diff --git a/README.md b/README.md index e2da5df69915f5a9ed013600c6558d6472000859..6e925bab62652bcbb903cbb2773965a63337afcf 100644 --- a/README.md +++ b/README.md @@ -42,6 +42,7 @@ Sibling dataset: [witcheer/microduck-hermes-runs](https://huggingface.co/dataset | 11d | walk and get up on rough ground, with ±1° of gear play | `Mjlab-VelStand-Rough-Backlash-MicroDuck` (`soft_carpet`, the task the maker's own config calls its production recipe) | 3,000 on top of level 11c's 9,000 | 209 min (about 4.2 s/it) | not better than 11c anywhere. hardest row from standing (9 takes each): 50 times down, 43 rises, upright 42% of the time, against 11c's 55 / 48 / 51%; row 6 from belly or back (6 takes each): 32 / 27 / 37% against 39 / 36 / 46%; flat with gear play 26 / 21 / 45% against 35 / 31 / 59%. Mean reward flat around -17 for the whole run | none: no gain over level 11c | | 1c | walk with up to +60 g on its back, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Payload-MicroDuck` (our fork: trunk mass randomised over 0.95 to 1.30x instead of the maker's 0.95 to 1.05x, one parameter) | 3,000 on top of level 1b's 7,000 | 57 min (1.16 s/it) | not better than level 1b anywhere, 20 s takes: trunk at 1.30x (+60 g) with shoves 3 of 5 against 3 of 5, 1.30x without shoves 3 of 3 against 3 of 3, normal mass with shoves 3 of 5 against 4 of 5. Level 1b already carries the extra 60 g in sim; small samples | none: no gain over level 1b | | 1d | walk on slippery floors, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Slip-MicroDuck` (our fork: foot friction randomised over 0.2 to 1.3 instead of the maker's 0.7 to 1.3, one parameter) | 3,000 on top of level 1b's 7,000 | 58 min (1.15 s/it) | 20 s takes against level 1b: foot friction 0.2 with a shove every 0.5 to 1 s, on its feet in 8 of 15 against 1 of 15 (one-sided Fisher exact p = 0.0071); 0.2 without shoves 12 of 13 against 8 of 13 (p = 0.080, a lean); normal friction with shoves 9 of 15 against 8 of 15, no difference | [microduck-walk-slip](https://huggingface.co/witcheer/microduck-walk-slip) `@v1` (walk-flat stays the default walk: they tie at normal grip) | +| 1e | walk over a single step, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Step-MicroDuck` (our fork: the maker's flat plane becomes a floor with one 1.5 m platform per 4 m tile, its top 10 to 25 mm above the floor, one change; the policy still has no terrain scan) | 3,000 on top of level 1b's 7,000 | 64 min (1.28 s/it) | 20 s takes against level 1b, walking straight ahead at 0.3 m/s off a 25 mm step: without shoves on its feet in 11 of 15 against at most 5 of 15 (one-sided Fisher exact p = 0.033); with a shove every 0.5 to 1 s 5 of 15 against 2 of 15 (p = 0.19); both pooled 16 of 30 against at most 7 of 30 (p = 0.016). Same layout at 1 mm with shoves 10 of 15 against at most 7 of 15 (two-sided p = 0.46; 'at most': walk-flat v2 takes cut short upright at the tile-grid edge count as held), so part of the gain may be general sturdiness. No take reached the next platform, so the step up is untested | [microduck-walk-step](https://huggingface.co/witcheer/microduck-walk-step) `@v1` (walk-flat stays the default walk) | | 8 | beak to the ground without touching it | `Mjlab-GroundPick-Flat-MicroDuck` | 20,000 planned | queued | | none: phase-driven, daemon-side | All budgets are the maker's `max_iterations` from the task config unless stated. Levels 1b, 2b, 3b and 5b are the maker's backlash variants of levels 1, 2, 3 and 5: a free hinge of ±1° in series with each of the 14 servo joints, with the joint encoder reading through the play as a real servo does. Each started from its level's final checkpoint, and each publishable one is v2 of that level's policy repo (v1 stays installable with `@v1`). Level 4b is the same for level 4 and is v2 of walk-rough. Levels 11, 11c and 11d were trained on the maker's public `soft_carpet` branch of microduck_rl (commit `695f3b7`), not on `53b8971`; 11 and 11c on flat ground, 11d on the ordered terrain ladder with the same local patches as 5c. Level 5c starts from level 5's final checkpoint and trains on the rough version of the same task, on a terrain laid out as an ordered difficulty ladder and with five local patches to the maker's code (in its `patches/` folder; the model card says what each does). Levels 1c and 1d are our own conditions, not the maker's: each is a separate task file in microduck_rl (a copy is in the level's `patches/` folder) that changes one parameter of `Mjlab-Velocity-Flat-Backlash-MicroDuck` and is registered by one import line, and each started from level 1b's final checkpoint (walk-flat v2). 4096 parallel environments, 24 steps per iteration, PPO from rsl_rl, tensorboard logging. @@ -52,14 +53,14 @@ All budgets are the maker's `max_iterations` from the task config unless stated. - `reward-curve.png`: mean reward per iteration, raw and a 50-iteration moving average. - `queue-item.sh`: the exact header that trained it. The shared body it sources is `tools/duck-train-body.sh` (resumable, checkpoint every 100 iterations, exports with the maker's `scripts/export.py`). - `manifest.json`: the schema-2 manifest `uv run publish` wrote for the policy repo, when there is one. -- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c and 1d so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). Verdicts are read from these numbers, not from the video. -- `patches/*.py` (levels 5c, 1c and 1d): the local changes to the maker's code the level trained with; for 1c and 1d that is the fork task file. -- `clip-*.mp4`: iteration 0 against the trained policy, same camera, same spawn, for levels 1, 5 and 6; both gear-play v2 walks side by side for level 1b, level 5 against 5b (both running with gear play) for level 5b, level 4b against level 4 on the hardest block-grid row with gear play (level 4 tips over at 7.1 s; the last frame is held 1.5 s), level 1d against level 1b at foot friction 0.2 with shoves for level 1d (a red box marks each fall, where the sim restarts the duck), the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet. +- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d and 1e so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). Verdicts are read from these numbers, not from the video. +- `patches/*.py` (levels 5c, 1c, 1d and 1e): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file. +- `clip-*.mp4`: iteration 0 against the trained policy, same camera, same spawn, for levels 1, 5 and 6; both gear-play v2 walks side by side for level 1b, level 5 against 5b (both running with gear play) for level 5b, level 4b against level 4 on the hardest block-grid row with gear play (level 4 tips over at 7.1 s; the last frame is held 1.5 s), level 1d against level 1b at foot friction 0.2 with shoves for level 1d (a red box marks each fall, where the sim restarts the duck), level 1e against level 1b walking off a 25 mm step without shoves for level 1e (red box where level 1b falls and the sim restarts it, green box where level 1e walks down the step), the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet. ## Tools - `tools/headless_play.py`: records any checkpoint of any mjlab task over ssh with no display. Both of mjlab's play viewers fail headless (viser asserts on a degenerate command slider, the native one wants X11); this wrapper swaps them for a plain policy loop, lets play's own recorder write the mp4, forces the spawn state, overrides the episode length, prints every reset and samples trunk height and body-frame gravity at a chosen cadence. Copy it into the microduck_rl project dir and run with `uv run python`. -- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. +- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env. - `tools/duck-train-body.sh` and `tools/duck-lane.sh`: the queue item body and the weekday duck/bench alternation. Written for one specific box (paths under `/home/witcheer`); read them for the shape, not to run as-is. ## Things learnt on the way, in order @@ -84,6 +85,9 @@ All budgets are the maker's `max_iterations` from the task config unless stated. - Random spawns hide a regression or invent one. The first gear-play batch spawned each take in a random pose, and one policy drew back and belly spawns while the other drew standing ones; forcing the spawn (standing, face down, face up) and recording each policy in every pose made the comparison fair. - Three to five takes per policy cannot separate a gain from noise. Level 1d's first set of five read as no gain (3 of 5 against 4 of 5 at normal grip); extending every condition to 13 to 15 takes showed the gain where the fork was aimed (slippery floor with shoves, 8 of 15 against 1 of 15) and still none at normal grip. Both sets are kept and pooled. - A heavier trunk in training bought nothing: level 1b already walked with +60 g on its back in sim, so level 1c was no better in any condition. +- A take aimed at a floor feature needs a fixed walking command. Play samples random commands, and a level 1b control take on the step floor stayed within 0.73 m of the platform centre (edge at 0.75 m) until a reset, so it never met the step. Every 1e take walks straight ahead at 0.3 m/s. +- Keep a no-feature control on the same layout. Level 1e also held more takes than level 1b at 1 mm (10 of 15 against at most 7 of 15, two-sided p = 0.46), so some of its lead on the step may be general sturdiness under shoves rather than a step skill. Its training tracking error also rose (0.34 to 0.47 over the 100-iteration windows from the resume to the end). +- A generated floor turns on a termination a plane never fires. Level 1e's training log shows `out_of_terrain_bounds` at 0.01 per iteration over the last 100 iterations (`fell_over` 0.81), so the fork file's comment that a 20 s episode cannot reach the bounds is not exact; `nan_state` fired in one iteration of 3,000. ## Posts diff --git a/level-01e-walk-step/clip-walk-step-vs-walk-flat-v2-25mm-step.mp4 b/level-01e-walk-step/clip-walk-step-vs-walk-flat-v2-25mm-step.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95ac31da9afc84b491b66cf95b1e2a0b3250b562 --- /dev/null +++ b/level-01e-walk-step/clip-walk-step-vs-walk-flat-v2-25mm-step.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3caf9820c07f3084b88f901a9133d86358c533c04f6e128af62c50128788923 +size 2782379 diff --git a/level-01e-walk-step/manifest.json b/level-01e-walk-step/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..701a95efd56420f826ec67a799aa2f35ce6c7840 --- /dev/null +++ b/level-01e-walk-step/manifest.json @@ -0,0 +1,36 @@ +{ + "schema_version": 2, + "model_api": 1, + "obs_len": 61, + "action_len": 14, + "robot": { + "model": "microduck", + "hw_rev": 1, + "servos": "xl330", + "control_hz": 50 + }, + "name": "walk-step", + "kind": "perpetual", + "entry_pose": "standing", + "description": "Walk on flat ground with +-1 deg of gear play in every servo, fine-tuned for single steps: walk-flat v2 plus 3,000 iterations (7,000 to 10,000) on a floor that is flat except for one 1.5 m platform 10-25 mm high per 4 m tile (our one-change fork Mjlab-Velocity-Flat-Backlash-Step-MicroDuck), 4096 envs, 64 min on one RTX 5090. It has no terrain scan and meets the step blind. Trained in simulation only. In 20 s takes walking straight ahead over a 25 mm step with no shoves it stayed on its feet in 11 of 15 takes against at most 5 of 15 for walk-flat v2; on the same layout at 1 mm with shoves 10 of 15 against at most 7 of 15. Not yet tested on a real Microduck.", + "command": { + "encoding": "constant", + "idle": [ + 0.0, + 0.0, + 0.0 + ], + "twist": "unused (zeros)", + "head": "unused (zeros)", + "body": "unused (zeros)" + }, + "duration_s": null, + "slot": "walk", + "training": { + "repo": "pollen-robotics/microduck_rl", + "commit": "53b8971b6", + "branch": "develop", + "dirty": true, + "source_file": "velstep-2026-10-14-it10000.onnx" + } +} diff --git a/level-01e-walk-step/patches/witcheer_velocity_step_env_cfg.py b/level-01e-walk-step/patches/witcheer_velocity_step_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..d21e4e4e48e8b6d8653e172ceb7b6a01885b002c --- /dev/null +++ b/level-01e-walk-step/patches/witcheer_velocity_step_env_cfg.py @@ -0,0 +1,108 @@ +"""witcheer fork: Microduck walk with gear play over a SINGLE STEP. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Step-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck`` +(walk-flat v2 on the Hub): ONE thing, the floor. The maker trains this task on +an infinite plane (``terrain_type="plane"``). This fork swaps the plane for a +generated floor that is flat except for one raised square per 4 m tile: a +1.5 m platform whose top sits 10 to 25 mm above the surrounding floor, with +2.5 m of flat floor between neighbouring platforms. Every edge crossing is a +single step, down when the duck walks off its spawn platform, up when it walks +onto the next one. A Microduck stands ~117 mm tall at the trunk and lifts its +feet ~1-2 cm (maker's rough-terrain comment, which caps their stairs at +1.5 cm), so 25 mm is a real step for it. + +How the floor is built: mjlab's ``BoxPyramidStairsTerrainCfg`` with a border +wide enough that zero stairs fit (``num_steps = int((4 - 2*1.25 - 1.5) / +(2*1.0)) = 0``), which leaves the border frame at z = 0 and one centre box with +its top at the step height. Random mode (``curriculum=False``, the mjlab +default the maker's flat task never touches), so each of the 10 x 10 tiles gets +its own height drawn uniformly from (10, 25) mm; no terrain-level curriculum +(the maker's flat cfg deletes it and so does this fork). + +Height reads: the env origin sits on the platform top, so any read of +``root_z - env_origin_z`` is off by the step height once the duck steps down. +Our clone's ``ground_height_patch.py`` makes ``_ground_z`` read the +``foot_height_scan`` ray hits on generator terrain, and in this task the only +active term that reads height (``head_pose_bias``) goes through it. +``body_pose_tracking_6d`` reads the origin directly but has weight 0 in the +velocity task. ``out_of_terrain_bounds`` becomes live with a generator floor +(it is a no-op on a plane); the 40 m grid plus the 20 m outer border means a +20 s episode cannot reach it. + +Everything else (rewards, terminations, pushes, backlash robot, curricula, +mass and friction DR, solver settings, observations: the policy still has no +terrain scan, it meets the step blind like the real robot would) is the maker's. +The maker's rough branch also softens terrain box contacts and raises solver +iterations; this fork does not, to keep one variable. Watch ``nan_state``. + +Verdict override: ``MICRODUCK_STEP_HEIGHT=lo,hi`` in metres (read at import, +i.e. at process start) replaces the height range, so play takes can force the +tallest step (``0.025,0.025``) or a flat floor on the same layout +(``0.0,0.0``) for both the seed and the fork. +""" + +import os +from copy import deepcopy + +import mjlab.terrains as terrain_gen +from mjlab.terrains.terrain_generator import TerrainGeneratorCfg +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Step-MicroDuck" + +STEP_HEIGHT = (0.010, 0.025) # metres; maker's rough stairs top out at 0.015 +TILE = 4.0 # m, one platform per tile +PLATFORM = 1.5 # m, side of the raised square +BORDER = (TILE - PLATFORM) / 2.0 # 1.25 m of floor around it -> 2.5 m between platforms + + +def _step_range(): + v = os.environ.get("MICRODUCK_STEP_HEIGHT") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return STEP_HEIGHT + + +SINGLE_STEP_TERRAIN_CFG = TerrainGeneratorCfg( + size=(TILE, TILE), + border_width=20.0, # same outer border as the maker's rough grid + num_rows=10, + num_cols=10, + curriculum=False, + sub_terrains={ + "single_step": terrain_gen.BoxPyramidStairsTerrainCfg( + proportion=1.0, + step_height_range=_step_range(), + step_width=1.0, # unused: zero stairs fit, see the docstring + platform_width=PLATFORM, + border_width=BORDER, + ), + }, + add_lights=False, +) + + +def make_witcheer_velocity_step_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.scene.terrain.terrain_type = "generator" + cfg.scene.terrain.terrain_generator = deepcopy(SINGLE_STEP_TERRAIN_CFG) + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_step_env_cfg(), + play_env_cfg=make_witcheer_velocity_step_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t1.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..f9f65e19e47f3d3b708fabf515b0d42ef1aff3a5 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t1.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.1mm grav_b=(-0.00,+0.00,-1.00) root_w=(-18.318,-17.679,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(+0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.01,+0.07,-1.00) r=0.45m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 109.0mm grav_b=(+0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 117.8mm grav_b=(+0.04,-0.05,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 110.8mm grav_b=(+0.05,-0.02,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 117.6mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(-0.00,+0.02,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 114.3mm grav_b=(+0.01,-0.09,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 123.3mm grav_b=(-0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 112.4mm grav_b=(-0.03,-0.00,-1.00) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 119.7mm grav_b=(-0.02,+0.04,-1.00) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 121.1mm grav_b=(+0.00,+0.08,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 117.7mm grav_b=(+0.05,+0.05,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 117.8mm grav_b=(+0.04,-0.06,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 120.3mm grav_b=(+0.04,-0.05,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 111.0mm grav_b=(+0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 123.4mm grav_b=(-0.02,+0.08,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 128.4mm grav_b=(-0.01,+0.19,-0.98) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 126.7mm grav_b=(+0.00,+0.24,-0.97) r=0.67m +[headless_play] t= 2.10s step= 105 trunk_z= 125.6mm grav_b=(-0.02,+0.34,-0.94) r=0.69m +[headless_play] t= 2.20s step= 110 trunk_z= 119.8mm grav_b=(-0.01,+0.51,-0.86) r=0.73m +[headless_play] t= 2.30s step= 115 trunk_z= 73.3mm grav_b=(+0.21,+0.71,-0.67) r=0.78m +[headless_play] RESET at t= 2.36s step= 118 (env termination, not a recovery) +[headless_play] t= 2.40s step= 120 trunk_z= 119.8mm grav_b=(-0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 117.0mm grav_b=(+0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 2.90s step= 145 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.35m +[headless_play] t= 3.00s step= 150 trunk_z= 116.7mm grav_b=(-0.02,-0.02,-1.00) r=0.35m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(-0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 119.2mm grav_b=(+0.02,-0.04,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 118.4mm grav_b=(+0.03,-0.02,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(-0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 117.0mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 3.80s step= 190 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 3.90s step= 195 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 4.00s step= 200 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.35m +[headless_play] t= 4.20s step= 210 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 4.70s step= 235 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 118.2mm grav_b=(+0.02,-0.02,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 118.4mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 5.10s step= 255 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 5.30s step= 265 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 5.50s step= 275 trunk_z= 118.1mm grav_b=(-0.11,-0.00,-0.99) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 112.6mm grav_b=(-0.04,-0.09,-1.00) r=0.37m +[headless_play] t= 5.70s step= 285 trunk_z= 120.3mm grav_b=(-0.01,-0.06,-1.00) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(-0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 5.90s step= 295 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=0.41m +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(-0.13,-0.02,-0.99) r=0.42m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.06,-0.08,-0.99) r=0.43m +[headless_play] t= 6.20s step= 310 trunk_z= 116.6mm grav_b=(-0.01,-0.11,-0.99) r=0.44m +[headless_play] t= 6.30s step= 315 trunk_z= 117.9mm grav_b=(-0.01,-0.07,-1.00) r=0.46m +[headless_play] t= 6.40s step= 320 trunk_z= 119.2mm grav_b=(-0.01,-0.05,-1.00) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(+0.01,-0.05,-1.00) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(+0.02,-0.03,-1.00) r=0.45m +[headless_play] t= 6.80s step= 340 trunk_z= 116.7mm grav_b=(+0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 116.7mm grav_b=(-0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 7.00s step= 350 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 7.10s step= 355 trunk_z= 116.5mm grav_b=(+0.03,-0.02,-1.00) r=0.46m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(+0.03,-0.02,-1.00) r=0.46m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 7.40s step= 370 trunk_z= 117.5mm grav_b=(-0.04,-0.03,-1.00) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 118.3mm grav_b=(-0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 7.60s step= 380 trunk_z= 109.0mm grav_b=(+0.03,-0.09,-1.00) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 114.4mm grav_b=(+0.02,-0.11,-0.99) r=0.47m +[headless_play] t= 7.80s step= 390 trunk_z= 112.5mm grav_b=(+0.06,-0.06,-1.00) r=0.48m +[headless_play] t= 7.90s step= 395 trunk_z= 114.3mm grav_b=(+0.05,-0.02,-1.00) r=0.49m +[headless_play] t= 8.00s step= 400 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 8.10s step= 405 trunk_z= 116.2mm grav_b=(+0.04,-0.02,-1.00) r=0.50m +[headless_play] t= 8.20s step= 410 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 8.50s step= 425 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 115.5mm grav_b=(+0.05,-0.02,-1.00) r=0.49m +[headless_play] t= 8.80s step= 440 trunk_z= 116.1mm grav_b=(+0.06,-0.07,-1.00) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 118.4mm grav_b=(+0.03,-0.08,-1.00) r=0.47m +[headless_play] t= 9.00s step= 450 trunk_z= 114.6mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 9.10s step= 455 trunk_z= 117.4mm grav_b=(-0.00,+0.05,-1.00) r=0.44m +[headless_play] t= 9.20s step= 460 trunk_z= 116.9mm grav_b=(+0.08,+0.02,-1.00) r=0.42m +[headless_play] t= 9.30s step= 465 trunk_z= 113.3mm grav_b=(+0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 9.40s step= 470 trunk_z= 123.2mm grav_b=(-0.01,-0.08,-1.00) r=0.38m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(-0.01,-0.05,-1.00) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 120.3mm grav_b=(-0.01,+0.07,-1.00) r=0.32m +[headless_play] t= 9.70s step= 485 trunk_z= 123.8mm grav_b=(-0.01,+0.04,-1.00) r=0.32m +[headless_play] t= 9.80s step= 490 trunk_z= 115.2mm grav_b=(-0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 9.90s step= 495 trunk_z= 121.7mm grav_b=(-0.03,-0.08,-1.00) r=0.34m +[headless_play] t= 10.00s step= 500 trunk_z= 120.6mm grav_b=(+0.01,-0.09,-1.00) r=0.34m +[headless_play] t= 10.10s step= 505 trunk_z= 115.2mm grav_b=(+0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 10.20s step= 510 trunk_z= 124.6mm grav_b=(+0.05,+0.09,-0.99) r=0.29m +[headless_play] t= 10.30s step= 515 trunk_z= 123.6mm grav_b=(+0.03,+0.09,-1.00) r=0.28m +[headless_play] t= 10.40s step= 520 trunk_z= 119.9mm grav_b=(+0.03,+0.00,-1.00) r=0.30m +[headless_play] t= 10.50s step= 525 trunk_z= 123.1mm grav_b=(+0.00,-0.09,-1.00) r=0.32m +[headless_play] t= 10.60s step= 530 trunk_z= 118.4mm grav_b=(-0.02,-0.09,-1.00) r=0.31m +[headless_play] t= 10.70s step= 535 trunk_z= 117.9mm grav_b=(-0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 10.80s step= 540 trunk_z= 120.8mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 10.90s step= 545 trunk_z= 114.4mm grav_b=(-0.04,-0.06,-1.00) r=0.34m +[headless_play] t= 11.00s step= 550 trunk_z= 123.3mm grav_b=(-0.04,-0.09,-0.99) r=0.36m +[headless_play] t= 11.10s step= 555 trunk_z= 122.7mm grav_b=(-0.02,-0.12,-0.99) r=0.37m +[headless_play] t= 11.20s step= 560 trunk_z= 118.8mm grav_b=(-0.00,-0.11,-0.99) r=0.37m +[headless_play] t= 11.30s step= 565 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 11.40s step= 570 trunk_z= 119.4mm grav_b=(-0.00,+0.00,-1.00) r=0.39m +[headless_play] t= 11.50s step= 575 trunk_z= 113.9mm grav_b=(-0.01,-0.06,-1.00) r=0.42m +[headless_play] t= 11.60s step= 580 trunk_z= 121.4mm grav_b=(+0.01,-0.06,-1.00) r=0.43m +[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(-0.00,-0.05,-1.00) r=0.44m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(-0.01,+0.08,-1.00) r=0.44m +[headless_play] t= 11.90s step= 595 trunk_z= 125.9mm grav_b=(-0.01,+0.11,-0.99) r=0.45m +[headless_play] t= 12.00s step= 600 trunk_z= 123.6mm grav_b=(+0.01,+0.10,-0.99) r=0.46m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 12.20s step= 610 trunk_z= 124.7mm grav_b=(-0.01,-0.11,-0.99) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(-0.01,-0.13,-0.99) r=0.51m +[headless_play] t= 12.40s step= 620 trunk_z= 119.2mm grav_b=(+0.01,-0.10,-1.00) r=0.53m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(-0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 118.2mm grav_b=(+0.03,-0.02,-1.00) r=0.56m +[headless_play] t= 12.70s step= 635 trunk_z= 116.8mm grav_b=(+0.01,-0.07,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 121.2mm grav_b=(+0.02,-0.07,-1.00) r=0.62m +[headless_play] t= 12.90s step= 645 trunk_z= 116.9mm grav_b=(+0.01,-0.07,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 120.3mm grav_b=(-0.00,+0.04,-1.00) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 120.4mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 13.20s step= 660 trunk_z= 113.2mm grav_b=(+0.00,-0.04,-1.00) r=0.68m +[headless_play] t= 13.30s step= 665 trunk_z= 122.0mm grav_b=(-0.01,-0.06,-1.00) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 117.3mm grav_b=(-0.01,-0.07,-1.00) r=0.72m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(-0.09,+0.06,-0.99) r=0.72m +[headless_play] t= 13.60s step= 680 trunk_z= 127.6mm grav_b=(-0.14,+0.06,-0.99) r=0.71m +[headless_play] t= 13.70s step= 685 trunk_z= 118.5mm grav_b=(-0.08,+0.01,-1.00) r=0.67m +[headless_play] t= 13.80s step= 690 trunk_z= 124.9mm grav_b=(+0.06,-0.03,-1.00) r=0.63m +[headless_play] t= 13.90s step= 695 trunk_z= 103.2mm grav_b=(+0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 14.00s step= 700 trunk_z= 109.9mm grav_b=(+0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 14.10s step= 705 trunk_z= 116.0mm grav_b=(+0.01,-0.08,-1.00) r=0.61m +[headless_play] t= 14.20s step= 710 trunk_z= 114.5mm grav_b=(+0.02,-0.06,-1.00) r=0.60m +[headless_play] t= 14.30s step= 715 trunk_z= 113.9mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 14.40s step= 720 trunk_z= 114.3mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 14.50s step= 725 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 14.60s step= 730 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 14.70s step= 735 trunk_z= 114.8mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 114.8mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 14.90s step= 745 trunk_z= 115.5mm grav_b=(+0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 15.00s step= 750 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 15.10s step= 755 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 15.20s step= 760 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 15.30s step= 765 trunk_z= 115.5mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(-0.05,-0.04,-1.00) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(-0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 15.70s step= 785 trunk_z= 106.8mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 109.7mm grav_b=(+0.05,-0.04,-1.00) r=0.54m +[headless_play] t= 15.90s step= 795 trunk_z= 115.1mm grav_b=(+0.04,-0.08,-1.00) r=0.54m +[headless_play] t= 16.00s step= 800 trunk_z= 115.3mm grav_b=(+0.04,-0.08,-1.00) r=0.54m +[headless_play] t= 16.10s step= 805 trunk_z= 113.2mm grav_b=(+0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 114.8mm grav_b=(+0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 116.9mm grav_b=(-0.10,-0.03,-0.99) r=0.50m +[headless_play] t= 16.40s step= 820 trunk_z= 103.8mm grav_b=(-0.02,-0.10,-0.99) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.03,-0.14,-0.99) r=0.47m +[headless_play] t= 16.60s step= 830 trunk_z= 115.6mm grav_b=(+0.05,-0.12,-0.99) r=0.45m +[headless_play] t= 16.70s step= 835 trunk_z= 113.4mm grav_b=(+0.06,-0.02,-1.00) r=0.44m +[headless_play] t= 16.80s step= 840 trunk_z= 113.8mm grav_b=(+0.06,-0.04,-1.00) r=0.44m +[headless_play] t= 16.90s step= 845 trunk_z= 114.5mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 114.0mm grav_b=(+0.12,-0.02,-0.99) r=0.44m +[headless_play] t= 17.10s step= 855 trunk_z= 122.5mm grav_b=(+0.03,-0.04,-1.00) r=0.44m +[headless_play] t= 17.20s step= 860 trunk_z= 116.3mm grav_b=(-0.04,+0.08,-1.00) r=0.44m +[headless_play] t= 17.30s step= 865 trunk_z= 120.9mm grav_b=(-0.07,+0.04,-1.00) r=0.43m +[headless_play] t= 17.40s step= 870 trunk_z= 119.2mm grav_b=(-0.06,-0.03,-1.00) r=0.44m +[headless_play] t= 17.50s step= 875 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 116.9mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 17.70s step= 885 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 17.80s step= 890 trunk_z= 114.5mm grav_b=(+0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 17.90s step= 895 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(+0.09,-0.02,-1.00) r=0.43m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(+0.09,-0.02,-1.00) r=0.43m +[headless_play] t= 18.20s step= 910 trunk_z= 116.4mm grav_b=(+0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 18.30s step= 915 trunk_z= 116.0mm grav_b=(+0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 18.40s step= 920 trunk_z= 114.0mm grav_b=(+0.03,-0.09,-1.00) r=0.46m +[headless_play] t= 18.50s step= 925 trunk_z= 118.0mm grav_b=(-0.01,-0.05,-1.00) r=0.47m +[headless_play] t= 18.60s step= 930 trunk_z= 112.4mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 18.70s step= 935 trunk_z= 111.7mm grav_b=(+0.02,-0.00,-1.00) r=0.48m +[headless_play] t= 18.80s step= 940 trunk_z= 108.4mm grav_b=(+0.06,-0.01,-1.00) r=0.50m +[headless_play] t= 18.90s step= 945 trunk_z= 109.4mm grav_b=(+0.02,-0.06,-1.00) r=0.52m +[headless_play] t= 19.00s step= 950 trunk_z= 119.6mm grav_b=(-0.03,-0.07,-1.00) r=0.54m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(-0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 19.20s step= 960 trunk_z= 109.6mm grav_b=(+0.01,-0.01,-1.00) r=0.56m +[headless_play] t= 19.30s step= 965 trunk_z= 114.9mm grav_b=(+0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 19.40s step= 970 trunk_z= 108.4mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 19.50s step= 975 trunk_z= 113.2mm grav_b=(+0.07,-0.04,-1.00) r=0.60m +[headless_play] t= 19.60s step= 980 trunk_z= 118.4mm grav_b=(-0.01,-0.07,-1.00) r=0.61m +[headless_play] t= 19.70s step= 985 trunk_z= 113.6mm grav_b=(+0.02,-0.07,-1.00) r=0.63m +[headless_play] t= 19.80s step= 990 trunk_z= 113.0mm grav_b=(+0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 19.90s step= 995 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 20.00s step=1000 trunk_z= 112.4mm grav_b=(+0.00,-0.04,-1.00) r=0.65m +[headless_play] t= 20.10s step=1005 trunk_z= 121.0mm grav_b=(-0.02,-0.11,-0.99) r=0.65m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t10.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..808d9eddbc6bfa3f7be32ccdacb866f035ae8ffa --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.963,-17.805,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.4mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.02,+0.01,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(-0.04,+0.00,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 0.80s step= 40 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 0.90s step= 45 trunk_z= 117.5mm grav_b=(-0.02,+0.02,-1.00) r=0.20m +[headless_play] t= 1.00s step= 50 trunk_z= 116.7mm grav_b=(-0.04,+0.02,-1.00) r=0.20m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(-0.06,-0.00,-1.00) r=0.20m +[headless_play] t= 1.20s step= 60 trunk_z= 116.7mm grav_b=(-0.06,-0.00,-1.00) r=0.20m +[headless_play] t= 1.30s step= 65 trunk_z= 116.8mm grav_b=(-0.06,+0.00,-1.00) r=0.20m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(-0.06,-0.00,-1.00) r=0.20m +[headless_play] t= 1.50s step= 75 trunk_z= 116.8mm grav_b=(-0.06,+0.00,-1.00) r=0.20m +[headless_play] t= 1.60s step= 80 trunk_z= 118.7mm grav_b=(-0.00,-0.00,-1.00) r=0.20m +[headless_play] t= 1.70s step= 85 trunk_z= 116.4mm grav_b=(-0.09,+0.06,-0.99) r=0.18m +[headless_play] t= 1.80s step= 90 trunk_z= 119.4mm grav_b=(-0.10,+0.09,-0.99) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 117.6mm grav_b=(-0.13,+0.02,-0.99) r=0.15m +[headless_play] t= 2.00s step= 100 trunk_z= 118.6mm grav_b=(-0.10,-0.01,-0.99) r=0.15m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.14m +[headless_play] t= 2.20s step= 110 trunk_z= 118.3mm grav_b=(-0.03,+0.02,-1.00) r=0.14m +[headless_play] t= 2.30s step= 115 trunk_z= 120.0mm grav_b=(-0.01,+0.04,-1.00) r=0.13m +[headless_play] t= 2.40s step= 120 trunk_z= 120.8mm grav_b=(-0.02,+0.02,-1.00) r=0.13m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(-0.04,-0.08,-1.00) r=0.13m +[headless_play] t= 2.60s step= 130 trunk_z= 118.3mm grav_b=(-0.10,-0.05,-0.99) r=0.14m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.11,-0.01,-0.99) r=0.13m +[headless_play] t= 2.80s step= 140 trunk_z= 118.5mm grav_b=(-0.13,-0.04,-0.99) r=0.14m +[headless_play] t= 2.90s step= 145 trunk_z= 118.0mm grav_b=(-0.17,-0.03,-0.99) r=0.15m +[headless_play] t= 3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.17,-0.03,-0.98) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(-0.13,-0.04,-0.99) r=0.17m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(-0.13,+0.01,-0.99) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(-0.13,-0.02,-0.99) r=0.20m +[headless_play] t= 3.40s step= 170 trunk_z= 116.0mm grav_b=(-0.14,-0.03,-0.99) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 115.7mm grav_b=(-0.20,-0.02,-0.98) r=0.22m +[headless_play] t= 3.60s step= 180 trunk_z= 114.9mm grav_b=(-0.26,-0.04,-0.97) r=0.24m +[headless_play] t= 3.70s step= 185 trunk_z= 111.1mm grav_b=(-0.33,+0.00,-0.94) r=0.26m +[headless_play] t= 3.80s step= 190 trunk_z= 94.6mm grav_b=(-0.27,+0.01,-0.96) r=0.31m +[headless_play] t= 3.90s step= 195 trunk_z= 72.8mm grav_b=(-0.73,-0.39,-0.56) r=0.36m +[headless_play] RESET at t= 3.96s step= 198 (env termination, not a recovery) +[headless_play] t= 4.00s step= 200 trunk_z= 119.4mm grav_b=(-0.02,+0.00,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 114.8mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 113.7mm grav_b=(-0.05,+0.07,-1.00) r=0.55m +[headless_play] t= 4.30s step= 215 trunk_z= 117.5mm grav_b=(-0.06,+0.03,-1.00) r=0.57m +[headless_play] t= 4.40s step= 220 trunk_z= 110.4mm grav_b=(-0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 4.50s step= 225 trunk_z= 120.1mm grav_b=(-0.11,-0.09,-0.99) r=0.57m +[headless_play] t= 4.60s step= 230 trunk_z= 122.1mm grav_b=(-0.13,-0.08,-0.99) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 114.3mm grav_b=(-0.11,-0.02,-0.99) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 118.6mm grav_b=(-0.10,+0.06,-0.99) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 117.7mm grav_b=(-0.07,+0.07,-0.99) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 112.0mm grav_b=(-0.01,+0.02,-1.00) r=0.60m +[headless_play] t= 5.10s step= 255 trunk_z= 118.7mm grav_b=(-0.00,-0.09,-1.00) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 115.4mm grav_b=(-0.01,-0.05,-1.00) r=0.63m +[headless_play] t= 5.30s step= 265 trunk_z= 113.0mm grav_b=(-0.05,+0.04,-1.00) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 119.7mm grav_b=(-0.05,+0.07,-1.00) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 115.6mm grav_b=(-0.03,+0.05,-1.00) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 117.5mm grav_b=(-0.04,-0.07,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 119.5mm grav_b=(-0.02,-0.11,-0.99) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(-0.04,-0.04,-1.00) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 119.2mm grav_b=(-0.06,+0.04,-1.00) r=0.77m +[headless_play] t= 6.00s step= 300 trunk_z= 117.7mm grav_b=(-0.05,+0.05,-1.00) r=0.79m +[headless_play] t= 6.10s step= 305 trunk_z= 110.7mm grav_b=(-0.01,-0.05,-1.00) r=0.80m +[headless_play] t= 6.20s step= 310 trunk_z= 120.0mm grav_b=(+0.01,-0.16,-0.99) r=0.83m +[headless_play] t= 6.30s step= 315 trunk_z= 99.3mm grav_b=(+0.02,-0.21,-0.98) r=0.87m +[headless_play] t= 6.40s step= 320 trunk_z= 90.2mm grav_b=(+0.01,-0.33,-0.94) r=0.90m +[headless_play] t= 6.50s step= 325 trunk_z= 96.6mm grav_b=(+0.15,-0.29,-0.95) r=0.94m +[headless_play] t= 6.60s step= 330 trunk_z= 103.7mm grav_b=(+0.47,-0.12,-0.88) r=0.98m +[headless_play] t= 6.70s step= 335 trunk_z= 54.4mm grav_b=(+0.84,-0.19,-0.51) r=1.05m +[headless_play] RESET at t= 6.72s step= 336 (env termination, not a recovery) +[headless_play] t= 6.80s step= 340 trunk_z= 113.4mm grav_b=(-0.03,-0.00,-1.00) r=0.12m +[headless_play] t= 6.90s step= 345 trunk_z= 115.3mm grav_b=(-0.06,-0.05,-1.00) r=0.11m +[headless_play] t= 7.00s step= 350 trunk_z= 118.2mm grav_b=(-0.08,-0.04,-1.00) r=0.11m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(-0.11,+0.00,-0.99) r=0.11m +[headless_play] t= 7.20s step= 360 trunk_z= 111.1mm grav_b=(-0.10,+0.07,-0.99) r=0.14m +[headless_play] t= 7.30s step= 365 trunk_z= 118.8mm grav_b=(-0.10,+0.08,-0.99) r=0.15m +[headless_play] t= 7.40s step= 370 trunk_z= 114.0mm grav_b=(-0.09,+0.08,-0.99) r=0.15m +[headless_play] t= 7.50s step= 375 trunk_z= 109.2mm grav_b=(-0.04,-0.01,-1.00) r=0.14m +[headless_play] t= 7.60s step= 380 trunk_z= 118.6mm grav_b=(-0.05,-0.04,-1.00) r=0.14m +[headless_play] t= 7.70s step= 385 trunk_z= 116.3mm grav_b=(-0.07,+0.01,-1.00) r=0.16m +[headless_play] t= 7.80s step= 390 trunk_z= 114.8mm grav_b=(-0.09,+0.05,-0.99) r=0.19m +[headless_play] t= 7.90s step= 395 trunk_z= 116.4mm grav_b=(-0.10,+0.03,-0.99) r=0.20m +[headless_play] t= 8.00s step= 400 trunk_z= 108.4mm grav_b=(-0.07,+0.01,-1.00) r=0.20m +[headless_play] t= 8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.04,-0.02,-1.00) r=0.21m +[headless_play] t= 8.20s step= 410 trunk_z= 114.7mm grav_b=(-0.06,+0.03,-1.00) r=0.22m +[headless_play] t= 8.30s step= 415 trunk_z= 109.5mm grav_b=(-0.08,+0.09,-0.99) r=0.25m +[headless_play] t= 8.40s step= 420 trunk_z= 117.3mm grav_b=(-0.07,+0.09,-0.99) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 110.1mm grav_b=(-0.04,+0.05,-1.00) r=0.28m +[headless_play] t= 8.60s step= 430 trunk_z= 113.5mm grav_b=(-0.03,-0.04,-1.00) r=0.30m +[headless_play] t= 8.70s step= 435 trunk_z= 117.4mm grav_b=(-0.04,-0.02,-1.00) r=0.31m +[headless_play] t= 8.80s step= 440 trunk_z= 110.6mm grav_b=(-0.08,+0.04,-1.00) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 119.2mm grav_b=(-0.11,+0.08,-0.99) r=0.35m +[headless_play] t= 9.00s step= 450 trunk_z= 119.2mm grav_b=(-0.11,+0.07,-0.99) r=0.36m +[headless_play] t= 9.10s step= 455 trunk_z= 112.5mm grav_b=(-0.09,+0.02,-1.00) r=0.38m +[headless_play] t= 9.20s step= 460 trunk_z= 117.7mm grav_b=(-0.08,-0.03,-1.00) r=0.38m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(-0.07,+0.03,-1.00) r=0.39m +[headless_play] t= 9.40s step= 470 trunk_z= 111.8mm grav_b=(-0.06,+0.07,-1.00) r=0.40m +[headless_play] t= 9.50s step= 475 trunk_z= 116.3mm grav_b=(-0.05,+0.09,-1.00) r=0.42m +[headless_play] t= 9.60s step= 480 trunk_z= 111.6mm grav_b=(-0.05,+0.06,-1.00) r=0.44m +[headless_play] t= 9.70s step= 485 trunk_z= 115.5mm grav_b=(-0.05,-0.05,-1.00) r=0.46m +[headless_play] t= 9.80s step= 490 trunk_z= 118.9mm grav_b=(-0.06,-0.01,-1.00) r=0.47m +[headless_play] t= 9.90s step= 495 trunk_z= 110.7mm grav_b=(-0.07,+0.03,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 117.9mm grav_b=(-0.08,+0.06,-1.00) r=0.49m +[headless_play] t= 10.10s step= 505 trunk_z= 109.9mm grav_b=(-0.05,-0.05,-1.00) r=0.52m +[headless_play] t= 10.20s step= 510 trunk_z= 115.0mm grav_b=(-0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 10.30s step= 515 trunk_z= 113.2mm grav_b=(-0.04,+0.02,-1.00) r=0.56m +[headless_play] t= 10.40s step= 520 trunk_z= 115.0mm grav_b=(-0.10,+0.08,-0.99) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 122.1mm grav_b=(-0.12,+0.09,-0.99) r=0.59m +[headless_play] t= 10.60s step= 530 trunk_z= 122.8mm grav_b=(-0.13,+0.12,-0.98) r=0.59m +[headless_play] t= 10.70s step= 535 trunk_z= 120.5mm grav_b=(-0.10,+0.12,-0.99) r=0.60m +[headless_play] t= 10.80s step= 540 trunk_z= 114.5mm grav_b=(-0.03,+0.05,-1.00) r=0.62m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.07,-0.02,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 116.9mm grav_b=(-0.09,+0.02,-1.00) r=0.64m +[headless_play] t= 11.10s step= 555 trunk_z= 108.1mm grav_b=(-0.08,+0.05,-1.00) r=0.66m +[headless_play] t= 11.20s step= 560 trunk_z= 113.7mm grav_b=(-0.03,+0.07,-1.00) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 117.0mm grav_b=(-0.17,-0.00,-0.98) r=0.66m +[headless_play] t= 11.40s step= 570 trunk_z= 107.4mm grav_b=(-0.08,-0.01,-1.00) r=0.65m +[headless_play] t= 11.50s step= 575 trunk_z= 112.7mm grav_b=(-0.06,-0.03,-1.00) r=0.65m +[headless_play] t= 11.60s step= 580 trunk_z= 107.5mm grav_b=(-0.04,-0.02,-1.00) r=0.65m +[headless_play] t= 11.70s step= 585 trunk_z= 111.5mm grav_b=(-0.04,+0.06,-1.00) r=0.66m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(-0.06,+0.08,-1.00) r=0.68m +[headless_play] t= 11.90s step= 595 trunk_z= 111.9mm grav_b=(-0.05,+0.06,-1.00) r=0.70m +[headless_play] t= 12.00s step= 600 trunk_z= 115.6mm grav_b=(-0.05,+0.01,-1.00) r=0.72m +[headless_play] t= 12.10s step= 605 trunk_z= 115.7mm grav_b=(-0.06,+0.04,-1.00) r=0.72m +[headless_play] t= 12.20s step= 610 trunk_z= 105.6mm grav_b=(-0.03,+0.07,-1.00) r=0.71m +[headless_play] t= 12.30s step= 615 trunk_z= 114.5mm grav_b=(-0.02,+0.07,-1.00) r=0.72m +[headless_play] t= 12.40s step= 620 trunk_z= 110.5mm grav_b=(-0.03,+0.04,-1.00) r=0.74m +[headless_play] t= 12.50s step= 625 trunk_z= 110.2mm grav_b=(-0.04,-0.01,-1.00) r=0.77m +[headless_play] t= 12.60s step= 630 trunk_z= 114.8mm grav_b=(-0.08,+0.03,-1.00) r=0.78m +[headless_play] t= 12.70s step= 635 trunk_z= 107.6mm grav_b=(-0.06,+0.07,-1.00) r=0.78m +[headless_play] t= 12.80s step= 640 trunk_z= 111.1mm grav_b=(+0.03,+0.09,-1.00) r=0.79m +[headless_play] t= 12.90s step= 645 trunk_z= 112.0mm grav_b=(+0.03,+0.05,-1.00) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 111.0mm grav_b=(+0.02,-0.03,-1.00) r=0.84m +[headless_play] t= 13.10s step= 655 trunk_z= 120.4mm grav_b=(-0.03,+0.01,-1.00) r=0.86m +[headless_play] t= 13.20s step= 660 trunk_z= 112.4mm grav_b=(-0.10,+0.09,-0.99) r=0.88m +[headless_play] t= 13.30s step= 665 trunk_z= 122.8mm grav_b=(-0.15,+0.10,-0.98) r=0.89m +[headless_play] t= 13.40s step= 670 trunk_z= 125.7mm grav_b=(-0.12,+0.10,-0.99) r=0.88m +[headless_play] t= 13.50s step= 675 trunk_z= 121.9mm grav_b=(-0.06,+0.12,-0.99) r=0.87m +[headless_play] t= 13.60s step= 680 trunk_z= 117.2mm grav_b=(-0.14,+0.01,-0.99) r=0.86m +[headless_play] t= 13.70s step= 685 trunk_z= 119.6mm grav_b=(-0.14,+0.02,-0.99) r=0.86m +[headless_play] t= 13.80s step= 690 trunk_z= 114.5mm grav_b=(-0.16,+0.08,-0.98) r=0.87m +[headless_play] t= 13.90s step= 695 trunk_z= 125.3mm grav_b=(-0.13,+0.10,-0.99) r=0.87m +[headless_play] t= 14.00s step= 700 trunk_z= 125.5mm grav_b=(-0.14,+0.08,-0.99) r=0.87m +[headless_play] t= 14.10s step= 705 trunk_z= 117.6mm grav_b=(-0.15,-0.00,-0.99) r=0.86m +[headless_play] t= 14.20s step= 710 trunk_z= 122.8mm grav_b=(-0.15,-0.05,-0.99) r=0.86m +[headless_play] t= 14.30s step= 715 trunk_z= 119.6mm grav_b=(-0.20,-0.00,-0.98) r=0.87m +[headless_play] t= 14.40s step= 720 trunk_z= 121.0mm grav_b=(-0.20,+0.07,-0.98) r=0.88m +[headless_play] t= 14.50s step= 725 trunk_z= 121.1mm grav_b=(-0.19,+0.06,-0.98) r=0.87m +[headless_play] t= 14.60s step= 730 trunk_z= 114.4mm grav_b=(-0.16,+0.06,-0.99) r=0.85m +[headless_play] t= 14.70s step= 735 trunk_z= 115.0mm grav_b=(-0.12,+0.06,-0.99) r=0.84m +[headless_play] t= 14.80s step= 740 trunk_z= 109.8mm grav_b=(-0.13,+0.10,-0.99) r=0.85m +[headless_play] t= 14.90s step= 745 trunk_z= 119.0mm grav_b=(-0.09,+0.10,-0.99) r=0.85m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(-0.08,+0.04,-1.00) r=0.85m +[headless_play] t= 15.10s step= 755 trunk_z= 124.3mm grav_b=(-0.04,-0.09,-0.99) r=0.85m +[headless_play] t= 15.20s step= 760 trunk_z= 125.6mm grav_b=(-0.05,-0.06,-1.00) r=0.85m +[headless_play] t= 15.30s step= 765 trunk_z= 122.1mm grav_b=(-0.06,-0.03,-1.00) r=0.87m +[headless_play] t= 15.40s step= 770 trunk_z= 127.2mm grav_b=(-0.08,+0.07,-0.99) r=0.90m +[headless_play] t= 15.50s step= 775 trunk_z= 127.2mm grav_b=(-0.08,+0.08,-0.99) r=0.91m +[headless_play] t= 15.60s step= 780 trunk_z= 121.7mm grav_b=(-0.11,+0.04,-0.99) r=0.90m +[headless_play] t= 15.70s step= 785 trunk_z= 122.8mm grav_b=(-0.11,-0.03,-0.99) r=0.89m +[headless_play] t= 15.80s step= 790 trunk_z= 120.6mm grav_b=(-0.10,-0.01,-0.99) r=0.90m +[headless_play] t= 15.90s step= 795 trunk_z= 121.4mm grav_b=(-0.10,+0.05,-0.99) r=0.92m +[headless_play] t= 16.00s step= 800 trunk_z= 125.9mm grav_b=(-0.10,+0.07,-0.99) r=0.94m +[headless_play] t= 16.10s step= 805 trunk_z= 123.0mm grav_b=(-0.08,+0.03,-1.00) r=0.94m +[headless_play] t= 16.20s step= 810 trunk_z= 122.0mm grav_b=(-0.10,-0.07,-0.99) r=0.93m +[headless_play] t= 16.30s step= 815 trunk_z= 126.9mm grav_b=(-0.13,-0.11,-0.99) r=0.93m +[headless_play] t= 16.40s step= 820 trunk_z= 125.2mm grav_b=(-0.14,-0.07,-0.99) r=0.94m +[headless_play] t= 16.50s step= 825 trunk_z= 120.4mm grav_b=(-0.13,+0.01,-0.99) r=0.97m +[headless_play] t= 16.60s step= 830 trunk_z= 126.1mm grav_b=(-0.09,+0.09,-0.99) r=0.99m +[headless_play] t= 16.70s step= 835 trunk_z= 126.1mm grav_b=(-0.05,+0.14,-0.99) r=1.01m +[headless_play] t= 16.80s step= 840 trunk_z= 123.9mm grav_b=(-0.08,+0.06,-1.00) r=1.03m +[headless_play] t= 16.90s step= 845 trunk_z= 120.0mm grav_b=(-0.20,+0.02,-0.98) r=1.05m +[headless_play] t= 17.00s step= 850 trunk_z= 110.1mm grav_b=(-0.21,+0.12,-0.97) r=1.06m +[headless_play] t= 17.10s step= 855 trunk_z= 104.7mm grav_b=(-0.24,+0.26,-0.93) r=1.07m +[headless_play] t= 17.20s step= 860 trunk_z= 101.4mm grav_b=(-0.26,+0.34,-0.91) r=1.07m +[headless_play] t= 17.30s step= 865 trunk_z= 86.5mm grav_b=(-0.50,+0.43,-0.75) r=1.08m +[headless_play] RESET at t= 17.40s step= 870 (env termination, not a recovery) +[headless_play] t= 17.40s step= 870 trunk_z= 127.3mm grav_b=(+0.00,+0.00,-1.00) r=0.57m +[headless_play] t= 17.50s step= 875 trunk_z= 114.4mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 17.60s step= 880 trunk_z= 112.7mm grav_b=(-0.00,+0.03,-1.00) r=0.59m +[headless_play] t= 17.70s step= 885 trunk_z= 114.2mm grav_b=(-0.02,-0.02,-1.00) r=0.60m +[headless_play] t= 17.80s step= 890 trunk_z= 112.3mm grav_b=(-0.06,-0.10,-0.99) r=0.61m +[headless_play] t= 17.90s step= 895 trunk_z= 121.0mm grav_b=(-0.07,-0.12,-0.99) r=0.63m +[headless_play] t= 18.00s step= 900 trunk_z= 117.1mm grav_b=(-0.09,-0.09,-0.99) r=0.65m +[headless_play] t= 18.10s step= 905 trunk_z= 109.9mm grav_b=(-0.06,+0.03,-1.00) r=0.67m +[headless_play] t= 18.20s step= 910 trunk_z= 117.5mm grav_b=(-0.02,+0.11,-0.99) r=0.69m +[headless_play] t= 18.30s step= 915 trunk_z= 116.7mm grav_b=(-0.00,+0.12,-0.99) r=0.70m +[headless_play] t= 18.40s step= 920 trunk_z= 112.9mm grav_b=(+0.02,+0.06,-1.00) r=0.70m +[headless_play] t= 18.50s step= 925 trunk_z= 118.3mm grav_b=(+0.01,-0.06,-1.00) r=0.70m +[headless_play] t= 18.60s step= 930 trunk_z= 116.8mm grav_b=(+0.01,-0.09,-1.00) r=0.71m +[headless_play] t= 18.70s step= 935 trunk_z= 115.7mm grav_b=(-0.02,-0.03,-1.00) r=0.73m +[headless_play] t= 18.80s step= 940 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.74m +[headless_play] t= 18.90s step= 945 trunk_z= 114.0mm grav_b=(-0.04,-0.00,-1.00) r=0.73m +[headless_play] t= 19.00s step= 950 trunk_z= 113.9mm grav_b=(-0.04,-0.07,-1.00) r=0.72m +[headless_play] t= 19.10s step= 955 trunk_z= 115.7mm grav_b=(-0.06,-0.09,-0.99) r=0.73m +[headless_play] t= 19.20s step= 960 trunk_z= 111.8mm grav_b=(-0.04,-0.08,-1.00) r=0.74m +[headless_play] t= 19.30s step= 965 trunk_z= 113.6mm grav_b=(-0.03,+0.02,-1.00) r=0.76m +[headless_play] t= 19.40s step= 970 trunk_z= 114.9mm grav_b=(-0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 19.50s step= 975 trunk_z= 106.5mm grav_b=(+0.03,-0.01,-1.00) r=0.77m +[headless_play] t= 19.60s step= 980 trunk_z= 119.4mm grav_b=(+0.08,-0.10,-0.99) r=0.77m +[headless_play] t= 19.70s step= 985 trunk_z= 120.8mm grav_b=(+0.08,-0.14,-0.99) r=0.78m +[headless_play] t= 19.80s step= 990 trunk_z= 121.2mm grav_b=(+0.03,-0.06,-1.00) r=0.79m +[headless_play] t= 19.90s step= 995 trunk_z= 125.1mm grav_b=(-0.07,-0.05,-1.00) r=0.82m +[headless_play] t= 20.00s step=1000 trunk_z= 84.7mm grav_b=(-0.11,-0.10,-0.99) r=0.86m +[headless_play] t= 20.10s step=1005 trunk_z= 96.8mm grav_b=(-0.11,-0.05,-0.99) r=0.88m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t11.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..62e5f4a82687138a87fc86caaa4d59b0e4664a35 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.748,-17.945,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.5mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.03,-0.01,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(-0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(-0.04,-0.00,-1.00) r=0.25m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(-0.07,-0.01,-1.00) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(-0.09,-0.00,-1.00) r=0.25m +[headless_play] t= 1.10s step= 55 trunk_z= 116.5mm grav_b=(-0.08,+0.00,-1.00) r=0.25m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.02,+0.00,-1.00) r=0.25m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 1.80s step= 90 trunk_z= 116.9mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 1.90s step= 95 trunk_z= 118.2mm grav_b=(-0.11,+0.02,-0.99) r=0.24m +[headless_play] t= 2.00s step= 100 trunk_z= 118.1mm grav_b=(-0.12,-0.03,-0.99) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 115.2mm grav_b=(-0.04,+0.02,-1.00) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 118.0mm grav_b=(-0.03,+0.00,-1.00) r=0.22m +[headless_play] t= 2.30s step= 115 trunk_z= 117.6mm grav_b=(-0.04,-0.05,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.07,-0.01,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(-0.02,-0.05,-1.00) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 121.1mm grav_b=(+0.00,-0.06,-1.00) r=0.22m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(-0.01,+0.02,-1.00) r=0.23m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.22m +[headless_play] t= 2.90s step= 145 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 3.00s step= 150 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 3.10s step= 155 trunk_z= 117.9mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 3.20s step= 160 trunk_z= 117.9mm grav_b=(-0.05,-0.00,-1.00) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 117.7mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 3.40s step= 170 trunk_z= 117.7mm grav_b=(-0.07,-0.00,-1.00) r=0.23m +[headless_play] t= 3.50s step= 175 trunk_z= 119.9mm grav_b=(-0.06,-0.04,-1.00) r=0.22m +[headless_play] t= 3.60s step= 180 trunk_z= 119.3mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 3.70s step= 185 trunk_z= 119.2mm grav_b=(-0.06,+0.00,-1.00) r=0.22m +[headless_play] t= 3.80s step= 190 trunk_z= 118.9mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 3.90s step= 195 trunk_z= 118.7mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 4.00s step= 200 trunk_z= 118.7mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 4.10s step= 205 trunk_z= 118.8mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 4.20s step= 210 trunk_z= 118.7mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 4.30s step= 215 trunk_z= 118.7mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 4.40s step= 220 trunk_z= 118.7mm grav_b=(-0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 4.50s step= 225 trunk_z= 118.7mm grav_b=(-0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 118.5mm grav_b=(-0.07,-0.01,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 118.6mm grav_b=(-0.07,-0.00,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 118.5mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 5.00s step= 250 trunk_z= 118.4mm grav_b=(+0.01,-0.05,-1.00) r=0.24m +[headless_play] t= 5.10s step= 255 trunk_z= 123.2mm grav_b=(+0.12,-0.09,-0.99) r=0.26m +[headless_play] t= 5.20s step= 260 trunk_z= 132.7mm grav_b=(+0.09,-0.09,-0.99) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 108.5mm grav_b=(-0.06,-0.06,-1.00) r=0.37m +[headless_play] t= 5.40s step= 270 trunk_z= 125.4mm grav_b=(-0.07,-0.03,-1.00) r=0.38m +[headless_play] t= 5.50s step= 275 trunk_z= 118.1mm grav_b=(-0.06,-0.08,-1.00) r=0.39m +[headless_play] t= 5.60s step= 280 trunk_z= 123.9mm grav_b=(-0.07,-0.11,-0.99) r=0.41m +[headless_play] t= 5.70s step= 285 trunk_z= 123.6mm grav_b=(-0.10,-0.07,-0.99) r=0.43m +[headless_play] t= 5.80s step= 290 trunk_z= 115.5mm grav_b=(-0.11,+0.01,-0.99) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 123.6mm grav_b=(-0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 120.8mm grav_b=(-0.01,-0.06,-1.00) r=0.47m +[headless_play] t= 6.10s step= 305 trunk_z= 126.9mm grav_b=(+0.03,-0.15,-0.99) r=0.47m +[headless_play] t= 6.20s step= 310 trunk_z= 132.2mm grav_b=(+0.01,-0.20,-0.98) r=0.48m +[headless_play] t= 6.30s step= 315 trunk_z= 128.2mm grav_b=(-0.07,-0.34,-0.94) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 99.8mm grav_b=(-0.05,-0.37,-0.93) r=0.52m +[headless_play] t= 6.50s step= 325 trunk_z= 115.5mm grav_b=(+0.26,-0.37,-0.89) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 103.6mm grav_b=(+0.60,-0.07,-0.79) r=0.54m +[headless_play] RESET at t= 6.70s step= 335 (env termination, not a recovery) +[headless_play] t= 6.70s step= 335 trunk_z= 122.9mm grav_b=(-0.00,+0.00,-1.00) r=0.47m +[headless_play] t= 6.80s step= 340 trunk_z= 115.1mm grav_b=(-0.02,-0.00,-1.00) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 117.8mm grav_b=(-0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 7.00s step= 350 trunk_z= 126.1mm grav_b=(+0.04,-0.13,-0.99) r=0.43m +[headless_play] t= 7.10s step= 355 trunk_z= 129.0mm grav_b=(+0.03,-0.16,-0.99) r=0.40m +[headless_play] t= 7.20s step= 360 trunk_z= 120.2mm grav_b=(-0.02,-0.08,-1.00) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 130.7mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 7.40s step= 370 trunk_z= 131.0mm grav_b=(-0.04,+0.03,-1.00) r=0.32m +[headless_play] t= 7.50s step= 375 trunk_z= 121.1mm grav_b=(-0.02,-0.04,-1.00) r=0.30m +[headless_play] t= 7.60s step= 380 trunk_z= 123.9mm grav_b=(-0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 7.70s step= 385 trunk_z= 114.8mm grav_b=(-0.11,+0.02,-0.99) r=0.29m +[headless_play] t= 7.80s step= 390 trunk_z= 124.1mm grav_b=(-0.09,+0.07,-0.99) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 123.8mm grav_b=(-0.06,+0.05,-1.00) r=0.29m +[headless_play] t= 8.00s step= 400 trunk_z= 115.5mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 8.10s step= 405 trunk_z= 117.8mm grav_b=(+0.00,+0.03,-1.00) r=0.31m +[headless_play] t= 8.20s step= 410 trunk_z= 119.8mm grav_b=(-0.00,+0.07,-1.00) r=0.31m +[headless_play] t= 8.30s step= 415 trunk_z= 127.2mm grav_b=(+0.09,+0.05,-0.99) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 115.4mm grav_b=(-0.01,-0.04,-1.00) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 120.3mm grav_b=(-0.01,-0.08,-1.00) r=0.20m +[headless_play] t= 8.60s step= 430 trunk_z= 120.1mm grav_b=(-0.10,-0.06,-0.99) r=0.19m +[headless_play] t= 8.70s step= 435 trunk_z= 120.8mm grav_b=(-0.09,+0.06,-0.99) r=0.18m +[headless_play] t= 8.80s step= 440 trunk_z= 124.3mm grav_b=(-0.05,+0.07,-1.00) r=0.18m +[headless_play] t= 8.90s step= 445 trunk_z= 120.8mm grav_b=(-0.05,+0.08,-1.00) r=0.17m +[headless_play] t= 9.00s step= 450 trunk_z= 123.4mm grav_b=(-0.04,-0.15,-0.99) r=0.15m +[headless_play] t= 9.10s step= 455 trunk_z= 129.6mm grav_b=(-0.08,-0.24,-0.97) r=0.13m +[headless_play] t= 9.20s step= 460 trunk_z= 128.2mm grav_b=(-0.05,-0.43,-0.90) r=0.12m +[headless_play] t= 9.30s step= 465 trunk_z= 120.6mm grav_b=(+0.03,-0.39,-0.92) r=0.13m +[headless_play] t= 9.40s step= 470 trunk_z= 121.1mm grav_b=(-0.12,-0.50,-0.86) r=0.12m +[headless_play] t= 9.50s step= 475 trunk_z= 82.3mm grav_b=(-0.11,-0.66,-0.75) r=0.14m +[headless_play] RESET at t= 9.58s step= 479 (env termination, not a recovery) +[headless_play] t= 9.60s step= 480 trunk_z= 125.6mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 9.70s step= 485 trunk_z= 114.2mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 114.4mm grav_b=(+0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 9.90s step= 495 trunk_z= 112.5mm grav_b=(+0.05,-0.08,-0.99) r=0.54m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(+0.04,-0.08,-1.00) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 114.1mm grav_b=(-0.02,-0.02,-1.00) r=0.50m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(-0.00,+0.03,-1.00) r=0.47m +[headless_play] t= 10.30s step= 515 trunk_z= 114.6mm grav_b=(-0.01,-0.07,-1.00) r=0.48m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(+0.04,-0.16,-0.99) r=0.51m +[headless_play] t= 10.50s step= 525 trunk_z= 123.1mm grav_b=(+0.03,-0.19,-0.98) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 123.4mm grav_b=(+0.02,-0.23,-0.97) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 123.0mm grav_b=(-0.05,-0.19,-0.98) r=0.56m +[headless_play] t= 10.80s step= 540 trunk_z= 127.7mm grav_b=(+0.05,-0.11,-0.99) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 138.8mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 11.00s step= 550 trunk_z= 117.8mm grav_b=(+0.00,-0.06,-1.00) r=0.67m +[headless_play] t= 11.10s step= 555 trunk_z= 133.4mm grav_b=(+0.01,-0.12,-0.99) r=0.71m +[headless_play] t= 11.20s step= 560 trunk_z= 130.3mm grav_b=(-0.08,-0.12,-0.99) r=0.76m +[headless_play] t= 11.30s step= 565 trunk_z= 118.7mm grav_b=(-0.04,-0.05,-1.00) r=0.80m +[headless_play] t= 11.40s step= 570 trunk_z= 123.0mm grav_b=(-0.05,-0.06,-1.00) r=0.81m +[headless_play] t= 11.50s step= 575 trunk_z= 118.7mm grav_b=(-0.07,-0.08,-0.99) r=0.82m +[headless_play] t= 11.60s step= 580 trunk_z= 121.9mm grav_b=(-0.08,-0.04,-1.00) r=0.84m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(+0.01,-0.08,-1.00) r=0.86m +[headless_play] t= 11.80s step= 590 trunk_z= 114.1mm grav_b=(+0.07,+0.05,-1.00) r=0.89m +[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(+0.07,-0.02,-1.00) r=0.91m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(+0.00,-0.10,-0.99) r=0.93m +[headless_play] t= 12.10s step= 605 trunk_z= 122.3mm grav_b=(-0.01,-0.12,-0.99) r=0.94m +[headless_play] t= 12.20s step= 610 trunk_z= 117.8mm grav_b=(-0.02,-0.09,-1.00) r=0.97m +[headless_play] t= 12.30s step= 615 trunk_z= 107.8mm grav_b=(-0.03,+0.10,-0.99) r=1.00m +[headless_play] t= 12.40s step= 620 trunk_z= 104.1mm grav_b=(-0.06,+0.25,-0.97) r=1.02m +[headless_play] t= 12.50s step= 625 trunk_z= 104.8mm grav_b=(-0.10,+0.30,-0.95) r=1.04m +[headless_play] t= 12.60s step= 630 trunk_z= 98.2mm grav_b=(-0.21,+0.53,-0.82) r=1.07m +[headless_play] t= 12.70s step= 635 trunk_z= 69.4mm grav_b=(-0.39,+0.78,-0.49) r=1.11m +[headless_play] RESET at t= 12.74s step= 637 (env termination, not a recovery) +[headless_play] t= 12.80s step= 640 trunk_z= 113.8mm grav_b=(-0.01,-0.01,-1.00) r=0.58m +[headless_play] t= 12.90s step= 645 trunk_z= 115.2mm grav_b=(+0.02,-0.08,-1.00) r=0.58m +[headless_play] t= 13.00s step= 650 trunk_z= 116.4mm grav_b=(-0.02,-0.06,-1.00) r=0.58m +[headless_play] t= 13.10s step= 655 trunk_z= 111.9mm grav_b=(-0.07,+0.01,-1.00) r=0.57m +[headless_play] t= 13.20s step= 660 trunk_z= 113.7mm grav_b=(-0.07,+0.03,-1.00) r=0.57m +[headless_play] t= 13.30s step= 665 trunk_z= 104.0mm grav_b=(+0.05,-0.07,-1.00) r=0.61m +[headless_play] t= 13.40s step= 670 trunk_z= 112.8mm grav_b=(+0.15,-0.14,-0.98) r=0.63m +[headless_play] t= 13.50s step= 675 trunk_z= 112.4mm grav_b=(+0.10,-0.09,-0.99) r=0.65m +[headless_play] t= 13.60s step= 680 trunk_z= 115.3mm grav_b=(+0.09,-0.03,-1.00) r=0.67m +[headless_play] t= 13.70s step= 685 trunk_z= 114.4mm grav_b=(+0.03,-0.06,-1.00) r=0.69m +[headless_play] t= 13.80s step= 690 trunk_z= 112.4mm grav_b=(-0.02,-0.09,-1.00) r=0.71m +[headless_play] t= 13.90s step= 695 trunk_z= 112.6mm grav_b=(-0.11,+0.02,-0.99) r=0.71m +[headless_play] t= 14.00s step= 700 trunk_z= 113.4mm grav_b=(-0.08,+0.06,-1.00) r=0.70m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.68m +[headless_play] t= 14.20s step= 710 trunk_z= 98.0mm grav_b=(+0.05,-0.07,-1.00) r=0.66m +[headless_play] t= 14.30s step= 715 trunk_z= 106.1mm grav_b=(+0.04,-0.12,-0.99) r=0.67m +[headless_play] t= 14.40s step= 720 trunk_z= 108.3mm grav_b=(+0.03,-0.09,-1.00) r=0.68m +[headless_play] t= 14.50s step= 725 trunk_z= 111.3mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 14.60s step= 730 trunk_z= 114.1mm grav_b=(+0.00,-0.06,-1.00) r=0.71m +[headless_play] t= 14.70s step= 735 trunk_z= 105.6mm grav_b=(+0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 14.80s step= 740 trunk_z= 111.6mm grav_b=(+0.06,-0.10,-0.99) r=0.72m +[headless_play] t= 14.90s step= 745 trunk_z= 111.5mm grav_b=(+0.01,-0.05,-1.00) r=0.74m +[headless_play] t= 15.00s step= 750 trunk_z= 113.4mm grav_b=(-0.00,+0.05,-1.00) r=0.77m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.77m +[headless_play] t= 15.20s step= 760 trunk_z= 107.2mm grav_b=(+0.03,-0.02,-1.00) r=0.76m +[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(-0.02,-0.09,-1.00) r=0.75m +[headless_play] t= 15.40s step= 770 trunk_z= 114.3mm grav_b=(-0.04,-0.05,-1.00) r=0.76m +[headless_play] t= 15.50s step= 775 trunk_z= 109.0mm grav_b=(-0.01,-0.06,-1.00) r=0.77m +[headless_play] t= 15.60s step= 780 trunk_z= 111.9mm grav_b=(+0.05,-0.01,-1.00) r=0.78m +[headless_play] t= 15.70s step= 785 trunk_z= 107.2mm grav_b=(+0.07,-0.02,-1.00) r=0.76m +[headless_play] t= 15.80s step= 790 trunk_z= 108.4mm grav_b=(+0.11,-0.10,-0.99) r=0.73m +[headless_play] t= 15.90s step= 795 trunk_z= 115.8mm grav_b=(-0.03,-0.07,-1.00) r=0.73m +[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(-0.08,-0.01,-1.00) r=0.74m +[headless_play] t= 16.10s step= 805 trunk_z= 121.3mm grav_b=(-0.06,+0.09,-0.99) r=0.75m +[headless_play] t= 16.20s step= 810 trunk_z= 125.2mm grav_b=(-0.07,+0.08,-0.99) r=0.75m +[headless_play] t= 16.30s step= 815 trunk_z= 125.6mm grav_b=(-0.07,+0.12,-0.99) r=0.74m +[headless_play] t= 16.40s step= 820 trunk_z= 118.1mm grav_b=(-0.03,+0.02,-1.00) r=0.72m +[headless_play] t= 16.50s step= 825 trunk_z= 125.1mm grav_b=(-0.01,-0.11,-0.99) r=0.70m +[headless_play] t= 16.60s step= 830 trunk_z= 128.2mm grav_b=(-0.00,-0.14,-0.99) r=0.69m +[headless_play] t= 16.70s step= 835 trunk_z= 127.2mm grav_b=(-0.01,-0.10,-1.00) r=0.69m +[headless_play] t= 16.80s step= 840 trunk_z= 127.3mm grav_b=(+0.01,+0.01,-1.00) r=0.69m +[headless_play] t= 16.90s step= 845 trunk_z= 131.0mm grav_b=(+0.00,+0.01,-1.00) r=0.68m +[headless_play] t= 17.00s step= 850 trunk_z= 118.7mm grav_b=(-0.05,-0.05,-1.00) r=0.65m +[headless_play] t= 17.10s step= 855 trunk_z= 124.3mm grav_b=(-0.08,-0.10,-0.99) r=0.64m +[headless_play] t= 17.20s step= 860 trunk_z= 122.6mm grav_b=(-0.10,-0.10,-0.99) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 118.5mm grav_b=(-0.07,+0.03,-1.00) r=0.66m +[headless_play] t= 17.40s step= 870 trunk_z= 126.0mm grav_b=(-0.03,+0.03,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 123.1mm grav_b=(-0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 17.60s step= 880 trunk_z= 125.5mm grav_b=(+0.01,-0.09,-1.00) r=0.61m +[headless_play] t= 17.70s step= 885 trunk_z= 130.4mm grav_b=(+0.01,-0.11,-0.99) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 129.7mm grav_b=(-0.01,-0.09,-1.00) r=0.58m +[headless_play] t= 17.90s step= 895 trunk_z= 124.2mm grav_b=(-0.00,-0.01,-1.00) r=0.57m +[headless_play] t= 18.00s step= 900 trunk_z= 130.7mm grav_b=(-0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 115.6mm grav_b=(-0.06,-0.07,-1.00) r=0.52m +[headless_play] t= 18.20s step= 910 trunk_z= 128.9mm grav_b=(-0.03,-0.12,-0.99) r=0.50m +[headless_play] t= 18.30s step= 915 trunk_z= 129.8mm grav_b=(-0.05,-0.13,-0.99) r=0.48m +[headless_play] t= 18.40s step= 920 trunk_z= 130.0mm grav_b=(-0.06,-0.12,-0.99) r=0.48m +[headless_play] t= 18.50s step= 925 trunk_z= 122.4mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.60s step= 930 trunk_z= 129.2mm grav_b=(+0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 125.3mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 18.80s step= 940 trunk_z= 124.8mm grav_b=(-0.02,-0.09,-1.00) r=0.43m +[headless_play] t= 18.90s step= 945 trunk_z= 127.9mm grav_b=(-0.01,-0.10,-0.99) r=0.41m +[headless_play] t= 19.00s step= 950 trunk_z= 128.1mm grav_b=(-0.03,-0.10,-0.99) r=0.41m +[headless_play] t= 19.10s step= 955 trunk_z= 122.9mm grav_b=(-0.02,+0.04,-1.00) r=0.41m +[headless_play] t= 19.20s step= 960 trunk_z= 130.6mm grav_b=(+0.01,+0.06,-1.00) r=0.41m +[headless_play] t= 19.30s step= 965 trunk_z= 130.6mm grav_b=(-0.07,+0.02,-1.00) r=0.39m +[headless_play] t= 19.40s step= 970 trunk_z= 122.8mm grav_b=(-0.11,-0.08,-0.99) r=0.36m +[headless_play] t= 19.50s step= 975 trunk_z= 126.3mm grav_b=(-0.11,-0.08,-0.99) r=0.35m +[headless_play] t= 19.60s step= 980 trunk_z= 118.9mm grav_b=(-0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 19.70s step= 985 trunk_z= 117.6mm grav_b=(+0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 114.6mm grav_b=(-0.05,-0.04,-1.00) r=0.33m +[headless_play] t= 19.90s step= 995 trunk_z= 113.0mm grav_b=(-0.02,-0.10,-1.00) r=0.31m +[headless_play] t= 20.00s step=1000 trunk_z= 117.0mm grav_b=(-0.02,-0.16,-0.99) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.03,-0.20,-0.98) r=0.28m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t12.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..233c270bb64214e69802a8d1edf18cd13400a0c0 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t12.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.802,-17.947,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.1mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 0.80s step= 40 trunk_z= 118.8mm grav_b=(+0.00,+0.00,-1.00) r=0.19m +[headless_play] t= 0.90s step= 45 trunk_z= 118.3mm grav_b=(-0.00,-0.01,-1.00) r=0.19m +[headless_play] t= 1.00s step= 50 trunk_z= 117.9mm grav_b=(-0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 1.10s step= 55 trunk_z= 117.7mm grav_b=(-0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(-0.01,-0.02,-1.00) r=0.19m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.00,-0.02,-1.00) r=0.19m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(+0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 1.50s step= 75 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 1.60s step= 80 trunk_z= 120.2mm grav_b=(-0.02,+0.02,-1.00) r=0.18m +[headless_play] t= 1.70s step= 85 trunk_z= 118.7mm grav_b=(-0.05,-0.00,-1.00) r=0.19m +[headless_play] t= 1.80s step= 90 trunk_z= 119.1mm grav_b=(-0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 1.90s step= 95 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 2.00s step= 100 trunk_z= 111.8mm grav_b=(+0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(+0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.20m +[headless_play] t= 2.30s step= 115 trunk_z= 118.7mm grav_b=(+0.02,+0.06,-1.00) r=0.20m +[headless_play] t= 2.40s step= 120 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 114.7mm grav_b=(+0.04,-0.02,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 114.8mm grav_b=(+0.05,-0.02,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(-0.00,-0.02,-1.00) r=0.20m +[headless_play] t= 3.20s step= 160 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=0.20m +[headless_play] t= 3.40s step= 170 trunk_z= 116.3mm grav_b=(+0.02,-0.02,-1.00) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 3.60s step= 180 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(+0.00,-0.00,-1.00) r=0.20m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 4.30s step= 215 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=0.20m +[headless_play] t= 4.40s step= 220 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.20m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 117.1mm grav_b=(+0.09,-0.01,-1.00) r=0.20m +[headless_play] t= 4.80s step= 240 trunk_z= 118.8mm grav_b=(+0.09,+0.03,-1.00) r=0.19m +[headless_play] t= 4.90s step= 245 trunk_z= 116.1mm grav_b=(+0.03,+0.02,-1.00) r=0.19m +[headless_play] t= 5.00s step= 250 trunk_z= 116.0mm grav_b=(+0.01,-0.04,-1.00) r=0.20m +[headless_play] t= 5.10s step= 255 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.20m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(-0.02,-0.02,-1.00) r=0.20m +[headless_play] t= 5.40s step= 270 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 5.50s step= 275 trunk_z= 116.2mm grav_b=(-0.01,-0.02,-1.00) r=0.20m +[headless_play] t= 5.60s step= 280 trunk_z= 117.0mm grav_b=(-0.11,-0.01,-0.99) r=0.22m +[headless_play] t= 5.70s step= 285 trunk_z= 116.4mm grav_b=(-0.03,-0.09,-1.00) r=0.24m +[headless_play] t= 5.80s step= 290 trunk_z= 106.9mm grav_b=(+0.08,-0.13,-0.99) r=0.27m +[headless_play] t= 5.90s step= 295 trunk_z= 111.1mm grav_b=(+0.09,-0.09,-0.99) r=0.27m +[headless_play] t= 6.00s step= 300 trunk_z= 114.4mm grav_b=(+0.06,-0.01,-1.00) r=0.27m +[headless_play] t= 6.10s step= 305 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 6.20s step= 310 trunk_z= 115.6mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 6.30s step= 315 trunk_z= 115.8mm grav_b=(-0.02,-0.02,-1.00) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 115.8mm grav_b=(-0.02,-0.02,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 6.70s step= 335 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(+0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 7.10s step= 355 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.28m +[headless_play] t= 7.20s step= 360 trunk_z= 118.0mm grav_b=(+0.06,+0.00,-1.00) r=0.28m +[headless_play] t= 7.30s step= 365 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.28m +[headless_play] t= 7.40s step= 370 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 7.50s step= 375 trunk_z= 116.8mm grav_b=(-0.03,-0.02,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 113.6mm grav_b=(-0.03,+0.03,-1.00) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=0.26m +[headless_play] t= 7.80s step= 390 trunk_z= 109.8mm grav_b=(-0.01,-0.08,-1.00) r=0.26m +[headless_play] t= 7.90s step= 395 trunk_z= 113.5mm grav_b=(+0.05,-0.12,-0.99) r=0.26m +[headless_play] t= 8.00s step= 400 trunk_z= 117.5mm grav_b=(+0.09,-0.19,-0.98) r=0.25m +[headless_play] t= 8.10s step= 405 trunk_z= 117.9mm grav_b=(+0.03,-0.12,-0.99) r=0.23m +[headless_play] t= 8.20s step= 410 trunk_z= 130.3mm grav_b=(-0.02,-0.10,-0.99) r=0.22m +[headless_play] t= 8.30s step= 415 trunk_z= 120.7mm grav_b=(+0.00,-0.09,-1.00) r=0.22m +[headless_play] t= 8.40s step= 420 trunk_z= 118.6mm grav_b=(-0.02,-0.07,-1.00) r=0.24m +[headless_play] t= 8.50s step= 425 trunk_z= 121.0mm grav_b=(-0.02,-0.07,-1.00) r=0.24m +[headless_play] t= 8.60s step= 430 trunk_z= 114.6mm grav_b=(-0.04,-0.02,-1.00) r=0.22m +[headless_play] t= 8.70s step= 435 trunk_z= 118.5mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 8.80s step= 440 trunk_z= 116.8mm grav_b=(-0.03,-0.03,-1.00) r=0.21m +[headless_play] t= 8.90s step= 445 trunk_z= 111.3mm grav_b=(-0.00,-0.09,-1.00) r=0.24m +[headless_play] t= 9.00s step= 450 trunk_z= 114.0mm grav_b=(+0.05,-0.09,-0.99) r=0.24m +[headless_play] t= 9.10s step= 455 trunk_z= 112.1mm grav_b=(+0.06,-0.06,-1.00) r=0.23m +[headless_play] t= 9.20s step= 460 trunk_z= 120.4mm grav_b=(-0.04,+0.03,-1.00) r=0.21m +[headless_play] t= 9.30s step= 465 trunk_z= 123.7mm grav_b=(-0.07,+0.01,-1.00) r=0.20m +[headless_play] t= 9.40s step= 470 trunk_z= 112.0mm grav_b=(-0.03,-0.01,-1.00) r=0.22m +[headless_play] t= 9.50s step= 475 trunk_z= 115.6mm grav_b=(+0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 9.60s step= 480 trunk_z= 107.7mm grav_b=(+0.07,-0.02,-1.00) r=0.20m +[headless_play] t= 9.70s step= 485 trunk_z= 113.4mm grav_b=(+0.08,+0.05,-1.00) r=0.18m +[headless_play] t= 9.80s step= 490 trunk_z= 112.6mm grav_b=(+0.05,-0.02,-1.00) r=0.18m +[headless_play] t= 9.90s step= 495 trunk_z= 107.6mm grav_b=(+0.01,-0.07,-1.00) r=0.19m +[headless_play] t= 10.00s step= 500 trunk_z= 119.5mm grav_b=(-0.00,-0.07,-1.00) r=0.20m +[headless_play] t= 10.10s step= 505 trunk_z= 114.8mm grav_b=(-0.03,+0.03,-1.00) r=0.17m +[headless_play] t= 10.20s step= 510 trunk_z= 115.5mm grav_b=(-0.02,+0.08,-1.00) r=0.14m +[headless_play] t= 10.30s step= 515 trunk_z= 117.4mm grav_b=(+0.03,+0.05,-1.00) r=0.13m +[headless_play] t= 10.40s step= 520 trunk_z= 112.5mm grav_b=(+0.04,+0.03,-1.00) r=0.14m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(+0.04,-0.09,-1.00) r=0.15m +[headless_play] t= 10.60s step= 530 trunk_z= 118.8mm grav_b=(+0.05,-0.13,-0.99) r=0.16m +[headless_play] t= 10.70s step= 535 trunk_z= 114.2mm grav_b=(+0.05,-0.07,-1.00) r=0.15m +[headless_play] t= 10.80s step= 540 trunk_z= 122.4mm grav_b=(-0.04,+0.11,-0.99) r=0.12m +[headless_play] t= 10.90s step= 545 trunk_z= 127.2mm grav_b=(-0.05,+0.09,-0.99) r=0.10m +[headless_play] t= 11.00s step= 550 trunk_z= 125.9mm grav_b=(-0.04,+0.09,-0.99) r=0.09m +[headless_play] t= 11.10s step= 555 trunk_z= 122.3mm grav_b=(+0.01,+0.08,-1.00) r=0.10m +[headless_play] t= 11.20s step= 560 trunk_z= 122.7mm grav_b=(+0.00,+0.05,-1.00) r=0.12m +[headless_play] t= 11.30s step= 565 trunk_z= 111.2mm grav_b=(+0.07,+0.06,-1.00) r=0.12m +[headless_play] t= 11.40s step= 570 trunk_z= 115.0mm grav_b=(+0.02,+0.06,-1.00) r=0.14m +[headless_play] t= 11.50s step= 575 trunk_z= 112.7mm grav_b=(+0.05,-0.02,-1.00) r=0.16m +[headless_play] t= 11.60s step= 580 trunk_z= 116.5mm grav_b=(+0.08,-0.08,-0.99) r=0.18m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(+0.05,-0.02,-1.00) r=0.18m +[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(+0.05,-0.02,-1.00) r=0.19m +[headless_play] t= 11.90s step= 595 trunk_z= 118.8mm grav_b=(+0.00,-0.05,-1.00) r=0.20m +[headless_play] t= 12.00s step= 600 trunk_z= 119.7mm grav_b=(-0.04,-0.06,-1.00) r=0.20m +[headless_play] t= 12.10s step= 605 trunk_z= 117.5mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 12.20s step= 610 trunk_z= 116.1mm grav_b=(-0.01,-0.05,-1.00) r=0.20m +[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(-0.01,-0.03,-1.00) r=0.20m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(-0.00,-0.02,-1.00) r=0.20m +[headless_play] t= 12.50s step= 625 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 12.80s step= 640 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.21m +[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 13.00s step= 650 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 13.10s step= 655 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 13.20s step= 660 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.04,-0.01,-1.00) r=0.20m +[headless_play] t= 13.40s step= 670 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 13.80s step= 690 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 14.00s step= 700 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 14.40s step= 720 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 14.50s step= 725 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 14.60s step= 730 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 14.80s step= 740 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 14.90s step= 745 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 15.00s step= 750 trunk_z= 117.6mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 15.10s step= 755 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.21m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(-0.02,-0.04,-1.00) r=0.21m +[headless_play] t= 15.30s step= 765 trunk_z= 119.9mm grav_b=(-0.04,-0.05,-1.00) r=0.22m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(+0.04,+0.07,-1.00) r=0.25m +[headless_play] t= 15.50s step= 775 trunk_z= 112.7mm grav_b=(+0.07,+0.17,-0.98) r=0.27m +[headless_play] t= 15.60s step= 780 trunk_z= 122.2mm grav_b=(+0.04,+0.17,-0.99) r=0.28m +[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(+0.03,+0.13,-0.99) r=0.29m +[headless_play] t= 15.80s step= 790 trunk_z= 117.9mm grav_b=(-0.03,+0.04,-1.00) r=0.31m +[headless_play] t= 15.90s step= 795 trunk_z= 123.1mm grav_b=(+0.00,+0.03,-1.00) r=0.32m +[headless_play] t= 16.00s step= 800 trunk_z= 112.6mm grav_b=(+0.06,+0.09,-0.99) r=0.34m +[headless_play] t= 16.10s step= 805 trunk_z= 118.3mm grav_b=(+0.04,+0.09,-1.00) r=0.35m +[headless_play] t= 16.20s step= 810 trunk_z= 108.7mm grav_b=(+0.08,+0.05,-1.00) r=0.36m +[headless_play] t= 16.30s step= 815 trunk_z= 115.4mm grav_b=(+0.09,-0.09,-0.99) r=0.37m +[headless_play] t= 16.40s step= 820 trunk_z= 115.6mm grav_b=(+0.08,-0.08,-0.99) r=0.37m +[headless_play] t= 16.50s step= 825 trunk_z= 113.7mm grav_b=(+0.07,-0.01,-1.00) r=0.37m +[headless_play] t= 16.60s step= 830 trunk_z= 114.6mm grav_b=(+0.06,-0.02,-1.00) r=0.37m +[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.37m +[headless_play] t= 16.80s step= 840 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 16.90s step= 845 trunk_z= 116.3mm grav_b=(-0.00,+0.00,-1.00) r=0.38m +[headless_play] t= 17.00s step= 850 trunk_z= 119.7mm grav_b=(-0.08,+0.00,-1.00) r=0.40m +[headless_play] t= 17.10s step= 855 trunk_z= 103.7mm grav_b=(+0.00,-0.11,-0.99) r=0.44m +[headless_play] t= 17.20s step= 860 trunk_z= 119.4mm grav_b=(-0.01,-0.09,-1.00) r=0.46m +[headless_play] t= 17.30s step= 865 trunk_z= 120.0mm grav_b=(+0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 17.40s step= 870 trunk_z= 118.1mm grav_b=(+0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 17.50s step= 875 trunk_z= 116.6mm grav_b=(-0.02,-0.04,-1.00) r=0.49m +[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(-0.03,-0.03,-1.00) r=0.50m +[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(-0.04,-0.02,-1.00) r=0.50m +[headless_play] t= 17.80s step= 890 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 17.90s step= 895 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 18.00s step= 900 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 18.10s step= 905 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 18.20s step= 910 trunk_z= 116.6mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(-0.04,-0.02,-1.00) r=0.50m +[headless_play] t= 18.40s step= 920 trunk_z= 116.6mm grav_b=(-0.04,-0.02,-1.00) r=0.50m +[headless_play] t= 18.50s step= 925 trunk_z= 118.8mm grav_b=(+0.00,-0.01,-1.00) r=0.49m +[headless_play] t= 18.60s step= 930 trunk_z= 120.5mm grav_b=(+0.05,+0.02,-1.00) r=0.48m +[headless_play] t= 18.70s step= 935 trunk_z= 120.4mm grav_b=(+0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 18.80s step= 940 trunk_z= 118.9mm grav_b=(+0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.49m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(-0.12,-0.02,-0.99) r=0.50m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(-0.19,-0.05,-0.98) r=0.52m +[headless_play] t= 19.20s step= 960 trunk_z= 111.4mm grav_b=(-0.05,-0.11,-0.99) r=0.55m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(-0.00,-0.09,-1.00) r=0.57m +[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(-0.09,+0.00,-1.00) r=0.60m +[headless_play] t= 19.60s step= 980 trunk_z= 116.1mm grav_b=(-0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 19.70s step= 985 trunk_z= 118.8mm grav_b=(-0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 19.80s step= 990 trunk_z= 117.3mm grav_b=(+0.01,-0.04,-1.00) r=0.60m +[headless_play] t= 19.90s step= 995 trunk_z= 115.8mm grav_b=(-0.07,-0.02,-1.00) r=0.61m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(-0.01,+0.04,-1.00) r=0.54m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t13.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..3076550ec90ce6bd5f666bc55d1072d876e18a45 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.203,-17.782,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.9mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(-0.00,+0.03,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.03,+0.07,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 113.6mm grav_b=(+0.04,-0.01,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(+0.04,-0.07,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 119.3mm grav_b=(+0.04,-0.06,-1.00) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 113.6mm grav_b=(+0.05,-0.06,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 113.2mm grav_b=(+0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 118.8mm grav_b=(+0.04,+0.02,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 110.4mm grav_b=(+0.10,-0.05,-0.99) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 121.9mm grav_b=(+0.13,-0.13,-0.98) r=0.48m +[headless_play] t= 1.10s step= 55 trunk_z= 121.6mm grav_b=(+0.12,-0.16,-0.98) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(+0.11,-0.09,-0.99) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 124.7mm grav_b=(+0.06,-0.07,-1.00) r=0.57m +[headless_play] t= 1.40s step= 70 trunk_z= 112.5mm grav_b=(+0.02,-0.09,-1.00) r=0.61m +[headless_play] t= 1.50s step= 75 trunk_z= 123.2mm grav_b=(+0.01,-0.09,-1.00) r=0.63m +[headless_play] t= 1.60s step= 80 trunk_z= 122.4mm grav_b=(+0.03,-0.08,-1.00) r=0.63m +[headless_play] t= 1.70s step= 85 trunk_z= 111.3mm grav_b=(+0.03,-0.02,-1.00) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 121.5mm grav_b=(-0.03,+0.06,-1.00) r=0.62m +[headless_play] t= 1.90s step= 95 trunk_z= 123.0mm grav_b=(+0.00,+0.03,-1.00) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 116.3mm grav_b=(+0.07,+0.01,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 110.9mm grav_b=(+0.07,-0.01,-1.00) r=0.62m +[headless_play] t= 2.20s step= 110 trunk_z= 106.6mm grav_b=(+0.11,-0.03,-0.99) r=0.63m +[headless_play] t= 2.30s step= 115 trunk_z= 112.2mm grav_b=(+0.10,+0.04,-0.99) r=0.65m +[headless_play] t= 2.40s step= 120 trunk_z= 115.0mm grav_b=(+0.03,+0.02,-1.00) r=0.66m +[headless_play] t= 2.50s step= 125 trunk_z= 111.7mm grav_b=(+0.02,-0.03,-1.00) r=0.68m +[headless_play] t= 2.60s step= 130 trunk_z= 118.0mm grav_b=(+0.02,-0.11,-0.99) r=0.69m +[headless_play] t= 2.70s step= 135 trunk_z= 118.4mm grav_b=(+0.06,-0.09,-0.99) r=0.69m +[headless_play] t= 2.80s step= 140 trunk_z= 111.3mm grav_b=(+0.11,-0.07,-0.99) r=0.69m +[headless_play] t= 2.90s step= 145 trunk_z= 112.9mm grav_b=(+0.13,+0.02,-0.99) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.07,+0.02,-1.00) r=0.69m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(+0.02,-0.07,-1.00) r=0.71m +[headless_play] t= 3.20s step= 160 trunk_z= 117.9mm grav_b=(+0.09,-0.03,-1.00) r=0.73m +[headless_play] t= 3.30s step= 165 trunk_z= 110.0mm grav_b=(+0.08,-0.01,-1.00) r=0.72m +[headless_play] t= 3.40s step= 170 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=0.71m +[headless_play] t= 3.50s step= 175 trunk_z= 117.5mm grav_b=(-0.01,-0.01,-1.00) r=0.71m +[headless_play] t= 3.60s step= 180 trunk_z= 107.5mm grav_b=(+0.06,-0.04,-1.00) r=0.72m +[headless_play] t= 3.70s step= 185 trunk_z= 110.5mm grav_b=(+0.10,-0.07,-0.99) r=0.72m +[headless_play] t= 3.80s step= 190 trunk_z= 104.4mm grav_b=(+0.13,-0.07,-0.99) r=0.71m +[headless_play] t= 3.90s step= 195 trunk_z= 107.0mm grav_b=(+0.09,+0.03,-1.00) r=0.68m +[headless_play] t= 4.00s step= 200 trunk_z= 112.1mm grav_b=(+0.04,-0.08,-1.00) r=0.69m +[headless_play] t= 4.10s step= 205 trunk_z= 109.6mm grav_b=(+0.06,-0.09,-0.99) r=0.71m +[headless_play] t= 4.20s step= 210 trunk_z= 114.4mm grav_b=(+0.09,-0.08,-0.99) r=0.71m +[headless_play] t= 4.30s step= 215 trunk_z= 110.6mm grav_b=(+0.11,-0.08,-0.99) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 108.4mm grav_b=(+0.13,+0.03,-0.99) r=0.67m +[headless_play] t= 4.50s step= 225 trunk_z= 112.7mm grav_b=(+0.08,+0.04,-1.00) r=0.66m +[headless_play] t= 4.60s step= 230 trunk_z= 109.0mm grav_b=(+0.10,+0.01,-1.00) r=0.66m +[headless_play] t= 4.70s step= 235 trunk_z= 113.4mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 4.90s step= 245 trunk_z= 111.0mm grav_b=(+0.09,-0.01,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 109.3mm grav_b=(+0.05,+0.05,-1.00) r=0.65m +[headless_play] t= 5.10s step= 255 trunk_z= 115.3mm grav_b=(+0.05,+0.01,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 108.9mm grav_b=(+0.14,-0.08,-0.99) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(+0.13,-0.07,-0.99) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 111.7mm grav_b=(+0.09,+0.02,-1.00) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 121.0mm grav_b=(+0.04,-0.01,-1.00) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 112.2mm grav_b=(+0.02,-0.06,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.00,-0.05,-1.00) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 122.4mm grav_b=(+0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 5.90s step= 295 trunk_z= 113.2mm grav_b=(+0.03,-0.02,-1.00) r=0.70m +[headless_play] t= 6.00s step= 300 trunk_z= 118.6mm grav_b=(+0.05,+0.02,-1.00) r=0.69m +[headless_play] t= 6.10s step= 305 trunk_z= 113.7mm grav_b=(+0.09,-0.01,-1.00) r=0.71m +[headless_play] t= 6.20s step= 310 trunk_z= 119.7mm grav_b=(+0.07,-0.07,-0.99) r=0.74m +[headless_play] t= 6.30s step= 315 trunk_z= 118.6mm grav_b=(+0.09,-0.08,-0.99) r=0.75m +[headless_play] t= 6.40s step= 320 trunk_z= 115.8mm grav_b=(+0.09,-0.06,-0.99) r=0.75m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(+0.10,+0.00,-1.00) r=0.75m +[headless_play] t= 6.60s step= 330 trunk_z= 116.4mm grav_b=(+0.07,-0.04,-1.00) r=0.77m +[headless_play] t= 6.70s step= 335 trunk_z= 100.5mm grav_b=(+0.01,-0.28,-0.96) r=0.81m +[headless_play] t= 6.80s step= 340 trunk_z= 100.4mm grav_b=(+0.13,-0.46,-0.88) r=0.85m +[headless_play] t= 6.90s step= 345 trunk_z= 83.2mm grav_b=(+0.40,-0.59,-0.70) r=0.90m +[headless_play] RESET at t= 6.98s step= 349 (env termination, not a recovery) +[headless_play] t= 7.00s step= 350 trunk_z= 126.6mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 7.10s step= 355 trunk_z= 114.5mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 114.7mm grav_b=(+0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 7.30s step= 365 trunk_z= 115.6mm grav_b=(+0.13,-0.01,-0.99) r=0.25m +[headless_play] t= 7.40s step= 370 trunk_z= 115.5mm grav_b=(+0.14,+0.01,-0.99) r=0.26m +[headless_play] t= 7.50s step= 375 trunk_z= 119.2mm grav_b=(+0.13,+0.06,-0.99) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 125.6mm grav_b=(+0.06,+0.11,-0.99) r=0.30m +[headless_play] t= 7.70s step= 385 trunk_z= 123.8mm grav_b=(+0.04,+0.09,-0.99) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 121.5mm grav_b=(+0.05,-0.04,-1.00) r=0.30m +[headless_play] t= 7.90s step= 395 trunk_z= 126.1mm grav_b=(+0.10,-0.09,-0.99) r=0.31m +[headless_play] t= 8.00s step= 400 trunk_z= 120.6mm grav_b=(+0.09,-0.10,-0.99) r=0.33m +[headless_play] t= 8.10s step= 405 trunk_z= 119.7mm grav_b=(+0.09,-0.04,-0.99) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 122.5mm grav_b=(+0.09,-0.01,-1.00) r=0.39m +[headless_play] t= 8.30s step= 415 trunk_z= 121.3mm grav_b=(+0.07,-0.11,-0.99) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 128.2mm grav_b=(-0.03,-0.16,-0.99) r=0.40m +[headless_play] t= 8.50s step= 425 trunk_z= 126.3mm grav_b=(+0.01,-0.12,-0.99) r=0.41m +[headless_play] t= 8.60s step= 430 trunk_z= 118.3mm grav_b=(+0.06,-0.07,-1.00) r=0.43m +[headless_play] t= 8.70s step= 435 trunk_z= 118.2mm grav_b=(+0.14,+0.02,-0.99) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 121.4mm grav_b=(+0.09,+0.00,-1.00) r=0.45m +[headless_play] t= 8.90s step= 445 trunk_z= 121.0mm grav_b=(+0.08,-0.07,-0.99) r=0.45m +[headless_play] t= 9.00s step= 450 trunk_z= 115.4mm grav_b=(+0.11,+0.06,-0.99) r=0.50m +[headless_play] t= 9.10s step= 455 trunk_z= 125.0mm grav_b=(+0.09,+0.09,-0.99) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 126.7mm grav_b=(+0.04,+0.10,-0.99) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 121.4mm grav_b=(+0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 9.40s step= 470 trunk_z= 128.2mm grav_b=(+0.06,-0.14,-0.99) r=0.57m +[headless_play] t= 9.50s step= 475 trunk_z= 126.0mm grav_b=(+0.06,-0.14,-0.99) r=0.59m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(+0.10,-0.11,-0.99) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 127.2mm grav_b=(+0.15,-0.04,-0.99) r=0.66m +[headless_play] t= 9.80s step= 490 trunk_z= 124.4mm grav_b=(+0.06,+0.05,-1.00) r=0.70m +[headless_play] t= 9.90s step= 495 trunk_z= 120.8mm grav_b=(+0.07,-0.10,-0.99) r=0.73m +[headless_play] t= 10.00s step= 500 trunk_z= 128.9mm grav_b=(+0.01,-0.14,-0.99) r=0.74m +[headless_play] t= 10.10s step= 505 trunk_z= 121.3mm grav_b=(-0.06,-0.13,-0.99) r=0.77m +[headless_play] t= 10.20s step= 510 trunk_z= 99.7mm grav_b=(-0.05,+0.14,-0.99) r=0.79m +[headless_play] t= 10.30s step= 515 trunk_z= 106.1mm grav_b=(-0.07,+0.25,-0.97) r=0.82m +[headless_play] t= 10.40s step= 520 trunk_z= 105.7mm grav_b=(-0.07,+0.37,-0.93) r=0.85m +[headless_play] t= 10.50s step= 525 trunk_z= 81.5mm grav_b=(-0.26,+0.45,-0.86) r=0.88m +[headless_play] t= 10.60s step= 530 trunk_z= 26.2mm grav_b=(-0.86,+0.37,-0.34) r=0.93m +[headless_play] RESET at t= 10.62s step= 531 (env termination, not a recovery) +[headless_play] t= 10.70s step= 535 trunk_z= 114.7mm grav_b=(+0.00,+0.02,-1.00) r=0.21m +[headless_play] t= 10.80s step= 540 trunk_z= 115.6mm grav_b=(+0.10,+0.06,-0.99) r=0.19m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(+0.10,+0.03,-1.00) r=0.17m +[headless_play] t= 11.00s step= 550 trunk_z= 114.5mm grav_b=(+0.09,-0.05,-0.99) r=0.15m +[headless_play] t= 11.10s step= 555 trunk_z= 119.6mm grav_b=(+0.02,+0.01,-1.00) r=0.15m +[headless_play] t= 11.20s step= 560 trunk_z= 115.3mm grav_b=(+0.06,+0.09,-0.99) r=0.16m +[headless_play] t= 11.30s step= 565 trunk_z= 118.6mm grav_b=(+0.09,+0.10,-0.99) r=0.15m +[headless_play] t= 11.40s step= 570 trunk_z= 118.7mm grav_b=(+0.09,+0.06,-0.99) r=0.13m +[headless_play] t= 11.50s step= 575 trunk_z= 123.6mm grav_b=(+0.09,-0.06,-0.99) r=0.09m +[headless_play] t= 11.60s step= 580 trunk_z= 124.6mm grav_b=(+0.09,-0.03,-1.00) r=0.06m +[headless_play] t= 11.70s step= 585 trunk_z= 115.5mm grav_b=(-0.02,+0.06,-1.00) r=0.05m +[headless_play] t= 11.80s step= 590 trunk_z= 127.7mm grav_b=(-0.01,+0.11,-0.99) r=0.07m +[headless_play] t= 11.90s step= 595 trunk_z= 129.3mm grav_b=(+0.08,+0.08,-0.99) r=0.09m +[headless_play] t= 12.00s step= 600 trunk_z= 119.0mm grav_b=(+0.01,+0.18,-0.98) r=0.10m +[headless_play] t= 12.10s step= 605 trunk_z= 97.9mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 12.20s step= 610 trunk_z= 107.9mm grav_b=(+0.12,-0.02,-0.99) r=0.13m +[headless_play] t= 12.30s step= 615 trunk_z= 111.4mm grav_b=(+0.13,-0.09,-0.99) r=0.11m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(+0.15,-0.04,-0.99) r=0.09m +[headless_play] t= 12.50s step= 625 trunk_z= 111.6mm grav_b=(+0.12,+0.05,-0.99) r=0.09m +[headless_play] t= 12.60s step= 630 trunk_z= 123.0mm grav_b=(+0.15,+0.08,-0.99) r=0.08m +[headless_play] t= 12.70s step= 635 trunk_z= 115.1mm grav_b=(+0.11,+0.02,-0.99) r=0.09m +[headless_play] t= 12.80s step= 640 trunk_z= 126.8mm grav_b=(+0.09,+0.02,-1.00) r=0.12m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(+0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 13.00s step= 650 trunk_z= 122.2mm grav_b=(+0.02,+0.04,-1.00) r=0.21m +[headless_play] t= 13.10s step= 655 trunk_z= 124.2mm grav_b=(+0.03,+0.05,-1.00) r=0.22m +[headless_play] t= 13.20s step= 660 trunk_z= 118.1mm grav_b=(+0.05,+0.01,-1.00) r=0.22m +[headless_play] t= 13.30s step= 665 trunk_z= 121.1mm grav_b=(+0.08,-0.04,-1.00) r=0.23m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(+0.11,-0.01,-0.99) r=0.25m +[headless_play] t= 13.50s step= 675 trunk_z= 118.4mm grav_b=(+0.10,+0.05,-0.99) r=0.28m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.28m +[headless_play] t= 13.70s step= 685 trunk_z= 118.5mm grav_b=(+0.05,-0.06,-1.00) r=0.29m +[headless_play] t= 13.80s step= 690 trunk_z= 121.3mm grav_b=(+0.10,-0.03,-0.99) r=0.31m +[headless_play] t= 13.90s step= 695 trunk_z= 112.0mm grav_b=(+0.09,+0.02,-1.00) r=0.34m +[headless_play] t= 14.00s step= 700 trunk_z= 121.2mm grav_b=(+0.11,+0.05,-0.99) r=0.37m +[headless_play] t= 14.10s step= 705 trunk_z= 119.5mm grav_b=(+0.11,+0.07,-0.99) r=0.38m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(+0.08,-0.03,-1.00) r=0.41m +[headless_play] t= 14.30s step= 715 trunk_z= 124.5mm grav_b=(+0.09,-0.02,-1.00) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 113.9mm grav_b=(+0.07,+0.03,-1.00) r=0.50m +[headless_play] t= 14.50s step= 725 trunk_z= 120.8mm grav_b=(+0.09,+0.07,-0.99) r=0.52m +[headless_play] t= 14.60s step= 730 trunk_z= 116.8mm grav_b=(+0.08,+0.06,-1.00) r=0.55m +[headless_play] t= 14.70s step= 735 trunk_z= 122.2mm grav_b=(+0.07,-0.05,-1.00) r=0.58m +[headless_play] t= 14.80s step= 740 trunk_z= 121.3mm grav_b=(+0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 14.90s step= 745 trunk_z= 114.4mm grav_b=(+0.03,+0.02,-1.00) r=0.64m +[headless_play] t= 15.00s step= 750 trunk_z= 120.9mm grav_b=(+0.08,+0.06,-0.99) r=0.65m +[headless_play] t= 15.10s step= 755 trunk_z= 117.4mm grav_b=(+0.11,+0.04,-0.99) r=0.66m +[headless_play] t= 15.20s step= 760 trunk_z= 121.7mm grav_b=(+0.04,-0.10,-0.99) r=0.66m +[headless_play] t= 15.30s step= 765 trunk_z= 128.8mm grav_b=(+0.05,-0.13,-0.99) r=0.68m +[headless_play] t= 15.40s step= 770 trunk_z= 125.7mm grav_b=(+0.06,-0.08,-0.99) r=0.69m +[headless_play] t= 15.50s step= 775 trunk_z= 114.1mm grav_b=(+0.05,-0.01,-1.00) r=0.71m +[headless_play] t= 15.60s step= 780 trunk_z= 118.8mm grav_b=(+0.14,+0.04,-0.99) r=0.73m +[headless_play] t= 15.70s step= 785 trunk_z= 116.9mm grav_b=(+0.09,+0.04,-1.00) r=0.74m +[headless_play] t= 15.80s step= 790 trunk_z= 120.1mm grav_b=(+0.08,-0.07,-0.99) r=0.76m +[headless_play] t= 15.90s step= 795 trunk_z= 124.2mm grav_b=(+0.10,-0.07,-0.99) r=0.77m +[headless_play] t= 16.00s step= 800 trunk_z= 119.3mm grav_b=(+0.08,-0.07,-0.99) r=0.81m +[headless_play] t= 16.10s step= 805 trunk_z= 119.6mm grav_b=(+0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 16.20s step= 810 trunk_z= 119.5mm grav_b=(-0.00,-0.02,-1.00) r=0.84m +[headless_play] t= 16.30s step= 815 trunk_z= 119.6mm grav_b=(+0.06,-0.04,-1.00) r=0.86m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(+0.10,-0.02,-1.00) r=0.87m +[headless_play] t= 16.50s step= 825 trunk_z= 111.9mm grav_b=(+0.07,+0.02,-1.00) r=0.91m +[headless_play] t= 16.60s step= 830 trunk_z= 124.9mm grav_b=(+0.08,+0.03,-1.00) r=0.94m +[headless_play] t= 16.70s step= 835 trunk_z= 122.0mm grav_b=(+0.10,+0.03,-0.99) r=0.96m +[headless_play] t= 16.80s step= 840 trunk_z= 123.5mm grav_b=(+0.08,-0.03,-1.00) r=0.99m +[headless_play] t= 16.90s step= 845 trunk_z= 123.8mm grav_b=(+0.06,-0.03,-1.00) r=1.02m +[headless_play] t= 17.00s step= 850 trunk_z= 109.6mm grav_b=(+0.02,+0.06,-1.00) r=1.05m +[headless_play] t= 17.10s step= 855 trunk_z= 105.4mm grav_b=(+0.06,+0.31,-0.95) r=1.08m +[headless_play] t= 17.20s step= 860 trunk_z= 102.0mm grav_b=(+0.02,+0.44,-0.90) r=1.12m +[headless_play] t= 17.30s step= 865 trunk_z= 83.2mm grav_b=(-0.02,+0.70,-0.71) r=1.17m +[headless_play] RESET at t= 17.40s step= 870 (env termination, not a recovery) +[headless_play] t= 17.40s step= 870 trunk_z= 120.4mm grav_b=(+0.00,+0.00,-1.00) r=0.32m +[headless_play] t= 17.50s step= 875 trunk_z= 115.7mm grav_b=(+0.01,-0.03,-1.00) r=0.32m +[headless_play] t= 17.60s step= 880 trunk_z= 116.5mm grav_b=(+0.08,-0.06,-0.99) r=0.33m +[headless_play] t= 17.70s step= 885 trunk_z= 119.1mm grav_b=(+0.07,-0.01,-1.00) r=0.32m +[headless_play] t= 17.80s step= 890 trunk_z= 119.8mm grav_b=(+0.07,+0.03,-1.00) r=0.29m +[headless_play] t= 17.90s step= 895 trunk_z= 131.7mm grav_b=(+0.06,+0.05,-1.00) r=0.29m +[headless_play] t= 18.00s step= 900 trunk_z= 120.0mm grav_b=(+0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 18.10s step= 905 trunk_z= 126.1mm grav_b=(-0.01,-0.03,-1.00) r=0.33m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(+0.00,-0.02,-1.00) r=0.33m +[headless_play] t= 18.30s step= 915 trunk_z= 119.7mm grav_b=(+0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 18.40s step= 920 trunk_z= 126.3mm grav_b=(+0.03,+0.09,-1.00) r=0.33m +[headless_play] t= 18.50s step= 925 trunk_z= 127.4mm grav_b=(+0.04,+0.10,-0.99) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 120.6mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 18.70s step= 935 trunk_z= 125.2mm grav_b=(+0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 18.80s step= 940 trunk_z= 122.5mm grav_b=(+0.05,-0.05,-1.00) r=0.40m +[headless_play] t= 18.90s step= 945 trunk_z= 123.8mm grav_b=(+0.08,+0.01,-1.00) r=0.41m +[headless_play] t= 19.00s step= 950 trunk_z= 127.9mm grav_b=(+0.08,+0.05,-1.00) r=0.42m +[headless_play] t= 19.10s step= 955 trunk_z= 127.5mm grav_b=(+0.05,+0.05,-1.00) r=0.44m +[headless_play] t= 19.20s step= 960 trunk_z= 125.4mm grav_b=(+0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 19.30s step= 965 trunk_z= 124.5mm grav_b=(+0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 19.40s step= 970 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 19.50s step= 975 trunk_z= 124.9mm grav_b=(+0.04,+0.03,-1.00) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 123.3mm grav_b=(+0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 19.70s step= 985 trunk_z= 121.3mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 19.80s step= 990 trunk_z= 126.6mm grav_b=(+0.08,-0.09,-0.99) r=0.56m +[headless_play] t= 19.90s step= 995 trunk_z= 126.1mm grav_b=(+0.07,-0.12,-0.99) r=0.60m +[headless_play] t= 20.00s step=1000 trunk_z= 123.1mm grav_b=(+0.10,-0.04,-0.99) r=0.63m +[headless_play] t= 20.10s step=1005 trunk_z= 128.2mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t14.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..c0d7df146cff4326c603dd819eb660abe12f4ff7 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t14.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.502,-18.029,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.4mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 112.4mm grav_b=(+0.09,+0.07,-0.99) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 113.5mm grav_b=(+0.09,+0.01,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 113.1mm grav_b=(+0.04,-0.11,-0.99) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 123.1mm grav_b=(+0.06,-0.11,-0.99) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 115.1mm grav_b=(+0.04,-0.06,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 117.7mm grav_b=(+0.02,+0.05,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 119.3mm grav_b=(+0.03,+0.07,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 116.3mm grav_b=(+0.05,+0.05,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 121.5mm grav_b=(+0.06,-0.12,-0.99) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 125.6mm grav_b=(+0.09,-0.25,-0.96) r=0.54m +[headless_play] t= 1.20s step= 60 trunk_z= 113.8mm grav_b=(+0.21,-0.32,-0.92) r=0.56m +[headless_play] t= 1.30s step= 65 trunk_z= 108.1mm grav_b=(+0.16,-0.35,-0.92) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 110.7mm grav_b=(+0.23,-0.43,-0.87) r=0.65m +[headless_play] t= 1.50s step= 75 trunk_z= 109.0mm grav_b=(+0.45,-0.17,-0.88) r=0.73m +[headless_play] t= 1.60s step= 80 trunk_z= 66.3mm grav_b=(+0.36,+0.81,-0.46) r=0.78m +[headless_play] RESET at t= 1.62s step= 81 (env termination, not a recovery) +[headless_play] t= 1.70s step= 85 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(+0.02,+0.05,-1.00) r=0.65m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(+0.03,+0.03,-1.00) r=0.67m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(+0.00,-0.02,-1.00) r=0.68m +[headless_play] t= 2.10s step= 105 trunk_z= 119.1mm grav_b=(-0.02,-0.05,-1.00) r=0.69m +[headless_play] t= 2.20s step= 110 trunk_z= 115.7mm grav_b=(-0.04,+0.00,-1.00) r=0.69m +[headless_play] t= 2.30s step= 115 trunk_z= 117.7mm grav_b=(-0.03,+0.05,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 116.0mm grav_b=(+0.00,+0.04,-1.00) r=0.71m +[headless_play] t= 2.50s step= 125 trunk_z= 111.3mm grav_b=(+0.05,-0.04,-1.00) r=0.73m +[headless_play] t= 2.60s step= 130 trunk_z= 119.5mm grav_b=(+0.09,-0.07,-0.99) r=0.75m +[headless_play] t= 2.70s step= 135 trunk_z= 123.0mm grav_b=(+0.05,-0.13,-0.99) r=0.76m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(+0.09,-0.02,-1.00) r=0.79m +[headless_play] t= 2.90s step= 145 trunk_z= 122.1mm grav_b=(+0.07,-0.01,-1.00) r=0.80m +[headless_play] t= 3.00s step= 150 trunk_z= 118.4mm grav_b=(+0.00,-0.05,-1.00) r=0.83m +[headless_play] t= 3.10s step= 155 trunk_z= 122.9mm grav_b=(+0.00,-0.09,-1.00) r=0.86m +[headless_play] t= 3.20s step= 160 trunk_z= 117.1mm grav_b=(-0.04,-0.04,-1.00) r=0.88m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(+0.02,-0.03,-1.00) r=0.90m +[headless_play] t= 3.40s step= 170 trunk_z= 117.1mm grav_b=(+0.08,-0.04,-1.00) r=0.91m +[headless_play] t= 3.50s step= 175 trunk_z= 116.7mm grav_b=(+0.07,-0.07,-1.00) r=0.93m +[headless_play] t= 3.60s step= 180 trunk_z= 119.7mm grav_b=(+0.06,-0.02,-1.00) r=0.95m +[headless_play] t= 3.70s step= 185 trunk_z= 106.5mm grav_b=(-0.02,+0.08,-1.00) r=0.99m +[headless_play] t= 3.80s step= 190 trunk_z= 105.3mm grav_b=(-0.04,+0.29,-0.96) r=1.02m +[headless_play] t= 3.90s step= 195 trunk_z= 106.1mm grav_b=(-0.09,+0.40,-0.91) r=1.04m +[headless_play] t= 4.00s step= 200 trunk_z= 92.9mm grav_b=(-0.11,+0.60,-0.79) r=1.08m +[headless_play] t= 4.10s step= 205 trunk_z= 52.1mm grav_b=(-0.07,+0.90,-0.43) r=1.13m +[headless_play] RESET at t= 4.12s step= 206 (env termination, not a recovery) +[headless_play] t= 4.20s step= 210 trunk_z= 114.0mm grav_b=(-0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(-0.03,+0.04,-1.00) r=0.25m +[headless_play] t= 4.40s step= 220 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.26m +[headless_play] t= 4.50s step= 225 trunk_z= 113.2mm grav_b=(-0.02,-0.08,-1.00) r=0.26m +[headless_play] t= 4.60s step= 230 trunk_z= 117.7mm grav_b=(+0.01,-0.05,-1.00) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 111.4mm grav_b=(+0.03,-0.00,-1.00) r=0.27m +[headless_play] t= 4.80s step= 240 trunk_z= 115.3mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 4.90s step= 245 trunk_z= 113.0mm grav_b=(+0.01,-0.05,-1.00) r=0.31m +[headless_play] t= 5.00s step= 250 trunk_z= 113.8mm grav_b=(+0.02,-0.06,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(+0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 113.9mm grav_b=(+0.02,+0.07,-1.00) r=0.35m +[headless_play] t= 5.30s step= 265 trunk_z= 121.3mm grav_b=(+0.01,+0.08,-1.00) r=0.36m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(+0.02,+0.06,-1.00) r=0.38m +[headless_play] t= 5.50s step= 275 trunk_z= 114.8mm grav_b=(-0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 5.60s step= 280 trunk_z= 118.2mm grav_b=(-0.09,-0.02,-1.00) r=0.40m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(-0.07,+0.04,-1.00) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 119.2mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 112.0mm grav_b=(+0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 114.1mm grav_b=(+0.07,-0.07,-1.00) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 110.7mm grav_b=(+0.04,-0.00,-1.00) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 117.1mm grav_b=(+0.04,+0.06,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 115.4mm grav_b=(+0.10,+0.01,-0.99) r=0.46m +[headless_play] t= 6.40s step= 320 trunk_z= 114.8mm grav_b=(+0.06,-0.07,-1.00) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 121.7mm grav_b=(+0.03,-0.03,-1.00) r=0.53m +[headless_play] t= 6.60s step= 330 trunk_z= 114.0mm grav_b=(-0.03,+0.05,-1.00) r=0.55m +[headless_play] t= 6.70s step= 335 trunk_z= 123.8mm grav_b=(-0.07,+0.08,-0.99) r=0.57m +[headless_play] t= 6.80s step= 340 trunk_z= 125.2mm grav_b=(-0.07,+0.05,-1.00) r=0.57m +[headless_play] t= 6.90s step= 345 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.56m +[headless_play] t= 7.00s step= 350 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 7.10s step= 355 trunk_z= 110.5mm grav_b=(+0.05,+0.01,-1.00) r=0.57m +[headless_play] t= 7.20s step= 360 trunk_z= 127.5mm grav_b=(+0.03,+0.18,-0.98) r=0.57m +[headless_play] t= 7.30s step= 365 trunk_z= 131.1mm grav_b=(-0.01,+0.27,-0.96) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(-0.02,+0.43,-0.90) r=0.61m +[headless_play] t= 7.50s step= 375 trunk_z= 90.4mm grav_b=(-0.02,+0.70,-0.72) r=0.64m +[headless_play] t= 7.60s step= 380 trunk_z= 33.9mm grav_b=(+0.01,+0.95,-0.32) r=0.65m +[headless_play] RESET at t= 7.62s step= 381 (env termination, not a recovery) +[headless_play] t= 7.70s step= 385 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 7.80s step= 390 trunk_z= 115.1mm grav_b=(-0.01,-0.06,-1.00) r=0.43m +[headless_play] t= 7.90s step= 395 trunk_z= 115.8mm grav_b=(-0.03,-0.03,-1.00) r=0.44m +[headless_play] t= 8.00s step= 400 trunk_z= 110.3mm grav_b=(-0.04,+0.05,-1.00) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(+0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 8.20s step= 410 trunk_z= 111.8mm grav_b=(+0.06,-0.02,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 120.3mm grav_b=(+0.09,-0.08,-0.99) r=0.52m +[headless_play] t= 8.40s step= 420 trunk_z= 120.9mm grav_b=(+0.06,-0.05,-1.00) r=0.54m +[headless_play] t= 8.50s step= 425 trunk_z= 118.9mm grav_b=(+0.07,+0.03,-1.00) r=0.58m +[headless_play] t= 8.60s step= 430 trunk_z= 124.1mm grav_b=(+0.00,-0.02,-1.00) r=0.60m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(+0.01,-0.09,-1.00) r=0.62m +[headless_play] t= 8.80s step= 440 trunk_z= 113.1mm grav_b=(+0.09,+0.03,-1.00) r=0.65m +[headless_play] t= 8.90s step= 445 trunk_z= 119.4mm grav_b=(+0.03,+0.09,-1.00) r=0.68m +[headless_play] t= 9.00s step= 450 trunk_z= 123.1mm grav_b=(-0.02,+0.06,-1.00) r=0.71m +[headless_play] t= 9.10s step= 455 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) r=0.72m +[headless_play] t= 9.20s step= 460 trunk_z= 120.7mm grav_b=(-0.01,-0.06,-1.00) r=0.72m +[headless_play] t= 9.30s step= 465 trunk_z= 120.5mm grav_b=(+0.00,-0.05,-1.00) r=0.73m +[headless_play] t= 9.40s step= 470 trunk_z= 113.0mm grav_b=(+0.01,-0.02,-1.00) r=0.74m +[headless_play] t= 9.50s step= 475 trunk_z= 119.8mm grav_b=(-0.02,+0.05,-1.00) r=0.76m +[headless_play] t= 9.60s step= 480 trunk_z= 119.7mm grav_b=(-0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 9.70s step= 485 trunk_z= 113.9mm grav_b=(-0.03,-0.06,-1.00) r=0.78m +[headless_play] t= 9.80s step= 490 trunk_z= 119.3mm grav_b=(+0.02,-0.06,-1.00) r=0.80m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.04,-0.03,-1.00) r=0.81m +[headless_play] t= 10.00s step= 500 trunk_z= 103.0mm grav_b=(+0.05,+0.14,-0.99) r=0.82m +[headless_play] t= 10.10s step= 505 trunk_z= 104.1mm grav_b=(+0.03,+0.33,-0.94) r=0.83m +[headless_play] t= 10.20s step= 510 trunk_z= 103.4mm grav_b=(-0.08,+0.39,-0.92) r=0.84m +[headless_play] t= 10.30s step= 515 trunk_z= 93.1mm grav_b=(-0.08,+0.55,-0.83) r=0.83m +[headless_play] t= 10.40s step= 520 trunk_z= 54.5mm grav_b=(-0.17,+0.84,-0.52) r=0.83m +[headless_play] RESET at t= 10.44s step= 522 (env termination, not a recovery) +[headless_play] t= 10.50s step= 525 trunk_z= 114.4mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 10.60s step= 530 trunk_z= 114.7mm grav_b=(+0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 115.7mm grav_b=(+0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 107.7mm grav_b=(-0.00,-0.09,-1.00) r=0.50m +[headless_play] t= 10.90s step= 545 trunk_z= 118.3mm grav_b=(+0.01,-0.09,-1.00) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(+0.03,-0.06,-1.00) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 11.20s step= 560 trunk_z= 118.0mm grav_b=(+0.02,+0.03,-1.00) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 114.7mm grav_b=(+0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 11.40s step= 570 trunk_z= 120.6mm grav_b=(+0.01,-0.09,-1.00) r=0.46m +[headless_play] t= 11.50s step= 575 trunk_z= 118.0mm grav_b=(+0.06,-0.07,-1.00) r=0.46m +[headless_play] t= 11.60s step= 580 trunk_z= 110.6mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 119.4mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 11.80s step= 590 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 11.90s step= 595 trunk_z= 121.2mm grav_b=(-0.02,-0.11,-0.99) r=0.45m +[headless_play] t= 12.00s step= 600 trunk_z= 121.5mm grav_b=(-0.01,-0.10,-0.99) r=0.45m +[headless_play] t= 12.10s step= 605 trunk_z= 114.0mm grav_b=(-0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 12.20s step= 610 trunk_z= 118.9mm grav_b=(-0.02,+0.04,-1.00) r=0.49m +[headless_play] t= 12.30s step= 615 trunk_z= 119.8mm grav_b=(+0.00,+0.04,-1.00) r=0.49m +[headless_play] t= 12.40s step= 620 trunk_z= 114.8mm grav_b=(+0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(+0.03,-0.10,-0.99) r=0.45m +[headless_play] t= 12.60s step= 630 trunk_z= 119.7mm grav_b=(+0.04,-0.09,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 111.6mm grav_b=(+0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 12.80s step= 640 trunk_z= 118.9mm grav_b=(+0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 13.00s step= 650 trunk_z= 117.1mm grav_b=(-0.00,-0.10,-1.00) r=0.46m +[headless_play] t= 13.10s step= 655 trunk_z= 123.1mm grav_b=(-0.01,-0.10,-0.99) r=0.46m +[headless_play] t= 13.20s step= 660 trunk_z= 116.0mm grav_b=(+0.01,-0.08,-1.00) r=0.47m +[headless_play] t= 13.30s step= 665 trunk_z= 117.6mm grav_b=(-0.06,+0.05,-1.00) r=0.50m +[headless_play] t= 13.40s step= 670 trunk_z= 127.1mm grav_b=(-0.13,+0.10,-0.99) r=0.52m +[headless_play] t= 13.50s step= 675 trunk_z= 123.8mm grav_b=(-0.07,+0.02,-1.00) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 125.1mm grav_b=(-0.04,+0.03,-1.00) r=0.55m +[headless_play] t= 13.70s step= 685 trunk_z= 104.1mm grav_b=(-0.05,-0.05,-1.00) r=0.60m +[headless_play] t= 13.80s step= 690 trunk_z= 108.7mm grav_b=(+0.02,-0.03,-1.00) r=0.61m +[headless_play] t= 13.90s step= 695 trunk_z= 114.7mm grav_b=(+0.03,-0.02,-1.00) r=0.61m +[headless_play] t= 14.00s step= 700 trunk_z= 115.1mm grav_b=(+0.07,-0.09,-0.99) r=0.59m +[headless_play] t= 14.10s step= 705 trunk_z= 126.3mm grav_b=(+0.11,-0.06,-0.99) r=0.56m +[headless_play] t= 14.20s step= 710 trunk_z= 114.0mm grav_b=(+0.03,-0.04,-1.00) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 124.1mm grav_b=(+0.01,-0.05,-1.00) r=0.51m +[headless_play] t= 14.40s step= 720 trunk_z= 118.4mm grav_b=(-0.04,-0.08,-1.00) r=0.48m +[headless_play] t= 14.50s step= 725 trunk_z= 122.6mm grav_b=(-0.05,-0.12,-0.99) r=0.45m +[headless_play] t= 14.60s step= 730 trunk_z= 124.9mm grav_b=(-0.02,-0.11,-0.99) r=0.42m +[headless_play] t= 14.70s step= 735 trunk_z= 119.6mm grav_b=(-0.04,-0.06,-1.00) r=0.41m +[headless_play] t= 14.80s step= 740 trunk_z= 123.2mm grav_b=(-0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 14.90s step= 745 trunk_z= 125.4mm grav_b=(-0.02,+0.04,-1.00) r=0.39m +[headless_play] t= 15.00s step= 750 trunk_z= 119.8mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 15.10s step= 755 trunk_z= 121.6mm grav_b=(-0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 15.20s step= 760 trunk_z= 123.9mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 15.30s step= 765 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 15.40s step= 770 trunk_z= 123.1mm grav_b=(+0.00,+0.02,-1.00) r=0.32m +[headless_play] t= 15.50s step= 775 trunk_z= 121.4mm grav_b=(-0.01,+0.01,-1.00) r=0.31m +[headless_play] t= 15.60s step= 780 trunk_z= 114.1mm grav_b=(-0.09,-0.06,-0.99) r=0.30m +[headless_play] t= 15.70s step= 785 trunk_z= 122.3mm grav_b=(-0.07,-0.09,-0.99) r=0.29m +[headless_play] t= 15.80s step= 790 trunk_z= 115.1mm grav_b=(-0.05,-0.04,-1.00) r=0.31m +[headless_play] t= 15.90s step= 795 trunk_z= 119.9mm grav_b=(-0.06,-0.04,-1.00) r=0.32m +[headless_play] t= 16.00s step= 800 trunk_z= 110.2mm grav_b=(+0.06,-0.07,-1.00) r=0.32m +[headless_play] t= 16.10s step= 805 trunk_z= 115.2mm grav_b=(+0.06,-0.08,-1.00) r=0.32m +[headless_play] t= 16.20s step= 810 trunk_z= 114.4mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 16.30s step= 815 trunk_z= 115.9mm grav_b=(+0.00,+0.03,-1.00) r=0.32m +[headless_play] t= 16.40s step= 820 trunk_z= 123.9mm grav_b=(-0.03,+0.04,-1.00) r=0.32m +[headless_play] t= 16.50s step= 825 trunk_z= 122.0mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 16.60s step= 830 trunk_z= 117.1mm grav_b=(-0.01,-0.06,-1.00) r=0.31m +[headless_play] t= 16.70s step= 835 trunk_z= 123.5mm grav_b=(+0.04,-0.06,-1.00) r=0.29m +[headless_play] t= 16.80s step= 840 trunk_z= 120.2mm grav_b=(+0.03,-0.04,-1.00) r=0.27m +[headless_play] t= 16.90s step= 845 trunk_z= 122.2mm grav_b=(+0.02,+0.03,-1.00) r=0.25m +[headless_play] t= 17.00s step= 850 trunk_z= 120.8mm grav_b=(+0.07,+0.01,-1.00) r=0.21m +[headless_play] t= 17.10s step= 855 trunk_z= 112.1mm grav_b=(+0.03,-0.08,-1.00) r=0.16m +[headless_play] t= 17.20s step= 860 trunk_z= 124.6mm grav_b=(+0.03,-0.11,-0.99) r=0.13m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.05,-0.05,-1.00) r=0.10m +[headless_play] t= 17.40s step= 870 trunk_z= 118.6mm grav_b=(-0.11,+0.04,-0.99) r=0.09m +[headless_play] t= 17.50s step= 875 trunk_z= 123.1mm grav_b=(-0.10,+0.03,-0.99) r=0.10m +[headless_play] t= 17.60s step= 880 trunk_z= 113.0mm grav_b=(-0.04,-0.03,-1.00) r=0.11m +[headless_play] t= 17.70s step= 885 trunk_z= 118.5mm grav_b=(+0.02,-0.02,-1.00) r=0.13m +[headless_play] t= 17.80s step= 890 trunk_z= 108.2mm grav_b=(+0.05,+0.03,-1.00) r=0.15m +[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(+0.04,+0.06,-1.00) r=0.15m +[headless_play] t= 18.00s step= 900 trunk_z= 114.3mm grav_b=(+0.05,+0.02,-1.00) r=0.14m +[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(+0.05,-0.09,-0.99) r=0.12m +[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(+0.06,-0.09,-0.99) r=0.11m +[headless_play] t= 18.30s step= 915 trunk_z= 113.0mm grav_b=(+0.05,-0.04,-1.00) r=0.13m +[headless_play] t= 18.40s step= 920 trunk_z= 118.8mm grav_b=(+0.03,+0.03,-1.00) r=0.15m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(+0.02,+0.04,-1.00) r=0.14m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 18.70s step= 935 trunk_z= 120.3mm grav_b=(+0.09,-0.02,-1.00) r=0.16m +[headless_play] t= 18.80s step= 940 trunk_z= 112.6mm grav_b=(+0.06,+0.01,-1.00) r=0.20m +[headless_play] t= 18.90s step= 945 trunk_z= 123.5mm grav_b=(+0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 19.00s step= 950 trunk_z= 117.3mm grav_b=(+0.01,-0.05,-1.00) r=0.25m +[headless_play] t= 19.10s step= 955 trunk_z= 123.7mm grav_b=(+0.01,-0.13,-0.99) r=0.27m +[headless_play] t= 19.20s step= 960 trunk_z= 121.3mm grav_b=(-0.01,-0.12,-0.99) r=0.29m +[headless_play] t= 19.30s step= 965 trunk_z= 112.2mm grav_b=(-0.03,-0.04,-1.00) r=0.32m +[headless_play] t= 19.40s step= 970 trunk_z= 121.5mm grav_b=(-0.04,+0.05,-1.00) r=0.33m +[headless_play] t= 19.50s step= 975 trunk_z= 122.8mm grav_b=(-0.04,+0.04,-1.00) r=0.33m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(-0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 19.70s step= 985 trunk_z= 120.2mm grav_b=(-0.01,-0.08,-1.00) r=0.31m +[headless_play] t= 19.80s step= 990 trunk_z= 116.8mm grav_b=(-0.00,-0.07,-1.00) r=0.32m +[headless_play] t= 19.90s step= 995 trunk_z= 118.9mm grav_b=(+0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 20.00s step=1000 trunk_z= 124.9mm grav_b=(+0.04,+0.03,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 120.1mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t15.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..ed9dd8c4de9b2c5347d785e387fb55526297601a --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.3mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.505,-17.719,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.7mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.00,+0.05,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 114.7mm grav_b=(+0.04,+0.03,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 110.6mm grav_b=(+0.04,-0.07,-1.00) r=0.54m +[headless_play] t= 0.40s step= 20 trunk_z= 121.4mm grav_b=(+0.06,-0.08,-0.99) r=0.53m +[headless_play] t= 0.50s step= 25 trunk_z= 120.1mm grav_b=(+0.06,-0.08,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 113.3mm grav_b=(+0.05,+0.01,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 119.3mm grav_b=(+0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 122.2mm grav_b=(+0.03,-0.08,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 126.7mm grav_b=(+0.06,-0.18,-0.98) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 125.9mm grav_b=(+0.04,-0.20,-0.98) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(+0.06,-0.13,-0.99) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 131.9mm grav_b=(+0.03,-0.11,-0.99) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(+0.02,-0.11,-0.99) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 123.2mm grav_b=(+0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 112.5mm grav_b=(-0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 122.8mm grav_b=(-0.01,+0.16,-0.99) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 129.1mm grav_b=(-0.03,+0.25,-0.97) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 125.0mm grav_b=(-0.03,+0.39,-0.92) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 109.1mm grav_b=(+0.03,+0.66,-0.75) r=0.39m +[headless_play] t= 2.10s step= 105 trunk_z= 63.1mm grav_b=(+0.12,+0.93,-0.34) r=0.37m +[headless_play] RESET at t= 2.12s step= 106 (env termination, not a recovery) +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(-0.01,-0.01,-1.00) r=0.13m +[headless_play] t= 2.30s step= 115 trunk_z= 115.1mm grav_b=(+0.02,-0.04,-1.00) r=0.15m +[headless_play] t= 2.40s step= 120 trunk_z= 118.3mm grav_b=(+0.05,-0.04,-1.00) r=0.17m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(+0.02,+0.01,-1.00) r=0.18m +[headless_play] t= 2.60s step= 130 trunk_z= 118.8mm grav_b=(+0.01,+0.05,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 122.4mm grav_b=(-0.05,+0.04,-1.00) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 115.5mm grav_b=(-0.05,-0.03,-1.00) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 123.4mm grav_b=(-0.03,-0.07,-1.00) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(-0.00,-0.08,-1.00) r=0.20m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.02,-0.07,-1.00) r=0.22m +[headless_play] t= 3.20s step= 160 trunk_z= 118.4mm grav_b=(+0.05,+0.07,-1.00) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 120.4mm grav_b=(+0.07,+0.06,-1.00) r=0.24m +[headless_play] t= 3.40s step= 170 trunk_z= 116.8mm grav_b=(+0.06,-0.01,-1.00) r=0.26m +[headless_play] t= 3.50s step= 175 trunk_z= 126.5mm grav_b=(+0.08,-0.07,-0.99) r=0.29m +[headless_play] t= 3.60s step= 180 trunk_z= 121.4mm grav_b=(+0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 3.70s step= 185 trunk_z= 122.8mm grav_b=(-0.02,+0.09,-1.00) r=0.35m +[headless_play] t= 3.80s step= 190 trunk_z= 125.5mm grav_b=(-0.02,+0.12,-0.99) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 122.9mm grav_b=(+0.01,+0.08,-1.00) r=0.38m +[headless_play] t= 4.00s step= 200 trunk_z= 115.5mm grav_b=(+0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 124.0mm grav_b=(+0.04,-0.06,-1.00) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 123.4mm grav_b=(+0.02,-0.09,-1.00) r=0.41m +[headless_play] t= 4.30s step= 215 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 4.40s step= 220 trunk_z= 121.5mm grav_b=(+0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 117.8mm grav_b=(+0.04,+0.04,-1.00) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 121.0mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 4.70s step= 235 trunk_z= 122.4mm grav_b=(+0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(+0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 121.2mm grav_b=(+0.03,+0.05,-1.00) r=0.55m +[headless_play] t= 5.00s step= 250 trunk_z= 118.7mm grav_b=(+0.03,+0.05,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 115.0mm grav_b=(+0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 124.2mm grav_b=(+0.03,-0.07,-1.00) r=0.58m +[headless_play] t= 5.30s step= 265 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 5.40s step= 270 trunk_z= 121.1mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 5.50s step= 275 trunk_z= 123.2mm grav_b=(+0.01,+0.08,-1.00) r=0.65m +[headless_play] t= 5.60s step= 280 trunk_z= 117.4mm grav_b=(+0.04,+0.04,-1.00) r=0.66m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(+0.05,-0.06,-1.00) r=0.67m +[headless_play] t= 5.80s step= 290 trunk_z= 123.8mm grav_b=(+0.04,-0.08,-1.00) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 119.7mm grav_b=(+0.01,-0.06,-1.00) r=0.71m +[headless_play] t= 6.00s step= 300 trunk_z= 122.1mm grav_b=(+0.02,+0.07,-1.00) r=0.73m +[headless_play] t= 6.10s step= 305 trunk_z= 120.9mm grav_b=(-0.00,+0.05,-1.00) r=0.74m +[headless_play] t= 6.20s step= 310 trunk_z= 114.6mm grav_b=(+0.02,-0.03,-1.00) r=0.75m +[headless_play] t= 6.30s step= 315 trunk_z= 121.4mm grav_b=(+0.05,-0.08,-1.00) r=0.76m +[headless_play] t= 6.40s step= 320 trunk_z= 119.2mm grav_b=(+0.02,-0.08,-1.00) r=0.79m +[headless_play] t= 6.50s step= 325 trunk_z= 116.7mm grav_b=(+0.03,+0.08,-1.00) r=0.81m +[headless_play] t= 6.60s step= 330 trunk_z= 120.0mm grav_b=(+0.04,+0.08,-1.00) r=0.83m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(+0.06,+0.02,-1.00) r=0.84m +[headless_play] t= 6.80s step= 340 trunk_z= 118.0mm grav_b=(+0.08,-0.05,-1.00) r=0.86m +[headless_play] t= 6.90s step= 345 trunk_z= 111.7mm grav_b=(+0.11,+0.05,-0.99) r=0.89m +[headless_play] t= 7.00s step= 350 trunk_z= 113.0mm grav_b=(-0.03,+0.08,-1.00) r=0.94m +[headless_play] t= 7.10s step= 355 trunk_z= 98.7mm grav_b=(+0.02,+0.13,-0.99) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 98.4mm grav_b=(+0.08,+0.12,-0.99) r=0.99m +[headless_play] t= 7.30s step= 365 trunk_z= 98.0mm grav_b=(+0.02,-0.07,-1.00) r=1.01m +[headless_play] t= 7.40s step= 370 trunk_z= 105.5mm grav_b=(+0.09,-0.12,-0.99) r=1.03m +[headless_play] t= 7.50s step= 375 trunk_z= 99.5mm grav_b=(+0.11,-0.13,-0.98) r=1.05m +[headless_play] t= 7.60s step= 380 trunk_z= 92.1mm grav_b=(+0.06,-0.11,-0.99) r=1.07m +[headless_play] t= 7.70s step= 385 trunk_z= 109.2mm grav_b=(+0.03,-0.04,-1.00) r=1.08m +[headless_play] t= 7.80s step= 390 trunk_z= 81.4mm grav_b=(-0.01,-0.09,-1.00) r=1.09m +[headless_play] t= 7.90s step= 395 trunk_z= 98.8mm grav_b=(-0.05,-0.12,-0.99) r=1.09m +[headless_play] t= 8.00s step= 400 trunk_z= 98.4mm grav_b=(-0.11,-0.10,-0.99) r=1.11m +[headless_play] t= 8.10s step= 405 trunk_z= 90.3mm grav_b=(-0.05,+0.07,-1.00) r=1.13m +[headless_play] t= 8.20s step= 410 trunk_z= 94.3mm grav_b=(-0.01,+0.08,-1.00) r=1.14m +[headless_play] t= 8.30s step= 415 trunk_z= 89.4mm grav_b=(+0.02,+0.05,-1.00) r=1.12m +[headless_play] t= 8.40s step= 420 trunk_z= 90.0mm grav_b=(+0.04,-0.06,-1.00) r=1.09m +[headless_play] t= 8.50s step= 425 trunk_z= 97.4mm grav_b=(+0.01,-0.09,-1.00) r=1.07m +[headless_play] t= 8.60s step= 430 trunk_z= 93.5mm grav_b=(-0.01,-0.02,-1.00) r=1.07m +[headless_play] t= 8.70s step= 435 trunk_z= 99.0mm grav_b=(+0.04,+0.13,-0.99) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 104.8mm grav_b=(+0.11,+0.22,-0.97) r=1.07m +[headless_play] t= 8.90s step= 445 trunk_z= 107.0mm grav_b=(+0.06,+0.32,-0.95) r=1.06m +[headless_play] t= 9.00s step= 450 trunk_z= 74.2mm grav_b=(+0.05,+0.40,-0.92) r=1.05m +[headless_play] t= 9.10s step= 455 trunk_z= 93.0mm grav_b=(+0.14,+0.25,-0.96) r=1.08m +[headless_play] t= 9.20s step= 460 trunk_z= 94.9mm grav_b=(+0.34,+0.08,-0.94) r=1.10m +[headless_play] t= 9.30s step= 465 trunk_z= 83.5mm grav_b=(+0.50,-0.29,-0.81) r=1.11m +[headless_play] RESET at t= 9.38s step= 469 (env termination, not a recovery) +[headless_play] t= 9.40s step= 470 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.12m +[headless_play] t= 9.50s step= 475 trunk_z= 115.4mm grav_b=(+0.00,+0.05,-1.00) r=0.13m +[headless_play] t= 9.60s step= 480 trunk_z= 115.4mm grav_b=(+0.05,+0.04,-1.00) r=0.15m +[headless_play] t= 9.70s step= 485 trunk_z= 110.3mm grav_b=(+0.05,-0.08,-1.00) r=0.18m +[headless_play] t= 9.80s step= 490 trunk_z= 120.6mm grav_b=(+0.06,-0.11,-0.99) r=0.21m +[headless_play] t= 9.90s step= 495 trunk_z= 117.8mm grav_b=(+0.03,-0.10,-0.99) r=0.22m +[headless_play] t= 10.00s step= 500 trunk_z= 107.8mm grav_b=(+0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 10.10s step= 505 trunk_z= 118.7mm grav_b=(-0.00,+0.04,-1.00) r=0.26m +[headless_play] t= 10.20s step= 510 trunk_z= 120.1mm grav_b=(-0.06,-0.02,-1.00) r=0.24m +[headless_play] t= 10.30s step= 515 trunk_z= 107.8mm grav_b=(+0.04,-0.13,-0.99) r=0.22m +[headless_play] t= 10.40s step= 520 trunk_z= 112.8mm grav_b=(+0.05,-0.15,-0.99) r=0.22m +[headless_play] t= 10.50s step= 525 trunk_z= 110.4mm grav_b=(+0.10,-0.18,-0.98) r=0.23m +[headless_play] t= 10.60s step= 530 trunk_z= 106.8mm grav_b=(+0.10,-0.11,-0.99) r=0.25m +[headless_play] t= 10.70s step= 535 trunk_z= 113.2mm grav_b=(+0.09,-0.06,-0.99) r=0.28m +[headless_play] t= 10.80s step= 540 trunk_z= 107.4mm grav_b=(+0.06,-0.10,-0.99) r=0.30m +[headless_play] t= 10.90s step= 545 trunk_z= 114.9mm grav_b=(+0.02,-0.10,-0.99) r=0.31m +[headless_play] t= 11.00s step= 550 trunk_z= 117.3mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 11.10s step= 555 trunk_z= 108.0mm grav_b=(+0.04,-0.06,-1.00) r=0.36m +[headless_play] t= 11.20s step= 560 trunk_z= 111.9mm grav_b=(+0.06,+0.04,-1.00) r=0.39m +[headless_play] t= 11.30s step= 565 trunk_z= 115.0mm grav_b=(+0.06,+0.02,-1.00) r=0.40m +[headless_play] t= 11.40s step= 570 trunk_z= 110.5mm grav_b=(+0.07,-0.04,-1.00) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 117.0mm grav_b=(+0.04,-0.05,-1.00) r=0.41m +[headless_play] t= 11.60s step= 580 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 11.70s step= 585 trunk_z= 105.9mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 11.80s step= 590 trunk_z= 115.0mm grav_b=(+0.00,+0.03,-1.00) r=0.46m +[headless_play] t= 11.90s step= 595 trunk_z= 113.3mm grav_b=(+0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 12.00s step= 600 trunk_z= 106.3mm grav_b=(+0.05,-0.05,-1.00) r=0.46m +[headless_play] t= 12.10s step= 605 trunk_z= 113.5mm grav_b=(+0.07,-0.07,-1.00) r=0.47m +[headless_play] t= 12.20s step= 610 trunk_z= 107.6mm grav_b=(+0.09,-0.05,-0.99) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 107.7mm grav_b=(+0.08,+0.02,-1.00) r=0.53m +[headless_play] t= 12.40s step= 620 trunk_z= 114.7mm grav_b=(+0.05,+0.02,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 111.4mm grav_b=(+0.09,+0.02,-1.00) r=0.56m +[headless_play] t= 12.60s step= 630 trunk_z= 111.2mm grav_b=(+0.05,-0.12,-0.99) r=0.58m +[headless_play] t= 12.70s step= 635 trunk_z= 123.2mm grav_b=(+0.02,-0.09,-1.00) r=0.59m +[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(-0.01,-0.08,-1.00) r=0.61m +[headless_play] t= 12.90s step= 645 trunk_z= 111.3mm grav_b=(+0.01,+0.02,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 115.6mm grav_b=(+0.03,-0.02,-1.00) r=0.64m +[headless_play] t= 13.10s step= 655 trunk_z= 111.0mm grav_b=(+0.05,-0.05,-1.00) r=0.64m +[headless_play] t= 13.20s step= 660 trunk_z= 111.0mm grav_b=(+0.11,-0.04,-0.99) r=0.65m +[headless_play] t= 13.30s step= 665 trunk_z= 108.5mm grav_b=(+0.10,+0.03,-0.99) r=0.68m +[headless_play] t= 13.40s step= 670 trunk_z= 114.7mm grav_b=(+0.02,+0.05,-1.00) r=0.71m +[headless_play] t= 13.50s step= 675 trunk_z= 115.1mm grav_b=(+0.02,-0.03,-1.00) r=0.72m +[headless_play] t= 13.60s step= 680 trunk_z= 110.0mm grav_b=(+0.02,-0.08,-1.00) r=0.72m +[headless_play] t= 13.70s step= 685 trunk_z= 120.3mm grav_b=(+0.01,-0.07,-1.00) r=0.73m +[headless_play] t= 13.80s step= 690 trunk_z= 114.4mm grav_b=(+0.01,-0.07,-1.00) r=0.75m +[headless_play] t= 13.90s step= 695 trunk_z= 108.2mm grav_b=(+0.02,-0.00,-1.00) r=0.78m +[headless_play] t= 14.00s step= 700 trunk_z= 113.5mm grav_b=(+0.07,-0.05,-1.00) r=0.80m +[headless_play] t= 14.10s step= 705 trunk_z= 112.5mm grav_b=(-0.04,-0.08,-1.00) r=0.80m +[headless_play] t= 14.20s step= 710 trunk_z= 120.2mm grav_b=(-0.00,-0.07,-1.00) r=0.80m +[headless_play] t= 14.30s step= 715 trunk_z= 120.1mm grav_b=(+0.01,-0.03,-1.00) r=0.81m +[headless_play] t= 14.40s step= 720 trunk_z= 111.6mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 14.50s step= 725 trunk_z= 121.8mm grav_b=(+0.04,+0.07,-1.00) r=0.85m +[headless_play] t= 14.60s step= 730 trunk_z= 121.7mm grav_b=(-0.02,+0.04,-1.00) r=0.85m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(-0.07,-0.04,-1.00) r=0.84m +[headless_play] t= 14.80s step= 740 trunk_z= 123.0mm grav_b=(-0.04,-0.01,-1.00) r=0.83m +[headless_play] t= 14.90s step= 745 trunk_z= 111.5mm grav_b=(-0.03,+0.02,-1.00) r=0.82m +[headless_play] t= 15.00s step= 750 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.82m +[headless_play] t= 15.10s step= 755 trunk_z= 111.9mm grav_b=(+0.02,-0.05,-1.00) r=0.83m +[headless_play] t= 15.20s step= 760 trunk_z= 118.3mm grav_b=(+0.10,-0.04,-0.99) r=0.85m +[headless_play] t= 15.30s step= 765 trunk_z= 112.8mm grav_b=(+0.13,+0.05,-0.99) r=0.89m +[headless_play] t= 15.40s step= 770 trunk_z= 128.8mm grav_b=(+0.08,+0.02,-1.00) r=0.93m +[headless_play] t= 15.50s step= 775 trunk_z= 118.0mm grav_b=(-0.03,-0.09,-1.00) r=0.98m +[headless_play] t= 15.60s step= 780 trunk_z= 103.1mm grav_b=(-0.00,-0.28,-0.96) r=1.02m +[headless_play] t= 15.70s step= 785 trunk_z= 106.8mm grav_b=(-0.04,-0.30,-0.95) r=1.04m +[headless_play] t= 15.80s step= 790 trunk_z= 102.9mm grav_b=(+0.07,-0.35,-0.93) r=1.06m +[headless_play] t= 15.90s step= 795 trunk_z= 88.4mm grav_b=(+0.20,-0.34,-0.92) r=1.08m +[headless_play] t= 16.00s step= 800 trunk_z= 64.4mm grav_b=(+0.18,-0.40,-0.90) r=1.15m +[headless_play] t= 16.10s step= 805 trunk_z= 78.7mm grav_b=(+0.30,-0.46,-0.84) r=1.17m +[headless_play] t= 16.20s step= 810 trunk_z= 63.9mm grav_b=(+0.89,-0.03,-0.46) r=1.21m +[headless_play] RESET at t= 16.24s step= 812 (env termination, not a recovery) +[headless_play] t= 16.30s step= 815 trunk_z= 113.6mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 16.40s step= 820 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(-0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 16.80s step= 840 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.48m +[headless_play] t= 16.90s step= 845 trunk_z= 115.9mm grav_b=(+0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 17.20s step= 860 trunk_z= 117.9mm grav_b=(+0.03,+0.01,-1.00) r=0.47m +[headless_play] t= 17.30s step= 865 trunk_z= 117.7mm grav_b=(+0.03,+0.02,-1.00) r=0.47m +[headless_play] t= 17.40s step= 870 trunk_z= 117.2mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 17.60s step= 880 trunk_z= 116.5mm grav_b=(+0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 17.70s step= 885 trunk_z= 116.9mm grav_b=(+0.00,+0.04,-1.00) r=0.47m +[headless_play] t= 17.80s step= 890 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.47m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(-0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.00s step= 900 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.47m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(+0.03,+0.03,-1.00) r=0.47m +[headless_play] t= 18.20s step= 910 trunk_z= 116.6mm grav_b=(-0.00,+0.02,-1.00) r=0.47m +[headless_play] t= 18.30s step= 915 trunk_z= 116.8mm grav_b=(-0.05,+0.03,-1.00) r=0.48m +[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(-0.06,+0.04,-1.00) r=0.48m +[headless_play] t= 18.50s step= 925 trunk_z= 109.8mm grav_b=(+0.03,+0.11,-0.99) r=0.51m +[headless_play] t= 18.60s step= 930 trunk_z= 114.6mm grav_b=(+0.06,+0.06,-1.00) r=0.51m +[headless_play] t= 18.70s step= 935 trunk_z= 112.2mm grav_b=(+0.06,+0.02,-1.00) r=0.50m +[headless_play] t= 18.80s step= 940 trunk_z= 113.7mm grav_b=(+0.06,+0.04,-1.00) r=0.51m +[headless_play] t= 18.90s step= 945 trunk_z= 114.3mm grav_b=(+0.04,+0.04,-1.00) r=0.51m +[headless_play] t= 19.00s step= 950 trunk_z= 115.2mm grav_b=(-0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(-0.04,+0.02,-1.00) r=0.51m +[headless_play] t= 19.20s step= 960 trunk_z= 115.0mm grav_b=(-0.03,+0.05,-1.00) r=0.52m +[headless_play] t= 19.30s step= 965 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 19.40s step= 970 trunk_z= 111.2mm grav_b=(+0.06,-0.05,-1.00) r=0.52m +[headless_play] t= 19.50s step= 975 trunk_z= 109.2mm grav_b=(+0.06,-0.01,-1.00) r=0.53m +[headless_play] t= 19.60s step= 980 trunk_z= 109.7mm grav_b=(+0.11,+0.02,-0.99) r=0.52m +[headless_play] t= 19.70s step= 985 trunk_z= 114.6mm grav_b=(+0.13,-0.03,-0.99) r=0.51m +[headless_play] t= 19.80s step= 990 trunk_z= 115.1mm grav_b=(+0.15,+0.03,-0.99) r=0.51m +[headless_play] t= 19.90s step= 995 trunk_z= 118.1mm grav_b=(+0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 20.00s step=1000 trunk_z= 120.5mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.04,+0.02,-1.00) r=0.50m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t2.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..3abb1947a7f5e1d457f49b401d7d3fc60e4eb6fd --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t2.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.0mm grav_b=(-0.00,+0.00,-1.00) root_w=(-9.847,-17.906,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.01,-0.04,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.02,-0.05,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 0.40s step= 20 trunk_z= 107.3mm grav_b=(-0.03,+0.06,-1.00) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(-0.00,+0.05,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 110.4mm grav_b=(+0.01,+0.02,-1.00) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 114.6mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 119.4mm grav_b=(-0.07,-0.03,-1.00) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 114.0mm grav_b=(-0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 114.5mm grav_b=(-0.00,+0.07,-1.00) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 111.5mm grav_b=(+0.03,+0.05,-1.00) r=0.31m +[headless_play] t= 1.20s step= 60 trunk_z= 107.1mm grav_b=(+0.05,-0.02,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 115.6mm grav_b=(+0.06,-0.05,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 113.5mm grav_b=(+0.06,-0.04,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 112.4mm grav_b=(+0.03,+0.06,-1.00) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(+0.02,+0.04,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 110.2mm grav_b=(-0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 120.4mm grav_b=(-0.05,-0.05,-1.00) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 122.8mm grav_b=(-0.03,-0.04,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 117.4mm grav_b=(+0.01,-0.04,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 115.1mm grav_b=(+0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 111.6mm grav_b=(+0.04,+0.03,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 107.5mm grav_b=(+0.06,-0.04,-1.00) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 115.0mm grav_b=(+0.05,-0.06,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 112.4mm grav_b=(+0.04,-0.03,-1.00) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 109.6mm grav_b=(+0.04,+0.05,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 115.8mm grav_b=(+0.01,-0.03,-1.00) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 107.7mm grav_b=(+0.01,-0.06,-1.00) r=0.48m +[headless_play] t= 2.90s step= 145 trunk_z= 115.7mm grav_b=(+0.05,-0.08,-1.00) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 114.7mm grav_b=(+0.04,-0.03,-1.00) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 115.1mm grav_b=(-0.01,+0.04,-1.00) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 120.6mm grav_b=(-0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 114.7mm grav_b=(-0.00,-0.03,-1.00) r=0.57m +[headless_play] t= 3.40s step= 170 trunk_z= 120.6mm grav_b=(+0.02,-0.06,-1.00) r=0.58m +[headless_play] t= 3.50s step= 175 trunk_z= 120.3mm grav_b=(+0.03,-0.05,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 111.5mm grav_b=(+0.04,+0.08,-1.00) r=0.64m +[headless_play] t= 3.70s step= 185 trunk_z= 123.4mm grav_b=(+0.04,+0.12,-0.99) r=0.67m +[headless_play] t= 3.80s step= 190 trunk_z= 123.0mm grav_b=(+0.04,+0.14,-0.99) r=0.68m +[headless_play] t= 3.90s step= 195 trunk_z= 125.7mm grav_b=(+0.02,+0.03,-1.00) r=0.71m +[headless_play] t= 4.00s step= 200 trunk_z= 129.1mm grav_b=(+0.02,-0.09,-1.00) r=0.73m +[headless_play] t= 4.10s step= 205 trunk_z= 124.2mm grav_b=(-0.01,-0.09,-1.00) r=0.77m +[headless_play] t= 4.20s step= 210 trunk_z= 103.5mm grav_b=(-0.05,+0.06,-1.00) r=0.80m +[headless_play] t= 4.30s step= 215 trunk_z= 105.7mm grav_b=(-0.08,+0.23,-0.97) r=0.83m +[headless_play] t= 4.40s step= 220 trunk_z= 105.5mm grav_b=(-0.08,+0.30,-0.95) r=0.84m +[headless_play] t= 4.50s step= 225 trunk_z= 97.3mm grav_b=(-0.12,+0.52,-0.84) r=0.87m +[headless_play] t= 4.60s step= 230 trunk_z= 65.0mm grav_b=(-0.14,+0.83,-0.53) r=0.90m +[headless_play] RESET at t= 4.64s step= 232 (env termination, not a recovery) +[headless_play] t= 4.70s step= 235 trunk_z= 113.6mm grav_b=(-0.02,-0.00,-1.00) r=0.40m +[headless_play] t= 4.80s step= 240 trunk_z= 114.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 4.90s step= 245 trunk_z= 116.4mm grav_b=(+0.03,-0.06,-1.00) r=0.43m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(-0.03,+0.09,-1.00) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 120.9mm grav_b=(-0.02,+0.09,-1.00) r=0.48m +[headless_play] t= 5.30s step= 265 trunk_z= 114.7mm grav_b=(+0.00,+0.05,-1.00) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 119.0mm grav_b=(-0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 5.50s step= 275 trunk_z= 118.7mm grav_b=(+0.08,-0.07,-0.99) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 112.9mm grav_b=(+0.08,-0.01,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 122.9mm grav_b=(+0.06,+0.00,-1.00) r=0.61m +[headless_play] t= 5.80s step= 290 trunk_z= 114.3mm grav_b=(-0.00,-0.06,-1.00) r=0.66m +[headless_play] t= 5.90s step= 295 trunk_z= 123.7mm grav_b=(+0.02,-0.06,-1.00) r=0.69m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(-0.00,-0.01,-1.00) r=0.71m +[headless_play] t= 6.10s step= 305 trunk_z= 119.3mm grav_b=(-0.05,+0.09,-0.99) r=0.73m +[headless_play] t= 6.20s step= 310 trunk_z= 122.3mm grav_b=(-0.04,+0.08,-1.00) r=0.75m +[headless_play] t= 6.30s step= 315 trunk_z= 114.7mm grav_b=(-0.01,+0.04,-1.00) r=0.77m +[headless_play] t= 6.40s step= 320 trunk_z= 118.6mm grav_b=(+0.01,-0.05,-1.00) r=0.78m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(+0.08,-0.03,-1.00) r=0.80m +[headless_play] t= 6.60s step= 330 trunk_z= 109.9mm grav_b=(+0.04,+0.05,-1.00) r=0.83m +[headless_play] t= 6.70s step= 335 trunk_z= 120.6mm grav_b=(+0.04,+0.08,-1.00) r=0.87m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(+0.02,+0.01,-1.00) r=0.89m +[headless_play] t= 6.90s step= 345 trunk_z= 101.0mm grav_b=(-0.03,-0.25,-0.97) r=0.93m +[headless_play] t= 7.00s step= 350 trunk_z= 103.0mm grav_b=(+0.01,-0.44,-0.90) r=0.95m +[headless_play] t= 7.10s step= 355 trunk_z= 92.3mm grav_b=(+0.27,-0.53,-0.81) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 72.0mm grav_b=(+0.51,-0.74,-0.44) r=0.99m +[headless_play] RESET at t= 7.24s step= 362 (env termination, not a recovery) +[headless_play] t= 7.30s step= 365 trunk_z= 113.8mm grav_b=(-0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(-0.02,-0.06,-1.00) r=0.35m +[headless_play] t= 7.50s step= 375 trunk_z= 122.5mm grav_b=(-0.03,-0.13,-0.99) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 124.9mm grav_b=(-0.02,-0.16,-0.99) r=0.32m +[headless_play] t= 7.70s step= 385 trunk_z= 123.5mm grav_b=(+0.01,-0.14,-0.99) r=0.30m +[headless_play] t= 7.80s step= 390 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 7.90s step= 395 trunk_z= 123.3mm grav_b=(+0.04,-0.00,-1.00) r=0.26m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(-0.00,-0.05,-1.00) r=0.24m +[headless_play] t= 8.10s step= 405 trunk_z= 124.6mm grav_b=(-0.02,-0.09,-1.00) r=0.22m +[headless_play] t= 8.20s step= 410 trunk_z= 122.8mm grav_b=(-0.02,-0.09,-1.00) r=0.21m +[headless_play] t= 8.30s step= 415 trunk_z= 117.7mm grav_b=(-0.00,-0.02,-1.00) r=0.19m +[headless_play] t= 8.40s step= 420 trunk_z= 124.7mm grav_b=(+0.01,+0.05,-1.00) r=0.17m +[headless_play] t= 8.50s step= 425 trunk_z= 121.7mm grav_b=(+0.02,+0.02,-1.00) r=0.16m +[headless_play] t= 8.60s step= 430 trunk_z= 122.5mm grav_b=(-0.00,-0.07,-1.00) r=0.14m +[headless_play] t= 8.70s step= 435 trunk_z= 123.7mm grav_b=(+0.01,-0.08,-1.00) r=0.13m +[headless_play] t= 8.80s step= 440 trunk_z= 120.2mm grav_b=(+0.00,-0.07,-1.00) r=0.11m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(+0.01,+0.03,-1.00) r=0.09m +[headless_play] t= 9.00s step= 450 trunk_z= 121.9mm grav_b=(+0.02,+0.01,-1.00) r=0.07m +[headless_play] t= 9.10s step= 455 trunk_z= 120.3mm grav_b=(+0.01,-0.07,-1.00) r=0.07m +[headless_play] t= 9.20s step= 460 trunk_z= 127.6mm grav_b=(-0.03,-0.16,-0.99) r=0.08m +[headless_play] t= 9.30s step= 465 trunk_z= 126.9mm grav_b=(-0.04,-0.25,-0.97) r=0.08m +[headless_play] t= 9.40s step= 470 trunk_z= 121.5mm grav_b=(+0.10,-0.20,-0.97) r=0.09m +[headless_play] t= 9.50s step= 475 trunk_z= 111.7mm grav_b=(+0.06,-0.22,-0.97) r=0.10m +[headless_play] t= 9.60s step= 480 trunk_z= 118.0mm grav_b=(+0.18,-0.36,-0.92) r=0.15m +[headless_play] t= 9.70s step= 485 trunk_z= 87.9mm grav_b=(+0.39,-0.04,-0.92) r=0.20m +[headless_play] t= 9.80s step= 490 trunk_z= 77.4mm grav_b=(+0.57,+0.75,-0.34) r=0.23m +[headless_play] RESET at t= 9.82s step= 491 (env termination, not a recovery) +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(-0.02,-0.00,-1.00) r=0.28m +[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 10.10s step= 505 trunk_z= 118.9mm grav_b=(+0.04,+0.00,-1.00) r=0.29m +[headless_play] t= 10.20s step= 510 trunk_z= 118.2mm grav_b=(+0.04,+0.00,-1.00) r=0.29m +[headless_play] t= 10.30s step= 515 trunk_z= 117.2mm grav_b=(-0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 10.40s step= 520 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(-0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 10.60s step= 530 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 10.70s step= 535 trunk_z= 118.3mm grav_b=(+0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 10.80s step= 540 trunk_z= 117.5mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 10.90s step= 545 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 11.00s step= 550 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 11.10s step= 555 trunk_z= 118.7mm grav_b=(-0.00,+0.02,-1.00) r=0.28m +[headless_play] t= 11.20s step= 560 trunk_z= 119.9mm grav_b=(+0.04,+0.04,-1.00) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 118.7mm grav_b=(+0.04,+0.03,-1.00) r=0.28m +[headless_play] t= 11.40s step= 570 trunk_z= 118.2mm grav_b=(+0.00,+0.02,-1.00) r=0.28m +[headless_play] t= 11.50s step= 575 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.28m +[headless_play] t= 11.60s step= 580 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 11.70s step= 585 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 11.80s step= 590 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.28m +[headless_play] t= 11.90s step= 595 trunk_z= 117.7mm grav_b=(-0.09,+0.01,-1.00) r=0.28m +[headless_play] t= 12.00s step= 600 trunk_z= 116.0mm grav_b=(-0.12,-0.05,-0.99) r=0.29m +[headless_play] t= 12.10s step= 605 trunk_z= 118.8mm grav_b=(-0.05,-0.02,-1.00) r=0.30m +[headless_play] t= 12.20s step= 610 trunk_z= 111.3mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 12.30s step= 615 trunk_z= 110.7mm grav_b=(-0.01,-0.06,-1.00) r=0.30m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(-0.04,-0.04,-1.00) r=0.30m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(+0.00,+0.03,-1.00) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 13.80s step= 690 trunk_z= 118.6mm grav_b=(+0.07,+0.03,-1.00) r=0.29m +[headless_play] t= 13.90s step= 695 trunk_z= 118.8mm grav_b=(+0.08,-0.02,-1.00) r=0.30m +[headless_play] t= 14.00s step= 700 trunk_z= 119.6mm grav_b=(+0.03,-0.01,-1.00) r=0.29m +[headless_play] t= 14.10s step= 705 trunk_z= 117.8mm grav_b=(-0.06,+0.03,-1.00) r=0.28m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(-0.08,-0.01,-1.00) r=0.28m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(-0.10,-0.00,-1.00) r=0.28m +[headless_play] t= 14.40s step= 720 trunk_z= 116.5mm grav_b=(-0.08,+0.00,-1.00) r=0.28m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.07,+0.00,-1.00) r=0.28m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(-0.09,+0.01,-1.00) r=0.28m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(-0.12,-0.01,-0.99) r=0.28m +[headless_play] t= 14.80s step= 740 trunk_z= 116.2mm grav_b=(-0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 14.90s step= 745 trunk_z= 113.2mm grav_b=(-0.01,+0.07,-1.00) r=0.28m +[headless_play] t= 15.00s step= 750 trunk_z= 111.6mm grav_b=(-0.00,-0.00,-1.00) r=0.29m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.30m +[headless_play] t= 15.20s step= 760 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) r=0.29m +[headless_play] t= 15.30s step= 765 trunk_z= 114.9mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 15.40s step= 770 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 15.50s step= 775 trunk_z= 115.1mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 15.60s step= 780 trunk_z= 115.2mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 15.70s step= 785 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 15.80s step= 790 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 16.00s step= 800 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 16.10s step= 805 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 16.20s step= 810 trunk_z= 115.2mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 16.30s step= 815 trunk_z= 115.2mm grav_b=(-0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 16.40s step= 820 trunk_z= 115.3mm grav_b=(-0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 16.50s step= 825 trunk_z= 115.2mm grav_b=(-0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 16.60s step= 830 trunk_z= 115.2mm grav_b=(-0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 16.80s step= 840 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 16.90s step= 845 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 17.00s step= 850 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 17.10s step= 855 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 17.30s step= 865 trunk_z= 115.8mm grav_b=(+0.06,+0.01,-1.00) r=0.29m +[headless_play] t= 17.40s step= 870 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 17.50s step= 875 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 17.60s step= 880 trunk_z= 115.7mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 17.70s step= 885 trunk_z= 115.5mm grav_b=(-0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 17.80s step= 890 trunk_z= 115.5mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 18.10s step= 905 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 18.20s step= 910 trunk_z= 115.7mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 18.30s step= 915 trunk_z= 115.4mm grav_b=(-0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 18.40s step= 920 trunk_z= 114.9mm grav_b=(+0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 18.50s step= 925 trunk_z= 113.6mm grav_b=(+0.04,+0.00,-1.00) r=0.29m +[headless_play] t= 18.60s step= 930 trunk_z= 111.7mm grav_b=(+0.00,+0.05,-1.00) r=0.27m +[headless_play] t= 18.70s step= 935 trunk_z= 111.0mm grav_b=(-0.03,+0.07,-1.00) r=0.24m +[headless_play] t= 18.80s step= 940 trunk_z= 112.9mm grav_b=(-0.05,-0.05,-1.00) r=0.24m +[headless_play] t= 18.90s step= 945 trunk_z= 113.0mm grav_b=(-0.02,-0.13,-0.99) r=0.26m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(-0.02,-0.13,-0.99) r=0.26m +[headless_play] t= 19.10s step= 955 trunk_z= 116.8mm grav_b=(-0.01,-0.13,-0.99) r=0.26m +[headless_play] t= 19.20s step= 960 trunk_z= 113.2mm grav_b=(-0.01,-0.12,-0.99) r=0.24m +[headless_play] t= 19.30s step= 965 trunk_z= 114.6mm grav_b=(-0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 19.40s step= 970 trunk_z= 114.6mm grav_b=(-0.02,+0.02,-1.00) r=0.21m +[headless_play] t= 19.50s step= 975 trunk_z= 111.6mm grav_b=(-0.04,-0.03,-1.00) r=0.23m +[headless_play] t= 19.60s step= 980 trunk_z= 118.2mm grav_b=(-0.07,-0.02,-1.00) r=0.23m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(-0.05,+0.00,-1.00) r=0.22m +[headless_play] t= 19.80s step= 990 trunk_z= 109.1mm grav_b=(-0.02,+0.05,-1.00) r=0.20m +[headless_play] t= 19.90s step= 995 trunk_z= 115.5mm grav_b=(-0.00,+0.05,-1.00) r=0.19m +[headless_play] t= 20.00s step=1000 trunk_z= 112.5mm grav_b=(-0.04,+0.01,-1.00) r=0.21m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.05,-0.07,-1.00) r=0.24m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t3.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..d965b187cee45f4ce1bb4feb23148f103bf05dec --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t3.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.315,-18.048,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.5mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(-0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 0.40s step= 20 trunk_z= 117.3mm grav_b=(-0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 0.50s step= 25 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 0.90s step= 45 trunk_z= 118.0mm grav_b=(-0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 117.9mm grav_b=(-0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 117.4mm grav_b=(-0.07,+0.01,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 117.5mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 1.80s step= 90 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 119.8mm grav_b=(+0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 123.1mm grav_b=(+0.01,+0.02,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 111.1mm grav_b=(-0.09,+0.07,-0.99) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.10,+0.01,-0.99) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 116.5mm grav_b=(-0.17,-0.05,-0.98) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 119.9mm grav_b=(-0.14,-0.06,-0.99) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 115.8mm grav_b=(-0.19,-0.01,-0.98) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 116.7mm grav_b=(-0.17,-0.02,-0.99) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 116.3mm grav_b=(-0.18,-0.01,-0.98) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 115.8mm grav_b=(-0.20,-0.03,-0.98) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 119.6mm grav_b=(-0.16,-0.05,-0.99) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 114.2mm grav_b=(-0.11,+0.04,-0.99) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(-0.09,-0.03,-1.00) r=0.28m +[headless_play] t= 3.20s step= 160 trunk_z= 120.0mm grav_b=(-0.09,-0.06,-0.99) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 118.4mm grav_b=(-0.06,+0.02,-1.00) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 117.7mm grav_b=(-0.07,-0.01,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 117.8mm grav_b=(-0.06,-0.00,-1.00) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 118.5mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 3.70s step= 185 trunk_z= 118.1mm grav_b=(-0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 3.80s step= 190 trunk_z= 118.7mm grav_b=(+0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 118.2mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 4.10s step= 205 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 116.4mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 4.30s step= 215 trunk_z= 116.2mm grav_b=(+0.06,+0.03,-1.00) r=0.28m +[headless_play] t= 4.40s step= 220 trunk_z= 122.3mm grav_b=(+0.08,+0.01,-1.00) r=0.29m +[headless_play] t= 4.50s step= 225 trunk_z= 111.1mm grav_b=(-0.13,-0.12,-0.98) r=0.29m +[headless_play] t= 4.60s step= 230 trunk_z= 123.8mm grav_b=(-0.16,-0.12,-0.98) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 119.1mm grav_b=(-0.11,-0.07,-0.99) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 117.4mm grav_b=(-0.08,+0.02,-1.00) r=0.32m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(-0.07,-0.01,-1.00) r=0.31m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(-0.06,+0.01,-1.00) r=0.31m +[headless_play] t= 5.10s step= 255 trunk_z= 115.0mm grav_b=(-0.02,+0.00,-1.00) r=0.31m +[headless_play] t= 5.20s step= 260 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 5.60s step= 280 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(+0.07,+0.02,-1.00) r=0.32m +[headless_play] t= 5.80s step= 290 trunk_z= 116.1mm grav_b=(+0.04,+0.00,-1.00) r=0.32m +[headless_play] t= 5.90s step= 295 trunk_z= 115.2mm grav_b=(-0.00,+0.02,-1.00) r=0.32m +[headless_play] t= 6.00s step= 300 trunk_z= 115.5mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 6.10s step= 305 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 6.20s step= 310 trunk_z= 115.6mm grav_b=(-0.02,+0.02,-1.00) r=0.32m +[headless_play] t= 6.30s step= 315 trunk_z= 116.9mm grav_b=(-0.03,+0.04,-1.00) r=0.32m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(-0.07,+0.03,-1.00) r=0.32m +[headless_play] t= 6.50s step= 325 trunk_z= 117.5mm grav_b=(-0.12,+0.03,-0.99) r=0.32m +[headless_play] t= 6.60s step= 330 trunk_z= 115.0mm grav_b=(-0.09,-0.02,-1.00) r=0.31m +[headless_play] t= 6.70s step= 335 trunk_z= 119.0mm grav_b=(-0.07,-0.01,-1.00) r=0.30m +[headless_play] t= 6.80s step= 340 trunk_z= 111.7mm grav_b=(+0.04,+0.00,-1.00) r=0.30m +[headless_play] t= 6.90s step= 345 trunk_z= 112.0mm grav_b=(+0.01,+0.06,-1.00) r=0.31m +[headless_play] t= 7.00s step= 350 trunk_z= 113.2mm grav_b=(-0.04,-0.02,-1.00) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 108.2mm grav_b=(+0.01,-0.12,-0.99) r=0.30m +[headless_play] t= 7.20s step= 360 trunk_z= 117.1mm grav_b=(+0.02,-0.15,-0.99) r=0.29m +[headless_play] t= 7.30s step= 365 trunk_z= 118.0mm grav_b=(-0.01,-0.18,-0.98) r=0.30m +[headless_play] t= 7.40s step= 370 trunk_z= 115.4mm grav_b=(+0.02,-0.16,-0.99) r=0.32m +[headless_play] t= 7.50s step= 375 trunk_z= 115.0mm grav_b=(+0.02,-0.04,-1.00) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 7.70s step= 385 trunk_z= 116.0mm grav_b=(-0.04,+0.04,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 118.4mm grav_b=(-0.06,-0.04,-1.00) r=0.35m +[headless_play] t= 7.90s step= 395 trunk_z= 120.9mm grav_b=(-0.07,-0.03,-1.00) r=0.35m +[headless_play] t= 8.00s step= 400 trunk_z= 107.9mm grav_b=(-0.03,-0.02,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 114.8mm grav_b=(-0.04,+0.04,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 114.2mm grav_b=(-0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 112.8mm grav_b=(-0.00,-0.02,-1.00) r=0.38m +[headless_play] t= 8.40s step= 420 trunk_z= 121.6mm grav_b=(-0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 8.50s step= 425 trunk_z= 115.1mm grav_b=(+0.08,-0.10,-0.99) r=0.43m +[headless_play] t= 8.60s step= 430 trunk_z= 112.2mm grav_b=(+0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 117.9mm grav_b=(-0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 8.80s step= 440 trunk_z= 111.0mm grav_b=(-0.01,-0.08,-1.00) r=0.53m +[headless_play] t= 8.90s step= 445 trunk_z= 120.1mm grav_b=(-0.03,-0.06,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 114.7mm grav_b=(-0.05,-0.04,-1.00) r=0.56m +[headless_play] t= 9.10s step= 455 trunk_z= 113.1mm grav_b=(-0.05,+0.02,-1.00) r=0.58m +[headless_play] t= 9.20s step= 460 trunk_z= 117.6mm grav_b=(-0.04,+0.04,-1.00) r=0.60m +[headless_play] t= 9.30s step= 465 trunk_z= 114.4mm grav_b=(+0.04,+0.05,-1.00) r=0.62m +[headless_play] t= 9.40s step= 470 trunk_z= 118.0mm grav_b=(+0.00,-0.08,-1.00) r=0.64m +[headless_play] t= 9.50s step= 475 trunk_z= 122.2mm grav_b=(-0.03,-0.07,-1.00) r=0.66m +[headless_play] t= 9.60s step= 480 trunk_z= 113.2mm grav_b=(-0.04,-0.05,-1.00) r=0.69m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(-0.06,+0.03,-1.00) r=0.71m +[headless_play] t= 9.80s step= 490 trunk_z= 119.5mm grav_b=(-0.06,+0.03,-1.00) r=0.71m +[headless_play] t= 9.90s step= 495 trunk_z= 115.1mm grav_b=(-0.06,-0.00,-1.00) r=0.72m +[headless_play] t= 10.00s step= 500 trunk_z= 117.6mm grav_b=(-0.02,-0.06,-1.00) r=0.72m +[headless_play] t= 10.10s step= 505 trunk_z= 119.1mm grav_b=(-0.01,-0.08,-1.00) r=0.73m +[headless_play] t= 10.20s step= 510 trunk_z= 108.6mm grav_b=(+0.06,-0.08,-1.00) r=0.75m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.78m +[headless_play] t= 10.40s step= 520 trunk_z= 115.2mm grav_b=(+0.06,+0.04,-1.00) r=0.80m +[headless_play] t= 10.50s step= 525 trunk_z= 118.5mm grav_b=(+0.01,-0.04,-1.00) r=0.83m +[headless_play] t= 10.60s step= 530 trunk_z= 104.3mm grav_b=(+0.10,-0.25,-0.96) r=0.86m +[headless_play] t= 10.70s step= 535 trunk_z= 102.8mm grav_b=(+0.01,-0.37,-0.93) r=0.88m +[headless_play] t= 10.80s step= 540 trunk_z= 95.9mm grav_b=(+0.16,-0.37,-0.91) r=0.89m +[headless_play] t= 10.90s step= 545 trunk_z= 86.0mm grav_b=(+0.12,-0.29,-0.95) r=0.93m +[headless_play] t= 11.00s step= 550 trunk_z= 71.3mm grav_b=(+0.15,-0.27,-0.95) r=0.99m +[headless_play] t= 11.10s step= 555 trunk_z= 112.0mm grav_b=(+0.20,-0.02,-0.98) r=1.02m +[headless_play] t= 11.20s step= 560 trunk_z= 104.2mm grav_b=(-0.01,+0.03,-1.00) r=1.06m +[headless_play] t= 11.30s step= 565 trunk_z= 80.0mm grav_b=(-0.07,-0.09,-0.99) r=1.08m +[headless_play] t= 11.40s step= 570 trunk_z= 90.7mm grav_b=(-0.16,-0.05,-0.99) r=1.09m +[headless_play] t= 11.50s step= 575 trunk_z= 90.3mm grav_b=(-0.16,+0.02,-0.99) r=1.12m +[headless_play] t= 11.60s step= 580 trunk_z= 96.9mm grav_b=(-0.12,+0.03,-0.99) r=1.13m +[headless_play] t= 11.70s step= 585 trunk_z= 95.5mm grav_b=(-0.09,-0.01,-1.00) r=1.12m +[headless_play] t= 11.80s step= 590 trunk_z= 93.1mm grav_b=(-0.04,-0.01,-1.00) r=1.10m +[headless_play] t= 11.90s step= 595 trunk_z= 89.5mm grav_b=(-0.03,-0.00,-1.00) r=1.12m +[headless_play] t= 12.00s step= 600 trunk_z= 94.0mm grav_b=(-0.03,+0.05,-1.00) r=1.14m +[headless_play] t= 12.10s step= 605 trunk_z= 96.2mm grav_b=(-0.02,+0.04,-1.00) r=1.15m +[headless_play] t= 12.20s step= 610 trunk_z= 96.3mm grav_b=(-0.04,-0.01,-1.00) r=1.16m +[headless_play] t= 12.30s step= 615 trunk_z= 104.6mm grav_b=(+0.01,-0.10,-0.99) r=1.18m +[headless_play] t= 12.40s step= 620 trunk_z= 101.5mm grav_b=(+0.00,-0.08,-1.00) r=1.21m +[headless_play] t= 12.50s step= 625 trunk_z= 94.7mm grav_b=(-0.08,-0.04,-1.00) r=1.25m +[headless_play] t= 12.60s step= 630 trunk_z= 102.0mm grav_b=(-0.10,-0.01,-0.99) r=1.27m +[headless_play] t= 12.70s step= 635 trunk_z= 95.8mm grav_b=(-0.10,-0.07,-0.99) r=1.27m +[headless_play] t= 12.80s step= 640 trunk_z= 101.2mm grav_b=(-0.14,-0.06,-0.99) r=1.27m +[headless_play] t= 12.90s step= 645 trunk_z= 96.4mm grav_b=(-0.15,-0.06,-0.99) r=1.28m +[headless_play] t= 13.00s step= 650 trunk_z= 94.9mm grav_b=(-0.14,+0.01,-0.99) r=1.30m +[headless_play] t= 13.10s step= 655 trunk_z= 97.1mm grav_b=(-0.09,-0.01,-1.00) r=1.29m +[headless_play] t= 13.20s step= 660 trunk_z= 86.1mm grav_b=(-0.02,+0.00,-1.00) r=1.28m +[headless_play] t= 13.30s step= 665 trunk_z= 89.2mm grav_b=(-0.03,+0.14,-0.99) r=1.30m +[headless_play] t= 13.40s step= 670 trunk_z= 100.4mm grav_b=(-0.11,+0.11,-0.99) r=1.32m +[headless_play] t= 13.50s step= 675 trunk_z= 102.3mm grav_b=(-0.11,+0.09,-0.99) r=1.32m +[headless_play] t= 13.60s step= 680 trunk_z= 99.0mm grav_b=(-0.10,+0.05,-0.99) r=1.31m +[headless_play] t= 13.70s step= 685 trunk_z= 96.7mm grav_b=(-0.08,-0.04,-1.00) r=1.29m +[headless_play] t= 13.80s step= 690 trunk_z= 100.5mm grav_b=(-0.09,-0.04,-1.00) r=1.29m +[headless_play] t= 13.90s step= 695 trunk_z= 92.7mm grav_b=(-0.08,-0.04,-1.00) r=1.30m +[headless_play] t= 14.00s step= 700 trunk_z= 95.5mm grav_b=(-0.10,+0.04,-0.99) r=1.32m +[headless_play] t= 14.10s step= 705 trunk_z= 95.8mm grav_b=(-0.08,+0.04,-1.00) r=1.33m +[headless_play] t= 14.20s step= 710 trunk_z= 92.0mm grav_b=(-0.04,-0.03,-1.00) r=1.32m +[headless_play] t= 14.30s step= 715 trunk_z= 101.5mm grav_b=(-0.04,-0.10,-0.99) r=1.31m +[headless_play] t= 14.40s step= 720 trunk_z= 97.2mm grav_b=(-0.03,-0.10,-0.99) r=1.31m +[headless_play] t= 14.50s step= 725 trunk_z= 90.9mm grav_b=(-0.06,-0.05,-1.00) r=1.34m +[headless_play] t= 14.60s step= 730 trunk_z= 96.8mm grav_b=(-0.08,+0.03,-1.00) r=1.35m +[headless_play] t= 14.70s step= 735 trunk_z= 98.2mm grav_b=(-0.16,-0.00,-0.99) r=1.34m +[headless_play] t= 14.80s step= 740 trunk_z= 89.3mm grav_b=(-0.08,-0.08,-0.99) r=1.32m +[headless_play] t= 14.90s step= 745 trunk_z= 94.8mm grav_b=(-0.05,-0.07,-1.00) r=1.31m +[headless_play] t= 15.00s step= 750 trunk_z= 90.8mm grav_b=(-0.03,-0.11,-0.99) r=1.33m +[headless_play] t= 15.10s step= 755 trunk_z= 86.8mm grav_b=(+0.03,-0.00,-1.00) r=1.36m +[headless_play] t= 15.20s step= 760 trunk_z= 93.4mm grav_b=(+0.02,+0.03,-1.00) r=1.37m +[headless_play] t= 15.30s step= 765 trunk_z= 94.6mm grav_b=(+0.00,-0.01,-1.00) r=1.37m +[headless_play] t= 15.40s step= 770 trunk_z= 100.7mm grav_b=(-0.04,-0.10,-0.99) r=1.37m +[headless_play] t= 15.50s step= 775 trunk_z= 97.4mm grav_b=(-0.04,-0.09,-0.99) r=1.38m +[headless_play] t= 15.60s step= 780 trunk_z= 89.3mm grav_b=(-0.08,-0.06,-1.00) r=1.41m +[headless_play] t= 15.70s step= 785 trunk_z= 97.5mm grav_b=(-0.14,+0.04,-0.99) r=1.42m +[headless_play] t= 15.80s step= 790 trunk_z= 95.4mm grav_b=(-0.08,+0.00,-1.00) r=1.41m +[headless_play] t= 15.90s step= 795 trunk_z= 100.3mm grav_b=(-0.01,+0.04,-1.00) r=1.40m +[headless_play] t= 16.00s step= 800 trunk_z= 86.1mm grav_b=(+0.00,-0.04,-1.00) r=1.42m +[headless_play] t= 16.10s step= 805 trunk_z= 81.1mm grav_b=(-0.04,+0.03,-1.00) r=1.43m +[headless_play] t= 16.20s step= 810 trunk_z= 89.8mm grav_b=(-0.03,+0.04,-1.00) r=1.43m +[headless_play] t= 16.30s step= 815 trunk_z= 90.4mm grav_b=(-0.02,-0.01,-1.00) r=1.42m +[headless_play] t= 16.40s step= 820 trunk_z= 97.8mm grav_b=(-0.03,-0.06,-1.00) r=1.40m +[headless_play] t= 16.50s step= 825 trunk_z= 95.5mm grav_b=(-0.05,-0.06,-1.00) r=1.41m +[headless_play] t= 16.60s step= 830 trunk_z= 86.0mm grav_b=(-0.04,-0.02,-1.00) r=1.43m +[headless_play] t= 16.70s step= 835 trunk_z= 95.2mm grav_b=(-0.03,+0.06,-1.00) r=1.45m +[headless_play] t= 16.80s step= 840 trunk_z= 94.8mm grav_b=(-0.02,+0.05,-1.00) r=1.45m +[headless_play] t= 16.90s step= 845 trunk_z= 91.0mm grav_b=(-0.00,-0.03,-1.00) r=1.43m +[headless_play] t= 17.00s step= 850 trunk_z= 99.0mm grav_b=(-0.04,-0.09,-0.99) r=1.41m +[headless_play] t= 17.10s step= 855 trunk_z= 93.9mm grav_b=(-0.00,-0.08,-1.00) r=1.41m +[headless_play] t= 17.20s step= 860 trunk_z= 90.0mm grav_b=(-0.02,+0.08,-1.00) r=1.45m +[headless_play] t= 17.30s step= 865 trunk_z= 100.6mm grav_b=(-0.03,+0.14,-0.99) r=1.47m +[headless_play] t= 17.40s step= 870 trunk_z= 102.2mm grav_b=(-0.05,+0.18,-0.98) r=1.48m +[headless_play] t= 17.50s step= 875 trunk_z= 109.3mm grav_b=(-0.11,+0.07,-0.99) r=1.49m +[headless_play] t= 17.60s step= 880 trunk_z= 103.3mm grav_b=(-0.09,-0.02,-1.00) r=1.51m +[headless_play] t= 17.70s step= 885 trunk_z= 104.2mm grav_b=(-0.08,-0.12,-0.99) r=1.51m +[headless_play] t= 17.80s step= 890 trunk_z= 99.7mm grav_b=(-0.04,-0.10,-0.99) r=1.51m +[headless_play] t= 17.90s step= 895 trunk_z= 89.8mm grav_b=(-0.05,-0.04,-1.00) r=1.54m +[headless_play] t= 18.00s step= 900 trunk_z= 92.4mm grav_b=(-0.02,+0.01,-1.00) r=1.55m +[headless_play] t= 18.10s step= 905 trunk_z= 90.2mm grav_b=(-0.01,-0.06,-1.00) r=1.55m +[headless_play] t= 18.20s step= 910 trunk_z= 97.7mm grav_b=(-0.06,-0.10,-0.99) r=1.54m +[headless_play] t= 18.30s step= 915 trunk_z= 98.1mm grav_b=(-0.04,-0.09,-0.99) r=1.55m +[headless_play] t= 18.40s step= 920 trunk_z= 89.7mm grav_b=(-0.05,-0.09,-1.00) r=1.57m +[headless_play] t= 18.50s step= 925 trunk_z= 93.0mm grav_b=(-0.05,+0.04,-1.00) r=1.60m +[headless_play] t= 18.60s step= 930 trunk_z= 94.4mm grav_b=(-0.02,+0.03,-1.00) r=1.61m +[headless_play] t= 18.70s step= 935 trunk_z= 89.5mm grav_b=(+0.00,-0.08,-1.00) r=1.61m +[headless_play] t= 18.80s step= 940 trunk_z= 98.9mm grav_b=(-0.01,-0.07,-1.00) r=1.61m +[headless_play] t= 18.90s step= 945 trunk_z= 92.5mm grav_b=(-0.03,-0.06,-1.00) r=1.63m +[headless_play] t= 19.00s step= 950 trunk_z= 94.4mm grav_b=(-0.08,+0.06,-1.00) r=1.66m +[headless_play] t= 19.10s step= 955 trunk_z= 100.5mm grav_b=(-0.09,+0.09,-0.99) r=1.66m +[headless_play] t= 19.20s step= 960 trunk_z= 96.3mm grav_b=(-0.09,+0.04,-1.00) r=1.66m +[headless_play] t= 19.30s step= 965 trunk_z= 97.1mm grav_b=(-0.08,-0.06,-1.00) r=1.65m +[headless_play] t= 19.40s step= 970 trunk_z= 100.9mm grav_b=(-0.01,-0.10,-1.00) r=1.65m +[headless_play] t= 19.50s step= 975 trunk_z= 99.7mm grav_b=(-0.01,-0.09,-1.00) r=1.68m +[headless_play] t= 19.60s step= 980 trunk_z= 97.6mm grav_b=(+0.02,-0.03,-1.00) r=1.71m +[headless_play] t= 19.70s step= 985 trunk_z= 105.8mm grav_b=(-0.05,-0.00,-1.00) r=1.72m +[headless_play] t= 19.80s step= 990 trunk_z= 93.2mm grav_b=(-0.10,-0.09,-0.99) r=1.72m +[headless_play] t= 19.90s step= 995 trunk_z= 100.0mm grav_b=(-0.13,-0.08,-0.99) r=1.73m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.3mm grav_b=(-0.01,-0.00,-1.00) r=0.28m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=0.28m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t4.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..541c87e3417e910fd0de55b8023af639dc8c5489 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t4.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-18.325,-18.303,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.0mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 117.9mm grav_b=(+0.01,-0.06,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(+0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 114.4mm grav_b=(-0.00,+0.06,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 129.3mm grav_b=(+0.01,+0.08,-1.00) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 131.9mm grav_b=(+0.02,+0.08,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 126.4mm grav_b=(+0.02,-0.03,-1.00) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 126.4mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 121.7mm grav_b=(+0.03,+0.05,-1.00) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 132.7mm grav_b=(+0.07,+0.03,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 123.3mm grav_b=(+0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 126.8mm grav_b=(+0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 126.0mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 115.6mm grav_b=(-0.03,+0.06,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(-0.14,+0.03,-0.99) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 117.4mm grav_b=(-0.10,-0.04,-0.99) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 119.3mm grav_b=(-0.05,-0.01,-1.00) r=0.53m +[headless_play] t= 1.90s step= 95 trunk_z= 113.8mm grav_b=(-0.05,+0.06,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 127.4mm grav_b=(+0.05,+0.06,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 129.6mm grav_b=(+0.09,+0.02,-1.00) r=0.57m +[headless_play] t= 2.20s step= 110 trunk_z= 120.6mm grav_b=(+0.10,+0.02,-0.99) r=0.56m +[headless_play] t= 2.30s step= 115 trunk_z= 129.8mm grav_b=(+0.05,+0.01,-1.00) r=0.57m +[headless_play] t= 2.40s step= 120 trunk_z= 112.1mm grav_b=(-0.05,+0.06,-1.00) r=0.61m +[headless_play] t= 2.50s step= 125 trunk_z= 127.9mm grav_b=(-0.05,+0.03,-1.00) r=0.62m +[headless_play] t= 2.60s step= 130 trunk_z= 125.5mm grav_b=(+0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 2.70s step= 135 trunk_z= 122.8mm grav_b=(+0.04,-0.04,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 128.7mm grav_b=(+0.04,-0.03,-1.00) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 123.5mm grav_b=(-0.02,-0.01,-1.00) r=0.66m +[headless_play] t= 3.00s step= 150 trunk_z= 124.3mm grav_b=(-0.01,+0.02,-1.00) r=0.69m +[headless_play] t= 3.10s step= 155 trunk_z= 127.1mm grav_b=(-0.02,+0.02,-1.00) r=0.70m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(-0.03,-0.05,-1.00) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 125.9mm grav_b=(-0.03,-0.10,-0.99) r=0.68m +[headless_play] t= 3.40s step= 170 trunk_z= 127.8mm grav_b=(-0.04,-0.14,-0.99) r=0.68m +[headless_play] t= 3.50s step= 175 trunk_z= 126.9mm grav_b=(-0.01,-0.11,-0.99) r=0.70m +[headless_play] t= 3.60s step= 180 trunk_z= 121.3mm grav_b=(+0.01,-0.03,-1.00) r=0.73m +[headless_play] t= 3.70s step= 185 trunk_z= 131.6mm grav_b=(+0.03,+0.03,-1.00) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 133.9mm grav_b=(+0.02,+0.05,-1.00) r=0.78m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(-0.02,+0.00,-1.00) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 122.2mm grav_b=(-0.03,-0.03,-1.00) r=0.82m +[headless_play] t= 4.10s step= 205 trunk_z= 118.0mm grav_b=(-0.05,+0.04,-1.00) r=0.86m +[headless_play] t= 4.20s step= 210 trunk_z= 124.8mm grav_b=(-0.00,+0.07,-1.00) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 123.1mm grav_b=(+0.10,+0.11,-0.99) r=0.92m +[headless_play] t= 4.40s step= 220 trunk_z= 119.3mm grav_b=(+0.03,+0.03,-1.00) r=0.95m +[headless_play] t= 4.50s step= 225 trunk_z= 123.0mm grav_b=(+0.04,-0.08,-1.00) r=0.97m +[headless_play] t= 4.60s step= 230 trunk_z= 127.5mm grav_b=(+0.00,-0.09,-1.00) r=1.00m +[headless_play] t= 4.70s step= 235 trunk_z= 120.8mm grav_b=(-0.03,-0.02,-1.00) r=1.03m +[headless_play] t= 4.80s step= 240 trunk_z= 103.0mm grav_b=(+0.02,+0.25,-0.97) r=1.06m +[headless_play] t= 4.90s step= 245 trunk_z= 108.3mm grav_b=(-0.08,+0.40,-0.91) r=1.08m +[headless_play] t= 5.00s step= 250 trunk_z= 103.9mm grav_b=(-0.14,+0.46,-0.88) r=1.10m +[headless_play] t= 5.10s step= 255 trunk_z= 88.8mm grav_b=(-0.16,+0.67,-0.72) r=1.13m +[headless_play] RESET at t= 5.20s step= 260 (env termination, not a recovery) +[headless_play] t= 5.20s step= 260 trunk_z= 125.0mm grav_b=(-0.00,-0.00,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(+0.00,+0.02,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(+0.00,+0.02,-1.00) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 116.6mm grav_b=(-0.00,+0.02,-1.00) r=0.31m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 117.9mm grav_b=(-0.06,+0.03,-1.00) r=0.31m +[headless_play] t= 5.90s step= 295 trunk_z= 117.4mm grav_b=(-0.07,+0.02,-1.00) r=0.31m +[headless_play] t= 6.00s step= 300 trunk_z= 117.2mm grav_b=(-0.07,+0.03,-1.00) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.05,+0.02,-1.00) r=0.31m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 6.30s step= 315 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 6.40s step= 320 trunk_z= 117.0mm grav_b=(+0.01,+0.02,-1.00) r=0.31m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(+0.00,+0.02,-1.00) r=0.31m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(+0.04,+0.05,-1.00) r=0.32m +[headless_play] t= 6.70s step= 335 trunk_z= 118.6mm grav_b=(+0.07,+0.04,-1.00) r=0.32m +[headless_play] t= 6.80s step= 340 trunk_z= 118.4mm grav_b=(+0.06,+0.04,-1.00) r=0.32m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(+0.02,+0.04,-1.00) r=0.32m +[headless_play] t= 7.00s step= 350 trunk_z= 116.9mm grav_b=(-0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 116.9mm grav_b=(-0.05,+0.03,-1.00) r=0.31m +[headless_play] t= 7.20s step= 360 trunk_z= 116.8mm grav_b=(-0.02,+0.03,-1.00) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 116.9mm grav_b=(-0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 7.40s step= 370 trunk_z= 117.9mm grav_b=(+0.05,+0.01,-1.00) r=0.32m +[headless_play] t= 7.50s step= 375 trunk_z= 118.3mm grav_b=(+0.06,+0.04,-1.00) r=0.32m +[headless_play] t= 7.60s step= 380 trunk_z= 117.0mm grav_b=(+0.03,+0.05,-1.00) r=0.32m +[headless_play] t= 7.70s step= 385 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00) r=0.32m +[headless_play] t= 7.80s step= 390 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 7.90s step= 395 trunk_z= 117.1mm grav_b=(-0.07,+0.00,-1.00) r=0.31m +[headless_play] t= 8.00s step= 400 trunk_z= 117.0mm grav_b=(-0.12,+0.03,-0.99) r=0.30m +[headless_play] t= 8.10s step= 405 trunk_z= 115.5mm grav_b=(-0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 8.20s step= 410 trunk_z= 115.4mm grav_b=(+0.02,-0.02,-1.00) r=0.27m +[headless_play] t= 8.30s step= 415 trunk_z= 114.0mm grav_b=(-0.01,+0.04,-1.00) r=0.26m +[headless_play] t= 8.40s step= 420 trunk_z= 115.2mm grav_b=(-0.00,+0.02,-1.00) r=0.25m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 8.60s step= 430 trunk_z= 116.7mm grav_b=(+0.00,+0.03,-1.00) r=0.25m +[headless_play] t= 8.70s step= 435 trunk_z= 117.0mm grav_b=(-0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 8.80s step= 440 trunk_z= 117.0mm grav_b=(-0.05,+0.03,-1.00) r=0.24m +[headless_play] t= 8.90s step= 445 trunk_z= 116.8mm grav_b=(-0.04,+0.03,-1.00) r=0.24m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(-0.01,+0.03,-1.00) r=0.25m +[headless_play] t= 9.10s step= 455 trunk_z= 117.0mm grav_b=(+0.01,+0.03,-1.00) r=0.25m +[headless_play] t= 9.20s step= 460 trunk_z= 117.0mm grav_b=(+0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(-0.00,+0.03,-1.00) r=0.24m +[headless_play] t= 9.40s step= 470 trunk_z= 117.1mm grav_b=(-0.00,+0.03,-1.00) r=0.24m +[headless_play] t= 9.50s step= 475 trunk_z= 117.1mm grav_b=(-0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(-0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 9.80s step= 490 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 10.00s step= 500 trunk_z= 117.2mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 10.10s step= 505 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(+0.03,+0.03,-1.00) r=0.25m +[headless_play] t= 10.30s step= 515 trunk_z= 118.3mm grav_b=(+0.08,+0.03,-1.00) r=0.26m +[headless_play] t= 10.40s step= 520 trunk_z= 118.7mm grav_b=(+0.09,+0.02,-1.00) r=0.26m +[headless_play] t= 10.50s step= 525 trunk_z= 118.4mm grav_b=(+0.08,+0.02,-1.00) r=0.26m +[headless_play] t= 10.60s step= 530 trunk_z= 115.5mm grav_b=(+0.04,+0.03,-1.00) r=0.25m +[headless_play] t= 10.70s step= 535 trunk_z= 114.5mm grav_b=(-0.00,+0.07,-1.00) r=0.26m +[headless_play] t= 10.80s step= 540 trunk_z= 116.1mm grav_b=(+0.01,+0.06,-1.00) r=0.27m +[headless_play] t= 10.90s step= 545 trunk_z= 113.1mm grav_b=(-0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 11.00s step= 550 trunk_z= 121.6mm grav_b=(+0.02,-0.04,-1.00) r=0.31m +[headless_play] t= 11.10s step= 555 trunk_z= 118.8mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.20s step= 560 trunk_z= 118.1mm grav_b=(+0.01,+0.08,-1.00) r=0.35m +[headless_play] t= 11.30s step= 565 trunk_z= 124.7mm grav_b=(+0.02,+0.10,-0.99) r=0.36m +[headless_play] t= 11.40s step= 570 trunk_z= 121.3mm grav_b=(+0.01,+0.10,-0.99) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 120.8mm grav_b=(-0.03,-0.04,-1.00) r=0.40m +[headless_play] t= 11.60s step= 580 trunk_z= 122.5mm grav_b=(-0.03,-0.04,-1.00) r=0.42m +[headless_play] t= 11.70s step= 585 trunk_z= 113.6mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 122.8mm grav_b=(-0.02,+0.10,-0.99) r=0.44m +[headless_play] t= 11.90s step= 595 trunk_z= 124.2mm grav_b=(-0.01,+0.12,-0.99) r=0.45m +[headless_play] t= 12.00s step= 600 trunk_z= 119.4mm grav_b=(-0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 12.10s step= 605 trunk_z= 123.0mm grav_b=(-0.01,-0.06,-1.00) r=0.49m +[headless_play] t= 12.20s step= 610 trunk_z= 121.5mm grav_b=(+0.00,-0.06,-1.00) r=0.51m +[headless_play] t= 12.30s step= 615 trunk_z= 114.5mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 124.7mm grav_b=(+0.01,+0.09,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 125.9mm grav_b=(+0.00,+0.15,-0.99) r=0.56m +[headless_play] t= 12.60s step= 630 trunk_z= 128.7mm grav_b=(-0.03,+0.19,-0.98) r=0.57m +[headless_play] t= 12.70s step= 635 trunk_z= 127.7mm grav_b=(-0.02,+0.11,-0.99) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 124.2mm grav_b=(+0.02,-0.03,-1.00) r=0.61m +[headless_play] t= 12.90s step= 645 trunk_z= 123.6mm grav_b=(+0.01,-0.03,-1.00) r=0.62m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(+0.03,+0.03,-1.00) r=0.64m +[headless_play] t= 13.10s step= 655 trunk_z= 124.0mm grav_b=(+0.05,+0.01,-1.00) r=0.67m +[headless_play] t= 13.20s step= 660 trunk_z= 114.4mm grav_b=(+0.01,-0.04,-1.00) r=0.72m +[headless_play] t= 13.30s step= 665 trunk_z= 123.7mm grav_b=(+0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 13.40s step= 670 trunk_z= 113.1mm grav_b=(-0.05,+0.06,-1.00) r=0.76m +[headless_play] t= 13.50s step= 675 trunk_z= 124.1mm grav_b=(-0.07,+0.11,-0.99) r=0.77m +[headless_play] t= 13.60s step= 680 trunk_z= 126.0mm grav_b=(-0.08,+0.13,-0.99) r=0.78m +[headless_play] t= 13.70s step= 685 trunk_z= 123.6mm grav_b=(-0.12,+0.11,-0.99) r=0.77m +[headless_play] t= 13.80s step= 690 trunk_z= 117.9mm grav_b=(-0.06,-0.00,-1.00) r=0.76m +[headless_play] t= 13.90s step= 695 trunk_z= 120.1mm grav_b=(-0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 14.00s step= 700 trunk_z= 112.7mm grav_b=(+0.01,+0.06,-1.00) r=0.76m +[headless_play] t= 14.10s step= 705 trunk_z= 122.1mm grav_b=(+0.04,+0.09,-1.00) r=0.77m +[headless_play] t= 14.20s step= 710 trunk_z= 121.5mm grav_b=(+0.02,+0.07,-1.00) r=0.79m +[headless_play] t= 14.30s step= 715 trunk_z= 121.0mm grav_b=(-0.00,-0.05,-1.00) r=0.83m +[headless_play] t= 14.40s step= 720 trunk_z= 120.8mm grav_b=(+0.01,-0.03,-1.00) r=0.85m +[headless_play] t= 14.50s step= 725 trunk_z= 113.5mm grav_b=(-0.02,+0.05,-1.00) r=0.86m +[headless_play] t= 14.60s step= 730 trunk_z= 125.7mm grav_b=(-0.04,+0.13,-0.99) r=0.87m +[headless_play] t= 14.70s step= 735 trunk_z= 127.6mm grav_b=(-0.04,+0.19,-0.98) r=0.88m +[headless_play] t= 14.80s step= 740 trunk_z= 129.7mm grav_b=(-0.02,+0.19,-0.98) r=0.90m +[headless_play] t= 14.90s step= 745 trunk_z= 127.3mm grav_b=(-0.03,+0.03,-1.00) r=0.93m +[headless_play] t= 15.00s step= 750 trunk_z= 121.8mm grav_b=(-0.02,-0.07,-1.00) r=0.95m +[headless_play] t= 15.10s step= 755 trunk_z= 103.1mm grav_b=(-0.02,-0.07,-1.00) r=0.98m +[headless_play] t= 15.20s step= 760 trunk_z= 96.9mm grav_b=(+0.06,-0.01,-1.00) r=1.00m +[headless_play] t= 15.30s step= 765 trunk_z= 104.3mm grav_b=(+0.04,+0.04,-1.00) r=1.01m +[headless_play] t= 15.40s step= 770 trunk_z= 98.8mm grav_b=(-0.02,+0.03,-1.00) r=1.03m +[headless_play] t= 15.50s step= 775 trunk_z= 97.3mm grav_b=(-0.06,-0.03,-1.00) r=1.06m +[headless_play] t= 15.60s step= 780 trunk_z= 94.0mm grav_b=(-0.06,+0.03,-1.00) r=1.05m +[headless_play] t= 15.70s step= 785 trunk_z= 92.9mm grav_b=(-0.06,+0.09,-0.99) r=1.05m +[headless_play] t= 15.80s step= 790 trunk_z= 98.0mm grav_b=(-0.06,+0.11,-0.99) r=1.05m +[headless_play] t= 15.90s step= 795 trunk_z= 95.0mm grav_b=(-0.04,+0.10,-0.99) r=1.06m +[headless_play] t= 16.00s step= 800 trunk_z= 88.3mm grav_b=(+0.02,-0.00,-1.00) r=1.07m +[headless_play] t= 16.10s step= 805 trunk_z= 90.3mm grav_b=(+0.07,-0.00,-1.00) r=1.08m +[headless_play] t= 16.20s step= 810 trunk_z= 86.4mm grav_b=(+0.04,+0.04,-1.00) r=1.09m +[headless_play] t= 16.30s step= 815 trunk_z= 93.2mm grav_b=(+0.06,+0.08,-1.00) r=1.11m +[headless_play] t= 16.40s step= 820 trunk_z= 90.2mm grav_b=(+0.06,+0.03,-1.00) r=1.14m +[headless_play] t= 16.50s step= 825 trunk_z= 93.8mm grav_b=(+0.01,-0.04,-1.00) r=1.18m +[headless_play] t= 16.60s step= 830 trunk_z= 96.4mm grav_b=(+0.01,-0.02,-1.00) r=1.19m +[headless_play] t= 16.70s step= 835 trunk_z= 90.1mm grav_b=(-0.01,+0.01,-1.00) r=1.20m +[headless_play] t= 16.80s step= 840 trunk_z= 95.5mm grav_b=(-0.03,+0.09,-1.00) r=1.20m +[headless_play] t= 16.90s step= 845 trunk_z= 99.3mm grav_b=(-0.02,+0.10,-0.99) r=1.20m +[headless_play] t= 17.00s step= 850 trunk_z= 94.5mm grav_b=(-0.02,+0.11,-0.99) r=1.22m +[headless_play] t= 17.10s step= 855 trunk_z= 91.3mm grav_b=(-0.01,-0.04,-1.00) r=1.23m +[headless_play] t= 17.20s step= 860 trunk_z= 95.2mm grav_b=(+0.03,-0.04,-1.00) r=1.24m +[headless_play] t= 17.30s step= 865 trunk_z= 95.3mm grav_b=(-0.00,-0.05,-1.00) r=1.25m +[headless_play] t= 17.40s step= 870 trunk_z= 89.9mm grav_b=(+0.02,+0.05,-1.00) r=1.25m +[headless_play] t= 17.50s step= 875 trunk_z= 96.4mm grav_b=(+0.02,+0.11,-0.99) r=1.26m +[headless_play] t= 17.60s step= 880 trunk_z= 95.3mm grav_b=(+0.04,+0.13,-0.99) r=1.27m +[headless_play] t= 17.70s step= 885 trunk_z= 90.0mm grav_b=(+0.04,+0.00,-1.00) r=1.29m +[headless_play] t= 17.80s step= 890 trunk_z= 95.9mm grav_b=(+0.03,-0.05,-1.00) r=1.31m +[headless_play] t= 17.90s step= 895 trunk_z= 86.9mm grav_b=(-0.01,+0.07,-1.00) r=1.33m +[headless_play] t= 18.00s step= 900 trunk_z= 97.7mm grav_b=(+0.01,+0.13,-0.99) r=1.34m +[headless_play] t= 18.10s step= 905 trunk_z= 99.1mm grav_b=(-0.01,+0.15,-0.99) r=1.36m +[headless_play] t= 18.20s step= 910 trunk_z= 96.1mm grav_b=(+0.00,+0.14,-0.99) r=1.38m +[headless_play] t= 18.30s step= 915 trunk_z= 95.0mm grav_b=(-0.02,-0.04,-1.00) r=1.40m +[headless_play] t= 18.40s step= 920 trunk_z= 97.0mm grav_b=(+0.01,-0.05,-1.00) r=1.41m +[headless_play] t= 18.50s step= 925 trunk_z= 90.9mm grav_b=(+0.01,-0.02,-1.00) r=1.42m +[headless_play] t= 18.60s step= 930 trunk_z= 93.3mm grav_b=(-0.01,+0.07,-1.00) r=1.42m +[headless_play] t= 18.70s step= 935 trunk_z= 101.0mm grav_b=(-0.06,+0.12,-0.99) r=1.41m +[headless_play] t= 18.80s step= 940 trunk_z= 101.4mm grav_b=(-0.08,+0.12,-0.99) r=1.41m +[headless_play] t= 18.90s step= 945 trunk_z= 92.2mm grav_b=(-0.03,+0.06,-1.00) r=1.41m +[headless_play] t= 19.00s step= 950 trunk_z= 91.3mm grav_b=(+0.00,+0.01,-1.00) r=1.41m +[headless_play] t= 19.10s step= 955 trunk_z= 86.5mm grav_b=(+0.04,+0.04,-1.00) r=1.42m +[headless_play] t= 19.20s step= 960 trunk_z= 91.8mm grav_b=(+0.04,+0.10,-0.99) r=1.44m +[headless_play] t= 19.30s step= 965 trunk_z= 92.5mm grav_b=(+0.06,+0.10,-0.99) r=1.45m +[headless_play] t= 19.40s step= 970 trunk_z= 89.4mm grav_b=(+0.03,+0.03,-1.00) r=1.48m +[headless_play] t= 19.50s step= 975 trunk_z= 96.8mm grav_b=(+0.01,-0.04,-1.00) r=1.50m +[headless_play] t= 19.60s step= 980 trunk_z= 87.7mm grav_b=(+0.03,+0.05,-1.00) r=1.52m +[headless_play] t= 19.70s step= 985 trunk_z= 99.6mm grav_b=(+0.05,+0.15,-0.99) r=1.54m +[headless_play] t= 19.80s step= 990 trunk_z= 101.5mm grav_b=(+0.04,+0.19,-0.98) r=1.56m +[headless_play] t= 19.90s step= 995 trunk_z= 103.2mm grav_b=(+0.00,+0.14,-0.99) r=1.59m +[headless_play] t= 20.00s step=1000 trunk_z= 98.6mm grav_b=(+0.02,-0.02,-1.00) r=1.62m +[headless_play] t= 20.10s step=1005 trunk_z= 96.5mm grav_b=(-0.03,-0.02,-1.00) r=1.63m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t5.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..5ce6fbaa57a33ce869b5d179e33cf54a3a073d36 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.5mm grav_b=(-0.00,-0.00,-1.00) root_w=(-17.514,-17.682,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(-0.03,+0.05,-1.00) r=0.57m +[headless_play] t= 0.20s step= 10 trunk_z= 121.7mm grav_b=(-0.03,+0.09,-1.00) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 120.6mm grav_b=(-0.06,+0.05,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 118.1mm grav_b=(-0.06,-0.06,-1.00) r=0.57m +[headless_play] t= 0.50s step= 25 trunk_z= 123.4mm grav_b=(-0.04,-0.04,-1.00) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 116.3mm grav_b=(-0.00,+0.05,-1.00) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 131.8mm grav_b=(+0.02,+0.09,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 131.1mm grav_b=(-0.02,+0.06,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 122.4mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 121.0mm grav_b=(-0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 121.6mm grav_b=(-0.10,+0.05,-0.99) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 130.4mm grav_b=(-0.13,+0.20,-0.97) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 127.9mm grav_b=(-0.16,+0.35,-0.92) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 111.0mm grav_b=(-0.21,+0.66,-0.72) r=0.34m +[headless_play] RESET at t= 1.48s step= 74 (env termination, not a recovery) +[headless_play] t= 1.50s step= 75 trunk_z= 121.8mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 119.9mm grav_b=(+0.06,-0.09,-0.99) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 123.6mm grav_b=(+0.03,-0.05,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 115.3mm grav_b=(-0.04,+0.04,-1.00) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 122.0mm grav_b=(-0.07,+0.03,-1.00) r=0.64m +[headless_play] t= 2.10s step= 105 trunk_z= 114.7mm grav_b=(-0.07,-0.01,-1.00) r=0.67m +[headless_play] t= 2.20s step= 110 trunk_z= 122.1mm grav_b=(-0.08,-0.04,-1.00) r=0.69m +[headless_play] t= 2.30s step= 115 trunk_z= 121.6mm grav_b=(-0.08,-0.03,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 115.4mm grav_b=(-0.07,+0.05,-1.00) r=0.69m +[headless_play] t= 2.50s step= 125 trunk_z= 123.3mm grav_b=(-0.05,+0.05,-1.00) r=0.70m +[headless_play] t= 2.60s step= 130 trunk_z= 123.4mm grav_b=(+0.02,+0.08,-1.00) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 122.4mm grav_b=(-0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 2.80s step= 140 trunk_z= 128.2mm grav_b=(-0.02,-0.11,-0.99) r=0.78m +[headless_play] t= 2.90s step= 145 trunk_z= 124.3mm grav_b=(-0.05,-0.12,-0.99) r=0.79m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(-0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 3.10s step= 155 trunk_z= 120.7mm grav_b=(-0.00,+0.01,-1.00) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 116.0mm grav_b=(-0.00,-0.06,-1.00) r=0.85m +[headless_play] t= 3.30s step= 165 trunk_z= 123.9mm grav_b=(+0.00,-0.08,-1.00) r=0.87m +[headless_play] t= 3.40s step= 170 trunk_z= 120.7mm grav_b=(-0.00,-0.08,-1.00) r=0.89m +[headless_play] t= 3.50s step= 175 trunk_z= 107.7mm grav_b=(+0.00,+0.06,-1.00) r=0.91m +[headless_play] t= 3.60s step= 180 trunk_z= 104.1mm grav_b=(-0.00,+0.24,-0.97) r=0.92m +[headless_play] t= 3.70s step= 185 trunk_z= 106.7mm grav_b=(-0.02,+0.23,-0.97) r=0.93m +[headless_play] t= 3.80s step= 190 trunk_z= 99.5mm grav_b=(-0.11,+0.15,-0.98) r=0.98m +[headless_play] t= 3.90s step= 195 trunk_z= 102.6mm grav_b=(+0.00,+0.19,-0.98) r=0.99m +[headless_play] t= 4.00s step= 200 trunk_z= 95.9mm grav_b=(-0.07,+0.20,-0.98) r=0.98m +[headless_play] t= 4.10s step= 205 trunk_z= 94.0mm grav_b=(+0.05,+0.12,-0.99) r=0.98m +[headless_play] t= 4.20s step= 210 trunk_z= 94.2mm grav_b=(-0.02,-0.13,-0.99) r=0.98m +[headless_play] t= 4.30s step= 215 trunk_z= 100.0mm grav_b=(-0.06,-0.14,-0.99) r=1.01m +[headless_play] t= 4.40s step= 220 trunk_z= 102.5mm grav_b=(-0.04,-0.16,-0.99) r=1.02m +[headless_play] t= 4.50s step= 225 trunk_z= 94.9mm grav_b=(-0.00,-0.06,-1.00) r=1.03m +[headless_play] t= 4.60s step= 230 trunk_z= 93.0mm grav_b=(-0.00,+0.00,-1.00) r=1.02m +[headless_play] t= 4.70s step= 235 trunk_z= 90.9mm grav_b=(-0.01,-0.07,-1.00) r=1.01m +[headless_play] t= 4.80s step= 240 trunk_z= 98.6mm grav_b=(-0.03,-0.10,-1.00) r=1.00m +[headless_play] t= 4.90s step= 245 trunk_z= 97.9mm grav_b=(-0.00,-0.08,-1.00) r=0.99m +[headless_play] t= 5.00s step= 250 trunk_z= 87.0mm grav_b=(-0.10,+0.01,-1.00) r=1.01m +[headless_play] t= 5.10s step= 255 trunk_z= 100.0mm grav_b=(-0.06,+0.10,-0.99) r=1.01m +[headless_play] t= 5.20s step= 260 trunk_z= 102.9mm grav_b=(-0.08,+0.09,-0.99) r=1.02m +[headless_play] t= 5.30s step= 265 trunk_z= 99.2mm grav_b=(-0.02,+0.01,-1.00) r=1.04m +[headless_play] t= 5.40s step= 270 trunk_z= 101.7mm grav_b=(+0.03,+0.02,-1.00) r=1.06m +[headless_play] t= 5.50s step= 275 trunk_z= 91.9mm grav_b=(-0.02,-0.05,-1.00) r=1.08m +[headless_play] t= 5.60s step= 280 trunk_z= 96.4mm grav_b=(+0.04,+0.03,-1.00) r=1.08m +[headless_play] t= 5.70s step= 285 trunk_z= 98.6mm grav_b=(-0.00,+0.01,-1.00) r=1.07m +[headless_play] t= 5.80s step= 290 trunk_z= 95.3mm grav_b=(+0.01,-0.06,-1.00) r=1.05m +[headless_play] t= 5.90s step= 295 trunk_z= 95.9mm grav_b=(-0.02,-0.04,-1.00) r=1.05m +[headless_play] t= 6.00s step= 300 trunk_z= 93.1mm grav_b=(-0.03,+0.01,-1.00) r=1.06m +[headless_play] t= 6.10s step= 305 trunk_z= 100.1mm grav_b=(+0.01,+0.00,-1.00) r=1.06m +[headless_play] t= 6.20s step= 310 trunk_z= 96.8mm grav_b=(+0.03,-0.00,-1.00) r=1.04m +[headless_play] t= 6.30s step= 315 trunk_z= 98.1mm grav_b=(+0.01,-0.05,-1.00) r=1.00m +[headless_play] t= 6.40s step= 320 trunk_z= 105.1mm grav_b=(-0.01,-0.06,-1.00) r=0.98m +[headless_play] t= 6.50s step= 325 trunk_z= 92.8mm grav_b=(-0.04,-0.03,-1.00) r=0.98m +[headless_play] t= 6.60s step= 330 trunk_z= 92.3mm grav_b=(-0.07,-0.03,-1.00) r=0.99m +[headless_play] t= 6.70s step= 335 trunk_z= 93.3mm grav_b=(-0.08,-0.01,-1.00) r=0.99m +[headless_play] t= 6.80s step= 340 trunk_z= 93.4mm grav_b=(-0.07,-0.00,-1.00) r=0.98m +[headless_play] t= 6.90s step= 345 trunk_z= 93.3mm grav_b=(-0.05,+0.01,-1.00) r=0.98m +[headless_play] t= 7.00s step= 350 trunk_z= 93.6mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 7.10s step= 355 trunk_z= 93.4mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 7.20s step= 360 trunk_z= 93.5mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 7.30s step= 365 trunk_z= 93.4mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 7.40s step= 370 trunk_z= 93.5mm grav_b=(-0.05,+0.01,-1.00) r=0.98m +[headless_play] t= 7.50s step= 375 trunk_z= 93.4mm grav_b=(-0.07,+0.01,-1.00) r=0.98m +[headless_play] t= 7.60s step= 380 trunk_z= 93.2mm grav_b=(-0.05,+0.01,-1.00) r=0.98m +[headless_play] t= 7.70s step= 385 trunk_z= 93.7mm grav_b=(-0.02,+0.02,-1.00) r=0.98m +[headless_play] t= 7.80s step= 390 trunk_z= 93.6mm grav_b=(-0.02,+0.02,-1.00) r=0.98m +[headless_play] t= 7.90s step= 395 trunk_z= 93.2mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 8.00s step= 400 trunk_z= 93.2mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 8.10s step= 405 trunk_z= 93.1mm grav_b=(-0.04,+0.01,-1.00) r=0.98m +[headless_play] t= 8.20s step= 410 trunk_z= 93.8mm grav_b=(-0.10,+0.02,-0.99) r=0.99m +[headless_play] t= 8.30s step= 415 trunk_z= 93.5mm grav_b=(-0.12,+0.00,-0.99) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 90.9mm grav_b=(-0.05,+0.05,-1.00) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 90.7mm grav_b=(-0.02,+0.01,-1.00) r=1.01m +[headless_play] t= 8.60s step= 430 trunk_z= 91.9mm grav_b=(-0.03,-0.00,-1.00) r=1.02m +[headless_play] t= 8.70s step= 435 trunk_z= 93.3mm grav_b=(-0.03,+0.03,-1.00) r=1.03m +[headless_play] t= 8.80s step= 440 trunk_z= 93.3mm grav_b=(-0.08,+0.02,-1.00) r=1.04m +[headless_play] t= 8.90s step= 445 trunk_z= 93.2mm grav_b=(-0.07,-0.00,-1.00) r=1.04m +[headless_play] t= 9.00s step= 450 trunk_z= 92.9mm grav_b=(-0.06,+0.02,-1.00) r=1.03m +[headless_play] t= 9.10s step= 455 trunk_z= 93.0mm grav_b=(-0.00,+0.01,-1.00) r=1.03m +[headless_play] t= 9.20s step= 460 trunk_z= 93.7mm grav_b=(+0.00,+0.02,-1.00) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 93.3mm grav_b=(-0.00,+0.02,-1.00) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 92.9mm grav_b=(-0.03,+0.00,-1.00) r=1.03m +[headless_play] t= 9.50s step= 475 trunk_z= 93.1mm grav_b=(-0.03,+0.01,-1.00) r=1.03m +[headless_play] t= 9.60s step= 480 trunk_z= 93.1mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 9.70s step= 485 trunk_z= 93.2mm grav_b=(-0.03,+0.01,-1.00) r=1.03m +[headless_play] t= 9.80s step= 490 trunk_z= 93.1mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 9.90s step= 495 trunk_z= 93.0mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 10.00s step= 500 trunk_z= 93.0mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 10.10s step= 505 trunk_z= 93.0mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 10.20s step= 510 trunk_z= 92.5mm grav_b=(-0.09,-0.00,-1.00) r=1.04m +[headless_play] t= 10.30s step= 515 trunk_z= 92.7mm grav_b=(-0.08,+0.00,-1.00) r=1.04m +[headless_play] t= 10.40s step= 520 trunk_z= 92.0mm grav_b=(-0.10,+0.00,-1.00) r=1.04m +[headless_play] t= 10.50s step= 525 trunk_z= 92.2mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 10.60s step= 530 trunk_z= 92.9mm grav_b=(-0.01,+0.02,-1.00) r=1.03m +[headless_play] t= 10.70s step= 535 trunk_z= 92.8mm grav_b=(-0.01,+0.02,-1.00) r=1.03m +[headless_play] t= 10.80s step= 540 trunk_z= 93.0mm grav_b=(-0.01,+0.02,-1.00) r=1.03m +[headless_play] t= 10.90s step= 545 trunk_z= 92.6mm grav_b=(-0.02,+0.01,-1.00) r=1.03m +[headless_play] t= 11.00s step= 550 trunk_z= 92.6mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 11.10s step= 555 trunk_z= 92.7mm grav_b=(-0.03,+0.01,-1.00) r=1.03m +[headless_play] t= 11.20s step= 560 trunk_z= 92.7mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 11.30s step= 565 trunk_z= 92.7mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 11.40s step= 570 trunk_z= 92.7mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 11.50s step= 575 trunk_z= 92.7mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 11.60s step= 580 trunk_z= 92.7mm grav_b=(-0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 11.70s step= 585 trunk_z= 92.3mm grav_b=(-0.13,+0.00,-0.99) r=1.05m +[headless_play] t= 11.80s step= 590 trunk_z= 90.7mm grav_b=(-0.10,-0.04,-0.99) r=1.05m +[headless_play] t= 11.90s step= 595 trunk_z= 92.4mm grav_b=(-0.04,+0.00,-1.00) r=1.06m +[headless_play] t= 12.00s step= 600 trunk_z= 93.5mm grav_b=(-0.07,+0.02,-1.00) r=1.07m +[headless_play] t= 12.10s step= 605 trunk_z= 91.9mm grav_b=(-0.04,-0.02,-1.00) r=1.07m +[headless_play] t= 12.20s step= 610 trunk_z= 92.1mm grav_b=(-0.03,+0.00,-1.00) r=1.07m +[headless_play] t= 12.30s step= 615 trunk_z= 92.2mm grav_b=(-0.03,-0.00,-1.00) r=1.07m +[headless_play] t= 12.40s step= 620 trunk_z= 93.9mm grav_b=(-0.02,-0.03,-1.00) r=1.07m +[headless_play] t= 12.50s step= 625 trunk_z= 92.8mm grav_b=(-0.03,-0.01,-1.00) r=1.07m +[headless_play] t= 12.60s step= 630 trunk_z= 92.9mm grav_b=(-0.03,-0.01,-1.00) r=1.07m +[headless_play] t= 12.70s step= 635 trunk_z= 92.7mm grav_b=(-0.03,+0.00,-1.00) r=1.07m +[headless_play] t= 12.80s step= 640 trunk_z= 92.6mm grav_b=(-0.03,-0.00,-1.00) r=1.07m +[headless_play] t= 12.90s step= 645 trunk_z= 94.0mm grav_b=(+0.01,+0.02,-1.00) r=1.06m +[headless_play] t= 13.00s step= 650 trunk_z= 96.6mm grav_b=(+0.06,+0.01,-1.00) r=1.05m +[headless_play] t= 13.10s step= 655 trunk_z= 96.7mm grav_b=(+0.03,-0.05,-1.00) r=1.04m +[headless_play] t= 13.20s step= 660 trunk_z= 99.5mm grav_b=(-0.03,-0.05,-1.00) r=1.03m +[headless_play] t= 13.30s step= 665 trunk_z= 90.0mm grav_b=(-0.07,-0.03,-1.00) r=1.02m +[headless_play] t= 13.40s step= 670 trunk_z= 90.7mm grav_b=(-0.09,-0.00,-1.00) r=1.03m +[headless_play] t= 13.50s step= 675 trunk_z= 91.4mm grav_b=(-0.09,-0.00,-1.00) r=1.03m +[headless_play] t= 13.60s step= 680 trunk_z= 92.5mm grav_b=(-0.07,-0.01,-1.00) r=1.02m +[headless_play] t= 13.70s step= 685 trunk_z= 91.9mm grav_b=(-0.01,+0.01,-1.00) r=1.00m +[headless_play] t= 13.80s step= 690 trunk_z= 92.7mm grav_b=(+0.01,-0.03,-1.00) r=0.99m +[headless_play] t= 13.90s step= 695 trunk_z= 87.7mm grav_b=(-0.01,+0.03,-1.00) r=0.97m +[headless_play] t= 14.00s step= 700 trunk_z= 92.7mm grav_b=(-0.02,+0.03,-1.00) r=0.96m +[headless_play] t= 14.10s step= 705 trunk_z= 88.1mm grav_b=(-0.00,+0.02,-1.00) r=0.95m +[headless_play] t= 14.20s step= 710 trunk_z= 89.9mm grav_b=(+0.02,-0.04,-1.00) r=0.93m +[headless_play] t= 14.30s step= 715 trunk_z= 91.9mm grav_b=(-0.02,-0.08,-1.00) r=0.92m +[headless_play] t= 14.40s step= 720 trunk_z= 87.7mm grav_b=(+0.04,-0.06,-1.00) r=0.89m +[headless_play] t= 14.50s step= 725 trunk_z= 90.8mm grav_b=(+0.05,+0.04,-1.00) r=0.86m +[headless_play] t= 14.60s step= 730 trunk_z= 89.7mm grav_b=(+0.07,+0.08,-0.99) r=0.84m +[headless_play] t= 14.70s step= 735 trunk_z= 91.2mm grav_b=(+0.02,+0.02,-1.00) r=0.83m +[headless_play] t= 14.80s step= 740 trunk_z= 95.9mm grav_b=(-0.02,-0.07,-1.00) r=0.82m +[headless_play] t= 14.90s step= 745 trunk_z= 91.1mm grav_b=(+0.06,-0.00,-1.00) r=0.81m +[headless_play] t= 15.00s step= 750 trunk_z= 86.8mm grav_b=(+0.12,+0.04,-0.99) r=0.80m +[headless_play] t= 15.10s step= 755 trunk_z= 92.6mm grav_b=(+0.16,-0.01,-0.99) r=0.77m +[headless_play] t= 15.20s step= 760 trunk_z= 97.4mm grav_b=(+0.17,+0.02,-0.98) r=0.77m +[headless_play] t= 15.30s step= 765 trunk_z= 88.2mm grav_b=(+0.38,-0.05,-0.92) r=0.77m +[headless_play] RESET at t= 15.40s step= 770 (env termination, not a recovery) +[headless_play] t= 15.40s step= 770 trunk_z= 126.6mm grav_b=(+0.00,+0.00,-1.00) r=0.46m +[headless_play] t= 15.50s step= 775 trunk_z= 114.8mm grav_b=(-0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.02,+0.06,-1.00) r=0.46m +[headless_play] t= 15.70s step= 785 trunk_z= 119.2mm grav_b=(-0.02,+0.02,-1.00) r=0.44m +[headless_play] t= 15.80s step= 790 trunk_z= 117.8mm grav_b=(-0.05,+0.01,-1.00) r=0.42m +[headless_play] t= 15.90s step= 795 trunk_z= 122.8mm grav_b=(-0.04,-0.06,-1.00) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 117.3mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 16.10s step= 805 trunk_z= 119.6mm grav_b=(-0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 16.20s step= 810 trunk_z= 124.0mm grav_b=(-0.05,+0.06,-1.00) r=0.41m +[headless_play] t= 16.30s step= 815 trunk_z= 121.1mm grav_b=(-0.04,+0.03,-1.00) r=0.38m +[headless_play] t= 16.40s step= 820 trunk_z= 127.0mm grav_b=(-0.01,-0.09,-1.00) r=0.34m +[headless_play] t= 16.50s step= 825 trunk_z= 129.2mm grav_b=(+0.01,-0.16,-0.99) r=0.31m +[headless_play] t= 16.60s step= 830 trunk_z= 124.0mm grav_b=(-0.03,-0.15,-0.99) r=0.27m +[headless_play] t= 16.70s step= 835 trunk_z= 129.3mm grav_b=(-0.03,-0.05,-1.00) r=0.25m +[headless_play] t= 16.80s step= 840 trunk_z= 132.0mm grav_b=(-0.07,-0.01,-1.00) r=0.22m +[headless_play] t= 16.90s step= 845 trunk_z= 119.8mm grav_b=(-0.02,-0.07,-1.00) r=0.20m +[headless_play] t= 17.00s step= 850 trunk_z= 121.6mm grav_b=(-0.02,-0.03,-1.00) r=0.19m +[headless_play] t= 17.10s step= 855 trunk_z= 114.9mm grav_b=(-0.03,+0.03,-1.00) r=0.20m +[headless_play] t= 17.20s step= 860 trunk_z= 126.1mm grav_b=(-0.03,+0.06,-1.00) r=0.21m +[headless_play] t= 17.30s step= 865 trunk_z= 126.0mm grav_b=(-0.03,+0.05,-1.00) r=0.21m +[headless_play] t= 17.40s step= 870 trunk_z= 120.1mm grav_b=(-0.05,-0.07,-1.00) r=0.20m +[headless_play] t= 17.50s step= 875 trunk_z= 125.9mm grav_b=(-0.06,-0.09,-0.99) r=0.21m +[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(-0.08,-0.06,-0.99) r=0.24m +[headless_play] t= 17.70s step= 885 trunk_z= 121.8mm grav_b=(-0.07,+0.04,-1.00) r=0.26m +[headless_play] t= 17.80s step= 890 trunk_z= 124.4mm grav_b=(-0.06,+0.06,-1.00) r=0.27m +[headless_play] t= 17.90s step= 895 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 18.00s step= 900 trunk_z= 121.1mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 18.10s step= 905 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 18.20s step= 910 trunk_z= 118.1mm grav_b=(-0.06,+0.04,-1.00) r=0.32m +[headless_play] t= 18.30s step= 915 trunk_z= 121.0mm grav_b=(-0.05,+0.04,-1.00) r=0.33m +[headless_play] t= 18.40s step= 920 trunk_z= 113.7mm grav_b=(-0.05,-0.01,-1.00) r=0.32m +[headless_play] t= 18.50s step= 925 trunk_z= 121.1mm grav_b=(-0.02,-0.05,-1.00) r=0.32m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(+0.01,-0.03,-1.00) r=0.34m +[headless_play] t= 18.70s step= 935 trunk_z= 115.3mm grav_b=(-0.04,+0.04,-1.00) r=0.38m +[headless_play] t= 18.80s step= 940 trunk_z= 114.9mm grav_b=(+0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 18.90s step= 945 trunk_z= 117.9mm grav_b=(+0.14,-0.16,-0.98) r=0.41m +[headless_play] t= 19.00s step= 950 trunk_z= 126.1mm grav_b=(+0.03,-0.08,-1.00) r=0.43m +[headless_play] t= 19.10s step= 955 trunk_z= 114.8mm grav_b=(-0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 19.20s step= 960 trunk_z= 121.7mm grav_b=(-0.03,+0.04,-1.00) r=0.48m +[headless_play] t= 19.30s step= 965 trunk_z= 117.0mm grav_b=(-0.07,-0.01,-1.00) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 120.1mm grav_b=(-0.06,-0.04,-1.00) r=0.48m +[headless_play] t= 19.50s step= 975 trunk_z= 120.4mm grav_b=(-0.05,-0.03,-1.00) r=0.49m +[headless_play] t= 19.60s step= 980 trunk_z= 117.9mm grav_b=(-0.12,-0.11,-0.99) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 113.8mm grav_b=(+0.02,+0.10,-0.99) r=0.50m +[headless_play] t= 19.80s step= 990 trunk_z= 120.8mm grav_b=(-0.01,+0.06,-1.00) r=0.50m +[headless_play] t= 19.90s step= 995 trunk_z= 112.4mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 20.00s step=1000 trunk_z= 119.3mm grav_b=(+0.02,-0.07,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(+0.04,-0.05,-1.00) r=0.51m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t6.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..641bc05d1ee2c523a0313b25ebd66d646c0c9108 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t6.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-13.731,-17.881,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 0.60s step= 30 trunk_z= 115.6mm grav_b=(+0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.06,+0.01,-1.00) r=0.29m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 0.90s step= 45 trunk_z= 115.8mm grav_b=(+0.05,+0.02,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 115.7mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 117.6mm grav_b=(-0.07,-0.00,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 105.7mm grav_b=(+0.00,+0.05,-1.00) r=0.33m +[headless_play] t= 2.10s step= 105 trunk_z= 106.4mm grav_b=(+0.08,-0.01,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(+0.06,-0.08,-0.99) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 113.4mm grav_b=(+0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 2.40s step= 120 trunk_z= 114.1mm grav_b=(+0.03,+0.03,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(+0.05,-0.02,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 117.1mm grav_b=(+0.04,-0.03,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 3.00s step= 150 trunk_z= 117.5mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 3.30s step= 165 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(+0.06,+0.03,-1.00) r=0.34m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(+0.06,-0.03,-1.00) r=0.34m +[headless_play] t= 4.00s step= 200 trunk_z= 120.7mm grav_b=(+0.06,-0.07,-1.00) r=0.34m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 4.20s step= 210 trunk_z= 114.6mm grav_b=(-0.07,+0.02,-1.00) r=0.32m +[headless_play] t= 4.30s step= 215 trunk_z= 115.5mm grav_b=(-0.08,+0.00,-1.00) r=0.32m +[headless_play] t= 4.40s step= 220 trunk_z= 115.9mm grav_b=(-0.07,+0.01,-1.00) r=0.32m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 4.60s step= 230 trunk_z= 117.9mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 4.70s step= 235 trunk_z= 120.3mm grav_b=(+0.04,-0.03,-1.00) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(+0.05,+0.03,-1.00) r=0.30m +[headless_play] t= 4.90s step= 245 trunk_z= 117.3mm grav_b=(+0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 118.5mm grav_b=(+0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 5.30s step= 265 trunk_z= 119.6mm grav_b=(+0.06,+0.00,-1.00) r=0.29m +[headless_play] t= 5.40s step= 270 trunk_z= 118.0mm grav_b=(+0.04,-0.08,-1.00) r=0.30m +[headless_play] t= 5.50s step= 275 trunk_z= 118.5mm grav_b=(-0.02,-0.06,-1.00) r=0.30m +[headless_play] t= 5.60s step= 280 trunk_z= 115.1mm grav_b=(-0.07,+0.00,-1.00) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 6.00s step= 300 trunk_z= 120.1mm grav_b=(+0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 6.10s step= 305 trunk_z= 118.9mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 6.20s step= 310 trunk_z= 112.8mm grav_b=(+0.00,+0.05,-1.00) r=0.28m +[headless_play] t= 6.30s step= 315 trunk_z= 115.5mm grav_b=(-0.03,-0.00,-1.00) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 117.8mm grav_b=(-0.08,-0.07,-0.99) r=0.31m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(-0.10,-0.02,-0.99) r=0.31m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(-0.05,+0.01,-1.00) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=0.31m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(-0.01,-0.06,-1.00) r=0.32m +[headless_play] t= 6.90s step= 345 trunk_z= 125.2mm grav_b=(+0.00,-0.13,-0.99) r=0.35m +[headless_play] t= 7.00s step= 350 trunk_z= 125.1mm grav_b=(-0.01,-0.11,-0.99) r=0.36m +[headless_play] t= 7.10s step= 355 trunk_z= 118.2mm grav_b=(-0.05,-0.04,-1.00) r=0.38m +[headless_play] t= 7.20s step= 360 trunk_z= 121.9mm grav_b=(-0.05,+0.04,-1.00) r=0.40m +[headless_play] t= 7.30s step= 365 trunk_z= 120.4mm grav_b=(-0.04,+0.01,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 117.1mm grav_b=(-0.04,-0.05,-1.00) r=0.42m +[headless_play] t= 7.50s step= 375 trunk_z= 117.8mm grav_b=(-0.09,+0.06,-0.99) r=0.41m +[headless_play] t= 7.60s step= 380 trunk_z= 106.3mm grav_b=(-0.00,+0.10,-1.00) r=0.39m +[headless_play] t= 7.70s step= 385 trunk_z= 112.9mm grav_b=(+0.00,+0.10,-1.00) r=0.40m +[headless_play] t= 7.80s step= 390 trunk_z= 112.3mm grav_b=(+0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 114.8mm grav_b=(+0.04,-0.05,-1.00) r=0.43m +[headless_play] t= 8.00s step= 400 trunk_z= 117.3mm grav_b=(+0.07,-0.09,-0.99) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 111.3mm grav_b=(+0.08,-0.07,-0.99) r=0.48m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(+0.08,-0.02,-1.00) r=0.51m +[headless_play] t= 8.30s step= 415 trunk_z= 113.1mm grav_b=(+0.07,-0.02,-1.00) r=0.54m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(+0.03,-0.09,-1.00) r=0.57m +[headless_play] t= 8.50s step= 425 trunk_z= 121.4mm grav_b=(-0.01,-0.10,-1.00) r=0.58m +[headless_play] t= 8.60s step= 430 trunk_z= 115.0mm grav_b=(-0.02,-0.08,-1.00) r=0.59m +[headless_play] t= 8.70s step= 435 trunk_z= 114.5mm grav_b=(-0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 8.80s step= 440 trunk_z= 118.0mm grav_b=(-0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 8.90s step= 445 trunk_z= 113.1mm grav_b=(+0.02,-0.02,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(+0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 9.10s step= 455 trunk_z= 113.5mm grav_b=(+0.00,-0.02,-1.00) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 107.6mm grav_b=(+0.03,+0.04,-1.00) r=0.65m +[headless_play] t= 9.30s step= 465 trunk_z= 113.9mm grav_b=(+0.05,+0.05,-1.00) r=0.67m +[headless_play] t= 9.40s step= 470 trunk_z= 110.9mm grav_b=(+0.05,-0.02,-1.00) r=0.69m +[headless_play] t= 9.50s step= 475 trunk_z= 116.1mm grav_b=(+0.03,-0.07,-1.00) r=0.72m +[headless_play] t= 9.60s step= 480 trunk_z= 116.6mm grav_b=(+0.06,-0.06,-1.00) r=0.74m +[headless_play] t= 9.70s step= 485 trunk_z= 108.6mm grav_b=(+0.04,-0.01,-1.00) r=0.76m +[headless_play] t= 9.80s step= 490 trunk_z= 113.7mm grav_b=(+0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 9.90s step= 495 trunk_z= 102.6mm grav_b=(-0.01,-0.14,-0.99) r=0.81m +[headless_play] t= 10.00s step= 500 trunk_z= 96.2mm grav_b=(+0.01,-0.31,-0.95) r=0.85m +[headless_play] t= 10.10s step= 505 trunk_z= 96.3mm grav_b=(+0.10,-0.44,-0.89) r=0.87m +[headless_play] t= 10.20s step= 510 trunk_z= 87.0mm grav_b=(+0.27,-0.42,-0.87) r=0.89m +[headless_play] t= 10.30s step= 515 trunk_z= 66.0mm grav_b=(+0.40,-0.49,-0.78) r=0.95m +[headless_play] RESET at t= 10.36s step= 518 (env termination, not a recovery) +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=0.34m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(+0.00,-0.07,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 116.0mm grav_b=(-0.05,-0.03,-1.00) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 108.3mm grav_b=(-0.06,+0.06,-1.00) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 112.9mm grav_b=(-0.03,+0.09,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 108.5mm grav_b=(-0.03,+0.07,-1.00) r=0.37m +[headless_play] t= 11.00s step= 550 trunk_z= 103.8mm grav_b=(+0.03,-0.00,-1.00) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 111.2mm grav_b=(+0.11,-0.05,-0.99) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 111.0mm grav_b=(+0.13,-0.02,-0.99) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 121.8mm grav_b=(+0.07,+0.03,-1.00) r=0.49m +[headless_play] t= 11.40s step= 570 trunk_z= 120.5mm grav_b=(+0.01,-0.04,-1.00) r=0.53m +[headless_play] t= 11.50s step= 575 trunk_z= 121.3mm grav_b=(-0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 11.60s step= 580 trunk_z= 118.4mm grav_b=(-0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 11.70s step= 585 trunk_z= 112.6mm grav_b=(-0.07,+0.05,-1.00) r=0.59m +[headless_play] t= 11.80s step= 590 trunk_z= 120.8mm grav_b=(-0.07,+0.09,-0.99) r=0.59m +[headless_play] t= 11.90s step= 595 trunk_z= 119.0mm grav_b=(+0.02,+0.12,-0.99) r=0.61m +[headless_play] t= 12.00s step= 600 trunk_z= 118.4mm grav_b=(+0.06,+0.07,-1.00) r=0.64m +[headless_play] t= 12.10s step= 605 trunk_z= 121.0mm grav_b=(+0.05,-0.07,-1.00) r=0.67m +[headless_play] t= 12.20s step= 610 trunk_z= 119.5mm grav_b=(+0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 12.30s step= 615 trunk_z= 113.6mm grav_b=(-0.05,+0.05,-1.00) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 121.2mm grav_b=(-0.07,+0.09,-0.99) r=0.73m +[headless_play] t= 12.50s step= 625 trunk_z= 119.4mm grav_b=(-0.06,+0.06,-1.00) r=0.73m +[headless_play] t= 12.60s step= 630 trunk_z= 111.7mm grav_b=(-0.05,-0.02,-1.00) r=0.74m +[headless_play] t= 12.70s step= 635 trunk_z= 111.9mm grav_b=(+0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 12.80s step= 640 trunk_z= 104.6mm grav_b=(+0.03,+0.04,-1.00) r=0.78m +[headless_play] t= 12.90s step= 645 trunk_z= 107.7mm grav_b=(+0.05,+0.06,-1.00) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 110.0mm grav_b=(+0.03,-0.00,-1.00) r=0.81m +[headless_play] t= 13.10s step= 655 trunk_z= 107.5mm grav_b=(-0.00,-0.04,-1.00) r=0.82m +[headless_play] t= 13.20s step= 660 trunk_z= 120.0mm grav_b=(+0.01,-0.09,-1.00) r=0.83m +[headless_play] t= 13.30s step= 665 trunk_z= 120.3mm grav_b=(+0.01,-0.02,-1.00) r=0.85m +[headless_play] t= 13.40s step= 670 trunk_z= 118.6mm grav_b=(-0.01,+0.07,-1.00) r=0.87m +[headless_play] t= 13.50s step= 675 trunk_z= 122.4mm grav_b=(-0.02,+0.05,-1.00) r=0.89m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.90m +[headless_play] t= 13.70s step= 685 trunk_z= 122.3mm grav_b=(-0.05,-0.06,-1.00) r=0.92m +[headless_play] t= 13.80s step= 690 trunk_z= 120.8mm grav_b=(-0.05,-0.04,-1.00) r=0.93m +[headless_play] t= 13.90s step= 695 trunk_z= 114.6mm grav_b=(-0.00,+0.01,-1.00) r=0.97m +[headless_play] t= 14.00s step= 700 trunk_z= 123.8mm grav_b=(+0.03,-0.01,-1.00) r=0.99m +[headless_play] t= 14.10s step= 705 trunk_z= 118.3mm grav_b=(+0.01,-0.07,-1.00) r=1.01m +[headless_play] t= 14.20s step= 710 trunk_z= 117.8mm grav_b=(-0.04,-0.05,-1.00) r=1.05m +[headless_play] t= 14.30s step= 715 trunk_z= 86.5mm grav_b=(-0.05,+0.03,-1.00) r=1.10m +[headless_play] t= 14.40s step= 720 trunk_z= 95.5mm grav_b=(+0.01,-0.02,-1.00) r=1.11m +[headless_play] t= 14.50s step= 725 trunk_z= 90.4mm grav_b=(-0.03,-0.08,-1.00) r=1.12m +[headless_play] t= 14.60s step= 730 trunk_z= 97.8mm grav_b=(-0.06,-0.06,-1.00) r=1.13m +[headless_play] t= 14.70s step= 735 trunk_z= 93.0mm grav_b=(-0.10,-0.02,-0.99) r=1.15m +[headless_play] t= 14.80s step= 740 trunk_z= 93.4mm grav_b=(-0.11,+0.08,-0.99) r=1.18m +[headless_play] t= 14.90s step= 745 trunk_z= 99.3mm grav_b=(-0.12,+0.09,-0.99) r=1.18m +[headless_play] t= 15.00s step= 750 trunk_z= 97.5mm grav_b=(-0.09,+0.04,-0.99) r=1.18m +[headless_play] t= 15.10s step= 755 trunk_z= 93.3mm grav_b=(-0.06,+0.03,-1.00) r=1.16m +[headless_play] t= 15.20s step= 760 trunk_z= 89.8mm grav_b=(-0.02,+0.01,-1.00) r=1.17m +[headless_play] t= 15.30s step= 765 trunk_z= 90.7mm grav_b=(+0.02,+0.10,-1.00) r=1.20m +[headless_play] t= 15.40s step= 770 trunk_z= 92.8mm grav_b=(+0.00,+0.08,-1.00) r=1.21m +[headless_play] t= 15.50s step= 775 trunk_z= 90.7mm grav_b=(-0.01,-0.01,-1.00) r=1.22m +[headless_play] t= 15.60s step= 780 trunk_z= 96.5mm grav_b=(-0.03,-0.06,-1.00) r=1.23m +[headless_play] t= 15.70s step= 785 trunk_z= 92.5mm grav_b=(-0.05,+0.00,-1.00) r=1.24m +[headless_play] t= 15.80s step= 790 trunk_z= 94.1mm grav_b=(-0.06,+0.07,-1.00) r=1.26m +[headless_play] t= 15.90s step= 795 trunk_z= 96.3mm grav_b=(-0.04,+0.07,-1.00) r=1.27m +[headless_play] t= 16.00s step= 800 trunk_z= 90.9mm grav_b=(+0.00,+0.04,-1.00) r=1.28m +[headless_play] t= 16.10s step= 805 trunk_z= 95.0mm grav_b=(-0.00,-0.06,-1.00) r=1.29m +[headless_play] t= 16.20s step= 810 trunk_z= 97.4mm grav_b=(-0.00,-0.06,-1.00) r=1.31m +[headless_play] t= 16.30s step= 815 trunk_z= 88.8mm grav_b=(-0.01,-0.02,-1.00) r=1.33m +[headless_play] t= 16.40s step= 820 trunk_z= 91.5mm grav_b=(-0.02,+0.00,-1.00) r=1.35m +[headless_play] t= 16.50s step= 825 trunk_z= 88.5mm grav_b=(-0.01,-0.07,-1.00) r=1.35m +[headless_play] t= 16.60s step= 830 trunk_z= 93.5mm grav_b=(+0.03,-0.06,-1.00) r=1.36m +[headless_play] t= 16.70s step= 835 trunk_z= 91.3mm grav_b=(+0.04,-0.01,-1.00) r=1.39m +[headless_play] t= 16.80s step= 840 trunk_z= 91.3mm grav_b=(-0.01,+0.08,-1.00) r=1.42m +[headless_play] t= 16.90s step= 845 trunk_z= 97.6mm grav_b=(-0.01,+0.10,-0.99) r=1.43m +[headless_play] t= 17.00s step= 850 trunk_z= 94.8mm grav_b=(-0.00,+0.09,-1.00) r=1.44m +[headless_play] t= 17.10s step= 855 trunk_z= 93.0mm grav_b=(-0.01,-0.06,-1.00) r=1.45m +[headless_play] t= 17.20s step= 860 trunk_z= 99.5mm grav_b=(-0.03,-0.08,-1.00) r=1.46m +[headless_play] t= 17.30s step= 865 trunk_z= 92.9mm grav_b=(-0.06,-0.06,-1.00) r=1.48m +[headless_play] t= 17.40s step= 870 trunk_z= 91.4mm grav_b=(-0.05,+0.05,-1.00) r=1.50m +[headless_play] t= 17.50s step= 875 trunk_z= 97.7mm grav_b=(-0.02,+0.08,-1.00) r=1.51m +[headless_play] t= 17.60s step= 880 trunk_z= 93.7mm grav_b=(+0.02,+0.07,-1.00) r=1.52m +[headless_play] t= 17.70s step= 885 trunk_z= 91.3mm grav_b=(+0.02,-0.05,-1.00) r=1.53m +[headless_play] t= 17.80s step= 890 trunk_z= 97.6mm grav_b=(+0.00,-0.06,-1.00) r=1.54m +[headless_play] t= 17.90s step= 895 trunk_z= 86.8mm grav_b=(-0.01,+0.03,-1.00) r=1.57m +[headless_play] t= 18.00s step= 900 trunk_z= 97.6mm grav_b=(-0.01,+0.13,-0.99) r=1.60m +[headless_play] t= 18.10s step= 905 trunk_z= 100.5mm grav_b=(-0.00,+0.19,-0.98) r=1.62m +[headless_play] t= 18.20s step= 910 trunk_z= 101.9mm grav_b=(-0.03,+0.18,-0.98) r=1.63m +[headless_play] t= 18.30s step= 915 trunk_z= 106.5mm grav_b=(-0.07,+0.00,-1.00) r=1.66m +[headless_play] t= 18.40s step= 920 trunk_z= 104.0mm grav_b=(-0.04,-0.08,-1.00) r=1.69m +[headless_play] t= 18.50s step= 925 trunk_z= 97.8mm grav_b=(-0.05,-0.05,-1.00) r=1.71m +[headless_play] t= 18.60s step= 930 trunk_z= 94.3mm grav_b=(-0.03,+0.06,-1.00) r=1.74m +[headless_play] t= 18.70s step= 935 trunk_z= 98.9mm grav_b=(-0.00,+0.10,-1.00) r=1.76m +[headless_play] t= 18.80s step= 940 trunk_z= 101.9mm grav_b=(-0.05,+0.09,-1.00) r=1.77m +[headless_play] t= 18.90s step= 945 trunk_z= 101.8mm grav_b=(-0.06,-0.08,-1.00) r=1.80m +[headless_play] t= 19.00s step= 950 trunk_z= 103.0mm grav_b=(-0.06,-0.08,-0.99) r=1.82m +[headless_play] t= 19.10s step= 955 trunk_z= 95.0mm grav_b=(-0.07,-0.09,-0.99) r=1.84m +[headless_play] t= 19.20s step= 960 trunk_z= 91.3mm grav_b=(-0.04,+0.01,-1.00) r=1.85m +[headless_play] t= 19.30s step= 965 trunk_z= 92.8mm grav_b=(-0.02,-0.00,-1.00) r=1.86m +[headless_play] t= 19.40s step= 970 trunk_z= 88.2mm grav_b=(-0.00,-0.07,-1.00) r=1.86m +[headless_play] t= 19.50s step= 975 trunk_z= 95.2mm grav_b=(-0.00,-0.06,-1.00) r=1.87m +[headless_play] t= 19.60s step= 980 trunk_z= 90.6mm grav_b=(+0.01,-0.01,-1.00) r=1.89m +[headless_play] t= 19.70s step= 985 trunk_z= 90.8mm grav_b=(-0.01,+0.06,-1.00) r=1.92m +[headless_play] t= 19.80s step= 990 trunk_z= 91.2mm grav_b=(+0.01,+0.02,-1.00) r=1.93m +[headless_play] t= 19.90s step= 995 trunk_z= 89.5mm grav_b=(+0.06,-0.14,-0.99) r=1.94m +[headless_play] t= 20.00s step=1000 trunk_z= 99.4mm grav_b=(+0.06,-0.14,-0.99) r=1.95m +[headless_play] t= 20.10s step=1005 trunk_z= 96.5mm grav_b=(+0.03,-0.09,-1.00) r=1.98m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t7.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..7526377d7b2d54b4f18206908250e1fdbedc21b6 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t7.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.684,-18.281,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.1mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.02,-0.04,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(+0.00,-0.09,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 120.5mm grav_b=(+0.00,-0.06,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 115.0mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 124.4mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 122.2mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 121.0mm grav_b=(-0.00,-0.07,-1.00) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 125.9mm grav_b=(+0.00,-0.11,-0.99) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 123.7mm grav_b=(+0.01,-0.12,-0.99) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 119.5mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 125.8mm grav_b=(+0.03,+0.03,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 123.6mm grav_b=(+0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 123.3mm grav_b=(+0.02,-0.09,-1.00) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 126.5mm grav_b=(+0.02,-0.10,-0.99) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 124.6mm grav_b=(+0.01,-0.12,-0.99) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 121.6mm grav_b=(+0.02,+0.03,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 125.3mm grav_b=(+0.03,+0.02,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 119.9mm grav_b=(-0.00,-0.03,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 124.2mm grav_b=(-0.02,-0.10,-0.99) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 124.2mm grav_b=(-0.08,-0.12,-0.99) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 118.7mm grav_b=(-0.06,-0.04,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 121.9mm grav_b=(+0.01,+0.06,-1.00) r=0.60m +[headless_play] t= 2.30s step= 115 trunk_z= 121.6mm grav_b=(+0.05,+0.01,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 120.3mm grav_b=(+0.06,-0.07,-1.00) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 125.7mm grav_b=(+0.06,-0.08,-0.99) r=0.65m +[headless_play] t= 2.60s step= 130 trunk_z= 123.5mm grav_b=(+0.01,-0.08,-1.00) r=0.66m +[headless_play] t= 2.70s step= 135 trunk_z= 122.2mm grav_b=(+0.00,+0.04,-1.00) r=0.68m +[headless_play] t= 2.80s step= 140 trunk_z= 125.6mm grav_b=(+0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 2.90s step= 145 trunk_z= 126.4mm grav_b=(+0.03,+0.03,-1.00) r=0.70m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(+0.02,-0.08,-1.00) r=0.71m +[headless_play] t= 3.10s step= 155 trunk_z= 127.3mm grav_b=(+0.02,-0.11,-0.99) r=0.73m +[headless_play] t= 3.20s step= 160 trunk_z= 127.1mm grav_b=(+0.01,-0.12,-0.99) r=0.74m +[headless_play] t= 3.30s step= 165 trunk_z= 121.2mm grav_b=(-0.00,-0.06,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 125.1mm grav_b=(+0.05,+0.03,-1.00) r=0.77m +[headless_play] t= 3.50s step= 175 trunk_z= 125.0mm grav_b=(-0.03,+0.05,-1.00) r=0.77m +[headless_play] t= 3.60s step= 180 trunk_z= 118.2mm grav_b=(-0.06,-0.03,-1.00) r=0.76m +[headless_play] t= 3.70s step= 185 trunk_z= 123.9mm grav_b=(-0.02,-0.09,-1.00) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 121.0mm grav_b=(+0.00,-0.09,-1.00) r=0.78m +[headless_play] t= 3.90s step= 195 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 117.6mm grav_b=(+0.04,+0.01,-1.00) r=0.84m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(+0.06,-0.01,-1.00) r=0.85m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(+0.06,-0.05,-1.00) r=0.87m +[headless_play] t= 4.30s step= 215 trunk_z= 122.1mm grav_b=(+0.10,-0.03,-0.99) r=0.90m +[headless_play] t= 4.40s step= 220 trunk_z= 106.9mm grav_b=(+0.04,+0.03,-1.00) r=0.94m +[headless_play] t= 4.50s step= 225 trunk_z= 101.7mm grav_b=(+0.07,+0.20,-0.98) r=0.97m +[headless_play] t= 4.60s step= 230 trunk_z= 104.9mm grav_b=(+0.01,+0.21,-0.98) r=1.00m +[headless_play] t= 4.70s step= 235 trunk_z= 106.4mm grav_b=(-0.03,+0.08,-1.00) r=1.03m +[headless_play] t= 4.80s step= 240 trunk_z= 102.6mm grav_b=(-0.03,+0.01,-1.00) r=1.06m +[headless_play] t= 4.90s step= 245 trunk_z= 91.1mm grav_b=(-0.01,-0.01,-1.00) r=1.08m +[headless_play] t= 5.00s step= 250 trunk_z= 89.2mm grav_b=(+0.01,+0.04,-1.00) r=1.10m +[headless_play] t= 5.10s step= 255 trunk_z= 86.9mm grav_b=(+0.02,-0.03,-1.00) r=1.10m +[headless_play] t= 5.20s step= 260 trunk_z= 85.0mm grav_b=(+0.02,-0.01,-1.00) r=1.10m +[headless_play] t= 5.30s step= 265 trunk_z= 91.3mm grav_b=(+0.04,-0.05,-1.00) r=1.12m +[headless_play] t= 5.40s step= 270 trunk_z= 88.5mm grav_b=(+0.04,-0.04,-1.00) r=1.14m +[headless_play] t= 5.50s step= 275 trunk_z= 84.8mm grav_b=(+0.04,+0.04,-1.00) r=1.17m +[headless_play] t= 5.60s step= 280 trunk_z= 88.7mm grav_b=(+0.05,+0.02,-1.00) r=1.19m +[headless_play] t= 5.70s step= 285 trunk_z= 84.3mm grav_b=(+0.06,-0.04,-1.00) r=1.19m +[headless_play] t= 5.80s step= 290 trunk_z= 92.9mm grav_b=(+0.03,-0.10,-0.99) r=1.20m +[headless_play] t= 5.90s step= 295 trunk_z= 92.9mm grav_b=(+0.04,-0.10,-0.99) r=1.21m +[headless_play] t= 6.00s step= 300 trunk_z= 88.5mm grav_b=(+0.04,-0.05,-1.00) r=1.25m +[headless_play] t= 6.10s step= 305 trunk_z= 88.7mm grav_b=(+0.11,+0.01,-0.99) r=1.27m +[headless_play] t= 6.20s step= 310 trunk_z= 89.3mm grav_b=(+0.04,-0.07,-1.00) r=1.29m +[headless_play] t= 6.30s step= 315 trunk_z= 96.7mm grav_b=(+0.02,-0.12,-0.99) r=1.30m +[headless_play] t= 6.40s step= 320 trunk_z= 90.6mm grav_b=(-0.01,-0.08,-1.00) r=1.32m +[headless_play] t= 6.50s step= 325 trunk_z= 86.2mm grav_b=(-0.04,+0.02,-1.00) r=1.35m +[headless_play] t= 6.60s step= 330 trunk_z= 94.4mm grav_b=(-0.06,+0.03,-1.00) r=1.36m +[headless_play] t= 6.70s step= 335 trunk_z= 93.4mm grav_b=(-0.07,-0.02,-1.00) r=1.34m +[headless_play] t= 6.80s step= 340 trunk_z= 89.1mm grav_b=(-0.03,-0.08,-1.00) r=1.32m +[headless_play] t= 6.90s step= 345 trunk_z= 94.8mm grav_b=(-0.00,-0.10,-0.99) r=1.32m +[headless_play] t= 7.00s step= 350 trunk_z= 91.3mm grav_b=(+0.02,-0.06,-1.00) r=1.34m +[headless_play] t= 7.10s step= 355 trunk_z= 94.2mm grav_b=(+0.05,+0.01,-1.00) r=1.34m +[headless_play] t= 7.20s step= 360 trunk_z= 91.5mm grav_b=(+0.07,-0.04,-1.00) r=1.33m +[headless_play] t= 7.30s step= 365 trunk_z= 101.3mm grav_b=(+0.09,-0.06,-0.99) r=1.33m +[headless_play] t= 7.40s step= 370 trunk_z= 101.2mm grav_b=(+0.05,-0.06,-1.00) r=1.35m +[headless_play] t= 7.50s step= 375 trunk_z= 93.2mm grav_b=(+0.01,+0.01,-1.00) r=1.37m +[headless_play] t= 7.60s step= 380 trunk_z= 95.4mm grav_b=(-0.05,-0.01,-1.00) r=1.37m +[headless_play] t= 7.70s step= 385 trunk_z= 91.1mm grav_b=(-0.10,-0.08,-0.99) r=1.35m +[headless_play] t= 7.80s step= 390 trunk_z= 97.7mm grav_b=(-0.06,-0.09,-0.99) r=1.34m +[headless_play] t= 7.90s step= 395 trunk_z= 94.5mm grav_b=(-0.06,-0.08,-0.99) r=1.35m +[headless_play] t= 8.00s step= 400 trunk_z= 92.9mm grav_b=(-0.01,+0.02,-1.00) r=1.37m +[headless_play] t= 8.10s step= 405 trunk_z= 95.3mm grav_b=(+0.05,+0.01,-1.00) r=1.37m +[headless_play] t= 8.20s step= 410 trunk_z= 97.1mm grav_b=(+0.12,-0.12,-0.99) r=1.35m +[headless_play] t= 8.30s step= 415 trunk_z= 111.4mm grav_b=(+0.12,-0.15,-0.98) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 102.5mm grav_b=(+0.03,-0.08,-1.00) r=1.33m +[headless_play] t= 8.50s step= 425 trunk_z= 102.6mm grav_b=(+0.05,-0.05,-1.00) r=1.33m +[headless_play] t= 8.60s step= 430 trunk_z= 112.6mm grav_b=(+0.03,-0.00,-1.00) r=1.32m +[headless_play] t= 8.70s step= 435 trunk_z= 86.0mm grav_b=(-0.04,-0.07,-1.00) r=1.28m +[headless_play] t= 8.80s step= 440 trunk_z= 99.4mm grav_b=(-0.04,-0.10,-0.99) r=1.28m +[headless_play] t= 8.90s step= 445 trunk_z= 95.8mm grav_b=(-0.06,-0.07,-1.00) r=1.27m +[headless_play] t= 9.00s step= 450 trunk_z= 98.4mm grav_b=(+0.02,+0.03,-1.00) r=1.27m +[headless_play] t= 9.10s step= 455 trunk_z= 108.4mm grav_b=(+0.08,+0.07,-0.99) r=1.27m +[headless_play] t= 9.20s step= 460 trunk_z= 101.1mm grav_b=(+0.02,-0.02,-1.00) r=1.23m +[headless_play] t= 9.30s step= 465 trunk_z= 102.3mm grav_b=(-0.00,-0.05,-1.00) r=1.21m +[headless_play] t= 9.40s step= 470 trunk_z= 95.8mm grav_b=(-0.02,-0.06,-1.00) r=1.19m +[headless_play] t= 9.50s step= 475 trunk_z= 95.5mm grav_b=(-0.01,+0.01,-1.00) r=1.18m +[headless_play] t= 9.60s step= 480 trunk_z= 97.3mm grav_b=(+0.02,-0.00,-1.00) r=1.18m +[headless_play] t= 9.70s step= 485 trunk_z= 93.4mm grav_b=(+0.03,-0.07,-1.00) r=1.17m +[headless_play] t= 9.80s step= 490 trunk_z= 101.4mm grav_b=(+0.03,-0.08,-1.00) r=1.15m +[headless_play] t= 9.90s step= 495 trunk_z= 102.3mm grav_b=(+0.04,-0.12,-0.99) r=1.12m +[headless_play] t= 10.00s step= 500 trunk_z= 97.5mm grav_b=(+0.03,-0.11,-0.99) r=1.09m +[headless_play] t= 10.10s step= 505 trunk_z= 99.4mm grav_b=(+0.02,-0.13,-0.99) r=1.06m +[headless_play] t= 10.20s step= 510 trunk_z= 94.0mm grav_b=(-0.00,-0.14,-0.99) r=1.04m +[headless_play] t= 10.30s step= 515 trunk_z= 92.6mm grav_b=(-0.04,-0.10,-0.99) r=1.04m +[headless_play] t= 10.40s step= 520 trunk_z= 90.2mm grav_b=(-0.08,-0.03,-1.00) r=1.04m +[headless_play] t= 10.50s step= 525 trunk_z= 90.7mm grav_b=(-0.10,-0.01,-0.99) r=1.04m +[headless_play] t= 10.60s step= 530 trunk_z= 91.2mm grav_b=(-0.10,-0.02,-0.99) r=1.04m +[headless_play] t= 10.70s step= 535 trunk_z= 93.4mm grav_b=(-0.13,+0.04,-0.99) r=1.04m +[headless_play] t= 10.80s step= 540 trunk_z= 92.0mm grav_b=(-0.12,+0.00,-0.99) r=1.04m +[headless_play] t= 10.90s step= 545 trunk_z= 91.9mm grav_b=(-0.10,+0.01,-1.00) r=1.04m +[headless_play] t= 11.00s step= 550 trunk_z= 92.6mm grav_b=(-0.05,+0.02,-1.00) r=1.03m +[headless_play] t= 11.10s step= 555 trunk_z= 92.3mm grav_b=(-0.05,+0.01,-1.00) r=1.03m +[headless_play] t= 11.20s step= 560 trunk_z= 92.1mm grav_b=(-0.06,+0.01,-1.00) r=1.04m +[headless_play] t= 11.30s step= 565 trunk_z= 92.3mm grav_b=(-0.05,+0.00,-1.00) r=1.03m +[headless_play] t= 11.40s step= 570 trunk_z= 92.7mm grav_b=(-0.05,-0.00,-1.00) r=1.03m +[headless_play] t= 11.50s step= 575 trunk_z= 94.2mm grav_b=(+0.00,-0.01,-1.00) r=1.03m +[headless_play] t= 11.60s step= 580 trunk_z= 95.1mm grav_b=(+0.03,-0.00,-1.00) r=1.02m +[headless_play] t= 11.70s step= 585 trunk_z= 95.4mm grav_b=(+0.05,-0.00,-1.00) r=1.02m +[headless_play] t= 11.80s step= 590 trunk_z= 95.7mm grav_b=(+0.07,-0.00,-1.00) r=1.02m +[headless_play] t= 11.90s step= 595 trunk_z= 95.6mm grav_b=(+0.09,-0.02,-1.00) r=1.02m +[headless_play] t= 12.00s step= 600 trunk_z= 97.2mm grav_b=(+0.11,-0.03,-0.99) r=1.01m +[headless_play] t= 12.10s step= 605 trunk_z= 92.5mm grav_b=(+0.02,-0.00,-1.00) r=0.99m +[headless_play] t= 12.20s step= 610 trunk_z= 90.0mm grav_b=(-0.04,+0.07,-1.00) r=0.97m +[headless_play] t= 12.30s step= 615 trunk_z= 87.2mm grav_b=(-0.08,-0.02,-1.00) r=0.98m +[headless_play] t= 12.40s step= 620 trunk_z= 89.3mm grav_b=(-0.11,-0.03,-0.99) r=0.98m +[headless_play] t= 12.50s step= 625 trunk_z= 90.7mm grav_b=(-0.08,-0.01,-1.00) r=0.98m +[headless_play] t= 12.60s step= 630 trunk_z= 91.0mm grav_b=(-0.06,-0.01,-1.00) r=0.98m +[headless_play] t= 12.70s step= 635 trunk_z= 91.4mm grav_b=(-0.06,-0.01,-1.00) r=0.98m +[headless_play] t= 12.80s step= 640 trunk_z= 92.4mm grav_b=(-0.03,+0.00,-1.00) r=0.98m +[headless_play] t= 12.90s step= 645 trunk_z= 94.4mm grav_b=(+0.03,-0.00,-1.00) r=0.98m +[headless_play] t= 13.00s step= 650 trunk_z= 95.6mm grav_b=(+0.08,-0.02,-1.00) r=0.98m +[headless_play] t= 13.10s step= 655 trunk_z= 97.1mm grav_b=(+0.13,-0.03,-0.99) r=0.98m +[headless_play] t= 13.20s step= 660 trunk_z= 96.5mm grav_b=(+0.07,-0.02,-1.00) r=0.97m +[headless_play] t= 13.30s step= 665 trunk_z= 91.0mm grav_b=(-0.06,+0.05,-1.00) r=0.96m +[headless_play] t= 13.40s step= 670 trunk_z= 91.7mm grav_b=(-0.06,+0.01,-1.00) r=0.95m +[headless_play] t= 13.50s step= 675 trunk_z= 92.0mm grav_b=(-0.08,-0.04,-1.00) r=0.95m +[headless_play] t= 13.60s step= 680 trunk_z= 92.9mm grav_b=(-0.08,-0.02,-1.00) r=0.96m +[headless_play] t= 13.70s step= 685 trunk_z= 93.5mm grav_b=(-0.04,-0.03,-1.00) r=0.96m +[headless_play] t= 13.80s step= 690 trunk_z= 93.0mm grav_b=(-0.01,-0.01,-1.00) r=0.96m +[headless_play] t= 13.90s step= 695 trunk_z= 92.9mm grav_b=(-0.03,-0.00,-1.00) r=0.96m +[headless_play] t= 14.00s step= 700 trunk_z= 92.7mm grav_b=(-0.05,-0.00,-1.00) r=0.96m +[headless_play] t= 14.10s step= 705 trunk_z= 92.8mm grav_b=(-0.05,-0.00,-1.00) r=0.96m +[headless_play] t= 14.20s step= 710 trunk_z= 92.9mm grav_b=(-0.05,-0.00,-1.00) r=0.96m +[headless_play] t= 14.30s step= 715 trunk_z= 92.9mm grav_b=(-0.05,-0.00,-1.00) r=0.96m +[headless_play] t= 14.40s step= 720 trunk_z= 94.4mm grav_b=(-0.03,+0.03,-1.00) r=0.96m +[headless_play] t= 14.50s step= 725 trunk_z= 93.7mm grav_b=(-0.02,+0.01,-1.00) r=0.96m +[headless_play] t= 14.60s step= 730 trunk_z= 93.0mm grav_b=(-0.06,+0.01,-1.00) r=0.96m +[headless_play] t= 14.70s step= 735 trunk_z= 93.0mm grav_b=(-0.07,+0.01,-1.00) r=0.96m +[headless_play] t= 14.80s step= 740 trunk_z= 93.2mm grav_b=(-0.04,+0.01,-1.00) r=0.96m +[headless_play] t= 14.90s step= 745 trunk_z= 92.6mm grav_b=(-0.02,+0.00,-1.00) r=0.96m +[headless_play] t= 15.00s step= 750 trunk_z= 92.4mm grav_b=(-0.02,-0.05,-1.00) r=0.97m +[headless_play] t= 15.10s step= 755 trunk_z= 92.7mm grav_b=(+0.03,-0.11,-0.99) r=0.98m +[headless_play] t= 15.20s step= 760 trunk_z= 95.1mm grav_b=(+0.05,-0.07,-1.00) r=1.00m +[headless_play] t= 15.30s step= 765 trunk_z= 84.2mm grav_b=(+0.06,+0.03,-1.00) r=1.05m +[headless_play] t= 15.40s step= 770 trunk_z= 103.1mm grav_b=(+0.08,+0.06,-0.99) r=1.09m +[headless_play] t= 15.50s step= 775 trunk_z= 102.1mm grav_b=(+0.03,-0.00,-1.00) r=1.13m +[headless_play] t= 15.60s step= 780 trunk_z= 96.1mm grav_b=(-0.02,-0.15,-0.99) r=1.17m +[headless_play] t= 15.70s step= 785 trunk_z= 100.7mm grav_b=(-0.06,-0.13,-0.99) r=1.19m +[headless_play] t= 15.80s step= 790 trunk_z= 89.7mm grav_b=(-0.09,-0.08,-0.99) r=1.23m +[headless_play] t= 15.90s step= 795 trunk_z= 94.6mm grav_b=(-0.01,+0.05,-1.00) r=1.25m +[headless_play] t= 16.00s step= 800 trunk_z= 94.6mm grav_b=(+0.05,+0.02,-1.00) r=1.26m +[headless_play] t= 16.10s step= 805 trunk_z= 93.7mm grav_b=(+0.19,-0.10,-0.98) r=1.26m +[headless_play] t= 16.20s step= 810 trunk_z= 108.7mm grav_b=(+0.12,-0.08,-0.99) r=1.29m +[headless_play] t= 16.30s step= 815 trunk_z= 82.3mm grav_b=(+0.02,-0.02,-1.00) r=1.33m +[headless_play] t= 16.40s step= 820 trunk_z= 100.6mm grav_b=(+0.01,-0.04,-1.00) r=1.34m +[headless_play] t= 16.50s step= 825 trunk_z= 92.6mm grav_b=(-0.03,-0.09,-1.00) r=1.34m +[headless_play] t= 16.60s step= 830 trunk_z= 99.7mm grav_b=(-0.05,-0.14,-0.99) r=1.34m +[headless_play] t= 16.70s step= 835 trunk_z= 99.3mm grav_b=(-0.04,-0.13,-0.99) r=1.35m +[headless_play] t= 16.80s step= 840 trunk_z= 90.9mm grav_b=(+0.03,-0.05,-1.00) r=1.39m +[headless_play] t= 16.90s step= 845 trunk_z= 104.7mm grav_b=(+0.08,+0.09,-0.99) r=1.42m +[headless_play] t= 17.00s step= 850 trunk_z= 110.3mm grav_b=(+0.05,+0.09,-0.99) r=1.44m +[headless_play] t= 17.10s step= 855 trunk_z= 92.9mm grav_b=(-0.00,-0.06,-1.00) r=1.46m +[headless_play] t= 17.20s step= 860 trunk_z= 106.2mm grav_b=(-0.03,-0.12,-0.99) r=1.48m +[headless_play] t= 17.30s step= 865 trunk_z= 91.5mm grav_b=(-0.03,-0.10,-0.99) r=1.50m +[headless_play] t= 17.40s step= 870 trunk_z= 92.5mm grav_b=(+0.06,-0.04,-1.00) r=1.51m +[headless_play] t= 17.50s step= 875 trunk_z= 97.2mm grav_b=(+0.05,-0.04,-1.00) r=1.51m +[headless_play] t= 17.60s step= 880 trunk_z= 95.6mm grav_b=(+0.03,-0.11,-0.99) r=1.49m +[headless_play] t= 17.70s step= 885 trunk_z= 98.7mm grav_b=(-0.01,-0.11,-0.99) r=1.48m +[headless_play] t= 17.80s step= 890 trunk_z= 91.5mm grav_b=(-0.06,-0.07,-1.00) r=1.48m +[headless_play] t= 17.90s step= 895 trunk_z= 96.2mm grav_b=(-0.03,+0.05,-1.00) r=1.48m +[headless_play] t= 18.00s step= 900 trunk_z= 96.7mm grav_b=(-0.00,+0.04,-1.00) r=1.48m +[headless_play] t= 18.10s step= 905 trunk_z= 89.9mm grav_b=(+0.02,-0.05,-1.00) r=1.46m +[headless_play] t= 18.20s step= 910 trunk_z= 101.2mm grav_b=(-0.06,-0.19,-0.98) r=1.44m +[headless_play] t= 18.30s step= 915 trunk_z= 103.1mm grav_b=(-0.08,-0.27,-0.96) r=1.42m +[headless_play] t= 18.40s step= 920 trunk_z= 101.7mm grav_b=(-0.03,-0.41,-0.91) r=1.41m +[headless_play] t= 18.50s step= 925 trunk_z= 95.0mm grav_b=(+0.16,-0.38,-0.91) r=1.39m +[headless_play] t= 18.60s step= 930 trunk_z= 89.8mm grav_b=(+0.13,-0.43,-0.89) r=1.34m +[headless_play] t= 18.70s step= 935 trunk_z= 72.6mm grav_b=(+0.14,-0.39,-0.91) r=1.27m +[headless_play] t= 18.80s step= 940 trunk_z= 86.3mm grav_b=(+0.29,-0.35,-0.89) r=1.23m +[headless_play] RESET at t= 18.90s step= 945 (env termination, not a recovery) +[headless_play] t= 18.90s step= 945 trunk_z= 129.2mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 19.00s step= 950 trunk_z= 113.3mm grav_b=(+0.00,-0.01,-1.00) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 114.0mm grav_b=(+0.09,-0.01,-1.00) r=0.38m +[headless_play] t= 19.20s step= 960 trunk_z= 114.7mm grav_b=(+0.10,-0.06,-0.99) r=0.41m +[headless_play] t= 19.30s step= 965 trunk_z= 124.5mm grav_b=(+0.08,-0.04,-1.00) r=0.43m +[headless_play] t= 19.40s step= 970 trunk_z= 112.5mm grav_b=(+0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 19.50s step= 975 trunk_z= 122.0mm grav_b=(+0.01,+0.05,-1.00) r=0.48m +[headless_play] t= 19.60s step= 980 trunk_z= 114.9mm grav_b=(+0.02,+0.02,-1.00) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(+0.02,-0.05,-1.00) r=0.52m +[headless_play] t= 19.80s step= 990 trunk_z= 121.5mm grav_b=(+0.04,-0.07,-1.00) r=0.54m +[headless_play] t= 19.90s step= 995 trunk_z= 117.1mm grav_b=(+0.05,-0.08,-1.00) r=0.56m +[headless_play] t= 20.00s step=1000 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.59m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(+0.07,+0.02,-1.00) r=0.61m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t8.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..775c896f69d29d3624a475bdc7d1c232c5ddc20b --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.885,-18.302,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(+0.00,+0.04,-1.00) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 118.1mm grav_b=(+0.03,+0.05,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 115.2mm grav_b=(+0.04,-0.02,-1.00) r=0.36m +[headless_play] t= 0.40s step= 20 trunk_z= 122.0mm grav_b=(+0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(+0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 121.0mm grav_b=(+0.01,+0.08,-1.00) r=0.38m +[headless_play] t= 0.70s step= 35 trunk_z= 124.2mm grav_b=(+0.02,+0.09,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 121.7mm grav_b=(+0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 121.9mm grav_b=(+0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 123.1mm grav_b=(-0.00,-0.01,-1.00) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 118.1mm grav_b=(+0.01,+0.06,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 124.0mm grav_b=(+0.03,+0.06,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(+0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 121.1mm grav_b=(+0.04,-0.03,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 121.1mm grav_b=(+0.02,+0.00,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 118.0mm grav_b=(+0.01,+0.06,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 119.2mm grav_b=(+0.00,-0.03,-1.00) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 118.3mm grav_b=(+0.04,-0.03,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 119.0mm grav_b=(+0.03,-0.00,-1.00) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 116.0mm grav_b=(+0.03,+0.07,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 125.6mm grav_b=(+0.02,+0.07,-1.00) r=0.68m +[headless_play] t= 2.20s step= 110 trunk_z= 123.1mm grav_b=(+0.03,+0.06,-1.00) r=0.70m +[headless_play] t= 2.30s step= 115 trunk_z= 119.9mm grav_b=(+0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 2.40s step= 120 trunk_z= 123.1mm grav_b=(+0.03,+0.03,-1.00) r=0.76m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(+0.02,+0.08,-1.00) r=0.79m +[headless_play] t= 2.60s step= 130 trunk_z= 124.4mm grav_b=(+0.01,+0.06,-1.00) r=0.82m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.85m +[headless_play] t= 2.80s step= 140 trunk_z= 121.5mm grav_b=(+0.00,-0.03,-1.00) r=0.87m +[headless_play] t= 2.90s step= 145 trunk_z= 118.7mm grav_b=(+0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 3.00s step= 150 trunk_z= 100.1mm grav_b=(+0.04,+0.18,-0.98) r=0.89m +[headless_play] t= 3.10s step= 155 trunk_z= 103.3mm grav_b=(-0.02,+0.45,-0.89) r=0.87m +[headless_play] t= 3.20s step= 160 trunk_z= 76.2mm grav_b=(-0.05,+0.76,-0.65) r=0.87m +[headless_play] RESET at t= 3.26s step= 163 (env termination, not a recovery) +[headless_play] t= 3.30s step= 165 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(+0.05,-0.02,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 112.5mm grav_b=(+0.10,-0.07,-0.99) r=0.42m +[headless_play] t= 3.60s step= 180 trunk_z= 118.1mm grav_b=(+0.14,-0.09,-0.99) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 112.0mm grav_b=(+0.12,+0.02,-0.99) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 129.7mm grav_b=(+0.08,+0.03,-1.00) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 125.0mm grav_b=(+0.03,-0.07,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 125.7mm grav_b=(+0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 121.0mm grav_b=(+0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 119.9mm grav_b=(+0.02,-0.08,-1.00) r=0.61m +[headless_play] t= 4.60s step= 230 trunk_z= 114.7mm grav_b=(-0.04,+0.02,-1.00) r=0.60m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(-0.03,+0.11,-0.99) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 120.5mm grav_b=(+0.00,+0.10,-1.00) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(+0.02,+0.09,-1.00) r=0.60m +[headless_play] t= 5.00s step= 250 trunk_z= 109.2mm grav_b=(+0.07,+0.01,-1.00) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 115.3mm grav_b=(+0.11,-0.08,-0.99) r=0.65m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.13,-0.09,-0.99) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 111.1mm grav_b=(+0.11,+0.02,-0.99) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 116.5mm grav_b=(+0.12,-0.03,-0.99) r=0.71m +[headless_play] t= 5.50s step= 275 trunk_z= 112.3mm grav_b=(+0.10,-0.09,-0.99) r=0.75m +[headless_play] t= 5.60s step= 280 trunk_z= 119.2mm grav_b=(+0.12,-0.09,-0.99) r=0.77m +[headless_play] t= 5.70s step= 285 trunk_z= 115.2mm grav_b=(+0.06,-0.04,-1.00) r=0.79m +[headless_play] t= 5.80s step= 290 trunk_z= 118.1mm grav_b=(+0.03,+0.04,-1.00) r=0.80m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(+0.04,+0.00,-1.00) r=0.82m +[headless_play] t= 6.00s step= 300 trunk_z= 91.6mm grav_b=(+0.04,-0.11,-0.99) r=0.86m +[headless_play] t= 6.10s step= 305 trunk_z= 96.0mm grav_b=(+0.10,-0.16,-0.98) r=0.90m +[headless_play] t= 6.20s step= 310 trunk_z= 94.8mm grav_b=(+0.10,-0.12,-0.99) r=0.92m +[headless_play] t= 6.30s step= 315 trunk_z= 92.8mm grav_b=(+0.11,-0.03,-0.99) r=0.95m +[headless_play] t= 6.40s step= 320 trunk_z= 92.0mm grav_b=(+0.09,-0.01,-1.00) r=0.97m +[headless_play] t= 6.50s step= 325 trunk_z= 90.5mm grav_b=(+0.03,-0.07,-1.00) r=1.00m +[headless_play] t= 6.60s step= 330 trunk_z= 92.8mm grav_b=(+0.03,-0.08,-1.00) r=1.02m +[headless_play] t= 6.70s step= 335 trunk_z= 88.3mm grav_b=(+0.02,-0.04,-1.00) r=1.03m +[headless_play] t= 6.80s step= 340 trunk_z= 90.2mm grav_b=(+0.03,+0.05,-1.00) r=1.04m +[headless_play] t= 6.90s step= 345 trunk_z= 90.0mm grav_b=(+0.08,+0.03,-1.00) r=1.06m +[headless_play] t= 7.00s step= 350 trunk_z= 88.2mm grav_b=(+0.05,-0.13,-0.99) r=1.08m +[headless_play] t= 7.10s step= 355 trunk_z= 97.3mm grav_b=(+0.05,-0.18,-0.98) r=1.09m +[headless_play] t= 7.20s step= 360 trunk_z= 97.7mm grav_b=(+0.06,-0.19,-0.98) r=1.11m +[headless_play] t= 7.30s step= 365 trunk_z= 96.5mm grav_b=(+0.04,-0.08,-1.00) r=1.14m +[headless_play] t= 7.40s step= 370 trunk_z= 104.0mm grav_b=(+0.02,+0.02,-1.00) r=1.17m +[headless_play] t= 7.50s step= 375 trunk_z= 106.5mm grav_b=(+0.01,+0.01,-1.00) r=1.20m +[headless_play] t= 7.60s step= 380 trunk_z= 94.3mm grav_b=(-0.00,-0.08,-1.00) r=1.23m +[headless_play] t= 7.70s step= 385 trunk_z= 97.6mm grav_b=(-0.03,-0.09,-1.00) r=1.23m +[headless_play] t= 7.80s step= 390 trunk_z= 93.3mm grav_b=(-0.04,-0.08,-1.00) r=1.24m +[headless_play] t= 7.90s step= 395 trunk_z= 92.7mm grav_b=(+0.03,+0.06,-1.00) r=1.25m +[headless_play] t= 8.00s step= 400 trunk_z= 95.5mm grav_b=(+0.07,+0.04,-1.00) r=1.27m +[headless_play] t= 8.10s step= 405 trunk_z= 89.6mm grav_b=(+0.08,-0.03,-1.00) r=1.29m +[headless_play] t= 8.20s step= 410 trunk_z= 100.4mm grav_b=(+0.10,-0.07,-0.99) r=1.32m +[headless_play] t= 8.30s step= 415 trunk_z= 93.2mm grav_b=(+0.10,-0.02,-0.99) r=1.38m +[headless_play] t= 8.40s step= 420 trunk_z= 103.5mm grav_b=(+0.09,-0.05,-0.99) r=1.43m +[headless_play] t= 8.50s step= 425 trunk_z= 94.6mm grav_b=(+0.01,-0.00,-1.00) r=1.48m +[headless_play] t= 8.60s step= 430 trunk_z= 85.7mm grav_b=(-0.05,-0.05,-1.00) r=1.52m +[headless_play] t= 8.70s step= 435 trunk_z= 94.0mm grav_b=(-0.09,-0.04,-1.00) r=1.54m +[headless_play] t= 8.80s step= 440 trunk_z= 89.6mm grav_b=(-0.09,+0.02,-1.00) r=1.57m +[headless_play] t= 8.90s step= 445 trunk_z= 96.0mm grav_b=(-0.02,+0.11,-0.99) r=1.59m +[headless_play] t= 9.00s step= 450 trunk_z= 98.7mm grav_b=(-0.02,+0.13,-0.99) r=1.61m +[headless_play] t= 9.10s step= 455 trunk_z= 96.3mm grav_b=(+0.00,+0.07,-1.00) r=1.63m +[headless_play] t= 9.20s step= 460 trunk_z= 95.1mm grav_b=(+0.00,-0.05,-1.00) r=1.64m +[headless_play] t= 9.30s step= 465 trunk_z= 98.8mm grav_b=(+0.03,-0.11,-0.99) r=1.65m +[headless_play] t= 9.40s step= 470 trunk_z= 98.3mm grav_b=(+0.03,-0.10,-0.99) r=1.67m +[headless_play] t= 9.50s step= 475 trunk_z= 91.4mm grav_b=(+0.05,+0.01,-1.00) r=1.69m +[headless_play] t= 9.60s step= 480 trunk_z= 100.1mm grav_b=(+0.07,+0.00,-1.00) r=1.72m +[headless_play] t= 9.70s step= 485 trunk_z= 91.7mm grav_b=(+0.04,-0.05,-1.00) r=1.75m +[headless_play] t= 9.80s step= 490 trunk_z= 98.1mm grav_b=(+0.06,-0.06,-1.00) r=1.78m +[headless_play] t= 9.90s step= 495 trunk_z= 92.1mm grav_b=(+0.04,-0.02,-1.00) r=1.82m +[headless_play] t= 10.00s step= 500 trunk_z= 97.4mm grav_b=(+0.02,+0.05,-1.00) r=1.85m +[headless_play] t= 10.10s step= 505 trunk_z= 96.8mm grav_b=(+0.03,+0.01,-1.00) r=1.87m +[headless_play] t= 10.20s step= 510 trunk_z= 94.0mm grav_b=(+0.02,-0.07,-1.00) r=1.89m +[headless_play] t= 10.30s step= 515 trunk_z= 98.0mm grav_b=(+0.08,-0.10,-0.99) r=1.91m +[headless_play] t= 10.40s step= 520 trunk_z= 98.9mm grav_b=(+0.09,-0.15,-0.98) r=1.95m +[headless_play] t= 10.50s step= 525 trunk_z= 88.8mm grav_b=(+0.04,-0.02,-1.00) r=1.99m +[headless_play] t= 10.60s step= 530 trunk_z= 106.1mm grav_b=(+0.05,-0.02,-1.00) r=2.02m +[headless_play] t= 10.70s step= 535 trunk_z= 91.7mm grav_b=(+0.01,-0.09,-1.00) r=2.03m +[headless_play] t= 10.80s step= 540 trunk_z= 101.2mm grav_b=(+0.07,-0.10,-0.99) r=2.05m +[headless_play] t= 10.90s step= 545 trunk_z= 102.7mm grav_b=(+0.11,-0.08,-0.99) r=2.07m +[headless_play] t= 11.00s step= 550 trunk_z= 86.7mm grav_b=(+0.01,-0.01,-1.00) r=2.12m +[headless_play] t= 11.10s step= 555 trunk_z= 106.0mm grav_b=(+0.06,-0.02,-1.00) r=2.15m +[headless_play] t= 11.20s step= 560 trunk_z= 102.2mm grav_b=(+0.02,-0.01,-1.00) r=2.19m +[headless_play] t= 11.30s step= 565 trunk_z= 98.8mm grav_b=(+0.06,-0.02,-1.00) r=2.22m +[headless_play] t= 11.40s step= 570 trunk_z= 108.3mm grav_b=(+0.07,-0.04,-1.00) r=2.25m +[headless_play] t= 11.50s step= 575 trunk_z= 100.3mm grav_b=(-0.01,-0.04,-1.00) r=2.30m +[headless_play] t= 11.60s step= 580 trunk_z= 102.6mm grav_b=(+0.01,-0.05,-1.00) r=2.34m +[headless_play] t= 11.70s step= 585 trunk_z= 107.1mm grav_b=(+0.00,-0.05,-1.00) r=2.36m +[headless_play] t= 11.80s step= 590 trunk_z= 95.5mm grav_b=(+0.03,-0.08,-1.00) r=2.38m +[headless_play] t= 11.90s step= 595 trunk_z= 102.8mm grav_b=(+0.07,-0.04,-1.00) r=2.40m +[headless_play] t= 12.00s step= 600 trunk_z= 92.3mm grav_b=(+0.05,-0.02,-1.00) r=2.46m +[headless_play] t= 12.10s step= 605 trunk_z= 105.2mm grav_b=(+0.08,-0.06,-0.99) r=2.51m +[headless_play] t= 12.20s step= 610 trunk_z= 105.5mm grav_b=(+0.02,-0.04,-1.00) r=2.55m +[headless_play] t= 12.30s step= 615 trunk_z= 77.7mm grav_b=(-0.04,-0.10,-0.99) r=2.59m +[headless_play] t= 12.40s step= 620 trunk_z= 92.4mm grav_b=(-0.05,-0.13,-0.99) r=2.60m +[headless_play] t= 12.50s step= 625 trunk_z= 100.8mm grav_b=(-0.01,-0.12,-0.99) r=2.63m +[headless_play] t= 12.60s step= 630 trunk_z= 97.0mm grav_b=(-0.04,-0.07,-1.00) r=2.67m +[headless_play] t= 12.70s step= 635 trunk_z= 98.2mm grav_b=(-0.01,+0.10,-1.00) r=2.71m +[headless_play] t= 12.80s step= 640 trunk_z= 105.5mm grav_b=(+0.04,+0.15,-0.99) r=2.73m +[headless_play] t= 12.90s step= 645 trunk_z= 108.2mm grav_b=(+0.06,+0.16,-0.99) r=2.73m +[headless_play] t= 13.00s step= 650 trunk_z= 110.1mm grav_b=(+0.04,+0.12,-0.99) r=2.74m +[headless_play] t= 13.10s step= 655 trunk_z= 102.7mm grav_b=(+0.07,+0.05,-1.00) r=2.75m +[headless_play] t= 13.20s step= 660 trunk_z= 104.6mm grav_b=(+0.08,+0.02,-1.00) r=2.77m +[headless_play] t= 13.30s step= 665 trunk_z= 82.7mm grav_b=(+0.02,-0.07,-1.00) r=2.80m +[headless_play] t= 13.40s step= 670 trunk_z= 105.8mm grav_b=(+0.04,-0.09,-1.00) r=2.81m +[headless_play] t= 13.50s step= 675 trunk_z= 87.0mm grav_b=(-0.07,-0.11,-0.99) r=2.80m +[headless_play] t= 13.60s step= 680 trunk_z= 97.7mm grav_b=(+0.00,-0.10,-1.00) r=2.80m +[headless_play] t= 13.70s step= 685 trunk_z= 98.7mm grav_b=(+0.04,-0.07,-1.00) r=2.81m +[headless_play] t= 13.80s step= 690 trunk_z= 90.7mm grav_b=(+0.01,+0.07,-1.00) r=2.86m +[headless_play] t= 13.90s step= 695 trunk_z= 104.1mm grav_b=(+0.02,+0.14,-0.99) r=2.89m +[headless_play] t= 14.00s step= 700 trunk_z= 108.1mm grav_b=(+0.05,+0.18,-0.98) r=2.90m +[headless_play] t= 14.10s step= 705 trunk_z= 109.3mm grav_b=(-0.01,+0.18,-0.98) r=2.92m +[headless_play] t= 14.20s step= 710 trunk_z= 101.0mm grav_b=(+0.10,+0.16,-0.98) r=2.94m +[headless_play] RESET at t= 14.26s step= 713 (env termination, not a recovery) +[headless_play] t= 14.30s step= 715 trunk_z= 118.7mm grav_b=(-0.01,-0.00,-1.00) r=0.07m +[headless_play] t= 14.40s step= 720 trunk_z= 115.1mm grav_b=(+0.04,+0.00,-1.00) r=0.06m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(+0.04,-0.00,-1.00) r=0.06m +[headless_play] t= 14.60s step= 730 trunk_z= 115.6mm grav_b=(+0.03,+0.00,-1.00) r=0.06m +[headless_play] t= 14.70s step= 735 trunk_z= 115.5mm grav_b=(+0.04,+0.00,-1.00) r=0.06m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(+0.12,+0.02,-0.99) r=0.06m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(+0.12,+0.02,-0.99) r=0.06m +[headless_play] t= 15.00s step= 750 trunk_z= 115.3mm grav_b=(+0.07,+0.00,-1.00) r=0.06m +[headless_play] t= 15.10s step= 755 trunk_z= 115.5mm grav_b=(+0.00,-0.00,-1.00) r=0.06m +[headless_play] t= 15.20s step= 760 trunk_z= 116.0mm grav_b=(-0.00,+0.01,-1.00) r=0.06m +[headless_play] t= 15.30s step= 765 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.07m +[headless_play] t= 15.40s step= 770 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=0.07m +[headless_play] t= 15.50s step= 775 trunk_z= 112.6mm grav_b=(+0.01,+0.03,-1.00) r=0.07m +[headless_play] t= 15.60s step= 780 trunk_z= 114.1mm grav_b=(+0.02,+0.03,-1.00) r=0.07m +[headless_play] t= 15.70s step= 785 trunk_z= 109.1mm grav_b=(+0.09,-0.08,-0.99) r=0.09m +[headless_play] t= 15.80s step= 790 trunk_z= 111.8mm grav_b=(+0.08,-0.03,-1.00) r=0.10m +[headless_play] t= 15.90s step= 795 trunk_z= 112.2mm grav_b=(+0.06,+0.01,-1.00) r=0.09m +[headless_play] t= 16.00s step= 800 trunk_z= 113.3mm grav_b=(+0.07,-0.00,-1.00) r=0.09m +[headless_play] t= 16.10s step= 805 trunk_z= 113.6mm grav_b=(+0.06,+0.00,-1.00) r=0.09m +[headless_play] t= 16.20s step= 810 trunk_z= 113.8mm grav_b=(+0.06,+0.01,-1.00) r=0.09m +[headless_play] t= 16.30s step= 815 trunk_z= 114.0mm grav_b=(+0.07,+0.01,-1.00) r=0.09m +[headless_play] t= 16.40s step= 820 trunk_z= 114.1mm grav_b=(+0.06,+0.01,-1.00) r=0.09m +[headless_play] t= 16.50s step= 825 trunk_z= 114.9mm grav_b=(+0.02,-0.00,-1.00) r=0.09m +[headless_play] t= 16.60s step= 830 trunk_z= 115.5mm grav_b=(-0.05,-0.00,-1.00) r=0.09m +[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.10m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(-0.05,-0.00,-1.00) r=0.10m +[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.10m +[headless_play] t= 17.00s step= 850 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.10m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.10m +[headless_play] t= 17.20s step= 860 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.09m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.10m +[headless_play] t= 17.40s step= 870 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.10m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.10m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.10m +[headless_play] t= 17.70s step= 885 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.10m +[headless_play] t= 17.80s step= 890 trunk_z= 118.3mm grav_b=(+0.02,+0.01,-1.00) r=0.09m +[headless_play] t= 17.90s step= 895 trunk_z= 118.0mm grav_b=(+0.01,+0.01,-1.00) r=0.09m +[headless_play] t= 18.00s step= 900 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.10m +[headless_play] t= 18.10s step= 905 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.10m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.10m +[headless_play] t= 18.30s step= 915 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.10m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.10m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.09m +[headless_play] t= 18.60s step= 930 trunk_z= 118.7mm grav_b=(+0.01,+0.02,-1.00) r=0.09m +[headless_play] t= 18.70s step= 935 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.09m +[headless_play] t= 18.80s step= 940 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.10m +[headless_play] t= 18.90s step= 945 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.10m +[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.10m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.10m +[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.10m +[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(-0.03,+0.01,-1.00) r=0.10m +[headless_play] t= 19.40s step= 970 trunk_z= 117.7mm grav_b=(-0.04,+0.03,-1.00) r=0.09m +[headless_play] t= 19.50s step= 975 trunk_z= 118.3mm grav_b=(-0.05,+0.04,-1.00) r=0.09m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=0.09m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(-0.04,+0.01,-1.00) r=0.09m +[headless_play] t= 19.80s step= 990 trunk_z= 117.6mm grav_b=(-0.05,+0.01,-1.00) r=0.09m +[headless_play] t= 19.90s step= 995 trunk_z= 117.7mm grav_b=(-0.00,+0.02,-1.00) r=0.09m +[headless_play] t= 20.00s step=1000 trunk_z= 119.7mm grav_b=(+0.06,+0.01,-1.00) r=0.09m +[headless_play] t= 20.10s step=1005 trunk_z= 118.2mm grav_b=(+0.03,-0.05,-1.00) r=0.10m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t9.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..0afb18367eadaf87caf5b75ce56653fbf3a47a90 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/v2-a-t9.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.010,-18.367,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.7mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.00,-0.00,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 114.0mm grav_b=(+0.05,-0.04,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 110.9mm grav_b=(+0.04,-0.10,-0.99) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 121.8mm grav_b=(+0.08,-0.12,-0.99) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 122.0mm grav_b=(+0.06,-0.13,-0.99) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 112.7mm grav_b=(+0.07,-0.05,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 118.6mm grav_b=(+0.08,-0.04,-1.00) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.03,-0.10,-0.99) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 125.3mm grav_b=(+0.03,-0.15,-0.99) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 118.2mm grav_b=(+0.02,-0.11,-0.99) r=0.60m +[headless_play] t= 1.10s step= 55 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.64m +[headless_play] t= 1.20s step= 60 trunk_z= 119.2mm grav_b=(+0.03,+0.00,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(+0.02,-0.07,-1.00) r=0.66m +[headless_play] t= 1.40s step= 70 trunk_z= 124.7mm grav_b=(+0.03,-0.13,-0.99) r=0.67m +[headless_play] t= 1.50s step= 75 trunk_z= 121.6mm grav_b=(+0.02,-0.16,-0.99) r=0.69m +[headless_play] t= 1.60s step= 80 trunk_z= 119.8mm grav_b=(-0.03,-0.11,-0.99) r=0.70m +[headless_play] t= 1.70s step= 85 trunk_z= 117.8mm grav_b=(-0.02,-0.06,-1.00) r=0.70m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(+0.02,-0.11,-0.99) r=0.69m +[headless_play] t= 1.90s step= 95 trunk_z= 117.8mm grav_b=(+0.04,-0.12,-0.99) r=0.68m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(+0.05,-0.13,-0.99) r=0.69m +[headless_play] t= 2.10s step= 105 trunk_z= 111.0mm grav_b=(+0.08,-0.04,-1.00) r=0.72m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.08,-0.03,-1.00) r=0.73m +[headless_play] t= 2.30s step= 115 trunk_z= 114.5mm grav_b=(+0.05,-0.10,-0.99) r=0.73m +[headless_play] t= 2.40s step= 120 trunk_z= 125.6mm grav_b=(+0.07,-0.15,-0.99) r=0.72m +[headless_play] t= 2.50s step= 125 trunk_z= 127.4mm grav_b=(+0.04,-0.26,-0.97) r=0.72m +[headless_play] t= 2.60s step= 130 trunk_z= 126.9mm grav_b=(-0.01,-0.25,-0.97) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 120.8mm grav_b=(+0.10,-0.19,-0.98) r=0.73m +[headless_play] t= 2.80s step= 140 trunk_z= 132.6mm grav_b=(+0.02,-0.08,-1.00) r=0.73m +[headless_play] t= 2.90s step= 145 trunk_z= 106.5mm grav_b=(+0.01,-0.10,-0.99) r=0.73m +[headless_play] t= 3.00s step= 150 trunk_z= 126.5mm grav_b=(-0.04,-0.22,-0.97) r=0.72m +[headless_play] t= 3.10s step= 155 trunk_z= 131.1mm grav_b=(-0.05,-0.26,-0.96) r=0.70m +[headless_play] t= 3.20s step= 160 trunk_z= 124.6mm grav_b=(-0.05,-0.31,-0.95) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 124.3mm grav_b=(+0.01,-0.30,-0.95) r=0.67m +[headless_play] t= 3.40s step= 170 trunk_z= 119.4mm grav_b=(+0.01,-0.12,-0.99) r=0.64m +[headless_play] t= 3.50s step= 175 trunk_z= 135.2mm grav_b=(+0.00,-0.04,-1.00) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 124.7mm grav_b=(+0.04,-0.07,-1.00) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 128.4mm grav_b=(+0.10,-0.11,-0.99) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 127.3mm grav_b=(+0.05,-0.11,-0.99) r=0.56m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(+0.02,-0.07,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 121.6mm grav_b=(+0.01,-0.10,-0.99) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 121.0mm grav_b=(-0.00,-0.16,-0.99) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 125.9mm grav_b=(-0.01,-0.17,-0.99) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 123.8mm grav_b=(-0.04,-0.19,-0.98) r=0.48m +[headless_play] t= 4.40s step= 220 trunk_z= 118.8mm grav_b=(+0.04,-0.06,-1.00) r=0.48m +[headless_play] t= 4.50s step= 225 trunk_z= 123.7mm grav_b=(+0.06,+0.06,-1.00) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 127.5mm grav_b=(+0.07,+0.03,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 120.2mm grav_b=(+0.06,-0.06,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 128.3mm grav_b=(+0.03,-0.11,-0.99) r=0.43m +[headless_play] t= 4.90s step= 245 trunk_z= 127.2mm grav_b=(-0.02,-0.12,-0.99) r=0.41m +[headless_play] t= 5.00s step= 250 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 5.10s step= 255 trunk_z= 123.6mm grav_b=(-0.01,+0.01,-1.00) r=0.39m +[headless_play] t= 5.20s step= 260 trunk_z= 118.5mm grav_b=(-0.04,-0.07,-1.00) r=0.39m +[headless_play] t= 5.30s step= 265 trunk_z= 125.0mm grav_b=(-0.01,-0.11,-0.99) r=0.37m +[headless_play] t= 5.40s step= 270 trunk_z= 128.0mm grav_b=(+0.03,-0.14,-0.99) r=0.35m +[headless_play] t= 5.50s step= 275 trunk_z= 125.4mm grav_b=(+0.03,-0.15,-0.99) r=0.32m +[headless_play] t= 5.60s step= 280 trunk_z= 123.1mm grav_b=(+0.08,-0.08,-0.99) r=0.30m +[headless_play] t= 5.70s step= 285 trunk_z= 126.9mm grav_b=(+0.06,-0.07,-1.00) r=0.26m +[headless_play] t= 5.80s step= 290 trunk_z= 112.0mm grav_b=(+0.01,-0.13,-0.99) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 126.7mm grav_b=(+0.01,-0.26,-0.97) r=0.20m +[headless_play] t= 6.00s step= 300 trunk_z= 128.8mm grav_b=(+0.03,-0.31,-0.95) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 121.3mm grav_b=(+0.16,-0.45,-0.88) r=0.16m +[headless_play] t= 6.20s step= 310 trunk_z= 109.9mm grav_b=(+0.16,-0.42,-0.90) r=0.16m +[headless_play] t= 6.30s step= 315 trunk_z= 96.0mm grav_b=(+0.06,-0.37,-0.93) r=0.20m +[headless_play] t= 6.40s step= 320 trunk_z= 94.8mm grav_b=(+0.15,-0.30,-0.94) r=0.28m +[headless_play] t= 6.50s step= 325 trunk_z= 83.7mm grav_b=(+0.73,+0.13,-0.67) r=0.34m +[headless_play] RESET at t= 6.58s step= 329 (env termination, not a recovery) +[headless_play] t= 6.60s step= 330 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 115.3mm grav_b=(-0.00,-0.05,-1.00) r=0.51m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(+0.09,-0.07,-0.99) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 123.7mm grav_b=(+0.10,-0.06,-0.99) r=0.53m +[headless_play] t= 7.00s step= 350 trunk_z= 109.8mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 7.10s step= 355 trunk_z= 121.5mm grav_b=(-0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 7.20s step= 360 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 118.5mm grav_b=(-0.09,-0.10,-0.99) r=0.62m +[headless_play] t= 7.40s step= 370 trunk_z= 125.5mm grav_b=(-0.08,-0.13,-0.99) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 123.7mm grav_b=(-0.06,-0.14,-0.99) r=0.62m +[headless_play] t= 7.60s step= 380 trunk_z= 117.7mm grav_b=(-0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 7.70s step= 385 trunk_z= 121.9mm grav_b=(+0.01,+0.01,-1.00) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 116.8mm grav_b=(+0.09,-0.05,-0.99) r=0.65m +[headless_play] t= 7.90s step= 395 trunk_z= 131.1mm grav_b=(+0.11,-0.07,-0.99) r=0.68m +[headless_play] t= 8.00s step= 400 trunk_z= 125.5mm grav_b=(+0.00,-0.08,-1.00) r=0.71m +[headless_play] t= 8.10s step= 405 trunk_z= 118.6mm grav_b=(-0.06,-0.02,-1.00) r=0.73m +[headless_play] t= 8.20s step= 410 trunk_z= 119.8mm grav_b=(-0.05,-0.09,-0.99) r=0.76m +[headless_play] t= 8.30s step= 415 trunk_z= 100.9mm grav_b=(-0.01,-0.25,-0.97) r=0.80m +[headless_play] t= 8.40s step= 420 trunk_z= 103.9mm grav_b=(+0.05,-0.34,-0.94) r=0.83m +[headless_play] t= 8.50s step= 425 trunk_z= 96.3mm grav_b=(+0.16,-0.40,-0.90) r=0.86m +[headless_play] t= 8.60s step= 430 trunk_z= 72.5mm grav_b=(+0.30,-0.47,-0.83) r=0.94m +[headless_play] t= 8.70s step= 435 trunk_z= 79.9mm grav_b=(+0.53,-0.66,-0.53) r=1.02m +[headless_play] RESET at t= 8.76s step= 438 (env termination, not a recovery) +[headless_play] t= 8.80s step= 440 trunk_z= 115.1mm grav_b=(-0.02,+0.00,-1.00) r=0.67m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(-0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 9.00s step= 450 trunk_z= 117.2mm grav_b=(-0.01,-0.06,-1.00) r=0.65m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(-0.04,-0.00,-1.00) r=0.67m +[headless_play] t= 9.20s step= 460 trunk_z= 117.5mm grav_b=(-0.05,+0.08,-1.00) r=0.70m +[headless_play] t= 9.30s step= 465 trunk_z= 125.3mm grav_b=(-0.03,+0.08,-1.00) r=0.71m +[headless_play] t= 9.40s step= 470 trunk_z= 123.7mm grav_b=(-0.01,+0.06,-1.00) r=0.70m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(-0.02,-0.05,-1.00) r=0.67m +[headless_play] t= 9.60s step= 480 trunk_z= 128.6mm grav_b=(+0.02,-0.12,-0.99) r=0.65m +[headless_play] t= 9.70s step= 485 trunk_z= 130.5mm grav_b=(+0.01,-0.18,-0.98) r=0.64m +[headless_play] t= 9.80s step= 490 trunk_z= 128.0mm grav_b=(-0.01,-0.15,-0.99) r=0.65m +[headless_play] t= 9.90s step= 495 trunk_z= 121.4mm grav_b=(+0.06,-0.05,-1.00) r=0.67m +[headless_play] t= 10.00s step= 500 trunk_z= 128.2mm grav_b=(+0.03,-0.03,-1.00) r=0.67m +[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(-0.06,-0.11,-0.99) r=0.64m +[headless_play] t= 10.20s step= 510 trunk_z= 127.7mm grav_b=(-0.10,-0.17,-0.98) r=0.62m +[headless_play] t= 10.30s step= 515 trunk_z= 129.3mm grav_b=(-0.08,-0.19,-0.98) r=0.61m +[headless_play] t= 10.40s step= 520 trunk_z= 126.9mm grav_b=(-0.07,-0.15,-0.99) r=0.61m +[headless_play] t= 10.50s step= 525 trunk_z= 122.6mm grav_b=(-0.07,-0.07,-1.00) r=0.61m +[headless_play] t= 10.60s step= 530 trunk_z= 125.2mm grav_b=(+0.01,+0.07,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 125.6mm grav_b=(+0.09,+0.03,-1.00) r=0.61m +[headless_play] t= 10.80s step= 540 trunk_z= 118.3mm grav_b=(+0.09,-0.06,-0.99) r=0.57m +[headless_play] t= 10.90s step= 545 trunk_z= 127.6mm grav_b=(+0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(-0.06,-0.02,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 121.8mm grav_b=(-0.04,+0.07,-1.00) r=0.55m +[headless_play] t= 11.20s step= 560 trunk_z= 123.7mm grav_b=(-0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 11.40s step= 570 trunk_z= 123.5mm grav_b=(-0.02,-0.06,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 120.7mm grav_b=(-0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 118.9mm grav_b=(-0.03,+0.05,-1.00) r=0.50m +[headless_play] t= 11.70s step= 585 trunk_z= 127.3mm grav_b=(+0.03,+0.10,-0.99) r=0.50m +[headless_play] t= 11.80s step= 590 trunk_z= 129.9mm grav_b=(+0.01,+0.08,-1.00) r=0.48m +[headless_play] t= 11.90s step= 595 trunk_z= 121.0mm grav_b=(-0.04,-0.07,-1.00) r=0.44m +[headless_play] t= 12.00s step= 600 trunk_z= 128.5mm grav_b=(-0.08,-0.10,-0.99) r=0.42m +[headless_play] t= 12.10s step= 605 trunk_z= 119.0mm grav_b=(-0.08,-0.08,-0.99) r=0.42m +[headless_play] t= 12.20s step= 610 trunk_z= 121.4mm grav_b=(-0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 12.30s step= 615 trunk_z= 124.4mm grav_b=(+0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 12.40s step= 620 trunk_z= 121.0mm grav_b=(+0.02,-0.00,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 122.6mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(-0.02,+0.04,-1.00) r=0.36m +[headless_play] t= 12.70s step= 635 trunk_z= 123.6mm grav_b=(-0.01,+0.07,-1.00) r=0.36m +[headless_play] t= 12.80s step= 640 trunk_z= 123.1mm grav_b=(-0.01,+0.05,-1.00) r=0.34m +[headless_play] t= 12.90s step= 645 trunk_z= 116.9mm grav_b=(-0.05,-0.03,-1.00) r=0.31m +[headless_play] t= 13.00s step= 650 trunk_z= 125.8mm grav_b=(-0.06,-0.08,-1.00) r=0.29m +[headless_play] t= 13.10s step= 655 trunk_z= 122.2mm grav_b=(-0.07,-0.09,-0.99) r=0.28m +[headless_play] t= 13.20s step= 660 trunk_z= 114.4mm grav_b=(-0.05,+0.03,-1.00) r=0.30m +[headless_play] t= 13.30s step= 665 trunk_z= 120.1mm grav_b=(-0.04,+0.04,-1.00) r=0.30m +[headless_play] t= 13.40s step= 670 trunk_z= 119.6mm grav_b=(-0.03,+0.04,-1.00) r=0.29m +[headless_play] t= 13.50s step= 675 trunk_z= 113.9mm grav_b=(-0.00,-0.05,-1.00) r=0.28m +[headless_play] t= 13.60s step= 680 trunk_z= 115.8mm grav_b=(+0.02,-0.07,-1.00) r=0.26m +[headless_play] t= 13.70s step= 685 trunk_z= 112.6mm grav_b=(+0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 13.80s step= 690 trunk_z= 111.7mm grav_b=(-0.02,+0.05,-1.00) r=0.27m +[headless_play] t= 13.90s step= 695 trunk_z= 118.2mm grav_b=(-0.04,+0.04,-1.00) r=0.27m +[headless_play] t= 14.00s step= 700 trunk_z= 112.7mm grav_b=(-0.02,-0.04,-1.00) r=0.25m +[headless_play] t= 14.10s step= 705 trunk_z= 116.9mm grav_b=(-0.01,-0.04,-1.00) r=0.24m +[headless_play] t= 14.20s step= 710 trunk_z= 113.4mm grav_b=(-0.05,+0.03,-1.00) r=0.26m +[headless_play] t= 14.30s step= 715 trunk_z= 113.9mm grav_b=(-0.01,+0.08,-1.00) r=0.28m +[headless_play] t= 14.40s step= 720 trunk_z= 116.6mm grav_b=(+0.01,+0.05,-1.00) r=0.28m +[headless_play] t= 14.50s step= 725 trunk_z= 111.6mm grav_b=(+0.02,-0.00,-1.00) r=0.26m +[headless_play] t= 14.60s step= 730 trunk_z= 118.3mm grav_b=(+0.02,-0.08,-1.00) r=0.24m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(+0.04,-0.09,-1.00) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 111.6mm grav_b=(+0.03,-0.06,-1.00) r=0.27m +[headless_play] t= 14.90s step= 745 trunk_z= 113.7mm grav_b=(+0.04,-0.04,-1.00) r=0.27m +[headless_play] t= 15.00s step= 750 trunk_z= 111.2mm grav_b=(+0.01,-0.09,-1.00) r=0.26m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(+0.01,-0.08,-1.00) r=0.26m +[headless_play] t= 15.20s step= 760 trunk_z= 115.2mm grav_b=(-0.01,-0.04,-1.00) r=0.28m +[headless_play] t= 15.30s step= 765 trunk_z= 112.4mm grav_b=(-0.04,+0.04,-1.00) r=0.31m +[headless_play] t= 15.40s step= 770 trunk_z= 120.0mm grav_b=(-0.09,+0.03,-1.00) r=0.32m +[headless_play] t= 15.50s step= 775 trunk_z= 113.0mm grav_b=(-0.11,-0.06,-0.99) r=0.29m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(-0.06,-0.08,-0.99) r=0.27m +[headless_play] t= 15.70s step= 785 trunk_z= 117.9mm grav_b=(+0.00,-0.09,-1.00) r=0.28m +[headless_play] t= 15.80s step= 790 trunk_z= 109.6mm grav_b=(+0.05,-0.06,-1.00) r=0.31m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] t= 16.00s step= 800 trunk_z= 113.3mm grav_b=(+0.02,+0.00,-1.00) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 113.5mm grav_b=(-0.00,-0.08,-1.00) r=0.33m +[headless_play] t= 16.20s step= 810 trunk_z= 117.3mm grav_b=(-0.02,-0.06,-1.00) r=0.33m +[headless_play] t= 16.30s step= 815 trunk_z= 111.6mm grav_b=(+0.00,-0.04,-1.00) r=0.36m +[headless_play] t= 16.40s step= 820 trunk_z= 111.5mm grav_b=(+0.08,+0.06,-0.99) r=0.40m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(+0.09,+0.01,-1.00) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 114.5mm grav_b=(+0.09,-0.09,-0.99) r=0.45m +[headless_play] t= 16.70s step= 835 trunk_z= 122.2mm grav_b=(+0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 16.80s step= 840 trunk_z= 112.0mm grav_b=(-0.02,-0.01,-1.00) r=0.50m +[headless_play] t= 16.90s step= 845 trunk_z= 123.2mm grav_b=(+0.02,+0.15,-0.99) r=0.54m +[headless_play] t= 17.00s step= 850 trunk_z= 125.7mm grav_b=(+0.02,+0.23,-0.97) r=0.56m +[headless_play] t= 17.10s step= 855 trunk_z= 128.9mm grav_b=(-0.05,+0.20,-0.98) r=0.58m +[headless_play] t= 17.20s step= 860 trunk_z= 131.8mm grav_b=(-0.06,+0.24,-0.97) r=0.59m +[headless_play] t= 17.30s step= 865 trunk_z= 130.5mm grav_b=(-0.08,+0.33,-0.94) r=0.61m +[headless_play] t= 17.40s step= 870 trunk_z= 108.7mm grav_b=(+0.02,+0.65,-0.76) r=0.64m +[headless_play] RESET at t= 17.50s step= 875 (env termination, not a recovery) +[headless_play] t= 17.50s step= 875 trunk_z= 125.7mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 17.60s step= 880 trunk_z= 114.7mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 17.70s step= 885 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 17.80s step= 890 trunk_z= 115.7mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 18.00s step= 900 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 18.20s step= 910 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 18.30s step= 915 trunk_z= 116.2mm grav_b=(+0.02,-0.00,-1.00) r=0.34m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 18.50s step= 925 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 18.70s step= 935 trunk_z= 115.9mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 18.90s step= 945 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 19.00s step= 950 trunk_z= 116.3mm grav_b=(-0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 19.10s step= 955 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.35m +[headless_play] t= 19.20s step= 960 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) r=0.35m +[headless_play] t= 19.30s step= 965 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 19.40s step= 970 trunk_z= 115.5mm grav_b=(+0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 19.50s step= 975 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 19.60s step= 980 trunk_z= 115.6mm grav_b=(+0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 19.70s step= 985 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 19.80s step= 990 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 19.90s step= 995 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 20.00s step=1000 trunk_z= 115.7mm grav_b=(+0.00,-0.00,-1.00) r=0.35m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.35m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t1.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..deb178d95321f6701351490dd7ad769f5930f64c --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t1.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.746,-17.562,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.5mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(+0.08,+0.02,-1.00) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(+0.10,+0.04,-0.99) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.04,+0.08,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 117.3mm grav_b=(-0.05,+0.03,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(-0.08,-0.02,-1.00) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 115.1mm grav_b=(-0.01,+0.06,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 114.8mm grav_b=(+0.01,+0.04,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 115.1mm grav_b=(+0.04,+0.02,-1.00) r=0.52m +[headless_play] t= 1.80s step= 90 trunk_z= 115.1mm grav_b=(+0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 115.2mm grav_b=(+0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 115.4mm grav_b=(-0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 2.10s step= 105 trunk_z= 116.0mm grav_b=(-0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(-0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 2.30s step= 115 trunk_z= 107.0mm grav_b=(+0.04,-0.05,-1.00) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 109.7mm grav_b=(+0.05,+0.02,-1.00) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 111.8mm grav_b=(+0.03,+0.04,-1.00) r=0.56m +[headless_play] t= 2.60s step= 130 trunk_z= 113.1mm grav_b=(+0.08,-0.01,-1.00) r=0.56m +[headless_play] t= 2.70s step= 135 trunk_z= 113.8mm grav_b=(+0.05,+0.01,-1.00) r=0.56m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.03,+0.00,-1.00) r=0.56m +[headless_play] t= 2.90s step= 145 trunk_z= 114.5mm grav_b=(-0.04,+0.02,-1.00) r=0.56m +[headless_play] t= 3.00s step= 150 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 3.10s step= 155 trunk_z= 115.2mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 114.6mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 114.6mm grav_b=(+0.06,+0.01,-1.00) r=0.56m +[headless_play] t= 3.40s step= 170 trunk_z= 114.8mm grav_b=(+0.05,+0.01,-1.00) r=0.56m +[headless_play] t= 3.50s step= 175 trunk_z= 114.9mm grav_b=(+0.04,+0.01,-1.00) r=0.56m +[headless_play] t= 3.60s step= 180 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 3.70s step= 185 trunk_z= 114.7mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.80s step= 190 trunk_z= 114.7mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.90s step= 195 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=0.57m +[headless_play] t= 4.00s step= 200 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 4.10s step= 205 trunk_z= 114.8mm grav_b=(-0.00,+0.06,-1.00) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 114.2mm grav_b=(+0.00,+0.13,-0.99) r=0.53m +[headless_play] t= 4.30s step= 215 trunk_z= 117.5mm grav_b=(+0.01,+0.08,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 110.5mm grav_b=(+0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(-0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 4.70s step= 235 trunk_z= 115.1mm grav_b=(-0.00,+0.03,-1.00) r=0.55m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(+0.00,+0.09,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 116.4mm grav_b=(+0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 5.00s step= 250 trunk_z= 109.8mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 119.1mm grav_b=(+0.02,-0.03,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 5.30s step= 265 trunk_z= 117.0mm grav_b=(-0.03,+0.11,-0.99) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 125.7mm grav_b=(-0.07,+0.13,-0.99) r=0.53m +[headless_play] t= 5.50s step= 275 trunk_z= 121.9mm grav_b=(-0.04,+0.10,-0.99) r=0.53m +[headless_play] t= 5.60s step= 280 trunk_z= 111.1mm grav_b=(-0.00,+0.11,-0.99) r=0.54m +[headless_play] t= 5.70s step= 285 trunk_z= 111.0mm grav_b=(+0.02,+0.11,-0.99) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 111.6mm grav_b=(+0.01,+0.11,-0.99) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 112.2mm grav_b=(+0.03,+0.06,-1.00) r=0.51m +[headless_play] t= 6.00s step= 300 trunk_z= 104.7mm grav_b=(+0.06,-0.00,-1.00) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 115.0mm grav_b=(-0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 114.0mm grav_b=(-0.06,+0.06,-1.00) r=0.53m +[headless_play] t= 6.30s step= 315 trunk_z= 114.4mm grav_b=(-0.01,+0.13,-0.99) r=0.51m +[headless_play] t= 6.40s step= 320 trunk_z= 117.9mm grav_b=(+0.06,+0.13,-0.99) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 115.0mm grav_b=(+0.07,+0.10,-0.99) r=0.52m +[headless_play] t= 6.60s step= 330 trunk_z= 117.4mm grav_b=(+0.05,-0.02,-1.00) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(+0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 6.80s step= 340 trunk_z= 115.3mm grav_b=(-0.00,+0.10,-1.00) r=0.57m +[headless_play] t= 6.90s step= 345 trunk_z= 124.1mm grav_b=(+0.01,+0.10,-0.99) r=0.58m +[headless_play] t= 7.00s step= 350 trunk_z= 113.9mm grav_b=(+0.00,+0.03,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 119.8mm grav_b=(-0.01,-0.01,-1.00) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 119.2mm grav_b=(-0.01,+0.04,-1.00) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 113.7mm grav_b=(-0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 7.40s step= 370 trunk_z= 118.7mm grav_b=(-0.01,+0.07,-1.00) r=0.61m +[headless_play] t= 7.50s step= 375 trunk_z= 118.9mm grav_b=(-0.06,+0.08,-0.99) r=0.62m +[headless_play] t= 7.60s step= 380 trunk_z= 112.2mm grav_b=(+0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 115.4mm grav_b=(+0.05,-0.06,-1.00) r=0.65m +[headless_play] t= 7.80s step= 390 trunk_z= 112.3mm grav_b=(+0.07,-0.01,-1.00) r=0.65m +[headless_play] t= 7.90s step= 395 trunk_z= 114.7mm grav_b=(+0.03,+0.10,-0.99) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 119.3mm grav_b=(+0.00,+0.09,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 114.5mm grav_b=(+0.03,+0.07,-1.00) r=0.66m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(+0.03,-0.02,-1.00) r=0.68m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(+0.05,-0.05,-1.00) r=0.69m +[headless_play] t= 8.40s step= 420 trunk_z= 112.7mm grav_b=(+0.07,+0.04,-1.00) r=0.69m +[headless_play] t= 8.50s step= 425 trunk_z= 120.5mm grav_b=(+0.03,+0.10,-0.99) r=0.70m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(+0.05,+0.07,-1.00) r=0.71m +[headless_play] t= 8.70s step= 435 trunk_z= 114.1mm grav_b=(+0.01,-0.01,-1.00) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(+0.01,+0.02,-1.00) r=0.75m +[headless_play] t= 8.90s step= 445 trunk_z= 110.9mm grav_b=(+0.04,+0.06,-1.00) r=0.74m +[headless_play] t= 9.00s step= 450 trunk_z= 118.0mm grav_b=(+0.04,+0.10,-0.99) r=0.74m +[headless_play] t= 9.10s step= 455 trunk_z= 115.6mm grav_b=(+0.06,+0.05,-1.00) r=0.75m +[headless_play] t= 9.20s step= 460 trunk_z= 110.5mm grav_b=(+0.05,+0.03,-1.00) r=0.77m +[headless_play] t= 9.30s step= 465 trunk_z= 111.6mm grav_b=(+0.06,+0.09,-0.99) r=0.78m +[headless_play] t= 9.40s step= 470 trunk_z= 110.6mm grav_b=(+0.03,+0.13,-0.99) r=0.76m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(+0.04,+0.07,-1.00) r=0.77m +[headless_play] t= 9.60s step= 480 trunk_z= 112.0mm grav_b=(-0.01,+0.03,-1.00) r=0.80m +[headless_play] t= 9.70s step= 485 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.82m +[headless_play] t= 9.80s step= 490 trunk_z= 117.7mm grav_b=(+0.06,-0.04,-1.00) r=0.84m +[headless_play] t= 9.90s step= 495 trunk_z= 120.7mm grav_b=(-0.00,-0.01,-1.00) r=0.85m +[headless_play] t= 10.00s step= 500 trunk_z= 123.2mm grav_b=(-0.03,+0.04,-1.00) r=0.87m +[headless_play] t= 10.10s step= 505 trunk_z= 118.5mm grav_b=(-0.04,+0.06,-1.00) r=0.89m +[headless_play] t= 10.20s step= 510 trunk_z= 103.1mm grav_b=(-0.10,-0.17,-0.98) r=0.92m +[headless_play] t= 10.30s step= 515 trunk_z= 111.6mm grav_b=(-0.17,-0.30,-0.94) r=0.95m +[headless_play] t= 10.40s step= 520 trunk_z= 107.1mm grav_b=(-0.13,-0.39,-0.91) r=0.98m +[headless_play] t= 10.50s step= 525 trunk_z= 83.7mm grav_b=(-0.34,-0.59,-0.73) r=1.02m +[headless_play] RESET at t= 10.58s step= 529 (env termination, not a recovery) +[headless_play] t= 10.60s step= 530 trunk_z= 118.4mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 10.80s step= 540 trunk_z= 115.5mm grav_b=(+0.04,+0.01,-1.00) r=0.55m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 11.10s step= 555 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 115.8mm grav_b=(+0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 115.8mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.70s step= 585 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.80s step= 590 trunk_z= 115.8mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 115.8mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 12.00s step= 600 trunk_z= 118.2mm grav_b=(+0.01,-0.04,-1.00) r=0.55m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(-0.00,-0.03,-1.00) r=0.55m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(+0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 12.40s step= 620 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 116.0mm grav_b=(+0.05,-0.00,-1.00) r=0.55m +[headless_play] t= 12.60s step= 630 trunk_z= 118.1mm grav_b=(+0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 12.80s step= 640 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 13.00s step= 650 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 13.10s step= 655 trunk_z= 116.4mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 13.20s step= 660 trunk_z= 116.7mm grav_b=(+0.04,+0.02,-1.00) r=0.55m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00) r=0.55m +[headless_play] t= 13.40s step= 670 trunk_z= 116.4mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 13.50s step= 675 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 13.60s step= 680 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 13.70s step= 685 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=0.55m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 14.00s step= 700 trunk_z= 116.0mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 14.10s step= 705 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.20s step= 710 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.30s step= 715 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.60s step= 730 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(+0.07,+0.03,-1.00) r=0.55m +[headless_play] t= 14.90s step= 745 trunk_z= 116.5mm grav_b=(+0.06,+0.02,-1.00) r=0.55m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 15.10s step= 755 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 15.20s step= 760 trunk_z= 115.5mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 15.30s step= 765 trunk_z= 115.3mm grav_b=(+0.02,+0.01,-1.00) r=0.55m +[headless_play] t= 15.40s step= 770 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00) r=0.55m +[headless_play] t= 15.50s step= 775 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 115.3mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 15.80s step= 790 trunk_z= 115.3mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(+0.04,+0.00,-1.00) r=0.55m +[headless_play] t= 16.10s step= 805 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 16.20s step= 810 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 16.30s step= 815 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.55m +[headless_play] t= 16.40s step= 820 trunk_z= 116.3mm grav_b=(-0.06,-0.01,-1.00) r=0.54m +[headless_play] t= 16.50s step= 825 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 16.60s step= 830 trunk_z= 107.4mm grav_b=(+0.04,-0.04,-1.00) r=0.54m +[headless_play] t= 16.70s step= 835 trunk_z= 110.7mm grav_b=(+0.06,-0.03,-1.00) r=0.53m +[headless_play] t= 16.80s step= 840 trunk_z= 110.2mm grav_b=(+0.09,+0.01,-1.00) r=0.53m +[headless_play] t= 16.90s step= 845 trunk_z= 111.2mm grav_b=(+0.10,+0.01,-1.00) r=0.52m +[headless_play] t= 17.00s step= 850 trunk_z= 112.6mm grav_b=(+0.07,-0.01,-1.00) r=0.52m +[headless_play] t= 17.10s step= 855 trunk_z= 113.4mm grav_b=(+0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 17.20s step= 860 trunk_z= 113.6mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 114.0mm grav_b=(+0.09,-0.01,-1.00) r=0.52m +[headless_play] t= 17.40s step= 870 trunk_z= 114.3mm grav_b=(+0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 17.50s step= 875 trunk_z= 114.5mm grav_b=(+0.02,+0.00,-1.00) r=0.52m +[headless_play] t= 17.60s step= 880 trunk_z= 113.5mm grav_b=(-0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 17.70s step= 885 trunk_z= 116.4mm grav_b=(-0.04,+0.08,-1.00) r=0.52m +[headless_play] t= 17.80s step= 890 trunk_z= 115.4mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 111.1mm grav_b=(-0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 18.00s step= 900 trunk_z= 113.6mm grav_b=(-0.00,-0.04,-1.00) r=0.57m +[headless_play] t= 18.10s step= 905 trunk_z= 108.3mm grav_b=(+0.01,+0.06,-1.00) r=0.55m +[headless_play] t= 18.20s step= 910 trunk_z= 118.9mm grav_b=(+0.01,+0.11,-0.99) r=0.55m +[headless_play] t= 18.30s step= 915 trunk_z= 122.8mm grav_b=(-0.01,+0.08,-1.00) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 117.8mm grav_b=(-0.06,+0.05,-1.00) r=0.57m +[headless_play] t= 18.50s step= 925 trunk_z= 123.0mm grav_b=(-0.05,-0.08,-1.00) r=0.59m +[headless_play] t= 18.60s step= 930 trunk_z= 124.8mm grav_b=(-0.02,-0.07,-1.00) r=0.59m +[headless_play] t= 18.70s step= 935 trunk_z= 119.7mm grav_b=(-0.01,-0.01,-1.00) r=0.58m +[headless_play] t= 18.80s step= 940 trunk_z= 123.6mm grav_b=(+0.02,+0.07,-1.00) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 125.3mm grav_b=(+0.01,+0.04,-1.00) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 115.3mm grav_b=(-0.05,-0.01,-1.00) r=0.60m +[headless_play] t= 19.10s step= 955 trunk_z= 119.2mm grav_b=(-0.04,-0.02,-1.00) r=0.60m +[headless_play] t= 19.20s step= 960 trunk_z= 115.9mm grav_b=(-0.04,+0.06,-1.00) r=0.59m +[headless_play] t= 19.30s step= 965 trunk_z= 123.8mm grav_b=(-0.03,+0.06,-1.00) r=0.58m +[headless_play] t= 19.40s step= 970 trunk_z= 121.7mm grav_b=(-0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(-0.03,-0.04,-1.00) r=0.63m +[headless_play] t= 19.60s step= 980 trunk_z= 123.8mm grav_b=(-0.03,-0.07,-1.00) r=0.64m +[headless_play] t= 19.70s step= 985 trunk_z= 122.2mm grav_b=(-0.03,-0.03,-1.00) r=0.63m +[headless_play] t= 19.80s step= 990 trunk_z= 119.3mm grav_b=(-0.03,+0.05,-1.00) r=0.61m +[headless_play] t= 19.90s step= 995 trunk_z= 124.9mm grav_b=(-0.05,+0.10,-0.99) r=0.60m +[headless_play] t= 20.00s step=1000 trunk_z= 125.2mm grav_b=(-0.08,+0.10,-0.99) r=0.60m +[headless_play] t= 20.10s step=1005 trunk_z= 118.2mm grav_b=(-0.05,+0.00,-1.00) r=0.62m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t10.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..1faf5e48579963c1250c1086176832ce1e73a9c8 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t10.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.111,-17.582,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.0mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.00,+0.02,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 114.2mm grav_b=(+0.00,-0.08,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 119.4mm grav_b=(+0.00,-0.04,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 114.7mm grav_b=(-0.02,+0.00,-1.00) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 121.4mm grav_b=(-0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 119.9mm grav_b=(-0.03,+0.02,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 117.3mm grav_b=(-0.02,-0.04,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 122.0mm grav_b=(-0.01,-0.04,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 117.6mm grav_b=(-0.03,-0.04,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 117.7mm grav_b=(-0.05,+0.03,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(-0.06,+0.01,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(-0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 121.5mm grav_b=(+0.02,-0.03,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 122.1mm grav_b=(-0.02,+0.05,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 120.9mm grav_b=(-0.04,+0.04,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 115.8mm grav_b=(-0.06,+0.00,-1.00) r=0.42m +[headless_play] t= 1.90s step= 95 trunk_z= 121.2mm grav_b=(-0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 119.6mm grav_b=(-0.01,+0.06,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 121.6mm grav_b=(-0.00,+0.02,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 114.8mm grav_b=(-0.01,-0.03,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 122.9mm grav_b=(-0.00,-0.06,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 120.8mm grav_b=(-0.02,-0.05,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(-0.05,+0.04,-1.00) r=0.47m +[headless_play] t= 2.70s step= 135 trunk_z= 124.3mm grav_b=(-0.13,+0.10,-0.99) r=0.48m +[headless_play] t= 2.80s step= 140 trunk_z= 122.5mm grav_b=(-0.09,+0.06,-0.99) r=0.47m +[headless_play] t= 2.90s step= 145 trunk_z= 119.3mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 3.00s step= 150 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.48m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.02,+0.06,-1.00) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 121.0mm grav_b=(+0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(-0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 121.8mm grav_b=(-0.02,-0.06,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 121.5mm grav_b=(-0.01,+0.09,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 127.1mm grav_b=(+0.03,+0.15,-0.99) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 128.9mm grav_b=(+0.04,+0.04,-1.00) r=0.56m +[headless_play] t= 3.90s step= 195 trunk_z= 120.5mm grav_b=(-0.00,+0.02,-1.00) r=0.57m +[headless_play] t= 4.00s step= 200 trunk_z= 118.8mm grav_b=(-0.11,+0.06,-0.99) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 117.5mm grav_b=(-0.03,+0.03,-1.00) r=0.63m +[headless_play] t= 4.20s step= 210 trunk_z= 117.5mm grav_b=(-0.03,+0.00,-1.00) r=0.64m +[headless_play] t= 4.30s step= 215 trunk_z= 110.5mm grav_b=(-0.00,-0.06,-1.00) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 114.6mm grav_b=(+0.01,-0.02,-1.00) r=0.65m +[headless_play] t= 4.50s step= 225 trunk_z= 110.0mm grav_b=(-0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 4.60s step= 230 trunk_z= 114.9mm grav_b=(-0.02,+0.03,-1.00) r=0.70m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.71m +[headless_play] t= 4.80s step= 240 trunk_z= 110.6mm grav_b=(+0.00,-0.03,-1.00) r=0.70m +[headless_play] t= 4.90s step= 245 trunk_z= 115.8mm grav_b=(+0.02,-0.06,-1.00) r=0.69m +[headless_play] t= 5.00s step= 250 trunk_z= 113.7mm grav_b=(+0.05,-0.03,-1.00) r=0.71m +[headless_play] t= 5.10s step= 255 trunk_z= 108.8mm grav_b=(+0.02,+0.03,-1.00) r=0.73m +[headless_play] t= 5.20s step= 260 trunk_z= 112.9mm grav_b=(+0.07,-0.02,-1.00) r=0.75m +[headless_play] t= 5.30s step= 265 trunk_z= 106.2mm grav_b=(+0.04,-0.10,-0.99) r=0.76m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(-0.00,-0.09,-1.00) r=0.77m +[headless_play] t= 5.50s step= 275 trunk_z= 113.2mm grav_b=(+0.02,-0.03,-1.00) r=0.79m +[headless_play] t= 5.60s step= 280 trunk_z= 112.4mm grav_b=(+0.03,+0.06,-1.00) r=0.82m +[headless_play] t= 5.70s step= 285 trunk_z= 115.8mm grav_b=(+0.06,+0.05,-1.00) r=0.83m +[headless_play] t= 5.80s step= 290 trunk_z= 112.3mm grav_b=(+0.04,-0.04,-1.00) r=0.83m +[headless_play] t= 5.90s step= 295 trunk_z= 118.6mm grav_b=(-0.05,-0.09,-1.00) r=0.83m +[headless_play] t= 6.00s step= 300 trunk_z= 118.5mm grav_b=(+0.02,-0.06,-1.00) r=0.84m +[headless_play] t= 6.10s step= 305 trunk_z= 109.1mm grav_b=(+0.04,+0.09,-1.00) r=0.88m +[headless_play] t= 6.20s step= 310 trunk_z= 120.4mm grav_b=(+0.09,+0.15,-0.98) r=0.91m +[headless_play] t= 6.30s step= 315 trunk_z= 124.9mm grav_b=(+0.09,+0.09,-0.99) r=0.93m +[headless_play] t= 6.40s step= 320 trunk_z= 120.4mm grav_b=(-0.00,-0.03,-1.00) r=0.96m +[headless_play] t= 6.50s step= 325 trunk_z= 119.1mm grav_b=(-0.12,-0.07,-0.99) r=0.99m +[headless_play] t= 6.60s step= 330 trunk_z= 111.6mm grav_b=(+0.06,-0.12,-0.99) r=1.01m +[headless_play] t= 6.70s step= 335 trunk_z= 101.7mm grav_b=(+0.11,-0.15,-0.98) r=1.04m +[headless_play] t= 6.80s step= 340 trunk_z= 97.5mm grav_b=(+0.03,-0.12,-0.99) r=1.09m +[headless_play] t= 6.90s step= 345 trunk_z= 112.7mm grav_b=(-0.10,+0.02,-1.00) r=1.11m +[headless_play] t= 7.00s step= 350 trunk_z= 86.2mm grav_b=(-0.02,-0.15,-0.99) r=1.13m +[headless_play] t= 7.10s step= 355 trunk_z= 100.3mm grav_b=(-0.08,-0.18,-0.98) r=1.12m +[headless_play] t= 7.20s step= 360 trunk_z= 102.7mm grav_b=(-0.03,-0.06,-1.00) r=1.11m +[headless_play] t= 7.30s step= 365 trunk_z= 90.8mm grav_b=(+0.09,-0.04,-1.00) r=1.08m +[headless_play] t= 7.40s step= 370 trunk_z= 90.5mm grav_b=(+0.02,+0.05,-1.00) r=1.07m +[headless_play] t= 7.50s step= 375 trunk_z= 89.6mm grav_b=(-0.00,-0.10,-1.00) r=1.06m +[headless_play] t= 7.60s step= 380 trunk_z= 94.6mm grav_b=(+0.01,-0.09,-1.00) r=1.08m +[headless_play] t= 7.70s step= 385 trunk_z= 88.8mm grav_b=(+0.01,-0.01,-1.00) r=1.09m +[headless_play] t= 7.80s step= 390 trunk_z= 95.1mm grav_b=(-0.02,+0.06,-1.00) r=1.10m +[headless_play] t= 7.90s step= 395 trunk_z= 95.1mm grav_b=(-0.03,+0.01,-1.00) r=1.10m +[headless_play] t= 8.00s step= 400 trunk_z= 92.4mm grav_b=(-0.08,-0.07,-0.99) r=1.09m +[headless_play] t= 8.10s step= 405 trunk_z= 100.2mm grav_b=(-0.03,-0.09,-1.00) r=1.09m +[headless_play] t= 8.20s step= 410 trunk_z= 100.5mm grav_b=(-0.01,-0.05,-1.00) r=1.08m +[headless_play] t= 8.30s step= 415 trunk_z= 92.3mm grav_b=(-0.01,-0.02,-1.00) r=1.08m +[headless_play] t= 8.40s step= 420 trunk_z= 92.0mm grav_b=(+0.01,-0.01,-1.00) r=1.08m +[headless_play] t= 8.50s step= 425 trunk_z= 85.6mm grav_b=(+0.00,-0.06,-1.00) r=1.09m +[headless_play] t= 8.60s step= 430 trunk_z= 95.5mm grav_b=(+0.05,-0.08,-1.00) r=1.11m +[headless_play] t= 8.70s step= 435 trunk_z= 93.7mm grav_b=(-0.00,-0.03,-1.00) r=1.13m +[headless_play] t= 8.80s step= 440 trunk_z= 94.0mm grav_b=(+0.02,+0.04,-1.00) r=1.16m +[headless_play] t= 8.90s step= 445 trunk_z= 96.3mm grav_b=(+0.07,-0.01,-1.00) r=1.20m +[headless_play] t= 9.00s step= 450 trunk_z= 88.7mm grav_b=(-0.01,-0.11,-0.99) r=1.24m +[headless_play] t= 9.10s step= 455 trunk_z= 98.8mm grav_b=(-0.03,-0.12,-0.99) r=1.26m +[headless_play] t= 9.20s step= 460 trunk_z= 91.6mm grav_b=(-0.00,-0.03,-1.00) r=1.29m +[headless_play] t= 9.30s step= 465 trunk_z= 95.2mm grav_b=(-0.00,+0.07,-1.00) r=1.30m +[headless_play] t= 9.40s step= 470 trunk_z= 95.1mm grav_b=(+0.02,+0.03,-1.00) r=1.31m +[headless_play] t= 9.50s step= 475 trunk_z= 88.1mm grav_b=(-0.01,-0.04,-1.00) r=1.32m +[headless_play] t= 9.60s step= 480 trunk_z= 95.7mm grav_b=(-0.03,-0.06,-1.00) r=1.33m +[headless_play] t= 9.70s step= 485 trunk_z= 90.7mm grav_b=(-0.00,-0.03,-1.00) r=1.35m +[headless_play] t= 9.80s step= 490 trunk_z= 91.3mm grav_b=(+0.03,+0.05,-1.00) r=1.38m +[headless_play] t= 9.90s step= 495 trunk_z= 93.9mm grav_b=(+0.04,+0.02,-1.00) r=1.39m +[headless_play] t= 10.00s step= 500 trunk_z= 86.3mm grav_b=(-0.01,-0.05,-1.00) r=1.39m +[headless_play] t= 10.10s step= 505 trunk_z= 99.5mm grav_b=(-0.01,-0.17,-0.99) r=1.40m +[headless_play] t= 10.20s step= 510 trunk_z= 106.0mm grav_b=(+0.05,-0.22,-0.97) r=1.39m +[headless_play] t= 10.30s step= 515 trunk_z= 102.7mm grav_b=(+0.05,-0.14,-0.99) r=1.39m +[headless_play] t= 10.40s step= 520 trunk_z= 96.3mm grav_b=(-0.02,-0.02,-1.00) r=1.42m +[headless_play] t= 10.50s step= 525 trunk_z= 105.8mm grav_b=(-0.07,+0.09,-0.99) r=1.43m +[headless_play] t= 10.60s step= 530 trunk_z= 97.8mm grav_b=(-0.02,+0.08,-1.00) r=1.45m +[headless_play] t= 10.70s step= 535 trunk_z= 95.2mm grav_b=(+0.04,+0.03,-1.00) r=1.45m +[headless_play] t= 10.80s step= 540 trunk_z= 93.9mm grav_b=(+0.06,+0.04,-1.00) r=1.45m +[headless_play] t= 10.90s step= 545 trunk_z= 92.5mm grav_b=(+0.05,+0.01,-1.00) r=1.45m +[headless_play] t= 11.00s step= 550 trunk_z= 90.5mm grav_b=(+0.01,-0.00,-1.00) r=1.44m +[headless_play] t= 11.10s step= 555 trunk_z= 90.7mm grav_b=(-0.01,+0.00,-1.00) r=1.44m +[headless_play] t= 11.20s step= 560 trunk_z= 90.5mm grav_b=(+0.00,+0.01,-1.00) r=1.44m +[headless_play] t= 11.30s step= 565 trunk_z= 90.6mm grav_b=(+0.02,+0.01,-1.00) r=1.44m +[headless_play] t= 11.40s step= 570 trunk_z= 90.4mm grav_b=(+0.00,+0.00,-1.00) r=1.44m +[headless_play] t= 11.50s step= 575 trunk_z= 90.4mm grav_b=(+0.00,+0.00,-1.00) r=1.44m +[headless_play] t= 11.60s step= 580 trunk_z= 91.5mm grav_b=(+0.06,+0.00,-1.00) r=1.45m +[headless_play] t= 11.70s step= 585 trunk_z= 93.0mm grav_b=(+0.07,+0.01,-1.00) r=1.45m +[headless_play] t= 11.80s step= 590 trunk_z= 93.3mm grav_b=(+0.08,+0.00,-1.00) r=1.45m +[headless_play] t= 11.90s step= 595 trunk_z= 93.8mm grav_b=(+0.06,-0.02,-1.00) r=1.45m +[headless_play] t= 12.00s step= 600 trunk_z= 88.2mm grav_b=(-0.03,+0.06,-1.00) r=1.47m +[headless_play] t= 12.10s step= 605 trunk_z= 90.4mm grav_b=(-0.05,+0.02,-1.00) r=1.47m +[headless_play] t= 12.20s step= 610 trunk_z= 90.8mm grav_b=(+0.01,+0.03,-1.00) r=1.48m +[headless_play] t= 12.30s step= 615 trunk_z= 91.4mm grav_b=(+0.04,+0.02,-1.00) r=1.49m +[headless_play] t= 12.40s step= 620 trunk_z= 91.5mm grav_b=(+0.04,+0.03,-1.00) r=1.49m +[headless_play] t= 12.50s step= 625 trunk_z= 90.2mm grav_b=(-0.00,+0.02,-1.00) r=1.48m +[headless_play] t= 12.60s step= 630 trunk_z= 90.4mm grav_b=(-0.02,+0.01,-1.00) r=1.48m +[headless_play] t= 12.70s step= 635 trunk_z= 90.4mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 12.80s step= 640 trunk_z= 90.4mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 12.90s step= 645 trunk_z= 90.4mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 13.00s step= 650 trunk_z= 90.5mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 13.10s step= 655 trunk_z= 90.6mm grav_b=(-0.09,+0.01,-1.00) r=1.48m +[headless_play] t= 13.20s step= 660 trunk_z= 90.8mm grav_b=(-0.08,-0.00,-1.00) r=1.47m +[headless_play] t= 13.30s step= 665 trunk_z= 81.6mm grav_b=(+0.03,-0.07,-1.00) r=1.44m +[headless_play] t= 13.40s step= 670 trunk_z= 87.5mm grav_b=(+0.05,+0.01,-1.00) r=1.44m +[headless_play] t= 13.50s step= 675 trunk_z= 90.4mm grav_b=(-0.01,-0.01,-1.00) r=1.43m +[headless_play] t= 13.60s step= 680 trunk_z= 90.2mm grav_b=(+0.01,-0.01,-1.00) r=1.43m +[headless_play] t= 13.70s step= 685 trunk_z= 90.2mm grav_b=(-0.01,-0.01,-1.00) r=1.43m +[headless_play] t= 13.80s step= 690 trunk_z= 90.4mm grav_b=(-0.02,-0.01,-1.00) r=1.43m +[headless_play] t= 13.90s step= 695 trunk_z= 90.4mm grav_b=(-0.02,-0.01,-1.00) r=1.43m +[headless_play] t= 14.00s step= 700 trunk_z= 90.5mm grav_b=(-0.03,-0.00,-1.00) r=1.43m +[headless_play] t= 14.10s step= 705 trunk_z= 90.5mm grav_b=(-0.03,-0.01,-1.00) r=1.43m +[headless_play] t= 14.20s step= 710 trunk_z= 90.4mm grav_b=(-0.03,-0.01,-1.00) r=1.43m +[headless_play] t= 14.30s step= 715 trunk_z= 90.4mm grav_b=(-0.02,-0.01,-1.00) r=1.43m +[headless_play] t= 14.40s step= 720 trunk_z= 90.4mm grav_b=(-0.02,-0.01,-1.00) r=1.43m +[headless_play] t= 14.50s step= 725 trunk_z= 90.4mm grav_b=(-0.03,-0.01,-1.00) r=1.43m +[headless_play] t= 14.60s step= 730 trunk_z= 93.6mm grav_b=(-0.01,+0.05,-1.00) r=1.44m +[headless_play] t= 14.70s step= 735 trunk_z= 93.5mm grav_b=(+0.01,+0.04,-1.00) r=1.44m +[headless_play] t= 14.80s step= 740 trunk_z= 92.5mm grav_b=(-0.01,+0.02,-1.00) r=1.44m +[headless_play] t= 14.90s step= 745 trunk_z= 91.5mm grav_b=(-0.05,+0.01,-1.00) r=1.43m +[headless_play] t= 15.00s step= 750 trunk_z= 91.7mm grav_b=(-0.04,+0.01,-1.00) r=1.43m +[headless_play] t= 15.10s step= 755 trunk_z= 91.7mm grav_b=(-0.03,+0.00,-1.00) r=1.44m +[headless_play] t= 15.20s step= 760 trunk_z= 91.7mm grav_b=(-0.03,+0.00,-1.00) r=1.43m +[headless_play] t= 15.30s step= 765 trunk_z= 91.6mm grav_b=(-0.04,+0.00,-1.00) r=1.43m +[headless_play] t= 15.40s step= 770 trunk_z= 91.8mm grav_b=(-0.03,+0.00,-1.00) r=1.43m +[headless_play] t= 15.50s step= 775 trunk_z= 91.7mm grav_b=(-0.06,-0.00,-1.00) r=1.43m +[headless_play] t= 15.60s step= 780 trunk_z= 91.8mm grav_b=(-0.07,+0.00,-1.00) r=1.43m +[headless_play] t= 15.70s step= 785 trunk_z= 90.7mm grav_b=(-0.08,-0.01,-1.00) r=1.42m +[headless_play] t= 15.80s step= 790 trunk_z= 87.9mm grav_b=(-0.00,+0.05,-1.00) r=1.42m +[headless_play] t= 15.90s step= 795 trunk_z= 90.4mm grav_b=(+0.03,+0.04,-1.00) r=1.42m +[headless_play] t= 16.00s step= 800 trunk_z= 90.9mm grav_b=(+0.02,-0.04,-1.00) r=1.41m +[headless_play] t= 16.10s step= 805 trunk_z= 88.3mm grav_b=(-0.05,+0.01,-1.00) r=1.40m +[headless_play] t= 16.20s step= 810 trunk_z= 90.5mm grav_b=(-0.07,-0.01,-1.00) r=1.39m +[headless_play] t= 16.30s step= 815 trunk_z= 91.1mm grav_b=(-0.04,-0.04,-1.00) r=1.38m +[headless_play] t= 16.40s step= 820 trunk_z= 90.2mm grav_b=(-0.04,+0.03,-1.00) r=1.38m +[headless_play] t= 16.50s step= 825 trunk_z= 91.1mm grav_b=(-0.02,+0.01,-1.00) r=1.38m +[headless_play] t= 16.60s step= 830 trunk_z= 91.3mm grav_b=(-0.00,+0.00,-1.00) r=1.38m +[headless_play] t= 16.70s step= 835 trunk_z= 92.1mm grav_b=(-0.06,-0.03,-1.00) r=1.37m +[headless_play] t= 16.80s step= 840 trunk_z= 92.2mm grav_b=(-0.07,-0.01,-1.00) r=1.37m +[headless_play] t= 16.90s step= 845 trunk_z= 91.3mm grav_b=(-0.08,-0.02,-1.00) r=1.36m +[headless_play] t= 17.00s step= 850 trunk_z= 89.6mm grav_b=(-0.02,+0.02,-1.00) r=1.36m +[headless_play] t= 17.10s step= 855 trunk_z= 89.9mm grav_b=(-0.00,+0.05,-1.00) r=1.36m +[headless_play] t= 17.20s step= 860 trunk_z= 90.4mm grav_b=(-0.01,-0.02,-1.00) r=1.35m +[headless_play] t= 17.30s step= 865 trunk_z= 94.8mm grav_b=(+0.03,-0.06,-1.00) r=1.35m +[headless_play] t= 17.40s step= 870 trunk_z= 93.6mm grav_b=(+0.01,-0.06,-1.00) r=1.35m +[headless_play] t= 17.50s step= 875 trunk_z= 91.0mm grav_b=(-0.02,-0.02,-1.00) r=1.34m +[headless_play] t= 17.60s step= 880 trunk_z= 90.7mm grav_b=(-0.04,-0.01,-1.00) r=1.34m +[headless_play] t= 17.70s step= 885 trunk_z= 90.9mm grav_b=(-0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 17.80s step= 890 trunk_z= 91.2mm grav_b=(-0.00,-0.01,-1.00) r=1.34m +[headless_play] t= 17.90s step= 895 trunk_z= 93.0mm grav_b=(+0.05,+0.02,-1.00) r=1.35m +[headless_play] t= 18.00s step= 900 trunk_z= 96.7mm grav_b=(+0.03,+0.01,-1.00) r=1.36m +[headless_play] t= 18.10s step= 905 trunk_z= 94.6mm grav_b=(-0.00,-0.04,-1.00) r=1.37m +[headless_play] t= 18.20s step= 910 trunk_z= 93.4mm grav_b=(-0.04,-0.02,-1.00) r=1.38m +[headless_play] t= 18.30s step= 915 trunk_z= 91.2mm grav_b=(-0.07,+0.01,-1.00) r=1.38m +[headless_play] t= 18.40s step= 920 trunk_z= 91.7mm grav_b=(-0.05,-0.00,-1.00) r=1.38m +[headless_play] t= 18.50s step= 925 trunk_z= 92.0mm grav_b=(-0.01,-0.00,-1.00) r=1.38m +[headless_play] t= 18.60s step= 930 trunk_z= 92.0mm grav_b=(-0.01,-0.00,-1.00) r=1.38m +[headless_play] t= 18.70s step= 935 trunk_z= 91.9mm grav_b=(-0.03,-0.00,-1.00) r=1.38m +[headless_play] t= 18.80s step= 940 trunk_z= 91.4mm grav_b=(-0.03,-0.01,-1.00) r=1.38m +[headless_play] t= 18.90s step= 945 trunk_z= 91.3mm grav_b=(-0.00,-0.01,-1.00) r=1.39m +[headless_play] t= 19.00s step= 950 trunk_z= 91.1mm grav_b=(+0.00,+0.00,-1.00) r=1.39m +[headless_play] t= 19.10s step= 955 trunk_z= 91.0mm grav_b=(-0.00,-0.00,-1.00) r=1.39m +[headless_play] t= 19.20s step= 960 trunk_z= 91.0mm grav_b=(-0.01,+0.00,-1.00) r=1.39m +[headless_play] t= 19.30s step= 965 trunk_z= 91.3mm grav_b=(-0.07,-0.00,-1.00) r=1.38m +[headless_play] t= 19.40s step= 970 trunk_z= 91.5mm grav_b=(-0.07,-0.01,-1.00) r=1.38m +[headless_play] t= 19.50s step= 975 trunk_z= 91.0mm grav_b=(-0.07,-0.01,-1.00) r=1.38m +[headless_play] t= 19.60s step= 980 trunk_z= 90.6mm grav_b=(-0.05,-0.01,-1.00) r=1.38m +[headless_play] t= 19.70s step= 985 trunk_z= 90.1mm grav_b=(-0.02,-0.01,-1.00) r=1.39m +[headless_play] t= 19.80s step= 990 trunk_z= 90.0mm grav_b=(+0.03,-0.00,-1.00) r=1.39m +[headless_play] t= 19.90s step= 995 trunk_z= 90.2mm grav_b=(+0.04,+0.00,-1.00) r=1.39m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.2mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) r=0.45m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t11.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..bcae4e83e3e8c8f93738b1e4f9ad4f8c1b039a79 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t11.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.3mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.232,-17.688,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.7mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.06,+0.00,-1.00) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 117.5mm grav_b=(-0.00,-0.02,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 117.1mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 117.9mm grav_b=(+0.06,-0.00,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 118.0mm grav_b=(+0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.90s step= 95 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(+0.00,-0.01,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.60s step= 130 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.00s step= 150 trunk_z= 117.6mm grav_b=(+0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 3.20s step= 160 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 3.60s step= 180 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 3.70s step= 185 trunk_z= 117.8mm grav_b=(+0.04,-0.00,-1.00) r=0.39m +[headless_play] t= 3.80s step= 190 trunk_z= 117.8mm grav_b=(+0.04,-0.00,-1.00) r=0.39m +[headless_play] t= 3.90s step= 195 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 4.10s step= 205 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 118.9mm grav_b=(-0.00,-0.03,-1.00) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 4.40s step= 220 trunk_z= 118.3mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 4.50s step= 225 trunk_z= 118.0mm grav_b=(+0.04,-0.00,-1.00) r=0.38m +[headless_play] t= 4.60s step= 230 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 4.70s step= 235 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 4.80s step= 240 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 4.90s step= 245 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 5.00s step= 250 trunk_z= 117.9mm grav_b=(+0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(+0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(+0.03,-0.00,-1.00) r=0.38m +[headless_play] t= 5.30s step= 265 trunk_z= 117.8mm grav_b=(+0.03,-0.00,-1.00) r=0.38m +[headless_play] t= 5.40s step= 270 trunk_z= 117.8mm grav_b=(+0.03,-0.00,-1.00) r=0.38m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(+0.03,-0.00,-1.00) r=0.38m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(+0.02,+0.00,-1.00) r=0.38m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 5.90s step= 295 trunk_z= 117.1mm grav_b=(+0.06,-0.00,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(+0.09,-0.00,-1.00) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 117.1mm grav_b=(+0.06,-0.00,-1.00) r=0.38m +[headless_play] t= 6.20s step= 310 trunk_z= 117.1mm grav_b=(+0.05,-0.00,-1.00) r=0.38m +[headless_play] t= 6.30s step= 315 trunk_z= 119.4mm grav_b=(+0.07,+0.02,-1.00) r=0.39m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(+0.08,+0.02,-1.00) r=0.39m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(+0.06,+0.01,-1.00) r=0.39m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(+0.03,+0.00,-1.00) r=0.39m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.04,+0.00,-1.00) r=0.39m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(+0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 7.00s step= 350 trunk_z= 117.3mm grav_b=(+0.05,-0.00,-1.00) r=0.39m +[headless_play] t= 7.10s step= 355 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.38m +[headless_play] t= 7.20s step= 360 trunk_z= 116.8mm grav_b=(+0.07,-0.06,-1.00) r=0.37m +[headless_play] t= 7.30s step= 365 trunk_z= 111.1mm grav_b=(+0.10,-0.11,-0.99) r=0.34m +[headless_play] t= 7.40s step= 370 trunk_z= 114.0mm grav_b=(+0.07,-0.05,-1.00) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 112.4mm grav_b=(+0.12,-0.00,-0.99) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 114.2mm grav_b=(+0.09,-0.02,-1.00) r=0.33m +[headless_play] t= 7.70s step= 385 trunk_z= 115.1mm grav_b=(+0.11,-0.02,-0.99) r=0.33m +[headless_play] t= 7.80s step= 390 trunk_z= 116.0mm grav_b=(+0.10,-0.01,-1.00) r=0.33m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(+0.08,-0.00,-1.00) r=0.33m +[headless_play] t= 8.00s step= 400 trunk_z= 115.8mm grav_b=(+0.07,-0.00,-1.00) r=0.33m +[headless_play] t= 8.10s step= 405 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 8.20s step= 410 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.32m +[headless_play] t= 8.30s step= 415 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.32m +[headless_play] t= 8.40s step= 420 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 8.50s step= 425 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 8.60s step= 430 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00) r=0.32m +[headless_play] t= 8.70s step= 435 trunk_z= 115.8mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 8.80s step= 440 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 8.90s step= 445 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.32m +[headless_play] t= 9.00s step= 450 trunk_z= 115.9mm grav_b=(+0.07,-0.01,-1.00) r=0.32m +[headless_play] t= 9.10s step= 455 trunk_z= 116.0mm grav_b=(+0.08,-0.01,-1.00) r=0.32m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(+0.07,-0.01,-1.00) r=0.32m +[headless_play] t= 9.30s step= 465 trunk_z= 116.0mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 9.50s step= 475 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.31m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(-0.03,-0.00,-1.00) r=0.30m +[headless_play] t= 9.70s step= 485 trunk_z= 99.3mm grav_b=(+0.13,-0.11,-0.99) r=0.27m +[headless_play] t= 9.80s step= 490 trunk_z= 111.1mm grav_b=(+0.21,-0.06,-0.98) r=0.27m +[headless_play] t= 9.90s step= 495 trunk_z= 114.6mm grav_b=(+0.16,-0.02,-0.99) r=0.27m +[headless_play] t= 10.00s step= 500 trunk_z= 116.5mm grav_b=(+0.16,-0.02,-0.99) r=0.26m +[headless_play] t= 10.10s step= 505 trunk_z= 119.1mm grav_b=(+0.20,+0.04,-0.98) r=0.28m +[headless_play] t= 10.20s step= 510 trunk_z= 119.5mm grav_b=(+0.11,-0.01,-0.99) r=0.29m +[headless_play] t= 10.30s step= 515 trunk_z= 121.5mm grav_b=(+0.07,-0.04,-1.00) r=0.30m +[headless_play] t= 10.40s step= 520 trunk_z= 115.1mm grav_b=(+0.04,+0.02,-1.00) r=0.31m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 10.70s step= 535 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 10.80s step= 540 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) r=0.32m +[headless_play] t= 10.90s step= 545 trunk_z= 117.3mm grav_b=(+0.15,-0.01,-0.99) r=0.33m +[headless_play] t= 11.00s step= 550 trunk_z= 119.5mm grav_b=(+0.15,-0.02,-0.99) r=0.33m +[headless_play] t= 11.10s step= 555 trunk_z= 120.2mm grav_b=(+0.16,-0.02,-0.99) r=0.34m +[headless_play] t= 11.20s step= 560 trunk_z= 115.6mm grav_b=(+0.09,+0.04,-1.00) r=0.36m +[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(+0.05,+0.00,-1.00) r=0.37m +[headless_play] t= 11.40s step= 570 trunk_z= 121.8mm grav_b=(+0.05,-0.13,-0.99) r=0.37m +[headless_play] t= 11.50s step= 575 trunk_z= 129.3mm grav_b=(+0.01,-0.24,-0.97) r=0.36m +[headless_play] t= 11.60s step= 580 trunk_z= 137.0mm grav_b=(-0.01,-0.27,-0.96) r=0.35m +[headless_play] t= 11.70s step= 585 trunk_z= 134.9mm grav_b=(-0.02,-0.22,-0.98) r=0.34m +[headless_play] t= 11.80s step= 590 trunk_z= 120.3mm grav_b=(+0.09,-0.21,-0.97) r=0.33m +[headless_play] t= 11.90s step= 595 trunk_z= 98.8mm grav_b=(+0.12,-0.13,-0.98) r=0.35m +[headless_play] t= 12.00s step= 600 trunk_z= 117.9mm grav_b=(+0.14,-0.06,-0.99) r=0.37m +[headless_play] t= 12.10s step= 605 trunk_z= 118.9mm grav_b=(+0.12,-0.01,-0.99) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 119.3mm grav_b=(+0.03,-0.07,-1.00) r=0.40m +[headless_play] t= 12.30s step= 615 trunk_z= 120.5mm grav_b=(+0.06,-0.11,-0.99) r=0.42m +[headless_play] t= 12.40s step= 620 trunk_z= 117.3mm grav_b=(+0.07,-0.07,-1.00) r=0.42m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(+0.06,-0.00,-1.00) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 117.0mm grav_b=(+0.07,-0.02,-1.00) r=0.41m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(+0.08,-0.02,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 116.9mm grav_b=(+0.07,-0.02,-1.00) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 116.9mm grav_b=(+0.06,-0.02,-1.00) r=0.41m +[headless_play] t= 13.00s step= 650 trunk_z= 117.0mm grav_b=(+0.04,-0.02,-1.00) r=0.41m +[headless_play] t= 13.10s step= 655 trunk_z= 117.7mm grav_b=(-0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 117.8mm grav_b=(+0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 117.2mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 13.40s step= 670 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=0.41m +[headless_play] t= 13.50s step= 675 trunk_z= 117.5mm grav_b=(+0.06,-0.01,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(+0.05,-0.00,-1.00) r=0.40m +[headless_play] t= 13.70s step= 685 trunk_z= 119.7mm grav_b=(+0.05,+0.03,-1.00) r=0.40m +[headless_play] t= 13.80s step= 690 trunk_z= 118.4mm grav_b=(+0.04,+0.00,-1.00) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 118.2mm grav_b=(+0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 14.00s step= 700 trunk_z= 118.0mm grav_b=(+0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 14.10s step= 705 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 14.20s step= 710 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 14.30s step= 715 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 14.40s step= 720 trunk_z= 116.9mm grav_b=(+0.04,-0.03,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 113.9mm grav_b=(+0.12,-0.09,-0.99) r=0.42m +[headless_play] t= 14.60s step= 730 trunk_z= 116.4mm grav_b=(+0.08,-0.02,-1.00) r=0.41m +[headless_play] t= 14.70s step= 735 trunk_z= 117.1mm grav_b=(+0.05,+0.00,-1.00) r=0.40m +[headless_play] t= 14.80s step= 740 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.40m +[headless_play] t= 14.90s step= 745 trunk_z= 117.6mm grav_b=(+0.07,+0.00,-1.00) r=0.40m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(+0.07,-0.00,-1.00) r=0.41m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.40m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 15.50s step= 775 trunk_z= 117.3mm grav_b=(+0.04,-0.00,-1.00) r=0.40m +[headless_play] t= 15.60s step= 780 trunk_z= 119.7mm grav_b=(+0.13,+0.01,-0.99) r=0.40m +[headless_play] t= 15.70s step= 785 trunk_z= 120.7mm grav_b=(+0.06,-0.03,-1.00) r=0.42m +[headless_play] t= 15.80s step= 790 trunk_z= 119.3mm grav_b=(+0.07,-0.07,-1.00) r=0.43m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 16.00s step= 800 trunk_z= 118.7mm grav_b=(+0.01,+0.01,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 117.9mm grav_b=(+0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 117.7mm grav_b=(+0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 118.5mm grav_b=(+0.01,+0.00,-1.00) r=0.41m +[headless_play] t= 16.40s step= 820 trunk_z= 118.0mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 16.60s step= 830 trunk_z= 117.5mm grav_b=(+0.05,-0.01,-1.00) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(+0.05,-0.00,-1.00) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 117.1mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 17.10s step= 855 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 114.8mm grav_b=(+0.03,-0.04,-1.00) r=0.42m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(+0.06,-0.08,-0.99) r=0.42m +[headless_play] t= 17.50s step= 875 trunk_z= 115.5mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 17.60s step= 880 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 17.80s step= 890 trunk_z= 117.8mm grav_b=(-0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 18.00s step= 900 trunk_z= 111.1mm grav_b=(+0.06,+0.05,-1.00) r=0.38m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(+0.09,+0.02,-1.00) r=0.38m +[headless_play] t= 18.20s step= 910 trunk_z= 112.7mm grav_b=(+0.14,-0.04,-0.99) r=0.39m +[headless_play] t= 18.30s step= 915 trunk_z= 115.2mm grav_b=(+0.18,-0.02,-0.98) r=0.39m +[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(+0.16,-0.08,-0.98) r=0.41m +[headless_play] t= 18.50s step= 925 trunk_z= 129.1mm grav_b=(+0.18,-0.13,-0.97) r=0.43m +[headless_play] t= 18.60s step= 930 trunk_z= 130.7mm grav_b=(+0.09,-0.06,-0.99) r=0.45m +[headless_play] t= 18.70s step= 935 trunk_z= 122.1mm grav_b=(+0.06,-0.03,-1.00) r=0.45m +[headless_play] t= 18.80s step= 940 trunk_z= 121.1mm grav_b=(+0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 18.90s step= 945 trunk_z= 118.7mm grav_b=(+0.00,-0.08,-1.00) r=0.48m +[headless_play] t= 19.00s step= 950 trunk_z= 122.5mm grav_b=(-0.04,-0.07,-1.00) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 19.20s step= 960 trunk_z= 118.3mm grav_b=(+0.10,+0.03,-0.99) r=0.46m +[headless_play] t= 19.30s step= 965 trunk_z= 117.8mm grav_b=(+0.10,-0.05,-0.99) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 120.0mm grav_b=(+0.10,-0.02,-0.99) r=0.48m +[headless_play] t= 19.50s step= 975 trunk_z= 118.0mm grav_b=(+0.14,+0.01,-0.99) r=0.48m +[headless_play] t= 19.60s step= 980 trunk_z= 119.9mm grav_b=(+0.17,-0.03,-0.99) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 114.3mm grav_b=(+0.07,-0.10,-0.99) r=0.52m +[headless_play] t= 19.80s step= 990 trunk_z= 119.4mm grav_b=(+0.05,-0.04,-1.00) r=0.53m +[headless_play] t= 19.90s step= 995 trunk_z= 117.2mm grav_b=(+0.05,+0.01,-1.00) r=0.52m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.6mm grav_b=(-0.01,-0.00,-1.00) r=0.12m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.02,+0.04,-1.00) r=0.11m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t12.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..58c8cf939e113161f4cdfed0ecf68eeaf8f406c3 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t12.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.0mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.856,-18.074,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.4mm grav_b=(-0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.00,+0.02,-1.00) r=0.16m +[headless_play] t= 0.20s step= 10 trunk_z= 113.3mm grav_b=(+0.01,+0.08,-1.00) r=0.16m +[headless_play] t= 0.30s step= 15 trunk_z= 125.0mm grav_b=(+0.01,+0.07,-1.00) r=0.16m +[headless_play] t= 0.40s step= 20 trunk_z= 124.9mm grav_b=(+0.04,+0.08,-1.00) r=0.14m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.05,+0.00,-1.00) r=0.12m +[headless_play] t= 0.60s step= 30 trunk_z= 122.8mm grav_b=(+0.04,-0.02,-1.00) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 118.4mm grav_b=(+0.02,+0.00,-1.00) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 125.1mm grav_b=(-0.01,+0.06,-1.00) r=0.09m +[headless_play] t= 0.90s step= 45 trunk_z= 123.5mm grav_b=(+0.00,+0.07,-1.00) r=0.07m +[headless_play] t= 1.00s step= 50 trunk_z= 117.0mm grav_b=(-0.03,-0.07,-1.00) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 131.1mm grav_b=(-0.05,-0.17,-0.98) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 134.5mm grav_b=(+0.04,-0.19,-0.98) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 131.2mm grav_b=(+0.06,-0.38,-0.92) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 141.4mm grav_b=(-0.05,-0.30,-0.95) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 126.5mm grav_b=(-0.13,-0.35,-0.93) r=0.19m +[headless_play] t= 1.60s step= 80 trunk_z= 113.6mm grav_b=(+0.10,-0.49,-0.87) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 125.6mm grav_b=(+0.24,-0.34,-0.91) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 111.3mm grav_b=(+0.11,-0.09,-0.99) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 130.3mm grav_b=(-0.02,+0.12,-0.99) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 130.8mm grav_b=(-0.09,+0.22,-0.97) r=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 131.5mm grav_b=(-0.01,+0.20,-0.98) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 130.3mm grav_b=(+0.01,+0.19,-0.98) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 129.0mm grav_b=(+0.05,+0.19,-0.98) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 128.6mm grav_b=(+0.02,+0.16,-0.99) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 122.0mm grav_b=(+0.05,+0.10,-0.99) r=0.45m +[headless_play] t= 2.60s step= 130 trunk_z= 128.8mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 123.9mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 2.80s step= 140 trunk_z= 123.7mm grav_b=(+0.01,+0.06,-1.00) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 121.1mm grav_b=(-0.01,+0.06,-1.00) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 118.5mm grav_b=(+0.00,-0.03,-1.00) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 123.4mm grav_b=(+0.01,-0.01,-1.00) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.03,+0.03,-1.00) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 127.5mm grav_b=(+0.05,+0.04,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 131.5mm grav_b=(+0.05,+0.10,-0.99) r=0.58m +[headless_play] t= 3.50s step= 175 trunk_z= 121.4mm grav_b=(+0.00,+0.07,-1.00) r=0.61m +[headless_play] t= 3.60s step= 180 trunk_z= 129.1mm grav_b=(-0.00,+0.07,-1.00) r=0.64m +[headless_play] t= 3.70s step= 185 trunk_z= 114.3mm grav_b=(+0.02,+0.08,-1.00) r=0.68m +[headless_play] t= 3.80s step= 190 trunk_z= 123.5mm grav_b=(+0.03,+0.05,-1.00) r=0.69m +[headless_play] t= 3.90s step= 195 trunk_z= 119.0mm grav_b=(+0.01,+0.02,-1.00) r=0.70m +[headless_play] t= 4.00s step= 200 trunk_z= 120.2mm grav_b=(-0.04,-0.04,-1.00) r=0.70m +[headless_play] t= 4.10s step= 205 trunk_z= 122.6mm grav_b=(-0.10,-0.04,-0.99) r=0.69m +[headless_play] t= 4.20s step= 210 trunk_z= 111.9mm grav_b=(-0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(+0.09,+0.01,-1.00) r=0.66m +[headless_play] t= 4.40s step= 220 trunk_z= 120.7mm grav_b=(+0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 119.9mm grav_b=(+0.06,-0.07,-1.00) r=0.68m +[headless_play] t= 4.60s step= 230 trunk_z= 130.4mm grav_b=(+0.06,-0.06,-1.00) r=0.70m +[headless_play] t= 4.70s step= 235 trunk_z= 125.0mm grav_b=(+0.02,-0.04,-1.00) r=0.73m +[headless_play] t= 4.80s step= 240 trunk_z= 121.0mm grav_b=(+0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 4.90s step= 245 trunk_z= 123.0mm grav_b=(-0.01,+0.03,-1.00) r=0.77m +[headless_play] t= 5.00s step= 250 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00) r=0.78m +[headless_play] t= 5.10s step= 255 trunk_z= 119.8mm grav_b=(-0.14,-0.00,-0.99) r=0.77m +[headless_play] t= 5.20s step= 260 trunk_z= 113.3mm grav_b=(-0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 5.30s step= 265 trunk_z= 114.6mm grav_b=(+0.09,+0.04,-1.00) r=0.73m +[headless_play] t= 5.40s step= 270 trunk_z= 118.4mm grav_b=(+0.00,+0.01,-1.00) r=0.73m +[headless_play] t= 5.50s step= 275 trunk_z= 118.3mm grav_b=(+0.05,-0.06,-1.00) r=0.76m +[headless_play] t= 5.60s step= 280 trunk_z= 128.5mm grav_b=(+0.01,-0.15,-0.99) r=0.77m +[headless_play] t= 5.70s step= 285 trunk_z= 131.6mm grav_b=(+0.07,-0.13,-0.99) r=0.77m +[headless_play] t= 5.80s step= 290 trunk_z= 128.1mm grav_b=(+0.04,-0.09,-1.00) r=0.79m +[headless_play] t= 5.90s step= 295 trunk_z= 129.7mm grav_b=(+0.07,-0.01,-1.00) r=0.82m +[headless_play] t= 6.00s step= 300 trunk_z= 137.5mm grav_b=(+0.01,+0.03,-1.00) r=0.85m +[headless_play] t= 6.10s step= 305 trunk_z= 116.7mm grav_b=(-0.03,-0.03,-1.00) r=0.89m +[headless_play] t= 6.20s step= 310 trunk_z= 119.1mm grav_b=(+0.03,-0.03,-1.00) r=0.91m +[headless_play] t= 6.30s step= 315 trunk_z= 120.5mm grav_b=(-0.04,-0.01,-1.00) r=0.92m +[headless_play] t= 6.40s step= 320 trunk_z= 120.8mm grav_b=(-0.01,+0.05,-1.00) r=0.92m +[headless_play] t= 6.50s step= 325 trunk_z= 121.0mm grav_b=(+0.01,+0.01,-1.00) r=0.93m +[headless_play] t= 6.60s step= 330 trunk_z= 112.1mm grav_b=(+0.00,-0.09,-1.00) r=0.97m +[headless_play] t= 6.70s step= 335 trunk_z= 107.0mm grav_b=(+0.10,-0.25,-0.96) r=1.01m +[headless_play] t= 6.80s step= 340 trunk_z= 98.9mm grav_b=(+0.17,-0.17,-0.97) r=1.06m +[headless_play] t= 6.90s step= 345 trunk_z= 67.4mm grav_b=(+0.06,+0.07,-1.00) r=1.15m +[headless_play] t= 7.00s step= 350 trunk_z= 98.7mm grav_b=(+0.02,+0.13,-0.99) r=1.17m +[headless_play] t= 7.10s step= 355 trunk_z= 107.5mm grav_b=(-0.04,+0.19,-0.98) r=1.20m +[headless_play] t= 7.20s step= 360 trunk_z= 109.2mm grav_b=(-0.01,+0.21,-0.98) r=1.21m +[headless_play] t= 7.30s step= 365 trunk_z= 105.9mm grav_b=(-0.06,+0.26,-0.96) r=1.23m +[headless_play] t= 7.40s step= 370 trunk_z= 103.6mm grav_b=(-0.05,+0.37,-0.93) r=1.26m +[headless_play] t= 7.50s step= 375 trunk_z= 91.6mm grav_b=(+0.11,+0.59,-0.80) r=1.29m +[headless_play] t= 7.60s step= 380 trunk_z= 67.0mm grav_b=(+0.24,+0.85,-0.47) r=1.35m +[headless_play] RESET at t= 7.64s step= 382 (env termination, not a recovery) +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 7.80s step= 390 trunk_z= 111.9mm grav_b=(+0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 7.90s step= 395 trunk_z= 115.7mm grav_b=(+0.03,-0.08,-1.00) r=0.39m +[headless_play] t= 8.00s step= 400 trunk_z= 114.2mm grav_b=(+0.04,-0.06,-1.00) r=0.38m +[headless_play] t= 8.10s step= 405 trunk_z= 111.5mm grav_b=(+0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 118.5mm grav_b=(+0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 8.30s step= 415 trunk_z= 108.7mm grav_b=(+0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(+0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 8.50s step= 425 trunk_z= 112.6mm grav_b=(+0.06,-0.05,-1.00) r=0.40m +[headless_play] t= 8.60s step= 430 trunk_z= 109.8mm grav_b=(+0.06,+0.02,-1.00) r=0.39m +[headless_play] t= 8.70s step= 435 trunk_z= 117.8mm grav_b=(+0.06,+0.03,-1.00) r=0.39m +[headless_play] t= 8.80s step= 440 trunk_z= 110.9mm grav_b=(+0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 8.90s step= 445 trunk_z= 116.9mm grav_b=(-0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 9.00s step= 450 trunk_z= 118.8mm grav_b=(+0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 9.10s step= 455 trunk_z= 114.0mm grav_b=(+0.08,-0.02,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 111.7mm grav_b=(+0.17,+0.05,-0.98) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 115.2mm grav_b=(+0.08,-0.03,-1.00) r=0.42m +[headless_play] t= 9.40s step= 470 trunk_z= 120.3mm grav_b=(-0.03,-0.04,-1.00) r=0.45m +[headless_play] t= 9.50s step= 475 trunk_z= 118.4mm grav_b=(+0.05,+0.00,-1.00) r=0.46m +[headless_play] t= 9.60s step= 480 trunk_z= 112.5mm grav_b=(+0.02,+0.02,-1.00) r=0.47m +[headless_play] t= 9.70s step= 485 trunk_z= 115.7mm grav_b=(+0.09,+0.00,-1.00) r=0.47m +[headless_play] t= 9.80s step= 490 trunk_z= 110.2mm grav_b=(+0.06,-0.01,-1.00) r=0.49m +[headless_play] t= 9.90s step= 495 trunk_z= 122.1mm grav_b=(-0.06,-0.08,-1.00) r=0.49m +[headless_play] t= 10.00s step= 500 trunk_z= 129.3mm grav_b=(-0.04,-0.06,-1.00) r=0.49m +[headless_play] t= 10.10s step= 505 trunk_z= 119.9mm grav_b=(+0.14,-0.01,-0.99) r=0.46m +[headless_play] t= 10.20s step= 510 trunk_z= 111.2mm grav_b=(+0.11,-0.00,-0.99) r=0.44m +[headless_play] t= 10.30s step= 515 trunk_z= 108.5mm grav_b=(-0.01,+0.04,-1.00) r=0.45m +[headless_play] t= 10.40s step= 520 trunk_z= 120.4mm grav_b=(-0.01,-0.10,-1.00) r=0.47m +[headless_play] t= 10.50s step= 525 trunk_z= 126.5mm grav_b=(-0.04,-0.12,-0.99) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 125.4mm grav_b=(+0.01,-0.07,-1.00) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(+0.04,-0.08,-1.00) r=0.47m +[headless_play] t= 10.80s step= 540 trunk_z= 123.2mm grav_b=(-0.04,+0.11,-0.99) r=0.45m +[headless_play] t= 10.90s step= 545 trunk_z= 128.0mm grav_b=(+0.02,+0.17,-0.99) r=0.44m +[headless_play] t= 11.00s step= 550 trunk_z= 127.8mm grav_b=(+0.04,+0.20,-0.98) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 125.3mm grav_b=(-0.02,+0.16,-0.99) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 125.6mm grav_b=(-0.01,+0.08,-1.00) r=0.45m +[headless_play] t= 11.30s step= 565 trunk_z= 119.8mm grav_b=(+0.08,+0.04,-1.00) r=0.46m +[headless_play] t= 11.40s step= 570 trunk_z= 118.7mm grav_b=(-0.07,+0.13,-0.99) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 127.1mm grav_b=(-0.00,+0.14,-0.99) r=0.43m +[headless_play] t= 11.60s step= 580 trunk_z= 123.4mm grav_b=(+0.05,+0.11,-0.99) r=0.42m +[headless_play] t= 11.70s step= 585 trunk_z= 115.7mm grav_b=(-0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 124.7mm grav_b=(-0.05,-0.06,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 122.4mm grav_b=(-0.02,-0.02,-1.00) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 111.4mm grav_b=(+0.04,+0.02,-1.00) r=0.42m +[headless_play] t= 12.10s step= 605 trunk_z= 113.7mm grav_b=(+0.06,+0.04,-1.00) r=0.42m +[headless_play] t= 12.20s step= 610 trunk_z= 111.8mm grav_b=(-0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 12.30s step= 615 trunk_z= 121.1mm grav_b=(-0.02,-0.06,-1.00) r=0.44m +[headless_play] t= 12.40s step= 620 trunk_z= 112.3mm grav_b=(+0.06,+0.04,-1.00) r=0.41m +[headless_play] t= 12.50s step= 625 trunk_z= 120.3mm grav_b=(+0.07,+0.08,-0.99) r=0.39m +[headless_play] t= 12.60s step= 630 trunk_z= 121.1mm grav_b=(+0.03,+0.05,-1.00) r=0.38m +[headless_play] t= 12.70s step= 635 trunk_z= 114.4mm grav_b=(+0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 12.80s step= 640 trunk_z= 123.6mm grav_b=(-0.04,-0.10,-0.99) r=0.42m +[headless_play] t= 12.90s step= 645 trunk_z= 122.9mm grav_b=(+0.00,-0.09,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 115.3mm grav_b=(+0.02,-0.03,-1.00) r=0.41m +[headless_play] t= 13.10s step= 655 trunk_z= 114.0mm grav_b=(+0.06,-0.05,-1.00) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 114.7mm grav_b=(+0.04,-0.02,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 115.1mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.40s step= 670 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.50s step= 675 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 13.70s step= 685 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 116.1mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 13.90s step= 695 trunk_z= 116.3mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 14.20s step= 710 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 14.30s step= 715 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 118.7mm grav_b=(+0.07,+0.00,-1.00) r=0.41m +[headless_play] t= 14.60s step= 730 trunk_z= 119.9mm grav_b=(+0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 14.70s step= 735 trunk_z= 121.7mm grav_b=(+0.04,-0.03,-1.00) r=0.41m +[headless_play] t= 14.80s step= 740 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 14.90s step= 745 trunk_z= 114.4mm grav_b=(-0.06,-0.02,-1.00) r=0.41m +[headless_play] t= 15.00s step= 750 trunk_z= 116.5mm grav_b=(-0.05,-0.02,-1.00) r=0.41m +[headless_play] t= 15.10s step= 755 trunk_z= 118.9mm grav_b=(-0.07,-0.01,-1.00) r=0.41m +[headless_play] t= 15.20s step= 760 trunk_z= 101.7mm grav_b=(+0.03,-0.06,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 111.5mm grav_b=(+0.10,-0.05,-0.99) r=0.43m +[headless_play] t= 15.40s step= 770 trunk_z= 107.1mm grav_b=(+0.09,-0.02,-1.00) r=0.41m +[headless_play] t= 15.50s step= 775 trunk_z= 109.3mm grav_b=(+0.08,-0.03,-1.00) r=0.41m +[headless_play] t= 15.60s step= 780 trunk_z= 112.8mm grav_b=(+0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 15.70s step= 785 trunk_z= 114.3mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 15.80s step= 790 trunk_z= 115.0mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 15.90s step= 795 trunk_z= 115.2mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 16.00s step= 800 trunk_z= 115.6mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 115.5mm grav_b=(+0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 16.50s step= 825 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 16.70s step= 835 trunk_z= 118.4mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 16.90s step= 845 trunk_z= 117.3mm grav_b=(-0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 17.00s step= 850 trunk_z= 117.3mm grav_b=(+0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 17.10s step= 855 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 17.20s step= 860 trunk_z= 115.1mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 110.9mm grav_b=(-0.01,-0.07,-1.00) r=0.43m +[headless_play] t= 17.40s step= 870 trunk_z= 117.6mm grav_b=(+0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 17.50s step= 875 trunk_z= 110.2mm grav_b=(+0.03,+0.07,-1.00) r=0.39m +[headless_play] t= 17.60s step= 880 trunk_z= 124.4mm grav_b=(+0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 17.70s step= 885 trunk_z= 118.3mm grav_b=(+0.01,+0.03,-1.00) r=0.38m +[headless_play] t= 17.80s step= 890 trunk_z= 120.6mm grav_b=(-0.00,-0.04,-1.00) r=0.40m +[headless_play] t= 17.90s step= 895 trunk_z= 123.0mm grav_b=(-0.00,-0.07,-1.00) r=0.40m +[headless_play] t= 18.00s step= 900 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=0.39m +[headless_play] t= 18.10s step= 905 trunk_z= 121.9mm grav_b=(+0.01,+0.03,-1.00) r=0.37m +[headless_play] t= 18.20s step= 910 trunk_z= 119.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 18.30s step= 915 trunk_z= 118.5mm grav_b=(+0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 18.40s step= 920 trunk_z= 124.9mm grav_b=(+0.06,-0.02,-1.00) r=0.39m +[headless_play] t= 18.50s step= 925 trunk_z= 117.9mm grav_b=(+0.00,+0.00,-1.00) r=0.38m +[headless_play] t= 18.60s step= 930 trunk_z= 125.0mm grav_b=(-0.03,+0.01,-1.00) r=0.38m +[headless_play] t= 18.70s step= 935 trunk_z= 115.2mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 18.80s step= 940 trunk_z= 123.3mm grav_b=(-0.02,-0.07,-1.00) r=0.41m +[headless_play] t= 18.90s step= 945 trunk_z= 124.0mm grav_b=(+0.00,-0.07,-1.00) r=0.41m +[headless_play] t= 19.00s step= 950 trunk_z= 119.2mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 19.10s step= 955 trunk_z= 124.1mm grav_b=(+0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 19.20s step= 960 trunk_z= 120.7mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 19.30s step= 965 trunk_z= 120.8mm grav_b=(-0.01,-0.04,-1.00) r=0.43m +[headless_play] t= 19.40s step= 970 trunk_z= 122.0mm grav_b=(+0.00,-0.04,-1.00) r=0.44m +[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 19.60s step= 980 trunk_z= 122.4mm grav_b=(-0.00,+0.02,-1.00) r=0.42m +[headless_play] t= 19.70s step= 985 trunk_z= 113.5mm grav_b=(+0.03,-0.05,-1.00) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 126.5mm grav_b=(+0.05,-0.11,-0.99) r=0.48m +[headless_play] t= 19.90s step= 995 trunk_z= 126.1mm grav_b=(+0.04,-0.11,-0.99) r=0.50m +[headless_play] t= 20.00s step=1000 trunk_z= 123.5mm grav_b=(+0.03,-0.05,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 123.0mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t13.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..51a0f17761421b7d137594eb58b1b34402ba9483 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t13.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-1.897,-18.207,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.1mm grav_b=(-0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 0.20s step= 10 trunk_z= 112.1mm grav_b=(-0.07,-0.07,-0.99) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(-0.12,-0.02,-0.99) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 112.7mm grav_b=(-0.14,+0.04,-0.99) r=0.24m +[headless_play] t= 0.50s step= 25 trunk_z= 117.6mm grav_b=(-0.15,+0.05,-0.99) r=0.23m +[headless_play] t= 0.60s step= 30 trunk_z= 120.1mm grav_b=(-0.13,+0.05,-0.99) r=0.23m +[headless_play] t= 0.70s step= 35 trunk_z= 106.0mm grav_b=(-0.10,+0.05,-0.99) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 114.8mm grav_b=(-0.11,+0.10,-0.99) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 102.9mm grav_b=(-0.05,+0.08,-1.00) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 101.5mm grav_b=(-0.05,+0.02,-1.00) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 98.1mm grav_b=(-0.04,-0.04,-1.00) r=0.25m +[headless_play] t= 1.20s step= 60 trunk_z= 108.9mm grav_b=(-0.06,-0.02,-1.00) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 110.2mm grav_b=(-0.07,+0.02,-1.00) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 103.3mm grav_b=(-0.09,+0.06,-0.99) r=0.23m +[headless_play] t= 1.50s step= 75 trunk_z= 112.7mm grav_b=(-0.07,+0.07,-1.00) r=0.22m +[headless_play] t= 1.60s step= 80 trunk_z= 110.8mm grav_b=(-0.02,+0.04,-1.00) r=0.24m +[headless_play] t= 1.70s step= 85 trunk_z= 108.8mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 1.80s step= 90 trunk_z= 111.2mm grav_b=(-0.04,-0.00,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 107.9mm grav_b=(-0.04,+0.04,-1.00) r=0.25m +[headless_play] t= 2.00s step= 100 trunk_z= 112.2mm grav_b=(-0.04,+0.06,-1.00) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 112.9mm grav_b=(-0.04,+0.02,-1.00) r=0.24m +[headless_play] t= 2.20s step= 110 trunk_z= 107.5mm grav_b=(-0.00,-0.02,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 110.8mm grav_b=(-0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 104.6mm grav_b=(+0.07,+0.07,-1.00) r=0.29m +[headless_play] t= 2.50s step= 125 trunk_z= 114.4mm grav_b=(-0.01,+0.14,-0.99) r=0.29m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(-0.06,+0.10,-0.99) r=0.31m +[headless_play] t= 2.70s step= 135 trunk_z= 110.5mm grav_b=(-0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 113.0mm grav_b=(-0.08,+0.02,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 109.7mm grav_b=(-0.05,+0.06,-1.00) r=0.31m +[headless_play] t= 3.00s step= 150 trunk_z= 111.7mm grav_b=(-0.05,+0.08,-1.00) r=0.29m +[headless_play] t= 3.10s step= 155 trunk_z= 112.4mm grav_b=(-0.03,+0.07,-1.00) r=0.29m +[headless_play] t= 3.20s step= 160 trunk_z= 108.2mm grav_b=(+0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 3.30s step= 165 trunk_z= 112.1mm grav_b=(-0.02,-0.02,-1.00) r=0.30m +[headless_play] t= 3.40s step= 170 trunk_z= 113.7mm grav_b=(-0.04,+0.01,-1.00) r=0.30m +[headless_play] t= 3.50s step= 175 trunk_z= 108.3mm grav_b=(-0.06,+0.05,-1.00) r=0.28m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(-0.06,+0.08,-0.99) r=0.26m +[headless_play] t= 3.70s step= 185 trunk_z= 115.0mm grav_b=(-0.06,+0.06,-1.00) r=0.26m +[headless_play] t= 3.80s step= 190 trunk_z= 111.0mm grav_b=(-0.03,-0.00,-1.00) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 117.7mm grav_b=(-0.13,-0.11,-0.99) r=0.30m +[headless_play] t= 4.00s step= 200 trunk_z= 122.5mm grav_b=(-0.15,-0.11,-0.98) r=0.31m +[headless_play] t= 4.10s step= 205 trunk_z= 119.9mm grav_b=(-0.12,-0.05,-0.99) r=0.30m +[headless_play] t= 4.20s step= 210 trunk_z= 111.9mm grav_b=(-0.08,+0.01,-1.00) r=0.28m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(-0.08,+0.01,-1.00) r=0.29m +[headless_play] t= 4.40s step= 220 trunk_z= 114.2mm grav_b=(-0.10,-0.00,-1.00) r=0.32m +[headless_play] t= 4.50s step= 225 trunk_z= 115.7mm grav_b=(-0.06,-0.07,-1.00) r=0.34m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(-0.04,-0.05,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 107.4mm grav_b=(+0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(-0.04,+0.08,-1.00) r=0.31m +[headless_play] t= 4.90s step= 245 trunk_z= 116.4mm grav_b=(-0.06,+0.04,-1.00) r=0.31m +[headless_play] t= 5.00s step= 250 trunk_z= 111.3mm grav_b=(-0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 114.3mm grav_b=(-0.05,-0.06,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 109.9mm grav_b=(+0.04,-0.02,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 112.0mm grav_b=(+0.07,+0.08,-0.99) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 122.9mm grav_b=(+0.02,+0.06,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(-0.04,-0.04,-1.00) r=0.35m +[headless_play] t= 5.60s step= 280 trunk_z= 120.7mm grav_b=(-0.12,-0.08,-0.99) r=0.36m +[headless_play] t= 5.70s step= 285 trunk_z= 117.9mm grav_b=(-0.10,-0.03,-0.99) r=0.35m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(-0.09,+0.06,-0.99) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 112.3mm grav_b=(+0.04,+0.05,-1.00) r=0.33m +[headless_play] t= 6.00s step= 300 trunk_z= 109.5mm grav_b=(+0.02,-0.04,-1.00) r=0.36m +[headless_play] t= 6.10s step= 305 trunk_z= 119.0mm grav_b=(-0.07,-0.10,-0.99) r=0.37m +[headless_play] t= 6.20s step= 310 trunk_z= 116.6mm grav_b=(-0.06,-0.06,-1.00) r=0.37m +[headless_play] t= 6.30s step= 315 trunk_z= 111.4mm grav_b=(-0.04,+0.05,-1.00) r=0.35m +[headless_play] t= 6.40s step= 320 trunk_z= 118.0mm grav_b=(-0.06,+0.07,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 116.6mm grav_b=(-0.07,+0.04,-1.00) r=0.36m +[headless_play] t= 6.60s step= 330 trunk_z= 111.3mm grav_b=(-0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 6.70s step= 335 trunk_z= 115.7mm grav_b=(-0.06,-0.05,-1.00) r=0.38m +[headless_play] t= 6.80s step= 340 trunk_z= 113.0mm grav_b=(-0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 6.90s step= 345 trunk_z= 110.2mm grav_b=(-0.01,+0.06,-1.00) r=0.37m +[headless_play] t= 7.00s step= 350 trunk_z= 116.9mm grav_b=(-0.05,+0.05,-1.00) r=0.37m +[headless_play] t= 7.10s step= 355 trunk_z= 114.5mm grav_b=(-0.06,+0.00,-1.00) r=0.39m +[headless_play] t= 7.20s step= 360 trunk_z= 110.9mm grav_b=(-0.04,-0.06,-1.00) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 112.9mm grav_b=(-0.04,-0.03,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 105.3mm grav_b=(-0.04,+0.04,-1.00) r=0.40m +[headless_play] t= 7.50s step= 375 trunk_z= 114.9mm grav_b=(-0.04,+0.08,-1.00) r=0.40m +[headless_play] t= 7.60s step= 380 trunk_z= 116.8mm grav_b=(-0.06,+0.04,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 113.1mm grav_b=(-0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 7.80s step= 390 trunk_z= 120.2mm grav_b=(-0.05,-0.04,-1.00) r=0.42m +[headless_play] t= 7.90s step= 395 trunk_z= 114.7mm grav_b=(-0.05,+0.08,-1.00) r=0.41m +[headless_play] t= 8.00s step= 400 trunk_z= 124.3mm grav_b=(-0.04,+0.10,-0.99) r=0.40m +[headless_play] t= 8.10s step= 405 trunk_z= 129.9mm grav_b=(+0.01,+0.13,-0.99) r=0.40m +[headless_play] t= 8.20s step= 410 trunk_z= 133.5mm grav_b=(-0.01,+0.08,-1.00) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 126.7mm grav_b=(-0.06,+0.03,-1.00) r=0.43m +[headless_play] t= 8.40s step= 420 trunk_z= 125.9mm grav_b=(-0.08,+0.04,-1.00) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 121.3mm grav_b=(-0.09,+0.07,-0.99) r=0.41m +[headless_play] t= 8.60s step= 430 trunk_z= 122.5mm grav_b=(-0.08,+0.02,-1.00) r=0.42m +[headless_play] t= 8.70s step= 435 trunk_z= 116.2mm grav_b=(-0.06,-0.08,-1.00) r=0.47m +[headless_play] t= 8.80s step= 440 trunk_z= 126.0mm grav_b=(-0.04,-0.09,-1.00) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 124.5mm grav_b=(-0.03,-0.06,-1.00) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 118.3mm grav_b=(-0.09,+0.04,-1.00) r=0.47m +[headless_play] t= 9.10s step= 455 trunk_z= 124.7mm grav_b=(-0.08,+0.06,-1.00) r=0.46m +[headless_play] t= 9.20s step= 460 trunk_z= 122.0mm grav_b=(-0.08,+0.03,-1.00) r=0.48m +[headless_play] t= 9.30s step= 465 trunk_z= 120.5mm grav_b=(-0.09,-0.05,-0.99) r=0.50m +[headless_play] t= 9.40s step= 470 trunk_z= 125.0mm grav_b=(-0.10,-0.09,-0.99) r=0.51m +[headless_play] t= 9.50s step= 475 trunk_z= 122.0mm grav_b=(-0.09,-0.03,-1.00) r=0.51m +[headless_play] t= 9.60s step= 480 trunk_z= 121.9mm grav_b=(-0.07,+0.06,-1.00) r=0.49m +[headless_play] t= 9.70s step= 485 trunk_z= 125.4mm grav_b=(-0.04,+0.06,-1.00) r=0.49m +[headless_play] t= 9.80s step= 490 trunk_z= 123.3mm grav_b=(-0.05,+0.01,-1.00) r=0.51m +[headless_play] t= 9.90s step= 495 trunk_z= 122.9mm grav_b=(-0.10,-0.07,-0.99) r=0.53m +[headless_play] t= 10.00s step= 500 trunk_z= 125.6mm grav_b=(-0.09,-0.08,-0.99) r=0.54m +[headless_play] t= 10.10s step= 505 trunk_z= 127.3mm grav_b=(-0.04,-0.11,-0.99) r=0.55m +[headless_play] t= 10.20s step= 510 trunk_z= 122.9mm grav_b=(-0.06,+0.00,-1.00) r=0.54m +[headless_play] t= 10.30s step= 515 trunk_z= 124.7mm grav_b=(-0.11,+0.12,-0.99) r=0.53m +[headless_play] t= 10.40s step= 520 trunk_z= 126.7mm grav_b=(-0.12,+0.10,-0.99) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 123.2mm grav_b=(-0.11,+0.04,-0.99) r=0.55m +[headless_play] t= 10.60s step= 530 trunk_z= 122.1mm grav_b=(-0.11,-0.03,-0.99) r=0.57m +[headless_play] t= 10.70s step= 535 trunk_z= 121.0mm grav_b=(-0.07,-0.02,-1.00) r=0.58m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(-0.03,+0.07,-1.00) r=0.57m +[headless_play] t= 10.90s step= 545 trunk_z= 128.0mm grav_b=(-0.01,+0.12,-0.99) r=0.56m +[headless_play] t= 11.00s step= 550 trunk_z= 131.4mm grav_b=(+0.00,+0.10,-1.00) r=0.56m +[headless_play] t= 11.10s step= 555 trunk_z= 124.8mm grav_b=(-0.04,+0.03,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 125.6mm grav_b=(-0.09,+0.02,-1.00) r=0.58m +[headless_play] t= 11.30s step= 565 trunk_z= 115.0mm grav_b=(-0.14,+0.06,-0.99) r=0.57m +[headless_play] t= 11.40s step= 570 trunk_z= 123.7mm grav_b=(-0.14,+0.08,-0.99) r=0.56m +[headless_play] t= 11.50s step= 575 trunk_z= 123.8mm grav_b=(-0.11,+0.07,-0.99) r=0.57m +[headless_play] t= 11.60s step= 580 trunk_z= 118.2mm grav_b=(-0.13,-0.01,-0.99) r=0.58m +[headless_play] t= 11.70s step= 585 trunk_z= 124.3mm grav_b=(-0.17,-0.07,-0.98) r=0.60m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(-0.18,-0.04,-0.98) r=0.59m +[headless_play] t= 11.90s step= 595 trunk_z= 109.4mm grav_b=(-0.17,+0.02,-0.98) r=0.60m +[headless_play] t= 12.00s step= 600 trunk_z= 114.6mm grav_b=(-0.10,+0.01,-0.99) r=0.62m +[headless_play] t= 12.10s step= 605 trunk_z= 108.5mm grav_b=(-0.05,-0.03,-1.00) r=0.65m +[headless_play] t= 12.20s step= 610 trunk_z= 115.0mm grav_b=(-0.02,-0.09,-1.00) r=0.67m +[headless_play] t= 12.30s step= 615 trunk_z= 115.4mm grav_b=(-0.02,-0.03,-1.00) r=0.66m +[headless_play] t= 12.40s step= 620 trunk_z= 119.2mm grav_b=(-0.07,+0.10,-0.99) r=0.64m +[headless_play] t= 12.50s step= 625 trunk_z= 125.3mm grav_b=(-0.09,+0.11,-0.99) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 121.9mm grav_b=(-0.09,+0.08,-0.99) r=0.65m +[headless_play] t= 12.70s step= 635 trunk_z= 118.7mm grav_b=(-0.13,-0.03,-0.99) r=0.67m +[headless_play] t= 12.80s step= 640 trunk_z= 121.9mm grav_b=(-0.15,-0.02,-0.99) r=0.67m +[headless_play] t= 12.90s step= 645 trunk_z= 111.0mm grav_b=(-0.13,+0.07,-0.99) r=0.65m +[headless_play] t= 13.00s step= 650 trunk_z= 119.5mm grav_b=(-0.12,+0.12,-0.99) r=0.64m +[headless_play] t= 13.10s step= 655 trunk_z= 122.3mm grav_b=(-0.11,+0.12,-0.99) r=0.64m +[headless_play] t= 13.20s step= 660 trunk_z= 121.2mm grav_b=(-0.11,+0.11,-0.99) r=0.65m +[headless_play] t= 13.30s step= 665 trunk_z= 114.2mm grav_b=(-0.07,-0.02,-1.00) r=0.67m +[headless_play] t= 13.40s step= 670 trunk_z= 120.6mm grav_b=(-0.05,-0.06,-1.00) r=0.69m +[headless_play] t= 13.50s step= 675 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00) r=0.69m +[headless_play] t= 13.60s step= 680 trunk_z= 121.4mm grav_b=(-0.11,+0.07,-0.99) r=0.67m +[headless_play] t= 13.70s step= 685 trunk_z= 124.3mm grav_b=(-0.12,+0.09,-0.99) r=0.67m +[headless_play] t= 13.80s step= 690 trunk_z= 119.9mm grav_b=(-0.11,+0.03,-0.99) r=0.68m +[headless_play] t= 13.90s step= 695 trunk_z= 120.7mm grav_b=(-0.10,-0.01,-0.99) r=0.68m +[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(-0.08,+0.03,-1.00) r=0.66m +[headless_play] t= 14.10s step= 705 trunk_z= 117.7mm grav_b=(-0.08,+0.08,-0.99) r=0.64m +[headless_play] t= 14.20s step= 710 trunk_z= 114.8mm grav_b=(-0.05,+0.01,-1.00) r=0.66m +[headless_play] t= 14.30s step= 715 trunk_z= 115.8mm grav_b=(-0.05,-0.06,-1.00) r=0.69m +[headless_play] t= 14.40s step= 720 trunk_z= 121.0mm grav_b=(-0.05,-0.05,-1.00) r=0.69m +[headless_play] t= 14.50s step= 725 trunk_z= 114.3mm grav_b=(-0.07,+0.02,-1.00) r=0.68m +[headless_play] t= 14.60s step= 730 trunk_z= 122.4mm grav_b=(-0.13,+0.08,-0.99) r=0.68m +[headless_play] t= 14.70s step= 735 trunk_z= 121.4mm grav_b=(-0.10,+0.06,-0.99) r=0.68m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(-0.12,-0.03,-0.99) r=0.70m +[headless_play] t= 14.90s step= 745 trunk_z= 120.1mm grav_b=(-0.12,-0.03,-0.99) r=0.71m +[headless_play] t= 15.00s step= 750 trunk_z= 111.7mm grav_b=(-0.11,+0.03,-0.99) r=0.69m +[headless_play] t= 15.10s step= 755 trunk_z= 115.5mm grav_b=(-0.12,+0.08,-0.99) r=0.67m +[headless_play] t= 15.20s step= 760 trunk_z= 120.0mm grav_b=(-0.12,+0.10,-0.99) r=0.66m +[headless_play] t= 15.30s step= 765 trunk_z= 120.7mm grav_b=(-0.11,+0.07,-0.99) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 112.4mm grav_b=(-0.07,-0.03,-1.00) r=0.69m +[headless_play] t= 15.50s step= 775 trunk_z= 116.8mm grav_b=(-0.06,-0.07,-1.00) r=0.70m +[headless_play] t= 15.60s step= 780 trunk_z= 110.6mm grav_b=(-0.02,-0.05,-1.00) r=0.69m +[headless_play] t= 15.70s step= 785 trunk_z= 112.5mm grav_b=(-0.01,+0.07,-1.00) r=0.68m +[headless_play] t= 15.80s step= 790 trunk_z= 120.1mm grav_b=(-0.02,+0.12,-0.99) r=0.68m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(-0.00,+0.10,-0.99) r=0.69m +[headless_play] t= 16.00s step= 800 trunk_z= 113.1mm grav_b=(-0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 16.10s step= 805 trunk_z= 120.3mm grav_b=(-0.12,-0.03,-0.99) r=0.72m +[headless_play] t= 16.20s step= 810 trunk_z= 115.0mm grav_b=(-0.12,+0.00,-0.99) r=0.70m +[headless_play] t= 16.30s step= 815 trunk_z= 113.9mm grav_b=(-0.12,+0.06,-0.99) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 118.4mm grav_b=(-0.10,+0.06,-0.99) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(-0.07,+0.03,-1.00) r=0.69m +[headless_play] t= 16.60s step= 830 trunk_z= 114.0mm grav_b=(-0.07,-0.06,-1.00) r=0.71m +[headless_play] t= 16.70s step= 835 trunk_z= 116.6mm grav_b=(-0.08,-0.05,-1.00) r=0.71m +[headless_play] t= 16.80s step= 840 trunk_z= 110.8mm grav_b=(-0.06,+0.00,-1.00) r=0.69m +[headless_play] t= 16.90s step= 845 trunk_z= 116.4mm grav_b=(-0.06,+0.07,-1.00) r=0.67m +[headless_play] t= 17.00s step= 850 trunk_z= 121.4mm grav_b=(-0.08,+0.08,-0.99) r=0.67m +[headless_play] t= 17.10s step= 855 trunk_z= 117.9mm grav_b=(-0.06,+0.04,-1.00) r=0.68m +[headless_play] t= 17.20s step= 860 trunk_z= 119.8mm grav_b=(-0.08,-0.08,-0.99) r=0.70m +[headless_play] t= 17.30s step= 865 trunk_z= 121.7mm grav_b=(-0.05,-0.05,-1.00) r=0.71m +[headless_play] t= 17.40s step= 870 trunk_z= 114.9mm grav_b=(-0.05,+0.02,-1.00) r=0.70m +[headless_play] t= 17.50s step= 875 trunk_z= 123.6mm grav_b=(-0.08,+0.09,-0.99) r=0.69m +[headless_play] t= 17.60s step= 880 trunk_z= 123.3mm grav_b=(-0.10,+0.06,-0.99) r=0.69m +[headless_play] t= 17.70s step= 885 trunk_z= 116.9mm grav_b=(-0.09,-0.00,-1.00) r=0.71m +[headless_play] t= 17.80s step= 890 trunk_z= 122.0mm grav_b=(-0.07,-0.05,-1.00) r=0.73m +[headless_play] t= 17.90s step= 895 trunk_z= 118.2mm grav_b=(-0.05,-0.02,-1.00) r=0.72m +[headless_play] t= 18.00s step= 900 trunk_z= 117.9mm grav_b=(-0.08,+0.08,-0.99) r=0.70m +[headless_play] t= 18.10s step= 905 trunk_z= 123.1mm grav_b=(-0.06,+0.08,-1.00) r=0.70m +[headless_play] t= 18.20s step= 910 trunk_z= 121.0mm grav_b=(-0.07,+0.04,-1.00) r=0.72m +[headless_play] t= 18.30s step= 915 trunk_z= 120.1mm grav_b=(-0.13,-0.07,-0.99) r=0.74m +[headless_play] t= 18.40s step= 920 trunk_z= 122.0mm grav_b=(-0.20,-0.07,-0.98) r=0.75m +[headless_play] t= 18.50s step= 925 trunk_z= 105.8mm grav_b=(-0.14,+0.03,-0.99) r=0.74m +[headless_play] t= 18.60s step= 930 trunk_z= 114.2mm grav_b=(-0.17,+0.05,-0.98) r=0.75m +[headless_play] t= 18.70s step= 935 trunk_z= 111.2mm grav_b=(-0.08,+0.02,-1.00) r=0.77m +[headless_play] t= 18.80s step= 940 trunk_z= 113.2mm grav_b=(-0.04,-0.02,-1.00) r=0.78m +[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(+0.00,-0.04,-1.00) r=0.78m +[headless_play] t= 19.00s step= 950 trunk_z= 113.5mm grav_b=(+0.00,-0.07,-1.00) r=0.79m +[headless_play] t= 19.10s step= 955 trunk_z= 109.3mm grav_b=(-0.05,-0.13,-0.99) r=0.80m +[headless_play] t= 19.20s step= 960 trunk_z= 102.7mm grav_b=(-0.09,-0.25,-0.96) r=0.82m +[headless_play] t= 19.30s step= 965 trunk_z= 108.8mm grav_b=(-0.03,-0.22,-0.97) r=0.84m +[headless_play] t= 19.40s step= 970 trunk_z= 104.9mm grav_b=(-0.04,-0.20,-0.98) r=0.86m +[headless_play] t= 19.50s step= 975 trunk_z= 110.0mm grav_b=(-0.12,-0.10,-0.99) r=0.88m +[headless_play] t= 19.60s step= 980 trunk_z= 99.1mm grav_b=(-0.19,-0.09,-0.98) r=0.90m +[headless_play] t= 19.70s step= 985 trunk_z= 93.2mm grav_b=(-0.18,-0.08,-0.98) r=0.90m +[headless_play] t= 19.80s step= 990 trunk_z= 98.3mm grav_b=(-0.11,-0.04,-0.99) r=0.89m +[headless_play] t= 19.90s step= 995 trunk_z= 81.7mm grav_b=(-0.12,+0.01,-0.99) r=0.85m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=0.29m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t14.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..0e7bd83e8576133a521fa64e2cbb8bd20a97c793 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t14.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.625,-18.044,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 121.9mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(-0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(-0.03,+0.09,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(-0.07,+0.04,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 112.5mm grav_b=(-0.07,-0.02,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.06,-0.05,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 114.7mm grav_b=(-0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(-0.05,+0.05,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 120.1mm grav_b=(-0.07,+0.03,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 115.4mm grav_b=(-0.09,-0.01,-1.00) r=0.35m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(-0.08,-0.06,-1.00) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 115.5mm grav_b=(-0.04,+0.04,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 113.3mm grav_b=(-0.04,-0.05,-1.00) r=0.35m +[headless_play] t= 1.50s step= 75 trunk_z= 117.1mm grav_b=(-0.09,-0.01,-1.00) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 111.2mm grav_b=(-0.06,+0.08,-0.99) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(-0.03,+0.07,-1.00) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 119.2mm grav_b=(-0.02,+0.05,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 112.6mm grav_b=(-0.01,+0.03,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 118.3mm grav_b=(-0.05,-0.06,-1.00) r=0.34m +[headless_play] t= 2.10s step= 105 trunk_z= 117.8mm grav_b=(-0.05,-0.04,-1.00) r=0.33m +[headless_play] t= 2.20s step= 110 trunk_z= 113.1mm grav_b=(-0.05,+0.03,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 119.0mm grav_b=(-0.05,+0.03,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 115.1mm grav_b=(-0.04,-0.01,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 117.9mm grav_b=(-0.05,-0.06,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 115.8mm grav_b=(-0.03,-0.04,-1.00) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 113.2mm grav_b=(-0.04,+0.04,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 119.8mm grav_b=(-0.08,+0.03,-1.00) r=0.29m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(-0.07,-0.01,-1.00) r=0.31m +[headless_play] t= 3.00s step= 150 trunk_z= 118.6mm grav_b=(+0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 120.2mm grav_b=(+0.00,-0.04,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(-0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 3.30s step= 165 trunk_z= 122.2mm grav_b=(-0.07,+0.02,-1.00) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(-0.06,-0.03,-1.00) r=0.35m +[headless_play] t= 3.50s step= 175 trunk_z= 120.5mm grav_b=(-0.10,-0.02,-0.99) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 116.2mm grav_b=(-0.10,+0.01,-1.00) r=0.34m +[headless_play] t= 3.70s step= 185 trunk_z= 119.9mm grav_b=(-0.09,+0.03,-1.00) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 120.3mm grav_b=(-0.10,+0.02,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 114.5mm grav_b=(-0.08,-0.02,-1.00) r=0.35m +[headless_play] t= 4.00s step= 200 trunk_z= 119.0mm grav_b=(-0.09,-0.01,-1.00) r=0.36m +[headless_play] t= 4.10s step= 205 trunk_z= 114.2mm grav_b=(-0.08,+0.03,-1.00) r=0.35m +[headless_play] t= 4.20s step= 210 trunk_z= 119.6mm grav_b=(-0.07,+0.06,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 118.8mm grav_b=(-0.06,+0.03,-1.00) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 112.9mm grav_b=(-0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 4.50s step= 225 trunk_z= 117.8mm grav_b=(-0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(-0.04,-0.02,-1.00) r=0.37m +[headless_play] t= 4.70s step= 235 trunk_z= 115.2mm grav_b=(-0.04,+0.06,-1.00) r=0.36m +[headless_play] t= 4.80s step= 240 trunk_z= 120.3mm grav_b=(-0.05,+0.02,-1.00) r=0.37m +[headless_play] t= 4.90s step= 245 trunk_z= 113.7mm grav_b=(-0.03,-0.01,-1.00) r=0.39m +[headless_play] t= 5.00s step= 250 trunk_z= 116.8mm grav_b=(+0.02,+0.03,-1.00) r=0.40m +[headless_play] t= 5.10s step= 255 trunk_z= 113.9mm grav_b=(-0.02,+0.09,-1.00) r=0.39m +[headless_play] t= 5.20s step= 260 trunk_z= 122.1mm grav_b=(-0.04,+0.06,-1.00) r=0.40m +[headless_play] t= 5.30s step= 265 trunk_z= 114.6mm grav_b=(-0.04,+0.00,-1.00) r=0.43m +[headless_play] t= 5.40s step= 270 trunk_z= 121.1mm grav_b=(-0.07,-0.06,-1.00) r=0.45m +[headless_play] t= 5.50s step= 275 trunk_z= 121.3mm grav_b=(-0.05,-0.02,-1.00) r=0.45m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(-0.06,+0.02,-1.00) r=0.43m +[headless_play] t= 5.70s step= 285 trunk_z= 120.8mm grav_b=(-0.04,+0.03,-1.00) r=0.42m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 5.90s step= 295 trunk_z= 121.0mm grav_b=(+0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 6.00s step= 300 trunk_z= 123.7mm grav_b=(+0.00,-0.03,-1.00) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 111.7mm grav_b=(-0.06,+0.03,-1.00) r=0.48m +[headless_play] t= 6.20s step= 310 trunk_z= 120.9mm grav_b=(-0.08,+0.06,-0.99) r=0.49m +[headless_play] t= 6.30s step= 315 trunk_z= 115.5mm grav_b=(-0.06,-0.01,-1.00) r=0.51m +[headless_play] t= 6.40s step= 320 trunk_z= 120.4mm grav_b=(-0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 6.50s step= 325 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 6.60s step= 330 trunk_z= 119.9mm grav_b=(-0.05,+0.10,-0.99) r=0.52m +[headless_play] t= 6.70s step= 335 trunk_z= 125.2mm grav_b=(-0.02,+0.13,-0.99) r=0.51m +[headless_play] t= 6.80s step= 340 trunk_z= 124.0mm grav_b=(-0.00,+0.11,-0.99) r=0.52m +[headless_play] t= 6.90s step= 345 trunk_z= 119.5mm grav_b=(-0.04,+0.01,-1.00) r=0.55m +[headless_play] t= 7.00s step= 350 trunk_z= 123.5mm grav_b=(-0.08,-0.05,-1.00) r=0.57m +[headless_play] t= 7.10s step= 355 trunk_z= 118.4mm grav_b=(-0.11,-0.02,-0.99) r=0.57m +[headless_play] t= 7.20s step= 360 trunk_z= 119.1mm grav_b=(-0.07,+0.04,-1.00) r=0.57m +[headless_play] t= 7.30s step= 365 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 115.1mm grav_b=(-0.01,-0.06,-1.00) r=0.60m +[headless_play] t= 7.50s step= 375 trunk_z= 125.1mm grav_b=(+0.02,-0.02,-1.00) r=0.63m +[headless_play] t= 7.60s step= 380 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 7.70s step= 385 trunk_z= 122.6mm grav_b=(-0.08,+0.04,-1.00) r=0.68m +[headless_play] t= 7.80s step= 390 trunk_z= 117.1mm grav_b=(-0.09,+0.00,-1.00) r=0.70m +[headless_play] t= 7.90s step= 395 trunk_z= 120.2mm grav_b=(-0.07,-0.04,-1.00) r=0.73m +[headless_play] t= 8.00s step= 400 trunk_z= 120.7mm grav_b=(-0.04,-0.02,-1.00) r=0.74m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(-0.00,+0.00,-1.00) r=0.75m +[headless_play] t= 8.20s step= 410 trunk_z= 122.8mm grav_b=(-0.03,+0.06,-1.00) r=0.77m +[headless_play] t= 8.30s step= 415 trunk_z= 119.5mm grav_b=(-0.04,+0.03,-1.00) r=0.79m +[headless_play] t= 8.40s step= 420 trunk_z= 118.4mm grav_b=(-0.06,-0.05,-1.00) r=0.81m +[headless_play] t= 8.50s step= 425 trunk_z= 120.3mm grav_b=(-0.06,-0.01,-1.00) r=0.82m +[headless_play] t= 8.60s step= 430 trunk_z= 113.4mm grav_b=(-0.05,+0.04,-1.00) r=0.82m +[headless_play] t= 8.70s step= 435 trunk_z= 121.4mm grav_b=(+0.00,+0.05,-1.00) r=0.83m +[headless_play] t= 8.80s step= 440 trunk_z= 125.3mm grav_b=(-0.01,+0.03,-1.00) r=0.84m +[headless_play] t= 8.90s step= 445 trunk_z= 121.5mm grav_b=(-0.07,+0.04,-1.00) r=0.87m +[headless_play] t= 9.00s step= 450 trunk_z= 120.7mm grav_b=(-0.05,+0.00,-1.00) r=0.88m +[headless_play] t= 9.10s step= 455 trunk_z= 115.3mm grav_b=(-0.11,+0.03,-0.99) r=0.90m +[headless_play] t= 9.20s step= 460 trunk_z= 120.6mm grav_b=(-0.11,+0.02,-0.99) r=0.91m +[headless_play] t= 9.30s step= 465 trunk_z= 116.9mm grav_b=(-0.07,-0.05,-1.00) r=0.92m +[headless_play] t= 9.40s step= 470 trunk_z= 115.5mm grav_b=(-0.12,-0.05,-0.99) r=0.92m +[headless_play] t= 9.50s step= 475 trunk_z= 115.5mm grav_b=(-0.04,+0.02,-1.00) r=0.90m +[headless_play] t= 9.60s step= 480 trunk_z= 103.9mm grav_b=(+0.04,+0.06,-1.00) r=0.87m +[headless_play] t= 9.70s step= 485 trunk_z= 106.5mm grav_b=(+0.05,+0.07,-1.00) r=0.87m +[headless_play] t= 9.80s step= 490 trunk_z= 107.4mm grav_b=(+0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 9.90s step= 495 trunk_z= 113.8mm grav_b=(-0.02,-0.05,-1.00) r=0.91m +[headless_play] t= 10.00s step= 500 trunk_z= 112.0mm grav_b=(-0.02,-0.03,-1.00) r=0.92m +[headless_play] t= 10.10s step= 505 trunk_z= 111.1mm grav_b=(-0.04,+0.03,-1.00) r=0.91m +[headless_play] t= 10.20s step= 510 trunk_z= 117.4mm grav_b=(-0.07,+0.00,-1.00) r=0.92m +[headless_play] t= 10.30s step= 515 trunk_z= 113.6mm grav_b=(-0.05,-0.03,-1.00) r=0.94m +[headless_play] t= 10.40s step= 520 trunk_z= 115.1mm grav_b=(-0.05,-0.12,-0.99) r=0.97m +[headless_play] t= 10.50s step= 525 trunk_z= 117.6mm grav_b=(-0.02,-0.16,-0.99) r=0.99m +[headless_play] t= 10.60s step= 530 trunk_z= 116.7mm grav_b=(-0.01,-0.13,-0.99) r=1.00m +[headless_play] t= 10.70s step= 535 trunk_z= 105.3mm grav_b=(+0.03,+0.00,-1.00) r=1.01m +[headless_play] t= 10.80s step= 540 trunk_z= 96.4mm grav_b=(+0.08,+0.06,-1.00) r=1.02m +[headless_play] t= 10.90s step= 545 trunk_z= 94.8mm grav_b=(-0.01,+0.05,-1.00) r=1.03m +[headless_play] t= 11.00s step= 550 trunk_z= 94.9mm grav_b=(-0.03,+0.02,-1.00) r=1.05m +[headless_play] t= 11.10s step= 555 trunk_z= 89.3mm grav_b=(-0.08,+0.05,-1.00) r=1.05m +[headless_play] t= 11.20s step= 560 trunk_z= 91.8mm grav_b=(-0.11,-0.01,-0.99) r=1.06m +[headless_play] t= 11.30s step= 565 trunk_z= 85.7mm grav_b=(-0.08,-0.04,-1.00) r=1.08m +[headless_play] t= 11.40s step= 570 trunk_z= 91.0mm grav_b=(-0.07,-0.07,-1.00) r=1.10m +[headless_play] t= 11.50s step= 575 trunk_z= 87.4mm grav_b=(+0.00,-0.06,-1.00) r=1.11m +[headless_play] t= 11.60s step= 580 trunk_z= 85.0mm grav_b=(+0.03,+0.04,-1.00) r=1.11m +[headless_play] t= 11.70s step= 585 trunk_z= 97.2mm grav_b=(-0.03,+0.04,-1.00) r=1.11m +[headless_play] t= 11.80s step= 590 trunk_z= 93.6mm grav_b=(-0.03,+0.00,-1.00) r=1.11m +[headless_play] t= 11.90s step= 595 trunk_z= 96.1mm grav_b=(-0.07,-0.07,-1.00) r=1.13m +[headless_play] t= 12.00s step= 600 trunk_z= 100.2mm grav_b=(-0.04,-0.09,-0.99) r=1.14m +[headless_play] t= 12.10s step= 605 trunk_z= 101.3mm grav_b=(-0.05,-0.08,-1.00) r=1.15m +[headless_play] t= 12.20s step= 610 trunk_z= 95.5mm grav_b=(-0.08,+0.05,-1.00) r=1.15m +[headless_play] t= 12.30s step= 615 trunk_z= 98.9mm grav_b=(-0.07,+0.06,-1.00) r=1.16m +[headless_play] t= 12.40s step= 620 trunk_z= 93.0mm grav_b=(-0.06,-0.02,-1.00) r=1.18m +[headless_play] t= 12.50s step= 625 trunk_z= 98.7mm grav_b=(-0.06,-0.05,-1.00) r=1.19m +[headless_play] t= 12.60s step= 630 trunk_z= 93.8mm grav_b=(-0.06,-0.03,-1.00) r=1.18m +[headless_play] t= 12.70s step= 635 trunk_z= 93.1mm grav_b=(-0.09,+0.00,-1.00) r=1.18m +[headless_play] t= 12.80s step= 640 trunk_z= 95.0mm grav_b=(-0.04,+0.02,-1.00) r=1.18m +[headless_play] t= 12.90s step= 645 trunk_z= 94.1mm grav_b=(-0.01,-0.01,-1.00) r=1.19m +[headless_play] t= 13.00s step= 650 trunk_z= 92.1mm grav_b=(-0.03,-0.08,-1.00) r=1.20m +[headless_play] t= 13.10s step= 655 trunk_z= 89.7mm grav_b=(-0.08,-0.03,-1.00) r=1.20m +[headless_play] t= 13.20s step= 660 trunk_z= 91.1mm grav_b=(-0.07,+0.00,-1.00) r=1.20m +[headless_play] t= 13.30s step= 665 trunk_z= 91.3mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 13.40s step= 670 trunk_z= 91.4mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 13.50s step= 675 trunk_z= 91.4mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 13.60s step= 680 trunk_z= 91.5mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 13.70s step= 685 trunk_z= 91.5mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 13.80s step= 690 trunk_z= 91.6mm grav_b=(-0.07,+0.01,-1.00) r=1.20m +[headless_play] t= 13.90s step= 695 trunk_z= 91.6mm grav_b=(-0.08,+0.00,-1.00) r=1.20m +[headless_play] t= 14.00s step= 700 trunk_z= 91.6mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 14.10s step= 705 trunk_z= 91.6mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 14.20s step= 710 trunk_z= 91.6mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 14.30s step= 715 trunk_z= 91.6mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 14.40s step= 720 trunk_z= 91.7mm grav_b=(-0.08,-0.00,-1.00) r=1.20m +[headless_play] t= 14.50s step= 725 trunk_z= 91.9mm grav_b=(-0.07,-0.00,-1.00) r=1.20m +[headless_play] t= 14.60s step= 730 trunk_z= 91.7mm grav_b=(-0.07,-0.00,-1.00) r=1.20m +[headless_play] t= 14.70s step= 735 trunk_z= 92.0mm grav_b=(-0.05,-0.00,-1.00) r=1.21m +[headless_play] t= 14.80s step= 740 trunk_z= 91.5mm grav_b=(+0.01,-0.01,-1.00) r=1.22m +[headless_play] t= 14.90s step= 745 trunk_z= 91.8mm grav_b=(+0.01,-0.01,-1.00) r=1.22m +[headless_play] t= 15.00s step= 750 trunk_z= 91.7mm grav_b=(-0.02,-0.01,-1.00) r=1.22m +[headless_play] t= 15.10s step= 755 trunk_z= 91.5mm grav_b=(-0.03,-0.01,-1.00) r=1.22m +[headless_play] t= 15.20s step= 760 trunk_z= 91.4mm grav_b=(-0.01,-0.01,-1.00) r=1.22m +[headless_play] t= 15.30s step= 765 trunk_z= 91.4mm grav_b=(+0.02,-0.01,-1.00) r=1.22m +[headless_play] t= 15.40s step= 770 trunk_z= 91.8mm grav_b=(-0.03,-0.02,-1.00) r=1.21m +[headless_play] t= 15.50s step= 775 trunk_z= 91.6mm grav_b=(-0.09,-0.00,-1.00) r=1.21m +[headless_play] t= 15.60s step= 780 trunk_z= 90.7mm grav_b=(-0.12,-0.02,-0.99) r=1.21m +[headless_play] t= 15.70s step= 785 trunk_z= 89.6mm grav_b=(-0.05,+0.02,-1.00) r=1.19m +[headless_play] t= 15.80s step= 790 trunk_z= 84.8mm grav_b=(-0.01,+0.02,-1.00) r=1.16m +[headless_play] t= 15.90s step= 795 trunk_z= 84.0mm grav_b=(+0.01,-0.01,-1.00) r=1.16m +[headless_play] t= 16.00s step= 800 trunk_z= 89.1mm grav_b=(+0.02,-0.04,-1.00) r=1.17m +[headless_play] t= 16.10s step= 805 trunk_z= 89.4mm grav_b=(+0.04,-0.03,-1.00) r=1.17m +[headless_play] t= 16.20s step= 810 trunk_z= 89.1mm grav_b=(+0.01,-0.02,-1.00) r=1.17m +[headless_play] t= 16.30s step= 815 trunk_z= 89.1mm grav_b=(-0.01,-0.01,-1.00) r=1.16m +[headless_play] t= 16.40s step= 820 trunk_z= 89.7mm grav_b=(-0.01,-0.01,-1.00) r=1.16m +[headless_play] t= 16.50s step= 825 trunk_z= 89.9mm grav_b=(+0.00,-0.01,-1.00) r=1.16m +[headless_play] t= 16.60s step= 830 trunk_z= 89.9mm grav_b=(+0.00,-0.01,-1.00) r=1.16m +[headless_play] t= 16.70s step= 835 trunk_z= 90.0mm grav_b=(+0.00,-0.01,-1.00) r=1.16m +[headless_play] t= 16.80s step= 840 trunk_z= 91.3mm grav_b=(+0.08,-0.01,-1.00) r=1.17m +[headless_play] t= 16.90s step= 845 trunk_z= 92.1mm grav_b=(+0.04,-0.05,-1.00) r=1.17m +[headless_play] t= 17.00s step= 850 trunk_z= 91.2mm grav_b=(-0.03,-0.01,-1.00) r=1.17m +[headless_play] t= 17.10s step= 855 trunk_z= 89.9mm grav_b=(-0.03,+0.02,-1.00) r=1.16m +[headless_play] t= 17.20s step= 860 trunk_z= 90.5mm grav_b=(-0.03,-0.00,-1.00) r=1.17m +[headless_play] t= 17.30s step= 865 trunk_z= 90.5mm grav_b=(-0.01,-0.00,-1.00) r=1.17m +[headless_play] t= 17.40s step= 870 trunk_z= 90.7mm grav_b=(+0.02,-0.00,-1.00) r=1.17m +[headless_play] t= 17.50s step= 875 trunk_z= 90.8mm grav_b=(+0.02,-0.00,-1.00) r=1.17m +[headless_play] t= 17.60s step= 880 trunk_z= 91.5mm grav_b=(+0.00,-0.02,-1.00) r=1.17m +[headless_play] t= 17.70s step= 885 trunk_z= 91.3mm grav_b=(-0.01,-0.01,-1.00) r=1.17m +[headless_play] t= 17.80s step= 890 trunk_z= 91.3mm grav_b=(-0.01,-0.01,-1.00) r=1.17m +[headless_play] t= 17.90s step= 895 trunk_z= 91.4mm grav_b=(-0.00,-0.01,-1.00) r=1.17m +[headless_play] t= 18.00s step= 900 trunk_z= 91.4mm grav_b=(+0.00,-0.01,-1.00) r=1.17m +[headless_play] t= 18.10s step= 905 trunk_z= 91.4mm grav_b=(+0.00,-0.01,-1.00) r=1.17m +[headless_play] t= 18.20s step= 910 trunk_z= 91.4mm grav_b=(+0.00,-0.01,-1.00) r=1.17m +[headless_play] t= 18.30s step= 915 trunk_z= 91.6mm grav_b=(-0.02,-0.01,-1.00) r=1.17m +[headless_play] t= 18.40s step= 920 trunk_z= 91.7mm grav_b=(-0.04,-0.00,-1.00) r=1.17m +[headless_play] t= 18.50s step= 925 trunk_z= 90.9mm grav_b=(-0.14,-0.01,-0.99) r=1.16m +[headless_play] t= 18.60s step= 930 trunk_z= 91.0mm grav_b=(-0.16,-0.01,-0.99) r=1.16m +[headless_play] t= 18.70s step= 935 trunk_z= 89.7mm grav_b=(-0.18,+0.01,-0.98) r=1.15m +[headless_play] t= 18.80s step= 940 trunk_z= 90.4mm grav_b=(-0.12,-0.01,-0.99) r=1.16m +[headless_play] t= 18.90s step= 945 trunk_z= 87.9mm grav_b=(+0.01,-0.06,-1.00) r=1.15m +[headless_play] t= 19.00s step= 950 trunk_z= 89.8mm grav_b=(+0.00,-0.02,-1.00) r=1.14m +[headless_play] t= 19.10s step= 955 trunk_z= 90.7mm grav_b=(-0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 19.20s step= 960 trunk_z= 91.0mm grav_b=(-0.06,-0.00,-1.00) r=1.13m +[headless_play] t= 19.30s step= 965 trunk_z= 92.3mm grav_b=(-0.13,-0.03,-0.99) r=1.13m +[headless_play] t= 19.40s step= 970 trunk_z= 92.4mm grav_b=(-0.14,-0.03,-0.99) r=1.13m +[headless_play] t= 19.50s step= 975 trunk_z= 92.7mm grav_b=(-0.10,-0.02,-0.99) r=1.13m +[headless_play] t= 19.60s step= 980 trunk_z= 93.7mm grav_b=(-0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 19.70s step= 985 trunk_z= 94.2mm grav_b=(-0.03,-0.02,-1.00) r=1.13m +[headless_play] t= 19.80s step= 990 trunk_z= 93.7mm grav_b=(-0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 19.90s step= 995 trunk_z= 93.0mm grav_b=(-0.07,-0.02,-1.00) r=1.13m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.6mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.00,+0.00,-1.00) r=0.62m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t15.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..82acd950b92a8a4acb18cddc1323bb547c416de3 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t15.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(-2.343,-18.018,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(+0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.02,+0.08,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.05,+0.06,-1.00) r=0.36m +[headless_play] t= 0.40s step= 20 trunk_z= 111.9mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 120.4mm grav_b=(+0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(+0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(+0.03,+0.06,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.04,+0.07,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 112.3mm grav_b=(+0.07,-0.00,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(+0.02,-0.09,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 117.4mm grav_b=(+0.04,-0.07,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 108.4mm grav_b=(+0.07,+0.00,-1.00) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 118.2mm grav_b=(+0.05,+0.09,-1.00) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(+0.06,+0.07,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 112.6mm grav_b=(+0.07,-0.02,-1.00) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 122.9mm grav_b=(+0.01,-0.10,-0.99) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 123.9mm grav_b=(+0.02,-0.16,-0.99) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 120.3mm grav_b=(+0.06,-0.15,-0.99) r=0.51m +[headless_play] t= 1.90s step= 95 trunk_z= 115.2mm grav_b=(+0.09,-0.05,-0.99) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(+0.05,+0.06,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(+0.06,+0.05,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 113.0mm grav_b=(+0.04,-0.03,-1.00) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 119.4mm grav_b=(+0.01,-0.04,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 107.7mm grav_b=(+0.04,+0.09,-1.00) r=0.50m +[headless_play] t= 2.50s step= 125 trunk_z= 119.8mm grav_b=(+0.06,+0.16,-0.98) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 119.4mm grav_b=(+0.09,+0.17,-0.98) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 120.7mm grav_b=(+0.05,+0.10,-0.99) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(+0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 116.7mm grav_b=(-0.03,+0.03,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(+0.05,+0.06,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 110.2mm grav_b=(+0.04,-0.10,-0.99) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(+0.03,-0.11,-0.99) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 118.3mm grav_b=(+0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 3.40s step= 170 trunk_z= 110.6mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 119.1mm grav_b=(+0.05,+0.07,-1.00) r=0.37m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(+0.06,+0.07,-1.00) r=0.38m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(+0.02,-0.04,-1.00) r=0.40m +[headless_play] t= 3.80s step= 190 trunk_z= 120.1mm grav_b=(+0.01,-0.06,-1.00) r=0.41m +[headless_play] t= 3.90s step= 195 trunk_z= 112.8mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 117.7mm grav_b=(+0.05,+0.08,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 115.9mm grav_b=(+0.05,+0.08,-1.00) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 112.1mm grav_b=(+0.02,-0.04,-1.00) r=0.42m +[headless_play] t= 4.30s step= 215 trunk_z= 120.8mm grav_b=(-0.02,-0.07,-1.00) r=0.43m +[headless_play] t= 4.40s step= 220 trunk_z= 119.2mm grav_b=(-0.00,-0.04,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 115.7mm grav_b=(+0.00,+0.06,-1.00) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 119.8mm grav_b=(+0.03,+0.09,-1.00) r=0.42m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(+0.05,+0.05,-1.00) r=0.43m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(+0.03,-0.05,-1.00) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 118.7mm grav_b=(+0.03,-0.05,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 113.1mm grav_b=(+0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(+0.04,+0.09,-1.00) r=0.47m +[headless_play] t= 5.20s step= 260 trunk_z= 118.9mm grav_b=(+0.11,+0.13,-0.99) r=0.48m +[headless_play] t= 5.30s step= 265 trunk_z= 118.9mm grav_b=(+0.05,+0.04,-1.00) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 119.9mm grav_b=(-0.00,-0.05,-1.00) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(+0.00,+0.00,-1.00) r=0.53m +[headless_play] t= 5.60s step= 280 trunk_z= 116.9mm grav_b=(+0.04,+0.07,-1.00) r=0.54m +[headless_play] t= 5.70s step= 285 trunk_z= 116.8mm grav_b=(+0.06,+0.06,-1.00) r=0.54m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.04,-0.00,-1.00) r=0.56m +[headless_play] t= 5.90s step= 295 trunk_z= 120.0mm grav_b=(-0.00,-0.07,-1.00) r=0.58m +[headless_play] t= 6.00s step= 300 trunk_z= 118.4mm grav_b=(+0.01,-0.05,-1.00) r=0.59m +[headless_play] t= 6.10s step= 305 trunk_z= 115.3mm grav_b=(+0.06,-0.03,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(+0.06,+0.03,-1.00) r=0.61m +[headless_play] t= 6.30s step= 315 trunk_z= 115.4mm grav_b=(+0.05,+0.00,-1.00) r=0.62m +[headless_play] t= 6.40s step= 320 trunk_z= 116.5mm grav_b=(-0.01,-0.06,-1.00) r=0.64m +[headless_play] t= 6.50s step= 325 trunk_z= 118.9mm grav_b=(+0.02,-0.05,-1.00) r=0.65m +[headless_play] t= 6.60s step= 330 trunk_z= 113.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 6.70s step= 335 trunk_z= 118.5mm grav_b=(+0.04,+0.07,-1.00) r=0.66m +[headless_play] t= 6.80s step= 340 trunk_z= 118.2mm grav_b=(+0.02,+0.04,-1.00) r=0.66m +[headless_play] t= 6.90s step= 345 trunk_z= 117.4mm grav_b=(+0.04,-0.04,-1.00) r=0.69m +[headless_play] t= 7.00s step= 350 trunk_z= 119.5mm grav_b=(+0.06,-0.01,-1.00) r=0.69m +[headless_play] t= 7.10s step= 355 trunk_z= 115.5mm grav_b=(+0.03,+0.06,-1.00) r=0.67m +[headless_play] t= 7.20s step= 360 trunk_z= 123.9mm grav_b=(+0.01,+0.04,-1.00) r=0.67m +[headless_play] t= 7.30s step= 365 trunk_z= 120.8mm grav_b=(+0.03,+0.05,-1.00) r=0.69m +[headless_play] t= 7.40s step= 370 trunk_z= 121.3mm grav_b=(+0.03,-0.05,-1.00) r=0.72m +[headless_play] t= 7.50s step= 375 trunk_z= 123.5mm grav_b=(+0.04,-0.04,-1.00) r=0.73m +[headless_play] t= 7.60s step= 380 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 7.70s step= 385 trunk_z= 122.8mm grav_b=(+0.02,+0.05,-1.00) r=0.72m +[headless_play] t= 7.80s step= 390 trunk_z= 126.6mm grav_b=(-0.04,+0.16,-0.99) r=0.70m +[headless_play] t= 7.90s step= 395 trunk_z= 129.7mm grav_b=(+0.00,+0.13,-0.99) r=0.69m +[headless_play] t= 8.00s step= 400 trunk_z= 126.0mm grav_b=(-0.02,+0.11,-0.99) r=0.70m +[headless_play] t= 8.10s step= 405 trunk_z= 121.3mm grav_b=(+0.01,+0.03,-1.00) r=0.73m +[headless_play] t= 8.20s step= 410 trunk_z= 125.8mm grav_b=(+0.06,-0.03,-1.00) r=0.75m +[headless_play] t= 8.30s step= 415 trunk_z= 126.6mm grav_b=(+0.03,-0.02,-1.00) r=0.76m +[headless_play] t= 8.40s step= 420 trunk_z= 118.7mm grav_b=(+0.03,+0.06,-1.00) r=0.77m +[headless_play] t= 8.50s step= 425 trunk_z= 130.6mm grav_b=(+0.08,+0.13,-0.99) r=0.77m +[headless_play] t= 8.60s step= 430 trunk_z= 132.9mm grav_b=(+0.08,+0.08,-0.99) r=0.80m +[headless_play] t= 8.70s step= 435 trunk_z= 124.3mm grav_b=(-0.02,-0.01,-1.00) r=0.83m +[headless_play] t= 8.80s step= 440 trunk_z= 128.4mm grav_b=(-0.05,-0.05,-1.00) r=0.85m +[headless_play] t= 8.90s step= 445 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.86m +[headless_play] t= 9.00s step= 450 trunk_z= 116.9mm grav_b=(+0.05,+0.09,-0.99) r=0.88m +[headless_play] t= 9.10s step= 455 trunk_z= 96.2mm grav_b=(+0.08,-0.07,-0.99) r=0.92m +[headless_play] t= 9.20s step= 460 trunk_z= 106.8mm grav_b=(+0.13,-0.13,-0.98) r=0.96m +[headless_play] t= 9.30s step= 465 trunk_z= 105.9mm grav_b=(+0.07,-0.09,-0.99) r=0.99m +[headless_play] t= 9.40s step= 470 trunk_z= 91.8mm grav_b=(+0.02,+0.02,-1.00) r=1.05m +[headless_play] t= 9.50s step= 475 trunk_z= 100.6mm grav_b=(+0.00,+0.21,-0.98) r=1.09m +[headless_play] t= 9.60s step= 480 trunk_z= 103.9mm grav_b=(+0.10,+0.28,-0.96) r=1.10m +[headless_play] t= 9.70s step= 485 trunk_z= 100.7mm grav_b=(+0.12,+0.53,-0.84) r=1.13m +[headless_play] t= 9.80s step= 490 trunk_z= 77.5mm grav_b=(+0.08,+0.81,-0.59) r=1.16m +[headless_play] RESET at t= 9.86s step= 493 (env termination, not a recovery) +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 115.7mm grav_b=(-0.00,+0.05,-1.00) r=0.65m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(+0.03,+0.09,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 125.2mm grav_b=(+0.02,+0.13,-0.99) r=0.62m +[headless_play] t= 10.30s step= 515 trunk_z= 124.7mm grav_b=(+0.02,+0.16,-0.99) r=0.61m +[headless_play] t= 10.40s step= 520 trunk_z= 126.7mm grav_b=(+0.00,+0.12,-0.99) r=0.59m +[headless_play] t= 10.50s step= 525 trunk_z= 120.9mm grav_b=(+0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 10.60s step= 530 trunk_z= 121.1mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 10.70s step= 535 trunk_z= 115.6mm grav_b=(-0.00,+0.06,-1.00) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 120.9mm grav_b=(+0.00,+0.04,-1.00) r=0.52m +[headless_play] t= 10.90s step= 545 trunk_z= 114.9mm grav_b=(-0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 11.00s step= 550 trunk_z= 122.0mm grav_b=(-0.01,-0.04,-1.00) r=0.53m +[headless_play] t= 11.10s step= 555 trunk_z= 123.9mm grav_b=(+0.03,-0.07,-1.00) r=0.53m +[headless_play] t= 11.20s step= 560 trunk_z= 118.0mm grav_b=(+0.05,+0.00,-1.00) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 125.6mm grav_b=(+0.01,+0.07,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 122.4mm grav_b=(+0.02,+0.06,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 115.2mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 11.60s step= 580 trunk_z= 122.2mm grav_b=(-0.02,-0.05,-1.00) r=0.47m +[headless_play] t= 11.70s step= 585 trunk_z= 118.1mm grav_b=(-0.07,+0.02,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 119.5mm grav_b=(+0.03,+0.08,-1.00) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 121.2mm grav_b=(+0.05,+0.07,-1.00) r=0.45m +[headless_play] t= 12.00s step= 600 trunk_z= 116.8mm grav_b=(+0.03,+0.05,-1.00) r=0.46m +[headless_play] t= 12.10s step= 605 trunk_z= 122.7mm grav_b=(+0.02,-0.07,-1.00) r=0.46m +[headless_play] t= 12.20s step= 610 trunk_z= 120.1mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 12.30s step= 615 trunk_z= 115.6mm grav_b=(+0.00,+0.05,-1.00) r=0.41m +[headless_play] t= 12.40s step= 620 trunk_z= 122.3mm grav_b=(+0.00,+0.06,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(+0.02,+0.07,-1.00) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 115.8mm grav_b=(+0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(+0.06,-0.02,-1.00) r=0.42m +[headless_play] t= 12.80s step= 640 trunk_z= 111.5mm grav_b=(+0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(+0.01,+0.07,-1.00) r=0.38m +[headless_play] t= 13.00s step= 650 trunk_z= 114.5mm grav_b=(+0.05,+0.02,-1.00) r=0.37m +[headless_play] t= 13.10s step= 655 trunk_z= 114.6mm grav_b=(+0.02,-0.04,-1.00) r=0.38m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(+0.06,+0.01,-1.00) r=0.38m +[headless_play] t= 13.30s step= 665 trunk_z= 110.8mm grav_b=(+0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 13.40s step= 670 trunk_z= 122.3mm grav_b=(-0.01,+0.14,-0.99) r=0.32m +[headless_play] t= 13.50s step= 675 trunk_z= 129.4mm grav_b=(+0.01,+0.22,-0.98) r=0.31m +[headless_play] t= 13.60s step= 680 trunk_z= 130.7mm grav_b=(-0.01,+0.21,-0.98) r=0.30m +[headless_play] t= 13.70s step= 685 trunk_z= 131.0mm grav_b=(+0.05,+0.16,-0.99) r=0.30m +[headless_play] t= 13.80s step= 690 trunk_z= 112.5mm grav_b=(+0.11,+0.08,-0.99) r=0.30m +[headless_play] t= 13.90s step= 695 trunk_z= 115.4mm grav_b=(+0.04,+0.11,-0.99) r=0.27m +[headless_play] t= 14.00s step= 700 trunk_z= 113.4mm grav_b=(+0.14,+0.05,-0.99) r=0.23m +[headless_play] t= 14.10s step= 705 trunk_z= 121.6mm grav_b=(+0.07,+0.08,-0.99) r=0.23m +[headless_play] t= 14.20s step= 710 trunk_z= 119.6mm grav_b=(+0.06,+0.06,-1.00) r=0.24m +[headless_play] t= 14.30s step= 715 trunk_z= 119.8mm grav_b=(+0.06,-0.05,-1.00) r=0.27m +[headless_play] t= 14.40s step= 720 trunk_z= 118.9mm grav_b=(+0.04,-0.02,-1.00) r=0.28m +[headless_play] t= 14.50s step= 725 trunk_z= 111.7mm grav_b=(+0.04,+0.04,-1.00) r=0.27m +[headless_play] t= 14.60s step= 730 trunk_z= 121.9mm grav_b=(+0.03,+0.15,-0.99) r=0.26m +[headless_play] t= 14.70s step= 735 trunk_z= 121.9mm grav_b=(+0.04,+0.16,-0.99) r=0.26m +[headless_play] t= 14.80s step= 740 trunk_z= 124.1mm grav_b=(+0.01,+0.13,-0.99) r=0.27m +[headless_play] t= 14.90s step= 745 trunk_z= 117.2mm grav_b=(+0.07,+0.06,-1.00) r=0.30m +[headless_play] t= 15.00s step= 750 trunk_z= 117.3mm grav_b=(+0.02,+0.05,-1.00) r=0.31m +[headless_play] t= 15.10s step= 755 trunk_z= 114.6mm grav_b=(-0.02,+0.07,-1.00) r=0.30m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(+0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 15.30s step= 765 trunk_z= 111.0mm grav_b=(+0.03,-0.02,-1.00) r=0.33m +[headless_play] t= 15.40s step= 770 trunk_z= 118.6mm grav_b=(+0.03,-0.04,-1.00) r=0.35m +[headless_play] t= 15.50s step= 775 trunk_z= 121.1mm grav_b=(+0.03,-0.09,-1.00) r=0.35m +[headless_play] t= 15.60s step= 780 trunk_z= 117.2mm grav_b=(+0.06,-0.07,-1.00) r=0.35m +[headless_play] t= 15.70s step= 785 trunk_z= 115.5mm grav_b=(+0.05,+0.05,-1.00) r=0.34m +[headless_play] t= 15.80s step= 790 trunk_z= 116.3mm grav_b=(+0.05,+0.07,-1.00) r=0.35m +[headless_play] t= 15.90s step= 795 trunk_z= 112.3mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 16.00s step= 800 trunk_z= 119.1mm grav_b=(+0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 16.10s step= 805 trunk_z= 117.7mm grav_b=(+0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 16.20s step= 810 trunk_z= 113.2mm grav_b=(+0.08,+0.07,-0.99) r=0.37m +[headless_play] t= 16.30s step= 815 trunk_z= 118.3mm grav_b=(+0.09,+0.08,-0.99) r=0.37m +[headless_play] t= 16.40s step= 820 trunk_z= 113.6mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 16.50s step= 825 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 16.60s step= 830 trunk_z= 115.5mm grav_b=(+0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(+0.06,+0.01,-1.00) r=0.38m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00) r=0.38m +[headless_play] t= 16.90s step= 845 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.38m +[headless_play] t= 17.10s step= 855 trunk_z= 110.5mm grav_b=(+0.03,-0.06,-1.00) r=0.38m +[headless_play] t= 17.20s step= 860 trunk_z= 110.9mm grav_b=(+0.03,+0.01,-1.00) r=0.38m +[headless_play] t= 17.30s step= 865 trunk_z= 112.1mm grav_b=(+0.06,+0.01,-1.00) r=0.38m +[headless_play] t= 17.40s step= 870 trunk_z= 113.0mm grav_b=(+0.07,+0.01,-1.00) r=0.38m +[headless_play] t= 17.50s step= 875 trunk_z= 113.7mm grav_b=(+0.05,-0.00,-1.00) r=0.37m +[headless_play] t= 17.60s step= 880 trunk_z= 114.0mm grav_b=(+0.04,+0.00,-1.00) r=0.37m +[headless_play] t= 17.70s step= 885 trunk_z= 115.1mm grav_b=(+0.04,-0.02,-1.00) r=0.38m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(+0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 17.90s step= 895 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 18.10s step= 905 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 18.20s step= 910 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 18.30s step= 915 trunk_z= 115.8mm grav_b=(+0.10,+0.00,-0.99) r=0.38m +[headless_play] t= 18.40s step= 920 trunk_z= 118.3mm grav_b=(+0.10,-0.01,-0.99) r=0.38m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(+0.11,-0.01,-0.99) r=0.38m +[headless_play] t= 18.60s step= 930 trunk_z= 118.1mm grav_b=(+0.12,-0.00,-0.99) r=0.38m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(+0.09,+0.00,-1.00) r=0.39m +[headless_play] t= 18.80s step= 940 trunk_z= 113.5mm grav_b=(-0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 18.90s step= 945 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 19.00s step= 950 trunk_z= 115.1mm grav_b=(+0.08,+0.08,-0.99) r=0.42m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(+0.05,+0.06,-1.00) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 114.6mm grav_b=(+0.12,+0.01,-0.99) r=0.43m +[headless_play] t= 19.30s step= 965 trunk_z= 114.9mm grav_b=(+0.09,+0.02,-1.00) r=0.43m +[headless_play] t= 19.40s step= 970 trunk_z= 114.7mm grav_b=(+0.07,+0.02,-1.00) r=0.43m +[headless_play] t= 19.50s step= 975 trunk_z= 114.3mm grav_b=(+0.05,+0.04,-1.00) r=0.43m +[headless_play] t= 19.60s step= 980 trunk_z= 114.9mm grav_b=(+0.03,+0.03,-1.00) r=0.43m +[headless_play] t= 19.70s step= 985 trunk_z= 115.0mm grav_b=(+0.00,+0.03,-1.00) r=0.43m +[headless_play] t= 19.80s step= 990 trunk_z= 113.5mm grav_b=(-0.01,+0.06,-1.00) r=0.42m +[headless_play] t= 19.90s step= 995 trunk_z= 113.6mm grav_b=(+0.02,+0.09,-1.00) r=0.40m +[headless_play] t= 20.00s step=1000 trunk_z= 111.1mm grav_b=(+0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 105.8mm grav_b=(+0.10,-0.02,-0.99) r=0.39m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t2.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..d64a47bfe742d326c6ed8aca0e5c9807cf8c7426 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t2.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.106,-17.672,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.6mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.01,+0.05,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 118.4mm grav_b=(+0.06,+0.09,-0.99) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 121.2mm grav_b=(+0.08,+0.04,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 114.0mm grav_b=(+0.07,-0.01,-1.00) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 121.6mm grav_b=(+0.08,-0.02,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 122.5mm grav_b=(+0.03,+0.06,-1.00) r=0.37m +[headless_play] t= 0.80s step= 40 trunk_z= 126.0mm grav_b=(+0.05,+0.13,-0.99) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 126.5mm grav_b=(+0.04,+0.13,-0.99) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 121.2mm grav_b=(+0.03,+0.06,-1.00) r=0.36m +[headless_play] t= 1.10s step= 55 trunk_z= 122.7mm grav_b=(+0.06,-0.03,-1.00) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 120.5mm grav_b=(+0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(+0.04,+0.07,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 119.9mm grav_b=(-0.03,+0.01,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(+0.04,-0.06,-1.00) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 121.0mm grav_b=(+0.08,-0.01,-1.00) r=0.35m +[headless_play] t= 1.70s step= 85 trunk_z= 114.8mm grav_b=(+0.07,+0.07,-1.00) r=0.37m +[headless_play] t= 1.80s step= 90 trunk_z= 125.2mm grav_b=(+0.06,+0.06,-1.00) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 122.3mm grav_b=(+0.05,+0.06,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 118.7mm grav_b=(+0.02,-0.02,-1.00) r=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 123.2mm grav_b=(+0.05,-0.02,-1.00) r=0.37m +[headless_play] t= 2.20s step= 110 trunk_z= 114.6mm grav_b=(+0.09,+0.07,-0.99) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 129.3mm grav_b=(+0.09,+0.07,-0.99) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 127.6mm grav_b=(+0.07,+0.06,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 113.4mm grav_b=(+0.04,+0.00,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 122.7mm grav_b=(+0.06,-0.02,-1.00) r=0.47m +[headless_play] t= 2.70s step= 135 trunk_z= 117.7mm grav_b=(+0.05,+0.01,-1.00) r=0.48m +[headless_play] t= 2.80s step= 140 trunk_z= 121.6mm grav_b=(+0.02,+0.06,-1.00) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 118.4mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 120.0mm grav_b=(+0.07,-0.05,-1.00) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 121.3mm grav_b=(+0.10,+0.01,-0.99) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 117.3mm grav_b=(+0.05,+0.07,-1.00) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 125.6mm grav_b=(+0.06,+0.05,-1.00) r=0.54m +[headless_play] t= 3.40s step= 170 trunk_z= 123.3mm grav_b=(+0.07,+0.05,-1.00) r=0.54m +[headless_play] t= 3.50s step= 175 trunk_z= 118.7mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 3.60s step= 180 trunk_z= 123.1mm grav_b=(+0.04,-0.03,-1.00) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 117.4mm grav_b=(+0.04,+0.03,-1.00) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 123.4mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 3.90s step= 195 trunk_z= 119.8mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 120.4mm grav_b=(+0.07,-0.04,-1.00) r=0.59m +[headless_play] t= 4.10s step= 205 trunk_z= 121.0mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(+0.02,+0.06,-1.00) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 124.6mm grav_b=(+0.03,+0.07,-1.00) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 121.5mm grav_b=(+0.02,+0.05,-1.00) r=0.64m +[headless_play] t= 4.50s step= 225 trunk_z= 120.4mm grav_b=(+0.03,-0.03,-1.00) r=0.64m +[headless_play] t= 4.60s step= 230 trunk_z= 122.1mm grav_b=(+0.05,-0.01,-1.00) r=0.64m +[headless_play] t= 4.70s step= 235 trunk_z= 115.7mm grav_b=(+0.06,+0.05,-1.00) r=0.66m +[headless_play] t= 4.80s step= 240 trunk_z= 127.8mm grav_b=(+0.07,+0.06,-1.00) r=0.68m +[headless_play] t= 4.90s step= 245 trunk_z= 126.6mm grav_b=(+0.06,+0.06,-1.00) r=0.70m +[headless_play] t= 5.00s step= 250 trunk_z= 117.9mm grav_b=(+0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 5.10s step= 255 trunk_z= 124.1mm grav_b=(+0.06,-0.04,-1.00) r=0.72m +[headless_play] t= 5.20s step= 260 trunk_z= 118.9mm grav_b=(+0.04,-0.01,-1.00) r=0.72m +[headless_play] t= 5.30s step= 265 trunk_z= 124.3mm grav_b=(+0.03,+0.05,-1.00) r=0.74m +[headless_play] t= 5.40s step= 270 trunk_z= 124.7mm grav_b=(+0.03,+0.05,-1.00) r=0.75m +[headless_play] t= 5.50s step= 275 trunk_z= 119.8mm grav_b=(-0.03,+0.05,-1.00) r=0.74m +[headless_play] t= 5.60s step= 280 trunk_z= 121.8mm grav_b=(-0.00,-0.02,-1.00) r=0.74m +[headless_play] t= 5.70s step= 285 trunk_z= 118.6mm grav_b=(+0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 5.80s step= 290 trunk_z= 123.2mm grav_b=(+0.07,+0.06,-1.00) r=0.76m +[headless_play] t= 5.90s step= 295 trunk_z= 126.7mm grav_b=(+0.08,+0.05,-1.00) r=0.78m +[headless_play] t= 6.00s step= 300 trunk_z= 121.6mm grav_b=(+0.06,+0.03,-1.00) r=0.80m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(+0.07,-0.03,-1.00) r=0.81m +[headless_play] t= 6.20s step= 310 trunk_z= 120.0mm grav_b=(+0.04,-0.01,-1.00) r=0.81m +[headless_play] t= 6.30s step= 315 trunk_z= 119.8mm grav_b=(+0.01,+0.05,-1.00) r=0.82m +[headless_play] t= 6.40s step= 320 trunk_z= 124.5mm grav_b=(+0.02,+0.06,-1.00) r=0.84m +[headless_play] t= 6.50s step= 325 trunk_z= 121.3mm grav_b=(+0.08,+0.04,-1.00) r=0.87m +[headless_play] t= 6.60s step= 330 trunk_z= 113.3mm grav_b=(+0.10,+0.06,-0.99) r=0.91m +[headless_play] t= 6.70s step= 335 trunk_z= 86.0mm grav_b=(+0.12,+0.08,-0.99) r=0.97m +[headless_play] t= 6.80s step= 340 trunk_z= 97.3mm grav_b=(+0.41,-0.06,-0.91) r=1.01m +[headless_play] t= 6.90s step= 345 trunk_z= 101.1mm grav_b=(+0.27,-0.12,-0.96) r=1.07m +[headless_play] t= 7.00s step= 350 trunk_z= 61.1mm grav_b=(-0.06,-0.22,-0.97) r=1.13m +[headless_play] t= 7.10s step= 355 trunk_z= 76.7mm grav_b=(-0.16,-0.14,-0.98) r=1.12m +[headless_play] t= 7.20s step= 360 trunk_z= 72.3mm grav_b=(-0.15,-0.17,-0.97) r=1.10m +[headless_play] t= 7.30s step= 365 trunk_z= 71.8mm grav_b=(+0.03,-0.21,-0.98) r=1.09m +[headless_play] t= 7.40s step= 370 trunk_z= 67.8mm grav_b=(+0.13,-0.24,-0.96) r=1.07m +[headless_play] t= 7.50s step= 375 trunk_z= 94.8mm grav_b=(+0.08,-0.07,-0.99) r=1.06m +[headless_play] t= 7.60s step= 380 trunk_z= 88.9mm grav_b=(+0.14,+0.04,-0.99) r=1.04m +[headless_play] t= 7.70s step= 385 trunk_z= 106.2mm grav_b=(+0.11,+0.14,-0.98) r=1.02m +[headless_play] t= 7.80s step= 390 trunk_z= 109.8mm grav_b=(+0.11,+0.14,-0.98) r=1.02m +[headless_play] t= 7.90s step= 395 trunk_z= 91.2mm grav_b=(+0.04,+0.02,-1.00) r=1.02m +[headless_play] t= 8.00s step= 400 trunk_z= 103.6mm grav_b=(-0.04,+0.05,-1.00) r=1.01m +[headless_play] t= 8.10s step= 405 trunk_z= 94.9mm grav_b=(+0.02,+0.10,-0.99) r=0.99m +[headless_play] t= 8.20s step= 410 trunk_z= 100.1mm grav_b=(+0.09,+0.08,-0.99) r=0.98m +[headless_play] t= 8.30s step= 415 trunk_z= 97.6mm grav_b=(+0.09,+0.06,-0.99) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 95.2mm grav_b=(+0.08,-0.02,-1.00) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 96.8mm grav_b=(+0.06,+0.07,-1.00) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 99.8mm grav_b=(+0.04,+0.11,-0.99) r=0.96m +[headless_play] t= 8.70s step= 435 trunk_z= 102.1mm grav_b=(+0.06,+0.11,-0.99) r=0.94m +[headless_play] t= 8.80s step= 440 trunk_z= 96.0mm grav_b=(+0.07,+0.08,-0.99) r=0.94m +[headless_play] t= 8.90s step= 445 trunk_z= 94.6mm grav_b=(+0.04,-0.01,-1.00) r=0.95m +[headless_play] t= 9.00s step= 450 trunk_z= 96.6mm grav_b=(+0.04,-0.00,-1.00) r=0.95m +[headless_play] t= 9.10s step= 455 trunk_z= 90.5mm grav_b=(+0.04,+0.05,-1.00) r=0.92m +[headless_play] t= 9.20s step= 460 trunk_z= 96.5mm grav_b=(-0.02,+0.04,-1.00) r=0.92m +[headless_play] t= 9.30s step= 465 trunk_z= 88.7mm grav_b=(+0.05,-0.05,-1.00) r=0.94m +[headless_play] t= 9.40s step= 470 trunk_z= 94.6mm grav_b=(+0.08,-0.05,-1.00) r=0.95m +[headless_play] t= 9.50s step= 475 trunk_z= 90.4mm grav_b=(+0.07,+0.01,-1.00) r=0.93m +[headless_play] t= 9.60s step= 480 trunk_z= 98.9mm grav_b=(+0.05,+0.05,-1.00) r=0.91m +[headless_play] t= 9.70s step= 485 trunk_z= 100.5mm grav_b=(+0.06,+0.05,-1.00) r=0.90m +[headless_play] t= 9.80s step= 490 trunk_z= 93.5mm grav_b=(+0.04,+0.06,-1.00) r=0.91m +[headless_play] t= 9.90s step= 495 trunk_z= 94.3mm grav_b=(+0.01,-0.08,-1.00) r=0.92m +[headless_play] t= 10.00s step= 500 trunk_z= 96.9mm grav_b=(+0.04,-0.01,-1.00) r=0.92m +[headless_play] t= 10.10s step= 505 trunk_z= 89.9mm grav_b=(+0.04,+0.05,-1.00) r=0.89m +[headless_play] t= 10.20s step= 510 trunk_z= 100.9mm grav_b=(+0.06,+0.08,-0.99) r=0.87m +[headless_play] t= 10.30s step= 515 trunk_z= 100.7mm grav_b=(+0.06,+0.08,-1.00) r=0.87m +[headless_play] t= 10.40s step= 520 trunk_z= 93.7mm grav_b=(+0.05,+0.03,-1.00) r=0.88m +[headless_play] t= 10.50s step= 525 trunk_z= 95.9mm grav_b=(+0.10,-0.02,-0.99) r=0.88m +[headless_play] t= 10.60s step= 530 trunk_z= 89.7mm grav_b=(+0.09,+0.09,-0.99) r=0.85m +[headless_play] t= 10.70s step= 535 trunk_z= 104.9mm grav_b=(+0.09,+0.08,-0.99) r=0.84m +[headless_play] t= 10.80s step= 540 trunk_z= 100.4mm grav_b=(+0.06,+0.02,-1.00) r=0.83m +[headless_play] t= 10.90s step= 545 trunk_z= 92.5mm grav_b=(+0.09,-0.02,-1.00) r=0.83m +[headless_play] t= 11.00s step= 550 trunk_z= 95.9mm grav_b=(+0.06,-0.01,-1.00) r=0.83m +[headless_play] t= 11.10s step= 555 trunk_z= 91.4mm grav_b=(+0.04,+0.04,-1.00) r=0.83m +[headless_play] t= 11.20s step= 560 trunk_z= 97.7mm grav_b=(-0.04,+0.05,-1.00) r=0.82m +[headless_play] t= 11.30s step= 565 trunk_z= 93.0mm grav_b=(+0.07,-0.03,-1.00) r=0.81m +[headless_play] t= 11.40s step= 570 trunk_z= 92.9mm grav_b=(+0.06,-0.01,-1.00) r=0.82m +[headless_play] t= 11.50s step= 575 trunk_z= 88.9mm grav_b=(+0.08,+0.03,-1.00) r=0.84m +[headless_play] t= 11.60s step= 580 trunk_z= 96.6mm grav_b=(+0.07,+0.05,-1.00) r=0.84m +[headless_play] t= 11.70s step= 585 trunk_z= 97.6mm grav_b=(+0.08,+0.04,-1.00) r=0.82m +[headless_play] t= 11.80s step= 590 trunk_z= 92.1mm grav_b=(+0.15,+0.04,-0.99) r=0.81m +[headless_play] t= 11.90s step= 595 trunk_z= 93.4mm grav_b=(+0.09,+0.07,-0.99) r=0.79m +[headless_play] t= 12.00s step= 600 trunk_z= 97.4mm grav_b=(+0.09,+0.11,-0.99) r=0.79m +[headless_play] t= 12.10s step= 605 trunk_z= 102.2mm grav_b=(+0.04,+0.18,-0.98) r=0.79m +[headless_play] t= 12.20s step= 610 trunk_z= 101.8mm grav_b=(+0.03,+0.18,-0.98) r=0.78m +[headless_play] t= 12.30s step= 615 trunk_z= 99.6mm grav_b=(+0.05,+0.17,-0.98) r=0.78m +[headless_play] t= 12.40s step= 620 trunk_z= 102.8mm grav_b=(+0.05,+0.16,-0.99) r=0.77m +[headless_play] t= 12.50s step= 625 trunk_z= 105.2mm grav_b=(+0.05,+0.16,-0.99) r=0.77m +[headless_play] t= 12.60s step= 630 trunk_z= 106.3mm grav_b=(+0.09,+0.17,-0.98) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 109.3mm grav_b=(+0.11,+0.30,-0.95) r=0.74m +[headless_play] t= 12.80s step= 640 trunk_z= 89.9mm grav_b=(+0.49,+0.52,-0.70) r=0.73m +[headless_play] RESET at t= 12.88s step= 644 (env termination, not a recovery) +[headless_play] t= 12.90s step= 645 trunk_z= 124.9mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 115.9mm grav_b=(+0.01,+0.06,-1.00) r=0.41m +[headless_play] t= 13.10s step= 655 trunk_z= 121.1mm grav_b=(+0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 13.20s step= 660 trunk_z= 125.5mm grav_b=(+0.03,+0.07,-1.00) r=0.38m +[headless_play] t= 13.30s step= 665 trunk_z= 124.1mm grav_b=(+0.05,+0.10,-0.99) r=0.40m +[headless_play] t= 13.40s step= 670 trunk_z= 123.9mm grav_b=(+0.14,-0.08,-0.99) r=0.43m +[headless_play] t= 13.50s step= 675 trunk_z= 125.5mm grav_b=(+0.09,-0.00,-1.00) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 120.3mm grav_b=(+0.03,+0.07,-1.00) r=0.41m +[headless_play] t= 13.70s step= 685 trunk_z= 128.6mm grav_b=(+0.05,+0.08,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 127.5mm grav_b=(+0.07,+0.08,-0.99) r=0.43m +[headless_play] t= 13.90s step= 695 trunk_z= 119.4mm grav_b=(+0.06,-0.03,-1.00) r=0.47m +[headless_play] t= 14.00s step= 700 trunk_z= 127.3mm grav_b=(+0.09,-0.06,-0.99) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 123.7mm grav_b=(+0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 123.5mm grav_b=(-0.03,+0.11,-0.99) r=0.44m +[headless_play] t= 14.30s step= 715 trunk_z= 130.0mm grav_b=(-0.01,+0.15,-0.99) r=0.43m +[headless_play] t= 14.40s step= 720 trunk_z= 131.0mm grav_b=(+0.07,+0.16,-0.98) r=0.44m +[headless_play] t= 14.50s step= 725 trunk_z= 130.1mm grav_b=(+0.07,+0.16,-0.98) r=0.46m +[headless_play] t= 14.60s step= 730 trunk_z= 124.5mm grav_b=(+0.07,+0.07,-1.00) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 129.0mm grav_b=(+0.13,-0.09,-0.99) r=0.53m +[headless_play] t= 14.80s step= 740 trunk_z= 131.1mm grav_b=(+0.20,-0.07,-0.98) r=0.57m +[headless_play] t= 14.90s step= 745 trunk_z= 120.1mm grav_b=(+0.24,-0.15,-0.96) r=0.61m +[headless_play] t= 15.00s step= 750 trunk_z= 121.0mm grav_b=(+0.14,+0.09,-0.99) r=0.67m +[headless_play] t= 15.10s step= 755 trunk_z= 140.4mm grav_b=(-0.00,+0.10,-1.00) r=0.69m +[headless_play] t= 15.20s step= 760 trunk_z= 123.1mm grav_b=(+0.12,+0.06,-0.99) r=0.72m +[headless_play] t= 15.30s step= 765 trunk_z= 126.4mm grav_b=(+0.05,-0.04,-1.00) r=0.75m +[headless_play] t= 15.40s step= 770 trunk_z= 125.1mm grav_b=(+0.07,-0.07,-1.00) r=0.76m +[headless_play] t= 15.50s step= 775 trunk_z= 118.6mm grav_b=(-0.04,-0.01,-1.00) r=0.74m +[headless_play] t= 15.60s step= 780 trunk_z= 124.8mm grav_b=(+0.01,+0.08,-1.00) r=0.71m +[headless_play] t= 15.70s step= 785 trunk_z= 127.5mm grav_b=(+0.05,+0.08,-1.00) r=0.72m +[headless_play] t= 15.80s step= 790 trunk_z= 123.0mm grav_b=(+0.04,+0.05,-1.00) r=0.74m +[headless_play] t= 15.90s step= 795 trunk_z= 123.7mm grav_b=(+0.11,-0.07,-0.99) r=0.76m +[headless_play] t= 16.00s step= 800 trunk_z= 124.5mm grav_b=(+0.09,-0.02,-1.00) r=0.77m +[headless_play] t= 16.10s step= 805 trunk_z= 117.5mm grav_b=(+0.08,+0.05,-1.00) r=0.77m +[headless_play] t= 16.20s step= 810 trunk_z= 123.5mm grav_b=(+0.13,-0.02,-0.99) r=0.79m +[headless_play] t= 16.30s step= 815 trunk_z= 109.8mm grav_b=(+0.06,-0.02,-1.00) r=0.83m +[headless_play] t= 16.40s step= 820 trunk_z= 101.1mm grav_b=(+0.19,-0.12,-0.97) r=0.86m +[headless_play] t= 16.50s step= 825 trunk_z= 100.9mm grav_b=(+0.26,-0.15,-0.95) r=0.87m +[headless_play] t= 16.60s step= 830 trunk_z= 94.2mm grav_b=(+0.14,+0.01,-0.99) r=0.89m +[headless_play] t= 16.70s step= 835 trunk_z= 114.4mm grav_b=(+0.08,+0.16,-0.98) r=0.91m +[headless_play] t= 16.80s step= 840 trunk_z= 101.1mm grav_b=(+0.13,+0.14,-0.98) r=0.92m +[headless_play] t= 16.90s step= 845 trunk_z= 87.1mm grav_b=(+0.08,-0.12,-0.99) r=0.92m +[headless_play] t= 17.00s step= 850 trunk_z= 103.3mm grav_b=(+0.06,-0.09,-0.99) r=0.93m +[headless_play] t= 17.10s step= 855 trunk_z= 105.9mm grav_b=(+0.12,-0.12,-0.99) r=0.95m +[headless_play] t= 17.20s step= 860 trunk_z= 99.2mm grav_b=(+0.14,-0.02,-0.99) r=0.95m +[headless_play] t= 17.30s step= 865 trunk_z= 97.2mm grav_b=(+0.05,+0.12,-0.99) r=0.94m +[headless_play] t= 17.40s step= 870 trunk_z= 107.5mm grav_b=(+0.04,+0.20,-0.98) r=0.94m +[headless_play] t= 17.50s step= 875 trunk_z= 102.7mm grav_b=(-0.01,+0.18,-0.98) r=0.93m +[headless_play] t= 17.60s step= 880 trunk_z= 94.3mm grav_b=(+0.05,+0.05,-1.00) r=0.93m +[headless_play] t= 17.70s step= 885 trunk_z= 98.6mm grav_b=(-0.02,+0.02,-1.00) r=0.95m +[headless_play] t= 17.80s step= 890 trunk_z= 92.2mm grav_b=(+0.03,+0.06,-1.00) r=0.94m +[headless_play] t= 17.90s step= 895 trunk_z= 94.3mm grav_b=(+0.12,+0.11,-0.99) r=0.95m +[headless_play] t= 18.00s step= 900 trunk_z= 94.2mm grav_b=(+0.12,+0.09,-0.99) r=0.95m +[headless_play] t= 18.10s step= 905 trunk_z= 88.9mm grav_b=(+0.11,-0.01,-0.99) r=0.97m +[headless_play] t= 18.20s step= 910 trunk_z= 97.5mm grav_b=(+0.11,-0.04,-0.99) r=0.97m +[headless_play] t= 18.30s step= 915 trunk_z= 94.9mm grav_b=(+0.09,+0.01,-1.00) r=0.95m +[headless_play] t= 18.40s step= 920 trunk_z= 98.8mm grav_b=(+0.09,+0.07,-0.99) r=0.92m +[headless_play] t= 18.50s step= 925 trunk_z= 99.0mm grav_b=(+0.07,+0.09,-0.99) r=0.92m +[headless_play] t= 18.60s step= 930 trunk_z= 90.8mm grav_b=(+0.09,+0.01,-1.00) r=0.92m +[headless_play] t= 18.70s step= 935 trunk_z= 92.5mm grav_b=(+0.17,+0.00,-0.99) r=0.92m +[headless_play] t= 18.80s step= 940 trunk_z= 95.8mm grav_b=(+0.16,+0.03,-0.99) r=0.91m +[headless_play] t= 18.90s step= 945 trunk_z= 90.3mm grav_b=(+0.06,-0.04,-1.00) r=0.90m +[headless_play] t= 19.00s step= 950 trunk_z= 94.2mm grav_b=(+0.10,-0.02,-0.99) r=0.89m +[headless_play] t= 19.10s step= 955 trunk_z= 91.2mm grav_b=(+0.08,+0.04,-1.00) r=0.88m +[headless_play] t= 19.20s step= 960 trunk_z= 92.2mm grav_b=(+0.05,+0.02,-1.00) r=0.88m +[headless_play] t= 19.30s step= 965 trunk_z= 92.0mm grav_b=(+0.05,-0.02,-1.00) r=0.88m +[headless_play] t= 19.40s step= 970 trunk_z= 92.0mm grav_b=(+0.05,-0.01,-1.00) r=0.88m +[headless_play] t= 19.50s step= 975 trunk_z= 91.8mm grav_b=(+0.05,-0.01,-1.00) r=0.88m +[headless_play] t= 19.60s step= 980 trunk_z= 91.9mm grav_b=(+0.05,-0.01,-1.00) r=0.89m +[headless_play] t= 19.70s step= 985 trunk_z= 91.7mm grav_b=(+0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 19.80s step= 990 trunk_z= 91.7mm grav_b=(+0.01,-0.01,-1.00) r=0.89m +[headless_play] t= 19.90s step= 995 trunk_z= 91.7mm grav_b=(+0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 20.00s step=1000 trunk_z= 91.7mm grav_b=(+0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 20.10s step=1005 trunk_z= 92.5mm grav_b=(-0.01,+0.01,-1.00) r=0.89m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t3.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..1dd3d8d1a4103afbbed02085ae1a37dc06bfd229 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t3.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.331,-18.061,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.01,+0.03,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 113.6mm grav_b=(+0.04,+0.10,-0.99) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(+0.07,+0.09,-0.99) r=0.38m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(+0.05,+0.04,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 118.8mm grav_b=(+0.01,-0.07,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 117.9mm grav_b=(+0.03,-0.06,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 111.2mm grav_b=(+0.02,+0.05,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.03,+0.07,-1.00) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 109.2mm grav_b=(+0.04,-0.07,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 118.5mm grav_b=(+0.05,-0.09,-0.99) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.05,-0.04,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 117.1mm grav_b=(+0.02,+0.09,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 120.2mm grav_b=(+0.04,+0.13,-0.99) r=0.56m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(+0.05,+0.10,-0.99) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 115.1mm grav_b=(+0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(-0.00,-0.06,-1.00) r=0.61m +[headless_play] t= 1.70s step= 85 trunk_z= 108.9mm grav_b=(+0.04,+0.10,-0.99) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 119.9mm grav_b=(+0.12,+0.21,-0.97) r=0.62m +[headless_play] t= 1.90s step= 95 trunk_z= 123.9mm grav_b=(+0.12,+0.22,-0.97) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 127.2mm grav_b=(+0.09,+0.13,-0.99) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 120.4mm grav_b=(+0.02,+0.01,-1.00) r=0.67m +[headless_play] t= 2.20s step= 110 trunk_z= 119.3mm grav_b=(-0.02,-0.02,-1.00) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 118.2mm grav_b=(+0.01,+0.07,-1.00) r=0.68m +[headless_play] t= 2.40s step= 120 trunk_z= 118.8mm grav_b=(+0.05,+0.09,-0.99) r=0.69m +[headless_play] t= 2.50s step= 125 trunk_z= 115.8mm grav_b=(+0.03,+0.05,-1.00) r=0.71m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(-0.08,-0.06,-1.00) r=0.73m +[headless_play] t= 2.70s step= 135 trunk_z= 121.9mm grav_b=(-0.05,-0.03,-1.00) r=0.73m +[headless_play] t= 2.80s step= 140 trunk_z= 106.2mm grav_b=(+0.02,+0.07,-1.00) r=0.71m +[headless_play] t= 2.90s step= 145 trunk_z= 112.1mm grav_b=(+0.06,+0.12,-0.99) r=0.70m +[headless_play] t= 3.00s step= 150 trunk_z= 111.1mm grav_b=(+0.10,+0.12,-0.99) r=0.71m +[headless_play] t= 3.10s step= 155 trunk_z= 111.8mm grav_b=(+0.10,+0.07,-0.99) r=0.73m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(+0.09,-0.04,-0.99) r=0.75m +[headless_play] t= 3.30s step= 165 trunk_z= 120.7mm grav_b=(+0.10,-0.08,-0.99) r=0.79m +[headless_play] t= 3.40s step= 170 trunk_z= 111.1mm grav_b=(+0.09,-0.09,-0.99) r=0.83m +[headless_play] t= 3.50s step= 175 trunk_z= 127.2mm grav_b=(+0.04,-0.03,-1.00) r=0.86m +[headless_play] t= 3.60s step= 180 trunk_z= 111.6mm grav_b=(+0.04,-0.12,-0.99) r=0.90m +[headless_play] t= 3.70s step= 185 trunk_z= 104.2mm grav_b=(+0.09,-0.27,-0.96) r=0.94m +[headless_play] t= 3.80s step= 190 trunk_z= 106.0mm grav_b=(+0.14,-0.22,-0.96) r=0.98m +[headless_play] t= 3.90s step= 195 trunk_z= 105.6mm grav_b=(+0.17,-0.32,-0.93) r=1.04m +[headless_play] t= 4.00s step= 200 trunk_z= 98.1mm grav_b=(+0.03,-0.12,-0.99) r=1.10m +[headless_play] t= 4.10s step= 205 trunk_z= 105.3mm grav_b=(-0.08,-0.08,-0.99) r=1.15m +[headless_play] t= 4.20s step= 210 trunk_z= 90.5mm grav_b=(+0.01,-0.05,-1.00) r=1.18m +[headless_play] t= 4.30s step= 215 trunk_z= 93.5mm grav_b=(+0.08,-0.05,-1.00) r=1.17m +[headless_play] t= 4.40s step= 220 trunk_z= 88.5mm grav_b=(+0.07,+0.02,-1.00) r=1.15m +[headless_play] t= 4.50s step= 225 trunk_z= 95.4mm grav_b=(+0.03,+0.04,-1.00) r=1.14m +[headless_play] t= 4.60s step= 230 trunk_z= 92.3mm grav_b=(-0.02,-0.00,-1.00) r=1.16m +[headless_play] t= 4.70s step= 235 trunk_z= 95.0mm grav_b=(-0.02,-0.06,-1.00) r=1.19m +[headless_play] t= 4.80s step= 240 trunk_z= 91.8mm grav_b=(-0.01,+0.04,-1.00) r=1.17m +[headless_play] t= 4.90s step= 245 trunk_z= 96.5mm grav_b=(+0.06,+0.11,-0.99) r=1.15m +[headless_play] t= 5.00s step= 250 trunk_z= 101.0mm grav_b=(+0.07,+0.04,-1.00) r=1.16m +[headless_play] t= 5.10s step= 255 trunk_z= 89.6mm grav_b=(+0.04,-0.04,-1.00) r=1.19m +[headless_play] t= 5.20s step= 260 trunk_z= 99.3mm grav_b=(+0.04,-0.07,-1.00) r=1.19m +[headless_play] t= 5.30s step= 265 trunk_z= 94.6mm grav_b=(+0.02,-0.02,-1.00) r=1.18m +[headless_play] t= 5.40s step= 270 trunk_z= 92.5mm grav_b=(-0.00,+0.04,-1.00) r=1.15m +[headless_play] t= 5.50s step= 275 trunk_z= 99.0mm grav_b=(+0.01,+0.05,-1.00) r=1.14m +[headless_play] t= 5.60s step= 280 trunk_z= 94.3mm grav_b=(-0.00,+0.01,-1.00) r=1.16m +[headless_play] t= 5.70s step= 285 trunk_z= 99.5mm grav_b=(+0.04,-0.12,-0.99) r=1.19m +[headless_play] t= 5.80s step= 290 trunk_z= 105.1mm grav_b=(+0.08,-0.13,-0.99) r=1.21m +[headless_play] t= 5.90s step= 295 trunk_z= 105.6mm grav_b=(+0.08,-0.14,-0.99) r=1.21m +[headless_play] t= 6.00s step= 300 trunk_z= 91.3mm grav_b=(-0.02,-0.07,-1.00) r=1.20m +[headless_play] t= 6.10s step= 305 trunk_z= 104.2mm grav_b=(-0.03,+0.03,-1.00) r=1.19m +[headless_play] t= 6.20s step= 310 trunk_z= 95.5mm grav_b=(-0.03,+0.02,-1.00) r=1.19m +[headless_play] t= 6.30s step= 315 trunk_z= 95.1mm grav_b=(+0.02,-0.05,-1.00) r=1.21m +[headless_play] t= 6.40s step= 320 trunk_z= 95.7mm grav_b=(+0.07,-0.01,-1.00) r=1.21m +[headless_play] t= 6.50s step= 325 trunk_z= 90.8mm grav_b=(-0.00,+0.09,-1.00) r=1.18m +[headless_play] t= 6.60s step= 330 trunk_z= 99.7mm grav_b=(-0.04,+0.09,-0.99) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 101.7mm grav_b=(-0.01,+0.06,-1.00) r=1.17m +[headless_play] t= 6.80s step= 340 trunk_z= 92.7mm grav_b=(-0.07,-0.00,-1.00) r=1.20m +[headless_play] t= 6.90s step= 345 trunk_z= 99.4mm grav_b=(-0.01,-0.03,-1.00) r=1.22m +[headless_play] t= 7.00s step= 350 trunk_z= 96.8mm grav_b=(+0.01,-0.01,-1.00) r=1.21m +[headless_play] t= 7.10s step= 355 trunk_z= 93.4mm grav_b=(-0.07,+0.09,-0.99) r=1.19m +[headless_play] t= 7.20s step= 360 trunk_z= 99.4mm grav_b=(-0.02,+0.10,-1.00) r=1.18m +[headless_play] t= 7.30s step= 365 trunk_z= 96.2mm grav_b=(+0.06,+0.05,-1.00) r=1.18m +[headless_play] t= 7.40s step= 370 trunk_z= 89.6mm grav_b=(+0.06,-0.02,-1.00) r=1.20m +[headless_play] t= 7.50s step= 375 trunk_z= 86.1mm grav_b=(+0.11,-0.01,-0.99) r=1.19m +[headless_play] t= 7.60s step= 380 trunk_z= 83.4mm grav_b=(+0.11,+0.07,-0.99) r=1.16m +[headless_play] t= 7.70s step= 385 trunk_z= 91.3mm grav_b=(+0.16,+0.01,-0.99) r=1.14m +[headless_play] t= 7.80s step= 390 trunk_z= 82.2mm grav_b=(+0.02,-0.11,-0.99) r=1.13m +[headless_play] t= 7.90s step= 395 trunk_z= 98.2mm grav_b=(+0.01,-0.11,-0.99) r=1.12m +[headless_play] t= 8.00s step= 400 trunk_z= 94.0mm grav_b=(+0.04,-0.07,-1.00) r=1.11m +[headless_play] t= 8.10s step= 405 trunk_z= 89.0mm grav_b=(+0.02,+0.06,-1.00) r=1.07m +[headless_play] t= 8.20s step= 410 trunk_z= 97.0mm grav_b=(+0.05,+0.14,-0.99) r=1.05m +[headless_play] t= 8.30s step= 415 trunk_z= 96.5mm grav_b=(+0.07,+0.14,-0.99) r=1.04m +[headless_play] t= 8.40s step= 420 trunk_z= 92.2mm grav_b=(+0.05,+0.04,-1.00) r=1.04m +[headless_play] t= 8.50s step= 425 trunk_z= 94.8mm grav_b=(+0.04,-0.06,-1.00) r=1.04m +[headless_play] t= 8.60s step= 430 trunk_z= 88.1mm grav_b=(+0.02,+0.06,-1.00) r=1.02m +[headless_play] t= 8.70s step= 435 trunk_z= 94.4mm grav_b=(+0.04,+0.18,-0.98) r=0.99m +[headless_play] t= 8.80s step= 440 trunk_z= 96.5mm grav_b=(+0.11,+0.21,-0.97) r=0.96m +[headless_play] t= 8.90s step= 445 trunk_z= 99.5mm grav_b=(+0.12,+0.17,-0.98) r=0.94m +[headless_play] t= 9.00s step= 450 trunk_z= 88.6mm grav_b=(+0.03,-0.02,-1.00) r=0.90m +[headless_play] t= 9.10s step= 455 trunk_z= 98.2mm grav_b=(-0.04,-0.06,-1.00) r=0.89m +[headless_play] t= 9.20s step= 460 trunk_z= 98.2mm grav_b=(+0.05,-0.01,-1.00) r=0.87m +[headless_play] t= 9.30s step= 465 trunk_z= 92.1mm grav_b=(+0.08,-0.08,-0.99) r=0.87m +[headless_play] t= 9.40s step= 470 trunk_z= 88.0mm grav_b=(+0.09,-0.03,-1.00) r=0.88m +[headless_play] t= 9.50s step= 475 trunk_z= 90.3mm grav_b=(-0.05,+0.08,-1.00) r=0.90m +[headless_play] t= 9.60s step= 480 trunk_z= 93.6mm grav_b=(-0.02,+0.05,-1.00) r=0.89m +[headless_play] t= 9.70s step= 485 trunk_z= 88.6mm grav_b=(+0.04,-0.01,-1.00) r=0.87m +[headless_play] t= 9.80s step= 490 trunk_z= 86.0mm grav_b=(+0.04,-0.05,-1.00) r=0.85m +[headless_play] t= 9.90s step= 495 trunk_z= 82.6mm grav_b=(+0.12,+0.01,-0.99) r=0.84m +[headless_play] t= 10.00s step= 500 trunk_z= 79.1mm grav_b=(+0.29,+0.03,-0.96) r=0.84m +[headless_play] t= 10.10s step= 505 trunk_z= 87.2mm grav_b=(+0.37,+0.04,-0.93) r=0.82m +[headless_play] t= 10.20s step= 510 trunk_z= 68.6mm grav_b=(+0.83,+0.19,-0.52) r=0.81m +[headless_play] RESET at t= 10.24s step= 512 (env termination, not a recovery) +[headless_play] t= 10.30s step= 515 trunk_z= 114.0mm grav_b=(+0.00,-0.00,-1.00) r=0.58m +[headless_play] t= 10.40s step= 520 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=0.59m +[headless_play] t= 10.50s step= 525 trunk_z= 115.6mm grav_b=(+0.06,-0.00,-1.00) r=0.59m +[headless_play] t= 10.60s step= 530 trunk_z= 115.5mm grav_b=(+0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(+0.10,-0.00,-0.99) r=0.60m +[headless_play] t= 10.80s step= 540 trunk_z= 116.6mm grav_b=(+0.11,-0.00,-0.99) r=0.60m +[headless_play] t= 10.90s step= 545 trunk_z= 117.0mm grav_b=(+0.11,-0.01,-0.99) r=0.60m +[headless_play] t= 11.00s step= 550 trunk_z= 117.3mm grav_b=(+0.11,-0.01,-0.99) r=0.60m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(+0.10,-0.01,-0.99) r=0.60m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(+0.08,-0.01,-1.00) r=0.60m +[headless_play] t= 11.30s step= 565 trunk_z= 115.0mm grav_b=(-0.01,-0.01,-1.00) r=0.58m +[headless_play] t= 11.40s step= 570 trunk_z= 115.2mm grav_b=(-0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 11.50s step= 575 trunk_z= 115.1mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.60s step= 580 trunk_z= 114.6mm grav_b=(+0.02,-0.00,-1.00) r=0.59m +[headless_play] t= 11.70s step= 585 trunk_z= 114.4mm grav_b=(+0.06,-0.00,-1.00) r=0.59m +[headless_play] t= 11.80s step= 590 trunk_z= 114.6mm grav_b=(+0.07,-0.00,-1.00) r=0.59m +[headless_play] t= 11.90s step= 595 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 12.10s step= 605 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 12.20s step= 610 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 12.40s step= 620 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 12.50s step= 625 trunk_z= 115.6mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 12.60s step= 630 trunk_z= 115.5mm grav_b=(+0.04,+0.00,-1.00) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 12.80s step= 640 trunk_z= 115.2mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 12.90s step= 645 trunk_z= 115.4mm grav_b=(+0.08,+0.01,-1.00) r=0.59m +[headless_play] t= 13.00s step= 650 trunk_z= 115.3mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 13.10s step= 655 trunk_z= 115.0mm grav_b=(+0.05,+0.00,-1.00) r=0.59m +[headless_play] t= 13.20s step= 660 trunk_z= 115.3mm grav_b=(+0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 13.30s step= 665 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 13.40s step= 670 trunk_z= 115.2mm grav_b=(+0.03,+0.00,-1.00) r=0.59m +[headless_play] t= 13.50s step= 675 trunk_z= 115.2mm grav_b=(+0.06,-0.00,-1.00) r=0.60m +[headless_play] t= 13.60s step= 680 trunk_z= 112.4mm grav_b=(+0.10,+0.04,-0.99) r=0.62m +[headless_play] t= 13.70s step= 685 trunk_z= 118.3mm grav_b=(+0.08,+0.05,-1.00) r=0.65m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.68m +[headless_play] t= 13.90s step= 695 trunk_z= 117.7mm grav_b=(+0.01,-0.09,-1.00) r=0.70m +[headless_play] t= 14.00s step= 700 trunk_z= 118.4mm grav_b=(+0.04,-0.09,-1.00) r=0.72m +[headless_play] t= 14.10s step= 705 trunk_z= 111.7mm grav_b=(+0.05,-0.01,-1.00) r=0.74m +[headless_play] t= 14.20s step= 710 trunk_z= 118.7mm grav_b=(+0.03,+0.06,-1.00) r=0.76m +[headless_play] t= 14.30s step= 715 trunk_z= 116.2mm grav_b=(+0.05,+0.04,-1.00) r=0.77m +[headless_play] t= 14.40s step= 720 trunk_z= 115.2mm grav_b=(+0.02,-0.10,-0.99) r=0.78m +[headless_play] t= 14.50s step= 725 trunk_z= 123.2mm grav_b=(+0.03,-0.16,-0.99) r=0.78m +[headless_play] t= 14.60s step= 730 trunk_z= 125.1mm grav_b=(+0.05,-0.18,-0.98) r=0.79m +[headless_play] t= 14.70s step= 735 trunk_z= 121.3mm grav_b=(+0.09,-0.11,-0.99) r=0.81m +[headless_play] t= 14.80s step= 740 trunk_z= 120.9mm grav_b=(+0.07,+0.01,-1.00) r=0.85m +[headless_play] t= 14.90s step= 745 trunk_z= 126.2mm grav_b=(-0.01,+0.04,-1.00) r=0.87m +[headless_play] t= 15.00s step= 750 trunk_z= 112.1mm grav_b=(+0.01,-0.04,-1.00) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 118.0mm grav_b=(+0.00,-0.06,-1.00) r=0.89m +[headless_play] t= 15.20s step= 760 trunk_z= 116.1mm grav_b=(+0.03,-0.05,-1.00) r=0.91m +[headless_play] t= 15.30s step= 765 trunk_z= 108.5mm grav_b=(+0.09,+0.06,-0.99) r=0.93m +[headless_play] t= 15.40s step= 770 trunk_z= 122.5mm grav_b=(+0.13,+0.05,-0.99) r=0.96m +[headless_play] t= 15.50s step= 775 trunk_z= 116.1mm grav_b=(+0.09,-0.03,-1.00) r=0.99m +[headless_play] t= 15.60s step= 780 trunk_z= 105.5mm grav_b=(+0.11,-0.23,-0.97) r=1.01m +[headless_play] t= 15.70s step= 785 trunk_z= 103.8mm grav_b=(+0.12,-0.22,-0.97) r=1.02m +[headless_play] t= 15.80s step= 790 trunk_z= 104.6mm grav_b=(+0.11,-0.32,-0.94) r=1.04m +[headless_play] t= 15.90s step= 795 trunk_z= 91.2mm grav_b=(-0.01,-0.32,-0.95) r=1.09m +[headless_play] t= 16.00s step= 800 trunk_z= 101.0mm grav_b=(-0.10,-0.21,-0.97) r=1.10m +[headless_play] t= 16.10s step= 805 trunk_z= 89.4mm grav_b=(-0.16,-0.28,-0.95) r=1.11m +[headless_play] t= 16.20s step= 810 trunk_z= 89.3mm grav_b=(+0.10,-0.16,-0.98) r=1.13m +[headless_play] t= 16.30s step= 815 trunk_z= 84.3mm grav_b=(+0.11,-0.03,-0.99) r=1.16m +[headless_play] t= 16.40s step= 820 trunk_z= 93.0mm grav_b=(+0.07,+0.02,-1.00) r=1.19m +[headless_play] t= 16.50s step= 825 trunk_z= 91.1mm grav_b=(+0.03,+0.03,-1.00) r=1.20m +[headless_play] t= 16.60s step= 830 trunk_z= 90.4mm grav_b=(+0.03,-0.08,-1.00) r=1.19m +[headless_play] t= 16.70s step= 835 trunk_z= 96.5mm grav_b=(+0.05,-0.08,-1.00) r=1.19m +[headless_play] t= 16.80s step= 840 trunk_z= 92.3mm grav_b=(+0.10,-0.03,-0.99) r=1.21m +[headless_play] t= 16.90s step= 845 trunk_z= 89.3mm grav_b=(+0.07,+0.07,-1.00) r=1.24m +[headless_play] t= 17.00s step= 850 trunk_z= 95.2mm grav_b=(+0.05,+0.06,-1.00) r=1.25m +[headless_play] t= 17.10s step= 855 trunk_z= 88.3mm grav_b=(+0.07,+0.01,-1.00) r=1.26m +[headless_play] t= 17.20s step= 860 trunk_z= 96.1mm grav_b=(+0.13,-0.04,-0.99) r=1.28m +[headless_play] t= 17.30s step= 865 trunk_z= 95.0mm grav_b=(+0.07,-0.03,-1.00) r=1.31m +[headless_play] t= 17.40s step= 870 trunk_z= 92.5mm grav_b=(+0.05,-0.03,-1.00) r=1.34m +[headless_play] t= 17.50s step= 875 trunk_z= 91.3mm grav_b=(+0.03,-0.06,-1.00) r=1.36m +[headless_play] t= 17.60s step= 880 trunk_z= 93.6mm grav_b=(+0.05,-0.11,-0.99) r=1.37m +[headless_play] t= 17.70s step= 885 trunk_z= 94.8mm grav_b=(+0.03,-0.07,-1.00) r=1.39m +[headless_play] t= 17.80s step= 890 trunk_z= 87.6mm grav_b=(+0.02,+0.03,-1.00) r=1.41m +[headless_play] t= 17.90s step= 895 trunk_z= 94.7mm grav_b=(+0.02,+0.06,-1.00) r=1.42m +[headless_play] t= 18.00s step= 900 trunk_z= 91.3mm grav_b=(+0.01,+0.04,-1.00) r=1.43m +[headless_play] t= 18.10s step= 905 trunk_z= 93.2mm grav_b=(-0.01,-0.02,-1.00) r=1.42m +[headless_play] t= 18.20s step= 910 trunk_z= 93.6mm grav_b=(-0.01,+0.02,-1.00) r=1.43m +[headless_play] t= 18.30s step= 915 trunk_z= 89.6mm grav_b=(+0.02,+0.07,-1.00) r=1.44m +[headless_play] t= 18.40s step= 920 trunk_z= 89.8mm grav_b=(+0.07,+0.02,-1.00) r=1.44m +[headless_play] t= 18.50s step= 925 trunk_z= 86.4mm grav_b=(+0.07,-0.07,-1.00) r=1.44m +[headless_play] t= 18.60s step= 930 trunk_z= 95.1mm grav_b=(+0.08,-0.09,-0.99) r=1.46m +[headless_play] t= 18.70s step= 935 trunk_z= 91.6mm grav_b=(+0.09,-0.04,-1.00) r=1.48m +[headless_play] t= 18.80s step= 940 trunk_z= 89.7mm grav_b=(+0.05,+0.05,-1.00) r=1.51m +[headless_play] t= 18.90s step= 945 trunk_z= 93.4mm grav_b=(+0.03,+0.02,-1.00) r=1.51m +[headless_play] t= 19.00s step= 950 trunk_z= 89.0mm grav_b=(-0.02,-0.09,-1.00) r=1.50m +[headless_play] t= 19.10s step= 955 trunk_z= 99.2mm grav_b=(+0.04,-0.12,-0.99) r=1.49m +[headless_play] t= 19.20s step= 960 trunk_z= 98.6mm grav_b=(+0.03,-0.10,-0.99) r=1.50m +[headless_play] t= 19.30s step= 965 trunk_z= 92.7mm grav_b=(+0.04,-0.07,-1.00) r=1.52m +[headless_play] t= 19.40s step= 970 trunk_z= 88.7mm grav_b=(+0.04,+0.03,-1.00) r=1.55m +[headless_play] t= 19.50s step= 975 trunk_z= 91.1mm grav_b=(+0.05,+0.05,-1.00) r=1.56m +[headless_play] t= 19.60s step= 980 trunk_z= 84.7mm grav_b=(+0.02,-0.10,-1.00) r=1.53m +[headless_play] t= 19.70s step= 985 trunk_z= 95.7mm grav_b=(-0.03,-0.16,-0.99) r=1.52m +[headless_play] t= 19.80s step= 990 trunk_z= 98.0mm grav_b=(-0.04,-0.14,-0.99) r=1.52m +[headless_play] t= 19.90s step= 995 trunk_z= 95.3mm grav_b=(+0.03,-0.11,-0.99) r=1.52m +[headless_play] t= 20.00s step=1000 trunk_z= 90.3mm grav_b=(+0.10,-0.06,-0.99) r=1.54m +[headless_play] t= 20.10s step=1005 trunk_z= 88.6mm grav_b=(+0.12,+0.01,-0.99) r=1.55m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t4.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..702856eee6ca36c22e90e2d3347b9c2103b44604 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t4.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.266,-18.340,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.00,-0.00,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 111.0mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.4mm grav_b=(+0.05,+0.03,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 112.7mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 119.6mm grav_b=(+0.03,-0.11,-0.99) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 120.2mm grav_b=(+0.05,-0.10,-0.99) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 112.8mm grav_b=(+0.05,-0.05,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 120.1mm grav_b=(+0.04,+0.03,-1.00) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 118.9mm grav_b=(-0.01,+0.01,-1.00) r=0.47m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(-0.00,-0.09,-1.00) r=0.48m +[headless_play] t= 1.10s step= 55 trunk_z= 121.7mm grav_b=(+0.03,-0.11,-0.99) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 120.1mm grav_b=(+0.07,-0.12,-0.99) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 114.0mm grav_b=(+0.07,-0.03,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 119.5mm grav_b=(+0.05,+0.02,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 114.3mm grav_b=(+0.04,-0.06,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 121.1mm grav_b=(-0.00,-0.11,-0.99) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 122.2mm grav_b=(+0.04,-0.09,-0.99) r=0.56m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(-0.00,-0.04,-1.00) r=0.56m +[headless_play] t= 1.90s step= 95 trunk_z= 120.9mm grav_b=(+0.02,+0.05,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 119.5mm grav_b=(+0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(+0.07,-0.09,-0.99) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 118.8mm grav_b=(+0.09,-0.11,-0.99) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(+0.09,-0.07,-0.99) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 124.2mm grav_b=(+0.10,+0.08,-0.99) r=0.64m +[headless_play] t= 2.50s step= 125 trunk_z= 127.1mm grav_b=(+0.12,+0.07,-0.99) r=0.67m +[headless_play] t= 2.60s step= 130 trunk_z= 123.3mm grav_b=(+0.08,-0.04,-1.00) r=0.70m +[headless_play] t= 2.70s step= 135 trunk_z= 128.4mm grav_b=(-0.04,-0.17,-0.99) r=0.73m +[headless_play] t= 2.80s step= 140 trunk_z= 128.6mm grav_b=(+0.01,-0.16,-0.99) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 121.3mm grav_b=(+0.07,-0.12,-0.99) r=0.78m +[headless_play] t= 3.00s step= 150 trunk_z= 103.5mm grav_b=(-0.08,+0.02,-1.00) r=0.80m +[headless_play] t= 3.10s step= 155 trunk_z= 104.4mm grav_b=(+0.08,-0.01,-1.00) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 106.7mm grav_b=(+0.24,-0.19,-0.95) r=0.83m +[headless_play] t= 3.30s step= 165 trunk_z= 95.1mm grav_b=(+0.25,-0.42,-0.87) r=0.85m +[headless_play] t= 3.40s step= 170 trunk_z= 29.5mm grav_b=(-0.21,-0.90,-0.39) r=0.89m +[headless_play] RESET at t= 3.42s step= 171 (env termination, not a recovery) +[headless_play] t= 3.50s step= 175 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(+0.06,-0.00,-1.00) r=0.44m +[headless_play] t= 3.70s step= 185 trunk_z= 115.8mm grav_b=(+0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 3.80s step= 190 trunk_z= 115.9mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 3.90s step= 195 trunk_z= 116.4mm grav_b=(+0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.20s step= 210 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.50s step= 225 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.80s step= 240 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 4.90s step= 245 trunk_z= 118.2mm grav_b=(+0.11,+0.01,-0.99) r=0.44m +[headless_play] t= 5.00s step= 250 trunk_z= 119.2mm grav_b=(+0.16,-0.01,-0.99) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 120.2mm grav_b=(+0.15,-0.04,-0.99) r=0.43m +[headless_play] t= 5.20s step= 260 trunk_z= 121.3mm grav_b=(+0.09,-0.10,-0.99) r=0.43m +[headless_play] t= 5.30s step= 265 trunk_z= 120.1mm grav_b=(-0.00,-0.04,-1.00) r=0.44m +[headless_play] t= 5.40s step= 270 trunk_z= 118.0mm grav_b=(-0.00,+0.02,-1.00) r=0.45m +[headless_play] t= 5.50s step= 275 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.45m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 5.70s step= 285 trunk_z= 117.6mm grav_b=(+0.07,-0.01,-1.00) r=0.44m +[headless_play] t= 5.80s step= 290 trunk_z= 119.2mm grav_b=(+0.12,-0.02,-0.99) r=0.44m +[headless_play] t= 5.90s step= 295 trunk_z= 120.0mm grav_b=(+0.15,-0.03,-0.99) r=0.43m +[headless_play] t= 6.00s step= 300 trunk_z= 118.8mm grav_b=(+0.11,-0.06,-0.99) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 122.3mm grav_b=(+0.09,-0.06,-0.99) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 118.7mm grav_b=(+0.00,+0.03,-1.00) r=0.42m +[headless_play] t= 6.30s step= 315 trunk_z= 118.3mm grav_b=(+0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 6.50s step= 325 trunk_z= 118.0mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 6.60s step= 330 trunk_z= 117.5mm grav_b=(+0.03,-0.00,-1.00) r=0.42m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 6.80s step= 340 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 7.00s step= 350 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 7.10s step= 355 trunk_z= 117.5mm grav_b=(-0.07,+0.01,-1.00) r=0.43m +[headless_play] t= 7.20s step= 360 trunk_z= 113.0mm grav_b=(+0.01,-0.04,-1.00) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(+0.09,-0.04,-1.00) r=0.45m +[headless_play] t= 7.40s step= 370 trunk_z= 108.5mm grav_b=(+0.12,+0.04,-0.99) r=0.47m +[headless_play] t= 7.50s step= 375 trunk_z= 113.1mm grav_b=(+0.17,+0.04,-0.98) r=0.47m +[headless_play] t= 7.60s step= 380 trunk_z= 115.4mm grav_b=(+0.14,-0.04,-0.99) r=0.46m +[headless_play] t= 7.70s step= 385 trunk_z= 116.3mm grav_b=(+0.10,+0.01,-1.00) r=0.46m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(+0.09,+0.03,-1.00) r=0.46m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(+0.07,+0.02,-1.00) r=0.46m +[headless_play] t= 8.00s step= 400 trunk_z= 120.0mm grav_b=(+0.16,+0.01,-0.99) r=0.45m +[headless_play] t= 8.10s step= 405 trunk_z= 113.7mm grav_b=(+0.09,-0.05,-0.99) r=0.42m +[headless_play] t= 8.20s step= 410 trunk_z= 125.2mm grav_b=(+0.07,-0.04,-1.00) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(-0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 8.40s step= 420 trunk_z= 121.5mm grav_b=(+0.01,+0.05,-1.00) r=0.39m +[headless_play] t= 8.50s step= 425 trunk_z= 118.0mm grav_b=(-0.00,+0.00,-1.00) r=0.38m +[headless_play] t= 8.60s step= 430 trunk_z= 119.1mm grav_b=(-0.00,-0.03,-1.00) r=0.37m +[headless_play] t= 8.70s step= 435 trunk_z= 119.4mm grav_b=(+0.01,-0.01,-1.00) r=0.37m +[headless_play] t= 8.80s step= 440 trunk_z= 119.2mm grav_b=(+0.05,+0.00,-1.00) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 118.9mm grav_b=(+0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 9.00s step= 450 trunk_z= 118.1mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 118.0mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 9.20s step= 460 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 119.5mm grav_b=(+0.04,+0.02,-1.00) r=0.37m +[headless_play] t= 9.40s step= 470 trunk_z= 120.9mm grav_b=(+0.06,+0.05,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 119.1mm grav_b=(+0.07,+0.02,-1.00) r=0.36m +[headless_play] t= 9.60s step= 480 trunk_z= 118.4mm grav_b=(+0.05,+0.02,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(+0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 9.80s step= 490 trunk_z= 117.9mm grav_b=(+0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 9.90s step= 495 trunk_z= 117.7mm grav_b=(+0.00,+0.00,-1.00) r=0.37m +[headless_play] t= 10.00s step= 500 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 10.10s step= 505 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 10.20s step= 510 trunk_z= 117.2mm grav_b=(+0.04,+0.00,-1.00) r=0.37m +[headless_play] t= 10.30s step= 515 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 10.40s step= 520 trunk_z= 116.9mm grav_b=(+0.04,+0.00,-1.00) r=0.36m +[headless_play] t= 10.50s step= 525 trunk_z= 116.6mm grav_b=(+0.04,+0.00,-1.00) r=0.36m +[headless_play] t= 10.60s step= 530 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 117.4mm grav_b=(+0.04,+0.03,-1.00) r=0.36m +[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(+0.05,+0.02,-1.00) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 116.6mm grav_b=(+0.04,+0.01,-1.00) r=0.37m +[headless_play] t= 11.10s step= 555 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.37m +[headless_play] t= 11.20s step= 560 trunk_z= 116.3mm grav_b=(+0.04,-0.01,-1.00) r=0.36m +[headless_play] t= 11.30s step= 565 trunk_z= 111.7mm grav_b=(+0.04,-0.08,-1.00) r=0.34m +[headless_play] t= 11.40s step= 570 trunk_z= 119.2mm grav_b=(+0.08,-0.05,-1.00) r=0.32m +[headless_play] t= 11.50s step= 575 trunk_z= 113.5mm grav_b=(+0.09,+0.00,-1.00) r=0.31m +[headless_play] t= 11.60s step= 580 trunk_z= 123.4mm grav_b=(+0.19,+0.06,-0.98) r=0.27m +[headless_play] t= 11.70s step= 585 trunk_z= 127.3mm grav_b=(+0.16,-0.01,-0.99) r=0.22m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(+0.13,-0.09,-0.99) r=0.18m +[headless_play] t= 11.90s step= 595 trunk_z= 132.7mm grav_b=(-0.00,-0.10,-1.00) r=0.17m +[headless_play] t= 12.00s step= 600 trunk_z= 115.5mm grav_b=(-0.02,+0.02,-1.00) r=0.17m +[headless_play] t= 12.10s step= 605 trunk_z= 125.9mm grav_b=(+0.02,+0.12,-0.99) r=0.17m +[headless_play] t= 12.20s step= 610 trunk_z= 124.4mm grav_b=(+0.08,+0.09,-0.99) r=0.18m +[headless_play] t= 12.30s step= 615 trunk_z= 118.0mm grav_b=(+0.10,+0.03,-0.99) r=0.16m +[headless_play] t= 12.40s step= 620 trunk_z= 120.3mm grav_b=(+0.07,-0.05,-1.00) r=0.14m +[headless_play] t= 12.50s step= 625 trunk_z= 122.5mm grav_b=(-0.01,-0.05,-1.00) r=0.14m +[headless_play] t= 12.60s step= 630 trunk_z= 111.8mm grav_b=(+0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 12.70s step= 635 trunk_z= 117.3mm grav_b=(+0.09,+0.06,-0.99) r=0.18m +[headless_play] t= 12.80s step= 640 trunk_z= 115.9mm grav_b=(+0.11,+0.04,-0.99) r=0.18m +[headless_play] t= 12.90s step= 645 trunk_z= 114.5mm grav_b=(+0.10,-0.07,-0.99) r=0.17m +[headless_play] t= 13.00s step= 650 trunk_z= 123.7mm grav_b=(+0.07,-0.06,-1.00) r=0.18m +[headless_play] t= 13.10s step= 655 trunk_z= 110.4mm grav_b=(+0.09,+0.03,-1.00) r=0.21m +[headless_play] t= 13.20s step= 660 trunk_z= 123.8mm grav_b=(+0.13,+0.09,-0.99) r=0.24m +[headless_play] t= 13.30s step= 665 trunk_z= 124.6mm grav_b=(+0.13,+0.06,-0.99) r=0.26m +[headless_play] t= 13.40s step= 670 trunk_z= 112.3mm grav_b=(+0.06,-0.02,-1.00) r=0.28m +[headless_play] t= 13.50s step= 675 trunk_z= 121.3mm grav_b=(+0.01,-0.03,-1.00) r=0.30m +[headless_play] t= 13.60s step= 680 trunk_z= 112.9mm grav_b=(-0.01,+0.04,-1.00) r=0.34m +[headless_play] t= 13.70s step= 685 trunk_z= 120.7mm grav_b=(+0.08,+0.09,-0.99) r=0.36m +[headless_play] t= 13.80s step= 690 trunk_z= 119.7mm grav_b=(+0.10,+0.07,-0.99) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 113.2mm grav_b=(+0.09,-0.03,-1.00) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 123.9mm grav_b=(+0.08,-0.06,-0.99) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(+0.08,-0.04,-1.00) r=0.43m +[headless_play] t= 14.20s step= 710 trunk_z= 119.1mm grav_b=(+0.07,+0.05,-1.00) r=0.47m +[headless_play] t= 14.30s step= 715 trunk_z= 119.4mm grav_b=(+0.08,+0.05,-1.00) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 113.4mm grav_b=(+0.07,-0.03,-1.00) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 123.1mm grav_b=(+0.11,-0.06,-0.99) r=0.50m +[headless_play] t= 14.60s step= 730 trunk_z= 120.6mm grav_b=(+0.09,-0.05,-0.99) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 118.6mm grav_b=(+0.09,+0.01,-1.00) r=0.55m +[headless_play] t= 14.80s step= 740 trunk_z= 120.7mm grav_b=(+0.08,+0.00,-1.00) r=0.57m +[headless_play] t= 14.90s step= 745 trunk_z= 113.2mm grav_b=(+0.08,-0.04,-1.00) r=0.59m +[headless_play] t= 15.00s step= 750 trunk_z= 121.4mm grav_b=(+0.07,-0.05,-1.00) r=0.60m +[headless_play] t= 15.10s step= 755 trunk_z= 118.9mm grav_b=(+0.14,-0.02,-0.99) r=0.64m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(+0.13,+0.01,-0.99) r=0.69m +[headless_play] t= 15.30s step= 765 trunk_z= 123.8mm grav_b=(+0.08,+0.02,-1.00) r=0.72m +[headless_play] t= 15.40s step= 770 trunk_z= 112.5mm grav_b=(+0.07,-0.01,-1.00) r=0.75m +[headless_play] t= 15.50s step= 775 trunk_z= 120.3mm grav_b=(+0.05,+0.00,-1.00) r=0.77m +[headless_play] t= 15.60s step= 780 trunk_z= 114.0mm grav_b=(+0.07,+0.03,-1.00) r=0.80m +[headless_play] t= 15.70s step= 785 trunk_z= 98.6mm grav_b=(+0.12,+0.26,-0.96) r=0.81m +[headless_play] t= 15.80s step= 790 trunk_z= 104.4mm grav_b=(+0.29,+0.16,-0.94) r=0.82m +[headless_play] t= 15.90s step= 795 trunk_z= 90.9mm grav_b=(+0.26,-0.07,-0.96) r=0.89m +[headless_play] t= 16.00s step= 800 trunk_z= 97.4mm grav_b=(+0.36,-0.05,-0.93) r=0.96m +[headless_play] t= 16.10s step= 805 trunk_z= 110.6mm grav_b=(+0.22,+0.07,-0.97) r=1.02m +[headless_play] t= 16.20s step= 810 trunk_z= 74.9mm grav_b=(+0.04,-0.01,-1.00) r=1.08m +[headless_play] t= 16.30s step= 815 trunk_z= 89.9mm grav_b=(-0.00,+0.05,-1.00) r=1.09m +[headless_play] t= 16.40s step= 820 trunk_z= 96.5mm grav_b=(-0.01,+0.07,-1.00) r=1.09m +[headless_play] t= 16.50s step= 825 trunk_z= 88.3mm grav_b=(+0.06,-0.10,-0.99) r=1.08m +[headless_play] t= 16.60s step= 830 trunk_z= 95.1mm grav_b=(+0.08,-0.12,-0.99) r=1.08m +[headless_play] t= 16.70s step= 835 trunk_z= 93.1mm grav_b=(+0.08,-0.06,-1.00) r=1.09m +[headless_play] t= 16.80s step= 840 trunk_z= 95.1mm grav_b=(+0.10,+0.04,-0.99) r=1.12m +[headless_play] t= 16.90s step= 845 trunk_z= 99.9mm grav_b=(+0.09,+0.08,-0.99) r=1.14m +[headless_play] t= 17.00s step= 850 trunk_z= 98.2mm grav_b=(+0.10,+0.06,-0.99) r=1.16m +[headless_play] t= 17.10s step= 855 trunk_z= 94.4mm grav_b=(+0.08,-0.03,-1.00) r=1.18m +[headless_play] t= 17.20s step= 860 trunk_z= 94.7mm grav_b=(+0.00,+0.00,-1.00) r=1.20m +[headless_play] t= 17.30s step= 865 trunk_z= 91.5mm grav_b=(+0.01,+0.05,-1.00) r=1.23m +[headless_play] t= 17.40s step= 870 trunk_z= 98.2mm grav_b=(+0.00,+0.03,-1.00) r=1.23m +[headless_play] t= 17.50s step= 875 trunk_z= 93.8mm grav_b=(+0.05,-0.02,-1.00) r=1.22m +[headless_play] t= 17.60s step= 880 trunk_z= 90.4mm grav_b=(+0.15,-0.09,-0.99) r=1.20m +[headless_play] t= 17.70s step= 885 trunk_z= 92.3mm grav_b=(+0.10,-0.06,-0.99) r=1.21m +[headless_play] t= 17.80s step= 890 trunk_z= 90.8mm grav_b=(+0.12,+0.03,-0.99) r=1.23m +[headless_play] t= 17.90s step= 895 trunk_z= 96.2mm grav_b=(+0.09,+0.02,-1.00) r=1.25m +[headless_play] t= 18.00s step= 900 trunk_z= 88.6mm grav_b=(+0.11,-0.03,-0.99) r=1.28m +[headless_play] t= 18.10s step= 905 trunk_z= 103.1mm grav_b=(+0.05,-0.05,-1.00) r=1.30m +[headless_play] t= 18.20s step= 910 trunk_z= 96.6mm grav_b=(+0.02,-0.02,-1.00) r=1.33m +[headless_play] t= 18.30s step= 915 trunk_z= 95.2mm grav_b=(+0.06,+0.03,-1.00) r=1.36m +[headless_play] t= 18.40s step= 920 trunk_z= 91.9mm grav_b=(+0.06,-0.01,-1.00) r=1.38m +[headless_play] t= 18.50s step= 925 trunk_z= 95.5mm grav_b=(+0.07,-0.07,-1.00) r=1.39m +[headless_play] t= 18.60s step= 930 trunk_z= 94.6mm grav_b=(+0.08,-0.04,-1.00) r=1.41m +[headless_play] t= 18.70s step= 935 trunk_z= 87.2mm grav_b=(+0.07,+0.03,-1.00) r=1.43m +[headless_play] t= 18.80s step= 940 trunk_z= 95.4mm grav_b=(+0.07,+0.08,-0.99) r=1.45m +[headless_play] t= 18.90s step= 945 trunk_z= 89.9mm grav_b=(+0.00,+0.02,-1.00) r=1.44m +[headless_play] t= 19.00s step= 950 trunk_z= 96.0mm grav_b=(+0.02,-0.05,-1.00) r=1.43m +[headless_play] t= 19.10s step= 955 trunk_z= 96.6mm grav_b=(+0.05,-0.04,-1.00) r=1.44m +[headless_play] t= 19.20s step= 960 trunk_z= 90.2mm grav_b=(+0.09,+0.01,-1.00) r=1.46m +[headless_play] t= 19.30s step= 965 trunk_z= 95.8mm grav_b=(+0.09,+0.07,-0.99) r=1.48m +[headless_play] t= 19.40s step= 970 trunk_z= 100.6mm grav_b=(+0.12,+0.14,-0.98) r=1.51m +[headless_play] t= 19.50s step= 975 trunk_z= 97.8mm grav_b=(+0.09,+0.07,-0.99) r=1.55m +[headless_play] t= 19.60s step= 980 trunk_z= 103.5mm grav_b=(+0.05,+0.05,-1.00) r=1.58m +[headless_play] t= 19.70s step= 985 trunk_z= 90.4mm grav_b=(+0.01,+0.03,-1.00) r=1.62m +[headless_play] t= 19.80s step= 990 trunk_z= 94.7mm grav_b=(+0.08,+0.06,-1.00) r=1.65m +[headless_play] t= 19.90s step= 995 trunk_z= 94.9mm grav_b=(+0.08,+0.03,-1.00) r=1.67m +[headless_play] t= 20.00s step=1000 trunk_z= 93.7mm grav_b=(+0.06,-0.05,-1.00) r=1.69m +[headless_play] t= 20.10s step=1005 trunk_z= 93.6mm grav_b=(+0.09,-0.03,-1.00) r=1.71m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t5.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..f2912b413c86d02f4a2a417d2fe8db3c9de98b3a --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t5.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.4mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.938,-18.212,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.7mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 114.7mm grav_b=(-0.00,+0.07,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 120.6mm grav_b=(-0.02,+0.09,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 124.8mm grav_b=(-0.02,+0.05,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 117.5mm grav_b=(-0.02,+0.03,-1.00) r=0.23m +[headless_play] t= 0.50s step= 25 trunk_z= 121.5mm grav_b=(+0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 128.6mm grav_b=(+0.04,+0.12,-0.99) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 137.6mm grav_b=(+0.01,+0.14,-0.99) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(-0.03,+0.16,-0.99) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 132.8mm grav_b=(+0.00,+0.14,-0.99) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 107.8mm grav_b=(+0.01,+0.07,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 121.8mm grav_b=(+0.08,+0.01,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 114.9mm grav_b=(-0.08,+0.00,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(-0.11,-0.04,-0.99) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 123.9mm grav_b=(-0.06,-0.02,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 130.8mm grav_b=(+0.07,+0.07,-0.99) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 121.7mm grav_b=(+0.01,+0.08,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 122.9mm grav_b=(+0.02,+0.09,-1.00) r=0.45m +[headless_play] t= 2.00s step= 100 trunk_z= 117.9mm grav_b=(-0.07,+0.08,-0.99) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 121.8mm grav_b=(-0.06,+0.10,-0.99) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 122.1mm grav_b=(-0.08,+0.07,-0.99) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(-0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(-0.10,+0.06,-0.99) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 121.7mm grav_b=(-0.06,+0.08,-1.00) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 118.8mm grav_b=(-0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 120.2mm grav_b=(+0.01,-0.04,-1.00) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 122.2mm grav_b=(+0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 116.5mm grav_b=(-0.01,+0.06,-1.00) r=0.51m +[headless_play] t= 3.00s step= 150 trunk_z= 126.6mm grav_b=(-0.03,+0.03,-1.00) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 113.3mm grav_b=(-0.03,-0.04,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 124.8mm grav_b=(+0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 122.6mm grav_b=(+0.01,-0.01,-1.00) r=0.57m +[headless_play] t= 3.40s step= 170 trunk_z= 120.7mm grav_b=(-0.03,+0.05,-1.00) r=0.55m +[headless_play] t= 3.50s step= 175 trunk_z= 123.8mm grav_b=(-0.05,+0.05,-1.00) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 116.9mm grav_b=(-0.07,+0.03,-1.00) r=0.58m +[headless_play] t= 3.70s step= 185 trunk_z= 124.3mm grav_b=(-0.08,-0.10,-0.99) r=0.61m +[headless_play] t= 3.80s step= 190 trunk_z= 132.0mm grav_b=(-0.05,-0.15,-0.99) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 129.2mm grav_b=(-0.01,-0.11,-0.99) r=0.63m +[headless_play] t= 4.00s step= 200 trunk_z= 122.8mm grav_b=(-0.03,-0.02,-1.00) r=0.62m +[headless_play] t= 4.10s step= 205 trunk_z= 124.6mm grav_b=(-0.03,+0.07,-1.00) r=0.61m +[headless_play] t= 4.20s step= 210 trunk_z= 127.9mm grav_b=(-0.01,+0.08,-1.00) r=0.62m +[headless_play] t= 4.30s step= 215 trunk_z= 124.6mm grav_b=(-0.02,+0.06,-1.00) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 122.4mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 121.4mm grav_b=(-0.02,-0.01,-1.00) r=0.65m +[headless_play] t= 4.60s step= 230 trunk_z= 122.0mm grav_b=(-0.02,+0.08,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 130.0mm grav_b=(+0.01,+0.14,-0.99) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 131.1mm grav_b=(+0.03,+0.16,-0.99) r=0.62m +[headless_play] t= 4.90s step= 245 trunk_z= 122.3mm grav_b=(-0.02,+0.09,-1.00) r=0.64m +[headless_play] t= 5.00s step= 250 trunk_z= 129.1mm grav_b=(-0.05,+0.10,-0.99) r=0.64m +[headless_play] t= 5.10s step= 255 trunk_z= 116.6mm grav_b=(+0.01,+0.08,-1.00) r=0.63m +[headless_play] t= 5.20s step= 260 trunk_z= 115.8mm grav_b=(-0.01,-0.04,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 116.5mm grav_b=(-0.03,-0.05,-1.00) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 121.1mm grav_b=(-0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(-0.03,+0.06,-1.00) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 124.5mm grav_b=(-0.01,+0.06,-1.00) r=0.67m +[headless_play] t= 5.70s step= 285 trunk_z= 124.8mm grav_b=(-0.01,+0.06,-1.00) r=0.68m +[headless_play] t= 5.80s step= 290 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.70m +[headless_play] t= 5.90s step= 295 trunk_z= 119.9mm grav_b=(-0.04,+0.01,-1.00) r=0.70m +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(-0.03,+0.07,-1.00) r=0.68m +[headless_play] t= 6.10s step= 305 trunk_z= 124.4mm grav_b=(-0.01,+0.04,-1.00) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 123.1mm grav_b=(-0.03,+0.05,-1.00) r=0.68m +[headless_play] t= 6.30s step= 315 trunk_z= 119.1mm grav_b=(-0.02,+0.01,-1.00) r=0.70m +[headless_play] t= 6.40s step= 320 trunk_z= 117.0mm grav_b=(-0.04,-0.00,-1.00) r=0.70m +[headless_play] t= 6.50s step= 325 trunk_z= 116.5mm grav_b=(-0.09,-0.00,-1.00) r=0.70m +[headless_play] t= 6.60s step= 330 trunk_z= 116.5mm grav_b=(-0.10,+0.00,-0.99) r=0.70m +[headless_play] t= 6.70s step= 335 trunk_z= 116.8mm grav_b=(-0.08,-0.00,-1.00) r=0.70m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.04,+0.00,-1.00) r=0.70m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(-0.04,+0.00,-1.00) r=0.70m +[headless_play] t= 7.00s step= 350 trunk_z= 117.2mm grav_b=(-0.06,+0.00,-1.00) r=0.70m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 7.30s step= 365 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.11,+0.01,-0.99) r=0.70m +[headless_play] t= 7.60s step= 380 trunk_z= 117.0mm grav_b=(-0.10,+0.01,-0.99) r=0.70m +[headless_play] t= 7.70s step= 385 trunk_z= 116.7mm grav_b=(-0.09,+0.00,-1.00) r=0.70m +[headless_play] t= 7.80s step= 390 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 8.00s step= 400 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.70m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(-0.05,+0.01,-1.00) r=0.70m +[headless_play] t= 8.20s step= 410 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.70m +[headless_play] t= 8.30s step= 415 trunk_z= 117.5mm grav_b=(+0.08,-0.02,-1.00) r=0.70m +[headless_play] t= 8.40s step= 420 trunk_z= 117.8mm grav_b=(+0.05,+0.05,-1.00) r=0.68m +[headless_play] t= 8.50s step= 425 trunk_z= 122.4mm grav_b=(-0.01,+0.07,-1.00) r=0.68m +[headless_play] t= 8.60s step= 430 trunk_z= 114.6mm grav_b=(-0.04,+0.02,-1.00) r=0.69m +[headless_play] t= 8.70s step= 435 trunk_z= 115.5mm grav_b=(-0.01,+0.05,-1.00) r=0.69m +[headless_play] t= 8.80s step= 440 trunk_z= 115.0mm grav_b=(-0.01,+0.02,-1.00) r=0.69m +[headless_play] t= 8.90s step= 445 trunk_z= 114.9mm grav_b=(+0.05,+0.04,-1.00) r=0.68m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(+0.07,+0.03,-1.00) r=0.68m +[headless_play] t= 9.10s step= 455 trunk_z= 115.5mm grav_b=(+0.04,+0.03,-1.00) r=0.68m +[headless_play] t= 9.20s step= 460 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=0.68m +[headless_play] t= 9.30s step= 465 trunk_z= 115.3mm grav_b=(-0.01,+0.02,-1.00) r=0.68m +[headless_play] t= 9.40s step= 470 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=0.68m +[headless_play] t= 9.50s step= 475 trunk_z= 115.6mm grav_b=(-0.00,+0.02,-1.00) r=0.68m +[headless_play] t= 9.60s step= 480 trunk_z= 115.6mm grav_b=(+0.01,+0.02,-1.00) r=0.68m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.68m +[headless_play] t= 9.80s step= 490 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.68m +[headless_play] t= 9.90s step= 495 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.68m +[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(-0.06,+0.03,-1.00) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.70m +[headless_play] t= 10.20s step= 510 trunk_z= 110.4mm grav_b=(+0.04,-0.03,-1.00) r=0.73m +[headless_play] t= 10.30s step= 515 trunk_z= 112.2mm grav_b=(+0.01,+0.05,-1.00) r=0.73m +[headless_play] t= 10.40s step= 520 trunk_z= 113.4mm grav_b=(+0.07,+0.03,-1.00) r=0.74m +[headless_play] t= 10.50s step= 525 trunk_z= 114.8mm grav_b=(+0.08,-0.00,-1.00) r=0.74m +[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(+0.16,+0.05,-0.99) r=0.72m +[headless_play] t= 10.70s step= 535 trunk_z= 103.4mm grav_b=(-0.03,-0.00,-1.00) r=0.71m +[headless_play] t= 10.80s step= 540 trunk_z= 113.3mm grav_b=(+0.00,+0.05,-1.00) r=0.71m +[headless_play] t= 10.90s step= 545 trunk_z= 117.3mm grav_b=(-0.07,+0.10,-0.99) r=0.69m +[headless_play] t= 11.00s step= 550 trunk_z= 117.0mm grav_b=(-0.04,+0.04,-1.00) r=0.68m +[headless_play] t= 11.10s step= 555 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 117.7mm grav_b=(-0.11,-0.01,-0.99) r=0.70m +[headless_play] t= 11.30s step= 565 trunk_z= 109.4mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 11.40s step= 570 trunk_z= 109.2mm grav_b=(+0.04,+0.02,-1.00) r=0.74m +[headless_play] t= 11.50s step= 575 trunk_z= 111.8mm grav_b=(-0.01,+0.03,-1.00) r=0.74m +[headless_play] t= 11.60s step= 580 trunk_z= 111.8mm grav_b=(+0.02,-0.01,-1.00) r=0.74m +[headless_play] t= 11.70s step= 585 trunk_z= 113.5mm grav_b=(-0.05,+0.01,-1.00) r=0.75m +[headless_play] t= 11.80s step= 590 trunk_z= 114.2mm grav_b=(-0.03,+0.00,-1.00) r=0.76m +[headless_play] t= 11.90s step= 595 trunk_z= 95.1mm grav_b=(+0.05,-0.12,-0.99) r=0.78m +[headless_play] t= 12.00s step= 600 trunk_z= 101.5mm grav_b=(+0.11,-0.17,-0.98) r=0.80m +[headless_play] t= 12.10s step= 605 trunk_z= 98.9mm grav_b=(-0.00,-0.02,-1.00) r=0.81m +[headless_play] t= 12.20s step= 610 trunk_z= 88.7mm grav_b=(-0.04,-0.04,-1.00) r=0.81m +[headless_play] t= 12.30s step= 615 trunk_z= 93.1mm grav_b=(-0.08,+0.01,-1.00) r=0.82m +[headless_play] t= 12.40s step= 620 trunk_z= 87.8mm grav_b=(-0.01,-0.05,-1.00) r=0.84m +[headless_play] t= 12.50s step= 625 trunk_z= 91.1mm grav_b=(+0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 12.60s step= 630 trunk_z= 86.1mm grav_b=(+0.01,+0.07,-1.00) r=0.83m +[headless_play] t= 12.70s step= 635 trunk_z= 95.1mm grav_b=(-0.02,+0.11,-0.99) r=0.83m +[headless_play] t= 12.80s step= 640 trunk_z= 93.5mm grav_b=(-0.00,+0.11,-0.99) r=0.83m +[headless_play] t= 12.90s step= 645 trunk_z= 86.2mm grav_b=(-0.01,+0.02,-1.00) r=0.85m +[headless_play] t= 13.00s step= 650 trunk_z= 93.1mm grav_b=(-0.03,-0.01,-1.00) r=0.87m +[headless_play] t= 13.10s step= 655 trunk_z= 90.7mm grav_b=(-0.01,+0.01,-1.00) r=0.86m +[headless_play] t= 13.20s step= 660 trunk_z= 92.0mm grav_b=(-0.06,+0.11,-0.99) r=0.83m +[headless_play] t= 13.30s step= 665 trunk_z= 99.8mm grav_b=(-0.05,+0.21,-0.98) r=0.80m +[headless_play] t= 13.40s step= 670 trunk_z= 99.0mm grav_b=(-0.01,+0.28,-0.96) r=0.78m +[headless_play] t= 13.50s step= 675 trunk_z= 97.7mm grav_b=(+0.05,+0.35,-0.93) r=0.76m +[headless_play] t= 13.60s step= 680 trunk_z= 102.4mm grav_b=(+0.07,+0.31,-0.95) r=0.73m +[headless_play] t= 13.70s step= 685 trunk_z= 98.6mm grav_b=(-0.03,+0.34,-0.94) r=0.70m +[headless_play] t= 13.80s step= 690 trunk_z= 90.2mm grav_b=(+0.25,+0.55,-0.80) r=0.71m +[headless_play] RESET at t= 13.90s step= 695 (env termination, not a recovery) +[headless_play] t= 13.90s step= 695 trunk_z= 123.4mm grav_b=(-0.00,-0.00,-1.00) r=0.31m +[headless_play] t= 14.00s step= 700 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 14.10s step= 705 trunk_z= 109.2mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 14.20s step= 710 trunk_z= 115.0mm grav_b=(+0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 14.30s step= 715 trunk_z= 111.7mm grav_b=(+0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 14.40s step= 720 trunk_z= 111.4mm grav_b=(+0.01,+0.08,-1.00) r=0.25m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(+0.02,+0.05,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 110.2mm grav_b=(+0.03,+0.03,-1.00) r=0.22m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(-0.01,-0.03,-1.00) r=0.20m +[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.19m +[headless_play] t= 14.90s step= 745 trunk_z= 109.8mm grav_b=(+0.04,+0.04,-1.00) r=0.19m +[headless_play] t= 15.00s step= 750 trunk_z= 114.0mm grav_b=(+0.05,-0.02,-1.00) r=0.17m +[headless_play] t= 15.10s step= 755 trunk_z= 100.0mm grav_b=(+0.02,-0.02,-1.00) r=0.14m +[headless_play] t= 15.20s step= 760 trunk_z= 112.8mm grav_b=(-0.01,-0.02,-1.00) r=0.12m +[headless_play] t= 15.30s step= 765 trunk_z= 113.0mm grav_b=(-0.01,+0.03,-1.00) r=0.12m +[headless_play] t= 15.40s step= 770 trunk_z= 108.5mm grav_b=(-0.01,+0.06,-1.00) r=0.13m +[headless_play] t= 15.50s step= 775 trunk_z= 114.7mm grav_b=(+0.06,+0.05,-1.00) r=0.13m +[headless_play] t= 15.60s step= 780 trunk_z= 110.5mm grav_b=(+0.14,+0.07,-0.99) r=0.11m +[headless_play] t= 15.70s step= 785 trunk_z= 117.0mm grav_b=(+0.05,+0.00,-1.00) r=0.09m +[headless_play] t= 15.80s step= 790 trunk_z= 120.8mm grav_b=(-0.07,+0.02,-1.00) r=0.09m +[headless_play] t= 15.90s step= 795 trunk_z= 120.4mm grav_b=(-0.09,+0.07,-0.99) r=0.10m +[headless_play] t= 16.00s step= 800 trunk_z= 118.1mm grav_b=(-0.06,+0.06,-1.00) r=0.10m +[headless_play] t= 16.10s step= 805 trunk_z= 115.5mm grav_b=(+0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 16.20s step= 810 trunk_z= 117.9mm grav_b=(+0.02,-0.03,-1.00) r=0.11m +[headless_play] t= 16.30s step= 815 trunk_z= 114.1mm grav_b=(+0.05,-0.01,-1.00) r=0.12m +[headless_play] t= 16.40s step= 820 trunk_z= 115.0mm grav_b=(+0.01,+0.08,-1.00) r=0.14m +[headless_play] t= 16.50s step= 825 trunk_z= 117.2mm grav_b=(+0.00,+0.05,-1.00) r=0.16m +[headless_play] t= 16.60s step= 830 trunk_z= 109.1mm grav_b=(+0.04,+0.02,-1.00) r=0.17m +[headless_play] t= 16.70s step= 835 trunk_z= 114.7mm grav_b=(+0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 16.80s step= 840 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) r=0.19m +[headless_play] t= 16.90s step= 845 trunk_z= 108.2mm grav_b=(+0.07,+0.08,-0.99) r=0.22m +[headless_play] t= 17.00s step= 850 trunk_z= 116.2mm grav_b=(+0.03,+0.08,-1.00) r=0.24m +[headless_play] t= 17.10s step= 855 trunk_z= 108.5mm grav_b=(+0.04,+0.05,-1.00) r=0.26m +[headless_play] t= 17.20s step= 860 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 17.30s step= 865 trunk_z= 115.9mm grav_b=(-0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 17.40s step= 870 trunk_z= 110.5mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 17.50s step= 875 trunk_z= 115.7mm grav_b=(+0.02,+0.05,-1.00) r=0.30m +[headless_play] t= 17.60s step= 880 trunk_z= 113.1mm grav_b=(+0.04,+0.05,-1.00) r=0.32m +[headless_play] t= 17.70s step= 885 trunk_z= 110.7mm grav_b=(+0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(+0.04,-0.04,-1.00) r=0.35m +[headless_play] t= 17.90s step= 895 trunk_z= 113.1mm grav_b=(+0.04,-0.00,-1.00) r=0.36m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(+0.01,+0.06,-1.00) r=0.37m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(+0.02,+0.04,-1.00) r=0.39m +[headless_play] t= 18.20s step= 910 trunk_z= 108.8mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 18.30s step= 915 trunk_z= 114.6mm grav_b=(+0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 18.40s step= 920 trunk_z= 108.5mm grav_b=(+0.02,+0.06,-1.00) r=0.44m +[headless_play] t= 18.50s step= 925 trunk_z= 115.3mm grav_b=(+0.01,+0.08,-1.00) r=0.45m +[headless_play] t= 18.60s step= 930 trunk_z= 113.8mm grav_b=(+0.03,+0.05,-1.00) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 107.4mm grav_b=(+0.05,-0.02,-1.00) r=0.49m +[headless_play] t= 18.80s step= 940 trunk_z= 115.7mm grav_b=(+0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 18.90s step= 945 trunk_z= 113.3mm grav_b=(+0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 19.00s step= 950 trunk_z= 111.0mm grav_b=(+0.04,+0.06,-1.00) r=0.53m +[headless_play] t= 19.10s step= 955 trunk_z= 116.4mm grav_b=(+0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 19.20s step= 960 trunk_z= 109.6mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(-0.04,-0.02,-1.00) r=0.55m +[headless_play] t= 19.40s step= 970 trunk_z= 114.8mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 19.50s step= 975 trunk_z= 110.3mm grav_b=(-0.01,+0.07,-1.00) r=0.57m +[headless_play] t= 19.60s step= 980 trunk_z= 115.4mm grav_b=(+0.02,+0.09,-1.00) r=0.58m +[headless_play] t= 19.70s step= 985 trunk_z= 113.1mm grav_b=(+0.05,+0.09,-0.99) r=0.59m +[headless_play] t= 19.80s step= 990 trunk_z= 111.6mm grav_b=(+0.01,-0.02,-1.00) r=0.61m +[headless_play] t= 19.90s step= 995 trunk_z= 116.8mm grav_b=(-0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 20.00s step=1000 trunk_z= 113.2mm grav_b=(-0.01,+0.04,-1.00) r=0.63m +[headless_play] t= 20.10s step=1005 trunk_z= 120.1mm grav_b=(-0.04,+0.15,-0.99) r=0.63m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t6.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..c7f9d2f339f37e403b1ad12a3668d209a38c23bd --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t6.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.370,-18.219,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.6mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 114.8mm grav_b=(+0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 114.0mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 0.40s step= 20 trunk_z= 121.2mm grav_b=(+0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 118.6mm grav_b=(+0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(+0.00,-0.02,-1.00) r=0.42m +[headless_play] t= 0.70s step= 35 trunk_z= 121.3mm grav_b=(+0.03,-0.02,-1.00) r=0.42m +[headless_play] t= 0.80s step= 40 trunk_z= 117.0mm grav_b=(+0.03,+0.02,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 120.3mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(-0.00,-0.13,-0.99) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 126.4mm grav_b=(+0.05,-0.13,-0.99) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 123.9mm grav_b=(+0.03,-0.05,-1.00) r=0.45m +[headless_play] t= 1.30s step= 65 trunk_z= 118.9mm grav_b=(-0.02,+0.04,-1.00) r=0.47m +[headless_play] t= 1.40s step= 70 trunk_z= 123.8mm grav_b=(-0.02,+0.08,-1.00) r=0.48m +[headless_play] t= 1.50s step= 75 trunk_z= 118.5mm grav_b=(-0.01,+0.07,-1.00) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 119.4mm grav_b=(-0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(+0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 114.7mm grav_b=(+0.04,+0.06,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 124.6mm grav_b=(+0.02,+0.04,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 120.5mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 120.5mm grav_b=(+0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 2.20s step= 110 trunk_z= 121.5mm grav_b=(+0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 118.5mm grav_b=(+0.05,+0.01,-1.00) r=0.51m +[headless_play] t= 2.40s step= 120 trunk_z= 125.2mm grav_b=(+0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 2.50s step= 125 trunk_z= 124.7mm grav_b=(-0.01,+0.03,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 2.70s step= 135 trunk_z= 121.5mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 2.80s step= 140 trunk_z= 118.2mm grav_b=(+0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 2.90s step= 145 trunk_z= 121.4mm grav_b=(+0.01,+0.04,-1.00) r=0.58m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.05,+0.02,-1.00) r=0.57m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(-0.04,-0.04,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 124.1mm grav_b=(-0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.56m +[headless_play] t= 3.40s step= 170 trunk_z= 121.2mm grav_b=(+0.03,+0.06,-1.00) r=0.59m +[headless_play] t= 3.50s step= 175 trunk_z= 124.3mm grav_b=(+0.03,+0.03,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 116.1mm grav_b=(+0.02,+0.00,-1.00) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 121.2mm grav_b=(+0.05,-0.04,-1.00) r=0.59m +[headless_play] t= 3.80s step= 190 trunk_z= 119.6mm grav_b=(+0.03,-0.01,-1.00) r=0.61m +[headless_play] t= 3.90s step= 195 trunk_z= 119.5mm grav_b=(+0.05,+0.04,-1.00) r=0.64m +[headless_play] t= 4.00s step= 200 trunk_z= 127.1mm grav_b=(+0.05,+0.03,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 119.3mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 4.20s step= 210 trunk_z= 121.0mm grav_b=(+0.05,-0.03,-1.00) r=0.68m +[headless_play] t= 4.30s step= 215 trunk_z= 124.2mm grav_b=(+0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 4.40s step= 220 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.72m +[headless_play] t= 4.50s step= 225 trunk_z= 117.8mm grav_b=(-0.03,-0.03,-1.00) r=0.72m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.00,-0.06,-1.00) r=0.72m +[headless_play] t= 4.70s step= 235 trunk_z= 120.6mm grav_b=(+0.04,-0.01,-1.00) r=0.73m +[headless_play] t= 4.80s step= 240 trunk_z= 115.0mm grav_b=(+0.01,+0.02,-1.00) r=0.75m +[headless_play] t= 4.90s step= 245 trunk_z= 122.8mm grav_b=(-0.01,+0.04,-1.00) r=0.77m +[headless_play] t= 5.00s step= 250 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 5.10s step= 255 trunk_z= 117.3mm grav_b=(-0.11,-0.07,-0.99) r=0.74m +[headless_play] t= 5.20s step= 260 trunk_z= 128.6mm grav_b=(-0.03,-0.13,-0.99) r=0.73m +[headless_play] t= 5.30s step= 265 trunk_z= 117.8mm grav_b=(-0.00,-0.11,-0.99) r=0.71m +[headless_play] t= 5.40s step= 270 trunk_z= 115.7mm grav_b=(+0.09,-0.09,-0.99) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 108.6mm grav_b=(+0.10,-0.04,-0.99) r=0.64m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(+0.06,+0.02,-1.00) r=0.65m +[headless_play] t= 5.70s step= 285 trunk_z= 117.9mm grav_b=(+0.08,-0.01,-1.00) r=0.66m +[headless_play] t= 5.80s step= 290 trunk_z= 110.6mm grav_b=(+0.04,-0.09,-1.00) r=0.67m +[headless_play] t= 5.90s step= 295 trunk_z= 122.6mm grav_b=(+0.05,-0.12,-0.99) r=0.68m +[headless_play] t= 6.00s step= 300 trunk_z= 124.7mm grav_b=(+0.03,-0.04,-1.00) r=0.70m +[headless_play] t= 6.10s step= 305 trunk_z= 116.1mm grav_b=(-0.03,-0.03,-1.00) r=0.75m +[headless_play] t= 6.20s step= 310 trunk_z= 121.4mm grav_b=(-0.01,+0.01,-1.00) r=0.78m +[headless_play] t= 6.30s step= 315 trunk_z= 120.1mm grav_b=(-0.08,+0.04,-1.00) r=0.78m +[headless_play] t= 6.40s step= 320 trunk_z= 117.2mm grav_b=(-0.03,-0.06,-1.00) r=0.77m +[headless_play] t= 6.50s step= 325 trunk_z= 120.4mm grav_b=(+0.00,-0.04,-1.00) r=0.77m +[headless_play] t= 6.60s step= 330 trunk_z= 118.5mm grav_b=(-0.00,-0.01,-1.00) r=0.77m +[headless_play] t= 6.70s step= 335 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.76m +[headless_play] t= 6.80s step= 340 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.76m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(-0.03,-0.02,-1.00) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.77m +[headless_play] t= 7.10s step= 355 trunk_z= 117.1mm grav_b=(-0.09,-0.03,-1.00) r=0.75m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.11,-0.02,-0.99) r=0.75m +[headless_play] t= 7.30s step= 365 trunk_z= 112.5mm grav_b=(-0.03,-0.05,-1.00) r=0.74m +[headless_play] t= 7.40s step= 370 trunk_z= 114.9mm grav_b=(+0.03,-0.03,-1.00) r=0.74m +[headless_play] t= 7.50s step= 375 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.73m +[headless_play] t= 7.60s step= 380 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.73m +[headless_play] t= 7.70s step= 385 trunk_z= 116.3mm grav_b=(-0.04,+0.01,-1.00) r=0.73m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) r=0.73m +[headless_play] t= 7.90s step= 395 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.73m +[headless_play] t= 8.00s step= 400 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 8.10s step= 405 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.73m +[headless_play] t= 8.30s step= 415 trunk_z= 116.8mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 8.40s step= 420 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 117.6mm grav_b=(+0.06,-0.05,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 118.0mm grav_b=(+0.10,-0.05,-0.99) r=0.74m +[headless_play] t= 8.70s step= 435 trunk_z= 117.2mm grav_b=(+0.08,-0.03,-1.00) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 117.2mm grav_b=(+0.03,-0.03,-1.00) r=0.73m +[headless_play] t= 8.90s step= 445 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00) r=0.73m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=0.73m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(+0.04,-0.02,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(+0.04,-0.02,-1.00) r=0.74m +[headless_play] t= 9.30s step= 465 trunk_z= 116.5mm grav_b=(+0.04,-0.03,-1.00) r=0.74m +[headless_play] t= 9.40s step= 470 trunk_z= 116.5mm grav_b=(+0.08,-0.03,-1.00) r=0.74m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.05,-0.03,-1.00) r=0.74m +[headless_play] t= 9.60s step= 480 trunk_z= 116.4mm grav_b=(+0.02,-0.03,-1.00) r=0.73m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(+0.02,-0.02,-1.00) r=0.73m +[headless_play] t= 9.80s step= 490 trunk_z= 116.0mm grav_b=(+0.04,-0.03,-1.00) r=0.74m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.07,-0.02,-1.00) r=0.74m +[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.06,-0.03,-1.00) r=0.74m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.74m +[headless_play] t= 10.20s step= 510 trunk_z= 115.9mm grav_b=(+0.03,-0.02,-1.00) r=0.74m +[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(+0.11,-0.01,-0.99) r=0.74m +[headless_play] t= 10.40s step= 520 trunk_z= 118.9mm grav_b=(+0.13,-0.04,-0.99) r=0.75m +[headless_play] t= 10.50s step= 525 trunk_z= 117.4mm grav_b=(+0.09,-0.12,-0.99) r=0.75m +[headless_play] t= 10.60s step= 530 trunk_z= 118.8mm grav_b=(+0.03,-0.09,-1.00) r=0.76m +[headless_play] t= 10.70s step= 535 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=0.77m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(-0.00,-0.03,-1.00) r=0.77m +[headless_play] t= 10.90s step= 545 trunk_z= 115.4mm grav_b=(+0.03,-0.03,-1.00) r=0.77m +[headless_play] t= 11.00s step= 550 trunk_z= 115.4mm grav_b=(+0.07,-0.03,-1.00) r=0.77m +[headless_play] t= 11.10s step= 555 trunk_z= 115.7mm grav_b=(+0.03,-0.03,-1.00) r=0.77m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(+0.00,-0.03,-1.00) r=0.77m +[headless_play] t= 11.30s step= 565 trunk_z= 115.6mm grav_b=(+0.03,-0.03,-1.00) r=0.77m +[headless_play] t= 11.40s step= 570 trunk_z= 115.6mm grav_b=(+0.04,-0.03,-1.00) r=0.77m +[headless_play] t= 11.50s step= 575 trunk_z= 115.9mm grav_b=(-0.00,-0.02,-1.00) r=0.76m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(-0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 11.70s step= 585 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.76m +[headless_play] t= 11.80s step= 590 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.77m +[headless_play] t= 11.90s step= 595 trunk_z= 116.4mm grav_b=(+0.03,-0.02,-1.00) r=0.77m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(-0.06,+0.00,-1.00) r=0.76m +[headless_play] t= 12.10s step= 605 trunk_z= 116.0mm grav_b=(-0.08,-0.02,-1.00) r=0.75m +[headless_play] t= 12.20s step= 610 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 12.30s step= 615 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) r=0.75m +[headless_play] t= 12.40s step= 620 trunk_z= 114.5mm grav_b=(+0.02,-0.03,-1.00) r=0.74m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(+0.02,-0.04,-1.00) r=0.73m +[headless_play] t= 12.60s step= 630 trunk_z= 115.1mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 12.70s step= 635 trunk_z= 115.7mm grav_b=(+0.01,-0.02,-1.00) r=0.74m +[headless_play] t= 12.80s step= 640 trunk_z= 115.8mm grav_b=(-0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.00s step= 650 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.10s step= 655 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.30s step= 665 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.40s step= 670 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.50s step= 675 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.73m +[headless_play] t= 13.60s step= 680 trunk_z= 116.4mm grav_b=(+0.02,-0.03,-1.00) r=0.74m +[headless_play] t= 13.70s step= 685 trunk_z= 117.8mm grav_b=(+0.09,-0.04,-1.00) r=0.75m +[headless_play] t= 13.80s step= 690 trunk_z= 117.4mm grav_b=(+0.05,+0.02,-1.00) r=0.76m +[headless_play] t= 13.90s step= 695 trunk_z= 122.5mm grav_b=(+0.04,+0.05,-1.00) r=0.77m +[headless_play] t= 14.00s step= 700 trunk_z= 114.8mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.01,-0.05,-1.00) r=0.79m +[headless_play] t= 14.20s step= 710 trunk_z= 115.4mm grav_b=(-0.02,-0.02,-1.00) r=0.78m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(-0.04,-0.01,-1.00) r=0.78m +[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(-0.12,-0.01,-0.99) r=0.77m +[headless_play] t= 14.50s step= 725 trunk_z= 113.2mm grav_b=(-0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.60s step= 730 trunk_z= 105.9mm grav_b=(+0.01,+0.01,-1.00) r=0.75m +[headless_play] t= 14.70s step= 735 trunk_z= 108.3mm grav_b=(+0.04,-0.04,-1.00) r=0.73m +[headless_play] t= 14.80s step= 740 trunk_z= 113.4mm grav_b=(+0.03,-0.06,-1.00) r=0.72m +[headless_play] t= 14.90s step= 745 trunk_z= 112.9mm grav_b=(+0.04,-0.02,-1.00) r=0.72m +[headless_play] t= 15.00s step= 750 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 15.10s step= 755 trunk_z= 114.8mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 15.20s step= 760 trunk_z= 115.1mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 15.30s step= 765 trunk_z= 115.4mm grav_b=(+0.00,-0.03,-1.00) r=0.72m +[headless_play] t= 15.40s step= 770 trunk_z= 115.5mm grav_b=(-0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 15.50s step= 775 trunk_z= 115.7mm grav_b=(-0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 15.70s step= 785 trunk_z= 115.8mm grav_b=(+0.03,-0.02,-1.00) r=0.72m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 15.90s step= 795 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.00s step= 800 trunk_z= 115.9mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.10s step= 805 trunk_z= 115.9mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 16.30s step= 815 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.50s step= 825 trunk_z= 115.9mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.60s step= 830 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.70s step= 835 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.80s step= 840 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 16.90s step= 845 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 17.10s step= 855 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 17.20s step= 860 trunk_z= 116.9mm grav_b=(+0.06,-0.05,-1.00) r=0.72m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(+0.07,-0.02,-1.00) r=0.72m +[headless_play] t= 17.40s step= 870 trunk_z= 115.9mm grav_b=(+0.04,-0.02,-1.00) r=0.72m +[headless_play] t= 17.50s step= 875 trunk_z= 115.6mm grav_b=(-0.00,-0.02,-1.00) r=0.72m +[headless_play] t= 17.60s step= 880 trunk_z= 115.7mm grav_b=(-0.00,-0.02,-1.00) r=0.72m +[headless_play] t= 17.70s step= 885 trunk_z= 115.7mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 17.90s step= 895 trunk_z= 115.9mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(-0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 18.10s step= 905 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 18.20s step= 910 trunk_z= 115.6mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 18.30s step= 915 trunk_z= 116.0mm grav_b=(+0.02,-0.02,-1.00) r=0.72m +[headless_play] t= 18.40s step= 920 trunk_z= 115.9mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 18.50s step= 925 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 18.70s step= 935 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 18.80s step= 940 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 18.90s step= 945 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 19.00s step= 950 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 19.10s step= 955 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 19.20s step= 960 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 19.30s step= 965 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.72m +[headless_play] t= 19.50s step= 975 trunk_z= 118.8mm grav_b=(+0.12,+0.00,-0.99) r=0.73m +[headless_play] t= 19.60s step= 980 trunk_z= 120.5mm grav_b=(+0.06,-0.02,-1.00) r=0.75m +[headless_play] t= 19.70s step= 985 trunk_z= 121.6mm grav_b=(+0.04,-0.08,-1.00) r=0.76m +[headless_play] t= 19.80s step= 990 trunk_z= 123.3mm grav_b=(-0.03,-0.04,-1.00) r=0.78m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(-0.06,+0.02,-1.00) r=0.79m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t7.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..b741303df108c09a46e770a251a5527443a78662 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t7.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.801,-17.586,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 114.8mm grav_b=(-0.01,+0.04,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(+0.04,+0.10,-0.99) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 124.1mm grav_b=(+0.05,+0.06,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 121.3mm grav_b=(+0.03,+0.02,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 122.0mm grav_b=(+0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 121.6mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 118.2mm grav_b=(-0.03,+0.08,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 127.6mm grav_b=(+0.01,+0.11,-0.99) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 127.1mm grav_b=(+0.06,+0.10,-0.99) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 120.5mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 125.9mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 121.1mm grav_b=(-0.00,+0.03,-1.00) r=0.56m +[headless_play] t= 1.30s step= 65 trunk_z= 119.4mm grav_b=(+0.01,+0.06,-1.00) r=0.56m +[headless_play] t= 1.40s step= 70 trunk_z= 121.5mm grav_b=(-0.02,+0.06,-1.00) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 1.60s step= 80 trunk_z= 122.3mm grav_b=(-0.01,-0.04,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(+0.02,+0.01,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 120.0mm grav_b=(+0.01,+0.06,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 123.1mm grav_b=(-0.01,+0.04,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 115.6mm grav_b=(-0.04,-0.04,-1.00) r=0.60m +[headless_play] t= 2.10s step= 105 trunk_z= 124.0mm grav_b=(-0.03,-0.04,-1.00) r=0.61m +[headless_play] t= 2.20s step= 110 trunk_z= 120.0mm grav_b=(-0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 2.30s step= 115 trunk_z= 121.7mm grav_b=(-0.00,+0.05,-1.00) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 123.7mm grav_b=(+0.00,+0.04,-1.00) r=0.61m +[headless_play] t= 2.50s step= 125 trunk_z= 118.8mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 2.60s step= 130 trunk_z= 121.6mm grav_b=(-0.02,-0.04,-1.00) r=0.65m +[headless_play] t= 2.70s step= 135 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(-0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 2.90s step= 145 trunk_z= 123.6mm grav_b=(-0.05,+0.08,-1.00) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 122.1mm grav_b=(-0.03,+0.05,-1.00) r=0.64m +[headless_play] t= 3.10s step= 155 trunk_z= 119.2mm grav_b=(+0.01,-0.03,-1.00) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 122.9mm grav_b=(+0.03,-0.01,-1.00) r=0.67m +[headless_play] t= 3.30s step= 165 trunk_z= 115.5mm grav_b=(-0.00,+0.05,-1.00) r=0.67m +[headless_play] t= 3.40s step= 170 trunk_z= 122.8mm grav_b=(+0.00,+0.06,-1.00) r=0.67m +[headless_play] t= 3.50s step= 175 trunk_z= 122.6mm grav_b=(+0.00,+0.04,-1.00) r=0.68m +[headless_play] t= 3.60s step= 180 trunk_z= 115.2mm grav_b=(-0.04,-0.03,-1.00) r=0.70m +[headless_play] t= 3.70s step= 185 trunk_z= 122.4mm grav_b=(-0.07,-0.05,-1.00) r=0.72m +[headless_play] t= 3.80s step= 190 trunk_z= 120.1mm grav_b=(-0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 3.90s step= 195 trunk_z= 121.2mm grav_b=(+0.00,+0.07,-1.00) r=0.70m +[headless_play] t= 4.00s step= 200 trunk_z= 124.8mm grav_b=(+0.03,+0.05,-1.00) r=0.71m +[headless_play] t= 4.10s step= 205 trunk_z= 122.5mm grav_b=(+0.01,+0.02,-1.00) r=0.73m +[headless_play] t= 4.20s step= 210 trunk_z= 109.7mm grav_b=(+0.01,-0.14,-0.99) r=0.76m +[headless_play] t= 4.30s step= 215 trunk_z= 106.9mm grav_b=(+0.13,-0.22,-0.97) r=0.79m +[headless_play] t= 4.40s step= 220 trunk_z= 102.2mm grav_b=(+0.12,-0.21,-0.97) r=0.82m +[headless_play] t= 4.50s step= 225 trunk_z= 92.8mm grav_b=(+0.00,-0.09,-1.00) r=0.86m +[headless_play] t= 4.60s step= 230 trunk_z= 105.3mm grav_b=(+0.10,-0.04,-0.99) r=0.90m +[headless_play] t= 4.70s step= 235 trunk_z= 103.8mm grav_b=(+0.01,+0.03,-1.00) r=0.94m +[headless_play] t= 4.80s step= 240 trunk_z= 92.5mm grav_b=(+0.07,-0.08,-0.99) r=0.97m +[headless_play] t= 4.90s step= 245 trunk_z= 101.8mm grav_b=(+0.05,-0.10,-0.99) r=0.98m +[headless_play] t= 5.00s step= 250 trunk_z= 104.2mm grav_b=(+0.03,-0.08,-1.00) r=0.98m +[headless_play] t= 5.10s step= 255 trunk_z= 93.3mm grav_b=(+0.04,-0.02,-1.00) r=0.95m +[headless_play] t= 5.20s step= 260 trunk_z= 97.3mm grav_b=(-0.02,-0.04,-1.00) r=0.95m +[headless_play] t= 5.30s step= 265 trunk_z= 91.5mm grav_b=(-0.04,-0.08,-1.00) r=0.96m +[headless_play] t= 5.40s step= 270 trunk_z= 95.1mm grav_b=(+0.01,-0.04,-1.00) r=0.95m +[headless_play] t= 5.50s step= 275 trunk_z= 92.4mm grav_b=(+0.04,-0.02,-1.00) r=0.93m +[headless_play] t= 5.60s step= 280 trunk_z= 94.5mm grav_b=(+0.03,+0.05,-1.00) r=0.91m +[headless_play] t= 5.70s step= 285 trunk_z= 91.0mm grav_b=(+0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 5.80s step= 290 trunk_z= 92.2mm grav_b=(+0.02,-0.09,-1.00) r=0.93m +[headless_play] t= 5.90s step= 295 trunk_z= 96.1mm grav_b=(+0.06,-0.05,-1.00) r=0.92m +[headless_play] t= 6.00s step= 300 trunk_z= 94.6mm grav_b=(+0.14,-0.00,-0.99) r=0.92m +[headless_play] t= 6.10s step= 305 trunk_z= 97.3mm grav_b=(+0.11,-0.02,-0.99) r=0.91m +[headless_play] t= 6.20s step= 310 trunk_z= 91.3mm grav_b=(+0.26,+0.04,-0.97) r=0.91m +[headless_play] t= 6.30s step= 315 trunk_z= 95.8mm grav_b=(+0.28,-0.01,-0.96) r=0.90m +[headless_play] t= 6.40s step= 320 trunk_z= 82.4mm grav_b=(+0.58,-0.22,-0.79) r=0.89m +[headless_play] RESET at t= 6.48s step= 324 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 123.2mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 114.5mm grav_b=(+0.01,+0.03,-1.00) r=0.20m +[headless_play] t= 6.70s step= 335 trunk_z= 113.3mm grav_b=(+0.04,+0.09,-1.00) r=0.21m +[headless_play] t= 6.80s step= 340 trunk_z= 114.0mm grav_b=(+0.05,+0.05,-1.00) r=0.23m +[headless_play] t= 6.90s step= 345 trunk_z= 108.7mm grav_b=(+0.04,-0.03,-1.00) r=0.25m +[headless_play] t= 7.00s step= 350 trunk_z= 116.8mm grav_b=(-0.00,-0.07,-1.00) r=0.27m +[headless_play] t= 7.10s step= 355 trunk_z= 117.3mm grav_b=(+0.04,-0.10,-0.99) r=0.29m +[headless_play] t= 7.20s step= 360 trunk_z= 110.0mm grav_b=(+0.06,-0.03,-1.00) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 116.1mm grav_b=(+0.02,+0.05,-1.00) r=0.32m +[headless_play] t= 7.40s step= 370 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00) r=0.33m +[headless_play] t= 7.50s step= 375 trunk_z= 109.4mm grav_b=(+0.05,-0.05,-1.00) r=0.35m +[headless_play] t= 7.60s step= 380 trunk_z= 115.4mm grav_b=(+0.03,-0.05,-1.00) r=0.37m +[headless_play] t= 7.70s step= 385 trunk_z= 113.1mm grav_b=(+0.04,-0.02,-1.00) r=0.38m +[headless_play] t= 7.80s step= 390 trunk_z= 110.1mm grav_b=(+0.05,+0.06,-1.00) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 112.1mm grav_b=(+0.06,+0.04,-1.00) r=0.40m +[headless_play] t= 8.00s step= 400 trunk_z= 106.2mm grav_b=(+0.03,-0.07,-1.00) r=0.41m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(-0.03,-0.10,-0.99) r=0.43m +[headless_play] t= 8.20s step= 410 trunk_z= 117.3mm grav_b=(+0.00,-0.06,-1.00) r=0.44m +[headless_play] t= 8.30s step= 415 trunk_z= 107.6mm grav_b=(+0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 8.40s step= 420 trunk_z= 110.8mm grav_b=(+0.10,+0.07,-0.99) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 110.5mm grav_b=(+0.10,+0.04,-0.99) r=0.47m +[headless_play] t= 8.60s step= 430 trunk_z= 109.5mm grav_b=(+0.06,-0.01,-1.00) r=0.48m +[headless_play] t= 8.70s step= 435 trunk_z= 114.9mm grav_b=(+0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 8.80s step= 440 trunk_z= 106.7mm grav_b=(+0.02,+0.04,-1.00) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 110.9mm grav_b=(+0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 109.0mm grav_b=(+0.05,-0.02,-1.00) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 104.2mm grav_b=(+0.05,-0.07,-1.00) r=0.56m +[headless_play] t= 9.20s step= 460 trunk_z= 111.5mm grav_b=(+0.06,-0.06,-1.00) r=0.58m +[headless_play] t= 9.30s step= 465 trunk_z= 107.9mm grav_b=(+0.10,-0.01,-0.99) r=0.60m +[headless_play] t= 9.40s step= 470 trunk_z= 112.6mm grav_b=(+0.06,+0.07,-1.00) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 113.5mm grav_b=(+0.05,+0.03,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 107.4mm grav_b=(+0.06,-0.05,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 113.9mm grav_b=(+0.01,-0.05,-1.00) r=0.67m +[headless_play] t= 9.80s step= 490 trunk_z= 111.3mm grav_b=(+0.03,+0.00,-1.00) r=0.68m +[headless_play] t= 9.90s step= 495 trunk_z= 110.0mm grav_b=(+0.06,+0.07,-1.00) r=0.68m +[headless_play] t= 10.00s step= 500 trunk_z= 109.6mm grav_b=(+0.09,+0.02,-1.00) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 107.1mm grav_b=(+0.06,-0.04,-1.00) r=0.72m +[headless_play] t= 10.20s step= 510 trunk_z= 113.7mm grav_b=(+0.03,-0.01,-1.00) r=0.73m +[headless_play] t= 10.30s step= 515 trunk_z= 110.5mm grav_b=(+0.03,+0.03,-1.00) r=0.73m +[headless_play] t= 10.40s step= 520 trunk_z= 112.1mm grav_b=(+0.04,+0.09,-0.99) r=0.73m +[headless_play] t= 10.50s step= 525 trunk_z= 111.9mm grav_b=(+0.05,+0.06,-1.00) r=0.74m +[headless_play] t= 10.60s step= 530 trunk_z= 107.3mm grav_b=(+0.07,-0.03,-1.00) r=0.76m +[headless_play] t= 10.70s step= 535 trunk_z= 95.9mm grav_b=(+0.05,-0.28,-0.96) r=0.79m +[headless_play] t= 10.80s step= 540 trunk_z= 106.0mm grav_b=(+0.04,-0.34,-0.94) r=0.81m +[headless_play] t= 10.90s step= 545 trunk_z= 101.7mm grav_b=(+0.12,-0.29,-0.95) r=0.83m +[headless_play] t= 11.00s step= 550 trunk_z= 98.7mm grav_b=(+0.03,-0.20,-0.98) r=0.89m +[headless_play] t= 11.10s step= 555 trunk_z= 107.4mm grav_b=(+0.02,-0.19,-0.98) r=0.95m +[headless_play] t= 11.20s step= 560 trunk_z= 87.5mm grav_b=(+0.00,-0.19,-0.98) r=1.01m +[headless_play] t= 11.30s step= 565 trunk_z= 94.4mm grav_b=(+0.09,-0.18,-0.98) r=1.04m +[headless_play] t= 11.40s step= 570 trunk_z= 83.0mm grav_b=(+0.10,-0.03,-0.99) r=1.06m +[headless_play] t= 11.50s step= 575 trunk_z= 92.7mm grav_b=(+0.04,+0.09,-1.00) r=1.08m +[headless_play] t= 11.60s step= 580 trunk_z= 93.9mm grav_b=(+0.01,+0.09,-1.00) r=1.08m +[headless_play] t= 11.70s step= 585 trunk_z= 91.2mm grav_b=(-0.01,+0.04,-1.00) r=1.07m +[headless_play] t= 11.80s step= 590 trunk_z= 88.8mm grav_b=(+0.03,-0.05,-1.00) r=1.07m +[headless_play] t= 11.90s step= 595 trunk_z= 88.2mm grav_b=(+0.08,-0.04,-1.00) r=1.08m +[headless_play] t= 12.00s step= 600 trunk_z= 81.0mm grav_b=(+0.08,+0.03,-1.00) r=1.10m +[headless_play] t= 12.10s step= 605 trunk_z= 91.9mm grav_b=(+0.05,+0.08,-1.00) r=1.12m +[headless_play] t= 12.20s step= 610 trunk_z= 88.8mm grav_b=(+0.05,+0.03,-1.00) r=1.13m +[headless_play] t= 12.30s step= 615 trunk_z= 85.6mm grav_b=(+0.05,-0.06,-1.00) r=1.15m +[headless_play] t= 12.40s step= 620 trunk_z= 89.6mm grav_b=(+0.04,-0.02,-1.00) r=1.16m +[headless_play] t= 12.50s step= 625 trunk_z= 82.4mm grav_b=(+0.07,+0.02,-1.00) r=1.17m +[headless_play] t= 12.60s step= 630 trunk_z= 89.7mm grav_b=(+0.10,+0.09,-0.99) r=1.20m +[headless_play] t= 12.70s step= 635 trunk_z= 88.7mm grav_b=(+0.12,+0.06,-0.99) r=1.22m +[headless_play] t= 12.80s step= 640 trunk_z= 88.4mm grav_b=(+0.10,-0.04,-0.99) r=1.23m +[headless_play] t= 12.90s step= 645 trunk_z= 87.4mm grav_b=(+0.07,+0.00,-1.00) r=1.23m +[headless_play] t= 13.00s step= 650 trunk_z= 87.7mm grav_b=(+0.08,+0.03,-1.00) r=1.23m +[headless_play] t= 13.10s step= 655 trunk_z= 88.7mm grav_b=(+0.04,+0.01,-1.00) r=1.23m +[headless_play] t= 13.20s step= 660 trunk_z= 89.1mm grav_b=(+0.04,+0.01,-1.00) r=1.22m +[headless_play] t= 13.30s step= 665 trunk_z= 89.2mm grav_b=(+0.04,+0.00,-1.00) r=1.22m +[headless_play] t= 13.40s step= 670 trunk_z= 89.2mm grav_b=(+0.04,+0.00,-1.00) r=1.22m +[headless_play] t= 13.50s step= 675 trunk_z= 89.3mm grav_b=(+0.05,+0.00,-1.00) r=1.22m +[headless_play] t= 13.60s step= 680 trunk_z= 89.8mm grav_b=(+0.04,-0.01,-1.00) r=1.22m +[headless_play] t= 13.70s step= 685 trunk_z= 90.5mm grav_b=(+0.00,-0.00,-1.00) r=1.22m +[headless_play] t= 13.80s step= 690 trunk_z= 91.6mm grav_b=(-0.00,+0.01,-1.00) r=1.22m +[headless_play] t= 13.90s step= 695 trunk_z= 92.1mm grav_b=(+0.03,+0.01,-1.00) r=1.22m +[headless_play] t= 14.00s step= 700 trunk_z= 92.0mm grav_b=(+0.02,+0.00,-1.00) r=1.22m +[headless_play] t= 14.10s step= 705 trunk_z= 91.8mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.20s step= 710 trunk_z= 91.9mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.30s step= 715 trunk_z= 91.9mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.40s step= 720 trunk_z= 91.9mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.50s step= 725 trunk_z= 91.9mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.60s step= 730 trunk_z= 91.9mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.70s step= 735 trunk_z= 92.0mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.80s step= 740 trunk_z= 92.0mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 14.90s step= 745 trunk_z= 92.0mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 15.00s step= 750 trunk_z= 92.0mm grav_b=(+0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 15.10s step= 755 trunk_z= 92.0mm grav_b=(+0.01,-0.00,-1.00) r=1.22m +[headless_play] t= 15.20s step= 760 trunk_z= 93.1mm grav_b=(-0.03,+0.03,-1.00) r=1.21m +[headless_play] t= 15.30s step= 765 trunk_z= 93.0mm grav_b=(-0.02,+0.01,-1.00) r=1.21m +[headless_play] t= 15.40s step= 770 trunk_z= 93.4mm grav_b=(-0.00,+0.01,-1.00) r=1.21m +[headless_play] t= 15.50s step= 775 trunk_z= 93.2mm grav_b=(+0.01,+0.01,-1.00) r=1.21m +[headless_play] t= 15.60s step= 780 trunk_z= 92.9mm grav_b=(+0.00,+0.01,-1.00) r=1.21m +[headless_play] t= 15.70s step= 785 trunk_z= 92.7mm grav_b=(-0.01,+0.01,-1.00) r=1.21m +[headless_play] t= 15.80s step= 790 trunk_z= 92.8mm grav_b=(-0.00,+0.01,-1.00) r=1.21m +[headless_play] t= 15.90s step= 795 trunk_z= 92.5mm grav_b=(-0.07,+0.01,-1.00) r=1.20m +[headless_play] t= 16.00s step= 800 trunk_z= 92.5mm grav_b=(-0.06,+0.01,-1.00) r=1.20m +[headless_play] t= 16.10s step= 805 trunk_z= 92.4mm grav_b=(-0.04,+0.02,-1.00) r=1.20m +[headless_play] t= 16.20s step= 810 trunk_z= 91.9mm grav_b=(+0.00,+0.01,-1.00) r=1.21m +[headless_play] t= 16.30s step= 815 trunk_z= 92.2mm grav_b=(+0.02,+0.01,-1.00) r=1.21m +[headless_play] t= 16.40s step= 820 trunk_z= 92.2mm grav_b=(+0.01,+0.00,-1.00) r=1.21m +[headless_play] t= 16.50s step= 825 trunk_z= 92.3mm grav_b=(+0.01,+0.00,-1.00) r=1.21m +[headless_play] t= 16.60s step= 830 trunk_z= 92.2mm grav_b=(+0.00,+0.01,-1.00) r=1.21m +[headless_play] t= 16.70s step= 835 trunk_z= 93.4mm grav_b=(+0.06,-0.02,-1.00) r=1.22m +[headless_play] t= 16.80s step= 840 trunk_z= 94.3mm grav_b=(+0.12,-0.00,-0.99) r=1.22m +[headless_play] t= 16.90s step= 845 trunk_z= 95.3mm grav_b=(+0.14,+0.02,-0.99) r=1.23m +[headless_play] t= 17.00s step= 850 trunk_z= 94.0mm grav_b=(+0.04,-0.02,-1.00) r=1.26m +[headless_play] t= 17.10s step= 855 trunk_z= 91.5mm grav_b=(-0.00,-0.05,-1.00) r=1.28m +[headless_play] t= 17.20s step= 860 trunk_z= 90.1mm grav_b=(-0.02,+0.01,-1.00) r=1.28m +[headless_play] t= 17.30s step= 865 trunk_z= 91.3mm grav_b=(-0.01,+0.04,-1.00) r=1.28m +[headless_play] t= 17.40s step= 870 trunk_z= 92.0mm grav_b=(-0.02,+0.03,-1.00) r=1.28m +[headless_play] t= 17.50s step= 875 trunk_z= 92.5mm grav_b=(-0.03,-0.00,-1.00) r=1.29m +[headless_play] t= 17.60s step= 880 trunk_z= 92.9mm grav_b=(-0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 17.70s step= 885 trunk_z= 93.0mm grav_b=(-0.01,+0.01,-1.00) r=1.29m +[headless_play] t= 17.80s step= 890 trunk_z= 93.0mm grav_b=(-0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 17.90s step= 895 trunk_z= 93.0mm grav_b=(-0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 18.00s step= 900 trunk_z= 93.1mm grav_b=(-0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 18.10s step= 905 trunk_z= 92.8mm grav_b=(-0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 18.20s step= 910 trunk_z= 93.6mm grav_b=(+0.06,+0.00,-1.00) r=1.29m +[headless_play] t= 18.30s step= 915 trunk_z= 95.4mm grav_b=(+0.10,+0.03,-0.99) r=1.29m +[headless_play] t= 18.40s step= 920 trunk_z= 95.5mm grav_b=(+0.09,+0.07,-0.99) r=1.29m +[headless_play] t= 18.50s step= 925 trunk_z= 95.1mm grav_b=(+0.03,+0.02,-1.00) r=1.31m +[headless_play] t= 18.60s step= 930 trunk_z= 93.0mm grav_b=(-0.01,-0.03,-1.00) r=1.32m +[headless_play] t= 18.70s step= 935 trunk_z= 90.1mm grav_b=(-0.03,+0.02,-1.00) r=1.31m +[headless_play] t= 18.80s step= 940 trunk_z= 92.6mm grav_b=(+0.01,+0.05,-1.00) r=1.31m +[headless_play] t= 18.90s step= 945 trunk_z= 95.2mm grav_b=(+0.07,+0.04,-1.00) r=1.31m +[headless_play] t= 19.00s step= 950 trunk_z= 90.4mm grav_b=(+0.03,-0.02,-1.00) r=1.33m +[headless_play] t= 19.10s step= 955 trunk_z= 91.4mm grav_b=(+0.02,-0.04,-1.00) r=1.33m +[headless_play] t= 19.20s step= 960 trunk_z= 89.6mm grav_b=(-0.02,+0.03,-1.00) r=1.32m +[headless_play] t= 19.30s step= 965 trunk_z= 90.9mm grav_b=(+0.00,+0.02,-1.00) r=1.33m +[headless_play] t= 19.40s step= 970 trunk_z= 91.0mm grav_b=(-0.01,+0.01,-1.00) r=1.33m +[headless_play] t= 19.50s step= 975 trunk_z= 91.1mm grav_b=(-0.02,+0.01,-1.00) r=1.33m +[headless_play] t= 19.60s step= 980 trunk_z= 91.4mm grav_b=(-0.01,+0.01,-1.00) r=1.33m +[headless_play] t= 19.70s step= 985 trunk_z= 93.0mm grav_b=(-0.02,-0.01,-1.00) r=1.34m +[headless_play] t= 19.80s step= 990 trunk_z= 92.5mm grav_b=(-0.02,-0.01,-1.00) r=1.33m +[headless_play] t= 19.90s step= 995 trunk_z= 92.5mm grav_b=(-0.01,+0.01,-1.00) r=1.34m +[headless_play] t= 20.00s step=1000 trunk_z= 92.3mm grav_b=(-0.02,+0.01,-1.00) r=1.34m +[headless_play] t= 20.10s step=1005 trunk_z= 92.1mm grav_b=(-0.01,+0.00,-1.00) r=1.34m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t8.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..4b6ebd38db3fed6a7739bfdc86fb712da5e5bbb4 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t8.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.550,-18.412,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.3mm grav_b=(-0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 0.20s step= 10 trunk_z= 111.0mm grav_b=(+0.00,+0.02,-1.00) r=0.62m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 0.40s step= 20 trunk_z= 113.3mm grav_b=(+0.03,-0.06,-1.00) r=0.65m +[headless_play] t= 0.50s step= 25 trunk_z= 122.5mm grav_b=(+0.02,-0.10,-1.00) r=0.67m +[headless_play] t= 0.60s step= 30 trunk_z= 123.9mm grav_b=(+0.01,-0.09,-1.00) r=0.69m +[headless_play] t= 0.70s step= 35 trunk_z= 118.0mm grav_b=(+0.00,-0.03,-1.00) r=0.71m +[headless_play] t= 0.80s step= 40 trunk_z= 121.9mm grav_b=(-0.01,+0.03,-1.00) r=0.73m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.75m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(-0.00,-0.08,-1.00) r=0.76m +[headless_play] t= 1.10s step= 55 trunk_z= 120.0mm grav_b=(+0.03,-0.07,-1.00) r=0.78m +[headless_play] t= 1.20s step= 60 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) r=0.80m +[headless_play] t= 1.30s step= 65 trunk_z= 121.6mm grav_b=(+0.00,+0.02,-1.00) r=0.82m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(-0.01,-0.03,-1.00) r=0.83m +[headless_play] t= 1.50s step= 75 trunk_z= 122.1mm grav_b=(+0.00,-0.09,-1.00) r=0.85m +[headless_play] t= 1.60s step= 80 trunk_z= 123.1mm grav_b=(+0.02,-0.09,-1.00) r=0.86m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.00,-0.03,-1.00) r=0.87m +[headless_play] t= 1.80s step= 90 trunk_z= 122.4mm grav_b=(-0.04,+0.04,-1.00) r=0.88m +[headless_play] t= 1.90s step= 95 trunk_z= 120.3mm grav_b=(-0.03,+0.00,-1.00) r=0.88m +[headless_play] t= 2.00s step= 100 trunk_z= 120.9mm grav_b=(-0.01,-0.08,-1.00) r=0.88m +[headless_play] t= 2.10s step= 105 trunk_z= 123.1mm grav_b=(-0.00,-0.09,-1.00) r=0.88m +[headless_play] t= 2.20s step= 110 trunk_z= 118.6mm grav_b=(+0.03,-0.06,-1.00) r=0.88m +[headless_play] t= 2.30s step= 115 trunk_z= 122.0mm grav_b=(+0.02,+0.06,-1.00) r=0.90m +[headless_play] t= 2.40s step= 120 trunk_z= 122.6mm grav_b=(+0.01,+0.03,-1.00) r=0.91m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.91m +[headless_play] t= 2.60s step= 130 trunk_z= 124.5mm grav_b=(-0.02,-0.08,-1.00) r=0.92m +[headless_play] t= 2.70s step= 135 trunk_z= 122.1mm grav_b=(+0.01,-0.09,-1.00) r=0.93m +[headless_play] t= 2.80s step= 140 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.95m +[headless_play] t= 2.90s step= 145 trunk_z= 120.4mm grav_b=(-0.02,+0.06,-1.00) r=0.98m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(+0.01,+0.06,-1.00) r=1.00m +[headless_play] t= 3.10s step= 155 trunk_z= 109.1mm grav_b=(+0.07,+0.11,-0.99) r=1.03m +[headless_play] t= 3.20s step= 160 trunk_z= 97.0mm grav_b=(-0.07,+0.10,-0.99) r=1.07m +[headless_play] t= 3.30s step= 165 trunk_z= 89.0mm grav_b=(+0.09,+0.07,-0.99) r=1.13m +[headless_play] t= 3.40s step= 170 trunk_z= 100.0mm grav_b=(+0.11,-0.03,-0.99) r=1.19m +[headless_play] t= 3.50s step= 175 trunk_z= 73.2mm grav_b=(-0.06,-0.20,-0.98) r=1.25m +[headless_play] t= 3.60s step= 180 trunk_z= 95.7mm grav_b=(-0.10,-0.23,-0.97) r=1.27m +[headless_play] t= 3.70s step= 185 trunk_z= 105.5mm grav_b=(-0.08,-0.17,-0.98) r=1.27m +[headless_play] t= 3.80s step= 190 trunk_z= 89.8mm grav_b=(+0.00,-0.07,-1.00) r=1.26m +[headless_play] t= 3.90s step= 195 trunk_z= 92.7mm grav_b=(+0.07,-0.03,-1.00) r=1.26m +[headless_play] t= 4.00s step= 200 trunk_z= 88.5mm grav_b=(+0.08,-0.08,-0.99) r=1.26m +[headless_play] t= 4.10s step= 205 trunk_z= 103.8mm grav_b=(+0.09,-0.12,-0.99) r=1.28m +[headless_play] t= 4.20s step= 210 trunk_z= 95.6mm grav_b=(-0.00,-0.06,-1.00) r=1.32m +[headless_play] t= 4.30s step= 215 trunk_z= 101.3mm grav_b=(-0.03,+0.00,-1.00) r=1.34m +[headless_play] t= 4.40s step= 220 trunk_z= 91.0mm grav_b=(-0.04,-0.04,-1.00) r=1.36m +[headless_play] t= 4.50s step= 225 trunk_z= 95.1mm grav_b=(-0.03,-0.08,-1.00) r=1.36m +[headless_play] t= 4.60s step= 230 trunk_z= 92.3mm grav_b=(-0.05,-0.03,-1.00) r=1.35m +[headless_play] t= 4.70s step= 235 trunk_z= 92.0mm grav_b=(-0.06,-0.02,-1.00) r=1.36m +[headless_play] t= 4.80s step= 240 trunk_z= 91.8mm grav_b=(-0.05,-0.01,-1.00) r=1.36m +[headless_play] t= 4.90s step= 245 trunk_z= 89.2mm grav_b=(-0.02,-0.06,-1.00) r=1.36m +[headless_play] t= 5.00s step= 250 trunk_z= 91.0mm grav_b=(+0.02,-0.08,-1.00) r=1.36m +[headless_play] t= 5.10s step= 255 trunk_z= 88.1mm grav_b=(+0.05,-0.03,-1.00) r=1.36m +[headless_play] t= 5.20s step= 260 trunk_z= 88.8mm grav_b=(+0.08,-0.02,-1.00) r=1.35m +[headless_play] t= 5.30s step= 265 trunk_z= 90.2mm grav_b=(+0.08,-0.04,-1.00) r=1.36m +[headless_play] t= 5.40s step= 270 trunk_z= 91.1mm grav_b=(+0.08,-0.02,-1.00) r=1.36m +[headless_play] t= 5.50s step= 275 trunk_z= 90.9mm grav_b=(+0.07,+0.00,-1.00) r=1.36m +[headless_play] t= 5.60s step= 280 trunk_z= 90.7mm grav_b=(+0.07,-0.01,-1.00) r=1.35m +[headless_play] t= 5.70s step= 285 trunk_z= 89.7mm grav_b=(+0.04,-0.00,-1.00) r=1.35m +[headless_play] t= 5.80s step= 290 trunk_z= 89.8mm grav_b=(+0.01,-0.01,-1.00) r=1.35m +[headless_play] t= 5.90s step= 295 trunk_z= 91.0mm grav_b=(-0.01,-0.03,-1.00) r=1.34m +[headless_play] t= 6.00s step= 300 trunk_z= 91.3mm grav_b=(-0.04,-0.02,-1.00) r=1.34m +[headless_play] t= 6.10s step= 305 trunk_z= 91.5mm grav_b=(-0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 6.20s step= 310 trunk_z= 91.1mm grav_b=(-0.02,-0.01,-1.00) r=1.34m +[headless_play] t= 6.30s step= 315 trunk_z= 90.5mm grav_b=(+0.01,-0.01,-1.00) r=1.35m +[headless_play] t= 6.40s step= 320 trunk_z= 90.1mm grav_b=(+0.06,-0.01,-1.00) r=1.35m +[headless_play] t= 6.50s step= 325 trunk_z= 90.4mm grav_b=(+0.06,-0.01,-1.00) r=1.35m +[headless_play] t= 6.60s step= 330 trunk_z= 90.5mm grav_b=(+0.05,-0.01,-1.00) r=1.35m +[headless_play] t= 6.70s step= 335 trunk_z= 90.8mm grav_b=(+0.02,-0.01,-1.00) r=1.35m +[headless_play] t= 6.80s step= 340 trunk_z= 91.1mm grav_b=(+0.02,-0.01,-1.00) r=1.35m +[headless_play] t= 6.90s step= 345 trunk_z= 91.7mm grav_b=(+0.04,+0.00,-1.00) r=1.35m +[headless_play] t= 7.00s step= 350 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.35m +[headless_play] t= 7.10s step= 355 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.35m +[headless_play] t= 7.20s step= 360 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 7.30s step= 365 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 7.40s step= 370 trunk_z= 91.7mm grav_b=(+0.02,-0.01,-1.00) r=1.34m +[headless_play] t= 7.50s step= 375 trunk_z= 91.8mm grav_b=(+0.02,-0.01,-1.00) r=1.34m +[headless_play] t= 7.60s step= 380 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 7.70s step= 385 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 7.80s step= 390 trunk_z= 92.1mm grav_b=(-0.05,-0.02,-1.00) r=1.34m +[headless_play] t= 7.90s step= 395 trunk_z= 92.4mm grav_b=(-0.04,-0.04,-1.00) r=1.33m +[headless_play] t= 8.00s step= 400 trunk_z= 90.4mm grav_b=(+0.04,-0.14,-0.99) r=1.33m +[headless_play] t= 8.10s step= 405 trunk_z= 92.7mm grav_b=(+0.06,-0.12,-0.99) r=1.32m +[headless_play] t= 8.20s step= 410 trunk_z= 90.2mm grav_b=(+0.05,-0.02,-1.00) r=1.31m +[headless_play] t= 8.30s step= 415 trunk_z= 91.3mm grav_b=(-0.01,-0.01,-1.00) r=1.30m +[headless_play] t= 8.40s step= 420 trunk_z= 92.3mm grav_b=(-0.09,-0.01,-1.00) r=1.29m +[headless_play] t= 8.50s step= 425 trunk_z= 84.8mm grav_b=(+0.04,-0.11,-0.99) r=1.29m +[headless_play] t= 8.60s step= 430 trunk_z= 93.0mm grav_b=(+0.05,-0.14,-0.99) r=1.28m +[headless_play] t= 8.70s step= 435 trunk_z= 93.3mm grav_b=(+0.04,-0.08,-1.00) r=1.27m +[headless_play] t= 8.80s step= 440 trunk_z= 89.2mm grav_b=(+0.04,+0.02,-1.00) r=1.26m +[headless_play] t= 8.90s step= 445 trunk_z= 97.1mm grav_b=(+0.03,+0.02,-1.00) r=1.26m +[headless_play] t= 9.00s step= 450 trunk_z= 91.9mm grav_b=(+0.02,-0.01,-1.00) r=1.28m +[headless_play] t= 9.10s step= 455 trunk_z= 97.0mm grav_b=(-0.01,-0.09,-1.00) r=1.30m +[headless_play] t= 9.20s step= 460 trunk_z= 101.9mm grav_b=(-0.02,-0.15,-0.99) r=1.32m +[headless_play] t= 9.30s step= 465 trunk_z= 102.6mm grav_b=(+0.01,-0.17,-0.98) r=1.32m +[headless_play] t= 9.40s step= 470 trunk_z= 99.6mm grav_b=(+0.05,-0.15,-0.99) r=1.33m +[headless_play] t= 9.50s step= 475 trunk_z= 93.7mm grav_b=(+0.06,-0.03,-1.00) r=1.33m +[headless_play] t= 9.60s step= 480 trunk_z= 100.7mm grav_b=(+0.03,+0.02,-1.00) r=1.34m +[headless_play] t= 9.70s step= 485 trunk_z= 94.8mm grav_b=(+0.02,-0.00,-1.00) r=1.35m +[headless_play] t= 9.80s step= 490 trunk_z= 96.4mm grav_b=(-0.03,-0.05,-1.00) r=1.36m +[headless_play] t= 9.90s step= 495 trunk_z= 96.3mm grav_b=(-0.02,-0.02,-1.00) r=1.35m +[headless_play] t= 10.00s step= 500 trunk_z= 93.2mm grav_b=(-0.01,+0.04,-1.00) r=1.33m +[headless_play] t= 10.10s step= 505 trunk_z= 96.5mm grav_b=(+0.02,+0.00,-1.00) r=1.34m +[headless_play] t= 10.20s step= 510 trunk_z= 89.8mm grav_b=(+0.03,-0.06,-1.00) r=1.36m +[headless_play] t= 10.30s step= 515 trunk_z= 98.0mm grav_b=(+0.06,-0.09,-0.99) r=1.39m +[headless_play] t= 10.40s step= 520 trunk_z= 95.8mm grav_b=(+0.07,-0.08,-0.99) r=1.39m +[headless_play] t= 10.50s step= 525 trunk_z= 93.9mm grav_b=(+0.02,+0.05,-1.00) r=1.39m +[headless_play] t= 10.60s step= 530 trunk_z= 90.4mm grav_b=(+0.04,-0.11,-0.99) r=1.42m +[headless_play] t= 10.70s step= 535 trunk_z= 106.5mm grav_b=(+0.11,-0.27,-0.96) r=1.45m +[headless_play] t= 10.80s step= 540 trunk_z= 108.5mm grav_b=(+0.06,-0.20,-0.98) r=1.48m +[headless_play] t= 10.90s step= 545 trunk_z= 97.9mm grav_b=(+0.24,-0.32,-0.92) r=1.52m +[headless_play] t= 11.00s step= 550 trunk_z= 92.0mm grav_b=(+0.28,-0.44,-0.86) r=1.58m +[headless_play] t= 11.10s step= 555 trunk_z= 80.6mm grav_b=(+0.33,-0.22,-0.92) r=1.66m +[headless_play] t= 11.20s step= 560 trunk_z= 12.0mm grav_b=(+0.50,+0.62,-0.61) r=1.73m +[headless_play] RESET at t= 11.24s step= 562 (env termination, not a recovery) +[headless_play] t= 11.30s step= 565 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.20m +[headless_play] t= 11.40s step= 570 trunk_z= 115.8mm grav_b=(+0.00,+0.04,-1.00) r=0.20m +[headless_play] t= 11.50s step= 575 trunk_z= 118.9mm grav_b=(-0.04,+0.05,-1.00) r=0.22m +[headless_play] t= 11.60s step= 580 trunk_z= 117.5mm grav_b=(-0.07,+0.00,-1.00) r=0.21m +[headless_play] t= 11.70s step= 585 trunk_z= 118.8mm grav_b=(-0.02,-0.05,-1.00) r=0.20m +[headless_play] t= 11.80s step= 590 trunk_z= 123.7mm grav_b=(+0.02,-0.05,-1.00) r=0.18m +[headless_play] t= 11.90s step= 595 trunk_z= 118.6mm grav_b=(+0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 12.00s step= 600 trunk_z= 126.1mm grav_b=(-0.01,+0.02,-1.00) r=0.16m +[headless_play] t= 12.10s step= 605 trunk_z= 124.8mm grav_b=(+0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.09m +[headless_play] t= 12.30s step= 615 trunk_z= 125.8mm grav_b=(-0.02,-0.04,-1.00) r=0.07m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(-0.05,+0.00,-1.00) r=0.08m +[headless_play] t= 12.50s step= 625 trunk_z= 121.9mm grav_b=(-0.03,+0.02,-1.00) r=0.09m +[headless_play] t= 12.60s step= 630 trunk_z= 119.2mm grav_b=(-0.00,+0.00,-1.00) r=0.08m +[headless_play] t= 12.70s step= 635 trunk_z= 120.1mm grav_b=(-0.01,-0.06,-1.00) r=0.05m +[headless_play] t= 12.80s step= 640 trunk_z= 124.7mm grav_b=(-0.00,-0.06,-1.00) r=0.05m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(-0.04,-0.06,-1.00) r=0.06m +[headless_play] t= 13.00s step= 650 trunk_z= 121.2mm grav_b=(-0.01,+0.03,-1.00) r=0.08m +[headless_play] t= 13.10s step= 655 trunk_z= 121.0mm grav_b=(+0.01,-0.01,-1.00) r=0.08m +[headless_play] t= 13.20s step= 660 trunk_z= 117.6mm grav_b=(-0.01,-0.05,-1.00) r=0.07m +[headless_play] t= 13.30s step= 665 trunk_z= 123.9mm grav_b=(+0.02,-0.05,-1.00) r=0.07m +[headless_play] t= 13.40s step= 670 trunk_z= 120.7mm grav_b=(-0.01,-0.02,-1.00) r=0.09m +[headless_play] t= 13.50s step= 675 trunk_z= 123.0mm grav_b=(-0.02,+0.04,-1.00) r=0.12m +[headless_play] t= 13.60s step= 680 trunk_z= 123.0mm grav_b=(+0.01,+0.02,-1.00) r=0.13m +[headless_play] t= 13.70s step= 685 trunk_z= 116.5mm grav_b=(-0.09,-0.03,-0.99) r=0.10m +[headless_play] t= 13.80s step= 690 trunk_z= 123.9mm grav_b=(-0.04,-0.04,-1.00) r=0.09m +[headless_play] t= 13.90s step= 695 trunk_z= 122.5mm grav_b=(-0.05,-0.02,-1.00) r=0.10m +[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(-0.02,+0.09,-1.00) r=0.11m +[headless_play] t= 14.10s step= 705 trunk_z= 124.8mm grav_b=(-0.03,+0.09,-1.00) r=0.11m +[headless_play] t= 14.20s step= 710 trunk_z= 120.5mm grav_b=(-0.02,+0.04,-1.00) r=0.09m +[headless_play] t= 14.30s step= 715 trunk_z= 122.3mm grav_b=(+0.04,-0.06,-1.00) r=0.08m +[headless_play] t= 14.40s step= 720 trunk_z= 126.1mm grav_b=(-0.00,-0.01,-1.00) r=0.10m +[headless_play] t= 14.50s step= 725 trunk_z= 114.6mm grav_b=(-0.04,+0.03,-1.00) r=0.13m +[headless_play] t= 14.60s step= 730 trunk_z= 123.4mm grav_b=(-0.03,+0.03,-1.00) r=0.15m +[headless_play] t= 14.70s step= 735 trunk_z= 120.0mm grav_b=(-0.04,+0.03,-1.00) r=0.15m +[headless_play] t= 14.80s step= 740 trunk_z= 121.2mm grav_b=(-0.01,-0.05,-1.00) r=0.14m +[headless_play] t= 14.90s step= 745 trunk_z= 123.9mm grav_b=(+0.01,-0.03,-1.00) r=0.15m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 15.10s step= 755 trunk_z= 125.0mm grav_b=(-0.06,+0.08,-0.99) r=0.19m +[headless_play] t= 15.20s step= 760 trunk_z= 126.4mm grav_b=(-0.05,+0.07,-1.00) r=0.20m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(-0.03,+0.00,-1.00) r=0.22m +[headless_play] t= 15.40s step= 770 trunk_z= 124.4mm grav_b=(+0.03,-0.04,-1.00) r=0.22m +[headless_play] t= 15.50s step= 775 trunk_z= 123.3mm grav_b=(+0.00,-0.00,-1.00) r=0.23m +[headless_play] t= 15.60s step= 780 trunk_z= 120.9mm grav_b=(-0.01,+0.04,-1.00) r=0.25m +[headless_play] t= 15.70s step= 785 trunk_z= 117.7mm grav_b=(-0.03,-0.13,-0.99) r=0.27m +[headless_play] t= 15.80s step= 790 trunk_z= 129.4mm grav_b=(+0.08,-0.14,-0.99) r=0.28m +[headless_play] t= 15.90s step= 795 trunk_z= 128.5mm grav_b=(+0.03,-0.06,-1.00) r=0.30m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 16.10s step= 805 trunk_z= 125.5mm grav_b=(-0.06,+0.05,-1.00) r=0.38m +[headless_play] t= 16.20s step= 810 trunk_z= 119.0mm grav_b=(-0.08,+0.01,-1.00) r=0.38m +[headless_play] t= 16.30s step= 815 trunk_z= 123.3mm grav_b=(-0.04,-0.08,-1.00) r=0.36m +[headless_play] t= 16.40s step= 820 trunk_z= 128.3mm grav_b=(+0.00,-0.11,-0.99) r=0.37m +[headless_play] t= 16.50s step= 825 trunk_z= 126.4mm grav_b=(+0.02,-0.08,-1.00) r=0.39m +[headless_play] t= 16.60s step= 830 trunk_z= 119.1mm grav_b=(+0.00,+0.02,-1.00) r=0.43m +[headless_play] t= 16.70s step= 835 trunk_z= 126.3mm grav_b=(-0.02,+0.04,-1.00) r=0.44m +[headless_play] t= 16.80s step= 840 trunk_z= 121.1mm grav_b=(-0.03,+0.03,-1.00) r=0.44m +[headless_play] t= 16.90s step= 845 trunk_z= 122.5mm grav_b=(-0.00,-0.04,-1.00) r=0.44m +[headless_play] t= 17.00s step= 850 trunk_z= 122.9mm grav_b=(+0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 17.10s step= 855 trunk_z= 117.4mm grav_b=(+0.00,+0.04,-1.00) r=0.46m +[headless_play] t= 17.20s step= 860 trunk_z= 126.2mm grav_b=(-0.04,+0.07,-1.00) r=0.47m +[headless_play] t= 17.30s step= 865 trunk_z= 128.2mm grav_b=(-0.11,+0.12,-0.99) r=0.47m +[headless_play] t= 17.40s step= 870 trunk_z= 125.9mm grav_b=(-0.07,+0.06,-1.00) r=0.46m +[headless_play] t= 17.50s step= 875 trunk_z= 120.9mm grav_b=(+0.02,-0.02,-1.00) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 120.3mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 17.70s step= 885 trunk_z= 122.1mm grav_b=(-0.03,+0.06,-1.00) r=0.48m +[headless_play] t= 17.80s step= 890 trunk_z= 123.5mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 17.90s step= 895 trunk_z= 119.3mm grav_b=(-0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 18.00s step= 900 trunk_z= 128.3mm grav_b=(+0.12,-0.08,-0.99) r=0.52m +[headless_play] t= 18.10s step= 905 trunk_z= 127.3mm grav_b=(+0.01,-0.10,-1.00) r=0.56m +[headless_play] t= 18.20s step= 910 trunk_z= 108.8mm grav_b=(-0.01,-0.08,-1.00) r=0.61m +[headless_play] t= 18.30s step= 915 trunk_z= 123.5mm grav_b=(-0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 18.40s step= 920 trunk_z= 113.5mm grav_b=(-0.10,-0.10,-0.99) r=0.63m +[headless_play] t= 18.50s step= 925 trunk_z= 124.5mm grav_b=(-0.05,-0.08,-1.00) r=0.63m +[headless_play] t= 18.60s step= 930 trunk_z= 121.8mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 18.70s step= 935 trunk_z= 123.1mm grav_b=(-0.01,+0.06,-1.00) r=0.66m +[headless_play] t= 18.80s step= 940 trunk_z= 124.6mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.05,-0.00,-1.00) r=0.66m +[headless_play] t= 19.00s step= 950 trunk_z= 122.2mm grav_b=(-0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 19.10s step= 955 trunk_z= 118.6mm grav_b=(-0.04,+0.02,-1.00) r=0.67m +[headless_play] t= 19.20s step= 960 trunk_z= 123.7mm grav_b=(-0.01,+0.04,-1.00) r=0.69m +[headless_play] t= 19.30s step= 965 trunk_z= 123.1mm grav_b=(+0.01,-0.00,-1.00) r=0.70m +[headless_play] t= 19.40s step= 970 trunk_z= 120.4mm grav_b=(+0.01,-0.04,-1.00) r=0.69m +[headless_play] t= 19.50s step= 975 trunk_z= 124.4mm grav_b=(+0.01,-0.05,-1.00) r=0.70m +[headless_play] t= 19.60s step= 980 trunk_z= 119.4mm grav_b=(-0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 19.70s step= 985 trunk_z= 103.2mm grav_b=(-0.05,+0.20,-0.98) r=0.76m +[headless_play] t= 19.80s step= 990 trunk_z= 107.9mm grav_b=(+0.06,+0.18,-0.98) r=0.77m +[headless_play] t= 19.90s step= 995 trunk_z= 104.9mm grav_b=(-0.03,+0.20,-0.98) r=0.80m +[headless_play] t= 20.00s step=1000 trunk_z= 109.1mm grav_b=(-0.14,+0.16,-0.98) r=0.85m +[headless_play] t= 20.10s step=1005 trunk_z= 97.8mm grav_b=(-0.05,+0.32,-0.95) r=0.88m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t9.log b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..987e0d862d2e3b5cbca3a6369965b1dfa552a500 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-a-2026-10-14/z3-a-t9.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.796,-18.215,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(-0.02,+0.02,-1.00) r=0.29m +[headless_play] t= 2.90s step= 145 trunk_z= 116.5mm grav_b=(-0.09,+0.00,-1.00) r=0.29m +[headless_play] t= 3.00s step= 150 trunk_z= 117.0mm grav_b=(-0.10,-0.00,-1.00) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(-0.10,-0.01,-1.00) r=0.28m +[headless_play] t= 3.20s step= 160 trunk_z= 111.3mm grav_b=(-0.07,-0.04,-1.00) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 110.8mm grav_b=(+0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 109.1mm grav_b=(+0.03,+0.06,-1.00) r=0.24m +[headless_play] t= 3.50s step= 175 trunk_z= 108.5mm grav_b=(+0.04,+0.03,-1.00) r=0.24m +[headless_play] t= 3.60s step= 180 trunk_z= 111.5mm grav_b=(-0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 3.70s step= 185 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=0.24m +[headless_play] t= 3.80s step= 190 trunk_z= 115.8mm grav_b=(+0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.24m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.24m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 4.20s step= 210 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.23m +[headless_play] t= 4.50s step= 225 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00) r=0.23m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=0.23m +[headless_play] t= 4.70s step= 235 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=0.23m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.24m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.24m +[headless_play] t= 5.00s step= 250 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.23m +[headless_play] t= 5.10s step= 255 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.24m +[headless_play] t= 5.30s step= 265 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 5.40s step= 270 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.23m +[headless_play] t= 5.50s step= 275 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.23m +[headless_play] t= 5.70s step= 285 trunk_z= 116.2mm grav_b=(-0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 5.80s step= 290 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 5.90s step= 295 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 6.00s step= 300 trunk_z= 116.2mm grav_b=(+0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 6.10s step= 305 trunk_z= 116.2mm grav_b=(-0.11,+0.01,-0.99) r=0.23m +[headless_play] t= 6.20s step= 310 trunk_z= 113.8mm grav_b=(-0.08,-0.03,-1.00) r=0.24m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 109.1mm grav_b=(-0.01,+0.03,-1.00) r=0.22m +[headless_play] t= 6.50s step= 325 trunk_z= 117.3mm grav_b=(-0.03,+0.00,-1.00) r=0.23m +[headless_play] t= 6.60s step= 330 trunk_z= 112.9mm grav_b=(-0.05,-0.07,-1.00) r=0.25m +[headless_play] t= 6.70s step= 335 trunk_z= 123.6mm grav_b=(-0.01,-0.10,-0.99) r=0.27m +[headless_play] t= 6.80s step= 340 trunk_z= 124.6mm grav_b=(+0.01,-0.07,-1.00) r=0.26m +[headless_play] t= 6.90s step= 345 trunk_z= 117.8mm grav_b=(-0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 127.1mm grav_b=(+0.06,+0.02,-1.00) r=0.24m +[headless_play] t= 7.10s step= 355 trunk_z= 129.0mm grav_b=(-0.00,-0.01,-1.00) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 114.6mm grav_b=(-0.05,-0.11,-0.99) r=0.28m +[headless_play] t= 7.30s step= 365 trunk_z= 123.0mm grav_b=(-0.06,-0.08,-1.00) r=0.28m +[headless_play] t= 7.40s step= 370 trunk_z= 121.0mm grav_b=(-0.10,-0.05,-0.99) r=0.27m +[headless_play] t= 7.50s step= 375 trunk_z= 121.6mm grav_b=(-0.05,+0.04,-1.00) r=0.26m +[headless_play] t= 7.60s step= 380 trunk_z= 117.4mm grav_b=(+0.00,-0.10,-0.99) r=0.29m +[headless_play] t= 7.70s step= 385 trunk_z= 129.4mm grav_b=(+0.08,-0.19,-0.98) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 135.2mm grav_b=(+0.05,-0.10,-0.99) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 119.8mm grav_b=(-0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 115.2mm grav_b=(-0.09,+0.08,-0.99) r=0.39m +[headless_play] t= 8.10s step= 405 trunk_z= 116.6mm grav_b=(-0.15,+0.10,-0.98) r=0.38m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(-0.11,+0.01,-0.99) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 122.5mm grav_b=(-0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(-0.00,+0.05,-1.00) r=0.40m +[headless_play] t= 8.50s step= 425 trunk_z= 118.0mm grav_b=(-0.11,+0.04,-0.99) r=0.39m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(-0.07,-0.06,-1.00) r=0.38m +[headless_play] t= 8.70s step= 435 trunk_z= 122.0mm grav_b=(-0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 8.80s step= 440 trunk_z= 116.0mm grav_b=(-0.03,+0.07,-1.00) r=0.41m +[headless_play] t= 8.90s step= 445 trunk_z= 127.7mm grav_b=(-0.01,+0.07,-1.00) r=0.43m +[headless_play] t= 9.00s step= 450 trunk_z= 132.7mm grav_b=(-0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 9.10s step= 455 trunk_z= 117.6mm grav_b=(-0.09,-0.04,-1.00) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 122.4mm grav_b=(-0.08,-0.08,-0.99) r=0.46m +[headless_play] t= 9.30s step= 465 trunk_z= 120.6mm grav_b=(-0.11,-0.03,-0.99) r=0.48m +[headless_play] t= 9.40s step= 470 trunk_z= 120.9mm grav_b=(-0.10,+0.05,-0.99) r=0.50m +[headless_play] t= 9.50s step= 475 trunk_z= 126.8mm grav_b=(-0.13,+0.10,-0.99) r=0.52m +[headless_play] t= 9.60s step= 480 trunk_z= 130.6mm grav_b=(-0.11,+0.07,-0.99) r=0.52m +[headless_play] t= 9.70s step= 485 trunk_z= 124.5mm grav_b=(-0.00,+0.08,-1.00) r=0.51m +[headless_play] t= 9.80s step= 490 trunk_z= 128.7mm grav_b=(-0.03,+0.04,-1.00) r=0.51m +[headless_play] t= 9.90s step= 495 trunk_z= 108.2mm grav_b=(-0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 10.00s step= 500 trunk_z= 113.9mm grav_b=(-0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 112.3mm grav_b=(-0.04,-0.04,-1.00) r=0.51m +[headless_play] t= 10.20s step= 510 trunk_z= 119.1mm grav_b=(+0.00,-0.07,-1.00) r=0.51m +[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(+0.03,-0.04,-1.00) r=0.52m +[headless_play] t= 10.40s step= 520 trunk_z= 115.8mm grav_b=(-0.07,+0.11,-0.99) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 127.4mm grav_b=(-0.13,+0.15,-0.98) r=0.56m +[headless_play] t= 10.60s step= 530 trunk_z= 129.0mm grav_b=(-0.05,+0.14,-0.99) r=0.57m +[headless_play] t= 10.70s step= 535 trunk_z= 128.7mm grav_b=(-0.06,+0.08,-0.99) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 123.3mm grav_b=(-0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 10.90s step= 545 trunk_z= 123.8mm grav_b=(+0.01,+0.00,-1.00) r=0.56m +[headless_play] t= 11.00s step= 550 trunk_z= 114.4mm grav_b=(+0.01,-0.01,-1.00) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 119.7mm grav_b=(+0.01,+0.05,-1.00) r=0.59m +[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(+0.08,-0.02,-1.00) r=0.62m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(-0.07,-0.15,-0.99) r=0.65m +[headless_play] t= 11.40s step= 570 trunk_z= 124.7mm grav_b=(-0.06,-0.16,-0.99) r=0.67m +[headless_play] t= 11.50s step= 575 trunk_z= 119.7mm grav_b=(-0.00,-0.10,-1.00) r=0.70m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.07,+0.05,-1.00) r=0.72m +[headless_play] t= 11.70s step= 585 trunk_z= 120.7mm grav_b=(-0.08,+0.05,-1.00) r=0.74m +[headless_play] t= 11.80s step= 590 trunk_z= 116.1mm grav_b=(-0.03,-0.02,-1.00) r=0.73m +[headless_play] t= 11.90s step= 595 trunk_z= 117.4mm grav_b=(-0.01,-0.11,-0.99) r=0.74m +[headless_play] t= 12.00s step= 600 trunk_z= 113.9mm grav_b=(+0.07,-0.09,-0.99) r=0.76m +[headless_play] t= 12.10s step= 605 trunk_z= 110.2mm grav_b=(+0.07,+0.01,-1.00) r=0.79m +[headless_play] t= 12.20s step= 610 trunk_z= 98.4mm grav_b=(+0.11,+0.19,-0.97) r=0.81m +[headless_play] t= 12.30s step= 615 trunk_z= 104.7mm grav_b=(+0.03,+0.19,-0.98) r=0.83m +[headless_play] t= 12.40s step= 620 trunk_z= 107.7mm grav_b=(-0.03,+0.16,-0.99) r=0.84m +[headless_play] t= 12.50s step= 625 trunk_z= 105.3mm grav_b=(-0.05,+0.14,-0.99) r=0.85m +[headless_play] t= 12.60s step= 630 trunk_z= 101.8mm grav_b=(-0.05,+0.16,-0.98) r=0.87m +[headless_play] t= 12.70s step= 635 trunk_z= 91.9mm grav_b=(-0.02,+0.14,-0.99) r=0.89m +[headless_play] t= 12.80s step= 640 trunk_z= 99.3mm grav_b=(+0.00,+0.08,-1.00) r=0.91m +[headless_play] t= 12.90s step= 645 trunk_z= 95.4mm grav_b=(-0.04,-0.00,-1.00) r=0.94m +[headless_play] t= 13.00s step= 650 trunk_z= 97.2mm grav_b=(-0.06,-0.08,-0.99) r=0.96m +[headless_play] t= 13.10s step= 655 trunk_z= 96.7mm grav_b=(-0.04,-0.08,-1.00) r=0.98m +[headless_play] t= 13.20s step= 660 trunk_z= 88.5mm grav_b=(-0.03,-0.01,-1.00) r=0.99m +[headless_play] t= 13.30s step= 665 trunk_z= 87.6mm grav_b=(+0.01,-0.02,-1.00) r=1.01m +[headless_play] t= 13.40s step= 670 trunk_z= 78.8mm grav_b=(+0.06,-0.09,-0.99) r=1.03m +[headless_play] t= 13.50s step= 675 trunk_z= 87.8mm grav_b=(+0.02,-0.12,-0.99) r=1.04m +[headless_play] t= 13.60s step= 680 trunk_z= 84.2mm grav_b=(-0.00,-0.08,-1.00) r=1.06m +[headless_play] t= 13.70s step= 685 trunk_z= 81.5mm grav_b=(+0.00,+0.04,-1.00) r=1.08m +[headless_play] t= 13.80s step= 690 trunk_z= 89.2mm grav_b=(+0.00,+0.04,-1.00) r=1.09m +[headless_play] t= 13.90s step= 695 trunk_z= 83.1mm grav_b=(-0.02,-0.09,-1.00) r=1.09m +[headless_play] t= 14.00s step= 700 trunk_z= 93.7mm grav_b=(-0.05,-0.14,-0.99) r=1.09m +[headless_play] t= 14.10s step= 705 trunk_z= 95.2mm grav_b=(-0.06,-0.14,-0.99) r=1.10m +[headless_play] t= 14.20s step= 710 trunk_z= 90.1mm grav_b=(+0.00,-0.13,-0.99) r=1.11m +[headless_play] t= 14.30s step= 715 trunk_z= 84.6mm grav_b=(+0.05,-0.01,-1.00) r=1.13m +[headless_play] t= 14.40s step= 720 trunk_z= 90.8mm grav_b=(+0.06,+0.04,-1.00) r=1.16m +[headless_play] t= 14.50s step= 725 trunk_z= 85.7mm grav_b=(+0.06,-0.04,-1.00) r=1.18m +[headless_play] t= 14.60s step= 730 trunk_z= 90.0mm grav_b=(-0.04,-0.08,-1.00) r=1.19m +[headless_play] t= 14.70s step= 735 trunk_z= 91.9mm grav_b=(-0.02,-0.06,-1.00) r=1.20m +[headless_play] t= 14.80s step= 740 trunk_z= 84.6mm grav_b=(-0.01,+0.00,-1.00) r=1.21m +[headless_play] t= 14.90s step= 745 trunk_z= 89.2mm grav_b=(-0.02,+0.05,-1.00) r=1.22m +[headless_play] t= 15.00s step= 750 trunk_z= 89.7mm grav_b=(-0.02,+0.03,-1.00) r=1.22m +[headless_play] t= 15.10s step= 755 trunk_z= 84.6mm grav_b=(+0.04,-0.02,-1.00) r=1.23m +[headless_play] t= 15.20s step= 760 trunk_z= 88.3mm grav_b=(+0.06,-0.07,-1.00) r=1.24m +[headless_play] t= 15.30s step= 765 trunk_z= 85.9mm grav_b=(+0.08,-0.06,-0.99) r=1.25m +[headless_play] t= 15.40s step= 770 trunk_z= 83.5mm grav_b=(+0.08,+0.05,-1.00) r=1.26m +[headless_play] t= 15.50s step= 775 trunk_z= 96.6mm grav_b=(+0.04,+0.06,-1.00) r=1.29m +[headless_play] t= 15.60s step= 780 trunk_z= 91.7mm grav_b=(+0.01,+0.01,-1.00) r=1.31m +[headless_play] t= 15.70s step= 785 trunk_z= 94.1mm grav_b=(-0.01,-0.08,-1.00) r=1.33m +[headless_play] t= 15.80s step= 790 trunk_z= 97.9mm grav_b=(+0.01,-0.13,-0.99) r=1.34m +[headless_play] t= 15.90s step= 795 trunk_z= 97.1mm grav_b=(+0.04,-0.13,-0.99) r=1.36m +[headless_play] t= 16.00s step= 800 trunk_z= 94.3mm grav_b=(+0.05,-0.04,-1.00) r=1.37m +[headless_play] t= 16.10s step= 805 trunk_z= 96.9mm grav_b=(+0.01,+0.05,-1.00) r=1.40m +[headless_play] t= 16.20s step= 810 trunk_z= 91.1mm grav_b=(-0.01,+0.02,-1.00) r=1.40m +[headless_play] t= 16.30s step= 815 trunk_z= 93.2mm grav_b=(-0.03,-0.05,-1.00) r=1.41m +[headless_play] t= 16.40s step= 820 trunk_z= 94.1mm grav_b=(-0.03,-0.04,-1.00) r=1.42m +[headless_play] t= 16.50s step= 825 trunk_z= 89.3mm grav_b=(-0.03,+0.02,-1.00) r=1.43m +[headless_play] t= 16.60s step= 830 trunk_z= 94.3mm grav_b=(-0.02,+0.09,-1.00) r=1.44m +[headless_play] t= 16.70s step= 835 trunk_z= 93.5mm grav_b=(+0.00,+0.05,-1.00) r=1.45m +[headless_play] t= 16.80s step= 840 trunk_z= 88.1mm grav_b=(+0.01,-0.03,-1.00) r=1.46m +[headless_play] t= 16.90s step= 845 trunk_z= 94.5mm grav_b=(-0.01,-0.07,-1.00) r=1.47m +[headless_play] t= 17.00s step= 850 trunk_z= 91.2mm grav_b=(+0.02,-0.05,-1.00) r=1.49m +[headless_play] t= 17.10s step= 855 trunk_z= 88.4mm grav_b=(+0.01,+0.06,-1.00) r=1.50m +[headless_play] t= 17.20s step= 860 trunk_z= 94.6mm grav_b=(+0.01,+0.07,-1.00) r=1.51m +[headless_play] t= 17.30s step= 865 trunk_z= 88.7mm grav_b=(+0.01,+0.02,-1.00) r=1.53m +[headless_play] t= 17.40s step= 870 trunk_z= 93.4mm grav_b=(-0.02,-0.07,-1.00) r=1.54m +[headless_play] t= 17.50s step= 875 trunk_z= 95.9mm grav_b=(+0.03,-0.10,-0.99) r=1.56m +[headless_play] t= 17.60s step= 880 trunk_z= 94.7mm grav_b=(+0.05,-0.08,-1.00) r=1.58m +[headless_play] t= 17.70s step= 885 trunk_z= 93.5mm grav_b=(+0.03,+0.05,-1.00) r=1.60m +[headless_play] t= 17.80s step= 890 trunk_z= 97.0mm grav_b=(+0.00,+0.05,-1.00) r=1.62m +[headless_play] t= 17.90s step= 895 trunk_z= 90.3mm grav_b=(-0.01,-0.06,-1.00) r=1.63m +[headless_play] t= 18.00s step= 900 trunk_z= 99.9mm grav_b=(-0.02,-0.09,-1.00) r=1.65m +[headless_play] t= 18.10s step= 905 trunk_z= 93.0mm grav_b=(+0.14,-0.01,-0.99) r=1.68m +[headless_play] t= 18.20s step= 910 trunk_z= 96.1mm grav_b=(+0.06,+0.07,-1.00) r=1.72m +[headless_play] t= 18.30s step= 915 trunk_z= 100.7mm grav_b=(+0.04,+0.01,-1.00) r=1.75m +[headless_play] t= 18.40s step= 920 trunk_z= 89.8mm grav_b=(-0.03,-0.13,-0.99) r=1.79m +[headless_play] t= 18.50s step= 925 trunk_z= 101.6mm grav_b=(-0.10,-0.16,-0.98) r=1.81m +[headless_play] t= 18.60s step= 930 trunk_z= 103.1mm grav_b=(-0.07,-0.14,-0.99) r=1.81m +[headless_play] t= 18.70s step= 935 trunk_z= 96.3mm grav_b=(-0.05,-0.07,-1.00) r=1.80m +[headless_play] t= 18.80s step= 940 trunk_z= 94.5mm grav_b=(-0.03,+0.02,-1.00) r=1.79m +[headless_play] t= 18.90s step= 945 trunk_z= 92.1mm grav_b=(-0.05,-0.03,-1.00) r=1.78m +[headless_play] t= 19.00s step= 950 trunk_z= 95.7mm grav_b=(-0.05,-0.16,-0.99) r=1.77m +[headless_play] t= 19.10s step= 955 trunk_z= 104.3mm grav_b=(-0.03,-0.22,-0.98) r=1.77m +[headless_play] t= 19.20s step= 960 trunk_z= 108.5mm grav_b=(-0.04,-0.29,-0.96) r=1.77m +[headless_play] t= 19.30s step= 965 trunk_z= 110.7mm grav_b=(+0.00,-0.37,-0.93) r=1.77m +[headless_play] t= 19.40s step= 970 trunk_z= 103.2mm grav_b=(+0.20,-0.44,-0.88) r=1.77m +[headless_play] t= 19.50s step= 975 trunk_z= 96.8mm grav_b=(+0.28,-0.56,-0.78) r=1.78m +[headless_play] t= 19.60s step= 980 trunk_z= 73.9mm grav_b=(+0.26,-0.64,-0.72) r=1.81m +[headless_play] t= 19.70s step= 985 trunk_z= 63.3mm grav_b=(+0.18,-0.89,-0.41) r=1.80m +[headless_play] RESET at t= 19.74s step= 987 (env termination, not a recovery) +[headless_play] t= 19.80s step= 990 trunk_z= 114.3mm grav_b=(-0.05,-0.00,-1.00) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 116.1mm grav_b=(-0.11,-0.02,-0.99) r=0.43m +[headless_play] t= 20.00s step=1000 trunk_z= 115.4mm grav_b=(-0.08,-0.05,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 118.0mm grav_b=(-0.03,+0.00,-1.00) r=0.42m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t1.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..e76b0f5ee71a4c0ea3787031e6b61a527f8a54ba --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t1.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.773,-18.451,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.3mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(-0.03,-0.03,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(-0.04,-0.06,-1.00) r=0.53m +[headless_play] t= 0.30s step= 15 trunk_z= 117.9mm grav_b=(-0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(-0.08,+0.06,-1.00) r=0.58m +[headless_play] t= 0.50s step= 25 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 0.60s step= 30 trunk_z= 113.4mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 0.70s step= 35 trunk_z= 122.2mm grav_b=(-0.02,-0.04,-1.00) r=0.63m +[headless_play] t= 0.80s step= 40 trunk_z= 121.1mm grav_b=(-0.01,-0.05,-1.00) r=0.65m +[headless_play] t= 0.90s step= 45 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.67m +[headless_play] t= 1.00s step= 50 trunk_z= 121.8mm grav_b=(-0.00,+0.06,-1.00) r=0.69m +[headless_play] t= 1.10s step= 55 trunk_z= 119.0mm grav_b=(-0.00,+0.01,-1.00) r=0.71m +[headless_play] t= 1.20s step= 60 trunk_z= 122.1mm grav_b=(-0.01,-0.06,-1.00) r=0.73m +[headless_play] t= 1.30s step= 65 trunk_z= 121.8mm grav_b=(-0.03,-0.05,-1.00) r=0.75m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(-0.04,-0.02,-1.00) r=0.78m +[headless_play] t= 1.50s step= 75 trunk_z= 124.1mm grav_b=(-0.03,+0.09,-1.00) r=0.80m +[headless_play] t= 1.60s step= 80 trunk_z= 122.8mm grav_b=(-0.02,+0.07,-1.00) r=0.82m +[headless_play] t= 1.70s step= 85 trunk_z= 118.8mm grav_b=(-0.00,-0.01,-1.00) r=0.83m +[headless_play] t= 1.80s step= 90 trunk_z= 104.8mm grav_b=(-0.00,-0.28,-0.96) r=0.84m +[headless_play] t= 1.90s step= 95 trunk_z= 104.3mm grav_b=(+0.09,-0.31,-0.95) r=0.84m +[headless_play] t= 2.00s step= 100 trunk_z= 93.8mm grav_b=(+0.18,-0.12,-0.98) r=0.86m +[headless_play] t= 2.10s step= 105 trunk_z= 49.2mm grav_b=(+0.24,-0.09,-0.97) r=0.91m +[headless_play] t= 2.20s step= 110 trunk_z= 70.1mm grav_b=(+0.30,+0.00,-0.95) r=0.94m +[headless_play] t= 2.30s step= 115 trunk_z= 67.0mm grav_b=(-0.00,+0.03,-1.00) r=0.96m +[headless_play] t= 2.40s step= 120 trunk_z= 76.1mm grav_b=(-0.03,+0.00,-1.00) r=0.97m +[headless_play] t= 2.50s step= 125 trunk_z= 83.4mm grav_b=(-0.08,+0.04,-1.00) r=0.98m +[headless_play] t= 2.60s step= 130 trunk_z= 88.5mm grav_b=(+0.01,-0.01,-1.00) r=0.99m +[headless_play] t= 2.70s step= 135 trunk_z= 87.8mm grav_b=(+0.03,-0.03,-1.00) r=0.97m +[headless_play] t= 2.80s step= 140 trunk_z= 97.2mm grav_b=(-0.01,-0.03,-1.00) r=0.95m +[headless_play] t= 2.90s step= 145 trunk_z= 92.6mm grav_b=(-0.04,+0.05,-1.00) r=0.92m +[headless_play] t= 3.00s step= 150 trunk_z= 99.2mm grav_b=(-0.05,+0.06,-1.00) r=0.90m +[headless_play] t= 3.10s step= 155 trunk_z= 93.0mm grav_b=(-0.04,+0.02,-1.00) r=0.89m +[headless_play] t= 3.20s step= 160 trunk_z= 95.5mm grav_b=(-0.06,-0.02,-1.00) r=0.89m +[headless_play] t= 3.30s step= 165 trunk_z= 95.4mm grav_b=(-0.02,-0.01,-1.00) r=0.87m +[headless_play] t= 3.40s step= 170 trunk_z= 89.6mm grav_b=(-0.02,-0.00,-1.00) r=0.85m +[headless_play] t= 3.50s step= 175 trunk_z= 95.3mm grav_b=(+0.02,+0.06,-1.00) r=0.83m +[headless_play] t= 3.60s step= 180 trunk_z= 93.3mm grav_b=(+0.11,+0.01,-0.99) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 94.6mm grav_b=(+0.16,-0.01,-0.99) r=0.82m +[headless_play] t= 3.80s step= 190 trunk_z= 100.2mm grav_b=(+0.21,-0.13,-0.97) r=0.82m +[headless_play] t= 3.90s step= 195 trunk_z= 76.2mm grav_b=(+0.78,-0.18,-0.59) r=0.82m +[headless_play] RESET at t= 3.94s step= 197 (env termination, not a recovery) +[headless_play] t= 4.00s step= 200 trunk_z= 114.5mm grav_b=(-0.03,+0.00,-1.00) r=0.36m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.03,+0.04,-1.00) r=0.35m +[headless_play] t= 4.20s step= 210 trunk_z= 119.2mm grav_b=(-0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(-0.07,-0.07,-1.00) r=0.39m +[headless_play] t= 4.40s step= 220 trunk_z= 124.9mm grav_b=(-0.08,-0.07,-0.99) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 119.8mm grav_b=(-0.07,-0.07,-0.99) r=0.37m +[headless_play] t= 4.60s step= 230 trunk_z= 123.0mm grav_b=(-0.06,+0.02,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 125.9mm grav_b=(-0.04,+0.05,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 120.6mm grav_b=(-0.05,+0.00,-1.00) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 124.5mm grav_b=(-0.05,-0.06,-1.00) r=0.38m +[headless_play] t= 5.00s step= 250 trunk_z= 124.0mm grav_b=(-0.06,-0.06,-1.00) r=0.38m +[headless_play] t= 5.10s step= 255 trunk_z= 119.4mm grav_b=(-0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 5.20s step= 260 trunk_z= 124.8mm grav_b=(-0.03,+0.03,-1.00) r=0.35m +[headless_play] t= 5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 5.40s step= 270 trunk_z= 123.8mm grav_b=(-0.04,-0.06,-1.00) r=0.39m +[headless_play] t= 5.50s step= 275 trunk_z= 124.8mm grav_b=(-0.05,-0.06,-1.00) r=0.40m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(-0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 5.70s step= 285 trunk_z= 126.6mm grav_b=(-0.03,+0.03,-1.00) r=0.38m +[headless_play] t= 5.80s step= 290 trunk_z= 124.7mm grav_b=(-0.03,+0.03,-1.00) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 121.3mm grav_b=(-0.03,-0.05,-1.00) r=0.42m +[headless_play] t= 6.00s step= 300 trunk_z= 125.5mm grav_b=(-0.04,-0.06,-1.00) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 120.8mm grav_b=(-0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 126.0mm grav_b=(-0.02,+0.04,-1.00) r=0.42m +[headless_play] t= 6.30s step= 315 trunk_z= 125.5mm grav_b=(-0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 6.40s step= 320 trunk_z= 118.9mm grav_b=(-0.04,-0.06,-1.00) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 126.7mm grav_b=(-0.04,-0.07,-1.00) r=0.48m +[headless_play] t= 6.60s step= 330 trunk_z= 125.5mm grav_b=(-0.06,-0.07,-1.00) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 121.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 6.80s step= 340 trunk_z= 126.3mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 6.90s step= 345 trunk_z= 123.5mm grav_b=(-0.05,+0.00,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 124.9mm grav_b=(-0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 126.9mm grav_b=(-0.06,-0.07,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 118.1mm grav_b=(-0.06,+0.01,-1.00) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 127.0mm grav_b=(-0.00,+0.05,-1.00) r=0.55m +[headless_play] t= 7.40s step= 370 trunk_z= 127.7mm grav_b=(-0.02,+0.04,-1.00) r=0.56m +[headless_play] t= 7.50s step= 375 trunk_z= 119.4mm grav_b=(-0.04,-0.06,-1.00) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 127.5mm grav_b=(-0.05,-0.07,-1.00) r=0.60m +[headless_play] t= 7.70s step= 385 trunk_z= 125.1mm grav_b=(-0.07,-0.08,-0.99) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 122.6mm grav_b=(-0.05,+0.01,-1.00) r=0.62m +[headless_play] t= 7.90s step= 395 trunk_z= 125.6mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 121.7mm grav_b=(-0.03,+0.00,-1.00) r=0.63m +[headless_play] t= 8.10s step= 405 trunk_z= 124.8mm grav_b=(-0.04,-0.05,-1.00) r=0.65m +[headless_play] t= 8.20s step= 410 trunk_z= 124.6mm grav_b=(-0.05,-0.06,-1.00) r=0.66m +[headless_play] t= 8.30s step= 415 trunk_z= 119.0mm grav_b=(-0.05,+0.01,-1.00) r=0.68m +[headless_play] t= 8.40s step= 420 trunk_z= 126.9mm grav_b=(-0.03,+0.02,-1.00) r=0.69m +[headless_play] t= 8.50s step= 425 trunk_z= 126.4mm grav_b=(-0.05,+0.01,-1.00) r=0.71m +[headless_play] t= 8.60s step= 430 trunk_z= 124.1mm grav_b=(-0.04,-0.06,-1.00) r=0.73m +[headless_play] t= 8.70s step= 435 trunk_z= 120.7mm grav_b=(-0.08,-0.05,-1.00) r=0.75m +[headless_play] t= 8.80s step= 440 trunk_z= 116.0mm grav_b=(-0.09,+0.04,-0.99) r=0.77m +[headless_play] t= 8.90s step= 445 trunk_z= 123.9mm grav_b=(-0.08,+0.03,-1.00) r=0.78m +[headless_play] t= 9.00s step= 450 trunk_z= 120.3mm grav_b=(-0.07,+0.01,-1.00) r=0.78m +[headless_play] t= 9.10s step= 455 trunk_z= 120.7mm grav_b=(-0.04,-0.04,-1.00) r=0.78m +[headless_play] t= 9.20s step= 460 trunk_z= 121.9mm grav_b=(-0.02,-0.05,-1.00) r=0.79m +[headless_play] t= 9.30s step= 465 trunk_z= 115.1mm grav_b=(-0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 9.40s step= 470 trunk_z= 121.5mm grav_b=(-0.03,+0.04,-1.00) r=0.85m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(-0.02,+0.03,-1.00) r=0.86m +[headless_play] t= 9.60s step= 480 trunk_z= 108.1mm grav_b=(-0.03,-0.06,-1.00) r=0.87m +[headless_play] t= 9.70s step= 485 trunk_z= 107.2mm grav_b=(+0.02,-0.25,-0.97) r=0.88m +[headless_play] t= 9.80s step= 490 trunk_z= 104.4mm grav_b=(-0.07,-0.30,-0.95) r=0.88m +[headless_play] t= 9.90s step= 495 trunk_z= 98.8mm grav_b=(-0.08,-0.47,-0.88) r=0.88m +[headless_play] t= 10.00s step= 500 trunk_z= 70.0mm grav_b=(-0.03,-0.45,-0.89) r=0.89m +[headless_play] t= 10.10s step= 505 trunk_z= 55.1mm grav_b=(-0.17,-0.71,-0.68) r=0.87m +[headless_play] RESET at t= 10.18s step= 509 (env termination, not a recovery) +[headless_play] t= 10.20s step= 510 trunk_z= 121.8mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 10.30s step= 515 trunk_z= 115.7mm grav_b=(-0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 115.3mm grav_b=(-0.00,-0.04,-1.00) r=0.40m +[headless_play] t= 10.50s step= 525 trunk_z= 114.5mm grav_b=(-0.04,+0.05,-1.00) r=0.42m +[headless_play] t= 10.60s step= 530 trunk_z= 109.5mm grav_b=(-0.05,+0.08,-1.00) r=0.45m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(-0.00,+0.06,-1.00) r=0.46m +[headless_play] t= 10.80s step= 540 trunk_z= 111.9mm grav_b=(+0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 10.90s step= 545 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 11.10s step= 555 trunk_z= 111.0mm grav_b=(-0.03,+0.05,-1.00) r=0.52m +[headless_play] t= 11.20s step= 560 trunk_z= 121.2mm grav_b=(-0.02,+0.07,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 118.0mm grav_b=(+0.00,+0.06,-1.00) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 113.3mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 119.6mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 11.60s step= 580 trunk_z= 115.2mm grav_b=(-0.02,-0.00,-1.00) r=0.57m +[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(-0.02,+0.07,-1.00) r=0.60m +[headless_play] t= 11.80s step= 590 trunk_z= 118.1mm grav_b=(+0.02,+0.06,-1.00) r=0.61m +[headless_play] t= 11.90s step= 595 trunk_z= 112.5mm grav_b=(+0.03,+0.02,-1.00) r=0.61m +[headless_play] t= 12.00s step= 600 trunk_z= 119.1mm grav_b=(-0.00,-0.02,-1.00) r=0.61m +[headless_play] t= 12.10s step= 605 trunk_z= 117.4mm grav_b=(-0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 12.20s step= 610 trunk_z= 113.3mm grav_b=(-0.05,+0.08,-1.00) r=0.66m +[headless_play] t= 12.30s step= 615 trunk_z= 121.6mm grav_b=(-0.01,+0.08,-1.00) r=0.67m +[headless_play] t= 12.40s step= 620 trunk_z= 117.8mm grav_b=(+0.01,+0.06,-1.00) r=0.67m +[headless_play] t= 12.50s step= 625 trunk_z= 114.5mm grav_b=(+0.02,-0.02,-1.00) r=0.66m +[headless_play] t= 12.60s step= 630 trunk_z= 119.2mm grav_b=(+0.01,-0.04,-1.00) r=0.66m +[headless_play] t= 12.70s step= 635 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 12.80s step= 640 trunk_z= 119.8mm grav_b=(-0.06,+0.10,-0.99) r=0.71m +[headless_play] t= 12.90s step= 645 trunk_z= 121.5mm grav_b=(-0.01,+0.10,-0.99) r=0.72m +[headless_play] t= 13.00s step= 650 trunk_z= 115.7mm grav_b=(+0.02,+0.06,-1.00) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 118.4mm grav_b=(-0.02,-0.03,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 118.7mm grav_b=(-0.01,-0.02,-1.00) r=0.71m +[headless_play] t= 13.30s step= 665 trunk_z= 112.2mm grav_b=(-0.04,-0.01,-1.00) r=0.74m +[headless_play] t= 13.40s step= 670 trunk_z= 118.0mm grav_b=(-0.02,+0.06,-1.00) r=0.76m +[headless_play] t= 13.50s step= 675 trunk_z= 116.4mm grav_b=(+0.02,+0.04,-1.00) r=0.77m +[headless_play] t= 13.60s step= 680 trunk_z= 107.6mm grav_b=(+0.06,+0.03,-1.00) r=0.77m +[headless_play] t= 13.70s step= 685 trunk_z= 119.0mm grav_b=(+0.02,+0.17,-0.99) r=0.79m +[headless_play] t= 13.80s step= 690 trunk_z= 96.3mm grav_b=(-0.17,+0.19,-0.97) r=0.83m +[headless_play] t= 13.90s step= 695 trunk_z= 101.1mm grav_b=(-0.15,+0.31,-0.94) r=0.87m +[headless_play] t= 14.00s step= 700 trunk_z= 101.1mm grav_b=(-0.20,+0.33,-0.92) r=0.91m +[headless_play] t= 14.10s step= 705 trunk_z= 86.1mm grav_b=(-0.29,+0.28,-0.92) r=0.96m +[headless_play] t= 14.20s step= 710 trunk_z= 83.3mm grav_b=(-0.48,+0.11,-0.87) r=1.03m +[headless_play] t= 14.30s step= 715 trunk_z= 39.1mm grav_b=(-0.49,-0.03,-0.87) r=1.09m +[headless_play] t= 14.40s step= 720 trunk_z= -2.3mm grav_b=(-0.85,-0.10,-0.51) r=1.15m +[headless_play] RESET at t= 14.44s step= 722 (env termination, not a recovery) +[headless_play] t= 14.50s step= 725 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 14.60s step= 730 trunk_z= 115.4mm grav_b=(-0.03,-0.06,-1.00) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 120.5mm grav_b=(-0.07,-0.05,-1.00) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 118.1mm grav_b=(-0.12,+0.02,-0.99) r=0.55m +[headless_play] t= 14.90s step= 745 trunk_z= 117.0mm grav_b=(-0.09,+0.07,-0.99) r=0.57m +[headless_play] t= 15.00s step= 750 trunk_z= 122.8mm grav_b=(-0.05,+0.07,-1.00) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 117.0mm grav_b=(-0.04,+0.05,-1.00) r=0.56m +[headless_play] t= 15.20s step= 760 trunk_z= 121.0mm grav_b=(-0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 122.9mm grav_b=(-0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(-0.05,-0.02,-1.00) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 121.4mm grav_b=(-0.05,+0.05,-1.00) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 120.2mm grav_b=(-0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 113.7mm grav_b=(-0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 15.80s step= 790 trunk_z= 123.3mm grav_b=(-0.05,-0.03,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 119.0mm grav_b=(-0.04,-0.03,-1.00) r=0.57m +[headless_play] t= 16.00s step= 800 trunk_z= 117.2mm grav_b=(-0.07,+0.06,-1.00) r=0.60m +[headless_play] t= 16.10s step= 805 trunk_z= 123.6mm grav_b=(-0.06,+0.04,-1.00) r=0.61m +[headless_play] t= 16.20s step= 810 trunk_z= 118.0mm grav_b=(-0.06,+0.02,-1.00) r=0.59m +[headless_play] t= 16.30s step= 815 trunk_z= 120.9mm grav_b=(-0.08,-0.04,-1.00) r=0.58m +[headless_play] t= 16.40s step= 820 trunk_z= 123.4mm grav_b=(-0.06,-0.01,-1.00) r=0.58m +[headless_play] t= 16.50s step= 825 trunk_z= 116.4mm grav_b=(-0.08,-0.02,-1.00) r=0.61m +[headless_play] t= 16.60s step= 830 trunk_z= 121.2mm grav_b=(-0.08,+0.05,-1.00) r=0.63m +[headless_play] t= 16.70s step= 835 trunk_z= 121.5mm grav_b=(-0.07,+0.02,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 113.7mm grav_b=(-0.05,-0.01,-1.00) r=0.60m +[headless_play] t= 16.90s step= 845 trunk_z= 122.2mm grav_b=(-0.05,-0.02,-1.00) r=0.60m +[headless_play] t= 17.00s step= 850 trunk_z= 119.5mm grav_b=(-0.04,-0.02,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 116.5mm grav_b=(-0.05,+0.05,-1.00) r=0.64m +[headless_play] t= 17.20s step= 860 trunk_z= 122.4mm grav_b=(-0.04,+0.03,-1.00) r=0.65m +[headless_play] t= 17.30s step= 865 trunk_z= 116.3mm grav_b=(-0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 17.40s step= 870 trunk_z= 121.7mm grav_b=(-0.07,-0.03,-1.00) r=0.63m +[headless_play] t= 17.50s step= 875 trunk_z= 121.4mm grav_b=(-0.05,-0.03,-1.00) r=0.63m +[headless_play] t= 17.60s step= 880 trunk_z= 113.8mm grav_b=(-0.05,-0.00,-1.00) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 121.8mm grav_b=(-0.04,+0.05,-1.00) r=0.68m +[headless_play] t= 17.80s step= 890 trunk_z= 118.6mm grav_b=(-0.02,+0.03,-1.00) r=0.68m +[headless_play] t= 17.90s step= 895 trunk_z= 116.6mm grav_b=(-0.04,-0.03,-1.00) r=0.66m +[headless_play] t= 18.00s step= 900 trunk_z= 122.4mm grav_b=(-0.05,-0.02,-1.00) r=0.66m +[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(-0.05,-0.02,-1.00) r=0.68m +[headless_play] t= 18.20s step= 910 trunk_z= 120.5mm grav_b=(-0.07,+0.05,-1.00) r=0.71m +[headless_play] t= 18.30s step= 915 trunk_z= 122.9mm grav_b=(-0.05,+0.03,-1.00) r=0.71m +[headless_play] t= 18.40s step= 920 trunk_z= 115.0mm grav_b=(-0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 18.50s step= 925 trunk_z= 122.0mm grav_b=(-0.06,-0.04,-1.00) r=0.68m +[headless_play] t= 18.60s step= 930 trunk_z= 120.8mm grav_b=(-0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 18.70s step= 935 trunk_z= 112.6mm grav_b=(-0.05,+0.03,-1.00) r=0.72m +[headless_play] t= 18.80s step= 940 trunk_z= 122.4mm grav_b=(-0.05,+0.05,-1.00) r=0.73m +[headless_play] t= 18.90s step= 945 trunk_z= 119.5mm grav_b=(-0.04,+0.02,-1.00) r=0.73m +[headless_play] t= 19.00s step= 950 trunk_z= 118.0mm grav_b=(-0.05,-0.06,-1.00) r=0.71m +[headless_play] t= 19.10s step= 955 trunk_z= 125.0mm grav_b=(-0.07,-0.06,-1.00) r=0.70m +[headless_play] t= 19.20s step= 960 trunk_z= 121.2mm grav_b=(-0.08,-0.07,-0.99) r=0.72m +[headless_play] t= 19.30s step= 965 trunk_z= 120.1mm grav_b=(-0.06,+0.05,-1.00) r=0.75m +[headless_play] t= 19.40s step= 970 trunk_z= 125.4mm grav_b=(-0.06,+0.06,-1.00) r=0.76m +[headless_play] t= 19.50s step= 975 trunk_z= 119.4mm grav_b=(-0.07,+0.02,-1.00) r=0.75m +[headless_play] t= 19.60s step= 980 trunk_z= 123.0mm grav_b=(-0.09,-0.07,-0.99) r=0.73m +[headless_play] t= 19.70s step= 985 trunk_z= 125.2mm grav_b=(-0.12,-0.08,-0.99) r=0.73m +[headless_play] t= 19.80s step= 990 trunk_z= 119.6mm grav_b=(-0.10,-0.06,-0.99) r=0.75m +[headless_play] t= 19.90s step= 995 trunk_z= 121.2mm grav_b=(-0.03,+0.04,-1.00) r=0.78m +[headless_play] t= 20.00s step=1000 trunk_z= 125.2mm grav_b=(-0.02,+0.04,-1.00) r=0.79m +[headless_play] t= 20.10s step=1005 trunk_z= 120.3mm grav_b=(-0.05,-0.01,-1.00) r=0.78m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t10.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..2e2eae1fa6ef6a546ff3fb8f166876baa1a4884e --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.942,-18.290,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.0mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.02,-0.05,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(-0.02,-0.02,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 111.1mm grav_b=(-0.05,+0.02,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 111.1mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 110.9mm grav_b=(+0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 108.6mm grav_b=(+0.03,-0.07,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(+0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 114.6mm grav_b=(-0.00,-0.06,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 114.8mm grav_b=(-0.01,+0.03,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(+0.01,+0.03,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 111.1mm grav_b=(+0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(-0.01,-0.05,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 118.0mm grav_b=(-0.01,-0.05,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 113.7mm grav_b=(-0.00,-0.02,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 119.7mm grav_b=(-0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 1.60s step= 80 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 112.0mm grav_b=(+0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 1.80s step= 90 trunk_z= 119.0mm grav_b=(-0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(+0.00,-0.05,-1.00) r=0.57m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(-0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 2.10s step= 105 trunk_z= 118.2mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 113.2mm grav_b=(-0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 123.6mm grav_b=(-0.07,-0.08,-0.99) r=0.58m +[headless_play] t= 2.40s step= 120 trunk_z= 121.4mm grav_b=(-0.10,-0.09,-0.99) r=0.58m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.08,+0.01,-1.00) r=0.61m +[headless_play] t= 2.60s step= 130 trunk_z= 124.0mm grav_b=(-0.08,-0.00,-1.00) r=0.62m +[headless_play] t= 2.70s step= 135 trunk_z= 117.1mm grav_b=(-0.08,-0.04,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 125.6mm grav_b=(-0.08,-0.09,-0.99) r=0.61m +[headless_play] t= 2.90s step= 145 trunk_z= 125.9mm grav_b=(-0.07,-0.10,-0.99) r=0.62m +[headless_play] t= 3.00s step= 150 trunk_z= 120.3mm grav_b=(-0.06,-0.06,-1.00) r=0.65m +[headless_play] t= 3.10s step= 155 trunk_z= 126.0mm grav_b=(-0.03,+0.02,-1.00) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 124.9mm grav_b=(-0.03,+0.02,-1.00) r=0.67m +[headless_play] t= 3.30s step= 165 trunk_z= 120.9mm grav_b=(-0.06,-0.05,-1.00) r=0.65m +[headless_play] t= 3.40s step= 170 trunk_z= 125.0mm grav_b=(-0.06,-0.07,-1.00) r=0.66m +[headless_play] t= 3.50s step= 175 trunk_z= 120.1mm grav_b=(-0.06,-0.05,-1.00) r=0.68m +[headless_play] t= 3.60s step= 180 trunk_z= 125.2mm grav_b=(-0.05,+0.01,-1.00) r=0.70m +[headless_play] t= 3.70s step= 185 trunk_z= 124.8mm grav_b=(-0.03,+0.02,-1.00) r=0.70m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(-0.04,-0.05,-1.00) r=0.69m +[headless_play] t= 3.90s step= 195 trunk_z= 126.4mm grav_b=(-0.06,-0.07,-1.00) r=0.69m +[headless_play] t= 4.00s step= 200 trunk_z= 124.1mm grav_b=(-0.06,-0.07,-1.00) r=0.70m +[headless_play] t= 4.10s step= 205 trunk_z= 121.6mm grav_b=(-0.06,-0.00,-1.00) r=0.73m +[headless_play] t= 4.20s step= 210 trunk_z= 126.1mm grav_b=(-0.03,+0.02,-1.00) r=0.75m +[headless_play] t= 4.30s step= 215 trunk_z= 125.1mm grav_b=(-0.03,+0.02,-1.00) r=0.74m +[headless_play] t= 4.40s step= 220 trunk_z= 123.4mm grav_b=(-0.02,-0.04,-1.00) r=0.73m +[headless_play] t= 4.50s step= 225 trunk_z= 125.5mm grav_b=(-0.03,-0.05,-1.00) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(-0.03,+0.02,-1.00) r=0.76m +[headless_play] t= 4.70s step= 235 trunk_z= 119.4mm grav_b=(+0.01,+0.02,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=0.79m +[headless_play] t= 4.90s step= 245 trunk_z= 118.7mm grav_b=(+0.02,-0.01,-1.00) r=0.80m +[headless_play] t= 5.00s step= 250 trunk_z= 118.0mm grav_b=(-0.00,-0.00,-1.00) r=0.82m +[headless_play] t= 5.10s step= 255 trunk_z= 109.2mm grav_b=(-0.04,+0.05,-1.00) r=0.85m +[headless_play] t= 5.20s step= 260 trunk_z= 104.3mm grav_b=(-0.10,+0.27,-0.96) r=0.88m +[headless_play] t= 5.30s step= 265 trunk_z= 103.6mm grav_b=(-0.11,+0.35,-0.93) r=0.90m +[headless_play] t= 5.40s step= 270 trunk_z= 98.4mm grav_b=(-0.20,+0.57,-0.80) r=0.93m +[headless_play] t= 5.50s step= 275 trunk_z= 62.4mm grav_b=(-0.36,+0.77,-0.54) r=0.97m +[headless_play] RESET at t= 5.56s step= 278 (env termination, not a recovery) +[headless_play] t= 5.60s step= 280 trunk_z= 117.9mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.01,+0.04,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.03,+0.03,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 111.1mm grav_b=(+0.00,-0.03,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.00,-0.05,-1.00) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 117.9mm grav_b=(+0.00,-0.03,-1.00) r=0.54m +[headless_play] t= 6.20s step= 310 trunk_z= 108.8mm grav_b=(-0.00,+0.03,-1.00) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 119.5mm grav_b=(+0.00,+0.07,-1.00) r=0.58m +[headless_play] t= 6.40s step= 320 trunk_z= 116.6mm grav_b=(+0.04,+0.08,-1.00) r=0.58m +[headless_play] t= 6.50s step= 325 trunk_z= 113.8mm grav_b=(+0.02,-0.03,-1.00) r=0.57m +[headless_play] t= 6.60s step= 330 trunk_z= 122.5mm grav_b=(+0.00,-0.05,-1.00) r=0.57m +[headless_play] t= 6.70s step= 335 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(-0.04,+0.04,-1.00) r=0.61m +[headless_play] t= 6.90s step= 345 trunk_z= 121.7mm grav_b=(-0.01,+0.05,-1.00) r=0.62m +[headless_play] t= 7.00s step= 350 trunk_z= 115.9mm grav_b=(+0.02,+0.05,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 119.5mm grav_b=(-0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 7.20s step= 360 trunk_z= 120.9mm grav_b=(-0.00,-0.04,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 112.8mm grav_b=(-0.03,+0.01,-1.00) r=0.61m +[headless_play] t= 7.40s step= 370 trunk_z= 120.4mm grav_b=(-0.03,+0.05,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 120.4mm grav_b=(+0.01,+0.06,-1.00) r=0.63m +[headless_play] t= 7.60s step= 380 trunk_z= 116.2mm grav_b=(+0.02,+0.03,-1.00) r=0.61m +[headless_play] t= 7.70s step= 385 trunk_z= 122.3mm grav_b=(-0.01,-0.06,-1.00) r=0.60m +[headless_play] t= 7.80s step= 390 trunk_z= 119.2mm grav_b=(+0.01,-0.04,-1.00) r=0.61m +[headless_play] t= 7.90s step= 395 trunk_z= 111.1mm grav_b=(-0.02,+0.04,-1.00) r=0.64m +[headless_play] t= 8.00s step= 400 trunk_z= 121.5mm grav_b=(-0.00,+0.06,-1.00) r=0.65m +[headless_play] t= 8.10s step= 405 trunk_z= 119.4mm grav_b=(+0.03,+0.08,-1.00) r=0.65m +[headless_play] t= 8.20s step= 410 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 123.2mm grav_b=(+0.00,-0.06,-1.00) r=0.63m +[headless_play] t= 8.40s step= 420 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 8.50s step= 425 trunk_z= 117.9mm grav_b=(-0.05,+0.05,-1.00) r=0.66m +[headless_play] t= 8.60s step= 430 trunk_z= 122.9mm grav_b=(-0.02,+0.06,-1.00) r=0.67m +[headless_play] t= 8.70s step= 435 trunk_z= 117.9mm grav_b=(-0.00,+0.06,-1.00) r=0.66m +[headless_play] t= 8.80s step= 440 trunk_z= 118.7mm grav_b=(-0.02,-0.05,-1.00) r=0.65m +[headless_play] t= 8.90s step= 445 trunk_z= 122.2mm grav_b=(+0.00,-0.05,-1.00) r=0.64m +[headless_play] t= 9.00s step= 450 trunk_z= 114.3mm grav_b=(-0.01,-0.02,-1.00) r=0.67m +[headless_play] t= 9.10s step= 455 trunk_z= 118.9mm grav_b=(-0.03,+0.05,-1.00) r=0.69m +[headless_play] t= 9.20s step= 460 trunk_z= 119.4mm grav_b=(+0.02,+0.06,-1.00) r=0.70m +[headless_play] t= 9.30s step= 465 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.69m +[headless_play] t= 9.40s step= 470 trunk_z= 122.9mm grav_b=(-0.01,-0.06,-1.00) r=0.69m +[headless_play] t= 9.50s step= 475 trunk_z= 118.5mm grav_b=(-0.01,-0.05,-1.00) r=0.70m +[headless_play] t= 9.60s step= 480 trunk_z= 114.7mm grav_b=(-0.04,+0.03,-1.00) r=0.73m +[headless_play] t= 9.70s step= 485 trunk_z= 122.4mm grav_b=(-0.02,+0.06,-1.00) r=0.74m +[headless_play] t= 9.80s step= 490 trunk_z= 118.0mm grav_b=(+0.02,+0.07,-1.00) r=0.74m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.01,-0.04,-1.00) r=0.73m +[headless_play] t= 10.00s step= 500 trunk_z= 122.3mm grav_b=(-0.00,-0.06,-1.00) r=0.73m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(-0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 118.5mm grav_b=(-0.02,+0.03,-1.00) r=0.78m +[headless_play] t= 10.30s step= 515 trunk_z= 121.7mm grav_b=(+0.01,+0.06,-1.00) r=0.79m +[headless_play] t= 10.40s step= 520 trunk_z= 116.9mm grav_b=(+0.03,+0.06,-1.00) r=0.78m +[headless_play] t= 10.50s step= 525 trunk_z= 121.2mm grav_b=(+0.01,-0.04,-1.00) r=0.77m +[headless_play] t= 10.60s step= 530 trunk_z= 119.6mm grav_b=(+0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 10.70s step= 535 trunk_z= 111.5mm grav_b=(-0.03,+0.03,-1.00) r=0.80m +[headless_play] t= 10.80s step= 540 trunk_z= 123.0mm grav_b=(-0.00,+0.05,-1.00) r=0.81m +[headless_play] t= 10.90s step= 545 trunk_z= 124.8mm grav_b=(+0.02,+0.07,-1.00) r=0.80m +[headless_play] t= 11.00s step= 550 trunk_z= 119.5mm grav_b=(+0.02,-0.04,-1.00) r=0.78m +[headless_play] t= 11.10s step= 555 trunk_z= 124.4mm grav_b=(+0.01,-0.02,-1.00) r=0.77m +[headless_play] t= 11.20s step= 560 trunk_z= 114.2mm grav_b=(-0.05,+0.02,-1.00) r=0.78m +[headless_play] t= 11.30s step= 565 trunk_z= 122.5mm grav_b=(-0.03,+0.02,-1.00) r=0.78m +[headless_play] t= 11.40s step= 570 trunk_z= 120.2mm grav_b=(-0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 11.50s step= 575 trunk_z= 121.9mm grav_b=(-0.05,-0.07,-1.00) r=0.74m +[headless_play] t= 11.60s step= 580 trunk_z= 122.8mm grav_b=(-0.06,-0.04,-1.00) r=0.73m +[headless_play] t= 11.70s step= 585 trunk_z= 112.5mm grav_b=(-0.04,+0.01,-1.00) r=0.75m +[headless_play] t= 11.80s step= 590 trunk_z= 125.0mm grav_b=(+0.00,+0.06,-1.00) r=0.76m +[headless_play] t= 11.90s step= 595 trunk_z= 126.1mm grav_b=(-0.01,+0.08,-1.00) r=0.76m +[headless_play] t= 12.00s step= 600 trunk_z= 121.8mm grav_b=(-0.03,-0.00,-1.00) r=0.73m +[headless_play] t= 12.10s step= 605 trunk_z= 125.2mm grav_b=(-0.03,-0.05,-1.00) r=0.72m +[headless_play] t= 12.20s step= 610 trunk_z= 120.6mm grav_b=(-0.06,-0.03,-1.00) r=0.72m +[headless_play] t= 12.30s step= 615 trunk_z= 120.8mm grav_b=(-0.05,+0.04,-1.00) r=0.74m +[headless_play] t= 12.40s step= 620 trunk_z= 123.7mm grav_b=(-0.03,+0.05,-1.00) r=0.73m +[headless_play] t= 12.50s step= 625 trunk_z= 118.6mm grav_b=(-0.01,+0.00,-1.00) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 124.1mm grav_b=(-0.00,-0.05,-1.00) r=0.69m +[headless_play] t= 12.70s step= 635 trunk_z= 121.9mm grav_b=(-0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 12.80s step= 640 trunk_z= 119.1mm grav_b=(-0.01,+0.03,-1.00) r=0.70m +[headless_play] t= 12.90s step= 645 trunk_z= 124.2mm grav_b=(-0.00,+0.02,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 118.1mm grav_b=(-0.03,-0.02,-1.00) r=0.67m +[headless_play] t= 13.10s step= 655 trunk_z= 126.7mm grav_b=(-0.08,-0.05,-1.00) r=0.66m +[headless_play] t= 13.20s step= 660 trunk_z= 125.0mm grav_b=(-0.02,-0.04,-1.00) r=0.66m +[headless_play] t= 13.30s step= 665 trunk_z= 118.7mm grav_b=(-0.00,+0.03,-1.00) r=0.68m +[headless_play] t= 13.40s step= 670 trunk_z= 119.1mm grav_b=(+0.01,+0.04,-1.00) r=0.68m +[headless_play] t= 13.50s step= 675 trunk_z= 115.7mm grav_b=(-0.00,+0.02,-1.00) r=0.67m +[headless_play] t= 13.60s step= 680 trunk_z= 122.2mm grav_b=(-0.04,-0.06,-1.00) r=0.65m +[headless_play] t= 13.70s step= 685 trunk_z= 119.1mm grav_b=(-0.04,-0.04,-1.00) r=0.65m +[headless_play] t= 13.80s step= 690 trunk_z= 107.7mm grav_b=(-0.04,+0.02,-1.00) r=0.68m +[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(-0.01,+0.05,-1.00) r=0.69m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(+0.00,+0.06,-1.00) r=0.68m +[headless_play] t= 14.10s step= 705 trunk_z= 110.9mm grav_b=(+0.05,-0.02,-1.00) r=0.66m +[headless_play] t= 14.20s step= 710 trunk_z= 117.5mm grav_b=(+0.04,-0.07,-1.00) r=0.65m +[headless_play] t= 14.30s step= 715 trunk_z= 113.4mm grav_b=(+0.05,-0.05,-1.00) r=0.66m +[headless_play] t= 14.40s step= 720 trunk_z= 110.7mm grav_b=(+0.01,+0.03,-1.00) r=0.69m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(+0.03,+0.06,-1.00) r=0.70m +[headless_play] t= 14.60s step= 730 trunk_z= 113.4mm grav_b=(+0.05,+0.04,-1.00) r=0.70m +[headless_play] t= 14.70s step= 735 trunk_z= 116.3mm grav_b=(+0.01,-0.04,-1.00) r=0.69m +[headless_play] t= 14.80s step= 740 trunk_z= 118.0mm grav_b=(+0.02,-0.04,-1.00) r=0.70m +[headless_play] t= 14.90s step= 745 trunk_z= 109.0mm grav_b=(+0.02,-0.00,-1.00) r=0.73m +[headless_play] t= 15.00s step= 750 trunk_z= 116.7mm grav_b=(-0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 15.10s step= 755 trunk_z= 116.0mm grav_b=(+0.01,+0.06,-1.00) r=0.76m +[headless_play] t= 15.20s step= 760 trunk_z= 112.5mm grav_b=(+0.03,-0.00,-1.00) r=0.75m +[headless_play] t= 15.30s step= 765 trunk_z= 120.2mm grav_b=(+0.00,-0.05,-1.00) r=0.75m +[headless_play] t= 15.40s step= 770 trunk_z= 115.1mm grav_b=(+0.00,-0.03,-1.00) r=0.77m +[headless_play] t= 15.50s step= 775 trunk_z= 114.0mm grav_b=(-0.04,+0.03,-1.00) r=0.79m +[headless_play] t= 15.60s step= 780 trunk_z= 119.8mm grav_b=(+0.02,+0.03,-1.00) r=0.79m +[headless_play] t= 15.70s step= 785 trunk_z= 117.8mm grav_b=(+0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 15.80s step= 790 trunk_z= 123.0mm grav_b=(+0.01,-0.05,-1.00) r=0.75m +[headless_play] t= 15.90s step= 795 trunk_z= 119.9mm grav_b=(+0.02,-0.03,-1.00) r=0.76m +[headless_play] t= 16.00s step= 800 trunk_z= 119.9mm grav_b=(+0.00,+0.04,-1.00) r=0.78m +[headless_play] t= 16.10s step= 805 trunk_z= 121.2mm grav_b=(+0.00,+0.04,-1.00) r=0.78m +[headless_play] t= 16.20s step= 810 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.76m +[headless_play] t= 16.30s step= 815 trunk_z= 124.4mm grav_b=(-0.04,-0.06,-1.00) r=0.75m +[headless_play] t= 16.40s step= 820 trunk_z= 120.0mm grav_b=(-0.02,-0.05,-1.00) r=0.75m +[headless_play] t= 16.50s step= 825 trunk_z= 114.1mm grav_b=(-0.03,+0.02,-1.00) r=0.78m +[headless_play] t= 16.60s step= 830 trunk_z= 122.3mm grav_b=(-0.01,+0.05,-1.00) r=0.79m +[headless_play] t= 16.70s step= 835 trunk_z= 119.5mm grav_b=(+0.01,+0.05,-1.00) r=0.79m +[headless_play] t= 16.80s step= 840 trunk_z= 120.8mm grav_b=(-0.01,-0.06,-1.00) r=0.77m +[headless_play] t= 16.90s step= 845 trunk_z= 121.4mm grav_b=(-0.00,-0.06,-1.00) r=0.77m +[headless_play] t= 17.00s step= 850 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) r=0.80m +[headless_play] t= 17.10s step= 855 trunk_z= 122.5mm grav_b=(-0.02,+0.06,-1.00) r=0.82m +[headless_play] t= 17.20s step= 860 trunk_z= 120.1mm grav_b=(+0.00,+0.06,-1.00) r=0.82m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(-0.01,-0.05,-1.00) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 123.2mm grav_b=(-0.01,-0.07,-1.00) r=0.80m +[headless_play] t= 17.50s step= 875 trunk_z= 117.8mm grav_b=(-0.01,-0.04,-1.00) r=0.82m +[headless_play] t= 17.60s step= 880 trunk_z= 99.6mm grav_b=(+0.12,+0.17,-0.98) r=0.86m +[headless_play] t= 17.70s step= 885 trunk_z= 104.6mm grav_b=(+0.06,+0.34,-0.94) r=0.90m +[headless_play] t= 17.80s step= 890 trunk_z= 103.6mm grav_b=(-0.04,+0.43,-0.90) r=0.94m +[headless_play] t= 17.90s step= 895 trunk_z= 77.4mm grav_b=(-0.10,+0.62,-0.78) r=0.99m +[headless_play] RESET at t= 17.98s step= 899 (env termination, not a recovery) +[headless_play] t= 18.00s step= 900 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 18.10s step= 905 trunk_z= 116.5mm grav_b=(-0.04,+0.03,-1.00) r=0.23m +[headless_play] t= 18.20s step= 910 trunk_z= 119.9mm grav_b=(-0.06,+0.08,-1.00) r=0.21m +[headless_play] t= 18.30s step= 915 trunk_z= 125.2mm grav_b=(-0.05,+0.05,-1.00) r=0.21m +[headless_play] t= 18.40s step= 920 trunk_z= 118.0mm grav_b=(-0.04,+0.01,-1.00) r=0.24m +[headless_play] t= 18.50s step= 925 trunk_z= 125.0mm grav_b=(-0.03,-0.08,-1.00) r=0.25m +[headless_play] t= 18.60s step= 930 trunk_z= 127.0mm grav_b=(-0.02,-0.07,-1.00) r=0.25m +[headless_play] t= 18.70s step= 935 trunk_z= 118.8mm grav_b=(-0.03,+0.00,-1.00) r=0.23m +[headless_play] t= 18.80s step= 940 trunk_z= 128.5mm grav_b=(-0.03,+0.02,-1.00) r=0.22m +[headless_play] t= 18.90s step= 945 trunk_z= 124.8mm grav_b=(-0.03,+0.02,-1.00) r=0.23m +[headless_play] t= 19.00s step= 950 trunk_z= 123.1mm grav_b=(-0.03,-0.05,-1.00) r=0.26m +[headless_play] t= 19.10s step= 955 trunk_z= 126.9mm grav_b=(-0.02,-0.06,-1.00) r=0.27m +[headless_play] t= 19.20s step= 960 trunk_z= 121.8mm grav_b=(-0.04,-0.03,-1.00) r=0.26m +[headless_play] t= 19.30s step= 965 trunk_z= 127.6mm grav_b=(+0.00,+0.03,-1.00) r=0.26m +[headless_play] t= 19.40s step= 970 trunk_z= 128.2mm grav_b=(-0.01,+0.03,-1.00) r=0.27m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(-0.05,-0.03,-1.00) r=0.31m +[headless_play] t= 19.60s step= 980 trunk_z= 125.8mm grav_b=(-0.05,-0.02,-1.00) r=0.33m +[headless_play] t= 19.70s step= 985 trunk_z= 119.5mm grav_b=(-0.06,-0.02,-1.00) r=0.33m +[headless_play] t= 19.80s step= 990 trunk_z= 125.0mm grav_b=(-0.02,+0.02,-1.00) r=0.33m +[headless_play] t= 19.90s step= 995 trunk_z= 125.1mm grav_b=(-0.00,+0.02,-1.00) r=0.34m +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(-0.03,-0.04,-1.00) r=0.37m +[headless_play] t= 20.10s step=1005 trunk_z= 126.1mm grav_b=(-0.02,-0.06,-1.00) r=0.39m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t11.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..902c08b7be0c884c4c418622f4681724e047d1fd --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t11.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.764,-17.725,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.02,-0.04,-1.00) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.04,-0.08,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 114.0mm grav_b=(+0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 115.1mm grav_b=(-0.02,+0.06,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 120.2mm grav_b=(-0.02,+0.04,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 112.5mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 120.0mm grav_b=(-0.02,-0.06,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 118.5mm grav_b=(+0.03,-0.07,-1.00) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 114.3mm grav_b=(+0.04,+0.01,-1.00) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 119.9mm grav_b=(+0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 115.0mm grav_b=(+0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 120.5mm grav_b=(-0.02,-0.05,-1.00) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 121.7mm grav_b=(-0.01,-0.06,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 119.8mm grav_b=(+0.02,+0.06,-1.00) r=0.58m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(+0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 115.6mm grav_b=(+0.00,-0.04,-1.00) r=0.62m +[headless_play] t= 1.80s step= 90 trunk_z= 120.2mm grav_b=(+0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(+0.03,-0.05,-1.00) r=0.66m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(+0.01,+0.06,-1.00) r=0.67m +[headless_play] t= 2.10s step= 105 trunk_z= 119.1mm grav_b=(+0.02,+0.05,-1.00) r=0.69m +[headless_play] t= 2.20s step= 110 trunk_z= 112.4mm grav_b=(+0.00,-0.03,-1.00) r=0.71m +[headless_play] t= 2.30s step= 115 trunk_z= 122.0mm grav_b=(-0.01,-0.07,-1.00) r=0.73m +[headless_play] t= 2.40s step= 120 trunk_z= 117.5mm grav_b=(+0.03,-0.08,-1.00) r=0.75m +[headless_play] t= 2.50s step= 125 trunk_z= 114.0mm grav_b=(+0.03,+0.05,-1.00) r=0.77m +[headless_play] t= 2.60s step= 130 trunk_z= 119.3mm grav_b=(+0.04,+0.04,-1.00) r=0.79m +[headless_play] t= 2.70s step= 135 trunk_z= 112.6mm grav_b=(+0.02,-0.02,-1.00) r=0.81m +[headless_play] t= 2.80s step= 140 trunk_z= 120.6mm grav_b=(+0.00,-0.07,-1.00) r=0.83m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.04,-0.06,-1.00) r=0.85m +[headless_play] t= 3.00s step= 150 trunk_z= 112.3mm grav_b=(+0.02,+0.08,-1.00) r=0.87m +[headless_play] t= 3.10s step= 155 trunk_z= 101.7mm grav_b=(+0.05,+0.34,-0.94) r=0.89m +[headless_play] t= 3.20s step= 160 trunk_z= 104.5mm grav_b=(-0.06,+0.41,-0.91) r=0.90m +[headless_play] t= 3.30s step= 165 trunk_z= 92.4mm grav_b=(-0.12,+0.58,-0.81) r=0.91m +[headless_play] t= 3.40s step= 170 trunk_z= 56.7mm grav_b=(-0.29,+0.86,-0.43) r=0.92m +[headless_play] RESET at t= 3.42s step= 171 (env termination, not a recovery) +[headless_play] t= 3.50s step= 175 trunk_z= 114.2mm grav_b=(-0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(-0.07,-0.03,-1.00) r=0.53m +[headless_play] t= 3.70s step= 185 trunk_z= 118.3mm grav_b=(-0.08,-0.03,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 114.6mm grav_b=(-0.08,+0.03,-1.00) r=0.50m +[headless_play] t= 3.90s step= 195 trunk_z= 126.2mm grav_b=(-0.03,+0.08,-1.00) r=0.48m +[headless_play] t= 4.00s step= 200 trunk_z= 129.1mm grav_b=(-0.00,+0.09,-1.00) r=0.48m +[headless_play] t= 4.10s step= 205 trunk_z= 123.0mm grav_b=(-0.04,+0.06,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 124.3mm grav_b=(-0.02,-0.03,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 124.6mm grav_b=(-0.03,-0.04,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 119.0mm grav_b=(-0.03,+0.04,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 127.8mm grav_b=(-0.00,+0.07,-1.00) r=0.47m +[headless_play] t= 4.60s step= 230 trunk_z= 128.5mm grav_b=(-0.01,+0.08,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 125.0mm grav_b=(-0.02,-0.03,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 120.9mm grav_b=(-0.03,-0.02,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 124.2mm grav_b=(-0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 127.5mm grav_b=(-0.01,+0.06,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 122.1mm grav_b=(-0.05,+0.04,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 123.5mm grav_b=(-0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 126.5mm grav_b=(-0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 5.50s step= 275 trunk_z= 118.4mm grav_b=(-0.02,+0.03,-1.00) r=0.53m +[headless_play] t= 5.60s step= 280 trunk_z= 130.7mm grav_b=(+0.01,+0.07,-1.00) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 131.5mm grav_b=(-0.03,+0.08,-1.00) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(-0.08,-0.03,-1.00) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 124.9mm grav_b=(-0.04,-0.05,-1.00) r=0.58m +[headless_play] t= 6.00s step= 300 trunk_z= 122.5mm grav_b=(-0.06,-0.02,-1.00) r=0.58m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(-0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 6.20s step= 310 trunk_z= 128.9mm grav_b=(+0.01,+0.07,-1.00) r=0.56m +[headless_play] t= 6.30s step= 315 trunk_z= 128.2mm grav_b=(-0.01,+0.06,-1.00) r=0.58m +[headless_play] t= 6.40s step= 320 trunk_z= 118.7mm grav_b=(-0.01,-0.03,-1.00) r=0.61m +[headless_play] t= 6.50s step= 325 trunk_z= 125.9mm grav_b=(-0.03,-0.02,-1.00) r=0.62m +[headless_play] t= 6.60s step= 330 trunk_z= 119.2mm grav_b=(-0.04,-0.00,-1.00) r=0.61m +[headless_play] t= 6.70s step= 335 trunk_z= 127.6mm grav_b=(-0.01,+0.07,-1.00) r=0.61m +[headless_play] t= 6.80s step= 340 trunk_z= 130.6mm grav_b=(+0.01,+0.07,-1.00) r=0.62m +[headless_play] t= 6.90s step= 345 trunk_z= 124.0mm grav_b=(-0.04,+0.03,-1.00) r=0.65m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(-0.02,-0.04,-1.00) r=0.68m +[headless_play] t= 7.10s step= 355 trunk_z= 123.0mm grav_b=(-0.07,-0.02,-1.00) r=0.68m +[headless_play] t= 7.20s step= 360 trunk_z= 118.6mm grav_b=(-0.05,+0.03,-1.00) r=0.68m +[headless_play] t= 7.30s step= 365 trunk_z= 127.1mm grav_b=(-0.00,+0.06,-1.00) r=0.68m +[headless_play] t= 7.40s step= 370 trunk_z= 127.8mm grav_b=(+0.01,+0.07,-1.00) r=0.70m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.01,-0.04,-1.00) r=0.74m +[headless_play] t= 7.60s step= 380 trunk_z= 127.2mm grav_b=(-0.05,-0.02,-1.00) r=0.76m +[headless_play] t= 7.70s step= 385 trunk_z= 121.0mm grav_b=(-0.07,-0.01,-1.00) r=0.79m +[headless_play] t= 7.80s step= 390 trunk_z= 103.3mm grav_b=(-0.04,+0.21,-0.98) r=0.81m +[headless_play] t= 7.90s step= 395 trunk_z= 111.4mm grav_b=(-0.10,+0.39,-0.91) r=0.81m +[headless_play] t= 8.00s step= 400 trunk_z= 103.8mm grav_b=(-0.17,+0.54,-0.82) r=0.83m +[headless_play] t= 8.10s step= 405 trunk_z= 71.7mm grav_b=(-0.26,+0.81,-0.53) r=0.87m +[headless_play] RESET at t= 8.14s step= 407 (env termination, not a recovery) +[headless_play] t= 8.20s step= 410 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 8.30s step= 415 trunk_z= 115.3mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 8.40s step= 420 trunk_z= 116.0mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 8.70s step= 435 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.10s step= 455 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.20s step= 460 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.30s step= 465 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.60s step= 480 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.10s step= 505 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.40s step= 520 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.90s step= 545 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.20s step= 560 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.40s step= 570 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.60s step= 580 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.80s step= 590 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 11.90s step= 595 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.00s step= 600 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.10s step= 605 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.20s step= 610 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.40s step= 620 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.60s step= 630 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 13.00s step= 650 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 13.20s step= 660 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 13.30s step= 665 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 13.40s step= 670 trunk_z= 116.0mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 13.70s step= 685 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 13.80s step= 690 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 13.90s step= 695 trunk_z= 114.9mm grav_b=(-0.01,+0.06,-1.00) r=0.46m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.02,+0.10,-0.99) r=0.44m +[headless_play] t= 14.10s step= 705 trunk_z= 118.5mm grav_b=(-0.01,+0.02,-1.00) r=0.43m +[headless_play] t= 14.20s step= 710 trunk_z= 111.1mm grav_b=(-0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 121.3mm grav_b=(+0.00,-0.05,-1.00) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 118.2mm grav_b=(+0.00,-0.02,-1.00) r=0.44m +[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(-0.02,+0.04,-1.00) r=0.41m +[headless_play] t= 14.60s step= 730 trunk_z= 122.4mm grav_b=(-0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 118.2mm grav_b=(-0.01,+0.05,-1.00) r=0.41m +[headless_play] t= 14.80s step= 740 trunk_z= 120.8mm grav_b=(-0.02,-0.05,-1.00) r=0.42m +[headless_play] t= 14.90s step= 745 trunk_z= 122.2mm grav_b=(-0.02,-0.05,-1.00) r=0.42m +[headless_play] t= 15.00s step= 750 trunk_z= 115.3mm grav_b=(-0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 15.10s step= 755 trunk_z= 122.2mm grav_b=(-0.02,+0.07,-1.00) r=0.38m +[headless_play] t= 15.20s step= 760 trunk_z= 121.7mm grav_b=(+0.01,+0.08,-1.00) r=0.38m +[headless_play] t= 15.30s step= 765 trunk_z= 116.2mm grav_b=(+0.01,+0.03,-1.00) r=0.40m +[headless_play] t= 15.40s step= 770 trunk_z= 122.8mm grav_b=(+0.01,-0.07,-1.00) r=0.41m +[headless_play] t= 15.50s step= 775 trunk_z= 120.2mm grav_b=(-0.02,-0.06,-1.00) r=0.41m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(-0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 15.70s step= 785 trunk_z= 122.8mm grav_b=(-0.01,+0.06,-1.00) r=0.38m +[headless_play] t= 15.80s step= 790 trunk_z= 118.9mm grav_b=(+0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 15.90s step= 795 trunk_z= 119.0mm grav_b=(-0.00,-0.04,-1.00) r=0.42m +[headless_play] t= 16.00s step= 800 trunk_z= 121.0mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 115.1mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 16.20s step= 810 trunk_z= 121.7mm grav_b=(-0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 16.30s step= 815 trunk_z= 120.6mm grav_b=(+0.00,+0.07,-1.00) r=0.41m +[headless_play] t= 16.40s step= 820 trunk_z= 114.4mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 16.50s step= 825 trunk_z= 122.7mm grav_b=(-0.01,-0.07,-1.00) r=0.46m +[headless_play] t= 16.60s step= 830 trunk_z= 118.9mm grav_b=(-0.01,-0.05,-1.00) r=0.46m +[headless_play] t= 16.70s step= 835 trunk_z= 118.6mm grav_b=(-0.02,+0.05,-1.00) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 123.4mm grav_b=(-0.02,+0.08,-1.00) r=0.45m +[headless_play] t= 16.90s step= 845 trunk_z= 118.1mm grav_b=(+0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 17.00s step= 850 trunk_z= 119.4mm grav_b=(-0.00,-0.06,-1.00) r=0.50m +[headless_play] t= 17.10s step= 855 trunk_z= 121.7mm grav_b=(-0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 17.20s step= 860 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 17.30s step= 865 trunk_z= 121.9mm grav_b=(-0.01,+0.07,-1.00) r=0.51m +[headless_play] t= 17.40s step= 870 trunk_z= 121.9mm grav_b=(+0.01,+0.07,-1.00) r=0.52m +[headless_play] t= 17.50s step= 875 trunk_z= 117.2mm grav_b=(+0.00,+0.04,-1.00) r=0.55m +[headless_play] t= 17.60s step= 880 trunk_z= 122.7mm grav_b=(+0.00,-0.07,-1.00) r=0.57m +[headless_play] t= 17.70s step= 885 trunk_z= 120.6mm grav_b=(-0.02,-0.05,-1.00) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 114.8mm grav_b=(-0.02,+0.04,-1.00) r=0.59m +[headless_play] t= 17.90s step= 895 trunk_z= 123.9mm grav_b=(-0.00,+0.07,-1.00) r=0.60m +[headless_play] t= 18.00s step= 900 trunk_z= 121.3mm grav_b=(+0.01,+0.08,-1.00) r=0.61m +[headless_play] t= 18.10s step= 905 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(-0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 18.30s step= 915 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) r=0.70m +[headless_play] t= 18.40s step= 920 trunk_z= 115.5mm grav_b=(-0.00,+0.07,-1.00) r=0.71m +[headless_play] t= 18.50s step= 925 trunk_z= 113.5mm grav_b=(+0.02,+0.07,-1.00) r=0.72m +[headless_play] t= 18.60s step= 930 trunk_z= 106.1mm grav_b=(+0.05,+0.04,-1.00) r=0.73m +[headless_play] t= 18.70s step= 935 trunk_z= 114.5mm grav_b=(+0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 18.80s step= 940 trunk_z= 111.7mm grav_b=(-0.01,+0.02,-1.00) r=0.77m +[headless_play] t= 18.90s step= 945 trunk_z= 98.7mm grav_b=(+0.01,+0.11,-0.99) r=0.79m +[headless_play] t= 19.00s step= 950 trunk_z= 98.5mm grav_b=(+0.00,+0.30,-0.95) r=0.81m +[headless_play] t= 19.10s step= 955 trunk_z= 99.9mm grav_b=(-0.05,+0.39,-0.92) r=0.82m +[headless_play] t= 19.20s step= 960 trunk_z= 93.3mm grav_b=(-0.14,+0.56,-0.82) r=0.84m +[headless_play] t= 19.30s step= 965 trunk_z= 62.8mm grav_b=(-0.18,+0.86,-0.48) r=0.88m +[headless_play] RESET at t= 19.34s step= 967 (env termination, not a recovery) +[headless_play] t= 19.40s step= 970 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 19.50s step= 975 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 19.60s step= 980 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 19.70s step= 985 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 19.80s step= 990 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 19.90s step= 995 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 20.00s step=1000 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t12.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..d468c8322f40a2a8389c565e97c900ab6043bd46 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t12.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(-13.885,-17.996,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.4mm grav_b=(-0.01,-0.00,-1.00) r=0.12m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.02,+0.03,-1.00) r=0.12m +[headless_play] t= 0.20s step= 10 trunk_z= 114.6mm grav_b=(-0.00,+0.07,-1.00) r=0.13m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(+0.02,+0.07,-1.00) r=0.13m +[headless_play] t= 0.40s step= 20 trunk_z= 113.9mm grav_b=(+0.01,-0.03,-1.00) r=0.14m +[headless_play] t= 0.50s step= 25 trunk_z= 121.7mm grav_b=(+0.00,-0.03,-1.00) r=0.15m +[headless_play] t= 0.60s step= 30 trunk_z= 117.6mm grav_b=(-0.01,+0.03,-1.00) r=0.16m +[headless_play] t= 0.70s step= 35 trunk_z= 121.9mm grav_b=(-0.03,+0.12,-0.99) r=0.18m +[headless_play] t= 0.80s step= 40 trunk_z= 125.9mm grav_b=(-0.03,+0.13,-0.99) r=0.20m +[headless_play] t= 0.90s step= 45 trunk_z= 123.1mm grav_b=(-0.02,+0.14,-0.99) r=0.21m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 122.3mm grav_b=(+0.00,-0.04,-1.00) r=0.23m +[headless_play] t= 1.20s step= 60 trunk_z= 118.6mm grav_b=(-0.01,+0.01,-1.00) r=0.24m +[headless_play] t= 1.30s step= 65 trunk_z= 121.6mm grav_b=(-0.02,+0.11,-0.99) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 124.7mm grav_b=(-0.02,+0.12,-0.99) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 120.3mm grav_b=(-0.02,+0.11,-0.99) r=0.29m +[headless_play] t= 1.60s step= 80 trunk_z= 119.2mm grav_b=(-0.02,-0.04,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 121.9mm grav_b=(-0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 1.80s step= 90 trunk_z= 116.0mm grav_b=(-0.00,+0.04,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 123.1mm grav_b=(-0.01,+0.11,-0.99) r=0.34m +[headless_play] t= 2.00s step= 100 trunk_z= 123.6mm grav_b=(-0.01,+0.10,-1.00) r=0.36m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(-0.03,+0.05,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 121.7mm grav_b=(-0.02,-0.05,-1.00) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 120.0mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.01,+0.10,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 125.1mm grav_b=(-0.01,+0.13,-0.99) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 123.5mm grav_b=(-0.01,+0.13,-0.99) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(-0.02,+0.04,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 121.5mm grav_b=(+0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 2.90s step= 145 trunk_z= 119.2mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 3.00s step= 150 trunk_z= 119.7mm grav_b=(-0.00,+0.11,-0.99) r=0.48m +[headless_play] t= 3.10s step= 155 trunk_z= 125.0mm grav_b=(-0.01,+0.13,-0.99) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 122.7mm grav_b=(-0.00,+0.14,-0.99) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 3.40s step= 170 trunk_z= 122.4mm grav_b=(-0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 3.50s step= 175 trunk_z= 117.0mm grav_b=(-0.05,+0.02,-1.00) r=0.56m +[headless_play] t= 3.60s step= 180 trunk_z= 119.8mm grav_b=(-0.06,+0.11,-0.99) r=0.56m +[headless_play] t= 3.70s step= 185 trunk_z= 124.2mm grav_b=(-0.03,+0.12,-0.99) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 119.6mm grav_b=(-0.01,+0.13,-0.99) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 115.8mm grav_b=(-0.02,-0.03,-1.00) r=0.61m +[headless_play] t= 4.00s step= 200 trunk_z= 121.5mm grav_b=(-0.02,-0.04,-1.00) r=0.63m +[headless_play] t= 4.10s step= 205 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 4.20s step= 210 trunk_z= 118.9mm grav_b=(-0.02,+0.12,-0.99) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 123.8mm grav_b=(+0.00,+0.13,-0.99) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 121.0mm grav_b=(+0.02,+0.13,-0.99) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.69m +[headless_play] t= 4.60s step= 230 trunk_z= 120.8mm grav_b=(+0.02,-0.04,-1.00) r=0.70m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.70m +[headless_play] t= 4.80s step= 240 trunk_z= 121.1mm grav_b=(-0.01,+0.10,-1.00) r=0.70m +[headless_play] t= 4.90s step= 245 trunk_z= 121.4mm grav_b=(-0.01,+0.10,-0.99) r=0.71m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(-0.03,+0.04,-1.00) r=0.74m +[headless_play] t= 5.10s step= 255 trunk_z= 102.5mm grav_b=(-0.07,-0.26,-0.96) r=0.77m +[headless_play] t= 5.20s step= 260 trunk_z= 106.7mm grav_b=(-0.13,-0.38,-0.92) r=0.80m +[headless_play] t= 5.30s step= 265 trunk_z= 100.0mm grav_b=(-0.14,-0.49,-0.86) r=0.83m +[headless_play] t= 5.40s step= 270 trunk_z= 68.9mm grav_b=(-0.33,-0.55,-0.76) r=0.88m +[headless_play] RESET at t= 5.48s step= 274 (env termination, not a recovery) +[headless_play] t= 5.50s step= 275 trunk_z= 125.6mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(+0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(+0.06,-0.06,-1.00) r=0.47m +[headless_play] t= 5.80s step= 290 trunk_z= 114.9mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 111.2mm grav_b=(+0.00,+0.08,-1.00) r=0.43m +[headless_play] t= 6.00s step= 300 trunk_z= 121.4mm grav_b=(-0.00,+0.11,-0.99) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 120.1mm grav_b=(-0.00,+0.11,-0.99) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 111.9mm grav_b=(+0.00,+0.01,-1.00) r=0.40m +[headless_play] t= 6.30s step= 315 trunk_z= 119.3mm grav_b=(+0.02,-0.06,-1.00) r=0.40m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(+0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 6.50s step= 325 trunk_z= 115.3mm grav_b=(+0.01,+0.08,-1.00) r=0.36m +[headless_play] t= 6.60s step= 330 trunk_z= 120.6mm grav_b=(+0.02,+0.11,-0.99) r=0.34m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(+0.03,+0.10,-0.99) r=0.33m +[headless_play] t= 6.80s step= 340 trunk_z= 117.4mm grav_b=(+0.03,-0.05,-1.00) r=0.32m +[headless_play] t= 6.90s step= 345 trunk_z= 118.6mm grav_b=(+0.03,-0.04,-1.00) r=0.31m +[headless_play] t= 7.00s step= 350 trunk_z= 114.7mm grav_b=(+0.01,+0.03,-1.00) r=0.28m +[headless_play] t= 7.10s step= 355 trunk_z= 121.0mm grav_b=(+0.01,+0.12,-0.99) r=0.26m +[headless_play] t= 7.20s step= 360 trunk_z= 121.8mm grav_b=(+0.02,+0.13,-0.99) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 117.2mm grav_b=(+0.04,+0.10,-0.99) r=0.24m +[headless_play] t= 7.40s step= 370 trunk_z= 119.7mm grav_b=(+0.03,-0.07,-1.00) r=0.24m +[headless_play] t= 7.50s step= 375 trunk_z= 121.0mm grav_b=(+0.02,-0.07,-1.00) r=0.24m +[headless_play] t= 7.60s step= 380 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 7.70s step= 385 trunk_z= 121.0mm grav_b=(-0.02,+0.11,-0.99) r=0.19m +[headless_play] t= 7.80s step= 390 trunk_z= 123.8mm grav_b=(+0.01,+0.14,-0.99) r=0.18m +[headless_play] t= 7.90s step= 395 trunk_z= 118.2mm grav_b=(+0.05,+0.14,-0.99) r=0.19m +[headless_play] t= 8.00s step= 400 trunk_z= 115.5mm grav_b=(+0.04,-0.04,-1.00) r=0.21m +[headless_play] t= 8.10s step= 405 trunk_z= 120.8mm grav_b=(+0.02,-0.07,-1.00) r=0.22m +[headless_play] t= 8.20s step= 410 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 8.30s step= 415 trunk_z= 118.6mm grav_b=(-0.01,+0.11,-0.99) r=0.19m +[headless_play] t= 8.40s step= 420 trunk_z= 124.3mm grav_b=(+0.01,+0.14,-0.99) r=0.18m +[headless_play] t= 8.50s step= 425 trunk_z= 120.2mm grav_b=(+0.04,+0.15,-0.99) r=0.20m +[headless_play] t= 8.60s step= 430 trunk_z= 113.4mm grav_b=(+0.06,+0.02,-1.00) r=0.23m +[headless_play] t= 8.70s step= 435 trunk_z= 122.2mm grav_b=(+0.05,-0.07,-1.00) r=0.25m +[headless_play] t= 8.80s step= 440 trunk_z= 119.4mm grav_b=(+0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 8.90s step= 445 trunk_z= 114.4mm grav_b=(+0.01,+0.05,-1.00) r=0.25m +[headless_play] t= 9.00s step= 450 trunk_z= 123.0mm grav_b=(+0.02,+0.12,-0.99) r=0.25m +[headless_play] t= 9.10s step= 455 trunk_z= 120.8mm grav_b=(+0.04,+0.14,-0.99) r=0.27m +[headless_play] t= 9.20s step= 460 trunk_z= 115.4mm grav_b=(+0.05,+0.05,-1.00) r=0.29m +[headless_play] t= 9.30s step= 465 trunk_z= 121.2mm grav_b=(+0.04,-0.08,-1.00) r=0.32m +[headless_play] t= 9.40s step= 470 trunk_z= 118.9mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 9.50s step= 475 trunk_z= 115.6mm grav_b=(-0.01,+0.06,-1.00) r=0.33m +[headless_play] t= 9.60s step= 480 trunk_z= 123.5mm grav_b=(-0.02,+0.11,-0.99) r=0.33m +[headless_play] t= 9.70s step= 485 trunk_z= 121.3mm grav_b=(-0.01,+0.13,-0.99) r=0.35m +[headless_play] t= 9.80s step= 490 trunk_z= 114.4mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 9.90s step= 495 trunk_z= 120.3mm grav_b=(+0.04,-0.07,-1.00) r=0.39m +[headless_play] t= 10.00s step= 500 trunk_z= 117.7mm grav_b=(+0.06,-0.02,-1.00) r=0.41m +[headless_play] t= 10.10s step= 505 trunk_z= 118.3mm grav_b=(+0.09,+0.08,-0.99) r=0.43m +[headless_play] t= 10.20s step= 510 trunk_z= 121.6mm grav_b=(+0.07,+0.07,-1.00) r=0.46m +[headless_play] t= 10.30s step= 515 trunk_z= 114.4mm grav_b=(+0.02,-0.04,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 122.7mm grav_b=(+0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 113.9mm grav_b=(-0.01,+0.09,-1.00) r=0.54m +[headless_play] t= 10.60s step= 530 trunk_z= 123.1mm grav_b=(-0.01,+0.14,-0.99) r=0.56m +[headless_play] t= 10.70s step= 535 trunk_z= 122.9mm grav_b=(+0.00,+0.16,-0.99) r=0.58m +[headless_play] t= 10.80s step= 540 trunk_z= 119.6mm grav_b=(+0.03,+0.10,-0.99) r=0.60m +[headless_play] t= 10.90s step= 545 trunk_z= 121.4mm grav_b=(+0.02,-0.06,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 120.9mm grav_b=(+0.03,-0.05,-1.00) r=0.65m +[headless_play] t= 11.10s step= 555 trunk_z= 113.8mm grav_b=(+0.04,+0.05,-1.00) r=0.65m +[headless_play] t= 11.20s step= 560 trunk_z= 120.4mm grav_b=(+0.04,+0.09,-0.99) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(+0.04,+0.09,-0.99) r=0.69m +[headless_play] t= 11.40s step= 570 trunk_z= 118.0mm grav_b=(+0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 11.50s step= 575 trunk_z= 119.3mm grav_b=(+0.01,-0.04,-1.00) r=0.73m +[headless_play] t= 11.60s step= 580 trunk_z= 111.3mm grav_b=(+0.02,+0.05,-1.00) r=0.73m +[headless_play] t= 11.70s step= 585 trunk_z= 120.3mm grav_b=(+0.01,+0.12,-0.99) r=0.73m +[headless_play] t= 11.80s step= 590 trunk_z= 119.6mm grav_b=(+0.03,+0.13,-0.99) r=0.74m +[headless_play] t= 11.90s step= 595 trunk_z= 117.2mm grav_b=(+0.05,+0.05,-1.00) r=0.77m +[headless_play] t= 12.00s step= 600 trunk_z= 123.3mm grav_b=(+0.04,-0.07,-1.00) r=0.80m +[headless_play] t= 12.10s step= 605 trunk_z= 119.7mm grav_b=(+0.03,-0.02,-1.00) r=0.82m +[headless_play] t= 12.20s step= 610 trunk_z= 116.5mm grav_b=(+0.02,+0.11,-0.99) r=0.82m +[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(+0.03,+0.13,-0.99) r=0.84m +[headless_play] t= 12.40s step= 620 trunk_z= 121.5mm grav_b=(+0.03,+0.14,-0.99) r=0.86m +[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(+0.03,-0.04,-1.00) r=0.89m +[headless_play] t= 12.60s step= 630 trunk_z= 103.5mm grav_b=(+0.03,-0.23,-0.97) r=0.92m +[headless_play] t= 12.70s step= 635 trunk_z= 99.6mm grav_b=(+0.07,-0.42,-0.90) r=0.95m +[headless_play] t= 12.80s step= 640 trunk_z= 92.4mm grav_b=(+0.28,-0.52,-0.81) r=0.99m +[headless_play] t= 12.90s step= 645 trunk_z= 60.8mm grav_b=(+0.34,-0.81,-0.47) r=1.05m +[headless_play] RESET at t= 12.94s step= 647 (env termination, not a recovery) +[headless_play] t= 13.00s step= 650 trunk_z= 113.6mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(+0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 13.20s step= 660 trunk_z= 113.5mm grav_b=(+0.07,-0.02,-1.00) r=0.31m +[headless_play] t= 13.30s step= 665 trunk_z= 109.8mm grav_b=(+0.05,+0.06,-1.00) r=0.29m +[headless_play] t= 13.40s step= 670 trunk_z= 117.7mm grav_b=(+0.06,+0.10,-0.99) r=0.28m +[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(+0.05,+0.08,-1.00) r=0.29m +[headless_play] t= 13.60s step= 680 trunk_z= 113.6mm grav_b=(+0.03,-0.03,-1.00) r=0.32m +[headless_play] t= 13.70s step= 685 trunk_z= 119.3mm grav_b=(+0.04,-0.06,-1.00) r=0.33m +[headless_play] t= 13.80s step= 690 trunk_z= 116.7mm grav_b=(+0.05,-0.03,-1.00) r=0.32m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(+0.05,+0.09,-0.99) r=0.31m +[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(+0.06,+0.11,-0.99) r=0.31m +[headless_play] t= 14.10s step= 705 trunk_z= 118.6mm grav_b=(+0.07,+0.10,-0.99) r=0.33m +[headless_play] t= 14.20s step= 710 trunk_z= 118.8mm grav_b=(+0.09,-0.03,-1.00) r=0.36m +[headless_play] t= 14.30s step= 715 trunk_z= 119.3mm grav_b=(+0.07,-0.05,-1.00) r=0.37m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.50s step= 725 trunk_z= 121.8mm grav_b=(+0.05,+0.10,-0.99) r=0.38m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.05,+0.09,-0.99) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 115.1mm grav_b=(+0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 120.6mm grav_b=(+0.03,-0.07,-1.00) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(+0.03,-0.04,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 114.6mm grav_b=(+0.02,+0.08,-1.00) r=0.45m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(+0.04,+0.10,-0.99) r=0.45m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(+0.07,+0.09,-0.99) r=0.48m +[headless_play] t= 15.30s step= 765 trunk_z= 115.8mm grav_b=(+0.08,-0.01,-1.00) r=0.51m +[headless_play] t= 15.40s step= 770 trunk_z= 118.2mm grav_b=(+0.09,-0.02,-1.00) r=0.53m +[headless_play] t= 15.50s step= 775 trunk_z= 115.6mm grav_b=(+0.07,+0.03,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 122.8mm grav_b=(+0.07,+0.11,-0.99) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 121.3mm grav_b=(+0.06,+0.10,-0.99) r=0.57m +[headless_play] t= 15.80s step= 790 trunk_z= 116.6mm grav_b=(+0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 118.9mm grav_b=(+0.04,-0.05,-1.00) r=0.62m +[headless_play] t= 16.00s step= 800 trunk_z= 116.4mm grav_b=(+0.04,-0.02,-1.00) r=0.62m +[headless_play] t= 16.10s step= 805 trunk_z= 118.9mm grav_b=(+0.03,+0.10,-0.99) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 119.8mm grav_b=(+0.05,+0.11,-0.99) r=0.64m +[headless_play] t= 16.30s step= 815 trunk_z= 113.8mm grav_b=(+0.05,+0.05,-1.00) r=0.67m +[headless_play] t= 16.40s step= 820 trunk_z= 119.0mm grav_b=(+0.05,-0.04,-1.00) r=0.69m +[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(+0.05,-0.02,-1.00) r=0.69m +[headless_play] t= 16.60s step= 830 trunk_z= 114.3mm grav_b=(+0.04,+0.07,-1.00) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 120.7mm grav_b=(+0.04,+0.10,-0.99) r=0.71m +[headless_play] t= 16.80s step= 840 trunk_z= 117.2mm grav_b=(+0.06,+0.09,-0.99) r=0.73m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.05,-0.04,-1.00) r=0.77m +[headless_play] t= 17.00s step= 850 trunk_z= 110.3mm grav_b=(+0.05,-0.11,-0.99) r=0.80m +[headless_play] t= 17.10s step= 855 trunk_z= 95.3mm grav_b=(+0.17,-0.13,-0.98) r=0.83m +[headless_play] t= 17.20s step= 860 trunk_z= 78.1mm grav_b=(+0.17,+0.04,-0.98) r=0.88m +[headless_play] t= 17.30s step= 865 trunk_z= 107.0mm grav_b=(+0.28,+0.19,-0.94) r=0.92m +[headless_play] t= 17.40s step= 870 trunk_z= 120.1mm grav_b=(+0.32,+0.30,-0.90) r=0.96m +[headless_play] t= 17.50s step= 875 trunk_z= 96.3mm grav_b=(+0.16,+0.45,-0.88) r=1.03m +[headless_play] t= 17.60s step= 880 trunk_z= 58.7mm grav_b=(-0.05,+0.63,-0.78) r=1.09m +[headless_play] t= 17.70s step= 885 trunk_z= 37.9mm grav_b=(+0.16,+0.84,-0.51) r=1.11m +[headless_play] RESET at t= 17.76s step= 888 (env termination, not a recovery) +[headless_play] t= 17.80s step= 890 trunk_z= 115.3mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 17.90s step= 895 trunk_z= 115.0mm grav_b=(+0.02,+0.04,-1.00) r=0.39m +[headless_play] t= 18.00s step= 900 trunk_z= 116.4mm grav_b=(+0.05,+0.05,-1.00) r=0.39m +[headless_play] t= 18.10s step= 905 trunk_z= 114.1mm grav_b=(+0.03,-0.03,-1.00) r=0.42m +[headless_play] t= 18.20s step= 910 trunk_z= 124.4mm grav_b=(+0.04,-0.05,-1.00) r=0.43m +[headless_play] t= 18.30s step= 915 trunk_z= 123.0mm grav_b=(+0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 119.5mm grav_b=(+0.02,+0.07,-1.00) r=0.40m +[headless_play] t= 18.50s step= 925 trunk_z= 128.2mm grav_b=(+0.02,+0.09,-1.00) r=0.39m +[headless_play] t= 18.60s step= 930 trunk_z= 125.3mm grav_b=(+0.03,+0.09,-1.00) r=0.41m +[headless_play] t= 18.70s step= 935 trunk_z= 118.3mm grav_b=(+0.02,-0.04,-1.00) r=0.44m +[headless_play] t= 18.80s step= 940 trunk_z= 124.2mm grav_b=(+0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 18.90s step= 945 trunk_z= 122.0mm grav_b=(-0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 19.00s step= 950 trunk_z= 122.7mm grav_b=(-0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 19.10s step= 955 trunk_z= 125.9mm grav_b=(+0.00,+0.09,-1.00) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 121.2mm grav_b=(+0.02,+0.06,-1.00) r=0.44m +[headless_play] t= 19.30s step= 965 trunk_z= 122.2mm grav_b=(+0.05,-0.04,-1.00) r=0.47m +[headless_play] t= 19.40s step= 970 trunk_z= 123.6mm grav_b=(+0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 118.3mm grav_b=(+0.01,+0.06,-1.00) r=0.46m +[headless_play] t= 19.60s step= 980 trunk_z= 126.9mm grav_b=(+0.02,+0.10,-1.00) r=0.45m +[headless_play] t= 19.70s step= 985 trunk_z= 127.1mm grav_b=(+0.03,+0.10,-0.99) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 19.90s step= 995 trunk_z= 125.2mm grav_b=(+0.04,-0.05,-1.00) r=0.50m +[headless_play] t= 20.00s step=1000 trunk_z= 123.6mm grav_b=(+0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 121.8mm grav_b=(+0.00,+0.07,-1.00) r=0.48m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t13.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..4fd460adefd324d244f2e43b2d456af6c2f88006 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.678,-17.547,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 116.0mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 2.20s step= 110 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 3.50s step= 175 trunk_z= 116.3mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 3.70s step= 185 trunk_z= 115.9mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 3.80s step= 190 trunk_z= 115.8mm grav_b=(+0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 3.90s step= 195 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(+0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 115.9mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 4.50s step= 225 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 4.70s step= 235 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 4.80s step= 240 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 4.90s step= 245 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 5.20s step= 260 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 5.40s step= 270 trunk_z= 115.9mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 5.50s step= 275 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 5.60s step= 280 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 5.80s step= 290 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 5.90s step= 295 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(+0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 6.10s step= 305 trunk_z= 115.9mm grav_b=(+0.00,+0.02,-1.00) r=0.56m +[headless_play] t= 6.20s step= 310 trunk_z= 115.9mm grav_b=(+0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(+0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 6.50s step= 325 trunk_z= 115.9mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(+0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 6.70s step= 335 trunk_z= 115.4mm grav_b=(+0.06,+0.04,-1.00) r=0.57m +[headless_play] t= 6.80s step= 340 trunk_z= 116.4mm grav_b=(+0.08,-0.02,-1.00) r=0.57m +[headless_play] t= 6.90s step= 345 trunk_z= 119.8mm grav_b=(+0.09,-0.06,-0.99) r=0.59m +[headless_play] t= 7.00s step= 350 trunk_z= 124.6mm grav_b=(+0.06,-0.00,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 117.0mm grav_b=(+0.03,+0.07,-1.00) r=0.65m +[headless_play] t= 7.20s step= 360 trunk_z= 124.5mm grav_b=(+0.02,+0.06,-1.00) r=0.67m +[headless_play] t= 7.30s step= 365 trunk_z= 120.0mm grav_b=(+0.02,+0.04,-1.00) r=0.67m +[headless_play] t= 7.40s step= 370 trunk_z= 121.2mm grav_b=(+0.00,-0.04,-1.00) r=0.69m +[headless_play] t= 7.50s step= 375 trunk_z= 121.5mm grav_b=(+0.01,-0.02,-1.00) r=0.70m +[headless_play] t= 7.60s step= 380 trunk_z= 116.4mm grav_b=(-0.00,+0.05,-1.00) r=0.72m +[headless_play] t= 7.70s step= 385 trunk_z= 124.9mm grav_b=(+0.01,+0.06,-1.00) r=0.74m +[headless_play] t= 7.80s step= 390 trunk_z= 123.6mm grav_b=(+0.03,+0.06,-1.00) r=0.76m +[headless_play] t= 7.90s step= 395 trunk_z= 117.4mm grav_b=(+0.03,-0.03,-1.00) r=0.77m +[headless_play] t= 8.00s step= 400 trunk_z= 124.6mm grav_b=(+0.04,-0.02,-1.00) r=0.79m +[headless_play] t= 8.10s step= 405 trunk_z= 117.9mm grav_b=(+0.01,+0.02,-1.00) r=0.82m +[headless_play] t= 8.20s step= 410 trunk_z= 104.2mm grav_b=(+0.01,+0.25,-0.97) r=0.85m +[headless_play] t= 8.30s step= 415 trunk_z= 104.4mm grav_b=(+0.03,+0.38,-0.92) r=0.88m +[headless_play] t= 8.40s step= 420 trunk_z= 89.2mm grav_b=(+0.06,+0.59,-0.81) r=0.93m +[headless_play] t= 8.50s step= 425 trunk_z= 42.1mm grav_b=(+0.22,+0.78,-0.59) r=0.99m +[headless_play] RESET at t= 8.56s step= 428 (env termination, not a recovery) +[headless_play] t= 8.60s step= 430 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 9.00s step= 450 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 9.10s step= 455 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 9.20s step= 460 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 9.40s step= 470 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 9.60s step= 480 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 9.90s step= 495 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 10.00s step= 500 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.10s step= 505 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.30s step= 515 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.40s step= 520 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.50s step= 525 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.60s step= 530 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 10.90s step= 545 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.10s step= 555 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.20s step= 560 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.30s step= 565 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.40s step= 570 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.50s step= 575 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.80s step= 590 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 11.90s step= 595 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.00s step= 600 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.10s step= 605 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.30s step= 615 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.40s step= 620 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.50s step= 625 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.60s step= 630 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.70s step= 635 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.80s step= 640 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 12.90s step= 645 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.00s step= 650 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.20s step= 660 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.30s step= 665 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.40s step= 670 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.50s step= 675 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.60s step= 680 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.70s step= 685 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.80s step= 690 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.10s step= 705 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.30s step= 715 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.40s step= 720 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.50s step= 725 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 14.90s step= 745 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.00s step= 750 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.10s step= 755 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.20s step= 760 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.30s step= 765 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.50s step= 775 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.60s step= 780 trunk_z= 115.2mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 15.70s step= 785 trunk_z= 113.4mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 15.80s step= 790 trunk_z= 111.8mm grav_b=(+0.06,-0.03,-1.00) r=0.37m +[headless_play] t= 15.90s step= 795 trunk_z= 110.3mm grav_b=(+0.09,-0.08,-0.99) r=0.39m +[headless_play] t= 16.00s step= 800 trunk_z= 111.4mm grav_b=(+0.05,-0.07,-1.00) r=0.40m +[headless_play] t= 16.10s step= 805 trunk_z= 108.5mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 16.20s step= 810 trunk_z= 114.0mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 113.2mm grav_b=(-0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 107.6mm grav_b=(-0.01,-0.07,-1.00) r=0.44m +[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(+0.02,-0.11,-0.99) r=0.45m +[headless_play] t= 16.60s step= 830 trunk_z= 109.2mm grav_b=(+0.02,-0.07,-1.00) r=0.47m +[headless_play] t= 16.70s step= 835 trunk_z= 112.0mm grav_b=(+0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 16.80s step= 840 trunk_z= 113.4mm grav_b=(+0.05,+0.01,-1.00) r=0.51m +[headless_play] t= 16.90s step= 845 trunk_z= 106.2mm grav_b=(+0.05,-0.05,-1.00) r=0.52m +[headless_play] t= 17.00s step= 850 trunk_z= 113.4mm grav_b=(+0.05,-0.10,-0.99) r=0.53m +[headless_play] t= 17.10s step= 855 trunk_z= 113.4mm grav_b=(+0.02,-0.08,-1.00) r=0.55m +[headless_play] t= 17.20s step= 860 trunk_z= 110.4mm grav_b=(+0.02,+0.04,-1.00) r=0.56m +[headless_play] t= 17.30s step= 865 trunk_z= 118.0mm grav_b=(+0.03,+0.03,-1.00) r=0.57m +[headless_play] t= 17.40s step= 870 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00) r=0.57m +[headless_play] t= 17.50s step= 875 trunk_z= 121.2mm grav_b=(+0.07,-0.10,-0.99) r=0.58m +[headless_play] t= 17.60s step= 880 trunk_z= 125.5mm grav_b=(+0.07,-0.10,-0.99) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 115.2mm grav_b=(+0.04,-0.04,-1.00) r=0.64m +[headless_play] t= 17.80s step= 890 trunk_z= 125.1mm grav_b=(+0.09,-0.04,-1.00) r=0.67m +[headless_play] t= 17.90s step= 895 trunk_z= 120.8mm grav_b=(-0.01,-0.07,-1.00) r=0.69m +[headless_play] t= 18.00s step= 900 trunk_z= 122.0mm grav_b=(-0.02,-0.14,-0.99) r=0.71m +[headless_play] t= 18.10s step= 905 trunk_z= 123.4mm grav_b=(-0.07,-0.10,-0.99) r=0.73m +[headless_play] t= 18.20s step= 910 trunk_z= 112.9mm grav_b=(-0.08,-0.05,-1.00) r=0.77m +[headless_play] t= 18.30s step= 915 trunk_z= 101.9mm grav_b=(-0.08,+0.25,-0.97) r=0.80m +[headless_play] t= 18.40s step= 920 trunk_z= 106.6mm grav_b=(-0.12,+0.34,-0.93) r=0.83m +[headless_play] t= 18.50s step= 925 trunk_z= 97.4mm grav_b=(-0.19,+0.49,-0.85) r=0.86m +[headless_play] t= 18.60s step= 930 trunk_z= 70.9mm grav_b=(-0.43,+0.69,-0.59) r=0.90m +[headless_play] RESET at t= 18.66s step= 933 (env termination, not a recovery) +[headless_play] t= 18.70s step= 935 trunk_z= 115.0mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 18.80s step= 940 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.20m +[headless_play] t= 19.00s step= 950 trunk_z= 115.4mm grav_b=(-0.04,+0.00,-1.00) r=0.21m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(-0.04,+0.01,-1.00) r=0.21m +[headless_play] t= 19.20s step= 960 trunk_z= 115.8mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.30s step= 965 trunk_z= 115.9mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.40s step= 970 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.50s step= 975 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.60s step= 980 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.70s step= 985 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.80s step= 990 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 19.90s step= 995 trunk_z= 115.9mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 20.00s step=1000 trunk_z= 116.1mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.21m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t14.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..e94e5e9a0131cfbe90c8870bb04130bafab4159d --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-18.039,-18.164,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.02,-0.02,-1.00) r=0.17m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(+0.03,-0.02,-1.00) r=0.17m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.17m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=0.17m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.10s step= 55 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 1.90s step= 95 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.20s step= 110 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.40s step= 120 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.50s step= 125 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.80s step= 140 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.00s step= 150 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.30s step= 165 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.40s step= 170 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.60s step= 180 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 3.90s step= 195 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.17m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00) r=0.17m +[headless_play] t= 4.30s step= 215 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 4.80s step= 240 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.00s step= 250 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.10s step= 255 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.40s step= 270 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.60s step= 280 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.70s step= 285 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.20s step= 310 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.30s step= 315 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 6.60s step= 330 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 6.70s step= 335 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.00s step= 350 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.10s step= 355 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.20s step= 360 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.30s step= 365 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.40s step= 370 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.50s step= 375 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.70s step= 385 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.80s step= 390 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 7.90s step= 395 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.00s step= 400 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.10s step= 405 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.20s step= 410 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.30s step= 415 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.40s step= 420 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.50s step= 425 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.60s step= 430 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.17m +[headless_play] t= 8.70s step= 435 trunk_z= 116.1mm grav_b=(+0.05,-0.00,-1.00) r=0.17m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=0.17m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.17m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(+0.04,+0.00,-1.00) r=0.17m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 9.50s step= 475 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 9.80s step= 490 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.00s step= 500 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.10s step= 505 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.20s step= 510 trunk_z= 116.4mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 10.30s step= 515 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.40s step= 520 trunk_z= 116.4mm grav_b=(+0.03,+0.00,-1.00) r=0.17m +[headless_play] t= 10.50s step= 525 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.60s step= 530 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 10.90s step= 545 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.10s step= 555 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.20s step= 560 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.30s step= 565 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.40s step= 570 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.60s step= 580 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.70s step= 585 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 11.90s step= 595 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.70s step= 635 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 13.00s step= 650 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 13.10s step= 655 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.17m +[headless_play] t= 13.20s step= 660 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.17m +[headless_play] t= 13.50s step= 675 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 13.60s step= 680 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 13.70s step= 685 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 13.80s step= 690 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 13.90s step= 695 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.00s step= 700 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 14.20s step= 710 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.50s step= 725 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.60s step= 730 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.70s step= 735 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 14.90s step= 745 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 15.00s step= 750 trunk_z= 116.5mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 15.40s step= 770 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 15.70s step= 785 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 15.80s step= 790 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 16.30s step= 815 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 16.40s step= 820 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 16.60s step= 830 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 16.70s step= 835 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 16.80s step= 840 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 17.10s step= 855 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.17m +[headless_play] t= 17.20s step= 860 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 17.40s step= 870 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 17.50s step= 875 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 17.60s step= 880 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 17.80s step= 890 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 17.90s step= 895 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 18.10s step= 905 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.20s step= 910 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.40s step= 920 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.50s step= 925 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.60s step= 930 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.70s step= 935 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 18.90s step= 945 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.00s step= 950 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.10s step= 955 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.40s step= 970 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.50s step= 975 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.60s step= 980 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.70s step= 985 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 19.80s step= 990 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 19.90s step= 995 trunk_z= 116.6mm grav_b=(+0.00,-0.02,-1.00) r=0.17m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(+0.01,-0.03,-1.00) r=0.54m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t15.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..613f8d0995a3de83d7433a40c00408dbfdf6b4cf --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.290,-18.235,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 126.9mm grav_b=(-0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 114.3mm grav_b=(-0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 114.9mm grav_b=(-0.03,+0.05,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 113.8mm grav_b=(-0.04,-0.05,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(-0.03,-0.09,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 120.9mm grav_b=(+0.02,-0.08,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(+0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 120.3mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 119.7mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 121.5mm grav_b=(-0.01,-0.08,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 121.3mm grav_b=(-0.04,-0.05,-1.00) r=0.57m +[headless_play] t= 1.10s step= 55 trunk_z= 112.5mm grav_b=(-0.05,+0.01,-1.00) r=0.58m +[headless_play] t= 1.20s step= 60 trunk_z= 122.0mm grav_b=(-0.05,+0.04,-1.00) r=0.59m +[headless_play] t= 1.30s step= 65 trunk_z= 119.4mm grav_b=(-0.01,+0.04,-1.00) r=0.60m +[headless_play] t= 1.40s step= 70 trunk_z= 114.7mm grav_b=(+0.00,-0.04,-1.00) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 121.1mm grav_b=(+0.01,-0.06,-1.00) r=0.64m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(+0.02,-0.03,-1.00) r=0.66m +[headless_play] t= 1.70s step= 85 trunk_z= 120.7mm grav_b=(-0.01,+0.02,-1.00) r=0.69m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.70m +[headless_play] t= 1.90s step= 95 trunk_z= 117.8mm grav_b=(-0.05,-0.06,-1.00) r=0.72m +[headless_play] t= 2.00s step= 100 trunk_z= 122.9mm grav_b=(-0.07,-0.04,-1.00) r=0.74m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(-0.05,-0.01,-1.00) r=0.76m +[headless_play] t= 2.20s step= 110 trunk_z= 119.1mm grav_b=(-0.04,+0.04,-1.00) r=0.78m +[headless_play] t= 2.30s step= 115 trunk_z= 119.4mm grav_b=(+0.00,+0.04,-1.00) r=0.79m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(+0.01,-0.01,-1.00) r=0.80m +[headless_play] t= 2.50s step= 125 trunk_z= 121.2mm grav_b=(+0.02,-0.04,-1.00) r=0.83m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.85m +[headless_play] t= 2.70s step= 135 trunk_z= 121.4mm grav_b=(-0.01,+0.05,-1.00) r=0.88m +[headless_play] t= 2.80s step= 140 trunk_z= 117.4mm grav_b=(-0.01,+0.03,-1.00) r=0.90m +[headless_play] t= 2.90s step= 145 trunk_z= 115.0mm grav_b=(-0.04,-0.06,-1.00) r=0.91m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(-0.05,-0.10,-0.99) r=0.93m +[headless_play] t= 3.10s step= 155 trunk_z= 109.0mm grav_b=(-0.03,-0.14,-0.99) r=0.96m +[headless_play] t= 3.20s step= 160 trunk_z= 92.4mm grav_b=(+0.01,-0.11,-0.99) r=1.00m +[headless_play] t= 3.30s step= 165 trunk_z= 108.7mm grav_b=(-0.02,-0.07,-1.00) r=1.04m +[headless_play] t= 3.40s step= 170 trunk_z= 98.7mm grav_b=(-0.03,-0.05,-1.00) r=1.09m +[headless_play] t= 3.50s step= 175 trunk_z= 98.3mm grav_b=(-0.04,-0.02,-1.00) r=1.12m +[headless_play] t= 3.60s step= 180 trunk_z= 92.2mm grav_b=(-0.07,+0.02,-1.00) r=1.15m +[headless_play] t= 3.70s step= 185 trunk_z= 95.5mm grav_b=(-0.11,+0.06,-0.99) r=1.18m +[headless_play] t= 3.80s step= 190 trunk_z= 97.1mm grav_b=(-0.09,+0.02,-1.00) r=1.19m +[headless_play] t= 3.90s step= 195 trunk_z= 91.3mm grav_b=(-0.09,-0.03,-1.00) r=1.18m +[headless_play] t= 4.00s step= 200 trunk_z= 98.6mm grav_b=(-0.08,-0.05,-1.00) r=1.17m +[headless_play] t= 4.10s step= 205 trunk_z= 94.6mm grav_b=(-0.08,-0.02,-1.00) r=1.16m +[headless_play] t= 4.20s step= 210 trunk_z= 96.8mm grav_b=(-0.05,+0.03,-1.00) r=1.17m +[headless_play] t= 4.30s step= 215 trunk_z= 98.2mm grav_b=(-0.00,+0.02,-1.00) r=1.19m +[headless_play] t= 4.40s step= 220 trunk_z= 92.4mm grav_b=(+0.02,-0.04,-1.00) r=1.20m +[headless_play] t= 4.50s step= 225 trunk_z= 102.6mm grav_b=(+0.01,-0.05,-1.00) r=1.22m +[headless_play] t= 4.60s step= 230 trunk_z= 100.9mm grav_b=(-0.03,-0.02,-1.00) r=1.24m +[headless_play] t= 4.70s step= 235 trunk_z= 98.8mm grav_b=(-0.05,+0.05,-1.00) r=1.27m +[headless_play] t= 4.80s step= 240 trunk_z= 98.7mm grav_b=(-0.05,+0.03,-1.00) r=1.28m +[headless_play] t= 4.90s step= 245 trunk_z= 92.2mm grav_b=(-0.06,-0.03,-1.00) r=1.28m +[headless_play] t= 5.00s step= 250 trunk_z= 100.0mm grav_b=(-0.05,-0.05,-1.00) r=1.30m +[headless_play] t= 5.10s step= 255 trunk_z= 99.5mm grav_b=(-0.03,-0.04,-1.00) r=1.31m +[headless_play] t= 5.20s step= 260 trunk_z= 95.9mm grav_b=(-0.02,+0.03,-1.00) r=1.34m +[headless_play] t= 5.30s step= 265 trunk_z= 102.9mm grav_b=(-0.01,+0.02,-1.00) r=1.36m +[headless_play] t= 5.40s step= 270 trunk_z= 97.8mm grav_b=(-0.03,+0.02,-1.00) r=1.37m +[headless_play] t= 5.50s step= 275 trunk_z= 98.0mm grav_b=(-0.01,-0.05,-1.00) r=1.39m +[headless_play] t= 5.60s step= 280 trunk_z= 100.9mm grav_b=(-0.03,-0.04,-1.00) r=1.40m +[headless_play] t= 5.70s step= 285 trunk_z= 93.8mm grav_b=(-0.04,+0.01,-1.00) r=1.42m +[headless_play] t= 5.80s step= 290 trunk_z= 101.0mm grav_b=(-0.02,+0.01,-1.00) r=1.43m +[headless_play] t= 5.90s step= 295 trunk_z= 98.9mm grav_b=(-0.03,+0.03,-1.00) r=1.44m +[headless_play] t= 6.00s step= 300 trunk_z= 95.3mm grav_b=(-0.04,-0.05,-1.00) r=1.46m +[headless_play] t= 6.10s step= 305 trunk_z= 101.2mm grav_b=(-0.02,-0.05,-1.00) r=1.47m +[headless_play] t= 6.20s step= 310 trunk_z= 99.4mm grav_b=(-0.03,-0.02,-1.00) r=1.49m +[headless_play] t= 6.30s step= 315 trunk_z= 100.7mm grav_b=(-0.01,+0.04,-1.00) r=1.51m +[headless_play] t= 6.40s step= 320 trunk_z= 101.9mm grav_b=(-0.01,+0.02,-1.00) r=1.53m +[headless_play] t= 6.50s step= 325 trunk_z= 91.4mm grav_b=(-0.04,-0.04,-1.00) r=1.55m +[headless_play] t= 6.60s step= 330 trunk_z= 99.9mm grav_b=(-0.03,-0.04,-1.00) r=1.56m +[headless_play] t= 6.70s step= 335 trunk_z= 98.2mm grav_b=(-0.04,-0.01,-1.00) r=1.58m +[headless_play] t= 6.80s step= 340 trunk_z= 99.0mm grav_b=(-0.02,+0.05,-1.00) r=1.59m +[headless_play] t= 6.90s step= 345 trunk_z= 102.0mm grav_b=(-0.00,+0.04,-1.00) r=1.61m +[headless_play] t= 7.00s step= 350 trunk_z= 97.3mm grav_b=(-0.07,-0.00,-1.00) r=1.62m +[headless_play] t= 7.10s step= 355 trunk_z= 101.0mm grav_b=(-0.03,-0.08,-1.00) r=1.64m +[headless_play] t= 7.20s step= 360 trunk_z= 99.2mm grav_b=(-0.07,-0.04,-1.00) r=1.67m +[headless_play] t= 7.30s step= 365 trunk_z= 92.3mm grav_b=(-0.08,+0.02,-1.00) r=1.69m +[headless_play] t= 7.40s step= 370 trunk_z= 97.7mm grav_b=(-0.06,+0.02,-1.00) r=1.69m +[headless_play] t= 7.50s step= 375 trunk_z= 92.6mm grav_b=(-0.07,+0.02,-1.00) r=1.69m +[headless_play] t= 7.60s step= 380 trunk_z= 94.9mm grav_b=(-0.06,-0.04,-1.00) r=1.69m +[headless_play] t= 7.70s step= 385 trunk_z= 92.6mm grav_b=(-0.04,+0.00,-1.00) r=1.71m +[headless_play] t= 7.80s step= 390 trunk_z= 86.1mm grav_b=(-0.04,+0.06,-1.00) r=1.74m +[headless_play] t= 7.90s step= 395 trunk_z= 95.1mm grav_b=(-0.01,+0.04,-1.00) r=1.76m +[headless_play] t= 8.00s step= 400 trunk_z= 90.9mm grav_b=(-0.00,+0.03,-1.00) r=1.77m +[headless_play] t= 8.10s step= 405 trunk_z= 94.6mm grav_b=(-0.04,-0.07,-1.00) r=1.78m +[headless_play] t= 8.20s step= 410 trunk_z= 95.7mm grav_b=(+0.02,-0.04,-1.00) r=1.79m +[headless_play] t= 8.30s step= 415 trunk_z= 88.0mm grav_b=(-0.02,+0.00,-1.00) r=1.82m +[headless_play] RESET at t= 8.32s step= 416 (env termination, not a recovery) +[headless_play] t= 8.40s step= 420 trunk_z= 115.1mm grav_b=(-0.02,+0.02,-1.00) r=0.29m +[headless_play] t= 8.50s step= 425 trunk_z= 113.8mm grav_b=(-0.08,+0.05,-1.00) r=0.31m +[headless_play] t= 8.60s step= 430 trunk_z= 123.7mm grav_b=(-0.08,+0.08,-0.99) r=0.32m +[headless_play] t= 8.70s step= 435 trunk_z= 125.0mm grav_b=(-0.03,+0.09,-1.00) r=0.31m +[headless_play] t= 8.80s step= 440 trunk_z= 117.2mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 8.90s step= 445 trunk_z= 126.7mm grav_b=(+0.01,-0.07,-1.00) r=0.27m +[headless_play] t= 9.00s step= 450 trunk_z= 128.9mm grav_b=(-0.01,-0.06,-1.00) r=0.27m +[headless_play] t= 9.10s step= 455 trunk_z= 119.1mm grav_b=(-0.04,+0.03,-1.00) r=0.29m +[headless_play] t= 9.20s step= 460 trunk_z= 129.7mm grav_b=(-0.03,+0.07,-1.00) r=0.30m +[headless_play] t= 9.30s step= 465 trunk_z= 126.9mm grav_b=(-0.04,+0.07,-1.00) r=0.29m +[headless_play] t= 9.40s step= 470 trunk_z= 119.5mm grav_b=(-0.04,-0.04,-1.00) r=0.27m +[headless_play] t= 9.50s step= 475 trunk_z= 126.0mm grav_b=(-0.04,-0.06,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 125.0mm grav_b=(-0.03,-0.05,-1.00) r=0.28m +[headless_play] t= 9.70s step= 485 trunk_z= 123.8mm grav_b=(-0.03,+0.05,-1.00) r=0.31m +[headless_play] t= 9.80s step= 490 trunk_z= 130.9mm grav_b=(-0.00,+0.08,-1.00) r=0.33m +[headless_play] t= 9.90s step= 495 trunk_z= 129.7mm grav_b=(-0.02,+0.08,-1.00) r=0.33m +[headless_play] t= 10.00s step= 500 trunk_z= 120.3mm grav_b=(-0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 10.10s step= 505 trunk_z= 128.9mm grav_b=(-0.02,-0.05,-1.00) r=0.32m +[headless_play] t= 10.20s step= 510 trunk_z= 126.9mm grav_b=(-0.04,-0.04,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 125.7mm grav_b=(-0.02,+0.05,-1.00) r=0.37m +[headless_play] t= 10.40s step= 520 trunk_z= 131.6mm grav_b=(-0.03,+0.06,-1.00) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 122.4mm grav_b=(-0.06,+0.03,-1.00) r=0.40m +[headless_play] t= 10.60s step= 530 trunk_z= 124.2mm grav_b=(-0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 124.7mm grav_b=(-0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(-0.05,+0.01,-1.00) r=0.44m +[headless_play] t= 10.90s step= 545 trunk_z= 127.4mm grav_b=(-0.03,+0.05,-1.00) r=0.46m +[headless_play] t= 11.00s step= 550 trunk_z= 126.0mm grav_b=(-0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 11.10s step= 555 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.46m +[headless_play] t= 11.20s step= 560 trunk_z= 126.1mm grav_b=(-0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 122.6mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 11.40s step= 570 trunk_z= 127.0mm grav_b=(-0.01,+0.06,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 130.1mm grav_b=(-0.03,+0.07,-1.00) r=0.52m +[headless_play] t= 11.60s step= 580 trunk_z= 117.7mm grav_b=(-0.05,+0.00,-1.00) r=0.54m +[headless_play] t= 11.70s step= 585 trunk_z= 124.9mm grav_b=(-0.03,-0.04,-1.00) r=0.55m +[headless_play] t= 11.80s step= 590 trunk_z= 123.3mm grav_b=(-0.05,-0.03,-1.00) r=0.56m +[headless_play] t= 11.90s step= 595 trunk_z= 121.6mm grav_b=(-0.05,+0.05,-1.00) r=0.58m +[headless_play] t= 12.00s step= 600 trunk_z= 127.8mm grav_b=(-0.01,+0.06,-1.00) r=0.59m +[headless_play] t= 12.10s step= 605 trunk_z= 127.2mm grav_b=(-0.05,+0.08,-1.00) r=0.60m +[headless_play] t= 12.20s step= 610 trunk_z= 119.2mm grav_b=(-0.02,-0.04,-1.00) r=0.61m +[headless_play] t= 12.30s step= 615 trunk_z= 127.8mm grav_b=(-0.03,-0.04,-1.00) r=0.62m +[headless_play] t= 12.40s step= 620 trunk_z= 124.7mm grav_b=(-0.04,-0.03,-1.00) r=0.64m +[headless_play] t= 12.50s step= 625 trunk_z= 126.6mm grav_b=(-0.00,+0.05,-1.00) r=0.66m +[headless_play] t= 12.60s step= 630 trunk_z= 130.9mm grav_b=(-0.01,+0.04,-1.00) r=0.68m +[headless_play] t= 12.70s step= 635 trunk_z= 120.9mm grav_b=(-0.06,+0.01,-1.00) r=0.70m +[headless_play] t= 12.80s step= 640 trunk_z= 122.0mm grav_b=(-0.04,-0.06,-1.00) r=0.72m +[headless_play] t= 12.90s step= 645 trunk_z= 125.3mm grav_b=(-0.04,-0.02,-1.00) r=0.74m +[headless_play] t= 13.00s step= 650 trunk_z= 113.3mm grav_b=(-0.05,+0.06,-1.00) r=0.76m +[headless_play] t= 13.10s step= 655 trunk_z= 111.5mm grav_b=(-0.01,+0.28,-0.96) r=0.79m +[headless_play] t= 13.20s step= 660 trunk_z= 109.6mm grav_b=(-0.06,+0.33,-0.94) r=0.82m +[headless_play] t= 13.30s step= 665 trunk_z= 95.3mm grav_b=(-0.19,+0.57,-0.80) r=0.86m +[headless_play] RESET at t= 13.40s step= 670 (env termination, not a recovery) +[headless_play] t= 13.40s step= 670 trunk_z= 129.4mm grav_b=(-0.00,-0.00,-1.00) r=0.50m +[headless_play] t= 13.50s step= 675 trunk_z= 114.9mm grav_b=(-0.04,+0.01,-1.00) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 116.0mm grav_b=(-0.03,+0.06,-1.00) r=0.51m +[headless_play] t= 13.70s step= 685 trunk_z= 121.4mm grav_b=(-0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 13.80s step= 690 trunk_z= 114.6mm grav_b=(-0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 125.1mm grav_b=(-0.06,-0.12,-0.99) r=0.45m +[headless_play] t= 14.00s step= 700 trunk_z= 127.0mm grav_b=(-0.05,-0.17,-0.98) r=0.44m +[headless_play] t= 14.10s step= 705 trunk_z= 127.5mm grav_b=(-0.05,-0.16,-0.99) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 122.5mm grav_b=(-0.04,-0.07,-1.00) r=0.46m +[headless_play] t= 14.30s step= 715 trunk_z= 130.0mm grav_b=(-0.00,-0.04,-1.00) r=0.47m +[headless_play] t= 14.40s step= 720 trunk_z= 128.6mm grav_b=(-0.04,-0.02,-1.00) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 124.0mm grav_b=(-0.01,-0.08,-1.00) r=0.44m +[headless_play] t= 14.60s step= 730 trunk_z= 125.2mm grav_b=(-0.05,-0.04,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 124.3mm grav_b=(-0.05,+0.03,-1.00) r=0.48m +[headless_play] t= 14.90s step= 745 trunk_z= 122.0mm grav_b=(-0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 15.00s step= 750 trunk_z= 122.5mm grav_b=(-0.04,-0.09,-0.99) r=0.44m +[headless_play] t= 15.10s step= 755 trunk_z= 127.6mm grav_b=(-0.02,-0.13,-0.99) r=0.43m +[headless_play] t= 15.20s step= 760 trunk_z= 128.9mm grav_b=(-0.02,-0.14,-0.99) r=0.43m +[headless_play] t= 15.30s step= 765 trunk_z= 120.2mm grav_b=(-0.02,-0.03,-1.00) r=0.44m +[headless_play] t= 15.40s step= 770 trunk_z= 131.1mm grav_b=(+0.04,+0.00,-1.00) r=0.45m +[headless_play] t= 15.50s step= 775 trunk_z= 130.5mm grav_b=(-0.08,+0.02,-1.00) r=0.45m +[headless_play] t= 15.60s step= 780 trunk_z= 122.7mm grav_b=(-0.04,-0.06,-1.00) r=0.43m +[headless_play] t= 15.70s step= 785 trunk_z= 122.9mm grav_b=(-0.06,-0.00,-1.00) r=0.43m +[headless_play] t= 15.80s step= 790 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) r=0.46m +[headless_play] t= 15.90s step= 795 trunk_z= 124.7mm grav_b=(-0.06,+0.04,-1.00) r=0.47m +[headless_play] t= 16.00s step= 800 trunk_z= 121.0mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 16.10s step= 805 trunk_z= 122.4mm grav_b=(-0.05,-0.08,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 127.3mm grav_b=(-0.03,-0.12,-0.99) r=0.42m +[headless_play] t= 16.30s step= 815 trunk_z= 128.9mm grav_b=(-0.02,-0.13,-0.99) r=0.42m +[headless_play] t= 16.40s step= 820 trunk_z= 123.0mm grav_b=(-0.03,-0.04,-1.00) r=0.45m +[headless_play] t= 16.50s step= 825 trunk_z= 129.2mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 16.60s step= 830 trunk_z= 128.0mm grav_b=(-0.05,+0.00,-1.00) r=0.46m +[headless_play] t= 16.70s step= 835 trunk_z= 121.5mm grav_b=(-0.06,-0.06,-1.00) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 121.9mm grav_b=(-0.08,-0.03,-1.00) r=0.46m +[headless_play] t= 16.90s step= 845 trunk_z= 116.7mm grav_b=(-0.08,+0.03,-1.00) r=0.49m +[headless_play] t= 17.00s step= 850 trunk_z= 126.1mm grav_b=(-0.05,+0.06,-1.00) r=0.51m +[headless_play] t= 17.10s step= 855 trunk_z= 124.7mm grav_b=(-0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 17.20s step= 860 trunk_z= 122.3mm grav_b=(+0.00,-0.06,-1.00) r=0.48m +[headless_play] t= 17.30s step= 865 trunk_z= 127.6mm grav_b=(-0.00,-0.08,-1.00) r=0.48m +[headless_play] t= 17.40s step= 870 trunk_z= 127.2mm grav_b=(-0.02,-0.07,-1.00) r=0.49m +[headless_play] t= 17.50s step= 875 trunk_z= 121.5mm grav_b=(-0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 17.60s step= 880 trunk_z= 130.9mm grav_b=(-0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 123.0mm grav_b=(-0.06,-0.00,-1.00) r=0.53m +[headless_play] t= 17.80s step= 890 trunk_z= 125.0mm grav_b=(-0.04,-0.07,-1.00) r=0.52m +[headless_play] t= 17.90s step= 895 trunk_z= 124.1mm grav_b=(-0.04,-0.06,-1.00) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 118.8mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 127.8mm grav_b=(-0.03,+0.05,-1.00) r=0.58m +[headless_play] t= 18.20s step= 910 trunk_z= 127.6mm grav_b=(-0.02,+0.04,-1.00) r=0.58m +[headless_play] t= 18.30s step= 915 trunk_z= 119.2mm grav_b=(-0.01,-0.05,-1.00) r=0.57m +[headless_play] t= 18.40s step= 920 trunk_z= 128.1mm grav_b=(+0.01,-0.05,-1.00) r=0.57m +[headless_play] t= 18.50s step= 925 trunk_z= 125.5mm grav_b=(-0.04,-0.05,-1.00) r=0.59m +[headless_play] t= 18.60s step= 930 trunk_z= 121.4mm grav_b=(-0.03,+0.04,-1.00) r=0.62m +[headless_play] t= 18.70s step= 935 trunk_z= 122.9mm grav_b=(-0.02,+0.02,-1.00) r=0.62m +[headless_play] t= 18.80s step= 940 trunk_z= 116.4mm grav_b=(-0.02,+0.03,-1.00) r=0.61m +[headless_play] t= 18.90s step= 945 trunk_z= 120.3mm grav_b=(-0.02,-0.08,-1.00) r=0.61m +[headless_play] t= 19.00s step= 950 trunk_z= 120.4mm grav_b=(+0.01,-0.09,-1.00) r=0.61m +[headless_play] t= 19.10s step= 955 trunk_z= 114.2mm grav_b=(+0.01,-0.03,-1.00) r=0.64m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(+0.00,+0.04,-1.00) r=0.66m +[headless_play] t= 19.30s step= 965 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.67m +[headless_play] t= 19.40s step= 970 trunk_z= 109.5mm grav_b=(+0.00,-0.08,-1.00) r=0.67m +[headless_play] t= 19.50s step= 975 trunk_z= 121.5mm grav_b=(+0.02,-0.09,-1.00) r=0.68m +[headless_play] t= 19.60s step= 980 trunk_z= 117.8mm grav_b=(+0.02,-0.08,-1.00) r=0.70m +[headless_play] t= 19.70s step= 985 trunk_z= 114.9mm grav_b=(-0.01,+0.02,-1.00) r=0.73m +[headless_play] t= 19.80s step= 990 trunk_z= 117.6mm grav_b=(+0.01,+0.04,-1.00) r=0.74m +[headless_play] t= 19.90s step= 995 trunk_z= 114.2mm grav_b=(+0.03,+0.01,-1.00) r=0.75m +[headless_play] t= 20.00s step=1000 trunk_z= 116.8mm grav_b=(+0.02,-0.06,-1.00) r=0.76m +[headless_play] t= 20.10s step=1005 trunk_z= 119.1mm grav_b=(+0.04,-0.08,-1.00) r=0.77m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t2.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..622ade4d593eb98748e7bca04f3cfc875e293032 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.5mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.534,-18.236,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.00,-0.07,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(-0.01,-0.02,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(+0.01,+0.03,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 123.9mm grav_b=(+0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 0.60s step= 30 trunk_z= 117.7mm grav_b=(+0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 122.3mm grav_b=(-0.02,-0.07,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 121.1mm grav_b=(+0.00,-0.05,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.62m +[headless_play] t= 1.00s step= 50 trunk_z= 126.0mm grav_b=(+0.04,+0.05,-1.00) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 125.5mm grav_b=(+0.03,+0.04,-1.00) r=0.66m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(-0.01,-0.05,-1.00) r=0.68m +[headless_play] t= 1.30s step= 65 trunk_z= 124.4mm grav_b=(-0.00,-0.05,-1.00) r=0.70m +[headless_play] t= 1.40s step= 70 trunk_z= 119.7mm grav_b=(-0.01,-0.03,-1.00) r=0.72m +[headless_play] t= 1.50s step= 75 trunk_z= 122.8mm grav_b=(+0.02,+0.04,-1.00) r=0.75m +[headless_play] t= 1.60s step= 80 trunk_z= 126.3mm grav_b=(+0.04,+0.04,-1.00) r=0.76m +[headless_play] t= 1.70s step= 85 trunk_z= 119.9mm grav_b=(+0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 1.80s step= 90 trunk_z= 123.7mm grav_b=(+0.01,-0.06,-1.00) r=0.79m +[headless_play] t= 1.90s step= 95 trunk_z= 121.8mm grav_b=(+0.01,-0.04,-1.00) r=0.81m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.00,+0.03,-1.00) r=0.84m +[headless_play] t= 2.10s step= 105 trunk_z= 125.5mm grav_b=(+0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 2.20s step= 110 trunk_z= 123.6mm grav_b=(+0.02,+0.02,-1.00) r=0.87m +[headless_play] t= 2.30s step= 115 trunk_z= 121.2mm grav_b=(-0.02,-0.07,-1.00) r=0.89m +[headless_play] t= 2.40s step= 120 trunk_z= 123.5mm grav_b=(-0.00,-0.06,-1.00) r=0.90m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(+0.01,-0.03,-1.00) r=0.93m +[headless_play] t= 2.60s step= 130 trunk_z= 104.0mm grav_b=(+0.03,+0.21,-0.98) r=0.96m +[headless_play] t= 2.70s step= 135 trunk_z= 107.6mm grav_b=(+0.06,+0.35,-0.94) r=0.99m +[headless_play] t= 2.80s step= 140 trunk_z= 102.8mm grav_b=(-0.06,+0.49,-0.87) r=1.03m +[headless_play] t= 2.90s step= 145 trunk_z= 70.4mm grav_b=(-0.33,+0.73,-0.60) r=1.09m +[headless_play] RESET at t= 2.96s step= 148 (env termination, not a recovery) +[headless_play] t= 3.00s step= 150 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 115.5mm grav_b=(+0.05,-0.04,-1.00) r=0.41m +[headless_play] t= 3.20s step= 160 trunk_z= 119.1mm grav_b=(+0.08,-0.07,-0.99) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(+0.07,-0.04,-1.00) r=0.39m +[headless_play] t= 3.40s step= 170 trunk_z= 123.1mm grav_b=(+0.02,+0.04,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 120.9mm grav_b=(+0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 118.3mm grav_b=(+0.01,-0.05,-1.00) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 124.1mm grav_b=(+0.01,-0.08,-1.00) r=0.44m +[headless_play] t= 3.80s step= 190 trunk_z= 121.0mm grav_b=(+0.04,-0.10,-0.99) r=0.44m +[headless_play] t= 3.90s step= 195 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 122.9mm grav_b=(+0.07,+0.01,-1.00) r=0.42m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(+0.06,-0.02,-1.00) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 123.3mm grav_b=(+0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 120.7mm grav_b=(+0.04,-0.10,-0.99) r=0.48m +[headless_play] t= 4.40s step= 220 trunk_z= 117.7mm grav_b=(+0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 4.50s step= 225 trunk_z= 121.3mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 115.6mm grav_b=(+0.05,-0.04,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 123.8mm grav_b=(+0.04,-0.08,-1.00) r=0.55m +[headless_play] t= 4.80s step= 240 trunk_z= 122.1mm grav_b=(+0.04,-0.10,-0.99) r=0.56m +[headless_play] t= 4.90s step= 245 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 5.00s step= 250 trunk_z= 122.9mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(+0.04,-0.02,-1.00) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 123.2mm grav_b=(+0.04,-0.08,-1.00) r=0.64m +[headless_play] t= 5.30s step= 265 trunk_z= 122.0mm grav_b=(+0.04,-0.10,-0.99) r=0.66m +[headless_play] t= 5.40s step= 270 trunk_z= 117.8mm grav_b=(+0.05,-0.02,-1.00) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 124.9mm grav_b=(+0.05,+0.01,-1.00) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 121.9mm grav_b=(+0.05,-0.02,-1.00) r=0.70m +[headless_play] t= 5.70s step= 285 trunk_z= 125.5mm grav_b=(+0.09,-0.05,-0.99) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(+0.06,-0.05,-1.00) r=0.76m +[headless_play] t= 5.90s step= 295 trunk_z= 121.6mm grav_b=(+0.07,-0.02,-1.00) r=0.79m +[headless_play] t= 6.00s step= 300 trunk_z= 119.2mm grav_b=(+0.04,-0.05,-1.00) r=0.82m +[headless_play] t= 6.10s step= 305 trunk_z= 121.0mm grav_b=(+0.00,-0.12,-0.99) r=0.86m +[headless_play] t= 6.20s step= 310 trunk_z= 110.9mm grav_b=(+0.02,-0.15,-0.99) r=0.91m +[headless_play] t= 6.30s step= 315 trunk_z= 92.0mm grav_b=(+0.07,-0.15,-0.99) r=0.95m +[headless_play] t= 6.40s step= 320 trunk_z= 104.1mm grav_b=(+0.03,-0.15,-0.99) r=1.00m +[headless_play] t= 6.50s step= 325 trunk_z= 89.8mm grav_b=(+0.03,-0.16,-0.99) r=1.04m +[headless_play] t= 6.60s step= 330 trunk_z= 97.2mm grav_b=(+0.08,-0.12,-0.99) r=1.07m +[headless_play] t= 6.70s step= 335 trunk_z= 88.4mm grav_b=(+0.06,-0.09,-0.99) r=1.09m +[headless_play] t= 6.80s step= 340 trunk_z= 86.5mm grav_b=(+0.04,+0.01,-1.00) r=1.12m +[headless_play] t= 6.90s step= 345 trunk_z= 93.0mm grav_b=(+0.04,+0.02,-1.00) r=1.14m +[headless_play] t= 7.00s step= 350 trunk_z= 88.5mm grav_b=(+0.06,-0.01,-1.00) r=1.16m +[headless_play] t= 7.10s step= 355 trunk_z= 92.9mm grav_b=(+0.06,-0.09,-0.99) r=1.18m +[headless_play] t= 7.20s step= 360 trunk_z= 92.5mm grav_b=(+0.06,-0.11,-0.99) r=1.20m +[headless_play] t= 7.30s step= 365 trunk_z= 85.2mm grav_b=(+0.06,-0.05,-1.00) r=1.23m +[headless_play] t= 7.40s step= 370 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.26m +[headless_play] t= 7.50s step= 375 trunk_z= 88.6mm grav_b=(+0.06,-0.03,-1.00) r=1.28m +[headless_play] t= 7.60s step= 380 trunk_z= 88.7mm grav_b=(+0.05,-0.09,-0.99) r=1.30m +[headless_play] t= 7.70s step= 385 trunk_z= 95.1mm grav_b=(+0.05,-0.10,-0.99) r=1.32m +[headless_play] t= 7.80s step= 390 trunk_z= 86.6mm grav_b=(+0.06,-0.07,-1.00) r=1.35m +[headless_play] t= 7.90s step= 395 trunk_z= 90.4mm grav_b=(+0.04,-0.00,-1.00) r=1.37m +[headless_play] t= 8.00s step= 400 trunk_z= 90.3mm grav_b=(+0.06,-0.02,-1.00) r=1.39m +[headless_play] t= 8.10s step= 405 trunk_z= 83.0mm grav_b=(+0.08,-0.08,-0.99) r=1.41m +[headless_play] t= 8.20s step= 410 trunk_z= 94.9mm grav_b=(+0.07,-0.09,-0.99) r=1.43m +[headless_play] t= 8.30s step= 415 trunk_z= 89.3mm grav_b=(+0.07,-0.08,-0.99) r=1.46m +[headless_play] t= 8.40s step= 420 trunk_z= 88.6mm grav_b=(+0.04,-0.00,-1.00) r=1.49m +[headless_play] t= 8.50s step= 425 trunk_z= 90.5mm grav_b=(+0.06,-0.02,-1.00) r=1.51m +[headless_play] t= 8.60s step= 430 trunk_z= 85.9mm grav_b=(+0.05,-0.05,-1.00) r=1.53m +[headless_play] t= 8.70s step= 435 trunk_z= 95.6mm grav_b=(+0.06,-0.12,-0.99) r=1.55m +[headless_play] t= 8.80s step= 440 trunk_z= 92.1mm grav_b=(+0.07,-0.13,-0.99) r=1.57m +[headless_play] t= 8.90s step= 445 trunk_z= 84.4mm grav_b=(+0.07,-0.04,-1.00) r=1.59m +[headless_play] t= 9.00s step= 450 trunk_z= 90.8mm grav_b=(+0.06,-0.01,-1.00) r=1.61m +[headless_play] t= 9.10s step= 455 trunk_z= 88.4mm grav_b=(+0.08,-0.02,-1.00) r=1.63m +[headless_play] t= 9.20s step= 460 trunk_z= 89.7mm grav_b=(+0.08,-0.08,-0.99) r=1.66m +[headless_play] t= 9.30s step= 465 trunk_z= 92.0mm grav_b=(+0.08,-0.10,-0.99) r=1.68m +[headless_play] t= 9.40s step= 470 trunk_z= 84.1mm grav_b=(+0.07,-0.05,-1.00) r=1.70m +[headless_play] t= 9.50s step= 475 trunk_z= 91.0mm grav_b=(+0.04,-0.00,-1.00) r=1.72m +[headless_play] t= 9.60s step= 480 trunk_z= 89.0mm grav_b=(+0.05,-0.02,-1.00) r=1.75m +[headless_play] t= 9.70s step= 485 trunk_z= 87.7mm grav_b=(+0.06,-0.09,-0.99) r=1.77m +[headless_play] t= 9.80s step= 490 trunk_z= 95.3mm grav_b=(+0.06,-0.10,-0.99) r=1.80m +[headless_play] t= 9.90s step= 495 trunk_z= 87.7mm grav_b=(+0.07,-0.09,-0.99) r=1.82m +[headless_play] t= 10.00s step= 500 trunk_z= 88.8mm grav_b=(+0.06,-0.02,-1.00) r=1.84m +[headless_play] t= 10.10s step= 505 trunk_z= 89.1mm grav_b=(+0.07,-0.03,-1.00) r=1.86m +[headless_play] t= 10.20s step= 510 trunk_z= 85.0mm grav_b=(+0.06,-0.06,-1.00) r=1.88m +[headless_play] t= 10.30s step= 515 trunk_z= 93.0mm grav_b=(+0.03,-0.09,-1.00) r=1.88m +[headless_play] t= 10.40s step= 520 trunk_z= 94.2mm grav_b=(+0.02,-0.13,-0.99) r=1.87m +[headless_play] t= 10.50s step= 525 trunk_z= 92.5mm grav_b=(+0.02,-0.05,-1.00) r=1.87m +[headless_play] t= 10.60s step= 530 trunk_z= 99.9mm grav_b=(+0.04,+0.04,-1.00) r=1.88m +[headless_play] t= 10.70s step= 535 trunk_z= 100.4mm grav_b=(+0.03,+0.02,-1.00) r=1.90m +[headless_play] t= 10.80s step= 540 trunk_z= 94.3mm grav_b=(+0.00,-0.04,-1.00) r=1.93m +[headless_play] t= 10.90s step= 545 trunk_z= 99.4mm grav_b=(+0.03,-0.08,-1.00) r=1.95m +[headless_play] t= 11.00s step= 550 trunk_z= 99.3mm grav_b=(+0.02,-0.07,-1.00) r=1.95m +[headless_play] t= 11.10s step= 555 trunk_z= 100.7mm grav_b=(+0.05,+0.03,-1.00) r=1.96m +[headless_play] t= 11.20s step= 560 trunk_z= 104.2mm grav_b=(+0.06,+0.01,-1.00) r=1.98m +[headless_play] t= 11.30s step= 565 trunk_z= 91.2mm grav_b=(+0.02,-0.04,-1.00) r=2.02m +[headless_play] t= 11.40s step= 570 trunk_z= 99.7mm grav_b=(+0.05,-0.06,-1.00) r=2.04m +[headless_play] t= 11.50s step= 575 trunk_z= 99.8mm grav_b=(+0.00,-0.04,-1.00) r=2.05m +[headless_play] t= 11.60s step= 580 trunk_z= 100.1mm grav_b=(+0.04,+0.04,-1.00) r=2.06m +[headless_play] t= 11.70s step= 585 trunk_z= 103.7mm grav_b=(+0.05,-0.00,-1.00) r=2.08m +[headless_play] t= 11.80s step= 590 trunk_z= 88.8mm grav_b=(-0.01,-0.02,-1.00) r=2.12m +[headless_play] t= 11.90s step= 595 trunk_z= 99.1mm grav_b=(+0.02,-0.05,-1.00) r=2.14m +[headless_play] t= 12.00s step= 600 trunk_z= 99.2mm grav_b=(-0.00,-0.05,-1.00) r=2.16m +[headless_play] t= 12.10s step= 605 trunk_z= 97.8mm grav_b=(+0.04,+0.04,-1.00) r=2.17m +[headless_play] t= 12.20s step= 610 trunk_z= 101.9mm grav_b=(+0.07,-0.02,-1.00) r=2.18m +[headless_play] t= 12.30s step= 615 trunk_z= 88.4mm grav_b=(+0.01,-0.04,-1.00) r=2.22m +[headless_play] t= 12.40s step= 620 trunk_z= 98.8mm grav_b=(+0.04,-0.05,-1.00) r=2.25m +[headless_play] t= 12.50s step= 625 trunk_z= 99.3mm grav_b=(-0.00,-0.06,-1.00) r=2.27m +[headless_play] t= 12.60s step= 630 trunk_z= 97.8mm grav_b=(+0.01,+0.04,-1.00) r=2.29m +[headless_play] t= 12.70s step= 635 trunk_z= 104.0mm grav_b=(+0.03,+0.03,-1.00) r=2.30m +[headless_play] t= 12.80s step= 640 trunk_z= 96.2mm grav_b=(+0.01,+0.00,-1.00) r=2.33m +[headless_play] t= 12.90s step= 645 trunk_z= 99.3mm grav_b=(+0.05,-0.05,-1.00) r=2.36m +[headless_play] t= 13.00s step= 650 trunk_z= 102.7mm grav_b=(+0.05,-0.09,-0.99) r=2.38m +[headless_play] t= 13.10s step= 655 trunk_z= 100.3mm grav_b=(+0.02,-0.06,-1.00) r=2.39m +[headless_play] t= 13.20s step= 660 trunk_z= 102.6mm grav_b=(+0.06,-0.01,-1.00) r=2.42m +[headless_play] t= 13.30s step= 665 trunk_z= 101.8mm grav_b=(+0.05,-0.02,-1.00) r=2.45m +[headless_play] t= 13.40s step= 670 trunk_z= 93.5mm grav_b=(+0.02,-0.05,-1.00) r=2.49m +[headless_play] t= 13.50s step= 675 trunk_z= 99.7mm grav_b=(+0.01,-0.06,-1.00) r=2.51m +[headless_play] t= 13.60s step= 680 trunk_z= 94.3mm grav_b=(-0.01,-0.02,-1.00) r=2.53m +[headless_play] t= 13.70s step= 685 trunk_z= 100.9mm grav_b=(+0.01,+0.03,-1.00) r=2.55m +[headless_play] t= 13.80s step= 690 trunk_z= 101.6mm grav_b=(+0.03,+0.00,-1.00) r=2.57m +[headless_play] t= 13.90s step= 695 trunk_z= 93.1mm grav_b=(+0.03,-0.06,-1.00) r=2.60m +[headless_play] t= 14.00s step= 700 trunk_z= 101.5mm grav_b=(+0.04,-0.08,-1.00) r=2.62m +[headless_play] t= 14.10s step= 705 trunk_z= 102.2mm grav_b=(+0.01,-0.07,-1.00) r=2.64m +[headless_play] t= 14.20s step= 710 trunk_z= 99.1mm grav_b=(+0.04,+0.02,-1.00) r=2.67m +[headless_play] t= 14.30s step= 715 trunk_z= 104.3mm grav_b=(+0.07,-0.00,-1.00) r=2.70m +[headless_play] t= 14.40s step= 720 trunk_z= 87.8mm grav_b=(-0.00,-0.03,-1.00) r=2.73m +[headless_play] t= 14.50s step= 725 trunk_z= 100.1mm grav_b=(+0.03,-0.07,-1.00) r=2.75m +[headless_play] t= 14.60s step= 730 trunk_z= 101.8mm grav_b=(-0.00,-0.09,-1.00) r=2.77m +[headless_play] t= 14.70s step= 735 trunk_z= 95.6mm grav_b=(-0.00,+0.01,-1.00) r=2.80m +[headless_play] t= 14.80s step= 740 trunk_z= 102.5mm grav_b=(+0.08,+0.04,-1.00) r=2.82m +[headless_play] t= 14.90s step= 745 trunk_z= 102.1mm grav_b=(+0.06,+0.00,-1.00) r=2.85m +[headless_play] t= 15.00s step= 750 trunk_z= 92.8mm grav_b=(+0.03,-0.05,-1.00) r=2.87m +[headless_play] t= 15.10s step= 755 trunk_z= 98.2mm grav_b=(-0.02,-0.05,-1.00) r=2.90m +[headless_play] t= 15.20s step= 760 trunk_z= 89.3mm grav_b=(-0.02,+0.00,-1.00) r=2.93m +[headless_play] t= 15.30s step= 765 trunk_z= 97.3mm grav_b=(+0.02,+0.01,-1.00) r=2.96m +[headless_play] t= 15.40s step= 770 trunk_z= 92.6mm grav_b=(+0.04,-0.02,-1.00) r=2.97m +[headless_play] t= 15.50s step= 775 trunk_z= 95.1mm grav_b=(+0.03,-0.08,-1.00) r=2.99m +[headless_play] t= 15.60s step= 780 trunk_z= 99.8mm grav_b=(+0.03,-0.11,-0.99) r=3.01m +[headless_play] t= 15.70s step= 785 trunk_z= 97.5mm grav_b=(+0.03,-0.10,-0.99) r=3.04m +[headless_play] t= 15.80s step= 790 trunk_z= 95.1mm grav_b=(+0.05,-0.03,-1.00) r=3.07m +[headless_play] t= 15.90s step= 795 trunk_z= 98.1mm grav_b=(+0.05,-0.02,-1.00) r=3.09m +[headless_play] t= 16.00s step= 800 trunk_z= 89.9mm grav_b=(+0.02,-0.08,-1.00) r=3.11m +[headless_play] t= 16.10s step= 805 trunk_z= 99.5mm grav_b=(+0.02,-0.10,-0.99) r=3.13m +[headless_play] t= 16.20s step= 810 trunk_z= 96.9mm grav_b=(-0.00,-0.08,-1.00) r=3.16m +[headless_play] t= 16.30s step= 815 trunk_z= 93.7mm grav_b=(+0.01,-0.01,-1.00) r=3.20m +[headless_play] t= 16.40s step= 820 trunk_z= 97.7mm grav_b=(+0.05,-0.00,-1.00) r=3.22m +[headless_play] t= 16.50s step= 825 trunk_z= 93.6mm grav_b=(+0.03,-0.03,-1.00) r=3.22m +[headless_play] t= 16.60s step= 830 trunk_z= 99.3mm grav_b=(+0.03,-0.10,-0.99) r=3.23m +[headless_play] t= 16.70s step= 835 trunk_z= 97.9mm grav_b=(+0.03,-0.08,-1.00) r=3.25m +[headless_play] t= 16.80s step= 840 trunk_z= 90.1mm grav_b=(+0.02,-0.01,-1.00) r=3.29m +[headless_play] t= 16.90s step= 845 trunk_z= 98.8mm grav_b=(+0.07,-0.02,-1.00) r=3.32m +[headless_play] t= 17.00s step= 850 trunk_z= 95.5mm grav_b=(+0.04,-0.03,-1.00) r=3.33m +[headless_play] t= 17.10s step= 855 trunk_z= 98.2mm grav_b=(+0.02,-0.10,-1.00) r=3.34m +[headless_play] t= 17.20s step= 860 trunk_z= 97.2mm grav_b=(+0.00,-0.06,-1.00) r=3.36m +[headless_play] t= 17.30s step= 865 trunk_z= 87.6mm grav_b=(-0.02,-0.00,-1.00) r=3.40m +[headless_play] t= 17.40s step= 870 trunk_z= 98.2mm grav_b=(+0.03,+0.01,-1.00) r=3.43m +[headless_play] t= 17.50s step= 875 trunk_z= 97.4mm grav_b=(+0.05,-0.01,-1.00) r=3.43m +[headless_play] t= 17.60s step= 880 trunk_z= 94.8mm grav_b=(+0.03,-0.08,-1.00) r=3.42m +[headless_play] t= 17.70s step= 885 trunk_z= 99.3mm grav_b=(+0.04,-0.08,-1.00) r=3.43m +[headless_play] t= 17.80s step= 890 trunk_z= 94.5mm grav_b=(+0.01,-0.07,-1.00) r=3.46m +[headless_play] t= 17.90s step= 895 trunk_z= 97.0mm grav_b=(+0.03,-0.03,-1.00) r=3.49m +[headless_play] t= 18.00s step= 900 trunk_z= 96.1mm grav_b=(+0.05,-0.02,-1.00) r=3.49m +[headless_play] t= 18.10s step= 905 trunk_z= 94.4mm grav_b=(+0.04,-0.07,-1.00) r=3.48m +[headless_play] t= 18.20s step= 910 trunk_z= 99.4mm grav_b=(+0.04,-0.07,-1.00) r=3.48m +[headless_play] t= 18.30s step= 915 trunk_z= 93.1mm grav_b=(+0.01,-0.06,-1.00) r=3.50m +[headless_play] t= 18.40s step= 920 trunk_z= 97.4mm grav_b=(+0.03,-0.01,-1.00) r=3.52m +[headless_play] t= 18.50s step= 925 trunk_z= 96.3mm grav_b=(+0.05,-0.02,-1.00) r=3.52m +[headless_play] t= 18.60s step= 930 trunk_z= 92.0mm grav_b=(+0.03,-0.07,-1.00) r=3.50m +[headless_play] t= 18.70s step= 935 trunk_z= 99.3mm grav_b=(+0.02,-0.09,-1.00) r=3.50m +[headless_play] t= 18.80s step= 940 trunk_z= 95.9mm grav_b=(+0.00,-0.08,-1.00) r=3.51m +[headless_play] t= 18.90s step= 945 trunk_z= 96.1mm grav_b=(+0.02,-0.03,-1.00) r=3.53m +[headless_play] t= 19.00s step= 950 trunk_z= 96.3mm grav_b=(+0.05,-0.03,-1.00) r=3.53m +[headless_play] t= 19.10s step= 955 trunk_z= 90.0mm grav_b=(+0.03,-0.08,-1.00) r=3.51m +[headless_play] t= 19.20s step= 960 trunk_z= 100.9mm grav_b=(+0.03,-0.10,-1.00) r=3.49m +[headless_play] t= 19.30s step= 965 trunk_z= 99.3mm grav_b=(+0.04,-0.11,-0.99) r=3.50m +[headless_play] t= 19.40s step= 970 trunk_z= 92.2mm grav_b=(+0.02,-0.03,-1.00) r=3.52m +[headless_play] t= 19.50s step= 975 trunk_z= 99.2mm grav_b=(+0.04,-0.03,-1.00) r=3.52m +[headless_play] t= 19.60s step= 980 trunk_z= 90.7mm grav_b=(+0.02,-0.06,-1.00) r=3.50m +[headless_play] t= 19.70s step= 985 trunk_z= 98.6mm grav_b=(+0.03,-0.10,-0.99) r=3.48m +[headless_play] t= 19.80s step= 990 trunk_z= 97.7mm grav_b=(+0.03,-0.11,-0.99) r=3.49m +[headless_play] t= 19.90s step= 995 trunk_z= 101.4mm grav_b=(+0.05,-0.15,-0.99) r=3.49m +[headless_play] t= 20.00s step=1000 trunk_z= 101.9mm grav_b=(+0.08,-0.24,-0.97) r=3.48m +[headless_play] t= 20.10s step=1005 trunk_z= 100.2mm grav_b=(+0.15,-0.23,-0.96) r=3.46m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t3.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..fbbcde1fed7790d8c126db23bcf3848ec2773660 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-17.583,-18.325,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 109.7mm grav_b=(-0.01,+0.04,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 120.0mm grav_b=(+0.01,+0.03,-1.00) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 117.2mm grav_b=(+0.05,+0.01,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 119.3mm grav_b=(+0.05,-0.05,-1.00) r=0.58m +[headless_play] t= 0.60s step= 30 trunk_z= 123.3mm grav_b=(+0.06,-0.07,-1.00) r=0.60m +[headless_play] t= 0.70s step= 35 trunk_z= 120.5mm grav_b=(+0.03,-0.06,-1.00) r=0.61m +[headless_play] t= 0.80s step= 40 trunk_z= 121.7mm grav_b=(+0.00,+0.02,-1.00) r=0.62m +[headless_play] t= 0.90s step= 45 trunk_z= 119.3mm grav_b=(+0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(+0.00,-0.06,-1.00) r=0.67m +[headless_play] t= 1.10s step= 55 trunk_z= 124.9mm grav_b=(+0.02,-0.07,-1.00) r=0.69m +[headless_play] t= 1.20s step= 60 trunk_z= 120.6mm grav_b=(+0.01,-0.06,-1.00) r=0.70m +[headless_play] t= 1.30s step= 65 trunk_z= 116.4mm grav_b=(-0.00,+0.03,-1.00) r=0.70m +[headless_play] t= 1.40s step= 70 trunk_z= 123.9mm grav_b=(+0.01,+0.04,-1.00) r=0.71m +[headless_play] t= 1.50s step= 75 trunk_z= 119.2mm grav_b=(+0.05,+0.05,-1.00) r=0.73m +[headless_play] t= 1.60s step= 80 trunk_z= 119.8mm grav_b=(+0.03,-0.05,-1.00) r=0.76m +[headless_play] t= 1.70s step= 85 trunk_z= 124.0mm grav_b=(+0.04,-0.08,-1.00) r=0.79m +[headless_play] t= 1.80s step= 90 trunk_z= 121.3mm grav_b=(+0.00,-0.06,-1.00) r=0.81m +[headless_play] t= 1.90s step= 95 trunk_z= 105.0mm grav_b=(+0.07,+0.13,-0.99) r=0.83m +[headless_play] t= 2.00s step= 100 trunk_z= 106.6mm grav_b=(+0.06,+0.29,-0.95) r=0.84m +[headless_play] t= 2.10s step= 105 trunk_z= 107.6mm grav_b=(-0.02,+0.33,-0.94) r=0.86m +[headless_play] t= 2.20s step= 110 trunk_z= 82.5mm grav_b=(-0.02,+0.37,-0.93) r=0.90m +[headless_play] t= 2.30s step= 115 trunk_z= 92.5mm grav_b=(+0.07,+0.38,-0.92) r=0.91m +[headless_play] t= 2.40s step= 120 trunk_z= 95.9mm grav_b=(+0.26,+0.32,-0.91) r=0.91m +[headless_play] t= 2.50s step= 125 trunk_z= 76.7mm grav_b=(+0.30,-0.04,-0.95) r=0.91m +[headless_play] t= 2.60s step= 130 trunk_z= 94.2mm grav_b=(+0.81,+0.18,-0.56) r=0.90m +[headless_play] RESET at t= 2.64s step= 132 (env termination, not a recovery) +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(-0.02,-0.00,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 114.8mm grav_b=(-0.00,+0.05,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 108.3mm grav_b=(+0.00,-0.06,-1.00) r=0.45m +[headless_play] t= 3.20s step= 160 trunk_z= 116.4mm grav_b=(+0.04,-0.09,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 111.9mm grav_b=(+0.08,-0.06,-0.99) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 111.5mm grav_b=(+0.04,+0.02,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 117.7mm grav_b=(+0.02,+0.05,-1.00) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 113.7mm grav_b=(+0.05,+0.04,-1.00) r=0.39m +[headless_play] t= 3.70s step= 185 trunk_z= 117.4mm grav_b=(+0.06,-0.07,-1.00) r=0.39m +[headless_play] t= 3.80s step= 190 trunk_z= 116.6mm grav_b=(+0.08,-0.08,-0.99) r=0.38m +[headless_play] t= 3.90s step= 195 trunk_z= 108.0mm grav_b=(+0.06,-0.01,-1.00) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 117.8mm grav_b=(+0.01,+0.04,-1.00) r=0.34m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(+0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 112.2mm grav_b=(+0.04,-0.07,-1.00) r=0.35m +[headless_play] t= 4.30s step= 215 trunk_z= 118.6mm grav_b=(+0.07,-0.09,-0.99) r=0.34m +[headless_play] t= 4.40s step= 220 trunk_z= 112.3mm grav_b=(+0.08,-0.07,-0.99) r=0.32m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(+0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(+0.03,+0.05,-1.00) r=0.28m +[headless_play] t= 4.70s step= 235 trunk_z= 111.8mm grav_b=(+0.06,+0.01,-1.00) r=0.27m +[headless_play] t= 4.80s step= 240 trunk_z= 118.8mm grav_b=(+0.06,-0.07,-1.00) r=0.26m +[headless_play] t= 4.90s step= 245 trunk_z= 114.5mm grav_b=(+0.06,-0.06,-1.00) r=0.25m +[headless_play] t= 5.00s step= 250 trunk_z= 110.3mm grav_b=(+0.02,+0.02,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 119.0mm grav_b=(-0.01,+0.03,-1.00) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 5.30s step= 265 trunk_z= 113.0mm grav_b=(+0.02,-0.06,-1.00) r=0.19m +[headless_play] t= 5.40s step= 270 trunk_z= 113.5mm grav_b=(+0.04,-0.05,-1.00) r=0.18m +[headless_play] t= 5.50s step= 275 trunk_z= 109.3mm grav_b=(+0.04,-0.03,-1.00) r=0.16m +[headless_play] t= 5.60s step= 280 trunk_z= 111.4mm grav_b=(+0.04,+0.04,-1.00) r=0.14m +[headless_play] t= 5.70s step= 285 trunk_z= 113.4mm grav_b=(+0.04,+0.07,-1.00) r=0.14m +[headless_play] t= 5.80s step= 290 trunk_z= 108.7mm grav_b=(+0.08,+0.06,-0.99) r=0.14m +[headless_play] t= 5.90s step= 295 trunk_z= 113.5mm grav_b=(+0.07,-0.02,-1.00) r=0.16m +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(+0.05,-0.07,-1.00) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 114.0mm grav_b=(+0.07,-0.05,-1.00) r=0.16m +[headless_play] t= 6.20s step= 310 trunk_z= 113.7mm grav_b=(+0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 6.30s step= 315 trunk_z= 113.8mm grav_b=(+0.06,+0.03,-1.00) r=0.17m +[headless_play] t= 6.40s step= 320 trunk_z= 107.4mm grav_b=(+0.10,+0.03,-0.99) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 113.0mm grav_b=(+0.09,-0.04,-0.99) r=0.22m +[headless_play] t= 6.60s step= 330 trunk_z= 113.4mm grav_b=(+0.07,-0.07,-0.99) r=0.23m +[headless_play] t= 6.70s step= 335 trunk_z= 113.1mm grav_b=(+0.05,-0.04,-1.00) r=0.24m +[headless_play] t= 6.80s step= 340 trunk_z= 116.5mm grav_b=(+0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 6.90s step= 345 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) r=0.25m +[headless_play] t= 7.00s step= 350 trunk_z= 106.4mm grav_b=(+0.09,-0.00,-1.00) r=0.26m +[headless_play] t= 7.10s step= 355 trunk_z= 112.3mm grav_b=(+0.09,-0.08,-0.99) r=0.28m +[headless_play] t= 7.20s step= 360 trunk_z= 111.5mm grav_b=(+0.06,-0.09,-0.99) r=0.29m +[headless_play] t= 7.30s step= 365 trunk_z= 109.0mm grav_b=(+0.06,-0.02,-1.00) r=0.29m +[headless_play] t= 7.40s step= 370 trunk_z= 115.7mm grav_b=(+0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 7.50s step= 375 trunk_z= 112.2mm grav_b=(+0.04,+0.07,-1.00) r=0.31m +[headless_play] t= 7.60s step= 380 trunk_z= 105.9mm grav_b=(+0.11,+0.00,-0.99) r=0.32m +[headless_play] t= 7.70s step= 385 trunk_z= 114.3mm grav_b=(+0.07,-0.06,-1.00) r=0.33m +[headless_play] t= 7.80s step= 390 trunk_z= 112.5mm grav_b=(+0.08,-0.07,-0.99) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 110.8mm grav_b=(+0.06,+0.01,-1.00) r=0.35m +[headless_play] t= 8.00s step= 400 trunk_z= 116.9mm grav_b=(+0.04,+0.05,-1.00) r=0.36m +[headless_play] t= 8.10s step= 405 trunk_z= 113.4mm grav_b=(+0.06,+0.07,-1.00) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 106.9mm grav_b=(+0.11,-0.00,-0.99) r=0.36m +[headless_play] t= 8.30s step= 415 trunk_z= 114.4mm grav_b=(+0.07,-0.06,-1.00) r=0.37m +[headless_play] t= 8.40s step= 420 trunk_z= 112.2mm grav_b=(+0.07,-0.06,-1.00) r=0.38m +[headless_play] t= 8.50s step= 425 trunk_z= 111.8mm grav_b=(+0.04,+0.03,-1.00) r=0.40m +[headless_play] t= 8.60s step= 430 trunk_z= 117.8mm grav_b=(+0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 8.70s step= 435 trunk_z= 113.8mm grav_b=(+0.05,+0.03,-1.00) r=0.39m +[headless_play] t= 8.80s step= 440 trunk_z= 111.5mm grav_b=(+0.07,-0.04,-1.00) r=0.38m +[headless_play] t= 8.90s step= 445 trunk_z= 112.8mm grav_b=(+0.06,-0.07,-1.00) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 110.6mm grav_b=(+0.05,-0.05,-1.00) r=0.39m +[headless_play] t= 9.10s step= 455 trunk_z= 114.0mm grav_b=(+0.03,+0.02,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 114.0mm grav_b=(+0.05,+0.06,-1.00) r=0.40m +[headless_play] t= 9.30s step= 465 trunk_z= 108.4mm grav_b=(+0.10,+0.04,-0.99) r=0.39m +[headless_play] t= 9.40s step= 470 trunk_z= 111.8mm grav_b=(+0.09,-0.02,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 113.2mm grav_b=(+0.04,-0.05,-1.00) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 111.3mm grav_b=(+0.06,-0.04,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 109.5mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 113.9mm grav_b=(+0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 107.6mm grav_b=(+0.08,+0.02,-1.00) r=0.35m +[headless_play] t= 10.00s step= 500 trunk_z= 109.2mm grav_b=(+0.13,-0.05,-0.99) r=0.32m +[headless_play] t= 10.10s step= 505 trunk_z= 113.0mm grav_b=(+0.08,-0.06,-1.00) r=0.30m +[headless_play] t= 10.20s step= 510 trunk_z= 108.7mm grav_b=(+0.09,-0.02,-1.00) r=0.31m +[headless_play] t= 10.30s step= 515 trunk_z= 111.7mm grav_b=(+0.06,+0.06,-1.00) r=0.31m +[headless_play] t= 10.40s step= 520 trunk_z= 111.5mm grav_b=(+0.09,+0.05,-1.00) r=0.31m +[headless_play] t= 10.50s step= 525 trunk_z= 104.5mm grav_b=(+0.11,+0.03,-0.99) r=0.28m +[headless_play] t= 10.60s step= 530 trunk_z= 112.9mm grav_b=(+0.09,-0.02,-1.00) r=0.25m +[headless_play] t= 10.70s step= 535 trunk_z= 113.4mm grav_b=(+0.05,-0.01,-1.00) r=0.24m +[headless_play] t= 10.80s step= 540 trunk_z= 110.1mm grav_b=(+0.05,-0.01,-1.00) r=0.24m +[headless_play] t= 10.90s step= 545 trunk_z= 112.4mm grav_b=(+0.06,+0.06,-1.00) r=0.24m +[headless_play] t= 11.00s step= 550 trunk_z= 109.9mm grav_b=(+0.09,+0.05,-0.99) r=0.22m +[headless_play] t= 11.10s step= 555 trunk_z= 103.9mm grav_b=(+0.12,+0.01,-0.99) r=0.20m +[headless_play] t= 11.20s step= 560 trunk_z= 112.7mm grav_b=(+0.08,-0.04,-1.00) r=0.19m +[headless_play] t= 11.30s step= 565 trunk_z= 112.3mm grav_b=(+0.04,-0.04,-1.00) r=0.18m +[headless_play] t= 11.40s step= 570 trunk_z= 111.4mm grav_b=(+0.04,-0.03,-1.00) r=0.17m +[headless_play] t= 11.50s step= 575 trunk_z= 111.3mm grav_b=(+0.05,+0.03,-1.00) r=0.17m +[headless_play] t= 11.60s step= 580 trunk_z= 111.5mm grav_b=(+0.09,+0.00,-1.00) r=0.17m +[headless_play] t= 11.70s step= 585 trunk_z= 103.6mm grav_b=(+0.12,+0.02,-0.99) r=0.18m +[headless_play] t= 11.80s step= 590 trunk_z= 111.3mm grav_b=(+0.10,-0.06,-0.99) r=0.19m +[headless_play] t= 11.90s step= 595 trunk_z= 111.0mm grav_b=(+0.05,-0.03,-1.00) r=0.19m +[headless_play] t= 12.00s step= 600 trunk_z= 107.6mm grav_b=(+0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 12.10s step= 605 trunk_z= 112.3mm grav_b=(+0.03,+0.04,-1.00) r=0.17m +[headless_play] t= 12.20s step= 610 trunk_z= 110.2mm grav_b=(+0.10,+0.04,-0.99) r=0.18m +[headless_play] t= 12.30s step= 615 trunk_z= 103.6mm grav_b=(+0.13,+0.01,-0.99) r=0.22m +[headless_play] t= 12.40s step= 620 trunk_z= 112.6mm grav_b=(+0.08,-0.04,-1.00) r=0.24m +[headless_play] t= 12.50s step= 625 trunk_z= 112.3mm grav_b=(+0.04,-0.04,-1.00) r=0.25m +[headless_play] t= 12.60s step= 630 trunk_z= 111.3mm grav_b=(+0.03,-0.01,-1.00) r=0.25m +[headless_play] t= 12.70s step= 635 trunk_z= 118.4mm grav_b=(+0.05,+0.06,-1.00) r=0.24m +[headless_play] t= 12.80s step= 640 trunk_z= 121.1mm grav_b=(+0.05,+0.08,-1.00) r=0.23m +[headless_play] t= 12.90s step= 645 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.24m +[headless_play] t= 13.00s step= 650 trunk_z= 125.9mm grav_b=(+0.04,-0.08,-1.00) r=0.26m +[headless_play] t= 13.10s step= 655 trunk_z= 127.4mm grav_b=(+0.04,-0.09,-1.00) r=0.27m +[headless_play] t= 13.20s step= 660 trunk_z= 120.1mm grav_b=(+0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 13.30s step= 665 trunk_z= 128.4mm grav_b=(+0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 13.50s step= 675 trunk_z= 123.4mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 13.60s step= 680 trunk_z= 125.2mm grav_b=(+0.01,-0.08,-1.00) r=0.39m +[headless_play] t= 13.70s step= 685 trunk_z= 122.3mm grav_b=(-0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 13.80s step= 690 trunk_z= 125.1mm grav_b=(+0.03,+0.05,-1.00) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 126.0mm grav_b=(+0.06,+0.03,-1.00) r=0.42m +[headless_play] t= 14.00s step= 700 trunk_z= 118.3mm grav_b=(+0.04,-0.04,-1.00) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 125.1mm grav_b=(+0.04,-0.07,-1.00) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 125.4mm grav_b=(-0.01,-0.06,-1.00) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 121.7mm grav_b=(+0.00,+0.05,-1.00) r=0.50m +[headless_play] t= 14.40s step= 720 trunk_z= 126.5mm grav_b=(+0.05,+0.05,-1.00) r=0.51m +[headless_play] t= 14.50s step= 725 trunk_z= 121.9mm grav_b=(+0.04,+0.04,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 122.8mm grav_b=(+0.04,-0.06,-1.00) r=0.56m +[headless_play] t= 14.70s step= 735 trunk_z= 125.9mm grav_b=(+0.01,-0.07,-1.00) r=0.58m +[headless_play] t= 14.80s step= 740 trunk_z= 122.8mm grav_b=(-0.01,-0.04,-1.00) r=0.60m +[headless_play] t= 14.90s step= 745 trunk_z= 126.2mm grav_b=(+0.03,+0.05,-1.00) r=0.62m +[headless_play] t= 15.00s step= 750 trunk_z= 127.6mm grav_b=(+0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 15.10s step= 755 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 124.1mm grav_b=(+0.05,-0.06,-1.00) r=0.66m +[headless_play] t= 15.30s step= 765 trunk_z= 123.1mm grav_b=(+0.01,-0.05,-1.00) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 121.0mm grav_b=(+0.00,+0.03,-1.00) r=0.69m +[headless_play] t= 15.50s step= 775 trunk_z= 125.8mm grav_b=(+0.02,+0.03,-1.00) r=0.70m +[headless_play] t= 15.60s step= 780 trunk_z= 119.4mm grav_b=(+0.02,+0.03,-1.00) r=0.72m +[headless_play] t= 15.70s step= 785 trunk_z= 123.2mm grav_b=(+0.05,-0.05,-1.00) r=0.73m +[headless_play] t= 15.80s step= 790 trunk_z= 125.9mm grav_b=(+0.03,-0.06,-1.00) r=0.74m +[headless_play] t= 15.90s step= 795 trunk_z= 121.3mm grav_b=(+0.02,-0.03,-1.00) r=0.76m +[headless_play] t= 16.00s step= 800 trunk_z= 110.2mm grav_b=(+0.04,+0.23,-0.97) r=0.79m +[headless_play] t= 16.10s step= 805 trunk_z= 109.4mm grav_b=(+0.04,+0.29,-0.96) r=0.82m +[headless_play] t= 16.20s step= 810 trunk_z= 87.0mm grav_b=(-0.08,+0.35,-0.93) r=0.88m +[headless_play] t= 16.30s step= 815 trunk_z= 90.3mm grav_b=(+0.17,+0.34,-0.92) r=0.91m +[headless_play] t= 16.40s step= 820 trunk_z= 85.5mm grav_b=(+0.41,-0.02,-0.91) r=0.96m +[headless_play] t= 16.50s step= 825 trunk_z= 61.1mm grav_b=(+0.78,-0.47,-0.42) r=1.02m +[headless_play] RESET at t= 16.52s step= 826 (env termination, not a recovery) +[headless_play] t= 16.60s step= 830 trunk_z= 115.2mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 16.70s step= 835 trunk_z= 111.3mm grav_b=(+0.01,+0.06,-1.00) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 117.4mm grav_b=(+0.02,+0.08,-1.00) r=0.39m +[headless_play] t= 16.90s step= 845 trunk_z= 112.7mm grav_b=(+0.07,+0.06,-1.00) r=0.38m +[headless_play] t= 17.00s step= 850 trunk_z= 112.7mm grav_b=(+0.05,-0.06,-1.00) r=0.38m +[headless_play] t= 17.10s step= 855 trunk_z= 117.5mm grav_b=(+0.07,-0.05,-1.00) r=0.38m +[headless_play] t= 17.20s step= 860 trunk_z= 107.7mm grav_b=(+0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(+0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 17.40s step= 870 trunk_z= 116.4mm grav_b=(+0.02,+0.08,-1.00) r=0.30m +[headless_play] t= 17.50s step= 875 trunk_z= 113.9mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 17.60s step= 880 trunk_z= 119.6mm grav_b=(+0.05,-0.03,-1.00) r=0.28m +[headless_play] t= 17.70s step= 885 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) r=0.26m +[headless_play] t= 17.80s step= 890 trunk_z= 113.5mm grav_b=(+0.02,+0.06,-1.00) r=0.23m +[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(+0.03,+0.07,-1.00) r=0.22m +[headless_play] t= 18.00s step= 900 trunk_z= 114.1mm grav_b=(+0.05,+0.07,-1.00) r=0.21m +[headless_play] t= 18.10s step= 905 trunk_z= 115.2mm grav_b=(+0.05,-0.03,-1.00) r=0.20m +[headless_play] t= 18.20s step= 910 trunk_z= 114.3mm grav_b=(+0.06,-0.02,-1.00) r=0.18m +[headless_play] t= 18.30s step= 915 trunk_z= 106.3mm grav_b=(+0.03,+0.06,-1.00) r=0.15m +[headless_play] t= 18.40s step= 920 trunk_z= 118.1mm grav_b=(+0.04,+0.09,-1.00) r=0.13m +[headless_play] t= 18.50s step= 925 trunk_z= 116.3mm grav_b=(+0.03,+0.08,-1.00) r=0.12m +[headless_play] t= 18.60s step= 930 trunk_z= 112.2mm grav_b=(+0.07,-0.01,-1.00) r=0.11m +[headless_play] t= 18.70s step= 935 trunk_z= 116.6mm grav_b=(+0.09,-0.06,-0.99) r=0.11m +[headless_play] t= 18.80s step= 940 trunk_z= 109.9mm grav_b=(+0.09,-0.00,-1.00) r=0.08m +[headless_play] t= 18.90s step= 945 trunk_z= 115.2mm grav_b=(+0.02,+0.08,-1.00) r=0.05m +[headless_play] t= 19.00s step= 950 trunk_z= 116.6mm grav_b=(+0.05,+0.06,-1.00) r=0.03m +[headless_play] t= 19.10s step= 955 trunk_z= 112.2mm grav_b=(+0.07,+0.03,-1.00) r=0.02m +[headless_play] t= 19.20s step= 960 trunk_z= 118.2mm grav_b=(+0.06,-0.07,-1.00) r=0.03m +[headless_play] t= 19.30s step= 965 trunk_z= 112.2mm grav_b=(+0.09,-0.01,-1.00) r=0.04m +[headless_play] t= 19.40s step= 970 trunk_z= 110.9mm grav_b=(+0.02,+0.08,-1.00) r=0.05m +[headless_play] t= 19.50s step= 975 trunk_z= 119.0mm grav_b=(+0.03,+0.10,-0.99) r=0.07m +[headless_play] t= 19.60s step= 980 trunk_z= 114.8mm grav_b=(+0.05,+0.08,-1.00) r=0.09m +[headless_play] t= 19.70s step= 985 trunk_z= 114.4mm grav_b=(+0.05,-0.04,-1.00) r=0.11m +[headless_play] t= 19.80s step= 990 trunk_z= 117.8mm grav_b=(+0.06,-0.04,-1.00) r=0.12m +[headless_play] t= 19.90s step= 995 trunk_z= 107.2mm grav_b=(+0.06,+0.01,-1.00) r=0.14m +[headless_play] t= 20.00s step=1000 trunk_z= 116.6mm grav_b=(+0.02,+0.08,-1.00) r=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 116.4mm grav_b=(+0.03,+0.08,-1.00) r=0.17m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t4.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..e91655ee8f4ec457cdf7495f76ec5951177f063f --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t4.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.538,-17.733,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(-0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.53m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.02,+0.02,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(+0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.70s step= 85 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.00s step= 100 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.10s step= 105 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.50s step= 125 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 3.20s step= 160 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.54m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.54m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(-0.00,+0.02,-1.00) r=0.54m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(-0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 116.3mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 115.9mm grav_b=(-0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 115.8mm grav_b=(-0.00,+0.02,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 115.7mm grav_b=(+0.01,+0.02,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 115.6mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(+0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 115.6mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.50s step= 225 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.80s step= 240 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.00s step= 250 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.20s step= 260 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(-0.01,+0.06,-1.00) r=0.53m +[headless_play] t= 5.70s step= 285 trunk_z= 114.8mm grav_b=(-0.02,+0.12,-0.99) r=0.51m +[headless_play] t= 5.80s step= 290 trunk_z= 120.5mm grav_b=(-0.01,+0.07,-1.00) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 115.9mm grav_b=(-0.03,+0.05,-1.00) r=0.54m +[headless_play] t= 6.00s step= 300 trunk_z= 120.0mm grav_b=(+0.03,-0.06,-1.00) r=0.57m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(+0.03,-0.05,-1.00) r=0.58m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(+0.04,-0.02,-1.00) r=0.56m +[headless_play] t= 6.30s step= 315 trunk_z= 124.0mm grav_b=(+0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 119.8mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 6.50s step= 325 trunk_z= 122.0mm grav_b=(-0.03,-0.07,-1.00) r=0.60m +[headless_play] t= 6.60s step= 330 trunk_z= 122.6mm grav_b=(-0.03,-0.07,-1.00) r=0.60m +[headless_play] t= 6.70s step= 335 trunk_z= 115.2mm grav_b=(-0.04,+0.00,-1.00) r=0.58m +[headless_play] t= 6.80s step= 340 trunk_z= 123.5mm grav_b=(-0.02,+0.08,-1.00) r=0.57m +[headless_play] t= 6.90s step= 345 trunk_z= 123.5mm grav_b=(+0.00,+0.09,-1.00) r=0.58m +[headless_play] t= 7.00s step= 350 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 7.10s step= 355 trunk_z= 121.9mm grav_b=(+0.03,-0.03,-1.00) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 117.9mm grav_b=(+0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 7.30s step= 365 trunk_z= 122.3mm grav_b=(-0.01,+0.07,-1.00) r=0.62m +[headless_play] t= 7.40s step= 370 trunk_z= 122.0mm grav_b=(+0.01,+0.07,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 115.3mm grav_b=(-0.00,+0.01,-1.00) r=0.66m +[headless_play] t= 7.60s step= 380 trunk_z= 122.7mm grav_b=(+0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 7.70s step= 385 trunk_z= 119.6mm grav_b=(-0.00,-0.03,-1.00) r=0.68m +[headless_play] t= 7.80s step= 390 trunk_z= 119.0mm grav_b=(-0.01,+0.05,-1.00) r=0.67m +[headless_play] t= 7.90s step= 395 trunk_z= 122.8mm grav_b=(+0.01,+0.07,-1.00) r=0.68m +[headless_play] t= 8.00s step= 400 trunk_z= 119.5mm grav_b=(+0.02,+0.05,-1.00) r=0.70m +[headless_play] t= 8.10s step= 405 trunk_z= 121.6mm grav_b=(+0.03,-0.04,-1.00) r=0.73m +[headless_play] t= 8.20s step= 410 trunk_z= 120.0mm grav_b=(+0.01,-0.03,-1.00) r=0.73m +[headless_play] t= 8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.00,+0.04,-1.00) r=0.73m +[headless_play] t= 8.40s step= 420 trunk_z= 123.1mm grav_b=(-0.00,+0.06,-1.00) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(+0.01,+0.05,-1.00) r=0.76m +[headless_play] t= 8.60s step= 430 trunk_z= 108.9mm grav_b=(-0.03,-0.10,-0.99) r=0.80m +[headless_play] t= 8.70s step= 435 trunk_z= 105.1mm grav_b=(-0.01,-0.31,-0.95) r=0.82m +[headless_play] t= 8.80s step= 440 trunk_z= 104.0mm grav_b=(+0.06,-0.39,-0.92) r=0.86m +[headless_play] t= 8.90s step= 445 trunk_z= 91.5mm grav_b=(+0.09,-0.49,-0.86) r=0.90m +[headless_play] t= 9.00s step= 450 trunk_z= 74.1mm grav_b=(+0.03,-0.62,-0.78) r=0.98m +[headless_play] RESET at t= 9.10s step= 455 (env termination, not a recovery) +[headless_play] t= 9.10s step= 455 trunk_z= 120.5mm grav_b=(+0.00,+0.00,-1.00) r=0.38m +[headless_play] t= 9.20s step= 460 trunk_z= 115.5mm grav_b=(-0.00,+0.02,-1.00) r=0.38m +[headless_play] t= 9.30s step= 465 trunk_z= 115.6mm grav_b=(+0.01,+0.07,-1.00) r=0.38m +[headless_play] t= 9.40s step= 470 trunk_z= 117.3mm grav_b=(+0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 117.1mm grav_b=(-0.03,-0.06,-1.00) r=0.33m +[headless_play] t= 9.60s step= 480 trunk_z= 123.1mm grav_b=(-0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 9.70s step= 485 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00) r=0.32m +[headless_play] t= 9.80s step= 490 trunk_z= 121.6mm grav_b=(-0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 9.90s step= 495 trunk_z= 123.8mm grav_b=(-0.02,+0.08,-1.00) r=0.33m +[headless_play] t= 10.00s step= 500 trunk_z= 119.3mm grav_b=(+0.02,+0.04,-1.00) r=0.31m +[headless_play] t= 10.10s step= 505 trunk_z= 123.7mm grav_b=(+0.01,-0.05,-1.00) r=0.28m +[headless_play] t= 10.20s step= 510 trunk_z= 120.9mm grav_b=(+0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 10.30s step= 515 trunk_z= 114.7mm grav_b=(-0.02,+0.05,-1.00) r=0.29m +[headless_play] t= 10.40s step= 520 trunk_z= 122.2mm grav_b=(-0.02,+0.06,-1.00) r=0.30m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(+0.01,+0.03,-1.00) r=0.29m +[headless_play] t= 10.60s step= 530 trunk_z= 120.5mm grav_b=(+0.01,-0.06,-1.00) r=0.27m +[headless_play] t= 10.70s step= 535 trunk_z= 122.3mm grav_b=(+0.01,-0.05,-1.00) r=0.27m +[headless_play] t= 10.80s step= 540 trunk_z= 115.9mm grav_b=(-0.01,+0.02,-1.00) r=0.29m +[headless_play] t= 10.90s step= 545 trunk_z= 122.4mm grav_b=(-0.01,+0.07,-1.00) r=0.32m +[headless_play] t= 11.00s step= 550 trunk_z= 119.2mm grav_b=(-0.00,+0.04,-1.00) r=0.32m +[headless_play] t= 11.10s step= 555 trunk_z= 117.4mm grav_b=(-0.02,-0.05,-1.00) r=0.31m +[headless_play] t= 11.20s step= 560 trunk_z= 122.8mm grav_b=(-0.02,-0.04,-1.00) r=0.32m +[headless_play] t= 11.30s step= 565 trunk_z= 115.8mm grav_b=(-0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 11.40s step= 570 trunk_z= 121.7mm grav_b=(-0.02,+0.07,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 121.6mm grav_b=(-0.01,+0.06,-1.00) r=0.39m +[headless_play] t= 11.60s step= 580 trunk_z= 115.1mm grav_b=(-0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 123.0mm grav_b=(+0.00,-0.04,-1.00) r=0.41m +[headless_play] t= 11.80s step= 590 trunk_z= 119.2mm grav_b=(+0.00,-0.02,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 117.5mm grav_b=(+0.00,+0.07,-1.00) r=0.45m +[headless_play] t= 12.00s step= 600 trunk_z= 122.5mm grav_b=(-0.01,+0.06,-1.00) r=0.48m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(-0.00,+0.02,-1.00) r=0.49m +[headless_play] t= 12.20s step= 610 trunk_z= 122.1mm grav_b=(-0.01,-0.04,-1.00) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 120.5mm grav_b=(+0.00,-0.03,-1.00) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 114.1mm grav_b=(-0.00,+0.04,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 122.5mm grav_b=(-0.01,+0.05,-1.00) r=0.57m +[headless_play] t= 12.60s step= 630 trunk_z= 117.4mm grav_b=(-0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 12.70s step= 635 trunk_z= 120.8mm grav_b=(-0.03,-0.04,-1.00) r=0.61m +[headless_play] t= 12.80s step= 640 trunk_z= 121.9mm grav_b=(-0.01,-0.03,-1.00) r=0.62m +[headless_play] t= 12.90s step= 645 trunk_z= 113.2mm grav_b=(-0.01,+0.02,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 123.2mm grav_b=(-0.01,+0.05,-1.00) r=0.66m +[headless_play] t= 13.10s step= 655 trunk_z= 120.9mm grav_b=(-0.00,+0.06,-1.00) r=0.67m +[headless_play] t= 13.20s step= 660 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 13.30s step= 665 trunk_z= 121.6mm grav_b=(-0.01,-0.01,-1.00) r=0.71m +[headless_play] t= 13.40s step= 670 trunk_z= 113.5mm grav_b=(-0.01,+0.04,-1.00) r=0.73m +[headless_play] t= 13.50s step= 675 trunk_z= 122.3mm grav_b=(-0.01,+0.06,-1.00) r=0.75m +[headless_play] t= 13.60s step= 680 trunk_z= 119.6mm grav_b=(+0.01,+0.06,-1.00) r=0.77m +[headless_play] t= 13.70s step= 685 trunk_z= 110.4mm grav_b=(+0.01,-0.08,-1.00) r=0.79m +[headless_play] t= 13.80s step= 690 trunk_z= 102.3mm grav_b=(+0.10,-0.30,-0.95) r=0.80m +[headless_play] t= 13.90s step= 695 trunk_z= 98.9mm grav_b=(+0.21,-0.15,-0.96) r=0.81m +[headless_play] t= 14.00s step= 700 trunk_z= 76.0mm grav_b=(+0.14,+0.14,-0.98) r=0.88m +[headless_play] t= 14.10s step= 705 trunk_z= 88.4mm grav_b=(+0.11,+0.29,-0.95) r=0.92m +[headless_play] t= 14.20s step= 710 trunk_z= 105.5mm grav_b=(-0.06,+0.39,-0.92) r=0.95m +[headless_play] t= 14.30s step= 715 trunk_z= 106.4mm grav_b=(-0.01,+0.37,-0.93) r=0.98m +[headless_play] t= 14.40s step= 720 trunk_z= 97.6mm grav_b=(-0.07,+0.53,-0.85) r=1.01m +[headless_play] t= 14.50s step= 725 trunk_z= 70.3mm grav_b=(-0.25,+0.81,-0.54) r=1.06m +[headless_play] RESET at t= 14.54s step= 727 (env termination, not a recovery) +[headless_play] t= 14.60s step= 730 trunk_z= 113.6mm grav_b=(-0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.25m +[headless_play] t= 14.90s step= 745 trunk_z= 116.9mm grav_b=(+0.00,-0.00,-1.00) r=0.25m +[headless_play] t= 15.00s step= 750 trunk_z= 116.9mm grav_b=(-0.00,+0.00,-1.00) r=0.25m +[headless_play] t= 15.10s step= 755 trunk_z= 117.0mm grav_b=(+0.00,+0.00,-1.00) r=0.25m +[headless_play] t= 15.20s step= 760 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.30s step= 765 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.40s step= 770 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.50s step= 775 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.60s step= 780 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.70s step= 785 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.80s step= 790 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 15.90s step= 795 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.00s step= 800 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 16.10s step= 805 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.40s step= 820 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.70s step= 835 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 17.10s step= 855 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 17.20s step= 860 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 17.40s step= 870 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 17.50s step= 875 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 17.80s step= 890 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 17.90s step= 895 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.10s step= 905 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.20s step= 910 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.30s step= 915 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.40s step= 920 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.50s step= 925 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.60s step= 930 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.70s step= 935 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 18.90s step= 945 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.00s step= 950 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.10s step= 955 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.40s step= 970 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.50s step= 975 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.60s step= 980 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.80s step= 990 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 19.90s step= 995 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 20.00s step=1000 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.25m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t5.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..4430742c5f842b3f682f513d2065180ed8183e74 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t5.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.231,-18.464,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.3mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(-0.01,+0.04,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.03,+0.08,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 114.3mm grav_b=(+0.03,+0.03,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 114.7mm grav_b=(+0.01,-0.08,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 121.1mm grav_b=(+0.03,-0.07,-1.00) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 114.6mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 118.6mm grav_b=(+0.02,+0.06,-1.00) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 119.7mm grav_b=(+0.04,+0.08,-1.00) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 118.1mm grav_b=(+0.04,+0.03,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 120.6mm grav_b=(+0.06,-0.05,-1.00) r=0.57m +[headless_play] t= 1.10s step= 55 trunk_z= 117.1mm grav_b=(+0.07,-0.01,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 118.5mm grav_b=(+0.06,+0.06,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 119.3mm grav_b=(+0.04,+0.05,-1.00) r=0.56m +[headless_play] t= 1.40s step= 70 trunk_z= 115.5mm grav_b=(+0.02,-0.06,-1.00) r=0.58m +[headless_play] t= 1.50s step= 75 trunk_z= 122.2mm grav_b=(+0.05,-0.07,-1.00) r=0.60m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(+0.03,-0.03,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 118.9mm grav_b=(+0.01,+0.06,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 119.6mm grav_b=(+0.02,+0.07,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.61m +[headless_play] t= 2.00s step= 100 trunk_z= 120.5mm grav_b=(+0.04,-0.06,-1.00) r=0.63m +[headless_play] t= 2.10s step= 105 trunk_z= 117.0mm grav_b=(+0.06,-0.03,-1.00) r=0.63m +[headless_play] t= 2.20s step= 110 trunk_z= 115.6mm grav_b=(+0.04,+0.06,-1.00) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 118.7mm grav_b=(+0.06,+0.09,-0.99) r=0.63m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.06,+0.05,-1.00) r=0.65m +[headless_play] t= 2.50s step= 125 trunk_z= 120.0mm grav_b=(+0.04,-0.07,-1.00) r=0.68m +[headless_play] t= 2.60s step= 130 trunk_z= 117.1mm grav_b=(+0.04,-0.07,-1.00) r=0.68m +[headless_play] t= 2.70s step= 135 trunk_z= 112.0mm grav_b=(-0.00,+0.03,-1.00) r=0.67m +[headless_play] t= 2.80s step= 140 trunk_z= 119.8mm grav_b=(+0.02,+0.08,-1.00) r=0.67m +[headless_play] t= 2.90s step= 145 trunk_z= 115.1mm grav_b=(+0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 112.1mm grav_b=(+0.06,-0.04,-1.00) r=0.71m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.07,-0.07,-0.99) r=0.73m +[headless_play] t= 3.20s step= 160 trunk_z= 112.8mm grav_b=(+0.05,-0.03,-1.00) r=0.73m +[headless_play] t= 3.30s step= 165 trunk_z= 117.0mm grav_b=(+0.02,+0.07,-1.00) r=0.73m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(+0.03,+0.10,-0.99) r=0.74m +[headless_play] t= 3.50s step= 175 trunk_z= 114.0mm grav_b=(+0.06,+0.04,-1.00) r=0.76m +[headless_play] t= 3.60s step= 180 trunk_z= 117.8mm grav_b=(+0.05,-0.06,-1.00) r=0.79m +[headless_play] t= 3.70s step= 185 trunk_z= 115.6mm grav_b=(+0.06,-0.05,-1.00) r=0.80m +[headless_play] t= 3.80s step= 190 trunk_z= 111.6mm grav_b=(+0.01,+0.05,-1.00) r=0.80m +[headless_play] t= 3.90s step= 195 trunk_z= 119.2mm grav_b=(+0.03,+0.09,-1.00) r=0.80m +[headless_play] t= 4.00s step= 200 trunk_z= 114.6mm grav_b=(+0.06,+0.08,-0.99) r=0.82m +[headless_play] t= 4.10s step= 205 trunk_z= 113.0mm grav_b=(+0.04,-0.08,-1.00) r=0.85m +[headless_play] t= 4.20s step= 210 trunk_z= 122.1mm grav_b=(+0.01,-0.11,-0.99) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 115.4mm grav_b=(+0.02,-0.05,-1.00) r=0.89m +[headless_play] t= 4.40s step= 220 trunk_z= 112.8mm grav_b=(+0.00,+0.07,-1.00) r=0.89m +[headless_play] t= 4.50s step= 225 trunk_z= 120.4mm grav_b=(+0.04,+0.11,-0.99) r=0.90m +[headless_play] t= 4.60s step= 230 trunk_z= 116.3mm grav_b=(+0.08,+0.11,-0.99) r=0.92m +[headless_play] t= 4.70s step= 235 trunk_z= 113.0mm grav_b=(+0.06,-0.03,-1.00) r=0.95m +[headless_play] t= 4.80s step= 240 trunk_z= 100.2mm grav_b=(+0.15,-0.27,-0.95) r=0.97m +[headless_play] t= 4.90s step= 245 trunk_z= 101.1mm grav_b=(+0.14,-0.31,-0.94) r=1.00m +[headless_play] t= 5.00s step= 250 trunk_z= 91.8mm grav_b=(+0.08,-0.10,-0.99) r=1.02m +[headless_play] t= 5.10s step= 255 trunk_z= 80.9mm grav_b=(+0.06,-0.10,-0.99) r=1.07m +[headless_play] t= 5.20s step= 260 trunk_z= 108.1mm grav_b=(+0.04,-0.01,-1.00) r=1.11m +[headless_play] t= 5.30s step= 265 trunk_z= 100.3mm grav_b=(-0.02,-0.00,-1.00) r=1.16m +[headless_play] t= 5.40s step= 270 trunk_z= 95.3mm grav_b=(+0.03,-0.07,-1.00) r=1.19m +[headless_play] t= 5.50s step= 275 trunk_z= 97.3mm grav_b=(+0.00,-0.06,-1.00) r=1.21m +[headless_play] t= 5.60s step= 280 trunk_z= 92.2mm grav_b=(-0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 5.70s step= 285 trunk_z= 100.8mm grav_b=(+0.04,+0.07,-1.00) r=1.25m +[headless_play] t= 5.80s step= 290 trunk_z= 101.4mm grav_b=(+0.04,+0.06,-1.00) r=1.27m +[headless_play] t= 5.90s step= 295 trunk_z= 91.3mm grav_b=(-0.01,-0.06,-1.00) r=1.30m +[headless_play] t= 6.00s step= 300 trunk_z= 102.5mm grav_b=(+0.01,-0.08,-1.00) r=1.32m +[headless_play] t= 6.10s step= 305 trunk_z= 102.1mm grav_b=(+0.01,-0.05,-1.00) r=1.35m +[headless_play] t= 6.20s step= 310 trunk_z= 95.7mm grav_b=(+0.01,+0.05,-1.00) r=1.38m +[headless_play] t= 6.30s step= 315 trunk_z= 106.4mm grav_b=(+0.05,+0.09,-0.99) r=1.41m +[headless_play] t= 6.40s step= 320 trunk_z= 108.3mm grav_b=(+0.03,+0.08,-1.00) r=1.43m +[headless_play] t= 6.50s step= 325 trunk_z= 93.5mm grav_b=(-0.04,-0.07,-1.00) r=1.47m +[headless_play] t= 6.60s step= 330 trunk_z= 102.2mm grav_b=(-0.01,-0.12,-0.99) r=1.49m +[headless_play] t= 6.70s step= 335 trunk_z= 100.9mm grav_b=(-0.01,-0.05,-1.00) r=1.52m +[headless_play] t= 6.80s step= 340 trunk_z= 91.5mm grav_b=(+0.00,-0.01,-1.00) r=1.56m +[headless_play] t= 6.90s step= 345 trunk_z= 103.1mm grav_b=(+0.07,+0.10,-0.99) r=1.58m +[headless_play] t= 7.00s step= 350 trunk_z= 107.4mm grav_b=(+0.06,+0.14,-0.99) r=1.60m +[headless_play] t= 7.10s step= 355 trunk_z= 107.1mm grav_b=(-0.01,+0.06,-1.00) r=1.61m +[headless_play] t= 7.20s step= 360 trunk_z= 100.5mm grav_b=(-0.03,-0.09,-0.99) r=1.64m +[headless_play] t= 7.30s step= 365 trunk_z= 102.6mm grav_b=(-0.02,-0.10,-0.99) r=1.65m +[headless_play] t= 7.40s step= 370 trunk_z= 98.7mm grav_b=(-0.00,-0.06,-1.00) r=1.68m +[headless_play] t= 7.50s step= 375 trunk_z= 99.2mm grav_b=(+0.04,+0.03,-1.00) r=1.72m +[headless_play] t= 7.60s step= 380 trunk_z= 106.2mm grav_b=(+0.08,+0.12,-0.99) r=1.74m +[headless_play] t= 7.70s step= 385 trunk_z= 109.1mm grav_b=(+0.05,+0.12,-0.99) r=1.75m +[headless_play] t= 7.80s step= 390 trunk_z= 96.7mm grav_b=(-0.02,-0.03,-1.00) r=1.77m +[headless_play] t= 7.90s step= 395 trunk_z= 104.0mm grav_b=(-0.00,-0.06,-1.00) r=1.78m +[headless_play] t= 8.00s step= 400 trunk_z= 99.9mm grav_b=(+0.01,-0.07,-1.00) r=1.80m +[headless_play] t= 8.10s step= 405 trunk_z= 97.1mm grav_b=(+0.02,+0.02,-1.00) r=1.83m +[headless_play] t= 8.20s step= 410 trunk_z= 105.1mm grav_b=(+0.05,+0.09,-0.99) r=1.85m +[headless_play] t= 8.30s step= 415 trunk_z= 106.8mm grav_b=(+0.05,+0.09,-0.99) r=1.85m +[headless_play] t= 8.40s step= 420 trunk_z= 94.7mm grav_b=(+0.01,-0.01,-1.00) r=1.85m +[headless_play] t= 8.50s step= 425 trunk_z= 103.7mm grav_b=(+0.02,-0.02,-1.00) r=1.85m +[headless_play] t= 8.60s step= 430 trunk_z= 99.2mm grav_b=(-0.00,-0.02,-1.00) r=1.88m +[headless_play] t= 8.70s step= 435 trunk_z= 97.3mm grav_b=(+0.02,+0.06,-1.00) r=1.91m +[headless_play] t= 8.80s step= 440 trunk_z= 104.2mm grav_b=(+0.03,+0.07,-1.00) r=1.92m +[headless_play] t= 8.90s step= 445 trunk_z= 103.2mm grav_b=(-0.00,+0.05,-1.00) r=1.92m +[headless_play] t= 9.00s step= 450 trunk_z= 95.5mm grav_b=(+0.00,-0.02,-1.00) r=1.91m +[headless_play] t= 9.10s step= 455 trunk_z= 102.4mm grav_b=(+0.01,-0.04,-1.00) r=1.91m +[headless_play] t= 9.20s step= 460 trunk_z= 96.5mm grav_b=(-0.02,-0.02,-1.00) r=1.94m +[headless_play] t= 9.30s step= 465 trunk_z= 101.3mm grav_b=(+0.03,+0.07,-1.00) r=1.97m +[headless_play] t= 9.40s step= 470 trunk_z= 105.9mm grav_b=(+0.04,+0.09,-1.00) r=1.98m +[headless_play] t= 9.50s step= 475 trunk_z= 104.5mm grav_b=(+0.01,+0.06,-1.00) r=1.98m +[headless_play] t= 9.60s step= 480 trunk_z= 98.1mm grav_b=(+0.01,-0.02,-1.00) r=1.98m +[headless_play] t= 9.70s step= 485 trunk_z= 102.3mm grav_b=(+0.01,-0.04,-1.00) r=1.98m +[headless_play] t= 9.80s step= 490 trunk_z= 93.3mm grav_b=(-0.03,-0.01,-1.00) r=2.01m +[headless_play] t= 9.90s step= 495 trunk_z= 101.2mm grav_b=(+0.01,+0.07,-1.00) r=2.04m +[headless_play] RESET at t= 9.92s step= 496 (env termination, not a recovery) +[headless_play] t= 10.00s step= 500 trunk_z= 115.5mm grav_b=(-0.00,-0.00,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.03,-0.05,-1.00) r=0.44m +[headless_play] t= 10.20s step= 510 trunk_z= 119.2mm grav_b=(+0.02,-0.04,-1.00) r=0.43m +[headless_play] t= 10.30s step= 515 trunk_z= 111.9mm grav_b=(+0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 10.40s step= 520 trunk_z= 124.5mm grav_b=(+0.01,+0.07,-1.00) r=0.38m +[headless_play] t= 10.50s step= 525 trunk_z= 123.5mm grav_b=(+0.01,+0.05,-1.00) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 117.2mm grav_b=(-0.03,-0.04,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 125.2mm grav_b=(-0.01,-0.08,-1.00) r=0.41m +[headless_play] t= 10.80s step= 540 trunk_z= 124.0mm grav_b=(+0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 117.4mm grav_b=(+0.00,+0.00,-1.00) r=0.37m +[headless_play] t= 11.00s step= 550 trunk_z= 125.8mm grav_b=(+0.04,+0.07,-1.00) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 126.5mm grav_b=(+0.05,+0.06,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 118.8mm grav_b=(+0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 11.30s step= 565 trunk_z= 125.5mm grav_b=(+0.04,-0.07,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 123.9mm grav_b=(+0.01,-0.05,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 120.5mm grav_b=(-0.02,+0.03,-1.00) r=0.35m +[headless_play] t= 11.60s step= 580 trunk_z= 125.4mm grav_b=(+0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 11.70s step= 585 trunk_z= 122.3mm grav_b=(+0.03,+0.03,-1.00) r=0.37m +[headless_play] t= 11.80s step= 590 trunk_z= 122.5mm grav_b=(+0.03,-0.05,-1.00) r=0.40m +[headless_play] t= 11.90s step= 595 trunk_z= 125.3mm grav_b=(+0.04,-0.06,-1.00) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 123.0mm grav_b=(+0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 12.10s step= 605 trunk_z= 125.7mm grav_b=(+0.04,+0.05,-1.00) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 127.2mm grav_b=(+0.05,+0.06,-1.00) r=0.39m +[headless_play] t= 12.30s step= 615 trunk_z= 122.9mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 12.40s step= 620 trunk_z= 124.7mm grav_b=(+0.03,-0.07,-1.00) r=0.43m +[headless_play] t= 12.50s step= 625 trunk_z= 125.3mm grav_b=(+0.01,-0.08,-1.00) r=0.44m +[headless_play] t= 12.60s step= 630 trunk_z= 119.3mm grav_b=(-0.02,-0.02,-1.00) r=0.42m +[headless_play] t= 12.70s step= 635 trunk_z= 125.2mm grav_b=(-0.02,+0.04,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 125.4mm grav_b=(+0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 12.90s step= 645 trunk_z= 118.0mm grav_b=(+0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 13.00s step= 650 trunk_z= 124.4mm grav_b=(+0.06,-0.06,-1.00) r=0.46m +[headless_play] t= 13.10s step= 655 trunk_z= 123.4mm grav_b=(+0.05,-0.05,-1.00) r=0.46m +[headless_play] t= 13.20s step= 660 trunk_z= 122.6mm grav_b=(+0.04,+0.05,-1.00) r=0.46m +[headless_play] t= 13.30s step= 665 trunk_z= 127.3mm grav_b=(+0.03,+0.07,-1.00) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 125.0mm grav_b=(+0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 13.50s step= 675 trunk_z= 121.0mm grav_b=(+0.03,-0.06,-1.00) r=0.52m +[headless_play] t= 13.60s step= 680 trunk_z= 125.3mm grav_b=(+0.02,-0.08,-1.00) r=0.53m +[headless_play] t= 13.70s step= 685 trunk_z= 122.2mm grav_b=(-0.00,-0.06,-1.00) r=0.53m +[headless_play] t= 13.80s step= 690 trunk_z= 123.3mm grav_b=(-0.02,+0.05,-1.00) r=0.52m +[headless_play] t= 13.90s step= 695 trunk_z= 126.6mm grav_b=(+0.00,+0.07,-1.00) r=0.53m +[headless_play] t= 14.00s step= 700 trunk_z= 125.3mm grav_b=(+0.04,+0.06,-1.00) r=0.55m +[headless_play] t= 14.10s step= 705 trunk_z= 123.8mm grav_b=(+0.10,-0.03,-0.99) r=0.57m +[headless_play] t= 14.20s step= 710 trunk_z= 124.2mm grav_b=(+0.06,-0.03,-1.00) r=0.59m +[headless_play] t= 14.30s step= 715 trunk_z= 121.0mm grav_b=(+0.04,+0.02,-1.00) r=0.61m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(+0.03,-0.06,-1.00) r=0.67m +[headless_play] t= 14.60s step= 730 trunk_z= 124.1mm grav_b=(+0.00,-0.06,-1.00) r=0.69m +[headless_play] t= 14.70s step= 735 trunk_z= 118.0mm grav_b=(-0.03,-0.04,-1.00) r=0.70m +[headless_play] t= 14.80s step= 740 trunk_z= 117.7mm grav_b=(-0.01,+0.03,-1.00) r=0.70m +[headless_play] t= 14.90s step= 745 trunk_z= 122.2mm grav_b=(+0.04,+0.03,-1.00) r=0.72m +[headless_play] t= 15.00s step= 750 trunk_z= 117.5mm grav_b=(+0.07,+0.01,-1.00) r=0.74m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(+0.07,-0.05,-1.00) r=0.76m +[headless_play] t= 15.20s step= 760 trunk_z= 121.1mm grav_b=(+0.06,-0.05,-1.00) r=0.78m +[headless_play] t= 15.30s step= 765 trunk_z= 114.2mm grav_b=(+0.02,+0.02,-1.00) r=0.80m +[headless_play] t= 15.40s step= 770 trunk_z= 122.5mm grav_b=(-0.00,+0.04,-1.00) r=0.82m +[headless_play] t= 15.50s step= 775 trunk_z= 119.7mm grav_b=(+0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 15.60s step= 780 trunk_z= 106.4mm grav_b=(+0.02,-0.14,-0.99) r=0.86m +[headless_play] t= 15.70s step= 785 trunk_z= 105.3mm grav_b=(+0.01,-0.38,-0.92) r=0.87m +[headless_play] t= 15.80s step= 790 trunk_z= 100.9mm grav_b=(-0.04,-0.61,-0.79) r=0.90m +[headless_play] t= 15.90s step= 795 trunk_z= 69.6mm grav_b=(+0.09,-0.83,-0.55) r=0.93m +[headless_play] RESET at t= 15.96s step= 798 (env termination, not a recovery) +[headless_play] t= 16.00s step= 800 trunk_z= 115.5mm grav_b=(-0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(-0.03,-0.03,-1.00) r=0.50m +[headless_play] t= 16.20s step= 810 trunk_z= 117.8mm grav_b=(-0.03,-0.08,-1.00) r=0.50m +[headless_play] t= 16.30s step= 815 trunk_z= 117.6mm grav_b=(-0.04,-0.03,-1.00) r=0.51m +[headless_play] t= 16.40s step= 820 trunk_z= 120.4mm grav_b=(-0.02,+0.05,-1.00) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 126.4mm grav_b=(+0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 16.60s step= 830 trunk_z= 124.4mm grav_b=(+0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 16.70s step= 835 trunk_z= 124.2mm grav_b=(+0.03,-0.07,-1.00) r=0.56m +[headless_play] t= 16.80s step= 840 trunk_z= 125.8mm grav_b=(+0.01,-0.07,-1.00) r=0.57m +[headless_play] t= 16.90s step= 845 trunk_z= 121.0mm grav_b=(-0.01,-0.05,-1.00) r=0.58m +[headless_play] t= 17.00s step= 850 trunk_z= 125.4mm grav_b=(+0.01,+0.07,-1.00) r=0.60m +[headless_play] t= 17.10s step= 855 trunk_z= 128.6mm grav_b=(+0.00,+0.05,-1.00) r=0.61m +[headless_play] t= 17.20s step= 860 trunk_z= 122.7mm grav_b=(-0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 17.30s step= 865 trunk_z= 124.5mm grav_b=(+0.02,-0.08,-1.00) r=0.64m +[headless_play] t= 17.40s step= 870 trunk_z= 126.7mm grav_b=(-0.01,-0.07,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 122.5mm grav_b=(+0.00,-0.07,-1.00) r=0.65m +[headless_play] t= 17.60s step= 880 trunk_z= 124.4mm grav_b=(+0.03,+0.06,-1.00) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 126.8mm grav_b=(+0.02,+0.03,-1.00) r=0.67m +[headless_play] t= 17.80s step= 890 trunk_z= 118.2mm grav_b=(-0.03,-0.03,-1.00) r=0.69m +[headless_play] t= 17.90s step= 895 trunk_z= 125.2mm grav_b=(+0.00,-0.09,-1.00) r=0.70m +[headless_play] t= 18.00s step= 900 trunk_z= 126.9mm grav_b=(-0.02,-0.08,-1.00) r=0.71m +[headless_play] t= 18.10s step= 905 trunk_z= 120.3mm grav_b=(-0.01,-0.03,-1.00) r=0.72m +[headless_play] t= 18.20s step= 910 trunk_z= 127.2mm grav_b=(+0.04,+0.07,-1.00) r=0.74m +[headless_play] t= 18.30s step= 915 trunk_z= 130.0mm grav_b=(+0.02,+0.06,-1.00) r=0.75m +[headless_play] t= 18.40s step= 920 trunk_z= 122.5mm grav_b=(-0.02,-0.00,-1.00) r=0.77m +[headless_play] t= 18.50s step= 925 trunk_z= 110.3mm grav_b=(+0.00,-0.20,-0.98) r=0.80m +[headless_play] t= 18.60s step= 930 trunk_z= 103.7mm grav_b=(+0.06,-0.29,-0.96) r=0.83m +[headless_play] t= 18.70s step= 935 trunk_z= 91.2mm grav_b=(+0.19,-0.59,-0.78) r=0.88m +[headless_play] RESET at t= 18.80s step= 940 (env termination, not a recovery) +[headless_play] t= 18.80s step= 940 trunk_z= 124.3mm grav_b=(+0.00,+0.00,-1.00) r=0.52m +[headless_play] t= 18.90s step= 945 trunk_z= 114.7mm grav_b=(-0.02,+0.04,-1.00) r=0.53m +[headless_play] t= 19.00s step= 950 trunk_z= 115.3mm grav_b=(-0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 19.10s step= 955 trunk_z= 113.7mm grav_b=(-0.02,-0.04,-1.00) r=0.55m +[headless_play] t= 19.20s step= 960 trunk_z= 112.1mm grav_b=(-0.02,-0.08,-1.00) r=0.55m +[headless_play] t= 19.30s step= 965 trunk_z= 116.5mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 108.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 19.50s step= 975 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) r=0.60m +[headless_play] t= 19.60s step= 980 trunk_z= 110.6mm grav_b=(+0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 19.70s step= 985 trunk_z= 109.9mm grav_b=(+0.02,-0.06,-1.00) r=0.64m +[headless_play] t= 19.80s step= 990 trunk_z= 113.6mm grav_b=(+0.03,-0.03,-1.00) r=0.65m +[headless_play] t= 19.90s step= 995 trunk_z= 105.4mm grav_b=(+0.02,+0.02,-1.00) r=0.67m +[headless_play] t= 20.00s step=1000 trunk_z= 114.7mm grav_b=(-0.00,+0.03,-1.00) r=0.69m +[headless_play] t= 20.10s step=1005 trunk_z= 112.7mm grav_b=(-0.01,-0.03,-1.00) r=0.71m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t6.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..e1e1cc36e47ce47cdea44e406b77befa2376e67c --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.954,-17.566,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 114.7mm grav_b=(-0.04,+0.06,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 114.3mm grav_b=(+0.00,-0.05,-1.00) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 122.1mm grav_b=(+0.03,-0.09,-1.00) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 123.3mm grav_b=(+0.05,-0.10,-0.99) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 117.1mm grav_b=(+0.04,-0.07,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(+0.06,-0.02,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 122.5mm grav_b=(+0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 123.2mm grav_b=(-0.01,-0.11,-0.99) r=0.27m +[headless_play] t= 1.10s step= 55 trunk_z= 123.7mm grav_b=(-0.05,-0.10,-0.99) r=0.25m +[headless_play] t= 1.20s step= 60 trunk_z= 113.2mm grav_b=(-0.06,-0.04,-1.00) r=0.22m +[headless_play] t= 1.30s step= 65 trunk_z= 122.7mm grav_b=(-0.04,+0.03,-1.00) r=0.20m +[headless_play] t= 1.40s step= 70 trunk_z= 123.7mm grav_b=(-0.01,+0.04,-1.00) r=0.21m +[headless_play] t= 1.50s step= 75 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.23m +[headless_play] t= 1.60s step= 80 trunk_z= 124.4mm grav_b=(+0.03,-0.08,-1.00) r=0.24m +[headless_play] t= 1.70s step= 85 trunk_z= 122.9mm grav_b=(+0.00,-0.09,-1.00) r=0.25m +[headless_play] t= 1.80s step= 90 trunk_z= 115.7mm grav_b=(+0.02,-0.02,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 121.4mm grav_b=(+0.06,+0.01,-1.00) r=0.23m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(+0.03,-0.02,-1.00) r=0.25m +[headless_play] t= 2.10s step= 105 trunk_z= 122.5mm grav_b=(+0.00,-0.08,-1.00) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 121.8mm grav_b=(-0.03,-0.07,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 112.1mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 122.9mm grav_b=(+0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 122.8mm grav_b=(+0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.03,-0.04,-1.00) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 123.1mm grav_b=(+0.02,-0.06,-1.00) r=0.38m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(-0.02,-0.04,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 120.0mm grav_b=(-0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 120.9mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(-0.00,-0.04,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 124.3mm grav_b=(-0.01,-0.06,-1.00) r=0.48m +[headless_play] t= 3.30s step= 165 trunk_z= 120.1mm grav_b=(-0.02,-0.07,-1.00) r=0.50m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 122.0mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 3.70s step= 185 trunk_z= 123.6mm grav_b=(+0.01,-0.07,-1.00) r=0.59m +[headless_play] t= 3.80s step= 190 trunk_z= 121.6mm grav_b=(-0.01,-0.07,-1.00) r=0.61m +[headless_play] t= 3.90s step= 195 trunk_z= 113.2mm grav_b=(-0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 4.00s step= 200 trunk_z= 122.4mm grav_b=(+0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 118.4mm grav_b=(+0.01,+0.01,-1.00) r=0.69m +[headless_play] t= 4.20s step= 210 trunk_z= 118.9mm grav_b=(+0.01,-0.05,-1.00) r=0.72m +[headless_play] t= 4.30s step= 215 trunk_z= 121.1mm grav_b=(-0.01,-0.09,-1.00) r=0.74m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(+0.01,-0.07,-1.00) r=0.77m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.78m +[headless_play] t= 4.60s step= 230 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.78m +[headless_play] t= 4.70s step= 235 trunk_z= 108.6mm grav_b=(+0.06,-0.02,-1.00) r=0.77m +[headless_play] t= 4.80s step= 240 trunk_z= 115.2mm grav_b=(+0.05,-0.08,-1.00) r=0.77m +[headless_play] t= 4.90s step= 245 trunk_z= 114.8mm grav_b=(+0.04,-0.08,-1.00) r=0.78m +[headless_play] t= 5.00s step= 250 trunk_z= 111.6mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(+0.02,+0.03,-1.00) r=0.80m +[headless_play] t= 5.20s step= 260 trunk_z= 114.7mm grav_b=(+0.04,+0.03,-1.00) r=0.80m +[headless_play] t= 5.30s step= 265 trunk_z= 111.3mm grav_b=(+0.08,-0.04,-1.00) r=0.79m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(+0.05,-0.07,-1.00) r=0.79m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.07,-0.03,-1.00) r=0.80m +[headless_play] t= 5.60s step= 280 trunk_z= 112.4mm grav_b=(+0.09,+0.02,-1.00) r=0.80m +[headless_play] t= 5.70s step= 285 trunk_z= 113.2mm grav_b=(+0.07,-0.02,-1.00) r=0.80m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 6.00s step= 300 trunk_z= 114.3mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.10s step= 305 trunk_z= 114.4mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.20s step= 310 trunk_z= 114.6mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.30s step= 315 trunk_z= 114.7mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.40s step= 320 trunk_z= 114.7mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.50s step= 325 trunk_z= 114.8mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 6.60s step= 330 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 6.70s step= 335 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.80s step= 340 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 6.90s step= 345 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.00s step= 350 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.10s step= 355 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.20s step= 360 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.30s step= 365 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.40s step= 370 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.50s step= 375 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.60s step= 380 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.70s step= 385 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.80s step= 390 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 7.90s step= 395 trunk_z= 115.1mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 8.00s step= 400 trunk_z= 115.1mm grav_b=(+0.05,-0.01,-1.00) r=0.79m +[headless_play] t= 8.10s step= 405 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 8.30s step= 415 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 8.40s step= 420 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=0.79m +[headless_play] t= 8.50s step= 425 trunk_z= 115.3mm grav_b=(+0.03,-0.01,-1.00) r=0.79m +[headless_play] t= 8.60s step= 430 trunk_z= 115.3mm grav_b=(+0.04,+0.00,-1.00) r=0.79m +[headless_play] t= 8.70s step= 435 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00) r=0.79m +[headless_play] t= 8.80s step= 440 trunk_z= 116.0mm grav_b=(+0.04,-0.00,-1.00) r=0.79m +[headless_play] t= 8.90s step= 445 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.50s step= 475 trunk_z= 116.4mm grav_b=(+0.03,+0.00,-1.00) r=0.79m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 9.80s step= 490 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.00s step= 500 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.10s step= 505 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.30s step= 515 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.50s step= 525 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.60s step= 530 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 10.90s step= 545 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.10s step= 555 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.20s step= 560 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.30s step= 565 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.40s step= 570 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.60s step= 580 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.70s step= 585 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 11.90s step= 595 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00) r=0.79m +[headless_play] t= 12.40s step= 620 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) r=0.81m +[headless_play] t= 12.50s step= 625 trunk_z= 115.9mm grav_b=(+0.02,+0.04,-1.00) r=0.83m +[headless_play] t= 12.60s step= 630 trunk_z= 112.3mm grav_b=(+0.03,-0.01,-1.00) r=0.84m +[headless_play] t= 12.70s step= 635 trunk_z= 109.7mm grav_b=(+0.02,-0.06,-1.00) r=0.85m +[headless_play] t= 12.80s step= 640 trunk_z= 119.1mm grav_b=(+0.02,-0.05,-1.00) r=0.86m +[headless_play] t= 12.90s step= 645 trunk_z= 114.2mm grav_b=(+0.04,-0.03,-1.00) r=0.88m +[headless_play] t= 13.00s step= 650 trunk_z= 95.3mm grav_b=(+0.07,+0.17,-0.98) r=0.91m +[headless_play] t= 13.10s step= 655 trunk_z= 104.6mm grav_b=(+0.01,+0.30,-0.95) r=0.93m +[headless_play] t= 13.20s step= 660 trunk_z= 104.6mm grav_b=(-0.04,+0.39,-0.92) r=0.96m +[headless_play] t= 13.30s step= 665 trunk_z= 94.6mm grav_b=(-0.13,+0.60,-0.79) r=0.99m +[headless_play] t= 13.40s step= 670 trunk_z= 56.4mm grav_b=(-0.34,+0.86,-0.38) r=1.04m +[headless_play] RESET at t= 13.42s step= 671 (env termination, not a recovery) +[headless_play] t= 13.50s step= 675 trunk_z= 115.0mm grav_b=(-0.00,+0.01,-1.00) r=0.45m +[headless_play] t= 13.60s step= 680 trunk_z= 114.2mm grav_b=(+0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 13.70s step= 685 trunk_z= 117.8mm grav_b=(+0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 13.80s step= 690 trunk_z= 113.2mm grav_b=(+0.03,-0.05,-1.00) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 123.1mm grav_b=(+0.05,-0.05,-1.00) r=0.53m +[headless_play] t= 14.00s step= 700 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 14.10s step= 705 trunk_z= 120.0mm grav_b=(+0.01,+0.02,-1.00) r=0.57m +[headless_play] t= 14.20s step= 710 trunk_z= 122.1mm grav_b=(+0.02,+0.03,-1.00) r=0.58m +[headless_play] t= 14.30s step= 715 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.61m +[headless_play] t= 14.40s step= 720 trunk_z= 123.5mm grav_b=(+0.03,-0.06,-1.00) r=0.63m +[headless_play] t= 14.50s step= 725 trunk_z= 122.1mm grav_b=(+0.03,-0.06,-1.00) r=0.65m +[headless_play] t= 14.60s step= 730 trunk_z= 116.2mm grav_b=(+0.00,+0.02,-1.00) r=0.67m +[headless_play] t= 14.70s step= 735 trunk_z= 122.7mm grav_b=(+0.01,+0.03,-1.00) r=0.69m +[headless_play] t= 14.80s step= 740 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.71m +[headless_play] t= 14.90s step= 745 trunk_z= 122.7mm grav_b=(+0.01,-0.05,-1.00) r=0.73m +[headless_play] t= 15.00s step= 750 trunk_z= 122.1mm grav_b=(+0.01,-0.05,-1.00) r=0.75m +[headless_play] t= 15.10s step= 755 trunk_z= 114.4mm grav_b=(-0.01,+0.00,-1.00) r=0.77m +[headless_play] t= 15.20s step= 760 trunk_z= 123.0mm grav_b=(+0.00,+0.03,-1.00) r=0.78m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.81m +[headless_play] t= 15.40s step= 770 trunk_z= 98.8mm grav_b=(+0.08,-0.14,-0.99) r=0.85m +[headless_play] t= 15.50s step= 775 trunk_z= 104.2mm grav_b=(+0.12,-0.19,-0.97) r=0.88m +[headless_play] t= 15.60s step= 780 trunk_z= 101.4mm grav_b=(+0.04,-0.13,-0.99) r=0.92m +[headless_play] t= 15.70s step= 785 trunk_z= 101.0mm grav_b=(-0.00,-0.05,-1.00) r=0.97m +[headless_play] t= 15.80s step= 790 trunk_z= 105.5mm grav_b=(-0.04,-0.03,-1.00) r=0.99m +[headless_play] t= 15.90s step= 795 trunk_z= 91.4mm grav_b=(+0.07,-0.08,-1.00) r=1.00m +[headless_play] t= 16.00s step= 800 trunk_z= 95.0mm grav_b=(+0.07,-0.05,-1.00) r=1.01m +[headless_play] t= 16.10s step= 805 trunk_z= 87.8mm grav_b=(+0.08,-0.01,-1.00) r=1.03m +[headless_play] t= 16.20s step= 810 trunk_z= 97.6mm grav_b=(+0.07,+0.01,-1.00) r=1.06m +[headless_play] t= 16.30s step= 815 trunk_z= 91.0mm grav_b=(+0.03,-0.04,-1.00) r=1.09m +[headless_play] t= 16.40s step= 820 trunk_z= 98.0mm grav_b=(+0.03,-0.08,-1.00) r=1.13m +[headless_play] t= 16.50s step= 825 trunk_z= 96.1mm grav_b=(+0.03,-0.06,-1.00) r=1.15m +[headless_play] t= 16.60s step= 830 trunk_z= 88.7mm grav_b=(+0.00,+0.01,-1.00) r=1.16m +[headless_play] t= 16.70s step= 835 trunk_z= 96.9mm grav_b=(+0.02,+0.03,-1.00) r=1.18m +[headless_play] t= 16.80s step= 840 trunk_z= 92.4mm grav_b=(+0.02,+0.01,-1.00) r=1.20m +[headless_play] t= 16.90s step= 845 trunk_z= 94.7mm grav_b=(+0.01,-0.08,-1.00) r=1.23m +[headless_play] t= 17.00s step= 850 trunk_z= 98.3mm grav_b=(+0.02,-0.07,-1.00) r=1.25m +[headless_play] t= 17.10s step= 855 trunk_z= 92.5mm grav_b=(+0.00,-0.04,-1.00) r=1.27m +[headless_play] t= 17.20s step= 860 trunk_z= 96.8mm grav_b=(+0.01,+0.05,-1.00) r=1.29m +[headless_play] t= 17.30s step= 865 trunk_z= 96.6mm grav_b=(+0.03,+0.03,-1.00) r=1.31m +[headless_play] t= 17.40s step= 870 trunk_z= 90.0mm grav_b=(+0.02,-0.04,-1.00) r=1.34m +[headless_play] t= 17.50s step= 875 trunk_z= 98.3mm grav_b=(+0.03,-0.07,-1.00) r=1.36m +[headless_play] t= 17.60s step= 880 trunk_z= 93.7mm grav_b=(+0.01,-0.05,-1.00) r=1.38m +[headless_play] t= 17.70s step= 885 trunk_z= 92.4mm grav_b=(-0.00,+0.03,-1.00) r=1.40m +[headless_play] t= 17.80s step= 890 trunk_z= 97.3mm grav_b=(+0.01,+0.05,-1.00) r=1.43m +[headless_play] t= 17.90s step= 895 trunk_z= 91.1mm grav_b=(+0.03,+0.02,-1.00) r=1.45m +[headless_play] t= 18.00s step= 900 trunk_z= 95.8mm grav_b=(+0.02,-0.10,-1.00) r=1.48m +[headless_play] t= 18.10s step= 905 trunk_z= 95.4mm grav_b=(+0.03,-0.09,-1.00) r=1.49m +[headless_play] t= 18.20s step= 910 trunk_z= 92.0mm grav_b=(+0.04,-0.08,-1.00) r=1.50m +[headless_play] t= 18.30s step= 915 trunk_z= 93.9mm grav_b=(+0.06,+0.06,-1.00) r=1.52m +[headless_play] t= 18.40s step= 920 trunk_z= 91.4mm grav_b=(+0.07,+0.02,-1.00) r=1.54m +[headless_play] t= 18.50s step= 925 trunk_z= 90.1mm grav_b=(+0.04,-0.07,-1.00) r=1.57m +[headless_play] t= 18.60s step= 930 trunk_z= 94.2mm grav_b=(+0.07,-0.10,-0.99) r=1.59m +[headless_play] t= 18.70s step= 935 trunk_z= 92.1mm grav_b=(+0.05,-0.06,-1.00) r=1.61m +[headless_play] t= 18.80s step= 940 trunk_z= 93.4mm grav_b=(+0.04,+0.07,-1.00) r=1.63m +[headless_play] t= 18.90s step= 945 trunk_z= 92.7mm grav_b=(+0.05,+0.05,-1.00) r=1.65m +[headless_play] t= 19.00s step= 950 trunk_z= 85.6mm grav_b=(+0.05,-0.03,-1.00) r=1.68m +[headless_play] t= 19.10s step= 955 trunk_z= 95.4mm grav_b=(+0.05,-0.09,-0.99) r=1.70m +[headless_play] t= 19.20s step= 960 trunk_z= 92.6mm grav_b=(+0.05,-0.07,-1.00) r=1.71m +[headless_play] t= 19.30s step= 965 trunk_z= 87.9mm grav_b=(+0.04,+0.02,-1.00) r=1.73m +[headless_play] t= 19.40s step= 970 trunk_z= 92.3mm grav_b=(+0.06,+0.03,-1.00) r=1.75m +[headless_play] t= 19.50s step= 975 trunk_z= 87.8mm grav_b=(+0.06,-0.01,-1.00) r=1.78m +[headless_play] t= 19.60s step= 980 trunk_z= 93.2mm grav_b=(+0.05,-0.09,-0.99) r=1.80m +[headless_play] t= 19.70s step= 985 trunk_z= 92.4mm grav_b=(+0.10,-0.07,-0.99) r=1.82m +[headless_play] t= 19.80s step= 990 trunk_z= 92.5mm grav_b=(+0.10,+0.06,-0.99) r=1.83m +[headless_play] t= 19.90s step= 995 trunk_z= 92.0mm grav_b=(+0.06,+0.03,-1.00) r=1.84m +[headless_play] t= 20.00s step=1000 trunk_z= 90.0mm grav_b=(+0.03,-0.04,-1.00) r=1.84m +[headless_play] t= 20.10s step=1005 trunk_z= 89.1mm grav_b=(+0.05,+0.00,-1.00) r=1.84m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t7.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..d0eeba0117449ad8bbf277c5174fdd49af915199 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.684,-18.387,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.5mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 2.30s step= 115 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(+0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 2.60s step= 130 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.40s step= 170 trunk_z= 116.5mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.50s step= 175 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.70s step= 185 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 3.90s step= 195 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.10s step= 205 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.40s step= 220 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 4.70s step= 235 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.20s step= 260 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.30s step= 265 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 5.60s step= 280 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 6.00s step= 300 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 6.10s step= 305 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 6.20s step= 310 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 6.70s step= 335 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.60s step= 380 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.70s step= 385 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.80s step= 390 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 7.90s step= 395 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.00s step= 400 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.10s step= 405 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.20s step= 410 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.50s step= 425 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.60s step= 430 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 9.00s step= 450 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 9.20s step= 460 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 9.40s step= 470 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 9.50s step= 475 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 9.60s step= 480 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 9.90s step= 495 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.00s step= 500 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.10s step= 505 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 10.30s step= 515 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 10.40s step= 520 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.50s step= 525 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.60s step= 530 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.80s step= 540 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.90s step= 545 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 11.00s step= 550 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.20s step= 560 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 11.70s step= 585 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 11.80s step= 590 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 11.90s step= 595 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.10s step= 605 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.40s step= 620 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.50m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.80s step= 640 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.00s step= 650 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.10s step= 655 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.20s step= 660 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 116.7mm grav_b=(+0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.80s step= 690 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 14.00s step= 700 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 14.10s step= 705 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 14.40s step= 720 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 14.50s step= 725 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 14.60s step= 730 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 15.10s step= 755 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 15.50s step= 775 trunk_z= 116.1mm grav_b=(+0.01,+0.03,-1.00) r=0.49m +[headless_play] t= 15.60s step= 780 trunk_z= 111.3mm grav_b=(+0.03,+0.07,-1.00) r=0.48m +[headless_play] t= 15.70s step= 785 trunk_z= 114.1mm grav_b=(+0.03,+0.02,-1.00) r=0.47m +[headless_play] t= 15.80s step= 790 trunk_z= 106.1mm grav_b=(+0.02,-0.03,-1.00) r=0.44m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(+0.06,-0.08,-0.99) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 117.2mm grav_b=(+0.06,-0.09,-0.99) r=0.40m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(+0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 16.20s step= 810 trunk_z= 120.3mm grav_b=(+0.02,+0.07,-1.00) r=0.38m +[headless_play] t= 16.30s step= 815 trunk_z= 116.8mm grav_b=(+0.06,+0.09,-0.99) r=0.37m +[headless_play] t= 16.40s step= 820 trunk_z= 113.4mm grav_b=(+0.04,-0.03,-1.00) r=0.34m +[headless_play] t= 16.50s step= 825 trunk_z= 121.1mm grav_b=(+0.03,-0.10,-0.99) r=0.31m +[headless_play] t= 16.60s step= 830 trunk_z= 118.8mm grav_b=(+0.02,-0.08,-1.00) r=0.30m +[headless_play] t= 16.70s step= 835 trunk_z= 115.7mm grav_b=(+0.01,+0.04,-1.00) r=0.30m +[headless_play] t= 16.80s step= 840 trunk_z= 120.6mm grav_b=(+0.03,+0.07,-1.00) r=0.29m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.06,+0.05,-1.00) r=0.27m +[headless_play] t= 17.00s step= 850 trunk_z= 117.4mm grav_b=(+0.04,-0.05,-1.00) r=0.24m +[headless_play] t= 17.10s step= 855 trunk_z= 119.6mm grav_b=(+0.04,-0.08,-1.00) r=0.22m +[headless_play] t= 17.20s step= 860 trunk_z= 117.4mm grav_b=(+0.03,-0.05,-1.00) r=0.21m +[headless_play] t= 17.30s step= 865 trunk_z= 119.9mm grav_b=(+0.02,+0.04,-1.00) r=0.21m +[headless_play] t= 17.40s step= 870 trunk_z= 118.6mm grav_b=(+0.05,+0.04,-1.00) r=0.19m +[headless_play] t= 17.50s step= 875 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.16m +[headless_play] t= 17.60s step= 880 trunk_z= 124.6mm grav_b=(+0.07,-0.06,-1.00) r=0.13m +[headless_play] t= 17.70s step= 885 trunk_z= 121.4mm grav_b=(+0.05,-0.04,-1.00) r=0.12m +[headless_play] t= 17.80s step= 890 trunk_z= 120.9mm grav_b=(+0.03,+0.02,-1.00) r=0.11m +[headless_play] t= 17.90s step= 895 trunk_z= 118.8mm grav_b=(+0.02,+0.02,-1.00) r=0.09m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(+0.00,-0.06,-1.00) r=0.08m +[headless_play] t= 18.10s step= 905 trunk_z= 124.3mm grav_b=(+0.02,-0.08,-1.00) r=0.08m +[headless_play] t= 18.20s step= 910 trunk_z= 117.9mm grav_b=(+0.01,-0.07,-1.00) r=0.10m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(-0.01,+0.03,-1.00) r=0.13m +[headless_play] t= 18.40s step= 920 trunk_z= 122.3mm grav_b=(+0.01,+0.06,-1.00) r=0.15m +[headless_play] t= 18.50s step= 925 trunk_z= 118.9mm grav_b=(+0.04,+0.06,-1.00) r=0.16m +[headless_play] t= 18.60s step= 930 trunk_z= 122.7mm grav_b=(+0.03,-0.07,-1.00) r=0.18m +[headless_play] t= 18.70s step= 935 trunk_z= 123.7mm grav_b=(+0.02,-0.08,-1.00) r=0.20m +[headless_play] t= 18.80s step= 940 trunk_z= 116.3mm grav_b=(+0.00,-0.04,-1.00) r=0.23m +[headless_play] t= 18.90s step= 945 trunk_z= 121.2mm grav_b=(-0.00,+0.04,-1.00) r=0.25m +[headless_play] t= 19.00s step= 950 trunk_z= 119.5mm grav_b=(+0.02,+0.06,-1.00) r=0.27m +[headless_play] t= 19.10s step= 955 trunk_z= 117.6mm grav_b=(+0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 19.20s step= 960 trunk_z= 125.6mm grav_b=(+0.03,-0.07,-1.00) r=0.30m +[headless_play] t= 19.30s step= 965 trunk_z= 120.9mm grav_b=(+0.02,-0.06,-1.00) r=0.33m +[headless_play] t= 19.40s step= 970 trunk_z= 118.2mm grav_b=(+0.02,+0.03,-1.00) r=0.36m +[headless_play] t= 19.50s step= 975 trunk_z= 120.8mm grav_b=(+0.04,+0.06,-1.00) r=0.38m +[headless_play] t= 19.60s step= 980 trunk_z= 120.5mm grav_b=(+0.03,+0.04,-1.00) r=0.39m +[headless_play] t= 19.70s step= 985 trunk_z= 125.0mm grav_b=(+0.02,-0.10,-1.00) r=0.41m +[headless_play] t= 19.80s step= 990 trunk_z= 124.7mm grav_b=(-0.00,-0.09,-1.00) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 117.4mm grav_b=(-0.02,-0.03,-1.00) r=0.47m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.44m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t8.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..d1d876760a894c92cf7a9605cd5e166c478ea278 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t8.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.520,-17.846,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.3mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.01,+0.03,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 118.3mm grav_b=(+0.04,-0.00,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 119.3mm grav_b=(+0.04,-0.05,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 126.9mm grav_b=(+0.03,-0.06,-1.00) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 123.3mm grav_b=(+0.00,-0.04,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 124.0mm grav_b=(-0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(-0.02,+0.04,-1.00) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 126.0mm grav_b=(-0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 1.10s step= 55 trunk_z= 124.2mm grav_b=(-0.01,-0.07,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(-0.01,-0.04,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 125.6mm grav_b=(+0.01,+0.04,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 122.7mm grav_b=(+0.03,+0.06,-1.00) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 118.7mm grav_b=(+0.00,-0.03,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 125.7mm grav_b=(-0.01,-0.07,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 124.1mm grav_b=(-0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 118.4mm grav_b=(-0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 1.90s step= 95 trunk_z= 125.9mm grav_b=(+0.01,+0.05,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 122.8mm grav_b=(+0.02,+0.07,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 121.7mm grav_b=(+0.02,-0.03,-1.00) r=0.57m +[headless_play] t= 2.20s step= 110 trunk_z= 125.1mm grav_b=(+0.02,-0.07,-1.00) r=0.57m +[headless_play] t= 2.30s step= 115 trunk_z= 123.6mm grav_b=(+0.01,-0.07,-1.00) r=0.59m +[headless_play] t= 2.40s step= 120 trunk_z= 122.9mm grav_b=(-0.01,+0.03,-1.00) r=0.62m +[headless_play] t= 2.50s step= 125 trunk_z= 123.0mm grav_b=(+0.02,+0.04,-1.00) r=0.63m +[headless_play] t= 2.60s step= 130 trunk_z= 115.4mm grav_b=(+0.00,-0.02,-1.00) r=0.63m +[headless_play] t= 2.70s step= 135 trunk_z= 125.8mm grav_b=(-0.01,-0.05,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 124.3mm grav_b=(-0.02,-0.07,-1.00) r=0.65m +[headless_play] t= 2.90s step= 145 trunk_z= 119.2mm grav_b=(-0.03,-0.02,-1.00) r=0.67m +[headless_play] t= 3.00s step= 150 trunk_z= 125.7mm grav_b=(-0.01,+0.05,-1.00) r=0.70m +[headless_play] t= 3.10s step= 155 trunk_z= 123.7mm grav_b=(+0.01,+0.06,-1.00) r=0.70m +[headless_play] t= 3.20s step= 160 trunk_z= 117.8mm grav_b=(+0.01,-0.03,-1.00) r=0.70m +[headless_play] t= 3.30s step= 165 trunk_z= 125.8mm grav_b=(+0.01,-0.08,-1.00) r=0.71m +[headless_play] t= 3.40s step= 170 trunk_z= 125.3mm grav_b=(+0.00,-0.09,-1.00) r=0.73m +[headless_play] t= 3.50s step= 175 trunk_z= 119.5mm grav_b=(-0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 3.60s step= 180 trunk_z= 125.5mm grav_b=(-0.00,+0.04,-1.00) r=0.78m +[headless_play] t= 3.70s step= 185 trunk_z= 120.4mm grav_b=(+0.01,+0.04,-1.00) r=0.78m +[headless_play] t= 3.80s step= 190 trunk_z= 123.4mm grav_b=(-0.01,-0.05,-1.00) r=0.79m +[headless_play] t= 3.90s step= 195 trunk_z= 126.2mm grav_b=(-0.01,-0.09,-1.00) r=0.80m +[headless_play] t= 4.00s step= 200 trunk_z= 125.4mm grav_b=(-0.02,-0.08,-1.00) r=0.83m +[headless_play] t= 4.10s step= 205 trunk_z= 121.4mm grav_b=(-0.01,+0.04,-1.00) r=0.86m +[headless_play] t= 4.20s step= 210 trunk_z= 121.7mm grav_b=(-0.00,+0.07,-1.00) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.89m +[headless_play] t= 4.40s step= 220 trunk_z= 124.1mm grav_b=(-0.02,-0.08,-1.00) r=0.90m +[headless_play] t= 4.50s step= 225 trunk_z= 123.0mm grav_b=(+0.01,-0.06,-1.00) r=0.92m +[headless_play] t= 4.60s step= 230 trunk_z= 114.6mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 4.70s step= 235 trunk_z= 122.2mm grav_b=(+0.00,+0.05,-1.00) r=0.97m +[headless_play] t= 4.80s step= 240 trunk_z= 119.6mm grav_b=(+0.05,+0.07,-1.00) r=0.98m +[headless_play] t= 4.90s step= 245 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.99m +[headless_play] t= 5.00s step= 250 trunk_z= 105.2mm grav_b=(+0.10,-0.30,-0.95) r=1.01m +[headless_play] t= 5.10s step= 255 trunk_z= 105.2mm grav_b=(+0.02,-0.36,-0.93) r=1.00m +[headless_play] t= 5.20s step= 260 trunk_z= 94.4mm grav_b=(+0.22,-0.35,-0.91) r=1.00m +[headless_play] t= 5.30s step= 265 trunk_z= 50.7mm grav_b=(+0.31,-0.46,-0.84) r=1.02m +[headless_play] t= 5.40s step= 270 trunk_z= 63.9mm grav_b=(+0.40,-0.87,-0.29) r=1.01m +[headless_play] RESET at t= 5.42s step= 271 (env termination, not a recovery) +[headless_play] t= 5.50s step= 275 trunk_z= 115.2mm grav_b=(-0.03,+0.02,-1.00) r=0.45m +[headless_play] t= 5.60s step= 280 trunk_z= 117.3mm grav_b=(-0.06,+0.06,-1.00) r=0.44m +[headless_play] t= 5.70s step= 285 trunk_z= 121.1mm grav_b=(-0.07,+0.04,-1.00) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(-0.04,-0.05,-1.00) r=0.48m +[headless_play] t= 5.90s step= 295 trunk_z= 124.6mm grav_b=(-0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 120.5mm grav_b=(-0.02,-0.00,-1.00) r=0.46m +[headless_play] t= 6.10s step= 305 trunk_z= 126.6mm grav_b=(-0.01,+0.08,-1.00) r=0.44m +[headless_play] t= 6.20s step= 310 trunk_z= 128.8mm grav_b=(-0.01,+0.10,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 125.6mm grav_b=(-0.03,+0.07,-1.00) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 123.3mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 6.50s step= 325 trunk_z= 123.5mm grav_b=(-0.03,-0.01,-1.00) r=0.47m +[headless_play] t= 6.60s step= 330 trunk_z= 117.4mm grav_b=(-0.04,+0.04,-1.00) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 126.9mm grav_b=(-0.03,+0.09,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 126.8mm grav_b=(-0.01,+0.10,-0.99) r=0.45m +[headless_play] t= 6.90s step= 345 trunk_z= 119.3mm grav_b=(-0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 7.00s step= 350 trunk_z= 125.6mm grav_b=(-0.01,-0.05,-1.00) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 124.7mm grav_b=(-0.02,-0.03,-1.00) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 122.2mm grav_b=(+0.00,+0.08,-1.00) r=0.48m +[headless_play] t= 7.30s step= 365 trunk_z= 129.7mm grav_b=(+0.00,+0.10,-1.00) r=0.48m +[headless_play] t= 7.40s step= 370 trunk_z= 128.2mm grav_b=(+0.01,+0.10,-0.99) r=0.50m +[headless_play] t= 7.50s step= 375 trunk_z= 119.2mm grav_b=(-0.04,-0.01,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 124.2mm grav_b=(-0.05,-0.02,-1.00) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.53m +[headless_play] t= 7.80s step= 390 trunk_z= 124.4mm grav_b=(-0.07,+0.07,-0.99) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 126.1mm grav_b=(-0.06,+0.09,-0.99) r=0.53m +[headless_play] t= 8.00s step= 400 trunk_z= 119.8mm grav_b=(-0.04,+0.04,-1.00) r=0.55m +[headless_play] t= 8.10s step= 405 trunk_z= 124.4mm grav_b=(-0.00,-0.03,-1.00) r=0.57m +[headless_play] t= 8.20s step= 410 trunk_z= 123.7mm grav_b=(-0.02,-0.01,-1.00) r=0.58m +[headless_play] t= 8.30s step= 415 trunk_z= 120.5mm grav_b=(-0.01,+0.06,-1.00) r=0.58m +[headless_play] t= 8.40s step= 420 trunk_z= 129.7mm grav_b=(-0.03,+0.04,-1.00) r=0.59m +[headless_play] t= 8.50s step= 425 trunk_z= 127.0mm grav_b=(-0.02,+0.03,-1.00) r=0.62m +[headless_play] t= 8.60s step= 430 trunk_z= 124.0mm grav_b=(-0.01,-0.03,-1.00) r=0.65m +[headless_play] t= 8.70s step= 435 trunk_z= 119.1mm grav_b=(-0.05,-0.01,-1.00) r=0.66m +[headless_play] t= 8.80s step= 440 trunk_z= 118.7mm grav_b=(-0.08,+0.05,-1.00) r=0.66m +[headless_play] t= 8.90s step= 445 trunk_z= 125.2mm grav_b=(-0.08,+0.07,-0.99) r=0.66m +[headless_play] t= 9.00s step= 450 trunk_z= 121.6mm grav_b=(-0.07,+0.07,-1.00) r=0.66m +[headless_play] t= 9.10s step= 455 trunk_z= 118.7mm grav_b=(-0.02,-0.01,-1.00) r=0.67m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(-0.00,+0.01,-1.00) r=0.67m +[headless_play] t= 9.30s step= 465 trunk_z= 114.1mm grav_b=(-0.01,+0.06,-1.00) r=0.67m +[headless_play] t= 9.40s step= 470 trunk_z= 122.0mm grav_b=(+0.01,+0.07,-1.00) r=0.67m +[headless_play] t= 9.50s step= 475 trunk_z= 118.0mm grav_b=(+0.02,+0.09,-1.00) r=0.70m +[headless_play] t= 9.60s step= 480 trunk_z= 120.0mm grav_b=(-0.01,-0.04,-1.00) r=0.72m +[headless_play] t= 9.70s step= 485 trunk_z= 122.4mm grav_b=(-0.01,-0.05,-1.00) r=0.74m +[headless_play] t= 9.80s step= 490 trunk_z= 115.8mm grav_b=(-0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 9.90s step= 495 trunk_z= 122.8mm grav_b=(-0.05,+0.07,-1.00) r=0.73m +[headless_play] t= 10.00s step= 500 trunk_z= 125.7mm grav_b=(-0.04,+0.09,-1.00) r=0.73m +[headless_play] t= 10.10s step= 505 trunk_z= 120.2mm grav_b=(-0.03,+0.08,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 120.3mm grav_b=(-0.02,-0.01,-1.00) r=0.77m +[headless_play] t= 10.30s step= 515 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.77m +[headless_play] t= 10.40s step= 520 trunk_z= 116.0mm grav_b=(-0.02,+0.07,-1.00) r=0.77m +[headless_play] t= 10.50s step= 525 trunk_z= 123.4mm grav_b=(-0.02,+0.07,-1.00) r=0.77m +[headless_play] t= 10.60s step= 530 trunk_z= 117.8mm grav_b=(-0.00,+0.08,-1.00) r=0.80m +[headless_play] t= 10.70s step= 535 trunk_z= 120.6mm grav_b=(-0.03,-0.03,-1.00) r=0.82m +[headless_play] t= 10.80s step= 540 trunk_z= 121.7mm grav_b=(-0.04,+0.01,-1.00) r=0.83m +[headless_play] t= 10.90s step= 545 trunk_z= 114.2mm grav_b=(-0.08,+0.05,-1.00) r=0.83m +[headless_play] t= 11.00s step= 550 trunk_z= 123.4mm grav_b=(-0.05,+0.03,-1.00) r=0.83m +[headless_play] t= 11.10s step= 555 trunk_z= 120.7mm grav_b=(-0.03,-0.00,-1.00) r=0.84m +[headless_play] t= 11.20s step= 560 trunk_z= 119.0mm grav_b=(-0.01,-0.08,-1.00) r=0.86m +[headless_play] t= 11.30s step= 565 trunk_z= 122.2mm grav_b=(-0.02,-0.07,-1.00) r=0.87m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(-0.01,-0.04,-1.00) r=0.87m +[headless_play] t= 11.50s step= 575 trunk_z= 122.6mm grav_b=(+0.00,+0.05,-1.00) r=0.87m +[headless_play] t= 11.60s step= 580 trunk_z= 123.0mm grav_b=(-0.01,+0.04,-1.00) r=0.88m +[headless_play] t= 11.70s step= 585 trunk_z= 116.9mm grav_b=(-0.04,+0.01,-1.00) r=0.91m +[headless_play] t= 11.80s step= 590 trunk_z= 104.4mm grav_b=(+0.02,-0.26,-0.96) r=0.94m +[headless_play] t= 11.90s step= 595 trunk_z= 103.6mm grav_b=(+0.01,-0.38,-0.93) r=0.98m +[headless_play] t= 12.00s step= 600 trunk_z= 93.2mm grav_b=(+0.17,-0.33,-0.93) r=1.01m +[headless_play] t= 12.10s step= 605 trunk_z= 67.2mm grav_b=(+0.24,-0.37,-0.90) r=1.08m +[headless_play] t= 12.20s step= 610 trunk_z= 86.0mm grav_b=(+0.33,-0.70,-0.63) r=1.16m +[headless_play] RESET at t= 12.28s step= 614 (env termination, not a recovery) +[headless_play] t= 12.30s step= 615 trunk_z= 124.6mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 12.40s step= 620 trunk_z= 115.8mm grav_b=(-0.01,+0.04,-1.00) r=0.33m +[headless_play] t= 12.50s step= 625 trunk_z= 119.6mm grav_b=(+0.00,+0.06,-1.00) r=0.33m +[headless_play] t= 12.60s step= 630 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(+0.01,-0.09,-1.00) r=0.39m +[headless_play] t= 12.80s step= 640 trunk_z= 125.0mm grav_b=(+0.02,-0.11,-0.99) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 123.1mm grav_b=(+0.02,-0.10,-0.99) r=0.43m +[headless_play] t= 13.00s step= 650 trunk_z= 118.9mm grav_b=(+0.05,+0.00,-1.00) r=0.44m +[headless_play] t= 13.10s step= 655 trunk_z= 126.2mm grav_b=(+0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 13.20s step= 660 trunk_z= 118.6mm grav_b=(+0.00,-0.04,-1.00) r=0.49m +[headless_play] t= 13.30s step= 665 trunk_z= 123.2mm grav_b=(-0.02,-0.03,-1.00) r=0.52m +[headless_play] t= 13.40s step= 670 trunk_z= 111.3mm grav_b=(-0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(-0.05,+0.05,-1.00) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 122.2mm grav_b=(-0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 13.70s step= 685 trunk_z= 116.6mm grav_b=(-0.01,-0.04,-1.00) r=0.56m +[headless_play] t= 13.80s step= 690 trunk_z= 124.1mm grav_b=(+0.01,-0.06,-1.00) r=0.59m +[headless_play] t= 13.90s step= 695 trunk_z= 119.6mm grav_b=(-0.00,-0.03,-1.00) r=0.61m +[headless_play] t= 14.00s step= 700 trunk_z= 120.7mm grav_b=(+0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 14.10s step= 705 trunk_z= 120.5mm grav_b=(+0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 14.20s step= 710 trunk_z= 116.3mm grav_b=(-0.02,-0.06,-1.00) r=0.68m +[headless_play] t= 14.30s step= 715 trunk_z= 124.8mm grav_b=(-0.02,-0.07,-1.00) r=0.71m +[headless_play] t= 14.40s step= 720 trunk_z= 119.6mm grav_b=(-0.00,-0.06,-1.00) r=0.73m +[headless_play] t= 14.50s step= 725 trunk_z= 118.9mm grav_b=(-0.00,+0.04,-1.00) r=0.75m +[headless_play] t= 14.60s step= 730 trunk_z= 122.0mm grav_b=(+0.02,+0.03,-1.00) r=0.78m +[headless_play] t= 14.70s step= 735 trunk_z= 118.3mm grav_b=(+0.01,-0.02,-1.00) r=0.80m +[headless_play] t= 14.80s step= 740 trunk_z= 125.9mm grav_b=(-0.00,-0.08,-1.00) r=0.83m +[headless_play] t= 14.90s step= 745 trunk_z= 122.9mm grav_b=(-0.02,-0.07,-1.00) r=0.86m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.88m +[headless_play] t= 15.10s step= 755 trunk_z= 122.6mm grav_b=(+0.02,+0.03,-1.00) r=0.90m +[headless_play] t= 15.20s step= 760 trunk_z= 120.4mm grav_b=(+0.02,+0.01,-1.00) r=0.92m +[headless_play] t= 15.30s step= 765 trunk_z= 123.7mm grav_b=(+0.01,-0.04,-1.00) r=0.94m +[headless_play] t= 15.40s step= 770 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.97m +[headless_play] t= 15.50s step= 775 trunk_z= 102.1mm grav_b=(+0.01,+0.13,-0.99) r=1.00m +[headless_play] t= 15.60s step= 780 trunk_z= 106.0mm grav_b=(-0.00,+0.32,-0.95) r=1.02m +[headless_play] t= 15.70s step= 785 trunk_z= 100.6mm grav_b=(-0.05,+0.42,-0.91) r=1.05m +[headless_play] t= 15.80s step= 790 trunk_z= 83.5mm grav_b=(+0.07,+0.68,-0.73) r=1.09m +[headless_play] t= 15.90s step= 795 trunk_z= 3.1mm grav_b=(+0.09,+0.94,-0.34) r=1.14m +[headless_play] RESET at t= 15.92s step= 796 (env termination, not a recovery) +[headless_play] t= 16.00s step= 800 trunk_z= 114.7mm grav_b=(-0.03,+0.00,-1.00) r=0.48m +[headless_play] t= 16.10s step= 805 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 16.20s step= 810 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 16.30s step= 815 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 16.40s step= 820 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 116.3mm grav_b=(-0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 16.70s step= 835 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 16.80s step= 840 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 16.90s step= 845 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 17.10s step= 855 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 17.20s step= 860 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 17.30s step= 865 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 17.40s step= 870 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 17.50s step= 875 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 17.60s step= 880 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 17.80s step= 890 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.00s step= 900 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.10s step= 905 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.20s step= 910 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.30s step= 915 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.40s step= 920 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.60s step= 930 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.70s step= 935 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.80s step= 940 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 18.90s step= 945 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 19.00s step= 950 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 19.20s step= 960 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 19.30s step= 965 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 19.50s step= 975 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 19.60s step= 980 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 19.70s step= 985 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 19.80s step= 990 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 19.90s step= 995 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 20.00s step=1000 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t9.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..c28c54ca6e5ae1df5b9f7305f666a9b2de273916 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/v2-b-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.319,-17.789,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.8mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.04,+0.06,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 121.2mm grav_b=(-0.06,+0.07,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(-0.07,-0.02,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 122.6mm grav_b=(-0.06,-0.06,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 123.2mm grav_b=(-0.04,-0.04,-1.00) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 119.0mm grav_b=(-0.04,+0.04,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 126.5mm grav_b=(-0.03,+0.06,-1.00) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 124.0mm grav_b=(-0.04,+0.02,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 123.9mm grav_b=(-0.07,-0.03,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 124.0mm grav_b=(-0.07,-0.02,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 118.2mm grav_b=(-0.07,+0.03,-1.00) r=0.47m +[headless_play] t= 1.20s step= 60 trunk_z= 124.3mm grav_b=(-0.06,+0.05,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 121.7mm grav_b=(-0.06,+0.01,-1.00) r=0.48m +[headless_play] t= 1.40s step= 70 trunk_z= 123.1mm grav_b=(-0.07,-0.05,-1.00) r=0.48m +[headless_play] t= 1.50s step= 75 trunk_z= 124.5mm grav_b=(-0.05,-0.04,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 116.8mm grav_b=(-0.05,+0.02,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 124.9mm grav_b=(-0.05,+0.05,-1.00) r=0.54m +[headless_play] t= 1.80s step= 90 trunk_z= 123.6mm grav_b=(-0.05,+0.03,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 119.4mm grav_b=(-0.08,-0.04,-1.00) r=0.56m +[headless_play] t= 2.00s step= 100 trunk_z= 124.4mm grav_b=(-0.08,-0.03,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 114.3mm grav_b=(-0.08,+0.04,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 124.6mm grav_b=(-0.08,+0.07,-0.99) r=0.63m +[headless_play] t= 2.30s step= 115 trunk_z= 126.1mm grav_b=(-0.06,+0.07,-1.00) r=0.64m +[headless_play] t= 2.40s step= 120 trunk_z= 122.3mm grav_b=(-0.08,+0.02,-1.00) r=0.64m +[headless_play] t= 2.50s step= 125 trunk_z= 125.9mm grav_b=(-0.09,-0.06,-0.99) r=0.65m +[headless_play] t= 2.60s step= 130 trunk_z= 124.3mm grav_b=(-0.09,-0.04,-1.00) r=0.68m +[headless_play] t= 2.70s step= 135 trunk_z= 116.2mm grav_b=(-0.09,+0.02,-1.00) r=0.71m +[headless_play] t= 2.80s step= 140 trunk_z= 126.5mm grav_b=(-0.07,+0.07,-1.00) r=0.73m +[headless_play] t= 2.90s step= 145 trunk_z= 125.5mm grav_b=(-0.04,+0.07,-1.00) r=0.74m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(-0.07,-0.03,-1.00) r=0.75m +[headless_play] t= 3.10s step= 155 trunk_z= 127.2mm grav_b=(-0.09,-0.02,-1.00) r=0.77m +[headless_play] t= 3.20s step= 160 trunk_z= 109.4mm grav_b=(-0.09,+0.02,-1.00) r=0.82m +[headless_play] t= 3.30s step= 165 trunk_z= 100.4mm grav_b=(-0.07,+0.16,-0.98) r=0.85m +[headless_play] t= 3.40s step= 170 trunk_z= 105.1mm grav_b=(-0.08,+0.17,-0.98) r=0.88m +[headless_play] t= 3.50s step= 175 trunk_z= 108.3mm grav_b=(-0.16,+0.09,-0.98) r=0.90m +[headless_play] t= 3.60s step= 180 trunk_z= 98.9mm grav_b=(-0.00,+0.01,-1.00) r=0.94m +[headless_play] t= 3.70s step= 185 trunk_z= 100.0mm grav_b=(-0.00,-0.04,-1.00) r=0.96m +[headless_play] t= 3.80s step= 190 trunk_z= 93.2mm grav_b=(-0.04,+0.00,-1.00) r=0.98m +[headless_play] t= 3.90s step= 195 trunk_z= 94.6mm grav_b=(-0.04,+0.03,-1.00) r=1.00m +[headless_play] t= 4.00s step= 200 trunk_z= 91.7mm grav_b=(-0.02,-0.03,-1.00) r=1.02m +[headless_play] t= 4.10s step= 205 trunk_z= 99.3mm grav_b=(-0.07,-0.08,-0.99) r=1.04m +[headless_play] t= 4.20s step= 210 trunk_z= 94.7mm grav_b=(-0.07,-0.04,-1.00) r=1.06m +[headless_play] t= 4.30s step= 215 trunk_z= 92.1mm grav_b=(-0.08,+0.05,-1.00) r=1.08m +[headless_play] t= 4.40s step= 220 trunk_z= 98.8mm grav_b=(-0.06,+0.08,-0.99) r=1.09m +[headless_play] t= 4.50s step= 225 trunk_z= 96.5mm grav_b=(-0.03,+0.08,-1.00) r=1.11m +[headless_play] t= 4.60s step= 230 trunk_z= 92.1mm grav_b=(-0.01,-0.03,-1.00) r=1.12m +[headless_play] t= 4.70s step= 235 trunk_z= 99.3mm grav_b=(-0.03,-0.05,-1.00) r=1.13m +[headless_play] t= 4.80s step= 240 trunk_z= 91.0mm grav_b=(-0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 4.90s step= 245 trunk_z= 93.9mm grav_b=(-0.06,+0.06,-1.00) r=1.18m +[headless_play] t= 5.00s step= 250 trunk_z= 99.2mm grav_b=(-0.04,+0.10,-0.99) r=1.19m +[headless_play] t= 5.10s step= 255 trunk_z= 95.5mm grav_b=(-0.02,+0.08,-1.00) r=1.20m +[headless_play] t= 5.20s step= 260 trunk_z= 95.7mm grav_b=(-0.03,-0.05,-1.00) r=1.21m +[headless_play] t= 5.30s step= 265 trunk_z= 98.9mm grav_b=(-0.05,-0.05,-1.00) r=1.23m +[headless_play] t= 5.40s step= 270 trunk_z= 88.4mm grav_b=(-0.06,-0.01,-1.00) r=1.25m +[headless_play] t= 5.50s step= 275 trunk_z= 96.4mm grav_b=(-0.07,+0.06,-1.00) r=1.27m +[headless_play] t= 5.60s step= 280 trunk_z= 98.9mm grav_b=(-0.04,+0.08,-1.00) r=1.28m +[headless_play] t= 5.70s step= 285 trunk_z= 94.3mm grav_b=(-0.01,+0.05,-1.00) r=1.29m +[headless_play] t= 5.80s step= 290 trunk_z= 98.2mm grav_b=(-0.05,-0.05,-1.00) r=1.31m +[headless_play] t= 5.90s step= 295 trunk_z= 97.9mm grav_b=(-0.05,-0.03,-1.00) r=1.32m +[headless_play] t= 6.00s step= 300 trunk_z= 87.1mm grav_b=(-0.07,+0.03,-1.00) r=1.34m +[headless_play] t= 6.10s step= 305 trunk_z= 97.8mm grav_b=(-0.08,+0.07,-0.99) r=1.36m +[headless_play] t= 6.20s step= 310 trunk_z= 98.8mm grav_b=(-0.06,+0.07,-1.00) r=1.36m +[headless_play] t= 6.30s step= 315 trunk_z= 93.2mm grav_b=(-0.03,+0.03,-1.00) r=1.37m +[headless_play] t= 6.40s step= 320 trunk_z= 97.8mm grav_b=(-0.04,-0.03,-1.00) r=1.38m +[headless_play] t= 6.50s step= 325 trunk_z= 95.2mm grav_b=(-0.05,-0.02,-1.00) r=1.40m +[headless_play] t= 6.60s step= 330 trunk_z= 89.8mm grav_b=(-0.07,+0.05,-1.00) r=1.42m +[headless_play] t= 6.70s step= 335 trunk_z= 98.1mm grav_b=(-0.06,+0.08,-0.99) r=1.43m +[headless_play] t= 6.80s step= 340 trunk_z= 95.7mm grav_b=(-0.04,+0.07,-1.00) r=1.45m +[headless_play] t= 6.90s step= 345 trunk_z= 91.6mm grav_b=(-0.03,-0.04,-1.00) r=1.46m +[headless_play] t= 7.00s step= 350 trunk_z= 99.6mm grav_b=(-0.05,-0.05,-1.00) r=1.47m +[headless_play] t= 7.10s step= 355 trunk_z= 92.0mm grav_b=(-0.07,-0.01,-1.00) r=1.49m +[headless_play] t= 7.20s step= 360 trunk_z= 93.8mm grav_b=(-0.07,+0.05,-1.00) r=1.51m +[headless_play] t= 7.30s step= 365 trunk_z= 99.0mm grav_b=(-0.07,+0.08,-0.99) r=1.52m +[headless_play] t= 7.40s step= 370 trunk_z= 95.3mm grav_b=(-0.05,+0.05,-1.00) r=1.53m +[headless_play] t= 7.50s step= 375 trunk_z= 92.6mm grav_b=(-0.05,-0.04,-1.00) r=1.53m +[headless_play] t= 7.60s step= 380 trunk_z= 97.3mm grav_b=(-0.05,-0.02,-1.00) r=1.54m +[headless_play] t= 7.70s step= 385 trunk_z= 88.1mm grav_b=(-0.05,+0.00,-1.00) r=1.55m +[headless_play] t= 7.80s step= 390 trunk_z= 93.1mm grav_b=(-0.03,+0.06,-1.00) r=1.58m +[headless_play] t= 7.90s step= 395 trunk_z= 93.8mm grav_b=(-0.00,+0.06,-1.00) r=1.60m +[headless_play] t= 8.00s step= 400 trunk_z= 91.3mm grav_b=(-0.00,-0.00,-1.00) r=1.62m +[headless_play] t= 8.10s step= 405 trunk_z= 98.3mm grav_b=(-0.04,-0.05,-1.00) r=1.64m +[headless_play] t= 8.20s step= 410 trunk_z= 91.0mm grav_b=(-0.05,-0.02,-1.00) r=1.66m +[headless_play] t= 8.30s step= 415 trunk_z= 90.6mm grav_b=(-0.08,+0.06,-1.00) r=1.68m +[headless_play] t= 8.40s step= 420 trunk_z= 98.0mm grav_b=(-0.07,+0.08,-0.99) r=1.69m +[headless_play] t= 8.50s step= 425 trunk_z= 93.3mm grav_b=(-0.03,+0.06,-1.00) r=1.71m +[headless_play] t= 8.60s step= 430 trunk_z= 93.0mm grav_b=(-0.03,-0.06,-1.00) r=1.72m +[headless_play] t= 8.70s step= 435 trunk_z= 95.9mm grav_b=(-0.02,-0.02,-1.00) r=1.74m +[headless_play] t= 8.80s step= 440 trunk_z= 85.1mm grav_b=(-0.03,+0.02,-1.00) r=1.76m +[headless_play] t= 8.90s step= 445 trunk_z= 95.4mm grav_b=(-0.06,+0.07,-1.00) r=1.77m +[headless_play] t= 9.00s step= 450 trunk_z= 95.1mm grav_b=(-0.03,+0.07,-1.00) r=1.79m +[headless_play] t= 9.10s step= 455 trunk_z= 90.2mm grav_b=(-0.03,-0.02,-1.00) r=1.81m +[headless_play] t= 9.20s step= 460 trunk_z= 98.5mm grav_b=(-0.05,-0.04,-1.00) r=1.83m +[headless_play] t= 9.30s step= 465 trunk_z= 94.5mm grav_b=(-0.05,-0.02,-1.00) r=1.84m +[headless_play] t= 9.40s step= 470 trunk_z= 88.1mm grav_b=(-0.06,+0.05,-1.00) r=1.85m +[headless_play] t= 9.50s step= 475 trunk_z= 97.1mm grav_b=(-0.05,+0.06,-1.00) r=1.86m +[headless_play] t= 9.60s step= 480 trunk_z= 93.5mm grav_b=(-0.01,+0.07,-1.00) r=1.88m +[headless_play] t= 9.70s step= 485 trunk_z= 91.9mm grav_b=(-0.03,-0.06,-1.00) r=1.90m +[headless_play] t= 9.80s step= 490 trunk_z= 98.4mm grav_b=(-0.04,-0.04,-1.00) r=1.91m +[headless_play] t= 9.90s step= 495 trunk_z= 88.3mm grav_b=(-0.04,-0.02,-1.00) r=1.92m +[headless_play] t= 10.00s step= 500 trunk_z= 93.4mm grav_b=(-0.06,+0.06,-1.00) r=1.93m +[headless_play] t= 10.10s step= 505 trunk_z= 96.1mm grav_b=(-0.03,+0.07,-1.00) r=1.94m +[headless_play] t= 10.20s step= 510 trunk_z= 91.6mm grav_b=(-0.00,+0.03,-1.00) r=1.96m +[headless_play] t= 10.30s step= 515 trunk_z= 97.6mm grav_b=(-0.05,-0.06,-1.00) r=1.99m +[headless_play] t= 10.40s step= 520 trunk_z= 95.4mm grav_b=(-0.04,-0.03,-1.00) r=2.00m +[headless_play] t= 10.50s step= 525 trunk_z= 84.9mm grav_b=(-0.06,+0.04,-1.00) r=2.01m +[headless_play] t= 10.60s step= 530 trunk_z= 96.7mm grav_b=(-0.07,+0.07,-1.00) r=2.01m +[headless_play] t= 10.70s step= 535 trunk_z= 95.6mm grav_b=(-0.05,+0.06,-1.00) r=2.03m +[headless_play] t= 10.80s step= 540 trunk_z= 89.8mm grav_b=(-0.01,-0.03,-1.00) r=2.05m +[headless_play] t= 10.90s step= 545 trunk_z= 95.8mm grav_b=(-0.02,-0.04,-1.00) r=2.06m +[headless_play] t= 11.00s step= 550 trunk_z= 89.0mm grav_b=(-0.00,-0.00,-1.00) r=2.08m +[headless_play] t= 11.10s step= 555 trunk_z= 91.5mm grav_b=(-0.06,+0.07,-1.00) r=2.09m +[headless_play] t= 11.20s step= 560 trunk_z= 96.7mm grav_b=(-0.03,+0.08,-1.00) r=2.10m +[headless_play] t= 11.30s step= 565 trunk_z= 91.9mm grav_b=(-0.01,+0.03,-1.00) r=2.12m +[headless_play] t= 11.40s step= 570 trunk_z= 95.7mm grav_b=(-0.05,-0.08,-1.00) r=2.15m +[headless_play] t= 11.50s step= 575 trunk_z= 98.8mm grav_b=(-0.05,-0.05,-1.00) r=2.16m +[headless_play] t= 11.60s step= 580 trunk_z= 88.4mm grav_b=(-0.06,-0.04,-1.00) r=2.16m +[headless_play] t= 11.70s step= 585 trunk_z= 93.8mm grav_b=(-0.07,+0.06,-1.00) r=2.16m +[headless_play] t= 11.80s step= 590 trunk_z= 97.9mm grav_b=(-0.10,+0.06,-0.99) r=2.16m +[headless_play] t= 11.90s step= 595 trunk_z= 94.6mm grav_b=(-0.10,-0.02,-0.99) r=2.17m +[headless_play] t= 12.00s step= 600 trunk_z= 97.6mm grav_b=(-0.08,-0.05,-1.00) r=2.18m +[headless_play] t= 12.10s step= 605 trunk_z= 96.4mm grav_b=(-0.07,-0.05,-1.00) r=2.18m +[headless_play] t= 12.20s step= 610 trunk_z= 90.0mm grav_b=(-0.04,+0.02,-1.00) r=2.16m +[headless_play] t= 12.30s step= 615 trunk_z= 101.5mm grav_b=(-0.04,+0.07,-1.00) r=2.15m +[headless_play] t= 12.40s step= 620 trunk_z= 99.6mm grav_b=(-0.07,+0.07,-1.00) r=2.16m +[headless_play] t= 12.50s step= 625 trunk_z= 93.8mm grav_b=(-0.09,-0.03,-1.00) r=2.19m +[headless_play] t= 12.60s step= 630 trunk_z= 99.7mm grav_b=(-0.07,-0.05,-1.00) r=2.20m +[headless_play] t= 12.70s step= 635 trunk_z= 96.1mm grav_b=(-0.04,-0.03,-1.00) r=2.19m +[headless_play] t= 12.80s step= 640 trunk_z= 94.9mm grav_b=(-0.04,+0.04,-1.00) r=2.16m +[headless_play] t= 12.90s step= 645 trunk_z= 101.1mm grav_b=(-0.03,+0.07,-1.00) r=2.15m +[headless_play] t= 13.00s step= 650 trunk_z= 98.4mm grav_b=(-0.05,+0.04,-1.00) r=2.17m +[headless_play] t= 13.10s step= 655 trunk_z= 98.3mm grav_b=(-0.08,-0.05,-1.00) r=2.19m +[headless_play] t= 13.20s step= 660 trunk_z= 99.3mm grav_b=(-0.07,-0.06,-1.00) r=2.19m +[headless_play] t= 13.30s step= 665 trunk_z= 93.5mm grav_b=(-0.06,-0.01,-1.00) r=2.17m +[headless_play] t= 13.40s step= 670 trunk_z= 100.5mm grav_b=(-0.05,+0.07,-1.00) r=2.15m +[headless_play] t= 13.50s step= 675 trunk_z= 100.9mm grav_b=(-0.04,+0.07,-1.00) r=2.14m +[headless_play] t= 13.60s step= 680 trunk_z= 95.2mm grav_b=(-0.05,+0.01,-1.00) r=2.17m +[headless_play] t= 13.70s step= 685 trunk_z= 99.2mm grav_b=(-0.05,-0.04,-1.00) r=2.18m +[headless_play] t= 13.80s step= 690 trunk_z= 97.3mm grav_b=(-0.04,-0.03,-1.00) r=2.18m +[headless_play] t= 13.90s step= 695 trunk_z= 95.3mm grav_b=(-0.04,+0.06,-1.00) r=2.15m +[headless_play] t= 14.00s step= 700 trunk_z= 100.9mm grav_b=(-0.03,+0.06,-1.00) r=2.15m +[headless_play] t= 14.10s step= 705 trunk_z= 97.6mm grav_b=(-0.04,+0.03,-1.00) r=2.16m +[headless_play] t= 14.20s step= 710 trunk_z= 99.3mm grav_b=(-0.07,-0.06,-1.00) r=2.19m +[headless_play] t= 14.30s step= 715 trunk_z= 98.8mm grav_b=(-0.05,-0.04,-1.00) r=2.19m +[headless_play] t= 14.40s step= 720 trunk_z= 90.9mm grav_b=(-0.06,+0.03,-1.00) r=2.17m +[headless_play] t= 14.50s step= 725 trunk_z= 100.6mm grav_b=(-0.06,+0.05,-1.00) r=2.16m +[headless_play] t= 14.60s step= 730 trunk_z= 97.6mm grav_b=(-0.05,+0.05,-1.00) r=2.17m +[headless_play] t= 14.70s step= 735 trunk_z= 95.7mm grav_b=(-0.09,-0.04,-1.00) r=2.21m +[headless_play] t= 14.80s step= 740 trunk_z= 100.3mm grav_b=(-0.08,-0.06,-0.99) r=2.22m +[headless_play] t= 14.90s step= 745 trunk_z= 94.5mm grav_b=(-0.05,-0.02,-1.00) r=2.20m +[headless_play] t= 15.00s step= 750 trunk_z= 98.2mm grav_b=(-0.04,+0.07,-1.00) r=2.18m +[headless_play] t= 15.10s step= 755 trunk_z= 102.3mm grav_b=(-0.05,+0.07,-1.00) r=2.17m +[headless_play] t= 15.20s step= 760 trunk_z= 97.6mm grav_b=(-0.06,+0.00,-1.00) r=2.19m +[headless_play] t= 15.30s step= 765 trunk_z= 100.7mm grav_b=(-0.09,-0.05,-0.99) r=2.21m +[headless_play] t= 15.40s step= 770 trunk_z= 101.3mm grav_b=(-0.03,-0.05,-1.00) r=2.21m +[headless_play] t= 15.50s step= 775 trunk_z= 93.4mm grav_b=(-0.04,+0.03,-1.00) r=2.20m +[headless_play] t= 15.60s step= 780 trunk_z= 97.1mm grav_b=(-0.06,+0.06,-1.00) r=2.19m +[headless_play] t= 15.70s step= 785 trunk_z= 92.3mm grav_b=(-0.05,+0.06,-1.00) r=2.21m +[headless_play] t= 15.80s step= 790 trunk_z= 90.6mm grav_b=(-0.04,-0.02,-1.00) r=2.22m +[headless_play] t= 15.90s step= 795 trunk_z= 93.1mm grav_b=(-0.04,+0.00,-1.00) r=2.22m +[headless_play] t= 16.00s step= 800 trunk_z= 82.4mm grav_b=(-0.05,+0.03,-1.00) r=2.20m +[headless_play] t= 16.10s step= 805 trunk_z= 90.7mm grav_b=(-0.06,+0.08,-0.99) r=2.18m +[headless_play] t= 16.20s step= 810 trunk_z= 92.1mm grav_b=(-0.06,+0.09,-0.99) r=2.18m +[headless_play] t= 16.30s step= 815 trunk_z= 86.0mm grav_b=(-0.02,+0.06,-1.00) r=2.19m +[headless_play] t= 16.40s step= 820 trunk_z= 90.3mm grav_b=(+0.01,-0.02,-1.00) r=2.20m +[headless_play] t= 16.50s step= 825 trunk_z= 90.0mm grav_b=(+0.03,-0.03,-1.00) r=2.20m +[headless_play] t= 16.60s step= 830 trunk_z= 77.7mm grav_b=(+0.05,+0.01,-1.00) r=2.17m +[headless_play] t= 16.70s step= 835 trunk_z= 89.3mm grav_b=(-0.01,+0.07,-1.00) r=2.14m +[headless_play] t= 16.80s step= 840 trunk_z= 90.1mm grav_b=(-0.04,+0.08,-1.00) r=2.14m +[headless_play] t= 16.90s step= 845 trunk_z= 85.7mm grav_b=(+0.00,+0.06,-1.00) r=2.14m +[headless_play] t= 17.00s step= 850 trunk_z= 92.5mm grav_b=(-0.01,-0.01,-1.00) r=2.14m +[headless_play] t= 17.10s step= 855 trunk_z= 91.8mm grav_b=(-0.00,-0.00,-1.00) r=2.13m +[headless_play] t= 17.20s step= 860 trunk_z= 79.0mm grav_b=(-0.01,+0.04,-1.00) r=2.10m +[headless_play] t= 17.30s step= 865 trunk_z= 89.0mm grav_b=(-0.03,+0.08,-1.00) r=2.08m +[headless_play] t= 17.40s step= 870 trunk_z= 86.7mm grav_b=(-0.04,+0.07,-1.00) r=2.06m +[headless_play] t= 17.50s step= 875 trunk_z= 84.6mm grav_b=(-0.01,-0.01,-1.00) r=2.06m +[headless_play] t= 17.60s step= 880 trunk_z= 93.4mm grav_b=(-0.01,-0.01,-1.00) r=2.05m +[headless_play] t= 17.70s step= 885 trunk_z= 88.3mm grav_b=(+0.01,+0.00,-1.00) r=2.03m +[headless_play] t= 17.80s step= 890 trunk_z= 83.4mm grav_b=(-0.02,+0.06,-1.00) r=2.00m +[headless_play] t= 17.90s step= 895 trunk_z= 90.6mm grav_b=(-0.03,+0.08,-1.00) r=1.98m +[headless_play] t= 18.00s step= 900 trunk_z= 85.3mm grav_b=(-0.01,+0.07,-1.00) r=1.97m +[headless_play] t= 18.10s step= 905 trunk_z= 85.8mm grav_b=(+0.00,-0.04,-1.00) r=1.96m +[headless_play] t= 18.20s step= 910 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=1.94m +[headless_play] t= 18.30s step= 915 trunk_z= 84.5mm grav_b=(+0.02,+0.01,-1.00) r=1.92m +[headless_play] t= 18.40s step= 920 trunk_z= 86.4mm grav_b=(-0.02,+0.06,-1.00) r=1.90m +[headless_play] t= 18.50s step= 925 trunk_z= 90.4mm grav_b=(-0.04,+0.07,-1.00) r=1.89m +[headless_play] t= 18.60s step= 930 trunk_z= 85.6mm grav_b=(-0.00,+0.06,-1.00) r=1.88m +[headless_play] t= 18.70s step= 935 trunk_z= 88.3mm grav_b=(+0.00,-0.04,-1.00) r=1.87m +[headless_play] t= 18.80s step= 940 trunk_z= 91.9mm grav_b=(-0.01,-0.02,-1.00) r=1.85m +[headless_play] t= 18.90s step= 945 trunk_z= 81.2mm grav_b=(+0.01,+0.01,-1.00) r=1.84m +[headless_play] t= 19.00s step= 950 trunk_z= 87.5mm grav_b=(-0.02,+0.08,-1.00) r=1.82m +[headless_play] t= 19.10s step= 955 trunk_z= 88.5mm grav_b=(+0.02,+0.08,-1.00) r=1.81m +[headless_play] t= 19.20s step= 960 trunk_z= 85.6mm grav_b=(+0.06,+0.01,-1.00) r=1.81m +[headless_play] t= 19.30s step= 965 trunk_z= 89.4mm grav_b=(+0.00,+0.02,-1.00) r=1.81m +[headless_play] t= 19.40s step= 970 trunk_z= 90.3mm grav_b=(-0.01,+0.05,-1.00) r=1.82m +[headless_play] t= 19.50s step= 975 trunk_z= 88.5mm grav_b=(-0.04,-0.01,-1.00) r=1.82m +[headless_play] t= 19.60s step= 980 trunk_z= 88.8mm grav_b=(-0.02,+0.01,-1.00) r=1.81m +[headless_play] t= 19.70s step= 985 trunk_z= 88.9mm grav_b=(+0.03,+0.03,-1.00) r=1.81m +[headless_play] t= 19.80s step= 990 trunk_z= 89.3mm grav_b=(+0.05,+0.02,-1.00) r=1.81m +[headless_play] t= 19.90s step= 995 trunk_z= 89.8mm grav_b=(+0.03,+0.02,-1.00) r=1.82m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.3mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t1.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..30cd54431d461a82d2cbcbda180a18659e2e2794 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(+2.483,-17.930,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 117.6mm grav_b=(-0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(-0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(-0.04,+0.08,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 123.9mm grav_b=(-0.04,+0.06,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 116.7mm grav_b=(-0.03,+0.03,-1.00) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 123.5mm grav_b=(-0.00,-0.05,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 124.0mm grav_b=(-0.02,-0.06,-1.00) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 119.0mm grav_b=(-0.02,-0.04,-1.00) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 123.1mm grav_b=(-0.07,+0.04,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 120.0mm grav_b=(-0.06,+0.05,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(-0.02,-0.03,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 123.5mm grav_b=(-0.00,-0.03,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 119.9mm grav_b=(-0.01,-0.04,-1.00) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 121.8mm grav_b=(-0.05,+0.06,-1.00) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 123.4mm grav_b=(-0.06,+0.07,-1.00) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 116.0mm grav_b=(-0.04,+0.01,-1.00) r=0.36m +[headless_play] t= 1.80s step= 90 trunk_z= 122.9mm grav_b=(-0.00,-0.04,-1.00) r=0.35m +[headless_play] t= 1.90s step= 95 trunk_z= 120.9mm grav_b=(-0.00,-0.03,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 118.1mm grav_b=(-0.02,+0.06,-1.00) r=0.35m +[headless_play] t= 2.10s step= 105 trunk_z= 123.4mm grav_b=(-0.05,+0.06,-1.00) r=0.35m +[headless_play] t= 2.20s step= 110 trunk_z= 118.1mm grav_b=(-0.03,+0.06,-1.00) r=0.33m +[headless_play] t= 2.30s step= 115 trunk_z= 122.2mm grav_b=(-0.01,-0.04,-1.00) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 122.8mm grav_b=(-0.03,-0.04,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(-0.04,-0.01,-1.00) r=0.32m +[headless_play] t= 2.60s step= 130 trunk_z= 123.9mm grav_b=(-0.07,+0.06,-1.00) r=0.32m +[headless_play] t= 2.70s step= 135 trunk_z= 120.7mm grav_b=(-0.07,+0.06,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 119.3mm grav_b=(-0.02,-0.03,-1.00) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 123.4mm grav_b=(+0.00,-0.03,-1.00) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 119.9mm grav_b=(-0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 122.9mm grav_b=(-0.05,+0.07,-1.00) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 121.7mm grav_b=(-0.05,+0.06,-1.00) r=0.26m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.24m +[headless_play] t= 3.40s step= 170 trunk_z= 123.4mm grav_b=(-0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 3.50s step= 175 trunk_z= 119.2mm grav_b=(-0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 3.60s step= 180 trunk_z= 120.1mm grav_b=(-0.04,+0.04,-1.00) r=0.25m +[headless_play] t= 3.70s step= 185 trunk_z= 121.6mm grav_b=(-0.05,+0.03,-1.00) r=0.24m +[headless_play] t= 3.80s step= 190 trunk_z= 114.9mm grav_b=(-0.03,-0.00,-1.00) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 123.3mm grav_b=(-0.00,-0.04,-1.00) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 121.4mm grav_b=(-0.02,-0.04,-1.00) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 116.9mm grav_b=(-0.04,+0.05,-1.00) r=0.22m +[headless_play] t= 4.20s step= 210 trunk_z= 124.4mm grav_b=(-0.09,+0.06,-0.99) r=0.22m +[headless_play] t= 4.30s step= 215 trunk_z= 119.1mm grav_b=(-0.04,+0.05,-1.00) r=0.20m +[headless_play] t= 4.40s step= 220 trunk_z= 121.5mm grav_b=(-0.01,-0.03,-1.00) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 122.5mm grav_b=(-0.00,-0.02,-1.00) r=0.18m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(-0.03,+0.04,-1.00) r=0.19m +[headless_play] t= 4.70s step= 235 trunk_z= 123.5mm grav_b=(-0.06,+0.04,-1.00) r=0.19m +[headless_play] t= 4.80s step= 240 trunk_z= 117.4mm grav_b=(-0.05,+0.00,-1.00) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 123.5mm grav_b=(-0.03,-0.06,-1.00) r=0.15m +[headless_play] t= 5.00s step= 250 trunk_z= 123.0mm grav_b=(-0.02,-0.07,-1.00) r=0.15m +[headless_play] t= 5.10s step= 255 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.18m +[headless_play] t= 5.20s step= 260 trunk_z= 124.6mm grav_b=(-0.07,+0.06,-1.00) r=0.19m +[headless_play] t= 5.30s step= 265 trunk_z= 122.0mm grav_b=(-0.05,+0.05,-1.00) r=0.18m +[headless_play] t= 5.40s step= 270 trunk_z= 120.6mm grav_b=(-0.03,-0.05,-1.00) r=0.16m +[headless_play] t= 5.50s step= 275 trunk_z= 124.5mm grav_b=(-0.01,-0.07,-1.00) r=0.16m +[headless_play] t= 5.60s step= 280 trunk_z= 121.0mm grav_b=(-0.01,-0.06,-1.00) r=0.17m +[headless_play] t= 5.70s step= 285 trunk_z= 122.4mm grav_b=(-0.05,+0.05,-1.00) r=0.19m +[headless_play] t= 5.80s step= 290 trunk_z= 122.2mm grav_b=(-0.06,+0.04,-1.00) r=0.19m +[headless_play] t= 5.90s step= 295 trunk_z= 116.7mm grav_b=(-0.03,-0.05,-1.00) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 124.3mm grav_b=(-0.01,-0.07,-1.00) r=0.17m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(-0.01,-0.07,-1.00) r=0.18m +[headless_play] t= 6.20s step= 310 trunk_z= 118.9mm grav_b=(-0.03,+0.05,-1.00) r=0.20m +[headless_play] t= 6.30s step= 315 trunk_z= 123.7mm grav_b=(-0.06,+0.04,-1.00) r=0.21m +[headless_play] t= 6.40s step= 320 trunk_z= 118.6mm grav_b=(-0.04,+0.02,-1.00) r=0.20m +[headless_play] t= 6.50s step= 325 trunk_z= 122.9mm grav_b=(-0.02,-0.06,-1.00) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 122.8mm grav_b=(-0.00,-0.05,-1.00) r=0.20m +[headless_play] t= 6.70s step= 335 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 6.80s step= 340 trunk_z= 125.3mm grav_b=(-0.04,+0.04,-1.00) r=0.24m +[headless_play] t= 6.90s step= 345 trunk_z= 118.7mm grav_b=(-0.00,+0.02,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 117.5mm grav_b=(-0.08,-0.06,-1.00) r=0.23m +[headless_play] t= 7.10s step= 355 trunk_z= 121.9mm grav_b=(-0.05,-0.07,-1.00) r=0.23m +[headless_play] t= 7.20s step= 360 trunk_z= 119.0mm grav_b=(-0.03,-0.06,-1.00) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 111.5mm grav_b=(-0.00,+0.01,-1.00) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(+0.01,+0.03,-1.00) r=0.28m +[headless_play] t= 7.50s step= 375 trunk_z= 113.6mm grav_b=(+0.05,+0.04,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 110.1mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 117.7mm grav_b=(-0.06,-0.02,-1.00) r=0.28m +[headless_play] t= 7.80s step= 390 trunk_z= 115.6mm grav_b=(-0.04,-0.01,-1.00) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 112.8mm grav_b=(-0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 8.00s step= 400 trunk_z= 115.9mm grav_b=(-0.01,+0.03,-1.00) r=0.32m +[headless_play] t= 8.10s step= 405 trunk_z= 112.6mm grav_b=(+0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 8.20s step= 410 trunk_z= 112.8mm grav_b=(+0.01,-0.04,-1.00) r=0.32m +[headless_play] t= 8.30s step= 415 trunk_z= 115.0mm grav_b=(-0.00,-0.05,-1.00) r=0.32m +[headless_play] t= 8.40s step= 420 trunk_z= 112.0mm grav_b=(+0.02,-0.02,-1.00) r=0.34m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(-0.04,+0.03,-1.00) r=0.36m +[headless_play] t= 8.60s step= 430 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 8.70s step= 435 trunk_z= 111.4mm grav_b=(-0.03,-0.05,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 118.7mm grav_b=(-0.06,-0.04,-1.00) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 116.5mm grav_b=(-0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 110.6mm grav_b=(-0.02,+0.04,-1.00) r=0.40m +[headless_play] t= 9.10s step= 455 trunk_z= 113.8mm grav_b=(+0.02,+0.06,-1.00) r=0.42m +[headless_play] t= 9.20s step= 460 trunk_z= 110.7mm grav_b=(+0.08,+0.03,-1.00) r=0.42m +[headless_play] t= 9.30s step= 465 trunk_z= 112.8mm grav_b=(-0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(-0.04,-0.02,-1.00) r=0.44m +[headless_play] t= 9.50s step= 475 trunk_z= 112.3mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 9.60s step= 480 trunk_z= 116.4mm grav_b=(-0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 9.70s step= 485 trunk_z= 115.0mm grav_b=(+0.00,-0.00,-1.00) r=0.48m +[headless_play] t= 9.80s step= 490 trunk_z= 107.6mm grav_b=(-0.01,-0.05,-1.00) r=0.49m +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(-0.03,-0.05,-1.00) r=0.51m +[headless_play] t= 10.00s step= 500 trunk_z= 111.7mm grav_b=(+0.00,-0.03,-1.00) r=0.52m +[headless_play] t= 10.10s step= 505 trunk_z= 110.8mm grav_b=(+0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 10.20s step= 510 trunk_z= 115.7mm grav_b=(+0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 10.30s step= 515 trunk_z= 111.2mm grav_b=(+0.06,+0.01,-1.00) r=0.57m +[headless_play] t= 10.40s step= 520 trunk_z= 114.4mm grav_b=(-0.03,-0.04,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(-0.03,-0.02,-1.00) r=0.59m +[headless_play] t= 10.60s step= 530 trunk_z= 111.5mm grav_b=(-0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(-0.03,+0.01,-1.00) r=0.62m +[headless_play] t= 10.80s step= 540 trunk_z= 114.5mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 10.90s step= 545 trunk_z= 108.2mm grav_b=(+0.04,-0.03,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 115.1mm grav_b=(-0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 11.10s step= 555 trunk_z= 112.6mm grav_b=(-0.00,-0.01,-1.00) r=0.65m +[headless_play] t= 11.20s step= 560 trunk_z= 110.6mm grav_b=(+0.00,+0.03,-1.00) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.69m +[headless_play] t= 11.40s step= 570 trunk_z= 112.8mm grav_b=(+0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 11.50s step= 575 trunk_z= 121.5mm grav_b=(-0.03,-0.06,-1.00) r=0.68m +[headless_play] t= 11.60s step= 580 trunk_z= 121.9mm grav_b=(-0.00,-0.03,-1.00) r=0.69m +[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(+0.01,+0.03,-1.00) r=0.69m +[headless_play] t= 11.80s step= 590 trunk_z= 125.3mm grav_b=(-0.05,+0.07,-1.00) r=0.71m +[headless_play] t= 11.90s step= 595 trunk_z= 121.5mm grav_b=(-0.02,+0.06,-1.00) r=0.72m +[headless_play] t= 12.00s step= 600 trunk_z= 118.4mm grav_b=(-0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 12.10s step= 605 trunk_z= 123.8mm grav_b=(-0.01,-0.04,-1.00) r=0.72m +[headless_play] t= 12.20s step= 610 trunk_z= 120.4mm grav_b=(-0.03,-0.04,-1.00) r=0.73m +[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(-0.07,+0.05,-1.00) r=0.74m +[headless_play] t= 12.40s step= 620 trunk_z= 123.5mm grav_b=(-0.09,+0.05,-0.99) r=0.75m +[headless_play] t= 12.50s step= 625 trunk_z= 116.7mm grav_b=(-0.07,+0.02,-1.00) r=0.75m +[headless_play] t= 12.60s step= 630 trunk_z= 123.5mm grav_b=(-0.00,-0.05,-1.00) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 122.8mm grav_b=(-0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 12.80s step= 640 trunk_z= 117.5mm grav_b=(-0.02,+0.05,-1.00) r=0.78m +[headless_play] t= 12.90s step= 645 trunk_z= 124.1mm grav_b=(-0.04,+0.05,-1.00) r=0.79m +[headless_play] t= 13.00s step= 650 trunk_z= 119.9mm grav_b=(-0.04,+0.06,-1.00) r=0.80m +[headless_play] t= 13.10s step= 655 trunk_z= 121.2mm grav_b=(-0.03,-0.04,-1.00) r=0.80m +[headless_play] t= 13.20s step= 660 trunk_z= 123.0mm grav_b=(-0.06,-0.04,-1.00) r=0.82m +[headless_play] t= 13.30s step= 665 trunk_z= 118.4mm grav_b=(-0.04,-0.01,-1.00) r=0.84m +[headless_play] t= 13.40s step= 670 trunk_z= 117.7mm grav_b=(-0.02,-0.02,-1.00) r=0.87m +[headless_play] t= 13.50s step= 675 trunk_z= 94.5mm grav_b=(-0.06,-0.06,-1.00) r=0.92m +[headless_play] t= 13.60s step= 680 trunk_z= 102.2mm grav_b=(+0.02,-0.12,-0.99) r=0.96m +[headless_play] t= 13.70s step= 685 trunk_z= 105.3mm grav_b=(-0.03,-0.08,-1.00) r=0.98m +[headless_play] t= 13.80s step= 690 trunk_z= 98.3mm grav_b=(-0.08,-0.02,-1.00) r=1.02m +[headless_play] t= 13.90s step= 695 trunk_z= 99.1mm grav_b=(-0.12,+0.07,-0.99) r=1.05m +[headless_play] t= 14.00s step= 700 trunk_z= 100.8mm grav_b=(-0.08,+0.08,-0.99) r=1.05m +[headless_play] t= 14.10s step= 705 trunk_z= 93.0mm grav_b=(-0.05,+0.00,-1.00) r=1.04m +[headless_play] t= 14.20s step= 710 trunk_z= 98.4mm grav_b=(-0.03,-0.06,-1.00) r=1.05m +[headless_play] t= 14.30s step= 715 trunk_z= 94.8mm grav_b=(-0.03,-0.00,-1.00) r=1.05m +[headless_play] t= 14.40s step= 720 trunk_z= 96.2mm grav_b=(-0.05,+0.07,-1.00) r=1.07m +[headless_play] t= 14.50s step= 725 trunk_z= 99.4mm grav_b=(-0.05,+0.06,-1.00) r=1.09m +[headless_play] t= 14.60s step= 730 trunk_z= 92.5mm grav_b=(-0.04,+0.05,-1.00) r=1.09m +[headless_play] t= 14.70s step= 735 trunk_z= 98.5mm grav_b=(-0.02,-0.07,-1.00) r=1.09m +[headless_play] t= 14.80s step= 740 trunk_z= 99.4mm grav_b=(-0.04,-0.06,-1.00) r=1.09m +[headless_play] t= 14.90s step= 745 trunk_z= 94.4mm grav_b=(-0.03,-0.03,-1.00) r=1.10m +[headless_play] t= 15.00s step= 750 trunk_z= 97.9mm grav_b=(-0.06,+0.07,-1.00) r=1.11m +[headless_play] t= 15.10s step= 755 trunk_z= 97.7mm grav_b=(-0.05,+0.04,-1.00) r=1.13m +[headless_play] t= 15.20s step= 760 trunk_z= 91.2mm grav_b=(-0.04,-0.00,-1.00) r=1.13m +[headless_play] t= 15.30s step= 765 trunk_z= 99.4mm grav_b=(-0.01,-0.06,-1.00) r=1.14m +[headless_play] t= 15.40s step= 770 trunk_z= 98.1mm grav_b=(-0.04,-0.04,-1.00) r=1.14m +[headless_play] t= 15.50s step= 775 trunk_z= 91.6mm grav_b=(-0.04,+0.01,-1.00) r=1.15m +[headless_play] t= 15.60s step= 780 trunk_z= 98.9mm grav_b=(-0.04,+0.05,-1.00) r=1.16m +[headless_play] t= 15.70s step= 785 trunk_z= 95.5mm grav_b=(-0.04,+0.04,-1.00) r=1.17m +[headless_play] t= 15.80s step= 790 trunk_z= 96.1mm grav_b=(-0.02,-0.05,-1.00) r=1.17m +[headless_play] t= 15.90s step= 795 trunk_z= 98.0mm grav_b=(-0.04,-0.03,-1.00) r=1.19m +[headless_play] t= 16.00s step= 800 trunk_z= 91.6mm grav_b=(-0.02,-0.01,-1.00) r=1.20m +[headless_play] t= 16.10s step= 805 trunk_z= 98.8mm grav_b=(-0.06,+0.05,-1.00) r=1.20m +[headless_play] t= 16.20s step= 810 trunk_z= 96.5mm grav_b=(-0.02,-0.00,-1.00) r=1.21m +[headless_play] t= 16.30s step= 815 trunk_z= 98.2mm grav_b=(-0.03,-0.09,-1.00) r=1.21m +[headless_play] t= 16.40s step= 820 trunk_z= 102.7mm grav_b=(-0.05,-0.09,-0.99) r=1.21m +[headless_play] t= 16.50s step= 825 trunk_z= 101.4mm grav_b=(-0.08,-0.08,-0.99) r=1.23m +[headless_play] t= 16.60s step= 830 trunk_z= 96.5mm grav_b=(-0.09,+0.03,-1.00) r=1.25m +[headless_play] t= 16.70s step= 835 trunk_z= 100.8mm grav_b=(-0.05,+0.05,-1.00) r=1.25m +[headless_play] t= 16.80s step= 840 trunk_z= 96.5mm grav_b=(-0.03,+0.01,-1.00) r=1.25m +[headless_play] t= 16.90s step= 845 trunk_z= 99.0mm grav_b=(-0.03,-0.09,-1.00) r=1.25m +[headless_play] t= 17.00s step= 850 trunk_z= 102.8mm grav_b=(-0.05,-0.11,-0.99) r=1.25m +[headless_play] t= 17.10s step= 855 trunk_z= 101.1mm grav_b=(-0.07,-0.09,-0.99) r=1.26m +[headless_play] t= 17.20s step= 860 trunk_z= 96.4mm grav_b=(-0.08,+0.02,-1.00) r=1.28m +[headless_play] t= 17.30s step= 865 trunk_z= 101.0mm grav_b=(-0.04,+0.04,-1.00) r=1.29m +[headless_play] t= 17.40s step= 870 trunk_z= 98.6mm grav_b=(-0.03,+0.03,-1.00) r=1.30m +[headless_play] t= 17.50s step= 875 trunk_z= 97.8mm grav_b=(-0.03,-0.08,-1.00) r=1.29m +[headless_play] t= 17.60s step= 880 trunk_z= 102.4mm grav_b=(-0.05,-0.12,-0.99) r=1.29m +[headless_play] t= 17.70s step= 885 trunk_z= 101.4mm grav_b=(-0.09,-0.10,-0.99) r=1.30m +[headless_play] t= 17.80s step= 890 trunk_z= 94.4mm grav_b=(-0.09,-0.01,-1.00) r=1.31m +[headless_play] t= 17.90s step= 895 trunk_z= 99.2mm grav_b=(-0.07,+0.03,-1.00) r=1.32m +[headless_play] t= 18.00s step= 900 trunk_z= 96.0mm grav_b=(-0.04,-0.00,-1.00) r=1.32m +[headless_play] t= 18.10s step= 905 trunk_z= 99.7mm grav_b=(-0.03,-0.09,-1.00) r=1.31m +[headless_play] t= 18.20s step= 910 trunk_z= 102.6mm grav_b=(-0.04,-0.10,-0.99) r=1.32m +[headless_play] t= 18.30s step= 915 trunk_z= 100.6mm grav_b=(-0.09,-0.07,-0.99) r=1.33m +[headless_play] t= 18.40s step= 920 trunk_z= 98.0mm grav_b=(-0.09,+0.02,-1.00) r=1.35m +[headless_play] t= 18.50s step= 925 trunk_z= 98.5mm grav_b=(-0.07,+0.03,-1.00) r=1.36m +[headless_play] t= 18.60s step= 930 trunk_z= 94.3mm grav_b=(-0.04,-0.05,-1.00) r=1.35m +[headless_play] t= 18.70s step= 935 trunk_z= 102.0mm grav_b=(-0.03,-0.09,-1.00) r=1.35m +[headless_play] t= 18.80s step= 940 trunk_z= 101.2mm grav_b=(-0.06,-0.07,-1.00) r=1.36m +[headless_play] t= 18.90s step= 945 trunk_z= 95.0mm grav_b=(-0.08,+0.03,-1.00) r=1.39m +[headless_play] t= 19.00s step= 950 trunk_z= 101.3mm grav_b=(-0.05,+0.06,-1.00) r=1.40m +[headless_play] t= 19.10s step= 955 trunk_z= 99.5mm grav_b=(-0.03,+0.03,-1.00) r=1.40m +[headless_play] t= 19.20s step= 960 trunk_z= 96.5mm grav_b=(-0.03,-0.06,-1.00) r=1.39m +[headless_play] t= 19.30s step= 965 trunk_z= 102.8mm grav_b=(-0.04,-0.11,-0.99) r=1.39m +[headless_play] t= 19.40s step= 970 trunk_z= 102.7mm grav_b=(-0.05,-0.07,-1.00) r=1.40m +[headless_play] t= 19.50s step= 975 trunk_z= 95.0mm grav_b=(-0.03,+0.02,-1.00) r=1.43m +[headless_play] t= 19.60s step= 980 trunk_z= 98.0mm grav_b=(-0.03,+0.03,-1.00) r=1.44m +[headless_play] t= 19.70s step= 985 trunk_z= 92.1mm grav_b=(-0.01,-0.01,-1.00) r=1.43m +[headless_play] t= 19.80s step= 990 trunk_z= 95.3mm grav_b=(-0.03,-0.07,-1.00) r=1.43m +[headless_play] t= 19.90s step= 995 trunk_z= 93.9mm grav_b=(-0.02,-0.05,-1.00) r=1.44m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.0mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=0.53m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t10.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..5678143a728eec43edf1206b352edee4031156f7 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.375,-17.656,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.6mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 117.2mm grav_b=(+0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.40s step= 70 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.60s step= 80 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 1.90s step= 95 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 3.40s step= 170 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 3.50s step= 175 trunk_z= 115.9mm grav_b=(+0.04,+0.05,-1.00) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 120.7mm grav_b=(+0.03,+0.06,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 120.4mm grav_b=(-0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 119.1mm grav_b=(+0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 121.4mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 113.9mm grav_b=(+0.02,+0.04,-1.00) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 122.5mm grav_b=(-0.01,+0.05,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 121.2mm grav_b=(-0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 120.0mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 123.5mm grav_b=(+0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 4.50s step= 225 trunk_z= 118.6mm grav_b=(+0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 123.0mm grav_b=(-0.00,+0.05,-1.00) r=0.55m +[headless_play] t= 4.70s step= 235 trunk_z= 123.2mm grav_b=(-0.03,+0.05,-1.00) r=0.55m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 4.90s step= 245 trunk_z= 123.5mm grav_b=(+0.02,-0.02,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 120.5mm grav_b=(+0.03,-0.00,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 123.1mm grav_b=(+0.00,+0.05,-1.00) r=0.56m +[headless_play] t= 5.20s step= 260 trunk_z= 124.1mm grav_b=(-0.01,+0.07,-1.00) r=0.56m +[headless_play] t= 5.30s step= 265 trunk_z= 119.7mm grav_b=(-0.02,+0.04,-1.00) r=0.58m +[headless_play] t= 5.40s step= 270 trunk_z= 122.8mm grav_b=(-0.01,-0.03,-1.00) r=0.60m +[headless_play] t= 5.50s step= 275 trunk_z= 122.3mm grav_b=(+0.02,-0.03,-1.00) r=0.60m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(-0.01,+0.03,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 124.4mm grav_b=(-0.03,+0.05,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 121.8mm grav_b=(-0.04,+0.05,-1.00) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 121.6mm grav_b=(-0.02,-0.04,-1.00) r=0.61m +[headless_play] t= 6.00s step= 300 trunk_z= 123.3mm grav_b=(+0.01,-0.03,-1.00) r=0.62m +[headless_play] t= 6.10s step= 305 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 125.3mm grav_b=(-0.01,+0.01,-1.00) r=0.59m +[headless_play] t= 6.30s step= 315 trunk_z= 123.0mm grav_b=(-0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(-0.02,-0.04,-1.00) r=0.62m +[headless_play] t= 6.50s step= 325 trunk_z= 122.2mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 6.60s step= 330 trunk_z= 121.3mm grav_b=(+0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 6.70s step= 335 trunk_z= 120.9mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 6.80s step= 340 trunk_z= 119.6mm grav_b=(-0.03,+0.02,-1.00) r=0.62m +[headless_play] t= 6.90s step= 345 trunk_z= 118.3mm grav_b=(-0.05,+0.01,-1.00) r=0.62m +[headless_play] t= 7.00s step= 350 trunk_z= 118.1mm grav_b=(-0.03,+0.01,-1.00) r=0.62m +[headless_play] t= 7.10s step= 355 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 7.30s step= 365 trunk_z= 117.0mm grav_b=(+0.05,+0.01,-1.00) r=0.63m +[headless_play] t= 7.40s step= 370 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 7.50s step= 375 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 7.60s step= 380 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 116.4mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 8.40s step= 420 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 8.50s step= 425 trunk_z= 116.2mm grav_b=(+0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 8.70s step= 435 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(+0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.40s step= 470 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.40s step= 520 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 10.80s step= 540 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 10.90s step= 545 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.63m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 11.20s step= 560 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 11.30s step= 565 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.63m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(+0.04,+0.00,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 11.90s step= 595 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 12.00s step= 600 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 12.10s step= 605 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.20s step= 610 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.30s step= 615 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.40s step= 620 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.60s step= 630 trunk_z= 117.3mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.70s step= 635 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.10s step= 655 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.20s step= 660 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.30s step= 665 trunk_z= 117.2mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.40s step= 670 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.50s step= 675 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.60s step= 680 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.70s step= 685 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 13.90s step= 695 trunk_z= 117.2mm grav_b=(+0.00,+0.00,-1.00) r=0.63m +[headless_play] t= 14.00s step= 700 trunk_z= 117.5mm grav_b=(+0.01,-0.05,-1.00) r=0.64m +[headless_play] t= 14.10s step= 705 trunk_z= 117.2mm grav_b=(+0.00,-0.10,-0.99) r=0.66m +[headless_play] t= 14.20s step= 710 trunk_z= 122.5mm grav_b=(+0.03,-0.04,-1.00) r=0.67m +[headless_play] t= 14.30s step= 715 trunk_z= 114.2mm grav_b=(+0.02,+0.03,-1.00) r=0.65m +[headless_play] t= 14.40s step= 720 trunk_z= 123.6mm grav_b=(+0.03,+0.03,-1.00) r=0.64m +[headless_play] t= 14.50s step= 725 trunk_z= 121.3mm grav_b=(+0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 14.60s step= 730 trunk_z= 121.8mm grav_b=(-0.02,-0.02,-1.00) r=0.67m +[headless_play] t= 14.70s step= 735 trunk_z= 121.7mm grav_b=(+0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 14.80s step= 740 trunk_z= 117.1mm grav_b=(-0.00,+0.04,-1.00) r=0.65m +[headless_play] t= 14.90s step= 745 trunk_z= 125.6mm grav_b=(+0.00,+0.04,-1.00) r=0.64m +[headless_play] t= 15.00s step= 750 trunk_z= 125.1mm grav_b=(-0.00,+0.05,-1.00) r=0.65m +[headless_play] t= 15.10s step= 755 trunk_z= 119.7mm grav_b=(+0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 15.20s step= 760 trunk_z= 124.1mm grav_b=(+0.04,-0.03,-1.00) r=0.68m +[headless_play] t= 15.30s step= 765 trunk_z= 119.6mm grav_b=(+0.01,-0.02,-1.00) r=0.67m +[headless_play] t= 15.40s step= 770 trunk_z= 123.2mm grav_b=(-0.02,+0.03,-1.00) r=0.65m +[headless_play] t= 15.50s step= 775 trunk_z= 124.9mm grav_b=(-0.03,+0.05,-1.00) r=0.66m +[headless_play] t= 15.60s step= 780 trunk_z= 118.8mm grav_b=(-0.03,-0.01,-1.00) r=0.68m +[headless_play] t= 15.70s step= 785 trunk_z= 125.0mm grav_b=(+0.01,-0.05,-1.00) r=0.70m +[headless_play] t= 15.80s step= 790 trunk_z= 123.3mm grav_b=(+0.03,-0.03,-1.00) r=0.69m +[headless_play] t= 15.90s step= 795 trunk_z= 118.4mm grav_b=(-0.01,+0.04,-1.00) r=0.67m +[headless_play] t= 16.00s step= 800 trunk_z= 125.2mm grav_b=(-0.04,+0.05,-1.00) r=0.66m +[headless_play] t= 16.10s step= 805 trunk_z= 122.4mm grav_b=(-0.05,+0.04,-1.00) r=0.68m +[headless_play] t= 16.20s step= 810 trunk_z= 123.1mm grav_b=(+0.00,-0.04,-1.00) r=0.70m +[headless_play] t= 16.30s step= 815 trunk_z= 124.8mm grav_b=(+0.04,-0.03,-1.00) r=0.70m +[headless_play] t= 16.40s step= 820 trunk_z= 118.8mm grav_b=(-0.00,+0.01,-1.00) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 124.3mm grav_b=(-0.01,+0.06,-1.00) r=0.67m +[headless_play] t= 16.60s step= 830 trunk_z= 124.0mm grav_b=(-0.04,+0.05,-1.00) r=0.68m +[headless_play] t= 16.70s step= 835 trunk_z= 119.2mm grav_b=(-0.03,-0.04,-1.00) r=0.70m +[headless_play] t= 16.80s step= 840 trunk_z= 125.0mm grav_b=(+0.01,-0.06,-1.00) r=0.71m +[headless_play] t= 16.90s step= 845 trunk_z= 123.1mm grav_b=(+0.02,-0.02,-1.00) r=0.70m +[headless_play] t= 17.00s step= 850 trunk_z= 120.8mm grav_b=(-0.01,+0.04,-1.00) r=0.68m +[headless_play] t= 17.10s step= 855 trunk_z= 124.3mm grav_b=(-0.04,+0.04,-1.00) r=0.67m +[headless_play] t= 17.20s step= 860 trunk_z= 119.0mm grav_b=(-0.04,+0.00,-1.00) r=0.69m +[headless_play] t= 17.30s step= 865 trunk_z= 123.8mm grav_b=(+0.01,-0.06,-1.00) r=0.71m +[headless_play] t= 17.40s step= 870 trunk_z= 124.5mm grav_b=(+0.03,-0.02,-1.00) r=0.70m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.02,+0.02,-1.00) r=0.68m +[headless_play] t= 17.60s step= 880 trunk_z= 124.2mm grav_b=(-0.04,+0.03,-1.00) r=0.67m +[headless_play] t= 17.70s step= 885 trunk_z= 120.3mm grav_b=(-0.05,+0.02,-1.00) r=0.69m +[headless_play] t= 17.80s step= 890 trunk_z= 123.6mm grav_b=(+0.01,-0.05,-1.00) r=0.71m +[headless_play] t= 17.90s step= 895 trunk_z= 124.9mm grav_b=(+0.03,-0.02,-1.00) r=0.71m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.68m +[headless_play] t= 18.10s step= 905 trunk_z= 124.2mm grav_b=(-0.03,+0.04,-1.00) r=0.67m +[headless_play] t= 18.20s step= 910 trunk_z= 122.1mm grav_b=(-0.06,+0.03,-1.00) r=0.68m +[headless_play] t= 18.30s step= 915 trunk_z= 121.6mm grav_b=(-0.01,-0.05,-1.00) r=0.70m +[headless_play] t= 18.40s step= 920 trunk_z= 125.2mm grav_b=(+0.03,-0.03,-1.00) r=0.70m +[headless_play] t= 18.50s step= 925 trunk_z= 120.9mm grav_b=(+0.01,-0.01,-1.00) r=0.68m +[headless_play] t= 18.60s step= 930 trunk_z= 122.7mm grav_b=(-0.02,+0.05,-1.00) r=0.66m +[headless_play] t= 18.70s step= 935 trunk_z= 122.9mm grav_b=(-0.05,+0.04,-1.00) r=0.66m +[headless_play] t= 18.80s step= 940 trunk_z= 120.4mm grav_b=(-0.01,-0.04,-1.00) r=0.68m +[headless_play] t= 18.90s step= 945 trunk_z= 125.1mm grav_b=(+0.04,-0.03,-1.00) r=0.68m +[headless_play] t= 19.00s step= 950 trunk_z= 121.9mm grav_b=(+0.01,-0.01,-1.00) r=0.66m +[headless_play] t= 19.10s step= 955 trunk_z= 122.2mm grav_b=(-0.02,+0.06,-1.00) r=0.63m +[headless_play] t= 19.20s step= 960 trunk_z= 123.6mm grav_b=(-0.06,+0.04,-1.00) r=0.63m +[headless_play] t= 19.30s step= 965 trunk_z= 118.9mm grav_b=(-0.04,-0.04,-1.00) r=0.65m +[headless_play] t= 19.40s step= 970 trunk_z= 125.9mm grav_b=(+0.03,-0.05,-1.00) r=0.65m +[headless_play] t= 19.50s step= 975 trunk_z= 125.6mm grav_b=(-0.02,-0.02,-1.00) r=0.63m +[headless_play] t= 19.60s step= 980 trunk_z= 118.7mm grav_b=(-0.04,+0.08,-1.00) r=0.60m +[headless_play] t= 19.70s step= 985 trunk_z= 123.1mm grav_b=(+0.00,+0.06,-1.00) r=0.58m +[headless_play] t= 19.80s step= 990 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 19.90s step= 995 trunk_z= 119.0mm grav_b=(+0.02,-0.01,-1.00) r=0.58m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.1mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.42m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t11.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..3ea778306f310206a2a5142da52e06efeebb0121 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.032,-18.099,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.10m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.01,+0.05,-1.00) r=0.10m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(-0.02,+0.13,-0.99) r=0.10m +[headless_play] t= 0.30s step= 15 trunk_z= 123.3mm grav_b=(+0.00,+0.14,-0.99) r=0.10m +[headless_play] t= 0.40s step= 20 trunk_z= 121.3mm grav_b=(+0.03,+0.15,-0.99) r=0.11m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(+0.04,+0.09,-0.99) r=0.13m +[headless_play] t= 0.60s step= 30 trunk_z= 120.7mm grav_b=(-0.01,+0.01,-1.00) r=0.15m +[headless_play] t= 0.70s step= 35 trunk_z= 118.9mm grav_b=(+0.01,+0.04,-1.00) r=0.14m +[headless_play] t= 0.80s step= 40 trunk_z= 119.1mm grav_b=(-0.00,+0.12,-0.99) r=0.13m +[headless_play] t= 0.90s step= 45 trunk_z= 123.2mm grav_b=(+0.01,+0.15,-0.99) r=0.13m +[headless_play] t= 1.00s step= 50 trunk_z= 121.4mm grav_b=(+0.05,+0.14,-0.99) r=0.14m +[headless_play] t= 1.10s step= 55 trunk_z= 118.3mm grav_b=(+0.04,+0.09,-0.99) r=0.16m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(+0.00,-0.00,-1.00) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 119.7mm grav_b=(-0.01,+0.04,-1.00) r=0.16m +[headless_play] t= 1.40s step= 70 trunk_z= 117.1mm grav_b=(+0.01,+0.12,-0.99) r=0.14m +[headless_play] t= 1.50s step= 75 trunk_z= 122.6mm grav_b=(+0.03,+0.16,-0.99) r=0.14m +[headless_play] t= 1.60s step= 80 trunk_z= 122.4mm grav_b=(+0.04,+0.19,-0.98) r=0.14m +[headless_play] t= 1.70s step= 85 trunk_z= 122.9mm grav_b=(+0.05,+0.17,-0.98) r=0.15m +[headless_play] t= 1.80s step= 90 trunk_z= 122.9mm grav_b=(+0.06,+0.12,-0.99) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 119.1mm grav_b=(+0.05,+0.02,-1.00) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 115.6mm grav_b=(+0.04,+0.04,-1.00) r=0.19m +[headless_play] t= 2.10s step= 105 trunk_z= 120.2mm grav_b=(-0.02,+0.12,-0.99) r=0.19m +[headless_play] t= 2.20s step= 110 trunk_z= 124.2mm grav_b=(-0.01,+0.15,-0.99) r=0.20m +[headless_play] t= 2.30s step= 115 trunk_z= 122.5mm grav_b=(+0.02,+0.13,-0.99) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 118.1mm grav_b=(+0.03,+0.06,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 119.6mm grav_b=(-0.00,+0.00,-1.00) r=0.24m +[headless_play] t= 2.60s step= 130 trunk_z= 116.5mm grav_b=(+0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 119.9mm grav_b=(+0.01,+0.12,-0.99) r=0.22m +[headless_play] t= 2.80s step= 140 trunk_z= 122.8mm grav_b=(+0.03,+0.16,-0.99) r=0.22m +[headless_play] t= 2.90s step= 145 trunk_z= 121.7mm grav_b=(+0.06,+0.16,-0.98) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 119.8mm grav_b=(+0.05,+0.12,-0.99) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 3.20s step= 160 trunk_z= 120.1mm grav_b=(-0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 3.30s step= 165 trunk_z= 111.6mm grav_b=(+0.02,+0.06,-1.00) r=0.24m +[headless_play] t= 3.40s step= 170 trunk_z= 122.5mm grav_b=(+0.03,+0.15,-0.99) r=0.24m +[headless_play] t= 3.50s step= 175 trunk_z= 123.2mm grav_b=(+0.04,+0.17,-0.98) r=0.24m +[headless_play] t= 3.60s step= 180 trunk_z= 121.3mm grav_b=(+0.06,+0.15,-0.99) r=0.25m +[headless_play] t= 3.70s step= 185 trunk_z= 117.2mm grav_b=(+0.05,+0.09,-1.00) r=0.26m +[headless_play] t= 3.80s step= 190 trunk_z= 120.0mm grav_b=(+0.00,-0.00,-1.00) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 118.5mm grav_b=(-0.01,+0.03,-1.00) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 116.4mm grav_b=(+0.00,+0.11,-0.99) r=0.26m +[headless_play] t= 4.10s step= 205 trunk_z= 123.2mm grav_b=(+0.02,+0.16,-0.99) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 123.0mm grav_b=(+0.04,+0.17,-0.99) r=0.26m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(+0.05,+0.13,-0.99) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 115.5mm grav_b=(+0.04,+0.04,-1.00) r=0.28m +[headless_play] t= 4.50s step= 225 trunk_z= 120.7mm grav_b=(+0.00,+0.02,-1.00) r=0.29m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(+0.01,+0.05,-1.00) r=0.28m +[headless_play] t= 4.70s step= 235 trunk_z= 121.2mm grav_b=(+0.01,+0.11,-0.99) r=0.28m +[headless_play] t= 4.80s step= 240 trunk_z= 123.2mm grav_b=(+0.01,+0.14,-0.99) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 121.0mm grav_b=(+0.04,+0.13,-0.99) r=0.29m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(+0.03,+0.04,-1.00) r=0.31m +[headless_play] t= 5.10s step= 255 trunk_z= 120.6mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 5.20s step= 260 trunk_z= 116.7mm grav_b=(+0.03,+0.04,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.03,+0.13,-0.99) r=0.31m +[headless_play] t= 5.40s step= 270 trunk_z= 120.8mm grav_b=(-0.01,+0.20,-0.98) r=0.31m +[headless_play] t= 5.50s step= 275 trunk_z= 122.9mm grav_b=(+0.06,+0.34,-0.94) r=0.30m +[headless_play] t= 5.60s step= 280 trunk_z= 124.0mm grav_b=(+0.20,+0.37,-0.91) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 129.2mm grav_b=(+0.10,+0.22,-0.97) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.06,+0.18,-0.98) r=0.29m +[headless_play] t= 5.90s step= 295 trunk_z= 122.4mm grav_b=(-0.12,+0.03,-0.99) r=0.28m +[headless_play] t= 6.00s step= 300 trunk_z= 113.6mm grav_b=(-0.06,+0.16,-0.99) r=0.29m +[headless_play] t= 6.10s step= 305 trunk_z= 128.8mm grav_b=(-0.08,+0.25,-0.97) r=0.27m +[headless_play] t= 6.20s step= 310 trunk_z= 132.8mm grav_b=(-0.08,+0.21,-0.97) r=0.24m +[headless_play] t= 6.30s step= 315 trunk_z= 116.4mm grav_b=(-0.20,+0.34,-0.92) r=0.21m +[headless_play] t= 6.40s step= 320 trunk_z= 85.5mm grav_b=(-0.51,+0.32,-0.80) r=0.20m +[headless_play] RESET at t= 6.50s step= 325 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 128.7mm grav_b=(-0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 6.60s step= 330 trunk_z= 116.0mm grav_b=(-0.01,+0.03,-1.00) r=0.35m +[headless_play] t= 6.70s step= 335 trunk_z= 114.6mm grav_b=(+0.02,+0.07,-1.00) r=0.38m +[headless_play] t= 6.80s step= 340 trunk_z= 123.2mm grav_b=(+0.03,+0.08,-1.00) r=0.39m +[headless_play] t= 6.90s step= 345 trunk_z= 123.8mm grav_b=(+0.05,+0.08,-1.00) r=0.38m +[headless_play] t= 7.00s step= 350 trunk_z= 119.1mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 7.10s step= 355 trunk_z= 126.1mm grav_b=(+0.07,-0.06,-1.00) r=0.34m +[headless_play] t= 7.20s step= 360 trunk_z= 124.5mm grav_b=(+0.02,-0.03,-1.00) r=0.35m +[headless_play] t= 7.30s step= 365 trunk_z= 122.0mm grav_b=(+0.03,+0.07,-1.00) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 125.1mm grav_b=(+0.04,+0.05,-1.00) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 120.6mm grav_b=(+0.03,+0.05,-1.00) r=0.36m +[headless_play] t= 7.60s step= 380 trunk_z= 123.3mm grav_b=(+0.03,-0.04,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 123.9mm grav_b=(+0.04,-0.04,-1.00) r=0.34m +[headless_play] t= 7.80s step= 390 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00) r=0.36m +[headless_play] t= 7.90s step= 395 trunk_z= 124.2mm grav_b=(+0.04,+0.07,-1.00) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 124.0mm grav_b=(+0.03,+0.05,-1.00) r=0.37m +[headless_play] t= 8.10s step= 405 trunk_z= 120.2mm grav_b=(+0.02,-0.02,-1.00) r=0.35m +[headless_play] t= 8.20s step= 410 trunk_z= 125.3mm grav_b=(+0.04,-0.04,-1.00) r=0.34m +[headless_play] t= 8.30s step= 415 trunk_z= 122.3mm grav_b=(+0.04,-0.03,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 123.5mm grav_b=(+0.04,+0.06,-1.00) r=0.38m +[headless_play] t= 8.50s step= 425 trunk_z= 125.0mm grav_b=(+0.05,+0.06,-1.00) r=0.39m +[headless_play] t= 8.60s step= 430 trunk_z= 120.4mm grav_b=(+0.04,+0.03,-1.00) r=0.37m +[headless_play] t= 8.70s step= 435 trunk_z= 124.9mm grav_b=(+0.05,-0.06,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 124.2mm grav_b=(+0.05,-0.05,-1.00) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 117.5mm grav_b=(+0.02,+0.04,-1.00) r=0.40m +[headless_play] t= 9.00s step= 450 trunk_z= 125.1mm grav_b=(+0.04,+0.07,-1.00) r=0.41m +[headless_play] t= 9.10s step= 455 trunk_z= 122.9mm grav_b=(+0.04,+0.07,-1.00) r=0.40m +[headless_play] t= 9.20s step= 460 trunk_z= 119.7mm grav_b=(+0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 9.30s step= 465 trunk_z= 124.1mm grav_b=(+0.02,-0.04,-1.00) r=0.38m +[headless_play] t= 9.40s step= 470 trunk_z= 118.3mm grav_b=(+0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 9.50s step= 475 trunk_z= 123.8mm grav_b=(+0.03,+0.06,-1.00) r=0.42m +[headless_play] t= 9.60s step= 480 trunk_z= 123.2mm grav_b=(+0.03,+0.06,-1.00) r=0.42m +[headless_play] t= 9.70s step= 485 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 9.80s step= 490 trunk_z= 123.8mm grav_b=(+0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 9.90s step= 495 trunk_z= 119.8mm grav_b=(+0.03,-0.02,-1.00) r=0.41m +[headless_play] t= 10.00s step= 500 trunk_z= 122.4mm grav_b=(+0.02,+0.05,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 123.5mm grav_b=(+0.03,+0.06,-1.00) r=0.44m +[headless_play] t= 10.20s step= 510 trunk_z= 118.1mm grav_b=(+0.02,+0.03,-1.00) r=0.42m +[headless_play] t= 10.30s step= 515 trunk_z= 123.6mm grav_b=(+0.01,-0.05,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 122.7mm grav_b=(+0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 10.50s step= 525 trunk_z= 119.0mm grav_b=(+0.03,+0.05,-1.00) r=0.44m +[headless_play] t= 10.60s step= 530 trunk_z= 126.8mm grav_b=(+0.02,+0.06,-1.00) r=0.45m +[headless_play] t= 10.70s step= 535 trunk_z= 124.4mm grav_b=(-0.01,+0.07,-1.00) r=0.45m +[headless_play] t= 10.80s step= 540 trunk_z= 120.8mm grav_b=(+0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 10.90s step= 545 trunk_z= 125.6mm grav_b=(+0.04,-0.03,-1.00) r=0.44m +[headless_play] t= 11.00s step= 550 trunk_z= 123.2mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 11.10s step= 555 trunk_z= 123.4mm grav_b=(+0.02,+0.07,-1.00) r=0.48m +[headless_play] t= 11.20s step= 560 trunk_z= 127.0mm grav_b=(-0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 11.30s step= 565 trunk_z= 120.9mm grav_b=(-0.01,+0.05,-1.00) r=0.49m +[headless_play] t= 11.40s step= 570 trunk_z= 124.4mm grav_b=(+0.02,-0.07,-1.00) r=0.48m +[headless_play] t= 11.50s step= 575 trunk_z= 126.6mm grav_b=(+0.03,-0.05,-1.00) r=0.49m +[headless_play] t= 11.60s step= 580 trunk_z= 122.0mm grav_b=(+0.02,-0.02,-1.00) r=0.50m +[headless_play] t= 11.70s step= 585 trunk_z= 125.2mm grav_b=(+0.04,+0.06,-1.00) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 126.4mm grav_b=(-0.00,+0.05,-1.00) r=0.53m +[headless_play] t= 11.90s step= 595 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 12.00s step= 600 trunk_z= 125.2mm grav_b=(+0.02,-0.05,-1.00) r=0.52m +[headless_play] t= 12.10s step= 605 trunk_z= 122.8mm grav_b=(+0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 12.20s step= 610 trunk_z= 121.1mm grav_b=(+0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 125.1mm grav_b=(-0.02,+0.05,-1.00) r=0.56m +[headless_play] t= 12.40s step= 620 trunk_z= 121.2mm grav_b=(-0.03,+0.05,-1.00) r=0.56m +[headless_play] t= 12.50s step= 625 trunk_z= 123.6mm grav_b=(+0.00,-0.04,-1.00) r=0.56m +[headless_play] t= 12.60s step= 630 trunk_z= 125.7mm grav_b=(+0.03,-0.04,-1.00) r=0.56m +[headless_play] t= 12.70s step= 635 trunk_z= 120.3mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 126.4mm grav_b=(+0.02,+0.07,-1.00) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 126.7mm grav_b=(-0.00,+0.07,-1.00) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 119.4mm grav_b=(-0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 13.10s step= 655 trunk_z= 124.7mm grav_b=(+0.02,-0.05,-1.00) r=0.61m +[headless_play] t= 13.20s step= 660 trunk_z= 125.6mm grav_b=(-0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 13.30s step= 665 trunk_z= 121.6mm grav_b=(+0.01,+0.09,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 125.9mm grav_b=(+0.03,+0.11,-0.99) r=0.68m +[headless_play] t= 13.50s step= 675 trunk_z= 119.8mm grav_b=(+0.02,+0.09,-1.00) r=0.69m +[headless_play] t= 13.60s step= 680 trunk_z= 114.2mm grav_b=(+0.00,-0.02,-1.00) r=0.71m +[headless_play] t= 13.70s step= 685 trunk_z= 121.7mm grav_b=(-0.02,-0.04,-1.00) r=0.71m +[headless_play] t= 13.80s step= 690 trunk_z= 117.8mm grav_b=(+0.02,-0.02,-1.00) r=0.70m +[headless_play] t= 13.90s step= 695 trunk_z= 116.4mm grav_b=(+0.02,+0.07,-1.00) r=0.70m +[headless_play] t= 14.00s step= 700 trunk_z= 116.0mm grav_b=(+0.07,+0.07,-1.00) r=0.72m +[headless_play] t= 14.10s step= 705 trunk_z= 113.6mm grav_b=(+0.07,+0.01,-1.00) r=0.74m +[headless_play] t= 14.20s step= 710 trunk_z= 99.6mm grav_b=(+0.02,-0.19,-0.98) r=0.77m +[headless_play] t= 14.30s step= 715 trunk_z= 105.9mm grav_b=(+0.06,-0.28,-0.96) r=0.79m +[headless_play] t= 14.40s step= 720 trunk_z= 104.0mm grav_b=(+0.09,-0.18,-0.98) r=0.81m +[headless_play] t= 14.50s step= 725 trunk_z= 94.1mm grav_b=(+0.00,-0.08,-1.00) r=0.86m +[headless_play] t= 14.60s step= 730 trunk_z= 102.6mm grav_b=(-0.02,-0.01,-1.00) r=0.89m +[headless_play] t= 14.70s step= 735 trunk_z= 92.3mm grav_b=(-0.01,+0.01,-1.00) r=0.91m +[headless_play] t= 14.80s step= 740 trunk_z= 93.9mm grav_b=(-0.04,-0.04,-1.00) r=0.91m +[headless_play] t= 14.90s step= 745 trunk_z= 94.7mm grav_b=(+0.01,-0.03,-1.00) r=0.92m +[headless_play] t= 15.00s step= 750 trunk_z= 86.8mm grav_b=(+0.03,+0.05,-1.00) r=0.93m +[headless_play] t= 15.10s step= 755 trunk_z= 92.7mm grav_b=(+0.06,+0.09,-0.99) r=0.94m +[headless_play] t= 15.20s step= 760 trunk_z= 89.7mm grav_b=(+0.08,+0.08,-0.99) r=0.95m +[headless_play] t= 15.30s step= 765 trunk_z= 88.1mm grav_b=(+0.03,-0.04,-1.00) r=0.95m +[headless_play] t= 15.40s step= 770 trunk_z= 95.8mm grav_b=(+0.00,-0.05,-1.00) r=0.96m +[headless_play] t= 15.50s step= 775 trunk_z= 90.7mm grav_b=(+0.03,-0.03,-1.00) r=0.98m +[headless_play] t= 15.60s step= 780 trunk_z= 92.3mm grav_b=(+0.04,+0.07,-1.00) r=1.00m +[headless_play] t= 15.70s step= 785 trunk_z= 92.4mm grav_b=(+0.05,+0.06,-1.00) r=1.01m +[headless_play] t= 15.80s step= 790 trunk_z= 88.8mm grav_b=(+0.04,-0.01,-1.00) r=1.02m +[headless_play] t= 15.90s step= 795 trunk_z= 94.8mm grav_b=(+0.02,-0.07,-1.00) r=1.04m +[headless_play] t= 16.00s step= 800 trunk_z= 93.1mm grav_b=(+0.04,-0.04,-1.00) r=1.05m +[headless_play] t= 16.10s step= 805 trunk_z= 88.1mm grav_b=(+0.04,+0.04,-1.00) r=1.07m +[headless_play] t= 16.20s step= 810 trunk_z= 95.6mm grav_b=(+0.04,+0.08,-1.00) r=1.08m +[headless_play] t= 16.30s step= 815 trunk_z= 92.5mm grav_b=(+0.05,+0.04,-1.00) r=1.09m +[headless_play] t= 16.40s step= 820 trunk_z= 91.0mm grav_b=(+0.02,-0.06,-1.00) r=1.10m +[headless_play] t= 16.50s step= 825 trunk_z= 95.5mm grav_b=(+0.04,-0.04,-1.00) r=1.11m +[headless_play] t= 16.60s step= 830 trunk_z= 89.6mm grav_b=(+0.03,-0.01,-1.00) r=1.13m +[headless_play] t= 16.70s step= 835 trunk_z= 94.2mm grav_b=(+0.02,+0.07,-1.00) r=1.15m +[headless_play] t= 16.80s step= 840 trunk_z= 93.4mm grav_b=(+0.05,+0.04,-1.00) r=1.16m +[headless_play] t= 16.90s step= 845 trunk_z= 88.2mm grav_b=(+0.04,-0.03,-1.00) r=1.17m +[headless_play] t= 17.00s step= 850 trunk_z= 95.6mm grav_b=(+0.02,-0.07,-1.00) r=1.18m +[headless_play] t= 17.10s step= 855 trunk_z= 92.1mm grav_b=(+0.02,-0.04,-1.00) r=1.20m +[headless_play] t= 17.20s step= 860 trunk_z= 89.8mm grav_b=(+0.04,+0.06,-1.00) r=1.21m +[headless_play] t= 17.30s step= 865 trunk_z= 94.7mm grav_b=(+0.04,+0.07,-1.00) r=1.23m +[headless_play] t= 17.40s step= 870 trunk_z= 90.9mm grav_b=(+0.04,+0.03,-1.00) r=1.24m +[headless_play] t= 17.50s step= 875 trunk_z= 93.5mm grav_b=(+0.01,-0.07,-1.00) r=1.25m +[headless_play] t= 17.60s step= 880 trunk_z= 95.2mm grav_b=(+0.02,-0.07,-1.00) r=1.26m +[headless_play] t= 17.70s step= 885 trunk_z= 87.9mm grav_b=(+0.05,+0.01,-1.00) r=1.28m +[headless_play] t= 17.80s step= 890 trunk_z= 93.8mm grav_b=(+0.06,+0.05,-1.00) r=1.29m +[headless_play] t= 17.90s step= 895 trunk_z= 91.6mm grav_b=(+0.06,+0.01,-1.00) r=1.30m +[headless_play] t= 18.00s step= 900 trunk_z= 91.1mm grav_b=(+0.04,-0.05,-1.00) r=1.30m +[headless_play] t= 18.10s step= 905 trunk_z= 94.5mm grav_b=(+0.05,-0.04,-1.00) r=1.31m +[headless_play] t= 18.20s step= 910 trunk_z= 90.9mm grav_b=(+0.08,+0.02,-1.00) r=1.32m +[headless_play] t= 18.30s step= 915 trunk_z= 95.4mm grav_b=(+0.07,+0.11,-0.99) r=1.33m +[headless_play] t= 18.40s step= 920 trunk_z= 98.1mm grav_b=(+0.06,+0.10,-0.99) r=1.34m +[headless_play] t= 18.50s step= 925 trunk_z= 93.2mm grav_b=(+0.05,+0.07,-1.00) r=1.35m +[headless_play] t= 18.60s step= 930 trunk_z= 95.7mm grav_b=(+0.05,-0.02,-1.00) r=1.36m +[headless_play] t= 18.70s step= 935 trunk_z= 93.8mm grav_b=(+0.08,-0.02,-1.00) r=1.37m +[headless_play] t= 18.80s step= 940 trunk_z= 89.6mm grav_b=(+0.07,+0.06,-1.00) r=1.38m +[headless_play] t= 18.90s step= 945 trunk_z= 97.8mm grav_b=(+0.04,+0.07,-1.00) r=1.39m +[headless_play] t= 19.00s step= 950 trunk_z= 93.0mm grav_b=(+0.03,+0.07,-1.00) r=1.40m +[headless_play] t= 19.10s step= 955 trunk_z= 94.9mm grav_b=(+0.04,-0.02,-1.00) r=1.41m +[headless_play] t= 19.20s step= 960 trunk_z= 96.3mm grav_b=(+0.06,-0.01,-1.00) r=1.42m +[headless_play] t= 19.30s step= 965 trunk_z= 91.1mm grav_b=(+0.06,+0.03,-1.00) r=1.42m +[headless_play] t= 19.40s step= 970 trunk_z= 97.5mm grav_b=(+0.04,+0.08,-1.00) r=1.43m +[headless_play] t= 19.50s step= 975 trunk_z= 95.0mm grav_b=(+0.04,+0.08,-1.00) r=1.44m +[headless_play] t= 19.60s step= 980 trunk_z= 93.1mm grav_b=(+0.04,-0.02,-1.00) r=1.45m +[headless_play] t= 19.70s step= 985 trunk_z= 96.0mm grav_b=(+0.06,-0.03,-1.00) r=1.46m +[headless_play] t= 19.80s step= 990 trunk_z= 91.9mm grav_b=(+0.07,+0.00,-1.00) r=1.47m +[headless_play] t= 19.90s step= 995 trunk_z= 95.7mm grav_b=(+0.04,+0.09,-1.00) r=1.47m +[headless_play] t= 20.00s step=1000 trunk_z= 96.8mm grav_b=(+0.04,+0.07,-1.00) r=1.49m +[headless_play] t= 20.10s step=1005 trunk_z= 91.1mm grav_b=(+0.02,+0.04,-1.00) r=1.50m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t12.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..9fdb8029d6c575c9ea8514985bef00415f2a142d --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.409,-18.072,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(-0.04,-0.04,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(-0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 124.0mm grav_b=(-0.04,+0.09,-0.99) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 121.1mm grav_b=(-0.04,+0.06,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 121.3mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 122.8mm grav_b=(-0.03,-0.02,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 115.0mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 123.9mm grav_b=(-0.04,+0.09,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 123.4mm grav_b=(-0.03,+0.09,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 116.5mm grav_b=(-0.05,+0.02,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 123.2mm grav_b=(-0.07,-0.02,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 120.3mm grav_b=(-0.07,-0.01,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 120.3mm grav_b=(-0.06,+0.07,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 124.1mm grav_b=(-0.04,+0.08,-1.00) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 119.2mm grav_b=(-0.01,+0.03,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 122.2mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 122.3mm grav_b=(-0.02,-0.03,-1.00) r=0.24m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(-0.03,+0.04,-1.00) r=0.24m +[headless_play] t= 2.10s step= 105 trunk_z= 123.8mm grav_b=(-0.04,+0.08,-1.00) r=0.24m +[headless_play] t= 2.20s step= 110 trunk_z= 122.2mm grav_b=(-0.05,+0.06,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.05,-0.02,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 122.6mm grav_b=(-0.06,-0.01,-1.00) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 116.2mm grav_b=(-0.05,+0.01,-1.00) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 117.9mm grav_b=(-0.07,+0.06,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 114.8mm grav_b=(-0.03,+0.02,-1.00) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 112.0mm grav_b=(-0.01,-0.02,-1.00) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 115.6mm grav_b=(-0.00,+0.01,-1.00) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 110.0mm grav_b=(+0.01,+0.02,-1.00) r=0.17m +[headless_play] t= 3.10s step= 155 trunk_z= 114.9mm grav_b=(-0.01,+0.05,-1.00) r=0.18m +[headless_play] t= 3.20s step= 160 trunk_z= 114.2mm grav_b=(-0.01,+0.01,-1.00) r=0.17m +[headless_play] t= 3.30s step= 165 trunk_z= 109.8mm grav_b=(+0.02,-0.03,-1.00) r=0.15m +[headless_play] t= 3.40s step= 170 trunk_z= 115.1mm grav_b=(+0.01,-0.00,-1.00) r=0.15m +[headless_play] t= 3.50s step= 175 trunk_z= 110.4mm grav_b=(+0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(-0.01,+0.06,-1.00) r=0.20m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(-0.03,+0.03,-1.00) r=0.20m +[headless_play] t= 3.80s step= 190 trunk_z= 110.5mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 3.90s step= 195 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(-0.01,+0.03,-1.00) r=0.22m +[headless_play] t= 4.10s step= 205 trunk_z= 112.9mm grav_b=(-0.03,+0.06,-1.00) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 115.3mm grav_b=(-0.02,+0.03,-1.00) r=0.26m +[headless_play] t= 4.30s step= 215 trunk_z= 109.7mm grav_b=(+0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 114.6mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 112.6mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 4.60s step= 230 trunk_z= 109.7mm grav_b=(+0.00,+0.06,-1.00) r=0.32m +[headless_play] t= 4.70s step= 235 trunk_z= 115.1mm grav_b=(-0.03,+0.03,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 110.3mm grav_b=(+0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 5.00s step= 250 trunk_z= 112.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 5.10s step= 255 trunk_z= 107.1mm grav_b=(-0.01,+0.06,-1.00) r=0.40m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(-0.03,+0.03,-1.00) r=0.41m +[headless_play] t= 5.30s step= 265 trunk_z= 112.4mm grav_b=(+0.02,-0.00,-1.00) r=0.42m +[headless_play] t= 5.40s step= 270 trunk_z= 115.8mm grav_b=(+0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 5.50s step= 275 trunk_z= 112.8mm grav_b=(+0.07,+0.03,-1.00) r=0.43m +[headless_play] t= 5.60s step= 280 trunk_z= 113.5mm grav_b=(+0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 5.70s step= 285 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 5.80s step= 290 trunk_z= 114.6mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 5.90s step= 295 trunk_z= 114.8mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 115.1mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 6.30s step= 315 trunk_z= 116.0mm grav_b=(-0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 6.40s step= 320 trunk_z= 116.2mm grav_b=(-0.00,+0.02,-1.00) r=0.41m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.41m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 6.80s step= 340 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 6.90s step= 345 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.10s step= 355 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 116.4mm grav_b=(+0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 116.4mm grav_b=(+0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.50s step= 375 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.70s step= 385 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.00s step= 400 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.50s step= 425 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.70s step= 435 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.80s step= 440 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 8.90s step= 445 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.00s step= 450 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.40s step= 470 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.50s step= 475 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.80s step= 490 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(-0.00,+0.02,-1.00) r=0.41m +[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.41m +[headless_play] t= 10.50s step= 525 trunk_z= 115.8mm grav_b=(+0.03,+0.02,-1.00) r=0.41m +[headless_play] t= 10.60s step= 530 trunk_z= 115.7mm grav_b=(+0.03,+0.02,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 10.80s step= 540 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 115.6mm grav_b=(+0.03,+0.02,-1.00) r=0.41m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.50s step= 575 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.70s step= 585 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.80s step= 590 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 11.90s step= 595 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 12.10s step= 605 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 12.30s step= 615 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 12.40s step= 620 trunk_z= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 12.50s step= 625 trunk_z= 115.7mm grav_b=(+0.00,+0.02,-1.00) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 116.0mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 12.70s step= 635 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.00,+0.02,-1.00) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 13.00s step= 650 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 13.10s step= 655 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 13.40s step= 670 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 13.50s step= 675 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 13.70s step= 685 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 13.90s step= 695 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.00s step= 700 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.20s step= 710 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.30s step= 715 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.60s step= 730 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.80s step= 740 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 14.90s step= 745 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.00s step= 750 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.10s step= 755 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.40s step= 770 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.60s step= 780 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.70s step= 785 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.80s step= 790 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.10s step= 805 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.20s step= 810 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.30s step= 815 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.40s step= 820 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.60s step= 830 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 16.90s step= 845 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 17.10s step= 855 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 17.40s step= 870 trunk_z= 116.4mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 17.50s step= 875 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 17.60s step= 880 trunk_z= 116.5mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 17.70s step= 885 trunk_z= 116.5mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 17.80s step= 890 trunk_z= 116.5mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 17.90s step= 895 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.00s step= 900 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.10s step= 905 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.20s step= 910 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.40s step= 920 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.50s step= 925 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.60s step= 930 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.70s step= 935 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 18.90s step= 945 trunk_z= 116.6mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 19.00s step= 950 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.10s step= 955 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 19.50s step= 975 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.60s step= 980 trunk_z= 116.7mm grav_b=(-0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 19.70s step= 985 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.1mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00) r=0.47m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t13.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..6d38fb3aa04848f57be89825c8b6cb9eabd3ad56 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.3mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.264,-17.626,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(-0.02,-0.03,-1.00) r=0.45m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(-0.01,-0.06,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 119.7mm grav_b=(-0.00,-0.00,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 112.8mm grav_b=(+0.01,+0.05,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 124.6mm grav_b=(-0.01,+0.08,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 122.3mm grav_b=(-0.02,+0.08,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 116.3mm grav_b=(-0.02,+0.03,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 121.6mm grav_b=(+0.00,-0.01,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 118.5mm grav_b=(-0.01,+0.07,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 122.2mm grav_b=(-0.03,+0.06,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(-0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 121.0mm grav_b=(-0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 118.6mm grav_b=(+0.00,-0.00,-1.00) r=0.43m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(+0.02,+0.07,-1.00) r=0.45m +[headless_play] t= 1.60s step= 80 trunk_z= 122.1mm grav_b=(-0.01,+0.05,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 116.8mm grav_b=(-0.03,+0.05,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(-0.03,-0.03,-1.00) r=0.42m +[headless_play] t= 1.90s step= 95 trunk_z= 119.7mm grav_b=(-0.01,+0.02,-1.00) r=0.43m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(+0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 122.3mm grav_b=(+0.01,+0.06,-1.00) r=0.47m +[headless_play] t= 2.20s step= 110 trunk_z= 120.5mm grav_b=(-0.04,+0.06,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 119.1mm grav_b=(-0.03,-0.02,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 120.2mm grav_b=(+0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 114.7mm grav_b=(-0.00,+0.04,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 122.1mm grav_b=(-0.01,+0.06,-1.00) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 119.9mm grav_b=(-0.04,+0.04,-1.00) r=0.47m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.02,-0.03,-1.00) r=0.45m +[headless_play] t= 2.90s step= 145 trunk_z= 121.5mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(-0.00,+0.02,-1.00) r=0.47m +[headless_play] t= 3.10s step= 155 trunk_z= 122.7mm grav_b=(-0.01,+0.06,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 121.1mm grav_b=(-0.01,+0.06,-1.00) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 115.2mm grav_b=(-0.02,+0.03,-1.00) r=0.48m +[headless_play] t= 3.40s step= 170 trunk_z= 121.2mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 118.3mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 118.6mm grav_b=(-0.01,+0.07,-1.00) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 121.5mm grav_b=(-0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 120.0mm grav_b=(-0.00,-0.02,-1.00) r=0.50m +[headless_play] t= 4.00s step= 200 trunk_z= 117.3mm grav_b=(+0.00,-0.00,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 118.1mm grav_b=(+0.00,+0.08,-1.00) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 122.2mm grav_b=(-0.02,+0.07,-1.00) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(-0.04,+0.06,-1.00) r=0.55m +[headless_play] t= 4.40s step= 220 trunk_z= 121.1mm grav_b=(-0.02,-0.03,-1.00) r=0.53m +[headless_play] t= 4.50s step= 225 trunk_z= 120.4mm grav_b=(-0.00,-0.00,-1.00) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(+0.01,+0.04,-1.00) r=0.56m +[headless_play] t= 4.70s step= 235 trunk_z= 123.2mm grav_b=(-0.02,+0.06,-1.00) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 119.3mm grav_b=(-0.05,+0.06,-1.00) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 5.00s step= 250 trunk_z= 121.1mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 115.1mm grav_b=(-0.04,-0.00,-1.00) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 119.9mm grav_b=(-0.02,+0.04,-1.00) r=0.63m +[headless_play] t= 5.30s step= 265 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 5.40s step= 270 trunk_z= 110.8mm grav_b=(-0.05,-0.06,-1.00) r=0.64m +[headless_play] t= 5.50s step= 275 trunk_z= 118.4mm grav_b=(-0.01,-0.04,-1.00) r=0.64m +[headless_play] t= 5.60s step= 280 trunk_z= 112.9mm grav_b=(+0.00,-0.04,-1.00) r=0.66m +[headless_play] t= 5.70s step= 285 trunk_z= 113.6mm grav_b=(-0.00,+0.03,-1.00) r=0.69m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 111.7mm grav_b=(+0.01,-0.03,-1.00) r=0.69m +[headless_play] t= 6.00s step= 300 trunk_z= 116.3mm grav_b=(+0.00,-0.06,-1.00) r=0.69m +[headless_play] t= 6.10s step= 305 trunk_z= 113.3mm grav_b=(+0.02,-0.07,-1.00) r=0.71m +[headless_play] t= 6.20s step= 310 trunk_z= 110.4mm grav_b=(+0.01,+0.02,-1.00) r=0.73m +[headless_play] t= 6.30s step= 315 trunk_z= 117.2mm grav_b=(-0.02,+0.02,-1.00) r=0.75m +[headless_play] t= 6.40s step= 320 trunk_z= 113.7mm grav_b=(+0.02,-0.01,-1.00) r=0.76m +[headless_play] t= 6.50s step= 325 trunk_z= 114.0mm grav_b=(-0.00,-0.06,-1.00) r=0.77m +[headless_play] t= 6.60s step= 330 trunk_z= 116.7mm grav_b=(+0.00,-0.07,-1.00) r=0.78m +[headless_play] t= 6.70s step= 335 trunk_z= 110.0mm grav_b=(+0.03,-0.03,-1.00) r=0.80m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(+0.00,+0.03,-1.00) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.83m +[headless_play] t= 7.00s step= 350 trunk_z= 109.3mm grav_b=(+0.00,-0.08,-1.00) r=0.84m +[headless_play] t= 7.10s step= 355 trunk_z= 118.3mm grav_b=(-0.01,-0.05,-1.00) r=0.85m +[headless_play] t= 7.20s step= 360 trunk_z= 113.8mm grav_b=(-0.01,-0.04,-1.00) r=0.87m +[headless_play] t= 7.30s step= 365 trunk_z= 101.1mm grav_b=(-0.00,+0.12,-0.99) r=0.88m +[headless_play] t= 7.40s step= 370 trunk_z= 104.0mm grav_b=(+0.09,+0.30,-0.95) r=0.88m +[headless_play] t= 7.50s step= 375 trunk_z= 106.9mm grav_b=(+0.08,+0.23,-0.97) r=0.87m +[headless_play] t= 7.60s step= 380 trunk_z= 105.3mm grav_b=(-0.06,+0.12,-0.99) r=0.91m +[headless_play] t= 7.70s step= 385 trunk_z= 95.2mm grav_b=(-0.01,+0.14,-0.99) r=0.94m +[headless_play] t= 7.80s step= 390 trunk_z= 91.9mm grav_b=(-0.10,+0.12,-0.99) r=0.94m +[headless_play] t= 7.90s step= 395 trunk_z= 93.4mm grav_b=(-0.04,+0.09,-1.00) r=0.95m +[headless_play] t= 8.00s step= 400 trunk_z= 93.8mm grav_b=(-0.02,+0.04,-1.00) r=0.96m +[headless_play] t= 8.10s step= 405 trunk_z= 88.2mm grav_b=(-0.02,-0.04,-1.00) r=0.99m +[headless_play] t= 8.20s step= 410 trunk_z= 92.2mm grav_b=(+0.02,-0.02,-1.00) r=1.00m +[headless_play] t= 8.30s step= 415 trunk_z= 89.5mm grav_b=(+0.03,+0.03,-1.00) r=0.99m +[headless_play] t= 8.40s step= 420 trunk_z= 96.9mm grav_b=(-0.01,+0.09,-1.00) r=0.98m +[headless_play] t= 8.50s step= 425 trunk_z= 95.3mm grav_b=(-0.01,+0.08,-1.00) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 87.7mm grav_b=(+0.03,+0.03,-1.00) r=1.01m +[headless_play] t= 8.70s step= 435 trunk_z= 94.0mm grav_b=(+0.01,-0.06,-1.00) r=1.03m +[headless_play] t= 8.80s step= 440 trunk_z= 92.9mm grav_b=(+0.02,-0.03,-1.00) r=1.03m +[headless_play] t= 8.90s step= 445 trunk_z= 87.7mm grav_b=(+0.02,+0.05,-1.00) r=1.02m +[headless_play] t= 9.00s step= 450 trunk_z= 97.1mm grav_b=(-0.01,+0.08,-1.00) r=1.01m +[headless_play] t= 9.10s step= 455 trunk_z= 93.4mm grav_b=(+0.00,+0.07,-1.00) r=1.03m +[headless_play] t= 9.20s step= 460 trunk_z= 90.0mm grav_b=(+0.01,-0.03,-1.00) r=1.05m +[headless_play] t= 9.30s step= 465 trunk_z= 94.5mm grav_b=(-0.00,-0.02,-1.00) r=1.06m +[headless_play] t= 9.40s step= 470 trunk_z= 91.1mm grav_b=(+0.01,+0.02,-1.00) r=1.05m +[headless_play] t= 9.50s step= 475 trunk_z= 96.1mm grav_b=(-0.03,+0.07,-1.00) r=1.04m +[headless_play] t= 9.60s step= 480 trunk_z= 94.7mm grav_b=(-0.02,+0.06,-1.00) r=1.05m +[headless_play] t= 9.70s step= 485 trunk_z= 87.8mm grav_b=(+0.01,-0.02,-1.00) r=1.07m +[headless_play] t= 9.80s step= 490 trunk_z= 94.5mm grav_b=(+0.02,-0.03,-1.00) r=1.09m +[headless_play] t= 9.90s step= 495 trunk_z= 91.2mm grav_b=(+0.02,+0.00,-1.00) r=1.08m +[headless_play] t= 10.00s step= 500 trunk_z= 94.5mm grav_b=(-0.03,+0.07,-1.00) r=1.06m +[headless_play] t= 10.10s step= 505 trunk_z= 94.8mm grav_b=(-0.02,+0.05,-1.00) r=1.07m +[headless_play] t= 10.20s step= 510 trunk_z= 87.5mm grav_b=(+0.01,-0.02,-1.00) r=1.09m +[headless_play] t= 10.30s step= 515 trunk_z= 92.8mm grav_b=(+0.03,-0.03,-1.00) r=1.10m +[headless_play] t= 10.40s step= 520 trunk_z= 90.6mm grav_b=(+0.03,+0.02,-1.00) r=1.09m +[headless_play] t= 10.50s step= 525 trunk_z= 95.1mm grav_b=(-0.03,+0.08,-1.00) r=1.08m +[headless_play] t= 10.60s step= 530 trunk_z= 95.8mm grav_b=(-0.02,+0.07,-1.00) r=1.08m +[headless_play] t= 10.70s step= 535 trunk_z= 89.7mm grav_b=(+0.01,+0.03,-1.00) r=1.10m +[headless_play] t= 10.80s step= 540 trunk_z= 93.5mm grav_b=(+0.01,-0.04,-1.00) r=1.12m +[headless_play] t= 10.90s step= 545 trunk_z= 91.9mm grav_b=(+0.02,-0.00,-1.00) r=1.11m +[headless_play] t= 11.00s step= 550 trunk_z= 91.2mm grav_b=(-0.02,+0.07,-1.00) r=1.09m +[headless_play] t= 11.10s step= 555 trunk_z= 96.5mm grav_b=(-0.02,+0.06,-1.00) r=1.09m +[headless_play] t= 11.20s step= 560 trunk_z= 91.1mm grav_b=(+0.00,+0.04,-1.00) r=1.11m +[headless_play] t= 11.30s step= 565 trunk_z= 93.5mm grav_b=(+0.00,-0.03,-1.00) r=1.12m +[headless_play] t= 11.40s step= 570 trunk_z= 91.7mm grav_b=(+0.03,+0.00,-1.00) r=1.12m +[headless_play] t= 11.50s step= 575 trunk_z= 89.4mm grav_b=(+0.01,+0.07,-1.00) r=1.10m +[headless_play] t= 11.60s step= 580 trunk_z= 96.2mm grav_b=(-0.00,+0.06,-1.00) r=1.09m +[headless_play] t= 11.70s step= 585 trunk_z= 90.1mm grav_b=(+0.00,+0.05,-1.00) r=1.11m +[headless_play] t= 11.80s step= 590 trunk_z= 93.3mm grav_b=(-0.02,-0.03,-1.00) r=1.13m +[headless_play] t= 11.90s step= 595 trunk_z= 93.2mm grav_b=(+0.01,-0.01,-1.00) r=1.13m +[headless_play] t= 12.00s step= 600 trunk_z= 91.1mm grav_b=(+0.02,+0.07,-1.00) r=1.12m +[headless_play] t= 12.10s step= 605 trunk_z= 92.0mm grav_b=(+0.01,+0.04,-1.00) r=1.12m +[headless_play] t= 12.20s step= 610 trunk_z= 91.3mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 12.30s step= 615 trunk_z= 91.5mm grav_b=(+0.00,+0.01,-1.00) r=1.12m +[headless_play] t= 12.40s step= 620 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 12.50s step= 625 trunk_z= 91.5mm grav_b=(+0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 12.60s step= 630 trunk_z= 91.6mm grav_b=(+0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 12.70s step= 635 trunk_z= 91.6mm grav_b=(+0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 12.80s step= 640 trunk_z= 91.6mm grav_b=(+0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 12.90s step= 645 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.00s step= 650 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.10s step= 655 trunk_z= 91.6mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.20s step= 660 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.30s step= 665 trunk_z= 91.6mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.40s step= 670 trunk_z= 91.6mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.50s step= 675 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.60s step= 680 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.70s step= 685 trunk_z= 91.5mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.80s step= 690 trunk_z= 91.6mm grav_b=(+0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 13.90s step= 695 trunk_z= 91.7mm grav_b=(+0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 14.00s step= 700 trunk_z= 91.8mm grav_b=(+0.00,+0.00,-1.00) r=1.12m +[headless_play] t= 14.10s step= 705 trunk_z= 91.8mm grav_b=(-0.03,+0.00,-1.00) r=1.12m +[headless_play] t= 14.20s step= 710 trunk_z= 92.3mm grav_b=(-0.03,+0.00,-1.00) r=1.12m +[headless_play] t= 14.30s step= 715 trunk_z= 92.2mm grav_b=(-0.03,+0.00,-1.00) r=1.12m +[headless_play] t= 14.40s step= 720 trunk_z= 91.8mm grav_b=(-0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 14.50s step= 725 trunk_z= 91.7mm grav_b=(+0.03,+0.00,-1.00) r=1.12m +[headless_play] t= 14.60s step= 730 trunk_z= 91.8mm grav_b=(+0.03,+0.00,-1.00) r=1.12m +[headless_play] t= 14.70s step= 735 trunk_z= 91.8mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 14.80s step= 740 trunk_z= 91.9mm grav_b=(-0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 14.90s step= 745 trunk_z= 91.8mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.00s step= 750 trunk_z= 91.8mm grav_b=(+0.02,-0.00,-1.00) r=1.12m +[headless_play] t= 15.10s step= 755 trunk_z= 91.8mm grav_b=(+0.02,-0.00,-1.00) r=1.12m +[headless_play] t= 15.20s step= 760 trunk_z= 91.9mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 15.30s step= 765 trunk_z= 92.0mm grav_b=(-0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 15.40s step= 770 trunk_z= 91.9mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.50s step= 775 trunk_z= 91.9mm grav_b=(+0.02,-0.00,-1.00) r=1.12m +[headless_play] t= 15.60s step= 780 trunk_z= 91.8mm grav_b=(+0.02,+0.00,-1.00) r=1.12m +[headless_play] t= 15.70s step= 785 trunk_z= 91.9mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.80s step= 790 trunk_z= 91.9mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 15.90s step= 795 trunk_z= 91.9mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.00s step= 800 trunk_z= 91.8mm grav_b=(+0.02,+0.00,-1.00) r=1.12m +[headless_play] t= 16.10s step= 805 trunk_z= 91.8mm grav_b=(-0.00,+0.00,-1.00) r=1.12m +[headless_play] t= 16.20s step= 810 trunk_z= 91.9mm grav_b=(-0.02,+0.00,-1.00) r=1.12m +[headless_play] t= 16.30s step= 815 trunk_z= 92.0mm grav_b=(-0.02,+0.00,-1.00) r=1.12m +[headless_play] t= 16.40s step= 820 trunk_z= 92.0mm grav_b=(-0.00,+0.00,-1.00) r=1.12m +[headless_play] t= 16.50s step= 825 trunk_z= 92.1mm grav_b=(-0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 16.60s step= 830 trunk_z= 92.0mm grav_b=(-0.02,+0.00,-1.00) r=1.12m +[headless_play] t= 16.70s step= 835 trunk_z= 92.0mm grav_b=(-0.02,+0.00,-1.00) r=1.12m +[headless_play] t= 16.80s step= 840 trunk_z= 91.4mm grav_b=(-0.02,+0.03,-1.00) r=1.11m +[headless_play] t= 16.90s step= 845 trunk_z= 93.7mm grav_b=(-0.03,+0.05,-1.00) r=1.09m +[headless_play] t= 17.00s step= 850 trunk_z= 94.2mm grav_b=(-0.01,+0.00,-1.00) r=1.10m +[headless_play] t= 17.10s step= 855 trunk_z= 94.1mm grav_b=(-0.03,-0.06,-1.00) r=1.13m +[headless_play] t= 17.20s step= 860 trunk_z= 97.9mm grav_b=(-0.02,-0.04,-1.00) r=1.14m +[headless_play] t= 17.30s step= 865 trunk_z= 91.5mm grav_b=(-0.04,-0.02,-1.00) r=1.12m +[headless_play] t= 17.40s step= 870 trunk_z= 97.3mm grav_b=(-0.04,+0.04,-1.00) r=1.10m +[headless_play] t= 17.50s step= 875 trunk_z= 95.3mm grav_b=(-0.04,+0.00,-1.00) r=1.11m +[headless_play] t= 17.60s step= 880 trunk_z= 92.0mm grav_b=(-0.03,-0.06,-1.00) r=1.14m +[headless_play] t= 17.70s step= 885 trunk_z= 97.9mm grav_b=(-0.01,-0.04,-1.00) r=1.14m +[headless_play] t= 17.80s step= 890 trunk_z= 92.6mm grav_b=(-0.01,-0.03,-1.00) r=1.13m +[headless_play] t= 17.90s step= 895 trunk_z= 96.4mm grav_b=(-0.04,+0.04,-1.00) r=1.11m +[headless_play] t= 18.00s step= 900 trunk_z= 96.6mm grav_b=(-0.04,+0.01,-1.00) r=1.11m +[headless_play] t= 18.10s step= 905 trunk_z= 92.0mm grav_b=(-0.04,-0.04,-1.00) r=1.14m +[headless_play] t= 18.20s step= 910 trunk_z= 97.5mm grav_b=(-0.01,-0.03,-1.00) r=1.14m +[headless_play] t= 18.30s step= 915 trunk_z= 92.9mm grav_b=(-0.02,-0.02,-1.00) r=1.13m +[headless_play] t= 18.40s step= 920 trunk_z= 96.4mm grav_b=(-0.03,+0.05,-1.00) r=1.11m +[headless_play] t= 18.50s step= 925 trunk_z= 95.4mm grav_b=(-0.02,+0.01,-1.00) r=1.12m +[headless_play] t= 18.60s step= 930 trunk_z= 90.9mm grav_b=(-0.03,-0.06,-1.00) r=1.14m +[headless_play] t= 18.70s step= 935 trunk_z= 97.3mm grav_b=(+0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 18.80s step= 940 trunk_z= 91.5mm grav_b=(+0.01,-0.02,-1.00) r=1.13m +[headless_play] t= 18.90s step= 945 trunk_z= 95.8mm grav_b=(-0.03,+0.05,-1.00) r=1.12m +[headless_play] t= 19.00s step= 950 trunk_z= 95.9mm grav_b=(-0.03,+0.02,-1.00) r=1.12m +[headless_play] t= 19.10s step= 955 trunk_z= 91.2mm grav_b=(-0.01,-0.05,-1.00) r=1.15m +[headless_play] t= 19.20s step= 960 trunk_z= 96.8mm grav_b=(-0.00,-0.04,-1.00) r=1.15m +[headless_play] t= 19.30s step= 965 trunk_z= 90.8mm grav_b=(-0.01,-0.03,-1.00) r=1.14m +[headless_play] t= 19.40s step= 970 trunk_z= 95.5mm grav_b=(-0.04,+0.05,-1.00) r=1.12m +[headless_play] t= 19.50s step= 975 trunk_z= 95.3mm grav_b=(-0.02,+0.02,-1.00) r=1.13m +[headless_play] t= 19.60s step= 980 trunk_z= 90.8mm grav_b=(-0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 19.70s step= 985 trunk_z= 96.8mm grav_b=(+0.01,-0.03,-1.00) r=1.16m +[headless_play] t= 19.80s step= 990 trunk_z= 91.6mm grav_b=(+0.00,-0.02,-1.00) r=1.14m +[headless_play] t= 19.90s step= 995 trunk_z= 95.6mm grav_b=(-0.03,+0.05,-1.00) r=1.13m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.6mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.55m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t14.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..1bcea813859d7313bd3396e091773384e327a3b1 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.1mm grav_b=(-0.00,-0.00,-1.00) root_w=(-1.782,-18.353,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.5mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.05,-0.01,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(+0.04,-0.00,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(+0.03,-0.00,-1.00) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.50s step= 125 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 3.20s step= 160 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(+0.00,-0.07,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 115.7mm grav_b=(+0.01,-0.12,-0.99) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 120.8mm grav_b=(+0.04,-0.05,-1.00) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 112.9mm grav_b=(-0.01,+0.03,-1.00) r=0.35m +[headless_play] t= 3.90s step= 195 trunk_z= 122.7mm grav_b=(+0.00,+0.07,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 119.8mm grav_b=(+0.03,+0.05,-1.00) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 113.4mm grav_b=(+0.01,-0.05,-1.00) r=0.31m +[headless_play] t= 4.20s step= 210 trunk_z= 121.8mm grav_b=(+0.01,-0.07,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 115.7mm grav_b=(+0.02,-0.05,-1.00) r=0.28m +[headless_play] t= 4.40s step= 220 trunk_z= 116.9mm grav_b=(-0.02,+0.05,-1.00) r=0.26m +[headless_play] t= 4.50s step= 225 trunk_z= 117.6mm grav_b=(+0.00,+0.04,-1.00) r=0.25m +[headless_play] t= 4.60s step= 230 trunk_z= 113.2mm grav_b=(+0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 4.70s step= 235 trunk_z= 115.1mm grav_b=(+0.04,-0.09,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(+0.05,-0.07,-1.00) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 109.1mm grav_b=(+0.03,+0.03,-1.00) r=0.18m +[headless_play] t= 5.00s step= 250 trunk_z= 117.0mm grav_b=(+0.03,+0.06,-1.00) r=0.17m +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(+0.04,-0.02,-1.00) r=0.15m +[headless_play] t= 5.20s step= 260 trunk_z= 112.7mm grav_b=(+0.03,-0.09,-1.00) r=0.14m +[headless_play] t= 5.30s step= 265 trunk_z= 115.3mm grav_b=(+0.04,-0.05,-1.00) r=0.13m +[headless_play] t= 5.40s step= 270 trunk_z= 107.3mm grav_b=(+0.02,+0.01,-1.00) r=0.10m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.01,+0.08,-1.00) r=0.08m +[headless_play] t= 5.60s step= 280 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) r=0.07m +[headless_play] t= 5.70s step= 285 trunk_z= 110.4mm grav_b=(+0.04,-0.08,-1.00) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(+0.05,-0.06,-1.00) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(+0.03,-0.01,-1.00) r=0.02m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(+0.02,+0.06,-1.00) r=0.02m +[headless_play] t= 6.10s step= 305 trunk_z= 120.6mm grav_b=(+0.05,+0.03,-1.00) r=0.03m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(+0.04,-0.02,-1.00) r=0.02m +[headless_play] t= 6.30s step= 315 trunk_z= 122.4mm grav_b=(+0.02,-0.09,-1.00) r=0.03m +[headless_play] t= 6.40s step= 320 trunk_z= 121.3mm grav_b=(+0.03,-0.08,-1.00) r=0.05m +[headless_play] t= 6.50s step= 325 trunk_z= 112.5mm grav_b=(+0.02,+0.01,-1.00) r=0.07m +[headless_play] t= 6.60s step= 330 trunk_z= 121.4mm grav_b=(+0.00,+0.07,-1.00) r=0.08m +[headless_play] t= 6.70s step= 335 trunk_z= 119.8mm grav_b=(+0.00,+0.03,-1.00) r=0.09m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(+0.03,-0.06,-1.00) r=0.09m +[headless_play] t= 6.90s step= 345 trunk_z= 122.9mm grav_b=(+0.05,-0.08,-1.00) r=0.10m +[headless_play] t= 7.00s step= 350 trunk_z= 119.6mm grav_b=(+0.04,-0.08,-1.00) r=0.12m +[headless_play] t= 7.10s step= 355 trunk_z= 118.7mm grav_b=(+0.01,+0.05,-1.00) r=0.14m +[headless_play] t= 7.20s step= 360 trunk_z= 121.0mm grav_b=(+0.03,+0.02,-1.00) r=0.15m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.16m +[headless_play] t= 7.40s step= 370 trunk_z= 122.5mm grav_b=(+0.01,-0.08,-1.00) r=0.16m +[headless_play] t= 7.50s step= 375 trunk_z= 121.4mm grav_b=(+0.04,-0.07,-1.00) r=0.18m +[headless_play] t= 7.60s step= 380 trunk_z= 114.0mm grav_b=(+0.02,+0.02,-1.00) r=0.19m +[headless_play] t= 7.70s step= 385 trunk_z= 122.0mm grav_b=(+0.00,+0.05,-1.00) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 119.0mm grav_b=(-0.00,+0.02,-1.00) r=0.21m +[headless_play] t= 7.90s step= 395 trunk_z= 118.3mm grav_b=(+0.02,-0.08,-1.00) r=0.22m +[headless_play] t= 8.00s step= 400 trunk_z= 123.4mm grav_b=(+0.05,-0.09,-0.99) r=0.23m +[headless_play] t= 8.10s step= 405 trunk_z= 115.6mm grav_b=(+0.05,-0.04,-1.00) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 119.8mm grav_b=(+0.01,+0.05,-1.00) r=0.28m +[headless_play] t= 8.30s step= 415 trunk_z= 117.5mm grav_b=(+0.03,+0.03,-1.00) r=0.29m +[headless_play] t= 8.40s step= 420 trunk_z= 114.6mm grav_b=(+0.03,-0.08,-1.00) r=0.30m +[headless_play] t= 8.50s step= 425 trunk_z= 121.3mm grav_b=(+0.03,-0.08,-1.00) r=0.31m +[headless_play] t= 8.60s step= 430 trunk_z= 114.8mm grav_b=(+0.04,-0.05,-1.00) r=0.33m +[headless_play] t= 8.70s step= 435 trunk_z= 118.0mm grav_b=(-0.01,+0.06,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 119.8mm grav_b=(+0.01,+0.05,-1.00) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 114.9mm grav_b=(+0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 118.3mm grav_b=(+0.05,-0.08,-1.00) r=0.39m +[headless_play] t= 9.10s step= 455 trunk_z= 116.1mm grav_b=(+0.06,-0.06,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 113.0mm grav_b=(+0.02,+0.05,-1.00) r=0.44m +[headless_play] t= 9.30s step= 465 trunk_z= 119.0mm grav_b=(+0.03,+0.07,-1.00) r=0.45m +[headless_play] t= 9.40s step= 470 trunk_z= 115.1mm grav_b=(+0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 9.50s step= 475 trunk_z= 118.6mm grav_b=(+0.03,-0.09,-1.00) r=0.48m +[headless_play] t= 9.60s step= 480 trunk_z= 118.5mm grav_b=(+0.04,-0.09,-1.00) r=0.49m +[headless_play] t= 9.70s step= 485 trunk_z= 110.2mm grav_b=(+0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 9.80s step= 490 trunk_z= 119.3mm grav_b=(+0.03,+0.08,-1.00) r=0.53m +[headless_play] t= 9.90s step= 495 trunk_z= 116.5mm grav_b=(+0.04,+0.03,-1.00) r=0.55m +[headless_play] t= 10.00s step= 500 trunk_z= 114.8mm grav_b=(+0.04,-0.07,-1.00) r=0.56m +[headless_play] t= 10.10s step= 505 trunk_z= 119.9mm grav_b=(+0.04,-0.08,-1.00) r=0.58m +[headless_play] t= 10.20s step= 510 trunk_z= 112.9mm grav_b=(+0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 10.30s step= 515 trunk_z= 118.0mm grav_b=(+0.03,+0.07,-1.00) r=0.62m +[headless_play] t= 10.40s step= 520 trunk_z= 116.9mm grav_b=(+0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 10.50s step= 525 trunk_z= 112.8mm grav_b=(+0.06,-0.07,-1.00) r=0.65m +[headless_play] t= 10.60s step= 530 trunk_z= 120.7mm grav_b=(+0.04,-0.09,-1.00) r=0.67m +[headless_play] t= 10.70s step= 535 trunk_z= 115.5mm grav_b=(+0.05,-0.06,-1.00) r=0.68m +[headless_play] t= 10.80s step= 540 trunk_z= 116.2mm grav_b=(+0.01,+0.05,-1.00) r=0.70m +[headless_play] t= 10.90s step= 545 trunk_z= 119.6mm grav_b=(+0.02,+0.06,-1.00) r=0.72m +[headless_play] t= 11.00s step= 550 trunk_z= 115.3mm grav_b=(+0.05,-0.01,-1.00) r=0.73m +[headless_play] t= 11.10s step= 555 trunk_z= 118.2mm grav_b=(+0.05,-0.09,-1.00) r=0.75m +[headless_play] t= 11.20s step= 560 trunk_z= 116.6mm grav_b=(+0.06,-0.08,-1.00) r=0.77m +[headless_play] t= 11.30s step= 565 trunk_z= 109.3mm grav_b=(+0.04,+0.04,-1.00) r=0.79m +[headless_play] t= 11.40s step= 570 trunk_z= 119.9mm grav_b=(+0.04,+0.10,-0.99) r=0.81m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(+0.05,+0.04,-1.00) r=0.83m +[headless_play] t= 11.60s step= 580 trunk_z= 108.2mm grav_b=(+0.04,-0.12,-0.99) r=0.85m +[headless_play] t= 11.70s step= 585 trunk_z= 104.5mm grav_b=(+0.03,-0.34,-0.94) r=0.86m +[headless_play] t= 11.80s step= 590 trunk_z= 103.7mm grav_b=(+0.14,-0.36,-0.92) r=0.87m +[headless_play] t= 11.90s step= 595 trunk_z= 92.0mm grav_b=(+0.18,-0.26,-0.95) r=0.90m +[headless_play] t= 12.00s step= 600 trunk_z= 87.7mm grav_b=(+0.06,-0.08,-0.99) r=0.94m +[headless_play] t= 12.10s step= 605 trunk_z= 98.8mm grav_b=(-0.08,-0.05,-1.00) r=0.94m +[headless_play] t= 12.20s step= 610 trunk_z= 92.0mm grav_b=(-0.07,-0.09,-0.99) r=0.93m +[headless_play] t= 12.30s step= 615 trunk_z= 94.4mm grav_b=(-0.03,-0.03,-1.00) r=0.93m +[headless_play] t= 12.40s step= 620 trunk_z= 83.7mm grav_b=(+0.02,+0.07,-1.00) r=0.95m +[headless_play] t= 12.50s step= 625 trunk_z= 91.6mm grav_b=(+0.02,+0.09,-1.00) r=0.96m +[headless_play] t= 12.60s step= 630 trunk_z= 90.2mm grav_b=(+0.03,+0.06,-1.00) r=0.95m +[headless_play] t= 12.70s step= 635 trunk_z= 83.8mm grav_b=(+0.06,-0.03,-1.00) r=0.92m +[headless_play] t= 12.80s step= 640 trunk_z= 95.0mm grav_b=(+0.07,-0.08,-0.99) r=0.91m +[headless_play] t= 12.90s step= 645 trunk_z= 91.9mm grav_b=(+0.09,-0.05,-0.99) r=0.92m +[headless_play] t= 13.00s step= 650 trunk_z= 88.4mm grav_b=(+0.03,+0.00,-1.00) r=0.94m +[headless_play] t= 13.10s step= 655 trunk_z= 92.5mm grav_b=(-0.01,-0.02,-1.00) r=0.95m +[headless_play] t= 13.20s step= 660 trunk_z= 91.3mm grav_b=(-0.02,-0.09,-1.00) r=0.93m +[headless_play] t= 13.30s step= 665 trunk_z= 98.5mm grav_b=(+0.01,-0.09,-1.00) r=0.92m +[headless_play] t= 13.40s step= 670 trunk_z= 96.1mm grav_b=(+0.03,-0.06,-1.00) r=0.93m +[headless_play] t= 13.50s step= 675 trunk_z= 92.5mm grav_b=(+0.02,+0.02,-1.00) r=0.96m +[headless_play] t= 13.60s step= 680 trunk_z= 97.2mm grav_b=(+0.01,+0.02,-1.00) r=0.97m +[headless_play] t= 13.70s step= 685 trunk_z= 92.1mm grav_b=(+0.01,-0.02,-1.00) r=0.95m +[headless_play] t= 13.80s step= 690 trunk_z= 98.1mm grav_b=(+0.02,-0.08,-1.00) r=0.94m +[headless_play] t= 13.90s step= 695 trunk_z= 98.0mm grav_b=(+0.02,-0.07,-1.00) r=0.94m +[headless_play] t= 14.00s step= 700 trunk_z= 91.3mm grav_b=(-0.00,-0.03,-1.00) r=0.96m +[headless_play] t= 14.10s step= 705 trunk_z= 97.1mm grav_b=(-0.01,+0.03,-1.00) r=0.98m +[headless_play] t= 14.20s step= 710 trunk_z= 94.1mm grav_b=(-0.02,-0.00,-1.00) r=0.97m +[headless_play] t= 14.30s step= 715 trunk_z= 96.6mm grav_b=(+0.01,-0.08,-1.00) r=0.94m +[headless_play] t= 14.40s step= 720 trunk_z= 99.0mm grav_b=(+0.04,-0.08,-1.00) r=0.94m +[headless_play] t= 14.50s step= 725 trunk_z= 94.7mm grav_b=(+0.02,-0.08,-1.00) r=0.95m +[headless_play] t= 14.60s step= 730 trunk_z= 94.9mm grav_b=(+0.02,+0.02,-1.00) r=0.97m +[headless_play] t= 14.70s step= 735 trunk_z= 95.4mm grav_b=(-0.01,+0.00,-1.00) r=0.97m +[headless_play] t= 14.80s step= 740 trunk_z= 93.0mm grav_b=(-0.00,-0.06,-1.00) r=0.95m +[headless_play] t= 14.90s step= 745 trunk_z= 99.3mm grav_b=(+0.01,-0.09,-1.00) r=0.94m +[headless_play] t= 15.00s step= 750 trunk_z= 96.5mm grav_b=(+0.02,-0.08,-1.00) r=0.94m +[headless_play] t= 15.10s step= 755 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=0.97m +[headless_play] t= 15.20s step= 760 trunk_z= 96.5mm grav_b=(-0.00,-0.02,-1.00) r=0.97m +[headless_play] t= 15.30s step= 765 trunk_z= 90.9mm grav_b=(-0.03,-0.06,-1.00) r=0.95m +[headless_play] t= 15.40s step= 770 trunk_z= 99.0mm grav_b=(-0.01,-0.08,-1.00) r=0.94m +[headless_play] t= 15.50s step= 775 trunk_z= 98.0mm grav_b=(+0.02,-0.07,-1.00) r=0.94m +[headless_play] t= 15.60s step= 780 trunk_z= 90.4mm grav_b=(+0.01,-0.01,-1.00) r=0.96m +[headless_play] t= 15.70s step= 785 trunk_z= 97.8mm grav_b=(-0.00,+0.00,-1.00) r=0.96m +[headless_play] t= 15.80s step= 790 trunk_z= 93.0mm grav_b=(-0.02,-0.02,-1.00) r=0.95m +[headless_play] t= 15.90s step= 795 trunk_z= 97.3mm grav_b=(+0.01,-0.08,-1.00) r=0.93m +[headless_play] t= 16.00s step= 800 trunk_z= 98.6mm grav_b=(+0.02,-0.07,-1.00) r=0.93m +[headless_play] t= 16.10s step= 805 trunk_z= 92.6mm grav_b=(+0.00,-0.05,-1.00) r=0.94m +[headless_play] t= 16.20s step= 810 trunk_z= 97.6mm grav_b=(-0.02,+0.02,-1.00) r=0.95m +[headless_play] t= 16.30s step= 815 trunk_z= 94.8mm grav_b=(-0.04,-0.02,-1.00) r=0.94m +[headless_play] t= 16.40s step= 820 trunk_z= 96.8mm grav_b=(+0.00,-0.09,-1.00) r=0.92m +[headless_play] t= 16.50s step= 825 trunk_z= 100.0mm grav_b=(+0.03,-0.09,-1.00) r=0.91m +[headless_play] t= 16.60s step= 830 trunk_z= 95.5mm grav_b=(+0.03,-0.07,-1.00) r=0.92m +[headless_play] t= 16.70s step= 835 trunk_z= 97.1mm grav_b=(+0.01,+0.01,-1.00) r=0.93m +[headless_play] t= 16.80s step= 840 trunk_z= 101.2mm grav_b=(+0.04,-0.00,-1.00) r=0.93m +[headless_play] t= 16.90s step= 845 trunk_z= 95.5mm grav_b=(+0.01,-0.05,-1.00) r=0.90m +[headless_play] t= 17.00s step= 850 trunk_z= 101.4mm grav_b=(+0.00,-0.09,-1.00) r=0.89m +[headless_play] t= 17.10s step= 855 trunk_z= 99.4mm grav_b=(-0.03,-0.10,-0.99) r=0.89m +[headless_play] t= 17.20s step= 860 trunk_z= 92.1mm grav_b=(-0.05,-0.00,-1.00) r=0.90m +[headless_play] t= 17.30s step= 865 trunk_z= 100.0mm grav_b=(-0.01,+0.02,-1.00) r=0.90m +[headless_play] t= 17.40s step= 870 trunk_z= 98.8mm grav_b=(+0.01,+0.00,-1.00) r=0.90m +[headless_play] t= 17.50s step= 875 trunk_z= 95.6mm grav_b=(+0.01,-0.06,-1.00) r=0.88m +[headless_play] t= 17.60s step= 880 trunk_z= 100.9mm grav_b=(+0.01,-0.09,-1.00) r=0.87m +[headless_play] t= 17.70s step= 885 trunk_z= 97.5mm grav_b=(-0.02,-0.09,-1.00) r=0.88m +[headless_play] t= 17.80s step= 890 trunk_z= 96.5mm grav_b=(-0.04,+0.01,-1.00) r=0.89m +[headless_play] t= 17.90s step= 895 trunk_z= 99.7mm grav_b=(-0.00,+0.02,-1.00) r=0.88m +[headless_play] t= 18.00s step= 900 trunk_z= 95.3mm grav_b=(-0.00,-0.02,-1.00) r=0.87m +[headless_play] t= 18.10s step= 905 trunk_z= 100.2mm grav_b=(+0.00,-0.07,-1.00) r=0.86m +[headless_play] t= 18.20s step= 910 trunk_z= 100.7mm grav_b=(-0.01,-0.09,-1.00) r=0.86m +[headless_play] t= 18.30s step= 915 trunk_z= 93.7mm grav_b=(-0.04,-0.06,-1.00) r=0.87m +[headless_play] t= 18.40s step= 920 trunk_z= 99.3mm grav_b=(-0.01,+0.02,-1.00) r=0.87m +[headless_play] t= 18.50s step= 925 trunk_z= 98.5mm grav_b=(+0.01,+0.01,-1.00) r=0.87m +[headless_play] t= 18.60s step= 930 trunk_z= 94.0mm grav_b=(-0.00,-0.06,-1.00) r=0.86m +[headless_play] t= 18.70s step= 935 trunk_z= 100.6mm grav_b=(-0.01,-0.08,-1.00) r=0.85m +[headless_play] t= 18.80s step= 940 trunk_z= 97.7mm grav_b=(-0.02,-0.08,-1.00) r=0.85m +[headless_play] t= 18.90s step= 945 trunk_z= 94.9mm grav_b=(-0.04,+0.01,-1.00) r=0.85m +[headless_play] t= 19.00s step= 950 trunk_z= 99.5mm grav_b=(-0.01,+0.02,-1.00) r=0.85m +[headless_play] t= 19.10s step= 955 trunk_z= 96.1mm grav_b=(-0.00,-0.01,-1.00) r=0.84m +[headless_play] t= 19.20s step= 960 trunk_z= 99.5mm grav_b=(+0.01,-0.06,-1.00) r=0.83m +[headless_play] t= 19.30s step= 965 trunk_z= 101.5mm grav_b=(-0.00,-0.09,-1.00) r=0.83m +[headless_play] t= 19.40s step= 970 trunk_z= 94.8mm grav_b=(-0.04,-0.07,-1.00) r=0.83m +[headless_play] t= 19.50s step= 975 trunk_z= 98.9mm grav_b=(-0.04,+0.01,-1.00) r=0.83m +[headless_play] t= 19.60s step= 980 trunk_z= 99.6mm grav_b=(-0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 19.70s step= 985 trunk_z= 93.2mm grav_b=(-0.02,-0.05,-1.00) r=0.82m +[headless_play] t= 19.80s step= 990 trunk_z= 100.8mm grav_b=(-0.00,-0.08,-1.00) r=0.81m +[headless_play] t= 19.90s step= 995 trunk_z= 99.2mm grav_b=(-0.02,-0.08,-1.00) r=0.81m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 20.10s step=1005 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.23m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t15.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..86a7a83c68cce1b55913eb83db38423529198a41 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.6mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.507,-17.692,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 0.50s step= 25 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 0.60s step= 30 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 0.90s step= 45 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.00s step= 50 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.50s step= 75 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.50s step= 125 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.60s step= 130 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(-0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.10s step= 155 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.20s step= 160 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.30s step= 165 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(+0.00,-0.00,-1.00) r=0.58m +[headless_play] t= 3.50s step= 175 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.60s step= 180 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.70s step= 185 trunk_z= 115.9mm grav_b=(+0.00,-0.00,-1.00) r=0.58m +[headless_play] t= 3.80s step= 190 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 4.00s step= 200 trunk_z= 116.0mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 4.10s step= 205 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 4.20s step= 210 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 4.50s step= 225 trunk_z= 116.3mm grav_b=(+0.00,-0.00,-1.00) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 4.90s step= 245 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.30s step= 265 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 5.80s step= 290 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 6.00s step= 300 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 6.10s step= 305 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 6.20s step= 310 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(+0.01,+0.03,-1.00) r=0.57m +[headless_play] t= 6.40s step= 320 trunk_z= 119.8mm grav_b=(+0.00,+0.04,-1.00) r=0.55m +[headless_play] t= 6.50s step= 325 trunk_z= 121.6mm grav_b=(-0.00,-0.02,-1.00) r=0.53m +[headless_play] t= 6.60s step= 330 trunk_z= 115.9mm grav_b=(-0.01,-0.08,-1.00) r=0.52m +[headless_play] t= 6.70s step= 335 trunk_z= 127.9mm grav_b=(-0.02,-0.11,-0.99) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 124.6mm grav_b=(-0.02,-0.09,-1.00) r=0.48m +[headless_play] t= 6.90s step= 345 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.45m +[headless_play] t= 7.00s step= 350 trunk_z= 123.5mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 7.10s step= 355 trunk_z= 120.6mm grav_b=(-0.02,-0.02,-1.00) r=0.44m +[headless_play] t= 7.20s step= 360 trunk_z= 123.0mm grav_b=(-0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 7.30s step= 365 trunk_z= 125.3mm grav_b=(-0.01,-0.05,-1.00) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 7.50s step= 375 trunk_z= 123.7mm grav_b=(+0.00,+0.02,-1.00) r=0.39m +[headless_play] t= 7.60s step= 380 trunk_z= 119.7mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 122.7mm grav_b=(-0.01,-0.07,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 125.8mm grav_b=(+0.01,-0.08,-1.00) r=0.40m +[headless_play] t= 7.90s step= 395 trunk_z= 120.0mm grav_b=(-0.02,-0.04,-1.00) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 122.5mm grav_b=(-0.01,+0.03,-1.00) r=0.36m +[headless_play] t= 8.10s step= 405 trunk_z= 120.7mm grav_b=(+0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 119.9mm grav_b=(-0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 8.30s step= 415 trunk_z= 125.4mm grav_b=(+0.00,-0.08,-1.00) r=0.39m +[headless_play] t= 8.40s step= 420 trunk_z= 121.7mm grav_b=(-0.01,-0.05,-1.00) r=0.37m +[headless_play] t= 8.50s step= 425 trunk_z= 122.9mm grav_b=(-0.03,+0.04,-1.00) r=0.35m +[headless_play] t= 8.60s step= 430 trunk_z= 122.8mm grav_b=(+0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.00,-0.04,-1.00) r=0.37m +[headless_play] t= 8.80s step= 440 trunk_z= 125.9mm grav_b=(-0.00,-0.08,-1.00) r=0.38m +[headless_play] t= 8.90s step= 445 trunk_z= 125.3mm grav_b=(-0.01,-0.09,-1.00) r=0.37m +[headless_play] t= 9.00s step= 450 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.35m +[headless_play] t= 9.10s step= 455 trunk_z= 122.9mm grav_b=(+0.00,+0.03,-1.00) r=0.35m +[headless_play] t= 9.20s step= 460 trunk_z= 119.5mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 9.30s step= 465 trunk_z= 123.8mm grav_b=(+0.00,-0.07,-1.00) r=0.39m +[headless_play] t= 9.40s step= 470 trunk_z= 125.8mm grav_b=(+0.00,-0.09,-1.00) r=0.39m +[headless_play] t= 9.50s step= 475 trunk_z= 120.4mm grav_b=(-0.02,-0.04,-1.00) r=0.38m +[headless_play] t= 9.60s step= 480 trunk_z= 122.8mm grav_b=(-0.01,+0.03,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 121.3mm grav_b=(+0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 119.5mm grav_b=(-0.01,-0.06,-1.00) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 125.5mm grav_b=(+0.00,-0.09,-1.00) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 122.8mm grav_b=(-0.01,-0.06,-1.00) r=0.42m +[headless_play] t= 10.10s step= 505 trunk_z= 122.0mm grav_b=(-0.02,+0.03,-1.00) r=0.41m +[headless_play] t= 10.20s step= 510 trunk_z= 122.3mm grav_b=(+0.00,+0.00,-1.00) r=0.41m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(-0.02,-0.05,-1.00) r=0.44m +[headless_play] t= 10.40s step= 520 trunk_z= 125.1mm grav_b=(-0.01,-0.08,-1.00) r=0.46m +[headless_play] t= 10.50s step= 525 trunk_z= 123.9mm grav_b=(-0.01,-0.07,-1.00) r=0.46m +[headless_play] t= 10.60s step= 530 trunk_z= 118.3mm grav_b=(-0.05,+0.05,-1.00) r=0.45m +[headless_play] t= 10.70s step= 535 trunk_z= 123.0mm grav_b=(-0.01,+0.05,-1.00) r=0.46m +[headless_play] t= 10.80s step= 540 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 10.90s step= 545 trunk_z= 124.0mm grav_b=(-0.04,-0.10,-0.99) r=0.51m +[headless_play] t= 11.00s step= 550 trunk_z= 126.1mm grav_b=(-0.01,-0.10,-0.99) r=0.52m +[headless_play] t= 11.10s step= 555 trunk_z= 122.8mm grav_b=(-0.00,-0.08,-1.00) r=0.52m +[headless_play] t= 11.20s step= 560 trunk_z= 122.4mm grav_b=(-0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 11.30s step= 565 trunk_z= 122.6mm grav_b=(+0.00,+0.03,-1.00) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 116.3mm grav_b=(-0.03,-0.06,-1.00) r=0.56m +[headless_play] t= 11.50s step= 575 trunk_z= 125.7mm grav_b=(-0.04,-0.10,-0.99) r=0.58m +[headless_play] t= 11.60s step= 580 trunk_z= 124.4mm grav_b=(-0.01,-0.09,-1.00) r=0.59m +[headless_play] t= 11.70s step= 585 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 11.80s step= 590 trunk_z= 122.8mm grav_b=(-0.01,+0.05,-1.00) r=0.61m +[headless_play] t= 11.90s step= 595 trunk_z= 120.2mm grav_b=(+0.00,-0.00,-1.00) r=0.62m +[headless_play] t= 12.00s step= 600 trunk_z= 121.5mm grav_b=(-0.03,-0.08,-1.00) r=0.65m +[headless_play] t= 12.10s step= 605 trunk_z= 125.4mm grav_b=(-0.00,-0.09,-1.00) r=0.67m +[headless_play] t= 12.20s step= 610 trunk_z= 121.1mm grav_b=(-0.00,-0.06,-1.00) r=0.68m +[headless_play] t= 12.30s step= 615 trunk_z= 122.9mm grav_b=(-0.01,+0.06,-1.00) r=0.70m +[headless_play] t= 12.40s step= 620 trunk_z= 122.5mm grav_b=(+0.02,+0.02,-1.00) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(-0.02,-0.07,-1.00) r=0.74m +[headless_play] t= 12.60s step= 630 trunk_z= 126.6mm grav_b=(-0.02,-0.11,-0.99) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 125.1mm grav_b=(-0.01,-0.10,-0.99) r=0.78m +[headless_play] t= 12.80s step= 640 trunk_z= 116.5mm grav_b=(-0.03,+0.01,-1.00) r=0.80m +[headless_play] t= 12.90s step= 645 trunk_z= 123.2mm grav_b=(-0.01,+0.06,-1.00) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 120.6mm grav_b=(+0.01,-0.01,-1.00) r=0.83m +[headless_play] t= 13.10s step= 655 trunk_z= 120.3mm grav_b=(-0.03,-0.08,-1.00) r=0.86m +[headless_play] t= 13.20s step= 660 trunk_z= 117.8mm grav_b=(-0.03,-0.17,-0.99) r=0.89m +[headless_play] t= 13.30s step= 665 trunk_z= 106.0mm grav_b=(+0.03,-0.26,-0.97) r=0.94m +[headless_play] t= 13.40s step= 670 trunk_z= 91.6mm grav_b=(+0.09,-0.22,-0.97) r=0.99m +[headless_play] t= 13.50s step= 675 trunk_z= 109.6mm grav_b=(+0.01,-0.14,-0.99) r=1.02m +[headless_play] t= 13.60s step= 680 trunk_z= 85.5mm grav_b=(-0.10,-0.13,-0.99) r=1.05m +[headless_play] t= 13.70s step= 685 trunk_z= 93.0mm grav_b=(+0.03,-0.11,-0.99) r=1.06m +[headless_play] t= 13.80s step= 690 trunk_z= 91.7mm grav_b=(+0.00,-0.04,-1.00) r=1.08m +[headless_play] t= 13.90s step= 695 trunk_z= 95.4mm grav_b=(-0.05,+0.07,-1.00) r=1.11m +[headless_play] t= 14.00s step= 700 trunk_z= 97.6mm grav_b=(-0.02,+0.03,-1.00) r=1.12m +[headless_play] t= 14.10s step= 705 trunk_z= 90.0mm grav_b=(-0.04,-0.02,-1.00) r=1.13m +[headless_play] t= 14.20s step= 710 trunk_z= 99.8mm grav_b=(+0.01,-0.09,-1.00) r=1.14m +[headless_play] t= 14.30s step= 715 trunk_z= 102.1mm grav_b=(+0.02,-0.09,-1.00) r=1.15m +[headless_play] t= 14.40s step= 720 trunk_z= 94.6mm grav_b=(-0.01,-0.02,-1.00) r=1.18m +[headless_play] t= 14.50s step= 725 trunk_z= 99.5mm grav_b=(-0.02,+0.00,-1.00) r=1.20m +[headless_play] t= 14.60s step= 730 trunk_z= 95.4mm grav_b=(-0.03,-0.03,-1.00) r=1.21m +[headless_play] t= 14.70s step= 735 trunk_z= 97.5mm grav_b=(-0.02,-0.09,-1.00) r=1.22m +[headless_play] t= 14.80s step= 740 trunk_z= 101.0mm grav_b=(-0.00,-0.09,-1.00) r=1.23m +[headless_play] t= 14.90s step= 745 trunk_z= 98.8mm grav_b=(-0.02,-0.07,-1.00) r=1.25m +[headless_play] t= 15.00s step= 750 trunk_z= 97.1mm grav_b=(-0.03,+0.02,-1.00) r=1.27m +[headless_play] t= 15.10s step= 755 trunk_z= 98.9mm grav_b=(-0.01,+0.02,-1.00) r=1.28m +[headless_play] t= 15.20s step= 760 trunk_z= 92.6mm grav_b=(-0.03,-0.05,-1.00) r=1.28m +[headless_play] t= 15.30s step= 765 trunk_z= 100.5mm grav_b=(-0.00,-0.09,-1.00) r=1.29m +[headless_play] t= 15.40s step= 770 trunk_z= 101.8mm grav_b=(-0.00,-0.10,-1.00) r=1.31m +[headless_play] t= 15.50s step= 775 trunk_z= 97.6mm grav_b=(-0.04,-0.04,-1.00) r=1.33m +[headless_play] t= 15.60s step= 780 trunk_z= 98.7mm grav_b=(-0.02,+0.01,-1.00) r=1.35m +[headless_play] t= 15.70s step= 785 trunk_z= 97.0mm grav_b=(-0.02,-0.00,-1.00) r=1.35m +[headless_play] t= 15.80s step= 790 trunk_z= 95.7mm grav_b=(-0.02,-0.05,-1.00) r=1.36m +[headless_play] t= 15.90s step= 795 trunk_z= 100.3mm grav_b=(+0.00,-0.07,-1.00) r=1.37m +[headless_play] t= 16.00s step= 800 trunk_z= 97.2mm grav_b=(-0.01,-0.05,-1.00) r=1.39m +[headless_play] t= 16.10s step= 805 trunk_z= 98.5mm grav_b=(-0.00,+0.01,-1.00) r=1.41m +[headless_play] t= 16.20s step= 810 trunk_z= 98.8mm grav_b=(+0.00,-0.01,-1.00) r=1.42m +[headless_play] t= 16.30s step= 815 trunk_z= 91.9mm grav_b=(-0.01,-0.07,-1.00) r=1.43m +[headless_play] t= 16.40s step= 820 trunk_z= 102.3mm grav_b=(-0.00,-0.10,-1.00) r=1.45m +[headless_play] t= 16.50s step= 825 trunk_z= 100.9mm grav_b=(-0.01,-0.08,-1.00) r=1.47m +[headless_play] t= 16.60s step= 830 trunk_z= 94.4mm grav_b=(-0.03,+0.02,-1.00) r=1.50m +[headless_play] t= 16.70s step= 835 trunk_z= 100.4mm grav_b=(-0.01,+0.02,-1.00) r=1.51m +[headless_play] t= 16.80s step= 840 trunk_z= 95.7mm grav_b=(-0.03,-0.02,-1.00) r=1.52m +[headless_play] t= 16.90s step= 845 trunk_z= 99.6mm grav_b=(-0.01,-0.08,-1.00) r=1.52m +[headless_play] t= 17.00s step= 850 trunk_z= 101.7mm grav_b=(+0.01,-0.09,-1.00) r=1.53m +[headless_play] t= 17.10s step= 855 trunk_z= 97.1mm grav_b=(-0.02,-0.05,-1.00) r=1.55m +[headless_play] t= 17.20s step= 860 trunk_z= 99.6mm grav_b=(-0.02,+0.03,-1.00) r=1.57m +[headless_play] t= 17.30s step= 865 trunk_z= 97.9mm grav_b=(-0.01,-0.01,-1.00) r=1.58m +[headless_play] t= 17.40s step= 870 trunk_z= 95.2mm grav_b=(-0.01,-0.06,-1.00) r=1.58m +[headless_play] t= 17.50s step= 875 trunk_z= 101.6mm grav_b=(+0.01,-0.08,-1.00) r=1.59m +[headless_play] t= 17.60s step= 880 trunk_z= 100.1mm grav_b=(+0.00,-0.07,-1.00) r=1.61m +[headless_play] t= 17.70s step= 885 trunk_z= 97.0mm grav_b=(-0.01,+0.01,-1.00) r=1.64m +[headless_play] t= 17.80s step= 890 trunk_z= 98.9mm grav_b=(+0.00,-0.00,-1.00) r=1.65m +[headless_play] t= 17.90s step= 895 trunk_z= 90.3mm grav_b=(-0.03,-0.07,-1.00) r=1.65m +[headless_play] t= 18.00s step= 900 trunk_z= 100.8mm grav_b=(-0.01,-0.11,-0.99) r=1.66m +[headless_play] t= 18.10s step= 905 trunk_z= 100.5mm grav_b=(-0.00,-0.10,-0.99) r=1.67m +[headless_play] t= 18.20s step= 910 trunk_z= 92.8mm grav_b=(-0.03,-0.01,-1.00) r=1.70m +[headless_play] t= 18.30s step= 915 trunk_z= 99.6mm grav_b=(+0.00,+0.02,-1.00) r=1.71m +[headless_play] t= 18.40s step= 920 trunk_z= 95.2mm grav_b=(+0.02,-0.02,-1.00) r=1.71m +[headless_play] t= 18.50s step= 925 trunk_z= 96.9mm grav_b=(+0.01,-0.05,-1.00) r=1.70m +[headless_play] t= 18.60s step= 930 trunk_z= 97.3mm grav_b=(+0.03,-0.02,-1.00) r=1.71m +[headless_play] t= 18.70s step= 935 trunk_z= 94.2mm grav_b=(+0.02,+0.03,-1.00) r=1.71m +[headless_play] t= 18.80s step= 940 trunk_z= 92.3mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 18.90s step= 945 trunk_z= 91.9mm grav_b=(-0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.00s step= 950 trunk_z= 92.0mm grav_b=(-0.02,+0.01,-1.00) r=1.70m +[headless_play] t= 19.10s step= 955 trunk_z= 92.0mm grav_b=(-0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.20s step= 960 trunk_z= 91.9mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.30s step= 965 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.40s step= 970 trunk_z= 91.9mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.50s step= 975 trunk_z= 91.9mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.60s step= 980 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.70s step= 985 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.80s step= 990 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] t= 19.90s step= 995 trunk_z= 91.8mm grav_b=(+0.01,+0.01,-1.00) r=1.70m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.5mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 117.1mm grav_b=(-0.02,+0.03,-1.00) r=0.42m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t2.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..31e6c98a526bca035f15dc5438fe1e1770bd5448 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.6mm grav_b=(-0.00,+0.00,-1.00) root_w=(-2.390,-18.435,+0.146) +[headless_play] t= 0.00s step= 0 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.10,+0.00,-1.00) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.09,+0.00,-1.00) r=0.59m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 0.80s step= 40 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 115.8mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 1.90s step= 95 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 2.10s step= 105 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 2.20s step= 110 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 2.50s step= 125 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 2.90s step= 145 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.10s step= 155 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.20s step= 160 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.30s step= 165 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.50s step= 175 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.60s step= 180 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) r=0.59m +[headless_play] t= 3.70s step= 185 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 3.80s step= 190 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 3.90s step= 195 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.10s step= 205 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.20s step= 210 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 116.0mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.40s step= 270 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.50s step= 275 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.60s step= 280 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.80s step= 290 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.10s step= 305 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.40s step= 320 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.50s step= 325 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.60s step= 330 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.70s step= 335 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.00s step= 350 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.10s step= 355 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.20s step= 360 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.40s step= 370 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.60s step= 380 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.70s step= 385 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.80s step= 390 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 7.90s step= 395 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.10s step= 405 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.20s step= 410 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.30s step= 415 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.40s step= 420 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.06,+0.00,-1.00) r=0.59m +[headless_play] t= 8.60s step= 430 trunk_z= 116.4mm grav_b=(+0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 8.70s step= 435 trunk_z= 117.0mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 117.5mm grav_b=(+0.03,+0.00,-1.00) r=0.58m +[headless_play] t= 8.90s step= 445 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 9.00s step= 450 trunk_z= 117.1mm grav_b=(+0.03,-0.00,-1.00) r=0.58m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.20s step= 460 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.40s step= 470 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.60s step= 480 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.80s step= 490 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.20s step= 510 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.30s step= 515 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.40s step= 520 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.70s step= 535 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.80s step= 540 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.60s step= 580 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.70s step= 585 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 11.90s step= 595 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.30s step= 615 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.40s step= 620 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.70s step= 635 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 13.00s step= 650 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 13.10s step= 655 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(+0.03,-0.00,-1.00) r=0.58m +[headless_play] t= 13.30s step= 665 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 13.40s step= 670 trunk_z= 117.1mm grav_b=(+0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 13.50s step= 675 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 13.60s step= 680 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 13.70s step= 685 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 13.80s step= 690 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.00s step= 700 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.10s step= 705 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.30s step= 715 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.50s step= 725 trunk_z= 117.1mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(+0.04,-0.00,-1.00) r=0.59m +[headless_play] t= 14.70s step= 735 trunk_z= 117.0mm grav_b=(+0.05,+0.04,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 114.0mm grav_b=(+0.07,+0.08,-0.99) r=0.62m +[headless_play] t= 14.90s step= 745 trunk_z= 118.1mm grav_b=(+0.09,+0.04,-0.99) r=0.64m +[headless_play] t= 15.00s step= 750 trunk_z= 113.2mm grav_b=(+0.08,-0.00,-1.00) r=0.66m +[headless_play] t= 15.10s step= 755 trunk_z= 120.8mm grav_b=(+0.08,-0.05,-1.00) r=0.68m +[headless_play] t= 15.20s step= 760 trunk_z= 118.3mm grav_b=(+0.09,-0.08,-0.99) r=0.70m +[headless_play] t= 15.30s step= 765 trunk_z= 114.3mm grav_b=(+0.10,+0.04,-0.99) r=0.73m +[headless_play] t= 15.40s step= 770 trunk_z= 124.5mm grav_b=(+0.12,+0.12,-0.99) r=0.75m +[headless_play] t= 15.50s step= 775 trunk_z= 124.2mm grav_b=(+0.11,+0.11,-0.99) r=0.76m +[headless_play] t= 15.60s step= 780 trunk_z= 118.3mm grav_b=(+0.09,-0.00,-1.00) r=0.79m +[headless_play] t= 15.70s step= 785 trunk_z= 120.8mm grav_b=(+0.07,+0.00,-1.00) r=0.81m +[headless_play] t= 15.80s step= 790 trunk_z= 113.4mm grav_b=(+0.03,+0.04,-1.00) r=0.84m +[headless_play] t= 15.90s step= 795 trunk_z= 123.7mm grav_b=(+0.05,+0.08,-1.00) r=0.86m +[headless_play] t= 16.00s step= 800 trunk_z= 121.1mm grav_b=(+0.09,+0.06,-0.99) r=0.87m +[headless_play] t= 16.10s step= 805 trunk_z= 116.2mm grav_b=(+0.09,-0.03,-1.00) r=0.88m +[headless_play] t= 16.20s step= 810 trunk_z= 123.0mm grav_b=(+0.06,-0.04,-1.00) r=0.89m +[headless_play] t= 16.30s step= 815 trunk_z= 117.7mm grav_b=(+0.06,-0.03,-1.00) r=0.91m +[headless_play] t= 16.40s step= 820 trunk_z= 122.0mm grav_b=(+0.03,+0.07,-1.00) r=0.93m +[headless_play] t= 16.50s step= 825 trunk_z= 124.3mm grav_b=(+0.07,+0.10,-0.99) r=0.95m +[headless_play] t= 16.60s step= 830 trunk_z= 119.1mm grav_b=(+0.10,+0.06,-0.99) r=0.96m +[headless_play] t= 16.70s step= 835 trunk_z= 118.4mm grav_b=(+0.07,-0.07,-1.00) r=0.98m +[headless_play] t= 16.80s step= 840 trunk_z= 122.9mm grav_b=(+0.06,-0.02,-1.00) r=0.99m +[headless_play] t= 16.90s step= 845 trunk_z= 113.5mm grav_b=(+0.05,+0.01,-1.00) r=1.02m +[headless_play] t= 17.00s step= 850 trunk_z= 122.5mm grav_b=(+0.07,+0.07,-1.00) r=1.04m +[headless_play] t= 17.10s step= 855 trunk_z= 120.1mm grav_b=(+0.13,+0.06,-0.99) r=1.06m +[headless_play] t= 17.20s step= 860 trunk_z= 119.1mm grav_b=(+0.11,+0.04,-0.99) r=1.09m +[headless_play] t= 17.30s step= 865 trunk_z= 98.0mm grav_b=(+0.08,+0.01,-1.00) r=1.12m +[headless_play] t= 17.40s step= 870 trunk_z= 90.4mm grav_b=(+0.07,+0.05,-1.00) r=1.16m +[headless_play] t= 17.50s step= 875 trunk_z= 97.4mm grav_b=(+0.11,+0.10,-0.99) r=1.19m +[headless_play] t= 17.60s step= 880 trunk_z= 99.9mm grav_b=(+0.09,+0.15,-0.99) r=1.21m +[headless_play] t= 17.70s step= 885 trunk_z= 97.5mm grav_b=(+0.12,+0.14,-0.98) r=1.24m +[headless_play] t= 17.80s step= 890 trunk_z= 93.1mm grav_b=(+0.11,+0.04,-0.99) r=1.27m +[headless_play] t= 17.90s step= 895 trunk_z= 99.3mm grav_b=(+0.09,+0.03,-1.00) r=1.29m +[headless_play] t= 18.00s step= 900 trunk_z= 87.0mm grav_b=(+0.05,+0.04,-1.00) r=1.32m +[headless_play] t= 18.10s step= 905 trunk_z= 98.8mm grav_b=(+0.06,+0.09,-0.99) r=1.34m +[headless_play] t= 18.20s step= 910 trunk_z= 96.5mm grav_b=(+0.08,+0.09,-0.99) r=1.36m +[headless_play] t= 18.30s step= 915 trunk_z= 91.1mm grav_b=(+0.09,+0.01,-1.00) r=1.38m +[headless_play] t= 18.40s step= 920 trunk_z= 96.9mm grav_b=(+0.07,-0.03,-1.00) r=1.39m +[headless_play] t= 18.50s step= 925 trunk_z= 92.0mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 18.60s step= 930 trunk_z= 97.1mm grav_b=(+0.04,+0.08,-1.00) r=1.42m +[headless_play] t= 18.70s step= 935 trunk_z= 98.9mm grav_b=(+0.07,+0.10,-0.99) r=1.44m +[headless_play] t= 18.80s step= 940 trunk_z= 93.8mm grav_b=(+0.10,+0.06,-0.99) r=1.46m +[headless_play] t= 18.90s step= 945 trunk_z= 96.3mm grav_b=(+0.07,-0.05,-1.00) r=1.48m +[headless_play] t= 19.00s step= 950 trunk_z= 95.5mm grav_b=(+0.09,-0.02,-1.00) r=1.49m +[headless_play] t= 19.10s step= 955 trunk_z= 93.8mm grav_b=(+0.06,+0.06,-1.00) r=1.49m +[headless_play] t= 19.20s step= 960 trunk_z= 102.0mm grav_b=(+0.06,+0.05,-1.00) r=1.50m +[headless_play] t= 19.30s step= 965 trunk_z= 96.7mm grav_b=(+0.12,+0.04,-0.99) r=1.51m +[headless_play] t= 19.40s step= 970 trunk_z= 96.0mm grav_b=(+0.15,-0.03,-0.99) r=1.53m +[headless_play] t= 19.50s step= 975 trunk_z= 102.1mm grav_b=(+0.10,-0.04,-0.99) r=1.56m +[headless_play] t= 19.60s step= 980 trunk_z= 91.1mm grav_b=(+0.03,+0.01,-1.00) r=1.59m +[headless_play] t= 19.70s step= 985 trunk_z= 98.8mm grav_b=(+0.03,+0.03,-1.00) r=1.62m +[headless_play] t= 19.80s step= 990 trunk_z= 93.0mm grav_b=(+0.05,-0.01,-1.00) r=1.64m +[headless_play] t= 19.90s step= 995 trunk_z= 97.3mm grav_b=(+0.07,-0.06,-1.00) r=1.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.8mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(+0.00,-0.00,-1.00) r=0.16m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t3.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..871e4135a40052a99acfa1d90ac36735f14f78ee --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.498,-17.899,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.8mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 112.2mm grav_b=(+0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 118.6mm grav_b=(+0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 115.3mm grav_b=(+0.05,-0.02,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 113.4mm grav_b=(+0.04,+0.08,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 121.7mm grav_b=(+0.03,+0.06,-1.00) r=0.56m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(+0.01,+0.05,-1.00) r=0.56m +[headless_play] t= 0.80s step= 40 trunk_z= 120.9mm grav_b=(+0.01,-0.05,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 122.3mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 1.10s step= 55 trunk_z= 120.8mm grav_b=(+0.01,+0.09,-1.00) r=0.59m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(+0.02,+0.05,-1.00) r=0.60m +[headless_play] t= 1.30s step= 65 trunk_z= 114.7mm grav_b=(-0.00,-0.01,-1.00) r=0.59m +[headless_play] t= 1.40s step= 70 trunk_z= 121.8mm grav_b=(+0.01,-0.04,-1.00) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 119.3mm grav_b=(+0.04,-0.02,-1.00) r=0.61m +[headless_play] t= 1.60s step= 80 trunk_z= 115.3mm grav_b=(+0.03,+0.05,-1.00) r=0.63m +[headless_play] t= 1.70s step= 85 trunk_z= 121.8mm grav_b=(+0.01,+0.05,-1.00) r=0.64m +[headless_play] t= 1.80s step= 90 trunk_z= 115.2mm grav_b=(+0.01,+0.02,-1.00) r=0.64m +[headless_play] t= 1.90s step= 95 trunk_z= 120.5mm grav_b=(+0.01,-0.05,-1.00) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 119.9mm grav_b=(+0.04,-0.04,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 114.2mm grav_b=(+0.06,+0.03,-1.00) r=0.68m +[headless_play] t= 2.20s step= 110 trunk_z= 122.8mm grav_b=(+0.02,+0.07,-1.00) r=0.69m +[headless_play] t= 2.30s step= 115 trunk_z= 118.3mm grav_b=(+0.02,+0.06,-1.00) r=0.70m +[headless_play] t= 2.40s step= 120 trunk_z= 118.3mm grav_b=(+0.00,-0.02,-1.00) r=0.70m +[headless_play] t= 2.50s step= 125 trunk_z= 121.4mm grav_b=(+0.01,-0.02,-1.00) r=0.70m +[headless_play] t= 2.60s step= 130 trunk_z= 116.4mm grav_b=(+0.04,-0.00,-1.00) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 119.7mm grav_b=(+0.02,+0.08,-1.00) r=0.75m +[headless_play] t= 2.80s step= 140 trunk_z= 119.8mm grav_b=(+0.03,+0.05,-1.00) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 113.9mm grav_b=(+0.01,-0.02,-1.00) r=0.75m +[headless_play] t= 3.00s step= 150 trunk_z= 122.2mm grav_b=(-0.00,-0.05,-1.00) r=0.75m +[headless_play] t= 3.10s step= 155 trunk_z= 119.9mm grav_b=(+0.02,-0.02,-1.00) r=0.77m +[headless_play] t= 3.20s step= 160 trunk_z= 115.0mm grav_b=(+0.01,+0.05,-1.00) r=0.79m +[headless_play] t= 3.30s step= 165 trunk_z= 120.2mm grav_b=(+0.01,+0.07,-1.00) r=0.81m +[headless_play] t= 3.40s step= 170 trunk_z= 114.6mm grav_b=(+0.03,+0.00,-1.00) r=0.82m +[headless_play] t= 3.50s step= 175 trunk_z= 114.9mm grav_b=(-0.01,-0.04,-1.00) r=0.82m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(+0.03,-0.04,-1.00) r=0.83m +[headless_play] t= 3.70s step= 185 trunk_z= 110.8mm grav_b=(+0.03,-0.00,-1.00) r=0.86m +[headless_play] t= 3.80s step= 190 trunk_z= 112.4mm grav_b=(+0.04,+0.05,-1.00) r=0.87m +[headless_play] t= 3.90s step= 195 trunk_z= 111.6mm grav_b=(+0.08,+0.05,-1.00) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 110.3mm grav_b=(+0.05,+0.01,-1.00) r=0.88m +[headless_play] t= 4.10s step= 205 trunk_z= 116.7mm grav_b=(-0.00,-0.04,-1.00) r=0.88m +[headless_play] t= 4.20s step= 210 trunk_z= 117.9mm grav_b=(+0.02,-0.02,-1.00) r=0.89m +[headless_play] t= 4.30s step= 215 trunk_z= 111.1mm grav_b=(+0.03,+0.03,-1.00) r=0.91m +[headless_play] t= 4.40s step= 220 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.92m +[headless_play] t= 4.50s step= 225 trunk_z= 111.5mm grav_b=(+0.08,+0.08,-0.99) r=0.94m +[headless_play] t= 4.60s step= 230 trunk_z= 108.2mm grav_b=(+0.05,-0.01,-1.00) r=0.94m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(+0.00,-0.03,-1.00) r=0.95m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.95m +[headless_play] t= 4.90s step= 245 trunk_z= 111.5mm grav_b=(+0.02,+0.06,-1.00) r=0.96m +[headless_play] t= 5.00s step= 250 trunk_z= 114.1mm grav_b=(+0.05,+0.08,-1.00) r=0.98m +[headless_play] t= 5.10s step= 255 trunk_z= 109.7mm grav_b=(+0.09,+0.06,-0.99) r=0.99m +[headless_play] t= 5.20s step= 260 trunk_z= 111.3mm grav_b=(+0.03,-0.02,-1.00) r=1.00m +[headless_play] t= 5.30s step= 265 trunk_z= 116.7mm grav_b=(+0.02,-0.03,-1.00) r=1.01m +[headless_play] t= 5.40s step= 270 trunk_z= 113.3mm grav_b=(+0.04,+0.00,-1.00) r=1.03m +[headless_play] t= 5.50s step= 275 trunk_z= 95.9mm grav_b=(+0.05,+0.17,-0.98) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 102.7mm grav_b=(+0.07,+0.37,-0.93) r=1.05m +[headless_play] t= 5.70s step= 285 trunk_z= 103.3mm grav_b=(+0.16,+0.36,-0.92) r=1.03m +[headless_play] t= 5.80s step= 290 trunk_z= 103.1mm grav_b=(+0.14,+0.19,-0.97) r=1.06m +[headless_play] t= 5.90s step= 295 trunk_z= 85.1mm grav_b=(+0.07,+0.11,-0.99) r=1.10m +[headless_play] t= 6.00s step= 300 trunk_z= 97.9mm grav_b=(-0.08,+0.09,-0.99) r=1.11m +[headless_play] t= 6.10s step= 305 trunk_z= 91.5mm grav_b=(+0.00,+0.08,-1.00) r=1.13m +[headless_play] t= 6.20s step= 310 trunk_z= 91.0mm grav_b=(+0.01,+0.05,-1.00) r=1.15m +[headless_play] t= 6.30s step= 315 trunk_z= 85.7mm grav_b=(-0.02,-0.03,-1.00) r=1.18m +[headless_play] t= 6.40s step= 320 trunk_z= 93.4mm grav_b=(-0.02,-0.02,-1.00) r=1.19m +[headless_play] t= 6.50s step= 325 trunk_z= 90.8mm grav_b=(+0.03,+0.03,-1.00) r=1.17m +[headless_play] t= 6.60s step= 330 trunk_z= 93.4mm grav_b=(+0.03,+0.05,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 93.6mm grav_b=(-0.01,+0.06,-1.00) r=1.15m +[headless_play] t= 6.80s step= 340 trunk_z= 90.8mm grav_b=(+0.02,-0.04,-1.00) r=1.16m +[headless_play] t= 6.90s step= 345 trunk_z= 98.1mm grav_b=(+0.05,-0.04,-1.00) r=1.18m +[headless_play] t= 7.00s step= 350 trunk_z= 94.5mm grav_b=(+0.04,+0.00,-1.00) r=1.18m +[headless_play] t= 7.10s step= 355 trunk_z= 98.2mm grav_b=(-0.01,+0.05,-1.00) r=1.19m +[headless_play] t= 7.20s step= 360 trunk_z= 98.6mm grav_b=(-0.03,+0.03,-1.00) r=1.20m +[headless_play] t= 7.30s step= 365 trunk_z= 91.0mm grav_b=(-0.06,-0.01,-1.00) r=1.23m +[headless_play] t= 7.40s step= 370 trunk_z= 99.0mm grav_b=(-0.01,-0.04,-1.00) r=1.24m +[headless_play] t= 7.50s step= 375 trunk_z= 96.7mm grav_b=(+0.02,-0.00,-1.00) r=1.24m +[headless_play] t= 7.60s step= 380 trunk_z= 96.8mm grav_b=(-0.02,+0.05,-1.00) r=1.24m +[headless_play] t= 7.70s step= 385 trunk_z= 99.4mm grav_b=(-0.04,+0.03,-1.00) r=1.24m +[headless_play] t= 7.80s step= 390 trunk_z= 93.6mm grav_b=(-0.06,+0.01,-1.00) r=1.27m +[headless_play] t= 7.90s step= 395 trunk_z= 99.2mm grav_b=(-0.01,-0.05,-1.00) r=1.29m +[headless_play] t= 8.00s step= 400 trunk_z= 98.6mm grav_b=(+0.02,-0.01,-1.00) r=1.29m +[headless_play] t= 8.10s step= 405 trunk_z= 94.0mm grav_b=(-0.00,+0.05,-1.00) r=1.28m +[headless_play] t= 8.20s step= 410 trunk_z= 101.0mm grav_b=(-0.05,+0.03,-1.00) r=1.28m +[headless_play] t= 8.30s step= 415 trunk_z= 95.2mm grav_b=(-0.06,+0.03,-1.00) r=1.30m +[headless_play] t= 8.40s step= 420 trunk_z= 97.5mm grav_b=(-0.01,-0.03,-1.00) r=1.33m +[headless_play] t= 8.50s step= 425 trunk_z= 100.1mm grav_b=(+0.02,-0.02,-1.00) r=1.33m +[headless_play] t= 8.60s step= 430 trunk_z= 92.9mm grav_b=(-0.00,+0.05,-1.00) r=1.32m +[headless_play] t= 8.70s step= 435 trunk_z= 100.7mm grav_b=(-0.02,+0.05,-1.00) r=1.31m +[headless_play] t= 8.80s step= 440 trunk_z= 94.8mm grav_b=(-0.01,+0.04,-1.00) r=1.33m +[headless_play] t= 8.90s step= 445 trunk_z= 94.4mm grav_b=(-0.02,-0.02,-1.00) r=1.35m +[headless_play] t= 9.00s step= 450 trunk_z= 95.2mm grav_b=(+0.01,-0.02,-1.00) r=1.36m +[headless_play] t= 9.10s step= 455 trunk_z= 89.4mm grav_b=(+0.00,+0.00,-1.00) r=1.34m +[headless_play] t= 9.20s step= 460 trunk_z= 89.1mm grav_b=(+0.00,+0.05,-1.00) r=1.32m +[headless_play] t= 9.30s step= 465 trunk_z= 87.8mm grav_b=(+0.04,+0.05,-1.00) r=1.33m +[headless_play] t= 9.40s step= 470 trunk_z= 82.4mm grav_b=(+0.07,-0.01,-1.00) r=1.34m +[headless_play] t= 9.50s step= 475 trunk_z= 89.6mm grav_b=(+0.02,-0.02,-1.00) r=1.36m +[headless_play] t= 9.60s step= 480 trunk_z= 88.9mm grav_b=(+0.05,-0.02,-1.00) r=1.35m +[headless_play] t= 9.70s step= 485 trunk_z= 82.3mm grav_b=(+0.07,+0.05,-1.00) r=1.33m +[headless_play] t= 9.80s step= 490 trunk_z= 89.2mm grav_b=(+0.04,+0.06,-1.00) r=1.33m +[headless_play] t= 9.90s step= 495 trunk_z= 87.2mm grav_b=(+0.07,+0.04,-1.00) r=1.34m +[headless_play] t= 10.00s step= 500 trunk_z= 86.8mm grav_b=(+0.02,-0.04,-1.00) r=1.36m +[headless_play] t= 10.10s step= 505 trunk_z= 91.8mm grav_b=(+0.01,-0.03,-1.00) r=1.37m +[headless_play] t= 10.20s step= 510 trunk_z= 88.8mm grav_b=(+0.04,+0.00,-1.00) r=1.36m +[headless_play] t= 10.30s step= 515 trunk_z= 86.5mm grav_b=(+0.03,+0.06,-1.00) r=1.34m +[headless_play] t= 10.40s step= 520 trunk_z= 88.3mm grav_b=(+0.06,+0.06,-1.00) r=1.34m +[headless_play] t= 10.50s step= 525 trunk_z= 85.9mm grav_b=(+0.09,+0.02,-1.00) r=1.36m +[headless_play] t= 10.60s step= 530 trunk_z= 89.1mm grav_b=(+0.00,-0.05,-1.00) r=1.38m +[headless_play] t= 10.70s step= 535 trunk_z= 92.2mm grav_b=(+0.02,-0.03,-1.00) r=1.38m +[headless_play] t= 10.80s step= 540 trunk_z= 87.7mm grav_b=(+0.04,+0.00,-1.00) r=1.38m +[headless_play] t= 10.90s step= 545 trunk_z= 88.3mm grav_b=(+0.03,+0.06,-1.00) r=1.36m +[headless_play] t= 11.00s step= 550 trunk_z= 89.3mm grav_b=(+0.04,+0.06,-1.00) r=1.37m +[headless_play] t= 11.10s step= 555 trunk_z= 86.1mm grav_b=(+0.06,+0.02,-1.00) r=1.38m +[headless_play] t= 11.20s step= 560 trunk_z= 89.7mm grav_b=(+0.01,-0.03,-1.00) r=1.40m +[headless_play] t= 11.30s step= 565 trunk_z= 90.5mm grav_b=(+0.02,-0.01,-1.00) r=1.40m +[headless_play] t= 11.40s step= 570 trunk_z= 84.6mm grav_b=(+0.03,+0.02,-1.00) r=1.38m +[headless_play] t= 11.50s step= 575 trunk_z= 88.1mm grav_b=(+0.02,+0.04,-1.00) r=1.37m +[headless_play] t= 11.60s step= 580 trunk_z= 86.5mm grav_b=(+0.06,+0.02,-1.00) r=1.38m +[headless_play] t= 11.70s step= 585 trunk_z= 83.4mm grav_b=(+0.07,-0.04,-1.00) r=1.41m +[headless_play] t= 11.80s step= 590 trunk_z= 87.7mm grav_b=(+0.05,-0.03,-1.00) r=1.42m +[headless_play] t= 11.90s step= 595 trunk_z= 84.7mm grav_b=(+0.06,+0.00,-1.00) r=1.41m +[headless_play] t= 12.00s step= 600 trunk_z= 88.7mm grav_b=(+0.03,+0.06,-1.00) r=1.40m +[headless_play] t= 12.10s step= 605 trunk_z= 89.4mm grav_b=(+0.06,+0.01,-1.00) r=1.41m +[headless_play] t= 12.20s step= 610 trunk_z= 81.9mm grav_b=(+0.06,-0.03,-1.00) r=1.43m +[headless_play] t= 12.30s step= 615 trunk_z= 88.6mm grav_b=(+0.02,-0.03,-1.00) r=1.45m +[headless_play] t= 12.40s step= 620 trunk_z= 85.6mm grav_b=(+0.05,-0.00,-1.00) r=1.45m +[headless_play] t= 12.50s step= 625 trunk_z= 81.6mm grav_b=(+0.06,+0.05,-1.00) r=1.44m +[headless_play] t= 12.60s step= 630 trunk_z= 87.9mm grav_b=(+0.05,+0.02,-1.00) r=1.44m +[headless_play] t= 12.70s step= 635 trunk_z= 81.8mm grav_b=(+0.06,-0.01,-1.00) r=1.46m +[headless_play] t= 12.80s step= 640 trunk_z= 87.6mm grav_b=(+0.02,-0.03,-1.00) r=1.48m +[headless_play] t= 12.90s step= 645 trunk_z= 86.8mm grav_b=(+0.04,-0.01,-1.00) r=1.48m +[headless_play] t= 13.00s step= 650 trunk_z= 81.5mm grav_b=(+0.07,+0.02,-1.00) r=1.47m +[headless_play] t= 13.10s step= 655 trunk_z= 87.1mm grav_b=(+0.05,+0.03,-1.00) r=1.46m +[headless_play] t= 13.20s step= 660 trunk_z= 85.0mm grav_b=(+0.07,-0.00,-1.00) r=1.48m +[headless_play] t= 13.30s step= 665 trunk_z= 85.4mm grav_b=(+0.04,-0.04,-1.00) r=1.50m +[headless_play] t= 13.40s step= 670 trunk_z= 88.7mm grav_b=(+0.03,-0.03,-1.00) r=1.51m +[headless_play] t= 13.50s step= 675 trunk_z= 84.2mm grav_b=(+0.05,+0.00,-1.00) r=1.51m +[headless_play] t= 13.60s step= 680 trunk_z= 84.0mm grav_b=(+0.07,+0.04,-1.00) r=1.50m +[headless_play] t= 13.70s step= 685 trunk_z= 90.3mm grav_b=(+0.03,-0.03,-1.00) r=1.51m +[headless_play] t= 13.80s step= 690 trunk_z= 84.8mm grav_b=(+0.07,-0.01,-1.00) r=1.53m +[headless_play] t= 13.90s step= 695 trunk_z= 91.2mm grav_b=(+0.04,-0.03,-1.00) r=1.54m +[headless_play] t= 14.00s step= 700 trunk_z= 88.1mm grav_b=(+0.05,+0.03,-1.00) r=1.54m +[headless_play] t= 14.10s step= 705 trunk_z= 93.5mm grav_b=(+0.03,+0.08,-1.00) r=1.54m +[headless_play] t= 14.20s step= 710 trunk_z= 95.7mm grav_b=(+0.01,+0.06,-1.00) r=1.55m +[headless_play] t= 14.30s step= 715 trunk_z= 89.2mm grav_b=(+0.01,+0.02,-1.00) r=1.57m +[headless_play] t= 14.40s step= 720 trunk_z= 95.9mm grav_b=(-0.01,-0.05,-1.00) r=1.59m +[headless_play] t= 14.50s step= 725 trunk_z= 94.8mm grav_b=(-0.00,-0.01,-1.00) r=1.59m +[headless_play] t= 14.60s step= 730 trunk_z= 90.8mm grav_b=(+0.00,+0.06,-1.00) r=1.58m +[headless_play] t= 14.70s step= 735 trunk_z= 96.0mm grav_b=(+0.02,+0.07,-1.00) r=1.58m +[headless_play] t= 14.80s step= 740 trunk_z= 91.9mm grav_b=(+0.04,+0.03,-1.00) r=1.60m +[headless_play] t= 14.90s step= 745 trunk_z= 93.4mm grav_b=(+0.01,-0.05,-1.00) r=1.63m +[headless_play] t= 15.00s step= 750 trunk_z= 93.8mm grav_b=(+0.02,-0.00,-1.00) r=1.64m +[headless_play] t= 15.10s step= 755 trunk_z= 87.2mm grav_b=(+0.03,+0.04,-1.00) r=1.63m +[headless_play] t= 15.20s step= 760 trunk_z= 96.7mm grav_b=(+0.03,+0.05,-1.00) r=1.63m +[headless_play] t= 15.30s step= 765 trunk_z= 91.8mm grav_b=(+0.02,+0.03,-1.00) r=1.65m +[headless_play] t= 15.40s step= 770 trunk_z= 92.4mm grav_b=(+0.01,-0.05,-1.00) r=1.68m +[headless_play] t= 15.50s step= 775 trunk_z= 94.3mm grav_b=(+0.02,-0.01,-1.00) r=1.68m +[headless_play] t= 15.60s step= 780 trunk_z= 87.0mm grav_b=(+0.02,+0.04,-1.00) r=1.68m +[headless_play] t= 15.70s step= 785 trunk_z= 97.1mm grav_b=(+0.02,+0.08,-1.00) r=1.68m +[headless_play] t= 15.80s step= 790 trunk_z= 94.5mm grav_b=(+0.02,+0.06,-1.00) r=1.69m +[headless_play] t= 15.90s step= 795 trunk_z= 89.2mm grav_b=(+0.02,-0.02,-1.00) r=1.71m +[headless_play] t= 16.00s step= 800 trunk_z= 95.3mm grav_b=(+0.01,-0.02,-1.00) r=1.73m +[headless_play] t= 16.10s step= 805 trunk_z= 89.5mm grav_b=(+0.03,+0.01,-1.00) r=1.72m +[headless_play] t= 16.20s step= 810 trunk_z= 95.0mm grav_b=(+0.03,+0.07,-1.00) r=1.72m +[headless_play] t= 16.30s step= 815 trunk_z= 94.8mm grav_b=(+0.02,+0.06,-1.00) r=1.72m +[headless_play] t= 16.40s step= 820 trunk_z= 87.7mm grav_b=(+0.02,-0.01,-1.00) r=1.75m +[headless_play] t= 16.50s step= 825 trunk_z= 96.3mm grav_b=(-0.01,-0.03,-1.00) r=1.76m +[headless_play] t= 16.60s step= 830 trunk_z= 94.5mm grav_b=(-0.04,-0.00,-1.00) r=1.75m +[headless_play] t= 16.70s step= 835 trunk_z= 97.4mm grav_b=(-0.00,+0.07,-1.00) r=1.74m +[headless_play] t= 16.80s step= 840 trunk_z= 100.3mm grav_b=(+0.01,+0.05,-1.00) r=1.74m +[headless_play] t= 16.90s step= 845 trunk_z= 95.7mm grav_b=(+0.01,+0.03,-1.00) r=1.77m +[headless_play] t= 17.00s step= 850 trunk_z= 99.3mm grav_b=(+0.02,-0.05,-1.00) r=1.78m +[headless_play] t= 17.10s step= 855 trunk_z= 98.4mm grav_b=(-0.00,-0.02,-1.00) r=1.78m +[headless_play] t= 17.20s step= 860 trunk_z= 94.7mm grav_b=(-0.04,+0.04,-1.00) r=1.77m +[headless_play] t= 17.30s step= 865 trunk_z= 100.5mm grav_b=(-0.04,+0.04,-1.00) r=1.77m +[headless_play] t= 17.40s step= 870 trunk_z= 96.0mm grav_b=(-0.04,+0.02,-1.00) r=1.79m +[headless_play] t= 17.50s step= 875 trunk_z= 99.0mm grav_b=(-0.03,-0.04,-1.00) r=1.82m +[headless_play] t= 17.60s step= 880 trunk_z= 99.6mm grav_b=(-0.02,-0.01,-1.00) r=1.82m +[headless_play] t= 17.70s step= 885 trunk_z= 93.2mm grav_b=(-0.02,+0.04,-1.00) r=1.80m +[headless_play] t= 17.80s step= 890 trunk_z= 100.0mm grav_b=(-0.03,+0.05,-1.00) r=1.80m +[headless_play] t= 17.90s step= 895 trunk_z= 96.0mm grav_b=(-0.04,+0.04,-1.00) r=1.82m +[headless_play] t= 18.00s step= 900 trunk_z= 97.8mm grav_b=(-0.02,-0.04,-1.00) r=1.85m +[headless_play] t= 18.10s step= 905 trunk_z= 99.2mm grav_b=(-0.01,-0.02,-1.00) r=1.85m +[headless_play] t= 18.20s step= 910 trunk_z= 92.3mm grav_b=(-0.02,+0.05,-1.00) r=1.84m +[headless_play] t= 18.30s step= 915 trunk_z= 101.3mm grav_b=(-0.02,+0.07,-1.00) r=1.83m +[headless_play] t= 18.40s step= 920 trunk_z= 98.9mm grav_b=(-0.03,+0.06,-1.00) r=1.85m +[headless_play] t= 18.50s step= 925 trunk_z= 96.7mm grav_b=(-0.02,-0.04,-1.00) r=1.87m +[headless_play] t= 18.60s step= 930 trunk_z= 100.4mm grav_b=(-0.02,-0.02,-1.00) r=1.88m +[headless_play] t= 18.70s step= 935 trunk_z= 94.1mm grav_b=(-0.02,+0.02,-1.00) r=1.87m +[headless_play] t= 18.80s step= 940 trunk_z= 100.7mm grav_b=(-0.02,+0.07,-1.00) r=1.86m +[headless_play] t= 18.90s step= 945 trunk_z= 101.3mm grav_b=(-0.03,+0.05,-1.00) r=1.87m +[headless_play] t= 19.00s step= 950 trunk_z= 95.1mm grav_b=(-0.03,+0.03,-1.00) r=1.89m +[headless_play] t= 19.10s step= 955 trunk_z= 100.3mm grav_b=(-0.01,-0.06,-1.00) r=1.91m +[headless_play] t= 19.20s step= 960 trunk_z= 99.0mm grav_b=(-0.02,-0.02,-1.00) r=1.91m +[headless_play] t= 19.30s step= 965 trunk_z= 94.7mm grav_b=(-0.01,+0.04,-1.00) r=1.89m +[headless_play] t= 19.40s step= 970 trunk_z= 100.7mm grav_b=(-0.02,+0.03,-1.00) r=1.89m +[headless_play] t= 19.50s step= 975 trunk_z= 97.4mm grav_b=(-0.04,+0.04,-1.00) r=1.90m +[headless_play] t= 19.60s step= 980 trunk_z= 97.8mm grav_b=(-0.02,-0.06,-1.00) r=1.93m +[headless_play] t= 19.70s step= 985 trunk_z= 100.3mm grav_b=(-0.03,-0.04,-1.00) r=1.93m +[headless_play] t= 19.80s step= 990 trunk_z= 92.8mm grav_b=(-0.04,+0.02,-1.00) r=1.92m +[headless_play] t= 19.90s step= 995 trunk_z= 101.0mm grav_b=(-0.02,+0.07,-1.00) r=1.91m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.01,+0.04,-1.00) r=0.25m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t4.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..74822b62e535a69871ed68f38a5ecd090f8c20c1 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.0mm grav_b=(-0.00,+0.00,-1.00) root_w=(-9.532,-17.685,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.4mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.06,+0.08,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 119.7mm grav_b=(+0.05,+0.02,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.03,-0.10,-0.99) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 125.7mm grav_b=(+0.02,-0.13,-0.99) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 121.1mm grav_b=(+0.02,-0.10,-0.99) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 118.5mm grav_b=(-0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 122.6mm grav_b=(-0.00,+0.03,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 122.4mm grav_b=(+0.02,-0.09,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 122.1mm grav_b=(+0.05,-0.06,-1.00) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 113.4mm grav_b=(+0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 121.7mm grav_b=(+0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 120.0mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 120.1mm grav_b=(+0.01,-0.09,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 123.2mm grav_b=(+0.02,-0.08,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 116.8mm grav_b=(+0.04,-0.04,-1.00) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 121.2mm grav_b=(+0.01,+0.03,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 121.3mm grav_b=(+0.02,+0.00,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 116.1mm grav_b=(+0.02,-0.07,-1.00) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 123.9mm grav_b=(+0.01,-0.09,-1.00) r=0.32m +[headless_play] t= 2.20s step= 110 trunk_z= 119.7mm grav_b=(+0.03,-0.08,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 118.5mm grav_b=(+0.02,+0.03,-1.00) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 122.3mm grav_b=(+0.02,+0.02,-1.00) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 119.1mm grav_b=(+0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 122.8mm grav_b=(+0.03,-0.07,-1.00) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 122.5mm grav_b=(+0.03,-0.08,-1.00) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 122.0mm grav_b=(+0.01,+0.02,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 118.9mm grav_b=(+0.01,-0.01,-1.00) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 122.0mm grav_b=(+0.01,-0.07,-1.00) r=0.25m +[headless_play] t= 3.20s step= 160 trunk_z= 122.5mm grav_b=(+0.02,-0.06,-1.00) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 113.7mm grav_b=(+0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 3.40s step= 170 trunk_z= 122.1mm grav_b=(+0.02,+0.03,-1.00) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 120.1mm grav_b=(+0.02,+0.01,-1.00) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 120.0mm grav_b=(+0.01,-0.07,-1.00) r=0.23m +[headless_play] t= 3.70s step= 185 trunk_z= 123.6mm grav_b=(+0.02,-0.08,-1.00) r=0.23m +[headless_play] t= 3.80s step= 190 trunk_z= 118.3mm grav_b=(+0.01,-0.05,-1.00) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 121.2mm grav_b=(+0.00,+0.03,-1.00) r=0.19m +[headless_play] t= 4.00s step= 200 trunk_z= 121.2mm grav_b=(+0.00,+0.00,-1.00) r=0.19m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(+0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 4.20s step= 210 trunk_z= 122.6mm grav_b=(+0.02,-0.06,-1.00) r=0.22m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(+0.02,-0.04,-1.00) r=0.21m +[headless_play] t= 4.40s step= 220 trunk_z= 120.2mm grav_b=(+0.00,+0.04,-1.00) r=0.20m +[headless_play] t= 4.50s step= 225 trunk_z= 121.3mm grav_b=(+0.00,+0.02,-1.00) r=0.20m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(+0.00,-0.04,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 122.9mm grav_b=(+0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 4.80s step= 240 trunk_z= 119.2mm grav_b=(+0.02,-0.05,-1.00) r=0.23m +[headless_play] t= 4.90s step= 245 trunk_z= 119.3mm grav_b=(+0.00,+0.03,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 121.4mm grav_b=(+0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 115.9mm grav_b=(-0.00,-0.04,-1.00) r=0.24m +[headless_play] t= 5.20s step= 260 trunk_z= 122.6mm grav_b=(+0.02,-0.06,-1.00) r=0.25m +[headless_play] t= 5.30s step= 265 trunk_z= 118.8mm grav_b=(+0.02,-0.04,-1.00) r=0.25m +[headless_play] t= 5.40s step= 270 trunk_z= 118.0mm grav_b=(+0.00,+0.03,-1.00) r=0.24m +[headless_play] t= 5.50s step= 275 trunk_z= 121.1mm grav_b=(+0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 5.60s step= 280 trunk_z= 115.5mm grav_b=(-0.00,-0.03,-1.00) r=0.26m +[headless_play] t= 5.70s step= 285 trunk_z= 122.4mm grav_b=(+0.01,-0.06,-1.00) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 119.2mm grav_b=(+0.02,-0.04,-1.00) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(-0.00,+0.03,-1.00) r=0.27m +[headless_play] t= 6.00s step= 300 trunk_z= 120.8mm grav_b=(+0.00,-0.00,-1.00) r=0.27m +[headless_play] t= 6.10s step= 305 trunk_z= 117.3mm grav_b=(+0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 6.20s step= 310 trunk_z= 122.9mm grav_b=(+0.05,-0.06,-1.00) r=0.31m +[headless_play] t= 6.30s step= 315 trunk_z= 123.7mm grav_b=(+0.06,-0.02,-1.00) r=0.32m +[headless_play] t= 6.40s step= 320 trunk_z= 113.0mm grav_b=(-0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 6.50s step= 325 trunk_z= 120.3mm grav_b=(-0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(-0.03,-0.02,-1.00) r=0.35m +[headless_play] t= 6.70s step= 335 trunk_z= 121.8mm grav_b=(+0.02,-0.07,-1.00) r=0.37m +[headless_play] t= 6.80s step= 340 trunk_z= 123.2mm grav_b=(+0.01,-0.03,-1.00) r=0.38m +[headless_play] t= 6.90s step= 345 trunk_z= 113.3mm grav_b=(-0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 7.00s step= 350 trunk_z= 122.9mm grav_b=(-0.00,+0.03,-1.00) r=0.39m +[headless_play] t= 7.10s step= 355 trunk_z= 120.5mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 7.20s step= 360 trunk_z= 118.8mm grav_b=(+0.01,-0.04,-1.00) r=0.42m +[headless_play] t= 7.30s step= 365 trunk_z= 121.9mm grav_b=(+0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 7.50s step= 375 trunk_z= 122.2mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 121.1mm grav_b=(-0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 7.70s step= 385 trunk_z= 116.3mm grav_b=(-0.01,-0.04,-1.00) r=0.45m +[headless_play] t= 7.80s step= 390 trunk_z= 122.4mm grav_b=(+0.02,-0.06,-1.00) r=0.46m +[headless_play] t= 7.90s step= 395 trunk_z= 119.0mm grav_b=(+0.01,-0.03,-1.00) r=0.46m +[headless_play] t= 8.00s step= 400 trunk_z= 120.4mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 8.10s step= 405 trunk_z= 123.0mm grav_b=(-0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 8.20s step= 410 trunk_z= 119.1mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 121.2mm grav_b=(+0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 121.5mm grav_b=(+0.02,-0.04,-1.00) r=0.51m +[headless_play] t= 8.50s step= 425 trunk_z= 113.8mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 8.60s step= 430 trunk_z= 123.8mm grav_b=(-0.02,+0.03,-1.00) r=0.52m +[headless_play] t= 8.70s step= 435 trunk_z= 121.7mm grav_b=(-0.02,+0.00,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 118.1mm grav_b=(+0.00,-0.05,-1.00) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 122.9mm grav_b=(+0.02,-0.06,-1.00) r=0.55m +[headless_play] t= 9.00s step= 450 trunk_z= 119.2mm grav_b=(-0.00,-0.04,-1.00) r=0.55m +[headless_play] t= 9.10s step= 455 trunk_z= 120.5mm grav_b=(-0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 9.20s step= 460 trunk_z= 122.5mm grav_b=(-0.02,+0.04,-1.00) r=0.56m +[headless_play] t= 9.30s step= 465 trunk_z= 118.0mm grav_b=(-0.02,-0.01,-1.00) r=0.57m +[headless_play] t= 9.40s step= 470 trunk_z= 122.4mm grav_b=(+0.04,-0.07,-1.00) r=0.59m +[headless_play] t= 9.50s step= 475 trunk_z= 125.1mm grav_b=(-0.01,-0.03,-1.00) r=0.60m +[headless_play] t= 9.60s step= 480 trunk_z= 114.3mm grav_b=(-0.01,+0.03,-1.00) r=0.62m +[headless_play] t= 9.70s step= 485 trunk_z= 122.6mm grav_b=(+0.01,+0.04,-1.00) r=0.64m +[headless_play] t= 9.80s step= 490 trunk_z= 120.5mm grav_b=(-0.02,-0.00,-1.00) r=0.65m +[headless_play] t= 9.90s step= 495 trunk_z= 120.7mm grav_b=(-0.00,-0.06,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 121.2mm grav_b=(+0.02,-0.03,-1.00) r=0.68m +[headless_play] t= 10.10s step= 505 trunk_z= 111.9mm grav_b=(+0.00,+0.03,-1.00) r=0.69m +[headless_play] t= 10.20s step= 510 trunk_z= 119.1mm grav_b=(+0.02,+0.07,-1.00) r=0.70m +[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.72m +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(+0.04,-0.05,-1.00) r=0.73m +[headless_play] t= 10.50s step= 525 trunk_z= 119.3mm grav_b=(+0.06,-0.04,-1.00) r=0.75m +[headless_play] t= 10.60s step= 530 trunk_z= 112.2mm grav_b=(+0.05,+0.00,-1.00) r=0.76m +[headless_play] t= 10.70s step= 535 trunk_z= 118.4mm grav_b=(+0.01,+0.07,-1.00) r=0.77m +[headless_play] t= 10.80s step= 540 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.79m +[headless_play] t= 10.90s step= 545 trunk_z= 116.2mm grav_b=(+0.03,-0.05,-1.00) r=0.80m +[headless_play] t= 11.00s step= 550 trunk_z= 118.9mm grav_b=(+0.06,-0.03,-1.00) r=0.81m +[headless_play] t= 11.10s step= 555 trunk_z= 112.4mm grav_b=(+0.05,+0.01,-1.00) r=0.82m +[headless_play] t= 11.20s step= 560 trunk_z= 118.6mm grav_b=(+0.01,+0.08,-1.00) r=0.84m +[headless_play] t= 11.30s step= 565 trunk_z= 116.3mm grav_b=(+0.03,+0.02,-1.00) r=0.85m +[headless_play] t= 11.40s step= 570 trunk_z= 116.7mm grav_b=(+0.04,-0.05,-1.00) r=0.88m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(+0.07,-0.04,-1.00) r=0.90m +[headless_play] t= 11.60s step= 580 trunk_z= 100.0mm grav_b=(+0.03,+0.01,-1.00) r=0.92m +[headless_play] t= 11.70s step= 585 trunk_z= 92.0mm grav_b=(+0.06,+0.04,-1.00) r=0.95m +[headless_play] t= 11.80s step= 590 trunk_z= 87.7mm grav_b=(+0.07,-0.03,-1.00) r=0.98m +[headless_play] t= 11.90s step= 595 trunk_z= 95.6mm grav_b=(+0.07,-0.08,-0.99) r=1.00m +[headless_play] t= 12.00s step= 600 trunk_z= 92.0mm grav_b=(+0.06,-0.06,-1.00) r=1.01m +[headless_play] t= 12.10s step= 605 trunk_z= 85.0mm grav_b=(+0.05,+0.03,-1.00) r=1.02m +[headless_play] t= 12.20s step= 610 trunk_z= 94.9mm grav_b=(+0.04,+0.07,-1.00) r=1.03m +[headless_play] t= 12.30s step= 615 trunk_z= 90.9mm grav_b=(+0.04,+0.04,-1.00) r=1.04m +[headless_play] t= 12.40s step= 620 trunk_z= 93.3mm grav_b=(+0.03,-0.05,-1.00) r=1.05m +[headless_play] t= 12.50s step= 625 trunk_z= 95.6mm grav_b=(+0.02,-0.03,-1.00) r=1.06m +[headless_play] t= 12.60s step= 630 trunk_z= 87.7mm grav_b=(+0.03,+0.02,-1.00) r=1.07m +[headless_play] t= 12.70s step= 635 trunk_z= 95.3mm grav_b=(+0.04,+0.05,-1.00) r=1.08m +[headless_play] t= 12.80s step= 640 trunk_z= 92.0mm grav_b=(+0.04,-0.00,-1.00) r=1.09m +[headless_play] t= 12.90s step= 645 trunk_z= 94.1mm grav_b=(+0.05,-0.06,-1.00) r=1.10m +[headless_play] t= 13.00s step= 650 trunk_z= 97.0mm grav_b=(+0.04,-0.05,-1.00) r=1.12m +[headless_play] t= 13.10s step= 655 trunk_z= 88.0mm grav_b=(+0.03,-0.01,-1.00) r=1.13m +[headless_play] t= 13.20s step= 660 trunk_z= 94.4mm grav_b=(+0.01,+0.02,-1.00) r=1.13m +[headless_play] t= 13.30s step= 665 trunk_z= 90.5mm grav_b=(+0.00,-0.02,-1.00) r=1.13m +[headless_play] t= 13.40s step= 670 trunk_z= 91.3mm grav_b=(+0.04,-0.01,-1.00) r=1.13m +[headless_play] t= 13.50s step= 675 trunk_z= 91.4mm grav_b=(+0.04,+0.00,-1.00) r=1.13m +[headless_play] t= 13.60s step= 680 trunk_z= 91.4mm grav_b=(+0.03,+0.00,-1.00) r=1.13m +[headless_play] t= 13.70s step= 685 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 13.80s step= 690 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 13.90s step= 695 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.00s step= 700 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.10s step= 705 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.20s step= 710 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.30s step= 715 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.40s step= 720 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.50s step= 725 trunk_z= 91.4mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.60s step= 730 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.70s step= 735 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.80s step= 740 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 14.90s step= 745 trunk_z= 91.3mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 15.00s step= 750 trunk_z= 91.3mm grav_b=(+0.02,-0.00,-1.00) r=1.13m +[headless_play] t= 15.10s step= 755 trunk_z= 91.7mm grav_b=(+0.02,-0.00,-1.00) r=1.13m +[headless_play] t= 15.20s step= 760 trunk_z= 91.4mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.30s step= 765 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.40s step= 770 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.50s step= 775 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.60s step= 780 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.70s step= 785 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.80s step= 790 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 15.90s step= 795 trunk_z= 91.4mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.00s step= 800 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.10s step= 805 trunk_z= 91.4mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.20s step= 810 trunk_z= 91.4mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.30s step= 815 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.40s step= 820 trunk_z= 91.5mm grav_b=(+0.01,-0.00,-1.00) r=1.12m +[headless_play] t= 16.50s step= 825 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 16.60s step= 830 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 16.70s step= 835 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 16.80s step= 840 trunk_z= 91.6mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 16.90s step= 845 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 17.00s step= 850 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 17.10s step= 855 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 17.20s step= 860 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 17.30s step= 865 trunk_z= 91.5mm grav_b=(+0.00,-0.00,-1.00) r=1.12m +[headless_play] t= 17.40s step= 870 trunk_z= 91.6mm grav_b=(+0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 17.50s step= 875 trunk_z= 91.4mm grav_b=(-0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 17.60s step= 880 trunk_z= 91.4mm grav_b=(-0.00,+0.00,-1.00) r=1.12m +[headless_play] t= 17.70s step= 885 trunk_z= 91.5mm grav_b=(+0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 17.80s step= 890 trunk_z= 91.5mm grav_b=(+0.01,+0.00,-1.00) r=1.12m +[headless_play] t= 17.90s step= 895 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.00s step= 900 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.10s step= 905 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.20s step= 910 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.30s step= 915 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.40s step= 920 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.50s step= 925 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.60s step= 930 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.70s step= 935 trunk_z= 91.5mm grav_b=(+0.02,+0.00,-1.00) r=1.13m +[headless_play] t= 18.80s step= 940 trunk_z= 91.5mm grav_b=(+0.01,+0.00,-1.00) r=1.13m +[headless_play] t= 18.90s step= 945 trunk_z= 91.3mm grav_b=(+0.02,-0.01,-1.00) r=1.13m +[headless_play] t= 19.00s step= 950 trunk_z= 90.5mm grav_b=(+0.03,-0.07,-1.00) r=1.13m +[headless_play] t= 19.10s step= 955 trunk_z= 95.7mm grav_b=(+0.06,-0.07,-1.00) r=1.15m +[headless_play] t= 19.20s step= 960 trunk_z= 95.2mm grav_b=(+0.04,-0.01,-1.00) r=1.17m +[headless_play] t= 19.30s step= 965 trunk_z= 92.6mm grav_b=(-0.03,+0.07,-1.00) r=1.20m +[headless_play] t= 19.40s step= 970 trunk_z= 98.5mm grav_b=(+0.00,+0.06,-1.00) r=1.22m +[headless_play] t= 19.50s step= 975 trunk_z= 93.8mm grav_b=(+0.00,+0.00,-1.00) r=1.24m +[headless_play] t= 19.60s step= 980 trunk_z= 97.7mm grav_b=(+0.01,-0.06,-1.00) r=1.25m +[headless_play] t= 19.70s step= 985 trunk_z= 98.5mm grav_b=(+0.03,-0.08,-1.00) r=1.27m +[headless_play] t= 19.80s step= 990 trunk_z= 90.2mm grav_b=(+0.01,-0.02,-1.00) r=1.29m +[headless_play] t= 19.90s step= 995 trunk_z= 95.9mm grav_b=(+0.00,+0.03,-1.00) r=1.30m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.5mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 114.0mm grav_b=(+0.01,-0.04,-1.00) r=0.50m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t5.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..dd48d72c36a00a5a670a9e1b57e7f2949a5adb03 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.262,-17.923,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.1mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.01,+0.05,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(+0.06,+0.11,-0.99) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 120.3mm grav_b=(+0.05,+0.07,-1.00) r=0.23m +[headless_play] t= 0.40s step= 20 trunk_z= 112.2mm grav_b=(-0.02,-0.05,-1.00) r=0.19m +[headless_play] t= 0.50s step= 25 trunk_z= 123.2mm grav_b=(-0.05,-0.07,-1.00) r=0.17m +[headless_play] t= 0.60s step= 30 trunk_z= 118.6mm grav_b=(-0.05,-0.03,-1.00) r=0.16m +[headless_play] t= 0.70s step= 35 trunk_z= 120.4mm grav_b=(-0.08,+0.09,-0.99) r=0.16m +[headless_play] t= 0.80s step= 40 trunk_z= 123.1mm grav_b=(-0.06,+0.12,-0.99) r=0.16m +[headless_play] t= 0.90s step= 45 trunk_z= 120.3mm grav_b=(-0.04,+0.10,-0.99) r=0.15m +[headless_play] t= 1.00s step= 50 trunk_z= 113.8mm grav_b=(+0.00,-0.01,-1.00) r=0.12m +[headless_play] t= 1.10s step= 55 trunk_z= 118.0mm grav_b=(+0.00,-0.03,-1.00) r=0.11m +[headless_play] t= 1.20s step= 60 trunk_z= 113.9mm grav_b=(-0.02,+0.01,-1.00) r=0.12m +[headless_play] t= 1.30s step= 65 trunk_z= 118.3mm grav_b=(-0.03,+0.12,-0.99) r=0.14m +[headless_play] t= 1.40s step= 70 trunk_z= 122.3mm grav_b=(-0.01,+0.15,-0.99) r=0.15m +[headless_play] t= 1.50s step= 75 trunk_z= 119.9mm grav_b=(+0.02,+0.13,-0.99) r=0.15m +[headless_play] t= 1.60s step= 80 trunk_z= 113.3mm grav_b=(+0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 1.70s step= 85 trunk_z= 119.2mm grav_b=(+0.00,-0.02,-1.00) r=0.15m +[headless_play] t= 1.80s step= 90 trunk_z= 112.5mm grav_b=(-0.02,+0.04,-1.00) r=0.17m +[headless_play] t= 1.90s step= 95 trunk_z= 120.3mm grav_b=(-0.05,+0.12,-0.99) r=0.19m +[headless_play] t= 2.00s step= 100 trunk_z= 120.7mm grav_b=(-0.02,+0.12,-0.99) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 115.9mm grav_b=(+0.03,+0.08,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 115.6mm grav_b=(+0.01,-0.04,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 115.2mm grav_b=(-0.00,-0.02,-1.00) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 111.9mm grav_b=(-0.03,+0.10,-1.00) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 120.7mm grav_b=(-0.03,+0.14,-0.99) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 119.2mm grav_b=(+0.01,+0.13,-0.99) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.04,+0.04,-1.00) r=0.31m +[headless_play] t= 2.80s step= 140 trunk_z= 118.7mm grav_b=(+0.02,-0.04,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(-0.02,+0.10,-0.99) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 120.2mm grav_b=(-0.01,+0.11,-0.99) r=0.38m +[headless_play] t= 3.20s step= 160 trunk_z= 116.4mm grav_b=(+0.02,+0.08,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 116.3mm grav_b=(-0.00,-0.04,-1.00) r=0.42m +[headless_play] t= 3.40s step= 170 trunk_z= 116.8mm grav_b=(-0.01,-0.03,-1.00) r=0.43m +[headless_play] t= 3.50s step= 175 trunk_z= 111.4mm grav_b=(-0.03,+0.08,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 122.0mm grav_b=(-0.04,+0.15,-0.99) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 121.0mm grav_b=(+0.00,+0.15,-0.99) r=0.47m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(+0.04,+0.09,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 118.9mm grav_b=(-0.01,-0.05,-1.00) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 118.2mm grav_b=(-0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 112.2mm grav_b=(-0.03,+0.09,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 121.3mm grav_b=(-0.02,+0.14,-0.99) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 121.5mm grav_b=(+0.02,+0.14,-0.99) r=0.56m +[headless_play] t= 4.40s step= 220 trunk_z= 118.9mm grav_b=(+0.03,+0.07,-1.00) r=0.58m +[headless_play] t= 4.50s step= 225 trunk_z= 120.3mm grav_b=(-0.02,-0.07,-1.00) r=0.60m +[headless_play] t= 4.60s step= 230 trunk_z= 120.1mm grav_b=(+0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 4.70s step= 235 trunk_z= 113.6mm grav_b=(-0.01,+0.08,-1.00) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 123.6mm grav_b=(+0.01,+0.09,-1.00) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 123.3mm grav_b=(+0.05,+0.07,-1.00) r=0.62m +[headless_play] t= 5.00s step= 250 trunk_z= 113.4mm grav_b=(-0.01,-0.04,-1.00) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 122.8mm grav_b=(-0.04,-0.08,-1.00) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 119.6mm grav_b=(-0.06,-0.02,-1.00) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 121.5mm grav_b=(-0.04,+0.07,-1.00) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 123.6mm grav_b=(-0.01,+0.06,-1.00) r=0.70m +[headless_play] t= 5.50s step= 275 trunk_z= 117.9mm grav_b=(+0.00,+0.00,-1.00) r=0.72m +[headless_play] t= 5.60s step= 280 trunk_z= 121.0mm grav_b=(-0.02,-0.08,-1.00) r=0.75m +[headless_play] t= 5.70s step= 285 trunk_z= 116.2mm grav_b=(-0.02,-0.06,-1.00) r=0.78m +[headless_play] t= 5.80s step= 290 trunk_z= 91.4mm grav_b=(-0.01,-0.03,-1.00) r=0.83m +[headless_play] t= 5.90s step= 295 trunk_z= 102.9mm grav_b=(+0.06,+0.02,-1.00) r=0.85m +[headless_play] t= 6.00s step= 300 trunk_z= 103.1mm grav_b=(-0.03,+0.05,-1.00) r=0.89m +[headless_play] t= 6.10s step= 305 trunk_z= 87.8mm grav_b=(-0.07,-0.08,-0.99) r=0.93m +[headless_play] t= 6.20s step= 310 trunk_z= 96.9mm grav_b=(-0.05,-0.05,-1.00) r=0.94m +[headless_play] t= 6.30s step= 315 trunk_z= 92.0mm grav_b=(-0.05,+0.02,-1.00) r=0.95m +[headless_play] t= 6.40s step= 320 trunk_z= 98.2mm grav_b=(-0.03,+0.08,-1.00) r=0.97m +[headless_play] t= 6.50s step= 325 trunk_z= 98.2mm grav_b=(-0.01,+0.05,-1.00) r=0.98m +[headless_play] t= 6.60s step= 330 trunk_z= 90.9mm grav_b=(-0.03,-0.03,-1.00) r=1.01m +[headless_play] t= 6.70s step= 335 trunk_z= 97.3mm grav_b=(-0.02,-0.04,-1.00) r=1.02m +[headless_play] t= 6.80s step= 340 trunk_z= 92.8mm grav_b=(-0.04,+0.02,-1.00) r=1.03m +[headless_play] t= 6.90s step= 345 trunk_z= 96.3mm grav_b=(-0.05,+0.09,-1.00) r=1.05m +[headless_play] t= 7.00s step= 350 trunk_z= 97.2mm grav_b=(-0.03,+0.05,-1.00) r=1.06m +[headless_play] t= 7.10s step= 355 trunk_z= 91.4mm grav_b=(-0.03,+0.00,-1.00) r=1.08m +[headless_play] t= 7.20s step= 360 trunk_z= 98.2mm grav_b=(+0.00,-0.06,-1.00) r=1.10m +[headless_play] t= 7.30s step= 365 trunk_z= 97.6mm grav_b=(-0.00,-0.02,-1.00) r=1.11m +[headless_play] t= 7.40s step= 370 trunk_z= 90.7mm grav_b=(-0.04,+0.06,-1.00) r=1.12m +[headless_play] t= 7.50s step= 375 trunk_z= 99.2mm grav_b=(-0.04,+0.09,-1.00) r=1.14m +[headless_play] t= 7.60s step= 380 trunk_z= 98.2mm grav_b=(-0.02,+0.07,-1.00) r=1.15m +[headless_play] t= 7.70s step= 385 trunk_z= 93.0mm grav_b=(-0.01,-0.02,-1.00) r=1.16m +[headless_play] t= 7.80s step= 390 trunk_z= 99.4mm grav_b=(+0.01,-0.03,-1.00) r=1.17m +[headless_play] t= 7.90s step= 395 trunk_z= 96.8mm grav_b=(-0.02,+0.02,-1.00) r=1.18m +[headless_play] t= 8.00s step= 400 trunk_z= 96.4mm grav_b=(-0.04,+0.10,-0.99) r=1.20m +[headless_play] t= 8.10s step= 405 trunk_z= 99.8mm grav_b=(-0.02,+0.08,-1.00) r=1.22m +[headless_play] t= 8.20s step= 410 trunk_z= 97.8mm grav_b=(-0.04,+0.04,-1.00) r=1.24m +[headless_play] t= 8.30s step= 415 trunk_z= 95.9mm grav_b=(-0.05,-0.04,-1.00) r=1.26m +[headless_play] t= 8.40s step= 420 trunk_z= 98.6mm grav_b=(-0.04,-0.02,-1.00) r=1.27m +[headless_play] t= 8.50s step= 425 trunk_z= 90.0mm grav_b=(-0.07,+0.05,-1.00) r=1.28m +[headless_play] t= 8.60s step= 430 trunk_z= 98.1mm grav_b=(-0.07,+0.08,-0.99) r=1.29m +[headless_play] t= 8.70s step= 435 trunk_z= 97.2mm grav_b=(-0.04,+0.04,-1.00) r=1.30m +[headless_play] t= 8.80s step= 440 trunk_z= 93.1mm grav_b=(-0.02,-0.03,-1.00) r=1.32m +[headless_play] t= 8.90s step= 445 trunk_z= 98.7mm grav_b=(+0.00,-0.01,-1.00) r=1.34m +[headless_play] t= 9.00s step= 450 trunk_z= 95.0mm grav_b=(-0.03,+0.03,-1.00) r=1.35m +[headless_play] t= 9.10s step= 455 trunk_z= 96.8mm grav_b=(-0.07,+0.11,-0.99) r=1.36m +[headless_play] t= 9.20s step= 460 trunk_z= 100.0mm grav_b=(-0.06,+0.09,-0.99) r=1.38m +[headless_play] t= 9.30s step= 465 trunk_z= 97.0mm grav_b=(-0.04,+0.03,-1.00) r=1.40m +[headless_play] t= 9.40s step= 470 trunk_z= 97.0mm grav_b=(-0.04,-0.05,-1.00) r=1.43m +[headless_play] t= 9.50s step= 475 trunk_z= 99.7mm grav_b=(-0.00,-0.04,-1.00) r=1.44m +[headless_play] t= 9.60s step= 480 trunk_z= 93.8mm grav_b=(-0.06,+0.03,-1.00) r=1.45m +[headless_play] t= 9.70s step= 485 trunk_z= 98.7mm grav_b=(-0.07,+0.09,-0.99) r=1.46m +[headless_play] t= 9.80s step= 490 trunk_z= 99.4mm grav_b=(-0.05,+0.06,-1.00) r=1.47m +[headless_play] t= 9.90s step= 495 trunk_z= 93.8mm grav_b=(-0.05,+0.00,-1.00) r=1.50m +[headless_play] t= 10.00s step= 500 trunk_z= 98.4mm grav_b=(-0.01,-0.02,-1.00) r=1.52m +[headless_play] t= 10.10s step= 505 trunk_z= 97.3mm grav_b=(-0.03,+0.01,-1.00) r=1.53m +[headless_play] t= 10.20s step= 510 trunk_z= 93.5mm grav_b=(-0.07,+0.09,-0.99) r=1.54m +[headless_play] t= 10.30s step= 515 trunk_z= 99.1mm grav_b=(-0.06,+0.08,-0.99) r=1.55m +[headless_play] t= 10.40s step= 520 trunk_z= 97.8mm grav_b=(-0.04,+0.04,-1.00) r=1.57m +[headless_play] t= 10.50s step= 525 trunk_z= 93.8mm grav_b=(-0.05,-0.04,-1.00) r=1.60m +[headless_play] t= 10.60s step= 530 trunk_z= 98.8mm grav_b=(-0.02,-0.03,-1.00) r=1.61m +[headless_play] t= 10.70s step= 535 trunk_z= 93.7mm grav_b=(-0.06,+0.02,-1.00) r=1.61m +[headless_play] t= 10.80s step= 540 trunk_z= 98.0mm grav_b=(-0.07,+0.10,-0.99) r=1.62m +[headless_play] t= 10.90s step= 545 trunk_z= 99.2mm grav_b=(-0.05,+0.07,-1.00) r=1.63m +[headless_play] t= 11.00s step= 550 trunk_z= 96.4mm grav_b=(-0.03,+0.03,-1.00) r=1.65m +[headless_play] t= 11.10s step= 555 trunk_z= 99.3mm grav_b=(-0.03,-0.05,-1.00) r=1.68m +[headless_play] t= 11.20s step= 560 trunk_z= 99.6mm grav_b=(-0.01,-0.04,-1.00) r=1.69m +[headless_play] t= 11.30s step= 565 trunk_z= 92.1mm grav_b=(-0.07,+0.04,-1.00) r=1.70m +[headless_play] t= 11.40s step= 570 trunk_z= 99.1mm grav_b=(-0.07,+0.10,-0.99) r=1.71m +[headless_play] t= 11.50s step= 575 trunk_z= 99.2mm grav_b=(-0.05,+0.05,-1.00) r=1.72m +[headless_play] t= 11.60s step= 580 trunk_z= 92.4mm grav_b=(-0.05,-0.01,-1.00) r=1.75m +[headless_play] t= 11.70s step= 585 trunk_z= 99.0mm grav_b=(-0.02,-0.03,-1.00) r=1.77m +[headless_play] t= 11.80s step= 590 trunk_z= 97.5mm grav_b=(-0.03,-0.00,-1.00) r=1.78m +[headless_play] t= 11.90s step= 595 trunk_z= 93.9mm grav_b=(-0.08,+0.09,-0.99) r=1.79m +[headless_play] t= 12.00s step= 600 trunk_z= 99.4mm grav_b=(-0.07,+0.09,-0.99) r=1.80m +[headless_play] t= 12.10s step= 605 trunk_z= 98.0mm grav_b=(-0.05,+0.05,-1.00) r=1.82m +[headless_play] t= 12.20s step= 610 trunk_z= 94.0mm grav_b=(-0.04,-0.04,-1.00) r=1.85m +[headless_play] t= 12.30s step= 615 trunk_z= 100.0mm grav_b=(-0.00,-0.04,-1.00) r=1.86m +[headless_play] t= 12.40s step= 620 trunk_z= 97.1mm grav_b=(-0.05,+0.01,-1.00) r=1.87m +[headless_play] t= 12.50s step= 625 trunk_z= 97.4mm grav_b=(-0.08,+0.12,-0.99) r=1.88m +[headless_play] t= 12.60s step= 630 trunk_z= 100.7mm grav_b=(-0.07,+0.09,-0.99) r=1.90m +[headless_play] t= 12.70s step= 635 trunk_z= 97.0mm grav_b=(-0.04,+0.04,-1.00) r=1.94m +[headless_play] t= 12.80s step= 640 trunk_z= 97.9mm grav_b=(-0.03,-0.04,-1.00) r=1.97m +[headless_play] t= 12.90s step= 645 trunk_z= 96.1mm grav_b=(-0.01,-0.03,-1.00) r=1.98m +[headless_play] t= 13.00s step= 650 trunk_z= 89.5mm grav_b=(-0.04,+0.04,-1.00) r=1.98m +[headless_play] t= 13.10s step= 655 trunk_z= 95.0mm grav_b=(-0.04,+0.05,-1.00) r=1.99m +[headless_play] t= 13.20s step= 660 trunk_z= 89.4mm grav_b=(+0.00,+0.02,-1.00) r=2.00m +[headless_play] t= 13.30s step= 665 trunk_z= 92.1mm grav_b=(+0.02,-0.05,-1.00) r=2.03m +[headless_play] t= 13.40s step= 670 trunk_z= 91.4mm grav_b=(+0.05,-0.03,-1.00) r=2.04m +[headless_play] t= 13.50s step= 675 trunk_z= 85.9mm grav_b=(+0.03,+0.04,-1.00) r=2.05m +[headless_play] t= 13.60s step= 680 trunk_z= 96.1mm grav_b=(+0.02,+0.08,-1.00) r=2.07m +[headless_play] t= 13.70s step= 685 trunk_z= 93.3mm grav_b=(+0.01,+0.04,-1.00) r=2.09m +[headless_play] t= 13.80s step= 690 trunk_z= 94.6mm grav_b=(-0.04,-0.04,-1.00) r=2.12m +[headless_play] t= 13.90s step= 695 trunk_z= 93.9mm grav_b=(-0.02,-0.02,-1.00) r=2.13m +[headless_play] t= 14.00s step= 700 trunk_z= 87.2mm grav_b=(+0.02,+0.05,-1.00) r=2.13m +[headless_play] t= 14.10s step= 705 trunk_z= 94.4mm grav_b=(+0.02,+0.08,-1.00) r=2.14m +[headless_play] t= 14.20s step= 710 trunk_z= 90.4mm grav_b=(+0.03,+0.04,-1.00) r=2.16m +[headless_play] t= 14.30s step= 715 trunk_z= 91.8mm grav_b=(-0.00,-0.05,-1.00) r=2.18m +[headless_play] t= 14.40s step= 720 trunk_z= 94.0mm grav_b=(+0.02,-0.04,-1.00) r=2.20m +[headless_play] t= 14.50s step= 725 trunk_z= 89.8mm grav_b=(+0.05,+0.00,-1.00) r=2.20m +[headless_play] t= 14.60s step= 730 trunk_z= 95.0mm grav_b=(+0.00,+0.08,-1.00) r=2.21m +[headless_play] t= 14.70s step= 735 trunk_z= 93.7mm grav_b=(+0.01,+0.05,-1.00) r=2.22m +[headless_play] t= 14.80s step= 740 trunk_z= 89.5mm grav_b=(+0.00,-0.04,-1.00) r=2.25m +[headless_play] t= 14.90s step= 745 trunk_z= 95.6mm grav_b=(-0.01,-0.06,-1.00) r=2.27m +[headless_play] t= 15.00s step= 750 trunk_z= 90.8mm grav_b=(+0.03,-0.03,-1.00) r=2.27m +[headless_play] t= 15.10s step= 755 trunk_z= 90.8mm grav_b=(+0.02,+0.07,-1.00) r=2.27m +[headless_play] t= 15.20s step= 760 trunk_z= 94.8mm grav_b=(+0.01,+0.07,-1.00) r=2.28m +[headless_play] t= 15.30s step= 765 trunk_z= 89.2mm grav_b=(+0.02,+0.02,-1.00) r=2.30m +[headless_play] t= 15.40s step= 770 trunk_z= 93.2mm grav_b=(+0.01,-0.06,-1.00) r=2.33m +[headless_play] t= 15.50s step= 775 trunk_z= 92.7mm grav_b=(+0.03,-0.03,-1.00) r=2.33m +[headless_play] t= 15.60s step= 780 trunk_z= 86.8mm grav_b=(+0.03,+0.05,-1.00) r=2.33m +[headless_play] t= 15.70s step= 785 trunk_z= 96.4mm grav_b=(+0.00,+0.09,-1.00) r=2.34m +[headless_play] t= 15.80s step= 790 trunk_z= 91.5mm grav_b=(-0.00,+0.03,-1.00) r=2.36m +[headless_play] t= 15.90s step= 795 trunk_z= 90.4mm grav_b=(+0.01,-0.05,-1.00) r=2.39m +[headless_play] t= 16.00s step= 800 trunk_z= 94.5mm grav_b=(+0.02,-0.05,-1.00) r=2.40m +[headless_play] t= 16.10s step= 805 trunk_z= 90.7mm grav_b=(+0.06,-0.01,-1.00) r=2.40m +[headless_play] t= 16.20s step= 810 trunk_z= 95.9mm grav_b=(+0.03,+0.10,-0.99) r=2.39m +[headless_play] t= 16.30s step= 815 trunk_z= 95.8mm grav_b=(+0.04,+0.07,-1.00) r=2.39m +[headless_play] t= 16.40s step= 820 trunk_z= 90.4mm grav_b=(+0.00,+0.01,-1.00) r=2.41m +[headless_play] t= 16.50s step= 825 trunk_z= 91.6mm grav_b=(+0.03,+0.01,-1.00) r=2.41m +[headless_play] t= 16.60s step= 830 trunk_z= 91.5mm grav_b=(+0.06,+0.01,-1.00) r=2.41m +[headless_play] t= 16.70s step= 835 trunk_z= 91.3mm grav_b=(+0.04,+0.02,-1.00) r=2.41m +[headless_play] t= 16.80s step= 840 trunk_z= 91.5mm grav_b=(+0.03,+0.02,-1.00) r=2.41m +[headless_play] t= 16.90s step= 845 trunk_z= 91.4mm grav_b=(+0.02,+0.01,-1.00) r=2.41m +[headless_play] t= 17.00s step= 850 trunk_z= 91.4mm grav_b=(+0.02,+0.02,-1.00) r=2.41m +[headless_play] t= 17.10s step= 855 trunk_z= 91.3mm grav_b=(+0.02,+0.01,-1.00) r=2.41m +[headless_play] t= 17.20s step= 860 trunk_z= 91.3mm grav_b=(+0.02,+0.02,-1.00) r=2.41m +[headless_play] t= 17.30s step= 865 trunk_z= 91.3mm grav_b=(+0.02,+0.01,-1.00) r=2.41m +[headless_play] t= 17.40s step= 870 trunk_z= 91.3mm grav_b=(+0.02,+0.01,-1.00) r=2.41m +[headless_play] t= 17.50s step= 875 trunk_z= 91.2mm grav_b=(+0.01,+0.01,-1.00) r=2.41m +[headless_play] t= 17.60s step= 880 trunk_z= 91.0mm grav_b=(+0.01,+0.01,-1.00) r=2.41m +[headless_play] t= 17.70s step= 885 trunk_z= 90.8mm grav_b=(+0.01,+0.01,-1.00) r=2.41m +[headless_play] t= 17.80s step= 890 trunk_z= 90.9mm grav_b=(+0.00,+0.01,-1.00) r=2.41m +[headless_play] t= 17.90s step= 895 trunk_z= 91.1mm grav_b=(-0.00,+0.01,-1.00) r=2.41m +[headless_play] t= 18.00s step= 900 trunk_z= 91.1mm grav_b=(-0.01,+0.01,-1.00) r=2.41m +[headless_play] t= 18.10s step= 905 trunk_z= 90.8mm grav_b=(-0.01,+0.00,-1.00) r=2.41m +[headless_play] t= 18.20s step= 910 trunk_z= 90.9mm grav_b=(-0.01,+0.00,-1.00) r=2.41m +[headless_play] t= 18.30s step= 915 trunk_z= 90.8mm grav_b=(-0.01,+0.00,-1.00) r=2.41m +[headless_play] t= 18.40s step= 920 trunk_z= 90.8mm grav_b=(-0.01,+0.00,-1.00) r=2.41m +[headless_play] t= 18.50s step= 925 trunk_z= 90.9mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 18.60s step= 930 trunk_z= 90.9mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 18.70s step= 935 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 18.80s step= 940 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 18.90s step= 945 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.00s step= 950 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.10s step= 955 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.20s step= 960 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.30s step= 965 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.40s step= 970 trunk_z= 90.9mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.50s step= 975 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.60s step= 980 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.70s step= 985 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.80s step= 990 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] t= 19.90s step= 995 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=2.41m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.16m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t6.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..8ebfc6d56c3f04fd18f895cabf8b0677d92866df --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-14.202,-17.910,+0.152) +[headless_play] t= 0.00s step= 0 trunk_z= 124.9mm grav_b=(-0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.22m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 0.40s step= 20 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 0.60s step= 30 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.70s step= 35 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 1.90s step= 95 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.10s step= 105 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.30s step= 115 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.70s step= 135 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 3.00s step= 150 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 3.20s step= 160 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 3.30s step= 165 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.50s step= 175 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 4.10s step= 205 trunk_z= 116.9mm grav_b=(+0.00,-0.00,-1.00) r=0.21m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 4.30s step= 215 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(+0.03,-0.00,-1.00) r=0.22m +[headless_play] t= 4.50s step= 225 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 5.50s step= 275 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.22m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(+0.08,+0.07,-0.99) r=0.23m +[headless_play] t= 5.70s step= 285 trunk_z= 120.7mm grav_b=(+0.14,+0.07,-0.99) r=0.25m +[headless_play] t= 5.80s step= 290 trunk_z= 121.5mm grav_b=(+0.10,-0.01,-1.00) r=0.26m +[headless_play] t= 5.90s step= 295 trunk_z= 120.7mm grav_b=(+0.09,-0.06,-0.99) r=0.27m +[headless_play] t= 6.00s step= 300 trunk_z= 124.0mm grav_b=(+0.07,-0.05,-1.00) r=0.29m +[headless_play] t= 6.10s step= 305 trunk_z= 115.1mm grav_b=(+0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 6.20s step= 310 trunk_z= 123.6mm grav_b=(+0.05,+0.06,-1.00) r=0.33m +[headless_play] t= 6.30s step= 315 trunk_z= 121.3mm grav_b=(+0.07,+0.03,-1.00) r=0.34m +[headless_play] t= 6.40s step= 320 trunk_z= 119.0mm grav_b=(+0.07,-0.05,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 124.5mm grav_b=(+0.07,-0.04,-1.00) r=0.35m +[headless_play] t= 6.60s step= 330 trunk_z= 119.1mm grav_b=(+0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 6.70s step= 335 trunk_z= 122.5mm grav_b=(+0.06,+0.06,-1.00) r=0.38m +[headless_play] t= 6.80s step= 340 trunk_z= 123.9mm grav_b=(+0.07,+0.04,-1.00) r=0.39m +[headless_play] t= 6.90s step= 345 trunk_z= 118.6mm grav_b=(+0.07,+0.01,-1.00) r=0.39m +[headless_play] t= 7.00s step= 350 trunk_z= 123.6mm grav_b=(+0.09,-0.06,-0.99) r=0.40m +[headless_play] t= 7.10s step= 355 trunk_z= 123.9mm grav_b=(+0.07,-0.03,-1.00) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 117.5mm grav_b=(+0.06,+0.05,-1.00) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 123.9mm grav_b=(+0.09,+0.06,-0.99) r=0.44m +[headless_play] t= 7.40s step= 370 trunk_z= 122.0mm grav_b=(+0.09,+0.03,-1.00) r=0.45m +[headless_play] t= 7.50s step= 375 trunk_z= 119.8mm grav_b=(+0.09,-0.03,-1.00) r=0.45m +[headless_play] t= 7.60s step= 380 trunk_z= 123.3mm grav_b=(+0.10,-0.03,-0.99) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 115.9mm grav_b=(+0.05,+0.04,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 124.3mm grav_b=(+0.08,+0.07,-0.99) r=0.51m +[headless_play] t= 7.90s step= 395 trunk_z= 122.9mm grav_b=(+0.09,+0.04,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 117.2mm grav_b=(+0.07,-0.02,-1.00) r=0.53m +[headless_play] t= 8.10s step= 405 trunk_z= 123.7mm grav_b=(+0.09,-0.06,-0.99) r=0.54m +[headless_play] t= 8.20s step= 410 trunk_z= 122.8mm grav_b=(+0.04,+0.01,-1.00) r=0.56m +[headless_play] t= 8.30s step= 415 trunk_z= 121.9mm grav_b=(+0.07,+0.11,-0.99) r=0.59m +[headless_play] t= 8.40s step= 420 trunk_z= 125.1mm grav_b=(+0.10,+0.11,-0.99) r=0.61m +[headless_play] t= 8.50s step= 425 trunk_z= 122.3mm grav_b=(+0.11,+0.09,-0.99) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 116.9mm grav_b=(+0.12,-0.01,-0.99) r=0.65m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(+0.10,-0.01,-0.99) r=0.65m +[headless_play] t= 8.80s step= 440 trunk_z= 117.1mm grav_b=(+0.08,+0.04,-1.00) r=0.66m +[headless_play] t= 8.90s step= 445 trunk_z= 116.6mm grav_b=(+0.07,+0.02,-1.00) r=0.66m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00) r=0.66m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 9.20s step= 460 trunk_z= 116.2mm grav_b=(+0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 9.30s step= 465 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 9.60s step= 480 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 9.80s step= 490 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 9.90s step= 495 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.60s step= 530 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.70s step= 535 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.80s step= 540 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 10.90s step= 545 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.05,+0.01,-1.00) r=0.66m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 11.30s step= 565 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(+0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 11.90s step= 595 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.20s step= 610 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.30s step= 615 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.40s step= 620 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.60s step= 630 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.70s step= 635 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 12.90s step= 645 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 13.00s step= 650 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 13.30s step= 665 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 13.50s step= 675 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 13.60s step= 680 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 13.70s step= 685 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 13.80s step= 690 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 13.90s step= 695 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.00s step= 700 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.10s step= 705 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.20s step= 710 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.40s step= 720 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.50s step= 725 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.60s step= 730 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.70s step= 735 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.80s step= 740 trunk_z= 117.2mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.00s step= 750 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.10s step= 755 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.30s step= 765 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.40s step= 770 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.50s step= 775 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.60s step= 780 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.70s step= 785 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.80s step= 790 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 15.90s step= 795 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.00s step= 800 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.10s step= 805 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.30s step= 815 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.40s step= 820 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 16.60s step= 830 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=0.66m +[headless_play] t= 16.70s step= 835 trunk_z= 116.4mm grav_b=(+0.06,+0.01,-1.00) r=0.66m +[headless_play] t= 16.80s step= 840 trunk_z= 116.2mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 17.00s step= 850 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 17.20s step= 860 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 17.30s step= 865 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 17.40s step= 870 trunk_z= 116.0mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 17.50s step= 875 trunk_z= 116.0mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 17.60s step= 880 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 17.80s step= 890 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 17.90s step= 895 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.10s step= 905 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.20s step= 910 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.30s step= 915 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.40s step= 920 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.50s step= 925 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.70s step= 935 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 18.90s step= 945 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.00s step= 950 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.20s step= 960 trunk_z= 115.9mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.30s step= 965 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.40s step= 970 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.50s step= 975 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.60s step= 980 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.80s step= 990 trunk_z= 115.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 115.7mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.5mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 114.5mm grav_b=(+0.05,+0.05,-1.00) r=0.59m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t7.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..2124fd8f17e0501ef143b51e27708642dd0e5241 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.3mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.579,-18.378,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.7mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(-0.01,+0.05,-1.00) r=0.57m +[headless_play] t= 0.20s step= 10 trunk_z= 119.8mm grav_b=(-0.00,+0.10,-1.00) r=0.58m +[headless_play] t= 0.30s step= 15 trunk_z= 122.1mm grav_b=(-0.01,+0.06,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(-0.00,-0.04,-1.00) r=0.53m +[headless_play] t= 0.50s step= 25 trunk_z= 119.4mm grav_b=(-0.02,+0.02,-1.00) r=0.53m +[headless_play] t= 0.60s step= 30 trunk_z= 117.2mm grav_b=(-0.04,+0.11,-0.99) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 126.5mm grav_b=(-0.05,+0.14,-0.99) r=0.56m +[headless_play] t= 0.80s step= 40 trunk_z= 126.4mm grav_b=(-0.03,+0.14,-0.99) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 121.7mm grav_b=(-0.05,+0.08,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 121.2mm grav_b=(-0.02,+0.01,-1.00) r=0.51m +[headless_play] t= 1.10s step= 55 trunk_z= 117.4mm grav_b=(-0.04,+0.06,-1.00) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 121.5mm grav_b=(-0.05,+0.09,-0.99) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 122.9mm grav_b=(-0.05,+0.08,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(-0.07,+0.02,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 120.1mm grav_b=(-0.03,-0.00,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 115.4mm grav_b=(-0.03,+0.07,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 124.0mm grav_b=(-0.05,+0.09,-0.99) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 124.8mm grav_b=(-0.04,+0.09,-1.00) r=0.53m +[headless_play] t= 1.90s step= 95 trunk_z= 116.4mm grav_b=(-0.07,+0.03,-1.00) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 120.3mm grav_b=(-0.03,+0.01,-1.00) r=0.51m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(-0.03,+0.09,-1.00) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 123.9mm grav_b=(-0.05,+0.11,-0.99) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 123.7mm grav_b=(-0.04,+0.09,-1.00) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 114.7mm grav_b=(-0.10,+0.02,-0.99) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 120.9mm grav_b=(-0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 2.60s step= 130 trunk_z= 116.9mm grav_b=(-0.02,+0.10,-0.99) r=0.58m +[headless_play] t= 2.70s step= 135 trunk_z= 126.4mm grav_b=(-0.01,+0.14,-0.99) r=0.60m +[headless_play] t= 2.80s step= 140 trunk_z= 129.7mm grav_b=(-0.04,+0.14,-0.99) r=0.62m +[headless_play] t= 2.90s step= 145 trunk_z= 126.4mm grav_b=(-0.03,+0.13,-0.99) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 119.0mm grav_b=(-0.05,+0.01,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 122.6mm grav_b=(+0.00,+0.01,-1.00) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 116.9mm grav_b=(-0.05,+0.10,-0.99) r=0.68m +[headless_play] t= 3.30s step= 165 trunk_z= 124.5mm grav_b=(-0.07,+0.13,-0.99) r=0.69m +[headless_play] t= 3.40s step= 170 trunk_z= 125.9mm grav_b=(-0.04,+0.11,-0.99) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 122.6mm grav_b=(-0.07,+0.10,-0.99) r=0.73m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(-0.02,-0.01,-1.00) r=0.75m +[headless_play] t= 3.70s step= 185 trunk_z= 121.1mm grav_b=(-0.00,+0.05,-1.00) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(-0.05,+0.13,-0.99) r=0.76m +[headless_play] t= 3.90s step= 195 trunk_z= 126.2mm grav_b=(-0.04,+0.14,-0.99) r=0.77m +[headless_play] t= 4.00s step= 200 trunk_z= 126.5mm grav_b=(-0.04,+0.12,-0.99) r=0.79m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(-0.08,+0.03,-1.00) r=0.83m +[headless_play] t= 4.20s step= 210 trunk_z= 107.4mm grav_b=(+0.09,-0.09,-0.99) r=0.86m +[headless_play] t= 4.30s step= 215 trunk_z= 105.5mm grav_b=(+0.15,-0.11,-0.98) r=0.90m +[headless_play] t= 4.40s step= 220 trunk_z= 100.9mm grav_b=(+0.00,-0.24,-0.97) r=0.95m +[headless_play] t= 4.50s step= 225 trunk_z= 86.4mm grav_b=(-0.12,-0.17,-0.98) r=1.02m +[headless_play] t= 4.60s step= 230 trunk_z= 84.2mm grav_b=(-0.02,-0.13,-0.99) r=1.04m +[headless_play] t= 4.70s step= 235 trunk_z= 91.6mm grav_b=(-0.03,+0.01,-1.00) r=1.05m +[headless_play] t= 4.80s step= 240 trunk_z= 86.7mm grav_b=(-0.04,+0.13,-0.99) r=1.02m +[headless_play] t= 4.90s step= 245 trunk_z= 99.4mm grav_b=(-0.02,+0.15,-0.99) r=1.01m +[headless_play] t= 5.00s step= 250 trunk_z= 101.3mm grav_b=(-0.01,+0.16,-0.99) r=1.01m +[headless_play] t= 5.10s step= 255 trunk_z= 99.4mm grav_b=(-0.00,+0.12,-0.99) r=1.02m +[headless_play] t= 5.20s step= 260 trunk_z= 96.2mm grav_b=(-0.00,-0.00,-1.00) r=1.03m +[headless_play] t= 5.30s step= 265 trunk_z= 95.5mm grav_b=(-0.02,+0.02,-1.00) r=1.02m +[headless_play] t= 5.40s step= 270 trunk_z= 91.9mm grav_b=(+0.00,+0.08,-1.00) r=1.02m +[headless_play] t= 5.50s step= 275 trunk_z= 94.2mm grav_b=(-0.06,+0.07,-1.00) r=1.03m +[headless_play] t= 5.60s step= 280 trunk_z= 90.6mm grav_b=(-0.06,-0.02,-1.00) r=1.04m +[headless_play] t= 5.70s step= 285 trunk_z= 94.7mm grav_b=(-0.04,+0.01,-1.00) r=1.04m +[headless_play] t= 5.80s step= 290 trunk_z= 90.5mm grav_b=(+0.00,+0.08,-1.00) r=1.02m +[headless_play] t= 5.90s step= 295 trunk_z= 99.9mm grav_b=(+0.05,+0.12,-0.99) r=1.01m +[headless_play] t= 6.00s step= 300 trunk_z= 103.2mm grav_b=(+0.08,+0.14,-0.99) r=1.00m +[headless_play] t= 6.10s step= 305 trunk_z= 95.2mm grav_b=(+0.22,+0.17,-0.96) r=0.99m +[headless_play] t= 6.20s step= 310 trunk_z= 87.2mm grav_b=(+0.63,-0.14,-0.76) r=0.99m +[headless_play] RESET at t= 6.30s step= 315 (env termination, not a recovery) +[headless_play] t= 6.30s step= 315 trunk_z= 124.0mm grav_b=(-0.00,-0.00,-1.00) r=0.35m +[headless_play] t= 6.40s step= 320 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=0.35m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 6.70s step= 335 trunk_z= 115.6mm grav_b=(-0.00,-0.01,-1.00) r=0.35m +[headless_play] t= 6.80s step= 340 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=0.35m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.00s step= 350 trunk_z= 115.6mm grav_b=(+0.00,-0.01,-1.00) r=0.35m +[headless_play] t= 7.10s step= 355 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.30s step= 365 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.40s step= 370 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.50s step= 375 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.60s step= 380 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.70s step= 385 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 7.90s step= 395 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.00s step= 400 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.20s step= 410 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.30s step= 415 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.40s step= 420 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.50s step= 425 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.60s step= 430 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.80s step= 440 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 8.90s step= 445 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.00s step= 450 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.10s step= 455 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.20s step= 460 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.40s step= 470 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.50s step= 475 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.70s step= 485 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.80s step= 490 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 9.90s step= 495 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 10.00s step= 500 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 115.4mm grav_b=(-0.01,+0.03,-1.00) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 111.8mm grav_b=(-0.04,+0.08,-1.00) r=0.34m +[headless_play] t= 10.80s step= 540 trunk_z= 119.8mm grav_b=(-0.08,+0.06,-0.99) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(-0.08,+0.04,-1.00) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 113.0mm grav_b=(-0.04,-0.06,-1.00) r=0.37m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(-0.03,-0.07,-1.00) r=0.38m +[headless_play] t= 11.20s step= 560 trunk_z= 113.2mm grav_b=(+0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 11.30s step= 565 trunk_z= 117.9mm grav_b=(-0.02,+0.09,-1.00) r=0.38m +[headless_play] t= 11.40s step= 570 trunk_z= 119.5mm grav_b=(-0.03,+0.06,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 114.9mm grav_b=(-0.05,+0.05,-1.00) r=0.41m +[headless_play] t= 11.60s step= 580 trunk_z= 117.9mm grav_b=(-0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(-0.01,-0.02,-1.00) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 111.9mm grav_b=(+0.00,+0.06,-1.00) r=0.42m +[headless_play] t= 11.90s step= 595 trunk_z= 119.7mm grav_b=(-0.03,+0.09,-1.00) r=0.42m +[headless_play] t= 12.00s step= 600 trunk_z= 117.5mm grav_b=(-0.04,+0.06,-1.00) r=0.44m +[headless_play] t= 12.10s step= 605 trunk_z= 110.5mm grav_b=(-0.01,-0.06,-1.00) r=0.46m +[headless_play] t= 12.20s step= 610 trunk_z= 117.6mm grav_b=(-0.01,-0.08,-1.00) r=0.48m +[headless_play] t= 12.30s step= 615 trunk_z= 115.6mm grav_b=(-0.00,-0.00,-1.00) r=0.47m +[headless_play] t= 12.40s step= 620 trunk_z= 115.2mm grav_b=(-0.00,+0.10,-0.99) r=0.46m +[headless_play] t= 12.50s step= 625 trunk_z= 120.6mm grav_b=(-0.03,+0.11,-0.99) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 117.9mm grav_b=(-0.03,+0.08,-1.00) r=0.48m +[headless_play] t= 12.70s step= 635 trunk_z= 111.7mm grav_b=(-0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 12.80s step= 640 trunk_z= 117.6mm grav_b=(-0.03,-0.06,-1.00) r=0.51m +[headless_play] t= 12.90s step= 645 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 13.00s step= 650 trunk_z= 117.7mm grav_b=(-0.01,+0.08,-1.00) r=0.50m +[headless_play] t= 13.10s step= 655 trunk_z= 117.6mm grav_b=(-0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 13.20s step= 660 trunk_z= 111.2mm grav_b=(-0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 13.30s step= 665 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 13.40s step= 670 trunk_z= 114.4mm grav_b=(-0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 13.50s step= 675 trunk_z= 114.0mm grav_b=(-0.01,+0.09,-1.00) r=0.53m +[headless_play] t= 13.60s step= 680 trunk_z= 118.9mm grav_b=(-0.05,+0.07,-1.00) r=0.53m +[headless_play] t= 13.70s step= 685 trunk_z= 115.3mm grav_b=(-0.05,+0.05,-1.00) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 115.2mm grav_b=(-0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 13.90s step= 695 trunk_z= 115.4mm grav_b=(-0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 14.00s step= 700 trunk_z= 109.8mm grav_b=(+0.01,+0.06,-1.00) r=0.56m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.03,+0.09,-1.00) r=0.56m +[headless_play] t= 14.20s step= 710 trunk_z= 116.3mm grav_b=(-0.04,+0.06,-1.00) r=0.57m +[headless_play] t= 14.30s step= 715 trunk_z= 110.7mm grav_b=(-0.02,-0.03,-1.00) r=0.60m +[headless_play] t= 14.40s step= 720 trunk_z= 115.3mm grav_b=(-0.01,-0.03,-1.00) r=0.61m +[headless_play] t= 14.50s step= 725 trunk_z= 112.5mm grav_b=(-0.00,+0.01,-1.00) r=0.59m +[headless_play] t= 14.60s step= 730 trunk_z= 116.6mm grav_b=(-0.02,+0.08,-1.00) r=0.57m +[headless_play] t= 14.70s step= 735 trunk_z= 120.7mm grav_b=(-0.03,+0.07,-1.00) r=0.57m +[headless_play] t= 14.80s step= 740 trunk_z= 112.2mm grav_b=(-0.01,+0.03,-1.00) r=0.59m +[headless_play] t= 14.90s step= 745 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 15.00s step= 750 trunk_z= 113.3mm grav_b=(-0.01,+0.06,-1.00) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(-0.05,+0.08,-1.00) r=0.57m +[headless_play] t= 15.20s step= 760 trunk_z= 118.4mm grav_b=(-0.08,+0.07,-0.99) r=0.58m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(-0.07,-0.00,-1.00) r=0.61m +[headless_play] t= 15.40s step= 770 trunk_z= 119.5mm grav_b=(-0.04,+0.01,-1.00) r=0.61m +[headless_play] t= 15.50s step= 775 trunk_z= 114.5mm grav_b=(-0.02,+0.07,-1.00) r=0.59m +[headless_play] t= 15.60s step= 780 trunk_z= 123.3mm grav_b=(-0.03,+0.09,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 121.6mm grav_b=(-0.05,+0.07,-1.00) r=0.59m +[headless_play] t= 15.80s step= 790 trunk_z= 114.8mm grav_b=(-0.08,-0.00,-1.00) r=0.61m +[headless_play] t= 15.90s step= 795 trunk_z= 119.9mm grav_b=(-0.06,-0.01,-1.00) r=0.62m +[headless_play] t= 16.00s step= 800 trunk_z= 116.7mm grav_b=(-0.04,+0.05,-1.00) r=0.60m +[headless_play] t= 16.10s step= 805 trunk_z= 123.3mm grav_b=(-0.02,+0.09,-1.00) r=0.58m +[headless_play] t= 16.20s step= 810 trunk_z= 124.0mm grav_b=(-0.03,+0.08,-1.00) r=0.58m +[headless_play] t= 16.30s step= 815 trunk_z= 113.6mm grav_b=(-0.06,-0.00,-1.00) r=0.60m +[headless_play] t= 16.40s step= 820 trunk_z= 120.7mm grav_b=(-0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 16.50s step= 825 trunk_z= 117.8mm grav_b=(-0.04,+0.03,-1.00) r=0.59m +[headless_play] t= 16.60s step= 830 trunk_z= 122.7mm grav_b=(-0.04,+0.09,-1.00) r=0.57m +[headless_play] t= 16.70s step= 835 trunk_z= 123.8mm grav_b=(-0.04,+0.08,-1.00) r=0.56m +[headless_play] t= 16.80s step= 840 trunk_z= 114.4mm grav_b=(-0.07,+0.03,-1.00) r=0.58m +[headless_play] t= 16.90s step= 845 trunk_z= 119.9mm grav_b=(-0.05,-0.00,-1.00) r=0.59m +[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(-0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 17.10s step= 855 trunk_z= 120.7mm grav_b=(-0.04,+0.09,-1.00) r=0.55m +[headless_play] t= 17.20s step= 860 trunk_z= 122.9mm grav_b=(-0.05,+0.09,-1.00) r=0.54m +[headless_play] t= 17.30s step= 865 trunk_z= 115.7mm grav_b=(-0.07,+0.05,-1.00) r=0.56m +[headless_play] t= 17.40s step= 870 trunk_z= 119.8mm grav_b=(-0.05,+0.01,-1.00) r=0.57m +[headless_play] t= 17.50s step= 875 trunk_z= 117.5mm grav_b=(-0.04,+0.03,-1.00) r=0.56m +[headless_play] t= 17.60s step= 880 trunk_z= 119.3mm grav_b=(-0.02,+0.08,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 124.1mm grav_b=(-0.03,+0.06,-1.00) r=0.52m +[headless_play] t= 17.80s step= 890 trunk_z= 115.2mm grav_b=(-0.06,+0.04,-1.00) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 118.8mm grav_b=(-0.05,+0.00,-1.00) r=0.54m +[headless_play] t= 18.00s step= 900 trunk_z= 117.6mm grav_b=(-0.04,+0.03,-1.00) r=0.53m +[headless_play] t= 18.10s step= 905 trunk_z= 118.5mm grav_b=(-0.04,+0.09,-1.00) r=0.50m +[headless_play] t= 18.20s step= 910 trunk_z= 123.3mm grav_b=(-0.05,+0.09,-0.99) r=0.49m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(-0.07,+0.07,-1.00) r=0.49m +[headless_play] t= 18.40s step= 920 trunk_z= 119.9mm grav_b=(-0.06,+0.02,-1.00) r=0.50m +[headless_play] t= 18.50s step= 925 trunk_z= 120.4mm grav_b=(-0.05,+0.02,-1.00) r=0.48m +[headless_play] t= 18.60s step= 930 trunk_z= 120.0mm grav_b=(-0.08,+0.08,-0.99) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 124.2mm grav_b=(-0.10,+0.07,-0.99) r=0.45m +[headless_play] t= 18.80s step= 940 trunk_z= 120.2mm grav_b=(-0.06,+0.06,-1.00) r=0.46m +[headless_play] t= 18.90s step= 945 trunk_z= 116.4mm grav_b=(-0.08,+0.07,-0.99) r=0.48m +[headless_play] t= 19.00s step= 950 trunk_z= 107.4mm grav_b=(-0.00,+0.10,-1.00) r=0.50m +[headless_play] t= 19.10s step= 955 trunk_z= 106.2mm grav_b=(+0.03,+0.14,-0.99) r=0.52m +[headless_play] t= 19.20s step= 960 trunk_z= 112.1mm grav_b=(-0.01,+0.11,-0.99) r=0.53m +[headless_play] t= 19.30s step= 965 trunk_z= 110.2mm grav_b=(-0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 19.40s step= 970 trunk_z= 116.2mm grav_b=(-0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 19.50s step= 975 trunk_z= 115.5mm grav_b=(-0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 112.9mm grav_b=(-0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 122.1mm grav_b=(-0.06,+0.08,-0.99) r=0.49m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(-0.06,+0.06,-1.00) r=0.49m +[headless_play] t= 19.90s step= 995 trunk_z= 114.0mm grav_b=(-0.05,-0.03,-1.00) r=0.48m +[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 114.0mm grav_b=(-0.04,+0.05,-1.00) r=0.46m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t8.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..cb08a03b7c8a7d75f573d40fec2b029aff7493be --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t8.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.4mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.078,-17.995,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.8mm grav_b=(-0.01,-0.00,-1.00) r=0.08m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.01,+0.03,-1.00) r=0.08m +[headless_play] t= 0.20s step= 10 trunk_z= 112.5mm grav_b=(+0.04,+0.08,-1.00) r=0.10m +[headless_play] t= 0.30s step= 15 trunk_z= 124.5mm grav_b=(+0.03,+0.06,-1.00) r=0.10m +[headless_play] t= 0.40s step= 20 trunk_z= 122.6mm grav_b=(+0.03,+0.02,-1.00) r=0.09m +[headless_play] t= 0.50s step= 25 trunk_z= 120.9mm grav_b=(+0.01,-0.03,-1.00) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 121.2mm grav_b=(+0.01,-0.02,-1.00) r=0.09m +[headless_play] t= 0.70s step= 35 trunk_z= 115.5mm grav_b=(-0.02,+0.04,-1.00) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 121.6mm grav_b=(-0.01,+0.05,-1.00) r=0.13m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(+0.03,+0.03,-1.00) r=0.13m +[headless_play] t= 1.00s step= 50 trunk_z= 120.3mm grav_b=(+0.03,-0.04,-1.00) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 121.7mm grav_b=(+0.03,-0.02,-1.00) r=0.14m +[headless_play] t= 1.20s step= 60 trunk_z= 114.5mm grav_b=(-0.00,+0.05,-1.00) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 122.8mm grav_b=(-0.00,+0.07,-1.00) r=0.18m +[headless_play] t= 1.40s step= 70 trunk_z= 119.4mm grav_b=(+0.01,+0.06,-1.00) r=0.19m +[headless_play] t= 1.50s step= 75 trunk_z= 118.3mm grav_b=(+0.01,-0.05,-1.00) r=0.19m +[headless_play] t= 1.60s step= 80 trunk_z= 123.1mm grav_b=(+0.02,-0.05,-1.00) r=0.20m +[headless_play] t= 1.70s step= 85 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 1.80s step= 90 trunk_z= 121.6mm grav_b=(-0.02,+0.06,-1.00) r=0.23m +[headless_play] t= 1.90s step= 95 trunk_z= 120.7mm grav_b=(+0.00,+0.05,-1.00) r=0.24m +[headless_play] t= 2.00s step= 100 trunk_z= 115.4mm grav_b=(+0.02,-0.03,-1.00) r=0.24m +[headless_play] t= 2.10s step= 105 trunk_z= 122.3mm grav_b=(+0.05,-0.03,-1.00) r=0.25m +[headless_play] t= 2.20s step= 110 trunk_z= 117.8mm grav_b=(+0.02,+0.00,-1.00) r=0.26m +[headless_play] t= 2.30s step= 115 trunk_z= 121.2mm grav_b=(+0.00,+0.08,-1.00) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 121.6mm grav_b=(+0.02,+0.06,-1.00) r=0.29m +[headless_play] t= 2.50s step= 125 trunk_z= 115.4mm grav_b=(+0.01,+0.02,-1.00) r=0.29m +[headless_play] t= 2.60s step= 130 trunk_z= 121.4mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 2.70s step= 135 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 120.0mm grav_b=(-0.00,+0.06,-1.00) r=0.32m +[headless_play] t= 2.90s step= 145 trunk_z= 122.1mm grav_b=(+0.01,+0.06,-1.00) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(-0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 121.5mm grav_b=(-0.01,-0.04,-1.00) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 121.1mm grav_b=(-0.00,-0.03,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 112.5mm grav_b=(-0.00,+0.02,-1.00) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 119.8mm grav_b=(+0.01,+0.07,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 114.9mm grav_b=(+0.05,+0.04,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 114.2mm grav_b=(+0.04,-0.03,-1.00) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 110.5mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 118.8mm grav_b=(+0.04,+0.08,-1.00) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 115.6mm grav_b=(+0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(+0.01,-0.04,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 116.9mm grav_b=(+0.05,-0.02,-1.00) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 111.8mm grav_b=(+0.05,+0.03,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 121.0mm grav_b=(+0.00,+0.08,-1.00) r=0.56m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(+0.05,+0.06,-1.00) r=0.57m +[headless_play] t= 4.60s step= 230 trunk_z= 111.7mm grav_b=(+0.02,-0.03,-1.00) r=0.58m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(+0.02,-0.03,-1.00) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 113.2mm grav_b=(+0.03,+0.01,-1.00) r=0.62m +[headless_play] t= 4.90s step= 245 trunk_z= 118.3mm grav_b=(+0.02,+0.08,-1.00) r=0.64m +[headless_play] t= 5.00s step= 250 trunk_z= 116.2mm grav_b=(+0.03,+0.05,-1.00) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 111.5mm grav_b=(+0.03,-0.03,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 118.7mm grav_b=(+0.02,-0.04,-1.00) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 115.0mm grav_b=(+0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.01,+0.08,-1.00) r=0.71m +[headless_play] t= 5.50s step= 275 trunk_z= 119.7mm grav_b=(+0.02,+0.07,-1.00) r=0.72m +[headless_play] t= 5.60s step= 280 trunk_z= 113.1mm grav_b=(+0.04,+0.03,-1.00) r=0.73m +[headless_play] t= 5.70s step= 285 trunk_z= 118.1mm grav_b=(+0.01,-0.03,-1.00) r=0.74m +[headless_play] t= 5.80s step= 290 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 113.0mm grav_b=(+0.02,+0.07,-1.00) r=0.78m +[headless_play] t= 6.00s step= 300 trunk_z= 117.7mm grav_b=(+0.04,+0.08,-1.00) r=0.79m +[headless_play] t= 6.10s step= 305 trunk_z= 114.8mm grav_b=(+0.04,+0.04,-1.00) r=0.80m +[headless_play] t= 6.20s step= 310 trunk_z= 117.4mm grav_b=(+0.02,-0.05,-1.00) r=0.81m +[headless_play] t= 6.30s step= 315 trunk_z= 117.8mm grav_b=(+0.03,-0.04,-1.00) r=0.82m +[headless_play] t= 6.40s step= 320 trunk_z= 111.3mm grav_b=(+0.03,+0.04,-1.00) r=0.84m +[headless_play] t= 6.50s step= 325 trunk_z= 115.6mm grav_b=(+0.01,+0.11,-0.99) r=0.87m +[headless_play] t= 6.60s step= 330 trunk_z= 105.2mm grav_b=(+0.08,+0.18,-0.98) r=0.90m +[headless_play] t= 6.70s step= 335 trunk_z= 103.2mm grav_b=(+0.11,+0.30,-0.95) r=0.94m +[headless_play] t= 6.80s step= 340 trunk_z= 85.4mm grav_b=(+0.04,+0.47,-0.88) r=1.00m +[headless_play] t= 6.90s step= 345 trunk_z= 83.9mm grav_b=(+0.30,+0.74,-0.61) r=1.04m +[headless_play] RESET at t= 6.96s step= 348 (env termination, not a recovery) +[headless_play] t= 7.00s step= 350 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 7.10s step= 355 trunk_z= 113.3mm grav_b=(-0.01,-0.03,-1.00) r=0.47m +[headless_play] t= 7.20s step= 360 trunk_z= 114.3mm grav_b=(+0.01,-0.07,-1.00) r=0.49m +[headless_play] t= 7.30s step= 365 trunk_z= 113.9mm grav_b=(+0.03,-0.04,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 108.9mm grav_b=(+0.02,+0.04,-1.00) r=0.51m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(+0.01,+0.08,-1.00) r=0.52m +[headless_play] t= 7.60s step= 380 trunk_z= 113.5mm grav_b=(+0.03,+0.04,-1.00) r=0.53m +[headless_play] t= 7.70s step= 385 trunk_z= 113.5mm grav_b=(+0.03,-0.03,-1.00) r=0.55m +[headless_play] t= 7.80s step= 390 trunk_z= 115.1mm grav_b=(+0.04,-0.03,-1.00) r=0.57m +[headless_play] t= 7.90s step= 395 trunk_z= 112.4mm grav_b=(+0.05,+0.02,-1.00) r=0.58m +[headless_play] t= 8.00s step= 400 trunk_z= 115.7mm grav_b=(+0.02,+0.06,-1.00) r=0.59m +[headless_play] t= 8.10s step= 405 trunk_z= 112.9mm grav_b=(+0.05,+0.01,-1.00) r=0.61m +[headless_play] t= 8.20s step= 410 trunk_z= 110.9mm grav_b=(+0.05,-0.04,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 114.1mm grav_b=(+0.05,-0.04,-1.00) r=0.65m +[headless_play] t= 8.40s step= 420 trunk_z= 111.6mm grav_b=(+0.07,+0.00,-1.00) r=0.66m +[headless_play] t= 8.50s step= 425 trunk_z= 114.1mm grav_b=(+0.03,+0.06,-1.00) r=0.67m +[headless_play] t= 8.60s step= 430 trunk_z= 113.8mm grav_b=(+0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 8.70s step= 435 trunk_z= 108.1mm grav_b=(+0.05,-0.03,-1.00) r=0.71m +[headless_play] t= 8.80s step= 440 trunk_z= 114.3mm grav_b=(+0.05,-0.02,-1.00) r=0.72m +[headless_play] t= 8.90s step= 445 trunk_z= 111.0mm grav_b=(+0.06,+0.00,-1.00) r=0.74m +[headless_play] t= 9.00s step= 450 trunk_z= 112.7mm grav_b=(+0.03,+0.06,-1.00) r=0.75m +[headless_play] t= 9.10s step= 455 trunk_z= 114.6mm grav_b=(+0.05,+0.02,-1.00) r=0.77m +[headless_play] t= 9.20s step= 460 trunk_z= 107.0mm grav_b=(+0.06,+0.00,-1.00) r=0.79m +[headless_play] t= 9.30s step= 465 trunk_z= 115.0mm grav_b=(+0.04,-0.03,-1.00) r=0.81m +[headless_play] t= 9.40s step= 470 trunk_z= 113.4mm grav_b=(+0.06,+0.00,-1.00) r=0.82m +[headless_play] t= 9.50s step= 475 trunk_z= 107.4mm grav_b=(+0.09,+0.03,-1.00) r=0.82m +[headless_play] t= 9.60s step= 480 trunk_z= 118.0mm grav_b=(+0.05,+0.06,-1.00) r=0.82m +[headless_play] t= 9.70s step= 485 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.83m +[headless_play] t= 9.80s step= 490 trunk_z= 117.1mm grav_b=(+0.01,-0.07,-1.00) r=0.84m +[headless_play] t= 9.90s step= 495 trunk_z= 121.5mm grav_b=(-0.00,-0.05,-1.00) r=0.85m +[headless_play] t= 10.00s step= 500 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 10.10s step= 505 trunk_z= 120.9mm grav_b=(-0.04,+0.05,-1.00) r=0.87m +[headless_play] t= 10.20s step= 510 trunk_z= 120.2mm grav_b=(-0.02,+0.02,-1.00) r=0.87m +[headless_play] t= 10.30s step= 515 trunk_z= 115.3mm grav_b=(-0.00,-0.05,-1.00) r=0.89m +[headless_play] t= 10.40s step= 520 trunk_z= 122.4mm grav_b=(+0.02,-0.05,-1.00) r=0.90m +[headless_play] t= 10.50s step= 525 trunk_z= 117.4mm grav_b=(+0.02,-0.03,-1.00) r=0.91m +[headless_play] t= 10.60s step= 530 trunk_z= 119.7mm grav_b=(-0.03,+0.05,-1.00) r=0.92m +[headless_play] t= 10.70s step= 535 trunk_z= 119.9mm grav_b=(-0.02,+0.03,-1.00) r=0.93m +[headless_play] t= 10.80s step= 540 trunk_z= 114.6mm grav_b=(-0.00,-0.05,-1.00) r=0.94m +[headless_play] t= 10.90s step= 545 trunk_z= 121.7mm grav_b=(+0.01,-0.05,-1.00) r=0.95m +[headless_play] t= 11.00s step= 550 trunk_z= 118.8mm grav_b=(+0.03,-0.02,-1.00) r=0.97m +[headless_play] t= 11.10s step= 555 trunk_z= 119.8mm grav_b=(+0.00,+0.03,-1.00) r=0.99m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=1.00m +[headless_play] t= 11.30s step= 565 trunk_z= 101.5mm grav_b=(-0.01,-0.16,-0.99) r=1.02m +[headless_play] t= 11.40s step= 570 trunk_z= 109.8mm grav_b=(+0.00,-0.32,-0.95) r=1.02m +[headless_play] t= 11.50s step= 575 trunk_z= 107.2mm grav_b=(+0.04,-0.33,-0.94) r=1.02m +[headless_play] t= 11.60s step= 580 trunk_z= 106.0mm grav_b=(-0.01,-0.44,-0.90) r=1.06m +[headless_play] t= 11.70s step= 585 trunk_z= 89.0mm grav_b=(-0.09,-0.57,-0.82) r=1.13m +[headless_play] RESET at t= 11.80s step= 590 (env termination, not a recovery) +[headless_play] t= 11.80s step= 590 trunk_z= 123.8mm grav_b=(-0.00,+0.00,-1.00) r=0.51m +[headless_play] t= 11.90s step= 595 trunk_z= 114.5mm grav_b=(+0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 12.00s step= 600 trunk_z= 115.2mm grav_b=(+0.04,-0.04,-1.00) r=0.50m +[headless_play] t= 12.10s step= 605 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 12.20s step= 610 trunk_z= 113.1mm grav_b=(-0.01,+0.07,-1.00) r=0.51m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(-0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 12.40s step= 620 trunk_z= 112.1mm grav_b=(+0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 12.50s step= 625 trunk_z= 120.7mm grav_b=(+0.04,-0.07,-1.00) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 118.7mm grav_b=(+0.05,-0.05,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 113.7mm grav_b=(+0.03,+0.04,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 120.2mm grav_b=(+0.01,+0.03,-1.00) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 113.2mm grav_b=(-0.00,-0.02,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 121.0mm grav_b=(+0.02,-0.04,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 117.7mm grav_b=(+0.04,-0.03,-1.00) r=0.40m +[headless_play] t= 13.20s step= 660 trunk_z= 116.1mm grav_b=(+0.02,+0.08,-1.00) r=0.40m +[headless_play] t= 13.30s step= 665 trunk_z= 119.8mm grav_b=(+0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 13.40s step= 670 trunk_z= 112.9mm grav_b=(+0.01,-0.03,-1.00) r=0.37m +[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(+0.01,-0.06,-1.00) r=0.35m +[headless_play] t= 13.60s step= 680 trunk_z= 119.7mm grav_b=(+0.02,-0.04,-1.00) r=0.34m +[headless_play] t= 13.70s step= 685 trunk_z= 115.4mm grav_b=(+0.01,+0.05,-1.00) r=0.35m +[headless_play] t= 13.80s step= 690 trunk_z= 121.5mm grav_b=(+0.00,+0.04,-1.00) r=0.34m +[headless_play] t= 13.90s step= 695 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(+0.01,-0.07,-1.00) r=0.30m +[headless_play] t= 14.10s step= 705 trunk_z= 119.3mm grav_b=(+0.04,-0.05,-1.00) r=0.29m +[headless_play] t= 14.20s step= 710 trunk_z= 114.2mm grav_b=(+0.03,+0.06,-1.00) r=0.30m +[headless_play] t= 14.30s step= 715 trunk_z= 120.6mm grav_b=(+0.02,+0.05,-1.00) r=0.29m +[headless_play] t= 14.40s step= 720 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 14.50s step= 725 trunk_z= 120.5mm grav_b=(+0.01,-0.05,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.03,-0.03,-1.00) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 112.8mm grav_b=(+0.03,+0.05,-1.00) r=0.26m +[headless_play] t= 14.80s step= 740 trunk_z= 120.6mm grav_b=(-0.00,+0.05,-1.00) r=0.26m +[headless_play] t= 14.90s step= 745 trunk_z= 114.7mm grav_b=(+0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 15.00s step= 750 trunk_z= 120.2mm grav_b=(+0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 15.10s step= 755 trunk_z= 119.0mm grav_b=(+0.03,-0.04,-1.00) r=0.21m +[headless_play] t= 15.20s step= 760 trunk_z= 113.1mm grav_b=(+0.03,+0.05,-1.00) r=0.23m +[headless_play] t= 15.30s step= 765 trunk_z= 120.8mm grav_b=(+0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 15.40s step= 770 trunk_z= 114.7mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 15.50s step= 775 trunk_z= 120.1mm grav_b=(+0.01,-0.06,-1.00) r=0.19m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.03,-0.04,-1.00) r=0.19m +[headless_play] t= 15.70s step= 785 trunk_z= 113.0mm grav_b=(+0.03,+0.05,-1.00) r=0.21m +[headless_play] t= 15.80s step= 790 trunk_z= 120.7mm grav_b=(+0.01,+0.04,-1.00) r=0.21m +[headless_play] t= 15.90s step= 795 trunk_z= 115.4mm grav_b=(+0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 16.00s step= 800 trunk_z= 120.9mm grav_b=(+0.00,-0.06,-1.00) r=0.18m +[headless_play] t= 16.10s step= 805 trunk_z= 121.0mm grav_b=(+0.01,-0.05,-1.00) r=0.18m +[headless_play] t= 16.20s step= 810 trunk_z= 114.7mm grav_b=(+0.03,+0.03,-1.00) r=0.20m +[headless_play] t= 16.30s step= 815 trunk_z= 121.3mm grav_b=(+0.01,+0.06,-1.00) r=0.22m +[headless_play] t= 16.40s step= 820 trunk_z= 117.3mm grav_b=(+0.02,+0.04,-1.00) r=0.20m +[headless_play] t= 16.50s step= 825 trunk_z= 119.0mm grav_b=(-0.08,-0.08,-0.99) r=0.18m +[headless_play] t= 16.60s step= 830 trunk_z= 125.5mm grav_b=(-0.05,-0.10,-0.99) r=0.17m +[headless_play] t= 16.70s step= 835 trunk_z= 122.5mm grav_b=(-0.04,-0.07,-1.00) r=0.18m +[headless_play] t= 16.80s step= 840 trunk_z= 121.0mm grav_b=(+0.00,+0.03,-1.00) r=0.20m +[headless_play] t= 16.90s step= 845 trunk_z= 122.2mm grav_b=(+0.05,-0.03,-1.00) r=0.20m +[headless_play] t= 17.00s step= 850 trunk_z= 115.4mm grav_b=(-0.02,-0.07,-1.00) r=0.18m +[headless_play] t= 17.10s step= 855 trunk_z= 125.6mm grav_b=(-0.02,-0.13,-0.99) r=0.17m +[headless_play] t= 17.20s step= 860 trunk_z= 125.5mm grav_b=(-0.03,-0.10,-0.99) r=0.18m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00) r=0.21m +[headless_play] t= 17.40s step= 870 trunk_z= 122.0mm grav_b=(-0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 17.50s step= 875 trunk_z= 119.9mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 17.60s step= 880 trunk_z= 121.6mm grav_b=(+0.00,-0.09,-1.00) r=0.19m +[headless_play] t= 17.70s step= 885 trunk_z= 125.5mm grav_b=(+0.00,-0.12,-0.99) r=0.19m +[headless_play] t= 17.80s step= 890 trunk_z= 124.1mm grav_b=(-0.02,-0.09,-1.00) r=0.21m +[headless_play] t= 17.90s step= 895 trunk_z= 119.5mm grav_b=(-0.03,+0.02,-1.00) r=0.23m +[headless_play] t= 18.00s step= 900 trunk_z= 122.1mm grav_b=(+0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 18.10s step= 905 trunk_z= 116.5mm grav_b=(-0.01,-0.03,-1.00) r=0.22m +[headless_play] t= 18.20s step= 910 trunk_z= 124.1mm grav_b=(-0.01,-0.08,-1.00) r=0.22m +[headless_play] t= 18.30s step= 915 trunk_z= 123.9mm grav_b=(-0.02,-0.08,-1.00) r=0.23m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 18.50s step= 925 trunk_z= 122.9mm grav_b=(-0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 18.60s step= 930 trunk_z= 119.0mm grav_b=(-0.01,-0.01,-1.00) r=0.26m +[headless_play] t= 18.70s step= 935 trunk_z= 122.2mm grav_b=(-0.01,-0.08,-1.00) r=0.25m +[headless_play] t= 18.80s step= 940 trunk_z= 125.4mm grav_b=(-0.01,-0.08,-1.00) r=0.25m +[headless_play] t= 18.90s step= 945 trunk_z= 123.2mm grav_b=(-0.05,-0.04,-1.00) r=0.28m +[headless_play] t= 19.00s step= 950 trunk_z= 122.7mm grav_b=(-0.03,+0.05,-1.00) r=0.30m +[headless_play] t= 19.10s step= 955 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 19.20s step= 960 trunk_z= 119.2mm grav_b=(-0.02,-0.08,-1.00) r=0.31m +[headless_play] t= 19.30s step= 965 trunk_z= 124.5mm grav_b=(-0.01,-0.08,-1.00) r=0.31m +[headless_play] t= 19.40s step= 970 trunk_z= 121.7mm grav_b=(-0.01,-0.08,-1.00) r=0.33m +[headless_play] t= 19.50s step= 975 trunk_z= 120.4mm grav_b=(-0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 19.60s step= 980 trunk_z= 122.1mm grav_b=(+0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 19.70s step= 985 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.36m +[headless_play] t= 19.80s step= 990 trunk_z= 124.4mm grav_b=(+0.00,-0.10,-0.99) r=0.36m +[headless_play] t= 19.90s step= 995 trunk_z= 123.4mm grav_b=(-0.01,-0.09,-1.00) r=0.37m +[headless_play] t= 20.00s step=1000 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 20.10s step=1005 trunk_z= 122.4mm grav_b=(+0.00,+0.01,-1.00) r=0.41m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t9.log b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..cc77f5034745dcc4305c66fa20ae953c47bd406c --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-b-2026-10-14/z3-b-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-push: push_robot dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.121,-17.718,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.2mm grav_b=(-0.01,-0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(-0.03,+0.03,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 119.2mm grav_b=(-0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 119.9mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 122.8mm grav_b=(-0.01,-0.05,-1.00) r=0.30m +[headless_play] t= 0.50s step= 25 trunk_z= 122.5mm grav_b=(-0.03,-0.03,-1.00) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 117.0mm grav_b=(-0.07,+0.05,-1.00) r=0.34m +[headless_play] t= 0.70s step= 35 trunk_z= 125.3mm grav_b=(-0.08,+0.04,-1.00) r=0.35m +[headless_play] t= 0.80s step= 40 trunk_z= 123.4mm grav_b=(-0.07,+0.02,-1.00) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 121.5mm grav_b=(-0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 125.1mm grav_b=(-0.01,-0.03,-1.00) r=0.34m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 123.4mm grav_b=(-0.03,+0.03,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 121.7mm grav_b=(-0.04,+0.02,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 119.7mm grav_b=(-0.05,-0.04,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 123.9mm grav_b=(-0.04,-0.04,-1.00) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 123.9mm grav_b=(-0.05,+0.04,-1.00) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 123.6mm grav_b=(-0.06,+0.00,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 120.1mm grav_b=(-0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 125.3mm grav_b=(-0.02,-0.03,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 121.3mm grav_b=(-0.06,-0.00,-1.00) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 122.6mm grav_b=(-0.07,+0.06,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 125.4mm grav_b=(-0.06,+0.03,-1.00) r=0.47m +[headless_play] t= 2.40s step= 120 trunk_z= 120.2mm grav_b=(-0.04,-0.02,-1.00) r=0.48m +[headless_play] t= 2.50s step= 125 trunk_z= 125.4mm grav_b=(+0.00,-0.04,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 126.5mm grav_b=(-0.03,-0.04,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 115.3mm grav_b=(-0.07,+0.06,-1.00) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 125.4mm grav_b=(-0.04,+0.06,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 124.6mm grav_b=(-0.06,+0.02,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 120.8mm grav_b=(-0.05,-0.06,-1.00) r=0.56m +[headless_play] t= 3.10s step= 155 trunk_z= 126.3mm grav_b=(-0.02,-0.06,-1.00) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 122.5mm grav_b=(-0.05,-0.02,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 122.2mm grav_b=(-0.06,+0.05,-1.00) r=0.59m +[headless_play] t= 3.40s step= 170 trunk_z= 123.8mm grav_b=(-0.07,+0.01,-1.00) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 117.7mm grav_b=(-0.08,-0.03,-1.00) r=0.61m +[headless_play] t= 3.60s step= 180 trunk_z= 124.6mm grav_b=(-0.03,-0.04,-1.00) r=0.62m +[headless_play] t= 3.70s step= 185 trunk_z= 123.2mm grav_b=(-0.04,-0.01,-1.00) r=0.62m +[headless_play] t= 3.80s step= 190 trunk_z= 120.4mm grav_b=(-0.07,+0.05,-1.00) r=0.64m +[headless_play] t= 3.90s step= 195 trunk_z= 123.5mm grav_b=(-0.07,+0.01,-1.00) r=0.65m +[headless_play] t= 4.00s step= 200 trunk_z= 118.2mm grav_b=(-0.06,-0.04,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 125.0mm grav_b=(-0.00,-0.02,-1.00) r=0.67m +[headless_play] t= 4.20s step= 210 trunk_z= 123.6mm grav_b=(-0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 4.30s step= 215 trunk_z= 118.5mm grav_b=(-0.05,+0.07,-1.00) r=0.70m +[headless_play] t= 4.40s step= 220 trunk_z= 122.7mm grav_b=(-0.06,+0.02,-1.00) r=0.71m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.07,-0.06,-1.00) r=0.74m +[headless_play] t= 4.60s step= 230 trunk_z= 105.5mm grav_b=(-0.07,-0.22,-0.97) r=0.76m +[headless_play] t= 4.70s step= 235 trunk_z= 109.7mm grav_b=(+0.02,-0.24,-0.97) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 101.7mm grav_b=(+0.03,-0.16,-0.99) r=0.81m +[headless_play] t= 4.90s step= 245 trunk_z= 83.4mm grav_b=(-0.09,+0.10,-0.99) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 98.5mm grav_b=(-0.02,+0.18,-0.98) r=0.89m +[headless_play] t= 5.10s step= 255 trunk_z= 105.7mm grav_b=(-0.04,+0.33,-0.94) r=0.89m +[headless_play] t= 5.20s step= 260 trunk_z= 101.4mm grav_b=(-0.03,+0.42,-0.90) r=0.89m +[headless_play] t= 5.30s step= 265 trunk_z= 95.6mm grav_b=(-0.15,+0.50,-0.86) r=0.90m +[headless_play] t= 5.40s step= 270 trunk_z= 85.7mm grav_b=(-0.54,+0.27,-0.80) r=0.90m +[headless_play] t= 5.50s step= 275 trunk_z= 93.1mm grav_b=(-0.87,+0.19,-0.45) r=0.89m +[headless_play] RESET at t= 5.52s step= 276 (env termination, not a recovery) +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(-0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 5.70s step= 285 trunk_z= 111.3mm grav_b=(+0.02,-0.09,-1.00) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 115.2mm grav_b=(+0.03,-0.07,-1.00) r=0.49m +[headless_play] t= 5.90s step= 295 trunk_z= 111.8mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(-0.05,+0.08,-1.00) r=0.44m +[headless_play] t= 6.10s step= 305 trunk_z= 119.0mm grav_b=(-0.02,+0.05,-1.00) r=0.44m +[headless_play] t= 6.20s step= 310 trunk_z= 112.1mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 6.30s step= 315 trunk_z= 117.3mm grav_b=(+0.03,-0.07,-1.00) r=0.47m +[headless_play] t= 6.40s step= 320 trunk_z= 113.9mm grav_b=(+0.04,-0.05,-1.00) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 110.2mm grav_b=(+0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 6.60s step= 330 trunk_z= 116.0mm grav_b=(+0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 6.70s step= 335 trunk_z= 110.3mm grav_b=(+0.04,-0.04,-1.00) r=0.46m +[headless_play] t= 6.80s step= 340 trunk_z= 115.6mm grav_b=(+0.03,-0.06,-1.00) r=0.47m +[headless_play] t= 6.90s step= 345 trunk_z= 112.4mm grav_b=(+0.03,-0.04,-1.00) r=0.46m +[headless_play] t= 7.00s step= 350 trunk_z= 110.3mm grav_b=(+0.02,+0.05,-1.00) r=0.44m +[headless_play] t= 7.10s step= 355 trunk_z= 114.5mm grav_b=(+0.03,+0.04,-1.00) r=0.44m +[headless_play] t= 7.20s step= 360 trunk_z= 110.1mm grav_b=(+0.07,-0.03,-1.00) r=0.46m +[headless_play] t= 7.30s step= 365 trunk_z= 115.0mm grav_b=(+0.06,-0.06,-1.00) r=0.47m +[headless_play] t= 7.40s step= 370 trunk_z= 112.1mm grav_b=(+0.05,-0.03,-1.00) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 110.1mm grav_b=(+0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 7.60s step= 380 trunk_z= 114.5mm grav_b=(+0.02,+0.02,-1.00) r=0.45m +[headless_play] t= 7.70s step= 385 trunk_z= 108.7mm grav_b=(+0.06,-0.04,-1.00) r=0.47m +[headless_play] t= 7.80s step= 390 trunk_z= 113.5mm grav_b=(+0.06,-0.07,-1.00) r=0.49m +[headless_play] t= 7.90s step= 395 trunk_z= 111.2mm grav_b=(+0.06,-0.04,-1.00) r=0.48m +[headless_play] t= 8.00s step= 400 trunk_z= 109.3mm grav_b=(+0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 8.10s step= 405 trunk_z= 115.0mm grav_b=(+0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 8.20s step= 410 trunk_z= 109.5mm grav_b=(+0.06,-0.04,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 114.1mm grav_b=(+0.07,-0.06,-1.00) r=0.51m +[headless_play] t= 8.40s step= 420 trunk_z= 111.2mm grav_b=(+0.06,-0.02,-1.00) r=0.51m +[headless_play] t= 8.50s step= 425 trunk_z= 112.3mm grav_b=(-0.00,+0.05,-1.00) r=0.50m +[headless_play] t= 8.60s step= 430 trunk_z= 114.3mm grav_b=(+0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 8.70s step= 435 trunk_z= 107.7mm grav_b=(+0.07,-0.07,-1.00) r=0.53m +[headless_play] t= 8.80s step= 440 trunk_z= 113.0mm grav_b=(+0.10,-0.07,-0.99) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 109.0mm grav_b=(+0.07,-0.01,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 113.9mm grav_b=(+0.01,+0.08,-1.00) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 113.5mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 9.20s step= 460 trunk_z= 115.7mm grav_b=(+0.11,-0.07,-0.99) r=0.56m +[headless_play] t= 9.30s step= 465 trunk_z= 113.9mm grav_b=(+0.13,-0.02,-0.99) r=0.55m +[headless_play] t= 9.40s step= 470 trunk_z= 114.2mm grav_b=(+0.07,-0.01,-1.00) r=0.55m +[headless_play] t= 9.50s step= 475 trunk_z= 113.8mm grav_b=(+0.06,-0.02,-1.00) r=0.55m +[headless_play] t= 9.60s step= 480 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 9.70s step= 485 trunk_z= 114.5mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 9.90s step= 495 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 10.00s step= 500 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 10.10s step= 505 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 10.20s step= 510 trunk_z= 114.7mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 10.30s step= 515 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 10.40s step= 520 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 114.8mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 10.60s step= 530 trunk_z= 115.1mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 10.80s step= 540 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 10.90s step= 545 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 11.10s step= 555 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 115.2mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 115.2mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 11.60s step= 580 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 11.70s step= 585 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 11.80s step= 590 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.00s step= 600 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.10s step= 605 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.20s step= 610 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.30s step= 615 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.40s step= 620 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.50s step= 625 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.80s step= 640 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 12.90s step= 645 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.10s step= 655 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.20s step= 660 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.30s step= 665 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.50s step= 675 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.70s step= 685 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.80s step= 690 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 13.90s step= 695 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.00s step= 700 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.10s step= 705 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.20s step= 710 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.30s step= 715 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.80s step= 740 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 14.90s step= 745 trunk_z= 115.5mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 15.00s step= 750 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 15.10s step= 755 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(+0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00) r=0.55m +[headless_play] t= 15.40s step= 770 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00) r=0.55m +[headless_play] t= 15.50s step= 775 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00) r=0.55m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00) r=0.55m +[headless_play] t= 15.80s step= 790 trunk_z= 115.7mm grav_b=(+0.05,-0.00,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 115.3mm grav_b=(+0.00,-0.05,-1.00) r=0.55m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(-0.00,-0.09,-1.00) r=0.57m +[headless_play] t= 16.10s step= 805 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 16.20s step= 810 trunk_z= 110.6mm grav_b=(+0.00,+0.08,-1.00) r=0.55m +[headless_play] t= 16.30s step= 815 trunk_z= 119.1mm grav_b=(+0.04,+0.09,-1.00) r=0.55m +[headless_play] t= 16.40s step= 820 trunk_z= 119.1mm grav_b=(+0.04,+0.04,-1.00) r=0.56m +[headless_play] t= 16.50s step= 825 trunk_z= 119.8mm grav_b=(+0.03,-0.05,-1.00) r=0.59m +[headless_play] t= 16.60s step= 830 trunk_z= 121.5mm grav_b=(+0.06,-0.06,-1.00) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 115.5mm grav_b=(+0.03,-0.02,-1.00) r=0.59m +[headless_play] t= 16.80s step= 840 trunk_z= 119.0mm grav_b=(-0.01,+0.08,-1.00) r=0.58m +[headless_play] t= 16.90s step= 845 trunk_z= 119.4mm grav_b=(+0.02,+0.04,-1.00) r=0.58m +[headless_play] t= 17.00s step= 850 trunk_z= 115.1mm grav_b=(+0.03,-0.03,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 121.1mm grav_b=(+0.05,-0.06,-1.00) r=0.62m +[headless_play] t= 17.20s step= 860 trunk_z= 116.7mm grav_b=(+0.04,-0.02,-1.00) r=0.62m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(-0.01,+0.09,-1.00) r=0.61m +[headless_play] t= 17.40s step= 870 trunk_z= 120.0mm grav_b=(+0.01,+0.05,-1.00) r=0.61m +[headless_play] t= 17.50s step= 875 trunk_z= 113.3mm grav_b=(+0.05,-0.01,-1.00) r=0.64m +[headless_play] t= 17.60s step= 880 trunk_z= 121.9mm grav_b=(+0.07,-0.07,-0.99) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 119.6mm grav_b=(+0.07,-0.05,-1.00) r=0.67m +[headless_play] t= 17.80s step= 890 trunk_z= 112.4mm grav_b=(+0.02,+0.04,-1.00) r=0.66m +[headless_play] t= 17.90s step= 895 trunk_z= 120.1mm grav_b=(+0.02,+0.07,-1.00) r=0.67m +[headless_play] t= 18.00s step= 900 trunk_z= 116.4mm grav_b=(+0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 18.10s step= 905 trunk_z= 121.0mm grav_b=(+0.04,-0.08,-1.00) r=0.71m +[headless_play] t= 18.20s step= 910 trunk_z= 124.9mm grav_b=(+0.03,-0.07,-1.00) r=0.72m +[headless_play] t= 18.30s step= 915 trunk_z= 119.8mm grav_b=(+0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 18.40s step= 920 trunk_z= 120.6mm grav_b=(+0.02,+0.06,-1.00) r=0.71m +[headless_play] t= 18.50s step= 925 trunk_z= 121.9mm grav_b=(+0.02,+0.03,-1.00) r=0.71m +[headless_play] t= 18.60s step= 930 trunk_z= 116.3mm grav_b=(+0.01,-0.03,-1.00) r=0.73m +[headless_play] t= 18.70s step= 935 trunk_z= 123.7mm grav_b=(+0.01,-0.07,-1.00) r=0.74m +[headless_play] t= 18.80s step= 940 trunk_z= 120.2mm grav_b=(-0.00,-0.05,-1.00) r=0.74m +[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(-0.03,+0.04,-1.00) r=0.74m +[headless_play] t= 19.00s step= 950 trunk_z= 122.7mm grav_b=(-0.01,+0.03,-1.00) r=0.74m +[headless_play] t= 19.10s step= 955 trunk_z= 120.3mm grav_b=(-0.01,+0.00,-1.00) r=0.76m +[headless_play] t= 19.20s step= 960 trunk_z= 122.5mm grav_b=(+0.01,-0.06,-1.00) r=0.78m +[headless_play] t= 19.30s step= 965 trunk_z= 125.4mm grav_b=(+0.02,-0.07,-1.00) r=0.79m +[headless_play] t= 19.40s step= 970 trunk_z= 119.8mm grav_b=(+0.00,-0.05,-1.00) r=0.79m +[headless_play] t= 19.50s step= 975 trunk_z= 122.0mm grav_b=(+0.01,+0.06,-1.00) r=0.80m +[headless_play] t= 19.60s step= 980 trunk_z= 119.1mm grav_b=(+0.00,+0.03,-1.00) r=0.82m +[headless_play] t= 19.70s step= 985 trunk_z= 89.8mm grav_b=(+0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 19.80s step= 990 trunk_z= 98.8mm grav_b=(+0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 19.90s step= 995 trunk_z= 87.1mm grav_b=(-0.06,+0.04,-1.00) r=0.91m +[headless_play] t= 20.00s step=1000 trunk_z= 97.2mm grav_b=(-0.05,+0.05,-1.00) r=0.92m +[headless_play] t= 20.10s step=1005 trunk_z= 96.6mm grav_b=(-0.03,+0.04,-1.00) r=0.93m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t1.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..76629386f708491cbece00b4423ef3f3b12c7440 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t1.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.447,-18.134,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 118.0mm grav_b=(+0.00,-0.04,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 118.3mm grav_b=(+0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 115.5mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 126.0mm grav_b=(+0.05,+0.10,-0.99) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 125.5mm grav_b=(+0.07,+0.12,-0.99) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 124.8mm grav_b=(+0.07,+0.12,-0.99) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 120.5mm grav_b=(+0.02,+0.04,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 124.4mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(-0.06,+0.05,-1.00) r=0.37m +[headless_play] t= 1.10s step= 55 trunk_z= 123.3mm grav_b=(-0.08,+0.08,-0.99) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 120.8mm grav_b=(-0.06,+0.05,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 122.3mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 126.0mm grav_b=(+0.07,-0.06,-1.00) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 121.8mm grav_b=(+0.06,-0.02,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 126.5mm grav_b=(+0.04,+0.05,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 125.8mm grav_b=(+0.03,+0.05,-1.00) r=0.43m +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 123.7mm grav_b=(-0.00,-0.03,-1.00) r=0.47m +[headless_play] t= 2.00s step= 100 trunk_z= 119.6mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 124.7mm grav_b=(+0.02,+0.11,-0.99) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 130.7mm grav_b=(+0.03,+0.25,-0.97) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 129.4mm grav_b=(-0.00,+0.38,-0.92) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 114.8mm grav_b=(-0.09,+0.64,-0.76) r=0.37m +[headless_play] RESET at t= 2.50s step= 125 (env termination, not a recovery) +[headless_play] t= 2.50s step= 125 trunk_z= 129.3mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(+0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 114.9mm grav_b=(+0.01,-0.06,-1.00) r=0.34m +[headless_play] t= 2.80s step= 140 trunk_z= 117.4mm grav_b=(-0.05,-0.02,-1.00) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 112.3mm grav_b=(-0.04,+0.08,-1.00) r=0.32m +[headless_play] t= 3.00s step= 150 trunk_z= 117.6mm grav_b=(-0.03,+0.09,-1.00) r=0.32m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(+0.03,+0.04,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 110.1mm grav_b=(+0.08,-0.04,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 115.0mm grav_b=(+0.10,-0.10,-0.99) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(+0.10,-0.04,-0.99) r=0.36m +[headless_play] t= 3.50s step= 175 trunk_z= 120.6mm grav_b=(+0.07,+0.05,-1.00) r=0.35m +[headless_play] t= 3.60s step= 180 trunk_z= 115.4mm grav_b=(+0.10,-0.01,-0.99) r=0.37m +[headless_play] t= 3.70s step= 185 trunk_z= 117.7mm grav_b=(+0.08,-0.10,-0.99) r=0.39m +[headless_play] t= 3.80s step= 190 trunk_z= 116.9mm grav_b=(+0.09,-0.11,-0.99) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 113.9mm grav_b=(+0.08,-0.04,-1.00) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 118.6mm grav_b=(+0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 117.3mm grav_b=(+0.00,+0.04,-1.00) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 113.1mm grav_b=(-0.03,-0.05,-1.00) r=0.43m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(-0.04,-0.07,-1.00) r=0.44m +[headless_play] t= 4.40s step= 220 trunk_z= 118.7mm grav_b=(-0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 4.50s step= 225 trunk_z= 110.8mm grav_b=(+0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(+0.07,+0.04,-1.00) r=0.44m +[headless_play] t= 4.70s step= 235 trunk_z= 108.8mm grav_b=(+0.10,-0.01,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 115.0mm grav_b=(+0.11,-0.08,-0.99) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(+0.12,-0.07,-0.99) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 112.6mm grav_b=(+0.15,+0.07,-0.99) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 122.0mm grav_b=(+0.11,+0.01,-0.99) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 115.0mm grav_b=(+0.09,-0.10,-0.99) r=0.61m +[headless_play] t= 5.30s step= 265 trunk_z= 123.5mm grav_b=(+0.10,-0.09,-0.99) r=0.64m +[headless_play] t= 5.40s step= 270 trunk_z= 115.4mm grav_b=(+0.06,-0.02,-1.00) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 122.2mm grav_b=(+0.07,+0.03,-1.00) r=0.69m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(+0.08,-0.00,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(+0.02,-0.09,-1.00) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 117.9mm grav_b=(+0.02,-0.08,-1.00) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 108.7mm grav_b=(+0.03,+0.09,-1.00) r=0.77m +[headless_play] t= 6.00s step= 300 trunk_z= 123.1mm grav_b=(+0.03,+0.18,-0.98) r=0.78m +[headless_play] t= 6.10s step= 305 trunk_z= 125.4mm grav_b=(+0.03,+0.26,-0.96) r=0.79m +[headless_play] t= 6.20s step= 310 trunk_z= 125.3mm grav_b=(+0.05,+0.30,-0.95) r=0.80m +[headless_play] t= 6.30s step= 315 trunk_z= 127.5mm grav_b=(+0.02,+0.29,-0.96) r=0.80m +[headless_play] t= 6.40s step= 320 trunk_z= 128.3mm grav_b=(-0.02,+0.27,-0.96) r=0.82m +[headless_play] t= 6.50s step= 325 trunk_z= 124.4mm grav_b=(+0.07,+0.29,-0.95) r=0.84m +[headless_play] t= 6.60s step= 330 trunk_z= 114.8mm grav_b=(+0.15,+0.25,-0.96) r=0.85m +[headless_play] t= 6.70s step= 335 trunk_z= 123.0mm grav_b=(+0.13,+0.11,-0.99) r=0.86m +[headless_play] t= 6.80s step= 340 trunk_z= 115.4mm grav_b=(+0.27,-0.10,-0.96) r=0.87m +[headless_play] t= 6.90s step= 345 trunk_z= 134.5mm grav_b=(+0.07,-0.17,-0.98) r=0.88m +[headless_play] t= 7.00s step= 350 trunk_z= 128.2mm grav_b=(+0.03,-0.12,-0.99) r=0.89m +[headless_play] t= 7.10s step= 355 trunk_z= 118.7mm grav_b=(+0.01,-0.00,-1.00) r=0.89m +[headless_play] t= 7.20s step= 360 trunk_z= 124.5mm grav_b=(+0.00,-0.03,-1.00) r=0.91m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(+0.00,-0.08,-1.00) r=0.94m +[headless_play] t= 7.40s step= 370 trunk_z= 122.9mm grav_b=(+0.04,-0.11,-0.99) r=0.96m +[headless_play] t= 7.50s step= 375 trunk_z= 121.7mm grav_b=(+0.04,-0.11,-0.99) r=0.97m +[headless_play] t= 7.60s step= 380 trunk_z= 115.0mm grav_b=(+0.02,+0.06,-1.00) r=0.96m +[headless_play] t= 7.70s step= 385 trunk_z= 126.7mm grav_b=(+0.02,+0.16,-0.99) r=0.96m +[headless_play] t= 7.80s step= 390 trunk_z= 125.6mm grav_b=(+0.04,+0.22,-0.97) r=0.95m +[headless_play] t= 7.90s step= 395 trunk_z= 126.3mm grav_b=(+0.05,+0.21,-0.98) r=0.96m +[headless_play] t= 8.00s step= 400 trunk_z= 126.5mm grav_b=(+0.01,+0.04,-1.00) r=0.96m +[headless_play] t= 8.10s step= 405 trunk_z= 126.9mm grav_b=(-0.03,-0.00,-1.00) r=0.97m +[headless_play] t= 8.20s step= 410 trunk_z= 113.6mm grav_b=(-0.03,+0.02,-1.00) r=0.95m +[headless_play] t= 8.30s step= 415 trunk_z= 117.6mm grav_b=(-0.02,+0.03,-1.00) r=0.94m +[headless_play] t= 8.40s step= 420 trunk_z= 114.7mm grav_b=(+0.01,-0.02,-1.00) r=0.96m +[headless_play] t= 8.50s step= 425 trunk_z= 113.1mm grav_b=(+0.05,-0.08,-1.00) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 114.8mm grav_b=(+0.09,-0.11,-0.99) r=1.00m +[headless_play] t= 8.70s step= 435 trunk_z= 113.1mm grav_b=(+0.10,-0.08,-0.99) r=1.00m +[headless_play] t= 8.80s step= 440 trunk_z= 116.2mm grav_b=(+0.09,-0.01,-1.00) r=1.01m +[headless_play] t= 8.90s step= 445 trunk_z= 111.5mm grav_b=(+0.09,-0.06,-0.99) r=1.04m +[headless_play] t= 9.00s step= 450 trunk_z= 119.0mm grav_b=(+0.08,-0.11,-0.99) r=1.06m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(+0.09,-0.12,-0.99) r=1.07m +[headless_play] t= 9.20s step= 460 trunk_z= 113.4mm grav_b=(+0.08,-0.05,-1.00) r=1.07m +[headless_play] t= 9.30s step= 465 trunk_z= 116.5mm grav_b=(+0.06,+0.04,-1.00) r=1.07m +[headless_play] t= 9.40s step= 470 trunk_z= 113.5mm grav_b=(+0.07,+0.01,-1.00) r=1.09m +[headless_play] t= 9.50s step= 475 trunk_z= 115.0mm grav_b=(+0.05,-0.08,-1.00) r=1.12m +[headless_play] t= 9.60s step= 480 trunk_z= 118.8mm grav_b=(+0.05,-0.09,-0.99) r=1.14m +[headless_play] t= 9.70s step= 485 trunk_z= 116.0mm grav_b=(+0.05,-0.08,-1.00) r=1.15m +[headless_play] t= 9.80s step= 490 trunk_z= 114.4mm grav_b=(+0.05,+0.04,-1.00) r=1.15m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(+0.08,+0.03,-1.00) r=1.16m +[headless_play] t= 10.00s step= 500 trunk_z= 114.2mm grav_b=(+0.08,-0.01,-1.00) r=1.19m +[headless_play] t= 10.10s step= 505 trunk_z= 121.2mm grav_b=(+0.12,-0.09,-0.99) r=1.22m +[headless_play] t= 10.20s step= 510 trunk_z= 122.6mm grav_b=(+0.10,-0.08,-0.99) r=1.25m +[headless_play] t= 10.30s step= 515 trunk_z= 113.2mm grav_b=(+0.08,-0.00,-1.00) r=1.28m +[headless_play] t= 10.40s step= 520 trunk_z= 118.5mm grav_b=(+0.02,-0.03,-1.00) r=1.29m +[headless_play] t= 10.50s step= 525 trunk_z= 114.6mm grav_b=(+0.01,-0.09,-1.00) r=1.31m +[headless_play] t= 10.60s step= 530 trunk_z= 122.0mm grav_b=(-0.02,-0.09,-1.00) r=1.33m +[headless_play] t= 10.70s step= 535 trunk_z= 121.1mm grav_b=(-0.01,-0.07,-1.00) r=1.33m +[headless_play] t= 10.80s step= 540 trunk_z= 111.9mm grav_b=(-0.02,-0.01,-1.00) r=1.35m +[headless_play] t= 10.90s step= 545 trunk_z= 117.3mm grav_b=(+0.06,+0.03,-1.00) r=1.37m +[headless_play] t= 11.00s step= 550 trunk_z= 114.6mm grav_b=(+0.11,-0.04,-0.99) r=1.39m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.11,-0.11,-0.99) r=1.43m +[headless_play] t= 11.20s step= 560 trunk_z= 125.3mm grav_b=(+0.10,-0.10,-0.99) r=1.46m +[headless_play] t= 11.30s step= 565 trunk_z= 114.5mm grav_b=(+0.10,-0.06,-0.99) r=1.52m +[headless_play] t= 11.40s step= 570 trunk_z= 128.4mm grav_b=(+0.11,-0.08,-0.99) r=1.56m +[headless_play] t= 11.50s step= 575 trunk_z= 109.6mm grav_b=(+0.01,+0.01,-1.00) r=1.62m +[headless_play] t= 11.60s step= 580 trunk_z= 112.1mm grav_b=(+0.05,-0.04,-1.00) r=1.65m +[headless_play] t= 11.70s step= 585 trunk_z= 119.8mm grav_b=(-0.00,-0.08,-1.00) r=1.67m +[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(-0.07,-0.01,-1.00) r=1.71m +[headless_play] t= 11.90s step= 595 trunk_z= 121.8mm grav_b=(-0.02,+0.04,-1.00) r=1.73m +[headless_play] t= 12.00s step= 600 trunk_z= 118.8mm grav_b=(+0.01,+0.02,-1.00) r=1.75m +[headless_play] t= 12.10s step= 605 trunk_z= 115.5mm grav_b=(+0.03,-0.06,-1.00) r=1.75m +[headless_play] t= 12.20s step= 610 trunk_z= 122.4mm grav_b=(+0.03,-0.10,-0.99) r=1.77m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.05,-0.10,-0.99) r=1.79m +[headless_play] t= 12.40s step= 620 trunk_z= 113.6mm grav_b=(+0.08,-0.03,-1.00) r=1.82m +[headless_play] t= 12.50s step= 625 trunk_z= 121.9mm grav_b=(+0.09,-0.01,-1.00) r=1.85m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(+0.08,-0.04,-1.00) r=1.87m +[headless_play] t= 12.70s step= 635 trunk_z= 124.5mm grav_b=(+0.07,-0.10,-0.99) r=1.89m +[headless_play] t= 12.80s step= 640 trunk_z= 119.5mm grav_b=(+0.04,-0.07,-1.00) r=1.92m +[headless_play] t= 12.90s step= 645 trunk_z= 116.1mm grav_b=(+0.00,+0.02,-1.00) r=1.95m +[headless_play] t= 13.00s step= 650 trunk_z= 121.2mm grav_b=(+0.01,+0.03,-1.00) r=1.96m +[headless_play] t= 13.10s step= 655 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) r=1.96m +[headless_play] t= 13.20s step= 660 trunk_z= 119.8mm grav_b=(+0.04,-0.09,-0.99) r=1.96m +[headless_play] t= 13.30s step= 665 trunk_z= 122.1mm grav_b=(+0.05,-0.14,-0.99) r=1.96m +[headless_play] t= 13.40s step= 670 trunk_z= 122.3mm grav_b=(+0.01,-0.19,-0.98) r=1.96m +[headless_play] t= 13.50s step= 675 trunk_z= 120.3mm grav_b=(+0.05,-0.15,-0.99) r=1.97m +[headless_play] t= 13.60s step= 680 trunk_z= 122.0mm grav_b=(+0.11,-0.07,-0.99) r=1.99m +[headless_play] t= 13.70s step= 685 trunk_z= 124.1mm grav_b=(+0.09,-0.05,-0.99) r=1.99m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(+0.05,-0.08,-1.00) r=2.00m +[headless_play] t= 13.90s step= 695 trunk_z= 120.9mm grav_b=(+0.07,-0.06,-1.00) r=2.01m +[headless_play] t= 14.00s step= 700 trunk_z= 115.0mm grav_b=(+0.03,-0.03,-1.00) r=2.04m +[headless_play] t= 14.10s step= 705 trunk_z= 121.0mm grav_b=(+0.01,+0.05,-1.00) r=2.06m +[headless_play] t= 14.20s step= 710 trunk_z= 116.0mm grav_b=(+0.01,+0.04,-1.00) r=2.06m +[headless_play] t= 14.30s step= 715 trunk_z= 113.5mm grav_b=(+0.03,-0.03,-1.00) r=2.05m +[headless_play] t= 14.40s step= 720 trunk_z= 113.6mm grav_b=(+0.05,-0.00,-1.00) r=2.06m +[headless_play] t= 14.50s step= 725 trunk_z= 108.4mm grav_b=(+0.05,+0.04,-1.00) r=2.09m +[headless_play] t= 14.60s step= 730 trunk_z= 117.1mm grav_b=(+0.06,+0.08,-1.00) r=2.11m +[headless_play] t= 14.70s step= 735 trunk_z= 113.2mm grav_b=(+0.06,+0.04,-1.00) r=2.10m +[headless_play] t= 14.80s step= 740 trunk_z= 113.1mm grav_b=(+0.04,-0.08,-1.00) r=2.08m +[headless_play] t= 14.90s step= 745 trunk_z= 123.0mm grav_b=(+0.03,-0.16,-0.99) r=2.07m +[headless_play] t= 15.00s step= 750 trunk_z= 121.7mm grav_b=(+0.04,-0.20,-0.98) r=2.06m +[headless_play] t= 15.10s step= 755 trunk_z= 115.6mm grav_b=(+0.11,-0.16,-0.98) r=2.05m +[headless_play] t= 15.20s step= 760 trunk_z= 115.8mm grav_b=(+0.04,-0.13,-0.99) r=2.05m +[headless_play] t= 15.30s step= 765 trunk_z= 122.5mm grav_b=(+0.05,-0.11,-0.99) r=2.05m +[headless_play] t= 15.40s step= 770 trunk_z= 118.8mm grav_b=(+0.04,-0.08,-1.00) r=2.02m +[headless_play] t= 15.50s step= 775 trunk_z= 118.4mm grav_b=(+0.02,-0.08,-1.00) r=2.00m +[headless_play] t= 15.60s step= 780 trunk_z= 120.9mm grav_b=(+0.02,-0.05,-1.00) r=2.00m +[headless_play] t= 15.70s step= 785 trunk_z= 112.8mm grav_b=(+0.03,+0.01,-1.00) r=2.02m +[headless_play] t= 15.80s step= 790 trunk_z= 124.1mm grav_b=(+0.10,+0.09,-0.99) r=2.03m +[headless_play] t= 15.90s step= 795 trunk_z= 123.1mm grav_b=(+0.09,+0.06,-0.99) r=2.02m +[headless_play] t= 16.00s step= 800 trunk_z= 119.0mm grav_b=(+0.07,-0.06,-1.00) r=2.00m +[headless_play] t= 16.10s step= 805 trunk_z= 121.2mm grav_b=(+0.05,-0.04,-1.00) r=2.00m +[headless_play] t= 16.20s step= 810 trunk_z= 113.3mm grav_b=(-0.00,-0.00,-1.00) r=2.02m +[headless_play] t= 16.30s step= 815 trunk_z= 118.9mm grav_b=(-0.02,+0.05,-1.00) r=2.02m +[headless_play] t= 16.40s step= 820 trunk_z= 116.4mm grav_b=(-0.03,+0.01,-1.00) r=2.01m +[headless_play] t= 16.50s step= 825 trunk_z= 114.8mm grav_b=(+0.03,-0.07,-1.00) r=1.98m +[headless_play] t= 16.60s step= 830 trunk_z= 115.8mm grav_b=(+0.14,-0.06,-0.99) r=1.97m +[headless_play] t= 16.70s step= 835 trunk_z= 109.0mm grav_b=(+0.11,+0.04,-0.99) r=1.97m +[headless_play] t= 16.80s step= 840 trunk_z= 122.9mm grav_b=(+0.05,-0.00,-1.00) r=1.95m +[headless_play] t= 16.90s step= 845 trunk_z= 112.6mm grav_b=(+0.04,-0.08,-1.00) r=1.92m +[headless_play] t= 17.00s step= 850 trunk_z= 118.7mm grav_b=(+0.04,-0.09,-0.99) r=1.91m +[headless_play] t= 17.10s step= 855 trunk_z= 114.4mm grav_b=(+0.03,-0.06,-1.00) r=1.92m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(+0.01,+0.08,-1.00) r=1.93m +[headless_play] t= 17.30s step= 865 trunk_z= 120.5mm grav_b=(+0.01,+0.08,-1.00) r=1.93m +[headless_play] t= 17.40s step= 870 trunk_z= 113.0mm grav_b=(+0.00,+0.01,-1.00) r=1.90m +[headless_play] t= 17.50s step= 875 trunk_z= 117.9mm grav_b=(+0.02,-0.09,-1.00) r=1.87m +[headless_play] t= 17.60s step= 880 trunk_z= 118.6mm grav_b=(+0.06,-0.13,-0.99) r=1.85m +[headless_play] t= 17.70s step= 885 trunk_z= 116.2mm grav_b=(+0.10,-0.10,-0.99) r=1.83m +[headless_play] t= 17.80s step= 890 trunk_z= 118.5mm grav_b=(+0.07,+0.05,-1.00) r=1.81m +[headless_play] t= 17.90s step= 895 trunk_z= 119.9mm grav_b=(+0.04,+0.04,-1.00) r=1.80m +[headless_play] t= 18.00s step= 900 trunk_z= 112.6mm grav_b=(+0.04,-0.02,-1.00) r=1.78m +[headless_play] t= 18.10s step= 905 trunk_z= 119.6mm grav_b=(+0.02,-0.09,-1.00) r=1.76m +[headless_play] t= 18.20s step= 910 trunk_z= 118.0mm grav_b=(+0.04,-0.09,-0.99) r=1.74m +[headless_play] t= 18.30s step= 915 trunk_z= 109.0mm grav_b=(+0.10,+0.00,-0.99) r=1.72m +[headless_play] t= 18.40s step= 920 trunk_z= 123.9mm grav_b=(+0.17,+0.08,-0.98) r=1.69m +[headless_play] t= 18.50s step= 925 trunk_z= 119.7mm grav_b=(+0.10,+0.05,-0.99) r=1.64m +[headless_play] t= 18.60s step= 930 trunk_z= 124.6mm grav_b=(+0.09,-0.02,-1.00) r=1.61m +[headless_play] t= 18.70s step= 935 trunk_z= 123.8mm grav_b=(+0.03,-0.00,-1.00) r=1.58m +[headless_play] t= 18.80s step= 940 trunk_z= 116.9mm grav_b=(+0.00,+0.02,-1.00) r=1.55m +[headless_play] t= 18.90s step= 945 trunk_z= 118.1mm grav_b=(+0.01,-0.03,-1.00) r=1.52m +[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(+0.00,-0.10,-0.99) r=1.49m +[headless_play] t= 19.10s step= 955 trunk_z= 123.3mm grav_b=(-0.00,-0.12,-0.99) r=1.46m +[headless_play] t= 19.20s step= 960 trunk_z= 120.3mm grav_b=(+0.05,-0.12,-0.99) r=1.42m +[headless_play] t= 19.30s step= 965 trunk_z= 118.9mm grav_b=(+0.08,-0.00,-1.00) r=1.38m +[headless_play] t= 19.40s step= 970 trunk_z= 128.3mm grav_b=(+0.09,-0.01,-1.00) r=1.35m +[headless_play] t= 19.50s step= 975 trunk_z= 111.9mm grav_b=(+0.06,-0.06,-1.00) r=1.30m +[headless_play] t= 19.60s step= 980 trunk_z= 122.8mm grav_b=(+0.05,-0.05,-1.00) r=1.27m +[headless_play] t= 19.70s step= 985 trunk_z= 113.8mm grav_b=(-0.03,+0.01,-1.00) r=1.24m +[headless_play] t= 19.80s step= 990 trunk_z= 120.7mm grav_b=(-0.03,+0.04,-1.00) r=1.22m +[headless_play] t= 19.90s step= 995 trunk_z= 120.4mm grav_b=(-0.02,+0.05,-1.00) r=1.21m +[headless_play] t= 20.00s step=1000 trunk_z= 113.2mm grav_b=(-0.02,-0.02,-1.00) r=1.20m +[headless_play] t= 20.10s step=1005 trunk_z= 122.0mm grav_b=(-0.02,-0.07,-1.00) r=1.20m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t10.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..ca32b4a5728af2e965bab57a114277dfe50e46a7 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.633,-18.128,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,+0.00,-1.00) r=0.39m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.02,+0.03,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(-0.02,+0.06,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(-0.02,-0.00,-1.00) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 108.8mm grav_b=(-0.02,-0.08,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 119.9mm grav_b=(+0.02,-0.08,-1.00) r=0.35m +[headless_play] t= 0.60s step= 30 trunk_z= 118.0mm grav_b=(+0.03,-0.08,-1.00) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 114.9mm grav_b=(+0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 111.6mm grav_b=(+0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 1.00s step= 50 trunk_z= 123.5mm grav_b=(+0.01,-0.11,-0.99) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 121.3mm grav_b=(+0.02,-0.14,-0.99) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 119.6mm grav_b=(+0.02,-0.08,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 126.1mm grav_b=(-0.00,-0.02,-1.00) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 120.8mm grav_b=(-0.03,-0.05,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(-0.01,-0.04,-1.00) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 110.6mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 1.80s step= 90 trunk_z= 120.9mm grav_b=(-0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 119.8mm grav_b=(-0.00,-0.08,-1.00) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 122.0mm grav_b=(+0.01,-0.10,-0.99) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(+0.03,-0.09,-1.00) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.57m +[headless_play] t= 2.40s step= 120 trunk_z= 117.6mm grav_b=(+0.03,+0.00,-1.00) r=0.58m +[headless_play] t= 2.50s step= 125 trunk_z= 113.3mm grav_b=(-0.00,-0.05,-1.00) r=0.58m +[headless_play] t= 2.60s step= 130 trunk_z= 123.5mm grav_b=(+0.00,-0.09,-1.00) r=0.59m +[headless_play] t= 2.70s step= 135 trunk_z= 119.4mm grav_b=(+0.04,-0.09,-0.99) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 112.5mm grav_b=(+0.05,-0.01,-1.00) r=0.66m +[headless_play] t= 2.90s step= 145 trunk_z= 122.6mm grav_b=(+0.03,-0.00,-1.00) r=0.69m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.70m +[headless_play] t= 3.10s step= 155 trunk_z= 120.7mm grav_b=(+0.01,-0.08,-1.00) r=0.71m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(+0.01,-0.07,-1.00) r=0.73m +[headless_play] t= 3.30s step= 165 trunk_z= 113.0mm grav_b=(+0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 119.2mm grav_b=(+0.01,+0.03,-1.00) r=0.78m +[headless_play] t= 3.50s step= 175 trunk_z= 114.2mm grav_b=(+0.09,+0.01,-1.00) r=0.80m +[headless_play] t= 3.60s step= 180 trunk_z= 120.1mm grav_b=(+0.08,-0.05,-1.00) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 124.0mm grav_b=(+0.06,-0.04,-1.00) r=0.85m +[headless_play] t= 3.80s step= 190 trunk_z= 115.7mm grav_b=(+0.04,+0.01,-1.00) r=0.89m +[headless_play] t= 3.90s step= 195 trunk_z= 130.4mm grav_b=(-0.00,-0.01,-1.00) r=0.92m +[headless_play] t= 4.00s step= 200 trunk_z= 112.3mm grav_b=(-0.04,-0.07,-1.00) r=0.95m +[headless_play] t= 4.10s step= 205 trunk_z= 122.8mm grav_b=(-0.03,-0.08,-1.00) r=0.97m +[headless_play] t= 4.20s step= 210 trunk_z= 119.4mm grav_b=(-0.04,-0.04,-1.00) r=0.99m +[headless_play] t= 4.30s step= 215 trunk_z= 120.2mm grav_b=(-0.04,+0.03,-1.00) r=1.01m +[headless_play] t= 4.40s step= 220 trunk_z= 127.8mm grav_b=(-0.02,+0.09,-1.00) r=1.03m +[headless_play] t= 4.50s step= 225 trunk_z= 129.0mm grav_b=(-0.01,+0.10,-0.99) r=1.04m +[headless_play] t= 4.60s step= 230 trunk_z= 122.5mm grav_b=(-0.03,+0.06,-1.00) r=1.05m +[headless_play] t= 4.70s step= 235 trunk_z= 123.5mm grav_b=(+0.04,-0.02,-1.00) r=1.05m +[headless_play] t= 4.80s step= 240 trunk_z= 123.3mm grav_b=(-0.00,-0.02,-1.00) r=1.07m +[headless_play] t= 4.90s step= 245 trunk_z= 122.8mm grav_b=(+0.03,+0.04,-1.00) r=1.10m +[headless_play] t= 5.00s step= 250 trunk_z= 128.9mm grav_b=(+0.00,+0.01,-1.00) r=1.12m +[headless_play] t= 5.10s step= 255 trunk_z= 120.1mm grav_b=(-0.01,+0.01,-1.00) r=1.14m +[headless_play] t= 5.20s step= 260 trunk_z= 122.1mm grav_b=(+0.01,-0.05,-1.00) r=1.16m +[headless_play] t= 5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.03,-0.02,-1.00) r=1.17m +[headless_play] t= 5.40s step= 270 trunk_z= 116.2mm grav_b=(-0.03,+0.02,-1.00) r=1.20m +[headless_play] t= 5.50s step= 275 trunk_z= 125.1mm grav_b=(-0.01,+0.05,-1.00) r=1.22m +[headless_play] t= 5.60s step= 280 trunk_z= 123.8mm grav_b=(+0.00,+0.05,-1.00) r=1.22m +[headless_play] t= 5.70s step= 285 trunk_z= 118.7mm grav_b=(-0.01,-0.05,-1.00) r=1.21m +[headless_play] t= 5.80s step= 290 trunk_z= 125.2mm grav_b=(+0.02,-0.08,-1.00) r=1.22m +[headless_play] t= 5.90s step= 295 trunk_z= 117.9mm grav_b=(-0.03,-0.02,-1.00) r=1.24m +[headless_play] t= 6.00s step= 300 trunk_z= 124.4mm grav_b=(-0.04,+0.05,-1.00) r=1.26m +[headless_play] t= 6.10s step= 305 trunk_z= 127.4mm grav_b=(-0.02,+0.09,-1.00) r=1.27m +[headless_play] t= 6.20s step= 310 trunk_z= 124.7mm grav_b=(-0.02,+0.07,-1.00) r=1.28m +[headless_play] t= 6.30s step= 315 trunk_z= 123.2mm grav_b=(+0.02,-0.04,-1.00) r=1.29m +[headless_play] t= 6.40s step= 320 trunk_z= 126.5mm grav_b=(+0.02,-0.06,-1.00) r=1.30m +[headless_play] t= 6.50s step= 325 trunk_z= 120.6mm grav_b=(+0.01,-0.03,-1.00) r=1.33m +[headless_play] t= 6.60s step= 330 trunk_z= 127.9mm grav_b=(+0.02,+0.01,-1.00) r=1.36m +[headless_play] t= 6.70s step= 335 trunk_z= 127.6mm grav_b=(+0.01,+0.02,-1.00) r=1.38m +[headless_play] t= 6.80s step= 340 trunk_z= 115.3mm grav_b=(-0.02,-0.04,-1.00) r=1.40m +[headless_play] t= 6.90s step= 345 trunk_z= 126.0mm grav_b=(-0.02,-0.06,-1.00) r=1.41m +[headless_play] t= 7.00s step= 350 trunk_z= 123.8mm grav_b=(-0.02,-0.07,-1.00) r=1.43m +[headless_play] t= 7.10s step= 355 trunk_z= 117.7mm grav_b=(-0.03,+0.00,-1.00) r=1.46m +[headless_play] t= 7.20s step= 360 trunk_z= 127.3mm grav_b=(+0.00,+0.04,-1.00) r=1.48m +[headless_play] t= 7.30s step= 365 trunk_z= 127.1mm grav_b=(+0.01,+0.06,-1.00) r=1.49m +[headless_play] t= 7.40s step= 370 trunk_z= 118.8mm grav_b=(+0.01,-0.01,-1.00) r=1.50m +[headless_play] t= 7.50s step= 375 trunk_z= 125.3mm grav_b=(+0.04,-0.04,-1.00) r=1.50m +[headless_play] t= 7.60s step= 380 trunk_z= 122.7mm grav_b=(+0.02,-0.04,-1.00) r=1.52m +[headless_play] t= 7.70s step= 385 trunk_z= 126.4mm grav_b=(+0.07,-0.00,-1.00) r=1.56m +[headless_play] t= 7.80s step= 390 trunk_z= 128.8mm grav_b=(+0.04,+0.03,-1.00) r=1.62m +[headless_play] t= 7.90s step= 395 trunk_z= 93.8mm grav_b=(-0.02,-0.02,-1.00) r=1.67m +[headless_play] t= 8.00s step= 400 trunk_z= 47.9mm grav_b=(+0.47,-0.63,-0.61) r=1.70m +[headless_play] RESET at t= 8.04s step= 402 (env termination, not a recovery) +[headless_play] t= 8.10s step= 405 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) r=0.13m +[headless_play] t= 8.20s step= 410 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) r=0.12m +[headless_play] t= 8.30s step= 415 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=0.13m +[headless_play] t= 8.40s step= 420 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.13m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.02,+0.00,-1.00) r=0.13m +[headless_play] t= 8.60s step= 430 trunk_z= 116.6mm grav_b=(+0.04,+0.02,-1.00) r=0.12m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(+0.08,+0.02,-1.00) r=0.12m +[headless_play] t= 8.80s step= 440 trunk_z= 117.8mm grav_b=(+0.10,+0.02,-0.99) r=0.11m +[headless_play] t= 8.90s step= 445 trunk_z= 117.5mm grav_b=(+0.10,+0.02,-0.99) r=0.11m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(+0.08,+0.01,-1.00) r=0.12m +[headless_play] t= 9.10s step= 455 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=0.12m +[headless_play] t= 9.20s step= 460 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.12m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.12m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 9.50s step= 475 trunk_z= 118.2mm grav_b=(+0.09,+0.03,-1.00) r=0.11m +[headless_play] t= 9.60s step= 480 trunk_z= 118.4mm grav_b=(+0.12,+0.03,-0.99) r=0.11m +[headless_play] t= 9.70s step= 485 trunk_z= 118.5mm grav_b=(+0.13,+0.02,-0.99) r=0.11m +[headless_play] t= 9.80s step= 490 trunk_z= 118.8mm grav_b=(+0.14,+0.01,-0.99) r=0.11m +[headless_play] t= 9.90s step= 495 trunk_z= 119.2mm grav_b=(+0.13,-0.01,-0.99) r=0.11m +[headless_play] t= 10.00s step= 500 trunk_z= 120.2mm grav_b=(+0.09,-0.02,-1.00) r=0.10m +[headless_play] t= 10.10s step= 505 trunk_z= 113.6mm grav_b=(+0.02,-0.14,-0.99) r=0.11m +[headless_play] t= 10.20s step= 510 trunk_z= 126.3mm grav_b=(+0.02,-0.16,-0.99) r=0.13m +[headless_play] t= 10.30s step= 515 trunk_z= 127.5mm grav_b=(-0.00,-0.24,-0.97) r=0.14m +[headless_play] t= 10.40s step= 520 trunk_z= 128.1mm grav_b=(+0.01,-0.26,-0.96) r=0.15m +[headless_play] t= 10.50s step= 525 trunk_z= 125.4mm grav_b=(+0.12,-0.29,-0.95) r=0.16m +[headless_play] t= 10.60s step= 530 trunk_z= 124.8mm grav_b=(+0.10,-0.39,-0.91) r=0.17m +[headless_play] t= 10.70s step= 535 trunk_z= 120.9mm grav_b=(+0.22,-0.52,-0.83) r=0.19m +[headless_play] t= 10.80s step= 540 trunk_z= 96.6mm grav_b=(+0.22,-0.80,-0.55) r=0.24m +[headless_play] RESET at t= 10.86s step= 543 (env termination, not a recovery) +[headless_play] t= 10.90s step= 545 trunk_z= 117.4mm grav_b=(-0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 11.00s step= 550 trunk_z= 115.2mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 11.10s step= 555 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.50s step= 575 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(+0.03,+0.00,-1.00) r=0.33m +[headless_play] t= 11.70s step= 585 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 12.00s step= 600 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(+0.03,-0.00,-1.00) r=0.34m +[headless_play] t= 12.20s step= 610 trunk_z= 119.3mm grav_b=(+0.12,+0.01,-0.99) r=0.35m +[headless_play] t= 12.30s step= 615 trunk_z= 119.7mm grav_b=(+0.12,-0.02,-0.99) r=0.36m +[headless_play] t= 12.40s step= 620 trunk_z= 122.2mm grav_b=(+0.09,-0.05,-0.99) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 122.0mm grav_b=(+0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 12.80s step= 640 trunk_z= 115.7mm grav_b=(+0.00,-0.04,-1.00) r=0.43m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.05,-0.02,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 13.30s step= 665 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 13.50s step= 675 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 13.70s step= 685 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.43m +[headless_play] t= 13.80s step= 690 trunk_z= 117.6mm grav_b=(-0.05,+0.01,-1.00) r=0.43m +[headless_play] t= 13.90s step= 695 trunk_z= 116.9mm grav_b=(-0.04,-0.04,-1.00) r=0.42m +[headless_play] t= 14.00s step= 700 trunk_z= 113.7mm grav_b=(+0.06,-0.04,-1.00) r=0.41m +[headless_play] t= 14.10s step= 705 trunk_z= 112.6mm grav_b=(+0.06,-0.01,-1.00) r=0.41m +[headless_play] t= 14.20s step= 710 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) r=0.40m +[headless_play] t= 14.30s step= 715 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.40m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 14.50s step= 725 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=0.40m +[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(+0.02,-0.00,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(+0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 14.80s step= 740 trunk_z= 119.3mm grav_b=(+0.10,-0.01,-0.99) r=0.41m +[headless_play] t= 14.90s step= 745 trunk_z= 122.9mm grav_b=(+0.10,+0.03,-0.99) r=0.42m +[headless_play] t= 15.00s step= 750 trunk_z= 118.7mm grav_b=(+0.06,-0.04,-1.00) r=0.43m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 15.20s step= 760 trunk_z= 117.2mm grav_b=(+0.04,+0.00,-1.00) r=0.44m +[headless_play] t= 15.30s step= 765 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.43m +[headless_play] t= 15.40s step= 770 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 117.5mm grav_b=(-0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 15.60s step= 780 trunk_z= 113.1mm grav_b=(+0.05,-0.01,-1.00) r=0.41m +[headless_play] t= 15.70s step= 785 trunk_z= 112.4mm grav_b=(+0.06,-0.01,-1.00) r=0.40m +[headless_play] t= 15.80s step= 790 trunk_z= 110.6mm grav_b=(+0.08,-0.05,-1.00) r=0.39m +[headless_play] t= 15.90s step= 795 trunk_z= 111.4mm grav_b=(+0.09,-0.04,-1.00) r=0.39m +[headless_play] t= 16.00s step= 800 trunk_z= 113.4mm grav_b=(+0.09,-0.01,-1.00) r=0.38m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(+0.08,-0.01,-1.00) r=0.38m +[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(+0.11,-0.01,-0.99) r=0.39m +[headless_play] t= 16.30s step= 815 trunk_z= 120.2mm grav_b=(+0.13,-0.02,-0.99) r=0.39m +[headless_play] t= 16.40s step= 820 trunk_z= 116.3mm grav_b=(+0.06,-0.08,-0.99) r=0.40m +[headless_play] t= 16.50s step= 825 trunk_z= 125.0mm grav_b=(+0.03,-0.10,-0.99) r=0.40m +[headless_play] t= 16.60s step= 830 trunk_z= 120.0mm grav_b=(+0.00,-0.08,-1.00) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 117.7mm grav_b=(+0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 16.80s step= 840 trunk_z= 117.2mm grav_b=(+0.02,-0.02,-1.00) r=0.42m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 17.00s step= 850 trunk_z= 116.9mm grav_b=(+0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 17.10s step= 855 trunk_z= 119.3mm grav_b=(-0.04,-0.05,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(+0.04,+0.04,-1.00) r=0.42m +[headless_play] t= 17.40s step= 870 trunk_z= 112.0mm grav_b=(+0.05,-0.02,-1.00) r=0.41m +[headless_play] t= 17.50s step= 875 trunk_z= 113.4mm grav_b=(+0.08,-0.04,-1.00) r=0.41m +[headless_play] t= 17.60s step= 880 trunk_z= 114.4mm grav_b=(+0.07,-0.01,-1.00) r=0.41m +[headless_play] t= 17.70s step= 885 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 17.80s step= 890 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 17.90s step= 895 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 18.10s step= 905 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 18.20s step= 910 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 18.30s step= 915 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 18.40s step= 920 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 18.50s step= 925 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 18.60s step= 930 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 18.70s step= 935 trunk_z= 115.5mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 18.80s step= 940 trunk_z= 114.6mm grav_b=(+0.05,-0.00,-1.00) r=0.41m +[headless_play] t= 18.90s step= 945 trunk_z= 113.1mm grav_b=(+0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 19.00s step= 950 trunk_z= 111.4mm grav_b=(+0.04,+0.06,-1.00) r=0.45m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(+0.09,+0.01,-1.00) r=0.46m +[headless_play] t= 19.20s step= 960 trunk_z= 112.4mm grav_b=(+0.07,-0.02,-1.00) r=0.46m +[headless_play] t= 19.30s step= 965 trunk_z= 124.9mm grav_b=(+0.08,-0.05,-1.00) r=0.47m +[headless_play] t= 19.40s step= 970 trunk_z= 121.5mm grav_b=(+0.05,-0.03,-1.00) r=0.50m +[headless_play] t= 19.50s step= 975 trunk_z= 122.4mm grav_b=(+0.00,+0.00,-1.00) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(+0.02,-0.03,-1.00) r=0.53m +[headless_play] t= 19.70s step= 985 trunk_z= 124.1mm grav_b=(-0.04,-0.12,-0.99) r=0.53m +[headless_play] t= 19.80s step= 990 trunk_z= 129.0mm grav_b=(-0.03,-0.20,-0.98) r=0.52m +[headless_play] t= 19.90s step= 995 trunk_z= 128.0mm grav_b=(+0.07,-0.27,-0.96) r=0.51m +[headless_play] t= 20.00s step=1000 trunk_z= 122.2mm grav_b=(-0.00,-0.23,-0.97) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(+0.10,-0.01,-1.00) r=0.51m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t11.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..69b4727d5138ace9327662d5cb738c26e3c8b1f7 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t11.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.3mm grav_b=(-0.00,+0.00,-1.00) root_w=(+2.015,-17.621,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.7mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.03,+0.04,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(-0.04,+0.08,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 121.6mm grav_b=(-0.03,+0.04,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 117.5mm grav_b=(-0.01,-0.03,-1.00) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 123.7mm grav_b=(+0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 120.0mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 131.3mm grav_b=(+0.09,+0.00,-1.00) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 129.4mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 85.3mm grav_b=(+0.08,-0.12,-0.99) r=0.30m +[headless_play] RESET at t= 1.00s step= 50 (env termination, not a recovery) +[headless_play] t= 1.00s step= 50 trunk_z= 127.5mm grav_b=(-0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 115.7mm grav_b=(-0.04,-0.04,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 118.1mm grav_b=(-0.05,-0.09,-0.99) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 118.2mm grav_b=(-0.06,-0.03,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(-0.07,+0.05,-1.00) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 125.7mm grav_b=(-0.03,+0.05,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 123.0mm grav_b=(+0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 124.1mm grav_b=(-0.06,-0.08,-0.99) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 125.4mm grav_b=(-0.05,-0.07,-1.00) r=0.48m +[headless_play] t= 1.90s step= 95 trunk_z= 119.3mm grav_b=(-0.02,-0.02,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 126.1mm grav_b=(+0.02,+0.03,-1.00) r=0.51m +[headless_play] t= 2.10s step= 105 trunk_z= 129.7mm grav_b=(+0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 118.8mm grav_b=(+0.02,-0.04,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 126.7mm grav_b=(+0.04,-0.05,-1.00) r=0.45m +[headless_play] t= 2.40s step= 120 trunk_z= 119.6mm grav_b=(-0.07,-0.02,-1.00) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 121.3mm grav_b=(-0.06,+0.04,-1.00) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 123.9mm grav_b=(-0.03,+0.03,-1.00) r=0.47m +[headless_play] t= 2.70s step= 135 trunk_z= 118.6mm grav_b=(+0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 127.2mm grav_b=(+0.06,-0.10,-0.99) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 128.1mm grav_b=(+0.05,-0.08,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 118.8mm grav_b=(+0.03,+0.02,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 132.2mm grav_b=(+0.04,+0.01,-1.00) r=0.42m +[headless_play] t= 3.20s step= 160 trunk_z= 126.6mm grav_b=(-0.03,-0.00,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 121.3mm grav_b=(-0.05,-0.07,-1.00) r=0.37m +[headless_play] t= 3.40s step= 170 trunk_z= 116.1mm grav_b=(-0.08,+0.11,-0.99) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 123.3mm grav_b=(-0.01,+0.08,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 122.7mm grav_b=(-0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 3.70s step= 185 trunk_z= 120.5mm grav_b=(-0.05,-0.09,-0.99) r=0.37m +[headless_play] t= 3.80s step= 190 trunk_z= 127.5mm grav_b=(-0.02,-0.13,-0.99) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 128.8mm grav_b=(+0.01,-0.12,-0.99) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 127.6mm grav_b=(+0.01,-0.08,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 125.9mm grav_b=(+0.03,+0.01,-1.00) r=0.42m +[headless_play] t= 4.20s step= 210 trunk_z= 131.8mm grav_b=(+0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 4.30s step= 215 trunk_z= 117.3mm grav_b=(-0.02,-0.10,-1.00) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 132.1mm grav_b=(+0.01,-0.15,-0.99) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 128.9mm grav_b=(+0.02,-0.16,-0.99) r=0.43m +[headless_play] t= 4.60s step= 230 trunk_z= 126.4mm grav_b=(+0.04,-0.22,-0.98) r=0.45m +[headless_play] t= 4.70s step= 235 trunk_z= 115.9mm grav_b=(+0.08,-0.16,-0.98) r=0.50m +[headless_play] t= 4.80s step= 240 trunk_z= 138.7mm grav_b=(+0.05,-0.06,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(-0.00,-0.08,-1.00) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 126.2mm grav_b=(+0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 115.6mm grav_b=(+0.02,+0.08,-1.00) r=0.60m +[headless_play] t= 5.20s step= 260 trunk_z= 133.1mm grav_b=(+0.05,+0.03,-1.00) r=0.62m +[headless_play] t= 5.30s step= 265 trunk_z= 109.2mm grav_b=(+0.07,-0.05,-1.00) r=0.63m +[headless_play] t= 5.40s step= 270 trunk_z= 130.7mm grav_b=(+0.11,-0.03,-0.99) r=0.64m +[headless_play] t= 5.50s step= 275 trunk_z= 126.3mm grav_b=(+0.01,-0.04,-1.00) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(-0.09,-0.01,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(-0.11,-0.05,-0.99) r=0.70m +[headless_play] t= 5.80s step= 290 trunk_z= 122.3mm grav_b=(-0.09,-0.09,-0.99) r=0.70m +[headless_play] t= 5.90s step= 295 trunk_z= 126.3mm grav_b=(-0.04,-0.08,-1.00) r=0.70m +[headless_play] t= 6.00s step= 300 trunk_z= 121.3mm grav_b=(-0.04,-0.03,-1.00) r=0.72m +[headless_play] t= 6.10s step= 305 trunk_z= 120.1mm grav_b=(-0.05,+0.00,-1.00) r=0.74m +[headless_play] t= 6.20s step= 310 trunk_z= 120.2mm grav_b=(-0.02,-0.02,-1.00) r=0.73m +[headless_play] t= 6.30s step= 315 trunk_z= 122.2mm grav_b=(+0.04,-0.07,-1.00) r=0.73m +[headless_play] t= 6.40s step= 320 trunk_z= 119.1mm grav_b=(+0.04,-0.03,-1.00) r=0.74m +[headless_play] t= 6.50s step= 325 trunk_z= 117.6mm grav_b=(+0.03,+0.01,-1.00) r=0.77m +[headless_play] t= 6.60s step= 330 trunk_z= 124.1mm grav_b=(+0.00,-0.02,-1.00) r=0.78m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(-0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 6.80s step= 340 trunk_z= 123.8mm grav_b=(+0.05,-0.01,-1.00) r=0.78m +[headless_play] t= 6.90s step= 345 trunk_z= 122.3mm grav_b=(+0.03,+0.01,-1.00) r=0.80m +[headless_play] t= 7.00s step= 350 trunk_z= 122.2mm grav_b=(+0.00,+0.02,-1.00) r=0.83m +[headless_play] t= 7.10s step= 355 trunk_z= 119.3mm grav_b=(-0.04,-0.03,-1.00) r=0.84m +[headless_play] t= 7.20s step= 360 trunk_z= 119.9mm grav_b=(-0.09,-0.09,-0.99) r=0.83m +[headless_play] t= 7.30s step= 365 trunk_z= 126.7mm grav_b=(-0.07,-0.10,-0.99) r=0.83m +[headless_play] t= 7.40s step= 370 trunk_z= 125.7mm grav_b=(-0.03,-0.06,-1.00) r=0.85m +[headless_play] t= 7.50s step= 375 trunk_z= 118.7mm grav_b=(-0.01,+0.01,-1.00) r=0.87m +[headless_play] t= 7.60s step= 380 trunk_z= 123.8mm grav_b=(+0.02,+0.01,-1.00) r=0.89m +[headless_play] t= 7.70s step= 385 trunk_z= 118.3mm grav_b=(+0.06,-0.02,-1.00) r=0.90m +[headless_play] t= 7.80s step= 390 trunk_z= 124.6mm grav_b=(+0.05,-0.07,-1.00) r=0.90m +[headless_play] t= 7.90s step= 395 trunk_z= 125.6mm grav_b=(+0.03,-0.07,-1.00) r=0.92m +[headless_play] t= 8.00s step= 400 trunk_z= 120.0mm grav_b=(-0.01,-0.04,-1.00) r=0.96m +[headless_play] t= 8.10s step= 405 trunk_z= 122.0mm grav_b=(-0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 8.20s step= 410 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.99m +[headless_play] t= 8.30s step= 415 trunk_z= 114.9mm grav_b=(+0.07,-0.10,-0.99) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 119.8mm grav_b=(+0.11,-0.17,-0.98) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 119.9mm grav_b=(+0.08,-0.22,-0.97) r=1.03m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(+0.10,-0.16,-0.98) r=1.05m +[headless_play] t= 8.70s step= 435 trunk_z= 122.5mm grav_b=(+0.11,-0.14,-0.98) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 113.2mm grav_b=(+0.05,-0.13,-0.99) r=1.09m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(-0.01,-0.11,-0.99) r=1.12m +[headless_play] t= 9.00s step= 450 trunk_z= 112.6mm grav_b=(-0.02,-0.04,-1.00) r=1.16m +[headless_play] t= 9.10s step= 455 trunk_z= 114.8mm grav_b=(-0.01,-0.01,-1.00) r=1.18m +[headless_play] t= 9.20s step= 460 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=1.18m +[headless_play] t= 9.30s step= 465 trunk_z= 110.7mm grav_b=(-0.00,-0.07,-1.00) r=1.16m +[headless_play] t= 9.40s step= 470 trunk_z= 114.8mm grav_b=(-0.00,-0.09,-1.00) r=1.17m +[headless_play] t= 9.50s step= 475 trunk_z= 105.7mm grav_b=(+0.03,-0.04,-1.00) r=1.19m +[headless_play] t= 9.60s step= 480 trunk_z= 112.1mm grav_b=(+0.02,+0.07,-1.00) r=1.22m +[headless_play] t= 9.70s step= 485 trunk_z= 118.3mm grav_b=(+0.00,+0.09,-1.00) r=1.23m +[headless_play] t= 9.80s step= 490 trunk_z= 114.7mm grav_b=(+0.02,+0.08,-1.00) r=1.24m +[headless_play] t= 9.90s step= 495 trunk_z= 108.7mm grav_b=(+0.04,-0.01,-1.00) r=1.23m +[headless_play] t= 10.00s step= 500 trunk_z= 118.8mm grav_b=(+0.00,-0.07,-1.00) r=1.23m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.02,-0.08,-1.00) r=1.24m +[headless_play] t= 10.20s step= 510 trunk_z= 107.8mm grav_b=(+0.04,-0.04,-1.00) r=1.26m +[headless_play] t= 10.30s step= 515 trunk_z= 113.7mm grav_b=(+0.04,-0.00,-1.00) r=1.28m +[headless_play] t= 10.40s step= 520 trunk_z= 111.9mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 10.50s step= 525 trunk_z= 110.3mm grav_b=(+0.05,+0.03,-1.00) r=1.30m +[headless_play] t= 10.60s step= 530 trunk_z= 114.2mm grav_b=(+0.03,-0.05,-1.00) r=1.30m +[headless_play] t= 10.70s step= 535 trunk_z= 114.5mm grav_b=(+0.03,-0.05,-1.00) r=1.31m +[headless_play] t= 10.80s step= 540 trunk_z= 104.6mm grav_b=(+0.05,-0.02,-1.00) r=1.33m +[headless_play] t= 10.90s step= 545 trunk_z= 110.6mm grav_b=(+0.05,-0.00,-1.00) r=1.35m +[headless_play] t= 11.00s step= 550 trunk_z= 110.0mm grav_b=(+0.01,-0.01,-1.00) r=1.36m +[headless_play] t= 11.10s step= 555 trunk_z= 103.2mm grav_b=(+0.03,-0.06,-1.00) r=1.37m +[headless_play] t= 11.20s step= 560 trunk_z= 114.2mm grav_b=(+0.03,-0.08,-1.00) r=1.38m +[headless_play] t= 11.30s step= 565 trunk_z= 103.8mm grav_b=(+0.08,+0.00,-1.00) r=1.40m +[headless_play] t= 11.40s step= 570 trunk_z= 111.2mm grav_b=(+0.08,+0.05,-1.00) r=1.41m +[headless_play] t= 11.50s step= 575 trunk_z= 110.5mm grav_b=(+0.03,-0.00,-1.00) r=1.43m +[headless_play] t= 11.60s step= 580 trunk_z= 105.7mm grav_b=(+0.01,-0.08,-1.00) r=1.45m +[headless_play] t= 11.70s step= 585 trunk_z= 117.8mm grav_b=(-0.02,-0.11,-0.99) r=1.46m +[headless_play] t= 11.80s step= 590 trunk_z= 115.6mm grav_b=(+0.00,-0.10,-1.00) r=1.46m +[headless_play] t= 11.90s step= 595 trunk_z= 106.7mm grav_b=(+0.05,-0.03,-1.00) r=1.46m +[headless_play] t= 12.00s step= 600 trunk_z= 115.0mm grav_b=(+0.04,+0.03,-1.00) r=1.45m +[headless_play] t= 12.10s step= 605 trunk_z= 114.6mm grav_b=(+0.02,+0.02,-1.00) r=1.46m +[headless_play] t= 12.20s step= 610 trunk_z= 113.2mm grav_b=(+0.06,-0.07,-1.00) r=1.49m +[headless_play] t= 12.30s step= 615 trunk_z= 123.3mm grav_b=(+0.08,-0.09,-0.99) r=1.51m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(+0.07,-0.07,-1.00) r=1.53m +[headless_play] t= 12.50s step= 625 trunk_z= 120.5mm grav_b=(+0.02,-0.00,-1.00) r=1.55m +[headless_play] t= 12.60s step= 630 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00) r=1.57m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(-0.03,-0.09,-1.00) r=1.59m +[headless_play] t= 12.80s step= 640 trunk_z= 123.3mm grav_b=(-0.02,-0.07,-1.00) r=1.61m +[headless_play] t= 12.90s step= 645 trunk_z= 120.6mm grav_b=(-0.04,-0.03,-1.00) r=1.61m +[headless_play] t= 13.00s step= 650 trunk_z= 118.4mm grav_b=(-0.06,+0.02,-1.00) r=1.61m +[headless_play] t= 13.10s step= 655 trunk_z= 118.2mm grav_b=(-0.07,-0.07,-1.00) r=1.60m +[headless_play] t= 13.20s step= 660 trunk_z= 117.8mm grav_b=(-0.02,-0.14,-0.99) r=1.60m +[headless_play] t= 13.30s step= 665 trunk_z= 121.9mm grav_b=(+0.04,-0.15,-0.99) r=1.60m +[headless_play] t= 13.40s step= 670 trunk_z= 121.4mm grav_b=(+0.04,-0.14,-0.99) r=1.60m +[headless_play] t= 13.50s step= 675 trunk_z= 118.7mm grav_b=(+0.04,-0.09,-0.99) r=1.60m +[headless_play] t= 13.60s step= 680 trunk_z= 119.2mm grav_b=(+0.06,-0.00,-1.00) r=1.60m +[headless_play] t= 13.70s step= 685 trunk_z= 119.4mm grav_b=(+0.06,-0.02,-1.00) r=1.62m +[headless_play] t= 13.80s step= 690 trunk_z= 115.5mm grav_b=(+0.02,-0.07,-1.00) r=1.65m +[headless_play] t= 13.90s step= 695 trunk_z= 122.1mm grav_b=(-0.02,-0.07,-1.00) r=1.67m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(-0.05,-0.01,-1.00) r=1.68m +[headless_play] t= 14.10s step= 705 trunk_z= 120.9mm grav_b=(-0.10,+0.05,-0.99) r=1.67m +[headless_play] t= 14.20s step= 710 trunk_z= 125.9mm grav_b=(-0.11,+0.08,-0.99) r=1.67m +[headless_play] t= 14.30s step= 715 trunk_z= 122.2mm grav_b=(-0.05,+0.04,-1.00) r=1.65m +[headless_play] t= 14.40s step= 720 trunk_z= 120.8mm grav_b=(+0.01,+0.02,-1.00) r=1.63m +[headless_play] t= 14.50s step= 725 trunk_z= 114.3mm grav_b=(+0.04,+0.03,-1.00) r=1.61m +[headless_play] t= 14.60s step= 730 trunk_z= 117.2mm grav_b=(+0.01,+0.07,-1.00) r=1.60m +[headless_play] t= 14.70s step= 735 trunk_z= 119.6mm grav_b=(+0.02,+0.06,-1.00) r=1.61m +[headless_play] t= 14.80s step= 740 trunk_z= 114.8mm grav_b=(+0.04,+0.03,-1.00) r=1.63m +[headless_play] t= 14.90s step= 745 trunk_z= 121.8mm grav_b=(+0.04,-0.08,-1.00) r=1.65m +[headless_play] t= 15.00s step= 750 trunk_z= 121.2mm grav_b=(+0.03,-0.09,-1.00) r=1.67m +[headless_play] t= 15.10s step= 755 trunk_z= 115.7mm grav_b=(+0.03,-0.05,-1.00) r=1.69m +[headless_play] t= 15.20s step= 760 trunk_z= 120.5mm grav_b=(+0.05,+0.00,-1.00) r=1.71m +[headless_play] t= 15.30s step= 765 trunk_z= 118.9mm grav_b=(+0.07,-0.01,-1.00) r=1.72m +[headless_play] t= 15.40s step= 770 trunk_z= 118.8mm grav_b=(+0.04,-0.08,-1.00) r=1.75m +[headless_play] t= 15.50s step= 775 trunk_z= 120.3mm grav_b=(+0.01,-0.05,-1.00) r=1.77m +[headless_play] t= 15.60s step= 780 trunk_z= 113.3mm grav_b=(-0.03,-0.01,-1.00) r=1.79m +[headless_play] t= 15.70s step= 785 trunk_z= 120.7mm grav_b=(+0.00,+0.01,-1.00) r=1.80m +[headless_play] t= 15.80s step= 790 trunk_z= 118.8mm grav_b=(+0.02,+0.01,-1.00) r=1.81m +[headless_play] t= 15.90s step= 795 trunk_z= 117.2mm grav_b=(+0.03,-0.09,-1.00) r=1.81m +[headless_play] t= 16.00s step= 800 trunk_z= 124.7mm grav_b=(+0.05,-0.15,-0.99) r=1.82m +[headless_play] t= 16.10s step= 805 trunk_z= 124.9mm grav_b=(-0.02,-0.20,-0.98) r=1.82m +[headless_play] t= 16.20s step= 810 trunk_z= 122.7mm grav_b=(-0.02,-0.22,-0.98) r=1.83m +[headless_play] t= 16.30s step= 815 trunk_z= 121.3mm grav_b=(+0.04,-0.12,-0.99) r=1.85m +[headless_play] t= 16.40s step= 820 trunk_z= 133.0mm grav_b=(+0.05,-0.07,-1.00) r=1.86m +[headless_play] t= 16.50s step= 825 trunk_z= 115.2mm grav_b=(+0.01,-0.06,-1.00) r=1.85m +[headless_play] t= 16.60s step= 830 trunk_z= 124.8mm grav_b=(+0.07,-0.18,-0.98) r=1.84m +[headless_play] t= 16.70s step= 835 trunk_z= 128.4mm grav_b=(+0.06,-0.20,-0.98) r=1.85m +[headless_play] t= 16.80s step= 840 trunk_z= 122.0mm grav_b=(+0.02,-0.26,-0.97) r=1.85m +[headless_play] t= 16.90s step= 845 trunk_z= 106.0mm grav_b=(+0.03,-0.07,-1.00) r=1.85m +[headless_play] t= 17.00s step= 850 trunk_z= 127.5mm grav_b=(+0.03,-0.02,-1.00) r=1.85m +[headless_play] t= 17.10s step= 855 trunk_z= 123.5mm grav_b=(+0.02,+0.00,-1.00) r=1.83m +[headless_play] t= 17.20s step= 860 trunk_z= 120.4mm grav_b=(+0.02,-0.06,-1.00) r=1.82m +[headless_play] t= 17.30s step= 865 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=1.82m +[headless_play] t= 17.40s step= 870 trunk_z= 121.4mm grav_b=(-0.02,+0.05,-1.00) r=1.84m +[headless_play] t= 17.50s step= 875 trunk_z= 125.7mm grav_b=(-0.00,+0.05,-1.00) r=1.84m +[headless_play] t= 17.60s step= 880 trunk_z= 122.5mm grav_b=(-0.01,+0.03,-1.00) r=1.82m +[headless_play] t= 17.70s step= 885 trunk_z= 123.2mm grav_b=(+0.01,-0.07,-1.00) r=1.78m +[headless_play] t= 17.80s step= 890 trunk_z= 125.6mm grav_b=(+0.02,-0.09,-1.00) r=1.77m +[headless_play] t= 17.90s step= 895 trunk_z= 123.9mm grav_b=(+0.00,-0.07,-1.00) r=1.77m +[headless_play] t= 18.00s step= 900 trunk_z= 122.7mm grav_b=(+0.02,-0.01,-1.00) r=1.77m +[headless_play] t= 18.10s step= 905 trunk_z= 122.1mm grav_b=(+0.01,-0.01,-1.00) r=1.76m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(-0.01,-0.06,-1.00) r=1.73m +[headless_play] t= 18.30s step= 915 trunk_z= 126.4mm grav_b=(-0.00,-0.13,-0.99) r=1.70m +[headless_play] t= 18.40s step= 920 trunk_z= 127.4mm grav_b=(-0.00,-0.18,-0.98) r=1.69m +[headless_play] t= 18.50s step= 925 trunk_z= 125.8mm grav_b=(-0.00,-0.15,-0.99) r=1.67m +[headless_play] t= 18.60s step= 930 trunk_z= 124.6mm grav_b=(+0.02,-0.08,-1.00) r=1.65m +[headless_play] t= 18.70s step= 935 trunk_z= 128.1mm grav_b=(-0.01,-0.03,-1.00) r=1.62m +[headless_play] t= 18.80s step= 940 trunk_z= 114.1mm grav_b=(+0.02,-0.05,-1.00) r=1.58m +[headless_play] t= 18.90s step= 945 trunk_z= 120.5mm grav_b=(+0.02,-0.06,-1.00) r=1.55m +[headless_play] t= 19.00s step= 950 trunk_z= 116.4mm grav_b=(+0.02,-0.05,-1.00) r=1.54m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(+0.06,+0.05,-1.00) r=1.53m +[headless_play] t= 19.20s step= 960 trunk_z= 120.8mm grav_b=(+0.08,+0.03,-1.00) r=1.52m +[headless_play] t= 19.30s step= 965 trunk_z= 116.1mm grav_b=(+0.04,-0.06,-1.00) r=1.49m +[headless_play] t= 19.40s step= 970 trunk_z= 120.5mm grav_b=(+0.03,-0.05,-1.00) r=1.47m +[headless_play] t= 19.50s step= 975 trunk_z= 114.7mm grav_b=(-0.03,-0.00,-1.00) r=1.45m +[headless_play] t= 19.60s step= 980 trunk_z= 119.9mm grav_b=(-0.01,+0.03,-1.00) r=1.43m +[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(+0.00,+0.00,-1.00) r=1.42m +[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(-0.02,-0.05,-1.00) r=1.40m +[headless_play] t= 19.90s step= 995 trunk_z= 114.2mm grav_b=(+0.02,+0.09,-1.00) r=1.38m +[headless_play] t= 20.00s step=1000 trunk_z= 119.2mm grav_b=(+0.10,+0.16,-0.98) r=1.36m +[headless_play] t= 20.10s step=1005 trunk_z= 123.1mm grav_b=(-0.01,+0.07,-1.00) r=1.35m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t12.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..e863fb25825aef16acaec16b1425b917420e7a30 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t12.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.421,-18.352,+0.131) +[headless_play] t= 0.00s step= 0 trunk_z= 127.2mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 117.3mm grav_b=(-0.01,-0.05,-1.00) r=0.54m +[headless_play] t= 0.30s step= 15 trunk_z= 123.8mm grav_b=(+0.01,-0.06,-1.00) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 121.5mm grav_b=(-0.02,-0.06,-1.00) r=0.51m +[headless_play] t= 0.50s step= 25 trunk_z= 123.3mm grav_b=(-0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 126.1mm grav_b=(-0.03,+0.07,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 122.5mm grav_b=(-0.07,+0.06,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 121.9mm grav_b=(-0.05,-0.06,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 124.5mm grav_b=(-0.03,-0.10,-0.99) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 122.1mm grav_b=(-0.02,-0.09,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 124.2mm grav_b=(+0.01,+0.02,-1.00) r=0.44m +[headless_play] t= 1.20s step= 60 trunk_z= 125.6mm grav_b=(+0.03,+0.02,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 118.7mm grav_b=(+0.00,-0.06,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 127.8mm grav_b=(+0.03,-0.10,-0.99) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 132.2mm grav_b=(+0.03,-0.20,-0.98) r=0.33m +[headless_play] t= 1.60s step= 80 trunk_z= 115.8mm grav_b=(-0.03,-0.09,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 137.8mm grav_b=(+0.01,+0.02,-1.00) r=0.25m +[headless_play] t= 1.80s step= 90 trunk_z= 128.1mm grav_b=(+0.02,+0.06,-1.00) r=0.20m +[headless_play] t= 1.90s step= 95 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.16m +[headless_play] t= 2.00s step= 100 trunk_z= 122.4mm grav_b=(+0.01,-0.04,-1.00) r=0.15m +[headless_play] t= 2.10s step= 105 trunk_z= 122.2mm grav_b=(-0.07,-0.06,-1.00) r=0.12m +[headless_play] t= 2.20s step= 110 trunk_z= 120.4mm grav_b=(-0.13,+0.07,-0.99) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 126.1mm grav_b=(-0.07,+0.08,-0.99) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 122.3mm grav_b=(-0.04,+0.06,-1.00) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 121.8mm grav_b=(+0.02,-0.05,-1.00) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 126.3mm grav_b=(+0.01,-0.08,-1.00) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 121.8mm grav_b=(-0.07,-0.06,-1.00) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 121.6mm grav_b=(-0.07,+0.03,-1.00) r=0.06m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(-0.07,+0.02,-1.00) r=0.06m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(-0.04,-0.06,-1.00) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 122.8mm grav_b=(-0.03,-0.08,-1.00) r=0.03m +[headless_play] t= 3.20s step= 160 trunk_z= 120.7mm grav_b=(-0.01,-0.09,-1.00) r=0.01m +[headless_play] t= 3.30s step= 165 trunk_z= 121.9mm grav_b=(+0.02,+0.01,-1.00) r=0.03m +[headless_play] t= 3.40s step= 170 trunk_z= 125.3mm grav_b=(+0.03,+0.01,-1.00) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 114.7mm grav_b=(-0.00,-0.08,-1.00) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 127.5mm grav_b=(-0.03,-0.16,-0.99) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 127.3mm grav_b=(-0.05,-0.26,-0.96) r=0.13m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(+0.02,-0.28,-0.96) r=0.16m +[headless_play] t= 3.90s step= 195 trunk_z= 107.8mm grav_b=(+0.04,-0.26,-0.96) r=0.22m +[headless_play] t= 4.00s step= 200 trunk_z= 131.2mm grav_b=(+0.21,-0.18,-0.96) r=0.28m +[headless_play] t= 4.10s step= 205 trunk_z= 116.9mm grav_b=(+0.13,-0.06,-0.99) r=0.36m +[headless_play] t= 4.20s step= 210 trunk_z= 63.1mm grav_b=(+0.20,-0.30,-0.93) r=0.45m +[headless_play] RESET at t= 4.30s step= 215 (env termination, not a recovery) +[headless_play] t= 4.30s step= 215 trunk_z= 120.4mm grav_b=(-0.00,+0.00,-1.00) r=0.65m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(-0.04,-0.01,-1.00) r=0.65m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 4.80s step= 240 trunk_z= 116.4mm grav_b=(-0.11,-0.03,-0.99) r=0.65m +[headless_play] t= 4.90s step= 245 trunk_z= 116.4mm grav_b=(-0.12,-0.02,-0.99) r=0.65m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(-0.09,-0.01,-1.00) r=0.65m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(-0.03,-0.00,-1.00) r=0.65m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(-0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 5.30s step= 265 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 5.40s step= 270 trunk_z= 116.8mm grav_b=(-0.07,-0.01,-1.00) r=0.65m +[headless_play] t= 5.50s step= 275 trunk_z= 117.2mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 5.60s step= 280 trunk_z= 117.2mm grav_b=(-0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 5.70s step= 285 trunk_z= 119.3mm grav_b=(+0.04,-0.00,-1.00) r=0.65m +[headless_play] t= 5.80s step= 290 trunk_z= 125.8mm grav_b=(+0.06,-0.03,-1.00) r=0.65m +[headless_play] t= 5.90s step= 295 trunk_z= 108.3mm grav_b=(+0.02,-0.03,-1.00) r=0.65m +[headless_play] t= 6.00s step= 300 trunk_z= 123.7mm grav_b=(-0.04,-0.10,-0.99) r=0.65m +[headless_play] t= 6.10s step= 305 trunk_z= 113.4mm grav_b=(-0.20,-0.10,-0.98) r=0.63m +[headless_play] t= 6.20s step= 310 trunk_z= 118.3mm grav_b=(-0.14,-0.05,-0.99) r=0.63m +[headless_play] t= 6.30s step= 315 trunk_z= 115.4mm grav_b=(-0.11,-0.04,-0.99) r=0.63m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(-0.11,-0.05,-0.99) r=0.63m +[headless_play] t= 6.50s step= 325 trunk_z= 116.3mm grav_b=(-0.13,-0.01,-0.99) r=0.64m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(-0.11,-0.03,-0.99) r=0.63m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(-0.06,-0.01,-1.00) r=0.64m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.64m +[headless_play] t= 6.90s step= 345 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 116.5mm grav_b=(-0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.09,+0.00,-1.00) r=0.64m +[headless_play] t= 7.20s step= 360 trunk_z= 117.1mm grav_b=(-0.13,-0.00,-0.99) r=0.64m +[headless_play] t= 7.30s step= 365 trunk_z= 117.0mm grav_b=(-0.11,-0.01,-0.99) r=0.64m +[headless_play] t= 7.40s step= 370 trunk_z= 117.8mm grav_b=(-0.05,+0.01,-1.00) r=0.65m +[headless_play] t= 7.50s step= 375 trunk_z= 118.6mm grav_b=(-0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 7.60s step= 380 trunk_z= 119.2mm grav_b=(-0.02,-0.00,-1.00) r=0.65m +[headless_play] t= 7.70s step= 385 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 7.80s step= 390 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=0.65m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(-0.05,+0.00,-1.00) r=0.65m +[headless_play] t= 8.00s step= 400 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 8.10s step= 405 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 8.30s step= 415 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 8.50s step= 425 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 8.60s step= 430 trunk_z= 117.5mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 8.70s step= 435 trunk_z= 118.3mm grav_b=(-0.08,-0.05,-1.00) r=0.63m +[headless_play] t= 8.80s step= 440 trunk_z= 117.4mm grav_b=(-0.07,+0.01,-1.00) r=0.64m +[headless_play] t= 8.90s step= 445 trunk_z= 113.4mm grav_b=(-0.06,-0.03,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 111.4mm grav_b=(-0.00,+0.04,-1.00) r=0.63m +[headless_play] t= 9.20s step= 460 trunk_z= 112.1mm grav_b=(+0.01,-0.01,-1.00) r=0.63m +[headless_play] t= 9.30s step= 465 trunk_z= 113.4mm grav_b=(+0.03,-0.00,-1.00) r=0.63m +[headless_play] t= 9.40s step= 470 trunk_z= 114.2mm grav_b=(+0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 114.7mm grav_b=(+0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 9.60s step= 480 trunk_z= 115.0mm grav_b=(-0.02,+0.00,-1.00) r=0.62m +[headless_play] t= 9.70s step= 485 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 115.2mm grav_b=(+0.00,+0.00,-1.00) r=0.62m +[headless_play] t= 9.90s step= 495 trunk_z= 115.6mm grav_b=(+0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 10.00s step= 500 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 10.10s step= 505 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 10.20s step= 510 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.62m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(-0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.62m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 10.90s step= 545 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 11.10s step= 555 trunk_z= 116.3mm grav_b=(-0.00,+0.00,-1.00) r=0.62m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(+0.04,+0.00,-1.00) r=0.62m +[headless_play] t= 11.30s step= 565 trunk_z= 116.5mm grav_b=(+0.03,+0.00,-1.00) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.62m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(-0.05,+0.00,-1.00) r=0.62m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(-0.03,+0.00,-1.00) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) r=0.62m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=0.62m +[headless_play] t= 12.10s step= 605 trunk_z= 118.3mm grav_b=(+0.07,-0.02,-1.00) r=0.63m +[headless_play] t= 12.20s step= 610 trunk_z= 118.3mm grav_b=(-0.02,+0.03,-1.00) r=0.64m +[headless_play] t= 12.30s step= 615 trunk_z= 117.9mm grav_b=(-0.03,+0.10,-0.99) r=0.66m +[headless_play] t= 12.40s step= 620 trunk_z= 118.5mm grav_b=(-0.07,+0.05,-1.00) r=0.66m +[headless_play] t= 12.50s step= 625 trunk_z= 116.1mm grav_b=(-0.05,-0.02,-1.00) r=0.66m +[headless_play] t= 12.60s step= 630 trunk_z= 115.4mm grav_b=(-0.03,+0.01,-1.00) r=0.66m +[headless_play] t= 12.70s step= 635 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 12.80s step= 640 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.67m +[headless_play] t= 13.00s step= 650 trunk_z= 118.0mm grav_b=(+0.04,+0.00,-1.00) r=0.67m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.67m +[headless_play] t= 13.20s step= 660 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.67m +[headless_play] t= 13.30s step= 665 trunk_z= 116.6mm grav_b=(-0.05,+0.00,-1.00) r=0.67m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(-0.06,+0.01,-1.00) r=0.67m +[headless_play] t= 13.50s step= 675 trunk_z= 116.5mm grav_b=(-0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(-0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 13.70s step= 685 trunk_z= 116.3mm grav_b=(-0.03,+0.01,-1.00) r=0.67m +[headless_play] t= 13.80s step= 690 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=0.67m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(+0.00,+0.00,-1.00) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 14.10s step= 705 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 14.20s step= 710 trunk_z= 117.1mm grav_b=(+0.01,+0.02,-1.00) r=0.67m +[headless_play] t= 14.30s step= 715 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(-0.02,+0.00,-1.00) r=0.67m +[headless_play] t= 14.50s step= 725 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.67m +[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.67m +[headless_play] t= 14.70s step= 735 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.67m +[headless_play] t= 14.80s step= 740 trunk_z= 117.7mm grav_b=(+0.07,-0.00,-1.00) r=0.67m +[headless_play] t= 14.90s step= 745 trunk_z= 120.2mm grav_b=(+0.04,+0.01,-1.00) r=0.68m +[headless_play] t= 15.00s step= 750 trunk_z= 120.6mm grav_b=(+0.04,+0.05,-1.00) r=0.69m +[headless_play] t= 15.10s step= 755 trunk_z= 117.0mm grav_b=(-0.06,-0.04,-1.00) r=0.68m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.07,-0.04,-1.00) r=0.68m +[headless_play] t= 15.30s step= 765 trunk_z= 117.3mm grav_b=(-0.10,-0.01,-1.00) r=0.68m +[headless_play] t= 15.40s step= 770 trunk_z= 117.6mm grav_b=(-0.08,-0.03,-1.00) r=0.68m +[headless_play] t= 15.50s step= 775 trunk_z= 115.1mm grav_b=(-0.01,+0.04,-1.00) r=0.68m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.06,+0.10,-0.99) r=0.70m +[headless_play] t= 15.70s step= 785 trunk_z= 128.6mm grav_b=(-0.04,+0.02,-1.00) r=0.71m +[headless_play] t= 15.80s step= 790 trunk_z= 126.2mm grav_b=(-0.05,-0.12,-0.99) r=0.73m +[headless_play] t= 15.90s step= 795 trunk_z= 126.3mm grav_b=(-0.08,-0.15,-0.99) r=0.74m +[headless_play] t= 16.00s step= 800 trunk_z= 120.2mm grav_b=(-0.03,-0.11,-0.99) r=0.76m +[headless_play] t= 16.10s step= 805 trunk_z= 113.8mm grav_b=(-0.03,-0.00,-1.00) r=0.78m +[headless_play] t= 16.20s step= 810 trunk_z= 118.0mm grav_b=(-0.03,+0.05,-1.00) r=0.79m +[headless_play] t= 16.30s step= 815 trunk_z= 114.8mm grav_b=(-0.02,+0.06,-1.00) r=0.79m +[headless_play] t= 16.40s step= 820 trunk_z= 109.9mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 16.50s step= 825 trunk_z= 113.4mm grav_b=(-0.02,-0.07,-1.00) r=0.80m +[headless_play] t= 16.60s step= 830 trunk_z= 111.5mm grav_b=(-0.00,-0.06,-1.00) r=0.81m +[headless_play] t= 16.70s step= 835 trunk_z= 107.8mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 16.80s step= 840 trunk_z= 112.7mm grav_b=(+0.01,+0.04,-1.00) r=0.84m +[headless_play] t= 16.90s step= 845 trunk_z= 108.7mm grav_b=(+0.03,+0.03,-1.00) r=0.84m +[headless_play] t= 17.00s step= 850 trunk_z= 107.5mm grav_b=(+0.09,+0.03,-1.00) r=0.85m +[headless_play] t= 17.10s step= 855 trunk_z= 106.9mm grav_b=(+0.05,+0.05,-1.00) r=0.88m +[headless_play] t= 17.20s step= 860 trunk_z= 103.6mm grav_b=(+0.06,+0.10,-0.99) r=0.90m +[headless_play] t= 17.30s step= 865 trunk_z= 111.1mm grav_b=(+0.01,+0.02,-1.00) r=0.91m +[headless_play] t= 17.40s step= 870 trunk_z= 104.7mm grav_b=(+0.00,-0.03,-1.00) r=0.91m +[headless_play] t= 17.50s step= 875 trunk_z= 116.0mm grav_b=(-0.02,-0.09,-1.00) r=0.91m +[headless_play] t= 17.60s step= 880 trunk_z= 117.3mm grav_b=(+0.01,-0.14,-0.99) r=0.90m +[headless_play] t= 17.70s step= 885 trunk_z= 115.5mm grav_b=(+0.04,-0.09,-1.00) r=0.92m +[headless_play] t= 17.80s step= 890 trunk_z= 116.1mm grav_b=(+0.07,+0.05,-1.00) r=0.93m +[headless_play] t= 17.90s step= 895 trunk_z= 119.8mm grav_b=(+0.05,+0.06,-1.00) r=0.93m +[headless_play] t= 18.00s step= 900 trunk_z= 115.7mm grav_b=(+0.02,-0.00,-1.00) r=0.91m +[headless_play] t= 18.10s step= 905 trunk_z= 120.1mm grav_b=(+0.01,-0.07,-1.00) r=0.90m +[headless_play] t= 18.20s step= 910 trunk_z= 118.0mm grav_b=(-0.02,-0.06,-1.00) r=0.91m +[headless_play] t= 18.30s step= 915 trunk_z= 116.9mm grav_b=(-0.02,+0.07,-1.00) r=0.93m +[headless_play] t= 18.40s step= 920 trunk_z= 120.1mm grav_b=(+0.02,+0.04,-1.00) r=0.93m +[headless_play] t= 18.50s step= 925 trunk_z= 113.0mm grav_b=(+0.01,-0.03,-1.00) r=0.90m +[headless_play] t= 18.60s step= 930 trunk_z= 123.1mm grav_b=(+0.00,-0.07,-1.00) r=0.89m +[headless_play] t= 18.70s step= 935 trunk_z= 119.8mm grav_b=(-0.01,-0.08,-1.00) r=0.89m +[headless_play] t= 18.80s step= 940 trunk_z= 115.3mm grav_b=(-0.02,+0.03,-1.00) r=0.90m +[headless_play] t= 18.90s step= 945 trunk_z= 122.2mm grav_b=(-0.04,+0.07,-1.00) r=0.90m +[headless_play] t= 19.00s step= 950 trunk_z= 123.1mm grav_b=(-0.09,+0.11,-0.99) r=0.91m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(-0.07,+0.04,-1.00) r=0.90m +[headless_play] t= 19.20s step= 960 trunk_z= 118.2mm grav_b=(-0.01,-0.07,-1.00) r=0.87m +[headless_play] t= 19.30s step= 965 trunk_z= 120.7mm grav_b=(+0.01,-0.10,-1.00) r=0.86m +[headless_play] t= 19.40s step= 970 trunk_z= 120.7mm grav_b=(-0.00,-0.08,-1.00) r=0.87m +[headless_play] t= 19.50s step= 975 trunk_z= 121.0mm grav_b=(+0.02,+0.05,-1.00) r=0.88m +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(-0.00,+0.01,-1.00) r=0.87m +[headless_play] t= 19.70s step= 985 trunk_z= 119.7mm grav_b=(-0.05,-0.07,-1.00) r=0.84m +[headless_play] t= 19.80s step= 990 trunk_z= 123.9mm grav_b=(-0.06,-0.12,-0.99) r=0.82m +[headless_play] t= 19.90s step= 995 trunk_z= 124.0mm grav_b=(-0.03,-0.15,-0.99) r=0.81m +[headless_play] t= 20.00s step=1000 trunk_z= 120.6mm grav_b=(+0.01,-0.11,-0.99) r=0.81m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.19,-0.17,-0.97) r=0.81m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t13.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..70df0778f0adc8714c953f5ef4b33b0e73af5c7b --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t13.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(-9.934,-17.844,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(-0.03,+0.05,-1.00) r=0.16m +[headless_play] t= 0.20s step= 10 trunk_z= 119.6mm grav_b=(-0.07,+0.07,-1.00) r=0.16m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(-0.09,-0.01,-1.00) r=0.17m +[headless_play] t= 0.40s step= 20 trunk_z= 121.4mm grav_b=(-0.12,-0.07,-0.99) r=0.19m +[headless_play] t= 0.50s step= 25 trunk_z= 123.3mm grav_b=(-0.11,-0.06,-0.99) r=0.19m +[headless_play] t= 0.60s step= 30 trunk_z= 115.2mm grav_b=(-0.07,-0.00,-1.00) r=0.15m +[headless_play] t= 0.70s step= 35 trunk_z= 129.3mm grav_b=(-0.04,+0.09,-0.99) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 131.6mm grav_b=(-0.05,+0.16,-0.99) r=0.10m +[headless_play] t= 0.90s step= 45 trunk_z= 132.6mm grav_b=(-0.10,+0.09,-0.99) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 124.6mm grav_b=(-0.06,+0.06,-1.00) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 122.4mm grav_b=(-0.03,+0.05,-1.00) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 123.5mm grav_b=(-0.05,-0.03,-1.00) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 119.1mm grav_b=(-0.08,-0.06,-0.99) r=0.11m +[headless_play] t= 1.40s step= 70 trunk_z= 120.4mm grav_b=(-0.12,-0.09,-0.99) r=0.14m +[headless_play] t= 1.50s step= 75 trunk_z= 124.3mm grav_b=(-0.10,-0.07,-0.99) r=0.15m +[headless_play] t= 1.60s step= 80 trunk_z= 119.2mm grav_b=(-0.12,-0.07,-0.99) r=0.14m +[headless_play] t= 1.70s step= 85 trunk_z= 121.1mm grav_b=(-0.12,+0.03,-0.99) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 122.2mm grav_b=(-0.12,+0.03,-0.99) r=0.13m +[headless_play] t= 1.90s step= 95 trunk_z= 115.9mm grav_b=(-0.12,-0.01,-0.99) r=0.15m +[headless_play] t= 2.00s step= 100 trunk_z= 123.1mm grav_b=(-0.11,-0.05,-0.99) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 120.7mm grav_b=(-0.08,-0.01,-1.00) r=0.17m +[headless_play] t= 2.20s step= 110 trunk_z= 120.4mm grav_b=(-0.07,+0.02,-1.00) r=0.16m +[headless_play] t= 2.30s step= 115 trunk_z= 125.3mm grav_b=(-0.07,+0.04,-1.00) r=0.17m +[headless_play] t= 2.40s step= 120 trunk_z= 121.6mm grav_b=(-0.10,+0.04,-0.99) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 119.3mm grav_b=(-0.13,-0.03,-0.99) r=0.20m +[headless_play] t= 2.60s step= 130 trunk_z= 118.8mm grav_b=(-0.11,+0.01,-0.99) r=0.19m +[headless_play] t= 2.70s step= 135 trunk_z= 119.8mm grav_b=(-0.08,+0.05,-1.00) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 122.5mm grav_b=(-0.07,+0.01,-1.00) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 116.4mm grav_b=(-0.07,-0.03,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 127.0mm grav_b=(-0.09,-0.14,-0.99) r=0.25m +[headless_play] t= 3.10s step= 155 trunk_z= 128.4mm grav_b=(-0.09,-0.21,-0.97) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 124.3mm grav_b=(-0.07,-0.18,-0.98) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(-0.06,-0.14,-0.99) r=0.30m +[headless_play] t= 3.40s step= 170 trunk_z= 130.8mm grav_b=(+0.06,-0.16,-0.98) r=0.34m +[headless_play] t= 3.50s step= 175 trunk_z= 104.4mm grav_b=(-0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 107.6mm grav_b=(-0.04,+0.03,-1.00) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 114.0mm grav_b=(-0.03,+0.03,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(-0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 113.3mm grav_b=(-0.08,-0.12,-0.99) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 116.0mm grav_b=(-0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 115.4mm grav_b=(-0.02,+0.03,-1.00) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 112.4mm grav_b=(-0.02,-0.02,-1.00) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 113.3mm grav_b=(-0.02,-0.05,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 113.6mm grav_b=(-0.01,-0.03,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 110.2mm grav_b=(-0.09,-0.03,-1.00) r=0.50m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(-0.09,+0.03,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 117.3mm grav_b=(-0.07,+0.03,-1.00) r=0.47m +[headless_play] t= 4.80s step= 240 trunk_z= 111.7mm grav_b=(-0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 116.9mm grav_b=(+0.01,-0.05,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 115.4mm grav_b=(+0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 5.10s step= 255 trunk_z= 109.5mm grav_b=(-0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(-0.05,+0.02,-1.00) r=0.47m +[headless_play] t= 5.30s step= 265 trunk_z= 109.1mm grav_b=(-0.04,-0.04,-1.00) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 116.4mm grav_b=(-0.02,-0.05,-1.00) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 113.3mm grav_b=(-0.00,-0.05,-1.00) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 109.8mm grav_b=(-0.04,+0.03,-1.00) r=0.49m +[headless_play] t= 5.70s step= 285 trunk_z= 118.6mm grav_b=(-0.06,+0.03,-1.00) r=0.48m +[headless_play] t= 5.80s step= 290 trunk_z= 115.1mm grav_b=(-0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 116.5mm grav_b=(-0.04,-0.04,-1.00) r=0.52m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(-0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 6.10s step= 305 trunk_z= 117.2mm grav_b=(-0.06,+0.05,-1.00) r=0.48m +[headless_play] t= 6.20s step= 310 trunk_z= 116.6mm grav_b=(-0.04,+0.03,-1.00) r=0.48m +[headless_play] t= 6.30s step= 315 trunk_z= 114.8mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 114.0mm grav_b=(+0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 6.50s step= 325 trunk_z= 113.7mm grav_b=(+0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 6.60s step= 330 trunk_z= 114.3mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(+0.06,-0.01,-1.00) r=0.49m +[headless_play] t= 6.80s step= 340 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 6.90s step= 345 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 115.6mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 7.10s step= 355 trunk_z= 115.7mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 7.20s step= 360 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 7.30s step= 365 trunk_z= 116.8mm grav_b=(-0.01,+0.03,-1.00) r=0.49m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 7.60s step= 380 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(-0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 8.10s step= 405 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 8.30s step= 415 trunk_z= 117.8mm grav_b=(-0.10,+0.00,-0.99) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 111.7mm grav_b=(-0.09,-0.03,-1.00) r=0.52m +[headless_play] t= 8.50s step= 425 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.53m +[headless_play] t= 8.60s step= 430 trunk_z= 114.4mm grav_b=(-0.08,+0.04,-1.00) r=0.54m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.06,-0.01,-1.00) r=0.55m +[headless_play] t= 8.80s step= 440 trunk_z= 117.2mm grav_b=(-0.08,-0.05,-1.00) r=0.56m +[headless_play] t= 8.90s step= 445 trunk_z= 117.1mm grav_b=(-0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 9.00s step= 450 trunk_z= 117.5mm grav_b=(-0.06,+0.01,-1.00) r=0.56m +[headless_play] t= 9.10s step= 455 trunk_z= 117.6mm grav_b=(-0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 9.20s step= 460 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 9.30s step= 465 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 9.40s step= 470 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 9.50s step= 475 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 9.60s step= 480 trunk_z= 118.1mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 9.70s step= 485 trunk_z= 117.8mm grav_b=(-0.02,+0.05,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 120.7mm grav_b=(-0.08,+0.09,-0.99) r=0.53m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(-0.11,+0.01,-0.99) r=0.53m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.13,+0.01,-0.99) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 116.4mm grav_b=(-0.17,+0.01,-0.99) r=0.54m +[headless_play] t= 10.20s step= 510 trunk_z= 116.3mm grav_b=(-0.16,+0.01,-0.99) r=0.54m +[headless_play] t= 10.30s step= 515 trunk_z= 108.8mm grav_b=(-0.09,+0.06,-0.99) r=0.56m +[headless_play] t= 10.40s step= 520 trunk_z= 112.5mm grav_b=(-0.07,-0.02,-1.00) r=0.57m +[headless_play] t= 10.50s step= 525 trunk_z= 112.9mm grav_b=(-0.09,+0.02,-1.00) r=0.58m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(-0.08,+0.03,-1.00) r=0.57m +[headless_play] t= 10.70s step= 535 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 117.8mm grav_b=(-0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 10.90s step= 545 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 117.6mm grav_b=(-0.05,+0.02,-1.00) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 117.4mm grav_b=(-0.00,+0.00,-1.00) r=0.56m +[headless_play] t= 11.20s step= 560 trunk_z= 119.3mm grav_b=(+0.02,+0.02,-1.00) r=0.56m +[headless_play] t= 11.30s step= 565 trunk_z= 118.9mm grav_b=(+0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 11.40s step= 570 trunk_z= 115.6mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(-0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 11.60s step= 580 trunk_z= 116.4mm grav_b=(-0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(-0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(-0.03,+0.00,-1.00) r=0.56m +[headless_play] t= 11.90s step= 595 trunk_z= 117.6mm grav_b=(-0.01,+0.03,-1.00) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 117.8mm grav_b=(+0.00,+0.04,-1.00) r=0.55m +[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(-0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 12.20s step= 610 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(-0.06,+0.01,-1.00) r=0.56m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 12.60s step= 630 trunk_z= 118.8mm grav_b=(+0.06,+0.04,-1.00) r=0.54m +[headless_play] t= 12.70s step= 635 trunk_z= 120.9mm grav_b=(-0.03,-0.00,-1.00) r=0.54m +[headless_play] t= 12.80s step= 640 trunk_z= 119.9mm grav_b=(-0.08,-0.06,-0.99) r=0.54m +[headless_play] t= 12.90s step= 645 trunk_z= 117.2mm grav_b=(-0.05,+0.01,-1.00) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 116.5mm grav_b=(-0.06,+0.01,-1.00) r=0.53m +[headless_play] t= 13.10s step= 655 trunk_z= 116.4mm grav_b=(-0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 13.20s step= 660 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 13.30s step= 665 trunk_z= 116.0mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 13.40s step= 670 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 13.50s step= 675 trunk_z= 117.1mm grav_b=(-0.07,+0.00,-1.00) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.11,+0.01,-0.99) r=0.54m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(-0.12,+0.00,-0.99) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 116.6mm grav_b=(-0.13,+0.01,-0.99) r=0.56m +[headless_play] t= 13.90s step= 695 trunk_z= 104.1mm grav_b=(-0.04,+0.06,-1.00) r=0.58m +[headless_play] t= 14.00s step= 700 trunk_z= 109.2mm grav_b=(+0.04,+0.02,-1.00) r=0.59m +[headless_play] t= 14.10s step= 705 trunk_z= 112.2mm grav_b=(-0.00,-0.03,-1.00) r=0.59m +[headless_play] t= 14.20s step= 710 trunk_z= 114.8mm grav_b=(-0.04,-0.03,-1.00) r=0.59m +[headless_play] t= 14.30s step= 715 trunk_z= 112.0mm grav_b=(-0.06,+0.03,-1.00) r=0.58m +[headless_play] t= 14.40s step= 720 trunk_z= 125.0mm grav_b=(-0.08,+0.17,-0.98) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 126.0mm grav_b=(-0.07,+0.29,-0.95) r=0.57m +[headless_play] t= 14.60s step= 730 trunk_z= 123.5mm grav_b=(-0.11,+0.38,-0.92) r=0.57m +[headless_play] t= 14.70s step= 735 trunk_z= 113.1mm grav_b=(-0.16,+0.62,-0.77) r=0.59m +[headless_play] t= 14.80s step= 740 trunk_z= 64.9mm grav_b=(-0.33,+0.89,-0.32) r=0.61m +[headless_play] RESET at t= 14.82s step= 741 (env termination, not a recovery) +[headless_play] t= 14.90s step= 745 trunk_z= 114.3mm grav_b=(-0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 15.00s step= 750 trunk_z= 113.4mm grav_b=(-0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 15.10s step= 755 trunk_z= 117.6mm grav_b=(-0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 15.20s step= 760 trunk_z= 113.8mm grav_b=(-0.10,+0.07,-0.99) r=0.45m +[headless_play] t= 15.30s step= 765 trunk_z= 115.2mm grav_b=(-0.16,+0.06,-0.99) r=0.44m +[headless_play] t= 15.40s step= 770 trunk_z= 119.1mm grav_b=(-0.12,+0.01,-0.99) r=0.47m +[headless_play] t= 15.50s step= 775 trunk_z= 100.6mm grav_b=(+0.01,+0.05,-1.00) r=0.51m +[headless_play] t= 15.60s step= 780 trunk_z= 107.1mm grav_b=(-0.01,+0.03,-1.00) r=0.52m +[headless_play] t= 15.70s step= 785 trunk_z= 103.7mm grav_b=(-0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 15.80s step= 790 trunk_z= 110.0mm grav_b=(+0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 15.90s step= 795 trunk_z= 108.7mm grav_b=(+0.04,+0.05,-1.00) r=0.50m +[headless_play] t= 16.00s step= 800 trunk_z= 111.8mm grav_b=(+0.01,-0.02,-1.00) r=0.51m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 16.20s step= 810 trunk_z= 115.9mm grav_b=(-0.09,-0.04,-1.00) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 112.3mm grav_b=(-0.02,+0.07,-1.00) r=0.51m +[headless_play] t= 16.40s step= 820 trunk_z= 117.2mm grav_b=(-0.04,+0.10,-0.99) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 114.3mm grav_b=(+0.02,+0.11,-0.99) r=0.53m +[headless_play] t= 16.60s step= 830 trunk_z= 111.7mm grav_b=(+0.03,+0.01,-1.00) r=0.56m +[headless_play] t= 16.70s step= 835 trunk_z= 115.9mm grav_b=(-0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 16.80s step= 840 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) r=0.58m +[headless_play] t= 16.90s step= 845 trunk_z= 114.6mm grav_b=(-0.02,+0.07,-1.00) r=0.58m +[headless_play] t= 17.00s step= 850 trunk_z= 116.9mm grav_b=(-0.02,+0.06,-1.00) r=0.59m +[headless_play] t= 17.10s step= 855 trunk_z= 109.4mm grav_b=(-0.00,+0.05,-1.00) r=0.62m +[headless_play] t= 17.20s step= 860 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 17.40s step= 870 trunk_z= 109.8mm grav_b=(-0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 116.2mm grav_b=(+0.00,+0.08,-1.00) r=0.66m +[headless_play] t= 17.60s step= 880 trunk_z= 114.8mm grav_b=(-0.01,+0.11,-0.99) r=0.67m +[headless_play] t= 17.70s step= 885 trunk_z= 109.5mm grav_b=(-0.01,+0.01,-1.00) r=0.68m +[headless_play] t= 17.80s step= 890 trunk_z= 124.6mm grav_b=(-0.15,-0.10,-0.98) r=0.68m +[headless_play] t= 17.90s step= 895 trunk_z= 128.8mm grav_b=(-0.13,-0.13,-0.98) r=0.68m +[headless_play] t= 18.00s step= 900 trunk_z= 127.8mm grav_b=(-0.08,-0.20,-0.98) r=0.66m +[headless_play] t= 18.10s step= 905 trunk_z= 120.7mm grav_b=(+0.10,-0.23,-0.97) r=0.62m +[headless_play] t= 18.20s step= 910 trunk_z= 89.6mm grav_b=(+0.18,-0.14,-0.97) r=0.61m +[headless_play] t= 18.30s step= 915 trunk_z= 113.3mm grav_b=(+0.04,-0.07,-1.00) r=0.63m +[headless_play] t= 18.40s step= 920 trunk_z= 125.1mm grav_b=(-0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 18.50s step= 925 trunk_z= 135.5mm grav_b=(-0.04,+0.17,-0.98) r=0.67m +[headless_play] t= 18.60s step= 930 trunk_z= 137.3mm grav_b=(-0.08,+0.18,-0.98) r=0.70m +[headless_play] t= 18.70s step= 935 trunk_z= 118.5mm grav_b=(-0.06,-0.03,-1.00) r=0.75m +[headless_play] t= 18.80s step= 940 trunk_z= 128.5mm grav_b=(-0.10,-0.12,-0.99) r=0.77m +[headless_play] t= 18.90s step= 945 trunk_z= 122.2mm grav_b=(-0.11,-0.08,-0.99) r=0.79m +[headless_play] t= 19.00s step= 950 trunk_z= 118.1mm grav_b=(-0.09,+0.02,-1.00) r=0.80m +[headless_play] t= 19.10s step= 955 trunk_z= 118.2mm grav_b=(-0.05,+0.04,-1.00) r=0.81m +[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(-0.06,-0.04,-1.00) r=0.83m +[headless_play] t= 19.30s step= 965 trunk_z= 122.5mm grav_b=(-0.07,-0.06,-1.00) r=0.85m +[headless_play] t= 19.40s step= 970 trunk_z= 118.2mm grav_b=(-0.06,-0.05,-1.00) r=0.87m +[headless_play] t= 19.50s step= 975 trunk_z= 119.1mm grav_b=(-0.05,+0.03,-1.00) r=0.89m +[headless_play] t= 19.60s step= 980 trunk_z= 121.1mm grav_b=(-0.03,+0.01,-1.00) r=0.91m +[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(-0.08,-0.04,-1.00) r=0.93m +[headless_play] t= 19.80s step= 990 trunk_z= 124.9mm grav_b=(-0.09,-0.09,-0.99) r=0.96m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(-0.08,-0.06,-0.99) r=0.98m +[headless_play] t= 20.00s step=1000 trunk_z= 115.4mm grav_b=(-0.09,+0.02,-1.00) r=1.01m +[headless_play] t= 20.10s step=1005 trunk_z= 121.6mm grav_b=(-0.07,+0.05,-1.00) r=1.02m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t14.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..eb829d195ae188e7f57cc3deb99cd5265e600ef3 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t14.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.193,-17.932,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.01,-0.04,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 114.1mm grav_b=(+0.05,-0.06,-1.00) r=0.18m +[headless_play] t= 0.30s step= 15 trunk_z= 111.9mm grav_b=(+0.06,+0.02,-1.00) r=0.17m +[headless_play] t= 0.40s step= 20 trunk_z= 110.4mm grav_b=(+0.05,+0.07,-1.00) r=0.17m +[headless_play] t= 0.50s step= 25 trunk_z= 115.0mm grav_b=(+0.06,+0.01,-1.00) r=0.16m +[headless_play] t= 0.60s step= 30 trunk_z= 109.6mm grav_b=(+0.07,-0.07,-0.99) r=0.13m +[headless_play] t= 0.70s step= 35 trunk_z= 117.7mm grav_b=(+0.09,-0.08,-0.99) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(+0.08,-0.07,-0.99) r=0.12m +[headless_play] t= 0.90s step= 45 trunk_z= 114.0mm grav_b=(+0.08,+0.05,-1.00) r=0.12m +[headless_play] t= 1.00s step= 50 trunk_z= 117.4mm grav_b=(+0.10,+0.05,-0.99) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 111.7mm grav_b=(+0.08,-0.03,-1.00) r=0.11m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(+0.06,-0.07,-1.00) r=0.10m +[headless_play] t= 1.30s step= 65 trunk_z= 115.4mm grav_b=(+0.06,-0.06,-1.00) r=0.12m +[headless_play] t= 1.40s step= 70 trunk_z= 111.5mm grav_b=(+0.06,+0.07,-1.00) r=0.15m +[headless_play] t= 1.50s step= 75 trunk_z= 123.3mm grav_b=(+0.03,+0.12,-0.99) r=0.16m +[headless_play] t= 1.60s step= 80 trunk_z= 125.4mm grav_b=(+0.01,+0.13,-0.99) r=0.16m +[headless_play] t= 1.70s step= 85 trunk_z= 120.7mm grav_b=(+0.05,+0.07,-1.00) r=0.15m +[headless_play] t= 1.80s step= 90 trunk_z= 111.1mm grav_b=(+0.09,-0.01,-1.00) r=0.13m +[headless_play] t= 1.90s step= 95 trunk_z= 111.1mm grav_b=(+0.13,-0.03,-0.99) r=0.14m +[headless_play] t= 2.00s step= 100 trunk_z= 110.4mm grav_b=(+0.11,+0.05,-0.99) r=0.16m +[headless_play] t= 2.10s step= 105 trunk_z= 116.2mm grav_b=(+0.12,+0.03,-0.99) r=0.16m +[headless_play] t= 2.20s step= 110 trunk_z= 111.5mm grav_b=(+0.12,-0.07,-0.99) r=0.17m +[headless_play] t= 2.30s step= 115 trunk_z= 124.0mm grav_b=(+0.12,-0.11,-0.99) r=0.18m +[headless_play] t= 2.40s step= 120 trunk_z= 119.7mm grav_b=(+0.12,-0.09,-0.99) r=0.20m +[headless_play] t= 2.50s step= 125 trunk_z= 120.7mm grav_b=(+0.11,-0.02,-0.99) r=0.23m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(+0.10,-0.06,-0.99) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 123.1mm grav_b=(+0.07,-0.09,-0.99) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 120.6mm grav_b=(+0.07,-0.08,-0.99) r=0.30m +[headless_play] t= 2.90s step= 145 trunk_z= 115.7mm grav_b=(+0.05,-0.03,-1.00) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 120.2mm grav_b=(+0.06,+0.05,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(-0.01,-0.06,-1.00) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 120.1mm grav_b=(+0.00,-0.09,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 120.9mm grav_b=(+0.05,-0.10,-0.99) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 115.8mm grav_b=(+0.10,-0.06,-0.99) r=0.34m +[headless_play] t= 3.60s step= 180 trunk_z= 110.5mm grav_b=(+0.15,+0.04,-0.99) r=0.35m +[headless_play] t= 3.70s step= 185 trunk_z= 113.3mm grav_b=(+0.14,+0.01,-0.99) r=0.36m +[headless_play] t= 3.80s step= 190 trunk_z= 118.0mm grav_b=(+0.15,-0.04,-0.99) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 119.6mm grav_b=(+0.15,-0.02,-0.99) r=0.39m +[headless_play] t= 4.00s step= 200 trunk_z= 118.1mm grav_b=(+0.16,+0.00,-0.99) r=0.44m +[headless_play] t= 4.10s step= 205 trunk_z= 122.1mm grav_b=(+0.12,-0.02,-0.99) r=0.47m +[headless_play] t= 4.20s step= 210 trunk_z= 118.3mm grav_b=(+0.09,-0.07,-0.99) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 121.1mm grav_b=(+0.07,-0.07,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 112.9mm grav_b=(+0.02,-0.03,-1.00) r=0.56m +[headless_play] t= 4.50s step= 225 trunk_z= 118.4mm grav_b=(+0.02,+0.03,-1.00) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 4.70s step= 235 trunk_z= 116.0mm grav_b=(+0.05,-0.03,-1.00) r=0.58m +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 4.90s step= 245 trunk_z= 114.6mm grav_b=(+0.02,-0.02,-1.00) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(+0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 5.10s step= 255 trunk_z= 110.8mm grav_b=(+0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 5.20s step= 260 trunk_z= 110.7mm grav_b=(+0.10,+0.03,-0.99) r=0.55m +[headless_play] t= 5.30s step= 265 trunk_z= 113.6mm grav_b=(+0.08,+0.00,-1.00) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 114.6mm grav_b=(+0.06,+0.01,-1.00) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(+0.14,+0.03,-0.99) r=0.55m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(+0.17,+0.02,-0.98) r=0.55m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(+0.20,+0.01,-0.98) r=0.56m +[headless_play] t= 5.80s step= 290 trunk_z= 120.2mm grav_b=(+0.23,-0.01,-0.97) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 115.8mm grav_b=(+0.11,+0.02,-0.99) r=0.59m +[headless_play] t= 6.00s step= 300 trunk_z= 119.7mm grav_b=(-0.02,+0.03,-1.00) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 114.7mm grav_b=(+0.00,-0.04,-1.00) r=0.59m +[headless_play] t= 6.20s step= 310 trunk_z= 115.8mm grav_b=(-0.03,-0.01,-1.00) r=0.60m +[headless_play] t= 6.30s step= 315 trunk_z= 116.4mm grav_b=(-0.07,-0.00,-1.00) r=0.60m +[headless_play] t= 6.40s step= 320 trunk_z= 116.9mm grav_b=(-0.07,-0.00,-1.00) r=0.60m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 6.70s step= 335 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 6.80s step= 340 trunk_z= 117.2mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 6.90s step= 345 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 7.10s step= 355 trunk_z= 117.0mm grav_b=(-0.06,-0.01,-1.00) r=0.60m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(-0.11,-0.01,-0.99) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 113.8mm grav_b=(-0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 114.0mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 7.50s step= 375 trunk_z= 116.4mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 7.70s step= 385 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[headless_play] t= 7.80s step= 390 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(-0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(-0.06,+0.00,-1.00) r=0.57m +[headless_play] t= 8.10s step= 405 trunk_z= 116.3mm grav_b=(-0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=0.57m +[headless_play] t= 8.30s step= 415 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 8.50s step= 425 trunk_z= 117.8mm grav_b=(+0.01,+0.03,-1.00) r=0.58m +[headless_play] t= 8.60s step= 430 trunk_z= 120.4mm grav_b=(+0.10,+0.04,-0.99) r=0.59m +[headless_play] t= 8.70s step= 435 trunk_z= 120.9mm grav_b=(+0.12,+0.00,-0.99) r=0.59m +[headless_play] t= 8.80s step= 440 trunk_z= 124.0mm grav_b=(+0.13,-0.05,-0.99) r=0.60m +[headless_play] t= 8.90s step= 445 trunk_z= 123.6mm grav_b=(+0.08,-0.03,-1.00) r=0.63m +[headless_play] t= 9.00s step= 450 trunk_z= 114.3mm grav_b=(+0.01,+0.03,-1.00) r=0.65m +[headless_play] t= 9.10s step= 455 trunk_z= 115.0mm grav_b=(-0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 9.20s step= 460 trunk_z= 113.4mm grav_b=(-0.09,+0.01,-1.00) r=0.64m +[headless_play] t= 9.30s step= 465 trunk_z= 114.4mm grav_b=(-0.09,+0.01,-1.00) r=0.65m +[headless_play] t= 9.40s step= 470 trunk_z= 110.0mm grav_b=(-0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 9.50s step= 475 trunk_z= 109.8mm grav_b=(+0.05,+0.05,-1.00) r=0.64m +[headless_play] t= 9.60s step= 480 trunk_z= 109.9mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 9.70s step= 485 trunk_z= 114.1mm grav_b=(+0.06,-0.05,-1.00) r=0.64m +[headless_play] t= 9.80s step= 490 trunk_z= 113.7mm grav_b=(+0.06,-0.02,-1.00) r=0.64m +[headless_play] t= 9.90s step= 495 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) r=0.64m +[headless_play] t= 10.00s step= 500 trunk_z= 114.9mm grav_b=(-0.05,-0.01,-1.00) r=0.64m +[headless_play] t= 10.10s step= 505 trunk_z= 112.1mm grav_b=(-0.00,-0.08,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 113.7mm grav_b=(+0.04,-0.03,-1.00) r=0.64m +[headless_play] t= 10.30s step= 515 trunk_z= 113.2mm grav_b=(+0.06,+0.01,-1.00) r=0.65m +[headless_play] t= 10.40s step= 520 trunk_z= 114.4mm grav_b=(+0.05,-0.01,-1.00) r=0.65m +[headless_play] t= 10.50s step= 525 trunk_z= 114.1mm grav_b=(+0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 10.60s step= 530 trunk_z= 114.5mm grav_b=(+0.00,-0.01,-1.00) r=0.65m +[headless_play] t= 10.70s step= 535 trunk_z= 117.0mm grav_b=(-0.00,-0.03,-1.00) r=0.64m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.64m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 11.00s step= 550 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.64m +[headless_play] t= 11.10s step= 555 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 11.20s step= 560 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.64m +[headless_play] t= 11.60s step= 580 trunk_z= 119.1mm grav_b=(+0.12,-0.01,-0.99) r=0.64m +[headless_play] t= 11.70s step= 585 trunk_z= 122.4mm grav_b=(+0.17,+0.01,-0.99) r=0.64m +[headless_play] t= 11.80s step= 590 trunk_z= 115.2mm grav_b=(+0.06,+0.04,-1.00) r=0.65m +[headless_play] t= 11.90s step= 595 trunk_z= 114.9mm grav_b=(-0.05,+0.10,-0.99) r=0.66m +[headless_play] t= 12.00s step= 600 trunk_z= 118.4mm grav_b=(-0.03,+0.06,-1.00) r=0.66m +[headless_play] t= 12.10s step= 605 trunk_z= 115.2mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 12.20s step= 610 trunk_z= 114.7mm grav_b=(+0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 12.30s step= 615 trunk_z= 111.5mm grav_b=(+0.06,-0.09,-0.99) r=0.63m +[headless_play] t= 12.40s step= 620 trunk_z= 113.3mm grav_b=(+0.10,-0.05,-0.99) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(+0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 12.60s step= 630 trunk_z= 115.6mm grav_b=(-0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(-0.01,-0.00,-1.00) r=0.66m +[headless_play] t= 12.80s step= 640 trunk_z= 114.4mm grav_b=(+0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 12.90s step= 645 trunk_z= 113.8mm grav_b=(+0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 13.00s step= 650 trunk_z= 114.1mm grav_b=(+0.06,-0.00,-1.00) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 115.1mm grav_b=(+0.05,+0.00,-1.00) r=0.65m +[headless_play] t= 13.20s step= 660 trunk_z= 115.3mm grav_b=(+0.03,+0.01,-1.00) r=0.65m +[headless_play] t= 13.30s step= 665 trunk_z= 115.6mm grav_b=(+0.02,+0.00,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 13.50s step= 675 trunk_z= 119.0mm grav_b=(+0.03,+0.05,-1.00) r=0.65m +[headless_play] t= 13.60s step= 680 trunk_z= 117.9mm grav_b=(+0.04,+0.03,-1.00) r=0.65m +[headless_play] t= 13.70s step= 685 trunk_z= 117.8mm grav_b=(+0.02,+0.02,-1.00) r=0.66m +[headless_play] t= 13.80s step= 690 trunk_z= 117.5mm grav_b=(+0.00,+0.01,-1.00) r=0.66m +[headless_play] t= 13.90s step= 695 trunk_z= 117.3mm grav_b=(-0.00,+0.01,-1.00) r=0.66m +[headless_play] t= 14.00s step= 700 trunk_z= 117.4mm grav_b=(+0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 14.10s step= 705 trunk_z= 117.3mm grav_b=(+0.02,+0.00,-1.00) r=0.66m +[headless_play] t= 14.20s step= 710 trunk_z= 117.2mm grav_b=(-0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 14.30s step= 715 trunk_z= 116.7mm grav_b=(-0.00,-0.02,-1.00) r=0.66m +[headless_play] t= 14.40s step= 720 trunk_z= 114.2mm grav_b=(+0.06,+0.00,-1.00) r=0.66m +[headless_play] t= 14.50s step= 725 trunk_z= 112.4mm grav_b=(+0.08,+0.03,-1.00) r=0.66m +[headless_play] t= 14.60s step= 730 trunk_z= 113.6mm grav_b=(+0.08,+0.00,-1.00) r=0.66m +[headless_play] t= 14.70s step= 735 trunk_z= 114.8mm grav_b=(+0.06,+0.00,-1.00) r=0.66m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=0.67m +[headless_play] t= 14.90s step= 745 trunk_z= 116.0mm grav_b=(+0.02,-0.00,-1.00) r=0.67m +[headless_play] t= 15.00s step= 750 trunk_z= 115.9mm grav_b=(+0.01,-0.00,-1.00) r=0.67m +[headless_play] t= 15.10s step= 755 trunk_z= 115.9mm grav_b=(-0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 15.20s step= 760 trunk_z= 116.0mm grav_b=(+0.00,+0.01,-1.00) r=0.68m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=0.68m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.68m +[headless_play] t= 15.50s step= 775 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 15.70s step= 785 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 15.80s step= 790 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.68m +[headless_play] t= 16.20s step= 810 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.40s step= 820 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.70s step= 835 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.80s step= 840 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 17.00s step= 850 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 17.10s step= 855 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.68m +[headless_play] t= 17.50s step= 875 trunk_z= 118.9mm grav_b=(+0.08,+0.00,-1.00) r=0.67m +[headless_play] t= 17.60s step= 880 trunk_z= 121.3mm grav_b=(+0.14,+0.00,-0.99) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 118.2mm grav_b=(+0.11,-0.06,-0.99) r=0.63m +[headless_play] t= 17.80s step= 890 trunk_z= 124.3mm grav_b=(+0.08,-0.02,-1.00) r=0.62m +[headless_play] t= 17.90s step= 895 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) r=0.60m +[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) r=0.61m +[headless_play] t= 18.10s step= 905 trunk_z= 115.0mm grav_b=(-0.06,+0.01,-1.00) r=0.61m +[headless_play] t= 18.20s step= 910 trunk_z= 115.4mm grav_b=(-0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 18.30s step= 915 trunk_z= 115.6mm grav_b=(-0.08,-0.01,-1.00) r=0.61m +[headless_play] t= 18.40s step= 920 trunk_z= 115.9mm grav_b=(-0.05,-0.01,-1.00) r=0.61m +[headless_play] t= 18.50s step= 925 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 18.60s step= 930 trunk_z= 116.4mm grav_b=(-0.00,-0.00,-1.00) r=0.60m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 18.80s step= 940 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 19.00s step= 950 trunk_z= 116.3mm grav_b=(-0.02,-0.01,-1.00) r=0.60m +[headless_play] t= 19.10s step= 955 trunk_z= 119.0mm grav_b=(-0.03,+0.03,-1.00) r=0.60m +[headless_play] t= 19.20s step= 960 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 19.30s step= 965 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 19.50s step= 975 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.60m +[headless_play] t= 19.60s step= 980 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.60m +[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(+0.03,+0.00,-1.00) r=0.60m +[headless_play] t= 19.80s step= 990 trunk_z= 118.1mm grav_b=(+0.06,-0.04,-1.00) r=0.59m +[headless_play] t= 19.90s step= 995 trunk_z= 120.3mm grav_b=(+0.08,-0.08,-0.99) r=0.59m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(-0.02,-0.05,-1.00) r=0.47m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t15.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..4d52367b1cec337cbc5dc968dfb4a1fafc1be016 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t15.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.702,-17.928,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.00,-0.02,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(+0.07,+0.01,-1.00) r=0.32m +[headless_play] t= 0.90s step= 45 trunk_z= 118.6mm grav_b=(+0.09,-0.02,-1.00) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 119.4mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 119.2mm grav_b=(-0.06,+0.00,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 117.3mm grav_b=(-0.06,-0.03,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 118.1mm grav_b=(-0.07,+0.02,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 115.4mm grav_b=(-0.07,+0.01,-1.00) r=0.32m +[headless_play] t= 1.50s step= 75 trunk_z= 117.7mm grav_b=(-0.05,-0.01,-1.00) r=0.31m +[headless_play] t= 1.60s step= 80 trunk_z= 114.9mm grav_b=(-0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 114.2mm grav_b=(-0.02,-0.05,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 114.9mm grav_b=(-0.01,-0.02,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 114.9mm grav_b=(+0.04,+0.01,-1.00) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.01,-0.04,-1.00) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(-0.06,-0.01,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(-0.09,-0.01,-1.00) r=0.29m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(-0.05,-0.01,-1.00) r=0.29m +[headless_play] t= 2.40s step= 120 trunk_z= 115.8mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 111.5mm grav_b=(+0.02,-0.03,-1.00) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 114.8mm grav_b=(+0.01,-0.05,-1.00) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 113.4mm grav_b=(+0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 114.7mm grav_b=(+0.06,+0.01,-1.00) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 115.8mm grav_b=(+0.03,-0.02,-1.00) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(+0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(-0.06,-0.04,-1.00) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 118.5mm grav_b=(-0.08,-0.01,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(-0.07,-0.03,-1.00) r=0.25m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(-0.04,-0.00,-1.00) r=0.26m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(-0.01,+0.02,-1.00) r=0.26m +[headless_play] t= 3.80s step= 190 trunk_z= 114.6mm grav_b=(-0.02,-0.03,-1.00) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 116.2mm grav_b=(-0.05,-0.02,-1.00) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(-0.10,+0.01,-0.99) r=0.26m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(-0.08,-0.02,-1.00) r=0.26m +[headless_play] t= 4.20s step= 210 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) r=0.26m +[headless_play] t= 4.30s step= 215 trunk_z= 110.5mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 4.40s step= 220 trunk_z= 115.6mm grav_b=(-0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.06,-0.09,-0.99) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 119.7mm grav_b=(-0.05,-0.08,-1.00) r=0.27m +[headless_play] t= 4.70s step= 235 trunk_z= 117.6mm grav_b=(-0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(-0.05,-0.02,-1.00) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(-0.04,-0.02,-1.00) r=0.28m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.28m +[headless_play] t= 5.10s step= 255 trunk_z= 116.6mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 116.1mm grav_b=(-0.02,-0.07,-1.00) r=0.26m +[headless_play] t= 5.30s step= 265 trunk_z= 123.9mm grav_b=(+0.01,-0.11,-0.99) r=0.23m +[headless_play] t= 5.40s step= 270 trunk_z= 128.3mm grav_b=(-0.01,-0.12,-0.99) r=0.22m +[headless_play] t= 5.50s step= 275 trunk_z= 124.5mm grav_b=(-0.03,-0.10,-0.99) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 122.9mm grav_b=(+0.03,+0.00,-1.00) r=0.26m +[headless_play] t= 5.70s step= 285 trunk_z= 129.6mm grav_b=(-0.02,+0.02,-1.00) r=0.27m +[headless_play] t= 5.80s step= 290 trunk_z= 120.2mm grav_b=(-0.09,-0.04,-1.00) r=0.26m +[headless_play] t= 5.90s step= 295 trunk_z= 125.3mm grav_b=(-0.07,-0.10,-0.99) r=0.26m +[headless_play] t= 6.00s step= 300 trunk_z= 121.9mm grav_b=(-0.09,-0.07,-0.99) r=0.27m +[headless_play] t= 6.10s step= 305 trunk_z= 118.0mm grav_b=(-0.06,-0.03,-1.00) r=0.30m +[headless_play] t= 6.20s step= 310 trunk_z= 119.8mm grav_b=(-0.01,-0.06,-1.00) r=0.30m +[headless_play] t= 6.30s step= 315 trunk_z= 115.2mm grav_b=(-0.09,-0.11,-0.99) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 124.9mm grav_b=(-0.08,-0.09,-0.99) r=0.30m +[headless_play] t= 6.50s step= 325 trunk_z= 116.9mm grav_b=(-0.09,-0.05,-0.99) r=0.32m +[headless_play] t= 6.60s step= 330 trunk_z= 114.8mm grav_b=(-0.02,+0.00,-1.00) r=0.33m +[headless_play] t= 6.70s step= 335 trunk_z= 114.4mm grav_b=(+0.05,+0.01,-1.00) r=0.33m +[headless_play] t= 6.80s step= 340 trunk_z= 114.6mm grav_b=(-0.00,-0.07,-1.00) r=0.31m +[headless_play] t= 6.90s step= 345 trunk_z= 123.0mm grav_b=(-0.05,-0.09,-0.99) r=0.30m +[headless_play] t= 7.00s step= 350 trunk_z= 116.1mm grav_b=(-0.04,-0.06,-1.00) r=0.32m +[headless_play] t= 7.10s step= 355 trunk_z= 117.8mm grav_b=(-0.07,+0.07,-1.00) r=0.34m +[headless_play] t= 7.20s step= 360 trunk_z= 123.7mm grav_b=(-0.10,+0.03,-0.99) r=0.35m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(-0.08,-0.01,-1.00) r=0.33m +[headless_play] t= 7.40s step= 370 trunk_z= 117.6mm grav_b=(-0.06,-0.05,-1.00) r=0.31m +[headless_play] t= 7.50s step= 375 trunk_z= 116.2mm grav_b=(-0.02,-0.09,-1.00) r=0.31m +[headless_play] t= 7.60s step= 380 trunk_z= 112.6mm grav_b=(+0.02,-0.05,-1.00) r=0.33m +[headless_play] t= 7.70s step= 385 trunk_z= 117.3mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 7.80s step= 390 trunk_z= 113.6mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 7.90s step= 395 trunk_z= 120.1mm grav_b=(-0.04,-0.09,-1.00) r=0.31m +[headless_play] t= 8.00s step= 400 trunk_z= 119.7mm grav_b=(-0.02,-0.10,-1.00) r=0.32m +[headless_play] t= 8.10s step= 405 trunk_z= 113.5mm grav_b=(-0.04,-0.05,-1.00) r=0.34m +[headless_play] t= 8.20s step= 410 trunk_z= 121.0mm grav_b=(-0.08,+0.05,-1.00) r=0.36m +[headless_play] t= 8.30s step= 415 trunk_z= 123.4mm grav_b=(-0.12,+0.03,-0.99) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 111.9mm grav_b=(-0.07,-0.01,-1.00) r=0.34m +[headless_play] t= 8.50s step= 425 trunk_z= 117.2mm grav_b=(-0.03,-0.05,-1.00) r=0.33m +[headless_play] t= 8.60s step= 430 trunk_z= 112.6mm grav_b=(-0.00,-0.07,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 111.8mm grav_b=(+0.04,+0.01,-1.00) r=0.38m +[headless_play] t= 8.80s step= 440 trunk_z= 114.2mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 8.90s step= 445 trunk_z= 113.3mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 120.5mm grav_b=(+0.01,-0.06,-1.00) r=0.39m +[headless_play] t= 9.10s step= 455 trunk_z= 115.9mm grav_b=(-0.03,-0.04,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 122.0mm grav_b=(-0.13,+0.06,-0.99) r=0.44m +[headless_play] t= 9.30s step= 465 trunk_z= 128.1mm grav_b=(-0.16,+0.08,-0.98) r=0.44m +[headless_play] t= 9.40s step= 470 trunk_z= 125.4mm grav_b=(-0.09,+0.06,-0.99) r=0.43m +[headless_play] t= 9.50s step= 475 trunk_z= 128.7mm grav_b=(-0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 109.1mm grav_b=(-0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 9.70s step= 485 trunk_z= 106.1mm grav_b=(+0.00,+0.02,-1.00) r=0.41m +[headless_play] t= 9.80s step= 490 trunk_z= 106.1mm grav_b=(+0.09,-0.07,-0.99) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 124.2mm grav_b=(+0.08,-0.14,-0.99) r=0.41m +[headless_play] t= 10.00s step= 500 trunk_z= 127.9mm grav_b=(-0.00,-0.07,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 121.1mm grav_b=(-0.04,+0.02,-1.00) r=0.45m +[headless_play] t= 10.20s step= 510 trunk_z= 120.3mm grav_b=(-0.09,-0.00,-1.00) r=0.45m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(-0.06,-0.06,-1.00) r=0.44m +[headless_play] t= 10.40s step= 520 trunk_z= 120.0mm grav_b=(-0.06,-0.03,-1.00) r=0.44m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(-0.09,-0.02,-1.00) r=0.47m +[headless_play] t= 10.60s step= 530 trunk_z= 119.1mm grav_b=(-0.10,+0.05,-0.99) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 122.8mm grav_b=(-0.09,+0.01,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 106.6mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 10.90s step= 545 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 11.00s step= 550 trunk_z= 108.3mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 11.20s step= 560 trunk_z= 112.7mm grav_b=(+0.02,-0.05,-1.00) r=0.49m +[headless_play] t= 11.30s step= 565 trunk_z= 119.8mm grav_b=(+0.01,-0.07,-1.00) r=0.49m +[headless_play] t= 11.40s step= 570 trunk_z= 121.8mm grav_b=(-0.07,-0.08,-0.99) r=0.49m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(-0.10,-0.05,-0.99) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 118.1mm grav_b=(-0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 11.70s step= 585 trunk_z= 118.6mm grav_b=(-0.00,+0.04,-1.00) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 114.5mm grav_b=(+0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 11.90s step= 595 trunk_z= 123.1mm grav_b=(+0.04,-0.07,-1.00) r=0.50m +[headless_play] t= 12.00s step= 600 trunk_z= 122.0mm grav_b=(+0.01,-0.05,-1.00) r=0.52m +[headless_play] t= 12.10s step= 605 trunk_z= 117.5mm grav_b=(-0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 12.20s step= 610 trunk_z= 120.7mm grav_b=(-0.02,-0.04,-1.00) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 121.3mm grav_b=(+0.01,-0.11,-0.99) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 127.3mm grav_b=(+0.01,-0.11,-0.99) r=0.51m +[headless_play] t= 12.50s step= 625 trunk_z= 126.3mm grav_b=(-0.00,-0.12,-0.99) r=0.52m +[headless_play] t= 12.60s step= 630 trunk_z= 118.2mm grav_b=(+0.01,-0.03,-1.00) r=0.54m +[headless_play] t= 12.70s step= 635 trunk_z= 124.8mm grav_b=(-0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 12.80s step= 640 trunk_z= 120.3mm grav_b=(-0.04,-0.03,-1.00) r=0.53m +[headless_play] t= 12.90s step= 645 trunk_z= 123.3mm grav_b=(-0.05,-0.07,-1.00) r=0.52m +[headless_play] t= 13.00s step= 650 trunk_z= 119.1mm grav_b=(-0.05,-0.07,-1.00) r=0.53m +[headless_play] t= 13.10s step= 655 trunk_z= 122.0mm grav_b=(-0.06,+0.06,-1.00) r=0.57m +[headless_play] t= 13.20s step= 660 trunk_z= 129.9mm grav_b=(-0.06,+0.14,-0.99) r=0.59m +[headless_play] t= 13.30s step= 665 trunk_z= 129.9mm grav_b=(-0.07,+0.19,-0.98) r=0.60m +[headless_play] t= 13.40s step= 670 trunk_z= 131.9mm grav_b=(-0.07,+0.15,-0.99) r=0.61m +[headless_play] t= 13.50s step= 675 trunk_z= 123.3mm grav_b=(-0.04,+0.07,-1.00) r=0.62m +[headless_play] t= 13.60s step= 680 trunk_z= 130.5mm grav_b=(+0.02,-0.03,-1.00) r=0.64m +[headless_play] t= 13.70s step= 685 trunk_z= 118.1mm grav_b=(+0.01,-0.04,-1.00) r=0.65m +[headless_play] t= 13.80s step= 690 trunk_z= 120.7mm grav_b=(-0.00,-0.11,-0.99) r=0.67m +[headless_play] t= 13.90s step= 695 trunk_z= 119.4mm grav_b=(-0.06,-0.15,-0.99) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 127.3mm grav_b=(-0.06,-0.12,-0.99) r=0.68m +[headless_play] t= 14.10s step= 705 trunk_z= 121.8mm grav_b=(+0.02,-0.10,-1.00) r=0.72m +[headless_play] t= 14.20s step= 710 trunk_z= 119.6mm grav_b=(-0.02,+0.00,-1.00) r=0.76m +[headless_play] t= 14.30s step= 715 trunk_z= 125.6mm grav_b=(-0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 14.40s step= 720 trunk_z= 119.5mm grav_b=(-0.08,-0.04,-1.00) r=0.80m +[headless_play] t= 14.50s step= 725 trunk_z= 124.0mm grav_b=(-0.09,-0.12,-0.99) r=0.81m +[headless_play] t= 14.60s step= 730 trunk_z= 125.8mm grav_b=(-0.10,-0.12,-0.99) r=0.81m +[headless_play] t= 14.70s step= 735 trunk_z= 118.4mm grav_b=(-0.07,-0.12,-0.99) r=0.83m +[headless_play] t= 14.80s step= 740 trunk_z= 120.6mm grav_b=(+0.01,-0.01,-1.00) r=0.85m +[headless_play] t= 14.90s step= 745 trunk_z= 119.5mm grav_b=(-0.04,-0.07,-1.00) r=0.86m +[headless_play] t= 15.00s step= 750 trunk_z= 118.0mm grav_b=(+0.01,-0.07,-1.00) r=0.90m +[headless_play] t= 15.10s step= 755 trunk_z= 124.4mm grav_b=(+0.02,-0.01,-1.00) r=0.93m +[headless_play] t= 15.20s step= 760 trunk_z= 114.3mm grav_b=(-0.05,+0.04,-1.00) r=0.97m +[headless_play] t= 15.30s step= 765 trunk_z= 125.1mm grav_b=(-0.08,+0.01,-1.00) r=0.99m +[headless_play] t= 15.40s step= 770 trunk_z= 115.7mm grav_b=(-0.10,-0.05,-0.99) r=1.01m +[headless_play] t= 15.50s step= 775 trunk_z= 123.1mm grav_b=(-0.10,-0.09,-0.99) r=1.02m +[headless_play] t= 15.60s step= 780 trunk_z= 122.5mm grav_b=(-0.08,-0.10,-0.99) r=1.03m +[headless_play] t= 15.70s step= 785 trunk_z= 116.7mm grav_b=(-0.05,-0.04,-1.00) r=1.04m +[headless_play] t= 15.80s step= 790 trunk_z= 124.2mm grav_b=(-0.03,+0.04,-1.00) r=1.06m +[headless_play] t= 15.90s step= 795 trunk_z= 120.1mm grav_b=(-0.04,-0.01,-1.00) r=1.07m +[headless_play] t= 16.00s step= 800 trunk_z= 122.4mm grav_b=(-0.05,-0.08,-1.00) r=1.07m +[headless_play] t= 16.10s step= 805 trunk_z= 125.5mm grav_b=(-0.04,-0.13,-0.99) r=1.08m +[headless_play] t= 16.20s step= 810 trunk_z= 125.3mm grav_b=(-0.03,-0.13,-0.99) r=1.10m +[headless_play] t= 16.30s step= 815 trunk_z= 119.4mm grav_b=(-0.03,-0.04,-1.00) r=1.13m +[headless_play] t= 16.40s step= 820 trunk_z= 125.7mm grav_b=(-0.00,+0.00,-1.00) r=1.14m +[headless_play] t= 16.50s step= 825 trunk_z= 120.4mm grav_b=(-0.02,-0.04,-1.00) r=1.16m +[headless_play] t= 16.60s step= 830 trunk_z= 124.7mm grav_b=(-0.02,-0.08,-1.00) r=1.18m +[headless_play] t= 16.70s step= 835 trunk_z= 123.4mm grav_b=(-0.04,-0.07,-1.00) r=1.20m +[headless_play] t= 16.80s step= 840 trunk_z= 120.4mm grav_b=(-0.07,+0.04,-1.00) r=1.22m +[headless_play] t= 16.90s step= 845 trunk_z= 120.2mm grav_b=(-0.10,+0.02,-1.00) r=1.22m +[headless_play] t= 17.00s step= 850 trunk_z= 116.6mm grav_b=(-0.08,-0.05,-1.00) r=1.22m +[headless_play] t= 17.10s step= 855 trunk_z= 123.3mm grav_b=(-0.06,-0.08,-1.00) r=1.23m +[headless_play] t= 17.20s step= 860 trunk_z= 120.8mm grav_b=(-0.03,-0.07,-1.00) r=1.25m +[headless_play] t= 17.30s step= 865 trunk_z= 120.7mm grav_b=(-0.02,+0.04,-1.00) r=1.29m +[headless_play] t= 17.40s step= 870 trunk_z= 126.8mm grav_b=(-0.05,+0.07,-1.00) r=1.30m +[headless_play] t= 17.50s step= 875 trunk_z= 123.3mm grav_b=(-0.07,+0.07,-1.00) r=1.30m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.05,-0.02,-1.00) r=1.30m +[headless_play] t= 17.70s step= 885 trunk_z= 122.5mm grav_b=(-0.02,-0.06,-1.00) r=1.30m +[headless_play] t= 17.80s step= 890 trunk_z= 121.2mm grav_b=(-0.02,-0.07,-1.00) r=1.32m +[headless_play] t= 17.90s step= 895 trunk_z= 119.6mm grav_b=(-0.02,+0.03,-1.00) r=1.34m +[headless_play] t= 18.00s step= 900 trunk_z= 125.1mm grav_b=(-0.03,+0.02,-1.00) r=1.36m +[headless_play] t= 18.10s step= 905 trunk_z= 116.9mm grav_b=(-0.05,-0.04,-1.00) r=1.37m +[headless_play] t= 18.20s step= 910 trunk_z= 123.3mm grav_b=(-0.04,-0.06,-1.00) r=1.38m +[headless_play] t= 18.30s step= 915 trunk_z= 123.2mm grav_b=(-0.04,-0.07,-1.00) r=1.40m +[headless_play] t= 18.40s step= 920 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=1.43m +[headless_play] t= 18.50s step= 925 trunk_z= 124.0mm grav_b=(-0.02,+0.03,-1.00) r=1.45m +[headless_play] t= 18.60s step= 930 trunk_z= 120.5mm grav_b=(-0.03,+0.01,-1.00) r=1.45m +[headless_play] t= 18.70s step= 935 trunk_z= 122.7mm grav_b=(-0.04,-0.09,-1.00) r=1.46m +[headless_play] t= 18.80s step= 940 trunk_z= 125.1mm grav_b=(-0.04,-0.11,-0.99) r=1.47m +[headless_play] t= 18.90s step= 945 trunk_z= 123.4mm grav_b=(-0.04,-0.11,-0.99) r=1.49m +[headless_play] t= 19.00s step= 950 trunk_z= 120.8mm grav_b=(-0.03,-0.04,-1.00) r=1.52m +[headless_play] t= 19.10s step= 955 trunk_z= 122.4mm grav_b=(-0.03,-0.05,-1.00) r=1.53m +[headless_play] t= 19.20s step= 960 trunk_z= 119.6mm grav_b=(-0.04,-0.10,-0.99) r=1.54m +[headless_play] t= 19.30s step= 965 trunk_z= 124.2mm grav_b=(-0.04,-0.10,-0.99) r=1.55m +[headless_play] t= 19.40s step= 970 trunk_z= 122.4mm grav_b=(-0.05,-0.10,-0.99) r=1.57m +[headless_play] t= 19.50s step= 975 trunk_z= 120.6mm grav_b=(-0.04,+0.02,-1.00) r=1.60m +[headless_play] t= 19.60s step= 980 trunk_z= 124.3mm grav_b=(-0.04,+0.03,-1.00) r=1.62m +[headless_play] t= 19.70s step= 985 trunk_z= 120.2mm grav_b=(-0.06,+0.00,-1.00) r=1.62m +[headless_play] t= 19.80s step= 990 trunk_z= 123.6mm grav_b=(-0.05,-0.09,-0.99) r=1.62m +[headless_play] t= 19.90s step= 995 trunk_z= 125.0mm grav_b=(-0.03,-0.11,-0.99) r=1.62m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(-0.04,-0.03,-1.00) r=0.51m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t2.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..257971103161c36d89e6991547f32e26c70f6ebe --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t2.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(+1.581,-17.791,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.0mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 117.7mm grav_b=(+0.07,-0.04,-1.00) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 118.6mm grav_b=(+0.10,-0.00,-0.99) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 118.2mm grav_b=(+0.10,+0.03,-0.99) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 115.6mm grav_b=(+0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 116.8mm grav_b=(+0.00,-0.04,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(+0.06,+0.02,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 118.3mm grav_b=(+0.11,+0.02,-0.99) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 119.4mm grav_b=(+0.14,-0.02,-0.99) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 118.7mm grav_b=(+0.08,-0.00,-1.00) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 119.0mm grav_b=(+0.01,+0.04,-1.00) r=0.53m +[headless_play] t= 2.10s step= 105 trunk_z= 115.2mm grav_b=(-0.05,-0.02,-1.00) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 115.4mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 2.30s step= 115 trunk_z= 115.6mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 115.8mm grav_b=(+0.04,-0.00,-1.00) r=0.54m +[headless_play] t= 2.50s step= 125 trunk_z= 116.9mm grav_b=(+0.06,+0.01,-1.00) r=0.54m +[headless_play] t= 2.60s step= 130 trunk_z= 117.4mm grav_b=(+0.08,+0.02,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.07,+0.01,-1.00) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 116.1mm grav_b=(+0.00,+0.00,-1.00) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 115.9mm grav_b=(-0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 3.10s step= 155 trunk_z= 116.2mm grav_b=(-0.00,+0.01,-1.00) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 116.0mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.54m +[headless_play] t= 3.50s step= 175 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 3.60s step= 180 trunk_z= 116.2mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 3.70s step= 185 trunk_z= 116.2mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 3.80s step= 190 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.53m +[headless_play] t= 4.20s step= 210 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 118.8mm grav_b=(+0.06,-0.00,-1.00) r=0.55m +[headless_play] t= 4.40s step= 220 trunk_z= 120.4mm grav_b=(+0.08,+0.03,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 115.2mm grav_b=(-0.00,-0.05,-1.00) r=0.57m +[headless_play] t= 4.60s step= 230 trunk_z= 117.9mm grav_b=(-0.02,-0.05,-1.00) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 115.7mm grav_b=(-0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00) r=0.57m +[headless_play] t= 4.90s step= 245 trunk_z= 118.0mm grav_b=(-0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 5.00s step= 250 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 5.10s step= 255 trunk_z= 116.6mm grav_b=(-0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.03,-0.00,-1.00) r=0.57m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.57m +[headless_play] t= 6.40s step= 320 trunk_z= 116.4mm grav_b=(-0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 6.50s step= 325 trunk_z= 117.1mm grav_b=(-0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 6.60s step= 330 trunk_z= 118.1mm grav_b=(-0.05,-0.04,-1.00) r=0.58m +[headless_play] t= 6.70s step= 335 trunk_z= 118.7mm grav_b=(-0.02,-0.05,-1.00) r=0.58m +[headless_play] t= 6.80s step= 340 trunk_z= 115.6mm grav_b=(+0.02,+0.04,-1.00) r=0.57m +[headless_play] t= 6.90s step= 345 trunk_z= 123.1mm grav_b=(+0.04,+0.05,-1.00) r=0.57m +[headless_play] t= 7.00s step= 350 trunk_z= 126.1mm grav_b=(+0.06,-0.01,-1.00) r=0.60m +[headless_play] t= 7.10s step= 355 trunk_z= 114.4mm grav_b=(+0.03,-0.07,-1.00) r=0.65m +[headless_play] t= 7.20s step= 360 trunk_z= 126.3mm grav_b=(+0.06,-0.05,-1.00) r=0.67m +[headless_play] t= 7.30s step= 365 trunk_z= 125.6mm grav_b=(-0.01,-0.03,-1.00) r=0.68m +[headless_play] t= 7.40s step= 370 trunk_z= 121.9mm grav_b=(-0.03,+0.03,-1.00) r=0.68m +[headless_play] t= 7.50s step= 375 trunk_z= 127.1mm grav_b=(-0.01,+0.02,-1.00) r=0.70m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(-0.02,-0.04,-1.00) r=0.73m +[headless_play] t= 7.70s step= 385 trunk_z= 125.5mm grav_b=(+0.02,-0.08,-1.00) r=0.75m +[headless_play] t= 7.80s step= 390 trunk_z= 129.0mm grav_b=(+0.01,-0.16,-0.99) r=0.78m +[headless_play] t= 7.90s step= 395 trunk_z= 125.8mm grav_b=(-0.02,-0.18,-0.98) r=0.80m +[headless_play] t= 8.00s step= 400 trunk_z= 127.2mm grav_b=(+0.04,-0.21,-0.98) r=0.83m +[headless_play] t= 8.10s step= 405 trunk_z= 127.1mm grav_b=(+0.15,-0.08,-0.99) r=0.88m +[headless_play] t= 8.20s step= 410 trunk_z= 145.3mm grav_b=(+0.19,+0.02,-0.98) r=0.92m +[headless_play] t= 8.30s step= 415 trunk_z= 117.4mm grav_b=(+0.11,-0.03,-0.99) r=0.98m +[headless_play] t= 8.40s step= 420 trunk_z= 125.2mm grav_b=(+0.20,+0.05,-0.98) r=1.01m +[headless_play] t= 8.50s step= 425 trunk_z= 129.3mm grav_b=(+0.08,+0.04,-1.00) r=1.04m +[headless_play] t= 8.60s step= 430 trunk_z= 108.8mm grav_b=(-0.08,+0.10,-0.99) r=1.07m +[headless_play] t= 8.70s step= 435 trunk_z= 114.6mm grav_b=(-0.07,-0.04,-1.00) r=1.09m +[headless_play] t= 8.80s step= 440 trunk_z= 120.4mm grav_b=(+0.07,-0.13,-0.99) r=1.10m +[headless_play] t= 8.90s step= 445 trunk_z= 127.3mm grav_b=(+0.07,-0.11,-0.99) r=1.12m +[headless_play] t= 9.00s step= 450 trunk_z= 126.8mm grav_b=(+0.06,-0.06,-1.00) r=1.15m +[headless_play] t= 9.10s step= 455 trunk_z= 123.3mm grav_b=(+0.01,+0.07,-1.00) r=1.19m +[headless_play] t= 9.20s step= 460 trunk_z= 132.5mm grav_b=(+0.01,+0.13,-0.99) r=1.21m +[headless_play] t= 9.30s step= 465 trunk_z= 130.2mm grav_b=(-0.01,+0.12,-0.99) r=1.22m +[headless_play] t= 9.40s step= 470 trunk_z= 126.3mm grav_b=(-0.02,+0.12,-0.99) r=1.23m +[headless_play] t= 9.50s step= 475 trunk_z= 118.4mm grav_b=(+0.02,+0.01,-1.00) r=1.22m +[headless_play] t= 9.60s step= 480 trunk_z= 125.3mm grav_b=(+0.08,-0.06,-1.00) r=1.23m +[headless_play] t= 9.70s step= 485 trunk_z= 127.7mm grav_b=(+0.04,-0.05,-1.00) r=1.24m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(+0.01,+0.03,-1.00) r=1.27m +[headless_play] t= 9.90s step= 495 trunk_z= 127.6mm grav_b=(+0.02,+0.03,-1.00) r=1.30m +[headless_play] t= 10.00s step= 500 trunk_z= 122.6mm grav_b=(+0.01,+0.01,-1.00) r=1.31m +[headless_play] t= 10.10s step= 505 trunk_z= 117.5mm grav_b=(+0.05,+0.02,-1.00) r=1.34m +[headless_play] t= 10.20s step= 510 trunk_z= 114.0mm grav_b=(+0.02,+0.09,-1.00) r=1.37m +[headless_play] t= 10.30s step= 515 trunk_z= 123.2mm grav_b=(+0.05,+0.05,-1.00) r=1.39m +[headless_play] t= 10.40s step= 520 trunk_z= 121.1mm grav_b=(+0.02,+0.01,-1.00) r=1.42m +[headless_play] t= 10.50s step= 525 trunk_z= 114.4mm grav_b=(-0.02,-0.08,-1.00) r=1.45m +[headless_play] t= 10.60s step= 530 trunk_z= 124.2mm grav_b=(+0.00,-0.09,-1.00) r=1.46m +[headless_play] t= 10.70s step= 535 trunk_z= 125.1mm grav_b=(-0.00,-0.07,-1.00) r=1.47m +[headless_play] t= 10.80s step= 540 trunk_z= 118.5mm grav_b=(+0.01,+0.02,-1.00) r=1.48m +[headless_play] t= 10.90s step= 545 trunk_z= 128.4mm grav_b=(+0.08,+0.06,-0.99) r=1.50m +[headless_play] t= 11.00s step= 550 trunk_z= 130.2mm grav_b=(+0.06,+0.07,-1.00) r=1.52m +[headless_play] t= 11.10s step= 555 trunk_z= 118.8mm grav_b=(+0.03,+0.02,-1.00) r=1.56m +[headless_play] t= 11.20s step= 560 trunk_z= 125.6mm grav_b=(+0.03,+0.01,-1.00) r=1.58m +[headless_play] t= 11.30s step= 565 trunk_z= 118.3mm grav_b=(-0.04,+0.02,-1.00) r=1.60m +[headless_play] t= 11.40s step= 570 trunk_z= 120.8mm grav_b=(-0.07,+0.05,-1.00) r=1.60m +[headless_play] t= 11.50s step= 575 trunk_z= 119.5mm grav_b=(-0.08,-0.01,-1.00) r=1.60m +[headless_play] t= 11.60s step= 580 trunk_z= 119.6mm grav_b=(-0.02,-0.07,-1.00) r=1.59m +[headless_play] t= 11.70s step= 585 trunk_z= 123.0mm grav_b=(+0.03,-0.05,-1.00) r=1.60m +[headless_play] t= 11.80s step= 590 trunk_z= 116.9mm grav_b=(+0.04,+0.01,-1.00) r=1.63m +[headless_play] t= 11.90s step= 595 trunk_z= 126.4mm grav_b=(+0.06,+0.04,-1.00) r=1.66m +[headless_play] t= 12.00s step= 600 trunk_z= 127.9mm grav_b=(-0.01,+0.07,-1.00) r=1.67m +[headless_play] t= 12.10s step= 605 trunk_z= 118.9mm grav_b=(-0.05,+0.03,-1.00) r=1.68m +[headless_play] t= 12.20s step= 610 trunk_z= 121.5mm grav_b=(-0.01,-0.04,-1.00) r=1.69m +[headless_play] t= 12.30s step= 615 trunk_z= 121.5mm grav_b=(+0.02,-0.03,-1.00) r=1.70m +[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(+0.04,+0.04,-1.00) r=1.70m +[headless_play] t= 12.50s step= 625 trunk_z= 127.1mm grav_b=(+0.08,+0.04,-1.00) r=1.72m +[headless_play] t= 12.60s step= 630 trunk_z= 130.7mm grav_b=(+0.10,+0.10,-0.99) r=1.76m +[headless_play] t= 12.70s step= 635 trunk_z= 114.9mm grav_b=(+0.06,+0.06,-1.00) r=1.81m +[headless_play] t= 12.80s step= 640 trunk_z= 128.2mm grav_b=(+0.04,+0.04,-1.00) r=1.84m +[headless_play] t= 12.90s step= 645 trunk_z= 116.3mm grav_b=(-0.04,+0.02,-1.00) r=1.87m +[headless_play] t= 13.00s step= 650 trunk_z= 121.0mm grav_b=(-0.06,+0.02,-1.00) r=1.89m +[headless_play] t= 13.10s step= 655 trunk_z= 118.2mm grav_b=(-0.08,-0.01,-1.00) r=1.91m +[headless_play] t= 13.20s step= 660 trunk_z= 121.6mm grav_b=(-0.07,-0.06,-1.00) r=1.93m +[headless_play] t= 13.30s step= 665 trunk_z= 120.8mm grav_b=(-0.00,-0.06,-1.00) r=1.95m +[headless_play] t= 13.40s step= 670 trunk_z= 112.1mm grav_b=(-0.07,+0.02,-1.00) r=1.94m +[headless_play] t= 13.50s step= 675 trunk_z= 117.9mm grav_b=(-0.01,+0.08,-1.00) r=1.94m +[headless_play] t= 13.60s step= 680 trunk_z= 120.8mm grav_b=(-0.02,+0.09,-1.00) r=1.95m +[headless_play] t= 13.70s step= 685 trunk_z= 114.1mm grav_b=(+0.03,+0.04,-1.00) r=1.95m +[headless_play] t= 13.80s step= 690 trunk_z= 116.4mm grav_b=(+0.04,-0.07,-1.00) r=1.96m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(+0.07,-0.08,-0.99) r=1.97m +[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(+0.05,-0.02,-1.00) r=2.00m +[headless_play] t= 14.10s step= 705 trunk_z= 119.2mm grav_b=(+0.01,+0.02,-1.00) r=2.02m +[headless_play] t= 14.20s step= 710 trunk_z= 112.8mm grav_b=(-0.01,-0.05,-1.00) r=2.03m +[headless_play] t= 14.30s step= 715 trunk_z= 117.4mm grav_b=(+0.03,-0.10,-0.99) r=2.04m +[headless_play] t= 14.40s step= 720 trunk_z= 117.7mm grav_b=(+0.05,-0.06,-1.00) r=2.05m +[headless_play] t= 14.50s step= 725 trunk_z= 113.7mm grav_b=(+0.04,+0.00,-1.00) r=2.08m +[headless_play] t= 14.60s step= 730 trunk_z= 118.7mm grav_b=(+0.05,+0.06,-1.00) r=2.11m +[headless_play] t= 14.70s step= 735 trunk_z= 114.7mm grav_b=(+0.05,+0.01,-1.00) r=2.11m +[headless_play] t= 14.80s step= 740 trunk_z= 117.2mm grav_b=(+0.02,-0.07,-1.00) r=2.11m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(+0.05,-0.07,-1.00) r=2.12m +[headless_play] t= 15.00s step= 750 trunk_z= 108.5mm grav_b=(+0.07,+0.05,-1.00) r=2.16m +[headless_play] t= 15.10s step= 755 trunk_z= 120.5mm grav_b=(+0.08,+0.07,-0.99) r=2.19m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(+0.08,+0.03,-1.00) r=2.21m +[headless_play] t= 15.30s step= 765 trunk_z= 117.9mm grav_b=(+0.07,-0.07,-1.00) r=2.22m +[headless_play] t= 15.40s step= 770 trunk_z= 118.5mm grav_b=(+0.07,-0.05,-1.00) r=2.23m +[headless_play] t= 15.50s step= 775 trunk_z= 112.7mm grav_b=(+0.05,+0.03,-1.00) r=2.26m +[headless_play] t= 15.60s step= 780 trunk_z= 119.2mm grav_b=(+0.06,+0.04,-1.00) r=2.28m +[headless_play] t= 15.70s step= 785 trunk_z= 113.9mm grav_b=(+0.00,-0.02,-1.00) r=2.27m +[headless_play] t= 15.80s step= 790 trunk_z= 121.6mm grav_b=(+0.00,-0.08,-1.00) r=2.27m +[headless_play] t= 15.90s step= 795 trunk_z= 122.7mm grav_b=(+0.02,-0.07,-1.00) r=2.28m +[headless_play] t= 16.00s step= 800 trunk_z= 116.2mm grav_b=(+0.02,+0.01,-1.00) r=2.31m +[headless_play] t= 16.10s step= 805 trunk_z= 125.6mm grav_b=(+0.06,+0.01,-1.00) r=2.34m +[headless_play] t= 16.20s step= 810 trunk_z= 120.6mm grav_b=(+0.01,-0.01,-1.00) r=2.35m +[headless_play] t= 16.30s step= 815 trunk_z= 121.2mm grav_b=(+0.02,-0.05,-1.00) r=2.36m +[headless_play] t= 16.40s step= 820 trunk_z= 123.2mm grav_b=(+0.03,-0.02,-1.00) r=2.37m +[headless_play] t= 16.50s step= 825 trunk_z= 114.7mm grav_b=(+0.01,+0.02,-1.00) r=2.39m +[headless_play] t= 16.60s step= 830 trunk_z= 115.1mm grav_b=(-0.03,-0.01,-1.00) r=2.38m +[headless_play] t= 16.70s step= 835 trunk_z= 115.7mm grav_b=(-0.05,-0.02,-1.00) r=2.39m +[headless_play] t= 16.80s step= 840 trunk_z= 115.3mm grav_b=(-0.12,-0.01,-0.99) r=2.38m +[headless_play] t= 16.90s step= 845 trunk_z= 113.1mm grav_b=(-0.09,-0.05,-0.99) r=2.37m +[headless_play] t= 17.00s step= 850 trunk_z= 115.1mm grav_b=(-0.03,-0.02,-1.00) r=2.36m +[headless_play] t= 17.10s step= 855 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=2.36m +[headless_play] t= 17.20s step= 860 trunk_z= 114.9mm grav_b=(-0.03,-0.01,-1.00) r=2.35m +[headless_play] t= 17.30s step= 865 trunk_z= 114.9mm grav_b=(-0.03,-0.01,-1.00) r=2.35m +[headless_play] t= 17.40s step= 870 trunk_z= 115.3mm grav_b=(-0.01,-0.01,-1.00) r=2.35m +[headless_play] t= 17.50s step= 875 trunk_z= 115.1mm grav_b=(-0.02,-0.01,-1.00) r=2.35m +[headless_play] t= 17.60s step= 880 trunk_z= 115.2mm grav_b=(-0.02,-0.01,-1.00) r=2.35m +[headless_play] t= 17.70s step= 885 trunk_z= 115.1mm grav_b=(-0.02,-0.01,-1.00) r=2.35m +[headless_play] t= 17.80s step= 890 trunk_z= 117.8mm grav_b=(+0.08,+0.01,-1.00) r=2.37m +[headless_play] t= 17.90s step= 895 trunk_z= 120.4mm grav_b=(+0.09,-0.01,-1.00) r=2.37m +[headless_play] t= 18.00s step= 900 trunk_z= 120.6mm grav_b=(+0.08,-0.09,-0.99) r=2.38m +[headless_play] t= 18.10s step= 905 trunk_z= 123.5mm grav_b=(+0.04,-0.07,-1.00) r=2.39m +[headless_play] t= 18.20s step= 910 trunk_z= 115.6mm grav_b=(-0.03,-0.01,-1.00) r=2.41m +[headless_play] t= 18.30s step= 915 trunk_z= 115.8mm grav_b=(-0.08,-0.01,-1.00) r=2.41m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(-0.09,-0.01,-1.00) r=2.41m +[headless_play] t= 18.50s step= 925 trunk_z= 115.8mm grav_b=(-0.10,-0.00,-1.00) r=2.41m +[headless_play] t= 18.60s step= 930 trunk_z= 115.3mm grav_b=(-0.07,-0.02,-1.00) r=2.42m +[headless_play] t= 18.70s step= 935 trunk_z= 118.9mm grav_b=(+0.08,+0.01,-1.00) r=2.43m +[headless_play] t= 18.80s step= 940 trunk_z= 121.5mm grav_b=(+0.08,-0.02,-1.00) r=2.43m +[headless_play] t= 18.90s step= 945 trunk_z= 122.4mm grav_b=(+0.07,-0.07,-0.99) r=2.43m +[headless_play] t= 19.00s step= 950 trunk_z= 126.3mm grav_b=(+0.03,-0.06,-1.00) r=2.44m +[headless_play] t= 19.10s step= 955 trunk_z= 115.7mm grav_b=(-0.04,-0.02,-1.00) r=2.46m +[headless_play] t= 19.20s step= 960 trunk_z= 114.0mm grav_b=(-0.07,-0.01,-1.00) r=2.46m +[headless_play] t= 19.30s step= 965 trunk_z= 115.2mm grav_b=(-0.11,-0.02,-0.99) r=2.46m +[headless_play] t= 19.40s step= 970 trunk_z= 115.2mm grav_b=(-0.08,-0.02,-1.00) r=2.46m +[headless_play] t= 19.50s step= 975 trunk_z= 115.3mm grav_b=(+0.01,-0.02,-1.00) r=2.46m +[headless_play] t= 19.60s step= 980 trunk_z= 115.1mm grav_b=(+0.04,+0.00,-1.00) r=2.46m +[headless_play] t= 19.70s step= 985 trunk_z= 115.0mm grav_b=(+0.03,-0.00,-1.00) r=2.46m +[headless_play] t= 19.80s step= 990 trunk_z= 114.7mm grav_b=(+0.00,-0.01,-1.00) r=2.46m +[headless_play] t= 19.90s step= 995 trunk_z= 114.8mm grav_b=(+0.01,-0.01,-1.00) r=2.46m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.7mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 20.10s step=1005 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00) r=0.33m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t3.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..416173d62a135c6a8e3dabeb453a8b94531a9682 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t3.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.392,-17.927,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.8mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(+0.02,+0.02,-1.00) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 114.2mm grav_b=(+0.04,+0.04,-1.00) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 113.6mm grav_b=(+0.04,-0.04,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 109.5mm grav_b=(+0.05,-0.12,-0.99) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 117.5mm grav_b=(+0.06,-0.12,-0.99) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 115.0mm grav_b=(+0.05,-0.11,-0.99) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 115.1mm grav_b=(+0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.07,+0.01,-1.00) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 113.7mm grav_b=(+0.08,-0.02,-1.00) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 120.3mm grav_b=(+0.06,-0.11,-0.99) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 119.9mm grav_b=(+0.07,-0.13,-0.99) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 114.2mm grav_b=(+0.05,-0.04,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 118.4mm grav_b=(+0.03,-0.01,-1.00) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(+0.08,-0.01,-1.00) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 112.2mm grav_b=(+0.09,-0.09,-0.99) r=0.29m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(+0.09,-0.10,-0.99) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 114.9mm grav_b=(+0.06,-0.06,-1.00) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 116.9mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.03,-0.04,-1.00) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 112.5mm grav_b=(+0.03,-0.09,-1.00) r=0.31m +[headless_play] t= 2.10s step= 105 trunk_z= 116.0mm grav_b=(+0.07,-0.09,-0.99) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 113.0mm grav_b=(+0.05,-0.05,-1.00) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(+0.01,-0.07,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 114.0mm grav_b=(+0.02,-0.10,-1.00) r=0.35m +[headless_play] t= 2.60s step= 130 trunk_z= 120.6mm grav_b=(+0.03,-0.09,-1.00) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 116.3mm grav_b=(+0.07,-0.10,-0.99) r=0.37m +[headless_play] t= 2.80s step= 140 trunk_z= 113.1mm grav_b=(+0.04,-0.01,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 119.0mm grav_b=(+0.04,-0.00,-1.00) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 114.8mm grav_b=(+0.09,-0.01,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(+0.08,-0.10,-0.99) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 124.0mm grav_b=(+0.09,-0.25,-0.96) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 123.7mm grav_b=(+0.09,-0.31,-0.95) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.03,-0.30,-0.95) r=0.43m +[headless_play] t= 3.50s step= 175 trunk_z= 119.0mm grav_b=(-0.02,-0.29,-0.96) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 129.3mm grav_b=(+0.12,-0.31,-0.94) r=0.48m +[headless_play] t= 3.70s step= 185 trunk_z= 112.4mm grav_b=(+0.49,-0.22,-0.85) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 120.6mm grav_b=(+0.46,+0.01,-0.89) r=0.53m +[headless_play] RESET at t= 3.90s step= 195 (env termination, not a recovery) +[headless_play] t= 3.90s step= 195 trunk_z= 127.6mm grav_b=(-0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 4.00s step= 200 trunk_z= 115.9mm grav_b=(-0.03,+0.00,-1.00) r=0.34m +[headless_play] t= 4.10s step= 205 trunk_z= 116.2mm grav_b=(-0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 118.3mm grav_b=(-0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 5.10s step= 255 trunk_z= 117.8mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 5.30s step= 265 trunk_z= 118.2mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 5.50s step= 275 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 5.60s step= 280 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.35m +[headless_play] t= 5.90s step= 295 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 6.00s step= 300 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 6.10s step= 305 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 6.30s step= 315 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 6.40s step= 320 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 6.50s step= 325 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 6.60s step= 330 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 6.70s step= 335 trunk_z= 118.6mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 6.80s step= 340 trunk_z= 118.4mm grav_b=(+0.02,+0.01,-1.00) r=0.34m +[headless_play] t= 6.90s step= 345 trunk_z= 117.8mm grav_b=(-0.00,+0.00,-1.00) r=0.34m +[headless_play] t= 7.00s step= 350 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 7.10s step= 355 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 7.20s step= 360 trunk_z= 117.8mm grav_b=(+0.00,-0.00,-1.00) r=0.34m +[headless_play] t= 7.30s step= 365 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.34m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(+0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 117.3mm grav_b=(+0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 7.80s step= 390 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 7.90s step= 395 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 8.00s step= 400 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 8.10s step= 405 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 8.30s step= 415 trunk_z= 118.6mm grav_b=(+0.03,-0.03,-1.00) r=0.34m +[headless_play] t= 8.40s step= 420 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 8.50s step= 425 trunk_z= 118.1mm grav_b=(+0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 8.60s step= 430 trunk_z= 117.9mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 8.70s step= 435 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] t= 8.80s step= 440 trunk_z= 117.2mm grav_b=(+0.03,-0.02,-1.00) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 117.1mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 9.00s step= 450 trunk_z= 116.9mm grav_b=(+0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 9.10s step= 455 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 9.20s step= 460 trunk_z= 117.2mm grav_b=(-0.05,-0.02,-1.00) r=0.34m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(-0.06,-0.07,-1.00) r=0.35m +[headless_play] t= 9.40s step= 470 trunk_z= 120.2mm grav_b=(+0.04,-0.04,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 114.7mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 9.60s step= 480 trunk_z= 113.6mm grav_b=(+0.04,-0.03,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 118.7mm grav_b=(+0.03,-0.09,-1.00) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(+0.06,-0.05,-1.00) r=0.37m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(+0.04,-0.03,-1.00) r=0.37m +[headless_play] t= 10.00s step= 500 trunk_z= 117.3mm grav_b=(-0.02,-0.04,-1.00) r=0.38m +[headless_play] t= 10.10s step= 505 trunk_z= 117.3mm grav_b=(-0.06,-0.03,-1.00) r=0.38m +[headless_play] t= 10.20s step= 510 trunk_z= 117.6mm grav_b=(-0.07,-0.05,-1.00) r=0.38m +[headless_play] t= 10.30s step= 515 trunk_z= 114.3mm grav_b=(+0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(+0.04,-0.02,-1.00) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 10.60s step= 530 trunk_z= 115.9mm grav_b=(+0.07,-0.03,-1.00) r=0.38m +[headless_play] t= 10.70s step= 535 trunk_z= 118.4mm grav_b=(+0.14,-0.01,-0.99) r=0.39m +[headless_play] t= 10.80s step= 540 trunk_z= 121.5mm grav_b=(+0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 128.3mm grav_b=(+0.04,+0.01,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 119.3mm grav_b=(-0.02,-0.07,-1.00) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 123.7mm grav_b=(-0.04,-0.12,-0.99) r=0.39m +[headless_play] t= 11.20s step= 560 trunk_z= 118.2mm grav_b=(-0.05,-0.07,-1.00) r=0.40m +[headless_play] t= 11.30s step= 565 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 114.6mm grav_b=(-0.02,-0.08,-1.00) r=0.38m +[headless_play] t= 11.50s step= 575 trunk_z= 121.3mm grav_b=(-0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 11.60s step= 580 trunk_z= 117.8mm grav_b=(-0.00,-0.06,-1.00) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 119.3mm grav_b=(-0.00,+0.03,-1.00) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 121.6mm grav_b=(-0.00,+0.01,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 115.0mm grav_b=(-0.01,-0.05,-1.00) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 124.9mm grav_b=(-0.01,-0.10,-0.99) r=0.40m +[headless_play] t= 12.10s step= 605 trunk_z= 127.3mm grav_b=(+0.03,-0.21,-0.98) r=0.39m +[headless_play] t= 12.20s step= 610 trunk_z= 119.4mm grav_b=(+0.03,-0.15,-0.99) r=0.38m +[headless_play] t= 12.30s step= 615 trunk_z= 117.7mm grav_b=(-0.03,-0.20,-0.98) r=0.39m +[headless_play] t= 12.40s step= 620 trunk_z= 131.7mm grav_b=(+0.05,-0.15,-0.99) r=0.39m +[headless_play] t= 12.50s step= 625 trunk_z= 118.2mm grav_b=(-0.02,-0.10,-1.00) r=0.39m +[headless_play] t= 12.60s step= 630 trunk_z= 128.9mm grav_b=(-0.01,-0.08,-1.00) r=0.41m +[headless_play] t= 12.70s step= 635 trunk_z= 122.5mm grav_b=(+0.01,-0.05,-1.00) r=0.43m +[headless_play] t= 12.80s step= 640 trunk_z= 119.2mm grav_b=(+0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 118.4mm grav_b=(+0.03,-0.08,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 126.1mm grav_b=(+0.02,-0.12,-0.99) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 123.9mm grav_b=(+0.01,-0.11,-0.99) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(+0.02,+0.03,-1.00) r=0.46m +[headless_play] t= 13.30s step= 665 trunk_z= 125.4mm grav_b=(+0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 124.0mm grav_b=(-0.00,-0.09,-1.00) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 124.5mm grav_b=(-0.01,-0.12,-0.99) r=0.44m +[headless_play] t= 13.70s step= 685 trunk_z= 120.1mm grav_b=(+0.00,-0.03,-1.00) r=0.46m +[headless_play] t= 13.80s step= 690 trunk_z= 125.2mm grav_b=(-0.03,+0.02,-1.00) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 120.3mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 14.00s step= 700 trunk_z= 125.4mm grav_b=(-0.02,-0.10,-1.00) r=0.42m +[headless_play] t= 14.10s step= 705 trunk_z= 128.6mm grav_b=(+0.00,-0.14,-0.99) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 130.3mm grav_b=(-0.00,-0.17,-0.99) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 122.3mm grav_b=(+0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 130.8mm grav_b=(+0.05,-0.06,-1.00) r=0.45m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(+0.01,-0.08,-1.00) r=0.45m +[headless_play] t= 14.60s step= 730 trunk_z= 131.7mm grav_b=(-0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 121.6mm grav_b=(-0.02,-0.04,-1.00) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 125.8mm grav_b=(-0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 127.0mm grav_b=(-0.00,-0.02,-1.00) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 121.8mm grav_b=(-0.06,-0.14,-0.99) r=0.49m +[headless_play] t= 15.10s step= 755 trunk_z= 130.6mm grav_b=(-0.06,-0.21,-0.98) r=0.47m +[headless_play] t= 15.20s step= 760 trunk_z= 130.4mm grav_b=(-0.03,-0.26,-0.96) r=0.46m +[headless_play] t= 15.30s step= 765 trunk_z= 120.1mm grav_b=(+0.01,-0.22,-0.97) r=0.46m +[headless_play] t= 15.40s step= 770 trunk_z= 108.2mm grav_b=(-0.00,-0.13,-0.99) r=0.46m +[headless_play] t= 15.50s step= 775 trunk_z= 137.8mm grav_b=(+0.02,-0.04,-1.00) r=0.46m +[headless_play] t= 15.60s step= 780 trunk_z= 122.7mm grav_b=(-0.01,-0.07,-1.00) r=0.45m +[headless_play] t= 15.70s step= 785 trunk_z= 126.2mm grav_b=(-0.08,-0.16,-0.98) r=0.44m +[headless_play] t= 15.80s step= 790 trunk_z= 125.5mm grav_b=(-0.06,-0.14,-0.99) r=0.45m +[headless_play] t= 15.90s step= 795 trunk_z= 118.4mm grav_b=(-0.05,-0.02,-1.00) r=0.48m +[headless_play] t= 16.00s step= 800 trunk_z= 130.1mm grav_b=(-0.01,+0.09,-1.00) r=0.52m +[headless_play] t= 16.10s step= 805 trunk_z= 133.8mm grav_b=(+0.02,+0.16,-0.99) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 135.6mm grav_b=(-0.05,+0.11,-0.99) r=0.54m +[headless_play] t= 16.30s step= 815 trunk_z= 131.6mm grav_b=(-0.06,+0.06,-1.00) r=0.54m +[headless_play] t= 16.40s step= 820 trunk_z= 123.2mm grav_b=(-0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 16.50s step= 825 trunk_z= 119.0mm grav_b=(+0.02,-0.05,-1.00) r=0.56m +[headless_play] t= 16.60s step= 830 trunk_z= 118.5mm grav_b=(+0.02,-0.06,-1.00) r=0.55m +[headless_play] t= 16.70s step= 835 trunk_z= 114.8mm grav_b=(+0.01,-0.09,-1.00) r=0.52m +[headless_play] t= 16.80s step= 840 trunk_z= 123.8mm grav_b=(+0.00,-0.09,-1.00) r=0.50m +[headless_play] t= 16.90s step= 845 trunk_z= 114.6mm grav_b=(-0.03,-0.04,-1.00) r=0.52m +[headless_play] t= 17.00s step= 850 trunk_z= 118.2mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 120.1mm grav_b=(+0.00,+0.01,-1.00) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 113.6mm grav_b=(+0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 120.4mm grav_b=(+0.03,-0.07,-1.00) r=0.50m +[headless_play] t= 17.40s step= 870 trunk_z= 118.4mm grav_b=(+0.06,-0.12,-0.99) r=0.51m +[headless_play] t= 17.50s step= 875 trunk_z= 111.4mm grav_b=(+0.04,-0.05,-1.00) r=0.53m +[headless_play] t= 17.60s step= 880 trunk_z= 117.8mm grav_b=(-0.04,-0.04,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 117.2mm grav_b=(-0.02,-0.06,-1.00) r=0.54m +[headless_play] t= 17.80s step= 890 trunk_z= 116.2mm grav_b=(-0.01,-0.10,-1.00) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 121.6mm grav_b=(+0.01,-0.11,-0.99) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 116.0mm grav_b=(+0.06,-0.12,-0.99) r=0.54m +[headless_play] t= 18.10s step= 905 trunk_z= 110.6mm grav_b=(+0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 18.20s step= 910 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.60m +[headless_play] t= 18.30s step= 915 trunk_z= 112.0mm grav_b=(+0.11,-0.01,-0.99) r=0.62m +[headless_play] t= 18.40s step= 920 trunk_z= 115.1mm grav_b=(+0.07,-0.09,-0.99) r=0.64m +[headless_play] t= 18.50s step= 925 trunk_z= 121.4mm grav_b=(+0.03,-0.10,-0.99) r=0.66m +[headless_play] t= 18.60s step= 930 trunk_z= 114.9mm grav_b=(+0.02,-0.06,-1.00) r=0.68m +[headless_play] t= 18.70s step= 935 trunk_z= 119.2mm grav_b=(-0.03,+0.03,-1.00) r=0.71m +[headless_play] t= 18.80s step= 940 trunk_z= 121.8mm grav_b=(-0.00,+0.01,-1.00) r=0.71m +[headless_play] t= 18.90s step= 945 trunk_z= 115.3mm grav_b=(-0.00,-0.02,-1.00) r=0.71m +[headless_play] t= 19.00s step= 950 trunk_z= 121.6mm grav_b=(+0.01,-0.09,-1.00) r=0.71m +[headless_play] t= 19.10s step= 955 trunk_z= 116.0mm grav_b=(+0.07,-0.09,-0.99) r=0.73m +[headless_play] t= 19.20s step= 960 trunk_z= 110.6mm grav_b=(+0.07,+0.07,-1.00) r=0.78m +[headless_play] t= 19.30s step= 965 trunk_z= 120.0mm grav_b=(+0.07,+0.09,-0.99) r=0.80m +[headless_play] t= 19.40s step= 970 trunk_z= 117.1mm grav_b=(+0.07,+0.07,-0.99) r=0.83m +[headless_play] t= 19.50s step= 975 trunk_z= 116.5mm grav_b=(+0.05,-0.08,-1.00) r=0.85m +[headless_play] t= 19.60s step= 980 trunk_z= 125.8mm grav_b=(-0.00,-0.12,-0.99) r=0.88m +[headless_play] t= 19.70s step= 985 trunk_z= 116.1mm grav_b=(-0.03,-0.09,-1.00) r=0.91m +[headless_play] t= 19.80s step= 990 trunk_z= 119.2mm grav_b=(-0.13,+0.03,-0.99) r=0.91m +[headless_play] t= 19.90s step= 995 trunk_z= 121.2mm grav_b=(-0.08,-0.06,-0.99) r=0.89m +[headless_play] t= 20.00s step=1000 trunk_z= 103.4mm grav_b=(+0.00,-0.12,-0.99) r=0.86m +[headless_play] t= 20.10s step=1005 trunk_z= 106.5mm grav_b=(+0.11,-0.05,-0.99) r=0.88m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t4.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..0c56f7e2e85308c5deb864c5f143eff9c293d79d --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t4.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.426,-17.782,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.02,+0.06,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 119.7mm grav_b=(+0.06,+0.07,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 118.4mm grav_b=(+0.06,+0.04,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 120.9mm grav_b=(+0.09,-0.03,-1.00) r=0.54m +[headless_play] t= 0.50s step= 25 trunk_z= 122.2mm grav_b=(+0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 119.4mm grav_b=(+0.04,+0.08,-1.00) r=0.58m +[headless_play] t= 0.70s step= 35 trunk_z= 129.8mm grav_b=(+0.04,+0.13,-0.99) r=0.60m +[headless_play] t= 0.80s step= 40 trunk_z= 128.6mm grav_b=(+0.07,+0.16,-0.98) r=0.63m +[headless_play] t= 0.90s step= 45 trunk_z= 117.6mm grav_b=(+0.04,+0.09,-0.99) r=0.67m +[headless_play] t= 1.00s step= 50 trunk_z= 126.3mm grav_b=(+0.05,+0.09,-0.99) r=0.70m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(+0.02,+0.07,-1.00) r=0.74m +[headless_play] t= 1.20s step= 60 trunk_z= 124.9mm grav_b=(+0.02,+0.08,-1.00) r=0.77m +[headless_play] t= 1.30s step= 65 trunk_z= 124.0mm grav_b=(+0.01,+0.10,-0.99) r=0.80m +[headless_play] t= 1.40s step= 70 trunk_z= 115.9mm grav_b=(+0.02,-0.03,-1.00) r=0.83m +[headless_play] t= 1.50s step= 75 trunk_z= 125.8mm grav_b=(-0.01,-0.10,-0.99) r=0.84m +[headless_play] t= 1.60s step= 80 trunk_z= 126.7mm grav_b=(+0.01,-0.10,-0.99) r=0.84m +[headless_play] t= 1.70s step= 85 trunk_z= 122.0mm grav_b=(+0.07,-0.05,-1.00) r=0.85m +[headless_play] t= 1.80s step= 90 trunk_z= 120.0mm grav_b=(+0.09,+0.03,-1.00) r=0.85m +[headless_play] t= 1.90s step= 95 trunk_z= 128.9mm grav_b=(+0.13,+0.10,-0.99) r=0.86m +[headless_play] t= 2.00s step= 100 trunk_z= 121.4mm grav_b=(+0.07,+0.11,-0.99) r=0.90m +[headless_play] t= 2.10s step= 105 trunk_z= 125.2mm grav_b=(+0.16,+0.18,-0.97) r=0.94m +[headless_play] t= 2.20s step= 110 trunk_z= 113.0mm grav_b=(+0.16,+0.06,-0.99) r=0.98m +[headless_play] t= 2.30s step= 115 trunk_z= 113.6mm grav_b=(+0.08,+0.09,-0.99) r=1.00m +[headless_play] t= 2.40s step= 120 trunk_z= 120.5mm grav_b=(+0.15,+0.09,-0.98) r=1.02m +[headless_play] t= 2.50s step= 125 trunk_z= 119.7mm grav_b=(+0.02,+0.05,-1.00) r=1.06m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(+0.00,+0.02,-1.00) r=1.08m +[headless_play] t= 2.70s step= 135 trunk_z= 114.5mm grav_b=(+0.01,+0.08,-1.00) r=1.08m +[headless_play] t= 2.80s step= 140 trunk_z= 116.9mm grav_b=(+0.05,+0.06,-1.00) r=1.10m +[headless_play] t= 2.90s step= 145 trunk_z= 111.3mm grav_b=(+0.04,+0.03,-1.00) r=1.13m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(+0.06,-0.04,-1.00) r=1.16m +[headless_play] t= 3.10s step= 155 trunk_z= 114.7mm grav_b=(+0.09,+0.00,-1.00) r=1.16m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(+0.09,+0.04,-1.00) r=1.16m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(+0.06,+0.02,-1.00) r=1.18m +[headless_play] t= 3.40s step= 170 trunk_z= 115.6mm grav_b=(+0.06,-0.04,-1.00) r=1.21m +[headless_play] t= 3.50s step= 175 trunk_z= 114.9mm grav_b=(+0.09,+0.02,-1.00) r=1.21m +[headless_play] t= 3.60s step= 180 trunk_z= 114.8mm grav_b=(+0.09,+0.09,-0.99) r=1.20m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(+0.10,+0.05,-0.99) r=1.21m +[headless_play] t= 3.80s step= 190 trunk_z= 111.2mm grav_b=(+0.06,-0.04,-1.00) r=1.23m +[headless_play] t= 3.90s step= 195 trunk_z= 119.1mm grav_b=(+0.08,+0.02,-1.00) r=1.24m +[headless_play] t= 4.00s step= 200 trunk_z= 112.8mm grav_b=(+0.07,+0.11,-0.99) r=1.22m +[headless_play] t= 4.10s step= 205 trunk_z= 121.8mm grav_b=(+0.07,+0.09,-0.99) r=1.22m +[headless_play] t= 4.20s step= 210 trunk_z= 117.0mm grav_b=(+0.09,+0.09,-0.99) r=1.24m +[headless_play] t= 4.30s step= 215 trunk_z= 118.4mm grav_b=(+0.10,-0.01,-0.99) r=1.26m +[headless_play] t= 4.40s step= 220 trunk_z= 114.0mm grav_b=(+0.07,+0.06,-1.00) r=1.25m +[headless_play] t= 4.50s step= 225 trunk_z= 121.3mm grav_b=(+0.08,+0.09,-0.99) r=1.25m +[headless_play] t= 4.60s step= 230 trunk_z= 116.4mm grav_b=(+0.07,+0.08,-0.99) r=1.26m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.10,-0.02,-0.99) r=1.28m +[headless_play] t= 4.80s step= 240 trunk_z= 114.9mm grav_b=(+0.11,+0.05,-0.99) r=1.27m +[headless_play] t= 4.90s step= 245 trunk_z= 120.2mm grav_b=(+0.09,+0.11,-0.99) r=1.25m +[headless_play] t= 5.00s step= 250 trunk_z= 120.4mm grav_b=(+0.07,+0.08,-0.99) r=1.25m +[headless_play] t= 5.10s step= 255 trunk_z= 114.9mm grav_b=(+0.07,-0.02,-1.00) r=1.26m +[headless_play] t= 5.20s step= 260 trunk_z= 116.8mm grav_b=(+0.09,+0.03,-1.00) r=1.25m +[headless_play] t= 5.30s step= 265 trunk_z= 115.4mm grav_b=(+0.05,+0.10,-0.99) r=1.22m +[headless_play] t= 5.40s step= 270 trunk_z= 117.9mm grav_b=(+0.05,+0.10,-0.99) r=1.21m +[headless_play] t= 5.50s step= 275 trunk_z= 112.7mm grav_b=(+0.03,+0.03,-1.00) r=1.22m +[headless_play] t= 5.60s step= 280 trunk_z= 119.3mm grav_b=(+0.06,-0.05,-1.00) r=1.23m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(+0.08,-0.02,-1.00) r=1.21m +[headless_play] t= 5.80s step= 290 trunk_z= 116.6mm grav_b=(+0.07,+0.06,-1.00) r=1.18m +[headless_play] t= 5.90s step= 295 trunk_z= 116.8mm grav_b=(+0.06,+0.08,-1.00) r=1.16m +[headless_play] t= 6.00s step= 300 trunk_z= 113.2mm grav_b=(+0.06,-0.01,-1.00) r=1.15m +[headless_play] t= 6.10s step= 305 trunk_z= 118.2mm grav_b=(+0.07,-0.02,-1.00) r=1.14m +[headless_play] t= 6.20s step= 310 trunk_z= 110.1mm grav_b=(+0.02,+0.05,-1.00) r=1.13m +[headless_play] t= 6.30s step= 315 trunk_z= 119.2mm grav_b=(+0.00,+0.07,-1.00) r=1.11m +[headless_play] t= 6.40s step= 320 trunk_z= 120.0mm grav_b=(+0.06,+0.09,-0.99) r=1.10m +[headless_play] t= 6.50s step= 325 trunk_z= 114.5mm grav_b=(+0.05,-0.02,-1.00) r=1.09m +[headless_play] t= 6.60s step= 330 trunk_z= 118.3mm grav_b=(+0.06,+0.01,-1.00) r=1.08m +[headless_play] t= 6.70s step= 335 trunk_z= 114.0mm grav_b=(+0.03,+0.05,-1.00) r=1.07m +[headless_play] t= 6.80s step= 340 trunk_z= 120.0mm grav_b=(-0.03,+0.05,-1.00) r=1.05m +[headless_play] t= 6.90s step= 345 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=1.03m +[headless_play] t= 7.00s step= 350 trunk_z= 119.4mm grav_b=(+0.02,-0.02,-1.00) r=1.02m +[headless_play] t= 7.10s step= 355 trunk_z= 114.1mm grav_b=(+0.02,+0.05,-1.00) r=1.01m +[headless_play] t= 7.20s step= 360 trunk_z= 125.3mm grav_b=(+0.08,+0.10,-0.99) r=1.00m +[headless_play] t= 7.30s step= 365 trunk_z= 127.8mm grav_b=(+0.08,+0.13,-0.99) r=0.98m +[headless_play] t= 7.40s step= 370 trunk_z= 128.5mm grav_b=(+0.05,+0.19,-0.98) r=0.96m +[headless_play] t= 7.50s step= 375 trunk_z= 120.4mm grav_b=(+0.06,+0.12,-0.99) r=0.92m +[headless_play] t= 7.60s step= 380 trunk_z= 122.2mm grav_b=(+0.07,+0.11,-0.99) r=0.91m +[headless_play] t= 7.70s step= 385 trunk_z= 122.2mm grav_b=(+0.05,+0.09,-1.00) r=0.89m +[headless_play] t= 7.80s step= 390 trunk_z= 127.0mm grav_b=(+0.04,+0.14,-0.99) r=0.87m +[headless_play] t= 7.90s step= 395 trunk_z= 119.7mm grav_b=(+0.03,+0.08,-1.00) r=0.84m +[headless_play] t= 8.00s step= 400 trunk_z= 123.6mm grav_b=(+0.05,+0.05,-1.00) r=0.81m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(+0.05,+0.08,-1.00) r=0.82m +[headless_play] t= 8.20s step= 410 trunk_z= 118.9mm grav_b=(+0.02,+0.08,-1.00) r=0.81m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(-0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(-0.03,+0.02,-1.00) r=0.81m +[headless_play] t= 8.50s step= 425 trunk_z= 116.8mm grav_b=(-0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 8.60s step= 430 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.81m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.81m +[headless_play] t= 8.80s step= 440 trunk_z= 116.9mm grav_b=(+0.00,+0.03,-1.00) r=0.81m +[headless_play] t= 8.90s step= 445 trunk_z= 117.1mm grav_b=(+0.02,+0.03,-1.00) r=0.80m +[headless_play] t= 9.00s step= 450 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 9.40s step= 470 trunk_z= 116.7mm grav_b=(-0.01,+0.03,-1.00) r=0.81m +[headless_play] t= 9.50s step= 475 trunk_z= 116.5mm grav_b=(-0.08,+0.02,-1.00) r=0.81m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(+0.04,+0.02,-1.00) r=0.80m +[headless_play] t= 9.70s step= 485 trunk_z= 115.8mm grav_b=(+0.08,+0.00,-1.00) r=0.80m +[headless_play] t= 9.80s step= 490 trunk_z= 117.4mm grav_b=(+0.05,+0.09,-0.99) r=0.81m +[headless_play] t= 9.90s step= 495 trunk_z= 120.5mm grav_b=(+0.06,+0.09,-0.99) r=0.81m +[headless_play] t= 10.00s step= 500 trunk_z= 119.5mm grav_b=(+0.07,+0.05,-1.00) r=0.80m +[headless_play] t= 10.10s step= 505 trunk_z= 119.2mm grav_b=(+0.08,+0.05,-1.00) r=0.80m +[headless_play] t= 10.20s step= 510 trunk_z= 118.2mm grav_b=(+0.06,+0.04,-1.00) r=0.80m +[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(+0.08,+0.04,-1.00) r=0.80m +[headless_play] t= 10.40s step= 520 trunk_z= 120.6mm grav_b=(+0.12,-0.01,-0.99) r=0.78m +[headless_play] t= 10.50s step= 525 trunk_z= 118.0mm grav_b=(+0.11,-0.04,-0.99) r=0.77m +[headless_play] t= 10.60s step= 530 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.74m +[headless_play] t= 10.70s step= 535 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.72m +[headless_play] t= 10.80s step= 540 trunk_z= 115.0mm grav_b=(+0.01,+0.07,-1.00) r=0.73m +[headless_play] t= 10.90s step= 545 trunk_z= 118.6mm grav_b=(+0.07,+0.05,-1.00) r=0.72m +[headless_play] t= 11.00s step= 550 trunk_z= 120.3mm grav_b=(+0.17,+0.04,-0.98) r=0.71m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.13,-0.14,-0.98) r=0.70m +[headless_play] t= 11.20s step= 560 trunk_z= 114.6mm grav_b=(+0.14,-0.09,-0.99) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 99.7mm grav_b=(+0.01,-0.04,-1.00) r=0.66m +[headless_play] t= 11.40s step= 570 trunk_z= 110.0mm grav_b=(+0.00,+0.04,-1.00) r=0.67m +[headless_play] t= 11.50s step= 575 trunk_z= 119.3mm grav_b=(+0.08,+0.02,-1.00) r=0.68m +[headless_play] t= 11.60s step= 580 trunk_z= 121.4mm grav_b=(+0.00,+0.01,-1.00) r=0.66m +[headless_play] t= 11.70s step= 585 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.65m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(+0.04,+0.04,-1.00) r=0.65m +[headless_play] t= 11.90s step= 595 trunk_z= 118.1mm grav_b=(+0.07,+0.08,-0.99) r=0.66m +[headless_play] t= 12.00s step= 600 trunk_z= 118.9mm grav_b=(+0.16,+0.05,-0.99) r=0.68m +[headless_play] t= 12.10s step= 605 trunk_z= 106.7mm grav_b=(+0.04,-0.02,-1.00) r=0.71m +[headless_play] t= 12.20s step= 610 trunk_z= 121.7mm grav_b=(+0.05,+0.03,-1.00) r=0.73m +[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(+0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(-0.01,+0.05,-1.00) r=0.76m +[headless_play] t= 12.50s step= 625 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 12.60s step= 630 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.77m +[headless_play] t= 12.70s step= 635 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.77m +[headless_play] t= 12.80s step= 640 trunk_z= 115.8mm grav_b=(+0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 12.90s step= 645 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.77m +[headless_play] t= 13.00s step= 650 trunk_z= 115.9mm grav_b=(+0.06,+0.02,-1.00) r=0.77m +[headless_play] t= 13.10s step= 655 trunk_z= 116.0mm grav_b=(+0.05,+0.02,-1.00) r=0.77m +[headless_play] t= 13.20s step= 660 trunk_z= 115.8mm grav_b=(+0.04,+0.01,-1.00) r=0.77m +[headless_play] t= 13.30s step= 665 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 13.50s step= 675 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 13.60s step= 680 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 13.70s step= 685 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.77m +[headless_play] t= 13.80s step= 690 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.20s step= 710 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.30s step= 715 trunk_z= 115.8mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.40s step= 720 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.50s step= 725 trunk_z= 115.7mm grav_b=(+0.04,+0.02,-1.00) r=0.77m +[headless_play] t= 14.60s step= 730 trunk_z= 116.0mm grav_b=(-0.00,+0.03,-1.00) r=0.77m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.76m +[headless_play] t= 14.80s step= 740 trunk_z= 111.1mm grav_b=(+0.04,-0.01,-1.00) r=0.75m +[headless_play] t= 14.90s step= 745 trunk_z= 111.7mm grav_b=(+0.03,+0.04,-1.00) r=0.75m +[headless_play] t= 15.00s step= 750 trunk_z= 115.4mm grav_b=(+0.12,-0.03,-0.99) r=0.75m +[headless_play] t= 15.10s step= 755 trunk_z= 116.6mm grav_b=(+0.11,+0.07,-0.99) r=0.76m +[headless_play] t= 15.20s step= 760 trunk_z= 123.9mm grav_b=(+0.04,+0.07,-1.00) r=0.76m +[headless_play] t= 15.30s step= 765 trunk_z= 114.9mm grav_b=(+0.05,-0.00,-1.00) r=0.76m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(+0.03,+0.03,-1.00) r=0.76m +[headless_play] t= 15.50s step= 775 trunk_z= 114.9mm grav_b=(+0.06,+0.03,-1.00) r=0.76m +[headless_play] t= 15.60s step= 780 trunk_z= 115.6mm grav_b=(+0.06,+0.01,-1.00) r=0.76m +[headless_play] t= 15.70s step= 785 trunk_z= 115.2mm grav_b=(+0.03,+0.02,-1.00) r=0.76m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.76m +[headless_play] t= 15.90s step= 795 trunk_z= 115.3mm grav_b=(+0.04,+0.01,-1.00) r=0.76m +[headless_play] t= 16.00s step= 800 trunk_z= 115.4mm grav_b=(+0.03,+0.01,-1.00) r=0.76m +[headless_play] t= 16.10s step= 805 trunk_z= 115.4mm grav_b=(+0.04,+0.01,-1.00) r=0.76m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(-0.04,+0.01,-1.00) r=0.76m +[headless_play] t= 16.30s step= 815 trunk_z= 114.7mm grav_b=(-0.04,+0.08,-1.00) r=0.77m +[headless_play] t= 16.40s step= 820 trunk_z= 114.9mm grav_b=(+0.06,+0.14,-0.99) r=0.79m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(+0.09,+0.17,-0.98) r=0.80m +[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(+0.10,+0.18,-0.98) r=0.80m +[headless_play] t= 16.70s step= 835 trunk_z= 114.3mm grav_b=(+0.14,+0.06,-0.99) r=0.80m +[headless_play] t= 16.80s step= 840 trunk_z= 119.5mm grav_b=(+0.17,+0.07,-0.98) r=0.82m +[headless_play] t= 16.90s step= 845 trunk_z= 114.4mm grav_b=(+0.14,+0.09,-0.99) r=0.85m +[headless_play] t= 17.00s step= 850 trunk_z= 134.3mm grav_b=(+0.06,+0.07,-1.00) r=0.87m +[headless_play] t= 17.10s step= 855 trunk_z= 103.5mm grav_b=(-0.02,+0.00,-1.00) r=0.89m +[headless_play] t= 17.20s step= 860 trunk_z= 119.0mm grav_b=(+0.00,+0.03,-1.00) r=0.92m +[headless_play] t= 17.30s step= 865 trunk_z= 114.4mm grav_b=(+0.03,+0.11,-0.99) r=0.95m +[headless_play] t= 17.40s step= 870 trunk_z= 123.3mm grav_b=(+0.04,+0.13,-0.99) r=0.98m +[headless_play] t= 17.50s step= 875 trunk_z= 117.2mm grav_b=(+0.07,+0.09,-0.99) r=1.01m +[headless_play] t= 17.60s step= 880 trunk_z= 120.2mm grav_b=(+0.11,-0.08,-0.99) r=1.04m +[headless_play] t= 17.70s step= 885 trunk_z= 129.8mm grav_b=(+0.09,-0.05,-0.99) r=1.08m +[headless_play] t= 17.80s step= 890 trunk_z= 116.7mm grav_b=(+0.05,+0.05,-1.00) r=1.13m +[headless_play] t= 17.90s step= 895 trunk_z= 130.1mm grav_b=(+0.04,+0.04,-1.00) r=1.16m +[headless_play] t= 18.00s step= 900 trunk_z= 121.5mm grav_b=(+0.06,+0.07,-1.00) r=1.19m +[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(+0.11,+0.00,-0.99) r=1.22m +[headless_play] t= 18.20s step= 910 trunk_z= 114.2mm grav_b=(+0.07,+0.07,-1.00) r=1.25m +[headless_play] t= 18.30s step= 915 trunk_z= 124.7mm grav_b=(+0.05,+0.09,-0.99) r=1.29m +[headless_play] t= 18.40s step= 920 trunk_z= 121.2mm grav_b=(+0.06,+0.09,-0.99) r=1.32m +[headless_play] t= 18.50s step= 925 trunk_z= 118.7mm grav_b=(+0.03,+0.08,-1.00) r=1.35m +[headless_play] t= 18.60s step= 930 trunk_z= 117.0mm grav_b=(+0.12,+0.04,-0.99) r=1.37m +[headless_play] t= 18.70s step= 935 trunk_z= 115.8mm grav_b=(+0.09,+0.10,-0.99) r=1.40m +[headless_play] t= 18.80s step= 940 trunk_z= 123.7mm grav_b=(+0.09,+0.07,-0.99) r=1.43m +[headless_play] t= 18.90s step= 945 trunk_z= 107.6mm grav_b=(+0.05,-0.02,-1.00) r=1.49m +[headless_play] t= 19.00s step= 950 trunk_z= 118.7mm grav_b=(+0.04,+0.02,-1.00) r=1.51m +[headless_play] t= 19.10s step= 955 trunk_z= 114.8mm grav_b=(+0.07,+0.08,-0.99) r=1.51m +[headless_play] t= 19.20s step= 960 trunk_z= 121.2mm grav_b=(+0.08,+0.10,-0.99) r=1.51m +[headless_play] t= 19.30s step= 965 trunk_z= 114.2mm grav_b=(+0.08,+0.05,-1.00) r=1.53m +[headless_play] t= 19.40s step= 970 trunk_z= 120.1mm grav_b=(+0.05,-0.01,-1.00) r=1.55m +[headless_play] t= 19.50s step= 975 trunk_z= 114.5mm grav_b=(+0.05,+0.05,-1.00) r=1.54m +[headless_play] t= 19.60s step= 980 trunk_z= 119.4mm grav_b=(+0.12,+0.08,-0.99) r=1.53m +[headless_play] t= 19.70s step= 985 trunk_z= 117.8mm grav_b=(+0.07,+0.03,-1.00) r=1.54m +[headless_play] t= 19.80s step= 990 trunk_z= 118.9mm grav_b=(+0.04,-0.10,-0.99) r=1.56m +[headless_play] t= 19.90s step= 995 trunk_z= 124.8mm grav_b=(+0.05,-0.11,-0.99) r=1.57m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.05m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(-0.02,+0.03,-1.00) r=0.06m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t5.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..320d5335c339250069d4f5925402ad2645a710c7 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t5.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.132,-18.476,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.2mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(+0.02,-0.04,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.05,-0.05,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 113.3mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 111.6mm grav_b=(+0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 110.1mm grav_b=(+0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 120.9mm grav_b=(+0.03,-0.09,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 120.5mm grav_b=(+0.03,-0.12,-0.99) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 115.4mm grav_b=(+0.06,-0.00,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 110.0mm grav_b=(+0.08,-0.03,-1.00) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 117.7mm grav_b=(+0.06,-0.04,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 115.5mm grav_b=(+0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 114.3mm grav_b=(+0.01,+0.06,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(+0.05,+0.05,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 113.0mm grav_b=(+0.07,+0.01,-1.00) r=0.38m +[headless_play] t= 1.80s step= 90 trunk_z= 120.8mm grav_b=(+0.01,-0.05,-1.00) r=0.35m +[headless_play] t= 1.90s step= 95 trunk_z= 118.9mm grav_b=(-0.00,-0.02,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 108.5mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 2.10s step= 105 trunk_z= 117.9mm grav_b=(+0.03,+0.02,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 112.7mm grav_b=(+0.09,+0.01,-1.00) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 113.5mm grav_b=(+0.07,-0.05,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(+0.05,+0.03,-1.00) r=0.29m +[headless_play] t= 2.50s step= 125 trunk_z= 106.5mm grav_b=(-0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 111.2mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 114.7mm grav_b=(+0.04,-0.04,-1.00) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 115.6mm grav_b=(+0.05,-0.05,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 112.7mm grav_b=(+0.06,-0.03,-1.00) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 115.7mm grav_b=(+0.08,+0.04,-1.00) r=0.24m +[headless_play] t= 3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.07,+0.02,-1.00) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(+0.03,-0.05,-1.00) r=0.22m +[headless_play] t= 3.40s step= 170 trunk_z= 122.7mm grav_b=(+0.02,-0.10,-0.99) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 116.5mm grav_b=(+0.06,-0.11,-0.99) r=0.20m +[headless_play] t= 3.60s step= 180 trunk_z= 108.3mm grav_b=(+0.05,-0.02,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 115.8mm grav_b=(+0.08,+0.02,-1.00) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 118.1mm grav_b=(+0.04,+0.01,-1.00) r=0.22m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(+0.02,-0.06,-1.00) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 125.8mm grav_b=(-0.00,-0.11,-0.99) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 120.6mm grav_b=(+0.04,-0.13,-0.99) r=0.21m +[headless_play] t= 4.20s step= 210 trunk_z= 111.4mm grav_b=(+0.06,-0.12,-0.99) r=0.23m +[headless_play] t= 4.30s step= 215 trunk_z= 114.6mm grav_b=(+0.10,-0.02,-0.99) r=0.26m +[headless_play] t= 4.40s step= 220 trunk_z= 115.4mm grav_b=(+0.12,-0.04,-0.99) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 118.2mm grav_b=(+0.06,-0.11,-0.99) r=0.28m +[headless_play] t= 4.60s step= 230 trunk_z= 124.2mm grav_b=(-0.02,-0.08,-1.00) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 112.8mm grav_b=(-0.06,+0.05,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 122.5mm grav_b=(-0.02,+0.06,-1.00) r=0.35m +[headless_play] t= 4.90s step= 245 trunk_z= 124.1mm grav_b=(+0.01,+0.03,-1.00) r=0.35m +[headless_play] t= 5.00s step= 250 trunk_z= 116.8mm grav_b=(+0.03,-0.00,-1.00) r=0.32m +[headless_play] t= 5.10s step= 255 trunk_z= 120.2mm grav_b=(+0.02,-0.08,-1.00) r=0.31m +[headless_play] t= 5.20s step= 260 trunk_z= 119.8mm grav_b=(+0.00,-0.15,-0.99) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(+0.05,-0.13,-0.99) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 115.0mm grav_b=(+0.06,-0.03,-1.00) r=0.34m +[headless_play] t= 5.50s step= 275 trunk_z= 115.2mm grav_b=(+0.11,-0.01,-0.99) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 114.7mm grav_b=(+0.09,-0.04,-1.00) r=0.35m +[headless_play] t= 5.70s step= 285 trunk_z= 124.8mm grav_b=(+0.04,-0.08,-1.00) r=0.36m +[headless_play] t= 5.80s step= 290 trunk_z= 118.0mm grav_b=(+0.02,-0.08,-1.00) r=0.38m +[headless_play] t= 5.90s step= 295 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 6.00s step= 300 trunk_z= 119.2mm grav_b=(+0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 113.2mm grav_b=(+0.00,-0.03,-1.00) r=0.38m +[headless_play] t= 6.20s step= 310 trunk_z= 120.1mm grav_b=(+0.04,-0.11,-0.99) r=0.37m +[headless_play] t= 6.30s step= 315 trunk_z= 119.0mm grav_b=(+0.06,-0.14,-0.99) r=0.37m +[headless_play] t= 6.40s step= 320 trunk_z= 113.0mm grav_b=(+0.05,-0.06,-1.00) r=0.39m +[headless_play] t= 6.50s step= 325 trunk_z= 121.4mm grav_b=(+0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 6.60s step= 330 trunk_z= 121.8mm grav_b=(+0.03,-0.03,-1.00) r=0.40m +[headless_play] t= 6.70s step= 335 trunk_z= 124.3mm grav_b=(-0.01,-0.08,-1.00) r=0.39m +[headless_play] t= 6.80s step= 340 trunk_z= 125.2mm grav_b=(-0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 6.90s step= 345 trunk_z= 115.3mm grav_b=(-0.01,+0.03,-1.00) r=0.43m +[headless_play] t= 7.00s step= 350 trunk_z= 131.0mm grav_b=(+0.06,+0.14,-0.99) r=0.47m +[headless_play] t= 7.10s step= 355 trunk_z= 132.0mm grav_b=(+0.03,+0.17,-0.99) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 123.3mm grav_b=(-0.10,+0.13,-0.99) r=0.54m +[headless_play] t= 7.30s step= 365 trunk_z= 129.9mm grav_b=(+0.13,+0.12,-0.99) r=0.57m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(-0.03,-0.06,-1.00) r=0.62m +[headless_play] t= 7.50s step= 375 trunk_z= 121.5mm grav_b=(+0.11,-0.09,-0.99) r=0.65m +[headless_play] t= 7.60s step= 380 trunk_z= 105.5mm grav_b=(-0.03,-0.18,-0.98) r=0.70m +[headless_play] t= 7.70s step= 385 trunk_z= 119.0mm grav_b=(-0.06,-0.11,-0.99) r=0.73m +[headless_play] t= 7.80s step= 390 trunk_z= 110.9mm grav_b=(-0.16,+0.00,-0.99) r=0.77m +[headless_play] t= 7.90s step= 395 trunk_z= 121.9mm grav_b=(-0.12,+0.06,-0.99) r=0.79m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.77m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(-0.01,+0.01,-1.00) r=0.77m +[headless_play] t= 8.20s step= 410 trunk_z= 111.0mm grav_b=(-0.04,+0.07,-1.00) r=0.79m +[headless_play] t= 8.30s step= 415 trunk_z= 122.4mm grav_b=(+0.01,+0.06,-1.00) r=0.80m +[headless_play] t= 8.40s step= 420 trunk_z= 120.0mm grav_b=(+0.04,+0.02,-1.00) r=0.79m +[headless_play] t= 8.50s step= 425 trunk_z= 125.4mm grav_b=(+0.06,-0.06,-1.00) r=0.78m +[headless_play] t= 8.60s step= 430 trunk_z= 128.8mm grav_b=(+0.04,-0.04,-1.00) r=0.80m +[headless_play] t= 8.70s step= 435 trunk_z= 115.2mm grav_b=(-0.01,-0.03,-1.00) r=0.84m +[headless_play] t= 8.80s step= 440 trunk_z= 130.4mm grav_b=(+0.01,-0.02,-1.00) r=0.85m +[headless_play] t= 8.90s step= 445 trunk_z= 123.2mm grav_b=(-0.03,-0.05,-1.00) r=0.85m +[headless_play] t= 9.00s step= 450 trunk_z= 126.1mm grav_b=(-0.07,-0.09,-0.99) r=0.85m +[headless_play] t= 9.10s step= 455 trunk_z= 123.4mm grav_b=(-0.08,-0.08,-0.99) r=0.86m +[headless_play] t= 9.20s step= 460 trunk_z= 114.6mm grav_b=(-0.07,+0.01,-1.00) r=0.90m +[headless_play] t= 9.30s step= 465 trunk_z= 124.6mm grav_b=(-0.00,+0.05,-1.00) r=0.91m +[headless_play] t= 9.40s step= 470 trunk_z= 125.5mm grav_b=(+0.04,+0.05,-1.00) r=0.91m +[headless_play] t= 9.50s step= 475 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00) r=0.89m +[headless_play] t= 9.60s step= 480 trunk_z= 117.0mm grav_b=(-0.03,+0.07,-1.00) r=0.91m +[headless_play] t= 9.70s step= 485 trunk_z= 120.5mm grav_b=(-0.05,+0.07,-1.00) r=0.92m +[headless_play] t= 9.80s step= 490 trunk_z= 122.1mm grav_b=(-0.04,+0.02,-1.00) r=0.91m +[headless_play] t= 9.90s step= 495 trunk_z= 121.2mm grav_b=(-0.02,-0.07,-1.00) r=0.88m +[headless_play] t= 10.00s step= 500 trunk_z= 124.9mm grav_b=(-0.01,-0.12,-0.99) r=0.87m +[headless_play] t= 10.10s step= 505 trunk_z= 121.3mm grav_b=(+0.01,-0.14,-0.99) r=0.87m +[headless_play] t= 10.20s step= 510 trunk_z= 115.4mm grav_b=(+0.09,-0.05,-0.99) r=0.88m +[headless_play] t= 10.30s step= 515 trunk_z= 120.9mm grav_b=(+0.07,-0.07,-1.00) r=0.89m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(-0.05,-0.10,-0.99) r=0.88m +[headless_play] t= 10.50s step= 525 trunk_z= 115.6mm grav_b=(-0.07,-0.07,-1.00) r=0.88m +[headless_play] t= 10.60s step= 530 trunk_z= 104.1mm grav_b=(+0.06,-0.08,-1.00) r=0.89m +[headless_play] t= 10.70s step= 535 trunk_z= 106.4mm grav_b=(+0.13,-0.02,-0.99) r=0.91m +[headless_play] t= 10.80s step= 540 trunk_z= 110.7mm grav_b=(+0.20,-0.03,-0.98) r=0.94m +[headless_play] t= 10.90s step= 545 trunk_z= 115.5mm grav_b=(+0.02,-0.06,-1.00) r=0.95m +[headless_play] t= 11.00s step= 550 trunk_z= 128.1mm grav_b=(-0.08,-0.01,-1.00) r=0.97m +[headless_play] t= 11.10s step= 555 trunk_z= 110.9mm grav_b=(-0.07,-0.00,-1.00) r=1.00m +[headless_play] t= 11.20s step= 560 trunk_z= 114.4mm grav_b=(+0.04,-0.02,-1.00) r=1.00m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(+0.07,-0.06,-1.00) r=1.00m +[headless_play] t= 11.40s step= 570 trunk_z= 114.7mm grav_b=(+0.08,+0.01,-1.00) r=1.01m +[headless_play] t= 11.50s step= 575 trunk_z= 114.6mm grav_b=(+0.03,+0.00,-1.00) r=1.01m +[headless_play] t= 11.60s step= 580 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=1.01m +[headless_play] t= 11.70s step= 585 trunk_z= 115.2mm grav_b=(+0.06,+0.01,-1.00) r=1.01m +[headless_play] t= 11.80s step= 590 trunk_z= 115.2mm grav_b=(+0.05,+0.01,-1.00) r=1.01m +[headless_play] t= 11.90s step= 595 trunk_z= 115.3mm grav_b=(+0.05,+0.01,-1.00) r=1.01m +[headless_play] t= 12.00s step= 600 trunk_z= 115.4mm grav_b=(+0.04,+0.01,-1.00) r=1.01m +[headless_play] t= 12.10s step= 605 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=1.01m +[headless_play] t= 12.20s step= 610 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=1.02m +[headless_play] t= 12.30s step= 615 trunk_z= 115.3mm grav_b=(-0.02,+0.05,-1.00) r=1.02m +[headless_play] t= 12.40s step= 620 trunk_z= 112.1mm grav_b=(+0.04,+0.01,-1.00) r=1.03m +[headless_play] t= 12.50s step= 625 trunk_z= 107.8mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 12.60s step= 630 trunk_z= 113.2mm grav_b=(+0.03,-0.01,-1.00) r=1.02m +[headless_play] t= 12.70s step= 635 trunk_z= 113.2mm grav_b=(+0.15,+0.01,-0.99) r=1.01m +[headless_play] t= 12.80s step= 640 trunk_z= 118.0mm grav_b=(+0.13,-0.04,-0.99) r=1.00m +[headless_play] t= 12.90s step= 645 trunk_z= 124.0mm grav_b=(+0.02,-0.06,-1.00) r=0.97m +[headless_play] t= 13.00s step= 650 trunk_z= 110.7mm grav_b=(-0.05,+0.03,-1.00) r=0.94m +[headless_play] t= 13.10s step= 655 trunk_z= 114.7mm grav_b=(+0.01,-0.02,-1.00) r=0.94m +[headless_play] t= 13.20s step= 660 trunk_z= 114.5mm grav_b=(-0.00,-0.01,-1.00) r=0.94m +[headless_play] t= 13.30s step= 665 trunk_z= 114.9mm grav_b=(+0.03,+0.01,-1.00) r=0.94m +[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(-0.08,+0.01,-1.00) r=0.95m +[headless_play] t= 13.50s step= 675 trunk_z= 114.4mm grav_b=(+0.00,-0.02,-1.00) r=0.96m +[headless_play] t= 13.60s step= 680 trunk_z= 114.2mm grav_b=(+0.10,-0.05,-0.99) r=0.97m +[headless_play] t= 13.70s step= 685 trunk_z= 110.0mm grav_b=(+0.15,-0.10,-0.98) r=0.97m +[headless_play] t= 13.80s step= 690 trunk_z= 121.3mm grav_b=(+0.06,-0.04,-1.00) r=0.96m +[headless_play] t= 13.90s step= 695 trunk_z= 123.4mm grav_b=(-0.00,-0.05,-1.00) r=0.94m +[headless_play] t= 14.00s step= 700 trunk_z= 112.0mm grav_b=(-0.04,+0.03,-1.00) r=0.93m +[headless_play] t= 14.10s step= 705 trunk_z= 115.1mm grav_b=(-0.00,+0.01,-1.00) r=0.92m +[headless_play] t= 14.20s step= 710 trunk_z= 114.9mm grav_b=(-0.03,+0.01,-1.00) r=0.93m +[headless_play] t= 14.30s step= 715 trunk_z= 115.8mm grav_b=(+0.00,+0.01,-1.00) r=0.92m +[headless_play] t= 14.40s step= 720 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.92m +[headless_play] t= 14.50s step= 725 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 14.60s step= 730 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 14.80s step= 740 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 14.90s step= 745 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) r=0.92m +[headless_play] t= 15.00s step= 750 trunk_z= 117.2mm grav_b=(+0.03,-0.05,-1.00) r=0.92m +[headless_play] t= 15.10s step= 755 trunk_z= 117.2mm grav_b=(+0.08,-0.08,-0.99) r=0.92m +[headless_play] t= 15.20s step= 760 trunk_z= 129.5mm grav_b=(+0.06,-0.08,-1.00) r=0.91m +[headless_play] t= 15.30s step= 765 trunk_z= 112.6mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 15.40s step= 770 trunk_z= 122.2mm grav_b=(-0.02,-0.00,-1.00) r=0.83m +[headless_play] t= 15.50s step= 775 trunk_z= 119.2mm grav_b=(-0.02,-0.04,-1.00) r=0.83m +[headless_play] t= 15.60s step= 780 trunk_z= 121.1mm grav_b=(-0.07,-0.11,-0.99) r=0.84m +[headless_play] t= 15.70s step= 785 trunk_z= 127.1mm grav_b=(-0.06,-0.12,-0.99) r=0.84m +[headless_play] t= 15.80s step= 790 trunk_z= 125.8mm grav_b=(-0.06,-0.15,-0.99) r=0.84m +[headless_play] t= 15.90s step= 795 trunk_z= 126.1mm grav_b=(-0.00,-0.16,-0.99) r=0.84m +[headless_play] t= 16.00s step= 800 trunk_z= 122.2mm grav_b=(+0.01,-0.05,-1.00) r=0.83m +[headless_play] t= 16.10s step= 805 trunk_z= 126.1mm grav_b=(+0.08,+0.03,-1.00) r=0.82m +[headless_play] t= 16.20s step= 810 trunk_z= 129.9mm grav_b=(+0.05,+0.04,-1.00) r=0.82m +[headless_play] t= 16.30s step= 815 trunk_z= 119.3mm grav_b=(-0.02,-0.07,-1.00) r=0.85m +[headless_play] t= 16.40s step= 820 trunk_z= 126.6mm grav_b=(-0.07,-0.09,-0.99) r=0.86m +[headless_play] t= 16.50s step= 825 trunk_z= 126.0mm grav_b=(-0.15,-0.09,-0.98) r=0.86m +[headless_play] t= 16.60s step= 830 trunk_z= 115.0mm grav_b=(-0.00,-0.00,-1.00) r=0.85m +[headless_play] t= 16.70s step= 835 trunk_z= 116.8mm grav_b=(+0.01,-0.03,-1.00) r=0.85m +[headless_play] t= 16.80s step= 840 trunk_z= 118.3mm grav_b=(+0.08,-0.06,-1.00) r=0.87m +[headless_play] t= 16.90s step= 845 trunk_z= 129.2mm grav_b=(+0.07,-0.05,-1.00) r=0.89m +[headless_play] t= 17.00s step= 850 trunk_z= 121.9mm grav_b=(-0.02,-0.06,-1.00) r=0.90m +[headless_play] t= 17.10s step= 855 trunk_z= 121.9mm grav_b=(+0.05,-0.01,-1.00) r=0.90m +[headless_play] t= 17.20s step= 860 trunk_z= 125.2mm grav_b=(+0.01,-0.03,-1.00) r=0.92m +[headless_play] t= 17.30s step= 865 trunk_z= 117.5mm grav_b=(-0.05,-0.05,-1.00) r=0.95m +[headless_play] t= 17.40s step= 870 trunk_z= 121.5mm grav_b=(-0.07,-0.01,-1.00) r=0.95m +[headless_play] t= 17.50s step= 875 trunk_z= 116.0mm grav_b=(-0.07,+0.03,-1.00) r=0.95m +[headless_play] t= 17.60s step= 880 trunk_z= 123.2mm grav_b=(+0.01,+0.02,-1.00) r=0.95m +[headless_play] t= 17.70s step= 885 trunk_z= 121.3mm grav_b=(+0.05,-0.00,-1.00) r=0.98m +[headless_play] t= 17.80s step= 890 trunk_z= 122.4mm grav_b=(+0.03,-0.09,-1.00) r=1.02m +[headless_play] t= 17.90s step= 895 trunk_z= 128.1mm grav_b=(-0.02,-0.11,-0.99) r=1.04m +[headless_play] t= 18.00s step= 900 trunk_z= 126.6mm grav_b=(-0.05,-0.12,-0.99) r=1.07m +[headless_play] t= 18.10s step= 905 trunk_z= 119.9mm grav_b=(+0.02,+0.02,-1.00) r=1.08m +[headless_play] t= 18.20s step= 910 trunk_z= 131.1mm grav_b=(+0.06,+0.18,-0.98) r=1.09m +[headless_play] t= 18.30s step= 915 trunk_z= 131.3mm grav_b=(+0.04,+0.24,-0.97) r=1.10m +[headless_play] t= 18.40s step= 920 trunk_z= 132.9mm grav_b=(-0.01,+0.23,-0.97) r=1.14m +[headless_play] t= 18.50s step= 925 trunk_z= 118.7mm grav_b=(-0.02,+0.21,-0.98) r=1.19m +[headless_play] t= 18.60s step= 930 trunk_z= 127.1mm grav_b=(+0.28,+0.05,-0.96) r=1.21m +[headless_play] t= 18.70s step= 935 trunk_z= 118.0mm grav_b=(+0.14,-0.22,-0.96) r=1.24m +[headless_play] t= 18.80s step= 940 trunk_z= 106.1mm grav_b=(+0.53,-0.10,-0.84) r=1.29m +[headless_play] t= 18.90s step= 945 trunk_z= 101.0mm grav_b=(+0.84,+0.33,-0.43) r=1.36m +[headless_play] RESET at t= 18.92s step= 946 (env termination, not a recovery) +[headless_play] t= 19.00s step= 950 trunk_z= 115.1mm grav_b=(-0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(-0.01,-0.07,-1.00) r=0.53m +[headless_play] t= 19.20s step= 960 trunk_z= 119.7mm grav_b=(-0.04,-0.03,-1.00) r=0.52m +[headless_play] t= 19.30s step= 965 trunk_z= 112.5mm grav_b=(-0.05,+0.07,-1.00) r=0.49m +[headless_play] t= 19.40s step= 970 trunk_z= 122.9mm grav_b=(+0.02,+0.12,-0.99) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 128.8mm grav_b=(+0.01,+0.14,-0.99) r=0.46m +[headless_play] t= 19.60s step= 980 trunk_z= 130.9mm grav_b=(+0.01,+0.05,-1.00) r=0.46m +[headless_play] t= 19.70s step= 985 trunk_z= 128.1mm grav_b=(-0.01,-0.07,-1.00) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 123.7mm grav_b=(-0.03,-0.07,-1.00) r=0.46m +[headless_play] t= 19.90s step= 995 trunk_z= 117.6mm grav_b=(-0.03,-0.06,-1.00) r=0.44m +[headless_play] t= 20.00s step=1000 trunk_z= 119.6mm grav_b=(+0.06,+0.03,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 120.4mm grav_b=(+0.05,-0.02,-1.00) r=0.45m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t6.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..edca047212b8ddd7dd5cf7e647e51b3a3812fbf3 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t6.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(-6.023,-18.180,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.8mm grav_b=(-0.00,+0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 114.3mm grav_b=(+0.01,+0.02,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 109.3mm grav_b=(+0.04,+0.05,-1.00) r=0.21m +[headless_play] t= 0.30s step= 15 trunk_z= 111.8mm grav_b=(+0.05,+0.03,-1.00) r=0.22m +[headless_play] t= 0.40s step= 20 trunk_z= 106.9mm grav_b=(+0.04,-0.03,-1.00) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 110.1mm grav_b=(+0.05,-0.09,-0.99) r=0.22m +[headless_play] t= 0.60s step= 30 trunk_z= 118.1mm grav_b=(+0.02,-0.18,-0.98) r=0.22m +[headless_play] t= 0.70s step= 35 trunk_z= 118.1mm grav_b=(+0.06,-0.20,-0.98) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 114.8mm grav_b=(+0.09,-0.19,-0.98) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 111.7mm grav_b=(+0.12,-0.14,-0.98) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 111.4mm grav_b=(+0.15,-0.03,-0.99) r=0.26m +[headless_play] t= 1.10s step= 55 trunk_z= 110.3mm grav_b=(+0.15,-0.00,-0.99) r=0.28m +[headless_play] t= 1.20s step= 60 trunk_z= 104.9mm grav_b=(+0.12,-0.05,-0.99) r=0.29m +[headless_play] t= 1.30s step= 65 trunk_z= 115.6mm grav_b=(+0.09,-0.09,-0.99) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 113.9mm grav_b=(+0.11,-0.09,-0.99) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 107.7mm grav_b=(+0.13,-0.03,-0.99) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 111.7mm grav_b=(+0.14,-0.04,-0.99) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 102.8mm grav_b=(+0.11,-0.08,-0.99) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(+0.09,-0.11,-0.99) r=0.42m +[headless_play] t= 1.90s step= 95 trunk_z= 114.5mm grav_b=(+0.05,-0.10,-0.99) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 108.3mm grav_b=(+0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 113.7mm grav_b=(+0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 2.20s step= 110 trunk_z= 109.2mm grav_b=(+0.08,-0.02,-1.00) r=0.47m +[headless_play] t= 2.30s step= 115 trunk_z= 111.3mm grav_b=(+0.10,-0.09,-0.99) r=0.48m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.07,-0.10,-0.99) r=0.48m +[headless_play] t= 2.50s step= 125 trunk_z= 113.8mm grav_b=(+0.05,-0.05,-1.00) r=0.50m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(+0.05,+0.05,-1.00) r=0.52m +[headless_play] t= 2.70s step= 135 trunk_z= 118.5mm grav_b=(+0.08,+0.03,-1.00) r=0.53m +[headless_play] t= 2.80s step= 140 trunk_z= 112.5mm grav_b=(+0.07,-0.05,-1.00) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 117.9mm grav_b=(+0.04,-0.04,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) r=0.57m +[headless_play] t= 3.10s step= 155 trunk_z= 118.9mm grav_b=(+0.04,+0.03,-1.00) r=0.59m +[headless_play] t= 3.20s step= 160 trunk_z= 116.3mm grav_b=(+0.05,-0.02,-1.00) r=0.60m +[headless_play] t= 3.30s step= 165 trunk_z= 119.3mm grav_b=(+0.08,-0.09,-0.99) r=0.61m +[headless_play] t= 3.40s step= 170 trunk_z= 122.9mm grav_b=(+0.09,-0.11,-0.99) r=0.63m +[headless_play] t= 3.50s step= 175 trunk_z= 122.3mm grav_b=(+0.07,-0.12,-0.99) r=0.65m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=0.67m +[headless_play] t= 3.70s step= 185 trunk_z= 120.0mm grav_b=(+0.08,+0.00,-1.00) r=0.69m +[headless_play] t= 3.80s step= 190 trunk_z= 120.3mm grav_b=(+0.07,+0.02,-1.00) r=0.70m +[headless_play] t= 3.90s step= 195 trunk_z= 120.9mm grav_b=(+0.05,-0.07,-1.00) r=0.70m +[headless_play] t= 4.00s step= 200 trunk_z= 121.0mm grav_b=(+0.03,-0.08,-1.00) r=0.72m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(+0.02,-0.02,-1.00) r=0.73m +[headless_play] t= 4.20s step= 210 trunk_z= 120.3mm grav_b=(+0.03,+0.01,-1.00) r=0.74m +[headless_play] t= 4.30s step= 215 trunk_z= 117.3mm grav_b=(+0.04,-0.02,-1.00) r=0.76m +[headless_play] t= 4.40s step= 220 trunk_z= 119.4mm grav_b=(+0.07,-0.09,-0.99) r=0.77m +[headless_play] t= 4.50s step= 225 trunk_z= 127.6mm grav_b=(+0.14,-0.17,-0.97) r=0.80m +[headless_play] t= 4.60s step= 230 trunk_z= 126.0mm grav_b=(+0.06,-0.23,-0.97) r=0.83m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.08,-0.20,-0.98) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 132.9mm grav_b=(+0.17,-0.12,-0.98) r=0.91m +[headless_play] t= 4.90s step= 245 trunk_z= 102.6mm grav_b=(+0.14,-0.13,-0.98) r=0.96m +[headless_play] t= 5.00s step= 250 trunk_z= 68.4mm grav_b=(+0.35,-0.48,-0.80) r=0.99m +[headless_play] RESET at t= 5.06s step= 253 (env termination, not a recovery) +[headless_play] t= 5.10s step= 255 trunk_z= 120.5mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(-0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 115.5mm grav_b=(+0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 117.3mm grav_b=(+0.03,-0.07,-1.00) r=0.49m +[headless_play] t= 5.50s step= 275 trunk_z= 122.0mm grav_b=(+0.02,-0.05,-1.00) r=0.48m +[headless_play] t= 5.60s step= 280 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=0.48m +[headless_play] t= 5.70s step= 285 trunk_z= 123.1mm grav_b=(+0.05,+0.06,-1.00) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 124.0mm grav_b=(+0.05,+0.06,-1.00) r=0.48m +[headless_play] t= 5.90s step= 295 trunk_z= 117.9mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 6.00s step= 300 trunk_z= 122.2mm grav_b=(+0.03,-0.04,-1.00) r=0.44m +[headless_play] t= 6.10s step= 305 trunk_z= 120.0mm grav_b=(+0.03,+0.00,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 118.8mm grav_b=(+0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 6.30s step= 315 trunk_z= 118.7mm grav_b=(+0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 118.2mm grav_b=(+0.02,-0.06,-1.00) r=0.42m +[headless_play] t= 6.50s step= 325 trunk_z= 122.0mm grav_b=(+0.05,-0.03,-1.00) r=0.42m +[headless_play] t= 6.60s step= 330 trunk_z= 115.5mm grav_b=(+0.04,+0.03,-1.00) r=0.43m +[headless_play] t= 6.70s step= 335 trunk_z= 125.0mm grav_b=(+0.04,+0.06,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 122.4mm grav_b=(+0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 7.00s step= 350 trunk_z= 122.5mm grav_b=(+0.02,-0.04,-1.00) r=0.40m +[headless_play] t= 7.10s step= 355 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 7.20s step= 360 trunk_z= 116.2mm grav_b=(-0.07,+0.03,-1.00) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 111.9mm grav_b=(-0.03,-0.01,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 109.2mm grav_b=(-0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 7.50s step= 375 trunk_z= 110.6mm grav_b=(-0.05,+0.10,-0.99) r=0.42m +[headless_play] t= 7.60s step= 380 trunk_z= 117.7mm grav_b=(-0.00,+0.06,-1.00) r=0.42m +[headless_play] t= 7.70s step= 385 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 7.80s step= 390 trunk_z= 118.4mm grav_b=(+0.07,-0.01,-1.00) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(+0.09,+0.09,-0.99) r=0.40m +[headless_play] t= 8.00s step= 400 trunk_z= 123.1mm grav_b=(+0.08,+0.04,-1.00) r=0.39m +[headless_play] t= 8.10s step= 405 trunk_z= 111.7mm grav_b=(-0.02,-0.06,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 120.5mm grav_b=(-0.00,-0.06,-1.00) r=0.35m +[headless_play] t= 8.30s step= 415 trunk_z= 118.0mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 8.40s step= 420 trunk_z= 119.4mm grav_b=(+0.05,+0.08,-1.00) r=0.39m +[headless_play] t= 8.50s step= 425 trunk_z= 117.7mm grav_b=(+0.01,-0.03,-1.00) r=0.38m +[headless_play] t= 8.60s step= 430 trunk_z= 120.8mm grav_b=(-0.00,-0.11,-0.99) r=0.37m +[headless_play] t= 8.70s step= 435 trunk_z= 124.6mm grav_b=(+0.01,-0.14,-0.99) r=0.37m +[headless_play] t= 8.80s step= 440 trunk_z= 124.1mm grav_b=(+0.03,-0.09,-1.00) r=0.39m +[headless_play] t= 8.90s step= 445 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 9.00s step= 450 trunk_z= 124.4mm grav_b=(+0.03,+0.05,-1.00) r=0.45m +[headless_play] t= 9.10s step= 455 trunk_z= 121.8mm grav_b=(+0.03,+0.00,-1.00) r=0.44m +[headless_play] t= 9.20s step= 460 trunk_z= 121.1mm grav_b=(+0.04,-0.06,-1.00) r=0.43m +[headless_play] t= 9.30s step= 465 trunk_z= 123.9mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 9.40s step= 470 trunk_z= 119.9mm grav_b=(+0.04,-0.00,-1.00) r=0.46m +[headless_play] t= 9.50s step= 475 trunk_z= 124.0mm grav_b=(+0.04,+0.04,-1.00) r=0.48m +[headless_play] t= 9.60s step= 480 trunk_z= 123.8mm grav_b=(+0.02,+0.05,-1.00) r=0.49m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(+0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 9.80s step= 490 trunk_z= 115.9mm grav_b=(+0.04,+0.08,-1.00) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 120.3mm grav_b=(+0.07,+0.08,-0.99) r=0.50m +[headless_play] t= 10.00s step= 500 trunk_z= 117.3mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 10.10s step= 505 trunk_z= 119.0mm grav_b=(-0.03,-0.04,-1.00) r=0.53m +[headless_play] t= 10.20s step= 510 trunk_z= 120.5mm grav_b=(+0.00,-0.02,-1.00) r=0.53m +[headless_play] t= 10.30s step= 515 trunk_z= 114.8mm grav_b=(+0.02,+0.06,-1.00) r=0.52m +[headless_play] t= 10.40s step= 520 trunk_z= 124.8mm grav_b=(-0.01,+0.12,-0.99) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 127.9mm grav_b=(+0.01,+0.17,-0.99) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 125.6mm grav_b=(+0.02,+0.13,-0.99) r=0.55m +[headless_play] t= 10.70s step= 535 trunk_z= 118.9mm grav_b=(+0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 123.4mm grav_b=(+0.05,-0.00,-1.00) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 116.9mm grav_b=(+0.05,+0.04,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 123.2mm grav_b=(+0.03,+0.06,-1.00) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 120.4mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 11.20s step= 560 trunk_z= 119.9mm grav_b=(+0.00,-0.02,-1.00) r=0.61m +[headless_play] t= 11.30s step= 565 trunk_z= 119.7mm grav_b=(+0.02,+0.00,-1.00) r=0.61m +[headless_play] t= 11.40s step= 570 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 11.50s step= 575 trunk_z= 120.0mm grav_b=(-0.03,-0.01,-1.00) r=0.61m +[headless_play] t= 11.60s step= 580 trunk_z= 117.6mm grav_b=(-0.02,-0.05,-1.00) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 119.1mm grav_b=(+0.00,+0.01,-1.00) r=0.63m +[headless_play] t= 11.80s step= 590 trunk_z= 114.9mm grav_b=(+0.04,+0.09,-0.99) r=0.62m +[headless_play] t= 11.90s step= 595 trunk_z= 124.8mm grav_b=(+0.04,+0.10,-0.99) r=0.62m +[headless_play] t= 12.00s step= 600 trunk_z= 120.3mm grav_b=(+0.02,+0.07,-1.00) r=0.64m +[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.68m +[headless_play] t= 12.20s step= 610 trunk_z= 116.2mm grav_b=(+0.02,+0.06,-1.00) r=0.67m +[headless_play] t= 12.30s step= 615 trunk_z= 121.0mm grav_b=(+0.08,+0.12,-0.99) r=0.67m +[headless_play] t= 12.40s step= 620 trunk_z= 119.2mm grav_b=(+0.05,+0.06,-1.00) r=0.68m +[headless_play] t= 12.50s step= 625 trunk_z= 118.8mm grav_b=(+0.04,-0.07,-1.00) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 122.3mm grav_b=(+0.06,-0.04,-1.00) r=0.71m +[headless_play] t= 12.70s step= 635 trunk_z= 117.7mm grav_b=(+0.05,+0.02,-1.00) r=0.69m +[headless_play] t= 12.80s step= 640 trunk_z= 122.4mm grav_b=(+0.05,+0.08,-1.00) r=0.67m +[headless_play] t= 12.90s step= 645 trunk_z= 125.4mm grav_b=(+0.04,+0.16,-0.99) r=0.66m +[headless_play] t= 13.00s step= 650 trunk_z= 127.2mm grav_b=(+0.03,+0.20,-0.98) r=0.65m +[headless_play] t= 13.10s step= 655 trunk_z= 126.9mm grav_b=(+0.03,+0.18,-0.98) r=0.65m +[headless_play] t= 13.20s step= 660 trunk_z= 121.2mm grav_b=(+0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 13.30s step= 665 trunk_z= 124.6mm grav_b=(+0.05,-0.00,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 120.3mm grav_b=(+0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(+0.04,+0.08,-1.00) r=0.61m +[headless_play] t= 13.60s step= 680 trunk_z= 122.4mm grav_b=(+0.05,+0.06,-1.00) r=0.61m +[headless_play] t= 13.70s step= 685 trunk_z= 120.5mm grav_b=(+0.11,+0.02,-0.99) r=0.62m +[headless_play] t= 13.80s step= 690 trunk_z= 124.2mm grav_b=(+0.09,+0.05,-0.99) r=0.61m +[headless_play] t= 13.90s step= 695 trunk_z= 116.4mm grav_b=(+0.03,+0.10,-0.99) r=0.59m +[headless_play] t= 14.00s step= 700 trunk_z= 116.9mm grav_b=(-0.02,+0.06,-1.00) r=0.60m +[headless_play] t= 14.10s step= 705 trunk_z= 114.3mm grav_b=(-0.08,-0.00,-1.00) r=0.61m +[headless_play] t= 14.20s step= 710 trunk_z= 115.0mm grav_b=(-0.10,-0.01,-0.99) r=0.61m +[headless_play] t= 14.30s step= 715 trunk_z= 112.4mm grav_b=(-0.06,-0.05,-1.00) r=0.62m +[headless_play] t= 14.40s step= 720 trunk_z= 113.7mm grav_b=(-0.10,+0.01,-0.99) r=0.62m +[headless_play] t= 14.50s step= 725 trunk_z= 115.3mm grav_b=(+0.03,-0.05,-1.00) r=0.62m +[headless_play] t= 14.60s step= 730 trunk_z= 115.2mm grav_b=(+0.11,-0.08,-0.99) r=0.63m +[headless_play] t= 14.70s step= 735 trunk_z= 110.6mm grav_b=(+0.04,+0.03,-1.00) r=0.62m +[headless_play] t= 14.80s step= 740 trunk_z= 125.7mm grav_b=(-0.00,+0.08,-1.00) r=0.62m +[headless_play] t= 14.90s step= 745 trunk_z= 116.4mm grav_b=(+0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 15.00s step= 750 trunk_z= 116.3mm grav_b=(-0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 15.10s step= 755 trunk_z= 116.6mm grav_b=(-0.06,-0.02,-1.00) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 15.30s step= 765 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 15.50s step= 775 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.65m +[headless_play] t= 15.60s step= 780 trunk_z= 116.7mm grav_b=(+0.00,+0.02,-1.00) r=0.64m +[headless_play] t= 15.70s step= 785 trunk_z= 117.2mm grav_b=(+0.02,+0.01,-1.00) r=0.64m +[headless_play] t= 15.80s step= 790 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(-0.05,+0.01,-1.00) r=0.64m +[headless_play] t= 16.00s step= 800 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 115.9mm grav_b=(-0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 16.20s step= 810 trunk_z= 116.3mm grav_b=(+0.00,+0.01,-1.00) r=0.64m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) r=0.64m +[headless_play] t= 16.50s step= 825 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=0.64m +[headless_play] t= 16.60s step= 830 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 16.70s step= 835 trunk_z= 114.9mm grav_b=(+0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 16.80s step= 840 trunk_z= 114.9mm grav_b=(+0.04,-0.00,-1.00) r=0.65m +[headless_play] t= 16.90s step= 845 trunk_z= 115.0mm grav_b=(+0.04,+0.00,-1.00) r=0.64m +[headless_play] t= 17.00s step= 850 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 17.10s step= 855 trunk_z= 115.2mm grav_b=(-0.01,-0.00,-1.00) r=0.64m +[headless_play] t= 17.20s step= 860 trunk_z= 114.9mm grav_b=(-0.02,-0.00,-1.00) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 114.4mm grav_b=(-0.02,-0.03,-1.00) r=0.65m +[headless_play] t= 17.40s step= 870 trunk_z= 114.6mm grav_b=(-0.06,-0.02,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 115.5mm grav_b=(-0.01,-0.01,-1.00) r=0.65m +[headless_play] t= 17.60s step= 880 trunk_z= 110.7mm grav_b=(+0.06,-0.07,-1.00) r=0.65m +[headless_play] t= 17.70s step= 885 trunk_z= 112.3mm grav_b=(+0.06,+0.00,-1.00) r=0.64m +[headless_play] t= 17.80s step= 890 trunk_z= 113.3mm grav_b=(+0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 17.90s step= 895 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) r=0.64m +[headless_play] t= 18.00s step= 900 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) r=0.64m +[headless_play] t= 18.10s step= 905 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 18.20s step= 910 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 18.30s step= 915 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) r=0.64m +[headless_play] t= 18.40s step= 920 trunk_z= 114.1mm grav_b=(+0.01,+0.04,-1.00) r=0.63m +[headless_play] t= 18.50s step= 925 trunk_z= 113.0mm grav_b=(+0.03,+0.09,-1.00) r=0.63m +[headless_play] t= 18.60s step= 930 trunk_z= 116.2mm grav_b=(+0.02,+0.04,-1.00) r=0.64m +[headless_play] t= 18.70s step= 935 trunk_z= 114.4mm grav_b=(+0.01,-0.06,-1.00) r=0.67m +[headless_play] t= 18.80s step= 940 trunk_z= 119.7mm grav_b=(+0.04,-0.06,-1.00) r=0.68m +[headless_play] t= 18.90s step= 945 trunk_z= 114.4mm grav_b=(+0.06,-0.01,-1.00) r=0.68m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(+0.05,+0.07,-1.00) r=0.67m +[headless_play] t= 19.10s step= 955 trunk_z= 119.4mm grav_b=(+0.05,+0.05,-1.00) r=0.68m +[headless_play] t= 19.20s step= 960 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) r=0.71m +[headless_play] t= 19.30s step= 965 trunk_z= 120.6mm grav_b=(+0.05,-0.02,-1.00) r=0.73m +[headless_play] t= 19.40s step= 970 trunk_z= 114.1mm grav_b=(-0.00,+0.03,-1.00) r=0.72m +[headless_play] t= 19.50s step= 975 trunk_z= 120.9mm grav_b=(-0.04,+0.11,-0.99) r=0.70m +[headless_play] t= 19.60s step= 980 trunk_z= 125.3mm grav_b=(-0.03,+0.12,-0.99) r=0.69m +[headless_play] t= 19.70s step= 985 trunk_z= 124.6mm grav_b=(+0.05,+0.09,-0.99) r=0.69m +[headless_play] t= 19.80s step= 990 trunk_z= 120.4mm grav_b=(+0.04,+0.07,-1.00) r=0.68m +[headless_play] t= 19.90s step= 995 trunk_z= 112.8mm grav_b=(+0.06,+0.09,-0.99) r=0.66m +[headless_play] t= 20.00s step=1000 trunk_z= 110.7mm grav_b=(+0.12,+0.11,-0.99) r=0.65m +[headless_play] t= 20.10s step=1005 trunk_z= 111.2mm grav_b=(+0.11,+0.05,-0.99) r=0.68m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t7.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..ad02b34e2fab45b7315bb40d60b7474640bbf1f1 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.3mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.530,-18.333,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.7mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(-0.00,+0.02,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(-0.07,+0.02,-1.00) r=0.58m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(-0.06,-0.02,-1.00) r=0.58m +[headless_play] t= 1.00s step= 50 trunk_z= 115.5mm grav_b=(-0.00,+0.07,-1.00) r=0.57m +[headless_play] t= 1.10s step= 55 trunk_z= 122.7mm grav_b=(-0.06,+0.11,-0.99) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 124.6mm grav_b=(-0.03,+0.06,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 120.5mm grav_b=(-0.00,+0.03,-1.00) r=0.57m +[headless_play] t= 1.40s step= 70 trunk_z= 121.4mm grav_b=(-0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 1.50s step= 75 trunk_z= 119.4mm grav_b=(-0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 1.60s step= 80 trunk_z= 119.2mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 119.2mm grav_b=(+0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 119.2mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 118.4mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 118.0mm grav_b=(-0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 118.0mm grav_b=(+0.00,+0.02,-1.00) r=0.58m +[headless_play] t= 2.40s step= 120 trunk_z= 117.9mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 2.50s step= 125 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 2.60s step= 130 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 2.70s step= 135 trunk_z= 117.9mm grav_b=(+0.02,+0.02,-1.00) r=0.58m +[headless_play] t= 2.80s step= 140 trunk_z= 117.8mm grav_b=(-0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 3.00s step= 150 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 3.20s step= 160 trunk_z= 120.3mm grav_b=(+0.05,+0.05,-1.00) r=0.58m +[headless_play] t= 3.30s step= 165 trunk_z= 121.6mm grav_b=(+0.04,-0.01,-1.00) r=0.59m +[headless_play] t= 3.40s step= 170 trunk_z= 121.9mm grav_b=(+0.00,-0.08,-1.00) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 118.7mm grav_b=(-0.07,-0.06,-1.00) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(-0.09,+0.01,-1.00) r=0.58m +[headless_play] t= 3.70s step= 185 trunk_z= 117.4mm grav_b=(-0.10,-0.00,-1.00) r=0.58m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 117.5mm grav_b=(-0.06,+0.02,-1.00) r=0.58m +[headless_play] t= 4.00s step= 200 trunk_z= 118.0mm grav_b=(-0.03,+0.02,-1.00) r=0.58m +[headless_play] t= 4.10s step= 205 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 4.20s step= 210 trunk_z= 120.3mm grav_b=(+0.06,+0.04,-1.00) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 123.3mm grav_b=(+0.03,-0.03,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 121.1mm grav_b=(-0.01,-0.08,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 117.9mm grav_b=(-0.08,-0.07,-0.99) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 117.9mm grav_b=(-0.12,-0.00,-0.99) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 116.8mm grav_b=(-0.10,-0.01,-0.99) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 117.5mm grav_b=(-0.11,+0.02,-0.99) r=0.57m +[headless_play] t= 4.90s step= 245 trunk_z= 119.9mm grav_b=(+0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 5.00s step= 250 trunk_z= 122.5mm grav_b=(+0.05,-0.03,-1.00) r=0.59m +[headless_play] t= 5.10s step= 255 trunk_z= 126.3mm grav_b=(+0.00,-0.04,-1.00) r=0.60m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(-0.07,-0.03,-1.00) r=0.59m +[headless_play] t= 5.30s step= 265 trunk_z= 116.9mm grav_b=(-0.11,+0.04,-0.99) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 116.8mm grav_b=(-0.08,-0.02,-1.00) r=0.57m +[headless_play] t= 5.50s step= 275 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.00,-0.00,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 113.0mm grav_b=(+0.02,-0.05,-1.00) r=0.55m +[headless_play] t= 5.80s step= 290 trunk_z= 111.2mm grav_b=(+0.06,+0.05,-1.00) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 123.3mm grav_b=(+0.08,+0.10,-0.99) r=0.54m +[headless_play] t= 6.00s step= 300 trunk_z= 126.8mm grav_b=(-0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 6.10s step= 305 trunk_z= 125.5mm grav_b=(-0.07,-0.05,-1.00) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 114.9mm grav_b=(-0.07,-0.01,-1.00) r=0.54m +[headless_play] t= 6.30s step= 315 trunk_z= 117.2mm grav_b=(-0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 6.40s step= 320 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 114.6mm grav_b=(+0.01,+0.09,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 118.0mm grav_b=(-0.00,+0.06,-1.00) r=0.48m +[headless_play] t= 6.70s step= 335 trunk_z= 117.4mm grav_b=(-0.11,-0.01,-0.99) r=0.47m +[headless_play] t= 6.80s step= 340 trunk_z= 114.9mm grav_b=(-0.29,+0.01,-0.96) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 108.1mm grav_b=(-0.34,+0.19,-0.92) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 70.2mm grav_b=(-0.52,+0.11,-0.85) r=0.44m +[headless_play] t= 7.10s step= 355 trunk_z= 31.6mm grav_b=(-0.77,-0.04,-0.64) r=0.38m +[headless_play] RESET at t= 7.14s step= 357 (env termination, not a recovery) +[headless_play] t= 7.20s step= 360 trunk_z= 113.7mm grav_b=(-0.00,-0.01,-1.00) r=0.25m +[headless_play] t= 7.30s step= 365 trunk_z= 114.5mm grav_b=(+0.05,-0.07,-1.00) r=0.25m +[headless_play] t= 7.40s step= 370 trunk_z= 115.8mm grav_b=(+0.04,-0.06,-1.00) r=0.24m +[headless_play] t= 7.50s step= 375 trunk_z= 113.1mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 7.60s step= 380 trunk_z= 116.5mm grav_b=(-0.04,+0.05,-1.00) r=0.18m +[headless_play] t= 7.70s step= 385 trunk_z= 126.5mm grav_b=(-0.11,+0.12,-0.99) r=0.16m +[headless_play] t= 7.80s step= 390 trunk_z= 129.0mm grav_b=(-0.11,+0.09,-0.99) r=0.15m +[headless_play] t= 7.90s step= 395 trunk_z= 120.0mm grav_b=(-0.06,+0.10,-0.99) r=0.18m +[headless_play] t= 8.00s step= 400 trunk_z= 130.8mm grav_b=(+0.04,-0.01,-1.00) r=0.18m +[headless_play] t= 8.10s step= 405 trunk_z= 105.6mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 8.20s step= 410 trunk_z= 113.6mm grav_b=(+0.08,-0.01,-1.00) r=0.16m +[headless_play] t= 8.30s step= 415 trunk_z= 107.8mm grav_b=(+0.06,-0.07,-1.00) r=0.17m +[headless_play] t= 8.40s step= 420 trunk_z= 116.1mm grav_b=(+0.05,-0.10,-0.99) r=0.18m +[headless_play] t= 8.50s step= 425 trunk_z= 112.3mm grav_b=(+0.01,-0.12,-0.99) r=0.17m +[headless_play] t= 8.60s step= 430 trunk_z= 110.5mm grav_b=(+0.01,+0.02,-1.00) r=0.15m +[headless_play] t= 8.70s step= 435 trunk_z= 117.1mm grav_b=(+0.01,+0.02,-1.00) r=0.15m +[headless_play] t= 8.80s step= 440 trunk_z= 112.2mm grav_b=(+0.07,-0.01,-1.00) r=0.17m +[headless_play] t= 8.90s step= 445 trunk_z= 114.0mm grav_b=(+0.09,-0.14,-0.99) r=0.20m +[headless_play] t= 9.00s step= 450 trunk_z= 118.9mm grav_b=(+0.06,-0.21,-0.98) r=0.22m +[headless_play] t= 9.10s step= 455 trunk_z= 121.0mm grav_b=(+0.07,-0.25,-0.97) r=0.23m +[headless_play] t= 9.20s step= 460 trunk_z= 119.6mm grav_b=(+0.06,-0.26,-0.96) r=0.25m +[headless_play] t= 9.30s step= 465 trunk_z= 120.7mm grav_b=(+0.06,-0.22,-0.97) r=0.26m +[headless_play] t= 9.40s step= 470 trunk_z= 119.9mm grav_b=(+0.13,-0.22,-0.97) r=0.28m +[headless_play] t= 9.50s step= 475 trunk_z= 118.4mm grav_b=(+0.05,-0.13,-0.99) r=0.32m +[headless_play] t= 9.60s step= 480 trunk_z= 126.1mm grav_b=(+0.01,-0.08,-1.00) r=0.34m +[headless_play] t= 9.70s step= 485 trunk_z= 119.6mm grav_b=(-0.01,-0.05,-1.00) r=0.38m +[headless_play] t= 9.80s step= 490 trunk_z= 117.3mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(-0.03,-0.04,-1.00) r=0.44m +[headless_play] t= 10.00s step= 500 trunk_z= 115.4mm grav_b=(-0.01,-0.09,-1.00) r=0.44m +[headless_play] t= 10.10s step= 505 trunk_z= 120.3mm grav_b=(-0.05,-0.05,-1.00) r=0.45m +[headless_play] t= 10.20s step= 510 trunk_z= 114.3mm grav_b=(-0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 10.30s step= 515 trunk_z= 119.9mm grav_b=(-0.00,+0.07,-1.00) r=0.50m +[headless_play] t= 10.40s step= 520 trunk_z= 125.6mm grav_b=(-0.06,+0.10,-0.99) r=0.50m +[headless_play] t= 10.50s step= 525 trunk_z= 120.2mm grav_b=(-0.03,+0.03,-1.00) r=0.48m +[headless_play] t= 10.60s step= 530 trunk_z= 122.7mm grav_b=(+0.05,-0.08,-1.00) r=0.46m +[headless_play] t= 10.70s step= 535 trunk_z= 127.1mm grav_b=(+0.05,-0.11,-0.99) r=0.47m +[headless_play] t= 10.80s step= 540 trunk_z= 123.2mm grav_b=(+0.04,-0.09,-1.00) r=0.49m +[headless_play] t= 10.90s step= 545 trunk_z= 125.5mm grav_b=(+0.07,-0.07,-1.00) r=0.51m +[headless_play] t= 11.00s step= 550 trunk_z= 121.7mm grav_b=(-0.01,-0.08,-1.00) r=0.52m +[headless_play] t= 11.10s step= 555 trunk_z= 128.9mm grav_b=(-0.05,-0.20,-0.98) r=0.52m +[headless_play] t= 11.20s step= 560 trunk_z= 130.2mm grav_b=(-0.03,-0.29,-0.96) r=0.51m +[headless_play] t= 11.30s step= 565 trunk_z= 124.8mm grav_b=(+0.19,-0.31,-0.93) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 100.8mm grav_b=(+0.26,-0.43,-0.86) r=0.49m +[headless_play] t= 11.50s step= 575 trunk_z= 59.4mm grav_b=(+0.41,-0.61,-0.68) r=0.48m +[headless_play] RESET at t= 11.58s step= 579 (env termination, not a recovery) +[headless_play] t= 11.60s step= 580 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(-0.03,-0.04,-1.00) r=0.18m +[headless_play] t= 11.80s step= 590 trunk_z= 116.9mm grav_b=(+0.00,-0.11,-0.99) r=0.17m +[headless_play] t= 11.90s step= 595 trunk_z= 123.4mm grav_b=(-0.04,-0.09,-0.99) r=0.16m +[headless_play] t= 12.00s step= 600 trunk_z= 118.6mm grav_b=(-0.02,-0.05,-1.00) r=0.16m +[headless_play] t= 12.10s step= 605 trunk_z= 125.0mm grav_b=(+0.03,+0.04,-1.00) r=0.16m +[headless_play] t= 12.20s step= 610 trunk_z= 127.5mm grav_b=(+0.02,+0.05,-1.00) r=0.16m +[headless_play] t= 12.30s step= 615 trunk_z= 123.3mm grav_b=(-0.01,-0.04,-1.00) r=0.13m +[headless_play] t= 12.40s step= 620 trunk_z= 126.2mm grav_b=(-0.04,-0.08,-1.00) r=0.10m +[headless_play] t= 12.50s step= 625 trunk_z= 126.3mm grav_b=(-0.04,-0.09,-1.00) r=0.09m +[headless_play] t= 12.60s step= 630 trunk_z= 116.8mm grav_b=(-0.04,-0.03,-1.00) r=0.10m +[headless_play] t= 12.70s step= 635 trunk_z= 121.4mm grav_b=(-0.08,+0.02,-1.00) r=0.11m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(-0.05,-0.09,-0.99) r=0.11m +[headless_play] t= 12.90s step= 645 trunk_z= 122.5mm grav_b=(-0.00,-0.08,-1.00) r=0.09m +[headless_play] t= 13.00s step= 650 trunk_z= 121.7mm grav_b=(+0.01,-0.06,-1.00) r=0.08m +[headless_play] t= 13.10s step= 655 trunk_z= 122.5mm grav_b=(+0.03,+0.02,-1.00) r=0.08m +[headless_play] t= 13.20s step= 660 trunk_z= 129.3mm grav_b=(+0.02,+0.04,-1.00) r=0.08m +[headless_play] t= 13.30s step= 665 trunk_z= 126.2mm grav_b=(-0.01,-0.01,-1.00) r=0.07m +[headless_play] t= 13.40s step= 670 trunk_z= 126.4mm grav_b=(-0.04,-0.06,-1.00) r=0.06m +[headless_play] t= 13.50s step= 675 trunk_z= 128.3mm grav_b=(-0.01,-0.07,-1.00) r=0.08m +[headless_play] t= 13.60s step= 680 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) r=0.12m +[headless_play] t= 13.70s step= 685 trunk_z= 127.9mm grav_b=(+0.02,+0.02,-1.00) r=0.14m +[headless_play] t= 13.80s step= 690 trunk_z= 127.8mm grav_b=(+0.01,+0.02,-1.00) r=0.15m +[headless_play] t= 13.90s step= 695 trunk_z= 121.3mm grav_b=(-0.01,-0.06,-1.00) r=0.15m +[headless_play] t= 14.00s step= 700 trunk_z= 130.4mm grav_b=(+0.00,-0.07,-1.00) r=0.17m +[headless_play] t= 14.10s step= 705 trunk_z= 124.2mm grav_b=(-0.00,-0.06,-1.00) r=0.20m +[headless_play] t= 14.20s step= 710 trunk_z= 121.3mm grav_b=(+0.03,+0.03,-1.00) r=0.23m +[headless_play] t= 14.30s step= 715 trunk_z= 117.9mm grav_b=(+0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 14.40s step= 720 trunk_z= 112.9mm grav_b=(-0.01,-0.04,-1.00) r=0.23m +[headless_play] t= 14.50s step= 725 trunk_z= 120.0mm grav_b=(-0.02,-0.03,-1.00) r=0.23m +[headless_play] t= 14.60s step= 730 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.24m +[headless_play] t= 14.70s step= 735 trunk_z= 110.0mm grav_b=(-0.02,+0.04,-1.00) r=0.26m +[headless_play] t= 14.80s step= 740 trunk_z= 115.2mm grav_b=(+0.01,+0.04,-1.00) r=0.27m +[headless_play] t= 14.90s step= 745 trunk_z= 109.0mm grav_b=(+0.05,+0.00,-1.00) r=0.27m +[headless_play] t= 15.00s step= 750 trunk_z= 114.3mm grav_b=(+0.06,-0.06,-1.00) r=0.27m +[headless_play] t= 15.10s step= 755 trunk_z= 115.4mm grav_b=(+0.05,-0.04,-1.00) r=0.28m +[headless_play] t= 15.20s step= 760 trunk_z= 109.6mm grav_b=(+0.03,-0.02,-1.00) r=0.31m +[headless_play] t= 15.30s step= 765 trunk_z= 116.5mm grav_b=(+0.02,+0.05,-1.00) r=0.33m +[headless_play] t= 15.40s step= 770 trunk_z= 114.8mm grav_b=(+0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 15.50s step= 775 trunk_z= 110.0mm grav_b=(+0.06,-0.04,-1.00) r=0.34m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(+0.06,-0.04,-1.00) r=0.35m +[headless_play] t= 15.70s step= 785 trunk_z= 114.2mm grav_b=(+0.04,-0.02,-1.00) r=0.38m +[headless_play] t= 15.80s step= 790 trunk_z= 113.6mm grav_b=(-0.00,+0.04,-1.00) r=0.40m +[headless_play] t= 15.90s step= 795 trunk_z= 119.3mm grav_b=(-0.01,+0.04,-1.00) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 110.2mm grav_b=(+0.02,-0.03,-1.00) r=0.41m +[headless_play] t= 16.10s step= 805 trunk_z= 117.0mm grav_b=(+0.05,-0.05,-1.00) r=0.42m +[headless_play] t= 16.20s step= 810 trunk_z= 113.5mm grav_b=(+0.05,-0.03,-1.00) r=0.44m +[headless_play] t= 16.30s step= 815 trunk_z= 112.4mm grav_b=(-0.00,+0.05,-1.00) r=0.47m +[headless_play] t= 16.40s step= 820 trunk_z= 119.9mm grav_b=(-0.02,+0.05,-1.00) r=0.49m +[headless_play] t= 16.50s step= 825 trunk_z= 115.1mm grav_b=(+0.00,+0.00,-1.00) r=0.49m +[headless_play] t= 16.60s step= 830 trunk_z= 116.1mm grav_b=(+0.06,-0.05,-1.00) r=0.49m +[headless_play] t= 16.70s step= 835 trunk_z= 114.7mm grav_b=(+0.09,-0.02,-1.00) r=0.51m +[headless_play] t= 16.80s step= 840 trunk_z= 111.0mm grav_b=(+0.02,+0.04,-1.00) r=0.55m +[headless_play] t= 16.90s step= 845 trunk_z= 119.3mm grav_b=(+0.01,+0.05,-1.00) r=0.57m +[headless_play] t= 17.00s step= 850 trunk_z= 115.1mm grav_b=(+0.00,-0.01,-1.00) r=0.58m +[headless_play] t= 17.10s step= 855 trunk_z= 117.5mm grav_b=(+0.02,-0.06,-1.00) r=0.59m +[headless_play] t= 17.20s step= 860 trunk_z= 117.9mm grav_b=(+0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 17.30s step= 865 trunk_z= 108.4mm grav_b=(+0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 17.40s step= 870 trunk_z= 118.5mm grav_b=(+0.00,+0.07,-1.00) r=0.65m +[headless_play] t= 17.50s step= 875 trunk_z= 119.6mm grav_b=(+0.01,+0.06,-1.00) r=0.66m +[headless_play] t= 17.60s step= 880 trunk_z= 112.3mm grav_b=(+0.04,-0.01,-1.00) r=0.67m +[headless_play] t= 17.70s step= 885 trunk_z= 119.0mm grav_b=(+0.02,-0.06,-1.00) r=0.67m +[headless_play] t= 17.80s step= 890 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.68m +[headless_play] t= 17.90s step= 895 trunk_z= 110.2mm grav_b=(+0.00,+0.07,-1.00) r=0.71m +[headless_play] t= 18.00s step= 900 trunk_z= 124.6mm grav_b=(+0.01,+0.09,-1.00) r=0.73m +[headless_play] t= 18.10s step= 905 trunk_z= 128.0mm grav_b=(+0.01,+0.07,-1.00) r=0.74m +[headless_play] t= 18.20s step= 910 trunk_z= 121.7mm grav_b=(+0.03,+0.01,-1.00) r=0.74m +[headless_play] t= 18.30s step= 915 trunk_z= 125.9mm grav_b=(+0.03,+0.01,-1.00) r=0.76m +[headless_play] t= 18.40s step= 920 trunk_z= 116.9mm grav_b=(-0.00,+0.02,-1.00) r=0.79m +[headless_play] t= 18.50s step= 925 trunk_z= 123.9mm grav_b=(-0.02,+0.01,-1.00) r=0.81m +[headless_play] t= 18.60s step= 930 trunk_z= 118.9mm grav_b=(-0.03,-0.01,-1.00) r=0.81m +[headless_play] t= 18.70s step= 935 trunk_z= 122.4mm grav_b=(-0.02,-0.02,-1.00) r=0.81m +[headless_play] t= 18.80s step= 940 trunk_z= 123.2mm grav_b=(+0.02,-0.01,-1.00) r=0.84m +[headless_play] t= 18.90s step= 945 trunk_z= 116.4mm grav_b=(-0.00,+0.05,-1.00) r=0.87m +[headless_play] t= 19.00s step= 950 trunk_z= 125.5mm grav_b=(-0.01,+0.03,-1.00) r=0.89m +[headless_play] t= 19.10s step= 955 trunk_z= 122.9mm grav_b=(-0.01,+0.01,-1.00) r=0.89m +[headless_play] t= 19.20s step= 960 trunk_z= 121.7mm grav_b=(-0.04,-0.03,-1.00) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 122.8mm grav_b=(-0.03,-0.03,-1.00) r=0.90m +[headless_play] t= 19.40s step= 970 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.92m +[headless_play] t= 19.50s step= 975 trunk_z= 124.3mm grav_b=(+0.02,+0.05,-1.00) r=0.94m +[headless_play] t= 19.60s step= 980 trunk_z= 122.1mm grav_b=(+0.06,-0.05,-1.00) r=0.96m +[headless_play] t= 19.70s step= 985 trunk_z= 127.4mm grav_b=(+0.07,-0.09,-0.99) r=0.98m +[headless_play] t= 19.80s step= 990 trunk_z= 129.4mm grav_b=(+0.02,-0.07,-1.00) r=1.00m +[headless_play] t= 19.90s step= 995 trunk_z= 114.4mm grav_b=(-0.03,+0.01,-1.00) r=1.05m +[headless_play] t= 20.00s step=1000 trunk_z= 122.6mm grav_b=(-0.02,+0.03,-1.00) r=1.06m +[headless_play] t= 20.10s step=1005 trunk_z= 119.1mm grav_b=(-0.05,-0.01,-1.00) r=1.06m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t8.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..b9f00c1db560b58251f7fd00030185de86cbcb84 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.829,-18.117,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.2mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 114.6mm grav_b=(+0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.07,+0.05,-1.00) r=0.23m +[headless_play] t= 0.30s step= 15 trunk_z= 120.4mm grav_b=(+0.07,+0.02,-1.00) r=0.23m +[headless_play] t= 0.40s step= 20 trunk_z= 119.8mm grav_b=(+0.07,-0.08,-0.99) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 125.3mm grav_b=(+0.08,-0.05,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 118.9mm grav_b=(+0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 123.5mm grav_b=(+0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 0.80s step= 40 trunk_z= 122.9mm grav_b=(+0.06,+0.04,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 114.2mm grav_b=(+0.03,-0.05,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 124.9mm grav_b=(+0.02,-0.07,-1.00) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 123.7mm grav_b=(-0.03,-0.04,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 118.6mm grav_b=(-0.04,+0.06,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 124.9mm grav_b=(-0.01,+0.06,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 117.7mm grav_b=(+0.00,+0.04,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 123.9mm grav_b=(-0.01,-0.12,-0.99) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 127.9mm grav_b=(-0.01,-0.20,-0.98) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 126.0mm grav_b=(+0.09,-0.25,-0.96) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(+0.04,-0.31,-0.95) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 115.0mm grav_b=(+0.14,-0.01,-0.99) r=0.54m +[headless_play] t= 2.00s step= 100 trunk_z= 148.0mm grav_b=(+0.27,+0.10,-0.96) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 123.2mm grav_b=(+0.11,+0.35,-0.93) r=0.64m +[headless_play] t= 2.20s step= 110 trunk_z= 51.1mm grav_b=(+0.40,+0.39,-0.83) r=0.69m +[headless_play] RESET at t= 2.28s step= 114 (env termination, not a recovery) +[headless_play] t= 2.30s step= 115 trunk_z= 122.7mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 2.40s step= 120 trunk_z= 114.5mm grav_b=(+0.01,+0.04,-1.00) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 116.9mm grav_b=(+0.05,+0.06,-1.00) r=0.62m +[headless_play] t= 2.60s step= 130 trunk_z= 118.4mm grav_b=(+0.07,+0.03,-1.00) r=0.62m +[headless_play] t= 2.70s step= 135 trunk_z= 121.5mm grav_b=(+0.07,-0.05,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 125.5mm grav_b=(+0.06,-0.03,-1.00) r=0.60m +[headless_play] t= 2.90s step= 145 trunk_z= 113.4mm grav_b=(-0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 3.00s step= 150 trunk_z= 126.6mm grav_b=(+0.01,+0.05,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 123.6mm grav_b=(+0.02,+0.05,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 121.1mm grav_b=(-0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 3.40s step= 170 trunk_z= 113.9mm grav_b=(-0.01,+0.05,-1.00) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 125.2mm grav_b=(+0.03,+0.06,-1.00) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 124.7mm grav_b=(+0.05,+0.08,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 124.4mm grav_b=(+0.04,-0.04,-1.00) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 122.8mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 121.9mm grav_b=(-0.01,+0.05,-1.00) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 125.2mm grav_b=(+0.01,+0.06,-1.00) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(+0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 126.8mm grav_b=(+0.05,-0.06,-1.00) r=0.62m +[headless_play] t= 4.40s step= 220 trunk_z= 127.6mm grav_b=(+0.03,-0.08,-1.00) r=0.64m +[headless_play] t= 4.50s step= 225 trunk_z= 116.1mm grav_b=(+0.02,+0.02,-1.00) r=0.66m +[headless_play] t= 4.60s step= 230 trunk_z= 130.2mm grav_b=(+0.02,+0.07,-1.00) r=0.68m +[headless_play] t= 4.70s step= 235 trunk_z= 126.9mm grav_b=(+0.01,+0.06,-1.00) r=0.71m +[headless_play] t= 4.80s step= 240 trunk_z= 119.5mm grav_b=(-0.02,-0.04,-1.00) r=0.74m +[headless_play] t= 4.90s step= 245 trunk_z= 121.7mm grav_b=(-0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 5.00s step= 250 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.75m +[headless_play] t= 5.10s step= 255 trunk_z= 125.4mm grav_b=(+0.03,+0.05,-1.00) r=0.76m +[headless_play] t= 5.20s step= 260 trunk_z= 123.5mm grav_b=(+0.06,+0.06,-1.00) r=0.78m +[headless_play] t= 5.30s step= 265 trunk_z= 114.7mm grav_b=(+0.05,-0.04,-1.00) r=0.82m +[headless_play] t= 5.40s step= 270 trunk_z= 123.7mm grav_b=(+0.03,-0.05,-1.00) r=0.84m +[headless_play] t= 5.50s step= 275 trunk_z= 121.2mm grav_b=(-0.02,-0.03,-1.00) r=0.85m +[headless_play] t= 5.60s step= 280 trunk_z= 122.6mm grav_b=(-0.03,+0.05,-1.00) r=0.87m +[headless_play] t= 5.70s step= 285 trunk_z= 126.0mm grav_b=(-0.00,+0.07,-1.00) r=0.89m +[headless_play] t= 5.80s step= 290 trunk_z= 122.1mm grav_b=(+0.01,+0.06,-1.00) r=0.92m +[headless_play] t= 5.90s step= 295 trunk_z= 121.8mm grav_b=(+0.03,-0.04,-1.00) r=0.95m +[headless_play] t= 6.00s step= 300 trunk_z= 125.5mm grav_b=(+0.04,-0.06,-1.00) r=0.98m +[headless_play] t= 6.10s step= 305 trunk_z= 114.3mm grav_b=(+0.02,+0.02,-1.00) r=1.00m +[headless_play] t= 6.20s step= 310 trunk_z= 130.3mm grav_b=(+0.07,+0.07,-1.00) r=1.03m +[headless_play] t= 6.30s step= 315 trunk_z= 127.7mm grav_b=(+0.05,+0.08,-1.00) r=1.07m +[headless_play] t= 6.40s step= 320 trunk_z= 99.0mm grav_b=(+0.04,-0.07,-1.00) r=1.12m +[headless_play] t= 6.50s step= 325 trunk_z= 54.4mm grav_b=(+0.23,-0.74,-0.63) r=1.16m +[headless_play] RESET at t= 6.54s step= 327 (env termination, not a recovery) +[headless_play] t= 6.60s step= 330 trunk_z= 114.0mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(-0.02,-0.05,-1.00) r=0.52m +[headless_play] t= 6.80s step= 340 trunk_z= 120.3mm grav_b=(-0.03,-0.06,-1.00) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 7.00s step= 350 trunk_z= 123.5mm grav_b=(+0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 7.10s step= 355 trunk_z= 129.9mm grav_b=(+0.05,+0.08,-1.00) r=0.55m +[headless_play] t= 7.20s step= 360 trunk_z= 125.8mm grav_b=(+0.02,+0.09,-1.00) r=0.59m +[headless_play] t= 7.30s step= 365 trunk_z= 119.3mm grav_b=(-0.00,+0.07,-1.00) r=0.63m +[headless_play] t= 7.40s step= 370 trunk_z= 123.2mm grav_b=(-0.01,+0.05,-1.00) r=0.64m +[headless_play] t= 7.50s step= 375 trunk_z= 118.1mm grav_b=(-0.01,+0.08,-1.00) r=0.65m +[headless_play] t= 7.60s step= 380 trunk_z= 126.9mm grav_b=(+0.00,+0.07,-1.00) r=0.67m +[headless_play] t= 7.70s step= 385 trunk_z= 122.0mm grav_b=(-0.03,+0.07,-1.00) r=0.70m +[headless_play] t= 7.80s step= 390 trunk_z= 119.2mm grav_b=(+0.02,+0.06,-1.00) r=0.74m +[headless_play] t= 7.90s step= 395 trunk_z= 125.0mm grav_b=(+0.04,+0.04,-1.00) r=0.75m +[headless_play] t= 8.00s step= 400 trunk_z= 113.0mm grav_b=(-0.02,+0.06,-1.00) r=0.77m +[headless_play] t= 8.10s step= 405 trunk_z= 123.8mm grav_b=(-0.02,+0.06,-1.00) r=0.80m +[headless_play] t= 8.20s step= 410 trunk_z= 113.2mm grav_b=(-0.08,-0.03,-1.00) r=0.84m +[headless_play] t= 8.30s step= 415 trunk_z= 122.2mm grav_b=(-0.07,-0.05,-1.00) r=0.86m +[headless_play] t= 8.40s step= 420 trunk_z= 126.5mm grav_b=(+0.04,-0.07,-1.00) r=0.87m +[headless_play] t= 8.50s step= 425 trunk_z= 124.3mm grav_b=(+0.01,-0.03,-1.00) r=0.88m +[headless_play] t= 8.60s step= 430 trunk_z= 126.4mm grav_b=(+0.01,+0.04,-1.00) r=0.88m +[headless_play] t= 8.70s step= 435 trunk_z= 129.7mm grav_b=(-0.00,+0.05,-1.00) r=0.90m +[headless_play] t= 8.80s step= 440 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) r=0.93m +[headless_play] t= 8.90s step= 445 trunk_z= 120.7mm grav_b=(-0.02,+0.05,-1.00) r=0.95m +[headless_play] t= 9.00s step= 450 trunk_z= 115.5mm grav_b=(-0.00,+0.05,-1.00) r=0.94m +[headless_play] t= 9.10s step= 455 trunk_z= 122.8mm grav_b=(+0.02,-0.02,-1.00) r=0.96m +[headless_play] t= 9.20s step= 460 trunk_z= 113.0mm grav_b=(+0.02,-0.07,-1.00) r=1.01m +[headless_play] t= 9.30s step= 465 trunk_z= 124.9mm grav_b=(+0.04,-0.05,-1.00) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 113.0mm grav_b=(+0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 9.50s step= 475 trunk_z= 127.4mm grav_b=(+0.01,-0.00,-1.00) r=1.06m +[headless_play] t= 9.60s step= 480 trunk_z= 123.5mm grav_b=(-0.01,-0.02,-1.00) r=1.09m +[headless_play] t= 9.70s step= 485 trunk_z= 119.7mm grav_b=(-0.03,-0.05,-1.00) r=1.12m +[headless_play] t= 9.80s step= 490 trunk_z= 113.6mm grav_b=(-0.06,+0.07,-1.00) r=1.11m +[headless_play] t= 9.90s step= 495 trunk_z= 121.6mm grav_b=(+0.02,+0.09,-1.00) r=1.12m +[headless_play] t= 10.00s step= 500 trunk_z= 119.6mm grav_b=(+0.02,+0.05,-1.00) r=1.14m +[headless_play] t= 10.10s step= 505 trunk_z= 118.7mm grav_b=(+0.01,-0.02,-1.00) r=1.18m +[headless_play] t= 10.20s step= 510 trunk_z= 121.7mm grav_b=(+0.02,-0.01,-1.00) r=1.20m +[headless_play] t= 10.30s step= 515 trunk_z= 111.4mm grav_b=(+0.02,+0.02,-1.00) r=1.19m +[headless_play] t= 10.40s step= 520 trunk_z= 126.8mm grav_b=(+0.01,+0.04,-1.00) r=1.20m +[headless_play] t= 10.50s step= 525 trunk_z= 126.6mm grav_b=(+0.01,+0.10,-0.99) r=1.20m +[headless_play] t= 10.60s step= 530 trunk_z= 121.3mm grav_b=(-0.03,+0.05,-1.00) r=1.23m +[headless_play] t= 10.70s step= 535 trunk_z= 124.5mm grav_b=(-0.01,+0.03,-1.00) r=1.25m +[headless_play] t= 10.80s step= 540 trunk_z= 117.6mm grav_b=(-0.00,+0.03,-1.00) r=1.25m +[headless_play] t= 10.90s step= 545 trunk_z= 119.6mm grav_b=(+0.00,-0.02,-1.00) r=1.26m +[headless_play] t= 11.00s step= 550 trunk_z= 118.9mm grav_b=(+0.01,-0.12,-0.99) r=1.28m +[headless_play] t= 11.10s step= 555 trunk_z= 120.6mm grav_b=(+0.03,-0.16,-0.99) r=1.29m +[headless_play] t= 11.20s step= 560 trunk_z= 120.2mm grav_b=(+0.05,-0.12,-0.99) r=1.29m +[headless_play] t= 11.30s step= 565 trunk_z= 119.2mm grav_b=(+0.03,-0.04,-1.00) r=1.29m +[headless_play] t= 11.40s step= 570 trunk_z= 115.3mm grav_b=(+0.02,-0.03,-1.00) r=1.28m +[headless_play] t= 11.50s step= 575 trunk_z= 115.7mm grav_b=(-0.04,-0.02,-1.00) r=1.28m +[headless_play] t= 11.60s step= 580 trunk_z= 115.8mm grav_b=(-0.06,-0.01,-1.00) r=1.28m +[headless_play] t= 11.70s step= 585 trunk_z= 115.7mm grav_b=(-0.03,-0.00,-1.00) r=1.28m +[headless_play] t= 11.80s step= 590 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=1.29m +[headless_play] t= 11.90s step= 595 trunk_z= 118.3mm grav_b=(+0.07,-0.00,-1.00) r=1.29m +[headless_play] t= 12.00s step= 600 trunk_z= 118.4mm grav_b=(+0.09,+0.00,-1.00) r=1.30m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(+0.08,-0.02,-1.00) r=1.30m +[headless_play] t= 12.20s step= 610 trunk_z= 115.9mm grav_b=(+0.04,-0.03,-1.00) r=1.29m +[headless_play] t= 12.30s step= 615 trunk_z= 115.3mm grav_b=(-0.00,-0.00,-1.00) r=1.29m +[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.04,+0.04,-1.00) r=1.29m +[headless_play] t= 12.50s step= 625 trunk_z= 114.8mm grav_b=(+0.06,+0.02,-1.00) r=1.29m +[headless_play] t= 12.60s step= 630 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 12.70s step= 635 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=1.29m +[headless_play] t= 12.80s step= 640 trunk_z= 114.8mm grav_b=(+0.03,+0.01,-1.00) r=1.29m +[headless_play] t= 12.90s step= 645 trunk_z= 114.8mm grav_b=(+0.05,+0.01,-1.00) r=1.29m +[headless_play] t= 13.00s step= 650 trunk_z= 114.9mm grav_b=(+0.05,+0.01,-1.00) r=1.29m +[headless_play] t= 13.10s step= 655 trunk_z= 114.9mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 13.20s step= 660 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 13.30s step= 665 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=1.29m +[headless_play] t= 13.40s step= 670 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=1.29m +[headless_play] t= 13.50s step= 675 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) r=1.29m +[headless_play] t= 13.60s step= 680 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 13.70s step= 685 trunk_z= 114.8mm grav_b=(+0.06,+0.01,-1.00) r=1.29m +[headless_play] t= 13.80s step= 690 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 13.90s step= 695 trunk_z= 114.3mm grav_b=(+0.00,+0.04,-1.00) r=1.29m +[headless_play] t= 14.00s step= 700 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) r=1.30m +[headless_play] t= 14.10s step= 705 trunk_z= 107.2mm grav_b=(+0.02,-0.01,-1.00) r=1.32m +[headless_play] t= 14.20s step= 710 trunk_z= 111.1mm grav_b=(+0.00,+0.01,-1.00) r=1.33m +[headless_play] t= 14.30s step= 715 trunk_z= 104.4mm grav_b=(+0.02,+0.03,-1.00) r=1.34m +[headless_play] t= 14.40s step= 720 trunk_z= 108.1mm grav_b=(+0.06,+0.05,-1.00) r=1.35m +[headless_play] t= 14.50s step= 725 trunk_z= 109.5mm grav_b=(+0.06,+0.03,-1.00) r=1.37m +[headless_play] t= 14.60s step= 730 trunk_z= 103.7mm grav_b=(+0.06,-0.01,-1.00) r=1.40m +[headless_play] t= 14.70s step= 735 trunk_z= 115.2mm grav_b=(+0.04,-0.03,-1.00) r=1.42m +[headless_play] t= 14.80s step= 740 trunk_z= 113.4mm grav_b=(+0.07,-0.04,-1.00) r=1.44m +[headless_play] t= 14.90s step= 745 trunk_z= 109.3mm grav_b=(+0.08,+0.00,-1.00) r=1.47m +[headless_play] t= 15.00s step= 750 trunk_z= 113.2mm grav_b=(+0.08,+0.01,-1.00) r=1.50m +[headless_play] t= 15.10s step= 755 trunk_z= 107.4mm grav_b=(+0.07,+0.01,-1.00) r=1.52m +[headless_play] t= 15.20s step= 760 trunk_z= 113.3mm grav_b=(+0.05,-0.05,-1.00) r=1.54m +[headless_play] t= 15.30s step= 765 trunk_z= 113.9mm grav_b=(+0.04,-0.02,-1.00) r=1.55m +[headless_play] t= 15.40s step= 770 trunk_z= 107.8mm grav_b=(+0.04,-0.01,-1.00) r=1.56m +[headless_play] t= 15.50s step= 775 trunk_z= 114.7mm grav_b=(+0.03,+0.06,-1.00) r=1.57m +[headless_play] t= 15.60s step= 780 trunk_z= 113.2mm grav_b=(+0.03,+0.07,-1.00) r=1.59m +[headless_play] t= 15.70s step= 785 trunk_z= 107.5mm grav_b=(+0.09,+0.02,-1.00) r=1.60m +[headless_play] t= 15.80s step= 790 trunk_z= 115.0mm grav_b=(+0.06,-0.03,-1.00) r=1.62m +[headless_play] t= 15.90s step= 795 trunk_z= 112.9mm grav_b=(+0.06,-0.03,-1.00) r=1.63m +[headless_play] t= 16.00s step= 800 trunk_z= 108.1mm grav_b=(+0.03,+0.05,-1.00) r=1.65m +[headless_play] t= 16.10s step= 805 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=1.66m +[headless_play] t= 16.20s step= 810 trunk_z= 113.7mm grav_b=(-0.02,+0.02,-1.00) r=1.67m +[headless_play] t= 16.30s step= 815 trunk_z= 112.0mm grav_b=(+0.07,-0.03,-1.00) r=1.69m +[headless_play] t= 16.40s step= 820 trunk_z= 109.5mm grav_b=(+0.11,+0.09,-0.99) r=1.73m +[headless_play] t= 16.50s step= 825 trunk_z= 123.0mm grav_b=(+0.08,+0.08,-0.99) r=1.76m +[headless_play] t= 16.60s step= 830 trunk_z= 111.3mm grav_b=(+0.02,-0.03,-1.00) r=1.81m +[headless_play] t= 16.70s step= 835 trunk_z= 122.3mm grav_b=(+0.01,-0.02,-1.00) r=1.84m +[headless_play] t= 16.80s step= 840 trunk_z= 114.3mm grav_b=(-0.02,+0.02,-1.00) r=1.86m +[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(-0.06,+0.04,-1.00) r=1.86m +[headless_play] t= 17.00s step= 850 trunk_z= 110.6mm grav_b=(-0.07,-0.03,-1.00) r=1.86m +[headless_play] t= 17.10s step= 855 trunk_z= 117.6mm grav_b=(-0.02,-0.03,-1.00) r=1.85m +[headless_play] t= 17.20s step= 860 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=1.83m +[headless_play] t= 17.30s step= 865 trunk_z= 111.7mm grav_b=(+0.04,+0.06,-1.00) r=1.82m +[headless_play] t= 17.40s step= 870 trunk_z= 116.1mm grav_b=(+0.06,+0.06,-1.00) r=1.83m +[headless_play] t= 17.50s step= 875 trunk_z= 111.4mm grav_b=(+0.07,+0.01,-1.00) r=1.86m +[headless_play] t= 17.60s step= 880 trunk_z= 116.0mm grav_b=(+0.08,-0.05,-1.00) r=1.87m +[headless_play] t= 17.70s step= 885 trunk_z= 112.7mm grav_b=(+0.07,-0.02,-1.00) r=1.87m +[headless_play] t= 17.80s step= 890 trunk_z= 116.2mm grav_b=(+0.04,+0.04,-1.00) r=1.88m +[headless_play] t= 17.90s step= 895 trunk_z= 117.7mm grav_b=(+0.06,+0.12,-0.99) r=1.88m +[headless_play] t= 18.00s step= 900 trunk_z= 119.7mm grav_b=(+0.07,+0.11,-0.99) r=1.89m +[headless_play] t= 18.10s step= 905 trunk_z= 118.9mm grav_b=(+0.05,-0.05,-1.00) r=1.92m +[headless_play] t= 18.20s step= 910 trunk_z= 119.1mm grav_b=(+0.04,-0.03,-1.00) r=1.93m +[headless_play] t= 18.30s step= 915 trunk_z= 111.7mm grav_b=(+0.04,+0.03,-1.00) r=1.92m +[headless_play] t= 18.40s step= 920 trunk_z= 115.9mm grav_b=(+0.04,+0.04,-1.00) r=1.93m +[headless_play] t= 18.50s step= 925 trunk_z= 112.0mm grav_b=(+0.01,+0.02,-1.00) r=1.96m +[headless_play] t= 18.60s step= 930 trunk_z= 119.5mm grav_b=(+0.00,-0.04,-1.00) r=1.98m +[headless_play] t= 18.70s step= 935 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=1.98m +[headless_play] t= 18.80s step= 940 trunk_z= 111.1mm grav_b=(-0.01,+0.07,-1.00) r=1.97m +[headless_play] t= 18.90s step= 945 trunk_z= 120.6mm grav_b=(+0.07,+0.14,-0.99) r=1.96m +[headless_play] t= 19.00s step= 950 trunk_z= 123.8mm grav_b=(+0.04,+0.15,-0.99) r=1.97m +[headless_play] t= 19.10s step= 955 trunk_z= 118.4mm grav_b=(+0.06,-0.01,-1.00) r=1.97m +[headless_play] t= 19.20s step= 960 trunk_z= 122.4mm grav_b=(+0.01,+0.02,-1.00) r=1.98m +[headless_play] t= 19.30s step= 965 trunk_z= 110.7mm grav_b=(-0.03,+0.03,-1.00) r=1.96m +[headless_play] t= 19.40s step= 970 trunk_z= 118.0mm grav_b=(-0.02,+0.02,-1.00) r=1.96m +[headless_play] t= 19.50s step= 975 trunk_z= 114.2mm grav_b=(-0.02,+0.02,-1.00) r=1.98m +[headless_play] t= 19.60s step= 980 trunk_z= 118.1mm grav_b=(-0.02,-0.03,-1.00) r=1.99m +[headless_play] t= 19.70s step= 985 trunk_z= 116.1mm grav_b=(-0.00,+0.00,-1.00) r=1.99m +[headless_play] t= 19.80s step= 990 trunk_z= 107.8mm grav_b=(-0.01,+0.06,-1.00) r=1.97m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(+0.04,+0.04,-1.00) r=1.96m +[headless_play] t= 20.00s step=1000 trunk_z= 113.1mm grav_b=(+0.02,+0.01,-1.00) r=1.99m +[headless_play] t= 20.10s step=1005 trunk_z= 119.2mm grav_b=(-0.00,-0.06,-1.00) r=2.01m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t9.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..a4b5829691a65f17310bbb0a20310b7a7dfecd69 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/v2-c-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_7000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.462,-18.423,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.8mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 0.10s step= 5 trunk_z= 114.4mm grav_b=(+0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 0.20s step= 10 trunk_z= 114.3mm grav_b=(+0.05,+0.04,-1.00) r=0.65m +[headless_play] t= 0.30s step= 15 trunk_z= 110.6mm grav_b=(+0.06,-0.03,-1.00) r=0.67m +[headless_play] t= 0.40s step= 20 trunk_z= 108.3mm grav_b=(+0.11,-0.07,-0.99) r=0.70m +[headless_play] t= 0.50s step= 25 trunk_z= 111.2mm grav_b=(+0.11,-0.03,-0.99) r=0.71m +[headless_play] t= 0.60s step= 30 trunk_z= 105.1mm grav_b=(+0.09,+0.02,-1.00) r=0.72m +[headless_play] t= 0.70s step= 35 trunk_z= 113.8mm grav_b=(+0.11,+0.06,-0.99) r=0.72m +[headless_play] t= 0.80s step= 40 trunk_z= 111.2mm grav_b=(+0.12,+0.06,-0.99) r=0.74m +[headless_play] t= 0.90s step= 45 trunk_z= 106.9mm grav_b=(+0.10,+0.00,-0.99) r=0.77m +[headless_play] t= 1.00s step= 50 trunk_z= 117.4mm grav_b=(+0.03,-0.03,-1.00) r=0.79m +[headless_play] t= 1.10s step= 55 trunk_z= 115.6mm grav_b=(+0.03,+0.02,-1.00) r=0.80m +[headless_play] t= 1.20s step= 60 trunk_z= 109.7mm grav_b=(+0.03,+0.06,-1.00) r=0.81m +[headless_play] t= 1.30s step= 65 trunk_z= 112.9mm grav_b=(+0.06,+0.04,-1.00) r=0.83m +[headless_play] t= 1.40s step= 70 trunk_z= 105.1mm grav_b=(+0.08,+0.04,-1.00) r=0.85m +[headless_play] t= 1.50s step= 75 trunk_z= 108.9mm grav_b=(+0.14,-0.03,-0.99) r=0.88m +[headless_play] t= 1.60s step= 80 trunk_z= 105.8mm grav_b=(+0.14,+0.08,-0.99) r=0.90m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(+0.14,+0.12,-0.98) r=0.91m +[headless_play] t= 1.80s step= 90 trunk_z= 115.1mm grav_b=(+0.08,+0.06,-1.00) r=0.93m +[headless_play] t= 1.90s step= 95 trunk_z= 107.9mm grav_b=(+0.09,-0.03,-1.00) r=0.96m +[headless_play] t= 2.00s step= 100 trunk_z= 115.6mm grav_b=(+0.11,-0.06,-0.99) r=0.99m +[headless_play] t= 2.10s step= 105 trunk_z= 112.0mm grav_b=(+0.08,-0.03,-1.00) r=1.00m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.05,+0.04,-1.00) r=1.02m +[headless_play] t= 2.30s step= 115 trunk_z= 115.7mm grav_b=(+0.05,+0.06,-1.00) r=1.04m +[headless_play] t= 2.40s step= 120 trunk_z= 102.3mm grav_b=(+0.15,-0.03,-0.99) r=1.08m +[headless_play] t= 2.50s step= 125 trunk_z= 118.3mm grav_b=(+0.20,-0.07,-0.98) r=1.12m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.14,-0.03,-0.99) r=1.16m +[headless_play] t= 2.70s step= 135 trunk_z= 119.2mm grav_b=(+0.12,+0.00,-0.99) r=1.18m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(+0.05,-0.04,-1.00) r=1.22m +[headless_play] t= 2.90s step= 145 trunk_z= 119.2mm grav_b=(+0.01,-0.08,-1.00) r=1.25m +[headless_play] t= 3.00s step= 150 trunk_z= 119.0mm grav_b=(+0.02,-0.06,-1.00) r=1.27m +[headless_play] t= 3.10s step= 155 trunk_z= 111.2mm grav_b=(+0.05,+0.08,-1.00) r=1.29m +[headless_play] t= 3.20s step= 160 trunk_z= 118.5mm grav_b=(+0.09,+0.13,-0.99) r=1.31m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(+0.11,+0.14,-0.98) r=1.33m +[headless_play] t= 3.40s step= 170 trunk_z= 111.9mm grav_b=(+0.10,+0.01,-0.99) r=1.35m +[headless_play] t= 3.50s step= 175 trunk_z= 118.1mm grav_b=(+0.11,-0.02,-0.99) r=1.38m +[headless_play] t= 3.60s step= 180 trunk_z= 112.9mm grav_b=(+0.10,-0.02,-1.00) r=1.41m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(+0.11,+0.00,-0.99) r=1.43m +[headless_play] t= 3.80s step= 190 trunk_z= 111.0mm grav_b=(+0.10,+0.00,-0.99) r=1.45m +[headless_play] t= 3.90s step= 195 trunk_z= 108.2mm grav_b=(+0.09,-0.06,-0.99) r=1.48m +[headless_play] t= 4.00s step= 200 trunk_z= 114.9mm grav_b=(+0.09,-0.06,-0.99) r=1.50m +[headless_play] t= 4.10s step= 205 trunk_z= 111.0mm grav_b=(+0.05,-0.02,-1.00) r=1.52m +[headless_play] t= 4.20s step= 210 trunk_z= 111.0mm grav_b=(+0.06,-0.04,-1.00) r=1.53m +[headless_play] t= 4.30s step= 215 trunk_z= 106.7mm grav_b=(+0.07,-0.03,-1.00) r=1.55m +[headless_play] t= 4.40s step= 220 trunk_z= 105.8mm grav_b=(+0.12,-0.09,-0.99) r=1.57m +[headless_play] t= 4.50s step= 225 trunk_z= 108.4mm grav_b=(+0.11,-0.05,-0.99) r=1.58m +[headless_play] t= 4.60s step= 230 trunk_z= 104.5mm grav_b=(+0.06,+0.02,-1.00) r=1.61m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(+0.05,+0.06,-1.00) r=1.62m +[headless_play] t= 4.80s step= 240 trunk_z= 107.0mm grav_b=(+0.20,+0.06,-0.98) r=1.66m +[headless_play] t= 4.90s step= 245 trunk_z= 111.3mm grav_b=(+0.22,-0.00,-0.98) r=1.70m +[headless_play] t= 5.00s step= 250 trunk_z= 121.5mm grav_b=(+0.13,+0.03,-0.99) r=1.74m +[headless_play] t= 5.10s step= 255 trunk_z= 121.8mm grav_b=(+0.05,+0.10,-0.99) r=1.77m +[headless_play] t= 5.20s step= 260 trunk_z= 129.7mm grav_b=(+0.06,+0.07,-1.00) r=1.79m +[headless_play] t= 5.30s step= 265 trunk_z= 115.6mm grav_b=(+0.06,-0.02,-1.00) r=1.83m +[headless_play] t= 5.40s step= 270 trunk_z= 123.3mm grav_b=(+0.11,-0.02,-0.99) r=1.85m +[headless_play] t= 5.50s step= 275 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=1.89m +[headless_play] t= 5.60s step= 280 trunk_z= 122.6mm grav_b=(+0.01,+0.04,-1.00) r=1.91m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(-0.00,-0.03,-1.00) r=1.92m +[headless_play] t= 5.80s step= 290 trunk_z= 117.1mm grav_b=(-0.02,-0.03,-1.00) r=1.91m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(-0.02,+0.00,-1.00) r=1.92m +[headless_play] t= 6.00s step= 300 trunk_z= 116.3mm grav_b=(+0.00,-0.00,-1.00) r=1.92m +[headless_play] t= 6.10s step= 305 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=1.92m +[headless_play] t= 6.20s step= 310 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=1.92m +[headless_play] t= 6.30s step= 315 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=1.92m +[headless_play] t= 6.40s step= 320 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=1.92m +[headless_play] t= 6.50s step= 325 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=1.92m +[headless_play] t= 6.60s step= 330 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(-0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 6.80s step= 340 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 6.90s step= 345 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 7.00s step= 350 trunk_z= 117.5mm grav_b=(-0.02,-0.01,-1.00) r=1.92m +[headless_play] t= 7.10s step= 355 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=1.91m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=1.92m +[headless_play] t= 7.30s step= 365 trunk_z= 117.1mm grav_b=(+0.01,+0.02,-1.00) r=1.92m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(-0.01,+0.00,-1.00) r=1.92m +[headless_play] t= 7.50s step= 375 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=1.92m +[headless_play] t= 7.60s step= 380 trunk_z= 119.8mm grav_b=(+0.04,+0.06,-1.00) r=1.93m +[headless_play] t= 7.70s step= 385 trunk_z= 119.4mm grav_b=(+0.07,+0.04,-1.00) r=1.93m +[headless_play] t= 7.80s step= 390 trunk_z= 119.2mm grav_b=(+0.09,+0.04,-1.00) r=1.93m +[headless_play] t= 7.90s step= 395 trunk_z= 119.1mm grav_b=(+0.09,+0.05,-0.99) r=1.93m +[headless_play] t= 8.00s step= 400 trunk_z= 119.0mm grav_b=(+0.10,+0.04,-0.99) r=1.93m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(+0.10,+0.05,-0.99) r=1.93m +[headless_play] t= 8.20s step= 410 trunk_z= 119.3mm grav_b=(+0.10,+0.06,-0.99) r=1.93m +[headless_play] t= 8.30s step= 415 trunk_z= 120.1mm grav_b=(+0.10,+0.06,-0.99) r=1.93m +[headless_play] t= 8.40s step= 420 trunk_z= 118.7mm grav_b=(+0.10,+0.02,-0.99) r=1.93m +[headless_play] t= 8.50s step= 425 trunk_z= 119.2mm grav_b=(+0.11,+0.02,-0.99) r=1.93m +[headless_play] t= 8.60s step= 430 trunk_z= 118.3mm grav_b=(+0.14,+0.01,-0.99) r=1.93m +[headless_play] t= 8.70s step= 435 trunk_z= 119.3mm grav_b=(+0.13,-0.03,-0.99) r=1.94m +[headless_play] t= 8.80s step= 440 trunk_z= 113.3mm grav_b=(+0.05,+0.06,-1.00) r=1.97m +[headless_play] t= 8.90s step= 445 trunk_z= 121.6mm grav_b=(+0.04,+0.08,-1.00) r=1.98m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(-0.01,+0.04,-1.00) r=1.98m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=1.98m +[headless_play] t= 9.20s step= 460 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00) r=1.99m +[headless_play] t= 9.30s step= 465 trunk_z= 116.8mm grav_b=(+0.07,+0.03,-1.00) r=2.00m +[headless_play] t= 9.40s step= 470 trunk_z= 117.9mm grav_b=(+0.09,+0.02,-1.00) r=2.00m +[headless_play] t= 9.50s step= 475 trunk_z= 117.7mm grav_b=(+0.10,+0.02,-0.99) r=2.00m +[headless_play] t= 9.60s step= 480 trunk_z= 117.3mm grav_b=(+0.09,+0.03,-1.00) r=2.00m +[headless_play] t= 9.70s step= 485 trunk_z= 116.5mm grav_b=(+0.06,+0.03,-1.00) r=2.00m +[headless_play] t= 9.80s step= 490 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=1.99m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.07,+0.02,-1.00) r=2.00m +[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(+0.10,+0.02,-0.99) r=2.00m +[headless_play] t= 10.10s step= 505 trunk_z= 117.8mm grav_b=(+0.12,+0.02,-0.99) r=2.00m +[headless_play] t= 10.20s step= 510 trunk_z= 118.0mm grav_b=(+0.13,+0.02,-0.99) r=2.00m +[headless_play] t= 10.30s step= 515 trunk_z= 117.8mm grav_b=(+0.12,+0.02,-0.99) r=2.00m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(+0.11,+0.01,-0.99) r=2.00m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(+0.08,+0.02,-1.00) r=2.00m +[headless_play] t= 10.60s step= 530 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=1.99m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(-0.05,-0.00,-1.00) r=1.98m +[headless_play] t= 10.80s step= 540 trunk_z= 117.1mm grav_b=(-0.07,+0.01,-1.00) r=1.98m +[headless_play] t= 10.90s step= 545 trunk_z= 111.0mm grav_b=(+0.06,-0.07,-1.00) r=1.95m +[headless_play] t= 11.00s step= 550 trunk_z= 113.8mm grav_b=(+0.09,-0.10,-0.99) r=1.94m +[headless_play] t= 11.10s step= 555 trunk_z= 113.6mm grav_b=(+0.09,-0.04,-0.99) r=1.94m +[headless_play] t= 11.20s step= 560 trunk_z= 116.0mm grav_b=(+0.06,+0.02,-1.00) r=1.94m +[headless_play] t= 11.30s step= 565 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00) r=1.93m +[headless_play] t= 11.40s step= 570 trunk_z= 115.7mm grav_b=(+0.02,-0.00,-1.00) r=1.93m +[headless_play] t= 11.50s step= 575 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=1.93m +[headless_play] t= 11.60s step= 580 trunk_z= 116.2mm grav_b=(+0.00,-0.02,-1.00) r=1.92m +[headless_play] t= 11.70s step= 585 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=1.92m +[headless_play] t= 11.80s step= 590 trunk_z= 115.6mm grav_b=(+0.02,-0.00,-1.00) r=1.93m +[headless_play] t= 11.90s step= 595 trunk_z= 115.6mm grav_b=(+0.05,+0.00,-1.00) r=1.93m +[headless_play] t= 12.00s step= 600 trunk_z= 114.9mm grav_b=(+0.09,+0.05,-0.99) r=1.94m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(+0.10,+0.03,-0.99) r=1.95m +[headless_play] t= 12.20s step= 610 trunk_z= 112.4mm grav_b=(+0.05,-0.08,-1.00) r=1.97m +[headless_play] t= 12.30s step= 615 trunk_z= 123.2mm grav_b=(+0.04,-0.09,-1.00) r=1.98m +[headless_play] t= 12.40s step= 620 trunk_z= 120.9mm grav_b=(+0.01,-0.07,-1.00) r=2.00m +[headless_play] t= 12.50s step= 625 trunk_z= 114.4mm grav_b=(+0.09,+0.01,-1.00) r=2.04m +[headless_play] RESET at t= 12.58s step= 629 (env termination, not a recovery) +[headless_play] t= 12.60s step= 630 trunk_z= 123.7mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(-0.00,+0.04,-1.00) r=0.53m +[headless_play] t= 12.80s step= 640 trunk_z= 119.7mm grav_b=(+0.02,+0.10,-0.99) r=0.54m +[headless_play] t= 12.90s step= 645 trunk_z= 122.4mm grav_b=(+0.06,+0.07,-1.00) r=0.53m +[headless_play] t= 13.00s step= 650 trunk_z= 115.4mm grav_b=(+0.03,-0.08,-1.00) r=0.50m +[headless_play] t= 13.10s step= 655 trunk_z= 124.1mm grav_b=(-0.01,-0.09,-1.00) r=0.48m +[headless_play] t= 13.20s step= 660 trunk_z= 123.6mm grav_b=(-0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 13.30s step= 665 trunk_z= 121.0mm grav_b=(-0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 13.40s step= 670 trunk_z= 123.4mm grav_b=(+0.07,+0.06,-1.00) r=0.50m +[headless_play] t= 13.50s step= 675 trunk_z= 118.1mm grav_b=(+0.11,-0.03,-0.99) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 125.4mm grav_b=(+0.11,-0.01,-0.99) r=0.47m +[headless_play] t= 13.70s step= 685 trunk_z= 119.5mm grav_b=(+0.07,+0.05,-1.00) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 132.0mm grav_b=(+0.15,+0.03,-0.99) r=0.49m +[headless_play] t= 13.90s step= 695 trunk_z= 128.3mm grav_b=(+0.09,+0.05,-0.99) r=0.49m +[headless_play] t= 14.00s step= 700 trunk_z= 77.1mm grav_b=(+0.17,-0.11,-0.98) r=0.49m +[headless_play] RESET at t= 14.10s step= 705 (env termination, not a recovery) +[headless_play] t= 14.10s step= 705 trunk_z= 121.5mm grav_b=(-0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 14.20s step= 710 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00) r=0.21m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(-0.07,-0.07,-1.00) r=0.20m +[headless_play] t= 14.40s step= 720 trunk_z= 120.7mm grav_b=(-0.01,-0.03,-1.00) r=0.19m +[headless_play] t= 14.50s step= 725 trunk_z= 111.5mm grav_b=(-0.01,+0.07,-1.00) r=0.18m +[headless_play] t= 14.60s step= 730 trunk_z= 117.9mm grav_b=(+0.02,+0.11,-0.99) r=0.18m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(+0.05,+0.06,-1.00) r=0.19m +[headless_play] t= 14.80s step= 740 trunk_z= 122.9mm grav_b=(+0.07,-0.04,-1.00) r=0.21m +[headless_play] t= 14.90s step= 745 trunk_z= 123.4mm grav_b=(+0.04,-0.06,-1.00) r=0.22m +[headless_play] t= 15.00s step= 750 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.20m +[headless_play] t= 15.10s step= 755 trunk_z= 123.2mm grav_b=(-0.06,+0.04,-1.00) r=0.20m +[headless_play] t= 15.20s step= 760 trunk_z= 120.0mm grav_b=(-0.05,+0.02,-1.00) r=0.22m +[headless_play] t= 15.30s step= 765 trunk_z= 121.8mm grav_b=(+0.03,-0.02,-1.00) r=0.25m +[headless_play] t= 15.40s step= 770 trunk_z= 123.8mm grav_b=(+0.07,+0.00,-1.00) r=0.26m +[headless_play] t= 15.50s step= 775 trunk_z= 116.5mm grav_b=(+0.07,+0.05,-1.00) r=0.27m +[headless_play] t= 15.60s step= 780 trunk_z= 126.2mm grav_b=(+0.02,+0.03,-1.00) r=0.29m +[headless_play] t= 15.70s step= 785 trunk_z= 119.7mm grav_b=(-0.01,+0.02,-1.00) r=0.31m +[headless_play] t= 15.80s step= 790 trunk_z= 120.2mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 15.90s step= 795 trunk_z= 121.3mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(+0.01,+0.06,-1.00) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 126.7mm grav_b=(+0.03,+0.08,-1.00) r=0.34m +[headless_play] t= 16.20s step= 810 trunk_z= 129.0mm grav_b=(+0.05,+0.08,-1.00) r=0.36m +[headless_play] t= 16.30s step= 815 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 16.40s step= 820 trunk_z= 119.7mm grav_b=(-0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 16.50s step= 825 trunk_z= 117.3mm grav_b=(-0.07,+0.10,-0.99) r=0.39m +[headless_play] t= 16.60s step= 830 trunk_z= 122.7mm grav_b=(-0.05,+0.08,-1.00) r=0.39m +[headless_play] t= 16.70s step= 835 trunk_z= 118.3mm grav_b=(-0.04,+0.05,-1.00) r=0.42m +[headless_play] t= 16.80s step= 840 trunk_z= 121.6mm grav_b=(+0.05,-0.03,-1.00) r=0.45m +[headless_play] t= 16.90s step= 845 trunk_z= 124.5mm grav_b=(+0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(+0.05,+0.01,-1.00) r=0.47m +[headless_play] t= 17.10s step= 855 trunk_z= 128.1mm grav_b=(+0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 17.20s step= 860 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(-0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 17.40s step= 870 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 17.50s step= 875 trunk_z= 115.4mm grav_b=(-0.06,+0.03,-1.00) r=0.54m +[headless_play] t= 17.60s step= 880 trunk_z= 116.1mm grav_b=(-0.06,+0.00,-1.00) r=0.55m +[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 17.80s step= 890 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 17.90s step= 895 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 18.00s step= 900 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 18.10s step= 905 trunk_z= 116.8mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 18.20s step= 910 trunk_z= 116.9mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 18.30s step= 915 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 18.50s step= 925 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 18.90s step= 945 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 19.00s step= 950 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 19.30s step= 965 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 117.2mm grav_b=(-0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 19.50s step= 975 trunk_z= 116.7mm grav_b=(-0.06,-0.00,-1.00) r=0.56m +[headless_play] t= 19.60s step= 980 trunk_z= 116.5mm grav_b=(-0.04,+0.00,-1.00) r=0.56m +[headless_play] t= 19.70s step= 985 trunk_z= 116.4mm grav_b=(+0.00,-0.00,-1.00) r=0.56m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 19.90s step= 995 trunk_z= 118.0mm grav_b=(+0.05,+0.00,-1.00) r=0.56m +[headless_play] t= 20.00s step=1000 trunk_z= 117.3mm grav_b=(+0.04,+0.01,-1.00) r=0.56m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.01,+0.01,-1.00) r=0.56m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t1.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..f8302cd2b4ef657831140f09ead37e245c860cbb --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t1.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.677,-18.319,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.8mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 121.8mm grav_b=(-0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 119.3mm grav_b=(+0.04,-0.06,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 125.4mm grav_b=(+0.04,-0.12,-0.99) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 131.2mm grav_b=(+0.01,-0.13,-0.99) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 127.3mm grav_b=(-0.02,-0.11,-0.99) r=0.48m +[headless_play] t= 0.80s step= 40 trunk_z= 120.4mm grav_b=(-0.02,-0.04,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 121.8mm grav_b=(+0.01,-0.04,-1.00) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(-0.01,-0.11,-0.99) r=0.48m +[headless_play] t= 1.10s step= 55 trunk_z= 127.4mm grav_b=(-0.07,-0.20,-0.98) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 133.4mm grav_b=(-0.05,-0.27,-0.96) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 131.7mm grav_b=(+0.04,-0.29,-0.96) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 135.0mm grav_b=(+0.05,-0.26,-0.96) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 127.0mm grav_b=(-0.04,-0.14,-0.99) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 127.4mm grav_b=(+0.01,-0.14,-0.99) r=0.37m +[headless_play] t= 1.70s step= 85 trunk_z= 120.7mm grav_b=(+0.06,-0.15,-0.99) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 123.5mm grav_b=(+0.08,-0.13,-0.99) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 112.9mm grav_b=(-0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 116.3mm grav_b=(-0.05,-0.04,-1.00) r=0.36m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(+0.00,-0.15,-0.99) r=0.34m +[headless_play] t= 2.20s step= 110 trunk_z= 126.5mm grav_b=(-0.00,-0.09,-1.00) r=0.34m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.00,-0.06,-1.00) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 120.8mm grav_b=(-0.00,+0.02,-1.00) r=0.38m +[headless_play] t= 2.50s step= 125 trunk_z= 120.6mm grav_b=(+0.01,-0.04,-1.00) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 118.7mm grav_b=(+0.01,-0.09,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 127.6mm grav_b=(-0.00,-0.12,-0.99) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 127.5mm grav_b=(-0.01,-0.14,-0.99) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 116.6mm grav_b=(-0.04,-0.03,-1.00) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 126.1mm grav_b=(-0.04,+0.04,-1.00) r=0.38m +[headless_play] t= 3.10s step= 155 trunk_z= 127.0mm grav_b=(+0.01,+0.03,-1.00) r=0.38m +[headless_play] t= 3.20s step= 160 trunk_z= 121.6mm grav_b=(-0.00,-0.03,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 126.6mm grav_b=(+0.04,-0.13,-0.99) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 130.6mm grav_b=(+0.01,-0.17,-0.99) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 131.3mm grav_b=(-0.06,-0.19,-0.98) r=0.32m +[headless_play] t= 3.60s step= 180 trunk_z= 127.9mm grav_b=(-0.05,-0.18,-0.98) r=0.32m +[headless_play] t= 3.70s step= 185 trunk_z= 122.7mm grav_b=(-0.01,-0.18,-0.98) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 116.2mm grav_b=(-0.01,-0.12,-0.99) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 120.9mm grav_b=(-0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 4.00s step= 200 trunk_z= 120.7mm grav_b=(-0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 116.5mm grav_b=(-0.02,-0.10,-1.00) r=0.35m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(+0.09,-0.11,-0.99) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(+0.07,-0.09,-0.99) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 119.3mm grav_b=(+0.05,+0.02,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 119.5mm grav_b=(+0.03,-0.03,-1.00) r=0.36m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(+0.03,-0.11,-0.99) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 121.5mm grav_b=(+0.01,-0.11,-0.99) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 115.9mm grav_b=(+0.04,-0.07,-1.00) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 118.3mm grav_b=(+0.01,+0.07,-1.00) r=0.38m +[headless_play] t= 5.00s step= 250 trunk_z= 122.5mm grav_b=(+0.01,+0.06,-1.00) r=0.39m +[headless_play] t= 5.10s step= 255 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 120.6mm grav_b=(-0.03,-0.08,-1.00) r=0.37m +[headless_play] t= 5.30s step= 265 trunk_z= 122.8mm grav_b=(-0.00,-0.11,-0.99) r=0.37m +[headless_play] t= 5.40s step= 270 trunk_z= 119.3mm grav_b=(+0.02,-0.09,-1.00) r=0.38m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.04,+0.05,-1.00) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 124.0mm grav_b=(-0.06,+0.06,-1.00) r=0.42m +[headless_play] t= 5.70s step= 285 trunk_z= 123.1mm grav_b=(-0.05,-0.00,-1.00) r=0.41m +[headless_play] t= 5.80s step= 290 trunk_z= 117.1mm grav_b=(+0.01,-0.11,-0.99) r=0.40m +[headless_play] t= 5.90s step= 295 trunk_z= 121.5mm grav_b=(+0.02,-0.16,-0.99) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 121.6mm grav_b=(+0.04,-0.19,-0.98) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 121.2mm grav_b=(+0.05,-0.18,-0.98) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 115.4mm grav_b=(+0.08,-0.05,-1.00) r=0.41m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(+0.03,-0.02,-1.00) r=0.41m +[headless_play] t= 6.40s step= 320 trunk_z= 116.3mm grav_b=(-0.10,-0.15,-0.98) r=0.40m +[headless_play] t= 6.50s step= 325 trunk_z= 127.5mm grav_b=(-0.07,-0.16,-0.98) r=0.39m +[headless_play] t= 6.60s step= 330 trunk_z= 122.7mm grav_b=(-0.00,-0.11,-0.99) r=0.36m +[headless_play] t= 6.70s step= 335 trunk_z= 99.7mm grav_b=(-0.06,-0.23,-0.97) r=0.34m +[headless_play] t= 6.80s step= 340 trunk_z= 93.6mm grav_b=(-0.03,-0.27,-0.96) r=0.30m +[headless_play] t= 6.90s step= 345 trunk_z= 120.0mm grav_b=(-0.14,-0.20,-0.97) r=0.27m +[headless_play] t= 7.00s step= 350 trunk_z= 121.2mm grav_b=(-0.02,-0.08,-1.00) r=0.23m +[headless_play] t= 7.10s step= 355 trunk_z= 97.6mm grav_b=(+0.06,-0.03,-1.00) r=0.18m +[headless_play] t= 7.20s step= 360 trunk_z= 102.1mm grav_b=(+0.02,-0.05,-1.00) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 101.1mm grav_b=(+0.03,-0.10,-0.99) r=0.19m +[headless_play] t= 7.40s step= 370 trunk_z= 111.8mm grav_b=(+0.04,-0.05,-1.00) r=0.18m +[headless_play] t= 7.50s step= 375 trunk_z= 107.9mm grav_b=(+0.05,-0.04,-1.00) r=0.17m +[headless_play] t= 7.60s step= 380 trunk_z= 112.9mm grav_b=(+0.07,+0.02,-1.00) r=0.16m +[headless_play] t= 7.70s step= 385 trunk_z= 113.0mm grav_b=(+0.06,-0.05,-1.00) r=0.17m +[headless_play] t= 7.80s step= 390 trunk_z= 116.2mm grav_b=(+0.02,-0.16,-0.99) r=0.20m +[headless_play] t= 7.90s step= 395 trunk_z= 122.0mm grav_b=(+0.00,-0.17,-0.99) r=0.22m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(+0.03,-0.16,-0.99) r=0.23m +[headless_play] t= 8.10s step= 405 trunk_z= 115.1mm grav_b=(+0.04,-0.02,-1.00) r=0.23m +[headless_play] t= 8.20s step= 410 trunk_z= 121.1mm grav_b=(+0.01,+0.03,-1.00) r=0.23m +[headless_play] t= 8.30s step= 415 trunk_z= 117.5mm grav_b=(+0.01,-0.03,-1.00) r=0.24m +[headless_play] t= 8.40s step= 420 trunk_z= 119.1mm grav_b=(-0.00,-0.11,-0.99) r=0.26m +[headless_play] t= 8.50s step= 425 trunk_z= 120.9mm grav_b=(+0.00,-0.12,-0.99) r=0.27m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(+0.04,-0.08,-1.00) r=0.28m +[headless_play] t= 8.70s step= 435 trunk_z= 119.3mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 8.80s step= 440 trunk_z= 119.9mm grav_b=(-0.04,-0.04,-1.00) r=0.28m +[headless_play] t= 8.90s step= 445 trunk_z= 118.4mm grav_b=(-0.03,-0.13,-0.99) r=0.28m +[headless_play] t= 9.00s step= 450 trunk_z= 122.5mm grav_b=(-0.00,-0.15,-0.99) r=0.27m +[headless_play] t= 9.10s step= 455 trunk_z= 121.1mm grav_b=(+0.04,-0.15,-0.99) r=0.27m +[headless_play] t= 9.20s step= 460 trunk_z= 114.1mm grav_b=(+0.08,-0.11,-0.99) r=0.27m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(+0.06,+0.01,-1.00) r=0.27m +[headless_play] t= 9.40s step= 470 trunk_z= 115.0mm grav_b=(+0.05,-0.02,-1.00) r=0.28m +[headless_play] t= 9.50s step= 475 trunk_z= 115.5mm grav_b=(-0.03,-0.12,-0.99) r=0.30m +[headless_play] t= 9.60s step= 480 trunk_z= 123.6mm grav_b=(-0.05,-0.13,-0.99) r=0.30m +[headless_play] t= 9.70s step= 485 trunk_z= 122.9mm grav_b=(-0.01,-0.10,-0.99) r=0.30m +[headless_play] t= 9.80s step= 490 trunk_z= 113.4mm grav_b=(+0.02,-0.05,-1.00) r=0.28m +[headless_play] t= 9.90s step= 495 trunk_z= 113.9mm grav_b=(+0.01,-0.05,-1.00) r=0.28m +[headless_play] t= 10.00s step= 500 trunk_z= 110.4mm grav_b=(+0.03,-0.08,-1.00) r=0.28m +[headless_play] t= 10.10s step= 505 trunk_z= 117.8mm grav_b=(+0.04,-0.12,-0.99) r=0.29m +[headless_play] t= 10.20s step= 510 trunk_z= 113.8mm grav_b=(+0.07,-0.12,-0.99) r=0.31m +[headless_play] t= 10.30s step= 515 trunk_z= 110.6mm grav_b=(+0.07,-0.00,-1.00) r=0.33m +[headless_play] t= 10.40s step= 520 trunk_z= 121.0mm grav_b=(+0.01,+0.05,-1.00) r=0.34m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(-0.01,-0.13,-0.99) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 124.3mm grav_b=(+0.00,-0.16,-0.99) r=0.37m +[headless_play] t= 10.80s step= 540 trunk_z= 121.4mm grav_b=(+0.04,-0.16,-0.99) r=0.39m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.03,-0.04,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 121.6mm grav_b=(-0.04,+0.04,-1.00) r=0.42m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(-0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 122.3mm grav_b=(+0.00,-0.10,-0.99) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 123.2mm grav_b=(+0.02,-0.13,-0.99) r=0.45m +[headless_play] t= 11.40s step= 570 trunk_z= 119.9mm grav_b=(+0.04,-0.11,-0.99) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 119.0mm grav_b=(-0.00,+0.03,-1.00) r=0.49m +[headless_play] t= 11.60s step= 580 trunk_z= 122.3mm grav_b=(-0.11,-0.00,-0.99) r=0.48m +[headless_play] t= 11.70s step= 585 trunk_z= 118.5mm grav_b=(-0.13,-0.10,-0.99) r=0.46m +[headless_play] t= 11.80s step= 590 trunk_z= 127.5mm grav_b=(-0.08,-0.12,-0.99) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 129.3mm grav_b=(-0.05,-0.11,-0.99) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 114.2mm grav_b=(+0.00,-0.07,-1.00) r=0.41m +[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(-0.02,-0.05,-1.00) r=0.40m +[headless_play] t= 12.20s step= 610 trunk_z= 111.1mm grav_b=(-0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 12.30s step= 615 trunk_z= 124.6mm grav_b=(-0.05,-0.12,-0.99) r=0.38m +[headless_play] t= 12.40s step= 620 trunk_z= 129.7mm grav_b=(-0.07,-0.13,-0.99) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 123.5mm grav_b=(-0.04,-0.10,-0.99) r=0.37m +[headless_play] t= 12.60s step= 630 trunk_z= 122.0mm grav_b=(-0.06,-0.09,-0.99) r=0.35m +[headless_play] t= 12.70s step= 635 trunk_z= 109.8mm grav_b=(+0.00,-0.08,-1.00) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 118.2mm grav_b=(+0.06,-0.14,-0.99) r=0.29m +[headless_play] t= 12.90s step= 645 trunk_z= 119.3mm grav_b=(+0.07,-0.15,-0.99) r=0.29m +[headless_play] t= 13.00s step= 650 trunk_z= 117.5mm grav_b=(+0.07,-0.08,-0.99) r=0.31m +[headless_play] t= 13.10s step= 655 trunk_z= 117.6mm grav_b=(+0.06,-0.04,-1.00) r=0.33m +[headless_play] t= 13.20s step= 660 trunk_z= 113.1mm grav_b=(+0.04,-0.13,-0.99) r=0.34m +[headless_play] t= 13.30s step= 665 trunk_z= 122.8mm grav_b=(+0.03,-0.14,-0.99) r=0.35m +[headless_play] t= 13.40s step= 670 trunk_z= 121.4mm grav_b=(+0.01,-0.13,-0.99) r=0.37m +[headless_play] t= 13.50s step= 675 trunk_z= 115.6mm grav_b=(+0.02,-0.03,-1.00) r=0.39m +[headless_play] t= 13.60s step= 680 trunk_z= 122.2mm grav_b=(-0.04,+0.04,-1.00) r=0.41m +[headless_play] t= 13.70s step= 685 trunk_z= 121.8mm grav_b=(+0.02,+0.06,-1.00) r=0.42m +[headless_play] t= 13.80s step= 690 trunk_z= 115.5mm grav_b=(+0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 13.90s step= 695 trunk_z= 124.0mm grav_b=(-0.01,-0.09,-1.00) r=0.43m +[headless_play] t= 14.00s step= 700 trunk_z= 124.7mm grav_b=(-0.01,-0.11,-0.99) r=0.44m +[headless_play] t= 14.10s step= 705 trunk_z= 119.0mm grav_b=(-0.00,-0.07,-1.00) r=0.46m +[headless_play] t= 14.20s step= 710 trunk_z= 119.9mm grav_b=(-0.04,+0.03,-1.00) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 114.4mm grav_b=(+0.04,-0.12,-0.99) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 124.1mm grav_b=(+0.12,-0.22,-0.97) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 130.0mm grav_b=(+0.05,-0.24,-0.97) r=0.49m +[headless_play] t= 14.60s step= 730 trunk_z= 131.3mm grav_b=(+0.03,-0.21,-0.98) r=0.49m +[headless_play] t= 14.70s step= 735 trunk_z= 129.6mm grav_b=(+0.10,-0.27,-0.96) r=0.51m +[headless_play] t= 14.80s step= 740 trunk_z= 123.3mm grav_b=(+0.08,-0.18,-0.98) r=0.51m +[headless_play] t= 14.90s step= 745 trunk_z= 121.0mm grav_b=(+0.20,-0.18,-0.96) r=0.53m +[headless_play] t= 15.00s step= 750 trunk_z= 131.5mm grav_b=(+0.05,-0.13,-0.99) r=0.55m +[headless_play] t= 15.10s step= 755 trunk_z= 106.7mm grav_b=(-0.01,-0.11,-0.99) r=0.59m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(-0.03,-0.04,-1.00) r=0.60m +[headless_play] t= 15.30s step= 765 trunk_z= 113.3mm grav_b=(-0.09,-0.13,-0.99) r=0.58m +[headless_play] t= 15.40s step= 770 trunk_z= 125.2mm grav_b=(-0.02,-0.13,-0.99) r=0.57m +[headless_play] t= 15.50s step= 775 trunk_z= 126.7mm grav_b=(-0.03,-0.12,-0.99) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 120.5mm grav_b=(-0.02,-0.07,-1.00) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 123.4mm grav_b=(+0.01,+0.02,-1.00) r=0.61m +[headless_play] t= 15.80s step= 790 trunk_z= 120.1mm grav_b=(+0.03,-0.05,-1.00) r=0.59m +[headless_play] t= 15.90s step= 795 trunk_z= 124.8mm grav_b=(+0.03,-0.13,-0.99) r=0.57m +[headless_play] t= 16.00s step= 800 trunk_z= 128.4mm grav_b=(+0.05,-0.17,-0.99) r=0.56m +[headless_play] t= 16.10s step= 805 trunk_z= 127.6mm grav_b=(+0.06,-0.19,-0.98) r=0.56m +[headless_play] t= 16.20s step= 810 trunk_z= 125.9mm grav_b=(+0.03,-0.15,-0.99) r=0.57m +[headless_play] t= 16.30s step= 815 trunk_z= 125.4mm grav_b=(+0.02,-0.11,-0.99) r=0.58m +[headless_play] t= 16.40s step= 820 trunk_z= 115.1mm grav_b=(-0.02,-0.17,-0.99) r=0.55m +[headless_play] t= 16.50s step= 825 trunk_z= 126.1mm grav_b=(+0.01,-0.22,-0.98) r=0.53m +[headless_play] t= 16.60s step= 830 trunk_z= 128.6mm grav_b=(+0.04,-0.21,-0.98) r=0.52m +[headless_play] t= 16.70s step= 835 trunk_z= 127.7mm grav_b=(+0.04,-0.18,-0.98) r=0.51m +[headless_play] t= 16.80s step= 840 trunk_z= 120.7mm grav_b=(+0.01,-0.10,-0.99) r=0.51m +[headless_play] t= 16.90s step= 845 trunk_z= 127.2mm grav_b=(-0.00,-0.08,-1.00) r=0.50m +[headless_play] t= 17.00s step= 850 trunk_z= 116.9mm grav_b=(+0.03,-0.12,-0.99) r=0.48m +[headless_play] t= 17.10s step= 855 trunk_z= 127.3mm grav_b=(+0.04,-0.14,-0.99) r=0.46m +[headless_play] t= 17.20s step= 860 trunk_z= 125.3mm grav_b=(+0.05,-0.13,-0.99) r=0.46m +[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(+0.01,-0.09,-1.00) r=0.46m +[headless_play] t= 17.40s step= 870 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 17.50s step= 875 trunk_z= 118.8mm grav_b=(-0.03,-0.03,-1.00) r=0.46m +[headless_play] t= 17.60s step= 880 trunk_z= 122.5mm grav_b=(+0.00,-0.09,-1.00) r=0.44m +[headless_play] t= 17.70s step= 885 trunk_z= 125.5mm grav_b=(+0.00,-0.10,-1.00) r=0.43m +[headless_play] t= 17.80s step= 890 trunk_z= 121.9mm grav_b=(+0.00,-0.10,-1.00) r=0.43m +[headless_play] t= 17.90s step= 895 trunk_z= 119.0mm grav_b=(-0.02,+0.03,-1.00) r=0.45m +[headless_play] t= 18.00s step= 900 trunk_z= 121.1mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(-0.06,-0.08,-1.00) r=0.45m +[headless_play] t= 18.20s step= 910 trunk_z= 127.0mm grav_b=(-0.01,-0.11,-0.99) r=0.43m +[headless_play] t= 18.30s step= 915 trunk_z= 126.0mm grav_b=(+0.02,-0.12,-0.99) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 120.4mm grav_b=(+0.02,-0.06,-1.00) r=0.42m +[headless_play] t= 18.50s step= 925 trunk_z= 123.8mm grav_b=(+0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 18.60s step= 930 trunk_z= 120.7mm grav_b=(-0.01,-0.05,-1.00) r=0.41m +[headless_play] t= 18.70s step= 935 trunk_z= 123.4mm grav_b=(-0.05,-0.12,-0.99) r=0.38m +[headless_play] t= 18.80s step= 940 trunk_z= 129.7mm grav_b=(-0.06,-0.17,-0.98) r=0.36m +[headless_play] t= 18.90s step= 945 trunk_z= 131.0mm grav_b=(-0.03,-0.23,-0.97) r=0.35m +[headless_play] t= 19.00s step= 950 trunk_z= 131.4mm grav_b=(+0.01,-0.26,-0.97) r=0.34m +[headless_play] t= 19.10s step= 955 trunk_z= 133.8mm grav_b=(+0.01,-0.31,-0.95) r=0.34m +[headless_play] t= 19.20s step= 960 trunk_z= 134.1mm grav_b=(+0.05,-0.36,-0.93) r=0.32m +[headless_play] t= 19.30s step= 965 trunk_z= 123.4mm grav_b=(+0.18,-0.36,-0.92) r=0.30m +[headless_play] t= 19.40s step= 970 trunk_z= 119.3mm grav_b=(+0.10,-0.11,-0.99) r=0.24m +[headless_play] t= 19.50s step= 975 trunk_z= 130.5mm grav_b=(-0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 19.60s step= 980 trunk_z= 122.2mm grav_b=(-0.09,+0.00,-1.00) r=0.21m +[headless_play] t= 19.70s step= 985 trunk_z= 122.2mm grav_b=(-0.11,-0.08,-0.99) r=0.19m +[headless_play] t= 19.80s step= 990 trunk_z= 125.0mm grav_b=(-0.03,-0.08,-1.00) r=0.20m +[headless_play] t= 19.90s step= 995 trunk_z= 104.9mm grav_b=(-0.01,-0.04,-1.00) r=0.24m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.0mm grav_b=(-0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.00,+0.08,-1.00) r=0.38m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t10.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..6cfa1bdb7f79c472df06a92787011c5faece5c64 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.383,-17.628,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 115.4mm grav_b=(-0.03,+0.05,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 113.5mm grav_b=(-0.04,+0.11,-0.99) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 117.8mm grav_b=(-0.06,+0.07,-1.00) r=0.58m +[headless_play] t= 0.40s step= 20 trunk_z= 112.0mm grav_b=(-0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 0.50s step= 25 trunk_z= 113.1mm grav_b=(-0.04,-0.03,-1.00) r=0.61m +[headless_play] t= 0.60s step= 30 trunk_z= 113.7mm grav_b=(-0.05,-0.00,-1.00) r=0.62m +[headless_play] t= 0.70s step= 35 trunk_z= 106.2mm grav_b=(-0.00,+0.05,-1.00) r=0.63m +[headless_play] t= 0.80s step= 40 trunk_z= 119.2mm grav_b=(-0.03,+0.12,-0.99) r=0.64m +[headless_play] t= 0.90s step= 45 trunk_z= 118.3mm grav_b=(-0.02,+0.12,-0.99) r=0.65m +[headless_play] t= 1.00s step= 50 trunk_z= 113.5mm grav_b=(+0.01,+0.05,-1.00) r=0.67m +[headless_play] t= 1.10s step= 55 trunk_z= 117.6mm grav_b=(-0.05,-0.01,-1.00) r=0.68m +[headless_play] t= 1.20s step= 60 trunk_z= 116.4mm grav_b=(-0.05,+0.01,-1.00) r=0.69m +[headless_play] t= 1.30s step= 65 trunk_z= 111.5mm grav_b=(-0.05,+0.06,-1.00) r=0.70m +[headless_play] t= 1.40s step= 70 trunk_z= 117.5mm grav_b=(-0.06,+0.06,-1.00) r=0.71m +[headless_play] t= 1.50s step= 75 trunk_z= 115.7mm grav_b=(+0.01,+0.11,-0.99) r=0.72m +[headless_play] t= 1.60s step= 80 trunk_z= 114.2mm grav_b=(+0.02,+0.04,-1.00) r=0.74m +[headless_play] t= 1.70s step= 85 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) r=0.77m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(-0.05,+0.03,-1.00) r=0.78m +[headless_play] t= 1.90s step= 95 trunk_z= 113.7mm grav_b=(-0.07,+0.06,-1.00) r=0.78m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.09,+0.02,-1.00) r=0.79m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(-0.09,+0.00,-1.00) r=0.80m +[headless_play] t= 2.20s step= 110 trunk_z= 119.9mm grav_b=(-0.13,-0.04,-0.99) r=0.80m +[headless_play] t= 2.30s step= 115 trunk_z= 115.0mm grav_b=(-0.10,+0.04,-0.99) r=0.77m +[headless_play] t= 2.40s step= 120 trunk_z= 108.9mm grav_b=(-0.12,+0.06,-0.99) r=0.75m +[headless_play] t= 2.50s step= 125 trunk_z= 108.1mm grav_b=(+0.01,+0.05,-1.00) r=0.75m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(-0.06,-0.07,-1.00) r=0.74m +[headless_play] t= 2.70s step= 135 trunk_z= 124.0mm grav_b=(-0.07,-0.04,-1.00) r=0.75m +[headless_play] t= 2.80s step= 140 trunk_z= 117.4mm grav_b=(-0.02,+0.05,-1.00) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 131.7mm grav_b=(-0.02,+0.13,-0.99) r=0.79m +[headless_play] t= 3.00s step= 150 trunk_z= 136.7mm grav_b=(+0.01,+0.09,-1.00) r=0.82m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(-0.02,+0.17,-0.99) r=0.87m +[headless_play] t= 3.20s step= 160 trunk_z= 125.9mm grav_b=(+0.03,+0.02,-1.00) r=0.91m +[headless_play] t= 3.30s step= 165 trunk_z= 83.0mm grav_b=(-0.05,+0.04,-1.00) r=0.97m +[headless_play] t= 3.40s step= 170 trunk_z= 32.4mm grav_b=(+0.52,+0.20,-0.83) r=1.00m +[headless_play] RESET at t= 3.46s step= 173 (env termination, not a recovery) +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(-0.02,+0.00,-1.00) r=0.32m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(-0.11,+0.10,-0.99) r=0.32m +[headless_play] t= 3.70s step= 185 trunk_z= 122.9mm grav_b=(-0.13,+0.13,-0.98) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 126.4mm grav_b=(-0.04,+0.11,-0.99) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 116.4mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 4.00s step= 200 trunk_z= 127.0mm grav_b=(+0.02,-0.05,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 119.3mm grav_b=(-0.03,-0.05,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 121.5mm grav_b=(-0.06,+0.09,-0.99) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 124.2mm grav_b=(-0.05,+0.11,-0.99) r=0.38m +[headless_play] t= 4.40s step= 220 trunk_z= 121.3mm grav_b=(-0.06,+0.09,-0.99) r=0.37m +[headless_play] t= 4.50s step= 225 trunk_z= 119.9mm grav_b=(-0.08,-0.04,-1.00) r=0.36m +[headless_play] t= 4.60s step= 230 trunk_z= 123.4mm grav_b=(-0.11,-0.05,-0.99) r=0.35m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(-0.10,+0.01,-0.99) r=0.36m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(-0.07,+0.07,-1.00) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 122.2mm grav_b=(-0.05,+0.06,-1.00) r=0.35m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 122.8mm grav_b=(-0.06,-0.05,-1.00) r=0.32m +[headless_play] t= 5.20s step= 260 trunk_z= 121.0mm grav_b=(-0.08,-0.04,-1.00) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.09,+0.07,-0.99) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 123.6mm grav_b=(-0.08,+0.09,-0.99) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 122.5mm grav_b=(-0.07,+0.08,-0.99) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 117.4mm grav_b=(-0.07,-0.03,-1.00) r=0.29m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.07,-0.04,-1.00) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(-0.08,+0.00,-1.00) r=0.29m +[headless_play] t= 5.90s step= 295 trunk_z= 121.7mm grav_b=(-0.08,+0.09,-0.99) r=0.30m +[headless_play] t= 6.00s step= 300 trunk_z= 122.8mm grav_b=(-0.04,+0.06,-1.00) r=0.30m +[headless_play] t= 6.10s step= 305 trunk_z= 115.4mm grav_b=(-0.03,-0.07,-1.00) r=0.26m +[headless_play] t= 6.20s step= 310 trunk_z= 130.5mm grav_b=(-0.05,-0.15,-0.99) r=0.23m +[headless_play] t= 6.30s step= 315 trunk_z= 128.6mm grav_b=(-0.06,-0.10,-0.99) r=0.21m +[headless_play] t= 6.40s step= 320 trunk_z= 125.3mm grav_b=(-0.04,-0.04,-1.00) r=0.20m +[headless_play] t= 6.50s step= 325 trunk_z= 123.6mm grav_b=(-0.08,-0.00,-1.00) r=0.20m +[headless_play] t= 6.60s step= 330 trunk_z= 120.4mm grav_b=(-0.13,+0.03,-0.99) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 116.3mm grav_b=(-0.09,-0.03,-1.00) r=0.17m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(-0.09,+0.07,-0.99) r=0.18m +[headless_play] t= 6.90s step= 345 trunk_z= 121.4mm grav_b=(-0.12,+0.19,-0.97) r=0.21m +[headless_play] t= 7.00s step= 350 trunk_z= 130.9mm grav_b=(-0.03,+0.25,-0.97) r=0.23m +[headless_play] t= 7.10s step= 355 trunk_z= 132.5mm grav_b=(-0.03,+0.31,-0.95) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 127.9mm grav_b=(-0.21,+0.49,-0.85) r=0.28m +[headless_play] t= 7.30s step= 365 trunk_z= 62.6mm grav_b=(-0.62,+0.57,-0.54) r=0.34m +[headless_play] RESET at t= 7.34s step= 367 (env termination, not a recovery) +[headless_play] t= 7.40s step= 370 trunk_z= 113.2mm grav_b=(-0.02,+0.00,-1.00) r=0.31m +[headless_play] t= 7.50s step= 375 trunk_z= 115.8mm grav_b=(-0.03,-0.00,-1.00) r=0.31m +[headless_play] t= 7.60s step= 380 trunk_z= 117.9mm grav_b=(-0.03,-0.11,-0.99) r=0.33m +[headless_play] t= 7.70s step= 385 trunk_z= 124.8mm grav_b=(-0.01,-0.14,-0.99) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 124.7mm grav_b=(-0.03,-0.09,-1.00) r=0.37m +[headless_play] t= 7.90s step= 395 trunk_z= 122.2mm grav_b=(-0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 128.7mm grav_b=(-0.12,+0.12,-0.99) r=0.38m +[headless_play] t= 8.10s step= 405 trunk_z= 123.4mm grav_b=(-0.08,+0.11,-0.99) r=0.39m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(-0.09,+0.02,-1.00) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 119.3mm grav_b=(-0.07,+0.02,-1.00) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 111.9mm grav_b=(-0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 8.50s step= 425 trunk_z= 122.2mm grav_b=(-0.03,+0.12,-0.99) r=0.38m +[headless_play] t= 8.60s step= 430 trunk_z= 121.8mm grav_b=(-0.01,+0.13,-0.99) r=0.38m +[headless_play] t= 8.70s step= 435 trunk_z= 118.4mm grav_b=(+0.01,+0.12,-0.99) r=0.40m +[headless_play] t= 8.80s step= 440 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 8.90s step= 445 trunk_z= 117.7mm grav_b=(-0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 9.00s step= 450 trunk_z= 112.2mm grav_b=(-0.03,+0.06,-1.00) r=0.42m +[headless_play] t= 9.10s step= 455 trunk_z= 118.1mm grav_b=(-0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 9.20s step= 460 trunk_z= 110.1mm grav_b=(-0.01,-0.05,-1.00) r=0.46m +[headless_play] t= 9.30s step= 465 trunk_z= 121.4mm grav_b=(-0.02,-0.07,-1.00) r=0.48m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(-0.01,-0.03,-1.00) r=0.49m +[headless_play] t= 9.50s step= 475 trunk_z= 116.6mm grav_b=(-0.01,+0.09,-1.00) r=0.49m +[headless_play] t= 9.60s step= 480 trunk_z= 123.5mm grav_b=(-0.04,+0.14,-0.99) r=0.50m +[headless_play] t= 9.70s step= 485 trunk_z= 124.7mm grav_b=(-0.04,+0.20,-0.98) r=0.50m +[headless_play] t= 9.80s step= 490 trunk_z= 122.7mm grav_b=(-0.02,+0.20,-0.98) r=0.51m +[headless_play] t= 9.90s step= 495 trunk_z= 127.2mm grav_b=(-0.03,+0.12,-0.99) r=0.52m +[headless_play] t= 10.00s step= 500 trunk_z= 123.8mm grav_b=(-0.03,+0.03,-1.00) r=0.55m +[headless_play] t= 10.10s step= 505 trunk_z= 119.2mm grav_b=(-0.11,+0.04,-0.99) r=0.55m +[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(-0.03,+0.11,-0.99) r=0.55m +[headless_play] t= 10.30s step= 515 trunk_z= 119.2mm grav_b=(-0.02,+0.08,-1.00) r=0.56m +[headless_play] t= 10.40s step= 520 trunk_z= 114.9mm grav_b=(-0.02,+0.07,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(-0.03,-0.02,-1.00) r=0.60m +[headless_play] t= 10.60s step= 530 trunk_z= 112.4mm grav_b=(-0.03,+0.10,-0.99) r=0.61m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(-0.02,+0.14,-0.99) r=0.61m +[headless_play] t= 10.80s step= 540 trunk_z= 118.5mm grav_b=(-0.02,+0.13,-0.99) r=0.62m +[headless_play] t= 10.90s step= 545 trunk_z= 114.0mm grav_b=(+0.00,+0.07,-1.00) r=0.65m +[headless_play] t= 11.00s step= 550 trunk_z= 118.1mm grav_b=(-0.04,-0.04,-1.00) r=0.67m +[headless_play] t= 11.10s step= 555 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.68m +[headless_play] t= 11.20s step= 560 trunk_z= 111.8mm grav_b=(-0.04,+0.06,-1.00) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(+0.02,+0.07,-1.00) r=0.69m +[headless_play] t= 11.40s step= 570 trunk_z= 109.9mm grav_b=(+0.00,-0.02,-1.00) r=0.72m +[headless_play] t= 11.50s step= 575 trunk_z= 120.6mm grav_b=(-0.04,-0.04,-1.00) r=0.75m +[headless_play] t= 11.60s step= 580 trunk_z= 115.6mm grav_b=(-0.04,-0.01,-1.00) r=0.75m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(-0.04,+0.08,-1.00) r=0.75m +[headless_play] t= 11.80s step= 590 trunk_z= 120.6mm grav_b=(-0.04,+0.09,-0.99) r=0.76m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(-0.02,+0.07,-1.00) r=0.77m +[headless_play] t= 12.00s step= 600 trunk_z= 116.1mm grav_b=(-0.06,+0.01,-1.00) r=0.79m +[headless_play] t= 12.10s step= 605 trunk_z= 116.1mm grav_b=(-0.03,+0.08,-1.00) r=0.79m +[headless_play] t= 12.20s step= 610 trunk_z= 112.1mm grav_b=(-0.03,+0.09,-1.00) r=0.80m +[headless_play] t= 12.30s step= 615 trunk_z= 115.9mm grav_b=(-0.02,+0.07,-1.00) r=0.81m +[headless_play] t= 12.40s step= 620 trunk_z= 112.0mm grav_b=(-0.01,+0.03,-1.00) r=0.83m +[headless_play] t= 12.50s step= 625 trunk_z= 115.3mm grav_b=(-0.04,-0.05,-1.00) r=0.86m +[headless_play] t= 12.60s step= 630 trunk_z= 114.9mm grav_b=(-0.01,+0.01,-1.00) r=0.87m +[headless_play] t= 12.70s step= 635 trunk_z= 107.7mm grav_b=(-0.01,+0.07,-1.00) r=0.88m +[headless_play] t= 12.80s step= 640 trunk_z= 118.0mm grav_b=(-0.03,+0.11,-0.99) r=0.88m +[headless_play] t= 12.90s step= 645 trunk_z= 115.3mm grav_b=(+0.02,+0.12,-0.99) r=0.90m +[headless_play] t= 13.00s step= 650 trunk_z= 113.2mm grav_b=(+0.00,+0.02,-1.00) r=0.92m +[headless_play] t= 13.10s step= 655 trunk_z= 120.0mm grav_b=(-0.10,-0.05,-0.99) r=0.95m +[headless_play] t= 13.20s step= 660 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=0.96m +[headless_play] t= 13.30s step= 665 trunk_z= 113.1mm grav_b=(-0.05,+0.09,-0.99) r=0.96m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(-0.03,+0.09,-1.00) r=0.97m +[headless_play] t= 13.50s step= 675 trunk_z= 111.7mm grav_b=(+0.04,+0.04,-1.00) r=1.00m +[headless_play] t= 13.60s step= 680 trunk_z= 117.6mm grav_b=(-0.06,-0.06,-1.00) r=1.03m +[headless_play] t= 13.70s step= 685 trunk_z= 115.7mm grav_b=(-0.03,-0.02,-1.00) r=1.05m +[headless_play] t= 13.80s step= 690 trunk_z= 109.2mm grav_b=(-0.00,+0.07,-1.00) r=1.06m +[headless_play] t= 13.90s step= 695 trunk_z= 118.0mm grav_b=(-0.02,+0.12,-0.99) r=1.07m +[headless_play] t= 14.00s step= 700 trunk_z= 115.4mm grav_b=(+0.01,+0.08,-1.00) r=1.08m +[headless_play] t= 14.10s step= 705 trunk_z= 113.1mm grav_b=(-0.03,-0.03,-1.00) r=1.10m +[headless_play] t= 14.20s step= 710 trunk_z= 121.4mm grav_b=(+0.02,-0.13,-0.99) r=1.14m +[headless_play] t= 14.30s step= 715 trunk_z= 123.5mm grav_b=(+0.01,-0.11,-0.99) r=1.16m +[headless_play] t= 14.40s step= 720 trunk_z= 123.2mm grav_b=(-0.05,+0.07,-1.00) r=1.19m +[headless_play] t= 14.50s step= 725 trunk_z= 127.3mm grav_b=(-0.14,+0.18,-0.97) r=1.20m +[headless_play] t= 14.60s step= 730 trunk_z= 127.1mm grav_b=(-0.10,+0.18,-0.98) r=1.20m +[headless_play] t= 14.70s step= 735 trunk_z= 125.6mm grav_b=(-0.05,+0.10,-0.99) r=1.20m +[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(-0.01,+0.04,-1.00) r=1.18m +[headless_play] t= 14.90s step= 745 trunk_z= 116.6mm grav_b=(-0.01,+0.04,-1.00) r=1.18m +[headless_play] t= 15.00s step= 750 trunk_z= 106.2mm grav_b=(+0.06,+0.06,-1.00) r=1.21m +[headless_play] t= 15.10s step= 755 trunk_z= 120.1mm grav_b=(+0.07,+0.09,-0.99) r=1.24m +[headless_play] t= 15.20s step= 760 trunk_z= 124.0mm grav_b=(+0.00,+0.01,-1.00) r=1.26m +[headless_play] t= 15.30s step= 765 trunk_z= 121.0mm grav_b=(-0.02,-0.07,-1.00) r=1.28m +[headless_play] t= 15.40s step= 770 trunk_z= 121.7mm grav_b=(-0.06,-0.02,-1.00) r=1.30m +[headless_play] t= 15.50s step= 775 trunk_z= 115.8mm grav_b=(-0.09,+0.08,-0.99) r=1.31m +[headless_play] t= 15.60s step= 780 trunk_z= 123.0mm grav_b=(-0.09,+0.11,-0.99) r=1.32m +[headless_play] t= 15.70s step= 785 trunk_z= 121.1mm grav_b=(-0.05,+0.09,-0.99) r=1.33m +[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(-0.04,-0.05,-1.00) r=1.34m +[headless_play] t= 15.90s step= 795 trunk_z= 124.2mm grav_b=(-0.03,-0.09,-1.00) r=1.35m +[headless_play] t= 16.00s step= 800 trunk_z= 124.1mm grav_b=(-0.03,-0.08,-1.00) r=1.36m +[headless_play] t= 16.10s step= 805 trunk_z= 119.7mm grav_b=(-0.05,+0.01,-1.00) r=1.38m +[headless_play] t= 16.20s step= 810 trunk_z= 123.3mm grav_b=(-0.07,+0.11,-0.99) r=1.40m +[headless_play] t= 16.30s step= 815 trunk_z= 121.4mm grav_b=(-0.06,+0.09,-0.99) r=1.41m +[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(-0.04,+0.01,-1.00) r=1.41m +[headless_play] t= 16.50s step= 825 trunk_z= 119.9mm grav_b=(-0.02,+0.00,-1.00) r=1.42m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(-0.00,+0.03,-1.00) r=1.44m +[headless_play] t= 16.70s step= 835 trunk_z= 124.8mm grav_b=(+0.01,+0.07,-1.00) r=1.47m +[headless_play] t= 16.80s step= 840 trunk_z= 125.9mm grav_b=(-0.04,+0.03,-1.00) r=1.50m +[headless_play] t= 16.90s step= 845 trunk_z= 116.9mm grav_b=(-0.03,-0.03,-1.00) r=1.53m +[headless_play] t= 17.00s step= 850 trunk_z= 119.2mm grav_b=(-0.09,+0.00,-1.00) r=1.54m +[headless_play] t= 17.10s step= 855 trunk_z= 114.6mm grav_b=(-0.09,+0.08,-0.99) r=1.55m +[headless_play] t= 17.20s step= 860 trunk_z= 122.1mm grav_b=(-0.07,+0.09,-0.99) r=1.57m +[headless_play] t= 17.30s step= 865 trunk_z= 118.5mm grav_b=(-0.04,+0.07,-1.00) r=1.58m +[headless_play] t= 17.40s step= 870 trunk_z= 116.0mm grav_b=(-0.04,+0.00,-1.00) r=1.59m +[headless_play] t= 17.50s step= 875 trunk_z= 114.7mm grav_b=(-0.04,+0.10,-0.99) r=1.58m +[headless_play] t= 17.60s step= 880 trunk_z= 119.1mm grav_b=(-0.03,+0.07,-1.00) r=1.60m +[headless_play] t= 17.70s step= 885 trunk_z= 114.9mm grav_b=(-0.07,-0.03,-1.00) r=1.63m +[headless_play] t= 17.80s step= 890 trunk_z= 121.0mm grav_b=(-0.05,-0.02,-1.00) r=1.64m +[headless_play] t= 17.90s step= 895 trunk_z= 115.9mm grav_b=(-0.05,+0.02,-1.00) r=1.64m +[headless_play] t= 18.00s step= 900 trunk_z= 122.2mm grav_b=(-0.06,+0.09,-0.99) r=1.64m +[headless_play] t= 18.10s step= 905 trunk_z= 123.3mm grav_b=(-0.05,+0.09,-0.99) r=1.64m +[headless_play] t= 18.20s step= 910 trunk_z= 119.8mm grav_b=(-0.06,+0.06,-1.00) r=1.66m +[headless_play] t= 18.30s step= 915 trunk_z= 122.0mm grav_b=(-0.06,-0.03,-1.00) r=1.68m +[headless_play] t= 18.40s step= 920 trunk_z= 123.7mm grav_b=(-0.07,-0.07,-1.00) r=1.68m +[headless_play] t= 18.50s step= 925 trunk_z= 119.8mm grav_b=(-0.06,-0.03,-1.00) r=1.68m +[headless_play] t= 18.60s step= 930 trunk_z= 121.3mm grav_b=(-0.05,+0.08,-1.00) r=1.67m +[headless_play] t= 18.70s step= 935 trunk_z= 125.5mm grav_b=(-0.04,+0.09,-0.99) r=1.67m +[headless_play] t= 18.80s step= 940 trunk_z= 122.5mm grav_b=(-0.05,+0.08,-1.00) r=1.68m +[headless_play] t= 18.90s step= 945 trunk_z= 119.8mm grav_b=(-0.05,+0.00,-1.00) r=1.71m +[headless_play] t= 19.00s step= 950 trunk_z= 120.0mm grav_b=(-0.05,+0.01,-1.00) r=1.71m +[headless_play] t= 19.10s step= 955 trunk_z= 114.3mm grav_b=(-0.06,+0.05,-1.00) r=1.70m +[headless_play] t= 19.20s step= 960 trunk_z= 121.3mm grav_b=(-0.04,+0.01,-1.00) r=1.71m +[headless_play] t= 19.30s step= 965 trunk_z= 112.9mm grav_b=(-0.05,-0.03,-1.00) r=1.74m +[headless_play] t= 19.40s step= 970 trunk_z= 120.7mm grav_b=(-0.04,-0.03,-1.00) r=1.76m +[headless_play] t= 19.50s step= 975 trunk_z= 115.7mm grav_b=(-0.06,+0.01,-1.00) r=1.75m +[headless_play] t= 19.60s step= 980 trunk_z= 119.3mm grav_b=(-0.08,+0.08,-0.99) r=1.75m +[headless_play] t= 19.70s step= 985 trunk_z= 119.2mm grav_b=(-0.07,+0.01,-1.00) r=1.77m +[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(-0.07,-0.04,-1.00) r=1.80m +[headless_play] t= 19.90s step= 995 trunk_z= 123.2mm grav_b=(-0.05,-0.05,-1.00) r=1.81m +[headless_play] t= 20.00s step=1000 trunk_z= 120.1mm grav_b=(-0.05,-0.01,-1.00) r=1.81m +[headless_play] t= 20.10s step=1005 trunk_z= 121.0mm grav_b=(-0.06,+0.08,-0.99) r=1.81m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t11.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..750c534ca62c6e6fcd66e7cb5f26f54ec14e2e4b --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t11.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(-1.983,-18.259,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.1mm grav_b=(-0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=0.26m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(-0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(-0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00) r=0.26m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00) r=0.26m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.26m +[headless_play] t= 1.10s step= 55 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 118.4mm grav_b=(+0.01,+0.05,-1.00) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 115.7mm grav_b=(+0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 115.4mm grav_b=(+0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 115.5mm grav_b=(+0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(+0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(-0.05,+0.01,-1.00) r=0.26m +[headless_play] t= 2.30s step= 115 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.26m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(-0.00,-0.00,-1.00) r=0.25m +[headless_play] t= 2.50s step= 125 trunk_z= 115.3mm grav_b=(+0.03,-0.00,-1.00) r=0.25m +[headless_play] t= 2.60s step= 130 trunk_z= 115.2mm grav_b=(+0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 115.4mm grav_b=(+0.03,-0.00,-1.00) r=0.25m +[headless_play] t= 2.80s step= 140 trunk_z= 115.3mm grav_b=(+0.02,-0.00,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.08,-0.02,-1.00) r=0.25m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(+0.07,+0.00,-1.00) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 114.5mm grav_b=(-0.00,-0.09,-1.00) r=0.25m +[headless_play] t= 3.20s step= 160 trunk_z= 116.7mm grav_b=(-0.05,-0.09,-0.99) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 114.9mm grav_b=(-0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 3.40s step= 170 trunk_z= 114.8mm grav_b=(-0.02,-0.00,-1.00) r=0.23m +[headless_play] t= 3.50s step= 175 trunk_z= 115.1mm grav_b=(+0.03,-0.00,-1.00) r=0.22m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(+0.10,-0.01,-0.99) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 115.1mm grav_b=(+0.04,-0.10,-0.99) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 118.6mm grav_b=(-0.03,-0.07,-1.00) r=0.20m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(-0.09,+0.01,-1.00) r=0.20m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(-0.07,-0.03,-1.00) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.03,-0.05,-1.00) r=0.20m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(+0.00,-0.03,-1.00) r=0.19m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(+0.05,-0.01,-1.00) r=0.19m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(+0.05,-0.02,-1.00) r=0.19m +[headless_play] t= 4.50s step= 225 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 4.70s step= 235 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 4.80s step= 240 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 4.90s step= 245 trunk_z= 115.8mm grav_b=(+0.06,+0.01,-1.00) r=0.19m +[headless_play] t= 5.00s step= 250 trunk_z= 114.8mm grav_b=(+0.06,-0.03,-1.00) r=0.19m +[headless_play] t= 5.10s step= 255 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 5.20s step= 260 trunk_z= 114.9mm grav_b=(+0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 5.30s step= 265 trunk_z= 115.1mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 5.40s step= 270 trunk_z= 115.1mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 5.50s step= 275 trunk_z= 115.0mm grav_b=(+0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(+0.00,-0.01,-1.00) r=0.19m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 5.80s step= 290 trunk_z= 115.2mm grav_b=(+0.04,-0.00,-1.00) r=0.19m +[headless_play] t= 5.90s step= 295 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 6.00s step= 300 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 6.10s step= 305 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 6.30s step= 315 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.19m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(-0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 6.80s step= 340 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(+0.02,-0.03,-1.00) r=0.19m +[headless_play] t= 7.00s step= 350 trunk_z= 115.7mm grav_b=(+0.03,-0.07,-1.00) r=0.20m +[headless_play] t= 7.10s step= 355 trunk_z= 115.2mm grav_b=(+0.06,+0.06,-1.00) r=0.18m +[headless_play] t= 7.20s step= 360 trunk_z= 116.8mm grav_b=(+0.05,+0.10,-0.99) r=0.16m +[headless_play] t= 7.30s step= 365 trunk_z= 120.3mm grav_b=(+0.01,+0.02,-1.00) r=0.16m +[headless_play] t= 7.40s step= 370 trunk_z= 113.6mm grav_b=(-0.02,-0.09,-1.00) r=0.19m +[headless_play] t= 7.50s step= 375 trunk_z= 124.5mm grav_b=(-0.01,-0.12,-0.99) r=0.19m +[headless_play] t= 7.60s step= 380 trunk_z= 123.0mm grav_b=(-0.00,-0.08,-1.00) r=0.19m +[headless_play] t= 7.70s step= 385 trunk_z= 115.4mm grav_b=(-0.00,+0.01,-1.00) r=0.16m +[headless_play] t= 7.80s step= 390 trunk_z= 122.0mm grav_b=(+0.06,-0.01,-1.00) r=0.16m +[headless_play] t= 7.90s step= 395 trunk_z= 113.8mm grav_b=(+0.03,-0.09,-1.00) r=0.19m +[headless_play] t= 8.00s step= 400 trunk_z= 124.7mm grav_b=(+0.03,-0.09,-1.00) r=0.20m +[headless_play] t= 8.10s step= 405 trunk_z= 120.4mm grav_b=(-0.02,-0.02,-1.00) r=0.20m +[headless_play] t= 8.20s step= 410 trunk_z= 117.4mm grav_b=(-0.05,+0.03,-1.00) r=0.20m +[headless_play] t= 8.30s step= 415 trunk_z= 121.2mm grav_b=(-0.04,+0.04,-1.00) r=0.20m +[headless_play] t= 8.40s step= 420 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 120.9mm grav_b=(+0.03,-0.06,-1.00) r=0.24m +[headless_play] t= 8.60s step= 430 trunk_z= 117.1mm grav_b=(+0.04,+0.05,-1.00) r=0.25m +[headless_play] t= 8.70s step= 435 trunk_z= 118.1mm grav_b=(+0.01,+0.07,-1.00) r=0.27m +[headless_play] t= 8.80s step= 440 trunk_z= 120.3mm grav_b=(+0.00,+0.03,-1.00) r=0.29m +[headless_play] t= 8.90s step= 445 trunk_z= 112.6mm grav_b=(-0.02,-0.04,-1.00) r=0.33m +[headless_play] t= 9.00s step= 450 trunk_z= 122.2mm grav_b=(-0.01,-0.07,-1.00) r=0.34m +[headless_play] t= 9.10s step= 455 trunk_z= 120.0mm grav_b=(-0.02,-0.03,-1.00) r=0.35m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(-0.01,+0.04,-1.00) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 120.6mm grav_b=(+0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 9.40s step= 470 trunk_z= 119.7mm grav_b=(-0.03,-0.04,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 125.3mm grav_b=(-0.01,-0.12,-0.99) r=0.39m +[headless_play] t= 9.60s step= 480 trunk_z= 127.4mm grav_b=(-0.01,-0.13,-0.99) r=0.41m +[headless_play] t= 9.70s step= 485 trunk_z= 124.4mm grav_b=(-0.02,-0.11,-0.99) r=0.42m +[headless_play] t= 9.80s step= 490 trunk_z= 115.2mm grav_b=(-0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 9.90s step= 495 trunk_z= 117.7mm grav_b=(+0.00,+0.05,-1.00) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 114.4mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 112.9mm grav_b=(+0.03,-0.11,-0.99) r=0.45m +[headless_play] t= 10.20s step= 510 trunk_z= 113.8mm grav_b=(+0.10,-0.06,-0.99) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 104.6mm grav_b=(+0.07,+0.05,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(+0.07,+0.06,-1.00) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 115.5mm grav_b=(+0.06,-0.02,-1.00) r=0.55m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.01,-0.10,-1.00) r=0.58m +[headless_play] t= 10.70s step= 535 trunk_z= 119.7mm grav_b=(+0.05,-0.09,-0.99) r=0.61m +[headless_play] t= 10.80s step= 540 trunk_z= 111.7mm grav_b=(+0.10,-0.07,-0.99) r=0.64m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(+0.07,+0.02,-1.00) r=0.67m +[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(+0.05,-0.03,-1.00) r=0.70m +[headless_play] t= 11.10s step= 555 trunk_z= 113.7mm grav_b=(+0.01,-0.09,-1.00) r=0.72m +[headless_play] t= 11.20s step= 560 trunk_z= 117.9mm grav_b=(-0.00,-0.05,-1.00) r=0.73m +[headless_play] t= 11.30s step= 565 trunk_z= 108.9mm grav_b=(-0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 11.40s step= 570 trunk_z= 115.3mm grav_b=(+0.00,+0.04,-1.00) r=0.75m +[headless_play] t= 11.50s step= 575 trunk_z= 113.1mm grav_b=(+0.02,-0.03,-1.00) r=0.76m +[headless_play] t= 11.60s step= 580 trunk_z= 110.7mm grav_b=(+0.05,-0.09,-0.99) r=0.78m +[headless_play] t= 11.70s step= 585 trunk_z= 112.5mm grav_b=(+0.07,-0.07,-1.00) r=0.79m +[headless_play] t= 11.80s step= 590 trunk_z= 105.8mm grav_b=(+0.04,+0.02,-1.00) r=0.81m +[headless_play] t= 11.90s step= 595 trunk_z= 116.8mm grav_b=(+0.01,+0.06,-1.00) r=0.82m +[headless_play] t= 12.00s step= 600 trunk_z= 120.4mm grav_b=(-0.05,+0.06,-1.00) r=0.82m +[headless_play] t= 12.10s step= 605 trunk_z= 118.6mm grav_b=(-0.05,+0.01,-1.00) r=0.82m +[headless_play] t= 12.20s step= 610 trunk_z= 114.4mm grav_b=(-0.01,-0.08,-1.00) r=0.83m +[headless_play] t= 12.30s step= 615 trunk_z= 117.7mm grav_b=(+0.03,-0.10,-0.99) r=0.84m +[headless_play] t= 12.40s step= 620 trunk_z= 111.9mm grav_b=(+0.08,-0.06,-1.00) r=0.85m +[headless_play] t= 12.50s step= 625 trunk_z= 114.8mm grav_b=(+0.04,+0.06,-1.00) r=0.86m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(+0.04,+0.04,-1.00) r=0.88m +[headless_play] t= 12.70s step= 635 trunk_z= 110.9mm grav_b=(+0.10,-0.06,-0.99) r=0.91m +[headless_play] t= 12.80s step= 640 trunk_z= 118.7mm grav_b=(+0.12,-0.06,-0.99) r=0.92m +[headless_play] t= 12.90s step= 645 trunk_z= 112.6mm grav_b=(+0.03,-0.04,-1.00) r=0.94m +[headless_play] t= 13.00s step= 650 trunk_z= 120.8mm grav_b=(+0.01,-0.01,-1.00) r=0.97m +[headless_play] t= 13.10s step= 655 trunk_z= 115.5mm grav_b=(-0.01,-0.06,-1.00) r=1.00m +[headless_play] t= 13.20s step= 660 trunk_z= 117.7mm grav_b=(-0.02,-0.10,-0.99) r=1.02m +[headless_play] t= 13.30s step= 665 trunk_z= 119.1mm grav_b=(-0.03,-0.05,-1.00) r=1.03m +[headless_play] t= 13.40s step= 670 trunk_z= 111.6mm grav_b=(+0.01,+0.06,-1.00) r=1.04m +[headless_play] t= 13.50s step= 675 trunk_z= 127.0mm grav_b=(+0.11,+0.13,-0.99) r=1.05m +[headless_play] t= 13.60s step= 680 trunk_z= 131.0mm grav_b=(+0.11,+0.07,-0.99) r=1.07m +[headless_play] t= 13.70s step= 685 trunk_z= 126.4mm grav_b=(+0.08,-0.00,-1.00) r=1.11m +[headless_play] t= 13.80s step= 690 trunk_z= 134.7mm grav_b=(-0.09,-0.04,-1.00) r=1.12m +[headless_play] t= 13.90s step= 695 trunk_z= 114.2mm grav_b=(-0.05,+0.01,-1.00) r=1.12m +[headless_play] t= 14.00s step= 700 trunk_z= 122.4mm grav_b=(-0.02,+0.10,-1.00) r=1.12m +[headless_play] t= 14.10s step= 705 trunk_z= 121.5mm grav_b=(-0.05,+0.03,-1.00) r=1.12m +[headless_play] t= 14.20s step= 710 trunk_z= 115.9mm grav_b=(-0.01,-0.05,-1.00) r=1.15m +[headless_play] t= 14.30s step= 715 trunk_z= 119.0mm grav_b=(+0.06,-0.03,-1.00) r=1.16m +[headless_play] t= 14.40s step= 720 trunk_z= 112.4mm grav_b=(+0.03,+0.02,-1.00) r=1.17m +[headless_play] t= 14.50s step= 725 trunk_z= 120.2mm grav_b=(-0.01,+0.06,-1.00) r=1.18m +[headless_play] t= 14.60s step= 730 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=1.20m +[headless_play] t= 14.70s step= 735 trunk_z= 116.2mm grav_b=(+0.01,-0.05,-1.00) r=1.22m +[headless_play] t= 14.80s step= 740 trunk_z= 118.9mm grav_b=(-0.06,-0.04,-1.00) r=1.22m +[headless_play] t= 14.90s step= 745 trunk_z= 112.7mm grav_b=(-0.08,+0.01,-1.00) r=1.20m +[headless_play] t= 15.00s step= 750 trunk_z= 118.3mm grav_b=(-0.02,+0.05,-1.00) r=1.18m +[headless_play] t= 15.10s step= 755 trunk_z= 117.8mm grav_b=(-0.01,+0.04,-1.00) r=1.19m +[headless_play] t= 15.20s step= 760 trunk_z= 113.3mm grav_b=(+0.03,-0.04,-1.00) r=1.21m +[headless_play] t= 15.30s step= 765 trunk_z= 121.9mm grav_b=(+0.02,-0.05,-1.00) r=1.23m +[headless_play] t= 15.40s step= 770 trunk_z= 118.6mm grav_b=(-0.01,-0.03,-1.00) r=1.24m +[headless_play] t= 15.50s step= 775 trunk_z= 118.8mm grav_b=(-0.03,+0.07,-1.00) r=1.25m +[headless_play] t= 15.60s step= 780 trunk_z= 115.4mm grav_b=(-0.01,+0.04,-1.00) r=1.27m +[headless_play] t= 15.70s step= 785 trunk_z= 113.6mm grav_b=(-0.01,-0.11,-0.99) r=1.30m +[headless_play] t= 15.80s step= 790 trunk_z= 119.2mm grav_b=(-0.02,-0.11,-0.99) r=1.31m +[headless_play] t= 15.90s step= 795 trunk_z= 117.0mm grav_b=(-0.01,-0.09,-1.00) r=1.32m +[headless_play] t= 16.00s step= 800 trunk_z= 108.4mm grav_b=(+0.01,-0.01,-1.00) r=1.32m +[headless_play] t= 16.10s step= 805 trunk_z= 114.8mm grav_b=(+0.03,+0.06,-1.00) r=1.32m +[headless_play] t= 16.20s step= 810 trunk_z= 111.9mm grav_b=(+0.07,+0.01,-1.00) r=1.33m +[headless_play] t= 16.30s step= 815 trunk_z= 112.3mm grav_b=(+0.02,-0.08,-1.00) r=1.35m +[headless_play] t= 16.40s step= 820 trunk_z= 114.9mm grav_b=(-0.00,-0.05,-1.00) r=1.36m +[headless_play] t= 16.50s step= 825 trunk_z= 108.0mm grav_b=(+0.01,+0.00,-1.00) r=1.36m +[headless_play] t= 16.60s step= 830 trunk_z= 113.7mm grav_b=(+0.05,+0.07,-1.00) r=1.37m +[headless_play] t= 16.70s step= 835 trunk_z= 112.0mm grav_b=(+0.09,+0.01,-1.00) r=1.39m +[headless_play] t= 16.80s step= 840 trunk_z= 112.1mm grav_b=(+0.04,-0.09,-0.99) r=1.42m +[headless_play] t= 16.90s step= 845 trunk_z= 115.2mm grav_b=(+0.01,-0.08,-1.00) r=1.43m +[headless_play] t= 17.00s step= 850 trunk_z= 108.8mm grav_b=(+0.00,-0.01,-1.00) r=1.43m +[headless_play] t= 17.10s step= 855 trunk_z= 114.9mm grav_b=(-0.01,+0.06,-1.00) r=1.44m +[headless_play] t= 17.20s step= 860 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) r=1.45m +[headless_play] t= 17.30s step= 865 trunk_z= 109.7mm grav_b=(+0.04,-0.08,-1.00) r=1.47m +[headless_play] t= 17.40s step= 870 trunk_z= 114.3mm grav_b=(+0.03,-0.07,-1.00) r=1.49m +[headless_play] t= 17.50s step= 875 trunk_z= 108.3mm grav_b=(+0.09,-0.03,-1.00) r=1.51m +[headless_play] t= 17.60s step= 880 trunk_z= 112.7mm grav_b=(+0.08,+0.06,-0.99) r=1.53m +[headless_play] t= 17.70s step= 885 trunk_z= 114.9mm grav_b=(+0.07,+0.01,-1.00) r=1.55m +[headless_play] t= 17.80s step= 890 trunk_z= 110.1mm grav_b=(+0.00,-0.11,-0.99) r=1.59m +[headless_play] t= 17.90s step= 895 trunk_z= 119.5mm grav_b=(-0.04,-0.10,-0.99) r=1.60m +[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(-0.00,-0.06,-1.00) r=1.61m +[headless_play] t= 18.10s step= 905 trunk_z= 110.0mm grav_b=(-0.01,+0.03,-1.00) r=1.61m +[headless_play] t= 18.20s step= 910 trunk_z= 114.7mm grav_b=(+0.02,+0.03,-1.00) r=1.61m +[headless_play] t= 18.30s step= 915 trunk_z= 111.4mm grav_b=(+0.07,-0.02,-1.00) r=1.63m +[headless_play] t= 18.40s step= 920 trunk_z= 113.5mm grav_b=(+0.04,-0.10,-0.99) r=1.65m +[headless_play] t= 18.50s step= 925 trunk_z= 119.2mm grav_b=(-0.03,-0.11,-0.99) r=1.65m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(-0.02,-0.08,-1.00) r=1.65m +[headless_play] t= 18.70s step= 935 trunk_z= 109.2mm grav_b=(+0.03,+0.04,-1.00) r=1.63m +[headless_play] t= 18.80s step= 940 trunk_z= 113.6mm grav_b=(+0.08,+0.06,-1.00) r=1.64m +[headless_play] t= 18.90s step= 945 trunk_z= 112.0mm grav_b=(+0.06,-0.00,-1.00) r=1.66m +[headless_play] t= 19.00s step= 950 trunk_z= 114.8mm grav_b=(+0.02,-0.08,-1.00) r=1.68m +[headless_play] t= 19.10s step= 955 trunk_z= 112.1mm grav_b=(+0.01,-0.05,-1.00) r=1.68m +[headless_play] t= 19.20s step= 960 trunk_z= 108.7mm grav_b=(-0.01,+0.05,-1.00) r=1.68m +[headless_play] t= 19.30s step= 965 trunk_z= 114.9mm grav_b=(-0.02,+0.05,-1.00) r=1.68m +[headless_play] t= 19.40s step= 970 trunk_z= 111.2mm grav_b=(+0.01,-0.01,-1.00) r=1.70m +[headless_play] t= 19.50s step= 975 trunk_z= 112.6mm grav_b=(+0.01,-0.08,-1.00) r=1.72m +[headless_play] t= 19.60s step= 980 trunk_z= 112.7mm grav_b=(+0.03,-0.05,-1.00) r=1.73m +[headless_play] t= 19.70s step= 985 trunk_z= 106.3mm grav_b=(+0.03,+0.02,-1.00) r=1.73m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(+0.02,+0.04,-1.00) r=1.73m +[headless_play] t= 19.90s step= 995 trunk_z= 113.4mm grav_b=(+0.01,-0.02,-1.00) r=1.75m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(-0.02,-0.03,-1.00) r=0.53m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t12.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..8e67aa73ed3455e232ba012bbfcb7d811ade1349 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t12.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.8mm grav_b=(+0.00,-0.00,-1.00) root_w=(-6.365,-17.508,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.62m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(+0.03,-0.07,-1.00) r=0.64m +[headless_play] t= 0.30s step= 15 trunk_z= 117.1mm grav_b=(+0.06,-0.03,-1.00) r=0.63m +[headless_play] t= 0.40s step= 20 trunk_z= 110.1mm grav_b=(+0.04,+0.06,-1.00) r=0.61m +[headless_play] t= 0.50s step= 25 trunk_z= 120.7mm grav_b=(+0.04,+0.07,-1.00) r=0.60m +[headless_play] t= 0.60s step= 30 trunk_z= 117.4mm grav_b=(+0.05,+0.05,-1.00) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 119.3mm grav_b=(+0.02,-0.04,-1.00) r=0.64m +[headless_play] t= 0.80s step= 40 trunk_z= 122.4mm grav_b=(+0.03,-0.04,-1.00) r=0.64m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(+0.03,+0.00,-1.00) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 121.4mm grav_b=(-0.05,+0.09,-0.99) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 123.0mm grav_b=(-0.04,+0.04,-1.00) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 118.4mm grav_b=(-0.02,-0.05,-1.00) r=0.63m +[headless_play] t= 1.30s step= 65 trunk_z= 121.4mm grav_b=(+0.04,-0.04,-1.00) r=0.64m +[headless_play] t= 1.40s step= 70 trunk_z= 118.2mm grav_b=(+0.06,-0.02,-1.00) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(+0.05,+0.07,-1.00) r=0.60m +[headless_play] t= 1.60s step= 80 trunk_z= 124.7mm grav_b=(+0.01,+0.09,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 121.3mm grav_b=(+0.03,+0.10,-0.99) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 122.5mm grav_b=(+0.01,-0.05,-1.00) r=0.62m +[headless_play] t= 2.00s step= 100 trunk_z= 120.9mm grav_b=(+0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.05,+0.07,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 122.0mm grav_b=(+0.05,+0.07,-1.00) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 115.2mm grav_b=(+0.05,+0.03,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 120.3mm grav_b=(-0.02,-0.07,-1.00) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 121.4mm grav_b=(+0.03,-0.05,-1.00) r=0.64m +[headless_play] t= 2.60s step= 130 trunk_z= 119.8mm grav_b=(+0.03,-0.09,-1.00) r=0.64m +[headless_play] t= 2.70s step= 135 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 119.6mm grav_b=(+0.01,+0.10,-0.99) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 118.0mm grav_b=(+0.02,+0.07,-1.00) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 112.8mm grav_b=(+0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(+0.04,-0.05,-1.00) r=0.68m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.07,-0.02,-1.00) r=0.68m +[headless_play] t= 3.30s step= 165 trunk_z= 113.2mm grav_b=(+0.04,+0.09,-0.99) r=0.68m +[headless_play] t= 3.40s step= 170 trunk_z= 117.7mm grav_b=(+0.05,+0.07,-1.00) r=0.69m +[headless_play] t= 3.50s step= 175 trunk_z= 110.8mm grav_b=(+0.04,+0.00,-1.00) r=0.71m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(+0.02,-0.05,-1.00) r=0.73m +[headless_play] t= 3.70s step= 185 trunk_z= 114.8mm grav_b=(+0.04,-0.02,-1.00) r=0.74m +[headless_play] t= 3.80s step= 190 trunk_z= 110.4mm grav_b=(+0.05,+0.04,-1.00) r=0.74m +[headless_play] t= 3.90s step= 195 trunk_z= 114.0mm grav_b=(+0.06,-0.01,-1.00) r=0.76m +[headless_play] t= 4.00s step= 200 trunk_z= 108.0mm grav_b=(+0.04,-0.07,-1.00) r=0.79m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(+0.05,-0.08,-1.00) r=0.81m +[headless_play] t= 4.20s step= 210 trunk_z= 110.4mm grav_b=(+0.08,-0.03,-1.00) r=0.81m +[headless_play] t= 4.30s step= 215 trunk_z= 111.4mm grav_b=(+0.08,+0.10,-0.99) r=0.82m +[headless_play] t= 4.40s step= 220 trunk_z= 117.2mm grav_b=(+0.08,+0.09,-0.99) r=0.83m +[headless_play] t= 4.50s step= 225 trunk_z= 111.4mm grav_b=(+0.06,+0.03,-1.00) r=0.85m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) r=0.87m +[headless_play] t= 4.70s step= 235 trunk_z= 107.8mm grav_b=(+0.01,+0.07,-1.00) r=0.87m +[headless_play] t= 4.80s step= 240 trunk_z= 113.8mm grav_b=(+0.05,+0.09,-0.99) r=0.87m +[headless_play] t= 4.90s step= 245 trunk_z= 111.3mm grav_b=(+0.08,+0.06,-1.00) r=0.89m +[headless_play] t= 5.00s step= 250 trunk_z= 109.2mm grav_b=(+0.06,-0.04,-1.00) r=0.91m +[headless_play] t= 5.10s step= 255 trunk_z= 115.2mm grav_b=(+0.04,-0.07,-1.00) r=0.93m +[headless_play] t= 5.20s step= 260 trunk_z= 111.2mm grav_b=(+0.08,-0.01,-1.00) r=0.94m +[headless_play] t= 5.30s step= 265 trunk_z= 115.1mm grav_b=(+0.07,+0.09,-0.99) r=0.94m +[headless_play] t= 5.40s step= 270 trunk_z= 114.8mm grav_b=(+0.09,+0.08,-0.99) r=0.96m +[headless_play] t= 5.50s step= 275 trunk_z= 108.3mm grav_b=(+0.06,-0.03,-1.00) r=0.99m +[headless_play] t= 5.60s step= 280 trunk_z= 115.7mm grav_b=(+0.05,-0.06,-1.00) r=1.01m +[headless_play] t= 5.70s step= 285 trunk_z= 112.0mm grav_b=(+0.06,-0.02,-1.00) r=1.02m +[headless_play] t= 5.80s step= 290 trunk_z= 113.5mm grav_b=(+0.05,+0.07,-1.00) r=1.02m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.06,+0.05,-1.00) r=1.03m +[headless_play] t= 6.00s step= 300 trunk_z= 108.5mm grav_b=(+0.06,-0.01,-1.00) r=1.06m +[headless_play] t= 6.10s step= 305 trunk_z= 114.5mm grav_b=(+0.05,-0.05,-1.00) r=1.08m +[headless_play] t= 6.20s step= 310 trunk_z= 111.5mm grav_b=(+0.07,-0.01,-1.00) r=1.09m +[headless_play] t= 6.30s step= 315 trunk_z= 112.5mm grav_b=(+0.05,+0.08,-1.00) r=1.10m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(+0.05,+0.06,-1.00) r=1.12m +[headless_play] t= 6.50s step= 325 trunk_z= 108.9mm grav_b=(+0.04,-0.02,-1.00) r=1.14m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(+0.04,-0.05,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 112.1mm grav_b=(+0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 6.80s step= 340 trunk_z= 110.5mm grav_b=(+0.06,+0.07,-1.00) r=1.18m +[headless_play] t= 6.90s step= 345 trunk_z= 116.9mm grav_b=(+0.08,+0.09,-0.99) r=1.20m +[headless_play] t= 7.00s step= 350 trunk_z= 114.9mm grav_b=(+0.07,+0.08,-0.99) r=1.21m +[headless_play] t= 7.10s step= 355 trunk_z= 112.8mm grav_b=(+0.03,-0.04,-1.00) r=1.24m +[headless_play] t= 7.20s step= 360 trunk_z= 117.4mm grav_b=(+0.02,-0.05,-1.00) r=1.25m +[headless_play] t= 7.30s step= 365 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) r=1.25m +[headless_play] t= 7.40s step= 370 trunk_z= 118.3mm grav_b=(+0.05,+0.09,-0.99) r=1.26m +[headless_play] t= 7.50s step= 375 trunk_z= 119.9mm grav_b=(+0.08,+0.03,-1.00) r=1.27m +[headless_play] t= 7.60s step= 380 trunk_z= 114.5mm grav_b=(+0.05,-0.04,-1.00) r=1.29m +[headless_play] t= 7.70s step= 385 trunk_z= 122.2mm grav_b=(+0.07,-0.01,-1.00) r=1.31m +[headless_play] t= 7.80s step= 390 trunk_z= 114.3mm grav_b=(+0.10,+0.15,-0.98) r=1.35m +[headless_play] t= 7.90s step= 395 trunk_z= 132.8mm grav_b=(+0.10,+0.10,-0.99) r=1.39m +[headless_play] t= 8.00s step= 400 trunk_z= 127.2mm grav_b=(+0.05,-0.03,-1.00) r=1.43m +[headless_play] t= 8.10s step= 405 trunk_z= 122.5mm grav_b=(+0.01,-0.13,-0.99) r=1.47m +[headless_play] t= 8.20s step= 410 trunk_z= 126.8mm grav_b=(-0.02,-0.06,-1.00) r=1.48m +[headless_play] t= 8.30s step= 415 trunk_z= 123.2mm grav_b=(-0.01,-0.04,-1.00) r=1.48m +[headless_play] t= 8.40s step= 420 trunk_z= 119.9mm grav_b=(-0.01,+0.07,-1.00) r=1.47m +[headless_play] t= 8.50s step= 425 trunk_z= 128.0mm grav_b=(-0.00,+0.22,-0.97) r=1.46m +[headless_play] t= 8.60s step= 430 trunk_z= 129.1mm grav_b=(+0.11,+0.21,-0.97) r=1.45m +[headless_play] t= 8.70s step= 435 trunk_z= 127.3mm grav_b=(+0.13,+0.22,-0.97) r=1.47m +[headless_play] t= 8.80s step= 440 trunk_z= 114.8mm grav_b=(+0.09,+0.20,-0.98) r=1.50m +[headless_play] t= 8.90s step= 445 trunk_z= 125.4mm grav_b=(-0.02,+0.11,-0.99) r=1.50m +[headless_play] t= 9.00s step= 450 trunk_z= 104.8mm grav_b=(-0.02,+0.03,-1.00) r=1.49m +[headless_play] t= 9.10s step= 455 trunk_z= 115.1mm grav_b=(-0.01,+0.03,-1.00) r=1.51m +[headless_play] t= 9.20s step= 460 trunk_z= 112.5mm grav_b=(-0.05,-0.06,-1.00) r=1.55m +[headless_play] t= 9.30s step= 465 trunk_z= 122.1mm grav_b=(-0.03,-0.07,-1.00) r=1.56m +[headless_play] t= 9.40s step= 470 trunk_z= 119.9mm grav_b=(-0.02,-0.02,-1.00) r=1.55m +[headless_play] t= 9.50s step= 475 trunk_z= 116.7mm grav_b=(-0.02,+0.05,-1.00) r=1.52m +[headless_play] t= 9.60s step= 480 trunk_z= 120.4mm grav_b=(+0.01,+0.02,-1.00) r=1.52m +[headless_play] t= 9.70s step= 485 trunk_z= 114.1mm grav_b=(+0.01,-0.03,-1.00) r=1.54m +[headless_play] t= 9.80s step= 490 trunk_z= 121.6mm grav_b=(+0.01,-0.04,-1.00) r=1.56m +[headless_play] t= 9.90s step= 495 trunk_z= 120.0mm grav_b=(+0.02,-0.02,-1.00) r=1.55m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.01,+0.05,-1.00) r=1.53m +[headless_play] t= 10.10s step= 505 trunk_z= 121.0mm grav_b=(+0.02,+0.02,-1.00) r=1.53m +[headless_play] t= 10.20s step= 510 trunk_z= 113.5mm grav_b=(+0.01,-0.03,-1.00) r=1.55m +[headless_play] t= 10.30s step= 515 trunk_z= 120.8mm grav_b=(+0.00,-0.04,-1.00) r=1.56m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(+0.01,+0.00,-1.00) r=1.55m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(-0.00,+0.07,-1.00) r=1.53m +[headless_play] t= 10.60s step= 530 trunk_z= 120.6mm grav_b=(+0.03,+0.06,-1.00) r=1.53m +[headless_play] t= 10.70s step= 535 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=1.55m +[headless_play] t= 10.80s step= 540 trunk_z= 122.1mm grav_b=(-0.02,-0.07,-1.00) r=1.57m +[headless_play] t= 10.90s step= 545 trunk_z= 126.7mm grav_b=(-0.08,-0.15,-0.99) r=1.58m +[headless_play] t= 11.00s step= 550 trunk_z= 129.5mm grav_b=(-0.03,-0.12,-0.99) r=1.58m +[headless_play] t= 11.10s step= 555 trunk_z= 123.6mm grav_b=(+0.02,-0.05,-1.00) r=1.58m +[headless_play] t= 11.20s step= 560 trunk_z= 120.9mm grav_b=(-0.01,-0.01,-1.00) r=1.57m +[headless_play] t= 11.30s step= 565 trunk_z= 113.9mm grav_b=(+0.01,-0.07,-1.00) r=1.59m +[headless_play] t= 11.40s step= 570 trunk_z= 121.8mm grav_b=(+0.06,-0.07,-1.00) r=1.60m +[headless_play] t= 11.50s step= 575 trunk_z= 123.3mm grav_b=(+0.05,-0.02,-1.00) r=1.59m +[headless_play] t= 11.60s step= 580 trunk_z= 116.8mm grav_b=(+0.01,+0.06,-1.00) r=1.57m +[headless_play] t= 11.70s step= 585 trunk_z= 123.6mm grav_b=(-0.00,+0.07,-1.00) r=1.56m +[headless_play] t= 11.80s step= 590 trunk_z= 118.8mm grav_b=(+0.01,+0.03,-1.00) r=1.57m +[headless_play] t= 11.90s step= 595 trunk_z= 120.6mm grav_b=(-0.04,-0.04,-1.00) r=1.59m +[headless_play] t= 12.00s step= 600 trunk_z= 122.1mm grav_b=(-0.02,-0.04,-1.00) r=1.59m +[headless_play] t= 12.10s step= 605 trunk_z= 112.5mm grav_b=(+0.06,+0.03,-1.00) r=1.58m +[headless_play] t= 12.20s step= 610 trunk_z= 123.2mm grav_b=(+0.11,+0.07,-0.99) r=1.58m +[headless_play] t= 12.30s step= 615 trunk_z= 124.2mm grav_b=(+0.08,-0.01,-1.00) r=1.58m +[headless_play] t= 12.40s step= 620 trunk_z= 120.9mm grav_b=(+0.03,-0.06,-1.00) r=1.61m +[headless_play] t= 12.50s step= 625 trunk_z= 123.3mm grav_b=(+0.01,-0.05,-1.00) r=1.61m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(-0.05,+0.03,-1.00) r=1.59m +[headless_play] t= 12.70s step= 635 trunk_z= 121.9mm grav_b=(-0.05,+0.08,-1.00) r=1.59m +[headless_play] t= 12.80s step= 640 trunk_z= 119.3mm grav_b=(-0.02,+0.05,-1.00) r=1.60m +[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(-0.01,-0.06,-1.00) r=1.62m +[headless_play] t= 13.00s step= 650 trunk_z= 116.9mm grav_b=(+0.04,-0.05,-1.00) r=1.62m +[headless_play] t= 13.10s step= 655 trunk_z= 115.1mm grav_b=(+0.07,-0.06,-1.00) r=1.62m +[headless_play] t= 13.20s step= 660 trunk_z= 115.9mm grav_b=(+0.02,+0.06,-1.00) r=1.61m +[headless_play] t= 13.30s step= 665 trunk_z= 118.3mm grav_b=(+0.02,+0.05,-1.00) r=1.61m +[headless_play] t= 13.40s step= 670 trunk_z= 113.2mm grav_b=(+0.01,-0.01,-1.00) r=1.64m +[headless_play] t= 13.50s step= 675 trunk_z= 119.1mm grav_b=(+0.01,-0.05,-1.00) r=1.65m +[headless_play] t= 13.60s step= 680 trunk_z= 113.7mm grav_b=(+0.03,-0.01,-1.00) r=1.64m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(-0.01,+0.10,-1.00) r=1.63m +[headless_play] t= 13.80s step= 690 trunk_z= 120.0mm grav_b=(+0.01,+0.08,-1.00) r=1.63m +[headless_play] t= 13.90s step= 695 trunk_z= 115.0mm grav_b=(+0.03,+0.05,-1.00) r=1.65m +[headless_play] t= 14.00s step= 700 trunk_z= 118.0mm grav_b=(-0.04,-0.11,-0.99) r=1.67m +[headless_play] t= 14.10s step= 705 trunk_z= 124.2mm grav_b=(-0.09,-0.11,-0.99) r=1.69m +[headless_play] t= 14.20s step= 710 trunk_z= 122.4mm grav_b=(-0.09,-0.05,-0.99) r=1.68m +[headless_play] t= 14.30s step= 715 trunk_z= 113.0mm grav_b=(-0.00,+0.04,-1.00) r=1.66m +[headless_play] t= 14.40s step= 720 trunk_z= 115.8mm grav_b=(+0.07,+0.08,-0.99) r=1.67m +[headless_play] t= 14.50s step= 725 trunk_z= 115.1mm grav_b=(+0.07,+0.03,-1.00) r=1.68m +[headless_play] t= 14.60s step= 730 trunk_z= 118.5mm grav_b=(+0.09,-0.07,-0.99) r=1.70m +[headless_play] t= 14.70s step= 735 trunk_z= 122.4mm grav_b=(+0.02,-0.02,-1.00) r=1.70m +[headless_play] t= 14.80s step= 740 trunk_z= 116.6mm grav_b=(-0.11,+0.10,-0.99) r=1.69m +[headless_play] t= 14.90s step= 745 trunk_z= 125.3mm grav_b=(-0.13,+0.12,-0.99) r=1.68m +[headless_play] t= 15.00s step= 750 trunk_z= 118.5mm grav_b=(-0.02,+0.05,-1.00) r=1.68m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(+0.01,+0.10,-1.00) r=1.66m +[headless_play] t= 15.20s step= 760 trunk_z= 104.5mm grav_b=(+0.11,+0.07,-0.99) r=1.62m +[headless_play] t= 15.30s step= 765 trunk_z= 112.4mm grav_b=(+0.14,+0.07,-0.99) r=1.60m +[headless_play] t= 15.40s step= 770 trunk_z= 118.0mm grav_b=(+0.09,+0.07,-0.99) r=1.59m +[headless_play] t= 15.50s step= 775 trunk_z= 117.3mm grav_b=(+0.05,+0.05,-1.00) r=1.60m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(+0.11,-0.09,-0.99) r=1.61m +[headless_play] t= 15.70s step= 785 trunk_z= 122.4mm grav_b=(+0.08,-0.10,-0.99) r=1.60m +[headless_play] t= 15.80s step= 790 trunk_z= 107.3mm grav_b=(+0.06,-0.05,-1.00) r=1.56m +[headless_play] t= 15.90s step= 795 trunk_z= 124.0mm grav_b=(+0.06,-0.02,-1.00) r=1.55m +[headless_play] t= 16.00s step= 800 trunk_z= 120.5mm grav_b=(+0.00,-0.04,-1.00) r=1.54m +[headless_play] t= 16.10s step= 805 trunk_z= 117.5mm grav_b=(-0.03,-0.10,-0.99) r=1.54m +[headless_play] t= 16.20s step= 810 trunk_z= 123.0mm grav_b=(-0.03,-0.05,-1.00) r=1.53m +[headless_play] t= 16.30s step= 815 trunk_z= 113.7mm grav_b=(-0.05,+0.04,-1.00) r=1.49m +[headless_play] t= 16.40s step= 820 trunk_z= 124.5mm grav_b=(-0.04,+0.09,-0.99) r=1.47m +[headless_play] t= 16.50s step= 825 trunk_z= 126.9mm grav_b=(-0.04,+0.13,-0.99) r=1.46m +[headless_play] t= 16.60s step= 830 trunk_z= 125.7mm grav_b=(-0.03,+0.12,-0.99) r=1.45m +[headless_play] t= 16.70s step= 835 trunk_z= 121.7mm grav_b=(+0.01,+0.07,-1.00) r=1.46m +[headless_play] t= 16.80s step= 840 trunk_z= 122.1mm grav_b=(+0.05,-0.02,-1.00) r=1.47m +[headless_play] t= 16.90s step= 845 trunk_z= 124.1mm grav_b=(+0.06,-0.03,-1.00) r=1.46m +[headless_play] t= 17.00s step= 850 trunk_z= 115.0mm grav_b=(+0.01,+0.04,-1.00) r=1.43m +[headless_play] t= 17.10s step= 855 trunk_z= 124.4mm grav_b=(+0.01,+0.07,-1.00) r=1.42m +[headless_play] t= 17.20s step= 860 trunk_z= 119.9mm grav_b=(+0.03,+0.04,-1.00) r=1.42m +[headless_play] t= 17.30s step= 865 trunk_z= 119.2mm grav_b=(+0.01,-0.04,-1.00) r=1.44m +[headless_play] t= 17.40s step= 870 trunk_z= 122.8mm grav_b=(+0.02,-0.04,-1.00) r=1.44m +[headless_play] t= 17.50s step= 875 trunk_z= 113.0mm grav_b=(-0.00,+0.05,-1.00) r=1.40m +[headless_play] t= 17.60s step= 880 trunk_z= 125.0mm grav_b=(+0.01,+0.09,-1.00) r=1.37m +[headless_play] t= 17.70s step= 885 trunk_z= 124.5mm grav_b=(+0.03,+0.11,-0.99) r=1.36m +[headless_play] t= 17.80s step= 890 trunk_z= 121.3mm grav_b=(+0.02,+0.06,-1.00) r=1.35m +[headless_play] t= 17.90s step= 895 trunk_z= 121.6mm grav_b=(+0.03,-0.01,-1.00) r=1.35m +[headless_play] t= 18.00s step= 900 trunk_z= 123.9mm grav_b=(+0.01,-0.02,-1.00) r=1.34m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(-0.02,+0.05,-1.00) r=1.30m +[headless_play] t= 18.20s step= 910 trunk_z= 123.5mm grav_b=(+0.00,+0.07,-1.00) r=1.29m +[headless_play] t= 18.30s step= 915 trunk_z= 119.5mm grav_b=(+0.01,+0.04,-1.00) r=1.29m +[headless_play] t= 18.40s step= 920 trunk_z= 119.9mm grav_b=(+0.02,-0.03,-1.00) r=1.30m +[headless_play] t= 18.50s step= 925 trunk_z= 120.0mm grav_b=(+0.04,+0.01,-1.00) r=1.29m +[headless_play] t= 18.60s step= 930 trunk_z= 117.2mm grav_b=(+0.02,+0.07,-1.00) r=1.26m +[headless_play] t= 18.70s step= 935 trunk_z= 124.3mm grav_b=(+0.02,+0.06,-1.00) r=1.25m +[headless_play] t= 18.80s step= 940 trunk_z= 119.2mm grav_b=(+0.02,+0.02,-1.00) r=1.25m +[headless_play] t= 18.90s step= 945 trunk_z= 123.1mm grav_b=(+0.04,-0.02,-1.00) r=1.24m +[headless_play] t= 19.00s step= 950 trunk_z= 123.9mm grav_b=(+0.05,+0.01,-1.00) r=1.22m +[headless_play] t= 19.10s step= 955 trunk_z= 117.5mm grav_b=(+0.04,+0.03,-1.00) r=1.18m +[headless_play] t= 19.20s step= 960 trunk_z= 122.3mm grav_b=(+0.04,+0.02,-1.00) r=1.17m +[headless_play] t= 19.30s step= 965 trunk_z= 111.3mm grav_b=(-0.01,-0.06,-1.00) r=1.17m +[headless_play] t= 19.40s step= 970 trunk_z= 121.8mm grav_b=(-0.02,-0.06,-1.00) r=1.17m +[headless_play] t= 19.50s step= 975 trunk_z= 119.2mm grav_b=(-0.01,-0.02,-1.00) r=1.15m +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(-0.02,+0.06,-1.00) r=1.12m +[headless_play] t= 19.70s step= 985 trunk_z= 122.8mm grav_b=(+0.00,+0.05,-1.00) r=1.11m +[headless_play] t= 19.80s step= 990 trunk_z= 119.2mm grav_b=(+0.01,+0.03,-1.00) r=1.11m +[headless_play] t= 19.90s step= 995 trunk_z= 121.6mm grav_b=(+0.03,-0.02,-1.00) r=1.11m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.3mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.00,-0.02,-1.00) r=0.43m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t13.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..cffe937c0423cb5052cec876b9d58feb174d71b1 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t13.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.606,-18.250,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.0mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.04,-0.05,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 120.4mm grav_b=(+0.10,-0.06,-0.99) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(+0.11,-0.02,-0.99) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(+0.11,+0.02,-0.99) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 125.0mm grav_b=(+0.09,+0.00,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(+0.09,-0.04,-0.99) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 127.1mm grav_b=(+0.08,-0.05,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 120.4mm grav_b=(+0.07,-0.03,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 123.7mm grav_b=(+0.03,+0.10,-0.99) r=0.48m +[headless_play] t= 1.00s step= 50 trunk_z= 129.1mm grav_b=(+0.05,+0.14,-0.99) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 124.6mm grav_b=(+0.06,+0.08,-0.99) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(+0.08,-0.05,-1.00) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 127.9mm grav_b=(+0.12,-0.04,-0.99) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 122.6mm grav_b=(+0.07,-0.03,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 121.2mm grav_b=(+0.06,-0.01,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 120.5mm grav_b=(+0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(+0.10,-0.10,-0.99) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 131.6mm grav_b=(+0.12,-0.18,-0.98) r=0.64m +[headless_play] t= 1.90s step= 95 trunk_z= 125.1mm grav_b=(+0.18,-0.17,-0.97) r=0.66m +[headless_play] t= 2.00s step= 100 trunk_z= 122.8mm grav_b=(+0.14,-0.14,-0.98) r=0.72m +[headless_play] t= 2.10s step= 105 trunk_z= 124.5mm grav_b=(+0.09,-0.01,-1.00) r=0.76m +[headless_play] t= 2.20s step= 110 trunk_z= 124.5mm grav_b=(+0.04,+0.04,-1.00) r=0.79m +[headless_play] t= 2.30s step= 115 trunk_z= 119.2mm grav_b=(-0.01,-0.06,-1.00) r=0.81m +[headless_play] t= 2.40s step= 120 trunk_z= 125.0mm grav_b=(+0.05,-0.09,-0.99) r=0.82m +[headless_play] t= 2.50s step= 125 trunk_z= 120.7mm grav_b=(+0.11,-0.07,-0.99) r=0.82m +[headless_play] t= 2.60s step= 130 trunk_z= 121.7mm grav_b=(+0.13,+0.02,-0.99) r=0.81m +[headless_play] t= 2.70s step= 135 trunk_z= 120.8mm grav_b=(+0.06,-0.07,-1.00) r=0.84m +[headless_play] t= 2.80s step= 140 trunk_z= 124.5mm grav_b=(+0.09,-0.12,-0.99) r=0.87m +[headless_play] t= 2.90s step= 145 trunk_z= 127.5mm grav_b=(+0.10,-0.13,-0.99) r=0.89m +[headless_play] t= 3.00s step= 150 trunk_z= 122.6mm grav_b=(+0.12,-0.09,-0.99) r=0.90m +[headless_play] t= 3.10s step= 155 trunk_z= 119.0mm grav_b=(+0.09,-0.04,-0.99) r=0.92m +[headless_play] t= 3.20s step= 160 trunk_z= 121.6mm grav_b=(+0.07,-0.03,-1.00) r=0.94m +[headless_play] t= 3.30s step= 165 trunk_z= 116.2mm grav_b=(+0.09,-0.06,-0.99) r=0.97m +[headless_play] t= 3.40s step= 170 trunk_z= 122.4mm grav_b=(+0.10,+0.01,-0.99) r=0.98m +[headless_play] t= 3.50s step= 175 trunk_z= 111.3mm grav_b=(+0.07,+0.04,-1.00) r=0.99m +[headless_play] t= 3.60s step= 180 trunk_z= 121.3mm grav_b=(+0.06,+0.02,-1.00) r=1.01m +[headless_play] t= 3.70s step= 185 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=1.03m +[headless_play] t= 3.80s step= 190 trunk_z= 120.9mm grav_b=(+0.07,-0.06,-1.00) r=1.06m +[headless_play] t= 3.90s step= 195 trunk_z= 121.6mm grav_b=(+0.08,-0.06,-0.99) r=1.06m +[headless_play] t= 4.00s step= 200 trunk_z= 115.0mm grav_b=(+0.06,-0.02,-1.00) r=1.06m +[headless_play] t= 4.10s step= 205 trunk_z= 120.8mm grav_b=(+0.04,+0.02,-1.00) r=1.06m +[headless_play] t= 4.20s step= 210 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=1.08m +[headless_play] t= 4.30s step= 215 trunk_z= 121.4mm grav_b=(+0.12,-0.08,-0.99) r=1.10m +[headless_play] t= 4.40s step= 220 trunk_z= 128.2mm grav_b=(+0.11,-0.10,-0.99) r=1.13m +[headless_play] t= 4.50s step= 225 trunk_z= 126.3mm grav_b=(+0.12,-0.08,-0.99) r=1.15m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(+0.07,-0.07,-1.00) r=1.18m +[headless_play] t= 4.70s step= 235 trunk_z= 123.3mm grav_b=(+0.05,-0.03,-1.00) r=1.20m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.08,-0.09,-0.99) r=1.22m +[headless_play] t= 4.90s step= 245 trunk_z= 122.8mm grav_b=(+0.10,-0.08,-0.99) r=1.24m +[headless_play] t= 5.00s step= 250 trunk_z= 117.5mm grav_b=(+0.10,-0.08,-0.99) r=1.24m +[headless_play] t= 5.10s step= 255 trunk_z= 118.6mm grav_b=(+0.03,+0.06,-1.00) r=1.22m +[headless_play] t= 5.20s step= 260 trunk_z= 128.1mm grav_b=(+0.08,+0.09,-0.99) r=1.22m +[headless_play] t= 5.30s step= 265 trunk_z= 126.8mm grav_b=(+0.14,+0.06,-0.99) r=1.25m +[headless_play] t= 5.40s step= 270 trunk_z= 108.9mm grav_b=(+0.02,-0.17,-0.98) r=1.31m +[headless_play] t= 5.50s step= 275 trunk_z= 123.3mm grav_b=(+0.12,-0.10,-0.99) r=1.33m +[headless_play] t= 5.60s step= 280 trunk_z= 126.9mm grav_b=(+0.03,-0.08,-1.00) r=1.35m +[headless_play] t= 5.70s step= 285 trunk_z= 115.9mm grav_b=(-0.03,-0.00,-1.00) r=1.35m +[headless_play] t= 5.80s step= 290 trunk_z= 121.2mm grav_b=(+0.00,+0.01,-1.00) r=1.36m +[headless_play] t= 5.90s step= 295 trunk_z= 115.9mm grav_b=(+0.05,-0.05,-1.00) r=1.38m +[headless_play] t= 6.00s step= 300 trunk_z= 125.5mm grav_b=(+0.13,-0.09,-0.99) r=1.40m +[headless_play] t= 6.10s step= 305 trunk_z= 126.7mm grav_b=(+0.11,-0.07,-0.99) r=1.41m +[headless_play] t= 6.20s step= 310 trunk_z= 115.2mm grav_b=(+0.06,-0.04,-1.00) r=1.44m +[headless_play] t= 6.30s step= 315 trunk_z= 124.8mm grav_b=(+0.05,-0.02,-1.00) r=1.46m +[headless_play] t= 6.40s step= 320 trunk_z= 120.0mm grav_b=(+0.05,-0.02,-1.00) r=1.49m +[headless_play] t= 6.50s step= 325 trunk_z= 125.2mm grav_b=(+0.16,-0.06,-0.99) r=1.52m +[headless_play] t= 6.60s step= 330 trunk_z= 131.7mm grav_b=(+0.10,-0.06,-0.99) r=1.55m +[headless_play] t= 6.70s step= 335 trunk_z= 106.5mm grav_b=(+0.04,-0.06,-1.00) r=1.58m +[headless_play] t= 6.80s step= 340 trunk_z= 122.7mm grav_b=(+0.11,-0.06,-0.99) r=1.60m +[headless_play] t= 6.90s step= 345 trunk_z= 116.7mm grav_b=(+0.03,-0.06,-1.00) r=1.63m +[headless_play] t= 7.00s step= 350 trunk_z= 123.1mm grav_b=(+0.12,-0.12,-0.99) r=1.66m +[headless_play] t= 7.10s step= 355 trunk_z= 129.9mm grav_b=(+0.14,-0.11,-0.98) r=1.69m +[headless_play] t= 7.20s step= 360 trunk_z= 120.9mm grav_b=(+0.01,-0.10,-1.00) r=1.73m +[headless_play] t= 7.30s step= 365 trunk_z= 116.9mm grav_b=(+0.05,-0.12,-0.99) r=1.75m +[headless_play] t= 7.40s step= 370 trunk_z= 120.2mm grav_b=(+0.05,-0.04,-1.00) r=1.77m +[headless_play] t= 7.50s step= 375 trunk_z= 116.0mm grav_b=(+0.01,-0.10,-0.99) r=1.78m +[headless_play] t= 7.60s step= 380 trunk_z= 123.0mm grav_b=(+0.06,-0.09,-0.99) r=1.80m +[headless_play] t= 7.70s step= 385 trunk_z= 119.6mm grav_b=(+0.04,-0.05,-1.00) r=1.81m +[headless_play] t= 7.80s step= 390 trunk_z= 120.5mm grav_b=(+0.04,+0.04,-1.00) r=1.82m +[headless_play] t= 7.90s step= 395 trunk_z= 118.0mm grav_b=(+0.04,-0.01,-1.00) r=1.83m +[headless_play] t= 8.00s step= 400 trunk_z= 116.8mm grav_b=(+0.08,-0.08,-0.99) r=1.84m +[headless_play] t= 8.10s step= 405 trunk_z= 122.4mm grav_b=(+0.12,-0.05,-0.99) r=1.85m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(+0.09,-0.03,-1.00) r=1.87m +[headless_play] t= 8.30s step= 415 trunk_z= 121.7mm grav_b=(+0.09,+0.06,-0.99) r=1.90m +[headless_play] t= 8.40s step= 420 trunk_z= 124.0mm grav_b=(+0.10,+0.12,-0.99) r=1.92m +[headless_play] t= 8.50s step= 425 trunk_z= 121.5mm grav_b=(+0.08,+0.04,-1.00) r=1.95m +[headless_play] t= 8.60s step= 430 trunk_z= 124.0mm grav_b=(+0.07,-0.03,-1.00) r=1.98m +[headless_play] t= 8.70s step= 435 trunk_z= 119.8mm grav_b=(+0.05,-0.05,-1.00) r=1.98m +[headless_play] t= 8.80s step= 440 trunk_z= 118.3mm grav_b=(+0.03,+0.03,-1.00) r=1.99m +[headless_play] t= 8.90s step= 445 trunk_z= 119.7mm grav_b=(+0.05,+0.01,-1.00) r=2.00m +[headless_play] t= 9.00s step= 450 trunk_z= 113.7mm grav_b=(+0.07,-0.04,-1.00) r=2.02m +[headless_play] t= 9.10s step= 455 trunk_z= 121.3mm grav_b=(+0.12,-0.04,-0.99) r=2.03m +[headless_play] t= 9.20s step= 460 trunk_z= 114.4mm grav_b=(+0.12,+0.01,-0.99) r=2.04m +[headless_play] t= 9.30s step= 465 trunk_z= 124.8mm grav_b=(+0.09,+0.09,-0.99) r=2.06m +[headless_play] t= 9.40s step= 470 trunk_z= 123.5mm grav_b=(+0.11,+0.10,-0.99) r=2.08m +[headless_play] t= 9.50s step= 475 trunk_z= 119.6mm grav_b=(+0.10,+0.01,-0.99) r=2.11m +[headless_play] t= 9.60s step= 480 trunk_z= 126.5mm grav_b=(+0.06,-0.05,-1.00) r=2.13m +[headless_play] t= 9.70s step= 485 trunk_z= 118.3mm grav_b=(+0.03,-0.03,-1.00) r=2.14m +[headless_play] t= 9.80s step= 490 trunk_z= 119.7mm grav_b=(+0.07,+0.04,-1.00) r=2.14m +[headless_play] t= 9.90s step= 495 trunk_z= 120.8mm grav_b=(+0.03,+0.05,-1.00) r=2.14m +[headless_play] t= 10.00s step= 500 trunk_z= 114.8mm grav_b=(+0.04,-0.02,-1.00) r=2.16m +[headless_play] t= 10.10s step= 505 trunk_z= 121.1mm grav_b=(+0.09,-0.06,-0.99) r=2.17m +[headless_play] t= 10.20s step= 510 trunk_z= 119.6mm grav_b=(+0.11,-0.05,-0.99) r=2.18m +[headless_play] t= 10.30s step= 515 trunk_z= 117.3mm grav_b=(+0.08,+0.05,-1.00) r=2.19m +[headless_play] t= 10.40s step= 520 trunk_z= 122.2mm grav_b=(+0.07,+0.04,-1.00) r=2.20m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(+0.07,-0.01,-1.00) r=2.23m +[headless_play] t= 10.60s step= 530 trunk_z= 123.1mm grav_b=(+0.07,-0.06,-1.00) r=2.25m +[headless_play] t= 10.70s step= 535 trunk_z= 122.4mm grav_b=(+0.10,-0.08,-0.99) r=2.26m +[headless_play] t= 10.80s step= 540 trunk_z= 117.9mm grav_b=(+0.10,-0.05,-0.99) r=2.28m +[headless_play] t= 10.90s step= 545 trunk_z= 124.5mm grav_b=(+0.10,-0.06,-0.99) r=2.31m +[headless_play] t= 11.00s step= 550 trunk_z= 109.0mm grav_b=(+0.06,-0.10,-0.99) r=2.35m +[headless_play] t= 11.10s step= 555 trunk_z= 124.8mm grav_b=(+0.05,-0.08,-1.00) r=2.37m +[headless_play] t= 11.20s step= 560 trunk_z= 118.2mm grav_b=(+0.04,-0.04,-1.00) r=2.38m +[headless_play] t= 11.30s step= 565 trunk_z= 119.8mm grav_b=(+0.04,+0.04,-1.00) r=2.38m +[headless_play] t= 11.40s step= 570 trunk_z= 119.7mm grav_b=(+0.06,+0.03,-1.00) r=2.40m +[headless_play] t= 11.50s step= 575 trunk_z= 114.8mm grav_b=(+0.06,-0.03,-1.00) r=2.42m +[headless_play] t= 11.60s step= 580 trunk_z= 121.2mm grav_b=(+0.12,+0.02,-0.99) r=2.44m +[headless_play] t= 11.70s step= 585 trunk_z= 110.1mm grav_b=(+0.09,+0.06,-0.99) r=2.46m +[headless_play] t= 11.80s step= 590 trunk_z= 121.6mm grav_b=(+0.09,+0.02,-1.00) r=2.48m +[headless_play] t= 11.90s step= 595 trunk_z= 114.2mm grav_b=(+0.07,-0.04,-1.00) r=2.52m +[headless_play] t= 12.00s step= 600 trunk_z= 123.3mm grav_b=(+0.06,-0.08,-1.00) r=2.54m +[headless_play] t= 12.10s step= 605 trunk_z= 119.1mm grav_b=(+0.07,-0.04,-1.00) r=2.54m +[headless_play] t= 12.20s step= 610 trunk_z= 116.8mm grav_b=(-0.00,+0.04,-1.00) r=2.52m +[headless_play] t= 12.30s step= 615 trunk_z= 124.4mm grav_b=(-0.00,+0.05,-1.00) r=2.51m +[headless_play] t= 12.40s step= 620 trunk_z= 121.3mm grav_b=(+0.06,+0.00,-1.00) r=2.52m +[headless_play] t= 12.50s step= 625 trunk_z= 120.4mm grav_b=(+0.12,-0.08,-0.99) r=2.55m +[headless_play] t= 12.60s step= 630 trunk_z= 122.5mm grav_b=(+0.15,-0.06,-0.99) r=2.55m +[headless_play] t= 12.70s step= 635 trunk_z= 114.7mm grav_b=(+0.12,-0.02,-0.99) r=2.55m +[headless_play] t= 12.80s step= 640 trunk_z= 124.3mm grav_b=(+0.08,-0.05,-1.00) r=2.57m +[headless_play] t= 12.90s step= 645 trunk_z= 115.3mm grav_b=(+0.05,-0.10,-0.99) r=2.60m +[headless_play] t= 13.00s step= 650 trunk_z= 124.1mm grav_b=(+0.04,-0.09,-1.00) r=2.61m +[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(+0.05,-0.05,-1.00) r=2.61m +[headless_play] t= 13.20s step= 660 trunk_z= 120.0mm grav_b=(+0.06,+0.05,-1.00) r=2.60m +[headless_play] t= 13.30s step= 665 trunk_z= 120.7mm grav_b=(+0.12,+0.01,-0.99) r=2.61m +[headless_play] t= 13.40s step= 670 trunk_z= 115.4mm grav_b=(+0.09,-0.04,-0.99) r=2.64m +[headless_play] t= 13.50s step= 675 trunk_z= 123.9mm grav_b=(+0.10,-0.06,-0.99) r=2.66m +[headless_play] t= 13.60s step= 680 trunk_z= 120.0mm grav_b=(+0.10,-0.05,-0.99) r=2.66m +[headless_play] t= 13.70s step= 685 trunk_z= 118.3mm grav_b=(+0.06,+0.03,-1.00) r=2.66m +[headless_play] t= 13.80s step= 690 trunk_z= 118.6mm grav_b=(+0.07,-0.01,-1.00) r=2.67m +[headless_play] t= 13.90s step= 695 trunk_z= 117.7mm grav_b=(+0.08,-0.08,-0.99) r=2.70m +[headless_play] t= 14.00s step= 700 trunk_z= 124.5mm grav_b=(+0.10,-0.09,-0.99) r=2.71m +[headless_play] t= 14.10s step= 705 trunk_z= 122.2mm grav_b=(+0.11,-0.08,-0.99) r=2.72m +[headless_play] t= 14.20s step= 710 trunk_z= 119.2mm grav_b=(+0.07,-0.00,-1.00) r=2.73m +[headless_play] t= 14.30s step= 715 trunk_z= 119.5mm grav_b=(+0.09,-0.02,-1.00) r=2.74m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(+0.09,-0.08,-0.99) r=2.77m +[headless_play] t= 14.50s step= 725 trunk_z= 123.1mm grav_b=(+0.11,-0.06,-0.99) r=2.78m +[headless_play] t= 14.60s step= 730 trunk_z= 118.3mm grav_b=(+0.10,-0.03,-0.99) r=2.79m +[headless_play] t= 14.70s step= 735 trunk_z= 121.9mm grav_b=(+0.07,+0.06,-1.00) r=2.79m +[headless_play] t= 14.80s step= 740 trunk_z= 122.6mm grav_b=(+0.09,+0.07,-0.99) r=2.80m +[headless_play] t= 14.90s step= 745 trunk_z= 117.9mm grav_b=(+0.08,+0.02,-1.00) r=2.82m +[headless_play] t= 15.00s step= 750 trunk_z= 122.8mm grav_b=(+0.08,-0.03,-1.00) r=2.84m +[headless_play] t= 15.10s step= 755 trunk_z= 119.8mm grav_b=(+0.09,-0.04,-0.99) r=2.85m +[headless_play] t= 15.20s step= 760 trunk_z= 114.1mm grav_b=(+0.05,+0.04,-1.00) r=2.85m +[headless_play] t= 15.30s step= 765 trunk_z= 120.9mm grav_b=(+0.08,+0.03,-1.00) r=2.86m +[headless_play] t= 15.40s step= 770 trunk_z= 115.6mm grav_b=(+0.07,-0.00,-1.00) r=2.88m +[headless_play] t= 15.50s step= 775 trunk_z= 126.2mm grav_b=(+0.02,-0.14,-0.99) r=2.90m +[headless_play] t= 15.60s step= 780 trunk_z= 133.6mm grav_b=(+0.02,-0.23,-0.97) r=2.91m +[headless_play] t= 15.70s step= 785 trunk_z= 130.8mm grav_b=(+0.10,-0.26,-0.96) r=2.91m +[headless_play] t= 15.80s step= 790 trunk_z= 107.4mm grav_b=(+0.02,-0.46,-0.89) r=2.92m +[headless_play] t= 15.90s step= 795 trunk_z= 89.4mm grav_b=(-0.58,-0.56,-0.58) r=2.95m +[headless_play] RESET at t= 15.96s step= 798 (env termination, not a recovery) +[headless_play] t= 16.00s step= 800 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.64m +[headless_play] t= 16.10s step= 805 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 16.20s step= 810 trunk_z= 112.4mm grav_b=(+0.02,+0.07,-1.00) r=0.62m +[headless_play] t= 16.30s step= 815 trunk_z= 117.3mm grav_b=(+0.08,+0.02,-1.00) r=0.61m +[headless_play] t= 16.40s step= 820 trunk_z= 113.9mm grav_b=(+0.11,-0.02,-0.99) r=0.62m +[headless_play] t= 16.50s step= 825 trunk_z= 115.7mm grav_b=(+0.11,+0.01,-0.99) r=0.62m +[headless_play] t= 16.60s step= 830 trunk_z= 116.8mm grav_b=(+0.11,+0.01,-0.99) r=0.62m +[headless_play] t= 16.70s step= 835 trunk_z= 116.7mm grav_b=(+0.11,+0.01,-0.99) r=0.62m +[headless_play] t= 16.80s step= 840 trunk_z= 116.3mm grav_b=(+0.09,+0.01,-1.00) r=0.61m +[headless_play] t= 16.90s step= 845 trunk_z= 115.9mm grav_b=(+0.06,+0.01,-1.00) r=0.61m +[headless_play] t= 17.00s step= 850 trunk_z= 116.7mm grav_b=(+0.06,+0.01,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 118.5mm grav_b=(+0.11,+0.03,-0.99) r=0.61m +[headless_play] t= 17.20s step= 860 trunk_z= 119.2mm grav_b=(+0.15,+0.01,-0.99) r=0.62m +[headless_play] t= 17.30s step= 865 trunk_z= 119.5mm grav_b=(+0.19,-0.00,-0.98) r=0.62m +[headless_play] t= 17.40s step= 870 trunk_z= 118.0mm grav_b=(+0.09,-0.06,-0.99) r=0.64m +[headless_play] t= 17.50s step= 875 trunk_z= 119.7mm grav_b=(+0.11,-0.08,-0.99) r=0.66m +[headless_play] t= 17.60s step= 880 trunk_z= 118.1mm grav_b=(+0.02,+0.00,-1.00) r=0.66m +[headless_play] t= 17.70s step= 885 trunk_z= 118.2mm grav_b=(-0.01,+0.04,-1.00) r=0.65m +[headless_play] t= 17.80s step= 890 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.64m +[headless_play] t= 17.90s step= 895 trunk_z= 116.9mm grav_b=(+0.05,-0.02,-1.00) r=0.63m +[headless_play] t= 18.00s step= 900 trunk_z= 107.5mm grav_b=(+0.20,-0.13,-0.97) r=0.61m +[headless_play] t= 18.10s step= 905 trunk_z= 113.8mm grav_b=(+0.21,-0.10,-0.97) r=0.61m +[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(+0.16,-0.05,-0.99) r=0.61m +[headless_play] t= 18.30s step= 915 trunk_z= 121.8mm grav_b=(+0.17,-0.04,-0.98) r=0.62m +[headless_play] t= 18.40s step= 920 trunk_z= 120.4mm grav_b=(+0.11,-0.00,-0.99) r=0.66m +[headless_play] t= 18.50s step= 925 trunk_z= 119.8mm grav_b=(+0.15,-0.05,-0.99) r=0.70m +[headless_play] t= 18.60s step= 930 trunk_z= 120.2mm grav_b=(+0.08,-0.06,-0.99) r=0.74m +[headless_play] t= 18.70s step= 935 trunk_z= 125.1mm grav_b=(+0.05,-0.11,-0.99) r=0.77m +[headless_play] t= 18.80s step= 940 trunk_z= 123.3mm grav_b=(+0.03,-0.05,-1.00) r=0.78m +[headless_play] t= 18.90s step= 945 trunk_z= 119.1mm grav_b=(+0.05,+0.00,-1.00) r=0.78m +[headless_play] t= 19.00s step= 950 trunk_z= 118.8mm grav_b=(+0.09,+0.01,-1.00) r=0.79m +[headless_play] t= 19.10s step= 955 trunk_z= 120.8mm grav_b=(+0.14,+0.03,-0.99) r=0.80m +[headless_play] t= 19.20s step= 960 trunk_z= 118.7mm grav_b=(+0.14,-0.06,-0.99) r=0.81m +[headless_play] t= 19.30s step= 965 trunk_z= 122.7mm grav_b=(+0.13,-0.05,-0.99) r=0.82m +[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(+0.07,+0.03,-1.00) r=0.83m +[headless_play] t= 19.50s step= 975 trunk_z= 120.0mm grav_b=(+0.06,+0.03,-1.00) r=0.84m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(+0.08,-0.01,-1.00) r=0.84m +[headless_play] t= 19.70s step= 985 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=0.83m +[headless_play] t= 19.80s step= 990 trunk_z= 118.3mm grav_b=(+0.05,-0.00,-1.00) r=0.83m +[headless_play] t= 19.90s step= 995 trunk_z= 118.4mm grav_b=(+0.08,+0.00,-1.00) r=0.83m +[headless_play] t= 20.00s step=1000 trunk_z= 118.9mm grav_b=(+0.10,-0.00,-0.99) r=0.84m +[headless_play] t= 20.10s step=1005 trunk_z= 118.6mm grav_b=(+0.11,+0.00,-0.99) r=0.84m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t14.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..fa7799d704d836ddbf327959da01ae761ea223eb --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t14.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.266,-18.147,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 121.6mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(-0.03,-0.01,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(-0.06,+0.03,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 111.2mm grav_b=(-0.09,+0.07,-0.99) r=0.30m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(-0.13,-0.00,-0.99) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 110.0mm grav_b=(-0.10,-0.04,-0.99) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(-0.11,-0.05,-0.99) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 120.0mm grav_b=(-0.05,+0.02,-1.00) r=0.33m +[headless_play] t= 0.80s step= 40 trunk_z= 108.4mm grav_b=(-0.05,+0.03,-1.00) r=0.35m +[headless_play] t= 0.90s step= 45 trunk_z= 108.0mm grav_b=(-0.01,-0.10,-0.99) r=0.35m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(-0.06,-0.11,-0.99) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 119.5mm grav_b=(-0.05,-0.09,-0.99) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 114.9mm grav_b=(-0.05,-0.07,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 111.6mm grav_b=(-0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 1.40s step= 70 trunk_z= 114.9mm grav_b=(-0.00,+0.01,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 111.4mm grav_b=(+0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 113.3mm grav_b=(-0.03,-0.05,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(-0.04,-0.01,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 110.4mm grav_b=(-0.04,-0.02,-1.00) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 113.1mm grav_b=(-0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(-0.02,-0.03,-1.00) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 108.3mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 113.5mm grav_b=(-0.03,-0.05,-1.00) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 109.0mm grav_b=(+0.00,+0.01,-1.00) r=0.25m +[headless_play] t= 2.40s step= 120 trunk_z= 111.9mm grav_b=(+0.01,+0.08,-1.00) r=0.24m +[headless_play] t= 2.50s step= 125 trunk_z= 115.6mm grav_b=(-0.01,+0.04,-1.00) r=0.23m +[headless_play] t= 2.60s step= 130 trunk_z= 108.9mm grav_b=(-0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 2.70s step= 135 trunk_z= 115.4mm grav_b=(-0.08,-0.03,-1.00) r=0.21m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(-0.05,+0.00,-1.00) r=0.21m +[headless_play] t= 2.90s step= 145 trunk_z= 107.7mm grav_b=(-0.04,+0.03,-1.00) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 112.6mm grav_b=(-0.01,+0.02,-1.00) r=0.18m +[headless_play] t= 3.10s step= 155 trunk_z= 111.2mm grav_b=(-0.02,-0.03,-1.00) r=0.18m +[headless_play] t= 3.20s step= 160 trunk_z= 115.0mm grav_b=(-0.10,-0.09,-0.99) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 123.4mm grav_b=(-0.13,-0.10,-0.99) r=0.21m +[headless_play] t= 3.40s step= 170 trunk_z= 127.0mm grav_b=(-0.10,-0.04,-0.99) r=0.22m +[headless_play] t= 3.50s step= 175 trunk_z= 119.5mm grav_b=(+0.01,+0.03,-1.00) r=0.22m +[headless_play] t= 3.60s step= 180 trunk_z= 125.2mm grav_b=(-0.04,+0.14,-0.99) r=0.24m +[headless_play] t= 3.70s step= 185 trunk_z= 127.7mm grav_b=(-0.14,+0.20,-0.97) r=0.25m +[headless_play] t= 3.80s step= 190 trunk_z= 128.7mm grav_b=(-0.12,+0.17,-0.98) r=0.26m +[headless_play] t= 3.90s step= 195 trunk_z= 126.0mm grav_b=(-0.07,+0.12,-0.99) r=0.28m +[headless_play] t= 4.00s step= 200 trunk_z= 115.5mm grav_b=(-0.00,+0.04,-1.00) r=0.30m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(-0.04,-0.03,-1.00) r=0.31m +[headless_play] t= 4.20s step= 210 trunk_z= 114.2mm grav_b=(-0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 112.7mm grav_b=(-0.07,+0.06,-1.00) r=0.29m +[headless_play] t= 4.40s step= 220 trunk_z= 118.5mm grav_b=(-0.11,-0.00,-0.99) r=0.29m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(-0.06,-0.07,-1.00) r=0.30m +[headless_play] t= 4.60s step= 230 trunk_z= 119.6mm grav_b=(-0.04,-0.02,-1.00) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(-0.02,+0.06,-1.00) r=0.27m +[headless_play] t= 4.80s step= 240 trunk_z= 123.8mm grav_b=(-0.06,+0.06,-1.00) r=0.26m +[headless_play] t= 4.90s step= 245 trunk_z= 123.1mm grav_b=(-0.06,+0.06,-1.00) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 117.3mm grav_b=(-0.06,-0.02,-1.00) r=0.29m +[headless_play] t= 5.10s step= 255 trunk_z= 124.6mm grav_b=(-0.04,-0.08,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 123.2mm grav_b=(-0.06,-0.07,-1.00) r=0.30m +[headless_play] t= 5.30s step= 265 trunk_z= 120.4mm grav_b=(-0.06,-0.07,-1.00) r=0.29m +[headless_play] t= 5.40s step= 270 trunk_z= 120.6mm grav_b=(-0.07,+0.04,-1.00) r=0.27m +[headless_play] t= 5.50s step= 275 trunk_z= 120.1mm grav_b=(-0.09,+0.01,-1.00) r=0.28m +[headless_play] t= 5.60s step= 280 trunk_z= 119.4mm grav_b=(-0.08,-0.08,-0.99) r=0.30m +[headless_play] t= 5.70s step= 285 trunk_z= 125.8mm grav_b=(-0.05,-0.09,-0.99) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 124.1mm grav_b=(-0.06,-0.08,-0.99) r=0.31m +[headless_play] t= 5.90s step= 295 trunk_z= 117.0mm grav_b=(-0.07,-0.01,-1.00) r=0.29m +[headless_play] t= 6.00s step= 300 trunk_z= 119.9mm grav_b=(-0.13,-0.02,-0.99) r=0.29m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(-0.14,-0.07,-0.99) r=0.31m +[headless_play] t= 6.20s step= 310 trunk_z= 124.7mm grav_b=(-0.11,-0.08,-0.99) r=0.32m +[headless_play] t= 6.30s step= 315 trunk_z= 123.0mm grav_b=(-0.10,-0.05,-0.99) r=0.31m +[headless_play] t= 6.40s step= 320 trunk_z= 117.7mm grav_b=(-0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 6.50s step= 325 trunk_z= 122.2mm grav_b=(-0.11,+0.02,-0.99) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(-0.11,-0.03,-0.99) r=0.31m +[headless_play] t= 6.70s step= 335 trunk_z= 125.0mm grav_b=(-0.08,-0.08,-0.99) r=0.33m +[headless_play] t= 6.80s step= 340 trunk_z= 124.3mm grav_b=(-0.08,-0.08,-0.99) r=0.33m +[headless_play] t= 6.90s step= 345 trunk_z= 118.4mm grav_b=(-0.07,-0.02,-1.00) r=0.32m +[headless_play] t= 7.00s step= 350 trunk_z= 123.8mm grav_b=(-0.09,+0.05,-1.00) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 120.7mm grav_b=(-0.10,+0.04,-0.99) r=0.33m +[headless_play] t= 7.20s step= 360 trunk_z= 121.2mm grav_b=(-0.07,-0.06,-1.00) r=0.35m +[headless_play] t= 7.30s step= 365 trunk_z= 125.2mm grav_b=(-0.07,-0.07,-1.00) r=0.36m +[headless_play] t= 7.40s step= 370 trunk_z= 121.0mm grav_b=(-0.09,-0.06,-0.99) r=0.36m +[headless_play] t= 7.50s step= 375 trunk_z= 122.2mm grav_b=(-0.10,+0.02,-0.99) r=0.36m +[headless_play] t= 7.60s step= 380 trunk_z= 122.0mm grav_b=(-0.10,+0.01,-0.99) r=0.37m +[headless_play] t= 7.70s step= 385 trunk_z= 116.8mm grav_b=(-0.10,-0.04,-0.99) r=0.38m +[headless_play] t= 7.80s step= 390 trunk_z= 122.0mm grav_b=(-0.11,-0.07,-0.99) r=0.38m +[headless_play] t= 7.90s step= 395 trunk_z= 118.9mm grav_b=(-0.08,-0.02,-1.00) r=0.37m +[headless_play] t= 8.00s step= 400 trunk_z= 111.4mm grav_b=(-0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 113.7mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 8.20s step= 410 trunk_z= 110.9mm grav_b=(-0.10,-0.03,-0.99) r=0.35m +[headless_play] t= 8.30s step= 415 trunk_z= 118.3mm grav_b=(-0.05,-0.09,-0.99) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 118.3mm grav_b=(-0.04,-0.09,-0.99) r=0.37m +[headless_play] t= 8.50s step= 425 trunk_z= 112.9mm grav_b=(+0.02,-0.06,-1.00) r=0.38m +[headless_play] t= 8.60s step= 430 trunk_z= 117.2mm grav_b=(-0.02,+0.07,-1.00) r=0.39m +[headless_play] t= 8.70s step= 435 trunk_z= 120.7mm grav_b=(-0.06,+0.04,-1.00) r=0.40m +[headless_play] t= 8.80s step= 440 trunk_z= 116.1mm grav_b=(-0.06,-0.01,-1.00) r=0.41m +[headless_play] t= 8.90s step= 445 trunk_z= 119.9mm grav_b=(-0.07,-0.08,-0.99) r=0.42m +[headless_play] t= 9.00s step= 450 trunk_z= 119.8mm grav_b=(-0.12,-0.02,-0.99) r=0.41m +[headless_play] t= 9.10s step= 455 trunk_z= 109.0mm grav_b=(-0.06,+0.07,-1.00) r=0.39m +[headless_play] t= 9.20s step= 460 trunk_z= 118.0mm grav_b=(-0.05,+0.11,-0.99) r=0.38m +[headless_play] t= 9.30s step= 465 trunk_z= 118.1mm grav_b=(-0.05,+0.10,-0.99) r=0.37m +[headless_play] t= 9.40s step= 470 trunk_z= 112.2mm grav_b=(-0.03,+0.04,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 121.2mm grav_b=(-0.07,-0.12,-0.99) r=0.36m +[headless_play] t= 9.60s step= 480 trunk_z= 126.9mm grav_b=(-0.08,-0.20,-0.98) r=0.36m +[headless_play] t= 9.70s step= 485 trunk_z= 131.2mm grav_b=(-0.04,-0.23,-0.97) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 120.4mm grav_b=(+0.00,-0.10,-0.99) r=0.38m +[headless_play] t= 9.90s step= 495 trunk_z= 120.6mm grav_b=(-0.03,-0.05,-1.00) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 130.0mm grav_b=(-0.09,-0.02,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 114.9mm grav_b=(-0.10,-0.06,-0.99) r=0.44m +[headless_play] t= 10.20s step= 510 trunk_z= 121.9mm grav_b=(-0.10,-0.07,-0.99) r=0.45m +[headless_play] t= 10.30s step= 515 trunk_z= 118.9mm grav_b=(-0.08,-0.03,-1.00) r=0.44m +[headless_play] t= 10.40s step= 520 trunk_z= 115.6mm grav_b=(-0.08,+0.04,-1.00) r=0.44m +[headless_play] t= 10.50s step= 525 trunk_z= 120.1mm grav_b=(-0.08,+0.01,-1.00) r=0.44m +[headless_play] t= 10.60s step= 530 trunk_z= 117.0mm grav_b=(-0.08,-0.04,-1.00) r=0.43m +[headless_play] t= 10.70s step= 535 trunk_z= 123.1mm grav_b=(-0.07,-0.04,-1.00) r=0.43m +[headless_play] t= 10.80s step= 540 trunk_z= 118.5mm grav_b=(-0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 10.90s step= 545 trunk_z= 125.9mm grav_b=(+0.02,+0.13,-0.99) r=0.47m +[headless_play] t= 11.00s step= 550 trunk_z= 135.8mm grav_b=(+0.03,+0.11,-0.99) r=0.51m +[headless_play] t= 11.10s step= 555 trunk_z= 124.8mm grav_b=(-0.01,+0.10,-1.00) r=0.56m +[headless_play] t= 11.20s step= 560 trunk_z= 132.6mm grav_b=(-0.13,+0.10,-0.99) r=0.59m +[headless_play] t= 11.30s step= 565 trunk_z= 114.6mm grav_b=(-0.12,+0.11,-0.99) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 124.0mm grav_b=(-0.12,+0.07,-0.99) r=0.64m +[headless_play] t= 11.50s step= 575 trunk_z= 115.3mm grav_b=(-0.18,-0.03,-0.98) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 126.7mm grav_b=(-0.11,-0.11,-0.99) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 133.6mm grav_b=(-0.12,-0.14,-0.98) r=0.61m +[headless_play] t= 11.80s step= 590 trunk_z= 124.6mm grav_b=(-0.07,-0.02,-1.00) r=0.58m +[headless_play] t= 11.90s step= 595 trunk_z= 127.9mm grav_b=(-0.09,+0.05,-0.99) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 108.4mm grav_b=(-0.06,-0.02,-1.00) r=0.51m +[headless_play] t= 12.10s step= 605 trunk_z= 124.0mm grav_b=(-0.03,-0.08,-1.00) r=0.50m +[headless_play] t= 12.20s step= 610 trunk_z= 125.2mm grav_b=(-0.08,-0.08,-0.99) r=0.49m +[headless_play] t= 12.30s step= 615 trunk_z= 121.0mm grav_b=(-0.09,-0.05,-0.99) r=0.50m +[headless_play] t= 12.40s step= 620 trunk_z= 120.6mm grav_b=(-0.06,+0.03,-1.00) r=0.51m +[headless_play] t= 12.50s step= 625 trunk_z= 123.0mm grav_b=(-0.05,+0.03,-1.00) r=0.52m +[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(-0.07,-0.02,-1.00) r=0.52m +[headless_play] t= 12.70s step= 635 trunk_z= 124.1mm grav_b=(-0.08,-0.09,-0.99) r=0.52m +[headless_play] t= 12.80s step= 640 trunk_z= 123.9mm grav_b=(-0.10,-0.07,-0.99) r=0.52m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(-0.11,-0.01,-0.99) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 123.7mm grav_b=(-0.09,+0.06,-0.99) r=0.55m +[headless_play] t= 13.10s step= 655 trunk_z= 118.5mm grav_b=(-0.15,-0.01,-0.99) r=0.54m +[headless_play] t= 13.20s step= 660 trunk_z= 124.9mm grav_b=(-0.12,-0.10,-0.99) r=0.53m +[headless_play] t= 13.30s step= 665 trunk_z= 129.6mm grav_b=(-0.13,-0.13,-0.98) r=0.53m +[headless_play] t= 13.40s step= 670 trunk_z= 131.9mm grav_b=(-0.12,-0.13,-0.98) r=0.52m +[headless_play] t= 13.50s step= 675 trunk_z= 130.3mm grav_b=(-0.06,-0.08,-0.99) r=0.52m +[headless_play] t= 13.60s step= 680 trunk_z= 128.0mm grav_b=(-0.07,+0.05,-1.00) r=0.50m +[headless_play] t= 13.70s step= 685 trunk_z= 124.7mm grav_b=(-0.15,+0.08,-0.98) r=0.48m +[headless_play] t= 13.80s step= 690 trunk_z= 117.6mm grav_b=(-0.08,-0.03,-1.00) r=0.45m +[headless_play] t= 13.90s step= 695 trunk_z= 122.4mm grav_b=(+0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 14.00s step= 700 trunk_z= 113.4mm grav_b=(-0.07,+0.08,-0.99) r=0.51m +[headless_play] t= 14.10s step= 705 trunk_z= 123.4mm grav_b=(-0.12,+0.08,-0.99) r=0.53m +[headless_play] t= 14.20s step= 710 trunk_z= 122.7mm grav_b=(-0.13,+0.05,-0.99) r=0.53m +[headless_play] t= 14.30s step= 715 trunk_z= 122.4mm grav_b=(-0.16,-0.05,-0.99) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 124.4mm grav_b=(-0.14,-0.07,-0.99) r=0.51m +[headless_play] t= 14.50s step= 725 trunk_z= 120.5mm grav_b=(-0.12,-0.05,-0.99) r=0.51m +[headless_play] t= 14.60s step= 730 trunk_z= 121.6mm grav_b=(-0.05,+0.03,-1.00) r=0.53m +[headless_play] t= 14.70s step= 735 trunk_z= 120.4mm grav_b=(-0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 14.80s step= 740 trunk_z= 124.3mm grav_b=(-0.02,-0.12,-0.99) r=0.55m +[headless_play] t= 14.90s step= 745 trunk_z= 125.7mm grav_b=(-0.04,-0.12,-0.99) r=0.55m +[headless_play] t= 15.00s step= 750 trunk_z= 124.7mm grav_b=(-0.09,-0.07,-0.99) r=0.57m +[headless_play] t= 15.10s step= 755 trunk_z= 119.5mm grav_b=(-0.11,+0.02,-0.99) r=0.60m +[headless_play] t= 15.20s step= 760 trunk_z= 118.4mm grav_b=(-0.13,-0.03,-0.99) r=0.59m +[headless_play] t= 15.30s step= 765 trunk_z= 123.9mm grav_b=(-0.10,-0.10,-0.99) r=0.57m +[headless_play] t= 15.40s step= 770 trunk_z= 126.5mm grav_b=(-0.10,-0.08,-0.99) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 122.6mm grav_b=(-0.11,-0.05,-0.99) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 122.2mm grav_b=(-0.10,+0.03,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 123.5mm grav_b=(-0.09,+0.03,-1.00) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 117.4mm grav_b=(-0.09,-0.05,-0.99) r=0.56m +[headless_play] t= 15.90s step= 795 trunk_z= 125.2mm grav_b=(-0.08,-0.09,-0.99) r=0.56m +[headless_play] t= 16.00s step= 800 trunk_z= 123.5mm grav_b=(-0.06,-0.07,-1.00) r=0.57m +[headless_play] t= 16.10s step= 805 trunk_z= 117.3mm grav_b=(-0.05,+0.02,-1.00) r=0.59m +[headless_play] t= 16.20s step= 810 trunk_z= 117.2mm grav_b=(-0.11,-0.06,-0.99) r=0.58m +[headless_play] t= 16.30s step= 815 trunk_z= 123.5mm grav_b=(-0.05,-0.11,-0.99) r=0.57m +[headless_play] t= 16.40s step= 820 trunk_z= 121.6mm grav_b=(-0.06,-0.06,-1.00) r=0.59m +[headless_play] t= 16.50s step= 825 trunk_z= 119.3mm grav_b=(-0.09,+0.04,-1.00) r=0.62m +[headless_play] t= 16.60s step= 830 trunk_z= 124.7mm grav_b=(-0.10,+0.05,-0.99) r=0.62m +[headless_play] t= 16.70s step= 835 trunk_z= 119.6mm grav_b=(-0.10,+0.02,-0.99) r=0.61m +[headless_play] t= 16.80s step= 840 trunk_z= 123.7mm grav_b=(-0.08,-0.08,-0.99) r=0.59m +[headless_play] t= 16.90s step= 845 trunk_z= 125.3mm grav_b=(-0.05,-0.09,-0.99) r=0.59m +[headless_play] t= 17.00s step= 850 trunk_z= 120.8mm grav_b=(-0.04,-0.04,-1.00) r=0.61m +[headless_play] t= 17.10s step= 855 trunk_z= 120.9mm grav_b=(-0.02,-0.04,-1.00) r=0.62m +[headless_play] t= 17.20s step= 860 trunk_z= 116.5mm grav_b=(-0.04,-0.11,-0.99) r=0.60m +[headless_play] t= 17.30s step= 865 trunk_z= 127.7mm grav_b=(-0.05,-0.14,-0.99) r=0.59m +[headless_play] t= 17.40s step= 870 trunk_z= 126.7mm grav_b=(-0.07,-0.12,-0.99) r=0.59m +[headless_play] t= 17.50s step= 875 trunk_z= 121.4mm grav_b=(-0.08,-0.05,-1.00) r=0.61m +[headless_play] t= 17.60s step= 880 trunk_z= 123.0mm grav_b=(-0.10,+0.03,-0.99) r=0.63m +[headless_play] t= 17.70s step= 885 trunk_z= 121.4mm grav_b=(-0.08,+0.01,-1.00) r=0.62m +[headless_play] t= 17.80s step= 890 trunk_z= 120.7mm grav_b=(-0.08,-0.08,-0.99) r=0.60m +[headless_play] t= 17.90s step= 895 trunk_z= 126.8mm grav_b=(-0.11,-0.10,-0.99) r=0.59m +[headless_play] t= 18.00s step= 900 trunk_z= 127.1mm grav_b=(-0.13,-0.10,-0.99) r=0.59m +[headless_play] t= 18.10s step= 905 trunk_z= 123.7mm grav_b=(-0.12,-0.07,-0.99) r=0.60m +[headless_play] t= 18.20s step= 910 trunk_z= 121.3mm grav_b=(-0.10,+0.03,-0.99) r=0.63m +[headless_play] t= 18.30s step= 915 trunk_z= 124.3mm grav_b=(-0.09,+0.04,-0.99) r=0.64m +[headless_play] t= 18.40s step= 920 trunk_z= 118.5mm grav_b=(-0.08,-0.01,-1.00) r=0.62m +[headless_play] t= 18.50s step= 925 trunk_z= 124.2mm grav_b=(-0.06,-0.08,-0.99) r=0.60m +[headless_play] t= 18.60s step= 930 trunk_z= 123.6mm grav_b=(-0.04,-0.08,-1.00) r=0.60m +[headless_play] t= 18.70s step= 935 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.62m +[headless_play] t= 18.80s step= 940 trunk_z= 116.9mm grav_b=(-0.14,-0.05,-0.99) r=0.62m +[headless_play] t= 18.90s step= 945 trunk_z= 120.1mm grav_b=(-0.13,-0.09,-0.99) r=0.61m +[headless_play] t= 19.00s step= 950 trunk_z= 118.6mm grav_b=(-0.12,-0.02,-0.99) r=0.63m +[headless_play] t= 19.10s step= 955 trunk_z= 120.9mm grav_b=(-0.11,+0.04,-0.99) r=0.64m +[headless_play] t= 19.20s step= 960 trunk_z= 120.8mm grav_b=(-0.11,-0.01,-0.99) r=0.64m +[headless_play] t= 19.30s step= 965 trunk_z= 114.9mm grav_b=(-0.11,-0.06,-0.99) r=0.62m +[headless_play] t= 19.40s step= 970 trunk_z= 120.9mm grav_b=(-0.07,-0.12,-0.99) r=0.60m +[headless_play] t= 19.50s step= 975 trunk_z= 119.4mm grav_b=(+0.02,-0.16,-0.99) r=0.59m +[headless_play] t= 19.60s step= 980 trunk_z= 119.9mm grav_b=(+0.03,-0.15,-0.99) r=0.59m +[headless_play] t= 19.70s step= 985 trunk_z= 118.1mm grav_b=(+0.03,-0.03,-1.00) r=0.59m +[headless_play] t= 19.80s step= 990 trunk_z= 122.6mm grav_b=(-0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.58m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.4mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(-0.01,+0.02,-1.00) r=0.29m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t15.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..392e98b84c4d48b4400c2657bb4aed1543762567 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t15.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.471,-18.470,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 119.3mm grav_b=(-0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 0.20s step= 10 trunk_z= 118.2mm grav_b=(+0.03,+0.08,-1.00) r=0.69m +[headless_play] t= 0.30s step= 15 trunk_z= 125.2mm grav_b=(+0.06,+0.04,-1.00) r=0.69m +[headless_play] t= 0.40s step= 20 trunk_z= 119.2mm grav_b=(+0.04,-0.05,-1.00) r=0.67m +[headless_play] t= 0.50s step= 25 trunk_z= 125.3mm grav_b=(+0.06,-0.06,-1.00) r=0.66m +[headless_play] t= 0.60s step= 30 trunk_z= 122.1mm grav_b=(-0.00,-0.03,-1.00) r=0.68m +[headless_play] t= 0.70s step= 35 trunk_z= 122.5mm grav_b=(-0.03,+0.06,-1.00) r=0.70m +[headless_play] t= 0.80s step= 40 trunk_z= 123.8mm grav_b=(-0.01,+0.03,-1.00) r=0.70m +[headless_play] t= 0.90s step= 45 trunk_z= 116.6mm grav_b=(+0.01,-0.05,-1.00) r=0.67m +[headless_play] t= 1.00s step= 50 trunk_z= 126.7mm grav_b=(+0.02,-0.11,-0.99) r=0.65m +[headless_play] t= 1.10s step= 55 trunk_z= 127.2mm grav_b=(+0.04,-0.13,-0.99) r=0.65m +[headless_play] t= 1.20s step= 60 trunk_z= 123.5mm grav_b=(+0.02,-0.07,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 123.4mm grav_b=(+0.01,+0.03,-1.00) r=0.68m +[headless_play] t= 1.40s step= 70 trunk_z= 121.7mm grav_b=(+0.01,+0.00,-1.00) r=0.67m +[headless_play] t= 1.50s step= 75 trunk_z= 119.4mm grav_b=(+0.01,-0.07,-1.00) r=0.65m +[headless_play] t= 1.60s step= 80 trunk_z= 124.3mm grav_b=(+0.03,-0.06,-1.00) r=0.65m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(+0.01,-0.01,-1.00) r=0.67m +[headless_play] t= 1.80s step= 90 trunk_z= 125.8mm grav_b=(+0.03,+0.04,-1.00) r=0.69m +[headless_play] t= 1.90s step= 95 trunk_z= 131.4mm grav_b=(+0.09,+0.05,-0.99) r=0.70m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.72m +[headless_play] t= 2.10s step= 105 trunk_z= 129.0mm grav_b=(+0.02,-0.04,-1.00) r=0.74m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(-0.04,+0.03,-1.00) r=0.77m +[headless_play] t= 2.30s step= 115 trunk_z= 122.1mm grav_b=(-0.02,+0.05,-1.00) r=0.79m +[headless_play] t= 2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.00,-0.00,-1.00) r=0.79m +[headless_play] t= 2.50s step= 125 trunk_z= 120.8mm grav_b=(+0.07,-0.06,-1.00) r=0.78m +[headless_play] t= 2.60s step= 130 trunk_z= 125.6mm grav_b=(+0.01,-0.05,-1.00) r=0.78m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.80m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.00,+0.08,-1.00) r=0.82m +[headless_play] t= 2.90s step= 145 trunk_z= 118.0mm grav_b=(+0.04,+0.04,-1.00) r=0.83m +[headless_play] t= 3.00s step= 150 trunk_z= 114.0mm grav_b=(+0.04,-0.06,-1.00) r=0.82m +[headless_play] t= 3.10s step= 155 trunk_z= 120.1mm grav_b=(+0.08,-0.07,-0.99) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.06,-0.02,-1.00) r=0.85m +[headless_play] t= 3.30s step= 165 trunk_z= 119.2mm grav_b=(+0.01,+0.06,-1.00) r=0.88m +[headless_play] t= 3.40s step= 170 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.88m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.03,-0.10,-0.99) r=0.87m +[headless_play] t= 3.60s step= 180 trunk_z= 122.2mm grav_b=(+0.06,-0.09,-0.99) r=0.88m +[headless_play] t= 3.70s step= 185 trunk_z= 119.1mm grav_b=(+0.08,-0.06,-0.99) r=0.90m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(+0.05,+0.04,-1.00) r=0.93m +[headless_play] t= 3.90s step= 195 trunk_z= 120.2mm grav_b=(+0.07,+0.02,-1.00) r=0.94m +[headless_play] t= 4.00s step= 200 trunk_z= 113.3mm grav_b=(+0.05,-0.07,-1.00) r=0.94m +[headless_play] t= 4.10s step= 205 trunk_z= 124.6mm grav_b=(+0.13,-0.15,-0.98) r=0.94m +[headless_play] t= 4.20s step= 210 trunk_z= 127.0mm grav_b=(+0.11,-0.15,-0.98) r=0.96m +[headless_play] t= 4.30s step= 215 trunk_z= 115.2mm grav_b=(+0.05,-0.04,-1.00) r=0.98m +[headless_play] t= 4.40s step= 220 trunk_z= 128.1mm grav_b=(+0.01,+0.00,-1.00) r=1.00m +[headless_play] t= 4.50s step= 225 trunk_z= 120.4mm grav_b=(-0.02,-0.01,-1.00) r=0.99m +[headless_play] t= 4.60s step= 230 trunk_z= 120.6mm grav_b=(+0.01,-0.08,-1.00) r=0.97m +[headless_play] t= 4.70s step= 235 trunk_z= 124.5mm grav_b=(+0.02,-0.06,-1.00) r=0.97m +[headless_play] t= 4.80s step= 240 trunk_z= 118.8mm grav_b=(+0.01,+0.02,-1.00) r=0.99m +[headless_play] t= 4.90s step= 245 trunk_z= 124.4mm grav_b=(+0.04,+0.10,-0.99) r=1.00m +[headless_play] t= 5.00s step= 250 trunk_z= 127.2mm grav_b=(+0.05,+0.06,-1.00) r=1.00m +[headless_play] t= 5.10s step= 255 trunk_z= 128.6mm grav_b=(+0.02,-0.00,-1.00) r=0.99m +[headless_play] t= 5.20s step= 260 trunk_z= 121.2mm grav_b=(+0.02,-0.05,-1.00) r=0.96m +[headless_play] t= 5.30s step= 265 trunk_z= 127.3mm grav_b=(-0.01,-0.04,-1.00) r=0.96m +[headless_play] t= 5.40s step= 270 trunk_z= 122.7mm grav_b=(-0.02,-0.05,-1.00) r=0.97m +[headless_play] t= 5.50s step= 275 trunk_z= 122.4mm grav_b=(+0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 5.60s step= 280 trunk_z= 124.3mm grav_b=(+0.04,+0.02,-1.00) r=0.99m +[headless_play] t= 5.70s step= 285 trunk_z= 119.4mm grav_b=(+0.01,-0.04,-1.00) r=0.96m +[headless_play] t= 5.80s step= 290 trunk_z= 125.3mm grav_b=(+0.03,-0.07,-1.00) r=0.94m +[headless_play] t= 5.90s step= 295 trunk_z= 126.6mm grav_b=(+0.01,-0.05,-1.00) r=0.95m +[headless_play] t= 6.00s step= 300 trunk_z= 115.4mm grav_b=(-0.04,+0.04,-1.00) r=0.97m +[headless_play] t= 6.10s step= 305 trunk_z= 123.5mm grav_b=(-0.00,+0.03,-1.00) r=0.98m +[headless_play] t= 6.20s step= 310 trunk_z= 122.5mm grav_b=(+0.02,+0.00,-1.00) r=0.97m +[headless_play] t= 6.30s step= 315 trunk_z= 116.8mm grav_b=(-0.09,-0.06,-0.99) r=0.95m +[headless_play] t= 6.40s step= 320 trunk_z= 121.0mm grav_b=(-0.08,-0.06,-0.99) r=0.94m +[headless_play] t= 6.50s step= 325 trunk_z= 114.7mm grav_b=(-0.08,-0.03,-1.00) r=0.97m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(+0.02,+0.02,-1.00) r=0.98m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(+0.03,-0.05,-1.00) r=0.96m +[headless_play] t= 6.80s step= 340 trunk_z= 120.9mm grav_b=(+0.05,-0.06,-1.00) r=0.94m +[headless_play] t= 6.90s step= 345 trunk_z= 126.3mm grav_b=(+0.04,+0.00,-1.00) r=0.94m +[headless_play] t= 7.00s step= 350 trunk_z= 107.4mm grav_b=(-0.04,+0.04,-1.00) r=0.94m +[headless_play] t= 7.10s step= 355 trunk_z= 118.8mm grav_b=(-0.04,+0.02,-1.00) r=0.94m +[headless_play] t= 7.20s step= 360 trunk_z= 117.1mm grav_b=(-0.02,-0.03,-1.00) r=0.92m +[headless_play] t= 7.30s step= 365 trunk_z= 121.1mm grav_b=(-0.02,-0.06,-1.00) r=0.90m +[headless_play] t= 7.40s step= 370 trunk_z= 122.6mm grav_b=(-0.00,-0.02,-1.00) r=0.90m +[headless_play] t= 7.50s step= 375 trunk_z= 117.4mm grav_b=(-0.03,+0.04,-1.00) r=0.92m +[headless_play] t= 7.60s step= 380 trunk_z= 124.0mm grav_b=(-0.01,+0.04,-1.00) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 127.3mm grav_b=(+0.04,+0.03,-1.00) r=0.91m +[headless_play] t= 7.80s step= 390 trunk_z= 119.5mm grav_b=(+0.01,-0.04,-1.00) r=0.88m +[headless_play] t= 7.90s step= 395 trunk_z= 127.2mm grav_b=(+0.03,-0.08,-1.00) r=0.87m +[headless_play] t= 8.00s step= 400 trunk_z= 126.1mm grav_b=(-0.02,-0.05,-1.00) r=0.88m +[headless_play] t= 8.10s step= 405 trunk_z= 119.3mm grav_b=(-0.04,+0.01,-1.00) r=0.90m +[headless_play] t= 8.20s step= 410 trunk_z= 123.0mm grav_b=(+0.01,+0.02,-1.00) r=0.90m +[headless_play] t= 8.30s step= 415 trunk_z= 119.3mm grav_b=(+0.03,-0.03,-1.00) r=0.88m +[headless_play] t= 8.40s step= 420 trunk_z= 125.6mm grav_b=(+0.03,-0.06,-1.00) r=0.86m +[headless_play] t= 8.50s step= 425 trunk_z= 127.9mm grav_b=(+0.01,-0.05,-1.00) r=0.86m +[headless_play] t= 8.60s step= 430 trunk_z= 120.0mm grav_b=(-0.04,+0.08,-1.00) r=0.90m +[headless_play] t= 8.70s step= 435 trunk_z= 130.4mm grav_b=(+0.02,+0.13,-0.99) r=0.92m +[headless_play] t= 8.80s step= 440 trunk_z= 132.4mm grav_b=(+0.10,+0.17,-0.98) r=0.94m +[headless_play] t= 8.90s step= 445 trunk_z= 127.4mm grav_b=(+0.02,+0.03,-1.00) r=0.96m +[headless_play] t= 9.00s step= 450 trunk_z= 131.9mm grav_b=(+0.08,-0.01,-1.00) r=0.97m +[headless_play] t= 9.10s step= 455 trunk_z= 131.3mm grav_b=(+0.03,+0.02,-1.00) r=1.00m +[headless_play] t= 9.20s step= 460 trunk_z= 118.2mm grav_b=(+0.09,-0.03,-1.00) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 121.0mm grav_b=(+0.03,-0.06,-1.00) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 113.6mm grav_b=(-0.01,-0.12,-0.99) r=1.02m +[headless_play] t= 9.50s step= 475 trunk_z= 122.3mm grav_b=(-0.03,-0.10,-0.99) r=1.02m +[headless_play] t= 9.60s step= 480 trunk_z= 117.9mm grav_b=(-0.06,-0.02,-1.00) r=1.03m +[headless_play] t= 9.70s step= 485 trunk_z= 121.2mm grav_b=(-0.02,+0.05,-1.00) r=1.06m +[headless_play] t= 9.80s step= 490 trunk_z= 123.1mm grav_b=(+0.02,+0.06,-1.00) r=1.08m +[headless_play] t= 9.90s step= 495 trunk_z= 119.8mm grav_b=(+0.02,+0.03,-1.00) r=1.08m +[headless_play] t= 10.00s step= 500 trunk_z= 118.4mm grav_b=(+0.02,-0.05,-1.00) r=1.09m +[headless_play] t= 10.10s step= 505 trunk_z= 118.5mm grav_b=(+0.03,-0.06,-1.00) r=1.10m +[headless_play] t= 10.20s step= 510 trunk_z= 111.8mm grav_b=(-0.01,+0.01,-1.00) r=1.12m +[headless_play] t= 10.30s step= 515 trunk_z= 119.3mm grav_b=(-0.02,+0.05,-1.00) r=1.14m +[headless_play] t= 10.40s step= 520 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=1.14m +[headless_play] t= 10.50s step= 525 trunk_z= 116.0mm grav_b=(+0.02,-0.12,-0.99) r=1.15m +[headless_play] t= 10.60s step= 530 trunk_z= 119.0mm grav_b=(+0.07,-0.10,-0.99) r=1.16m +[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(+0.06,-0.04,-1.00) r=1.18m +[headless_play] t= 10.80s step= 540 trunk_z= 120.3mm grav_b=(+0.03,+0.06,-1.00) r=1.21m +[headless_play] t= 10.90s step= 545 trunk_z= 118.6mm grav_b=(+0.06,+0.04,-1.00) r=1.23m +[headless_play] t= 11.00s step= 550 trunk_z= 112.6mm grav_b=(+0.05,-0.04,-1.00) r=1.24m +[headless_play] t= 11.10s step= 555 trunk_z= 120.5mm grav_b=(+0.11,-0.06,-0.99) r=1.26m +[headless_play] t= 11.20s step= 560 trunk_z= 114.6mm grav_b=(+0.03,-0.02,-1.00) r=1.29m +[headless_play] t= 11.30s step= 565 trunk_z= 112.9mm grav_b=(+0.03,-0.02,-1.00) r=1.31m +[headless_play] t= 11.40s step= 570 trunk_z= 111.5mm grav_b=(-0.00,-0.09,-1.00) r=1.33m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(+0.02,-0.10,-0.99) r=1.35m +[headless_play] t= 11.60s step= 580 trunk_z= 115.0mm grav_b=(+0.00,-0.01,-1.00) r=1.36m +[headless_play] t= 11.70s step= 585 trunk_z= 116.8mm grav_b=(-0.01,+0.07,-1.00) r=1.39m +[headless_play] t= 11.80s step= 590 trunk_z= 119.7mm grav_b=(+0.02,+0.06,-1.00) r=1.40m +[headless_play] t= 11.90s step= 595 trunk_z= 114.2mm grav_b=(+0.04,+0.01,-1.00) r=1.41m +[headless_play] t= 12.00s step= 600 trunk_z= 119.5mm grav_b=(+0.02,-0.10,-1.00) r=1.42m +[headless_play] t= 12.10s step= 605 trunk_z= 123.8mm grav_b=(+0.01,-0.17,-0.99) r=1.42m +[headless_play] t= 12.20s step= 610 trunk_z= 123.7mm grav_b=(+0.03,-0.18,-0.98) r=1.43m +[headless_play] t= 12.30s step= 615 trunk_z= 121.2mm grav_b=(+0.04,-0.11,-0.99) r=1.44m +[headless_play] t= 12.40s step= 620 trunk_z= 119.5mm grav_b=(+0.04,+0.03,-1.00) r=1.46m +[headless_play] t= 12.50s step= 625 trunk_z= 117.0mm grav_b=(+0.01,+0.03,-1.00) r=1.47m +[headless_play] t= 12.60s step= 630 trunk_z= 112.1mm grav_b=(+0.02,-0.06,-1.00) r=1.47m +[headless_play] t= 12.70s step= 635 trunk_z= 121.4mm grav_b=(+0.04,-0.15,-0.99) r=1.48m +[headless_play] t= 12.80s step= 640 trunk_z= 121.1mm grav_b=(+0.06,-0.17,-0.98) r=1.49m +[headless_play] t= 12.90s step= 645 trunk_z= 120.2mm grav_b=(+0.09,-0.09,-0.99) r=1.52m +[headless_play] t= 13.00s step= 650 trunk_z= 124.1mm grav_b=(+0.06,+0.05,-1.00) r=1.54m +[headless_play] t= 13.10s step= 655 trunk_z= 122.3mm grav_b=(+0.03,+0.04,-1.00) r=1.55m +[headless_play] t= 13.20s step= 660 trunk_z= 112.7mm grav_b=(+0.03,-0.04,-1.00) r=1.56m +[headless_play] t= 13.30s step= 665 trunk_z= 119.6mm grav_b=(+0.01,-0.09,-1.00) r=1.56m +[headless_play] t= 13.40s step= 670 trunk_z= 123.4mm grav_b=(-0.05,-0.13,-0.99) r=1.56m +[headless_play] t= 13.50s step= 675 trunk_z= 120.9mm grav_b=(-0.02,-0.09,-1.00) r=1.56m +[headless_play] t= 13.60s step= 680 trunk_z= 112.8mm grav_b=(+0.03,+0.01,-1.00) r=1.57m +[headless_play] t= 13.70s step= 685 trunk_z= 117.9mm grav_b=(+0.09,+0.07,-0.99) r=1.59m +[headless_play] t= 13.80s step= 690 trunk_z= 116.1mm grav_b=(+0.08,+0.03,-1.00) r=1.60m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(+0.03,-0.10,-1.00) r=1.62m +[headless_play] t= 14.00s step= 700 trunk_z= 118.2mm grav_b=(+0.02,-0.07,-1.00) r=1.64m +[headless_play] t= 14.10s step= 705 trunk_z= 109.6mm grav_b=(+0.02,+0.03,-1.00) r=1.66m +[headless_play] t= 14.20s step= 710 trunk_z= 120.6mm grav_b=(+0.02,+0.06,-1.00) r=1.67m +[headless_play] t= 14.30s step= 715 trunk_z= 123.9mm grav_b=(+0.03,+0.12,-0.99) r=1.68m +[headless_play] t= 14.40s step= 720 trunk_z= 124.8mm grav_b=(+0.06,+0.08,-0.99) r=1.69m +[headless_play] t= 14.50s step= 725 trunk_z= 118.6mm grav_b=(+0.08,-0.02,-1.00) r=1.72m +[headless_play] t= 14.60s step= 730 trunk_z= 127.6mm grav_b=(+0.09,-0.03,-1.00) r=1.74m +[headless_play] t= 14.70s step= 735 trunk_z= 119.5mm grav_b=(+0.01,+0.01,-1.00) r=1.77m +[headless_play] t= 14.80s step= 740 trunk_z= 122.4mm grav_b=(+0.01,+0.01,-1.00) r=1.79m +[headless_play] t= 14.90s step= 745 trunk_z= 118.6mm grav_b=(-0.02,-0.02,-1.00) r=1.79m +[headless_play] t= 15.00s step= 750 trunk_z= 120.4mm grav_b=(+0.01,-0.08,-1.00) r=1.79m +[headless_play] t= 15.10s step= 755 trunk_z= 125.1mm grav_b=(+0.05,-0.10,-0.99) r=1.80m +[headless_play] t= 15.20s step= 760 trunk_z= 124.0mm grav_b=(+0.01,-0.05,-1.00) r=1.82m +[headless_play] t= 15.30s step= 765 trunk_z= 119.5mm grav_b=(-0.01,+0.02,-1.00) r=1.84m +[headless_play] t= 15.40s step= 770 trunk_z= 116.0mm grav_b=(-0.05,-0.01,-1.00) r=1.83m +[headless_play] t= 15.50s step= 775 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=1.83m +[headless_play] t= 15.60s step= 780 trunk_z= 117.8mm grav_b=(-0.00,-0.01,-1.00) r=1.83m +[headless_play] t= 15.70s step= 785 trunk_z= 123.0mm grav_b=(+0.10,-0.03,-0.99) r=1.85m +[headless_play] t= 15.80s step= 790 trunk_z= 110.2mm grav_b=(+0.00,+0.01,-1.00) r=1.89m +[headless_play] t= 15.90s step= 795 trunk_z= 107.9mm grav_b=(+0.02,-0.02,-1.00) r=1.92m +[headless_play] t= 16.00s step= 800 trunk_z= 109.0mm grav_b=(-0.04,-0.03,-1.00) r=1.91m +[headless_play] t= 16.10s step= 805 trunk_z= 114.0mm grav_b=(-0.05,-0.02,-1.00) r=1.91m +[headless_play] t= 16.20s step= 810 trunk_z= 113.7mm grav_b=(-0.06,+0.01,-1.00) r=1.91m +[headless_play] t= 16.30s step= 815 trunk_z= 116.9mm grav_b=(+0.00,+0.02,-1.00) r=1.92m +[headless_play] t= 16.40s step= 820 trunk_z= 119.7mm grav_b=(+0.05,-0.01,-1.00) r=1.93m +[headless_play] t= 16.50s step= 825 trunk_z= 116.1mm grav_b=(+0.01,-0.11,-0.99) r=1.93m +[headless_play] t= 16.60s step= 830 trunk_z= 118.3mm grav_b=(-0.01,-0.08,-1.00) r=1.93m +[headless_play] t= 16.70s step= 835 trunk_z= 114.7mm grav_b=(-0.05,-0.00,-1.00) r=1.94m +[headless_play] t= 16.80s step= 840 trunk_z= 116.9mm grav_b=(-0.04,-0.00,-1.00) r=1.95m +[headless_play] t= 16.90s step= 845 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=1.95m +[headless_play] t= 17.00s step= 850 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=1.95m +[headless_play] t= 17.10s step= 855 trunk_z= 118.6mm grav_b=(+0.02,-0.01,-1.00) r=1.95m +[headless_play] t= 17.20s step= 860 trunk_z= 122.5mm grav_b=(+0.08,+0.03,-1.00) r=1.97m +[headless_play] t= 17.30s step= 865 trunk_z= 104.7mm grav_b=(-0.02,+0.08,-1.00) r=2.01m +[headless_play] t= 17.40s step= 870 trunk_z= 112.0mm grav_b=(-0.01,+0.03,-1.00) r=2.02m +[headless_play] t= 17.50s step= 875 trunk_z= 114.3mm grav_b=(-0.01,-0.02,-1.00) r=2.02m +[headless_play] t= 17.60s step= 880 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=2.02m +[headless_play] t= 17.70s step= 885 trunk_z= 115.0mm grav_b=(-0.00,+0.02,-1.00) r=2.02m +[headless_play] t= 17.80s step= 890 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=2.02m +[headless_play] t= 17.90s step= 895 trunk_z= 116.3mm grav_b=(+0.02,-0.00,-1.00) r=2.02m +[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(+0.02,+0.00,-1.00) r=2.02m +[headless_play] t= 18.10s step= 905 trunk_z= 115.7mm grav_b=(+0.00,+0.00,-1.00) r=2.02m +[headless_play] t= 18.20s step= 910 trunk_z= 115.7mm grav_b=(+0.00,+0.00,-1.00) r=2.02m +[headless_play] t= 18.30s step= 915 trunk_z= 115.7mm grav_b=(+0.00,+0.00,-1.00) r=2.02m +[headless_play] t= 18.40s step= 920 trunk_z= 115.7mm grav_b=(+0.00,+0.00,-1.00) r=2.02m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=2.02m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(-0.00,-0.00,-1.00) r=2.02m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=2.02m +[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(-0.00,-0.01,-1.00) r=2.02m +[headless_play] t= 18.90s step= 945 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=2.02m +[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(-0.00,-0.00,-1.00) r=2.02m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(-0.01,-0.01,-1.00) r=2.02m +[headless_play] t= 19.20s step= 960 trunk_z= 116.0mm grav_b=(-0.01,-0.01,-1.00) r=2.02m +[headless_play] t= 19.30s step= 965 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=2.02m +[headless_play] t= 19.40s step= 970 trunk_z= 116.2mm grav_b=(-0.08,-0.01,-1.00) r=2.01m +[headless_play] t= 19.50s step= 975 trunk_z= 116.4mm grav_b=(-0.09,-0.04,-0.99) r=2.01m +[headless_play] t= 19.60s step= 980 trunk_z= 115.3mm grav_b=(+0.00,+0.04,-1.00) r=2.01m +[headless_play] t= 19.70s step= 985 trunk_z= 115.0mm grav_b=(+0.07,+0.07,-1.00) r=2.01m +[headless_play] t= 19.80s step= 990 trunk_z= 114.5mm grav_b=(+0.08,+0.04,-1.00) r=2.00m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(+0.09,-0.03,-1.00) r=1.99m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.3mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 114.8mm grav_b=(-0.01,-0.02,-1.00) r=0.43m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t2.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..3c853523939fa9f2d839d9c2391247cc80cf4c4a --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t2.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.934,-18.162,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 120.1mm grav_b=(-0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 115.3mm grav_b=(+0.04,+0.07,-1.00) r=0.16m +[headless_play] t= 0.20s step= 10 trunk_z= 120.8mm grav_b=(+0.12,+0.10,-0.99) r=0.15m +[headless_play] t= 0.30s step= 15 trunk_z= 125.5mm grav_b=(+0.13,+0.05,-0.99) r=0.16m +[headless_play] t= 0.40s step= 20 trunk_z= 116.4mm grav_b=(+0.10,-0.01,-0.99) r=0.19m +[headless_play] t= 0.50s step= 25 trunk_z= 123.9mm grav_b=(+0.13,+0.01,-0.99) r=0.21m +[headless_play] t= 0.60s step= 30 trunk_z= 115.5mm grav_b=(+0.05,+0.04,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 124.6mm grav_b=(+0.06,+0.09,-0.99) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 121.6mm grav_b=(+0.10,+0.06,-0.99) r=0.25m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(+0.07,-0.04,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 124.6mm grav_b=(+0.08,-0.05,-1.00) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 119.3mm grav_b=(+0.07,+0.00,-1.00) r=0.31m +[headless_play] t= 1.20s step= 60 trunk_z= 124.3mm grav_b=(+0.06,+0.08,-0.99) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 124.6mm grav_b=(+0.08,+0.09,-0.99) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 120.2mm grav_b=(+0.07,+0.05,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 122.6mm grav_b=(+0.09,-0.04,-1.00) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(+0.04,+0.08,-1.00) r=0.34m +[headless_play] t= 1.70s step= 85 trunk_z= 124.7mm grav_b=(+0.08,+0.12,-0.99) r=0.34m +[headless_play] t= 1.80s step= 90 trunk_z= 126.1mm grav_b=(+0.10,+0.16,-0.98) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 126.0mm grav_b=(+0.10,+0.12,-0.99) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 122.6mm grav_b=(+0.09,+0.04,-1.00) r=0.39m +[headless_play] t= 2.10s step= 105 trunk_z= 124.5mm grav_b=(+0.07,+0.04,-1.00) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 120.3mm grav_b=(+0.06,+0.08,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 129.9mm grav_b=(+0.15,+0.09,-0.98) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 128.3mm grav_b=(+0.15,+0.09,-0.98) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 125.4mm grav_b=(+0.13,+0.06,-0.99) r=0.48m +[headless_play] t= 2.60s step= 130 trunk_z= 127.3mm grav_b=(+0.06,+0.08,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 119.5mm grav_b=(+0.07,+0.08,-0.99) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 126.2mm grav_b=(+0.05,+0.04,-1.00) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 123.5mm grav_b=(+0.09,+0.05,-0.99) r=0.58m +[headless_play] t= 3.00s step= 150 trunk_z= 122.5mm grav_b=(+0.12,-0.03,-0.99) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 128.4mm grav_b=(+0.11,-0.01,-0.99) r=0.63m +[headless_play] t= 3.20s step= 160 trunk_z= 118.1mm grav_b=(+0.01,+0.04,-1.00) r=0.65m +[headless_play] t= 3.30s step= 165 trunk_z= 122.6mm grav_b=(+0.06,+0.06,-1.00) r=0.66m +[headless_play] t= 3.40s step= 170 trunk_z= 122.2mm grav_b=(+0.03,+0.02,-1.00) r=0.68m +[headless_play] t= 3.50s step= 175 trunk_z= 121.0mm grav_b=(+0.04,-0.04,-1.00) r=0.70m +[headless_play] t= 3.60s step= 180 trunk_z= 124.1mm grav_b=(+0.10,-0.01,-0.99) r=0.71m +[headless_play] t= 3.70s step= 185 trunk_z= 122.8mm grav_b=(+0.11,-0.00,-0.99) r=0.73m +[headless_play] t= 3.80s step= 190 trunk_z= 130.0mm grav_b=(+0.13,-0.02,-0.99) r=0.76m +[headless_play] t= 3.90s step= 195 trunk_z= 123.8mm grav_b=(+0.05,-0.03,-1.00) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 114.8mm grav_b=(+0.06,-0.07,-1.00) r=0.85m +[headless_play] t= 4.10s step= 205 trunk_z= 124.1mm grav_b=(+0.06,+0.01,-1.00) r=0.87m +[headless_play] t= 4.20s step= 210 trunk_z= 112.4mm grav_b=(+0.01,+0.06,-1.00) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 123.8mm grav_b=(+0.06,+0.06,-1.00) r=0.89m +[headless_play] t= 4.40s step= 220 trunk_z= 124.5mm grav_b=(+0.06,+0.04,-1.00) r=0.91m +[headless_play] t= 4.50s step= 225 trunk_z= 121.1mm grav_b=(+0.10,-0.03,-0.99) r=0.94m +[headless_play] t= 4.60s step= 230 trunk_z= 128.2mm grav_b=(+0.15,-0.02,-0.99) r=0.97m +[headless_play] t= 4.70s step= 235 trunk_z= 121.4mm grav_b=(+0.05,-0.03,-1.00) r=1.00m +[headless_play] t= 4.80s step= 240 trunk_z= 118.7mm grav_b=(+0.09,-0.00,-1.00) r=1.03m +[headless_play] t= 4.90s step= 245 trunk_z= 123.8mm grav_b=(+0.07,+0.06,-1.00) r=1.04m +[headless_play] t= 5.00s step= 250 trunk_z= 119.1mm grav_b=(+0.03,-0.01,-1.00) r=1.06m +[headless_play] t= 5.10s step= 255 trunk_z= 124.0mm grav_b=(+0.10,-0.05,-0.99) r=1.08m +[headless_play] t= 5.20s step= 260 trunk_z= 119.5mm grav_b=(+0.09,+0.02,-1.00) r=1.08m +[headless_play] t= 5.30s step= 265 trunk_z= 121.5mm grav_b=(+0.07,+0.14,-0.99) r=1.08m +[headless_play] t= 5.40s step= 270 trunk_z= 124.2mm grav_b=(+0.02,+0.11,-0.99) r=1.08m +[headless_play] t= 5.50s step= 275 trunk_z= 121.0mm grav_b=(+0.08,+0.07,-0.99) r=1.09m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(+0.10,-0.07,-0.99) r=1.11m +[headless_play] t= 5.70s step= 285 trunk_z= 117.1mm grav_b=(+0.17,-0.03,-0.99) r=1.12m +[headless_play] t= 5.80s step= 290 trunk_z= 111.8mm grav_b=(+0.17,+0.10,-0.98) r=1.13m +[headless_play] t= 5.90s step= 295 trunk_z= 127.7mm grav_b=(+0.13,+0.08,-0.99) r=1.15m +[headless_play] t= 6.00s step= 300 trunk_z= 120.8mm grav_b=(+0.14,-0.01,-0.99) r=1.18m +[headless_play] t= 6.10s step= 305 trunk_z= 123.6mm grav_b=(+0.09,-0.04,-1.00) r=1.21m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.15,+0.01,-0.99) r=1.21m +[headless_play] t= 6.30s step= 315 trunk_z= 120.5mm grav_b=(+0.13,+0.13,-0.98) r=1.21m +[headless_play] t= 6.40s step= 320 trunk_z= 124.6mm grav_b=(+0.16,+0.10,-0.98) r=1.22m +[headless_play] t= 6.50s step= 325 trunk_z= 121.5mm grav_b=(+0.17,+0.06,-0.98) r=1.24m +[headless_play] t= 6.60s step= 330 trunk_z= 122.6mm grav_b=(+0.10,-0.04,-0.99) r=1.26m +[headless_play] t= 6.70s step= 335 trunk_z= 119.3mm grav_b=(+0.13,+0.00,-0.99) r=1.26m +[headless_play] t= 6.80s step= 340 trunk_z= 117.8mm grav_b=(+0.01,+0.13,-0.99) r=1.24m +[headless_play] t= 6.90s step= 345 trunk_z= 126.3mm grav_b=(+0.03,+0.16,-0.99) r=1.23m +[headless_play] t= 7.00s step= 350 trunk_z= 127.0mm grav_b=(+0.06,+0.16,-0.98) r=1.23m +[headless_play] t= 7.10s step= 355 trunk_z= 123.7mm grav_b=(+0.11,+0.08,-0.99) r=1.24m +[headless_play] t= 7.20s step= 360 trunk_z= 117.9mm grav_b=(+0.08,-0.05,-1.00) r=1.26m +[headless_play] t= 7.30s step= 365 trunk_z= 116.6mm grav_b=(+0.17,-0.04,-0.98) r=1.25m +[headless_play] t= 7.40s step= 370 trunk_z= 111.6mm grav_b=(+0.23,+0.07,-0.97) r=1.23m +[headless_play] t= 7.50s step= 375 trunk_z= 127.4mm grav_b=(+0.12,+0.01,-0.99) r=1.22m +[headless_play] t= 7.60s step= 380 trunk_z= 111.7mm grav_b=(+0.09,-0.11,-0.99) r=1.22m +[headless_play] t= 7.70s step= 385 trunk_z= 124.3mm grav_b=(+0.11,-0.04,-0.99) r=1.21m +[headless_play] t= 7.80s step= 390 trunk_z= 113.9mm grav_b=(+0.12,+0.04,-0.99) r=1.19m +[headless_play] t= 7.90s step= 395 trunk_z= 122.0mm grav_b=(+0.10,+0.14,-0.98) r=1.16m +[headless_play] t= 8.00s step= 400 trunk_z= 121.6mm grav_b=(+0.11,+0.16,-0.98) r=1.14m +[headless_play] t= 8.10s step= 405 trunk_z= 117.8mm grav_b=(+0.10,+0.08,-0.99) r=1.14m +[headless_play] t= 8.20s step= 410 trunk_z= 120.9mm grav_b=(+0.04,-0.03,-1.00) r=1.14m +[headless_play] t= 8.30s step= 415 trunk_z= 115.2mm grav_b=(+0.07,+0.05,-1.00) r=1.13m +[headless_play] t= 8.40s step= 420 trunk_z= 119.2mm grav_b=(+0.14,+0.11,-0.98) r=1.12m +[headless_play] t= 8.50s step= 425 trunk_z= 120.2mm grav_b=(+0.16,+0.11,-0.98) r=1.10m +[headless_play] t= 8.60s step= 430 trunk_z= 117.5mm grav_b=(+0.13,+0.02,-0.99) r=1.08m +[headless_play] t= 8.70s step= 435 trunk_z= 122.8mm grav_b=(+0.12,-0.05,-0.99) r=1.06m +[headless_play] t= 8.80s step= 440 trunk_z= 116.9mm grav_b=(+0.14,+0.00,-0.99) r=1.04m +[headless_play] t= 8.90s step= 445 trunk_z= 119.8mm grav_b=(+0.18,+0.05,-0.98) r=1.01m +[headless_play] t= 9.00s step= 450 trunk_z= 124.4mm grav_b=(+0.15,-0.01,-0.99) r=0.97m +[headless_play] t= 9.10s step= 455 trunk_z= 118.1mm grav_b=(+0.13,-0.01,-0.99) r=0.93m +[headless_play] t= 9.20s step= 460 trunk_z= 121.6mm grav_b=(+0.09,+0.05,-0.99) r=0.90m +[headless_play] t= 9.30s step= 465 trunk_z= 120.4mm grav_b=(+0.08,+0.11,-0.99) r=0.87m +[headless_play] t= 9.40s step= 470 trunk_z= 122.6mm grav_b=(+0.12,+0.10,-0.99) r=0.85m +[headless_play] t= 9.50s step= 475 trunk_z= 118.4mm grav_b=(+0.10,+0.05,-0.99) r=0.83m +[headless_play] t= 9.60s step= 480 trunk_z= 123.7mm grav_b=(+0.07,-0.06,-1.00) r=0.80m +[headless_play] t= 9.70s step= 485 trunk_z= 120.4mm grav_b=(+0.11,-0.03,-0.99) r=0.80m +[headless_play] t= 9.80s step= 490 trunk_z= 120.1mm grav_b=(+0.15,+0.13,-0.98) r=0.81m +[headless_play] t= 9.90s step= 495 trunk_z= 131.5mm grav_b=(+0.18,+0.15,-0.97) r=0.81m +[headless_play] t= 10.00s step= 500 trunk_z= 128.9mm grav_b=(+0.17,+0.07,-0.98) r=0.80m +[headless_play] t= 10.10s step= 505 trunk_z= 130.5mm grav_b=(+0.08,+0.04,-1.00) r=0.79m +[headless_play] t= 10.20s step= 510 trunk_z= 122.6mm grav_b=(+0.00,+0.05,-1.00) r=0.80m +[headless_play] t= 10.30s step= 515 trunk_z= 118.7mm grav_b=(+0.07,-0.01,-1.00) r=0.80m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(+0.07,-0.03,-1.00) r=0.78m +[headless_play] t= 10.50s step= 525 trunk_z= 119.8mm grav_b=(+0.12,-0.04,-0.99) r=0.76m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(+0.13,+0.03,-0.99) r=0.75m +[headless_play] t= 10.70s step= 535 trunk_z= 118.1mm grav_b=(+0.08,+0.07,-0.99) r=0.76m +[headless_play] t= 10.80s step= 540 trunk_z= 125.6mm grav_b=(+0.07,+0.04,-1.00) r=0.75m +[headless_play] t= 10.90s step= 545 trunk_z= 115.3mm grav_b=(+0.10,-0.00,-1.00) r=0.72m +[headless_play] t= 11.00s step= 550 trunk_z= 125.8mm grav_b=(+0.14,-0.04,-0.99) r=0.70m +[headless_play] t= 11.10s step= 555 trunk_z= 130.1mm grav_b=(+0.12,-0.08,-0.99) r=0.68m +[headless_play] t= 11.20s step= 560 trunk_z= 128.8mm grav_b=(+0.11,-0.04,-0.99) r=0.67m +[headless_play] t= 11.30s step= 565 trunk_z= 123.7mm grav_b=(+0.11,+0.01,-0.99) r=0.68m +[headless_play] t= 11.40s step= 570 trunk_z= 130.3mm grav_b=(+0.04,+0.08,-1.00) r=0.66m +[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.64m +[headless_play] t= 11.60s step= 580 trunk_z= 123.6mm grav_b=(+0.12,-0.05,-0.99) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 121.3mm grav_b=(+0.12,+0.00,-0.99) r=0.64m +[headless_play] t= 11.80s step= 590 trunk_z= 118.0mm grav_b=(+0.14,+0.06,-0.99) r=0.67m +[headless_play] t= 11.90s step= 595 trunk_z= 125.6mm grav_b=(+0.09,+0.06,-0.99) r=0.68m +[headless_play] t= 12.00s step= 600 trunk_z= 117.5mm grav_b=(+0.07,+0.02,-1.00) r=0.67m +[headless_play] t= 12.10s step= 605 trunk_z= 122.1mm grav_b=(+0.11,-0.01,-0.99) r=0.67m +[headless_play] t= 12.20s step= 610 trunk_z= 120.2mm grav_b=(+0.10,+0.04,-0.99) r=0.69m +[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(+0.06,+0.02,-1.00) r=0.70m +[headless_play] t= 12.40s step= 620 trunk_z= 116.6mm grav_b=(+0.06,-0.04,-1.00) r=0.70m +[headless_play] t= 12.50s step= 625 trunk_z= 119.8mm grav_b=(+0.10,-0.04,-0.99) r=0.69m +[headless_play] t= 12.60s step= 630 trunk_z= 118.8mm grav_b=(+0.10,+0.02,-0.99) r=0.71m +[headless_play] t= 12.70s step= 635 trunk_z= 116.5mm grav_b=(+0.08,+0.07,-0.99) r=0.74m +[headless_play] t= 12.80s step= 640 trunk_z= 120.2mm grav_b=(+0.13,+0.07,-0.99) r=0.76m +[headless_play] t= 12.90s step= 645 trunk_z= 114.4mm grav_b=(+0.03,+0.02,-1.00) r=0.74m +[headless_play] t= 13.00s step= 650 trunk_z= 123.5mm grav_b=(+0.02,-0.01,-1.00) r=0.73m +[headless_play] t= 13.10s step= 655 trunk_z= 115.8mm grav_b=(+0.13,+0.07,-0.99) r=0.72m +[headless_play] t= 13.20s step= 660 trunk_z= 115.9mm grav_b=(+0.08,+0.05,-1.00) r=0.72m +[headless_play] t= 13.30s step= 665 trunk_z= 110.8mm grav_b=(+0.14,-0.00,-0.99) r=0.69m +[headless_play] t= 13.40s step= 670 trunk_z= 119.5mm grav_b=(+0.19,-0.04,-0.98) r=0.68m +[headless_play] t= 13.50s step= 675 trunk_z= 124.1mm grav_b=(+0.10,-0.01,-0.99) r=0.68m +[headless_play] t= 13.60s step= 680 trunk_z= 117.7mm grav_b=(+0.12,-0.02,-0.99) r=0.70m +[headless_play] t= 13.70s step= 685 trunk_z= 124.1mm grav_b=(+0.06,-0.01,-1.00) r=0.70m +[headless_play] t= 13.80s step= 690 trunk_z= 114.5mm grav_b=(+0.13,-0.02,-0.99) r=0.70m +[headless_play] t= 13.90s step= 695 trunk_z= 114.5mm grav_b=(+0.11,+0.08,-0.99) r=0.72m +[headless_play] t= 14.00s step= 700 trunk_z= 117.6mm grav_b=(+0.13,+0.11,-0.99) r=0.75m +[headless_play] t= 14.10s step= 705 trunk_z= 120.4mm grav_b=(+0.08,+0.04,-1.00) r=0.76m +[headless_play] t= 14.20s step= 710 trunk_z= 116.4mm grav_b=(+0.12,-0.00,-0.99) r=0.76m +[headless_play] t= 14.30s step= 715 trunk_z= 120.2mm grav_b=(+0.13,+0.01,-0.99) r=0.77m +[headless_play] t= 14.40s step= 720 trunk_z= 110.9mm grav_b=(+0.01,+0.08,-1.00) r=0.78m +[headless_play] t= 14.50s step= 725 trunk_z= 124.2mm grav_b=(+0.02,+0.12,-0.99) r=0.80m +[headless_play] t= 14.60s step= 730 trunk_z= 126.0mm grav_b=(+0.09,+0.08,-0.99) r=0.81m +[headless_play] t= 14.70s step= 735 trunk_z= 113.9mm grav_b=(+0.08,+0.03,-1.00) r=0.81m +[headless_play] t= 14.80s step= 740 trunk_z= 111.7mm grav_b=(+0.18,+0.06,-0.98) r=0.81m +[headless_play] t= 14.90s step= 745 trunk_z= 115.8mm grav_b=(+0.17,+0.07,-0.98) r=0.83m +[headless_play] t= 15.00s step= 750 trunk_z= 128.5mm grav_b=(+0.08,+0.12,-0.99) r=0.86m +[headless_play] t= 15.10s step= 755 trunk_z= 122.5mm grav_b=(+0.11,+0.06,-0.99) r=0.88m +[headless_play] t= 15.20s step= 760 trunk_z= 126.1mm grav_b=(+0.08,+0.01,-1.00) r=0.89m +[headless_play] t= 15.30s step= 765 trunk_z= 127.5mm grav_b=(+0.11,+0.04,-0.99) r=0.91m +[headless_play] t= 15.40s step= 770 trunk_z= 120.4mm grav_b=(+0.11,+0.03,-0.99) r=0.94m +[headless_play] t= 15.50s step= 775 trunk_z= 124.1mm grav_b=(+0.10,+0.04,-0.99) r=0.96m +[headless_play] t= 15.60s step= 780 trunk_z= 117.8mm grav_b=(+0.06,-0.01,-1.00) r=0.98m +[headless_play] t= 15.70s step= 785 trunk_z= 121.0mm grav_b=(+0.07,-0.04,-1.00) r=1.00m +[headless_play] t= 15.80s step= 790 trunk_z= 117.5mm grav_b=(+0.03,+0.08,-1.00) r=1.00m +[headless_play] t= 15.90s step= 795 trunk_z= 126.1mm grav_b=(+0.07,+0.16,-0.98) r=0.99m +[headless_play] t= 16.00s step= 800 trunk_z= 130.4mm grav_b=(+0.17,+0.15,-0.97) r=1.00m +[headless_play] t= 16.10s step= 805 trunk_z= 130.8mm grav_b=(+0.10,-0.01,-1.00) r=1.03m +[headless_play] t= 16.20s step= 810 trunk_z= 128.7mm grav_b=(+0.05,+0.04,-1.00) r=1.05m +[headless_play] t= 16.30s step= 815 trunk_z= 119.3mm grav_b=(+0.02,+0.02,-1.00) r=1.05m +[headless_play] t= 16.40s step= 820 trunk_z= 123.0mm grav_b=(+0.13,+0.04,-0.99) r=1.05m +[headless_play] t= 16.50s step= 825 trunk_z= 125.3mm grav_b=(+0.09,+0.04,-0.99) r=1.05m +[headless_play] t= 16.60s step= 830 trunk_z= 120.5mm grav_b=(+0.05,+0.01,-1.00) r=1.06m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(+0.05,+0.04,-1.00) r=1.06m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(+0.02,+0.03,-1.00) r=1.06m +[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(+0.01,+0.02,-1.00) r=1.06m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=1.06m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.20s step= 860 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(-0.00,+0.00,-1.00) r=1.06m +[headless_play] t= 17.40s step= 870 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.50s step= 875 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.60s step= 880 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.70s step= 885 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.80s step= 890 trunk_z= 116.4mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 17.90s step= 895 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 18.00s step= 900 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=1.06m +[headless_play] t= 18.10s step= 905 trunk_z= 120.3mm grav_b=(+0.04,+0.07,-1.00) r=1.05m +[headless_play] t= 18.20s step= 910 trunk_z= 120.4mm grav_b=(+0.07,+0.05,-1.00) r=1.06m +[headless_play] t= 18.30s step= 915 trunk_z= 120.6mm grav_b=(+0.11,+0.04,-0.99) r=1.06m +[headless_play] t= 18.40s step= 920 trunk_z= 121.5mm grav_b=(+0.14,+0.03,-0.99) r=1.07m +[headless_play] t= 18.50s step= 925 trunk_z= 121.6mm grav_b=(+0.11,+0.02,-0.99) r=1.09m +[headless_play] t= 18.60s step= 930 trunk_z= 119.9mm grav_b=(+0.09,-0.01,-1.00) r=1.11m +[headless_play] t= 18.70s step= 935 trunk_z= 115.3mm grav_b=(-0.02,+0.08,-1.00) r=1.09m +[headless_play] t= 18.80s step= 940 trunk_z= 119.5mm grav_b=(+0.02,+0.04,-1.00) r=1.10m +[headless_play] t= 18.90s step= 945 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=1.11m +[headless_play] t= 19.00s step= 950 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=1.11m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00) r=1.11m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(+0.04,+0.00,-1.00) r=1.10m +[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(+0.06,+0.01,-1.00) r=1.10m +[headless_play] t= 19.40s step= 970 trunk_z= 117.8mm grav_b=(+0.05,+0.02,-1.00) r=1.11m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(+0.04,+0.02,-1.00) r=1.11m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=1.11m +[headless_play] t= 19.70s step= 985 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=1.11m +[headless_play] t= 19.80s step= 990 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=1.11m +[headless_play] t= 19.90s step= 995 trunk_z= 116.4mm grav_b=(+0.04,+0.00,-1.00) r=1.11m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.6mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(-0.04,+0.05,-1.00) r=0.29m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t3.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..53346c71b4705417c49a1040a4ad932b8513ef73 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t3.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.092,-17.790,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 0.10s step= 5 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.23m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(+0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 119.2mm grav_b=(+0.08,-0.03,-1.00) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(-0.02,-0.12,-0.99) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 119.5mm grav_b=(-0.06,-0.12,-0.99) r=0.25m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(-0.08,-0.03,-1.00) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 117.7mm grav_b=(-0.04,-0.04,-1.00) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.04,-0.02,-1.00) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(+0.05,-0.02,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(+0.03,-0.02,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 116.3mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(+0.01,-0.00,-1.00) r=0.28m +[headless_play] t= 3.40s step= 170 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=0.28m +[headless_play] t= 3.50s step= 175 trunk_z= 117.0mm grav_b=(+0.00,-0.00,-1.00) r=0.28m +[headless_play] t= 3.60s step= 180 trunk_z= 116.9mm grav_b=(-0.00,-0.00,-1.00) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(-0.00,-0.00,-1.00) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 118.7mm grav_b=(-0.02,-0.03,-1.00) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 118.7mm grav_b=(-0.03,-0.02,-1.00) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 117.9mm grav_b=(-0.03,-0.01,-1.00) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 118.0mm grav_b=(-0.00,-0.01,-1.00) r=0.27m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 4.30s step= 215 trunk_z= 117.4mm grav_b=(-0.00,-0.01,-1.00) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 117.2mm grav_b=(-0.09,-0.01,-1.00) r=0.26m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(-0.08,+0.02,-1.00) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 116.7mm grav_b=(-0.08,+0.01,-1.00) r=0.24m +[headless_play] t= 4.80s step= 240 trunk_z= 105.4mm grav_b=(+0.01,-0.03,-1.00) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 113.0mm grav_b=(+0.05,+0.01,-1.00) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 5.10s step= 255 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(+0.01,-0.02,-1.00) r=0.20m +[headless_play] t= 5.30s step= 265 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 5.40s step= 270 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 5.70s step= 285 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 5.80s step= 290 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 5.90s step= 295 trunk_z= 116.7mm grav_b=(-0.01,-0.01,-1.00) r=0.20m +[headless_play] t= 6.00s step= 300 trunk_z= 116.3mm grav_b=(+0.04,+0.00,-1.00) r=0.20m +[headless_play] t= 6.10s step= 305 trunk_z= 118.6mm grav_b=(+0.05,-0.03,-1.00) r=0.20m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.05,-0.00,-1.00) r=0.21m +[headless_play] t= 6.30s step= 315 trunk_z= 116.7mm grav_b=(+0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 6.40s step= 320 trunk_z= 115.4mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 6.70s step= 335 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 6.80s step= 340 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.20m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 7.00s step= 350 trunk_z= 116.3mm grav_b=(-0.04,+0.00,-1.00) r=0.20m +[headless_play] t= 7.10s step= 355 trunk_z= 117.4mm grav_b=(-0.03,-0.04,-1.00) r=0.19m +[headless_play] t= 7.20s step= 360 trunk_z= 113.8mm grav_b=(-0.02,-0.09,-1.00) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 114.2mm grav_b=(-0.02,-0.06,-1.00) r=0.18m +[headless_play] t= 7.40s step= 370 trunk_z= 109.8mm grav_b=(+0.05,-0.00,-1.00) r=0.19m +[headless_play] t= 7.50s step= 375 trunk_z= 109.8mm grav_b=(+0.05,-0.04,-1.00) r=0.18m +[headless_play] t= 7.60s step= 380 trunk_z= 111.0mm grav_b=(+0.07,+0.02,-1.00) r=0.19m +[headless_play] t= 7.70s step= 385 trunk_z= 113.2mm grav_b=(+0.05,+0.05,-1.00) r=0.20m +[headless_play] t= 7.80s step= 390 trunk_z= 113.4mm grav_b=(+0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 7.90s step= 395 trunk_z= 114.2mm grav_b=(+0.03,-0.02,-1.00) r=0.19m +[headless_play] t= 8.00s step= 400 trunk_z= 114.2mm grav_b=(+0.03,-0.02,-1.00) r=0.19m +[headless_play] t= 8.10s step= 405 trunk_z= 114.3mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 8.20s step= 410 trunk_z= 114.4mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 8.30s step= 415 trunk_z= 114.5mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 8.40s step= 420 trunk_z= 114.5mm grav_b=(+0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 8.50s step= 425 trunk_z= 116.8mm grav_b=(+0.05,+0.00,-1.00) r=0.20m +[headless_play] t= 8.60s step= 430 trunk_z= 117.0mm grav_b=(+0.04,-0.00,-1.00) r=0.20m +[headless_play] t= 8.70s step= 435 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 8.80s step= 440 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 8.90s step= 445 trunk_z= 116.2mm grav_b=(+0.03,-0.02,-1.00) r=0.19m +[headless_play] t= 9.00s step= 450 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.19m +[headless_play] t= 9.10s step= 455 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 9.20s step= 460 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.19m +[headless_play] t= 9.30s step= 465 trunk_z= 116.2mm grav_b=(+0.01,-0.01,-1.00) r=0.19m +[headless_play] t= 9.40s step= 470 trunk_z= 117.4mm grav_b=(-0.09,+0.01,-1.00) r=0.19m +[headless_play] t= 9.50s step= 475 trunk_z= 114.9mm grav_b=(-0.07,-0.02,-1.00) r=0.17m +[headless_play] t= 9.60s step= 480 trunk_z= 105.3mm grav_b=(-0.05,-0.03,-1.00) r=0.16m +[headless_play] t= 9.70s step= 485 trunk_z= 107.5mm grav_b=(+0.07,+0.04,-1.00) r=0.18m +[headless_play] t= 9.80s step= 490 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.18m +[headless_play] t= 9.90s step= 495 trunk_z= 116.1mm grav_b=(-0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 10.00s step= 500 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00) r=0.18m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.18m +[headless_play] t= 10.30s step= 515 trunk_z= 116.4mm grav_b=(-0.00,-0.01,-1.00) r=0.18m +[headless_play] t= 10.40s step= 520 trunk_z= 116.3mm grav_b=(-0.01,+0.03,-1.00) r=0.19m +[headless_play] t= 10.50s step= 525 trunk_z= 119.7mm grav_b=(+0.00,+0.05,-1.00) r=0.21m +[headless_play] t= 10.60s step= 530 trunk_z= 120.2mm grav_b=(+0.05,-0.03,-1.00) r=0.20m +[headless_play] t= 10.70s step= 535 trunk_z= 125.2mm grav_b=(+0.05,-0.09,-0.99) r=0.18m +[headless_play] t= 10.80s step= 540 trunk_z= 133.8mm grav_b=(+0.01,-0.08,-1.00) r=0.19m +[headless_play] t= 10.90s step= 545 trunk_z= 128.0mm grav_b=(-0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 11.00s step= 550 trunk_z= 121.2mm grav_b=(-0.04,-0.01,-1.00) r=0.25m +[headless_play] t= 11.10s step= 555 trunk_z= 118.2mm grav_b=(-0.06,+0.00,-1.00) r=0.24m +[headless_play] t= 11.20s step= 560 trunk_z= 119.0mm grav_b=(-0.03,-0.02,-1.00) r=0.23m +[headless_play] t= 11.30s step= 565 trunk_z= 120.3mm grav_b=(+0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 11.40s step= 570 trunk_z= 116.5mm grav_b=(+0.00,+0.06,-1.00) r=0.27m +[headless_play] t= 11.50s step= 575 trunk_z= 124.3mm grav_b=(-0.01,+0.03,-1.00) r=0.28m +[headless_play] t= 11.60s step= 580 trunk_z= 118.7mm grav_b=(-0.04,+0.02,-1.00) r=0.27m +[headless_play] t= 11.70s step= 585 trunk_z= 122.4mm grav_b=(-0.04,-0.05,-1.00) r=0.26m +[headless_play] t= 11.80s step= 590 trunk_z= 122.8mm grav_b=(-0.03,-0.02,-1.00) r=0.26m +[headless_play] t= 11.90s step= 595 trunk_z= 116.6mm grav_b=(-0.01,+0.04,-1.00) r=0.29m +[headless_play] t= 12.00s step= 600 trunk_z= 125.8mm grav_b=(-0.00,+0.03,-1.00) r=0.31m +[headless_play] t= 12.10s step= 605 trunk_z= 122.9mm grav_b=(-0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 12.20s step= 610 trunk_z= 121.2mm grav_b=(-0.01,-0.03,-1.00) r=0.31m +[headless_play] t= 12.30s step= 615 trunk_z= 122.3mm grav_b=(-0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 12.40s step= 620 trunk_z= 114.8mm grav_b=(-0.02,+0.06,-1.00) r=0.34m +[headless_play] t= 12.50s step= 625 trunk_z= 128.2mm grav_b=(-0.02,+0.12,-0.99) r=0.37m +[headless_play] t= 12.60s step= 630 trunk_z= 128.0mm grav_b=(-0.01,+0.14,-0.99) r=0.39m +[headless_play] t= 12.70s step= 635 trunk_z= 125.9mm grav_b=(-0.02,+0.10,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 124.0mm grav_b=(+0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 12.90s step= 645 trunk_z= 119.6mm grav_b=(-0.00,+0.08,-1.00) r=0.46m +[headless_play] t= 13.00s step= 650 trunk_z= 125.9mm grav_b=(+0.01,+0.11,-0.99) r=0.49m +[headless_play] t= 13.10s step= 655 trunk_z= 127.8mm grav_b=(+0.01,+0.13,-0.99) r=0.51m +[headless_play] t= 13.20s step= 660 trunk_z= 125.9mm grav_b=(+0.01,+0.10,-0.99) r=0.53m +[headless_play] t= 13.30s step= 665 trunk_z= 121.5mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 13.40s step= 670 trunk_z= 121.3mm grav_b=(-0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 13.50s step= 675 trunk_z= 115.6mm grav_b=(-0.02,+0.03,-1.00) r=0.56m +[headless_play] t= 13.60s step= 680 trunk_z= 122.1mm grav_b=(-0.02,+0.03,-1.00) r=0.57m +[headless_play] t= 13.70s step= 685 trunk_z= 118.1mm grav_b=(-0.03,+0.02,-1.00) r=0.57m +[headless_play] t= 13.80s step= 690 trunk_z= 121.9mm grav_b=(-0.05,-0.03,-1.00) r=0.59m +[headless_play] t= 13.90s step= 695 trunk_z= 119.1mm grav_b=(-0.08,+0.01,-1.00) r=0.60m +[headless_play] t= 14.00s step= 700 trunk_z= 116.3mm grav_b=(-0.04,+0.05,-1.00) r=0.61m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.62m +[headless_play] t= 14.20s step= 710 trunk_z= 111.5mm grav_b=(-0.02,-0.05,-1.00) r=0.63m +[headless_play] t= 14.30s step= 715 trunk_z= 116.4mm grav_b=(+0.02,-0.05,-1.00) r=0.65m +[headless_play] t= 14.40s step= 720 trunk_z= 112.8mm grav_b=(+0.07,-0.01,-1.00) r=0.66m +[headless_play] t= 14.50s step= 725 trunk_z= 116.1mm grav_b=(+0.03,+0.07,-1.00) r=0.68m +[headless_play] t= 14.60s step= 730 trunk_z= 119.0mm grav_b=(+0.02,+0.02,-1.00) r=0.69m +[headless_play] t= 14.70s step= 735 trunk_z= 112.6mm grav_b=(+0.00,-0.05,-1.00) r=0.72m +[headless_play] t= 14.80s step= 740 trunk_z= 118.9mm grav_b=(-0.03,-0.03,-1.00) r=0.73m +[headless_play] t= 14.90s step= 745 trunk_z= 110.7mm grav_b=(+0.00,+0.06,-1.00) r=0.75m +[headless_play] t= 15.00s step= 750 trunk_z= 120.1mm grav_b=(+0.02,+0.05,-1.00) r=0.76m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.77m +[headless_play] t= 15.20s step= 760 trunk_z= 116.3mm grav_b=(-0.00,-0.05,-1.00) r=0.79m +[headless_play] t= 15.30s step= 765 trunk_z= 119.7mm grav_b=(-0.00,-0.04,-1.00) r=0.80m +[headless_play] t= 15.40s step= 770 trunk_z= 115.2mm grav_b=(+0.02,-0.01,-1.00) r=0.81m +[headless_play] t= 15.50s step= 775 trunk_z= 117.0mm grav_b=(+0.00,+0.05,-1.00) r=0.83m +[headless_play] t= 15.60s step= 780 trunk_z= 116.4mm grav_b=(+0.01,-0.03,-1.00) r=0.84m +[headless_play] t= 15.70s step= 785 trunk_z= 115.6mm grav_b=(-0.01,-0.08,-1.00) r=0.86m +[headless_play] t= 15.80s step= 790 trunk_z= 119.3mm grav_b=(+0.00,-0.05,-1.00) r=0.88m +[headless_play] t= 15.90s step= 795 trunk_z= 114.3mm grav_b=(+0.02,-0.02,-1.00) r=0.89m +[headless_play] t= 16.00s step= 800 trunk_z= 117.4mm grav_b=(+0.04,+0.05,-1.00) r=0.90m +[headless_play] t= 16.10s step= 805 trunk_z= 119.3mm grav_b=(+0.03,+0.01,-1.00) r=0.91m +[headless_play] t= 16.20s step= 810 trunk_z= 114.6mm grav_b=(-0.01,-0.04,-1.00) r=0.92m +[headless_play] t= 16.30s step= 815 trunk_z= 121.6mm grav_b=(-0.01,-0.05,-1.00) r=0.93m +[headless_play] t= 16.40s step= 820 trunk_z= 116.2mm grav_b=(+0.01,-0.03,-1.00) r=0.95m +[headless_play] t= 16.50s step= 825 trunk_z= 117.9mm grav_b=(+0.00,+0.05,-1.00) r=0.97m +[headless_play] t= 16.60s step= 830 trunk_z= 124.9mm grav_b=(+0.02,+0.11,-0.99) r=0.99m +[headless_play] t= 16.70s step= 835 trunk_z= 125.0mm grav_b=(+0.00,+0.10,-0.99) r=1.00m +[headless_play] t= 16.80s step= 840 trunk_z= 120.8mm grav_b=(-0.01,+0.04,-1.00) r=1.02m +[headless_play] t= 16.90s step= 845 trunk_z= 121.7mm grav_b=(-0.01,-0.04,-1.00) r=1.02m +[headless_play] t= 17.00s step= 850 trunk_z= 117.3mm grav_b=(+0.00,-0.05,-1.00) r=1.04m +[headless_play] t= 17.10s step= 855 trunk_z= 116.0mm grav_b=(+0.01,+0.03,-1.00) r=1.05m +[headless_play] t= 17.20s step= 860 trunk_z= 118.5mm grav_b=(+0.02,-0.00,-1.00) r=1.06m +[headless_play] t= 17.30s step= 865 trunk_z= 113.2mm grav_b=(-0.00,-0.06,-1.00) r=1.07m +[headless_play] t= 17.40s step= 870 trunk_z= 121.3mm grav_b=(-0.02,-0.06,-1.00) r=1.08m +[headless_play] t= 17.50s step= 875 trunk_z= 115.0mm grav_b=(-0.06,+0.02,-1.00) r=1.08m +[headless_play] t= 17.60s step= 880 trunk_z= 120.8mm grav_b=(-0.05,+0.06,-1.00) r=1.09m +[headless_play] t= 17.70s step= 885 trunk_z= 124.0mm grav_b=(-0.02,+0.05,-1.00) r=1.09m +[headless_play] t= 17.80s step= 890 trunk_z= 119.2mm grav_b=(+0.01,+0.01,-1.00) r=1.09m +[headless_play] t= 17.90s step= 895 trunk_z= 118.5mm grav_b=(+0.03,-0.06,-1.00) r=1.09m +[headless_play] t= 18.00s step= 900 trunk_z= 114.6mm grav_b=(+0.07,-0.03,-1.00) r=1.11m +[headless_play] t= 18.10s step= 905 trunk_z= 121.0mm grav_b=(+0.12,+0.13,-0.99) r=1.15m +[headless_play] t= 18.20s step= 910 trunk_z= 135.4mm grav_b=(+0.04,+0.09,-1.00) r=1.18m +[headless_play] t= 18.30s step= 915 trunk_z= 121.5mm grav_b=(+0.02,-0.02,-1.00) r=1.23m +[headless_play] t= 18.40s step= 920 trunk_z= 122.9mm grav_b=(-0.08,-0.04,-1.00) r=1.25m +[headless_play] t= 18.50s step= 925 trunk_z= 117.7mm grav_b=(-0.07,+0.03,-1.00) r=1.25m +[headless_play] t= 18.60s step= 930 trunk_z= 117.4mm grav_b=(+0.02,+0.04,-1.00) r=1.24m +[headless_play] t= 18.70s step= 935 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) r=1.25m +[headless_play] t= 18.80s step= 940 trunk_z= 115.2mm grav_b=(-0.02,-0.08,-1.00) r=1.26m +[headless_play] t= 18.90s step= 945 trunk_z= 117.7mm grav_b=(-0.05,-0.01,-1.00) r=1.26m +[headless_play] t= 19.00s step= 950 trunk_z= 109.6mm grav_b=(-0.00,+0.05,-1.00) r=1.26m +[headless_play] t= 19.10s step= 955 trunk_z= 117.7mm grav_b=(+0.01,+0.00,-1.00) r=1.26m +[headless_play] t= 19.20s step= 960 trunk_z= 112.7mm grav_b=(+0.01,-0.02,-1.00) r=1.27m +[headless_play] t= 19.30s step= 965 trunk_z= 120.0mm grav_b=(-0.00,-0.07,-1.00) r=1.28m +[headless_play] t= 19.40s step= 970 trunk_z= 119.4mm grav_b=(+0.01,-0.05,-1.00) r=1.30m +[headless_play] t= 19.50s step= 975 trunk_z= 112.1mm grav_b=(+0.01,+0.00,-1.00) r=1.31m +[headless_play] t= 19.60s step= 980 trunk_z= 120.5mm grav_b=(-0.01,+0.04,-1.00) r=1.32m +[headless_play] t= 19.70s step= 985 trunk_z= 117.4mm grav_b=(-0.01,+0.01,-1.00) r=1.33m +[headless_play] t= 19.80s step= 990 trunk_z= 118.4mm grav_b=(-0.05,-0.03,-1.00) r=1.33m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(-0.03,+0.03,-1.00) r=1.34m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.8mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) r=0.16m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t4.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..fddb144813ba7a12af5141fa16b4c8d872b65166 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(-18.489,-17.829,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 114.3mm grav_b=(-0.01,-0.02,-1.00) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 113.9mm grav_b=(-0.00,-0.06,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 112.5mm grav_b=(+0.02,+0.03,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 114.1mm grav_b=(+0.01,+0.14,-0.99) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 120.8mm grav_b=(+0.03,+0.13,-0.99) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 120.0mm grav_b=(+0.01,+0.12,-0.99) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 114.8mm grav_b=(+0.04,+0.00,-1.00) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.06,+0.05,-1.00) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 111.7mm grav_b=(+0.01,+0.11,-0.99) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 123.9mm grav_b=(-0.01,+0.13,-0.99) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 118.2mm grav_b=(-0.00,+0.10,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 117.4mm grav_b=(-0.03,-0.00,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 115.4mm grav_b=(-0.04,+0.06,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 123.9mm grav_b=(-0.09,+0.18,-0.98) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 129.3mm grav_b=(-0.09,+0.24,-0.97) r=0.45m +[headless_play] t= 1.70s step= 85 trunk_z= 131.2mm grav_b=(-0.11,+0.28,-0.95) r=0.47m +[headless_play] t= 1.80s step= 90 trunk_z= 134.1mm grav_b=(-0.14,+0.40,-0.90) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 132.5mm grav_b=(-0.39,+0.58,-0.72) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 98.4mm grav_b=(-0.66,+0.66,-0.36) r=0.56m +[headless_play] RESET at t= 2.02s step= 101 (env termination, not a recovery) +[headless_play] t= 2.10s step= 105 trunk_z= 113.8mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 114.9mm grav_b=(+0.04,+0.04,-1.00) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 119.3mm grav_b=(+0.06,+0.04,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 117.9mm grav_b=(+0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 118.7mm grav_b=(+0.02,-0.09,-1.00) r=0.58m +[headless_play] t= 2.60s step= 130 trunk_z= 121.5mm grav_b=(-0.01,-0.03,-1.00) r=0.60m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(-0.06,+0.05,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 123.5mm grav_b=(-0.04,+0.11,-0.99) r=0.62m +[headless_play] t= 2.90s step= 145 trunk_z= 125.8mm grav_b=(-0.01,+0.09,-1.00) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 122.9mm grav_b=(-0.01,+0.04,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 121.9mm grav_b=(-0.01,-0.05,-1.00) r=0.68m +[headless_play] t= 3.20s step= 160 trunk_z= 119.6mm grav_b=(-0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 124.1mm grav_b=(+0.03,+0.13,-0.99) r=0.70m +[headless_play] t= 3.40s step= 170 trunk_z= 129.6mm grav_b=(+0.07,+0.13,-0.99) r=0.71m +[headless_play] t= 3.50s step= 175 trunk_z= 131.1mm grav_b=(+0.07,+0.08,-0.99) r=0.74m +[headless_play] t= 3.60s step= 180 trunk_z= 122.4mm grav_b=(-0.01,-0.03,-1.00) r=0.78m +[headless_play] t= 3.70s step= 185 trunk_z= 128.1mm grav_b=(-0.03,-0.03,-1.00) r=0.79m +[headless_play] t= 3.80s step= 190 trunk_z= 120.3mm grav_b=(-0.05,+0.00,-1.00) r=0.79m +[headless_play] t= 3.90s step= 195 trunk_z= 122.5mm grav_b=(-0.01,+0.07,-1.00) r=0.80m +[headless_play] t= 4.00s step= 200 trunk_z= 121.8mm grav_b=(+0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 4.10s step= 205 trunk_z= 114.7mm grav_b=(-0.03,-0.07,-1.00) r=0.85m +[headless_play] t= 4.20s step= 210 trunk_z= 121.7mm grav_b=(-0.04,-0.09,-1.00) r=0.86m +[headless_play] t= 4.30s step= 215 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.85m +[headless_play] t= 4.40s step= 220 trunk_z= 119.9mm grav_b=(-0.01,+0.04,-1.00) r=0.85m +[headless_play] t= 4.50s step= 225 trunk_z= 120.5mm grav_b=(+0.03,-0.00,-1.00) r=0.87m +[headless_play] t= 4.60s step= 230 trunk_z= 112.3mm grav_b=(-0.01,-0.07,-1.00) r=0.90m +[headless_play] t= 4.70s step= 235 trunk_z= 121.5mm grav_b=(+0.00,-0.09,-1.00) r=0.92m +[headless_play] t= 4.80s step= 240 trunk_z= 118.9mm grav_b=(-0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 4.90s step= 245 trunk_z= 119.0mm grav_b=(-0.03,+0.06,-1.00) r=0.90m +[headless_play] t= 5.00s step= 250 trunk_z= 122.9mm grav_b=(-0.00,+0.06,-1.00) r=0.90m +[headless_play] t= 5.10s step= 255 trunk_z= 118.9mm grav_b=(-0.02,+0.04,-1.00) r=0.92m +[headless_play] t= 5.20s step= 260 trunk_z= 118.2mm grav_b=(-0.06,-0.07,-1.00) r=0.95m +[headless_play] t= 5.30s step= 265 trunk_z= 118.4mm grav_b=(-0.06,-0.02,-1.00) r=0.94m +[headless_play] t= 5.40s step= 270 trunk_z= 117.0mm grav_b=(-0.03,+0.06,-1.00) r=0.93m +[headless_play] t= 5.50s step= 275 trunk_z= 122.7mm grav_b=(+0.03,+0.06,-1.00) r=0.93m +[headless_play] t= 5.60s step= 280 trunk_z= 122.8mm grav_b=(+0.06,+0.04,-1.00) r=0.94m +[headless_play] t= 5.70s step= 285 trunk_z= 117.1mm grav_b=(+0.03,-0.06,-1.00) r=0.97m +[headless_play] t= 5.80s step= 290 trunk_z= 123.6mm grav_b=(-0.00,-0.05,-1.00) r=0.97m +[headless_play] t= 5.90s step= 295 trunk_z= 114.9mm grav_b=(-0.07,+0.01,-1.00) r=0.96m +[headless_play] t= 6.00s step= 300 trunk_z= 119.5mm grav_b=(-0.09,+0.06,-0.99) r=0.95m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(-0.05,+0.02,-1.00) r=0.97m +[headless_play] t= 6.20s step= 310 trunk_z= 117.4mm grav_b=(-0.03,-0.03,-1.00) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 114.9mm grav_b=(+0.01,+0.05,-1.00) r=0.96m +[headless_play] t= 6.40s step= 320 trunk_z= 123.2mm grav_b=(+0.05,+0.07,-1.00) r=0.95m +[headless_play] t= 6.50s step= 325 trunk_z= 127.1mm grav_b=(+0.08,+0.05,-1.00) r=0.95m +[headless_play] t= 6.60s step= 330 trunk_z= 111.6mm grav_b=(+0.02,-0.05,-1.00) r=0.97m +[headless_play] t= 6.70s step= 335 trunk_z= 116.6mm grav_b=(-0.05,-0.03,-1.00) r=0.97m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(-0.08,+0.08,-0.99) r=0.95m +[headless_play] t= 6.90s step= 345 trunk_z= 122.3mm grav_b=(-0.06,+0.06,-1.00) r=0.94m +[headless_play] t= 7.00s step= 350 trunk_z= 117.6mm grav_b=(-0.04,-0.00,-1.00) r=0.96m +[headless_play] t= 7.10s step= 355 trunk_z= 121.0mm grav_b=(-0.02,-0.05,-1.00) r=0.97m +[headless_play] t= 7.20s step= 360 trunk_z= 120.7mm grav_b=(-0.02,-0.04,-1.00) r=0.97m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(-0.04,+0.02,-1.00) r=0.96m +[headless_play] t= 7.40s step= 370 trunk_z= 117.6mm grav_b=(-0.06,+0.05,-1.00) r=0.95m +[headless_play] t= 7.50s step= 375 trunk_z= 117.2mm grav_b=(-0.04,+0.02,-1.00) r=0.96m +[headless_play] t= 7.60s step= 380 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.96m +[headless_play] t= 7.70s step= 385 trunk_z= 117.2mm grav_b=(-0.05,+0.01,-1.00) r=0.96m +[headless_play] t= 7.80s step= 390 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.96m +[headless_play] t= 8.00s step= 400 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.20s step= 410 trunk_z= 117.3mm grav_b=(-0.05,+0.01,-1.00) r=0.95m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.40s step= 420 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.50s step= 425 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.60s step= 430 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.70s step= 435 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.80s step= 440 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 8.90s step= 445 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.95m +[headless_play] t= 9.00s step= 450 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.95m +[headless_play] t= 9.10s step= 455 trunk_z= 120.4mm grav_b=(+0.02,+0.06,-1.00) r=0.94m +[headless_play] t= 9.20s step= 460 trunk_z= 120.1mm grav_b=(+0.03,+0.04,-1.00) r=0.95m +[headless_play] t= 9.30s step= 465 trunk_z= 119.3mm grav_b=(-0.00,-0.04,-1.00) r=0.96m +[headless_play] t= 9.40s step= 470 trunk_z= 114.9mm grav_b=(-0.05,+0.02,-1.00) r=0.95m +[headless_play] t= 9.50s step= 475 trunk_z= 116.0mm grav_b=(-0.07,+0.03,-1.00) r=0.95m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(-0.04,+0.02,-1.00) r=0.95m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(-0.04,+0.02,-1.00) r=0.95m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(-0.05,+0.01,-1.00) r=0.95m +[headless_play] t= 9.90s step= 495 trunk_z= 118.1mm grav_b=(-0.04,+0.04,-1.00) r=0.94m +[headless_play] t= 10.00s step= 500 trunk_z= 119.3mm grav_b=(-0.01,+0.07,-1.00) r=0.94m +[headless_play] t= 10.10s step= 505 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.95m +[headless_play] t= 10.20s step= 510 trunk_z= 115.3mm grav_b=(-0.04,-0.01,-1.00) r=0.95m +[headless_play] t= 10.30s step= 515 trunk_z= 115.7mm grav_b=(-0.04,-0.00,-1.00) r=0.95m +[headless_play] t= 10.40s step= 520 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.95m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.95m +[headless_play] t= 10.60s step= 530 trunk_z= 116.1mm grav_b=(+0.00,+0.00,-1.00) r=0.94m +[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.94m +[headless_play] t= 10.80s step= 540 trunk_z= 117.0mm grav_b=(+0.05,-0.01,-1.00) r=0.94m +[headless_play] t= 10.90s step= 545 trunk_z= 115.4mm grav_b=(+0.05,+0.03,-1.00) r=0.93m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.05,+0.09,-0.99) r=0.92m +[headless_play] t= 11.10s step= 555 trunk_z= 117.1mm grav_b=(+0.02,+0.07,-1.00) r=0.92m +[headless_play] t= 11.20s step= 560 trunk_z= 113.0mm grav_b=(-0.03,-0.03,-1.00) r=0.92m +[headless_play] t= 11.30s step= 565 trunk_z= 120.5mm grav_b=(-0.05,-0.07,-1.00) r=0.92m +[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.91m +[headless_play] t= 11.50s step= 575 trunk_z= 117.8mm grav_b=(+0.00,+0.07,-1.00) r=0.88m +[headless_play] t= 11.60s step= 580 trunk_z= 119.7mm grav_b=(+0.15,+0.04,-0.99) r=0.85m +[headless_play] t= 11.70s step= 585 trunk_z= 110.8mm grav_b=(+0.09,-0.07,-0.99) r=0.82m +[headless_play] t= 11.80s step= 590 trunk_z= 127.5mm grav_b=(+0.01,-0.05,-1.00) r=0.79m +[headless_play] t= 11.90s step= 595 trunk_z= 114.2mm grav_b=(-0.05,+0.03,-1.00) r=0.75m +[headless_play] t= 12.00s step= 600 trunk_z= 122.7mm grav_b=(-0.03,+0.11,-0.99) r=0.72m +[headless_play] t= 12.10s step= 605 trunk_z= 122.9mm grav_b=(-0.01,+0.09,-1.00) r=0.71m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.68m +[headless_play] t= 12.30s step= 615 trunk_z= 123.5mm grav_b=(+0.00,-0.07,-1.00) r=0.66m +[headless_play] t= 12.40s step= 620 trunk_z= 120.2mm grav_b=(+0.02,-0.03,-1.00) r=0.65m +[headless_play] t= 12.50s step= 625 trunk_z= 119.0mm grav_b=(-0.03,+0.09,-1.00) r=0.63m +[headless_play] t= 12.60s step= 630 trunk_z= 120.9mm grav_b=(+0.02,+0.10,-1.00) r=0.62m +[headless_play] t= 12.70s step= 635 trunk_z= 117.4mm grav_b=(+0.04,+0.05,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 121.6mm grav_b=(+0.08,-0.12,-0.99) r=0.57m +[headless_play] t= 12.90s step= 645 trunk_z= 128.3mm grav_b=(+0.03,-0.09,-1.00) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.51m +[headless_play] t= 13.10s step= 655 trunk_z= 128.8mm grav_b=(+0.03,+0.05,-1.00) r=0.49m +[headless_play] t= 13.20s step= 660 trunk_z= 124.6mm grav_b=(-0.02,+0.03,-1.00) r=0.48m +[headless_play] t= 13.30s step= 665 trunk_z= 117.5mm grav_b=(-0.04,-0.03,-1.00) r=0.46m +[headless_play] t= 13.40s step= 670 trunk_z= 120.8mm grav_b=(-0.00,-0.00,-1.00) r=0.44m +[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(-0.03,+0.10,-0.99) r=0.44m +[headless_play] t= 13.60s step= 680 trunk_z= 121.2mm grav_b=(+0.03,+0.12,-0.99) r=0.43m +[headless_play] t= 13.70s step= 685 trunk_z= 120.2mm grav_b=(-0.01,+0.09,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 112.8mm grav_b=(-0.01,-0.03,-1.00) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 116.9mm grav_b=(-0.02,-0.05,-1.00) r=0.37m +[headless_play] t= 14.00s step= 700 trunk_z= 113.2mm grav_b=(-0.06,+0.03,-1.00) r=0.38m +[headless_play] t= 14.10s step= 705 trunk_z= 120.2mm grav_b=(-0.12,+0.11,-0.99) r=0.40m +[headless_play] t= 14.20s step= 710 trunk_z= 128.3mm grav_b=(-0.10,+0.04,-0.99) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 122.8mm grav_b=(+0.02,+0.15,-0.99) r=0.43m +[headless_play] t= 14.40s step= 720 trunk_z= 120.8mm grav_b=(-0.01,+0.13,-0.99) r=0.48m +[headless_play] t= 14.50s step= 725 trunk_z= 116.0mm grav_b=(-0.02,+0.12,-0.99) r=0.53m +[headless_play] t= 14.60s step= 730 trunk_z= 121.5mm grav_b=(+0.02,+0.20,-0.98) r=0.55m +[headless_play] t= 14.70s step= 735 trunk_z= 121.7mm grav_b=(+0.03,+0.25,-0.97) r=0.56m +[headless_play] t= 14.80s step= 740 trunk_z= 121.3mm grav_b=(+0.00,+0.29,-0.96) r=0.57m +[headless_play] t= 14.90s step= 745 trunk_z= 121.9mm grav_b=(+0.03,+0.37,-0.93) r=0.58m +[headless_play] t= 15.00s step= 750 trunk_z= 122.3mm grav_b=(+0.19,+0.37,-0.91) r=0.59m +[headless_play] t= 15.10s step= 755 trunk_z= 126.9mm grav_b=(+0.23,+0.24,-0.94) r=0.65m +[headless_play] t= 15.20s step= 760 trunk_z= 105.4mm grav_b=(+0.18,+0.26,-0.95) r=0.70m +[headless_play] t= 15.30s step= 765 trunk_z= 116.3mm grav_b=(+0.32,+0.26,-0.91) r=0.73m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(+0.57,+0.06,-0.82) r=0.78m +[headless_play] t= 15.50s step= 775 trunk_z= 75.3mm grav_b=(+0.86,+0.09,-0.50) r=0.85m +[headless_play] RESET at t= 15.52s step= 776 (env termination, not a recovery) +[headless_play] t= 15.60s step= 780 trunk_z= 114.7mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 15.70s step= 785 trunk_z= 113.8mm grav_b=(-0.02,+0.07,-1.00) r=0.33m +[headless_play] t= 15.80s step= 790 trunk_z= 120.9mm grav_b=(-0.03,+0.07,-1.00) r=0.32m +[headless_play] t= 15.90s step= 795 trunk_z= 121.2mm grav_b=(-0.02,+0.03,-1.00) r=0.31m +[headless_play] t= 16.00s step= 800 trunk_z= 119.7mm grav_b=(-0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 16.10s step= 805 trunk_z= 121.6mm grav_b=(-0.03,-0.02,-1.00) r=0.28m +[headless_play] t= 16.20s step= 810 trunk_z= 115.7mm grav_b=(-0.04,+0.04,-1.00) r=0.29m +[headless_play] t= 16.30s step= 815 trunk_z= 122.1mm grav_b=(-0.06,+0.06,-1.00) r=0.28m +[headless_play] t= 16.40s step= 820 trunk_z= 119.1mm grav_b=(-0.05,+0.04,-1.00) r=0.27m +[headless_play] t= 16.50s step= 825 trunk_z= 119.6mm grav_b=(-0.01,-0.02,-1.00) r=0.25m +[headless_play] t= 16.60s step= 830 trunk_z= 119.5mm grav_b=(-0.01,+0.03,-1.00) r=0.24m +[headless_play] t= 16.70s step= 835 trunk_z= 119.0mm grav_b=(-0.03,+0.10,-0.99) r=0.24m +[headless_play] t= 16.80s step= 840 trunk_z= 125.2mm grav_b=(-0.04,+0.07,-1.00) r=0.24m +[headless_play] t= 16.90s step= 845 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.22m +[headless_play] t= 17.00s step= 850 trunk_z= 120.1mm grav_b=(-0.06,-0.03,-1.00) r=0.20m +[headless_play] t= 17.10s step= 855 trunk_z= 120.8mm grav_b=(-0.05,-0.01,-1.00) r=0.19m +[headless_play] t= 17.20s step= 860 trunk_z= 116.0mm grav_b=(-0.05,+0.06,-1.00) r=0.21m +[headless_play] t= 17.30s step= 865 trunk_z= 123.2mm grav_b=(-0.05,+0.05,-1.00) r=0.21m +[headless_play] t= 17.40s step= 870 trunk_z= 120.4mm grav_b=(-0.05,+0.04,-1.00) r=0.20m +[headless_play] t= 17.50s step= 875 trunk_z= 118.6mm grav_b=(-0.07,-0.03,-1.00) r=0.18m +[headless_play] t= 17.60s step= 880 trunk_z= 118.2mm grav_b=(-0.06,+0.01,-1.00) r=0.19m +[headless_play] t= 17.70s step= 885 trunk_z= 118.1mm grav_b=(-0.04,+0.08,-1.00) r=0.20m +[headless_play] t= 17.80s step= 890 trunk_z= 123.0mm grav_b=(-0.03,+0.06,-1.00) r=0.21m +[headless_play] t= 17.90s step= 895 trunk_z= 119.6mm grav_b=(-0.04,+0.03,-1.00) r=0.19m +[headless_play] t= 18.00s step= 900 trunk_z= 120.8mm grav_b=(-0.05,-0.04,-1.00) r=0.17m +[headless_play] t= 18.10s step= 905 trunk_z= 120.6mm grav_b=(-0.05,-0.01,-1.00) r=0.18m +[headless_play] t= 18.20s step= 910 trunk_z= 117.3mm grav_b=(-0.06,+0.05,-1.00) r=0.20m +[headless_play] t= 18.30s step= 915 trunk_z= 122.4mm grav_b=(-0.06,+0.04,-1.00) r=0.21m +[headless_play] t= 18.40s step= 920 trunk_z= 115.2mm grav_b=(-0.11,-0.01,-0.99) r=0.18m +[headless_play] t= 18.50s step= 925 trunk_z= 120.9mm grav_b=(-0.11,-0.06,-0.99) r=0.16m +[headless_play] t= 18.60s step= 930 trunk_z= 120.3mm grav_b=(-0.12,-0.05,-0.99) r=0.17m +[headless_play] t= 18.70s step= 935 trunk_z= 116.7mm grav_b=(-0.11,+0.03,-0.99) r=0.19m +[headless_play] t= 18.80s step= 940 trunk_z= 121.8mm grav_b=(-0.07,+0.04,-1.00) r=0.20m +[headless_play] t= 18.90s step= 945 trunk_z= 118.8mm grav_b=(-0.07,+0.02,-1.00) r=0.18m +[headless_play] t= 19.00s step= 950 trunk_z= 121.4mm grav_b=(+0.02,-0.03,-1.00) r=0.18m +[headless_play] t= 19.10s step= 955 trunk_z= 122.8mm grav_b=(+0.05,+0.03,-1.00) r=0.20m +[headless_play] t= 19.20s step= 960 trunk_z= 116.0mm grav_b=(+0.02,+0.07,-1.00) r=0.23m +[headless_play] t= 19.30s step= 965 trunk_z= 126.1mm grav_b=(-0.01,+0.05,-1.00) r=0.25m +[headless_play] t= 19.40s step= 970 trunk_z= 117.2mm grav_b=(-0.08,-0.00,-1.00) r=0.25m +[headless_play] t= 19.50s step= 975 trunk_z= 118.6mm grav_b=(-0.10,-0.07,-0.99) r=0.25m +[headless_play] t= 19.60s step= 980 trunk_z= 121.4mm grav_b=(-0.10,-0.04,-0.99) r=0.26m +[headless_play] t= 19.70s step= 985 trunk_z= 115.3mm grav_b=(-0.10,+0.05,-0.99) r=0.28m +[headless_play] t= 19.80s step= 990 trunk_z= 123.7mm grav_b=(-0.07,+0.09,-0.99) r=0.29m +[headless_play] t= 19.90s step= 995 trunk_z= 126.3mm grav_b=(+0.02,+0.08,-1.00) r=0.32m +[headless_play] t= 20.00s step=1000 trunk_z= 121.8mm grav_b=(+0.00,+0.00,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 121.5mm grav_b=(+0.02,-0.08,-1.00) r=0.39m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t5.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..803951f097a2ea39873d81ce1c8f4f7e47756955 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t5.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(+0.00,-0.00,-1.00) root_w=(-6.250,-18.048,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.02,-0.05,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(-0.03,-0.10,-0.99) r=0.27m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(-0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 110.5mm grav_b=(-0.07,+0.07,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 118.3mm grav_b=(-0.04,+0.05,-1.00) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 112.3mm grav_b=(+0.05,-0.01,-1.00) r=0.35m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(+0.07,-0.09,-0.99) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 121.5mm grav_b=(+0.01,-0.09,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 115.5mm grav_b=(-0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 121.8mm grav_b=(-0.04,+0.09,-0.99) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(-0.01,+0.03,-1.00) r=0.45m +[headless_play] t= 1.20s step= 60 trunk_z= 116.1mm grav_b=(-0.02,-0.07,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 120.4mm grav_b=(-0.03,-0.05,-1.00) r=0.47m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(-0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.01,+0.06,-1.00) r=0.51m +[headless_play] t= 1.60s step= 80 trunk_z= 117.7mm grav_b=(-0.00,+0.05,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 112.6mm grav_b=(+0.00,-0.03,-1.00) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 119.6mm grav_b=(-0.04,-0.06,-1.00) r=0.54m +[headless_play] t= 1.90s step= 95 trunk_z= 118.8mm grav_b=(-0.03,-0.04,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 111.0mm grav_b=(-0.02,+0.03,-1.00) r=0.57m +[headless_play] t= 2.10s step= 105 trunk_z= 116.8mm grav_b=(+0.04,+0.04,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 109.9mm grav_b=(+0.08,-0.09,-0.99) r=0.62m +[headless_play] t= 2.30s step= 115 trunk_z= 124.3mm grav_b=(+0.03,-0.12,-0.99) r=0.65m +[headless_play] t= 2.40s step= 120 trunk_z= 121.9mm grav_b=(-0.02,-0.07,-1.00) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 120.5mm grav_b=(-0.06,+0.06,-1.00) r=0.70m +[headless_play] t= 2.60s step= 130 trunk_z= 119.8mm grav_b=(-0.06,+0.03,-1.00) r=0.71m +[headless_play] t= 2.70s step= 135 trunk_z= 119.4mm grav_b=(-0.05,-0.18,-0.98) r=0.70m +[headless_play] t= 2.80s step= 140 trunk_z= 128.5mm grav_b=(-0.04,-0.20,-0.98) r=0.69m +[headless_play] t= 2.90s step= 145 trunk_z= 133.0mm grav_b=(-0.04,-0.25,-0.97) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 128.5mm grav_b=(+0.06,-0.24,-0.97) r=0.68m +[headless_play] t= 3.10s step= 155 trunk_z= 134.0mm grav_b=(-0.07,-0.17,-0.98) r=0.70m +[headless_play] t= 3.20s step= 160 trunk_z= 125.1mm grav_b=(+0.03,-0.20,-0.98) r=0.74m +[headless_play] t= 3.30s step= 165 trunk_z= 120.1mm grav_b=(+0.04,-0.17,-0.99) r=0.74m +[headless_play] t= 3.40s step= 170 trunk_z= 115.9mm grav_b=(-0.00,-0.15,-0.99) r=0.75m +[headless_play] t= 3.50s step= 175 trunk_z= 121.1mm grav_b=(-0.06,-0.04,-1.00) r=0.77m +[headless_play] t= 3.60s step= 180 trunk_z= 116.3mm grav_b=(-0.13,+0.04,-0.99) r=0.80m +[headless_play] t= 3.70s step= 185 trunk_z= 119.7mm grav_b=(-0.08,+0.01,-1.00) r=0.80m +[headless_play] t= 3.80s step= 190 trunk_z= 117.7mm grav_b=(+0.02,+0.02,-1.00) r=0.81m +[headless_play] t= 3.90s step= 195 trunk_z= 111.0mm grav_b=(+0.07,+0.08,-0.99) r=0.82m +[headless_play] t= 4.00s step= 200 trunk_z= 118.6mm grav_b=(+0.00,+0.08,-1.00) r=0.83m +[headless_play] t= 4.10s step= 205 trunk_z= 115.3mm grav_b=(-0.02,+0.02,-1.00) r=0.82m +[headless_play] t= 4.20s step= 210 trunk_z= 115.7mm grav_b=(+0.00,+0.02,-1.00) r=0.82m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(+0.03,+0.03,-1.00) r=0.82m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) r=0.82m +[headless_play] t= 4.50s step= 225 trunk_z= 115.6mm grav_b=(+0.02,+0.02,-1.00) r=0.82m +[headless_play] t= 4.60s step= 230 trunk_z= 116.9mm grav_b=(-0.01,+0.04,-1.00) r=0.83m +[headless_play] t= 4.70s step= 235 trunk_z= 117.2mm grav_b=(-0.05,+0.04,-1.00) r=0.82m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(-0.08,+0.00,-1.00) r=0.82m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(-0.04,+0.05,-1.00) r=0.83m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(-0.05,+0.04,-1.00) r=0.83m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(-0.03,-0.02,-1.00) r=0.83m +[headless_play] t= 5.20s step= 260 trunk_z= 115.0mm grav_b=(-0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 5.30s step= 265 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 5.40s step= 270 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) r=0.83m +[headless_play] t= 5.50s step= 275 trunk_z= 115.0mm grav_b=(+0.06,+0.01,-1.00) r=0.83m +[headless_play] t= 5.60s step= 280 trunk_z= 115.0mm grav_b=(+0.02,+0.01,-1.00) r=0.83m +[headless_play] t= 5.70s step= 285 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 5.80s step= 290 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.83m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) r=0.83m +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(-0.03,+0.00,-1.00) r=0.82m +[headless_play] t= 6.10s step= 305 trunk_z= 116.4mm grav_b=(-0.07,+0.01,-1.00) r=0.82m +[headless_play] t= 6.20s step= 310 trunk_z= 115.8mm grav_b=(-0.09,-0.00,-1.00) r=0.82m +[headless_play] t= 6.30s step= 315 trunk_z= 113.6mm grav_b=(-0.06,+0.09,-0.99) r=0.83m +[headless_play] t= 6.40s step= 320 trunk_z= 115.4mm grav_b=(-0.03,+0.14,-0.99) r=0.84m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(-0.02,+0.11,-0.99) r=0.84m +[headless_play] t= 6.60s step= 330 trunk_z= 113.3mm grav_b=(-0.01,+0.05,-1.00) r=0.82m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.82m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 115.6mm grav_b=(-0.05,+0.02,-1.00) r=0.82m +[headless_play] t= 7.00s step= 350 trunk_z= 115.8mm grav_b=(-0.09,+0.01,-1.00) r=0.82m +[headless_play] t= 7.10s step= 355 trunk_z= 116.0mm grav_b=(-0.08,+0.01,-1.00) r=0.82m +[headless_play] t= 7.20s step= 360 trunk_z= 115.9mm grav_b=(-0.05,+0.02,-1.00) r=0.82m +[headless_play] t= 7.30s step= 365 trunk_z= 116.3mm grav_b=(+0.00,+0.02,-1.00) r=0.82m +[headless_play] t= 7.40s step= 370 trunk_z= 116.3mm grav_b=(+0.00,+0.02,-1.00) r=0.82m +[headless_play] t= 7.50s step= 375 trunk_z= 115.9mm grav_b=(-0.09,+0.01,-1.00) r=0.82m +[headless_play] t= 7.60s step= 380 trunk_z= 116.0mm grav_b=(-0.15,+0.01,-0.99) r=0.82m +[headless_play] t= 7.70s step= 385 trunk_z= 114.8mm grav_b=(-0.14,+0.02,-0.99) r=0.81m +[headless_play] t= 7.80s step= 390 trunk_z= 110.5mm grav_b=(+0.01,+0.05,-1.00) r=0.84m +[headless_play] t= 7.90s step= 395 trunk_z= 110.7mm grav_b=(+0.07,+0.06,-1.00) r=0.86m +[headless_play] t= 8.00s step= 400 trunk_z= 115.4mm grav_b=(+0.03,+0.05,-1.00) r=0.85m +[headless_play] t= 8.10s step= 405 trunk_z= 113.5mm grav_b=(+0.02,-0.03,-1.00) r=0.83m +[headless_play] t= 8.20s step= 410 trunk_z= 116.7mm grav_b=(-0.01,-0.03,-1.00) r=0.83m +[headless_play] t= 8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.05,+0.05,-1.00) r=0.84m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.84m +[headless_play] t= 8.50s step= 425 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=0.84m +[headless_play] t= 8.60s step= 430 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=0.84m +[headless_play] t= 8.70s step= 435 trunk_z= 115.6mm grav_b=(-0.02,+0.02,-1.00) r=0.84m +[headless_play] t= 8.80s step= 440 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=0.84m +[headless_play] t= 8.90s step= 445 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.00s step= 450 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.10s step= 455 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00) r=0.84m +[headless_play] t= 9.20s step= 460 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.30s step= 465 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.40s step= 470 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.50s step= 475 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.60s step= 480 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.70s step= 485 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 9.80s step= 490 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 10.00s step= 500 trunk_z= 115.8mm grav_b=(+0.01,+0.02,-1.00) r=0.84m +[headless_play] t= 10.10s step= 505 trunk_z= 115.4mm grav_b=(-0.00,+0.02,-1.00) r=0.84m +[headless_play] t= 10.20s step= 510 trunk_z= 115.2mm grav_b=(-0.03,+0.01,-1.00) r=0.84m +[headless_play] t= 10.30s step= 515 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 10.40s step= 520 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 10.50s step= 525 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 10.60s step= 530 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 10.70s step= 535 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.84m +[headless_play] t= 10.80s step= 540 trunk_z= 115.3mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 10.90s step= 545 trunk_z= 115.3mm grav_b=(-0.03,+0.00,-1.00) r=0.84m +[headless_play] t= 11.00s step= 550 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 11.10s step= 555 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.20s step= 560 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.30s step= 565 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.40s step= 570 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.50s step= 575 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00) r=0.84m +[headless_play] t= 11.60s step= 580 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.70s step= 585 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.80s step= 590 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 11.90s step= 595 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 12.00s step= 600 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 12.10s step= 605 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 12.20s step= 610 trunk_z= 115.4mm grav_b=(-0.01,+0.01,-1.00) r=0.84m +[headless_play] t= 12.30s step= 615 trunk_z= 115.7mm grav_b=(-0.06,-0.01,-1.00) r=0.83m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(-0.08,-0.00,-1.00) r=0.83m +[headless_play] t= 12.50s step= 625 trunk_z= 116.1mm grav_b=(-0.10,-0.00,-1.00) r=0.83m +[headless_play] t= 12.60s step= 630 trunk_z= 116.1mm grav_b=(-0.09,-0.00,-1.00) r=0.83m +[headless_play] t= 12.70s step= 635 trunk_z= 115.8mm grav_b=(-0.05,+0.00,-1.00) r=0.83m +[headless_play] t= 12.80s step= 640 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.84m +[headless_play] t= 12.90s step= 645 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.83m +[headless_play] t= 13.00s step= 650 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.84m +[headless_play] t= 13.10s step= 655 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.84m +[headless_play] t= 13.20s step= 660 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.83m +[headless_play] t= 13.30s step= 665 trunk_z= 115.8mm grav_b=(-0.04,+0.01,-1.00) r=0.83m +[headless_play] t= 13.40s step= 670 trunk_z= 115.9mm grav_b=(-0.02,+0.01,-1.00) r=0.83m +[headless_play] t= 13.50s step= 675 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.84m +[headless_play] t= 13.60s step= 680 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.83m +[headless_play] t= 13.70s step= 685 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 13.80s step= 690 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.83m +[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.83m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) r=0.83m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(+0.02,-0.06,-1.00) r=0.83m +[headless_play] t= 14.20s step= 710 trunk_z= 119.9mm grav_b=(+0.05,-0.06,-1.00) r=0.83m +[headless_play] t= 14.30s step= 715 trunk_z= 120.2mm grav_b=(-0.06,+0.04,-1.00) r=0.85m +[headless_play] t= 14.40s step= 720 trunk_z= 117.8mm grav_b=(-0.10,+0.08,-0.99) r=0.87m +[headless_play] t= 14.50s step= 725 trunk_z= 122.1mm grav_b=(-0.08,+0.00,-1.00) r=0.88m +[headless_play] t= 14.60s step= 730 trunk_z= 118.3mm grav_b=(-0.04,-0.06,-1.00) r=0.86m +[headless_play] t= 14.70s step= 735 trunk_z= 123.7mm grav_b=(-0.02,-0.04,-1.00) r=0.86m +[headless_play] t= 14.80s step= 740 trunk_z= 118.5mm grav_b=(-0.02,-0.02,-1.00) r=0.88m +[headless_play] t= 14.90s step= 745 trunk_z= 120.9mm grav_b=(-0.04,+0.05,-1.00) r=0.90m +[headless_play] t= 15.00s step= 750 trunk_z= 121.5mm grav_b=(-0.03,-0.01,-1.00) r=0.91m +[headless_play] t= 15.10s step= 755 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.89m +[headless_play] t= 15.20s step= 760 trunk_z= 120.1mm grav_b=(-0.05,-0.02,-1.00) r=0.89m +[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(-0.04,+0.02,-1.00) r=0.91m +[headless_play] t= 15.40s step= 770 trunk_z= 121.4mm grav_b=(-0.00,+0.05,-1.00) r=0.93m +[headless_play] t= 15.50s step= 775 trunk_z= 121.6mm grav_b=(+0.02,-0.02,-1.00) r=0.92m +[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.01,-0.08,-1.00) r=0.90m +[headless_play] t= 15.70s step= 785 trunk_z= 128.7mm grav_b=(-0.03,-0.12,-0.99) r=0.89m +[headless_play] t= 15.80s step= 790 trunk_z= 127.8mm grav_b=(-0.06,-0.17,-0.98) r=0.89m +[headless_play] t= 15.90s step= 795 trunk_z= 125.8mm grav_b=(-0.07,-0.13,-0.99) r=0.90m +[headless_play] t= 16.00s step= 800 trunk_z= 119.0mm grav_b=(-0.06,-0.00,-1.00) r=0.93m +[headless_play] t= 16.10s step= 805 trunk_z= 121.6mm grav_b=(-0.03,-0.01,-1.00) r=0.93m +[headless_play] t= 16.20s step= 810 trunk_z= 116.4mm grav_b=(-0.02,-0.08,-1.00) r=0.91m +[headless_play] t= 16.30s step= 815 trunk_z= 126.4mm grav_b=(-0.02,-0.10,-1.00) r=0.90m +[headless_play] t= 16.40s step= 820 trunk_z= 127.8mm grav_b=(-0.03,-0.09,-1.00) r=0.90m +[headless_play] t= 16.50s step= 825 trunk_z= 115.0mm grav_b=(-0.07,-0.01,-1.00) r=0.93m +[headless_play] t= 16.60s step= 830 trunk_z= 124.4mm grav_b=(+0.02,-0.01,-1.00) r=0.94m +[headless_play] t= 16.70s step= 835 trunk_z= 124.8mm grav_b=(+0.05,-0.05,-1.00) r=0.92m +[headless_play] t= 16.80s step= 840 trunk_z= 120.3mm grav_b=(+0.01,-0.09,-1.00) r=0.90m +[headless_play] t= 16.90s step= 845 trunk_z= 129.4mm grav_b=(-0.04,-0.09,-0.99) r=0.90m +[headless_play] t= 17.00s step= 850 trunk_z= 120.5mm grav_b=(-0.10,-0.06,-0.99) r=0.92m +[headless_play] t= 17.10s step= 855 trunk_z= 120.4mm grav_b=(-0.09,+0.03,-1.00) r=0.94m +[headless_play] t= 17.20s step= 860 trunk_z= 121.4mm grav_b=(-0.05,+0.02,-1.00) r=0.94m +[headless_play] t= 17.30s step= 865 trunk_z= 116.8mm grav_b=(-0.02,-0.06,-1.00) r=0.92m +[headless_play] t= 17.40s step= 870 trunk_z= 126.6mm grav_b=(-0.02,-0.11,-0.99) r=0.90m +[headless_play] t= 17.50s step= 875 trunk_z= 127.5mm grav_b=(-0.03,-0.13,-0.99) r=0.90m +[headless_play] t= 17.60s step= 880 trunk_z= 121.3mm grav_b=(-0.07,-0.08,-0.99) r=0.91m +[headless_play] t= 17.70s step= 885 trunk_z= 123.1mm grav_b=(-0.05,+0.03,-1.00) r=0.93m +[headless_play] t= 17.80s step= 890 trunk_z= 124.1mm grav_b=(-0.02,+0.03,-1.00) r=0.93m +[headless_play] t= 17.90s step= 895 trunk_z= 118.7mm grav_b=(-0.03,-0.04,-1.00) r=0.91m +[headless_play] t= 18.00s step= 900 trunk_z= 125.9mm grav_b=(-0.03,-0.10,-0.99) r=0.89m +[headless_play] t= 18.10s step= 905 trunk_z= 126.7mm grav_b=(-0.04,-0.11,-0.99) r=0.89m +[headless_play] t= 18.20s step= 910 trunk_z= 125.8mm grav_b=(-0.03,-0.12,-0.99) r=0.89m +[headless_play] t= 18.30s step= 915 trunk_z= 119.8mm grav_b=(-0.01,-0.02,-1.00) r=0.90m +[headless_play] t= 18.40s step= 920 trunk_z= 120.5mm grav_b=(-0.03,-0.03,-1.00) r=0.90m +[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.03,-0.09,-1.00) r=0.88m +[headless_play] t= 18.60s step= 930 trunk_z= 126.4mm grav_b=(-0.04,-0.09,-0.99) r=0.87m +[headless_play] t= 18.70s step= 935 trunk_z= 123.8mm grav_b=(-0.05,-0.08,-1.00) r=0.88m +[headless_play] t= 18.80s step= 940 trunk_z= 124.6mm grav_b=(+0.02,+0.05,-1.00) r=0.90m +[headless_play] t= 18.90s step= 945 trunk_z= 136.8mm grav_b=(+0.07,+0.10,-0.99) r=0.90m +[headless_play] t= 19.00s step= 950 trunk_z= 134.8mm grav_b=(+0.01,+0.19,-0.98) r=0.89m +[headless_play] t= 19.10s step= 955 trunk_z= 125.7mm grav_b=(+0.01,+0.29,-0.96) r=0.88m +[headless_play] t= 19.20s step= 960 trunk_z= 97.9mm grav_b=(+0.06,+0.09,-0.99) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 102.1mm grav_b=(+0.32,-0.18,-0.93) r=0.87m +[headless_play] t= 19.40s step= 970 trunk_z= 107.2mm grav_b=(+0.27,-0.22,-0.94) r=0.83m +[headless_play] t= 19.50s step= 975 trunk_z= 87.1mm grav_b=(-0.05,-0.37,-0.93) r=0.79m +[headless_play] t= 19.60s step= 980 trunk_z= 102.4mm grav_b=(-0.22,-0.24,-0.95) r=0.76m +[headless_play] t= 19.70s step= 985 trunk_z= 97.4mm grav_b=(-0.26,-0.21,-0.94) r=0.74m +[headless_play] t= 19.80s step= 990 trunk_z= 104.4mm grav_b=(-0.23,-0.18,-0.96) r=0.73m +[headless_play] t= 19.90s step= 995 trunk_z= 94.5mm grav_b=(-0.01,-0.18,-0.98) r=0.69m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.7mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(+0.01,-0.02,-1.00) r=0.35m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t6.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..5d32d397ad21f05bad3508189390f16cc0a49482 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t6.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.076,-17.662,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 114.5mm grav_b=(+0.00,+0.05,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 113.7mm grav_b=(+0.01,+0.11,-0.99) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 117.7mm grav_b=(-0.02,+0.09,-1.00) r=0.38m +[headless_play] t= 0.40s step= 20 trunk_z= 110.0mm grav_b=(-0.01,+0.03,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(-0.05,-0.04,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 117.9mm grav_b=(-0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 112.3mm grav_b=(-0.01,+0.03,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(+0.02,+0.06,-1.00) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 112.2mm grav_b=(+0.03,+0.02,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 112.6mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 118.0mm grav_b=(-0.00,-0.05,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 113.1mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 1.30s step= 65 trunk_z= 118.0mm grav_b=(+0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 1.40s step= 70 trunk_z= 114.4mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 114.9mm grav_b=(-0.01,-0.05,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(-0.00,-0.03,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 110.9mm grav_b=(+0.04,+0.03,-1.00) r=0.59m +[headless_play] t= 1.80s step= 90 trunk_z= 119.1mm grav_b=(+0.03,+0.08,-1.00) r=0.61m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.02,+0.00,-1.00) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 115.3mm grav_b=(-0.02,-0.05,-1.00) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(-0.01,-0.03,-1.00) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 112.7mm grav_b=(+0.00,+0.03,-1.00) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 119.0mm grav_b=(+0.02,+0.08,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 116.3mm grav_b=(+0.03,+0.05,-1.00) r=0.71m +[headless_play] t= 2.50s step= 125 trunk_z= 112.5mm grav_b=(-0.00,-0.03,-1.00) r=0.72m +[headless_play] t= 2.60s step= 130 trunk_z= 118.3mm grav_b=(-0.01,-0.03,-1.00) r=0.74m +[headless_play] t= 2.70s step= 135 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.76m +[headless_play] t= 2.80s step= 140 trunk_z= 115.7mm grav_b=(+0.07,+0.07,-0.99) r=0.78m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.80m +[headless_play] t= 3.00s step= 150 trunk_z= 106.9mm grav_b=(+0.03,-0.02,-1.00) r=0.81m +[headless_play] t= 3.10s step= 155 trunk_z= 115.3mm grav_b=(+0.01,-0.04,-1.00) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 112.7mm grav_b=(+0.02,+0.02,-1.00) r=0.84m +[headless_play] t= 3.30s step= 165 trunk_z= 111.8mm grav_b=(+0.05,+0.08,-1.00) r=0.87m +[headless_play] t= 3.40s step= 170 trunk_z= 118.0mm grav_b=(+0.01,+0.05,-1.00) r=0.88m +[headless_play] t= 3.50s step= 175 trunk_z= 105.1mm grav_b=(+0.06,-0.02,-1.00) r=0.90m +[headless_play] t= 3.60s step= 180 trunk_z= 120.0mm grav_b=(+0.01,-0.16,-0.99) r=0.90m +[headless_play] t= 3.70s step= 185 trunk_z= 125.6mm grav_b=(-0.04,-0.06,-1.00) r=0.91m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(+0.02,+0.04,-1.00) r=0.94m +[headless_play] t= 3.90s step= 195 trunk_z= 128.4mm grav_b=(-0.02,+0.09,-1.00) r=0.95m +[headless_play] t= 4.00s step= 200 trunk_z= 128.2mm grav_b=(+0.02,+0.10,-1.00) r=0.96m +[headless_play] t= 4.10s step= 205 trunk_z= 125.9mm grav_b=(-0.02,+0.07,-1.00) r=0.96m +[headless_play] t= 4.20s step= 210 trunk_z= 122.8mm grav_b=(-0.02,-0.02,-1.00) r=0.96m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(-0.07,+0.03,-1.00) r=0.97m +[headless_play] t= 4.40s step= 220 trunk_z= 123.2mm grav_b=(-0.08,+0.12,-0.99) r=1.00m +[headless_play] t= 4.50s step= 225 trunk_z= 127.8mm grav_b=(-0.06,+0.16,-0.99) r=1.01m +[headless_play] t= 4.60s step= 230 trunk_z= 127.8mm grav_b=(-0.03,+0.17,-0.98) r=1.02m +[headless_play] t= 4.70s step= 235 trunk_z= 126.9mm grav_b=(-0.03,+0.13,-0.99) r=1.03m +[headless_play] t= 4.80s step= 240 trunk_z= 124.7mm grav_b=(+0.00,+0.02,-1.00) r=1.04m +[headless_play] t= 4.90s step= 245 trunk_z= 126.4mm grav_b=(-0.00,+0.01,-1.00) r=1.05m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(-0.03,+0.08,-1.00) r=1.08m +[headless_play] t= 5.10s step= 255 trunk_z= 125.2mm grav_b=(-0.05,+0.12,-0.99) r=1.09m +[headless_play] t= 5.20s step= 260 trunk_z= 123.9mm grav_b=(-0.05,+0.10,-0.99) r=1.10m +[headless_play] t= 5.30s step= 265 trunk_z= 120.0mm grav_b=(-0.02,-0.07,-1.00) r=1.12m +[headless_play] t= 5.40s step= 270 trunk_z= 127.8mm grav_b=(-0.00,-0.12,-0.99) r=1.13m +[headless_play] t= 5.50s step= 275 trunk_z= 126.0mm grav_b=(-0.00,-0.05,-1.00) r=1.15m +[headless_play] t= 5.60s step= 280 trunk_z= 116.2mm grav_b=(-0.06,+0.06,-1.00) r=1.19m +[headless_play] t= 5.70s step= 285 trunk_z= 124.5mm grav_b=(-0.11,+0.15,-0.98) r=1.21m +[headless_play] t= 5.80s step= 290 trunk_z= 125.4mm grav_b=(-0.09,+0.15,-0.98) r=1.21m +[headless_play] t= 5.90s step= 295 trunk_z= 122.4mm grav_b=(-0.07,+0.08,-0.99) r=1.22m +[headless_play] t= 6.00s step= 300 trunk_z= 122.0mm grav_b=(-0.07,+0.00,-1.00) r=1.22m +[headless_play] t= 6.10s step= 305 trunk_z= 118.1mm grav_b=(-0.04,+0.03,-1.00) r=1.21m +[headless_play] t= 6.20s step= 310 trunk_z= 122.7mm grav_b=(-0.06,+0.09,-0.99) r=1.21m +[headless_play] t= 6.30s step= 315 trunk_z= 124.4mm grav_b=(-0.09,+0.09,-0.99) r=1.21m +[headless_play] t= 6.40s step= 320 trunk_z= 119.2mm grav_b=(-0.08,+0.06,-0.99) r=1.23m +[headless_play] t= 6.50s step= 325 trunk_z= 122.0mm grav_b=(-0.05,-0.02,-1.00) r=1.24m +[headless_play] t= 6.60s step= 330 trunk_z= 121.6mm grav_b=(-0.03,+0.00,-1.00) r=1.25m +[headless_play] t= 6.70s step= 335 trunk_z= 119.9mm grav_b=(-0.03,+0.08,-1.00) r=1.26m +[headless_play] t= 6.80s step= 340 trunk_z= 128.0mm grav_b=(-0.05,+0.10,-0.99) r=1.27m +[headless_play] t= 6.90s step= 345 trunk_z= 125.6mm grav_b=(-0.05,+0.09,-0.99) r=1.28m +[headless_play] t= 7.00s step= 350 trunk_z= 117.8mm grav_b=(-0.07,+0.01,-1.00) r=1.30m +[headless_play] t= 7.10s step= 355 trunk_z= 122.5mm grav_b=(-0.07,-0.02,-1.00) r=1.31m +[headless_play] t= 7.20s step= 360 trunk_z= 117.4mm grav_b=(-0.07,+0.01,-1.00) r=1.31m +[headless_play] t= 7.30s step= 365 trunk_z= 123.1mm grav_b=(-0.05,+0.07,-1.00) r=1.32m +[headless_play] t= 7.40s step= 370 trunk_z= 124.9mm grav_b=(-0.03,+0.07,-1.00) r=1.33m +[headless_play] t= 7.50s step= 375 trunk_z= 117.8mm grav_b=(-0.05,+0.01,-1.00) r=1.36m +[headless_play] t= 7.60s step= 380 trunk_z= 122.7mm grav_b=(-0.04,-0.05,-1.00) r=1.37m +[headless_play] t= 7.70s step= 385 trunk_z= 120.6mm grav_b=(-0.05,-0.01,-1.00) r=1.37m +[headless_play] t= 7.80s step= 390 trunk_z= 120.1mm grav_b=(-0.10,+0.08,-0.99) r=1.36m +[headless_play] t= 7.90s step= 395 trunk_z= 125.2mm grav_b=(-0.10,+0.08,-0.99) r=1.35m +[headless_play] t= 8.00s step= 400 trunk_z= 123.0mm grav_b=(-0.05,+0.06,-1.00) r=1.36m +[headless_play] t= 8.10s step= 405 trunk_z= 119.9mm grav_b=(-0.05,+0.02,-1.00) r=1.37m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(-0.05,+0.04,-1.00) r=1.36m +[headless_play] t= 8.30s step= 415 trunk_z= 120.6mm grav_b=(-0.05,+0.07,-1.00) r=1.34m +[headless_play] t= 8.40s step= 420 trunk_z= 130.1mm grav_b=(+0.00,+0.19,-0.98) r=1.33m +[headless_play] t= 8.50s step= 425 trunk_z= 132.0mm grav_b=(+0.06,+0.22,-0.97) r=1.31m +[headless_play] t= 8.60s step= 430 trunk_z= 110.4mm grav_b=(+0.04,+0.15,-0.99) r=1.32m +[headless_play] t= 8.70s step= 435 trunk_z= 130.8mm grav_b=(-0.07,+0.11,-0.99) r=1.30m +[headless_play] t= 8.80s step= 440 trunk_z= 114.1mm grav_b=(-0.08,+0.07,-0.99) r=1.27m +[headless_play] t= 8.90s step= 445 trunk_z= 120.5mm grav_b=(-0.06,+0.09,-0.99) r=1.27m +[headless_play] t= 9.00s step= 450 trunk_z= 113.4mm grav_b=(-0.07,+0.00,-1.00) r=1.28m +[headless_play] t= 9.10s step= 455 trunk_z= 122.2mm grav_b=(-0.06,-0.07,-1.00) r=1.29m +[headless_play] t= 9.20s step= 460 trunk_z= 122.6mm grav_b=(-0.02,-0.04,-1.00) r=1.29m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.00,+0.06,-1.00) r=1.26m +[headless_play] t= 9.40s step= 470 trunk_z= 127.8mm grav_b=(-0.05,+0.05,-1.00) r=1.24m +[headless_play] t= 9.50s step= 475 trunk_z= 123.2mm grav_b=(-0.06,+0.05,-1.00) r=1.23m +[headless_play] t= 9.60s step= 480 trunk_z= 116.9mm grav_b=(-0.08,-0.02,-1.00) r=1.24m +[headless_play] t= 9.70s step= 485 trunk_z= 123.2mm grav_b=(-0.05,-0.05,-1.00) r=1.24m +[headless_play] t= 9.80s step= 490 trunk_z= 120.3mm grav_b=(-0.05,-0.01,-1.00) r=1.23m +[headless_play] t= 9.90s step= 495 trunk_z= 119.7mm grav_b=(-0.03,+0.08,-1.00) r=1.20m +[headless_play] t= 10.00s step= 500 trunk_z= 123.1mm grav_b=(-0.07,+0.05,-1.00) r=1.19m +[headless_play] t= 10.10s step= 505 trunk_z= 114.4mm grav_b=(-0.08,-0.01,-1.00) r=1.20m +[headless_play] t= 10.20s step= 510 trunk_z= 127.2mm grav_b=(-0.03,-0.12,-0.99) r=1.21m +[headless_play] t= 10.30s step= 515 trunk_z= 132.5mm grav_b=(-0.03,-0.04,-1.00) r=1.23m +[headless_play] t= 10.40s step= 520 trunk_z= 126.6mm grav_b=(-0.03,+0.03,-1.00) r=1.21m +[headless_play] t= 10.50s step= 525 trunk_z= 110.7mm grav_b=(-0.12,+0.19,-0.97) r=1.18m +[headless_play] t= 10.60s step= 530 trunk_z= 127.2mm grav_b=(+0.02,+0.27,-0.96) r=1.16m +[headless_play] t= 10.70s step= 535 trunk_z= 127.4mm grav_b=(-0.06,+0.31,-0.95) r=1.12m +[headless_play] t= 10.80s step= 540 trunk_z= 127.1mm grav_b=(-0.16,+0.27,-0.95) r=1.08m +[headless_play] t= 10.90s step= 545 trunk_z= 112.7mm grav_b=(+0.01,+0.46,-0.89) r=1.05m +[headless_play] t= 11.00s step= 550 trunk_z= 109.5mm grav_b=(+0.55,+0.49,-0.68) r=1.03m +[headless_play] RESET at t= 11.08s step= 554 (env termination, not a recovery) +[headless_play] t= 11.10s step= 555 trunk_z= 118.2mm grav_b=(-0.01,-0.00,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 115.9mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 11.30s step= 565 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.35m +[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.34m +[headless_play] t= 11.60s step= 580 trunk_z= 116.9mm grav_b=(-0.10,+0.01,-0.99) r=0.34m +[headless_play] t= 11.70s step= 585 trunk_z= 109.4mm grav_b=(-0.02,-0.02,-1.00) r=0.32m +[headless_play] t= 11.80s step= 590 trunk_z= 112.4mm grav_b=(+0.03,+0.02,-1.00) r=0.31m +[headless_play] t= 11.90s step= 595 trunk_z= 114.7mm grav_b=(-0.01,+0.06,-1.00) r=0.32m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 12.20s step= 610 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.31m +[headless_play] t= 12.30s step= 615 trunk_z= 117.4mm grav_b=(+0.06,-0.03,-1.00) r=0.31m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=0.31m +[headless_play] t= 12.50s step= 625 trunk_z= 115.7mm grav_b=(+0.00,-0.00,-1.00) r=0.31m +[headless_play] t= 12.60s step= 630 trunk_z= 115.9mm grav_b=(-0.03,+0.00,-1.00) r=0.31m +[headless_play] t= 12.70s step= 635 trunk_z= 116.0mm grav_b=(-0.02,+0.01,-1.00) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 12.90s step= 645 trunk_z= 116.0mm grav_b=(+0.03,+0.00,-1.00) r=0.31m +[headless_play] t= 13.00s step= 650 trunk_z= 118.0mm grav_b=(-0.03,+0.02,-1.00) r=0.32m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.32m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.32m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.32m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(+0.03,-0.00,-1.00) r=0.32m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 13.60s step= 680 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 13.70s step= 685 trunk_z= 116.4mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 13.80s step= 690 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 13.90s step= 695 trunk_z= 116.4mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 14.10s step= 705 trunk_z= 116.1mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 14.40s step= 720 trunk_z= 117.9mm grav_b=(+0.01,+0.05,-1.00) r=0.33m +[headless_play] t= 14.50s step= 725 trunk_z= 117.7mm grav_b=(+0.00,+0.03,-1.00) r=0.33m +[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(-0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 14.90s step= 745 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 15.00s step= 750 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(-0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 15.30s step= 765 trunk_z= 117.1mm grav_b=(-0.01,+0.02,-1.00) r=0.33m +[headless_play] t= 15.40s step= 770 trunk_z= 118.3mm grav_b=(+0.01,+0.04,-1.00) r=0.33m +[headless_play] t= 15.50s step= 775 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 15.60s step= 780 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.33m +[headless_play] t= 15.70s step= 785 trunk_z= 116.6mm grav_b=(-0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 15.80s step= 790 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 15.90s step= 795 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 16.20s step= 810 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.33m +[headless_play] t= 16.30s step= 815 trunk_z= 116.4mm grav_b=(-0.07,+0.02,-1.00) r=0.33m +[headless_play] t= 16.40s step= 820 trunk_z= 116.8mm grav_b=(-0.06,+0.01,-1.00) r=0.33m +[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(-0.08,+0.07,-0.99) r=0.34m +[headless_play] t= 16.60s step= 830 trunk_z= 115.6mm grav_b=(-0.07,+0.13,-0.99) r=0.36m +[headless_play] t= 16.70s step= 835 trunk_z= 121.7mm grav_b=(-0.03,+0.13,-0.99) r=0.37m +[headless_play] t= 16.80s step= 840 trunk_z= 121.7mm grav_b=(-0.04,+0.16,-0.99) r=0.36m +[headless_play] t= 16.90s step= 845 trunk_z= 120.9mm grav_b=(-0.08,+0.17,-0.98) r=0.36m +[headless_play] t= 17.00s step= 850 trunk_z= 114.1mm grav_b=(-0.05,+0.03,-1.00) r=0.35m +[headless_play] t= 17.10s step= 855 trunk_z= 120.3mm grav_b=(-0.03,-0.03,-1.00) r=0.33m +[headless_play] t= 17.20s step= 860 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 17.30s step= 865 trunk_z= 115.5mm grav_b=(+0.01,+0.05,-1.00) r=0.33m +[headless_play] t= 17.40s step= 870 trunk_z= 124.8mm grav_b=(-0.02,+0.09,-1.00) r=0.32m +[headless_play] t= 17.50s step= 875 trunk_z= 120.4mm grav_b=(-0.03,+0.09,-1.00) r=0.31m +[headless_play] t= 17.60s step= 880 trunk_z= 115.5mm grav_b=(-0.06,-0.01,-1.00) r=0.29m +[headless_play] t= 17.70s step= 885 trunk_z= 120.8mm grav_b=(-0.06,+0.01,-1.00) r=0.28m +[headless_play] t= 17.80s step= 890 trunk_z= 115.9mm grav_b=(-0.04,+0.06,-1.00) r=0.30m +[headless_play] t= 17.90s step= 895 trunk_z= 122.7mm grav_b=(+0.02,+0.14,-0.99) r=0.31m +[headless_play] t= 18.00s step= 900 trunk_z= 126.0mm grav_b=(+0.02,+0.12,-0.99) r=0.32m +[headless_play] t= 18.10s step= 905 trunk_z= 122.1mm grav_b=(-0.00,+0.10,-1.00) r=0.31m +[headless_play] t= 18.20s step= 910 trunk_z= 118.7mm grav_b=(-0.03,+0.07,-1.00) r=0.30m +[headless_play] t= 18.30s step= 915 trunk_z= 117.2mm grav_b=(-0.08,+0.08,-0.99) r=0.31m +[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(-0.10,+0.10,-0.99) r=0.33m +[headless_play] t= 18.50s step= 925 trunk_z= 120.9mm grav_b=(-0.05,+0.05,-1.00) r=0.33m +[headless_play] t= 18.60s step= 930 trunk_z= 117.6mm grav_b=(-0.05,-0.01,-1.00) r=0.31m +[headless_play] t= 18.70s step= 935 trunk_z= 122.5mm grav_b=(-0.03,-0.00,-1.00) r=0.30m +[headless_play] t= 18.80s step= 940 trunk_z= 117.4mm grav_b=(-0.06,+0.05,-1.00) r=0.31m +[headless_play] t= 18.90s step= 945 trunk_z= 124.1mm grav_b=(-0.05,+0.10,-0.99) r=0.33m +[headless_play] t= 19.00s step= 950 trunk_z= 124.0mm grav_b=(-0.05,+0.11,-0.99) r=0.34m +[headless_play] t= 19.10s step= 955 trunk_z= 116.5mm grav_b=(-0.05,+0.05,-1.00) r=0.33m +[headless_play] t= 19.20s step= 960 trunk_z= 122.6mm grav_b=(-0.01,-0.04,-1.00) r=0.33m +[headless_play] t= 19.30s step= 965 trunk_z= 122.6mm grav_b=(+0.02,-0.03,-1.00) r=0.33m +[headless_play] t= 19.40s step= 970 trunk_z= 116.9mm grav_b=(-0.03,+0.05,-1.00) r=0.34m +[headless_play] t= 19.50s step= 975 trunk_z= 121.0mm grav_b=(-0.12,+0.05,-0.99) r=0.35m +[headless_play] t= 19.60s step= 980 trunk_z= 114.8mm grav_b=(-0.08,-0.00,-1.00) r=0.36m +[headless_play] t= 19.70s step= 985 trunk_z= 122.2mm grav_b=(-0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(-0.01,+0.03,-1.00) r=0.37m +[headless_play] t= 19.90s step= 995 trunk_z= 123.1mm grav_b=(-0.02,+0.08,-1.00) r=0.39m +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(-0.09,+0.06,-0.99) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(-0.08,-0.01,-1.00) r=0.39m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t7.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..ac9a720c66d891d62e613208d7234162b06d0428 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t7.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-14.352,-18.238,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 113.4mm grav_b=(+0.07,+0.06,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 123.2mm grav_b=(+0.07,+0.01,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 118.9mm grav_b=(+0.08,-0.02,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 122.8mm grav_b=(+0.08,-0.07,-0.99) r=0.48m +[headless_play] t= 0.60s step= 30 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 120.4mm grav_b=(+0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 124.0mm grav_b=(+0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 118.4mm grav_b=(+0.06,-0.00,-1.00) r=0.51m +[headless_play] t= 1.00s step= 50 trunk_z= 125.3mm grav_b=(+0.08,-0.08,-0.99) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 125.4mm grav_b=(+0.04,-0.10,-0.99) r=0.54m +[headless_play] t= 1.20s step= 60 trunk_z= 121.1mm grav_b=(+0.02,-0.05,-1.00) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 121.6mm grav_b=(+0.06,+0.02,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 124.1mm grav_b=(+0.08,+0.00,-1.00) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 115.7mm grav_b=(+0.05,-0.04,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 125.7mm grav_b=(+0.06,-0.07,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 123.0mm grav_b=(+0.04,-0.08,-1.00) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 116.1mm grav_b=(+0.05,+0.01,-1.00) r=0.62m +[headless_play] t= 1.90s step= 95 trunk_z= 124.6mm grav_b=(+0.06,+0.02,-1.00) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 122.0mm grav_b=(+0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 122.4mm grav_b=(+0.07,-0.06,-1.00) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 125.8mm grav_b=(+0.07,-0.07,-0.99) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 120.5mm grav_b=(+0.06,-0.03,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 123.3mm grav_b=(+0.04,+0.01,-1.00) r=0.71m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=0.71m +[headless_play] t= 2.60s step= 130 trunk_z= 120.9mm grav_b=(+0.03,-0.06,-1.00) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 121.1mm grav_b=(+0.06,-0.05,-1.00) r=0.73m +[headless_play] t= 2.80s step= 140 trunk_z= 112.6mm grav_b=(+0.06,+0.01,-1.00) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 121.3mm grav_b=(+0.05,+0.05,-1.00) r=0.78m +[headless_play] t= 3.00s step= 150 trunk_z= 119.8mm grav_b=(+0.04,+0.05,-1.00) r=0.79m +[headless_play] t= 3.10s step= 155 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.79m +[headless_play] t= 3.20s step= 160 trunk_z= 119.9mm grav_b=(+0.06,-0.02,-1.00) r=0.80m +[headless_play] t= 3.30s step= 165 trunk_z= 114.9mm grav_b=(+0.07,+0.02,-1.00) r=0.81m +[headless_play] t= 3.40s step= 170 trunk_z= 120.4mm grav_b=(+0.04,+0.06,-1.00) r=0.83m +[headless_play] t= 3.50s step= 175 trunk_z= 119.3mm grav_b=(+0.06,+0.03,-1.00) r=0.85m +[headless_play] t= 3.60s step= 180 trunk_z= 114.2mm grav_b=(+0.02,-0.03,-1.00) r=0.86m +[headless_play] t= 3.70s step= 185 trunk_z= 121.1mm grav_b=(+0.08,-0.05,-1.00) r=0.87m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(+0.07,+0.00,-1.00) r=0.89m +[headless_play] t= 3.90s step= 195 trunk_z= 120.2mm grav_b=(+0.03,+0.08,-1.00) r=0.91m +[headless_play] t= 4.00s step= 200 trunk_z= 121.5mm grav_b=(+0.04,+0.06,-1.00) r=0.93m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(+0.05,-0.00,-1.00) r=0.94m +[headless_play] t= 4.20s step= 210 trunk_z= 121.8mm grav_b=(+0.06,-0.07,-1.00) r=0.95m +[headless_play] t= 4.30s step= 215 trunk_z= 119.7mm grav_b=(+0.08,-0.05,-1.00) r=0.97m +[headless_play] t= 4.40s step= 220 trunk_z= 113.2mm grav_b=(+0.08,+0.04,-1.00) r=0.99m +[headless_play] t= 4.50s step= 225 trunk_z= 120.8mm grav_b=(+0.01,+0.03,-1.00) r=1.00m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.01,-0.02,-1.00) r=1.00m +[headless_play] t= 4.70s step= 235 trunk_z= 120.2mm grav_b=(+0.07,-0.08,-0.99) r=1.00m +[headless_play] t= 4.80s step= 240 trunk_z= 120.3mm grav_b=(+0.08,-0.05,-1.00) r=1.01m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(+0.08,+0.02,-1.00) r=1.03m +[headless_play] t= 5.00s step= 250 trunk_z= 123.4mm grav_b=(+0.05,+0.01,-1.00) r=1.06m +[headless_play] t= 5.10s step= 255 trunk_z= 112.3mm grav_b=(+0.07,-0.01,-1.00) r=1.08m +[headless_play] t= 5.20s step= 260 trunk_z= 126.7mm grav_b=(+0.12,-0.18,-0.98) r=1.11m +[headless_play] t= 5.30s step= 265 trunk_z= 129.8mm grav_b=(+0.18,-0.12,-0.98) r=1.13m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(+0.08,-0.19,-0.98) r=1.18m +[headless_play] t= 5.50s step= 275 trunk_z= 108.5mm grav_b=(-0.03,-0.10,-0.99) r=1.23m +[headless_play] t= 5.60s step= 280 trunk_z= 112.6mm grav_b=(-0.03,-0.01,-1.00) r=1.24m +[headless_play] t= 5.70s step= 285 trunk_z= 109.2mm grav_b=(-0.06,-0.00,-1.00) r=1.23m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(+0.09,-0.00,-1.00) r=1.21m +[headless_play] t= 5.90s step= 295 trunk_z= 109.6mm grav_b=(+0.12,+0.07,-0.99) r=1.20m +[headless_play] t= 6.00s step= 300 trunk_z= 115.5mm grav_b=(+0.11,+0.05,-0.99) r=1.20m +[headless_play] t= 6.10s step= 305 trunk_z= 109.9mm grav_b=(+0.10,-0.03,-1.00) r=1.23m +[headless_play] t= 6.20s step= 310 trunk_z= 119.7mm grav_b=(+0.12,-0.06,-0.99) r=1.25m +[headless_play] t= 6.30s step= 315 trunk_z= 118.3mm grav_b=(+0.11,-0.00,-0.99) r=1.27m +[headless_play] t= 6.40s step= 320 trunk_z= 119.3mm grav_b=(+0.09,+0.02,-1.00) r=1.27m +[headless_play] t= 6.50s step= 325 trunk_z= 113.0mm grav_b=(+0.10,-0.04,-0.99) r=1.28m +[headless_play] t= 6.60s step= 330 trunk_z= 115.7mm grav_b=(+0.09,-0.04,-0.99) r=1.28m +[headless_play] t= 6.70s step= 335 trunk_z= 115.0mm grav_b=(+0.05,-0.01,-1.00) r=1.27m +[headless_play] t= 6.80s step= 340 trunk_z= 116.1mm grav_b=(+0.00,-0.02,-1.00) r=1.27m +[headless_play] t= 6.90s step= 345 trunk_z= 110.0mm grav_b=(+0.11,-0.10,-0.99) r=1.27m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.09,-0.07,-0.99) r=1.27m +[headless_play] t= 7.10s step= 355 trunk_z= 113.6mm grav_b=(+0.11,-0.02,-0.99) r=1.25m +[headless_play] t= 7.20s step= 360 trunk_z= 114.3mm grav_b=(+0.07,-0.01,-1.00) r=1.25m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(-0.04,-0.03,-1.00) r=1.24m +[headless_play] t= 7.40s step= 370 trunk_z= 112.3mm grav_b=(+0.02,+0.06,-1.00) r=1.23m +[headless_play] t= 7.50s step= 375 trunk_z= 112.6mm grav_b=(+0.07,+0.07,-1.00) r=1.22m +[headless_play] t= 7.60s step= 380 trunk_z= 111.1mm grav_b=(+0.12,-0.01,-0.99) r=1.20m +[headless_play] t= 7.70s step= 385 trunk_z= 112.0mm grav_b=(+0.10,+0.00,-1.00) r=1.20m +[headless_play] t= 7.80s step= 390 trunk_z= 113.0mm grav_b=(+0.08,-0.00,-1.00) r=1.19m +[headless_play] t= 7.90s step= 395 trunk_z= 113.9mm grav_b=(+0.12,+0.00,-0.99) r=1.20m +[headless_play] t= 8.00s step= 400 trunk_z= 114.6mm grav_b=(+0.12,+0.00,-0.99) r=1.20m +[headless_play] t= 8.10s step= 405 trunk_z= 114.1mm grav_b=(+0.10,+0.01,-1.00) r=1.20m +[headless_play] t= 8.20s step= 410 trunk_z= 114.1mm grav_b=(+0.06,-0.00,-1.00) r=1.19m +[headless_play] t= 8.30s step= 415 trunk_z= 114.0mm grav_b=(+0.05,-0.00,-1.00) r=1.19m +[headless_play] t= 8.40s step= 420 trunk_z= 114.1mm grav_b=(+0.05,-0.00,-1.00) r=1.19m +[headless_play] t= 8.50s step= 425 trunk_z= 114.1mm grav_b=(+0.08,-0.00,-1.00) r=1.19m +[headless_play] t= 8.60s step= 430 trunk_z= 114.2mm grav_b=(+0.08,-0.00,-1.00) r=1.19m +[headless_play] t= 8.70s step= 435 trunk_z= 117.1mm grav_b=(+0.19,+0.01,-0.98) r=1.21m +[headless_play] t= 8.80s step= 440 trunk_z= 115.5mm grav_b=(+0.14,+0.02,-0.99) r=1.23m +[headless_play] t= 8.90s step= 445 trunk_z= 117.5mm grav_b=(+0.07,-0.03,-1.00) r=1.27m +[headless_play] t= 9.00s step= 450 trunk_z= 121.2mm grav_b=(+0.06,-0.10,-0.99) r=1.29m +[headless_play] t= 9.10s step= 455 trunk_z= 119.9mm grav_b=(+0.08,-0.05,-1.00) r=1.30m +[headless_play] t= 9.20s step= 460 trunk_z= 116.3mm grav_b=(+0.06,+0.02,-1.00) r=1.30m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(+0.11,+0.01,-0.99) r=1.31m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(+0.14,-0.01,-0.99) r=1.32m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(+0.15,-0.01,-0.99) r=1.32m +[headless_play] t= 9.60s step= 480 trunk_z= 117.4mm grav_b=(+0.15,+0.00,-0.99) r=1.33m +[headless_play] t= 9.70s step= 485 trunk_z= 117.9mm grav_b=(+0.17,-0.01,-0.99) r=1.33m +[headless_play] t= 9.80s step= 490 trunk_z= 113.7mm grav_b=(+0.12,-0.08,-0.99) r=1.34m +[headless_play] t= 9.90s step= 495 trunk_z= 119.5mm grav_b=(+0.08,-0.08,-0.99) r=1.35m +[headless_play] t= 10.00s step= 500 trunk_z= 113.8mm grav_b=(+0.01,-0.03,-1.00) r=1.35m +[headless_play] t= 10.10s step= 505 trunk_z= 115.6mm grav_b=(-0.00,-0.02,-1.00) r=1.35m +[headless_play] t= 10.20s step= 510 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) r=1.35m +[headless_play] t= 10.30s step= 515 trunk_z= 113.2mm grav_b=(+0.07,-0.02,-1.00) r=1.35m +[headless_play] t= 10.40s step= 520 trunk_z= 113.0mm grav_b=(+0.11,-0.08,-0.99) r=1.35m +[headless_play] t= 10.50s step= 525 trunk_z= 113.3mm grav_b=(+0.13,-0.01,-0.99) r=1.35m +[headless_play] t= 10.60s step= 530 trunk_z= 113.8mm grav_b=(+0.17,-0.03,-0.98) r=1.36m +[headless_play] t= 10.70s step= 535 trunk_z= 117.5mm grav_b=(+0.11,+0.01,-0.99) r=1.37m +[headless_play] t= 10.80s step= 540 trunk_z= 115.4mm grav_b=(+0.06,+0.05,-1.00) r=1.39m +[headless_play] t= 10.90s step= 545 trunk_z= 112.5mm grav_b=(+0.03,-0.02,-1.00) r=1.41m +[headless_play] t= 11.00s step= 550 trunk_z= 115.6mm grav_b=(+0.06,-0.03,-1.00) r=1.41m +[headless_play] t= 11.10s step= 555 trunk_z= 114.3mm grav_b=(+0.07,-0.00,-1.00) r=1.41m +[headless_play] t= 11.20s step= 560 trunk_z= 114.6mm grav_b=(+0.05,-0.01,-1.00) r=1.41m +[headless_play] t= 11.30s step= 565 trunk_z= 114.6mm grav_b=(+0.05,-0.01,-1.00) r=1.41m +[headless_play] t= 11.40s step= 570 trunk_z= 114.7mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 11.50s step= 575 trunk_z= 114.7mm grav_b=(+0.06,-0.01,-1.00) r=1.41m +[headless_play] t= 11.60s step= 580 trunk_z= 114.8mm grav_b=(+0.06,-0.01,-1.00) r=1.41m +[headless_play] t= 11.70s step= 585 trunk_z= 114.8mm grav_b=(+0.06,-0.01,-1.00) r=1.41m +[headless_play] t= 11.80s step= 590 trunk_z= 114.7mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 11.90s step= 595 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=1.41m +[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 12.10s step= 605 trunk_z= 114.8mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 12.20s step= 610 trunk_z= 114.7mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 12.30s step= 615 trunk_z= 114.7mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 12.40s step= 620 trunk_z= 114.7mm grav_b=(+0.06,-0.00,-1.00) r=1.41m +[headless_play] t= 12.50s step= 625 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=1.41m +[headless_play] t= 12.60s step= 630 trunk_z= 114.9mm grav_b=(+0.03,-0.01,-1.00) r=1.41m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=1.40m +[headless_play] t= 12.80s step= 640 trunk_z= 114.1mm grav_b=(+0.05,+0.04,-1.00) r=1.39m +[headless_play] t= 12.90s step= 645 trunk_z= 123.8mm grav_b=(+0.06,+0.02,-1.00) r=1.40m +[headless_play] t= 13.00s step= 650 trunk_z= 119.1mm grav_b=(+0.06,-0.02,-1.00) r=1.43m +[headless_play] t= 13.10s step= 655 trunk_z= 124.9mm grav_b=(+0.10,-0.06,-0.99) r=1.45m +[headless_play] t= 13.20s step= 660 trunk_z= 127.3mm grav_b=(+0.01,-0.03,-1.00) r=1.47m +[headless_play] t= 13.30s step= 665 trunk_z= 114.9mm grav_b=(+0.01,-0.00,-1.00) r=1.49m +[headless_play] t= 13.40s step= 670 trunk_z= 115.8mm grav_b=(-0.03,-0.05,-1.00) r=1.49m +[headless_play] t= 13.50s step= 675 trunk_z= 118.4mm grav_b=(+0.06,-0.07,-1.00) r=1.49m +[headless_play] t= 13.60s step= 680 trunk_z= 120.8mm grav_b=(+0.08,-0.03,-1.00) r=1.50m +[headless_play] t= 13.70s step= 685 trunk_z= 115.7mm grav_b=(+0.08,+0.02,-1.00) r=1.52m +[headless_play] t= 13.80s step= 690 trunk_z= 126.1mm grav_b=(+0.07,-0.02,-1.00) r=1.55m +[headless_play] t= 13.90s step= 695 trunk_z= 116.9mm grav_b=(+0.03,-0.04,-1.00) r=1.57m +[headless_play] t= 14.00s step= 700 trunk_z= 120.6mm grav_b=(+0.05,-0.08,-1.00) r=1.59m +[headless_play] t= 14.10s step= 705 trunk_z= 121.7mm grav_b=(+0.01,-0.06,-1.00) r=1.60m +[headless_play] t= 14.20s step= 710 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) r=1.62m +[headless_play] t= 14.30s step= 715 trunk_z= 124.9mm grav_b=(+0.06,+0.08,-1.00) r=1.63m +[headless_play] t= 14.40s step= 720 trunk_z= 127.2mm grav_b=(+0.09,+0.11,-0.99) r=1.65m +[headless_play] t= 14.50s step= 725 trunk_z= 127.9mm grav_b=(+0.03,+0.00,-1.00) r=1.68m +[headless_play] t= 14.60s step= 730 trunk_z= 124.2mm grav_b=(+0.03,-0.03,-1.00) r=1.71m +[headless_play] t= 14.70s step= 735 trunk_z= 127.2mm grav_b=(+0.04,-0.06,-1.00) r=1.72m +[headless_play] t= 14.80s step= 740 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=1.74m +[headless_play] t= 14.90s step= 745 trunk_z= 122.3mm grav_b=(+0.05,-0.01,-1.00) r=1.75m +[headless_play] t= 15.00s step= 750 trunk_z= 118.3mm grav_b=(+0.04,-0.03,-1.00) r=1.76m +[headless_play] t= 15.10s step= 755 trunk_z= 122.1mm grav_b=(+0.06,-0.07,-1.00) r=1.78m +[headless_play] t= 15.20s step= 760 trunk_z= 126.3mm grav_b=(+0.16,-0.03,-0.99) r=1.82m +[headless_play] t= 15.30s step= 765 trunk_z= 97.5mm grav_b=(+0.01,-0.07,-1.00) r=1.87m +[headless_play] t= 15.40s step= 770 trunk_z= 111.6mm grav_b=(+0.06,-0.03,-1.00) r=1.89m +[headless_play] t= 15.50s step= 775 trunk_z= 112.9mm grav_b=(-0.04,-0.06,-1.00) r=1.90m +[headless_play] t= 15.60s step= 780 trunk_z= 119.9mm grav_b=(-0.02,-0.08,-1.00) r=1.91m +[headless_play] t= 15.70s step= 785 trunk_z= 120.3mm grav_b=(+0.03,-0.03,-1.00) r=1.92m +[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(+0.05,+0.05,-1.00) r=1.93m +[headless_play] t= 15.90s step= 795 trunk_z= 124.4mm grav_b=(+0.06,+0.02,-1.00) r=1.94m +[headless_play] t= 16.00s step= 800 trunk_z= 120.7mm grav_b=(+0.04,-0.00,-1.00) r=1.96m +[headless_play] t= 16.10s step= 805 trunk_z= 122.0mm grav_b=(+0.04,-0.07,-1.00) r=1.98m +[headless_play] t= 16.20s step= 810 trunk_z= 124.5mm grav_b=(+0.06,-0.09,-0.99) r=1.99m +[headless_play] t= 16.30s step= 815 trunk_z= 121.9mm grav_b=(+0.04,-0.07,-1.00) r=1.99m +[headless_play] t= 16.40s step= 820 trunk_z= 120.7mm grav_b=(+0.01,+0.02,-1.00) r=2.00m +[headless_play] t= 16.50s step= 825 trunk_z= 120.6mm grav_b=(-0.02,+0.02,-1.00) r=1.99m +[headless_play] t= 16.60s step= 830 trunk_z= 117.1mm grav_b=(+0.02,-0.06,-1.00) r=2.00m +[headless_play] t= 16.70s step= 835 trunk_z= 124.7mm grav_b=(+0.08,-0.04,-1.00) r=2.02m +[headless_play] t= 16.80s step= 840 trunk_z= 122.5mm grav_b=(+0.07,-0.02,-1.00) r=2.04m +[headless_play] t= 16.90s step= 845 trunk_z= 123.2mm grav_b=(+0.08,+0.01,-1.00) r=2.06m +[headless_play] t= 17.00s step= 850 trunk_z= 124.4mm grav_b=(+0.07,-0.02,-1.00) r=2.08m +[headless_play] t= 17.10s step= 855 trunk_z= 113.5mm grav_b=(+0.04,-0.07,-1.00) r=2.12m +[headless_play] t= 17.20s step= 860 trunk_z= 126.4mm grav_b=(+0.05,-0.12,-0.99) r=2.14m +[headless_play] t= 17.30s step= 865 trunk_z= 128.5mm grav_b=(+0.13,-0.14,-0.98) r=2.17m +[headless_play] t= 17.40s step= 870 trunk_z= 126.2mm grav_b=(+0.12,-0.10,-0.99) r=2.22m +[headless_play] t= 17.50s step= 875 trunk_z= 123.9mm grav_b=(+0.14,+0.03,-0.99) r=2.28m +[headless_play] t= 17.60s step= 880 trunk_z= 136.0mm grav_b=(+0.08,+0.13,-0.99) r=2.30m +[headless_play] t= 17.70s step= 885 trunk_z= 131.0mm grav_b=(+0.02,+0.07,-1.00) r=2.34m +[headless_play] t= 17.80s step= 890 trunk_z= 121.6mm grav_b=(+0.02,+0.03,-1.00) r=2.38m +[headless_play] t= 17.90s step= 895 trunk_z= 119.3mm grav_b=(+0.03,+0.02,-1.00) r=2.38m +[headless_play] t= 18.00s step= 900 trunk_z= 113.6mm grav_b=(+0.10,+0.03,-0.99) r=2.38m +[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(+0.14,-0.02,-0.99) r=2.40m +[headless_play] t= 18.20s step= 910 trunk_z= 113.0mm grav_b=(+0.11,-0.06,-0.99) r=2.43m +[headless_play] t= 18.30s step= 915 trunk_z= 124.7mm grav_b=(+0.06,-0.02,-1.00) r=2.46m +[headless_play] t= 18.40s step= 920 trunk_z= 113.7mm grav_b=(+0.01,+0.04,-1.00) r=2.47m +[headless_play] t= 18.50s step= 925 trunk_z= 119.8mm grav_b=(+0.03,+0.02,-1.00) r=2.49m +[headless_play] t= 18.60s step= 930 trunk_z= 112.9mm grav_b=(+0.02,-0.09,-1.00) r=2.53m +[headless_play] t= 18.70s step= 935 trunk_z= 123.8mm grav_b=(+0.07,-0.10,-0.99) r=2.55m +[headless_play] t= 18.80s step= 940 trunk_z= 121.6mm grav_b=(+0.08,-0.09,-0.99) r=2.57m +[headless_play] t= 18.90s step= 945 trunk_z= 113.1mm grav_b=(+0.10,-0.02,-1.00) r=2.58m +[headless_play] t= 19.00s step= 950 trunk_z= 120.2mm grav_b=(+0.08,+0.04,-1.00) r=2.60m +[headless_play] t= 19.10s step= 955 trunk_z= 118.8mm grav_b=(+0.03,+0.04,-1.00) r=2.60m +[headless_play] t= 19.20s step= 960 trunk_z= 115.4mm grav_b=(+0.05,-0.04,-1.00) r=2.61m +[headless_play] t= 19.30s step= 965 trunk_z= 118.7mm grav_b=(+0.09,-0.02,-1.00) r=2.62m +[headless_play] t= 19.40s step= 970 trunk_z= 112.8mm grav_b=(+0.09,+0.02,-1.00) r=2.64m +[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(+0.06,+0.06,-1.00) r=2.66m +[headless_play] t= 19.60s step= 980 trunk_z= 115.4mm grav_b=(+0.09,+0.01,-1.00) r=2.67m +[headless_play] t= 19.70s step= 985 trunk_z= 114.9mm grav_b=(+0.06,-0.06,-1.00) r=2.70m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(+0.09,-0.02,-1.00) r=2.72m +[headless_play] t= 19.90s step= 995 trunk_z= 111.6mm grav_b=(+0.10,+0.03,-0.99) r=2.73m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.7mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=0.34m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t8.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..da7a4ccbb6238a3ff4fa6b02f29a12c5e1964967 --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t8.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.122,-17.832,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 109.9mm grav_b=(+0.02,-0.05,-1.00) r=0.17m +[headless_play] t= 0.30s step= 15 trunk_z= 113.8mm grav_b=(+0.01,-0.04,-1.00) r=0.16m +[headless_play] t= 0.40s step= 20 trunk_z= 109.9mm grav_b=(+0.01,+0.05,-1.00) r=0.16m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(+0.00,+0.12,-0.99) r=0.16m +[headless_play] t= 0.60s step= 30 trunk_z= 118.0mm grav_b=(+0.02,+0.12,-0.99) r=0.16m +[headless_play] t= 0.70s step= 35 trunk_z= 112.9mm grav_b=(+0.04,+0.09,-1.00) r=0.14m +[headless_play] t= 0.80s step= 40 trunk_z= 114.4mm grav_b=(+0.08,-0.02,-1.00) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(+0.07,-0.01,-1.00) r=0.11m +[headless_play] t= 1.00s step= 50 trunk_z= 111.3mm grav_b=(+0.05,+0.07,-1.00) r=0.13m +[headless_play] t= 1.10s step= 55 trunk_z= 118.9mm grav_b=(+0.03,+0.10,-0.99) r=0.14m +[headless_play] t= 1.20s step= 60 trunk_z= 112.8mm grav_b=(+0.06,+0.07,-1.00) r=0.14m +[headless_play] t= 1.30s step= 65 trunk_z= 114.3mm grav_b=(+0.00,-0.04,-1.00) r=0.13m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.14m +[headless_play] t= 1.50s step= 75 trunk_z= 109.3mm grav_b=(+0.03,+0.05,-1.00) r=0.17m +[headless_play] t= 1.60s step= 80 trunk_z= 115.4mm grav_b=(+0.05,+0.10,-0.99) r=0.19m +[headless_play] t= 1.70s step= 85 trunk_z= 108.7mm grav_b=(+0.07,-0.01,-1.00) r=0.18m +[headless_play] t= 1.80s step= 90 trunk_z= 114.7mm grav_b=(+0.04,-0.05,-1.00) r=0.18m +[headless_play] t= 1.90s step= 95 trunk_z= 111.1mm grav_b=(+0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 2.00s step= 100 trunk_z= 111.5mm grav_b=(+0.02,+0.10,-0.99) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 119.2mm grav_b=(+0.03,+0.12,-0.99) r=0.24m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(+0.03,+0.10,-0.99) r=0.25m +[headless_play] t= 2.30s step= 115 trunk_z= 115.7mm grav_b=(+0.06,-0.04,-1.00) r=0.26m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(+0.08,-0.02,-1.00) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 113.4mm grav_b=(+0.12,+0.04,-0.99) r=0.30m +[headless_play] t= 2.60s step= 130 trunk_z= 125.8mm grav_b=(+0.08,+0.09,-0.99) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 126.5mm grav_b=(+0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 2.80s step= 140 trunk_z= 118.4mm grav_b=(-0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 118.7mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 115.2mm grav_b=(-0.00,+0.09,-1.00) r=0.42m +[headless_play] t= 3.10s step= 155 trunk_z= 121.6mm grav_b=(-0.00,+0.10,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 117.8mm grav_b=(+0.02,+0.09,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 116.7mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 121.2mm grav_b=(+0.04,-0.05,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 118.6mm grav_b=(+0.00,-0.03,-1.00) r=0.47m +[headless_play] t= 3.60s step= 180 trunk_z= 114.5mm grav_b=(+0.02,+0.08,-1.00) r=0.48m +[headless_play] t= 3.70s step= 185 trunk_z= 121.7mm grav_b=(+0.02,+0.10,-0.99) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 119.3mm grav_b=(+0.03,+0.09,-1.00) r=0.50m +[headless_play] t= 3.90s step= 195 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 117.7mm grav_b=(+0.04,+0.00,-1.00) r=0.53m +[headless_play] t= 4.10s step= 205 trunk_z= 109.5mm grav_b=(-0.01,+0.10,-0.99) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 121.2mm grav_b=(+0.01,+0.13,-0.99) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 120.0mm grav_b=(+0.02,+0.12,-0.99) r=0.58m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.05,+0.03,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 120.6mm grav_b=(+0.06,-0.02,-1.00) r=0.62m +[headless_play] t= 4.60s step= 230 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(+0.02,+0.11,-0.99) r=0.64m +[headless_play] t= 4.80s step= 240 trunk_z= 121.5mm grav_b=(+0.03,+0.11,-0.99) r=0.65m +[headless_play] t= 4.90s step= 245 trunk_z= 119.3mm grav_b=(+0.05,+0.12,-0.99) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(+0.07,+0.03,-1.00) r=0.69m +[headless_play] t= 5.10s step= 255 trunk_z= 117.5mm grav_b=(+0.05,+0.04,-1.00) r=0.70m +[headless_play] t= 5.20s step= 260 trunk_z= 110.4mm grav_b=(+0.02,+0.10,-0.99) r=0.71m +[headless_play] t= 5.30s step= 265 trunk_z= 119.9mm grav_b=(+0.02,+0.11,-0.99) r=0.73m +[headless_play] t= 5.40s step= 270 trunk_z= 117.2mm grav_b=(+0.03,+0.08,-1.00) r=0.74m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(+0.04,-0.02,-1.00) r=0.76m +[headless_play] t= 5.60s step= 280 trunk_z= 119.3mm grav_b=(+0.05,-0.01,-1.00) r=0.77m +[headless_play] t= 5.70s step= 285 trunk_z= 111.8mm grav_b=(+0.08,+0.08,-0.99) r=0.79m +[headless_play] t= 5.80s step= 290 trunk_z= 122.5mm grav_b=(+0.09,+0.16,-0.98) r=0.81m +[headless_play] t= 5.90s step= 295 trunk_z= 127.5mm grav_b=(+0.08,+0.12,-0.99) r=0.83m +[headless_play] t= 6.00s step= 300 trunk_z= 117.4mm grav_b=(+0.03,+0.03,-1.00) r=0.87m +[headless_play] t= 6.10s step= 305 trunk_z= 120.8mm grav_b=(-0.02,+0.04,-1.00) r=0.88m +[headless_play] t= 6.20s step= 310 trunk_z= 112.4mm grav_b=(-0.04,+0.09,-1.00) r=0.88m +[headless_play] t= 6.30s step= 315 trunk_z= 120.3mm grav_b=(-0.01,+0.10,-0.99) r=0.89m +[headless_play] t= 6.40s step= 320 trunk_z= 117.6mm grav_b=(+0.03,+0.09,-1.00) r=0.90m +[headless_play] t= 6.50s step= 325 trunk_z= 113.7mm grav_b=(+0.05,-0.03,-1.00) r=0.93m +[headless_play] t= 6.60s step= 330 trunk_z= 126.6mm grav_b=(+0.08,-0.14,-0.99) r=0.97m +[headless_play] t= 6.70s step= 335 trunk_z= 123.1mm grav_b=(+0.07,-0.12,-0.99) r=0.99m +[headless_play] t= 6.80s step= 340 trunk_z= 118.5mm grav_b=(+0.05,-0.05,-1.00) r=1.04m +[headless_play] t= 6.90s step= 345 trunk_z= 129.2mm grav_b=(-0.01,+0.08,-1.00) r=1.07m +[headless_play] t= 7.00s step= 350 trunk_z= 123.9mm grav_b=(-0.03,+0.13,-0.99) r=1.10m +[headless_play] t= 7.10s step= 355 trunk_z= 113.6mm grav_b=(+0.00,-0.01,-1.00) r=1.12m +[headless_play] t= 7.20s step= 360 trunk_z= 124.0mm grav_b=(+0.01,-0.10,-0.99) r=1.14m +[headless_play] t= 7.30s step= 365 trunk_z= 126.0mm grav_b=(+0.01,-0.13,-0.99) r=1.14m +[headless_play] t= 7.40s step= 370 trunk_z= 125.3mm grav_b=(+0.01,-0.08,-1.00) r=1.16m +[headless_play] t= 7.50s step= 375 trunk_z= 121.4mm grav_b=(+0.00,+0.07,-1.00) r=1.19m +[headless_play] t= 7.60s step= 380 trunk_z= 126.3mm grav_b=(-0.02,+0.15,-0.99) r=1.21m +[headless_play] t= 7.70s step= 385 trunk_z= 125.1mm grav_b=(-0.04,+0.18,-0.98) r=1.22m +[headless_play] t= 7.80s step= 390 trunk_z= 122.7mm grav_b=(+0.03,+0.23,-0.97) r=1.23m +[headless_play] t= 7.90s step= 395 trunk_z= 124.3mm grav_b=(+0.10,+0.12,-0.99) r=1.25m +[headless_play] t= 8.00s step= 400 trunk_z= 115.9mm grav_b=(+0.02,-0.04,-1.00) r=1.29m +[headless_play] t= 8.10s step= 405 trunk_z= 126.5mm grav_b=(-0.01,-0.05,-1.00) r=1.31m +[headless_play] t= 8.20s step= 410 trunk_z= 123.1mm grav_b=(-0.07,-0.02,-1.00) r=1.32m +[headless_play] t= 8.30s step= 415 trunk_z= 118.5mm grav_b=(-0.03,+0.05,-1.00) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 118.5mm grav_b=(+0.03,+0.07,-1.00) r=1.34m +[headless_play] t= 8.50s step= 425 trunk_z= 113.8mm grav_b=(+0.03,+0.00,-1.00) r=1.36m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(-0.08,-0.07,-0.99) r=1.37m +[headless_play] t= 8.70s step= 435 trunk_z= 119.6mm grav_b=(-0.06,-0.00,-1.00) r=1.36m +[headless_play] t= 8.80s step= 440 trunk_z= 113.5mm grav_b=(-0.02,+0.07,-1.00) r=1.35m +[headless_play] t= 8.90s step= 445 trunk_z= 117.6mm grav_b=(+0.02,+0.10,-0.99) r=1.34m +[headless_play] t= 9.00s step= 450 trunk_z= 118.3mm grav_b=(+0.04,+0.10,-0.99) r=1.35m +[headless_play] t= 9.10s step= 455 trunk_z= 113.7mm grav_b=(+0.05,-0.01,-1.00) r=1.37m +[headless_play] t= 9.20s step= 460 trunk_z= 118.5mm grav_b=(+0.02,+0.02,-1.00) r=1.39m +[headless_play] t= 9.30s step= 465 trunk_z= 115.5mm grav_b=(+0.04,+0.17,-0.98) r=1.40m +[headless_play] t= 9.40s step= 470 trunk_z= 125.8mm grav_b=(+0.05,+0.17,-0.98) r=1.40m +[headless_play] t= 9.50s step= 475 trunk_z= 120.9mm grav_b=(+0.03,+0.08,-1.00) r=1.43m +[headless_play] t= 9.60s step= 480 trunk_z= 105.4mm grav_b=(+0.00,+0.08,-1.00) r=1.49m +[headless_play] t= 9.70s step= 485 trunk_z= 118.1mm grav_b=(-0.08,+0.14,-0.99) r=1.50m +[headless_play] t= 9.80s step= 490 trunk_z= 115.1mm grav_b=(+0.00,+0.16,-0.99) r=1.50m +[headless_play] t= 9.90s step= 495 trunk_z= 126.0mm grav_b=(+0.06,+0.20,-0.98) r=1.50m +[headless_play] t= 10.00s step= 500 trunk_z= 121.5mm grav_b=(+0.08,+0.01,-1.00) r=1.50m +[headless_play] t= 10.10s step= 505 trunk_z= 115.3mm grav_b=(+0.03,+0.04,-1.00) r=1.52m +[headless_play] t= 10.20s step= 510 trunk_z= 118.9mm grav_b=(-0.06,+0.10,-0.99) r=1.50m +[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(+0.01,+0.11,-0.99) r=1.49m +[headless_play] t= 10.40s step= 520 trunk_z= 121.1mm grav_b=(+0.04,+0.11,-0.99) r=1.49m +[headless_play] t= 10.50s step= 525 trunk_z= 115.0mm grav_b=(-0.02,+0.04,-1.00) r=1.51m +[headless_play] t= 10.60s step= 530 trunk_z= 116.1mm grav_b=(-0.15,-0.01,-0.99) r=1.52m +[headless_play] t= 10.70s step= 535 trunk_z= 109.4mm grav_b=(-0.24,-0.07,-0.97) r=1.51m +[headless_play] t= 10.80s step= 540 trunk_z= 99.7mm grav_b=(-0.15,-0.13,-0.98) r=1.53m +[headless_play] t= 10.90s step= 545 trunk_z= 90.3mm grav_b=(-0.20,-0.32,-0.92) r=1.53m +[headless_play] t= 11.00s step= 550 trunk_z= 119.5mm grav_b=(-0.18,-0.16,-0.97) r=1.53m +[headless_play] t= 11.10s step= 555 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00) r=1.52m +[headless_play] t= 11.20s step= 560 trunk_z= 117.0mm grav_b=(+0.17,+0.07,-0.98) r=1.51m +[headless_play] t= 11.30s step= 565 trunk_z= 124.5mm grav_b=(+0.09,+0.04,-1.00) r=1.50m +[headless_play] t= 11.40s step= 570 trunk_z= 120.4mm grav_b=(+0.02,-0.06,-1.00) r=1.50m +[headless_play] t= 11.50s step= 575 trunk_z= 121.4mm grav_b=(-0.02,-0.04,-1.00) r=1.50m +[headless_play] t= 11.60s step= 580 trunk_z= 117.0mm grav_b=(-0.04,+0.06,-1.00) r=1.49m +[headless_play] t= 11.70s step= 585 trunk_z= 118.0mm grav_b=(+0.02,+0.05,-1.00) r=1.49m +[headless_play] t= 11.80s step= 590 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00) r=1.49m +[headless_play] t= 11.90s step= 595 trunk_z= 115.3mm grav_b=(+0.08,-0.00,-1.00) r=1.49m +[headless_play] t= 12.00s step= 600 trunk_z= 115.3mm grav_b=(+0.06,-0.00,-1.00) r=1.49m +[headless_play] t= 12.10s step= 605 trunk_z= 115.5mm grav_b=(+0.05,-0.00,-1.00) r=1.49m +[headless_play] t= 12.20s step= 610 trunk_z= 115.5mm grav_b=(+0.05,-0.00,-1.00) r=1.49m +[headless_play] t= 12.30s step= 615 trunk_z= 117.9mm grav_b=(-0.01,-0.02,-1.00) r=1.50m +[headless_play] t= 12.40s step= 620 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=1.50m +[headless_play] t= 12.50s step= 625 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=1.50m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00) r=1.50m +[headless_play] t= 12.70s step= 635 trunk_z= 116.5mm grav_b=(+0.07,+0.02,-1.00) r=1.50m +[headless_play] t= 12.80s step= 640 trunk_z= 116.0mm grav_b=(+0.07,+0.02,-1.00) r=1.50m +[headless_play] t= 12.90s step= 645 trunk_z= 117.2mm grav_b=(+0.08,-0.02,-1.00) r=1.50m +[headless_play] t= 13.00s step= 650 trunk_z= 117.7mm grav_b=(+0.10,-0.02,-1.00) r=1.50m +[headless_play] t= 13.10s step= 655 trunk_z= 117.9mm grav_b=(+0.09,-0.01,-1.00) r=1.50m +[headless_play] t= 13.20s step= 660 trunk_z= 117.6mm grav_b=(+0.08,-0.02,-1.00) r=1.50m +[headless_play] t= 13.30s step= 665 trunk_z= 117.5mm grav_b=(+0.07,-0.02,-1.00) r=1.50m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 13.50s step= 675 trunk_z= 115.5mm grav_b=(-0.01,-0.01,-1.00) r=1.50m +[headless_play] t= 13.60s step= 680 trunk_z= 115.7mm grav_b=(-0.02,-0.00,-1.00) r=1.50m +[headless_play] t= 13.70s step= 685 trunk_z= 117.4mm grav_b=(+0.06,+0.03,-1.00) r=1.49m +[headless_play] t= 13.80s step= 690 trunk_z= 117.8mm grav_b=(+0.09,+0.02,-1.00) r=1.49m +[headless_play] t= 13.90s step= 695 trunk_z= 118.3mm grav_b=(+0.10,+0.01,-1.00) r=1.49m +[headless_play] t= 14.00s step= 700 trunk_z= 118.4mm grav_b=(+0.10,+0.01,-0.99) r=1.49m +[headless_play] t= 14.10s step= 705 trunk_z= 118.7mm grav_b=(+0.10,-0.00,-1.00) r=1.49m +[headless_play] t= 14.20s step= 710 trunk_z= 118.9mm grav_b=(+0.10,-0.00,-1.00) r=1.49m +[headless_play] t= 14.30s step= 715 trunk_z= 119.3mm grav_b=(+0.11,+0.01,-0.99) r=1.49m +[headless_play] t= 14.40s step= 720 trunk_z= 113.7mm grav_b=(+0.07,+0.01,-1.00) r=1.47m +[headless_play] t= 14.50s step= 725 trunk_z= 115.2mm grav_b=(+0.06,+0.05,-1.00) r=1.45m +[headless_play] t= 14.60s step= 730 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=1.45m +[headless_play] t= 14.70s step= 735 trunk_z= 117.2mm grav_b=(-0.13,-0.07,-0.99) r=1.47m +[headless_play] t= 14.80s step= 740 trunk_z= 118.4mm grav_b=(-0.08,-0.05,-1.00) r=1.48m +[headless_play] t= 14.90s step= 745 trunk_z= 108.8mm grav_b=(-0.02,+0.02,-1.00) r=1.50m +[headless_play] t= 15.00s step= 750 trunk_z= 116.9mm grav_b=(+0.05,+0.05,-1.00) r=1.51m +[headless_play] t= 15.10s step= 755 trunk_z= 109.8mm grav_b=(+0.05,-0.01,-1.00) r=1.52m +[headless_play] t= 15.20s step= 760 trunk_z= 111.0mm grav_b=(+0.06,-0.01,-1.00) r=1.52m +[headless_play] t= 15.30s step= 765 trunk_z= 114.0mm grav_b=(+0.10,+0.02,-0.99) r=1.52m +[headless_play] t= 15.40s step= 770 trunk_z= 113.8mm grav_b=(-0.11,+0.02,-0.99) r=1.54m +[headless_play] t= 15.50s step= 775 trunk_z= 111.8mm grav_b=(-0.05,-0.00,-1.00) r=1.56m +[headless_play] t= 15.60s step= 780 trunk_z= 110.6mm grav_b=(+0.03,-0.01,-1.00) r=1.58m +[headless_play] t= 15.70s step= 785 trunk_z= 114.6mm grav_b=(+0.02,+0.06,-1.00) r=1.58m +[headless_play] t= 15.80s step= 790 trunk_z= 114.1mm grav_b=(+0.02,-0.01,-1.00) r=1.58m +[headless_play] t= 15.90s step= 795 trunk_z= 115.7mm grav_b=(+0.04,+0.01,-1.00) r=1.58m +[headless_play] t= 16.00s step= 800 trunk_z= 115.4mm grav_b=(+0.02,+0.02,-1.00) r=1.58m +[headless_play] t= 16.10s step= 805 trunk_z= 115.1mm grav_b=(+0.01,+0.01,-1.00) r=1.58m +[headless_play] t= 16.20s step= 810 trunk_z= 115.4mm grav_b=(-0.07,+0.00,-1.00) r=1.59m +[headless_play] t= 16.30s step= 815 trunk_z= 115.4mm grav_b=(-0.09,-0.00,-1.00) r=1.60m +[headless_play] t= 16.40s step= 820 trunk_z= 110.4mm grav_b=(+0.01,-0.05,-1.00) r=1.62m +[headless_play] t= 16.50s step= 825 trunk_z= 112.6mm grav_b=(+0.02,+0.02,-1.00) r=1.63m +[headless_play] t= 16.60s step= 830 trunk_z= 114.0mm grav_b=(+0.03,+0.02,-1.00) r=1.63m +[headless_play] t= 16.70s step= 835 trunk_z= 114.7mm grav_b=(+0.04,+0.01,-1.00) r=1.63m +[headless_play] t= 16.80s step= 840 trunk_z= 114.8mm grav_b=(+0.01,+0.02,-1.00) r=1.63m +[headless_play] t= 16.90s step= 845 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) r=1.63m +[headless_play] t= 17.00s step= 850 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 17.10s step= 855 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 17.20s step= 860 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 17.30s step= 865 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 17.40s step= 870 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 17.50s step= 875 trunk_z= 115.3mm grav_b=(-0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 17.60s step= 880 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00) r=1.63m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(-0.05,+0.04,-1.00) r=1.64m +[headless_play] t= 17.80s step= 890 trunk_z= 116.9mm grav_b=(-0.05,+0.02,-1.00) r=1.64m +[headless_play] t= 17.90s step= 895 trunk_z= 116.6mm grav_b=(-0.02,+0.02,-1.00) r=1.63m +[headless_play] t= 18.00s step= 900 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=1.63m +[headless_play] t= 18.10s step= 905 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=1.63m +[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=1.63m +[headless_play] t= 18.30s step= 915 trunk_z= 116.1mm grav_b=(-0.01,+0.01,-1.00) r=1.63m +[headless_play] t= 18.40s step= 920 trunk_z= 116.0mm grav_b=(-0.00,+0.01,-1.00) r=1.63m +[headless_play] t= 18.50s step= 925 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=1.63m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=1.63m +[headless_play] t= 18.70s step= 935 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=1.63m +[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=1.63m +[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=1.63m +[headless_play] t= 19.00s step= 950 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) r=1.63m +[headless_play] t= 19.10s step= 955 trunk_z= 115.7mm grav_b=(-0.00,+0.00,-1.00) r=1.63m +[headless_play] t= 19.20s step= 960 trunk_z= 114.2mm grav_b=(+0.09,+0.08,-0.99) r=1.61m +[headless_play] t= 19.30s step= 965 trunk_z= 119.3mm grav_b=(+0.22,+0.11,-0.97) r=1.58m +[headless_play] t= 19.40s step= 970 trunk_z= 120.4mm grav_b=(+0.09,-0.01,-1.00) r=1.54m +[headless_play] t= 19.50s step= 975 trunk_z= 88.9mm grav_b=(+0.08,-0.15,-0.98) r=1.49m +[headless_play] t= 19.60s step= 980 trunk_z= 28.4mm grav_b=(-0.20,-0.94,-0.28) r=1.45m +[headless_play] RESET at t= 19.62s step= 981 (env termination, not a recovery) +[headless_play] t= 19.70s step= 985 trunk_z= 114.8mm grav_b=(-0.01,+0.03,-1.00) r=0.53m +[headless_play] t= 19.80s step= 990 trunk_z= 113.5mm grav_b=(+0.01,+0.10,-0.99) r=0.52m +[headless_play] t= 19.90s step= 995 trunk_z= 113.8mm grav_b=(-0.06,+0.01,-1.00) r=0.51m +[headless_play] t= 20.00s step=1000 trunk_z= 115.6mm grav_b=(-0.02,-0.06,-1.00) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(-0.02,+0.02,-1.00) r=0.50m +[headless_play] done diff --git a/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t9.log b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..c6924e9d09a1388b7bfbc44a6dd97f5afc09dadf --- /dev/null +++ b/level-01e-walk-step/proof-takes/proof-z3-c-2026-10-14/z3-c-t9.log @@ -0,0 +1,209 @@ +[INFO]: Loading checkpoint: model_10000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.823,-17.843,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 125.1mm grav_b=(-0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 0.10s step= 5 trunk_z= 117.0mm grav_b=(-0.02,+0.03,-1.00) r=0.24m +[headless_play] t= 0.20s step= 10 trunk_z= 118.6mm grav_b=(-0.00,+0.07,-1.00) r=0.23m +[headless_play] t= 0.30s step= 15 trunk_z= 125.6mm grav_b=(+0.01,+0.08,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 126.2mm grav_b=(+0.02,+0.07,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 120.7mm grav_b=(+0.03,-0.01,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 128.0mm grav_b=(+0.05,-0.03,-1.00) r=0.29m +[headless_play] t= 0.70s step= 35 trunk_z= 123.8mm grav_b=(-0.02,-0.01,-1.00) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 128.4mm grav_b=(+0.08,+0.04,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 133.8mm grav_b=(+0.02,+0.05,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 110.9mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 123.3mm grav_b=(+0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(-0.08,+0.04,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 126.9mm grav_b=(-0.03,+0.09,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 127.7mm grav_b=(-0.00,+0.09,-1.00) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 126.0mm grav_b=(-0.00,+0.05,-1.00) r=0.57m +[headless_play] t= 1.60s step= 80 trunk_z= 127.8mm grav_b=(+0.05,-0.04,-1.00) r=0.59m +[headless_play] t= 1.70s step= 85 trunk_z= 123.3mm grav_b=(+0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 1.80s step= 90 trunk_z= 119.5mm grav_b=(+0.02,+0.02,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 124.0mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 2.00s step= 100 trunk_z= 121.6mm grav_b=(-0.02,+0.06,-1.00) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 122.6mm grav_b=(-0.01,-0.05,-1.00) r=0.65m +[headless_play] t= 2.20s step= 110 trunk_z= 123.5mm grav_b=(-0.01,-0.03,-1.00) r=0.66m +[headless_play] t= 2.30s step= 115 trunk_z= 118.2mm grav_b=(-0.01,+0.03,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 124.0mm grav_b=(-0.03,+0.03,-1.00) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 118.2mm grav_b=(-0.05,-0.04,-1.00) r=0.68m +[headless_play] t= 2.60s step= 130 trunk_z= 126.4mm grav_b=(-0.02,-0.07,-1.00) r=0.70m +[headless_play] t= 2.70s step= 135 trunk_z= 123.2mm grav_b=(+0.01,-0.06,-1.00) r=0.72m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(-0.00,+0.03,-1.00) r=0.74m +[headless_play] t= 2.90s step= 145 trunk_z= 127.1mm grav_b=(+0.00,+0.04,-1.00) r=0.76m +[headless_play] t= 3.00s step= 150 trunk_z= 127.0mm grav_b=(+0.08,+0.07,-0.99) r=0.79m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 3.20s step= 160 trunk_z= 123.5mm grav_b=(-0.00,-0.02,-1.00) r=0.85m +[headless_play] t= 3.30s step= 165 trunk_z= 115.6mm grav_b=(-0.03,+0.02,-1.00) r=0.88m +[headless_play] t= 3.40s step= 170 trunk_z= 123.1mm grav_b=(-0.02,+0.04,-1.00) r=0.90m +[headless_play] t= 3.50s step= 175 trunk_z= 121.6mm grav_b=(-0.02,+0.05,-1.00) r=0.91m +[headless_play] t= 3.60s step= 180 trunk_z= 117.6mm grav_b=(-0.02,-0.02,-1.00) r=0.91m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(-0.04,+0.08,-1.00) r=0.92m +[headless_play] t= 3.80s step= 190 trunk_z= 122.3mm grav_b=(+0.00,+0.07,-1.00) r=0.94m +[headless_play] t= 3.90s step= 195 trunk_z= 123.1mm grav_b=(-0.00,+0.03,-1.00) r=0.96m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.98m +[headless_play] t= 4.10s step= 205 trunk_z= 124.9mm grav_b=(+0.04,-0.07,-1.00) r=0.99m +[headless_play] t= 4.20s step= 210 trunk_z= 128.4mm grav_b=(+0.07,-0.16,-0.98) r=1.00m +[headless_play] t= 4.30s step= 215 trunk_z= 131.5mm grav_b=(+0.05,-0.15,-0.99) r=1.03m +[headless_play] t= 4.40s step= 220 trunk_z= 120.6mm grav_b=(-0.00,-0.02,-1.00) r=1.08m +[headless_play] t= 4.50s step= 225 trunk_z= 127.8mm grav_b=(-0.01,+0.12,-0.99) r=1.09m +[headless_play] t= 4.60s step= 230 trunk_z= 122.5mm grav_b=(-0.04,+0.09,-1.00) r=1.11m +[headless_play] t= 4.70s step= 235 trunk_z= 119.8mm grav_b=(-0.06,-0.03,-1.00) r=1.12m +[headless_play] t= 4.80s step= 240 trunk_z= 124.9mm grav_b=(-0.01,-0.06,-1.00) r=1.12m +[headless_play] t= 4.90s step= 245 trunk_z= 119.6mm grav_b=(-0.01,-0.05,-1.00) r=1.14m +[headless_play] t= 5.00s step= 250 trunk_z= 122.5mm grav_b=(-0.01,+0.08,-1.00) r=1.16m +[headless_play] t= 5.10s step= 255 trunk_z= 126.8mm grav_b=(-0.02,+0.12,-0.99) r=1.18m +[headless_play] t= 5.20s step= 260 trunk_z= 125.9mm grav_b=(-0.01,+0.11,-0.99) r=1.20m +[headless_play] t= 5.30s step= 265 trunk_z= 119.3mm grav_b=(-0.01,+0.03,-1.00) r=1.23m +[headless_play] t= 5.40s step= 270 trunk_z= 123.3mm grav_b=(+0.02,-0.00,-1.00) r=1.25m +[headless_play] t= 5.50s step= 275 trunk_z= 117.3mm grav_b=(-0.00,+0.00,-1.00) r=1.27m +[headless_play] t= 5.60s step= 280 trunk_z= 122.5mm grav_b=(+0.01,+0.05,-1.00) r=1.29m +[headless_play] t= 5.70s step= 285 trunk_z= 122.1mm grav_b=(-0.01,+0.04,-1.00) r=1.30m +[headless_play] t= 5.80s step= 290 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=1.30m +[headless_play] t= 5.90s step= 295 trunk_z= 123.3mm grav_b=(+0.01,-0.05,-1.00) r=1.32m +[headless_play] t= 6.00s step= 300 trunk_z= 121.7mm grav_b=(+0.05,-0.03,-1.00) r=1.35m +[headless_play] t= 6.10s step= 305 trunk_z= 117.9mm grav_b=(+0.03,+0.00,-1.00) r=1.38m +[headless_play] t= 6.20s step= 310 trunk_z= 124.4mm grav_b=(-0.00,+0.03,-1.00) r=1.41m +[headless_play] t= 6.30s step= 315 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=1.43m +[headless_play] t= 6.40s step= 320 trunk_z= 122.7mm grav_b=(+0.00,-0.06,-1.00) r=1.44m +[headless_play] t= 6.50s step= 325 trunk_z= 121.8mm grav_b=(+0.00,-0.04,-1.00) r=1.46m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(+0.00,+0.05,-1.00) r=1.47m +[headless_play] t= 6.70s step= 335 trunk_z= 122.7mm grav_b=(-0.05,+0.05,-1.00) r=1.47m +[headless_play] t= 6.80s step= 340 trunk_z= 120.4mm grav_b=(-0.07,+0.01,-1.00) r=1.46m +[headless_play] t= 6.90s step= 345 trunk_z= 122.4mm grav_b=(+0.00,-0.05,-1.00) r=1.46m +[headless_play] t= 7.00s step= 350 trunk_z= 120.7mm grav_b=(+0.00,-0.03,-1.00) r=1.46m +[headless_play] t= 7.10s step= 355 trunk_z= 113.6mm grav_b=(+0.02,+0.03,-1.00) r=1.47m +[headless_play] t= 7.20s step= 360 trunk_z= 124.2mm grav_b=(+0.00,+0.03,-1.00) r=1.49m +[headless_play] t= 7.30s step= 365 trunk_z= 118.7mm grav_b=(+0.02,+0.02,-1.00) r=1.51m +[headless_play] t= 7.40s step= 370 trunk_z= 120.5mm grav_b=(+0.03,-0.04,-1.00) r=1.53m +[headless_play] t= 7.50s step= 375 trunk_z= 121.1mm grav_b=(+0.03,-0.04,-1.00) r=1.54m +[headless_play] t= 7.60s step= 380 trunk_z= 114.7mm grav_b=(+0.02,-0.01,-1.00) r=1.54m +[headless_play] t= 7.70s step= 385 trunk_z= 122.0mm grav_b=(-0.00,+0.04,-1.00) r=1.55m +[headless_play] t= 7.80s step= 390 trunk_z= 118.9mm grav_b=(-0.00,+0.04,-1.00) r=1.56m +[headless_play] t= 7.90s step= 395 trunk_z= 118.1mm grav_b=(-0.00,-0.03,-1.00) r=1.58m +[headless_play] t= 8.00s step= 400 trunk_z= 122.0mm grav_b=(+0.02,-0.04,-1.00) r=1.60m +[headless_play] t= 8.10s step= 405 trunk_z= 117.7mm grav_b=(+0.03,-0.03,-1.00) r=1.60m +[headless_play] t= 8.20s step= 410 trunk_z= 121.0mm grav_b=(+0.02,+0.06,-1.00) r=1.61m +[headless_play] t= 8.30s step= 415 trunk_z= 121.2mm grav_b=(+0.01,+0.04,-1.00) r=1.62m +[headless_play] t= 8.40s step= 420 trunk_z= 115.4mm grav_b=(-0.01,+0.00,-1.00) r=1.64m +[headless_play] t= 8.50s step= 425 trunk_z= 122.2mm grav_b=(+0.10,-0.06,-0.99) r=1.68m +[headless_play] t= 8.60s step= 430 trunk_z= 123.9mm grav_b=(+0.06,-0.02,-1.00) r=1.71m +[headless_play] t= 8.70s step= 435 trunk_z= 111.2mm grav_b=(+0.01,-0.03,-1.00) r=1.75m +[headless_play] t= 8.80s step= 440 trunk_z= 121.7mm grav_b=(+0.00,+0.01,-1.00) r=1.78m +[headless_play] t= 8.90s step= 445 trunk_z= 113.6mm grav_b=(-0.01,-0.03,-1.00) r=1.81m +[headless_play] t= 9.00s step= 450 trunk_z= 119.0mm grav_b=(+0.02,-0.07,-1.00) r=1.82m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(+0.03,+0.04,-1.00) r=1.83m +[headless_play] t= 9.20s step= 460 trunk_z= 123.1mm grav_b=(+0.06,+0.07,-1.00) r=1.84m +[headless_play] t= 9.30s step= 465 trunk_z= 119.3mm grav_b=(+0.02,+0.04,-1.00) r=1.85m +[headless_play] t= 9.40s step= 470 trunk_z= 116.5mm grav_b=(+0.00,-0.02,-1.00) r=1.85m +[headless_play] t= 9.50s step= 475 trunk_z= 115.5mm grav_b=(+0.00,+0.02,-1.00) r=1.86m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=1.85m +[headless_play] t= 9.70s step= 485 trunk_z= 119.0mm grav_b=(+0.03,+0.05,-1.00) r=1.86m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(+0.04,+0.04,-1.00) r=1.86m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(+0.04,+0.03,-1.00) r=1.86m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00) r=1.86m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=1.85m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=1.85m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=1.85m +[headless_play] t= 10.40s step= 520 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=1.85m +[headless_play] t= 10.50s step= 525 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=1.85m +[headless_play] t= 10.60s step= 530 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=1.85m +[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=1.85m +[headless_play] t= 10.80s step= 540 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=1.85m +[headless_play] t= 10.90s step= 545 trunk_z= 115.7mm grav_b=(-0.00,-0.01,-1.00) r=1.85m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(+0.01,+0.01,-1.00) r=1.85m +[headless_play] t= 11.10s step= 555 trunk_z= 116.2mm grav_b=(+0.00,+0.01,-1.00) r=1.85m +[headless_play] t= 11.20s step= 560 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=1.85m +[headless_play] t= 11.30s step= 565 trunk_z= 118.1mm grav_b=(+0.05,+0.00,-1.00) r=1.86m +[headless_play] t= 11.40s step= 570 trunk_z= 119.2mm grav_b=(+0.08,+0.00,-1.00) r=1.87m +[headless_play] t= 11.50s step= 575 trunk_z= 119.9mm grav_b=(+0.11,-0.00,-0.99) r=1.87m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(+0.03,+0.03,-1.00) r=1.88m +[headless_play] t= 11.70s step= 585 trunk_z= 116.8mm grav_b=(-0.00,+0.08,-1.00) r=1.89m +[headless_play] t= 11.80s step= 590 trunk_z= 114.2mm grav_b=(-0.04,+0.03,-1.00) r=1.90m +[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(-0.03,+0.01,-1.00) r=1.91m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(+0.05,+0.00,-1.00) r=1.92m +[headless_play] t= 12.10s step= 605 trunk_z= 118.6mm grav_b=(+0.07,+0.01,-1.00) r=1.92m +[headless_play] t= 12.20s step= 610 trunk_z= 119.3mm grav_b=(+0.10,+0.01,-1.00) r=1.92m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(+0.10,+0.01,-1.00) r=1.93m +[headless_play] t= 12.40s step= 620 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=1.95m +[headless_play] t= 12.50s step= 625 trunk_z= 122.1mm grav_b=(+0.02,-0.08,-1.00) r=1.97m +[headless_play] t= 12.60s step= 630 trunk_z= 122.4mm grav_b=(+0.02,-0.07,-1.00) r=1.99m +[headless_play] t= 12.70s step= 635 trunk_z= 116.4mm grav_b=(-0.01,+0.02,-1.00) r=2.00m +[headless_play] t= 12.80s step= 640 trunk_z= 127.8mm grav_b=(+0.04,+0.10,-0.99) r=2.02m +[headless_play] t= 12.90s step= 645 trunk_z= 129.6mm grav_b=(+0.07,+0.13,-0.99) r=2.03m +[headless_play] t= 13.00s step= 650 trunk_z= 122.4mm grav_b=(+0.02,+0.06,-1.00) r=2.07m +[headless_play] t= 13.10s step= 655 trunk_z= 129.0mm grav_b=(-0.05,+0.01,-1.00) r=2.09m +[headless_play] t= 13.20s step= 660 trunk_z= 112.8mm grav_b=(-0.06,+0.02,-1.00) r=2.11m +[headless_play] t= 13.30s step= 665 trunk_z= 121.3mm grav_b=(-0.00,+0.05,-1.00) r=2.11m +[headless_play] t= 13.40s step= 670 trunk_z= 120.0mm grav_b=(+0.01,+0.05,-1.00) r=2.12m +[headless_play] t= 13.50s step= 675 trunk_z= 116.9mm grav_b=(+0.02,-0.07,-1.00) r=2.14m +[headless_play] t= 13.60s step= 680 trunk_z= 126.7mm grav_b=(+0.04,-0.10,-0.99) r=2.16m +[headless_play] t= 13.70s step= 685 trunk_z= 127.0mm grav_b=(+0.03,-0.10,-0.99) r=2.18m +[headless_play] t= 13.80s step= 690 trunk_z= 118.2mm grav_b=(-0.02,+0.01,-1.00) r=2.20m +[headless_play] t= 13.90s step= 695 trunk_z= 124.2mm grav_b=(-0.02,+0.08,-1.00) r=2.21m +[headless_play] t= 14.00s step= 700 trunk_z= 121.7mm grav_b=(-0.01,+0.05,-1.00) r=2.23m +[headless_play] t= 14.10s step= 705 trunk_z= 120.4mm grav_b=(-0.02,-0.07,-1.00) r=2.25m +[headless_play] t= 14.20s step= 710 trunk_z= 127.2mm grav_b=(+0.01,-0.13,-0.99) r=2.26m +[headless_play] t= 14.30s step= 715 trunk_z= 126.2mm grav_b=(+0.04,-0.13,-0.99) r=2.27m +[headless_play] t= 14.40s step= 720 trunk_z= 123.3mm grav_b=(+0.03,-0.08,-1.00) r=2.29m +[headless_play] t= 14.50s step= 725 trunk_z= 123.7mm grav_b=(+0.01,-0.01,-1.00) r=2.31m +[headless_play] t= 14.60s step= 730 trunk_z= 121.0mm grav_b=(+0.02,-0.00,-1.00) r=2.33m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(+0.02,-0.05,-1.00) r=2.36m +[headless_play] t= 14.80s step= 740 trunk_z= 118.8mm grav_b=(+0.01,-0.05,-1.00) r=2.38m +[headless_play] t= 14.90s step= 745 trunk_z= 110.6mm grav_b=(+0.01,+0.01,-1.00) r=2.39m +[headless_play] t= 15.00s step= 750 trunk_z= 118.0mm grav_b=(-0.02,+0.03,-1.00) r=2.40m +[headless_play] t= 15.10s step= 755 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=2.42m +[headless_play] t= 15.20s step= 760 trunk_z= 113.6mm grav_b=(+0.04,-0.06,-1.00) r=2.44m +[headless_play] t= 15.30s step= 765 trunk_z= 116.1mm grav_b=(+0.06,-0.05,-1.00) r=2.45m +[headless_play] t= 15.40s step= 770 trunk_z= 109.4mm grav_b=(+0.07,+0.01,-1.00) r=2.46m +[headless_play] t= 15.50s step= 775 trunk_z= 119.3mm grav_b=(+0.01,+0.06,-1.00) r=2.47m +[headless_play] t= 15.60s step= 780 trunk_z= 116.9mm grav_b=(-0.04,-0.01,-1.00) r=2.48m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(-0.01,-0.06,-1.00) r=2.49m +[headless_play] t= 15.80s step= 790 trunk_z= 118.3mm grav_b=(+0.03,-0.05,-1.00) r=2.50m +[headless_play] t= 15.90s step= 795 trunk_z= 111.5mm grav_b=(+0.07,-0.03,-1.00) r=2.50m +[headless_play] t= 16.00s step= 800 trunk_z= 116.7mm grav_b=(+0.08,+0.07,-0.99) r=2.50m +[headless_play] t= 16.10s step= 805 trunk_z= 116.9mm grav_b=(+0.05,+0.06,-1.00) r=2.50m +[headless_play] t= 16.20s step= 810 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=2.52m +[headless_play] t= 16.30s step= 815 trunk_z= 120.2mm grav_b=(+0.00,-0.06,-1.00) r=2.54m +[headless_play] t= 16.40s step= 820 trunk_z= 115.7mm grav_b=(+0.01,-0.03,-1.00) r=2.55m +[headless_play] t= 16.50s step= 825 trunk_z= 114.7mm grav_b=(+0.09,+0.05,-1.00) r=2.56m +[headless_play] t= 16.60s step= 830 trunk_z= 118.2mm grav_b=(+0.09,+0.04,-0.99) r=2.58m +[headless_play] t= 16.70s step= 835 trunk_z= 114.9mm grav_b=(+0.07,-0.01,-1.00) r=2.60m +[headless_play] t= 16.80s step= 840 trunk_z= 119.1mm grav_b=(+0.04,-0.06,-1.00) r=2.62m +[headless_play] t= 16.90s step= 845 trunk_z= 113.1mm grav_b=(+0.02,-0.03,-1.00) r=2.63m +[headless_play] t= 17.00s step= 850 trunk_z= 118.9mm grav_b=(-0.02,+0.07,-1.00) r=2.63m +[headless_play] t= 17.10s step= 855 trunk_z= 120.9mm grav_b=(-0.01,+0.06,-1.00) r=2.64m +[headless_play] t= 17.20s step= 860 trunk_z= 118.0mm grav_b=(+0.04,+0.01,-1.00) r=2.65m +[headless_play] t= 17.30s step= 865 trunk_z= 117.4mm grav_b=(+0.08,-0.08,-0.99) r=2.67m +[headless_play] t= 17.40s step= 870 trunk_z= 119.7mm grav_b=(+0.06,-0.07,-1.00) r=2.67m +[headless_play] t= 17.50s step= 875 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=2.66m +[headless_play] t= 17.60s step= 880 trunk_z= 122.0mm grav_b=(+0.02,+0.08,-1.00) r=2.66m +[headless_play] t= 17.70s step= 885 trunk_z= 118.7mm grav_b=(+0.01,+0.05,-1.00) r=2.67m +[headless_play] t= 17.80s step= 890 trunk_z= 113.1mm grav_b=(+0.02,-0.04,-1.00) r=2.70m +[headless_play] t= 17.90s step= 895 trunk_z= 121.6mm grav_b=(+0.02,-0.06,-1.00) r=2.71m +[headless_play] t= 18.00s step= 900 trunk_z= 116.9mm grav_b=(+0.03,-0.04,-1.00) r=2.71m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(+0.01,+0.06,-1.00) r=2.71m +[headless_play] t= 18.20s step= 910 trunk_z= 121.6mm grav_b=(-0.02,+0.07,-1.00) r=2.71m +[headless_play] t= 18.30s step= 915 trunk_z= 118.6mm grav_b=(-0.02,+0.04,-1.00) r=2.73m +[headless_play] t= 18.40s step= 920 trunk_z= 119.5mm grav_b=(-0.00,-0.06,-1.00) r=2.75m +[headless_play] t= 18.50s step= 925 trunk_z= 119.2mm grav_b=(+0.03,-0.04,-1.00) r=2.75m +[headless_play] t= 18.60s step= 930 trunk_z= 111.6mm grav_b=(+0.03,+0.04,-1.00) r=2.75m +[headless_play] t= 18.70s step= 935 trunk_z= 122.7mm grav_b=(+0.02,+0.10,-1.00) r=2.76m +[headless_play] t= 18.80s step= 940 trunk_z= 122.1mm grav_b=(-0.02,+0.10,-0.99) r=2.76m +[headless_play] t= 18.90s step= 945 trunk_z= 120.5mm grav_b=(-0.04,+0.05,-1.00) r=2.76m +[headless_play] t= 19.00s step= 950 trunk_z= 115.3mm grav_b=(+0.00,-0.04,-1.00) r=2.78m +[headless_play] t= 19.10s step= 955 trunk_z= 119.4mm grav_b=(+0.07,-0.05,-1.00) r=2.80m +[headless_play] t= 19.20s step= 960 trunk_z= 114.4mm grav_b=(+0.08,-0.02,-1.00) r=2.80m +[headless_play] t= 19.30s step= 965 trunk_z= 122.9mm grav_b=(+0.04,+0.07,-1.00) r=2.82m +[headless_play] t= 19.40s step= 970 trunk_z= 122.8mm grav_b=(+0.05,+0.07,-1.00) r=2.84m +[headless_play] t= 19.50s step= 975 trunk_z= 115.8mm grav_b=(+0.03,-0.04,-1.00) r=2.87m +[headless_play] t= 19.60s step= 980 trunk_z= 124.4mm grav_b=(+0.10,-0.10,-0.99) r=2.90m +[headless_play] t= 19.70s step= 985 trunk_z= 125.0mm grav_b=(+0.04,-0.08,-1.00) r=2.93m +[headless_play] t= 19.80s step= 990 trunk_z= 117.8mm grav_b=(+0.03,+0.03,-1.00) r=2.95m +[headless_play] t= 19.90s step= 995 trunk_z= 121.7mm grav_b=(-0.05,+0.06,-1.00) r=2.97m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.7mm grav_b=(-0.01,+0.00,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.43m +[headless_play] done diff --git a/level-01e-walk-step/queue-item.sh b/level-01e-walk-step/queue-item.sh new file mode 100644 index 0000000000000000000000000000000000000000..2e448d17cf4c8a3304185044962d8f12b67a3ee7 --- /dev/null +++ b/level-01e-walk-step/queue-item.sh @@ -0,0 +1,23 @@ +#!/bin/bash +# 09z3-duck-velstep.sh: duck skill tree, "our own conditions" track (skill-tree.md side branch: "a single step"), third fork +# of a walking task, sibling of 09z (payload) and 09z2 (slippery floor). task Mjlab-Velocity-Flat-Backlash-Step-MicroDuck = the +# maker's Velocity-Flat-Backlash (walk-flat v2 on the Hub) with ONE change: the infinite plane becomes a generated floor that is +# flat except for one raised 1.5 m platform per 4 m tile, top 10-25 mm above the floor (random per tile), 2.5 m of floor between +# platforms. every edge crossing is a single step (down off the spawn platform, up onto the next). module +# witcheer_velocity_step_env_cfg.py (vault 99-personal/benchmark-rig/scripts/), registered by one appended import line (backup +# ~/tasks-init.py.bak-step-2026-10-13); resolved-cfg repr vs the base task = only terrain_type plane -> generator + the +# generator block (install log in log.md 2026-10-13). height reads: depends on our ground_height_patch (_ground_z from +# foot_height_scan on generator terrain); the only origin-z read left (body_pose_tracking_6d) has weight 0 in this task. +# WARM START: logs/rsl_rl/duckvelstep/2026-10-13_00-00-00_seed-velbl-it7000/model_7000.pt = walk-flat v2 (duckvelbl model_7000, +# md5 d16ed76e, the same seed as 09z and 09z2), true resume, 7000 -> 10000 (3k rule). +# verdict plan: walk-flat v2 vs this policy in this env with MICRODUCK_STEP_HEIGHT=0.025,0.025 (tallest) and 0.0,0.0 (same +# layout, no step), 20 s takes, falls = mid RESET lines (fell_over) + tilt events, same takes per policy; check r (distance from +# origin) so every quoted take actually crossed an edge (0.75 m from spawn). +# held out of the queue by ~/Pollen/w09z3-enqueue.sh until after the tue 2026-10-13 14:10 block (09z2 trains there), so the duck +# lane keeps an item queued once 09z2 exports. probe numbers: log.md 2026-10-13. +SKILL=velstep +# MANIFEST duplicated from the body so the drain grep fills idleq-active.json for the sentinel +MANIFEST=/home/witcheer/duckvelstep-status.json +TASK=Mjlab-Velocity-Flat-Backlash-Step-MicroDuck +TARGET_IT=${TARGET_IT:-10000} +. /home/witcheer/Pollen/duck-train-body.sh diff --git a/level-01e-walk-step/reward-curve.csv b/level-01e-walk-step/reward-curve.csv new file mode 100644 index 0000000000000000000000000000000000000000..8f4af8ee894989c663b2b7e2b01e5e2a6047cb27 --- /dev/null +++ b/level-01e-walk-step/reward-curve.csv @@ -0,0 +1,3002 @@ +iteration,Episode_Termination/fell_over,Episode_Termination/nan_state,Episode_Termination/out_of_terrain_bounds,Episode_Termination/time_out,Perf/total_fps,Train/mean_episode_length,Train/mean_reward 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+10000,0.7083333730697632,0.0,0.0,3.625,76250.0,923.8200073242188,95.49405670166016 diff --git a/level-01e-walk-step/reward-curve.png b/level-01e-walk-step/reward-curve.png new file mode 100644 index 0000000000000000000000000000000000000000..33d0375015afe1657609910abdba746838bd201b --- /dev/null +++ b/level-01e-walk-step/reward-curve.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78a0227941f6ca35b1a47599258c6a65cb234cb596ebc86fe6422fc8560f195a +size 116069 diff --git a/tools/headless_play.py b/tools/headless_play.py index e080341f4ae880118f2d4a0b129188a0f2f786d1..582bac6cef7260cf615ba8a02302d2662e31b429 100644 --- a/tools/headless_play.py +++ b/tools/headless_play.py @@ -62,8 +62,16 @@ spawn_offset = take("--spawn-offset", None, float) # take near the spawn (found 2026-10-14: v2 control take on the 09z3 step env stayed within r 0.73 m before a reset, # platform edge at 0.75 m). --cmd-vx V fixes the twist command to straight ahead at V m/s (lin_vel_y 0, ang_vel_z 0). cmd_vx = take("--cmd-vx", None, float) +# generator-floor velocity forks inherit mjlab's out_of_terrain_bounds (a no-op on the maker's plane): it truncates once the +# root leaves the num_rows x num_cols tile footprint minus 0.3 m, the 20 m border not counted. a 1-env play take lands in +# an EDGE column (found 2026-10-14 on the 09z5 slope env: root y -18.5 on a 40 m grid, so ~1.7 m of walking in -y ends +# the episode with the duck upright; the 09z3 step takes had the same spawn). it prints as a RESET line and scores as a +# fall. --no-bounds drops that termination for the take (the duck walks on onto the flat border). +no_bounds = "--no-bounds" in argv if no_push: argv.remove("--no-push") +if no_bounds: + argv.remove("--no-bounds") if steps is None: steps = 610 if "--video-length" in argv: @@ -231,6 +239,9 @@ def _env_with_camera(cfg, **kw): if no_push: dropped = cfg.events.pop("push_robot", None) if isinstance(cfg.events, dict) else None print(f"[headless_play] no-push: push_robot {'dropped' if dropped is not None else 'not present'}", flush=True) + if no_bounds: + dropped = cfg.terminations.pop("out_of_terrain_bounds", None) if isinstance(cfg.terminations, dict) else None + print(f"[headless_play] no-bounds: out_of_terrain_bounds {'dropped' if dropped is not None else 'not present'}", flush=True) if terrain_level is not None: gen = cfg.scene.terrain.terrain_generator if gen is None: diff --git a/tools/proof-z3-a.sh b/tools/proof-z3-a.sh new file mode 100644 index 0000000000000000000000000000000000000000..72d0e15f5a615ffe1de79b0b812dbbfc73d4cc16 --- /dev/null +++ b/tools/proof-z3-a.sh @@ -0,0 +1,17 @@ +#!/bin/bash +# proof-z3-a (2026-10-14, staged with the item): 09z3 velstep model_10000 vs walk-flat v2 (duckvelbl model_7000) +# in Velocity-Flat-Backlash-Step, MICRODUCK_STEP_HEIGHT=0.025,0.025 (25 mm step, play shoves on), 15 takes per policy (sample-size rule 2026-10-13), +# 20 s, 0.1 s samples, tracking camera, twist fixed straight ahead at 0.3 m/s (--cmd-vx, added 10-14). falls = tilt events + mid RESETs (take-score-2026-10-11.py); read r= per take +# so every quoted take crossed a platform edge (spawn = platform centre, edge 0.75 m). mirrors proof-z2-a. +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +TASK=Mjlab-Velocity-Flat-Backlash-Step-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z3-a-2026-10-14 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstep/*_duckvelstep/model_10000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z3_CHECKPOINT (09z3 model_10000 missing: item cut or not run)"; exit 2; } +echo "z3 ckpt: $Z" +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3" +P=""; [ "push" = nopush ] && P="--no-push" +for i in $(seq 1 15); do for q in z3:$Z v2:$V2; do + play ${q%%:*}-a-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z3_A_END ===" diff --git a/tools/proof-z3-b.sh b/tools/proof-z3-b.sh new file mode 100644 index 0000000000000000000000000000000000000000..c30a584d5b145c72e22d820c879da4c97b838c08 --- /dev/null +++ b/tools/proof-z3-b.sh @@ -0,0 +1,17 @@ +#!/bin/bash +# proof-z3-b (2026-10-14, staged with the item): 09z3 velstep model_10000 vs walk-flat v2 (duckvelbl model_7000) +# in Velocity-Flat-Backlash-Step, MICRODUCK_STEP_HEIGHT=0.025,0.025 (25 mm step, no shoves), 15 takes per policy (sample-size rule 2026-10-13), +# 20 s, 0.1 s samples, tracking camera, twist fixed straight ahead at 0.3 m/s (--cmd-vx, added 10-14). falls = tilt events + mid RESETs (take-score-2026-10-11.py); read r= per take +# so every quoted take crossed a platform edge (spawn = platform centre, edge 0.75 m). mirrors proof-z2-b. +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +TASK=Mjlab-Velocity-Flat-Backlash-Step-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z3-b-2026-10-14 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstep/*_duckvelstep/model_10000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z3_CHECKPOINT (09z3 model_10000 missing: item cut or not run)"; exit 2; } +echo "z3 ckpt: $Z" +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3" +P=""; [ "nopush" = nopush ] && P="--no-push" +for i in $(seq 1 15); do for q in z3:$Z v2:$V2; do + play ${q%%:*}-b-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z3_B_END ===" diff --git a/tools/proof-z3-c.sh b/tools/proof-z3-c.sh new file mode 100644 index 0000000000000000000000000000000000000000..2b5904ff91ba91b8964690f7a595412d3461693d --- /dev/null +++ b/tools/proof-z3-c.sh @@ -0,0 +1,17 @@ +#!/bin/bash +# proof-z3-c (2026-10-14, staged with the item): 09z3 velstep model_10000 vs walk-flat v2 (duckvelbl model_7000) +# in Velocity-Flat-Backlash-Step, MICRODUCK_STEP_HEIGHT=0.001,0.001 (1 mm = flat, same layout; 0.0 fails to compile a zero-height box), shoves on: the control, 15 takes per policy (sample-size rule 2026-10-13), +# 20 s, 0.1 s samples, tracking camera, twist fixed straight ahead at 0.3 m/s (--cmd-vx, added 10-14). falls = tilt events + mid RESETs (take-score-2026-10-11.py); read r= per take +# so every quoted take crossed a platform edge (spawn = platform centre, edge 0.75 m). mirrors proof-z2-c. +export MICRODUCK_STEP_HEIGHT=0.001,0.001 +TASK=Mjlab-Velocity-Flat-Backlash-Step-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z3-c-2026-10-14 +. /home/witcheer/Pollen/proof-common.sh +Z=$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstep/*_duckvelstep/model_10000.pt 2>/dev/null | tail -n 1) +[ -n "$Z" ] || { echo "NO_Z3_CHECKPOINT (09z3 model_10000 missing: item cut or not run)"; exit 2; } +echo "z3 ckpt: $Z" +V2=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3" +P=""; [ "push" = nopush ] && P="--no-push" +for i in $(seq 1 15); do for q in z3:$Z v2:$V2; do + play ${q%%:*}-c-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z3_C_END ===" diff --git a/tools/step-play-check-2026-10-14.sh b/tools/step-play-check-2026-10-14.sh new file mode 100644 index 0000000000000000000000000000000000000000..0953761d7c4ce9adcaf2fa9634af1fd5cc249ede --- /dev/null +++ b/tools/step-play-check-2026-10-14.sh @@ -0,0 +1,35 @@ +#!/bin/bash +# step-play-check-2026-10-14.sh: does MICRODUCK_STEP_HEIGHT reach the PLAY env of the step task? builds the play env (1 env) +# at 0.025,0.025 and 0.0,0.0 and prints the distinct box-geom top heights of the generated floor. then one control take of +# walk-flat v2 at 25 mm with shoves (proves recorder + r= column before the verdict cron relies on them). +exec > >(tee -a /home/witcheer/Pollen/step-play-check-2026-10-14.log) 2>&1 +export PATH=/home/witcheer/.cargo/bin:/home/witcheer/.local/bin:$PATH +export MUJOCO_GL=egl +cd /home/witcheer/Pollen/microduck_rl +for s in 0.025,0.025 0.0,0.0; do +MICRODUCK_STEP_HEIGHT=$s uv run python - <<'EOF' 2>&1 | grep -E "^(STEP|ERR)" +import os, traceback, collections +try: + import mjlab_microduck.tasks # noqa + from mjlab.tasks import registry + from mjlab.envs import ManagerBasedRlEnv + import mujoco + cfg = registry.load_env_cfg("Mjlab-Velocity-Flat-Backlash-Step-MicroDuck", play=True) + cfg.scene.num_envs = 1 + env = ManagerBasedRlEnv(cfg=cfg, device="cuda:0") + m = env.sim.mj_model + tops = collections.Counter() + for i in range(m.ngeom): + if m.geom_type[i] == mujoco.mjtGeom.mjGEOM_BOX and m.geom_bodyid[i] == 0: + tops[round(float(m.geom_pos[i, 2] + m.geom_size[i, 2]) * 1000, 1)] += 1 + print("STEP env=%s box tops mm (count): %s" % (os.environ["MICRODUCK_STEP_HEIGHT"], dict(sorted(tops.items())))) + print("STEP origin z (env 0): %.4f" % float(env.scene.env_origins[0, 2])) +except Exception: + print("ERR", traceback.format_exc().replace("\n", " | ")[-1500:]) +EOF +done +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +TASK=Mjlab-Velocity-Flat-Backlash-Step-MicroDuck; OUT=/home/witcheer/Pollen/clips/step-control-2026-10-14 +. /home/witcheer/Pollen/proof-common.sh +play v2-ctrl-t1 $TASK /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelbl/2026-09-25_14-59-27_duckvelbl/model_7000.pt 1000 --episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 +echo "=== $(date -u +%T) STEP_CHECK_END ===" diff --git a/tools/z3-score-2026-10-14.py b/tools/z3-score-2026-10-14.py new file mode 100644 index 0000000000000000000000000000000000000000..4f2da0d1082bb11b730121df9af56b7bef1de7e6 --- /dev/null +++ b/tools/z3-score-2026-10-14.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +# z3-score.py: 09z3 verdict scoring. held = no tilt fall and no mid RESET (same rule as take-score-2026-10-11.py), +# falls located by r= in the 0.5 s before each tilt fall / mid RESET: 0.65-1.15 m = edge, <0.6 = on-platform, else other. +import glob, os, re, sys +from math import comb +S = re.compile(r't=\s*([\d.]+)s step=\s*\d+ trunk_z=\s*([-\d.]+)mm grav_b=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\).*?r=([\d.]+)m') +R = re.compile(r'RESET at t=\s*([\d.]+)') +END = 19.9 +def score(d): + out = {} + for f in sorted(glob.glob(d + '/*-t*.log')): + if f.endswith('.full.log'): + continue + t = open(f, errors='replace').read() + v = [(float(m[1]), float(m[5]), float(m[6])) for m in S.finditer(t) if float(m[1]) <= END] + name = os.path.basename(f)[:-4]; pol = name.split('-')[0] + if not v: + out.setdefault(pol, []).append((name, None, [])); continue + rs = [float(x) for x in R.findall(t) if float(x) < END] + falls = []; st = 'up' + for (tt, gz, r) in v: + if st == 'up' and gz > -0.5: + falls.append(tt); st = 'down' + elif st == 'down' and gz < -0.9: + st = 'up' + # events: tilt falls, plus resets not within 1 s after a tilt fall + ev = [('tilt', x) for x in falls] + [('reset', x) for x in rs if not any(0 <= x - y <= 1.0 for y in falls)] + locs = [] + for kind, te in sorted(ev, key=lambda e: e[1]): + w = [r for (tt, gz, r) in v if te - 0.5 <= tt <= te] + if not w: + w = [min(v, key=lambda s: abs(s[0] - te))[2]] + rr = max(w) + loc = 'edge' if 0.65 <= rr <= 1.15 else ('platform' if rr < 0.6 else 'other') + locs.append((kind, te, round(rr, 2), loc)) + held = not falls and not rs + out.setdefault(pol, []).append((name, held, locs)) + return out +def fisher_one(a, n1, b, n2): # P(X >= a) for group1 successes under hypergeometric + K = a + b; N = n1 + n2 + tot = comb(N, K) + return sum(comb(n1, x) * comb(n2, K - x) for x in range(a, min(n1, K) + 1)) / tot +def fisher_two(a, n1, b, n2): + K = a + b; N = n1 + n2; tot = comb(N, K) + p0 = comb(n1, a) * comb(n2, b) + return min(1.0, sum(comb(n1, x) * comb(n2, K - x) for x in range(max(0, K - n2), min(n1, K) + 1) + if comb(n1, x) * comb(n2, K - x) <= p0 * (1 + 1e-9)) / tot) +res = {} +for c in 'abc': + d = os.path.expanduser(f'~/Pollen/clips/proof-z3-{c}-2026-10-14') + res[c] = score(d) + print(f'=== condition {c}') + for pol in ('z3', 'v2'): + l = res[c].get(pol, []) + for name, held, locs in l: + print(f' {name:12s} held={held} {locs}') + h = sum(1 for x in l if x[1]); n = len(l) + firsts = [x[2][0][3] for x in l if x[2]] + edge_takes = sum(1 for x in l if any(e[3] == 'edge' for e in x[2])) + print(f' {pol}: held {h}/{n}; first-event location {dict((k, firsts.count(k)) for k in set(firsts))}; takes with an edge event {edge_takes}') +def hn(cs, pol): + l = [x for c in cs for x in res[c].get(pol, [])] + return sum(1 for x in l if x[1]), len(l) +for label, cs in (('a', 'a'), ('b', 'b'), ('a+b', 'ab'), ('c', 'c')): + a, n1 = hn(cs, 'z3'); b, n2 = hn(cs, 'v2') + print(f'{label}: z3 {a}/{n1} vs v2 {b}/{n2} one-sided p={fisher_one(a, n1, b, n2):.4f} two-sided p={fisher_two(a, n1, b, n2):.4f}')