+0.00,-0.13,-0.99) r=1.97m +[headless_play] t= 17.10s step= 855 trunk_z= 119.7mm grav_b=(+0.01,+0.02,-1.00) r=1.99m +[headless_play] t= 17.20s step= 860 trunk_z= 119.6mm grav_b=(+0.01,+0.05,-1.00) r=2.01m +[headless_play] t= 17.30s step= 865 trunk_z= 117.4mm grav_b=(+0.00,-0.15,-0.99) r=2.04m +[headless_play] t= 17.40s step= 870 trunk_z= 120.6mm grav_b=(+0.07,-0.01,-1.00) r=2.07m +[headless_play] t= 17.50s step= 875 trunk_z= 114.5mm grav_b=(+0.03,+0.11,-0.99) r=2.10m +[headless_play] t= 17.60s step= 880 trunk_z= 116.9mm grav_b=(-0.01,-0.06,-1.00) r=2.12m +[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(+0.01,-0.05,-1.00) r=2.15m +[headless_play] t= 17.80s step= 890 trunk_z= 114.4mm grav_b=(+0.01,+0.12,-0.99) r=2.17m +[headless_play] t= 17.90s step= 895 trunk_z= 120.3mm grav_b=(+0.01,-0.00,-1.00) r=2.19m +[headless_play] t= 18.00s step= 900 trunk_z= 118.4mm grav_b=(-0.03,-0.14,-0.99) r=2.21m +[headless_play] t= 18.10s step= 905 trunk_z= 120.6mm grav_b=(+0.02,-0.02,-1.00) r=2.23m +[headless_play] t= 18.20s step= 910 trunk_z= 120.6mm grav_b=(+0.05,+0.07,-1.00) r=2.26m +[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(-0.05,-0.13,-0.99) r=2.26m +[headless_play] t= 18.40s step= 920 trunk_z= 119.3mm grav_b=(-0.02,-0.00,-1.00) r=2.28m +[headless_play] t= 18.50s step= 925 trunk_z= 120.1mm grav_b=(+0.04,+0.07,-1.00) r=2.30m +[headless_play] t= 18.60s step= 930 trunk_z= 118.0mm grav_b=(+0.03,-0.09,-1.00) r=2.32m +[headless_play] t= 18.70s step= 935 trunk_z= 121.0mm grav_b=(+0.03,+0.01,-1.00) r=2.33m +[headless_play] t= 18.80s step= 940 trunk_z= 118.9mm grav_b=(-0.00,+0.03,-1.00) r=2.35m +[headless_play] t= 18.90s step= 945 trunk_z= 118.8mm grav_b=(+0.00,-0.08,-1.00) r=2.37m +[headless_play] t= 19.00s step= 950 trunk_z= 117.6mm grav_b=(-0.01,+0.02,-1.00) r=2.40m +[headless_play] t= 19.10s step= 955 trunk_z= 121.2mm grav_b=(+0.04,+0.02,-1.00) r=2.42m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(+0.05,-0.12,-0.99) r=2.45m +[headless_play] t= 19.30s step= 965 trunk_z= 114.4mm grav_b=(-0.04,+0.07,-1.00) r=2.47m +[headless_play] t= 19.40s step= 970 trunk_z= 119.1mm grav_b=(+0.02,+0.05,-1.00) r=2.49m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(+0.02,-0.10,-0.99) r=2.51m +[headless_play] t= 19.60s step= 980 trunk_z= 112.8mm grav_b=(-0.01,+0.07,-1.00) r=2.52m +[headless_play] t= 19.70s step= 985 trunk_z= 118.2mm grav_b=(+0.05,+0.07,-1.00) r=2.53m +[headless_play] t= 19.80s step= 990 trunk_z= 116.3mm grav_b=(-0.04,-0.11,-0.99) r=2.53m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(-0.03,+0.00,-1.00) r=2.52m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.1mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..4dc400ff1cd194c6f6e235e8ddb345f1c89801da --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-c-2026-10-17/z6-c-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(-13.748,-18.315,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(-0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(-0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 118.8mm grav_b=(+0.06,-0.01,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 123.2mm grav_b=(+0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 120.8mm grav_b=(+0.02,+0.06,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 125.1mm grav_b=(-0.06,+0.06,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 115.5mm grav_b=(-0.06,+0.01,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(-0.03,+0.06,-1.00) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 114.1mm grav_b=(-0.00,-0.00,-1.00) r=0.47m +[headless_play] t= 1.70s step= 85 trunk_z= 113.2mm grav_b=(+0.05,-0.04,-1.00) r=0.48m +[headless_play] t= 1.80s step= 90 trunk_z= 114.4mm grav_b=(+0.05,-0.05,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 114.8mm grav_b=(-0.01,-0.05,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 115.0mm grav_b=(-0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 114.9mm grav_b=(-0.01,-0.03,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 114.4mm grav_b=(+0.00,-0.03,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 114.7mm grav_b=(+0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 2.40s step= 120 trunk_z= 115.4mm grav_b=(+0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 2.50s step= 125 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 2.60s step= 130 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 2.80s step= 140 trunk_z= 115.6mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 115.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 115.6mm grav_b=(-0.11,-0.01,-0.99) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 107.8mm grav_b=(-0.07,+0.14,-0.99) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 97.4mm grav_b=(+0.18,+0.16,-0.97) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 121.8mm grav_b=(+0.27,+0.06,-0.96) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 120.7mm grav_b=(+0.05,-0.19,-0.98) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 83.1mm grav_b=(-0.16,-0.06,-0.98) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 86.2mm grav_b=(-0.13,-0.07,-0.99) r=0.51m +[headless_play] t= 3.80s step= 190 trunk_z= 109.8mm grav_b=(-0.00,-0.03,-1.00) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 115.3mm grav_b=(-0.06,-0.08,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 117.8mm grav_b=(-0.07,-0.06,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 117.6mm grav_b=(-0.05,-0.04,-1.00) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 117.3mm grav_b=(-0.04,-0.03,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 115.0mm grav_b=(-0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 114.5mm grav_b=(-0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 115.0mm grav_b=(+0.02,-0.04,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(+0.01,-0.05,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 115.8mm grav_b=(-0.01,-0.05,-1.00) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 117.2mm grav_b=(-0.01,+0.02,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 117.1mm grav_b=(-0.00,+0.00,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 116.9mm grav_b=(+0.04,-0.06,-1.00) r=0.53m +[headless_play] t= 5.10s step= 255 trunk_z= 112.6mm grav_b=(+0.00,+0.09,-1.00) r=0.54m +[headless_play] t= 5.20s step= 260 trunk_z= 119.5mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 5.30s step= 265 trunk_z= 121.9mm grav_b=(-0.04,-0.09,-0.99) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 118.7mm grav_b=(-0.00,+0.00,-1.00) r=0.59m +[headless_play] t= 5.50s step= 275 trunk_z= 119.0mm grav_b=(-0.00,-0.00,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 115.1mm grav_b=(+0.00,-0.07,-1.00) r=0.61m +[headless_play] t= 5.70s step= 285 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 111.3mm grav_b=(+0.03,+0.09,-1.00) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 119.6mm grav_b=(+0.01,+0.04,-1.00) r=0.63m +[headless_play] t= 6.00s step= 300 trunk_z= 114.4mm grav_b=(-0.03,-0.11,-0.99) r=0.65m +[headless_play] t= 6.10s step= 305 trunk_z= 118.0mm grav_b=(+0.03,-0.03,-1.00) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 114.9mm grav_b=(+0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(+0.06,-0.02,-1.00) r=0.70m +[headless_play] t= 6.40s step= 320 trunk_z= 119.4mm grav_b=(-0.02,-0.04,-1.00) r=0.73m +[headless_play] t= 6.50s step= 325 trunk_z= 112.4mm grav_b=(+0.04,+0.12,-0.99) r=0.74m +[headless_play] t= 6.60s step= 330 trunk_z= 119.3mm grav_b=(+0.05,+0.01,-1.00) r=0.75m +[headless_play] t= 6.70s step= 335 trunk_z= 119.7mm grav_b=(-0.05,-0.12,-0.99) r=0.77m +[headless_play] t= 6.80s step= 340 trunk_z= 117.7mm grav_b=(+0.02,+0.06,-1.00) r=0.80m +[headless_play] t= 6.90s step= 345 trunk_z= 116.6mm grav_b=(+0.12,+0.03,-0.99) r=0.82m +[headless_play] t= 7.00s step= 350 trunk_z= 113.5mm grav_b=(-0.05,-0.15,-0.99) r=0.84m +[headless_play] t= 7.10s step= 355 trunk_z= 118.0mm grav_b=(-0.04,+0.07,-1.00) r=0.86m +[headless_play] t= 7.20s step= 360 trunk_z= 121.1mm grav_b=(+0.08,+0.10,-0.99) r=0.88m +[headless_play] t= 7.30s step= 365 trunk_z= 115.3mm grav_b=(+0.00,-0.09,-1.00) r=0.89m +[headless_play] t= 7.40s step= 370 trunk_z= 121.5mm grav_b=(-0.00,-0.01,-1.00) r=0.91m +[headless_play] t= 7.50s step= 375 trunk_z= 117.1mm grav_b=(-0.04,+0.13,-0.99) r=0.93m +[headless_play] t= 7.60s step= 380 trunk_z= 119.5mm grav_b=(-0.02,+0.00,-1.00) r=0.93m +[headless_play] t= 7.70s step= 385 trunk_z= 121.1mm grav_b=(-0.07,-0.10,-0.99) r=0.93m +[headless_play] t= 7.80s step= 390 trunk_z= 119.9mm grav_b=(-0.04,+0.05,-1.00) r=0.93m +[headless_play] t= 7.90s step= 395 trunk_z= 111.2mm grav_b=(+0.05,+0.16,-0.99) r=0.92m +[headless_play] t= 8.00s step= 400 trunk_z= 113.5mm grav_b=(+0.06,+0.04,-1.00) r=0.92m +[headless_play] t= 8.10s step= 405 trunk_z= 121.1mm grav_b=(+0.01,-0.07,-1.00) r=0.92m +[headless_play] t= 8.20s step= 410 trunk_z= 118.3mm grav_b=(-0.02,+0.03,-1.00) r=0.94m +[headless_play] t= 8.30s step= 415 trunk_z= 120.7mm grav_b=(-0.09,+0.05,-0.99) r=0.96m +[headless_play] t= 8.40s step= 420 trunk_z= 112.6mm grav_b=(-0.00,-0.11,-0.99) r=0.98m +[headless_play] t= 8.50s step= 425 trunk_z= 113.2mm grav_b=(+0.13,-0.04,-0.99) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 115.6mm grav_b=(+0.03,+0.06,-1.00) r=0.98m +[headless_play] t= 8.70s step= 435 trunk_z= 114.5mm grav_b=(-0.12,-0.10,-0.99) r=0.99m +[headless_play] t= 8.80s step= 440 trunk_z= 118.1mm grav_b=(+0.02,+0.09,-1.00) r=1.00m +[headless_play] t= 8.90s step= 445 trunk_z= 126.1mm grav_b=(-0.02,+0.12,-0.99) r=1.00m +[headless_play] t= 9.00s step= 450 trunk_z= 127.7mm grav_b=(-0.07,+0.02,-1.00) r=1.01m +[headless_play] t= 9.10s step= 455 trunk_z= 121.4mm grav_b=(+0.04,+0.04,-1.00) r=1.03m +[headless_play] t= 9.20s step= 460 trunk_z= 115.2mm grav_b=(+0.04,+0.19,-0.98) r=1.05m +[headless_play] t= 9.30s step= 465 trunk_z= 124.4mm grav_b=(-0.03,+0.03,-1.00) r=1.06m +[headless_play] t= 9.40s step= 470 trunk_z= 115.7mm grav_b=(-0.05,-0.06,-1.00) r=1.08m +[headless_play] t= 9.50s step= 475 trunk_z= 118.7mm grav_b=(+0.03,+0.10,-0.99) r=1.10m +[headless_play] t= 9.60s step= 480 trunk_z= 123.6mm grav_b=(+0.06,+0.05,-1.00) r=1.11m +[headless_play] t= 9.70s step= 485 trunk_z= 118.9mm grav_b=(-0.02,-0.08,-1.00) r=1.13m +[headless_play] t= 9.80s step= 490 trunk_z= 119.8mm grav_b=(-0.11,-0.11,-0.99) r=1.14m +[headless_play] t= 9.90s step= 495 trunk_z= 117.8mm grav_b=(-0.05,+0.01,-1.00) r=1.14m +[headless_play] t= 10.00s step= 500 trunk_z= 107.8mm grav_b=(+0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 10.10s step= 505 trunk_z= 111.8mm grav_b=(+0.08,-0.12,-0.99) r=1.12m +[headless_play] t= 10.20s step= 510 trunk_z= 122.5mm grav_b=(-0.04,+0.08,-1.00) r=1.11m +[headless_play] t= 10.30s step= 515 trunk_z= 127.8mm grav_b=(-0.05,+0.17,-0.98) r=1.12m +[headless_play] t= 10.40s step= 520 trunk_z= 124.8mm grav_b=(-0.03,+0.10,-0.99) r=1.13m +[headless_play] t= 10.50s step= 525 trunk_z= 124.9mm grav_b=(-0.04,-0.06,-1.00) r=1.15m +[headless_play] t= 10.60s step= 530 trunk_z= 119.5mm grav_b=(-0.04,+0.05,-1.00) r=1.16m +[headless_play] t= 10.70s step= 535 trunk_z= 120.0mm grav_b=(-0.08,+0.04,-1.00) r=1.15m +[headless_play] t= 10.80s step= 540 trunk_z= 119.4mm grav_b=(-0.15,-0.10,-0.98) r=1.16m +[headless_play] t= 10.90s step= 545 trunk_z= 126.1mm grav_b=(-0.04,+0.01,-1.00) r=1.16m +[headless_play] t= 11.00s step= 550 trunk_z= 109.6mm grav_b=(+0.02,+0.07,-1.00) r=1.15m +[headless_play] t= 11.10s step= 555 trunk_z= 112.4mm grav_b=(+0.16,-0.09,-0.98) r=1.15m +[headless_play] t= 11.20s step= 560 trunk_z= 118.8mm grav_b=(+0.09,+0.13,-0.99) r=1.16m +[headless_play] t= 11.30s step= 565 trunk_z= 108.9mm grav_b=(-0.02,+0.14,-0.99) r=1.17m +[headless_play] t= 11.40s step= 570 trunk_z= 112.8mm grav_b=(-0.10,-0.03,-0.99) r=1.19m +[headless_play] t= 11.50s step= 575 trunk_z= 122.8mm grav_b=(-0.03,-0.06,-1.00) r=1.20m +[headless_play] t= 11.60s step= 580 trunk_z= 114.4mm grav_b=(+0.04,+0.04,-1.00) r=1.19m +[headless_play] t= 11.70s step= 585 trunk_z= 120.7mm grav_b=(-0.01,-0.11,-0.99) r=1.18m +[headless_play] t= 11.80s step= 590 trunk_z= 122.8mm grav_b=(-0.04,-0.10,-0.99) r=1.18m +[headless_play] t= 11.90s step= 595 trunk_z= 119.2mm grav_b=(-0.02,+0.04,-1.00) r=1.17m +[headless_play] t= 12.00s step= 600 trunk_z= 126.4mm grav_b=(-0.05,+0.04,-1.00) r=1.17m +[headless_play] t= 12.10s step= 605 trunk_z= 121.4mm grav_b=(-0.04,-0.07,-1.00) r=1.17m +[headless_play] t= 12.20s step= 610 trunk_z= 121.2mm grav_b=(+0.01,+0.03,-1.00) r=1.18m +[headless_play] t= 12.30s step= 615 trunk_z= 123.0mm grav_b=(+0.00,+0.08,-1.00) r=1.18m +[headless_play] t= 12.40s step= 620 trunk_z= 124.1mm grav_b=(-0.06,-0.01,-1.00) r=1.18m +[headless_play] t= 12.50s step= 625 trunk_z= 124.2mm grav_b=(-0.10,-0.09,-0.99) r=1.18m +[headless_play] t= 12.60s step= 630 trunk_z= 118.7mm grav_b=(-0.01,+0.08,-1.00) r=1.18m +[headless_play] t= 12.70s step= 635 trunk_z= 123.7mm grav_b=(-0.01,+0.05,-1.00) r=1.17m +[headless_play] t= 12.80s step= 640 trunk_z= 120.5mm grav_b=(-0.04,-0.07,-1.00) r=1.18m +[headless_play] t= 12.90s step= 645 trunk_z= 118.1mm grav_b=(-0.03,+0.08,-1.00) r=1.18m +[headless_play] t= 13.00s step= 650 trunk_z= 122.2mm grav_b=(-0.04,-0.02,-1.00) r=1.19m +[headless_play] t= 13.10s step= 655 trunk_z= 128.7mm grav_b=(-0.04,-0.17,-0.98) r=1.21m +[headless_play] t= 13.20s step= 660 trunk_z= 135.6mm grav_b=(-0.05,-0.31,-0.95) r=1.22m +[headless_play] t= 13.30s step= 665 trunk_z= 136.0mm grav_b=(+0.07,-0.32,-0.95) r=1.24m +[headless_play] t= 13.40s step= 670 trunk_z= 109.9mm grav_b=(+0.37,-0.10,-0.92) r=1.26m +[headless_play] t= 13.50s step= 675 trunk_z= 112.6mm grav_b=(+0.31,-0.30,-0.90) r=1.27m +[headless_play] t= 13.60s step= 680 trunk_z= 97.7mm grav_b=(+0.48,-0.37,-0.80) r=1.29m +[headless_play] t= 13.70s step= 685 trunk_z= 43.9mm grav_b=(+0.05,-0.65,-0.76) r=1.31m +[headless_play] RESET at t= 13.80s step= 690 (env termination, not a recovery) +[headless_play] t= 13.80s step= 690 trunk_z= 126.0mm grav_b=(+0.00,-0.00,-1.00) r=0.23m +[headless_play] t= 13.90s step= 695 trunk_z= 115.4mm grav_b=(-0.01,+0.00,-1.00) r=0.23m +[headless_play] t= 14.00s step= 700 trunk_z= 116.0mm grav_b=(-0.01,-0.02,-1.00) r=0.23m +[headless_play] t= 14.10s step= 705 trunk_z= 117.4mm grav_b=(-0.00,-0.02,-1.00) r=0.23m +[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.23m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.23m +[headless_play] t= 14.40s step= 720 trunk_z= 116.6mm grav_b=(-0.03,-0.03,-1.00) r=0.23m +[headless_play] t= 14.50s step= 725 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 14.60s step= 730 trunk_z= 116.7mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 14.80s step= 740 trunk_z= 117.3mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 14.90s step= 745 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.00s step= 750 trunk_z= 117.3mm grav_b=(-0.04,-0.01,-1.00) r=0.23m +[headless_play] t= 15.10s step= 755 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.24m +[headless_play] t= 15.20s step= 760 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.23m +[headless_play] t= 15.30s step= 765 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.40s step= 770 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.50s step= 775 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.60s step= 780 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.70s step= 785 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.80s step= 790 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 15.90s step= 795 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 16.00s step= 800 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(-0.05,-0.02,-1.00) r=0.23m +[headless_play] t= 16.20s step= 810 trunk_z= 116.9mm grav_b=(-0.05,-0.02,-1.00) r=0.23m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 16.40s step= 820 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 16.50s step= 825 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(-0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 16.80s step= 840 trunk_z= 118.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 16.90s step= 845 trunk_z= 122.2mm grav_b=(+0.07,+0.04,-1.00) r=0.21m +[headless_play] t= 17.00s step= 850 trunk_z= 119.6mm grav_b=(-0.03,+0.12,-0.99) r=0.21m +[headless_play] t= 17.10s step= 855 trunk_z= 118.0mm grav_b=(-0.05,+0.06,-1.00) r=0.19m +[headless_play] t= 17.20s step= 860 trunk_z= 115.4mm grav_b=(-0.04,+0.04,-1.00) r=0.18m +[headless_play] t= 17.30s step= 865 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 17.40s step= 870 trunk_z= 117.2mm grav_b=(+0.00,-0.02,-1.00) r=0.16m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.16m +[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(-0.01,-0.03,-1.00) r=0.16m +[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(-0.02,-0.03,-1.00) r=0.16m +[headless_play] t= 17.80s step= 890 trunk_z= 117.0mm grav_b=(-0.01,-0.03,-1.00) r=0.16m +[headless_play] t= 17.90s step= 895 trunk_z= 117.1mm grav_b=(-0.01,-0.03,-1.00) r=0.16m +[headless_play] t= 18.00s step= 900 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.16m +[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.16m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(-0.01,-0.02,-1.00) r=0.16m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(-0.05,-0.02,-1.00) r=0.17m +[headless_play] t= 18.40s step= 920 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 18.50s step= 925 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 18.60s step= 930 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(+0.02,-0.02,-1.00) r=0.17m +[headless_play] t= 18.80s step= 940 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 18.90s step= 945 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.18m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(-0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.18m +[headless_play] t= 19.40s step= 970 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 19.50s step= 975 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 19.60s step= 980 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.18m +[headless_play] t= 19.70s step= 985 trunk_z= 118.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 19.80s step= 990 trunk_z= 120.8mm grav_b=(+0.09,-0.00,-1.00) r=0.17m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(+0.00,+0.10,-0.99) r=0.18m +[headless_play] t= 20.00s step=1000 trunk_z= 118.8mm grav_b=(-0.07,-0.00,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=0.17m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..ab6ea281d54feb6bfecd7f5972953f1cfa064863 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.587,-17.694,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(-0.00,-0.00,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(-0.00,+0.00,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 1.90s step= 95 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 2.10s step= 105 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.50s step= 125 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 3.20s step= 160 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 120.2mm grav_b=(+0.11,-0.04,-0.99) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 125.4mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(+0.02,+0.07,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 121.3mm grav_b=(-0.07,+0.10,-0.99) r=0.55m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(-0.15,+0.02,-0.99) r=0.57m +[headless_play] t= 5.50s step= 275 trunk_z= 117.1mm grav_b=(-0.08,+0.00,-1.00) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(-0.08,+0.02,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(-0.09,+0.00,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 117.0mm grav_b=(-0.07,+0.03,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 112.0mm grav_b=(-0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 113.8mm grav_b=(-0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 115.0mm grav_b=(+0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 6.30s step= 315 trunk_z= 115.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.40s step= 320 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.50s step= 325 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.60s step= 330 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.70s step= 335 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.80s step= 340 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 7.10s step= 355 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 7.20s step= 360 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 7.30s step= 365 trunk_z= 115.9mm grav_b=(-0.03,+0.02,-1.00) r=0.60m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(-0.02,+0.08,-1.00) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 117.8mm grav_b=(+0.00,+0.10,-0.99) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 114.8mm grav_b=(-0.02,+0.00,-1.00) r=0.60m +[headless_play] t= 7.70s step= 385 trunk_z= 122.9mm grav_b=(-0.03,-0.07,-1.00) r=0.60m +[headless_play] t= 7.80s step= 390 trunk_z= 121.2mm grav_b=(-0.03,-0.03,-1.00) r=0.60m +[headless_play] t= 7.90s step= 395 trunk_z= 119.8mm grav_b=(-0.05,+0.09,-0.99) r=0.58m +[headless_play] t= 8.00s step= 400 trunk_z= 126.7mm grav_b=(-0.05,+0.11,-0.99) r=0.56m +[headless_play] t= 8.10s step= 405 trunk_z= 124.8mm grav_b=(-0.04,+0.11,-0.99) r=0.56m +[headless_play] t= 8.20s step= 410 trunk_z= 118.7mm grav_b=(-0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 8.30s step= 415 trunk_z= 121.1mm grav_b=(-0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(-0.05,+0.08,-1.00) r=0.54m +[headless_play] t= 8.50s step= 425 trunk_z= 124.8mm grav_b=(-0.07,+0.12,-0.99) r=0.53m +[headless_play] t= 8.60s step= 430 trunk_z= 122.8mm grav_b=(-0.06,+0.11,-0.99) r=0.52m +[headless_play] t= 8.70s step= 435 trunk_z= 117.8mm grav_b=(-0.06,-0.02,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 123.6mm grav_b=(-0.04,-0.05,-1.00) r=0.53m +[headless_play] t= 8.90s step= 445 trunk_z= 118.3mm grav_b=(-0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 9.00s step= 450 trunk_z= 123.2mm grav_b=(-0.04,+0.12,-0.99) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 125.9mm grav_b=(-0.02,+0.12,-0.99) r=0.48m +[headless_play] t= 9.20s step= 460 trunk_z= 121.2mm grav_b=(-0.05,+0.06,-1.00) r=0.46m +[headless_play] t= 9.30s step= 465 trunk_z= 122.4mm grav_b=(-0.05,-0.05,-1.00) r=0.45m +[headless_play] t= 9.40s step= 470 trunk_z= 120.1mm grav_b=(-0.04,-0.00,-1.00) r=0.44m +[headless_play] t= 9.50s step= 475 trunk_z= 119.5mm grav_b=(-0.05,+0.11,-0.99) r=0.43m +[headless_play] t= 9.60s step= 480 trunk_z= 124.4mm grav_b=(-0.04,+0.11,-0.99) r=0.41m +[headless_play] t= 9.70s step= 485 trunk_z= 121.7mm grav_b=(-0.04,+0.09,-1.00) r=0.39m +[headless_play] t= 9.80s step= 490 trunk_z= 121.2mm grav_b=(-0.03,-0.04,-1.00) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 121.3mm grav_b=(-0.02,-0.02,-1.00) r=0.37m +[headless_play] t= 10.00s step= 500 trunk_z= 118.0mm grav_b=(-0.04,+0.09,-1.00) r=0.37m +[headless_play] t= 10.10s step= 505 trunk_z= 125.7mm grav_b=(-0.07,+0.11,-0.99) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 122.3mm grav_b=(-0.07,+0.10,-0.99) r=0.34m +[headless_play] t= 10.30s step= 515 trunk_z= 119.3mm grav_b=(-0.05,-0.04,-1.00) r=0.32m +[headless_play] t= 10.40s step= 520 trunk_z= 123.3mm grav_b=(-0.02,-0.04,-1.00) r=0.32m +[headless_play] t= 10.50s step= 525 trunk_z= 114.5mm grav_b=(-0.01,+0.07,-1.00) r=0.33m +[headless_play] t= 10.60s step= 530 trunk_z= 131.8mm grav_b=(+0.01,+0.25,-0.97) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 125.4mm grav_b=(+0.03,+0.35,-0.93) r=0.37m +[headless_play] t= 10.80s step= 540 trunk_z= 117.2mm grav_b=(+0.06,+0.48,-0.87) r=0.41m +[headless_play] t= 10.90s step= 545 trunk_z= 65.0mm grav_b=(+0.29,+0.52,-0.80) r=0.46m +[headless_play] RESET at t= 11.00s step= 550 (env termination, not a recovery) +[headless_play] t= 11.00s step= 550 trunk_z= 121.3mm grav_b=(-0.00,-0.00,-1.00) r=0.19m +[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.19m +[headless_play] t= 11.40s step= 570 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 11.60s step= 580 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 11.70s step= 585 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 11.80s step= 590 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 11.90s step= 595 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.10s step= 605 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.20s step= 610 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.40s step= 620 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.50s step= 625 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.60s step= 630 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.00s step= 650 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.30s step= 665 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.80s step= 690 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 13.90s step= 695 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 14.10s step= 705 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 14.30s step= 715 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.19m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00) r=0.19m +[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00) r=0.18m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(-0.03,+0.00,-1.00) r=0.19m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 14.80s step= 740 trunk_z= 116.3mm grav_b=(-0.00,+0.00,-1.00) r=0.19m +[headless_play] t= 14.90s step= 745 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.19m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 15.30s step= 765 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 15.70s step= 785 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.19m +[headless_play] t= 15.80s step= 790 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.19m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.10s step= 805 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.30s step= 815 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.40s step= 820 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.60s step= 830 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.80s step= 840 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 16.90s step= 845 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 17.00s step= 850 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 17.10s step= 855 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 17.20s step= 860 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.19m +[headless_play] t= 17.30s step= 865 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.19m +[headless_play] t= 17.40s step= 870 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 17.50s step= 875 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 17.60s step= 880 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 17.70s step= 885 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 17.80s step= 890 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 17.90s step= 895 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.00s step= 900 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.10s step= 905 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.30s step= 915 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.40s step= 920 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.60s step= 930 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.80s step= 940 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 18.90s step= 945 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.00s step= 950 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.40s step= 970 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.50s step= 975 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.60s step= 980 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.70s step= 985 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.80s step= 990 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 19.90s step= 995 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] t= 20.00s step=1000 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.19m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.19m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..635b04df71a680d68d9b2d18da9e444636bdd59e --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-13.667,-18.451,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(+0.01,-0.07,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 115.6mm grav_b=(+0.01,-0.04,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 110.0mm grav_b=(+0.01,+0.06,-1.00) r=0.62m +[headless_play] t= 0.50s step= 25 trunk_z= 123.4mm grav_b=(+0.03,+0.07,-1.00) r=0.64m +[headless_play] t= 0.60s step= 30 trunk_z= 121.9mm grav_b=(+0.02,+0.05,-1.00) r=0.64m +[headless_play] t= 0.70s step= 35 trunk_z= 120.7mm grav_b=(+0.00,-0.03,-1.00) r=0.64m +[headless_play] t= 0.80s step= 40 trunk_z= 123.1mm grav_b=(-0.00,-0.07,-1.00) r=0.65m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.68m +[headless_play] t= 1.00s step= 50 trunk_z= 122.3mm grav_b=(-0.01,+0.07,-1.00) r=0.70m +[headless_play] t= 1.10s step= 55 trunk_z= 119.0mm grav_b=(+0.02,+0.03,-1.00) r=0.70m +[headless_play] t= 1.20s step= 60 trunk_z= 120.9mm grav_b=(+0.01,-0.08,-1.00) r=0.69m +[headless_play] t= 1.30s step= 65 trunk_z= 125.4mm grav_b=(+0.01,-0.10,-1.00) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 121.4mm grav_b=(-0.00,-0.08,-1.00) r=0.71m +[headless_play] t= 1.50s step= 75 trunk_z= 121.4mm grav_b=(-0.01,+0.06,-1.00) r=0.74m +[headless_play] t= 1.60s step= 80 trunk_z= 122.9mm grav_b=(+0.00,+0.05,-1.00) r=0.75m +[headless_play] t= 1.70s step= 85 trunk_z= 116.3mm grav_b=(-0.01,-0.03,-1.00) r=0.74m +[headless_play] t= 1.80s step= 90 trunk_z= 124.7mm grav_b=(-0.00,-0.08,-1.00) r=0.74m +[headless_play] t= 1.90s step= 95 trunk_z= 120.7mm grav_b=(-0.00,-0.07,-1.00) r=0.76m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(-0.02,+0.06,-1.00) r=0.79m +[headless_play] t= 2.10s step= 105 trunk_z= 122.3mm grav_b=(+0.01,+0.06,-1.00) r=0.80m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.80m +[headless_play] t= 2.30s step= 115 trunk_z= 123.7mm grav_b=(+0.00,-0.06,-1.00) r=0.80m +[headless_play] t= 2.40s step= 120 trunk_z= 121.6mm grav_b=(+0.00,-0.07,-1.00) r=0.81m +[headless_play] t= 2.50s step= 125 trunk_z= 114.4mm grav_b=(-0.02,+0.05,-1.00) r=0.84m +[headless_play] t= 2.60s step= 130 trunk_z= 121.9mm grav_b=(-0.00,+0.06,-1.00) r=0.86m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(-0.00,+0.02,-1.00) r=0.85m +[headless_play] t= 2.80s step= 140 trunk_z= 122.0mm grav_b=(-0.01,-0.07,-1.00) r=0.85m +[headless_play] t= 2.90s step= 145 trunk_z= 121.3mm grav_b=(-0.01,-0.07,-1.00) r=0.86m +[headless_play] t= 3.00s step= 150 trunk_z= 113.6mm grav_b=(-0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 3.10s step= 155 trunk_z= 121.7mm grav_b=(-0.01,+0.06,-1.00) r=0.90m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(-0.00,+0.04,-1.00) r=0.90m +[headless_play] t= 3.30s step= 165 trunk_z= 118.9mm grav_b=(+0.01,-0.06,-1.00) r=0.89m +[headless_play] t= 3.40s step= 170 trunk_z= 122.5mm grav_b=(-0.00,-0.10,-1.00) r=0.89m +[headless_play] t= 3.50s step= 175 trunk_z= 117.9mm grav_b=(-0.02,-0.06,-1.00) r=0.92m +[headless_play] t= 3.60s step= 180 trunk_z= 120.7mm grav_b=(-0.01,+0.07,-1.00) r=0.94m +[headless_play] t= 3.70s step= 185 trunk_z= 120.4mm grav_b=(-0.00,+0.06,-1.00) r=0.94m +[headless_play] t= 3.80s step= 190 trunk_z= 115.4mm grav_b=(-0.01,-0.03,-1.00) r=0.93m +[headless_play] t= 3.90s step= 195 trunk_z= 123.4mm grav_b=(-0.01,-0.09,-1.00) r=0.94m +[headless_play] t= 4.00s step= 200 trunk_z= 118.6mm grav_b=(-0.00,-0.08,-1.00) r=0.96m +[headless_play] t= 4.10s step= 205 trunk_z= 116.4mm grav_b=(-0.01,+0.06,-1.00) r=0.98m +[headless_play] t= 4.20s step= 210 trunk_z= 121.5mm grav_b=(-0.00,+0.07,-1.00) r=0.99m +[headless_play] t= 4.30s step= 215 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 4.40s step= 220 trunk_z= 121.7mm grav_b=(-0.02,-0.08,-1.00) r=0.98m +[headless_play] t= 4.50s step= 225 trunk_z= 120.2mm grav_b=(-0.01,-0.09,-1.00) r=1.00m +[headless_play] t= 4.60s step= 230 trunk_z= 112.7mm grav_b=(-0.02,+0.03,-1.00) r=1.02m +[headless_play] t= 4.70s step= 235 trunk_z= 121.9mm grav_b=(-0.00,+0.06,-1.00) r=1.04m +[headless_play] t= 4.80s step= 240 trunk_z= 118.1mm grav_b=(+0.01,+0.03,-1.00) r=1.03m +[headless_play] t= 4.90s step= 245 trunk_z= 119.5mm grav_b=(-0.02,-0.04,-1.00) r=1.01m +[headless_play] t= 5.00s step= 250 trunk_z= 119.5mm grav_b=(+0.00,-0.06,-1.00) r=1.02m +[headless_play] t= 5.10s step= 255 trunk_z= 110.5mm grav_b=(-0.01,-0.01,-1.00) r=1.05m +[headless_play] t= 5.20s step= 260 trunk_z= 117.7mm grav_b=(-0.01,+0.08,-1.00) r=1.07m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(+0.02,+0.06,-1.00) r=1.07m +[headless_play] t= 5.40s step= 270 trunk_z= 110.7mm grav_b=(+0.02,-0.03,-1.00) r=1.05m +[headless_play] t= 5.50s step= 275 trunk_z= 113.9mm grav_b=(+0.07,+0.02,-1.00) r=1.06m +[headless_play] t= 5.60s step= 280 trunk_z= 102.7mm grav_b=(+0.06,+0.06,-1.00) r=1.09m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(+0.05,+0.06,-1.00) r=1.11m +[headless_play] t= 5.80s step= 290 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=1.11m +[headless_play] t= 5.90s step= 295 trunk_z= 119.0mm grav_b=(-0.01,-0.05,-1.00) r=1.10m +[headless_play] t= 6.00s step= 300 trunk_z= 121.2mm grav_b=(+0.03,-0.06,-1.00) r=1.10m +[headless_play] t= 6.10s step= 305 trunk_z= 112.4mm grav_b=(+0.03,-0.04,-1.00) r=1.13m +[headless_play] t= 6.20s step= 310 trunk_z= 116.8mm grav_b=(+0.01,+0.06,-1.00) r=1.15m +[headless_play] t= 6.30s step= 315 trunk_z= 117.3mm grav_b=(+0.03,+0.06,-1.00) r=1.16m +[headless_play] t= 6.40s step= 320 trunk_z= 110.0mm grav_b=(+0.03,-0.02,-1.00) r=1.14m +[headless_play] t= 6.50s step= 325 trunk_z= 118.0mm grav_b=(+0.02,-0.06,-1.00) r=1.14m +[headless_play] t= 6.60s step= 330 trunk_z= 112.4mm grav_b=(+0.06,-0.07,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 107.6mm grav_b=(+0.04,+0.05,-1.00) r=1.19m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(+0.03,+0.07,-1.00) r=1.21m +[headless_play] t= 6.90s step= 345 trunk_z= 116.4mm grav_b=(+0.02,+0.04,-1.00) r=1.20m +[headless_play] t= 7.00s step= 350 trunk_z= 118.2mm grav_b=(+0.00,-0.04,-1.00) r=1.20m +[headless_play] t= 7.10s step= 355 trunk_z= 118.2mm grav_b=(+0.04,-0.07,-1.00) r=1.21m +[headless_play] t= 7.20s step= 360 trunk_z= 109.1mm grav_b=(+0.08,-0.03,-1.00) r=1.24m +[headless_play] t= 7.30s step= 365 trunk_z= 115.7mm grav_b=(+0.06,+0.06,-1.00) r=1.26m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(+0.04,+0.06,-1.00) r=1.27m +[headless_play] t= 7.50s step= 375 trunk_z= 114.4mm grav_b=(-0.01,-0.04,-1.00) r=1.27m +[headless_play] t= 7.60s step= 380 trunk_z= 120.6mm grav_b=(+0.02,-0.05,-1.00) r=1.28m +[headless_play] t= 7.70s step= 385 trunk_z= 113.5mm grav_b=(+0.06,-0.05,-1.00) r=1.30m +[headless_play] t= 7.80s step= 390 trunk_z= 111.6mm grav_b=(+0.06,+0.06,-1.00) r=1.33m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(+0.05,+0.04,-1.00) r=1.34m +[headless_play] t= 8.00s step= 400 trunk_z= 112.7mm grav_b=(+0.00,-0.02,-1.00) r=1.35m +[headless_play] t= 8.10s step= 405 trunk_z= 123.3mm grav_b=(+0.04,-0.10,-0.99) r=1.36m +[headless_play] t= 8.20s step= 410 trunk_z= 125.5mm grav_b=(+0.05,-0.10,-0.99) r=1.37m +[headless_play] t= 8.30s step= 415 trunk_z= 120.5mm grav_b=(+0.02,-0.04,-1.00) r=1.39m +[headless_play] t= 8.40s step= 420 trunk_z= 123.8mm grav_b=(+0.03,+0.02,-1.00) r=1.40m +[headless_play] t= 8.50s step= 425 trunk_z= 121.6mm grav_b=(+0.02,+0.00,-1.00) r=1.42m +[headless_play] t= 8.60s step= 430 trunk_z= 120.2mm grav_b=(-0.01,-0.06,-1.00) r=1.44m +[headless_play] t= 8.70s step= 435 trunk_z= 124.6mm grav_b=(+0.01,-0.07,-1.00) r=1.46m +[headless_play] t= 8.80s step= 440 trunk_z= 118.8mm grav_b=(-0.00,-0.04,-1.00) r=1.46m +[headless_play] t= 8.90s step= 445 trunk_z= 120.5mm grav_b=(+0.01,+0.09,-1.00) r=1.47m +[headless_play] t= 9.00s step= 450 trunk_z= 122.4mm grav_b=(+0.02,+0.04,-1.00) r=1.48m +[headless_play] t= 9.10s step= 455 trunk_z= 116.0mm grav_b=(-0.01,-0.05,-1.00) r=1.51m +[headless_play] t= 9.20s step= 460 trunk_z= 126.3mm grav_b=(-0.01,-0.09,-1.00) r=1.53m +[headless_play] t= 9.30s step= 465 trunk_z= 124.8mm grav_b=(-0.00,-0.09,-1.00) r=1.54m +[headless_play] t= 9.40s step= 470 trunk_z= 114.6mm grav_b=(-0.04,+0.04,-1.00) r=1.56m +[headless_play] t= 9.50s step= 475 trunk_z= 123.5mm grav_b=(-0.01,+0.08,-1.00) r=1.57m +[headless_play] t= 9.60s step= 480 trunk_z= 122.3mm grav_b=(+0.02,+0.04,-1.00) r=1.59m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(+0.00,-0.06,-1.00) r=1.61m +[headless_play] t= 9.80s step= 490 trunk_z= 126.1mm grav_b=(-0.00,-0.08,-1.00) r=1.63m +[headless_play] t= 9.90s step= 495 trunk_z= 122.2mm grav_b=(-0.01,-0.07,-1.00) r=1.64m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(-0.06,+0.07,-1.00) r=1.67m +[headless_play] t= 10.10s step= 505 trunk_z= 124.2mm grav_b=(-0.02,+0.06,-1.00) r=1.68m +[headless_play] t= 10.20s step= 510 trunk_z= 120.4mm grav_b=(+0.00,+0.02,-1.00) r=1.69m +[headless_play] t= 10.30s step= 515 trunk_z= 119.9mm grav_b=(+0.02,-0.05,-1.00) r=1.71m +[headless_play] t= 10.40s step= 520 trunk_z= 126.0mm grav_b=(+0.03,-0.08,-1.00) r=1.73m +[headless_play] t= 10.50s step= 525 trunk_z= 123.0mm grav_b=(+0.03,-0.05,-1.00) r=1.76m +[headless_play] t= 10.60s step= 530 trunk_z= 119.2mm grav_b=(+0.00,+0.02,-1.00) r=1.78m +[headless_play] t= 10.70s step= 535 trunk_z= 123.6mm grav_b=(-0.01,+0.01,-1.00) r=1.80m +[headless_play] t= 10.80s step= 540 trunk_z= 115.0mm grav_b=(-0.04,-0.04,-1.00) r=1.82m +[headless_play] t= 10.90s step= 545 trunk_z= 114.7mm grav_b=(-0.12,+0.02,-0.99) r=1.80m +[headless_play] t= 11.00s step= 550 trunk_z= 124.2mm grav_b=(-0.12,+0.12,-0.99) r=1.79m +[headless_play] t= 11.10s step= 555 trunk_z= 130.8mm grav_b=(+0.01,+0.03,-1.00) r=1.79m +[headless_play] t= 11.20s step= 560 trunk_z= 117.9mm grav_b=(-0.00,+0.08,-1.00) r=1.77m +[headless_play] t= 11.30s step= 565 trunk_z= 110.2mm grav_b=(+0.04,-0.04,-1.00) r=1.74m +[headless_play] t= 11.40s step= 570 trunk_z= 113.7mm grav_b=(+0.08,+0.03,-1.00) r=1.73m +[headless_play] t= 11.50s step= 575 trunk_z= 124.3mm grav_b=(+0.08,-0.02,-1.00) r=1.73m +[headless_play] t= 11.60s step= 580 trunk_z= 106.0mm grav_b=(-0.08,-0.07,-0.99) r=1.76m +[headless_play] t= 11.70s step= 585 trunk_z= 120.4mm grav_b=(-0.06,-0.11,-0.99) r=1.77m +[headless_play] t= 11.80s step= 590 trunk_z= 123.9mm grav_b=(-0.01,-0.07,-1.00) r=1.76m +[headless_play] t= 11.90s step= 595 trunk_z= 114.5mm grav_b=(-0.01,+0.01,-1.00) r=1.73m +[headless_play] t= 12.00s step= 600 trunk_z= 121.8mm grav_b=(+0.07,+0.07,-1.00) r=1.71m +[headless_play] t= 12.10s step= 605 trunk_z= 123.7mm grav_b=(+0.04,+0.03,-1.00) r=1.71m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(-0.02,-0.04,-1.00) r=1.71m +[headless_play] t= 12.30s step= 615 trunk_z= 125.6mm grav_b=(-0.03,-0.06,-1.00) r=1.70m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(-0.06,-0.01,-1.00) r=1.67m +[headless_play] t= 12.50s step= 625 trunk_z= 121.1mm grav_b=(-0.02,+0.10,-1.00) r=1.64m +[headless_play] t= 12.60s step= 630 trunk_z= 123.9mm grav_b=(+0.04,+0.06,-1.00) r=1.64m +[headless_play] t= 12.70s step= 635 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=1.65m +[headless_play] t= 12.80s step= 640 trunk_z= 123.1mm grav_b=(-0.01,-0.05,-1.00) r=1.67m +[headless_play] t= 12.90s step= 645 trunk_z= 123.3mm grav_b=(-0.01,-0.06,-1.00) r=1.66m +[headless_play] t= 13.00s step= 650 trunk_z= 112.0mm grav_b=(-0.07,+0.05,-1.00) r=1.64m +[headless_play] t= 13.10s step= 655 trunk_z= 123.2mm grav_b=(-0.02,+0.07,-1.00) r=1.62m +[headless_play] t= 13.20s step= 660 trunk_z= 123.3mm grav_b=(+0.01,+0.06,-1.00) r=1.63m +[headless_play] t= 13.30s step= 665 trunk_z= 115.7mm grav_b=(-0.01,-0.03,-1.00) r=1.66m +[headless_play] t= 13.40s step= 670 trunk_z= 124.6mm grav_b=(-0.01,-0.05,-1.00) r=1.68m +[headless_play] t= 13.50s step= 675 trunk_z= 120.5mm grav_b=(-0.02,-0.04,-1.00) r=1.67m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(-0.02,+0.06,-1.00) r=1.66m +[headless_play] t= 13.70s step= 685 trunk_z= 122.7mm grav_b=(+0.01,+0.05,-1.00) r=1.67m +[headless_play] t= 13.80s step= 690 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=1.69m +[headless_play] t= 13.90s step= 695 trunk_z= 122.2mm grav_b=(-0.01,-0.06,-1.00) r=1.71m +[headless_play] t= 14.00s step= 700 trunk_z= 121.8mm grav_b=(-0.01,-0.06,-1.00) r=1.72m +[headless_play] t= 14.10s step= 705 trunk_z= 114.1mm grav_b=(-0.03,+0.06,-1.00) r=1.71m +[headless_play] t= 14.20s step= 710 trunk_z= 123.0mm grav_b=(-0.00,+0.05,-1.00) r=1.72m +[headless_play] t= 14.30s step= 715 trunk_z= 120.8mm grav_b=(-0.01,+0.02,-1.00) r=1.73m +[headless_play] t= 14.40s step= 720 trunk_z= 119.0mm grav_b=(-0.02,-0.02,-1.00) r=1.76m +[headless_play] t= 14.50s step= 725 trunk_z= 120.6mm grav_b=(-0.03,-0.04,-1.00) r=1.76m +[headless_play] t= 14.60s step= 730 trunk_z= 113.2mm grav_b=(-0.03,+0.06,-1.00) r=1.76m +[headless_play] t= 14.70s step= 735 trunk_z= 121.9mm grav_b=(+0.01,+0.04,-1.00) r=1.77m +[headless_play] t= 14.80s step= 740 trunk_z= 120.4mm grav_b=(+0.01,-0.01,-1.00) r=1.80m +[headless_play] t= 14.90s step= 745 trunk_z= 124.1mm grav_b=(-0.00,-0.05,-1.00) r=1.82m +[headless_play] t= 15.00s step= 750 trunk_z= 122.2mm grav_b=(-0.04,-0.05,-1.00) r=1.83m +[headless_play] t= 15.10s step= 755 trunk_z= 117.1mm grav_b=(-0.04,+0.07,-1.00) r=1.84m +[headless_play] t= 15.20s step= 760 trunk_z= 131.5mm grav_b=(+0.05,+0.26,-0.96) r=1.85m +[headless_play] t= 15.30s step= 765 trunk_z= 124.3mm grav_b=(+0.10,+0.43,-0.90) r=1.86m +[headless_play] t= 15.40s step= 770 trunk_z= 102.0mm grav_b=(+0.05,+0.61,-0.79) r=1.91m +[headless_play] RESET at t= 15.48s step= 774 (env termination, not a recovery) +[headless_play] t= 15.50s step= 775 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 15.70s step= 785 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 15.80s step= 790 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 15.90s step= 795 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 16.00s step= 800 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 16.10s step= 805 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 16.30s step= 815 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 16.50s step= 825 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 16.60s step= 830 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 16.80s step= 840 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.50s step= 875 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.60s step= 880 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.80s step= 890 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 18.00s step= 900 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.30s step= 915 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.40s step= 920 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.60s step= 930 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 18.70s step= 935 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 18.80s step= 940 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 19.00s step= 950 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 19.10s step= 955 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 19.30s step= 965 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 19.40s step= 970 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 19.50s step= 975 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 19.70s step= 985 trunk_z= 116.4mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 19.80s step= 990 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 19.90s step= 995 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(-0.00,+0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..ca9e3a44d43c1fe1918b005ecd7ab7bdbcfbdb5a --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.458,-17.566,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.4mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 0.20s step= 10 trunk_z= 111.0mm grav_b=(+0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 0.30s step= 15 trunk_z= 119.6mm grav_b=(+0.04,-0.02,-1.00) r=0.60m +[headless_play] t= 0.40s step= 20 trunk_z= 119.2mm grav_b=(+0.03,+0.03,-1.00) r=0.61m +[headless_play] t= 0.50s step= 25 trunk_z= 125.2mm grav_b=(-0.01,+0.09,-1.00) r=0.62m +[headless_play] t= 0.60s step= 30 trunk_z= 121.9mm grav_b=(-0.01,+0.09,-1.00) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 119.4mm grav_b=(-0.01,-0.02,-1.00) r=0.60m +[headless_play] t= 0.80s step= 40 trunk_z= 121.6mm grav_b=(+0.02,-0.05,-1.00) r=0.60m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(+0.04,-0.01,-1.00) r=0.62m +[headless_play] t= 1.00s step= 50 trunk_z= 121.1mm grav_b=(+0.02,+0.07,-1.00) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 122.4mm grav_b=(+0.03,+0.11,-0.99) r=0.67m +[headless_play] t= 1.20s step= 60 trunk_z= 117.9mm grav_b=(+0.02,+0.01,-1.00) r=0.68m +[headless_play] t= 1.30s step= 65 trunk_z= 126.1mm grav_b=(+0.02,-0.03,-1.00) r=0.70m +[headless_play] t= 1.40s step= 70 trunk_z= 122.2mm grav_b=(+0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 1.50s step= 75 trunk_z= 120.5mm grav_b=(+0.01,+0.08,-1.00) r=0.76m +[headless_play] t= 1.60s step= 80 trunk_z= 121.9mm grav_b=(+0.02,+0.09,-1.00) r=0.78m +[headless_play] t= 1.70s step= 85 trunk_z= 117.7mm grav_b=(+0.04,+0.05,-1.00) r=0.79m +[headless_play] t= 1.80s step= 90 trunk_z= 122.2mm grav_b=(+0.04,-0.04,-1.00) r=0.80m +[headless_play] t= 1.90s step= 95 trunk_z= 123.2mm grav_b=(+0.04,-0.02,-1.00) r=0.83m +[headless_play] t= 2.00s step= 100 trunk_z= 115.7mm grav_b=(+0.02,+0.07,-1.00) r=0.86m +[headless_play] t= 2.10s step= 105 trunk_z= 121.1mm grav_b=(+0.03,+0.09,-1.00) r=0.88m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.03,+0.05,-1.00) r=0.90m +[headless_play] t= 2.30s step= 115 trunk_z= 121.2mm grav_b=(+0.03,-0.04,-1.00) r=0.92m +[headless_play] t= 2.40s step= 120 trunk_z= 122.0mm grav_b=(+0.05,-0.02,-1.00) r=0.94m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(+0.02,+0.06,-1.00) r=0.97m +[headless_play] t= 2.60s step= 130 trunk_z= 122.3mm grav_b=(+0.02,+0.10,-1.00) r=0.99m +[headless_play] t= 2.70s step= 135 trunk_z= 119.1mm grav_b=(+0.02,+0.08,-1.00) r=1.01m +[headless_play] t= 2.80s step= 140 trunk_z= 118.0mm grav_b=(+0.03,-0.04,-1.00) r=1.03m +[headless_play] t= 2.90s step= 145 trunk_z= 122.8mm grav_b=(+0.05,-0.05,-1.00) r=1.05m +[headless_play] t= 3.00s step= 150 trunk_z= 117.8mm grav_b=(+0.02,+0.00,-1.00) r=1.07m +[headless_play] t= 3.10s step= 155 trunk_z= 121.9mm grav_b=(+0.01,+0.09,-1.00) r=1.09m +[headless_play] t= 3.20s step= 160 trunk_z= 117.8mm grav_b=(+0.02,+0.09,-1.00) r=1.11m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(+0.02,-0.03,-1.00) r=1.14m +[headless_play] t= 3.40s step= 170 trunk_z= 120.4mm grav_b=(+0.04,-0.03,-1.00) r=1.15m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(+0.01,+0.03,-1.00) r=1.16m +[headless_play] t= 3.60s step= 180 trunk_z= 121.4mm grav_b=(+0.01,+0.10,-1.00) r=1.17m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.03,+0.10,-0.99) r=1.19m +[headless_play] t= 3.80s step= 190 trunk_z= 114.3mm grav_b=(-0.02,-0.04,-1.00) r=1.21m +[headless_play] t= 3.90s step= 195 trunk_z= 120.8mm grav_b=(+0.01,-0.07,-1.00) r=1.21m +[headless_play] t= 4.00s step= 200 trunk_z= 115.4mm grav_b=(-0.07,+0.13,-0.99) r=1.17m +[headless_play] t= 4.10s step= 205 trunk_z= 127.8mm grav_b=(-0.07,+0.21,-0.97) r=1.16m +[headless_play] t= 4.20s step= 210 trunk_z= 129.6mm grav_b=(+0.04,+0.18,-0.98) r=1.15m +[headless_play] t= 4.30s step= 215 trunk_z= 126.7mm grav_b=(+0.05,+0.10,-0.99) r=1.15m +[headless_play] t= 4.40s step= 220 trunk_z= 114.7mm grav_b=(-0.04,-0.00,-1.00) r=1.16m +[headless_play] t= 4.50s step= 225 trunk_z= 127.4mm grav_b=(-0.00,-0.02,-1.00) r=1.16m +[headless_play] t= 4.60s step= 230 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00) r=1.14m +[headless_play] t= 4.70s step= 235 trunk_z= 123.1mm grav_b=(-0.01,+0.07,-1.00) r=1.12m +[headless_play] t= 4.80s step= 240 trunk_z= 126.1mm grav_b=(+0.01,+0.10,-1.00) r=1.10m +[headless_play] t= 4.90s step= 245 trunk_z= 120.8mm grav_b=(-0.02,+0.06,-1.00) r=1.10m +[headless_play] t= 5.00s step= 250 trunk_z= 122.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 5.10s step= 255 trunk_z= 121.6mm grav_b=(-0.04,-0.01,-1.00) r=1.09m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(-0.04,+0.08,-1.00) r=1.07m +[headless_play] t= 5.30s step= 265 trunk_z= 122.9mm grav_b=(-0.02,+0.11,-0.99) r=1.05m +[headless_play] t= 5.40s step= 270 trunk_z= 119.7mm grav_b=(-0.02,+0.09,-1.00) r=1.05m +[headless_play] t= 5.50s step= 275 trunk_z= 120.6mm grav_b=(-0.03,-0.00,-1.00) r=1.05m +[headless_play] t= 5.60s step= 280 trunk_z= 120.9mm grav_b=(-0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 5.70s step= 285 trunk_z= 115.8mm grav_b=(-0.04,+0.08,-1.00) r=1.02m +[headless_play] t= 5.80s step= 290 trunk_z= 123.1mm grav_b=(-0.01,+0.10,-0.99) r=1.00m +[headless_play] t= 5.90s step= 295 trunk_z= 121.4mm grav_b=(-0.01,+0.09,-1.00) r=1.00m +[headless_play] t= 6.00s step= 300 trunk_z= 120.1mm grav_b=(-0.03,-0.00,-1.00) r=0.99m +[headless_play] t= 6.10s step= 305 trunk_z= 123.5mm grav_b=(-0.03,-0.02,-1.00) r=0.98m +[headless_play] t= 6.20s step= 310 trunk_z= 114.8mm grav_b=(-0.05,+0.06,-1.00) r=0.96m +[headless_play] t= 6.30s step= 315 trunk_z= 123.1mm grav_b=(-0.02,+0.10,-0.99) r=0.94m +[headless_play] t= 6.40s step= 320 trunk_z= 122.2mm grav_b=(-0.03,+0.09,-1.00) r=0.94m +[headless_play] t= 6.50s step= 325 trunk_z= 116.8mm grav_b=(-0.02,+0.03,-1.00) r=0.93m +[headless_play] t= 6.60s step= 330 trunk_z= 121.0mm grav_b=(-0.02,+0.04,-1.00) r=0.91m +[headless_play] t= 6.70s step= 335 trunk_z= 118.7mm grav_b=(-0.04,+0.09,-0.99) r=0.90m +[headless_play] t= 6.80s step= 340 trunk_z= 122.8mm grav_b=(-0.02,+0.07,-1.00) r=0.88m +[headless_play] t= 6.90s step= 345 trunk_z= 114.7mm grav_b=(-0.04,+0.03,-1.00) r=0.87m +[headless_play] t= 7.00s step= 350 trunk_z= 121.9mm grav_b=(-0.02,+0.02,-1.00) r=0.85m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.05,+0.04,-1.00) r=0.84m +[headless_play] t= 7.20s step= 360 trunk_z= 122.2mm grav_b=(-0.03,+0.09,-1.00) r=0.83m +[headless_play] t= 7.30s step= 365 trunk_z= 123.6mm grav_b=(-0.00,+0.08,-1.00) r=0.81m +[headless_play] t= 7.40s step= 370 trunk_z= 115.3mm grav_b=(-0.05,-0.02,-1.00) r=0.78m +[headless_play] t= 7.50s step= 375 trunk_z= 121.8mm grav_b=(-0.01,+0.02,-1.00) r=0.77m +[headless_play] t= 7.60s step= 380 trunk_z= 112.6mm grav_b=(-0.07,+0.07,-1.00) r=0.76m +[headless_play] t= 7.70s step= 385 trunk_z= 122.7mm grav_b=(-0.03,+0.11,-0.99) r=0.74m +[headless_play] t= 7.80s step= 390 trunk_z= 123.9mm grav_b=(+0.01,+0.09,-1.00) r=0.72m +[headless_play] t= 7.90s step= 395 trunk_z= 114.8mm grav_b=(-0.04,-0.01,-1.00) r=0.69m +[headless_play] t= 8.00s step= 400 trunk_z= 122.6mm grav_b=(+0.01,+0.01,-1.00) r=0.68m +[headless_play] t= 8.10s step= 405 trunk_z= 113.3mm grav_b=(-0.07,+0.06,-1.00) r=0.67m +[headless_play] t= 8.20s step= 410 trunk_z= 122.0mm grav_b=(-0.04,+0.10,-0.99) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 123.6mm grav_b=(-0.01,+0.08,-1.00) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 115.0mm grav_b=(-0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 8.50s step= 425 trunk_z= 122.3mm grav_b=(+0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 8.60s step= 430 trunk_z= 114.0mm grav_b=(-0.05,+0.07,-1.00) r=0.60m +[headless_play] t= 8.70s step= 435 trunk_z= 123.8mm grav_b=(-0.02,+0.10,-1.00) r=0.59m +[headless_play] t= 8.80s step= 440 trunk_z= 123.2mm grav_b=(-0.01,+0.08,-1.00) r=0.57m +[headless_play] t= 8.90s step= 445 trunk_z= 117.4mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 122.1mm grav_b=(-0.00,+0.03,-1.00) r=0.54m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(-0.07,+0.09,-0.99) r=0.55m +[headless_play] t= 9.20s step= 460 trunk_z= 123.5mm grav_b=(-0.02,+0.09,-1.00) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 123.7mm grav_b=(+0.00,+0.09,-1.00) r=0.53m +[headless_play] t= 9.40s step= 470 trunk_z= 113.7mm grav_b=(-0.10,+0.08,-0.99) r=0.54m +[headless_play] t= 9.50s step= 475 trunk_z= 112.1mm grav_b=(-0.07,+0.13,-0.99) r=0.56m +[headless_play] t= 9.60s step= 480 trunk_z= 120.6mm grav_b=(-0.01,+0.13,-0.99) r=0.56m +[headless_play] t= 9.70s step= 485 trunk_z= 120.9mm grav_b=(+0.02,+0.06,-1.00) r=0.55m +[headless_play] t= 9.80s step= 490 trunk_z= 120.2mm grav_b=(-0.01,-0.02,-1.00) r=0.53m +[headless_play] t= 9.90s step= 495 trunk_z= 123.9mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 10.00s step= 500 trunk_z= 115.2mm grav_b=(-0.07,+0.08,-0.99) r=0.56m +[headless_play] t= 10.10s step= 505 trunk_z= 124.1mm grav_b=(-0.05,+0.11,-0.99) r=0.57m +[headless_play] t= 10.20s step= 510 trunk_z= 125.0mm grav_b=(-0.01,+0.07,-1.00) r=0.57m +[headless_play] t= 10.30s step= 515 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 10.40s step= 520 trunk_z= 124.3mm grav_b=(-0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 10.50s step= 525 trunk_z= 115.5mm grav_b=(-0.04,+0.07,-1.00) r=0.59m +[headless_play] t= 10.60s step= 530 trunk_z= 125.3mm grav_b=(-0.01,+0.15,-0.99) r=0.60m +[headless_play] t= 10.70s step= 535 trunk_z= 126.3mm grav_b=(+0.02,+0.17,-0.99) r=0.60m +[headless_play] t= 10.80s step= 540 trunk_z= 123.7mm grav_b=(+0.03,+0.10,-0.99) r=0.59m +[headless_play] t= 10.90s step= 545 trunk_z= 120.8mm grav_b=(+0.04,+0.01,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 127.7mm grav_b=(-0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 116.0mm grav_b=(-0.04,+0.10,-0.99) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 125.2mm grav_b=(-0.03,+0.13,-0.99) r=0.58m +[headless_play] t= 11.30s step= 565 trunk_z= 122.0mm grav_b=(-0.01,+0.10,-1.00) r=0.57m +[headless_play] t= 11.40s step= 570 trunk_z= 120.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 11.50s step= 575 trunk_z= 126.2mm grav_b=(+0.04,-0.03,-1.00) r=0.55m +[headless_play] t= 11.60s step= 580 trunk_z= 117.0mm grav_b=(+0.02,+0.05,-1.00) r=0.57m +[headless_play] t= 11.70s step= 585 trunk_z= 127.9mm grav_b=(+0.01,+0.07,-1.00) r=0.58m +[headless_play] t= 11.80s step= 590 trunk_z= 121.3mm grav_b=(-0.04,+0.04,-1.00) r=0.58m +[headless_play] t= 11.90s step= 595 trunk_z= 122.5mm grav_b=(-0.01,-0.03,-1.00) r=0.59m +[headless_play] t= 12.00s step= 600 trunk_z= 122.0mm grav_b=(+0.03,-0.03,-1.00) r=0.60m +[headless_play] t= 12.10s step= 605 trunk_z= 115.6mm grav_b=(+0.00,+0.06,-1.00) r=0.63m +[headless_play] t= 12.20s step= 610 trunk_z= 126.8mm grav_b=(+0.03,+0.10,-1.00) r=0.66m +[headless_play] t= 12.30s step= 615 trunk_z= 127.0mm grav_b=(+0.02,+0.08,-1.00) r=0.67m +[headless_play] t= 12.40s step= 620 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00) r=0.69m +[headless_play] t= 12.50s step= 625 trunk_z= 124.7mm grav_b=(-0.03,-0.01,-1.00) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 117.4mm grav_b=(-0.06,+0.03,-1.00) r=0.73m +[headless_play] t= 12.70s step= 635 trunk_z= 127.5mm grav_b=(-0.04,+0.17,-0.98) r=0.76m +[headless_play] t= 12.80s step= 640 trunk_z= 135.0mm grav_b=(-0.01,+0.33,-0.94) r=0.78m +[headless_play] t= 12.90s step= 645 trunk_z= 132.3mm grav_b=(-0.00,+0.28,-0.96) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 134.0mm grav_b=(+0.01,+0.26,-0.97) r=0.86m +[headless_play] t= 13.10s step= 655 trunk_z= 108.2mm grav_b=(-0.13,+0.07,-0.99) r=0.95m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(-0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 13.30s step= 665 trunk_z= 117.1mm grav_b=(-0.07,+0.10,-0.99) r=1.03m +[headless_play] t= 13.40s step= 670 trunk_z= 125.5mm grav_b=(+0.02,+0.12,-0.99) r=1.04m +[headless_play] t= 13.50s step= 675 trunk_z= 124.0mm grav_b=(+0.02,+0.13,-0.99) r=1.06m +[headless_play] t= 13.60s step= 680 trunk_z= 115.4mm grav_b=(+0.01,+0.04,-1.00) r=1.07m +[headless_play] t= 13.70s step= 685 trunk_z= 115.6mm grav_b=(+0.05,+0.00,-1.00) r=1.08m +[headless_play] t= 13.80s step= 690 trunk_z= 108.2mm grav_b=(+0.05,+0.04,-1.00) r=1.09m +[headless_play] t= 13.90s step= 695 trunk_z= 119.1mm grav_b=(+0.03,+0.08,-1.00) r=1.11m +[headless_play] t= 14.00s step= 700 trunk_z= 118.8mm grav_b=(+0.04,+0.09,-1.00) r=1.12m +[headless_play] t= 14.10s step= 705 trunk_z= 114.6mm grav_b=(+0.02,-0.00,-1.00) r=1.14m +[headless_play] t= 14.20s step= 710 trunk_z= 119.1mm grav_b=(+0.04,-0.01,-1.00) r=1.16m +[headless_play] t= 14.30s step= 715 trunk_z= 111.7mm grav_b=(+0.02,+0.04,-1.00) r=1.17m +[headless_play] t= 14.40s step= 720 trunk_z= 120.4mm grav_b=(+0.01,+0.08,-1.00) r=1.18m +[headless_play] t= 14.50s step= 725 trunk_z= 118.7mm grav_b=(+0.03,+0.07,-1.00) r=1.20m +[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=1.22m +[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(+0.05,-0.02,-1.00) r=1.23m +[headless_play] t= 14.80s step= 740 trunk_z= 110.8mm grav_b=(+0.02,+0.05,-1.00) r=1.24m +[headless_play] t= 14.90s step= 745 trunk_z= 121.0mm grav_b=(+0.02,+0.09,-1.00) r=1.25m +[headless_play] t= 15.00s step= 750 trunk_z= 119.1mm grav_b=(+0.03,+0.09,-1.00) r=1.27m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=1.30m +[headless_play] t= 15.20s step= 760 trunk_z= 119.4mm grav_b=(+0.06,-0.01,-1.00) r=1.31m +[headless_play] t= 15.30s step= 765 trunk_z= 111.9mm grav_b=(+0.02,+0.04,-1.00) r=1.30m +[headless_play] t= 15.40s step= 770 trunk_z= 121.6mm grav_b=(+0.01,+0.07,-1.00) r=1.31m +[headless_play] t= 15.50s step= 775 trunk_z= 119.8mm grav_b=(+0.02,+0.08,-1.00) r=1.32m +[headless_play] t= 15.60s step= 780 trunk_z= 116.0mm grav_b=(-0.01,-0.02,-1.00) r=1.35m +[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(+0.05,-0.03,-1.00) r=1.36m +[headless_play] t= 15.80s step= 790 trunk_z= 113.1mm grav_b=(+0.07,+0.01,-1.00) r=1.34m +[headless_play] t= 15.90s step= 795 trunk_z= 123.3mm grav_b=(+0.00,+0.10,-1.00) r=1.32m +[headless_play] t= 16.00s step= 800 trunk_z= 122.3mm grav_b=(+0.04,+0.11,-0.99) r=1.32m +[headless_play] t= 16.10s step= 805 trunk_z= 117.5mm grav_b=(-0.00,+0.02,-1.00) r=1.33m +[headless_play] t= 16.20s step= 810 trunk_z= 122.2mm grav_b=(+0.02,-0.01,-1.00) r=1.34m +[headless_play] t= 16.30s step= 815 trunk_z= 115.4mm grav_b=(+0.05,+0.01,-1.00) r=1.32m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(-0.02,+0.09,-1.00) r=1.29m +[headless_play] t= 16.50s step= 825 trunk_z= 121.0mm grav_b=(+0.02,+0.10,-1.00) r=1.28m +[headless_play] t= 16.60s step= 830 trunk_z= 118.2mm grav_b=(+0.04,+0.04,-1.00) r=1.28m +[headless_play] t= 16.70s step= 835 trunk_z= 125.9mm grav_b=(+0.02,-0.05,-1.00) r=1.27m +[headless_play] t= 16.80s step= 840 trunk_z= 114.4mm grav_b=(-0.08,+0.18,-0.98) r=1.23m +[headless_play] t= 16.90s step= 845 trunk_z= 134.6mm grav_b=(-0.07,+0.39,-0.92) r=1.19m +[headless_play] t= 17.00s step= 850 trunk_z= 127.4mm grav_b=(+0.03,+0.35,-0.94) r=1.15m +[headless_play] t= 17.10s step= 855 trunk_z= 123.3mm grav_b=(+0.27,+0.42,-0.87) r=1.10m +[headless_play] t= 17.20s step= 860 trunk_z= 91.2mm grav_b=(+0.15,+0.29,-0.94) r=1.01m +[headless_play] t= 17.30s step= 865 trunk_z= 54.9mm grav_b=(+0.62,-0.17,-0.76) r=0.93m +[headless_play] RESET at t= 17.36s step= 868 (env termination, not a recovery) +[headless_play] t= 17.40s step= 870 trunk_z= 118.4mm grav_b=(-0.02,+0.00,-1.00) r=0.62m +[headless_play] t= 17.50s step= 875 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) r=0.61m +[headless_play] t= 17.60s step= 880 trunk_z= 111.8mm grav_b=(+0.07,+0.05,-1.00) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 115.9mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 122.2mm grav_b=(-0.01,-0.08,-1.00) r=0.58m +[headless_play] t= 17.90s step= 895 trunk_z= 124.8mm grav_b=(+0.00,-0.05,-1.00) r=0.56m +[headless_play] t= 18.00s step= 900 trunk_z= 117.9mm grav_b=(-0.00,+0.05,-1.00) r=0.53m +[headless_play] t= 18.10s step= 905 trunk_z= 122.2mm grav_b=(+0.03,+0.08,-1.00) r=0.52m +[headless_play] t= 18.20s step= 910 trunk_z= 119.1mm grav_b=(+0.05,+0.05,-1.00) r=0.52m +[headless_play] t= 18.30s step= 915 trunk_z= 122.0mm grav_b=(+0.04,-0.05,-1.00) r=0.53m +[headless_play] t= 18.40s step= 920 trunk_z= 123.6mm grav_b=(+0.05,-0.05,-1.00) r=0.52m +[headless_play] t= 18.50s step= 925 trunk_z= 118.3mm grav_b=(+0.00,+0.05,-1.00) r=0.50m +[headless_play] t= 18.60s step= 930 trunk_z= 123.4mm grav_b=(+0.02,+0.04,-1.00) r=0.49m +[headless_play] t= 18.70s step= 935 trunk_z= 114.5mm grav_b=(-0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 18.80s step= 940 trunk_z= 122.6mm grav_b=(+0.03,-0.07,-1.00) r=0.50m +[headless_play] t= 18.90s step= 945 trunk_z= 119.7mm grav_b=(+0.04,-0.06,-1.00) r=0.49m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(+0.01,+0.07,-1.00) r=0.46m +[headless_play] t= 19.10s step= 955 trunk_z= 123.1mm grav_b=(+0.04,+0.05,-1.00) r=0.45m +[headless_play] t= 19.20s step= 960 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 19.30s step= 965 trunk_z= 123.3mm grav_b=(+0.03,-0.06,-1.00) r=0.44m +[headless_play] t= 19.40s step= 970 trunk_z= 118.5mm grav_b=(+0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 19.50s step= 975 trunk_z= 117.4mm grav_b=(+0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 19.60s step= 980 trunk_z= 121.0mm grav_b=(+0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 19.70s step= 985 trunk_z= 115.3mm grav_b=(+0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 19.80s step= 990 trunk_z= 122.7mm grav_b=(+0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 19.90s step= 995 trunk_z= 119.2mm grav_b=(+0.04,-0.04,-1.00) r=0.39m +[headless_play] t= 20.00s step=1000 trunk_z= 115.5mm grav_b=(+0.01,+0.06,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 120.7mm grav_b=(+0.04,+0.06,-1.00) r=0.35m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..7cc7576b1df0717853532bc2cbc64678b368db40 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.987,-17.921,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.8mm grav_b=(-0.01,+0.00,-1.00) r=0.08m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.04,+0.04,-1.00) r=0.08m +[headless_play] t= 0.20s step= 10 trunk_z= 114.5mm grav_b=(+0.00,+0.09,-1.00) r=0.09m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.08m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(-0.01,-0.06,-1.00) r=0.07m +[headless_play] t= 0.50s step= 25 trunk_z= 125.2mm grav_b=(+0.01,-0.06,-1.00) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 120.7mm grav_b=(-0.02,-0.01,-1.00) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 124.3mm grav_b=(-0.02,+0.07,-1.00) r=0.13m +[headless_play] t= 0.80s step= 40 trunk_z= 121.8mm grav_b=(-0.02,+0.05,-1.00) r=0.14m +[headless_play] t= 0.90s step= 45 trunk_z= 118.4mm grav_b=(-0.04,-0.04,-1.00) r=0.14m +[headless_play] t= 1.00s step= 50 trunk_z= 124.3mm grav_b=(-0.01,-0.05,-1.00) r=0.16m +[headless_play] t= 1.10s step= 55 trunk_z= 119.0mm grav_b=(-0.00,-0.01,-1.00) r=0.18m +[headless_play] t= 1.20s step= 60 trunk_z= 123.4mm grav_b=(-0.03,+0.08,-1.00) r=0.20m +[headless_play] t= 1.30s step= 65 trunk_z= 123.1mm grav_b=(-0.00,+0.07,-1.00) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(-0.04,-0.00,-1.00) r=0.24m +[headless_play] t= 1.50s step= 75 trunk_z= 125.0mm grav_b=(-0.01,-0.06,-1.00) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 122.4mm grav_b=(+0.00,-0.03,-1.00) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(-0.04,+0.07,-1.00) r=0.29m +[headless_play] t= 1.80s step= 90 trunk_z= 123.1mm grav_b=(+0.01,+0.05,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 124.3mm grav_b=(-0.02,-0.05,-1.00) r=0.35m +[headless_play] t= 2.10s step= 105 trunk_z= 121.8mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 117.7mm grav_b=(-0.05,+0.07,-1.00) r=0.38m +[headless_play] t= 2.30s step= 115 trunk_z= 124.5mm grav_b=(-0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 121.7mm grav_b=(-0.03,+0.06,-1.00) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 123.3mm grav_b=(-0.05,-0.06,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 124.3mm grav_b=(-0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.02,+0.02,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 124.6mm grav_b=(-0.03,+0.10,-0.99) r=0.48m +[headless_play] t= 2.90s step= 145 trunk_z= 122.9mm grav_b=(-0.01,+0.08,-1.00) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 3.10s step= 155 trunk_z= 124.6mm grav_b=(-0.01,-0.04,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 118.6mm grav_b=(+0.01,-0.01,-1.00) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 120.9mm grav_b=(-0.04,+0.10,-0.99) r=0.57m +[headless_play] t= 3.40s step= 170 trunk_z= 123.5mm grav_b=(-0.00,+0.08,-1.00) r=0.59m +[headless_play] t= 3.50s step= 175 trunk_z= 119.2mm grav_b=(-0.02,+0.05,-1.00) r=0.61m +[headless_play] t= 3.60s step= 180 trunk_z= 122.9mm grav_b=(-0.03,-0.05,-1.00) r=0.64m +[headless_play] t= 3.70s step= 185 trunk_z= 126.6mm grav_b=(-0.13,-0.08,-0.99) r=0.63m +[headless_play] t= 3.80s step= 190 trunk_z= 122.3mm grav_b=(-0.14,-0.02,-0.99) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 104.9mm grav_b=(+0.05,-0.00,-1.00) r=0.57m +[headless_play] t= 4.00s step= 200 trunk_z= 110.3mm grav_b=(+0.00,+0.06,-1.00) r=0.58m +[headless_play] t= 4.10s step= 205 trunk_z= 109.0mm grav_b=(+0.02,-0.03,-1.00) r=0.60m +[headless_play] t= 4.20s step= 210 trunk_z= 125.7mm grav_b=(+0.01,-0.05,-1.00) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 122.2mm grav_b=(-0.03,+0.03,-1.00) r=0.66m +[headless_play] t= 4.40s step= 220 trunk_z= 124.7mm grav_b=(-0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 4.50s step= 225 trunk_z= 123.7mm grav_b=(-0.08,+0.07,-0.99) r=0.70m +[headless_play] t= 4.60s step= 230 trunk_z= 118.5mm grav_b=(-0.07,-0.01,-1.00) r=0.74m +[headless_play] t= 4.70s step= 235 trunk_z= 121.0mm grav_b=(-0.03,-0.03,-1.00) r=0.75m +[headless_play] t= 4.80s step= 240 trunk_z= 113.1mm grav_b=(+0.01,+0.02,-1.00) r=0.76m +[headless_play] t= 4.90s step= 245 trunk_z= 123.7mm grav_b=(+0.01,+0.07,-1.00) r=0.77m +[headless_play] t= 5.00s step= 250 trunk_z= 119.7mm grav_b=(+0.01,+0.06,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 114.5mm grav_b=(-0.01,-0.04,-1.00) r=0.81m +[headless_play] t= 5.20s step= 260 trunk_z= 124.9mm grav_b=(+0.01,-0.07,-1.00) r=0.83m +[headless_play] t= 5.30s step= 265 trunk_z= 123.0mm grav_b=(-0.01,-0.02,-1.00) r=0.84m +[headless_play] t= 5.40s step= 270 trunk_z= 122.1mm grav_b=(-0.06,+0.01,-1.00) r=0.85m +[headless_play] t= 5.50s step= 275 trunk_z= 127.6mm grav_b=(-0.08,+0.05,-1.00) r=0.87m +[headless_play] t= 5.60s step= 280 trunk_z= 117.3mm grav_b=(-0.10,+0.03,-0.99) r=0.90m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.05,-0.04,-1.00) r=0.92m +[headless_play] t= 5.80s step= 290 trunk_z= 121.8mm grav_b=(-0.03,-0.02,-1.00) r=0.92m +[headless_play] t= 5.90s step= 295 trunk_z= 116.6mm grav_b=(-0.05,+0.06,-1.00) r=0.91m +[headless_play] t= 6.00s step= 300 trunk_z= 124.3mm grav_b=(-0.06,+0.02,-1.00) r=0.92m +[headless_play] t= 6.10s step= 305 trunk_z= 114.5mm grav_b=(-0.09,+0.01,-1.00) r=0.95m +[headless_play] t= 6.20s step= 310 trunk_z= 122.0mm grav_b=(-0.06,-0.05,-1.00) r=0.97m +[headless_play] t= 6.30s step= 315 trunk_z= 124.1mm grav_b=(-0.03,-0.02,-1.00) r=0.97m +[headless_play] t= 6.40s step= 320 trunk_z= 112.2mm grav_b=(-0.10,+0.07,-0.99) r=0.95m +[headless_play] t= 6.50s step= 325 trunk_z= 124.4mm grav_b=(-0.08,+0.06,-0.99) r=0.94m +[headless_play] t= 6.60s step= 330 trunk_z= 122.9mm grav_b=(-0.06,+0.07,-1.00) r=0.95m +[headless_play] t= 6.70s step= 335 trunk_z= 114.4mm grav_b=(-0.10,-0.02,-0.99) r=0.99m +[headless_play] t= 6.80s step= 340 trunk_z= 124.9mm grav_b=(-0.03,-0.06,-1.00) r=1.00m +[headless_play] t= 6.90s step= 345 trunk_z= 125.9mm grav_b=(-0.04,-0.01,-1.00) r=0.99m +[headless_play] t= 7.00s step= 350 trunk_z= 115.5mm grav_b=(-0.09,+0.07,-0.99) r=0.96m +[headless_play] t= 7.10s step= 355 trunk_z= 126.5mm grav_b=(-0.08,+0.08,-0.99) r=0.95m +[headless_play] t= 7.20s step= 360 trunk_z= 130.5mm grav_b=(-0.02,+0.23,-0.97) r=0.93m +[headless_play] t= 7.30s step= 365 trunk_z= 124.7mm grav_b=(+0.04,+0.04,-1.00) r=0.91m +[headless_play] t= 7.40s step= 370 trunk_z= 118.8mm grav_b=(-0.01,-0.04,-1.00) r=0.91m +[headless_play] t= 7.50s step= 375 trunk_z= 136.1mm grav_b=(-0.03,-0.03,-1.00) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 122.5mm grav_b=(-0.13,+0.01,-0.99) r=0.89m +[headless_play] t= 7.70s step= 385 trunk_z= 121.5mm grav_b=(-0.04,+0.06,-1.00) r=0.87m +[headless_play] t= 7.80s step= 390 trunk_z= 130.4mm grav_b=(-0.10,+0.10,-0.99) r=0.86m +[headless_play] t= 7.90s step= 395 trunk_z= 127.4mm grav_b=(-0.04,+0.08,-1.00) r=0.87m +[headless_play] t= 8.00s step= 400 trunk_z= 120.2mm grav_b=(-0.04,-0.02,-1.00) r=0.89m +[headless_play] t= 8.10s step= 405 trunk_z= 121.0mm grav_b=(-0.03,-0.02,-1.00) r=0.88m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(-0.07,+0.07,-0.99) r=0.86m +[headless_play] t= 8.30s step= 415 trunk_z= 124.5mm grav_b=(-0.06,+0.08,-0.99) r=0.86m +[headless_play] t= 8.40s step= 420 trunk_z= 119.9mm grav_b=(-0.03,+0.05,-1.00) r=0.87m +[headless_play] t= 8.50s step= 425 trunk_z= 123.3mm grav_b=(-0.01,-0.06,-1.00) r=0.89m +[headless_play] t= 8.60s step= 430 trunk_z= 125.7mm grav_b=(+0.01,-0.05,-1.00) r=0.90m +[headless_play] t= 8.70s step= 435 trunk_z= 119.3mm grav_b=(-0.05,+0.03,-1.00) r=0.88m +[headless_play] t= 8.80s step= 440 trunk_z= 125.7mm grav_b=(-0.03,+0.08,-1.00) r=0.87m +[headless_play] t= 8.90s step= 445 trunk_z= 123.3mm grav_b=(-0.02,+0.05,-1.00) r=0.88m +[headless_play] t= 9.00s step= 450 trunk_z= 118.0mm grav_b=(-0.05,-0.06,-1.00) r=0.90m +[headless_play] t= 9.10s step= 455 trunk_z= 125.3mm grav_b=(-0.02,-0.07,-1.00) r=0.91m +[headless_play] t= 9.20s step= 460 trunk_z= 123.0mm grav_b=(-0.03,-0.02,-1.00) r=0.90m +[headless_play] t= 9.30s step= 465 trunk_z= 123.2mm grav_b=(-0.03,+0.06,-1.00) r=0.88m +[headless_play] t= 9.40s step= 470 trunk_z= 123.2mm grav_b=(-0.01,+0.04,-1.00) r=0.88m +[headless_play] t= 9.50s step= 475 trunk_z= 118.0mm grav_b=(-0.02,-0.03,-1.00) r=0.89m +[headless_play] t= 9.60s step= 480 trunk_z= 118.0mm grav_b=(-0.03,-0.05,-1.00) r=0.90m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(-0.04,+0.00,-1.00) r=0.89m +[headless_play] t= 9.80s step= 490 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 9.90s step= 495 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.89m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.89m +[headless_play] t= 10.10s step= 505 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.89m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.89m +[headless_play] t= 10.30s step= 515 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.89m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 10.50s step= 525 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 10.60s step= 530 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 10.90s step= 545 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 11.10s step= 555 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.20s step= 560 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.30s step= 565 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.40s step= 570 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.60s step= 580 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.90m +[headless_play] t= 12.10s step= 605 trunk_z= 116.2mm grav_b=(-0.14,-0.03,-0.99) r=0.90m +[headless_play] t= 12.20s step= 610 trunk_z= 112.3mm grav_b=(-0.10,-0.01,-0.99) r=0.90m +[headless_play] t= 12.30s step= 615 trunk_z= 107.7mm grav_b=(-0.05,-0.02,-1.00) r=0.90m +[headless_play] t= 12.40s step= 620 trunk_z= 101.0mm grav_b=(+0.00,-0.06,-1.00) r=0.92m +[headless_play] t= 12.50s step= 625 trunk_z= 101.8mm grav_b=(+0.01,-0.09,-1.00) r=0.94m +[headless_play] t= 12.60s step= 630 trunk_z= 105.2mm grav_b=(+0.01,-0.05,-1.00) r=0.94m +[headless_play] t= 12.70s step= 635 trunk_z= 111.4mm grav_b=(+0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 12.80s step= 640 trunk_z= 113.4mm grav_b=(+0.04,-0.00,-1.00) r=0.94m +[headless_play] t= 12.90s step= 645 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 13.00s step= 650 trunk_z= 115.4mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 13.10s step= 655 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=0.94m +[headless_play] t= 13.20s step= 660 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=0.94m +[headless_play] t= 13.30s step= 665 trunk_z= 115.2mm grav_b=(-0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 13.50s step= 675 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 13.60s step= 680 trunk_z= 115.5mm grav_b=(-0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 13.70s step= 685 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 13.80s step= 690 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 13.90s step= 695 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 14.00s step= 700 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 14.10s step= 705 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.20s step= 710 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.40s step= 720 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.50s step= 725 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.60s step= 730 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.70s step= 735 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 14.90s step= 745 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.00s step= 750 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.10s step= 755 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.30s step= 765 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.40s step= 770 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.50s step= 775 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=0.94m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 15.90s step= 795 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.00s step= 800 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.10s step= 805 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.20s step= 810 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.30s step= 815 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.50s step= 825 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.60s step= 830 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.70s step= 835 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.80s step= 840 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 16.90s step= 845 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.94m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.94m +[headless_play] t= 17.20s step= 860 trunk_z= 117.3mm grav_b=(+0.03,+0.06,-1.00) r=0.92m +[headless_play] t= 17.30s step= 865 trunk_z= 122.9mm grav_b=(-0.01,+0.01,-1.00) r=0.93m +[headless_play] t= 17.40s step= 870 trunk_z= 113.8mm grav_b=(-0.06,-0.10,-0.99) r=0.94m +[headless_play] t= 17.50s step= 875 trunk_z= 124.4mm grav_b=(-0.01,-0.08,-1.00) r=0.94m +[headless_play] t= 17.60s step= 880 trunk_z= 122.9mm grav_b=(-0.13,-0.09,-0.99) r=0.93m +[headless_play] t= 17.70s step= 885 trunk_z= 115.3mm grav_b=(-0.13,+0.04,-0.99) r=0.92m +[headless_play] t= 17.80s step= 890 trunk_z= 121.7mm grav_b=(-0.07,+0.08,-0.99) r=0.91m +[headless_play] t= 17.90s step= 895 trunk_z= 119.8mm grav_b=(-0.01,+0.05,-1.00) r=0.91m +[headless_play] t= 18.00s step= 900 trunk_z= 119.7mm grav_b=(-0.02,-0.08,-1.00) r=0.92m +[headless_play] t= 18.10s step= 905 trunk_z= 128.8mm grav_b=(+0.01,-0.06,-1.00) r=0.91m +[headless_play] t= 18.20s step= 910 trunk_z= 120.2mm grav_b=(-0.07,+0.01,-1.00) r=0.89m +[headless_play] t= 18.30s step= 915 trunk_z= 114.2mm grav_b=(-0.12,+0.10,-0.99) r=0.85m +[headless_play] t= 18.40s step= 920 trunk_z= 123.7mm grav_b=(-0.09,+0.14,-0.99) r=0.85m +[headless_play] t= 18.50s step= 925 trunk_z= 123.2mm grav_b=(-0.08,+0.08,-0.99) r=0.86m +[headless_play] t= 18.60s step= 930 trunk_z= 117.9mm grav_b=(-0.09,-0.06,-0.99) r=0.88m +[headless_play] t= 18.70s step= 935 trunk_z= 125.6mm grav_b=(-0.01,-0.11,-0.99) r=0.88m +[headless_play] t= 18.80s step= 940 trunk_z= 125.0mm grav_b=(+0.02,-0.05,-1.00) r=0.86m +[headless_play] t= 18.90s step= 945 trunk_z= 111.3mm grav_b=(-0.09,+0.06,-0.99) r=0.82m +[headless_play] t= 19.00s step= 950 trunk_z= 125.1mm grav_b=(-0.08,+0.08,-0.99) r=0.80m +[headless_play] t= 19.10s step= 955 trunk_z= 125.1mm grav_b=(-0.07,+0.06,-1.00) r=0.80m +[headless_play] t= 19.20s step= 960 trunk_z= 116.4mm grav_b=(-0.09,-0.04,-0.99) r=0.81m +[headless_play] t= 19.30s step= 965 trunk_z= 126.8mm grav_b=(-0.00,-0.11,-0.99) r=0.80m +[headless_play] t= 19.40s step= 970 trunk_z= 128.9mm grav_b=(+0.01,-0.08,-1.00) r=0.78m +[headless_play] t= 19.50s step= 975 trunk_z= 113.8mm grav_b=(-0.07,+0.03,-1.00) r=0.74m +[headless_play] t= 19.60s step= 980 trunk_z= 125.0mm grav_b=(-0.07,+0.08,-0.99) r=0.72m +[headless_play] t= 19.70s step= 985 trunk_z= 125.7mm grav_b=(-0.05,+0.07,-1.00) r=0.71m +[headless_play] t= 19.80s step= 990 trunk_z= 114.7mm grav_b=(-0.08,-0.01,-1.00) r=0.71m +[headless_play] t= 19.90s step= 995 trunk_z= 124.8mm grav_b=(-0.01,-0.06,-1.00) r=0.70m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.9mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 20.10s step=1005 trunk_z= 116.4mm grav_b=(-0.04,+0.04,-1.00) r=0.63m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..92826137d95f1d8b00ef34ebd2459bac7a214342 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.602,-18.217,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(+0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 115.5mm grav_b=(+0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(+0.03,-0.10,-0.99) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 124.9mm grav_b=(+0.04,-0.08,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 120.0mm grav_b=(+0.04,-0.05,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 122.0mm grav_b=(+0.04,+0.03,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 120.0mm grav_b=(+0.04,+0.00,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 120.6mm grav_b=(+0.01,-0.09,-1.00) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 124.5mm grav_b=(+0.01,-0.07,-1.00) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(-0.02,-0.04,-1.00) r=0.35m +[headless_play] t= 1.20s step= 60 trunk_z= 119.6mm grav_b=(+0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 117.5mm grav_b=(+0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 118.0mm grav_b=(+0.03,-0.09,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 123.7mm grav_b=(+0.03,-0.08,-1.00) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 118.4mm grav_b=(-0.01,-0.04,-1.00) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 121.1mm grav_b=(-0.01,+0.05,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 119.4mm grav_b=(+0.01,+0.02,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 115.5mm grav_b=(+0.02,-0.08,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 123.8mm grav_b=(+0.05,-0.08,-0.99) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 120.3mm grav_b=(+0.01,-0.06,-1.00) r=0.32m +[headless_play] t= 2.20s step= 110 trunk_z= 120.2mm grav_b=(-0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 118.5mm grav_b=(-0.00,+0.01,-1.00) r=0.31m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(-0.00,-0.07,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 122.4mm grav_b=(+0.02,-0.07,-1.00) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(+0.01,-0.03,-1.00) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 119.9mm grav_b=(+0.02,+0.05,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 119.2mm grav_b=(+0.03,+0.03,-1.00) r=0.32m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(+0.02,-0.06,-1.00) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 123.6mm grav_b=(+0.01,-0.07,-1.00) r=0.35m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(-0.01,-0.04,-1.00) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 117.6mm grav_b=(+0.02,+0.03,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 115.7mm grav_b=(+0.02,-0.06,-1.00) r=0.37m +[headless_play] t= 3.50s step= 175 trunk_z= 123.5mm grav_b=(+0.03,-0.06,-1.00) r=0.38m +[headless_play] t= 3.60s step= 180 trunk_z= 118.4mm grav_b=(-0.01,-0.03,-1.00) r=0.38m +[headless_play] t= 3.70s step= 185 trunk_z= 120.5mm grav_b=(-0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 120.5mm grav_b=(+0.01,+0.04,-1.00) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 115.0mm grav_b=(+0.03,-0.04,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 124.8mm grav_b=(+0.04,-0.07,-1.00) r=0.44m +[headless_play] t= 4.10s step= 205 trunk_z= 121.6mm grav_b=(+0.02,-0.06,-1.00) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 118.4mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(-0.01,+0.03,-1.00) r=0.46m +[headless_play] t= 4.40s step= 220 trunk_z= 113.9mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 124.4mm grav_b=(+0.03,-0.10,-0.99) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 124.6mm grav_b=(-0.01,-0.09,-1.00) r=0.51m +[headless_play] t= 4.70s step= 235 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 122.1mm grav_b=(+0.00,+0.02,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 114.8mm grav_b=(-0.04,-0.03,-1.00) r=0.55m +[headless_play] t= 5.00s step= 250 trunk_z= 121.6mm grav_b=(-0.04,-0.08,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 120.0mm grav_b=(-0.01,-0.06,-1.00) r=0.55m +[headless_play] t= 5.20s step= 260 trunk_z= 118.3mm grav_b=(+0.04,+0.09,-0.99) r=0.54m +[headless_play] t= 5.30s step= 265 trunk_z= 131.7mm grav_b=(+0.13,+0.18,-0.97) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 128.1mm grav_b=(+0.08,+0.22,-0.97) r=0.55m +[headless_play] t= 5.50s step= 275 trunk_z= 123.0mm grav_b=(+0.04,+0.14,-0.99) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 124.1mm grav_b=(+0.02,+0.10,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 121.3mm grav_b=(+0.01,+0.05,-1.00) r=0.56m +[headless_play] t= 5.80s step= 290 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 119.0mm grav_b=(+0.00,-0.07,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 123.2mm grav_b=(+0.02,-0.08,-1.00) r=0.61m +[headless_play] t= 6.10s step= 305 trunk_z= 119.8mm grav_b=(+0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 123.1mm grav_b=(+0.00,+0.06,-1.00) r=0.58m +[headless_play] t= 6.30s step= 315 trunk_z= 121.4mm grav_b=(+0.00,+0.03,-1.00) r=0.59m +[headless_play] t= 6.40s step= 320 trunk_z= 119.2mm grav_b=(-0.01,-0.06,-1.00) r=0.61m +[headless_play] t= 6.50s step= 325 trunk_z= 124.9mm grav_b=(+0.00,-0.08,-1.00) r=0.62m +[headless_play] t= 6.60s step= 330 trunk_z= 121.2mm grav_b=(+0.01,-0.04,-1.00) r=0.61m +[headless_play] t= 6.70s step= 335 trunk_z= 122.2mm grav_b=(-0.00,+0.07,-1.00) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 122.0mm grav_b=(+0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 6.90s step= 345 trunk_z= 117.4mm grav_b=(-0.01,-0.06,-1.00) r=0.62m +[headless_play] t= 7.00s step= 350 trunk_z= 125.3mm grav_b=(+0.02,-0.08,-1.00) r=0.63m +[headless_play] t= 7.10s step= 355 trunk_z= 123.1mm grav_b=(+0.02,-0.04,-1.00) r=0.62m +[headless_play] t= 7.20s step= 360 trunk_z= 122.0mm grav_b=(-0.03,+0.07,-1.00) r=0.60m +[headless_play] t= 7.30s step= 365 trunk_z= 124.0mm grav_b=(-0.00,+0.06,-1.00) r=0.60m +[headless_play] t= 7.40s step= 370 trunk_z= 115.2mm grav_b=(-0.02,-0.01,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 123.5mm grav_b=(-0.01,-0.08,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 120.8mm grav_b=(+0.01,-0.06,-1.00) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 119.5mm grav_b=(-0.01,+0.06,-1.00) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 121.8mm grav_b=(+0.01,+0.05,-1.00) r=0.61m +[headless_play] t= 7.90s step= 395 trunk_z= 114.6mm grav_b=(+0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 124.4mm grav_b=(+0.01,-0.10,-1.00) r=0.65m +[headless_play] t= 8.10s step= 405 trunk_z= 120.8mm grav_b=(-0.01,-0.08,-1.00) r=0.65m +[headless_play] t= 8.20s step= 410 trunk_z= 116.1mm grav_b=(-0.01,+0.04,-1.00) r=0.65m +[headless_play] t= 8.30s step= 415 trunk_z= 119.2mm grav_b=(+0.01,+0.03,-1.00) r=0.65m +[headless_play] t= 8.40s step= 420 trunk_z= 109.2mm grav_b=(+0.02,-0.03,-1.00) r=0.68m +[headless_play] t= 8.50s step= 425 trunk_z= 113.3mm grav_b=(+0.02,-0.08,-1.00) r=0.70m +[headless_play] t= 8.60s step= 430 trunk_z= 109.6mm grav_b=(+0.05,-0.04,-1.00) r=0.71m +[headless_play] t= 8.70s step= 435 trunk_z= 111.8mm grav_b=(+0.05,+0.07,-1.00) r=0.72m +[headless_play] t= 8.80s step= 440 trunk_z= 110.5mm grav_b=(+0.11,-0.00,-0.99) r=0.74m +[headless_play] t= 8.90s step= 445 trunk_z= 110.6mm grav_b=(+0.07,-0.14,-0.99) r=0.78m +[headless_play] t= 9.00s step= 450 trunk_z= 121.6mm grav_b=(+0.07,-0.12,-0.99) r=0.81m +[headless_play] t= 9.10s step= 455 trunk_z= 121.0mm grav_b=(-0.00,-0.03,-1.00) r=0.84m +[headless_play] t= 9.20s step= 460 trunk_z= 122.6mm grav_b=(-0.02,+0.01,-1.00) r=0.86m +[headless_play] t= 9.30s step= 465 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.89m +[headless_play] t= 9.40s step= 470 trunk_z= 116.9mm grav_b=(+0.01,-0.09,-1.00) r=0.91m +[headless_play] t= 9.50s step= 475 trunk_z= 117.2mm grav_b=(+0.02,-0.09,-1.00) r=0.93m +[headless_play] t= 9.60s step= 480 trunk_z= 111.6mm grav_b=(+0.05,-0.04,-1.00) r=0.94m +[headless_play] t= 9.70s step= 485 trunk_z= 115.3mm grav_b=(+0.06,+0.06,-1.00) r=0.95m +[headless_play] t= 9.80s step= 490 trunk_z= 113.5mm grav_b=(+0.07,+0.01,-1.00) r=0.97m +[headless_play] t= 9.90s step= 495 trunk_z= 112.5mm grav_b=(+0.03,-0.08,-1.00) r=0.99m +[headless_play] t= 10.00s step= 500 trunk_z= 114.8mm grav_b=(+0.07,-0.09,-0.99) r=1.01m +[headless_play] t= 10.10s step= 505 trunk_z= 110.0mm grav_b=(+0.06,-0.03,-1.00) r=1.03m +[headless_play] t= 10.20s step= 510 trunk_z= 115.6mm grav_b=(+0.03,+0.07,-1.00) r=1.04m +[headless_play] t= 10.30s step= 515 trunk_z= 115.5mm grav_b=(+0.04,+0.03,-1.00) r=1.05m +[headless_play] t= 10.40s step= 520 trunk_z= 108.6mm grav_b=(+0.04,-0.04,-1.00) r=1.07m +[headless_play] t= 10.50s step= 525 trunk_z= 115.6mm grav_b=(+0.04,-0.09,-1.00) r=1.09m +[headless_play] t= 10.60s step= 530 trunk_z= 111.5mm grav_b=(+0.06,-0.05,-1.00) r=1.10m +[headless_play] t= 10.70s step= 535 trunk_z= 109.8mm grav_b=(+0.05,+0.07,-1.00) r=1.11m +[headless_play] t= 10.80s step= 540 trunk_z= 114.9mm grav_b=(+0.06,+0.04,-1.00) r=1.13m +[headless_play] t= 10.90s step= 545 trunk_z= 108.6mm grav_b=(+0.06,-0.02,-1.00) r=1.14m +[headless_play] t= 11.00s step= 550 trunk_z= 115.4mm grav_b=(+0.05,-0.08,-1.00) r=1.16m +[headless_play] t= 11.10s step= 555 trunk_z= 112.6mm grav_b=(+0.06,-0.06,-1.00) r=1.17m +[headless_play] t= 11.20s step= 560 trunk_z= 109.3mm grav_b=(+0.04,+0.05,-1.00) r=1.19m +[headless_play] t= 11.30s step= 565 trunk_z= 116.9mm grav_b=(+0.05,+0.04,-1.00) r=1.20m +[headless_play] t= 11.40s step= 570 trunk_z= 110.6mm grav_b=(+0.05,+0.00,-1.00) r=1.22m +[headless_play] t= 11.50s step= 575 trunk_z= 113.0mm grav_b=(+0.04,-0.08,-1.00) r=1.23m +[headless_play] t= 11.60s step= 580 trunk_z= 111.1mm grav_b=(+0.06,-0.06,-1.00) r=1.25m +[headless_play] t= 11.70s step= 585 trunk_z= 107.2mm grav_b=(+0.06,+0.05,-1.00) r=1.27m +[headless_play] t= 11.80s step= 590 trunk_z= 114.8mm grav_b=(+0.07,+0.05,-1.00) r=1.28m +[headless_play] t= 11.90s step= 595 trunk_z= 110.2mm grav_b=(+0.06,+0.00,-1.00) r=1.29m +[headless_play] t= 12.00s step= 600 trunk_z= 115.3mm grav_b=(+0.03,-0.09,-1.00) r=1.30m +[headless_play] t= 12.10s step= 605 trunk_z= 115.1mm grav_b=(+0.06,-0.09,-0.99) r=1.32m +[headless_play] t= 12.20s step= 610 trunk_z= 109.9mm grav_b=(+0.05,-0.01,-1.00) r=1.33m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(+0.04,+0.08,-1.00) r=1.35m +[headless_play] t= 12.40s step= 620 trunk_z= 113.4mm grav_b=(+0.06,+0.04,-1.00) r=1.36m +[headless_play] t= 12.50s step= 625 trunk_z= 111.6mm grav_b=(+0.03,-0.07,-1.00) r=1.36m +[headless_play] t= 12.60s step= 630 trunk_z= 115.5mm grav_b=(+0.05,-0.09,-0.99) r=1.37m +[headless_play] t= 12.70s step= 635 trunk_z= 110.6mm grav_b=(+0.09,-0.02,-1.00) r=1.39m +[headless_play] t= 12.80s step= 640 trunk_z= 114.7mm grav_b=(+0.03,+0.07,-1.00) r=1.40m +[headless_play] t= 12.90s step= 645 trunk_z= 116.5mm grav_b=(+0.04,+0.02,-1.00) r=1.41m +[headless_play] t= 13.00s step= 650 trunk_z= 113.1mm grav_b=(+0.03,-0.06,-1.00) r=1.40m +[headless_play] t= 13.10s step= 655 trunk_z= 121.4mm grav_b=(+0.05,-0.08,-1.00) r=1.40m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(+0.02,-0.04,-1.00) r=1.42m +[headless_play] t= 13.30s step= 665 trunk_z= 120.0mm grav_b=(+0.01,+0.05,-1.00) r=1.45m +[headless_play] t= 13.40s step= 670 trunk_z= 119.7mm grav_b=(+0.02,+0.03,-1.00) r=1.46m +[headless_play] t= 13.50s step= 675 trunk_z= 114.5mm grav_b=(+0.01,-0.05,-1.00) r=1.45m +[headless_play] t= 13.60s step= 680 trunk_z= 123.3mm grav_b=(+0.03,-0.08,-1.00) r=1.45m +[headless_play] t= 13.70s step= 685 trunk_z= 121.3mm grav_b=(+0.02,-0.07,-1.00) r=1.47m +[headless_play] t= 13.80s step= 690 trunk_z= 118.3mm grav_b=(+0.00,+0.05,-1.00) r=1.49m +[headless_play] t= 13.90s step= 695 trunk_z= 122.7mm grav_b=(+0.04,+0.06,-1.00) r=1.52m +[headless_play] t= 14.00s step= 700 trunk_z= 131.2mm grav_b=(+0.14,+0.21,-0.97) r=1.58m +[headless_play] t= 14.10s step= 705 trunk_z= 102.3mm grav_b=(+0.10,+0.02,-1.00) r=1.65m +[headless_play] t= 14.20s step= 710 trunk_z= 129.2mm grav_b=(+0.08,-0.06,-1.00) r=1.68m +[headless_play] t= 14.30s step= 715 trunk_z= 127.7mm grav_b=(+0.06,-0.02,-1.00) r=1.71m +[headless_play] t= 14.40s step= 720 trunk_z= 114.8mm grav_b=(-0.02,+0.04,-1.00) r=1.75m +[headless_play] t= 14.50s step= 725 trunk_z= 120.4mm grav_b=(-0.00,+0.05,-1.00) r=1.77m +[headless_play] t= 14.60s step= 730 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=1.78m +[headless_play] t= 14.70s step= 735 trunk_z= 122.0mm grav_b=(-0.01,-0.07,-1.00) r=1.80m +[headless_play] t= 14.80s step= 740 trunk_z= 121.7mm grav_b=(+0.00,-0.06,-1.00) r=1.80m +[headless_play] t= 14.90s step= 745 trunk_z= 113.7mm grav_b=(+0.03,+0.00,-1.00) r=1.81m +[headless_play] t= 15.00s step= 750 trunk_z= 119.9mm grav_b=(+0.05,+0.06,-1.00) r=1.82m +[headless_play] t= 15.10s step= 755 trunk_z= 117.9mm grav_b=(+0.04,+0.06,-1.00) r=1.83m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(+0.02,-0.05,-1.00) r=1.85m +[headless_play] t= 15.30s step= 765 trunk_z= 122.0mm grav_b=(+0.01,-0.06,-1.00) r=1.86m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(-0.01,-0.02,-1.00) r=1.87m +[headless_play] t= 15.50s step= 775 trunk_z= 119.3mm grav_b=(-0.01,+0.06,-1.00) r=1.89m +[headless_play] t= 15.60s step= 780 trunk_z= 118.5mm grav_b=(+0.02,+0.05,-1.00) r=1.90m +[headless_play] t= 15.70s step= 785 trunk_z= 114.4mm grav_b=(+0.02,-0.04,-1.00) r=1.91m +[headless_play] t= 15.80s step= 790 trunk_z= 122.1mm grav_b=(+0.02,-0.07,-1.00) r=1.93m +[headless_play] t= 15.90s step= 795 trunk_z= 117.4mm grav_b=(+0.00,-0.03,-1.00) r=1.94m +[headless_play] t= 16.00s step= 800 trunk_z= 119.5mm grav_b=(-0.02,+0.08,-1.00) r=1.96m +[headless_play] t= 16.10s step= 805 trunk_z= 120.0mm grav_b=(+0.01,+0.06,-1.00) r=1.97m +[headless_play] t= 16.20s step= 810 trunk_z= 114.1mm grav_b=(+0.03,-0.03,-1.00) r=1.98m +[headless_play] t= 16.30s step= 815 trunk_z= 122.9mm grav_b=(+0.03,-0.08,-1.00) r=1.99m +[headless_play] t= 16.40s step= 820 trunk_z= 120.3mm grav_b=(+0.01,-0.05,-1.00) r=2.01m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(-0.02,+0.05,-1.00) r=2.03m +[headless_play] t= 16.60s step= 830 trunk_z= 120.9mm grav_b=(+0.01,+0.05,-1.00) r=2.04m +[headless_play] t= 16.70s step= 835 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=2.05m +[headless_play] t= 16.80s step= 840 trunk_z= 122.0mm grav_b=(+0.01,-0.09,-1.00) r=2.06m +[headless_play] t= 16.90s step= 845 trunk_z= 122.8mm grav_b=(+0.03,-0.08,-1.00) r=2.07m +[headless_play] t= 17.00s step= 850 trunk_z= 114.0mm grav_b=(+0.00,+0.02,-1.00) r=2.10m +[headless_play] t= 17.10s step= 855 trunk_z= 121.5mm grav_b=(+0.04,+0.06,-1.00) r=2.12m +[headless_play] t= 17.20s step= 860 trunk_z= 121.2mm grav_b=(+0.04,+0.02,-1.00) r=2.13m +[headless_play] t= 17.30s step= 865 trunk_z= 120.8mm grav_b=(+0.02,-0.04,-1.00) r=2.13m +[headless_play] t= 17.40s step= 870 trunk_z= 122.9mm grav_b=(+0.02,-0.03,-1.00) r=2.15m +[headless_play] t= 17.50s step= 875 trunk_z= 113.9mm grav_b=(-0.02,+0.03,-1.00) r=2.17m +[headless_play] t= 17.60s step= 880 trunk_z= 121.2mm grav_b=(-0.02,+0.04,-1.00) r=2.19m +[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(-0.00,+0.02,-1.00) r=2.19m +[headless_play] t= 17.80s step= 890 trunk_z= 120.6mm grav_b=(-0.01,-0.06,-1.00) r=2.19m +[headless_play] t= 17.90s step= 895 trunk_z= 124.3mm grav_b=(+0.01,-0.07,-1.00) r=2.21m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(-0.02,-0.02,-1.00) r=2.23m +[headless_play] t= 18.10s step= 905 trunk_z= 121.6mm grav_b=(+0.01,+0.05,-1.00) r=2.25m +[headless_play] t= 18.20s step= 910 trunk_z= 119.5mm grav_b=(+0.02,+0.04,-1.00) r=2.26m +[headless_play] t= 18.30s step= 915 trunk_z= 117.3mm grav_b=(+0.01,-0.03,-1.00) r=2.26m +[headless_play] t= 18.40s step= 920 trunk_z= 123.6mm grav_b=(+0.02,-0.06,-1.00) r=2.27m +[headless_play] t= 18.50s step= 925 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=2.29m +[headless_play] t= 18.60s step= 930 trunk_z= 119.5mm grav_b=(-0.01,+0.05,-1.00) r=2.31m +[headless_play] t= 18.70s step= 935 trunk_z= 124.4mm grav_b=(+0.06,+0.12,-0.99) r=2.34m +[headless_play] t= 18.80s step= 940 trunk_z= 134.5mm grav_b=(+0.09,+0.18,-0.98) r=2.39m +[headless_play] t= 18.90s step= 945 trunk_z= 106.1mm grav_b=(+0.04,+0.08,-1.00) r=2.45m +[headless_play] t= 19.00s step= 950 trunk_z= 126.2mm grav_b=(+0.03,-0.04,-1.00) r=2.47m +[headless_play] t= 19.10s step= 955 trunk_z= 119.1mm grav_b=(+0.04,+0.05,-1.00) r=2.49m +[headless_play] t= 19.20s step= 960 trunk_z= 121.8mm grav_b=(-0.01,+0.05,-1.00) r=2.50m +[headless_play] t= 19.30s step= 965 trunk_z= 119.2mm grav_b=(+0.01,+0.03,-1.00) r=2.53m +[headless_play] t= 19.40s step= 970 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=2.56m +[headless_play] t= 19.50s step= 975 trunk_z= 117.3mm grav_b=(-0.00,-0.06,-1.00) r=2.56m +[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=2.56m +[headless_play] t= 19.70s step= 985 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=2.56m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(+0.03,+0.00,-1.00) r=2.56m +[headless_play] t= 19.90s step= 995 trunk_z= 115.8mm grav_b=(+0.05,+0.00,-1.00) r=2.57m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.8mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 20.10s step=1005 trunk_z= 114.7mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..380cbe3302698ee4c3387a1017edf1d3b497bbc0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.3mm grav_b=(+0.00,-0.00,-1.00) root_w=(-13.985,-18.271,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.7mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.02,+0.04,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 114.0mm grav_b=(+0.05,+0.03,-1.00) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 110.6mm grav_b=(+0.05,-0.03,-1.00) r=0.25m +[headless_play] t= 0.40s step= 20 trunk_z= 119.7mm grav_b=(+0.06,-0.07,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 118.0mm grav_b=(+0.11,-0.08,-0.99) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 113.9mm grav_b=(+0.07,-0.03,-1.00) r=0.20m +[headless_play] t= 0.70s step= 35 trunk_z= 127.4mm grav_b=(+0.06,-0.04,-1.00) r=0.17m +[headless_play] t= 0.80s step= 40 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=0.16m +[headless_play] t= 0.90s step= 45 trunk_z= 127.4mm grav_b=(+0.03,-0.09,-1.00) r=0.14m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(+0.05,-0.09,-1.00) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 114.3mm grav_b=(+0.04,+0.01,-1.00) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 120.8mm grav_b=(+0.07,+0.03,-1.00) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 119.3mm grav_b=(+0.06,+0.01,-1.00) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 121.6mm grav_b=(+0.03,-0.06,-1.00) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 116.6mm grav_b=(+0.08,-0.04,-1.00) r=0.11m +[headless_play] t= 1.60s step= 80 trunk_z= 110.3mm grav_b=(+0.07,+0.03,-1.00) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 121.8mm grav_b=(+0.08,+0.02,-1.00) r=0.11m +[headless_play] t= 1.80s step= 90 trunk_z= 122.0mm grav_b=(+0.07,+0.02,-1.00) r=0.12m +[headless_play] t= 1.90s step= 95 trunk_z= 122.4mm grav_b=(+0.03,-0.08,-1.00) r=0.16m +[headless_play] t= 2.00s step= 100 trunk_z= 123.6mm grav_b=(+0.03,-0.06,-1.00) r=0.18m +[headless_play] t= 2.10s step= 105 trunk_z= 110.8mm grav_b=(+0.04,-0.03,-1.00) r=0.20m +[headless_play] t= 2.20s step= 110 trunk_z= 118.7mm grav_b=(+0.10,+0.03,-0.99) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 121.9mm grav_b=(+0.09,+0.03,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 118.5mm grav_b=(+0.02,-0.07,-1.00) r=0.23m +[headless_play] t= 2.50s step= 125 trunk_z= 124.9mm grav_b=(+0.00,-0.08,-1.00) r=0.26m +[headless_play] t= 2.60s step= 130 trunk_z= 112.6mm grav_b=(-0.00,+0.00,-1.00) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 121.0mm grav_b=(+0.07,+0.04,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 121.0mm grav_b=(+0.09,+0.03,-1.00) r=0.30m +[headless_play] t= 2.90s step= 145 trunk_z= 116.8mm grav_b=(+0.06,-0.06,-1.00) r=0.29m +[headless_play] t= 3.00s step= 150 trunk_z= 122.1mm grav_b=(+0.05,-0.07,-1.00) r=0.29m +[headless_play] t= 3.10s step= 155 trunk_z= 112.7mm grav_b=(+0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 3.20s step= 160 trunk_z= 122.6mm grav_b=(+0.05,+0.04,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 122.0mm grav_b=(+0.07,+0.03,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 119.1mm grav_b=(+0.07,-0.06,-1.00) r=0.32m +[headless_play] t= 3.50s step= 175 trunk_z= 117.7mm grav_b=(+0.06,-0.04,-1.00) r=0.32m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(+0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 120.0mm grav_b=(+0.03,+0.05,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 118.6mm grav_b=(+0.05,+0.01,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 119.9mm grav_b=(+0.07,+0.01,-1.00) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 119.4mm grav_b=(+0.06,+0.01,-1.00) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 118.5mm grav_b=(+0.04,+0.02,-1.00) r=0.33m +[headless_play] t= 4.70s step= 235 trunk_z= 118.2mm grav_b=(+0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 118.0mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 117.7mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 117.4mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 117.3mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.80s step= 290 trunk_z= 117.3mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.00s step= 300 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.10s step= 305 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.30s step= 315 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.40s step= 320 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.50s step= 325 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.70s step= 335 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.80s step= 340 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 7.10s step= 355 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 7.30s step= 365 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 7.40s step= 370 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 7.50s step= 375 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 7.60s step= 380 trunk_z= 122.6mm grav_b=(+0.11,+0.06,-0.99) r=0.35m +[headless_play] t= 7.70s step= 385 trunk_z= 129.1mm grav_b=(+0.04,+0.04,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 120.6mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 117.8mm grav_b=(-0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 8.00s step= 400 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.35m +[headless_play] t= 8.20s step= 410 trunk_z= 116.1mm grav_b=(+0.10,-0.01,-0.99) r=0.35m +[headless_play] t= 8.30s step= 415 trunk_z= 116.4mm grav_b=(+0.09,-0.01,-1.00) r=0.35m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(+0.07,-0.01,-1.00) r=0.35m +[headless_play] t= 8.50s step= 425 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 8.60s step= 430 trunk_z= 116.2mm grav_b=(+0.00,-0.01,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) r=0.35m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 8.90s step= 445 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 9.00s step= 450 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 9.10s step= 455 trunk_z= 116.8mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 9.20s step= 460 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 9.40s step= 470 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 9.50s step= 475 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 9.90s step= 495 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 10.00s step= 500 trunk_z= 117.5mm grav_b=(+0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 120.6mm grav_b=(+0.03,+0.01,-1.00) r=0.34m +[headless_play] t= 10.20s step= 510 trunk_z= 120.6mm grav_b=(+0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 10.30s step= 515 trunk_z= 129.8mm grav_b=(-0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 10.40s step= 520 trunk_z= 111.7mm grav_b=(-0.05,+0.02,-1.00) r=0.37m +[headless_play] t= 10.50s step= 525 trunk_z= 122.0mm grav_b=(-0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 10.60s step= 530 trunk_z= 124.3mm grav_b=(+0.02,+0.06,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 119.6mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 125.0mm grav_b=(+0.00,-0.07,-1.00) r=0.37m +[headless_play] t= 10.90s step= 545 trunk_z= 127.6mm grav_b=(+0.00,-0.07,-1.00) r=0.38m +[headless_play] t= 11.00s step= 550 trunk_z= 114.5mm grav_b=(-0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 125.5mm grav_b=(+0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 126.7mm grav_b=(+0.04,+0.06,-1.00) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 119.2mm grav_b=(+0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 11.40s step= 570 trunk_z= 128.8mm grav_b=(+0.00,-0.05,-1.00) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 123.3mm grav_b=(-0.02,-0.04,-1.00) r=0.46m +[headless_play] t= 11.60s step= 580 trunk_z= 120.2mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 119.5mm grav_b=(+0.05,+0.03,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 114.0mm grav_b=(+0.06,-0.07,-1.00) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 126.5mm grav_b=(+0.07,-0.09,-0.99) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 124.0mm grav_b=(+0.03,-0.05,-1.00) r=0.42m +[headless_play] t= 12.10s step= 605 trunk_z= 119.8mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 12.20s step= 610 trunk_z= 121.4mm grav_b=(+0.01,+0.01,-1.00) r=0.42m +[headless_play] t= 12.30s step= 615 trunk_z= 116.3mm grav_b=(+0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 12.40s step= 620 trunk_z= 124.5mm grav_b=(+0.06,-0.07,-1.00) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 121.1mm grav_b=(+0.05,-0.07,-1.00) r=0.39m +[headless_play] t= 12.60s step= 630 trunk_z= 118.5mm grav_b=(+0.05,+0.03,-1.00) r=0.41m +[headless_play] t= 12.70s step= 635 trunk_z= 121.6mm grav_b=(+0.06,+0.03,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 120.4mm grav_b=(+0.06,-0.00,-1.00) r=0.39m +[headless_play] t= 12.90s step= 645 trunk_z= 125.2mm grav_b=(+0.06,-0.08,-1.00) r=0.37m +[headless_play] t= 13.00s step= 650 trunk_z= 124.1mm grav_b=(+0.11,-0.00,-0.99) r=0.38m +[headless_play] t= 13.10s step= 655 trunk_z= 125.8mm grav_b=(+0.13,+0.09,-0.99) r=0.40m +[headless_play] t= 13.20s step= 660 trunk_z= 141.5mm grav_b=(+0.04,+0.09,-0.99) r=0.42m +[headless_play] t= 13.30s step= 665 trunk_z= 110.1mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 124.3mm grav_b=(+0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 120.5mm grav_b=(+0.02,-0.00,-1.00) r=0.47m +[headless_play] t= 13.60s step= 680 trunk_z= 119.4mm grav_b=(+0.03,+0.04,-1.00) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 117.4mm grav_b=(+0.09,+0.01,-1.00) r=0.50m +[headless_play] t= 13.80s step= 690 trunk_z= 116.8mm grav_b=(+0.05,-0.08,-1.00) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 128.4mm grav_b=(+0.04,-0.06,-1.00) r=0.52m +[headless_play] t= 14.00s step= 700 trunk_z= 115.1mm grav_b=(+0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 14.10s step= 705 trunk_z= 121.6mm grav_b=(+0.02,+0.04,-1.00) r=0.58m +[headless_play] t= 14.20s step= 710 trunk_z= 121.0mm grav_b=(+0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(+0.04,-0.07,-1.00) r=0.56m +[headless_play] t= 14.40s step= 720 trunk_z= 125.2mm grav_b=(+0.05,-0.08,-1.00) r=0.56m +[headless_play] t= 14.50s step= 725 trunk_z= 120.9mm grav_b=(+0.03,-0.06,-1.00) r=0.57m +[headless_play] t= 14.60s step= 730 trunk_z= 120.8mm grav_b=(+0.05,+0.04,-1.00) r=0.60m +[headless_play] t= 14.70s step= 735 trunk_z= 122.2mm grav_b=(+0.05,+0.03,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 118.0mm grav_b=(+0.05,-0.03,-1.00) r=0.58m +[headless_play] t= 14.90s step= 745 trunk_z= 128.3mm grav_b=(+0.05,-0.10,-0.99) r=0.57m +[headless_play] t= 15.00s step= 750 trunk_z= 126.0mm grav_b=(+0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 118.7mm grav_b=(+0.02,+0.02,-1.00) r=0.60m +[headless_play] t= 15.20s step= 760 trunk_z= 122.6mm grav_b=(+0.05,+0.06,-1.00) r=0.60m +[headless_play] t= 15.30s step= 765 trunk_z= 120.6mm grav_b=(+0.06,+0.01,-1.00) r=0.58m +[headless_play] t= 15.40s step= 770 trunk_z= 121.8mm grav_b=(+0.05,-0.11,-0.99) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 128.5mm grav_b=(+0.04,-0.09,-0.99) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 121.2mm grav_b=(+0.01,-0.05,-1.00) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 122.6mm grav_b=(+0.03,+0.06,-1.00) r=0.56m +[headless_play] t= 15.80s step= 790 trunk_z= 122.1mm grav_b=(+0.05,+0.05,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(+0.03,-0.08,-1.00) r=0.52m +[headless_play] t= 16.00s step= 800 trunk_z= 127.2mm grav_b=(+0.04,-0.11,-0.99) r=0.50m +[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(+0.05,-0.10,-0.99) r=0.49m +[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 16.30s step= 815 trunk_z= 123.5mm grav_b=(+0.05,+0.04,-1.00) r=0.50m +[headless_play] t= 16.40s step= 820 trunk_z= 119.2mm grav_b=(+0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 16.50s step= 825 trunk_z= 119.7mm grav_b=(-0.13,+0.04,-0.99) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 92.0mm grav_b=(+0.01,+0.09,-1.00) r=0.52m +[headless_play] t= 16.70s step= 835 trunk_z= 91.0mm grav_b=(+0.14,+0.08,-0.99) r=0.52m +[headless_play] t= 16.80s step= 840 trunk_z= 101.9mm grav_b=(+0.09,-0.03,-1.00) r=0.50m +[headless_play] t= 16.90s step= 845 trunk_z= 126.1mm grav_b=(+0.06,-0.08,-0.99) r=0.47m +[headless_play] t= 17.00s step= 850 trunk_z= 119.1mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 17.10s step= 855 trunk_z= 123.6mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 121.6mm grav_b=(+0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 17.30s step= 865 trunk_z= 119.5mm grav_b=(-0.02,-0.06,-1.00) r=0.35m +[headless_play] t= 17.40s step= 870 trunk_z= 121.8mm grav_b=(+0.00,-0.08,-1.00) r=0.34m +[headless_play] t= 17.50s step= 875 trunk_z= 112.8mm grav_b=(+0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 17.60s step= 880 trunk_z= 119.7mm grav_b=(+0.10,+0.04,-0.99) r=0.32m +[headless_play] t= 17.70s step= 885 trunk_z= 120.2mm grav_b=(+0.10,+0.03,-0.99) r=0.31m +[headless_play] t= 17.80s step= 890 trunk_z= 118.2mm grav_b=(+0.05,-0.05,-1.00) r=0.28m +[headless_play] t= 17.90s step= 895 trunk_z= 124.1mm grav_b=(+0.04,-0.06,-1.00) r=0.25m +[headless_play] t= 18.00s step= 900 trunk_z= 114.0mm grav_b=(+0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 18.10s step= 905 trunk_z= 121.5mm grav_b=(+0.04,+0.06,-1.00) r=0.23m +[headless_play] t= 18.20s step= 910 trunk_z= 120.6mm grav_b=(+0.07,+0.04,-1.00) r=0.21m +[headless_play] t= 18.30s step= 915 trunk_z= 118.5mm grav_b=(+0.03,-0.06,-1.00) r=0.19m +[headless_play] t= 18.40s step= 920 trunk_z= 123.4mm grav_b=(+0.04,-0.07,-1.00) r=0.17m +[headless_play] t= 18.50s step= 925 trunk_z= 115.0mm grav_b=(+0.03,-0.03,-1.00) r=0.14m +[headless_play] t= 18.60s step= 930 trunk_z= 121.3mm grav_b=(+0.05,+0.05,-1.00) r=0.12m +[headless_play] t= 18.70s step= 935 trunk_z= 121.8mm grav_b=(+0.07,+0.04,-1.00) r=0.10m +[headless_play] t= 18.80s step= 940 trunk_z= 117.6mm grav_b=(+0.03,-0.04,-1.00) r=0.10m +[headless_play] t= 18.90s step= 945 trunk_z= 124.8mm grav_b=(+0.04,-0.06,-1.00) r=0.10m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(+0.04,-0.05,-1.00) r=0.07m +[headless_play] t= 19.10s step= 955 trunk_z= 119.1mm grav_b=(+0.04,+0.05,-1.00) r=0.06m +[headless_play] t= 19.20s step= 960 trunk_z= 121.5mm grav_b=(+0.08,+0.03,-1.00) r=0.06m +[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(+0.04,-0.03,-1.00) r=0.09m +[headless_play] t= 19.40s step= 970 trunk_z= 124.5mm grav_b=(+0.04,-0.07,-1.00) r=0.12m +[headless_play] t= 19.50s step= 975 trunk_z= 117.2mm grav_b=(+0.04,-0.05,-1.00) r=0.13m +[headless_play] t= 19.60s step= 980 trunk_z= 118.2mm grav_b=(+0.02,+0.05,-1.00) r=0.15m +[headless_play] t= 19.70s step= 985 trunk_z= 122.0mm grav_b=(+0.07,+0.04,-1.00) r=0.16m +[headless_play] t= 19.80s step= 990 trunk_z= 120.2mm grav_b=(+0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 19.90s step= 995 trunk_z= 124.5mm grav_b=(+0.07,-0.07,-1.00) r=0.21m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.7mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..d9cc8c962ab2247088be4b03b21945901b4204a0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.325,-17.961,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 3.60s step= 180 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.60s step= 280 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.80s step= 290 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.90s step= 295 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.00s step= 300 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.20s step= 310 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.30s step= 315 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.40s step= 320 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.70s step= 335 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.80s step= 340 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 6.90s step= 345 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 7.00s step= 350 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 7.10s step= 355 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 7.20s step= 360 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 7.30s step= 365 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 7.50s step= 375 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 7.60s step= 380 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 7.70s step= 385 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.10s step= 405 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.20s step= 410 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.40s step= 420 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.50s step= 425 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.70s step= 435 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(-0.01,-0.02,-1.00) r=0.32m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 9.20s step= 460 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 9.40s step= 470 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.33m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 9.80s step= 490 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 9.90s step= 495 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 10.10s step= 505 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(-0.17,-0.01,-0.98) r=0.31m +[headless_play] t= 10.60s step= 530 trunk_z= 109.7mm grav_b=(-0.19,-0.11,-0.98) r=0.28m +[headless_play] t= 10.70s step= 535 trunk_z= 66.2mm grav_b=(-0.20,-0.05,-0.98) r=0.24m +[headless_play] t= 10.80s step= 540 trunk_z= 74.8mm grav_b=(-0.01,+0.08,-1.00) r=0.24m +[headless_play] t= 10.90s step= 545 trunk_z= 95.0mm grav_b=(+0.07,+0.18,-0.98) r=0.26m +[headless_play] t= 11.00s step= 550 trunk_z= 118.3mm grav_b=(+0.08,+0.19,-0.98) r=0.27m +[headless_play] t= 11.10s step= 555 trunk_z= 117.9mm grav_b=(+0.12,+0.11,-0.99) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 119.6mm grav_b=(+0.08,+0.07,-0.99) r=0.27m +[headless_play] t= 11.30s step= 565 trunk_z= 122.4mm grav_b=(+0.06,+0.06,-1.00) r=0.25m +[headless_play] t= 11.40s step= 570 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00) r=0.23m +[headless_play] t= 11.50s step= 575 trunk_z= 117.2mm grav_b=(+0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 11.60s step= 580 trunk_z= 115.6mm grav_b=(+0.02,-0.00,-1.00) r=0.23m +[headless_play] t= 11.70s step= 585 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 11.80s step= 590 trunk_z= 115.4mm grav_b=(+0.10,-0.00,-0.99) r=0.23m +[headless_play] t= 11.90s step= 595 trunk_z= 115.4mm grav_b=(+0.09,-0.01,-1.00) r=0.23m +[headless_play] t= 12.00s step= 600 trunk_z= 115.4mm grav_b=(+0.06,-0.01,-1.00) r=0.23m +[headless_play] t= 12.10s step= 605 trunk_z= 115.4mm grav_b=(+0.05,-0.00,-1.00) r=0.23m +[headless_play] t= 12.20s step= 610 trunk_z= 114.6mm grav_b=(+0.06,+0.01,-1.00) r=0.23m +[headless_play] t= 12.30s step= 615 trunk_z= 112.8mm grav_b=(+0.09,-0.00,-1.00) r=0.22m +[headless_play] t= 12.40s step= 620 trunk_z= 109.3mm grav_b=(+0.09,-0.07,-0.99) r=0.20m +[headless_play] t= 12.50s step= 625 trunk_z= 119.9mm grav_b=(+0.08,-0.10,-0.99) r=0.18m +[headless_play] t= 12.60s step= 630 trunk_z= 121.1mm grav_b=(+0.06,-0.03,-1.00) r=0.17m +[headless_play] t= 12.70s step= 635 trunk_z= 119.2mm grav_b=(+0.06,+0.04,-1.00) r=0.18m +[headless_play] t= 12.80s step= 640 trunk_z= 119.7mm grav_b=(+0.08,+0.02,-1.00) r=0.18m +[headless_play] t= 12.90s step= 645 trunk_z= 112.7mm grav_b=(+0.08,-0.06,-1.00) r=0.16m +[headless_play] t= 13.00s step= 650 trunk_z= 123.2mm grav_b=(+0.08,-0.04,-1.00) r=0.15m +[headless_play] t= 13.10s step= 655 trunk_z= 116.4mm grav_b=(+0.06,+0.00,-1.00) r=0.17m +[headless_play] t= 13.20s step= 660 trunk_z= 121.1mm grav_b=(+0.06,+0.04,-1.00) r=0.19m +[headless_play] t= 13.30s step= 665 trunk_z= 117.9mm grav_b=(+0.06,+0.02,-1.00) r=0.19m +[headless_play] t= 13.40s step= 670 trunk_z= 114.9mm grav_b=(+0.08,-0.09,-0.99) r=0.18m +[headless_play] t= 13.50s step= 675 trunk_z= 125.6mm grav_b=(+0.09,-0.07,-0.99) r=0.18m +[headless_play] t= 13.60s step= 680 trunk_z= 120.9mm grav_b=(+0.06,-0.03,-1.00) r=0.21m +[headless_play] t= 13.70s step= 685 trunk_z= 122.0mm grav_b=(+0.06,+0.03,-1.00) r=0.23m +[headless_play] t= 13.80s step= 690 trunk_z= 118.3mm grav_b=(+0.06,-0.01,-1.00) r=0.24m +[headless_play] t= 13.90s step= 695 trunk_z= 119.9mm grav_b=(+0.07,-0.08,-0.99) r=0.25m +[headless_play] t= 14.00s step= 700 trunk_z= 121.6mm grav_b=(+0.08,-0.04,-1.00) r=0.27m +[headless_play] t= 14.10s step= 705 trunk_z= 114.6mm grav_b=(+0.03,+0.03,-1.00) r=0.29m +[headless_play] t= 14.20s step= 710 trunk_z= 122.0mm grav_b=(+0.04,+0.04,-1.00) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 117.1mm grav_b=(+0.08,+0.02,-1.00) r=0.33m +[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(+0.10,-0.10,-0.99) r=0.35m +[headless_play] t= 14.50s step= 725 trunk_z= 125.7mm grav_b=(+0.11,-0.06,-0.99) r=0.37m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.06,-0.02,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 123.3mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 116.9mm grav_b=(+0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 123.0mm grav_b=(+0.07,-0.08,-0.99) r=0.47m +[headless_play] t= 15.00s step= 750 trunk_z= 120.3mm grav_b=(+0.08,-0.05,-1.00) r=0.49m +[headless_play] t= 15.10s step= 755 trunk_z= 115.9mm grav_b=(+0.07,+0.02,-1.00) r=0.51m +[headless_play] t= 15.20s step= 760 trunk_z= 123.4mm grav_b=(+0.06,+0.03,-1.00) r=0.53m +[headless_play] t= 15.30s step= 765 trunk_z= 117.4mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 118.6mm grav_b=(+0.06,-0.06,-1.00) r=0.55m +[headless_play] t= 15.50s step= 775 trunk_z= 118.1mm grav_b=(+0.09,-0.06,-0.99) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 112.6mm grav_b=(+0.06,+0.02,-1.00) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 122.4mm grav_b=(+0.08,+0.01,-1.00) r=0.62m +[headless_play] t= 15.80s step= 790 trunk_z= 116.4mm grav_b=(+0.08,-0.02,-1.00) r=0.63m +[headless_play] t= 15.90s step= 795 trunk_z= 122.1mm grav_b=(+0.06,-0.07,-1.00) r=0.66m +[headless_play] t= 16.00s step= 800 trunk_z= 120.7mm grav_b=(+0.07,-0.06,-1.00) r=0.66m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(-0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 16.20s step= 810 trunk_z= 121.4mm grav_b=(-0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 16.30s step= 815 trunk_z= 116.3mm grav_b=(+0.04,+0.00,-1.00) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(+0.08,-0.10,-0.99) r=0.70m +[headless_play] t= 16.50s step= 825 trunk_z= 117.9mm grav_b=(+0.10,-0.07,-0.99) r=0.72m +[headless_play] t= 16.60s step= 830 trunk_z= 118.6mm grav_b=(+0.08,-0.02,-1.00) r=0.75m +[headless_play] t= 16.70s step= 835 trunk_z= 125.8mm grav_b=(+0.05,-0.02,-1.00) r=0.78m +[headless_play] t= 16.80s step= 840 trunk_z= 115.1mm grav_b=(+0.03,-0.07,-1.00) r=0.82m +[headless_play] t= 16.90s step= 845 trunk_z= 124.0mm grav_b=(+0.06,-0.07,-1.00) r=0.84m +[headless_play] t= 17.00s step= 850 trunk_z= 115.5mm grav_b=(+0.07,-0.03,-1.00) r=0.85m +[headless_play] t= 17.10s step= 855 trunk_z= 119.1mm grav_b=(+0.04,+0.05,-1.00) r=0.86m +[headless_play] t= 17.20s step= 860 trunk_z= 119.2mm grav_b=(+0.08,+0.05,-1.00) r=0.87m +[headless_play] t= 17.30s step= 865 trunk_z= 113.3mm grav_b=(+0.06,-0.03,-1.00) r=0.89m +[headless_play] t= 17.40s step= 870 trunk_z= 119.8mm grav_b=(+0.07,-0.05,-1.00) r=0.91m +[headless_play] t= 17.50s step= 875 trunk_z= 113.7mm grav_b=(+0.07,-0.03,-1.00) r=0.93m +[headless_play] t= 17.60s step= 880 trunk_z= 118.7mm grav_b=(+0.06,+0.04,-1.00) r=0.95m +[headless_play] t= 17.70s step= 885 trunk_z= 117.5mm grav_b=(+0.08,+0.02,-1.00) r=0.96m +[headless_play] t= 17.80s step= 890 trunk_z= 114.5mm grav_b=(+0.05,-0.05,-1.00) r=0.97m +[headless_play] t= 17.90s step= 895 trunk_z= 119.7mm grav_b=(+0.07,-0.06,-1.00) r=0.99m +[headless_play] t= 18.00s step= 900 trunk_z= 112.2mm grav_b=(+0.06,-0.02,-1.00) r=1.01m +[headless_play] t= 18.10s step= 905 trunk_z= 119.0mm grav_b=(+0.07,+0.05,-1.00) r=1.03m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(+0.09,+0.03,-1.00) r=1.04m +[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(+0.05,-0.06,-1.00) r=1.05m +[headless_play] t= 18.40s step= 920 trunk_z= 121.3mm grav_b=(+0.08,-0.08,-0.99) r=1.07m +[headless_play] t= 18.50s step= 925 trunk_z= 114.3mm grav_b=(+0.10,-0.00,-1.00) r=1.09m +[headless_play] t= 18.60s step= 930 trunk_z= 117.8mm grav_b=(+0.09,+0.03,-1.00) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 115.3mm grav_b=(+0.08,-0.01,-1.00) r=1.08m +[headless_play] t= 18.80s step= 940 trunk_z= 115.3mm grav_b=(+0.02,+0.00,-1.00) r=1.08m +[headless_play] t= 18.90s step= 945 trunk_z= 115.5mm grav_b=(+0.00,+0.00,-1.00) r=1.07m +[headless_play] t= 19.00s step= 950 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 19.10s step= 955 trunk_z= 115.4mm grav_b=(+0.05,+0.00,-1.00) r=1.07m +[headless_play] t= 19.20s step= 960 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00) r=1.07m +[headless_play] t= 19.30s step= 965 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.40s step= 970 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.50s step= 975 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.60s step= 980 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.70s step= 985 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.80s step= 990 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 19.90s step= 995 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..b88e56279cb985e491b5553a76672d8d556bf616 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.045,-18.174,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(-0.01,-0.06,-1.00) r=0.17m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(+0.00,-0.07,-1.00) r=0.18m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(-0.03,+0.03,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 123.5mm grav_b=(-0.02,+0.03,-1.00) r=0.21m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(-0.03,-0.03,-1.00) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 123.0mm grav_b=(-0.06,-0.10,-0.99) r=0.18m +[headless_play] t= 0.80s step= 40 trunk_z= 123.0mm grav_b=(-0.06,-0.09,-0.99) r=0.19m +[headless_play] t= 0.90s step= 45 trunk_z= 117.0mm grav_b=(-0.05,+0.03,-1.00) r=0.21m +[headless_play] t= 1.00s step= 50 trunk_z= 122.5mm grav_b=(-0.01,+0.03,-1.00) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 114.6mm grav_b=(-0.02,-0.05,-1.00) r=0.21m +[headless_play] t= 1.20s step= 60 trunk_z= 124.7mm grav_b=(-0.05,-0.11,-0.99) r=0.21m +[headless_play] t= 1.30s step= 65 trunk_z= 124.3mm grav_b=(-0.06,-0.09,-0.99) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 118.7mm grav_b=(-0.09,+0.04,-0.99) r=0.25m +[headless_play] t= 1.50s step= 75 trunk_z= 123.5mm grav_b=(-0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.04,-0.05,-1.00) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 125.4mm grav_b=(-0.04,-0.14,-0.99) r=0.24m +[headless_play] t= 1.80s step= 90 trunk_z= 127.1mm grav_b=(-0.04,-0.13,-0.99) r=0.25m +[headless_play] t= 1.90s step= 95 trunk_z= 123.4mm grav_b=(-0.07,-0.05,-1.00) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 124.9mm grav_b=(-0.07,+0.05,-1.00) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 123.2mm grav_b=(-0.06,+0.02,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 119.8mm grav_b=(-0.05,-0.09,-0.99) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 126.4mm grav_b=(-0.08,-0.13,-0.99) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 124.1mm grav_b=(-0.05,-0.09,-0.99) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 120.4mm grav_b=(-0.04,+0.04,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 123.9mm grav_b=(-0.03,+0.01,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 115.5mm grav_b=(-0.06,-0.05,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 123.7mm grav_b=(-0.07,-0.12,-0.99) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 125.3mm grav_b=(-0.05,-0.10,-0.99) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.37m +[headless_play] t= 3.10s step= 155 trunk_z= 124.0mm grav_b=(+0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 3.20s step= 160 trunk_z= 124.3mm grav_b=(-0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 120.9mm grav_b=(-0.04,-0.09,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 125.6mm grav_b=(-0.05,-0.08,-1.00) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 120.1mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 121.1mm grav_b=(+0.02,-0.11,-0.99) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 125.3mm grav_b=(+0.02,-0.10,-0.99) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 121.2mm grav_b=(-0.04,-0.03,-1.00) r=0.50m +[headless_play] t= 4.10s step= 205 trunk_z= 122.3mm grav_b=(-0.05,+0.08,-1.00) r=0.52m +[headless_play] t= 4.20s step= 210 trunk_z= 123.4mm grav_b=(-0.05,+0.06,-1.00) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 115.9mm grav_b=(-0.04,-0.04,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 125.6mm grav_b=(-0.01,-0.13,-0.99) r=0.51m +[headless_play] t= 4.50s step= 225 trunk_z= 127.4mm grav_b=(+0.01,-0.14,-0.99) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 123.7mm grav_b=(-0.00,-0.07,-1.00) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 122.7mm grav_b=(+0.00,+0.04,-1.00) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 123.1mm grav_b=(-0.03,+0.04,-1.00) r=0.57m +[headless_play] t= 4.90s step= 245 trunk_z= 117.5mm grav_b=(-0.08,-0.07,-0.99) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 125.7mm grav_b=(-0.05,-0.13,-0.99) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 127.0mm grav_b=(-0.04,-0.12,-0.99) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 118.7mm grav_b=(-0.04,-0.05,-1.00) r=0.60m +[headless_play] t= 5.30s step= 265 trunk_z= 120.8mm grav_b=(+0.02,+0.03,-1.00) r=0.62m +[headless_play] t= 5.40s step= 270 trunk_z= 120.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 5.50s step= 275 trunk_z= 119.4mm grav_b=(+0.02,-0.10,-1.00) r=0.63m +[headless_play] t= 5.60s step= 280 trunk_z= 126.3mm grav_b=(+0.02,-0.11,-0.99) r=0.64m +[headless_play] t= 5.70s step= 285 trunk_z= 124.0mm grav_b=(-0.01,-0.07,-1.00) r=0.66m +[headless_play] t= 5.80s step= 290 trunk_z= 121.1mm grav_b=(-0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 126.9mm grav_b=(-0.05,+0.12,-0.99) r=0.71m +[headless_play] t= 6.00s step= 300 trunk_z= 129.6mm grav_b=(-0.06,+0.13,-0.99) r=0.71m +[headless_play] t= 6.10s step= 305 trunk_z= 125.3mm grav_b=(-0.05,+0.07,-1.00) r=0.71m +[headless_play] t= 6.20s step= 310 trunk_z= 120.0mm grav_b=(-0.03,-0.04,-1.00) r=0.70m +[headless_play] t= 6.30s step= 315 trunk_z= 124.3mm grav_b=(+0.03,-0.10,-0.99) r=0.71m +[headless_play] t= 6.40s step= 320 trunk_z= 120.9mm grav_b=(+0.02,-0.05,-1.00) r=0.73m +[headless_play] t= 6.50s step= 325 trunk_z= 120.6mm grav_b=(-0.00,+0.07,-1.00) r=0.76m +[headless_play] t= 6.60s step= 330 trunk_z= 122.4mm grav_b=(-0.02,+0.04,-1.00) r=0.77m +[headless_play] t= 6.70s step= 335 trunk_z= 115.1mm grav_b=(-0.07,-0.04,-1.00) r=0.77m +[headless_play] t= 6.80s step= 340 trunk_z= 124.8mm grav_b=(-0.05,-0.12,-0.99) r=0.78m +[headless_play] t= 6.90s step= 345 trunk_z= 126.2mm grav_b=(-0.02,-0.11,-0.99) r=0.79m +[headless_play] t= 7.00s step= 350 trunk_z= 118.5mm grav_b=(+0.00,-0.04,-1.00) r=0.81m +[headless_play] t= 7.10s step= 355 trunk_z= 121.4mm grav_b=(+0.03,+0.06,-1.00) r=0.84m +[headless_play] t= 7.20s step= 360 trunk_z= 121.6mm grav_b=(+0.03,+0.03,-1.00) r=0.85m +[headless_play] t= 7.30s step= 365 trunk_z= 115.4mm grav_b=(-0.02,-0.07,-1.00) r=0.87m +[headless_play] t= 7.40s step= 370 trunk_z= 125.5mm grav_b=(-0.01,-0.13,-0.99) r=0.88m +[headless_play] t= 7.50s step= 375 trunk_z= 125.3mm grav_b=(-0.02,-0.12,-0.99) r=0.90m +[headless_play] t= 7.60s step= 380 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 122.4mm grav_b=(-0.01,+0.07,-1.00) r=0.94m +[headless_play] t= 7.80s step= 390 trunk_z= 122.5mm grav_b=(+0.01,+0.05,-1.00) r=0.95m +[headless_play] t= 7.90s step= 395 trunk_z= 115.0mm grav_b=(-0.00,-0.07,-1.00) r=0.95m +[headless_play] t= 8.00s step= 400 trunk_z= 125.5mm grav_b=(+0.01,-0.14,-0.99) r=0.96m +[headless_play] t= 8.10s step= 405 trunk_z= 125.4mm grav_b=(+0.01,-0.13,-0.99) r=0.98m +[headless_play] t= 8.20s step= 410 trunk_z= 118.8mm grav_b=(-0.02,-0.03,-1.00) r=1.01m +[headless_play] t= 8.30s step= 415 trunk_z= 125.3mm grav_b=(-0.00,-0.00,-1.00) r=1.04m +[headless_play] t= 8.40s step= 420 trunk_z= 119.5mm grav_b=(-0.04,-0.03,-1.00) r=1.05m +[headless_play] t= 8.50s step= 425 trunk_z= 119.8mm grav_b=(-0.04,-0.13,-0.99) r=1.06m +[headless_play] t= 8.60s step= 430 trunk_z= 123.8mm grav_b=(-0.02,-0.15,-0.99) r=1.07m +[headless_play] t= 8.70s step= 435 trunk_z= 119.0mm grav_b=(-0.01,-0.08,-1.00) r=1.09m +[headless_play] t= 8.80s step= 440 trunk_z= 121.1mm grav_b=(-0.01,+0.04,-1.00) r=1.12m +[headless_play] t= 8.90s step= 445 trunk_z= 122.2mm grav_b=(-0.00,+0.02,-1.00) r=1.13m +[headless_play] t= 9.00s step= 450 trunk_z= 113.8mm grav_b=(-0.04,-0.07,-1.00) r=1.14m +[headless_play] t= 9.10s step= 455 trunk_z= 123.5mm grav_b=(-0.04,-0.15,-0.99) r=1.15m +[headless_play] t= 9.20s step= 460 trunk_z= 123.1mm grav_b=(-0.01,-0.14,-0.99) r=1.17m +[headless_play] t= 9.30s step= 465 trunk_z= 117.7mm grav_b=(+0.02,-0.04,-1.00) r=1.19m +[headless_play] t= 9.40s step= 470 trunk_z= 124.1mm grav_b=(+0.01,+0.05,-1.00) r=1.22m +[headless_play] t= 9.50s step= 475 trunk_z= 121.7mm grav_b=(-0.00,+0.00,-1.00) r=1.23m +[headless_play] t= 9.60s step= 480 trunk_z= 115.2mm grav_b=(-0.06,-0.08,-0.99) r=1.24m +[headless_play] t= 9.70s step= 485 trunk_z= 124.0mm grav_b=(-0.04,-0.16,-0.99) r=1.25m +[headless_play] t= 9.80s step= 490 trunk_z= 124.4mm grav_b=(-0.02,-0.15,-0.99) r=1.26m +[headless_play] t= 9.90s step= 495 trunk_z= 117.9mm grav_b=(+0.04,-0.07,-1.00) r=1.29m +[headless_play] t= 10.00s step= 500 trunk_z= 122.6mm grav_b=(+0.03,+0.06,-1.00) r=1.31m +[headless_play] t= 10.10s step= 505 trunk_z= 124.3mm grav_b=(+0.02,+0.02,-1.00) r=1.34m +[headless_play] t= 10.20s step= 510 trunk_z= 112.7mm grav_b=(-0.05,-0.05,-1.00) r=1.35m +[headless_play] t= 10.30s step= 515 trunk_z= 122.5mm grav_b=(-0.03,-0.13,-0.99) r=1.37m +[headless_play] t= 10.40s step= 520 trunk_z= 124.2mm grav_b=(-0.02,-0.13,-0.99) r=1.38m +[headless_play] t= 10.50s step= 525 trunk_z= 118.3mm grav_b=(-0.02,-0.05,-1.00) r=1.41m +[headless_play] t= 10.60s step= 530 trunk_z= 122.4mm grav_b=(-0.00,+0.06,-1.00) r=1.43m +[headless_play] t= 10.70s step= 535 trunk_z= 121.2mm grav_b=(+0.00,+0.02,-1.00) r=1.44m +[headless_play] t= 10.80s step= 540 trunk_z= 114.5mm grav_b=(-0.03,-0.10,-0.99) r=1.46m +[headless_play] t= 10.90s step= 545 trunk_z= 125.2mm grav_b=(-0.03,-0.15,-0.99) r=1.47m +[headless_play] t= 11.00s step= 550 trunk_z= 127.1mm grav_b=(-0.00,-0.14,-0.99) r=1.49m +[headless_play] t= 11.10s step= 555 trunk_z= 121.5mm grav_b=(-0.07,-0.02,-1.00) r=1.52m +[headless_play] t= 11.20s step= 560 trunk_z= 123.0mm grav_b=(-0.05,+0.03,-1.00) r=1.54m +[headless_play] t= 11.30s step= 565 trunk_z= 119.7mm grav_b=(-0.08,+0.01,-1.00) r=1.54m +[headless_play] t= 11.40s step= 570 trunk_z= 117.6mm grav_b=(-0.03,-0.09,-1.00) r=1.55m +[headless_play] t= 11.50s step= 575 trunk_z= 118.5mm grav_b=(-0.01,-0.09,-1.00) r=1.56m +[headless_play] t= 11.60s step= 580 trunk_z= 110.9mm grav_b=(+0.03,-0.02,-1.00) r=1.59m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(+0.05,+0.08,-1.00) r=1.61m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(-0.03,+0.04,-1.00) r=1.60m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(-0.22,-0.18,-0.96) r=1.56m +[headless_play] t= 12.00s step= 600 trunk_z= 131.5mm grav_b=(-0.28,-0.11,-0.95) r=1.52m +[headless_play] t= 12.10s step= 605 trunk_z= 102.9mm grav_b=(-0.20,-0.11,-0.97) r=1.48m +[headless_play] t= 12.20s step= 610 trunk_z= 101.0mm grav_b=(-0.20,-0.24,-0.95) r=1.42m +[headless_play] t= 12.30s step= 615 trunk_z= 86.6mm grav_b=(-0.31,-0.19,-0.93) r=1.35m +[headless_play] t= 12.40s step= 620 trunk_z= 70.4mm grav_b=(-0.28,+0.25,-0.93) r=1.27m +[headless_play] t= 12.50s step= 625 trunk_z= 87.4mm grav_b=(-0.33,+0.22,-0.92) r=1.24m +[headless_play] t= 12.60s step= 630 trunk_z= 97.6mm grav_b=(-0.21,-0.04,-0.98) r=1.22m +[headless_play] t= 12.70s step= 635 trunk_z= 83.1mm grav_b=(-0.01,-0.13,-0.99) r=1.20m +[headless_play] t= 12.80s step= 640 trunk_z= 101.4mm grav_b=(-0.04,-0.16,-0.99) r=1.20m +[headless_play] t= 12.90s step= 645 trunk_z= 103.9mm grav_b=(+0.03,-0.09,-1.00) r=1.19m +[headless_play] t= 13.00s step= 650 trunk_z= 109.4mm grav_b=(+0.04,+0.04,-1.00) r=1.19m +[headless_play] t= 13.10s step= 655 trunk_z= 120.6mm grav_b=(+0.03,+0.02,-1.00) r=1.19m +[headless_play] t= 13.20s step= 660 trunk_z= 116.5mm grav_b=(-0.01,-0.03,-1.00) r=1.22m +[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(-0.02,-0.12,-0.99) r=1.24m +[headless_play] t= 13.40s step= 670 trunk_z= 124.6mm grav_b=(+0.01,-0.11,-0.99) r=1.25m +[headless_play] t= 13.50s step= 675 trunk_z= 119.0mm grav_b=(-0.01,-0.05,-1.00) r=1.23m +[headless_play] t= 13.60s step= 680 trunk_z= 121.7mm grav_b=(+0.02,+0.05,-1.00) r=1.22m +[headless_play] t= 13.70s step= 685 trunk_z= 123.5mm grav_b=(+0.03,+0.03,-1.00) r=1.22m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=1.24m +[headless_play] t= 13.90s step= 695 trunk_z= 123.7mm grav_b=(+0.00,-0.11,-0.99) r=1.26m +[headless_play] t= 14.00s step= 700 trunk_z= 124.9mm grav_b=(-0.01,-0.05,-1.00) r=1.26m +[headless_play] t= 14.10s step= 705 trunk_z= 113.4mm grav_b=(-0.04,+0.02,-1.00) r=1.25m +[headless_play] t= 14.20s step= 710 trunk_z= 119.7mm grav_b=(-0.01,+0.02,-1.00) r=1.24m +[headless_play] t= 14.30s step= 715 trunk_z= 115.6mm grav_b=(-0.02,-0.02,-1.00) r=1.26m +[headless_play] t= 14.40s step= 720 trunk_z= 120.8mm grav_b=(-0.04,-0.09,-1.00) r=1.28m +[headless_play] t= 14.50s step= 725 trunk_z= 123.6mm grav_b=(-0.04,-0.05,-1.00) r=1.29m +[headless_play] t= 14.60s step= 730 trunk_z= 113.7mm grav_b=(-0.05,+0.04,-1.00) r=1.27m +[headless_play] t= 14.70s step= 735 trunk_z= 122.1mm grav_b=(+0.03,+0.04,-1.00) r=1.27m +[headless_play] t= 14.80s step= 740 trunk_z= 121.3mm grav_b=(+0.02,+0.00,-1.00) r=1.29m +[headless_play] t= 14.90s step= 745 trunk_z= 114.9mm grav_b=(-0.05,-0.08,-1.00) r=1.32m +[headless_play] t= 15.00s step= 750 trunk_z= 123.5mm grav_b=(-0.04,-0.07,-1.00) r=1.34m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(-0.08,+0.01,-1.00) r=1.33m +[headless_play] t= 15.20s step= 760 trunk_z= 120.3mm grav_b=(-0.02,+0.06,-1.00) r=1.34m +[headless_play] t= 15.30s step= 765 trunk_z= 122.0mm grav_b=(+0.01,+0.03,-1.00) r=1.35m +[headless_play] t= 15.40s step= 770 trunk_z= 113.7mm grav_b=(-0.02,-0.04,-1.00) r=1.38m +[headless_play] t= 15.50s step= 775 trunk_z= 123.4mm grav_b=(-0.01,-0.09,-1.00) r=1.40m +[headless_play] t= 15.60s step= 780 trunk_z= 122.4mm grav_b=(-0.04,-0.03,-1.00) r=1.41m +[headless_play] t= 15.70s step= 785 trunk_z= 115.3mm grav_b=(-0.04,+0.02,-1.00) r=1.41m +[headless_play] t= 15.80s step= 790 trunk_z= 121.6mm grav_b=(-0.06,+0.01,-1.00) r=1.42m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(-0.12,-0.15,-0.98) r=1.44m +[headless_play] t= 16.00s step= 800 trunk_z= 132.4mm grav_b=(-0.12,-0.21,-0.97) r=1.46m +[headless_play] t= 16.10s step= 805 trunk_z= 136.7mm grav_b=(-0.01,-0.28,-0.96) r=1.48m +[headless_play] t= 16.20s step= 810 trunk_z= 118.0mm grav_b=(+0.19,-0.47,-0.86) r=1.48m +[headless_play] t= 16.30s step= 815 trunk_z= 70.3mm grav_b=(+0.09,-0.86,-0.50) r=1.48m +[headless_play] RESET at t= 16.34s step= 817 (env termination, not a recovery) +[headless_play] t= 16.40s step= 820 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.01,-0.02,-1.00) r=0.54m +[headless_play] t= 16.60s step= 830 trunk_z= 117.3mm grav_b=(+0.03,-0.08,-1.00) r=0.55m +[headless_play] t= 16.70s step= 835 trunk_z= 119.9mm grav_b=(+0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 16.80s step= 840 trunk_z= 120.0mm grav_b=(+0.02,+0.08,-1.00) r=0.60m +[headless_play] t= 16.90s step= 845 trunk_z= 126.2mm grav_b=(+0.03,+0.06,-1.00) r=0.62m +[headless_play] t= 17.00s step= 850 trunk_z= 118.8mm grav_b=(-0.02,+0.00,-1.00) r=0.65m +[headless_play] t= 17.10s step= 855 trunk_z= 123.7mm grav_b=(-0.01,-0.07,-1.00) r=0.67m +[headless_play] t= 17.20s step= 860 trunk_z= 122.7mm grav_b=(+0.00,-0.07,-1.00) r=0.68m +[headless_play] t= 17.30s step= 865 trunk_z= 118.6mm grav_b=(-0.01,+0.05,-1.00) r=0.68m +[headless_play] t= 17.40s step= 870 trunk_z= 125.3mm grav_b=(+0.00,+0.04,-1.00) r=0.70m +[headless_play] t= 17.50s step= 875 trunk_z= 120.8mm grav_b=(-0.01,+0.02,-1.00) r=0.72m +[headless_play] t= 17.60s step= 880 trunk_z= 123.1mm grav_b=(-0.01,-0.07,-1.00) r=0.74m +[headless_play] t= 17.70s step= 885 trunk_z= 122.2mm grav_b=(-0.01,-0.05,-1.00) r=0.75m +[headless_play] t= 17.80s step= 890 trunk_z= 118.9mm grav_b=(-0.03,+0.05,-1.00) r=0.76m +[headless_play] t= 17.90s step= 895 trunk_z= 124.7mm grav_b=(-0.01,+0.06,-1.00) r=0.77m +[headless_play] t= 18.00s step= 900 trunk_z= 118.7mm grav_b=(-0.01,+0.00,-1.00) r=0.80m +[headless_play] t= 18.10s step= 905 trunk_z= 122.7mm grav_b=(+0.00,-0.10,-1.00) r=0.82m +[headless_play] t= 18.20s step= 910 trunk_z= 124.6mm grav_b=(+0.03,-0.08,-1.00) r=0.84m +[headless_play] t= 18.30s step= 915 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 18.40s step= 920 trunk_z= 125.3mm grav_b=(-0.01,+0.08,-1.00) r=0.87m +[headless_play] t= 18.50s step= 925 trunk_z= 125.7mm grav_b=(-0.01,+0.03,-1.00) r=0.89m +[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(-0.03,-0.04,-1.00) r=0.91m +[headless_play] t= 18.70s step= 935 trunk_z= 122.2mm grav_b=(+0.01,-0.07,-1.00) r=0.93m +[headless_play] t= 18.80s step= 940 trunk_z= 119.1mm grav_b=(+0.00,-0.01,-1.00) r=0.93m +[headless_play] t= 18.90s step= 945 trunk_z= 123.6mm grav_b=(-0.00,+0.07,-1.00) r=0.94m +[headless_play] t= 19.00s step= 950 trunk_z= 123.2mm grav_b=(+0.01,+0.03,-1.00) r=0.96m +[headless_play] t= 19.10s step= 955 trunk_z= 114.9mm grav_b=(-0.04,-0.06,-1.00) r=0.99m +[headless_play] t= 19.20s step= 960 trunk_z= 123.7mm grav_b=(-0.03,-0.09,-1.00) r=1.01m +[headless_play] t= 19.30s step= 965 trunk_z= 118.8mm grav_b=(-0.04,-0.05,-1.00) r=1.03m +[headless_play] t= 19.40s step= 970 trunk_z= 120.9mm grav_b=(-0.03,+0.06,-1.00) r=1.04m +[headless_play] t= 19.50s step= 975 trunk_z= 120.4mm grav_b=(-0.01,+0.05,-1.00) r=1.05m +[headless_play] t= 19.60s step= 980 trunk_z= 112.5mm grav_b=(-0.00,-0.01,-1.00) r=1.08m +[headless_play] t= 19.70s step= 985 trunk_z= 117.9mm grav_b=(-0.00,-0.07,-1.00) r=1.10m +[headless_play] t= 19.80s step= 990 trunk_z= 113.1mm grav_b=(+0.02,-0.05,-1.00) r=1.11m +[headless_play] t= 19.90s step= 995 trunk_z= 109.7mm grav_b=(+0.02,+0.05,-1.00) r=1.12m +[headless_play] t= 20.00s step=1000 trunk_z= 117.2mm grav_b=(+0.04,+0.07,-1.00) r=1.14m +[headless_play] t= 20.10s step=1005 trunk_z= 113.9mm grav_b=(+0.06,+0.03,-1.00) r=1.16m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..9ade8568c8de8e08d9dbb0274da6f74c91a2845c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(-9.842,-18.062,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 117.9mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 0.10s step= 5 trunk_z= 114.0mm grav_b=(+0.01,-0.04,-1.00) r=0.17m +[headless_play] t= 0.20s step= 10 trunk_z= 111.7mm grav_b=(+0.09,-0.10,-0.99) r=0.17m +[headless_play] t= 0.30s step= 15 trunk_z= 114.5mm grav_b=(+0.05,-0.06,-1.00) r=0.15m +[headless_play] t= 0.40s step= 20 trunk_z= 109.5mm grav_b=(+0.02,+0.04,-1.00) r=0.14m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(+0.06,+0.04,-1.00) r=0.13m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.15m +[headless_play] t= 0.70s step= 35 trunk_z= 121.0mm grav_b=(+0.07,-0.08,-0.99) r=0.17m +[headless_play] t= 0.80s step= 40 trunk_z= 119.6mm grav_b=(+0.06,-0.11,-0.99) r=0.18m +[headless_play] t= 0.90s step= 45 trunk_z= 113.4mm grav_b=(+0.04,-0.01,-1.00) r=0.18m +[headless_play] t= 1.00s step= 50 trunk_z= 119.4mm grav_b=(+0.07,+0.02,-1.00) r=0.19m +[headless_play] t= 1.10s step= 55 trunk_z= 114.8mm grav_b=(+0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 1.20s step= 60 trunk_z= 121.7mm grav_b=(+0.05,-0.09,-0.99) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.05,-0.10,-0.99) r=0.24m +[headless_play] t= 1.40s step= 70 trunk_z= 112.8mm grav_b=(+0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 1.50s step= 75 trunk_z= 117.4mm grav_b=(+0.06,+0.01,-1.00) r=0.26m +[headless_play] t= 1.60s step= 80 trunk_z= 113.0mm grav_b=(+0.06,-0.06,-1.00) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 120.9mm grav_b=(+0.11,-0.10,-0.99) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 120.2mm grav_b=(+0.05,-0.10,-0.99) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(+0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 119.0mm grav_b=(+0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 118.3mm grav_b=(+0.05,-0.10,-0.99) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 120.6mm grav_b=(+0.07,-0.13,-0.99) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 118.1mm grav_b=(+0.06,-0.11,-0.99) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 119.1mm grav_b=(+0.07,+0.05,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(+0.06,+0.00,-1.00) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 118.0mm grav_b=(+0.06,-0.09,-0.99) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 120.2mm grav_b=(+0.08,-0.11,-0.99) r=0.51m +[headless_play] t= 2.80s step= 140 trunk_z= 115.2mm grav_b=(+0.05,-0.05,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 119.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.05,-0.01,-1.00) r=0.56m +[headless_play] t= 3.10s step= 155 trunk_z= 120.5mm grav_b=(+0.04,-0.08,-1.00) r=0.59m +[headless_play] t= 3.20s step= 160 trunk_z= 118.9mm grav_b=(+0.06,-0.11,-0.99) r=0.60m +[headless_play] t= 3.30s step= 165 trunk_z= 113.0mm grav_b=(+0.04,-0.05,-1.00) r=0.60m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(+0.06,+0.04,-1.00) r=0.61m +[headless_play] t= 3.50s step= 175 trunk_z= 115.5mm grav_b=(+0.08,-0.00,-1.00) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(+0.09,-0.09,-0.99) r=0.66m +[headless_play] t= 3.70s step= 185 trunk_z= 121.6mm grav_b=(+0.08,-0.11,-0.99) r=0.68m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(+0.05,-0.04,-1.00) r=0.70m +[headless_play] t= 3.90s step= 195 trunk_z= 119.9mm grav_b=(+0.08,-0.01,-1.00) r=0.72m +[headless_play] t= 4.00s step= 200 trunk_z= 116.9mm grav_b=(+0.09,-0.05,-0.99) r=0.74m +[headless_play] t= 4.10s step= 205 trunk_z= 124.2mm grav_b=(+0.07,-0.09,-0.99) r=0.76m +[headless_play] t= 4.20s step= 210 trunk_z= 123.2mm grav_b=(+0.04,-0.07,-1.00) r=0.79m +[headless_play] t= 4.30s step= 215 trunk_z= 115.1mm grav_b=(+0.03,+0.03,-1.00) r=0.81m +[headless_play] t= 4.40s step= 220 trunk_z= 120.0mm grav_b=(+0.06,+0.05,-1.00) r=0.82m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(+0.05,-0.01,-1.00) r=0.84m +[headless_play] t= 4.60s step= 230 trunk_z= 123.0mm grav_b=(+0.07,-0.09,-0.99) r=0.87m +[headless_play] t= 4.70s step= 235 trunk_z= 126.3mm grav_b=(+0.06,-0.08,-0.99) r=0.89m +[headless_play] t= 4.80s step= 240 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.92m +[headless_play] t= 4.90s step= 245 trunk_z= 119.6mm grav_b=(+0.06,+0.03,-1.00) r=0.94m +[headless_play] t= 5.00s step= 250 trunk_z= 116.2mm grav_b=(+0.04,-0.03,-1.00) r=0.95m +[headless_play] t= 5.10s step= 255 trunk_z= 123.3mm grav_b=(+0.06,-0.10,-0.99) r=0.97m +[headless_play] t= 5.20s step= 260 trunk_z= 123.1mm grav_b=(+0.05,-0.09,-0.99) r=0.99m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) r=1.02m +[headless_play] t= 5.40s step= 270 trunk_z= 118.5mm grav_b=(+0.04,+0.02,-1.00) r=1.03m +[headless_play] t= 5.50s step= 275 trunk_z= 112.1mm grav_b=(+0.02,-0.09,-1.00) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 122.5mm grav_b=(+0.07,-0.13,-0.99) r=1.05m +[headless_play] t= 5.70s step= 285 trunk_z= 124.1mm grav_b=(+0.06,-0.11,-0.99) r=1.07m +[headless_play] t= 5.80s step= 290 trunk_z= 113.6mm grav_b=(+0.05,-0.01,-1.00) r=1.10m +[headless_play] t= 5.90s step= 295 trunk_z= 119.8mm grav_b=(+0.07,+0.01,-1.00) r=1.13m +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(+0.03,-0.08,-1.00) r=1.15m +[headless_play] t= 6.10s step= 305 trunk_z= 125.3mm grav_b=(+0.06,-0.10,-0.99) r=1.17m +[headless_play] t= 6.20s step= 310 trunk_z= 123.8mm grav_b=(+0.06,-0.11,-0.99) r=1.19m +[headless_play] t= 6.30s step= 315 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=1.21m +[headless_play] t= 6.40s step= 320 trunk_z= 120.0mm grav_b=(+0.05,+0.03,-1.00) r=1.23m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.05,-0.04,-1.00) r=1.26m +[headless_play] t= 6.60s step= 330 trunk_z= 122.3mm grav_b=(+0.08,-0.10,-0.99) r=1.28m +[headless_play] t= 6.70s step= 335 trunk_z= 126.2mm grav_b=(+0.07,-0.08,-0.99) r=1.30m +[headless_play] t= 6.80s step= 340 trunk_z= 114.1mm grav_b=(+0.05,-0.01,-1.00) r=1.33m +[headless_play] t= 6.90s step= 345 trunk_z= 118.6mm grav_b=(+0.07,+0.01,-1.00) r=1.35m +[headless_play] t= 7.00s step= 350 trunk_z= 115.3mm grav_b=(+0.02,-0.08,-1.00) r=1.37m +[headless_play] t= 7.10s step= 355 trunk_z= 123.8mm grav_b=(+0.05,-0.11,-0.99) r=1.39m +[headless_play] t= 7.20s step= 360 trunk_z= 122.6mm grav_b=(+0.04,-0.09,-0.99) r=1.41m +[headless_play] t= 7.30s step= 365 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) r=1.42m +[headless_play] t= 7.40s step= 370 trunk_z= 120.8mm grav_b=(+0.05,+0.07,-1.00) r=1.43m +[headless_play] t= 7.50s step= 375 trunk_z= 119.9mm grav_b=(+0.05,+0.03,-1.00) r=1.45m +[headless_play] t= 7.60s step= 380 trunk_z= 116.4mm grav_b=(+0.06,-0.10,-0.99) r=1.46m +[headless_play] t= 7.70s step= 385 trunk_z= 129.9mm grav_b=(+0.06,-0.12,-0.99) r=1.49m +[headless_play] t= 7.80s step= 390 trunk_z= 123.3mm grav_b=(+0.01,-0.07,-1.00) r=1.53m +[headless_play] t= 7.90s step= 395 trunk_z= 118.8mm grav_b=(+0.02,-0.01,-1.00) r=1.56m +[headless_play] t= 8.00s step= 400 trunk_z= 118.6mm grav_b=(+0.02,-0.01,-1.00) r=1.58m +[headless_play] t= 8.10s step= 405 trunk_z= 117.5mm grav_b=(+0.03,-0.09,-1.00) r=1.58m +[headless_play] t= 8.20s step= 410 trunk_z= 122.6mm grav_b=(+0.05,-0.09,-0.99) r=1.60m +[headless_play] t= 8.30s step= 415 trunk_z= 115.9mm grav_b=(+0.03,-0.06,-1.00) r=1.63m +[headless_play] t= 8.40s step= 420 trunk_z= 121.0mm grav_b=(+0.05,+0.04,-1.00) r=1.65m +[headless_play] t= 8.50s step= 425 trunk_z= 120.6mm grav_b=(+0.04,+0.02,-1.00) r=1.66m +[headless_play] t= 8.60s step= 430 trunk_z= 114.3mm grav_b=(+0.02,-0.07,-1.00) r=1.66m +[headless_play] t= 8.70s step= 435 trunk_z= 120.9mm grav_b=(+0.05,-0.09,-0.99) r=1.66m +[headless_play] t= 8.80s step= 440 trunk_z= 115.3mm grav_b=(+0.04,-0.09,-0.99) r=1.69m +[headless_play] t= 8.90s step= 445 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=1.71m +[headless_play] t= 9.00s step= 450 trunk_z= 116.5mm grav_b=(+0.06,-0.00,-1.00) r=1.72m +[headless_play] t= 9.10s step= 455 trunk_z= 112.6mm grav_b=(+0.05,-0.08,-1.00) r=1.71m +[headless_play] t= 9.20s step= 460 trunk_z= 120.1mm grav_b=(+0.05,-0.09,-0.99) r=1.72m +[headless_play] t= 9.30s step= 465 trunk_z= 114.2mm grav_b=(+0.06,-0.09,-0.99) r=1.74m +[headless_play] t= 9.40s step= 470 trunk_z= 122.1mm grav_b=(+0.07,+0.15,-0.99) r=1.80m +[headless_play] t= 9.50s step= 475 trunk_z= 126.0mm grav_b=(+0.11,+0.18,-0.98) r=1.84m +[headless_play] t= 9.60s step= 480 trunk_z= 127.7mm grav_b=(+0.09,+0.03,-1.00) r=1.90m +[headless_play] t= 9.70s step= 485 trunk_z= 122.0mm grav_b=(+0.02,-0.13,-0.99) r=1.97m +[headless_play] t= 9.80s step= 490 trunk_z= 130.4mm grav_b=(+0.08,-0.10,-0.99) r=2.01m +[headless_play] t= 9.90s step= 495 trunk_z= 114.0mm grav_b=(-0.04,-0.00,-1.00) r=2.06m +[headless_play] t= 10.00s step= 500 trunk_z= 124.1mm grav_b=(-0.03,+0.09,-1.00) r=2.09m +[headless_play] t= 10.10s step= 505 trunk_z= 127.6mm grav_b=(-0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 10.20s step= 510 trunk_z= 124.6mm grav_b=(+0.01,+0.01,-1.00) r=2.11m +[headless_play] t= 10.30s step= 515 trunk_z= 118.3mm grav_b=(+0.05,-0.07,-1.00) r=2.10m +[headless_play] t= 10.40s step= 520 trunk_z= 119.3mm grav_b=(+0.07,-0.10,-0.99) r=2.12m +[headless_play] t= 10.50s step= 525 trunk_z= 111.3mm grav_b=(+0.07,-0.04,-1.00) r=2.15m +[headless_play] t= 10.60s step= 530 trunk_z= 117.5mm grav_b=(+0.09,-0.02,-1.00) r=2.17m +[headless_play] t= 10.70s step= 535 trunk_z= 114.2mm grav_b=(+0.04,-0.05,-1.00) r=2.18m +[headless_play] t= 10.80s step= 540 trunk_z= 121.3mm grav_b=(+0.04,-0.07,-1.00) r=2.19m +[headless_play] t= 10.90s step= 545 trunk_z= 117.3mm grav_b=(+0.06,-0.09,-0.99) r=2.21m +[headless_play] t= 11.00s step= 550 trunk_z= 110.0mm grav_b=(+0.04,+0.01,-1.00) r=2.23m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.06,+0.01,-1.00) r=2.25m +[headless_play] t= 11.20s step= 560 trunk_z= 113.5mm grav_b=(+0.08,-0.04,-1.00) r=2.26m +[headless_play] t= 11.30s step= 565 trunk_z= 119.9mm grav_b=(+0.06,-0.08,-0.99) r=2.28m +[headless_play] t= 11.40s step= 570 trunk_z= 118.1mm grav_b=(+0.07,-0.09,-0.99) r=2.29m +[headless_play] t= 11.50s step= 575 trunk_z= 112.0mm grav_b=(+0.04,+0.01,-1.00) r=2.32m +[headless_play] t= 11.60s step= 580 trunk_z= 117.7mm grav_b=(+0.06,+0.01,-1.00) r=2.34m +[headless_play] t= 11.70s step= 585 trunk_z= 114.4mm grav_b=(+0.06,-0.04,-1.00) r=2.35m +[headless_play] t= 11.80s step= 590 trunk_z= 120.6mm grav_b=(+0.06,-0.08,-1.00) r=2.37m +[headless_play] t= 11.90s step= 595 trunk_z= 117.2mm grav_b=(+0.06,-0.09,-0.99) r=2.39m +[headless_play] t= 12.00s step= 600 trunk_z= 110.4mm grav_b=(+0.04,-0.00,-1.00) r=2.40m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=2.42m +[headless_play] t= 12.20s step= 610 trunk_z= 112.4mm grav_b=(+0.07,-0.06,-1.00) r=2.44m +[headless_play] t= 12.30s step= 615 trunk_z= 119.9mm grav_b=(+0.07,-0.08,-0.99) r=2.46m +[headless_play] t= 12.40s step= 620 trunk_z= 117.5mm grav_b=(+0.07,-0.10,-0.99) r=2.47m +[headless_play] t= 12.50s step= 625 trunk_z= 112.5mm grav_b=(+0.07,+0.02,-1.00) r=2.48m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(+0.05,+0.04,-1.00) r=2.49m +[headless_play] t= 12.70s step= 635 trunk_z= 118.6mm grav_b=(+0.05,-0.01,-1.00) r=2.51m +[headless_play] t= 12.80s step= 640 trunk_z= 125.7mm grav_b=(+0.05,-0.07,-1.00) r=2.54m +[headless_play] t= 12.90s step= 645 trunk_z= 126.4mm grav_b=(-0.03,-0.05,-1.00) r=2.58m +[headless_play] t= 13.00s step= 650 trunk_z= 113.2mm grav_b=(-0.01,+0.02,-1.00) r=2.63m +[headless_play] t= 13.10s step= 655 trunk_z= 121.5mm grav_b=(+0.02,+0.01,-1.00) r=2.65m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(-0.00,-0.04,-1.00) r=2.66m +[headless_play] t= 13.30s step= 665 trunk_z= 122.7mm grav_b=(+0.04,-0.08,-1.00) r=2.68m +[headless_play] t= 13.40s step= 670 trunk_z= 123.5mm grav_b=(+0.04,-0.09,-1.00) r=2.70m +[headless_play] t= 13.50s step= 675 trunk_z= 115.2mm grav_b=(+0.03,+0.04,-1.00) r=2.73m +[headless_play] t= 13.60s step= 680 trunk_z= 121.7mm grav_b=(+0.05,+0.04,-1.00) r=2.75m +[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(+0.00,-0.02,-1.00) r=2.76m +[headless_play] t= 13.80s step= 690 trunk_z= 124.4mm grav_b=(+0.02,-0.11,-0.99) r=2.78m +[headless_play] t= 13.90s step= 695 trunk_z= 125.6mm grav_b=(+0.04,-0.12,-0.99) r=2.79m +[headless_play] t= 14.00s step= 700 trunk_z= 118.0mm grav_b=(-0.01,-0.04,-1.00) r=2.82m +[headless_play] t= 14.10s step= 705 trunk_z= 121.3mm grav_b=(+0.05,+0.07,-1.00) r=2.84m +[headless_play] t= 14.20s step= 710 trunk_z= 122.0mm grav_b=(+0.05,+0.02,-1.00) r=2.86m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(+0.01,-0.08,-1.00) r=2.87m +[headless_play] t= 14.40s step= 720 trunk_z= 136.4mm grav_b=(+0.17,-0.15,-0.98) r=2.92m +[headless_play] t= 14.50s step= 725 trunk_z= 105.8mm grav_b=(+0.03,-0.11,-0.99) r=2.99m +[headless_play] t= 14.60s step= 730 trunk_z= 42.3mm grav_b=(+0.36,+0.12,-0.92) r=3.05m +[headless_play] RESET at t= 14.68s step= 734 (env termination, not a recovery) +[headless_play] t= 14.70s step= 735 trunk_z= 123.6mm grav_b=(-0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 14.80s step= 740 trunk_z= 114.7mm grav_b=(-0.01,-0.04,-1.00) r=0.33m +[headless_play] t= 14.90s step= 745 trunk_z= 113.9mm grav_b=(+0.03,-0.11,-0.99) r=0.35m +[headless_play] t= 15.00s step= 750 trunk_z= 116.3mm grav_b=(-0.00,-0.13,-0.99) r=0.37m +[headless_play] t= 15.10s step= 755 trunk_z= 113.0mm grav_b=(+0.01,-0.09,-1.00) r=0.39m +[headless_play] t= 15.20s step= 760 trunk_z= 115.4mm grav_b=(+0.01,+0.03,-1.00) r=0.41m +[headless_play] t= 15.30s step= 765 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 15.40s step= 770 trunk_z= 114.6mm grav_b=(-0.00,-0.10,-1.00) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 121.9mm grav_b=(+0.03,-0.14,-0.99) r=0.44m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.02,-0.14,-0.99) r=0.46m +[headless_play] t= 15.70s step= 785 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 15.80s step= 790 trunk_z= 120.5mm grav_b=(-0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 15.90s step= 795 trunk_z= 114.8mm grav_b=(-0.01,-0.08,-1.00) r=0.50m +[headless_play] t= 16.00s step= 800 trunk_z= 122.0mm grav_b=(+0.02,-0.13,-0.99) r=0.51m +[headless_play] t= 16.10s step= 805 trunk_z= 121.1mm grav_b=(+0.02,-0.14,-0.99) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.30s step= 815 trunk_z= 121.6mm grav_b=(-0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 16.40s step= 820 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.57m +[headless_play] t= 16.50s step= 825 trunk_z= 119.8mm grav_b=(+0.03,-0.12,-0.99) r=0.58m +[headless_play] t= 16.60s step= 830 trunk_z= 121.0mm grav_b=(+0.02,-0.14,-0.99) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 117.4mm grav_b=(+0.00,-0.07,-1.00) r=0.62m +[headless_play] t= 16.80s step= 840 trunk_z= 119.7mm grav_b=(+0.03,+0.03,-1.00) r=0.63m +[headless_play] t= 16.90s step= 845 trunk_z= 118.6mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 17.00s step= 850 trunk_z= 118.6mm grav_b=(+0.01,-0.11,-0.99) r=0.62m +[headless_play] t= 17.10s step= 855 trunk_z= 123.5mm grav_b=(+0.02,-0.15,-0.99) r=0.63m +[headless_play] t= 17.20s step= 860 trunk_z= 120.6mm grav_b=(-0.01,-0.13,-0.99) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 17.40s step= 870 trunk_z= 119.0mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 115.8mm grav_b=(-0.01,-0.08,-1.00) r=0.64m +[headless_play] t= 17.60s step= 880 trunk_z= 120.5mm grav_b=(+0.01,-0.12,-0.99) r=0.64m +[headless_play] t= 17.70s step= 885 trunk_z= 117.3mm grav_b=(+0.00,-0.10,-1.00) r=0.65m +[headless_play] t= 17.80s step= 890 trunk_z= 116.8mm grav_b=(-0.05,+0.06,-1.00) r=0.66m +[headless_play] t= 17.90s step= 895 trunk_z= 121.5mm grav_b=(-0.00,+0.05,-1.00) r=0.66m +[headless_play] t= 18.00s step= 900 trunk_z= 117.6mm grav_b=(+0.02,-0.04,-1.00) r=0.65m +[headless_play] t= 18.10s step= 905 trunk_z= 127.0mm grav_b=(+0.05,-0.10,-0.99) r=0.62m +[headless_play] t= 18.20s step= 910 trunk_z= 129.6mm grav_b=(+0.04,-0.08,-1.00) r=0.61m +[headless_play] t= 18.30s step= 915 trunk_z= 110.8mm grav_b=(-0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 18.40s step= 920 trunk_z= 122.4mm grav_b=(-0.02,+0.00,-1.00) r=0.60m +[headless_play] t= 18.50s step= 925 trunk_z= 121.6mm grav_b=(-0.01,-0.02,-1.00) r=0.59m +[headless_play] t= 18.60s step= 930 trunk_z= 119.9mm grav_b=(-0.01,-0.07,-1.00) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 128.1mm grav_b=(-0.02,-0.11,-0.99) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 120.2mm grav_b=(-0.04,-0.10,-0.99) r=0.55m +[headless_play] t= 18.90s step= 945 trunk_z= 118.6mm grav_b=(-0.01,+0.02,-1.00) r=0.57m +[headless_play] t= 19.00s step= 950 trunk_z= 122.3mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(+0.00,-0.06,-1.00) r=0.54m +[headless_play] t= 19.20s step= 960 trunk_z= 126.9mm grav_b=(-0.01,-0.09,-1.00) r=0.52m +[headless_play] t= 19.30s step= 965 trunk_z= 123.8mm grav_b=(-0.04,-0.10,-0.99) r=0.52m +[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(-0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 19.50s step= 975 trunk_z= 121.4mm grav_b=(+0.00,+0.03,-1.00) r=0.53m +[headless_play] t= 19.60s step= 980 trunk_z= 119.9mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 19.70s step= 985 trunk_z= 124.5mm grav_b=(+0.02,-0.12,-0.99) r=0.48m +[headless_play] t= 19.80s step= 990 trunk_z= 132.9mm grav_b=(+0.01,-0.39,-0.92) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 118.1mm grav_b=(+0.11,-0.57,-0.81) r=0.39m +[headless_play] t= 20.00s step=1000 trunk_z= 70.7mm grav_b=(-0.01,-0.90,-0.44) r=0.34m +[headless_play] RESET at t= 20.02s step=1001 (env termination, not a recovery) +[headless_play] t= 20.10s step=1005 trunk_z= 114.6mm grav_b=(-0.04,-0.03,-1.00) r=0.40m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..e228d258359e37dbf4e205e958235a5c79324f6a --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.447,-18.216,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 113.7mm grav_b=(+0.02,+0.05,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(+0.08,+0.04,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 114.7mm grav_b=(+0.11,+0.00,-0.99) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 121.1mm grav_b=(+0.12,-0.05,-0.99) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 120.8mm grav_b=(+0.10,-0.04,-0.99) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 118.8mm grav_b=(+0.08,+0.04,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 122.4mm grav_b=(+0.09,+0.07,-0.99) r=0.56m +[headless_play] t= 0.80s step= 40 trunk_z= 119.7mm grav_b=(+0.06,+0.03,-1.00) r=0.57m +[headless_play] t= 0.90s step= 45 trunk_z= 124.3mm grav_b=(+0.05,-0.05,-1.00) r=0.58m +[headless_play] t= 1.00s step= 50 trunk_z= 119.4mm grav_b=(+0.09,-0.03,-0.99) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 117.1mm grav_b=(+0.07,+0.05,-1.00) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 123.9mm grav_b=(+0.09,+0.08,-0.99) r=0.62m +[headless_play] t= 1.30s step= 65 trunk_z= 122.7mm grav_b=(+0.07,+0.06,-1.00) r=0.63m +[headless_play] t= 1.40s step= 70 trunk_z= 121.6mm grav_b=(+0.07,-0.04,-1.00) r=0.65m +[headless_play] t= 1.50s step= 75 trunk_z= 121.1mm grav_b=(+0.10,-0.03,-1.00) r=0.66m +[headless_play] t= 1.60s step= 80 trunk_z= 114.3mm grav_b=(+0.06,+0.03,-1.00) r=0.67m +[headless_play] t= 1.70s step= 85 trunk_z= 122.2mm grav_b=(+0.08,+0.05,-1.00) r=0.69m +[headless_play] t= 1.80s step= 90 trunk_z= 120.9mm grav_b=(+0.08,+0.05,-1.00) r=0.70m +[headless_play] t= 1.90s step= 95 trunk_z= 121.2mm grav_b=(+0.07,-0.04,-1.00) r=0.72m +[headless_play] t= 2.00s step= 100 trunk_z= 120.4mm grav_b=(+0.09,-0.04,-1.00) r=0.73m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(+0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 2.20s step= 110 trunk_z= 122.4mm grav_b=(+0.09,+0.07,-0.99) r=0.75m +[headless_play] t= 2.30s step= 115 trunk_z= 120.8mm grav_b=(+0.09,+0.05,-0.99) r=0.75m +[headless_play] t= 2.40s step= 120 trunk_z= 117.1mm grav_b=(+0.06,-0.05,-1.00) r=0.76m +[headless_play] t= 2.50s step= 125 trunk_z= 121.1mm grav_b=(+0.05,-0.05,-1.00) r=0.77m +[headless_play] t= 2.60s step= 130 trunk_z= 112.1mm grav_b=(+0.06,+0.03,-1.00) r=0.79m +[headless_play] t= 2.70s step= 135 trunk_z= 121.1mm grav_b=(+0.07,+0.05,-1.00) r=0.80m +[headless_play] t= 2.80s step= 140 trunk_z= 118.2mm grav_b=(+0.10,+0.05,-0.99) r=0.82m +[headless_play] t= 2.90s step= 145 trunk_z= 113.7mm grav_b=(+0.11,-0.07,-0.99) r=0.83m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(+0.11,-0.05,-0.99) r=0.84m +[headless_play] t= 3.10s step= 155 trunk_z= 113.4mm grav_b=(+0.07,+0.02,-1.00) r=0.87m +[headless_play] t= 3.20s step= 160 trunk_z= 121.0mm grav_b=(+0.09,+0.05,-0.99) r=0.89m +[headless_play] t= 3.30s step= 165 trunk_z= 119.9mm grav_b=(+0.07,+0.03,-1.00) r=0.90m +[headless_play] t= 3.40s step= 170 trunk_z= 118.5mm grav_b=(+0.07,-0.07,-0.99) r=0.91m +[headless_play] t= 3.50s step= 175 trunk_z= 121.2mm grav_b=(+0.11,-0.04,-0.99) r=0.93m +[headless_play] t= 3.60s step= 180 trunk_z= 112.5mm grav_b=(+0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 3.70s step= 185 trunk_z= 120.9mm grav_b=(+0.06,+0.06,-1.00) r=0.97m +[headless_play] t= 3.80s step= 190 trunk_z= 119.8mm grav_b=(+0.08,+0.06,-0.99) r=0.99m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(+0.09,-0.07,-0.99) r=1.00m +[headless_play] t= 4.00s step= 200 trunk_z= 122.6mm grav_b=(+0.10,-0.06,-0.99) r=1.02m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(+0.05,-0.04,-1.00) r=1.04m +[headless_play] t= 4.20s step= 210 trunk_z= 119.9mm grav_b=(+0.03,+0.07,-1.00) r=1.06m +[headless_play] t= 4.30s step= 215 trunk_z= 122.4mm grav_b=(+0.06,+0.06,-1.00) r=1.07m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(+0.08,+0.03,-1.00) r=1.09m +[headless_play] t= 4.50s step= 225 trunk_z= 119.9mm grav_b=(+0.08,-0.06,-1.00) r=1.10m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(+0.14,+0.00,-0.99) r=1.13m +[headless_play] t= 4.70s step= 235 trunk_z= 123.4mm grav_b=(+0.14,+0.17,-0.98) r=1.17m +[headless_play] t= 4.80s step= 240 trunk_z= 130.7mm grav_b=(+0.10,+0.26,-0.96) r=1.22m +[headless_play] t= 4.90s step= 245 trunk_z= 109.6mm grav_b=(+0.25,+0.26,-0.93) r=1.28m +[headless_play] t= 5.00s step= 250 trunk_z= 136.8mm grav_b=(+0.32,+0.07,-0.95) r=1.31m +[headless_play] t= 5.10s step= 255 trunk_z= 108.5mm grav_b=(+0.23,+0.15,-0.96) r=1.37m +[headless_play] t= 5.20s step= 260 trunk_z= 134.0mm grav_b=(+0.22,+0.15,-0.96) r=1.41m +[headless_play] t= 5.30s step= 265 trunk_z= 136.8mm grav_b=(+0.14,+0.13,-0.98) r=1.46m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(+0.07,+0.04,-1.00) r=1.51m +[headless_play] t= 5.50s step= 275 trunk_z= 130.7mm grav_b=(+0.07,+0.02,-1.00) r=1.53m +[headless_play] t= 5.60s step= 280 trunk_z= 117.8mm grav_b=(+0.09,+0.05,-0.99) r=1.52m +[headless_play] t= 5.70s step= 285 trunk_z= 121.9mm grav_b=(+0.01,+0.01,-1.00) r=1.53m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=1.54m +[headless_play] t= 5.90s step= 295 trunk_z= 121.9mm grav_b=(+0.03,-0.03,-1.00) r=1.55m +[headless_play] t= 6.00s step= 300 trunk_z= 114.4mm grav_b=(+0.13,+0.06,-0.99) r=1.56m +[headless_play] t= 6.10s step= 305 trunk_z= 115.3mm grav_b=(+0.15,+0.15,-0.98) r=1.56m +[headless_play] t= 6.20s step= 310 trunk_z= 118.5mm grav_b=(+0.10,+0.09,-0.99) r=1.55m +[headless_play] t= 6.30s step= 315 trunk_z= 121.8mm grav_b=(+0.07,-0.01,-1.00) r=1.53m +[headless_play] t= 6.40s step= 320 trunk_z= 121.7mm grav_b=(+0.07,+0.02,-1.00) r=1.50m +[headless_play] t= 6.50s step= 325 trunk_z= 118.9mm grav_b=(+0.02,+0.11,-0.99) r=1.47m +[headless_play] t= 6.60s step= 330 trunk_z= 121.9mm grav_b=(+0.10,+0.09,-0.99) r=1.46m +[headless_play] t= 6.70s step= 335 trunk_z= 115.1mm grav_b=(+0.07,+0.05,-1.00) r=1.45m +[headless_play] t= 6.80s step= 340 trunk_z= 120.4mm grav_b=(+0.04,-0.07,-1.00) r=1.45m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(+0.10,-0.04,-0.99) r=1.44m +[headless_play] t= 7.00s step= 350 trunk_z= 113.6mm grav_b=(+0.05,+0.06,-1.00) r=1.42m +[headless_play] t= 7.10s step= 355 trunk_z= 121.4mm grav_b=(+0.08,+0.07,-0.99) r=1.40m +[headless_play] t= 7.20s step= 360 trunk_z= 115.0mm grav_b=(+0.06,+0.06,-1.00) r=1.40m +[headless_play] t= 7.30s step= 365 trunk_z= 117.8mm grav_b=(+0.08,-0.03,-1.00) r=1.39m +[headless_play] t= 7.40s step= 370 trunk_z= 115.4mm grav_b=(+0.01,-0.02,-1.00) r=1.39m +[headless_play] t= 7.50s step= 375 trunk_z= 114.3mm grav_b=(+0.09,-0.03,-1.00) r=1.38m +[headless_play] t= 7.60s step= 380 trunk_z= 113.3mm grav_b=(+0.07,-0.03,-1.00) r=1.39m +[headless_play] t= 7.70s step= 385 trunk_z= 113.7mm grav_b=(+0.06,-0.02,-1.00) r=1.39m +[headless_play] t= 7.80s step= 390 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 7.90s step= 395 trunk_z= 113.9mm grav_b=(+0.04,-0.01,-1.00) r=1.39m +[headless_play] t= 8.00s step= 400 trunk_z= 113.9mm grav_b=(+0.04,-0.01,-1.00) r=1.39m +[headless_play] t= 8.10s step= 405 trunk_z= 114.0mm grav_b=(+0.04,-0.01,-1.00) r=1.39m +[headless_play] t= 8.20s step= 410 trunk_z= 114.1mm grav_b=(+0.04,-0.01,-1.00) r=1.39m +[headless_play] t= 8.30s step= 415 trunk_z= 114.2mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 8.40s step= 420 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 8.50s step= 425 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 8.60s step= 430 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 8.70s step= 435 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 8.80s step= 440 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 8.90s step= 445 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.00s step= 450 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.20s step= 460 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.30s step= 465 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.40s step= 470 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.50s step= 475 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.60s step= 480 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.70s step= 485 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(+0.16,-0.03,-0.99) r=1.38m +[headless_play] t= 9.90s step= 495 trunk_z= 123.8mm grav_b=(+0.13,-0.02,-0.99) r=1.35m +[headless_play] t= 10.00s step= 500 trunk_z= 114.3mm grav_b=(+0.05,-0.00,-1.00) r=1.31m +[headless_play] t= 10.10s step= 505 trunk_z= 122.7mm grav_b=(+0.05,+0.07,-1.00) r=1.30m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=1.28m +[headless_play] t= 10.30s step= 515 trunk_z= 115.1mm grav_b=(+0.06,+0.01,-1.00) r=1.29m +[headless_play] t= 10.40s step= 520 trunk_z= 114.8mm grav_b=(+0.06,+0.00,-1.00) r=1.29m +[headless_play] t= 10.50s step= 525 trunk_z= 114.8mm grav_b=(+0.08,+0.01,-1.00) r=1.29m +[headless_play] t= 10.60s step= 530 trunk_z= 114.8mm grav_b=(+0.07,-0.00,-1.00) r=1.29m +[headless_play] t= 10.70s step= 535 trunk_z= 114.8mm grav_b=(+0.06,-0.01,-1.00) r=1.29m +[headless_play] t= 10.80s step= 540 trunk_z= 114.8mm grav_b=(+0.05,-0.01,-1.00) r=1.29m +[headless_play] t= 10.90s step= 545 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.29m +[headless_play] t= 11.00s step= 550 trunk_z= 114.8mm grav_b=(+0.06,-0.00,-1.00) r=1.29m +[headless_play] t= 11.10s step= 555 trunk_z= 115.0mm grav_b=(+0.08,-0.00,-1.00) r=1.29m +[headless_play] t= 11.20s step= 560 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.30s step= 565 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.40s step= 570 trunk_z= 114.7mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.50s step= 575 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.60s step= 580 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.70s step= 585 trunk_z= 114.7mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.80s step= 590 trunk_z= 114.7mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 11.90s step= 595 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=1.29m +[headless_play] t= 12.10s step= 605 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 12.20s step= 610 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.29m +[headless_play] t= 12.30s step= 615 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.29m +[headless_play] t= 12.40s step= 620 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=1.29m +[headless_play] t= 12.50s step= 625 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=1.29m +[headless_play] t= 12.60s step= 630 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.29m +[headless_play] t= 12.70s step= 635 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 12.80s step= 640 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 12.90s step= 645 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 13.00s step= 650 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 13.10s step= 655 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 13.20s step= 660 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 13.30s step= 665 trunk_z= 114.8mm grav_b=(+0.04,-0.00,-1.00) r=1.30m +[headless_play] t= 13.40s step= 670 trunk_z= 117.4mm grav_b=(+0.09,-0.02,-1.00) r=1.29m +[headless_play] t= 13.50s step= 675 trunk_z= 119.7mm grav_b=(+0.12,-0.05,-0.99) r=1.28m +[headless_play] t= 13.60s step= 680 trunk_z= 120.2mm grav_b=(+0.16,-0.03,-0.99) r=1.28m +[headless_play] t= 13.70s step= 685 trunk_z= 121.3mm grav_b=(+0.16,-0.02,-0.99) r=1.27m +[headless_play] t= 13.80s step= 690 trunk_z= 124.0mm grav_b=(+0.12,-0.01,-0.99) r=1.27m +[headless_play] t= 13.90s step= 695 trunk_z= 109.4mm grav_b=(-0.01,+0.08,-1.00) r=1.22m +[headless_play] t= 14.00s step= 700 trunk_z= 120.9mm grav_b=(+0.04,+0.12,-0.99) r=1.21m +[headless_play] t= 14.10s step= 705 trunk_z= 122.9mm grav_b=(+0.08,+0.07,-0.99) r=1.19m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(+0.03,-0.00,-1.00) r=1.18m +[headless_play] t= 14.30s step= 715 trunk_z= 115.5mm grav_b=(+0.11,-0.00,-0.99) r=1.18m +[headless_play] t= 14.40s step= 720 trunk_z= 108.2mm grav_b=(+0.09,+0.06,-0.99) r=1.17m +[headless_play] t= 14.50s step= 725 trunk_z= 112.1mm grav_b=(+0.16,+0.08,-0.98) r=1.16m +[headless_play] t= 14.60s step= 730 trunk_z= 106.1mm grav_b=(+0.14,+0.02,-0.99) r=1.15m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.10,-0.02,-0.99) r=1.14m +[headless_play] t= 14.80s step= 740 trunk_z= 111.7mm grav_b=(+0.13,-0.01,-0.99) r=1.12m +[headless_play] t= 14.90s step= 745 trunk_z= 110.2mm grav_b=(+0.08,+0.06,-1.00) r=1.09m +[headless_play] t= 15.00s step= 750 trunk_z= 116.6mm grav_b=(+0.08,+0.06,-1.00) r=1.08m +[headless_play] t= 15.10s step= 755 trunk_z= 108.8mm grav_b=(+0.10,+0.03,-0.99) r=1.08m +[headless_play] t= 15.20s step= 760 trunk_z= 113.8mm grav_b=(+0.07,-0.02,-1.00) r=1.08m +[headless_play] t= 15.30s step= 765 trunk_z= 110.6mm grav_b=(+0.12,-0.01,-0.99) r=1.06m +[headless_play] t= 15.40s step= 770 trunk_z= 106.5mm grav_b=(+0.11,+0.03,-0.99) r=1.03m +[headless_play] t= 15.50s step= 775 trunk_z= 115.8mm grav_b=(+0.09,+0.07,-0.99) r=1.01m +[headless_play] t= 15.60s step= 780 trunk_z= 110.1mm grav_b=(+0.09,+0.04,-0.99) r=1.01m +[headless_play] t= 15.70s step= 785 trunk_z= 115.1mm grav_b=(+0.08,-0.01,-1.00) r=1.01m +[headless_play] t= 15.80s step= 790 trunk_z= 112.9mm grav_b=(+0.14,-0.01,-0.99) r=0.99m +[headless_play] t= 15.90s step= 795 trunk_z= 106.9mm grav_b=(+0.11,+0.05,-0.99) r=0.96m +[headless_play] t= 16.00s step= 800 trunk_z= 119.3mm grav_b=(+0.08,+0.08,-0.99) r=0.94m +[headless_play] t= 16.10s step= 805 trunk_z= 114.2mm grav_b=(+0.09,+0.07,-0.99) r=0.93m +[headless_play] t= 16.20s step= 810 trunk_z= 114.6mm grav_b=(+0.07,-0.02,-1.00) r=0.92m +[headless_play] t= 16.30s step= 815 trunk_z= 115.2mm grav_b=(+0.13,-0.03,-0.99) r=0.91m +[headless_play] t= 16.40s step= 820 trunk_z= 108.4mm grav_b=(+0.15,+0.01,-0.99) r=0.90m +[headless_play] t= 16.50s step= 825 trunk_z= 121.2mm grav_b=(+0.06,+0.07,-1.00) r=0.88m +[headless_play] t= 16.60s step= 830 trunk_z= 116.3mm grav_b=(+0.08,+0.07,-0.99) r=0.86m +[headless_play] t= 16.70s step= 835 trunk_z= 112.1mm grav_b=(+0.14,-0.02,-0.99) r=0.83m +[headless_play] t= 16.80s step= 840 trunk_z= 113.6mm grav_b=(+0.25,-0.06,-0.97) r=0.80m +[headless_play] t= 16.90s step= 845 trunk_z= 111.8mm grav_b=(+0.00,+0.02,-1.00) r=0.77m +[headless_play] t= 17.00s step= 850 trunk_z= 122.0mm grav_b=(-0.01,+0.07,-1.00) r=0.74m +[headless_play] t= 17.10s step= 855 trunk_z= 117.5mm grav_b=(-0.03,+0.03,-1.00) r=0.70m +[headless_play] t= 17.20s step= 860 trunk_z= 116.0mm grav_b=(+0.02,-0.05,-1.00) r=0.68m +[headless_play] t= 17.30s step= 865 trunk_z= 116.5mm grav_b=(+0.06,-0.03,-1.00) r=0.68m +[headless_play] t= 17.40s step= 870 trunk_z= 110.2mm grav_b=(+0.11,+0.07,-0.99) r=0.68m +[headless_play] t= 17.50s step= 875 trunk_z= 114.3mm grav_b=(+0.16,+0.09,-0.98) r=0.67m +[headless_play] t= 17.60s step= 880 trunk_z= 109.9mm grav_b=(+0.15,+0.05,-0.99) r=0.65m +[headless_play] t= 17.70s step= 885 trunk_z= 116.0mm grav_b=(+0.12,+0.00,-0.99) r=0.62m +[headless_play] t= 17.80s step= 890 trunk_z= 115.0mm grav_b=(+0.12,+0.02,-0.99) r=0.60m +[headless_play] t= 17.90s step= 895 trunk_z= 119.6mm grav_b=(+0.08,+0.06,-1.00) r=0.58m +[headless_play] t= 18.00s step= 900 trunk_z= 114.5mm grav_b=(+0.11,+0.05,-0.99) r=0.57m +[headless_play] t= 18.10s step= 905 trunk_z= 111.1mm grav_b=(+0.07,+0.00,-1.00) r=0.55m +[headless_play] t= 18.20s step= 910 trunk_z= 114.2mm grav_b=(+0.09,-0.01,-1.00) r=0.54m +[headless_play] t= 18.30s step= 915 trunk_z= 106.0mm grav_b=(+0.12,+0.00,-0.99) r=0.52m +[headless_play] t= 18.40s step= 920 trunk_z= 114.7mm grav_b=(+0.11,+0.06,-0.99) r=0.50m +[headless_play] t= 18.50s step= 925 trunk_z= 113.6mm grav_b=(+0.12,+0.07,-0.99) r=0.48m +[headless_play] t= 18.60s step= 930 trunk_z= 111.0mm grav_b=(+0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 118.0mm grav_b=(+0.06,-0.03,-1.00) r=0.46m +[headless_play] t= 18.80s step= 940 trunk_z= 114.2mm grav_b=(+0.11,+0.02,-0.99) r=0.45m +[headless_play] t= 18.90s step= 945 trunk_z= 118.1mm grav_b=(+0.10,+0.06,-0.99) r=0.44m +[headless_play] t= 19.00s step= 950 trunk_z= 118.2mm grav_b=(+0.13,+0.03,-0.99) r=0.44m +[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(+0.11,-0.06,-0.99) r=0.45m +[headless_play] t= 19.20s step= 960 trunk_z= 127.0mm grav_b=(+0.09,-0.01,-1.00) r=0.44m +[headless_play] t= 19.30s step= 965 trunk_z= 115.2mm grav_b=(+0.07,+0.04,-1.00) r=0.41m +[headless_play] t= 19.40s step= 970 trunk_z= 121.7mm grav_b=(+0.10,+0.07,-0.99) r=0.40m +[headless_play] t= 19.50s step= 975 trunk_z= 123.4mm grav_b=(+0.11,+0.08,-0.99) r=0.41m +[headless_play] t= 19.60s step= 980 trunk_z= 115.8mm grav_b=(+0.10,-0.05,-0.99) r=0.44m +[headless_play] t= 19.70s step= 985 trunk_z= 125.2mm grav_b=(+0.08,-0.03,-1.00) r=0.45m +[headless_play] t= 19.80s step= 990 trunk_z= 115.6mm grav_b=(+0.09,+0.05,-0.99) r=0.46m +[headless_play] t= 19.90s step= 995 trunk_z= 131.2mm grav_b=(+0.16,+0.18,-0.97) r=0.46m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.8mm grav_b=(-0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 20.10s step=1005 trunk_z= 114.4mm grav_b=(+0.04,+0.05,-1.00) r=0.19m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..944bbe48b4f77f14dfd833795d039be8e6cae181 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.914,-17.565,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.6mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 114.5mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 111.2mm grav_b=(+0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 109.0mm grav_b=(-0.00,+0.00,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 103.7mm grav_b=(-0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 113.5mm grav_b=(+0.02,+0.04,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 110.6mm grav_b=(+0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 115.4mm grav_b=(+0.00,-0.05,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(+0.06,-0.06,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 122.3mm grav_b=(-0.00,+0.08,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(-0.03,+0.06,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 114.7mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 118.8mm grav_b=(+0.06,-0.05,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(+0.06,-0.03,-1.00) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 120.8mm grav_b=(+0.00,+0.05,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 118.8mm grav_b=(-0.01,+0.04,-1.00) r=0.61m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(-0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 118.4mm grav_b=(+0.04,-0.06,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 112.6mm grav_b=(+0.07,-0.01,-1.00) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.01,+0.06,-1.00) r=0.62m +[headless_play] t= 2.10s step= 105 trunk_z= 119.5mm grav_b=(-0.01,+0.05,-1.00) r=0.63m +[headless_play] t= 2.20s step= 110 trunk_z= 112.2mm grav_b=(+0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 2.30s step= 115 trunk_z= 118.3mm grav_b=(+0.03,-0.08,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 114.4mm grav_b=(+0.06,-0.04,-1.00) r=0.65m +[headless_play] t= 2.50s step= 125 trunk_z= 116.4mm grav_b=(-0.02,+0.04,-1.00) r=0.63m +[headless_play] t= 2.60s step= 130 trunk_z= 120.8mm grav_b=(-0.01,+0.05,-1.00) r=0.62m +[headless_play] t= 2.70s step= 135 trunk_z= 112.6mm grav_b=(+0.00,+0.03,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.05,-0.05,-1.00) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 112.8mm grav_b=(+0.08,-0.04,-1.00) r=0.62m +[headless_play] t= 3.00s step= 150 trunk_z= 115.5mm grav_b=(+0.00,+0.05,-1.00) r=0.59m +[headless_play] t= 3.10s step= 155 trunk_z= 120.4mm grav_b=(+0.01,+0.05,-1.00) r=0.57m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(+0.03,-0.06,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 113.5mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 3.50s step= 175 trunk_z= 115.1mm grav_b=(-0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 120.3mm grav_b=(+0.00,+0.05,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 113.4mm grav_b=(+0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 118.7mm grav_b=(+0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 116.4mm grav_b=(+0.05,-0.06,-1.00) r=0.48m +[headless_play] t= 4.00s step= 200 trunk_z= 112.7mm grav_b=(+0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 121.5mm grav_b=(+0.02,+0.05,-1.00) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 117.8mm grav_b=(+0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 119.8mm grav_b=(-0.02,-0.04,-1.00) r=0.45m +[headless_play] t= 4.40s step= 220 trunk_z= 121.7mm grav_b=(+0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(+0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 4.60s step= 230 trunk_z= 119.7mm grav_b=(-0.01,+0.06,-1.00) r=0.49m +[headless_play] t= 4.70s step= 235 trunk_z= 118.1mm grav_b=(+0.02,+0.05,-1.00) r=0.50m +[headless_play] t= 4.80s step= 240 trunk_z= 115.2mm grav_b=(-0.00,-0.02,-1.00) r=0.48m +[headless_play] t= 4.90s step= 245 trunk_z= 122.3mm grav_b=(+0.01,-0.05,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 117.3mm grav_b=(+0.04,-0.05,-1.00) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 116.2mm grav_b=(-0.00,+0.05,-1.00) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 121.8mm grav_b=(+0.02,+0.06,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 116.7mm grav_b=(+0.02,+0.04,-1.00) r=0.53m +[headless_play] t= 5.40s step= 270 trunk_z= 119.9mm grav_b=(-0.02,-0.06,-1.00) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 118.4mm grav_b=(+0.03,-0.05,-1.00) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 112.3mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 124.7mm grav_b=(+0.07,+0.10,-0.99) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 130.4mm grav_b=(+0.14,+0.25,-0.96) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 131.8mm grav_b=(-0.01,+0.17,-0.99) r=0.66m +[headless_play] t= 6.00s step= 300 trunk_z= 127.6mm grav_b=(-0.06,+0.09,-0.99) r=0.71m +[headless_play] t= 6.10s step= 305 trunk_z= 114.5mm grav_b=(-0.03,-0.03,-1.00) r=0.72m +[headless_play] t= 6.20s step= 310 trunk_z= 113.9mm grav_b=(+0.04,+0.03,-1.00) r=0.71m +[headless_play] t= 6.30s step= 315 trunk_z= 115.8mm grav_b=(+0.06,+0.07,-1.00) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 112.7mm grav_b=(+0.06,-0.03,-1.00) r=0.68m +[headless_play] t= 6.50s step= 325 trunk_z= 114.5mm grav_b=(+0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 6.60s step= 330 trunk_z= 114.3mm grav_b=(-0.00,-0.01,-1.00) r=0.67m +[headless_play] t= 6.70s step= 335 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 6.80s step= 340 trunk_z= 115.0mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 6.90s step= 345 trunk_z= 114.9mm grav_b=(+0.03,-0.01,-1.00) r=0.67m +[headless_play] t= 7.00s step= 350 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) r=0.67m +[headless_play] t= 7.10s step= 355 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 7.20s step= 360 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 7.30s step= 365 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 7.40s step= 370 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 7.50s step= 375 trunk_z= 116.3mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.50s step= 425 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 8.90s step= 445 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.20s step= 460 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.40s step= 470 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.50s step= 475 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.60s step= 480 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 9.90s step= 495 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(+0.01,-0.02,-1.00) r=0.66m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(+0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(+0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 10.60s step= 530 trunk_z= 122.6mm grav_b=(-0.03,-0.09,-1.00) r=0.65m +[headless_play] t= 10.70s step= 535 trunk_z= 126.5mm grav_b=(-0.04,-0.13,-0.99) r=0.65m +[headless_play] t= 10.80s step= 540 trunk_z= 126.3mm grav_b=(-0.04,-0.10,-0.99) r=0.65m +[headless_play] t= 10.90s step= 545 trunk_z= 119.8mm grav_b=(-0.03,-0.06,-1.00) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 120.9mm grav_b=(+0.00,+0.05,-1.00) r=0.67m +[headless_play] t= 11.10s step= 555 trunk_z= 119.5mm grav_b=(+0.02,+0.09,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 110.4mm grav_b=(+0.04,+0.03,-1.00) r=0.70m +[headless_play] t= 11.30s step= 565 trunk_z= 113.8mm grav_b=(+0.04,+0.00,-1.00) r=0.71m +[headless_play] t= 11.40s step= 570 trunk_z= 109.6mm grav_b=(+0.12,-0.01,-0.99) r=0.72m +[headless_play] t= 11.50s step= 575 trunk_z= 111.9mm grav_b=(+0.04,+0.05,-1.00) r=0.74m +[headless_play] t= 11.60s step= 580 trunk_z= 118.9mm grav_b=(+0.00,+0.07,-1.00) r=0.76m +[headless_play] t= 11.70s step= 585 trunk_z= 111.1mm grav_b=(-0.01,+0.02,-1.00) r=0.78m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(+0.01,-0.02,-1.00) r=0.80m +[headless_play] t= 11.90s step= 595 trunk_z= 114.1mm grav_b=(+0.08,-0.02,-1.00) r=0.80m +[headless_play] t= 12.00s step= 600 trunk_z= 109.9mm grav_b=(+0.05,+0.04,-1.00) r=0.81m +[headless_play] t= 12.10s step= 605 trunk_z= 119.5mm grav_b=(+0.02,+0.07,-1.00) r=0.82m +[headless_play] t= 12.20s step= 610 trunk_z= 116.7mm grav_b=(-0.02,+0.08,-1.00) r=0.83m +[headless_play] t= 12.30s step= 615 trunk_z= 118.2mm grav_b=(+0.00,-0.08,-1.00) r=0.84m +[headless_play] t= 12.40s step= 620 trunk_z= 123.7mm grav_b=(+0.02,-0.10,-1.00) r=0.85m +[headless_play] t= 12.50s step= 625 trunk_z= 121.1mm grav_b=(-0.02,-0.06,-1.00) r=0.85m +[headless_play] t= 12.60s step= 630 trunk_z= 119.5mm grav_b=(-0.03,+0.06,-1.00) r=0.85m +[headless_play] t= 12.70s step= 635 trunk_z= 122.0mm grav_b=(-0.01,+0.06,-1.00) r=0.86m +[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(-0.02,+0.02,-1.00) r=0.89m +[headless_play] t= 12.90s step= 645 trunk_z= 125.2mm grav_b=(-0.01,-0.09,-1.00) r=0.91m +[headless_play] t= 13.00s step= 650 trunk_z= 123.5mm grav_b=(-0.01,-0.08,-1.00) r=0.92m +[headless_play] t= 13.10s step= 655 trunk_z= 113.3mm grav_b=(-0.02,+0.02,-1.00) r=0.92m +[headless_play] t= 13.20s step= 660 trunk_z= 121.9mm grav_b=(-0.02,+0.07,-1.00) r=0.92m +[headless_play] t= 13.30s step= 665 trunk_z= 121.1mm grav_b=(-0.01,+0.09,-1.00) r=0.93m +[headless_play] t= 13.40s step= 670 trunk_z= 117.4mm grav_b=(-0.03,-0.05,-1.00) r=0.95m +[headless_play] t= 13.50s step= 675 trunk_z= 124.8mm grav_b=(-0.02,-0.07,-1.00) r=0.97m +[headless_play] t= 13.60s step= 680 trunk_z= 117.2mm grav_b=(-0.02,-0.05,-1.00) r=0.98m +[headless_play] t= 13.70s step= 685 trunk_z= 120.9mm grav_b=(-0.04,+0.06,-1.00) r=0.98m +[headless_play] t= 13.80s step= 690 trunk_z= 121.9mm grav_b=(-0.02,+0.08,-1.00) r=0.99m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(-0.03,+0.02,-1.00) r=1.00m +[headless_play] t= 14.00s step= 700 trunk_z= 124.2mm grav_b=(-0.02,-0.07,-1.00) r=1.02m +[headless_play] t= 14.10s step= 705 trunk_z= 122.3mm grav_b=(-0.02,-0.07,-1.00) r=1.03m +[headless_play] t= 14.20s step= 710 trunk_z= 115.0mm grav_b=(-0.04,+0.03,-1.00) r=1.05m +[headless_play] t= 14.30s step= 715 trunk_z= 120.9mm grav_b=(-0.03,+0.05,-1.00) r=1.05m +[headless_play] t= 14.40s step= 720 trunk_z= 119.3mm grav_b=(-0.03,+0.06,-1.00) r=1.07m +[headless_play] t= 14.50s step= 725 trunk_z= 121.5mm grav_b=(-0.03,-0.07,-1.00) r=1.08m +[headless_play] t= 14.60s step= 730 trunk_z= 124.4mm grav_b=(-0.01,-0.06,-1.00) r=1.10m +[headless_play] t= 14.70s step= 735 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) r=1.11m +[headless_play] t= 14.80s step= 740 trunk_z= 120.6mm grav_b=(-0.03,+0.07,-1.00) r=1.13m +[headless_play] t= 14.90s step= 745 trunk_z= 122.2mm grav_b=(-0.04,+0.08,-1.00) r=1.14m +[headless_play] t= 15.00s step= 750 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=1.15m +[headless_play] t= 15.10s step= 755 trunk_z= 134.0mm grav_b=(+0.10,-0.15,-0.98) r=1.19m +[headless_play] t= 15.20s step= 760 trunk_z= 136.6mm grav_b=(-0.00,-0.09,-1.00) r=1.24m +[headless_play] t= 15.30s step= 765 trunk_z= 105.6mm grav_b=(-0.11,+0.16,-0.98) r=1.30m +[headless_play] t= 15.40s step= 770 trunk_z= 120.3mm grav_b=(-0.09,+0.13,-0.99) r=1.31m +[headless_play] t= 15.50s step= 775 trunk_z= 110.9mm grav_b=(-0.04,+0.07,-1.00) r=1.30m +[headless_play] t= 15.60s step= 780 trunk_z= 113.9mm grav_b=(+0.02,-0.04,-1.00) r=1.30m +[headless_play] t= 15.70s step= 785 trunk_z= 112.1mm grav_b=(+0.03,-0.02,-1.00) r=1.29m +[headless_play] t= 15.80s step= 790 trunk_z= 114.8mm grav_b=(+0.04,+0.02,-1.00) r=1.30m +[headless_play] t= 15.90s step= 795 trunk_z= 109.5mm grav_b=(+0.06,+0.01,-1.00) r=1.29m +[headless_play] t= 16.00s step= 800 trunk_z= 110.4mm grav_b=(+0.02,-0.04,-1.00) r=1.29m +[headless_play] t= 16.10s step= 805 trunk_z= 109.8mm grav_b=(+0.02,-0.05,-1.00) r=1.30m +[headless_play] t= 16.20s step= 810 trunk_z= 108.4mm grav_b=(+0.01,-0.01,-1.00) r=1.32m +[headless_play] t= 16.30s step= 815 trunk_z= 118.4mm grav_b=(-0.01,+0.05,-1.00) r=1.34m +[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(+0.01,+0.06,-1.00) r=1.34m +[headless_play] t= 16.50s step= 825 trunk_z= 109.5mm grav_b=(+0.00,-0.02,-1.00) r=1.34m +[headless_play] t= 16.60s step= 830 trunk_z= 112.2mm grav_b=(+0.02,-0.05,-1.00) r=1.34m +[headless_play] t= 16.70s step= 835 trunk_z= 111.2mm grav_b=(+0.03,-0.03,-1.00) r=1.36m +[headless_play] t= 16.80s step= 840 trunk_z= 117.3mm grav_b=(+0.01,+0.05,-1.00) r=1.38m +[headless_play] t= 16.90s step= 845 trunk_z= 115.9mm grav_b=(+0.01,+0.06,-1.00) r=1.39m +[headless_play] t= 17.00s step= 850 trunk_z= 109.3mm grav_b=(+0.02,-0.01,-1.00) r=1.39m +[headless_play] t= 17.10s step= 855 trunk_z= 115.6mm grav_b=(+0.02,-0.06,-1.00) r=1.40m +[headless_play] t= 17.20s step= 860 trunk_z= 112.5mm grav_b=(+0.04,-0.04,-1.00) r=1.41m +[headless_play] t= 17.30s step= 865 trunk_z= 113.1mm grav_b=(+0.01,+0.04,-1.00) r=1.43m +[headless_play] t= 17.40s step= 870 trunk_z= 117.6mm grav_b=(+0.02,+0.05,-1.00) r=1.45m +[headless_play] t= 17.50s step= 875 trunk_z= 111.9mm grav_b=(+0.03,+0.03,-1.00) r=1.45m +[headless_play] t= 17.60s step= 880 trunk_z= 114.7mm grav_b=(+0.01,-0.03,-1.00) r=1.46m +[headless_play] t= 17.70s step= 885 trunk_z= 112.9mm grav_b=(+0.04,-0.05,-1.00) r=1.47m +[headless_play] t= 17.80s step= 890 trunk_z= 109.9mm grav_b=(-0.01,+0.02,-1.00) r=1.48m +[headless_play] t= 17.90s step= 895 trunk_z= 118.4mm grav_b=(+0.01,+0.03,-1.00) r=1.49m +[headless_play] t= 18.00s step= 900 trunk_z= 113.0mm grav_b=(+0.03,+0.02,-1.00) r=1.48m +[headless_play] t= 18.10s step= 905 trunk_z= 117.4mm grav_b=(-0.03,-0.06,-1.00) r=1.48m +[headless_play] t= 18.20s step= 910 trunk_z= 113.7mm grav_b=(+0.03,-0.02,-1.00) r=1.49m +[headless_play] t= 18.30s step= 915 trunk_z= 110.2mm grav_b=(-0.03,+0.05,-1.00) r=1.52m +[headless_play] t= 18.40s step= 920 trunk_z= 119.8mm grav_b=(+0.01,+0.05,-1.00) r=1.54m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(+0.00,+0.06,-1.00) r=1.52m +[headless_play] t= 18.60s step= 930 trunk_z= 118.3mm grav_b=(-0.02,-0.07,-1.00) r=1.51m +[headless_play] t= 18.70s step= 935 trunk_z= 118.3mm grav_b=(+0.04,-0.07,-1.00) r=1.51m +[headless_play] t= 18.80s step= 940 trunk_z= 112.8mm grav_b=(+0.02,-0.01,-1.00) r=1.54m +[headless_play] t= 18.90s step= 945 trunk_z= 121.9mm grav_b=(-0.03,+0.07,-1.00) r=1.56m +[headless_play] t= 19.00s step= 950 trunk_z= 119.1mm grav_b=(-0.00,+0.06,-1.00) r=1.57m +[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(-0.04,-0.02,-1.00) r=1.57m +[headless_play] t= 19.20s step= 960 trunk_z= 119.9mm grav_b=(+0.02,-0.05,-1.00) r=1.57m +[headless_play] t= 19.30s step= 965 trunk_z= 113.9mm grav_b=(+0.05,-0.03,-1.00) r=1.58m +[headless_play] t= 19.40s step= 970 trunk_z= 119.5mm grav_b=(-0.01,+0.05,-1.00) r=1.60m +[headless_play] t= 19.50s step= 975 trunk_z= 120.0mm grav_b=(-0.02,+0.06,-1.00) r=1.61m +[headless_play] t= 19.60s step= 980 trunk_z= 112.6mm grav_b=(-0.02,-0.01,-1.00) r=1.62m +[headless_play] t= 19.70s step= 985 trunk_z= 119.5mm grav_b=(-0.01,-0.06,-1.00) r=1.62m +[headless_play] t= 19.80s step= 990 trunk_z= 113.5mm grav_b=(+0.05,-0.04,-1.00) r=1.63m +[headless_play] t= 19.90s step= 995 trunk_z= 116.8mm grav_b=(-0.01,+0.05,-1.00) r=1.65m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(+0.00,+0.03,-1.00) r=0.53m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..d5f43c1725d453dea49e49ddea97aeb227f37a64 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.501,-17.730,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 0.20s step= 10 trunk_z= 112.3mm grav_b=(-0.01,-0.02,-1.00) r=0.58m +[headless_play] t= 0.30s step= 15 trunk_z= 123.6mm grav_b=(+0.04,-0.09,-0.99) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 127.2mm grav_b=(+0.07,-0.05,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 113.8mm grav_b=(-0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 130.6mm grav_b=(-0.00,-0.01,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 113.4mm grav_b=(-0.05,-0.02,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 123.5mm grav_b=(+0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 123.3mm grav_b=(+0.03,-0.03,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(-0.00,+0.05,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 128.4mm grav_b=(+0.00,+0.02,-1.00) r=0.35m +[headless_play] t= 1.20s step= 60 trunk_z= 121.4mm grav_b=(-0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 123.1mm grav_b=(+0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 124.9mm grav_b=(+0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 115.6mm grav_b=(-0.01,+0.04,-1.00) r=0.24m +[headless_play] t= 1.60s step= 80 trunk_z= 127.3mm grav_b=(-0.02,+0.00,-1.00) r=0.21m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00) r=0.18m +[headless_play] t= 1.80s step= 90 trunk_z= 123.3mm grav_b=(+0.01,-0.05,-1.00) r=0.15m +[headless_play] t= 1.90s step= 95 trunk_z= 125.3mm grav_b=(+0.05,-0.04,-1.00) r=0.13m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.00,+0.03,-1.00) r=0.11m +[headless_play] t= 2.10s step= 105 trunk_z= 128.2mm grav_b=(-0.02,-0.01,-1.00) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 118.4mm grav_b=(-0.08,+0.00,-1.00) r=0.06m +[headless_play] t= 2.30s step= 115 trunk_z= 120.4mm grav_b=(-0.00,-0.06,-1.00) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 124.3mm grav_b=(+0.04,-0.02,-1.00) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(-0.02,+0.04,-1.00) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 125.6mm grav_b=(-0.03,+0.01,-1.00) r=0.11m +[headless_play] t= 2.70s step= 135 trunk_z= 121.0mm grav_b=(-0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 2.80s step= 140 trunk_z= 120.5mm grav_b=(-0.03,-0.05,-1.00) r=0.15m +[headless_play] t= 2.90s step= 145 trunk_z= 127.7mm grav_b=(+0.04,-0.04,-1.00) r=0.17m +[headless_play] t= 3.00s step= 150 trunk_z= 121.5mm grav_b=(-0.03,-0.01,-1.00) r=0.20m +[headless_play] t= 3.10s step= 155 trunk_z= 124.8mm grav_b=(-0.13,+0.16,-0.98) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 132.9mm grav_b=(-0.05,+0.13,-0.99) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 126.3mm grav_b=(+0.05,+0.06,-1.00) r=0.17m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(-0.02,-0.13,-0.99) r=0.19m +[headless_play] t= 3.50s step= 175 trunk_z= 111.3mm grav_b=(+0.02,+0.05,-1.00) r=0.20m +[headless_play] t= 3.60s step= 180 trunk_z= 118.7mm grav_b=(+0.04,+0.16,-0.99) r=0.20m +[headless_play] t= 3.70s step= 185 trunk_z= 122.9mm grav_b=(+0.01,+0.07,-1.00) r=0.20m +[headless_play] t= 3.80s step= 190 trunk_z= 121.2mm grav_b=(+0.06,-0.02,-1.00) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 122.4mm grav_b=(-0.04,+0.02,-1.00) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 122.5mm grav_b=(-0.03,+0.08,-1.00) r=0.19m +[headless_play] t= 4.10s step= 205 trunk_z= 124.2mm grav_b=(-0.03,+0.08,-1.00) r=0.19m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(-0.00,+0.01,-1.00) r=0.17m +[headless_play] t= 4.30s step= 215 trunk_z= 122.7mm grav_b=(+0.04,-0.08,-1.00) r=0.15m +[headless_play] t= 4.40s step= 220 trunk_z= 120.9mm grav_b=(+0.07,-0.04,-1.00) r=0.15m +[headless_play] t= 4.50s step= 225 trunk_z= 118.2mm grav_b=(+0.03,+0.05,-1.00) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 123.0mm grav_b=(+0.04,+0.06,-1.00) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 118.5mm grav_b=(+0.04,-0.00,-1.00) r=0.18m +[headless_play] t= 4.80s step= 240 trunk_z= 125.6mm grav_b=(+0.03,-0.08,-1.00) r=0.19m +[headless_play] t= 4.90s step= 245 trunk_z= 124.1mm grav_b=(+0.02,-0.06,-1.00) r=0.20m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(+0.00,+0.02,-1.00) r=0.23m +[headless_play] t= 5.10s step= 255 trunk_z= 123.2mm grav_b=(+0.03,+0.08,-1.00) r=0.25m +[headless_play] t= 5.20s step= 260 trunk_z= 121.6mm grav_b=(+0.06,+0.07,-1.00) r=0.25m +[headless_play] t= 5.30s step= 265 trunk_z= 117.3mm grav_b=(+0.02,-0.08,-1.00) r=0.26m +[headless_play] t= 5.40s step= 270 trunk_z= 127.3mm grav_b=(+0.04,-0.08,-1.00) r=0.28m +[headless_play] t= 5.50s step= 275 trunk_z= 123.0mm grav_b=(-0.01,-0.04,-1.00) r=0.30m +[headless_play] t= 5.60s step= 280 trunk_z= 121.7mm grav_b=(-0.01,+0.06,-1.00) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 125.4mm grav_b=(+0.00,+0.11,-0.99) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 121.9mm grav_b=(+0.02,+0.07,-1.00) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 116.5mm grav_b=(+0.05,-0.07,-1.00) r=0.32m +[headless_play] t= 6.00s step= 300 trunk_z= 126.0mm grav_b=(+0.05,-0.06,-1.00) r=0.32m +[headless_play] t= 6.10s step= 305 trunk_z= 118.9mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 6.20s step= 310 trunk_z= 127.8mm grav_b=(-0.08,+0.16,-0.98) r=0.37m +[headless_play] t= 6.30s step= 315 trunk_z= 131.3mm grav_b=(+0.01,+0.09,-1.00) r=0.40m +[headless_play] t= 6.40s step= 320 trunk_z= 129.5mm grav_b=(+0.11,+0.07,-0.99) r=0.41m +[headless_play] t= 6.50s step= 325 trunk_z= 103.9mm grav_b=(+0.10,-0.10,-0.99) r=0.45m +[headless_play] t= 6.60s step= 330 trunk_z= 117.2mm grav_b=(+0.13,+0.08,-0.99) r=0.47m +[headless_play] t= 6.70s step= 335 trunk_z= 134.0mm grav_b=(+0.02,+0.07,-1.00) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 116.8mm grav_b=(+0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 127.8mm grav_b=(+0.01,+0.05,-1.00) r=0.56m +[headless_play] t= 7.00s step= 350 trunk_z= 109.0mm grav_b=(-0.06,+0.02,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 119.4mm grav_b=(-0.03,+0.08,-1.00) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 121.5mm grav_b=(+0.02,+0.04,-1.00) r=0.65m +[headless_play] t= 7.30s step= 365 trunk_z= 120.4mm grav_b=(+0.00,-0.07,-1.00) r=0.66m +[headless_play] t= 7.40s step= 370 trunk_z= 119.9mm grav_b=(+0.05,-0.04,-1.00) r=0.67m +[headless_play] t= 7.50s step= 375 trunk_z= 112.1mm grav_b=(-0.01,+0.02,-1.00) r=0.67m +[headless_play] t= 7.60s step= 380 trunk_z= 122.7mm grav_b=(+0.06,+0.05,-1.00) r=0.69m +[headless_play] t= 7.70s step= 385 trunk_z= 125.4mm grav_b=(+0.04,+0.05,-1.00) r=0.71m +[headless_play] t= 7.80s step= 390 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.74m +[headless_play] t= 7.90s step= 395 trunk_z= 121.9mm grav_b=(-0.00,-0.02,-1.00) r=0.76m +[headless_play] t= 8.00s step= 400 trunk_z= 115.3mm grav_b=(-0.03,+0.05,-1.00) r=0.77m +[headless_play] t= 8.10s step= 405 trunk_z= 122.9mm grav_b=(+0.00,+0.08,-1.00) r=0.79m +[headless_play] t= 8.20s step= 410 trunk_z= 120.8mm grav_b=(+0.04,+0.07,-1.00) r=0.81m +[headless_play] t= 8.30s step= 415 trunk_z= 119.1mm grav_b=(+0.02,-0.05,-1.00) r=0.84m +[headless_play] t= 8.40s step= 420 trunk_z= 124.9mm grav_b=(+0.07,-0.06,-1.00) r=0.86m +[headless_play] t= 8.50s step= 425 trunk_z= 122.8mm grav_b=(+0.03,-0.04,-1.00) r=0.88m +[headless_play] t= 8.60s step= 430 trunk_z= 121.5mm grav_b=(+0.00,+0.05,-1.00) r=0.92m +[headless_play] t= 8.70s step= 435 trunk_z= 125.7mm grav_b=(+0.01,+0.07,-1.00) r=0.94m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.96m +[headless_play] t= 8.90s step= 445 trunk_z= 123.2mm grav_b=(+0.03,-0.04,-1.00) r=0.98m +[headless_play] t= 9.00s step= 450 trunk_z= 120.3mm grav_b=(+0.03,-0.03,-1.00) r=0.99m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(+0.01,+0.06,-1.00) r=1.01m +[headless_play] t= 9.20s step= 460 trunk_z= 124.0mm grav_b=(+0.02,+0.07,-1.00) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 119.6mm grav_b=(+0.02,+0.04,-1.00) r=1.05m +[headless_play] t= 9.40s step= 470 trunk_z= 123.0mm grav_b=(+0.03,-0.04,-1.00) r=1.08m +[headless_play] t= 9.50s step= 475 trunk_z= 127.4mm grav_b=(+0.03,-0.13,-0.99) r=1.09m +[headless_play] t= 9.60s step= 480 trunk_z= 128.4mm grav_b=(+0.02,-0.12,-0.99) r=1.11m +[headless_play] t= 9.70s step= 485 trunk_z= 119.1mm grav_b=(-0.00,-0.01,-1.00) r=1.15m +[headless_play] t= 9.80s step= 490 trunk_z= 124.8mm grav_b=(+0.01,+0.04,-1.00) r=1.16m +[headless_play] t= 9.90s step= 495 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=1.18m +[headless_play] t= 10.00s step= 500 trunk_z= 118.9mm grav_b=(-0.00,-0.04,-1.00) r=1.20m +[headless_play] t= 10.10s step= 505 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) r=1.23m +[headless_play] t= 10.20s step= 510 trunk_z= 119.7mm grav_b=(+0.03,+0.08,-1.00) r=1.25m +[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(+0.02,+0.05,-1.00) r=1.27m +[headless_play] t= 10.40s step= 520 trunk_z= 118.5mm grav_b=(+0.02,-0.04,-1.00) r=1.29m +[headless_play] t= 10.50s step= 525 trunk_z= 117.3mm grav_b=(+0.07,-0.05,-1.00) r=1.30m +[headless_play] t= 10.60s step= 530 trunk_z= 110.0mm grav_b=(+0.06,+0.02,-1.00) r=1.32m +[headless_play] t= 10.70s step= 535 trunk_z= 121.8mm grav_b=(+0.07,+0.04,-1.00) r=1.34m +[headless_play] t= 10.80s step= 540 trunk_z= 119.2mm grav_b=(+0.05,+0.06,-1.00) r=1.36m +[headless_play] t= 10.90s step= 545 trunk_z= 118.9mm grav_b=(+0.03,-0.05,-1.00) r=1.39m +[headless_play] t= 11.00s step= 550 trunk_z= 119.9mm grav_b=(+0.07,-0.04,-1.00) r=1.40m +[headless_play] t= 11.10s step= 555 trunk_z= 110.8mm grav_b=(+0.04,+0.01,-1.00) r=1.40m +[headless_play] t= 11.20s step= 560 trunk_z= 120.7mm grav_b=(+0.03,+0.05,-1.00) r=1.42m +[headless_play] t= 11.30s step= 565 trunk_z= 119.3mm grav_b=(+0.04,+0.07,-1.00) r=1.43m +[headless_play] t= 11.40s step= 570 trunk_z= 116.7mm grav_b=(+0.02,-0.04,-1.00) r=1.46m +[headless_play] t= 11.50s step= 575 trunk_z= 119.9mm grav_b=(+0.08,-0.06,-1.00) r=1.47m +[headless_play] t= 11.60s step= 580 trunk_z= 113.2mm grav_b=(+0.08,-0.03,-1.00) r=1.47m +[headless_play] t= 11.70s step= 585 trunk_z= 121.2mm grav_b=(+0.07,+0.05,-1.00) r=1.48m +[headless_play] t= 11.80s step= 590 trunk_z= 121.5mm grav_b=(+0.07,+0.05,-1.00) r=1.49m +[headless_play] t= 11.90s step= 595 trunk_z= 117.4mm grav_b=(+0.02,-0.03,-1.00) r=1.52m +[headless_play] t= 12.00s step= 600 trunk_z= 122.4mm grav_b=(+0.05,-0.04,-1.00) r=1.53m +[headless_play] t= 12.10s step= 605 trunk_z= 112.9mm grav_b=(+0.04,-0.01,-1.00) r=1.52m +[headless_play] t= 12.20s step= 610 trunk_z= 119.4mm grav_b=(+0.01,+0.07,-1.00) r=1.52m +[headless_play] t= 12.30s step= 615 trunk_z= 118.1mm grav_b=(+0.02,+0.07,-1.00) r=1.53m +[headless_play] t= 12.40s step= 620 trunk_z= 114.3mm grav_b=(+0.02,-0.03,-1.00) r=1.56m +[headless_play] t= 12.50s step= 625 trunk_z= 118.4mm grav_b=(+0.08,-0.06,-1.00) r=1.56m +[headless_play] t= 12.60s step= 630 trunk_z= 113.1mm grav_b=(+0.09,-0.03,-1.00) r=1.55m +[headless_play] t= 12.70s step= 635 trunk_z= 122.2mm grav_b=(+0.04,+0.05,-1.00) r=1.54m +[headless_play] t= 12.80s step= 640 trunk_z= 125.1mm grav_b=(+0.05,+0.02,-1.00) r=1.56m +[headless_play] t= 12.90s step= 645 trunk_z= 116.5mm grav_b=(+0.08,-0.03,-1.00) r=1.60m +[headless_play] t= 13.00s step= 650 trunk_z= 133.5mm grav_b=(+0.03,-0.07,-1.00) r=1.61m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(-0.05,-0.01,-1.00) r=1.62m +[headless_play] t= 13.20s step= 660 trunk_z= 121.5mm grav_b=(-0.02,+0.03,-1.00) r=1.63m +[headless_play] t= 13.30s step= 665 trunk_z= 119.2mm grav_b=(-0.05,+0.01,-1.00) r=1.65m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(-0.00,-0.06,-1.00) r=1.67m +[headless_play] t= 13.50s step= 675 trunk_z= 112.3mm grav_b=(+0.02,-0.03,-1.00) r=1.67m +[headless_play] t= 13.60s step= 680 trunk_z= 115.6mm grav_b=(+0.03,+0.08,-1.00) r=1.67m +[headless_play] t= 13.70s step= 685 trunk_z= 121.7mm grav_b=(+0.06,+0.08,-0.99) r=1.68m +[headless_play] t= 13.80s step= 690 trunk_z= 117.8mm grav_b=(+0.04,+0.05,-1.00) r=1.70m +[headless_play] t= 13.90s step= 695 trunk_z= 121.2mm grav_b=(+0.05,-0.03,-1.00) r=1.72m +[headless_play] t= 14.00s step= 700 trunk_z= 120.2mm grav_b=(+0.03,-0.01,-1.00) r=1.73m +[headless_play] t= 14.10s step= 705 trunk_z= 121.1mm grav_b=(+0.02,+0.07,-1.00) r=1.75m +[headless_play] t= 14.20s step= 710 trunk_z= 120.3mm grav_b=(+0.03,+0.06,-1.00) r=1.76m +[headless_play] t= 14.30s step= 715 trunk_z= 113.3mm grav_b=(+0.02,-0.02,-1.00) r=1.79m +[headless_play] t= 14.40s step= 720 trunk_z= 120.5mm grav_b=(+0.05,-0.05,-1.00) r=1.81m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(+0.03,-0.03,-1.00) r=1.81m +[headless_play] t= 14.60s step= 730 trunk_z= 119.0mm grav_b=(+0.00,+0.07,-1.00) r=1.81m +[headless_play] t= 14.70s step= 735 trunk_z= 120.2mm grav_b=(+0.04,+0.08,-1.00) r=1.83m +[headless_play] t= 14.80s step= 740 trunk_z= 114.8mm grav_b=(+0.05,+0.01,-1.00) r=1.85m +[headless_play] t= 14.90s step= 745 trunk_z= 122.9mm grav_b=(+0.06,-0.06,-1.00) r=1.88m +[headless_play] t= 15.00s step= 750 trunk_z= 120.7mm grav_b=(+0.07,-0.04,-1.00) r=1.89m +[headless_play] t= 15.10s step= 755 trunk_z= 120.4mm grav_b=(+0.03,+0.05,-1.00) r=1.90m +[headless_play] t= 15.20s step= 760 trunk_z= 121.5mm grav_b=(+0.04,+0.04,-1.00) r=1.92m +[headless_play] t= 15.30s step= 765 trunk_z= 115.4mm grav_b=(+0.02,-0.04,-1.00) r=1.95m +[headless_play] t= 15.40s step= 770 trunk_z= 120.6mm grav_b=(+0.04,-0.04,-1.00) r=1.96m +[headless_play] t= 15.50s step= 775 trunk_z= 114.2mm grav_b=(+0.04,-0.02,-1.00) r=1.95m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.03,+0.08,-1.00) r=1.95m +[headless_play] t= 15.70s step= 785 trunk_z= 119.6mm grav_b=(+0.05,+0.08,-1.00) r=1.96m +[headless_play] t= 15.80s step= 790 trunk_z= 114.2mm grav_b=(+0.03,-0.02,-1.00) r=1.99m +[headless_play] t= 15.90s step= 795 trunk_z= 123.5mm grav_b=(+0.05,-0.05,-1.00) r=2.00m +[headless_play] t= 16.00s step= 800 trunk_z= 120.3mm grav_b=(+0.03,-0.01,-1.00) r=2.00m +[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(+0.01,+0.06,-1.00) r=2.00m +[headless_play] t= 16.20s step= 810 trunk_z= 122.8mm grav_b=(+0.05,+0.04,-1.00) r=2.01m +[headless_play] t= 16.30s step= 815 trunk_z= 118.7mm grav_b=(+0.00,-0.05,-1.00) r=2.04m +[headless_play] t= 16.40s step= 820 trunk_z= 122.1mm grav_b=(+0.04,-0.04,-1.00) r=2.06m +[headless_play] t= 16.50s step= 825 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=2.05m +[headless_play] t= 16.60s step= 830 trunk_z= 123.7mm grav_b=(-0.03,+0.08,-1.00) r=2.05m +[headless_play] t= 16.70s step= 835 trunk_z= 121.7mm grav_b=(+0.01,+0.06,-1.00) r=2.06m +[headless_play] t= 16.80s step= 840 trunk_z= 118.1mm grav_b=(-0.01,-0.04,-1.00) r=2.09m +[headless_play] t= 16.90s step= 845 trunk_z= 122.1mm grav_b=(+0.05,-0.06,-1.00) r=2.10m +[headless_play] t= 17.00s step= 850 trunk_z= 118.6mm grav_b=(+0.03,-0.01,-1.00) r=2.09m +[headless_play] t= 17.10s step= 855 trunk_z= 125.8mm grav_b=(+0.00,+0.06,-1.00) r=2.09m +[headless_play] t= 17.20s step= 860 trunk_z= 122.8mm grav_b=(+0.04,+0.04,-1.00) r=2.10m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.01,-0.05,-1.00) r=2.12m +[headless_play] t= 17.40s step= 870 trunk_z= 117.6mm grav_b=(+0.01,+0.06,-1.00) r=2.11m +[headless_play] t= 17.50s step= 875 trunk_z= 117.6mm grav_b=(+0.04,+0.13,-0.99) r=2.09m +[headless_play] t= 17.60s step= 880 trunk_z= 123.8mm grav_b=(+0.07,+0.09,-0.99) r=2.09m +[headless_play] t= 17.70s step= 885 trunk_z= 114.2mm grav_b=(+0.03,-0.00,-1.00) r=2.10m +[headless_play] t= 17.80s step= 890 trunk_z= 128.3mm grav_b=(+0.00,-0.03,-1.00) r=2.10m +[headless_play] t= 17.90s step= 895 trunk_z= 124.1mm grav_b=(-0.03,+0.02,-1.00) r=2.09m +[headless_play] t= 18.00s step= 900 trunk_z= 123.8mm grav_b=(-0.02,+0.08,-1.00) r=2.07m +[headless_play] t= 18.10s step= 905 trunk_z= 122.9mm grav_b=(+0.01,+0.06,-1.00) r=2.08m +[headless_play] t= 18.20s step= 910 trunk_z= 118.8mm grav_b=(+0.02,-0.03,-1.00) r=2.09m +[headless_play] t= 18.30s step= 915 trunk_z= 121.6mm grav_b=(+0.04,-0.05,-1.00) r=2.09m +[headless_play] t= 18.40s step= 920 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=2.07m +[headless_play] t= 18.50s step= 925 trunk_z= 124.8mm grav_b=(-0.00,+0.05,-1.00) r=2.05m +[headless_play] t= 18.60s step= 930 trunk_z= 120.9mm grav_b=(+0.03,+0.04,-1.00) r=2.06m +[headless_play] t= 18.70s step= 935 trunk_z= 120.1mm grav_b=(+0.01,-0.05,-1.00) r=2.08m +[headless_play] t= 18.80s step= 940 trunk_z= 121.5mm grav_b=(+0.05,-0.05,-1.00) r=2.07m +[headless_play] t= 18.90s step= 945 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=2.05m +[headless_play] t= 19.00s step= 950 trunk_z= 124.9mm grav_b=(-0.01,+0.06,-1.00) r=2.03m +[headless_play] t= 19.10s step= 955 trunk_z= 120.6mm grav_b=(+0.02,+0.03,-1.00) r=2.03m +[headless_play] t= 19.20s step= 960 trunk_z= 120.4mm grav_b=(-0.01,-0.06,-1.00) r=2.04m +[headless_play] t= 19.30s step= 965 trunk_z= 123.3mm grav_b=(+0.05,-0.07,-1.00) r=2.04m +[headless_play] t= 19.40s step= 970 trunk_z= 120.0mm grav_b=(+0.01,-0.03,-1.00) r=2.02m +[headless_play] t= 19.50s step= 975 trunk_z= 125.0mm grav_b=(-0.00,+0.07,-1.00) r=1.99m +[headless_play] t= 19.60s step= 980 trunk_z= 123.7mm grav_b=(+0.03,+0.05,-1.00) r=1.98m +[headless_play] t= 19.70s step= 985 trunk_z= 119.1mm grav_b=(-0.01,-0.04,-1.00) r=1.99m +[headless_play] t= 19.80s step= 990 trunk_z= 122.6mm grav_b=(+0.06,-0.05,-1.00) r=1.98m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(+0.03,-0.01,-1.00) r=1.96m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) r=0.28m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..3184efa65fcff5867ccfce4b5e90d96a77254c9c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.502,-18.266,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(-0.04,+0.04,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(-0.06,+0.09,-0.99) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 117.1mm grav_b=(-0.10,-0.00,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 117.3mm grav_b=(-0.09,-0.05,-0.99) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 121.3mm grav_b=(-0.05,-0.04,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 113.4mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 120.9mm grav_b=(-0.01,+0.09,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 121.5mm grav_b=(-0.03,+0.09,-1.00) r=0.58m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(-0.07,+0.04,-1.00) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 124.2mm grav_b=(-0.08,-0.04,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 122.0mm grav_b=(-0.03,-0.04,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 111.8mm grav_b=(-0.00,+0.05,-1.00) r=0.59m +[headless_play] t= 1.30s step= 65 trunk_z= 123.2mm grav_b=(-0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 121.2mm grav_b=(-0.07,+0.08,-0.99) r=0.60m +[headless_play] t= 1.50s step= 75 trunk_z= 116.4mm grav_b=(-0.10,-0.00,-0.99) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 124.3mm grav_b=(-0.10,-0.03,-0.99) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 118.9mm grav_b=(-0.06,-0.02,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 116.9mm grav_b=(-0.06,+0.07,-1.00) r=0.62m +[headless_play] t= 1.90s step= 95 trunk_z= 121.7mm grav_b=(-0.05,+0.08,-1.00) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 117.9mm grav_b=(-0.05,+0.04,-1.00) r=0.64m +[headless_play] t= 2.10s step= 105 trunk_z= 122.0mm grav_b=(-0.05,-0.04,-1.00) r=0.64m +[headless_play] t= 2.20s step= 110 trunk_z= 120.6mm grav_b=(+0.01,-0.05,-1.00) r=0.65m +[headless_play] t= 2.30s step= 115 trunk_z= 111.9mm grav_b=(+0.00,+0.04,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 124.9mm grav_b=(-0.05,+0.07,-1.00) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 121.2mm grav_b=(-0.08,+0.07,-0.99) r=0.69m +[headless_play] t= 2.60s step= 130 trunk_z= 117.8mm grav_b=(-0.12,-0.00,-0.99) r=0.70m +[headless_play] t= 2.70s step= 135 trunk_z= 124.6mm grav_b=(-0.10,-0.02,-0.99) r=0.70m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(-0.06,-0.01,-1.00) r=0.68m +[headless_play] t= 2.90s step= 145 trunk_z= 117.8mm grav_b=(-0.05,+0.08,-1.00) r=0.67m +[headless_play] t= 3.00s step= 150 trunk_z= 122.0mm grav_b=(-0.04,+0.09,-1.00) r=0.67m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(-0.04,+0.05,-1.00) r=0.70m +[headless_play] t= 3.20s step= 160 trunk_z= 121.6mm grav_b=(-0.05,-0.04,-1.00) r=0.72m +[headless_play] t= 3.30s step= 165 trunk_z= 120.9mm grav_b=(-0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 3.40s step= 170 trunk_z= 113.2mm grav_b=(-0.03,+0.03,-1.00) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 123.3mm grav_b=(-0.07,+0.07,-1.00) r=0.70m +[headless_play] t= 3.60s step= 180 trunk_z= 123.5mm grav_b=(-0.04,+0.11,-0.99) r=0.71m +[headless_play] t= 3.70s step= 185 trunk_z= 124.7mm grav_b=(-0.01,+0.05,-1.00) r=0.72m +[headless_play] t= 3.80s step= 190 trunk_z= 126.1mm grav_b=(-0.07,-0.12,-0.99) r=0.74m +[headless_play] t= 3.90s step= 195 trunk_z= 126.8mm grav_b=(-0.03,-0.05,-1.00) r=0.74m +[headless_play] t= 4.00s step= 200 trunk_z= 115.9mm grav_b=(-0.05,-0.00,-1.00) r=0.72m +[headless_play] t= 4.10s step= 205 trunk_z= 122.0mm grav_b=(-0.11,+0.07,-0.99) r=0.71m +[headless_play] t= 4.20s step= 210 trunk_z= 121.2mm grav_b=(-0.10,+0.08,-0.99) r=0.72m +[headless_play] t= 4.30s step= 215 trunk_z= 118.6mm grav_b=(-0.03,-0.03,-1.00) r=0.74m +[headless_play] t= 4.40s step= 220 trunk_z= 125.8mm grav_b=(-0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 4.50s step= 225 trunk_z= 117.5mm grav_b=(-0.09,+0.09,-0.99) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 126.3mm grav_b=(-0.11,+0.09,-0.99) r=0.74m +[headless_play] t= 4.70s step= 235 trunk_z= 124.8mm grav_b=(-0.14,+0.07,-0.99) r=0.75m +[headless_play] t= 4.80s step= 240 trunk_z= 120.0mm grav_b=(-0.11,-0.04,-0.99) r=0.78m +[headless_play] t= 4.90s step= 245 trunk_z= 125.7mm grav_b=(-0.07,-0.06,-1.00) r=0.79m +[headless_play] t= 5.00s step= 250 trunk_z= 122.7mm grav_b=(-0.06,-0.02,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 122.3mm grav_b=(-0.10,+0.09,-0.99) r=0.75m +[headless_play] t= 5.20s step= 260 trunk_z= 126.3mm grav_b=(-0.09,+0.07,-0.99) r=0.74m +[headless_play] t= 5.30s step= 265 trunk_z= 120.5mm grav_b=(-0.12,+0.05,-0.99) r=0.76m +[headless_play] t= 5.40s step= 270 trunk_z= 124.2mm grav_b=(-0.11,-0.08,-0.99) r=0.78m +[headless_play] t= 5.50s step= 275 trunk_z= 125.0mm grav_b=(-0.08,-0.04,-1.00) r=0.77m +[headless_play] t= 5.60s step= 280 trunk_z= 117.4mm grav_b=(-0.08,+0.04,-1.00) r=0.75m +[headless_play] t= 5.70s step= 285 trunk_z= 126.0mm grav_b=(-0.10,+0.10,-0.99) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 123.3mm grav_b=(-0.09,+0.06,-0.99) r=0.73m +[headless_play] t= 5.90s step= 295 trunk_z= 118.7mm grav_b=(-0.12,-0.03,-0.99) r=0.75m +[headless_play] t= 6.00s step= 300 trunk_z= 125.9mm grav_b=(-0.10,-0.06,-0.99) r=0.75m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(-0.08,-0.01,-1.00) r=0.73m +[headless_play] t= 6.20s step= 310 trunk_z= 121.7mm grav_b=(-0.08,+0.10,-0.99) r=0.71m +[headless_play] t= 6.30s step= 315 trunk_z= 125.5mm grav_b=(-0.09,+0.09,-0.99) r=0.70m +[headless_play] t= 6.40s step= 320 trunk_z= 120.0mm grav_b=(-0.10,+0.06,-0.99) r=0.71m +[headless_play] t= 6.50s step= 325 trunk_z= 123.2mm grav_b=(-0.11,-0.05,-0.99) r=0.72m +[headless_play] t= 6.60s step= 330 trunk_z= 124.0mm grav_b=(-0.10,-0.03,-0.99) r=0.71m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(-0.09,+0.07,-0.99) r=0.69m +[headless_play] t= 6.80s step= 340 trunk_z= 126.6mm grav_b=(-0.08,+0.10,-0.99) r=0.67m +[headless_play] t= 6.90s step= 345 trunk_z= 123.2mm grav_b=(-0.07,+0.08,-0.99) r=0.67m +[headless_play] t= 7.00s step= 350 trunk_z= 120.0mm grav_b=(-0.11,-0.01,-0.99) r=0.68m +[headless_play] t= 7.10s step= 355 trunk_z= 123.4mm grav_b=(-0.10,-0.02,-1.00) r=0.68m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(-0.09,+0.06,-0.99) r=0.66m +[headless_play] t= 7.30s step= 365 trunk_z= 125.2mm grav_b=(-0.07,+0.10,-0.99) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 122.4mm grav_b=(-0.09,+0.08,-0.99) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 118.9mm grav_b=(-0.14,-0.05,-0.99) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 124.8mm grav_b=(-0.09,-0.05,-0.99) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 118.3mm grav_b=(-0.06,+0.02,-1.00) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 122.7mm grav_b=(-0.08,+0.13,-0.99) r=0.58m +[headless_play] t= 7.90s step= 395 trunk_z= 126.0mm grav_b=(-0.06,+0.10,-0.99) r=0.57m +[headless_play] t= 8.00s step= 400 trunk_z= 122.0mm grav_b=(-0.10,+0.08,-0.99) r=0.56m +[headless_play] t= 8.10s step= 405 trunk_z= 123.1mm grav_b=(-0.11,-0.07,-0.99) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 125.0mm grav_b=(-0.05,-0.02,-1.00) r=0.53m +[headless_play] t= 8.30s step= 415 trunk_z= 115.6mm grav_b=(-0.07,+0.07,-1.00) r=0.51m +[headless_play] t= 8.40s step= 420 trunk_z= 125.9mm grav_b=(-0.10,+0.12,-0.99) r=0.49m +[headless_play] t= 8.50s step= 425 trunk_z= 125.0mm grav_b=(-0.09,+0.10,-0.99) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 116.8mm grav_b=(-0.06,-0.00,-1.00) r=0.48m +[headless_play] t= 8.70s step= 435 trunk_z= 126.5mm grav_b=(-0.02,-0.13,-0.99) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 128.9mm grav_b=(-0.01,-0.18,-0.98) r=0.49m +[headless_play] t= 8.90s step= 445 trunk_z= 128.7mm grav_b=(+0.02,-0.12,-0.99) r=0.47m +[headless_play] t= 9.00s step= 450 trunk_z= 128.8mm grav_b=(-0.10,+0.03,-0.99) r=0.44m +[headless_play] t= 9.10s step= 455 trunk_z= 118.2mm grav_b=(-0.16,+0.05,-0.99) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 117.1mm grav_b=(-0.15,+0.06,-0.99) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.15,+0.02,-0.99) r=0.42m +[headless_play] t= 9.40s step= 470 trunk_z= 116.1mm grav_b=(-0.15,+0.04,-0.99) r=0.42m +[headless_play] t= 9.50s step= 475 trunk_z= 116.1mm grav_b=(-0.15,+0.02,-0.99) r=0.42m +[headless_play] t= 9.60s step= 480 trunk_z= 116.1mm grav_b=(-0.14,+0.01,-0.99) r=0.42m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(-0.13,+0.01,-0.99) r=0.42m +[headless_play] t= 9.80s step= 490 trunk_z= 116.3mm grav_b=(-0.11,+0.01,-0.99) r=0.42m +[headless_play] t= 9.90s step= 495 trunk_z= 116.5mm grav_b=(-0.07,+0.00,-1.00) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 10.10s step= 505 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 10.20s step= 510 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.41m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.41m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(-0.04,+0.00,-1.00) r=0.41m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 10.80s step= 540 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.41m +[headless_play] t= 10.90s step= 545 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.60s step= 580 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.70s step= 585 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 11.90s step= 595 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 12.30s step= 615 trunk_z= 115.9mm grav_b=(-0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 12.40s step= 620 trunk_z= 112.9mm grav_b=(-0.06,+0.12,-0.99) r=0.37m +[headless_play] t= 12.50s step= 625 trunk_z= 119.3mm grav_b=(-0.23,+0.08,-0.97) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 98.7mm grav_b=(-0.18,-0.01,-0.98) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 107.9mm grav_b=(-0.14,-0.06,-0.99) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 101.4mm grav_b=(-0.09,-0.03,-1.00) r=0.46m +[headless_play] t= 12.90s step= 645 trunk_z= 101.0mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 13.00s step= 650 trunk_z= 99.8mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 13.10s step= 655 trunk_z= 110.5mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 13.20s step= 660 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00) r=0.47m +[headless_play] t= 13.30s step= 665 trunk_z= 117.6mm grav_b=(-0.03,+0.10,-0.99) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 122.2mm grav_b=(-0.05,+0.08,-1.00) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 112.1mm grav_b=(-0.06,+0.05,-1.00) r=0.46m +[headless_play] t= 13.60s step= 680 trunk_z= 115.1mm grav_b=(-0.05,+0.01,-1.00) r=0.46m +[headless_play] t= 13.70s step= 685 trunk_z= 111.3mm grav_b=(+0.02,+0.02,-1.00) r=0.45m +[headless_play] t= 13.80s step= 690 trunk_z= 106.1mm grav_b=(+0.06,+0.08,-0.99) r=0.42m +[headless_play] t= 13.90s step= 695 trunk_z= 117.3mm grav_b=(+0.01,+0.09,-1.00) r=0.40m +[headless_play] t= 14.00s step= 700 trunk_z= 113.6mm grav_b=(-0.03,+0.05,-1.00) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 118.0mm grav_b=(-0.06,-0.03,-1.00) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 110.3mm grav_b=(-0.00,+0.04,-1.00) r=0.39m +[headless_play] t= 14.40s step= 720 trunk_z= 115.0mm grav_b=(+0.00,+0.09,-1.00) r=0.37m +[headless_play] t= 14.50s step= 725 trunk_z= 112.3mm grav_b=(+0.03,+0.07,-1.00) r=0.38m +[headless_play] t= 14.60s step= 730 trunk_z= 110.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 115.0mm grav_b=(-0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 14.80s step= 740 trunk_z= 110.1mm grav_b=(+0.04,+0.05,-1.00) r=0.40m +[headless_play] t= 14.90s step= 745 trunk_z= 114.8mm grav_b=(+0.02,+0.11,-0.99) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 118.1mm grav_b=(-0.02,+0.09,-1.00) r=0.38m +[headless_play] t= 15.10s step= 755 trunk_z= 111.0mm grav_b=(-0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.07,-0.02,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 114.6mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 15.40s step= 770 trunk_z= 108.3mm grav_b=(+0.04,+0.10,-0.99) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 120.3mm grav_b=(-0.00,+0.05,-1.00) r=0.43m +[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(-0.03,+0.02,-1.00) r=0.44m +[headless_play] t= 15.70s step= 785 trunk_z= 120.3mm grav_b=(-0.08,-0.08,-0.99) r=0.46m +[headless_play] t= 15.80s step= 790 trunk_z= 120.6mm grav_b=(-0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 15.90s step= 795 trunk_z= 115.8mm grav_b=(-0.05,+0.06,-1.00) r=0.47m +[headless_play] t= 16.00s step= 800 trunk_z= 121.2mm grav_b=(-0.04,+0.05,-1.00) r=0.47m +[headless_play] t= 16.10s step= 805 trunk_z= 117.1mm grav_b=(-0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 16.20s step= 810 trunk_z= 119.7mm grav_b=(-0.07,-0.07,-1.00) r=0.51m +[headless_play] t= 16.30s step= 815 trunk_z= 120.4mm grav_b=(-0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 16.40s step= 820 trunk_z= 112.5mm grav_b=(-0.03,+0.04,-1.00) r=0.53m +[headless_play] t= 16.50s step= 825 trunk_z= 121.8mm grav_b=(-0.05,+0.08,-1.00) r=0.54m +[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(-0.06,+0.06,-1.00) r=0.55m +[headless_play] t= 16.70s step= 835 trunk_z= 116.8mm grav_b=(-0.07,-0.04,-1.00) r=0.58m +[headless_play] t= 16.80s step= 840 trunk_z= 121.1mm grav_b=(-0.05,-0.04,-1.00) r=0.59m +[headless_play] t= 16.90s step= 845 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 17.00s step= 850 trunk_z= 118.3mm grav_b=(-0.01,+0.08,-1.00) r=0.60m +[headless_play] t= 17.10s step= 855 trunk_z= 117.7mm grav_b=(-0.03,+0.04,-1.00) r=0.61m +[headless_play] t= 17.20s step= 860 trunk_z= 114.6mm grav_b=(-0.07,-0.06,-1.00) r=0.63m +[headless_play] t= 17.30s step= 865 trunk_z= 122.9mm grav_b=(-0.07,-0.05,-1.00) r=0.65m +[headless_play] t= 17.40s step= 870 trunk_z= 117.5mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 116.9mm grav_b=(-0.10,+0.02,-1.00) r=0.65m +[headless_play] t= 17.60s step= 880 trunk_z= 115.5mm grav_b=(-0.12,-0.04,-0.99) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 111.7mm grav_b=(-0.07,-0.06,-1.00) r=0.67m +[headless_play] t= 17.80s step= 890 trunk_z= 116.0mm grav_b=(-0.03,-0.02,-1.00) r=0.68m +[headless_play] t= 17.90s step= 895 trunk_z= 109.6mm grav_b=(-0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 18.00s step= 900 trunk_z= 113.4mm grav_b=(-0.03,+0.07,-1.00) r=0.69m +[headless_play] t= 18.10s step= 905 trunk_z= 113.1mm grav_b=(-0.03,+0.04,-1.00) r=0.71m +[headless_play] t= 18.20s step= 910 trunk_z= 107.8mm grav_b=(-0.02,-0.03,-1.00) r=0.73m +[headless_play] t= 18.30s step= 915 trunk_z= 116.3mm grav_b=(-0.03,-0.04,-1.00) r=0.75m +[headless_play] t= 18.40s step= 920 trunk_z= 110.2mm grav_b=(+0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 18.50s step= 925 trunk_z= 114.9mm grav_b=(-0.01,+0.07,-1.00) r=0.77m +[headless_play] t= 18.60s step= 930 trunk_z= 116.4mm grav_b=(-0.03,+0.05,-1.00) r=0.78m +[headless_play] t= 18.70s step= 935 trunk_z= 109.0mm grav_b=(-0.04,+0.00,-1.00) r=0.80m +[headless_play] t= 18.80s step= 940 trunk_z= 118.9mm grav_b=(-0.06,-0.02,-1.00) r=0.81m +[headless_play] t= 18.90s step= 945 trunk_z= 114.8mm grav_b=(-0.03,-0.01,-1.00) r=0.81m +[headless_play] t= 19.00s step= 950 trunk_z= 107.4mm grav_b=(+0.00,+0.06,-1.00) r=0.82m +[headless_play] t= 19.10s step= 955 trunk_z= 112.2mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 19.20s step= 960 trunk_z= 107.1mm grav_b=(-0.03,+0.00,-1.00) r=0.85m +[headless_play] t= 19.30s step= 965 trunk_z= 115.3mm grav_b=(-0.04,-0.05,-1.00) r=0.87m +[headless_play] t= 19.40s step= 970 trunk_z= 115.2mm grav_b=(-0.03,-0.01,-1.00) r=0.87m +[headless_play] t= 19.50s step= 975 trunk_z= 105.1mm grav_b=(+0.02,+0.03,-1.00) r=0.87m +[headless_play] t= 19.60s step= 980 trunk_z= 113.9mm grav_b=(+0.01,+0.06,-1.00) r=0.87m +[headless_play] t= 19.70s step= 985 trunk_z= 111.4mm grav_b=(-0.03,+0.05,-1.00) r=0.89m +[headless_play] t= 19.80s step= 990 trunk_z= 109.8mm grav_b=(-0.04,-0.03,-1.00) r=0.91m +[headless_play] t= 19.90s step= 995 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.92m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.0mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.08,+0.03,-1.00) r=0.54m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..a02cbd750413bb1cc6378ffcbfab80dcd3823a22 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.760,-18.381,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(-0.00,-0.02,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(-0.00,-0.02,-1.00) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.60s step= 130 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.80s step= 140 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.10s step= 205 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 116.7mm grav_b=(-0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 4.90s step= 245 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 5.20s step= 260 trunk_z= 116.4mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 5.30s step= 265 trunk_z= 124.3mm grav_b=(-0.01,-0.13,-0.99) r=0.48m +[headless_play] t= 5.40s step= 270 trunk_z= 130.5mm grav_b=(+0.02,-0.33,-0.94) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 131.5mm grav_b=(+0.18,-0.38,-0.91) r=0.55m +[headless_play] t= 5.60s step= 280 trunk_z= 132.1mm grav_b=(+0.10,-0.35,-0.93) r=0.61m +[headless_play] t= 5.70s step= 285 trunk_z= 112.0mm grav_b=(+0.05,-0.24,-0.97) r=0.66m +[headless_play] t= 5.80s step= 290 trunk_z= 122.9mm grav_b=(+0.00,-0.06,-1.00) r=0.72m +[headless_play] t= 5.90s step= 295 trunk_z= 108.5mm grav_b=(-0.11,-0.28,-0.95) r=0.80m +[headless_play] t= 6.00s step= 300 trunk_z= 128.9mm grav_b=(+0.04,-0.26,-0.96) r=0.84m +[headless_play] t= 6.10s step= 305 trunk_z= 132.5mm grav_b=(+0.16,-0.26,-0.95) r=0.87m +[headless_play] t= 6.20s step= 310 trunk_z= 137.2mm grav_b=(+0.08,-0.05,-1.00) r=0.92m +[headless_play] t= 6.30s step= 315 trunk_z= 88.3mm grav_b=(-0.19,+0.31,-0.93) r=1.00m +[headless_play] t= 6.40s step= 320 trunk_z= 13.2mm grav_b=(-0.02,+0.72,-0.69) r=1.05m +[headless_play] RESET at t= 6.46s step= 323 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 115.9mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 6.60s step= 330 trunk_z= 116.0mm grav_b=(-0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 118.4mm grav_b=(-0.01,+0.06,-1.00) r=0.51m +[headless_play] t= 6.80s step= 340 trunk_z= 114.3mm grav_b=(-0.04,-0.03,-1.00) r=0.54m +[headless_play] t= 6.90s step= 345 trunk_z= 126.0mm grav_b=(-0.02,-0.06,-1.00) r=0.55m +[headless_play] t= 7.00s step= 350 trunk_z= 122.2mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 7.10s step= 355 trunk_z= 120.7mm grav_b=(-0.06,+0.09,-0.99) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 125.4mm grav_b=(-0.02,+0.10,-0.99) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 124.7mm grav_b=(-0.00,+0.10,-0.99) r=0.55m +[headless_play] t= 7.40s step= 370 trunk_z= 120.2mm grav_b=(-0.07,-0.06,-1.00) r=0.58m +[headless_play] t= 7.50s step= 375 trunk_z= 128.5mm grav_b=(-0.05,-0.08,-1.00) r=0.59m +[headless_play] t= 7.60s step= 380 trunk_z= 122.8mm grav_b=(-0.04,-0.05,-1.00) r=0.59m +[headless_play] t= 7.70s step= 385 trunk_z= 119.8mm grav_b=(-0.04,+0.08,-1.00) r=0.57m +[headless_play] t= 7.80s step= 390 trunk_z= 126.2mm grav_b=(-0.02,+0.13,-0.99) r=0.56m +[headless_play] t= 7.90s step= 395 trunk_z= 126.3mm grav_b=(+0.00,+0.12,-0.99) r=0.57m +[headless_play] t= 8.00s step= 400 trunk_z= 121.6mm grav_b=(-0.05,+0.03,-1.00) r=0.59m +[headless_play] t= 8.10s step= 405 trunk_z= 125.9mm grav_b=(-0.04,-0.04,-1.00) r=0.62m +[headless_play] t= 8.20s step= 410 trunk_z= 124.2mm grav_b=(-0.03,-0.03,-1.00) r=0.62m +[headless_play] t= 8.30s step= 415 trunk_z= 117.0mm grav_b=(-0.05,+0.06,-1.00) r=0.60m +[headless_play] t= 8.40s step= 420 trunk_z= 124.5mm grav_b=(-0.03,+0.09,-1.00) r=0.60m +[headless_play] t= 8.50s step= 425 trunk_z= 124.0mm grav_b=(-0.02,+0.11,-0.99) r=0.61m +[headless_play] t= 8.60s step= 430 trunk_z= 118.6mm grav_b=(-0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 8.70s step= 435 trunk_z= 124.2mm grav_b=(-0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 8.80s step= 440 trunk_z= 115.0mm grav_b=(-0.06,+0.01,-1.00) r=0.62m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(-0.05,+0.08,-1.00) r=0.61m +[headless_play] t= 9.00s step= 450 trunk_z= 124.3mm grav_b=(-0.03,+0.08,-1.00) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 124.4mm grav_b=(-0.05,-0.02,-1.00) r=0.67m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(-0.06,+0.01,-1.00) r=0.67m +[headless_play] t= 9.40s step= 470 trunk_z= 121.1mm grav_b=(-0.04,+0.07,-1.00) r=0.67m +[headless_play] t= 9.50s step= 475 trunk_z= 121.3mm grav_b=(-0.03,+0.08,-1.00) r=0.68m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(-0.03,-0.04,-1.00) r=0.70m +[headless_play] t= 9.70s step= 485 trunk_z= 123.7mm grav_b=(-0.01,-0.06,-1.00) r=0.72m +[headless_play] t= 9.80s step= 490 trunk_z= 119.0mm grav_b=(-0.00,-0.03,-1.00) r=0.72m +[headless_play] t= 9.90s step= 495 trunk_z= 120.4mm grav_b=(-0.07,+0.09,-0.99) r=0.72m +[headless_play] t= 10.00s step= 500 trunk_z= 127.4mm grav_b=(-0.07,+0.10,-0.99) r=0.73m +[headless_play] t= 10.10s step= 505 trunk_z= 124.8mm grav_b=(-0.03,+0.09,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.77m +[headless_play] t= 10.30s step= 515 trunk_z= 123.4mm grav_b=(-0.01,-0.03,-1.00) r=0.78m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.78m +[headless_play] t= 10.50s step= 525 trunk_z= 122.5mm grav_b=(-0.05,+0.08,-1.00) r=0.78m +[headless_play] t= 10.60s step= 530 trunk_z= 124.4mm grav_b=(-0.04,+0.08,-1.00) r=0.79m +[headless_play] t= 10.70s step= 535 trunk_z= 119.0mm grav_b=(-0.00,+0.01,-1.00) r=0.82m +[headless_play] t= 10.80s step= 540 trunk_z= 122.9mm grav_b=(+0.01,-0.08,-1.00) r=0.84m +[headless_play] t= 10.90s step= 545 trunk_z= 121.5mm grav_b=(+0.02,-0.06,-1.00) r=0.85m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(-0.07,+0.06,-1.00) r=0.84m +[headless_play] t= 11.10s step= 555 trunk_z= 126.1mm grav_b=(-0.07,+0.10,-0.99) r=0.84m +[headless_play] t= 11.20s step= 560 trunk_z= 123.4mm grav_b=(-0.04,+0.08,-1.00) r=0.86m +[headless_play] t= 11.30s step= 565 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.88m +[headless_play] t= 11.40s step= 570 trunk_z= 117.9mm grav_b=(+0.03,-0.01,-1.00) r=0.88m +[headless_play] t= 11.50s step= 575 trunk_z= 110.9mm grav_b=(-0.01,+0.05,-1.00) r=0.86m +[headless_play] t= 11.60s step= 580 trunk_z= 123.7mm grav_b=(-0.07,+0.10,-0.99) r=0.84m +[headless_play] t= 11.70s step= 585 trunk_z= 124.3mm grav_b=(-0.02,+0.09,-1.00) r=0.84m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(-0.02,+0.02,-1.00) r=0.85m +[headless_play] t= 11.90s step= 595 trunk_z= 121.9mm grav_b=(+0.01,-0.04,-1.00) r=0.85m +[headless_play] t= 12.00s step= 600 trunk_z= 117.6mm grav_b=(+0.01,-0.02,-1.00) r=0.84m +[headless_play] t= 12.10s step= 605 trunk_z= 118.4mm grav_b=(-0.02,+0.06,-1.00) r=0.81m +[headless_play] t= 12.20s step= 610 trunk_z= 124.0mm grav_b=(-0.03,+0.08,-1.00) r=0.80m +[headless_play] t= 12.30s step= 615 trunk_z= 121.3mm grav_b=(-0.01,+0.09,-1.00) r=0.80m +[headless_play] t= 12.40s step= 620 trunk_z= 119.3mm grav_b=(-0.00,-0.04,-1.00) r=0.80m +[headless_play] t= 12.50s step= 625 trunk_z= 121.2mm grav_b=(+0.02,-0.04,-1.00) r=0.79m +[headless_play] t= 12.60s step= 630 trunk_z= 114.9mm grav_b=(-0.01,+0.04,-1.00) r=0.77m +[headless_play] t= 12.70s step= 635 trunk_z= 124.8mm grav_b=(-0.05,+0.08,-1.00) r=0.76m +[headless_play] t= 12.80s step= 640 trunk_z= 122.2mm grav_b=(-0.04,+0.08,-1.00) r=0.75m +[headless_play] t= 12.90s step= 645 trunk_z= 116.0mm grav_b=(-0.01,-0.04,-1.00) r=0.75m +[headless_play] t= 13.00s step= 650 trunk_z= 120.5mm grav_b=(-0.02,-0.04,-1.00) r=0.74m +[headless_play] t= 13.10s step= 655 trunk_z= 114.0mm grav_b=(-0.02,-0.00,-1.00) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(-0.06,+0.07,-1.00) r=0.71m +[headless_play] t= 13.30s step= 665 trunk_z= 123.6mm grav_b=(-0.05,+0.07,-1.00) r=0.71m +[headless_play] t= 13.40s step= 670 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 13.50s step= 675 trunk_z= 120.2mm grav_b=(+0.01,-0.06,-1.00) r=0.71m +[headless_play] t= 13.60s step= 680 trunk_z= 117.4mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 13.70s step= 685 trunk_z= 125.1mm grav_b=(-0.14,+0.18,-0.97) r=0.67m +[headless_play] t= 13.80s step= 690 trunk_z= 136.5mm grav_b=(-0.24,+0.23,-0.94) r=0.65m +[headless_play] t= 13.90s step= 695 trunk_z= 98.0mm grav_b=(-0.21,+0.09,-0.97) r=0.63m +[headless_play] t= 14.00s step= 700 trunk_z= 117.4mm grav_b=(-0.43,+0.01,-0.90) r=0.60m +[headless_play] t= 14.10s step= 705 trunk_z= 95.5mm grav_b=(-0.20,+0.25,-0.95) r=0.54m +[headless_play] t= 14.20s step= 710 trunk_z= 93.7mm grav_b=(+0.05,+0.42,-0.91) r=0.50m +[headless_play] t= 14.30s step= 715 trunk_z= 106.9mm grav_b=(-0.13,+0.55,-0.83) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 84.9mm grav_b=(-0.13,+0.86,-0.50) r=0.40m +[headless_play] RESET at t= 14.44s step= 722 (env termination, not a recovery) +[headless_play] t= 14.50s step= 725 trunk_z= 114.8mm grav_b=(-0.03,-0.00,-1.00) r=0.51m +[headless_play] t= 14.60s step= 730 trunk_z= 116.5mm grav_b=(-0.00,-0.03,-1.00) r=0.51m +[headless_play] t= 14.70s step= 735 trunk_z= 118.5mm grav_b=(-0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 114.2mm grav_b=(-0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 14.90s step= 745 trunk_z= 123.1mm grav_b=(-0.02,+0.05,-1.00) r=0.56m +[headless_play] t= 15.00s step= 750 trunk_z= 118.4mm grav_b=(-0.03,+0.03,-1.00) r=0.55m +[headless_play] t= 15.10s step= 755 trunk_z= 121.7mm grav_b=(-0.03,-0.03,-1.00) r=0.54m +[headless_play] t= 15.20s step= 760 trunk_z= 120.4mm grav_b=(-0.02,-0.04,-1.00) r=0.55m +[headless_play] t= 15.30s step= 765 trunk_z= 118.1mm grav_b=(-0.03,+0.07,-1.00) r=0.57m +[headless_play] t= 15.40s step= 770 trunk_z= 122.8mm grav_b=(-0.02,+0.03,-1.00) r=0.58m +[headless_play] t= 15.50s step= 775 trunk_z= 115.2mm grav_b=(-0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 123.7mm grav_b=(-0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 120.2mm grav_b=(-0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 15.80s step= 790 trunk_z= 121.8mm grav_b=(-0.04,+0.07,-1.00) r=0.63m +[headless_play] t= 15.90s step= 795 trunk_z= 121.4mm grav_b=(-0.02,+0.03,-1.00) r=0.64m +[headless_play] t= 16.00s step= 800 trunk_z= 116.9mm grav_b=(-0.03,-0.03,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 124.0mm grav_b=(-0.02,-0.04,-1.00) r=0.65m +[headless_play] t= 16.20s step= 810 trunk_z= 120.0mm grav_b=(-0.03,-0.01,-1.00) r=0.67m +[headless_play] t= 16.30s step= 815 trunk_z= 123.0mm grav_b=(-0.03,+0.07,-1.00) r=0.69m +[headless_play] t= 16.40s step= 820 trunk_z= 123.0mm grav_b=(-0.03,+0.05,-1.00) r=0.70m +[headless_play] t= 16.50s step= 825 trunk_z= 118.0mm grav_b=(-0.05,-0.04,-1.00) r=0.71m +[headless_play] t= 16.60s step= 830 trunk_z= 124.2mm grav_b=(-0.02,-0.06,-1.00) r=0.72m +[headless_play] t= 16.70s step= 835 trunk_z= 118.9mm grav_b=(-0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 16.80s step= 840 trunk_z= 122.5mm grav_b=(-0.02,+0.07,-1.00) r=0.75m +[headless_play] t= 16.90s step= 845 trunk_z= 123.0mm grav_b=(-0.02,+0.05,-1.00) r=0.76m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(-0.04,-0.03,-1.00) r=0.78m +[headless_play] t= 17.10s step= 855 trunk_z= 124.3mm grav_b=(-0.02,-0.05,-1.00) r=0.79m +[headless_play] t= 17.20s step= 860 trunk_z= 120.4mm grav_b=(-0.03,-0.03,-1.00) r=0.81m +[headless_play] t= 17.30s step= 865 trunk_z= 122.0mm grav_b=(-0.05,+0.07,-1.00) r=0.83m +[headless_play] t= 17.40s step= 870 trunk_z= 123.6mm grav_b=(-0.03,+0.06,-1.00) r=0.84m +[headless_play] t= 17.50s step= 875 trunk_z= 115.5mm grav_b=(-0.03,-0.01,-1.00) r=0.86m +[headless_play] t= 17.60s step= 880 trunk_z= 123.7mm grav_b=(-0.01,-0.06,-1.00) r=0.87m +[headless_play] t= 17.70s step= 885 trunk_z= 123.0mm grav_b=(-0.01,-0.04,-1.00) r=0.88m +[headless_play] t= 17.80s step= 890 trunk_z= 117.5mm grav_b=(-0.02,+0.05,-1.00) r=0.91m +[headless_play] t= 17.90s step= 895 trunk_z= 122.1mm grav_b=(-0.02,+0.05,-1.00) r=0.92m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(-0.04,+0.02,-1.00) r=0.94m +[headless_play] t= 18.10s step= 905 trunk_z= 122.3mm grav_b=(-0.02,-0.05,-1.00) r=0.96m +[headless_play] t= 18.20s step= 910 trunk_z= 120.1mm grav_b=(-0.00,-0.05,-1.00) r=0.96m +[headless_play] t= 18.30s step= 915 trunk_z= 114.6mm grav_b=(-0.01,+0.05,-1.00) r=0.97m +[headless_play] t= 18.40s step= 920 trunk_z= 120.7mm grav_b=(-0.01,+0.05,-1.00) r=0.98m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.99m +[headless_play] t= 18.60s step= 930 trunk_z= 121.6mm grav_b=(-0.01,-0.04,-1.00) r=1.02m +[headless_play] t= 18.70s step= 935 trunk_z= 120.7mm grav_b=(-0.00,-0.04,-1.00) r=1.03m +[headless_play] t= 18.80s step= 940 trunk_z= 116.0mm grav_b=(-0.02,+0.05,-1.00) r=1.04m +[headless_play] t= 18.90s step= 945 trunk_z= 121.5mm grav_b=(-0.02,+0.05,-1.00) r=1.05m +[headless_play] t= 19.00s step= 950 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=1.06m +[headless_play] t= 19.10s step= 955 trunk_z= 121.7mm grav_b=(-0.01,-0.07,-1.00) r=1.08m +[headless_play] t= 19.20s step= 960 trunk_z= 111.9mm grav_b=(-0.07,+0.11,-0.99) r=1.08m +[headless_play] t= 19.30s step= 965 trunk_z= 127.0mm grav_b=(-0.06,+0.32,-0.94) r=1.07m +[headless_play] t= 19.40s step= 970 trunk_z= 130.1mm grav_b=(-0.02,+0.19,-0.98) r=1.07m +[headless_play] t= 19.50s step= 975 trunk_z= 137.8mm grav_b=(+0.07,+0.12,-0.99) r=1.07m +[headless_play] t= 19.60s step= 980 trunk_z= 111.5mm grav_b=(+0.06,+0.14,-0.99) r=1.08m +[headless_play] t= 19.70s step= 985 trunk_z= 126.8mm grav_b=(-0.00,+0.05,-1.00) r=1.07m +[headless_play] t= 19.80s step= 990 trunk_z= 103.3mm grav_b=(-0.02,+0.05,-1.00) r=1.04m +[headless_play] t= 19.90s step= 995 trunk_z= 118.3mm grav_b=(-0.01,+0.01,-1.00) r=1.04m +[headless_play] t= 20.00s step=1000 trunk_z= 111.6mm grav_b=(-0.10,-0.09,-0.99) r=1.04m +[headless_play] t= 20.10s step=1005 trunk_z= 120.4mm grav_b=(-0.04,-0.05,-1.00) r=1.03m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..5a462c44d933a5ca2e398836340bbb0c67ffe328 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z4-d-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.0mm grav_b=(-0.00,-0.00,-1.00) root_w=(-10.419,-18.252,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 122.4mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(+0.04,-0.00,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 112.3mm grav_b=(+0.08,-0.06,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 112.4mm grav_b=(+0.10,-0.02,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 110.3mm grav_b=(+0.06,+0.06,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 125.1mm grav_b=(+0.06,+0.07,-1.00) r=0.57m +[headless_play] t= 0.60s step= 30 trunk_z= 123.2mm grav_b=(+0.07,+0.09,-0.99) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 119.7mm grav_b=(+0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 122.5mm grav_b=(+0.08,-0.00,-1.00) r=0.60m +[headless_play] t= 0.90s step= 45 trunk_z= 115.7mm grav_b=(+0.03,+0.05,-1.00) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 123.6mm grav_b=(+0.06,+0.08,-1.00) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 120.2mm grav_b=(+0.05,+0.08,-1.00) r=0.65m +[headless_play] t= 1.20s step= 60 trunk_z= 119.1mm grav_b=(+0.07,-0.06,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 120.9mm grav_b=(+0.09,-0.04,-0.99) r=0.67m +[headless_play] t= 1.40s step= 70 trunk_z= 115.2mm grav_b=(+0.05,+0.05,-1.00) r=0.71m +[headless_play] t= 1.50s step= 75 trunk_z= 125.2mm grav_b=(+0.04,+0.07,-1.00) r=0.73m +[headless_play] t= 1.60s step= 80 trunk_z= 121.4mm grav_b=(+0.05,+0.07,-1.00) r=0.74m +[headless_play] t= 1.70s step= 85 trunk_z= 120.0mm grav_b=(+0.09,-0.04,-1.00) r=0.76m +[headless_play] t= 1.80s step= 90 trunk_z= 119.9mm grav_b=(+0.09,+0.00,-1.00) r=0.78m +[headless_play] t= 1.90s step= 95 trunk_z= 116.3mm grav_b=(+0.04,+0.08,-1.00) r=0.81m +[headless_play] t= 2.00s step= 100 trunk_z= 123.8mm grav_b=(+0.04,+0.08,-1.00) r=0.83m +[headless_play] t= 2.10s step= 105 trunk_z= 119.7mm grav_b=(+0.03,+0.08,-1.00) r=0.84m +[headless_play] t= 2.20s step= 110 trunk_z= 119.9mm grav_b=(+0.08,-0.05,-1.00) r=0.85m +[headless_play] t= 2.30s step= 115 trunk_z= 120.0mm grav_b=(+0.09,-0.02,-1.00) r=0.87m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(+0.05,+0.05,-1.00) r=0.90m +[headless_play] t= 2.50s step= 125 trunk_z= 121.8mm grav_b=(+0.06,+0.05,-1.00) r=0.92m +[headless_play] t= 2.60s step= 130 trunk_z= 115.2mm grav_b=(+0.04,+0.02,-1.00) r=0.93m +[headless_play] t= 2.70s step= 135 trunk_z= 120.8mm grav_b=(+0.08,-0.05,-1.00) r=0.95m +[headless_play] t= 2.80s step= 140 trunk_z= 117.5mm grav_b=(+0.08,-0.03,-1.00) r=0.98m +[headless_play] t= 2.90s step= 145 trunk_z= 118.3mm grav_b=(+0.06,+0.06,-1.00) r=1.01m +[headless_play] t= 3.00s step= 150 trunk_z= 122.0mm grav_b=(+0.06,+0.08,-1.00) r=1.03m +[headless_play] t= 3.10s step= 155 trunk_z= 113.7mm grav_b=(+0.03,+0.01,-1.00) r=1.04m +[headless_play] t= 3.20s step= 160 trunk_z= 119.3mm grav_b=(+0.08,-0.03,-1.00) r=1.06m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(+0.09,-0.01,-1.00) r=1.08m +[headless_play] t= 3.40s step= 170 trunk_z= 118.5mm grav_b=(+0.07,+0.08,-0.99) r=1.11m +[headless_play] t= 3.50s step= 175 trunk_z= 121.3mm grav_b=(+0.06,+0.09,-0.99) r=1.13m +[headless_play] t= 3.60s step= 180 trunk_z= 113.7mm grav_b=(+0.05,+0.02,-1.00) r=1.15m +[headless_play] t= 3.70s step= 185 trunk_z= 119.2mm grav_b=(+0.09,-0.03,-1.00) r=1.17m +[headless_play] t= 3.80s step= 190 trunk_z= 116.7mm grav_b=(+0.09,-0.02,-1.00) r=1.19m +[headless_play] t= 3.90s step= 195 trunk_z= 119.8mm grav_b=(+0.07,+0.06,-1.00) r=1.21m +[headless_play] t= 4.00s step= 200 trunk_z= 120.5mm grav_b=(+0.06,+0.06,-1.00) r=1.23m +[headless_play] t= 4.10s step= 205 trunk_z= 112.4mm grav_b=(+0.04,-0.01,-1.00) r=1.26m +[headless_play] t= 4.20s step= 210 trunk_z= 119.6mm grav_b=(+0.10,-0.05,-0.99) r=1.29m +[headless_play] t= 4.30s step= 215 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=1.31m +[headless_play] t= 4.40s step= 220 trunk_z= 121.6mm grav_b=(+0.07,+0.07,-1.00) r=1.33m +[headless_play] t= 4.50s step= 225 trunk_z= 120.2mm grav_b=(+0.06,+0.06,-1.00) r=1.35m +[headless_play] t= 4.60s step= 230 trunk_z= 113.1mm grav_b=(+0.04,-0.04,-1.00) r=1.38m +[headless_play] t= 4.70s step= 235 trunk_z= 117.5mm grav_b=(+0.11,-0.00,-0.99) r=1.41m +[headless_play] t= 4.80s step= 240 trunk_z= 113.7mm grav_b=(+0.07,+0.08,-0.99) r=1.43m +[headless_play] t= 4.90s step= 245 trunk_z= 124.7mm grav_b=(+0.06,+0.09,-0.99) r=1.45m +[headless_play] t= 5.00s step= 250 trunk_z= 122.3mm grav_b=(+0.06,+0.10,-0.99) r=1.47m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(+0.03,-0.03,-1.00) r=1.50m +[headless_play] t= 5.20s step= 260 trunk_z= 118.0mm grav_b=(+0.12,-0.01,-0.99) r=1.51m +[headless_play] t= 5.30s step= 265 trunk_z= 111.9mm grav_b=(+0.09,+0.06,-0.99) r=1.52m +[headless_play] t= 5.40s step= 270 trunk_z= 121.3mm grav_b=(-0.01,+0.07,-1.00) r=1.51m +[headless_play] t= 5.50s step= 275 trunk_z= 119.8mm grav_b=(-0.05,+0.04,-1.00) r=1.52m +[headless_play] t= 5.60s step= 280 trunk_z= 110.9mm grav_b=(+0.05,-0.06,-1.00) r=1.54m +[headless_play] t= 5.70s step= 285 trunk_z= 113.7mm grav_b=(+0.13,-0.11,-0.99) r=1.53m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(+0.10,-0.03,-0.99) r=1.53m +[headless_play] t= 5.90s step= 295 trunk_z= 127.5mm grav_b=(+0.07,+0.02,-1.00) r=1.53m +[headless_play] t= 6.00s step= 300 trunk_z= 124.7mm grav_b=(-0.02,+0.02,-1.00) r=1.55m +[headless_play] t= 6.10s step= 305 trunk_z= 124.0mm grav_b=(+0.04,-0.08,-1.00) r=1.56m +[headless_play] t= 6.20s step= 310 trunk_z= 121.9mm grav_b=(+0.08,-0.04,-1.00) r=1.56m +[headless_play] t= 6.30s step= 315 trunk_z= 114.4mm grav_b=(+0.07,+0.05,-1.00) r=1.53m +[headless_play] t= 6.40s step= 320 trunk_z= 122.7mm grav_b=(+0.09,+0.09,-0.99) r=1.51m +[headless_play] t= 6.50s step= 325 trunk_z= 123.3mm grav_b=(+0.04,+0.10,-0.99) r=1.51m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.05,-0.04,-1.00) r=1.52m +[headless_play] t= 6.70s step= 335 trunk_z= 120.2mm grav_b=(+0.13,-0.03,-0.99) r=1.52m +[headless_play] t= 6.80s step= 340 trunk_z= 113.6mm grav_b=(+0.11,+0.02,-0.99) r=1.49m +[headless_play] t= 6.90s step= 345 trunk_z= 124.7mm grav_b=(+0.08,+0.05,-1.00) r=1.46m +[headless_play] t= 7.00s step= 350 trunk_z= 123.6mm grav_b=(+0.02,+0.05,-1.00) r=1.45m +[headless_play] t= 7.10s step= 355 trunk_z= 122.0mm grav_b=(+0.03,-0.05,-1.00) r=1.43m +[headless_play] t= 7.20s step= 360 trunk_z= 120.5mm grav_b=(+0.10,-0.03,-0.99) r=1.42m +[headless_play] t= 7.30s step= 365 trunk_z= 111.0mm grav_b=(+0.13,+0.05,-0.99) r=1.41m +[headless_play] t= 7.40s step= 370 trunk_z= 123.7mm grav_b=(+0.11,+0.10,-0.99) r=1.40m +[headless_play] t= 7.50s step= 375 trunk_z= 124.7mm grav_b=(+0.07,+0.10,-0.99) r=1.38m +[headless_play] t= 7.60s step= 380 trunk_z= 117.5mm grav_b=(+0.05,-0.01,-1.00) r=1.35m +[headless_play] t= 7.70s step= 385 trunk_z= 121.2mm grav_b=(+0.10,+0.00,-0.99) r=1.34m +[headless_play] t= 7.80s step= 390 trunk_z= 114.1mm grav_b=(+0.04,+0.07,-1.00) r=1.33m +[headless_play] t= 7.90s step= 395 trunk_z= 121.5mm grav_b=(+0.08,+0.09,-0.99) r=1.32m +[headless_play] t= 8.00s step= 400 trunk_z= 119.5mm grav_b=(+0.03,+0.07,-1.00) r=1.29m +[headless_play] t= 8.10s step= 405 trunk_z= 117.8mm grav_b=(+0.08,-0.05,-1.00) r=1.26m +[headless_play] t= 8.20s step= 410 trunk_z= 118.4mm grav_b=(+0.12,-0.02,-0.99) r=1.26m +[headless_play] t= 8.30s step= 415 trunk_z= 115.1mm grav_b=(+0.07,+0.05,-1.00) r=1.26m +[headless_play] t= 8.40s step= 420 trunk_z= 121.9mm grav_b=(+0.11,+0.02,-0.99) r=1.24m +[headless_play] t= 8.50s step= 425 trunk_z= 108.6mm grav_b=(+0.06,-0.12,-0.99) r=1.20m +[headless_play] t= 8.60s step= 430 trunk_z= 126.8mm grav_b=(+0.11,-0.10,-0.99) r=1.17m +[headless_play] t= 8.70s step= 435 trunk_z= 127.8mm grav_b=(+0.02,+0.04,-1.00) r=1.16m +[headless_play] t= 8.80s step= 440 trunk_z= 120.9mm grav_b=(-0.04,+0.11,-0.99) r=1.16m +[headless_play] t= 8.90s step= 445 trunk_z= 126.3mm grav_b=(-0.02,+0.12,-0.99) r=1.15m +[headless_play] t= 9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.00,+0.04,-1.00) r=1.12m +[headless_play] t= 9.10s step= 455 trunk_z= 115.4mm grav_b=(+0.08,-0.04,-1.00) r=1.11m +[headless_play] t= 9.20s step= 460 trunk_z= 113.1mm grav_b=(+0.07,+0.04,-1.00) r=1.11m +[headless_play] t= 9.30s step= 465 trunk_z= 122.0mm grav_b=(+0.06,+0.09,-0.99) r=1.11m +[headless_play] t= 9.40s step= 470 trunk_z= 123.6mm grav_b=(+0.06,+0.10,-0.99) r=1.11m +[headless_play] t= 9.50s step= 475 trunk_z= 118.7mm grav_b=(+0.03,+0.05,-1.00) r=1.08m +[headless_play] t= 9.60s step= 480 trunk_z= 120.9mm grav_b=(+0.10,-0.04,-0.99) r=1.06m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(+0.07,+0.01,-1.00) r=1.06m +[headless_play] t= 9.80s step= 490 trunk_z= 119.9mm grav_b=(+0.04,+0.07,-1.00) r=1.07m +[headless_play] t= 9.90s step= 495 trunk_z= 120.1mm grav_b=(+0.05,+0.06,-1.00) r=1.07m +[headless_play] t= 10.00s step= 500 trunk_z= 113.6mm grav_b=(+0.04,+0.01,-1.00) r=1.05m +[headless_play] t= 10.10s step= 505 trunk_z= 118.2mm grav_b=(+0.11,-0.04,-0.99) r=1.04m +[headless_play] t= 10.20s step= 510 trunk_z= 113.8mm grav_b=(+0.09,+0.01,-1.00) r=1.05m +[headless_play] t= 10.30s step= 515 trunk_z= 120.1mm grav_b=(+0.07,+0.08,-0.99) r=1.06m +[headless_play] t= 10.40s step= 520 trunk_z= 119.5mm grav_b=(+0.05,+0.08,-0.99) r=1.06m +[headless_play] t= 10.50s step= 525 trunk_z= 112.5mm grav_b=(+0.07,-0.02,-1.00) r=1.04m +[headless_play] t= 10.60s step= 530 trunk_z= 118.1mm grav_b=(+0.10,-0.03,-0.99) r=1.04m +[headless_play] t= 10.70s step= 535 trunk_z= 113.1mm grav_b=(+0.08,+0.01,-1.00) r=1.06m +[headless_play] t= 10.80s step= 540 trunk_z= 120.5mm grav_b=(+0.07,+0.07,-1.00) r=1.08m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(+0.07,+0.09,-0.99) r=1.07m +[headless_play] t= 11.00s step= 550 trunk_z= 114.8mm grav_b=(+0.05,-0.04,-1.00) r=1.07m +[headless_play] t= 11.10s step= 555 trunk_z= 117.4mm grav_b=(+0.09,-0.04,-1.00) r=1.07m +[headless_play] t= 11.20s step= 560 trunk_z= 111.1mm grav_b=(+0.09,+0.03,-1.00) r=1.10m +[headless_play] t= 11.30s step= 565 trunk_z= 122.9mm grav_b=(+0.09,+0.09,-0.99) r=1.12m +[headless_play] t= 11.40s step= 570 trunk_z= 119.4mm grav_b=(+0.07,+0.07,-1.00) r=1.13m +[headless_play] t= 11.50s step= 575 trunk_z= 119.4mm grav_b=(+0.07,-0.02,-1.00) r=1.14m +[headless_play] t= 11.60s step= 580 trunk_z= 117.3mm grav_b=(+0.09,-0.01,-1.00) r=1.16m +[headless_play] t= 11.70s step= 585 trunk_z= 114.0mm grav_b=(+0.07,+0.07,-0.99) r=1.19m +[headless_play] t= 11.80s step= 590 trunk_z= 122.1mm grav_b=(+0.06,+0.08,-1.00) r=1.21m +[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(+0.04,+0.07,-1.00) r=1.21m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(+0.09,-0.04,-1.00) r=1.23m +[headless_play] t= 12.10s step= 605 trunk_z= 115.4mm grav_b=(+0.13,-0.01,-0.99) r=1.24m +[headless_play] t= 12.20s step= 610 trunk_z= 114.6mm grav_b=(+0.07,+0.09,-0.99) r=1.28m +[headless_play] t= 12.30s step= 615 trunk_z= 123.6mm grav_b=(+0.06,+0.08,-0.99) r=1.30m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(+0.02,+0.07,-1.00) r=1.32m +[headless_play] t= 12.50s step= 625 trunk_z= 118.7mm grav_b=(+0.07,-0.04,-1.00) r=1.34m +[headless_play] t= 12.60s step= 630 trunk_z= 117.4mm grav_b=(+0.13,-0.02,-0.99) r=1.36m +[headless_play] t= 12.70s step= 635 trunk_z= 114.3mm grav_b=(+0.08,+0.06,-1.00) r=1.39m +[headless_play] t= 12.80s step= 640 trunk_z= 123.1mm grav_b=(+0.06,+0.07,-1.00) r=1.41m +[headless_play] t= 12.90s step= 645 trunk_z= 116.1mm grav_b=(+0.03,+0.05,-1.00) r=1.44m +[headless_play] t= 13.00s step= 650 trunk_z= 117.9mm grav_b=(+0.06,-0.04,-1.00) r=1.46m +[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(+0.13,-0.04,-0.99) r=1.48m +[headless_play] t= 13.20s step= 660 trunk_z= 111.2mm grav_b=(+0.10,+0.06,-0.99) r=1.50m +[headless_play] t= 13.30s step= 665 trunk_z= 124.2mm grav_b=(+0.07,+0.08,-0.99) r=1.52m +[headless_play] t= 13.40s step= 670 trunk_z= 119.1mm grav_b=(+0.06,+0.07,-1.00) r=1.54m +[headless_play] t= 13.50s step= 675 trunk_z= 118.0mm grav_b=(+0.06,-0.03,-1.00) r=1.57m +[headless_play] t= 13.60s step= 680 trunk_z= 110.4mm grav_b=(+0.11,+0.09,-0.99) r=1.57m +[headless_play] t= 13.70s step= 685 trunk_z= 121.0mm grav_b=(+0.11,+0.19,-0.98) r=1.58m +[headless_play] t= 13.80s step= 690 trunk_z= 125.2mm grav_b=(+0.12,+0.22,-0.97) r=1.59m +[headless_play] t= 13.90s step= 695 trunk_z= 122.9mm grav_b=(+0.02,+0.13,-0.99) r=1.61m +[headless_play] t= 14.00s step= 700 trunk_z= 123.9mm grav_b=(+0.03,+0.07,-1.00) r=1.62m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(+0.02,+0.07,-1.00) r=1.61m +[headless_play] t= 14.20s step= 710 trunk_z= 118.3mm grav_b=(+0.10,+0.09,-0.99) r=1.60m +[headless_play] t= 14.30s step= 715 trunk_z= 119.1mm grav_b=(+0.08,+0.12,-0.99) r=1.61m +[headless_play] t= 14.40s step= 720 trunk_z= 114.1mm grav_b=(+0.04,+0.02,-1.00) r=1.64m +[headless_play] t= 14.50s step= 725 trunk_z= 122.3mm grav_b=(+0.08,-0.02,-1.00) r=1.66m +[headless_play] t= 14.60s step= 730 trunk_z= 118.9mm grav_b=(+0.10,-0.02,-1.00) r=1.66m +[headless_play] t= 14.70s step= 735 trunk_z= 122.0mm grav_b=(+0.08,+0.05,-1.00) r=1.66m +[headless_play] t= 14.80s step= 740 trunk_z= 122.8mm grav_b=(+0.07,+0.05,-1.00) r=1.67m +[headless_play] t= 14.90s step= 745 trunk_z= 115.2mm grav_b=(+0.07,-0.04,-1.00) r=1.69m +[headless_play] t= 15.00s step= 750 trunk_z= 123.0mm grav_b=(+0.09,-0.03,-1.00) r=1.70m +[headless_play] t= 15.10s step= 755 trunk_z= 116.8mm grav_b=(+0.10,+0.03,-0.99) r=1.69m +[headless_play] t= 15.20s step= 760 trunk_z= 126.6mm grav_b=(+0.07,+0.04,-1.00) r=1.69m +[headless_play] t= 15.30s step= 765 trunk_z= 120.1mm grav_b=(+0.04,+0.02,-1.00) r=1.70m +[headless_play] t= 15.40s step= 770 trunk_z= 121.4mm grav_b=(+0.06,-0.03,-1.00) r=1.71m +[headless_play] t= 15.50s step= 775 trunk_z= 114.4mm grav_b=(+0.12,-0.00,-0.99) r=1.70m +[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(+0.08,+0.09,-0.99) r=1.67m +[headless_play] t= 15.70s step= 785 trunk_z= 124.4mm grav_b=(+0.05,+0.07,-1.00) r=1.66m +[headless_play] t= 15.80s step= 790 trunk_z= 117.9mm grav_b=(+0.03,+0.06,-1.00) r=1.67m +[headless_play] t= 15.90s step= 795 trunk_z= 119.4mm grav_b=(+0.07,-0.04,-1.00) r=1.67m +[headless_play] t= 16.00s step= 800 trunk_z= 118.9mm grav_b=(+0.11,-0.03,-0.99) r=1.67m +[headless_play] t= 16.10s step= 805 trunk_z= 114.7mm grav_b=(+0.08,+0.03,-1.00) r=1.64m +[headless_play] t= 16.20s step= 810 trunk_z= 123.6mm grav_b=(+0.08,+0.04,-1.00) r=1.62m +[headless_play] t= 16.30s step= 815 trunk_z= 116.7mm grav_b=(+0.07,+0.03,-1.00) r=1.61m +[headless_play] t= 16.40s step= 820 trunk_z= 122.0mm grav_b=(+0.08,-0.04,-1.00) r=1.60m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(+0.11,-0.02,-0.99) r=1.59m +[headless_play] t= 16.60s step= 830 trunk_z= 114.3mm grav_b=(+0.07,+0.06,-1.00) r=1.55m +[headless_play] t= 16.70s step= 835 trunk_z= 124.2mm grav_b=(+0.07,+0.06,-1.00) r=1.53m +[headless_play] t= 16.80s step= 840 trunk_z= 118.8mm grav_b=(+0.06,+0.06,-1.00) r=1.51m +[headless_play] t= 16.90s step= 845 trunk_z= 120.3mm grav_b=(+0.08,-0.03,-1.00) r=1.49m +[headless_play] t= 17.00s step= 850 trunk_z= 117.6mm grav_b=(+0.11,-0.03,-0.99) r=1.48m +[headless_play] t= 17.10s step= 855 trunk_z= 112.5mm grav_b=(+0.08,+0.05,-1.00) r=1.46m +[headless_play] t= 17.20s step= 860 trunk_z= 124.6mm grav_b=(+0.07,+0.06,-1.00) r=1.43m +[headless_play] t= 17.30s step= 865 trunk_z= 119.9mm grav_b=(+0.07,+0.05,-1.00) r=1.40m +[headless_play] t= 17.40s step= 870 trunk_z= 120.7mm grav_b=(+0.07,-0.02,-1.00) r=1.37m +[headless_play] t= 17.50s step= 875 trunk_z= 119.0mm grav_b=(+0.11,-0.00,-0.99) r=1.35m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(+0.06,+0.08,-1.00) r=1.33m +[headless_play] t= 17.70s step= 885 trunk_z= 122.8mm grav_b=(+0.09,+0.07,-0.99) r=1.31m +[headless_play] t= 17.80s step= 890 trunk_z= 116.5mm grav_b=(+0.09,+0.04,-1.00) r=1.29m +[headless_play] t= 17.90s step= 895 trunk_z= 121.7mm grav_b=(+0.20,-0.03,-0.98) r=1.23m +[headless_play] t= 18.00s step= 900 trunk_z= 120.8mm grav_b=(+0.11,-0.02,-0.99) r=1.19m +[headless_play] t= 18.10s step= 905 trunk_z= 125.7mm grav_b=(+0.10,-0.01,-0.99) r=1.14m +[headless_play] t= 18.20s step= 910 trunk_z= 132.6mm grav_b=(-0.00,+0.03,-1.00) r=1.10m +[headless_play] t= 18.30s step= 915 trunk_z= 111.1mm grav_b=(-0.01,-0.02,-1.00) r=1.05m +[headless_play] t= 18.40s step= 920 trunk_z= 118.4mm grav_b=(+0.05,-0.02,-1.00) r=1.03m +[headless_play] t= 18.50s step= 925 trunk_z= 112.9mm grav_b=(+0.07,+0.03,-1.00) r=1.02m +[headless_play] t= 18.60s step= 930 trunk_z= 121.4mm grav_b=(+0.08,+0.07,-0.99) r=1.01m +[headless_play] t= 18.70s step= 935 trunk_z= 120.4mm grav_b=(+0.09,+0.08,-0.99) r=0.99m +[headless_play] t= 18.80s step= 940 trunk_z= 115.7mm grav_b=(+0.05,-0.01,-1.00) r=0.96m +[headless_play] t= 18.90s step= 945 trunk_z= 117.8mm grav_b=(+0.09,-0.02,-1.00) r=0.95m +[headless_play] t= 19.00s step= 950 trunk_z= 111.5mm grav_b=(+0.06,+0.04,-1.00) r=0.95m +[headless_play] t= 19.10s step= 955 trunk_z= 120.4mm grav_b=(+0.08,+0.07,-0.99) r=0.94m +[headless_play] t= 19.20s step= 960 trunk_z= 118.2mm grav_b=(+0.07,+0.06,-1.00) r=0.91m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(+0.07,-0.04,-1.00) r=0.88m +[headless_play] t= 19.40s step= 970 trunk_z= 117.3mm grav_b=(+0.13,-0.01,-0.99) r=0.87m +[headless_play] t= 19.50s step= 975 trunk_z= 115.8mm grav_b=(+0.09,+0.05,-0.99) r=0.87m +[headless_play] t= 19.60s step= 980 trunk_z= 126.0mm grav_b=(+0.07,+0.01,-1.00) r=0.85m +[headless_play] t= 19.70s step= 985 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.82m +[headless_play] t= 19.80s step= 990 trunk_z= 122.6mm grav_b=(+0.09,-0.04,-1.00) r=0.80m +[headless_play] t= 19.90s step= 995 trunk_z= 116.2mm grav_b=(+0.08,+0.01,-1.00) r=0.80m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 114.5mm grav_b=(+0.03,+0.03,-1.00) r=0.47m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t1.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..bfcd700f94788a5bee3edc21cf7682d5c39599c0 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(+0.00,-0.00,-1.00) root_w=(-10.141,-18.175,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.04,+0.06,-1.00) r=0.23m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(+0.10,+0.03,-0.99) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(+0.10,-0.01,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.09,+0.08,-0.99) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 129.1mm grav_b=(+0.10,+0.12,-0.99) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 130.4mm grav_b=(+0.08,+0.10,-0.99) r=0.30m +[headless_play] t= 0.70s step= 35 trunk_z= 122.7mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 127.7mm grav_b=(+0.08,-0.01,-1.00) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(+0.06,+0.06,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 130.9mm grav_b=(+0.09,+0.08,-0.99) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 124.5mm grav_b=(+0.07,+0.04,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 124.7mm grav_b=(+0.08,-0.01,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 125.3mm grav_b=(+0.08,+0.02,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 124.6mm grav_b=(+0.09,+0.09,-0.99) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 132.6mm grav_b=(+0.10,+0.09,-0.99) r=0.57m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 1.70s step= 85 trunk_z= 127.8mm grav_b=(+0.09,-0.00,-1.00) r=0.64m +[headless_play] t= 1.80s step= 90 trunk_z= 119.9mm grav_b=(+0.06,+0.05,-1.00) r=0.67m +[headless_play] t= 1.90s step= 95 trunk_z= 131.5mm grav_b=(+0.09,+0.10,-0.99) r=0.71m +[headless_play] t= 2.00s step= 100 trunk_z= 130.9mm grav_b=(+0.09,+0.09,-0.99) r=0.74m +[headless_play] t= 2.10s step= 105 trunk_z= 119.6mm grav_b=(+0.05,+0.02,-1.00) r=0.78m +[headless_play] t= 2.20s step= 110 trunk_z= 126.0mm grav_b=(+0.06,+0.03,-1.00) r=0.81m +[headless_play] t= 2.30s step= 115 trunk_z= 119.6mm grav_b=(+0.06,+0.09,-0.99) r=0.83m +[headless_play] t= 2.40s step= 120 trunk_z= 132.3mm grav_b=(+0.09,+0.11,-0.99) r=0.86m +[headless_play] t= 2.50s step= 125 trunk_z= 125.7mm grav_b=(+0.06,+0.05,-1.00) r=0.89m +[headless_play] t= 2.60s step= 130 trunk_z= 126.5mm grav_b=(+0.07,+0.00,-1.00) r=0.92m +[headless_play] t= 2.70s step= 135 trunk_z= 124.4mm grav_b=(+0.06,+0.03,-1.00) r=0.95m +[headless_play] t= 2.80s step= 140 trunk_z= 125.0mm grav_b=(+0.09,+0.09,-0.99) r=0.98m +[headless_play] t= 2.90s step= 145 trunk_z= 131.7mm grav_b=(+0.10,+0.09,-0.99) r=1.00m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(+0.06,+0.01,-1.00) r=1.05m +[headless_play] t= 3.10s step= 155 trunk_z= 124.6mm grav_b=(+0.08,+0.03,-1.00) r=1.07m +[headless_play] t= 3.20s step= 160 trunk_z= 114.8mm grav_b=(+0.06,+0.09,-0.99) r=1.09m +[headless_play] t= 3.30s step= 165 trunk_z= 130.4mm grav_b=(+0.09,+0.11,-0.99) r=1.11m +[headless_play] t= 3.40s step= 170 trunk_z= 127.8mm grav_b=(+0.08,+0.09,-0.99) r=1.15m +[headless_play] t= 3.50s step= 175 trunk_z= 120.5mm grav_b=(+0.07,+0.02,-1.00) r=1.19m +[headless_play] t= 3.60s step= 180 trunk_z= 124.4mm grav_b=(+0.06,+0.02,-1.00) r=1.20m +[headless_play] t= 3.70s step= 185 trunk_z= 119.6mm grav_b=(+0.04,+0.10,-0.99) r=1.22m +[headless_play] t= 3.80s step= 190 trunk_z= 128.4mm grav_b=(+0.06,+0.14,-0.99) r=1.24m +[headless_play] t= 3.90s step= 195 trunk_z= 124.7mm grav_b=(+0.09,+0.09,-0.99) r=1.26m +[headless_play] t= 4.00s step= 200 trunk_z= 120.5mm grav_b=(+0.08,-0.06,-0.99) r=1.29m +[headless_play] t= 4.10s step= 205 trunk_z= 120.8mm grav_b=(+0.04,-0.02,-1.00) r=1.30m +[headless_play] t= 4.20s step= 210 trunk_z= 116.7mm grav_b=(+0.07,+0.07,-1.00) r=1.31m +[headless_play] t= 4.30s step= 215 trunk_z= 129.2mm grav_b=(+0.09,+0.27,-0.96) r=1.31m +[headless_play] t= 4.40s step= 220 trunk_z= 124.6mm grav_b=(+0.32,+0.42,-0.85) r=1.29m +[headless_play] t= 4.50s step= 225 trunk_z= 118.3mm grav_b=(+0.38,+0.31,-0.87) r=1.28m +[headless_play] t= 4.60s step= 230 trunk_z= 96.8mm grav_b=(+0.48,+0.18,-0.86) r=1.28m +[headless_play] t= 4.70s step= 235 trunk_z= 120.3mm grav_b=(+0.68,+0.02,-0.74) r=1.27m +[headless_play] t= 4.80s step= 240 trunk_z= 93.7mm grav_b=(+0.53,+0.27,-0.81) r=1.26m +[headless_play] t= 4.90s step= 245 trunk_z= 64.5mm grav_b=(+0.31,+0.22,-0.92) r=1.27m +[headless_play] t= 5.00s step= 250 trunk_z= 88.1mm grav_b=(+0.11,+0.16,-0.98) r=1.29m +[headless_play] t= 5.10s step= 255 trunk_z= 106.2mm grav_b=(+0.03,+0.02,-1.00) r=1.31m +[headless_play] t= 5.20s step= 260 trunk_z= 119.2mm grav_b=(+0.04,+0.08,-1.00) r=1.32m +[headless_play] t= 5.30s step= 265 trunk_z= 122.1mm grav_b=(+0.06,+0.13,-0.99) r=1.32m +[headless_play] t= 5.40s step= 270 trunk_z= 127.7mm grav_b=(+0.04,+0.14,-0.99) r=1.33m +[headless_play] t= 5.50s step= 275 trunk_z= 120.6mm grav_b=(+0.07,+0.04,-1.00) r=1.35m +[headless_play] t= 5.60s step= 280 trunk_z= 123.6mm grav_b=(+0.03,-0.09,-1.00) r=1.37m +[headless_play] t= 5.70s step= 285 trunk_z= 120.3mm grav_b=(+0.03,-0.03,-1.00) r=1.37m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(+0.08,+0.10,-0.99) r=1.38m +[headless_play] t= 5.90s step= 295 trunk_z= 124.2mm grav_b=(+0.08,+0.14,-0.99) r=1.38m +[headless_play] t= 6.00s step= 300 trunk_z= 121.0mm grav_b=(+0.05,+0.12,-0.99) r=1.39m +[headless_play] t= 6.10s step= 305 trunk_z= 116.1mm grav_b=(+0.06,-0.05,-1.00) r=1.42m +[headless_play] t= 6.20s step= 310 trunk_z= 118.7mm grav_b=(+0.05,-0.08,-1.00) r=1.43m +[headless_play] t= 6.30s step= 315 trunk_z= 114.5mm grav_b=(+0.08,+0.00,-1.00) r=1.43m +[headless_play] t= 6.40s step= 320 trunk_z= 119.4mm grav_b=(+0.10,+0.12,-0.99) r=1.42m +[headless_play] t= 6.50s step= 325 trunk_z= 120.3mm grav_b=(+0.10,+0.15,-0.98) r=1.43m +[headless_play] t= 6.60s step= 330 trunk_z= 116.5mm grav_b=(+0.11,+0.05,-0.99) r=1.44m +[headless_play] t= 6.70s step= 335 trunk_z= 120.0mm grav_b=(+0.09,-0.08,-0.99) r=1.46m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(+0.08,-0.05,-1.00) r=1.46m +[headless_play] t= 6.90s step= 345 trunk_z= 116.5mm grav_b=(+0.07,+0.10,-0.99) r=1.45m +[headless_play] t= 7.00s step= 350 trunk_z= 121.9mm grav_b=(+0.07,+0.13,-0.99) r=1.45m +[headless_play] t= 7.10s step= 355 trunk_z= 118.4mm grav_b=(+0.09,+0.08,-0.99) r=1.46m +[headless_play] t= 7.20s step= 360 trunk_z= 118.6mm grav_b=(+0.08,-0.06,-1.00) r=1.48m +[headless_play] t= 7.30s step= 365 trunk_z= 116.2mm grav_b=(+0.10,-0.05,-0.99) r=1.48m +[headless_play] t= 7.40s step= 370 trunk_z= 112.5mm grav_b=(+0.09,+0.09,-0.99) r=1.47m +[headless_play] t= 7.50s step= 375 trunk_z= 121.8mm grav_b=(+0.09,+0.13,-0.99) r=1.46m +[headless_play] t= 7.60s step= 380 trunk_z= 119.3mm grav_b=(+0.10,+0.11,-0.99) r=1.46m +[headless_play] t= 7.70s step= 385 trunk_z= 117.0mm grav_b=(+0.08,-0.06,-0.99) r=1.47m +[headless_play] t= 7.80s step= 390 trunk_z= 119.6mm grav_b=(+0.06,-0.06,-1.00) r=1.47m +[headless_play] t= 7.90s step= 395 trunk_z= 113.8mm grav_b=(+0.09,+0.05,-0.99) r=1.45m +[headless_play] t= 8.00s step= 400 trunk_z= 121.2mm grav_b=(+0.10,+0.15,-0.98) r=1.43m +[headless_play] t= 8.10s step= 405 trunk_z= 121.8mm grav_b=(+0.09,+0.17,-0.98) r=1.42m +[headless_play] t= 8.20s step= 410 trunk_z= 117.4mm grav_b=(+0.10,+0.06,-0.99) r=1.42m +[headless_play] t= 8.30s step= 415 trunk_z= 121.0mm grav_b=(+0.07,-0.06,-1.00) r=1.43m +[headless_play] t= 8.40s step= 420 trunk_z= 119.3mm grav_b=(+0.04,+0.00,-1.00) r=1.42m +[headless_play] t= 8.50s step= 425 trunk_z= 122.9mm grav_b=(+0.08,+0.07,-0.99) r=1.41m +[headless_play] t= 8.60s step= 430 trunk_z= 130.4mm grav_b=(+0.08,+0.07,-0.99) r=1.40m +[headless_play] t= 8.70s step= 435 trunk_z= 124.2mm grav_b=(+0.13,+0.03,-0.99) r=1.40m +[headless_play] t= 8.80s step= 440 trunk_z= 130.4mm grav_b=(+0.16,+0.06,-0.98) r=1.40m +[headless_play] t= 8.90s step= 445 trunk_z= 113.5mm grav_b=(+0.03,+0.10,-0.99) r=1.37m +[headless_play] t= 9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.08,+0.17,-0.98) r=1.35m +[headless_play] t= 9.10s step= 455 trunk_z= 123.2mm grav_b=(+0.04,+0.17,-0.98) r=1.35m +[headless_play] t= 9.20s step= 460 trunk_z= 118.8mm grav_b=(+0.00,+0.09,-1.00) r=1.36m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(+0.01,+0.03,-1.00) r=1.37m +[headless_play] t= 9.40s step= 470 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=1.37m +[headless_play] t= 9.50s step= 475 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=1.38m +[headless_play] t= 9.60s step= 480 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=1.37m +[headless_play] t= 9.70s step= 485 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=1.37m +[headless_play] t= 9.80s step= 490 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=1.37m +[headless_play] t= 9.90s step= 495 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=1.37m +[headless_play] t= 10.00s step= 500 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=1.37m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(-0.03,-0.04,-1.00) r=1.38m +[headless_play] t= 10.20s step= 510 trunk_z= 116.4mm grav_b=(-0.05,-0.02,-1.00) r=1.39m +[headless_play] t= 10.30s step= 515 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=1.38m +[headless_play] t= 10.40s step= 520 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=1.38m +[headless_play] t= 10.50s step= 525 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=1.38m +[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=1.38m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=1.38m +[headless_play] t= 10.80s step= 540 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=1.38m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=1.38m +[headless_play] t= 11.00s step= 550 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=1.38m +[headless_play] t= 11.10s step= 555 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=1.38m +[headless_play] t= 11.20s step= 560 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=1.38m +[headless_play] t= 11.30s step= 565 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) r=1.38m +[headless_play] t= 11.40s step= 570 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=1.38m +[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=1.38m +[headless_play] t= 11.60s step= 580 trunk_z= 116.2mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 11.70s step= 585 trunk_z= 116.1mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 11.90s step= 595 trunk_z= 115.9mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 12.00s step= 600 trunk_z= 115.8mm grav_b=(+0.06,-0.03,-1.00) r=1.38m +[headless_play] t= 12.10s step= 605 trunk_z= 115.8mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 12.30s step= 615 trunk_z= 115.5mm grav_b=(+0.06,-0.03,-1.00) r=1.38m +[headless_play] t= 12.40s step= 620 trunk_z= 115.5mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 12.50s step= 625 trunk_z= 115.4mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 12.60s step= 630 trunk_z= 115.3mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 12.70s step= 635 trunk_z= 115.4mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 12.80s step= 640 trunk_z= 115.2mm grav_b=(+0.06,-0.03,-1.00) r=1.38m +[headless_play] t= 12.90s step= 645 trunk_z= 115.2mm grav_b=(+0.06,-0.03,-1.00) r=1.38m +[headless_play] t= 13.00s step= 650 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 13.10s step= 655 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 13.20s step= 660 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 13.30s step= 665 trunk_z= 115.2mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 13.40s step= 670 trunk_z= 115.1mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 13.50s step= 675 trunk_z= 115.1mm grav_b=(+0.07,-0.03,-1.00) r=1.38m +[headless_play] t= 13.60s step= 680 trunk_z= 115.4mm grav_b=(+0.06,-0.01,-1.00) r=1.37m +[headless_play] t= 13.70s step= 685 trunk_z= 115.3mm grav_b=(+0.07,+0.09,-0.99) r=1.35m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(+0.06,+0.06,-1.00) r=1.35m +[headless_play] t= 13.90s step= 695 trunk_z= 114.0mm grav_b=(+0.06,-0.06,-1.00) r=1.35m +[headless_play] t= 14.00s step= 700 trunk_z= 121.4mm grav_b=(+0.05,-0.11,-0.99) r=1.35m +[headless_play] t= 14.10s step= 705 trunk_z= 118.1mm grav_b=(+0.08,-0.05,-1.00) r=1.34m +[headless_play] t= 14.20s step= 710 trunk_z= 114.1mm grav_b=(+0.07,+0.10,-0.99) r=1.31m +[headless_play] t= 14.30s step= 715 trunk_z= 123.7mm grav_b=(+0.09,+0.14,-0.99) r=1.29m +[headless_play] t= 14.40s step= 720 trunk_z= 120.4mm grav_b=(+0.10,+0.10,-0.99) r=1.28m +[headless_play] t= 14.50s step= 725 trunk_z= 119.5mm grav_b=(+0.11,-0.06,-0.99) r=1.26m +[headless_play] t= 14.60s step= 730 trunk_z= 121.4mm grav_b=(+0.09,-0.06,-0.99) r=1.26m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.11,+0.02,-0.99) r=1.23m +[headless_play] t= 14.80s step= 740 trunk_z= 122.9mm grav_b=(+0.11,+0.13,-0.98) r=1.21m +[headless_play] t= 14.90s step= 745 trunk_z= 126.2mm grav_b=(+0.08,+0.14,-0.99) r=1.19m +[headless_play] t= 15.00s step= 750 trunk_z= 115.6mm grav_b=(+0.07,-0.01,-1.00) r=1.16m +[headless_play] t= 15.10s step= 755 trunk_z= 120.3mm grav_b=(+0.06,-0.09,-0.99) r=1.15m +[headless_play] t= 15.20s step= 760 trunk_z= 120.0mm grav_b=(+0.06,-0.09,-0.99) r=1.14m +[headless_play] t= 15.30s step= 765 trunk_z= 121.7mm grav_b=(-0.01,-0.10,-0.99) r=1.15m +[headless_play] t= 15.40s step= 770 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=1.16m +[headless_play] t= 15.50s step= 775 trunk_z= 118.3mm grav_b=(+0.06,+0.10,-0.99) r=1.15m +[headless_play] t= 15.60s step= 780 trunk_z= 119.7mm grav_b=(+0.10,+0.12,-0.99) r=1.14m +[headless_play] t= 15.70s step= 785 trunk_z= 113.5mm grav_b=(+0.10,-0.03,-0.99) r=1.12m +[headless_play] t= 15.80s step= 790 trunk_z= 121.9mm grav_b=(+0.09,-0.10,-0.99) r=1.11m +[headless_play] t= 15.90s step= 795 trunk_z= 118.1mm grav_b=(+0.08,-0.06,-1.00) r=1.10m +[headless_play] t= 16.00s step= 800 trunk_z= 117.9mm grav_b=(+0.08,+0.09,-0.99) r=1.08m +[headless_play] t= 16.10s step= 805 trunk_z= 123.7mm grav_b=(+0.09,+0.15,-0.98) r=1.07m +[headless_play] t= 16.20s step= 810 trunk_z= 120.0mm grav_b=(+0.07,+0.08,-0.99) r=1.05m +[headless_play] t= 16.30s step= 815 trunk_z= 118.4mm grav_b=(+0.03,-0.03,-1.00) r=1.03m +[headless_play] t= 16.40s step= 820 trunk_z= 114.8mm grav_b=(+0.09,+0.02,-1.00) r=1.03m +[headless_play] t= 16.50s step= 825 trunk_z= 115.3mm grav_b=(+0.13,+0.13,-0.98) r=1.04m +[headless_play] t= 16.60s step= 830 trunk_z= 121.2mm grav_b=(+0.10,+0.10,-0.99) r=1.02m +[headless_play] t= 16.70s step= 835 trunk_z= 115.9mm grav_b=(+0.07,-0.06,-1.00) r=1.00m +[headless_play] t= 16.80s step= 840 trunk_z= 118.4mm grav_b=(+0.09,-0.05,-0.99) r=0.99m +[headless_play] t= 16.90s step= 845 trunk_z= 113.4mm grav_b=(+0.11,+0.10,-0.99) r=1.00m +[headless_play] t= 17.00s step= 850 trunk_z= 125.0mm grav_b=(+0.11,+0.15,-0.98) r=1.00m +[headless_play] t= 17.10s step= 855 trunk_z= 125.2mm grav_b=(+0.08,+0.12,-0.99) r=1.00m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(+0.09,-0.06,-0.99) r=0.98m +[headless_play] t= 17.30s step= 865 trunk_z= 118.4mm grav_b=(+0.08,-0.02,-1.00) r=0.98m +[headless_play] t= 17.40s step= 870 trunk_z= 115.2mm grav_b=(+0.10,+0.09,-0.99) r=1.00m +[headless_play] t= 17.50s step= 875 trunk_z= 124.3mm grav_b=(+0.10,+0.13,-0.99) r=1.01m +[headless_play] t= 17.60s step= 880 trunk_z= 123.5mm grav_b=(+0.08,+0.10,-0.99) r=1.00m +[headless_play] t= 17.70s step= 885 trunk_z= 117.4mm grav_b=(+0.06,-0.04,-1.00) r=1.00m +[headless_play] t= 17.80s step= 890 trunk_z= 114.9mm grav_b=(+0.09,+0.01,-1.00) r=1.01m +[headless_play] t= 17.90s step= 895 trunk_z= 117.6mm grav_b=(+0.11,+0.11,-0.99) r=1.03m +[headless_play] t= 18.00s step= 900 trunk_z= 121.6mm grav_b=(+0.08,+0.11,-0.99) r=1.03m +[headless_play] t= 18.10s step= 905 trunk_z= 114.6mm grav_b=(+0.07,-0.02,-1.00) r=1.03m +[headless_play] t= 18.20s step= 910 trunk_z= 116.0mm grav_b=(+0.09,-0.05,-1.00) r=1.04m +[headless_play] t= 18.30s step= 915 trunk_z= 111.0mm grav_b=(+0.11,+0.08,-0.99) r=1.06m +[headless_play] t= 18.40s step= 920 trunk_z= 120.7mm grav_b=(+0.11,+0.13,-0.99) r=1.08m +[headless_play] t= 18.50s step= 925 trunk_z= 120.9mm grav_b=(+0.09,+0.10,-0.99) r=1.09m +[headless_play] t= 18.60s step= 930 trunk_z= 115.3mm grav_b=(+0.08,-0.06,-1.00) r=1.11m +[headless_play] t= 18.70s step= 935 trunk_z= 115.9mm grav_b=(+0.12,-0.01,-0.99) r=1.11m +[headless_play] t= 18.80s step= 940 trunk_z= 119.1mm grav_b=(+0.10,+0.10,-0.99) r=1.12m +[headless_play] t= 18.90s step= 945 trunk_z= 128.6mm grav_b=(+0.07,+0.15,-0.99) r=1.13m +[headless_play] t= 19.00s step= 950 trunk_z= 125.9mm grav_b=(+0.10,+0.14,-0.99) r=1.15m +[headless_play] t= 19.10s step= 955 trunk_z= 117.8mm grav_b=(+0.04,-0.02,-1.00) r=1.17m +[headless_play] t= 19.20s step= 960 trunk_z= 120.9mm grav_b=(+0.06,-0.06,-1.00) r=1.18m +[headless_play] t= 19.30s step= 965 trunk_z= 114.3mm grav_b=(+0.08,+0.11,-0.99) r=1.20m +[headless_play] t= 19.40s step= 970 trunk_z= 130.2mm grav_b=(+0.12,+0.19,-0.97) r=1.21m +[headless_play] t= 19.50s step= 975 trunk_z= 135.4mm grav_b=(+0.07,+0.21,-0.97) r=1.23m +[headless_play] t= 19.60s step= 980 trunk_z= 129.8mm grav_b=(+0.10,+0.13,-0.99) r=1.27m +[headless_play] t= 19.70s step= 985 trunk_z= 124.8mm grav_b=(+0.10,+0.05,-0.99) r=1.30m +[headless_play] t= 19.80s step= 990 trunk_z= 123.8mm grav_b=(+0.03,+0.04,-1.00) r=1.32m +[headless_play] t= 19.90s step= 995 trunk_z= 122.8mm grav_b=(+0.06,+0.10,-0.99) r=1.35m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.0mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.05,+0.05,-1.00) r=0.33m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t10.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..1ee7284ff3934404575e613ccb541302594191f6 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.275,-18.356,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.4mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.03,-0.02,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(-0.01,-0.05,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 112.3mm grav_b=(+0.01,-0.10,-1.00) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 114.0mm grav_b=(+0.02,-0.08,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 112.6mm grav_b=(+0.00,+0.05,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 119.8mm grav_b=(-0.04,+0.09,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.03,+0.02,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 117.5mm grav_b=(-0.06,-0.09,-0.99) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 119.8mm grav_b=(-0.06,-0.11,-0.99) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 113.1mm grav_b=(-0.02,+0.00,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 118.6mm grav_b=(-0.02,+0.04,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 118.8mm grav_b=(-0.04,-0.11,-0.99) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 118.6mm grav_b=(-0.03,-0.09,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 114.3mm grav_b=(-0.03,+0.05,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 120.6mm grav_b=(-0.03,+0.05,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 119.7mm grav_b=(-0.05,-0.12,-0.99) r=0.37m +[headless_play] t= 1.90s step= 95 trunk_z= 119.8mm grav_b=(-0.04,-0.11,-0.99) r=0.37m +[headless_play] t= 2.00s step= 100 trunk_z= 112.2mm grav_b=(-0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 2.10s step= 105 trunk_z= 121.2mm grav_b=(-0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 119.4mm grav_b=(-0.00,+0.03,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 116.9mm grav_b=(-0.05,-0.11,-0.99) r=0.35m +[headless_play] t= 2.40s step= 120 trunk_z= 123.2mm grav_b=(-0.06,-0.13,-0.99) r=0.35m +[headless_play] t= 2.50s step= 125 trunk_z= 118.0mm grav_b=(-0.01,-0.10,-1.00) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.03,+0.06,-1.00) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 119.3mm grav_b=(-0.02,+0.05,-1.00) r=0.32m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(-0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 121.2mm grav_b=(-0.06,-0.12,-0.99) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 118.8mm grav_b=(-0.03,-0.10,-0.99) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 114.8mm grav_b=(-0.04,+0.05,-1.00) r=0.32m +[headless_play] t= 3.20s step= 160 trunk_z= 120.3mm grav_b=(-0.02,+0.05,-1.00) r=0.31m +[headless_play] t= 3.30s step= 165 trunk_z= 115.6mm grav_b=(+0.00,-0.03,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 120.0mm grav_b=(-0.05,-0.12,-0.99) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 119.3mm grav_b=(-0.03,-0.10,-0.99) r=0.34m +[headless_play] t= 3.60s step= 180 trunk_z= 112.8mm grav_b=(-0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 3.70s step= 185 trunk_z= 120.6mm grav_b=(-0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.04,-0.13,-0.99) r=0.35m +[headless_play] t= 4.00s step= 200 trunk_z= 122.0mm grav_b=(-0.04,-0.13,-0.99) r=0.36m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.02,-0.06,-1.00) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 119.7mm grav_b=(-0.04,+0.05,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 119.5mm grav_b=(-0.02,+0.03,-1.00) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 115.8mm grav_b=(+0.00,-0.08,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 121.1mm grav_b=(-0.05,-0.14,-0.99) r=0.37m +[headless_play] t= 4.60s step= 230 trunk_z= 121.0mm grav_b=(-0.09,-0.11,-0.99) r=0.37m +[headless_play] t= 4.70s step= 235 trunk_z= 118.6mm grav_b=(-0.09,+0.00,-1.00) r=0.36m +[headless_play] t= 4.80s step= 240 trunk_z= 122.7mm grav_b=(-0.10,-0.01,-0.99) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 114.9mm grav_b=(-0.08,-0.08,-0.99) r=0.37m +[headless_play] t= 5.00s step= 250 trunk_z= 121.4mm grav_b=(-0.07,-0.12,-0.99) r=0.36m +[headless_play] t= 5.10s step= 255 trunk_z= 120.4mm grav_b=(-0.04,-0.10,-0.99) r=0.35m +[headless_play] t= 5.20s step= 260 trunk_z= 111.6mm grav_b=(-0.03,+0.02,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 118.3mm grav_b=(-0.05,+0.05,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 114.9mm grav_b=(-0.01,-0.02,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.03,-0.11,-0.99) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 115.9mm grav_b=(+0.04,-0.09,-1.00) r=0.32m +[headless_play] t= 5.70s step= 285 trunk_z= 110.7mm grav_b=(-0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 5.80s step= 290 trunk_z= 120.4mm grav_b=(-0.08,+0.04,-1.00) r=0.30m +[headless_play] t= 5.90s step= 295 trunk_z= 118.6mm grav_b=(-0.06,-0.01,-1.00) r=0.30m +[headless_play] t= 6.00s step= 300 trunk_z= 114.8mm grav_b=(-0.04,-0.12,-0.99) r=0.32m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.01,-0.12,-0.99) r=0.31m +[headless_play] t= 6.20s step= 310 trunk_z= 115.2mm grav_b=(+0.01,-0.08,-1.00) r=0.30m +[headless_play] t= 6.30s step= 315 trunk_z= 115.5mm grav_b=(-0.00,+0.05,-1.00) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(-0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 114.3mm grav_b=(+0.01,-0.09,-1.00) r=0.30m +[headless_play] t= 6.60s step= 330 trunk_z= 119.1mm grav_b=(-0.04,-0.12,-0.99) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(-0.03,-0.11,-0.99) r=0.29m +[headless_play] t= 6.80s step= 340 trunk_z= 113.1mm grav_b=(-0.01,+0.02,-1.00) r=0.28m +[headless_play] t= 6.90s step= 345 trunk_z= 120.7mm grav_b=(-0.04,+0.04,-1.00) r=0.27m +[headless_play] t= 7.00s step= 350 trunk_z= 117.7mm grav_b=(-0.00,+0.00,-1.00) r=0.28m +[headless_play] t= 7.10s step= 355 trunk_z= 114.5mm grav_b=(+0.02,-0.12,-0.99) r=0.30m +[headless_play] t= 7.20s step= 360 trunk_z= 117.5mm grav_b=(+0.00,-0.12,-0.99) r=0.30m +[headless_play] t= 7.30s step= 365 trunk_z= 115.9mm grav_b=(+0.01,-0.06,-1.00) r=0.28m +[headless_play] t= 7.40s step= 370 trunk_z= 116.3mm grav_b=(-0.02,+0.05,-1.00) r=0.27m +[headless_play] t= 7.50s step= 375 trunk_z= 117.9mm grav_b=(-0.04,+0.00,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 113.8mm grav_b=(-0.01,-0.10,-0.99) r=0.29m +[headless_play] t= 7.70s step= 385 trunk_z= 118.2mm grav_b=(-0.04,-0.12,-0.99) r=0.30m +[headless_play] t= 7.80s step= 390 trunk_z= 117.0mm grav_b=(-0.03,-0.11,-0.99) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 112.6mm grav_b=(+0.00,+0.03,-1.00) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 118.9mm grav_b=(-0.03,+0.05,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 8.20s step= 410 trunk_z= 117.7mm grav_b=(-0.04,-0.10,-0.99) r=0.29m +[headless_play] t= 8.30s step= 415 trunk_z= 118.8mm grav_b=(-0.06,-0.09,-0.99) r=0.28m +[headless_play] t= 8.40s step= 420 trunk_z= 113.5mm grav_b=(-0.05,+0.02,-1.00) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 121.3mm grav_b=(-0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 8.60s step= 430 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.27m +[headless_play] t= 8.70s step= 435 trunk_z= 114.5mm grav_b=(-0.00,-0.11,-0.99) r=0.29m +[headless_play] t= 8.80s step= 440 trunk_z= 117.1mm grav_b=(+0.01,-0.13,-0.99) r=0.29m +[headless_play] t= 8.90s step= 445 trunk_z= 115.0mm grav_b=(+0.03,-0.08,-1.00) r=0.28m +[headless_play] t= 9.00s step= 450 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=0.27m +[headless_play] t= 9.10s step= 455 trunk_z= 120.2mm grav_b=(-0.08,-0.00,-1.00) r=0.28m +[headless_play] t= 9.20s step= 460 trunk_z= 117.1mm grav_b=(-0.07,-0.04,-1.00) r=0.29m +[headless_play] t= 9.30s step= 465 trunk_z= 114.6mm grav_b=(-0.09,-0.11,-0.99) r=0.30m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(-0.05,-0.09,-0.99) r=0.30m +[headless_play] t= 9.50s step= 475 trunk_z= 112.3mm grav_b=(-0.04,-0.03,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 117.3mm grav_b=(-0.04,+0.08,-1.00) r=0.26m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(-0.04,+0.08,-1.00) r=0.26m +[headless_play] t= 9.80s step= 490 trunk_z= 112.1mm grav_b=(+0.05,+0.01,-1.00) r=0.27m +[headless_play] t= 9.90s step= 495 trunk_z= 116.5mm grav_b=(+0.01,-0.11,-0.99) r=0.28m +[headless_play] t= 10.00s step= 500 trunk_z= 121.6mm grav_b=(-0.01,-0.13,-0.99) r=0.29m +[headless_play] t= 10.10s step= 505 trunk_z= 119.5mm grav_b=(+0.00,-0.16,-0.99) r=0.29m +[headless_play] t= 10.20s step= 510 trunk_z= 112.3mm grav_b=(-0.05,-0.00,-1.00) r=0.28m +[headless_play] t= 10.30s step= 515 trunk_z= 121.6mm grav_b=(-0.11,+0.05,-0.99) r=0.28m +[headless_play] t= 10.40s step= 520 trunk_z= 119.9mm grav_b=(-0.09,+0.00,-1.00) r=0.28m +[headless_play] t= 10.50s step= 525 trunk_z= 115.4mm grav_b=(-0.09,-0.10,-0.99) r=0.30m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.06,-0.12,-0.99) r=0.30m +[headless_play] t= 10.70s step= 535 trunk_z= 113.6mm grav_b=(-0.03,-0.07,-1.00) r=0.30m +[headless_play] t= 10.80s step= 540 trunk_z= 115.7mm grav_b=(-0.03,+0.04,-1.00) r=0.29m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.03,+0.03,-1.00) r=0.30m +[headless_play] t= 11.00s step= 550 trunk_z= 110.8mm grav_b=(+0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 11.10s step= 555 trunk_z= 113.9mm grav_b=(+0.04,-0.04,-1.00) r=0.32m +[headless_play] t= 11.20s step= 560 trunk_z= 111.9mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 11.30s step= 565 trunk_z= 112.0mm grav_b=(-0.06,+0.00,-1.00) r=0.31m +[headless_play] t= 11.40s step= 570 trunk_z= 112.8mm grav_b=(-0.06,+0.01,-1.00) r=0.31m +[headless_play] t= 11.50s step= 575 trunk_z= 113.0mm grav_b=(-0.05,+0.01,-1.00) r=0.31m +[headless_play] t= 11.60s step= 580 trunk_z= 113.1mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 11.70s step= 585 trunk_z= 113.4mm grav_b=(-0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 11.80s step= 590 trunk_z= 113.5mm grav_b=(-0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 11.90s step= 595 trunk_z= 113.5mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 12.00s step= 600 trunk_z= 113.7mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.10s step= 605 trunk_z= 113.6mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.20s step= 610 trunk_z= 113.8mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.30s step= 615 trunk_z= 113.8mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.40s step= 620 trunk_z= 113.7mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.50s step= 625 trunk_z= 113.9mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.60s step= 630 trunk_z= 113.8mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.70s step= 635 trunk_z= 114.0mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 113.9mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 12.90s step= 645 trunk_z= 114.0mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 13.00s step= 650 trunk_z= 114.0mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 13.10s step= 655 trunk_z= 114.1mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 13.20s step= 660 trunk_z= 114.0mm grav_b=(-0.05,+0.00,-1.00) r=0.31m +[headless_play] t= 13.30s step= 665 trunk_z= 117.8mm grav_b=(+0.12,-0.01,-0.99) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 121.3mm grav_b=(+0.06,-0.07,-1.00) r=0.33m +[headless_play] t= 13.50s step= 675 trunk_z= 121.9mm grav_b=(+0.16,-0.16,-0.97) r=0.34m +[headless_play] t= 13.60s step= 680 trunk_z= 129.2mm grav_b=(+0.06,-0.21,-0.98) r=0.35m +[headless_play] t= 13.70s step= 685 trunk_z= 118.4mm grav_b=(-0.11,-0.14,-0.98) r=0.37m +[headless_play] t= 13.80s step= 690 trunk_z= 115.9mm grav_b=(-0.11,-0.03,-0.99) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 115.5mm grav_b=(-0.14,-0.02,-0.99) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 117.5mm grav_b=(-0.10,-0.01,-1.00) r=0.40m +[headless_play] t= 14.10s step= 705 trunk_z= 117.7mm grav_b=(-0.04,-0.00,-1.00) r=0.41m +[headless_play] t= 14.20s step= 710 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 14.40s step= 720 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.42m +[headless_play] t= 14.50s step= 725 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 14.60s step= 730 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.42m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(-0.03,-0.00,-1.00) r=0.42m +[headless_play] t= 14.80s step= 740 trunk_z= 116.6mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 14.90s step= 745 trunk_z= 116.5mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 15.00s step= 750 trunk_z= 116.5mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.70s step= 785 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.80s step= 790 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 15.90s step= 795 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 116.3mm grav_b=(-0.01,-0.06,-1.00) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 117.7mm grav_b=(-0.02,-0.08,-1.00) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00) r=0.44m +[headless_play] t= 16.50s step= 825 trunk_z= 120.0mm grav_b=(-0.06,+0.04,-1.00) r=0.45m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(-0.04,-0.05,-1.00) r=0.45m +[headless_play] t= 16.70s step= 835 trunk_z= 120.7mm grav_b=(-0.05,-0.15,-0.99) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 123.2mm grav_b=(-0.05,-0.16,-0.99) r=0.46m +[headless_play] t= 16.90s step= 845 trunk_z= 119.4mm grav_b=(-0.02,-0.11,-0.99) r=0.47m +[headless_play] t= 17.00s step= 850 trunk_z= 118.5mm grav_b=(-0.01,+0.03,-1.00) r=0.49m +[headless_play] t= 17.10s step= 855 trunk_z= 120.6mm grav_b=(-0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 17.20s step= 860 trunk_z= 120.3mm grav_b=(-0.05,-0.10,-0.99) r=0.49m +[headless_play] t= 17.30s step= 865 trunk_z= 123.6mm grav_b=(-0.06,-0.12,-0.99) r=0.50m +[headless_play] t= 17.40s step= 870 trunk_z= 120.3mm grav_b=(-0.05,-0.08,-1.00) r=0.51m +[headless_play] t= 17.50s step= 875 trunk_z= 119.8mm grav_b=(-0.06,+0.05,-1.00) r=0.53m +[headless_play] t= 17.60s step= 880 trunk_z= 121.9mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(-0.02,-0.09,-1.00) r=0.53m +[headless_play] t= 17.80s step= 890 trunk_z= 123.0mm grav_b=(-0.04,-0.14,-0.99) r=0.54m +[headless_play] t= 17.90s step= 895 trunk_z= 120.3mm grav_b=(-0.03,-0.14,-0.99) r=0.55m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(-0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 123.3mm grav_b=(-0.07,+0.03,-1.00) r=0.57m +[headless_play] t= 18.20s step= 910 trunk_z= 118.6mm grav_b=(-0.07,-0.03,-1.00) r=0.56m +[headless_play] t= 18.30s step= 915 trunk_z= 120.0mm grav_b=(-0.07,-0.11,-0.99) r=0.56m +[headless_play] t= 18.40s step= 920 trunk_z= 120.1mm grav_b=(-0.04,-0.13,-0.99) r=0.57m +[headless_play] t= 18.50s step= 925 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 18.60s step= 930 trunk_z= 121.2mm grav_b=(-0.02,+0.04,-1.00) r=0.61m +[headless_play] t= 18.70s step= 935 trunk_z= 118.4mm grav_b=(-0.03,-0.03,-1.00) r=0.60m +[headless_play] t= 18.80s step= 940 trunk_z= 124.1mm grav_b=(-0.07,-0.13,-0.99) r=0.60m +[headless_play] t= 18.90s step= 945 trunk_z= 124.3mm grav_b=(-0.06,-0.15,-0.99) r=0.61m +[headless_play] t= 19.00s step= 950 trunk_z= 119.3mm grav_b=(-0.04,-0.08,-1.00) r=0.62m +[headless_play] t= 19.10s step= 955 trunk_z= 120.6mm grav_b=(-0.04,+0.03,-1.00) r=0.64m +[headless_play] t= 19.20s step= 960 trunk_z= 119.3mm grav_b=(-0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 19.30s step= 965 trunk_z= 118.2mm grav_b=(-0.03,-0.12,-0.99) r=0.63m +[headless_play] t= 19.40s step= 970 trunk_z= 120.1mm grav_b=(-0.02,-0.13,-0.99) r=0.64m +[headless_play] t= 19.50s step= 975 trunk_z= 116.2mm grav_b=(-0.01,-0.05,-1.00) r=0.66m +[headless_play] t= 19.60s step= 980 trunk_z= 120.0mm grav_b=(-0.02,+0.04,-1.00) r=0.67m +[headless_play] t= 19.70s step= 985 trunk_z= 119.2mm grav_b=(-0.04,-0.00,-1.00) r=0.67m +[headless_play] t= 19.80s step= 990 trunk_z= 120.4mm grav_b=(-0.06,-0.13,-0.99) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 122.4mm grav_b=(-0.06,-0.14,-0.99) r=0.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.04,-0.03,-1.00) r=0.43m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t11.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..02049f3db3989bc1641bae15264ef0d590b82937 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.306,-17.717,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.50s step= 125 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 3.20s step= 160 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.90s step= 195 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 4.10s step= 205 trunk_z= 115.7mm grav_b=(+0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 4.20s step= 210 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.43m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 4.40s step= 220 trunk_z= 112.3mm grav_b=(+0.02,-0.09,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 112.8mm grav_b=(+0.01,-0.14,-0.99) r=0.44m +[headless_play] t= 4.60s step= 230 trunk_z= 112.5mm grav_b=(+0.02,-0.07,-1.00) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 111.7mm grav_b=(+0.04,+0.07,-1.00) r=0.47m +[headless_play] t= 4.80s step= 240 trunk_z= 117.8mm grav_b=(+0.02,+0.06,-1.00) r=0.48m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 115.1mm grav_b=(+0.06,-0.14,-0.99) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 123.0mm grav_b=(+0.23,-0.30,-0.93) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 121.6mm grav_b=(+0.23,-0.15,-0.96) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 86.7mm grav_b=(+0.09,+0.15,-0.98) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 108.2mm grav_b=(+0.16,+0.12,-0.98) r=0.58m +[headless_play] t= 5.50s step= 275 trunk_z= 109.8mm grav_b=(-0.08,+0.07,-0.99) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 119.7mm grav_b=(-0.12,-0.06,-0.99) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 125.9mm grav_b=(-0.06,-0.06,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 113.8mm grav_b=(-0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 116.1mm grav_b=(-0.05,-0.01,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 107.3mm grav_b=(+0.02,-0.12,-0.99) r=0.53m +[headless_play] t= 6.10s step= 305 trunk_z= 114.8mm grav_b=(-0.04,-0.15,-0.99) r=0.52m +[headless_play] t= 6.20s step= 310 trunk_z= 115.3mm grav_b=(-0.01,-0.15,-0.99) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 111.5mm grav_b=(+0.03,-0.09,-1.00) r=0.54m +[headless_play] t= 6.40s step= 320 trunk_z= 114.1mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 6.50s step= 325 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 6.60s step= 330 trunk_z= 110.3mm grav_b=(+0.09,-0.04,-1.00) r=0.56m +[headless_play] t= 6.70s step= 335 trunk_z= 115.4mm grav_b=(+0.05,-0.11,-0.99) r=0.57m +[headless_play] t= 6.80s step= 340 trunk_z= 113.3mm grav_b=(+0.06,-0.07,-1.00) r=0.58m +[headless_play] t= 6.90s step= 345 trunk_z= 112.2mm grav_b=(+0.01,+0.06,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 119.5mm grav_b=(-0.01,+0.04,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 114.8mm grav_b=(+0.03,-0.03,-1.00) r=0.60m +[headless_play] t= 7.20s step= 360 trunk_z= 114.4mm grav_b=(+0.03,-0.11,-0.99) r=0.61m +[headless_play] t= 7.30s step= 365 trunk_z= 112.6mm grav_b=(+0.05,-0.08,-1.00) r=0.62m +[headless_play] t= 7.40s step= 370 trunk_z= 110.7mm grav_b=(+0.02,+0.06,-1.00) r=0.64m +[headless_play] t= 7.50s step= 375 trunk_z= 118.6mm grav_b=(+0.00,+0.04,-1.00) r=0.65m +[headless_play] t= 7.60s step= 380 trunk_z= 114.5mm grav_b=(+0.03,-0.03,-1.00) r=0.66m +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(+0.04,-0.14,-0.99) r=0.66m +[headless_play] t= 7.80s step= 390 trunk_z= 115.3mm grav_b=(+0.06,-0.12,-0.99) r=0.66m +[headless_play] t= 7.90s step= 395 trunk_z= 111.4mm grav_b=(+0.04,+0.00,-1.00) r=0.67m +[headless_play] t= 8.00s step= 400 trunk_z= 120.9mm grav_b=(+0.01,+0.08,-1.00) r=0.69m +[headless_play] t= 8.10s step= 405 trunk_z= 121.3mm grav_b=(+0.00,+0.02,-1.00) r=0.69m +[headless_play] t= 8.20s step= 410 trunk_z= 120.6mm grav_b=(-0.03,-0.09,-1.00) r=0.69m +[headless_play] t= 8.30s step= 415 trunk_z= 123.7mm grav_b=(-0.03,-0.11,-0.99) r=0.70m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(+0.02,-0.06,-1.00) r=0.72m +[headless_play] t= 8.50s step= 425 trunk_z= 118.1mm grav_b=(+0.04,+0.07,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(+0.03,+0.03,-1.00) r=0.75m +[headless_play] t= 8.70s step= 435 trunk_z= 118.7mm grav_b=(+0.02,-0.11,-0.99) r=0.76m +[headless_play] t= 8.80s step= 440 trunk_z= 124.5mm grav_b=(-0.01,-0.14,-0.99) r=0.77m +[headless_play] t= 8.90s step= 445 trunk_z= 119.8mm grav_b=(-0.00,-0.11,-0.99) r=0.78m +[headless_play] t= 9.00s step= 450 trunk_z= 116.5mm grav_b=(-0.00,+0.04,-1.00) r=0.80m +[headless_play] t= 9.10s step= 455 trunk_z= 122.2mm grav_b=(-0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 9.20s step= 460 trunk_z= 117.6mm grav_b=(-0.00,-0.04,-1.00) r=0.81m +[headless_play] t= 9.30s step= 465 trunk_z= 121.6mm grav_b=(-0.00,-0.12,-0.99) r=0.81m +[headless_play] t= 9.40s step= 470 trunk_z= 117.6mm grav_b=(+0.01,-0.10,-0.99) r=0.83m +[headless_play] t= 9.50s step= 475 trunk_z= 114.1mm grav_b=(+0.01,+0.04,-1.00) r=0.84m +[headless_play] t= 9.60s step= 480 trunk_z= 121.1mm grav_b=(+0.00,+0.05,-1.00) r=0.86m +[headless_play] t= 9.70s step= 485 trunk_z= 117.5mm grav_b=(+0.01,-0.05,-1.00) r=0.86m +[headless_play] t= 9.80s step= 490 trunk_z= 122.1mm grav_b=(-0.01,-0.13,-0.99) r=0.86m +[headless_play] t= 9.90s step= 495 trunk_z= 119.1mm grav_b=(+0.01,-0.12,-0.99) r=0.87m +[headless_play] t= 10.00s step= 500 trunk_z= 113.1mm grav_b=(+0.00,+0.02,-1.00) r=0.89m +[headless_play] t= 10.10s step= 505 trunk_z= 121.8mm grav_b=(-0.00,+0.06,-1.00) r=0.90m +[headless_play] t= 10.20s step= 510 trunk_z= 119.6mm grav_b=(+0.00,-0.00,-1.00) r=0.90m +[headless_play] t= 10.30s step= 515 trunk_z= 120.4mm grav_b=(-0.01,-0.13,-0.99) r=0.91m +[headless_play] t= 10.40s step= 520 trunk_z= 120.3mm grav_b=(+0.00,-0.13,-0.99) r=0.91m +[headless_play] t= 10.50s step= 525 trunk_z= 115.1mm grav_b=(+0.02,-0.06,-1.00) r=0.93m +[headless_play] t= 10.60s step= 530 trunk_z= 119.6mm grav_b=(-0.01,+0.07,-1.00) r=0.95m +[headless_play] t= 10.70s step= 535 trunk_z= 123.4mm grav_b=(-0.01,+0.03,-1.00) r=0.95m +[headless_play] t= 10.80s step= 540 trunk_z= 118.5mm grav_b=(-0.01,-0.07,-1.00) r=0.95m +[headless_play] t= 10.90s step= 545 trunk_z= 125.1mm grav_b=(+0.00,-0.12,-0.99) r=0.95m +[headless_play] t= 11.00s step= 550 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 11.10s step= 555 trunk_z= 123.6mm grav_b=(-0.01,+0.19,-0.98) r=1.01m +[headless_play] t= 11.20s step= 560 trunk_z= 131.6mm grav_b=(+0.05,+0.14,-0.99) r=1.03m +[headless_play] t= 11.30s step= 565 trunk_z= 128.7mm grav_b=(-0.02,+0.02,-1.00) r=1.06m +[headless_play] t= 11.40s step= 570 trunk_z= 121.0mm grav_b=(-0.02,-0.04,-1.00) r=1.09m +[headless_play] t= 11.50s step= 575 trunk_z= 127.1mm grav_b=(+0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(+0.01,+0.02,-1.00) r=1.12m +[headless_play] t= 11.70s step= 585 trunk_z= 121.7mm grav_b=(+0.01,+0.01,-1.00) r=1.13m +[headless_play] t= 11.80s step= 590 trunk_z= 120.5mm grav_b=(-0.01,-0.09,-1.00) r=1.14m +[headless_play] t= 11.90s step= 595 trunk_z= 126.2mm grav_b=(-0.04,-0.09,-1.00) r=1.15m +[headless_play] t= 12.00s step= 600 trunk_z= 120.2mm grav_b=(-0.04,-0.04,-1.00) r=1.16m +[headless_play] t= 12.10s step= 605 trunk_z= 122.5mm grav_b=(-0.02,+0.07,-1.00) r=1.17m +[headless_play] t= 12.20s step= 610 trunk_z= 123.3mm grav_b=(+0.01,+0.03,-1.00) r=1.18m +[headless_play] t= 12.30s step= 615 trunk_z= 120.4mm grav_b=(+0.00,-0.07,-1.00) r=1.18m +[headless_play] t= 12.40s step= 620 trunk_z= 125.4mm grav_b=(-0.00,-0.11,-0.99) r=1.20m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(-0.01,-0.07,-1.00) r=1.21m +[headless_play] t= 12.60s step= 630 trunk_z= 120.1mm grav_b=(-0.04,+0.05,-1.00) r=1.22m +[headless_play] t= 12.70s step= 635 trunk_z= 123.8mm grav_b=(-0.04,+0.04,-1.00) r=1.22m +[headless_play] t= 12.80s step= 640 trunk_z= 119.4mm grav_b=(-0.02,-0.07,-1.00) r=1.22m +[headless_play] t= 12.90s step= 645 trunk_z= 124.6mm grav_b=(+0.01,-0.11,-0.99) r=1.23m +[headless_play] t= 13.00s step= 650 trunk_z= 121.3mm grav_b=(+0.02,-0.08,-1.00) r=1.24m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.00,+0.05,-1.00) r=1.26m +[headless_play] t= 13.20s step= 660 trunk_z= 122.9mm grav_b=(+0.01,+0.08,-1.00) r=1.27m +[headless_play] t= 13.30s step= 665 trunk_z= 118.6mm grav_b=(-0.01,+0.00,-1.00) r=1.28m +[headless_play] t= 13.40s step= 670 trunk_z= 121.6mm grav_b=(-0.04,-0.10,-0.99) r=1.28m +[headless_play] t= 13.50s step= 675 trunk_z= 121.6mm grav_b=(-0.03,-0.09,-1.00) r=1.28m +[headless_play] t= 13.60s step= 680 trunk_z= 114.4mm grav_b=(-0.03,+0.02,-1.00) r=1.29m +[headless_play] t= 13.70s step= 685 trunk_z= 119.6mm grav_b=(-0.00,+0.07,-1.00) r=1.31m +[headless_play] t= 13.80s step= 690 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=1.32m +[headless_play] t= 13.90s step= 695 trunk_z= 119.1mm grav_b=(+0.02,-0.10,-0.99) r=1.33m +[headless_play] t= 14.00s step= 700 trunk_z= 117.5mm grav_b=(+0.03,-0.09,-1.00) r=1.34m +[headless_play] t= 14.10s step= 705 trunk_z= 112.5mm grav_b=(+0.02,+0.04,-1.00) r=1.35m +[headless_play] t= 14.20s step= 710 trunk_z= 117.8mm grav_b=(-0.10,-0.02,-0.99) r=1.33m +[headless_play] t= 14.30s step= 715 trunk_z= 102.1mm grav_b=(-0.03,-0.14,-0.99) r=1.29m +[headless_play] t= 14.40s step= 720 trunk_z= 113.1mm grav_b=(-0.03,-0.18,-0.98) r=1.29m +[headless_play] t= 14.50s step= 725 trunk_z= 116.3mm grav_b=(+0.01,-0.16,-0.99) r=1.29m +[headless_play] t= 14.60s step= 730 trunk_z= 111.9mm grav_b=(+0.02,-0.03,-1.00) r=1.30m +[headless_play] t= 14.70s step= 735 trunk_z= 119.1mm grav_b=(+0.01,+0.05,-1.00) r=1.31m +[headless_play] t= 14.80s step= 740 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=1.31m +[headless_play] t= 14.90s step= 745 trunk_z= 119.5mm grav_b=(-0.01,-0.10,-0.99) r=1.31m +[headless_play] t= 15.00s step= 750 trunk_z= 118.4mm grav_b=(-0.00,-0.09,-1.00) r=1.33m +[headless_play] t= 15.10s step= 755 trunk_z= 113.5mm grav_b=(+0.01,+0.05,-1.00) r=1.35m +[headless_play] t= 15.20s step= 760 trunk_z= 118.0mm grav_b=(+0.03,+0.05,-1.00) r=1.36m +[headless_play] t= 15.30s step= 765 trunk_z= 112.6mm grav_b=(+0.01,-0.06,-1.00) r=1.36m +[headless_play] t= 15.40s step= 770 trunk_z= 120.7mm grav_b=(-0.03,-0.11,-0.99) r=1.37m +[headless_play] t= 15.50s step= 775 trunk_z= 117.9mm grav_b=(-0.01,-0.08,-1.00) r=1.38m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(-0.00,+0.06,-1.00) r=1.40m +[headless_play] t= 15.70s step= 785 trunk_z= 116.7mm grav_b=(+0.01,+0.05,-1.00) r=1.41m +[headless_play] t= 15.80s step= 790 trunk_z= 112.1mm grav_b=(+0.02,-0.09,-1.00) r=1.41m +[headless_play] t= 15.90s step= 795 trunk_z= 120.5mm grav_b=(-0.00,-0.12,-0.99) r=1.42m +[headless_play] t= 16.00s step= 800 trunk_z= 115.7mm grav_b=(+0.01,-0.07,-1.00) r=1.43m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(+0.01,+0.07,-1.00) r=1.45m +[headless_play] t= 16.20s step= 810 trunk_z= 118.1mm grav_b=(+0.02,+0.05,-1.00) r=1.46m +[headless_play] t= 16.30s step= 815 trunk_z= 113.8mm grav_b=(+0.00,-0.09,-1.00) r=1.46m +[headless_play] t= 16.40s step= 820 trunk_z= 121.1mm grav_b=(-0.03,-0.11,-0.99) r=1.47m +[headless_play] t= 16.50s step= 825 trunk_z= 118.6mm grav_b=(-0.01,-0.04,-1.00) r=1.48m +[headless_play] t= 16.60s step= 830 trunk_z= 119.2mm grav_b=(+0.01,+0.11,-0.99) r=1.49m +[headless_play] t= 16.70s step= 835 trunk_z= 123.0mm grav_b=(+0.01,+0.05,-1.00) r=1.50m +[headless_play] t= 16.80s step= 840 trunk_z= 118.7mm grav_b=(+0.01,-0.07,-1.00) r=1.51m +[headless_play] t= 16.90s step= 845 trunk_z= 126.1mm grav_b=(+0.01,-0.14,-0.99) r=1.52m +[headless_play] t= 17.00s step= 850 trunk_z= 125.5mm grav_b=(-0.00,-0.13,-0.99) r=1.54m +[headless_play] t= 17.10s step= 855 trunk_z= 119.8mm grav_b=(-0.03,-0.03,-1.00) r=1.56m +[headless_play] t= 17.20s step= 860 trunk_z= 123.6mm grav_b=(-0.03,+0.08,-1.00) r=1.57m +[headless_play] t= 17.30s step= 865 trunk_z= 123.4mm grav_b=(-0.03,+0.03,-1.00) r=1.58m +[headless_play] t= 17.40s step= 870 trunk_z= 121.1mm grav_b=(-0.02,-0.08,-1.00) r=1.57m +[headless_play] t= 17.50s step= 875 trunk_z= 126.0mm grav_b=(-0.02,-0.13,-0.99) r=1.58m +[headless_play] t= 17.60s step= 880 trunk_z= 123.8mm grav_b=(-0.02,-0.10,-0.99) r=1.59m +[headless_play] t= 17.70s step= 885 trunk_z= 115.9mm grav_b=(-0.03,+0.03,-1.00) r=1.61m +[headless_play] t= 17.80s step= 890 trunk_z= 124.8mm grav_b=(-0.02,+0.08,-1.00) r=1.62m +[headless_play] t= 17.90s step= 895 trunk_z= 123.5mm grav_b=(-0.01,+0.02,-1.00) r=1.63m +[headless_play] t= 18.00s step= 900 trunk_z= 123.1mm grav_b=(-0.02,-0.08,-1.00) r=1.63m +[headless_play] t= 18.10s step= 905 trunk_z= 125.5mm grav_b=(-0.01,-0.12,-0.99) r=1.64m +[headless_play] t= 18.20s step= 910 trunk_z= 121.5mm grav_b=(-0.03,-0.08,-1.00) r=1.65m +[headless_play] t= 18.30s step= 915 trunk_z= 119.0mm grav_b=(-0.03,+0.08,-1.00) r=1.67m +[headless_play] t= 18.40s step= 920 trunk_z= 124.5mm grav_b=(-0.03,+0.04,-1.00) r=1.68m +[headless_play] t= 18.50s step= 925 trunk_z= 118.2mm grav_b=(-0.03,-0.04,-1.00) r=1.68m +[headless_play] t= 18.60s step= 930 trunk_z= 125.2mm grav_b=(-0.02,-0.11,-0.99) r=1.68m +[headless_play] t= 18.70s step= 935 trunk_z= 123.9mm grav_b=(-0.01,-0.10,-0.99) r=1.69m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00) r=1.71m +[headless_play] t= 18.90s step= 945 trunk_z= 124.2mm grav_b=(-0.02,+0.08,-1.00) r=1.73m +[headless_play] t= 19.00s step= 950 trunk_z= 123.8mm grav_b=(-0.02,+0.02,-1.00) r=1.74m +[headless_play] t= 19.10s step= 955 trunk_z= 122.0mm grav_b=(-0.03,-0.07,-1.00) r=1.73m +[headless_play] t= 19.20s step= 960 trunk_z= 125.5mm grav_b=(-0.02,-0.11,-0.99) r=1.74m +[headless_play] t= 19.30s step= 965 trunk_z= 122.3mm grav_b=(-0.13,-0.08,-0.99) r=1.73m +[headless_play] t= 19.40s step= 970 trunk_z= 104.5mm grav_b=(-0.06,+0.07,-1.00) r=1.71m +[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(-0.09,+0.07,-0.99) r=1.70m +[headless_play] t= 19.60s step= 980 trunk_z= 118.9mm grav_b=(-0.05,+0.02,-1.00) r=1.68m +[headless_play] t= 19.70s step= 985 trunk_z= 114.6mm grav_b=(-0.02,-0.09,-1.00) r=1.67m +[headless_play] t= 19.80s step= 990 trunk_z= 115.3mm grav_b=(+0.01,-0.10,-1.00) r=1.67m +[headless_play] t= 19.90s step= 995 trunk_z= 111.2mm grav_b=(+0.02,+0.03,-1.00) r=1.68m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.7mm grav_b=(-0.00,-0.00,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) r=0.25m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t12.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..27cae5bc3efdf0e4370e82ca880910c47487ce1d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.407,-18.269,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.05,-0.05,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(+0.08,-0.06,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 118.8mm grav_b=(+0.10,-0.01,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 120.9mm grav_b=(+0.08,-0.01,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 120.2mm grav_b=(+0.04,-0.12,-0.99) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 129.9mm grav_b=(+0.04,-0.14,-0.99) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 126.9mm grav_b=(+0.03,-0.12,-0.99) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 118.5mm grav_b=(-0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 125.3mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 1.10s step= 55 trunk_z= 121.1mm grav_b=(+0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 126.2mm grav_b=(+0.02,-0.09,-1.00) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 126.7mm grav_b=(+0.05,-0.11,-0.99) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 118.7mm grav_b=(+0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 124.2mm grav_b=(+0.04,+0.04,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 122.8mm grav_b=(+0.04,+0.00,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 124.3mm grav_b=(+0.02,-0.07,-1.00) r=0.57m +[headless_play] t= 1.80s step= 90 trunk_z= 126.9mm grav_b=(+0.03,-0.09,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 119.4mm grav_b=(+0.02,-0.06,-1.00) r=0.60m +[headless_play] t= 2.00s step= 100 trunk_z= 123.1mm grav_b=(+0.03,+0.03,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 122.0mm grav_b=(+0.04,+0.00,-1.00) r=0.61m +[headless_play] t= 2.20s step= 110 trunk_z= 123.3mm grav_b=(+0.03,-0.08,-1.00) r=0.61m +[headless_play] t= 2.30s step= 115 trunk_z= 125.9mm grav_b=(+0.05,-0.10,-0.99) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 118.3mm grav_b=(+0.02,-0.03,-1.00) r=0.64m +[headless_play] t= 2.50s step= 125 trunk_z= 123.7mm grav_b=(+0.02,+0.05,-1.00) r=0.65m +[headless_play] t= 2.60s step= 130 trunk_z= 122.0mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 2.70s step= 135 trunk_z= 124.7mm grav_b=(+0.03,-0.10,-0.99) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 126.9mm grav_b=(+0.05,-0.11,-0.99) r=0.65m +[headless_play] t= 2.90s step= 145 trunk_z= 119.5mm grav_b=(+0.02,-0.06,-1.00) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 123.6mm grav_b=(+0.02,+0.05,-1.00) r=0.69m +[headless_play] t= 3.10s step= 155 trunk_z= 123.9mm grav_b=(+0.05,+0.02,-1.00) r=0.70m +[headless_play] t= 3.20s step= 160 trunk_z= 122.8mm grav_b=(+0.13,-0.11,-0.99) r=0.72m +[headless_play] t= 3.30s step= 165 trunk_z= 134.0mm grav_b=(+0.13,-0.14,-0.98) r=0.73m +[headless_play] t= 3.40s step= 170 trunk_z= 119.6mm grav_b=(+0.04,-0.07,-1.00) r=0.77m +[headless_play] t= 3.50s step= 175 trunk_z= 122.5mm grav_b=(+0.04,-0.03,-1.00) r=0.79m +[headless_play] t= 3.60s step= 180 trunk_z= 123.5mm grav_b=(+0.05,-0.02,-1.00) r=0.80m +[headless_play] t= 3.70s step= 185 trunk_z= 122.5mm grav_b=(+0.03,-0.08,-1.00) r=0.80m +[headless_play] t= 3.80s step= 190 trunk_z= 125.0mm grav_b=(+0.02,-0.10,-1.00) r=0.81m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 4.00s step= 200 trunk_z= 122.8mm grav_b=(+0.02,+0.05,-1.00) r=0.84m +[headless_play] t= 4.10s step= 205 trunk_z= 120.2mm grav_b=(+0.06,+0.00,-1.00) r=0.84m +[headless_play] t= 4.20s step= 210 trunk_z= 123.4mm grav_b=(+0.04,-0.08,-1.00) r=0.84m +[headless_play] t= 4.30s step= 215 trunk_z= 123.5mm grav_b=(+0.05,-0.08,-1.00) r=0.85m +[headless_play] t= 4.40s step= 220 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=0.87m +[headless_play] t= 4.50s step= 225 trunk_z= 123.5mm grav_b=(+0.02,+0.05,-1.00) r=0.88m +[headless_play] t= 4.60s step= 230 trunk_z= 119.2mm grav_b=(+0.04,-0.03,-1.00) r=0.88m +[headless_play] t= 4.70s step= 235 trunk_z= 123.7mm grav_b=(+0.04,-0.09,-1.00) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 121.0mm grav_b=(+0.08,-0.06,-1.00) r=0.89m +[headless_play] t= 4.90s step= 245 trunk_z= 120.0mm grav_b=(+0.08,-0.04,-1.00) r=0.89m +[headless_play] t= 5.00s step= 250 trunk_z= 119.6mm grav_b=(+0.07,-0.04,-1.00) r=0.89m +[headless_play] t= 5.10s step= 255 trunk_z= 118.4mm grav_b=(+0.05,-0.03,-1.00) r=0.89m +[headless_play] t= 5.20s step= 260 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.88m +[headless_play] t= 5.30s step= 265 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 5.40s step= 270 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 5.50s step= 275 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 5.60s step= 280 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.88m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 5.90s step= 295 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 6.00s step= 300 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 6.30s step= 315 trunk_z= 116.7mm grav_b=(+0.02,-0.02,-1.00) r=0.88m +[headless_play] t= 6.40s step= 320 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.88m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.88m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(+0.07,-0.01,-1.00) r=0.88m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.88m +[headless_play] t= 6.90s step= 345 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.00s step= 350 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.10s step= 355 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.20s step= 360 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.30s step= 365 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.50s step= 375 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.60s step= 380 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.70s step= 385 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.80s step= 390 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 7.90s step= 395 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 8.00s step= 400 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 8.10s step= 405 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 8.20s step= 410 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 8.40s step= 420 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.88m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.88m +[headless_play] t= 8.60s step= 430 trunk_z= 120.3mm grav_b=(-0.02,-0.02,-1.00) r=0.86m +[headless_play] t= 8.70s step= 435 trunk_z= 107.0mm grav_b=(+0.02,-0.10,-0.99) r=0.83m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(+0.05,-0.10,-0.99) r=0.82m +[headless_play] t= 8.90s step= 445 trunk_z= 103.1mm grav_b=(+0.10,+0.01,-1.00) r=0.81m +[headless_play] t= 9.00s step= 450 trunk_z= 110.6mm grav_b=(+0.11,+0.04,-0.99) r=0.82m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(+0.06,-0.03,-1.00) r=0.81m +[headless_play] t= 9.20s step= 460 trunk_z= 116.5mm grav_b=(+0.06,-0.04,-1.00) r=0.81m +[headless_play] t= 9.30s step= 465 trunk_z= 117.4mm grav_b=(+0.09,-0.03,-1.00) r=0.81m +[headless_play] t= 9.40s step= 470 trunk_z= 119.2mm grav_b=(+0.09,-0.01,-1.00) r=0.82m +[headless_play] t= 9.50s step= 475 trunk_z= 123.8mm grav_b=(+0.07,-0.00,-1.00) r=0.82m +[headless_play] t= 9.60s step= 480 trunk_z= 124.4mm grav_b=(+0.06,-0.06,-1.00) r=0.84m +[headless_play] t= 9.70s step= 485 trunk_z= 101.9mm grav_b=(-0.00,-0.21,-0.98) r=0.88m +[headless_play] t= 9.80s step= 490 trunk_z= 114.8mm grav_b=(-0.04,-0.18,-0.98) r=0.90m +[headless_play] t= 9.90s step= 495 trunk_z= 118.6mm grav_b=(-0.03,-0.11,-0.99) r=0.91m +[headless_play] t= 10.00s step= 500 trunk_z= 114.7mm grav_b=(-0.01,-0.03,-1.00) r=0.90m +[headless_play] t= 10.10s step= 505 trunk_z= 115.0mm grav_b=(-0.00,+0.00,-1.00) r=0.90m +[headless_play] t= 10.20s step= 510 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.90m +[headless_play] t= 10.30s step= 515 trunk_z= 114.5mm grav_b=(+0.03,-0.00,-1.00) r=0.90m +[headless_play] t= 10.40s step= 520 trunk_z= 114.7mm grav_b=(+0.02,-0.01,-1.00) r=0.90m +[headless_play] t= 10.50s step= 525 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.90m +[headless_play] t= 10.60s step= 530 trunk_z= 114.8mm grav_b=(+0.01,-0.01,-1.00) r=0.90m +[headless_play] t= 10.70s step= 535 trunk_z= 115.2mm grav_b=(+0.04,-0.02,-1.00) r=0.90m +[headless_play] t= 10.80s step= 540 trunk_z= 114.9mm grav_b=(+0.06,-0.03,-1.00) r=0.90m +[headless_play] t= 10.90s step= 545 trunk_z= 114.8mm grav_b=(+0.06,-0.05,-1.00) r=0.90m +[headless_play] t= 11.00s step= 550 trunk_z= 115.0mm grav_b=(+0.06,-0.05,-1.00) r=0.90m +[headless_play] t= 11.10s step= 555 trunk_z= 113.6mm grav_b=(+0.05,+0.02,-1.00) r=0.90m +[headless_play] t= 11.20s step= 560 trunk_z= 114.3mm grav_b=(+0.02,-0.05,-1.00) r=0.90m +[headless_play] t= 11.30s step= 565 trunk_z= 114.5mm grav_b=(+0.02,-0.14,-0.99) r=0.92m +[headless_play] t= 11.40s step= 570 trunk_z= 115.8mm grav_b=(+0.04,-0.13,-0.99) r=0.92m +[headless_play] t= 11.50s step= 575 trunk_z= 116.1mm grav_b=(+0.05,-0.11,-0.99) r=0.91m +[headless_play] t= 11.60s step= 580 trunk_z= 112.0mm grav_b=(+0.06,+0.01,-1.00) r=0.90m +[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.90m +[headless_play] t= 11.80s step= 590 trunk_z= 113.8mm grav_b=(+0.07,-0.04,-1.00) r=0.91m +[headless_play] t= 11.90s step= 595 trunk_z= 114.3mm grav_b=(+0.04,-0.11,-0.99) r=0.92m +[headless_play] t= 12.00s step= 600 trunk_z= 115.6mm grav_b=(+0.04,-0.12,-0.99) r=0.92m +[headless_play] t= 12.10s step= 605 trunk_z= 114.9mm grav_b=(+0.06,-0.08,-0.99) r=0.91m +[headless_play] t= 12.20s step= 610 trunk_z= 114.8mm grav_b=(+0.06,+0.02,-1.00) r=0.91m +[headless_play] t= 12.30s step= 615 trunk_z= 116.7mm grav_b=(+0.06,+0.00,-1.00) r=0.91m +[headless_play] t= 12.40s step= 620 trunk_z= 111.1mm grav_b=(+0.07,-0.07,-0.99) r=0.92m +[headless_play] t= 12.50s step= 625 trunk_z= 115.4mm grav_b=(+0.01,-0.07,-1.00) r=0.92m +[headless_play] t= 12.60s step= 630 trunk_z= 115.7mm grav_b=(-0.01,-0.04,-1.00) r=0.91m +[headless_play] t= 12.70s step= 635 trunk_z= 112.3mm grav_b=(+0.03,+0.08,-1.00) r=0.89m +[headless_play] t= 12.80s step= 640 trunk_z= 113.1mm grav_b=(+0.05,+0.08,-1.00) r=0.89m +[headless_play] t= 12.90s step= 645 trunk_z= 109.4mm grav_b=(+0.07,-0.03,-1.00) r=0.91m +[headless_play] t= 13.00s step= 650 trunk_z= 118.6mm grav_b=(+0.05,-0.14,-0.99) r=0.92m +[headless_play] t= 13.10s step= 655 trunk_z= 119.1mm grav_b=(+0.06,-0.16,-0.99) r=0.92m +[headless_play] t= 13.20s step= 660 trunk_z= 116.1mm grav_b=(+0.07,-0.07,-1.00) r=0.91m +[headless_play] t= 13.30s step= 665 trunk_z= 118.9mm grav_b=(+0.01,+0.03,-1.00) r=0.90m +[headless_play] t= 13.40s step= 670 trunk_z= 119.3mm grav_b=(+0.01,-0.02,-1.00) r=0.90m +[headless_play] t= 13.50s step= 675 trunk_z= 117.7mm grav_b=(+0.02,-0.13,-0.99) r=0.92m +[headless_play] t= 13.60s step= 680 trunk_z= 121.0mm grav_b=(+0.05,-0.17,-0.98) r=0.93m +[headless_play] t= 13.70s step= 685 trunk_z= 120.1mm grav_b=(+0.08,-0.16,-0.98) r=0.93m +[headless_play] t= 13.80s step= 690 trunk_z= 117.5mm grav_b=(+0.07,-0.05,-1.00) r=0.91m +[headless_play] t= 13.90s step= 695 trunk_z= 119.8mm grav_b=(+0.05,+0.05,-1.00) r=0.90m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(+0.05,-0.04,-1.00) r=0.90m +[headless_play] t= 14.10s step= 705 trunk_z= 121.8mm grav_b=(+0.03,-0.14,-0.99) r=0.91m +[headless_play] t= 14.20s step= 710 trunk_z= 120.6mm grav_b=(+0.04,-0.15,-0.99) r=0.91m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(+0.08,-0.08,-0.99) r=0.89m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(+0.03,+0.07,-1.00) r=0.87m +[headless_play] t= 14.50s step= 725 trunk_z= 119.7mm grav_b=(+0.04,+0.02,-1.00) r=0.86m +[headless_play] t= 14.60s step= 730 trunk_z= 117.3mm grav_b=(+0.03,-0.09,-1.00) r=0.87m +[headless_play] t= 14.70s step= 735 trunk_z= 120.3mm grav_b=(+0.03,-0.12,-0.99) r=0.87m +[headless_play] t= 14.80s step= 740 trunk_z= 117.6mm grav_b=(+0.06,-0.12,-0.99) r=0.86m +[headless_play] t= 14.90s step= 745 trunk_z= 112.1mm grav_b=(+0.06,+0.03,-1.00) r=0.84m +[headless_play] t= 15.00s step= 750 trunk_z= 117.8mm grav_b=(+0.05,+0.03,-1.00) r=0.83m +[headless_play] t= 15.10s step= 755 trunk_z= 114.4mm grav_b=(+0.04,-0.09,-1.00) r=0.83m +[headless_play] t= 15.20s step= 760 trunk_z= 122.0mm grav_b=(+0.01,-0.15,-0.99) r=0.83m +[headless_play] t= 15.30s step= 765 trunk_z= 121.3mm grav_b=(+0.05,-0.16,-0.99) r=0.82m +[headless_play] t= 15.40s step= 770 trunk_z= 117.7mm grav_b=(+0.10,-0.09,-0.99) r=0.81m +[headless_play] t= 15.50s step= 775 trunk_z= 117.8mm grav_b=(+0.03,+0.06,-1.00) r=0.79m +[headless_play] t= 15.60s step= 780 trunk_z= 120.6mm grav_b=(+0.03,+0.00,-1.00) r=0.78m +[headless_play] t= 15.70s step= 785 trunk_z= 119.0mm grav_b=(+0.03,-0.12,-0.99) r=0.77m +[headless_play] t= 15.80s step= 790 trunk_z= 122.6mm grav_b=(+0.04,-0.15,-0.99) r=0.77m +[headless_play] t= 15.90s step= 795 trunk_z= 120.7mm grav_b=(+0.07,-0.15,-0.99) r=0.76m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(+0.07,-0.03,-1.00) r=0.74m +[headless_play] t= 16.10s step= 805 trunk_z= 121.9mm grav_b=(+0.03,+0.07,-1.00) r=0.73m +[headless_play] t= 16.20s step= 810 trunk_z= 118.8mm grav_b=(+0.04,-0.01,-1.00) r=0.71m +[headless_play] t= 16.30s step= 815 trunk_z= 120.4mm grav_b=(+0.05,-0.13,-0.99) r=0.69m +[headless_play] t= 16.40s step= 820 trunk_z= 120.6mm grav_b=(+0.06,-0.15,-0.99) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(+0.08,-0.10,-0.99) r=0.68m +[headless_play] t= 16.60s step= 830 trunk_z= 116.0mm grav_b=(+0.03,+0.06,-1.00) r=0.67m +[headless_play] t= 16.70s step= 835 trunk_z= 121.7mm grav_b=(+0.04,+0.05,-1.00) r=0.66m +[headless_play] t= 16.80s step= 840 trunk_z= 115.4mm grav_b=(+0.04,-0.04,-1.00) r=0.64m +[headless_play] t= 16.90s step= 845 trunk_z= 118.0mm grav_b=(-0.06,+0.02,-1.00) r=0.65m +[headless_play] t= 17.00s step= 850 trunk_z= 100.8mm grav_b=(+0.06,+0.04,-1.00) r=0.68m +[headless_play] t= 17.10s step= 855 trunk_z= 105.5mm grav_b=(+0.01,+0.05,-1.00) r=0.70m +[headless_play] t= 17.20s step= 860 trunk_z= 107.9mm grav_b=(+0.05,-0.01,-1.00) r=0.69m +[headless_play] t= 17.30s step= 865 trunk_z= 113.5mm grav_b=(+0.06,-0.11,-0.99) r=0.68m +[headless_play] t= 17.40s step= 870 trunk_z= 116.9mm grav_b=(+0.06,-0.13,-0.99) r=0.67m +[headless_play] t= 17.50s step= 875 trunk_z= 115.8mm grav_b=(+0.07,-0.06,-1.00) r=0.67m +[headless_play] t= 17.60s step= 880 trunk_z= 116.3mm grav_b=(+0.04,+0.06,-1.00) r=0.67m +[headless_play] t= 17.70s step= 885 trunk_z= 118.0mm grav_b=(+0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 17.80s step= 890 trunk_z= 114.4mm grav_b=(+0.05,-0.12,-0.99) r=0.65m +[headless_play] t= 17.90s step= 895 trunk_z= 119.1mm grav_b=(+0.06,-0.16,-0.99) r=0.64m +[headless_play] t= 18.00s step= 900 trunk_z= 118.2mm grav_b=(+0.08,-0.15,-0.99) r=0.64m +[headless_play] t= 18.10s step= 905 trunk_z= 114.6mm grav_b=(+0.05,-0.04,-1.00) r=0.65m +[headless_play] t= 18.20s step= 910 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.66m +[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 18.50s step= 925 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 18.90s step= 945 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 19.30s step= 965 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 19.50s step= 975 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 19.60s step= 980 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.66m +[headless_play] t= 19.80s step= 990 trunk_z= 115.1mm grav_b=(-0.04,-0.02,-1.00) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 115.1mm grav_b=(+0.01,-0.02,-1.00) r=0.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t13.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..b51bc609012de65e9dde675c6a26691d1eecdf19 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.011,-18.273,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.01,-0.04,-1.00) r=0.27m +[headless_play] t= 0.20s step= 10 trunk_z= 115.1mm grav_b=(+0.06,-0.07,-1.00) r=0.26m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.11,-0.05,-0.99) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.15,-0.06,-0.99) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 120.2mm grav_b=(+0.10,+0.00,-0.99) r=0.25m +[headless_play] t= 0.60s step= 30 trunk_z= 121.4mm grav_b=(+0.02,+0.14,-0.99) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 123.1mm grav_b=(+0.05,+0.08,-1.00) r=0.25m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(+0.06,-0.04,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 122.3mm grav_b=(+0.10,-0.06,-0.99) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(+0.10,+0.01,-0.99) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 121.4mm grav_b=(+0.05,+0.09,-0.99) r=0.25m +[headless_play] t= 1.20s step= 60 trunk_z= 120.3mm grav_b=(+0.04,+0.02,-1.00) r=0.25m +[headless_play] t= 1.30s step= 65 trunk_z= 121.3mm grav_b=(+0.05,-0.07,-1.00) r=0.23m +[headless_play] t= 1.40s step= 70 trunk_z= 121.5mm grav_b=(+0.12,-0.07,-0.99) r=0.24m +[headless_play] t= 1.50s step= 75 trunk_z= 113.3mm grav_b=(+0.09,+0.04,-1.00) r=0.26m +[headless_play] t= 1.60s step= 80 trunk_z= 122.4mm grav_b=(+0.05,+0.06,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 122.1mm grav_b=(+0.06,-0.07,-1.00) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 119.0mm grav_b=(+0.11,-0.02,-0.99) r=0.29m +[headless_play] t= 2.00s step= 100 trunk_z= 118.1mm grav_b=(+0.08,+0.11,-0.99) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 123.1mm grav_b=(+0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 2.20s step= 110 trunk_z= 117.4mm grav_b=(+0.03,-0.05,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 122.2mm grav_b=(+0.09,-0.06,-0.99) r=0.34m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(+0.11,+0.01,-0.99) r=0.35m +[headless_play] t= 2.50s step= 125 trunk_z= 120.8mm grav_b=(+0.06,+0.10,-0.99) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 121.1mm grav_b=(+0.03,+0.04,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 120.2mm grav_b=(+0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 120.0mm grav_b=(+0.10,-0.05,-0.99) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 113.1mm grav_b=(+0.10,+0.08,-0.99) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 122.9mm grav_b=(+0.06,+0.09,-0.99) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 122.1mm grav_b=(+0.07,-0.07,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 118.7mm grav_b=(+0.13,-0.03,-0.99) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(+0.09,+0.10,-0.99) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 121.8mm grav_b=(+0.06,+0.06,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 118.9mm grav_b=(+0.05,-0.06,-1.00) r=0.47m +[headless_play] t= 3.70s step= 185 trunk_z= 127.1mm grav_b=(+0.03,-0.15,-0.99) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 124.4mm grav_b=(+0.02,-0.12,-0.99) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 124.7mm grav_b=(+0.05,+0.06,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 121.5mm grav_b=(+0.03,-0.01,-1.00) r=0.47m +[headless_play] t= 4.20s step= 210 trunk_z= 123.7mm grav_b=(+0.01,-0.11,-0.99) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 125.9mm grav_b=(+0.03,-0.12,-0.99) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 121.0mm grav_b=(+0.04,-0.09,-1.00) r=0.50m +[headless_play] t= 4.50s step= 225 trunk_z= 120.4mm grav_b=(-0.05,+0.02,-1.00) r=0.48m +[headless_play] t= 4.60s step= 230 trunk_z= 120.5mm grav_b=(-0.05,-0.07,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 117.3mm grav_b=(+0.04,-0.17,-0.98) r=0.48m +[headless_play] t= 4.80s step= 240 trunk_z= 122.4mm grav_b=(+0.08,-0.20,-0.98) r=0.48m +[headless_play] t= 4.90s step= 245 trunk_z= 123.2mm grav_b=(+0.04,-0.13,-0.99) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 124.5mm grav_b=(+0.07,-0.06,-1.00) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 123.9mm grav_b=(+0.04,-0.07,-1.00) r=0.47m +[headless_play] t= 5.20s step= 260 trunk_z= 125.9mm grav_b=(+0.01,-0.10,-0.99) r=0.50m +[headless_play] t= 5.30s step= 265 trunk_z= 125.1mm grav_b=(+0.01,-0.11,-0.99) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 5.50s step= 275 trunk_z= 124.0mm grav_b=(+0.02,+0.04,-1.00) r=0.47m +[headless_play] t= 5.60s step= 280 trunk_z= 120.4mm grav_b=(+0.03,-0.03,-1.00) r=0.49m +[headless_play] t= 5.70s step= 285 trunk_z= 123.6mm grav_b=(+0.01,-0.12,-0.99) r=0.50m +[headless_play] t= 5.80s step= 290 trunk_z= 124.1mm grav_b=(+0.05,-0.11,-0.99) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 115.6mm grav_b=(+0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 6.00s step= 300 trunk_z= 123.3mm grav_b=(+0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 6.10s step= 305 trunk_z= 120.2mm grav_b=(+0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 6.20s step= 310 trunk_z= 122.7mm grav_b=(+0.01,-0.11,-0.99) r=0.51m +[headless_play] t= 6.30s step= 315 trunk_z= 124.2mm grav_b=(+0.03,-0.10,-0.99) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 116.6mm grav_b=(+0.05,+0.00,-1.00) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 123.7mm grav_b=(+0.04,+0.07,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 121.1mm grav_b=(+0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 122.1mm grav_b=(+0.01,-0.11,-0.99) r=0.52m +[headless_play] t= 6.80s step= 340 trunk_z= 124.9mm grav_b=(+0.02,-0.11,-0.99) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 119.2mm grav_b=(+0.05,-0.06,-1.00) r=0.52m +[headless_play] t= 7.00s step= 350 trunk_z= 122.9mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 7.10s step= 355 trunk_z= 122.5mm grav_b=(+0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 7.20s step= 360 trunk_z= 121.7mm grav_b=(+0.02,-0.08,-1.00) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 125.0mm grav_b=(+0.04,-0.09,-1.00) r=0.55m +[headless_play] t= 7.40s step= 370 trunk_z= 118.9mm grav_b=(+0.04,-0.03,-1.00) r=0.54m +[headless_play] t= 7.50s step= 375 trunk_z= 124.1mm grav_b=(+0.03,+0.07,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 123.3mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 120.3mm grav_b=(+0.04,-0.08,-1.00) r=0.55m +[headless_play] t= 7.80s step= 390 trunk_z= 125.1mm grav_b=(+0.05,-0.09,-0.99) r=0.57m +[headless_play] t= 7.90s step= 395 trunk_z= 119.7mm grav_b=(+0.04,-0.04,-1.00) r=0.57m +[headless_play] t= 8.00s step= 400 trunk_z= 123.7mm grav_b=(+0.03,+0.07,-1.00) r=0.57m +[headless_play] t= 8.10s step= 405 trunk_z= 124.3mm grav_b=(+0.01,+0.03,-1.00) r=0.57m +[headless_play] t= 8.20s step= 410 trunk_z= 119.3mm grav_b=(+0.01,-0.09,-1.00) r=0.58m +[headless_play] t= 8.30s step= 415 trunk_z= 126.0mm grav_b=(+0.04,-0.11,-0.99) r=0.59m +[headless_play] t= 8.40s step= 420 trunk_z= 124.2mm grav_b=(+0.06,-0.09,-0.99) r=0.60m +[headless_play] t= 8.50s step= 425 trunk_z= 117.7mm grav_b=(+0.06,+0.05,-1.00) r=0.60m +[headless_play] t= 8.60s step= 430 trunk_z= 124.6mm grav_b=(+0.04,+0.06,-1.00) r=0.60m +[headless_play] t= 8.70s step= 435 trunk_z= 120.3mm grav_b=(+0.04,-0.02,-1.00) r=0.61m +[headless_play] t= 8.80s step= 440 trunk_z= 125.3mm grav_b=(+0.02,-0.10,-0.99) r=0.62m +[headless_play] t= 8.90s step= 445 trunk_z= 125.1mm grav_b=(+0.05,-0.09,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 117.7mm grav_b=(+0.04,+0.02,-1.00) r=0.64m +[headless_play] t= 9.10s step= 455 trunk_z= 125.4mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 9.20s step= 460 trunk_z= 122.1mm grav_b=(+0.02,+0.00,-1.00) r=0.64m +[headless_play] t= 9.30s step= 465 trunk_z= 123.5mm grav_b=(+0.03,-0.10,-0.99) r=0.65m +[headless_play] t= 9.40s step= 470 trunk_z= 127.0mm grav_b=(+0.05,-0.10,-0.99) r=0.67m +[headless_play] t= 9.50s step= 475 trunk_z= 119.3mm grav_b=(+0.03,-0.03,-1.00) r=0.68m +[headless_play] t= 9.60s step= 480 trunk_z= 124.4mm grav_b=(+0.02,+0.06,-1.00) r=0.69m +[headless_play] t= 9.70s step= 485 trunk_z= 124.5mm grav_b=(+0.02,+0.03,-1.00) r=0.69m +[headless_play] t= 9.80s step= 490 trunk_z= 121.2mm grav_b=(+0.03,-0.07,-1.00) r=0.70m +[headless_play] t= 9.90s step= 495 trunk_z= 126.0mm grav_b=(+0.05,-0.09,-0.99) r=0.71m +[headless_play] t= 10.00s step= 500 trunk_z= 121.5mm grav_b=(+0.03,-0.06,-1.00) r=0.72m +[headless_play] t= 10.10s step= 505 trunk_z= 122.8mm grav_b=(+0.02,+0.05,-1.00) r=0.73m +[headless_play] t= 10.20s step= 510 trunk_z= 123.4mm grav_b=(+0.03,+0.02,-1.00) r=0.73m +[headless_play] t= 10.30s step= 515 trunk_z= 121.6mm grav_b=(+0.03,-0.09,-1.00) r=0.73m +[headless_play] t= 10.40s step= 520 trunk_z= 126.5mm grav_b=(+0.04,-0.10,-0.99) r=0.74m +[headless_play] t= 10.50s step= 525 trunk_z= 121.4mm grav_b=(+0.03,-0.08,-1.00) r=0.75m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(+0.03,+0.05,-1.00) r=0.76m +[headless_play] t= 10.70s step= 535 trunk_z= 122.4mm grav_b=(+0.03,+0.04,-1.00) r=0.76m +[headless_play] t= 10.80s step= 540 trunk_z= 119.2mm grav_b=(+0.02,-0.07,-1.00) r=0.76m +[headless_play] t= 10.90s step= 545 trunk_z= 126.1mm grav_b=(+0.02,-0.08,-1.00) r=0.77m +[headless_play] t= 11.00s step= 550 trunk_z= 120.7mm grav_b=(+0.04,-0.05,-1.00) r=0.78m +[headless_play] t= 11.10s step= 555 trunk_z= 120.7mm grav_b=(+0.05,+0.06,-1.00) r=0.79m +[headless_play] t= 11.20s step= 560 trunk_z= 122.4mm grav_b=(+0.05,+0.04,-1.00) r=0.79m +[headless_play] t= 11.30s step= 565 trunk_z= 118.8mm grav_b=(+0.03,-0.07,-1.00) r=0.79m +[headless_play] t= 11.40s step= 570 trunk_z= 125.3mm grav_b=(+0.02,-0.09,-1.00) r=0.80m +[headless_play] t= 11.50s step= 575 trunk_z= 120.5mm grav_b=(+0.02,-0.08,-1.00) r=0.81m +[headless_play] t= 11.60s step= 580 trunk_z= 120.6mm grav_b=(+0.04,+0.04,-1.00) r=0.82m +[headless_play] t= 11.70s step= 585 trunk_z= 113.9mm grav_b=(-0.04,-0.10,-0.99) r=0.80m +[headless_play] t= 11.80s step= 590 trunk_z= 127.7mm grav_b=(-0.05,-0.19,-0.98) r=0.79m +[headless_play] t= 11.90s step= 595 trunk_z= 132.1mm grav_b=(+0.01,-0.21,-0.98) r=0.79m +[headless_play] t= 12.00s step= 600 trunk_z= 130.6mm grav_b=(-0.01,-0.26,-0.97) r=0.79m +[headless_play] t= 12.10s step= 605 trunk_z= 123.4mm grav_b=(+0.03,-0.17,-0.99) r=0.76m +[headless_play] t= 12.20s step= 610 trunk_z= 116.3mm grav_b=(+0.13,-0.16,-0.98) r=0.73m +[headless_play] t= 12.30s step= 615 trunk_z= 104.3mm grav_b=(+0.16,-0.09,-0.98) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 126.2mm grav_b=(+0.05,-0.09,-0.99) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 119.3mm grav_b=(+0.06,-0.01,-1.00) r=0.74m +[headless_play] t= 12.60s step= 630 trunk_z= 124.7mm grav_b=(+0.07,-0.02,-1.00) r=0.75m +[headless_play] t= 12.70s step= 635 trunk_z= 121.4mm grav_b=(+0.04,-0.07,-1.00) r=0.76m +[headless_play] t= 12.80s step= 640 trunk_z= 128.1mm grav_b=(+0.01,-0.09,-1.00) r=0.77m +[headless_play] t= 12.90s step= 645 trunk_z= 120.7mm grav_b=(-0.01,-0.09,-1.00) r=0.79m +[headless_play] t= 13.00s step= 650 trunk_z= 121.8mm grav_b=(+0.00,+0.01,-1.00) r=0.81m +[headless_play] t= 13.10s step= 655 trunk_z= 122.2mm grav_b=(+0.02,-0.00,-1.00) r=0.81m +[headless_play] t= 13.20s step= 660 trunk_z= 121.5mm grav_b=(+0.03,-0.08,-1.00) r=0.81m +[headless_play] t= 13.30s step= 665 trunk_z= 126.8mm grav_b=(+0.04,-0.08,-1.00) r=0.82m +[headless_play] t= 13.40s step= 670 trunk_z= 119.6mm grav_b=(+0.05,-0.03,-1.00) r=0.84m +[headless_play] t= 13.50s step= 675 trunk_z= 121.4mm grav_b=(+0.05,+0.06,-1.00) r=0.85m +[headless_play] t= 13.60s step= 680 trunk_z= 121.0mm grav_b=(+0.04,+0.01,-1.00) r=0.85m +[headless_play] t= 13.70s step= 685 trunk_z= 121.6mm grav_b=(+0.02,-0.09,-1.00) r=0.85m +[headless_play] t= 13.80s step= 690 trunk_z= 124.3mm grav_b=(+0.02,-0.08,-1.00) r=0.86m +[headless_play] t= 13.90s step= 695 trunk_z= 117.8mm grav_b=(+0.05,+0.01,-1.00) r=0.88m +[headless_play] t= 14.00s step= 700 trunk_z= 123.1mm grav_b=(+0.05,+0.06,-1.00) r=0.88m +[headless_play] t= 14.10s step= 705 trunk_z= 120.0mm grav_b=(+0.04,+0.00,-1.00) r=0.88m +[headless_play] t= 14.20s step= 710 trunk_z= 122.6mm grav_b=(+0.01,-0.10,-1.00) r=0.87m +[headless_play] t= 14.30s step= 715 trunk_z= 124.3mm grav_b=(+0.01,-0.09,-1.00) r=0.88m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.05,+0.01,-1.00) r=0.90m +[headless_play] t= 14.50s step= 725 trunk_z= 123.1mm grav_b=(+0.06,+0.06,-1.00) r=0.91m +[headless_play] t= 14.60s step= 730 trunk_z= 120.0mm grav_b=(+0.05,-0.00,-1.00) r=0.90m +[headless_play] t= 14.70s step= 735 trunk_z= 123.6mm grav_b=(+0.02,-0.11,-0.99) r=0.90m +[headless_play] t= 14.80s step= 740 trunk_z= 126.1mm grav_b=(+0.03,-0.11,-0.99) r=0.91m +[headless_play] t= 14.90s step= 745 trunk_z= 119.7mm grav_b=(+0.01,-0.08,-1.00) r=0.93m +[headless_play] t= 15.00s step= 750 trunk_z= 121.1mm grav_b=(-0.04,+0.02,-1.00) r=0.93m +[headless_play] t= 15.10s step= 755 trunk_z= 119.8mm grav_b=(-0.10,-0.05,-0.99) r=0.91m +[headless_play] t= 15.20s step= 760 trunk_z= 96.9mm grav_b=(+0.08,-0.20,-0.98) r=0.88m +[headless_play] t= 15.30s step= 765 trunk_z= 107.5mm grav_b=(+0.03,-0.18,-0.98) r=0.87m +[headless_play] t= 15.40s step= 770 trunk_z= 108.4mm grav_b=(+0.05,-0.11,-0.99) r=0.88m +[headless_play] t= 15.50s step= 775 trunk_z= 112.6mm grav_b=(+0.08,+0.06,-0.99) r=0.90m +[headless_play] t= 15.60s step= 780 trunk_z= 117.2mm grav_b=(+0.08,+0.08,-0.99) r=0.91m +[headless_play] t= 15.70s step= 785 trunk_z= 114.0mm grav_b=(+0.08,-0.03,-1.00) r=0.91m +[headless_play] t= 15.80s step= 790 trunk_z= 119.7mm grav_b=(+0.07,-0.10,-0.99) r=0.93m +[headless_play] t= 15.90s step= 795 trunk_z= 117.7mm grav_b=(+0.11,-0.07,-0.99) r=0.94m +[headless_play] t= 16.00s step= 800 trunk_z= 111.6mm grav_b=(+0.05,+0.09,-0.99) r=0.96m +[headless_play] t= 16.10s step= 805 trunk_z= 122.2mm grav_b=(+0.01,+0.13,-0.99) r=0.98m +[headless_play] t= 16.20s step= 810 trunk_z= 119.5mm grav_b=(+0.05,+0.06,-1.00) r=1.00m +[headless_play] t= 16.30s step= 815 trunk_z= 115.4mm grav_b=(+0.07,-0.08,-0.99) r=1.01m +[headless_play] t= 16.40s step= 820 trunk_z= 119.5mm grav_b=(+0.09,-0.12,-0.99) r=1.03m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(+0.10,-0.07,-0.99) r=1.03m +[headless_play] t= 16.60s step= 830 trunk_z= 114.9mm grav_b=(+0.03,+0.11,-0.99) r=1.05m +[headless_play] t= 16.70s step= 835 trunk_z= 122.9mm grav_b=(+0.01,+0.10,-0.99) r=1.06m +[headless_play] t= 16.80s step= 840 trunk_z= 117.9mm grav_b=(+0.05,+0.03,-1.00) r=1.07m +[headless_play] t= 16.90s step= 845 trunk_z= 117.4mm grav_b=(+0.07,-0.09,-0.99) r=1.10m +[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(+0.10,-0.10,-0.99) r=1.10m +[headless_play] t= 17.10s step= 855 trunk_z= 113.8mm grav_b=(+0.09,-0.01,-1.00) r=1.10m +[headless_play] t= 17.20s step= 860 trunk_z= 119.0mm grav_b=(+0.03,+0.12,-0.99) r=1.11m +[headless_play] t= 17.30s step= 865 trunk_z= 120.7mm grav_b=(+0.05,+0.09,-0.99) r=1.12m +[headless_play] t= 17.40s step= 870 trunk_z= 113.6mm grav_b=(+0.07,-0.02,-1.00) r=1.14m +[headless_play] t= 17.50s step= 875 trunk_z= 118.5mm grav_b=(+0.07,-0.09,-0.99) r=1.16m +[headless_play] t= 17.60s step= 880 trunk_z= 116.8mm grav_b=(+0.10,-0.07,-0.99) r=1.16m +[headless_play] t= 17.70s step= 885 trunk_z= 112.0mm grav_b=(+0.06,+0.07,-1.00) r=1.15m +[headless_play] t= 17.80s step= 890 trunk_z= 119.1mm grav_b=(+0.03,+0.08,-1.00) r=1.16m +[headless_play] t= 17.90s step= 895 trunk_z= 114.3mm grav_b=(+0.06,+0.01,-1.00) r=1.18m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(+0.06,-0.09,-0.99) r=1.19m +[headless_play] t= 18.10s step= 905 trunk_z= 116.6mm grav_b=(+0.09,-0.09,-0.99) r=1.19m +[headless_play] t= 18.20s step= 910 trunk_z= 112.2mm grav_b=(+0.09,+0.02,-1.00) r=1.18m +[headless_play] t= 18.30s step= 915 trunk_z= 118.5mm grav_b=(+0.26,+0.14,-0.96) r=1.18m +[headless_play] t= 18.40s step= 920 trunk_z= 119.1mm grav_b=(+0.19,-0.03,-0.98) r=1.19m +[headless_play] t= 18.50s step= 925 trunk_z= 112.4mm grav_b=(+0.16,-0.22,-0.96) r=1.19m +[headless_play] t= 18.60s step= 930 trunk_z= 137.7mm grav_b=(+0.17,-0.18,-0.97) r=1.20m +[headless_play] t= 18.70s step= 935 trunk_z= 132.2mm grav_b=(-0.10,-0.06,-0.99) r=1.20m +[headless_play] t= 18.80s step= 940 trunk_z= 114.4mm grav_b=(-0.03,+0.04,-1.00) r=1.19m +[headless_play] t= 18.90s step= 945 trunk_z= 123.9mm grav_b=(+0.00,+0.10,-0.99) r=1.19m +[headless_play] t= 19.00s step= 950 trunk_z= 121.6mm grav_b=(+0.01,+0.05,-1.00) r=1.20m +[headless_play] t= 19.10s step= 955 trunk_z= 120.0mm grav_b=(+0.03,-0.08,-1.00) r=1.23m +[headless_play] t= 19.20s step= 960 trunk_z= 120.5mm grav_b=(+0.08,-0.08,-0.99) r=1.25m +[headless_play] t= 19.30s step= 965 trunk_z= 114.2mm grav_b=(+0.04,+0.05,-1.00) r=1.27m +[headless_play] t= 19.40s step= 970 trunk_z= 122.9mm grav_b=(+0.00,+0.07,-1.00) r=1.27m +[headless_play] t= 19.50s step= 975 trunk_z= 118.5mm grav_b=(+0.03,+0.01,-1.00) r=1.28m +[headless_play] t= 19.60s step= 980 trunk_z= 119.6mm grav_b=(+0.07,-0.09,-0.99) r=1.29m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(+0.11,-0.07,-0.99) r=1.30m +[headless_play] t= 19.80s step= 990 trunk_z= 112.9mm grav_b=(+0.09,+0.07,-0.99) r=1.31m +[headless_play] t= 19.90s step= 995 trunk_z= 119.9mm grav_b=(+0.04,+0.06,-1.00) r=1.32m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.3mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t14.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..1cae8b7d87b72e87c463431382513f91252eed45 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.565,-18.019,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 122.0mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.05,-0.03,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 119.6mm grav_b=(+0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 120.9mm grav_b=(+0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 124.5mm grav_b=(+0.05,+0.05,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 119.5mm grav_b=(+0.05,-0.04,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 127.1mm grav_b=(+0.04,-0.09,-0.99) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 126.4mm grav_b=(+0.03,-0.07,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 119.0mm grav_b=(+0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 126.3mm grav_b=(+0.04,+0.07,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 123.9mm grav_b=(+0.05,+0.04,-1.00) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 123.4mm grav_b=(+0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 126.0mm grav_b=(+0.04,-0.08,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 121.1mm grav_b=(+0.00,-0.03,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 124.2mm grav_b=(+0.02,+0.06,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 124.6mm grav_b=(+0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 120.3mm grav_b=(+0.04,-0.04,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 127.5mm grav_b=(+0.06,-0.08,-1.00) r=0.43m +[headless_play] t= 2.00s step= 100 trunk_z= 127.4mm grav_b=(+0.04,-0.04,-1.00) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 119.4mm grav_b=(+0.01,+0.06,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 125.9mm grav_b=(+0.04,+0.06,-1.00) r=0.47m +[headless_play] t= 2.30s step= 115 trunk_z= 121.9mm grav_b=(+0.04,+0.02,-1.00) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 126.1mm grav_b=(+0.04,-0.09,-1.00) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 129.2mm grav_b=(+0.05,-0.10,-0.99) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 128.0mm grav_b=(+0.02,-0.06,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 120.4mm grav_b=(-0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 125.8mm grav_b=(+0.03,+0.06,-1.00) r=0.48m +[headless_play] t= 2.90s step= 145 trunk_z= 120.8mm grav_b=(+0.03,-0.00,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 127.6mm grav_b=(+0.06,-0.09,-0.99) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 130.2mm grav_b=(+0.07,-0.08,-0.99) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 125.4mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 3.30s step= 165 trunk_z= 125.1mm grav_b=(+0.04,+0.09,-1.00) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 127.0mm grav_b=(+0.08,+0.07,-0.99) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 120.4mm grav_b=(+0.07,-0.03,-1.00) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 126.0mm grav_b=(+0.01,-0.11,-0.99) r=0.47m +[headless_play] t= 3.70s step= 185 trunk_z= 123.0mm grav_b=(+0.05,-0.11,-0.99) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 113.0mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 115.9mm grav_b=(+0.08,+0.03,-1.00) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 112.2mm grav_b=(+0.08,-0.08,-0.99) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 118.2mm grav_b=(+0.07,-0.16,-0.99) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(+0.08,-0.13,-0.99) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 111.9mm grav_b=(+0.08,+0.02,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 122.6mm grav_b=(-0.02,+0.07,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 122.8mm grav_b=(+0.00,+0.02,-1.00) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 109.4mm grav_b=(+0.03,-0.12,-0.99) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(+0.05,-0.18,-0.98) r=0.47m +[headless_play] t= 4.80s step= 240 trunk_z= 115.2mm grav_b=(+0.06,-0.13,-0.99) r=0.48m +[headless_play] t= 4.90s step= 245 trunk_z= 116.1mm grav_b=(+0.11,+0.01,-0.99) r=0.50m +[headless_play] t= 5.00s step= 250 trunk_z= 119.5mm grav_b=(+0.09,+0.01,-1.00) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.03,-0.11,-0.99) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 122.0mm grav_b=(+0.02,-0.13,-0.99) r=0.49m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(+0.08,-0.09,-0.99) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 115.5mm grav_b=(+0.10,+0.08,-0.99) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(+0.11,+0.05,-0.99) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 113.3mm grav_b=(+0.08,-0.11,-0.99) r=0.51m +[headless_play] t= 5.70s step= 285 trunk_z= 121.0mm grav_b=(+0.04,-0.16,-0.99) r=0.51m +[headless_play] t= 5.80s step= 290 trunk_z= 118.3mm grav_b=(+0.07,-0.12,-0.99) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.08,+0.05,-1.00) r=0.54m +[headless_play] t= 6.00s step= 300 trunk_z= 120.9mm grav_b=(+0.08,+0.06,-1.00) r=0.55m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(+0.07,-0.04,-1.00) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 120.0mm grav_b=(+0.03,-0.14,-0.99) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 119.7mm grav_b=(+0.06,-0.12,-0.99) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 112.6mm grav_b=(+0.08,+0.01,-1.00) r=0.57m +[headless_play] t= 6.50s step= 325 trunk_z= 121.1mm grav_b=(+0.07,+0.04,-1.00) r=0.58m +[headless_play] t= 6.60s step= 330 trunk_z= 119.2mm grav_b=(+0.01,-0.07,-1.00) r=0.57m +[headless_play] t= 6.70s step= 335 trunk_z= 127.5mm grav_b=(+0.04,-0.10,-0.99) r=0.56m +[headless_play] t= 6.80s step= 340 trunk_z= 126.4mm grav_b=(+0.06,-0.07,-1.00) r=0.57m +[headless_play] t= 6.90s step= 345 trunk_z= 120.3mm grav_b=(+0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 123.0mm grav_b=(+0.04,+0.01,-1.00) r=0.60m +[headless_play] t= 7.10s step= 355 trunk_z= 119.7mm grav_b=(+0.01,-0.09,-1.00) r=0.59m +[headless_play] t= 7.20s step= 360 trunk_z= 127.8mm grav_b=(+0.01,-0.09,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 126.9mm grav_b=(+0.03,-0.05,-1.00) r=0.61m +[headless_play] t= 7.40s step= 370 trunk_z= 120.0mm grav_b=(+0.02,+0.05,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 125.5mm grav_b=(+0.04,+0.03,-1.00) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 120.4mm grav_b=(+0.02,-0.03,-1.00) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 127.6mm grav_b=(+0.02,-0.07,-1.00) r=0.63m +[headless_play] t= 7.80s step= 390 trunk_z= 127.6mm grav_b=(+0.02,-0.07,-1.00) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 117.8mm grav_b=(-0.02,+0.02,-1.00) r=0.66m +[headless_play] t= 8.00s step= 400 trunk_z= 125.3mm grav_b=(+0.02,+0.04,-1.00) r=0.67m +[headless_play] t= 8.10s step= 405 trunk_z= 122.2mm grav_b=(+0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 8.20s step= 410 trunk_z= 126.8mm grav_b=(+0.02,-0.08,-1.00) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 128.6mm grav_b=(+0.03,-0.07,-1.00) r=0.67m +[headless_play] t= 8.40s step= 420 trunk_z= 123.9mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 8.50s step= 425 trunk_z= 123.4mm grav_b=(+0.04,+0.00,-1.00) r=0.70m +[headless_play] t= 8.60s step= 430 trunk_z= 122.8mm grav_b=(+0.04,-0.02,-1.00) r=0.70m +[headless_play] t= 8.70s step= 435 trunk_z= 125.3mm grav_b=(+0.01,-0.09,-1.00) r=0.69m +[headless_play] t= 8.80s step= 440 trunk_z= 126.6mm grav_b=(+0.01,-0.06,-1.00) r=0.70m +[headless_play] t= 8.90s step= 445 trunk_z= 118.6mm grav_b=(-0.02,+0.02,-1.00) r=0.72m +[headless_play] t= 9.00s step= 450 trunk_z= 125.3mm grav_b=(+0.04,+0.03,-1.00) r=0.74m +[headless_play] t= 9.10s step= 455 trunk_z= 124.2mm grav_b=(+0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 120.1mm grav_b=(-0.12,-0.05,-0.99) r=0.71m +[headless_play] t= 9.30s step= 465 trunk_z= 117.7mm grav_b=(-0.13,+0.02,-0.99) r=0.71m +[headless_play] t= 9.40s step= 470 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=0.70m +[headless_play] t= 9.50s step= 475 trunk_z= 114.0mm grav_b=(+0.03,-0.09,-1.00) r=0.68m +[headless_play] t= 9.60s step= 480 trunk_z= 122.0mm grav_b=(+0.08,-0.16,-0.98) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 127.7mm grav_b=(+0.04,-0.09,-0.99) r=0.67m +[headless_play] t= 9.80s step= 490 trunk_z= 125.3mm grav_b=(+0.06,-0.01,-1.00) r=0.70m +[headless_play] t= 9.90s step= 495 trunk_z= 125.7mm grav_b=(+0.06,-0.00,-1.00) r=0.70m +[headless_play] t= 10.00s step= 500 trunk_z= 123.8mm grav_b=(+0.03,-0.06,-1.00) r=0.70m +[headless_play] t= 10.10s step= 505 trunk_z= 126.4mm grav_b=(+0.03,-0.08,-1.00) r=0.70m +[headless_play] t= 10.20s step= 510 trunk_z= 120.3mm grav_b=(+0.00,-0.04,-1.00) r=0.71m +[headless_play] t= 10.30s step= 515 trunk_z= 122.7mm grav_b=(+0.02,+0.07,-1.00) r=0.73m +[headless_play] t= 10.40s step= 520 trunk_z= 122.7mm grav_b=(+0.05,+0.03,-1.00) r=0.73m +[headless_play] t= 10.50s step= 525 trunk_z= 121.8mm grav_b=(+0.05,-0.08,-1.00) r=0.73m +[headless_play] t= 10.60s step= 530 trunk_z= 124.0mm grav_b=(+0.06,-0.10,-0.99) r=0.73m +[headless_play] t= 10.70s step= 535 trunk_z= 118.1mm grav_b=(+0.05,-0.02,-1.00) r=0.75m +[headless_play] t= 10.80s step= 540 trunk_z= 123.3mm grav_b=(+0.04,+0.06,-1.00) r=0.76m +[headless_play] t= 10.90s step= 545 trunk_z= 122.2mm grav_b=(+0.04,+0.02,-1.00) r=0.76m +[headless_play] t= 11.00s step= 550 trunk_z= 123.5mm grav_b=(+0.02,-0.09,-1.00) r=0.75m +[headless_play] t= 11.10s step= 555 trunk_z= 124.5mm grav_b=(+0.04,-0.09,-1.00) r=0.76m +[headless_play] t= 11.20s step= 560 trunk_z= 117.7mm grav_b=(+0.04,+0.01,-1.00) r=0.78m +[headless_play] t= 11.30s step= 565 trunk_z= 124.2mm grav_b=(+0.05,+0.07,-1.00) r=0.79m +[headless_play] t= 11.40s step= 570 trunk_z= 122.2mm grav_b=(+0.06,+0.03,-1.00) r=0.79m +[headless_play] t= 11.50s step= 575 trunk_z= 124.1mm grav_b=(+0.03,-0.10,-0.99) r=0.79m +[headless_play] t= 11.60s step= 580 trunk_z= 126.3mm grav_b=(+0.05,-0.11,-0.99) r=0.79m +[headless_play] t= 11.70s step= 585 trunk_z= 119.9mm grav_b=(+0.04,-0.05,-1.00) r=0.81m +[headless_play] t= 11.80s step= 590 trunk_z= 123.0mm grav_b=(+0.02,+0.07,-1.00) r=0.82m +[headless_play] t= 11.90s step= 595 trunk_z= 122.9mm grav_b=(+0.05,+0.04,-1.00) r=0.82m +[headless_play] t= 12.00s step= 600 trunk_z= 121.1mm grav_b=(+0.06,-0.09,-0.99) r=0.82m +[headless_play] t= 12.10s step= 605 trunk_z= 124.9mm grav_b=(+0.07,-0.11,-0.99) r=0.82m +[headless_play] t= 12.20s step= 610 trunk_z= 120.5mm grav_b=(+0.04,-0.06,-1.00) r=0.84m +[headless_play] t= 12.30s step= 615 trunk_z= 120.3mm grav_b=(+0.00,+0.08,-1.00) r=0.86m +[headless_play] t= 12.40s step= 620 trunk_z= 123.2mm grav_b=(+0.02,+0.06,-1.00) r=0.87m +[headless_play] t= 12.50s step= 625 trunk_z= 117.8mm grav_b=(+0.04,-0.04,-1.00) r=0.86m +[headless_play] t= 12.60s step= 630 trunk_z= 123.2mm grav_b=(+0.06,-0.12,-0.99) r=0.87m +[headless_play] t= 12.70s step= 635 trunk_z= 117.7mm grav_b=(+0.10,-0.01,-0.99) r=0.90m +[headless_play] t= 12.80s step= 640 trunk_z= 126.5mm grav_b=(+0.16,+0.26,-0.95) r=0.95m +[headless_play] t= 12.90s step= 645 trunk_z= 132.1mm grav_b=(+0.24,+0.32,-0.92) r=1.00m +[headless_play] t= 13.00s step= 650 trunk_z= 112.5mm grav_b=(+0.17,+0.29,-0.94) r=1.06m +[headless_play] t= 13.10s step= 655 trunk_z= 124.0mm grav_b=(+0.32,+0.35,-0.88) r=1.12m +[headless_play] t= 13.20s step= 660 trunk_z= 110.3mm grav_b=(+0.57,+0.41,-0.71) r=1.18m +[headless_play] RESET at t= 13.30s step= 665 (env termination, not a recovery) +[headless_play] t= 13.30s step= 665 trunk_z= 123.1mm grav_b=(-0.00,-0.00,-1.00) r=0.39m +[headless_play] t= 13.40s step= 670 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(+0.07,-0.03,-1.00) r=0.38m +[headless_play] t= 13.60s step= 680 trunk_z= 118.4mm grav_b=(+0.08,-0.02,-1.00) r=0.38m +[headless_play] t= 13.70s step= 685 trunk_z= 121.2mm grav_b=(+0.09,-0.01,-1.00) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 124.2mm grav_b=(+0.12,+0.02,-0.99) r=0.37m +[headless_play] t= 13.90s step= 695 trunk_z= 127.5mm grav_b=(+0.12,-0.01,-0.99) r=0.36m +[headless_play] t= 14.00s step= 700 trunk_z= 115.5mm grav_b=(+0.10,-0.06,-0.99) r=0.33m +[headless_play] t= 14.10s step= 705 trunk_z= 125.4mm grav_b=(+0.06,-0.06,-1.00) r=0.32m +[headless_play] t= 14.20s step= 710 trunk_z= 121.1mm grav_b=(-0.03,-0.00,-1.00) r=0.30m +[headless_play] t= 14.30s step= 715 trunk_z= 122.4mm grav_b=(+0.03,+0.07,-1.00) r=0.30m +[headless_play] t= 14.40s step= 720 trunk_z= 123.3mm grav_b=(+0.06,+0.03,-1.00) r=0.28m +[headless_play] t= 14.50s step= 725 trunk_z= 124.2mm grav_b=(+0.05,-0.08,-1.00) r=0.26m +[headless_play] t= 14.60s step= 730 trunk_z= 128.8mm grav_b=(+0.05,-0.12,-0.99) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 127.2mm grav_b=(+0.02,-0.08,-1.00) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 118.8mm grav_b=(+0.02,+0.04,-1.00) r=0.25m +[headless_play] t= 14.90s step= 745 trunk_z= 126.0mm grav_b=(+0.09,+0.06,-0.99) r=0.25m +[headless_play] t= 15.00s step= 750 trunk_z= 124.3mm grav_b=(+0.08,-0.00,-1.00) r=0.23m +[headless_play] t= 15.10s step= 755 trunk_z= 126.3mm grav_b=(+0.07,-0.11,-0.99) r=0.21m +[headless_play] t= 15.20s step= 760 trunk_z= 129.0mm grav_b=(+0.05,-0.10,-0.99) r=0.20m +[headless_play] t= 15.30s step= 765 trunk_z= 126.1mm grav_b=(+0.01,-0.05,-1.00) r=0.20m +[headless_play] t= 15.40s step= 770 trunk_z= 120.3mm grav_b=(+0.03,+0.04,-1.00) r=0.21m +[headless_play] t= 15.50s step= 775 trunk_z= 126.0mm grav_b=(+0.08,+0.06,-1.00) r=0.21m +[headless_play] t= 15.60s step= 780 trunk_z= 122.8mm grav_b=(+0.06,-0.02,-1.00) r=0.18m +[headless_play] t= 15.70s step= 785 trunk_z= 126.4mm grav_b=(+0.07,-0.10,-0.99) r=0.16m +[headless_play] t= 15.80s step= 790 trunk_z= 128.4mm grav_b=(+0.04,-0.08,-1.00) r=0.16m +[headless_play] t= 15.90s step= 795 trunk_z= 122.7mm grav_b=(+0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 16.00s step= 800 trunk_z= 123.0mm grav_b=(+0.05,+0.04,-1.00) r=0.18m +[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(+0.03,+0.04,-1.00) r=0.18m +[headless_play] t= 16.20s step= 810 trunk_z= 121.1mm grav_b=(+0.06,-0.10,-0.99) r=0.15m +[headless_play] t= 16.30s step= 815 trunk_z= 127.5mm grav_b=(+0.05,-0.08,-1.00) r=0.15m +[headless_play] t= 16.40s step= 820 trunk_z= 124.7mm grav_b=(+0.02,-0.06,-1.00) r=0.16m +[headless_play] t= 16.50s step= 825 trunk_z= 119.7mm grav_b=(+0.04,+0.05,-1.00) r=0.18m +[headless_play] t= 16.60s step= 830 trunk_z= 125.6mm grav_b=(+0.08,+0.07,-0.99) r=0.19m +[headless_play] t= 16.70s step= 835 trunk_z= 122.5mm grav_b=(+0.07,-0.00,-1.00) r=0.17m +[headless_play] t= 16.80s step= 840 trunk_z= 126.0mm grav_b=(+0.04,-0.06,-1.00) r=0.16m +[headless_play] t= 16.90s step= 845 trunk_z= 120.1mm grav_b=(+0.06,+0.05,-1.00) r=0.19m +[headless_play] t= 17.00s step= 850 trunk_z= 126.9mm grav_b=(+0.10,+0.11,-0.99) r=0.22m +[headless_play] t= 17.10s step= 855 trunk_z= 131.2mm grav_b=(+0.13,+0.08,-0.99) r=0.23m +[headless_play] t= 17.20s step= 860 trunk_z= 130.0mm grav_b=(+0.10,+0.02,-1.00) r=0.23m +[headless_play] t= 17.30s step= 865 trunk_z= 125.3mm grav_b=(+0.05,-0.03,-1.00) r=0.23m +[headless_play] t= 17.40s step= 870 trunk_z= 125.4mm grav_b=(+0.02,-0.02,-1.00) r=0.24m +[headless_play] t= 17.50s step= 875 trunk_z= 118.7mm grav_b=(+0.01,+0.02,-1.00) r=0.27m +[headless_play] t= 17.60s step= 880 trunk_z= 124.4mm grav_b=(+0.04,+0.05,-1.00) r=0.27m +[headless_play] t= 17.70s step= 885 trunk_z= 120.9mm grav_b=(+0.05,-0.00,-1.00) r=0.26m +[headless_play] t= 17.80s step= 890 trunk_z= 125.6mm grav_b=(+0.04,-0.05,-1.00) r=0.26m +[headless_play] t= 17.90s step= 895 trunk_z= 122.9mm grav_b=(+0.04,-0.02,-1.00) r=0.28m +[headless_play] t= 18.00s step= 900 trunk_z= 122.0mm grav_b=(+0.04,+0.06,-1.00) r=0.30m +[headless_play] t= 18.10s step= 905 trunk_z= 125.0mm grav_b=(+0.06,+0.08,-1.00) r=0.31m +[headless_play] t= 18.20s step= 910 trunk_z= 121.0mm grav_b=(+0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 18.30s step= 915 trunk_z= 125.3mm grav_b=(+0.03,-0.06,-1.00) r=0.29m +[headless_play] t= 18.40s step= 920 trunk_z= 123.7mm grav_b=(+0.03,-0.03,-1.00) r=0.30m +[headless_play] t= 18.50s step= 925 trunk_z= 121.3mm grav_b=(+0.03,+0.05,-1.00) r=0.33m +[headless_play] t= 18.60s step= 930 trunk_z= 125.6mm grav_b=(+0.06,+0.07,-1.00) r=0.33m +[headless_play] t= 18.70s step= 935 trunk_z= 121.7mm grav_b=(+0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 18.80s step= 940 trunk_z= 125.2mm grav_b=(+0.03,-0.06,-1.00) r=0.31m +[headless_play] t= 18.90s step= 945 trunk_z= 123.8mm grav_b=(+0.03,-0.03,-1.00) r=0.32m +[headless_play] t= 19.00s step= 950 trunk_z= 120.3mm grav_b=(+0.03,+0.06,-1.00) r=0.35m +[headless_play] t= 19.10s step= 955 trunk_z= 125.1mm grav_b=(+0.06,+0.08,-0.99) r=0.36m +[headless_play] t= 19.20s step= 960 trunk_z= 122.6mm grav_b=(+0.06,+0.03,-1.00) r=0.35m +[headless_play] t= 19.30s step= 965 trunk_z= 122.4mm grav_b=(+0.05,-0.08,-1.00) r=0.33m +[headless_play] t= 19.40s step= 970 trunk_z= 126.9mm grav_b=(+0.02,-0.09,-1.00) r=0.33m +[headless_play] t= 19.50s step= 975 trunk_z= 125.3mm grav_b=(-0.02,-0.07,-1.00) r=0.34m +[headless_play] t= 19.60s step= 980 trunk_z= 118.3mm grav_b=(+0.00,+0.02,-1.00) r=0.37m +[headless_play] t= 19.70s step= 985 trunk_z= 123.9mm grav_b=(+0.05,+0.06,-1.00) r=0.37m +[headless_play] t= 19.80s step= 990 trunk_z= 120.4mm grav_b=(+0.05,+0.00,-1.00) r=0.36m +[headless_play] t= 19.90s step= 995 trunk_z= 124.0mm grav_b=(+0.05,-0.07,-1.00) r=0.35m +[headless_play] t= 20.00s step=1000 trunk_z= 123.5mm grav_b=(-0.00,-0.03,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 118.5mm grav_b=(+0.00,+0.05,-1.00) r=0.38m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t15.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..a5b37a79f9d9e8d4618d5de2668e910a3510d246 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.426,-18.091,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.2mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.07,+0.00,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.06,-0.02,-1.00) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.03,-0.03,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 120.1mm grav_b=(+0.02,-0.11,-0.99) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 119.0mm grav_b=(+0.07,-0.10,-0.99) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 111.8mm grav_b=(+0.07,+0.06,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 121.3mm grav_b=(+0.06,+0.07,-1.00) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(+0.04,+0.00,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(+0.04,-0.10,-0.99) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.08,-0.06,-1.00) r=0.56m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(+0.05,+0.10,-0.99) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 122.4mm grav_b=(+0.04,+0.08,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=0.61m +[headless_play] t= 1.70s step= 85 trunk_z= 120.3mm grav_b=(+0.05,-0.10,-0.99) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 117.7mm grav_b=(+0.06,-0.07,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 115.4mm grav_b=(+0.04,+0.08,-1.00) r=0.64m +[headless_play] t= 2.00s step= 100 trunk_z= 121.2mm grav_b=(+0.04,+0.07,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(+0.05,-0.02,-1.00) r=0.68m +[headless_play] t= 2.20s step= 110 trunk_z= 121.0mm grav_b=(+0.04,-0.12,-0.99) r=0.69m +[headless_play] t= 2.30s step= 115 trunk_z= 118.0mm grav_b=(+0.06,-0.09,-0.99) r=0.70m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(+0.04,+0.08,-1.00) r=0.70m +[headless_play] t= 2.50s step= 125 trunk_z= 122.7mm grav_b=(+0.04,+0.07,-1.00) r=0.72m +[headless_play] t= 2.60s step= 130 trunk_z= 118.0mm grav_b=(+0.05,+0.01,-1.00) r=0.74m +[headless_play] t= 2.70s step= 135 trunk_z= 120.3mm grav_b=(+0.04,-0.11,-0.99) r=0.76m +[headless_play] t= 2.80s step= 140 trunk_z= 118.8mm grav_b=(+0.07,-0.08,-0.99) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 113.8mm grav_b=(+0.07,+0.05,-1.00) r=0.76m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(+0.05,+0.04,-1.00) r=0.77m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(+0.04,-0.07,-1.00) r=0.79m +[headless_play] t= 3.20s step= 160 trunk_z= 120.6mm grav_b=(+0.03,-0.11,-0.99) r=0.81m +[headless_play] t= 3.30s step= 165 trunk_z= 117.2mm grav_b=(+0.06,-0.06,-1.00) r=0.80m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(+0.05,+0.07,-1.00) r=0.79m +[headless_play] t= 3.50s step= 175 trunk_z= 120.8mm grav_b=(+0.05,+0.04,-1.00) r=0.79m +[headless_play] t= 3.60s step= 180 trunk_z= 115.4mm grav_b=(+0.05,-0.07,-1.00) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 121.4mm grav_b=(+0.05,-0.12,-0.99) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 119.4mm grav_b=(+0.08,-0.08,-0.99) r=0.82m +[headless_play] t= 3.90s step= 195 trunk_z= 117.4mm grav_b=(+0.07,+0.06,-1.00) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 121.7mm grav_b=(+0.04,+0.04,-1.00) r=0.81m +[headless_play] t= 4.10s step= 205 trunk_z= 117.0mm grav_b=(+0.03,-0.07,-1.00) r=0.82m +[headless_play] t= 4.20s step= 210 trunk_z= 120.5mm grav_b=(+0.04,-0.10,-0.99) r=0.83m +[headless_play] t= 4.30s step= 215 trunk_z= 116.3mm grav_b=(+0.06,-0.03,-1.00) r=0.82m +[headless_play] t= 4.40s step= 220 trunk_z= 121.7mm grav_b=(+0.03,+0.10,-0.99) r=0.79m +[headless_play] t= 4.50s step= 225 trunk_z= 124.5mm grav_b=(+0.03,+0.04,-1.00) r=0.79m +[headless_play] t= 4.60s step= 230 trunk_z= 119.0mm grav_b=(+0.06,-0.07,-1.00) r=0.80m +[headless_play] t= 4.70s step= 235 trunk_z= 129.5mm grav_b=(+0.12,-0.08,-0.99) r=0.81m +[headless_play] t= 4.80s step= 240 trunk_z= 130.0mm grav_b=(+0.02,+0.00,-1.00) r=0.80m +[headless_play] t= 4.90s step= 245 trunk_z= 117.9mm grav_b=(-0.01,+0.05,-1.00) r=0.78m +[headless_play] t= 5.00s step= 250 trunk_z= 126.1mm grav_b=(-0.01,+0.06,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 119.3mm grav_b=(-0.03,-0.04,-1.00) r=0.81m +[headless_play] t= 5.20s step= 260 trunk_z= 129.5mm grav_b=(+0.01,-0.08,-1.00) r=0.82m +[headless_play] t= 5.30s step= 265 trunk_z= 110.7mm grav_b=(-0.01,+0.23,-0.97) r=0.76m +[headless_play] t= 5.40s step= 270 trunk_z= 130.1mm grav_b=(+0.07,+0.31,-0.95) r=0.72m +[headless_play] t= 5.50s step= 275 trunk_z= 128.2mm grav_b=(+0.20,+0.25,-0.95) r=0.68m +[headless_play] t= 5.60s step= 280 trunk_z= 105.3mm grav_b=(+0.05,+0.17,-0.98) r=0.64m +[headless_play] t= 5.70s step= 285 trunk_z= 129.0mm grav_b=(+0.11,+0.11,-0.99) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 122.2mm grav_b=(-0.04,+0.09,-0.99) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 119.3mm grav_b=(+0.10,+0.08,-0.99) r=0.57m +[headless_play] t= 6.00s step= 300 trunk_z= 128.6mm grav_b=(+0.07,+0.07,-1.00) r=0.56m +[headless_play] t= 6.10s step= 305 trunk_z= 115.6mm grav_b=(-0.04,-0.07,-1.00) r=0.56m +[headless_play] t= 6.20s step= 310 trunk_z= 125.9mm grav_b=(+0.01,-0.09,-1.00) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 127.2mm grav_b=(+0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 6.40s step= 320 trunk_z= 122.8mm grav_b=(-0.02,+0.02,-1.00) r=0.53m +[headless_play] t= 6.50s step= 325 trunk_z= 126.7mm grav_b=(-0.02,+0.07,-1.00) r=0.51m +[headless_play] t= 6.60s step= 330 trunk_z= 127.5mm grav_b=(+0.02,+0.06,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 123.0mm grav_b=(+0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 131.6mm grav_b=(-0.02,-0.10,-0.99) r=0.55m +[headless_play] t= 6.90s step= 345 trunk_z= 131.0mm grav_b=(-0.06,-0.09,-0.99) r=0.55m +[headless_play] t= 7.00s step= 350 trunk_z= 121.0mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 124.7mm grav_b=(+0.00,+0.04,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 119.9mm grav_b=(-0.01,-0.04,-1.00) r=0.56m +[headless_play] t= 7.30s step= 365 trunk_z= 128.3mm grav_b=(-0.00,-0.10,-1.00) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 126.3mm grav_b=(+0.01,-0.07,-1.00) r=0.58m +[headless_play] t= 7.50s step= 375 trunk_z= 117.9mm grav_b=(-0.02,+0.06,-1.00) r=0.56m +[headless_play] t= 7.60s step= 380 trunk_z= 128.2mm grav_b=(+0.00,+0.07,-1.00) r=0.55m +[headless_play] t= 7.70s step= 385 trunk_z= 126.3mm grav_b=(+0.03,+0.03,-1.00) r=0.57m +[headless_play] t= 7.80s step= 390 trunk_z= 125.9mm grav_b=(+0.03,-0.05,-1.00) r=0.59m +[headless_play] t= 7.90s step= 395 trunk_z= 127.5mm grav_b=(+0.02,-0.06,-1.00) r=0.60m +[headless_play] t= 8.00s step= 400 trunk_z= 120.5mm grav_b=(-0.03,+0.02,-1.00) r=0.60m +[headless_play] t= 8.10s step= 405 trunk_z= 126.4mm grav_b=(-0.01,+0.04,-1.00) r=0.60m +[headless_play] t= 8.20s step= 410 trunk_z= 122.9mm grav_b=(+0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 8.30s step= 415 trunk_z= 127.7mm grav_b=(+0.02,-0.07,-1.00) r=0.63m +[headless_play] t= 8.40s step= 420 trunk_z= 126.7mm grav_b=(+0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 8.50s step= 425 trunk_z= 118.3mm grav_b=(-0.01,+0.05,-1.00) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 127.4mm grav_b=(+0.00,+0.05,-1.00) r=0.63m +[headless_play] t= 8.70s step= 435 trunk_z= 121.2mm grav_b=(+0.01,-0.03,-1.00) r=0.66m +[headless_play] t= 8.80s step= 440 trunk_z= 128.6mm grav_b=(+0.03,-0.09,-1.00) r=0.68m +[headless_play] t= 8.90s step= 445 trunk_z= 127.8mm grav_b=(+0.02,-0.05,-1.00) r=0.68m +[headless_play] t= 9.00s step= 450 trunk_z= 118.9mm grav_b=(-0.03,+0.07,-1.00) r=0.69m +[headless_play] t= 9.10s step= 455 trunk_z= 130.1mm grav_b=(-0.17,+0.22,-0.96) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 133.1mm grav_b=(-0.09,+0.16,-0.98) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 105.9mm grav_b=(-0.02,-0.11,-0.99) r=0.58m +[headless_play] t= 9.40s step= 470 trunk_z= 111.8mm grav_b=(-0.06,-0.11,-0.99) r=0.56m +[headless_play] t= 9.50s step= 475 trunk_z= 112.4mm grav_b=(+0.00,-0.02,-1.00) r=0.57m +[headless_play] t= 9.60s step= 480 trunk_z= 120.7mm grav_b=(+0.02,+0.09,-1.00) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 126.9mm grav_b=(+0.05,+0.05,-1.00) r=0.60m +[headless_play] t= 9.80s step= 490 trunk_z= 122.8mm grav_b=(+0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 9.90s step= 495 trunk_z= 127.1mm grav_b=(+0.02,-0.10,-1.00) r=0.61m +[headless_play] t= 10.00s step= 500 trunk_z= 125.2mm grav_b=(+0.00,-0.06,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 119.1mm grav_b=(-0.03,+0.05,-1.00) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 126.6mm grav_b=(+0.01,+0.08,-1.00) r=0.67m +[headless_play] t= 10.30s step= 515 trunk_z= 122.7mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 10.40s step= 520 trunk_z= 124.2mm grav_b=(+0.01,-0.08,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 126.3mm grav_b=(+0.03,-0.08,-1.00) r=0.67m +[headless_play] t= 10.60s step= 530 trunk_z= 120.0mm grav_b=(-0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 10.70s step= 535 trunk_z= 124.9mm grav_b=(-0.01,+0.09,-1.00) r=0.71m +[headless_play] t= 10.80s step= 540 trunk_z= 124.9mm grav_b=(+0.03,+0.05,-1.00) r=0.72m +[headless_play] t= 10.90s step= 545 trunk_z= 121.7mm grav_b=(+0.02,-0.07,-1.00) r=0.72m +[headless_play] t= 11.00s step= 550 trunk_z= 126.9mm grav_b=(+0.03,-0.10,-0.99) r=0.73m +[headless_play] t= 11.10s step= 555 trunk_z= 123.1mm grav_b=(-0.01,-0.05,-1.00) r=0.75m +[headless_play] t= 11.20s step= 560 trunk_z= 122.0mm grav_b=(-0.01,+0.09,-1.00) r=0.78m +[headless_play] t= 11.30s step= 565 trunk_z= 126.5mm grav_b=(+0.02,+0.10,-0.99) r=0.79m +[headless_play] t= 11.40s step= 570 trunk_z= 123.2mm grav_b=(+0.03,+0.04,-1.00) r=0.79m +[headless_play] t= 11.50s step= 575 trunk_z= 125.0mm grav_b=(+0.02,-0.06,-1.00) r=0.79m +[headless_play] t= 11.60s step= 580 trunk_z= 125.4mm grav_b=(+0.02,-0.07,-1.00) r=0.80m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.83m +[headless_play] t= 11.80s step= 590 trunk_z= 123.1mm grav_b=(+0.01,+0.06,-1.00) r=0.84m +[headless_play] t= 11.90s step= 595 trunk_z= 121.2mm grav_b=(+0.03,+0.03,-1.00) r=0.84m +[headless_play] t= 12.00s step= 600 trunk_z= 123.1mm grav_b=(+0.02,-0.07,-1.00) r=0.84m +[headless_play] t= 12.10s step= 605 trunk_z= 122.9mm grav_b=(+0.01,-0.05,-1.00) r=0.86m +[headless_play] t= 12.20s step= 610 trunk_z= 115.4mm grav_b=(-0.02,+0.06,-1.00) r=0.89m +[headless_play] t= 12.30s step= 615 trunk_z= 124.8mm grav_b=(-0.01,+0.08,-1.00) r=0.90m +[headless_play] t= 12.40s step= 620 trunk_z= 121.1mm grav_b=(+0.01,+0.04,-1.00) r=0.90m +[headless_play] t= 12.50s step= 625 trunk_z= 117.8mm grav_b=(-0.01,-0.07,-1.00) r=0.90m +[headless_play] t= 12.60s step= 630 trunk_z= 115.0mm grav_b=(+0.05,-0.05,-1.00) r=0.91m +[headless_play] t= 12.70s step= 635 trunk_z= 112.9mm grav_b=(+0.05,+0.10,-0.99) r=0.93m +[headless_play] t= 12.80s step= 640 trunk_z= 119.5mm grav_b=(+0.06,+0.06,-1.00) r=0.95m +[headless_play] t= 12.90s step= 645 trunk_z= 115.3mm grav_b=(+0.04,-0.04,-1.00) r=0.95m +[headless_play] t= 13.00s step= 650 trunk_z= 120.0mm grav_b=(+0.05,-0.10,-0.99) r=0.96m +[headless_play] t= 13.10s step= 655 trunk_z= 115.9mm grav_b=(+0.05,-0.04,-1.00) r=0.98m +[headless_play] t= 13.20s step= 660 trunk_z= 117.9mm grav_b=(+0.05,+0.07,-1.00) r=1.00m +[headless_play] t= 13.30s step= 665 trunk_z= 119.9mm grav_b=(+0.04,+0.03,-1.00) r=1.01m +[headless_play] t= 13.40s step= 670 trunk_z= 117.3mm grav_b=(+0.02,-0.08,-1.00) r=1.02m +[headless_play] t= 13.50s step= 675 trunk_z= 118.8mm grav_b=(+0.04,-0.08,-1.00) r=1.03m +[headless_play] t= 13.60s step= 680 trunk_z= 111.6mm grav_b=(+0.05,+0.03,-1.00) r=1.04m +[headless_play] t= 13.70s step= 685 trunk_z= 119.5mm grav_b=(+0.05,+0.07,-1.00) r=1.06m +[headless_play] t= 13.80s step= 690 trunk_z= 118.1mm grav_b=(+0.04,+0.02,-1.00) r=1.07m +[headless_play] t= 13.90s step= 695 trunk_z= 118.6mm grav_b=(+0.03,-0.11,-0.99) r=1.09m +[headless_play] t= 14.00s step= 700 trunk_z= 117.4mm grav_b=(+0.06,-0.07,-1.00) r=1.09m +[headless_play] t= 14.10s step= 705 trunk_z= 112.6mm grav_b=(+0.05,+0.06,-1.00) r=1.10m +[headless_play] t= 14.20s step= 710 trunk_z= 119.5mm grav_b=(+0.05,+0.06,-1.00) r=1.11m +[headless_play] t= 14.30s step= 715 trunk_z= 116.4mm grav_b=(+0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(+0.03,-0.08,-1.00) r=1.15m +[headless_play] t= 14.50s step= 725 trunk_z= 114.7mm grav_b=(+0.06,-0.02,-1.00) r=1.15m +[headless_play] t= 14.60s step= 730 trunk_z= 118.2mm grav_b=(+0.04,+0.07,-1.00) r=1.15m +[headless_play] t= 14.70s step= 735 trunk_z= 119.2mm grav_b=(+0.04,+0.03,-1.00) r=1.17m +[headless_play] t= 14.80s step= 740 trunk_z= 118.3mm grav_b=(+0.01,-0.08,-1.00) r=1.19m +[headless_play] t= 14.90s step= 745 trunk_z= 118.3mm grav_b=(+0.05,-0.08,-1.00) r=1.19m +[headless_play] t= 15.00s step= 750 trunk_z= 109.2mm grav_b=(+0.11,+0.06,-0.99) r=1.20m +[headless_play] t= 15.10s step= 755 trunk_z= 127.3mm grav_b=(+0.16,+0.10,-0.98) r=1.21m +[headless_play] t= 15.20s step= 760 trunk_z= 127.1mm grav_b=(+0.07,+0.02,-1.00) r=1.23m +[headless_play] t= 15.30s step= 765 trunk_z= 122.6mm grav_b=(+0.04,-0.05,-1.00) r=1.26m +[headless_play] t= 15.40s step= 770 trunk_z= 125.0mm grav_b=(-0.03,-0.05,-1.00) r=1.26m +[headless_play] t= 15.50s step= 775 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00) r=1.25m +[headless_play] t= 15.60s step= 780 trunk_z= 122.8mm grav_b=(-0.00,+0.03,-1.00) r=1.26m +[headless_play] t= 15.70s step= 785 trunk_z= 116.8mm grav_b=(+0.02,-0.04,-1.00) r=1.28m +[headless_play] t= 15.80s step= 790 trunk_z= 118.3mm grav_b=(+0.03,-0.10,-0.99) r=1.29m +[headless_play] t= 15.90s step= 795 trunk_z= 113.7mm grav_b=(+0.07,-0.02,-1.00) r=1.29m +[headless_play] t= 16.00s step= 800 trunk_z= 119.2mm grav_b=(+0.06,+0.08,-1.00) r=1.29m +[headless_play] t= 16.10s step= 805 trunk_z= 119.6mm grav_b=(+0.06,+0.04,-1.00) r=1.30m +[headless_play] t= 16.20s step= 810 trunk_z= 119.0mm grav_b=(+0.02,-0.09,-1.00) r=1.32m +[headless_play] t= 16.30s step= 815 trunk_z= 118.6mm grav_b=(+0.05,-0.08,-1.00) r=1.33m +[headless_play] t= 16.40s step= 820 trunk_z= 111.6mm grav_b=(+0.04,+0.04,-1.00) r=1.32m +[headless_play] t= 16.50s step= 825 trunk_z= 121.2mm grav_b=(+0.04,+0.07,-1.00) r=1.32m +[headless_play] t= 16.60s step= 830 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 16.70s step= 835 trunk_z= 119.2mm grav_b=(-0.01,-0.09,-1.00) r=1.35m +[headless_play] t= 16.80s step= 840 trunk_z= 118.2mm grav_b=(+0.01,-0.04,-1.00) r=1.34m +[headless_play] t= 16.90s step= 845 trunk_z= 121.6mm grav_b=(+0.01,+0.08,-1.00) r=1.34m +[headless_play] t= 17.00s step= 850 trunk_z= 124.5mm grav_b=(+0.04,+0.06,-1.00) r=1.35m +[headless_play] t= 17.10s step= 855 trunk_z= 118.8mm grav_b=(+0.01,-0.04,-1.00) r=1.37m +[headless_play] t= 17.20s step= 860 trunk_z= 127.7mm grav_b=(+0.02,-0.12,-0.99) r=1.39m +[headless_play] t= 17.30s step= 865 trunk_z= 127.7mm grav_b=(+0.00,-0.11,-0.99) r=1.40m +[headless_play] t= 17.40s step= 870 trunk_z= 122.1mm grav_b=(-0.02,-0.02,-1.00) r=1.40m +[headless_play] t= 17.50s step= 875 trunk_z= 124.2mm grav_b=(+0.01,+0.06,-1.00) r=1.40m +[headless_play] t= 17.60s step= 880 trunk_z= 123.0mm grav_b=(+0.03,+0.03,-1.00) r=1.41m +[headless_play] t= 17.70s step= 885 trunk_z= 123.7mm grav_b=(+0.02,-0.07,-1.00) r=1.43m +[headless_play] t= 17.80s step= 890 trunk_z= 125.5mm grav_b=(+0.02,-0.08,-1.00) r=1.44m +[headless_play] t= 17.90s step= 895 trunk_z= 119.6mm grav_b=(-0.03,+0.00,-1.00) r=1.44m +[headless_play] t= 18.00s step= 900 trunk_z= 125.0mm grav_b=(-0.01,+0.09,-1.00) r=1.44m +[headless_play] t= 18.10s step= 905 trunk_z= 125.8mm grav_b=(+0.02,+0.05,-1.00) r=1.45m +[headless_play] t= 18.20s step= 910 trunk_z= 120.7mm grav_b=(+0.02,-0.05,-1.00) r=1.48m +[headless_play] t= 18.30s step= 915 trunk_z= 127.5mm grav_b=(+0.04,-0.10,-0.99) r=1.49m +[headless_play] t= 18.40s step= 920 trunk_z= 127.3mm grav_b=(-0.03,-0.08,-1.00) r=1.50m +[headless_play] t= 18.50s step= 925 trunk_z= 117.9mm grav_b=(-0.04,-0.03,-1.00) r=1.48m +[headless_play] t= 18.60s step= 930 trunk_z= 119.6mm grav_b=(+0.00,+0.09,-1.00) r=1.46m +[headless_play] t= 18.70s step= 935 trunk_z= 122.8mm grav_b=(+0.01,+0.04,-1.00) r=1.46m +[headless_play] t= 18.80s step= 940 trunk_z= 118.2mm grav_b=(+0.04,-0.06,-1.00) r=1.48m +[headless_play] t= 18.90s step= 945 trunk_z= 124.3mm grav_b=(+0.05,-0.08,-1.00) r=1.49m +[headless_play] t= 19.00s step= 950 trunk_z= 122.8mm grav_b=(+0.00,-0.02,-1.00) r=1.50m +[headless_play] t= 19.10s step= 955 trunk_z= 123.5mm grav_b=(+0.02,+0.10,-0.99) r=1.52m +[headless_play] t= 19.20s step= 960 trunk_z= 126.7mm grav_b=(+0.03,+0.06,-1.00) r=1.53m +[headless_play] t= 19.30s step= 965 trunk_z= 117.9mm grav_b=(+0.01,-0.05,-1.00) r=1.57m +[headless_play] t= 19.40s step= 970 trunk_z= 124.0mm grav_b=(+0.01,-0.10,-1.00) r=1.59m +[headless_play] t= 19.50s step= 975 trunk_z= 119.0mm grav_b=(+0.03,-0.06,-1.00) r=1.61m +[headless_play] t= 19.60s step= 980 trunk_z= 115.7mm grav_b=(+0.00,+0.09,-1.00) r=1.62m +[headless_play] t= 19.70s step= 985 trunk_z= 122.7mm grav_b=(+0.02,+0.07,-1.00) r=1.63m +[headless_play] t= 19.80s step= 990 trunk_z= 117.6mm grav_b=(+0.05,+0.02,-1.00) r=1.65m +[headless_play] t= 19.90s step= 995 trunk_z= 120.0mm grav_b=(+0.03,-0.10,-0.99) r=1.67m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.08m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.08m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t2.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..b88615d990bf6526e6aab23c3ef11201c166ffde --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(+1.654,-17.522,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.59m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(+0.07,-0.04,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.16,-0.00,-0.99) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 120.6mm grav_b=(+0.17,+0.09,-0.98) r=0.59m +[headless_play] t= 0.40s step= 20 trunk_z= 124.9mm grav_b=(+0.17,+0.05,-0.98) r=0.58m +[headless_play] t= 0.50s step= 25 trunk_z= 119.8mm grav_b=(+0.20,-0.05,-0.98) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 127.3mm grav_b=(+0.18,-0.08,-0.98) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.10,+0.01,-0.99) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 128.5mm grav_b=(+0.15,+0.04,-0.99) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 128.0mm grav_b=(+0.16,+0.05,-0.99) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 122.8mm grav_b=(+0.18,-0.03,-0.98) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 130.0mm grav_b=(+0.13,-0.06,-0.99) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 114.5mm grav_b=(+0.10,+0.04,-0.99) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 130.8mm grav_b=(+0.16,+0.07,-0.98) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 124.0mm grav_b=(+0.16,+0.03,-0.99) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 125.8mm grav_b=(+0.19,-0.03,-0.98) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 130.2mm grav_b=(+0.11,-0.05,-0.99) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(+0.11,+0.02,-0.99) r=0.56m +[headless_play] t= 1.80s step= 90 trunk_z= 130.1mm grav_b=(+0.17,+0.05,-0.98) r=0.57m +[headless_play] t= 1.90s step= 95 trunk_z= 117.3mm grav_b=(+0.15,+0.00,-0.99) r=0.57m +[headless_play] t= 2.00s step= 100 trunk_z= 126.6mm grav_b=(+0.17,-0.04,-0.98) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 126.7mm grav_b=(+0.09,-0.03,-1.00) r=0.59m +[headless_play] t= 2.20s step= 110 trunk_z= 123.6mm grav_b=(+0.11,+0.07,-0.99) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 130.8mm grav_b=(+0.17,+0.07,-0.98) r=0.62m +[headless_play] t= 2.40s step= 120 trunk_z= 114.3mm grav_b=(+0.16,-0.01,-0.99) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 130.0mm grav_b=(+0.17,-0.06,-0.98) r=0.64m +[headless_play] t= 2.60s step= 130 trunk_z= 123.2mm grav_b=(+0.09,-0.03,-1.00) r=0.67m +[headless_play] t= 2.70s step= 135 trunk_z= 124.6mm grav_b=(+0.14,+0.04,-0.99) r=0.69m +[headless_play] t= 2.80s step= 140 trunk_z= 128.9mm grav_b=(+0.16,+0.06,-0.98) r=0.70m +[headless_play] t= 2.90s step= 145 trunk_z= 114.9mm grav_b=(+0.14,-0.06,-0.99) r=0.71m +[headless_play] t= 3.00s step= 150 trunk_z= 126.9mm grav_b=(+0.15,-0.09,-0.98) r=0.72m +[headless_play] t= 3.10s step= 155 trunk_z= 121.9mm grav_b=(+0.09,-0.02,-1.00) r=0.75m +[headless_play] t= 3.20s step= 160 trunk_z= 126.7mm grav_b=(+0.14,+0.06,-0.99) r=0.78m +[headless_play] t= 3.30s step= 165 trunk_z= 129.9mm grav_b=(+0.16,+0.07,-0.99) r=0.80m +[headless_play] t= 3.40s step= 170 trunk_z= 119.8mm grav_b=(+0.16,-0.01,-0.99) r=0.82m +[headless_play] t= 3.50s step= 175 trunk_z= 130.1mm grav_b=(+0.13,-0.06,-0.99) r=0.84m +[headless_play] t= 3.60s step= 180 trunk_z= 112.8mm grav_b=(+0.08,+0.03,-1.00) r=0.89m +[headless_play] t= 3.70s step= 185 trunk_z= 129.5mm grav_b=(+0.15,+0.05,-0.99) r=0.91m +[headless_play] t= 3.80s step= 190 trunk_z= 120.9mm grav_b=(+0.15,+0.03,-0.99) r=0.93m +[headless_play] t= 3.90s step= 195 trunk_z= 126.9mm grav_b=(+0.19,-0.03,-0.98) r=0.94m +[headless_play] t= 4.00s step= 200 trunk_z= 125.6mm grav_b=(+0.11,-0.03,-0.99) r=0.97m +[headless_play] t= 4.10s step= 205 trunk_z= 123.6mm grav_b=(+0.13,-0.00,-0.99) r=1.00m +[headless_play] t= 4.20s step= 210 trunk_z= 123.1mm grav_b=(+0.13,-0.01,-0.99) r=1.01m +[headless_play] t= 4.30s step= 215 trunk_z= 116.7mm grav_b=(+0.12,+0.12,-0.99) r=1.05m +[headless_play] t= 4.40s step= 220 trunk_z= 128.9mm grav_b=(+0.16,+0.25,-0.95) r=1.09m +[headless_play] t= 4.50s step= 225 trunk_z= 128.5mm grav_b=(+0.18,+0.15,-0.97) r=1.14m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(+0.22,+0.03,-0.97) r=1.19m +[headless_play] t= 4.70s step= 235 trunk_z= 131.9mm grav_b=(+0.16,-0.01,-0.99) r=1.23m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(+0.10,+0.05,-0.99) r=1.26m +[headless_play] t= 4.90s step= 245 trunk_z= 125.8mm grav_b=(+0.14,+0.00,-0.99) r=1.28m +[headless_play] t= 5.00s step= 250 trunk_z= 120.8mm grav_b=(+0.13,-0.01,-0.99) r=1.31m +[headless_play] t= 5.10s step= 255 trunk_z= 128.2mm grav_b=(+0.13,-0.03,-0.99) r=1.33m +[headless_play] t= 5.20s step= 260 trunk_z= 119.7mm grav_b=(+0.11,+0.02,-0.99) r=1.35m +[headless_play] t= 5.30s step= 265 trunk_z= 125.5mm grav_b=(+0.12,-0.01,-0.99) r=1.38m +[headless_play] t= 5.40s step= 270 trunk_z= 119.9mm grav_b=(+0.15,-0.05,-0.99) r=1.40m +[headless_play] t= 5.50s step= 275 trunk_z= 125.5mm grav_b=(+0.14,-0.07,-0.99) r=1.42m +[headless_play] t= 5.60s step= 280 trunk_z= 121.3mm grav_b=(+0.11,+0.00,-0.99) r=1.43m +[headless_play] t= 5.70s step= 285 trunk_z= 122.8mm grav_b=(+0.14,-0.01,-0.99) r=1.44m +[headless_play] t= 5.80s step= 290 trunk_z= 124.2mm grav_b=(+0.20,-0.04,-0.98) r=1.46m +[headless_play] t= 5.90s step= 295 trunk_z= 116.2mm grav_b=(+0.12,+0.03,-0.99) r=1.47m +[headless_play] t= 6.00s step= 300 trunk_z= 126.7mm grav_b=(+0.13,+0.01,-0.99) r=1.50m +[headless_play] t= 6.10s step= 305 trunk_z= 117.7mm grav_b=(+0.13,-0.02,-0.99) r=1.53m +[headless_play] t= 6.20s step= 310 trunk_z= 125.6mm grav_b=(+0.14,-0.05,-0.99) r=1.54m +[headless_play] t= 6.30s step= 315 trunk_z= 122.4mm grav_b=(+0.08,-0.00,-1.00) r=1.56m +[headless_play] t= 6.40s step= 320 trunk_z= 123.7mm grav_b=(+0.08,+0.00,-1.00) r=1.57m +[headless_play] t= 6.50s step= 325 trunk_z= 119.9mm grav_b=(+0.15,-0.06,-0.99) r=1.58m +[headless_play] t= 6.60s step= 330 trunk_z= 123.4mm grav_b=(+0.17,-0.03,-0.98) r=1.59m +[headless_play] t= 6.70s step= 335 trunk_z= 121.3mm grav_b=(+0.14,+0.03,-0.99) r=1.59m +[headless_play] t= 6.80s step= 340 trunk_z= 123.6mm grav_b=(+0.13,+0.02,-0.99) r=1.61m +[headless_play] t= 6.90s step= 345 trunk_z= 122.6mm grav_b=(+0.15,-0.02,-0.99) r=1.64m +[headless_play] t= 7.00s step= 350 trunk_z= 125.2mm grav_b=(+0.15,-0.05,-0.99) r=1.65m +[headless_play] t= 7.10s step= 355 trunk_z= 113.6mm grav_b=(+0.11,+0.05,-0.99) r=1.66m +[headless_play] t= 7.20s step= 360 trunk_z= 127.1mm grav_b=(+0.15,+0.06,-0.99) r=1.68m +[headless_play] t= 7.30s step= 365 trunk_z= 115.5mm grav_b=(+0.13,-0.00,-0.99) r=1.73m +[headless_play] t= 7.40s step= 370 trunk_z= 127.8mm grav_b=(+0.14,-0.03,-0.99) r=1.75m +[headless_play] t= 7.50s step= 375 trunk_z= 127.0mm grav_b=(+0.13,-0.07,-0.99) r=1.77m +[headless_play] t= 7.60s step= 380 trunk_z= 115.6mm grav_b=(+0.14,-0.01,-0.99) r=1.79m +[headless_play] t= 7.70s step= 385 trunk_z= 129.4mm grav_b=(+0.20,+0.03,-0.98) r=1.82m +[headless_play] t= 7.80s step= 390 trunk_z= 109.9mm grav_b=(+0.14,-0.01,-0.99) r=1.86m +[headless_play] t= 7.90s step= 395 trunk_z= 127.3mm grav_b=(+0.13,-0.01,-0.99) r=1.88m +[headless_play] t= 8.00s step= 400 trunk_z= 119.9mm grav_b=(+0.08,+0.00,-1.00) r=1.90m +[headless_play] t= 8.10s step= 405 trunk_z= 125.7mm grav_b=(+0.16,+0.02,-0.99) r=1.93m +[headless_play] t= 8.20s step= 410 trunk_z= 125.7mm grav_b=(+0.18,+0.01,-0.98) r=1.97m +[headless_play] t= 8.30s step= 415 trunk_z= 123.3mm grav_b=(+0.18,-0.00,-0.98) r=2.01m +[headless_play] t= 8.40s step= 420 trunk_z= 131.1mm grav_b=(+0.13,-0.04,-0.99) r=2.04m +[headless_play] t= 8.50s step= 425 trunk_z= 111.0mm grav_b=(+0.09,+0.02,-1.00) r=2.07m +[headless_play] t= 8.60s step= 430 trunk_z= 132.3mm grav_b=(+0.18,+0.06,-0.98) r=2.11m +[headless_play] t= 8.70s step= 435 trunk_z= 118.4mm grav_b=(+0.16,+0.04,-0.99) r=2.16m +[headless_play] t= 8.80s step= 440 trunk_z= 125.8mm grav_b=(+0.16,-0.01,-0.99) r=2.19m +[headless_play] t= 8.90s step= 445 trunk_z= 125.6mm grav_b=(+0.10,-0.02,-0.99) r=2.22m +[headless_play] t= 9.00s step= 450 trunk_z= 120.9mm grav_b=(+0.13,+0.02,-0.99) r=2.25m +[headless_play] t= 9.10s step= 455 trunk_z= 129.4mm grav_b=(+0.19,+0.03,-0.98) r=2.29m +[headless_play] t= 9.20s step= 460 trunk_z= 112.2mm grav_b=(+0.18,+0.01,-0.98) r=2.35m +[headless_play] t= 9.30s step= 465 trunk_z= 131.3mm grav_b=(+0.16,-0.03,-0.99) r=2.38m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(+0.07,+0.02,-1.00) r=2.42m +[headless_play] t= 9.50s step= 475 trunk_z= 127.4mm grav_b=(+0.15,+0.03,-0.99) r=2.45m +[headless_play] t= 9.60s step= 480 trunk_z= 127.7mm grav_b=(+0.19,+0.04,-0.98) r=2.50m +[headless_play] t= 9.70s step= 485 trunk_z= 121.8mm grav_b=(+0.17,+0.00,-0.98) r=2.55m +[headless_play] t= 9.80s step= 490 trunk_z= 129.9mm grav_b=(+0.12,-0.04,-0.99) r=2.59m +[headless_play] t= 9.90s step= 495 trunk_z= 108.6mm grav_b=(+0.11,+0.03,-0.99) r=2.63m +[headless_play] t= 10.00s step= 500 trunk_z= 132.0mm grav_b=(+0.17,+0.05,-0.98) r=2.66m +[headless_play] t= 10.10s step= 505 trunk_z= 124.2mm grav_b=(+0.13,+0.05,-0.99) r=2.71m +[headless_play] t= 10.20s step= 510 trunk_z= 121.7mm grav_b=(+0.14,-0.01,-0.99) r=2.75m +[headless_play] t= 10.30s step= 515 trunk_z= 127.9mm grav_b=(+0.07,-0.07,-0.99) r=2.77m +[headless_play] t= 10.40s step= 520 trunk_z= 121.3mm grav_b=(+0.01,-0.07,-1.00) r=2.79m +[headless_play] t= 10.50s step= 525 trunk_z= 121.8mm grav_b=(+0.07,+0.05,-1.00) r=2.81m +[headless_play] t= 10.60s step= 530 trunk_z= 121.8mm grav_b=(+0.10,+0.10,-0.99) r=2.82m +[headless_play] t= 10.70s step= 535 trunk_z= 115.3mm grav_b=(+0.09,-0.02,-1.00) r=2.83m +[headless_play] t= 10.80s step= 540 trunk_z= 119.6mm grav_b=(+0.10,-0.10,-0.99) r=2.85m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(+0.12,-0.07,-0.99) r=2.86m +[headless_play] t= 11.00s step= 550 trunk_z= 113.2mm grav_b=(+0.10,+0.07,-0.99) r=2.87m +[headless_play] t= 11.10s step= 555 trunk_z= 119.8mm grav_b=(+0.11,+0.10,-0.99) r=2.89m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(+0.13,+0.05,-0.99) r=2.90m +[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(+0.13,-0.09,-0.99) r=2.92m +[headless_play] t= 11.40s step= 570 trunk_z= 117.8mm grav_b=(+0.14,-0.11,-0.98) r=2.93m +[headless_play] t= 11.50s step= 575 trunk_z= 113.3mm grav_b=(+0.13,-0.03,-0.99) r=2.94m +[headless_play] t= 11.60s step= 580 trunk_z= 118.3mm grav_b=(+0.12,+0.08,-0.99) r=2.96m +[headless_play] t= 11.70s step= 585 trunk_z= 118.4mm grav_b=(+0.14,+0.08,-0.99) r=2.97m +[headless_play] t= 11.80s step= 590 trunk_z= 113.5mm grav_b=(+0.13,-0.05,-0.99) r=2.99m +[headless_play] t= 11.90s step= 595 trunk_z= 118.1mm grav_b=(+0.14,-0.12,-0.98) r=3.01m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(+0.14,-0.08,-0.99) r=3.01m +[headless_play] t= 12.10s step= 605 trunk_z= 115.5mm grav_b=(+0.11,+0.06,-0.99) r=3.03m +[headless_play] t= 12.20s step= 610 trunk_z= 119.0mm grav_b=(+0.12,+0.09,-0.99) r=3.04m +[headless_play] t= 12.30s step= 615 trunk_z= 115.2mm grav_b=(+0.13,+0.01,-0.99) r=3.06m +[headless_play] t= 12.40s step= 620 trunk_z= 118.4mm grav_b=(+0.13,-0.10,-0.99) r=3.08m +[headless_play] t= 12.50s step= 625 trunk_z= 116.7mm grav_b=(+0.14,-0.10,-0.98) r=3.09m +[headless_play] t= 12.60s step= 630 trunk_z= 111.7mm grav_b=(+0.12,+0.03,-0.99) r=3.09m +[headless_play] t= 12.70s step= 635 trunk_z= 119.2mm grav_b=(+0.11,+0.09,-0.99) r=3.11m +[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(+0.14,+0.04,-0.99) r=3.12m +[headless_play] t= 12.90s step= 645 trunk_z= 117.2mm grav_b=(+0.12,-0.10,-0.99) r=3.15m +[headless_play] t= 13.00s step= 650 trunk_z= 118.5mm grav_b=(+0.13,-0.12,-0.99) r=3.16m +[headless_play] t= 13.10s step= 655 trunk_z= 114.5mm grav_b=(+0.13,-0.04,-0.99) r=3.16m +[headless_play] t= 13.20s step= 660 trunk_z= 119.3mm grav_b=(+0.11,+0.09,-0.99) r=3.17m +[headless_play] t= 13.30s step= 665 trunk_z= 119.8mm grav_b=(+0.13,+0.10,-0.99) r=3.18m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(+0.16,+0.02,-0.99) r=3.20m +[headless_play] t= 13.50s step= 675 trunk_z= 121.7mm grav_b=(+0.14,-0.16,-0.98) r=3.23m +[headless_play] t= 13.60s step= 680 trunk_z= 126.3mm grav_b=(+0.11,-0.23,-0.97) r=3.24m +[headless_play] t= 13.70s step= 685 trunk_z= 128.5mm grav_b=(+0.11,-0.18,-0.98) r=3.24m +[headless_play] t= 13.80s step= 690 trunk_z= 129.1mm grav_b=(+0.07,-0.07,-0.99) r=3.28m +[headless_play] t= 13.90s step= 695 trunk_z= 121.5mm grav_b=(+0.12,+0.00,-0.99) r=3.31m +[headless_play] t= 14.00s step= 700 trunk_z= 119.6mm grav_b=(+0.11,+0.04,-0.99) r=3.33m +[headless_play] t= 14.10s step= 705 trunk_z= 118.4mm grav_b=(+0.12,-0.08,-0.99) r=3.36m +[headless_play] t= 14.20s step= 710 trunk_z= 118.6mm grav_b=(+0.13,-0.10,-0.99) r=3.37m +[headless_play] t= 14.30s step= 715 trunk_z= 113.2mm grav_b=(+0.10,-0.01,-1.00) r=3.38m +[headless_play] t= 14.40s step= 720 trunk_z= 119.1mm grav_b=(+0.11,+0.07,-0.99) r=3.39m +[headless_play] t= 14.50s step= 725 trunk_z= 118.5mm grav_b=(+0.14,+0.03,-0.99) r=3.40m +[headless_play] t= 14.60s step= 730 trunk_z= 116.4mm grav_b=(+0.14,-0.07,-0.99) r=3.42m +[headless_play] t= 14.70s step= 735 trunk_z= 118.2mm grav_b=(+0.16,-0.06,-0.99) r=3.43m +[headless_play] t= 14.80s step= 740 trunk_z= 111.7mm grav_b=(+0.13,+0.04,-0.99) r=3.43m +[headless_play] t= 14.90s step= 745 trunk_z= 119.6mm grav_b=(+0.14,+0.09,-0.99) r=3.44m +[headless_play] t= 15.00s step= 750 trunk_z= 117.2mm grav_b=(+0.14,+0.03,-0.99) r=3.46m +[headless_play] t= 15.10s step= 755 trunk_z= 118.5mm grav_b=(+0.13,-0.09,-0.99) r=3.47m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(+0.15,-0.07,-0.99) r=3.48m +[headless_play] t= 15.30s step= 765 trunk_z= 114.5mm grav_b=(+0.13,+0.06,-0.99) r=3.49m +[headless_play] t= 15.40s step= 770 trunk_z= 119.8mm grav_b=(+0.13,+0.08,-0.99) r=3.49m +[headless_play] t= 15.50s step= 775 trunk_z= 116.0mm grav_b=(+0.12,-0.00,-0.99) r=3.51m +[headless_play] t= 15.60s step= 780 trunk_z= 119.5mm grav_b=(+0.11,-0.08,-0.99) r=3.53m +[headless_play] t= 15.70s step= 785 trunk_z= 116.4mm grav_b=(+0.13,-0.05,-0.99) r=3.53m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(+0.12,+0.07,-0.99) r=3.53m +[headless_play] t= 15.90s step= 795 trunk_z= 118.5mm grav_b=(+0.14,+0.07,-0.99) r=3.54m +[headless_play] t= 16.00s step= 800 trunk_z= 113.7mm grav_b=(+0.12,-0.04,-0.99) r=3.55m +[headless_play] t= 16.10s step= 805 trunk_z= 119.4mm grav_b=(+0.12,-0.09,-0.99) r=3.57m +[headless_play] t= 16.20s step= 810 trunk_z= 115.5mm grav_b=(+0.15,-0.04,-0.99) r=3.57m +[headless_play] t= 16.30s step= 815 trunk_z= 117.4mm grav_b=(+0.12,+0.09,-0.99) r=3.57m +[headless_play] t= 16.40s step= 820 trunk_z= 118.7mm grav_b=(+0.12,+0.09,-0.99) r=3.58m +[headless_play] t= 16.50s step= 825 trunk_z= 114.3mm grav_b=(+0.12,-0.04,-0.99) r=3.60m +[headless_play] t= 16.60s step= 830 trunk_z= 118.8mm grav_b=(+0.12,-0.08,-0.99) r=3.61m +[headless_play] t= 16.70s step= 835 trunk_z= 114.0mm grav_b=(+0.13,-0.01,-0.99) r=3.61m +[headless_play] t= 16.80s step= 840 trunk_z= 117.7mm grav_b=(+0.12,+0.10,-0.99) r=3.61m +[headless_play] t= 16.90s step= 845 trunk_z= 118.9mm grav_b=(+0.13,+0.09,-0.99) r=3.62m +[headless_play] t= 17.00s step= 850 trunk_z= 113.8mm grav_b=(+0.14,-0.04,-0.99) r=3.64m +[headless_play] t= 17.10s step= 855 trunk_z= 120.8mm grav_b=(+0.13,-0.10,-0.99) r=3.65m +[headless_play] t= 17.20s step= 860 trunk_z= 116.5mm grav_b=(+0.11,-0.06,-0.99) r=3.65m +[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(+0.11,+0.08,-0.99) r=3.65m +[headless_play] t= 17.40s step= 870 trunk_z= 119.7mm grav_b=(+0.13,+0.08,-0.99) r=3.65m +[headless_play] t= 17.50s step= 875 trunk_z= 115.5mm grav_b=(+0.14,+0.00,-0.99) r=3.67m +[headless_play] t= 17.60s step= 880 trunk_z= 119.8mm grav_b=(+0.11,-0.10,-0.99) r=3.69m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(+0.14,-0.07,-0.99) r=3.69m +[headless_play] t= 17.80s step= 890 trunk_z= 113.9mm grav_b=(+0.14,+0.08,-0.99) r=3.69m +[headless_play] t= 17.90s step= 895 trunk_z= 120.5mm grav_b=(+0.16,+0.11,-0.98) r=3.70m +[headless_play] t= 18.00s step= 900 trunk_z= 117.7mm grav_b=(+0.15,+0.04,-0.99) r=3.71m +[headless_play] t= 18.10s step= 905 trunk_z= 123.2mm grav_b=(+0.06,-0.13,-0.99) r=3.73m +[headless_play] t= 18.20s step= 910 trunk_z= 126.5mm grav_b=(+0.04,-0.14,-0.99) r=3.74m +[headless_play] t= 18.30s step= 915 trunk_z= 125.2mm grav_b=(+0.08,-0.12,-0.99) r=3.73m +[headless_play] t= 18.40s step= 920 trunk_z= 114.3mm grav_b=(+0.14,-0.04,-0.99) r=3.72m +[headless_play] t= 18.50s step= 925 trunk_z= 113.8mm grav_b=(+0.18,+0.05,-0.98) r=3.71m +[headless_play] t= 18.60s step= 930 trunk_z= 114.5mm grav_b=(+0.16,+0.07,-0.98) r=3.71m +[headless_play] t= 18.70s step= 935 trunk_z= 116.3mm grav_b=(+0.10,-0.02,-1.00) r=3.73m +[headless_play] t= 18.80s step= 940 trunk_z= 119.0mm grav_b=(+0.10,-0.02,-0.99) r=3.73m +[headless_play] t= 18.90s step= 945 trunk_z= 115.3mm grav_b=(+0.13,+0.06,-0.99) r=3.73m +[headless_play] t= 19.00s step= 950 trunk_z= 118.7mm grav_b=(+0.13,+0.08,-0.99) r=3.74m +[headless_play] t= 19.10s step= 955 trunk_z= 113.9mm grav_b=(+0.10,-0.01,-0.99) r=3.75m +[headless_play] t= 19.20s step= 960 trunk_z= 116.7mm grav_b=(+0.10,-0.07,-0.99) r=3.77m +[headless_play] t= 19.30s step= 965 trunk_z= 114.5mm grav_b=(+0.15,-0.01,-0.99) r=3.77m +[headless_play] t= 19.40s step= 970 trunk_z= 114.5mm grav_b=(+0.17,+0.09,-0.98) r=3.77m +[headless_play] t= 19.50s step= 975 trunk_z= 116.0mm grav_b=(+0.17,+0.08,-0.98) r=3.79m +[headless_play] t= 19.60s step= 980 trunk_z= 111.3mm grav_b=(+0.14,-0.06,-0.99) r=3.81m +[headless_play] t= 19.70s step= 985 trunk_z= 118.9mm grav_b=(+0.14,-0.10,-0.99) r=3.82m +[headless_play] t= 19.80s step= 990 trunk_z= 113.2mm grav_b=(+0.12,+0.00,-0.99) r=3.82m +[headless_play] t= 19.90s step= 995 trunk_z= 118.4mm grav_b=(+0.11,+0.09,-0.99) r=3.82m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.7mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(+0.07,-0.01,-1.00) r=0.49m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t3.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..4a291382d35a169628336ea237c736cbba3ca979 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.3mm grav_b=(-0.00,-0.00,-1.00) root_w=(-14.042,-17.648,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.06,+0.05,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 118.1mm grav_b=(+0.06,+0.09,-0.99) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 118.8mm grav_b=(+0.05,+0.03,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 119.5mm grav_b=(+0.01,-0.09,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 118.5mm grav_b=(+0.04,-0.04,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(+0.03,+0.06,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 121.5mm grav_b=(+0.04,+0.08,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 119.8mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(+0.05,+0.01,-1.00) r=0.34m +[headless_play] t= 1.10s step= 55 trunk_z= 119.4mm grav_b=(+0.06,+0.08,-0.99) r=0.35m +[headless_play] t= 1.20s step= 60 trunk_z= 118.5mm grav_b=(+0.06,+0.02,-1.00) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 119.5mm grav_b=(+0.02,-0.10,-0.99) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 120.3mm grav_b=(+0.01,-0.04,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 115.4mm grav_b=(+0.02,+0.05,-1.00) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 121.1mm grav_b=(+0.04,+0.08,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 120.6mm grav_b=(+0.00,-0.09,-1.00) r=0.35m +[headless_play] t= 1.90s step= 95 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 119.4mm grav_b=(+0.04,+0.09,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 120.3mm grav_b=(+0.05,+0.07,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 114.7mm grav_b=(+0.03,-0.05,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 121.1mm grav_b=(+0.01,-0.08,-1.00) r=0.37m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 120.9mm grav_b=(+0.03,+0.07,-1.00) r=0.40m +[headless_play] t= 2.60s step= 130 trunk_z= 119.0mm grav_b=(+0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(+0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 117.8mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 114.5mm grav_b=(+0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 120.8mm grav_b=(-0.01,+0.08,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.03,+0.08,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 112.7mm grav_b=(+0.07,-0.03,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 115.6mm grav_b=(+0.09,-0.02,-1.00) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 112.3mm grav_b=(+0.07,+0.05,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 119.4mm grav_b=(+0.00,+0.07,-1.00) r=0.47m +[headless_play] t= 3.60s step= 180 trunk_z= 117.6mm grav_b=(+0.04,+0.08,-1.00) r=0.47m +[headless_play] t= 3.70s step= 185 trunk_z= 110.9mm grav_b=(+0.06,-0.06,-1.00) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 115.1mm grav_b=(+0.09,-0.04,-1.00) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(+0.05,+0.02,-1.00) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 120.3mm grav_b=(-0.02,+0.08,-1.00) r=0.51m +[headless_play] t= 4.10s step= 205 trunk_z= 122.5mm grav_b=(-0.00,+0.10,-1.00) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 110.9mm grav_b=(+0.05,+0.02,-1.00) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 112.2mm grav_b=(+0.07,-0.03,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 112.2mm grav_b=(+0.06,+0.01,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 115.2mm grav_b=(+0.03,+0.09,-1.00) r=0.53m +[headless_play] t= 4.60s step= 230 trunk_z= 119.9mm grav_b=(-0.01,+0.08,-1.00) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 115.5mm grav_b=(+0.08,+0.07,-0.99) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 114.0mm grav_b=(+0.09,-0.06,-0.99) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(+0.10,-0.04,-0.99) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 118.1mm grav_b=(-0.15,-0.00,-0.99) r=0.53m +[headless_play] t= 5.20s step= 260 trunk_z= 109.9mm grav_b=(+0.01,-0.12,-0.99) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 96.2mm grav_b=(-0.03,-0.06,-1.00) r=0.48m +[headless_play] t= 5.40s step= 270 trunk_z= 105.2mm grav_b=(+0.11,-0.03,-0.99) r=0.48m +[headless_play] t= 5.50s step= 275 trunk_z= 115.1mm grav_b=(+0.11,+0.13,-0.99) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 120.7mm grav_b=(+0.06,+0.15,-0.99) r=0.51m +[headless_play] t= 5.70s step= 285 trunk_z= 117.4mm grav_b=(+0.09,+0.11,-0.99) r=0.51m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(+0.04,-0.04,-1.00) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 118.5mm grav_b=(+0.01,-0.03,-1.00) r=0.52m +[headless_play] t= 6.00s step= 300 trunk_z= 113.9mm grav_b=(+0.02,+0.06,-1.00) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 120.9mm grav_b=(+0.01,+0.07,-1.00) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.04,+0.06,-1.00) r=0.56m +[headless_play] t= 6.30s step= 315 trunk_z= 112.9mm grav_b=(+0.05,-0.04,-1.00) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 115.5mm grav_b=(+0.07,-0.02,-1.00) r=0.57m +[headless_play] t= 6.50s step= 325 trunk_z= 112.9mm grav_b=(+0.06,+0.06,-1.00) r=0.58m +[headless_play] t= 6.60s step= 330 trunk_z= 120.2mm grav_b=(+0.04,+0.08,-1.00) r=0.60m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(+0.06,+0.04,-1.00) r=0.60m +[headless_play] t= 6.80s step= 340 trunk_z= 115.7mm grav_b=(+0.03,-0.05,-1.00) r=0.60m +[headless_play] t= 6.90s step= 345 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(+0.04,+0.09,-1.00) r=0.62m +[headless_play] t= 7.10s step= 355 trunk_z= 119.1mm grav_b=(+0.04,+0.08,-1.00) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 113.5mm grav_b=(+0.06,-0.00,-1.00) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 117.0mm grav_b=(+0.05,-0.05,-1.00) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 114.3mm grav_b=(+0.06,+0.02,-1.00) r=0.65m +[headless_play] t= 7.50s step= 375 trunk_z= 119.2mm grav_b=(+0.05,+0.08,-1.00) r=0.66m +[headless_play] t= 7.60s step= 380 trunk_z= 119.2mm grav_b=(+0.05,+0.05,-1.00) r=0.67m +[headless_play] t= 7.70s step= 385 trunk_z= 112.9mm grav_b=(+0.06,-0.06,-1.00) r=0.67m +[headless_play] t= 7.80s step= 390 trunk_z= 117.1mm grav_b=(+0.05,-0.04,-1.00) r=0.67m +[headless_play] t= 7.90s step= 395 trunk_z= 113.4mm grav_b=(+0.03,+0.08,-1.00) r=0.69m +[headless_play] t= 8.00s step= 400 trunk_z= 121.9mm grav_b=(+0.03,+0.08,-1.00) r=0.70m +[headless_play] t= 8.10s step= 405 trunk_z= 118.4mm grav_b=(+0.06,+0.05,-1.00) r=0.71m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(+0.09,-0.08,-0.99) r=0.71m +[headless_play] t= 8.30s step= 415 trunk_z= 117.3mm grav_b=(+0.05,-0.03,-1.00) r=0.72m +[headless_play] t= 8.40s step= 420 trunk_z= 114.7mm grav_b=(+0.00,+0.07,-1.00) r=0.73m +[headless_play] t= 8.50s step= 425 trunk_z= 122.9mm grav_b=(+0.01,+0.07,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 118.6mm grav_b=(+0.04,+0.03,-1.00) r=0.74m +[headless_play] t= 8.70s step= 435 trunk_z= 115.0mm grav_b=(+0.08,-0.07,-0.99) r=0.75m +[headless_play] t= 8.80s step= 440 trunk_z= 113.8mm grav_b=(-0.01,+0.08,-1.00) r=0.75m +[headless_play] t= 8.90s step= 445 trunk_z= 127.0mm grav_b=(-0.13,+0.22,-0.97) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 135.2mm grav_b=(+0.08,+0.20,-0.98) r=0.75m +[headless_play] t= 9.10s step= 455 trunk_z= 97.5mm grav_b=(-0.01,+0.36,-0.93) r=0.71m +[headless_play] t= 9.20s step= 460 trunk_z= 88.5mm grav_b=(-0.22,+0.62,-0.75) r=0.70m +[headless_play] t= 9.30s step= 465 trunk_z= 89.0mm grav_b=(-0.51,+0.74,-0.43) r=0.71m +[headless_play] RESET at t= 9.34s step= 467 (env termination, not a recovery) +[headless_play] t= 9.40s step= 470 trunk_z= 113.5mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 116.6mm grav_b=(+0.05,+0.03,-1.00) r=0.36m +[headless_play] t= 9.60s step= 480 trunk_z= 120.2mm grav_b=(+0.05,+0.04,-1.00) r=0.35m +[headless_play] t= 9.70s step= 485 trunk_z= 123.2mm grav_b=(+0.07,+0.13,-0.99) r=0.34m +[headless_play] t= 9.80s step= 490 trunk_z= 130.7mm grav_b=(+0.06,+0.10,-0.99) r=0.32m +[headless_play] t= 9.90s step= 495 trunk_z= 118.0mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 10.00s step= 500 trunk_z= 126.2mm grav_b=(+0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 10.10s step= 505 trunk_z= 123.8mm grav_b=(+0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 10.20s step= 510 trunk_z= 122.1mm grav_b=(+0.02,+0.09,-1.00) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 130.3mm grav_b=(+0.05,+0.09,-1.00) r=0.23m +[headless_play] t= 10.40s step= 520 trunk_z= 122.8mm grav_b=(+0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 10.50s step= 525 trunk_z= 126.5mm grav_b=(+0.05,-0.04,-1.00) r=0.21m +[headless_play] t= 10.60s step= 530 trunk_z= 125.5mm grav_b=(+0.03,-0.02,-1.00) r=0.20m +[headless_play] t= 10.70s step= 535 trunk_z= 121.2mm grav_b=(+0.02,+0.09,-1.00) r=0.17m +[headless_play] t= 10.80s step= 540 trunk_z= 131.0mm grav_b=(+0.05,+0.09,-0.99) r=0.15m +[headless_play] t= 10.90s step= 545 trunk_z= 122.4mm grav_b=(+0.03,+0.04,-1.00) r=0.14m +[headless_play] t= 11.00s step= 550 trunk_z= 126.0mm grav_b=(+0.04,-0.02,-1.00) r=0.13m +[headless_play] t= 11.10s step= 555 trunk_z= 123.4mm grav_b=(+0.02,+0.00,-1.00) r=0.12m +[headless_play] t= 11.20s step= 560 trunk_z= 122.2mm grav_b=(+0.01,+0.11,-0.99) r=0.09m +[headless_play] t= 11.30s step= 565 trunk_z= 130.6mm grav_b=(+0.05,+0.10,-0.99) r=0.08m +[headless_play] t= 11.40s step= 570 trunk_z= 124.1mm grav_b=(+0.02,+0.03,-1.00) r=0.09m +[headless_play] t= 11.50s step= 575 trunk_z= 126.7mm grav_b=(+0.04,-0.06,-1.00) r=0.10m +[headless_play] t= 11.60s step= 580 trunk_z= 125.8mm grav_b=(+0.03,-0.04,-1.00) r=0.10m +[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(+0.00,+0.06,-1.00) r=0.09m +[headless_play] t= 11.80s step= 590 trunk_z= 128.6mm grav_b=(+0.02,+0.12,-0.99) r=0.08m +[headless_play] t= 11.90s step= 595 trunk_z= 129.1mm grav_b=(+0.07,+0.12,-0.99) r=0.10m +[headless_play] t= 12.00s step= 600 trunk_z= 120.5mm grav_b=(+0.00,-0.01,-1.00) r=0.13m +[headless_play] t= 12.10s step= 605 trunk_z= 126.1mm grav_b=(+0.02,-0.06,-1.00) r=0.14m +[headless_play] t= 12.20s step= 610 trunk_z= 124.4mm grav_b=(+0.03,-0.03,-1.00) r=0.15m +[headless_play] t= 12.30s step= 615 trunk_z= 119.1mm grav_b=(-0.01,+0.09,-1.00) r=0.15m +[headless_play] t= 12.40s step= 620 trunk_z= 129.1mm grav_b=(+0.02,+0.13,-0.99) r=0.16m +[headless_play] t= 12.50s step= 625 trunk_z= 129.1mm grav_b=(+0.06,+0.12,-0.99) r=0.18m +[headless_play] t= 12.60s step= 630 trunk_z= 120.0mm grav_b=(+0.00,-0.02,-1.00) r=0.21m +[headless_play] t= 12.70s step= 635 trunk_z= 125.9mm grav_b=(+0.04,-0.06,-1.00) r=0.22m +[headless_play] t= 12.80s step= 640 trunk_z= 124.7mm grav_b=(+0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 12.90s step= 645 trunk_z= 120.8mm grav_b=(+0.01,+0.10,-1.00) r=0.24m +[headless_play] t= 13.00s step= 650 trunk_z= 129.9mm grav_b=(+0.04,+0.11,-0.99) r=0.25m +[headless_play] t= 13.10s step= 655 trunk_z= 127.7mm grav_b=(+0.04,+0.08,-1.00) r=0.28m +[headless_play] t= 13.20s step= 660 trunk_z= 124.4mm grav_b=(+0.01,-0.05,-1.00) r=0.31m +[headless_play] t= 13.30s step= 665 trunk_z= 125.5mm grav_b=(+0.02,-0.05,-1.00) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 121.7mm grav_b=(+0.01,+0.02,-1.00) r=0.32m +[headless_play] t= 13.50s step= 675 trunk_z= 126.5mm grav_b=(+0.02,+0.11,-0.99) r=0.34m +[headless_play] t= 13.60s step= 680 trunk_z= 129.0mm grav_b=(+0.05,+0.11,-0.99) r=0.35m +[headless_play] t= 13.70s step= 685 trunk_z= 120.5mm grav_b=(+0.00,+0.00,-1.00) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 126.2mm grav_b=(+0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 124.4mm grav_b=(+0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 14.00s step= 700 trunk_z= 119.8mm grav_b=(+0.01,+0.09,-1.00) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 130.1mm grav_b=(+0.04,+0.11,-0.99) r=0.43m +[headless_play] t= 14.20s step= 710 trunk_z= 127.4mm grav_b=(+0.03,+0.07,-1.00) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 125.4mm grav_b=(-0.12,-0.17,-0.98) r=0.47m +[headless_play] t= 14.40s step= 720 trunk_z= 133.8mm grav_b=(-0.08,-0.32,-0.94) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 135.0mm grav_b=(-0.32,-0.28,-0.91) r=0.52m +[headless_play] t= 14.60s step= 730 trunk_z= 120.8mm grav_b=(-0.22,+0.03,-0.98) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 53.2mm grav_b=(-0.23,+0.24,-0.94) r=0.58m +[headless_play] t= 14.80s step= 740 trunk_z= -9.8mm grav_b=(-0.25,+0.89,-0.38) r=0.60m +[headless_play] RESET at t= 14.82s step= 741 (env termination, not a recovery) +[headless_play] t= 14.90s step= 745 trunk_z= 114.6mm grav_b=(+0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 15.00s step= 750 trunk_z= 116.4mm grav_b=(+0.05,+0.04,-1.00) r=0.41m +[headless_play] t= 15.10s step= 755 trunk_z= 117.3mm grav_b=(+0.04,+0.05,-1.00) r=0.41m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(-0.02,-0.10,-0.99) r=0.42m +[headless_play] t= 15.40s step= 770 trunk_z= 119.8mm grav_b=(-0.02,-0.09,-1.00) r=0.43m +[headless_play] t= 15.50s step= 775 trunk_z= 115.5mm grav_b=(+0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 15.60s step= 780 trunk_z= 120.2mm grav_b=(+0.05,+0.08,-1.00) r=0.44m +[headless_play] t= 15.70s step= 785 trunk_z= 119.0mm grav_b=(+0.07,+0.10,-0.99) r=0.46m +[headless_play] t= 15.80s step= 790 trunk_z= 114.3mm grav_b=(+0.08,-0.02,-1.00) r=0.48m +[headless_play] t= 15.90s step= 795 trunk_z= 122.0mm grav_b=(+0.00,-0.10,-0.99) r=0.49m +[headless_play] t= 16.00s step= 800 trunk_z= 121.5mm grav_b=(-0.00,-0.06,-1.00) r=0.50m +[headless_play] t= 16.10s step= 805 trunk_z= 115.8mm grav_b=(+0.01,+0.04,-1.00) r=0.50m +[headless_play] t= 16.20s step= 810 trunk_z= 121.2mm grav_b=(+0.02,+0.07,-1.00) r=0.51m +[headless_play] t= 16.30s step= 815 trunk_z= 117.5mm grav_b=(+0.07,+0.07,-1.00) r=0.53m +[headless_play] t= 16.40s step= 820 trunk_z= 113.4mm grav_b=(+0.08,-0.08,-0.99) r=0.54m +[headless_play] t= 16.50s step= 825 trunk_z= 120.9mm grav_b=(+0.02,-0.10,-0.99) r=0.55m +[headless_play] t= 16.60s step= 830 trunk_z= 117.8mm grav_b=(+0.04,-0.04,-1.00) r=0.56m +[headless_play] t= 16.70s step= 835 trunk_z= 119.6mm grav_b=(+0.00,+0.09,-1.00) r=0.57m +[headless_play] t= 16.80s step= 840 trunk_z= 125.9mm grav_b=(-0.01,+0.11,-0.99) r=0.58m +[headless_play] t= 16.90s step= 845 trunk_z= 121.9mm grav_b=(+0.03,+0.09,-1.00) r=0.59m +[headless_play] t= 17.00s step= 850 trunk_z= 115.6mm grav_b=(+0.04,-0.03,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 118.1mm grav_b=(+0.04,-0.07,-1.00) r=0.62m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.04,-0.00,-1.00) r=0.62m +[headless_play] t= 17.30s step= 865 trunk_z= 120.7mm grav_b=(+0.02,+0.08,-1.00) r=0.62m +[headless_play] t= 17.40s step= 870 trunk_z= 121.2mm grav_b=(+0.02,+0.09,-1.00) r=0.63m +[headless_play] t= 17.50s step= 875 trunk_z= 112.8mm grav_b=(+0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 17.60s step= 880 trunk_z= 118.1mm grav_b=(+0.03,-0.07,-1.00) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 117.4mm grav_b=(+0.03,-0.04,-1.00) r=0.66m +[headless_play] t= 17.80s step= 890 trunk_z= 117.5mm grav_b=(+0.04,+0.06,-1.00) r=0.66m +[headless_play] t= 17.90s step= 895 trunk_z= 119.9mm grav_b=(+0.02,+0.08,-1.00) r=0.67m +[headless_play] t= 18.00s step= 900 trunk_z= 114.6mm grav_b=(+0.07,+0.02,-1.00) r=0.69m +[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(+0.03,-0.08,-1.00) r=0.70m +[headless_play] t= 18.20s step= 910 trunk_z= 117.8mm grav_b=(+0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 18.30s step= 915 trunk_z= 114.2mm grav_b=(+0.05,+0.07,-1.00) r=0.71m +[headless_play] t= 18.40s step= 920 trunk_z= 120.7mm grav_b=(+0.03,+0.08,-1.00) r=0.71m +[headless_play] t= 18.50s step= 925 trunk_z= 117.6mm grav_b=(+0.07,+0.07,-1.00) r=0.73m +[headless_play] t= 18.60s step= 930 trunk_z= 113.6mm grav_b=(+0.07,-0.09,-0.99) r=0.75m +[headless_play] t= 18.70s step= 935 trunk_z= 118.8mm grav_b=(+0.00,-0.10,-1.00) r=0.76m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(+0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 18.90s step= 945 trunk_z= 119.0mm grav_b=(+0.03,+0.08,-1.00) r=0.75m +[headless_play] t= 19.00s step= 950 trunk_z= 120.5mm grav_b=(+0.02,+0.09,-1.00) r=0.76m +[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(+0.09,+0.05,-0.99) r=0.77m +[headless_play] t= 19.20s step= 960 trunk_z= 117.4mm grav_b=(+0.05,-0.09,-0.99) r=0.79m +[headless_play] t= 19.30s step= 965 trunk_z= 112.3mm grav_b=(-0.00,+0.10,-1.00) r=0.78m +[headless_play] t= 19.40s step= 970 trunk_z= 122.3mm grav_b=(+0.02,+0.21,-0.98) r=0.77m +[headless_play] t= 19.50s step= 975 trunk_z= 126.2mm grav_b=(+0.06,+0.27,-0.96) r=0.76m +[headless_play] t= 19.60s step= 980 trunk_z= 124.5mm grav_b=(+0.15,+0.18,-0.97) r=0.74m +[headless_play] t= 19.70s step= 985 trunk_z= 118.2mm grav_b=(+0.04,+0.11,-0.99) r=0.75m +[headless_play] t= 19.80s step= 990 trunk_z= 126.3mm grav_b=(+0.03,+0.06,-1.00) r=0.75m +[headless_play] t= 19.90s step= 995 trunk_z= 114.1mm grav_b=(+0.02,+0.08,-1.00) r=0.74m +[headless_play] t= 20.00s step=1000 trunk_z= 124.7mm grav_b=(+0.03,+0.07,-1.00) r=0.74m +[headless_play] t= 20.10s step=1005 trunk_z= 113.6mm grav_b=(+0.01,-0.03,-1.00) r=0.76m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t4.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..1230062340f9dc4bda82966be283ab3babf80d91 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t4.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.0mm grav_b=(-0.00,+0.00,-1.00) root_w=(-9.559,-17.540,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.4mm grav_b=(-0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(+0.04,+0.03,-1.00) r=0.64m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(+0.01,-0.08,-1.00) r=0.65m +[headless_play] t= 0.40s step= 20 trunk_z= 121.7mm grav_b=(-0.02,-0.13,-0.99) r=0.66m +[headless_play] t= 0.50s step= 25 trunk_z= 119.3mm grav_b=(-0.00,-0.09,-1.00) r=0.66m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.00,+0.05,-1.00) r=0.65m +[headless_play] t= 0.70s step= 35 trunk_z= 122.4mm grav_b=(+0.02,+0.05,-1.00) r=0.66m +[headless_play] t= 0.80s step= 40 trunk_z= 118.0mm grav_b=(+0.00,-0.03,-1.00) r=0.68m +[headless_play] t= 0.90s step= 45 trunk_z= 122.4mm grav_b=(-0.04,-0.11,-0.99) r=0.69m +[headless_play] t= 1.00s step= 50 trunk_z= 118.8mm grav_b=(-0.01,-0.09,-1.00) r=0.69m +[headless_play] t= 1.10s step= 55 trunk_z= 114.9mm grav_b=(+0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 1.20s step= 60 trunk_z= 121.1mm grav_b=(+0.03,+0.05,-1.00) r=0.69m +[headless_play] t= 1.30s step= 65 trunk_z= 117.4mm grav_b=(+0.01,-0.06,-1.00) r=0.71m +[headless_play] t= 1.40s step= 70 trunk_z= 122.9mm grav_b=(-0.04,-0.12,-0.99) r=0.73m +[headless_play] t= 1.50s step= 75 trunk_z= 119.6mm grav_b=(-0.01,-0.10,-0.99) r=0.73m +[headless_play] t= 1.60s step= 80 trunk_z= 115.2mm grav_b=(+0.01,+0.04,-1.00) r=0.73m +[headless_play] t= 1.70s step= 85 trunk_z= 122.1mm grav_b=(+0.02,+0.06,-1.00) r=0.73m +[headless_play] t= 1.80s step= 90 trunk_z= 118.8mm grav_b=(+0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 1.90s step= 95 trunk_z= 123.1mm grav_b=(-0.05,-0.11,-0.99) r=0.76m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.02,-0.09,-1.00) r=0.77m +[headless_play] t= 2.10s step= 105 trunk_z= 114.7mm grav_b=(+0.02,+0.03,-1.00) r=0.77m +[headless_play] t= 2.20s step= 110 trunk_z= 121.2mm grav_b=(+0.04,+0.05,-1.00) r=0.78m +[headless_play] t= 2.30s step= 115 trunk_z= 117.7mm grav_b=(+0.01,-0.04,-1.00) r=0.80m +[headless_play] t= 2.40s step= 120 trunk_z= 123.4mm grav_b=(-0.05,-0.11,-0.99) r=0.81m +[headless_play] t= 2.50s step= 125 trunk_z= 119.2mm grav_b=(-0.01,-0.08,-1.00) r=0.82m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(+0.03,+0.04,-1.00) r=0.82m +[headless_play] t= 2.70s step= 135 trunk_z= 120.6mm grav_b=(+0.04,+0.04,-1.00) r=0.83m +[headless_play] t= 2.80s step= 140 trunk_z= 116.9mm grav_b=(-0.01,-0.10,-1.00) r=0.86m +[headless_play] t= 2.90s step= 145 trunk_z= 123.2mm grav_b=(-0.05,-0.14,-0.99) r=0.87m +[headless_play] t= 3.00s step= 150 trunk_z= 119.4mm grav_b=(-0.01,-0.11,-0.99) r=0.88m +[headless_play] t= 3.10s step= 155 trunk_z= 116.0mm grav_b=(+0.00,+0.03,-1.00) r=0.89m +[headless_play] t= 3.20s step= 160 trunk_z= 121.4mm grav_b=(+0.01,+0.05,-1.00) r=0.90m +[headless_play] t= 3.30s step= 165 trunk_z= 117.5mm grav_b=(+0.01,-0.03,-1.00) r=0.92m +[headless_play] t= 3.40s step= 170 trunk_z= 121.0mm grav_b=(-0.04,-0.11,-0.99) r=0.93m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(-0.00,-0.09,-1.00) r=0.94m +[headless_play] t= 3.60s step= 180 trunk_z= 114.0mm grav_b=(+0.04,+0.04,-1.00) r=0.95m +[headless_play] t= 3.70s step= 185 trunk_z= 119.6mm grav_b=(+0.05,+0.03,-1.00) r=0.96m +[headless_play] t= 3.80s step= 190 trunk_z= 116.7mm grav_b=(-0.06,-0.11,-0.99) r=0.97m +[headless_play] t= 3.90s step= 195 trunk_z= 129.4mm grav_b=(-0.21,-0.26,-0.94) r=0.98m +[headless_play] t= 4.00s step= 200 trunk_z= 128.1mm grav_b=(-0.32,-0.27,-0.91) r=0.98m +[headless_play] t= 4.10s step= 205 trunk_z= 75.6mm grav_b=(-0.42,-0.26,-0.87) r=0.96m +[headless_play] t= 4.20s step= 210 trunk_z= 71.6mm grav_b=(-0.59,-0.70,-0.40) r=0.99m +[headless_play] RESET at t= 4.22s step= 211 (env termination, not a recovery) +[headless_play] t= 4.30s step= 215 trunk_z= 115.1mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 4.60s step= 230 trunk_z= 118.1mm grav_b=(-0.03,+0.02,-1.00) r=0.53m +[headless_play] t= 4.70s step= 235 trunk_z= 118.4mm grav_b=(-0.02,+0.03,-1.00) r=0.53m +[headless_play] t= 4.80s step= 240 trunk_z= 118.2mm grav_b=(-0.02,+0.03,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 118.2mm grav_b=(-0.02,+0.04,-1.00) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 117.9mm grav_b=(-0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(-0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 5.20s step= 260 trunk_z= 118.0mm grav_b=(-0.07,+0.02,-1.00) r=0.54m +[headless_play] t= 5.30s step= 265 trunk_z= 117.9mm grav_b=(-0.07,+0.02,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 118.2mm grav_b=(-0.06,+0.02,-1.00) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 5.60s step= 280 trunk_z= 118.1mm grav_b=(-0.05,+0.03,-1.00) r=0.53m +[headless_play] t= 5.70s step= 285 trunk_z= 118.1mm grav_b=(-0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 118.1mm grav_b=(-0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 5.90s step= 295 trunk_z= 118.1mm grav_b=(-0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 6.00s step= 300 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 6.10s step= 305 trunk_z= 118.3mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 6.20s step= 310 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 6.30s step= 315 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 6.40s step= 320 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 6.50s step= 325 trunk_z= 118.2mm grav_b=(-0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 6.60s step= 330 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 7.00s step= 350 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 118.2mm grav_b=(-0.04,+0.03,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 117.6mm grav_b=(-0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 7.30s step= 365 trunk_z= 117.7mm grav_b=(-0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 7.40s step= 370 trunk_z= 118.0mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 7.50s step= 375 trunk_z= 117.5mm grav_b=(-0.06,+0.01,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 117.1mm grav_b=(-0.05,+0.03,-1.00) r=0.53m +[headless_play] t= 7.70s step= 385 trunk_z= 119.0mm grav_b=(-0.07,-0.01,-1.00) r=0.52m +[headless_play] t= 7.80s step= 390 trunk_z= 113.9mm grav_b=(-0.07,-0.06,-1.00) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 116.1mm grav_b=(-0.08,-0.06,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 112.1mm grav_b=(-0.06,+0.00,-1.00) r=0.53m +[headless_play] t= 8.10s step= 405 trunk_z= 119.1mm grav_b=(-0.03,+0.08,-1.00) r=0.54m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(+0.01,+0.10,-1.00) r=0.53m +[headless_play] t= 8.30s step= 415 trunk_z= 114.1mm grav_b=(+0.05,+0.02,-1.00) r=0.51m +[headless_play] t= 8.40s step= 420 trunk_z= 118.2mm grav_b=(-0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 8.60s step= 430 trunk_z= 120.3mm grav_b=(-0.06,+0.07,-1.00) r=0.51m +[headless_play] t= 8.70s step= 435 trunk_z= 123.1mm grav_b=(-0.08,+0.07,-0.99) r=0.51m +[headless_play] t= 8.80s step= 440 trunk_z= 116.9mm grav_b=(-0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 8.90s step= 445 trunk_z= 114.3mm grav_b=(-0.04,-0.04,-1.00) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 114.3mm grav_b=(-0.03,-0.02,-1.00) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 114.7mm grav_b=(-0.01,+0.07,-1.00) r=0.50m +[headless_play] t= 9.20s step= 460 trunk_z= 116.9mm grav_b=(-0.02,+0.07,-1.00) r=0.50m +[headless_play] t= 9.30s step= 465 trunk_z= 106.2mm grav_b=(+0.09,-0.08,-0.99) r=0.47m +[headless_play] t= 9.40s step= 470 trunk_z= 128.0mm grav_b=(+0.07,-0.25,-0.96) r=0.44m +[headless_play] t= 9.50s step= 475 trunk_z= 131.0mm grav_b=(+0.05,-0.25,-0.97) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 135.2mm grav_b=(-0.14,-0.16,-0.98) r=0.39m +[headless_play] t= 9.70s step= 485 trunk_z= 116.7mm grav_b=(-0.05,-0.24,-0.97) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 106.5mm grav_b=(+0.17,-0.28,-0.95) r=0.34m +[headless_play] t= 9.90s step= 495 trunk_z= 123.0mm grav_b=(+0.08,-0.22,-0.97) r=0.32m +[headless_play] t= 10.00s step= 500 trunk_z= 110.0mm grav_b=(-0.05,+0.04,-1.00) r=0.29m +[headless_play] t= 10.10s step= 505 trunk_z= 82.3mm grav_b=(-0.04,+0.26,-0.97) r=0.29m +[headless_play] t= 10.20s step= 510 trunk_z= 35.5mm grav_b=(-0.15,+0.84,-0.53) r=0.31m +[headless_play] RESET at t= 10.24s step= 512 (env termination, not a recovery) +[headless_play] t= 10.30s step= 515 trunk_z= 114.7mm grav_b=(-0.00,-0.00,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 116.2mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 116.5mm grav_b=(+0.04,-0.03,-1.00) r=0.52m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 118.2mm grav_b=(-0.02,+0.07,-1.00) r=0.55m +[headless_play] t= 10.90s step= 545 trunk_z= 119.5mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(+0.03,-0.09,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 120.6mm grav_b=(+0.03,-0.11,-0.99) r=0.55m +[headless_play] t= 11.20s step= 560 trunk_z= 116.5mm grav_b=(+0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 11.30s step= 565 trunk_z= 121.4mm grav_b=(-0.00,+0.07,-1.00) r=0.59m +[headless_play] t= 11.40s step= 570 trunk_z= 120.6mm grav_b=(+0.02,+0.05,-1.00) r=0.59m +[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(+0.01,-0.08,-1.00) r=0.59m +[headless_play] t= 11.60s step= 580 trunk_z= 120.5mm grav_b=(+0.01,-0.10,-1.00) r=0.59m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(+0.02,-0.02,-1.00) r=0.61m +[headless_play] t= 11.80s step= 590 trunk_z= 121.0mm grav_b=(-0.00,+0.05,-1.00) r=0.63m +[headless_play] t= 11.90s step= 595 trunk_z= 119.3mm grav_b=(+0.02,+0.02,-1.00) r=0.63m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(+0.01,-0.09,-1.00) r=0.63m +[headless_play] t= 12.10s step= 605 trunk_z= 119.2mm grav_b=(+0.01,-0.09,-1.00) r=0.64m +[headless_play] t= 12.20s step= 610 trunk_z= 114.5mm grav_b=(+0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 12.30s step= 615 trunk_z= 121.6mm grav_b=(+0.01,+0.05,-1.00) r=0.68m +[headless_play] t= 12.40s step= 620 trunk_z= 118.1mm grav_b=(+0.04,-0.01,-1.00) r=0.68m +[headless_play] t= 12.50s step= 625 trunk_z= 122.0mm grav_b=(+0.02,-0.11,-0.99) r=0.68m +[headless_play] t= 12.60s step= 630 trunk_z= 119.4mm grav_b=(+0.03,-0.09,-1.00) r=0.69m +[headless_play] t= 12.70s step= 635 trunk_z= 115.9mm grav_b=(+0.01,+0.06,-1.00) r=0.71m +[headless_play] t= 12.80s step= 640 trunk_z= 123.2mm grav_b=(+0.01,+0.05,-1.00) r=0.73m +[headless_play] t= 12.90s step= 645 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.73m +[headless_play] t= 13.00s step= 650 trunk_z= 121.1mm grav_b=(+0.03,-0.08,-1.00) r=0.74m +[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(+0.03,-0.05,-1.00) r=0.75m +[headless_play] t= 13.20s step= 660 trunk_z= 118.6mm grav_b=(+0.01,+0.07,-1.00) r=0.77m +[headless_play] t= 13.30s step= 665 trunk_z= 120.9mm grav_b=(+0.01,+0.04,-1.00) r=0.78m +[headless_play] t= 13.40s step= 670 trunk_z= 117.2mm grav_b=(+0.01,-0.08,-1.00) r=0.78m +[headless_play] t= 13.50s step= 675 trunk_z= 120.8mm grav_b=(+0.00,-0.10,-1.00) r=0.79m +[headless_play] t= 13.60s step= 680 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.81m +[headless_play] t= 13.70s step= 685 trunk_z= 120.3mm grav_b=(+0.02,+0.06,-1.00) r=0.83m +[headless_play] t= 13.80s step= 690 trunk_z= 119.3mm grav_b=(+0.03,+0.03,-1.00) r=0.84m +[headless_play] t= 13.90s step= 695 trunk_z= 119.5mm grav_b=(+0.01,-0.09,-1.00) r=0.84m +[headless_play] t= 14.00s step= 700 trunk_z= 119.9mm grav_b=(+0.01,-0.10,-1.00) r=0.85m +[headless_play] t= 14.10s step= 705 trunk_z= 114.4mm grav_b=(+0.02,+0.00,-1.00) r=0.87m +[headless_play] t= 14.20s step= 710 trunk_z= 124.7mm grav_b=(-0.01,+0.12,-0.99) r=0.89m +[headless_play] t= 14.30s step= 715 trunk_z= 132.6mm grav_b=(-0.03,+0.34,-0.94) r=0.90m +[headless_play] t= 14.40s step= 720 trunk_z= 128.3mm grav_b=(+0.16,+0.37,-0.91) r=0.91m +[headless_play] t= 14.50s step= 725 trunk_z= 123.2mm grav_b=(+0.02,+0.48,-0.88) r=0.96m +[headless_play] t= 14.60s step= 730 trunk_z= 98.6mm grav_b=(-0.03,+0.77,-0.64) r=1.03m +[headless_play] RESET at t= 14.66s step= 733 (env termination, not a recovery) +[headless_play] t= 14.70s step= 735 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 14.80s step= 740 trunk_z= 116.8mm grav_b=(+0.05,+0.00,-1.00) r=0.32m +[headless_play] t= 14.90s step= 745 trunk_z= 115.9mm grav_b=(+0.02,+0.06,-1.00) r=0.31m +[headless_play] t= 15.00s step= 750 trunk_z= 119.2mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 15.10s step= 755 trunk_z= 115.8mm grav_b=(-0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 15.20s step= 760 trunk_z= 117.5mm grav_b=(-0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 15.30s step= 765 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 15.40s step= 770 trunk_z= 119.5mm grav_b=(+0.03,+0.08,-1.00) r=0.30m +[headless_play] t= 15.50s step= 775 trunk_z= 120.2mm grav_b=(+0.02,+0.09,-1.00) r=0.29m +[headless_play] t= 15.60s step= 780 trunk_z= 114.2mm grav_b=(+0.03,-0.02,-1.00) r=0.30m +[headless_play] t= 15.70s step= 785 trunk_z= 118.7mm grav_b=(-0.01,-0.05,-1.00) r=0.30m +[headless_play] t= 15.80s step= 790 trunk_z= 115.6mm grav_b=(-0.00,+0.02,-1.00) r=0.29m +[headless_play] t= 15.90s step= 795 trunk_z= 120.5mm grav_b=(+0.00,+0.07,-1.00) r=0.27m +[headless_play] t= 16.00s step= 800 trunk_z= 118.9mm grav_b=(+0.03,+0.06,-1.00) r=0.27m +[headless_play] t= 16.10s step= 805 trunk_z= 116.6mm grav_b=(+0.03,-0.07,-1.00) r=0.27m +[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(+0.01,-0.06,-1.00) r=0.27m +[headless_play] t= 16.30s step= 815 trunk_z= 113.7mm grav_b=(+0.01,+0.05,-1.00) r=0.25m +[headless_play] t= 16.40s step= 820 trunk_z= 120.9mm grav_b=(-0.00,+0.07,-1.00) r=0.24m +[headless_play] t= 16.50s step= 825 trunk_z= 118.5mm grav_b=(+0.03,+0.04,-1.00) r=0.24m +[headless_play] t= 16.60s step= 830 trunk_z= 117.2mm grav_b=(+0.02,-0.06,-1.00) r=0.25m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(+0.00,-0.04,-1.00) r=0.24m +[headless_play] t= 16.80s step= 840 trunk_z= 114.7mm grav_b=(+0.00,+0.07,-1.00) r=0.23m +[headless_play] t= 16.90s step= 845 trunk_z= 121.3mm grav_b=(-0.00,+0.08,-1.00) r=0.21m +[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(+0.04,+0.03,-1.00) r=0.22m +[headless_play] t= 17.10s step= 855 trunk_z= 118.2mm grav_b=(+0.02,-0.06,-1.00) r=0.22m +[headless_play] t= 17.20s step= 860 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=0.21m +[headless_play] t= 17.30s step= 865 trunk_z= 124.1mm grav_b=(-0.07,+0.22,-0.97) r=0.18m +[headless_play] t= 17.40s step= 870 trunk_z= 137.2mm grav_b=(-0.08,+0.49,-0.87) r=0.17m +[headless_play] t= 17.50s step= 875 trunk_z= 124.2mm grav_b=(+0.28,+0.79,-0.55) r=0.17m +[headless_play] RESET at t= 17.60s step= 880 (env termination, not a recovery) +[headless_play] t= 17.60s step= 880 trunk_z= 123.5mm grav_b=(+0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 17.70s step= 885 trunk_z= 115.5mm grav_b=(+0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(+0.01,+0.03,-1.00) r=0.22m +[headless_play] t= 17.90s step= 895 trunk_z= 115.7mm grav_b=(+0.02,+0.04,-1.00) r=0.22m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(+0.04,-0.03,-1.00) r=0.22m +[headless_play] t= 18.10s step= 905 trunk_z= 119.4mm grav_b=(-0.01,-0.05,-1.00) r=0.23m +[headless_play] t= 18.20s step= 910 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(-0.03,+0.08,-1.00) r=0.24m +[headless_play] t= 18.40s step= 920 trunk_z= 119.8mm grav_b=(-0.01,+0.02,-1.00) r=0.25m +[headless_play] t= 18.50s step= 925 trunk_z= 120.4mm grav_b=(-0.02,-0.10,-1.00) r=0.26m +[headless_play] t= 18.60s step= 930 trunk_z= 122.2mm grav_b=(-0.00,-0.11,-0.99) r=0.27m +[headless_play] t= 18.70s step= 935 trunk_z= 118.6mm grav_b=(+0.01,-0.06,-1.00) r=0.28m +[headless_play] t= 18.80s step= 940 trunk_z= 119.2mm grav_b=(-0.01,+0.10,-0.99) r=0.29m +[headless_play] t= 18.90s step= 945 trunk_z= 125.2mm grav_b=(-0.02,+0.08,-1.00) r=0.30m +[headless_play] t= 19.00s step= 950 trunk_z= 118.6mm grav_b=(+0.00,+0.02,-1.00) r=0.32m +[headless_play] t= 19.10s step= 955 trunk_z= 121.1mm grav_b=(-0.00,-0.10,-1.00) r=0.33m +[headless_play] t= 19.20s step= 960 trunk_z= 120.7mm grav_b=(+0.00,-0.09,-1.00) r=0.34m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(-0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 19.40s step= 970 trunk_z= 122.7mm grav_b=(-0.04,+0.11,-0.99) r=0.35m +[headless_play] t= 19.50s step= 975 trunk_z= 124.0mm grav_b=(-0.02,+0.06,-1.00) r=0.36m +[headless_play] t= 19.60s step= 980 trunk_z= 117.0mm grav_b=(-0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 19.70s step= 985 trunk_z= 121.4mm grav_b=(+0.00,-0.09,-1.00) r=0.39m +[headless_play] t= 19.80s step= 990 trunk_z= 118.3mm grav_b=(+0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 19.90s step= 995 trunk_z= 116.8mm grav_b=(-0.01,+0.09,-1.00) r=0.41m +[headless_play] t= 20.00s step=1000 trunk_z= 123.8mm grav_b=(-0.02,+0.08,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.43m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t5.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..50d3ec1c8c80f120aa8111f0a4ad82c6550e073f --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.681,-18.084,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 121.9mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 115.1mm grav_b=(+0.07,-0.01,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.60s step= 180 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 115.2mm grav_b=(+0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 4.70s step= 235 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.80s step= 290 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(+0.08,-0.00,-1.00) r=0.33m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(+0.18,-0.00,-0.98) r=0.33m +[headless_play] t= 6.20s step= 310 trunk_z= 118.1mm grav_b=(+0.15,-0.10,-0.98) r=0.35m +[headless_play] t= 6.30s step= 315 trunk_z= 132.4mm grav_b=(+0.12,-0.13,-0.98) r=0.35m +[headless_play] t= 6.40s step= 320 trunk_z= 128.7mm grav_b=(-0.03,-0.11,-0.99) r=0.36m +[headless_play] t= 6.50s step= 325 trunk_z= 119.9mm grav_b=(+0.01,-0.05,-1.00) r=0.36m +[headless_play] t= 6.60s step= 330 trunk_z= 119.8mm grav_b=(+0.05,-0.07,-1.00) r=0.37m +[headless_play] t= 6.70s step= 335 trunk_z= 126.8mm grav_b=(+0.06,-0.10,-0.99) r=0.38m +[headless_play] t= 6.80s step= 340 trunk_z= 124.6mm grav_b=(+0.03,-0.06,-1.00) r=0.38m +[headless_play] t= 6.90s step= 345 trunk_z= 121.5mm grav_b=(+0.04,+0.04,-1.00) r=0.37m +[headless_play] t= 7.00s step= 350 trunk_z= 125.2mm grav_b=(+0.07,+0.00,-1.00) r=0.38m +[headless_play] t= 7.10s step= 355 trunk_z= 120.6mm grav_b=(+0.06,-0.06,-1.00) r=0.39m +[headless_play] t= 7.20s step= 360 trunk_z= 128.1mm grav_b=(+0.04,-0.09,-0.99) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 125.9mm grav_b=(+0.03,-0.12,-0.99) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 118.1mm grav_b=(-0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 7.50s step= 375 trunk_z= 125.3mm grav_b=(+0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 121.5mm grav_b=(+0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 127.4mm grav_b=(+0.06,-0.09,-0.99) r=0.43m +[headless_play] t= 7.80s step= 390 trunk_z= 127.1mm grav_b=(+0.07,-0.11,-0.99) r=0.44m +[headless_play] t= 7.90s step= 395 trunk_z= 116.4mm grav_b=(+0.03,-0.03,-1.00) r=0.44m +[headless_play] t= 8.00s step= 400 trunk_z= 124.3mm grav_b=(+0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 8.10s step= 405 trunk_z= 121.3mm grav_b=(+0.04,-0.03,-1.00) r=0.44m +[headless_play] t= 8.20s step= 410 trunk_z= 126.5mm grav_b=(+0.01,-0.09,-1.00) r=0.45m +[headless_play] t= 8.30s step= 415 trunk_z= 125.9mm grav_b=(+0.02,-0.08,-1.00) r=0.46m +[headless_play] t= 8.40s step= 420 trunk_z= 119.5mm grav_b=(+0.04,+0.00,-1.00) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 124.3mm grav_b=(+0.06,-0.01,-1.00) r=0.47m +[headless_play] t= 8.60s step= 430 trunk_z= 120.7mm grav_b=(+0.04,-0.04,-1.00) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 127.5mm grav_b=(+0.02,-0.09,-1.00) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 125.5mm grav_b=(+0.03,-0.09,-1.00) r=0.49m +[headless_play] t= 8.90s step= 445 trunk_z= 119.8mm grav_b=(+0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 9.00s step= 450 trunk_z= 124.3mm grav_b=(+0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 9.10s step= 455 trunk_z= 120.5mm grav_b=(+0.04,-0.04,-1.00) r=0.50m +[headless_play] t= 9.20s step= 460 trunk_z= 128.0mm grav_b=(+0.01,-0.08,-1.00) r=0.51m +[headless_play] t= 9.30s step= 465 trunk_z= 124.8mm grav_b=(+0.02,-0.09,-1.00) r=0.52m +[headless_play] t= 9.40s step= 470 trunk_z= 120.5mm grav_b=(+0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 9.50s step= 475 trunk_z= 134.6mm grav_b=(+0.21,+0.12,-0.97) r=0.58m +[headless_play] t= 9.60s step= 480 trunk_z= 127.5mm grav_b=(+0.21,+0.08,-0.98) r=0.65m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.17,-0.05,-0.98) r=0.70m +[headless_play] t= 9.80s step= 490 trunk_z= 117.6mm grav_b=(+0.06,-0.09,-0.99) r=0.72m +[headless_play] t= 9.90s step= 495 trunk_z= 115.8mm grav_b=(-0.03,+0.00,-1.00) r=0.73m +[headless_play] t= 10.00s step= 500 trunk_z= 124.4mm grav_b=(+0.01,+0.01,-1.00) r=0.72m +[headless_play] t= 10.10s step= 505 trunk_z= 116.4mm grav_b=(+0.04,-0.10,-0.99) r=0.71m +[headless_play] t= 10.20s step= 510 trunk_z= 122.0mm grav_b=(+0.07,-0.15,-0.99) r=0.70m +[headless_play] t= 10.30s step= 515 trunk_z= 127.9mm grav_b=(+0.03,-0.13,-0.99) r=0.71m +[headless_play] t= 10.40s step= 520 trunk_z= 123.1mm grav_b=(+0.10,-0.06,-0.99) r=0.74m +[headless_play] t= 10.50s step= 525 trunk_z= 124.7mm grav_b=(+0.08,-0.04,-1.00) r=0.75m +[headless_play] t= 10.60s step= 530 trunk_z= 124.6mm grav_b=(+0.03,-0.11,-0.99) r=0.78m +[headless_play] t= 10.70s step= 535 trunk_z= 124.4mm grav_b=(+0.05,-0.12,-0.99) r=0.80m +[headless_play] t= 10.80s step= 540 trunk_z= 117.6mm grav_b=(+0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 10.90s step= 545 trunk_z= 122.6mm grav_b=(-0.00,+0.04,-1.00) r=0.84m +[headless_play] t= 11.00s step= 550 trunk_z= 119.0mm grav_b=(+0.02,-0.02,-1.00) r=0.84m +[headless_play] t= 11.10s step= 555 trunk_z= 117.5mm grav_b=(+0.06,-0.13,-0.99) r=0.84m +[headless_play] t= 11.20s step= 560 trunk_z= 117.8mm grav_b=(+0.11,-0.14,-0.98) r=0.85m +[headless_play] t= 11.30s step= 565 trunk_z= 116.5mm grav_b=(+0.11,-0.07,-0.99) r=0.86m +[headless_play] t= 11.40s step= 570 trunk_z= 119.1mm grav_b=(+0.09,+0.06,-0.99) r=0.88m +[headless_play] t= 11.50s step= 575 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.90m +[headless_play] t= 11.60s step= 580 trunk_z= 117.6mm grav_b=(+0.05,-0.11,-0.99) r=0.91m +[headless_play] t= 11.70s step= 585 trunk_z= 118.4mm grav_b=(+0.08,-0.12,-0.99) r=0.92m +[headless_play] t= 11.80s step= 590 trunk_z= 117.0mm grav_b=(+0.11,-0.06,-0.99) r=0.93m +[headless_play] t= 11.90s step= 595 trunk_z= 116.6mm grav_b=(+0.06,+0.07,-1.00) r=0.96m +[headless_play] t= 12.00s step= 600 trunk_z= 118.6mm grav_b=(+0.08,+0.01,-1.00) r=0.97m +[headless_play] t= 12.10s step= 605 trunk_z= 116.1mm grav_b=(+0.07,-0.10,-0.99) r=0.98m +[headless_play] t= 12.20s step= 610 trunk_z= 118.4mm grav_b=(+0.10,-0.13,-0.99) r=0.99m +[headless_play] t= 12.30s step= 615 trunk_z= 116.5mm grav_b=(+0.11,-0.08,-0.99) r=1.00m +[headless_play] t= 12.40s step= 620 trunk_z= 114.9mm grav_b=(+0.05,+0.08,-1.00) r=1.02m +[headless_play] t= 12.50s step= 625 trunk_z= 120.6mm grav_b=(+0.05,+0.03,-1.00) r=1.04m +[headless_play] t= 12.60s step= 630 trunk_z= 113.8mm grav_b=(+0.06,-0.05,-1.00) r=1.05m +[headless_play] t= 12.70s step= 635 trunk_z= 118.8mm grav_b=(+0.06,-0.12,-0.99) r=1.06m +[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(+0.09,-0.11,-0.99) r=1.06m +[headless_play] t= 12.90s step= 645 trunk_z= 112.4mm grav_b=(+0.09,+0.02,-1.00) r=1.08m +[headless_play] t= 13.00s step= 650 trunk_z= 120.1mm grav_b=(+0.05,+0.06,-1.00) r=1.09m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(+0.07,-0.01,-1.00) r=1.11m +[headless_play] t= 13.20s step= 660 trunk_z= 118.3mm grav_b=(+0.05,-0.12,-0.99) r=1.12m +[headless_play] t= 13.30s step= 665 trunk_z= 119.6mm grav_b=(+0.07,-0.14,-0.99) r=1.12m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(+0.11,-0.09,-0.99) r=1.13m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(+0.07,+0.07,-0.99) r=1.14m +[headless_play] t= 13.60s step= 680 trunk_z= 122.2mm grav_b=(+0.04,+0.04,-1.00) r=1.14m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(+0.05,-0.07,-1.00) r=1.16m +[headless_play] t= 13.80s step= 690 trunk_z= 123.6mm grav_b=(+0.10,-0.11,-0.99) r=1.17m +[headless_play] t= 13.90s step= 695 trunk_z= 121.1mm grav_b=(+0.08,-0.08,-0.99) r=1.17m +[headless_play] t= 14.00s step= 700 trunk_z= 118.1mm grav_b=(+0.13,+0.06,-0.99) r=1.19m +[headless_play] t= 14.10s step= 705 trunk_z= 131.9mm grav_b=(+0.15,+0.01,-0.99) r=1.22m +[headless_play] t= 14.20s step= 710 trunk_z= 112.6mm grav_b=(+0.11,-0.05,-0.99) r=1.27m +[headless_play] t= 14.30s step= 715 trunk_z= 128.6mm grav_b=(+0.04,-0.09,-1.00) r=1.28m +[headless_play] t= 14.40s step= 720 trunk_z= 118.3mm grav_b=(+0.02,-0.03,-1.00) r=1.30m +[headless_play] t= 14.50s step= 725 trunk_z= 123.2mm grav_b=(+0.03,+0.02,-1.00) r=1.30m +[headless_play] t= 14.60s step= 730 trunk_z= 120.8mm grav_b=(+0.06,-0.02,-1.00) r=1.31m +[headless_play] t= 14.70s step= 735 trunk_z= 125.0mm grav_b=(+0.08,-0.12,-0.99) r=1.32m +[headless_play] t= 14.80s step= 740 trunk_z= 126.2mm grav_b=(+0.09,-0.13,-0.99) r=1.33m +[headless_play] t= 14.90s step= 745 trunk_z= 120.7mm grav_b=(+0.06,-0.05,-1.00) r=1.34m +[headless_play] t= 15.00s step= 750 trunk_z= 123.3mm grav_b=(+0.04,+0.02,-1.00) r=1.35m +[headless_play] t= 15.10s step= 755 trunk_z= 118.8mm grav_b=(+0.05,-0.02,-1.00) r=1.37m +[headless_play] t= 15.20s step= 760 trunk_z= 124.6mm grav_b=(+0.04,-0.09,-1.00) r=1.38m +[headless_play] t= 15.30s step= 765 trunk_z= 122.6mm grav_b=(+0.06,-0.08,-0.99) r=1.38m +[headless_play] t= 15.40s step= 770 trunk_z= 115.4mm grav_b=(+0.07,+0.05,-1.00) r=1.37m +[headless_play] t= 15.50s step= 775 trunk_z= 125.6mm grav_b=(+0.06,+0.04,-1.00) r=1.38m +[headless_play] t= 15.60s step= 780 trunk_z= 120.1mm grav_b=(+0.04,-0.02,-1.00) r=1.39m +[headless_play] t= 15.70s step= 785 trunk_z= 125.7mm grav_b=(+0.02,-0.11,-0.99) r=1.40m +[headless_play] t= 15.80s step= 790 trunk_z= 125.0mm grav_b=(+0.05,-0.11,-0.99) r=1.41m +[headless_play] t= 15.90s step= 795 trunk_z= 118.9mm grav_b=(+0.04,-0.03,-1.00) r=1.40m +[headless_play] t= 16.00s step= 800 trunk_z= 124.0mm grav_b=(+0.03,+0.06,-1.00) r=1.40m +[headless_play] t= 16.10s step= 805 trunk_z= 124.2mm grav_b=(+0.04,+0.01,-1.00) r=1.41m +[headless_play] t= 16.20s step= 810 trunk_z= 122.2mm grav_b=(+0.04,-0.08,-1.00) r=1.43m +[headless_play] t= 16.30s step= 815 trunk_z= 125.0mm grav_b=(+0.10,-0.11,-0.99) r=1.44m +[headless_play] t= 16.40s step= 820 trunk_z= 122.0mm grav_b=(+0.05,-0.08,-1.00) r=1.44m +[headless_play] t= 16.50s step= 825 trunk_z= 120.1mm grav_b=(+0.02,+0.06,-1.00) r=1.44m +[headless_play] t= 16.60s step= 830 trunk_z= 124.4mm grav_b=(+0.04,+0.01,-1.00) r=1.45m +[headless_play] t= 16.70s step= 835 trunk_z= 120.7mm grav_b=(+0.06,-0.08,-1.00) r=1.47m +[headless_play] t= 16.80s step= 840 trunk_z= 122.1mm grav_b=(+0.08,-0.10,-0.99) r=1.47m +[headless_play] t= 16.90s step= 845 trunk_z= 118.4mm grav_b=(+0.06,-0.05,-1.00) r=1.46m +[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00) r=1.46m +[headless_play] t= 17.10s step= 855 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=1.45m +[headless_play] t= 17.20s step= 860 trunk_z= 115.7mm grav_b=(-0.00,-0.00,-1.00) r=1.45m +[headless_play] t= 17.30s step= 865 trunk_z= 115.5mm grav_b=(+0.03,+0.00,-1.00) r=1.45m +[headless_play] t= 17.40s step= 870 trunk_z= 115.6mm grav_b=(+0.05,+0.00,-1.00) r=1.45m +[headless_play] t= 17.50s step= 875 trunk_z= 115.6mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 17.60s step= 880 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.45m +[headless_play] t= 17.70s step= 885 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=1.45m +[headless_play] t= 17.80s step= 890 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 17.90s step= 895 trunk_z= 115.5mm grav_b=(+0.04,-0.00,-1.00) r=1.45m +[headless_play] t= 18.00s step= 900 trunk_z= 115.4mm grav_b=(+0.00,-0.01,-1.00) r=1.45m +[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=1.45m +[headless_play] t= 18.20s step= 910 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00) r=1.45m +[headless_play] t= 18.30s step= 915 trunk_z= 115.7mm grav_b=(+0.06,-0.00,-1.00) r=1.45m +[headless_play] t= 18.40s step= 920 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=1.45m +[headless_play] t= 18.50s step= 925 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 18.60s step= 930 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 18.70s step= 935 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 18.80s step= 940 trunk_z= 115.8mm grav_b=(+0.04,-0.00,-1.00) r=1.45m +[headless_play] t= 18.90s step= 945 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.00s step= 950 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.10s step= 955 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.20s step= 960 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.30s step= 965 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.50s step= 975 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.60s step= 980 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.70s step= 985 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(+0.01,-0.02,-1.00) r=1.45m +[headless_play] t= 19.90s step= 995 trunk_z= 121.4mm grav_b=(-0.15,-0.05,-0.99) r=1.45m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.0mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.45m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t6.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..0ff5b127504bcdbc9023fa4c42c8a153da7aa30e --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.197,-17.628,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 117.9mm grav_b=(-0.01,-0.04,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 118.2mm grav_b=(+0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 119.2mm grav_b=(+0.05,-0.05,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 121.4mm grav_b=(-0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 123.0mm grav_b=(-0.02,+0.10,-0.99) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 125.8mm grav_b=(-0.04,+0.06,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 119.7mm grav_b=(-0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 127.1mm grav_b=(+0.00,-0.09,-1.00) r=0.37m +[headless_play] t= 1.00s step= 50 trunk_z= 127.7mm grav_b=(-0.03,-0.10,-0.99) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 119.2mm grav_b=(-0.06,-0.04,-1.00) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 124.3mm grav_b=(-0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 121.9mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 126.0mm grav_b=(-0.06,-0.12,-0.99) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 126.2mm grav_b=(-0.05,-0.09,-0.99) r=0.34m +[headless_play] t= 1.60s step= 80 trunk_z= 119.7mm grav_b=(-0.06,-0.05,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 124.1mm grav_b=(-0.02,+0.03,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 124.6mm grav_b=(-0.00,+0.00,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 123.4mm grav_b=(-0.01,-0.10,-0.99) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 127.9mm grav_b=(-0.01,-0.11,-0.99) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 125.5mm grav_b=(-0.06,-0.09,-0.99) r=0.29m +[headless_play] t= 2.20s step= 110 trunk_z= 120.2mm grav_b=(-0.06,-0.00,-1.00) r=0.29m +[headless_play] t= 2.30s step= 115 trunk_z= 124.9mm grav_b=(-0.03,+0.02,-1.00) r=0.29m +[headless_play] t= 2.40s step= 120 trunk_z= 119.9mm grav_b=(-0.02,-0.06,-1.00) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 126.8mm grav_b=(-0.02,-0.12,-0.99) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 127.1mm grav_b=(-0.03,-0.10,-0.99) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 120.7mm grav_b=(-0.09,-0.04,-1.00) r=0.25m +[headless_play] t= 2.80s step= 140 trunk_z= 125.2mm grav_b=(-0.03,+0.06,-1.00) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 121.3mm grav_b=(-0.01,+0.03,-1.00) r=0.22m +[headless_play] t= 3.00s step= 150 trunk_z= 118.0mm grav_b=(-0.02,-0.06,-1.00) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(-0.02,-0.06,-1.00) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.01,+0.03,-1.00) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 117.7mm grav_b=(+0.02,+0.05,-1.00) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 3.50s step= 175 trunk_z= 118.6mm grav_b=(+0.00,-0.10,-1.00) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(-0.01,-0.09,-1.00) r=0.15m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(-0.00,+0.00,-1.00) r=0.14m +[headless_play] t= 3.80s step= 190 trunk_z= 118.3mm grav_b=(+0.03,-0.02,-1.00) r=0.12m +[headless_play] t= 3.90s step= 195 trunk_z= 118.7mm grav_b=(+0.08,-0.17,-0.98) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 127.5mm grav_b=(+0.04,-0.19,-0.98) r=0.09m +[headless_play] t= 4.10s step= 205 trunk_z= 125.3mm grav_b=(+0.01,-0.16,-0.99) r=0.08m +[headless_play] t= 4.20s step= 210 trunk_z= 119.7mm grav_b=(+0.03,-0.04,-1.00) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 123.1mm grav_b=(-0.01,+0.01,-1.00) r=0.07m +[headless_play] t= 4.40s step= 220 trunk_z= 121.0mm grav_b=(-0.05,-0.07,-1.00) r=0.08m +[headless_play] t= 4.50s step= 225 trunk_z= 121.2mm grav_b=(-0.02,-0.08,-1.00) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 119.2mm grav_b=(-0.02,+0.02,-1.00) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.10m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.04,-0.09,-0.99) r=0.12m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(+0.03,-0.08,-1.00) r=0.13m +[headless_play] t= 5.10s step= 255 trunk_z= 112.7mm grav_b=(-0.00,+0.01,-1.00) r=0.13m +[headless_play] t= 5.20s step= 260 trunk_z= 121.7mm grav_b=(-0.03,+0.03,-1.00) r=0.14m +[headless_play] t= 5.30s step= 265 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.15m +[headless_play] t= 5.40s step= 270 trunk_z= 115.2mm grav_b=(-0.01,-0.08,-1.00) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 115.9mm grav_b=(+0.02,-0.07,-1.00) r=0.18m +[headless_play] t= 5.60s step= 280 trunk_z= 112.7mm grav_b=(+0.03,+0.02,-1.00) r=0.19m +[headless_play] t= 5.70s step= 285 trunk_z= 120.1mm grav_b=(+0.00,+0.03,-1.00) r=0.20m +[headless_play] t= 5.80s step= 290 trunk_z= 117.7mm grav_b=(+0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 118.3mm grav_b=(+0.01,-0.10,-1.00) r=0.23m +[headless_play] t= 6.00s step= 300 trunk_z= 117.7mm grav_b=(+0.02,-0.10,-0.99) r=0.24m +[headless_play] t= 6.10s step= 305 trunk_z= 112.5mm grav_b=(+0.01,+0.01,-1.00) r=0.24m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(-0.02,+0.04,-1.00) r=0.25m +[headless_play] t= 6.30s step= 315 trunk_z= 118.9mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 6.40s step= 320 trunk_z= 116.3mm grav_b=(+0.02,-0.09,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 117.6mm grav_b=(+0.03,-0.08,-1.00) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 112.5mm grav_b=(+0.01,+0.02,-1.00) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 121.0mm grav_b=(-0.01,+0.04,-1.00) r=0.31m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(+0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 116.4mm grav_b=(+0.01,-0.10,-1.00) r=0.34m +[headless_play] t= 7.00s step= 350 trunk_z= 120.8mm grav_b=(-0.00,-0.14,-0.99) r=0.35m +[headless_play] t= 7.10s step= 355 trunk_z= 118.6mm grav_b=(+0.00,-0.13,-0.99) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 121.0mm grav_b=(-0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 117.4mm grav_b=(+0.04,-0.02,-1.00) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 117.1mm grav_b=(+0.05,-0.09,-0.99) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 120.2mm grav_b=(-0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 118.1mm grav_b=(-0.05,+0.06,-1.00) r=0.39m +[headless_play] t= 7.80s step= 390 trunk_z= 123.8mm grav_b=(-0.07,+0.02,-1.00) r=0.40m +[headless_play] t= 7.90s step= 395 trunk_z= 123.2mm grav_b=(-0.04,-0.08,-1.00) r=0.40m +[headless_play] t= 8.00s step= 400 trunk_z= 128.3mm grav_b=(-0.04,-0.06,-1.00) r=0.41m +[headless_play] t= 8.10s step= 405 trunk_z= 122.3mm grav_b=(-0.06,-0.04,-1.00) r=0.42m +[headless_play] t= 8.20s step= 410 trunk_z= 124.6mm grav_b=(-0.04,+0.04,-1.00) r=0.43m +[headless_play] t= 8.30s step= 415 trunk_z= 124.8mm grav_b=(-0.06,+0.03,-1.00) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 123.3mm grav_b=(-0.06,-0.08,-0.99) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 127.9mm grav_b=(-0.07,-0.05,-1.00) r=0.43m +[headless_play] t= 8.60s step= 430 trunk_z= 121.3mm grav_b=(-0.09,-0.04,-1.00) r=0.45m +[headless_play] t= 8.70s step= 435 trunk_z= 124.4mm grav_b=(-0.05,+0.00,-1.00) r=0.46m +[headless_play] t= 8.80s step= 440 trunk_z= 124.8mm grav_b=(-0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 8.90s step= 445 trunk_z= 125.2mm grav_b=(-0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 9.00s step= 450 trunk_z= 126.7mm grav_b=(-0.06,-0.04,-1.00) r=0.46m +[headless_play] t= 9.10s step= 455 trunk_z= 118.2mm grav_b=(-0.07,+0.03,-1.00) r=0.49m +[headless_play] t= 9.20s step= 460 trunk_z= 126.3mm grav_b=(-0.04,+0.02,-1.00) r=0.50m +[headless_play] t= 9.30s step= 465 trunk_z= 123.1mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 9.40s step= 470 trunk_z= 126.5mm grav_b=(-0.09,-0.07,-0.99) r=0.49m +[headless_play] t= 9.50s step= 475 trunk_z= 125.4mm grav_b=(-0.08,-0.06,-0.99) r=0.50m +[headless_play] t= 9.60s step= 480 trunk_z= 120.2mm grav_b=(-0.09,+0.02,-1.00) r=0.52m +[headless_play] t= 9.70s step= 485 trunk_z= 127.8mm grav_b=(-0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 124.1mm grav_b=(-0.04,+0.01,-1.00) r=0.55m +[headless_play] t= 9.90s step= 495 trunk_z= 124.6mm grav_b=(-0.06,-0.08,-1.00) r=0.56m +[headless_play] t= 10.00s step= 500 trunk_z= 123.7mm grav_b=(-0.04,-0.09,-1.00) r=0.57m +[headless_play] t= 10.10s step= 505 trunk_z= 118.7mm grav_b=(-0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 10.20s step= 510 trunk_z= 121.4mm grav_b=(-0.03,+0.04,-1.00) r=0.59m +[headless_play] t= 10.30s step= 515 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=0.58m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(+0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 10.60s step= 530 trunk_z= 115.7mm grav_b=(+0.00,-0.00,-1.00) r=0.57m +[headless_play] t= 10.70s step= 535 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(-0.00,-0.00,-1.00) r=0.57m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(+0.02,-0.00,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 115.6mm grav_b=(+0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(+0.13,+0.00,-0.99) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 121.6mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 11.30s step= 565 trunk_z= 120.1mm grav_b=(-0.04,+0.06,-1.00) r=0.60m +[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(-0.06,+0.01,-1.00) r=0.60m +[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(-0.00,-0.02,-1.00) r=0.60m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 11.80s step= 590 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 11.90s step= 595 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 12.00s step= 600 trunk_z= 115.5mm grav_b=(+0.04,+0.00,-1.00) r=0.60m +[headless_play] t= 12.10s step= 605 trunk_z= 115.6mm grav_b=(+0.04,+0.00,-1.00) r=0.60m +[headless_play] t= 12.20s step= 610 trunk_z= 115.6mm grav_b=(+0.02,+0.00,-1.00) r=0.60m +[headless_play] t= 12.30s step= 615 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 12.40s step= 620 trunk_z= 115.5mm grav_b=(+0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 12.50s step= 625 trunk_z= 115.5mm grav_b=(+0.02,+0.00,-1.00) r=0.60m +[headless_play] t= 12.60s step= 630 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.60m +[headless_play] t= 12.70s step= 635 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 115.9mm grav_b=(+0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.30s step= 665 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 13.70s step= 685 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 13.90s step= 695 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(-0.05,-0.02,-1.00) r=0.60m +[headless_play] t= 14.40s step= 720 trunk_z= 116.8mm grav_b=(-0.05,-0.01,-1.00) r=0.59m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 14.60s step= 730 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 14.70s step= 735 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.60m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 15.30s step= 765 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 15.40s step= 770 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 15.50s step= 775 trunk_z= 116.2mm grav_b=(-0.00,-0.03,-1.00) r=0.61m +[headless_play] t= 15.60s step= 780 trunk_z= 116.3mm grav_b=(+0.01,-0.07,-1.00) r=0.61m +[headless_play] t= 15.70s step= 785 trunk_z= 116.9mm grav_b=(+0.04,-0.00,-1.00) r=0.62m +[headless_play] t= 15.80s step= 790 trunk_z= 119.7mm grav_b=(+0.02,+0.07,-1.00) r=0.62m +[headless_play] t= 15.90s step= 795 trunk_z= 118.3mm grav_b=(-0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 16.00s step= 800 trunk_z= 122.0mm grav_b=(-0.07,-0.11,-0.99) r=0.63m +[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(-0.03,-0.13,-0.99) r=0.64m +[headless_play] t= 16.20s step= 810 trunk_z= 119.8mm grav_b=(+0.02,-0.06,-1.00) r=0.65m +[headless_play] t= 16.30s step= 815 trunk_z= 121.7mm grav_b=(+0.01,+0.06,-1.00) r=0.67m +[headless_play] t= 16.40s step= 820 trunk_z= 123.0mm grav_b=(+0.01,+0.04,-1.00) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 120.7mm grav_b=(-0.03,-0.09,-1.00) r=0.69m +[headless_play] t= 16.60s step= 830 trunk_z= 123.8mm grav_b=(-0.03,-0.13,-0.99) r=0.69m +[headless_play] t= 16.70s step= 835 trunk_z= 118.9mm grav_b=(+0.01,-0.07,-1.00) r=0.70m +[headless_play] t= 16.80s step= 840 trunk_z= 121.4mm grav_b=(+0.00,+0.06,-1.00) r=0.72m +[headless_play] t= 16.90s step= 845 trunk_z= 123.6mm grav_b=(+0.00,+0.05,-1.00) r=0.73m +[headless_play] t= 17.00s step= 850 trunk_z= 119.8mm grav_b=(-0.03,-0.07,-1.00) r=0.74m +[headless_play] t= 17.10s step= 855 trunk_z= 123.9mm grav_b=(-0.03,-0.11,-0.99) r=0.74m +[headless_play] t= 17.20s step= 860 trunk_z= 118.7mm grav_b=(+0.00,-0.07,-1.00) r=0.75m +[headless_play] t= 17.30s step= 865 trunk_z= 120.7mm grav_b=(+0.01,+0.04,-1.00) r=0.76m +[headless_play] t= 17.40s step= 870 trunk_z= 121.1mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 17.50s step= 875 trunk_z= 123.1mm grav_b=(-0.04,-0.11,-0.99) r=0.79m +[headless_play] t= 17.60s step= 880 trunk_z= 123.0mm grav_b=(-0.01,-0.13,-0.99) r=0.80m +[headless_play] t= 17.70s step= 885 trunk_z= 116.6mm grav_b=(+0.02,-0.03,-1.00) r=0.81m +[headless_play] t= 17.80s step= 890 trunk_z= 122.7mm grav_b=(+0.00,+0.05,-1.00) r=0.82m +[headless_play] t= 17.90s step= 895 trunk_z= 122.3mm grav_b=(+0.00,+0.02,-1.00) r=0.84m +[headless_play] t= 18.00s step= 900 trunk_z= 121.3mm grav_b=(-0.03,-0.10,-0.99) r=0.85m +[headless_play] t= 18.10s step= 905 trunk_z= 126.9mm grav_b=(-0.06,-0.20,-0.98) r=0.86m +[headless_play] t= 18.20s step= 910 trunk_z= 136.6mm grav_b=(-0.14,-0.27,-0.95) r=0.86m +[headless_play] t= 18.30s step= 915 trunk_z= 131.7mm grav_b=(-0.05,-0.14,-0.99) r=0.87m +[headless_play] t= 18.40s step= 920 trunk_z= 119.7mm grav_b=(-0.00,-0.10,-0.99) r=0.86m +[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(-0.05,-0.04,-1.00) r=0.88m +[headless_play] t= 18.60s step= 930 trunk_z= 113.6mm grav_b=(-0.03,-0.11,-0.99) r=0.90m +[headless_play] t= 18.70s step= 935 trunk_z= 121.2mm grav_b=(-0.01,-0.16,-0.99) r=0.91m +[headless_play] t= 18.80s step= 940 trunk_z= 122.3mm grav_b=(+0.00,-0.12,-0.99) r=0.90m +[headless_play] t= 18.90s step= 945 trunk_z= 119.0mm grav_b=(+0.04,-0.00,-1.00) r=0.88m +[headless_play] t= 19.00s step= 950 trunk_z= 122.6mm grav_b=(-0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 19.10s step= 955 trunk_z= 122.4mm grav_b=(-0.06,-0.10,-0.99) r=0.90m +[headless_play] t= 19.20s step= 960 trunk_z= 123.8mm grav_b=(-0.03,-0.10,-0.99) r=0.90m +[headless_play] t= 19.30s step= 965 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.87m +[headless_play] t= 19.40s step= 970 trunk_z= 122.3mm grav_b=(-0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00) r=0.86m +[headless_play] t= 19.60s step= 980 trunk_z= 118.1mm grav_b=(-0.05,-0.10,-0.99) r=0.87m +[headless_play] t= 19.70s step= 985 trunk_z= 119.3mm grav_b=(-0.03,-0.12,-0.99) r=0.87m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(-0.00,-0.07,-1.00) r=0.85m +[headless_play] t= 19.90s step= 995 trunk_z= 118.4mm grav_b=(-0.02,+0.04,-1.00) r=0.83m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.00,-0.00,-1.00) r=0.49m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t7.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..098c6b7cfe93ab8596e02062e40d16ab943f496d --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.011,-17.671,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.3mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 0.50s step= 25 trunk_z= 115.8mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 115.5mm grav_b=(-0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 115.5mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 115.4mm grav_b=(-0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 115.4mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 115.3mm grav_b=(-0.04,-0.02,-1.00) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 115.1mm grav_b=(-0.04,-0.02,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(-0.04,-0.02,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 3.60s step= 180 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 115.2mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 115.1mm grav_b=(-0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 118.6mm grav_b=(-0.07,-0.08,-0.99) r=0.32m +[headless_play] t= 4.30s step= 215 trunk_z= 117.2mm grav_b=(-0.06,-0.06,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 117.5mm grav_b=(-0.09,-0.03,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(-0.08,-0.03,-1.00) r=0.34m +[headless_play] t= 4.60s step= 230 trunk_z= 116.7mm grav_b=(-0.10,-0.02,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(-0.10,-0.02,-0.99) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 117.2mm grav_b=(-0.12,-0.12,-0.98) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(-0.10,-0.09,-0.99) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00) r=0.36m +[headless_play] t= 5.10s step= 255 trunk_z= 122.7mm grav_b=(-0.02,+0.11,-0.99) r=0.37m +[headless_play] t= 5.20s step= 260 trunk_z= 123.9mm grav_b=(+0.01,+0.05,-1.00) r=0.37m +[headless_play] t= 5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.05,-0.09,-0.99) r=0.35m +[headless_play] t= 5.40s step= 270 trunk_z= 125.2mm grav_b=(-0.05,-0.12,-0.99) r=0.35m +[headless_play] t= 5.50s step= 275 trunk_z= 121.5mm grav_b=(-0.00,-0.07,-1.00) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 119.8mm grav_b=(-0.04,+0.09,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 126.9mm grav_b=(-0.05,+0.09,-0.99) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 121.3mm grav_b=(-0.08,+0.04,-1.00) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 123.5mm grav_b=(-0.07,-0.09,-0.99) r=0.38m +[headless_play] t= 6.00s step= 300 trunk_z= 121.6mm grav_b=(-0.04,-0.08,-1.00) r=0.38m +[headless_play] t= 6.10s step= 305 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 126.1mm grav_b=(+0.01,+0.11,-0.99) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 126.7mm grav_b=(-0.03,+0.05,-1.00) r=0.44m +[headless_play] t= 6.40s step= 320 trunk_z= 122.4mm grav_b=(-0.08,-0.09,-0.99) r=0.44m +[headless_play] t= 6.50s step= 325 trunk_z= 125.1mm grav_b=(-0.08,-0.12,-0.99) r=0.44m +[headless_play] t= 6.60s step= 330 trunk_z= 119.0mm grav_b=(-0.03,-0.04,-1.00) r=0.46m +[headless_play] t= 6.70s step= 335 trunk_z= 122.1mm grav_b=(-0.01,+0.09,-1.00) r=0.49m +[headless_play] t= 6.80s step= 340 trunk_z= 125.1mm grav_b=(-0.01,+0.06,-1.00) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 120.7mm grav_b=(-0.05,-0.08,-1.00) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 124.6mm grav_b=(-0.06,-0.12,-0.99) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 119.7mm grav_b=(-0.02,-0.06,-1.00) r=0.52m +[headless_play] t= 7.20s step= 360 trunk_z= 120.0mm grav_b=(-0.01,+0.09,-1.00) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 126.2mm grav_b=(-0.01,+0.08,-1.00) r=0.56m +[headless_play] t= 7.40s step= 370 trunk_z= 119.0mm grav_b=(-0.05,-0.04,-1.00) r=0.56m +[headless_play] t= 7.50s step= 375 trunk_z= 124.4mm grav_b=(-0.07,-0.12,-0.99) r=0.56m +[headless_play] t= 7.60s step= 380 trunk_z= 120.6mm grav_b=(-0.03,-0.08,-1.00) r=0.58m +[headless_play] t= 7.70s step= 385 trunk_z= 120.0mm grav_b=(+0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 7.80s step= 390 trunk_z= 124.8mm grav_b=(+0.07,+0.02,-1.00) r=0.63m +[headless_play] t= 7.90s step= 395 trunk_z= 122.7mm grav_b=(+0.00,-0.05,-1.00) r=0.65m +[headless_play] t= 8.00s step= 400 trunk_z= 121.1mm grav_b=(-0.09,-0.15,-0.98) r=0.67m +[headless_play] t= 8.10s step= 405 trunk_z= 127.8mm grav_b=(-0.03,-0.14,-0.99) r=0.68m +[headless_play] t= 8.20s step= 410 trunk_z= 125.7mm grav_b=(-0.04,-0.10,-0.99) r=0.71m +[headless_play] t= 8.30s step= 415 trunk_z= 120.9mm grav_b=(-0.09,+0.04,-1.00) r=0.73m +[headless_play] t= 8.40s step= 420 trunk_z= 125.4mm grav_b=(-0.08,+0.08,-0.99) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 121.9mm grav_b=(-0.07,+0.04,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 117.8mm grav_b=(-0.08,-0.07,-0.99) r=0.75m +[headless_play] t= 8.70s step= 435 trunk_z= 118.6mm grav_b=(-0.06,-0.08,-0.99) r=0.75m +[headless_play] t= 8.80s step= 440 trunk_z= 115.5mm grav_b=(-0.03,-0.04,-1.00) r=0.76m +[headless_play] t= 8.90s step= 445 trunk_z= 116.3mm grav_b=(+0.02,+0.05,-1.00) r=0.78m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(+0.02,+0.04,-1.00) r=0.79m +[headless_play] t= 9.10s step= 455 trunk_z= 111.6mm grav_b=(+0.04,-0.08,-1.00) r=0.79m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(-0.01,-0.11,-0.99) r=0.80m +[headless_play] t= 9.30s step= 465 trunk_z= 114.7mm grav_b=(-0.01,-0.05,-1.00) r=0.81m +[headless_play] t= 9.40s step= 470 trunk_z= 116.4mm grav_b=(-0.02,+0.05,-1.00) r=0.82m +[headless_play] t= 9.50s step= 475 trunk_z= 118.5mm grav_b=(-0.05,+0.03,-1.00) r=0.83m +[headless_play] t= 9.60s step= 480 trunk_z= 112.5mm grav_b=(+0.01,-0.05,-1.00) r=0.83m +[headless_play] t= 9.70s step= 485 trunk_z= 113.9mm grav_b=(+0.01,-0.11,-0.99) r=0.84m +[headless_play] t= 9.80s step= 490 trunk_z= 113.0mm grav_b=(+0.03,-0.08,-1.00) r=0.85m +[headless_play] t= 9.90s step= 495 trunk_z= 111.9mm grav_b=(+0.02,+0.05,-1.00) r=0.86m +[headless_play] t= 10.00s step= 500 trunk_z= 118.6mm grav_b=(-0.02,+0.05,-1.00) r=0.88m +[headless_play] t= 10.10s step= 505 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 10.20s step= 510 trunk_z= 114.3mm grav_b=(+0.01,-0.08,-1.00) r=0.90m +[headless_play] t= 10.30s step= 515 trunk_z= 113.4mm grav_b=(+0.03,-0.07,-1.00) r=0.90m +[headless_play] t= 10.40s step= 520 trunk_z= 110.2mm grav_b=(+0.02,+0.06,-1.00) r=0.91m +[headless_play] t= 10.50s step= 525 trunk_z= 119.2mm grav_b=(-0.03,+0.05,-1.00) r=0.92m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(+0.00,+0.02,-1.00) r=0.93m +[headless_play] t= 10.70s step= 535 trunk_z= 111.7mm grav_b=(+0.03,-0.12,-0.99) r=0.94m +[headless_play] t= 10.80s step= 540 trunk_z= 115.5mm grav_b=(+0.03,-0.11,-0.99) r=0.95m +[headless_play] t= 10.90s step= 545 trunk_z= 112.4mm grav_b=(+0.04,-0.06,-1.00) r=0.96m +[headless_play] t= 11.00s step= 550 trunk_z= 116.1mm grav_b=(-0.00,+0.07,-1.00) r=0.96m +[headless_play] t= 11.10s step= 555 trunk_z= 119.8mm grav_b=(-0.05,+0.05,-1.00) r=0.97m +[headless_play] t= 11.20s step= 560 trunk_z= 114.5mm grav_b=(+0.02,-0.02,-1.00) r=0.99m +[headless_play] t= 11.30s step= 565 trunk_z= 115.8mm grav_b=(+0.01,-0.11,-0.99) r=1.00m +[headless_play] t= 11.40s step= 570 trunk_z= 113.2mm grav_b=(+0.02,-0.10,-0.99) r=1.00m +[headless_play] t= 11.50s step= 575 trunk_z= 111.0mm grav_b=(+0.01,+0.04,-1.00) r=1.00m +[headless_play] t= 11.60s step= 580 trunk_z= 120.4mm grav_b=(-0.04,+0.05,-1.00) r=1.01m +[headless_play] t= 11.70s step= 585 trunk_z= 118.3mm grav_b=(-0.02,+0.04,-1.00) r=1.02m +[headless_play] t= 11.80s step= 590 trunk_z= 110.9mm grav_b=(+0.02,-0.09,-1.00) r=1.04m +[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(+0.02,-0.12,-0.99) r=1.05m +[headless_play] t= 12.00s step= 600 trunk_z= 113.9mm grav_b=(-0.01,-0.08,-1.00) r=1.05m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(-0.01,+0.08,-1.00) r=1.06m +[headless_play] t= 12.20s step= 610 trunk_z= 120.5mm grav_b=(-0.01,+0.04,-1.00) r=1.07m +[headless_play] t= 12.30s step= 615 trunk_z= 115.9mm grav_b=(-0.02,-0.08,-1.00) r=1.09m +[headless_play] t= 12.40s step= 620 trunk_z= 120.8mm grav_b=(-0.03,-0.12,-0.99) r=1.10m +[headless_play] t= 12.50s step= 625 trunk_z= 117.5mm grav_b=(+0.00,-0.07,-1.00) r=1.11m +[headless_play] t= 12.60s step= 630 trunk_z= 116.2mm grav_b=(+0.00,+0.08,-1.00) r=1.12m +[headless_play] t= 12.70s step= 635 trunk_z= 121.4mm grav_b=(-0.02,+0.05,-1.00) r=1.14m +[headless_play] t= 12.80s step= 640 trunk_z= 116.1mm grav_b=(-0.05,-0.06,-1.00) r=1.15m +[headless_play] t= 12.90s step= 645 trunk_z= 121.3mm grav_b=(-0.08,-0.11,-0.99) r=1.17m +[headless_play] t= 13.00s step= 650 trunk_z= 117.4mm grav_b=(-0.02,-0.09,-1.00) r=1.18m +[headless_play] t= 13.10s step= 655 trunk_z= 112.5mm grav_b=(+0.01,+0.08,-1.00) r=1.18m +[headless_play] t= 13.20s step= 660 trunk_z= 121.5mm grav_b=(-0.01,+0.08,-1.00) r=1.19m +[headless_play] t= 13.30s step= 665 trunk_z= 118.9mm grav_b=(-0.03,+0.02,-1.00) r=1.21m +[headless_play] t= 13.40s step= 670 trunk_z= 119.5mm grav_b=(-0.05,-0.10,-0.99) r=1.23m +[headless_play] t= 13.50s step= 675 trunk_z= 117.8mm grav_b=(-0.01,-0.09,-1.00) r=1.24m +[headless_play] t= 13.60s step= 680 trunk_z= 114.2mm grav_b=(-0.11,+0.05,-0.99) r=1.21m +[headless_play] t= 13.70s step= 685 trunk_z= 126.5mm grav_b=(-0.20,+0.10,-0.97) r=1.19m +[headless_play] t= 13.80s step= 690 trunk_z= 126.8mm grav_b=(-0.04,+0.00,-1.00) r=1.18m +[headless_play] t= 13.90s step= 695 trunk_z= 120.7mm grav_b=(-0.11,+0.01,-0.99) r=1.16m +[headless_play] t= 14.00s step= 700 trunk_z= 115.6mm grav_b=(-0.13,+0.03,-0.99) r=1.13m +[headless_play] t= 14.10s step= 705 trunk_z= 97.2mm grav_b=(-0.03,+0.14,-0.99) r=1.10m +[headless_play] t= 14.20s step= 710 trunk_z= 112.0mm grav_b=(-0.02,+0.12,-0.99) r=1.10m +[headless_play] t= 14.30s step= 715 trunk_z= 110.5mm grav_b=(-0.04,-0.04,-1.00) r=1.12m +[headless_play] t= 14.40s step= 720 trunk_z= 118.3mm grav_b=(-0.07,-0.12,-0.99) r=1.13m +[headless_play] t= 14.50s step= 725 trunk_z= 117.2mm grav_b=(-0.02,-0.09,-1.00) r=1.13m +[headless_play] t= 14.60s step= 730 trunk_z= 114.9mm grav_b=(-0.01,+0.09,-1.00) r=1.11m +[headless_play] t= 14.70s step= 735 trunk_z= 126.4mm grav_b=(-0.02,+0.13,-0.99) r=1.10m +[headless_play] t= 14.80s step= 740 trunk_z= 124.8mm grav_b=(-0.02,+0.06,-1.00) r=1.10m +[headless_play] t= 14.90s step= 745 trunk_z= 121.0mm grav_b=(-0.04,-0.06,-1.00) r=1.11m +[headless_play] t= 15.00s step= 750 trunk_z= 117.4mm grav_b=(-0.07,-0.08,-0.99) r=1.12m +[headless_play] t= 15.10s step= 755 trunk_z= 115.4mm grav_b=(-0.06,-0.01,-1.00) r=1.11m +[headless_play] t= 15.20s step= 760 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 15.30s step= 765 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=1.11m +[headless_play] t= 15.40s step= 770 trunk_z= 115.7mm grav_b=(-0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 15.50s step= 775 trunk_z= 115.7mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 15.60s step= 780 trunk_z= 115.8mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 15.70s step= 785 trunk_z= 115.8mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 15.90s step= 795 trunk_z= 115.7mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.00s step= 800 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.10s step= 805 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.20s step= 810 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.30s step= 815 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.40s step= 820 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.50s step= 825 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.60s step= 830 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.70s step= 835 trunk_z= 115.6mm grav_b=(-0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 16.80s step= 840 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 16.90s step= 845 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 17.00s step= 850 trunk_z= 115.7mm grav_b=(-0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 17.10s step= 855 trunk_z= 115.6mm grav_b=(-0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 17.20s step= 860 trunk_z= 115.6mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 17.30s step= 865 trunk_z= 115.3mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 17.40s step= 870 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 17.50s step= 875 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 17.60s step= 880 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 17.70s step= 885 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 17.80s step= 890 trunk_z= 115.0mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 17.90s step= 895 trunk_z= 115.0mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 18.00s step= 900 trunk_z= 115.0mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 18.10s step= 905 trunk_z= 115.0mm grav_b=(-0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 18.20s step= 910 trunk_z= 115.4mm grav_b=(+0.02,-0.05,-1.00) r=1.11m +[headless_play] t= 18.30s step= 915 trunk_z= 115.6mm grav_b=(+0.03,-0.03,-1.00) r=1.11m +[headless_play] t= 18.40s step= 920 trunk_z= 115.8mm grav_b=(+0.02,+0.04,-1.00) r=1.11m +[headless_play] t= 18.50s step= 925 trunk_z= 114.0mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 18.60s step= 930 trunk_z= 114.4mm grav_b=(-0.04,-0.03,-1.00) r=1.11m +[headless_play] t= 18.70s step= 935 trunk_z= 114.2mm grav_b=(-0.02,-0.03,-1.00) r=1.11m +[headless_play] t= 18.80s step= 940 trunk_z= 114.3mm grav_b=(-0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 18.90s step= 945 trunk_z= 114.4mm grav_b=(+0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 19.00s step= 950 trunk_z= 114.5mm grav_b=(-0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 19.10s step= 955 trunk_z= 114.5mm grav_b=(-0.02,-0.03,-1.00) r=1.11m +[headless_play] t= 19.20s step= 960 trunk_z= 114.5mm grav_b=(-0.02,-0.03,-1.00) r=1.11m +[headless_play] t= 19.30s step= 965 trunk_z= 114.4mm grav_b=(-0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 19.40s step= 970 trunk_z= 114.5mm grav_b=(-0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 19.50s step= 975 trunk_z= 114.3mm grav_b=(-0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 19.60s step= 980 trunk_z= 114.4mm grav_b=(-0.01,-0.03,-1.00) r=1.11m +[headless_play] t= 19.70s step= 985 trunk_z= 114.4mm grav_b=(-0.00,-0.03,-1.00) r=1.11m +[headless_play] t= 19.80s step= 990 trunk_z= 114.9mm grav_b=(-0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 19.90s step= 995 trunk_z= 115.2mm grav_b=(-0.01,+0.02,-1.00) r=1.10m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t8.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..51e3f85137c0dc830771fbe7586555819c1f6d6c --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.194,-18.068,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 116.9mm grav_b=(-0.01,+0.05,-1.00) r=0.19m +[headless_play] t= 0.30s step= 15 trunk_z= 117.8mm grav_b=(+0.02,+0.04,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(+0.01,+0.10,-1.00) r=0.19m +[headless_play] t= 0.50s step= 25 trunk_z= 124.8mm grav_b=(-0.04,+0.07,-1.00) r=0.19m +[headless_play] t= 0.60s step= 30 trunk_z= 118.1mm grav_b=(-0.06,-0.04,-1.00) r=0.20m +[headless_play] t= 0.70s step= 35 trunk_z= 123.3mm grav_b=(-0.07,-0.07,-1.00) r=0.20m +[headless_play] t= 0.80s step= 40 trunk_z= 118.4mm grav_b=(-0.06,+0.02,-1.00) r=0.19m +[headless_play] t= 0.90s step= 45 trunk_z= 123.2mm grav_b=(-0.04,+0.10,-0.99) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 126.6mm grav_b=(-0.03,+0.05,-1.00) r=0.16m +[headless_play] t= 1.10s step= 55 trunk_z= 122.6mm grav_b=(-0.05,-0.08,-1.00) r=0.16m +[headless_play] t= 1.20s step= 60 trunk_z= 126.6mm grav_b=(-0.04,-0.07,-1.00) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 124.5mm grav_b=(-0.06,-0.02,-1.00) r=0.15m +[headless_play] t= 1.40s step= 70 trunk_z= 121.5mm grav_b=(-0.07,+0.07,-1.00) r=0.13m +[headless_play] t= 1.50s step= 75 trunk_z= 126.5mm grav_b=(-0.06,+0.08,-0.99) r=0.13m +[headless_play] t= 1.60s step= 80 trunk_z= 121.5mm grav_b=(-0.06,+0.02,-1.00) r=0.13m +[headless_play] t= 1.70s step= 85 trunk_z= 124.8mm grav_b=(-0.06,-0.08,-0.99) r=0.14m +[headless_play] t= 1.80s step= 90 trunk_z= 123.4mm grav_b=(-0.05,-0.02,-1.00) r=0.13m +[headless_play] t= 1.90s step= 95 trunk_z= 119.0mm grav_b=(-0.06,+0.08,-0.99) r=0.11m +[headless_play] t= 2.00s step= 100 trunk_z= 126.9mm grav_b=(-0.07,+0.10,-0.99) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 125.2mm grav_b=(-0.06,+0.08,-1.00) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 123.5mm grav_b=(-0.07,-0.06,-1.00) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 123.8mm grav_b=(-0.05,-0.04,-1.00) r=0.11m +[headless_play] t= 2.40s step= 120 trunk_z= 117.9mm grav_b=(-0.07,+0.05,-1.00) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 126.0mm grav_b=(-0.08,+0.09,-0.99) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 125.7mm grav_b=(-0.07,+0.08,-0.99) r=0.07m +[headless_play] t= 2.70s step= 135 trunk_z= 122.7mm grav_b=(-0.06,-0.06,-1.00) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 125.1mm grav_b=(-0.05,-0.07,-1.00) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 120.9mm grav_b=(-0.05,+0.01,-1.00) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 124.9mm grav_b=(-0.06,+0.09,-0.99) r=0.06m +[headless_play] t= 3.10s step= 155 trunk_z= 126.3mm grav_b=(-0.05,+0.08,-1.00) r=0.06m +[headless_play] t= 3.20s step= 160 trunk_z= 121.3mm grav_b=(-0.07,-0.03,-1.00) r=0.08m +[headless_play] t= 3.30s step= 165 trunk_z= 124.8mm grav_b=(-0.07,-0.05,-1.00) r=0.09m +[headless_play] t= 3.40s step= 170 trunk_z= 118.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 124.2mm grav_b=(-0.07,+0.08,-0.99) r=0.07m +[headless_play] t= 3.60s step= 180 trunk_z= 125.2mm grav_b=(-0.05,+0.06,-1.00) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 122.1mm grav_b=(-0.07,-0.06,-1.00) r=0.09m +[headless_play] t= 3.80s step= 190 trunk_z= 124.4mm grav_b=(-0.07,-0.05,-1.00) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 117.5mm grav_b=(-0.07,+0.04,-1.00) r=0.08m +[headless_play] t= 4.00s step= 200 trunk_z= 124.9mm grav_b=(-0.08,+0.08,-0.99) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 123.1mm grav_b=(-0.06,+0.05,-1.00) r=0.09m +[headless_play] t= 4.20s step= 210 trunk_z= 124.0mm grav_b=(-0.08,-0.08,-0.99) r=0.11m +[headless_play] t= 4.30s step= 215 trunk_z= 125.0mm grav_b=(-0.06,-0.05,-1.00) r=0.12m +[headless_play] t= 4.40s step= 220 trunk_z= 118.7mm grav_b=(-0.06,+0.04,-1.00) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 126.2mm grav_b=(-0.06,+0.09,-0.99) r=0.11m +[headless_play] t= 4.60s step= 230 trunk_z= 125.9mm grav_b=(-0.05,+0.08,-1.00) r=0.12m +[headless_play] t= 4.70s step= 235 trunk_z= 122.4mm grav_b=(-0.07,-0.05,-1.00) r=0.14m +[headless_play] t= 4.80s step= 240 trunk_z= 123.1mm grav_b=(-0.07,-0.08,-0.99) r=0.14m +[headless_play] t= 4.90s step= 245 trunk_z= 118.3mm grav_b=(-0.06,-0.00,-1.00) r=0.13m +[headless_play] t= 5.00s step= 250 trunk_z= 118.2mm grav_b=(-0.08,+0.03,-1.00) r=0.13m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(-0.06,-0.03,-1.00) r=0.14m +[headless_play] t= 5.20s step= 260 trunk_z= 119.0mm grav_b=(+0.01,-0.10,-0.99) r=0.16m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(+0.02,-0.05,-1.00) r=0.17m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(+0.00,+0.03,-1.00) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 115.6mm grav_b=(-0.04,-0.03,-1.00) r=0.17m +[headless_play] t= 5.60s step= 280 trunk_z= 115.4mm grav_b=(-0.05,-0.04,-1.00) r=0.17m +[headless_play] t= 5.70s step= 285 trunk_z= 115.4mm grav_b=(-0.04,-0.03,-1.00) r=0.17m +[headless_play] t= 5.80s step= 290 trunk_z= 115.1mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 115.2mm grav_b=(+0.01,-0.03,-1.00) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 115.2mm grav_b=(+0.01,-0.03,-1.00) r=0.17m +[headless_play] t= 6.20s step= 310 trunk_z= 115.0mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 6.30s step= 315 trunk_z= 115.0mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 115.0mm grav_b=(-0.03,-0.03,-1.00) r=0.17m +[headless_play] t= 6.50s step= 325 trunk_z= 114.9mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 6.60s step= 330 trunk_z= 114.7mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 6.70s step= 335 trunk_z= 114.7mm grav_b=(+0.01,-0.03,-1.00) r=0.18m +[headless_play] t= 6.80s step= 340 trunk_z= 114.8mm grav_b=(+0.01,-0.03,-1.00) r=0.18m +[headless_play] t= 6.90s step= 345 trunk_z= 114.8mm grav_b=(+0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 7.00s step= 350 trunk_z= 114.7mm grav_b=(-0.01,-0.03,-1.00) r=0.17m +[headless_play] t= 7.10s step= 355 trunk_z= 114.8mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 7.20s step= 360 trunk_z= 114.7mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 7.30s step= 365 trunk_z= 114.7mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 7.40s step= 370 trunk_z= 114.6mm grav_b=(+0.01,-0.03,-1.00) r=0.18m +[headless_play] t= 7.50s step= 375 trunk_z= 114.6mm grav_b=(+0.01,-0.03,-1.00) r=0.17m +[headless_play] t= 7.60s step= 380 trunk_z= 114.6mm grav_b=(+0.01,-0.03,-1.00) r=0.17m +[headless_play] t= 7.70s step= 385 trunk_z= 114.6mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 7.80s step= 390 trunk_z= 114.6mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 7.90s step= 395 trunk_z= 114.6mm grav_b=(-0.04,-0.04,-1.00) r=0.17m +[headless_play] t= 8.00s step= 400 trunk_z= 114.7mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 8.10s step= 405 trunk_z= 115.4mm grav_b=(+0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 8.20s step= 410 trunk_z= 115.8mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(-0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 8.40s step= 420 trunk_z= 115.3mm grav_b=(-0.05,-0.04,-1.00) r=0.16m +[headless_play] t= 8.50s step= 425 trunk_z= 115.5mm grav_b=(-0.06,-0.04,-1.00) r=0.16m +[headless_play] t= 8.60s step= 430 trunk_z= 115.6mm grav_b=(-0.05,-0.04,-1.00) r=0.16m +[headless_play] t= 8.70s step= 435 trunk_z= 115.7mm grav_b=(-0.03,-0.04,-1.00) r=0.16m +[headless_play] t= 8.80s step= 440 trunk_z= 115.9mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 8.90s step= 445 trunk_z= 116.0mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.00s step= 450 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.10s step= 455 trunk_z= 116.0mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.50s step= 475 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.60s step= 480 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.70s step= 485 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.80s step= 490 trunk_z= 116.2mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 9.90s step= 495 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 10.30s step= 515 trunk_z= 116.3mm grav_b=(-0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 10.40s step= 520 trunk_z= 117.8mm grav_b=(-0.04,+0.09,-1.00) r=0.17m +[headless_play] t= 10.50s step= 525 trunk_z= 127.4mm grav_b=(-0.04,+0.18,-0.98) r=0.17m +[headless_play] t= 10.60s step= 530 trunk_z= 130.7mm grav_b=(-0.03,+0.27,-0.96) r=0.18m +[headless_play] t= 10.70s step= 535 trunk_z= 130.9mm grav_b=(+0.03,+0.24,-0.97) r=0.19m +[headless_play] t= 10.80s step= 540 trunk_z= 123.6mm grav_b=(-0.04,+0.26,-0.97) r=0.22m +[headless_play] t= 10.90s step= 545 trunk_z= 123.3mm grav_b=(+0.09,+0.26,-0.96) r=0.24m +[headless_play] t= 11.00s step= 550 trunk_z= 114.3mm grav_b=(+0.05,+0.24,-0.97) r=0.25m +[headless_play] t= 11.10s step= 555 trunk_z= 125.9mm grav_b=(+0.05,+0.18,-0.98) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(-0.13,+0.06,-0.99) r=0.31m +[headless_play] t= 11.30s step= 565 trunk_z= 120.1mm grav_b=(-0.15,-0.02,-0.99) r=0.34m +[headless_play] t= 11.40s step= 570 trunk_z= 122.0mm grav_b=(-0.09,-0.01,-1.00) r=0.34m +[headless_play] t= 11.50s step= 575 trunk_z= 115.3mm grav_b=(-0.09,+0.07,-0.99) r=0.32m +[headless_play] t= 11.60s step= 580 trunk_z= 120.9mm grav_b=(-0.08,+0.06,-0.99) r=0.33m +[headless_play] t= 11.70s step= 585 trunk_z= 113.8mm grav_b=(-0.04,-0.07,-1.00) r=0.34m +[headless_play] t= 11.80s step= 590 trunk_z= 122.2mm grav_b=(-0.02,-0.09,-1.00) r=0.35m +[headless_play] t= 11.90s step= 595 trunk_z= 120.4mm grav_b=(-0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 12.00s step= 600 trunk_z= 121.2mm grav_b=(-0.05,+0.13,-0.99) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 127.0mm grav_b=(-0.06,+0.12,-0.99) r=0.32m +[headless_play] t= 12.20s step= 610 trunk_z= 124.3mm grav_b=(-0.08,+0.07,-0.99) r=0.33m +[headless_play] t= 12.30s step= 615 trunk_z= 123.0mm grav_b=(-0.09,-0.02,-1.00) r=0.35m +[headless_play] t= 12.40s step= 620 trunk_z= 121.7mm grav_b=(-0.09,-0.00,-1.00) r=0.35m +[headless_play] t= 12.50s step= 625 trunk_z= 118.6mm grav_b=(-0.06,+0.09,-0.99) r=0.33m +[headless_play] t= 12.60s step= 630 trunk_z= 123.8mm grav_b=(-0.06,+0.08,-1.00) r=0.33m +[headless_play] t= 12.70s step= 635 trunk_z= 118.6mm grav_b=(-0.05,+0.02,-1.00) r=0.34m +[headless_play] t= 12.80s step= 640 trunk_z= 117.9mm grav_b=(-0.08,-0.05,-1.00) r=0.35m +[headless_play] t= 12.90s step= 645 trunk_z= 116.9mm grav_b=(-0.05,-0.04,-1.00) r=0.35m +[headless_play] t= 13.00s step= 650 trunk_z= 114.0mm grav_b=(-0.02,+0.03,-1.00) r=0.33m +[headless_play] t= 13.10s step= 655 trunk_z= 118.2mm grav_b=(+0.03,+0.09,-1.00) r=0.32m +[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] t= 13.30s step= 665 trunk_z= 118.3mm grav_b=(-0.04,-0.10,-0.99) r=0.34m +[headless_play] t= 13.40s step= 670 trunk_z= 118.5mm grav_b=(-0.07,-0.07,-0.99) r=0.34m +[headless_play] t= 13.50s step= 675 trunk_z= 114.8mm grav_b=(-0.03,+0.03,-1.00) r=0.32m +[headless_play] t= 13.60s step= 680 trunk_z= 120.1mm grav_b=(-0.02,+0.08,-1.00) r=0.32m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(+0.01,+0.04,-1.00) r=0.32m +[headless_play] t= 13.80s step= 690 trunk_z= 116.6mm grav_b=(-0.02,-0.08,-1.00) r=0.34m +[headless_play] t= 13.90s step= 695 trunk_z= 117.2mm grav_b=(-0.03,-0.06,-1.00) r=0.33m +[headless_play] t= 14.00s step= 700 trunk_z= 113.6mm grav_b=(-0.02,+0.04,-1.00) r=0.32m +[headless_play] t= 14.10s step= 705 trunk_z= 120.6mm grav_b=(-0.04,+0.05,-1.00) r=0.31m +[headless_play] t= 14.20s step= 710 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 115.6mm grav_b=(-0.02,-0.08,-1.00) r=0.34m +[headless_play] t= 14.40s step= 720 trunk_z= 115.5mm grav_b=(-0.06,+0.00,-1.00) r=0.32m +[headless_play] t= 14.50s step= 725 trunk_z= 119.3mm grav_b=(-0.15,+0.18,-0.97) r=0.28m +[headless_play] t= 14.60s step= 730 trunk_z= 132.4mm grav_b=(-0.15,+0.25,-0.96) r=0.26m +[headless_play] t= 14.70s step= 735 trunk_z= 129.0mm grav_b=(-0.12,+0.35,-0.93) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 104.3mm grav_b=(-0.17,+0.47,-0.87) r=0.24m +[headless_play] t= 14.90s step= 745 trunk_z= 83.4mm grav_b=(-0.17,+0.67,-0.72) r=0.21m +[headless_play] RESET at t= 14.98s step= 749 (env termination, not a recovery) +[headless_play] t= 15.00s step= 750 trunk_z= 123.8mm grav_b=(-0.01,+0.00,-1.00) r=0.04m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(-0.02,+0.03,-1.00) r=0.05m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(-0.06,+0.06,-1.00) r=0.05m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(-0.10,+0.01,-1.00) r=0.04m +[headless_play] t= 15.40s step= 770 trunk_z= 119.0mm grav_b=(-0.13,-0.05,-0.99) r=0.04m +[headless_play] t= 15.50s step= 775 trunk_z= 119.1mm grav_b=(-0.14,+0.00,-0.99) r=0.03m +[headless_play] t= 15.60s step= 780 trunk_z= 119.9mm grav_b=(-0.15,+0.09,-0.98) r=0.02m +[headless_play] t= 15.70s step= 785 trunk_z= 124.4mm grav_b=(-0.11,+0.10,-0.99) r=0.01m +[headless_play] t= 15.80s step= 790 trunk_z= 110.3mm grav_b=(-0.05,+0.02,-1.00) r=0.01m +[headless_play] t= 15.90s step= 795 trunk_z= 113.9mm grav_b=(-0.09,-0.03,-1.00) r=0.02m +[headless_play] t= 16.00s step= 800 trunk_z= 112.7mm grav_b=(-0.10,+0.02,-1.00) r=0.01m +[headless_play] t= 16.10s step= 805 trunk_z= 118.3mm grav_b=(-0.07,+0.05,-1.00) r=0.01m +[headless_play] t= 16.20s step= 810 trunk_z= 117.3mm grav_b=(-0.04,+0.02,-1.00) r=0.02m +[headless_play] t= 16.30s step= 815 trunk_z= 115.7mm grav_b=(-0.03,-0.07,-1.00) r=0.03m +[headless_play] t= 16.40s step= 820 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.03m +[headless_play] t= 16.50s step= 825 trunk_z= 116.7mm grav_b=(-0.06,+0.10,-0.99) r=0.02m +[headless_play] t= 16.60s step= 830 trunk_z= 123.0mm grav_b=(-0.11,+0.09,-0.99) r=0.03m +[headless_play] t= 16.70s step= 835 trunk_z= 118.8mm grav_b=(-0.09,+0.04,-0.99) r=0.04m +[headless_play] t= 16.80s step= 840 trunk_z= 118.0mm grav_b=(-0.10,-0.05,-0.99) r=0.06m +[headless_play] t= 16.90s step= 845 trunk_z= 118.6mm grav_b=(-0.11,-0.02,-0.99) r=0.06m +[headless_play] t= 17.00s step= 850 trunk_z= 117.8mm grav_b=(-0.09,+0.07,-0.99) r=0.06m +[headless_play] t= 17.10s step= 855 trunk_z= 122.5mm grav_b=(-0.09,+0.08,-0.99) r=0.06m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(-0.05,+0.04,-1.00) r=0.07m +[headless_play] t= 17.30s step= 865 trunk_z= 116.9mm grav_b=(-0.04,-0.07,-1.00) r=0.08m +[headless_play] t= 17.40s step= 870 trunk_z= 117.6mm grav_b=(-0.04,-0.03,-1.00) r=0.09m +[headless_play] t= 17.50s step= 875 trunk_z= 117.2mm grav_b=(-0.07,+0.09,-0.99) r=0.09m +[headless_play] t= 17.60s step= 880 trunk_z= 125.0mm grav_b=(-0.10,+0.08,-0.99) r=0.10m +[headless_play] t= 17.70s step= 885 trunk_z= 121.8mm grav_b=(-0.07,+0.05,-1.00) r=0.11m +[headless_play] t= 17.80s step= 890 trunk_z= 118.3mm grav_b=(-0.07,-0.06,-1.00) r=0.11m +[headless_play] t= 17.90s step= 895 trunk_z= 118.0mm grav_b=(-0.07,-0.04,-1.00) r=0.11m +[headless_play] t= 18.00s step= 900 trunk_z= 115.4mm grav_b=(-0.07,+0.08,-0.99) r=0.10m +[headless_play] t= 18.10s step= 905 trunk_z= 124.5mm grav_b=(-0.04,+0.12,-0.99) r=0.10m +[headless_play] t= 18.20s step= 910 trunk_z= 122.2mm grav_b=(-0.04,+0.08,-1.00) r=0.11m +[headless_play] t= 18.30s step= 915 trunk_z= 120.1mm grav_b=(-0.06,-0.05,-1.00) r=0.12m +[headless_play] t= 18.40s step= 920 trunk_z= 119.0mm grav_b=(-0.07,-0.02,-1.00) r=0.12m +[headless_play] t= 18.50s step= 925 trunk_z= 118.2mm grav_b=(-0.09,+0.10,-0.99) r=0.12m +[headless_play] t= 18.60s step= 930 trunk_z= 126.7mm grav_b=(-0.07,+0.11,-0.99) r=0.12m +[headless_play] t= 18.70s step= 935 trunk_z= 122.0mm grav_b=(-0.06,+0.07,-1.00) r=0.14m +[headless_play] t= 18.80s step= 940 trunk_z= 120.0mm grav_b=(-0.07,-0.05,-1.00) r=0.15m +[headless_play] t= 18.90s step= 945 trunk_z= 118.6mm grav_b=(-0.04,-0.02,-1.00) r=0.15m +[headless_play] t= 19.00s step= 950 trunk_z= 118.0mm grav_b=(-0.07,+0.12,-0.99) r=0.15m +[headless_play] t= 19.10s step= 955 trunk_z= 127.4mm grav_b=(-0.07,+0.13,-0.99) r=0.15m +[headless_play] t= 19.20s step= 960 trunk_z= 128.6mm grav_b=(+0.12,+0.13,-0.99) r=0.20m +[headless_play] t= 19.30s step= 965 trunk_z= 101.9mm grav_b=(+0.15,+0.03,-0.99) r=0.25m +[headless_play] t= 19.40s step= 970 trunk_z= 122.9mm grav_b=(+0.30,-0.04,-0.95) r=0.28m +[headless_play] t= 19.50s step= 975 trunk_z= 139.6mm grav_b=(+0.10,-0.04,-0.99) r=0.31m +[headless_play] t= 19.60s step= 980 trunk_z= 108.4mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 19.70s step= 985 trunk_z= 111.9mm grav_b=(-0.06,+0.13,-0.99) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(-0.20,+0.11,-0.97) r=0.34m +[headless_play] t= 19.90s step= 995 trunk_z= 120.5mm grav_b=(-0.17,+0.05,-0.98) r=0.34m +[headless_play] t= 20.00s step=1000 trunk_z= 120.1mm grav_b=(-0.16,+0.05,-0.99) r=0.31m +[headless_play] t= 20.10s step=1005 trunk_z= 107.2mm grav_b=(-0.15,+0.16,-0.98) r=0.28m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t9.log b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..ae04187e2a64e60a44d38780ca0b4c58e8ee37e5 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/proof-z6-d-2026-10-17/z6-d-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-14.028,-17.594,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.2mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(-0.03,+0.08,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 114.1mm grav_b=(-0.03,-0.10,-0.99) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 118.8mm grav_b=(-0.08,-0.09,-0.99) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 120.3mm grav_b=(-0.04,-0.05,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 109.6mm grav_b=(-0.01,+0.10,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(+0.04,+0.17,-0.98) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(+0.05,+0.17,-0.98) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 112.4mm grav_b=(+0.04,+0.06,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(-0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 119.9mm grav_b=(-0.01,-0.06,-1.00) r=0.43m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(-0.03,+0.06,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 121.2mm grav_b=(-0.04,+0.12,-0.99) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 122.3mm grav_b=(-0.06,+0.09,-0.99) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(-0.00,+0.05,-1.00) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 112.6mm grav_b=(+0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 114.3mm grav_b=(+0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=0.39m +[headless_play] t= 2.10s step= 105 trunk_z= 111.9mm grav_b=(+0.03,+0.10,-0.99) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 119.3mm grav_b=(-0.01,+0.09,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.03,+0.07,-1.00) r=0.38m +[headless_play] t= 2.40s step= 120 trunk_z= 110.4mm grav_b=(+0.06,-0.05,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 114.6mm grav_b=(+0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 2.60s step= 130 trunk_z= 115.8mm grav_b=(+0.01,-0.05,-1.00) r=0.39m +[headless_play] t= 2.70s step= 135 trunk_z= 118.8mm grav_b=(-0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 123.7mm grav_b=(-0.01,+0.02,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(-0.02,-0.11,-0.99) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 125.4mm grav_b=(-0.00,-0.13,-0.99) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 121.9mm grav_b=(+0.02,-0.05,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 124.1mm grav_b=(+0.01,+0.08,-1.00) r=0.39m +[headless_play] t= 3.30s step= 165 trunk_z= 126.9mm grav_b=(+0.03,+0.07,-1.00) r=0.39m +[headless_play] t= 3.40s step= 170 trunk_z= 120.5mm grav_b=(-0.02,-0.04,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 127.2mm grav_b=(-0.06,-0.09,-0.99) r=0.43m +[headless_play] t= 3.60s step= 180 trunk_z= 124.1mm grav_b=(-0.07,-0.06,-1.00) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 120.2mm grav_b=(-0.06,+0.05,-1.00) r=0.40m +[headless_play] t= 3.80s step= 190 trunk_z= 125.9mm grav_b=(-0.01,+0.08,-1.00) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 121.8mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 4.00s step= 200 trunk_z= 125.6mm grav_b=(-0.04,-0.08,-1.00) r=0.43m +[headless_play] t= 4.10s step= 205 trunk_z= 123.7mm grav_b=(-0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 4.20s step= 210 trunk_z= 121.5mm grav_b=(+0.03,+0.08,-1.00) r=0.40m +[headless_play] t= 4.30s step= 215 trunk_z= 139.8mm grav_b=(+0.16,+0.16,-0.97) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 102.6mm grav_b=(+0.15,+0.01,-0.99) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 49.2mm grav_b=(+0.59,+0.03,-0.81) r=0.40m +[headless_play] RESET at t= 4.58s step= 229 (env termination, not a recovery) +[headless_play] t= 4.60s step= 230 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.02m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=0.02m +[headless_play] t= 4.80s step= 240 trunk_z= 115.8mm grav_b=(-0.02,+0.06,-1.00) r=0.03m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(-0.02,+0.04,-1.00) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(-0.01,-0.06,-1.00) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 113.8mm grav_b=(-0.02,+0.06,-1.00) r=0.06m +[headless_play] t= 5.30s step= 265 trunk_z= 118.6mm grav_b=(-0.04,+0.13,-0.99) r=0.08m +[headless_play] t= 5.40s step= 270 trunk_z= 119.3mm grav_b=(-0.06,+0.12,-0.99) r=0.08m +[headless_play] t= 5.50s step= 275 trunk_z= 112.4mm grav_b=(+0.02,+0.06,-1.00) r=0.09m +[headless_play] t= 5.60s step= 280 trunk_z= 114.7mm grav_b=(+0.03,-0.06,-1.00) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(+0.01,-0.05,-1.00) r=0.10m +[headless_play] t= 5.80s step= 290 trunk_z= 115.5mm grav_b=(+0.01,+0.03,-1.00) r=0.11m +[headless_play] t= 5.90s step= 295 trunk_z= 119.4mm grav_b=(-0.03,+0.10,-0.99) r=0.12m +[headless_play] t= 6.00s step= 300 trunk_z= 119.1mm grav_b=(-0.05,+0.10,-0.99) r=0.13m +[headless_play] t= 6.10s step= 305 trunk_z= 111.8mm grav_b=(+0.03,+0.02,-1.00) r=0.14m +[headless_play] t= 6.20s step= 310 trunk_z= 115.4mm grav_b=(+0.02,-0.05,-1.00) r=0.15m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(+0.00,-0.02,-1.00) r=0.15m +[headless_play] t= 6.40s step= 320 trunk_z= 113.5mm grav_b=(+0.00,+0.06,-1.00) r=0.16m +[headless_play] t= 6.50s step= 325 trunk_z= 118.9mm grav_b=(-0.03,+0.09,-1.00) r=0.17m +[headless_play] t= 6.60s step= 330 trunk_z= 115.0mm grav_b=(-0.01,+0.08,-1.00) r=0.18m +[headless_play] t= 6.70s step= 335 trunk_z= 109.9mm grav_b=(+0.07,-0.03,-1.00) r=0.19m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(+0.04,-0.03,-1.00) r=0.20m +[headless_play] t= 6.90s step= 345 trunk_z= 116.6mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 7.00s step= 350 trunk_z= 114.2mm grav_b=(-0.00,+0.11,-0.99) r=0.20m +[headless_play] t= 7.10s step= 355 trunk_z= 118.4mm grav_b=(-0.04,+0.10,-0.99) r=0.21m +[headless_play] t= 7.20s step= 360 trunk_z= 113.2mm grav_b=(+0.01,+0.08,-1.00) r=0.22m +[headless_play] t= 7.30s step= 365 trunk_z= 110.0mm grav_b=(+0.07,-0.06,-1.00) r=0.23m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(+0.02,-0.06,-1.00) r=0.24m +[headless_play] t= 7.50s step= 375 trunk_z= 115.9mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 7.60s step= 380 trunk_z= 117.1mm grav_b=(-0.04,+0.11,-0.99) r=0.24m +[headless_play] t= 7.70s step= 385 trunk_z= 119.7mm grav_b=(-0.06,+0.11,-0.99) r=0.24m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(+0.01,+0.08,-1.00) r=0.25m +[headless_play] t= 7.90s step= 395 trunk_z= 118.3mm grav_b=(-0.02,-0.08,-1.00) r=0.26m +[headless_play] t= 8.00s step= 400 trunk_z= 122.4mm grav_b=(-0.02,-0.07,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 123.6mm grav_b=(-0.05,+0.11,-0.99) r=0.26m +[headless_play] t= 8.30s step= 415 trunk_z= 124.9mm grav_b=(-0.03,+0.07,-1.00) r=0.26m +[headless_play] t= 8.40s step= 420 trunk_z= 117.3mm grav_b=(-0.03,-0.03,-1.00) r=0.28m +[headless_play] t= 8.50s step= 425 trunk_z= 121.9mm grav_b=(-0.02,-0.06,-1.00) r=0.29m +[headless_play] t= 8.60s step= 430 trunk_z= 116.8mm grav_b=(-0.00,+0.02,-1.00) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 122.1mm grav_b=(-0.03,+0.12,-0.99) r=0.28m +[headless_play] t= 8.80s step= 440 trunk_z= 125.7mm grav_b=(-0.02,+0.08,-1.00) r=0.29m +[headless_play] t= 8.90s step= 445 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 9.00s step= 450 trunk_z= 122.1mm grav_b=(-0.04,-0.06,-1.00) r=0.32m +[headless_play] t= 9.10s step= 455 trunk_z= 118.1mm grav_b=(-0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 9.20s step= 460 trunk_z= 121.4mm grav_b=(-0.02,+0.12,-0.99) r=0.31m +[headless_play] t= 9.30s step= 465 trunk_z= 125.4mm grav_b=(-0.00,+0.08,-1.00) r=0.31m +[headless_play] t= 9.40s step= 470 trunk_z= 118.7mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 9.50s step= 475 trunk_z= 122.7mm grav_b=(-0.06,-0.06,-1.00) r=0.34m +[headless_play] t= 9.60s step= 480 trunk_z= 120.3mm grav_b=(-0.03,-0.00,-1.00) r=0.34m +[headless_play] t= 9.70s step= 485 trunk_z= 120.3mm grav_b=(-0.04,+0.12,-0.99) r=0.32m +[headless_play] t= 9.80s step= 490 trunk_z= 126.0mm grav_b=(-0.01,+0.11,-0.99) r=0.32m +[headless_play] t= 9.90s step= 495 trunk_z= 121.3mm grav_b=(-0.01,+0.06,-1.00) r=0.33m +[headless_play] t= 10.00s step= 500 trunk_z= 121.5mm grav_b=(-0.05,-0.06,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 120.3mm grav_b=(-0.03,-0.02,-1.00) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(-0.03,+0.09,-1.00) r=0.34m +[headless_play] t= 10.30s step= 515 trunk_z= 124.8mm grav_b=(-0.01,+0.09,-1.00) r=0.34m +[headless_play] t= 10.40s step= 520 trunk_z= 121.7mm grav_b=(-0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 122.3mm grav_b=(-0.05,-0.06,-1.00) r=0.37m +[headless_play] t= 10.60s step= 530 trunk_z= 122.2mm grav_b=(-0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(-0.02,+0.09,-1.00) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 125.0mm grav_b=(-0.02,+0.12,-0.99) r=0.34m +[headless_play] t= 10.90s step= 545 trunk_z= 123.9mm grav_b=(-0.01,+0.07,-1.00) r=0.35m +[headless_play] t= 11.00s step= 550 trunk_z= 119.5mm grav_b=(-0.05,-0.04,-1.00) r=0.37m +[headless_play] t= 11.10s step= 555 trunk_z= 121.2mm grav_b=(-0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 11.20s step= 560 trunk_z= 115.2mm grav_b=(-0.02,+0.07,-1.00) r=0.36m +[headless_play] t= 11.30s step= 565 trunk_z= 124.1mm grav_b=(-0.01,+0.10,-0.99) r=0.35m +[headless_play] t= 11.40s step= 570 trunk_z= 123.3mm grav_b=(-0.00,+0.06,-1.00) r=0.36m +[headless_play] t= 11.50s step= 575 trunk_z= 121.2mm grav_b=(-0.06,-0.05,-1.00) r=0.38m +[headless_play] t= 11.60s step= 580 trunk_z= 122.3mm grav_b=(-0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 11.70s step= 585 trunk_z= 115.2mm grav_b=(-0.02,+0.08,-1.00) r=0.36m +[headless_play] t= 11.80s step= 590 trunk_z= 124.6mm grav_b=(-0.00,+0.14,-0.99) r=0.35m +[headless_play] t= 11.90s step= 595 trunk_z= 125.7mm grav_b=(+0.00,+0.09,-1.00) r=0.36m +[headless_play] t= 12.00s step= 600 trunk_z= 118.5mm grav_b=(-0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 123.2mm grav_b=(-0.05,-0.05,-1.00) r=0.39m +[headless_play] t= 12.20s step= 610 trunk_z= 118.4mm grav_b=(-0.03,+0.01,-1.00) r=0.38m +[headless_play] t= 12.30s step= 615 trunk_z= 123.3mm grav_b=(-0.05,+0.12,-0.99) r=0.36m +[headless_play] t= 12.40s step= 620 trunk_z= 125.7mm grav_b=(-0.03,+0.11,-0.99) r=0.36m +[headless_play] t= 12.50s step= 625 trunk_z= 119.8mm grav_b=(-0.03,+0.04,-1.00) r=0.37m +[headless_play] t= 12.60s step= 630 trunk_z= 117.8mm grav_b=(-0.04,-0.04,-1.00) r=0.39m +[headless_play] t= 12.70s step= 635 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.38m +[headless_play] t= 12.80s step= 640 trunk_z= 113.4mm grav_b=(+0.02,+0.10,-1.00) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 119.5mm grav_b=(+0.00,+0.08,-1.00) r=0.35m +[headless_play] t= 13.00s step= 650 trunk_z= 115.9mm grav_b=(+0.02,+0.03,-1.00) r=0.36m +[headless_play] t= 13.10s step= 655 trunk_z= 117.7mm grav_b=(-0.00,-0.09,-1.00) r=0.38m +[headless_play] t= 13.20s step= 660 trunk_z= 117.5mm grav_b=(-0.01,-0.06,-1.00) r=0.37m +[headless_play] t= 13.30s step= 665 trunk_z= 113.9mm grav_b=(+0.02,+0.07,-1.00) r=0.35m +[headless_play] t= 13.40s step= 670 trunk_z= 122.7mm grav_b=(+0.28,+0.23,-0.93) r=0.31m +[headless_play] t= 13.50s step= 675 trunk_z= 126.7mm grav_b=(+0.23,+0.13,-0.96) r=0.28m +[headless_play] t= 13.60s step= 680 trunk_z= 65.8mm grav_b=(+0.15,-0.18,-0.97) r=0.25m +[headless_play] t= 13.70s step= 685 trunk_z= -9.7mm grav_b=(+0.49,-0.63,-0.60) r=0.24m +[headless_play] RESET at t= 13.74s step= 687 (env termination, not a recovery) +[headless_play] t= 13.80s step= 690 trunk_z= 114.3mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(+0.03,+0.04,-1.00) r=0.24m +[headless_play] t= 14.00s step= 700 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=0.23m +[headless_play] t= 14.10s step= 705 trunk_z= 117.3mm grav_b=(+0.04,-0.03,-1.00) r=0.23m +[headless_play] t= 14.20s step= 710 trunk_z= 116.8mm grav_b=(+0.02,+0.10,-0.99) r=0.22m +[headless_play] t= 14.30s step= 715 trunk_z= 120.6mm grav_b=(+0.00,+0.09,-1.00) r=0.22m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(+0.04,+0.03,-1.00) r=0.21m +[headless_play] t= 14.50s step= 725 trunk_z= 116.7mm grav_b=(+0.01,-0.06,-1.00) r=0.20m +[headless_play] t= 14.60s step= 730 trunk_z= 115.2mm grav_b=(+0.03,+0.02,-1.00) r=0.18m +[headless_play] t= 14.70s step= 735 trunk_z= 118.3mm grav_b=(+0.03,+0.10,-0.99) r=0.17m +[headless_play] t= 14.80s step= 740 trunk_z= 118.9mm grav_b=(+0.03,+0.08,-1.00) r=0.16m +[headless_play] t= 14.90s step= 745 trunk_z= 112.3mm grav_b=(+0.04,-0.05,-1.00) r=0.15m +[headless_play] t= 15.00s step= 750 trunk_z= 118.1mm grav_b=(+0.01,-0.05,-1.00) r=0.14m +[headless_play] t= 15.10s step= 755 trunk_z= 113.4mm grav_b=(+0.03,+0.07,-1.00) r=0.12m +[headless_play] t= 15.20s step= 760 trunk_z= 121.0mm grav_b=(+0.01,+0.11,-0.99) r=0.11m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(+0.03,+0.08,-1.00) r=0.10m +[headless_play] t= 15.40s step= 770 trunk_z= 114.6mm grav_b=(+0.02,-0.05,-1.00) r=0.09m +[headless_play] t= 15.50s step= 775 trunk_z= 117.8mm grav_b=(+0.01,-0.02,-1.00) r=0.08m +[headless_play] t= 15.60s step= 780 trunk_z= 114.2mm grav_b=(+0.03,+0.11,-0.99) r=0.06m +[headless_play] t= 15.70s step= 785 trunk_z= 121.5mm grav_b=(+0.02,+0.12,-0.99) r=0.05m +[headless_play] t= 15.80s step= 790 trunk_z= 117.8mm grav_b=(+0.04,+0.07,-1.00) r=0.04m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(+0.01,-0.06,-1.00) r=0.03m +[headless_play] t= 16.00s step= 800 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.02m +[headless_play] t= 16.10s step= 805 trunk_z= 115.1mm grav_b=(+0.05,+0.13,-0.99) r=0.01m +[headless_play] t= 16.20s step= 810 trunk_z= 122.3mm grav_b=(+0.03,+0.12,-0.99) r=0.01m +[headless_play] t= 16.30s step= 815 trunk_z= 118.9mm grav_b=(+0.05,+0.08,-1.00) r=0.02m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(+0.03,-0.06,-1.00) r=0.04m +[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=0.05m +[headless_play] t= 16.60s step= 830 trunk_z= 114.3mm grav_b=(+0.03,+0.12,-0.99) r=0.06m +[headless_play] t= 16.70s step= 835 trunk_z= 121.9mm grav_b=(+0.01,+0.11,-0.99) r=0.07m +[headless_play] t= 16.80s step= 840 trunk_z= 117.9mm grav_b=(+0.04,+0.07,-1.00) r=0.08m +[headless_play] t= 16.90s step= 845 trunk_z= 115.6mm grav_b=(+0.01,-0.07,-1.00) r=0.10m +[headless_play] t= 17.00s step= 850 trunk_z= 117.8mm grav_b=(+0.00,-0.01,-1.00) r=0.11m +[headless_play] t= 17.10s step= 855 trunk_z= 114.0mm grav_b=(+0.03,+0.11,-0.99) r=0.12m +[headless_play] t= 17.20s step= 860 trunk_z= 120.9mm grav_b=(+0.04,+0.13,-0.99) r=0.13m +[headless_play] t= 17.30s step= 865 trunk_z= 119.0mm grav_b=(+0.05,+0.09,-0.99) r=0.14m +[headless_play] t= 17.40s step= 870 trunk_z= 115.5mm grav_b=(+0.06,-0.05,-1.00) r=0.15m +[headless_play] t= 17.50s step= 875 trunk_z= 120.6mm grav_b=(+0.02,-0.07,-1.00) r=0.16m +[headless_play] t= 17.60s step= 880 trunk_z= 113.8mm grav_b=(+0.01,+0.03,-1.00) r=0.17m +[headless_play] t= 17.70s step= 885 trunk_z= 123.5mm grav_b=(+0.00,+0.12,-0.99) r=0.18m +[headless_play] t= 17.80s step= 890 trunk_z= 124.0mm grav_b=(-0.03,+0.08,-1.00) r=0.18m +[headless_play] t= 17.90s step= 895 trunk_z= 114.2mm grav_b=(-0.03,-0.04,-1.00) r=0.17m +[headless_play] t= 18.00s step= 900 trunk_z= 121.1mm grav_b=(-0.04,-0.08,-1.00) r=0.17m +[headless_play] t= 18.10s step= 905 trunk_z= 120.8mm grav_b=(-0.03,-0.04,-1.00) r=0.16m +[headless_play] t= 18.20s step= 910 trunk_z= 114.5mm grav_b=(+0.01,+0.06,-1.00) r=0.15m +[headless_play] t= 18.30s step= 915 trunk_z= 121.3mm grav_b=(+0.07,+0.12,-0.99) r=0.16m +[headless_play] t= 18.40s step= 920 trunk_z= 119.8mm grav_b=(+0.08,+0.07,-0.99) r=0.18m +[headless_play] t= 18.50s step= 925 trunk_z= 121.4mm grav_b=(+0.04,-0.04,-1.00) r=0.20m +[headless_play] t= 18.60s step= 930 trunk_z= 119.8mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 18.70s step= 935 trunk_z= 119.9mm grav_b=(-0.01,+0.10,-0.99) r=0.21m +[headless_play] t= 18.80s step= 940 trunk_z= 125.3mm grav_b=(-0.01,+0.11,-0.99) r=0.21m +[headless_play] t= 18.90s step= 945 trunk_z= 120.0mm grav_b=(+0.01,+0.06,-1.00) r=0.23m +[headless_play] t= 19.00s step= 950 trunk_z= 118.3mm grav_b=(+0.02,-0.05,-1.00) r=0.24m +[headless_play] t= 19.10s step= 955 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 19.20s step= 960 trunk_z= 118.6mm grav_b=(+0.02,+0.11,-0.99) r=0.25m +[headless_play] t= 19.30s step= 965 trunk_z= 122.6mm grav_b=(+0.03,+0.11,-0.99) r=0.27m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(+0.03,+0.00,-1.00) r=0.29m +[headless_play] t= 19.50s step= 975 trunk_z= 121.5mm grav_b=(-0.00,-0.06,-1.00) r=0.30m +[headless_play] t= 19.60s step= 980 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 19.70s step= 985 trunk_z= 120.2mm grav_b=(+0.04,+0.11,-0.99) r=0.31m +[headless_play] t= 19.80s step= 990 trunk_z= 120.9mm grav_b=(+0.05,+0.11,-0.99) r=0.32m +[headless_play] t= 19.90s step= 995 trunk_z= 116.1mm grav_b=(+0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 20.00s step=1000 trunk_z= 123.0mm grav_b=(-0.01,-0.07,-1.00) r=0.35m +[headless_play] t= 20.10s step=1005 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] done diff --git a/level-01h-walk-mix/proof-takes/score.txt b/level-01h-walk-mix/proof-takes/score.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e01b128a0d2e37d3b35acdefd01556c6a3f4ec1 --- /dev/null +++ b/level-01h-walk-mix/proof-takes/score.txt @@ -0,0 +1,15 @@ +a: z6 9/15 vs v2 0/15 one-sided p=0.0003 two-sided p=0.0007 no-sample takes z6 0 v2 0 +b: z6 10/15 vs z3 13/15 one-sided p=0.9600 two-sided p=0.3898 no-sample takes z6 0 z3 0 +c: z6 11/15 vs z2 3/15 one-sided p=0.0046 two-sided p=0.0092 no-sample takes z6 0 z2 0 +d: z6 10/15 vs z4 9/15 one-sided p=0.5000 two-sided p=1.0000 no-sample takes z6 0 z4 0 +proof-z5-a-2026-10-16 logs=30 no-bounds-line=30 mid resets {'v2': 18, 'z5': 6} upright {} +proof-z5-b-2026-10-16 logs=30 no-bounds-line=30 mid resets {'v2': 7, 'z5': 1} upright {} +proof-z5-c-2026-10-16 logs=30 no-bounds-line=30 mid resets {'v2': 5, 'z5': 7} upright {} +proof-z6-a-2026-10-17 logs=30 no-bounds-line=30 mid resets {'v2': 80, 'z6': 9} upright {'v2': [('v2-a-t1', 1.7), ('v2-a-t1', 13.88), ('v2-a-t10', 13.98), ('v2-a-t12', 17.1), ('v2-a-t14', 0.9), ('v2-a-t15', 6.8), ('v2-a-t2', 11.7), ('v2-a-t4', 1.6), ('v2-a-t5', 18.38), ('v2-a-t8', 6.88)]} +proof-z6-b-2026-10-17 logs=30 no-bounds-line=30 mid resets {'z3': 2, 'z6': 5} upright {} +proof-z6-c-2026-10-17 logs=30 no-bounds-line=30 mid resets {'z2': 21, 'z6': 4} upright {'z2': [('z2-c-t8', 16.9)]} +proof-z6-d-2026-10-17 logs=30 no-bounds-line=30 mid resets {'z4': 7, 'z6': 10} upright {'z4': [('z4-d-t3', 14.68)]} +a: z6 strict 9/15 lenient 9; v2 strict 0/15 lenient 0; worst case z6 strict vs v2 lenient one-sided p=0.0003 two-sided p=0.0007 +b: z6 strict 10/15 lenient 10; z3 strict 13/15 lenient 13; worst case z6 strict vs z3 lenient one-sided p=0.9600 two-sided p=0.3898 +c: z6 strict 11/15 lenient 11; z2 strict 3/15 lenient 3; worst case z6 strict vs z2 lenient one-sided p=0.0046 two-sided p=0.0092 +d: z6 strict 10/15 lenient 10; z4 strict 9/15 lenient 10; worst case z6 strict vs z4 lenient one-sided p=0.6501 two-sided p=1.0000 diff --git a/level-01h-walk-mix/queue-item.sh b/level-01h-walk-mix/queue-item.sh new file mode 100644 index 0000000000000000000000000000000000000000..709fdca0d6402cf5e4a1c62ff1731ec0eca0e835 --- /dev/null +++ b/level-01h-walk-mix/queue-item.sh @@ -0,0 +1,23 @@ +#!/bin/bash +# 09z6-duck-velmix.sh: duck skill tree, "our own conditions" track, sixth item = the COMBINATION of the three conditions that +# paid: single step (09z3 GAIN, walk-step), slippery feet (09z2 GAIN, walk-slip), 2x training shoves (09z4, gain at the training +# cadence). task Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck (module witcheer_velocity_mix_env_cfg.py, vault +# 99-personal/benchmark-rig/scripts/; imports the step/slip/push modules, so their verdict env overrides work unchanged). +# installed 2026-10-16 ~21:25 CEST (install-mix-fork-2026-10-16.sh, backup ~/tasks-init.py.bak-mix-2026-10-16); train+play cfg +# reprs of base/step/slip/push/slope md5-identical before/after. +# WARM START: logs/rsl_rl/duckvelmix/2026-10-16_00-00-00_seed-velstep-it10000/model_10000.pt = walk-step v1 (duckvelstep +# model_10000, md5 d97b7567), true resume, 10000 -> 13000 (3k rule). +# probe (free card, 4096 envs, 2026-10-16 21:29 CEST): 1.29 s/it (n=5), card peak 7,526 MiB, train rc 0 (66 s), export rc 0 +# (793,774 B), checkpoint loaded with 0 size mismatch, nan_state 0.0000 -> ~65 min + export (log ~/Pollen/probe-velmix.log). +# verdict: proof-z6-{a,b,c,d}.sh, 15 takes per policy per condition, pre-registered: +# a (GAIN condition) all three at once: 25 mm step + foot friction 0.2 + 2x shoves at the 3-6 s training cadence, mix vs walk-flat v2 +# b (no-loss) 25 mm step, normal grip, no shoves: mix vs walk-step (z3) +# c (no-loss) 1 mm (flat) + foot friction 0.2 + maker 1x shoves: mix vs walk-slip (z2) +# d (no-loss) 1 mm + grip 1.0 + 2x shoves at 3-6 s: mix vs 09z4 velpush +# operator 2026-10-16 ~21:10 CEST "following leads, please do for the better" (stage a sixth duck item). +SKILL=velmix +# MANIFEST duplicated from the body so the drain grep fills idleq-active.json for the sentinel +MANIFEST=/home/witcheer/duckvelmix-status.json +TASK=Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck +TARGET_IT=${TARGET_IT:-13000} +. /home/witcheer/Pollen/duck-train-body.sh diff --git a/level-01h-walk-mix/reward-curve.csv b/level-01h-walk-mix/reward-curve.csv new file mode 100644 index 0000000000000000000000000000000000000000..632a9de90c4b3f8009ee2b416c260085cdca19d0 --- /dev/null +++ b/level-01h-walk-mix/reward-curve.csv @@ -0,0 +1,3002 @@ +iteration,Episode_Termination/fell_over,Episode_Termination/nan_state,Episode_Termination/out_of_terrain_bounds,Episode_Termination/time_out,Perf/total_fps,Train/mean_episode_length,Train/mean_reward +10000,0.0,0.0,0.0,3.5,47444.0,13.404762268066406,1.359718680381775 +10001,0.0833333358168602,0.0,0.0,3.625,80397.0,36.09000015258789,3.7660655975341797 +10002,0.25,0.0,0.0,4.083333492279053,79750.0,60.38999938964844,6.265697956085205 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+12996,2.9583334922790527,0.0,0.0416666679084301,3.0416667461395264,78778.0,742.530029296875,50.549007415771484 +12997,3.0833334922790527,0.0,0.0416666679084301,3.125,79037.0,750.2999877929688,50.89175033569336 +12998,2.5416667461395264,0.0,0.0,3.0833334922790527,78985.0,770.8400268554688,52.707515716552734 +12999,2.875,0.0,0.0416666679084301,2.375,78494.0,729.010009765625,50.68318176269531 +13000,3.0833334922790527,0.0,0.0,2.2083334922790527,76095.0,675.239990234375,46.007625579833984 diff --git a/level-01h-walk-mix/reward-curve.png b/level-01h-walk-mix/reward-curve.png new file mode 100644 index 0000000000000000000000000000000000000000..94e77a53a205c05f75bce9810f5a808c839e4a32 --- /dev/null +++ b/level-01h-walk-mix/reward-curve.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f7e323bab49dd96fa64eaaf6c1207664d25c81cc4d4ad53d7f6235d746bec6 +size 126751 diff --git a/tools/diag-z2c-mix-randcmd-2026-10-22.sh b/tools/diag-z2c-mix-randcmd-2026-10-22.sh new file mode 100644 index 0000000000000000000000000000000000000000..58c5410aa3ad124f91898bea5a8421552e80439f --- /dev/null +++ b/tools/diag-z2c-mix-randcmd-2026-10-22.sh @@ -0,0 +1,14 @@ +#!/bin/bash +# diag-z2c-mix-randcmd (2026-10-22): anomaly check for z6-c (walk-slip 3/15 on its own condition). +# walk-slip (09z2 model_10000) in the z6-c env (Mix, 1 mm platform generator floor, friction 0.2, push scale 1.0 = maker shoves) +# WITHOUT --cmd-vx (random play twist commands, as z2-a/ax): isolates the floor change. --no-bounds kept (generator floor). +# 15 takes, 20 s, 0.1 s samples, same camera. unique take names (dg2-*). +export MICRODUCK_STEP_HEIGHT=0.001,0.001 +export MICRODUCK_FOOT_FRICTION=0.2,0.2 +export MICRODUCK_PUSH_SCALE=1.0 +TASK=Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck; OUT=/home/witcheer/Pollen/clips/diag-z2c-mix-randcmd-2026-10-22 +. /home/witcheer/Pollen/proof-common.sh +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelslip/2026-10-13_14-10-19_duckvelslip/model_10000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --no-bounds" +for i in $(seq 1 15); do play dg2-c-t$i $TASK $R 1000 $C; done +echo "=== $(date -u +%T) DIAG_Z2C_MIX_RANDCMD_END ===" diff --git a/tools/diag-z2c-plane-cmdvx-2026-10-22.sh b/tools/diag-z2c-plane-cmdvx-2026-10-22.sh new file mode 100644 index 0000000000000000000000000000000000000000..105d6788d701652a238515055f096ac555a8b7a8 --- /dev/null +++ b/tools/diag-z2c-plane-cmdvx-2026-10-22.sh @@ -0,0 +1,12 @@ +#!/bin/bash +# diag-z2c-plane-cmdvx (2026-10-22): anomaly check for z6-c (walk-slip 3/15 on its own condition). +# walk-slip (09z2 model_10000) in its OWN env Velocity-Flat-Backlash-Slip (plane floor), friction 0.2, maker shoves +# (play interval 0.5-1 s, +-0.3), WITH --cmd-vx 0.3: isolates the command change (z2-a/ax had random play twist commands). +# 15 takes, 20 s, 0.1 s samples, same camera. unique take names (dg1-*) so no tmp-dir clash with dg2. +export MICRODUCK_FOOT_FRICTION=0.2,0.2 +TASK=Mjlab-Velocity-Flat-Backlash-Slip-MicroDuck; OUT=/home/witcheer/Pollen/clips/diag-z2c-plane-cmdvx-2026-10-22 +. /home/witcheer/Pollen/proof-common.sh +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelslip/2026-10-13_14-10-19_duckvelslip/model_10000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3" +for i in $(seq 1 15); do play dg1-c-t$i $TASK $R 1000 $C; done +echo "=== $(date -u +%T) DIAG_Z2C_PLANE_CMDVX_END ===" diff --git a/tools/proof-common.sh b/tools/proof-common.sh index 1bfb962070d60c39af95f879e1cd8062282d2030..62919433f94a931ce330c86b66f3bba958d3c2d3 100644 --- a/tools/proof-common.sh +++ b/tools/proof-common.sh @@ -1,4 +1,6 @@ # proof-common.sh (2026-10-02): shared play() for the fri 14:10 proof-take batches. source after setting TASK, OUT. +# 2026-10-22: tmp dir keyed by batch (basename of OUT) + take name. before, two parallel batches with the same take names +# (proof-z5-a and proof-z6-a both used v2-a-tN) deleted each other's tmp-play dir and every z5-a v2 take lost its clip. exec > >(tee -a $OUT.log) 2>&1 set -uo pipefail export PATH=/home/witcheer/.cargo/bin:/home/witcheer/.local/bin:$PATH @@ -6,7 +8,7 @@ export MUJOCO_GL=egl cd /home/witcheer/Pollen/microduck_rl mkdir -p $OUT play() { local name=$1 task=$2 ck=$3 vlen=$4; shift 4 - local tmp=/home/witcheer/Pollen/clips/tmp-play-$name; rm -rf $tmp + local tmp=/home/witcheer/Pollen/clips/tmp-play-$(basename $OUT)-$name; rm -rf $tmp echo "=== $(date -u +%T) clip $name ($task) ==="; local t0=$(date +%s) # each take writes into its own copy of the run dir's video path: copy the checkpoint so parallel batches never share videos/play mkdir -p $tmp; cp "$ck" $tmp/; cp -r "$(dirname "$ck")/params" $tmp/ 2>/dev/null diff --git a/tools/proof-z5-a.sh b/tools/proof-z5-a.sh new file mode 100644 index 0000000000000000000000000000000000000000..526763bec18a4f63843ff11bbe88044ec00ce8ca --- /dev/null +++ b/tools/proof-z5-a.sh @@ -0,0 +1,20 @@ +#!/bin/bash +# proof-z5-a (2026-10-14, staged with the item): 09z5 velslope model_10000 vs walk-flat v2 (duckvelbl model_7000) +# in Velocity-Flat-Backlash-Slope, MICRODUCK_SLOPE=0.15,0.15: 0.15 rise/run hill (127 mm top), play shoves on. +# 15 takes per policy (sample-size rule 2026-10-13), 20 s, 0.1 s samples, tracking camera, twist fixed straight ahead at 0.3 m/s +# (--cmd-vx: random play commands never reach the feature), --no-bounds (a 1-env take spawns in an edge column of the tile +# grid and mjlab's out_of_terrain_bounds ends it upright after ~1.7 m: slope-calib-2026-10-14.sh). falls = tilt events + mid RESETs (take-score-2026-10-11.py), located +# by r= (z5-score-2026-10-16.py: < 0.95 m = hill top, >= 0.95 m = slope/valley). override reach: slope-play-check-2026-10-14.sh. +# sibling of proof-z3-a.sh / proof-z4-a.sh. +export MICRODUCK_SLOPE=0.15,0.15 +TASK=Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z5-a-2026-10-16 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelslope/*_duckvelslope/model_10000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z5_CHECKPOINT (09z5 model_10000 missing: item cut or not run)"; exit 2; } +echo "z5 ckpt: $Z SLOPE=${MICRODUCK_SLOPE:-}" +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 15); do for q in z5:$Z v2:$V2; do + play ${q%%:*}-a-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z5_A_END ===" diff --git a/tools/proof-z5-b.sh b/tools/proof-z5-b.sh new file mode 100644 index 0000000000000000000000000000000000000000..88c37cc3c7bb91e5907953bf0d63fb8691689e76 --- /dev/null +++ b/tools/proof-z5-b.sh @@ -0,0 +1,20 @@ +#!/bin/bash +# proof-z5-b (2026-10-14, staged with the item): 09z5 velslope model_10000 vs walk-flat v2 (duckvelbl model_7000) +# in Velocity-Flat-Backlash-Slope, MICRODUCK_SLOPE=0.15,0.15: 0.15 rise/run hill (127 mm top), NO shoves. +# 15 takes per policy (sample-size rule 2026-10-13), 20 s, 0.1 s samples, tracking camera, twist fixed straight ahead at 0.3 m/s +# (--cmd-vx: random play commands never reach the feature), --no-bounds (a 1-env take spawns in an edge column of the tile +# grid and mjlab's out_of_terrain_bounds ends it upright after ~1.7 m: slope-calib-2026-10-14.sh). falls = tilt events + mid RESETs (take-score-2026-10-11.py), located +# by r= (z5-score-2026-10-16.py: < 0.95 m = hill top, >= 0.95 m = slope/valley). override reach: slope-play-check-2026-10-14.sh. +# sibling of proof-z3-b.sh / proof-z4-b.sh. +export MICRODUCK_SLOPE=0.15,0.15 +TASK=Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z5-b-2026-10-16 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelslope/*_duckvelslope/model_10000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z5_CHECKPOINT (09z5 model_10000 missing: item cut or not run)"; exit 2; } +echo "z5 ckpt: $Z SLOPE=${MICRODUCK_SLOPE:-}" +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="--no-push" +for i in $(seq 1 15); do for q in z5:$Z v2:$V2; do + play ${q%%:*}-b-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z5_B_END ===" diff --git a/tools/proof-z5-c.sh b/tools/proof-z5-c.sh new file mode 100644 index 0000000000000000000000000000000000000000..be2af69a57674b836fee4476e6dd243a382a51cb --- /dev/null +++ b/tools/proof-z5-c.sh @@ -0,0 +1,20 @@ +#!/bin/bash +# proof-z5-c (2026-10-14, staged with the item): 09z5 velslope model_10000 vs walk-flat v2 (duckvelbl model_7000) +# in Velocity-Flat-Backlash-Slope, MICRODUCK_SLOPE=0.001,0.001: 0.001 = 1 mm top on the same layout (flat control; mirrors the step fork's 1 mm control), play shoves on. +# 15 takes per policy (sample-size rule 2026-10-13), 20 s, 0.1 s samples, tracking camera, twist fixed straight ahead at 0.3 m/s +# (--cmd-vx: random play commands never reach the feature), --no-bounds (a 1-env take spawns in an edge column of the tile +# grid and mjlab's out_of_terrain_bounds ends it upright after ~1.7 m: slope-calib-2026-10-14.sh). falls = tilt events + mid RESETs (take-score-2026-10-11.py), located +# by r= (z5-score-2026-10-16.py: < 0.95 m = hill top, >= 0.95 m = slope/valley). override reach: slope-play-check-2026-10-14.sh. +# sibling of proof-z3-c.sh / proof-z4-c.sh. +export MICRODUCK_SLOPE=0.001,0.001 +TASK=Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z5-c-2026-10-16 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelslope/*_duckvelslope/model_10000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z5_CHECKPOINT (09z5 model_10000 missing: item cut or not run)"; exit 2; } +echo "z5 ckpt: $Z SLOPE=${MICRODUCK_SLOPE:-}" +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 15); do for q in z5:$Z v2:$V2; do + play ${q%%:*}-c-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z5_C_END ===" diff --git a/tools/proof-z6-a.sh b/tools/proof-z6-a.sh new file mode 100644 index 0000000000000000000000000000000000000000..14bd293b9992364fb6480d8d71deca6c6cb499c8 --- /dev/null +++ b/tools/proof-z6-a.sh @@ -0,0 +1,19 @@ +#!/bin/bash +# proof-z6-a (2026-10-16, staged with 09z6): all three conditions at once (25 mm step, foot friction 0.2, 2x shoves every 3-6 s), mix vs walk-flat v2. PRE-REGISTERED GAIN CONDITION. +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floor, edge-column truncation fix). +# scored with take-score-2026-10-11.py + z6-score (= z5-score copy, Fisher via math.comb). OUT dated 2026-10-17 (expected weekend run date). +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +export MICRODUCK_FOOT_FRICTION=0.2,0.2 +export MICRODUCK_PUSH_SCALE=2.0 +export MICRODUCK_PUSH_INTERVAL=3,6 +TASK=Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z6-a-2026-10-17 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmix/*_duckvelmix/model_13000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z6_CHECKPOINT"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +echo "z6 ckpt: $Z rival v2: $R" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 15); do for q in z6:$Z v2:$R; do + play ${q%%:*}-a-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z6_A_END ===" diff --git a/tools/proof-z6-b.sh b/tools/proof-z6-b.sh new file mode 100644 index 0000000000000000000000000000000000000000..185dca0879d8a5e91755292063e0677f6a1c1817 --- /dev/null +++ b/tools/proof-z6-b.sh @@ -0,0 +1,19 @@ +#!/bin/bash +# proof-z6-b (2026-10-16, staged with 09z6): 25 mm step, normal grip, no shoves: mix vs walk-step (no-loss check). +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floor, edge-column truncation fix). +# scored with take-score-2026-10-11.py + z6-score (= z5-score copy, Fisher via math.comb). OUT dated 2026-10-17 (expected weekend run date). +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +export MICRODUCK_FOOT_FRICTION=1.0,1.0 +export MICRODUCK_PUSH_SCALE=1.0 + +TASK=Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z6-b-2026-10-17 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmix/*_duckvelmix/model_13000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z6_CHECKPOINT"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstep/2026-10-14_14-30-21_duckvelstep/model_10000.pt +echo "z6 ckpt: $Z rival z3: $R" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="--no-push" +for i in $(seq 1 15); do for q in z6:$Z z3:$R; do + play ${q%%:*}-b-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z6_B_END ===" diff --git a/tools/proof-z6-c.sh b/tools/proof-z6-c.sh new file mode 100644 index 0000000000000000000000000000000000000000..813fb417d4e6fa78f45fbbda98626d1eb57ffeb5 --- /dev/null +++ b/tools/proof-z6-c.sh @@ -0,0 +1,19 @@ +#!/bin/bash +# proof-z6-c (2026-10-16, staged with 09z6): flat (1 mm) + foot friction 0.2 + maker shoves every 0.5-1 s: mix vs walk-slip (no-loss check). +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floor, edge-column truncation fix). +# scored with take-score-2026-10-11.py + z6-score (= z5-score copy, Fisher via math.comb). OUT dated 2026-10-17 (expected weekend run date). +export MICRODUCK_STEP_HEIGHT=0.001,0.001 +export MICRODUCK_FOOT_FRICTION=0.2,0.2 +export MICRODUCK_PUSH_SCALE=1.0 + +TASK=Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z6-c-2026-10-17 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmix/*_duckvelmix/model_13000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z6_CHECKPOINT"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelslip/2026-10-13_14-10-19_duckvelslip/model_10000.pt +echo "z6 ckpt: $Z rival z2: $R" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 15); do for q in z6:$Z z2:$R; do + play ${q%%:*}-c-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z6_C_END ===" diff --git a/tools/proof-z6-d.sh b/tools/proof-z6-d.sh new file mode 100644 index 0000000000000000000000000000000000000000..c7bd71954201a19ca29e711a434e750eaaa898e6 --- /dev/null +++ b/tools/proof-z6-d.sh @@ -0,0 +1,19 @@ +#!/bin/bash +# proof-z6-d (2026-10-16, staged with 09z6): flat (1 mm), normal grip, 2x shoves every 3-6 s: mix vs 09z4 velpush (no-loss check). +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floor, edge-column truncation fix). +# scored with take-score-2026-10-11.py + z6-score (= z5-score copy, Fisher via math.comb). OUT dated 2026-10-17 (expected weekend run date). +export MICRODUCK_STEP_HEIGHT=0.001,0.001 +export MICRODUCK_FOOT_FRICTION=1.0,1.0 +export MICRODUCK_PUSH_SCALE=2.0 +export MICRODUCK_PUSH_INTERVAL=3,6 +TASK=Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z6-d-2026-10-17 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmix/*_duckvelmix/model_13000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z6_CHECKPOINT"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelpush/2026-10-15_14-10-21_duckvelpush/model_10000.pt +echo "z6 ckpt: $Z rival z4: $R" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 15); do for q in z6:$Z z4:$R; do + play ${q%%:*}-d-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z6_D_END ===" diff --git a/tools/slope-calib-2026-10-14.sh b/tools/slope-calib-2026-10-14.sh new file mode 100644 index 0000000000000000000000000000000000000000..01a2249c1cf74231573e27713495224b32baebe5 --- /dev/null +++ b/tools/slope-calib-2026-10-14.sh @@ -0,0 +1,13 @@ +#!/bin/bash +# slope-calib-2026-10-14.sh: walk-flat v2 control takes in the 09z5 slope env WITH --no-bounds (the first control set in +# slope-play-check-2026-10-14.sh lost every take to out_of_terrain_bounds: edge-column spawn). calibrates whether the base +# policy falls on a 0.15 hill at all, and on a steeper 0.25 hill (play-time override only). +TASK=Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck; OUT=/home/witcheer/Pollen/clips/slope-calib-2026-10-14 +. /home/witcheer/Pollen/proof-common.sh +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +for i in 1 2; do ( export MICRODUCK_SLOPE=0.15,0.15; play v2-a15-t$i $TASK $V2 1000 $C ); done +for i in 1 2; do ( export MICRODUCK_SLOPE=0.15,0.15; play v2-b15-t$i $TASK $V2 1000 $C --no-push ); done +for i in 1 2; do ( export MICRODUCK_SLOPE=0.25,0.25; play v2-b25-t$i $TASK $V2 1000 $C --no-push ); done +( export MICRODUCK_SLOPE=0.001,0.001; play v2-c-t1 $TASK $V2 1000 $C ) +echo "=== $(date -u +%T) SLOPE_CALIB_END ===" diff --git a/tools/slope-play-check-2026-10-14.sh b/tools/slope-play-check-2026-10-14.sh new file mode 100644 index 0000000000000000000000000000000000000000..6e70604b2121989d59cbd42e237d7b5dba52f829 --- /dev/null +++ b/tools/slope-play-check-2026-10-14.sh @@ -0,0 +1,75 @@ +#!/bin/bash +# slope-play-check-2026-10-14.sh: does MICRODUCK_SLOPE reach the PLAY env of the slope task, and does the ground read follow +# the hill? per verdict setting (0.15,0.15 = a/b, 0.001,0.001 = control c, unset = training range) it builds the play env +# (1 env) and prints (1) the hfield tops of the generated floor (count, min/median/max mm) and env 0's origin z, (2) with the +# spawn forced 1.6 m out along +x (onto the slope), after 25 zero-action steps: the hfield surface height under the trunk +# (bilinear sample of the model's hfield data) against our patched _ground_z (foot_height_scan hits). they must agree to a +# few mm, otherwise every height-gated term reads an upright duck on the slope as fallen. then three walk-flat v2 control +# takes at --cmd-vx 0.3 (0.15 with shoves, 0.15 no shoves, 0.001 with shoves): recorder + harness proof, and whether the +# base policy falls on the hill at all. sibling of step-play-check-2026-10-14.sh. +# NOTE (same evening): these four takes ran WITHOUT --no-bounds and every mid RESET was out_of_terrain_bounds (edge-column +# spawn, duck upright); the control set that counts is slope-calib-2026-10-14.sh. +exec > >(tee -a /home/witcheer/Pollen/slope-play-check-2026-10-14.log) 2>&1 +export PATH=/home/witcheer/.cargo/bin:/home/witcheer/.local/bin:$PATH +export MUJOCO_GL=egl +cd /home/witcheer/Pollen/microduck_rl +for s in 0.15,0.15 0.001,0.001 train; do +( if [ "$s" = train ]; then unset MICRODUCK_SLOPE; else export MICRODUCK_SLOPE=$s; fi +uv run python - <<'EOF' 2>&1 | grep -E "^(SLOPE|ERR)" +import os, traceback, statistics +try: + import numpy as np, torch, mujoco + import mjlab_microduck.tasks # noqa + from mjlab.tasks import registry + from mjlab.envs import ManagerBasedRlEnv + from mjlab_microduck.tasks.mdp import _ground_z + tag = os.environ.get("MICRODUCK_SLOPE", "train-range") + cfg = registry.load_env_cfg("Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck", play=True) + cfg.scene.num_envs = 1 + print("SLOPE %s cfg slope_range %s" % (tag, cfg.scene.terrain.terrain_generator.sub_terrains["hill"].slope_range)) + pr = cfg.events["reset_base"].params["pose_range"] + pr["x"] = (1.6, 1.6); pr["y"] = (-0.05, 0.05) + env = ManagerBasedRlEnv(cfg=cfg, device="cuda:0") + m = env.sim.mj_model + d = mujoco.MjData(m); mujoco.mj_forward(m, d) + hf = [g for g in range(m.ngeom) if m.geom_type[g] == mujoco.mjtGeom.mjGEOM_HFIELD] + tops = [1000 * (d.geom_xpos[g, 2] + m.hfield_size[m.geom_dataid[g], 2]) for g in hf] + print("SLOPE %s hfield geoms %d, tops mm min %.1f median %.1f max %.1f" % (tag, len(hf), min(tops), statistics.median(tops), max(tops))) + print("SLOPE %s origin z (env 0): %.4f" % (tag, float(env.scene.env_origins[0, 2]))) + def surf(x, y): + for g in hf: + h = m.geom_dataid[g]; rx, ry, sz, _ = m.hfield_size[h]; gx, gy, gz = d.geom_xpos[g] + if abs(x - gx) <= rx and abs(y - gy) <= ry: + nr, nc = m.hfield_nrow[h], m.hfield_ncol[h]; a = m.hfield_adr[h] + D = np.asarray(m.hfield_data[a:a + nr * nc]).reshape(nr, nc) + c = (x - gx + rx) / (2 * rx) * (nc - 1); r = (y - gy + ry) / (2 * ry) * (nr - 1) + c0, r0 = int(np.floor(c)), int(np.floor(r)); c1, r1 = min(c0 + 1, nc - 1), min(r0 + 1, nr - 1); fc, fr = c - c0, r - r0 + v = (D[r0, c0] * (1 - fc) * (1 - fr) + D[r0, c1] * fc * (1 - fr) + D[r1, c0] * (1 - fc) * fr + D[r1, c1] * fc * fr) + return gz + v * sz + return float("nan") + o = env.scene.env_origins[0].cpu().numpy() + print("SLOPE %s surface at origin xy %.4f (origin z %.4f)" % (tag, surf(o[0], o[1]), o[2])) + env.reset() + act = torch.zeros(1, env.action_manager.total_action_dim, device=env.device) + for _ in range(25): + env.step(act) + p = env.scene["robot"].data.root_link_pos_w[0].cpu().numpy() + gzv = float(_ground_z(env)[0]) + rr = float(np.hypot(p[0] - o[0], p[1] - o[1])) + print("SLOPE %s spawn +1.6 m after 0.5 s: r %.2f m, root z %.4f, hfield surface under trunk %.4f, _ground_z %.4f, diff %.1f mm" % ( + tag, rr, p[2], surf(p[0], p[1]), gzv, 1000 * (gzv - surf(p[0], p[1])))) +except Exception: + print("ERR", traceback.format_exc().replace("\n", " | ")[-1500:]) +EOF +) +done +[ -n "${SKIP_TAKES:-}" ] && { echo "=== $(date -u +%T) SLOPE_CHECK_END (takes skipped) ==="; exit 0; } +TASK=Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck; OUT=/home/witcheer/Pollen/clips/slope-control-2026-10-14 +. /home/witcheer/Pollen/proof-common.sh +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3" +( export MICRODUCK_SLOPE=0.15,0.15; play v2-ctrl-a-t1 $TASK $V2 1000 $C ) +( export MICRODUCK_SLOPE=0.15,0.15; play v2-ctrl-b-t1 $TASK $V2 1000 $C --no-push ) +( export MICRODUCK_SLOPE=0.15,0.15; play v2-ctrl-b-t2 $TASK $V2 1000 $C --no-push ) +( export MICRODUCK_SLOPE=0.001,0.001; play v2-ctrl-c-t1 $TASK $V2 1000 $C ) +echo "=== $(date -u +%T) SLOPE_CHECK_END ===" diff --git a/tools/upright-reset-check-2026-10-22.py b/tools/upright-reset-check-2026-10-22.py new file mode 100644 index 0000000000000000000000000000000000000000..d6f64c3ef504bc09427a215fc1eaf3589c5eb50a --- /dev/null +++ b/tools/upright-reset-check-2026-10-22.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +# upright-reset check for proof-z5/z6 (2026-10-22): a mid RESET with max grav_b z < -0.9 in the 0.5 s before = truncation with the duck upright +import glob, os, re +S = re.compile(r't=\s*([\d.]+)s step=\s*\d+ trunk_z=\s*([-\d.]+)mm grav_b=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\)') +R = re.compile(r'RESET at t=\s*([\d.]+)') +for d in sorted(glob.glob(os.path.expanduser('~/Pollen/clips/proof-z[56]-?-2026-10-1?'))): + up = {}; tot = {}; nb = 0; nlog = 0 + for f in sorted(glob.glob(d + '/*-t*.log')): + if f.endswith('.full.log'): continue + nlog += 1 + full = f[:-4] + '.full.log' + if os.path.exists(full) and 'out_of_terrain_bounds dropped' in open(full, errors='replace').read(): nb += 1 + t = open(f, errors='replace').read() + v = [(float(m[1]), float(m[5])) for m in S.finditer(t)] + pol = os.path.basename(f).split('-')[0] + for x in R.findall(t): + x = float(x) + if x >= 19.9: continue + tot[pol] = tot.get(pol, 0) + 1 + w = [gz for tt, gz in v if x - 0.5 <= tt <= x] + if w and max(w) < -0.9: + up.setdefault(pol, []).append((os.path.basename(f)[:-4], x)) + print(os.path.basename(d), f'logs={nlog} no-bounds-line={nb}', 'mid resets', tot, 'upright', up) diff --git a/tools/worstcase-2026-10-22.py b/tools/worstcase-2026-10-22.py new file mode 100644 index 0000000000000000000000000000000000000000..c02ae904c508c6842c0411a846e3e58f5238c15d --- /dev/null +++ b/tools/worstcase-2026-10-22.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 +# worst case for z6 rival takes: count a rival take held if every event in it is an upright mid RESET (max grav_b z < -0.9 in the 0.5 s before) +import glob, os, re +from math import comb +S = re.compile(r't=\s*([\d.]+)s step=\s*\d+ trunk_z=\s*([-\d.]+)mm grav_b=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\)') +R = re.compile(r'RESET at t=\s*([\d.]+)') +def f1(a, n1, b, n2): + K=a+b; N=n1+n2; return sum(comb(n1,x)*comb(n2,K-x) for x in range(a, min(n1,K)+1))/comb(N,K) +def f2(a, n1, b, n2): + K=a+b; N=n1+n2; p0=comb(n1,a)*comb(n2,b) + return min(1.0, sum(comb(n1,x)*comb(n2,K-x) for x in range(max(0,K-n2), min(n1,K)+1) if comb(n1,x)*comb(n2,K-x) <= p0*(1+1e-9))/comb(N,K)) +for c, riv in (('a','v2'),('b','z3'),('c','z2'),('d','z4')): + d = os.path.expanduser(f'~/Pollen/clips/proof-z6-{c}-2026-10-17') + cnt = {} + for f in sorted(glob.glob(d + '/*-t*.log')): + if f.endswith('.full.log'): continue + t = open(f, errors='replace').read(); pol = os.path.basename(f).split('-')[0] + v = [(float(m[1]), float(m[5])) for m in S.finditer(t) if float(m[1]) <= 19.9] + rs = [float(x) for x in R.findall(t) if float(x) < 19.9] + falls = 0; st = 'up' + for tt, gz in v: + if st == 'up' and gz > -0.5: falls += 1; st = 'down' + elif st == 'down' and gz < -0.9: st = 'up' + upr = [x for x in rs if (lambda w: w and max(w) < -0.9)([gz for tt, gz in v if x-0.5 <= tt <= x])] + strict = falls == 0 and not rs + lenient = falls == 0 and len(upr) == len(rs) + h = cnt.setdefault(pol, [0, 0, 0]); h[0] += strict; h[1] += lenient; h[2] += 1 + z = cnt['z6']; o = cnt[riv] + print(f'{c}: z6 strict {z[0]}/{z[2]} lenient {z[1]}; {riv} strict {o[0]}/{o[2]} lenient {o[1]}; worst case z6 strict vs {riv} lenient one-sided p={f1(z[0],z[2],o[1],o[2]):.4f} two-sided p={f2(z[0],z[2],o[1],o[2]):.4f}') diff --git a/tools/z5-score-2026-10-16.py b/tools/z5-score-2026-10-16.py new file mode 100644 index 0000000000000000000000000000000000000000..30910fcb400d10c50bc618f3486d6cb7ea38fc66 --- /dev/null +++ b/tools/z5-score-2026-10-16.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +# z5-score-2026-10-16.py: 09z5 verdict scoring (copy of z3-score-2026-10-14.py). held = no tilt fall and no mid RESET (same rule +# as take-score-2026-10-11.py), falls located by r= in the 0.5 s before each tilt fall / mid RESET: < 0.95 m = top (the flat hill +# top, its edge is 1.0-1.15 m from the tile centre), 0.95-3.0 m = slope (down the hill, the valley at the tile edge 2.0-2.8 m, up +# the next hill), else other. at 0.001 (control c) the bands are distance bands only, no real slope. +import glob, os, re, sys +from math import comb +S = re.compile(r't=\s*([\d.]+)s step=\s*\d+ trunk_z=\s*([-\d.]+)mm grav_b=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\).*?r=([\d.]+)m') +R = re.compile(r'RESET at t=\s*([\d.]+)') +END = 19.9 +def score(d): + out = {} + for f in sorted(glob.glob(d + '/*-t*.log')): + if f.endswith('.full.log'): + continue + t = open(f, errors='replace').read() + v = [(float(m[1]), float(m[5]), float(m[6])) for m in S.finditer(t) if float(m[1]) <= END] + name = os.path.basename(f)[:-4]; pol = name.split('-')[0] + if not v: + out.setdefault(pol, []).append((name, None, [])); continue + rs = [float(x) for x in R.findall(t) if float(x) < END] + falls = []; st = 'up' + for (tt, gz, r) in v: + if st == 'up' and gz > -0.5: + falls.append(tt); st = 'down' + elif st == 'down' and gz < -0.9: + st = 'up' + # events: tilt falls, plus resets not within 1 s after a tilt fall + ev = [('tilt', x) for x in falls] + [('reset', x) for x in rs if not any(0 <= x - y <= 1.0 for y in falls)] + locs = [] + for kind, te in sorted(ev, key=lambda e: e[1]): + w = [r for (tt, gz, r) in v if te - 0.5 <= tt <= te] + if not w: + w = [min(v, key=lambda s: abs(s[0] - te))[2]] + rr = max(w) + loc = 'slope' if 0.95 <= rr <= 3.0 else ('top' if rr < 0.95 else 'other') + locs.append((kind, te, round(rr, 2), loc)) + held = not falls and not rs + out.setdefault(pol, []).append((name, held, locs)) + return out +def fisher_one(a, n1, b, n2): # P(X >= a) for group1 successes under hypergeometric + K = a + b; N = n1 + n2 + tot = comb(N, K) + return sum(comb(n1, x) * comb(n2, K - x) for x in range(a, min(n1, K) + 1)) / tot +def fisher_two(a, n1, b, n2): + K = a + b; N = n1 + n2; tot = comb(N, K) + p0 = comb(n1, a) * comb(n2, b) + return min(1.0, sum(comb(n1, x) * comb(n2, K - x) for x in range(max(0, K - n2), min(n1, K) + 1) + if comb(n1, x) * comb(n2, K - x) <= p0 * (1 + 1e-9)) / tot) +res = {} +for c in 'abc': + d = os.path.expanduser(f'~/Pollen/clips/proof-z5-{c}-2026-10-16') + res[c] = score(d) + print(f'=== condition {c}') + for pol in ('z5', 'v2'): + l = res[c].get(pol, []) + for name, held, locs in l: + print(f' {name:12s} held={held} {locs}') + h = sum(1 for x in l if x[1]); n = len(l) + firsts = [x[2][0][3] for x in l if x[2]] + slope_takes = sum(1 for x in l if any(e[3] == 'slope' for e in x[2])) + print(f' {pol}: held {h}/{n}; first-event location {dict((k, firsts.count(k)) for k in set(firsts))}; takes with a slope-band event {slope_takes}') +def hn(cs, pol): + l = [x for c in cs for x in res[c].get(pol, [])] + return sum(1 for x in l if x[1]), len(l) +for label, cs in (('a', 'a'), ('b', 'b'), ('a+b', 'ab'), ('c', 'c')): + a, n1 = hn(cs, 'z5'); b, n2 = hn(cs, 'v2') + print(f'{label}: z5 {a}/{n1} vs v2 {b}/{n2} one-sided p={fisher_one(a, n1, b, n2):.4f} two-sided p={fisher_two(a, n1, b, n2):.4f}') diff --git a/tools/z6-score-2026-10-17.py b/tools/z6-score-2026-10-17.py new file mode 100644 index 0000000000000000000000000000000000000000..d3be3df4c8bc9e03d6a4305d65ceadfc71588051 --- /dev/null +++ b/tools/z6-score-2026-10-17.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +# z6-score-2026-10-17.py: 09z6 (mix) verdict scoring. held = no tilt fall and no mid RESET (take-score-2026-10-11 rule), +# per condition z6 vs its rival, exact Fisher via math.comb. a = pre-registered gain condition (vs walk-flat v2, one-sided); +# b/c/d = no-loss checks vs the single-condition specialist (two-sided; a loss is a significant two-sided result against z6). +import glob, os, re +from math import comb +S = re.compile(r't=\s*([\d.]+)s step=\s*\d+ trunk_z=\s*([-\d.]+)mm grav_b=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\).*?r=([\d.]+)m') +R = re.compile(r'RESET at t=\s*([\d.]+)') +END = 19.9 +def score(d): + out = {} + for f in sorted(glob.glob(d + '/*-t*.log')): + if f.endswith('.full.log'): continue + t = open(f, errors='replace').read() + v = [(float(m[1]), float(m[5])) for m in S.finditer(t) if float(m[1]) <= END] + pol = os.path.basename(f).split('-')[0] + if not v: out.setdefault(pol, []).append(None); continue + rs = [float(x) for x in R.findall(t) if float(x) < END] + falls = 0; st = 'up' + for tt, gz in v: + if st == 'up' and gz > -0.5: falls += 1; st = 'down' + elif st == 'down' and gz < -0.9: st = 'up' + out.setdefault(pol, []).append(falls == 0 and not rs) + return out +def f1(a, n1, b, n2): + K = a + b; N = n1 + n2 + return sum(comb(n1, x) * comb(n2, K - x) for x in range(a, min(n1, K) + 1)) / comb(N, K) +def f2(a, n1, b, n2): + K = a + b; N = n1 + n2; p0 = comb(n1, a) * comb(n2, b) + return min(1.0, sum(comb(n1, x) * comb(n2, K - x) for x in range(max(0, K - n2), min(n1, K) + 1) if comb(n1, x) * comb(n2, K - x) <= p0 * (1 + 1e-9)) / comb(N, K)) +for c, rival in (('a', 'v2'), ('b', 'z3'), ('c', 'z2'), ('d', 'z4')): + r = score(os.path.expanduser(f'~/Pollen/clips/proof-z6-{c}-2026-10-17')) + z = [x for x in r.get('z6', []) if x is not None]; o = [x for x in r.get(rival, []) if x is not None] + a, n1, b, n2 = sum(z), len(z), sum(o), len(o) + if not n1 or not n2: print(f'{c}: no takes yet'); continue + print(f'{c}: z6 {a}/{n1} vs {rival} {b}/{n2} one-sided p={f1(a, n1, b, n2):.4f} two-sided p={f2(a, n1, b, n2):.4f} no-sample takes z6 {r.get("z6",[]).count(None)} {rival} {r.get(rival,[]).count(None)}')